From 5eb0b64d1400fcb11d93b53a0183fb4a0c3d3b43 Mon Sep 17 00:00:00 2001 From: Saeed Aliamooei Lakeh Date: Mon, 3 Aug 2026 21:24:22 -0700 Subject: [PATCH 1/7] Add cascaded speed ADRC + MPC current on a new demo path. New Control.SpeedAdrcMpcCurrent and speed_adrc_mpc_current_demo leave Control.AdrcMpcc / hybrid_adrc_mpcc_demo unchanged. CascadeMode 1 runs LADRC on rpm into Mode-3 deadbeat current; mode 0 stays FOC-like Iq in A. Co-authored-by: Cursor --- .../Examples/speed_adrc_mpc_current_demo.json | 4651 +++++++++++++++++ .../Control.SpeedAdrcMpcCurrent/inline.cpp | 309 ++ .../Control.SpeedAdrcMpcCurrent/node.json | 225 + docs/19_speed_adrc_mpc_current_bringup.md | 60 + 4 files changed, 5245 insertions(+) create mode 100644 Assets/Examples/speed_adrc_mpc_current_demo.json create mode 100644 Assets/NodeTemplates/Control.SpeedAdrcMpcCurrent/inline.cpp create mode 100644 Assets/NodeTemplates/Control.SpeedAdrcMpcCurrent/node.json create mode 100644 docs/19_speed_adrc_mpc_current_bringup.md diff --git a/Assets/Examples/speed_adrc_mpc_current_demo.json b/Assets/Examples/speed_adrc_mpc_current_demo.json new file mode 100644 index 0000000..5dbe2ff --- /dev/null +++ b/Assets/Examples/speed_adrc_mpc_current_demo.json @@ -0,0 +1,4651 @@ +{ + "bridges": [ + { + "consumer": { + "nodeId": "Clarke", + "portName": "I_A" + }, + "id": "i_a_bridge", + "producer": { + "nodeId": "Currents", + "portName": "I_A" + }, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "consumer": { + "nodeId": "Clarke", + "portName": "I_B" + }, + "id": "i_b_bridge", + "producer": { + "nodeId": "Currents", + "portName": "I_B" + }, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "consumer": { + "nodeId": "Clarke", + "portName": "I_C" + }, + "id": "i_c_bridge", + "producer": { + "nodeId": "Currents", + "portName": "I_C" + }, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "consumer": { + "nodeId": "LogU", + "portName": "Value" + }, + "id": "i_a_app_bridge", + "producer": { + "nodeId": "Currents", + "portName": "I_A" + }, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "consumer": { + "nodeId": "LogV", + "portName": "Value" + }, + "id": "i_b_app_bridge", + "producer": { + "nodeId": "Currents", + "portName": "I_B" + }, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "consumer": { + "nodeId": "LogW", + "portName": "Value" + }, + "id": "i_c_app_bridge", + "producer": { + "nodeId": "Currents", + "portName": "I_C" + }, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "connections": [ + { + "from": { + "nodeId": "Clarke", + "portName": "I_Alpha" + }, + "id": "c_clarke_alpha", + "to": { + "nodeId": "Park", + "portName": "I_Alpha" + } + }, + { + "from": { + "nodeId": "Clarke", + "portName": "I_Beta" + }, + "id": "c_clarke_beta", + "to": { + "nodeId": "Park", + "portName": "I_Beta" + } + }, + { + "from": { + "nodeId": "Encoder", + "portName": "Theta" + }, + "id": "c_enc_theta", + "to": { + "nodeId": "ElecAngle", + "portName": "ThetaMech" + } + }, + { + "from": { + "nodeId": "CfgEncSign", + "portName": "Value" + }, + "id": "c_cfg_enc_sign", + "to": { + "nodeId": "ElecAngle", + "portName": "EncoderSign" + } + }, + { + "from": { + "nodeId": "CfgEncOffset", + "portName": "Value" + }, + "id": "c_cfg_enc_offset", + "to": { + "nodeId": "ElecAngle", + "portName": "OffsetDeg" + } + }, + { + "from": { + "nodeId": "CfgPoles", + "portName": "Value" + }, + "id": "c_cfg_poles", + "to": { + "nodeId": "ElecAngle", + "portName": "Poles" + } + }, + { + "from": { + "nodeId": "ElecAngle", + "portName": "ThetaElec" + }, + "id": "c_elec_theta", + "to": { + "nodeId": "Park", + "portName": "Theta" + } + }, + { + "from": { + "nodeId": "ElecAngle", + "portName": "ThetaElec" + }, + "id": "c_elec_to_deriv", + "to": { + "nodeId": "OmegaDeriv", + "portName": "In" + } + }, + { + "from": { + "nodeId": "Park", + "portName": "I_D" + }, + "id": "c_id", + "to": { + "nodeId": "SpeedAdrcMpc", + "portName": "I_D" + } + }, + { + "from": { + "nodeId": "Park", + "portName": "I_Q" + }, + "id": "c_iq", + "to": { + "nodeId": "SpeedAdrcMpc", + "portName": "I_Q" + } + }, + { + "from": { + "nodeId": "OmegaDeriv", + "portName": "Out" + }, + "id": "c_omega", + "to": { + "nodeId": "SpeedAdrcMpc", + "portName": "Omega_E" + } + }, + { + "from": { + "nodeId": "VdcSense", + "portName": "V_Dc" + }, + "id": "c_vdc", + "to": { + "nodeId": "SpeedAdrcMpc", + "portName": "V_Dc" + } + }, + { + "from": { + "nodeId": "IdVar", + "portName": "Value" + }, + "id": "c_id_ref", + "to": { + "nodeId": "SpeedAdrcMpc", + "portName": "I_D_Ref" + } + }, + { + "from": { + "nodeId": "IqGate", + "portName": "Out" + }, + "id": "c_iqgate_mpcc", + "to": { + "nodeId": "SpeedAdrcMpc", + "portName": "I_Q_Ref" + } + }, + { + "from": { + "nodeId": "ThrottleEnable", + "portName": "Value" + }, + "id": "c_throttle_enable", + "to": { + "nodeId": "IqGate", + "portName": "Sel" + } + }, + { + "from": { + "nodeId": "IqVar", + "portName": "Value" + }, + "id": "c_iq_var", + "to": { + "nodeId": "SlewIq", + "portName": "In" + } + }, + { + "from": { + "nodeId": "SlewIq", + "portName": "Out" + }, + "id": "c_slew_iq", + "to": { + "nodeId": "IqGate", + "portName": "Val" + } + }, + { + "from": { + "nodeId": "ThrottleEnable", + "portName": "Value" + }, + "id": "c_enable_mpcc", + "to": { + "nodeId": "SpeedAdrcMpc", + "portName": "Enable" + } + }, + { + "from": { + "nodeId": "SpeedAdrcMpc", + "portName": "S_A" + }, + "id": "c_sa", + "to": { + "nodeId": "SwitchToDuty", + "portName": "S_A" + } + }, + { + "from": { + "nodeId": "SpeedAdrcMpc", + "portName": "S_B" + }, + "id": "c_sb", + "to": { + "nodeId": "SwitchToDuty", + "portName": "S_B" + } + }, + { + "from": { + "nodeId": "SpeedAdrcMpc", + "portName": "S_C" + }, + "id": "c_sc", + "to": { + "nodeId": "SwitchToDuty", + "portName": "S_C" + } + }, + { + "from": { + "nodeId": "Svpwm", + "portName": "Duty_A" + }, + "id": "c_duty_a", + "to": { + "nodeId": "PwmOut", + "portName": "Duty_A" + } + }, + { + "from": { + "nodeId": "Svpwm", + "portName": "Duty_B" + }, + "id": "c_duty_b", + "to": { + "nodeId": "PwmOut", + "portName": "Duty_B" + } + }, + { + "from": { + "nodeId": "Svpwm", + "portName": "Duty_C" + }, + "id": "c_duty_c", + "to": { + "nodeId": "PwmOut", + "portName": "Duty_C" + } + }, + { + "from": { + "nodeId": "Park", + "portName": "I_D" + }, + "id": "c_log_id", + "to": { + "nodeId": "LogId", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Park", + "portName": "I_Q" + }, + "id": "c_log_iq", + "to": { + "nodeId": "LogIq", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "SpeedAdrcMpc", + "portName": "Pred_I_D" + }, + "id": "c_log_pred_id", + "to": { + "nodeId": "LogPredId", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "SpeedAdrcMpc", + "portName": "Pred_I_Q" + }, + "id": "c_log_pred_iq", + "to": { + "nodeId": "LogPredIq", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "SpeedAdrcMpc", + "portName": "Cost" + }, + "id": "c_log_cost", + "to": { + "nodeId": "LogCost", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "SpeedAdrcMpc", + "portName": "State_Index" + }, + "id": "c_log_state", + "to": { + "nodeId": "LogState", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Svpwm", + "portName": "Duty_A" + }, + "id": "c_log_du", + "to": { + "nodeId": "LogDu", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Svpwm", + "portName": "Duty_B" + }, + "id": "c_log_dv", + "to": { + "nodeId": "LogDv", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Svpwm", + "portName": "Duty_C" + }, + "id": "c_log_dw", + "to": { + "nodeId": "LogDw", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "ElecAngle", + "portName": "ThetaElec" + }, + "id": "c_log_theta_e", + "to": { + "nodeId": "LogThetaE", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "OmegaDeriv", + "portName": "Out" + }, + "id": "c_log_omega_e", + "to": { + "nodeId": "LogOmegaE", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "EncoderApp", + "portName": "Theta" + }, + "id": "c_log_theta", + "to": { + "nodeId": "LogTheta", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "VdcApp", + "portName": "V_Dc" + }, + "id": "c_log_vdc", + "to": { + "nodeId": "LogVdc", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Temps", + "portName": "T_Motor" + }, + "id": "c_t_motor", + "to": { + "nodeId": "LogT_Motor", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Temps", + "portName": "T_Inv1" + }, + "id": "c_t_inv1", + "to": { + "nodeId": "LogT_Inv1", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Temps", + "portName": "T_Inv2" + }, + "id": "c_t_inv2", + "to": { + "nodeId": "LogT_Inv2", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Temps", + "portName": "T_Inv3" + }, + "id": "c_t_inv3", + "to": { + "nodeId": "LogT_Inv3", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Throttle", + "portName": "A" + }, + "id": "c_thr_a", + "to": { + "nodeId": "LogThrA", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Throttle", + "portName": "B" + }, + "id": "c_thr_b", + "to": { + "nodeId": "LogThrB", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Din1", + "portName": "Out" + }, + "id": "c_din1_led", + "to": { + "nodeId": "LedGreen", + "portName": "In" + } + }, + { + "from": { + "nodeId": "ElecAngle", + "portName": "ThetaElec" + }, + "id": "c_theta_e", + "to": { + "nodeId": "SpeedAdrcMpc", + "portName": "Theta_E" + } + }, + { + "from": { + "nodeId": "SpeedAdrcMpc", + "portName": "V_Alpha" + }, + "id": "c_svpwm_valpha", + "to": { + "nodeId": "Svpwm", + "portName": "V_Alpha" + } + }, + { + "from": { + "nodeId": "SpeedAdrcMpc", + "portName": "V_Beta" + }, + "id": "c_svpwm_vbeta", + "to": { + "nodeId": "Svpwm", + "portName": "V_Beta" + } + }, + { + "from": { + "nodeId": "VdcSense", + "portName": "V_Dc" + }, + "id": "c_svpwm_vdc", + "to": { + "nodeId": "Svpwm", + "portName": "V_Dc" + } + }, + { + "from": { + "nodeId": "CfgRs", + "portName": "Value" + }, + "to": { + "nodeId": "SpeedAdrcMpc", + "portName": "Rs" + }, + "id": "c_cfg_rs_mpcc" + }, + { + "from": { + "nodeId": "CfgLd", + "portName": "Value" + }, + "to": { + "nodeId": "SpeedAdrcMpc", + "portName": "Ld" + }, + "id": "c_cfg_ld_mpcc" + }, + { + "from": { + "nodeId": "CfgLq", + "portName": "Value" + }, + "to": { + "nodeId": "SpeedAdrcMpc", + "portName": "Lq" + }, + "id": "c_cfg_lq_mpcc" + }, + { + "from": { + "nodeId": "CfgPsi", + "portName": "Value" + }, + "to": { + "nodeId": "SpeedAdrcMpc", + "portName": "PsiF" + }, + "id": "c_cfg_psi_mpcc" + }, + { + "id": "c_logthetamech", + "from": { + "nodeId": "Encoder", + "portName": "Theta" + }, + "to": { + "nodeId": "LogThetaMech", + "portName": "Value" + } + }, + { + "id": "c_logld", + "from": { + "nodeId": "CfgLd", + "portName": "Value" + }, + "to": { + "nodeId": "LogLd", + "portName": "Value" + } + }, + { + "id": "c_loglq", + "from": { + "nodeId": "CfgLq", + "portName": "Value" + }, + "to": { + "nodeId": "LogLq", + "portName": "Value" + } + }, + { + "id": "c_logencsign", + "from": { + "nodeId": "CfgEncSign", + "portName": "Value" + }, + "to": { + "nodeId": "LogEncSign", + "portName": "Value" + } + }, + { + "id": "c_cfg_iq_slew", + "from": { + "nodeId": "CfgIqSlew", + "portName": "Value" + }, + "to": { + "nodeId": "SlewIq", + "portName": "Rate" + } + }, + { + "id": "c_spdvar_slew", + "from": { + "nodeId": "SpdVar", + "portName": "Value" + }, + "to": { + "nodeId": "SlewSpd", + "portName": "In" + } + }, + { + "id": "c_slewspd_ref", + "from": { + "nodeId": "SlewSpd", + "portName": "Out" + }, + "to": { + "nodeId": "SpeedAdrcMpc", + "portName": "Spd_Ref" + } + }, + { + "id": "c_log_iqcmd", + "from": { + "nodeId": "SpeedAdrcMpc", + "portName": "Iq_Cmd" + }, + "to": { + "nodeId": "LogIqCmd", + "portName": "Value" + } + }, + { + "id": "c_log_rpm", + "from": { + "nodeId": "SpeedAdrcMpc", + "portName": "Rpm_Meas" + }, + "to": { + "nodeId": "LogRpm", + "portName": "Value" + } + } + ], + "name": "speed_adrc_mpc_current_demo", + "nodeTypes": [ + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Const", + "description": "Provides a constant scalar value, optionally replaced by a wired input.", + "displayName": "Constant", + "domain": "", + "id": "Values.Constant", + "inlineCode": "/* Compile-time constant (or wired value via optional In). */\nOut = Value;\n", + "inputPorts": [ + { + "description": "Optional value that replaces the configured constant when wired.", + "direction": "input", + "name": "In", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Configured constant or the value supplied through In.", + "direction": "output", + "name": "Out", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "In": { + "description": "Fallback storage for the optional In port.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Value": { + "description": "Constant value emitted when no input overrides it.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Log", + "description": "Publishes a scalar value to runtime telemetry under a configurable key.", + "displayName": "Telemetry Log", + "domain": "", + "id": "Debug.TelemetryLog", + "inlineCode": "platform_telemetry_log_f32(Key, Value);\n", + "inputPorts": [ + { + "description": "Scalar value to publish.", + "direction": "input", + "name": "Value", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [], + "parameterTypes": { + "Key": { + "description": "Telemetry channel name used when publishing the value.", + "dtype": "f32", + "frame": "scalar", + "quantity": "string" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "PwmOut", + "description": "Applies three phase-duty commands to the platform PWM peripheral.", + "displayName": "PWM Out", + "domain": "tim_isr", + "id": "Actuators.PwmOut", + "inlineCode": "platform_pwm_set(Duty_A, Duty_B, Duty_C);\n", + "inputPorts": [ + { + "description": "Phase A PWM duty command in percent.", + "direction": "input", + "name": "Duty_A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Phase B PWM duty command in percent.", + "direction": "input", + "name": "Duty_B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Phase C PWM duty command in percent.", + "direction": "input", + "name": "Duty_C", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 1, + "outputPorts": [] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "CanRx", + "description": "Reads the latest frame from a configured CAN receive mailbox and exposes its payload.", + "displayName": "CAN RX", + "domain": "", + "id": "Sensors.CanRx", + "inlineCode": "/* CAN receive mailbox for Id on Bus (1=A/FDCAN1, 2=B/FDCAN2).\n * Fresh is true for one step when a new frame arrived; Dlc/bytes hold the\n * latest payload otherwise. */\nuint8_t buf[8] = {};\nuint32_t seq = 0;\nconst int dlc = platform_can_rx(static_cast(Bus),\n static_cast(Id), buf, &seq);\nFresh = (seq != LastSeq);\nLastSeq = static_cast(seq);\nif (dlc > 0) {\n Dlc = static_cast(dlc);\n D0 = buf[0]; D1 = buf[1]; D2 = buf[2]; D3 = buf[3];\n D4 = buf[4]; D5 = buf[5]; D6 = buf[6]; D7 = buf[7];\n} else {\n Dlc = 0.0f;\n}\n", + "inputPorts": [], + "isEntryPoint": true, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Most recently received payload byte 0.", + "direction": "output", + "name": "D0", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Most recently received payload byte 1.", + "direction": "output", + "name": "D1", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Most recently received payload byte 2.", + "direction": "output", + "name": "D2", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Most recently received payload byte 3.", + "direction": "output", + "name": "D3", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Most recently received payload byte 4.", + "direction": "output", + "name": "D4", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Most recently received payload byte 5.", + "direction": "output", + "name": "D5", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Most recently received payload byte 6.", + "direction": "output", + "name": "D6", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Most recently received payload byte 7.", + "direction": "output", + "name": "D7", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Data length of the latest received frame.", + "direction": "output", + "name": "Dlc", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "True for one execution step when a new frame has arrived.", + "direction": "output", + "name": "Fresh", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "parameterTypes": { + "Bus": { + "description": "CAN controller number: 1 selects bus A/FDCAN1 and 2 selects bus B/FDCAN2.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Id": { + "description": "CAN arbitration identifier accepted by the receive mailbox.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "LastSeq": { + "description": "Internal sequence counter used to detect newly received frames.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "PhaseVoltages", + "description": "Reads the filtered three-phase and DC-link voltage sensor channels.", + "displayName": "Phase Voltages", + "domain": "", + "id": "Sensors.PhaseVoltages", + "inlineCode": "/* All voltage sense channels from the MAX22530 isolated ADC, filtered. */\nV_U = rte::Volts(platform_phase_voltage_u());\nV_V = rte::Volts(platform_phase_voltage_v());\nV_W = rte::Volts(platform_phase_voltage_w());\nV_Dc = rte::Volts(platform_get_dc_link_voltage());\n", + "inputPorts": [], + "isEntryPoint": false, + "maxInstances": 1, + "outputPorts": [ + { + "description": "Measured phase U voltage in volts.", + "direction": "output", + "name": "V_U", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Measured phase V voltage in volts.", + "direction": "output", + "name": "V_V", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Measured phase W voltage in volts.", + "direction": "output", + "name": "V_W", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Measured DC-link voltage in volts.", + "direction": "output", + "name": "V_Dc", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "InvPark", + "description": "Rotates d-q voltage commands into stationary alpha-beta coordinates.", + "displayName": "Inverse Park Transform", + "domain": "", + "id": "Transforms.InversePark", + "inlineCode": "const float cos_theta = cosf(Theta);\nconst float sin_theta = sinf(Theta);\nV_Alpha = V_D * cos_theta - V_Q * sin_theta;\nV_Beta = V_D * sin_theta + V_Q * cos_theta;\n", + "inputPorts": [ + { + "description": "Rotating-frame direct-axis voltage.", + "direction": "input", + "name": "V_D", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Rotating-frame quadrature-axis voltage.", + "direction": "input", + "name": "V_Q", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Electrical rotation angle in radians.", + "direction": "input", + "name": "Theta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Stationary-frame alpha-axis voltage.", + "direction": "output", + "name": "V_Alpha", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Stationary-frame beta-axis voltage.", + "direction": "output", + "name": "V_Beta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Din", + "description": "Reads a boolean level from one of the platform user digital inputs.", + "displayName": "Digital In", + "domain": "", + "id": "Sensors.DigitalIn", + "inlineCode": "/* User digital input. Pin 1..8 -> USER_DIN_1..8 (see platform_api.h). */\nOut = platform_digital_read(static_cast(Pin));\n", + "inputPorts": [], + "isEntryPoint": true, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Current logic level of the selected digital input.", + "direction": "output", + "name": "Out", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "parameterTypes": { + "Pin": { + "description": "User digital input selector in the range 1 through 8.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Dout", + "description": "Writes a boolean signal to a user digital output or onboard status LED.", + "displayName": "Digital Out", + "domain": "", + "id": "Actuators.DigitalOut", + "inlineCode": "/* User digital output. Pin 1..4 -> USER_DOUT_1..4, 5 -> green LED,\n * 6 -> orange LED (see platform_api.h). */\nplatform_digital_write(static_cast(Pin), In);\n", + "inputPorts": [ + { + "description": "Logic level to write to the selected output.", + "direction": "input", + "name": "In", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [], + "parameterTypes": { + "Pin": { + "description": "Output selector: 1-4 are user digital outputs, 5 is the green LED, and 6 is the orange LED.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "ForcedAngle", + "description": "Generates a continuously advancing electrical angle for open-loop control.", + "displayName": "Forced Angle", + "domain": "", + "id": "Transforms.ForcedAngle", + "inlineCode": "Angle += RateRadPerS * Dt;\nif (Angle >= 6.28318530718f) Angle -= 6.28318530718f;\nThetaElec = Angle;\n", + "inputPorts": [], + "isEntryPoint": false, + "maxInstances": 1, + "outputPorts": [ + { + "description": "Generated electrical angle wrapped to one revolution.", + "direction": "output", + "name": "ThetaElec", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "Angle": { + "description": "Persistent generated angle state in radians.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Dt": { + "description": "Update period in seconds.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "RateRadPerS": { + "description": "Electrical angular velocity in radians per second.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Pi", + "description": "Proportional-integral controller with output clamping and back-calculation anti-windup.", + "displayName": "PI Controller", + "domain": "", + "id": "Control.Pi", + "inlineCode": "/* PI with clamping + back-calculation anti-windup.\n * Dimensionless throughout: implicit unit extraction/injection handles any\n * physical-quantity wiring at the binding sites. */\nconst float error = Setpoint - Measurement;\nIntegral += error * Dt;\n\nfloat raw_output = Kp * error + Ki * Integral;\n\n/* Dynamic limit derived from DC-link voltage, matching the base image's\n * VectorPIController convention: max = Vdc/sqrt(3) * 0.95. */\nconst float vdc = platform_get_dc_link_voltage();\nconst float dynamic_max = (vdc / 1.7320508075688772f) * 0.95f;\nconst float max_limit = (dynamic_max < OutputMax) ? dynamic_max : OutputMax;\nconst float min_limit = (-dynamic_max > OutputMin) ? -dynamic_max : OutputMin;\n\nfloat limited_output = raw_output;\nif (limited_output > max_limit) limited_output = max_limit;\nif (limited_output < min_limit) limited_output = min_limit;\n\n/* Back-calculation anti-windup, scaled by AwGain (0 disables; 1.0 matches\n * the base-image VectorPIController). */\nif (Ki > 0.0001f && Kp > 0.0001f && AwGain > 0.0f) {\n const float excess = raw_output - limited_output;\n Integral -= excess * Dt * AwGain / (Kp * Ki);\n}\n\nOutput = limited_output;\n", + "inputPorts": [ + { + "description": "Desired target value.", + "direction": "input", + "name": "Setpoint", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Measured process value subtracted from the setpoint.", + "direction": "input", + "name": "Measurement", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Clamped PI control effort.", + "direction": "output", + "name": "Output", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "AwGain": { + "description": "Back-calculation anti-windup gain. Zero disables anti-windup.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Dt": { + "description": "Controller step period in seconds.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Integral": { + "description": "Persistent accumulated-error state.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Ki": { + "description": "Integral gain applied to the accumulated error.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Kp": { + "description": "Proportional gain applied to the current error.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "OutputMax": { + "description": "Upper output clamp, additionally limited by the measured DC-link voltage.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "OutputMin": { + "description": "Lower output clamp, additionally limited by the measured DC-link voltage.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Throttle", + "description": "Reads the redundant throttle channels and their plausibility status.", + "displayName": "Throttle", + "domain": "", + "id": "Sensors.Throttle", + "inlineCode": "/* Dual throttle channels, normalized [0..1] by the base-image driver\n * (KV calibration Hw.ThrA/B.MinV/MaxV). Both read 0 and Valid is false\n * while the channels disagree beyond the plausibility tolerance. */\nA = platform_get_throttle_a();\nB = platform_get_throttle_b();\nValid = platform_get_throttle_valid();\n", + "inputPorts": [], + "isEntryPoint": true, + "maxInstances": 1, + "outputPorts": [ + { + "description": "Normalized throttle channel A in the range 0 to 1.", + "direction": "output", + "name": "A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Normalized throttle channel B in the range 0 to 1.", + "direction": "output", + "name": "B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "True when both throttle channels pass the plausibility check.", + "direction": "output", + "name": "Valid", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Temps", + "description": "Reads the motor and three inverter temperature channels from the application sensors.", + "displayName": "Temperatures", + "domain": "", + "id": "Sensors.Temperatures", + "inlineCode": "/* Motor + board temperatures from the base-image ApplicationSensors driver.\n * NAN while a channel is disabled or out of range (open/short). */\nT_Motor = rte::Celsius(platform_get_motor_temperature());\nT_Inv1 = rte::Celsius(platform_get_inverter_temperature(0));\nT_Inv2 = rte::Celsius(platform_get_inverter_temperature(1));\nT_Inv3 = rte::Celsius(platform_get_inverter_temperature(2));\n", + "inputPorts": [], + "isEntryPoint": false, + "maxInstances": 1, + "outputPorts": [ + { + "description": "Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.", + "direction": "output", + "name": "T_Motor", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "temperature" + } + }, + { + "description": "Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.", + "direction": "output", + "name": "T_Inv1", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "temperature" + } + }, + { + "description": "Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.", + "direction": "output", + "name": "T_Inv2", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "temperature" + } + }, + { + "description": "Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.", + "direction": "output", + "name": "T_Inv3", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "temperature" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Greater", + "description": "Compares two scalar values and reports whether A is greater than B.", + "displayName": "Greater Than", + "domain": "", + "id": "Logic.Greater", + "inlineCode": "Out = (A > B);\n", + "inputPorts": [ + { + "description": "Left-hand value in the comparison.", + "direction": "input", + "name": "A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Right-hand value in the comparison.", + "direction": "input", + "name": "B", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "True when A is greater than B.", + "direction": "output", + "name": "Out", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "parameterTypes": { + "B": { + "description": "Fallback comparison threshold used when the B input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "VdcSense", + "description": "Reads the inverter DC-link voltage from the platform sensor interface.", + "displayName": "DC Link Voltage", + "domain": "", + "id": "Sensors.DcLinkVoltage", + "inlineCode": "V_Dc = rte::Volts(platform_get_dc_link_voltage());\n", + "inputPorts": [], + "isEntryPoint": true, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Measured DC-link voltage in volts.", + "direction": "output", + "name": "V_Dc", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "SwitchToDuty", + "description": "Converts inverter switch states (0/1) to PWM duty cycles (0%/100%).", + "displayName": "Switch States to Duty", + "domain": "tim_isr", + "id": "Transforms.SwitchToDuty", + "inlineCode": "Duty_A = S_A * 100.0f;\nDuty_B = S_B * 100.0f;\nDuty_C = S_C * 100.0f;\n", + "inputPorts": [ + { + "description": "Phase A high-side switch state (1 = on).", + "direction": "input", + "name": "S_A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + }, + { + "description": "Phase B high-side switch state (1 = on).", + "direction": "input", + "name": "S_B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + }, + { + "description": "Phase C high-side switch state (1 = on).", + "direction": "input", + "name": "S_C", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "isEntryPoint": false, + "maxInstances": 1, + "outputPorts": [ + { + "description": "Phase A PWM duty cycle (0-100%).", + "direction": "output", + "name": "Duty_A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Phase B PWM duty cycle (0-100%).", + "direction": "output", + "name": "Duty_B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Phase C PWM duty cycle (0-100%).", + "direction": "output", + "name": "Duty_C", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Deriv", + "description": "Estimates a signal derivative with an optional first-order low-pass filter.", + "displayName": "Derivative", + "domain": "", + "id": "Transforms.Derivative", + "inlineCode": "/* Filtered derivative: Out ~= d(In)/dt, low-passed at Fc [Hz] to keep\n * sampling noise out of the estimate (Fc <= 0 disables filtering).\n * Prev/OutState are persistent state (leave at graph defaults).\n *\n * Unwrap > 0.5: treat In as an angle in radians and wrap (In-Prev) into\n * (-pi, pi] before dividing by Dt. Required for Theta_E \u2192 \u03c9_e; without it\n * every 2\u03c0 wrap injects a ~\u00b12\u03c0/Dt spike (HybridADRCMPC-4 current spikes).\n */\nfloat d_in = In - Prev;\nif (Unwrap > 0.5f) {\n const float pi = 3.14159265359f;\n const float two_pi = 6.28318530718f;\n d_in = fmodf(d_in + pi, two_pi);\n if (d_in < 0.0f) d_in += two_pi;\n d_in -= pi;\n}\nconst float raw = d_in / Dt;\nPrev = In;\nif (Fc > 0.0f) {\n const float alpha = 1.0f / (1.0f + 1.0f / (6.28318530718f * Fc * Dt));\n OutState += alpha * (raw - OutState);\n} else {\n OutState = raw;\n}\nOut = OutState;\n", + "inputPorts": [ + { + "description": "Signal whose time derivative is estimated.", + "direction": "input", + "name": "In", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Filtered derivative estimate.", + "direction": "output", + "name": "Out", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "Dt": { + "description": "Sample period in seconds.", + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "Fc": { + "description": "Low-pass cutoff frequency in hertz. Values at or below zero disable filtering.", + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "Prev": { + "description": "Persistent previous input sample used by the finite difference.", + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "OutState": { + "description": "Persistent filtered derivative state.", + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "Unwrap": { + "description": "If >0.5, wrap (In-Prev) into (-pi, pi] before differentiating (use for electrical/mechanical angle).", + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Encoder", + "description": "Reads the latest mechanical rotor angle and motor speed from the encoder driver.", + "displayName": "Encoder", + "domain": "", + "id": "Sensors.Encoder", + "inlineCode": "/* Mechanical angle [rad] and speed [rpm] from the base-image encoder driver. */\nTheta = platform_get_encoder_angle_latest() * 0.01745329251f; // deg -> rad\nOmega = platform_get_motor_rpm();\n", + "inputPorts": [], + "isEntryPoint": true, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Mechanical rotor angle in radians.", + "direction": "output", + "name": "Theta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Mechanical motor speed in revolutions per minute.", + "direction": "output", + "name": "Omega", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Svpwm", + "description": "Converts an alpha-beta voltage vector into centered three-phase PWM duty commands.", + "displayName": "Space Vector PWM", + "domain": "", + "id": "Transforms.Svpwm", + "inlineCode": "/* Clamp the alpha/beta voltage vector to the linear SVM limit.\n * The maximum line-to-neutral voltage magnitude for linear modulation is\n * Vdc / sqrt(3). Use a small margin to stay away from the overmodulation\n * boundary. */\nconst float sqrt3 = 1.7320508075688772f;\nconst float v_max_linear = (V_Dc.in(au::volts) / sqrt3) * 0.95f;\nfloat valpha = V_Alpha.in(au::volts);\nfloat vbeta = V_Beta.in(au::volts);\nconst float v_albe_sq = valpha * valpha + vbeta * vbeta;\nif (v_albe_sq > v_max_linear * v_max_linear && v_albe_sq > 1e-12f) {\n const float scale = v_max_linear / sqrtf(v_albe_sq);\n valpha *= scale;\n vbeta *= scale;\n}\n\n/* Inverse Clarke: alpha/beta -> A/B/C. */\nconst float v_a = valpha / V_Dc.in(au::volts);\nconst float v_b = (-0.5f * valpha + 0.86602540378f * vbeta) / V_Dc.in(au::volts);\nconst float v_c = (-0.5f * valpha - 0.86602540378f * vbeta) / V_Dc.in(au::volts);\n\nfloat v_min = v_a;\nif (v_b < v_min) v_min = v_b;\nif (v_c < v_min) v_min = v_c;\n\nfloat v_max = v_a;\nif (v_b > v_max) v_max = v_b;\nif (v_c > v_max) v_max = v_c;\n\nconst float v_offset = 0.5f * (v_min + v_max);\n\n/* Convert to percent duty and clamp. Linear SVM stays roughly in\n * [21%, 79%]; clamping to [0,100] only catches numerical edge cases. */\nfloat duty_a_pct = 50.0f + 50.0f * (v_a - v_offset);\nfloat duty_b_pct = 50.0f + 50.0f * (v_b - v_offset);\nfloat duty_c_pct = 50.0f + 50.0f * (v_c - v_offset);\n\nif (duty_a_pct < 0.0f) duty_a_pct = 0.0f; else if (duty_a_pct > 100.0f) duty_a_pct = 100.0f;\nif (duty_b_pct < 0.0f) duty_b_pct = 0.0f; else if (duty_b_pct > 100.0f) duty_b_pct = 100.0f;\nif (duty_c_pct < 0.0f) duty_c_pct = 0.0f; else if (duty_c_pct > 100.0f) duty_c_pct = 100.0f;\n\nDuty_A = duty_a_pct;\nDuty_B = duty_b_pct;\nDuty_C = duty_c_pct;\n", + "inputPorts": [ + { + "description": "Requested stationary-frame alpha-axis voltage.", + "direction": "input", + "name": "V_Alpha", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Requested stationary-frame beta-axis voltage.", + "direction": "input", + "name": "V_Beta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Measured DC-link voltage used for normalization and modulation limiting.", + "direction": "input", + "name": "V_Dc", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Phase A PWM duty command in percent.", + "direction": "output", + "name": "Duty_A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Phase B PWM duty command in percent.", + "direction": "output", + "name": "Duty_B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Phase C PWM duty command in percent.", + "direction": "output", + "name": "Duty_C", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Var", + "description": "Stores a scalar value and updates it when the Set input is true.", + "displayName": "Var", + "domain": "", + "id": "Values.Var", + "inlineCode": "if (Set) Stored = In;\nValue = Stored;\n", + "inputPorts": [ + { + "description": "New scalar value to store when Set is true.", + "direction": "input", + "name": "In", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Write enable. When true, copies In into the stored value.", + "direction": "input", + "name": "Set", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Current stored scalar value.", + "direction": "output", + "name": "Value", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "In": { + "description": "Fallback new value when the In input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Set": { + "description": "Fallback write-enable value when the Set input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + }, + "Stored": { + "description": "Persistent scalar storage state.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Mpcc", + "description": "Finite-control-set model-predictive current control for a three-phase PMSM.", + "displayName": "FCS-MPCC (Three-Phase PMSM)", + "domain": "tim_isr", + "id": "Control.Mpcc", + "inlineCode": "/* Predictive current control for three-phase PMSM (Zhang et al., IEEE TIA 2017).\n * Mode: 0=Conventional FCS (full vector / period) \u2014 NOT for Gen6 low-L\n * 1=Delay-compensated FCS\n * 2=Back-EMF path (same predictor hook as 1 for now)\n * 3=Deadbeat voltage \u2192 SVPWM \u2190 use this on Gen6 to spin\n *\n * Mode 3 matches the FOC voltage path (V\u03b1\u03b2 \u2192 Transforms.Svpwm \u2192 PwmOut) but\n * replaces PI with a one-step predictive / deadbeat voltage law:\n * v_dq = R i + \u03c9 cross terms + (L/Ts)(i* - i_pred)\n * Tuned for smooth mid-bus Gen6 spin (\u224850\u2013100 V): milder deadbeat,\n * current LPF (noise tolerance), longer soft-start. abs(Id_ref) and abs(Iq_ref) limited by\n * I_Max only. Holds if Vdc < 40 V. Under voltage limit, prefer Iq (torque).\n */\n\nstatic float mpcc_prev_sa = 0.0f;\nstatic float mpcc_prev_sb = 0.0f;\nstatic float mpcc_prev_sc = 0.0f;\nstatic float mpcc_u_alpha_prev = 0.0f;\nstatic float mpcc_u_beta_prev = 0.0f;\nstatic float mpcc_id_int = 0.0f;\nstatic float mpcc_iq_int = 0.0f;\nstatic float mpcc_enable_s = 0.0f;\nstatic float mpcc_id_f = 0.0f;\nstatic float mpcc_iq_f = 0.0f;\nstatic float mpcc_i_filt_init = 0.0f;\n\nconst float ts = Ts;\nfloat rs = Rs;\nfloat ld = Ld;\nfloat lq = Lq;\nfloat psi_f = PsiF;\nif (!(rs > 0.0f)) rs = 0.1f;\nif (!(ld > 1.0e-7f)) ld = 0.0001f;\nif (!(lq > 1.0e-7f)) lq = 0.0002f;\nif (!(psi_f >= 0.0f)) psi_f = 0.01f;\n/* Allow calibrated Gen6 flux (~0.07 Wb); old 0.05 clamp starved back-EMF FF. */\nif (psi_f > 0.15f) psi_f = 0.15f;\n\nconst float i_base = (I_Base > 0.0f) ? I_Base : 10.0f;\nconst float i_max = (I_Max > 0.0f) ? I_Max : 30.0f;\nconst float vdc = V_Dc.in(au::volts);\nconst float id_raw = I_D.in(au::amperes);\nconst float iq_raw = I_Q.in(au::amperes);\nfloat id_ref = I_D_Ref;\nfloat iq_ref = I_Q_Ref;\nconst float theta_e = Theta_E;\nfloat omega_e = Omega_E;\n/* Cover FOC-class speeds: 2000 rpm @ 10 poles => \u03c9e\u22481047 rad/s. */\nconst float w_max = 3000.0f;\nif (omega_e > w_max) omega_e = w_max;\nif (omega_e < -w_max) omega_e = -w_max;\n\nconst bool enable = Enable;\nconst int mode_i = (Mode >= 3.0f) ? 3 : ((Mode >= 2.0f) ? 2 : ((Mode >= 1.0f) ? 1 : 0));\n\nconst float two_thirds = 2.0f / 3.0f;\nconst float inv_sqrt3 = 0.57735026919f;\nconst float sqrt3 = 1.73205080757f;\nconst int switch_bits[8][3] = {\n {0, 0, 0}, {1, 0, 0}, {1, 1, 0}, {0, 1, 0},\n {0, 1, 1}, {0, 0, 1}, {1, 0, 1}, {1, 1, 1}\n};\n\n/* Clamp |Id*| and |Iq*| to I_Max \u2014 no hidden Vdc-based ceiling. */\nif (id_ref > i_max) id_ref = i_max;\nif (id_ref < -i_max) id_ref = -i_max;\nif (iq_ref > i_max) iq_ref = i_max;\nif (iq_ref < -i_max) iq_ref = -i_max;\n\nconst float cost_track = ((id_ref - id_raw) / i_base) * ((id_ref - id_raw) / i_base)\n + ((iq_ref - iq_raw) / i_base) * ((iq_ref - iq_raw) / i_base);\n\n/* Hold output unless enabled with a usable DC bus (smooth-spin guard). */\nconst bool bus_ok = (vdc >= 40.0f);\nif (!enable || !(ts > 0.0f) || !bus_ok) {\n S_A = 0.0f;\n S_B = 0.0f;\n S_C = 0.0f;\n State_Index = 0.0f;\n Pred_I_D = rte::Amperes(id_raw);\n Pred_I_Q = rte::Amperes(iq_raw);\n Cost = cost_track;\n V_Alpha = rte::Volts(0.0f);\n V_Beta = rte::Volts(0.0f);\n V_D = rte::Volts(0.0f);\n V_Q = rte::Volts(0.0f);\n mpcc_prev_sa = 0.0f;\n mpcc_prev_sb = 0.0f;\n mpcc_prev_sc = 0.0f;\n mpcc_u_alpha_prev = 0.0f;\n mpcc_u_beta_prev = 0.0f;\n mpcc_id_int = 0.0f;\n mpcc_iq_int = 0.0f;\n mpcc_enable_s = 0.0f;\n mpcc_id_f = id_raw;\n mpcc_iq_f = iq_raw;\n mpcc_i_filt_init = 0.0f;\n} else if (mode_i == 3) {\n /* -------- Deadbeat predictive voltage \u2192 SVPWM (Gen6 spin path) -------- */\n const float cos_t = cosf(theta_e);\n const float sin_t = sinf(theta_e);\n\n /* LPF measured currents before deadbeat (~500 Hz). Reduces hiss from\n * ADC/quantization noise on low-L Gen6 without killing torque response. */\n if (mpcc_i_filt_init < 0.5f) {\n mpcc_id_f = id_raw;\n mpcc_iq_f = iq_raw;\n mpcc_i_filt_init = 1.0f;\n } else {\n const float fc = 500.0f;\n const float alpha = 1.0f / (1.0f + 1.0f / (6.28318530718f * fc * ts));\n mpcc_id_f += alpha * (id_raw - mpcc_id_f);\n mpcc_iq_f += alpha * (iq_raw - mpcc_iq_f);\n }\n const float id = mpcc_id_f;\n const float iq = mpcc_iq_f;\n\n /* Delay compensation: predict i(k+1) under the voltage applied last step. */\n const float vd_prev = mpcc_u_alpha_prev * cos_t + mpcc_u_beta_prev * sin_t;\n const float vq_prev = -mpcc_u_alpha_prev * sin_t + mpcc_u_beta_prev * cos_t;\n const float id_p = id + (ts / ld) * (vd_prev - rs * id + omega_e * lq * iq);\n const float iq_p = iq + (ts / lq) * (vq_prev - rs * iq - omega_e * ld * id - omega_e * psi_f);\n\n /* Longer soft-start so enable does not dump full deadbeat voltage. */\n const float ramp_s = 0.25f;\n mpcc_enable_s += ts;\n if (mpcc_enable_s > ramp_s) mpcc_enable_s = ramp_s;\n const float ramp = mpcc_enable_s / ramp_s;\n\n /* Soft |i| limit \u2014 scale only the feedback/integral terms, keep FF. */\n const float i_meas = sqrtf(id * id + iq * iq);\n float cost = cost_track;\n float fb_scale = ramp;\n if (i_meas > i_max) {\n cost += 1.0e6f;\n if (i_meas > 1.0e-3f) {\n fb_scale *= i_max / i_meas;\n }\n }\n\n /* Mild deadbeat with filtered currents (less hiss than raw 0.70). */\n const float db_scale = 0.40f;\n const float kp_d = (ld / ts) * db_scale;\n const float kp_q = (lq / ts) * db_scale;\n /* Weak integral \u2014 deadbeat already provides most of the action. */\n const float ki = 3.0f;\n\n const float id_err = id_ref - id_p;\n const float iq_err = iq_ref - iq_p;\n\n const float v_max = (vdc / sqrt3) * 0.95f;\n const float i_lim_v = v_max * 0.5f; /* keep integral from eating the voltage budget */\n\n /* Feedforward (plant inversion) \u2014 not scaled by overcurrent shrink. */\n const float vd_ff = rs * id_p - omega_e * lq * iq_p;\n const float vq_ff = rs * iq_p + omega_e * ld * id_p + omega_e * psi_f;\n\n float vd_fb = kp_d * id_err + mpcc_id_int;\n float vq_fb = kp_q * iq_err + mpcc_iq_int;\n vd_fb *= fb_scale;\n vq_fb *= fb_scale;\n\n float vd_ref = vd_ff * ramp + vd_fb;\n float vq_ref = vq_ff * ramp + vq_fb;\n\n /* Voltage limit: keep as much Vq (torque) as possible, shed Vd first.\n * Matches FOC field-weakening behaviour at low Vdc. */\n const float v_mag_sq = vd_ref * vd_ref + vq_ref * vq_ref;\n const bool sat = (v_mag_sq > v_max * v_max && v_mag_sq > 1.0e-12f);\n if (sat) {\n if (fabsf(vq_ref) >= v_max) {\n vq_ref = (vq_ref >= 0.0f) ? v_max : -v_max;\n vd_ref = 0.0f;\n } else {\n const float vd_lim = sqrtf(v_max * v_max - vq_ref * vq_ref);\n if (vd_ref > vd_lim) vd_ref = vd_lim;\n if (vd_ref < -vd_lim) vd_ref = -vd_lim;\n }\n /* Freeze / bleed integrators under saturation (anti-windup). */\n mpcc_id_int *= 0.90f;\n mpcc_iq_int *= 0.90f;\n } else {\n mpcc_id_int += ki * id_err * ts;\n mpcc_iq_int += ki * iq_err * ts;\n if (mpcc_id_int > i_lim_v) mpcc_id_int = i_lim_v;\n if (mpcc_id_int < -i_lim_v) mpcc_id_int = -i_lim_v;\n if (mpcc_iq_int > i_lim_v) mpcc_iq_int = i_lim_v;\n if (mpcc_iq_int < -i_lim_v) mpcc_iq_int = -i_lim_v;\n }\n\n /* Inverse Park \u2014 same convention as Transforms.InversePark. */\n const float valpha_ref = vd_ref * cos_t - vq_ref * sin_t;\n const float vbeta_ref = vd_ref * sin_t + vq_ref * cos_t;\n\n /* Sector index for telemetry only (PWM comes from SVPWM on V\u03b1\u03b2). */\n int best_idx = 1;\n float best_dist = 1.0e30f;\n for (int idx = 1; idx <= 6; ++idx) {\n const float sa = static_cast(switch_bits[idx][0]);\n const float sb = static_cast(switch_bits[idx][1]);\n const float sc = static_cast(switch_bits[idx][2]);\n const float ua = two_thirds * vdc * (sa - 0.5f * (sb + sc));\n const float ub = vdc * inv_sqrt3 * (sb - sc);\n const float dist = (ua - valpha_ref) * (ua - valpha_ref)\n + (ub - vbeta_ref) * (ub - vbeta_ref);\n if (dist < best_dist) {\n best_dist = dist;\n best_idx = idx;\n }\n }\n\n const float pred_id = id_p + (ts / ld) * (vd_ref - rs * id_p + omega_e * lq * iq_p);\n const float pred_iq = iq_p + (ts / lq) * (vq_ref - rs * iq_p - omega_e * ld * id_p - omega_e * psi_f);\n\n S_A = static_cast(switch_bits[best_idx][0]);\n S_B = static_cast(switch_bits[best_idx][1]);\n S_C = static_cast(switch_bits[best_idx][2]);\n State_Index = static_cast(best_idx);\n Pred_I_D = rte::Amperes(pred_id);\n Pred_I_Q = rte::Amperes(pred_iq);\n Cost = cost;\n V_Alpha = rte::Volts(valpha_ref);\n V_Beta = rte::Volts(vbeta_ref);\n V_D = rte::Volts(vd_ref);\n V_Q = rte::Volts(vq_ref);\n\n mpcc_prev_sa = S_A;\n mpcc_prev_sb = S_B;\n mpcc_prev_sc = S_C;\n mpcc_u_alpha_prev = valpha_ref;\n mpcc_u_beta_prev = vbeta_ref;\n} else {\n /* -------- Classic FCS enumeration (Modes 0\u20132) -------- */\n const float id = id_raw;\n const float iq = iq_raw;\n float id_base = id;\n float iq_base = iq;\n if (mode_i >= 1) {\n /* Proper dq delay compensation using last applied \u03b1\u03b2 voltage. */\n const float cos_t = cosf(theta_e);\n const float sin_t = sinf(theta_e);\n const float vd_prev = mpcc_u_alpha_prev * cos_t + mpcc_u_beta_prev * sin_t;\n const float vq_prev = -mpcc_u_alpha_prev * sin_t + mpcc_u_beta_prev * cos_t;\n id_base = id + (ts / ld) * (vd_prev - rs * id + omega_e * lq * iq);\n iq_base = iq + (ts / lq) * (vq_prev - rs * iq - omega_e * ld * id - omega_e * psi_f);\n }\n\n float best_cost = 1.0e30f;\n int best_idx = 0;\n float best_pred_id = id;\n float best_pred_iq = iq;\n float best_valpha = 0.0f;\n float best_vbeta = 0.0f;\n\n for (int idx = 0; idx < 8; ++idx) {\n const float sa = static_cast(switch_bits[idx][0]);\n const float sb = static_cast(switch_bits[idx][1]);\n const float sc = static_cast(switch_bits[idx][2]);\n const float valpha = two_thirds * vdc * (sa - 0.5f * (sb + sc));\n const float vbeta = vdc * inv_sqrt3 * (sb - sc);\n\n const float cos_t = cosf(theta_e);\n const float sin_t = sinf(theta_e);\n const float vd = valpha * cos_t + vbeta * sin_t;\n const float vq = -valpha * sin_t + vbeta * cos_t;\n\n const float pred_id = id_base + (ts / ld) * (vd - rs * id_base + omega_e * lq * iq_base);\n const float pred_iq = iq_base + (ts / lq) * (vq - rs * iq_base - omega_e * ld * id_base - omega_e * psi_f);\n\n float cost = ((id_ref - pred_id) / i_base) * ((id_ref - pred_id) / i_base)\n + ((iq_ref - pred_iq) / i_base) * ((iq_ref - pred_iq) / i_base);\n const float imag = sqrtf(pred_id * pred_id + pred_iq * pred_iq);\n if (imag > i_max) cost += 1.0e6f;\n\n const int trans = ((sa != mpcc_prev_sa) ? 1 : 0)\n + ((sb != mpcc_prev_sb) ? 1 : 0)\n + ((sc != mpcc_prev_sc) ? 1 : 0);\n const int best_trans =\n ((switch_bits[best_idx][0] != static_cast(mpcc_prev_sa)) ? 1 : 0)\n + ((switch_bits[best_idx][1] != static_cast(mpcc_prev_sb)) ? 1 : 0)\n + ((switch_bits[best_idx][2] != static_cast(mpcc_prev_sc)) ? 1 : 0);\n\n if (cost < best_cost - 1.0e-9f\n || (fabsf(cost - best_cost) <= 1.0e-9f\n && (trans < best_trans || (trans == best_trans && idx < best_idx)))) {\n best_cost = cost;\n best_idx = idx;\n best_pred_id = pred_id;\n best_pred_iq = pred_iq;\n best_valpha = valpha;\n best_vbeta = vbeta;\n }\n }\n\n S_A = static_cast(switch_bits[best_idx][0]);\n S_B = static_cast(switch_bits[best_idx][1]);\n S_C = static_cast(switch_bits[best_idx][2]);\n State_Index = static_cast(best_idx);\n Pred_I_D = rte::Amperes(best_pred_id);\n Pred_I_Q = rte::Amperes(best_pred_iq);\n Cost = best_cost;\n V_Alpha = rte::Volts(best_valpha);\n V_Beta = rte::Volts(best_vbeta);\n const float cos_t = cosf(theta_e);\n const float sin_t = sinf(theta_e);\n V_D = rte::Volts(best_valpha * cos_t + best_vbeta * sin_t);\n V_Q = rte::Volts(-best_valpha * sin_t + best_vbeta * cos_t);\n\n mpcc_prev_sa = S_A;\n mpcc_prev_sb = S_B;\n mpcc_prev_sc = S_C;\n mpcc_u_alpha_prev = best_valpha;\n mpcc_u_beta_prev = best_vbeta;\n}\n", + "inputPorts": [ + { + "name": "I_D", + "direction": "input", + "type": { + "quantity": "current", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Measured d-axis current in amperes." + }, + { + "name": "I_Q", + "direction": "input", + "type": { + "quantity": "current", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Measured q-axis current in amperes." + }, + { + "name": "I_D_Ref", + "direction": "input", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "I_D_Ref (amperes as dimensionless, same as Values.Var / FOC setpoints)." + }, + { + "name": "I_Q_Ref", + "direction": "input", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "I_Q_Ref (amperes as dimensionless, same as Values.Var / FOC setpoints)." + }, + { + "name": "Theta_E", + "direction": "input", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Electrical rotor angle in radians." + }, + { + "name": "Omega_E", + "direction": "input", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Electrical rotor speed in radians per second." + }, + { + "name": "V_Dc", + "direction": "input", + "type": { + "quantity": "voltage", + "frame": "scalar", + "dtype": "f32" + }, + "description": "DC-link voltage in volts." + }, + { + "name": "Enable", + "direction": "input", + "type": { + "quantity": "boolean", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Controller enable (1 = run, 0 = hold previous switch states)." + } + ], + "isEntryPoint": false, + "maxInstances": 1, + "outputPorts": [ + { + "name": "S_A", + "direction": "output", + "type": { + "quantity": "boolean", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Phase A high-side switch state." + }, + { + "name": "S_B", + "direction": "output", + "type": { + "quantity": "boolean", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Phase B high-side switch state." + }, + { + "name": "S_C", + "direction": "output", + "type": { + "quantity": "boolean", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Phase C high-side switch state." + }, + { + "name": "State_Index", + "direction": "output", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Selected switching-state index (0-7)." + }, + { + "name": "Pred_I_D", + "direction": "output", + "type": { + "quantity": "current", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Predicted d-axis current for the selected state." + }, + { + "name": "Pred_I_Q", + "direction": "output", + "type": { + "quantity": "current", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Predicted q-axis current for the selected state." + }, + { + "name": "Cost", + "direction": "output", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Cost of the selected switching state." + }, + { + "name": "V_Alpha", + "direction": "output", + "type": { + "quantity": "voltage", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Selected voltage vector, alpha component." + }, + { + "name": "V_Beta", + "direction": "output", + "type": { + "quantity": "voltage", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Selected voltage vector, beta component." + }, + { + "name": "V_D", + "direction": "output", + "type": { + "quantity": "voltage", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Selected voltage vector, d component." + }, + { + "name": "V_Q", + "direction": "output", + "type": { + "quantity": "voltage", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Selected voltage vector, q component." + } + ], + "parameterTypes": { + "Ts": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Control sample period in seconds." + }, + "Rs": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Stator phase resistance in ohms." + }, + "Ld": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "d-axis inductance in henrys." + }, + "Lq": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "q-axis inductance in henrys." + }, + "PsiF": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Permanent-magnet flux linkage in webers." + }, + "I_Base": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Current normalization base in amperes." + }, + "I_Max": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Soft current limit in amperes." + }, + "Mode": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "MPCC mode: 0=one-step, 1=delay-compensated, 2=back-EMF-compensated, 3=optimal-duty-cycle." + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Gate", + "description": "Passes a value when enabled and outputs zero when disabled.", + "displayName": "Gate", + "domain": "", + "id": "Logic.Gate", + "inlineCode": "/* Pass Val when Sel is true, else 0. */\nOut = Sel ? Val : 0.0f;\n", + "inputPorts": [ + { + "description": "Enable signal. True passes Val; false selects zero.", + "direction": "input", + "name": "Sel", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + }, + { + "description": "Value passed through while Sel is true.", + "direction": "input", + "name": "Val", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Val when selected, otherwise zero.", + "direction": "output", + "name": "Out", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Var", + "description": "Stores a boolean value and updates it when the Set input is true.", + "displayName": "Var (Bool)", + "domain": "", + "id": "Values.VarBool", + "inlineCode": "if (Set) Stored = In;\nValue = Stored;\n", + "inputPorts": [ + { + "description": "New boolean value to store when Set is true.", + "direction": "input", + "name": "In", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + }, + { + "description": "Write enable. When true, copies In into the stored value.", + "direction": "input", + "name": "Set", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Current stored boolean value.", + "direction": "output", + "name": "Value", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "parameterTypes": { + "In": { + "description": "Fallback new boolean value when the In input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + }, + "Set": { + "description": "Fallback write-enable value when the Set input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + }, + "Stored": { + "description": "Persistent boolean storage state.", + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Slew", + "description": "Limits how quickly a signal can rise or fall over time.", + "displayName": "Slew Rate Limiter", + "domain": "", + "id": "Control.Slew", + "inlineCode": "/* Rate-limited reference follower: Out tracks In at max Rate units/sec.\n * On control start Value resets to the graph default, so references ramp\n * smoothly from zero instead of stepping. */\nconst float target = In;\nconst float step = Rate * Dt;\nfloat v = Value;\nif (target > v + step) {\n v += step;\n} else if (target < v - step) {\n v -= step;\n} else {\n v = target;\n}\nValue = v;\nOut = Value;\n", + "inputPorts": [ + { + "description": "Target value for the limiter to follow.", + "direction": "input", + "name": "In", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Rate-limited output value.", + "direction": "output", + "name": "Out", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "Dt": { + "description": "Update period in seconds.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Rate": { + "description": "Maximum absolute rate of change in units per second.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Value": { + "description": "Persistent current output state.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "ElecAngle", + "description": "Converts mechanical rotor angle to wrapped electrical angle using pole count, direction, and offset.", + "displayName": "Electrical Angle", + "domain": "", + "id": "Transforms.ElecAngle", + "inlineCode": "/* Wrap the mechanical encoder angle to [0, 2*pi). */\nconst float two_pi = 6.28318530718f;\nfloat theta = fmodf(ThetaMech, two_pi);\nif (theta < 0.0f) theta += two_pi;\n\n/* Electrical angle = offset (elec deg) + sign * encoder_angle * (Poles / 2).\n * Matches the base-image FocController convention.\n *\n * Guard bad FRAM/config values that freeze \u03b8e at 0:\n * - Poles<=0 \u2192 fall back to 10\n * - |Sign|<0.5 \u2192 fall back to +1 (Sign=0 nulls the encoder term) */\nconstexpr float DEG_TO_RAD = 0.01745329251f;\nfloat poles = Poles;\nif (!(poles > 0.5f)) poles = 10.0f;\nfloat sign = EncoderSign;\nif (fabsf(sign) < 0.5f) sign = 1.0f;\nfloat offset_deg = OffsetDeg;\nfloat elec = offset_deg * DEG_TO_RAD + sign * theta * poles * 0.5f;\n\n/* Wrap the electrical angle to [0, 2*pi). */\nelec = fmodf(elec, two_pi);\nif (elec < 0.0f) elec += two_pi;\n\nThetaElec = elec;\n", + "inputPorts": [ + { + "description": "Mechanical rotor angle in radians.", + "direction": "input", + "name": "ThetaMech", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Electrical-angle calibration offset in degrees.", + "direction": "input", + "name": "OffsetDeg", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Encoder direction multiplier, normally 1 or -1.", + "direction": "input", + "name": "EncoderSign", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Motor pole count used to convert mechanical to electrical angle.", + "direction": "input", + "name": "Poles", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 1, + "outputPorts": [ + { + "description": "Electrical rotor angle wrapped to the range 0 through 2\u03c0 radians.", + "direction": "output", + "name": "ThetaElec", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "EncoderSign": { + "description": "Fallback encoder direction multiplier when the input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "OffsetDeg": { + "description": "Fallback electrical-angle calibration offset in degrees when the input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Poles": { + "description": "Fallback motor pole count when the input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "id": "Sensors.PhaseCurrents", + "displayName": "Phase Currents", + "defaultName": "PhaseCurrents", + "description": "Samples the three inverter phase-current channels from the platform current sensors.", + "maxInstances": 1, + "isEntryPoint": true, + "domain": "", + "inputPorts": [], + "outputPorts": [ + { + "name": "I_A", + "description": "Measured phase A current in amperes.", + "direction": "output", + "type": { + "quantity": "current", + "frame": "scalar", + "dtype": "f32" + } + }, + { + "name": "I_B", + "description": "Measured phase B current in amperes.", + "direction": "output", + "type": { + "quantity": "current", + "frame": "scalar", + "dtype": "f32" + } + }, + { + "name": "I_C", + "description": "Measured phase C current in amperes.", + "direction": "output", + "type": { + "quantity": "current", + "frame": "scalar", + "dtype": "f32" + } + } + ], + "parameterTypes": { + "InvertPolarity": { + "description": "Negate all three phase currents to match the FOC sign convention on hardware with inverted current sensors.", + "quantity": "boolean", + "frame": "scalar", + "dtype": "f32" + } + }, + "inlineCode": "float iu_f = 0.0f;\nfloat iv_f = 0.0f;\nfloat iw_f = 0.0f;\nif (platform_get_phase_currents(&iu_f, &iv_f, &iw_f)) {\n /* Keep raw sensor polarity available for general telemetry, while FOC\n * graphs enable inversion for this hardware's current-sensor wiring. */\n const float polarity = InvertPolarity ? -1.0f : 1.0f;\n I_A = rte::Amperes(polarity * iu_f);\n I_B = rte::Amperes(polarity * iv_f);\n I_C = rte::Amperes(polarity * iw_f);\n}\n", + "constructorCode": "", + "classHeader": "", + "classDefinition": "" + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "SinCos", + "description": "Computes the sine and cosine of an input angle.", + "displayName": "Sin/Cos", + "domain": "", + "id": "Transforms.SinCos", + "inlineCode": "SinTheta = sinf(Theta);\nCosTheta = cosf(Theta);\n", + "inputPorts": [ + { + "description": "Input angle in radians.", + "direction": "input", + "name": "Theta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Sine of the input angle.", + "direction": "output", + "name": "SinTheta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Cosine of the input angle.", + "direction": "output", + "name": "CosTheta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Park", + "description": "Rotates stationary alpha-beta currents into rotor-aligned d-q coordinates.", + "displayName": "Park Transform", + "domain": "", + "id": "Transforms.Park", + "inlineCode": "const float cos_theta = cosf(Theta);\nconst float sin_theta = sinf(Theta);\nI_D = I_Alpha * cos_theta + I_Beta * sin_theta;\nI_Q = -I_Alpha * sin_theta + I_Beta * cos_theta;\n", + "inputPorts": [ + { + "description": "Stationary-frame alpha-axis current.", + "direction": "input", + "name": "I_Alpha", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Stationary-frame beta-axis current.", + "direction": "input", + "name": "I_Beta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Electrical rotation angle in radians.", + "direction": "input", + "name": "Theta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Rotating-frame direct-axis current.", + "direction": "output", + "name": "I_D", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Rotating-frame quadrature-axis current.", + "direction": "output", + "name": "I_Q", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "LogI", + "description": "Publishes three phase-current signals to the standard current telemetry channels.", + "displayName": "Telemetry Current Sink", + "domain": "", + "id": "Debug.TelemetryCurrentSink", + "inlineCode": "platform_telemetry_log_f32(\"cg_iu_a\", I_A.in(au::amperes));\nplatform_telemetry_log_f32(\"cg_iv_a\", I_B.in(au::amperes));\nplatform_telemetry_log_f32(\"cg_iw_a\", I_C.in(au::amperes));\n", + "inputPorts": [ + { + "description": "Phase A current to publish in amperes.", + "direction": "input", + "name": "I_A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Phase B current to publish in amperes.", + "direction": "input", + "name": "I_B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Phase C current to publish in amperes.", + "direction": "input", + "name": "I_C", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Clarke", + "description": "Transforms three-phase currents into stationary alpha-beta coordinates.", + "displayName": "Clarke Transform", + "domain": "", + "id": "Transforms.Clarke", + "inlineCode": "I_Alpha = I_A;\nI_Beta = (I_B - I_C) * 0.57735026919f;\n", + "inputPorts": [ + { + "description": "Phase A current.", + "direction": "input", + "name": "I_A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Phase B current.", + "direction": "input", + "name": "I_B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Phase C current.", + "direction": "input", + "name": "I_C", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Stationary-frame alpha-axis current.", + "direction": "output", + "name": "I_Alpha", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Stationary-frame beta-axis current.", + "direction": "output", + "name": "I_Beta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Less", + "description": "Compares two scalar values and reports whether A is less than B.", + "displayName": "Less Than", + "domain": "", + "id": "Logic.Less", + "inlineCode": "Out = (A < B);\n", + "inputPorts": [ + { + "description": "Left-hand value in the comparison.", + "direction": "input", + "name": "A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Right-hand value in the comparison.", + "direction": "input", + "name": "B", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "True when A is less than B.", + "direction": "output", + "name": "Out", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "parameterTypes": { + "B": { + "description": "Fallback comparison threshold used when the B input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "InvClarke", + "description": "Transforms stationary alpha-beta voltages into three-phase voltage commands.", + "displayName": "Inverse Clarke Transform", + "domain": "", + "id": "Transforms.InverseClarke", + "inlineCode": "V_A = V_Alpha;\nV_B = -0.5f * V_Alpha + 0.86602540378f * V_Beta;\nV_C = -0.5f * V_Alpha - 0.86602540378f * V_Beta;\n", + "inputPorts": [ + { + "description": "Stationary-frame alpha-axis voltage.", + "direction": "input", + "name": "V_Alpha", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Stationary-frame beta-axis voltage.", + "direction": "input", + "name": "V_Beta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Reconstructed phase A voltage.", + "direction": "output", + "name": "V_A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Reconstructed phase B voltage.", + "direction": "output", + "name": "V_B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Reconstructed phase C voltage.", + "direction": "output", + "name": "V_C", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "Cached = platform_config_load(Key, DefaultValue);\n\n/* Repair zero/invalid motor physics keys from graph defaults.\n * Encoder Sign: keep FRAM if |Sign|>=0.5; otherwise use DefaultValue.\n * Do NOT force polarity \u2014 match whatever FOC already spins with. */\nconst bool is_motor_key =\n (Key != nullptr) &&\n (strstr(Key, \"Inductance\") != nullptr ||\n strstr(Key, \"Resistance\") != nullptr ||\n strstr(Key, \"FluxLinkage\") != nullptr ||\n strstr(Key, \"Motor.Poles\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.Sign\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.OffsetDeg\") != nullptr);\n\nif (is_motor_key) {\n const bool is_sign = (Key != nullptr) &&\n (strstr(Key, \"Encoder.SinCos.Sign\") != nullptr);\n if (is_sign) {\n if (fabsf(Cached) < 0.5f) {\n Cached = (DefaultValue < 0.0f) ? -1.0f : 1.0f;\n platform_config_set(Key, Cached);\n } else {\n Cached = (Cached >= 0.0f) ? 1.0f : -1.0f;\n }\n } else if (DefaultValue > 1.0e-8f && !(Cached > 0.0f)) {\n Cached = DefaultValue;\n platform_config_set(Key, Cached);\n }\n}\n", + "defaultName": "Cfg", + "description": "Exposes a named configuration value, using a default when no stored value is available.", + "displayName": "Config Value", + "domain": "", + "id": "Values.Config", + "inlineCode": "Value = Cached;\n", + "inputPorts": [], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Cached configuration value supplied to the graph.", + "direction": "output", + "name": "Value", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "Cached": { + "description": "Persistent cached configuration value exposed by the output.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "DefaultValue": { + "description": "Value used when the configuration key has not been stored.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Key": { + "description": "Name used to look up the value in platform configuration storage.", + "dtype": "f32", + "frame": "scalar", + "quantity": "string" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "CanTx", + "description": "Transmits up to eight data bytes on a selected CAN bus at a configurable maximum rate.", + "displayName": "CAN TX", + "domain": "", + "id": "Actuators.CanTx", + "inlineCode": "/* CAN transmit, rate-limited by wall clock: sends when 1000/Rate ms have\n * elapsed since the previous send (Rate <= 0 sends every step).\n * D0..D7 = payload bytes (unconnected = 0), Dlc = how many of the 8 to\n * send, Ext: 0 std / 1 ext. */\nconst uint32_t period_ms = (Rate > 0.0f) ? static_cast(1000.0f / Rate) : 0U;\nconst uint32_t now_ms = platform_millis();\nif (period_ms == 0U || (now_ms - static_cast(LastMs)) >= period_ms) {\n LastMs = static_cast(now_ms);\n const uint8_t b[8] = {\n static_cast(D0), static_cast(D1),\n static_cast(D2), static_cast(D3),\n static_cast(D4), static_cast(D5),\n static_cast(D6), static_cast(D7),\n };\n uint8_t n = static_cast(Dlc);\n if (n > 8) n = 8;\n platform_can_send(static_cast(Bus), static_cast(Id),\n Ext > 0.5f, b, n);\n}\n", + "inputPorts": [ + { + "description": "Payload byte 0. Values are converted to an unsigned 8-bit integer.", + "direction": "input", + "name": "D0", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Payload byte 1. Values are converted to an unsigned 8-bit integer.", + "direction": "input", + "name": "D1", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Payload byte 2. Values are converted to an unsigned 8-bit integer.", + "direction": "input", + "name": "D2", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Payload byte 3. Values are converted to an unsigned 8-bit integer.", + "direction": "input", + "name": "D3", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Payload byte 4. Values are converted to an unsigned 8-bit integer.", + "direction": "input", + "name": "D4", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Payload byte 5. Values are converted to an unsigned 8-bit integer.", + "direction": "input", + "name": "D5", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Payload byte 6. Values are converted to an unsigned 8-bit integer.", + "direction": "input", + "name": "D6", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Payload byte 7. Values are converted to an unsigned 8-bit integer.", + "direction": "input", + "name": "D7", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [], + "parameterTypes": { + "Bus": { + "description": "CAN controller number: 1 selects bus A/FDCAN1 and 2 selects bus B/FDCAN2.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "D0": { + "description": "Fallback value for payload byte 0 when its input port is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "D1": { + "description": "Fallback value for payload byte 1 when its input port is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "D2": { + "description": "Fallback value for payload byte 2 when its input port is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "D3": { + "description": "Fallback value for payload byte 3 when its input port is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "D4": { + "description": "Fallback value for payload byte 4 when its input port is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "D5": { + "description": "Fallback value for payload byte 5 when its input port is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "D6": { + "description": "Fallback value for payload byte 6 when its input port is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "D7": { + "description": "Fallback value for payload byte 7 when its input port is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Dlc": { + "description": "Number of payload bytes to transmit, clamped to the range 0 through 8.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Ext": { + "description": "Use an extended 29-bit identifier when greater than 0.5; otherwise use a standard identifier.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Id": { + "description": "CAN arbitration identifier to transmit.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "LastMs": { + "description": "Internal timestamp of the previous transmission in milliseconds.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Rate": { + "description": "Maximum transmission rate in frames per second. Values at or below zero send every step.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Mux", + "description": "Selects one of two scalar inputs using a boolean control signal.", + "displayName": "Mux", + "domain": "", + "id": "Logic.Mux", + "inlineCode": "Out = Sel ? A : B;\n", + "inputPorts": [ + { + "description": "Selection signal. True selects A; false selects B.", + "direction": "input", + "name": "Sel", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + }, + { + "description": "Value selected when Sel is true.", + "direction": "input", + "name": "A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Value selected when Sel is false.", + "direction": "input", + "name": "B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Currently selected input value.", + "direction": "output", + "name": "Out", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ] + }, + { + "id": "Control.SpeedAdrcMpcCurrent", + "displayName": "Speed ADRC + MPC Current", + "defaultName": "SpeedAdrcMpc", + "maxInstances": 1, + "isEntryPoint": false, + "domain": "tim_isr", + "description": "Cascaded Gen6 controller: outer LADRC on mechanical speed (rpm) and inner Mode-3 deadbeat/MPC current to SVPWM. Separate from Control.AdrcMpcc. CascadeMode 0 = FOC-like Iq in amps; 1 = Spd_Ref in rpm \u2192 ADRC \u2192 Iq* \u2192 MPC.", + "inputPorts": [ + { + "name": "I_D", + "direction": "input", + "type": { + "quantity": "current", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Measured d-axis current (A)." + }, + { + "name": "I_Q", + "direction": "input", + "type": { + "quantity": "current", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Measured q-axis current (A)." + }, + { + "name": "I_D_Ref", + "direction": "input", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "d-axis current reference (A)." + }, + { + "name": "I_Q_Ref", + "direction": "input", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "q-axis current reference (A). Used when CascadeMode=0." + }, + { + "name": "Spd_Ref", + "direction": "input", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Mechanical speed reference (rpm). Used when CascadeMode=1." + }, + { + "name": "Theta_E", + "direction": "input", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Electrical rotor angle (rad)." + }, + { + "name": "Omega_E", + "direction": "input", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Electrical speed hint (rad/s); node also unwraps Theta_E." + }, + { + "name": "V_Dc", + "direction": "input", + "type": { + "quantity": "voltage", + "frame": "scalar", + "dtype": "f32" + }, + "description": "DC-link voltage (V)." + }, + { + "name": "Enable", + "direction": "input", + "type": { + "quantity": "boolean", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Controller enable." + } + ], + "outputPorts": [ + { + "name": "S_A", + "direction": "output", + "type": { + "quantity": "boolean", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Unused FCS placeholder." + }, + { + "name": "S_B", + "direction": "output", + "type": { + "quantity": "boolean", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Unused FCS placeholder." + }, + { + "name": "S_C", + "direction": "output", + "type": { + "quantity": "boolean", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Unused FCS placeholder." + }, + { + "name": "State_Index", + "direction": "output", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "0=current mode, 1=cascade mode (telemetry)." + }, + { + "name": "Pred_I_D", + "direction": "output", + "type": { + "quantity": "current", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Predicted d-axis current." + }, + { + "name": "Pred_I_Q", + "direction": "output", + "type": { + "quantity": "current", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Predicted q-axis current." + }, + { + "name": "Cost", + "direction": "output", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Tracking cost." + }, + { + "name": "V_Alpha", + "direction": "output", + "type": { + "quantity": "voltage", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Voltage reference alpha (to SVPWM)." + }, + { + "name": "V_Beta", + "direction": "output", + "type": { + "quantity": "voltage", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Voltage reference beta (to SVPWM)." + }, + { + "name": "V_D", + "direction": "output", + "type": { + "quantity": "voltage", + "frame": "scalar", + "dtype": "f32" + }, + "description": "d-axis voltage command." + }, + { + "name": "V_Q", + "direction": "output", + "type": { + "quantity": "voltage", + "frame": "scalar", + "dtype": "f32" + }, + "description": "q-axis voltage command." + }, + { + "name": "Iq_Cmd", + "direction": "output", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Iq command after speed ADRC (or I_Q_Ref in current mode)." + }, + { + "name": "Rpm_Meas", + "direction": "output", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Measured mechanical speed (rpm)." + } + ], + "parameterTypes": { + "Ts": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Control sample period (s)." + }, + "Ld": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "d-axis inductance (H)." + }, + "Lq": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "q-axis inductance (H)." + }, + "Rs": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Stator resistance (ohm)." + }, + "PsiF": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "PM flux linkage (Wb). Gen6 ~0.07." + }, + "DbScale": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Inner deadbeat / MPC scale (0\u20131)." + }, + "I_Base": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Current normalization base (A)." + }, + "I_Max": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Hard current clamp (A)." + }, + "CascadeMode": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "0=current-only (I_Q_Ref in A). 1=speed ADRC + MPC current (Spd_Ref in rpm)." + }, + "SpdOmegaC": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Speed LADRC controller bandwidth \u03c9c (rad/s)." + }, + "SpdOmegaO": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Speed LADRC observer bandwidth \u03c9o (rad/s)." + }, + "SpdB0": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Speed plant gain b0 (rpm/s per amp). Tune on hardware." + }, + "PolePairs": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Rotor pole pairs (Gen6 = 5)." + } + }, + "inlineCode": "/* Cascaded Gen6 controller (NEW node \u2014 does not modify Control.AdrcMpcc):\n *\n * Outer: LADRC on mechanical speed (rpm) \u2192 Iq*\n * Inner: Mode-3 deadbeat / predictive current \u2192 V\u03b1\u03b2 \u2192 SVPWM\n *\n * CascadeMode:\n * 0 = current-only (FOC-like): I_Q_Ref in amperes, speed ADRC bypassed\n * 1 = cascaded: Spd_Ref in rpm \u2192 speed ADRC \u2192 Iq*, then MPC current\n *\n * State in AXISRAM (.dma_buffers, NOLOAD) \u2014 magic-clear before use.\n */\n\nstruct SpdAdrcMpcState {\n uint32_t magic;\n float u_alpha_prev;\n float u_beta_prev;\n float enable_s;\n float id_f;\n float iq_f;\n float theta_prev;\n float omega_f;\n float id_int;\n float iq_int;\n /* Speed LADRC states (y = rpm, u = Iq). */\n float z1;\n float z2;\n float u_iq_prev;\n uint8_t filt_init;\n uint8_t omega_init;\n uint8_t spd_init;\n uint8_t _pad;\n};\n\nstatic constexpr uint32_t kSamMagic = 0x53414D31u; /* SAM1 */\n\nstatic SpdAdrcMpcState st __attribute__((section(\".dma_buffers\"), aligned(4)));\n\nif (st.magic != kSamMagic) {\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n st.enable_s = 0.0f;\n st.id_f = 0.0f;\n st.iq_f = 0.0f;\n st.theta_prev = 0.0f;\n st.omega_f = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.filt_init = 0;\n st.omega_init = 0;\n st.spd_init = 0;\n st._pad = 0;\n st.magic = kSamMagic;\n}\n\nconst float ts = Ts;\nfloat ld = Ld;\nfloat lq = Lq;\nfloat rs = Rs;\nfloat psi_f = PsiF;\nif (!(ld > 1.0e-7f)) ld = 70.0e-6f;\nif (!(lq > 1.0e-7f)) lq = 120.0e-6f;\nif (!(rs > 0.0f) || !(rs < 10.0f)) rs = 0.05f;\nif (!(psi_f > 0.0f) || !(psi_f < 1.0f)) psi_f = 0.07f;\nif (psi_f < 0.02f) psi_f = 0.07f;\n\nfloat db_scale = DbScale;\nif (!(db_scale > 0.10f)) db_scale = 0.55f;\nif (db_scale > 1.0f) db_scale = 1.0f;\n\nfloat i_max = (I_Max > 0.0f) ? I_Max : 15.0f;\nif (i_max < 5.0f) i_max = 5.0f;\nif (i_max > 40.0f) i_max = 40.0f;\n\nfloat pole_pairs = PolePairs;\nif (!(pole_pairs > 0.5f) || !(pole_pairs < 40.0f)) pole_pairs = 5.0f;\n\nfloat wc = SpdOmegaC;\nfloat wo = SpdOmegaO;\nfloat b0_spd = SpdB0;\nif (!(wc > 0.0f)) wc = 40.0f;\nif (!(wo > 0.0f)) wo = 120.0f;\nif (!(b0_spd > 1.0e-4f)) b0_spd = 80.0f; /* rpm/s per amp \u2014 tune on hardware */\n\nconst bool cascade = (CascadeMode > 0.5f);\nconst float vdc = V_Dc.in(au::volts);\nconst float id_raw = I_D.in(au::amperes);\nconst float iq_raw = I_Q.in(au::amperes);\nfloat id_ref = I_D_Ref;\nfloat iq_ref_in = I_Q_Ref;\nfloat spd_ref = Spd_Ref;\nconst float theta_e = Theta_E;\nconst float pi = 3.14159265359f;\nconst float two_pi = 6.28318530718f;\nconst float sqrt3 = 1.73205080757f;\n\n/* Unwrapped electrical speed. */\nfloat omega_e = Omega_E;\nif (!(omega_e == omega_e)) omega_e = 0.0f;\nif (st.omega_init == 0) {\n st.theta_prev = theta_e;\n st.omega_f = 0.0f;\n st.omega_init = 1;\n} else if (ts > 0.0f) {\n float dth = theta_e - st.theta_prev;\n dth = fmodf(dth + pi, two_pi);\n if (dth < 0.0f) dth += two_pi;\n dth -= pi;\n const float w_raw = dth / ts;\n const float a_w = 1.0f / (1.0f + 1.0f / (6.28318530718f * 150.0f * ts));\n st.omega_f += a_w * (w_raw - st.omega_f);\n omega_e = st.omega_f;\n}\nst.theta_prev = theta_e;\nif (fabsf(omega_e) > 900.0f) omega_e = (omega_e > 0.0f) ? 900.0f : -900.0f;\n\nconst float rpm_meas = omega_e / pole_pairs * 60.0f / two_pi;\nconst float v_max = (vdc / sqrt3) * 0.95f;\n\n/* ---- Outer speed LADRC (cascade only) \u2192 Iq* ---- */\nfloat iq_ref = iq_ref_in;\nif (cascade) {\n if (spd_ref > 700.0f) spd_ref = 700.0f;\n if (spd_ref < -700.0f) spd_ref = -700.0f;\n\n float iq_lim = 0.50f * i_max;\n if (iq_lim < 4.0f) iq_lim = 4.0f;\n if (iq_lim > 12.0f) iq_lim = 12.0f;\n /* Shrink torque near voltage ceiling. */\n const float bemf = fabsf(omega_e) * psi_f;\n if (v_max > 1.0f && bemf > 0.80f * v_max) {\n float shrink = 1.0f - 0.70f * ((bemf / v_max - 0.80f) / 0.20f);\n if (shrink < 0.25f) shrink = 0.25f;\n iq_lim *= shrink;\n }\n\n if (st.spd_init == 0) {\n st.z1 = rpm_meas;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_init = 1;\n }\n\n const float beta1 = 2.0f * wo;\n const float beta2 = wo * wo;\n const float e_obs = st.z1 - rpm_meas;\n st.z1 += ts * (st.z2 + b0_spd * st.u_iq_prev - beta1 * e_obs);\n st.z2 += ts * (-beta2 * e_obs);\n const float fmax = 5.0e4f;\n if (st.z2 > fmax) st.z2 = fmax;\n if (st.z2 < -fmax) st.z2 = -fmax;\n\n const float u0 = wc * (spd_ref - st.z1);\n float u_iq = (u0 - st.z2) / b0_spd;\n if (u_iq > iq_lim) u_iq = iq_lim;\n if (u_iq < -iq_lim) u_iq = -iq_lim;\n st.u_iq_prev = u_iq;\n iq_ref = u_iq;\n} else {\n st.spd_init = 0;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n}\n\nif (id_ref > i_max) id_ref = i_max;\nif (id_ref < -i_max) id_ref = -i_max;\nif (iq_ref > i_max) iq_ref = i_max;\nif (iq_ref < -i_max) iq_ref = -i_max;\n\nconst float i_base = (I_Base > 0.0f) ? I_Base : 20.0f;\nconst float cost_track = ((id_ref - id_raw) / i_base) * ((id_ref - id_raw) / i_base)\n + ((iq_ref - iq_raw) / i_base) * ((iq_ref - iq_raw) / i_base);\n\nconst bool enable = Enable;\nconst bool bus_ok = (vdc >= 40.0f);\n\nIq_Cmd = iq_ref;\nRpm_Meas = rpm_meas;\n\nif (!enable || !(ts > 0.0f) || !bus_ok) {\n S_A = 0.0f;\n S_B = 0.0f;\n S_C = 0.0f;\n State_Index = 0.0f;\n Pred_I_D = rte::Amperes(id_raw);\n Pred_I_Q = rte::Amperes(iq_raw);\n Cost = cost_track;\n V_Alpha = rte::Volts(0.0f);\n V_Beta = rte::Volts(0.0f);\n V_D = rte::Volts(0.0f);\n V_Q = rte::Volts(0.0f);\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n st.enable_s = 0.0f;\n st.id_f = id_raw;\n st.iq_f = iq_raw;\n st.filt_init = 0;\n st.omega_init = 0;\n st.spd_init = 0;\n st.omega_f = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n} else {\n const float cos_t = cosf(theta_e);\n const float sin_t = sinf(theta_e);\n\n if (st.filt_init == 0) {\n st.id_f = id_raw;\n st.iq_f = iq_raw;\n st.filt_init = 1;\n } else {\n const float alpha = 1.0f / (1.0f + 1.0f / (6.28318530718f * 400.0f * ts));\n st.id_f += alpha * (id_raw - st.id_f);\n st.iq_f += alpha * (iq_raw - st.iq_f);\n }\n const float id = st.id_f;\n const float iq = st.iq_f;\n\n const float vd_prev = st.u_alpha_prev * cos_t + st.u_beta_prev * sin_t;\n const float vq_prev = -st.u_alpha_prev * sin_t + st.u_beta_prev * cos_t;\n\n /* One-step delay-compensated prediction (MPC / Mode-3). */\n const float id_p = id + (ts / ld) * (vd_prev - rs * id + omega_e * lq * iq);\n const float iq_p = iq + (ts / lq) * (vq_prev - rs * iq - omega_e * ld * id - omega_e * psi_f);\n\n const float ramp_s = 0.12f;\n st.enable_s += ts;\n if (st.enable_s > ramp_s) st.enable_s = ramp_s;\n float v_scale = st.enable_s / ramp_s;\n\n const float i_meas = sqrtf(id * id + iq * iq);\n float cost = cost_track;\n if (i_meas > i_max) {\n cost += 1.0e6f;\n v_scale = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.u_iq_prev = 0.0f;\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n }\n\n float db_eff = db_scale;\n const float bemf = fabsf(omega_e) * psi_f;\n if (v_max > 1.0f && bemf > 0.75f * v_max) {\n float ease = 1.0f - 0.55f * ((bemf / v_max - 0.75f) / 0.25f);\n if (ease < 0.45f) ease = 0.45f;\n db_eff *= ease;\n }\n\n const float kp_d = (ld / ts) * db_eff;\n const float kp_q = (lq / ts) * db_eff;\n const float ki = 8.0f;\n const float id_err = id_ref - id_p;\n const float iq_err = iq_ref - iq_p;\n\n if (v_scale > 0.0f) {\n st.id_int += ki * id_err * ts;\n st.iq_int += ki * iq_err * ts;\n }\n if (st.id_int > v_max) st.id_int = v_max;\n if (st.id_int < -v_max) st.id_int = -v_max;\n if (st.iq_int > v_max) st.iq_int = v_max;\n if (st.iq_int < -v_max) st.iq_int = -v_max;\n\n float vd_ref = rs * id_p - omega_e * lq * iq_p + kp_d * id_err + st.id_int;\n float vq_ref = rs * iq_p + omega_e * ld * id_p + omega_e * psi_f + kp_q * iq_err + st.iq_int;\n\n vd_ref *= v_scale;\n vq_ref *= v_scale;\n\n /* Iq-priority voltage limit. */\n const float v_mag_sq = vd_ref * vd_ref + vq_ref * vq_ref;\n if (v_mag_sq > v_max * v_max && v_mag_sq > 1.0e-12f) {\n if (fabsf(vq_ref) > v_max) {\n vq_ref = (vq_ref > 0.0f) ? v_max : -v_max;\n }\n const float vd_lim_sq = v_max * v_max - vq_ref * vq_ref;\n const float vd_lim = (vd_lim_sq > 0.0f) ? sqrtf(vd_lim_sq) : 0.0f;\n if (vd_ref > vd_lim) vd_ref = vd_lim;\n if (vd_ref < -vd_lim) vd_ref = -vd_lim;\n st.id_int *= 0.90f;\n st.iq_int *= 0.90f;\n }\n\n const float valpha_ref = vd_ref * cos_t - vq_ref * sin_t;\n const float vbeta_ref = vd_ref * sin_t + vq_ref * cos_t;\n\n S_A = 0.0f;\n S_B = 0.0f;\n S_C = 0.0f;\n State_Index = cascade ? 1.0f : 0.0f;\n Pred_I_D = rte::Amperes(id_p);\n Pred_I_Q = rte::Amperes(iq_p);\n Cost = cost;\n V_Alpha = rte::Volts(valpha_ref);\n V_Beta = rte::Volts(vbeta_ref);\n V_D = rte::Volts(vd_ref);\n V_Q = rte::Volts(vq_ref);\n\n st.u_alpha_prev = valpha_ref;\n st.u_beta_prev = vbeta_ref;\n}\n" + } + ], + "nodes": [ + { + "displayName": "", + "domain": "adc_isr", + "id": "Currents", + "parameters": { + "InvertPolarity": "1.0" + }, + "position": { + "x": 150.0, + "y": 80.0 + }, + "type": "Sensors.PhaseCurrents" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "Encoder", + "parameters": {}, + "position": { + "x": 150.0, + "y": 3022.0 + }, + "type": "Sensors.Encoder" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "VdcSense", + "parameters": {}, + "position": { + "x": 1224.8309759999993, + "y": 2316.270592000001 + }, + "type": "Sensors.DcLinkVoltage" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "Clarke", + "parameters": {}, + "position": { + "x": 527.17632, + "y": 1434.1062400000003 + }, + "type": "Transforms.Clarke" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "Park", + "parameters": {}, + "position": { + "x": 858.8387200000002, + "y": 1442.8153599999998 + }, + "type": "Transforms.Park" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "ElecAngle", + "parameters": { + "EncoderSign": "1.0", + "OffsetDeg": "6.445", + "Poles": "10.0" + }, + "position": { + "x": 543.3503999999999, + "y": 2122.18016 + }, + "type": "Transforms.ElecAngle", + "inlineCode": "/* Wrap the mechanical encoder angle to [0, 2*pi). */\nconst float two_pi = 6.28318530718f;\nfloat theta = fmodf(ThetaMech, two_pi);\nif (theta < 0.0f) theta += two_pi;\n\n/* Electrical angle = offset (elec deg) + sign * encoder_angle * (Poles / 2).\n * Matches the base-image FocController convention (CyclesRev=1).\n *\n * Guard bad FRAM/config values that freeze \u03b8e at 0:\n * - Poles<=0 \u2192 fall back to 10\n * - |Sign|<0.5 \u2192 fall back to +1 (Sign=0 nulls the encoder term).\n * Do NOT coerce a valid Sign=-1. */\nconstexpr float DEG_TO_RAD = 0.01745329251f;\nfloat poles = Poles;\nif (!(poles > 0.5f)) poles = 10.0f;\nfloat sign = EncoderSign;\nif (fabsf(sign) < 0.5f) sign = 1.0f;\nelse sign = (sign >= 0.0f) ? 1.0f : -1.0f;\nfloat offset_deg = OffsetDeg;\nfloat elec = offset_deg * DEG_TO_RAD + sign * theta * poles * 0.5f;\n\n/* Wrap the electrical angle to [0, 2*pi). */\nelec = fmodf(elec, two_pi);\nif (elec < 0.0f) elec += two_pi;\n\nThetaElec = elec;\n" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "OmegaDeriv", + "parameters": { + "Dt": "0.0002", + "Fc": "200.0", + "OutState": "0.0", + "Prev": "0.0", + "Unwrap": "1.0" + }, + "position": { + "x": 826.4905599999997, + "y": 2189.2524799999997 + }, + "type": "Transforms.Derivative" + }, + { + "id": "SpeedAdrcMpc", + "name": "SpeedAdrcMpc", + "defaultName": "SpeedAdrcMpc", + "description": "Cascaded Gen6 controller: outer LADRC on mechanical speed (rpm) and inner Mode-3 deadbeat/MPC current to SVPWM. Separate from Control.AdrcMpcc. CascadeMode 0 = FOC-like Iq in amps; 1 = Spd_Ref in rpm \u2192 ADRC \u2192 Iq* \u2192 MPC.", + "type": "Control.SpeedAdrcMpcCurrent", + "inlineCode": "/* Cascaded Gen6 controller (NEW node \u2014 does not modify Control.AdrcMpcc):\n *\n * Outer: LADRC on mechanical speed (rpm) \u2192 Iq*\n * Inner: Mode-3 deadbeat / predictive current \u2192 V\u03b1\u03b2 \u2192 SVPWM\n *\n * CascadeMode:\n * 0 = current-only (FOC-like): I_Q_Ref in amperes, speed ADRC bypassed\n * 1 = cascaded: Spd_Ref in rpm \u2192 speed ADRC \u2192 Iq*, then MPC current\n *\n * State in AXISRAM (.dma_buffers, NOLOAD) \u2014 magic-clear before use.\n */\n\nstruct SpdAdrcMpcState {\n uint32_t magic;\n float u_alpha_prev;\n float u_beta_prev;\n float enable_s;\n float id_f;\n float iq_f;\n float theta_prev;\n float omega_f;\n float id_int;\n float iq_int;\n /* Speed LADRC states (y = rpm, u = Iq). */\n float z1;\n float z2;\n float u_iq_prev;\n uint8_t filt_init;\n uint8_t omega_init;\n uint8_t spd_init;\n uint8_t _pad;\n};\n\nstatic constexpr uint32_t kSamMagic = 0x53414D31u; /* SAM1 */\n\nstatic SpdAdrcMpcState st __attribute__((section(\".dma_buffers\"), aligned(4)));\n\nif (st.magic != kSamMagic) {\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n st.enable_s = 0.0f;\n st.id_f = 0.0f;\n st.iq_f = 0.0f;\n st.theta_prev = 0.0f;\n st.omega_f = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.filt_init = 0;\n st.omega_init = 0;\n st.spd_init = 0;\n st._pad = 0;\n st.magic = kSamMagic;\n}\n\nconst float ts = Ts;\nfloat ld = Ld;\nfloat lq = Lq;\nfloat rs = Rs;\nfloat psi_f = PsiF;\nif (!(ld > 1.0e-7f)) ld = 70.0e-6f;\nif (!(lq > 1.0e-7f)) lq = 120.0e-6f;\nif (!(rs > 0.0f) || !(rs < 10.0f)) rs = 0.05f;\nif (!(psi_f > 0.0f) || !(psi_f < 1.0f)) psi_f = 0.07f;\nif (psi_f < 0.02f) psi_f = 0.07f;\n\nfloat db_scale = DbScale;\nif (!(db_scale > 0.10f)) db_scale = 0.55f;\nif (db_scale > 1.0f) db_scale = 1.0f;\n\nfloat i_max = (I_Max > 0.0f) ? I_Max : 15.0f;\nif (i_max < 5.0f) i_max = 5.0f;\nif (i_max > 40.0f) i_max = 40.0f;\n\nfloat pole_pairs = PolePairs;\nif (!(pole_pairs > 0.5f) || !(pole_pairs < 40.0f)) pole_pairs = 5.0f;\n\nfloat wc = SpdOmegaC;\nfloat wo = SpdOmegaO;\nfloat b0_spd = SpdB0;\nif (!(wc > 0.0f)) wc = 40.0f;\nif (!(wo > 0.0f)) wo = 120.0f;\nif (!(b0_spd > 1.0e-4f)) b0_spd = 80.0f; /* rpm/s per amp \u2014 tune on hardware */\n\nconst bool cascade = (CascadeMode > 0.5f);\nconst float vdc = V_Dc.in(au::volts);\nconst float id_raw = I_D.in(au::amperes);\nconst float iq_raw = I_Q.in(au::amperes);\nfloat id_ref = I_D_Ref;\nfloat iq_ref_in = I_Q_Ref;\nfloat spd_ref = Spd_Ref;\nconst float theta_e = Theta_E;\nconst float pi = 3.14159265359f;\nconst float two_pi = 6.28318530718f;\nconst float sqrt3 = 1.73205080757f;\n\n/* Unwrapped electrical speed. */\nfloat omega_e = Omega_E;\nif (!(omega_e == omega_e)) omega_e = 0.0f;\nif (st.omega_init == 0) {\n st.theta_prev = theta_e;\n st.omega_f = 0.0f;\n st.omega_init = 1;\n} else if (ts > 0.0f) {\n float dth = theta_e - st.theta_prev;\n dth = fmodf(dth + pi, two_pi);\n if (dth < 0.0f) dth += two_pi;\n dth -= pi;\n const float w_raw = dth / ts;\n const float a_w = 1.0f / (1.0f + 1.0f / (6.28318530718f * 150.0f * ts));\n st.omega_f += a_w * (w_raw - st.omega_f);\n omega_e = st.omega_f;\n}\nst.theta_prev = theta_e;\nif (fabsf(omega_e) > 900.0f) omega_e = (omega_e > 0.0f) ? 900.0f : -900.0f;\n\nconst float rpm_meas = omega_e / pole_pairs * 60.0f / two_pi;\nconst float v_max = (vdc / sqrt3) * 0.95f;\n\n/* ---- Outer speed LADRC (cascade only) \u2192 Iq* ---- */\nfloat iq_ref = iq_ref_in;\nif (cascade) {\n if (spd_ref > 700.0f) spd_ref = 700.0f;\n if (spd_ref < -700.0f) spd_ref = -700.0f;\n\n float iq_lim = 0.50f * i_max;\n if (iq_lim < 4.0f) iq_lim = 4.0f;\n if (iq_lim > 12.0f) iq_lim = 12.0f;\n /* Shrink torque near voltage ceiling. */\n const float bemf = fabsf(omega_e) * psi_f;\n if (v_max > 1.0f && bemf > 0.80f * v_max) {\n float shrink = 1.0f - 0.70f * ((bemf / v_max - 0.80f) / 0.20f);\n if (shrink < 0.25f) shrink = 0.25f;\n iq_lim *= shrink;\n }\n\n if (st.spd_init == 0) {\n st.z1 = rpm_meas;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_init = 1;\n }\n\n const float beta1 = 2.0f * wo;\n const float beta2 = wo * wo;\n const float e_obs = st.z1 - rpm_meas;\n st.z1 += ts * (st.z2 + b0_spd * st.u_iq_prev - beta1 * e_obs);\n st.z2 += ts * (-beta2 * e_obs);\n const float fmax = 5.0e4f;\n if (st.z2 > fmax) st.z2 = fmax;\n if (st.z2 < -fmax) st.z2 = -fmax;\n\n const float u0 = wc * (spd_ref - st.z1);\n float u_iq = (u0 - st.z2) / b0_spd;\n if (u_iq > iq_lim) u_iq = iq_lim;\n if (u_iq < -iq_lim) u_iq = -iq_lim;\n st.u_iq_prev = u_iq;\n iq_ref = u_iq;\n} else {\n st.spd_init = 0;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n}\n\nif (id_ref > i_max) id_ref = i_max;\nif (id_ref < -i_max) id_ref = -i_max;\nif (iq_ref > i_max) iq_ref = i_max;\nif (iq_ref < -i_max) iq_ref = -i_max;\n\nconst float i_base = (I_Base > 0.0f) ? I_Base : 20.0f;\nconst float cost_track = ((id_ref - id_raw) / i_base) * ((id_ref - id_raw) / i_base)\n + ((iq_ref - iq_raw) / i_base) * ((iq_ref - iq_raw) / i_base);\n\nconst bool enable = Enable;\nconst bool bus_ok = (vdc >= 40.0f);\n\nIq_Cmd = iq_ref;\nRpm_Meas = rpm_meas;\n\nif (!enable || !(ts > 0.0f) || !bus_ok) {\n S_A = 0.0f;\n S_B = 0.0f;\n S_C = 0.0f;\n State_Index = 0.0f;\n Pred_I_D = rte::Amperes(id_raw);\n Pred_I_Q = rte::Amperes(iq_raw);\n Cost = cost_track;\n V_Alpha = rte::Volts(0.0f);\n V_Beta = rte::Volts(0.0f);\n V_D = rte::Volts(0.0f);\n V_Q = rte::Volts(0.0f);\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n st.enable_s = 0.0f;\n st.id_f = id_raw;\n st.iq_f = iq_raw;\n st.filt_init = 0;\n st.omega_init = 0;\n st.spd_init = 0;\n st.omega_f = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n} else {\n const float cos_t = cosf(theta_e);\n const float sin_t = sinf(theta_e);\n\n if (st.filt_init == 0) {\n st.id_f = id_raw;\n st.iq_f = iq_raw;\n st.filt_init = 1;\n } else {\n const float alpha = 1.0f / (1.0f + 1.0f / (6.28318530718f * 400.0f * ts));\n st.id_f += alpha * (id_raw - st.id_f);\n st.iq_f += alpha * (iq_raw - st.iq_f);\n }\n const float id = st.id_f;\n const float iq = st.iq_f;\n\n const float vd_prev = st.u_alpha_prev * cos_t + st.u_beta_prev * sin_t;\n const float vq_prev = -st.u_alpha_prev * sin_t + st.u_beta_prev * cos_t;\n\n /* One-step delay-compensated prediction (MPC / Mode-3). */\n const float id_p = id + (ts / ld) * (vd_prev - rs * id + omega_e * lq * iq);\n const float iq_p = iq + (ts / lq) * (vq_prev - rs * iq - omega_e * ld * id - omega_e * psi_f);\n\n const float ramp_s = 0.12f;\n st.enable_s += ts;\n if (st.enable_s > ramp_s) st.enable_s = ramp_s;\n float v_scale = st.enable_s / ramp_s;\n\n const float i_meas = sqrtf(id * id + iq * iq);\n float cost = cost_track;\n if (i_meas > i_max) {\n cost += 1.0e6f;\n v_scale = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.u_iq_prev = 0.0f;\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n }\n\n float db_eff = db_scale;\n const float bemf = fabsf(omega_e) * psi_f;\n if (v_max > 1.0f && bemf > 0.75f * v_max) {\n float ease = 1.0f - 0.55f * ((bemf / v_max - 0.75f) / 0.25f);\n if (ease < 0.45f) ease = 0.45f;\n db_eff *= ease;\n }\n\n const float kp_d = (ld / ts) * db_eff;\n const float kp_q = (lq / ts) * db_eff;\n const float ki = 8.0f;\n const float id_err = id_ref - id_p;\n const float iq_err = iq_ref - iq_p;\n\n if (v_scale > 0.0f) {\n st.id_int += ki * id_err * ts;\n st.iq_int += ki * iq_err * ts;\n }\n if (st.id_int > v_max) st.id_int = v_max;\n if (st.id_int < -v_max) st.id_int = -v_max;\n if (st.iq_int > v_max) st.iq_int = v_max;\n if (st.iq_int < -v_max) st.iq_int = -v_max;\n\n float vd_ref = rs * id_p - omega_e * lq * iq_p + kp_d * id_err + st.id_int;\n float vq_ref = rs * iq_p + omega_e * ld * id_p + omega_e * psi_f + kp_q * iq_err + st.iq_int;\n\n vd_ref *= v_scale;\n vq_ref *= v_scale;\n\n /* Iq-priority voltage limit. */\n const float v_mag_sq = vd_ref * vd_ref + vq_ref * vq_ref;\n if (v_mag_sq > v_max * v_max && v_mag_sq > 1.0e-12f) {\n if (fabsf(vq_ref) > v_max) {\n vq_ref = (vq_ref > 0.0f) ? v_max : -v_max;\n }\n const float vd_lim_sq = v_max * v_max - vq_ref * vq_ref;\n const float vd_lim = (vd_lim_sq > 0.0f) ? sqrtf(vd_lim_sq) : 0.0f;\n if (vd_ref > vd_lim) vd_ref = vd_lim;\n if (vd_ref < -vd_lim) vd_ref = -vd_lim;\n st.id_int *= 0.90f;\n st.iq_int *= 0.90f;\n }\n\n const float valpha_ref = vd_ref * cos_t - vq_ref * sin_t;\n const float vbeta_ref = vd_ref * sin_t + vq_ref * cos_t;\n\n S_A = 0.0f;\n S_B = 0.0f;\n S_C = 0.0f;\n State_Index = cascade ? 1.0f : 0.0f;\n Pred_I_D = rte::Amperes(id_p);\n Pred_I_Q = rte::Amperes(iq_p);\n Cost = cost;\n V_Alpha = rte::Volts(valpha_ref);\n V_Beta = rte::Volts(vbeta_ref);\n V_D = rte::Volts(vd_ref);\n V_Q = rte::Volts(vq_ref);\n\n st.u_alpha_prev = valpha_ref;\n st.u_beta_prev = vbeta_ref;\n}\n", + "parameters": { + "Ts": "0.0002", + "Ld": "0.00007", + "Lq": "0.00012", + "Rs": "0.05", + "PsiF": "0.07", + "DbScale": "0.55", + "I_Base": "20.0", + "I_Max": "15.0", + "CascadeMode": "1.0", + "SpdOmegaC": "40.0", + "SpdOmegaO": "120.0", + "SpdB0": "80.0", + "PolePairs": "5.0" + }, + "parameterTypes": { + "Ts": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Control sample period (s)." + }, + "Ld": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "d-axis inductance (H)." + }, + "Lq": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "q-axis inductance (H)." + }, + "Rs": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Stator resistance (ohm)." + }, + "PsiF": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "PM flux linkage (Wb). Gen6 ~0.07." + }, + "DbScale": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Inner deadbeat / MPC scale (0\u20131)." + }, + "I_Base": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Current normalization base (A)." + }, + "I_Max": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Hard current clamp (A)." + }, + "CascadeMode": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "0=current-only (I_Q_Ref in A). 1=speed ADRC + MPC current (Spd_Ref in rpm)." + }, + "SpdOmegaC": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Speed LADRC controller bandwidth \u03c9c (rad/s)." + }, + "SpdOmegaO": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Speed LADRC observer bandwidth \u03c9o (rad/s)." + }, + "SpdB0": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Speed plant gain b0 (rpm/s per amp). Tune on hardware." + }, + "PolePairs": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Rotor pole pairs (Gen6 = 5)." + } + }, + "inputPorts": [ + { + "name": "I_D", + "direction": "input", + "type": { + "quantity": "current", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Measured d-axis current (A)." + }, + { + "name": "I_Q", + "direction": "input", + "type": { + "quantity": "current", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Measured q-axis current (A)." + }, + { + "name": "I_D_Ref", + "direction": "input", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "d-axis current reference (A)." + }, + { + "name": "I_Q_Ref", + "direction": "input", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "q-axis current reference (A). Used when CascadeMode=0." + }, + { + "name": "Spd_Ref", + "direction": "input", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Mechanical speed reference (rpm). Used when CascadeMode=1." + }, + { + "name": "Theta_E", + "direction": "input", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Electrical rotor angle (rad)." + }, + { + "name": "Omega_E", + "direction": "input", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Electrical speed hint (rad/s); node also unwraps Theta_E." + }, + { + "name": "V_Dc", + "direction": "input", + "type": { + "quantity": "voltage", + "frame": "scalar", + "dtype": "f32" + }, + "description": "DC-link voltage (V)." + }, + { + "name": "Enable", + "direction": "input", + "type": { + "quantity": "boolean", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Controller enable." + } + ], + "outputPorts": [ + { + "name": "S_A", + "direction": "output", + "type": { + "quantity": "boolean", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Unused FCS placeholder." + }, + { + "name": "S_B", + "direction": "output", + "type": { + "quantity": "boolean", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Unused FCS placeholder." + }, + { + "name": "S_C", + "direction": "output", + "type": { + "quantity": "boolean", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Unused FCS placeholder." + }, + { + "name": "State_Index", + "direction": "output", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "0=current mode, 1=cascade mode (telemetry)." + }, + { + "name": "Pred_I_D", + "direction": "output", + "type": { + "quantity": "current", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Predicted d-axis current." + }, + { + "name": "Pred_I_Q", + "direction": "output", + "type": { + "quantity": "current", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Predicted q-axis current." + }, + { + "name": "Cost", + "direction": "output", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Tracking cost." + }, + { + "name": "V_Alpha", + "direction": "output", + "type": { + "quantity": "voltage", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Voltage reference alpha (to SVPWM)." + }, + { + "name": "V_Beta", + "direction": "output", + "type": { + "quantity": "voltage", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Voltage reference beta (to SVPWM)." + }, + { + "name": "V_D", + "direction": "output", + "type": { + "quantity": "voltage", + "frame": "scalar", + "dtype": "f32" + }, + "description": "d-axis voltage command." + }, + { + "name": "V_Q", + "direction": "output", + "type": { + "quantity": "voltage", + "frame": "scalar", + "dtype": "f32" + }, + "description": "q-axis voltage command." + }, + { + "name": "Iq_Cmd", + "direction": "output", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Iq command after speed ADRC (or I_Q_Ref in current mode)." + }, + { + "name": "Rpm_Meas", + "direction": "output", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "Measured mechanical speed (rpm)." + } + ], + "domain": "tim_isr", + "maxInstances": 1, + "isEntryPoint": false, + "displayName": "Speed ADRC + MPC Current" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "SwitchToDuty", + "parameters": {}, + "position": { + "x": 2003.420223999999, + "y": 1481.2775679999993 + }, + "type": "Transforms.SwitchToDuty" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "PwmOut", + "parameters": {}, + "position": { + "x": 2628.625408000001, + "y": 1712.4121599999994 + }, + "type": "Actuators.PwmOut" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "CfgEncSign", + "parameters": { + "Cached": "0.0", + "DefaultValue": "1.0", + "Key": "Motor.Encoder.SinCos.Sign" + }, + "position": { + "x": 150.0, + "y": 2644.0 + }, + "type": "Values.Config", + "constructorCode": "Cached = platform_config_load(Key, DefaultValue);\n\n/* Repair zero/invalid motor physics keys from graph defaults.\n * Encoder Sign: keep FRAM if |Sign|>=0.5; otherwise use DefaultValue.\n * Do NOT force polarity \u2014 match whatever FOC already spins with. */\nconst bool is_motor_key =\n (Key != nullptr) &&\n (strstr(Key, \"Inductance\") != nullptr ||\n strstr(Key, \"Resistance\") != nullptr ||\n strstr(Key, \"FluxLinkage\") != nullptr ||\n strstr(Key, \"Motor.Poles\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.Sign\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.OffsetDeg\") != nullptr);\n\nif (is_motor_key) {\n const bool is_sign = (Key != nullptr) &&\n (strstr(Key, \"Encoder.SinCos.Sign\") != nullptr);\n if (is_sign) {\n if (fabsf(Cached) < 0.5f) {\n Cached = (DefaultValue < 0.0f) ? -1.0f : 1.0f;\n platform_config_set(Key, Cached);\n } else {\n Cached = (Cached >= 0.0f) ? 1.0f : -1.0f;\n }\n } else if (DefaultValue > 1.0e-8f && !(Cached > 0.0f)) {\n Cached = DefaultValue;\n platform_config_set(Key, Cached);\n }\n}\n" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "CfgEncOffset", + "parameters": { + "Cached": "0.0", + "DefaultValue": "6.445", + "Key": "Motor.Encoder.SinCos.OffsetDeg" + }, + "position": { + "x": 150.0, + "y": 2455.0 + }, + "type": "Values.Config", + "constructorCode": "Cached = platform_config_load(Key, DefaultValue);\n\n/* Repair zero/invalid motor physics keys from graph defaults.\n * Encoder Sign: keep FRAM if |Sign|>=0.5; otherwise use DefaultValue.\n * Do NOT force polarity \u2014 match whatever FOC already spins with. */\nconst bool is_motor_key =\n (Key != nullptr) &&\n (strstr(Key, \"Inductance\") != nullptr ||\n strstr(Key, \"Resistance\") != nullptr ||\n strstr(Key, \"FluxLinkage\") != nullptr ||\n strstr(Key, \"Motor.Poles\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.Sign\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.OffsetDeg\") != nullptr);\n\nif (is_motor_key) {\n const bool is_sign = (Key != nullptr) &&\n (strstr(Key, \"Encoder.SinCos.Sign\") != nullptr);\n if (is_sign) {\n if (fabsf(Cached) < 0.5f) {\n Cached = (DefaultValue < 0.0f) ? -1.0f : 1.0f;\n platform_config_set(Key, Cached);\n } else {\n Cached = (Cached >= 0.0f) ? 1.0f : -1.0f;\n }\n } else if (DefaultValue > 1.0e-8f && !(Cached > 0.0f)) {\n Cached = DefaultValue;\n platform_config_set(Key, Cached);\n }\n}\n" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "CfgPoles", + "parameters": { + "Cached": "0.0", + "DefaultValue": "10.0", + "Key": "Motor.Poles" + }, + "position": { + "x": 150.0, + "y": 2833.0 + }, + "type": "Values.Config", + "constructorCode": "Cached = platform_config_load(Key, DefaultValue);\n\n/* Repair zero/invalid motor physics keys from graph defaults.\n * Encoder Sign: keep FRAM if |Sign|>=0.5; otherwise use DefaultValue.\n * Do NOT force polarity \u2014 match whatever FOC already spins with. */\nconst bool is_motor_key =\n (Key != nullptr) &&\n (strstr(Key, \"Inductance\") != nullptr ||\n strstr(Key, \"Resistance\") != nullptr ||\n strstr(Key, \"FluxLinkage\") != nullptr ||\n strstr(Key, \"Motor.Poles\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.Sign\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.OffsetDeg\") != nullptr);\n\nif (is_motor_key) {\n const bool is_sign = (Key != nullptr) &&\n (strstr(Key, \"Encoder.SinCos.Sign\") != nullptr);\n if (is_sign) {\n if (fabsf(Cached) < 0.5f) {\n Cached = (DefaultValue < 0.0f) ? -1.0f : 1.0f;\n platform_config_set(Key, Cached);\n } else {\n Cached = (Cached >= 0.0f) ? 1.0f : -1.0f;\n }\n } else if (DefaultValue > 1.0e-8f && !(Cached > 0.0f)) {\n Cached = DefaultValue;\n platform_config_set(Key, Cached);\n }\n}\n" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "CfgRs", + "parameters": { + "Cached": "0.0", + "DefaultValue": "0.05", + "Key": "Motor.Resistance.Avg" + }, + "position": { + "x": 150.0, + "y": 2077.0 + }, + "type": "Values.Config", + "constructorCode": "Cached = platform_config_load(Key, DefaultValue);\n\n/* Repair zero/invalid motor physics keys from graph defaults.\n * Encoder Sign: keep FRAM if |Sign|>=0.5; otherwise use DefaultValue.\n * Do NOT force polarity \u2014 match whatever FOC already spins with. */\nconst bool is_motor_key =\n (Key != nullptr) &&\n (strstr(Key, \"Inductance\") != nullptr ||\n strstr(Key, \"Resistance\") != nullptr ||\n strstr(Key, \"FluxLinkage\") != nullptr ||\n strstr(Key, \"Motor.Poles\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.Sign\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.OffsetDeg\") != nullptr);\n\nif (is_motor_key) {\n const bool is_sign = (Key != nullptr) &&\n (strstr(Key, \"Encoder.SinCos.Sign\") != nullptr);\n if (is_sign) {\n if (fabsf(Cached) < 0.5f) {\n Cached = (DefaultValue < 0.0f) ? -1.0f : 1.0f;\n platform_config_set(Key, Cached);\n } else {\n Cached = (Cached >= 0.0f) ? 1.0f : -1.0f;\n }\n } else if (DefaultValue > 1.0e-8f && !(Cached > 0.0f)) {\n Cached = DefaultValue;\n platform_config_set(Key, Cached);\n }\n}\n" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "CfgLd", + "parameters": { + "Cached": "0.0", + "DefaultValue": "0.00007", + "Key": "Motor.PMSM.Inductance.Ld" + }, + "position": { + "x": 150.0, + "y": 1510.0 + }, + "type": "Values.Config", + "constructorCode": "Cached = platform_config_load(Key, DefaultValue);\n\n/* Repair zero/invalid motor physics keys from graph defaults.\n * Encoder Sign: keep FRAM if |Sign|>=0.5; otherwise use DefaultValue.\n * Do NOT force polarity \u2014 match whatever FOC already spins with. */\nconst bool is_motor_key =\n (Key != nullptr) &&\n (strstr(Key, \"Inductance\") != nullptr ||\n strstr(Key, \"Resistance\") != nullptr ||\n strstr(Key, \"FluxLinkage\") != nullptr ||\n strstr(Key, \"Motor.Poles\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.Sign\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.OffsetDeg\") != nullptr);\n\nif (is_motor_key) {\n const bool is_sign = (Key != nullptr) &&\n (strstr(Key, \"Encoder.SinCos.Sign\") != nullptr);\n if (is_sign) {\n if (fabsf(Cached) < 0.5f) {\n Cached = (DefaultValue < 0.0f) ? -1.0f : 1.0f;\n platform_config_set(Key, Cached);\n } else {\n Cached = (Cached >= 0.0f) ? 1.0f : -1.0f;\n }\n } else if (DefaultValue > 1.0e-8f && !(Cached > 0.0f)) {\n Cached = DefaultValue;\n platform_config_set(Key, Cached);\n }\n}\n" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "CfgLq", + "parameters": { + "Cached": "0.0", + "DefaultValue": "0.00012", + "Key": "Motor.PMSM.Inductance.Lq" + }, + "position": { + "x": 150.0, + "y": 1699.0 + }, + "type": "Values.Config", + "constructorCode": "Cached = platform_config_load(Key, DefaultValue);\n\n/* Repair zero/invalid motor physics keys from graph defaults.\n * Encoder Sign: keep FRAM if |Sign|>=0.5; otherwise use DefaultValue.\n * Do NOT force polarity \u2014 match whatever FOC already spins with. */\nconst bool is_motor_key =\n (Key != nullptr) &&\n (strstr(Key, \"Inductance\") != nullptr ||\n strstr(Key, \"Resistance\") != nullptr ||\n strstr(Key, \"FluxLinkage\") != nullptr ||\n strstr(Key, \"Motor.Poles\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.Sign\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.OffsetDeg\") != nullptr);\n\nif (is_motor_key) {\n const bool is_sign = (Key != nullptr) &&\n (strstr(Key, \"Encoder.SinCos.Sign\") != nullptr);\n if (is_sign) {\n if (fabsf(Cached) < 0.5f) {\n Cached = (DefaultValue < 0.0f) ? -1.0f : 1.0f;\n platform_config_set(Key, Cached);\n } else {\n Cached = (Cached >= 0.0f) ? 1.0f : -1.0f;\n }\n } else if (DefaultValue > 1.0e-8f && !(Cached > 0.0f)) {\n Cached = DefaultValue;\n platform_config_set(Key, Cached);\n }\n}\n" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "CfgPsi", + "parameters": { + "Cached": "0.0", + "DefaultValue": "0.07", + "Key": "Motor.PMSM.FluxLinkage.Wb" + }, + "position": { + "x": 150.0, + "y": 1888.0 + }, + "type": "Values.Config", + "constructorCode": "Cached = platform_config_load(Key, DefaultValue);\n\n/* Repair zero/invalid motor physics keys from graph defaults.\n * Encoder Sign: keep FRAM if |Sign|>=0.5; otherwise use DefaultValue.\n * Do NOT force polarity \u2014 match whatever FOC already spins with. */\nconst bool is_motor_key =\n (Key != nullptr) &&\n (strstr(Key, \"Inductance\") != nullptr ||\n strstr(Key, \"Resistance\") != nullptr ||\n strstr(Key, \"FluxLinkage\") != nullptr ||\n strstr(Key, \"Motor.Poles\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.Sign\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.OffsetDeg\") != nullptr);\n\nif (is_motor_key) {\n const bool is_sign = (Key != nullptr) &&\n (strstr(Key, \"Encoder.SinCos.Sign\") != nullptr);\n if (is_sign) {\n if (fabsf(Cached) < 0.5f) {\n Cached = (DefaultValue < 0.0f) ? -1.0f : 1.0f;\n platform_config_set(Key, Cached);\n } else {\n Cached = (Cached >= 0.0f) ? 1.0f : -1.0f;\n }\n } else if (DefaultValue > 1.0e-8f && !(Cached > 0.0f)) {\n Cached = DefaultValue;\n platform_config_set(Key, Cached);\n }\n}\n" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "IdVar", + "parameters": { + "In": "0.0", + "Set": "0.0", + "Stored": "0.0" + }, + "position": { + "x": 1122.7200000000007, + "y": 1693.5596800000005 + }, + "type": "Values.Var" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "IqVar", + "parameters": { + "In": "0.0", + "Set": "0.0", + "Stored": "0.0" + }, + "position": { + "x": 150.0, + "y": 3175.0 + }, + "type": "Values.Var" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "CfgEnable", + "parameters": { + "Cached": "0.0", + "DefaultValue": "1.0", + "Key": "Ctrl.ThrottleEnable" + }, + "position": { + "x": 150.0, + "y": 2266.0 + }, + "type": "Values.Config", + "constructorCode": "Cached = platform_config_load(Key, DefaultValue);\n\n/* Repair zero/invalid motor physics keys from graph defaults.\n * Encoder Sign: keep FRAM if |Sign|>=0.5; otherwise use DefaultValue.\n * Do NOT force polarity \u2014 match whatever FOC already spins with. */\nconst bool is_motor_key =\n (Key != nullptr) &&\n (strstr(Key, \"Inductance\") != nullptr ||\n strstr(Key, \"Resistance\") != nullptr ||\n strstr(Key, \"FluxLinkage\") != nullptr ||\n strstr(Key, \"Motor.Poles\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.Sign\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.OffsetDeg\") != nullptr);\n\nif (is_motor_key) {\n const bool is_sign = (Key != nullptr) &&\n (strstr(Key, \"Encoder.SinCos.Sign\") != nullptr);\n if (is_sign) {\n if (fabsf(Cached) < 0.5f) {\n Cached = (DefaultValue < 0.0f) ? -1.0f : 1.0f;\n platform_config_set(Key, Cached);\n } else {\n Cached = (Cached >= 0.0f) ? 1.0f : -1.0f;\n }\n } else if (DefaultValue > 1.0e-8f && !(Cached > 0.0f)) {\n Cached = DefaultValue;\n platform_config_set(Key, Cached);\n }\n}\n" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "ThrottleEnable", + "parameters": { + "In": "0.0", + "Set": "0.0", + "Stored": "1.0" + }, + "position": { + "x": 870.0361600000001, + "y": 1836.56672 + }, + "type": "Values.VarBool" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "IqGate", + "parameters": {}, + "position": { + "x": 1122.3398400000005, + "y": 1863.3865599999997 + }, + "type": "Logic.Gate" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "SlewIq", + "parameters": { + "Dt": "0.0002", + "Rate": "50.0", + "Value": "0.0" + }, + "position": { + "x": 906.1474559999997, + "y": 2408.3075840000006 + }, + "type": "Control.Slew" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogId", + "parameters": { + "Key": "mpcc_id_a" + }, + "position": { + "x": 1247.2800000000002, + "y": 1395.88 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogIq", + "parameters": { + "Key": "mpcc_iq_a" + }, + "position": { + "x": 1310.2080000000003, + "y": 1523.0300800000002 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogPredId", + "parameters": { + "Key": "mpcc_pred_id_a" + }, + "position": { + "x": 2010.1870719999995, + "y": 1866.0328959999993 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogPredIq", + "parameters": { + "Key": "mpcc_pred_iq_a" + }, + "position": { + "x": 2029.5959680000005, + "y": 1990.6520320000004 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogCost", + "parameters": { + "Key": "mpcc_cost" + }, + "position": { + "x": 1981.820224000001, + "y": 2135.5636480000016 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogState", + "parameters": { + "Key": "mpcc_state" + }, + "position": { + "x": 2047.5118719999984, + "y": 1689.7684480000003 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogDu", + "parameters": { + "Key": "mpcc_du" + }, + "position": { + "x": 2623.8975999999993, + "y": 1423.4064640000004 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogDv", + "parameters": { + "Key": "mpcc_dv" + }, + "position": { + "x": 2647.785472, + "y": 1567.4344959999996 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogDw", + "parameters": { + "Key": "mpcc_dw" + }, + "position": { + "x": 2605.9816960000003, + "y": 1911.523456 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogThetaE", + "parameters": { + "Key": "mpcc_theta_e" + }, + "position": { + "x": 795.1377279999999, + "y": 2046.219776 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogOmegaE", + "parameters": { + "Key": "mpcc_omega_e" + }, + "position": { + "x": 1184.2990080000002, + "y": 2159.551296 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "EncoderApp", + "parameters": {}, + "position": { + "x": 522.0, + "y": 680.0 + }, + "type": "Sensors.Encoder" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "VdcApp", + "parameters": {}, + "position": { + "x": 522.0, + "y": 1223.0 + }, + "type": "Sensors.DcLinkVoltage" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "Temps", + "parameters": {}, + "position": { + "x": 522.0, + "y": 833.0 + }, + "type": "Sensors.Temperatures" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "Throttle", + "parameters": {}, + "position": { + "x": 522.0, + "y": 1042.0 + }, + "type": "Sensors.Throttle" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "Din1", + "parameters": { + "Pin": "1.0" + }, + "position": { + "x": 522.0, + "y": 530.0 + }, + "type": "Sensors.DigitalIn" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "LedGreen", + "parameters": { + "Pin": "5.0" + }, + "position": { + "x": 856.0, + "y": 80.0 + }, + "type": "Actuators.DigitalOut" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "LogTheta", + "parameters": { + "Key": "cg_theta_rad" + }, + "position": { + "x": 856.0, + "y": 230.0 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "LogU", + "parameters": { + "Key": "cg_iu_a" + }, + "position": { + "x": 522.0, + "y": 80.0 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "LogV", + "parameters": { + "Key": "cg_iv_a" + }, + "position": { + "x": 522.0, + "y": 230.0 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "LogW", + "parameters": { + "Key": "cg_iw_a" + }, + "position": { + "x": 522.0, + "y": 380.0 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "LogVdc", + "parameters": { + "Key": "cg_vdc_v" + }, + "position": { + "x": 856.0, + "y": 1280.0 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "LogT_Motor", + "parameters": { + "Key": "temp_motor_c" + }, + "position": { + "x": 856.0, + "y": 830.0 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "LogT_Inv1", + "parameters": { + "Key": "temp_inv1_c" + }, + "position": { + "x": 856.0, + "y": 380.0 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "LogT_Inv2", + "parameters": { + "Key": "temp_inv2_c" + }, + "position": { + "x": 856.0, + "y": 530.0 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "LogT_Inv3", + "parameters": { + "Key": "temp_inv3_c" + }, + "position": { + "x": 856.0, + "y": 680.0 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "LogThrA", + "parameters": { + "Key": "thr_a_norm" + }, + "position": { + "x": 856.0, + "y": 980.0 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "LogThrB", + "parameters": { + "Key": "thr_b_norm" + }, + "position": { + "x": 856.0, + "y": 1130.0 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "Svpwm", + "parameters": {}, + "position": { + "x": 1904.1846399999995, + "y": 2280.5490559999994 + }, + "type": "Transforms.Svpwm" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogThetaMech", + "parameters": { + "Key": "mpcc_theta_mech" + }, + "position": { + "x": 400, + "y": 2600 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogLd", + "parameters": { + "Key": "mpcc_ld_h" + }, + "position": { + "x": 400, + "y": 1520 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogLq", + "parameters": { + "Key": "mpcc_lq_h" + }, + "position": { + "x": 400, + "y": 1710 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogEncSign", + "parameters": { + "Key": "mpcc_enc_sign" + }, + "position": { + "x": 400, + "y": 2650 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "CfgIqSlew", + "parameters": { + "Cached": "0.0", + "DefaultValue": "50.0", + "Key": "Ctrl.Iq.SlewAps" + }, + "position": { + "x": 150.0, + "y": 2266.0 + }, + "type": "Values.Config", + "constructorCode": "Cached = platform_config_load(Key, DefaultValue);\n\n/* Repair zero/invalid motor physics keys from graph defaults.\n * Encoder Sign: keep FRAM if |Sign|>=0.5; otherwise use DefaultValue.\n * Do NOT force polarity \u2014 match whatever FOC already spins with. */\nconst bool is_motor_key =\n (Key != nullptr) &&\n (strstr(Key, \"Inductance\") != nullptr ||\n strstr(Key, \"Resistance\") != nullptr ||\n strstr(Key, \"FluxLinkage\") != nullptr ||\n strstr(Key, \"Motor.Poles\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.Sign\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.OffsetDeg\") != nullptr);\n\nif (is_motor_key) {\n const bool is_sign = (Key != nullptr) &&\n (strstr(Key, \"Encoder.SinCos.Sign\") != nullptr);\n if (is_sign) {\n if (fabsf(Cached) < 0.5f) {\n Cached = (DefaultValue < 0.0f) ? -1.0f : 1.0f;\n platform_config_set(Key, Cached);\n } else {\n Cached = (Cached >= 0.0f) ? 1.0f : -1.0f;\n }\n } else if (DefaultValue > 1.0e-8f && !(Cached > 0.0f)) {\n Cached = DefaultValue;\n platform_config_set(Key, Cached);\n }\n}\n" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "SpdVar", + "parameters": { + "In": "0.0", + "Set": "400.0", + "Stored": "400.0" + }, + "position": { + "x": 150.0, + "y": 3175.0 + }, + "type": "Values.Var", + "name": "SpdVar", + "defaultName": "SpdVar" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "SlewSpd", + "parameters": { + "Dt": "0.0002", + "Rate": "120.0", + "Value": "0.0" + }, + "position": { + "x": 906.1474559999997, + "y": 2408.3075840000006 + }, + "type": "Control.Slew", + "name": "SlewSpd", + "defaultName": "SlewSpd" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogIqCmd", + "parameters": { + "Key": "sam_iq_cmd_a" + }, + "position": { + "x": 1247.2800000000002, + "y": 1395.88 + }, + "type": "Debug.TelemetryLog", + "name": "LogIqCmd", + "defaultName": "LogIqCmd" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogRpm", + "parameters": { + "Key": "sam_rpm" + }, + "position": { + "x": 1247.2800000000002, + "y": 1395.88 + }, + "type": "Debug.TelemetryLog", + "name": "LogRpm", + "defaultName": "LogRpm" + } + ] +} diff --git a/Assets/NodeTemplates/Control.SpeedAdrcMpcCurrent/inline.cpp b/Assets/NodeTemplates/Control.SpeedAdrcMpcCurrent/inline.cpp new file mode 100644 index 0000000..fa688bb --- /dev/null +++ b/Assets/NodeTemplates/Control.SpeedAdrcMpcCurrent/inline.cpp @@ -0,0 +1,309 @@ +/* Cascaded Gen6 controller (NEW node — does not modify Control.AdrcMpcc): + * + * Outer: LADRC on mechanical speed (rpm) → Iq* + * Inner: Mode-3 deadbeat / predictive current → Vαβ → SVPWM + * + * CascadeMode: + * 0 = current-only (FOC-like): I_Q_Ref in amperes, speed ADRC bypassed + * 1 = cascaded: Spd_Ref in rpm → speed ADRC → Iq*, then MPC current + * + * State in AXISRAM (.dma_buffers, NOLOAD) — magic-clear before use. + */ + +struct SpdAdrcMpcState { + uint32_t magic; + float u_alpha_prev; + float u_beta_prev; + float enable_s; + float id_f; + float iq_f; + float theta_prev; + float omega_f; + float id_int; + float iq_int; + /* Speed LADRC states (y = rpm, u = Iq). */ + float z1; + float z2; + float u_iq_prev; + uint8_t filt_init; + uint8_t omega_init; + uint8_t spd_init; + uint8_t _pad; +}; + +static constexpr uint32_t kSamMagic = 0x53414D31u; /* SAM1 */ + +static SpdAdrcMpcState st __attribute__((section(".dma_buffers"), aligned(4))); + +if (st.magic != kSamMagic) { + st.u_alpha_prev = 0.0f; + st.u_beta_prev = 0.0f; + st.enable_s = 0.0f; + st.id_f = 0.0f; + st.iq_f = 0.0f; + st.theta_prev = 0.0f; + st.omega_f = 0.0f; + st.id_int = 0.0f; + st.iq_int = 0.0f; + st.z1 = 0.0f; + st.z2 = 0.0f; + st.u_iq_prev = 0.0f; + st.filt_init = 0; + st.omega_init = 0; + st.spd_init = 0; + st._pad = 0; + st.magic = kSamMagic; +} + +const float ts = Ts; +float ld = Ld; +float lq = Lq; +float rs = Rs; +float psi_f = PsiF; +if (!(ld > 1.0e-7f)) ld = 70.0e-6f; +if (!(lq > 1.0e-7f)) lq = 120.0e-6f; +if (!(rs > 0.0f) || !(rs < 10.0f)) rs = 0.05f; +if (!(psi_f > 0.0f) || !(psi_f < 1.0f)) psi_f = 0.07f; +if (psi_f < 0.02f) psi_f = 0.07f; + +float db_scale = DbScale; +if (!(db_scale > 0.10f)) db_scale = 0.55f; +if (db_scale > 1.0f) db_scale = 1.0f; + +float i_max = (I_Max > 0.0f) ? I_Max : 15.0f; +if (i_max < 5.0f) i_max = 5.0f; +if (i_max > 40.0f) i_max = 40.0f; + +float pole_pairs = PolePairs; +if (!(pole_pairs > 0.5f) || !(pole_pairs < 40.0f)) pole_pairs = 5.0f; + +float wc = SpdOmegaC; +float wo = SpdOmegaO; +float b0_spd = SpdB0; +if (!(wc > 0.0f)) wc = 40.0f; +if (!(wo > 0.0f)) wo = 120.0f; +if (!(b0_spd > 1.0e-4f)) b0_spd = 80.0f; /* rpm/s per amp — tune on hardware */ + +const bool cascade = (CascadeMode > 0.5f); +const float vdc = V_Dc.in(au::volts); +const float id_raw = I_D.in(au::amperes); +const float iq_raw = I_Q.in(au::amperes); +float id_ref = I_D_Ref; +float iq_ref_in = I_Q_Ref; +float spd_ref = Spd_Ref; +const float theta_e = Theta_E; +const float pi = 3.14159265359f; +const float two_pi = 6.28318530718f; +const float sqrt3 = 1.73205080757f; + +/* Unwrapped electrical speed. */ +float omega_e = Omega_E; +if (!(omega_e == omega_e)) omega_e = 0.0f; +if (st.omega_init == 0) { + st.theta_prev = theta_e; + st.omega_f = 0.0f; + st.omega_init = 1; +} else if (ts > 0.0f) { + float dth = theta_e - st.theta_prev; + dth = fmodf(dth + pi, two_pi); + if (dth < 0.0f) dth += two_pi; + dth -= pi; + const float w_raw = dth / ts; + const float a_w = 1.0f / (1.0f + 1.0f / (6.28318530718f * 150.0f * ts)); + st.omega_f += a_w * (w_raw - st.omega_f); + omega_e = st.omega_f; +} +st.theta_prev = theta_e; +if (fabsf(omega_e) > 900.0f) omega_e = (omega_e > 0.0f) ? 900.0f : -900.0f; + +const float rpm_meas = omega_e / pole_pairs * 60.0f / two_pi; +const float v_max = (vdc / sqrt3) * 0.95f; + +/* ---- Outer speed LADRC (cascade only) → Iq* ---- */ +float iq_ref = iq_ref_in; +if (cascade) { + if (spd_ref > 700.0f) spd_ref = 700.0f; + if (spd_ref < -700.0f) spd_ref = -700.0f; + + float iq_lim = 0.50f * i_max; + if (iq_lim < 4.0f) iq_lim = 4.0f; + if (iq_lim > 12.0f) iq_lim = 12.0f; + /* Shrink torque near voltage ceiling. */ + const float bemf = fabsf(omega_e) * psi_f; + if (v_max > 1.0f && bemf > 0.80f * v_max) { + float shrink = 1.0f - 0.70f * ((bemf / v_max - 0.80f) / 0.20f); + if (shrink < 0.25f) shrink = 0.25f; + iq_lim *= shrink; + } + + if (st.spd_init == 0) { + st.z1 = rpm_meas; + st.z2 = 0.0f; + st.u_iq_prev = 0.0f; + st.spd_init = 1; + } + + const float beta1 = 2.0f * wo; + const float beta2 = wo * wo; + const float e_obs = st.z1 - rpm_meas; + st.z1 += ts * (st.z2 + b0_spd * st.u_iq_prev - beta1 * e_obs); + st.z2 += ts * (-beta2 * e_obs); + const float fmax = 5.0e4f; + if (st.z2 > fmax) st.z2 = fmax; + if (st.z2 < -fmax) st.z2 = -fmax; + + const float u0 = wc * (spd_ref - st.z1); + float u_iq = (u0 - st.z2) / b0_spd; + if (u_iq > iq_lim) u_iq = iq_lim; + if (u_iq < -iq_lim) u_iq = -iq_lim; + st.u_iq_prev = u_iq; + iq_ref = u_iq; +} else { + st.spd_init = 0; + st.z1 = 0.0f; + st.z2 = 0.0f; + st.u_iq_prev = 0.0f; +} + +if (id_ref > i_max) id_ref = i_max; +if (id_ref < -i_max) id_ref = -i_max; +if (iq_ref > i_max) iq_ref = i_max; +if (iq_ref < -i_max) iq_ref = -i_max; + +const float i_base = (I_Base > 0.0f) ? I_Base : 20.0f; +const float cost_track = ((id_ref - id_raw) / i_base) * ((id_ref - id_raw) / i_base) + + ((iq_ref - iq_raw) / i_base) * ((iq_ref - iq_raw) / i_base); + +const bool enable = Enable; +const bool bus_ok = (vdc >= 40.0f); + +Iq_Cmd = iq_ref; +Rpm_Meas = rpm_meas; + +if (!enable || !(ts > 0.0f) || !bus_ok) { + S_A = 0.0f; + S_B = 0.0f; + S_C = 0.0f; + State_Index = 0.0f; + Pred_I_D = rte::Amperes(id_raw); + Pred_I_Q = rte::Amperes(iq_raw); + Cost = cost_track; + V_Alpha = rte::Volts(0.0f); + V_Beta = rte::Volts(0.0f); + V_D = rte::Volts(0.0f); + V_Q = rte::Volts(0.0f); + st.u_alpha_prev = 0.0f; + st.u_beta_prev = 0.0f; + st.enable_s = 0.0f; + st.id_f = id_raw; + st.iq_f = iq_raw; + st.filt_init = 0; + st.omega_init = 0; + st.spd_init = 0; + st.omega_f = 0.0f; + st.id_int = 0.0f; + st.iq_int = 0.0f; + st.z1 = 0.0f; + st.z2 = 0.0f; + st.u_iq_prev = 0.0f; +} else { + const float cos_t = cosf(theta_e); + const float sin_t = sinf(theta_e); + + if (st.filt_init == 0) { + st.id_f = id_raw; + st.iq_f = iq_raw; + st.filt_init = 1; + } else { + const float alpha = 1.0f / (1.0f + 1.0f / (6.28318530718f * 400.0f * ts)); + st.id_f += alpha * (id_raw - st.id_f); + st.iq_f += alpha * (iq_raw - st.iq_f); + } + const float id = st.id_f; + const float iq = st.iq_f; + + const float vd_prev = st.u_alpha_prev * cos_t + st.u_beta_prev * sin_t; + const float vq_prev = -st.u_alpha_prev * sin_t + st.u_beta_prev * cos_t; + + /* One-step delay-compensated prediction (MPC / Mode-3). */ + const float id_p = id + (ts / ld) * (vd_prev - rs * id + omega_e * lq * iq); + const float iq_p = iq + (ts / lq) * (vq_prev - rs * iq - omega_e * ld * id - omega_e * psi_f); + + const float ramp_s = 0.12f; + st.enable_s += ts; + if (st.enable_s > ramp_s) st.enable_s = ramp_s; + float v_scale = st.enable_s / ramp_s; + + const float i_meas = sqrtf(id * id + iq * iq); + float cost = cost_track; + if (i_meas > i_max) { + cost += 1.0e6f; + v_scale = 0.0f; + st.id_int = 0.0f; + st.iq_int = 0.0f; + st.u_iq_prev = 0.0f; + st.u_alpha_prev = 0.0f; + st.u_beta_prev = 0.0f; + } + + float db_eff = db_scale; + const float bemf = fabsf(omega_e) * psi_f; + if (v_max > 1.0f && bemf > 0.75f * v_max) { + float ease = 1.0f - 0.55f * ((bemf / v_max - 0.75f) / 0.25f); + if (ease < 0.45f) ease = 0.45f; + db_eff *= ease; + } + + const float kp_d = (ld / ts) * db_eff; + const float kp_q = (lq / ts) * db_eff; + const float ki = 8.0f; + const float id_err = id_ref - id_p; + const float iq_err = iq_ref - iq_p; + + if (v_scale > 0.0f) { + st.id_int += ki * id_err * ts; + st.iq_int += ki * iq_err * ts; + } + if (st.id_int > v_max) st.id_int = v_max; + if (st.id_int < -v_max) st.id_int = -v_max; + if (st.iq_int > v_max) st.iq_int = v_max; + if (st.iq_int < -v_max) st.iq_int = -v_max; + + float vd_ref = rs * id_p - omega_e * lq * iq_p + kp_d * id_err + st.id_int; + float vq_ref = rs * iq_p + omega_e * ld * id_p + omega_e * psi_f + kp_q * iq_err + st.iq_int; + + vd_ref *= v_scale; + vq_ref *= v_scale; + + /* Iq-priority voltage limit. */ + const float v_mag_sq = vd_ref * vd_ref + vq_ref * vq_ref; + if (v_mag_sq > v_max * v_max && v_mag_sq > 1.0e-12f) { + if (fabsf(vq_ref) > v_max) { + vq_ref = (vq_ref > 0.0f) ? v_max : -v_max; + } + const float vd_lim_sq = v_max * v_max - vq_ref * vq_ref; + const float vd_lim = (vd_lim_sq > 0.0f) ? sqrtf(vd_lim_sq) : 0.0f; + if (vd_ref > vd_lim) vd_ref = vd_lim; + if (vd_ref < -vd_lim) vd_ref = -vd_lim; + st.id_int *= 0.90f; + st.iq_int *= 0.90f; + } + + const float valpha_ref = vd_ref * cos_t - vq_ref * sin_t; + const float vbeta_ref = vd_ref * sin_t + vq_ref * cos_t; + + S_A = 0.0f; + S_B = 0.0f; + S_C = 0.0f; + State_Index = cascade ? 1.0f : 0.0f; + Pred_I_D = rte::Amperes(id_p); + Pred_I_Q = rte::Amperes(iq_p); + Cost = cost; + V_Alpha = rte::Volts(valpha_ref); + V_Beta = rte::Volts(vbeta_ref); + V_D = rte::Volts(vd_ref); + V_Q = rte::Volts(vq_ref); + + st.u_alpha_prev = valpha_ref; + st.u_beta_prev = vbeta_ref; +} diff --git a/Assets/NodeTemplates/Control.SpeedAdrcMpcCurrent/node.json b/Assets/NodeTemplates/Control.SpeedAdrcMpcCurrent/node.json new file mode 100644 index 0000000..8d4ae50 --- /dev/null +++ b/Assets/NodeTemplates/Control.SpeedAdrcMpcCurrent/node.json @@ -0,0 +1,225 @@ +{ + "id": "Control.SpeedAdrcMpcCurrent", + "displayName": "Speed ADRC + MPC Current", + "defaultName": "SpeedAdrcMpc", + "maxInstances": 1, + "isEntryPoint": false, + "domain": "tim_isr", + "description": "Cascaded Gen6 controller: outer LADRC on mechanical speed (rpm) and inner Mode-3 deadbeat/MPC current to SVPWM. Separate from Control.AdrcMpcc. CascadeMode 0 = FOC-like Iq in amps; 1 = Spd_Ref in rpm → ADRC → Iq* → MPC.", + "inputPorts": [ + { + "name": "I_D", + "direction": "input", + "type": { "quantity": "current", "frame": "scalar", "dtype": "f32" }, + "description": "Measured d-axis current (A)." + }, + { + "name": "I_Q", + "direction": "input", + "type": { "quantity": "current", "frame": "scalar", "dtype": "f32" }, + "description": "Measured q-axis current (A)." + }, + { + "name": "I_D_Ref", + "direction": "input", + "type": { "quantity": "dimensionless", "frame": "scalar", "dtype": "f32" }, + "description": "d-axis current reference (A)." + }, + { + "name": "I_Q_Ref", + "direction": "input", + "type": { "quantity": "dimensionless", "frame": "scalar", "dtype": "f32" }, + "description": "q-axis current reference (A). Used when CascadeMode=0." + }, + { + "name": "Spd_Ref", + "direction": "input", + "type": { "quantity": "dimensionless", "frame": "scalar", "dtype": "f32" }, + "description": "Mechanical speed reference (rpm). Used when CascadeMode=1." + }, + { + "name": "Theta_E", + "direction": "input", + "type": { "quantity": "dimensionless", "frame": "scalar", "dtype": "f32" }, + "description": "Electrical rotor angle (rad)." + }, + { + "name": "Omega_E", + "direction": "input", + "type": { "quantity": "dimensionless", "frame": "scalar", "dtype": "f32" }, + "description": "Electrical speed hint (rad/s); node also unwraps Theta_E." + }, + { + "name": "V_Dc", + "direction": "input", + "type": { "quantity": "voltage", "frame": "scalar", "dtype": "f32" }, + "description": "DC-link voltage (V)." + }, + { + "name": "Enable", + "direction": "input", + "type": { "quantity": "boolean", "frame": "scalar", "dtype": "f32" }, + "description": "Controller enable." + } + ], + "outputPorts": [ + { + "name": "S_A", + "direction": "output", + "type": { "quantity": "boolean", "frame": "scalar", "dtype": "f32" }, + "description": "Unused FCS placeholder." + }, + { + "name": "S_B", + "direction": "output", + "type": { "quantity": "boolean", "frame": "scalar", "dtype": "f32" }, + "description": "Unused FCS placeholder." + }, + { + "name": "S_C", + "direction": "output", + "type": { "quantity": "boolean", "frame": "scalar", "dtype": "f32" }, + "description": "Unused FCS placeholder." + }, + { + "name": "State_Index", + "direction": "output", + "type": { "quantity": "dimensionless", "frame": "scalar", "dtype": "f32" }, + "description": "0=current mode, 1=cascade mode (telemetry)." + }, + { + "name": "Pred_I_D", + "direction": "output", + "type": { "quantity": "current", "frame": "scalar", "dtype": "f32" }, + "description": "Predicted d-axis current." + }, + { + "name": "Pred_I_Q", + "direction": "output", + "type": { "quantity": "current", "frame": "scalar", "dtype": "f32" }, + "description": "Predicted q-axis current." + }, + { + "name": "Cost", + "direction": "output", + "type": { "quantity": "dimensionless", "frame": "scalar", "dtype": "f32" }, + "description": "Tracking cost." + }, + { + "name": "V_Alpha", + "direction": "output", + "type": { "quantity": "voltage", "frame": "scalar", "dtype": "f32" }, + "description": "Voltage reference alpha (to SVPWM)." + }, + { + "name": "V_Beta", + "direction": "output", + "type": { "quantity": "voltage", "frame": "scalar", "dtype": "f32" }, + "description": "Voltage reference beta (to SVPWM)." + }, + { + "name": "V_D", + "direction": "output", + "type": { "quantity": "voltage", "frame": "scalar", "dtype": "f32" }, + "description": "d-axis voltage command." + }, + { + "name": "V_Q", + "direction": "output", + "type": { "quantity": "voltage", "frame": "scalar", "dtype": "f32" }, + "description": "q-axis voltage command." + }, + { + "name": "Iq_Cmd", + "direction": "output", + "type": { "quantity": "dimensionless", "frame": "scalar", "dtype": "f32" }, + "description": "Iq command after speed ADRC (or I_Q_Ref in current mode)." + }, + { + "name": "Rpm_Meas", + "direction": "output", + "type": { "quantity": "dimensionless", "frame": "scalar", "dtype": "f32" }, + "description": "Measured mechanical speed (rpm)." + } + ], + "parameterTypes": { + "Ts": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Control sample period (s)." + }, + "Ld": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "d-axis inductance (H)." + }, + "Lq": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "q-axis inductance (H)." + }, + "Rs": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Stator resistance (ohm)." + }, + "PsiF": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "PM flux linkage (Wb). Gen6 ~0.07." + }, + "DbScale": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Inner deadbeat / MPC scale (0–1)." + }, + "I_Base": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Current normalization base (A)." + }, + "I_Max": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Hard current clamp (A)." + }, + "CascadeMode": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "0=current-only (I_Q_Ref in A). 1=speed ADRC + MPC current (Spd_Ref in rpm)." + }, + "SpdOmegaC": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Speed LADRC controller bandwidth ωc (rad/s)." + }, + "SpdOmegaO": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Speed LADRC observer bandwidth ωo (rad/s)." + }, + "SpdB0": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Speed plant gain b0 (rpm/s per amp). Tune on hardware." + }, + "PolePairs": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + "description": "Rotor pole pairs (Gen6 = 5)." + } + } +} diff --git a/docs/19_speed_adrc_mpc_current_bringup.md b/docs/19_speed_adrc_mpc_current_bringup.md new file mode 100644 index 0000000..32abb1c --- /dev/null +++ b/docs/19_speed_adrc_mpc_current_bringup.md @@ -0,0 +1,60 @@ +# Speed ADRC + MPC Current (cascaded Gen6) + +**New** branch / demo — does **not** modify `Control.AdrcMpcc` or `hybrid_adrc_mpcc_demo.json`. + +``` +Spd_Ref [rpm] → LADRC (speed) → Iq* +Id_Ref [A] → ↘ +I_Q_Ref [A] → (CascadeMode=0 only) → Mode-3 deadbeat / MPC current → Vαβ → SVPWM +``` + +| Mode | `CascadeMode` | How to command | +|------|---------------|----------------| +| Current-only (FOC-like) | **0** | `IqVar` in **amps** | +| Cascaded (this design) | **1** (demo default) | `SpdVar` in **rpm**; current loop still runs | + +## Flash + +```bash +cd "/Users/saeed/Desktop/Journal Paper 2026/GitHub Repository/RTE" +git checkout feature/gen6-speed-adrc-mpc-current + +cmake -B build -G Ninja && cmake --build build -j8 + +./Tools/build_flash_graph.sh \ + --graph Assets/Examples/speed_adrc_mpc_current_demo.json \ + --fw-build-dir build/speed-adrc-mpc-fw \ + --fw-src-dir build/speed-adrc-mpc-fw-src \ + --clean +``` + +## Recommended first run (cascade) + +1. Bus **~55 V** +2. Encoder Sign/Offset same as FOC +3. `CascadeMode = 1`, `IdVar = 0`, `SpdVar = 400` (rpm) +4. Enable → expect rpm → ~400, phase currents modest, `sam_iq_cmd_a` / `sam_rpm` in telem +5. Optional: 400 → 500 rpm. Stay ≤ ~600 at 55 V + +## FOC-like current-only check + +Set `CascadeMode = 0`, ramp `IqVar` 1→3→5 A (same idea as FOC / old hybrid current test). + +## Tuning + +| Param | Default | Role | +|-------|---------|------| +| `SpdOmegaC` | 40 | Speed ADRC ωc | +| `SpdOmegaO` | 120 | Speed ADRC ωo | +| `SpdB0` | 80 | rpm/s per amp (tune) | +| `DbScale` | 0.55 | Inner MPC deadbeat | +| `I_Max` | 15 | Hard current clamp | +| `PsiF` | 0.07 | Inner bemf model | + +## vs previous hybrid + +| | `hybrid_adrc_mpcc_demo` | This demo | +|--|-------------------------|-----------| +| Node | `Control.AdrcMpcc` | `Control.SpeedAdrcMpcCurrent` | +| “Hybrid” meaning | ESO+deadbeat in **one** current law | **ADRC speed** + **MPC current** cascade | +| Untouched | — | Previous hybrid files left as-is | From e7f97bbeff21edc8e18edbfaa83ff1f518cd1984 Mon Sep 17 00:00:00 2001 From: Saeed Aliamooei Lakeh Date: Mon, 3 Aug 2026 21:28:18 -0700 Subject: [PATCH 2/7] Fix speed_adrc_mpc_current_demo: add missing node position. SpeedAdrcMpc lacked the required position key, which made the graph JSON invalid for the loader. Co-authored-by: Cursor --- Assets/Examples/speed_adrc_mpc_current_demo.json | 14 +++++++++++--- 1 file changed, 11 insertions(+), 3 deletions(-) diff --git a/Assets/Examples/speed_adrc_mpc_current_demo.json b/Assets/Examples/speed_adrc_mpc_current_demo.json index 5dbe2ff..cd05ee3 100644 --- a/Assets/Examples/speed_adrc_mpc_current_demo.json +++ b/Assets/Examples/speed_adrc_mpc_current_demo.json @@ -3923,9 +3923,17 @@ } ], "domain": "tim_isr", - "maxInstances": 1, - "isEntryPoint": false, - "displayName": "Speed ADRC + MPC Current" + "displayName": "Speed ADRC + MPC Current", + "position": { + "x": 1602.09, + "y": 1704.34 + }, + "parameterInputs": [ + "Rs", + "Ld", + "Lq", + "PsiF" + ] }, { "displayName": "", From 614437270caf63ac9e617b46e519027330f5ca61 Mon Sep 17 00:00:00 2001 From: Saeed Aliamooei Lakeh Date: Mon, 3 Aug 2026 21:30:59 -0700 Subject: [PATCH 3/7] Fix DTCM overflow: drop SlewSpd and slew rpm in AXISRAM. The extra Control.Slew on Spd_Ref cost ~16 B of DTCM. Rpm slewing now lives in the controller's .dma_buffers state instead. Co-authored-by: Cursor --- .../Examples/speed_adrc_mpc_current_demo.json | 54 +++++-------------- .../Control.SpeedAdrcMpcCurrent/inline.cpp | 17 +++++- docs/19_speed_adrc_mpc_current_bringup.md | 4 ++ 3 files changed, 33 insertions(+), 42 deletions(-) diff --git a/Assets/Examples/speed_adrc_mpc_current_demo.json b/Assets/Examples/speed_adrc_mpc_current_demo.json index cd05ee3..7675279 100644 --- a/Assets/Examples/speed_adrc_mpc_current_demo.json +++ b/Assets/Examples/speed_adrc_mpc_current_demo.json @@ -725,28 +725,6 @@ "portName": "Rate" } }, - { - "id": "c_spdvar_slew", - "from": { - "nodeId": "SpdVar", - "portName": "Value" - }, - "to": { - "nodeId": "SlewSpd", - "portName": "In" - } - }, - { - "id": "c_slewspd_ref", - "from": { - "nodeId": "SlewSpd", - "portName": "Out" - }, - "to": { - "nodeId": "SpeedAdrcMpc", - "portName": "Spd_Ref" - } - }, { "id": "c_log_iqcmd", "from": { @@ -768,6 +746,17 @@ "nodeId": "LogRpm", "portName": "Value" } + }, + { + "id": "c_spdvar_ref", + "from": { + "nodeId": "SpdVar", + "portName": "Value" + }, + "to": { + "nodeId": "SpeedAdrcMpc", + "portName": "Spd_Ref" + } } ], "name": "speed_adrc_mpc_current_demo", @@ -3502,7 +3491,7 @@ "description": "Rotor pole pairs (Gen6 = 5)." } }, - "inlineCode": "/* Cascaded Gen6 controller (NEW node \u2014 does not modify Control.AdrcMpcc):\n *\n * Outer: LADRC on mechanical speed (rpm) \u2192 Iq*\n * Inner: Mode-3 deadbeat / predictive current \u2192 V\u03b1\u03b2 \u2192 SVPWM\n *\n * CascadeMode:\n * 0 = current-only (FOC-like): I_Q_Ref in amperes, speed ADRC bypassed\n * 1 = cascaded: Spd_Ref in rpm \u2192 speed ADRC \u2192 Iq*, then MPC current\n *\n * State in AXISRAM (.dma_buffers, NOLOAD) \u2014 magic-clear before use.\n */\n\nstruct SpdAdrcMpcState {\n uint32_t magic;\n float u_alpha_prev;\n float u_beta_prev;\n float enable_s;\n float id_f;\n float iq_f;\n float theta_prev;\n float omega_f;\n float id_int;\n float iq_int;\n /* Speed LADRC states (y = rpm, u = Iq). */\n float z1;\n float z2;\n float u_iq_prev;\n uint8_t filt_init;\n uint8_t omega_init;\n uint8_t spd_init;\n uint8_t _pad;\n};\n\nstatic constexpr uint32_t kSamMagic = 0x53414D31u; /* SAM1 */\n\nstatic SpdAdrcMpcState st __attribute__((section(\".dma_buffers\"), aligned(4)));\n\nif (st.magic != kSamMagic) {\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n st.enable_s = 0.0f;\n st.id_f = 0.0f;\n st.iq_f = 0.0f;\n st.theta_prev = 0.0f;\n st.omega_f = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.filt_init = 0;\n st.omega_init = 0;\n st.spd_init = 0;\n st._pad = 0;\n st.magic = kSamMagic;\n}\n\nconst float ts = Ts;\nfloat ld = Ld;\nfloat lq = Lq;\nfloat rs = Rs;\nfloat psi_f = PsiF;\nif (!(ld > 1.0e-7f)) ld = 70.0e-6f;\nif (!(lq > 1.0e-7f)) lq = 120.0e-6f;\nif (!(rs > 0.0f) || !(rs < 10.0f)) rs = 0.05f;\nif (!(psi_f > 0.0f) || !(psi_f < 1.0f)) psi_f = 0.07f;\nif (psi_f < 0.02f) psi_f = 0.07f;\n\nfloat db_scale = DbScale;\nif (!(db_scale > 0.10f)) db_scale = 0.55f;\nif (db_scale > 1.0f) db_scale = 1.0f;\n\nfloat i_max = (I_Max > 0.0f) ? I_Max : 15.0f;\nif (i_max < 5.0f) i_max = 5.0f;\nif (i_max > 40.0f) i_max = 40.0f;\n\nfloat pole_pairs = PolePairs;\nif (!(pole_pairs > 0.5f) || !(pole_pairs < 40.0f)) pole_pairs = 5.0f;\n\nfloat wc = SpdOmegaC;\nfloat wo = SpdOmegaO;\nfloat b0_spd = SpdB0;\nif (!(wc > 0.0f)) wc = 40.0f;\nif (!(wo > 0.0f)) wo = 120.0f;\nif (!(b0_spd > 1.0e-4f)) b0_spd = 80.0f; /* rpm/s per amp \u2014 tune on hardware */\n\nconst bool cascade = (CascadeMode > 0.5f);\nconst float vdc = V_Dc.in(au::volts);\nconst float id_raw = I_D.in(au::amperes);\nconst float iq_raw = I_Q.in(au::amperes);\nfloat id_ref = I_D_Ref;\nfloat iq_ref_in = I_Q_Ref;\nfloat spd_ref = Spd_Ref;\nconst float theta_e = Theta_E;\nconst float pi = 3.14159265359f;\nconst float two_pi = 6.28318530718f;\nconst float sqrt3 = 1.73205080757f;\n\n/* Unwrapped electrical speed. */\nfloat omega_e = Omega_E;\nif (!(omega_e == omega_e)) omega_e = 0.0f;\nif (st.omega_init == 0) {\n st.theta_prev = theta_e;\n st.omega_f = 0.0f;\n st.omega_init = 1;\n} else if (ts > 0.0f) {\n float dth = theta_e - st.theta_prev;\n dth = fmodf(dth + pi, two_pi);\n if (dth < 0.0f) dth += two_pi;\n dth -= pi;\n const float w_raw = dth / ts;\n const float a_w = 1.0f / (1.0f + 1.0f / (6.28318530718f * 150.0f * ts));\n st.omega_f += a_w * (w_raw - st.omega_f);\n omega_e = st.omega_f;\n}\nst.theta_prev = theta_e;\nif (fabsf(omega_e) > 900.0f) omega_e = (omega_e > 0.0f) ? 900.0f : -900.0f;\n\nconst float rpm_meas = omega_e / pole_pairs * 60.0f / two_pi;\nconst float v_max = (vdc / sqrt3) * 0.95f;\n\n/* ---- Outer speed LADRC (cascade only) \u2192 Iq* ---- */\nfloat iq_ref = iq_ref_in;\nif (cascade) {\n if (spd_ref > 700.0f) spd_ref = 700.0f;\n if (spd_ref < -700.0f) spd_ref = -700.0f;\n\n float iq_lim = 0.50f * i_max;\n if (iq_lim < 4.0f) iq_lim = 4.0f;\n if (iq_lim > 12.0f) iq_lim = 12.0f;\n /* Shrink torque near voltage ceiling. */\n const float bemf = fabsf(omega_e) * psi_f;\n if (v_max > 1.0f && bemf > 0.80f * v_max) {\n float shrink = 1.0f - 0.70f * ((bemf / v_max - 0.80f) / 0.20f);\n if (shrink < 0.25f) shrink = 0.25f;\n iq_lim *= shrink;\n }\n\n if (st.spd_init == 0) {\n st.z1 = rpm_meas;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_init = 1;\n }\n\n const float beta1 = 2.0f * wo;\n const float beta2 = wo * wo;\n const float e_obs = st.z1 - rpm_meas;\n st.z1 += ts * (st.z2 + b0_spd * st.u_iq_prev - beta1 * e_obs);\n st.z2 += ts * (-beta2 * e_obs);\n const float fmax = 5.0e4f;\n if (st.z2 > fmax) st.z2 = fmax;\n if (st.z2 < -fmax) st.z2 = -fmax;\n\n const float u0 = wc * (spd_ref - st.z1);\n float u_iq = (u0 - st.z2) / b0_spd;\n if (u_iq > iq_lim) u_iq = iq_lim;\n if (u_iq < -iq_lim) u_iq = -iq_lim;\n st.u_iq_prev = u_iq;\n iq_ref = u_iq;\n} else {\n st.spd_init = 0;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n}\n\nif (id_ref > i_max) id_ref = i_max;\nif (id_ref < -i_max) id_ref = -i_max;\nif (iq_ref > i_max) iq_ref = i_max;\nif (iq_ref < -i_max) iq_ref = -i_max;\n\nconst float i_base = (I_Base > 0.0f) ? I_Base : 20.0f;\nconst float cost_track = ((id_ref - id_raw) / i_base) * ((id_ref - id_raw) / i_base)\n + ((iq_ref - iq_raw) / i_base) * ((iq_ref - iq_raw) / i_base);\n\nconst bool enable = Enable;\nconst bool bus_ok = (vdc >= 40.0f);\n\nIq_Cmd = iq_ref;\nRpm_Meas = rpm_meas;\n\nif (!enable || !(ts > 0.0f) || !bus_ok) {\n S_A = 0.0f;\n S_B = 0.0f;\n S_C = 0.0f;\n State_Index = 0.0f;\n Pred_I_D = rte::Amperes(id_raw);\n Pred_I_Q = rte::Amperes(iq_raw);\n Cost = cost_track;\n V_Alpha = rte::Volts(0.0f);\n V_Beta = rte::Volts(0.0f);\n V_D = rte::Volts(0.0f);\n V_Q = rte::Volts(0.0f);\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n st.enable_s = 0.0f;\n st.id_f = id_raw;\n st.iq_f = iq_raw;\n st.filt_init = 0;\n st.omega_init = 0;\n st.spd_init = 0;\n st.omega_f = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n} else {\n const float cos_t = cosf(theta_e);\n const float sin_t = sinf(theta_e);\n\n if (st.filt_init == 0) {\n st.id_f = id_raw;\n st.iq_f = iq_raw;\n st.filt_init = 1;\n } else {\n const float alpha = 1.0f / (1.0f + 1.0f / (6.28318530718f * 400.0f * ts));\n st.id_f += alpha * (id_raw - st.id_f);\n st.iq_f += alpha * (iq_raw - st.iq_f);\n }\n const float id = st.id_f;\n const float iq = st.iq_f;\n\n const float vd_prev = st.u_alpha_prev * cos_t + st.u_beta_prev * sin_t;\n const float vq_prev = -st.u_alpha_prev * sin_t + st.u_beta_prev * cos_t;\n\n /* One-step delay-compensated prediction (MPC / Mode-3). */\n const float id_p = id + (ts / ld) * (vd_prev - rs * id + omega_e * lq * iq);\n const float iq_p = iq + (ts / lq) * (vq_prev - rs * iq - omega_e * ld * id - omega_e * psi_f);\n\n const float ramp_s = 0.12f;\n st.enable_s += ts;\n if (st.enable_s > ramp_s) st.enable_s = ramp_s;\n float v_scale = st.enable_s / ramp_s;\n\n const float i_meas = sqrtf(id * id + iq * iq);\n float cost = cost_track;\n if (i_meas > i_max) {\n cost += 1.0e6f;\n v_scale = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.u_iq_prev = 0.0f;\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n }\n\n float db_eff = db_scale;\n const float bemf = fabsf(omega_e) * psi_f;\n if (v_max > 1.0f && bemf > 0.75f * v_max) {\n float ease = 1.0f - 0.55f * ((bemf / v_max - 0.75f) / 0.25f);\n if (ease < 0.45f) ease = 0.45f;\n db_eff *= ease;\n }\n\n const float kp_d = (ld / ts) * db_eff;\n const float kp_q = (lq / ts) * db_eff;\n const float ki = 8.0f;\n const float id_err = id_ref - id_p;\n const float iq_err = iq_ref - iq_p;\n\n if (v_scale > 0.0f) {\n st.id_int += ki * id_err * ts;\n st.iq_int += ki * iq_err * ts;\n }\n if (st.id_int > v_max) st.id_int = v_max;\n if (st.id_int < -v_max) st.id_int = -v_max;\n if (st.iq_int > v_max) st.iq_int = v_max;\n if (st.iq_int < -v_max) st.iq_int = -v_max;\n\n float vd_ref = rs * id_p - omega_e * lq * iq_p + kp_d * id_err + st.id_int;\n float vq_ref = rs * iq_p + omega_e * ld * id_p + omega_e * psi_f + kp_q * iq_err + st.iq_int;\n\n vd_ref *= v_scale;\n vq_ref *= v_scale;\n\n /* Iq-priority voltage limit. */\n const float v_mag_sq = vd_ref * vd_ref + vq_ref * vq_ref;\n if (v_mag_sq > v_max * v_max && v_mag_sq > 1.0e-12f) {\n if (fabsf(vq_ref) > v_max) {\n vq_ref = (vq_ref > 0.0f) ? v_max : -v_max;\n }\n const float vd_lim_sq = v_max * v_max - vq_ref * vq_ref;\n const float vd_lim = (vd_lim_sq > 0.0f) ? sqrtf(vd_lim_sq) : 0.0f;\n if (vd_ref > vd_lim) vd_ref = vd_lim;\n if (vd_ref < -vd_lim) vd_ref = -vd_lim;\n st.id_int *= 0.90f;\n st.iq_int *= 0.90f;\n }\n\n const float valpha_ref = vd_ref * cos_t - vq_ref * sin_t;\n const float vbeta_ref = vd_ref * sin_t + vq_ref * cos_t;\n\n S_A = 0.0f;\n S_B = 0.0f;\n S_C = 0.0f;\n State_Index = cascade ? 1.0f : 0.0f;\n Pred_I_D = rte::Amperes(id_p);\n Pred_I_Q = rte::Amperes(iq_p);\n Cost = cost;\n V_Alpha = rte::Volts(valpha_ref);\n V_Beta = rte::Volts(vbeta_ref);\n V_D = rte::Volts(vd_ref);\n V_Q = rte::Volts(vq_ref);\n\n st.u_alpha_prev = valpha_ref;\n st.u_beta_prev = vbeta_ref;\n}\n" + "inlineCode": "/* Cascaded Gen6 controller (NEW node \u2014 does not modify Control.AdrcMpcc):\n *\n * Outer: LADRC on mechanical speed (rpm) \u2192 Iq*\n * Inner: Mode-3 deadbeat / predictive current \u2192 V\u03b1\u03b2 \u2192 SVPWM\n *\n * CascadeMode:\n * 0 = current-only (FOC-like): I_Q_Ref in amperes, speed ADRC bypassed\n * 1 = cascaded: Spd_Ref in rpm \u2192 speed ADRC \u2192 Iq*, then MPC current\n *\n * State in AXISRAM (.dma_buffers, NOLOAD) \u2014 magic-clear before use.\n * Do NOT add extra Control.Slew nodes for rpm (each Slew burns ~16 B DTCM).\n */\n\nstruct SpdAdrcMpcState {\n uint32_t magic;\n float u_alpha_prev;\n float u_beta_prev;\n float enable_s;\n float id_f;\n float iq_f;\n float theta_prev;\n float omega_f;\n float id_int;\n float iq_int;\n /* Speed LADRC states (y = rpm, u = Iq). */\n float z1;\n float z2;\n float u_iq_prev;\n float spd_cmd; /* internal rpm slew (keeps DTCM free of SlewSpd) */\n uint8_t filt_init;\n uint8_t omega_init;\n uint8_t spd_init;\n uint8_t _pad;\n};\n\nstatic constexpr uint32_t kSamMagic = 0x53414D32u; /* SAM2 */\n\nstatic SpdAdrcMpcState st __attribute__((section(\".dma_buffers\"), aligned(4)));\n\nif (st.magic != kSamMagic) {\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n st.enable_s = 0.0f;\n st.id_f = 0.0f;\n st.iq_f = 0.0f;\n st.theta_prev = 0.0f;\n st.omega_f = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = 0.0f;\n st.filt_init = 0;\n st.omega_init = 0;\n st.spd_init = 0;\n st._pad = 0;\n st.magic = kSamMagic;\n}\n\nconst float ts = Ts;\nfloat ld = Ld;\nfloat lq = Lq;\nfloat rs = Rs;\nfloat psi_f = PsiF;\nif (!(ld > 1.0e-7f)) ld = 70.0e-6f;\nif (!(lq > 1.0e-7f)) lq = 120.0e-6f;\nif (!(rs > 0.0f) || !(rs < 10.0f)) rs = 0.05f;\nif (!(psi_f > 0.0f) || !(psi_f < 1.0f)) psi_f = 0.07f;\nif (psi_f < 0.02f) psi_f = 0.07f;\n\nfloat db_scale = DbScale;\nif (!(db_scale > 0.10f)) db_scale = 0.55f;\nif (db_scale > 1.0f) db_scale = 1.0f;\n\nfloat i_max = (I_Max > 0.0f) ? I_Max : 15.0f;\nif (i_max < 5.0f) i_max = 5.0f;\nif (i_max > 40.0f) i_max = 40.0f;\n\nfloat pole_pairs = PolePairs;\nif (!(pole_pairs > 0.5f) || !(pole_pairs < 40.0f)) pole_pairs = 5.0f;\n\nfloat wc = SpdOmegaC;\nfloat wo = SpdOmegaO;\nfloat b0_spd = SpdB0;\nif (!(wc > 0.0f)) wc = 40.0f;\nif (!(wo > 0.0f)) wo = 120.0f;\nif (!(b0_spd > 1.0e-4f)) b0_spd = 80.0f; /* rpm/s per amp \u2014 tune on hardware */\n\nconst bool cascade = (CascadeMode > 0.5f);\nconst float vdc = V_Dc.in(au::volts);\nconst float id_raw = I_D.in(au::amperes);\nconst float iq_raw = I_Q.in(au::amperes);\nfloat id_ref = I_D_Ref;\nfloat iq_ref_in = I_Q_Ref;\nfloat spd_ref = Spd_Ref;\nconst float theta_e = Theta_E;\nconst float pi = 3.14159265359f;\nconst float two_pi = 6.28318530718f;\nconst float sqrt3 = 1.73205080757f;\n\n/* Unwrapped electrical speed. */\nfloat omega_e = Omega_E;\nif (!(omega_e == omega_e)) omega_e = 0.0f;\nif (st.omega_init == 0) {\n st.theta_prev = theta_e;\n st.omega_f = 0.0f;\n st.omega_init = 1;\n} else if (ts > 0.0f) {\n float dth = theta_e - st.theta_prev;\n dth = fmodf(dth + pi, two_pi);\n if (dth < 0.0f) dth += two_pi;\n dth -= pi;\n const float w_raw = dth / ts;\n const float a_w = 1.0f / (1.0f + 1.0f / (6.28318530718f * 150.0f * ts));\n st.omega_f += a_w * (w_raw - st.omega_f);\n omega_e = st.omega_f;\n}\nst.theta_prev = theta_e;\nif (fabsf(omega_e) > 900.0f) omega_e = (omega_e > 0.0f) ? 900.0f : -900.0f;\n\nconst float rpm_meas = omega_e / pole_pairs * 60.0f / two_pi;\nconst float v_max = (vdc / sqrt3) * 0.95f;\n\n/* ---- Outer speed LADRC (cascade only) \u2192 Iq* ---- */\nfloat iq_ref = iq_ref_in;\nif (cascade) {\n if (spd_ref > 700.0f) spd_ref = 700.0f;\n if (spd_ref < -700.0f) spd_ref = -700.0f;\n /* Slew rpm setpoint in AXISRAM (~120 rpm/s) \u2014 avoids a DTCM Slew node. */\n {\n const float dmax = 120.0f * ts;\n float d = spd_ref - st.spd_cmd;\n if (d > dmax) d = dmax;\n if (d < -dmax) d = -dmax;\n st.spd_cmd += d;\n spd_ref = st.spd_cmd;\n }\n\n float iq_lim = 0.50f * i_max;\n if (iq_lim < 4.0f) iq_lim = 4.0f;\n if (iq_lim > 12.0f) iq_lim = 12.0f;\n /* Shrink torque near voltage ceiling. */\n const float bemf = fabsf(omega_e) * psi_f;\n if (v_max > 1.0f && bemf > 0.80f * v_max) {\n float shrink = 1.0f - 0.70f * ((bemf / v_max - 0.80f) / 0.20f);\n if (shrink < 0.25f) shrink = 0.25f;\n iq_lim *= shrink;\n }\n\n if (st.spd_init == 0) {\n st.z1 = rpm_meas;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = rpm_meas;\n st.spd_init = 1;\n }\n\n const float beta1 = 2.0f * wo;\n const float beta2 = wo * wo;\n const float e_obs = st.z1 - rpm_meas;\n st.z1 += ts * (st.z2 + b0_spd * st.u_iq_prev - beta1 * e_obs);\n st.z2 += ts * (-beta2 * e_obs);\n const float fmax = 5.0e4f;\n if (st.z2 > fmax) st.z2 = fmax;\n if (st.z2 < -fmax) st.z2 = -fmax;\n\n const float u0 = wc * (spd_ref - st.z1);\n float u_iq = (u0 - st.z2) / b0_spd;\n if (u_iq > iq_lim) u_iq = iq_lim;\n if (u_iq < -iq_lim) u_iq = -iq_lim;\n st.u_iq_prev = u_iq;\n iq_ref = u_iq;\n} else {\n st.spd_init = 0;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = 0.0f;\n}\n\nif (id_ref > i_max) id_ref = i_max;\nif (id_ref < -i_max) id_ref = -i_max;\nif (iq_ref > i_max) iq_ref = i_max;\nif (iq_ref < -i_max) iq_ref = -i_max;\n\nconst float i_base = (I_Base > 0.0f) ? I_Base : 20.0f;\nconst float cost_track = ((id_ref - id_raw) / i_base) * ((id_ref - id_raw) / i_base)\n + ((iq_ref - iq_raw) / i_base) * ((iq_ref - iq_raw) / i_base);\n\nconst bool enable = Enable;\nconst bool bus_ok = (vdc >= 40.0f);\n\nIq_Cmd = iq_ref;\nRpm_Meas = rpm_meas;\n\nif (!enable || !(ts > 0.0f) || !bus_ok) {\n S_A = 0.0f;\n S_B = 0.0f;\n S_C = 0.0f;\n State_Index = 0.0f;\n Pred_I_D = rte::Amperes(id_raw);\n Pred_I_Q = rte::Amperes(iq_raw);\n Cost = cost_track;\n V_Alpha = rte::Volts(0.0f);\n V_Beta = rte::Volts(0.0f);\n V_D = rte::Volts(0.0f);\n V_Q = rte::Volts(0.0f);\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n st.enable_s = 0.0f;\n st.id_f = id_raw;\n st.iq_f = iq_raw;\n st.filt_init = 0;\n st.omega_init = 0;\n st.spd_init = 0;\n st.omega_f = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = 0.0f;\n} else {\n const float cos_t = cosf(theta_e);\n const float sin_t = sinf(theta_e);\n\n if (st.filt_init == 0) {\n st.id_f = id_raw;\n st.iq_f = iq_raw;\n st.filt_init = 1;\n } else {\n const float alpha = 1.0f / (1.0f + 1.0f / (6.28318530718f * 400.0f * ts));\n st.id_f += alpha * (id_raw - st.id_f);\n st.iq_f += alpha * (iq_raw - st.iq_f);\n }\n const float id = st.id_f;\n const float iq = st.iq_f;\n\n const float vd_prev = st.u_alpha_prev * cos_t + st.u_beta_prev * sin_t;\n const float vq_prev = -st.u_alpha_prev * sin_t + st.u_beta_prev * cos_t;\n\n /* One-step delay-compensated prediction (MPC / Mode-3). */\n const float id_p = id + (ts / ld) * (vd_prev - rs * id + omega_e * lq * iq);\n const float iq_p = iq + (ts / lq) * (vq_prev - rs * iq - omega_e * ld * id - omega_e * psi_f);\n\n const float ramp_s = 0.12f;\n st.enable_s += ts;\n if (st.enable_s > ramp_s) st.enable_s = ramp_s;\n float v_scale = st.enable_s / ramp_s;\n\n const float i_meas = sqrtf(id * id + iq * iq);\n float cost = cost_track;\n if (i_meas > i_max) {\n cost += 1.0e6f;\n v_scale = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.u_iq_prev = 0.0f;\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n }\n\n float db_eff = db_scale;\n const float bemf = fabsf(omega_e) * psi_f;\n if (v_max > 1.0f && bemf > 0.75f * v_max) {\n float ease = 1.0f - 0.55f * ((bemf / v_max - 0.75f) / 0.25f);\n if (ease < 0.45f) ease = 0.45f;\n db_eff *= ease;\n }\n\n const float kp_d = (ld / ts) * db_eff;\n const float kp_q = (lq / ts) * db_eff;\n const float ki = 8.0f;\n const float id_err = id_ref - id_p;\n const float iq_err = iq_ref - iq_p;\n\n if (v_scale > 0.0f) {\n st.id_int += ki * id_err * ts;\n st.iq_int += ki * iq_err * ts;\n }\n if (st.id_int > v_max) st.id_int = v_max;\n if (st.id_int < -v_max) st.id_int = -v_max;\n if (st.iq_int > v_max) st.iq_int = v_max;\n if (st.iq_int < -v_max) st.iq_int = -v_max;\n\n float vd_ref = rs * id_p - omega_e * lq * iq_p + kp_d * id_err + st.id_int;\n float vq_ref = rs * iq_p + omega_e * ld * id_p + omega_e * psi_f + kp_q * iq_err + st.iq_int;\n\n vd_ref *= v_scale;\n vq_ref *= v_scale;\n\n /* Iq-priority voltage limit. */\n const float v_mag_sq = vd_ref * vd_ref + vq_ref * vq_ref;\n if (v_mag_sq > v_max * v_max && v_mag_sq > 1.0e-12f) {\n if (fabsf(vq_ref) > v_max) {\n vq_ref = (vq_ref > 0.0f) ? v_max : -v_max;\n }\n const float vd_lim_sq = v_max * v_max - vq_ref * vq_ref;\n const float vd_lim = (vd_lim_sq > 0.0f) ? sqrtf(vd_lim_sq) : 0.0f;\n if (vd_ref > vd_lim) vd_ref = vd_lim;\n if (vd_ref < -vd_lim) vd_ref = -vd_lim;\n st.id_int *= 0.90f;\n st.iq_int *= 0.90f;\n }\n\n const float valpha_ref = vd_ref * cos_t - vq_ref * sin_t;\n const float vbeta_ref = vd_ref * sin_t + vq_ref * cos_t;\n\n S_A = 0.0f;\n S_B = 0.0f;\n S_C = 0.0f;\n State_Index = cascade ? 1.0f : 0.0f;\n Pred_I_D = rte::Amperes(id_p);\n Pred_I_Q = rte::Amperes(iq_p);\n Cost = cost;\n V_Alpha = rte::Volts(valpha_ref);\n V_Beta = rte::Volts(vbeta_ref);\n V_D = rte::Volts(vd_ref);\n V_Q = rte::Volts(vq_ref);\n\n st.u_alpha_prev = valpha_ref;\n st.u_beta_prev = vbeta_ref;\n}\n" } ], "nodes": [ @@ -3602,7 +3591,7 @@ "defaultName": "SpeedAdrcMpc", "description": "Cascaded Gen6 controller: outer LADRC on mechanical speed (rpm) and inner Mode-3 deadbeat/MPC current to SVPWM. Separate from Control.AdrcMpcc. CascadeMode 0 = FOC-like Iq in amps; 1 = Spd_Ref in rpm \u2192 ADRC \u2192 Iq* \u2192 MPC.", "type": "Control.SpeedAdrcMpcCurrent", - "inlineCode": "/* Cascaded Gen6 controller (NEW node \u2014 does not modify Control.AdrcMpcc):\n *\n * Outer: LADRC on mechanical speed (rpm) \u2192 Iq*\n * Inner: Mode-3 deadbeat / predictive current \u2192 V\u03b1\u03b2 \u2192 SVPWM\n *\n * CascadeMode:\n * 0 = current-only (FOC-like): I_Q_Ref in amperes, speed ADRC bypassed\n * 1 = cascaded: Spd_Ref in rpm \u2192 speed ADRC \u2192 Iq*, then MPC current\n *\n * State in AXISRAM (.dma_buffers, NOLOAD) \u2014 magic-clear before use.\n */\n\nstruct SpdAdrcMpcState {\n uint32_t magic;\n float u_alpha_prev;\n float u_beta_prev;\n float enable_s;\n float id_f;\n float iq_f;\n float theta_prev;\n float omega_f;\n float id_int;\n float iq_int;\n /* Speed LADRC states (y = rpm, u = Iq). */\n float z1;\n float z2;\n float u_iq_prev;\n uint8_t filt_init;\n uint8_t omega_init;\n uint8_t spd_init;\n uint8_t _pad;\n};\n\nstatic constexpr uint32_t kSamMagic = 0x53414D31u; /* SAM1 */\n\nstatic SpdAdrcMpcState st __attribute__((section(\".dma_buffers\"), aligned(4)));\n\nif (st.magic != kSamMagic) {\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n st.enable_s = 0.0f;\n st.id_f = 0.0f;\n st.iq_f = 0.0f;\n st.theta_prev = 0.0f;\n st.omega_f = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.filt_init = 0;\n st.omega_init = 0;\n st.spd_init = 0;\n st._pad = 0;\n st.magic = kSamMagic;\n}\n\nconst float ts = Ts;\nfloat ld = Ld;\nfloat lq = Lq;\nfloat rs = Rs;\nfloat psi_f = PsiF;\nif (!(ld > 1.0e-7f)) ld = 70.0e-6f;\nif (!(lq > 1.0e-7f)) lq = 120.0e-6f;\nif (!(rs > 0.0f) || !(rs < 10.0f)) rs = 0.05f;\nif (!(psi_f > 0.0f) || !(psi_f < 1.0f)) psi_f = 0.07f;\nif (psi_f < 0.02f) psi_f = 0.07f;\n\nfloat db_scale = DbScale;\nif (!(db_scale > 0.10f)) db_scale = 0.55f;\nif (db_scale > 1.0f) db_scale = 1.0f;\n\nfloat i_max = (I_Max > 0.0f) ? I_Max : 15.0f;\nif (i_max < 5.0f) i_max = 5.0f;\nif (i_max > 40.0f) i_max = 40.0f;\n\nfloat pole_pairs = PolePairs;\nif (!(pole_pairs > 0.5f) || !(pole_pairs < 40.0f)) pole_pairs = 5.0f;\n\nfloat wc = SpdOmegaC;\nfloat wo = SpdOmegaO;\nfloat b0_spd = SpdB0;\nif (!(wc > 0.0f)) wc = 40.0f;\nif (!(wo > 0.0f)) wo = 120.0f;\nif (!(b0_spd > 1.0e-4f)) b0_spd = 80.0f; /* rpm/s per amp \u2014 tune on hardware */\n\nconst bool cascade = (CascadeMode > 0.5f);\nconst float vdc = V_Dc.in(au::volts);\nconst float id_raw = I_D.in(au::amperes);\nconst float iq_raw = I_Q.in(au::amperes);\nfloat id_ref = I_D_Ref;\nfloat iq_ref_in = I_Q_Ref;\nfloat spd_ref = Spd_Ref;\nconst float theta_e = Theta_E;\nconst float pi = 3.14159265359f;\nconst float two_pi = 6.28318530718f;\nconst float sqrt3 = 1.73205080757f;\n\n/* Unwrapped electrical speed. */\nfloat omega_e = Omega_E;\nif (!(omega_e == omega_e)) omega_e = 0.0f;\nif (st.omega_init == 0) {\n st.theta_prev = theta_e;\n st.omega_f = 0.0f;\n st.omega_init = 1;\n} else if (ts > 0.0f) {\n float dth = theta_e - st.theta_prev;\n dth = fmodf(dth + pi, two_pi);\n if (dth < 0.0f) dth += two_pi;\n dth -= pi;\n const float w_raw = dth / ts;\n const float a_w = 1.0f / (1.0f + 1.0f / (6.28318530718f * 150.0f * ts));\n st.omega_f += a_w * (w_raw - st.omega_f);\n omega_e = st.omega_f;\n}\nst.theta_prev = theta_e;\nif (fabsf(omega_e) > 900.0f) omega_e = (omega_e > 0.0f) ? 900.0f : -900.0f;\n\nconst float rpm_meas = omega_e / pole_pairs * 60.0f / two_pi;\nconst float v_max = (vdc / sqrt3) * 0.95f;\n\n/* ---- Outer speed LADRC (cascade only) \u2192 Iq* ---- */\nfloat iq_ref = iq_ref_in;\nif (cascade) {\n if (spd_ref > 700.0f) spd_ref = 700.0f;\n if (spd_ref < -700.0f) spd_ref = -700.0f;\n\n float iq_lim = 0.50f * i_max;\n if (iq_lim < 4.0f) iq_lim = 4.0f;\n if (iq_lim > 12.0f) iq_lim = 12.0f;\n /* Shrink torque near voltage ceiling. */\n const float bemf = fabsf(omega_e) * psi_f;\n if (v_max > 1.0f && bemf > 0.80f * v_max) {\n float shrink = 1.0f - 0.70f * ((bemf / v_max - 0.80f) / 0.20f);\n if (shrink < 0.25f) shrink = 0.25f;\n iq_lim *= shrink;\n }\n\n if (st.spd_init == 0) {\n st.z1 = rpm_meas;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_init = 1;\n }\n\n const float beta1 = 2.0f * wo;\n const float beta2 = wo * wo;\n const float e_obs = st.z1 - rpm_meas;\n st.z1 += ts * (st.z2 + b0_spd * st.u_iq_prev - beta1 * e_obs);\n st.z2 += ts * (-beta2 * e_obs);\n const float fmax = 5.0e4f;\n if (st.z2 > fmax) st.z2 = fmax;\n if (st.z2 < -fmax) st.z2 = -fmax;\n\n const float u0 = wc * (spd_ref - st.z1);\n float u_iq = (u0 - st.z2) / b0_spd;\n if (u_iq > iq_lim) u_iq = iq_lim;\n if (u_iq < -iq_lim) u_iq = -iq_lim;\n st.u_iq_prev = u_iq;\n iq_ref = u_iq;\n} else {\n st.spd_init = 0;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n}\n\nif (id_ref > i_max) id_ref = i_max;\nif (id_ref < -i_max) id_ref = -i_max;\nif (iq_ref > i_max) iq_ref = i_max;\nif (iq_ref < -i_max) iq_ref = -i_max;\n\nconst float i_base = (I_Base > 0.0f) ? I_Base : 20.0f;\nconst float cost_track = ((id_ref - id_raw) / i_base) * ((id_ref - id_raw) / i_base)\n + ((iq_ref - iq_raw) / i_base) * ((iq_ref - iq_raw) / i_base);\n\nconst bool enable = Enable;\nconst bool bus_ok = (vdc >= 40.0f);\n\nIq_Cmd = iq_ref;\nRpm_Meas = rpm_meas;\n\nif (!enable || !(ts > 0.0f) || !bus_ok) {\n S_A = 0.0f;\n S_B = 0.0f;\n S_C = 0.0f;\n State_Index = 0.0f;\n Pred_I_D = rte::Amperes(id_raw);\n Pred_I_Q = rte::Amperes(iq_raw);\n Cost = cost_track;\n V_Alpha = rte::Volts(0.0f);\n V_Beta = rte::Volts(0.0f);\n V_D = rte::Volts(0.0f);\n V_Q = rte::Volts(0.0f);\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n st.enable_s = 0.0f;\n st.id_f = id_raw;\n st.iq_f = iq_raw;\n st.filt_init = 0;\n st.omega_init = 0;\n st.spd_init = 0;\n st.omega_f = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n} else {\n const float cos_t = cosf(theta_e);\n const float sin_t = sinf(theta_e);\n\n if (st.filt_init == 0) {\n st.id_f = id_raw;\n st.iq_f = iq_raw;\n st.filt_init = 1;\n } else {\n const float alpha = 1.0f / (1.0f + 1.0f / (6.28318530718f * 400.0f * ts));\n st.id_f += alpha * (id_raw - st.id_f);\n st.iq_f += alpha * (iq_raw - st.iq_f);\n }\n const float id = st.id_f;\n const float iq = st.iq_f;\n\n const float vd_prev = st.u_alpha_prev * cos_t + st.u_beta_prev * sin_t;\n const float vq_prev = -st.u_alpha_prev * sin_t + st.u_beta_prev * cos_t;\n\n /* One-step delay-compensated prediction (MPC / Mode-3). */\n const float id_p = id + (ts / ld) * (vd_prev - rs * id + omega_e * lq * iq);\n const float iq_p = iq + (ts / lq) * (vq_prev - rs * iq - omega_e * ld * id - omega_e * psi_f);\n\n const float ramp_s = 0.12f;\n st.enable_s += ts;\n if (st.enable_s > ramp_s) st.enable_s = ramp_s;\n float v_scale = st.enable_s / ramp_s;\n\n const float i_meas = sqrtf(id * id + iq * iq);\n float cost = cost_track;\n if (i_meas > i_max) {\n cost += 1.0e6f;\n v_scale = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.u_iq_prev = 0.0f;\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n }\n\n float db_eff = db_scale;\n const float bemf = fabsf(omega_e) * psi_f;\n if (v_max > 1.0f && bemf > 0.75f * v_max) {\n float ease = 1.0f - 0.55f * ((bemf / v_max - 0.75f) / 0.25f);\n if (ease < 0.45f) ease = 0.45f;\n db_eff *= ease;\n }\n\n const float kp_d = (ld / ts) * db_eff;\n const float kp_q = (lq / ts) * db_eff;\n const float ki = 8.0f;\n const float id_err = id_ref - id_p;\n const float iq_err = iq_ref - iq_p;\n\n if (v_scale > 0.0f) {\n st.id_int += ki * id_err * ts;\n st.iq_int += ki * iq_err * ts;\n }\n if (st.id_int > v_max) st.id_int = v_max;\n if (st.id_int < -v_max) st.id_int = -v_max;\n if (st.iq_int > v_max) st.iq_int = v_max;\n if (st.iq_int < -v_max) st.iq_int = -v_max;\n\n float vd_ref = rs * id_p - omega_e * lq * iq_p + kp_d * id_err + st.id_int;\n float vq_ref = rs * iq_p + omega_e * ld * id_p + omega_e * psi_f + kp_q * iq_err + st.iq_int;\n\n vd_ref *= v_scale;\n vq_ref *= v_scale;\n\n /* Iq-priority voltage limit. */\n const float v_mag_sq = vd_ref * vd_ref + vq_ref * vq_ref;\n if (v_mag_sq > v_max * v_max && v_mag_sq > 1.0e-12f) {\n if (fabsf(vq_ref) > v_max) {\n vq_ref = (vq_ref > 0.0f) ? v_max : -v_max;\n }\n const float vd_lim_sq = v_max * v_max - vq_ref * vq_ref;\n const float vd_lim = (vd_lim_sq > 0.0f) ? sqrtf(vd_lim_sq) : 0.0f;\n if (vd_ref > vd_lim) vd_ref = vd_lim;\n if (vd_ref < -vd_lim) vd_ref = -vd_lim;\n st.id_int *= 0.90f;\n st.iq_int *= 0.90f;\n }\n\n const float valpha_ref = vd_ref * cos_t - vq_ref * sin_t;\n const float vbeta_ref = vd_ref * sin_t + vq_ref * cos_t;\n\n S_A = 0.0f;\n S_B = 0.0f;\n S_C = 0.0f;\n State_Index = cascade ? 1.0f : 0.0f;\n Pred_I_D = rte::Amperes(id_p);\n Pred_I_Q = rte::Amperes(iq_p);\n Cost = cost;\n V_Alpha = rte::Volts(valpha_ref);\n V_Beta = rte::Volts(vbeta_ref);\n V_D = rte::Volts(vd_ref);\n V_Q = rte::Volts(vq_ref);\n\n st.u_alpha_prev = valpha_ref;\n st.u_beta_prev = vbeta_ref;\n}\n", + "inlineCode": "/* Cascaded Gen6 controller (NEW node \u2014 does not modify Control.AdrcMpcc):\n *\n * Outer: LADRC on mechanical speed (rpm) \u2192 Iq*\n * Inner: Mode-3 deadbeat / predictive current \u2192 V\u03b1\u03b2 \u2192 SVPWM\n *\n * CascadeMode:\n * 0 = current-only (FOC-like): I_Q_Ref in amperes, speed ADRC bypassed\n * 1 = cascaded: Spd_Ref in rpm \u2192 speed ADRC \u2192 Iq*, then MPC current\n *\n * State in AXISRAM (.dma_buffers, NOLOAD) \u2014 magic-clear before use.\n * Do NOT add extra Control.Slew nodes for rpm (each Slew burns ~16 B DTCM).\n */\n\nstruct SpdAdrcMpcState {\n uint32_t magic;\n float u_alpha_prev;\n float u_beta_prev;\n float enable_s;\n float id_f;\n float iq_f;\n float theta_prev;\n float omega_f;\n float id_int;\n float iq_int;\n /* Speed LADRC states (y = rpm, u = Iq). */\n float z1;\n float z2;\n float u_iq_prev;\n float spd_cmd; /* internal rpm slew (keeps DTCM free of SlewSpd) */\n uint8_t filt_init;\n uint8_t omega_init;\n uint8_t spd_init;\n uint8_t _pad;\n};\n\nstatic constexpr uint32_t kSamMagic = 0x53414D32u; /* SAM2 */\n\nstatic SpdAdrcMpcState st __attribute__((section(\".dma_buffers\"), aligned(4)));\n\nif (st.magic != kSamMagic) {\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n st.enable_s = 0.0f;\n st.id_f = 0.0f;\n st.iq_f = 0.0f;\n st.theta_prev = 0.0f;\n st.omega_f = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = 0.0f;\n st.filt_init = 0;\n st.omega_init = 0;\n st.spd_init = 0;\n st._pad = 0;\n st.magic = kSamMagic;\n}\n\nconst float ts = Ts;\nfloat ld = Ld;\nfloat lq = Lq;\nfloat rs = Rs;\nfloat psi_f = PsiF;\nif (!(ld > 1.0e-7f)) ld = 70.0e-6f;\nif (!(lq > 1.0e-7f)) lq = 120.0e-6f;\nif (!(rs > 0.0f) || !(rs < 10.0f)) rs = 0.05f;\nif (!(psi_f > 0.0f) || !(psi_f < 1.0f)) psi_f = 0.07f;\nif (psi_f < 0.02f) psi_f = 0.07f;\n\nfloat db_scale = DbScale;\nif (!(db_scale > 0.10f)) db_scale = 0.55f;\nif (db_scale > 1.0f) db_scale = 1.0f;\n\nfloat i_max = (I_Max > 0.0f) ? I_Max : 15.0f;\nif (i_max < 5.0f) i_max = 5.0f;\nif (i_max > 40.0f) i_max = 40.0f;\n\nfloat pole_pairs = PolePairs;\nif (!(pole_pairs > 0.5f) || !(pole_pairs < 40.0f)) pole_pairs = 5.0f;\n\nfloat wc = SpdOmegaC;\nfloat wo = SpdOmegaO;\nfloat b0_spd = SpdB0;\nif (!(wc > 0.0f)) wc = 40.0f;\nif (!(wo > 0.0f)) wo = 120.0f;\nif (!(b0_spd > 1.0e-4f)) b0_spd = 80.0f; /* rpm/s per amp \u2014 tune on hardware */\n\nconst bool cascade = (CascadeMode > 0.5f);\nconst float vdc = V_Dc.in(au::volts);\nconst float id_raw = I_D.in(au::amperes);\nconst float iq_raw = I_Q.in(au::amperes);\nfloat id_ref = I_D_Ref;\nfloat iq_ref_in = I_Q_Ref;\nfloat spd_ref = Spd_Ref;\nconst float theta_e = Theta_E;\nconst float pi = 3.14159265359f;\nconst float two_pi = 6.28318530718f;\nconst float sqrt3 = 1.73205080757f;\n\n/* Unwrapped electrical speed. */\nfloat omega_e = Omega_E;\nif (!(omega_e == omega_e)) omega_e = 0.0f;\nif (st.omega_init == 0) {\n st.theta_prev = theta_e;\n st.omega_f = 0.0f;\n st.omega_init = 1;\n} else if (ts > 0.0f) {\n float dth = theta_e - st.theta_prev;\n dth = fmodf(dth + pi, two_pi);\n if (dth < 0.0f) dth += two_pi;\n dth -= pi;\n const float w_raw = dth / ts;\n const float a_w = 1.0f / (1.0f + 1.0f / (6.28318530718f * 150.0f * ts));\n st.omega_f += a_w * (w_raw - st.omega_f);\n omega_e = st.omega_f;\n}\nst.theta_prev = theta_e;\nif (fabsf(omega_e) > 900.0f) omega_e = (omega_e > 0.0f) ? 900.0f : -900.0f;\n\nconst float rpm_meas = omega_e / pole_pairs * 60.0f / two_pi;\nconst float v_max = (vdc / sqrt3) * 0.95f;\n\n/* ---- Outer speed LADRC (cascade only) \u2192 Iq* ---- */\nfloat iq_ref = iq_ref_in;\nif (cascade) {\n if (spd_ref > 700.0f) spd_ref = 700.0f;\n if (spd_ref < -700.0f) spd_ref = -700.0f;\n /* Slew rpm setpoint in AXISRAM (~120 rpm/s) \u2014 avoids a DTCM Slew node. */\n {\n const float dmax = 120.0f * ts;\n float d = spd_ref - st.spd_cmd;\n if (d > dmax) d = dmax;\n if (d < -dmax) d = -dmax;\n st.spd_cmd += d;\n spd_ref = st.spd_cmd;\n }\n\n float iq_lim = 0.50f * i_max;\n if (iq_lim < 4.0f) iq_lim = 4.0f;\n if (iq_lim > 12.0f) iq_lim = 12.0f;\n /* Shrink torque near voltage ceiling. */\n const float bemf = fabsf(omega_e) * psi_f;\n if (v_max > 1.0f && bemf > 0.80f * v_max) {\n float shrink = 1.0f - 0.70f * ((bemf / v_max - 0.80f) / 0.20f);\n if (shrink < 0.25f) shrink = 0.25f;\n iq_lim *= shrink;\n }\n\n if (st.spd_init == 0) {\n st.z1 = rpm_meas;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = rpm_meas;\n st.spd_init = 1;\n }\n\n const float beta1 = 2.0f * wo;\n const float beta2 = wo * wo;\n const float e_obs = st.z1 - rpm_meas;\n st.z1 += ts * (st.z2 + b0_spd * st.u_iq_prev - beta1 * e_obs);\n st.z2 += ts * (-beta2 * e_obs);\n const float fmax = 5.0e4f;\n if (st.z2 > fmax) st.z2 = fmax;\n if (st.z2 < -fmax) st.z2 = -fmax;\n\n const float u0 = wc * (spd_ref - st.z1);\n float u_iq = (u0 - st.z2) / b0_spd;\n if (u_iq > iq_lim) u_iq = iq_lim;\n if (u_iq < -iq_lim) u_iq = -iq_lim;\n st.u_iq_prev = u_iq;\n iq_ref = u_iq;\n} else {\n st.spd_init = 0;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = 0.0f;\n}\n\nif (id_ref > i_max) id_ref = i_max;\nif (id_ref < -i_max) id_ref = -i_max;\nif (iq_ref > i_max) iq_ref = i_max;\nif (iq_ref < -i_max) iq_ref = -i_max;\n\nconst float i_base = (I_Base > 0.0f) ? I_Base : 20.0f;\nconst float cost_track = ((id_ref - id_raw) / i_base) * ((id_ref - id_raw) / i_base)\n + ((iq_ref - iq_raw) / i_base) * ((iq_ref - iq_raw) / i_base);\n\nconst bool enable = Enable;\nconst bool bus_ok = (vdc >= 40.0f);\n\nIq_Cmd = iq_ref;\nRpm_Meas = rpm_meas;\n\nif (!enable || !(ts > 0.0f) || !bus_ok) {\n S_A = 0.0f;\n S_B = 0.0f;\n S_C = 0.0f;\n State_Index = 0.0f;\n Pred_I_D = rte::Amperes(id_raw);\n Pred_I_Q = rte::Amperes(iq_raw);\n Cost = cost_track;\n V_Alpha = rte::Volts(0.0f);\n V_Beta = rte::Volts(0.0f);\n V_D = rte::Volts(0.0f);\n V_Q = rte::Volts(0.0f);\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n st.enable_s = 0.0f;\n st.id_f = id_raw;\n st.iq_f = iq_raw;\n st.filt_init = 0;\n st.omega_init = 0;\n st.spd_init = 0;\n st.omega_f = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = 0.0f;\n} else {\n const float cos_t = cosf(theta_e);\n const float sin_t = sinf(theta_e);\n\n if (st.filt_init == 0) {\n st.id_f = id_raw;\n st.iq_f = iq_raw;\n st.filt_init = 1;\n } else {\n const float alpha = 1.0f / (1.0f + 1.0f / (6.28318530718f * 400.0f * ts));\n st.id_f += alpha * (id_raw - st.id_f);\n st.iq_f += alpha * (iq_raw - st.iq_f);\n }\n const float id = st.id_f;\n const float iq = st.iq_f;\n\n const float vd_prev = st.u_alpha_prev * cos_t + st.u_beta_prev * sin_t;\n const float vq_prev = -st.u_alpha_prev * sin_t + st.u_beta_prev * cos_t;\n\n /* One-step delay-compensated prediction (MPC / Mode-3). */\n const float id_p = id + (ts / ld) * (vd_prev - rs * id + omega_e * lq * iq);\n const float iq_p = iq + (ts / lq) * (vq_prev - rs * iq - omega_e * ld * id - omega_e * psi_f);\n\n const float ramp_s = 0.12f;\n st.enable_s += ts;\n if (st.enable_s > ramp_s) st.enable_s = ramp_s;\n float v_scale = st.enable_s / ramp_s;\n\n const float i_meas = sqrtf(id * id + iq * iq);\n float cost = cost_track;\n if (i_meas > i_max) {\n cost += 1.0e6f;\n v_scale = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.u_iq_prev = 0.0f;\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n }\n\n float db_eff = db_scale;\n const float bemf = fabsf(omega_e) * psi_f;\n if (v_max > 1.0f && bemf > 0.75f * v_max) {\n float ease = 1.0f - 0.55f * ((bemf / v_max - 0.75f) / 0.25f);\n if (ease < 0.45f) ease = 0.45f;\n db_eff *= ease;\n }\n\n const float kp_d = (ld / ts) * db_eff;\n const float kp_q = (lq / ts) * db_eff;\n const float ki = 8.0f;\n const float id_err = id_ref - id_p;\n const float iq_err = iq_ref - iq_p;\n\n if (v_scale > 0.0f) {\n st.id_int += ki * id_err * ts;\n st.iq_int += ki * iq_err * ts;\n }\n if (st.id_int > v_max) st.id_int = v_max;\n if (st.id_int < -v_max) st.id_int = -v_max;\n if (st.iq_int > v_max) st.iq_int = v_max;\n if (st.iq_int < -v_max) st.iq_int = -v_max;\n\n float vd_ref = rs * id_p - omega_e * lq * iq_p + kp_d * id_err + st.id_int;\n float vq_ref = rs * iq_p + omega_e * ld * id_p + omega_e * psi_f + kp_q * iq_err + st.iq_int;\n\n vd_ref *= v_scale;\n vq_ref *= v_scale;\n\n /* Iq-priority voltage limit. */\n const float v_mag_sq = vd_ref * vd_ref + vq_ref * vq_ref;\n if (v_mag_sq > v_max * v_max && v_mag_sq > 1.0e-12f) {\n if (fabsf(vq_ref) > v_max) {\n vq_ref = (vq_ref > 0.0f) ? v_max : -v_max;\n }\n const float vd_lim_sq = v_max * v_max - vq_ref * vq_ref;\n const float vd_lim = (vd_lim_sq > 0.0f) ? sqrtf(vd_lim_sq) : 0.0f;\n if (vd_ref > vd_lim) vd_ref = vd_lim;\n if (vd_ref < -vd_lim) vd_ref = -vd_lim;\n st.id_int *= 0.90f;\n st.iq_int *= 0.90f;\n }\n\n const float valpha_ref = vd_ref * cos_t - vq_ref * sin_t;\n const float vbeta_ref = vd_ref * sin_t + vq_ref * cos_t;\n\n S_A = 0.0f;\n S_B = 0.0f;\n S_C = 0.0f;\n State_Index = cascade ? 1.0f : 0.0f;\n Pred_I_D = rte::Amperes(id_p);\n Pred_I_Q = rte::Amperes(iq_p);\n Cost = cost;\n V_Alpha = rte::Volts(valpha_ref);\n V_Beta = rte::Volts(vbeta_ref);\n V_D = rte::Volts(vd_ref);\n V_Q = rte::Volts(vq_ref);\n\n st.u_alpha_prev = valpha_ref;\n st.u_beta_prev = vbeta_ref;\n}\n", "parameters": { "Ts": "0.0002", "Ld": "0.00007", @@ -4608,23 +4597,6 @@ "name": "SpdVar", "defaultName": "SpdVar" }, - { - "displayName": "", - "domain": "tim_isr", - "id": "SlewSpd", - "parameters": { - "Dt": "0.0002", - "Rate": "120.0", - "Value": "0.0" - }, - "position": { - "x": 906.1474559999997, - "y": 2408.3075840000006 - }, - "type": "Control.Slew", - "name": "SlewSpd", - "defaultName": "SlewSpd" - }, { "displayName": "", "domain": "tim_isr", diff --git a/Assets/NodeTemplates/Control.SpeedAdrcMpcCurrent/inline.cpp b/Assets/NodeTemplates/Control.SpeedAdrcMpcCurrent/inline.cpp index fa688bb..ad20b87 100644 --- a/Assets/NodeTemplates/Control.SpeedAdrcMpcCurrent/inline.cpp +++ b/Assets/NodeTemplates/Control.SpeedAdrcMpcCurrent/inline.cpp @@ -8,6 +8,7 @@ * 1 = cascaded: Spd_Ref in rpm → speed ADRC → Iq*, then MPC current * * State in AXISRAM (.dma_buffers, NOLOAD) — magic-clear before use. + * Do NOT add extra Control.Slew nodes for rpm (each Slew burns ~16 B DTCM). */ struct SpdAdrcMpcState { @@ -25,13 +26,14 @@ struct SpdAdrcMpcState { float z1; float z2; float u_iq_prev; + float spd_cmd; /* internal rpm slew (keeps DTCM free of SlewSpd) */ uint8_t filt_init; uint8_t omega_init; uint8_t spd_init; uint8_t _pad; }; -static constexpr uint32_t kSamMagic = 0x53414D31u; /* SAM1 */ +static constexpr uint32_t kSamMagic = 0x53414D32u; /* SAM2 */ static SpdAdrcMpcState st __attribute__((section(".dma_buffers"), aligned(4))); @@ -48,6 +50,7 @@ if (st.magic != kSamMagic) { st.z1 = 0.0f; st.z2 = 0.0f; st.u_iq_prev = 0.0f; + st.spd_cmd = 0.0f; st.filt_init = 0; st.omega_init = 0; st.spd_init = 0; @@ -124,6 +127,15 @@ float iq_ref = iq_ref_in; if (cascade) { if (spd_ref > 700.0f) spd_ref = 700.0f; if (spd_ref < -700.0f) spd_ref = -700.0f; + /* Slew rpm setpoint in AXISRAM (~120 rpm/s) — avoids a DTCM Slew node. */ + { + const float dmax = 120.0f * ts; + float d = spd_ref - st.spd_cmd; + if (d > dmax) d = dmax; + if (d < -dmax) d = -dmax; + st.spd_cmd += d; + spd_ref = st.spd_cmd; + } float iq_lim = 0.50f * i_max; if (iq_lim < 4.0f) iq_lim = 4.0f; @@ -140,6 +152,7 @@ if (cascade) { st.z1 = rpm_meas; st.z2 = 0.0f; st.u_iq_prev = 0.0f; + st.spd_cmd = rpm_meas; st.spd_init = 1; } @@ -163,6 +176,7 @@ if (cascade) { st.z1 = 0.0f; st.z2 = 0.0f; st.u_iq_prev = 0.0f; + st.spd_cmd = 0.0f; } if (id_ref > i_max) id_ref = i_max; @@ -206,6 +220,7 @@ if (!enable || !(ts > 0.0f) || !bus_ok) { st.z1 = 0.0f; st.z2 = 0.0f; st.u_iq_prev = 0.0f; + st.spd_cmd = 0.0f; } else { const float cos_t = cosf(theta_e); const float sin_t = sinf(theta_e); diff --git a/docs/19_speed_adrc_mpc_current_bringup.md b/docs/19_speed_adrc_mpc_current_bringup.md index 32abb1c..09c0b3d 100644 --- a/docs/19_speed_adrc_mpc_current_bringup.md +++ b/docs/19_speed_adrc_mpc_current_bringup.md @@ -40,6 +40,10 @@ cmake -B build -G Ninja && cmake --build build -j8 Set `CascadeMode = 0`, ramp `IqVar` 1→3→5 A (same idea as FOC / old hybrid current test). +## DTCM note + +Do not add a graph `Control.Slew` on `Spd_Ref` — that overflowed DTCM by ~16 B. Rpm slew is inside the controller (AXISRAM). + ## Tuning | Param | Default | Role | From 25b1d4600dcfb4a4a60accb1920b5e1a10675b1a Mon Sep 17 00:00:00 2001 From: Thomas Liao Date: Mon, 3 Aug 2026 21:34:22 -0700 Subject: [PATCH 4/7] not worky --- HybridADRCMPC-9.jsonl | 11685 ++++++++++++++++++++++++++++++++++++++++ 1 file changed, 11685 insertions(+) create mode 100644 HybridADRCMPC-9.jsonl diff --git a/HybridADRCMPC-9.jsonl b/HybridADRCMPC-9.jsonl new file mode 100644 index 0000000..7a294a2 --- /dev/null +++ b/HybridADRCMPC-9.jsonl @@ -0,0 +1,11685 @@ +{"type":"session_start","format":"rte-runtime-session-jsonl","version":2,"t":0,"started_at_utc":"2026-08-04T04:32:02.952Z","exported_at_utc":"2026-08-04T04:34:04.086Z","port":"/dev/ttyACM0","mode":"device","protocol":"legacy"} +{"type":"telemetry","t":0.036856,"values":{"cg_iu_a":-0.990252018,"cg_iv_a":0.0637187958,"cg_iw_a":0.926533222,"cg_theta_rad":4.09962511,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0330636203,"thr_a_norm":0.0330636203,"thr_a_v":0.632254481,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473687351,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.054159,"values":{"cg_iu_a":-1.28020263,"cg_iv_a":-0.516182423,"cg_iw_a":1.79638505,"cg_theta_rad":4.1010561,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0322075933,"thr_a_norm":0.0322075933,"thr_a_v":0.628830373,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475298673,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.058126,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.298719406,"cg_iw_a":-1.39307213,"cg_theta_rad":4.10159683,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220359415,"thr_a_norm":0.0220359415,"thr_a_v":0.588143766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.066824,"values":{"cg_iu_a":-0.845276594,"cg_iv_a":-0.588670254,"cg_iw_a":1.43394685,"cg_theta_rad":4.10144472,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220359415,"thr_a_norm":0.0220359415,"thr_a_v":0.588143766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.076834,"values":{"cg_iu_a":0.821939945,"cg_iv_a":1.58595991,"cg_iw_a":-2.40789986,"cg_theta_rad":4.09985209,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234962106,"thr_a_norm":0.0234962106,"thr_a_v":0.593984842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465076655,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.086874,"values":{"cg_iu_a":-0.555325985,"cg_iv_a":-1.02359605,"cg_iw_a":1.57892203,"cg_theta_rad":4.10035849,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283302814,"thr_a_norm":0.0234962106,"thr_a_v":0.613321126,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498764038,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.096884,"values":{"cg_iu_a":-0.845276594,"cg_iv_a":-0.516182423,"cg_iw_a":1.36145902,"cg_theta_rad":4.10126543,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283302814,"thr_a_norm":0.0283302814,"thr_a_v":0.613321126,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498764038,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.106832,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.371207237,"cg_iw_a":-0.885658741,"cg_theta_rad":4.10152721,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0450606495,"thr_a_norm":0.0450606495,"thr_a_v":0.680242598,"thr_b":0.0118139237,"thr_b_norm":0.0118139237,"thr_b_v":0.547255695,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.116873,"values":{"cg_iu_a":-0.555325985,"cg_iv_a":-0.371207237,"cg_iw_a":0.926533222,"cg_theta_rad":4.10069752,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0450606495,"thr_a_norm":0.0450606495,"thr_a_v":0.680242598,"thr_b":0.0118139237,"thr_b_norm":0.0118139237,"thr_b_v":0.547255695,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.126852,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.878620625,"cg_iw_a":0.346631527,"cg_theta_rad":4.09860802,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0298912674,"thr_a_norm":0.0298912674,"thr_a_v":0.61956507,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459940493,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.136862,"values":{"cg_iu_a":-0.265375137,"cg_iv_a":-0.733645439,"cg_iw_a":0.999020576,"cg_theta_rad":4.09905767,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195811391,"thr_a_norm":0.0195811391,"thr_a_v":0.578324556,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468248993,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.154074,"values":{"cg_iu_a":-1.28020263,"cg_iv_a":-0.371207237,"cg_iw_a":1.65140986,"cg_theta_rad":4.09873247,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195811391,"thr_a_norm":0.0195811391,"thr_a_v":0.578324556,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468248993,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.15801,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-0.951108456,"cg_iw_a":0.926533222,"cg_theta_rad":4.10380507,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265678614,"thr_a_norm":0.0265678614,"thr_a_v":0.606271446,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475550473,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.16683,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.153744221,"cg_iw_a":-0.378244877,"cg_theta_rad":4.10052395,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265678614,"thr_a_norm":0.0265678614,"thr_a_v":0.606271446,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475550473,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.176809,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-0.371207237,"cg_iw_a":0.564094782,"cg_theta_rad":4.10048485,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0164465606,"thr_a_norm":0.0164465606,"thr_a_v":0.565786242,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468047589,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.18685,"values":{"cg_iu_a":-0.990252018,"cg_iv_a":0.0637187958,"cg_iw_a":0.926533222,"cg_theta_rad":4.09912634,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024163425,"thr_a_norm":0.024163425,"thr_a_v":0.5966537,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467141211,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.196829,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.298719406,"cg_iw_a":-0.958146572,"cg_theta_rad":4.0997839,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024163425,"thr_a_norm":0.024163425,"thr_a_v":0.5966537,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467141211,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.207052,"values":{"cg_iu_a":-0.410350561,"cg_iv_a":-0.371207237,"cg_iw_a":0.781557798,"cg_theta_rad":4.10243988,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232948065,"thr_a_norm":0.0232948065,"thr_a_v":0.593179226,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463213563,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.216848,"values":{"cg_iu_a":-1.20771503,"cg_iv_a":-0.153744221,"cg_iw_a":1.36145926,"cg_theta_rad":4.0985589,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274490714,"thr_a_norm":0.0274490714,"thr_a_v":0.609796286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498965442,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.226889,"values":{"cg_iu_a":1.11189032,"cg_iv_a":0.426157475,"cg_iw_a":-1.53804779,"cg_theta_rad":4.10254192,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274490714,"thr_a_norm":0.0274490714,"thr_a_v":0.609796286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498965442,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.236807,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.0087685585,"cg_iw_a":0.78155756,"cg_theta_rad":4.09875965,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222373605,"thr_a_norm":0.0222373605,"thr_a_v":0.588949442,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473888755,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.25408,"values":{"cg_iu_a":1.32935333,"cg_iv_a":0.136206627,"cg_iw_a":-1.46555996,"cg_theta_rad":4.09994125,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222373605,"thr_a_norm":0.0222373605,"thr_a_v":0.588949442,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473888755,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.258047,"values":{"cg_iu_a":-1.28020263,"cg_iv_a":-0.516182423,"cg_iw_a":1.79638505,"cg_theta_rad":4.10337543,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219603926,"thr_a_norm":0.0219603926,"thr_a_v":0.58784157,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482952625,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.266836,"values":{"cg_iu_a":-0.482838154,"cg_iv_a":0.0637187958,"cg_iw_a":0.419119358,"cg_theta_rad":4.09955168,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0191405416,"thr_a_norm":0.0191405416,"thr_a_v":0.576562166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469759673,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.276876,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.588670254,"cg_iw_a":-0.595707893,"cg_theta_rad":4.10371733,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0191405416,"thr_a_norm":0.0191405416,"thr_a_v":0.576562166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469759673,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.286825,"values":{"cg_iu_a":-1.28020263,"cg_iv_a":-0.588670254,"cg_iw_a":1.86887288,"cg_theta_rad":4.09829187,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0324593633,"thr_a_norm":0.0324593633,"thr_a_v":0.629837453,"thr_b":0.00496566296,"thr_b_norm":0.00496566296,"thr_b_v":0.519862652,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.296835,"values":{"cg_iu_a":-0.555325985,"cg_iv_a":-0.516182423,"cg_iw_a":-0.450732708,"cg_theta_rad":4.10014582,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.0167864412,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.306875,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.0087685585,"cg_iw_a":-1.68302298,"cg_theta_rad":4.09943867,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.0167864412,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.316915,"values":{"cg_iu_a":-0.772789001,"cg_iv_a":-0.371207237,"cg_iw_a":1.14399624,"cg_theta_rad":4.10220242,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192790031,"thr_a_norm":0.0192790031,"thr_a_v":0.577116013,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457170963,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.326803,"values":{"cg_iu_a":-0.482838154,"cg_iv_a":-0.298719406,"cg_iw_a":0.78155756,"cg_theta_rad":4.09904432,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192790031,"thr_a_norm":0.0192790031,"thr_a_v":0.577116013,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457170963,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.336782,"values":{"cg_iu_a":-0.555325985,"cg_iv_a":-0.371207237,"cg_iw_a":0.926533222,"cg_theta_rad":4.09908628,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260643214,"thr_a_norm":0.0260643214,"thr_a_v":0.604257286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486024261,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.354116,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.733645439,"cg_iw_a":-0.378244877,"cg_theta_rad":4.1012516,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022426188,"thr_a_norm":0.022426188,"thr_a_v":0.589704752,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498512268,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.358114,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.443694592,"cg_iw_a":1.65140963,"cg_theta_rad":4.10083342,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022426188,"thr_a_norm":0.022426188,"thr_a_v":0.589704752,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498512268,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.366812,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.371207237,"cg_iw_a":-0.740683079,"cg_theta_rad":4.09887457,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270588249,"thr_a_norm":0.0270588249,"thr_a_v":0.6082353,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495289534,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.376852,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.740683556,"cg_theta_rad":4.09900475,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192286521,"thr_a_norm":0.0192286521,"thr_a_v":0.576914608,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454250395,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.386801,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.443694592,"cg_iw_a":-0.740683556,"cg_theta_rad":4.10105705,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192286521,"thr_a_norm":0.0192286521,"thr_a_v":0.576914608,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454250395,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.39681,"values":{"cg_iu_a":-0.845276594,"cg_iv_a":-0.516182423,"cg_iw_a":1.36145902,"cg_theta_rad":4.10420513,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282421559,"thr_a_norm":0.0282421559,"thr_a_v":0.612968624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49911651,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.406881,"values":{"cg_iu_a":-1.49766564,"cg_iv_a":-0.951108456,"cg_iw_a":2.4487741,"cg_theta_rad":4.09939241,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282421559,"thr_a_norm":0.0282421559,"thr_a_v":0.612968624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49911651,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.41683,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.516182423,"cg_iw_a":-0.668195724,"cg_theta_rad":4.09886551,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023936823,"thr_a_norm":0.023936823,"thr_a_v":0.595747292,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492117196,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.426901,"values":{"cg_iu_a":-0.917764187,"cg_iv_a":-0.0812563896,"cg_iw_a":0.999020576,"cg_theta_rad":4.10138416,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026731506,"thr_a_norm":0.026731506,"thr_a_v":0.606926024,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.436758,"values":{"cg_iu_a":-0.845276594,"cg_iv_a":-0.0812563896,"cg_iw_a":0.926532984,"cg_theta_rad":4.1030426,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026731506,"thr_a_norm":0.026731506,"thr_a_v":0.606926024,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.454092,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":-0.0087685585,"cg_iw_a":0.0566806793,"cg_theta_rad":4.10311699,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236346871,"thr_a_norm":0.0236346871,"thr_a_v":0.594538748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481240541,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.458059,"values":{"cg_iu_a":-1.20771503,"cg_iv_a":-1.96593571,"cg_iw_a":3.17365074,"cg_theta_rad":4.09973717,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0983611941,"thr_a_norm":0.0983611941,"thr_a_v":0.893444777,"thr_b":0.0417624116,"thr_b_norm":0.0417624116,"thr_b_v":0.667049646,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.466879,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-0.371207237,"cg_iw_a":0.201656342,"cg_theta_rad":4.09855795,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0983611941,"thr_a_norm":0.0983611941,"thr_a_v":0.893444777,"thr_b":0.0417624116,"thr_b_norm":0.0417624116,"thr_b_v":0.667049646,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.476828,"values":{"cg_iu_a":-0.337862968,"cg_iv_a":-0.226231575,"cg_iw_a":0.564094543,"cg_theta_rad":4.10235786,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190146565,"thr_a_norm":0.0190146565,"thr_a_v":0.576058626,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.486898,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-0.226231575,"cg_iw_a":0.346631527,"cg_theta_rad":4.10154295,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257244259,"thr_a_norm":0.0190146565,"thr_a_v":0.602897704,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.496908,"values":{"cg_iu_a":0.459501266,"cg_iv_a":0.0637187958,"cg_iw_a":-0.523220062,"cg_theta_rad":4.09849977,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257244259,"thr_a_norm":0.0257244259,"thr_a_v":0.602897704,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.506857,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-0.226231575,"cg_iw_a":0.346631527,"cg_theta_rad":4.10033846,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0321698338,"thr_a_norm":0.0321698338,"thr_a_v":0.628679335,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482952625,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.516836,"values":{"cg_iu_a":1.18437815,"cg_iv_a":0.498644829,"cg_iw_a":-1.68302298,"cg_theta_rad":4.1037879,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0321698338,"thr_a_norm":0.0321698338,"thr_a_v":0.628679335,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482952625,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.526846,"values":{"cg_iu_a":-0.482838154,"cg_iv_a":0.281181812,"cg_iw_a":0.201656342,"cg_theta_rad":4.09855795,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026681155,"thr_a_norm":0.026681155,"thr_a_v":0.60672462,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.536886,"values":{"cg_iu_a":-0.70030117,"cg_iv_a":-0.0812563896,"cg_iw_a":0.78155756,"cg_theta_rad":4.10146761,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206260085,"thr_a_norm":0.0206260085,"thr_a_v":0.582504034,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461904317,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.554037,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.96593571,"cg_iw_a":1.28897142,"cg_theta_rad":4.10103273,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206260085,"thr_a_norm":0.0206260085,"thr_a_v":0.582504034,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461904317,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.558004,"values":{"cg_iu_a":-1.28020263,"cg_iv_a":-0.443694592,"cg_iw_a":1.72389722,"cg_theta_rad":4.10045433,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283680409,"thr_a_norm":0.0283680409,"thr_a_v":0.613472164,"thr_b":0.00154154003,"thr_b_norm":0.00154154003,"thr_b_v":0.50616616,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.566885,"values":{"cg_iu_a":1.40184116,"cg_iv_a":0.136206627,"cg_iw_a":-1.53804779,"cg_theta_rad":4.10285521,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258377194,"thr_a_norm":0.0283680409,"thr_a_v":0.603350878,"thr_b":0.000333026052,"thr_b_norm":0.00154154003,"thr_b_v":0.501332104,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.576742,"values":{"cg_iu_a":1.40184116,"cg_iv_a":0.0637187958,"cg_iw_a":-1.46555996,"cg_theta_rad":4.10090494,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258377194,"thr_a_norm":0.0258377194,"thr_a_v":0.603350878,"thr_b":0.000333026052,"thr_b_norm":0.000333026052,"thr_b_v":0.501332104,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.586813,"values":{"cg_iu_a":-2.00507927,"cg_iv_a":-0.226231575,"cg_iw_a":2.23131084,"cg_theta_rad":4.10271025,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.043713659,"thr_a_norm":0.043713659,"thr_a_v":0.674854636,"thr_b":0.0111341178,"thr_b_norm":0.0111341178,"thr_b_v":0.544536471,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.597158,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":0.426157475,"cg_iw_a":-0.523220539,"cg_theta_rad":4.100142,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.043713659,"thr_a_norm":0.043713659,"thr_a_v":0.674854636,"thr_b":0.0111341178,"thr_b_norm":0.0111341178,"thr_b_v":0.544536471,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.606802,"values":{"cg_iu_a":0.749452114,"cg_iv_a":0.208694458,"cg_iw_a":-0.958146572,"cg_theta_rad":4.10238504,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210162401,"thr_a_norm":0.0210162401,"thr_a_v":0.58406496,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.616751,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.371207237,"cg_iw_a":-0.305757046,"cg_theta_rad":4.10049295,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00726939738,"thr_a_norm":0.00726939738,"thr_a_v":0.52907759,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.41567865,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.626791,"values":{"cg_iu_a":-1.28020263,"cg_iv_a":-2.47334933,"cg_iw_a":3.75355196,"cg_theta_rad":4.10252571,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00726939738,"thr_a_norm":0.00726939738,"thr_a_v":0.52907759,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.41567865,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.63677,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.813171387,"cg_theta_rad":4.10132647,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211169571,"thr_a_norm":0.0211169571,"thr_a_v":0.584467828,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473788053,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.654196,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.516182423,"cg_iw_a":-0.0882945061,"cg_theta_rad":4.1006012,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024188593,"thr_a_norm":0.0211169571,"thr_a_v":0.596754372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474341929,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.658041,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.015806675,"cg_theta_rad":4.10030794,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024188593,"thr_a_norm":0.024188593,"thr_a_v":0.596754372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474341929,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.66683,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.371207237,"cg_iw_a":-0.740683079,"cg_theta_rad":4.09964418,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454351097,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.67687,"values":{"cg_iu_a":-1.1352272,"cg_iv_a":-0.661157608,"cg_iw_a":1.79638481,"cg_theta_rad":4.10120392,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454351097,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.68688,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.951108456,"cg_iw_a":0.274144173,"cg_theta_rad":4.10350132,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173151791,"thr_a_norm":0.0173151791,"thr_a_v":0.569260716,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438791484,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.696798,"values":{"cg_iu_a":-0.337862968,"cg_iv_a":-0.733645439,"cg_iw_a":1.07150841,"cg_theta_rad":4.10063505,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174158812,"thr_a_norm":0.0174158812,"thr_a_v":0.569663525,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443323433,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.706808,"values":{"cg_iu_a":0.604476929,"cg_iv_a":0.0637187958,"cg_iw_a":-0.668195724,"cg_theta_rad":4.10238266,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174158812,"thr_a_norm":0.0174158812,"thr_a_v":0.569663525,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443323433,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.716848,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.298719406,"cg_iw_a":-0.595707893,"cg_theta_rad":4.09732389,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188509971,"thr_a_norm":0.0188509971,"thr_a_v":0.575403988,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.726858,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.226231575,"cg_iw_a":-0.958146572,"cg_theta_rad":4.10366631,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172899961,"thr_a_norm":0.0188509971,"thr_a_v":0.569159985,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444733351,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.736898,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.443694592,"cg_iw_a":-1.17560959,"cg_theta_rad":4.1005044,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172899961,"thr_a_norm":0.0172899961,"thr_a_v":0.569159985,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444733351,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.75408,"values":{"cg_iu_a":-0.410350561,"cg_iv_a":0.281181812,"cg_iw_a":0.129168749,"cg_theta_rad":4.10210371,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167990327,"thr_a_norm":0.0167990327,"thr_a_v":0.567196131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.431238264,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.757986,"values":{"cg_iu_a":0.24203825,"cg_iv_a":0.208694458,"cg_iw_a":-0.450732708,"cg_theta_rad":4.10527754,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167990327,"thr_a_norm":0.0167990327,"thr_a_v":0.567196131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.431238264,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.766775,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.09608364,"cg_iw_a":0.0566806793,"cg_theta_rad":4.10050154,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101004794,"thr_a_norm":0.101004794,"thr_a_v":0.904019177,"thr_b":0.0400881171,"thr_b_norm":0.0400881171,"thr_b_v":0.660352468,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.776754,"values":{"cg_iu_a":-0.70030117,"cg_iv_a":-0.226231575,"cg_iw_a":0.926532745,"cg_theta_rad":4.09744072,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201853961,"thr_a_norm":0.0201853961,"thr_a_v":0.580741584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454653233,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.786795,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.661157608,"cg_iw_a":-0.233269691,"cg_theta_rad":4.09991407,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201853961,"thr_a_norm":0.0201853961,"thr_a_v":0.580741584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454653233,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.796835,"values":{"cg_iu_a":-0.482838154,"cg_iv_a":0.426157475,"cg_iw_a":0.0566806793,"cg_theta_rad":4.0991621,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188635886,"thr_a_norm":0.0188635886,"thr_a_v":0.575454354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456214249,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.806845,"values":{"cg_iu_a":-0.627813578,"cg_iv_a":0.353669643,"cg_iw_a":0.274143934,"cg_theta_rad":4.10384178,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294758528,"thr_a_norm":0.0188635886,"thr_a_v":0.617903411,"thr_b":0.0065266639,"thr_b_norm":0,"thr_b_v":0.526106656,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.816854,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.958146572,"cg_theta_rad":4.1024375,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294758528,"thr_a_norm":0.0294758528,"thr_a_v":0.617903411,"thr_b":0.0065266639,"thr_b_norm":0.0065266639,"thr_b_v":0.526106656,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.826742,"values":{"cg_iu_a":-1.35269022,"cg_iv_a":-0.661157608,"cg_iw_a":2.01384783,"cg_theta_rad":4.09945965,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182844996,"thr_a_norm":0.0182844996,"thr_a_v":0.573137999,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459436953,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.836782,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.226231575,"cg_iw_a":-0.378245354,"cg_theta_rad":4.1030817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182844996,"thr_a_norm":0.0182844996,"thr_a_v":0.573137999,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459436953,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.854116,"values":{"cg_iu_a":-0.70030117,"cg_iv_a":-0.0087685585,"cg_iw_a":0.709069729,"cg_theta_rad":4.1009984,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220359415,"thr_a_norm":0.0220359415,"thr_a_v":0.588143766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470061809,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.858084,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.38603449,"cg_iw_a":0.999020576,"cg_theta_rad":4.10034657,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0230430365,"thr_a_norm":0.0230430365,"thr_a_v":0.592172146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482146949,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.866842,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.015806675,"cg_theta_rad":4.10374689,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0230430365,"thr_a_norm":0.0230430365,"thr_a_v":0.592172146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482146949,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.876821,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.523220539,"cg_theta_rad":4.10041189,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274238884,"thr_a_norm":0.0274238884,"thr_a_v":0.609695554,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494634897,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.88674,"values":{"cg_iu_a":-0.990252018,"cg_iv_a":-0.153744221,"cg_iw_a":1.14399624,"cg_theta_rad":4.1006012,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20000,"hz_adc_isr":5000,"hz_app_loop":7642,"hz_tim_isr":0,"hz_vsense":7642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274238884,"thr_a_norm":0.0274238884,"thr_a_v":0.609695554,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494634897,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.896841,"values":{"cg_iu_a":-1.20771503,"cg_iv_a":-0.443694592,"cg_iw_a":1.65140963,"cg_theta_rad":4.10139275,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020563066,"thr_a_norm":0.020563066,"thr_a_v":0.582252264,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472579539,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.90679,"values":{"cg_iu_a":0.531989098,"cg_iv_a":0.498644829,"cg_iw_a":-1.03063393,"cg_theta_rad":4.10240269,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208525956,"thr_a_norm":0.0208525956,"thr_a_v":0.583410382,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457523465,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.91683,"values":{"cg_iu_a":-0.772789001,"cg_iv_a":0.353669643,"cg_iw_a":0.419119358,"cg_theta_rad":4.10070133,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208525956,"thr_a_norm":0.0208525956,"thr_a_v":0.583410382,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457523465,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.926748,"values":{"cg_iu_a":-0.410350561,"cg_iv_a":-0.298719406,"cg_iw_a":0.709069967,"cg_theta_rad":4.10102272,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151750892,"thr_a_norm":0.0151750892,"thr_a_v":0.560700357,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470263213,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.936727,"values":{"cg_iu_a":-0.337862968,"cg_iv_a":-0.443694592,"cg_iw_a":0.78155756,"cg_theta_rad":4.10211706,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023760587,"thr_a_norm":0.023760587,"thr_a_v":0.595042348,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464623481,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.954031,"values":{"cg_iu_a":-1.20771503,"cg_iv_a":0.208694458,"cg_iw_a":0.999020576,"cg_theta_rad":4.10085678,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023760587,"thr_a_norm":0.023760587,"thr_a_v":0.595042348,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464623481,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.958029,"values":{"cg_iu_a":-0.772789001,"cg_iv_a":0.498644829,"cg_iw_a":-0.0882945061,"cg_theta_rad":4.100389,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453545451,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.966787,"values":{"cg_iu_a":-0.70030117,"cg_iv_a":-0.516182423,"cg_iw_a":1.21648359,"cg_theta_rad":4.09933615,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453545451,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.976736,"values":{"cg_iu_a":-1.57015324,"cg_iv_a":-0.661157608,"cg_iw_a":2.23131084,"cg_theta_rad":4.10209942,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184607506,"thr_a_norm":0.0184607506,"thr_a_v":0.573843002,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449970245,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.986807,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.733645439,"cg_iw_a":0.274144173,"cg_theta_rad":4.09893465,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197447985,"thr_a_norm":0.0197447985,"thr_a_v":0.578979194,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472176731,"vdc_v":55.2955055}} +{"type":"telemetry","t":0.996725,"values":{"cg_iu_a":1.40184116,"cg_iv_a":0.0637187958,"cg_iw_a":1.07150841,"cg_theta_rad":4.10059023,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197447985,"thr_a_norm":0.0197447985,"thr_a_v":0.578979194,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472176731,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.006796,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":-0.661157608,"cg_iw_a":0.709069729,"cg_theta_rad":4.09799099,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235465765,"thr_a_norm":0.0235465765,"thr_a_v":0.594186306,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468198657,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.016744,"values":{"cg_iu_a":-0.845276594,"cg_iv_a":-0.0087685585,"cg_iw_a":0.854045153,"cg_theta_rad":4.09967566,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165850371,"thr_a_norm":0.0165850371,"thr_a_v":0.566340148,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481945544,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.026785,"values":{"cg_iu_a":-0.845276594,"cg_iv_a":-0.298719406,"cg_iw_a":1.143996,"cg_theta_rad":4.10452366,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165850371,"thr_a_norm":0.0165850371,"thr_a_v":0.566340148,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481945544,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.036856,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.16857147,"cg_iw_a":0.419119358,"cg_theta_rad":4.10204411,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00812542439,"thr_a_norm":0.00812542439,"thr_a_v":0.532501698,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.42700848,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.046835,"values":{"cg_iu_a":-0.990252018,"cg_iv_a":-1.24105906,"cg_iw_a":2.23131108,"cg_theta_rad":4.09999943,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0111593008,"thr_a_norm":0.00812542439,"thr_a_v":0.544637203,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.422929704,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.064016,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.04546118,"cg_theta_rad":4.10269117,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0111593008,"thr_a_norm":0.0111593008,"thr_a_v":0.544637203,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.422929704,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.067953,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":1.15103388,"cg_iw_a":-0.958146334,"cg_theta_rad":4.09868097,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0470370799,"thr_a_norm":0.0470370799,"thr_a_v":0.68814832,"thr_b":0.0142309517,"thr_b_norm":0.0142309517,"thr_b_v":0.556923807,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.076834,"values":{"cg_iu_a":-0.772789001,"cg_iv_a":-0.298719406,"cg_iw_a":1.07150841,"cg_theta_rad":4.09921217,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0470370799,"thr_a_norm":0.0470370799,"thr_a_v":0.68814832,"thr_b":0.0142309517,"thr_b_norm":0.0142309517,"thr_b_v":0.556923807,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.086721,"values":{"cg_iu_a":-0.555325985,"cg_iv_a":-0.0087685585,"cg_iw_a":0.564094543,"cg_theta_rad":4.09889364,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0158800632,"thr_a_norm":0.0158800632,"thr_a_v":0.563520253,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472176731,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.096731,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.015806675,"cg_theta_rad":4.10134411,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0123048723,"thr_a_norm":0.0123048723,"thr_a_v":0.549219489,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448308527,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.106771,"values":{"cg_iu_a":-0.410350561,"cg_iv_a":-1.16857147,"cg_iw_a":1.57892203,"cg_theta_rad":4.10192394,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0123048723,"thr_a_norm":0.0123048723,"thr_a_v":0.549219489,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448308527,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.116873,"values":{"cg_iu_a":-0.627813578,"cg_iv_a":-0.0812563896,"cg_iw_a":0.709069967,"cg_theta_rad":4.10160208,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209155381,"thr_a_norm":0.0209155381,"thr_a_v":0.583662152,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469105065,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.126852,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.733645439,"cg_iw_a":-2.19043684,"cg_theta_rad":4.10077095,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288841873,"thr_a_norm":0.0209155381,"thr_a_v":0.615536749,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49810943,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.136709,"values":{"cg_iu_a":1.54681635,"cg_iv_a":0.788595676,"cg_iw_a":-0.233269691,"cg_theta_rad":4.10018444,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288841873,"thr_a_norm":0.0288841873,"thr_a_v":0.615536749,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49810943,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.14678,"values":{"cg_iu_a":-1.06273961,"cg_iv_a":-0.951108456,"cg_iw_a":2.01384807,"cg_theta_rad":4.10489464,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244529694,"thr_a_norm":0.0244529694,"thr_a_v":0.597811878,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.164144,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.298719406,"cg_iw_a":-0.305757523,"cg_theta_rad":4.10236359,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244529694,"thr_a_norm":0.0244529694,"thr_a_v":0.597811878,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.16802,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-0.0087685585,"cg_iw_a":0.201656103,"cg_theta_rad":4.09707069,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0132742077,"thr_a_norm":0.0132742077,"thr_a_v":0.553096831,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44840923,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.176779,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.588670254,"cg_iw_a":0.201656342,"cg_theta_rad":4.10133076,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288841873,"thr_a_norm":0.0288841873,"thr_a_v":0.615536749,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499418616,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.186758,"values":{"cg_iu_a":-0.627813578,"cg_iv_a":0.0637187958,"cg_iw_a":0.564094782,"cg_theta_rad":4.10007286,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288841873,"thr_a_norm":0.0288841873,"thr_a_v":0.615536749,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499418616,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.196859,"values":{"cg_iu_a":-0.482838154,"cg_iv_a":-0.588670254,"cg_iw_a":1.07150841,"cg_theta_rad":4.10271883,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0305081159,"thr_a_norm":0.0305081159,"thr_a_v":0.622032464,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469407201,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.206838,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.371207237,"cg_iw_a":-0.81317091,"cg_theta_rad":4.10086393,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151750892,"thr_a_norm":0.0305081159,"thr_a_v":0.560700357,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467392981,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.216787,"values":{"cg_iu_a":-0.917764187,"cg_iv_a":1.00605869,"cg_iw_a":-0.0882945061,"cg_theta_rad":4.10006475,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151750892,"thr_a_norm":0.0151750892,"thr_a_v":0.560700357,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467392981,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.226766,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.54583716,"cg_iw_a":1.21648383,"cg_theta_rad":4.10083628,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281918049,"thr_a_norm":0.0281918049,"thr_a_v":0.61276722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496145576,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.236807,"values":{"cg_iu_a":-1.06273961,"cg_iv_a":-0.733645439,"cg_iw_a":1.79638505,"cg_theta_rad":4.09964085,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281918049,"thr_a_norm":0.0281918049,"thr_a_v":0.61276722,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496145576,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.246817,"values":{"cg_iu_a":-0.627813578,"cg_iv_a":-0.0812563896,"cg_iw_a":0.709069967,"cg_theta_rad":4.10057831,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103761733,"thr_a_norm":0.103761733,"thr_a_v":0.91504693,"thr_b":0.0504108518,"thr_b_norm":0.0504108518,"thr_b_v":0.701643407,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.264089,"values":{"cg_iu_a":1.03940296,"cg_iv_a":0.933570862,"cg_iw_a":-1.97297382,"cg_theta_rad":4.10553551,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212302655,"thr_a_norm":0.0212302655,"thr_a_v":0.584921062,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461098641,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.267996,"values":{"cg_iu_a":-1.28020263,"cg_iv_a":-0.443694592,"cg_iw_a":1.72389722,"cg_theta_rad":4.100173,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212302655,"thr_a_norm":0.0212302655,"thr_a_v":0.584921062,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461098641,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.276754,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-2.25588632,"cg_iw_a":1.5064342,"cg_theta_rad":4.1033721,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198455006,"thr_a_norm":0.0198455006,"thr_a_v":0.579382002,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.286734,"values":{"cg_iu_a":-1.28020263,"cg_iv_a":-0.588670254,"cg_iw_a":1.86887288,"cg_theta_rad":4.10485077,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198455006,"thr_a_norm":0.0198455006,"thr_a_v":0.579382002,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.296926,"values":{"cg_iu_a":-0.990252018,"cg_iv_a":-0.0087685585,"cg_iw_a":0.999020576,"cg_theta_rad":4.09993315,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272980034,"thr_a_norm":0.0272980034,"thr_a_v":0.609192014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.306814,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.226231575,"cg_iw_a":-0.59570837,"cg_theta_rad":4.10351896,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213309675,"thr_a_norm":0.0213309675,"thr_a_v":0.58532387,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468702197,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.316793,"values":{"cg_iu_a":-0.917764187,"cg_iv_a":-0.298719406,"cg_iw_a":1.21648359,"cg_theta_rad":4.10304642,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213309675,"thr_a_norm":0.0213309675,"thr_a_v":0.58532387,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468702197,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.326712,"values":{"cg_iu_a":-1.20771503,"cg_iv_a":-1.02359605,"cg_iw_a":-1.03063393,"cg_theta_rad":4.10358763,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254474729,"thr_a_norm":0.0254474729,"thr_a_v":0.601789892,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497907996,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.336782,"values":{"cg_iu_a":-1.35269022,"cg_iv_a":-0.443694592,"cg_iw_a":1.79638481,"cg_theta_rad":4.10143948,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269203484,"thr_a_norm":0.0269203484,"thr_a_v":0.607681394,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484412879,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.346823,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":-0.516182423,"cg_iw_a":0.564094543,"cg_theta_rad":4.09974098,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269203484,"thr_a_norm":0.0269203484,"thr_a_v":0.607681394,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484412879,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.364065,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.516182423,"cg_iw_a":-0.0882945061,"cg_theta_rad":4.09798908,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259132534,"thr_a_norm":0.0259132534,"thr_a_v":0.603653014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490707248,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.368032,"values":{"cg_iu_a":-0.555325985,"cg_iv_a":-0.443694592,"cg_iw_a":0.999020576,"cg_theta_rad":4.10317039,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259132534,"thr_a_norm":0.0259132534,"thr_a_v":0.603653014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490707248,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.376791,"values":{"cg_iu_a":-1.06273961,"cg_iv_a":-0.371207237,"cg_iw_a":1.43394685,"cg_theta_rad":4.09936953,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0379354507,"thr_a_norm":0.0379354507,"thr_a_v":0.651741803,"thr_b":0.00943465531,"thr_b_norm":0.00943465531,"thr_b_v":0.537738621,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.386801,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-0.298719406,"cg_iw_a":0.201656342,"cg_theta_rad":4.09976768,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0236472934,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459990859,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.39681,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-0.153744221,"cg_iw_a":-0.015806675,"cg_theta_rad":4.10053492,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0236472934,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459990859,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.406698,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.0812563896,"cg_iw_a":0.491607189,"cg_theta_rad":4.10110378,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466939807,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.416799,"values":{"cg_iu_a":-1.28020263,"cg_iv_a":1.29600906,"cg_iw_a":-0.0158064365,"cg_theta_rad":4.09765482,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203490406,"thr_a_norm":0.0203490406,"thr_a_v":0.581396163,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461652547,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.426809,"values":{"cg_iu_a":0.894427299,"cg_iv_a":1.44098473,"cg_iw_a":-2.33541203,"cg_theta_rad":4.09796524,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203490406,"thr_a_norm":0.0203490406,"thr_a_v":0.581396163,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461652547,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.436788,"values":{"cg_iu_a":-0.337862968,"cg_iv_a":-0.443694592,"cg_iw_a":0.78155756,"cg_theta_rad":4.09949493,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241004825,"thr_a_norm":0.0241004825,"thr_a_v":0.59640193,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468953997,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.446798,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.0087685585,"cg_iw_a":-1.24809742,"cg_theta_rad":4.10339117,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170382112,"thr_a_norm":0.0241004825,"thr_a_v":0.568152845,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440251797,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.46398,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.371207237,"cg_iw_a":-0.015806675,"cg_theta_rad":4.10162687,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170382112,"thr_a_norm":0.0170382112,"thr_a_v":0.568152845,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440251797,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.46813,"values":{"cg_iu_a":-0.265375137,"cg_iv_a":0.498644829,"cg_iw_a":-0.233269691,"cg_theta_rad":4.10183048,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023861289,"thr_a_norm":0.023861289,"thr_a_v":0.595445156,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467493683,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.476797,"values":{"cg_iu_a":1.40184116,"cg_iv_a":0.208694458,"cg_iw_a":-1.61053562,"cg_theta_rad":4.099545,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023861289,"thr_a_norm":0.023861289,"thr_a_v":0.595445156,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467493683,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.486807,"values":{"cg_iu_a":-1.06273961,"cg_iv_a":-0.298719406,"cg_iw_a":1.36145902,"cg_theta_rad":4.1005435,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.028468743,"thr_a_norm":0.028468743,"thr_a_v":0.613874972,"thr_b":0.00390821695,"thr_b_norm":0.00390821695,"thr_b_v":0.515632868,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.496694,"values":{"cg_iu_a":-0.410350561,"cg_iv_a":-0.226231575,"cg_iw_a":0.636582136,"cg_theta_rad":4.1006937,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284813493,"thr_a_norm":0.0284813493,"thr_a_v":0.613925397,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497907996,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.506918,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":0.353669643,"cg_iw_a":-0.378244877,"cg_theta_rad":4.10393476,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284813493,"thr_a_norm":0.0284813493,"thr_a_v":0.613925397,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497907996,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.516867,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-0.0812563896,"cg_iw_a":0.201656342,"cg_theta_rad":4.10439014,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285442919,"thr_a_norm":0.0285442919,"thr_a_v":0.614177167,"thr_b":0.000282675028,"thr_b_norm":0.000282675028,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.526754,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.516182423,"cg_iw_a":-1.68302298,"cg_theta_rad":4.10031176,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285442919,"thr_a_norm":0.0285442919,"thr_a_v":0.614177167,"thr_b":0.000282675028,"thr_b_norm":0.000282675028,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.536825,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-0.443694592,"cg_iw_a":0.564094543,"cg_theta_rad":4.10053205,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181460381,"thr_a_norm":0.0181460381,"thr_a_v":0.572584152,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460947573,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.546774,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.595707893,"cg_theta_rad":4.10143566,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.106858552,"thr_a_norm":0.106858552,"thr_a_v":0.927434206,"thr_b":0.0532810688,"thr_b_norm":0.0532810688,"thr_b_v":0.713124275,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.564016,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-1.09608364,"cg_iw_a":1.07150841,"cg_theta_rad":4.10275459,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.106858552,"thr_a_norm":0.106858552,"thr_a_v":0.927434206,"thr_b":0.0532810688,"thr_b_norm":0.0532810688,"thr_b_v":0.713124275,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.567984,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.61053514,"cg_theta_rad":4.10172987,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220107436,"thr_a_norm":0.0220107436,"thr_a_v":0.588042974,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482549787,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.576834,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.298719406,"cg_iw_a":-0.450732708,"cg_theta_rad":4.09979486,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270210654,"thr_a_norm":0.0270210654,"thr_a_v":0.608084261,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.586782,"values":{"cg_iu_a":-0.627813578,"cg_iv_a":-0.0087685585,"cg_iw_a":0.636582136,"cg_theta_rad":4.10466051,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270210654,"thr_a_norm":0.0270210654,"thr_a_v":0.608084261,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.596701,"values":{"cg_iu_a":-1.06273961,"cg_iv_a":-0.516182423,"cg_iw_a":-0.595707893,"cg_theta_rad":4.09873676,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261398554,"thr_a_norm":0.0261398554,"thr_a_v":0.604559422,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498764038,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.60671,"values":{"cg_iu_a":0.24203825,"cg_iv_a":0.136206627,"cg_iw_a":0.346631527,"cg_theta_rad":4.09829283,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261398554,"thr_a_norm":0.0261398554,"thr_a_v":0.604559422,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498764038,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.616751,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-0.516182423,"cg_iw_a":0.419119358,"cg_theta_rad":4.10132217,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151121467,"thr_a_norm":0.0151121467,"thr_a_v":0.560448587,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461602181,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.626791,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.153744221,"cg_iw_a":-0.595707893,"cg_theta_rad":4.1023159,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0321068913,"thr_a_norm":0.0321068913,"thr_a_v":0.628427565,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477111459,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.63677,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.878620625,"cg_iw_a":0.491606712,"cg_theta_rad":4.10378122,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0321068913,"thr_a_norm":0.0321068913,"thr_a_v":0.628427565,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477111459,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.646749,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-0.371207237,"cg_iw_a":0.346632004,"cg_theta_rad":4.09869671,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253845304,"thr_a_norm":0.0253845304,"thr_a_v":0.601538122,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.664053,"values":{"cg_iu_a":-1.49766564,"cg_iv_a":0.281181812,"cg_iw_a":1.21648383,"cg_theta_rad":4.10343599,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275246054,"thr_a_norm":0.0275246054,"thr_a_v":0.610098422,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497404426,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.66799,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.015806675,"cg_theta_rad":4.10229349,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275246054,"thr_a_norm":0.0275246054,"thr_a_v":0.610098422,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497404426,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.676748,"values":{"cg_iu_a":-0.917764187,"cg_iv_a":0.498644829,"cg_iw_a":0.419119358,"cg_theta_rad":4.10477972,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0343602598,"thr_a_norm":0.0343602598,"thr_a_v":0.637441039,"thr_b":0.00549438596,"thr_b_norm":0.00549438596,"thr_b_v":0.521977544,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.686727,"values":{"cg_iu_a":-1.42517781,"cg_iv_a":-0.733645439,"cg_iw_a":2.15882325,"cg_theta_rad":4.10053873,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0343602598,"thr_a_norm":0.0343602598,"thr_a_v":0.637441039,"thr_b":0.00549438596,"thr_b_norm":0.00549438596,"thr_b_v":0.521977544,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.696768,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.516182423,"cg_iw_a":-0.015806675,"cg_theta_rad":4.101542,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020563066,"thr_a_norm":0.020563066,"thr_a_v":0.582252264,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461350411,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.706716,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.371207237,"cg_iw_a":1.57892227,"cg_theta_rad":4.10123491,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0130476058,"thr_a_norm":0.0130476058,"thr_a_v":0.552190423,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458429813,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.716726,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":0.643620491,"cg_iw_a":-0.450732946,"cg_theta_rad":4.09853315,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0130476058,"thr_a_norm":0.0130476058,"thr_a_v":0.552190423,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458429813,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.726736,"values":{"cg_iu_a":-0.70030117,"cg_iv_a":-0.661157608,"cg_iw_a":1.36145878,"cg_theta_rad":4.10080194,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266685635,"thr_a_norm":0.0266685635,"thr_a_v":0.606674254,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.736776,"values":{"cg_iu_a":-0.482838154,"cg_iv_a":-1.09608364,"cg_iw_a":1.57892179,"cg_theta_rad":4.0996747,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248558074,"thr_a_norm":0.0248558074,"thr_a_v":0.59942323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469658971,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.746694,"values":{"cg_iu_a":-0.410350561,"cg_iv_a":-0.153744221,"cg_iw_a":0.564094782,"cg_theta_rad":4.10038471,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248558074,"thr_a_norm":0.0248558074,"thr_a_v":0.59942323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469658971,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.764059,"values":{"cg_iu_a":-0.917764187,"cg_iv_a":-0.878620625,"cg_iw_a":1.79638481,"cg_theta_rad":4.09875393,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262531489,"thr_a_norm":0.0262531489,"thr_a_v":0.605012596,"thr_b":0.001491189,"thr_b_norm":0.001491189,"thr_b_v":0.505964756,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.767996,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.298719406,"cg_iw_a":-1.24809694,"cg_theta_rad":4.10022306,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027612716,"thr_a_norm":0.0262531489,"thr_a_v":0.610450864,"thr_b":0,"thr_b_norm":0.001491189,"thr_b_v":0.498663306,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.776754,"values":{"cg_iu_a":-0.410350561,"cg_iv_a":-2.0384233,"cg_iw_a":2.44877386,"cg_theta_rad":4.09780979,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027612716,"thr_a_norm":0.027612716,"thr_a_v":0.610450864,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498663306,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.786764,"values":{"cg_iu_a":-0.917764187,"cg_iv_a":0.0637187958,"cg_iw_a":0.854045391,"cg_theta_rad":4.10321617,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262153894,"thr_a_norm":0.0262153894,"thr_a_v":0.604861557,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498159766,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.796804,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.153744221,"cg_iw_a":-0.81317091,"cg_theta_rad":4.10050869,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262153894,"thr_a_norm":0.0262153894,"thr_a_v":0.604861557,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498159766,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.806692,"values":{"cg_iu_a":-1.06273961,"cg_iv_a":-0.226231575,"cg_iw_a":1.28897119,"cg_theta_rad":4.10373306,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0272728354,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.816793,"values":{"cg_iu_a":-1.35269022,"cg_iv_a":-0.0812563896,"cg_iw_a":0.41911912,"cg_theta_rad":4.1017766,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188006312,"thr_a_norm":0.0188006312,"thr_a_v":0.575202525,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.826742,"values":{"cg_iu_a":-2.65746832,"cg_iv_a":-0.516182423,"cg_iw_a":3.17365074,"cg_theta_rad":4.10128212,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188006312,"thr_a_norm":0.0188006312,"thr_a_v":0.575202525,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.836752,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.02359605,"cg_iw_a":0.709069967,"cg_theta_rad":4.09986782,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173655301,"thr_a_norm":0.0173655301,"thr_a_v":0.569462121,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443776608,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.846792,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.878620625,"cg_iw_a":-0.378245354,"cg_theta_rad":4.10058594,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0331013948,"thr_a_norm":0.0173655301,"thr_a_v":0.632405579,"thr_b":0.00229686499,"thr_b_norm":0,"thr_b_v":0.50918746,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.863943,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.806133032,"cg_iw_a":1.86887264,"cg_theta_rad":4.10159016,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0331013948,"thr_a_norm":0.0331013948,"thr_a_v":0.632405579,"thr_b":0.00229686499,"thr_b_norm":0.00229686499,"thr_b_v":0.50918746,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.86791,"values":{"cg_iu_a":0.531989098,"cg_iv_a":0.0637187958,"cg_iw_a":-0.595707893,"cg_theta_rad":4.10435152,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0146086067,"thr_a_norm":0.0146086067,"thr_a_v":0.558434427,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.445538998,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.876821,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":1.22352171,"cg_iw_a":-1.17560959,"cg_theta_rad":4.10062742,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":20004,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0146086067,"thr_a_norm":0.0146086067,"thr_a_v":0.558434427,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.445538998,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.886801,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.153744221,"cg_iw_a":-1.03063393,"cg_theta_rad":4.10116053,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7638,"hz_tim_isr":0,"hz_vsense":7638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163962096,"thr_a_norm":0.0163962096,"thr_a_v":0.565584838,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455912083,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.89678,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-0.733645439,"cg_iw_a":0.926532984,"cg_theta_rad":4.10114956,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238738805,"thr_a_norm":0.0238738805,"thr_a_v":0.595495522,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475449771,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.906729,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-0.443694592,"cg_iw_a":0.636582136,"cg_theta_rad":4.10202026,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238738805,"thr_a_norm":0.0238738805,"thr_a_v":0.595495522,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475449771,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.916708,"values":{"cg_iu_a":-0.555325985,"cg_iv_a":-0.153744221,"cg_iw_a":0.709070206,"cg_theta_rad":4.09876204,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190020651,"thr_a_norm":0.0190020651,"thr_a_v":0.57600826,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469961077,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.92687,"values":{"cg_iu_a":-1.28020263,"cg_iv_a":-1.02359605,"cg_iw_a":2.30379868,"cg_theta_rad":4.10077143,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022325471,"thr_a_norm":0.0190020651,"thr_a_v":0.589301884,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.936788,"values":{"cg_iu_a":1.47432899,"cg_iv_a":0.281181812,"cg_iw_a":-1.75551081,"cg_theta_rad":4.10384178,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022325471,"thr_a_norm":0.022325471,"thr_a_v":0.589301884,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.946737,"values":{"cg_iu_a":-0.337862968,"cg_iv_a":-1.74847269,"cg_iw_a":2.08633566,"cg_theta_rad":4.09924793,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00793659687,"thr_b_norm":0.00793659687,"thr_b_v":0.531746387,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.964102,"values":{"cg_iu_a":-1.20771503,"cg_iv_a":-0.0087685585,"cg_iw_a":1.21648359,"cg_theta_rad":4.10234642,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00793659687,"thr_b_norm":0.00793659687,"thr_b_v":0.531746387,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.968008,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.516182423,"cg_iw_a":-0.740683556,"cg_theta_rad":4.10338593,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245033205,"thr_a_norm":0.0245033205,"thr_a_v":0.598013282,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472982377,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.976797,"values":{"cg_iu_a":-0.990252018,"cg_iv_a":-0.443694592,"cg_iw_a":1.43394661,"cg_theta_rad":4.10140896,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0355310142,"thr_a_norm":0.0355310142,"thr_a_v":0.642124057,"thr_b":0.00157929957,"thr_b_norm":0.00157929957,"thr_b_v":0.506317198,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.986746,"values":{"cg_iu_a":1.25686598,"cg_iv_a":0.498644829,"cg_iw_a":-1.75551081,"cg_theta_rad":4.10107946,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0355310142,"thr_a_norm":0.0355310142,"thr_a_v":0.642124057,"thr_b":0.00157929957,"thr_b_norm":0.00157929957,"thr_b_v":0.506317198,"vdc_v":55.2955055}} +{"type":"telemetry","t":1.996725,"values":{"cg_iu_a":-0.337862968,"cg_iv_a":-0.298719406,"cg_iw_a":0.636582375,"cg_theta_rad":4.10099792,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.006857,"values":{"cg_iu_a":-1.06273961,"cg_iv_a":-0.153744221,"cg_iw_a":1.21648383,"cg_theta_rad":4.10270643,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024339661,"thr_a_norm":0.0192160606,"thr_a_v":0.597358644,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483002961,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.016775,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.661157608,"cg_iw_a":-0.450732708,"cg_theta_rad":4.10438347,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024339661,"thr_a_norm":0.024339661,"thr_a_v":0.597358644,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483002961,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.026693,"values":{"cg_iu_a":-1.35269022,"cg_iv_a":-0.588670254,"cg_iw_a":1.94136047,"cg_theta_rad":4.10104942,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100778207,"thr_a_norm":0.100778207,"thr_a_v":0.903112829,"thr_b":0.042656213,"thr_b_norm":0.042656213,"thr_b_v":0.670624852,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.036734,"values":{"cg_iu_a":0.459501266,"cg_iv_a":1.22352171,"cg_iw_a":-1.68302298,"cg_theta_rad":4.10239077,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100778207,"thr_a_norm":0.100778207,"thr_a_v":0.903112829,"thr_b":0.042656213,"thr_b_norm":0.042656213,"thr_b_v":0.670624852,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.046713,"values":{"cg_iu_a":-0.845276594,"cg_iv_a":-0.0087685585,"cg_iw_a":0.854045153,"cg_theta_rad":4.09959412,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0299416333,"thr_a_norm":0.0299416333,"thr_a_v":0.619766533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463515669,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.056753,"values":{"cg_iu_a":-0.772789001,"cg_iv_a":-0.806133032,"cg_iw_a":1.57892203,"cg_theta_rad":4.10229015,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204245895,"thr_a_norm":0.0204245895,"thr_a_v":0.581698358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449013472,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.074087,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.153744221,"cg_iw_a":-0.740683079,"cg_theta_rad":4.10197258,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204245895,"thr_a_norm":0.0204245895,"thr_a_v":0.581698358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449013472,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.077993,"values":{"cg_iu_a":-0.627813578,"cg_iv_a":-0.371207237,"cg_iw_a":0.999020815,"cg_theta_rad":4.10420179,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238738805,"thr_a_norm":0.0238738805,"thr_a_v":0.595495522,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476507217,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.086752,"values":{"cg_iu_a":-0.265375137,"cg_iv_a":-2.90827537,"cg_iw_a":3.1736505,"cg_theta_rad":4.10149908,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238738805,"thr_a_norm":0.0238738805,"thr_a_v":0.595495522,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476507217,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.096792,"values":{"cg_iu_a":-1.1352272,"cg_iv_a":-0.733645439,"cg_iw_a":1.86887264,"cg_theta_rad":4.10255051,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170885772,"thr_a_norm":0.0170885772,"thr_a_v":0.568354309,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447956055,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.106771,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.305757523,"cg_theta_rad":4.10123777,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464371711,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.11672,"values":{"cg_iu_a":0.314526081,"cg_iv_a":0.136206627,"cg_iw_a":-0.450732708,"cg_theta_rad":4.10161209,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464371711,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.12673,"values":{"cg_iu_a":-1.06273961,"cg_iv_a":-1.38603449,"cg_iw_a":2.4487741,"cg_theta_rad":4.10144472,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0191153586,"thr_a_norm":0.0191153586,"thr_a_v":0.576461434,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463112861,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.13674,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.443694592,"cg_iw_a":0.12916851,"cg_theta_rad":4.10106134,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210288316,"thr_a_norm":0.0210288316,"thr_a_v":0.584115326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459285885,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.146688,"values":{"cg_iu_a":-0.337862968,"cg_iv_a":-0.371207237,"cg_iw_a":0.709070206,"cg_theta_rad":4.10356331,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210288316,"thr_a_norm":0.0210288316,"thr_a_v":0.584115326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459285885,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.156729,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.588670254,"cg_iw_a":0.129168987,"cg_theta_rad":4.09917688,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0367143452,"thr_a_norm":0.0367143452,"thr_a_v":0.646857381,"thr_b":0.00648888946,"thr_b_norm":0.00648888946,"thr_b_v":0.525955558,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.174063,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.0087685585,"cg_iw_a":-1.0306344,"cg_theta_rad":4.10068512,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281036794,"thr_a_norm":0.0367143452,"thr_a_v":0.612414718,"thr_b":0,"thr_b_norm":0.00648888946,"thr_b_v":0.494886726,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.177999,"values":{"cg_iu_a":-1.1352272,"cg_iv_a":0.281181812,"cg_iw_a":0.854045391,"cg_theta_rad":4.10262489,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281036794,"thr_a_norm":0.0281036794,"thr_a_v":0.612414718,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494886726,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.186728,"values":{"cg_iu_a":1.69179153,"cg_iv_a":0.281181812,"cg_iw_a":-1.97297335,"cg_theta_rad":4.09848833,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020688951,"thr_a_norm":0.020688951,"thr_a_v":0.582755804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463465333,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.196768,"values":{"cg_iu_a":-0.265375137,"cg_iv_a":-0.878620625,"cg_iw_a":1.14399576,"cg_theta_rad":4.10071325,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020688951,"thr_a_norm":0.020688951,"thr_a_v":0.582755804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463465333,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.206656,"values":{"cg_iu_a":-0.990252018,"cg_iv_a":-1.82096052,"cg_iw_a":2.81121254,"cg_theta_rad":4.09968281,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0127958357,"thr_a_norm":0.0127958357,"thr_a_v":0.551183343,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44337377,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.216665,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.153744221,"cg_iw_a":1.43394685,"cg_theta_rad":4.09859753,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237857699,"thr_a_norm":0.0237857699,"thr_a_v":0.59514308,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474190891,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.226675,"values":{"cg_iu_a":-0.337862968,"cg_iv_a":-0.0087685585,"cg_iw_a":0.346631527,"cg_theta_rad":4.10060549,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237857699,"thr_a_norm":0.0237857699,"thr_a_v":0.59514308,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474190891,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.236746,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.153744221,"cg_iw_a":-0.233269691,"cg_theta_rad":4.09606171,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180579126,"thr_a_norm":0.0180579126,"thr_a_v":0.57223165,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.246695,"values":{"cg_iu_a":-0.555325985,"cg_iv_a":-0.153744221,"cg_iw_a":0.709070206,"cg_theta_rad":4.10165548,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180579126,"thr_a_norm":0.0180579126,"thr_a_v":0.57223165,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.256765,"values":{"cg_iu_a":-0.337862968,"cg_iv_a":0.861083508,"cg_iw_a":-0.523220539,"cg_theta_rad":4.10328531,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212176591,"thr_a_norm":0.0212176591,"thr_a_v":0.584870636,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478622139,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.273947,"values":{"cg_iu_a":-0.627813578,"cg_iv_a":-0.226231575,"cg_iw_a":0.854045153,"cg_theta_rad":4.09956312,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0299164504,"thr_a_norm":0.0299164504,"thr_a_v":0.619665802,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463163197,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.277914,"values":{"cg_iu_a":-1.06273961,"cg_iv_a":-0.371207237,"cg_iw_a":1.43394685,"cg_theta_rad":4.09895658,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0299164504,"thr_a_norm":0.0299164504,"thr_a_v":0.619665802,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463163197,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.286734,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.443694592,"cg_iw_a":-0.523220539,"cg_theta_rad":4.0996232,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282169729,"thr_a_norm":0.0282169729,"thr_a_v":0.612867892,"thr_b":0.00269970298,"thr_b_norm":0.00269970298,"thr_b_v":0.510798812,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.296682,"values":{"cg_iu_a":-1.49766564,"cg_iv_a":-0.951108456,"cg_iw_a":2.4487741,"cg_theta_rad":4.09983826,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217212141,"thr_a_norm":0.0217212141,"thr_a_v":0.586884856,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474593699,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.306692,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.378244877,"cg_theta_rad":4.10031939,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217212141,"thr_a_norm":0.0217212141,"thr_a_v":0.586884856,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474593699,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.316702,"values":{"cg_iu_a":-0.265375137,"cg_iv_a":0.0637187958,"cg_iw_a":0.201656342,"cg_theta_rad":4.10259676,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182970911,"thr_a_norm":0.0182970911,"thr_a_v":0.573188365,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.326712,"values":{"cg_iu_a":-1.06273961,"cg_iv_a":-0.588670254,"cg_iw_a":1.65140986,"cg_theta_rad":4.10160637,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182970911,"thr_a_norm":0.0182970911,"thr_a_v":0.573188365,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"console","t":2.333113,"sequence":1,"text":"> control start"} +{"type":"telemetry","t":2.336752,"values":{"cg_iu_a":0.387013912,"cg_iv_a":0.136206627,"cg_iw_a":-0.523220539,"cg_theta_rad":4.10006094,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0346875638,"thr_a_norm":0.0346875638,"thr_a_v":0.638750255,"thr_b":0.00489012897,"thr_b_norm":0.00489012897,"thr_b_v":0.519560516,"vdc_v":55.2955055}} +{"type":"command","t":2.340728,"source":"ui","text":"control start","sent":true} +{"type":"console","t":2.34073,"sequence":2,"text":"(sent)"} +{"type":"telemetry","t":2.346762,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.733645439,"cg_iw_a":-0.0882945061,"cg_theta_rad":4.09992552,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234332681,"thr_a_norm":0.0234332681,"thr_a_v":0.593733072,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473838389,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.356771,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-0.588670254,"cg_iw_a":-0.305757046,"cg_theta_rad":4.10041571,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234332681,"thr_a_norm":0.0234332681,"thr_a_v":0.593733072,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473838389,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.373983,"values":{"cg_iu_a":-0.627813578,"cg_iv_a":-0.661157608,"cg_iw_a":1.28897119,"cg_theta_rad":4.09936619,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220611095,"thr_a_norm":0.0220611095,"thr_a_v":0.588244438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"console","t":2.496552,"sequence":3,"text":"[SUP] STARTED f_sw=2500 Hz f_u=5000 Hz"} +{"type":"console","t":2.496553,"sequence":4,"text":"[SHELL] control started"} +{"type":"telemetry","t":2.505362,"values":{"cg_iu_a":-0.555325985,"cg_iv_a":-0.153744221,"cg_iw_a":0.709070206,"cg_theta_rad":4.10143375,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.129396841,"mpcc_du":49.7776794,"mpcc_dv":49.8551941,"mpcc_dw":50.2223206,"mpcc_enc_sign":1,"mpcc_id_a":-0.184499383,"mpcc_iq_a":-0.308011323,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.02339458,"mpcc_pred_id_a":0.0217181612,"mpcc_pred_iq_a":0.407083273,"mpcc_state":1,"mpcc_theta_e":5.59725904,"mpcc_theta_mech":4.09967184,"sam_rpm":-11.535841,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220611095,"thr_a_norm":0.0220611095,"thr_a_v":0.588244438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.511892,"values":{"cg_iu_a":-2.4400053,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.233269691,"cg_theta_rad":4.10314894,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.096797213,"mpcc_du":49.4998856,"mpcc_dv":49.6911125,"mpcc_dw":50.5001144,"mpcc_enc_sign":1,"mpcc_id_a":-0.319504589,"mpcc_iq_a":-1.28575814,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.8132472,"mpcc_pred_id_a":0.194031879,"mpcc_pred_iq_a":-0.933208704,"mpcc_state":1,"mpcc_theta_e":5.59585714,"mpcc_theta_mech":4.09939146,"sam_rpm":-7.19456768,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0220611095,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449315608,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.518423,"values":{"cg_iu_a":-0.990252018,"cg_iv_a":-0.661157608,"cg_iw_a":1.65140963,"cg_theta_rad":4.09757805,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.118425757,"mpcc_du":49.0919914,"mpcc_dv":49.4176216,"mpcc_dw":50.9080086,"mpcc_enc_sign":1,"mpcc_id_a":0.00269861799,"mpcc_iq_a":-1.3746506,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.7120304,"mpcc_pred_id_a":0.142023504,"mpcc_pred_iq_a":-0.555469275,"mpcc_state":1,"mpcc_theta_e":5.61896086,"mpcc_theta_mech":4.10401249,"sam_rpm":2.13814187,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449315608,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.524954,"values":{"cg_iu_a":-0.917764187,"cg_iv_a":-0.0087685585,"cg_iw_a":2.81121206,"cg_theta_rad":4.10481548,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.0887148306,"mpcc_du":48.9852715,"mpcc_dv":49.2398262,"mpcc_dw":51.0147285,"mpcc_enc_sign":1,"mpcc_id_a":-0.113617979,"mpcc_iq_a":-1.54407716,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.661120296,"mpcc_pred_id_a":-0.562904537,"mpcc_pred_iq_a":-7.73382473,"mpcc_state":1,"mpcc_theta_e":5.60009146,"mpcc_theta_mech":4.10023832,"sam_rpm":1.44710243,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022677958,"thr_a_norm":0.022677958,"thr_a_v":0.590711832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485117882,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.535849,"values":{"cg_iu_a":-3.01990652,"cg_iv_a":-1.02359605,"cg_iw_a":4.04350281,"cg_theta_rad":4.0994606,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.0155881066,"mpcc_du":47.9033737,"mpcc_dv":48.4398689,"mpcc_dw":52.0966263,"mpcc_enc_sign":1,"mpcc_id_a":-1.31103444,"mpcc_iq_a":-5.37481022,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.0019417,"mpcc_pred_id_a":-0.68005234,"mpcc_pred_iq_a":-6.75227118,"mpcc_state":1,"mpcc_theta_e":5.58184385,"mpcc_theta_mech":4.09658909,"sam_rpm":-14.6672239,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176173002,"thr_a_norm":0.022677958,"thr_a_v":0.570469201,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.428871572,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.545889,"values":{"cg_iu_a":-2.87493134,"cg_iv_a":-1.6759851,"cg_iw_a":4.55091667,"cg_theta_rad":4.09531641,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.0135799162,"mpcc_du":47.4594994,"mpcc_dv":48.2456398,"mpcc_dw":52.5405006,"mpcc_enc_sign":1,"mpcc_id_a":-1.48073471,"mpcc_iq_a":-5.70016909,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.1089249,"mpcc_pred_id_a":-0.502207875,"mpcc_pred_iq_a":-8.68333912,"mpcc_state":1,"mpcc_theta_e":5.55321264,"mpcc_theta_mech":4.09086275,"sam_rpm":-28.8981056,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176173002,"thr_a_norm":0.0176173002,"thr_a_v":0.570469201,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.428871572,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.555655,"values":{"cg_iu_a":-4.83209801,"cg_iv_a":-1.31354666,"cg_iw_a":4.84086704,"cg_theta_rad":4.08797789,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.0197919402,"mpcc_du":48.922451,"mpcc_dv":49.0408745,"mpcc_dw":51.077549,"mpcc_enc_sign":1,"mpcc_id_a":-0.416790605,"mpcc_iq_a":-5.50003433,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.909127,"mpcc_pred_id_a":-0.353255272,"mpcc_pred_iq_a":-9.58533478,"mpcc_state":1,"mpcc_theta_e":5.53850889,"mpcc_theta_mech":4.0879221,"sam_rpm":5.6196208,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0251075774,"thr_a_norm":0.0251075774,"thr_a_v":0.60043031,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48526895,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.567404,"values":{"cg_iu_a":-2.58498049,"cg_iv_a":-0.153744221,"cg_iw_a":2.73872471,"cg_theta_rad":4.08335924,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.0123967128,"mpcc_du":46.5230217,"mpcc_dv":48.3349724,"mpcc_dw":53.4769783,"mpcc_enc_sign":1,"mpcc_id_a":-0.497932225,"mpcc_iq_a":-5.32957411,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-22.4061642,"mpcc_pred_id_a":0.241872475,"mpcc_pred_iq_a":-5.84690523,"mpcc_state":1,"mpcc_theta_e":5.48032141,"mpcc_theta_mech":4.07628441,"sam_rpm":-33.6218567,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0251075774,"thr_a_norm":0.0251075774,"thr_a_v":0.60043031,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48526895,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.577627,"values":{"cg_iu_a":-6.3543396,"cg_iv_a":-0.661157608,"cg_iw_a":7.01549721,"cg_theta_rad":4.07366562,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.0119956583,"mpcc_du":48.3053818,"mpcc_dv":49.1162872,"mpcc_dw":51.6946182,"mpcc_enc_sign":1,"mpcc_id_a":-0.898943305,"mpcc_iq_a":-9.49753952,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.28423929,"mpcc_pred_id_a":-0.0569626242,"mpcc_pred_iq_a":-8.70553684,"mpcc_state":1,"mpcc_theta_e":5.44550467,"mpcc_theta_mech":4.06932116,"sam_rpm":-9.62713909,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023005262,"thr_a_norm":0.023005262,"thr_a_v":0.592021048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485067546,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.590048,"values":{"cg_iu_a":-8.09404373,"cg_iv_a":-0.806133032,"cg_iw_a":9.04515171,"cg_theta_rad":4.05742359,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.0405657925,"mpcc_du":48.0972137,"mpcc_dv":49.3566475,"mpcc_dw":51.9027863,"mpcc_enc_sign":1,"mpcc_id_a":-0.297749072,"mpcc_iq_a":-3.48282909,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.5312171,"mpcc_pred_id_a":-0.0407193713,"mpcc_pred_iq_a":-7.71029329,"mpcc_state":1,"mpcc_theta_e":5.36526823,"mpcc_theta_mech":4.05327368,"sam_rpm":-9.66409779,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167990327,"thr_a_norm":0.023005262,"thr_a_v":0.567196131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.429677248,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.612844,"values":{"cg_iu_a":-3.88975859,"cg_iv_a":-0.588670254,"cg_iw_a":7.45042276,"cg_theta_rad":4.04442453,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.0166735705,"mpcc_du":48.074379,"mpcc_dv":49.9096031,"mpcc_dw":51.925621,"mpcc_enc_sign":1,"mpcc_id_a":0.00396026019,"mpcc_iq_a":-4.91747952,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.763943136,"mpcc_pred_id_a":0.507959604,"mpcc_pred_iq_a":-6.18304729,"mpcc_state":1,"mpcc_theta_e":5.26645231,"mpcc_theta_mech":4.03351068,"sam_rpm":-1.01000965,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167990327,"thr_a_norm":0.0167990327,"thr_a_v":0.567196131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.429677248,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.619406,"values":{"cg_iu_a":-5.4119997,"cg_iv_a":-0.153744221,"cg_iw_a":5.56574392,"cg_theta_rad":4.02462769,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.00457856152,"mpcc_du":49.2141304,"mpcc_dv":50.0193787,"mpcc_dw":50.7858696,"mpcc_enc_sign":1,"mpcc_id_a":0.504019558,"mpcc_iq_a":-8.75594139,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.4118452,"mpcc_pred_id_a":0.305681258,"mpcc_pred_iq_a":-8.19403553,"mpcc_state":1,"mpcc_theta_e":5.21255445,"mpcc_theta_mech":4.02273083,"sam_rpm":13.6243219,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222373605,"thr_a_norm":0.0222373605,"thr_a_v":0.588949442,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469256133,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.625937,"values":{"cg_iu_a":-2.00507927,"cg_iv_a":-0.153744221,"cg_iw_a":4.84086704,"cg_theta_rad":4.00594902,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.028350642,"mpcc_du":48.0643845,"mpcc_dv":50.6964302,"mpcc_dw":51.9356155,"mpcc_enc_sign":1,"mpcc_id_a":1.97835314,"mpcc_iq_a":-4.77486229,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.36220551,"mpcc_pred_id_a":0.783371031,"mpcc_pred_iq_a":-7.69364643,"mpcc_state":1,"mpcc_theta_e":5.10015631,"mpcc_theta_mech":4.00025129,"sam_rpm":-13.2317591,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222373605,"thr_a_norm":0.0222373605,"thr_a_v":0.588949442,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469256133,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.632498,"values":{"cg_iu_a":-5.19453669,"cg_iv_a":-0.443694592,"cg_iw_a":5.63823128,"cg_theta_rad":3.98400474,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.00900438242,"mpcc_du":47.776741,"mpcc_dv":51.2823105,"mpcc_dw":52.223259,"mpcc_enc_sign":1,"mpcc_id_a":1.33948553,"mpcc_iq_a":-6.15555525,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.2906208,"mpcc_pred_id_a":0.472769588,"mpcc_pred_iq_a":-8.57976818,"mpcc_state":1,"mpcc_theta_e":4.98858786,"mpcc_theta_mech":3.9779377,"sam_rpm":-28.3744164,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0431723446,"thr_a_norm":0.0431723446,"thr_a_v":0.672689378,"thr_b":0.0107564628,"thr_b_norm":0.0107564628,"thr_b_v":0.543025851,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.645041,"values":{"cg_iu_a":-6.57180214,"cg_iv_a":0.426157475,"cg_iw_a":6.2181325,"cg_theta_rad":3.96368241,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.00678002229,"mpcc_du":47.6399536,"mpcc_dv":51.9817734,"mpcc_dw":52.3600464,"mpcc_enc_sign":1,"mpcc_id_a":1.16449571,"mpcc_iq_a":-6.33554363,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.1245909,"mpcc_pred_id_a":0.439319551,"mpcc_pred_iq_a":-5.9154315,"mpcc_state":1,"mpcc_theta_e":4.87456274,"mpcc_theta_mech":3.95513272,"sam_rpm":-17.5574017,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283806324,"thr_a_norm":0.0431723446,"thr_a_v":0.61352253,"thr_b":0.00108835101,"thr_b_norm":0.0107564628,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.654409,"values":{"cg_iu_a":-6.20936394,"cg_iv_a":1.94839811,"cg_iw_a":4.26096582,"cg_theta_rad":3.94110298,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.0205606986,"mpcc_du":47.6204491,"mpcc_dv":52.3387871,"mpcc_dw":52.3795509,"mpcc_enc_sign":1,"mpcc_id_a":0.774401665,"mpcc_iq_a":-4.73873568,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.137413,"mpcc_pred_id_a":-0.237529427,"mpcc_pred_iq_a":-6.77251339,"mpcc_state":1,"mpcc_theta_e":4.76919699,"mpcc_theta_mech":3.93405938,"sam_rpm":-26.2440777,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283806324,"thr_a_norm":0.0283806324,"thr_a_v":0.61352253,"thr_b":0.00108835101,"thr_b_norm":0.00108835101,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.664572,"values":{"cg_iu_a":-5.99190092,"cg_iv_a":3.18068886,"cg_iw_a":2.81121206,"cg_theta_rad":3.91746926,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.0366475992,"mpcc_du":49.184494,"mpcc_dv":50.7528419,"mpcc_dw":50.815506,"mpcc_enc_sign":1,"mpcc_id_a":-1.436252,"mpcc_iq_a":-3.95088458,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.92171144,"mpcc_pred_id_a":-1.22973311,"mpcc_pred_iq_a":-8.61816025,"mpcc_state":1,"mpcc_theta_e":4.67205572,"mpcc_theta_mech":3.91463113,"sam_rpm":6.39665794,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242515355,"thr_a_norm":0.0242515355,"thr_a_v":0.597006142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473687351,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.676413,"values":{"cg_iu_a":-3.96224618,"cg_iv_a":2.23834896,"cg_iw_a":1.72389722,"cg_theta_rad":3.88944364,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.0333937854,"mpcc_du":48.8617058,"mpcc_dv":51.1382942,"mpcc_dw":50.6490974,"mpcc_enc_sign":1,"mpcc_id_a":-0.212800235,"mpcc_iq_a":-3.85140729,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.28940821,"mpcc_pred_id_a":-0.318651199,"mpcc_pred_iq_a":-8.32970905,"mpcc_state":1,"mpcc_theta_e":4.52547789,"mpcc_theta_mech":3.8853159,"sam_rpm":1.73896611,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242515355,"thr_a_norm":0.0242515355,"thr_a_v":0.597006142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473687351,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.686453,"values":{"cg_iu_a":-4.90458584,"cg_iv_a":4.34049177,"cg_iw_a":-0.958146572,"cg_theta_rad":3.8653791,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.0239203833,"mpcc_du":48.6270409,"mpcc_dv":51.3729591,"mpcc_dw":50.3169785,"mpcc_enc_sign":1,"mpcc_id_a":0.679092884,"mpcc_iq_a":-4.4822216,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.03649759,"mpcc_pred_id_a":0.286250234,"mpcc_pred_iq_a":-9.71996593,"mpcc_state":1,"mpcc_theta_e":4.39417028,"mpcc_theta_mech":3.85905409,"sam_rpm":-11.8529167,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176550597,"thr_a_norm":0.0176550597,"thr_a_v":0.570620239,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44236666,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.712118,"values":{"cg_iu_a":-5.12204885,"cg_iv_a":5.28283072,"cg_iw_a":-0.16078186,"cg_theta_rad":3.83497834,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.0508704521,"mpcc_du":46.7694817,"mpcc_dv":53.2305183,"mpcc_dw":49.5073547,"mpcc_enc_sign":1,"mpcc_id_a":0.915354133,"mpcc_iq_a":-3.08295226,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.8735008,"mpcc_pred_id_a":0.333907098,"mpcc_pred_iq_a":-6.13672256,"mpcc_state":1,"mpcc_theta_e":4.1456542,"mpcc_theta_mech":3.80935097,"sam_rpm":-34.8808022,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024440363,"thr_a_norm":0.0176550597,"thr_a_v":0.597761452,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491512954,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.718557,"values":{"cg_iu_a":-3.30985737,"cg_iv_a":3.0357132,"cg_iw_a":1.43394661,"cg_theta_rad":3.79753542,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.0204434041,"mpcc_du":47.9676704,"mpcc_dv":52.0323296,"mpcc_dw":49.2500763,"mpcc_enc_sign":1,"mpcc_id_a":-0.109572157,"mpcc_iq_a":-4.64249134,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.3520546,"mpcc_pred_id_a":0.178866684,"mpcc_pred_iq_a":-7.09793186,"mpcc_state":1,"mpcc_theta_e":4.05220366,"mpcc_theta_mech":3.79066086,"sam_rpm":-12.6675625,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024440363,"thr_a_norm":0.024440363,"thr_a_v":0.597761452,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491512954,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.725149,"values":{"cg_iu_a":-2.65746832,"cg_iv_a":3.83307791,"cg_iw_a":-0.160781622,"cg_theta_rad":3.76605415,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.0439701192,"mpcc_du":47.04813,"mpcc_dv":52.95187,"mpcc_dw":47.7143326,"mpcc_enc_sign":1,"mpcc_id_a":2.30188417,"mpcc_iq_a":-3.99437928,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.1762638,"mpcc_pred_id_a":1.145136,"mpcc_pred_iq_a":-4.46092987,"mpcc_state":1,"mpcc_theta_e":3.88442564,"mpcc_theta_mech":3.75710535,"sam_rpm":-23.0818996,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185488611,"thr_a_norm":0.0185488611,"thr_a_v":0.574195445,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468752533,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.733633,"values":{"cg_iu_a":-2.15005445,"cg_iv_a":3.61561441,"cg_iw_a":-0.885658503,"cg_theta_rad":3.72451401,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.0285083968,"mpcc_du":46.5109138,"mpcc_dv":53.7072906,"mpcc_dw":46.2927094,"mpcc_enc_sign":1,"mpcc_id_a":-0.201121241,"mpcc_iq_a":-4.3371501,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.751153,"mpcc_pred_id_a":-0.350713789,"mpcc_pred_iq_a":-1.95878685,"mpcc_state":1,"mpcc_theta_e":3.68687963,"mpcc_theta_mech":3.71759605,"sam_rpm":-30.3898926,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020613417,"thr_a_norm":0.0185488611,"thr_a_v":0.582453668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.745443,"values":{"cg_iu_a":-0.990252018,"cg_iv_a":4.12302828,"cg_iw_a":-1.75551081,"cg_theta_rad":3.68628502,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.0149072334,"mpcc_du":49.1944351,"mpcc_dv":51.3752213,"mpcc_dw":48.6247787,"mpcc_enc_sign":1,"mpcc_id_a":0.0685308948,"mpcc_iq_a":-5.05905819,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.93624401,"mpcc_pred_id_a":-0.693753064,"mpcc_pred_iq_a":-9.37646008,"mpcc_state":1,"mpcc_theta_e":3.48916197,"mpcc_theta_mech":3.67731977,"sam_rpm":-10.495863,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020613417,"thr_a_norm":0.020613417,"thr_a_v":0.582453668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.75762,"values":{"cg_iu_a":0.749452114,"cg_iv_a":4.12302828,"cg_iw_a":-4.87248039,"cg_theta_rad":3.64523602,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.0588181317,"mpcc_du":49.5720978,"mpcc_dv":51.6101875,"mpcc_dw":48.3898125,"mpcc_enc_sign":1,"mpcc_id_a":-1.26282632,"mpcc_iq_a":-2.81678271,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.01766181,"mpcc_pred_id_a":-0.493447483,"mpcc_pred_iq_a":-7.318964,"mpcc_state":1,"mpcc_theta_e":3.29353285,"mpcc_theta_mech":3.63892674,"sam_rpm":-1.27767372,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256866515,"thr_a_norm":0.0256866515,"thr_a_v":0.602746606,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486578166,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.767233,"values":{"cg_iu_a":0.387013912,"cg_iv_a":4.77541685,"cg_iw_a":-3.35023904,"cg_theta_rad":3.61294365,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.0402287282,"mpcc_du":50.3133011,"mpcc_dv":51.4234047,"mpcc_dw":48.5765953,"mpcc_enc_sign":1,"mpcc_id_a":1.70537925,"mpcc_iq_a":-3.86913586,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.81016183,"mpcc_pred_id_a":0.376151592,"mpcc_pred_iq_a":-7.82166672,"mpcc_state":1,"mpcc_theta_e":3.1254344,"mpcc_theta_mech":3.6053071,"sam_rpm":0.325693309,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195937157,"thr_a_norm":0.0256866515,"thr_a_v":0.578374863,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.779257,"values":{"cg_iu_a":-0.845276594,"cg_iv_a":5.64526892,"cg_iw_a":-4.79999256,"cg_theta_rad":3.57021189,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.00523987645,"mpcc_du":51.9910698,"mpcc_dv":53.3191071,"mpcc_dw":46.6808929,"mpcc_enc_sign":1,"mpcc_id_a":1.36062944,"mpcc_iq_a":-7.99460888,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.6065693,"mpcc_pred_id_a":0.717587888,"mpcc_pred_iq_a":-5.00979567,"mpcc_state":1,"mpcc_theta_e":2.88944006,"mpcc_theta_mech":3.55810809,"sam_rpm":-32.32584,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195937157,"thr_a_norm":0.0195937157,"thr_a_v":0.578374863,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.790823,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":4.41297865,"cg_iw_a":-4.36506653,"cg_theta_rad":3.52299643,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.059878286,"mpcc_du":53.0728455,"mpcc_dv":53.1044502,"mpcc_dw":46.8955498,"mpcc_enc_sign":1,"mpcc_id_a":-0.76644367,"mpcc_iq_a":-2.66638041,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.180006,"mpcc_pred_id_a":-0.32101211,"mpcc_pred_iq_a":-4.19929695,"mpcc_state":1,"mpcc_theta_e":2.66251516,"mpcc_theta_mech":3.51272321,"sam_rpm":-28.4128704,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0372682512,"thr_a_norm":0.0372682512,"thr_a_v":0.649073005,"thr_b":0.00724421442,"thr_b_norm":0.00724421442,"thr_b_v":0.528976858,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.813498,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.48038769,"cg_theta_rad":3.4826746,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.102814101,"mpcc_du":55.2892532,"mpcc_dv":52.3175011,"mpcc_dw":44.7107468,"mpcc_enc_sign":1,"mpcc_id_a":-0.0706482157,"mpcc_iq_a":-1.08746159,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-30.6307125,"mpcc_pred_id_a":-0.24109298,"mpcc_pred_iq_a":-0.517297626,"mpcc_state":1,"mpcc_theta_e":2.35196638,"mpcc_theta_mech":3.4506135,"sam_rpm":-49.7643547,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024062708,"thr_a_norm":0.0372682512,"thr_a_v":0.596250832,"thr_b":0,"thr_b_norm":0.00724421442,"thr_b_v":0.463616401,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.819967,"values":{"cg_iu_a":5.46115017,"cg_iv_a":0.0637187958,"cg_iw_a":-5.52486897,"cg_theta_rad":3.43558884,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.00390392286,"mpcc_du":53.8607445,"mpcc_dv":50.7286911,"mpcc_dw":46.1392555,"mpcc_enc_sign":1,"mpcc_id_a":-0.335397571,"mpcc_iq_a":-8.70377636,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-28.7379017,"mpcc_pred_id_a":-0.266850919,"mpcc_pred_iq_a":-6.13589001,"mpcc_state":1,"mpcc_theta_e":2.20687056,"mpcc_theta_mech":3.42159438,"sam_rpm":-48.0834084,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024062708,"thr_a_norm":0.024062708,"thr_a_v":0.596250832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463616401,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.826498,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.153744221,"cg_iw_a":-3.06028843,"cg_theta_rad":3.39143014,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.0558321476,"mpcc_du":53.816967,"mpcc_dv":49.2668114,"mpcc_dw":46.183033,"mpcc_enc_sign":1,"mpcc_id_a":-0.247763842,"mpcc_iq_a":-2.78073382,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.7054882,"mpcc_pred_id_a":0.153846741,"mpcc_pred_iq_a":-4.51380253,"mpcc_state":1,"mpcc_theta_e":1.9972949,"mpcc_theta_mech":3.37967896,"sam_rpm":-36.7526474,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0312886238,"thr_a_norm":0.0312886238,"thr_a_v":0.625154495,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.833639,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.24105906,"cg_iw_a":-2.98780107,"cg_theta_rad":3.33613682,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.0147705451,"mpcc_du":50.7919464,"mpcc_dv":47.8558655,"mpcc_dw":47.4211311,"mpcc_enc_sign":1,"mpcc_id_a":2.42254639,"mpcc_iq_a":-7.69871283,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.023669,"mpcc_pred_id_a":0.567807674,"mpcc_pred_iq_a":-10.8852119,"mpcc_state":1,"mpcc_theta_e":1.73453283,"mpcc_theta_mech":3.32712674,"sam_rpm":-6.34259796,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209155381,"thr_a_norm":0.0312886238,"thr_a_v":0.583662152,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474694431,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.845083,"values":{"cg_iu_a":4.51881123,"cg_iv_a":-1.53100967,"cg_iw_a":-0.015806675,"cg_theta_rad":3.28012061,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.104890011,"mpcc_du":52.6218147,"mpcc_dv":47.3781853,"mpcc_dw":47.723362,"mpcc_enc_sign":1,"mpcc_id_a":-3.71715593,"mpcc_iq_a":-2.19540191,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.3987455,"mpcc_pred_id_a":-1.62939835,"mpcc_pred_iq_a":-6.45000648,"mpcc_state":1,"mpcc_theta_e":1.43998671,"mpcc_theta_mech":3.26821756,"sam_rpm":-26.9656677,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209155381,"thr_a_norm":0.0209155381,"thr_a_v":0.583662152,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474694431,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.857199,"values":{"cg_iu_a":4.88124943,"cg_iv_a":-2.83578777,"cg_iw_a":0.564094543,"cg_theta_rad":3.22440743,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.0201554149,"mpcc_du":52.6955872,"mpcc_dv":47.3044128,"mpcc_dw":49.2159195,"mpcc_enc_sign":1,"mpcc_id_a":-2.454252,"mpcc_iq_a":-6.07212973,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-25.4913177,"mpcc_pred_id_a":-1.26695478,"mpcc_pred_iq_a":-9.87170506,"mpcc_state":1,"mpcc_theta_e":1.13036299,"mpcc_theta_mech":3.20629263,"sam_rpm":-44.2901268,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024893567,"thr_a_norm":0.024893567,"thr_a_v":0.599574268,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482046247,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.869436,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-4.06807804,"cg_iw_a":0.999020576,"cg_theta_rad":3.16017008,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.0566655211,"mpcc_du":53.3745461,"mpcc_dv":46.6254539,"mpcc_dw":51.7128029,"mpcc_enc_sign":1,"mpcc_id_a":3.88071966,"mpcc_iq_a":-4.74206161,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-22.6860504,"mpcc_pred_id_a":1.5292716,"mpcc_pred_iq_a":-6.06497192,"mpcc_state":1,"mpcc_theta_e":0.817271709,"mpcc_theta_mech":3.14545012,"sam_rpm":-39.6237526,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0303318799,"thr_a_norm":0.0303318799,"thr_a_v":0.621327519,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471320659,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.879263,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-4.43051624,"cg_iw_a":2.66623688,"cg_theta_rad":3.10136294,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.0642180368,"mpcc_du":52.2288742,"mpcc_dv":47.7711258,"mpcc_dw":52.1438103,"mpcc_enc_sign":1,"mpcc_id_a":0.796321452,"mpcc_iq_a":-2.49469376,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.1750145,"mpcc_pred_id_a":0.236993626,"mpcc_pred_iq_a":-7.22470474,"mpcc_state":1,"mpcc_theta_e":0.54936552,"mpcc_theta_mech":3.09009314,"sam_rpm":-24.6069088,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0303318799,"thr_a_norm":0.0303318799,"thr_a_v":0.621327519,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471320659,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.889608,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-2.76329994,"cg_iw_a":3.39111352,"cg_theta_rad":3.04598379,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":19996,"hz_adc_isr":5000,"hz_app_loop":7636,"hz_tim_isr":0,"hz_vsense":7636,"mpcc_cost":0.0120048877,"mpcc_du":51.4376945,"mpcc_dv":46.9522896,"mpcc_dw":53.0477104,"mpcc_enc_sign":1,"mpcc_id_a":0.0752650499,"mpcc_iq_a":-5.30995655,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.1588058,"mpcc_pred_id_a":0.241440848,"mpcc_pred_iq_a":-4.84057713,"mpcc_state":1,"mpcc_theta_e":0.267148495,"mpcc_theta_mech":3.03364992,"sam_rpm":-23.4485626,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022124052,"thr_a_norm":0.022124052,"thr_a_v":0.588496208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482146949,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.914694,"values":{"cg_iu_a":-0.265375137,"cg_iv_a":-3.70563984,"cg_iw_a":2.52126169,"cg_theta_rad":2.98160243,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.034735702,"mpcc_du":49.0730591,"mpcc_dv":47.2064056,"mpcc_dw":52.7935944,"mpcc_enc_sign":1,"mpcc_id_a":-0.70725441,"mpcc_iq_a":-4.72840405,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.8123894,"mpcc_pred_id_a":0.289820582,"mpcc_pred_iq_a":-7.9664011,"mpcc_state":1,"mpcc_theta_e":6.09703541,"mpcc_theta_mech":2.94507217,"sam_rpm":-37.1377258,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.022124052,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478622139,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.921194,"values":{"cg_iu_a":-1.49766564,"cg_iv_a":-4.79295492,"cg_iw_a":4.69589186,"cg_theta_rad":2.91934156,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0136628253,"mpcc_du":48.9596443,"mpcc_dv":48.5627747,"mpcc_dw":51.4372253,"mpcc_enc_sign":1,"mpcc_id_a":1.8476038,"mpcc_iq_a":-3.49881244,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.1804523,"mpcc_pred_id_a":0.774635255,"mpcc_pred_iq_a":-8.37457848,"mpcc_state":1,"mpcc_theta_e":5.91373348,"mpcc_theta_mech":2.90496707,"sam_rpm":-8.52817917,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478622139,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.927694,"values":{"cg_iu_a":-3.30985737,"cg_iv_a":-2.61832476,"cg_iw_a":2.88369989,"cg_theta_rad":2.86821532,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.102220014,"mpcc_du":46.1957932,"mpcc_dv":47.2561493,"mpcc_dw":53.8042068,"mpcc_enc_sign":1,"mpcc_id_a":0.698960841,"mpcc_iq_a":-1.14394307,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-32.3517609,"mpcc_pred_id_a":0.182521626,"mpcc_pred_iq_a":-5.7192502,"mpcc_state":1,"mpcc_theta_e":5.64477634,"mpcc_theta_mech":2.85253811,"sam_rpm":-54.4194603,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0279148519,"thr_a_norm":0.0279148519,"thr_a_v":0.611659408,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496447682,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.934225,"values":{"cg_iu_a":-3.81727099,"cg_iv_a":0.353669643,"cg_iw_a":3.46360135,"cg_theta_rad":2.80430126,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0590584055,"mpcc_du":45.7625504,"mpcc_dv":49.3881493,"mpcc_dw":54.2374496,"mpcc_enc_sign":1,"mpcc_id_a":0.288045526,"mpcc_iq_a":-2.64815569,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-28.0279083,"mpcc_pred_id_a":-0.0346465111,"mpcc_pred_iq_a":-4.1848011,"mpcc_state":1,"mpcc_theta_e":5.32265377,"mpcc_theta_mech":2.78811359,"sam_rpm":-47.5450897,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0279148519,"thr_a_norm":0.0279148519,"thr_a_v":0.611659408,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496447682,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.945425,"values":{"cg_iu_a":-5.70195007,"cg_iv_a":-0.0812563896,"cg_iw_a":5.92818165,"cg_theta_rad":2.73184276,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0140512725,"mpcc_du":46.9980812,"mpcc_dv":51.8620834,"mpcc_dw":53.0019188,"mpcc_enc_sign":1,"mpcc_id_a":2.36693382,"mpcc_iq_a":-7.36534071,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.6216259,"mpcc_pred_id_a":1.39776826,"mpcc_pred_iq_a":-5.23167944,"mpcc_state":1,"mpcc_theta_e":4.99182224,"mpcc_theta_mech":2.72194743,"sam_rpm":-28.2049675,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.0167864412,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485420018,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.955618,"values":{"cg_iu_a":-3.88975859,"cg_iv_a":1.51347208,"cg_iw_a":4.33345366,"cg_theta_rad":2.68655705,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0152394501,"mpcc_du":47.2733955,"mpcc_dv":52.7266045,"mpcc_dw":52.0570564,"mpcc_enc_sign":1,"mpcc_id_a":1.00327349,"mpcc_iq_a":-5.24406958,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.660593,"mpcc_pred_id_a":0.63319087,"mpcc_pred_iq_a":-6.56008768,"mpcc_state":1,"mpcc_theta_e":4.68794537,"mpcc_theta_mech":2.66117191,"sam_rpm":-31.4652176,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250446349,"thr_a_norm":0.0167864412,"thr_a_v":0.60017854,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487585247,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.968832,"values":{"cg_iu_a":-6.42682695,"cg_iv_a":4.63044214,"cg_iw_a":2.37628651,"cg_theta_rad":2.60627127,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0122778751,"mpcc_du":46.9692764,"mpcc_dv":53.0307236,"mpcc_dw":50.2357826,"mpcc_enc_sign":1,"mpcc_id_a":0.0280966088,"mpcc_iq_a":-5.28406668,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.3870411,"mpcc_pred_id_a":0.13156563,"mpcc_pred_iq_a":-7.03289223,"mpcc_state":1,"mpcc_theta_e":4.29042912,"mpcc_theta_mech":2.58166862,"sam_rpm":-35.7688904,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250446349,"thr_a_norm":0.0250446349,"thr_a_v":0.60017854,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487585247,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.980062,"values":{"cg_iu_a":-2.4400053,"cg_iv_a":3.0357132,"cg_iw_a":0.78155756,"cg_theta_rad":2.52576399,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0976537764,"mpcc_du":46.8540726,"mpcc_dv":53.1459274,"mpcc_dw":48.3699799,"mpcc_enc_sign":1,"mpcc_id_a":-0.52571708,"mpcc_iq_a":-1.27222896,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.4205189,"mpcc_pred_id_a":-0.23812288,"mpcc_pred_iq_a":-6.21512842,"mpcc_state":1,"mpcc_theta_e":3.94869137,"mpcc_theta_mech":2.5133214,"sam_rpm":-36.5292282,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024767682,"thr_a_norm":0.024767682,"thr_a_v":0.599070728,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487283111,"vdc_v":55.2955055}} +{"type":"telemetry","t":2.989828,"values":{"cg_iu_a":-2.94741893,"cg_iv_a":4.84790468,"cg_iw_a":-1.03063393,"cg_theta_rad":2.46358466,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0913441852,"mpcc_du":46.4741707,"mpcc_dv":54.1126976,"mpcc_dw":45.8873024,"mpcc_enc_sign":1,"mpcc_id_a":-1.98103869,"mpcc_iq_a":-1.7892071,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-25.4574623,"mpcc_pred_id_a":-0.498693407,"mpcc_pred_iq_a":-2.34903336,"mpcc_state":1,"mpcc_theta_e":3.63615322,"mpcc_theta_mech":2.45081377,"sam_rpm":-43.0430527,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024767682,"thr_a_norm":0.024767682,"thr_a_v":0.599070728,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487283111,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.012808,"values":{"cg_iu_a":-0.917764187,"cg_iv_a":3.54312658,"cg_iw_a":-2.6253624,"cg_theta_rad":2.40228176,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0347557627,"mpcc_du":50.3074799,"mpcc_dv":55.7938194,"mpcc_dw":44.2061806,"mpcc_enc_sign":1,"mpcc_id_a":-1.57763529,"mpcc_iq_a":-4.12163162,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-34.739357,"mpcc_pred_id_a":-0.328470558,"mpcc_pred_iq_a":-0.0870858431,"mpcc_state":1,"mpcc_theta_e":3.13146305,"mpcc_theta_mech":2.34987569,"sam_rpm":-57.837307,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0154142827,"thr_a_norm":0.0154142827,"thr_a_v":0.561657131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460041195,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.019369,"values":{"cg_iu_a":-1.1352272,"cg_iv_a":4.19551611,"cg_iw_a":-4.07511568,"cg_theta_rad":2.33613992,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0170545951,"mpcc_du":51.4961624,"mpcc_dv":54.0153122,"mpcc_dw":45.9846878,"mpcc_enc_sign":1,"mpcc_id_a":1.88792491,"mpcc_iq_a":-5.69512415,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.0026979,"mpcc_pred_id_a":0.636021972,"mpcc_pred_iq_a":-1.8478812,"mpcc_state":1,"mpcc_theta_e":2.99956036,"mpcc_theta_mech":2.32349515,"sam_rpm":-27.3872509,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0154142827,"thr_a_norm":0.0154142827,"thr_a_v":0.561657131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460041195,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.025961,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":4.12302828,"cg_iw_a":-4.22009134,"cg_theta_rad":2.27662659,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.035518758,"mpcc_du":52.0706787,"mpcc_dv":51.8657494,"mpcc_dw":47.9293213,"mpcc_enc_sign":1,"mpcc_id_a":0.438664585,"mpcc_iq_a":-3.83416367,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.7972069,"mpcc_pred_id_a":0.0218276866,"mpcc_pred_iq_a":-10.1801853,"mpcc_state":1,"mpcc_theta_e":2.66865444,"mpcc_theta_mech":2.25994062,"sam_rpm":-38.6160507,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237479955,"thr_a_norm":0.0237479955,"thr_a_v":0.594991982,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472277433,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.032461,"values":{"cg_iu_a":7.92573071,"cg_iv_a":0.716107845,"cg_iw_a":-8.64183807,"cg_theta_rad":2.1923964,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0207607895,"mpcc_du":53.9264488,"mpcc_dv":50.7695961,"mpcc_dw":46.0735512,"mpcc_enc_sign":1,"mpcc_id_a":0.352332771,"mpcc_iq_a":-4.63989925,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-27.7145367,"mpcc_pred_id_a":-0.119610436,"mpcc_pred_iq_a":-5.71979618,"mpcc_state":1,"mpcc_theta_e":2.23653126,"mpcc_theta_mech":2.17088938,"sam_rpm":-48.9250221,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269958824,"thr_a_norm":0.0237479955,"thr_a_v":0.60798353,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.041464,"values":{"cg_iu_a":4.66378593,"cg_iv_a":-0.226231575,"cg_iw_a":-4.00262833,"cg_theta_rad":2.12217379,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0079370765,"mpcc_du":53.0569077,"mpcc_dv":48.6865883,"mpcc_dw":46.9430923,"mpcc_enc_sign":1,"mpcc_id_a":0.757716298,"mpcc_iq_a":-5.88733244,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.9179974,"mpcc_pred_id_a":0.359345824,"mpcc_pred_iq_a":-7.278368,"mpcc_state":1,"mpcc_theta_e":1.90381908,"mpcc_theta_mech":2.10434675,"sam_rpm":-40.0337944,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269958824,"thr_a_norm":0.0269958824,"thr_a_v":0.60798353,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.051443,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.74847269,"cg_iw_a":-1.39307261,"cg_theta_rad":2.05229974,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0910034552,"mpcc_du":52.3509102,"mpcc_dv":47.6490898,"mpcc_dw":47.8474998,"mpcc_enc_sign":1,"mpcc_id_a":0.265563935,"mpcc_iq_a":-1.47249186,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.2440271,"mpcc_pred_id_a":-0.207760319,"mpcc_pred_iq_a":-7.52692127,"mpcc_state":1,"mpcc_theta_e":1.56374073,"mpcc_theta_mech":2.03633118,"sam_rpm":-29.6961899,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0377466232,"thr_a_norm":0.0377466232,"thr_a_v":0.650986493,"thr_b":0.00521744788,"thr_b_norm":0.00521744788,"thr_b_v":0.520869792,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.061636,"values":{"cg_iu_a":7.12836647,"cg_iv_a":-3.27071381,"cg_iw_a":-3.85765266,"cg_theta_rad":1.9829303,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.00212872005,"mpcc_du":52.2793198,"mpcc_dv":47.7206802,"mpcc_dw":49.3076591,"mpcc_enc_sign":1,"mpcc_id_a":-0.729504108,"mpcc_iq_a":-6.93492317,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.1871758,"mpcc_pred_id_a":-0.850261927,"mpcc_pred_iq_a":-8.69604111,"mpcc_state":1,"mpcc_theta_e":1.19586658,"mpcc_theta_mech":1.96275628,"sam_rpm":-28.8311539,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0377466232,"thr_a_norm":0.0377466232,"thr_a_v":0.650986493,"thr_b":0.00521744788,"thr_b_norm":0.00521744788,"thr_b_v":0.520869792,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.071829,"values":{"cg_iu_a":5.31617546,"cg_iv_a":-3.56066442,"cg_iw_a":0.854045391,"cg_theta_rad":1.9068321,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0808564574,"mpcc_du":53.538765,"mpcc_dv":46.461235,"mpcc_dw":51.6343307,"mpcc_enc_sign":1,"mpcc_id_a":3.19895339,"mpcc_iq_a":-2.79794931,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-24.5899677,"mpcc_pred_id_a":1.2690053,"mpcc_pred_iq_a":-3.48303533,"mpcc_state":1,"mpcc_theta_e":0.818223953,"mpcc_theta_mech":1.88722789,"sam_rpm":-37.8267746,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0223380625,"thr_a_norm":0.0223380625,"thr_a_v":0.58935225,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478924245,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.082998,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-3.48817682,"cg_iw_a":0.709070206,"cg_theta_rad":1.82144678,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0151991937,"mpcc_du":52.098999,"mpcc_dv":46.3474312,"mpcc_dw":53.6525688,"mpcc_enc_sign":1,"mpcc_id_a":2.31296134,"mpcc_iq_a":-6.64566565,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-28.785944,"mpcc_pred_id_a":0.717072845,"mpcc_pred_iq_a":-6.46977854,"mpcc_state":1,"mpcc_theta_e":0.389601707,"mpcc_theta_mech":1.8015033,"sam_rpm":-52.1925125,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203112811,"thr_a_norm":0.0223380625,"thr_a_v":0.581245124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466990143,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.094015,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-3.77812743,"cg_iw_a":2.0863359,"cg_theta_rad":1.74304926,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.032678172,"mpcc_du":49.772007,"mpcc_dv":46.584034,"mpcc_dw":53.415966,"mpcc_enc_sign":1,"mpcc_id_a":-0.175937444,"mpcc_iq_a":-3.88886237,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.3542576,"mpcc_pred_id_a":-0.0687600896,"mpcc_pred_iq_a":-6.13286829,"mpcc_state":1,"mpcc_theta_e":6.27882624,"mpcc_theta_mech":1.72271109,"sam_rpm":-39.3954964,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203112811,"thr_a_norm":0.0203112811,"thr_a_v":0.581245124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466990143,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.117239,"values":{"cg_iu_a":-0.990252018,"cg_iv_a":-2.90827537,"cg_iw_a":2.08633542,"cg_theta_rad":1.65699577,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0783626139,"mpcc_du":46.1809158,"mpcc_dv":47.1775131,"mpcc_dw":53.8190842,"mpcc_enc_sign":1,"mpcc_id_a":0.824224949,"mpcc_iq_a":-1.96233809,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-25.891861,"mpcc_pred_id_a":0.149204761,"mpcc_pred_iq_a":-4.40304661,"mpcc_state":1,"mpcc_theta_e":5.69152689,"mpcc_theta_mech":1.60525131,"sam_rpm":-46.1942368,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212806165,"thr_a_norm":0.0212806165,"thr_a_v":0.585122466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470817119,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.12377,"values":{"cg_iu_a":-1.06273961,"cg_iv_a":-1.31354666,"cg_iw_a":4.26096535,"cg_theta_rad":1.58710051,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0734043047,"mpcc_du":46.076683,"mpcc_dv":48.3844376,"mpcc_dw":53.923317,"mpcc_enc_sign":1,"mpcc_id_a":0.262836337,"mpcc_iq_a":-2.08773255,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.7380524,"mpcc_pred_id_a":-0.168266207,"mpcc_pred_iq_a":-4.01204062,"mpcc_state":1,"mpcc_theta_e":5.50390577,"mpcc_theta_mech":1.56772697,"sam_rpm":-40.1289368,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212806165,"thr_a_norm":0.0212806165,"thr_a_v":0.585122466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470817119,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.13027,"values":{"cg_iu_a":-1.86010385,"cg_iv_a":-1.45852208,"cg_iw_a":5.71071911,"cg_theta_rad":1.5127387,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.00831281301,"mpcc_du":48.1583786,"mpcc_dv":50.8008499,"mpcc_dw":51.8416214,"mpcc_enc_sign":1,"mpcc_id_a":0.389956802,"mpcc_iq_a":-5.71869183,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.5219717,"mpcc_pred_id_a":0.0246807672,"mpcc_pred_iq_a":-9.29110718,"mpcc_state":1,"mpcc_theta_e":5.08079958,"mpcc_theta_mech":1.4831059,"sam_rpm":-22.0785217,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176047087,"thr_a_norm":0.0176047087,"thr_a_v":0.570418835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.433453888,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.13677,"values":{"cg_iu_a":-4.54214764,"cg_iv_a":-0.0087685585,"cg_iw_a":4.76837921,"cg_theta_rad":1.43108284,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.103516847,"mpcc_du":46.0748138,"mpcc_dv":53.9251862,"mpcc_dw":53.2806091,"mpcc_enc_sign":1,"mpcc_id_a":-0.424710006,"mpcc_iq_a":-1.07922399,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-22.7575703,"mpcc_pred_id_a":-0.216353774,"mpcc_pred_iq_a":-3.17114258,"mpcc_state":1,"mpcc_theta_e":4.67531347,"mpcc_theta_mech":1.40200853,"sam_rpm":-42.07024,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211169571,"thr_a_norm":0.0176047087,"thr_a_v":0.584467828,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474996537,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.148794,"values":{"cg_iu_a":-4.68712282,"cg_iv_a":5.71775675,"cg_iw_a":-1.03063393,"cg_theta_rad":1.32340014,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.00560523244,"mpcc_du":47.3669319,"mpcc_dv":52.6330681,"mpcc_dw":49.368969,"mpcc_enc_sign":1,"mpcc_id_a":0.459733307,"mpcc_iq_a":-6.07496023,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-24.0798969,"mpcc_pred_id_a":-0.129903108,"mpcc_pred_iq_a":-6.70085335,"mpcc_state":1,"mpcc_theta_e":4.13446093,"mpcc_theta_mech":1.29383802,"sam_rpm":-43.4783669,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211169571,"thr_a_norm":0.0211169571,"thr_a_v":0.584467828,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474996537,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.158651,"values":{"cg_iu_a":-2.5124929,"cg_iv_a":4.63044214,"cg_iw_a":0.0566806793,"cg_theta_rad":1.23207903,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0293552317,"mpcc_du":46.7477684,"mpcc_dv":53.3028374,"mpcc_dw":46.6971626,"mpcc_enc_sign":1,"mpcc_id_a":2.01735234,"mpcc_iq_a":-4.73009348,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-30.9366856,"mpcc_pred_id_a":0.598051786,"mpcc_pred_iq_a":-7.16539574,"mpcc_state":1,"mpcc_theta_e":3.71203375,"mpcc_theta_mech":1.20935273,"sam_rpm":-54.6973839,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289093554,"thr_a_norm":0.0289093554,"thr_a_v":0.615637422,"thr_b":0.00113870203,"thr_b_norm":0.00113870203,"thr_b_v":0.504554808,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.170675,"values":{"cg_iu_a":-1.06273961,"cg_iv_a":2.38332415,"cg_iw_a":-3.78516531,"cg_theta_rad":1.13471043,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0407653749,"mpcc_du":49.5723381,"mpcc_dv":52.6830597,"mpcc_dw":47.3169403,"mpcc_enc_sign":1,"mpcc_id_a":0.912847102,"mpcc_iq_a":-3.56644416,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.9494019,"mpcc_pred_id_a":-0.328604549,"mpcc_pred_iq_a":-7.95173168,"mpcc_state":1,"mpcc_theta_e":3.22526407,"mpcc_theta_mech":1.1119988,"sam_rpm":-32.5668449,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0293122083,"thr_a_norm":0.0289093554,"thr_a_v":0.617248833,"thr_b":0.00281299651,"thr_b_norm":0.00113870203,"thr_b_v":0.511251986,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.182211,"values":{"cg_iu_a":0.531989098,"cg_iv_a":3.90556574,"cg_iw_a":-7.19208622,"cg_theta_rad":1.03512704,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0149210878,"mpcc_du":51.2761917,"mpcc_dv":51.5492058,"mpcc_dw":48.4507942,"mpcc_enc_sign":1,"mpcc_id_a":2.44115043,"mpcc_iq_a":-7.59601927,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.98664951,"mpcc_pred_id_a":0.628248572,"mpcc_pred_iq_a":-10.0973501,"mpcc_state":1,"mpcc_theta_e":2.75481081,"mpcc_theta_mech":1.01790798,"sam_rpm":-23.3881836,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0293122083,"thr_a_norm":0.0293122083,"thr_a_v":0.617248833,"thr_b":0.00281299651,"thr_b_norm":0.00281299651,"thr_b_v":0.511251986,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.194235,"values":{"cg_iu_a":4.88124943,"cg_iv_a":2.60078716,"cg_iw_a":-7.48203659,"cg_theta_rad":0.9322474,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.00605071895,"mpcc_du":54.1938477,"mpcc_dv":51.0516663,"mpcc_dw":45.8061523,"mpcc_enc_sign":1,"mpcc_id_a":-0.301317424,"mpcc_iq_a":-5.97373152,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-41.0326805,"mpcc_pred_id_a":-0.613476455,"mpcc_pred_iq_a":-7.63635063,"mpcc_state":1,"mpcc_theta_e":2.21610117,"mpcc_theta_mech":0.910166144,"sam_rpm":-70.6687546,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235088021,"thr_a_norm":0.0235088021,"thr_a_v":0.594035208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468097955,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.217611,"values":{"cg_iu_a":4.15637207,"cg_iv_a":-0.153744221,"cg_iw_a":-4.00262785,"cg_theta_rad":0.848908067,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0244615674,"mpcc_du":53.0510559,"mpcc_dv":46.9489441,"mpcc_dw":47.3577271,"mpcc_enc_sign":1,"mpcc_id_a":1.74363315,"mpcc_iq_a":-4.90300751,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.1786051,"mpcc_pred_id_a":1.10155857,"mpcc_pred_iq_a":-4.52382374,"mpcc_state":1,"mpcc_theta_e":1.5830636,"mpcc_theta_mech":0.783558607,"sam_rpm":-31.0200958,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0235088021,"thr_a_v":0.618709087,"thr_b":0.00763447583,"thr_b_norm":0,"thr_b_v":0.530537903,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.224173,"values":{"cg_iu_a":4.15637207,"cg_iv_a":-1.74847269,"cg_iw_a":-1.46555996,"cg_theta_rad":0.757183969,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.029463103,"mpcc_du":54.5293045,"mpcc_dv":45.4706955,"mpcc_dw":47.8044472,"mpcc_enc_sign":1,"mpcc_id_a":0.152663738,"mpcc_iq_a":-4.07043219,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-30.1605873,"mpcc_pred_id_a":0.477885693,"mpcc_pred_iq_a":-3.27204633,"mpcc_state":1,"mpcc_theta_e":1.35875559,"mpcc_theta_mech":0.738696992,"sam_rpm":-55.0054741,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00763447583,"thr_b_norm":0.00763447583,"thr_b_v":0.530537903,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.230673,"values":{"cg_iu_a":5.31617546,"cg_iv_a":-2.11091113,"cg_iw_a":-1.97297335,"cg_theta_rad":0.658137262,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0309594348,"mpcc_du":52.4694977,"mpcc_dv":47.5305023,"mpcc_dw":51.4120674,"mpcc_enc_sign":1,"mpcc_id_a":1.85000968,"mpcc_iq_a":-4.50646734,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-24.4536343,"mpcc_pred_id_a":0.457785636,"mpcc_pred_iq_a":-9.90266705,"mpcc_state":1,"mpcc_theta_e":0.840476036,"mpcc_theta_mech":0.635041118,"sam_rpm":-46.155262,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245410949,"thr_a_norm":0.0245410949,"thr_a_v":0.59816438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483607233,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.237204,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-5.22788095,"cg_iw_a":0.709069729,"cg_theta_rad":0.56596154,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0796191841,"mpcc_du":50.5497665,"mpcc_dv":48.4405594,"mpcc_dw":53.5084648,"mpcc_enc_sign":1,"mpcc_id_a":2.45769143,"mpcc_iq_a":-2.41989875,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.8548298,"mpcc_pred_id_a":0.166040197,"mpcc_pred_iq_a":-10.8056536,"mpcc_state":1,"mpcc_theta_e":0.406337738,"mpcc_theta_mech":0.543767035,"sam_rpm":-26.0354996,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0245410949,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472327769,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.246817,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-6.31519604,"cg_iw_a":3.60857677,"cg_theta_rad":0.476823807,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0340993218,"mpcc_du":49.1208878,"mpcc_dv":48.5255165,"mpcc_dw":51.4744835,"mpcc_enc_sign":1,"mpcc_id_a":3.14713788,"mpcc_iq_a":-5.56731987,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.68795443,"mpcc_pred_id_a":0.664767981,"mpcc_pred_iq_a":-10.5041008,"mpcc_state":1,"mpcc_theta_e":6.24355364,"mpcc_theta_mech":0.459019512,"sam_rpm":-21.6201191,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472327769,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.257193,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-3.70563984,"cg_iw_a":3.53608894,"cg_theta_rad":0.378127515,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.018669581,"mpcc_du":46.9537659,"mpcc_dv":47.5142822,"mpcc_dw":53.0462341,"mpcc_enc_sign":1,"mpcc_id_a":0.0945145562,"mpcc_iq_a":-4.77029657,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-28.0017452,"mpcc_pred_id_a":-0.504252136,"mpcc_pred_iq_a":-8.0340147,"mpcc_state":1,"mpcc_theta_e":5.77890348,"mpcc_theta_mech":0.366089553,"sam_rpm":-50.1677742,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022929728,"thr_a_norm":0.022929728,"thr_a_v":0.591718912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493829221,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.267385,"values":{"cg_iu_a":-2.58498049,"cg_iv_a":-1.24105906,"cg_iw_a":5.20330524,"cg_theta_rad":0.293551862,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.00907837693,"mpcc_du":45.8910332,"mpcc_dv":49.9668388,"mpcc_dw":54.1089668,"mpcc_enc_sign":1,"mpcc_id_a":0.962792695,"mpcc_iq_a":-5.85549974,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-32.3025703,"mpcc_pred_id_a":-0.0630027428,"mpcc_pred_iq_a":-6.59824753,"mpcc_state":1,"mpcc_theta_e":5.32135057,"mpcc_theta_mech":0.274578959,"sam_rpm":-57.5927658,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022929728,"thr_a_norm":0.022929728,"thr_a_v":0.591718912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493829221,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.277639,"values":{"cg_iu_a":-5.91941357,"cg_iv_a":-0.371207237,"cg_iw_a":4.76837969,"cg_theta_rad":0.197358012,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.030909067,"mpcc_du":46.8506165,"mpcc_dv":52.7011948,"mpcc_dw":53.1493835,"mpcc_enc_sign":1,"mpcc_id_a":-0.686620057,"mpcc_iq_a":-4.05149603,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-26.7024555,"mpcc_pred_id_a":-0.818991244,"mpcc_pred_iq_a":-7.52935648,"mpcc_state":1,"mpcc_theta_e":4.85392904,"mpcc_theta_mech":0.181094676,"sam_rpm":-41.4199982,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00924582779,"thr_a_norm":0.00924582779,"thr_a_v":0.536983311,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43128863,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.287985,"values":{"cg_iu_a":-3.7447834,"cg_iv_a":4.48546648,"cg_iw_a":1.14399576,"cg_theta_rad":0.104626186,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.00116959214,"mpcc_du":46.1768417,"mpcc_dv":53.8231583,"mpcc_dw":50.9631996,"mpcc_enc_sign":1,"mpcc_id_a":-0.602364242,"mpcc_iq_a":-7.17597198,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-30.5575237,"mpcc_pred_id_a":-0.945645928,"mpcc_pred_iq_a":-7.29282188,"mpcc_state":1,"mpcc_theta_e":4.35094929,"mpcc_theta_mech":0.0804987103,"sam_rpm":-55.5823402,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206763595,"thr_a_norm":0.00924582779,"thr_a_v":0.582705438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49483636,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.298788,"values":{"cg_iu_a":-2.4400053,"cg_iv_a":5.50029421,"cg_iw_a":-1.17560959,"cg_theta_rad":0.00556757301,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.023121994,"mpcc_du":48.5260811,"mpcc_dv":51.4739189,"mpcc_dw":49.2594719,"mpcc_enc_sign":1,"mpcc_id_a":0.380724698,"mpcc_iq_a":-4.11152506,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-27.9577503,"mpcc_pred_id_a":-0.203760505,"mpcc_pred_iq_a":-10.2398186,"mpcc_state":1,"mpcc_theta_e":3.84418535,"mpcc_theta_mech":6.26430893,"sam_rpm":-18.0171528,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206763595,"thr_a_norm":0.0206763595,"thr_a_v":0.582705438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49483636,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.321066,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":1.15103388,"cg_iw_a":-1.24809694,"cg_theta_rad":6.1922884,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0200026687,"mpcc_du":49.5083466,"mpcc_dv":52.1674957,"mpcc_dw":47.8325043,"mpcc_enc_sign":1,"mpcc_id_a":-2.80528808,"mpcc_iq_a":-7.13747311,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.4585342,"mpcc_pred_id_a":-1.41786253,"mpcc_pred_iq_a":-9.47619057,"mpcc_state":1,"mpcc_theta_e":3.16546297,"mpcc_theta_mech":6.12658644,"sam_rpm":-30.0238037,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176424831,"thr_a_norm":0.0176424831,"thr_a_v":0.570569932,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444682986,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.327566,"values":{"cg_iu_a":0.749452114,"cg_iv_a":3.32566404,"cg_iw_a":-6.39472151,"cg_theta_rad":6.08236742,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0219251253,"mpcc_du":51.71875,"mpcc_dv":53.514698,"mpcc_dw":46.485302,"mpcc_enc_sign":1,"mpcc_id_a":-1.68459129,"mpcc_iq_a":-5.06438875,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-32.5422516,"mpcc_pred_id_a":-0.540899754,"mpcc_pred_iq_a":-8.18640232,"mpcc_state":1,"mpcc_theta_e":2.8333745,"mpcc_theta_mech":6.06016874,"sam_rpm":-58.7763824,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176424831,"thr_a_norm":0.0176424831,"thr_a_v":0.570569932,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444682986,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.334066,"values":{"cg_iu_a":4.15637207,"cg_iv_a":1.29600906,"cg_iw_a":-4.14760351,"cg_theta_rad":5.96614361,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0491771325,"mpcc_du":53.8288612,"mpcc_dv":51.1635628,"mpcc_dw":46.1711388,"mpcc_enc_sign":1,"mpcc_id_a":-0.0740355104,"mpcc_iq_a":-3.06543469,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-27.021986,"mpcc_pred_id_a":-0.0122275678,"mpcc_pred_iq_a":-5.63480186,"mpcc_state":1,"mpcc_theta_e":2.25797319,"mpcc_theta_mech":5.94508886,"sam_rpm":-49.3828773,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216456801,"thr_a_norm":0.0216456801,"thr_a_v":0.58658272,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456969559,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.343771,"values":{"cg_iu_a":6.62095356,"cg_iv_a":-0.371207237,"cg_iw_a":-6.24974632,"cg_theta_rad":5.84791279,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.014442673,"mpcc_du":52.3817177,"mpcc_dv":47.6545219,"mpcc_dw":47.8496399,"mpcc_enc_sign":1,"mpcc_id_a":2.36222553,"mpcc_iq_a":-7.0561986,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.9149189,"mpcc_pred_id_a":1.05963683,"mpcc_pred_iq_a":-8.23769093,"mpcc_state":1,"mpcc_theta_e":1.65299654,"mpcc_theta_mech":5.82409334,"sam_rpm":-39.1758118,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179320127,"thr_a_norm":0.0179320127,"thr_a_v":0.571728051,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458681583,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.353598,"values":{"cg_iu_a":7.99821854,"cg_iv_a":-5.66280651,"cg_iw_a":-2.33541203,"cg_theta_rad":5.75352097,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0224859808,"mpcc_du":52.9956589,"mpcc_dv":47.0043411,"mpcc_dw":49.7089348,"mpcc_enc_sign":1,"mpcc_id_a":0.38738516,"mpcc_iq_a":-4.52605915,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.3135128,"mpcc_pred_id_a":0.330897301,"mpcc_pred_iq_a":-7.26898241,"mpcc_state":1,"mpcc_theta_e":1.15803957,"mpcc_theta_mech":5.72510242,"sam_rpm":-39.4620171,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179320127,"thr_a_norm":0.0179320127,"thr_a_v":0.571728051,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458681583,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.363211,"values":{"cg_iu_a":5.96856403,"cg_iv_a":-5.15539312,"cg_iw_a":0.491607189,"cg_theta_rad":5.64716101,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0037733952,"mpcc_du":52.8532028,"mpcc_dv":47.1467972,"mpcc_dw":52.6056137,"mpcc_enc_sign":1,"mpcc_id_a":0.700720251,"mpcc_iq_a":-6.49086714,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.5452232,"mpcc_pred_id_a":0.857101619,"mpcc_pred_iq_a":-6.5390687,"mpcc_state":1,"mpcc_theta_e":0.672436237,"mpcc_theta_mech":5.62798119,"sam_rpm":-39.4133797,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213813186,"thr_a_norm":0.0213813186,"thr_a_v":0.585525274,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.374228,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-4.64797926,"cg_iw_a":3.68106413,"cg_theta_rad":5.54175663,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.00977035519,"mpcc_du":50.1702461,"mpcc_dv":46.7033691,"mpcc_dw":53.2966309,"mpcc_enc_sign":1,"mpcc_id_a":0.219707474,"mpcc_iq_a":-5.5353446,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-24.9351635,"mpcc_pred_id_a":-0.104223914,"mpcc_pred_iq_a":-7.80056047,"mpcc_state":1,"mpcc_theta_e":0.109251499,"mpcc_theta_mech":5.51534462,"sam_rpm":-48.9288063,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274616629,"thr_a_norm":0.0213813186,"thr_a_v":0.609846652,"thr_b":0.000484094024,"thr_b_norm":0,"thr_b_v":0.501936376,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.386221,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-5.22788095,"cg_iw_a":4.18847799,"cg_theta_rad":5.4214921,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0297885295,"mpcc_du":46.7900963,"mpcc_dv":47.3502922,"mpcc_dw":53.2099037,"mpcc_enc_sign":1,"mpcc_id_a":1.32570338,"mpcc_iq_a":-4.31285048,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-30.6050606,"mpcc_pred_id_a":0.250064522,"mpcc_pred_iq_a":-8.19156647,"mpcc_state":1,"mpcc_theta_e":5.79651451,"mpcc_theta_mech":5.39616013,"sam_rpm":-56.315979,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274616629,"thr_a_norm":0.0274616629,"thr_a_v":0.609846652,"thr_b":0.000484094024,"thr_b_norm":0.000484094024,"thr_b_v":0.501936376,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.396292,"values":{"cg_iu_a":-3.52732038,"cg_iv_a":-1.74847269,"cg_iw_a":4.91335487,"cg_theta_rad":5.33226633,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0230668578,"mpcc_du":46.6113091,"mpcc_dv":50.2329369,"mpcc_dw":53.3886909,"mpcc_enc_sign":1,"mpcc_id_a":0.734862745,"mpcc_iq_a":-4.55267572,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.0066195,"mpcc_pred_id_a":-0.389873981,"mpcc_pred_iq_a":-7.7032733,"mpcc_state":1,"mpcc_theta_e":5.29977989,"mpcc_theta_mech":5.29681301,"sam_rpm":-48.9746666,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021469444,"thr_a_norm":0.021469444,"thr_a_v":0.585877776,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482650489,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.423391,"values":{"cg_iu_a":-7.22419119,"cg_iv_a":1.80342293,"cg_iw_a":5.42076826,"cg_theta_rad":5.19380474,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0200467631,"mpcc_du":48.0642509,"mpcc_dv":51.9357491,"mpcc_dw":50.5902138,"mpcc_enc_sign":1,"mpcc_id_a":-2.45248961,"mpcc_iq_a":-6.084373,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.2258606,"mpcc_pred_id_a":-2.32112908,"mpcc_pred_iq_a":-11.8401995,"mpcc_state":1,"mpcc_theta_e":4.2895546,"mpcc_theta_mech":5.09476805,"sam_rpm":-39.807476,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218848586,"thr_a_norm":0.021469444,"thr_a_v":0.587539434,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475399435,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.429922,"values":{"cg_iu_a":-4.75961065,"cg_iv_a":4.84790468,"cg_iw_a":-0.0882940292,"cg_theta_rad":5.06682301,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0296201799,"mpcc_du":46.7626381,"mpcc_dv":53.2373619,"mpcc_dw":48.1795197,"mpcc_enc_sign":1,"mpcc_id_a":2.262995,"mpcc_iq_a":-4.90636826,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-29.0082684,"mpcc_pred_id_a":0.485491276,"mpcc_pred_iq_a":-8.75360298,"mpcc_state":1,"mpcc_theta_e":3.95626831,"mpcc_theta_mech":5.02811098,"sam_rpm":-55.0080528,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218848586,"thr_a_norm":0.0218848586,"thr_a_v":0.587539434,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475399435,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.436483,"values":{"cg_iu_a":-3.16488194,"cg_iv_a":6.00770807,"cg_iw_a":-2.84282613,"cg_theta_rad":4.9471097,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0109446347,"mpcc_du":48.5327873,"mpcc_dv":53.1543884,"mpcc_dw":46.8456116,"mpcc_enc_sign":1,"mpcc_id_a":-1.21740913,"mpcc_iq_a":-5.79830408,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.7835274,"mpcc_pred_id_a":-0.442015082,"mpcc_pred_iq_a":-6.85298395,"mpcc_state":1,"mpcc_theta_e":3.43013191,"mpcc_theta_mech":4.92288351,"sam_rpm":-39.5490379,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02403754,"thr_a_norm":0.02403754,"thr_a_v":0.59615016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488441318,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.443014,"values":{"cg_iu_a":0.604476929,"cg_iv_a":2.16586113,"cg_iw_a":-2.77033806,"cg_theta_rad":4.83919716,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0248622112,"mpcc_du":52.6162872,"mpcc_dv":55.2225227,"mpcc_dw":47.4842072,"mpcc_enc_sign":1,"mpcc_id_a":-1.18360686,"mpcc_iq_a":-4.5769949,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-43.708519,"mpcc_pred_id_a":-0.138608053,"mpcc_pred_iq_a":-4.27830791,"mpcc_state":1,"mpcc_theta_e":2.8758297,"mpcc_theta_mech":4.81202316,"sam_rpm":-76.4578934,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02403754,"thr_a_norm":0.02403754,"thr_a_v":0.59615016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488441318,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.451376,"values":{"cg_iu_a":1.32935333,"cg_iv_a":1.51347208,"cg_iw_a":-2.84282541,"cg_theta_rad":4.73179054,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0204383992,"mpcc_du":52.0381508,"mpcc_dv":50.9125824,"mpcc_dw":47.9618492,"mpcc_enc_sign":1,"mpcc_id_a":-0.210441187,"mpcc_iq_a":-4.64849615,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.3127728,"mpcc_pred_id_a":-0.543557584,"mpcc_pred_iq_a":-9.25567818,"mpcc_state":1,"mpcc_theta_e":2.35756111,"mpcc_theta_mech":4.70836926,"sam_rpm":-27.3852501,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0309487283,"thr_a_norm":0.0309487283,"thr_a_v":0.623794913,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465882361,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.464193,"values":{"cg_iu_a":3.8664217,"cg_iv_a":-0.443694592,"cg_iw_a":-3.42272711,"cg_theta_rad":4.59618998,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0112297898,"mpcc_du":52.8083,"mpcc_dv":47.1917,"mpcc_dw":47.3208733,"mpcc_enc_sign":1,"mpcc_id_a":1.64608085,"mpcc_iq_a":-6.16495943,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-29.7616482,"mpcc_pred_id_a":0.84143573,"mpcc_pred_iq_a":-9.20551586,"mpcc_state":1,"mpcc_theta_e":1.63773346,"mpcc_theta_mech":4.56440401,"sam_rpm":-55.2836533,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022426188,"thr_a_norm":0.0309487283,"thr_a_v":0.589704752,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.474203,"values":{"cg_iu_a":4.51881123,"cg_iv_a":-3.19822598,"cg_iw_a":-0.160782337,"cg_theta_rad":4.47969198,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0298378244,"mpcc_du":54.7345848,"mpcc_dv":45.2654152,"mpcc_dw":50.0927582,"mpcc_enc_sign":1,"mpcc_id_a":-1.12293625,"mpcc_iq_a":-4.23286915,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-42.0500641,"mpcc_pred_id_a":-0.181700721,"mpcc_pred_iq_a":-6.40580511,"mpcc_state":1,"mpcc_theta_e":1.05932808,"mpcc_theta_mech":4.44872284,"sam_rpm":-74.562851,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022426188,"thr_a_norm":0.022426188,"thr_a_v":0.589704752,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.487204,"values":{"cg_iu_a":5.533638,"cg_iv_a":-8.63480091,"cg_iw_a":3.10116291,"cg_theta_rad":4.3402462,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0156920161,"mpcc_du":52.0287933,"mpcc_dv":46.1521797,"mpcc_dw":53.8478203,"mpcc_enc_sign":1,"mpcc_id_a":-0.515421331,"mpcc_iq_a":-5.04823589,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-28.8132992,"mpcc_pred_id_a":-0.0593421236,"mpcc_pred_iq_a":-6.02814341,"mpcc_state":1,"mpcc_theta_e":0.33731842,"mpcc_theta_mech":4.30432081,"sam_rpm":-54.3559608,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103006423,"thr_a_norm":0.103006423,"thr_a_v":0.91202569,"thr_b":0.0443053246,"thr_b_norm":0.0443053246,"thr_b_v":0.677221298,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.49822,"values":{"cg_iu_a":-1.06273961,"cg_iv_a":-4.06807804,"cg_iw_a":3.02867508,"cg_theta_rad":4.20852709,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.00350584253,"mpcc_du":48.1590881,"mpcc_dv":46.9659767,"mpcc_dw":53.0340233,"mpcc_enc_sign":1,"mpcc_id_a":0.266627461,"mpcc_iq_a":-6.34620333,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-22.759161,"mpcc_pred_id_a":0.254687279,"mpcc_pred_iq_a":-7.88267422,"mpcc_state":1,"mpcc_theta_e":6.01489592,"mpcc_theta_mech":4.18319941,"sam_rpm":-46.6394768,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023836121,"thr_a_norm":0.023836121,"thr_a_v":0.595344484,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480032027,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.523367,"values":{"cg_iu_a":-2.4400053,"cg_iv_a":-1.38603449,"cg_iw_a":4.26096535,"cg_theta_rad":4.07541847,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0169646069,"mpcc_du":46.6219444,"mpcc_dv":52.0098076,"mpcc_dw":53.3780556,"mpcc_enc_sign":1,"mpcc_id_a":2.4695065,"mpcc_iq_a":-6.67091608,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-34.9861946,"mpcc_pred_id_a":0.968371153,"mpcc_pred_iq_a":-9.23674107,"mpcc_state":1,"mpcc_theta_e":5.01555014,"mpcc_theta_mech":3.98333001,"sam_rpm":-64.4820633,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023836121,"thr_a_norm":0.023836121,"thr_a_v":0.595344484,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480032027,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.529928,"values":{"cg_iu_a":-5.91941357,"cg_iv_a":0.208694458,"cg_iw_a":2.73872447,"cg_theta_rad":3.96263885,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0536769666,"mpcc_du":47.3533325,"mpcc_dv":52.6466675,"mpcc_dw":52.3714638,"mpcc_enc_sign":1,"mpcc_id_a":-0.187648788,"mpcc_iq_a":-2.87014294,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.6560049,"mpcc_pred_id_a":-0.0295495354,"mpcc_pred_iq_a":-7.09156227,"mpcc_state":1,"mpcc_theta_e":4.74715757,"mpcc_theta_mech":3.92965174,"sam_rpm":-36.3108292,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0105424523,"thr_a_norm":0.023836121,"thr_a_v":0.542169809,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.433504254,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.536489,"values":{"cg_iu_a":-4.32468462,"cg_iv_a":2.16586113,"cg_iw_a":2.15882349,"cg_theta_rad":3.8434844,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0106392242,"mpcc_du":46.3844299,"mpcc_dv":53.6155701,"mpcc_dw":48.9400177,"mpcc_enc_sign":1,"mpcc_id_a":1.715078,"mpcc_iq_a":-6.35361576,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.1057606,"mpcc_pred_id_a":0.493857294,"mpcc_pred_iq_a":-5.75874472,"mpcc_state":1,"mpcc_theta_e":4.11105299,"mpcc_theta_mech":3.80243063,"sam_rpm":-43.5267143,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0105424523,"thr_a_norm":0.0105424523,"thr_a_v":0.542169809,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.433504254,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.54302,"values":{"cg_iu_a":-3.81727099,"cg_iv_a":4.19551611,"cg_iw_a":-0.378245115,"cg_theta_rad":3.69540095,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0390723608,"mpcc_du":48.4267731,"mpcc_dv":54.3725548,"mpcc_dw":45.6274452,"mpcc_enc_sign":1,"mpcc_id_a":-1.36090755,"mpcc_iq_a":-3.78827858,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-29.9924335,"mpcc_pred_id_a":-0.536719501,"mpcc_pred_iq_a":-6.06596708,"mpcc_state":1,"mpcc_theta_e":3.44434309,"mpcc_theta_mech":3.6690886,"sam_rpm":-55.6040459,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100148782,"thr_a_norm":0.100148782,"thr_a_v":0.900595129,"thr_b":0.0462565869,"thr_b_norm":0.0462565869,"thr_b_v":0.685026348,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.552816,"values":{"cg_iu_a":0.387013912,"cg_iv_a":4.34049177,"cg_iw_a":-3.35023975,"cg_theta_rad":3.59894037,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0245811567,"mpcc_du":52.1431122,"mpcc_dv":53.0682831,"mpcc_dw":46.9317169,"mpcc_enc_sign":1,"mpcc_id_a":2.11966324,"mpcc_iq_a":-5.1892662,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-22.798357,"mpcc_pred_id_a":0.361409605,"mpcc_pred_iq_a":-7.7355547,"mpcc_state":1,"mpcc_theta_e":2.86604071,"mpcc_theta_mech":3.55342841,"sam_rpm":-46.5717316,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100148782,"thr_a_norm":0.100148782,"thr_a_v":0.900595129,"thr_b":0.0462565869,"thr_b_norm":0.0462565869,"thr_b_v":0.685026348,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.564566,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.09608364,"cg_iw_a":-0.81317091,"cg_theta_rad":3.45991278,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0221592542,"mpcc_du":54.0645447,"mpcc_dv":50.3626137,"mpcc_dw":45.9354553,"mpcc_enc_sign":1,"mpcc_id_a":-0.126665488,"mpcc_iq_a":-2.3225286,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-30.6091785,"mpcc_pred_id_a":-0.760813296,"mpcc_pred_iq_a":-6.70769739,"mpcc_state":1,"mpcc_theta_e":2.17857122,"mpcc_theta_mech":3.41593432,"sam_rpm":-58.2671471,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024113059,"thr_a_norm":0.024113059,"thr_a_v":0.596452236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.576193,"values":{"cg_iu_a":6.33100224,"cg_iv_a":-0.733645439,"cg_iw_a":-3.64019012,"cg_theta_rad":3.3008368,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0516487956,"mpcc_du":54.6093674,"mpcc_dv":45.3906326,"mpcc_dw":46.9033012,"mpcc_enc_sign":1,"mpcc_id_a":-0.176550195,"mpcc_iq_a":-2.96095181,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-47.8722076,"mpcc_pred_id_a":-0.620924294,"mpcc_pred_iq_a":-10.5953274,"mpcc_state":1,"mpcc_theta_e":1.46161222,"mpcc_theta_mech":3.27254272,"sam_rpm":-64.656517,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021066606,"thr_a_norm":0.021066606,"thr_a_v":0.584266424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472529203,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.587759,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-2.69081235,"cg_iw_a":-0.305757284,"cg_theta_rad":3.15912032,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0410704203,"mpcc_du":54.3943825,"mpcc_dv":47.2404213,"mpcc_dw":51.4806213,"mpcc_enc_sign":1,"mpcc_id_a":-0.663378894,"mpcc_iq_a":-3.50148821,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-34.9498978,"mpcc_pred_id_a":-0.443563551,"mpcc_pred_iq_a":-5.59746504,"mpcc_state":1,"mpcc_theta_e":0.75262022,"mpcc_theta_mech":3.13074422,"sam_rpm":-65.505806,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021066606,"thr_a_norm":0.021066606,"thr_a_v":0.584266424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472529203,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.598227,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-4.93793011,"cg_iw_a":4.55091619,"cg_theta_rad":3.02527738,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.00378426048,"mpcc_du":50.7027283,"mpcc_dv":45.1835899,"mpcc_dw":54.8164101,"mpcc_enc_sign":1,"mpcc_id_a":-1.10159552,"mpcc_iq_a":-6.95210266,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-42.6376343,"mpcc_pred_id_a":-0.490882844,"mpcc_pred_iq_a":-6.26890516,"mpcc_state":1,"mpcc_theta_e":0.0988173485,"mpcc_theta_mech":2.99998355,"sam_rpm":-75.692009,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021998167,"thr_a_norm":0.021998167,"thr_a_v":0.587992668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.624197,"values":{"cg_iu_a":-2.22254229,"cg_iv_a":-3.41568899,"cg_iw_a":5.63823128,"cg_theta_rad":2.89719033,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0130816866,"mpcc_du":46.8911705,"mpcc_dv":49.8293114,"mpcc_dw":53.1088295,"mpcc_enc_sign":1,"mpcc_id_a":0.427083641,"mpcc_iq_a":-5.25271845,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-25.7304287,"mpcc_pred_id_a":-0.250417262,"mpcc_pred_iq_a":-8.87872982,"mpcc_state":1,"mpcc_theta_e":5.30842686,"mpcc_theta_mech":2.78526831,"sam_rpm":-51.4861679,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224891305,"thr_a_norm":0.021998167,"thr_a_v":0.589956522,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472932041,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.630758,"values":{"cg_iu_a":-5.91941357,"cg_iv_a":-0.878620625,"cg_iw_a":6.79803419,"cg_theta_rad":2.7587595,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.034018103,"mpcc_du":45.5446739,"mpcc_dv":52.9221077,"mpcc_dw":54.4553261,"mpcc_enc_sign":1,"mpcc_id_a":2.17994237,"mpcc_iq_a":-4.52424955,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-28.9071865,"mpcc_pred_id_a":1.07155001,"mpcc_pred_iq_a":-3.33409381,"mpcc_state":1,"mpcc_theta_e":4.94819355,"mpcc_theta_mech":2.71322155,"sam_rpm":-55.6346436,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224891305,"thr_a_norm":0.0224891305,"thr_a_v":0.589956522,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472932041,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.637289,"values":{"cg_iu_a":-3.52732038,"cg_iv_a":2.31083679,"cg_iw_a":2.37628603,"cg_theta_rad":2.61940765,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0160118584,"mpcc_du":44.8539352,"mpcc_dv":55.1460648,"mpcc_dw":50.5306778,"mpcc_enc_sign":1,"mpcc_id_a":1.12843382,"mpcc_iq_a":-5.23474503,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-43.9532928,"mpcc_pred_id_a":0.704222798,"mpcc_pred_iq_a":-5.31330109,"mpcc_state":1,"mpcc_theta_e":4.31856632,"mpcc_theta_mech":2.58729625,"sam_rpm":-78.2167969,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0438269675,"thr_a_norm":0.0438269675,"thr_a_v":0.67530787,"thr_b":0.00961089134,"thr_b_norm":0.00961089134,"thr_b_v":0.538443565,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.644613,"values":{"cg_iu_a":-4.39717245,"cg_iv_a":6.80507231,"cg_iw_a":0.419119358,"cg_theta_rad":2.47619462,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0119293639,"mpcc_du":47.7804527,"mpcc_dv":53.9254837,"mpcc_dw":46.0745163,"mpcc_enc_sign":1,"mpcc_id_a":0.149610519,"mpcc_iq_a":-5.32069683,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-38.5961342,"mpcc_pred_id_a":-0.369944304,"mpcc_pred_iq_a":-8.02333832,"mpcc_state":1,"mpcc_theta_e":3.51445484,"mpcc_theta_mech":2.42647386,"sam_rpm":-70.862114,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0138280988,"thr_a_norm":0.0438269675,"thr_a_v":0.555312395,"thr_b":0,"thr_b_norm":0.00961089134,"thr_b_v":0.443524837,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.654226,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":4.55795431,"cg_iw_a":-4.36506653,"cg_theta_rad":2.33434534,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.00681446446,"mpcc_du":52.1999283,"mpcc_dv":54.1111641,"mpcc_dw":45.8888359,"mpcc_enc_sign":1,"mpcc_id_a":0.603890538,"mpcc_iq_a":-5.96341228,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-34.6997414,"mpcc_pred_id_a":-0.010019321,"mpcc_pred_iq_a":-8.15007496,"mpcc_state":1,"mpcc_theta_e":2.91530704,"mpcc_theta_mech":2.30664444,"sam_rpm":-63.779007,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0138280988,"thr_a_norm":0.0138280988,"thr_a_v":0.555312395,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443524837,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.666372,"values":{"cg_iu_a":3.28652048,"cg_iv_a":0.426157475,"cg_iw_a":-3.71267796,"cg_theta_rad":2.18068504,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0598562732,"mpcc_du":53.2857857,"mpcc_dv":49.9166107,"mpcc_dw":46.7142143,"mpcc_enc_sign":1,"mpcc_id_a":-0.595564783,"mpcc_iq_a":-2.64327168,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-34.1113167,"mpcc_pred_id_a":-0.876687109,"mpcc_pred_iq_a":-8.33741951,"mpcc_state":1,"mpcc_theta_e":2.12433052,"mpcc_theta_mech":2.14844918,"sam_rpm":-64.3470078,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210288316,"thr_a_norm":0.0210288316,"thr_a_v":0.584115326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462508589,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.679007,"values":{"cg_iu_a":4.66378593,"cg_iv_a":-1.96593571,"cg_iw_a":-0.378244877,"cg_theta_rad":2.02267671,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0314110406,"mpcc_du":52.9707375,"mpcc_dv":47.0292625,"mpcc_dw":48.800705,"mpcc_enc_sign":1,"mpcc_id_a":-0.23062633,"mpcc_iq_a":-3.9628787,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.7507858,"mpcc_pred_id_a":-0.312636405,"mpcc_pred_iq_a":-6.61624098,"mpcc_state":1,"mpcc_theta_e":1.33033371,"mpcc_theta_mech":1.98964977,"sam_rpm":-34.6190681,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023936823,"thr_a_norm":0.0210288316,"thr_a_v":0.595747292,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478622139,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.688406,"values":{"cg_iu_a":5.31617546,"cg_iv_a":-4.28554106,"cg_iw_a":-1.0306344,"cg_theta_rad":1.89108706,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0447036996,"mpcc_du":53.663372,"mpcc_dv":46.336628,"mpcc_dw":52.9279404,"mpcc_enc_sign":1,"mpcc_id_a":2.06057882,"mpcc_iq_a":-3.80737281,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-34.5196152,"mpcc_pred_id_a":0.472063959,"mpcc_pred_iq_a":-7.65087366,"mpcc_state":1,"mpcc_theta_e":0.689169884,"mpcc_theta_mech":1.86141706,"sam_rpm":-65.9480667,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023936823,"thr_a_norm":0.023936823,"thr_a_v":0.595747292,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478622139,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.699972,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-2.18339872,"cg_iw_a":1.94136047,"cg_theta_rad":1.74247622,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.00396490656,"mpcc_du":49.2683449,"mpcc_dv":45.8550568,"mpcc_dw":54.1449432,"mpcc_enc_sign":1,"mpcc_id_a":0.020700058,"mpcc_iq_a":-6.24081993,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-35.4473724,"mpcc_pred_id_a":-0.367939711,"mpcc_pred_iq_a":-7.38406658,"mpcc_state":1,"mpcc_theta_e":6.22570467,"mpcc_theta_mech":1.71208692,"sam_rpm":-67.5829849,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.044997707,"thr_a_norm":0.044997707,"thr_a_v":0.679990828,"thr_b":0.00974936783,"thr_b_norm":0.00974936783,"thr_b_v":0.538997471,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.709768,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-5.01041794,"cg_iw_a":6.72554684,"cg_theta_rad":1.63652778,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.122093163,"mpcc_du":45.7386627,"mpcc_dv":47.8119926,"mpcc_dw":54.2613373,"mpcc_enc_sign":1,"mpcc_id_a":1.10263193,"mpcc_iq_a":-0.599169254,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-32.9408302,"mpcc_pred_id_a":-0.0117055094,"mpcc_pred_iq_a":-5.8230648,"mpcc_state":1,"mpcc_theta_e":5.58503199,"mpcc_theta_mech":1.58395231,"sam_rpm":-63.7450371,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.044997707,"thr_a_norm":0.044997707,"thr_a_v":0.679990828,"thr_b":0.00974936783,"thr_b_norm":0.00974936783,"thr_b_v":0.538997471,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.732992,"values":{"cg_iu_a":-1.28020263,"cg_iv_a":-0.226231575,"cg_iw_a":1.5064342,"cg_theta_rad":1.49106479,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0579720251,"mpcc_du":45.7948265,"mpcc_dv":54.2051735,"mpcc_dw":52.4494019,"mpcc_enc_sign":1,"mpcc_id_a":0.0163936652,"mpcc_iq_a":-2.68455172,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-32.3198128,"mpcc_pred_id_a":-0.302684307,"mpcc_pred_iq_a":-5.5465064,"mpcc_state":1,"mpcc_theta_e":4.5639863,"mpcc_theta_mech":1.3797431,"sam_rpm":-61.3590279,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202483386,"thr_a_norm":0.0202483386,"thr_a_v":0.580993354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459537655,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.739553,"values":{"cg_iu_a":-4.32468462,"cg_iv_a":4.63044214,"cg_iw_a":-0.305757523,"cg_theta_rad":1.31704795,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0177455097,"mpcc_du":47.133522,"mpcc_dv":52.866478,"mpcc_dw":49.3085327,"mpcc_enc_sign":1,"mpcc_id_a":0.179135084,"mpcc_iq_a":-4.84178352,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-25.8120956,"mpcc_pred_id_a":-0.724263072,"mpcc_pred_iq_a":-10.0742216,"mpcc_state":1,"mpcc_theta_e":4.08866072,"mpcc_theta_mech":1.28467798,"sam_rpm":-52.6521225,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277134329,"thr_a_norm":0.0202483386,"thr_a_v":0.610853732,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49206683,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.746115,"values":{"cg_iu_a":-0.627813578,"cg_iv_a":5.35531855,"cg_iw_a":-4.72750473,"cg_theta_rad":1.15294397,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.00376680517,"mpcc_du":49.0516968,"mpcc_dv":55.3566132,"mpcc_dw":44.6433868,"mpcc_enc_sign":1,"mpcc_id_a":-0.261738956,"mpcc_iq_a":-6.30074406,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-53.7923775,"mpcc_pred_id_a":-0.235712841,"mpcc_pred_iq_a":-6.93054342,"mpcc_state":1,"mpcc_theta_e":3.27128458,"mpcc_theta_mech":1.12120283,"sam_rpm":-93.8155212,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277134329,"thr_a_norm":0.0277134329,"thr_a_v":0.610853732,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49206683,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.756002,"values":{"cg_iu_a":3.57647133,"cg_iv_a":5.86273241,"cg_iw_a":-6.24974585,"cg_theta_rad":0.991589248,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.020390667,"mpcc_du":53.4045563,"mpcc_dv":52.2067375,"mpcc_dw":46.5954437,"mpcc_enc_sign":1,"mpcc_id_a":-0.0263293423,"mpcc_iq_a":-4.65043879,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-26.1889019,"mpcc_pred_id_a":-0.126926988,"mpcc_pred_iq_a":-7.16992998,"mpcc_state":1,"mpcc_theta_e":2.48798227,"mpcc_theta_mech":0.963787675,"sam_rpm":-53.1822815,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273231864,"thr_a_norm":0.0273231864,"thr_a_v":0.609292746,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486175328,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.765982,"values":{"cg_iu_a":6.1135397,"cg_iv_a":-0.516182423,"cg_iw_a":-2.40789938,"cg_theta_rad":0.869381249,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.013488451,"mpcc_du":54.0736008,"mpcc_dv":47.4915504,"mpcc_dw":45.9263992,"mpcc_enc_sign":1,"mpcc_id_a":1.38855779,"mpcc_iq_a":-5.63793468,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-43.2753258,"mpcc_pred_id_a":0.391842276,"mpcc_pred_iq_a":-8.3929863,"mpcc_state":1,"mpcc_theta_e":1.80144358,"mpcc_theta_mech":0.827234685,"sam_rpm":-79.0719376,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275623649,"thr_a_norm":0.0273231864,"thr_a_v":0.61024946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497907996,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.776571,"values":{"cg_iu_a":4.66378593,"cg_iv_a":-2.32837415,"cg_iw_a":-2.33541179,"cg_theta_rad":0.734565496,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0701455474,"mpcc_du":53.5435181,"mpcc_dv":46.4564819,"mpcc_dw":50.2586288,"mpcc_enc_sign":1,"mpcc_id_a":1.82616091,"mpcc_iq_a":-2.78416634,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-25.9465961,"mpcc_pred_id_a":0.826755702,"mpcc_pred_iq_a":-7.39535999,"mpcc_state":1,"mpcc_theta_e":1.09820366,"mpcc_theta_mech":0.68648541,"sam_rpm":-53.7137299,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275623649,"thr_a_norm":0.0275623649,"thr_a_v":0.61024946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497907996,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.788565,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-2.90827537,"cg_iw_a":0.926532984,"cg_theta_rad":0.556347191,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0285280664,"mpcc_du":50.7277107,"mpcc_dv":46.6099739,"mpcc_dw":53.3900261,"mpcc_enc_sign":1,"mpcc_id_a":2.85624886,"mpcc_iq_a":-5.69637346,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.0969028,"mpcc_pred_id_a":0.854850471,"mpcc_pred_iq_a":-6.74039936,"mpcc_state":1,"mpcc_theta_e":0.260877132,"mpcc_theta_mech":0.519121349,"sam_rpm":-45.413517,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.028468743,"thr_a_norm":0.028468743,"thr_a_v":0.613874972,"thr_b":0.00431105494,"thr_b_norm":0.00431105494,"thr_b_v":0.51724422,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.799154,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-5.66280651,"cg_iw_a":4.33345318,"cg_theta_rad":0.401997179,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.119158216,"mpcc_du":46.673912,"mpcc_dv":47.0575027,"mpcc_dw":53.326088,"mpcc_enc_sign":1,"mpcc_id_a":1.1975863,"mpcc_iq_a":-0.70080328,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-24.1106167,"mpcc_pred_id_a":-0.0313299,"mpcc_pred_iq_a":-6.4786911,"mpcc_state":1,"mpcc_theta_e":5.81241989,"mpcc_theta_mech":0.37154451,"sam_rpm":-51.1220779,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261902064,"thr_a_norm":0.028468743,"thr_a_v":0.604760826,"thr_b":0,"thr_b_norm":0.00431105494,"thr_b_v":0.499468982,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.809225,"values":{"cg_iu_a":-2.94741893,"cg_iv_a":-0.951108456,"cg_iw_a":2.52126169,"cg_theta_rad":0.262980074,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0448962376,"mpcc_du":44.6306152,"mpcc_dv":51.8228226,"mpcc_dw":55.3693848,"mpcc_enc_sign":1,"mpcc_id_a":1.0281837,"mpcc_iq_a":-3.38887691,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-43.05019,"mpcc_pred_id_a":-0.0602155067,"mpcc_pred_iq_a":-4.32994938,"mpcc_state":1,"mpcc_theta_e":5.10841465,"mpcc_theta_mech":0.231991723,"sam_rpm":-78.3358841,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261902064,"thr_a_norm":0.0261902064,"thr_a_v":0.604760826,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499468982,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.832571,"values":{"cg_iu_a":-4.32468462,"cg_iv_a":3.18068886,"cg_iw_a":1.14399576,"cg_theta_rad":0.106701657,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.00419818284,"mpcc_du":46.4589233,"mpcc_dv":53.5410767,"mpcc_dw":48.9570732,"mpcc_enc_sign":1,"mpcc_id_a":-1.29535031,"mpcc_iq_a":-7.53661537,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-44.9847069,"mpcc_pred_id_a":-0.818151772,"mpcc_pred_iq_a":-8.02748966,"mpcc_state":1,"mpcc_theta_e":4.05858469,"mpcc_theta_mech":0.0220258087,"sam_rpm":-70.8718872,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0268699974,"thr_a_norm":0.0268699974,"thr_a_v":0.60747999,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476758987,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.839193,"values":{"cg_iu_a":-3.23736954,"cg_iv_a":7.09502268,"cg_iw_a":-3.85765314,"cg_theta_rad":6.24650335,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0349493474,"mpcc_du":46.6000099,"mpcc_dv":54.3974304,"mpcc_dw":45.6025696,"mpcc_enc_sign":1,"mpcc_id_a":0.837322891,"mpcc_iq_a":-3.85601473,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-42.0762978,"mpcc_pred_id_a":-0.283339083,"mpcc_pred_iq_a":-6.6528635,"mpcc_state":1,"mpcc_theta_e":3.59442949,"mpcc_theta_mech":6.21237993,"sam_rpm":-77.4558563,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0268699974,"thr_a_norm":0.0268699974,"thr_a_v":0.60747999,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476758987,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.845694,"values":{"cg_iu_a":2.27169323,"cg_iv_a":4.70292997,"cg_iw_a":-4.36506701,"cg_theta_rad":6.11267567,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.012836528,"mpcc_du":51.7009354,"mpcc_dv":54.3102112,"mpcc_dw":45.6897888,"mpcc_enc_sign":1,"mpcc_id_a":-0.70017302,"mpcc_iq_a":-5.34492016,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-39.22995,"mpcc_pred_id_a":-0.538257718,"mpcc_pred_iq_a":-7.49994707,"mpcc_state":1,"mpcc_theta_e":2.92414904,"mpcc_theta_mech":6.07832384,"sam_rpm":-73.6640015,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282799155,"thr_a_norm":0.0282799155,"thr_a_v":0.613119662,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49282214,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.852163,"values":{"cg_iu_a":1.76427937,"cg_iv_a":0.426157475,"cg_iw_a":-2.19043684,"cg_theta_rad":5.95146561,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.00382236252,"mpcc_du":53.3586731,"mpcc_dv":49.8947296,"mpcc_dw":46.4161644,"mpcc_enc_sign":1,"mpcc_id_a":0.743067324,"mpcc_iq_a":-8.48832989,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-38.0626183,"mpcc_pred_id_a":-0.0415488183,"mpcc_pred_iq_a":-9.50187111,"mpcc_state":1,"mpcc_theta_e":2.10830736,"mpcc_theta_mech":5.91515589,"sam_rpm":-59.1836967,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10294345,"thr_a_norm":0.0282799155,"thr_a_v":0.911773801,"thr_b":0.0485099554,"thr_b_norm":0,"thr_b_v":0.694039822,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.861532,"values":{"cg_iu_a":4.08388519,"cg_iv_a":-1.53100967,"cg_iw_a":-7.55452442,"cg_theta_rad":5.81046438,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.00919496827,"mpcc_du":55.8680649,"mpcc_dv":44.1319351,"mpcc_dw":47.006752,"mpcc_enc_sign":1,"mpcc_id_a":1.50123537,"mpcc_iq_a":-6.30656815,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-55.4034081,"mpcc_pred_id_a":0.863955081,"mpcc_pred_iq_a":-4.33908081,"mpcc_state":1,"mpcc_theta_e":1.38293505,"mpcc_theta_mech":5.77008152,"sam_rpm":-97.6645508,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10294345,"thr_a_norm":0.10294345,"thr_a_v":0.911773801,"thr_b":0.0485099554,"thr_b_norm":0.0485099554,"thr_b_v":0.694039822,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.871572,"values":{"cg_iu_a":4.15637207,"cg_iv_a":-3.56066442,"cg_iw_a":-1.10312152,"cg_theta_rad":5.65535498,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0215649381,"mpcc_du":53.7459488,"mpcc_dv":46.2540512,"mpcc_dw":53.5071526,"mpcc_enc_sign":1,"mpcc_id_a":1.04006219,"mpcc_iq_a":-4.75332069,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-33.7212906,"mpcc_pred_id_a":1.02472758,"mpcc_pred_iq_a":-6.38108969,"mpcc_state":1,"mpcc_theta_e":0.655350208,"mpcc_theta_mech":5.62456417,"sam_rpm":-65.0481873,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254474729,"thr_a_norm":0.0254474729,"thr_a_v":0.601789892,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498713672,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.882772,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-6.09773254,"cg_iw_a":3.53608894,"cg_theta_rad":5.5002861,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.0431489013,"mpcc_du":48.24823,"mpcc_dv":45.8974152,"mpcc_dw":54.1025848,"mpcc_enc_sign":1,"mpcc_id_a":1.75431979,"mpcc_iq_a":-4.61334896,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-33.1126518,"mpcc_pred_id_a":0.344611019,"mpcc_pred_iq_a":-6.61995268,"mpcc_state":1,"mpcc_theta_e":6.14702988,"mpcc_theta_mech":5.46747971,"sam_rpm":-64.825058,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254474729,"thr_a_norm":0.0254474729,"thr_a_v":0.601789892,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498713672,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.892569,"values":{"cg_iu_a":-2.00507927,"cg_iv_a":-3.56066442,"cg_iw_a":6.79803371,"cg_theta_rad":5.36194181,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":15940.1201,"hz_adc_isr":5003,"hz_app_loop":3841,"hz_tim_isr":4008,"hz_vsense":3841,"mpcc_cost":0.00152949942,"mpcc_du":46.3615913,"mpcc_dv":49.299572,"mpcc_dw":53.6384087,"mpcc_enc_sign":1,"mpcc_id_a":0.748008668,"mpcc_iq_a":-7.72865438,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-33.3922005,"mpcc_pred_id_a":-0.210149243,"mpcc_pred_iq_a":-8.15439987,"mpcc_state":1,"mpcc_theta_e":5.45385551,"mpcc_theta_mech":5.32762814,"sam_rpm":-63.3274612,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263790339,"thr_a_norm":0.0263790339,"thr_a_v":0.605516136,"thr_b":0.00121423602,"thr_b_norm":0.00121423602,"thr_b_v":0.504856944,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.903433,"values":{"cg_iu_a":-6.42682695,"cg_iv_a":1.07854605,"cg_iw_a":4.62340403,"cg_theta_rad":5.20591164,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0220762584,"mpcc_du":45.3283157,"mpcc_dv":54.6716843,"mpcc_dw":53.1410866,"mpcc_enc_sign":1,"mpcc_id_a":0.806034923,"mpcc_iq_a":-4.63978815,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-42.9437599,"mpcc_pred_id_a":0.0924953893,"mpcc_pred_iq_a":-6.22173691,"mpcc_state":1,"mpcc_theta_e":4.63742828,"mpcc_theta_mech":5.16434288,"sam_rpm":-80.034256,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189139396,"thr_a_norm":0.0263790339,"thr_a_v":0.575655758,"thr_b":0,"thr_b_norm":0.00121423602,"thr_b_v":0.457473099,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.913229,"values":{"cg_iu_a":-2.87493134,"cg_iv_a":2.96322584,"cg_iw_a":-1.17560959,"cg_theta_rad":5.0557704,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0419500545,"mpcc_du":45.959671,"mpcc_dv":54.040329,"mpcc_dw":47.4911385,"mpcc_enc_sign":1,"mpcc_id_a":2.2599647,"mpcc_iq_a":-4.08348417,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-40.4066429,"mpcc_pred_id_a":-0.091208756,"mpcc_pred_iq_a":-8.34181404,"mpcc_state":1,"mpcc_theta_e":3.91496086,"mpcc_theta_mech":5.0198493,"sam_rpm":-76.0460739,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189139396,"thr_a_norm":0.0189139396,"thr_a_v":0.575655758,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457473099,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.936422,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":4.41297865,"cg_iw_a":-3.20526361,"cg_theta_rad":4.89478302,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0235273652,"mpcc_du":52.7248802,"mpcc_dv":53.4177704,"mpcc_dw":46.5822296,"mpcc_enc_sign":1,"mpcc_id_a":1.48082769,"mpcc_iq_a":-4.81334877,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-34.7675629,"mpcc_pred_id_a":0.163962111,"mpcc_pred_iq_a":-9.04954815,"mpcc_state":1,"mpcc_theta_e":2.78063583,"mpcc_theta_mech":4.79298449,"sam_rpm":-68.3644257,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101105511,"thr_a_norm":0.101105511,"thr_a_v":0.904422045,"thr_b":0.0416365266,"thr_b_norm":0.0416365266,"thr_b_v":0.666546106,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.942923,"values":{"cg_iu_a":2.1992054,"cg_iv_a":1.7309351,"cg_iw_a":-6.46720886,"cg_theta_rad":4.72088289,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0243028402,"mpcc_du":54.0167313,"mpcc_dv":50.7263107,"mpcc_dw":45.9832687,"mpcc_enc_sign":1,"mpcc_id_a":0.47413072,"mpcc_iq_a":-4.41838741,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-38.1675835,"mpcc_pred_id_a":-0.192774534,"mpcc_pred_iq_a":-8.65568447,"mpcc_state":1,"mpcc_theta_e":2.249506,"mpcc_theta_mech":4.68675852,"sam_rpm":-72.8460846,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101105511,"thr_a_norm":0.101105511,"thr_a_v":0.904422045,"thr_b":0.0416365266,"thr_b_norm":0.0416365266,"thr_b_v":0.666546106,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.949423,"values":{"cg_iu_a":3.8664217,"cg_iv_a":0.136206627,"cg_iw_a":-4.00262833,"cg_theta_rad":4.56748915,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0469870232,"mpcc_du":53.8155632,"mpcc_dv":46.1844368,"mpcc_dw":47.7272491,"mpcc_enc_sign":1,"mpcc_id_a":0.431139767,"mpcc_iq_a":-3.18619323,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-24.6674194,"mpcc_pred_id_a":0.26202476,"mpcc_pred_iq_a":-5.46110773,"mpcc_state":1,"mpcc_theta_e":1.46359825,"mpcc_theta_mech":4.52957678,"sam_rpm":-52.9156113,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024415195,"thr_a_norm":0.024415195,"thr_a_v":0.59766078,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488390952,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.956381,"values":{"cg_iu_a":7.12836647,"cg_iv_a":-4.43051624,"cg_iw_a":-1.82799816,"cg_theta_rad":4.4058466,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0350836106,"mpcc_du":53.1025352,"mpcc_dv":46.8974648,"mpcc_dw":52.9247513,"mpcc_enc_sign":1,"mpcc_id_a":3.37443233,"mpcc_iq_a":-5.87314701,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-28.6453323,"mpcc_pred_id_a":0.712865829,"mpcc_pred_iq_a":-8.32284832,"mpcc_state":1,"mpcc_theta_e":0.656827927,"mpcc_theta_mech":4.36822271,"sam_rpm":-58.8016205,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024062708,"thr_a_norm":0.024415195,"thr_a_v":0.596250832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463566035,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.967794,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-5.37285614,"cg_iw_a":5.92818213,"cg_theta_rad":4.2403965,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0256146714,"mpcc_du":47.6204605,"mpcc_dv":45.1527138,"mpcc_dw":54.8472862,"mpcc_enc_sign":1,"mpcc_id_a":1.77987456,"mpcc_iq_a":-4.8395648,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-42.3726387,"mpcc_pred_id_a":0.494375437,"mpcc_pred_iq_a":-5.80885839,"mpcc_state":1,"mpcc_theta_e":6.07662153,"mpcc_theta_mech":4.19862127,"sam_rpm":-79.077034,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024062708,"thr_a_norm":0.024062708,"thr_a_v":0.596250832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463566035,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.977377,"values":{"cg_iu_a":-2.94741893,"cg_iv_a":-1.74847269,"cg_iw_a":3.89852715,"cg_theta_rad":4.08733368,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.00493648648,"mpcc_du":47.0856438,"mpcc_dv":49.91259,"mpcc_dw":52.9143562,"mpcc_enc_sign":1,"mpcc_id_a":1.33782482,"mpcc_iq_a":-7.92990637,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-35.7915344,"mpcc_pred_id_a":-0.112851515,"mpcc_pred_iq_a":-12.4077587,"mpcc_state":1,"mpcc_theta_e":5.35318518,"mpcc_theta_mech":4.05085707,"sam_rpm":-70.1250687,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261020809,"thr_a_norm":0.0261020809,"thr_a_v":0.604408324,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4983612,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.987204,"values":{"cg_iu_a":-7.51414204,"cg_iv_a":0.426157475,"cg_iw_a":2.73872471,"cg_theta_rad":3.93588018,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0149352811,"mpcc_du":46.0268593,"mpcc_dv":53.9731407,"mpcc_dw":52.3620987,"mpcc_enc_sign":1,"mpcc_id_a":1.89804411,"mpcc_iq_a":-5.96001911,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-36.2259827,"mpcc_pred_id_a":0.104651377,"mpcc_pred_iq_a":-7.58857107,"mpcc_state":1,"mpcc_theta_e":4.59869146,"mpcc_theta_mech":3.89995837,"sam_rpm":-70.7445602,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261020809,"thr_a_norm":0.0261020809,"thr_a_v":0.604408324,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4983612,"vdc_v":55.2955055}} +{"type":"telemetry","t":3.997183,"values":{"cg_iu_a":-6.78926563,"cg_iv_a":6.08019495,"cg_iw_a":-1.17560911,"cg_theta_rad":3.78441262,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0209204964,"mpcc_du":45.9135323,"mpcc_dv":54.0864677,"mpcc_dw":46.643837,"mpcc_enc_sign":1,"mpcc_id_a":0.95127964,"mpcc_iq_a":-4.76810217,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-38.2312012,"mpcc_pred_id_a":0.196954563,"mpcc_pred_iq_a":-6.71419096,"mpcc_state":1,"mpcc_theta_e":3.82382917,"mpcc_theta_mech":3.74498582,"sam_rpm":-73.0500641,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242389441,"thr_a_norm":0.0242389441,"thr_a_v":0.596955776,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487383813,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.009176,"values":{"cg_iu_a":-0.845276594,"cg_iv_a":3.25317621,"cg_iw_a":-3.27775145,"cg_theta_rad":3.60469604,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0771566108,"mpcc_du":52.2653847,"mpcc_dv":54.0607109,"mpcc_dw":45.9392891,"mpcc_enc_sign":1,"mpcc_id_a":1.01034391,"mpcc_iq_a":-2.03723025,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-39.8895531,"mpcc_pred_id_a":-0.35908249,"mpcc_pred_iq_a":-8.20901871,"mpcc_state":1,"mpcc_theta_e":2.89515638,"mpcc_theta_mech":3.55925131,"sam_rpm":-75.7769547,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0414099395,"thr_a_norm":0.0242389441,"thr_a_v":0.665639758,"thr_b":0.0116754472,"thr_b_norm":0,"thr_b_v":0.546701789,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.020224,"values":{"cg_iu_a":0.604476929,"cg_iv_a":0.281181812,"cg_iw_a":-1.68302298,"cg_theta_rad":3.42196488,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0484478511,"mpcc_du":53.8388214,"mpcc_dv":49.3114586,"mpcc_dw":46.1611786,"mpcc_enc_sign":1,"mpcc_id_a":-1.36204076,"mpcc_iq_a":-3.31383419,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-32.8528214,"mpcc_pred_id_a":-1.25970733,"mpcc_pred_iq_a":-8.42834473,"mpcc_state":1,"mpcc_theta_e":2.02033758,"mpcc_theta_mech":3.3842876,"sam_rpm":-66.9106369,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0414099395,"thr_a_norm":0.0414099395,"thr_a_v":0.665639758,"thr_b":0.0116754472,"thr_b_norm":0.0116754472,"thr_b_v":0.546701789,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.044577,"values":{"cg_iu_a":4.95373726,"cg_iv_a":-2.18339872,"cg_iw_a":-3.20526457,"cg_theta_rad":3.25472713,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0626909956,"mpcc_du":55.5550919,"mpcc_dv":44.4449081,"mpcc_dw":53.6228714,"mpcc_enc_sign":1,"mpcc_id_a":0.840636373,"mpcc_iq_a":-2.56342936,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-44.9360237,"mpcc_pred_id_a":0.251948386,"mpcc_pred_iq_a":-3.32251167,"mpcc_state":1,"mpcc_theta_e":0.736173153,"mpcc_theta_mech":3.12745452,"sam_rpm":-84.5662155,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296646804,"thr_a_norm":0.0296646804,"thr_a_v":0.618658721,"thr_b":0.00665254891,"thr_b_norm":0.00665254891,"thr_b_v":0.526610196,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.051138,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-4.35802889,"cg_iw_a":3.68106461,"cg_theta_rad":3.04229689,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.00715247542,"mpcc_du":50.9259338,"mpcc_dv":44.5265732,"mpcc_dw":55.4734268,"mpcc_enc_sign":1,"mpcc_id_a":-0.596195638,"mpcc_iq_a":-5.91710997,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-37.8318939,"mpcc_pred_id_a":0.424839765,"mpcc_pred_iq_a":-3.18191719,"mpcc_state":1,"mpcc_theta_e":0.15333128,"mpcc_theta_mech":3.01088619,"sam_rpm":-73.1606598,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273231864,"thr_a_norm":0.0273231864,"thr_a_v":0.609292746,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485772491,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.057638,"values":{"cg_iu_a":-3.09239435,"cg_iv_a":-2.11091113,"cg_iw_a":4.62340403,"cg_theta_rad":2.87159896,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0561421849,"mpcc_du":43.3549728,"mpcc_dv":47.2531624,"mpcc_dw":56.6450272,"mpcc_enc_sign":1,"mpcc_id_a":1.32026196,"mpcc_iq_a":-2.94876051,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-55.0195122,"mpcc_pred_id_a":0.94047302,"mpcc_pred_iq_a":-1.87003565,"mpcc_state":1,"mpcc_theta_e":5.52703953,"mpcc_theta_mech":2.8289907,"sam_rpm":-98.3695068,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273231864,"thr_a_norm":0.0273231864,"thr_a_v":0.609292746,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485772491,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.067221,"values":{"cg_iu_a":-7.73160505,"cg_iv_a":1.07854605,"cg_iw_a":6.2181325,"cg_theta_rad":2.67840242,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0327225365,"mpcc_du":44.8174324,"mpcc_dv":55.1825676,"mpcc_dw":52.5642166,"mpcc_enc_sign":1,"mpcc_id_a":3.45336223,"mpcc_iq_a":-6.4214344,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-48.8346939,"mpcc_pred_id_a":1.33074272,"mpcc_pred_iq_a":-6.10458851,"mpcc_state":1,"mpcc_theta_e":4.56386852,"mpcc_theta_mech":2.63635659,"sam_rpm":-90.7532654,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194174796,"thr_a_norm":0.0194174796,"thr_a_v":0.577669919,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456818491,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.076956,"values":{"cg_iu_a":-3.01990652,"cg_iv_a":3.83307791,"cg_iw_a":2.23131084,"cg_theta_rad":2.52393341,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0188230928,"mpcc_du":46.5195351,"mpcc_dv":53.4804649,"mpcc_dw":46.7454567,"mpcc_enc_sign":1,"mpcc_id_a":1.54317141,"mpcc_iq_a":-5.23111057,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-33.8803062,"mpcc_pred_id_a":0.386097282,"mpcc_pred_iq_a":-7.77780914,"mpcc_state":1,"mpcc_theta_e":3.79248524,"mpcc_theta_mech":2.48207998,"sam_rpm":-66.3778839,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0239242315,"thr_a_norm":0.0194174796,"thr_a_v":0.595696926,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482247651,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.086599,"values":{"cg_iu_a":-1.42517781,"cg_iv_a":2.60078716,"cg_iw_a":-1.17560935,"cg_theta_rad":2.36015725,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0923077837,"mpcc_du":52.2199287,"mpcc_dv":55.7242889,"mpcc_dw":44.2757111,"mpcc_enc_sign":1,"mpcc_id_a":1.53583109,"mpcc_iq_a":-1.63890278,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-53.7787819,"mpcc_pred_id_a":0.137883499,"mpcc_pred_iq_a":-2.69044781,"mpcc_state":1,"mpcc_theta_e":2.99512768,"mpcc_theta_mech":2.32260847,"sam_rpm":-95.7707977,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0239242315,"thr_a_norm":0.0239242315,"thr_a_v":0.595696926,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482247651,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.096548,"values":{"cg_iu_a":2.70661926,"cg_iv_a":1.7309351,"cg_iw_a":-3.35023928,"cg_theta_rad":2.20655084,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0727512389,"mpcc_du":55.2832603,"mpcc_dv":50.3425865,"mpcc_dw":44.7167397,"mpcc_enc_sign":1,"mpcc_id_a":0.352290213,"mpcc_iq_a":-1.44805038,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-47.3585434,"mpcc_pred_id_a":-0.368731111,"mpcc_pred_iq_a":-6.83248472,"mpcc_state":1,"mpcc_theta_e":2.1969223,"mpcc_theta_mech":2.16296744,"sam_rpm":-92.377388,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270965844,"thr_a_norm":0.0270965844,"thr_a_v":0.608386338,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49508813,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.106375,"values":{"cg_iu_a":6.04105186,"cg_iv_a":-1.31354666,"cg_iw_a":-4.72750521,"cg_theta_rad":2.0653429,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.00754802162,"mpcc_du":53.8061905,"mpcc_dv":46.1938095,"mpcc_dw":48.2308693,"mpcc_enc_sign":1,"mpcc_id_a":0.85484302,"mpcc_iq_a":-5.98723698,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-39.4002495,"mpcc_pred_id_a":-0.179627776,"mpcc_pred_iq_a":-9.26872253,"mpcc_state":1,"mpcc_theta_e":1.38119221,"mpcc_theta_mech":1.99982142,"sam_rpm":-75.6262283,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270965844,"thr_a_norm":0.0270965844,"thr_a_v":0.608386338,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49508813,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.116171,"values":{"cg_iu_a":5.60612583,"cg_iv_a":-6.02524519,"cg_iw_a":0.419119358,"cg_theta_rad":1.86489189,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0266361739,"mpcc_du":53.5896492,"mpcc_dv":45.7908287,"mpcc_dw":54.2091713,"mpcc_enc_sign":1,"mpcc_id_a":1.93112636,"mpcc_iq_a":-4.92389727,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-42.8346024,"mpcc_pred_id_a":0.725238383,"mpcc_pred_iq_a":-7.74578381,"mpcc_state":1,"mpcc_theta_e":0.552786827,"mpcc_theta_mech":1.8341403,"sam_rpm":-84.1212463,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167234987,"thr_a_norm":0.0167234987,"thr_a_v":0.566893995,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483355463,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.141378,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-2.90827537,"cg_iw_a":2.4487741,"cg_theta_rad":1.68671596,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0200352557,"mpcc_du":44.7708702,"mpcc_dv":49.1191139,"mpcc_dw":55.2291298,"mpcc_enc_sign":1,"mpcc_id_a":1.46865165,"mpcc_iq_a":-5.07984209,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-40.3021355,"mpcc_pred_id_a":0.436035484,"mpcc_pred_iq_a":-4.72357988,"mpcc_state":1,"mpcc_theta_e":5.41050577,"mpcc_theta_mech":1.54904699,"sam_rpm":-77.7189407,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215072036,"thr_a_norm":0.0167234987,"thr_a_v":0.586028814,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477010757,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.147909,"values":{"cg_iu_a":-3.96224618,"cg_iv_a":-0.371207237,"cg_iw_a":4.33345318,"cg_theta_rad":1.51210046,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0341379307,"mpcc_du":45.3806496,"mpcc_dv":52.5909805,"mpcc_dw":54.6193504,"mpcc_enc_sign":1,"mpcc_id_a":1.58308101,"mpcc_iq_a":-4.16098404,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-43.528862,"mpcc_pred_id_a":0.361278117,"mpcc_pred_iq_a":-7.02815485,"mpcc_state":1,"mpcc_theta_e":5.0050559,"mpcc_theta_mech":1.46795702,"sam_rpm":-82.772789,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215072036,"thr_a_norm":0.0215072036,"thr_a_v":0.586028814,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477010757,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.154379,"values":{"cg_iu_a":-5.70195007,"cg_iv_a":4.48546648,"cg_iw_a":0.419119835,"cg_theta_rad":1.3494029,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0343191437,"mpcc_du":45.3770714,"mpcc_dv":54.6229286,"mpcc_dw":49.0350952,"mpcc_enc_sign":1,"mpcc_id_a":-1.1069603,"mpcc_iq_a":-3.96414137,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-29.1037846,"mpcc_pred_id_a":-0.485871732,"mpcc_pred_iq_a":-4.44877005,"mpcc_state":1,"mpcc_theta_e":4.11580706,"mpcc_theta_mech":1.29010737,"sam_rpm":-60.6027832,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022073701,"thr_a_norm":0.022073701,"thr_a_v":0.588294804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478823543,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.16094,"values":{"cg_iu_a":-1.64264083,"cg_iv_a":3.61561441,"cg_iw_a":-1.97297359,"cg_theta_rad":1.14778531,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0182100907,"mpcc_du":49.6521072,"mpcc_dv":54.335247,"mpcc_dw":45.664753,"mpcc_enc_sign":1,"mpcc_id_a":-0.853111982,"mpcc_iq_a":-4.93948507,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-34.3401756,"mpcc_pred_id_a":-0.996425986,"mpcc_pred_iq_a":-6.84360409,"mpcc_state":1,"mpcc_theta_e":3.20628786,"mpcc_theta_mech":1.10820353,"sam_rpm":-69.0006943,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022073701,"thr_a_norm":0.022073701,"thr_a_v":0.588294804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478823543,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.169607,"values":{"cg_iu_a":2.77910662,"cg_iv_a":2.31083679,"cg_iw_a":-5.08994341,"cg_theta_rad":0.981431186,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0195418969,"mpcc_du":53.1539803,"mpcc_dv":51.5001373,"mpcc_dw":46.8460197,"mpcc_enc_sign":1,"mpcc_id_a":0.790107906,"mpcc_iq_a":-4.81811857,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-37.8591537,"mpcc_pred_id_a":-0.755087852,"mpcc_pred_iq_a":-11.6068201,"mpcc_state":1,"mpcc_theta_e":2.39146566,"mpcc_theta_mech":0.945238948,"sam_rpm":-74.8388138,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228919685,"thr_a_norm":0.0228919685,"thr_a_v":0.591567874,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485671788,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.179129,"values":{"cg_iu_a":7.05587959,"cg_iv_a":-1.31354666,"cg_iw_a":-2.77033854,"cg_theta_rad":0.827219367,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.011407611,"mpcc_du":53.5565681,"mpcc_dv":46.4434319,"mpcc_dw":47.0296211,"mpcc_enc_sign":1,"mpcc_id_a":1.97312319,"mpcc_iq_a":-8.3184309,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-37.475441,"mpcc_pred_id_a":0.794932127,"mpcc_pred_iq_a":-8.67616177,"mpcc_state":1,"mpcc_theta_e":1.58566713,"mpcc_theta_mech":0.784079313,"sam_rpm":-73.1153336,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228919685,"thr_a_norm":0.0228919685,"thr_a_v":0.591567874,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485671788,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.190329,"values":{"cg_iu_a":5.09871197,"cg_iv_a":-3.56066442,"cg_iw_a":-1.53804755,"cg_theta_rad":0.619778872,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0900517255,"mpcc_du":53.5768433,"mpcc_dv":46.0473328,"mpcc_dw":53.9526672,"mpcc_enc_sign":1,"mpcc_id_a":3.56175876,"mpcc_iq_a":-2.66941357,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-45.478756,"mpcc_pred_id_a":1.07342756,"mpcc_pred_iq_a":-8.7097702,"mpcc_state":1,"mpcc_theta_e":0.597043037,"mpcc_theta_mech":0.586354554,"sam_rpm":-86.1542511,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260895044,"thr_a_norm":0.0260895044,"thr_a_v":0.604358017,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491865426,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.200949,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-5.59031916,"cg_iw_a":4.40594101,"cg_theta_rad":0.447623819,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.00902560726,"mpcc_du":46.8805199,"mpcc_dv":45.8558731,"mpcc_dw":54.1441269,"mpcc_enc_sign":1,"mpcc_id_a":1.72253478,"mpcc_iq_a":-8.30194569,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-39.319313,"mpcc_pred_id_a":0.804532051,"mpcc_pred_iq_a":-7.03745413,"mpcc_state":1,"mpcc_theta_e":5.99591351,"mpcc_theta_mech":0.409491539,"sam_rpm":-75.1212463,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023030445,"thr_a_norm":0.0260895044,"thr_a_v":0.59212178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49156329,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.211966,"values":{"cg_iu_a":-2.58498049,"cg_iv_a":-0.588670254,"cg_iw_a":3.17365074,"cg_theta_rad":0.273716331,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0473800749,"mpcc_du":43.8398895,"mpcc_dv":52.7796593,"mpcc_dw":56.1601105,"mpcc_enc_sign":1,"mpcc_id_a":0.713443816,"mpcc_iq_a":-3.20546556,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-54.9865379,"mpcc_pred_id_a":-0.232432842,"mpcc_pred_iq_a":-3.94377112,"mpcc_state":1,"mpcc_theta_e":5.04173279,"mpcc_theta_mech":0.218655393,"sam_rpm":-99.3708191,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023030445,"thr_a_norm":0.023030445,"thr_a_v":0.59212178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49156329,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.223562,"values":{"cg_iu_a":-3.7447834,"cg_iv_a":4.26800394,"cg_iw_a":-0.523220539,"cg_theta_rad":0.0550916307,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.00417973567,"mpcc_du":45.9948502,"mpcc_dv":54.0051498,"mpcc_dw":48.7021751,"mpcc_enc_sign":1,"mpcc_id_a":-0.150407806,"mpcc_iq_a":-8.78423977,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-35.7851143,"mpcc_pred_id_a":-0.858596563,"mpcc_pred_iq_a":-8.36230469,"mpcc_state":1,"mpcc_theta_e":4.05502558,"mpcc_theta_mech":0.0213139895,"sam_rpm":-71.1072693,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020487532,"thr_a_norm":0.020487532,"thr_a_v":0.581950128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452840477,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.24642,"values":{"cg_iu_a":-4.1072216,"cg_iv_a":6.51512098,"cg_iw_a":-3.71267748,"cg_theta_rad":6.19258261,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0054235924,"mpcc_du":53.2914886,"mpcc_dv":54.442318,"mpcc_dw":45.557682,"mpcc_enc_sign":1,"mpcc_id_a":-0.672497809,"mpcc_iq_a":-7.84260798,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-39.0491638,"mpcc_pred_id_a":-0.721388161,"mpcc_pred_iq_a":-11.0072441,"mpcc_state":1,"mpcc_theta_e":2.78625154,"mpcc_theta_mech":6.05008602,"sam_rpm":-83.7283478,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0965609998,"thr_a_norm":0.020487532,"thr_a_v":0.886243999,"thr_b":0.0360974967,"thr_b_norm":0,"thr_b_v":0.644389987,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.252859,"values":{"cg_iu_a":4.15637207,"cg_iv_a":1.36849689,"cg_iw_a":-4.72750521,"cg_theta_rad":5.97324038,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0107544437,"mpcc_du":55.4652977,"mpcc_dv":50.4578438,"mpcc_dw":44.5347023,"mpcc_enc_sign":1,"mpcc_id_a":1.22364998,"mpcc_iq_a":-5.80805206,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-46.7496109,"mpcc_pred_id_a":0.102734379,"mpcc_pred_iq_a":-9.77262402,"mpcc_state":1,"mpcc_theta_e":2.20830965,"mpcc_theta_mech":5.93515587,"sam_rpm":-92.4499817,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0965609998,"thr_a_norm":0.0965609998,"thr_a_v":0.886243999,"thr_b":0.0360974967,"thr_b_norm":0.0360974967,"thr_b_v":0.644389987,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.25942,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-1.45852208,"cg_iw_a":-4.6550169,"cg_theta_rad":5.79928207,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0470650308,"mpcc_du":54.864048,"mpcc_dv":45.135952,"mpcc_dw":48.470871,"mpcc_enc_sign":1,"mpcc_id_a":2.04753494,"mpcc_iq_a":-3.67460942,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-43.1092911,"mpcc_pred_id_a":0.812608302,"mpcc_pred_iq_a":-6.13997459,"mpcc_state":1,"mpcc_theta_e":1.30453157,"mpcc_theta_mech":5.75440073,"sam_rpm":-82.1607819,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0111718923,"thr_a_norm":0.0111718923,"thr_a_v":0.544687569,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.421066612,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.267202,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-4.21305323,"cg_iw_a":1.36145878,"cg_theta_rad":5.58890533,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.026800409,"mpcc_du":51.2810822,"mpcc_dv":44.8123665,"mpcc_dw":55.1876335,"mpcc_enc_sign":1,"mpcc_id_a":1.63950109,"mpcc_iq_a":-4.6658864,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-50.7466431,"mpcc_pred_id_a":0.756439745,"mpcc_pred_iq_a":-7.00732088,"mpcc_state":1,"mpcc_theta_e":0.241211414,"mpcc_theta_mech":5.5417366,"sam_rpm":-94.4298019,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02542229,"thr_a_norm":0.0111718923,"thr_a_v":0.60168916,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491664022,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.278738,"values":{"cg_iu_a":-1.64264083,"cg_iv_a":-2.54583716,"cg_iw_a":2.23131084,"cg_theta_rad":5.3824172,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.05509286,"mpcc_du":45.4969902,"mpcc_dv":48.4203873,"mpcc_dw":54.5030098,"mpcc_enc_sign":1,"mpcc_id_a":1.23303366,"mpcc_iq_a":-2.97045565,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-39.0178757,"mpcc_pred_id_a":-0.148807615,"mpcc_pred_iq_a":-7.03728533,"mpcc_state":1,"mpcc_theta_e":5.52898598,"mpcc_theta_mech":5.34265423,"sam_rpm":-77.3950272,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02542229,"thr_a_norm":0.02542229,"thr_a_v":0.60168916,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491664022,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.288534,"values":{"cg_iu_a":-5.70195007,"cg_iv_a":-0.0087685585,"cg_iw_a":3.82603955,"cg_theta_rad":5.21063709,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0175821036,"mpcc_du":45.9512558,"mpcc_dv":54.0487442,"mpcc_dw":52.7063141,"mpcc_enc_sign":1,"mpcc_id_a":1.79119909,"mpcc_iq_a":-5.54438066,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-38.8493958,"mpcc_pred_id_a":0.075563319,"mpcc_pred_iq_a":-7.92278767,"mpcc_state":1,"mpcc_theta_e":4.66073799,"mpcc_theta_mech":5.16900492,"sam_rpm":-76.2062836,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236346871,"thr_a_norm":0.0236346871,"thr_a_v":0.594538748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.29833,"values":{"cg_iu_a":-3.52732038,"cg_iv_a":4.77541685,"cg_iw_a":-2.3354125,"cg_theta_rad":5.03635836,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0290485006,"mpcc_du":46.0188484,"mpcc_dv":53.9811516,"mpcc_dw":46.0621872,"mpcc_enc_sign":1,"mpcc_id_a":2.84961081,"mpcc_iq_a":-9.37059307,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-47.3321037,"mpcc_pred_id_a":0.78389442,"mpcc_pred_iq_a":-8.97811222,"mpcc_state":1,"mpcc_theta_e":3.78070641,"mpcc_theta_mech":4.9929986,"sam_rpm":-88.6853027,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236346871,"thr_a_norm":0.0236346871,"thr_a_v":0.594538748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.310965,"values":{"cg_iu_a":-0.410350561,"cg_iv_a":3.90556574,"cg_iw_a":-4.87248087,"cg_theta_rad":4.83336973,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0154757276,"mpcc_du":55.0580025,"mpcc_dv":54.6520195,"mpcc_dw":44.9419975,"mpcc_enc_sign":1,"mpcc_id_a":0.24591963,"mpcc_iq_a":-5.02415371,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-50.7427139,"mpcc_pred_id_a":0.104905784,"mpcc_pred_iq_a":-5.61313486,"mpcc_state":1,"mpcc_theta_e":2.64019775,"mpcc_theta_mech":4.76489687,"sam_rpm":-95.6095428,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250572115,"thr_a_norm":0.0250572115,"thr_a_v":0.600228846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483808637,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.321249,"values":{"cg_iu_a":5.60612583,"cg_iv_a":-0.298719406,"cg_iw_a":-5.30740643,"cg_theta_rad":4.63880587,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.00829655398,"mpcc_du":54.3628044,"mpcc_dv":46.3647003,"mpcc_dw":45.6371956,"mpcc_enc_sign":1,"mpcc_id_a":1.64907622,"mpcc_iq_a":-8.27406025,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-51.3163567,"mpcc_pred_id_a":0.42021805,"mpcc_pred_iq_a":-8.78606129,"mpcc_state":1,"mpcc_theta_e":1.72391701,"mpcc_theta_mech":4.58164072,"sam_rpm":-94.9575348,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0231940895,"thr_a_norm":0.0250572115,"thr_a_v":0.592776358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493476748,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.344046,"values":{"cg_iu_a":3.8664217,"cg_iv_a":-4.43051624,"cg_iw_a":-1.82799816,"cg_theta_rad":4.45075941,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0155145535,"mpcc_du":51.8581314,"mpcc_dv":46.5221329,"mpcc_dw":53.4778671,"mpcc_enc_sign":1,"mpcc_id_a":2.48961663,"mpcc_iq_a":-7.58735418,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-36.4174423,"mpcc_pred_id_a":0.828841984,"mpcc_pred_iq_a":-7.04793739,"mpcc_state":1,"mpcc_theta_e":0.399326324,"mpcc_theta_mech":4.31672239,"sam_rpm":-72.969574,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0231940895,"thr_a_norm":0.0231940895,"thr_a_v":0.592776358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493476748,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.350576,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-5.59031916,"cg_iw_a":4.04350281,"cg_theta_rad":4.2746191,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.00913449004,"mpcc_du":49.3404465,"mpcc_dv":46.1972961,"mpcc_dw":53.8027039,"mpcc_enc_sign":1,"mpcc_id_a":0.420417339,"mpcc_iq_a":-5.63531637,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-32.4901161,"mpcc_pred_id_a":-0.322760999,"mpcc_pred_iq_a":-8.37872314,"mpcc_state":1,"mpcc_theta_e":6.25156355,"mpcc_theta_mech":4.23053265,"sam_rpm":-67.2443466,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259887725,"thr_a_norm":0.0231940895,"thr_a_v":0.60395509,"thr_b":0.000823989511,"thr_b_norm":0,"thr_b_v":0.503295958,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.357168,"values":{"cg_iu_a":-2.5124929,"cg_iv_a":-2.25588632,"cg_iw_a":6.50808334,"cg_theta_rad":4.05654192,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0156582203,"mpcc_du":46.4389992,"mpcc_dv":51.0064545,"mpcc_dw":53.455452,"mpcc_enc_sign":1,"mpcc_id_a":0.104743347,"mpcc_iq_a":-4.99953651,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-24.564249,"mpcc_pred_id_a":-0.278675139,"mpcc_pred_iq_a":-7.4567008,"mpcc_state":1,"mpcc_theta_e":5.18779898,"mpcc_theta_mech":4.01777983,"sam_rpm":-55.4407654,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259887725,"thr_a_norm":0.0259887725,"thr_a_v":0.60395509,"thr_b":0.000823989511,"thr_b_norm":0.000823989511,"thr_b_v":0.503295958,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.363638,"values":{"cg_iu_a":-5.91941357,"cg_iv_a":2.23834896,"cg_iw_a":3.68106461,"cg_theta_rad":3.8770349,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0257748943,"mpcc_du":45.9025536,"mpcc_dv":54.0974464,"mpcc_dw":49.6858253,"mpcc_enc_sign":1,"mpcc_id_a":2.93717027,"mpcc_iq_a":-6.20269966,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-42.3314018,"mpcc_pred_id_a":0.408537894,"mpcc_pred_iq_a":-9.81195164,"mpcc_state":1,"mpcc_theta_e":4.25125265,"mpcc_theta_mech":3.83047056,"sam_rpm":-83.5567627,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208525956,"thr_a_norm":0.0208525956,"thr_a_v":0.583410382,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462206423,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.372122,"values":{"cg_iu_a":-3.7447834,"cg_iv_a":3.76059008,"cg_iw_a":-0.015806675,"cg_theta_rad":3.6979599,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.00667868787,"mpcc_du":48.9691467,"mpcc_dv":54.8319435,"mpcc_dw":45.1680565,"mpcc_enc_sign":1,"mpcc_id_a":-0.593818545,"mpcc_iq_a":-5.97722149,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-36.6993027,"mpcc_pred_id_a":-0.350893378,"mpcc_pred_iq_a":-6.35773706,"mpcc_state":1,"mpcc_theta_e":3.38180685,"mpcc_theta_mech":3.65658164,"sam_rpm":-73.9330978,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208525956,"thr_a_norm":0.0208525956,"thr_a_v":0.583410382,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462206423,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.384237,"values":{"cg_iu_a":4.2288599,"cg_iv_a":1.58595991,"cg_iw_a":-1.61053514,"cg_theta_rad":3.47321844,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.028347617,"mpcc_du":56.5323143,"mpcc_dv":51.121376,"mpcc_dw":43.4676857,"mpcc_enc_sign":1,"mpcc_id_a":-0.075986661,"mpcc_iq_a":-4.13256025,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-50.946331,"mpcc_pred_id_a":-0.415414989,"mpcc_pred_iq_a":-9.41897392,"mpcc_state":1,"mpcc_theta_e":2.26913404,"mpcc_theta_mech":3.43404675,"sam_rpm":-110.825981,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215072036,"thr_a_norm":0.0215072036,"thr_a_v":0.586028814,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480938405,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.395956,"values":{"cg_iu_a":6.62095356,"cg_iv_a":-2.69081235,"cg_iw_a":-3.42272735,"cg_theta_rad":3.25403976,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.00383096677,"mpcc_du":54.1706009,"mpcc_dv":45.8293991,"mpcc_dw":49.598465,"mpcc_enc_sign":1,"mpcc_id_a":0.824490488,"mpcc_iq_a":-8.42336464,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-41.2128067,"mpcc_pred_id_a":-0.545944273,"mpcc_pred_iq_a":-8.99179268,"mpcc_state":1,"mpcc_theta_e":1.1673255,"mpcc_theta_mech":3.21368527,"sam_rpm":-79.3637085,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211169571,"thr_a_norm":0.0211169571,"thr_a_v":0.584467828,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472881675,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.406546,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-7.47499847,"cg_iw_a":5.63823128,"cg_theta_rad":3.05078363,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0182470866,"mpcc_du":51.1134071,"mpcc_dv":44.5882454,"mpcc_dw":55.4117546,"mpcc_enc_sign":1,"mpcc_id_a":-0.152558476,"mpcc_iq_a":-4.80267525,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-48.390625,"mpcc_pred_id_a":-0.602363944,"mpcc_pred_iq_a":-6.17158508,"mpcc_state":1,"mpcc_theta_e":0.157887936,"mpcc_theta_mech":3.01179767,"sam_rpm":-92.9787903,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211169571,"thr_a_norm":0.0211169571,"thr_a_v":0.584467828,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472881675,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.417959,"values":{"cg_iu_a":-2.94741893,"cg_iv_a":-3.56066442,"cg_iw_a":6.50808334,"cg_theta_rad":2.83954787,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0493135303,"mpcc_du":45.9513588,"mpcc_dv":49.473999,"mpcc_dw":54.0486412,"mpcc_enc_sign":1,"mpcc_id_a":1.34999967,"mpcc_iq_a":-3.26881647,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-33.5929222,"mpcc_pred_id_a":-0.0459506325,"mpcc_pred_iq_a":-7.76273489,"mpcc_state":1,"mpcc_theta_e":5.38520718,"mpcc_theta_mech":2.80062437,"sam_rpm":-69.898941,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281036794,"thr_a_norm":0.0281036794,"thr_a_v":0.612414718,"thr_b":0.000471502542,"thr_b_norm":0.000471502542,"thr_b_v":0.50188601,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.42919,"values":{"cg_iu_a":-5.48448753,"cg_iv_a":1.36849689,"cg_iw_a":4.11599064,"cg_theta_rad":2.66719389,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0512145385,"mpcc_du":44.8425674,"mpcc_dv":55.1574326,"mpcc_dw":50.6479797,"mpcc_enc_sign":1,"mpcc_id_a":2.364676,"mpcc_iq_a":-3.64070964,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-45.9959412,"mpcc_pred_id_a":0.283300042,"mpcc_pred_iq_a":-6.51426125,"mpcc_state":1,"mpcc_theta_e":4.33925724,"mpcc_theta_mech":2.59143424,"sam_rpm":-89.1705856,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294758528,"thr_a_norm":0.0281036794,"thr_a_v":0.617903411,"thr_b":0.00485236943,"thr_b_norm":0.000471502542,"thr_b_v":0.519409478,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.453543,"values":{"cg_iu_a":-3.96224618,"cg_iv_a":5.79024458,"cg_iw_a":-1.8279984,"cg_theta_rad":2.40952229,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0154167339,"mpcc_du":54.6717339,"mpcc_dv":55.2791557,"mpcc_dw":44.7208443,"mpcc_enc_sign":1,"mpcc_id_a":1.66586602,"mpcc_iq_a":-9.34162521,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-60.783474,"mpcc_pred_id_a":0.826631367,"mpcc_pred_iq_a":-7.41033125,"mpcc_state":1,"mpcc_theta_e":2.76253033,"mpcc_theta_mech":2.27608919,"sam_rpm":-111.51815,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294758528,"thr_a_norm":0.0294758528,"thr_a_v":0.617903411,"thr_b":0.00485236943,"thr_b_norm":0.00485236943,"thr_b_v":0.519409478,"vdc_v":54.6292953}} +{"type":"telemetry","t":4.460073,"values":{"cg_iu_a":4.08388519,"cg_iv_a":1.36849689,"cg_iw_a":-4.00262833,"cg_theta_rad":2.18053126,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0700085983,"mpcc_du":55.4669533,"mpcc_dv":49.0485916,"mpcc_dw":44.5330467,"mpcc_enc_sign":1,"mpcc_id_a":-0.33464998,"mpcc_iq_a":-2.21876431,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-55.2887421,"mpcc_pred_id_a":-0.69430685,"mpcc_pred_iq_a":-7.29410315,"mpcc_state":1,"mpcc_theta_e":2.0450449,"mpcc_theta_mech":2.13259196,"sam_rpm":-102.120529,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297905654,"thr_a_norm":0.0297905654,"thr_a_v":0.619162261,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465076655,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.466635,"values":{"cg_iu_a":5.8960762,"cg_iv_a":-3.41568899,"cg_iw_a":-2.48038721,"cg_theta_rad":1.99197793,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0143208876,"mpcc_du":54.3530769,"mpcc_dv":45.6469231,"mpcc_dw":49.808815,"mpcc_enc_sign":1,"mpcc_id_a":0.106030107,"mpcc_iq_a":-5.10895157,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-51.9741707,"mpcc_pred_id_a":-0.671535015,"mpcc_pred_iq_a":-9.04909611,"mpcc_state":1,"mpcc_theta_e":1.12901688,"mpcc_theta_mech":1.94938648,"sam_rpm":-81.3176041,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297905654,"thr_a_norm":0.0297905654,"thr_a_v":0.619162261,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465076655,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.473135,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-6.02524519,"cg_iw_a":3.60857677,"cg_theta_rad":1.80809283,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.01244146,"mpcc_du":50.9225502,"mpcc_dv":45.8706207,"mpcc_dw":54.1293793,"mpcc_enc_sign":1,"mpcc_id_a":1.21521235,"mpcc_iq_a":-5.62921333,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-29.7425442,"mpcc_pred_id_a":0.181581572,"mpcc_pred_iq_a":-6.7098279,"mpcc_state":1,"mpcc_theta_e":0.22043705,"mpcc_theta_mech":1.76767051,"sam_rpm":-65.4809341,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025497824,"thr_a_norm":0.025497824,"thr_a_v":0.601991296,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494282424,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.484579,"values":{"cg_iu_a":-0.265375137,"cg_iv_a":-2.25588632,"cg_iw_a":3.82603955,"cg_theta_rad":1.57753456,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.127337366,"mpcc_du":45.0723534,"mpcc_dv":49.9563751,"mpcc_dw":54.9276466,"mpcc_enc_sign":1,"mpcc_id_a":0.204993963,"mpcc_iq_a":-0.366072267,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-44.3244743,"mpcc_pred_id_a":-0.742004335,"mpcc_pred_iq_a":-7.0961957,"mpcc_state":1,"mpcc_theta_e":5.295012,"mpcc_theta_mech":1.52594829,"sam_rpm":-86.5565872,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024339661,"thr_a_norm":0.025497824,"thr_a_v":0.597358644,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.494131,"values":{"cg_iu_a":-4.32468462,"cg_iv_a":1.80342293,"cg_iw_a":3.39111376,"cg_theta_rad":1.38930237,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0264361855,"mpcc_du":43.9871559,"mpcc_dv":56.0128441,"mpcc_dw":50.7672081,"mpcc_enc_sign":1,"mpcc_id_a":1.29997647,"mpcc_iq_a":-4.51930618,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-62.2318993,"mpcc_pred_id_a":0.774753928,"mpcc_pred_iq_a":-6.98540497,"mpcc_state":1,"mpcc_theta_e":4.39093065,"mpcc_theta_mech":1.34513211,"sam_rpm":-111.977234,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024339661,"thr_a_norm":0.024339661,"thr_a_v":0.597358644,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.506155,"values":{"cg_iu_a":-1.57015324,"cg_iv_a":2.67327499,"cg_iw_a":-2.48038745,"cg_theta_rad":1.15460992,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0321924202,"mpcc_du":49.5626678,"mpcc_dv":55.1981926,"mpcc_dw":44.8018074,"mpcc_enc_sign":1,"mpcc_id_a":-0.533347368,"mpcc_iq_a":-3.95140743,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-47.769001,"mpcc_pred_id_a":-1.13856423,"mpcc_pred_iq_a":-6.90436029,"mpcc_state":1,"mpcc_theta_e":3.2150178,"mpcc_theta_mech":1.10994947,"sam_rpm":-92.1251984,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0134630352,"thr_a_norm":0.0134630352,"thr_a_v":0.553852141,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470212847,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.517141,"values":{"cg_iu_a":3.57647133,"cg_iv_a":2.23834896,"cg_iw_a":-4.29257917,"cg_theta_rad":0.967502356,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.00482295081,"mpcc_du":55.6871185,"mpcc_dv":49.9069214,"mpcc_dw":44.3128815,"mpcc_enc_sign":1,"mpcc_id_a":-0.225052431,"mpcc_iq_a":-6.12940454,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-62.900013,"mpcc_pred_id_a":-0.201464504,"mpcc_pred_iq_a":-8.26719856,"mpcc_state":1,"mpcc_theta_e":2.12966585,"mpcc_theta_mech":0.892879128,"sam_rpm":-113.982796,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0134630352,"thr_a_v":0.618709087,"thr_b":0.00653925538,"thr_b_norm":0,"thr_b_v":0.526157022,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.527945,"values":{"cg_iu_a":6.76592827,"cg_iv_a":-2.90827537,"cg_iw_a":-3.71267819,"cg_theta_rad":0.731419325,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0193062723,"mpcc_du":54.2220421,"mpcc_dv":45.7779579,"mpcc_dw":50.3018723,"mpcc_enc_sign":1,"mpcc_id_a":1.79837704,"mpcc_iq_a":-5.38142776,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-41.1210861,"mpcc_pred_id_a":0.22792393,"mpcc_pred_iq_a":-8.82410431,"mpcc_state":1,"mpcc_theta_e":1.09348631,"mpcc_theta_mech":0.685643137,"sam_rpm":-82.4792557,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00653925538,"thr_b_norm":0.00653925538,"thr_b_v":0.526157022,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.551565,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-5.08290529,"cg_iw_a":3.89852715,"cg_theta_rad":0.498376846,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0781268999,"mpcc_du":45.0509224,"mpcc_dv":44.9427605,"mpcc_dw":55.0572395,"mpcc_enc_sign":1,"mpcc_id_a":2.22036743,"mpcc_iq_a":-2.36962676,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-45.937439,"mpcc_pred_id_a":0.59871918,"mpcc_pred_iq_a":-3.72101712,"mpcc_state":1,"mpcc_theta_e":5.87976551,"mpcc_theta_mech":0.38626191,"sam_rpm":-105.137474,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.0264545679,"thr_a_v":0.605818272,"thr_b":0.00442434847,"thr_b_norm":0.00442434847,"thr_b_v":0.517697394,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.558126,"values":{"cg_iu_a":-4.32468462,"cg_iv_a":-0.371207237,"cg_iw_a":4.69589186,"cg_theta_rad":0.27401036,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0207131151,"mpcc_du":44.9225006,"mpcc_dv":52.3064804,"mpcc_dw":55.0774994,"mpcc_enc_sign":1,"mpcc_id_a":1.16852915,"mpcc_iq_a":-4.86945152,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-48.7504616,"mpcc_pred_id_a":-0.298714638,"mpcc_pred_iq_a":-7.11095333,"mpcc_state":1,"mpcc_theta_e":5.0601573,"mpcc_theta_mech":0.222340301,"sam_rpm":-93.8644257,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163962096,"thr_a_norm":0.0264545679,"thr_a_v":0.565584838,"thr_b":0,"thr_b_norm":0.00442434847,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.564596,"values":{"cg_iu_a":-2.72995591,"cg_iv_a":5.21034288,"cg_iw_a":-2.48038697,"cg_theta_rad":0.0678234026,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0124747632,"mpcc_du":45.6393852,"mpcc_dv":54.3606148,"mpcc_dw":49.0377998,"mpcc_enc_sign":1,"mpcc_id_a":-1.00356209,"mpcc_iq_a":-5.50431252,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-45.1412773,"mpcc_pred_id_a":-1.70003057,"mpcc_pred_iq_a":-9.56147861,"mpcc_state":1,"mpcc_theta_e":4.09065247,"mpcc_theta_mech":0.0284393448,"sam_rpm":-88.4008026,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163962096,"thr_a_norm":0.0163962096,"thr_a_v":0.565584838,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.572531,"values":{"cg_iu_a":1.47432899,"cg_iv_a":3.18068886,"cg_iw_a":-4.65501785,"cg_theta_rad":6.12874985,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.00653317943,"mpcc_du":52.3252907,"mpcc_dv":55.6431122,"mpcc_dw":44.3568878,"mpcc_enc_sign":1,"mpcc_id_a":0.211210594,"mpcc_iq_a":-5.89729548,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-57.4223862,"mpcc_pred_id_a":-0.565316975,"mpcc_pred_iq_a":-6.9620719,"mpcc_state":1,"mpcc_theta_e":2.94119692,"mpcc_theta_mech":6.08173323,"sam_rpm":-106.938614,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0279652029,"thr_a_norm":0.0279652029,"thr_a_v":0.611860812,"thr_b":0.00334171951,"thr_b_norm":0.00334171951,"thr_b_v":0.513366878,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.585958,"values":{"cg_iu_a":5.38866234,"cg_iv_a":0.353669643,"cg_iw_a":-5.74233198,"cg_theta_rad":5.90076494,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0282861106,"mpcc_du":55.4221191,"mpcc_dv":44.5778809,"mpcc_dw":44.8416519,"mpcc_enc_sign":1,"mpcc_id_a":1.3979063,"mpcc_iq_a":-4.44053888,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-59.0753822,"mpcc_pred_id_a":0.752845883,"mpcc_pred_iq_a":-5.50991344,"mpcc_state":1,"mpcc_theta_e":1.61537218,"mpcc_theta_mech":5.81656837,"sam_rpm":-109.347382,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0279652029,"thr_a_v":0.618709087,"thr_b":0.00773517787,"thr_b_norm":0.00334171951,"thr_b_v":0.530940711,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.596518,"values":{"cg_iu_a":4.8087616,"cg_iv_a":-2.83578777,"cg_iw_a":-2.19043636,"cg_theta_rad":5.641047,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0556052327,"mpcc_du":53.2778358,"mpcc_dv":45.5017586,"mpcc_dw":54.4982414,"mpcc_enc_sign":1,"mpcc_id_a":4.24647474,"mpcc_iq_a":-5.44828272,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-43.6142998,"mpcc_pred_id_a":1.30132616,"mpcc_pred_iq_a":-6.93471718,"mpcc_state":1,"mpcc_theta_e":0.524290562,"mpcc_theta_mech":5.59835243,"sam_rpm":-86.218689,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00773517787,"thr_b_norm":0.00773517787,"thr_b_v":0.530940711,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.608358,"values":{"cg_iu_a":-0.845276594,"cg_iv_a":-3.70563984,"cg_iw_a":3.17365074,"cg_theta_rad":5.41475248,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0481634736,"mpcc_du":45.5496178,"mpcc_dv":47.5562859,"mpcc_dw":54.4503822,"mpcc_enc_sign":1,"mpcc_id_a":2.19188237,"mpcc_iq_a":-3.62524343,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-43.8897247,"mpcc_pred_id_a":0.466429293,"mpcc_pred_iq_a":-5.71649694,"mpcc_state":1,"mpcc_theta_e":5.65954018,"mpcc_theta_mech":5.36876535,"sam_rpm":-81.8299103,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275875479,"thr_a_norm":0.0275875479,"thr_a_v":0.610350192,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493728518,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.620504,"values":{"cg_iu_a":-4.32468462,"cg_iv_a":1.07854605,"cg_iw_a":3.24613857,"cg_theta_rad":5.16776609,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0293141846,"mpcc_du":45.1357574,"mpcc_dv":54.8642426,"mpcc_dw":51.4270782,"mpcc_enc_sign":1,"mpcc_id_a":-1.58648157,"mpcc_iq_a":-4.46540785,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-44.4322357,"mpcc_pred_id_a":-0.998601317,"mpcc_pred_iq_a":-7.17360115,"mpcc_state":1,"mpcc_theta_e":4.41952705,"mpcc_theta_mech":5.12076283,"sam_rpm":-87.3185806,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211924911,"thr_a_norm":0.0211924911,"thr_a_v":0.584769964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470615685,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.632345,"values":{"cg_iu_a":-2.5124929,"cg_iv_a":4.63044214,"cg_iw_a":-2.11794925,"cg_theta_rad":4.92617989,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0317905769,"mpcc_du":50.1717911,"mpcc_dv":55.989315,"mpcc_dw":44.010685,"mpcc_enc_sign":1,"mpcc_id_a":-1.24388969,"mpcc_iq_a":-4.15799904,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-55.7200508,"mpcc_pred_id_a":-0.795987785,"mpcc_pred_iq_a":-6.50073433,"mpcc_state":1,"mpcc_theta_e":3.20760155,"mpcc_theta_mech":4.87837744,"sam_rpm":-106.393852,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211924911,"thr_a_norm":0.0211924911,"thr_a_v":0.584769964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470615685,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.655935,"values":{"cg_iu_a":4.51881123,"cg_iv_a":1.07854605,"cg_iw_a":-5.59735727,"cg_theta_rad":4.70077848,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.046056021,"mpcc_du":54.5113411,"mpcc_dv":45.4886589,"mpcc_dw":45.9662285,"mpcc_enc_sign":1,"mpcc_id_a":-0.194702163,"mpcc_iq_a":-3.21228528,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-59.1711884,"mpcc_pred_id_a":-0.583309174,"mpcc_pred_iq_a":-9.80270004,"mpcc_state":1,"mpcc_theta_e":1.58055687,"mpcc_theta_mech":4.5529685,"sam_rpm":-109.682259,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219100416,"thr_a_norm":0.0219100416,"thr_a_v":0.587640166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484161109,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.662497,"values":{"cg_iu_a":5.60612583,"cg_iv_a":-2.18339872,"cg_iw_a":-4.00262833,"cg_theta_rad":4.5040679,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.00277644745,"mpcc_du":53.697052,"mpcc_dv":46.302948,"mpcc_dw":50.5634384,"mpcc_enc_sign":1,"mpcc_id_a":0.180681318,"mpcc_iq_a":-6.46176434,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-41.4295464,"mpcc_pred_id_a":-0.854032457,"mpcc_pred_iq_a":-10.9808617,"mpcc_state":1,"mpcc_theta_e":1.02168846,"mpcc_theta_mech":4.44370699,"sam_rpm":-83.5114822,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295010358,"thr_a_norm":0.0219100416,"thr_a_v":0.618004143,"thr_b":0.00334171951,"thr_b_norm":0,"thr_b_v":0.513366878,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.668997,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-4.35802889,"cg_iw_a":2.88369989,"cg_theta_rad":4.26004934,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.00106421346,"mpcc_du":48.0049324,"mpcc_dv":44.5464058,"mpcc_dw":55.4535942,"mpcc_enc_sign":1,"mpcc_id_a":0.0149003332,"mpcc_iq_a":-6.84772444,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-59.1627197,"mpcc_pred_id_a":-0.283402771,"mpcc_pred_iq_a":-7.91556692,"mpcc_state":1,"mpcc_theta_e":6.13589048,"mpcc_theta_mech":4.20739841,"sam_rpm":-109.345299,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295010358,"thr_a_norm":0.0295010358,"thr_a_v":0.618004143,"thr_b":0.00334171951,"thr_b_norm":0.00334171951,"thr_b_v":0.513366878,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.675528,"values":{"cg_iu_a":-0.772789001,"cg_iv_a":-1.6759851,"cg_iw_a":2.4487741,"cg_theta_rad":4.05307913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.00275474577,"mpcc_du":45.1744385,"mpcc_dv":51.7591133,"mpcc_dw":54.8255615,"mpcc_enc_sign":1,"mpcc_id_a":0.3289648,"mpcc_iq_a":-6.50316477,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-39.0811005,"mpcc_pred_id_a":-0.337601572,"mpcc_pred_iq_a":-8.21671486,"mpcc_state":1,"mpcc_theta_e":5.14224958,"mpcc_theta_mech":4.00866985,"sam_rpm":-101.429306,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259887725,"thr_a_norm":0.0259887725,"thr_a_v":0.60395509,"thr_b":0.000358209014,"thr_b_norm":0.000358209014,"thr_b_v":0.501432836,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.684561,"values":{"cg_iu_a":-6.78926563,"cg_iv_a":2.52829981,"cg_iw_a":1.65140963,"cg_theta_rad":3.84880757,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0130689796,"mpcc_du":44.0574226,"mpcc_dv":55.9425774,"mpcc_dw":48.1945038,"mpcc_enc_sign":1,"mpcc_id_a":1.51131928,"mpcc_iq_a":-5.78433514,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-54.1901131,"mpcc_pred_id_a":0.346542627,"mpcc_pred_iq_a":-7.1945014,"mpcc_state":1,"mpcc_theta_e":4.11342573,"mpcc_theta_mech":3.80290508,"sam_rpm":-95.1267319,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259887725,"thr_a_norm":0.0259887725,"thr_a_v":0.60395509,"thr_b":0.000358209014,"thr_b_norm":0.000358209014,"thr_b_v":0.501432836,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.69454,"values":{"cg_iu_a":-0.917764187,"cg_iv_a":4.48546648,"cg_iw_a":-3.56770229,"cg_theta_rad":3.64694905,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0241780691,"mpcc_du":52.2665367,"mpcc_dv":57.47192,"mpcc_dw":42.52808,"mpcc_enc_sign":1,"mpcc_id_a":1.78755033,"mpcc_iq_a":-4.95522261,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-69.2290955,"mpcc_pred_id_a":0.62542963,"mpcc_pred_iq_a":-3.01917434,"mpcc_state":1,"mpcc_theta_e":3.04086447,"mpcc_theta_mech":3.58839297,"sam_rpm":-125.317978,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451329827,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.70635,"values":{"cg_iu_a":1.69179153,"cg_iv_a":0.57113266,"cg_iw_a":-5.23491859,"cg_theta_rad":3.40814185,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0473687798,"mpcc_du":54.2216606,"mpcc_dv":47.6787987,"mpcc_dw":45.7783394,"mpcc_enc_sign":1,"mpcc_id_a":0.07386823,"mpcc_iq_a":-3.147753,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-37.9790955,"mpcc_pred_id_a":-0.745392263,"mpcc_pred_iq_a":-7.83339739,"mpcc_state":1,"mpcc_theta_e":1.85937452,"mpcc_theta_mech":3.35209489,"sam_rpm":-78.7694016,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0153639168,"thr_a_norm":0.0192160606,"thr_a_v":0.561455667,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463767439,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.717306,"values":{"cg_iu_a":4.44632339,"cg_iv_a":-3.3432014,"cg_iw_a":2.37628627,"cg_theta_rad":3.15325809,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.000859794382,"mpcc_du":55.2853432,"mpcc_dv":44.7146568,"mpcc_dw":54.7759972,"mpcc_enc_sign":1,"mpcc_id_a":-0.306878954,"mpcc_iq_a":-7.99974298,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-61.9577522,"mpcc_pred_id_a":0.108112417,"mpcc_pred_iq_a":-7.38882208,"mpcc_state":1,"mpcc_theta_e":0.638114452,"mpcc_theta_mech":3.10784292,"sam_rpm":-114.047462,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0153639168,"thr_a_norm":0.0153639168,"thr_a_v":0.561455667,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463767439,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.72753,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-4.43051624,"cg_iw_a":3.68106413,"cg_theta_rad":2.9717319,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0398224108,"mpcc_du":45.8797646,"mpcc_dv":45.4090805,"mpcc_dw":54.5909195,"mpcc_enc_sign":1,"mpcc_id_a":0.548365653,"mpcc_iq_a":-3.54674077,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-51.4483986,"mpcc_pred_id_a":-0.233122841,"mpcc_pred_iq_a":-7.89777756,"mpcc_state":1,"mpcc_theta_e":5.87119198,"mpcc_theta_mech":2.89782119,"sam_rpm":-98.9543915,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292240679,"thr_a_norm":0.0292240679,"thr_a_v":0.616896272,"thr_b":0.00434882939,"thr_b_norm":0.00434882939,"thr_b_v":0.517395318,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.752157,"values":{"cg_iu_a":-5.48448753,"cg_iv_a":-0.0087685585,"cg_iw_a":5.42076826,"cg_theta_rad":2.72816372,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0304054897,"mpcc_du":45.3050232,"mpcc_dv":54.6949768,"mpcc_dw":49.0431519,"mpcc_enc_sign":1,"mpcc_id_a":0.776075304,"mpcc_iq_a":-4.10001421,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-48.1370354,"mpcc_pred_id_a":-0.224098384,"mpcc_pred_iq_a":-8.78458309,"mpcc_state":1,"mpcc_theta_e":4.15487003,"mpcc_theta_mech":2.55455685,"sam_rpm":-94.392807,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0191279501,"thr_a_norm":0.0292240679,"thr_a_v":0.5765118,"thr_b":0,"thr_b_norm":0.00434882939,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.758474,"values":{"cg_iu_a":-6.49931431,"cg_iv_a":4.84790468,"cg_iw_a":1.65140963,"cg_theta_rad":2.50542927,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0836474225,"mpcc_du":45.6086349,"mpcc_dv":56.1622658,"mpcc_dw":43.8377342,"mpcc_enc_sign":1,"mpcc_id_a":3.79928756,"mpcc_iq_a":-3.13830519,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-58.5024872,"mpcc_pred_id_a":1.51533568,"mpcc_pred_iq_a":-3.85347915,"mpcc_state":1,"mpcc_theta_e":3.6345644,"mpcc_theta_mech":2.45049572,"sam_rpm":-109.212341,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0191279501,"thr_a_norm":0.0191279501,"thr_a_v":0.5765118,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.765005,"values":{"cg_iu_a":-0.70030117,"cg_iv_a":5.13785601,"cg_iw_a":-4.43755484,"cg_theta_rad":2.29626179,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0495142043,"mpcc_du":53.3042068,"mpcc_dv":52.4825211,"mpcc_dw":46.6957932,"mpcc_enc_sign":1,"mpcc_id_a":2.3944602,"mpcc_iq_a":-3.74870133,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-33.031723,"mpcc_pred_id_a":0.0527640097,"mpcc_pred_iq_a":-9.59282684,"mpcc_state":1,"mpcc_theta_e":2.63286591,"mpcc_theta_mech":2.25015616,"sam_rpm":-70.8382492,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274994224,"thr_a_norm":0.0274994224,"thr_a_v":0.60999769,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496800154,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.771505,"values":{"cg_iu_a":6.76592827,"cg_iv_a":0.57113266,"cg_iw_a":-7.33706093,"cg_theta_rad":2.08555794,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0279278569,"mpcc_du":55.8217392,"mpcc_dv":44.1782608,"mpcc_dw":45.4882507,"mpcc_enc_sign":1,"mpcc_id_a":0.0418893695,"mpcc_iq_a":-4.15793657,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-58.9939308,"mpcc_pred_id_a":-0.116417728,"mpcc_pred_iq_a":-4.99365282,"mpcc_state":1,"mpcc_theta_e":1.53150082,"mpcc_theta_mech":2.02988315,"sam_rpm":-109.631348,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274994224,"thr_a_norm":0.0274994224,"thr_a_v":0.60999769,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496800154,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.780142,"values":{"cg_iu_a":4.15637207,"cg_iv_a":-6.09773254,"cg_iw_a":1.94136047,"cg_theta_rad":1.81775844,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0242758933,"mpcc_du":51.4083824,"mpcc_dv":44.9971809,"mpcc_dw":55.0028191,"mpcc_enc_sign":1,"mpcc_id_a":1.68883276,"mpcc_iq_a":-4.88118315,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-43.579525,"mpcc_pred_id_a":0.22599189,"mpcc_pred_iq_a":-6.44699574,"mpcc_state":1,"mpcc_theta_e":0.251772881,"mpcc_theta_mech":1.77393758,"sam_rpm":-87.0232162,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0379102677,"thr_a_norm":0.0379102677,"thr_a_v":0.651641071,"thr_b":0.00682879984,"thr_b_norm":0.00682879984,"thr_b_v":0.527315199,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.792562,"values":{"cg_iu_a":-2.29502988,"cg_iv_a":-3.19822598,"cg_iw_a":4.62340355,"cg_theta_rad":1.5623368,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0470352285,"mpcc_du":45.5470734,"mpcc_dv":50.8471413,"mpcc_dw":54.4529266,"mpcc_enc_sign":1,"mpcc_id_a":1.46518815,"mpcc_iq_a":-3.41743779,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-44.2944031,"mpcc_pred_id_a":-0.341185153,"mpcc_pred_iq_a":-9.00352764,"mpcc_state":1,"mpcc_theta_e":5.21293783,"mpcc_theta_mech":1.50953341,"sam_rpm":-88.8847198,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0290730149,"thr_a_norm":0.0290730149,"thr_a_v":0.616292059,"thr_b":0.00410963595,"thr_b_norm":0.00410963595,"thr_b_v":0.516438544,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.805532,"values":{"cg_iu_a":-2.22254229,"cg_iv_a":4.26800394,"cg_iw_a":0.854044914,"cg_theta_rad":1.30512512,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0339767262,"mpcc_du":45.08992,"mpcc_dv":54.91008,"mpcc_dw":45.5715256,"mpcc_enc_sign":1,"mpcc_id_a":3.08950162,"mpcc_iq_a":-5.48861456,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-56.4818077,"mpcc_pred_id_a":0.218454808,"mpcc_pred_iq_a":-7.93770981,"mpcc_state":1,"mpcc_theta_e":3.78892088,"mpcc_theta_mech":1.22473001,"sam_rpm":-107.399643,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0290730149,"thr_a_norm":0.0290730149,"thr_a_v":0.616292059,"thr_b":0.00410963595,"thr_b_norm":0.00410963595,"thr_b_v":0.516438544,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.816336,"values":{"cg_iu_a":0.749452114,"cg_iv_a":4.12302828,"cg_iw_a":-6.68467188,"cg_theta_rad":1.04219043,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0165821984,"mpcc_du":54.8735008,"mpcc_dv":53.9504471,"mpcc_dw":45.1264992,"mpcc_enc_sign":1,"mpcc_id_a":1.20401013,"mpcc_iq_a":-5.22332716,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-61.6287994,"mpcc_pred_id_a":0.312719941,"mpcc_pred_iq_a":-9.71293831,"mpcc_state":1,"mpcc_theta_e":2.60815668,"mpcc_theta_mech":0.988577187,"sam_rpm":-116.184746,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0249816924,"thr_a_norm":0.0249816924,"thr_a_v":0.59992677,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481895179,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.828573,"values":{"cg_iu_a":6.69344044,"cg_iv_a":-1.02359605,"cg_iw_a":-3.42272735,"cg_theta_rad":0.776604176,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0354236364,"mpcc_du":56.9905548,"mpcc_dv":43.0094452,"mpcc_dw":48.3514252,"mpcc_enc_sign":1,"mpcc_id_a":2.3154521,"mpcc_iq_a":-4.53214931,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-68.2617111,"mpcc_pred_id_a":1.01497519,"mpcc_pred_iq_a":-4.54505491,"mpcc_state":1,"mpcc_theta_e":1.25616217,"mpcc_theta_mech":0.718178391,"sam_rpm":-124.768913,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206763595,"thr_a_norm":0.0249816924,"thr_a_v":0.582705438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465127021,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.852133,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-4.21305323,"cg_iw_a":-1.0306344,"cg_theta_rad":0.531452477,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0291981194,"mpcc_du":46.3202019,"mpcc_dv":46.3138657,"mpcc_dw":53.6861343,"mpcc_enc_sign":1,"mpcc_id_a":2.4665997,"mpcc_iq_a":-5.13459635,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-73.9487152,"mpcc_pred_id_a":1.17382276,"mpcc_pred_iq_a":-5.03347015,"mpcc_state":1,"mpcc_theta_e":5.89059353,"mpcc_theta_mech":0.394131452,"sam_rpm":-99.5704727,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206763595,"thr_a_norm":0.0206763595,"thr_a_v":0.582705438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465127021,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.858633,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-1.16857147,"cg_iw_a":1.07150841,"cg_theta_rad":0.289014548,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0705974475,"mpcc_du":44.5455933,"mpcc_dv":51.115303,"mpcc_dw":55.4544067,"mpcc_enc_sign":1,"mpcc_id_a":1.9169023,"mpcc_iq_a":-2.5437448,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-48.0228157,"mpcc_pred_id_a":-0.393502533,"mpcc_pred_iq_a":-6.14526844,"mpcc_state":1,"mpcc_theta_e":5.19878387,"mpcc_theta_mech":0.250065595,"sam_rpm":-94.7645187,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025875479,"thr_a_norm":0.025875479,"thr_a_v":0.603501916,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.865255,"values":{"cg_iu_a":-2.8024435,"cg_iv_a":4.70292997,"cg_iw_a":-0.378244638,"cg_theta_rad":0.0733622983,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0474925674,"mpcc_du":43.0084038,"mpcc_dv":56.9915962,"mpcc_dw":48.419754,"mpcc_enc_sign":1,"mpcc_id_a":-2.07316804,"mpcc_iq_a":-3.57789922,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-50.815239,"mpcc_pred_id_a":-1.31326032,"mpcc_pred_iq_a":-3.92442203,"mpcc_state":1,"mpcc_theta_e":4.11379576,"mpcc_theta_mech":0.0330679491,"sam_rpm":-117.942589,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025875479,"thr_a_norm":0.025875479,"thr_a_v":0.603501916,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.871725,"values":{"cg_iu_a":0.531989098,"cg_iv_a":4.48546648,"cg_iw_a":-6.24974585,"cg_theta_rad":6.11236143,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.0065734284,"mpcc_du":53.3201523,"mpcc_dv":55.2446404,"mpcc_dw":44.7553596,"mpcc_enc_sign":1,"mpcc_id_a":-0.105577618,"mpcc_iq_a":-5.88190699,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-47.7768211,"mpcc_pred_id_a":-0.73539573,"mpcc_pred_iq_a":-8.65978718,"mpcc_state":1,"mpcc_theta_e":2.85495043,"mpcc_theta_mech":6.06448412,"sam_rpm":-107.085655,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269581228,"thr_a_norm":0.0269581228,"thr_a_v":0.607832491,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494685292,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.881308,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.82096052,"cg_iw_a":-1.39307213,"cg_theta_rad":5.9096632,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.033673849,"mpcc_du":54.6252899,"mpcc_dv":46.3537064,"mpcc_dw":45.3747101,"mpcc_enc_sign":1,"mpcc_id_a":2.58849216,"mpcc_iq_a":-10.101778,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-57.3290062,"mpcc_pred_id_a":0.74224174,"mpcc_pred_iq_a":-8.61871529,"mpcc_state":1,"mpcc_theta_e":1.77314043,"mpcc_theta_mech":5.84812212,"sam_rpm":-109.654137,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0497688204,"thr_a_norm":0.0269581228,"thr_a_v":0.699075282,"thr_b":0.018020153,"thr_b_norm":0,"thr_b_v":0.572080612,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.894125,"values":{"cg_iu_a":5.82358837,"cg_iv_a":-7.11256027,"cg_iw_a":1.2889719,"cg_theta_rad":5.62552786,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.28711,"hz_adc_isr":5015,"hz_app_loop":291,"hz_tim_isr":10030,"hz_vsense":291,"mpcc_cost":0.114511386,"mpcc_du":51.7372818,"mpcc_dv":44.5440979,"mpcc_dw":55.4559021,"mpcc_enc_sign":1,"mpcc_id_a":4.61705494,"mpcc_iq_a":-2.55152988,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-50.6357841,"mpcc_pred_id_a":1.40202677,"mpcc_pred_iq_a":-6.38682508,"mpcc_state":1,"mpcc_theta_e":0.305984974,"mpcc_theta_mech":5.55469131,"sam_rpm":-99.8319244,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0497688204,"thr_a_norm":0.0497688204,"thr_a_v":0.699075282,"thr_b":0.018020153,"thr_b_norm":0.018020153,"thr_b_v":0.572080612,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.905905,"values":{"cg_iu_a":-2.4400053,"cg_iv_a":-2.76329994,"cg_iw_a":5.20330524,"cg_theta_rad":5.3509059,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0464359559,"mpcc_du":43.7744751,"mpcc_dv":50.3413887,"mpcc_dw":56.2255249,"mpcc_enc_sign":1,"mpcc_id_a":1.91975248,"mpcc_iq_a":-3.64138198,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-55.2568779,"mpcc_pred_id_a":0.070155412,"mpcc_pred_iq_a":-5.0061636,"mpcc_state":1,"mpcc_theta_e":5.28925705,"mpcc_theta_mech":5.29470873,"sam_rpm":-106.28511,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.043386355,"thr_a_norm":0.043386355,"thr_a_v":0.67354542,"thr_b":0.00597277284,"thr_b_norm":0.00597277284,"thr_b_v":0.523891091,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.915304,"values":{"cg_iu_a":-5.48448753,"cg_iv_a":2.31083679,"cg_iw_a":4.40594101,"cg_theta_rad":5.13943052,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0282031409,"mpcc_du":44.0538406,"mpcc_dv":55.9461594,"mpcc_dw":49.4295082,"mpcc_enc_sign":1,"mpcc_id_a":2.31077194,"mpcc_iq_a":-5.06246233,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-60.9822121,"mpcc_pred_id_a":0.410302877,"mpcc_pred_iq_a":-7.43992329,"mpcc_state":1,"mpcc_theta_e":4.23078346,"mpcc_theta_mech":5.08301401,"sam_rpm":-114.784004,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.043386355,"thr_a_norm":0.043386355,"thr_a_v":0.67354542,"thr_b":0.00597277284,"thr_b_norm":0.00597277284,"thr_b_v":0.523891091,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.925161,"values":{"cg_iu_a":-3.45483255,"cg_iv_a":6.95004702,"cg_iw_a":-3.64018989,"cg_theta_rad":4.91546202,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.023728868,"mpcc_du":50.7857742,"mpcc_dv":55.3832664,"mpcc_dw":44.6167336,"mpcc_enc_sign":1,"mpcc_id_a":1.03428268,"mpcc_iq_a":-4.59796524,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-52.0625954,"mpcc_pred_id_a":-0.255443543,"mpcc_pred_iq_a":-7.36595917,"mpcc_state":1,"mpcc_theta_e":3.13202667,"mpcc_theta_mech":4.86326265,"sam_rpm":-101.263489,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0405538976,"thr_a_norm":0.0405538976,"thr_a_v":0.66221559,"thr_b":0.0133749098,"thr_b_norm":0.0133749098,"thr_b_v":0.553499639,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.937948,"values":{"cg_iu_a":6.76592827,"cg_iv_a":0.136206627,"cg_iw_a":-6.9021349,"cg_theta_rad":4.632442,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0292227734,"mpcc_du":55.1995049,"mpcc_dv":45.1413498,"mpcc_dw":44.8004951,"mpcc_enc_sign":1,"mpcc_id_a":2.03647923,"mpcc_iq_a":-4.75375509,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-60.3870163,"mpcc_pred_id_a":0.152781501,"mpcc_pred_iq_a":-7.3909502,"mpcc_state":1,"mpcc_theta_e":1.67394066,"mpcc_theta_mech":4.57164526,"sam_rpm":-114.699692,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274490714,"thr_a_norm":0.0405538976,"thr_a_v":0.609796286,"thr_b":0.000408560038,"thr_b_norm":0.0133749098,"thr_b_v":0.50163424,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.960714,"values":{"cg_iu_a":6.54846573,"cg_iv_a":-6.38768339,"cg_iw_a":1.86887217,"cg_theta_rad":4.37688398,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.00305630313,"mpcc_du":49.3625145,"mpcc_dv":45.5707626,"mpcc_dw":54.4292374,"mpcc_enc_sign":1,"mpcc_id_a":-0.522616446,"mpcc_iq_a":-8.5615778,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-41.3602028,"mpcc_pred_id_a":-0.721287251,"mpcc_pred_iq_a":-6.15918636,"mpcc_state":1,"mpcc_theta_e":0.038476944,"mpcc_theta_mech":4.24455261,"sam_rpm":-117.8284,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274490714,"thr_a_norm":0.0274490714,"thr_a_v":0.609796286,"thr_b":0.000408560038,"thr_b_norm":0.000408560038,"thr_b_v":0.50163424,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.967276,"values":{"cg_iu_a":-0.482838154,"cg_iv_a":-3.99559045,"cg_iw_a":4.47842884,"cg_theta_rad":4.19050312,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0334615931,"mpcc_du":44.8336983,"mpcc_dv":48.0044098,"mpcc_dw":55.1663017,"mpcc_enc_sign":1,"mpcc_id_a":1.76971018,"mpcc_iq_a":-5.18751192,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-47.8142929,"mpcc_pred_id_a":0.855842829,"mpcc_pred_iq_a":-6.73703814,"mpcc_state":1,"mpcc_theta_e":5.57844305,"mpcc_theta_mech":4.09590864,"sam_rpm":-95.210434,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183852166,"thr_a_norm":0.0274490714,"thr_a_v":0.573540866,"thr_b":0,"thr_b_norm":0.000408560038,"thr_b_v":0.472176731,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.973837,"values":{"cg_iu_a":-4.68712282,"cg_iv_a":0.861083508,"cg_iw_a":3.82603931,"cg_theta_rad":3.90067768,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0455568396,"mpcc_du":44.267704,"mpcc_dv":55.732296,"mpcc_dw":50.4581718,"mpcc_enc_sign":1,"mpcc_id_a":1.40790725,"mpcc_iq_a":-3.47004557,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-59.6164665,"mpcc_pred_id_a":0.29975155,"mpcc_pred_iq_a":-7.61736298,"mpcc_state":1,"mpcc_theta_e":4.32586622,"mpcc_theta_mech":3.84539318,"sam_rpm":-112.201469,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183852166,"thr_a_norm":0.0183852166,"thr_a_v":0.573540866,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472176731,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.980337,"values":{"cg_iu_a":-3.67229557,"cg_iv_a":4.41297865,"cg_iw_a":-4.36506653,"cg_theta_rad":3.66837096,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0226158164,"mpcc_du":50.5828018,"mpcc_dv":56.0617714,"mpcc_dw":43.9382286,"mpcc_enc_sign":1,"mpcc_id_a":1.81160939,"mpcc_iq_a":-5.0990839,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-60.7128334,"mpcc_pred_id_a":0.364192367,"mpcc_pred_iq_a":-6.83068752,"mpcc_state":1,"mpcc_theta_e":3.17980337,"mpcc_theta_mech":3.6161809,"sam_rpm":-114.614792,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233703256,"thr_a_norm":0.0233703256,"thr_a_v":0.593481302,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467040509,"vdc_v":55.2955055}} +{"type":"telemetry","t":4.989126,"values":{"cg_iu_a":1.03940296,"cg_iv_a":2.02088594,"cg_iw_a":-3.06028891,"cg_theta_rad":3.4592793,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.00689283758,"mpcc_du":55.8727684,"mpcc_dv":49.3920021,"mpcc_dw":44.1272316,"mpcc_enc_sign":1,"mpcc_id_a":0.110932611,"mpcc_iq_a":-5.84324741,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-51.1267509,"mpcc_pred_id_a":-0.25361222,"mpcc_pred_iq_a":-5.44130707,"mpcc_state":1,"mpcc_theta_e":2.11112928,"mpcc_theta_mech":3.40244579,"sam_rpm":-100.189964,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233703256,"thr_a_norm":0.0233703256,"thr_a_v":0.593481302,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467040509,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.000937,"values":{"cg_iu_a":6.8384161,"cg_iv_a":-5.59031916,"cg_iw_a":1.28897142,"cg_theta_rad":3.18172479,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0406891145,"mpcc_du":56.2399025,"mpcc_dv":43.7600975,"mpcc_dw":54.745224,"mpcc_enc_sign":1,"mpcc_id_a":1.77366173,"mpcc_iq_a":-3.87649751,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-70.1625977,"mpcc_pred_id_a":0.212136224,"mpcc_pred_iq_a":-6.3865943,"mpcc_state":1,"mpcc_theta_e":0.706933498,"mpcc_theta_mech":3.12160659,"sam_rpm":-129.764496,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.021620512,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485420018,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.011923,"values":{"cg_iu_a":-1.78761625,"cg_iv_a":-6.60514641,"cg_iw_a":6.58057117,"cg_theta_rad":2.93719983,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0149647091,"mpcc_du":44.400238,"mpcc_dv":45.3002205,"mpcc_dw":55.599762,"mpcc_enc_sign":1,"mpcc_id_a":2.05874181,"mpcc_iq_a":-6.17808247,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-64.6674042,"mpcc_pred_id_a":0.678891301,"mpcc_pred_iq_a":-6.85499668,"mpcc_state":1,"mpcc_theta_e":5.77498722,"mpcc_theta_mech":2.87858033,"sam_rpm":-118.969482,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225772411,"thr_a_norm":0.021620512,"thr_a_v":0.590308964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482600152,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.021292,"values":{"cg_iu_a":-4.75961065,"cg_iv_a":-0.0087685585,"cg_iw_a":7.16047239,"cg_theta_rad":2.71393514,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0410257541,"mpcc_du":43.3918953,"mpcc_dv":56.6081047,"mpcc_dw":55.0229378,"mpcc_enc_sign":1,"mpcc_id_a":0.966985762,"mpcc_iq_a":-3.56614161,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-69.7848511,"mpcc_pred_id_a":0.410393625,"mpcc_pred_iq_a":-4.32582855,"mpcc_state":1,"mpcc_theta_e":4.67498493,"mpcc_theta_mech":2.65858006,"sam_rpm":-127.61261,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225772411,"thr_a_norm":0.0225772411,"thr_a_v":0.590308964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482600152,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.031301,"values":{"cg_iu_a":-4.03473377,"cg_iv_a":5.06536818,"cg_iw_a":1.86887217,"cg_theta_rad":2.48315477,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0813484043,"mpcc_du":47.1165047,"mpcc_dv":55.7829933,"mpcc_dw":44.2170067,"mpcc_enc_sign":1,"mpcc_id_a":2.41295934,"mpcc_iq_a":-2.33115196,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-58.0846138,"mpcc_pred_id_a":0.21629034,"mpcc_pred_iq_a":-6.45548487,"mpcc_state":1,"mpcc_theta_e":3.51139736,"mpcc_theta_mech":2.42586231,"sam_rpm":-111.822411,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02252689,"thr_a_norm":0.02252689,"thr_a_v":0.59010756,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493829221,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.043142,"values":{"cg_iu_a":2.92408228,"cg_iv_a":0.933570862,"cg_iw_a":-1.39307213,"cg_theta_rad":2.20940995,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0615314953,"mpcc_du":55.2978058,"mpcc_dv":49.8113441,"mpcc_dw":44.7021942,"mpcc_enc_sign":1,"mpcc_id_a":0.323753029,"mpcc_iq_a":-2.54946661,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-49.7555656,"mpcc_pred_id_a":-1.02861512,"mpcc_pred_iq_a":-7.34930086,"mpcc_state":1,"mpcc_theta_e":2.13467598,"mpcc_theta_mech":2.15051818,"sam_rpm":-99.7809753,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02252689,"thr_a_norm":0.02252689,"thr_a_v":0.59010756,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493829221,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.066336,"values":{"cg_iu_a":4.44632339,"cg_iv_a":-3.85061502,"cg_iw_a":-1.10312223,"cg_theta_rad":1.95008922,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0241619404,"mpcc_du":51.4777298,"mpcc_dv":46.1879044,"mpcc_dw":53.8120956,"mpcc_enc_sign":1,"mpcc_id_a":2.03209472,"mpcc_iq_a":-5.147264,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-44.5733223,"mpcc_pred_id_a":-0.4616763,"mpcc_pred_iq_a":-11.1940699,"mpcc_state":1,"mpcc_theta_e":0.326701164,"mpcc_theta_mech":1.78715003,"sam_rpm":-91.1519699,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0290855914,"thr_a_norm":0.0290855914,"thr_a_v":0.616342366,"thr_b":0.00269970298,"thr_b_norm":0.00269970298,"thr_b_v":0.510798812,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.072836,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-2.25588632,"cg_iw_a":4.55091667,"cg_theta_rad":1.68075228,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.00815229677,"mpcc_du":44.2079659,"mpcc_dv":45.5551338,"mpcc_dw":55.7920341,"mpcc_enc_sign":1,"mpcc_id_a":1.0768249,"mpcc_iq_a":-6.05039072,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-70.8579559,"mpcc_pred_id_a":0.165613666,"mpcc_pred_iq_a":-8.05654526,"mpcc_state":1,"mpcc_theta_e":5.73701048,"mpcc_theta_mech":1.61434805,"sam_rpm":-130.278214,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220107436,"thr_a_norm":0.0290855914,"thr_a_v":0.588042974,"thr_b":0,"thr_b_norm":0.00269970298,"thr_b_v":0.491613656,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.079397,"values":{"cg_iu_a":-4.90458584,"cg_iv_a":0.643620491,"cg_iw_a":4.62340403,"cg_theta_rad":1.44160807,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0398943722,"mpcc_du":42.2868958,"mpcc_dv":57.7131042,"mpcc_dw":54.5580826,"mpcc_enc_sign":1,"mpcc_id_a":0.608074188,"mpcc_iq_a":-3.55183649,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-84.5998383,"mpcc_pred_id_a":0.501697898,"mpcc_pred_iq_a":-4.466434,"mpcc_state":1,"mpcc_theta_e":4.58817625,"mpcc_theta_mech":1.38458109,"sam_rpm":-150.819366,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220107436,"thr_a_norm":0.0220107436,"thr_a_v":0.588042974,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491613656,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.087301,"values":{"cg_iu_a":-1.78761625,"cg_iv_a":3.47063971,"cg_iw_a":-4.07511616,"cg_theta_rad":1.16118884,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.081520848,"mpcc_du":50.440876,"mpcc_dv":57.8416252,"mpcc_dw":42.1583748,"mpcc_enc_sign":1,"mpcc_id_a":2.79648185,"mpcc_iq_a":-2.52124214,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-76.1475677,"mpcc_pred_id_a":0.51967901,"mpcc_pred_iq_a":-3.87394738,"mpcc_state":1,"mpcc_theta_e":3.17326975,"mpcc_theta_mech":1.10159993,"sam_rpm":-138.917725,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219855756,"thr_a_norm":0.0219855756,"thr_a_v":0.587942302,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481643379,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.099325,"values":{"cg_iu_a":4.51881123,"cg_iv_a":0.0637187958,"cg_iw_a":-4.58253002,"cg_theta_rad":0.88987273,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0587159581,"mpcc_du":54.6334267,"mpcc_dv":46.6000786,"mpcc_dw":45.3665733,"mpcc_enc_sign":1,"mpcc_id_a":-0.45316115,"mpcc_iq_a":-2.67156005,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-58.9746437,"mpcc_pred_id_a":-0.492344528,"mpcc_pred_iq_a":-7.2974472,"mpcc_state":1,"mpcc_theta_e":1.78667307,"mpcc_theta_mech":0.8242805,"sam_rpm":-97.2072144,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246417969,"thr_a_norm":0.0219855756,"thr_a_v":0.598567188,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.109915,"values":{"cg_iu_a":5.1711998,"cg_iv_a":-5.15539312,"cg_iw_a":-2.04546094,"cg_theta_rad":0.602201879,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0555736534,"mpcc_du":53.7890434,"mpcc_dv":44.1560631,"mpcc_dw":55.8439369,"mpcc_enc_sign":1,"mpcc_id_a":2.11895585,"mpcc_iq_a":-3.28817272,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-67.6871719,"mpcc_pred_id_a":0.907544613,"mpcc_pred_iq_a":-7.24777603,"mpcc_state":1,"mpcc_theta_e":0.46026659,"mpcc_theta_mech":0.55899924,"sam_rpm":-123.669991,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246417969,"thr_a_norm":0.0246417969,"thr_a_v":0.598567188,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.120291,"values":{"cg_iu_a":-0.70030117,"cg_iv_a":-3.85061502,"cg_iw_a":3.31862593,"cg_theta_rad":0.358920306,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.15269433,"mpcc_du":43.7146339,"mpcc_dv":47.9857216,"mpcc_dw":56.2853661,"mpcc_enc_sign":1,"mpcc_id_a":1.48772073,"mpcc_iq_a":0.172315195,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-57.1286926,"mpcc_pred_id_a":0.11572925,"mpcc_pred_iq_a":-5.03800488,"mpcc_state":1,"mpcc_theta_e":5.50921822,"mpcc_theta_mech":0.312152505,"sam_rpm":-111.394127,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0145078897,"thr_a_norm":0.0145078897,"thr_a_v":0.558031559,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457624167,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.130484,"values":{"cg_iu_a":-1.86010385,"cg_iv_a":0.716107845,"cg_iw_a":3.39111376,"cg_theta_rad":0.120294861,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.00882761925,"mpcc_du":43.8149796,"mpcc_dv":56.1850204,"mpcc_dw":50.0838623,"mpcc_enc_sign":1,"mpcc_id_a":1.66091359,"mpcc_iq_a":-6.62112904,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-64.8650665,"mpcc_pred_id_a":0.0566031598,"mpcc_pred_iq_a":-7.53228521,"mpcc_state":1,"mpcc_theta_e":4.28726053,"mpcc_theta_mech":0.0677609518,"sam_rpm":-121.474709,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0145078897,"thr_a_norm":0.0145078897,"thr_a_v":0.558031559,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457624167,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.141714,"values":{"cg_iu_a":-0.265375137,"cg_iv_a":7.38497305,"cg_iw_a":-7.48203611,"cg_theta_rad":6.14164114,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.00257700868,"mpcc_du":51.9384651,"mpcc_dv":55.147213,"mpcc_dw":43.6582108,"mpcc_enc_sign":1,"mpcc_id_a":-0.46778509,"mpcc_iq_a":-6.59890032,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-64.2215042,"mpcc_pred_id_a":-0.779217124,"mpcc_pred_iq_a":-6.92318583,"mpcc_state":1,"mpcc_theta_e":2.98761415,"mpcc_theta_mech":6.09101725,"sam_rpm":-115.406914,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172396451,"thr_a_norm":0.0172396451,"thr_a_v":0.56895858,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444985121,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.164541,"values":{"cg_iu_a":3.1415453,"cg_iv_a":1.00605869,"cg_iw_a":-5.37989426,"cg_theta_rad":5.92712736,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0254723541,"mpcc_du":56.2451706,"mpcc_dv":43.7548294,"mpcc_dw":50.0301704,"mpcc_enc_sign":1,"mpcc_id_a":2.49150944,"mpcc_iq_a":-5.50467491,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-65.800209,"mpcc_pred_id_a":0.476703286,"mpcc_pred_iq_a":-7.1500082,"mpcc_state":1,"mpcc_theta_e":1.12566042,"mpcc_theta_mech":5.71862602,"sam_rpm":-123.942299,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0223128796,"thr_a_norm":0.0172396451,"thr_a_v":0.589251518,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488592356,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.171041,"values":{"cg_iu_a":8.1431942,"cg_iv_a":-5.66280651,"cg_iw_a":0.854044914,"cg_theta_rad":5.65979767,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0215028338,"mpcc_du":54.3233757,"mpcc_dv":44.9818115,"mpcc_dw":55.0181885,"mpcc_enc_sign":1,"mpcc_id_a":1.81641352,"mpcc_iq_a":-5.19744158,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-54.4202538,"mpcc_pred_id_a":1.21317852,"mpcc_pred_iq_a":-6.86654997,"mpcc_state":1,"mpcc_theta_e":0.581837177,"mpcc_theta_mech":5.60986185,"sam_rpm":-106.085541,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0223128796,"thr_a_norm":0.0223128796,"thr_a_v":0.589251518,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488592356,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.177572,"values":{"cg_iu_a":-2.00507927,"cg_iv_a":-3.77812743,"cg_iw_a":5.78320694,"cg_theta_rad":5.38408566,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0480985604,"mpcc_du":44.1016159,"mpcc_dv":49.2268295,"mpcc_dw":55.8983841,"mpcc_enc_sign":1,"mpcc_id_a":1.82878387,"mpcc_iq_a":-4.10331964,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-55.0823631,"mpcc_pred_id_a":0.107263461,"mpcc_pred_iq_a":-6.11195326,"mpcc_state":1,"mpcc_theta_e":5.42599106,"mpcc_theta_mech":5.32205534,"sam_rpm":-107.084679,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024692148,"thr_a_norm":0.024692148,"thr_a_v":0.598768592,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481744081,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.185904,"values":{"cg_iu_a":-3.23736954,"cg_iv_a":3.47063971,"cg_iw_a":-0.813171387,"cg_theta_rad":5.09121609,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.00676061166,"mpcc_du":44.7688408,"mpcc_dv":55.2311592,"mpcc_dw":46.891201,"mpcc_enc_sign":1,"mpcc_id_a":-1.33317876,"mpcc_iq_a":-6.53725433,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-54.8028145,"mpcc_pred_id_a":-0.855833292,"mpcc_pred_iq_a":-7.67718744,"mpcc_state":1,"mpcc_theta_e":3.92563629,"mpcc_theta_mech":5.02198458,"sam_rpm":-107.009277,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210162401,"thr_a_norm":0.024692148,"thr_a_v":0.58406496,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480938405,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.195303,"values":{"cg_iu_a":1.11189032,"cg_iv_a":5.28283072,"cg_iw_a":-5.23491859,"cg_theta_rad":4.84555054,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.00104071957,"mpcc_du":54.7458878,"mpcc_dv":56.1352158,"mpcc_dw":43.8647842,"mpcc_enc_sign":1,"mpcc_id_a":0.35796693,"mpcc_iq_a":-6.96320629,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-63.9979477,"mpcc_pred_id_a":-0.0297971424,"mpcc_pred_iq_a":-8.3407774,"mpcc_state":1,"mpcc_theta_e":2.76933479,"mpcc_theta_mech":4.79072428,"sam_rpm":-125.183411,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210162401,"thr_a_norm":0.0210162401,"thr_a_v":0.58406496,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480938405,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.205893,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-0.661157608,"cg_iw_a":-4.22009134,"cg_theta_rad":4.5970211,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0606751554,"mpcc_du":57.5969696,"mpcc_dv":42.4030304,"mpcc_dw":45.2574043,"mpcc_enc_sign":1,"mpcc_id_a":0.774279773,"mpcc_iq_a":-2.6347611,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-75.6518707,"mpcc_pred_id_a":0.294316411,"mpcc_pred_iq_a":-2.81989741,"mpcc_state":1,"mpcc_theta_e":1.45490456,"mpcc_theta_mech":4.52783823,"sam_rpm":-139.165466,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020487532,"thr_a_norm":0.020487532,"thr_a_v":0.581950128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460192263,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.215017,"values":{"cg_iu_a":4.88124943,"cg_iv_a":-6.02524519,"cg_iw_a":1.21648359,"cg_theta_rad":4.35461378,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.00456352578,"mpcc_du":52.6796951,"mpcc_dv":43.6895142,"mpcc_dw":56.3104858,"mpcc_enc_sign":1,"mpcc_id_a":0.178887695,"mpcc_iq_a":-6.16081762,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-57.4136391,"mpcc_pred_id_a":-0.556211948,"mpcc_pred_iq_a":-8.59600353,"mpcc_state":1,"mpcc_theta_e":0.348449707,"mpcc_theta_mech":4.30654716,"sam_rpm":-115.82119,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020487532,"thr_a_norm":0.020487532,"thr_a_v":0.581950128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460192263,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.227133,"values":{"cg_iu_a":-2.87493134,"cg_iv_a":-2.69081235,"cg_iw_a":5.56574345,"cg_theta_rad":4.06617355,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.00540406723,"mpcc_du":45.1404915,"mpcc_dv":51.6037712,"mpcc_dw":54.8595085,"mpcc_enc_sign":1,"mpcc_id_a":1.39687884,"mpcc_iq_a":-7.0413537,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-59.4780502,"mpcc_pred_id_a":-0.0407976992,"mpcc_pred_iq_a":-10.7703142,"mpcc_state":1,"mpcc_theta_e":5.15268278,"mpcc_theta_mech":4.01075649,"sam_rpm":-114.434143,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212806165,"thr_a_norm":0.0212806165,"thr_a_v":0.585122466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469910741,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.236929,"values":{"cg_iu_a":-4.83209801,"cg_iv_a":3.32566404,"cg_iw_a":1.50643396,"cg_theta_rad":3.83582973,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0408486798,"mpcc_du":44.1842384,"mpcc_dv":55.8157616,"mpcc_dw":45.944416,"mpcc_enc_sign":1,"mpcc_id_a":1.94695449,"mpcc_iq_a":-5.24824238,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-68.5412369,"mpcc_pred_id_a":0.708031297,"mpcc_pred_iq_a":-7.95545053,"mpcc_state":1,"mpcc_theta_e":3.92144537,"mpcc_theta_mech":3.76722503,"sam_rpm":-128.190277,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226150155,"thr_a_norm":0.0212806165,"thr_a_v":0.590460062,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488491654,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.246389,"values":{"cg_iu_a":0.531989098,"cg_iv_a":3.83307791,"cg_iw_a":-4.36506701,"cg_theta_rad":3.59072638,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0583976693,"mpcc_du":55.7845154,"mpcc_dv":54.8406296,"mpcc_dw":45.1593704,"mpcc_enc_sign":1,"mpcc_id_a":2.32144165,"mpcc_iq_a":-3.26089907,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-67.8670349,"mpcc_pred_id_a":0.685215592,"mpcc_pred_iq_a":-4.2395215,"mpcc_state":1,"mpcc_theta_e":2.75426054,"mpcc_theta_mech":3.53107238,"sam_rpm":-126.942459,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226150155,"thr_a_norm":0.0226150155,"thr_a_v":0.590460062,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488491654,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.269125,"values":{"cg_iu_a":5.82358837,"cg_iv_a":-2.90827537,"cg_iw_a":-2.91531301,"cg_theta_rad":3.33917737,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0105341794,"mpcc_du":56.0024338,"mpcc_dv":43.9975662,"mpcc_dw":52.0087929,"mpcc_enc_sign":1,"mpcc_id_a":1.32181299,"mpcc_iq_a":-5.92949629,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-58.1331825,"mpcc_pred_id_a":-0.55718255,"mpcc_pred_iq_a":-6.28068733,"mpcc_state":1,"mpcc_theta_e":0.92607832,"mpcc_theta_mech":3.16543555,"sam_rpm":-112.620613,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0380235612,"thr_a_norm":0.0380235612,"thr_a_v":0.652094245,"thr_b":0.0107564628,"thr_b_norm":0.0107564628,"thr_b_v":0.543025851,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.275686,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-4.43051624,"cg_iw_a":1.50643396,"cg_theta_rad":3.06091785,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0174836107,"mpcc_du":50.9468575,"mpcc_dv":44.5513,"mpcc_dw":55.4487,"mpcc_enc_sign":1,"mpcc_id_a":1.50274205,"mpcc_iq_a":-5.323946,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-54.5103302,"mpcc_pred_id_a":-0.503310025,"mpcc_pred_iq_a":-7.7921586,"mpcc_state":1,"mpcc_theta_e":0.176995754,"mpcc_theta_mech":3.01561904,"sam_rpm":-107.525131,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0380235612,"thr_a_norm":0.0380235612,"thr_a_v":0.652094245,"thr_b":0.0107564628,"thr_b_norm":0.0107564628,"thr_b_v":0.543025851,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.282156,"values":{"cg_iu_a":-3.38234496,"cg_iv_a":-0.806133032,"cg_iw_a":3.97101498,"cg_theta_rad":2.78125787,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0189324636,"mpcc_du":44.0051308,"mpcc_dv":53.5873985,"mpcc_dw":55.9948692,"mpcc_enc_sign":1,"mpcc_id_a":2.67288589,"mpcc_iq_a":-8.15472603,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-69.1790466,"mpcc_pred_id_a":0.507381141,"mpcc_pred_iq_a":-7.80537462,"mpcc_state":1,"mpcc_theta_e":4.99637127,"mpcc_theta_mech":2.72285724,"sam_rpm":-129.315643,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297905654,"thr_a_norm":0.0297905654,"thr_a_v":0.619162261,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455156773,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.2889,"values":{"cg_iu_a":-5.7744379,"cg_iv_a":3.47063971,"cg_iw_a":2.3037982,"cg_theta_rad":2.54441595,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.020817237,"mpcc_du":44.8862762,"mpcc_dv":55.2490501,"mpcc_dw":44.7509499,"mpcc_enc_sign":1,"mpcc_id_a":1.79285789,"mpcc_iq_a":-5.238904,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-57.0115852,"mpcc_pred_id_a":0.283946425,"mpcc_pred_iq_a":-6.24726915,"mpcc_state":1,"mpcc_theta_e":3.75127125,"mpcc_theta_mech":2.47383738,"sam_rpm":-111.421181,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0152883977,"thr_a_norm":0.0297905654,"thr_a_v":0.561153591,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449517012,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.29833,"values":{"cg_iu_a":0.966915131,"cg_iv_a":6.00770807,"cg_iw_a":-5.74233294,"cg_theta_rad":2.29684639,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0514797159,"mpcc_du":55.8525848,"mpcc_dv":54.0230179,"mpcc_dw":44.1474152,"mpcc_enc_sign":1,"mpcc_id_a":1.23024607,"mpcc_iq_a":-5.3453002,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-54.4424286,"mpcc_pred_id_a":-0.0351640917,"mpcc_pred_iq_a":-6.0224719,"mpcc_state":1,"mpcc_theta_e":2.58790302,"mpcc_theta_mech":2.24116373,"sam_rpm":-116.458946,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0152883977,"thr_a_norm":0.0152883977,"thr_a_v":0.561153591,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449517012,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.30831,"values":{"cg_iu_a":7.41831779,"cg_iv_a":-0.951108456,"cg_iw_a":-6.46720934,"cg_theta_rad":2.04764271,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0214267038,"mpcc_du":54.2345657,"mpcc_dv":45.7654343,"mpcc_dw":48.8246536,"mpcc_enc_sign":1,"mpcc_id_a":0.510703802,"mpcc_iq_a":-4.61731672,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-45.4721375,"mpcc_pred_id_a":-0.612931669,"mpcc_pred_iq_a":-10.2971582,"mpcc_state":1,"mpcc_theta_e":1.30776596,"mpcc_theta_mech":1.98513627,"sam_rpm":-94.9719238,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0147722512,"thr_a_norm":0.0147722512,"thr_a_v":0.559089005,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464673817,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.319876,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-4.93793011,"cg_iw_a":2.73872471,"cg_theta_rad":1.74504936,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.00395562686,"mpcc_du":47.8540382,"mpcc_dv":45.3541145,"mpcc_dw":54.6458855,"mpcc_enc_sign":1,"mpcc_id_a":0.27818507,"mpcc_iq_a":-6.27327108,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-49.7184143,"mpcc_pred_id_a":-0.524333477,"mpcc_pred_iq_a":-9.20937061,"mpcc_state":1,"mpcc_theta_e":6.11549044,"mpcc_theta_mech":1.69004405,"sam_rpm":-100.978912,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0147722512,"thr_a_norm":0.0147722512,"thr_a_v":0.559089005,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464673817,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.329885,"values":{"cg_iu_a":-3.30985737,"cg_iv_a":-0.226231575,"cg_iw_a":3.53608894,"cg_theta_rad":1.49818909,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0316921175,"mpcc_du":44.4195938,"mpcc_dv":54.8246918,"mpcc_dw":55.5804062,"mpcc_enc_sign":1,"mpcc_id_a":0.676837504,"mpcc_iq_a":-4.00446892,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-61.4281769,"mpcc_pred_id_a":-0.852163851,"mpcc_pred_iq_a":-6.3717351,"mpcc_state":1,"mpcc_theta_e":4.83660364,"mpcc_theta_mech":1.43426669,"sam_rpm":-117.331268,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234962106,"thr_a_norm":0.0234962106,"thr_a_v":0.593984842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469658971,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.339132,"values":{"cg_iu_a":-0.627813578,"cg_iv_a":3.76059008,"cg_iw_a":0.491607189,"cg_theta_rad":1.25205803,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0260343943,"mpcc_du":45.952919,"mpcc_dv":54.9850121,"mpcc_dw":45.0149879,"mpcc_enc_sign":1,"mpcc_id_a":-1.03283608,"mpcc_iq_a":-4.44271231,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-58.1292801,"mpcc_pred_id_a":-1.15909457,"mpcc_pred_iq_a":-8.48568153,"mpcc_state":1,"mpcc_theta_e":3.63799047,"mpcc_theta_mech":1.19454396,"sam_rpm":-113.368828,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234962106,"thr_a_norm":0.0234962106,"thr_a_v":0.593984842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469658971,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.351095,"values":{"cg_iu_a":0.676964283,"cg_iv_a":3.25317621,"cg_iw_a":-3.9301405,"cg_theta_rad":0.95386374,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.00316954614,"mpcc_du":54.8377228,"mpcc_dv":49.4561844,"mpcc_dw":43.8532677,"mpcc_enc_sign":1,"mpcc_id_a":0.150695354,"mpcc_iq_a":-8.61584473,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-64.0559311,"mpcc_pred_id_a":-0.23701711,"mpcc_pred_iq_a":-6.103971,"mpcc_state":1,"mpcc_theta_e":2.1348052,"mpcc_theta_mech":0.893907011,"sam_rpm":-113.729446,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220611095,"thr_a_norm":0.0220611095,"thr_a_v":0.588244438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474039823,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.373922,"values":{"cg_iu_a":4.66378593,"cg_iv_a":-0.733645439,"cg_iw_a":-3.9301405,"cg_theta_rad":0.685507238,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.00909227412,"mpcc_du":51.6006546,"mpcc_dv":44.6719131,"mpcc_dw":55.3280869,"mpcc_enc_sign":1,"mpcc_id_a":1.85671568,"mpcc_iq_a":-7.24226284,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-68.7030029,"mpcc_pred_id_a":0.378526688,"mpcc_pred_iq_a":-8.95323849,"mpcc_state":1,"mpcc_theta_e":0.292544365,"mpcc_theta_mech":0.525454819,"sam_rpm":-115.203369,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288715959,"thr_a_norm":0.0220611095,"thr_a_v":0.615486383,"thr_b":0.00753375888,"thr_b_norm":0,"thr_b_v":0.530135036,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.380423,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-4.28554106,"cg_iw_a":2.15882349,"cg_theta_rad":0.421197176,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0920879319,"mpcc_du":45.5975342,"mpcc_dv":46.593029,"mpcc_dw":54.4024658,"mpcc_enc_sign":1,"mpcc_id_a":4.09796333,"mpcc_iq_a":-3.02318525,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-42.4183159,"mpcc_pred_id_a":0.89448756,"mpcc_pred_iq_a":-7.48866415,"mpcc_state":1,"mpcc_theta_e":5.81038332,"mpcc_theta_mech":0.372385472,"sam_rpm":-89.5391693,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288715959,"thr_a_norm":0.0288715959,"thr_a_v":0.615486383,"thr_b":0.00753375888,"thr_b_norm":0.00753375888,"thr_b_v":0.530135036,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.386923,"values":{"cg_iu_a":-5.55697489,"cg_iv_a":1.36849689,"cg_iw_a":4.18847799,"cg_theta_rad":0.158688828,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0435996354,"mpcc_du":43.6404572,"mpcc_dv":56.3595428,"mpcc_dw":50.8091888,"mpcc_enc_sign":1,"mpcc_id_a":0.919905424,"mpcc_iq_a":-3.42647219,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-70.3686218,"mpcc_pred_id_a":-0.636245549,"mpcc_pred_iq_a":-8.35516453,"mpcc_state":1,"mpcc_theta_e":4.34258509,"mpcc_theta_mech":0.0788258538,"sam_rpm":-132.813065,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0111844838,"thr_a_norm":0.0111844838,"thr_a_v":0.544737935,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.431439698,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.394339,"values":{"cg_iu_a":-1.28020263,"cg_iv_a":5.93522024,"cg_iw_a":-2.69785023,"cg_theta_rad":6.15891933,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.00169458706,"mpcc_du":53.5678024,"mpcc_dv":55.4714508,"mpcc_dw":44.5285492,"mpcc_enc_sign":1,"mpcc_id_a":0.823304832,"mpcc_iq_a":-7.49799204,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-69.4584122,"mpcc_pred_id_a":-0.6972664,"mpcc_pred_iq_a":-10.0272999,"mpcc_state":1,"mpcc_theta_e":2.84529543,"mpcc_theta_mech":6.06255341,"sam_rpm":-131.525085,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176802427,"thr_a_norm":0.0111844838,"thr_a_v":0.570720971,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447553217,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.405264,"values":{"cg_iu_a":5.8960762,"cg_iv_a":-0.371207237,"cg_iw_a":-2.84282565,"cg_theta_rad":5.84934902,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0334714167,"mpcc_du":55.6628456,"mpcc_dv":44.3371544,"mpcc_dw":46.5056572,"mpcc_enc_sign":1,"mpcc_id_a":-0.403514922,"mpcc_iq_a":-3.86327863,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-58.5055656,"mpcc_pred_id_a":-0.258823365,"mpcc_pred_iq_a":-6.50830364,"mpcc_state":1,"mpcc_theta_e":1.45874834,"mpcc_theta_mech":5.78524399,"sam_rpm":-114.727074,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176802427,"thr_a_norm":0.0176802427,"thr_a_v":0.570720971,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447553217,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.418264,"values":{"cg_iu_a":4.44632339,"cg_iv_a":-4.79295492,"cg_iw_a":2.44877434,"cg_theta_rad":5.53749514,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0647575706,"mpcc_du":46.0175552,"mpcc_dv":43.4104805,"mpcc_dw":56.5895195,"mpcc_enc_sign":1,"mpcc_id_a":2.73827887,"mpcc_iq_a":-3.20991182,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-66.4315948,"mpcc_pred_id_a":0.692529082,"mpcc_pred_iq_a":-4.89655876,"mpcc_state":1,"mpcc_theta_e":6.04649544,"mpcc_theta_mech":5.4461565,"sam_rpm":-126.792847,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0472384989,"thr_a_norm":0.0472384989,"thr_a_v":0.688953996,"thr_b":0.0155905336,"thr_b_norm":0.0155905336,"thr_b_v":0.562362134,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.429495,"values":{"cg_iu_a":-7.44165421,"cg_iv_a":0.716107845,"cg_iw_a":3.75355196,"cg_theta_rad":5.2191267,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0404667631,"mpcc_du":44.6384354,"mpcc_dv":55.3615646,"mpcc_dw":53.038784,"mpcc_enc_sign":1,"mpcc_id_a":0.945372164,"mpcc_iq_a":-3.58937645,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-56.6737404,"mpcc_pred_id_a":-0.410710067,"mpcc_pred_iq_a":-7.6577034,"mpcc_state":1,"mpcc_theta_e":4.60085678,"mpcc_theta_mech":5.15702868,"sam_rpm":-111.010452,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176047087,"thr_a_norm":0.0176047087,"thr_a_v":0.570418835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440000027,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.443075,"values":{"cg_iu_a":-1.86010385,"cg_iv_a":4.55795431,"cg_iw_a":-1.39307284,"cg_theta_rad":4.90546131,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0013830699,"mpcc_du":53.6742973,"mpcc_dv":54.8460732,"mpcc_dw":45.1539268,"mpcc_enc_sign":1,"mpcc_id_a":0.740850031,"mpcc_iq_a":-7.56609964,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-59.0114899,"mpcc_pred_id_a":-0.367417842,"mpcc_pred_iq_a":-9.44095516,"mpcc_state":1,"mpcc_theta_e":2.81957054,"mpcc_theta_mech":4.80077124,"sam_rpm":-114.227768,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023206681,"thr_a_norm":0.0176047087,"thr_a_v":0.592826724,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49886474,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.454336,"values":{"cg_iu_a":5.8960762,"cg_iv_a":-0.226231575,"cg_iw_a":-5.66984463,"cg_theta_rad":4.57493544,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.033680018,"mpcc_du":56.4688492,"mpcc_dv":43.5311508,"mpcc_dw":47.2947693,"mpcc_enc_sign":1,"mpcc_id_a":1.13490891,"mpcc_iq_a":-4.00944281,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-65.0266571,"mpcc_pred_id_a":0.208327413,"mpcc_pred_iq_a":-5.67122889,"mpcc_state":1,"mpcc_theta_e":1.36629295,"mpcc_theta_mech":4.51011562,"sam_rpm":-123.797722,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023206681,"thr_a_norm":0.023206681,"thr_a_v":0.592826724,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49886474,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.477346,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-5.80778217,"cg_iw_a":2.37628651,"cg_theta_rad":4.3117466,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0177751891,"mpcc_du":43.6327591,"mpcc_dv":46.5982819,"mpcc_dw":56.3672409,"mpcc_enc_sign":1,"mpcc_id_a":0.723241866,"mpcc_iq_a":-4.93348551,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-69.9373932,"mpcc_pred_id_a":0.377662599,"mpcc_pred_iq_a":-6.6742754,"mpcc_state":1,"mpcc_theta_e":5.62627935,"mpcc_theta_mech":4.1054759,"sam_rpm":-131.265732,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0302689373,"thr_a_norm":0.0302689373,"thr_a_v":0.621075749,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475751907,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.483816,"values":{"cg_iu_a":-4.17970943,"cg_iv_a":-1.02359605,"cg_iw_a":2.8112123,"cg_theta_rad":4.04330349,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0296667125,"mpcc_du":44.8422203,"mpcc_dv":53.3036842,"mpcc_dw":55.1577797,"mpcc_enc_sign":1,"mpcc_id_a":0.944464982,"mpcc_iq_a":-4.18719578,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-64.8654251,"mpcc_pred_id_a":-0.650270879,"mpcc_pred_iq_a":-10.1929102,"mpcc_state":1,"mpcc_theta_e":4.96550131,"mpcc_theta_mech":3.9730134,"sam_rpm":-125.808411,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0302689373,"thr_a_norm":0.0302689373,"thr_a_v":0.621075749,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475751907,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.490377,"values":{"cg_iu_a":-3.30985737,"cg_iv_a":3.39815187,"cg_iw_a":-0.0882945061,"cg_theta_rad":3.78406286,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0271134432,"mpcc_du":45.0990753,"mpcc_dv":56.01614,"mpcc_dw":43.98386,"mpcc_enc_sign":1,"mpcc_id_a":2.00946569,"mpcc_iq_a":-4.89089584,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-80.7537537,"mpcc_pred_id_a":0.502606392,"mpcc_pred_iq_a":-9.35432625,"mpcc_state":1,"mpcc_theta_e":3.68605757,"mpcc_theta_mech":3.71743155,"sam_rpm":-148.162079,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149485022,"thr_a_norm":0.0149485022,"thr_a_v":0.559794009,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458429813,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.496908,"values":{"cg_iu_a":1.54681635,"cg_iv_a":2.52829981,"cg_iw_a":-4.07511616,"cg_theta_rad":3.470397,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0200770944,"mpcc_du":55.7284584,"mpcc_dv":49.2786179,"mpcc_dw":44.2715416,"mpcc_enc_sign":1,"mpcc_id_a":0.515959501,"mpcc_iq_a":-4.71696377,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-75.3667831,"mpcc_pred_id_a":-1.12213564,"mpcc_pred_iq_a":-8.3246069,"mpcc_state":1,"mpcc_theta_e":2.10609961,"mpcc_theta_mech":3.40143991,"sam_rpm":-109.71563,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02567406,"thr_a_norm":0.0149485022,"thr_a_v":0.60269624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481995881,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.507284,"values":{"cg_iu_a":3.72144651,"cg_iv_a":-4.57549191,"cg_iw_a":0.346632004,"cg_theta_rad":3.14770937,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.00553741492,"mpcc_du":55.0791817,"mpcc_dv":44.3936729,"mpcc_dw":55.6063271,"mpcc_enc_sign":1,"mpcc_id_a":0.308434457,"mpcc_iq_a":-6.04403496,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-70.3109283,"mpcc_pred_id_a":-0.211357191,"mpcc_pred_iq_a":-8.42111969,"mpcc_state":1,"mpcc_theta_e":0.566501141,"mpcc_theta_mech":3.09352016,"sam_rpm":-133.387344,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02567406,"thr_a_norm":0.02567406,"thr_a_v":0.60269624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481995881,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.518881,"values":{"cg_iu_a":-0.845276594,"cg_iv_a":-4.57549191,"cg_iw_a":6.72554636,"cg_theta_rad":2.85348725,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0171093978,"mpcc_du":44.1672592,"mpcc_dv":49.7579269,"mpcc_dw":55.8327408,"mpcc_enc_sign":1,"mpcc_id_a":1.40439522,"mpcc_iq_a":-5.29286766,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-64.4967194,"mpcc_pred_id_a":-0.199210927,"mpcc_pred_iq_a":-7.85709143,"mpcc_state":1,"mpcc_theta_e":5.35805416,"mpcc_theta_mech":2.79519391,"sam_rpm":-116.639076,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.0264545679,"thr_a_v":0.605818272,"thr_b":0.00317807496,"thr_b_norm":0.00317807496,"thr_b_v":0.5127123,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.528708,"values":{"cg_iu_a":-4.1072216,"cg_iv_a":2.81825018,"cg_iw_a":2.30379868,"cg_theta_rad":2.60894227,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0258497857,"mpcc_du":43.3979454,"mpcc_dv":56.6020546,"mpcc_dw":47.3625908,"mpcc_enc_sign":1,"mpcc_id_a":1.73984313,"mpcc_iq_a":-4.79577017,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-74.8424377,"mpcc_pred_id_a":-0.376089215,"mpcc_pred_iq_a":-7.71215773,"mpcc_state":1,"mpcc_theta_e":4.03786755,"mpcc_theta_mech":2.53115654,"sam_rpm":-140.46283,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0143820047,"thr_a_norm":0.0264545679,"thr_a_v":0.557528019,"thr_b":0,"thr_b_norm":0.00317807496,"thr_b_v":0.441158146,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.538076,"values":{"cg_iu_a":0.821939945,"cg_iv_a":4.99288034,"cg_iw_a":-5.81482029,"cg_theta_rad":2.33917546,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.018192647,"mpcc_du":54.338253,"mpcc_dv":54.7868614,"mpcc_dw":45.2131386,"mpcc_enc_sign":1,"mpcc_id_a":2.17495942,"mpcc_iq_a":-5.938519,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-69.0509033,"mpcc_pred_id_a":-0.0589361303,"mpcc_pred_iq_a":-8.66117954,"mpcc_state":1,"mpcc_theta_e":2.77517033,"mpcc_theta_mech":2.27861714,"sam_rpm":-109.052597,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0143820047,"thr_a_norm":0.0143820047,"thr_a_v":0.557528019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441158146,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.5483,"values":{"cg_iu_a":5.75110149,"cg_iv_a":-1.24105906,"cg_iw_a":-4.51004219,"cg_theta_rad":2.06994724,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0165834371,"mpcc_du":56.8016396,"mpcc_dv":43.1983604,"mpcc_dw":47.0309944,"mpcc_enc_sign":1,"mpcc_id_a":2.03488398,"mpcc_iq_a":-5.92119598,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-77.0580673,"mpcc_pred_id_a":0.730041027,"mpcc_pred_iq_a":-7.296422,"mpcc_state":1,"mpcc_theta_e":1.39478683,"mpcc_theta_mech":2.00254035,"sam_rpm":-143.244629,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0132490247,"thr_a_norm":0.0132490247,"thr_a_v":0.552996099,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455609947,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.56011,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-4.72046709,"cg_iw_a":0.274144173,"cg_theta_rad":1.74674308,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.00562695041,"mpcc_du":46.565937,"mpcc_dv":43.0554314,"mpcc_dw":56.9445686,"mpcc_enc_sign":1,"mpcc_id_a":0.806576908,"mpcc_iq_a":-6.23500443,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-74.3971863,"mpcc_pred_id_a":0.206978068,"mpcc_pred_iq_a":-5.65547323,"mpcc_state":1,"mpcc_theta_e":6.08922052,"mpcc_theta_mech":1.68479013,"sam_rpm":-137.896088,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0132490247,"thr_a_norm":0.0132490247,"thr_a_v":0.552996099,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455609947,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.58312,"values":{"cg_iu_a":-3.16488194,"cg_iv_a":0.136206627,"cg_iw_a":6.21813297,"cg_theta_rad":1.46377182,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0529422052,"mpcc_du":45.4717445,"mpcc_dv":54.5282555,"mpcc_dw":48.7215652,"mpcc_enc_sign":1,"mpcc_id_a":-1.26618385,"mpcc_iq_a":-3.07578707,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-51.8110886,"mpcc_pred_id_a":-2.13762355,"mpcc_pred_iq_a":-10.5696287,"mpcc_state":1,"mpcc_theta_e":4.07386637,"mpcc_theta_mech":1.28171909,"sam_rpm":-104.896751,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479729921,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.589621,"values":{"cg_iu_a":-1.57015324,"cg_iv_a":3.97805262,"cg_iw_a":-0.958146095,"cg_theta_rad":1.15471005,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0270978436,"mpcc_du":51.6245575,"mpcc_dv":54.9614677,"mpcc_dw":45.0385323,"mpcc_enc_sign":1,"mpcc_id_a":0.129768595,"mpcc_iq_a":-4.22927237,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-54.5742493,"mpcc_pred_id_a":-1.07615185,"mpcc_pred_iq_a":-7.31025171,"mpcc_state":1,"mpcc_theta_e":3.12224245,"mpcc_theta_mech":1.09139442,"sam_rpm":-151.329697,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0299038589,"thr_a_norm":0.0208274126,"thr_a_v":0.619615436,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461551815,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.596121,"values":{"cg_iu_a":6.40349007,"cg_iv_a":-0.371207237,"cg_iw_a":-6.9021349,"cg_theta_rad":0.828789592,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0244744476,"mpcc_du":56.184864,"mpcc_dv":43.815136,"mpcc_dw":46.1214676,"mpcc_enc_sign":1,"mpcc_id_a":2.3463037,"mpcc_iq_a":-5.43006325,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-64.8832932,"mpcc_pred_id_a":0.720366836,"mpcc_pred_iq_a":-5.96254873,"mpcc_state":1,"mpcc_theta_e":1.48767138,"mpcc_theta_mech":0.764480233,"sam_rpm":-124.560959,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0299038589,"thr_a_norm":0.0299038589,"thr_a_v":0.619615436,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461551815,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.605124,"values":{"cg_iu_a":4.01139736,"cg_iv_a":-6.53265858,"cg_iw_a":2.52126122,"cg_theta_rad":0.522249639,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0441728532,"mpcc_du":48.3263435,"mpcc_dv":42.8864594,"mpcc_dw":57.1135406,"mpcc_enc_sign":1,"mpcc_id_a":3.54263473,"mpcc_iq_a":-5.23750591,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-81.1543503,"mpcc_pred_id_a":1.18894124,"mpcc_pred_iq_a":-7.56513071,"mpcc_state":1,"mpcc_theta_e":6.26211405,"mpcc_theta_mech":0.4627316,"sam_rpm":-149.252457,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176550597,"thr_a_norm":0.0176550597,"thr_a_v":0.570620239,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443474501,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.615103,"values":{"cg_iu_a":-4.75961065,"cg_iv_a":-1.16857147,"cg_iw_a":5.92818213,"cg_theta_rad":0.25178808,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0129787354,"mpcc_du":45.7212791,"mpcc_dv":53.8506546,"mpcc_dw":54.2787209,"mpcc_enc_sign":1,"mpcc_id_a":1.44047379,"mpcc_iq_a":-5.73463058,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-43.9520874,"mpcc_pred_id_a":-0.242162839,"mpcc_pred_iq_a":-8.09252167,"mpcc_state":1,"mpcc_theta_e":4.88082218,"mpcc_theta_mech":0.18647325,"sam_rpm":-93.4083176,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100048065,"thr_a_norm":0.0176550597,"thr_a_v":0.900192261,"thr_b":0.044670403,"thr_b_norm":0,"thr_b_v":0.678681612,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.625662,"values":{"cg_iu_a":-0.990252018,"cg_iv_a":4.70292997,"cg_iw_a":-3.71267796,"cg_theta_rad":6.24608231,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0798420981,"mpcc_du":46.9725723,"mpcc_dv":56.8053474,"mpcc_dw":43.1946526,"mpcc_enc_sign":1,"mpcc_id_a":2.05477071,"mpcc_iq_a":-2.23551917,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-67.3692703,"mpcc_pred_id_a":-0.303685337,"mpcc_pred_iq_a":-4.9571147,"mpcc_state":1,"mpcc_theta_e":3.46416521,"mpcc_theta_mech":6.18632746,"sam_rpm":-127.703209,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100048065,"thr_a_norm":0.100048065,"thr_a_v":0.900192261,"thr_b":0.044670403,"thr_b_norm":0.044670403,"thr_b_v":0.678681612,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.63796,"values":{"cg_iu_a":5.60612583,"cg_iv_a":2.74576283,"cg_iw_a":-4.22009134,"cg_theta_rad":5.95083523,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0211773999,"mpcc_du":55.5834274,"mpcc_dv":45.7518387,"mpcc_dw":44.4165726,"mpcc_enc_sign":1,"mpcc_id_a":2.69001031,"mpcc_iq_a":-8.6112175,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-71.4015808,"mpcc_pred_id_a":0.686848223,"mpcc_pred_iq_a":-9.22352123,"mpcc_state":1,"mpcc_theta_e":1.78260851,"mpcc_theta_mech":5.85001564,"sam_rpm":-134.559326,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.0063252449,"thr_b_norm":0.0063252449,"thr_b_v":0.52530098,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.647696,"values":{"cg_iu_a":7.2008543,"cg_iv_a":-6.67763424,"cg_iw_a":-0.0882940292,"cg_theta_rad":5.63999081,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0387290902,"mpcc_du":52.6066933,"mpcc_dv":44.3946381,"mpcc_dw":55.6053619,"mpcc_enc_sign":1,"mpcc_id_a":3.27174115,"mpcc_iq_a":-5.3119998,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-67.4890289,"mpcc_pred_id_a":1.2454828,"mpcc_pred_iq_a":-6.45251369,"mpcc_state":1,"mpcc_theta_e":0.404615879,"mpcc_theta_mech":5.57441759,"sam_rpm":-129.876404,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172648281,"thr_a_norm":0.0296772718,"thr_a_v":0.569059312,"thr_b":0,"thr_b_norm":0.0063252449,"thr_b_v":0.440352499,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.659475,"values":{"cg_iu_a":-1.71512866,"cg_iv_a":-2.32837415,"cg_iw_a":4.04350281,"cg_theta_rad":5.3246026,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.00383921573,"mpcc_du":43.4567261,"mpcc_dv":52.9006844,"mpcc_dw":56.5432739,"mpcc_enc_sign":1,"mpcc_id_a":1.23874331,"mpcc_iq_a":-7.53465986,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-73.5070114,"mpcc_pred_id_a":-0.138516262,"mpcc_pred_iq_a":-7.72531319,"mpcc_state":1,"mpcc_theta_e":5.08368111,"mpcc_theta_mech":5.25359344,"sam_rpm":-137.927444,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172648281,"thr_a_norm":0.0172648281,"thr_a_v":0.569059312,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440352499,"vdc_v":54.6292953}} +{"type":"telemetry","t":5.682486,"values":{"cg_iu_a":-3.45483255,"cg_iv_a":4.19551611,"cg_iw_a":-0.740683079,"cg_theta_rad":5.0246644,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0173921641,"mpcc_du":52.5909958,"mpcc_dv":56.6175919,"mpcc_dw":43.3824081,"mpcc_enc_sign":1,"mpcc_id_a":0.0790497214,"mpcc_iq_a":-4.86359787,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-60.2065811,"mpcc_pred_id_a":-0.751898766,"mpcc_pred_iq_a":-4.45430708,"mpcc_state":1,"mpcc_theta_e":2.98571587,"mpcc_theta_mech":4.83400059,"sam_rpm":-119.22683,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0171892792,"thr_a_norm":0.0171892792,"thr_a_v":0.568757117,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455408543,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.689047,"values":{"cg_iu_a":3.8664217,"cg_iv_a":3.25317621,"cg_iw_a":-6.03228283,"cg_theta_rad":4.7025485,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.00593527546,"mpcc_du":55.1730156,"mpcc_dv":45.8378563,"mpcc_dw":44.8269844,"mpcc_enc_sign":1,"mpcc_id_a":1.35992384,"mpcc_iq_a":-6.77562618,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-60.7775917,"mpcc_pred_id_a":-0.0576724,"mpcc_pred_iq_a":-8.56916714,"mpcc_state":1,"mpcc_theta_e":1.7582531,"mpcc_theta_mech":4.58850765,"sam_rpm":-120.08152,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294758528,"thr_a_norm":0.0171892792,"thr_a_v":0.617903411,"thr_b":0.00461317599,"thr_b_norm":0,"thr_b_v":0.518452704,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.695547,"values":{"cg_iu_a":7.05587959,"cg_iv_a":-7.47499847,"cg_iw_a":0.419118881,"cg_theta_rad":4.34001207,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0855849013,"mpcc_du":51.1979675,"mpcc_dv":43.3464241,"mpcc_dw":56.6535759,"mpcc_enc_sign":1,"mpcc_id_a":4.86883259,"mpcc_iq_a":-4.25524569,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-68.756485,"mpcc_pred_id_a":1.17033792,"mpcc_pred_iq_a":-6.64148617,"mpcc_state":1,"mpcc_theta_e":0.219518661,"mpcc_theta_mech":4.28076077,"sam_rpm":-131.739197,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294758528,"thr_a_norm":0.0294758528,"thr_a_v":0.617903411,"thr_b":0.00461317599,"thr_b_norm":0.00461317599,"thr_b_v":0.518452704,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.707052,"values":{"cg_iu_a":-2.65746832,"cg_iv_a":-1.53100967,"cg_iw_a":6.36310768,"cg_theta_rad":4.0347662,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0490351208,"mpcc_du":43.9491806,"mpcc_dv":56.0508194,"mpcc_dw":54.9321289,"mpcc_enc_sign":1,"mpcc_id_a":4.23483372,"mpcc_iq_a":-6.20376253,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-70.6153259,"mpcc_pred_id_a":0.945548892,"mpcc_pred_iq_a":-7.43215942,"mpcc_state":1,"mpcc_theta_e":4.74454832,"mpcc_theta_mech":3.9291296,"sam_rpm":-135.046402,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0286198258,"thr_a_norm":0.0286198258,"thr_a_v":0.614479303,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469961077,"vdc_v":54.6292953}} +{"type":"telemetry","t":5.716879,"values":{"cg_iu_a":-2.94741893,"cg_iv_a":3.76059008,"cg_iw_a":-0.813171148,"cg_theta_rad":3.73617244,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0429406427,"mpcc_du":48.3220024,"mpcc_dv":57.2067337,"mpcc_dw":42.7932663,"mpcc_enc_sign":1,"mpcc_id_a":3.38354468,"mpcc_iq_a":-5.10670042,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-65.8218002,"mpcc_pred_id_a":0.679727256,"mpcc_pred_iq_a":-4.14134026,"mpcc_state":1,"mpcc_theta_e":3.3742156,"mpcc_theta_mech":3.65506315,"sam_rpm":-129.634125,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024742499,"thr_a_norm":0.0286198258,"thr_a_v":0.598969996,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.728506,"values":{"cg_iu_a":4.5912981,"cg_iv_a":0.426157475,"cg_iw_a":-4.65501738,"cg_theta_rad":3.40063906,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0153406113,"mpcc_du":56.0268593,"mpcc_dv":45.1354599,"mpcc_dw":43.9731407,"mpcc_enc_sign":1,"mpcc_id_a":2.21404171,"mpcc_iq_a":-6.38902569,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-67.5661545,"mpcc_pred_id_a":-0.113845773,"mpcc_pred_iq_a":-6.75396109,"mpcc_state":1,"mpcc_theta_e":1.74879026,"mpcc_theta_mech":3.32997799,"sam_rpm":-131.216522,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024742499,"thr_a_norm":0.024742499,"thr_a_v":0.598969996,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.739492,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-3.3432014,"cg_iw_a":2.08633542,"cg_theta_rad":3.06900978,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.00623138854,"mpcc_du":50.6282501,"mpcc_dv":41.8791695,"mpcc_dw":58.1208305,"mpcc_enc_sign":1,"mpcc_id_a":0.51440078,"mpcc_iq_a":-6.00736904,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-86.7255936,"mpcc_pred_id_a":0.213607773,"mpcc_pred_iq_a":-5.36923504,"mpcc_state":1,"mpcc_theta_e":0.124577999,"mpcc_theta_mech":3.00513577,"sam_rpm":-159.293976,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209658891,"thr_a_norm":0.0209658891,"thr_a_v":0.583863556,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463515669,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.751699,"values":{"cg_iu_a":-4.90458584,"cg_iv_a":-0.588670254,"cg_iw_a":5.49325609,"cg_theta_rad":2.75155616,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0175034646,"mpcc_du":42.3677292,"mpcc_dv":57.6322708,"mpcc_dw":56.7574348,"mpcc_enc_sign":1,"mpcc_id_a":1.36398017,"mpcc_iq_a":-5.23263502,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-89.1009369,"mpcc_pred_id_a":0.356405646,"mpcc_pred_iq_a":-4.07607746,"mpcc_state":1,"mpcc_theta_e":4.73896885,"mpcc_theta_mech":2.67137671,"sam_rpm":-162.367523,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216834545,"thr_a_norm":0.0209658891,"thr_a_v":0.586733818,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469004363,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.761465,"values":{"cg_iu_a":-6.93424034,"cg_iv_a":6.37014627,"cg_iw_a":-1.61053514,"cg_theta_rad":2.45889306,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.125802547,"mpcc_du":48.6108665,"mpcc_dv":58.4178314,"mpcc_dw":41.5821686,"mpcc_enc_sign":1,"mpcc_id_a":5.26071882,"mpcc_iq_a":-2.74123383,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-91.4760208,"mpcc_pred_id_a":1.34362042,"mpcc_pred_iq_a":-5.28739882,"mpcc_state":1,"mpcc_theta_e":3.34250546,"mpcc_theta_mech":2.39208412,"sam_rpm":-166.620071,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216834545,"thr_a_norm":0.0216834545,"thr_a_v":0.586733818,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469004363,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.784719,"values":{"cg_iu_a":1.69179153,"cg_iv_a":0.788595676,"cg_iw_a":-2.48038721,"cg_theta_rad":2.16668057,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0289259739,"mpcc_du":57.1502647,"mpcc_dv":42.8497353,"mpcc_dw":49.5378571,"mpcc_enc_sign":1,"mpcc_id_a":1.94897187,"mpcc_iq_a":-4.71218777,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-67.299942,"mpcc_pred_id_a":-0.328362644,"mpcc_pred_iq_a":-4.47619295,"mpcc_state":1,"mpcc_theta_e":1.16300106,"mpcc_theta_mech":1.95618331,"sam_rpm":-129.771011,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186621547,"thr_a_norm":0.0186621547,"thr_a_v":0.574648619,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454653233,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.79122,"values":{"cg_iu_a":5.8960762,"cg_iv_a":-5.44534397,"cg_iw_a":-0.450732231,"cg_theta_rad":1.89173734,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0829360262,"mpcc_du":52.4256935,"mpcc_dv":42.9993057,"mpcc_dw":57.0006943,"mpcc_enc_sign":1,"mpcc_id_a":1.96596479,"mpcc_iq_a":-4.13455248,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-80.6594086,"mpcc_pred_id_a":1.12024856,"mpcc_pred_iq_a":-4.47817087,"mpcc_state":1,"mpcc_theta_e":0.334399223,"mpcc_theta_mech":1.7966851,"sam_rpm":-150.138046,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186621547,"thr_a_norm":0.0186621547,"thr_a_v":0.574648619,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454653233,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.79775,"values":{"cg_iu_a":-2.29502988,"cg_iv_a":-3.27071381,"cg_iw_a":3.10116291,"cg_theta_rad":1.60780549,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0117199514,"mpcc_du":42.7107544,"mpcc_dv":51.7521744,"mpcc_dw":57.2892456,"mpcc_enc_sign":1,"mpcc_id_a":1.49211895,"mpcc_iq_a":-5.93106365,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-71.2971039,"mpcc_pred_id_a":-0.0586092807,"mpcc_pred_iq_a":-4.69752026,"mpcc_state":1,"mpcc_theta_e":5.18177938,"mpcc_theta_mech":1.50330174,"sam_rpm":-135.624237,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172774047,"thr_a_norm":0.0172774047,"thr_a_v":0.569109619,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447603583,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.804251,"values":{"cg_iu_a":-5.7744379,"cg_iv_a":4.84790468,"cg_iw_a":0.0566811562,"cg_theta_rad":1.29553902,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.00233950536,"mpcc_du":44.0654449,"mpcc_dv":55.9345551,"mpcc_dw":44.9036064,"mpcc_enc_sign":1,"mpcc_id_a":-0.19711411,"mpcc_iq_a":-6.55292654,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-67.8253784,"mpcc_pred_id_a":-0.479681551,"mpcc_pred_iq_a":-6.71400785,"mpcc_state":1,"mpcc_theta_e":3.80684423,"mpcc_theta_mech":1.22831476,"sam_rpm":-130.382599,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172774047,"thr_a_norm":0.0172774047,"thr_a_v":0.569109619,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447603583,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.814444,"values":{"cg_iu_a":3.64895868,"cg_iv_a":3.18068886,"cg_iw_a":-5.74233198,"cg_theta_rad":0.985624969,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.010834978,"mpcc_du":59.3921242,"mpcc_dv":47.8414268,"mpcc_dw":40.6078758,"mpcc_enc_sign":1,"mpcc_id_a":1.04269993,"mpcc_iq_a":-5.69812107,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-99.2973938,"mpcc_pred_id_a":0.389367163,"mpcc_pred_iq_a":-3.30042624,"mpcc_state":1,"mpcc_theta_e":2.02474546,"mpcc_theta_mech":0.871895075,"sam_rpm":-178.942535,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176047087,"thr_a_norm":0.0176047087,"thr_a_v":0.570418835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.436424792,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.82546,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-1.89344811,"cg_iw_a":-1.75551057,"cg_theta_rad":0.604690611,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0803580433,"mpcc_du":53.1627541,"mpcc_dv":43.9046364,"mpcc_dw":56.0953636,"mpcc_enc_sign":1,"mpcc_id_a":3.96779275,"mpcc_iq_a":-3.45032859,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-71.0932236,"mpcc_pred_id_a":1.0172143,"mpcc_pred_iq_a":-8.34257984,"mpcc_state":1,"mpcc_theta_e":0.417639732,"mpcc_theta_mech":0.550473869,"sam_rpm":-135.957779,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456063181,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.836111,"values":{"cg_iu_a":-1.64264083,"cg_iv_a":-2.32837415,"cg_iw_a":4.18847799,"cg_theta_rad":0.319600344,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0261338893,"mpcc_du":42.2253723,"mpcc_dv":51.3592682,"mpcc_dw":57.7746277,"mpcc_enc_sign":1,"mpcc_id_a":2.805161,"mpcc_iq_a":-5.89232206,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-83.2832413,"mpcc_pred_id_a":0.390239894,"mpcc_pred_iq_a":-9.09685707,"mpcc_state":1,"mpcc_theta_e":5.24119186,"mpcc_theta_mech":0.261505097,"sam_rpm":-154.650986,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456063181,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.84667,"values":{"cg_iu_a":-3.30985737,"cg_iv_a":3.68810225,"cg_iw_a":-0.378244877,"cg_theta_rad":0.0129227182,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0157687757,"mpcc_du":43.4801636,"mpcc_dv":57.4648361,"mpcc_dw":42.5351639,"mpcc_enc_sign":1,"mpcc_id_a":0.950944364,"mpcc_iq_a":-5.1689415,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-61.1228867,"mpcc_pred_id_a":-0.499755323,"mpcc_pred_iq_a":-11.6449976,"mpcc_state":1,"mpcc_theta_e":3.69540453,"mpcc_theta_mech":6.23257494,"sam_rpm":-151.326508,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0381998271,"thr_a_norm":0.0381998271,"thr_a_v":0.652799308,"thr_b":0.00774776936,"thr_b_norm":0.00774776936,"thr_b_v":0.530991077,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.858267,"values":{"cg_iu_a":2.34418058,"cg_iv_a":2.67327499,"cg_iw_a":-6.53969669,"cg_theta_rad":5.97331381,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.00171193748,"mpcc_du":56.0901794,"mpcc_dv":48.3341751,"mpcc_dw":43.9098206,"mpcc_enc_sign":1,"mpcc_id_a":0.150085822,"mpcc_iq_a":-6.68621302,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-72.5323181,"mpcc_pred_id_a":-0.604593515,"mpcc_pred_iq_a":-9.46112442,"mpcc_state":1,"mpcc_theta_e":2.01641893,"mpcc_theta_mech":5.89677811,"sam_rpm":-138.690323,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272602439,"thr_a_norm":0.0381998271,"thr_a_v":0.609040976,"thr_b":0.000609979033,"thr_b_norm":0.00774776936,"thr_b_v":0.502439916,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.883108,"values":{"cg_iu_a":7.85324383,"cg_iv_a":-7.47499847,"cg_iw_a":-0.668194771,"cg_theta_rad":5.61369753,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0398875996,"mpcc_du":43.4141006,"mpcc_dv":44.1250191,"mpcc_dw":56.5858994,"mpcc_enc_sign":1,"mpcc_id_a":2.81969547,"mpcc_iq_a":-4.67080259,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-70.8020401,"mpcc_pred_id_a":0.925816,"mpcc_pred_iq_a":-4.43151188,"mpcc_state":1,"mpcc_theta_e":5.82438087,"mpcc_theta_mech":5.4017334,"sam_rpm":-136.180908,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272602439,"thr_a_norm":0.0272602439,"thr_a_v":0.609040976,"thr_b":0.000609979033,"thr_b_norm":0.000609979033,"thr_b_v":0.502439916,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.889578,"values":{"cg_iu_a":-2.29502988,"cg_iv_a":-4.06807804,"cg_iw_a":6.36310768,"cg_theta_rad":5.34080696,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.00454804348,"mpcc_du":42.9469223,"mpcc_dv":52.7370911,"mpcc_dw":57.0530777,"mpcc_enc_sign":1,"mpcc_id_a":1.12363446,"mpcc_iq_a":-6.75390148,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-81.6190796,"mpcc_pred_id_a":-0.0756838843,"mpcc_pred_iq_a":-7.88808298,"mpcc_state":1,"mpcc_theta_e":5.1147728,"mpcc_theta_mech":5.25981188,"sam_rpm":-151.886139,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228290111,"thr_a_norm":0.0272602439,"thr_a_v":0.591316044,"thr_b":0,"thr_b_norm":0.000609979033,"thr_b_v":0.49987182,"vdc_v":54.6292953}} +{"type":"telemetry","t":5.896109,"values":{"cg_iu_a":-1.06273961,"cg_iv_a":5.21034288,"cg_iw_a":-4.14760303,"cg_theta_rad":4.96688795,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.31445,"hz_adc_isr":5006,"hz_app_loop":298,"hz_tim_isr":10012,"hz_vsense":298,"mpcc_cost":0.0286370106,"mpcc_du":48.7133827,"mpcc_dv":56.8416519,"mpcc_dw":43.1583481,"mpcc_enc_sign":1,"mpcc_id_a":-1.54950869,"mpcc_iq_a":-4.49104214,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-65.2635193,"mpcc_pred_id_a":-1.0461638,"mpcc_pred_iq_a":-5.24742842,"mpcc_state":1,"mpcc_theta_e":3.31541252,"mpcc_theta_mech":4.89993954,"sam_rpm":-128.204666,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228290111,"thr_a_norm":0.0228290111,"thr_a_v":0.591316044,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49987182,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.903677,"values":{"cg_iu_a":7.2008543,"cg_iv_a":0.281181812,"cg_iw_a":-4.07511616,"cg_theta_rad":4.65202856,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0400618501,"mpcc_du":54.7211876,"mpcc_dv":45.2788124,"mpcc_dw":45.2790108,"mpcc_enc_sign":1,"mpcc_id_a":-0.553872943,"mpcc_iq_a":-3.53541112,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-71.1756821,"mpcc_pred_id_a":-0.381014675,"mpcc_pred_iq_a":-6.00016451,"mpcc_state":1,"mpcc_theta_e":1.69224167,"mpcc_theta_mech":4.57530546,"sam_rpm":-137.141251,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260895044,"thr_a_norm":0.0260895044,"thr_a_v":0.604358017,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491714358,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.913046,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-3.19822598,"cg_iw_a":0.854045391,"cg_theta_rad":4.36315727,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0112141594,"mpcc_du":51.8634605,"mpcc_dv":42.6792679,"mpcc_dw":57.3207321,"mpcc_enc_sign":1,"mpcc_id_a":2.08061409,"mpcc_iq_a":-7.10413551,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-87.4251404,"mpcc_pred_id_a":0.46084854,"mpcc_pred_iq_a":-8.15279865,"mpcc_state":1,"mpcc_theta_e":0.24184227,"mpcc_theta_mech":4.28522587,"sam_rpm":-160.52977,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295765549,"thr_a_norm":0.0260895044,"thr_a_v":0.61830622,"thr_b":0.00663995743,"thr_b_norm":0,"thr_b_v":0.52655983,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.925283,"values":{"cg_iu_a":-3.23736954,"cg_iv_a":-0.588670254,"cg_iw_a":4.69589138,"cg_theta_rad":4.00059509,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0301803295,"mpcc_du":43.4182625,"mpcc_dv":56.5817375,"mpcc_dw":56.0105553,"mpcc_enc_sign":1,"mpcc_id_a":2.37485051,"mpcc_iq_a":-4.96381855,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-82.1752472,"mpcc_pred_id_a":0.224306494,"mpcc_pred_iq_a":-6.90254831,"mpcc_state":1,"mpcc_theta_e":4.76498747,"mpcc_theta_mech":3.93321753,"sam_rpm":-153.583923,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295765549,"thr_a_norm":0.0295765549,"thr_a_v":0.61830622,"thr_b":0.00663995743,"thr_b_norm":0.00663995743,"thr_b_v":0.52655983,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.935263,"values":{"cg_iu_a":-4.97707367,"cg_iv_a":5.06536818,"cg_iw_a":-1.17560959,"cg_theta_rad":3.70775747,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0164626017,"mpcc_du":49.1252174,"mpcc_dv":59.0905495,"mpcc_dw":40.9094505,"mpcc_enc_sign":1,"mpcc_id_a":0.997398973,"mpcc_iq_a":-5.13563204,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-90.3812256,"mpcc_pred_id_a":0.781602442,"mpcc_pred_iq_a":-2.59090495,"mpcc_state":1,"mpcc_theta_e":3.2837863,"mpcc_theta_mech":3.63697743,"sam_rpm":-165.469009,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024138242,"thr_a_norm":0.024138242,"thr_a_v":0.596552968,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.947256,"values":{"cg_iu_a":4.08388519,"cg_iv_a":-0.153744221,"cg_iw_a":-8.27940178,"cg_theta_rad":3.36255002,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.035508547,"mpcc_du":56.3196945,"mpcc_dv":43.6803055,"mpcc_dw":45.8187599,"mpcc_enc_sign":1,"mpcc_id_a":3.765764,"mpcc_iq_a":-7.35019827,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-70.3689728,"mpcc_pred_id_a":0.847304702,"mpcc_pred_iq_a":-7.1130743,"mpcc_state":1,"mpcc_theta_e":1.53197813,"mpcc_theta_mech":3.28661585,"sam_rpm":-136.097519,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023533985,"thr_a_norm":0.024138242,"thr_a_v":0.59413594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475550473,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.95809,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-7.33002281,"cg_iw_a":3.82603931,"cg_theta_rad":3.02187538,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":4.91404826e-05,"mpcc_du":48.0682487,"mpcc_dv":43.734108,"mpcc_dw":56.265892,"mpcc_enc_sign":1,"mpcc_id_a":-0.106884979,"mpcc_iq_a":-7.40927076,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-69.7387161,"mpcc_pred_id_a":-0.980655253,"mpcc_pred_iq_a":-8.21012592,"mpcc_state":1,"mpcc_theta_e":6.18328953,"mpcc_theta_mech":2.96024084,"sam_rpm":-134.680023,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023533985,"thr_a_norm":0.023533985,"thr_a_v":0.59413594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475550473,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.96987,"values":{"cg_iu_a":-4.97707367,"cg_iv_a":0.426157475,"cg_iw_a":7.30544758,"cg_theta_rad":2.68482542,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0580225922,"mpcc_du":42.8147278,"mpcc_dv":57.1852722,"mpcc_dw":52.1502609,"mpcc_enc_sign":1,"mpcc_id_a":0.454544067,"mpcc_iq_a":-2.7039156,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-71.6352081,"mpcc_pred_id_a":0.0911121741,"mpcc_pred_iq_a":-5.24033356,"mpcc_state":1,"mpcc_theta_e":4.45264149,"mpcc_theta_mech":2.61411142,"sam_rpm":-138.461472,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0300423354,"thr_a_norm":0.0300423354,"thr_a_v":0.620169342,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471320659,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.99288,"values":{"cg_iu_a":-3.52732038,"cg_iv_a":4.41297865,"cg_iw_a":-2.19043636,"cg_theta_rad":2.37039828,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.00404411089,"mpcc_du":58.0043449,"mpcc_dv":49.8346176,"mpcc_dw":41.9956551,"mpcc_enc_sign":1,"mpcc_id_a":0.714876652,"mpcc_iq_a":-6.44805145,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-81.1892624,"mpcc_pred_id_a":-0.313837498,"mpcc_pred_iq_a":-4.68877983,"mpcc_state":1,"mpcc_theta_e":2.16234493,"mpcc_theta_mech":2.15605211,"sam_rpm":-152.36058,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196440816,"thr_a_norm":0.0300423354,"thr_a_v":0.578576326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465983063,"vdc_v":55.2955055}} +{"type":"telemetry","t":5.999411,"values":{"cg_iu_a":6.33100224,"cg_iv_a":-1.60349751,"cg_iw_a":-5.01745605,"cg_theta_rad":2.00986552,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0448926836,"mpcc_du":56.5313797,"mpcc_dv":43.4686203,"mpcc_dw":51.1891975,"mpcc_enc_sign":1,"mpcc_id_a":3.97433305,"mpcc_iq_a":-6.02971125,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-66.0233536,"mpcc_pred_id_a":0.63645649,"mpcc_pred_iq_a":-6.70957232,"mpcc_state":1,"mpcc_theta_e":1.06400585,"mpcc_theta_mech":1.9363842,"sam_rpm":-129.751984,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196440816,"thr_a_norm":0.0196440816,"thr_a_v":0.578576326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465983063,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.005911,"values":{"cg_iu_a":-0.265375137,"cg_iv_a":-4.93793011,"cg_iw_a":4.84086704,"cg_theta_rad":1.71964324,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.00807460118,"mpcc_du":44.7575531,"mpcc_dv":45.9540977,"mpcc_dw":54.3399277,"mpcc_enc_sign":1,"mpcc_id_a":1.76258254,"mpcc_iq_a":-7.85091782,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-96.6216125,"mpcc_pred_id_a":0.891074002,"mpcc_pred_iq_a":-6.67600203,"mpcc_state":1,"mpcc_theta_e":5.87511873,"mpcc_theta_mech":1.64196968,"sam_rpm":-175.875839,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236346871,"thr_a_norm":0.0236346871,"thr_a_v":0.594538748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482449085,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.014273,"values":{"cg_iu_a":-4.54214764,"cg_iv_a":2.52829981,"cg_iw_a":2.01384783,"cg_theta_rad":1.36341429,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0286688134,"mpcc_du":44.671978,"mpcc_dv":55.328022,"mpcc_dw":48.0345039,"mpcc_enc_sign":1,"mpcc_id_a":1.6466043,"mpcc_iq_a":-4.54090881,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-63.2384796,"mpcc_pred_id_a":-1.34324324,"mpcc_pred_iq_a":-10.3577824,"mpcc_state":1,"mpcc_theta_e":4.06461573,"mpcc_theta_mech":1.27986908,"sam_rpm":-126.385109,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176424831,"thr_a_norm":0.0236346871,"thr_a_v":0.570569932,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44135958,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.025869,"values":{"cg_iu_a":3.8664217,"cg_iv_a":4.92039251,"cg_iw_a":-8.78681374,"cg_theta_rad":1.00169992,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0202431381,"mpcc_du":56.217041,"mpcc_dv":51.5535851,"mpcc_dw":43.782959,"mpcc_enc_sign":1,"mpcc_id_a":1.5898757,"mpcc_iq_a":-5.14001036,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-80.6604156,"mpcc_pred_id_a":-0.405298471,"mpcc_pred_iq_a":-11.209094,"mpcc_state":1,"mpcc_theta_e":2.32999372,"mpcc_theta_mech":0.932944596,"sam_rpm":-153.131271,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176424831,"thr_a_norm":0.0176424831,"thr_a_v":0.570569932,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44135958,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.035513,"values":{"cg_iu_a":6.33100224,"cg_iv_a":-4.35802889,"cg_iw_a":-1.97297335,"cg_theta_rad":0.704013944,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0406802446,"mpcc_du":56.6191139,"mpcc_dv":43.3808861,"mpcc_dw":54.0781975,"mpcc_enc_sign":1,"mpcc_id_a":3.72661543,"mpcc_iq_a":-5.94441605,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-65.6880035,"mpcc_pred_id_a":0.681096852,"mpcc_pred_iq_a":-8.63461399,"mpcc_state":1,"mpcc_theta_e":0.83755064,"mpcc_theta_mech":0.634456038,"sam_rpm":-134.501755,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.045523,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-4.86544228,"cg_iw_a":5.27579308,"cg_theta_rad":0.38184914,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.172141045,"mpcc_du":43.1865425,"mpcc_dv":47.3530464,"mpcc_dw":56.8134575,"mpcc_enc_sign":1,"mpcc_id_a":2.18817782,"mpcc_iq_a":0.474736482,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-68.3227997,"mpcc_pred_id_a":0.391219705,"mpcc_pred_iq_a":-5.72398233,"mpcc_state":1,"mpcc_theta_e":5.5853858,"mpcc_theta_mech":0.327385962,"sam_rpm":-133.820068,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.056051,"values":{"cg_iu_a":-2.87493134,"cg_iv_a":2.67327499,"cg_iw_a":1.79638505,"cg_theta_rad":0.0724915043,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0278025325,"mpcc_du":42.4728737,"mpcc_dv":57.5271263,"mpcc_dw":46.649971,"mpcc_enc_sign":1,"mpcc_id_a":-1.00310862,"mpcc_iq_a":-4.3196249,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-79.6942673,"mpcc_pred_id_a":-1.58363795,"mpcc_pred_iq_a":-5.59735107,"mpcc_state":1,"mpcc_theta_e":3.9920826,"mpcc_theta_mech":0.00872535352,"sam_rpm":-151.865631,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0298912674,"thr_a_norm":0.0298912674,"thr_a_v":0.61956507,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454854637,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.067648,"values":{"cg_iu_a":1.69179153,"cg_iv_a":4.12302828,"cg_iw_a":-5.81481981,"cg_theta_rad":6.02379036,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0237724856,"mpcc_du":57.2545471,"mpcc_dv":50.7965164,"mpcc_dw":42.7454529,"mpcc_enc_sign":1,"mpcc_id_a":3.07207704,"mpcc_iq_a":-7.76708984,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-84.5240173,"mpcc_pred_id_a":0.485503256,"mpcc_pred_iq_a":-8.34411907,"mpcc_state":1,"mpcc_theta_e":2.25407839,"mpcc_theta_mech":5.94430971,"sam_rpm":-158.333801,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292240679,"thr_a_norm":0.0298912674,"thr_a_v":0.616896272,"thr_b":0.00390821695,"thr_b_norm":0,"thr_b_v":0.515632868,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.090445,"values":{"cg_iu_a":4.5912981,"cg_iv_a":-3.85061502,"cg_iw_a":-0.740683079,"cg_theta_rad":5.69298363,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0126687167,"mpcc_du":48.7481689,"mpcc_dv":43.1161232,"mpcc_dw":56.8838768,"mpcc_enc_sign":1,"mpcc_id_a":0.984001696,"mpcc_iq_a":-5.47534513,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-82.1728363,"mpcc_pred_id_a":-0.150767803,"mpcc_pred_iq_a":-8.88936996,"mpcc_state":1,"mpcc_theta_e":6.28006554,"mpcc_theta_mech":5.49287033,"sam_rpm":-154.936005,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292240679,"thr_a_norm":0.0292240679,"thr_a_v":0.616896272,"thr_b":0.00390821695,"thr_b_norm":0.00390821695,"thr_b_v":0.515632868,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.096975,"values":{"cg_iu_a":-1.93259168,"cg_iv_a":-2.98076296,"cg_iw_a":4.91335487,"cg_theta_rad":5.33815289,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0817604065,"mpcc_du":42.4112701,"mpcc_dv":52.7662086,"mpcc_dw":57.5887299,"mpcc_enc_sign":1,"mpcc_id_a":1.63157952,"mpcc_iq_a":-2.01893139,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-76.0981598,"mpcc_pred_id_a":-0.140426889,"mpcc_pred_iq_a":-4.5689373,"mpcc_state":1,"mpcc_theta_e":5.1373806,"mpcc_theta_mech":5.26567841,"sam_rpm":-145.84668,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218219161,"thr_a_norm":0.0218219161,"thr_a_v":0.587287664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491865426,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.103506,"values":{"cg_iu_a":-5.12204885,"cg_iv_a":4.55795431,"cg_iw_a":0.564094543,"cg_theta_rad":5.05129433,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.000390993519,"mpcc_du":46.9021835,"mpcc_dv":54.1124382,"mpcc_dw":45.8875618,"mpcc_enc_sign":1,"mpcc_id_a":0.216876179,"mpcc_iq_a":-7.16930056,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-50.4851532,"mpcc_pred_id_a":-1.04221857,"mpcc_pred_iq_a":-11.1123428,"mpcc_state":1,"mpcc_theta_e":3.65792274,"mpcc_theta_mech":4.97066164,"sam_rpm":-107.699936,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218219161,"thr_a_norm":0.0218219161,"thr_a_v":0.587287664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491865426,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.110098,"values":{"cg_iu_a":2.41666842,"cg_iv_a":3.61561441,"cg_iw_a":-4.72750473,"cg_theta_rad":4.73650885,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.00186756533,"mpcc_du":55.9983215,"mpcc_dv":49.4228439,"mpcc_dw":44.0016785,"mpcc_enc_sign":1,"mpcc_id_a":0.747040212,"mpcc_iq_a":-5.28440666,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-83.6926498,"mpcc_pred_id_a":-0.730969906,"mpcc_pred_iq_a":-7.73688173,"mpcc_state":1,"mpcc_theta_e":2.12978935,"mpcc_theta_mech":4.66281509,"sam_rpm":-123.427917,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247550905,"thr_a_norm":0.0247550905,"thr_a_v":0.599020362,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482046247,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.119497,"values":{"cg_iu_a":4.5912981,"cg_iv_a":-4.50300407,"cg_iw_a":-1.53804731,"cg_theta_rad":4.42817354,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0420935005,"mpcc_du":55.03936,"mpcc_dv":43.3696594,"mpcc_dw":56.6303406,"mpcc_enc_sign":1,"mpcc_id_a":3.95212102,"mpcc_iq_a":-8.60369301,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-81.3974762,"mpcc_pred_id_a":1.17639506,"mpcc_pred_iq_a":-7.56059599,"mpcc_state":1,"mpcc_theta_e":0.533952713,"mpcc_theta_mech":4.34364796,"sam_rpm":-152.557373,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294380933,"thr_a_norm":0.0247550905,"thr_a_v":0.617752373,"thr_b":0.00390821695,"thr_b_norm":0,"thr_b_v":0.515632868,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.131247,"values":{"cg_iu_a":-2.87493134,"cg_iv_a":-3.12573838,"cg_iw_a":6.00066948,"cg_theta_rad":4.07217455,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0247710012,"mpcc_du":42.480278,"mpcc_dv":53.2984962,"mpcc_dw":57.519722,"mpcc_enc_sign":1,"mpcc_id_a":1.16294801,"mpcc_iq_a":-4.57494402,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-81.9596252,"mpcc_pred_id_a":-0.390382767,"mpcc_pred_iq_a":-5.72843552,"mpcc_state":1,"mpcc_theta_e":5.06578016,"mpcc_theta_mech":3.99337626,"sam_rpm":-154.040253,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294380933,"thr_a_norm":0.0294380933,"thr_a_v":0.617752373,"thr_b":0.00390821695,"thr_b_norm":0.00390821695,"thr_b_v":0.515632868,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.143484,"values":{"cg_iu_a":-4.32468462,"cg_iv_a":4.63044214,"cg_iw_a":-0.885659218,"cg_theta_rad":3.68996358,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.105255827,"mpcc_du":50.5076485,"mpcc_dv":58.8727608,"mpcc_dw":41.1272392,"mpcc_enc_sign":1,"mpcc_id_a":0.0865781754,"mpcc_iq_a":-1.01194668,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-88.8181763,"mpcc_pred_id_a":-0.638543308,"mpcc_pred_iq_a":-3.18336225,"mpcc_state":1,"mpcc_theta_e":3.17506933,"mpcc_theta_mech":3.6152339,"sam_rpm":-164.681686,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0336049497,"thr_a_norm":0.0336049497,"thr_a_v":0.634419799,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498965442,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.155233,"values":{"cg_iu_a":5.1711998,"cg_iv_a":-1.45852208,"cg_iw_a":-5.74233246,"cg_theta_rad":3.32480025,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0212386288,"mpcc_du":57.645401,"mpcc_dv":42.354599,"mpcc_dw":46.9917221,"mpcc_enc_sign":1,"mpcc_id_a":1.55349576,"mpcc_iq_a":-5.03380823,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-70.7291489,"mpcc_pred_id_a":0.425735801,"mpcc_pred_iq_a":-2.89732671,"mpcc_state":1,"mpcc_theta_e":1.36770773,"mpcc_theta_mech":3.25376153,"sam_rpm":-136.260605,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189642906,"thr_a_norm":0.0189642906,"thr_a_v":0.575857162,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.166067,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-5.01041794,"cg_iw_a":5.42076826,"cg_theta_rad":2.97697139,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0149815511,"mpcc_du":43.0196686,"mpcc_dv":41.8820343,"mpcc_dw":58.1179657,"mpcc_enc_sign":1,"mpcc_id_a":2.44776392,"mpcc_iq_a":-7.53274155,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-96.3453674,"mpcc_pred_id_a":0.629751444,"mpcc_pred_iq_a":-4.32580376,"mpcc_state":1,"mpcc_theta_e":5.90799999,"mpcc_theta_mech":2.90518284,"sam_rpm":-176.458511,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189642906,"thr_a_norm":0.0189642906,"thr_a_v":0.575857162,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.191671,"values":{"cg_iu_a":-7.00672817,"cg_iv_a":0.861083508,"cg_iw_a":6.14564466,"cg_theta_rad":2.6064446,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0674159229,"mpcc_du":50.4620628,"mpcc_dv":56.7773399,"mpcc_dw":43.2226601,"mpcc_enc_sign":1,"mpcc_id_a":3.28205085,"mpcc_iq_a":-3.47575951,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-69.9449844,"mpcc_pred_id_a":0.0947035402,"mpcc_pred_iq_a":-6.82451725,"mpcc_state":1,"mpcc_theta_e":3.21474934,"mpcc_theta_mech":2.3665328,"sam_rpm":-136.739212,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262909085,"thr_a_norm":0.0262909085,"thr_a_v":0.605163634,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49710229,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.198263,"values":{"cg_iu_a":-0.337862968,"cg_iv_a":6.73258448,"cg_iw_a":-4.79999256,"cg_theta_rad":2.29460144,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0290780347,"mpcc_du":56.367939,"mpcc_dv":51.6435051,"mpcc_dw":43.632061,"mpcc_enc_sign":1,"mpcc_id_a":3.35035324,"mpcc_iq_a":-6.86254644,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-68.3456192,"mpcc_pred_id_a":0.275006115,"mpcc_pred_iq_a":-7.87212038,"mpcc_state":1,"mpcc_theta_e":2.36543369,"mpcc_theta_mech":2.19784093,"sam_rpm":-134.733063,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026756689,"thr_a_norm":0.0262909085,"thr_a_v":0.607026756,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.204763,"values":{"cg_iu_a":7.34582996,"cg_iv_a":-3.92310286,"cg_iw_a":-3.42272711,"cg_theta_rad":1.97142136,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0110673653,"mpcc_du":56.8420601,"mpcc_dv":43.1579399,"mpcc_dw":53.6659012,"mpcc_enc_sign":1,"mpcc_id_a":1.79380155,"mpcc_iq_a":-6.40035343,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-83.0174179,"mpcc_pred_id_a":-0.268494487,"mpcc_pred_iq_a":-8.43824387,"mpcc_state":1,"mpcc_theta_e":0.841804504,"mpcc_theta_mech":1.89194393,"sam_rpm":-156.827438,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026756689,"thr_a_norm":0.026756689,"thr_a_v":0.607026756,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.211233,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-5.01041794,"cg_iw_a":3.60857677,"cg_theta_rad":1.66377234,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.119067721,"mpcc_du":42.7803497,"mpcc_dv":46.8303108,"mpcc_dw":57.2196503,"mpcc_enc_sign":1,"mpcc_id_a":3.33541965,"mpcc_iq_a":-1.45830631,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-79.3976212,"mpcc_pred_id_a":0.236324862,"mpcc_pred_iq_a":-6.61023378,"mpcc_state":1,"mpcc_theta_e":5.58554602,"mpcc_theta_mech":1.58405519,"sam_rpm":-151.889313,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284813493,"thr_a_norm":0.0284813493,"thr_a_v":0.613925397,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.220449,"values":{"cg_iu_a":-3.59980798,"cg_iv_a":5.35531855,"cg_iw_a":-0.740683079,"cg_theta_rad":1.31424892,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0172099266,"mpcc_du":45.003376,"mpcc_dv":56.3561516,"mpcc_dw":43.6438484,"mpcc_enc_sign":1,"mpcc_id_a":1.92983389,"mpcc_iq_a":-5.72244215,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-78.5135345,"mpcc_pred_id_a":0.0628773794,"mpcc_pred_iq_a":-8.0296545,"mpcc_state":1,"mpcc_theta_e":3.66761065,"mpcc_theta_mech":1.20046806,"sam_rpm":-149.176559,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284813493,"thr_a_norm":0.0284813493,"thr_a_v":0.613925397,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.230215,"values":{"cg_iu_a":3.1415453,"cg_iv_a":3.97805262,"cg_iw_a":-6.82964754,"cg_theta_rad":0.97609961,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0307239126,"mpcc_du":56.2731972,"mpcc_dv":49.7459641,"mpcc_dw":43.7268028,"mpcc_enc_sign":1,"mpcc_id_a":1.19227934,"mpcc_iq_a":-4.20332956,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-73.1941223,"mpcc_pred_id_a":-0.760738432,"mpcc_pred_iq_a":-9.71477509,"mpcc_state":1,"mpcc_theta_e":2.15410471,"mpcc_theta_mech":0.897766769,"sam_rpm":-143.722229,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0207141191,"thr_a_norm":0.0207141191,"thr_a_v":0.582856476,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.241446,"values":{"cg_iu_a":7.12836647,"cg_iv_a":-9.64962864,"cg_iw_a":2.52126217,"cg_theta_rad":0.605421782,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0805679038,"mpcc_du":53.1067848,"mpcc_dv":41.7744942,"mpcc_dw":58.2255058,"mpcc_enc_sign":1,"mpcc_id_a":3.25674462,"mpcc_iq_a":-2.97666311,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-88.4418106,"mpcc_pred_id_a":1.47351646,"mpcc_pred_iq_a":-6.16525745,"mpcc_state":1,"mpcc_theta_e":0.35232687,"mpcc_theta_mech":0.537411332,"sam_rpm":-173.482697,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0255355984,"thr_a_norm":0.0207141191,"thr_a_v":0.602142394,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496296614,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.251425,"values":{"cg_iu_a":-4.03473377,"cg_iv_a":-3.70563984,"cg_iw_a":7.30544758,"cg_theta_rad":0.277233988,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0279509034,"mpcc_du":44.1805305,"mpcc_dv":53.387104,"mpcc_dw":55.8194695,"mpcc_enc_sign":1,"mpcc_id_a":2.96674681,"mpcc_iq_a":-5.95767212,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-66.7078857,"mpcc_pred_id_a":0.00448864466,"mpcc_pred_iq_a":-8.80422688,"mpcc_state":1,"mpcc_theta_e":5.03979635,"mpcc_theta_mech":0.218268082,"sam_rpm":-133.024338,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0255355984,"thr_a_norm":0.0255355984,"thr_a_v":0.602142394,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496296614,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.262655,"values":{"cg_iu_a":-1.93259168,"cg_iv_a":3.90556574,"cg_iw_a":-1.90048647,"cg_theta_rad":6.22253036,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0169929527,"mpcc_du":49.3653946,"mpcc_dv":57.3107796,"mpcc_dw":42.6892204,"mpcc_enc_sign":1,"mpcc_id_a":2.3971591,"mpcc_iq_a":-8.52509022,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-71.0409012,"mpcc_pred_id_a":0.0354653783,"mpcc_pred_iq_a":-9.37837601,"mpcc_state":1,"mpcc_theta_e":3.32223177,"mpcc_theta_mech":6.15794039,"sam_rpm":-138.561661,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233703256,"thr_a_norm":0.0233703256,"thr_a_v":0.593481302,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472629905,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.274649,"values":{"cg_iu_a":7.99821854,"cg_iv_a":-0.806133032,"cg_iw_a":-5.01745558,"cg_theta_rad":5.86797619,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0347060673,"mpcc_du":57.2665558,"mpcc_dv":42.7334442,"mpcc_dw":46.9663391,"mpcc_enc_sign":1,"mpcc_id_a":3.70641398,"mpcc_iq_a":-7.11931515,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-84.2301636,"mpcc_pred_id_a":1.38463271,"mpcc_pred_iq_a":-7.27977943,"mpcc_state":1,"mpcc_theta_e":1.40403414,"mpcc_theta_mech":5.77430105,"sam_rpm":-158.090439,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196440816,"thr_a_norm":0.0233703256,"thr_a_v":0.578576326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462861091,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.297049,"values":{"cg_iu_a":5.46115017,"cg_iv_a":-3.77812743,"cg_iw_a":0.274144173,"cg_theta_rad":5.52819014,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0120687485,"mpcc_du":42.7904282,"mpcc_dv":49.9200783,"mpcc_dw":57.2095718,"mpcc_enc_sign":1,"mpcc_id_a":1.23762023,"mpcc_iq_a":-5.68456745,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-83.1168137,"mpcc_pred_id_a":-0.042801585,"mpcc_pred_iq_a":-8.1776228,"mpcc_state":1,"mpcc_theta_e":5.35311699,"mpcc_theta_mech":5.30748081,"sam_rpm":-156.935593,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196440816,"thr_a_norm":0.0196440816,"thr_a_v":0.578576326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462861091,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.303549,"values":{"cg_iu_a":-7.22419119,"cg_iv_a":0.281181812,"cg_iw_a":6.72554636,"cg_theta_rad":5.23282337,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0675467923,"mpcc_du":44.1075325,"mpcc_dv":55.8924675,"mpcc_dw":52.8959274,"mpcc_enc_sign":1,"mpcc_id_a":-0.629919052,"mpcc_iq_a":-2.34035707,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-69.0358124,"mpcc_pred_id_a":-1.12211919,"mpcc_pred_iq_a":-9.11720467,"mpcc_state":1,"mpcc_theta_e":4.5650692,"mpcc_theta_mech":5.14987087,"sam_rpm":-136.455627,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.0196440816,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482801557,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.310141,"values":{"cg_iu_a":-3.23736954,"cg_iv_a":3.25317621,"cg_iw_a":-4.65501738,"cg_theta_rad":4.91425228,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.00920226518,"mpcc_du":55.5922661,"mpcc_dv":56.9121399,"mpcc_dw":43.0878601,"mpcc_enc_sign":1,"mpcc_id_a":1.50868058,"mpcc_iq_a":-6.31476212,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-77.9575653,"mpcc_pred_id_a":-0.31941849,"mpcc_pred_iq_a":-5.62200832,"mpcc_state":1,"mpcc_theta_e":2.79138374,"mpcc_theta_mech":4.79513407,"sam_rpm":-149.961441,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.021620512,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482801557,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.317038,"values":{"cg_iu_a":4.95373726,"cg_iv_a":-2.69081235,"cg_iw_a":-2.98780131,"cg_theta_rad":4.50342226,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0225053411,"mpcc_du":58.6784363,"mpcc_dv":41.3215637,"mpcc_dw":53.6538086,"mpcc_enc_sign":1,"mpcc_id_a":-0.191099659,"mpcc_iq_a":-4.50573587,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-91.5463943,"mpcc_pred_id_a":-0.18581304,"mpcc_pred_iq_a":-3.63034153,"mpcc_state":1,"mpcc_theta_e":0.882661819,"mpcc_theta_mech":4.41338968,"sam_rpm":-169.668289,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0994689763,"thr_a_norm":0.0994689763,"thr_a_v":0.897875905,"thr_b":0.0450858325,"thr_b_norm":0.0450858325,"thr_b_v":0.68034333,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.328848,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-5.37285614,"cg_iw_a":5.27579308,"cg_theta_rad":4.12886906,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0105327629,"mpcc_du":42.7975388,"mpcc_dv":50.7503891,"mpcc_dw":57.2024612,"mpcc_enc_sign":1,"mpcc_id_a":1.88495743,"mpcc_iq_a":-6.23847675,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-89.233757,"mpcc_pred_id_a":0.0154580912,"mpcc_pred_iq_a":-7.21485376,"mpcc_state":1,"mpcc_theta_e":5.30790854,"mpcc_theta_mech":4.04180193,"sam_rpm":-150.859879,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216330886,"thr_a_norm":0.0994689763,"thr_a_v":0.586532354,"thr_b":0,"thr_b_norm":0.0450858325,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.338217,"values":{"cg_iu_a":-3.88975859,"cg_iv_a":3.61561441,"cg_iw_a":0.78155756,"cg_theta_rad":3.80728126,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0418963544,"mpcc_du":43.4395103,"mpcc_dv":56.7952576,"mpcc_dw":43.2047424,"mpcc_enc_sign":1,"mpcc_id_a":3.15402865,"mpcc_iq_a":-4.89027882,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-83.13414,"mpcc_pred_id_a":0.71802175,"mpcc_pred_iq_a":-6.30221748,"mpcc_state":1,"mpcc_theta_e":3.76326323,"mpcc_theta_mech":3.73287296,"sam_rpm":-158.460861,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216330886,"thr_a_norm":0.0216330886,"thr_a_v":0.586532354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.348043,"values":{"cg_iu_a":-1.49766564,"cg_iv_a":2.74576283,"cg_iw_a":-1.24809718,"cg_theta_rad":3.49464583,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0599218607,"mpcc_du":59.9923553,"mpcc_dv":49.9915695,"mpcc_dw":40.0076447,"mpcc_enc_sign":1,"mpcc_id_a":0.950465202,"mpcc_iq_a":-2.69735885,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-101.099869,"mpcc_pred_id_a":0.00272517395,"mpcc_pred_iq_a":-2.12645411,"mpcc_state":1,"mpcc_theta_e":2.16982603,"mpcc_theta_mech":3.41418529,"sam_rpm":-184.944855,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0168368071,"thr_a_norm":0.0168368071,"thr_a_v":0.567347229,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.436676592,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.358847,"values":{"cg_iu_a":3.93890953,"cg_iv_a":-5.73529434,"cg_iw_a":1.79638481,"cg_theta_rad":3.12507129,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0106837377,"mpcc_du":53.4892502,"mpcc_dv":42.8377113,"mpcc_dw":57.1622887,"mpcc_enc_sign":1,"mpcc_id_a":1.44806552,"mpcc_iq_a":-6.02466917,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-79.314621,"mpcc_pred_id_a":0.236456707,"mpcc_pred_iq_a":-6.5826354,"mpcc_state":1,"mpcc_theta_e":0.379413128,"mpcc_theta_mech":3.05610275,"sam_rpm":-151.363083,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0168368071,"thr_a_norm":0.0168368071,"thr_a_v":0.567347229,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.436676592,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.370626,"values":{"cg_iu_a":-4.83209801,"cg_iv_a":0.57113266,"cg_iw_a":4.26096535,"cg_theta_rad":2.76171565,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0101980949,"mpcc_du":43.4411087,"mpcc_dv":55.3444557,"mpcc_dw":55.3822517,"mpcc_enc_sign":1,"mpcc_id_a":1.77801681,"mpcc_iq_a":-6.54193211,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-84.5162888,"mpcc_pred_id_a":-0.0404728726,"mpcc_pred_iq_a":-7.66424608,"mpcc_state":1,"mpcc_theta_e":4.83246136,"mpcc_theta_mech":2.6900754,"sam_rpm":-160.649963,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257747769,"thr_a_norm":0.0257747769,"thr_a_v":0.603099108,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.39385,"values":{"cg_iu_a":-3.59980798,"cg_iv_a":3.97805262,"cg_iw_a":-0.378244638,"cg_theta_rad":2.44520402,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0540120788,"mpcc_du":59.3651237,"mpcc_dv":51.5979881,"mpcc_dw":40.6348763,"mpcc_enc_sign":1,"mpcc_id_a":1.6100595,"mpcc_iq_a":-3.1396625,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-81.3927612,"mpcc_pred_id_a":0.633058846,"mpcc_pred_iq_a":0.205676645,"mpcc_state":1,"mpcc_theta_e":2.28145599,"mpcc_theta_mech":2.17987418,"sam_rpm":-156.05629,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0386152416,"thr_a_norm":0.0257747769,"thr_a_v":0.654460967,"thr_b":0.00711832941,"thr_b_norm":0,"thr_b_v":0.528473318,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.400381,"values":{"cg_iu_a":7.92573071,"cg_iv_a":0.788595676,"cg_iw_a":-5.52486944,"cg_theta_rad":2.10006928,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0257722232,"mpcc_du":56.9713783,"mpcc_dv":43.0286217,"mpcc_dw":45.5376282,"mpcc_enc_sign":1,"mpcc_id_a":1.81408823,"mpcc_iq_a":-4.8508544,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-72.7924271,"mpcc_pred_id_a":0.313891828,"mpcc_pred_iq_a":-5.02368689,"mpcc_state":1,"mpcc_theta_e":1.50892735,"mpcc_theta_mech":2.02536845,"sam_rpm":-141.859299,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0386152416,"thr_a_norm":0.0386152416,"thr_a_v":0.654460967,"thr_b":0.00711832941,"thr_b_norm":0.00711832941,"thr_b_v":0.528473318,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.406912,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-5.08290529,"cg_iw_a":-0.378244877,"cg_theta_rad":1.7819562,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.00589525094,"mpcc_du":47.587265,"mpcc_dv":42.3019676,"mpcc_dw":57.6980324,"mpcc_enc_sign":1,"mpcc_id_a":1.50133944,"mpcc_iq_a":-7.17738485,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-86.5108185,"mpcc_pred_id_a":-0.161006823,"mpcc_pred_iq_a":-6.82884073,"mpcc_state":1,"mpcc_theta_e":6.19926405,"mpcc_theta_mech":1.70679879,"sam_rpm":-163.532288,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280659199,"thr_a_norm":0.0280659199,"thr_a_v":0.61226368,"thr_b":0.00334171951,"thr_b_norm":0.00334171951,"thr_b_v":0.513366878,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.413412,"values":{"cg_iu_a":-3.09239435,"cg_iv_a":0.933570862,"cg_iw_a":2.15882349,"cg_theta_rad":1.39744878,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0214814804,"mpcc_du":43.7704315,"mpcc_dv":56.2295685,"mpcc_dw":49.4913368,"mpcc_enc_sign":1,"mpcc_id_a":-0.700112164,"mpcc_iq_a":-4.65352249,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-72.8913498,"mpcc_pred_id_a":-2.08680797,"mpcc_pred_iq_a":-9.64476395,"mpcc_state":1,"mpcc_theta_e":4.21118975,"mpcc_theta_mech":1.30918384,"sam_rpm":-142.964676,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0150114447,"thr_a_norm":0.0280659199,"thr_a_v":0.560045779,"thr_b":0,"thr_b_norm":0.00334171951,"thr_b_v":0.456768155,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.422049,"values":{"cg_iu_a":-0.410350561,"cg_iv_a":5.13785601,"cg_iw_a":-3.27775121,"cg_theta_rad":1.06646895,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.00264780759,"mpcc_du":56.7986794,"mpcc_dv":55.4884834,"mpcc_dw":43.2013206,"mpcc_enc_sign":1,"mpcc_id_a":0.92529577,"mpcc_iq_a":-7.04949951,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-88.7621078,"mpcc_pred_id_a":-0.251591355,"mpcc_pred_iq_a":-8.52795506,"mpcc_state":1,"mpcc_theta_e":2.62055063,"mpcc_theta_mech":0.991056085,"sam_rpm":-166.575775,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0150114447,"thr_a_norm":0.0150114447,"thr_a_v":0.560045779,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456768155,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.431936,"values":{"cg_iu_a":5.60612583,"cg_iv_a":-2.32837415,"cg_iw_a":-3.27775168,"cg_theta_rad":0.752382636,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0415520072,"mpcc_du":56.8563919,"mpcc_dv":43.1436081,"mpcc_dw":51.6514854,"mpcc_enc_sign":1,"mpcc_id_a":3.04775643,"mpcc_iq_a":-4.7922368,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-79.2077789,"mpcc_pred_id_a":0.238653705,"mpcc_pred_iq_a":-8.50967979,"mpcc_state":1,"mpcc_theta_e":1.01979589,"mpcc_theta_mech":0.670905054,"sam_rpm":-152.837967,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0395216197,"thr_a_norm":0.0395216197,"thr_a_v":0.658086479,"thr_b":0.00754635036,"thr_b_norm":0.00754635036,"thr_b_v":0.530185401,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.444601,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-4.43051624,"cg_iw_a":5.27579308,"cg_theta_rad":0.36603415,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0584246106,"mpcc_du":42.8059387,"mpcc_dv":51.6747665,"mpcc_dw":57.1940613,"mpcc_enc_sign":1,"mpcc_id_a":1.10170817,"mpcc_iq_a":-2.79297495,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-79.1571274,"mpcc_pred_id_a":-0.389475644,"mpcc_pred_iq_a":-7.23576355,"mpcc_state":1,"mpcc_theta_e":5.20816946,"mpcc_theta_mech":0.251942724,"sam_rpm":-151.522217,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264042169,"thr_a_norm":0.0395216197,"thr_a_v":0.605616868,"thr_b":0.00189402699,"thr_b_norm":0.00754635036,"thr_b_v":0.507576108,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.455435,"values":{"cg_iu_a":-2.29502988,"cg_iv_a":4.99288034,"cg_iw_a":-2.69785047,"cg_theta_rad":0.016589487,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0303327981,"mpcc_du":46.5930252,"mpcc_dv":58.4579277,"mpcc_dw":41.5420723,"mpcc_enc_sign":1,"mpcc_id_a":-0.0697018206,"mpcc_iq_a":-4.0174346,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-90.4356842,"mpcc_pred_id_a":-0.585258961,"mpcc_pred_iq_a":-4.52498627,"mpcc_state":1,"mpcc_theta_e":3.44537401,"mpcc_theta_mech":6.18256903,"sam_rpm":-168.870941,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264042169,"thr_a_norm":0.0264042169,"thr_a_v":0.605616868,"thr_b":0.00189402699,"thr_b_norm":0.00189402699,"thr_b_v":0.507576108,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.465048,"values":{"cg_iu_a":3.79393435,"cg_iv_a":3.0357132,"cg_iw_a":-8.42437553,"cg_theta_rad":5.93844938,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0160307493,"mpcc_du":57.2211418,"mpcc_dv":45.7358742,"mpcc_dw":42.7788582,"mpcc_enc_sign":1,"mpcc_id_a":1.63869596,"mpcc_iq_a":-5.5694623,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-86.0475922,"mpcc_pred_id_a":-0.124307223,"mpcc_pred_iq_a":-7.43157625,"mpcc_state":1,"mpcc_theta_e":1.85669374,"mpcc_theta_mech":5.86483288,"sam_rpm":-163.236969,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243018866,"thr_a_norm":0.0243018866,"thr_a_v":0.597207546,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474090159,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.476675,"values":{"cg_iu_a":6.54846573,"cg_iv_a":-6.89509678,"cg_iw_a":0.34663105,"cg_theta_rad":5.55062151,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0635469034,"mpcc_du":47.511692,"mpcc_dv":43.3844032,"mpcc_dw":56.6155968,"mpcc_enc_sign":1,"mpcc_id_a":2.44352078,"mpcc_iq_a":-3.09001493,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-65.9521027,"mpcc_pred_id_a":-0.0945332423,"mpcc_pred_iq_a":-6.70754337,"mpcc_state":1,"mpcc_theta_e":6.22872353,"mpcc_theta_mech":5.48260212,"sam_rpm":-162.99884,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243018866,"thr_a_norm":0.0243018866,"thr_a_v":0.597207546,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474090159,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.499868,"values":{"cg_iu_a":-5.55697489,"cg_iv_a":-0.0812563896,"cg_iw_a":5.63823128,"cg_theta_rad":5.20349836,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0123363594,"mpcc_du":45.8477707,"mpcc_dv":55.3634338,"mpcc_dw":44.6365662,"mpcc_enc_sign":1,"mpcc_id_a":0.127536818,"mpcc_iq_a":-5.28228092,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-76.2498093,"mpcc_pred_id_a":-1.48972583,"mpcc_pred_iq_a":-11.8577757,"mpcc_state":1,"mpcc_theta_e":3.6604023,"mpcc_theta_mech":4.96893787,"sam_rpm":-148.589478,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0367395282,"thr_a_norm":0.0367395282,"thr_a_v":0.646958113,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494937062,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.506338,"values":{"cg_iu_a":-2.94741893,"cg_iv_a":7.45746088,"cg_iw_a":-1.75551057,"cg_theta_rad":4.89100933,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.020155061,"mpcc_du":56.6648598,"mpcc_dv":55.1415977,"mpcc_dw":43.3351402,"mpcc_enc_sign":1,"mpcc_id_a":2.04866934,"mpcc_iq_a":-5.53404522,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-73.5529709,"mpcc_pred_id_a":0.149646848,"mpcc_pred_iq_a":-6.38981676,"mpcc_state":1,"mpcc_theta_e":2.62244606,"mpcc_theta_mech":4.76134634,"sam_rpm":-145.205124,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0406546146,"thr_a_norm":0.0367395282,"thr_a_v":0.662618458,"thr_b":0.0122041553,"thr_b_norm":0,"thr_b_v":0.548816621,"vdc_v":54.6292953}} +{"type":"telemetry","t":6.51293,"values":{"cg_iu_a":5.75110149,"cg_iv_a":-3.99559045,"cg_iw_a":-2.69784999,"cg_theta_rad":4.45835018,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0178664867,"mpcc_du":57.3150139,"mpcc_dv":42.6849861,"mpcc_dw":56.623127,"mpcc_enc_sign":1,"mpcc_id_a":2.5876255,"mpcc_iq_a":-6.82859135,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-94.1706772,"mpcc_pred_id_a":0.490033478,"mpcc_pred_iq_a":-6.99113655,"mpcc_state":1,"mpcc_theta_e":0.667287827,"mpcc_theta_mech":4.3703146,"sam_rpm":-175.385483,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0406546146,"thr_a_norm":0.0406546146,"thr_a_v":0.662618458,"thr_b":0.0122041553,"thr_b_norm":0.0122041553,"thr_b_v":0.548816621,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.519644,"values":{"cg_iu_a":-0.265375137,"cg_iv_a":-5.01041794,"cg_iw_a":5.27579308,"cg_theta_rad":4.13225603,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0248050895,"mpcc_du":43.3032799,"mpcc_dv":50.304245,"mpcc_dw":56.6967201,"mpcc_enc_sign":1,"mpcc_id_a":2.42512107,"mpcc_iq_a":-5.48982,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-78.2864151,"mpcc_pred_id_a":-0.103375085,"mpcc_pred_iq_a":-9.2789669,"mpcc_state":1,"mpcc_theta_e":5.32590246,"mpcc_theta_mech":4.04540062,"sam_rpm":-152.328262,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199084431,"thr_a_norm":0.0199084431,"thr_a_v":0.579633772,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.530874,"values":{"cg_iu_a":-6.06438875,"cg_iv_a":6.15268278,"cg_iw_a":-0.0882940292,"cg_theta_rad":3.80962086,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0533739477,"mpcc_du":48.0302734,"mpcc_dv":56.7346802,"mpcc_dw":43.2653198,"mpcc_enc_sign":1,"mpcc_id_a":4.6135788,"mpcc_iq_a":-7.2460928,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-72.685173,"mpcc_pred_id_a":1.25487816,"mpcc_pred_iq_a":-7.55803061,"mpcc_state":1,"mpcc_theta_e":3.4589324,"mpcc_theta_mech":3.67200661,"sam_rpm":-143.194748,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0187250972,"thr_a_norm":0.0199084431,"thr_a_v":0.574900389,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.54122,"values":{"cg_iu_a":3.8664217,"cg_iv_a":0.861083508,"cg_iw_a":-5.16243124,"cg_theta_rad":3.39802098,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.030987082,"mpcc_du":59.15131,"mpcc_dv":41.0098572,"mpcc_dw":40.84869,"mpcc_enc_sign":1,"mpcc_id_a":2.9386723,"mpcc_iq_a":-9.4388237,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-121.016182,"mpcc_pred_id_a":1.12995481,"mpcc_pred_iq_a":-4.78309011,"mpcc_state":1,"mpcc_theta_e":1.67408323,"mpcc_theta_mech":3.31503677,"sam_rpm":-215.673889,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0187250972,"thr_a_norm":0.0187250972,"thr_a_v":0.574900389,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.55242,"values":{"cg_iu_a":4.2288599,"cg_iv_a":-9.43216515,"cg_iw_a":5.20330524,"cg_theta_rad":3.00486565,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.000354545191,"mpcc_du":45.5111084,"mpcc_dv":41.8958588,"mpcc_dw":58.1041412,"mpcc_enc_sign":1,"mpcc_id_a":0.290551007,"mpcc_iq_a":-7.7395792,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-94.0228882,"mpcc_pred_id_a":-0.259863079,"mpcc_pred_iq_a":-5.85201406,"mpcc_state":1,"mpcc_theta_e":6.06059551,"mpcc_theta_mech":2.93570209,"sam_rpm":-174.422272,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024087891,"thr_a_norm":0.024087891,"thr_a_v":0.596351564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474442661,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.562429,"values":{"cg_iu_a":-7.73160505,"cg_iv_a":-0.0087685585,"cg_iw_a":7.74037361,"cg_theta_rad":2.70076466,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0492868312,"mpcc_du":40.2094116,"mpcc_dv":59.7905884,"mpcc_dw":51.6518784,"mpcc_enc_sign":1,"mpcc_id_a":4.24730444,"mpcc_iq_a":-6.20572901,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-106.258392,"mpcc_pred_id_a":1.53025579,"mpcc_pred_iq_a":-3.79125452,"mpcc_state":1,"mpcc_theta_e":4.39362049,"mpcc_theta_mech":2.60230708,"sam_rpm":-193.564331,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243522525,"thr_a_norm":0.024087891,"thr_a_v":0.59740901,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477212161,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.574209,"values":{"cg_iu_a":-1.49766564,"cg_iv_a":7.23999834,"cg_iw_a":-5.74233246,"cg_theta_rad":2.29043794,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.020890696,"mpcc_du":56.8187637,"mpcc_dv":52.4175339,"mpcc_dw":43.1812363,"mpcc_enc_sign":1,"mpcc_id_a":2.0883503,"mpcc_iq_a":-5.50123262,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-75.6641693,"mpcc_pred_id_a":-0.32459861,"mpcc_pred_iq_a":-7.81594849,"mpcc_state":1,"mpcc_theta_e":2.408988,"mpcc_theta_mech":2.20538068,"sam_rpm":-149.53891,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243522525,"thr_a_norm":0.0243522525,"thr_a_v":0.59740901,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477212161,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.59725,"values":{"cg_iu_a":7.05587959,"cg_iv_a":-3.41568899,"cg_iw_a":-3.6401906,"cg_theta_rad":1.94813871,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.00628106762,"mpcc_du":46.4758453,"mpcc_dv":43.0988159,"mpcc_dw":56.9011841,"mpcc_enc_sign":1,"mpcc_id_a":0.492173582,"mpcc_iq_a":-5.99328423,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-89.3078918,"mpcc_pred_id_a":-0.649962068,"mpcc_pred_iq_a":-9.78293228,"mpcc_state":1,"mpcc_theta_e":6.09665632,"mpcc_theta_mech":1.68627715,"sam_rpm":-168.591904,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.0264545679,"thr_a_v":0.605818272,"thr_b":0.00351797044,"thr_b_norm":0.00351797044,"thr_b_v":0.514071882,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.603811,"values":{"cg_iu_a":-3.81727099,"cg_iv_a":-3.85061502,"cg_iw_a":7.88534927,"cg_theta_rad":1.52633631,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0240324624,"mpcc_du":44.7116776,"mpcc_dv":54.7570915,"mpcc_dw":55.2883224,"mpcc_enc_sign":1,"mpcc_id_a":2.46732593,"mpcc_iq_a":-5.62242508,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-72.3500977,"mpcc_pred_id_a":-0.516612232,"mpcc_pred_iq_a":-10.7785559,"mpcc_state":1,"mpcc_theta_e":4.88295031,"mpcc_theta_mech":1.44353604,"sam_rpm":-143.948166,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.0264545679,"thr_a_v":0.592927456,"thr_b":0.0017555505,"thr_b_norm":0.00351797044,"thr_b_v":0.507022202,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.610312,"values":{"cg_iu_a":-3.67229557,"cg_iv_a":5.42780638,"cg_iw_a":-1.75551081,"cg_theta_rad":1.19922209,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0141795045,"mpcc_du":50.0444527,"mpcc_dv":57.590641,"mpcc_dw":42.409359,"mpcc_enc_sign":1,"mpcc_id_a":2.59095097,"mpcc_iq_a":-4.16952133,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-70.3920288,"mpcc_pred_id_a":0.406044811,"mpcc_pred_iq_a":-5.53606653,"mpcc_state":1,"mpcc_theta_e":3.26707125,"mpcc_theta_mech":1.11914015,"sam_rpm":-149.085846,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.023231864,"thr_a_v":0.592927456,"thr_b":0.0017555505,"thr_b_norm":0.0017555505,"thr_b_v":0.507022202,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.619223,"values":{"cg_iu_a":5.82358837,"cg_iv_a":-2.61832476,"cg_iw_a":-3.20526361,"cg_theta_rad":0.788036764,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0354481079,"mpcc_du":58.6587334,"mpcc_dv":41.3412666,"mpcc_dw":52.2218819,"mpcc_enc_sign":1,"mpcc_id_a":0.827823579,"mpcc_iq_a":-3.82658863,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-91.7284241,"mpcc_pred_id_a":0.122258857,"mpcc_pred_iq_a":-4.48472404,"mpcc_state":1,"mpcc_theta_e":0.986895561,"mpcc_theta_mech":0.664324999,"sam_rpm":-172.613388,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022098884,"thr_a_norm":0.022098884,"thr_a_v":0.588395536,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472327769,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.628836,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-6.46017122,"cg_iw_a":6.36310768,"cg_theta_rad":0.41505146,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0780067667,"mpcc_du":41.7508621,"mpcc_dv":45.888752,"mpcc_dw":58.2491379,"mpcc_enc_sign":1,"mpcc_id_a":5.1705842,"mpcc_iq_a":-5.3862915,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-81.1064377,"mpcc_pred_id_a":1.87736833,"mpcc_pred_iq_a":-2.79861641,"mpcc_state":1,"mpcc_theta_e":5.64808416,"mpcc_theta_mech":0.339925647,"sam_rpm":-155.145615,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233703256,"thr_a_norm":0.022098884,"thr_a_v":0.593481302,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466839105,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.641409,"values":{"cg_iu_a":-2.5124929,"cg_iv_a":4.19551611,"cg_iw_a":-1.68302321,"cg_theta_rad":0.0278663486,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0504512638,"mpcc_du":46.3246117,"mpcc_dv":57.8978043,"mpcc_dw":42.1021957,"mpcc_enc_sign":1,"mpcc_id_a":3.89945292,"mpcc_iq_a":-5.26958036,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-90.2591248,"mpcc_pred_id_a":0.641656876,"mpcc_pred_iq_a":-6.46345615,"mpcc_state":1,"mpcc_theta_e":3.51613283,"mpcc_theta_mech":6.1967206,"sam_rpm":-169.457855,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233703256,"thr_a_norm":0.0233703256,"thr_a_v":0.593481302,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466839105,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.651236,"values":{"cg_iu_a":5.09871197,"cg_iv_a":3.97805262,"cg_iw_a":-9.07676506,"cg_theta_rad":5.93993711,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0150844343,"mpcc_du":57.2238312,"mpcc_dv":45.3378143,"mpcc_dw":42.7761688,"mpcc_enc_sign":1,"mpcc_id_a":1.46077931,"mpcc_iq_a":-5.52518415,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-86.0496826,"mpcc_pred_id_a":-0.0675879866,"mpcc_pred_iq_a":-7.03956175,"mpcc_state":1,"mpcc_theta_e":1.83438921,"mpcc_theta_mech":5.86037207,"sam_rpm":-163.585495,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226275921,"thr_a_norm":0.0226275921,"thr_a_v":0.590510368,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491512954,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.663046,"values":{"cg_iu_a":4.5912981,"cg_iv_a":-8.27236271,"cg_iw_a":3.68106461,"cg_theta_rad":5.53989601,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0423427001,"mpcc_du":44.6251755,"mpcc_dv":41.4218063,"mpcc_dw":58.5781937,"mpcc_enc_sign":1,"mpcc_id_a":2.33490038,"mpcc_iq_a":-4.11100006,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-98.818367,"mpcc_pred_id_a":0.359161973,"mpcc_pred_iq_a":-4.86264086,"mpcc_state":1,"mpcc_theta_e":6.03573608,"mpcc_theta_mech":5.44400454,"sam_rpm":-184.200531,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025825128,"thr_a_norm":0.0226275921,"thr_a_v":0.603300512,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.675009,"values":{"cg_iu_a":-4.90458584,"cg_iv_a":2.67327499,"cg_iw_a":1.86887264,"cg_theta_rad":5.12404394,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0338951834,"mpcc_du":42.5398788,"mpcc_dv":57.4601212,"mpcc_dw":46.4438362,"mpcc_enc_sign":1,"mpcc_id_a":0.164908394,"mpcc_iq_a":-3.82156587,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-88.0113983,"mpcc_pred_id_a":-1.08903611,"mpcc_pred_iq_a":-7.72132492,"mpcc_state":1,"mpcc_theta_e":4.00844955,"mpcc_theta_mech":5.03854704,"sam_rpm":-168.026627,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025825128,"thr_a_norm":0.025825128,"thr_a_v":0.603300512,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.700827,"values":{"cg_iu_a":3.43149567,"cg_iv_a":3.32566404,"cg_iw_a":-6.75715971,"cg_theta_rad":4.69822359,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0137278261,"mpcc_du":56.2246552,"mpcc_dv":43.7753448,"mpcc_dw":52.9226227,"mpcc_enc_sign":1,"mpcc_id_a":1.94627845,"mpcc_iq_a":-6.19495964,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-88.139473,"mpcc_pred_id_a":-0.995298386,"mpcc_pred_iq_a":-12.6333275,"mpcc_state":1,"mpcc_theta_e":0.890886307,"mpcc_theta_mech":4.41503429,"sam_rpm":-169.08017,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245536715,"thr_a_norm":0.0245536715,"thr_a_v":0.598214686,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476154745,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.707357,"values":{"cg_iu_a":4.2288599,"cg_iv_a":-6.09773254,"cg_iw_a":1.86887264,"cg_theta_rad":4.34343433,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0112701533,"mpcc_du":49.7505875,"mpcc_dv":43.1426125,"mpcc_dw":56.8573875,"mpcc_enc_sign":1,"mpcc_id_a":2.12314606,"mpcc_iq_a":-7.48233175,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-82.3887558,"mpcc_pred_id_a":-0.135997623,"mpcc_pred_iq_a":-9.6885252,"mpcc_state":1,"mpcc_theta_e":0.098903656,"mpcc_theta_mech":4.25663805,"sam_rpm":-159.534134,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256488919,"thr_a_norm":0.0245536715,"thr_a_v":0.602595568,"thr_b":0.00272488594,"thr_b_norm":0,"thr_b_v":0.510899544,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.713888,"values":{"cg_iu_a":-3.01990652,"cg_iv_a":-0.951108456,"cg_iw_a":7.66788578,"cg_theta_rad":4.0040164,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0174248256,"mpcc_du":42.7335625,"mpcc_dv":57.2664375,"mpcc_dw":55.703186,"mpcc_enc_sign":1,"mpcc_id_a":2.22334623,"mpcc_iq_a":-6.07639122,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-86.8808594,"mpcc_pred_id_a":0.0222255737,"mpcc_pred_iq_a":-6.43433142,"mpcc_state":1,"mpcc_theta_e":4.71774817,"mpcc_theta_mech":3.92376971,"sam_rpm":-166.09111,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256488919,"thr_a_norm":0.0256488919,"thr_a_v":0.602595568,"thr_b":0.00272488594,"thr_b_norm":0.00272488594,"thr_b_v":0.510899544,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.720388,"values":{"cg_iu_a":-5.62946272,"cg_iv_a":4.55795431,"cg_iw_a":1.07150841,"cg_theta_rad":3.6622026,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0162438303,"mpcc_du":53.7622375,"mpcc_dv":58.1128883,"mpcc_dw":41.8871117,"mpcc_enc_sign":1,"mpcc_id_a":2.20601583,"mpcc_iq_a":-6.2228837,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-84.4777527,"mpcc_pred_id_a":0.266839951,"mpcc_pred_iq_a":-4.2978754,"mpcc_state":1,"mpcc_theta_e":2.98487234,"mpcc_theta_mech":3.57719469,"sam_rpm":-161.651016,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224891305,"thr_a_norm":0.0224891305,"thr_a_v":0.589956522,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479075313,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.728628,"values":{"cg_iu_a":6.62095356,"cg_iv_a":-0.298719406,"cg_iw_a":-6.32223415,"cg_theta_rad":3.26069164,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0331067219,"mpcc_du":58.5406647,"mpcc_dv":41.4593353,"mpcc_dw":52.2548141,"mpcc_enc_sign":1,"mpcc_id_a":2.57150078,"mpcc_iq_a":-4.92510748,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-90.0242386,"mpcc_pred_id_a":0.437263906,"mpcc_pred_iq_a":-4.81866312,"mpcc_state":1,"mpcc_theta_e":0.999829769,"mpcc_theta_mech":3.18018603,"sam_rpm":-170.253586,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224891305,"thr_a_norm":0.0224891305,"thr_a_v":0.589956522,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479075313,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.741232,"values":{"cg_iu_a":-0.265375137,"cg_iv_a":-5.01041794,"cg_iw_a":6.43559551,"cg_theta_rad":2.86486864,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0152246375,"mpcc_du":42.7627449,"mpcc_dv":52.9084854,"mpcc_dw":57.2372551,"mpcc_enc_sign":1,"mpcc_id_a":2.29044414,"mpcc_iq_a":-6.58145714,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-81.668869,"mpcc_pred_id_a":0.0797246769,"mpcc_pred_iq_a":-7.27986145,"mpcc_state":1,"mpcc_theta_e":5.12259007,"mpcc_theta_mech":2.748101,"sam_rpm":-157.534836,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0402517766,"thr_a_norm":0.0402517766,"thr_a_v":0.661007106,"thr_b":0.00923323631,"thr_b_norm":0.00923323631,"thr_b_v":0.536932945,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.751425,"values":{"cg_iu_a":-5.26702404,"cg_iv_a":4.84790468,"cg_iw_a":2.15882349,"cg_theta_rad":2.5208602,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0459607691,"mpcc_du":50.2314186,"mpcc_dv":58.8957825,"mpcc_dw":41.1042175,"mpcc_enc_sign":1,"mpcc_id_a":3.83515,"mpcc_iq_a":-5.58272791,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-96.4688568,"mpcc_pred_id_a":1.11563206,"mpcc_pred_iq_a":-5.36046648,"mpcc_state":1,"mpcc_theta_e":3.24621105,"mpcc_theta_mech":2.37282515,"sam_rpm":-180.997009,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250823945,"thr_a_norm":0.0402517766,"thr_a_v":0.600329578,"thr_b":0,"thr_b_norm":0.00923323631,"thr_b_v":0.487685949,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.762594,"values":{"cg_iu_a":6.04105186,"cg_iv_a":-0.0812563896,"cg_iw_a":-9.22174072,"cg_theta_rad":2.07482505,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0468044616,"mpcc_du":57.5806198,"mpcc_dv":42.4193802,"mpcc_dw":48.3197937,"mpcc_enc_sign":1,"mpcc_id_a":4.23840046,"mpcc_iq_a":-7.58479071,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-91.3343353,"mpcc_pred_id_a":1.106915,"mpcc_pred_iq_a":-8.72701073,"mpcc_state":1,"mpcc_theta_e":1.35839844,"mpcc_theta_mech":1.99526274,"sam_rpm":-171.995361,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250823945,"thr_a_norm":0.0250823945,"thr_a_v":0.600329578,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487685949,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.772238,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-5.08290529,"cg_iw_a":2.08633566,"cg_theta_rad":1.73784304,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.015513422,"mpcc_du":42.7036057,"mpcc_dv":41.8595123,"mpcc_dw":58.1404877,"mpcc_enc_sign":1,"mpcc_id_a":1.82413793,"mpcc_iq_a":-5.8035655,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-95.1351547,"mpcc_pred_id_a":0.176797569,"mpcc_pred_iq_a":-4.08883905,"mpcc_state":1,"mpcc_theta_e":5.8991971,"mpcc_theta_mech":1.64678526,"sam_rpm":-179.833633,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216330886,"thr_a_norm":0.0216330886,"thr_a_v":0.586532354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461199343,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.784628,"values":{"cg_iu_a":-4.68712282,"cg_iv_a":2.96322584,"cg_iw_a":3.89852715,"cg_theta_rad":1.35626233,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0335626826,"mpcc_du":44.6893044,"mpcc_dv":55.8425674,"mpcc_dw":44.1574326,"mpcc_enc_sign":1,"mpcc_id_a":3.00042748,"mpcc_iq_a":-9.60297585,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-77.6877899,"mpcc_pred_id_a":0.27374801,"mpcc_pred_iq_a":-9.53013229,"mpcc_state":1,"mpcc_theta_e":3.76157713,"mpcc_theta_mech":1.21926141,"sam_rpm":-151.754242,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261272639,"thr_a_norm":0.0216330886,"thr_a_v":0.604509056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490908653,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.80718,"values":{"cg_iu_a":2.70661926,"cg_iv_a":4.55795431,"cg_iw_a":-10.3090553,"cg_theta_rad":0.931903839,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0137709836,"mpcc_du":57.4054451,"mpcc_dv":42.5945549,"mpcc_dw":50.2557983,"mpcc_enc_sign":1,"mpcc_id_a":2.00439882,"mpcc_iq_a":-6.27902555,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-83.4963303,"mpcc_pred_id_a":0.521816969,"mpcc_pred_iq_a":-7.82026625,"mpcc_state":1,"mpcc_theta_e":1.14787912,"mpcc_theta_mech":0.696521699,"sam_rpm":-161.731796,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261272639,"thr_a_norm":0.0261272639,"thr_a_v":0.604509056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490908653,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.813742,"values":{"cg_iu_a":7.41831779,"cg_iv_a":-6.02524519,"cg_iw_a":-1.39307261,"cg_theta_rad":0.535315454,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0100936424,"mpcc_du":48.713726,"mpcc_dv":43.1730881,"mpcc_dw":56.8269119,"mpcc_enc_sign":1,"mpcc_id_a":1.89181888,"mpcc_iq_a":-6.8228898,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-81.4694366,"mpcc_pred_id_a":0.149419308,"mpcc_pred_iq_a":-9.37147141,"mpcc_state":1,"mpcc_theta_e":0.0238852501,"mpcc_theta_mech":0.47172296,"sam_rpm":-158.461731,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025246039,"thr_a_norm":0.025246039,"thr_a_v":0.600984156,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496296614,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.820303,"values":{"cg_iu_a":-5.19453669,"cg_iv_a":-1.53100967,"cg_iw_a":7.8853488,"cg_theta_rad":0.182959914,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0443551876,"mpcc_du":43.3027306,"mpcc_dv":56.6972694,"mpcc_dw":52.220253,"mpcc_enc_sign":1,"mpcc_id_a":3.83317494,"mpcc_iq_a":-5.75390577,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-83.4196243,"mpcc_pred_id_a":-0.471613437,"mpcc_pred_iq_a":-10.2314978,"mpcc_state":1,"mpcc_theta_e":4.50228453,"mpcc_theta_mech":0.110765696,"sam_rpm":-161.416122,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025246039,"thr_a_norm":0.025246039,"thr_a_v":0.600984156,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496296614,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.826834,"values":{"cg_iu_a":-0.337862968,"cg_iv_a":4.55795431,"cg_iw_a":-4.22009134,"cg_theta_rad":6.08388424,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.00659045903,"mpcc_du":55.7023354,"mpcc_dv":53.5145988,"mpcc_dw":44.2976646,"mpcc_enc_sign":1,"mpcc_id_a":1.04834354,"mpcc_iq_a":-8.73982239,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-76.0745697,"mpcc_pred_id_a":-0.622932076,"mpcc_pred_iq_a":-11.2556381,"mpcc_state":1,"mpcc_theta_e":2.55826998,"mpcc_theta_mech":6.00514841,"sam_rpm":-150.251526,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0312382728,"thr_a_norm":0.0312382728,"thr_a_v":0.624953091,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.83663,"values":{"cg_iu_a":7.780756,"cg_iv_a":-3.05325079,"cg_iw_a":-4.72750521,"cg_theta_rad":5.74987841,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0477633178,"mpcc_du":57.6002769,"mpcc_dv":42.3997231,"mpcc_dw":55.825737,"mpcc_enc_sign":1,"mpcc_id_a":4.33537674,"mpcc_iq_a":-6.94337034,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-94.2577438,"mpcc_pred_id_a":1.32018244,"mpcc_pred_iq_a":-6.83129597,"mpcc_state":1,"mpcc_theta_e":0.759930134,"mpcc_theta_mech":5.64548016,"sam_rpm":-177.560532,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250572115,"thr_a_norm":0.0312382728,"thr_a_v":0.600228846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474744767,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.846029,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-5.66280651,"cg_iw_a":4.55091619,"cg_theta_rad":5.40638065,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0401542373,"mpcc_du":42.9026566,"mpcc_dv":49.4163208,"mpcc_dw":57.0973434,"mpcc_enc_sign":1,"mpcc_id_a":2.0911243,"mpcc_iq_a":-4.0810976,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-80.0161438,"mpcc_pred_id_a":-0.264651716,"mpcc_pred_iq_a":-8.46728802,"mpcc_state":1,"mpcc_theta_e":5.40922737,"mpcc_theta_mech":5.3187027,"sam_rpm":-158.246582,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250572115,"thr_a_norm":0.0250572115,"thr_a_v":0.600228846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474744767,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.858389,"values":{"cg_iu_a":-2.07756686,"cg_iv_a":3.90556574,"cg_iw_a":-1.24809718,"cg_theta_rad":4.96391916,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0139683634,"mpcc_du":50.7202377,"mpcc_dv":57.858036,"mpcc_dw":42.141964,"mpcc_enc_sign":1,"mpcc_id_a":1.3564527,"mpcc_iq_a":-5.56418467,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-90.6642838,"mpcc_pred_id_a":-0.418312877,"mpcc_pred_iq_a":-7.68704844,"mpcc_state":1,"mpcc_theta_e":3.19337654,"mpcc_theta_mech":4.87553263,"sam_rpm":-171.674561,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022677958,"thr_a_norm":0.022677958,"thr_a_v":0.590711832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483103693,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.868002,"values":{"cg_iu_a":4.44632339,"cg_iv_a":-0.153744221,"cg_iw_a":-5.81481981,"cg_theta_rad":4.62067747,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0342198908,"mpcc_du":57.2739258,"mpcc_dv":42.7260742,"mpcc_dw":46.1409874,"mpcc_enc_sign":1,"mpcc_id_a":3.67860031,"mpcc_iq_a":-7.89478636,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-87.4575195,"mpcc_pred_id_a":0.752160549,"mpcc_pred_iq_a":-8.07325745,"mpcc_state":1,"mpcc_theta_e":1.47319412,"mpcc_theta_mech":4.53149605,"sam_rpm":-167.605927,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022677958,"thr_a_norm":0.022677958,"thr_a_v":0.590711832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483103693,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.880239,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-4.35802889,"cg_iw_a":5.05833006,"cg_theta_rad":4.17726851,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0575954355,"mpcc_du":43.5977058,"mpcc_dv":47.6290169,"mpcc_dw":56.4022942,"mpcc_enc_sign":1,"mpcc_id_a":3.77254772,"mpcc_iq_a":-4.53249979,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-73.3778992,"mpcc_pred_id_a":0.124027595,"mpcc_pred_iq_a":-9.02135372,"mpcc_state":1,"mpcc_theta_e":5.58091307,"mpcc_theta_mech":4.09640265,"sam_rpm":-148.063873,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024062708,"thr_a_norm":0.024062708,"thr_a_v":0.596250832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462861091,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.903585,"values":{"cg_iu_a":-5.84692574,"cg_iv_a":3.76059008,"cg_iw_a":3.10116291,"cg_theta_rad":3.82539678,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":294,"hz_tim_isr":10010,"hz_vsense":294,"mpcc_cost":0.0525230207,"mpcc_du":55.6496468,"mpcc_dv":56.7872925,"mpcc_dw":43.2127075,"mpcc_enc_sign":1,"mpcc_id_a":2.71990871,"mpcc_iq_a":-3.81064987,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-89.0242538,"mpcc_pred_id_a":-0.0687098429,"mpcc_pred_iq_a":-8.85606194,"mpcc_state":1,"mpcc_theta_e":2.81479406,"mpcc_theta_mech":3.54317904,"sam_rpm":-170.757584,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0396475047,"thr_a_norm":0.024062708,"thr_a_v":0.658590019,"thr_b":0.00833943486,"thr_b_norm":0,"thr_b_v":0.533357739,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.910177,"values":{"cg_iu_a":2.05423021,"cg_iv_a":3.97805262,"cg_iw_a":-5.959795,"cg_theta_rad":3.45366073,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0162432566,"mpcc_du":57.872612,"mpcc_dv":44.8488579,"mpcc_dw":42.127388,"mpcc_enc_sign":1,"mpcc_id_a":1.39799404,"mpcc_iq_a":-5.36858845,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-96.7235336,"mpcc_pred_id_a":-0.206062019,"mpcc_pred_iq_a":-7.18755293,"mpcc_state":1,"mpcc_theta_e":1.83806944,"mpcc_theta_mech":3.34783411,"sam_rpm":-181.4711,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0396475047,"thr_a_norm":0.0396475047,"thr_a_v":0.658590019,"thr_b":0.00833943486,"thr_b_norm":0.00833943486,"thr_b_v":0.533357739,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.916677,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-6.24270821,"cg_iw_a":3.10116291,"cg_theta_rad":3.02300692,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.00312678469,"mpcc_du":45.8664284,"mpcc_dv":42.5520287,"mpcc_dw":57.4479713,"mpcc_enc_sign":1,"mpcc_id_a":0.865341604,"mpcc_iq_a":-6.79155254,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-91.0076752,"mpcc_pred_id_a":-0.972775519,"mpcc_pred_iq_a":-8.17796707,"mpcc_state":1,"mpcc_theta_e":6.06462574,"mpcc_theta_mech":2.93650794,"sam_rpm":-174.193909,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024742499,"thr_a_norm":0.024742499,"thr_a_v":0.598969996,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49030441,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.924398,"values":{"cg_iu_a":-5.55697489,"cg_iv_a":3.25317621,"cg_iw_a":1.94136047,"cg_theta_rad":2.59450746,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.016945729,"mpcc_du":42.2205544,"mpcc_dv":57.7794456,"mpcc_dw":44.2198792,"mpcc_enc_sign":1,"mpcc_id_a":2.37336564,"mpcc_iq_a":-7.84535837,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-82.8458099,"mpcc_pred_id_a":0.198760539,"mpcc_pred_iq_a":-6.56442499,"mpcc_state":1,"mpcc_theta_e":3.93846989,"mpcc_theta_mech":2.51127696,"sam_rpm":-179.547119,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201476216,"thr_a_norm":0.0201476216,"thr_a_v":0.580590487,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.934011,"values":{"cg_iu_a":-0.337862968,"cg_iv_a":3.90556574,"cg_iw_a":-6.24974632,"cg_theta_rad":2.23533368,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0336136296,"mpcc_du":57.8897362,"mpcc_dv":49.0271072,"mpcc_dw":43.0015068,"mpcc_enc_sign":1,"mpcc_id_a":2.40467525,"mpcc_iq_a":-4.73178959,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-105.298706,"mpcc_pred_id_a":0.229832903,"mpcc_pred_iq_a":-4.98749399,"mpcc_state":1,"mpcc_theta_e":2.13629913,"mpcc_theta_mech":2.15084291,"sam_rpm":-195.571274,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201476216,"thr_a_norm":0.0201476216,"thr_a_v":0.580590487,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.946188,"values":{"cg_iu_a":5.533638,"cg_iv_a":-5.44534397,"cg_iw_a":1.21648359,"cg_theta_rad":1.78471875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.00802823901,"mpcc_du":48.003006,"mpcc_dv":42.9386749,"mpcc_dw":57.0613251,"mpcc_enc_sign":1,"mpcc_id_a":-1.01414692,"mpcc_iq_a":-6.02256918,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-83.321991,"mpcc_pred_id_a":-1.48416293,"mpcc_pred_iq_a":-8.93896961,"mpcc_state":1,"mpcc_theta_e":6.21448565,"mpcc_theta_mech":1.70984316,"sam_rpm":-163.31163,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0405538976,"thr_a_norm":0.0405538976,"thr_a_v":0.66221559,"thr_b":0.0138155073,"thr_b_norm":0.0138155073,"thr_b_v":0.555262029,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.958242,"values":{"cg_iu_a":-5.70195007,"cg_iv_a":2.60078716,"cg_iw_a":3.10116291,"cg_theta_rad":1.35595036,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0163383614,"mpcc_du":41.1100578,"mpcc_dv":58.8899422,"mpcc_dw":45.4079399,"mpcc_enc_sign":1,"mpcc_id_a":0.323197514,"mpcc_iq_a":-4.96408033,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-105.958008,"mpcc_pred_id_a":-1.1375109,"mpcc_pred_iq_a":-6.0899806,"mpcc_state":1,"mpcc_theta_e":3.97432566,"mpcc_theta_mech":1.26181102,"sam_rpm":-196.317307,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0207141191,"thr_a_norm":0.0207141191,"thr_a_v":0.582856476,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473284513,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.969992,"values":{"cg_iu_a":4.30134773,"cg_iv_a":3.90556574,"cg_iw_a":-7.11959839,"cg_theta_rad":0.934640348,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.00883477461,"mpcc_du":56.7901077,"mpcc_dv":46.1053619,"mpcc_dw":43.2098923,"mpcc_enc_sign":1,"mpcc_id_a":1.81752872,"mpcc_iq_a":-7.98010302,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-88.9547424,"mpcc_pred_id_a":-0.669557929,"mpcc_pred_iq_a":-10.3021946,"mpcc_state":1,"mpcc_theta_e":1.87824297,"mpcc_theta_mech":0.842594564,"sam_rpm":-172.212967,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0207141191,"thr_a_norm":0.0207141191,"thr_a_v":0.582856476,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473284513,"vdc_v":55.2955055}} +{"type":"telemetry","t":6.980001,"values":{"cg_iu_a":7.2008543,"cg_iv_a":-6.02524519,"cg_iw_a":-1.17560911,"cg_theta_rad":0.579537511,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0567947477,"mpcc_du":48.0432816,"mpcc_dv":42.0699692,"mpcc_dw":57.9300308,"mpcc_enc_sign":1,"mpcc_id_a":4.19250965,"mpcc_iq_a":-5.23267508,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-96.4421387,"mpcc_pred_id_a":0.78112179,"mpcc_pred_iq_a":-6.63591576,"mpcc_state":1,"mpcc_theta_e":0.0209774971,"mpcc_theta_mech":0.471141368,"sam_rpm":-195.835922,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253593475,"thr_a_norm":0.0253593475,"thr_a_v":0.60143739,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480384529,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.004812,"values":{"cg_iu_a":-6.3543396,"cg_iv_a":-0.0812563896,"cg_iw_a":5.20330524,"cg_theta_rad":0.123377584,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0364821516,"mpcc_du":49.2658386,"mpcc_dv":57.1216698,"mpcc_dw":42.8783302,"mpcc_enc_sign":1,"mpcc_id_a":3.33789587,"mpcc_iq_a":-5.22929859,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-95.1674652,"mpcc_pred_id_a":-1.57303798,"mpcc_pred_iq_a":-8.78553295,"mpcc_state":1,"mpcc_theta_e":3.29703188,"mpcc_theta_mech":6.15696001,"sam_rpm":-160.764252,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0299542099,"thr_a_norm":0.0253593475,"thr_a_v":0.61981684,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460796505,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.011343,"values":{"cg_iu_a":-0.410350561,"cg_iv_a":5.71775675,"cg_iw_a":-5.30740643,"cg_theta_rad":6.06867552,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0146214776,"mpcc_du":57.3476868,"mpcc_dv":53.5097389,"mpcc_dw":42.6523132,"mpcc_enc_sign":1,"mpcc_id_a":2.40162754,"mpcc_iq_a":-7.21578884,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-84.9693604,"mpcc_pred_id_a":0.0147339683,"mpcc_pred_iq_a":-7.66355515,"mpcc_state":1,"mpcc_theta_e":2.47673845,"mpcc_theta_mech":5.98884153,"sam_rpm":-165.3918,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0299542099,"thr_a_norm":0.0299542099,"thr_a_v":0.61981684,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460796505,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.017904,"values":{"cg_iu_a":8.8680706,"cg_iv_a":-4.14056587,"cg_iw_a":-2.55287504,"cg_theta_rad":5.71344662,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.062527597,"mpcc_du":57.0444489,"mpcc_dv":42.3033791,"mpcc_dw":57.6966209,"mpcc_enc_sign":1,"mpcc_id_a":4.993958,"mpcc_iq_a":-7.23274803,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-102.73893,"mpcc_pred_id_a":1.82270443,"mpcc_pred_iq_a":-7.50300598,"mpcc_state":1,"mpcc_theta_e":0.627178669,"mpcc_theta_mech":5.62530947,"sam_rpm":-191.580856,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225017071,"thr_a_norm":0.0225017071,"thr_a_v":0.590006828,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485168248,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.024405,"values":{"cg_iu_a":-4.46965981,"cg_iv_a":-2.47334933,"cg_iw_a":6.94300938,"cg_theta_rad":5.29531479,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0175826922,"mpcc_du":42.5142059,"mpcc_dv":57.1869698,"mpcc_dw":57.4857941,"mpcc_enc_sign":1,"mpcc_id_a":1.70828712,"mpcc_iq_a":-5.47149515,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-104.315025,"mpcc_pred_id_a":0.0522259139,"mpcc_pred_iq_a":-8.59471798,"mpcc_state":1,"mpcc_theta_e":4.84625816,"mpcc_theta_mech":5.20610905,"sam_rpm":-194.936661,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225017071,"thr_a_norm":0.0225017071,"thr_a_v":0.590006828,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485168248,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.035391,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":3.90556574,"cg_iw_a":-3.93014097,"cg_theta_rad":4.86710596,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0696923435,"mpcc_du":57.1341248,"mpcc_dv":53.3169708,"mpcc_dw":42.8658752,"mpcc_enc_sign":1,"mpcc_id_a":3.26191211,"mpcc_iq_a":-3.34826946,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-82.1920547,"mpcc_pred_id_a":-0.207205147,"mpcc_pred_iq_a":-7.88950777,"mpcc_state":1,"mpcc_theta_e":2.47273445,"mpcc_theta_mech":4.7314043,"sam_rpm":-161.47998,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291611254,"thr_a_norm":0.0291611254,"thr_a_v":0.616644502,"thr_b":0.0062623024,"thr_b_norm":0.0062623024,"thr_b_v":0.52504921,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.04537,"values":{"cg_iu_a":6.40349007,"cg_iv_a":-4.50300407,"cg_iw_a":-1.90048599,"cg_theta_rad":4.43897009,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0488107949,"mpcc_du":55.5307159,"mpcc_dv":42.869133,"mpcc_dw":57.130867,"mpcc_enc_sign":1,"mpcc_id_a":3.61777234,"mpcc_iq_a":-4.96306467,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-87.4365234,"mpcc_pred_id_a":0.653137326,"mpcc_pred_iq_a":-7.26509809,"mpcc_state":1,"mpcc_theta_e":0.550104141,"mpcc_theta_mech":4.35186338,"sam_rpm":-168.096405,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0109704733,"thr_a_norm":0.0109704733,"thr_a_v":0.543881893,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.425397098,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.05718,"values":{"cg_iu_a":-2.58498049,"cg_iv_a":-1.09608364,"cg_iw_a":4.33345318,"cg_theta_rad":4.00979328,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0715981871,"mpcc_du":42.1690521,"mpcc_dv":57.8309479,"mpcc_dw":55.5767937,"mpcc_enc_sign":1,"mpcc_id_a":3.0157001,"mpcc_iq_a":-3.07904673,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-100.89241,"mpcc_pred_id_a":-0.263742924,"mpcc_pred_iq_a":-7.78827763,"mpcc_state":1,"mpcc_theta_e":4.683496,"mpcc_theta_mech":3.91691947,"sam_rpm":-188.474442,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0109704733,"thr_a_norm":0.0109704733,"thr_a_v":0.543881893,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.425397098,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.066977,"values":{"cg_iu_a":-3.59980798,"cg_iv_a":5.64526892,"cg_iw_a":-2.04546094,"cg_theta_rad":3.64830804,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0249813721,"mpcc_du":54.525856,"mpcc_dv":57.8109856,"mpcc_dw":42.1890144,"mpcc_enc_sign":1,"mpcc_id_a":0.741155148,"mpcc_iq_a":-4.42701483,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-87.1716537,"mpcc_pred_id_a":-0.547743976,"mpcc_pred_iq_a":-5.47057915,"mpcc_state":1,"mpcc_theta_e":2.9217658,"mpcc_theta_mech":3.56457329,"sam_rpm":-167.418793,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163962096,"thr_a_norm":0.0163962096,"thr_a_v":0.565584838,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464623481,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.078421,"values":{"cg_iu_a":6.18602753,"cg_iv_a":-2.54583716,"cg_iw_a":-3.64019036,"cg_theta_rad":3.22538853,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0110584302,"mpcc_du":58.1406288,"mpcc_dv":41.8593712,"mpcc_dw":56.3268623,"mpcc_enc_sign":1,"mpcc_id_a":2.0828619,"mpcc_iq_a":-5.01592398,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-103.264076,"mpcc_pred_id_a":-0.199453101,"mpcc_pred_iq_a":-4.31937408,"mpcc_state":1,"mpcc_theta_e":0.723313808,"mpcc_theta_mech":3.1248827,"sam_rpm":-192.137665,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275623649,"thr_a_norm":0.0163962096,"thr_a_v":0.61024946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498562604,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.089621,"values":{"cg_iu_a":-1.78761625,"cg_iv_a":-3.63315201,"cg_iw_a":4.62340403,"cg_theta_rad":2.8042233,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0359846279,"mpcc_du":43.7039146,"mpcc_dv":54.3147049,"mpcc_dw":56.2960854,"mpcc_enc_sign":1,"mpcc_id_a":2.24148226,"mpcc_iq_a":-4.79624462,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-84.0170364,"mpcc_pred_id_a":-0.253582358,"mpcc_pred_iq_a":-3.78515673,"mpcc_state":1,"mpcc_theta_e":4.97943974,"mpcc_theta_mech":2.72212148,"sam_rpm":-164.369492,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275623649,"thr_a_norm":0.0275623649,"thr_a_v":0.61024946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498562604,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.112814,"values":{"cg_iu_a":-3.45483255,"cg_iv_a":1.7309351,"cg_iw_a":1.43394685,"cg_theta_rad":2.41291285,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.031192271,"mpcc_du":56.4679298,"mpcc_dv":49.859375,"mpcc_dw":43.5320702,"mpcc_enc_sign":1,"mpcc_id_a":0.92046082,"mpcc_iq_a":1.36104691,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-99.7613525,"mpcc_pred_id_a":-0.59391886,"mpcc_pred_iq_a":-0.0810694695,"mpcc_state":1,"mpcc_theta_e":2.18843079,"mpcc_theta_mech":2.16126919,"sam_rpm":-187.336685,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0239116549,"thr_a_norm":0.0239116549,"thr_a_v":0.59564662,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.119345,"values":{"cg_iu_a":0.604476929,"cg_iv_a":1.87591076,"cg_iw_a":-2.48038769,"cg_theta_rad":1.9873023,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0564256236,"mpcc_du":56.5656166,"mpcc_dv":43.4343834,"mpcc_dw":53.8336258,"mpcc_enc_sign":1,"mpcc_id_a":-0.315904438,"mpcc_iq_a":2.30843115,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-84.6304092,"mpcc_pred_id_a":-1.13350558,"mpcc_pred_iq_a":4.40155268,"mpcc_state":1,"mpcc_theta_e":0.842132568,"mpcc_theta_mech":1.89200962,"sam_rpm":-185.828461,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0239116549,"thr_a_norm":0.0239116549,"thr_a_v":0.59564662,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.125875,"values":{"cg_iu_a":4.08388519,"cg_iv_a":-0.226231575,"cg_iw_a":-3.85765362,"cg_theta_rad":1.54190552,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.102066562,"mpcc_du":44.7337952,"mpcc_dv":53.5260239,"mpcc_dw":55.2662048,"mpcc_enc_sign":1,"mpcc_id_a":0.814700365,"mpcc_iq_a":1.16258025,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-95.203949,"mpcc_pred_id_a":-0.624111414,"mpcc_pred_iq_a":3.61797881,"mpcc_state":1,"mpcc_theta_e":4.96509886,"mpcc_theta_mech":1.45996559,"sam_rpm":-179.427475,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469860375,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.135977,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-3.48817682,"cg_iw_a":3.60857677,"cg_theta_rad":1.11230636,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.252216339,"mpcc_du":53.3528786,"mpcc_dv":54.3839798,"mpcc_dw":45.6160202,"mpcc_enc_sign":1,"mpcc_id_a":0.0207912624,"mpcc_iq_a":-2.54420733,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-80.8009338,"mpcc_pred_id_a":-0.649357557,"mpcc_pred_iq_a":3.40760136,"mpcc_state":1,"mpcc_theta_e":2.83442354,"mpcc_theta_mech":1.03383064,"sam_rpm":-157.501144,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271847099,"thr_a_norm":0.0271847099,"thr_a_v":0.60873884,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494634897,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.147543,"values":{"cg_iu_a":-1.42517781,"cg_iv_a":2.45581198,"cg_iw_a":-1.75551081,"cg_theta_rad":0.690932095,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0931243226,"mpcc_du":54.8808556,"mpcc_dv":45.1191444,"mpcc_dw":54.1253433,"mpcc_enc_sign":1,"mpcc_id_a":3.02211881,"mpcc_iq_a":2.19749808,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-83.4424362,"mpcc_pred_id_a":0.987115085,"mpcc_pred_iq_a":7.91954803,"mpcc_state":1,"mpcc_theta_e":0.720304489,"mpcc_theta_mech":0.611006796,"sam_rpm":-160.529449,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271847099,"thr_a_norm":0.0271847099,"thr_a_v":0.60873884,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494634897,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.15801,"values":{"cg_iu_a":3.79393435,"cg_iv_a":-0.298719406,"cg_iw_a":-7.04711056,"cg_theta_rad":0.315845221,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0155348312,"mpcc_du":44.4467468,"mpcc_dv":51.1589851,"mpcc_dw":55.5532532,"mpcc_enc_sign":1,"mpcc_id_a":0.183177575,"mpcc_iq_a":5.01396322,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-88.9757767,"mpcc_pred_id_a":-0.750724137,"mpcc_pred_iq_a":7.84176731,"mpcc_state":1,"mpcc_theta_e":5.198452,"mpcc_theta_mech":0.24999918,"sam_rpm":-168.102234,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165850371,"thr_a_norm":0.0165850371,"thr_a_v":0.566340148,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476305783,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.16799,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-3.56066442,"cg_iw_a":-2.33541179,"cg_theta_rad":0.0515699536,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0410992168,"mpcc_du":47.5560493,"mpcc_dv":55.1079063,"mpcc_dw":44.8920937,"mpcc_enc_sign":1,"mpcc_id_a":2.43136263,"mpcc_iq_a":4.25528717,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-88.3092728,"mpcc_pred_id_a":0.411020905,"mpcc_pred_iq_a":7.08498764,"mpcc_state":1,"mpcc_theta_e":3.51731539,"mpcc_theta_mech":6.20116377,"sam_rpm":-166.840271,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277763754,"thr_a_norm":0.0165850371,"thr_a_v":0.611105502,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492368966,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.178396,"values":{"cg_iu_a":-3.09239435,"cg_iv_a":0.136206627,"cg_iw_a":1.79638505,"cg_theta_rad":5.93117571,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0853257254,"mpcc_du":53.5348015,"mpcc_dv":47.293541,"mpcc_dw":46.4651985,"mpcc_enc_sign":1,"mpcc_id_a":0.830491841,"mpcc_iq_a":1.71721756,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-78.3952484,"mpcc_pred_id_a":-0.0899400413,"mpcc_pred_iq_a":4.46594667,"mpcc_state":1,"mpcc_theta_e":1.79787493,"mpcc_theta_mech":5.85306931,"sam_rpm":-152.375305,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277763754,"thr_a_norm":0.0277763754,"thr_a_v":0.611105502,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492368966,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.188009,"values":{"cg_iu_a":2.48915625,"cg_iv_a":2.96322584,"cg_iw_a":-3.35023975,"cg_theta_rad":5.59674168,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0556698404,"mpcc_du":49.67799,"mpcc_dv":46.5889053,"mpcc_dw":53.4110947,"mpcc_enc_sign":1,"mpcc_id_a":2.87473631,"mpcc_iq_a":3.7578311,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-78.0063248,"mpcc_pred_id_a":1.01372659,"mpcc_pred_iq_a":3.35106611,"mpcc_state":1,"mpcc_theta_e":0.169601917,"mpcc_theta_mech":5.5274148,"sam_rpm":-149.883774,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0140295327,"thr_a_norm":0.0140295327,"thr_a_v":0.556118131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444280148,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.210836,"values":{"cg_iu_a":4.37383556,"cg_iv_a":-1.02359605,"cg_iw_a":-3.35023952,"cg_theta_rad":5.27309084,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0452590063,"mpcc_du":45.5789299,"mpcc_dv":54.4210701,"mpcc_dw":47.7852745,"mpcc_enc_sign":1,"mpcc_id_a":1.92221928,"mpcc_iq_a":3.70412374,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-88.1597137,"mpcc_pred_id_a":-0.139590725,"mpcc_pred_iq_a":5.59636545,"mpcc_state":1,"mpcc_theta_e":4.0187664,"mpcc_theta_mech":5.04061031,"sam_rpm":-165.531052,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0140295327,"thr_a_norm":0.0140295327,"thr_a_v":0.556118131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444280148,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.217337,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-3.92310286,"cg_iw_a":3.60857677,"cg_theta_rad":4.96801186,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0440804474,"mpcc_du":50.0003624,"mpcc_dv":54.3959732,"mpcc_dw":45.6040268,"mpcc_enc_sign":1,"mpcc_id_a":-1.27222002,"mpcc_iq_a":3.49829578,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-77.0980911,"mpcc_pred_id_a":-0.865282059,"mpcc_pred_iq_a":7.5810976,"mpcc_state":1,"mpcc_theta_e":3.22132683,"mpcc_theta_mech":4.88112259,"sam_rpm":-148.302139,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0304955393,"thr_a_norm":0.0140295327,"thr_a_v":0.621982157,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460796505,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.223837,"values":{"cg_iu_a":-0.482838154,"cg_iv_a":2.89073801,"cg_iw_a":1.72389746,"cg_theta_rad":4.56585646,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0420291573,"mpcc_du":56.0041542,"mpcc_dv":43.9958458,"mpcc_dw":48.6487885,"mpcc_enc_sign":1,"mpcc_id_a":0.4753218,"mpcc_iq_a":3.42744184,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-84.4148636,"mpcc_pred_id_a":-0.0621287897,"mpcc_pred_iq_a":12.5615005,"mpcc_state":1,"mpcc_theta_e":1.24331093,"mpcc_theta_mech":4.48551941,"sam_rpm":-157.607071,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0304955393,"thr_a_norm":0.0304955393,"thr_a_v":0.621982157,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460796505,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.231253,"values":{"cg_iu_a":2.70661926,"cg_iv_a":2.67327499,"cg_iw_a":-2.98780107,"cg_theta_rad":4.25907803,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0252998564,"mpcc_du":46.1419525,"mpcc_dv":46.528347,"mpcc_dw":53.8580475,"mpcc_enc_sign":1,"mpcc_id_a":2.57119155,"mpcc_iq_a":5.62678957,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-84.1564636,"mpcc_pred_id_a":0.448088109,"mpcc_pred_iq_a":6.06934309,"mpcc_state":1,"mpcc_theta_e":5.83984709,"mpcc_theta_mech":4.14818954,"sam_rpm":-158.498123,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0293877274,"thr_a_norm":0.0293877274,"thr_a_v":0.61755091,"thr_b":0.00108835101,"thr_b_norm":0.00108835101,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.242392,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-5.37285614,"cg_iw_a":0.854045153,"cg_theta_rad":3.89226294,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0112847844,"mpcc_du":45.3887672,"mpcc_dv":54.6112328,"mpcc_dw":48.744133,"mpcc_enc_sign":1,"mpcc_id_a":1.85243273,"mpcc_iq_a":6.45961237,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-76.2122192,"mpcc_pred_id_a":-0.0388353914,"mpcc_pred_iq_a":9.24054909,"mpcc_state":1,"mpcc_theta_e":4.12960005,"mpcc_theta_mech":3.80613995,"sam_rpm":-146.158417,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0951762497,"thr_a_norm":0.0293877274,"thr_a_v":0.880704999,"thr_b":0.0366639942,"thr_b_norm":0.00108835101,"thr_b_v":0.646655977,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.254171,"values":{"cg_iu_a":-4.1072216,"cg_iv_a":-0.516182423,"cg_iw_a":4.62340403,"cg_theta_rad":3.52054524,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.013118525,"mpcc_du":55.4523659,"mpcc_dv":51.6707802,"mpcc_dw":44.5476341,"mpcc_enc_sign":1,"mpcc_id_a":1.79704916,"mpcc_iq_a":6.0794282,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-83.4874649,"mpcc_pred_id_a":0.307706833,"mpcc_pred_iq_a":11.1105223,"mpcc_state":1,"mpcc_theta_e":2.36031866,"mpcc_theta_mech":3.45228386,"sam_rpm":-154.575928,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0951762497,"thr_a_norm":0.0951762497,"thr_a_v":0.880704999,"thr_b":0.0366639942,"thr_b_norm":0.0366639942,"thr_b_v":0.646655977,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.265585,"values":{"cg_iu_a":-5.4119997,"cg_iv_a":4.63044214,"cg_iw_a":-2.33541226,"cg_theta_rad":3.1747756,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0713101849,"mpcc_du":52.7599487,"mpcc_dv":47.1858177,"mpcc_dw":52.8141823,"mpcc_enc_sign":1,"mpcc_id_a":2.20868158,"mpcc_iq_a":2.6373055,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-72.9765015,"mpcc_pred_id_a":-0.0252273679,"mpcc_pred_iq_a":5.98072767,"mpcc_state":1,"mpcc_theta_e":0.647870541,"mpcc_theta_mech":3.10979414,"sam_rpm":-129.532318,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137148052,"thr_a_norm":0.0137148052,"thr_a_v":0.554859221,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438237578,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.277029,"values":{"cg_iu_a":3.93890953,"cg_iv_a":-0.0087685585,"cg_iw_a":-3.93014097,"cg_theta_rad":2.84809446,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.00214040722,"mpcc_du":44.8902664,"mpcc_dv":49.9855156,"mpcc_dw":55.1097336,"mpcc_enc_sign":1,"mpcc_id_a":0.314211249,"mpcc_iq_a":6.62969303,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-84.332901,"mpcc_pred_id_a":-0.289220661,"mpcc_pred_iq_a":9.536726,"mpcc_state":1,"mpcc_theta_e":5.3038702,"mpcc_theta_mech":2.78435707,"sam_rpm":-155.461624,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284435749,"thr_a_norm":0.0284435749,"thr_a_v":0.6137743,"thr_b":0.00189402699,"thr_b_norm":0.00189402699,"thr_b_v":0.507576108,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.289236,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-4.28554106,"cg_iw_a":1.28897142,"cg_theta_rad":2.50779295,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0535162315,"mpcc_du":47.3507233,"mpcc_dv":54.8668556,"mpcc_dw":45.1331444,"mpcc_enc_sign":1,"mpcc_id_a":4.59261894,"mpcc_iq_a":8.06066322,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-83.4433899,"mpcc_pred_id_a":1.46684349,"mpcc_pred_iq_a":9.78978729,"mpcc_state":1,"mpcc_theta_e":3.57608128,"mpcc_theta_mech":2.43879914,"sam_rpm":-152.779907,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284435749,"thr_a_norm":0.0284435749,"thr_a_v":0.6137743,"thr_b":0.00189402699,"thr_b_norm":0.00189402699,"thr_b_v":0.507576108,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.312399,"values":{"cg_iu_a":-5.62946272,"cg_iv_a":1.00605869,"cg_iw_a":2.59374928,"cg_theta_rad":2.20365667,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0592578016,"mpcc_du":53.0230675,"mpcc_dv":46.9769325,"mpcc_dw":48.9274712,"mpcc_enc_sign":1,"mpcc_id_a":3.0756464,"mpcc_iq_a":3.72594118,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-70.8890457,"mpcc_pred_id_a":0.949157774,"mpcc_pred_iq_a":4.90829182,"mpcc_state":1,"mpcc_theta_e":1.44478512,"mpcc_theta_mech":2.0125401,"sam_rpm":-134.310211,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0321194828,"thr_a_norm":0.0321194828,"thr_a_v":0.628477931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472932041,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.31893,"values":{"cg_iu_a":-0.772789001,"cg_iv_a":3.68810225,"cg_iw_a":-2.91531324,"cg_theta_rad":1.88007033,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0603956096,"mpcc_du":51.513504,"mpcc_dv":46.9867439,"mpcc_dw":53.0132561,"mpcc_enc_sign":1,"mpcc_id_a":3.05333829,"mpcc_iq_a":3.64832902,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-64.413475,"mpcc_pred_id_a":0.6284585,"mpcc_pred_iq_a":6.80203629,"mpcc_state":1,"mpcc_theta_e":0.445248604,"mpcc_theta_mech":1.81263268,"sam_rpm":-123.923477,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0321194828,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475902975,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.32546,"values":{"cg_iu_a":4.08388519,"cg_iv_a":0.136206627,"cg_iw_a":-2.11794925,"cg_theta_rad":1.56225848,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0107774157,"mpcc_du":45.6866188,"mpcc_dv":51.2754898,"mpcc_dw":54.3133812,"mpcc_enc_sign":1,"mpcc_id_a":0.954574823,"mpcc_iq_a":5.65615797,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-68.3222427,"mpcc_pred_id_a":-0.239915237,"mpcc_pred_iq_a":10.7308722,"mpcc_state":1,"mpcc_theta_e":5.14608812,"mpcc_theta_mech":1.49616349,"sam_rpm":-129.148422,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475902975,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.333395,"values":{"cg_iu_a":3.93890953,"cg_iv_a":-4.50300407,"cg_iw_a":0.564094543,"cg_theta_rad":1.30606306,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0206866954,"mpcc_du":47.0197334,"mpcc_dv":52.9802666,"mpcc_dw":48.1338654,"mpcc_enc_sign":1,"mpcc_id_a":-0.770427883,"mpcc_iq_a":4.72851706,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-63.1622543,"mpcc_pred_id_a":-1.05723679,"mpcc_pred_iq_a":7.42093325,"mpcc_state":1,"mpcc_theta_e":3.89400911,"mpcc_theta_mech":1.24574769,"sam_rpm":-120.94471,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205882341,"thr_a_norm":0.0205882341,"thr_a_v":0.582352936,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462256789,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.345419,"values":{"cg_iu_a":-2.00507927,"cg_iv_a":-1.16857147,"cg_iw_a":5.63823128,"cg_theta_rad":1.00286412,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0224026553,"mpcc_du":55.2480469,"mpcc_dv":51.3650246,"mpcc_dw":44.7519531,"mpcc_enc_sign":1,"mpcc_id_a":3.82799363,"mpcc_iq_a":6.70174265,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-77.7924423,"mpcc_pred_id_a":1.17008698,"mpcc_pred_iq_a":12.3200254,"mpcc_state":1,"mpcc_theta_e":2.35815287,"mpcc_theta_mech":0.939611733,"sam_rpm":-141.432785,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283680409,"thr_a_norm":0.0205882341,"thr_a_v":0.613472164,"thr_b":0.00269970298,"thr_b_norm":0,"thr_b_v":0.510798812,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.355246,"values":{"cg_iu_a":-2.36751747,"cg_iv_a":5.28283072,"cg_iw_a":0.274143696,"cg_theta_rad":0.782265067,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0207311995,"mpcc_du":54.2118568,"mpcc_dv":45.7881432,"mpcc_dw":50.1643333,"mpcc_enc_sign":1,"mpcc_id_a":0.73600769,"mpcc_iq_a":4.7159791,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-72.0116501,"mpcc_pred_id_a":0.252860904,"mpcc_pred_iq_a":9.70202065,"mpcc_state":1,"mpcc_theta_e":1.1074419,"mpcc_theta_mech":0.688434303,"sam_rpm":-132.651672,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283680409,"thr_a_norm":0.0283680409,"thr_a_v":0.613472164,"thr_b":0.00269970298,"thr_b_norm":0.00269970298,"thr_b_v":0.510798812,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.365774,"values":{"cg_iu_a":2.41666842,"cg_iv_a":3.10820103,"cg_iw_a":-5.45238161,"cg_theta_rad":0.484397054,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.00104255695,"mpcc_du":48.5427513,"mpcc_dv":47.3651199,"mpcc_dw":52.6348801,"mpcc_enc_sign":1,"mpcc_id_a":0.169888839,"mpcc_iq_a":8.14400101,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-66.9097977,"mpcc_pred_id_a":-0.404411435,"mpcc_pred_iq_a":11.3491802,"mpcc_state":1,"mpcc_theta_e":6.11299086,"mpcc_theta_mech":0.432906955,"sam_rpm":-109.402863,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216834545,"thr_a_norm":0.0216834545,"thr_a_v":0.586733818,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463012129,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.375814,"values":{"cg_iu_a":4.95373726,"cg_iv_a":-1.16857147,"cg_iw_a":-3.78516579,"cg_theta_rad":0.26285693,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.00116321212,"mpcc_du":47.0852394,"mpcc_dv":52.3790779,"mpcc_dw":52.9147606,"mpcc_enc_sign":1,"mpcc_id_a":0.312334567,"mpcc_iq_a":6.89359093,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-57.747036,"mpcc_pred_id_a":-0.592000484,"mpcc_pred_iq_a":8.9401865,"mpcc_state":1,"mpcc_theta_e":4.89208364,"mpcc_theta_mech":0.188725546,"sam_rpm":-110.922058,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216834545,"thr_a_norm":0.0216834545,"thr_a_v":0.586733818,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463012129,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.386557,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-3.63315201,"cg_iw_a":1.07150841,"cg_theta_rad":6.27081156,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0270253327,"mpcc_du":47.4108734,"mpcc_dv":53.4569969,"mpcc_dw":46.5430031,"mpcc_enc_sign":1,"mpcc_id_a":2.75025105,"mpcc_iq_a":5.69826412,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-48.291214,"mpcc_pred_id_a":0.699211061,"mpcc_pred_iq_a":13.0535631,"mpcc_state":1,"mpcc_theta_e":3.6524663,"mpcc_theta_mech":6.2239871,"sam_rpm":-96.0934372,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274742395,"thr_a_norm":0.0274742395,"thr_a_v":0.609896958,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494886726,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.3962,"values":{"cg_iu_a":-2.00507927,"cg_iv_a":-2.69081235,"cg_iw_a":4.69589138,"cg_theta_rad":6.06633091,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0699649751,"mpcc_du":51.7441216,"mpcc_dv":51.0059242,"mpcc_dw":48.2558784,"mpcc_enc_sign":1,"mpcc_id_a":0.831060767,"mpcc_iq_a":2.27550721,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-45.7519379,"mpcc_pred_id_a":0.213972256,"mpcc_pred_iq_a":5.58014059,"mpcc_state":1,"mpcc_theta_e":2.56818819,"mpcc_theta_mech":6.00713158,"sam_rpm":-90.4409866,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163584203,"thr_a_norm":0.0274742395,"thr_a_v":0.565433681,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470363915,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.418997,"values":{"cg_iu_a":-2.72995591,"cg_iv_a":2.52829981,"cg_iw_a":0.201656103,"cg_theta_rad":5.83310556,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0441371426,"mpcc_du":52.5047379,"mpcc_dv":47.4952621,"mpcc_dw":51.1837044,"mpcc_enc_sign":1,"mpcc_id_a":0.723082781,"mpcc_iq_a":3.36091685,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-52.8752937,"mpcc_pred_id_a":-0.146776006,"mpcc_pred_iq_a":8.27159405,"mpcc_state":1,"mpcc_theta_e":0.887573719,"mpcc_theta_mech":5.67100906,"sam_rpm":-101.438141,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163584203,"thr_a_norm":0.0163584203,"thr_a_v":0.565433681,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470363915,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.425558,"values":{"cg_iu_a":2.27169323,"cg_iv_a":3.54312658,"cg_iw_a":-3.49521494,"cg_theta_rad":5.57038689,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0365331061,"mpcc_du":49.5354385,"mpcc_dv":48.1367683,"mpcc_dw":51.8632317,"mpcc_enc_sign":1,"mpcc_id_a":4.14087391,"mpcc_iq_a":7.39572525,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-53.4487686,"mpcc_pred_id_a":1.4362005,"mpcc_pred_iq_a":6.84247732,"mpcc_state":1,"mpcc_theta_e":0.158194065,"mpcc_theta_mech":5.52774096,"sam_rpm":-91.8381577,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237857699,"thr_a_norm":0.0237857699,"thr_a_v":0.59514308,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473385215,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.432058,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.0812563896,"cg_iw_a":-4.22009134,"cg_theta_rad":5.37122345,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0287819318,"mpcc_du":48.1323242,"mpcc_dv":50.0053596,"mpcc_dw":51.8676758,"mpcc_enc_sign":1,"mpcc_id_a":0.832335591,"mpcc_iq_a":4.21062469,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-45.0605469,"mpcc_pred_id_a":-0.356503338,"mpcc_pred_iq_a":7.28594828,"mpcc_state":1,"mpcc_theta_e":5.42910385,"mpcc_theta_mech":5.32267809,"sam_rpm":-89.0414658,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237857699,"thr_a_norm":0.0237857699,"thr_a_v":0.59514308,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473385215,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.438559,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-2.98076296,"cg_iw_a":-5.01745558,"cg_theta_rad":5.16342878,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":6.74114926e-05,"mpcc_du":45.8997612,"mpcc_dv":54.1002388,"mpcc_dw":50.9545097,"mpcc_enc_sign":1,"mpcc_id_a":-0.0226962492,"mpcc_iq_a":7.33736706,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-60.5368004,"mpcc_pred_id_a":-0.811143637,"mpcc_pred_iq_a":12.5566559,"mpcc_state":1,"mpcc_theta_e":4.36666298,"mpcc_theta_mech":5.1165266,"sam_rpm":-110.220879,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215575695,"thr_a_norm":0.0215575695,"thr_a_v":0.586230278,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480585933,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.449759,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-3.92310286,"cg_iw_a":3.75355196,"cg_theta_rad":4.91647863,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0108594811,"mpcc_du":50.080883,"mpcc_dv":51.1771202,"mpcc_dw":48.8228798,"mpcc_enc_sign":1,"mpcc_id_a":-2.02212524,"mpcc_iq_a":6.99522114,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-36.4882469,"mpcc_pred_id_a":-1.46973753,"mpcc_pred_iq_a":6.54819918,"mpcc_state":1,"mpcc_theta_e":3.125494,"mpcc_theta_mech":4.86195612,"sam_rpm":-76.7056732,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294632614,"thr_a_norm":0.0215575695,"thr_a_v":0.617853045,"thr_b":0.00529298186,"thr_b_norm":0,"thr_b_v":0.521171927,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.459249,"values":{"cg_iu_a":-7.00672817,"cg_iv_a":0.426157475,"cg_iw_a":6.5805707,"cg_theta_rad":4.71633148,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.00619146135,"mpcc_du":52.3649254,"mpcc_dv":49.9726448,"mpcc_dw":47.6350746,"mpcc_enc_sign":1,"mpcc_id_a":0.0430341549,"mpcc_iq_a":5.92687178,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-49.7345619,"mpcc_pred_id_a":-0.49661991,"mpcc_pred_iq_a":8.08546638,"mpcc_state":1,"mpcc_theta_e":2.15207672,"mpcc_theta_mech":4.66727257,"sam_rpm":-95.8022079,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294632614,"thr_a_norm":0.0294632614,"thr_a_v":0.617853045,"thr_b":0.00529298186,"thr_b_norm":0.00529298186,"thr_b_v":0.521171927,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.469748,"values":{"cg_iu_a":-5.0495615,"cg_iv_a":7.02253485,"cg_iw_a":-0.0882945061,"cg_theta_rad":4.50855732,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0194171984,"mpcc_du":52.304409,"mpcc_dv":47.695591,"mpcc_dw":50.0980835,"mpcc_enc_sign":1,"mpcc_id_a":1.72088861,"mpcc_iq_a":5.30787277,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-50.2932358,"mpcc_pred_id_a":-0.136833891,"mpcc_pred_iq_a":7.90848255,"mpcc_state":1,"mpcc_theta_e":1.1217823,"mpcc_theta_mech":4.46121359,"sam_rpm":-95.7188721,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236346871,"thr_a_norm":0.0236346871,"thr_a_v":0.594538748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480988771,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.478781,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":3.18068886,"cg_iw_a":-2.48038769,"cg_theta_rad":4.32915211,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.018335091,"mpcc_du":50.5126038,"mpcc_dv":47.22575,"mpcc_dw":52.77425,"mpcc_enc_sign":1,"mpcc_id_a":2.42346525,"mpcc_iq_a":6.29134274,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-54.1104279,"mpcc_pred_id_a":0.994926095,"mpcc_pred_iq_a":9.25096226,"mpcc_state":1,"mpcc_theta_e":0.256296158,"mpcc_theta_mech":4.28811646,"sam_rpm":-98.3507309,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236346871,"thr_a_norm":0.0236346871,"thr_a_v":0.594538748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480988771,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.490988,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.588670254,"cg_iw_a":-1.03063393,"cg_theta_rad":4.11377859,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0519063734,"mpcc_du":49.1230507,"mpcc_dv":50.2197075,"mpcc_dw":50.8769493,"mpcc_enc_sign":1,"mpcc_id_a":0.703551292,"mpcc_iq_a":2.99804878,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-34.2211075,"mpcc_pred_id_a":0.102882221,"mpcc_pred_iq_a":6.0236783,"mpcc_state":1,"mpcc_theta_e":5.44009733,"mpcc_theta_mech":4.06823969,"sam_rpm":-71.7077637,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248558074,"thr_a_norm":0.0248558074,"thr_a_v":0.59942323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469004363,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.500784,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-2.25588632,"cg_iw_a":-0.450732946,"cg_theta_rad":3.93655849,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0994524583,"mpcc_du":46.8648796,"mpcc_dv":53.1351204,"mpcc_dw":51.4430809,"mpcc_enc_sign":1,"mpcc_id_a":1.43018186,"mpcc_iq_a":1.35707211,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-56.2874718,"mpcc_pred_id_a":0.54041338,"mpcc_pred_iq_a":10.6296625,"mpcc_state":1,"mpcc_theta_e":4.55239248,"mpcc_theta_mech":3.89069867,"sam_rpm":-100.560402,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0309487283,"thr_a_norm":0.0248558074,"thr_a_v":0.623794913,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470263213,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.523794,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-3.48817682,"cg_iw_a":2.59374952,"cg_theta_rad":3.75019407,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0158359502,"mpcc_du":50.4150352,"mpcc_dv":51.7944031,"mpcc_dw":48.2055969,"mpcc_enc_sign":1,"mpcc_id_a":2.49588752,"mpcc_iq_a":7.82392216,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-44.5737686,"mpcc_pred_id_a":0.648585916,"mpcc_pred_iq_a":7.45263863,"mpcc_state":1,"mpcc_theta_e":3.23999929,"mpcc_theta_mech":3.62821984,"sam_rpm":-84.8058319,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0309487283,"thr_a_norm":0.0309487283,"thr_a_v":0.623794913,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470263213,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.530325,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-5.59031916,"cg_iw_a":7.08798504,"cg_theta_rad":3.5877471,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0159213245,"mpcc_du":51.9997864,"mpcc_dv":52.6161804,"mpcc_dw":47.3838196,"mpcc_enc_sign":1,"mpcc_id_a":1.55518508,"mpcc_iq_a":5.51255703,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-51.623085,"mpcc_pred_id_a":-0.00978638418,"mpcc_pred_iq_a":10.0391331,"mpcc_state":1,"mpcc_theta_e":2.81587553,"mpcc_theta_mech":3.54339504,"sam_rpm":-94.0574188,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0290100724,"thr_a_norm":0.0309487283,"thr_a_v":0.616040289,"thr_b":0.00230945647,"thr_b_norm":0,"thr_b_v":0.509237826,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.536825,"values":{"cg_iu_a":-6.13687611,"cg_iv_a":-0.298719406,"cg_iw_a":5.85569429,"cg_theta_rad":3.39761209,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.00326014729,"mpcc_du":51.6247444,"mpcc_dv":49.3210754,"mpcc_dw":48.3752556,"mpcc_enc_sign":1,"mpcc_id_a":-0.0499839783,"mpcc_iq_a":6.3591404,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-38.0556641,"mpcc_pred_id_a":-1.01290214,"mpcc_pred_iq_a":8.54361534,"mpcc_state":1,"mpcc_theta_e":1.90671682,"mpcc_theta_mech":3.36324215,"sam_rpm":-74.1224976,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0290100724,"thr_a_norm":0.0290100724,"thr_a_v":0.616040289,"thr_b":0.00230945647,"thr_b_norm":0.00230945647,"thr_b_v":0.509237826,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.544149,"values":{"cg_iu_a":-4.46965981,"cg_iv_a":2.52829981,"cg_iw_a":1.94136,"cg_theta_rad":3.20484161,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0808700323,"mpcc_du":51.5511703,"mpcc_dv":48.4488297,"mpcc_dw":50.3200188,"mpcc_enc_sign":1,"mpcc_id_a":-0.164191782,"mpcc_iq_a":1.81483912,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-37.3074913,"mpcc_pred_id_a":-0.90878135,"mpcc_pred_iq_a":8.49225616,"mpcc_state":1,"mpcc_theta_e":0.948297024,"mpcc_theta_mech":3.16987944,"sam_rpm":-71.3911285,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024314478,"thr_a_norm":0.024314478,"thr_a_v":0.597257912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486880273,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.5548,"values":{"cg_iu_a":0.894427299,"cg_iv_a":5.50029421,"cg_iw_a":-1.97297382,"cg_theta_rad":3.03138208,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0118799293,"mpcc_du":50.0258827,"mpcc_dv":48.0391693,"mpcc_dw":51.9608307,"mpcc_enc_sign":1,"mpcc_id_a":1.20643878,"mpcc_iq_a":5.68437958,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-36.8962059,"mpcc_pred_id_a":0.171078712,"mpcc_pred_iq_a":9.85217285,"mpcc_state":1,"mpcc_theta_e":0.104922771,"mpcc_theta_mech":3.00120473,"sam_rpm":-72.4269867,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192286521,"thr_a_norm":0.0192286521,"thr_a_v":0.576914608,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454804301,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.565878,"values":{"cg_iu_a":5.46115017,"cg_iv_a":0.426157475,"cg_iw_a":-3.64019012,"cg_theta_rad":2.87019873,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0351250172,"mpcc_du":46.3934212,"mpcc_dv":48.3402977,"mpcc_dw":53.6065788,"mpcc_enc_sign":1,"mpcc_id_a":2.35272169,"mpcc_iq_a":4.58200264,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-58.8900566,"mpcc_pred_id_a":0.532164335,"mpcc_pred_iq_a":12.0809765,"mpcc_state":1,"mpcc_theta_e":5.55319881,"mpcc_theta_mech":2.83422279,"sam_rpm":-102.232475,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192286521,"thr_a_norm":0.0192286521,"thr_a_v":0.576914608,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454804301,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.57778,"values":{"cg_iu_a":4.01139736,"cg_iv_a":-0.878620625,"cg_iw_a":-3.13277674,"cg_theta_rad":2.70200396,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0100925826,"mpcc_du":47.9463539,"mpcc_dv":52.0536461,"mpcc_dw":51.6320496,"mpcc_enc_sign":1,"mpcc_id_a":1.63321853,"mpcc_iq_a":6.32968807,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-41.7063026,"mpcc_pred_id_a":0.343683004,"mpcc_pred_iq_a":10.3246555,"mpcc_state":1,"mpcc_theta_e":4.71319485,"mpcc_theta_mech":2.66622186,"sam_rpm":-77.4483566,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0267818719,"thr_a_norm":0.0267818719,"thr_a_v":0.607127488,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486074626,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.58898,"values":{"cg_iu_a":5.02622414,"cg_iv_a":-3.99559045,"cg_iw_a":1.57892203,"cg_theta_rad":2.57176161,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.00145899854,"mpcc_du":48.571888,"mpcc_dv":51.428112,"mpcc_dw":49.1662598,"mpcc_enc_sign":1,"mpcc_id_a":-0.508215249,"mpcc_iq_a":6.92963457,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-40.6925926,"mpcc_pred_id_a":-0.58776921,"mpcc_pred_iq_a":7.70305061,"mpcc_state":1,"mpcc_theta_e":3.93959713,"mpcc_theta_mech":2.51150227,"sam_rpm":-75.5161591,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200721025,"thr_a_norm":0.0267818719,"thr_a_v":0.58028841,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447251081,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.599936,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-3.99559045,"cg_iw_a":3.82603955,"cg_theta_rad":2.39684677,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0632316992,"mpcc_du":50.2025452,"mpcc_dv":51.1083374,"mpcc_dw":48.8916626,"mpcc_enc_sign":1,"mpcc_id_a":-0.777464688,"mpcc_iq_a":2.53127456,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-35.5835075,"mpcc_pred_id_a":-0.196009725,"mpcc_pred_iq_a":7.69612026,"mpcc_state":1,"mpcc_theta_e":3.21739101,"mpcc_theta_mech":2.36706114,"sam_rpm":-64.7581558,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200721025,"thr_a_norm":0.0200721025,"thr_a_v":0.58028841,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447251081,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.623373,"values":{"cg_iu_a":-0.917764187,"cg_iv_a":-1.6759851,"cg_iw_a":5.20330524,"cg_theta_rad":2.26919317,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0106522702,"mpcc_du":51.4791603,"mpcc_dv":50.0048752,"mpcc_dw":48.5208397,"mpcc_enc_sign":1,"mpcc_id_a":0.749653101,"mpcc_iq_a":5.57674026,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-32.9732208,"mpcc_pred_id_a":-0.104768462,"mpcc_pred_iq_a":9.42207146,"mpcc_state":1,"mpcc_theta_e":2.21669483,"mpcc_theta_mech":2.16692209,"sam_rpm":-62.1519012,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205504745,"thr_a_norm":0.0205504745,"thr_a_v":0.582201898,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468248993,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.629904,"values":{"cg_iu_a":-1.93259168,"cg_iv_a":-0.153744221,"cg_iw_a":3.68106461,"cg_theta_rad":2.10565305,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0115747303,"mpcc_du":50.9139214,"mpcc_dv":49.5424309,"mpcc_dw":49.0860786,"mpcc_enc_sign":1,"mpcc_id_a":-1.13702309,"mpcc_iq_a":5.67323494,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-41.2410622,"mpcc_pred_id_a":-0.680577397,"mpcc_pred_iq_a":7.95549536,"mpcc_state":1,"mpcc_theta_e":1.73453999,"mpcc_theta_mech":2.07049108,"sam_rpm":-74.4214554,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0147848576,"thr_a_norm":0.0205504745,"thr_a_v":0.559139431,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443122,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.636435,"values":{"cg_iu_a":-4.46965981,"cg_iv_a":3.83307791,"cg_iw_a":0.636581898,"cg_theta_rad":1.98720455,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0221683048,"mpcc_du":50.3947945,"mpcc_dv":49.6052055,"mpcc_dw":50.1757622,"mpcc_enc_sign":1,"mpcc_id_a":1.69407272,"mpcc_iq_a":5.05103302,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.6472301,"mpcc_pred_id_a":-0.0443801284,"mpcc_pred_iq_a":9.07431507,"mpcc_state":1,"mpcc_theta_e":1.16223049,"mpcc_theta_mech":1.95602918,"sam_rpm":-37.9454765,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0147848576,"thr_a_norm":0.0147848576,"thr_a_v":0.559139431,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443122,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.642935,"values":{"cg_iu_a":-1.1352272,"cg_iv_a":4.12302828,"cg_iw_a":-2.98780107,"cg_theta_rad":1.86866939,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0358868055,"mpcc_du":49.3278084,"mpcc_dv":50.6721916,"mpcc_dw":49.8819656,"mpcc_enc_sign":1,"mpcc_id_a":2.5844636,"mpcc_iq_a":4.7295723,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-22.2383938,"mpcc_pred_id_a":0.672281981,"mpcc_pred_iq_a":4.14084005,"mpcc_state":1,"mpcc_theta_e":0.603330612,"mpcc_theta_mech":1.84424913,"sam_rpm":-45.7818947,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186747462,"thr_a_norm":0.0186747462,"thr_a_v":0.574698985,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459285885,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.654165,"values":{"cg_iu_a":1.40184116,"cg_iv_a":3.68810225,"cg_iw_a":-3.64019012,"cg_theta_rad":1.75001228,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0275581293,"mpcc_du":49.8212357,"mpcc_dv":50.1037636,"mpcc_dw":50.1787643,"mpcc_enc_sign":1,"mpcc_id_a":0.559790611,"mpcc_iq_a":4.22740364,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-22.8368053,"mpcc_pred_id_a":0.00155744457,"mpcc_pred_iq_a":6.61565399,"mpcc_state":1,"mpcc_theta_e":0.00657367706,"mpcc_theta_mech":1.72489774,"sam_rpm":-45.9836044,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186747462,"thr_a_norm":0.0186747462,"thr_a_v":0.574698985,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459285885,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.666983,"values":{"cg_iu_a":0.604476929,"cg_iv_a":0.57113266,"cg_iw_a":-1.17560959,"cg_theta_rad":1.63077641,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0149091231,"mpcc_du":49.0173531,"mpcc_dv":49.7433548,"mpcc_dw":50.9826469,"mpcc_enc_sign":1,"mpcc_id_a":0.997016907,"mpcc_iq_a":5.2707386,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-31.5669479,"mpcc_pred_id_a":0.491212428,"mpcc_pred_iq_a":8.21427727,"mpcc_state":1,"mpcc_theta_e":5.6253829,"mpcc_theta_mech":1.59202254,"sam_rpm":-58.4629784,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0305081159,"thr_a_norm":0.0305081159,"thr_a_v":0.622032464,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.67919,"values":{"cg_iu_a":6.98339176,"cg_iv_a":-0.951108456,"cg_iw_a":-6.03228331,"cg_theta_rad":1.49559259,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0154997129,"mpcc_du":48.9743881,"mpcc_dv":50.4153252,"mpcc_dw":51.0256119,"mpcc_enc_sign":1,"mpcc_id_a":-0.974010229,"mpcc_iq_a":5.2084527,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-30.7601528,"mpcc_pred_id_a":-0.793229401,"mpcc_pred_iq_a":8.90717602,"mpcc_state":1,"mpcc_theta_e":5.02209806,"mpcc_theta_mech":1.47136545,"sam_rpm":-54.652504,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263034999,"thr_a_norm":0.0263034999,"thr_a_v":0.605214,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498764038,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.691336,"values":{"cg_iu_a":5.8960762,"cg_iv_a":-3.85061502,"cg_iw_a":-1.97297335,"cg_theta_rad":1.39741004,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0103153884,"mpcc_du":51.0058823,"mpcc_dv":48.9941177,"mpcc_dw":49.0751419,"mpcc_enc_sign":1,"mpcc_id_a":2.01396847,"mpcc_iq_a":7.76473761,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.44187117,"mpcc_pred_id_a":0.44015044,"mpcc_pred_iq_a":6.50750446,"mpcc_state":1,"mpcc_theta_e":4.4897418,"mpcc_theta_mech":1.36489427,"sam_rpm":-16.9251347,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263034999,"thr_a_norm":0.0263034999,"thr_a_v":0.605214,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498764038,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.700979,"values":{"cg_iu_a":6.2585144,"cg_iv_a":-5.66280651,"cg_iw_a":-0.595707893,"cg_theta_rad":1.29806256,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0195083618,"mpcc_du":49.978344,"mpcc_dv":49.7722816,"mpcc_dw":50.2277184,"mpcc_enc_sign":1,"mpcc_id_a":-1.32229078,"mpcc_iq_a":5.03933096,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.7153893,"mpcc_pred_id_a":-1.42383718,"mpcc_pred_iq_a":7.3926897,"mpcc_state":1,"mpcc_theta_e":4.06078959,"mpcc_theta_mech":1.27910388,"sam_rpm":-34.3991013,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467846185,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.723593,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-3.99559045,"cg_iw_a":2.95618773,"cg_theta_rad":1.21174383,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0746729374,"mpcc_du":49.6768112,"mpcc_dv":50.5961189,"mpcc_dw":49.4038811,"mpcc_enc_sign":1,"mpcc_id_a":-0.220801637,"mpcc_iq_a":2.03919196,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-26.7674103,"mpcc_pred_id_a":-0.0532728955,"mpcc_pred_iq_a":8.32578182,"mpcc_state":1,"mpcc_theta_e":3.44604635,"mpcc_theta_mech":1.15615523,"sam_rpm":-47.8285522,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467846185,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.730093,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-5.51783133,"cg_iw_a":4.76837921,"cg_theta_rad":1.11938548,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0538373925,"mpcc_du":49.7091827,"mpcc_dv":50.2908173,"mpcc_dw":49.9403152,"mpcc_enc_sign":1,"mpcc_id_a":-2.51325369,"mpcc_iq_a":3.5989089,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.8759193,"mpcc_pred_id_a":-1.32051337,"mpcc_pred_iq_a":9.51691818,"mpcc_state":1,"mpcc_theta_e":3.17559004,"mpcc_theta_mech":1.10206389,"sam_rpm":-28.7925587,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.029274419,"thr_a_norm":0.029274419,"thr_a_v":0.617097676,"thr_b":0.00633783638,"thr_b_norm":0.00633783638,"thr_b_v":0.525351346,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.736654,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-2.47334933,"cg_iw_a":1.72389722,"cg_theta_rad":1.0366658,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0584954172,"mpcc_du":49.3673477,"mpcc_dv":49.3063736,"mpcc_dw":50.6936264,"mpcc_enc_sign":1,"mpcc_id_a":-0.662983835,"mpcc_iq_a":2.70848465,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.8902798,"mpcc_pred_id_a":0.0640201718,"mpcc_pred_iq_a":6.07196999,"mpcc_state":1,"mpcc_theta_e":2.7538352,"mpcc_theta_mech":1.01771295,"sam_rpm":-28.181839,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.029274419,"thr_a_norm":0.029274419,"thr_a_v":0.617097676,"thr_b":0.00633783638,"thr_b_norm":0.00633783638,"thr_b_v":0.525351346,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.743917,"values":{"cg_iu_a":-3.81727099,"cg_iv_a":-1.02359605,"cg_iw_a":4.84086704,"cg_theta_rad":0.968929172,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0952639207,"mpcc_du":49.1359367,"mpcc_dv":49.139637,"mpcc_dw":50.8640633,"mpcc_enc_sign":1,"mpcc_id_a":2.34527898,"mpcc_iq_a":1.7899009,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.8591442,"mpcc_pred_id_a":1.1620816,"mpcc_pred_iq_a":5.81274843,"mpcc_state":1,"mpcc_theta_e":2.44575357,"mpcc_theta_mech":0.95609659,"sam_rpm":-25.625042,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019631505,"thr_a_norm":0.019631505,"thr_a_v":0.57852602,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459084421,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.756338,"values":{"cg_iu_a":-5.19453669,"cg_iv_a":-0.0812563896,"cg_iw_a":5.27579308,"cg_theta_rad":0.892794728,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.010769573,"mpcc_du":51.9148102,"mpcc_dv":49.9274254,"mpcc_dw":48.0851898,"mpcc_enc_sign":1,"mpcc_id_a":-0.28977564,"mpcc_iq_a":5.45204592,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.8483238,"mpcc_pred_id_a":-0.115070149,"mpcc_pred_iq_a":7.8752594,"mpcc_state":1,"mpcc_theta_e":2.05617857,"mpcc_theta_mech":0.878181517,"sam_rpm":-63.1670074,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0308857709,"thr_a_norm":0.019631505,"thr_a_v":0.623543084,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481341243,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.766226,"values":{"cg_iu_a":-0.845276594,"cg_iv_a":0.281181812,"cg_iw_a":5.49325609,"cg_theta_rad":0.83688879,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0668163672,"mpcc_du":48.7932472,"mpcc_dv":50.8479767,"mpcc_dw":51.2067528,"mpcc_enc_sign":1,"mpcc_id_a":-0.305565119,"mpcc_iq_a":2.33926606,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.5120773,"mpcc_pred_id_a":-0.255060911,"mpcc_pred_iq_a":7.32272196,"mpcc_state":1,"mpcc_theta_e":1.78286791,"mpcc_theta_mech":0.823519468,"sam_rpm":-45.3352547,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0308857709,"thr_a_norm":0.0308857709,"thr_a_v":0.623543084,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481341243,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.77593,"values":{"cg_iu_a":-1.49766564,"cg_iv_a":1.80342293,"cg_iw_a":-0.305757284,"cg_theta_rad":0.787803948,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0678437501,"mpcc_du":50.5518723,"mpcc_dv":49.4481277,"mpcc_dw":49.6010513,"mpcc_enc_sign":1,"mpcc_id_a":1.42698038,"mpcc_iq_a":2.48988771,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.1453333,"mpcc_pred_id_a":0.628309608,"mpcc_pred_iq_a":8.01310158,"mpcc_state":1,"mpcc_theta_e":1.53683901,"mpcc_theta_mech":0.774313688,"sam_rpm":-50.8734932,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02567406,"thr_a_norm":0.02567406,"thr_a_v":0.60269624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477363229,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.787527,"values":{"cg_iu_a":-3.30985737,"cg_iv_a":4.99288034,"cg_iw_a":-0.305757523,"cg_theta_rad":0.732588589,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0366149396,"mpcc_du":48.4097672,"mpcc_dv":50.3114586,"mpcc_dw":50.4944687,"mpcc_enc_sign":1,"mpcc_id_a":0.872407198,"mpcc_iq_a":3.7737577,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.171969295,"mpcc_pred_id_a":0.791571856,"mpcc_pred_iq_a":6.73679447,"mpcc_state":1,"mpcc_theta_e":1.28901815,"mpcc_theta_mech":0.724749506,"sam_rpm":-3.31223154,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02567406,"thr_a_norm":0.02567406,"thr_a_v":0.60269624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477363229,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.796957,"values":{"cg_iu_a":-3.81727099,"cg_iv_a":3.68810225,"cg_iw_a":-3.71267748,"cg_theta_rad":0.69214493,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0118104899,"mpcc_du":48.6507034,"mpcc_dv":51.3492966,"mpcc_dw":50.723156,"mpcc_enc_sign":1,"mpcc_id_a":0.800059021,"mpcc_iq_a":5.47908401,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.09279156,"mpcc_pred_id_a":0.820401609,"mpcc_pred_iq_a":7.24104929,"mpcc_state":1,"mpcc_theta_e":1.08440161,"mpcc_theta_mech":0.683826268,"sam_rpm":-7.80144787,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023836121,"thr_a_norm":0.023836121,"thr_a_v":0.595344484,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485117882,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.822348,"values":{"cg_iu_a":-4.03473377,"cg_iv_a":5.57278204,"cg_iw_a":-1.53804827,"cg_theta_rad":0.648681283,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.070300363,"mpcc_du":49.9998436,"mpcc_dv":49.7472992,"mpcc_dw":50.2527008,"mpcc_enc_sign":1,"mpcc_id_a":0.601292312,"mpcc_iq_a":2.23135781,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.6972151,"mpcc_pred_id_a":-0.231867477,"mpcc_pred_iq_a":10.7919712,"mpcc_state":1,"mpcc_theta_e":0.776731014,"mpcc_theta_mech":0.622292101,"sam_rpm":-21.4595947,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0146715492,"thr_a_norm":0.023836121,"thr_a_v":0.558686197,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453998625,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.828909,"values":{"cg_iu_a":-2.94741893,"cg_iv_a":3.18068886,"cg_iw_a":-2.48038769,"cg_theta_rad":0.611656487,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0179078039,"mpcc_du":47.2433929,"mpcc_dv":52.7566071,"mpcc_dw":48.5579987,"mpcc_enc_sign":1,"mpcc_id_a":-0.572207153,"mpcc_iq_a":4.88548279,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.8743191,"mpcc_pred_id_a":-0.415320158,"mpcc_pred_iq_a":4.76630926,"mpcc_state":1,"mpcc_theta_e":0.704418182,"mpcc_theta_mech":0.607829511,"sam_rpm":14.2756062,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0146715492,"thr_a_norm":0.0146715492,"thr_a_v":0.558686197,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453998625,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.835409,"values":{"cg_iu_a":-2.72995591,"cg_iv_a":5.42780638,"cg_iw_a":-2.69785047,"cg_theta_rad":0.587285936,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0225501377,"mpcc_du":49.2994919,"mpcc_dv":50.7005081,"mpcc_dw":49.7706184,"mpcc_enc_sign":1,"mpcc_id_a":1.57387066,"mpcc_iq_a":4.94207382,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.206562,"mpcc_pred_id_a":0.236207291,"mpcc_pred_iq_a":7.44733667,"mpcc_state":1,"mpcc_theta_e":0.557713509,"mpcc_theta_mech":0.578488588,"sam_rpm":-22.4904785,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242011845,"thr_a_norm":0.0242011845,"thr_a_v":0.596804738,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475147605,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.84197,"values":{"cg_iu_a":-0.337862968,"cg_iv_a":5.42780638,"cg_iw_a":-4.14760399,"cg_theta_rad":0.561655462,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0410865508,"mpcc_du":48.7646294,"mpcc_dv":51.2353706,"mpcc_dw":49.5548439,"mpcc_enc_sign":1,"mpcc_id_a":3.17106938,"mpcc_iq_a":6.07019138,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.36693478,"mpcc_pred_id_a":1.76989448,"mpcc_pred_iq_a":6.84142494,"mpcc_state":1,"mpcc_theta_e":0.451802731,"mpcc_theta_mech":0.557306468,"sam_rpm":-14.721941,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246417969,"thr_a_norm":0.0242011845,"thr_a_v":0.598567188,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498059064,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.850363,"values":{"cg_iu_a":-0.845276594,"cg_iv_a":1.94839811,"cg_iw_a":-2.98780107,"cg_theta_rad":0.546913624,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0173958112,"mpcc_du":49.9019547,"mpcc_dv":49.6141167,"mpcc_dw":50.3858833,"mpcc_enc_sign":1,"mpcc_id_a":0.139576405,"mpcc_iq_a":4.86583185,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.76507,"mpcc_pred_id_a":-0.172180101,"mpcc_pred_iq_a":9.93631363,"mpcc_state":1,"mpcc_theta_e":0.357106686,"mpcc_theta_mech":0.538367212,"sam_rpm":-31.5084305,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246417969,"thr_a_norm":0.0246417969,"thr_a_v":0.598567188,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498059064,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.860739,"values":{"cg_iu_a":-1.57015324,"cg_iv_a":5.50029421,"cg_iw_a":-3.93014097,"cg_theta_rad":0.531589866,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0237876996,"mpcc_du":48.4695663,"mpcc_dv":51.3213234,"mpcc_dw":47.9015236,"mpcc_enc_sign":1,"mpcc_id_a":1.72622478,"mpcc_iq_a":4.94359064,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.75342917,"mpcc_pred_id_a":0.317767113,"mpcc_pred_iq_a":7.05069256,"mpcc_state":1,"mpcc_theta_e":0.317410469,"mpcc_theta_mech":0.530427992,"sam_rpm":2.88442016,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202609301,"thr_a_norm":0.0202609301,"thr_a_v":0.58104372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459436953,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.870657,"values":{"cg_iu_a":0.531989098,"cg_iv_a":4.34049177,"cg_iw_a":-3.35023975,"cg_theta_rad":0.52634424,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0291030258,"mpcc_du":48.3792343,"mpcc_dv":51.6207657,"mpcc_dw":48.5150833,"mpcc_enc_sign":1,"mpcc_id_a":3.11837721,"mpcc_iq_a":3.16286445,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.2771697,"mpcc_pred_id_a":0.89509064,"mpcc_pred_iq_a":5.32865906,"mpcc_state":1,"mpcc_theta_e":0.297507763,"mpcc_theta_mech":0.526447475,"sam_rpm":11.4987497,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202609301,"thr_a_norm":0.0202609301,"thr_a_v":0.58104372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459436953,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.880941,"values":{"cg_iu_a":0.821939945,"cg_iv_a":2.67327499,"cg_iw_a":-1.61053538,"cg_theta_rad":0.523284376,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.0903693289,"mpcc_du":48.313549,"mpcc_dv":52.081028,"mpcc_dw":47.918972,"mpcc_enc_sign":1,"mpcc_id_a":1.88123155,"mpcc_iq_a":0.165797457,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.10098362,"mpcc_pred_id_a":0.133034155,"mpcc_pred_iq_a":3.07133079,"mpcc_state":1,"mpcc_theta_e":0.276850224,"mpcc_theta_mech":0.522315919,"sam_rpm":0.994424522,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184103847,"thr_a_norm":0.0184103847,"thr_a_v":0.573641539,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446344733,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.891195,"values":{"cg_iu_a":2.27169323,"cg_iv_a":2.31083679,"cg_iw_a":-2.04546165,"cg_theta_rad":0.525348663,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896,"hz_adc_isr":5001,"hz_app_loop":297,"hz_tim_isr":10002,"hz_vsense":297,"mpcc_cost":0.00180382736,"mpcc_du":49.3224106,"mpcc_dv":50.6775894,"mpcc_dw":49.7543335,"mpcc_enc_sign":1,"mpcc_id_a":0.840886533,"mpcc_iq_a":1.98102796,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.781178117,"mpcc_pred_id_a":-0.0965319052,"mpcc_pred_iq_a":5.32361412,"mpcc_state":1,"mpcc_theta_e":0.28871727,"mpcc_theta_mech":0.524689376,"sam_rpm":2.55181384,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0319684148,"thr_a_norm":0.0184103847,"thr_a_v":0.627873659,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484010041,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.901754,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":2.09337378,"cg_iw_a":-3.64019012,"cg_theta_rad":0.529374659,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0584122352,"mpcc_du":48.6318817,"mpcc_dv":51.3681183,"mpcc_dw":49.1314392,"mpcc_enc_sign":1,"mpcc_id_a":3.58057499,"mpcc_iq_a":1.43370783,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.898983,"mpcc_pred_id_a":0.76260823,"mpcc_pred_iq_a":1.2888155,"mpcc_state":1,"mpcc_theta_e":0.329487324,"mpcc_theta_mech":0.532843411,"sam_rpm":26.8420792,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0319684148,"thr_a_norm":0.0319684148,"thr_a_v":0.627873659,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484010041,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.924765,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.951108456,"cg_iw_a":-1.10312176,"cg_theta_rad":0.537260532,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0911169946,"mpcc_du":49.398571,"mpcc_dv":49.4854927,"mpcc_dw":50.601429,"mpcc_enc_sign":1,"mpcc_id_a":2.61683011,"mpcc_iq_a":1.04588282,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.0007763,"mpcc_pred_id_a":0.690566242,"mpcc_pred_iq_a":2.87425756,"mpcc_state":1,"mpcc_theta_e":0.373794079,"mpcc_theta_mech":0.541704774,"sam_rpm":22.3520889,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250572115,"thr_a_norm":0.0250572115,"thr_a_v":0.600228846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486578166,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.931326,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.371207237,"cg_iw_a":-1.53804731,"cg_theta_rad":0.540539682,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0589513481,"mpcc_du":49.5228271,"mpcc_dv":49.2457619,"mpcc_dw":50.7542381,"mpcc_enc_sign":1,"mpcc_id_a":2.66556191,"mpcc_iq_a":-0.826634049,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.2548065,"mpcc_pred_id_a":0.334683955,"mpcc_pred_iq_a":-3.83752656,"mpcc_state":1,"mpcc_theta_e":0.392271519,"mpcc_theta_mech":0.545400202,"sam_rpm":12.7475433,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250572115,"thr_a_norm":0.0250572115,"thr_a_v":0.600228846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486578166,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.937857,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.02359605,"cg_iw_a":0.346631765,"cg_theta_rad":0.547664344,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0393262394,"mpcc_du":49.6528435,"mpcc_dv":49.4818802,"mpcc_dw":50.5181198,"mpcc_enc_sign":1,"mpcc_id_a":-0.073865816,"mpcc_iq_a":-2.49179196,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.90095663,"mpcc_pred_id_a":-0.223544732,"mpcc_pred_iq_a":-3.30600023,"mpcc_state":1,"mpcc_theta_e":0.427954197,"mpcc_theta_mech":0.552536726,"sam_rpm":11.1486015,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022929728,"thr_a_norm":0.022929728,"thr_a_v":0.591718912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489649802,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.94454,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.0384233,"cg_iw_a":-0.233269691,"cg_theta_rad":0.557732403,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0852490813,"mpcc_du":50.4433899,"mpcc_dv":48.711937,"mpcc_dw":51.288063,"mpcc_enc_sign":1,"mpcc_id_a":0.173615873,"mpcc_iq_a":-1.1605469,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.29171419,"mpcc_pred_id_a":-0.386438489,"mpcc_pred_iq_a":-2.94049454,"mpcc_state":1,"mpcc_theta_e":0.466425419,"mpcc_theta_mech":0.56023103,"sam_rpm":6.88733482,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02315633,"thr_a_norm":0.022929728,"thr_a_v":0.59262532,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486276031,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.954367,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-2.61832476,"cg_iw_a":-0.450732708,"cg_theta_rad":0.561785579,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0511732809,"mpcc_du":50.4640999,"mpcc_dv":48.7789612,"mpcc_dw":51.2210388,"mpcc_enc_sign":1,"mpcc_id_a":1.51163983,"mpcc_iq_a":-2.78009868,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.58063674,"mpcc_pred_id_a":-0.280118853,"mpcc_pred_iq_a":-5.70329475,"mpcc_state":1,"mpcc_theta_e":0.485408306,"mpcc_theta_mech":0.564027607,"sam_rpm":-2.50628281,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02315633,"thr_a_norm":0.02315633,"thr_a_v":0.59262532,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486276031,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.964468,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-4.57549191,"cg_iw_a":3.31862593,"cg_theta_rad":0.564450324,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0117831156,"mpcc_du":50.8090363,"mpcc_dv":48.9240532,"mpcc_dw":51.0759468,"mpcc_enc_sign":1,"mpcc_id_a":-2.26662636,"mpcc_iq_a":-5.95166492,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.1167612,"mpcc_pred_id_a":-1.53540659,"mpcc_pred_iq_a":-6.79322481,"mpcc_state":1,"mpcc_theta_e":0.493300915,"mpcc_theta_mech":0.565606117,"sam_rpm":-12.9326534,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022174418,"thr_a_norm":0.022174418,"thr_a_v":0.588697672,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482146949,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.974356,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.02359605,"cg_iw_a":0.201656103,"cg_theta_rad":0.56902653,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0273015164,"mpcc_du":49.7312584,"mpcc_dv":50.2361069,"mpcc_dw":50.2687416,"mpcc_enc_sign":1,"mpcc_id_a":0.166167811,"mpcc_iq_a":-1.38406694,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.5570364,"mpcc_pred_id_a":-0.345102727,"mpcc_pred_iq_a":-5.54860306,"mpcc_state":1,"mpcc_theta_e":0.511107922,"mpcc_theta_mech":0.569167495,"sam_rpm":22.3102741,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022174418,"thr_a_norm":0.022174418,"thr_a_v":0.588697672,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482146949,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.984396,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.11091113,"cg_iw_a":-0.523220301,"cg_theta_rad":0.56367141,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.019421801,"mpcc_du":50.0488625,"mpcc_dv":49.3101425,"mpcc_dw":50.6898575,"mpcc_enc_sign":1,"mpcc_id_a":0.20945704,"mpcc_iq_a":-2.25106907,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.41113949,"mpcc_pred_id_a":-0.905083656,"mpcc_pred_iq_a":-3.29361582,"mpcc_state":1,"mpcc_theta_e":0.496713161,"mpcc_theta_mech":0.562255502,"sam_rpm":17.2979889,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247047395,"thr_a_norm":0.0247047395,"thr_a_v":0.598818958,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484060407,"vdc_v":55.2955055}} +{"type":"telemetry","t":7.994528,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.588670254,"cg_iw_a":-1.10312128,"cg_theta_rad":0.565614522,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0277016386,"mpcc_du":49.6988297,"mpcc_dv":49.4357529,"mpcc_dw":50.5642471,"mpcc_enc_sign":1,"mpcc_id_a":3.20428562,"mpcc_iq_a":-0.797608078,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.672090769,"mpcc_pred_id_a":0.466801792,"mpcc_pred_iq_a":-3.87299085,"mpcc_state":1,"mpcc_theta_e":0.475386143,"mpcc_theta_mech":0.562023103,"sam_rpm":-0.282923788,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0150743872,"thr_a_norm":0.0247047395,"thr_a_v":0.560297549,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465781659,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.004568,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.516182423,"cg_iw_a":0.274144173,"cg_theta_rad":0.558053732,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.00159362075,"mpcc_du":50.061058,"mpcc_dv":49.1499252,"mpcc_dw":50.8500748,"mpcc_enc_sign":1,"mpcc_id_a":0.456041753,"mpcc_iq_a":-2.52454734,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.03799725,"mpcc_pred_id_a":-0.0412355214,"mpcc_pred_iq_a":-3.01246595,"mpcc_state":1,"mpcc_theta_e":0.46848011,"mpcc_theta_mech":0.560641944,"sam_rpm":5.82808352,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0150743872,"thr_a_norm":0.0150743872,"thr_a_v":0.560297549,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465781659,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.028006,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.74847269,"cg_iw_a":0.926532745,"cg_theta_rad":0.557503462,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0210589226,"mpcc_du":49.9826698,"mpcc_dv":49.1521072,"mpcc_dw":50.8478928,"mpcc_enc_sign":1,"mpcc_id_a":2.47905231,"mpcc_iq_a":-0.926314712,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.0480261,"mpcc_pred_id_a":-0.0384821035,"mpcc_pred_iq_a":-0.520089447,"mpcc_state":1,"mpcc_theta_e":0.454161167,"mpcc_theta_mech":0.55777812,"sam_rpm":14.9128103,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0321572423,"thr_a_norm":0.0321572423,"thr_a_v":0.628628969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479729921,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.034506,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.806133032,"cg_iw_a":-1.10312152,"cg_theta_rad":0.552830815,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0217401832,"mpcc_du":50.5718727,"mpcc_dv":48.0219612,"mpcc_dw":51.9780388,"mpcc_enc_sign":1,"mpcc_id_a":2.902771,"mpcc_iq_a":0.233555004,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.2239304,"mpcc_pred_id_a":0.546674311,"mpcc_pred_iq_a":0.0555706844,"mpcc_state":1,"mpcc_theta_e":0.415406227,"mpcc_theta_mech":0.550027132,"sam_rpm":-27.3052597,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0267189294,"thr_a_norm":0.0321572423,"thr_a_v":0.606875718,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487081707,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.040976,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-2.40086174,"cg_iw_a":1.50643444,"cg_theta_rad":0.552870631,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0232027937,"mpcc_du":49.6202431,"mpcc_dv":49.2387543,"mpcc_dw":50.7612457,"mpcc_enc_sign":1,"mpcc_id_a":2.93722653,"mpcc_iq_a":0.303661227,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.58029318,"mpcc_pred_id_a":0.449268192,"mpcc_pred_iq_a":-2.25220275,"mpcc_state":1,"mpcc_theta_e":0.417611599,"mpcc_theta_mech":0.550468266,"sam_rpm":-10.0263548,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0267189294,"thr_a_norm":0.0267189294,"thr_a_v":0.606875718,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487081707,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.047567,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.84282541,"cg_theta_rad":0.55401063,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0412072949,"mpcc_du":49.2201767,"mpcc_dv":50.7798233,"mpcc_dw":50.2130623,"mpcc_enc_sign":1,"mpcc_id_a":3.74044275,"mpcc_iq_a":-1.81271756,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.8363419,"mpcc_pred_id_a":0.629586518,"mpcc_pred_iq_a":-3.75385475,"mpcc_state":1,"mpcc_theta_e":0.442182064,"mpcc_theta_mech":0.555382371,"sam_rpm":28.2402973,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024692148,"thr_a_norm":0.024692148,"thr_a_v":0.598768592,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.057516,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.371207237,"cg_iw_a":-2.6253624,"cg_theta_rad":0.551869273,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0236052461,"mpcc_du":49.5218735,"mpcc_dv":50.6965561,"mpcc_dw":50.1968193,"mpcc_enc_sign":1,"mpcc_id_a":2.32964993,"mpcc_iq_a":-2.62981176,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.81803942,"mpcc_pred_id_a":0.25275138,"mpcc_pred_iq_a":-1.84794772,"mpcc_state":1,"mpcc_theta_e":0.430119038,"mpcc_theta_mech":0.552969694,"sam_rpm":10.1927099,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024692148,"thr_a_norm":0.024692148,"thr_a_v":0.598768592,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.067526,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.806133032,"cg_iw_a":-1.8279984,"cg_theta_rad":0.551654875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.00707889302,"mpcc_du":49.7645035,"mpcc_dv":49.484478,"mpcc_dw":50.515522,"mpcc_enc_sign":1,"mpcc_id_a":1.15056074,"mpcc_iq_a":-3.04308724,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.292325,"mpcc_pred_id_a":-0.564452469,"mpcc_pred_iq_a":-2.85011292,"mpcc_state":1,"mpcc_theta_e":0.443114758,"mpcc_theta_mech":0.555568874,"sam_rpm":16.1670265,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.07778,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.24105906,"cg_iw_a":0.201656103,"cg_theta_rad":0.550619841,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.00136390317,"mpcc_du":49.6300812,"mpcc_dv":49.6770821,"mpcc_dw":50.3699188,"mpcc_enc_sign":1,"mpcc_id_a":0.319923788,"mpcc_iq_a":-2.09183073,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.48876286,"mpcc_pred_id_a":-0.490351886,"mpcc_pred_iq_a":-3.36251473,"mpcc_state":1,"mpcc_theta_e":0.442241192,"mpcc_theta_mech":0.555394173,"sam_rpm":8.16767311,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0240501165,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447956055,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.087729,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.31354666,"cg_iw_a":-0.305757523,"cg_theta_rad":0.557288826,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0250945576,"mpcc_du":49.0625992,"mpcc_dv":50.9374008,"mpcc_dw":49.8623352,"mpcc_enc_sign":1,"mpcc_id_a":0.57047379,"mpcc_iq_a":-0.545222521,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.96923447,"mpcc_pred_id_a":0.195188388,"mpcc_pred_iq_a":-4.47354364,"mpcc_state":1,"mpcc_theta_e":0.444355965,"mpcc_theta_mech":0.555817068,"sam_rpm":29.5145016,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447956055,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.098013,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.298719406,"cg_iw_a":-1.10312176,"cg_theta_rad":0.558522761,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.029566193,"mpcc_du":49.6906052,"mpcc_dv":49.4401207,"mpcc_dw":50.5598793,"mpcc_enc_sign":1,"mpcc_id_a":1.18468213,"mpcc_iq_a":0.735467672,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.1753242,"mpcc_pred_id_a":-0.140041307,"mpcc_pred_iq_a":-3.05114937,"mpcc_state":1,"mpcc_theta_e":0.447780609,"mpcc_theta_mech":0.556502044,"sam_rpm":4.77203751,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194552541,"thr_a_norm":0.0194552541,"thr_a_v":0.577821016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465278059,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.107748,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.951108456,"cg_iw_a":-0.233269691,"cg_theta_rad":0.557175457,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0502831936,"mpcc_du":49.7373276,"mpcc_dv":48.9643822,"mpcc_dw":51.0356178,"mpcc_enc_sign":1,"mpcc_id_a":4.26642132,"mpcc_iq_a":0.0024351161,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.04548359,"mpcc_pred_id_a":0.885453999,"mpcc_pred_iq_a":-2.88097644,"mpcc_state":1,"mpcc_theta_e":0.435911179,"mpcc_theta_mech":0.55412817,"sam_rpm":-12.7177181,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194552541,"thr_a_norm":0.0194552541,"thr_a_v":0.577821016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465278059,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.131155,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.09608364,"cg_iw_a":0.346631527,"cg_theta_rad":0.558229864,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.049983833,"mpcc_du":49.8784637,"mpcc_dv":49.0393677,"mpcc_dw":50.9606323,"mpcc_enc_sign":1,"mpcc_id_a":2.23117447,"mpcc_iq_a":0.223199978,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.82874203,"mpcc_pred_id_a":0.269917518,"mpcc_pred_iq_a":-2.163831,"mpcc_state":1,"mpcc_theta_e":0.4523139,"mpcc_theta_mech":0.55740869,"sam_rpm":9.08608246,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0287457108,"thr_a_norm":0.0287457108,"thr_a_v":0.614982843,"thr_b":0.00218357146,"thr_b_norm":0.00218357146,"thr_b_v":0.508734286,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.137686,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.60349751,"cg_iw_a":-0.523220062,"cg_theta_rad":0.557412267,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0109878071,"mpcc_du":50.6520538,"mpcc_dv":48.1573067,"mpcc_dw":51.8426933,"mpcc_enc_sign":1,"mpcc_id_a":2.02996325,"mpcc_iq_a":-0.327094674,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.3549385,"mpcc_pred_id_a":-3.05091839e-06,"mpcc_pred_iq_a":0.367035002,"mpcc_state":1,"mpcc_theta_e":0.429600716,"mpcc_theta_mech":0.552866101,"sam_rpm":-18.6202793,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263160914,"thr_a_norm":0.0263160914,"thr_a_v":0.605264366,"thr_b":0.00108835101,"thr_b_norm":0.00108835101,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.144186,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.89344811,"cg_iw_a":-1.10312152,"cg_theta_rad":0.557751119,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.00519303372,"mpcc_du":49.5684357,"mpcc_dv":50.0936165,"mpcc_dw":50.4315643,"mpcc_enc_sign":1,"mpcc_id_a":0.990526497,"mpcc_iq_a":-0.506542325,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.44347906,"mpcc_pred_id_a":0.0198650733,"mpcc_pred_iq_a":-4.09537077,"mpcc_state":1,"mpcc_theta_e":0.438743591,"mpcc_theta_mech":0.552073479,"sam_rpm":1.80766618,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263160914,"thr_a_norm":0.0263160914,"thr_a_v":0.605264366,"thr_b":0.00108835101,"thr_b_norm":0.00108835101,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.152945,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.24105906,"cg_iw_a":-1.32058454,"cg_theta_rad":0.554461658,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0165253282,"mpcc_du":49.6155624,"mpcc_dv":49.5694199,"mpcc_dw":50.4305801,"mpcc_enc_sign":1,"mpcc_id_a":0.0454235524,"mpcc_iq_a":-0.805065751,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.93758655,"mpcc_pred_id_a":-0.402530789,"mpcc_pred_iq_a":-4.26904869,"mpcc_state":1,"mpcc_theta_e":0.444246769,"mpcc_theta_mech":0.555795312,"sam_rpm":5.78028584,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0154520422,"thr_a_norm":0.0154520422,"thr_a_v":0.561808169,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.163137,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.516182423,"cg_iw_a":-0.305757523,"cg_theta_rad":0.555091381,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.00418790476,"mpcc_du":49.8304253,"mpcc_dv":49.390625,"mpcc_dw":50.609375,"mpcc_enc_sign":1,"mpcc_id_a":1.00397575,"mpcc_iq_a":-2.83782482,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.2405715,"mpcc_pred_id_a":-0.556157649,"mpcc_pred_iq_a":-4.02220535,"mpcc_state":1,"mpcc_theta_e":0.444509029,"mpcc_theta_mech":0.555847764,"sam_rpm":3.93982506,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0404657722,"thr_a_norm":0.0154520422,"thr_a_v":0.661863089,"thr_b":0.0106179863,"thr_b_norm":0,"thr_b_v":0.542471945,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.17333,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.82096052,"cg_iw_a":-0.305757046,"cg_theta_rad":0.554994822,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0114083439,"mpcc_du":49.74263,"mpcc_dv":49.3219185,"mpcc_dw":50.6780815,"mpcc_enc_sign":1,"mpcc_id_a":2.05934954,"mpcc_iq_a":-2.82258463,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.23752889,"mpcc_pred_id_a":-0.167757079,"mpcc_pred_iq_a":-2.96456122,"mpcc_state":1,"mpcc_theta_e":0.442155838,"mpcc_theta_mech":0.555377126,"sam_rpm":0.496953458,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0404657722,"thr_a_norm":0.0404657722,"thr_a_v":0.661863089,"thr_b":0.0106179863,"thr_b_norm":0.0106179863,"thr_b_v":0.542471945,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.183554,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.443694592,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556947649,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0107708024,"mpcc_du":50.2645264,"mpcc_dv":48.7190285,"mpcc_dw":51.2809715,"mpcc_enc_sign":1,"mpcc_id_a":-0.769547701,"mpcc_iq_a":-3.28180671,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.60891628,"mpcc_pred_id_a":-0.4757559,"mpcc_pred_iq_a":-1.86301661,"mpcc_state":1,"mpcc_theta_e":0.432533264,"mpcc_theta_mech":0.553452551,"sam_rpm":-14.7416811,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0147344917,"thr_a_norm":0.0147344917,"thr_a_v":0.558937967,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453142613,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.193533,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.0087685585,"cg_iw_a":2.52126169,"cg_theta_rad":0.555476904,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0142487753,"mpcc_du":49.6901207,"mpcc_dv":49.4530182,"mpcc_dw":50.5469818,"mpcc_enc_sign":1,"mpcc_id_a":1.8390888,"mpcc_iq_a":-2.41654778,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.19703817,"mpcc_pred_id_a":-0.383633524,"mpcc_pred_iq_a":-4.02237272,"mpcc_state":1,"mpcc_theta_e":0.449638367,"mpcc_theta_mech":0.55687362,"sam_rpm":8.41259956,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0147344917,"thr_a_norm":0.0147344917,"thr_a_v":0.558937967,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453142613,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.203756,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.298719406,"cg_iw_a":-0.81317091,"cg_theta_rad":0.557340384,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0172992051,"mpcc_du":49.7976494,"mpcc_dv":49.0885353,"mpcc_dw":50.9114647,"mpcc_enc_sign":1,"mpcc_id_a":2.00618434,"mpcc_iq_a":-1.9375571,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.93193793,"mpcc_pred_id_a":0.175666362,"mpcc_pred_iq_a":-0.9779827,"mpcc_state":1,"mpcc_theta_e":0.433114529,"mpcc_theta_mech":0.55356884,"sam_rpm":-6.13516426,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163332522,"thr_a_norm":0.0163332522,"thr_a_v":0.565333009,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.227163,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.226231575,"cg_iw_a":-2.98780107,"cg_theta_rad":0.554700434,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0178260431,"mpcc_du":49.8430557,"mpcc_dv":49.3746681,"mpcc_dw":52.1871529,"mpcc_enc_sign":1,"mpcc_id_a":-0.0712668523,"mpcc_iq_a":0.130842909,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.03755343,"mpcc_pred_id_a":-0.593946576,"mpcc_pred_iq_a":-3.69747663,"mpcc_state":1,"mpcc_theta_e":0.44216156,"mpcc_theta_mech":0.555378199,"sam_rpm":-1.7434715,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218093395,"thr_a_norm":0.0163332522,"thr_a_v":0.587237358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486074626,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.233694,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.226231575,"cg_iw_a":-3.06028891,"cg_theta_rad":0.550807178,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.00206006342,"mpcc_du":49.5400734,"mpcc_dv":50.097599,"mpcc_dw":50.4599266,"mpcc_enc_sign":1,"mpcc_id_a":-0.34349215,"mpcc_iq_a":-3.59523296,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.50634527,"mpcc_pred_id_a":0.0668436661,"mpcc_pred_iq_a":-5.59808207,"mpcc_state":1,"mpcc_theta_e":0.450696945,"mpcc_theta_mech":0.557085276,"sam_rpm":12.069521,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218093395,"thr_a_norm":0.0218093395,"thr_a_v":0.587237358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486074626,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.240194,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.24105906,"cg_iw_a":0.41911912,"cg_theta_rad":0.553872406,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0340201482,"mpcc_du":50.238739,"mpcc_dv":48.5069351,"mpcc_dw":51.4930649,"mpcc_enc_sign":1,"mpcc_id_a":2.31132579,"mpcc_iq_a":0.260684729,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.0369668,"mpcc_pred_id_a":0.23275204,"mpcc_pred_iq_a":-0.841913402,"mpcc_state":1,"mpcc_theta_e":0.438685417,"mpcc_theta_mech":0.55468303,"sam_rpm":-4.47866821,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023105979,"thr_a_norm":0.023105979,"thr_a_v":0.592423916,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487635583,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.246695,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.89344811,"cg_iw_a":0.41911912,"cg_theta_rad":0.555833936,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.000271746481,"mpcc_du":50.2988777,"mpcc_dv":48.628933,"mpcc_dw":51.371067,"mpcc_enc_sign":1,"mpcc_id_a":-0.0702732056,"mpcc_iq_a":-1.25294161,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.265748,"mpcc_pred_id_a":-0.399233431,"mpcc_pred_iq_a":-1.75423586,"mpcc_state":1,"mpcc_theta_e":0.430909634,"mpcc_theta_mech":0.553127885,"sam_rpm":-15.3405342,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023105979,"thr_a_norm":0.023105979,"thr_a_v":0.592423916,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487635583,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.254324,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.09608364,"cg_iw_a":1.28897119,"cg_theta_rad":0.555868208,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0181103274,"mpcc_du":49.5491943,"mpcc_dv":49.4468498,"mpcc_dw":50.5531502,"mpcc_enc_sign":1,"mpcc_id_a":2.18101192,"mpcc_iq_a":-0.701425076,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.680711627,"mpcc_pred_id_a":0.0208129529,"mpcc_pred_iq_a":-3.46810937,"mpcc_state":1,"mpcc_theta_e":0.441168785,"mpcc_theta_mech":0.555179656,"sam_rpm":1.06373703,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180327296,"thr_a_norm":0.0180327296,"thr_a_v":0.572130919,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446445435,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.266745,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-1.31354666,"cg_iw_a":-2.04546165,"cg_theta_rad":0.556533217,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.048749432,"mpcc_du":50.329834,"mpcc_dv":48.5134888,"mpcc_dw":51.4865112,"mpcc_enc_sign":1,"mpcc_id_a":1.09471655,"mpcc_iq_a":0.738857388,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.33330774,"mpcc_pred_id_a":-0.0291431434,"mpcc_pred_iq_a":-2.03966522,"mpcc_state":1,"mpcc_theta_e":0.438919067,"mpcc_theta_mech":0.5547297,"sam_rpm":-6.80820894,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0140924752,"thr_a_norm":0.0180327296,"thr_a_v":0.556369901,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440453202,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.276724,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.45852208,"cg_iw_a":-1.53804779,"cg_theta_rad":0.555325508,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.116072796,"mpcc_du":49.343914,"mpcc_dv":49.6241226,"mpcc_dw":50.656086,"mpcc_enc_sign":1,"mpcc_id_a":4.78629303,"mpcc_iq_a":0.85348022,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.29377937,"mpcc_pred_id_a":0.94730252,"mpcc_pred_iq_a":-4.04205036,"mpcc_state":1,"mpcc_theta_e":0.4498806,"mpcc_theta_mech":0.556922019,"sam_rpm":11.8839197,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0140924752,"thr_a_norm":0.0140924752,"thr_a_v":0.556369901,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440453202,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.286917,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.298719406,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556575656,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.00182393636,"mpcc_du":49.5978432,"mpcc_dv":50.4021568,"mpcc_dw":50.0321922,"mpcc_enc_sign":1,"mpcc_id_a":-0.567546368,"mpcc_iq_a":-2.59902501,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.97124076,"mpcc_pred_id_a":-1.35809636,"mpcc_pred_iq_a":-5.47533178,"mpcc_state":1,"mpcc_theta_e":0.444220066,"mpcc_theta_mech":0.555789888,"sam_rpm":3.52333546,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273105949,"thr_a_norm":0.0273105949,"thr_a_v":0.60924238,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483909339,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.296682,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.82096052,"cg_iw_a":0.419119358,"cg_theta_rad":0.556429625,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0010010387,"mpcc_du":50.499836,"mpcc_dv":48.5230904,"mpcc_dw":51.4769096,"mpcc_enc_sign":1,"mpcc_id_a":0.0803323165,"mpcc_iq_a":-0.583629131,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.8768377,"mpcc_pred_id_a":-0.583381891,"mpcc_pred_iq_a":-1.55203342,"mpcc_state":1,"mpcc_theta_e":0.426400185,"mpcc_theta_mech":0.552225947,"sam_rpm":-20.6962433,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273105949,"thr_a_norm":0.0273105949,"thr_a_v":0.60924238,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483909339,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.307058,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.74847269,"cg_iw_a":0.0566811562,"cg_theta_rad":0.555783212,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0236224364,"mpcc_du":50.2645531,"mpcc_dv":50.778038,"mpcc_dw":50.057354,"mpcc_enc_sign":1,"mpcc_id_a":2.90410018,"mpcc_iq_a":0.216400087,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.7524261,"mpcc_pred_id_a":0.91604203,"mpcc_pred_iq_a":1.43828046,"mpcc_state":1,"mpcc_theta_e":0.421314716,"mpcc_theta_mech":0.553593814,"sam_rpm":-23.7723827,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172396451,"thr_a_norm":0.0172396451,"thr_a_v":0.56895858,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.33132,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.661157608,"cg_iw_a":0.419119358,"cg_theta_rad":0.557016373,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.000562622678,"mpcc_du":50.8949928,"mpcc_dv":50.68433,"mpcc_dw":50.0876694,"mpcc_enc_sign":1,"mpcc_id_a":-0.0847481266,"mpcc_iq_a":-1.61737752,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.05444765,"mpcc_pred_id_a":0.193250597,"mpcc_pred_iq_a":2.03412175,"mpcc_state":1,"mpcc_theta_e":0.434835434,"mpcc_theta_mech":0.553912997,"sam_rpm":-10.1049976,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220611095,"thr_a_norm":0.0172396451,"thr_a_v":0.588244438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475953311,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.337851,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.733645439,"cg_iw_a":0.346631527,"cg_theta_rad":0.554841995,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.014493566,"mpcc_du":49.6178818,"mpcc_dv":49.8531075,"mpcc_dw":50.3821182,"mpcc_enc_sign":1,"mpcc_id_a":0.203520641,"mpcc_iq_a":-1.59412551,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":21.9772587,"mpcc_pred_id_a":-0.423538297,"mpcc_pred_iq_a":-1.59379721,"mpcc_state":1,"mpcc_theta_e":0.463256836,"mpcc_theta_mech":0.559597313,"sam_rpm":32.6396408,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220611095,"thr_a_norm":0.0220611095,"thr_a_v":0.588244438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475953311,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.344412,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.806133032,"cg_iw_a":1.43394685,"cg_theta_rad":0.557052255,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0487164669,"mpcc_du":49.9296036,"mpcc_dv":48.8679237,"mpcc_dw":51.1320763,"mpcc_enc_sign":1,"mpcc_id_a":2.54492188,"mpcc_iq_a":-0.621151865,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.33625269,"mpcc_pred_id_a":0.487111837,"mpcc_pred_iq_a":-1.92103922,"mpcc_state":1,"mpcc_theta_e":0.450189114,"mpcc_theta_mech":0.556983769,"sam_rpm":9.93719769,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195181966,"thr_a_norm":0.0195181966,"thr_a_v":0.578072786,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464623481,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.351736,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.588670254,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556718826,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.022068454,"mpcc_du":50.5816269,"mpcc_dv":47.9222641,"mpcc_dw":52.0777359,"mpcc_enc_sign":1,"mpcc_id_a":2.8081553,"mpcc_iq_a":-0.539941251,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.5434628,"mpcc_pred_id_a":0.587164581,"mpcc_pred_iq_a":-0.0136266164,"mpcc_state":1,"mpcc_theta_e":0.427777767,"mpcc_theta_mech":0.5525015,"sam_rpm":-21.5229568,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188635886,"thr_a_norm":0.0195181966,"thr_a_v":0.575454354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451128393,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.361715,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.0384233,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.553899527,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0153231323,"mpcc_du":49.6553307,"mpcc_dv":50.0776672,"mpcc_dw":50.3446693,"mpcc_enc_sign":1,"mpcc_id_a":-0.916074812,"mpcc_iq_a":-3.35787511,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.07369947,"mpcc_pred_id_a":-0.656225741,"mpcc_pred_iq_a":-3.69746137,"mpcc_state":1,"mpcc_theta_e":0.440888405,"mpcc_theta_mech":0.555123627,"sam_rpm":1.78265536,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188635886,"thr_a_norm":0.0188635886,"thr_a_v":0.575454354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451128393,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.371908,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.45852208,"cg_iw_a":-0.885658503,"cg_theta_rad":0.554403782,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0204327423,"mpcc_du":48.1227036,"mpcc_dv":51.8772964,"mpcc_dw":48.6590347,"mpcc_enc_sign":1,"mpcc_id_a":2.06715465,"mpcc_iq_a":-2.76807237,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":20.3696098,"mpcc_pred_id_a":-0.18165186,"mpcc_pred_iq_a":-6.65326595,"mpcc_state":1,"mpcc_theta_e":0.452313423,"mpcc_theta_mech":0.557408631,"sam_rpm":28.2970619,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184103847,"thr_a_norm":0.0184103847,"thr_a_v":0.573641539,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446596503,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.381735,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.951108456,"cg_iw_a":-1.82799816,"cg_theta_rad":0.557304025,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0267473739,"mpcc_du":49.7149429,"mpcc_dv":49.1535721,"mpcc_dw":50.8464279,"mpcc_enc_sign":1,"mpcc_id_a":2.02209973,"mpcc_iq_a":-2.19310856,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.25033092,"mpcc_pred_id_a":0.394425869,"mpcc_pred_iq_a":-3.04878139,"mpcc_state":1,"mpcc_theta_e":0.454025269,"mpcc_theta_mech":0.557751,"sam_rpm":13.5125885,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184103847,"thr_a_norm":0.0184103847,"thr_a_v":0.573641539,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446596503,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.394003,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.443694592,"cg_iw_a":-2.19043684,"cg_theta_rad":0.555399537,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0128611168,"mpcc_du":50.5015945,"mpcc_dv":48.2046967,"mpcc_dw":51.7953033,"mpcc_enc_sign":1,"mpcc_id_a":2.26442599,"mpcc_iq_a":-1.0335815,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.11486149,"mpcc_pred_id_a":0.103407413,"mpcc_pred_iq_a":0.546960413,"mpcc_state":1,"mpcc_theta_e":0.429831505,"mpcc_theta_mech":0.556160271,"sam_rpm":-14.2387714,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023987174,"thr_a_norm":0.023987174,"thr_a_v":0.595948696,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479981691,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.404135,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-3.27071381,"cg_iw_a":1.28897142,"cg_theta_rad":0.554978549,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0585861839,"mpcc_du":49.3665962,"mpcc_dv":50.0980072,"mpcc_dw":50.6334038,"mpcc_enc_sign":1,"mpcc_id_a":4.39757633,"mpcc_iq_a":0.854425311,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.8601923,"mpcc_pred_id_a":1.03358412,"mpcc_pred_iq_a":-0.258428067,"mpcc_state":1,"mpcc_theta_e":0.426967621,"mpcc_theta_mech":0.552339435,"sam_rpm":4.32446718,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024339661,"thr_a_norm":0.024339661,"thr_a_v":0.597358644,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486729234,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.414145,"values":{"cg_iu_a":1.40184116,"cg_iv_a":0.0637187958,"cg_iw_a":-1.46555996,"cg_theta_rad":0.555879235,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.000904206478,"mpcc_du":49.6038971,"mpcc_dv":50.3961029,"mpcc_dw":50.3356819,"mpcc_enc_sign":1,"mpcc_id_a":2.68209362,"mpcc_iq_a":-1.99485469,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.4392519,"mpcc_pred_id_a":-0.446286023,"mpcc_pred_iq_a":-4.08102608,"mpcc_state":1,"mpcc_theta_e":0.436699867,"mpcc_theta_mech":0.554285884,"sam_rpm":5.94975758,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024339661,"thr_a_norm":0.024339661,"thr_a_v":0.597358644,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486729234,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.437124,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.661157608,"cg_iw_a":-0.160782337,"cg_theta_rad":0.558022976,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0053542275,"mpcc_du":50.5248642,"mpcc_dv":48.2339592,"mpcc_dw":51.7660408,"mpcc_enc_sign":1,"mpcc_id_a":1.4550674,"mpcc_iq_a":-1.24422216,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.7887592,"mpcc_pred_id_a":-0.0380999818,"mpcc_pred_iq_a":-1.78674686,"mpcc_state":1,"mpcc_theta_e":0.421508312,"mpcc_theta_mech":0.551247537,"sam_rpm":-29.6845989,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0427191556,"thr_a_norm":0.0427191556,"thr_a_v":0.670876622,"thr_b":0.00862897933,"thr_b_norm":0.00862897933,"thr_b_v":0.534515917,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.443655,"values":{"cg_iu_a":4.37383556,"cg_iv_a":-0.0087685585,"cg_iw_a":-1.24809742,"cg_theta_rad":0.558553398,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.00164641323,"mpcc_du":49.7143631,"mpcc_dv":49.5877495,"mpcc_dw":50.4122505,"mpcc_enc_sign":1,"mpcc_id_a":0.743010223,"mpcc_iq_a":-1.90650284,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.45570147,"mpcc_pred_id_a":-0.775894284,"mpcc_pred_iq_a":-3.75048208,"mpcc_state":1,"mpcc_theta_e":0.432950497,"mpcc_theta_mech":0.553536057,"sam_rpm":-2.47003984,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188635886,"thr_a_norm":0.0427191556,"thr_a_v":0.575454354,"thr_b":0,"thr_b_norm":0.00862897933,"thr_b_v":0.453746855,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.450216,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.588670254,"cg_iw_a":-0.958146095,"cg_theta_rad":0.553848863,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0261351038,"mpcc_du":50.0046577,"mpcc_dv":49.1418648,"mpcc_dw":50.8581352,"mpcc_enc_sign":1,"mpcc_id_a":0.258195907,"mpcc_iq_a":-0.861209869,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.88440645,"mpcc_pred_id_a":-0.445002973,"mpcc_pred_iq_a":-3.45498037,"mpcc_state":1,"mpcc_theta_e":0.446069241,"mpcc_theta_mech":0.556159794,"sam_rpm":3.63586259,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188635886,"thr_a_norm":0.0188635886,"thr_a_v":0.575454354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453746855,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.456747,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.74847269,"cg_iw_a":-1.17560959,"cg_theta_rad":0.556248844,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0297789965,"mpcc_du":49.5525055,"mpcc_dv":49.7602119,"mpcc_dw":50.4474945,"mpcc_enc_sign":1,"mpcc_id_a":1.3233844,"mpcc_iq_a":0.535516381,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0716226101,"mpcc_pred_id_a":-0.0149615547,"mpcc_pred_iq_a":-4.78194141,"mpcc_state":1,"mpcc_theta_e":0.442212582,"mpcc_theta_mech":0.555388391,"sam_rpm":-0.0960216969,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467695117,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.464682,"values":{"cg_iu_a":0.749452114,"cg_iv_a":0.426157475,"cg_iw_a":-1.17560959,"cg_theta_rad":0.556337595,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.000858828425,"mpcc_du":50.3893509,"mpcc_dv":48.5753822,"mpcc_dw":51.4246178,"mpcc_enc_sign":1,"mpcc_id_a":-0.14427048,"mpcc_iq_a":-0.896129727,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.3778868,"mpcc_pred_id_a":-0.340779066,"mpcc_pred_iq_a":-1.75375664,"mpcc_state":1,"mpcc_theta_e":0.429548264,"mpcc_theta_mech":0.554550767,"sam_rpm":-18.3705597,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467695117,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.474966,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.878620625,"cg_iw_a":-1.17560959,"cg_theta_rad":0.554421604,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.050123211,"mpcc_du":49.6407776,"mpcc_dv":49.3866768,"mpcc_dw":50.6133232,"mpcc_enc_sign":1,"mpcc_id_a":0.717760742,"mpcc_iq_a":0.261288047,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.55363369,"mpcc_pred_id_a":0.0439787991,"mpcc_pred_iq_a":-3.37562609,"mpcc_state":1,"mpcc_theta_e":0.451214314,"mpcc_theta_mech":0.557188809,"sam_rpm":12.4601068,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222373605,"thr_a_norm":0.0222373605,"thr_a_v":0.588949442,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474492997,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.485098,"values":{"cg_iu_a":0.894427299,"cg_iv_a":0.0637187958,"cg_iw_a":-0.958146095,"cg_theta_rad":0.557488441,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0338202007,"mpcc_du":50.85112,"mpcc_dv":47.6157875,"mpcc_dw":52.3842125,"mpcc_enc_sign":1,"mpcc_id_a":2.67423105,"mpcc_iq_a":-0.490892678,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.2953396,"mpcc_pred_id_a":0.640845478,"mpcc_pred_iq_a":-0.143378615,"mpcc_state":1,"mpcc_theta_e":0.43192482,"mpcc_theta_mech":0.556435108,"sam_rpm":-20.7986679,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021595329,"thr_a_norm":0.0222373605,"thr_a_v":0.586381316,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478823543,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.494986,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.6978507,"cg_theta_rad":0.554442763,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0289241448,"mpcc_du":49.871067,"mpcc_dv":48.8776817,"mpcc_dw":51.1223183,"mpcc_enc_sign":1,"mpcc_id_a":2.94351149,"mpcc_iq_a":-0.784607172,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.234546423,"mpcc_pred_id_a":0.577150822,"mpcc_pred_iq_a":-1.53097355,"mpcc_state":1,"mpcc_theta_e":0.441414833,"mpcc_theta_mech":0.555228889,"sam_rpm":0.505354524,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021595329,"thr_a_norm":0.021595329,"thr_a_v":0.586381316,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478823543,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.505117,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.661157608,"cg_iw_a":-1.46555996,"cg_theta_rad":0.551884353,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.00913819857,"mpcc_du":49.5707779,"mpcc_dv":50.3260002,"mpcc_dw":50.4292221,"mpcc_enc_sign":1,"mpcc_id_a":1.59112656,"mpcc_iq_a":-1.92745936,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.49493313,"mpcc_pred_id_a":-0.0769156069,"mpcc_pred_iq_a":-4.30790329,"mpcc_state":1,"mpcc_theta_e":0.450565338,"mpcc_theta_mech":0.554548144,"sam_rpm":14.0647097,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023382917,"thr_a_norm":0.023382917,"thr_a_v":0.593531668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466335565,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.517508,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.38603449,"cg_iw_a":0.636582375,"cg_theta_rad":0.553925872,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.000407794345,"mpcc_du":49.1871834,"mpcc_dv":50.8128166,"mpcc_dw":49.9114914,"mpcc_enc_sign":1,"mpcc_id_a":0.400980979,"mpcc_iq_a":-2.37853718,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.3740702,"mpcc_pred_id_a":-0.238050491,"mpcc_pred_iq_a":-4.77634048,"mpcc_state":1,"mpcc_theta_e":0.45315361,"mpcc_theta_mech":0.557576597,"sam_rpm":20.1598759,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.023382917,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.541555,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.661157608,"cg_iw_a":-1.97297359,"cg_theta_rad":0.552209795,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0140800597,"mpcc_du":49.5964928,"mpcc_dv":49.6059303,"mpcc_dw":50.4035072,"mpcc_enc_sign":1,"mpcc_id_a":0.606688678,"mpcc_iq_a":-0.977677464,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.65105629,"mpcc_pred_id_a":-0.231128365,"mpcc_pred_iq_a":-0.539405704,"mpcc_state":1,"mpcc_theta_e":0.442530155,"mpcc_theta_mech":0.55545193,"sam_rpm":2.67938328,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.0167864412,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.548086,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.878620625,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.554652214,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0211414434,"mpcc_du":49.4643974,"mpcc_dv":49.77108,"mpcc_dw":50.5356026,"mpcc_enc_sign":1,"mpcc_id_a":2.22804213,"mpcc_iq_a":-0.265957952,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.66104913,"mpcc_pred_id_a":0.366918892,"mpcc_pred_iq_a":-3.42243266,"mpcc_state":1,"mpcc_theta_e":0.443356037,"mpcc_theta_mech":0.555617154,"sam_rpm":5.14636517,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252586454,"thr_a_norm":0.0252586454,"thr_a_v":0.601034582,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474895835,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.554586,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.951108456,"cg_iw_a":-0.378245354,"cg_theta_rad":0.555909216,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0240594707,"mpcc_du":50.2797356,"mpcc_dv":48.5757294,"mpcc_dw":51.4242706,"mpcc_enc_sign":1,"mpcc_id_a":1.29942429,"mpcc_iq_a":-0.190149188,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.31819391,"mpcc_pred_id_a":0.0506494269,"mpcc_pred_iq_a":-1.79779446,"mpcc_state":1,"mpcc_theta_e":0.439428806,"mpcc_theta_mech":0.554831684,"sam_rpm":-7.23520279,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252586454,"thr_a_norm":0.0252586454,"thr_a_v":0.601034582,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474895835,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.561087,"values":{"cg_iu_a":4.08388519,"cg_iv_a":-2.11091113,"cg_iw_a":-1.97297406,"cg_theta_rad":0.555403113,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0150423944,"mpcc_du":50.5736427,"mpcc_dv":48.1744499,"mpcc_dw":51.8255501,"mpcc_enc_sign":1,"mpcc_id_a":2.09355903,"mpcc_iq_a":-0.533746898,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.6768742,"mpcc_pred_id_a":-0.025926711,"mpcc_pred_iq_a":-2.0528295,"mpcc_state":1,"mpcc_theta_e":0.426770687,"mpcc_theta_mech":0.552300036,"sam_rpm":-27.5269947,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.102855325,"thr_a_norm":0.102855325,"thr_a_v":0.911421299,"thr_b":0.0477042794,"thr_b_norm":0.0477042794,"thr_b_v":0.690817118,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.570333,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.6759851,"cg_iw_a":-0.305757284,"cg_theta_rad":0.553014159,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0346329324,"mpcc_du":50.9723129,"mpcc_dv":47.8252678,"mpcc_dw":52.1747322,"mpcc_enc_sign":1,"mpcc_id_a":0.997821927,"mpcc_iq_a":0.373697817,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.8557711,"mpcc_pred_id_a":-0.343739331,"mpcc_pred_iq_a":-0.71699512,"mpcc_state":1,"mpcc_theta_e":0.432313442,"mpcc_theta_mech":0.553408623,"sam_rpm":-19.4545765,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.102855325,"thr_a_norm":0.102855325,"thr_a_v":0.911421299,"thr_b":0.0477042794,"thr_b_norm":0.0477042794,"thr_b_v":0.690817118,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.580496,"values":{"cg_iu_a":2.34418058,"cg_iv_a":1.29600906,"cg_iw_a":-0.160782099,"cg_theta_rad":0.555551052,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0265308898,"mpcc_du":49.7261314,"mpcc_dv":49.299614,"mpcc_dw":50.700386,"mpcc_enc_sign":1,"mpcc_id_a":2.3344574,"mpcc_iq_a":-0.549366415,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.91507715,"mpcc_pred_id_a":-0.0809655115,"mpcc_pred_iq_a":-3.23948669,"mpcc_state":1,"mpcc_theta_e":0.443827152,"mpcc_theta_mech":0.555115938,"sam_rpm":1.73747838,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0955539048,"thr_a_norm":0.0955539048,"thr_a_v":0.882215619,"thr_b":0.0378725082,"thr_b_norm":0.0378725082,"thr_b_v":0.651490033,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.590719,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.516182423,"cg_iw_a":-1.68302298,"cg_theta_rad":0.555495739,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0086994255,"mpcc_du":49.6166878,"mpcc_dv":49.8031006,"mpcc_dw":50.3833122,"mpcc_enc_sign":1,"mpcc_id_a":0.109848313,"mpcc_iq_a":-1.16363049,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.85621452,"mpcc_pred_id_a":-0.489613384,"mpcc_pred_iq_a":-3.4500556,"mpcc_state":1,"mpcc_theta_e":0.44942522,"mpcc_theta_mech":0.556830943,"sam_rpm":12.2147064,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0171263367,"thr_a_norm":0.0955539048,"thr_a_v":0.568505347,"thr_b":0,"thr_b_norm":0.0378725082,"thr_b_v":0.443474501,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.600912,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.878620625,"cg_iw_a":-1.10312152,"cg_theta_rad":0.552670717,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.016366275,"mpcc_du":49.8188477,"mpcc_dv":49.5605812,"mpcc_dw":50.4394188,"mpcc_enc_sign":1,"mpcc_id_a":-0.59088701,"mpcc_iq_a":-2.90250111,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.57408285,"mpcc_pred_id_a":-0.994488776,"mpcc_pred_iq_a":-3.46899199,"mpcc_state":1,"mpcc_theta_e":0.431418896,"mpcc_theta_mech":0.55322969,"sam_rpm":-11.2609005,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0171263367,"thr_a_norm":0.0171263367,"thr_a_v":0.568505347,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443474501,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.611929,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.878620625,"cg_iw_a":-2.19043684,"cg_theta_rad":0.557303309,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0971572772,"mpcc_du":50.8730125,"mpcc_dv":47.4402008,"mpcc_dw":52.5597992,"mpcc_enc_sign":1,"mpcc_id_a":4.69322395,"mpcc_iq_a":0.404345632,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.5398941,"mpcc_pred_id_a":1.16256976,"mpcc_pred_iq_a":0.801450074,"mpcc_state":1,"mpcc_theta_e":0.435794353,"mpcc_theta_mech":0.554104805,"sam_rpm":-14.6917839,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254474729,"thr_a_norm":0.0254474729,"thr_a_v":0.601789892,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495188832,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.636343,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.53100967,"cg_iw_a":-2.11794901,"cg_theta_rad":0.55486244,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0112962052,"mpcc_du":50.1929016,"mpcc_dv":48.8231277,"mpcc_dw":51.1768723,"mpcc_enc_sign":1,"mpcc_id_a":1.53357589,"mpcc_iq_a":-1.55864787,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.38478386,"mpcc_pred_id_a":-0.0945259109,"mpcc_pred_iq_a":-1.97867799,"mpcc_state":1,"mpcc_theta_e":0.443764687,"mpcc_theta_mech":0.555698872,"sam_rpm":-2.04196286,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.0254474729,"thr_a_v":0.605818272,"thr_b":0.00350537896,"thr_b_norm":0,"thr_b_v":0.514021516,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.642874,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-2.0384233,"cg_iw_a":0.781557322,"cg_theta_rad":0.55632627,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0179372374,"mpcc_du":49.7886467,"mpcc_dv":48.1084328,"mpcc_dw":51.8915672,"mpcc_enc_sign":1,"mpcc_id_a":1.38009155,"mpcc_iq_a":-1.36310697,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.59933758,"mpcc_pred_id_a":-0.164614305,"mpcc_pred_iq_a":-2.54470754,"mpcc_state":1,"mpcc_theta_e":0.451859951,"mpcc_theta_mech":0.555997074,"sam_rpm":12.9292002,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.0264545679,"thr_a_v":0.605818272,"thr_b":0.00350537896,"thr_b_norm":0.00350537896,"thr_b_v":0.514021516,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.649405,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.38603449,"cg_iw_a":-0.16078186,"cg_theta_rad":0.554286957,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0139769232,"mpcc_du":50.656662,"mpcc_dv":48.2010422,"mpcc_dw":51.7989578,"mpcc_enc_sign":1,"mpcc_id_a":0.208553493,"mpcc_iq_a":-0.644822538,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.7751007,"mpcc_pred_id_a":-0.0750816464,"mpcc_pred_iq_a":-1.81221139,"mpcc_state":1,"mpcc_theta_e":0.432257175,"mpcc_theta_mech":0.553397357,"sam_rpm":-18.4024887,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217715651,"thr_a_norm":0.0217715651,"thr_a_v":0.58708626,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473183811,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.655874,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.45852208,"cg_iw_a":-0.595708132,"cg_theta_rad":0.555174828,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.071330741,"mpcc_du":50.6485786,"mpcc_dv":47.8346977,"mpcc_dw":52.1653023,"mpcc_enc_sign":1,"mpcc_id_a":3.08749676,"mpcc_iq_a":0.531527042,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.394016564,"mpcc_pred_id_a":0.669064045,"mpcc_pred_iq_a":-2.33966756,"mpcc_state":1,"mpcc_theta_e":0.442986965,"mpcc_theta_mech":0.555543303,"sam_rpm":-22.1084347,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217715651,"thr_a_norm":0.0217715651,"thr_a_v":0.58708626,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473183811,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.664114,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-4.64797926,"cg_iw_a":3.75355196,"cg_theta_rad":0.554640472,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.00657378417,"mpcc_du":50.30373,"mpcc_dv":48.8669624,"mpcc_dw":51.1330376,"mpcc_enc_sign":1,"mpcc_id_a":1.75878954,"mpcc_iq_a":-1.4428134,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.4184628,"mpcc_pred_id_a":0.00874131918,"mpcc_pred_iq_a":0.361739069,"mpcc_state":1,"mpcc_theta_e":0.428378105,"mpcc_theta_mech":0.552621543,"sam_rpm":20.323391,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208903551,"thr_a_norm":0.0208903551,"thr_a_v":0.58356142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461451113,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.674276,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.226231575,"cg_iw_a":-1.0306344,"cg_theta_rad":0.553927481,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.00434134435,"mpcc_du":49.3321838,"mpcc_dv":50.6678162,"mpcc_dw":50.1064034,"mpcc_enc_sign":1,"mpcc_id_a":0.88401413,"mpcc_iq_a":-1.39605069,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.8227444,"mpcc_pred_id_a":0.0885127783,"mpcc_pred_iq_a":-2.70457268,"mpcc_state":1,"mpcc_theta_e":0.448396683,"mpcc_theta_mech":0.556625247,"sam_rpm":15.6869974,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0142309517,"thr_a_norm":0.0208903551,"thr_a_v":0.556923807,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450725555,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.684011,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.02359605,"cg_iw_a":0.201656103,"cg_theta_rad":0.556016982,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0329476893,"mpcc_du":49.7699966,"mpcc_dv":49.2001114,"mpcc_dw":50.7998886,"mpcc_enc_sign":1,"mpcc_id_a":2.52655625,"mpcc_iq_a":-0.309136122,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.71792877,"mpcc_pred_id_a":0.241066545,"mpcc_pred_iq_a":-1.81125617,"mpcc_state":1,"mpcc_theta_e":0.441141605,"mpcc_theta_mech":0.555174232,"sam_rpm":1.89240277,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0142309517,"thr_a_norm":0.0142309517,"thr_a_v":0.556923807,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450725555,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.694326,"values":{"cg_iu_a":2.85159445,"cg_iv_a":1.29600906,"cg_iw_a":-1.75551081,"cg_theta_rad":0.552753806,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.012346562,"mpcc_du":50.2165375,"mpcc_dv":48.7447815,"mpcc_dw":51.2552185,"mpcc_enc_sign":1,"mpcc_id_a":1.9264667,"mpcc_iq_a":-1.94151366,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.38796139,"mpcc_pred_id_a":-0.0958138108,"mpcc_pred_iq_a":-1.19336605,"mpcc_state":1,"mpcc_theta_e":0.431240559,"mpcc_theta_mech":0.553194046,"sam_rpm":-13.624423,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0331013948,"thr_a_norm":0.0331013948,"thr_a_v":0.632405579,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482449085,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.704306,"values":{"cg_iu_a":3.72144651,"cg_iv_a":-2.40086174,"cg_iw_a":0.0566811562,"cg_theta_rad":0.554112732,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.00794992317,"mpcc_du":49.6284065,"mpcc_dv":50.2103462,"mpcc_dw":50.3715935,"mpcc_enc_sign":1,"mpcc_id_a":0.825193465,"mpcc_iq_a":-1.02973473,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.14758205,"mpcc_pred_id_a":-0.241781905,"mpcc_pred_iq_a":-2.0832386,"mpcc_state":1,"mpcc_theta_e":0.438585758,"mpcc_theta_mech":0.554663062,"sam_rpm":2.63057351,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0331013948,"thr_a_norm":0.0331013948,"thr_a_v":0.632405579,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482449085,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.714315,"values":{"cg_iu_a":2.63413143,"cg_iv_a":0.208694458,"cg_iw_a":-2.84282589,"cg_theta_rad":0.555334151,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0134888208,"mpcc_du":49.5490532,"mpcc_dv":50.0788078,"mpcc_dw":50.4509468,"mpcc_enc_sign":1,"mpcc_id_a":0.693351269,"mpcc_iq_a":-0.457830548,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.77298903,"mpcc_pred_id_a":-0.193148628,"mpcc_pred_iq_a":-1.20911908,"mpcc_state":1,"mpcc_theta_e":0.436847687,"mpcc_theta_mech":0.55080539,"sam_rpm":12.9872637,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180075616,"thr_a_norm":0.0180075616,"thr_a_v":0.572030246,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439043254,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.737722,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.02359605,"cg_iw_a":0.201656103,"cg_theta_rad":0.55692929,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0422823653,"mpcc_du":49.5611115,"mpcc_dv":50.4388885,"mpcc_dw":50.1224556,"mpcc_enc_sign":1,"mpcc_id_a":-0.262866944,"mpcc_iq_a":-0.101043038,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.43596315,"mpcc_pred_id_a":-0.68455708,"mpcc_pred_iq_a":-6.48736572,"mpcc_state":1,"mpcc_theta_e":0.449317932,"mpcc_theta_mech":0.556809545,"sam_rpm":11.5741873,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024264127,"thr_a_norm":0.0180075616,"thr_a_v":0.597056508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465983063,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.744253,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.661157608,"cg_iw_a":-0.378245354,"cg_theta_rad":0.556307793,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0203676932,"mpcc_du":50.2857018,"mpcc_dv":48.6225739,"mpcc_dw":51.3774261,"mpcc_enc_sign":1,"mpcc_id_a":1.94837451,"mpcc_iq_a":-1.02307522,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.74762654,"mpcc_pred_id_a":0.120451912,"mpcc_pred_iq_a":-0.199043214,"mpcc_state":1,"mpcc_theta_e":0.447322369,"mpcc_theta_mech":0.556410432,"sam_rpm":5.71105957,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024264127,"thr_a_norm":0.024264127,"thr_a_v":0.597056508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465983063,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.750753,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.60349751,"cg_iw_a":-1.32058477,"cg_theta_rad":0.555527031,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.011165468,"mpcc_du":49.531868,"mpcc_dv":49.5805473,"mpcc_dw":50.468132,"mpcc_enc_sign":1,"mpcc_id_a":1.13231218,"mpcc_iq_a":-0.718195736,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.8680203,"mpcc_pred_id_a":0.0305398554,"mpcc_pred_iq_a":-3.6361165,"mpcc_state":1,"mpcc_theta_e":0.441188812,"mpcc_theta_mech":0.555183709,"sam_rpm":4.38478327,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.102528036,"thr_a_norm":0.102528036,"thr_a_v":0.910112143,"thr_b":0.0489757359,"thr_b_norm":0.0489757359,"thr_b_v":0.695902944,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.757284,"values":{"cg_iu_a":0.821939945,"cg_iv_a":0.498644829,"cg_iw_a":-1.32058477,"cg_theta_rad":0.553804934,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0154828038,"mpcc_du":50.5062599,"mpcc_dv":48.1873856,"mpcc_dw":51.8126144,"mpcc_enc_sign":1,"mpcc_id_a":2.34114146,"mpcc_iq_a":-1.74345851,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.6077671,"mpcc_pred_id_a":0.204286098,"mpcc_pred_iq_a":-1.23351777,"mpcc_state":1,"mpcc_theta_e":0.424775124,"mpcc_theta_mech":0.554729283,"sam_rpm":-27.1092758,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.102528036,"thr_a_norm":0.102528036,"thr_a_v":0.910112143,"thr_b":0.0489757359,"thr_b_norm":0.0489757359,"thr_b_v":0.695902944,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.767294,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.09608364,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556707919,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.00563100725,"mpcc_du":49.5304413,"mpcc_dv":50.4695587,"mpcc_dw":50.3232574,"mpcc_enc_sign":1,"mpcc_id_a":1.49034667,"mpcc_iq_a":-2.14758205,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.10567904,"mpcc_pred_id_a":-0.124495283,"mpcc_pred_iq_a":-4.33812666,"mpcc_state":1,"mpcc_theta_e":0.44658041,"mpcc_theta_mech":0.556262016,"sam_rpm":10.049181,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020940721,"thr_a_norm":0.020940721,"thr_a_v":0.583762884,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451279461,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.777487,"values":{"cg_iu_a":3.1415453,"cg_iv_a":0.426157475,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556299865,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0236449577,"mpcc_du":49.9579849,"mpcc_dv":49.0458412,"mpcc_dw":50.9541588,"mpcc_enc_sign":1,"mpcc_id_a":1.78328228,"mpcc_iq_a":-1.69601405,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.75082397,"mpcc_pred_id_a":-0.0229805559,"mpcc_pred_iq_a":-2.31877589,"mpcc_state":1,"mpcc_theta_e":0.45096159,"mpcc_theta_mech":0.557138264,"sam_rpm":10.8199625,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199587941,"thr_a_norm":0.0199587941,"thr_a_v":0.579835176,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481744081,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.78948,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.38603449,"cg_iw_a":0.636582136,"cg_theta_rad":0.557162941,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0118063381,"mpcc_du":49.5494804,"mpcc_dv":50.3104057,"mpcc_dw":50.4512444,"mpcc_enc_sign":1,"mpcc_id_a":1.87456965,"mpcc_iq_a":-3.3551774,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.74475956,"mpcc_pred_id_a":0.207377881,"mpcc_pred_iq_a":-4.41869259,"mpcc_state":1,"mpcc_theta_e":0.447379112,"mpcc_theta_mech":0.556421757,"sam_rpm":8.3312397,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199587941,"thr_a_norm":0.0199587941,"thr_a_v":0.579835176,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481744081,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.79949,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.878620625,"cg_iw_a":0.636582375,"cg_theta_rad":0.555489302,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":9.30795213e-05,"mpcc_du":50.1779976,"mpcc_dv":48.7896118,"mpcc_dw":51.2103882,"mpcc_enc_sign":1,"mpcc_id_a":-0.154599413,"mpcc_iq_a":-3.07483602,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.562315524,"mpcc_pred_id_a":-0.42920807,"mpcc_pred_iq_a":-2.76561403,"mpcc_state":1,"mpcc_theta_e":0.445117474,"mpcc_theta_mech":0.556328773,"sam_rpm":-8.53940678,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227031261,"thr_a_norm":0.0227031261,"thr_a_v":0.590812504,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.809896,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.878620625,"cg_iw_a":0.491606712,"cg_theta_rad":0.554543793,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0220848601,"mpcc_du":49.5383263,"mpcc_dv":50.4213753,"mpcc_dw":50.4616737,"mpcc_enc_sign":1,"mpcc_id_a":2.89918518,"mpcc_iq_a":-1.38735271,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.37888527,"mpcc_pred_id_a":0.291381508,"mpcc_pred_iq_a":-3.75677967,"mpcc_state":1,"mpcc_theta_e":0.447590351,"mpcc_theta_mech":0.556463957,"sam_rpm":12.6128302,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0974421948,"thr_a_norm":0.0227031261,"thr_a_v":0.889768779,"thr_b":0.0387411267,"thr_b_norm":0,"thr_b_v":0.654964507,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.819876,"values":{"cg_iu_a":-1.49766564,"cg_iv_a":-1.09608364,"cg_iw_a":2.59374928,"cg_theta_rad":0.556108236,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0341695994,"mpcc_du":49.9763031,"mpcc_dv":49.1901665,"mpcc_dw":50.8098335,"mpcc_enc_sign":1,"mpcc_id_a":-0.073268339,"mpcc_iq_a":-1.03108776,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.32186031,"mpcc_pred_id_a":-0.365535557,"mpcc_pred_iq_a":-2.97957277,"mpcc_state":1,"mpcc_theta_e":0.454690933,"mpcc_theta_mech":0.557884097,"sam_rpm":13.6376677,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0974421948,"thr_a_norm":0.0974421948,"thr_a_v":0.889768779,"thr_b":0.0387411267,"thr_b_norm":0.0387411267,"thr_b_v":0.654964507,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.843283,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.153744221,"cg_iw_a":-2.48038721,"cg_theta_rad":0.555035651,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.00665369397,"mpcc_du":51.3094368,"mpcc_dv":47.7896881,"mpcc_dw":52.2103119,"mpcc_enc_sign":1,"mpcc_id_a":-1.60130334,"mpcc_iq_a":-1.97657645,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.7485065,"mpcc_pred_id_a":-1.17102969,"mpcc_pred_iq_a":0.995844305,"mpcc_state":1,"mpcc_theta_e":0.431517124,"mpcc_theta_mech":0.5532493,"sam_rpm":-20.5615215,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237228274,"thr_a_norm":0.0237228274,"thr_a_v":0.59489131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.849813,"values":{"cg_iu_a":-0.555325985,"cg_iv_a":-1.53100967,"cg_iw_a":2.08633566,"cg_theta_rad":0.553795815,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0198213309,"mpcc_du":49.4631729,"mpcc_dv":50.280777,"mpcc_dw":50.5368271,"mpcc_enc_sign":1,"mpcc_id_a":2.81572032,"mpcc_iq_a":-0.709752858,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.68076587,"mpcc_pred_id_a":0.612206399,"mpcc_pred_iq_a":-4.7267065,"mpcc_state":1,"mpcc_theta_e":0.436824322,"mpcc_theta_mech":0.554310799,"sam_rpm":-4.90274477,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240249485,"thr_a_norm":0.0237228274,"thr_a_v":0.596099794,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48829025,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.856405,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.24105906,"cg_iw_a":0.274143934,"cg_theta_rad":0.554350555,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0126552861,"mpcc_du":49.5936813,"mpcc_dv":49.330925,"mpcc_dw":50.669075,"mpcc_enc_sign":1,"mpcc_id_a":2.16339707,"mpcc_iq_a":-2.24614072,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.26449013,"mpcc_pred_id_a":0.354397029,"mpcc_pred_iq_a":-2.22516084,"mpcc_state":1,"mpcc_theta_e":0.449135303,"mpcc_theta_mech":0.555658221,"sam_rpm":10.8754883,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240249485,"thr_a_norm":0.0240249485,"thr_a_v":0.596099794,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48829025,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.862906,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.951108456,"cg_iw_a":0.419119358,"cg_theta_rad":0.557087958,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0137492018,"mpcc_du":50.4611435,"mpcc_dv":48.2613678,"mpcc_dw":51.7386322,"mpcc_enc_sign":1,"mpcc_id_a":1.58261847,"mpcc_iq_a":-1.82552278,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.6607971,"mpcc_pred_id_a":0.134333745,"mpcc_pred_iq_a":-3.93226981,"mpcc_state":1,"mpcc_theta_e":0.429652214,"mpcc_theta_mech":0.552876353,"sam_rpm":-25.214983,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.102578387,"thr_a_norm":0.102578387,"thr_a_v":0.910313547,"thr_b":0.0489505529,"thr_b_norm":0.0489505529,"thr_b_v":0.695802212,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.875143,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.45852208,"cg_iw_a":-2.40789986,"cg_theta_rad":0.554916382,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.00840862468,"mpcc_du":50.3232117,"mpcc_dv":48.7020531,"mpcc_dw":51.2979469,"mpcc_enc_sign":1,"mpcc_id_a":-0.160817891,"mpcc_iq_a":-1.48271751,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.3148804,"mpcc_pred_id_a":-0.56490612,"mpcc_pred_iq_a":-2.38963652,"mpcc_state":1,"mpcc_theta_e":0.421232224,"mpcc_theta_mech":0.551192343,"sam_rpm":-30.953207,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197070241,"thr_a_norm":0.102578387,"thr_a_v":0.578828096,"thr_b":0,"thr_b_norm":0.0489505529,"thr_b_v":0.473586619,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.886496,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.60349751,"cg_iw_a":0.78155756,"cg_theta_rad":0.553366184,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0118491258,"mpcc_du":49.6608162,"mpcc_dv":49.4193077,"mpcc_dw":50.5806923,"mpcc_enc_sign":1,"mpcc_id_a":1.86805212,"mpcc_iq_a":-1.68851483,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.2344332,"mpcc_pred_id_a":-0.0808724463,"mpcc_pred_iq_a":-1.55297244,"mpcc_state":1,"mpcc_theta_e":0.45019865,"mpcc_theta_mech":0.556985676,"sam_rpm":15.8774023,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197070241,"thr_a_norm":0.0197070241,"thr_a_v":0.578828096,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473586619,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.896719,"values":{"cg_iu_a":4.30134773,"cg_iv_a":-1.89344811,"cg_iw_a":0.999020815,"cg_theta_rad":0.553319812,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":4997,"hz_app_loop":303,"hz_tim_isr":9994,"hz_vsense":303,"mpcc_cost":0.0348932184,"mpcc_du":49.9885025,"mpcc_dv":48.6528397,"mpcc_dw":51.3471603,"mpcc_enc_sign":1,"mpcc_id_a":3.16063499,"mpcc_iq_a":-0.304982394,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.07266235,"mpcc_pred_id_a":0.71793443,"mpcc_pred_iq_a":-2.52606845,"mpcc_state":1,"mpcc_theta_e":0.433326721,"mpcc_theta_mech":0.553611219,"sam_rpm":-13.3128929,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156912357,"thr_a_norm":0.0156912357,"thr_a_v":0.562764943,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453545451,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.907675,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.553923428,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0182081871,"mpcc_du":49.7974968,"mpcc_dv":48.7151337,"mpcc_dw":51.2848663,"mpcc_enc_sign":1,"mpcc_id_a":2.68360019,"mpcc_iq_a":-0.105944,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.872776,"mpcc_pred_id_a":0.99916929,"mpcc_pred_iq_a":-1.65481794,"mpcc_state":1,"mpcc_theta_e":0.424396038,"mpcc_theta_mech":0.551825106,"sam_rpm":-22.0727501,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.106833369,"thr_a_norm":0.0156912357,"thr_a_v":0.927333474,"thr_b":0.0510402918,"thr_b_norm":0,"thr_b_v":0.704161167,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.917715,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.02359605,"cg_iw_a":0.274143934,"cg_theta_rad":0.5587942,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.00036581367,"mpcc_du":49.5880966,"mpcc_dv":49.6683998,"mpcc_dw":50.4119034,"mpcc_enc_sign":1,"mpcc_id_a":0.371862978,"mpcc_iq_a":-2.66914773,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.60974288,"mpcc_pred_id_a":-0.277950108,"mpcc_pred_iq_a":-2.4444015,"mpcc_state":1,"mpcc_theta_e":0.440438747,"mpcc_theta_mech":0.555033684,"sam_rpm":3.6295352,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.106833369,"thr_a_norm":0.106833369,"thr_a_v":0.927333474,"thr_b":0.0510402918,"thr_b_norm":0.0510402918,"thr_b_v":0.704161167,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.927694,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.69081235,"cg_iw_a":-1.17560959,"cg_theta_rad":0.557622969,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0379482135,"mpcc_du":49.6261902,"mpcc_dv":49.237854,"mpcc_dw":50.762146,"mpcc_enc_sign":1,"mpcc_id_a":1.4636718,"mpcc_iq_a":-0.196242794,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.7213593,"mpcc_pred_id_a":0.397248596,"mpcc_pred_iq_a":-1.91651058,"mpcc_state":1,"mpcc_theta_e":0.453195095,"mpcc_theta_mech":0.557584941,"sam_rpm":16.5906982,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221366435,"thr_a_norm":0.0221366435,"thr_a_v":0.588546574,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.950888,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.74847269,"cg_iw_a":-1.10312176,"cg_theta_rad":0.556949973,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0167905036,"mpcc_du":50.928051,"mpcc_dv":47.6719208,"mpcc_dw":52.3280792,"mpcc_enc_sign":1,"mpcc_id_a":2.58925653,"mpcc_iq_a":-1.36846161,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.4869699,"mpcc_pred_id_a":0.231095567,"mpcc_pred_iq_a":1.64206421,"mpcc_state":1,"mpcc_theta_e":0.430396557,"mpcc_theta_mech":0.553025246,"sam_rpm":-20.0654564,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221366435,"thr_a_norm":0.0221366435,"thr_a_v":0.588546574,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.957418,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.89344811,"cg_iw_a":-0.378245115,"cg_theta_rad":0.555903852,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0477329642,"mpcc_du":49.453022,"mpcc_dv":49.2338066,"mpcc_dw":50.7661934,"mpcc_enc_sign":1,"mpcc_id_a":4.34377766,"mpcc_iq_a":-1.89226973,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.84739661,"mpcc_pred_id_a":0.955365479,"mpcc_pred_iq_a":-3.6985209,"mpcc_state":1,"mpcc_theta_e":0.438197613,"mpcc_theta_mech":0.554585457,"sam_rpm":-4.12110853,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258628875,"thr_a_norm":0.0258628875,"thr_a_v":0.60345155,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486678869,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.96398,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.31354666,"cg_iw_a":-1.39307261,"cg_theta_rad":0.551195562,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0138878785,"mpcc_du":51.1227989,"mpcc_dv":47.3621635,"mpcc_dw":52.6378365,"mpcc_enc_sign":1,"mpcc_id_a":2.31220269,"mpcc_iq_a":-0.572247922,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.2710171,"mpcc_pred_id_a":0.284527749,"mpcc_pred_iq_a":1.37190151,"mpcc_state":1,"mpcc_theta_e":0.420963764,"mpcc_theta_mech":0.551138639,"sam_rpm":-31.8954887,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258628875,"thr_a_norm":0.0258628875,"thr_a_v":0.60345155,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486678869,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.97048,"values":{"cg_iu_a":2.48915625,"cg_iv_a":0.788595676,"cg_iw_a":-3.27775192,"cg_theta_rad":0.555217087,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.018378865,"mpcc_du":49.7971725,"mpcc_dv":49.6136589,"mpcc_dw":51.5692291,"mpcc_enc_sign":1,"mpcc_id_a":-0.754162788,"mpcc_iq_a":-1.44370997,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.97720051,"mpcc_pred_id_a":-1.02041376,"mpcc_pred_iq_a":-3.71722221,"mpcc_state":1,"mpcc_theta_e":0.4519701,"mpcc_theta_mech":0.55617404,"sam_rpm":14.1187677,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222499371,"thr_a_norm":0.0222499371,"thr_a_v":0.588999748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471270293,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.978537,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.733645439,"cg_iw_a":-0.668195724,"cg_theta_rad":0.55493772,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0140345506,"mpcc_du":49.6426964,"mpcc_dv":49.3579292,"mpcc_dw":50.6420708,"mpcc_enc_sign":1,"mpcc_id_a":2.36836076,"mpcc_iq_a":-0.807388723,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.85057259,"mpcc_pred_id_a":-0.0321325995,"mpcc_pred_iq_a":-3.8742516,"mpcc_state":1,"mpcc_theta_e":0.430705547,"mpcc_theta_mech":0.553086996,"sam_rpm":-14.1203136,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222499371,"thr_a_norm":0.0222499371,"thr_a_v":0.588999748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471270293,"vdc_v":55.2955055}} +{"type":"telemetry","t":8.989889,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.516182423,"cg_iw_a":-5.95979548,"cg_theta_rad":0.553891778,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0338803269,"mpcc_du":50.4783211,"mpcc_dv":48.2251549,"mpcc_dw":51.7748451,"mpcc_enc_sign":1,"mpcc_id_a":2.67341518,"mpcc_iq_a":-0.495316833,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.5747728,"mpcc_pred_id_a":0.216952175,"mpcc_pred_iq_a":-1.79282689,"mpcc_state":1,"mpcc_theta_e":0.433579445,"mpcc_theta_mech":0.553661823,"sam_rpm":-15.1939754,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022073701,"thr_a_norm":0.022073701,"thr_a_v":0.588294804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476154745,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.001089,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.82096052,"cg_iw_a":-1.39307213,"cg_theta_rad":0.556508243,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0180043783,"mpcc_du":49.6593399,"mpcc_dv":49.2597313,"mpcc_dw":50.7402687,"mpcc_enc_sign":1,"mpcc_id_a":2.24396563,"mpcc_iq_a":-1.58069956,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.89896488,"mpcc_pred_id_a":0.243120015,"mpcc_pred_iq_a":-2.43264842,"mpcc_state":1,"mpcc_theta_e":0.446673393,"mpcc_theta_mech":0.556280613,"sam_rpm":8.87518692,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165346712,"thr_a_norm":0.0165346712,"thr_a_v":0.566138685,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474845469,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.010885,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.661157608,"cg_iw_a":-0.305757523,"cg_theta_rad":0.556831658,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.00600117352,"mpcc_du":50.2643852,"mpcc_dv":48.7157936,"mpcc_dw":51.2842064,"mpcc_enc_sign":1,"mpcc_id_a":0.578769982,"mpcc_iq_a":-0.536407769,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.1946669,"mpcc_pred_id_a":-0.321107447,"mpcc_pred_iq_a":-2.95087457,"mpcc_state":1,"mpcc_theta_e":0.429016113,"mpcc_theta_mech":0.552749157,"sam_rpm":-22.8111134,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165346712,"thr_a_norm":0.0165346712,"thr_a_v":0.566138685,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474845469,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.021261,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.951108456,"cg_iw_a":0.12916851,"cg_theta_rad":0.557759643,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0102847479,"mpcc_du":49.771637,"mpcc_dv":49.1882477,"mpcc_dw":50.8117523,"mpcc_enc_sign":1,"mpcc_id_a":1.90351772,"mpcc_iq_a":-2.11906743,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.83777905,"mpcc_pred_id_a":0.150623322,"mpcc_pred_iq_a":-1.44552159,"mpcc_state":1,"mpcc_theta_e":0.447257042,"mpcc_theta_mech":0.556397319,"sam_rpm":11.5146017,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0128587782,"thr_a_norm":0.0128587782,"thr_a_v":0.551435113,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449517012,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.031301,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-2.54583716,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556780696,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0143296532,"mpcc_du":49.9446869,"mpcc_dv":49.0417061,"mpcc_dw":50.6128807,"mpcc_enc_sign":1,"mpcc_id_a":0.334174842,"mpcc_iq_a":-2.01986885,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.35990858,"mpcc_pred_id_a":0.0309543908,"mpcc_pred_iq_a":-2.37390041,"mpcc_state":1,"mpcc_theta_e":0.452929974,"mpcc_theta_mech":0.55814755,"sam_rpm":12.0691185,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185111016,"thr_a_norm":0.0128587782,"thr_a_v":0.574044406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451178759,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.05538,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.878620625,"cg_iw_a":-0.740683317,"cg_theta_rad":0.556495547,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0352893546,"mpcc_du":49.1989403,"mpcc_dv":50.8010597,"mpcc_dw":49.9226189,"mpcc_enc_sign":1,"mpcc_id_a":0.383315772,"mpcc_iq_a":-1.79528666,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.90589356,"mpcc_pred_id_a":-0.0292603858,"mpcc_pred_iq_a":-2.87910509,"mpcc_state":1,"mpcc_theta_e":0.440274715,"mpcc_theta_mech":0.555000842,"sam_rpm":29.6672344,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185111016,"thr_a_norm":0.0185111016,"thr_a_v":0.574044406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451178759,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.06185,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-3.27071381,"cg_iw_a":0.999020576,"cg_theta_rad":0.557362258,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0415286385,"mpcc_du":50.5069122,"mpcc_dv":48.5168686,"mpcc_dw":51.4831314,"mpcc_enc_sign":1,"mpcc_id_a":1.89128852,"mpcc_iq_a":-0.311738789,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.309473,"mpcc_pred_id_a":0.144105375,"mpcc_pred_iq_a":-4.67977571,"mpcc_state":1,"mpcc_theta_e":0.453364372,"mpcc_theta_mech":0.554604352,"sam_rpm":17.423954,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0236472934,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464875251,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.06835,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.958146572,"cg_theta_rad":0.558934629,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.00691415928,"mpcc_du":49.5242882,"mpcc_dv":50.4757118,"mpcc_dw":50.3048859,"mpcc_enc_sign":1,"mpcc_id_a":0.994423747,"mpcc_iq_a":-1.16845179,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.67976046,"mpcc_pred_id_a":-0.0859262273,"mpcc_pred_iq_a":-5.02000046,"mpcc_state":1,"mpcc_theta_e":0.447070599,"mpcc_theta_mech":0.556360006,"sam_rpm":9.38279152,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0236472934,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464875251,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.074911,"values":{"cg_iu_a":1.18437815,"cg_iv_a":0.353669643,"cg_iw_a":-1.53804779,"cg_theta_rad":0.555988431,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.00145767804,"mpcc_du":50.1998444,"mpcc_dv":48.9471512,"mpcc_dw":51.2547493,"mpcc_enc_sign":1,"mpcc_id_a":-0.479362041,"mpcc_iq_a":-2.95992827,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.56311989,"mpcc_pred_id_a":-0.578716874,"mpcc_pred_iq_a":-2.79326653,"mpcc_state":1,"mpcc_theta_e":0.438228607,"mpcc_theta_mech":0.555719972,"sam_rpm":-8.44531345,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0129972547,"thr_a_norm":0.0129972547,"thr_a_v":0.551989019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453545451,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.083914,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-0.878620625,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.55694145,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.000972989597,"mpcc_du":49.8474922,"mpcc_dv":49.3074608,"mpcc_dw":50.6925392,"mpcc_enc_sign":1,"mpcc_id_a":-0.588475049,"mpcc_iq_a":-2.3105135,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.5788281,"mpcc_pred_id_a":-0.395183861,"mpcc_pred_iq_a":-2.16917443,"mpcc_state":1,"mpcc_theta_e":0.44332695,"mpcc_theta_mech":0.555611312,"sam_rpm":3.92570734,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0129972547,"thr_a_norm":0.0129972547,"thr_a_v":0.551989019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453545451,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.094076,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.588670254,"cg_iw_a":-1.97297382,"cg_theta_rad":0.551994622,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0570956506,"mpcc_du":50.4995766,"mpcc_dv":48.285656,"mpcc_dw":51.714344,"mpcc_enc_sign":1,"mpcc_id_a":2.63184714,"mpcc_iq_a":-0.600082278,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.68808246,"mpcc_pred_id_a":0.158477947,"mpcc_pred_iq_a":-1.45774567,"mpcc_state":1,"mpcc_theta_e":0.444512367,"mpcc_theta_mech":0.55584842,"sam_rpm":-1.12671161,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246669799,"thr_a_norm":0.0246669799,"thr_a_v":0.59866792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476154745,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.1043,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-2.0384233,"cg_iw_a":-1.103122,"cg_theta_rad":0.557032704,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0276116021,"mpcc_du":50.4849129,"mpcc_dv":48.2274284,"mpcc_dw":51.7725716,"mpcc_enc_sign":1,"mpcc_id_a":2.43815327,"mpcc_iq_a":-1.17585051,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.3465557,"mpcc_pred_id_a":0.152185857,"mpcc_pred_iq_a":-2.39125657,"mpcc_state":1,"mpcc_theta_e":0.435403824,"mpcc_theta_mech":0.554026723,"sam_rpm":-16.0808392,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0354177058,"thr_a_norm":0.0246669799,"thr_a_v":0.641670823,"thr_b":0.00782330334,"thr_b_norm":0,"thr_b_v":0.531293213,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.113882,"values":{"cg_iu_a":0.821939945,"cg_iv_a":0.716107845,"cg_iw_a":-1.53804779,"cg_theta_rad":0.554398,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.000507667428,"mpcc_du":49.7196846,"mpcc_dv":49.2517662,"mpcc_dw":50.7482338,"mpcc_enc_sign":1,"mpcc_id_a":-0.0466012023,"mpcc_iq_a":-1.82983577,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.86060524,"mpcc_pred_id_a":-0.43697837,"mpcc_pred_iq_a":-2.16529942,"mpcc_state":1,"mpcc_theta_e":0.447302818,"mpcc_theta_mech":0.556406438,"sam_rpm":9.36275101,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0354177058,"thr_a_norm":0.0354177058,"thr_a_v":0.641670823,"thr_b":0.00782330334,"thr_b_norm":0.00782330334,"thr_b_v":0.531293213,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.124075,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.878620625,"cg_iw_a":-0.523220539,"cg_theta_rad":0.556369007,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0082437722,"mpcc_du":49.4965591,"mpcc_dv":49.8289108,"mpcc_dw":50.5034409,"mpcc_enc_sign":1,"mpcc_id_a":1.71956503,"mpcc_iq_a":-0.658490837,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.103596956,"mpcc_pred_id_a":0.178097203,"mpcc_pred_iq_a":-2.59042358,"mpcc_state":1,"mpcc_theta_e":0.436164379,"mpcc_theta_mech":0.554178834,"sam_rpm":-1.70749807,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.134115,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.443694592,"cg_iw_a":-0.450732708,"cg_theta_rad":0.557280242,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0286925249,"mpcc_du":49.9276657,"mpcc_dv":48.9265327,"mpcc_dw":51.0734673,"mpcc_enc_sign":1,"mpcc_id_a":1.01111436,"mpcc_iq_a":-0.800511181,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.77594674,"mpcc_pred_id_a":0.170946598,"mpcc_pred_iq_a":-3.59171033,"mpcc_state":1,"mpcc_theta_e":0.443739891,"mpcc_theta_mech":0.555693924,"sam_rpm":-1.36702251,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.157705,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.733645439,"cg_iw_a":-2.04546118,"cg_theta_rad":0.553703785,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0332854874,"mpcc_du":49.6091385,"mpcc_dv":49.892437,"mpcc_dw":50.3908615,"mpcc_enc_sign":1,"mpcc_id_a":0.663551569,"mpcc_iq_a":-0.684901774,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.71983528,"mpcc_pred_id_a":-0.487780273,"mpcc_pred_iq_a":-6.10532856,"mpcc_state":1,"mpcc_theta_e":0.447041988,"mpcc_theta_mech":0.556354284,"sam_rpm":4.53535986,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474895835,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.164328,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.806133032,"cg_iw_a":-1.24809718,"cg_theta_rad":0.556959867,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0215547197,"mpcc_du":50.6246758,"mpcc_dv":48.2904549,"mpcc_dw":51.7095451,"mpcc_enc_sign":1,"mpcc_id_a":0.931853712,"mpcc_iq_a":-0.288745016,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.8323126,"mpcc_pred_id_a":-0.363063216,"mpcc_pred_iq_a":-1.77023602,"mpcc_state":1,"mpcc_theta_e":0.452668667,"mpcc_theta_mech":0.55747968,"sam_rpm":-15.1654301,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0224387646,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456768155,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.170736,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.31354666,"cg_iw_a":-0.305757523,"cg_theta_rad":0.556955099,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0387505293,"mpcc_du":49.5379829,"mpcc_dv":49.8810272,"mpcc_dw":50.4620171,"mpcc_enc_sign":1,"mpcc_id_a":2.01896286,"mpcc_iq_a":0.799702764,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.04733181,"mpcc_pred_id_a":0.0713421479,"mpcc_pred_iq_a":-3.47448277,"mpcc_state":1,"mpcc_theta_e":0.431275368,"mpcc_theta_mech":0.55320102,"sam_rpm":9.84416389,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456768155,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.177237,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.38603449,"cg_iw_a":0.564094543,"cg_theta_rad":0.55061084,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.006422868,"mpcc_du":50.6295929,"mpcc_dv":48.2175674,"mpcc_dw":51.7824326,"mpcc_enc_sign":1,"mpcc_id_a":2.08168101,"mpcc_iq_a":-0.578341961,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.96902037,"mpcc_pred_id_a":0.229195654,"mpcc_pred_iq_a":-0.258883268,"mpcc_state":1,"mpcc_theta_e":0.448131561,"mpcc_theta_mech":0.556572258,"sam_rpm":-15.636426,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208400041,"thr_a_norm":0.0208400041,"thr_a_v":0.583360016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451783001,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.184713,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.09608364,"cg_iw_a":0.346631527,"cg_theta_rad":0.55397445,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0362918936,"mpcc_du":50.2535553,"mpcc_dv":48.577095,"mpcc_dw":51.422905,"mpcc_enc_sign":1,"mpcc_id_a":2.46210861,"mpcc_iq_a":-1.12512982,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.47442311,"mpcc_pred_id_a":0.257379174,"mpcc_pred_iq_a":-1.67376924,"mpcc_state":1,"mpcc_theta_e":0.445603848,"mpcc_theta_mech":0.556066692,"sam_rpm":1.44194484,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208400041,"thr_a_norm":0.0208400041,"thr_a_v":0.583360016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451783001,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.195059,"values":{"cg_iu_a":3.8664217,"cg_iv_a":-1.16857147,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.556301594,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0154782198,"mpcc_du":50.2493439,"mpcc_dv":48.6137314,"mpcc_dw":51.3862686,"mpcc_enc_sign":1,"mpcc_id_a":2.48822904,"mpcc_iq_a":-0.718110204,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.988656,"mpcc_pred_id_a":0.0542003661,"mpcc_pred_iq_a":-1.42694879,"mpcc_state":1,"mpcc_theta_e":0.42851162,"mpcc_theta_mech":0.552648246,"sam_rpm":-19.0934372,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137777478,"thr_a_norm":0.0137777478,"thr_a_v":0.555110991,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.433604956,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.205282,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.02359605,"cg_iw_a":-0.450732946,"cg_theta_rad":0.553022861,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0153395897,"mpcc_du":50.2083244,"mpcc_dv":48.5632744,"mpcc_dw":51.4367256,"mpcc_enc_sign":1,"mpcc_id_a":2.38695121,"mpcc_iq_a":-1.46126246,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.11692238,"mpcc_pred_id_a":0.377278477,"mpcc_pred_iq_a":-0.649725854,"mpcc_state":1,"mpcc_theta_e":0.430879593,"mpcc_theta_mech":0.553121805,"sam_rpm":-14.593791,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177431852,"thr_a_norm":0.0137777478,"thr_a_v":0.570972741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450423449,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.214895,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.661157608,"cg_iw_a":-2.11794901,"cg_theta_rad":0.557290196,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0555020124,"mpcc_du":50.1833038,"mpcc_dv":48.7767677,"mpcc_dw":51.2232323,"mpcc_enc_sign":1,"mpcc_id_a":0.499565035,"mpcc_iq_a":-0.188561156,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.204882056,"mpcc_pred_id_a":0.0916817337,"mpcc_pred_iq_a":-3.27097034,"mpcc_state":1,"mpcc_theta_e":0.447010994,"mpcc_theta_mech":0.556348145,"sam_rpm":1.092098,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177431852,"thr_a_norm":0.0177431852,"thr_a_v":0.570972741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450423449,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.225088,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.31354666,"cg_iw_a":0.491606712,"cg_theta_rad":0.556492984,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.00156356313,"mpcc_du":50.0197868,"mpcc_dv":49.2107048,"mpcc_dw":50.7892952,"mpcc_enc_sign":1,"mpcc_id_a":-0.142718226,"mpcc_iq_a":-2.20088339,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.7015655,"mpcc_pred_id_a":-0.537307024,"mpcc_pred_iq_a":-2.43817663,"mpcc_state":1,"mpcc_theta_e":0.44664669,"mpcc_theta_mech":0.556275249,"sam_rpm":4.44398212,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103308544,"thr_a_norm":0.103308544,"thr_a_v":0.913234174,"thr_b":0.0472007394,"thr_b_norm":0.0472007394,"thr_b_v":0.688802958,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.235067,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.02359605,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.555358887,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0327120088,"mpcc_du":49.9636765,"mpcc_dv":48.868042,"mpcc_dw":51.131958,"mpcc_enc_sign":1,"mpcc_id_a":2.417588,"mpcc_iq_a":0.489961952,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.36425161,"mpcc_pred_id_a":0.416767746,"mpcc_pred_iq_a":-1.78021944,"mpcc_state":1,"mpcc_theta_e":0.437879086,"mpcc_theta_mech":0.554521739,"sam_rpm":-4.00662231,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103308544,"thr_a_norm":0.103308544,"thr_a_v":0.913234174,"thr_b":0.0472007394,"thr_b_norm":0.0472007394,"thr_b_v":0.688802958,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.258261,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.02359605,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.555823326,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.00191003364,"mpcc_du":50.9139366,"mpcc_dv":47.946167,"mpcc_dw":52.053833,"mpcc_enc_sign":1,"mpcc_id_a":-0.0846454874,"mpcc_iq_a":-1.39588678,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.0050344,"mpcc_pred_id_a":-0.440869302,"mpcc_pred_iq_a":-7.48058319,"mpcc_state":1,"mpcc_theta_e":0.450808048,"mpcc_theta_mech":0.557107508,"sam_rpm":-7.71085167,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024339661,"thr_a_norm":0.024339661,"thr_a_v":0.597358644,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485067546,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.264822,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.443694592,"cg_iw_a":-0.523220539,"cg_theta_rad":0.555677354,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.00268974178,"mpcc_du":50.6199303,"mpcc_dv":48.4791336,"mpcc_dw":51.5208664,"mpcc_enc_sign":1,"mpcc_id_a":-0.641796887,"mpcc_iq_a":-2.46661735,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.1329875,"mpcc_pred_id_a":-0.683241665,"mpcc_pred_iq_a":-0.163089737,"mpcc_state":1,"mpcc_theta_e":0.435825348,"mpcc_theta_mech":0.554110944,"sam_rpm":-9.45686626,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289345384,"thr_a_norm":0.0289345384,"thr_a_v":0.615738153,"thr_b":0.000547036529,"thr_b_norm":0.000547036529,"thr_b_v":0.502188146,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.271353,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.661157608,"cg_iw_a":-1.90048599,"cg_theta_rad":0.555534482,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0208853669,"mpcc_du":49.5495682,"mpcc_dv":50.3872032,"mpcc_dw":50.4504318,"mpcc_enc_sign":1,"mpcc_id_a":2.77240086,"mpcc_iq_a":-1.31640565,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.13556361,"mpcc_pred_id_a":0.238547713,"mpcc_pred_iq_a":-4.98880339,"mpcc_state":1,"mpcc_theta_e":0.444629669,"mpcc_theta_mech":0.555871844,"sam_rpm":4.31712198,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289345384,"thr_a_norm":0.0289345384,"thr_a_v":0.615738153,"thr_b":0.000547036529,"thr_b_norm":0.000547036529,"thr_b_v":0.502188146,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.27828,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.443694592,"cg_iw_a":-1.68302298,"cg_theta_rad":0.5555197,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0117350034,"mpcc_du":49.9892197,"mpcc_dv":49.1613388,"mpcc_dw":50.8386612,"mpcc_enc_sign":1,"mpcc_id_a":-0.021747496,"mpcc_iq_a":-0.956340373,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.21147466,"mpcc_pred_id_a":-0.332180858,"mpcc_pred_iq_a":-5.17114973,"mpcc_state":1,"mpcc_theta_e":0.43925333,"mpcc_theta_mech":0.554796576,"sam_rpm":7.78963041,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0103410333,"thr_a_norm":0.0103410333,"thr_a_v":0.541364133,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456768155,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.28829,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.516182423,"cg_iw_a":-2.04546165,"cg_theta_rad":0.552057326,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0150170913,"mpcc_du":49.9498215,"mpcc_dv":49.1604004,"mpcc_dw":50.8395996,"mpcc_enc_sign":1,"mpcc_id_a":1.50145304,"mpcc_iq_a":-0.612770259,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.7652458,"mpcc_pred_id_a":-0.149091184,"mpcc_pred_iq_a":-2.89485288,"mpcc_state":1,"mpcc_theta_e":0.441631317,"mpcc_theta_mech":0.555272222,"sam_rpm":-2.36734939,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237731785,"thr_a_norm":0.0103410333,"thr_a_v":0.595092714,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473737687,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.298239,"values":{"cg_iu_a":0.894427299,"cg_iv_a":0.136206627,"cg_iw_a":-1.03063393,"cg_theta_rad":0.553961277,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0582807623,"mpcc_du":50.2773666,"mpcc_dv":48.6716042,"mpcc_dw":51.3283958,"mpcc_enc_sign":1,"mpcc_id_a":1.60194612,"mpcc_iq_a":0.767254233,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.70343268,"mpcc_pred_id_a":0.0483544692,"mpcc_pred_iq_a":-1.32642508,"mpcc_state":1,"mpcc_theta_e":0.447726727,"mpcc_theta_mech":0.556491256,"sam_rpm":3.62350917,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237731785,"thr_a_norm":0.0237731785,"thr_a_v":0.595092714,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473737687,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.308462,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.96593571,"cg_iw_a":-1.10312176,"cg_theta_rad":0.556215584,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0604102015,"mpcc_du":50.1241493,"mpcc_dv":48.7109718,"mpcc_dw":51.2890282,"mpcc_enc_sign":1,"mpcc_id_a":1.22225356,"mpcc_iq_a":0.808908403,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.09922314,"mpcc_pred_id_a":0.339831412,"mpcc_pred_iq_a":-1.29202676,"mpcc_state":1,"mpcc_theta_e":0.449424744,"mpcc_theta_mech":0.556830883,"sam_rpm":7.15414762,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177180022,"thr_a_norm":0.0177180022,"thr_a_v":0.570872009,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44211489,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.320913,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.588670254,"cg_iw_a":-2.26292419,"cg_theta_rad":0.557237446,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0313499682,"mpcc_du":50.1122017,"mpcc_dv":48.6506348,"mpcc_dw":51.3493652,"mpcc_enc_sign":1,"mpcc_id_a":2.48004508,"mpcc_iq_a":-0.227977008,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.66938686,"mpcc_pred_id_a":0.406142175,"mpcc_pred_iq_a":-1.86555338,"mpcc_state":1,"mpcc_theta_e":0.436154842,"mpcc_theta_mech":0.554176927,"sam_rpm":-6.93453979,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254474729,"thr_a_norm":0.0177180022,"thr_a_v":0.601789892,"thr_b":0.000282675028,"thr_b_norm":0,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.3319,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.53100967,"cg_iw_a":-1.46555996,"cg_theta_rad":0.557091534,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0390556902,"mpcc_du":49.8689079,"mpcc_dv":49.0343323,"mpcc_dw":50.9656677,"mpcc_enc_sign":1,"mpcc_id_a":2.22924566,"mpcc_iq_a":-0.255675226,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.45895195,"mpcc_pred_id_a":0.341368467,"mpcc_pred_iq_a":-1.44391429,"mpcc_state":1,"mpcc_theta_e":0.438742161,"mpcc_theta_mech":0.554694355,"sam_rpm":-2.88751078,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254474729,"thr_a_norm":0.0254474729,"thr_a_v":0.601789892,"thr_b":0.000282675028,"thr_b_norm":0.000282675028,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.356161,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.6759851,"cg_iw_a":1.28897119,"cg_theta_rad":0.552008152,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0539346486,"mpcc_du":49.4056587,"mpcc_dv":49.972496,"mpcc_dw":50.5943413,"mpcc_enc_sign":1,"mpcc_id_a":4.01612854,"mpcc_iq_a":-0.040127296,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.73176718,"mpcc_pred_id_a":0.931429446,"mpcc_pred_iq_a":-4.55592442,"mpcc_state":1,"mpcc_theta_e":0.441033363,"mpcc_theta_mech":0.555152595,"sam_rpm":2.06479383,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206763595,"thr_a_norm":0.0206763595,"thr_a_v":0.582705438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460242629,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.3626,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.31354666,"cg_iw_a":-2.19043636,"cg_theta_rad":0.557808518,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0231061857,"mpcc_du":49.8871155,"mpcc_dv":48.9327698,"mpcc_dw":51.0672302,"mpcc_enc_sign":1,"mpcc_id_a":2.69048715,"mpcc_iq_a":-0.320720285,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.2587042,"mpcc_pred_id_a":0.369750261,"mpcc_pred_iq_a":-3.59382415,"mpcc_state":1,"mpcc_theta_e":0.450566769,"mpcc_theta_mech":0.553411245,"sam_rpm":20.4612236,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0146337748,"thr_a_norm":0.0206763595,"thr_a_v":0.558535099,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448761702,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.369131,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.60349751,"cg_iw_a":-0.16078186,"cg_theta_rad":0.556690037,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.00455017155,"mpcc_du":50.4569931,"mpcc_dv":48.4163437,"mpcc_dw":51.5836563,"mpcc_enc_sign":1,"mpcc_id_a":0.598429561,"mpcc_iq_a":-0.318732738,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.26133251,"mpcc_pred_id_a":-0.0387360603,"mpcc_pred_iq_a":-0.32194075,"mpcc_state":1,"mpcc_theta_e":0.433636665,"mpcc_theta_mech":0.553673208,"sam_rpm":-12.5743694,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0146337748,"thr_a_norm":0.0146337748,"thr_a_v":0.558535099,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448761702,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.375875,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.32837415,"cg_iw_a":-0.668195724,"cg_theta_rad":0.554991484,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0512432978,"mpcc_du":51.039753,"mpcc_dv":47.8816414,"mpcc_dw":52.1183586,"mpcc_enc_sign":1,"mpcc_id_a":0.803867996,"mpcc_iq_a":0.259342402,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":19.7101326,"mpcc_pred_id_a":-0.542711258,"mpcc_pred_iq_a":-6.86428261,"mpcc_state":1,"mpcc_theta_e":0.461181164,"mpcc_theta_mech":0.559182107,"sam_rpm":3.29339695,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451027691,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.385519,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.588670254,"cg_iw_a":-1.82799816,"cg_theta_rad":0.554130793,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0311277546,"mpcc_du":50.0613976,"mpcc_dv":48.8394012,"mpcc_dw":51.1605988,"mpcc_enc_sign":1,"mpcc_id_a":0.536758423,"mpcc_iq_a":-0.108180217,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.74711657,"mpcc_pred_id_a":-0.353879184,"mpcc_pred_iq_a":-0.668484628,"mpcc_state":1,"mpcc_theta_e":0.437866211,"mpcc_theta_mech":0.557561815,"sam_rpm":-12.8245277,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451027691,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.395681,"values":{"cg_iu_a":2.48915625,"cg_iv_a":0.716107845,"cg_iw_a":-3.20526409,"cg_theta_rad":0.556965172,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.00849240273,"mpcc_du":50.035347,"mpcc_dv":48.8048134,"mpcc_dw":51.1951866,"mpcc_enc_sign":1,"mpcc_id_a":1.56638682,"mpcc_iq_a":0.576099098,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.03096771,"mpcc_pred_id_a":0.264047712,"mpcc_pred_iq_a":-1.15600061,"mpcc_state":1,"mpcc_theta_e":0.429366589,"mpcc_theta_mech":0.552819192,"sam_rpm":-14.6944246,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235465765,"thr_a_norm":0.0235465765,"thr_a_v":0.594186306,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466738373,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.406088,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.806133032,"cg_iw_a":-1.90048623,"cg_theta_rad":0.554593086,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0398636535,"mpcc_du":50.2803497,"mpcc_dv":48.4424782,"mpcc_dw":51.5575218,"mpcc_enc_sign":1,"mpcc_id_a":3.0273633,"mpcc_iq_a":-0.264310837,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.30331326,"mpcc_pred_id_a":0.52694267,"mpcc_pred_iq_a":-0.363084108,"mpcc_state":1,"mpcc_theta_e":0.43999815,"mpcc_theta_mech":0.554945529,"sam_rpm":-1.9725467,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0161947757,"thr_a_norm":0.0235465765,"thr_a_v":0.564779103,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.415854,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-2.25588632,"cg_iw_a":0.0566806793,"cg_theta_rad":0.555365562,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0196885597,"mpcc_du":49.8375244,"mpcc_dv":49.2569008,"mpcc_dw":50.7430992,"mpcc_enc_sign":1,"mpcc_id_a":0.275934666,"mpcc_iq_a":-1.65980339,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.32661748,"mpcc_pred_id_a":-0.14733009,"mpcc_pred_iq_a":-4.45378828,"mpcc_state":1,"mpcc_theta_e":0.447451115,"mpcc_theta_mech":0.556436121,"sam_rpm":3.22426391,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0161947757,"thr_a_norm":0.0161947757,"thr_a_v":0.564779103,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.426077,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.02359605,"cg_iw_a":-1.68302298,"cg_theta_rad":0.554949403,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.000440160162,"mpcc_du":49.3411598,"mpcc_dv":50.6588402,"mpcc_dw":49.9901505,"mpcc_enc_sign":1,"mpcc_id_a":-0.417240024,"mpcc_iq_a":-3.52292347,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.3359222,"mpcc_pred_id_a":-0.463323832,"mpcc_pred_iq_a":-4.40163088,"mpcc_state":1,"mpcc_theta_e":0.458280563,"mpcc_theta_mech":0.558602035,"sam_rpm":26.1098804,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237857699,"thr_a_norm":0.0237857699,"thr_a_v":0.59514308,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476910055,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.435965,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.733645439,"cg_iw_a":-2.11794901,"cg_theta_rad":0.55684042,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.049169939,"mpcc_du":50.4450989,"mpcc_dv":48.3971405,"mpcc_dw":51.4830246,"mpcc_enc_sign":1,"mpcc_id_a":1.16836679,"mpcc_iq_a":0.377269804,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.63031268,"mpcc_pred_id_a":0.118694507,"mpcc_pred_iq_a":-1.32977355,"mpcc_state":1,"mpcc_theta_e":0.442333698,"mpcc_theta_mech":0.556795716,"sam_rpm":-2.86132002,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237857699,"thr_a_norm":0.0237857699,"thr_a_v":0.59514308,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476910055,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.459311,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.31354666,"cg_iw_a":-1.82799864,"cg_theta_rad":0.552950859,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.000983486883,"mpcc_du":50.8934898,"mpcc_dv":48.0471611,"mpcc_dw":51.9528389,"mpcc_enc_sign":1,"mpcc_id_a":0.0727078542,"mpcc_iq_a":-1.45795977,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.50042057,"mpcc_pred_id_a":-0.450696677,"mpcc_pred_iq_a":1.5388931,"mpcc_state":1,"mpcc_theta_e":0.432391167,"mpcc_theta_mech":0.55342412,"sam_rpm":-15.0671234,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178061277,"thr_a_norm":0.0178061277,"thr_a_v":0.571224511,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440553904,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.465811,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.60349751,"cg_iw_a":0.346631527,"cg_theta_rad":0.556346536,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.00493033091,"mpcc_du":50.8797073,"mpcc_dv":48.2145653,"mpcc_dw":51.7854347,"mpcc_enc_sign":1,"mpcc_id_a":-1.40319443,"mpcc_iq_a":-0.877210855,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.8789482,"mpcc_pred_id_a":-0.97219342,"mpcc_pred_iq_a":-0.762328684,"mpcc_state":1,"mpcc_theta_e":0.424207211,"mpcc_theta_mech":0.551787317,"sam_rpm":-26.6474228,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101256564,"thr_a_norm":0.0178061277,"thr_a_v":0.905026257,"thr_b":0.0415609926,"thr_b_norm":0,"thr_b_v":0.66624397,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.472342,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.878620625,"cg_iw_a":-2.48038769,"cg_theta_rad":0.552847922,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.022439748,"mpcc_du":49.5172577,"mpcc_dv":50.3341866,"mpcc_dw":50.4827423,"mpcc_enc_sign":1,"mpcc_id_a":2.66364169,"mpcc_iq_a":-1.04024398,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.75098705,"mpcc_pred_id_a":0.324398875,"mpcc_pred_iq_a":-3.81490397,"mpcc_state":1,"mpcc_theta_e":0.446987152,"mpcc_theta_mech":0.556343377,"sam_rpm":13.0199261,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101256564,"thr_a_norm":0.101256564,"thr_a_v":0.905026257,"thr_b":0.0415609926,"thr_b_norm":0.0415609926,"thr_b_v":0.66624397,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.478903,"values":{"cg_iu_a":4.2288599,"cg_iv_a":-0.661157608,"cg_iw_a":-2.19043684,"cg_theta_rad":0.552459598,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.024386894,"mpcc_du":50.0297279,"mpcc_dv":48.8483086,"mpcc_dw":51.1516914,"mpcc_enc_sign":1,"mpcc_id_a":1.6680454,"mpcc_iq_a":-0.0973046273,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.43686914,"mpcc_pred_id_a":0.231531352,"mpcc_pred_iq_a":-0.678008914,"mpcc_state":1,"mpcc_theta_e":0.446053505,"mpcc_theta_mech":0.556156576,"sam_rpm":6.8521781,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440906376,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.488852,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.11794901,"cg_theta_rad":0.553942263,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0164354052,"mpcc_du":48.7704124,"mpcc_dv":51.2295876,"mpcc_dw":49.3923149,"mpcc_enc_sign":1,"mpcc_id_a":0.316308737,"mpcc_iq_a":-2.89300299,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.0977306,"mpcc_pred_id_a":-0.194047034,"mpcc_pred_iq_a":-4.36993694,"mpcc_state":1,"mpcc_theta_e":0.433629513,"mpcc_theta_mech":0.553671777,"sam_rpm":22.164072,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188384056,"thr_a_norm":0.0200217366,"thr_a_v":0.575353622,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459990859,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.498465,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.31354666,"cg_iw_a":0.0566806793,"cg_theta_rad":0.550124705,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0496148914,"mpcc_du":49.8416519,"mpcc_dv":48.9913979,"mpcc_dw":51.0086021,"mpcc_enc_sign":1,"mpcc_id_a":2.21644473,"mpcc_iq_a":-0.121028647,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.72428548,"mpcc_pred_id_a":0.51904428,"mpcc_pred_iq_a":-1.25954711,"mpcc_state":1,"mpcc_theta_e":0.443166256,"mpcc_theta_mech":0.555579126,"sam_rpm":0.530946374,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188384056,"thr_a_norm":0.0188384056,"thr_a_v":0.575353622,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459990859,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.508688,"values":{"cg_iu_a":-0.337862968,"cg_iv_a":-0.516182423,"cg_iw_a":0.854045391,"cg_theta_rad":0.553119242,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0364775099,"mpcc_du":50.8261452,"mpcc_dv":47.9663048,"mpcc_dw":52.0336952,"mpcc_enc_sign":1,"mpcc_id_a":1.87474215,"mpcc_iq_a":-0.49540621,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.5726614,"mpcc_pred_id_a":-0.0198428426,"mpcc_pred_iq_a":-1.97644329,"mpcc_state":1,"mpcc_theta_e":0.434006214,"mpcc_theta_mech":0.553747177,"sam_rpm":-18.9892578,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225017071,"thr_a_norm":0.0225017071,"thr_a_v":0.590006828,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474795133,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.518637,"values":{"cg_iu_a":-1.35269022,"cg_iv_a":-0.298719406,"cg_iw_a":1.65140963,"cg_theta_rad":0.553210378,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.000214932879,"mpcc_du":49.6021042,"mpcc_dv":49.9378242,"mpcc_dw":50.3978958,"mpcc_enc_sign":1,"mpcc_id_a":0.0937645063,"mpcc_iq_a":-2.54616332,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.1032095,"mpcc_pred_id_a":-0.191638663,"mpcc_pred_iq_a":-3.77718115,"mpcc_state":1,"mpcc_theta_e":0.446652412,"mpcc_theta_mech":0.556276381,"sam_rpm":7.57317877,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225017071,"thr_a_norm":0.0225017071,"thr_a_v":0.590006828,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474795133,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.528769,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.878620625,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.553045034,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0200157892,"mpcc_du":50.3253403,"mpcc_dv":48.3416214,"mpcc_dw":51.6583786,"mpcc_enc_sign":1,"mpcc_id_a":2.7859571,"mpcc_iq_a":-0.765324414,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.9536743,"mpcc_pred_id_a":0.498847812,"mpcc_pred_iq_a":-0.63518852,"mpcc_state":1,"mpcc_theta_e":0.429541111,"mpcc_theta_mech":0.55285418,"sam_rpm":-16.3830814,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024264127,"thr_a_norm":0.024264127,"thr_a_v":0.597056508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469507903,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.539083,"values":{"cg_iu_a":1.03940296,"cg_iv_a":0.0637187958,"cg_iw_a":-1.03063393,"cg_theta_rad":0.556558669,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.000752723019,"mpcc_du":49.4485359,"mpcc_dv":50.5514641,"mpcc_dw":50.239399,"mpcc_enc_sign":1,"mpcc_id_a":3.26448822,"mpcc_iq_a":-1.42680252,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.22511673,"mpcc_pred_id_a":-0.0352996551,"mpcc_pred_iq_a":-4.05620909,"mpcc_state":1,"mpcc_theta_e":0.4297719,"mpcc_theta_mech":0.552900314,"sam_rpm":12.4618597,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257621855,"thr_a_norm":0.024264127,"thr_a_v":0.603048742,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487283111,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.562124,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.26292467,"cg_theta_rad":0.556972861,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0798585415,"mpcc_du":50.0317154,"mpcc_dv":48.955143,"mpcc_dw":51.044857,"mpcc_enc_sign":1,"mpcc_id_a":2.04859447,"mpcc_iq_a":-0.14877452,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.81306958,"mpcc_pred_id_a":0.106557682,"mpcc_pred_iq_a":-3.70948267,"mpcc_state":1,"mpcc_theta_e":0.45014286,"mpcc_theta_mech":0.556974471,"sam_rpm":6.85352707,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257621855,"thr_a_norm":0.0257621855,"thr_a_v":0.603048742,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487283111,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.568594,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.96593571,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556131303,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.00991445687,"mpcc_du":50.1972923,"mpcc_dv":48.8467941,"mpcc_dw":51.1532059,"mpcc_enc_sign":1,"mpcc_id_a":1.84009945,"mpcc_iq_a":-1.7550391,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.63168955,"mpcc_pred_id_a":0.23825109,"mpcc_pred_iq_a":-4.15656376,"mpcc_state":1,"mpcc_theta_e":0.445384979,"mpcc_theta_mech":0.556022942,"sam_rpm":-0.178266376,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272980034,"thr_a_norm":0.0272980034,"thr_a_v":0.609192014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480233461,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.575125,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.16857147,"cg_iw_a":-4.65501785,"cg_theta_rad":0.556612253,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.00558267534,"mpcc_du":50.7637291,"mpcc_dv":48.0540619,"mpcc_dw":51.9459381,"mpcc_enc_sign":1,"mpcc_id_a":0.423828095,"mpcc_iq_a":-0.697750449,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.2000895,"mpcc_pred_id_a":-0.149430498,"mpcc_pred_iq_a":-0.683905184,"mpcc_state":1,"mpcc_theta_e":0.431854248,"mpcc_theta_mech":0.553316772,"sam_rpm":-19.5589066,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0306843668,"thr_a_norm":0.0272980034,"thr_a_v":0.622737467,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479729921,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.5837,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-2.25588632,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.554584026,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0210609026,"mpcc_du":50.1025162,"mpcc_dv":48.7242088,"mpcc_dw":51.2757912,"mpcc_enc_sign":1,"mpcc_id_a":1.77082491,"mpcc_iq_a":0.660138071,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.70228481,"mpcc_pred_id_a":0.256917894,"mpcc_pred_iq_a":-2.05130601,"mpcc_state":1,"mpcc_theta_e":0.433784008,"mpcc_theta_mech":0.553702712,"sam_rpm":-13.2105742,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0306843668,"thr_a_norm":0.0306843668,"thr_a_v":0.622737467,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479729921,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.593954,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.226231575,"cg_iw_a":-1.39307261,"cg_theta_rad":0.557166815,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0116567155,"mpcc_du":50.091835,"mpcc_dv":48.7132568,"mpcc_dw":49.9782906,"mpcc_enc_sign":1,"mpcc_id_a":2.1556077,"mpcc_iq_a":0.125075564,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.4672823,"mpcc_pred_id_a":0.269138396,"mpcc_pred_iq_a":-0.583263576,"mpcc_state":1,"mpcc_theta_e":0.427999496,"mpcc_theta_mech":0.553228378,"sam_rpm":-15.3258839,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022677958,"thr_a_norm":0.022677958,"thr_a_v":0.590711832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.603903,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.733645439,"cg_iw_a":2.08633566,"cg_theta_rad":0.553434908,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0448666848,"mpcc_du":49.8385735,"mpcc_dv":48.8503914,"mpcc_dw":51.1496086,"mpcc_enc_sign":1,"mpcc_id_a":2.99126983,"mpcc_iq_a":0.165082708,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.60120952,"mpcc_pred_id_a":0.726100683,"mpcc_pred_iq_a":-2.16679955,"mpcc_state":1,"mpcc_theta_e":0.44133997,"mpcc_theta_mech":0.555213869,"sam_rpm":-1.81065321,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022677958,"thr_a_norm":0.022677958,"thr_a_v":0.590711832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.613852,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.661157608,"cg_iw_a":-2.40789986,"cg_theta_rad":0.557493806,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0257509947,"mpcc_du":49.5469093,"mpcc_dv":50.3242226,"mpcc_dw":50.4530907,"mpcc_enc_sign":1,"mpcc_id_a":2.25011444,"mpcc_iq_a":-1.88917708,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.9130163,"mpcc_pred_id_a":0.076395303,"mpcc_pred_iq_a":-4.51769638,"mpcc_state":1,"mpcc_theta_e":0.455257416,"mpcc_theta_mech":0.557997406,"sam_rpm":20.2783966,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246292055,"thr_a_norm":0.0246292055,"thr_a_v":0.598516822,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49005264,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.624075,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.31354666,"cg_iw_a":-1.68302298,"cg_theta_rad":0.55550456,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.00210052845,"mpcc_du":50.4572716,"mpcc_dv":48.6005554,"mpcc_dw":51.3994446,"mpcc_enc_sign":1,"mpcc_id_a":-0.682984233,"mpcc_iq_a":-3.19154668,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.33318949,"mpcc_pred_id_a":-0.569978952,"mpcc_pred_iq_a":-2.16461587,"mpcc_state":1,"mpcc_theta_e":0.442510605,"mpcc_theta_mech":0.555447996,"sam_rpm":-4.0293746,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0096360743,"thr_a_norm":0.0246292055,"thr_a_v":0.538544297,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446747541,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.634237,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-1.24105906,"cg_iw_a":-0.378244877,"cg_theta_rad":0.553861082,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.00125492702,"mpcc_du":50.10252,"mpcc_dv":49.0528717,"mpcc_dw":50.9471283,"mpcc_enc_sign":1,"mpcc_id_a":-0.199838862,"mpcc_iq_a":-1.33510149,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.42489815,"mpcc_pred_id_a":-0.613474905,"mpcc_pred_iq_a":-2.27472186,"mpcc_state":1,"mpcc_theta_e":0.439339638,"mpcc_theta_mech":0.554813802,"sam_rpm":-4.6771884,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0096360743,"thr_a_norm":0.0096360743,"thr_a_v":0.538544297,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446747541,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.657675,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.02359605,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.554437935,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0034332592,"mpcc_du":48.9309235,"mpcc_dv":51.0690765,"mpcc_dw":49.4374199,"mpcc_enc_sign":1,"mpcc_id_a":-0.00671965303,"mpcc_iq_a":-1.24524498,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.02062941,"mpcc_pred_id_a":-0.649450719,"mpcc_pred_iq_a":-7.98763275,"mpcc_state":1,"mpcc_theta_e":0.446801186,"mpcc_theta_mech":0.556306183,"sam_rpm":8.09356117,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181837976,"thr_a_norm":0.0181837976,"thr_a_v":0.57273519,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461501479,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.664267,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-2.25588632,"cg_iw_a":-1.10312176,"cg_theta_rad":0.554371893,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0220809132,"mpcc_du":50.4658356,"mpcc_dv":48.2989922,"mpcc_dw":51.7010078,"mpcc_enc_sign":1,"mpcc_id_a":2.96600676,"mpcc_iq_a":-0.894697666,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.9242744,"mpcc_pred_id_a":0.118078187,"mpcc_pred_iq_a":-0.397962868,"mpcc_state":1,"mpcc_theta_e":0.429797649,"mpcc_theta_mech":0.55290544,"sam_rpm":-18.197319,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181837976,"thr_a_norm":0.0181837976,"thr_a_v":0.57273519,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461501479,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.670736,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.53100967,"cg_iw_a":0.854045391,"cg_theta_rad":0.557309568,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0395099074,"mpcc_du":50.0426979,"mpcc_dv":48.7291222,"mpcc_dw":51.2708778,"mpcc_enc_sign":1,"mpcc_id_a":2.93766403,"mpcc_iq_a":-0.806224644,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.32552147,"mpcc_pred_id_a":0.508523226,"mpcc_pred_iq_a":-0.476065546,"mpcc_state":1,"mpcc_theta_e":0.448766232,"mpcc_theta_mech":0.556699157,"sam_rpm":9.93169689,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024062708,"thr_a_norm":0.024062708,"thr_a_v":0.596250832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458782315,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.677237,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.09608364,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.556204438,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0281748567,"mpcc_du":49.8191185,"mpcc_dv":49.2745247,"mpcc_dw":50.7254753,"mpcc_enc_sign":1,"mpcc_id_a":0.362667918,"mpcc_iq_a":-1.45628691,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.9780097,"mpcc_pred_id_a":-0.24961549,"mpcc_pred_iq_a":-3.29368448,"mpcc_state":1,"mpcc_theta_e":0.444058418,"mpcc_theta_mech":0.555757642,"sam_rpm":12.8926907,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178816617,"thr_a_norm":0.024062708,"thr_a_v":0.571526647,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.68511,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.31354666,"cg_iw_a":-0.668195724,"cg_theta_rad":0.555614769,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.00577349449,"mpcc_du":49.616169,"mpcc_dv":49.2645378,"mpcc_dw":50.7354622,"mpcc_enc_sign":1,"mpcc_id_a":0.102157168,"mpcc_iq_a":-1.38238895,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.5012517,"mpcc_pred_id_a":-0.449723333,"mpcc_pred_iq_a":-4.44997835,"mpcc_state":1,"mpcc_theta_e":0.436460972,"mpcc_theta_mech":0.554238081,"sam_rpm":6.55599928,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178816617,"thr_a_norm":0.0178816617,"thr_a_v":0.571526647,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.694448,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.806133032,"cg_iw_a":-0.523220301,"cg_theta_rad":0.558537364,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.000340861676,"mpcc_du":50.6315384,"mpcc_dv":48.089962,"mpcc_dw":51.910038,"mpcc_enc_sign":1,"mpcc_id_a":0.234709248,"mpcc_iq_a":-1.2968303,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.6668625,"mpcc_pred_id_a":-0.0247050785,"mpcc_pred_iq_a":-1.97209501,"mpcc_state":1,"mpcc_theta_e":0.425841808,"mpcc_theta_mech":0.552114248,"sam_rpm":-29.936676,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291737169,"thr_a_norm":0.0291737169,"thr_a_v":0.616694868,"thr_b":0.00528039038,"thr_b_norm":0.00528039038,"thr_b_v":0.521121562,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.705465,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.951108456,"cg_iw_a":-1.17560911,"cg_theta_rad":0.556526184,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0170294419,"mpcc_du":50.3359146,"mpcc_dv":48.5128517,"mpcc_dw":51.4871483,"mpcc_enc_sign":1,"mpcc_id_a":2.04216623,"mpcc_iq_a":-0.995778501,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.40220499,"mpcc_pred_id_a":-0.0212832149,"mpcc_pred_iq_a":-1.25712717,"mpcc_state":1,"mpcc_theta_e":0.437053204,"mpcc_theta_mech":0.554356515,"sam_rpm":-7.25514507,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291737169,"thr_a_norm":0.0291737169,"thr_a_v":0.616694868,"thr_b":0.00528039038,"thr_b_norm":0.00528039038,"thr_b_v":0.521121562,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.715658,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.153744221,"cg_iw_a":1.21648383,"cg_theta_rad":0.555657566,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0378521681,"mpcc_du":50.474411,"mpcc_dv":48.3726196,"mpcc_dw":51.6273804,"mpcc_enc_sign":1,"mpcc_id_a":0.572081029,"mpcc_iq_a":-0.035212744,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.44353485,"mpcc_pred_id_a":-0.00914150942,"mpcc_pred_iq_a":-1.83157194,"mpcc_state":1,"mpcc_theta_e":0.442825794,"mpcc_theta_mech":0.555511057,"sam_rpm":-5.64426231,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196692646,"thr_a_norm":0.0196692646,"thr_a_v":0.578677058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465328425,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.728079,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.60349751,"cg_iw_a":-1.10312176,"cg_theta_rad":0.552096665,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0011654644,"mpcc_du":49.8204651,"mpcc_dv":49.2884445,"mpcc_dw":50.7115555,"mpcc_enc_sign":1,"mpcc_id_a":-0.0568448789,"mpcc_iq_a":-2.70369124,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.4081111,"mpcc_pred_id_a":-0.304977,"mpcc_pred_iq_a":-3.410887,"mpcc_state":1,"mpcc_theta_e":0.444746017,"mpcc_theta_mech":0.55589515,"sam_rpm":4.29613733,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022199586,"thr_a_norm":0.0196692646,"thr_a_v":0.588798344,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480384529,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.737875,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.24105906,"cg_iw_a":0.0566809177,"cg_theta_rad":0.557771683,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0650206059,"mpcc_du":49.6624565,"mpcc_dv":49.1177483,"mpcc_dw":50.8822517,"mpcc_enc_sign":1,"mpcc_id_a":3.35895348,"mpcc_iq_a":0.289293408,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.5854864,"mpcc_pred_id_a":0.656339049,"mpcc_pred_iq_a":-0.428398788,"mpcc_state":1,"mpcc_theta_e":0.435083866,"mpcc_theta_mech":0.553962648,"sam_rpm":-3.83802247,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022199586,"thr_a_norm":0.022199586,"thr_a_v":0.588798344,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480384529,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.761251,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.806133032,"cg_iw_a":-0.450732946,"cg_theta_rad":0.552807152,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.00822058693,"mpcc_du":48.253376,"mpcc_dv":51.746624,"mpcc_dw":48.7463837,"mpcc_enc_sign":1,"mpcc_id_a":0.026844753,"mpcc_iq_a":-2.11321497,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":24.377697,"mpcc_pred_id_a":-0.532282472,"mpcc_pred_iq_a":-8.27531815,"mpcc_state":1,"mpcc_theta_e":0.462501049,"mpcc_theta_mech":0.559446096,"sam_rpm":36.1399269,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192286521,"thr_a_norm":0.0192286521,"thr_a_v":0.576914608,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451128393,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.767813,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.09608364,"cg_iw_a":-1.46555996,"cg_theta_rad":0.554800808,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.018090941,"mpcc_du":50.0391579,"mpcc_dv":48.9156342,"mpcc_dw":51.0843658,"mpcc_enc_sign":1,"mpcc_id_a":0.568966806,"mpcc_iq_a":-0.546794951,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.52641916,"mpcc_pred_id_a":-0.048586756,"mpcc_pred_iq_a":-1.57641041,"mpcc_state":1,"mpcc_theta_e":0.447115898,"mpcc_theta_mech":0.556369066,"sam_rpm":5.54296875,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.044242382,"thr_a_norm":0.0192286521,"thr_a_v":0.676969528,"thr_b":0.0100640953,"thr_b_norm":0,"thr_b_v":0.540256381,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.774313,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.45852208,"cg_iw_a":0.274143934,"cg_theta_rad":0.555790782,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.000710065884,"mpcc_du":50.6537743,"mpcc_dv":48.1292725,"mpcc_dw":51.8707275,"mpcc_enc_sign":1,"mpcc_id_a":0.28092885,"mpcc_iq_a":-0.491539717,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.2483253,"mpcc_pred_id_a":-0.133310482,"mpcc_pred_iq_a":-0.0579366609,"mpcc_state":1,"mpcc_theta_e":0.427692413,"mpcc_theta_mech":0.552484393,"sam_rpm":-21.3854694,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.044242382,"thr_a_norm":0.044242382,"thr_a_v":0.676969528,"thr_b":0.0100640953,"thr_b_norm":0.0100640953,"thr_b_v":0.540256381,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.782614,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-0.733645439,"cg_iw_a":0.564094543,"cg_theta_rad":0.552849114,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0078492593,"mpcc_du":49.0032043,"mpcc_dv":50.9967957,"mpcc_dw":49.7616653,"mpcc_enc_sign":1,"mpcc_id_a":0.801344156,"mpcc_iq_a":-1.04840136,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":24.597086,"mpcc_pred_id_a":-0.0368885882,"mpcc_pred_iq_a":-3.37525153,"mpcc_state":1,"mpcc_theta_e":0.461537361,"mpcc_theta_mech":0.559253395,"sam_rpm":36.2403069,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.018825829,"thr_a_norm":0.018825829,"thr_a_v":0.575303316,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448006392,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.792837,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-2.0384233,"cg_iw_a":0.201656103,"cg_theta_rad":0.55495137,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.02395197,"mpcc_du":49.3311806,"mpcc_dv":50.6688194,"mpcc_dw":50.2663269,"mpcc_enc_sign":1,"mpcc_id_a":2.95250154,"mpcc_iq_a":-0.440330058,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.30730247,"mpcc_pred_id_a":0.294231266,"mpcc_pred_iq_a":-4.14108229,"mpcc_state":1,"mpcc_theta_e":0.448311806,"mpcc_theta_mech":0.55660826,"sam_rpm":12.1645327,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247047395,"thr_a_norm":0.018825829,"thr_a_v":0.598818958,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490908653,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.802847,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.226231575,"cg_iw_a":-1.32058477,"cg_theta_rad":0.556399286,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.00464408426,"mpcc_du":50.8985443,"mpcc_dv":47.878273,"mpcc_dw":52.121727,"mpcc_enc_sign":1,"mpcc_id_a":0.836816192,"mpcc_iq_a":-0.144320354,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.0448418,"mpcc_pred_id_a":-0.331115484,"mpcc_pred_iq_a":0.147230297,"mpcc_state":1,"mpcc_theta_e":0.424710751,"mpcc_theta_mech":0.551888049,"sam_rpm":-25.4660187,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247047395,"thr_a_norm":0.0247047395,"thr_a_v":0.598818958,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490908653,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.812948,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.16857147,"cg_iw_a":-0.450732708,"cg_theta_rad":0.557697594,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0137465438,"mpcc_du":49.7920227,"mpcc_dv":49.0775795,"mpcc_dw":50.9224205,"mpcc_enc_sign":1,"mpcc_id_a":2.33237576,"mpcc_iq_a":-1.56691468,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.14243841,"mpcc_pred_id_a":0.26315546,"mpcc_pred_iq_a":-0.818470716,"mpcc_state":1,"mpcc_theta_e":0.443517685,"mpcc_theta_mech":0.555649459,"sam_rpm":5.8591156,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236346871,"thr_a_norm":0.0236346871,"thr_a_v":0.594538748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.822866,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.82096052,"cg_iw_a":0.999020576,"cg_theta_rad":0.557200253,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.00661032554,"mpcc_du":50.4100876,"mpcc_dv":48.4204559,"mpcc_dw":51.5795441,"mpcc_enc_sign":1,"mpcc_id_a":0.483951747,"mpcc_iq_a":-0.911249399,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.89692116,"mpcc_pred_id_a":-0.0857628211,"mpcc_pred_iq_a":-1.45895624,"mpcc_state":1,"mpcc_theta_e":0.43347311,"mpcc_theta_mech":0.553640544,"sam_rpm":-12.5315752,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236346871,"thr_a_norm":0.0236346871,"thr_a_v":0.594538748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.833059,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.661157608,"cg_iw_a":-1.82799816,"cg_theta_rad":0.556447983,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0129286721,"mpcc_du":49.5737381,"mpcc_dv":49.2598724,"mpcc_dw":50.7401276,"mpcc_enc_sign":1,"mpcc_id_a":1.91600716,"mpcc_iq_a":-1.95183647,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.33333838,"mpcc_pred_id_a":0.391835451,"mpcc_pred_iq_a":-1.95293915,"mpcc_state":1,"mpcc_theta_e":0.43661356,"mpcc_theta_mech":0.554268599,"sam_rpm":-3.50565362,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0223380625,"thr_a_norm":0.0223380625,"thr_a_v":0.58935225,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.843252,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.89344811,"cg_iw_a":-1.39307237,"cg_theta_rad":0.555851042,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0112658376,"mpcc_du":49.5230713,"mpcc_dv":50.4769287,"mpcc_dw":50.4487152,"mpcc_enc_sign":1,"mpcc_id_a":1.94772398,"mpcc_iq_a":-1.52913499,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.1614809,"mpcc_pred_id_a":0.17662406,"mpcc_pred_iq_a":-3.95047855,"mpcc_state":1,"mpcc_theta_e":0.445746422,"mpcc_theta_mech":0.556095243,"sam_rpm":15.0261126,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0300800949,"thr_a_norm":0.0223380625,"thr_a_v":0.62032038,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475751907,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.866293,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.298719406,"cg_iw_a":-1.17560983,"cg_theta_rad":0.557371914,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.036448203,"mpcc_du":49.6080208,"mpcc_dv":50.3593826,"mpcc_dw":50.3919792,"mpcc_enc_sign":1,"mpcc_id_a":1.1313709,"mpcc_iq_a":-0.210997656,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.724337459,"mpcc_pred_id_a":-0.243370384,"mpcc_pred_iq_a":-7.21044779,"mpcc_state":1,"mpcc_theta_e":0.445413589,"mpcc_theta_mech":0.556028664,"sam_rpm":1.52185702,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0300800949,"thr_a_norm":0.0300800949,"thr_a_v":0.62032038,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475751907,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.872763,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.02359605,"cg_iw_a":0.491606951,"cg_theta_rad":0.55367142,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0268032867,"mpcc_du":49.6892548,"mpcc_dv":49.1642189,"mpcc_dw":50.8357811,"mpcc_enc_sign":1,"mpcc_id_a":3.27144432,"mpcc_iq_a":-0.578852832,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.42558765,"mpcc_pred_id_a":0.448382437,"mpcc_pred_iq_a":-2.9732945,"mpcc_state":1,"mpcc_theta_e":0.431078434,"mpcc_theta_mech":0.553161621,"sam_rpm":-13.3980808,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225772411,"thr_a_norm":0.0225772411,"thr_a_v":0.590308964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482902259,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.879293,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.53100967,"cg_iw_a":-0.305757523,"cg_theta_rad":0.556963325,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0164830629,"mpcc_du":50.0561218,"mpcc_dv":48.7150764,"mpcc_dw":51.2849236,"mpcc_enc_sign":1,"mpcc_id_a":1.70570683,"mpcc_iq_a":-0.518031538,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.37863755,"mpcc_pred_id_a":0.428496242,"mpcc_pred_iq_a":-1.58966148,"mpcc_state":1,"mpcc_theta_e":0.438486576,"mpcc_theta_mech":0.554643214,"sam_rpm":-4.66329718,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225772411,"thr_a_norm":0.0225772411,"thr_a_v":0.590308964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482902259,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.885824,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.516182423,"cg_iw_a":-2.26292419,"cg_theta_rad":0.55277288,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.00394682726,"mpcc_du":49.160984,"mpcc_dv":50.839016,"mpcc_dw":49.8395462,"mpcc_enc_sign":1,"mpcc_id_a":0.496587157,"mpcc_iq_a":-0.543268442,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.880127,"mpcc_pred_id_a":-0.321848333,"mpcc_pred_iq_a":-4.52553463,"mpcc_state":1,"mpcc_theta_e":0.426910877,"mpcc_theta_mech":0.55232805,"sam_rpm":18.6590748,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105901793,"thr_a_norm":0.105901793,"thr_a_v":0.923607171,"thr_b":0.0495674014,"thr_b_norm":0.0495674014,"thr_b_v":0.698269606,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.894278,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-2.11091113,"cg_iw_a":1.65140986,"cg_theta_rad":0.555904567,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10018,"hz_vsense":360,"mpcc_cost":0.0145444758,"mpcc_du":49.4846802,"mpcc_dv":49.9830322,"mpcc_dw":50.5153198,"mpcc_enc_sign":1,"mpcc_id_a":2.28379989,"mpcc_iq_a":-0.993910968,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.37615252,"mpcc_pred_id_a":0.360641569,"mpcc_pred_iq_a":-3.11149907,"mpcc_state":1,"mpcc_theta_e":0.445723057,"mpcc_theta_mech":0.553464413,"sam_rpm":8.58019543,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206385851,"thr_a_norm":0.105901793,"thr_a_v":0.58255434,"thr_b":0,"thr_b_norm":0.0495674014,"thr_b_v":0.459487319,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.904837,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.951108456,"cg_iw_a":-2.04546118,"cg_theta_rad":0.553255081,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0189298373,"mpcc_du":49.450695,"mpcc_dv":49.8119698,"mpcc_dw":50.549305,"mpcc_enc_sign":1,"mpcc_id_a":2.75165939,"mpcc_iq_a":-1.02163482,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.51788664,"mpcc_pred_id_a":0.474616408,"mpcc_pred_iq_a":-2.18054795,"mpcc_state":1,"mpcc_theta_e":0.442548752,"mpcc_theta_mech":0.555455625,"sam_rpm":6.85258341,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206385851,"thr_a_norm":0.0206385851,"thr_a_v":0.58255434,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459487319,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.91503,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.96593571,"cg_iw_a":-0.305757523,"cg_theta_rad":0.556323826,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0409385264,"mpcc_du":50.4082451,"mpcc_dv":48.4459686,"mpcc_dw":51.5540314,"mpcc_enc_sign":1,"mpcc_id_a":0.867642343,"mpcc_iq_a":-0.595176518,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.175742328,"mpcc_pred_id_a":-0.0318913944,"mpcc_pred_iq_a":-1.70915294,"mpcc_state":1,"mpcc_theta_e":0.445374966,"mpcc_theta_mech":0.556482613,"sam_rpm":0.685695291,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0268699974,"thr_a_norm":0.0268699974,"thr_a_v":0.60747999,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.924826,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.89344811,"cg_iw_a":0.926532984,"cg_theta_rad":0.555427492,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.00385629758,"mpcc_du":50.434803,"mpcc_dv":48.2893181,"mpcc_dw":51.7106819,"mpcc_enc_sign":1,"mpcc_id_a":1.16025949,"mpcc_iq_a":-1.35547793,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.42834,"mpcc_pred_id_a":0.122543521,"mpcc_pred_iq_a":-1.99013209,"mpcc_state":1,"mpcc_theta_e":0.429477692,"mpcc_theta_mech":0.552841485,"sam_rpm":-23.2311153,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0268699974,"thr_a_norm":0.0268699974,"thr_a_v":0.60747999,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.934927,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.443694592,"cg_iw_a":-0.378245354,"cg_theta_rad":0.557943404,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0151862493,"mpcc_du":49.4508095,"mpcc_dv":49.8858643,"mpcc_dw":50.5491905,"mpcc_enc_sign":1,"mpcc_id_a":2.82614112,"mpcc_iq_a":-0.343916595,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.45542192,"mpcc_pred_id_a":0.475393236,"mpcc_pred_iq_a":-2.3580277,"mpcc_state":1,"mpcc_theta_e":0.436422825,"mpcc_theta_mech":0.554230452,"sam_rpm":9.72727489,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172899961,"thr_a_norm":0.0172899961,"thr_a_v":0.569159985,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447653919,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.945242,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.298719406,"cg_iw_a":-0.305757523,"cg_theta_rad":0.555842757,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0261753369,"mpcc_du":49.662674,"mpcc_dv":49.1428719,"mpcc_dw":50.8571281,"mpcc_enc_sign":1,"mpcc_id_a":1.74549425,"mpcc_iq_a":-1.110919,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.69553018,"mpcc_pred_id_a":0.441466987,"mpcc_pred_iq_a":-3.45206594,"mpcc_state":1,"mpcc_theta_e":0.447105408,"mpcc_theta_mech":0.55636698,"sam_rpm":4.93441582,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262909085,"thr_a_norm":0.0172899961,"thr_a_v":0.605163634,"thr_b":0.00068551302,"thr_b_norm":0,"thr_b_v":0.502742052,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.968161,"values":{"cg_iu_a":1.18437815,"cg_iv_a":0.208694458,"cg_iw_a":-1.32058477,"cg_theta_rad":0.556301117,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.013290667,"mpcc_du":48.9296837,"mpcc_dv":51.0703163,"mpcc_dw":49.4310074,"mpcc_enc_sign":1,"mpcc_id_a":0.392082661,"mpcc_iq_a":-1.07130635,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.4857597,"mpcc_pred_id_a":-0.794552922,"mpcc_pred_iq_a":-8.01409817,"mpcc_state":1,"mpcc_theta_e":0.453670025,"mpcc_theta_mech":0.557679892,"sam_rpm":15.5024595,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262909085,"thr_a_norm":0.0262909085,"thr_a_v":0.605163634,"thr_b":0.00068551302,"thr_b_norm":0.00068551302,"thr_b_v":0.502742052,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.974722,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.0812563896,"cg_iw_a":1.36145902,"cg_theta_rad":0.553155482,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.00945110153,"mpcc_du":49.6140747,"mpcc_dv":50.2355461,"mpcc_dw":50.3859253,"mpcc_enc_sign":1,"mpcc_id_a":-0.335561663,"mpcc_iq_a":-0.903078198,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.7949562,"mpcc_pred_id_a":-0.354781806,"mpcc_pred_iq_a":-2.18198967,"mpcc_state":1,"mpcc_theta_e":0.45668602,"mpcc_theta_mech":0.558283091,"sam_rpm":26.1827583,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.0167864412,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.981192,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-3.19822598,"cg_iw_a":1.65140963,"cg_theta_rad":0.558228433,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0232631359,"mpcc_du":50.6317863,"mpcc_dv":48.2724953,"mpcc_dw":51.7275047,"mpcc_enc_sign":1,"mpcc_id_a":0.533392489,"mpcc_iq_a":-1.12971628,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.28618395,"mpcc_pred_id_a":-0.218814954,"mpcc_pred_iq_a":-0.778403342,"mpcc_state":1,"mpcc_theta_e":0.443955421,"mpcc_theta_mech":0.555736959,"sam_rpm":-0.827372789,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.0167864412,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.987722,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-1.16857147,"cg_iw_a":-1.75551081,"cg_theta_rad":0.556279898,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.015128809,"mpcc_du":50.2512398,"mpcc_dv":48.6397705,"mpcc_dw":51.3602295,"mpcc_enc_sign":1,"mpcc_id_a":1.16866589,"mpcc_iq_a":-0.124370359,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.4054184,"mpcc_pred_id_a":-0.066167891,"mpcc_pred_iq_a":-2.21551514,"mpcc_state":1,"mpcc_theta_e":0.435917377,"mpcc_theta_mech":0.554129422,"sam_rpm":-12.1453714,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222121775,"thr_a_norm":0.0222121775,"thr_a_v":0.58884871,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487283111,"vdc_v":55.2955055}} +{"type":"telemetry","t":9.996267,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.53100967,"cg_iw_a":-2.48038769,"cg_theta_rad":0.556556582,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.00324783451,"mpcc_du":49.551754,"mpcc_dv":49.6003151,"mpcc_dw":50.448246,"mpcc_enc_sign":1,"mpcc_id_a":0.932125092,"mpcc_iq_a":-0.287867725,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.01357841,"mpcc_pred_id_a":-0.165173754,"mpcc_pred_iq_a":-4.71752405,"mpcc_state":1,"mpcc_theta_e":0.432793617,"mpcc_theta_mech":0.553504646,"sam_rpm":-12.8803787,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0134126842,"thr_a_norm":0.0222121775,"thr_a_v":0.553650737,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.006216,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.25588632,"cg_iw_a":-2.40789986,"cg_theta_rad":0.555389762,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.027972592,"mpcc_du":50.716465,"mpcc_dv":47.7473717,"mpcc_dw":52.2526283,"mpcc_enc_sign":1,"mpcc_id_a":3.23240566,"mpcc_iq_a":-0.11774563,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.8886986,"mpcc_pred_id_a":0.56484139,"mpcc_pred_iq_a":-0.28443709,"mpcc_state":1,"mpcc_theta_e":0.422401905,"mpcc_theta_mech":0.551426291,"sam_rpm":-31.579958,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0134126842,"thr_a_norm":0.0134126842,"thr_a_v":0.553650737,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.016653,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.45852208,"cg_iw_a":-1.39307237,"cg_theta_rad":0.555992961,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0139213335,"mpcc_du":49.5407639,"mpcc_dv":50.4592361,"mpcc_dw":50.4562798,"mpcc_enc_sign":1,"mpcc_id_a":2.29512072,"mpcc_iq_a":-0.637314677,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.6603498,"mpcc_pred_id_a":0.166982889,"mpcc_pred_iq_a":-1.92422414,"mpcc_state":1,"mpcc_theta_e":0.449206829,"mpcc_theta_mech":0.556787252,"sam_rpm":19.3717384,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0110208243,"thr_a_norm":0.0110208243,"thr_a_v":0.544083297,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.430684388,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.026419,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.53100967,"cg_iw_a":-0.885658741,"cg_theta_rad":0.555029094,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.00404854398,"mpcc_du":49.6621933,"mpcc_dv":49.4216309,"mpcc_dw":50.5783691,"mpcc_enc_sign":1,"mpcc_id_a":1.22599781,"mpcc_iq_a":-2.53155875,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.00482178,"mpcc_pred_id_a":-0.0812208578,"mpcc_pred_iq_a":-3.28582096,"mpcc_state":1,"mpcc_theta_e":0.446639061,"mpcc_theta_mech":0.556273699,"sam_rpm":5.87021828,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0110208243,"thr_a_norm":0.0110208243,"thr_a_v":0.544083297,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.430684388,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.036825,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-3.05325079,"cg_iw_a":0.636582375,"cg_theta_rad":0.553210974,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0132957445,"mpcc_du":48.4851837,"mpcc_dv":51.5148163,"mpcc_dw":48.9441872,"mpcc_enc_sign":1,"mpcc_id_a":1.49675393,"mpcc_iq_a":-2.39451408,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":29.7785168,"mpcc_pred_id_a":-0.562243879,"mpcc_pred_iq_a":-6.24714756,"mpcc_state":1,"mpcc_theta_e":0.46846962,"mpcc_theta_mech":0.555788457,"sam_rpm":44.5965805,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020940721,"thr_a_norm":0.020940721,"thr_a_v":0.583762884,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460645467,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.047018,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.951108456,"cg_iw_a":0.346631527,"cg_theta_rad":0.554943621,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0319471322,"mpcc_du":49.6153374,"mpcc_dv":49.2510071,"mpcc_dw":50.7489929,"mpcc_enc_sign":1,"mpcc_id_a":3.17475462,"mpcc_iq_a":-1.14834762,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.37371063,"mpcc_pred_id_a":0.587079704,"mpcc_pred_iq_a":-2.21602488,"mpcc_state":1,"mpcc_theta_e":0.447614193,"mpcc_theta_mech":0.556468725,"sam_rpm":8.29573441,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262909085,"thr_a_norm":0.020940721,"thr_a_v":0.605163634,"thr_b":0.000446334481,"thr_b_norm":0,"thr_b_v":0.501785338,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.070059,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.226231575,"cg_iw_a":-0.59570837,"cg_theta_rad":0.553549588,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.00458752317,"mpcc_du":49.346302,"mpcc_dv":50.653698,"mpcc_dw":50.1514587,"mpcc_enc_sign":1,"mpcc_id_a":3.03738713,"mpcc_iq_a":-0.811998129,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.9157722,"mpcc_pred_id_a":0.0249047782,"mpcc_pred_iq_a":-6.14038229,"mpcc_state":1,"mpcc_theta_e":0.428047657,"mpcc_theta_mech":0.552555442,"sam_rpm":2.46402431,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262909085,"thr_a_norm":0.0262909085,"thr_a_v":0.605163634,"thr_b":0.000446334481,"thr_b_norm":0.000446334481,"thr_b_v":0.501785338,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.07659,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.6759851,"cg_iw_a":-0.740683317,"cg_theta_rad":0.557233155,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0123951221,"mpcc_du":49.5549889,"mpcc_dv":49.4081917,"mpcc_dw":50.5918083,"mpcc_enc_sign":1,"mpcc_id_a":1.27470732,"mpcc_iq_a":0.103074327,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.56032848,"mpcc_pred_id_a":0.205923811,"mpcc_pred_iq_a":-4.20198536,"mpcc_state":1,"mpcc_theta_e":0.436056614,"mpcc_theta_mech":0.554157197,"sam_rpm":-8.30619431,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289471298,"thr_a_norm":0.0289471298,"thr_a_v":0.615788519,"thr_b":0.00068551302,"thr_b_norm":0.00068551302,"thr_b_v":0.502742052,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.08312,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.53100967,"cg_iw_a":-0.015806675,"cg_theta_rad":0.555640399,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0263246484,"mpcc_du":50.1864662,"mpcc_dv":48.6439896,"mpcc_dw":51.3560104,"mpcc_enc_sign":1,"mpcc_id_a":2.42777085,"mpcc_iq_a":-1.1971401,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.784897149,"mpcc_pred_id_a":0.162717447,"mpcc_pred_iq_a":-1.26113284,"mpcc_state":1,"mpcc_theta_e":0.444154263,"mpcc_theta_mech":0.555776775,"sam_rpm":1.4678973,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289471298,"thr_a_norm":0.0289471298,"thr_a_v":0.615788519,"thr_b":0.00068551302,"thr_b_norm":0.00068551302,"thr_b_v":0.502742052,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.0902,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.516182423,"cg_iw_a":-1.61053514,"cg_theta_rad":0.55408597,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.00818398502,"mpcc_du":50.8330994,"mpcc_dv":47.7634697,"mpcc_dw":52.2365303,"mpcc_enc_sign":1,"mpcc_id_a":1.59541488,"mpcc_iq_a":-0.577590108,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.9418926,"mpcc_pred_id_a":0.121321678,"mpcc_pred_iq_a":-0.590297222,"mpcc_state":1,"mpcc_theta_e":0.423817635,"mpcc_theta_mech":0.551709414,"sam_rpm":-30.9924946,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101672009,"thr_a_norm":0.101672009,"thr_a_v":0.906688035,"thr_b":0.0456523299,"thr_b_norm":0.0456523299,"thr_b_v":0.68260932,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.100027,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.153744221,"cg_iw_a":-1.90048599,"cg_theta_rad":0.551139176,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.00471471623,"mpcc_du":50.4315338,"mpcc_dv":48.8517876,"mpcc_dw":50.2821579,"mpcc_enc_sign":1,"mpcc_id_a":-0.94402355,"mpcc_iq_a":-2.69879842,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.15586948,"mpcc_pred_id_a":-1.05796778,"mpcc_pred_iq_a":-1.97353482,"mpcc_state":1,"mpcc_theta_e":0.446721554,"mpcc_theta_mech":0.556290269,"sam_rpm":2.46326613,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0125818253,"thr_a_norm":0.101672009,"thr_a_v":0.550327301,"thr_b":0,"thr_b_norm":0.0456523299,"thr_b_v":0.439899296,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.109701,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.38603449,"cg_iw_a":-1.75551081,"cg_theta_rad":0.556840062,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.129384205,"mpcc_du":50.0680122,"mpcc_dv":48.4349937,"mpcc_dw":51.5650063,"mpcc_enc_sign":1,"mpcc_id_a":0.322441339,"mpcc_iq_a":-0.0515840128,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.9474401,"mpcc_pred_id_a":-0.5343979,"mpcc_pred_iq_a":-3.90951395,"mpcc_state":1,"mpcc_theta_e":0.430752277,"mpcc_theta_mech":0.553599,"sam_rpm":-9.65936756,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0125818253,"thr_a_norm":0.0125818253,"thr_a_v":0.550327301,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439899296,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.120016,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.371207237,"cg_iw_a":-0.015806675,"cg_theta_rad":0.559329629,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0253482871,"mpcc_du":50.1259918,"mpcc_dv":48.8692513,"mpcc_dw":51.1307487,"mpcc_enc_sign":1,"mpcc_id_a":1.97665274,"mpcc_iq_a":-1.96767545,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.77786684,"mpcc_pred_id_a":-0.0852412507,"mpcc_pred_iq_a":-2.83567977,"mpcc_state":1,"mpcc_theta_e":0.448238373,"mpcc_theta_mech":0.556593597,"sam_rpm":4.1057291,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0117006153,"thr_a_norm":0.0117006153,"thr_a_v":0.546802461,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438287944,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.131033,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.661157608,"cg_iw_a":-2.33541203,"cg_theta_rad":0.555538476,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0140134795,"mpcc_du":50.8242455,"mpcc_dv":47.8994408,"mpcc_dw":52.1005592,"mpcc_enc_sign":1,"mpcc_id_a":0.687357664,"mpcc_iq_a":-1.33061826,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.72800636,"mpcc_pred_id_a":0.199378014,"mpcc_pred_iq_a":-0.59513545,"mpcc_state":1,"mpcc_theta_e":0.435324669,"mpcc_theta_mech":0.554010868,"sam_rpm":-13.4869204,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0117006153,"thr_a_norm":0.0117006153,"thr_a_v":0.546802461,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438287944,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.142263,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.878620625,"cg_iw_a":-2.77033806,"cg_theta_rad":0.551830649,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0310531706,"mpcc_du":50.211071,"mpcc_dv":48.9372063,"mpcc_dw":51.0627937,"mpcc_enc_sign":1,"mpcc_id_a":1.31336021,"mpcc_iq_a":-3.03139186,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.854495585,"mpcc_pred_id_a":-0.565027595,"mpcc_pred_iq_a":-3.26689172,"mpcc_state":1,"mpcc_theta_e":0.444455147,"mpcc_theta_mech":0.555836916,"sam_rpm":-1.71272576,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245410949,"thr_a_norm":0.0245410949,"thr_a_v":0.59816438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482197315,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.165457,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.661157608,"cg_iw_a":0.0566806793,"cg_theta_rad":0.551206291,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0298090838,"mpcc_du":49.71455,"mpcc_dv":49.1264153,"mpcc_dw":50.8735847,"mpcc_enc_sign":1,"mpcc_id_a":3.72159982,"mpcc_iq_a":1.01278341,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.3531923,"mpcc_pred_id_a":0.608587027,"mpcc_pred_iq_a":-0.864383996,"mpcc_state":1,"mpcc_theta_e":0.444647312,"mpcc_theta_mech":0.555875361,"sam_rpm":18.1423416,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0979583263,"thr_a_norm":0.0245410949,"thr_a_v":0.891833305,"thr_b":0.0409315675,"thr_b_norm":0,"thr_b_v":0.66372627,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.171988,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.74847269,"cg_iw_a":0.564094543,"cg_theta_rad":0.55549401,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.00567316776,"mpcc_du":50.1914024,"mpcc_dv":48.7104454,"mpcc_dw":51.2895546,"mpcc_enc_sign":1,"mpcc_id_a":1.43046069,"mpcc_iq_a":-1.11275697,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.2848482,"mpcc_pred_id_a":0.00709766755,"mpcc_pred_iq_a":-2.45258498,"mpcc_state":1,"mpcc_theta_e":0.43039465,"mpcc_theta_mech":0.553024828,"sam_rpm":-17.3494835,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0979583263,"thr_a_norm":0.0979583263,"thr_a_v":0.891833305,"thr_b":0.0409315675,"thr_b_norm":0.0409315675,"thr_b_v":0.66372627,"vdc_v":54.6292953}} +{"type":"telemetry","t":10.178488,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.02359605,"cg_iw_a":-1.03063416,"cg_theta_rad":0.558378577,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0067083016,"mpcc_du":50.843586,"mpcc_dv":47.9229279,"mpcc_dw":52.0770721,"mpcc_enc_sign":1,"mpcc_id_a":1.60796273,"mpcc_iq_a":-1.60100746,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.9092541,"mpcc_pred_id_a":-0.0681479871,"mpcc_pred_iq_a":-0.896080732,"mpcc_state":1,"mpcc_theta_e":0.427108288,"mpcc_theta_mech":0.552367568,"sam_rpm":-26.5106602,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275120139,"thr_a_norm":0.0275120139,"thr_a_v":0.610048056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492771804,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.185049,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.24105906,"cg_iw_a":-1.61053538,"cg_theta_rad":0.555182755,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.000850831566,"mpcc_du":49.6568985,"mpcc_dv":50.1841507,"mpcc_dw":50.3431015,"mpcc_enc_sign":1,"mpcc_id_a":0.518833995,"mpcc_iq_a":-2.51239419,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.64881444,"mpcc_pred_id_a":-0.455738962,"mpcc_pred_iq_a":-4.8030858,"mpcc_state":1,"mpcc_theta_e":0.443548679,"mpcc_theta_mech":0.555655658,"sam_rpm":3.58874249,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275120139,"thr_a_norm":0.0275120139,"thr_a_v":0.610048056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492771804,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.193289,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.45852208,"cg_iw_a":-1.61053538,"cg_theta_rad":0.553822041,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.024641471,"mpcc_du":49.8384171,"mpcc_dv":49.1332779,"mpcc_dw":50.8667221,"mpcc_enc_sign":1,"mpcc_id_a":2.47706985,"mpcc_iq_a":0.284236729,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.84016037,"mpcc_pred_id_a":0.124063067,"mpcc_pred_iq_a":-3.20858932,"mpcc_state":1,"mpcc_theta_e":0.434909821,"mpcc_theta_mech":0.553927898,"sam_rpm":-10.4695482,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478672475,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.203421,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.31354666,"cg_iw_a":0.201656342,"cg_theta_rad":0.553691387,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0183942858,"mpcc_du":50.5139923,"mpcc_dv":48.4060516,"mpcc_dw":51.5939484,"mpcc_enc_sign":1,"mpcc_id_a":1.72067165,"mpcc_iq_a":-1.68098783,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.57999563,"mpcc_pred_id_a":-0.126000598,"mpcc_pred_iq_a":-1.78956056,"mpcc_state":1,"mpcc_theta_e":0.438623905,"mpcc_theta_mech":0.554670691,"sam_rpm":-7.19442987,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288841873,"thr_a_norm":0.0256614834,"thr_a_v":0.615536749,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499720752,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.215414,"values":{"cg_iu_a":0.821939945,"cg_iv_a":0.0637187958,"cg_iw_a":-0.885658741,"cg_theta_rad":0.554432333,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.000957161945,"mpcc_du":50.5420189,"mpcc_dv":48.2954903,"mpcc_dw":51.7045097,"mpcc_enc_sign":1,"mpcc_id_a":0.537802398,"mpcc_iq_a":-1.9985466,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.20175076,"mpcc_pred_id_a":0.00369152916,"mpcc_pred_iq_a":-0.744890571,"mpcc_state":1,"mpcc_theta_e":0.434639454,"mpcc_theta_mech":0.553873777,"sam_rpm":-12.6940517,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288841873,"thr_a_norm":0.0288841873,"thr_a_v":0.615536749,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499720752,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.225607,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.733645439,"cg_iw_a":0.0566811562,"cg_theta_rad":0.556094289,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0242141206,"mpcc_du":49.6447945,"mpcc_dv":49.3163338,"mpcc_dw":50.6836662,"mpcc_enc_sign":1,"mpcc_id_a":2.45753121,"mpcc_iq_a":-1.7976557,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.64234734,"mpcc_pred_id_a":0.369134545,"mpcc_pred_iq_a":-2.39074874,"mpcc_state":1,"mpcc_theta_e":0.453256607,"mpcc_theta_mech":0.55759728,"sam_rpm":14.7936954,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209155381,"thr_a_norm":0.0209155381,"thr_a_v":0.583662152,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.23583,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.806133032,"cg_iw_a":-1.03063416,"cg_theta_rad":0.557188749,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.00394227169,"mpcc_du":51.0609703,"mpcc_dv":47.6124077,"mpcc_dw":52.3875923,"mpcc_enc_sign":1,"mpcc_id_a":0.645207942,"mpcc_iq_a":-2.13216877,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.2241516,"mpcc_pred_id_a":-0.0759140998,"mpcc_pred_iq_a":-0.58312577,"mpcc_state":1,"mpcc_theta_e":0.429411888,"mpcc_theta_mech":0.552828312,"sam_rpm":-23.775032,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194300711,"thr_a_norm":0.0209155381,"thr_a_v":0.577720284,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464623481,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.246023,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.53100967,"cg_iw_a":0.0566809177,"cg_theta_rad":0.552420259,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0145272752,"mpcc_du":50.3465424,"mpcc_dv":48.5290375,"mpcc_dw":51.4709625,"mpcc_enc_sign":1,"mpcc_id_a":1.660146,"mpcc_iq_a":-1.46827877,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.33810949,"mpcc_pred_id_a":-0.032449428,"mpcc_pred_iq_a":-1.82730508,"mpcc_state":1,"mpcc_theta_e":0.438875198,"mpcc_theta_mech":0.554720938,"sam_rpm":-7.15784311,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194300711,"thr_a_norm":0.0194300711,"thr_a_v":0.577720284,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464623481,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.269339,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.45852208,"cg_iw_a":0.201656342,"cg_theta_rad":0.554330409,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0205668528,"mpcc_du":50.7437859,"mpcc_dv":47.8862839,"mpcc_dw":52.1137161,"mpcc_enc_sign":1,"mpcc_id_a":2.34063625,"mpcc_iq_a":-0.522414446,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.0621061,"mpcc_pred_id_a":0.385780185,"mpcc_pred_iq_a":0.675020456,"mpcc_state":1,"mpcc_theta_e":0.43229723,"mpcc_theta_mech":0.553405404,"sam_rpm":-14.6038876,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173277706,"thr_a_norm":0.0173277706,"thr_a_v":0.569311082,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449617773,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.275869,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.298719406,"cg_iw_a":-1.90048599,"cg_theta_rad":0.555014551,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.00391306216,"mpcc_du":50.5899391,"mpcc_dv":48.5433502,"mpcc_dw":51.4566498,"mpcc_enc_sign":1,"mpcc_id_a":-0.571763456,"mpcc_iq_a":-1.94708276,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.34303308,"mpcc_pred_id_a":-0.716907859,"mpcc_pred_iq_a":-0.603929102,"mpcc_state":1,"mpcc_theta_e":0.441242218,"mpcc_theta_mech":0.555194318,"sam_rpm":-1.25414824,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173277706,"thr_a_norm":0.0173277706,"thr_a_v":0.569311082,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449617773,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.2824,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.16857147,"cg_iw_a":-1.24809694,"cg_theta_rad":0.556201696,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0278441235,"mpcc_du":50.1683769,"mpcc_dv":48.4851799,"mpcc_dw":51.5148201,"mpcc_enc_sign":1,"mpcc_id_a":2.20444965,"mpcc_iq_a":0.0456109941,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.2449331,"mpcc_pred_id_a":0.64159596,"mpcc_pred_iq_a":-2.25841641,"mpcc_state":1,"mpcc_theta_e":0.433126926,"mpcc_theta_mech":0.553571343,"sam_rpm":-14.8417044,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0268825889,"thr_a_norm":0.0268825889,"thr_a_v":0.607530355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.288931,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.588670254,"cg_iw_a":-0.958146095,"cg_theta_rad":0.557187319,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0193525385,"mpcc_du":49.5508194,"mpcc_dv":50.3642693,"mpcc_dw":50.4491806,"mpcc_enc_sign":1,"mpcc_id_a":2.58608055,"mpcc_iq_a":-0.0153381964,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.71899629,"mpcc_pred_id_a":0.166813642,"mpcc_pred_iq_a":-3.84403038,"mpcc_state":1,"mpcc_theta_e":0.441938877,"mpcc_theta_mech":0.555333674,"sam_rpm":4.37334108,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184355676,"thr_a_norm":0.0268825889,"thr_a_v":0.57374227,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447452515,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.297018,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.516182423,"cg_iw_a":-2.91531324,"cg_theta_rad":0.556540191,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.00224218704,"mpcc_du":49.8146019,"mpcc_dv":49.3909683,"mpcc_dw":50.6090317,"mpcc_enc_sign":1,"mpcc_id_a":-0.0479910597,"mpcc_iq_a":-1.82979989,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.28856945,"mpcc_pred_id_a":-0.480473131,"mpcc_pred_iq_a":-2.20966363,"mpcc_state":1,"mpcc_theta_e":0.44806242,"mpcc_theta_mech":0.55655843,"sam_rpm":10.6284428,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184355676,"thr_a_norm":0.0184355676,"thr_a_v":0.57374227,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447452515,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.307241,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.298719406,"cg_iw_a":1.14399576,"cg_theta_rad":0.557249725,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0105654513,"mpcc_du":49.4325371,"mpcc_dv":50.5674629,"mpcc_dw":50.2606659,"mpcc_enc_sign":1,"mpcc_id_a":1.11300838,"mpcc_iq_a":-2.10229325,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.10216045,"mpcc_pred_id_a":-0.0337707326,"mpcc_pred_iq_a":-2.92014456,"mpcc_state":1,"mpcc_theta_e":0.444783211,"mpcc_theta_mech":0.555902541,"sam_rpm":11.460248,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217589736,"thr_a_norm":0.0217589736,"thr_a_v":0.587035894,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477816403,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.317282,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.09608364,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.556400478,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.000499636575,"mpcc_du":49.520092,"mpcc_dv":50.479908,"mpcc_dw":50.2176857,"mpcc_enc_sign":1,"mpcc_id_a":0.256982803,"mpcc_iq_a":-2.67930532,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.0254831,"mpcc_pred_id_a":-0.427980304,"mpcc_pred_iq_a":-3.56671023,"mpcc_state":1,"mpcc_theta_e":0.452190399,"mpcc_theta_mech":0.557383955,"sam_rpm":18.9473743,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217589736,"thr_a_norm":0.0217589736,"thr_a_v":0.587035894,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477816403,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.327383,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-2.25588632,"cg_iw_a":-1.61053514,"cg_theta_rad":0.552555323,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.030067781,"mpcc_du":50.1118736,"mpcc_dv":48.5695114,"mpcc_dw":51.4304886,"mpcc_enc_sign":1,"mpcc_id_a":2.98915195,"mpcc_iq_a":0.199795321,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.6804256,"mpcc_pred_id_a":0.513194799,"mpcc_pred_iq_a":-2.12231374,"mpcc_state":1,"mpcc_theta_e":0.429731369,"mpcc_theta_mech":0.552892208,"sam_rpm":-17.7489395,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0251830965,"thr_a_norm":0.0251830965,"thr_a_v":0.600732386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49005264,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.337423,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.516182423,"cg_iw_a":-2.33541203,"cg_theta_rad":0.553154051,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.00364568527,"mpcc_du":49.1626549,"mpcc_dv":50.8373451,"mpcc_dw":49.9756927,"mpcc_enc_sign":1,"mpcc_id_a":0.719563901,"mpcc_iq_a":-1.55710864,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.457119,"mpcc_pred_id_a":0.139328554,"mpcc_pred_iq_a":-4.36736012,"mpcc_state":1,"mpcc_theta_e":0.453805923,"mpcc_theta_mech":0.557707071,"sam_rpm":23.8237572,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0251830965,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448509932,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.349417,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.02359605,"cg_iw_a":-1.8279984,"cg_theta_rad":0.557423353,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0111566,"mpcc_du":49.4869652,"mpcc_dv":49.4366646,"mpcc_dw":50.5633354,"mpcc_enc_sign":1,"mpcc_id_a":2.08811593,"mpcc_iq_a":-1.57904589,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.03635108,"mpcc_pred_id_a":0.404752046,"mpcc_pred_iq_a":-2.62252307,"mpcc_state":1,"mpcc_theta_e":0.439702034,"mpcc_theta_mech":0.554886281,"sam_rpm":0.185497761,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448509932,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.372854,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.588670254,"cg_iw_a":-2.48038721,"cg_theta_rad":0.553561747,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0423819497,"mpcc_du":49.5676613,"mpcc_dv":50.2341156,"mpcc_dw":50.4323387,"mpcc_enc_sign":1,"mpcc_id_a":1.90255058,"mpcc_iq_a":-1.11511695,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.8312283,"mpcc_pred_id_a":0.130465209,"mpcc_pred_iq_a":-4.98008919,"mpcc_state":1,"mpcc_theta_e":0.456012726,"mpcc_theta_mech":0.558148503,"sam_rpm":19.9796562,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213309675,"thr_a_norm":0.0213309675,"thr_a_v":0.58532387,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465731293,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.379354,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.38603449,"cg_iw_a":0.854045391,"cg_theta_rad":0.555449069,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0167974811,"mpcc_du":51.064045,"mpcc_dv":48.0234756,"mpcc_dw":51.9765244,"mpcc_enc_sign":1,"mpcc_id_a":-2.44351363,"mpcc_iq_a":-1.91505122,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.8272381,"mpcc_pred_id_a":-0.925304651,"mpcc_pred_iq_a":-1.58856416,"mpcc_state":1,"mpcc_theta_e":0.429116726,"mpcc_theta_mech":0.552769303,"sam_rpm":-24.4161434,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226275921,"thr_a_norm":0.0226275921,"thr_a_v":0.590510368,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489750504,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.385885,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.878620625,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556692064,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.00285171624,"mpcc_du":49.3876762,"mpcc_dv":50.6123238,"mpcc_dw":50.1320152,"mpcc_enc_sign":1,"mpcc_id_a":0.593253195,"mpcc_iq_a":-0.83438611,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.16231394,"mpcc_pred_id_a":-0.0306049287,"mpcc_pred_iq_a":-5.16317654,"mpcc_state":1,"mpcc_theta_e":0.444563389,"mpcc_theta_mech":0.555858552,"sam_rpm":6.9144907,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226275921,"thr_a_norm":0.0226275921,"thr_a_v":0.590510368,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489750504,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.392416,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.45852208,"cg_iw_a":1.07150817,"cg_theta_rad":0.556249321,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0235408936,"mpcc_du":49.5822296,"mpcc_dv":49.9825783,"mpcc_dw":50.4177704,"mpcc_enc_sign":1,"mpcc_id_a":1.31000984,"mpcc_iq_a":-0.340830356,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.21912253,"mpcc_pred_id_a":-0.0367300324,"mpcc_pred_iq_a":-5.43498945,"mpcc_state":1,"mpcc_theta_e":0.444173336,"mpcc_theta_mech":0.55578059,"sam_rpm":1.97546339,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208525956,"thr_a_norm":0.0208525956,"thr_a_v":0.583410382,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459990859,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.402639,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.298719406,"cg_iw_a":-2.11794901,"cg_theta_rad":0.553308487,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0214884449,"mpcc_du":50.1306458,"mpcc_dv":49.1443024,"mpcc_dw":50.8556976,"mpcc_enc_sign":1,"mpcc_id_a":0.140585884,"mpcc_iq_a":-0.434226871,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.2428987,"mpcc_pred_id_a":-0.701082408,"mpcc_pred_iq_a":-2.28031921,"mpcc_state":1,"mpcc_theta_e":0.447160721,"mpcc_theta_mech":0.556378067,"sam_rpm":5.88656282,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219855756,"thr_a_norm":0.0208525956,"thr_a_v":0.587942302,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480485231,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.412619,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.16857147,"cg_iw_a":0.274144173,"cg_theta_rad":0.557311058,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.00400875788,"mpcc_du":50.1277542,"mpcc_dv":48.8421097,"mpcc_dw":51.1578903,"mpcc_enc_sign":1,"mpcc_id_a":1.24527264,"mpcc_iq_a":-0.99033457,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.97731304,"mpcc_pred_id_a":-0.00153219339,"mpcc_pred_iq_a":-1.50030518,"mpcc_state":1,"mpcc_theta_e":0.435478687,"mpcc_theta_mech":0.554041624,"sam_rpm":-10.0626469,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219855756,"thr_a_norm":0.0219855756,"thr_a_v":0.587942302,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480485231,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.422445,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-2.0384233,"cg_iw_a":0.346631765,"cg_theta_rad":0.555251598,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.00921273045,"mpcc_du":49.5765266,"mpcc_dv":49.7380829,"mpcc_dw":50.4234734,"mpcc_enc_sign":1,"mpcc_id_a":1.91590345,"mpcc_iq_a":-0.923942327,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.36893225,"mpcc_pred_id_a":-0.148849875,"mpcc_pred_iq_a":-2.45405316,"mpcc_state":1,"mpcc_theta_e":0.431580067,"mpcc_theta_mech":0.553261936,"sam_rpm":1.97004008,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292870253,"thr_a_norm":0.0292870253,"thr_a_v":0.617148101,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498059064,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.434622,"values":{"cg_iu_a":0.314526081,"cg_iv_a":1.94839811,"cg_iw_a":-2.26292419,"cg_theta_rad":0.556301773,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0577469431,"mpcc_du":50.6201363,"mpcc_dv":48.1848602,"mpcc_dw":51.8151398,"mpcc_enc_sign":1,"mpcc_id_a":1.73806989,"mpcc_iq_a":-0.454562575,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.604044259,"mpcc_pred_id_a":0.286036283,"mpcc_pred_iq_a":-0.528521895,"mpcc_state":1,"mpcc_theta_e":0.445564747,"mpcc_theta_mech":0.556058884,"sam_rpm":3.25814342,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250446349,"thr_a_norm":0.0292870253,"thr_a_v":0.60017854,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489700168,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.444601,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.226231575,"cg_iw_a":-0.0882940292,"cg_theta_rad":0.55773288,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0178919379,"mpcc_du":49.3521805,"mpcc_dv":50.6478195,"mpcc_dw":49.9271545,"mpcc_enc_sign":1,"mpcc_id_a":-0.162765712,"mpcc_iq_a":-3.72777152,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.5428953,"mpcc_pred_id_a":-0.497600496,"mpcc_pred_iq_a":-3.35389233,"mpcc_state":1,"mpcc_theta_e":0.449836254,"mpcc_theta_mech":0.556913137,"sam_rpm":17.0451469,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250446349,"thr_a_norm":0.0250446349,"thr_a_v":0.60017854,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489700168,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.454824,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.951108456,"cg_iw_a":-2.11794901,"cg_theta_rad":0.557538748,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0208907686,"mpcc_du":49.1279984,"mpcc_dv":50.8720016,"mpcc_dw":50.0608025,"mpcc_enc_sign":1,"mpcc_id_a":2.61014652,"mpcc_iq_a":-1.80683339,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":22.5005188,"mpcc_pred_id_a":0.592087328,"mpcc_pred_iq_a":-3.3969748,"mpcc_state":1,"mpcc_theta_e":0.461258411,"mpcc_theta_mech":0.559197605,"sam_rpm":33.508976,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448711365,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.477713,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.951108456,"cg_iw_a":-0.668195724,"cg_theta_rad":0.555651605,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0287476722,"mpcc_du":49.4849472,"mpcc_dv":50.5150528,"mpcc_dw":50.4216652,"mpcc_enc_sign":1,"mpcc_id_a":2.82153535,"mpcc_iq_a":-0.379855454,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.89637566,"mpcc_pred_id_a":0.420593232,"mpcc_pred_iq_a":-3.8855989,"mpcc_state":1,"mpcc_theta_e":0.449149609,"mpcc_theta_mech":0.556775808,"sam_rpm":14.4636879,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448711365,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.484152,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.878620625,"cg_iw_a":-1.32058477,"cg_theta_rad":0.556181669,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.025947215,"mpcc_du":49.6056557,"mpcc_dv":50.1877518,"mpcc_dw":50.3943443,"mpcc_enc_sign":1,"mpcc_id_a":3.09637332,"mpcc_iq_a":-0.636557817,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.79683161,"mpcc_pred_id_a":0.296814263,"mpcc_pred_iq_a":-5.03315353,"mpcc_state":1,"mpcc_theta_e":0.444701195,"mpcc_theta_mech":0.553350449,"sam_rpm":24.2500896,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020865187,"thr_a_norm":0.020865187,"thr_a_v":0.583460748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463163197,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.490683,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.226231575,"cg_iw_a":-0.885658741,"cg_theta_rad":0.554244339,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.00185997935,"mpcc_du":49.3530846,"mpcc_dv":50.6469154,"mpcc_dw":49.9972115,"mpcc_enc_sign":1,"mpcc_id_a":0.131179154,"mpcc_iq_a":-2.90594292,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.8766928,"mpcc_pred_id_a":-0.338417888,"mpcc_pred_iq_a":-5.07284069,"mpcc_state":1,"mpcc_theta_e":0.457726955,"mpcc_theta_mech":0.55849129,"sam_rpm":23.6213589,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020865187,"thr_a_norm":0.020865187,"thr_a_v":0.583460748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463163197,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.497427,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.02359605,"cg_iw_a":0.346631765,"cg_theta_rad":0.555356979,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.01948612,"mpcc_du":49.6284752,"mpcc_dv":49.4101868,"mpcc_dw":50.5898132,"mpcc_enc_sign":1,"mpcc_id_a":2.64606905,"mpcc_iq_a":-0.734706342,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.198740646,"mpcc_pred_id_a":0.0408485308,"mpcc_pred_iq_a":-2.83615255,"mpcc_state":1,"mpcc_theta_e":0.440769672,"mpcc_theta_mech":0.555099845,"sam_rpm":-0.332798272,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0187754631,"thr_a_norm":0.0187754631,"thr_a_v":0.575101852,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.507376,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.443694592,"cg_iw_a":-2.55287504,"cg_theta_rad":0.552568614,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0291207843,"mpcc_du":50.2739105,"mpcc_dv":48.6926231,"mpcc_dw":51.3073769,"mpcc_enc_sign":1,"mpcc_id_a":0.116057716,"mpcc_iq_a":-0.654145658,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.37426412,"mpcc_pred_id_a":-0.125513643,"mpcc_pred_iq_a":-1.83852386,"mpcc_state":1,"mpcc_theta_e":0.446252823,"mpcc_theta_mech":0.556196511,"sam_rpm":3.1255908,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0187754631,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463163197,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.519217,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.516182423,"cg_iw_a":-2.19043684,"cg_theta_rad":0.556091547,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0666886121,"mpcc_du":50.6180801,"mpcc_dv":48.1693611,"mpcc_dw":51.8306389,"mpcc_enc_sign":1,"mpcc_id_a":1.13137627,"mpcc_iq_a":-0.210969016,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.901073694,"mpcc_pred_id_a":0.0891723037,"mpcc_pred_iq_a":-1.34821439,"mpcc_state":1,"mpcc_theta_e":0.445388317,"mpcc_theta_mech":0.556023538,"sam_rpm":0.35833931,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0236472934,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463163197,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.529501,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-3.19822598,"cg_iw_a":3.10116291,"cg_theta_rad":0.556665838,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0158736445,"mpcc_du":49.8165207,"mpcc_dv":49.5438919,"mpcc_dw":50.4561081,"mpcc_enc_sign":1,"mpcc_id_a":-1.36328936,"mpcc_iq_a":-4.54265308,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.40972233,"mpcc_pred_id_a":-0.915867269,"mpcc_pred_iq_a":-2.39026427,"mpcc_state":1,"mpcc_theta_e":0.450240135,"mpcc_theta_mech":0.556993902,"sam_rpm":9.91768742,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282673389,"thr_a_norm":0.0282673389,"thr_a_v":0.613069355,"thr_b":0.0019569695,"thr_b_norm":0.0019569695,"thr_b_v":0.507827878,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.539999,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.733645439,"cg_iw_a":-1.39307213,"cg_theta_rad":0.559100509,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0169988144,"mpcc_du":50.498951,"mpcc_dv":48.3086929,"mpcc_dw":51.6913071,"mpcc_enc_sign":1,"mpcc_id_a":1.22964931,"mpcc_iq_a":-0.336420804,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.61181831,"mpcc_pred_id_a":0.0333496034,"mpcc_pred_iq_a":-0.694818258,"mpcc_state":1,"mpcc_theta_e":0.435175419,"mpcc_theta_mech":0.553981006,"sam_rpm":-9.49956703,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261776149,"thr_a_norm":0.0282673389,"thr_a_v":0.60471046,"thr_b":0,"thr_b_norm":0.0019569695,"thr_b_v":0.494886726,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.549795,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.31354666,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556212604,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0459913686,"mpcc_du":50.7402267,"mpcc_dv":47.7467957,"mpcc_dw":52.2532043,"mpcc_enc_sign":1,"mpcc_id_a":3.84645915,"mpcc_iq_a":0.885462344,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.5993404,"mpcc_pred_id_a":0.569957674,"mpcc_pred_iq_a":0.489274234,"mpcc_state":1,"mpcc_theta_e":0.424010277,"mpcc_theta_mech":0.551747978,"sam_rpm":-26.7109776,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261776149,"thr_a_norm":0.0261776149,"thr_a_v":0.60471046,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494886726,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.57305,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.09608364,"cg_iw_a":-4.22009134,"cg_theta_rad":0.554114997,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.00427462952,"mpcc_du":50.8893204,"mpcc_dv":48.0812492,"mpcc_dw":51.9187508,"mpcc_enc_sign":1,"mpcc_id_a":0.00130972639,"mpcc_iq_a":-0.73612535,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.167027,"mpcc_pred_id_a":-0.561681271,"mpcc_pred_iq_a":1.15163624,"mpcc_state":1,"mpcc_theta_e":0.439693928,"mpcc_theta_mech":0.554884672,"sam_rpm":-7.73745966,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176047087,"thr_a_norm":0.0176047087,"thr_a_v":0.570418835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440503567,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.57958,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.588670254,"cg_iw_a":0.0566811562,"cg_theta_rad":0.553476334,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0105030388,"mpcc_du":50.032692,"mpcc_dv":49.2553139,"mpcc_dw":50.7446861,"mpcc_enc_sign":1,"mpcc_id_a":-1.05226791,"mpcc_iq_a":-3.94505811,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.78916883,"mpcc_pred_id_a":-0.816973031,"mpcc_pred_iq_a":-1.72508955,"mpcc_state":1,"mpcc_theta_e":0.445263863,"mpcc_theta_mech":0.555998683,"sam_rpm":5.39491987,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176047087,"thr_a_norm":0.0176047087,"thr_a_v":0.570418835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440503567,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.586111,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.298719406,"cg_iw_a":-0.595707893,"cg_theta_rad":0.551392615,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0385702141,"mpcc_du":49.6746712,"mpcc_dv":49.2728958,"mpcc_dw":50.7271042,"mpcc_enc_sign":1,"mpcc_id_a":1.53717721,"mpcc_iq_a":-0.0380458497,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.956285,"mpcc_pred_id_a":0.222336531,"mpcc_pred_iq_a":-3.28471994,"mpcc_state":1,"mpcc_theta_e":0.448190212,"mpcc_theta_mech":0.556584001,"sam_rpm":7.73835516,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0108194053,"thr_a_norm":0.0108194053,"thr_a_v":0.543277621,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.433403492,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.592581,"values":{"cg_iu_a":-0.337862968,"cg_iv_a":-1.89344811,"cg_iw_a":2.23131108,"cg_theta_rad":0.556879163,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0413257852,"mpcc_du":49.2701263,"mpcc_dv":50.7298737,"mpcc_dw":50.1750641,"mpcc_enc_sign":1,"mpcc_id_a":2.91358256,"mpcc_iq_a":-0.530465841,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.6568899,"mpcc_pred_id_a":0.292580724,"mpcc_pred_iq_a":-5.81619358,"mpcc_state":1,"mpcc_theta_e":0.453356743,"mpcc_theta_mech":0.557617247,"sam_rpm":17.0788994,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0108194053,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454804301,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.600607,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.6759851,"cg_iw_a":-1.4655602,"cg_theta_rad":0.554522216,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0207187422,"mpcc_du":49.9863205,"mpcc_dv":49.124939,"mpcc_dw":50.875061,"mpcc_enc_sign":1,"mpcc_id_a":0.723833978,"mpcc_iq_a":-0.391251177,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.49724197,"mpcc_pred_id_a":-0.373296529,"mpcc_pred_iq_a":-1.18803525,"mpcc_state":1,"mpcc_theta_e":0.449599743,"mpcc_theta_mech":0.556865871,"sam_rpm":13.1805658,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454804301,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.61083,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-2.25588632,"cg_iw_a":0.926532984,"cg_theta_rad":0.556115091,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0113234231,"mpcc_du":49.5333557,"mpcc_dv":49.9285011,"mpcc_dw":50.4666443,"mpcc_enc_sign":1,"mpcc_id_a":1.92876756,"mpcc_iq_a":-1.89925075,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.3011117,"mpcc_pred_id_a":0.0976276025,"mpcc_pred_iq_a":-3.81365848,"mpcc_state":1,"mpcc_theta_e":0.448604584,"mpcc_theta_mech":0.556666851,"sam_rpm":10.950716,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289345384,"thr_a_norm":0.0289345384,"thr_a_v":0.615738153,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496548384,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.620596,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-1.60349751,"cg_iw_a":-0.595707893,"cg_theta_rad":0.557047307,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0317889899,"mpcc_du":49.5792313,"mpcc_dv":49.3425484,"mpcc_dw":50.6574516,"mpcc_enc_sign":1,"mpcc_id_a":1.31567347,"mpcc_iq_a":-0.500961065,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.9438324,"mpcc_pred_id_a":0.337025076,"mpcc_pred_iq_a":-1.43377113,"mpcc_state":1,"mpcc_theta_e":0.456013203,"mpcc_theta_mech":0.558148563,"sam_rpm":23.1622696,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289345384,"thr_a_norm":0.0289345384,"thr_a_v":0.615738153,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496548384,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.630941,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-2.11091113,"cg_iw_a":0.346631765,"cg_theta_rad":0.555476069,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0632780045,"mpcc_du":49.9711609,"mpcc_dv":48.9385147,"mpcc_dw":51.0614853,"mpcc_enc_sign":1,"mpcc_id_a":0.472737193,"mpcc_iq_a":-1.4255023,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.34036386,"mpcc_pred_id_a":-0.382715911,"mpcc_pred_iq_a":-3.12219906,"mpcc_state":1,"mpcc_theta_e":0.444157124,"mpcc_theta_mech":0.555777371,"sam_rpm":3.14172959,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203868151,"thr_a_norm":0.0203868151,"thr_a_v":0.58154726,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465580195,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.641287,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.733645439,"cg_iw_a":0.636582375,"cg_theta_rad":0.559455454,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0272329245,"mpcc_du":50.6050453,"mpcc_dv":47.8190575,"mpcc_dw":52.1809425,"mpcc_enc_sign":1,"mpcc_id_a":3.07927275,"mpcc_iq_a":-0.292185217,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.58846,"mpcc_pred_id_a":0.790509462,"mpcc_pred_iq_a":0.103117667,"mpcc_state":1,"mpcc_theta_e":0.426718235,"mpcc_theta_mech":0.552289546,"sam_rpm":-23.3584766,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278770924,"thr_a_norm":0.0203868151,"thr_a_v":0.611508369,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495440602,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.650778,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-2.11091113,"cg_iw_a":0.346631765,"cg_theta_rad":0.558552623,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0317686722,"mpcc_du":50.7040863,"mpcc_dv":47.9403419,"mpcc_dw":52.0596581,"mpcc_enc_sign":1,"mpcc_id_a":2.2175293,"mpcc_iq_a":-0.0991952643,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.8339787,"mpcc_pred_id_a":0.262917072,"mpcc_pred_iq_a":-0.402924359,"mpcc_state":1,"mpcc_theta_e":0.433318138,"mpcc_theta_mech":0.55360955,"sam_rpm":-15.1116428,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278770924,"thr_a_norm":0.0278770924,"thr_a_v":0.611508369,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495440602,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.674215,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-2.11091113,"cg_iw_a":1.143996,"cg_theta_rad":0.555583835,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0172889456,"mpcc_du":50.6180496,"mpcc_dv":48.0407066,"mpcc_dw":51.9592934,"mpcc_enc_sign":1,"mpcc_id_a":2.62931371,"mpcc_iq_a":-0.935550094,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.26782465,"mpcc_pred_id_a":0.243686244,"mpcc_pred_iq_a":1.62826693,"mpcc_state":1,"mpcc_theta_e":0.433405876,"mpcc_theta_mech":0.553627074,"sam_rpm":-11.7333536,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184355676,"thr_a_norm":0.0184355676,"thr_a_v":0.57374227,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.680716,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.443694592,"cg_iw_a":-2.62536287,"cg_theta_rad":0.556882739,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":7.57986199e-05,"mpcc_du":49.7076378,"mpcc_dv":49.3153763,"mpcc_dw":50.6846237,"mpcc_enc_sign":1,"mpcc_id_a":-0.0421154238,"mpcc_iq_a":-2.33911085,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.32358837,"mpcc_pred_id_a":-0.0540312678,"mpcc_pred_iq_a":-2.63530469,"mpcc_state":1,"mpcc_theta_e":0.435018539,"mpcc_theta_mech":0.553949654,"sam_rpm":4.62188578,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184355676,"thr_a_norm":0.0184355676,"thr_a_v":0.57374227,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.687277,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.733645439,"cg_iw_a":0.274144173,"cg_theta_rad":0.553503513,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0103899632,"mpcc_du":49.8436699,"mpcc_dv":47.3703117,"mpcc_dw":52.6296883,"mpcc_enc_sign":1,"mpcc_id_a":1.16111231,"mpcc_iq_a":-1.15587854,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.88722324,"mpcc_pred_id_a":0.0142860897,"mpcc_pred_iq_a":-1.56381595,"mpcc_state":1,"mpcc_theta_e":0.447264671,"mpcc_theta_mech":0.556398809,"sam_rpm":8.97688293,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180956721,"thr_a_norm":0.0180956721,"thr_a_v":0.572382689,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453998625,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.693808,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.74847269,"cg_iw_a":-2.69785023,"cg_theta_rad":0.557311416,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0450148694,"mpcc_du":49.5224648,"mpcc_dv":50.0427475,"mpcc_dw":50.4775352,"mpcc_enc_sign":1,"mpcc_id_a":3.29600525,"mpcc_iq_a":-0.567075014,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.67841053,"mpcc_pred_id_a":0.183065996,"mpcc_pred_iq_a":-4.20466852,"mpcc_state":1,"mpcc_theta_e":0.450545311,"mpcc_theta_mech":0.557054937,"sam_rpm":12.8863068,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0414351076,"thr_a_norm":0.0180956721,"thr_a_v":0.66574043,"thr_b":0.0124559402,"thr_b_norm":0,"thr_b_v":0.549823761,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.701406,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.153744221,"cg_iw_a":-2.33541203,"cg_theta_rad":0.55355823,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0179780442,"mpcc_du":49.6852684,"mpcc_dv":49.5693474,"mpcc_dw":50.4306526,"mpcc_enc_sign":1,"mpcc_id_a":-0.861641645,"mpcc_iq_a":-1.81033027,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.0565548,"mpcc_pred_id_a":-0.575609267,"mpcc_pred_iq_a":-3.23218894,"mpcc_state":1,"mpcc_theta_e":0.456487656,"mpcc_theta_mech":0.558243454,"sam_rpm":19.7274208,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0414351076,"thr_a_norm":0.0414351076,"thr_a_v":0.66574043,"thr_b":0.0124559402,"thr_b_norm":0.0124559402,"thr_b_v":0.549823761,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.71163,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.951108456,"cg_iw_a":-1.97297382,"cg_theta_rad":0.551738858,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0347974971,"mpcc_du":49.486721,"mpcc_dv":49.4326057,"mpcc_dw":50.5673943,"mpcc_enc_sign":1,"mpcc_id_a":2.95573783,"mpcc_iq_a":-0.418053776,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.223690972,"mpcc_pred_id_a":0.332849264,"mpcc_pred_iq_a":-4.20435143,"mpcc_state":1,"mpcc_theta_e":0.440771103,"mpcc_theta_mech":0.555100143,"sam_rpm":-0.382460803,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232948065,"thr_a_norm":0.0232948065,"thr_a_v":0.593179226,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464724183,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.721365,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-0.661157608,"cg_iw_a":-0.740683556,"cg_theta_rad":0.553925693,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.00646950025,"mpcc_du":50.8243866,"mpcc_dv":48.1335144,"mpcc_dw":51.8664856,"mpcc_enc_sign":1,"mpcc_id_a":-1.53644669,"mpcc_iq_a":-0.815419614,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.5273037,"mpcc_pred_id_a":-0.7518062,"mpcc_pred_iq_a":-0.723882258,"mpcc_state":1,"mpcc_theta_e":0.425587177,"mpcc_theta_mech":0.552063346,"sam_rpm":-24.2325325,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232948065,"thr_a_norm":0.0232948065,"thr_a_v":0.593179226,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464724183,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.731802,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.38603449,"cg_iw_a":0.636582375,"cg_theta_rad":0.55606699,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0157935191,"mpcc_du":50.0440636,"mpcc_dv":48.925827,"mpcc_dw":51.074173,"mpcc_enc_sign":1,"mpcc_id_a":0.680002451,"mpcc_iq_a":-0.315105826,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.43181205,"mpcc_pred_id_a":-0.114529498,"mpcc_pred_iq_a":-2.72830653,"mpcc_state":1,"mpcc_theta_e":0.439353943,"mpcc_theta_mech":0.5544945,"sam_rpm":-4.99514818,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273357779,"thr_a_norm":0.0273357779,"thr_a_v":0.609343112,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489649802,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.741812,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.24105906,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556248605,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0446129031,"mpcc_du":50.7700996,"mpcc_dv":47.9162407,"mpcc_dw":52.0837593,"mpcc_enc_sign":1,"mpcc_id_a":2.58612084,"mpcc_iq_a":0.00517034018,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.2860909,"mpcc_pred_id_a":0.162944585,"mpcc_pred_iq_a":-0.903318226,"mpcc_state":1,"mpcc_theta_e":0.434008598,"mpcc_theta_mech":0.553747654,"sam_rpm":-15.9338417,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020613417,"thr_a_norm":0.0273357779,"thr_a_v":0.582453668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476305783,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.751669,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-2.18339872,"cg_iw_a":0.999020576,"cg_theta_rad":0.55721271,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.00619330769,"mpcc_du":49.7093925,"mpcc_dv":49.2734222,"mpcc_dw":50.7265778,"mpcc_enc_sign":1,"mpcc_id_a":1.497033,"mpcc_iq_a":-1.63479769,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.44685984,"mpcc_pred_id_a":0.124283329,"mpcc_pred_iq_a":-2.08387303,"mpcc_state":1,"mpcc_theta_e":0.444135666,"mpcc_theta_mech":0.555773079,"sam_rpm":4.72442913,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020613417,"thr_a_norm":0.020613417,"thr_a_v":0.582453668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476305783,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.774923,"values":{"cg_iu_a":0.676964283,"cg_iv_a":0.643620491,"cg_iw_a":-3.85765314,"cg_theta_rad":0.553609252,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.00581457978,"mpcc_du":49.2075081,"mpcc_dv":50.7924919,"mpcc_dw":49.660881,"mpcc_enc_sign":1,"mpcc_id_a":-0.537526131,"mpcc_iq_a":-1.50201619,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.40570927,"mpcc_pred_id_a":-0.937386572,"mpcc_pred_iq_a":-6.66946173,"mpcc_state":1,"mpcc_theta_e":0.450150967,"mpcc_theta_mech":0.55697614,"sam_rpm":13.616168,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210917741,"thr_a_norm":0.0210917741,"thr_a_v":0.584367096,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467090875,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.781454,"values":{"cg_iu_a":2.12671757,"cg_iv_a":0.136206627,"cg_iw_a":0.854045391,"cg_theta_rad":0.555222869,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0170499049,"mpcc_du":49.3430023,"mpcc_dv":50.6569977,"mpcc_dw":50.2058182,"mpcc_enc_sign":1,"mpcc_id_a":2.57529688,"mpcc_iq_a":-1.5767374,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.3183422,"mpcc_pred_id_a":0.571452439,"mpcc_pred_iq_a":-0.841022491,"mpcc_state":1,"mpcc_theta_e":0.425676346,"mpcc_theta_mech":0.556261241,"sam_rpm":4.27597237,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265301019,"thr_a_norm":0.0210917741,"thr_a_v":0.606120408,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478823543,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.787985,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.371207237,"cg_iw_a":-2.91531324,"cg_theta_rad":0.555492997,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.00506419316,"mpcc_du":50.1163788,"mpcc_dv":48.9311829,"mpcc_dw":51.0688171,"mpcc_enc_sign":1,"mpcc_id_a":2.65508461,"mpcc_iq_a":-0.888139188,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.70636249,"mpcc_pred_id_a":-0.203894556,"mpcc_pred_iq_a":-1.62169206,"mpcc_state":1,"mpcc_theta_e":0.444140434,"mpcc_theta_mech":0.555773973,"sam_rpm":5.52884817,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265301019,"thr_a_norm":0.0265301019,"thr_a_v":0.606120408,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478823543,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.79479,"values":{"cg_iu_a":3.06905746,"cg_iv_a":1.29600906,"cg_iw_a":-2.9878006,"cg_theta_rad":0.557027817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.020227408,"mpcc_du":50.4164619,"mpcc_dv":48.4555626,"mpcc_dw":51.5444374,"mpcc_enc_sign":1,"mpcc_id_a":2.59657907,"mpcc_iq_a":-1.17960835,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.11688459,"mpcc_pred_id_a":0.0436522961,"mpcc_pred_iq_a":0.035844218,"mpcc_state":1,"mpcc_theta_e":0.442518234,"mpcc_theta_mech":0.555449545,"sam_rpm":-1.88696277,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0332776308,"thr_a_norm":0.0332776308,"thr_a_v":0.633110523,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48526895,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.805075,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-0.443694592,"cg_iw_a":-1.82799864,"cg_theta_rad":0.554249525,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0681672096,"mpcc_du":50.1577911,"mpcc_dv":48.5791855,"mpcc_dw":51.4208145,"mpcc_enc_sign":1,"mpcc_id_a":2.80051517,"mpcc_iq_a":0.440892518,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.03959656,"mpcc_pred_id_a":0.430765957,"mpcc_pred_iq_a":-2.7231667,"mpcc_state":1,"mpcc_theta_e":0.444160461,"mpcc_theta_mech":0.555778027,"sam_rpm":-4.90398788,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214568526,"thr_a_norm":0.0332776308,"thr_a_v":0.58582741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470363915,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.815023,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.60349751,"cg_iw_a":-1.03063393,"cg_theta_rad":0.557299674,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0136403106,"mpcc_du":49.5538864,"mpcc_dv":49.4315414,"mpcc_dw":50.4977036,"mpcc_enc_sign":1,"mpcc_id_a":2.07719469,"mpcc_iq_a":-1.08939767,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.83858299,"mpcc_pred_id_a":0.178950608,"mpcc_pred_iq_a":-1.6738348,"mpcc_state":1,"mpcc_theta_e":0.449060917,"mpcc_theta_mech":0.556758106,"sam_rpm":12.7273741,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214568526,"thr_a_norm":0.0214568526,"thr_a_v":0.58582741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470363915,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.824972,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.153744221,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556315303,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0681027696,"mpcc_du":49.5522346,"mpcc_dv":49.5079842,"mpcc_dw":50.4920158,"mpcc_enc_sign":1,"mpcc_id_a":1.88858187,"mpcc_iq_a":0.334564477,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.0002604,"mpcc_pred_id_a":-0.0341726802,"mpcc_pred_iq_a":-2.96396327,"mpcc_state":1,"mpcc_theta_e":0.457291603,"mpcc_theta_mech":0.558404207,"sam_rpm":21.8585358,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0313893259,"thr_a_norm":0.0313893259,"thr_a_v":0.625557303,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477111459,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.835012,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.878620625,"cg_iw_a":0.0566809177,"cg_theta_rad":0.557225764,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0168322027,"mpcc_du":50.3241081,"mpcc_dv":48.3624229,"mpcc_dw":51.6375771,"mpcc_enc_sign":1,"mpcc_id_a":2.49917459,"mpcc_iq_a":-0.87056601,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.90974712,"mpcc_pred_id_a":0.270647198,"mpcc_pred_iq_a":-0.591531277,"mpcc_state":1,"mpcc_theta_e":0.431765079,"mpcc_theta_mech":0.553298891,"sam_rpm":-13.6233196,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0313893259,"thr_a_norm":0.0313893259,"thr_a_v":0.625557303,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477111459,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.845297,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.226231575,"cg_iw_a":-1.24809742,"cg_theta_rad":0.557512283,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.000825307507,"mpcc_du":50.5920067,"mpcc_dv":48.2906723,"mpcc_dw":51.7093277,"mpcc_enc_sign":1,"mpcc_id_a":2.56699228,"mpcc_iq_a":-1.06849766,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.7415619,"mpcc_pred_id_a":-0.437545002,"mpcc_pred_iq_a":-1.43144739,"mpcc_state":1,"mpcc_theta_e":0.426001549,"mpcc_theta_mech":0.552146256,"sam_rpm":-29.932333,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0129091293,"thr_a_norm":0.0129091293,"thr_a_v":0.551636517,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459638387,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.855398,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.24105906,"cg_iw_a":1.36145902,"cg_theta_rad":0.554225922,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.00493449299,"mpcc_du":49.8359718,"mpcc_dv":49.2184258,"mpcc_dw":50.7815742,"mpcc_enc_sign":1,"mpcc_id_a":1.11276686,"mpcc_iq_a":-0.414975047,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.1159763,"mpcc_pred_id_a":-0.0434938334,"mpcc_pred_iq_a":-3.3561964,"mpcc_state":1,"mpcc_theta_e":0.430914402,"mpcc_theta_mech":0.553553164,"sam_rpm":-1.68973851,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248809755,"thr_a_norm":0.0129091293,"thr_a_v":0.599523902,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482952625,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.878408,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.951108456,"cg_iw_a":-0.015806675,"cg_theta_rad":0.557855368,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.00523441657,"mpcc_du":48.954155,"mpcc_dv":51.045845,"mpcc_dw":49.6788063,"mpcc_enc_sign":1,"mpcc_id_a":1.44738054,"mpcc_iq_a":-1.25315595,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.9459696,"mpcc_pred_id_a":0.0718755126,"mpcc_pred_iq_a":-5.59025335,"mpcc_state":1,"mpcc_theta_e":0.42766428,"mpcc_theta_mech":0.55247879,"sam_rpm":15.9715805,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248809755,"thr_a_norm":0.0248809755,"thr_a_v":0.599523902,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482952625,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.88497,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.74847269,"cg_iw_a":-1.53804779,"cg_theta_rad":0.555525601,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0556973703,"mpcc_du":49.5174141,"mpcc_dv":50.173027,"mpcc_dw":50.4825859,"mpcc_enc_sign":1,"mpcc_id_a":2.77021909,"mpcc_iq_a":-0.346053123,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":20.2703571,"mpcc_pred_id_a":0.255642921,"mpcc_pred_iq_a":-2.62637734,"mpcc_state":1,"mpcc_theta_e":0.46190834,"mpcc_theta_mech":0.559327543,"sam_rpm":30.5570393,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021268025,"thr_a_norm":0.021268025,"thr_a_v":0.5850721,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461853951,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.89147,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.60349751,"cg_iw_a":0.12916851,"cg_theta_rad":0.558088481,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.0234029628,"mpcc_du":50.1385307,"mpcc_dv":48.6296768,"mpcc_dw":51.3703232,"mpcc_enc_sign":1,"mpcc_id_a":2.51858306,"mpcc_iq_a":0.736378729,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.1696587,"mpcc_pred_id_a":0.30682984,"mpcc_pred_iq_a":-1.48596442,"mpcc_state":1,"mpcc_theta_e":0.430342197,"mpcc_theta_mech":0.553014398,"sam_rpm":-16.8615589,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021268025,"thr_a_norm":0.021268025,"thr_a_v":0.5850721,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461853951,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.898214,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-2.25588632,"cg_iw_a":-1.03063416,"cg_theta_rad":0.555183291,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.18945,"hz_adc_isr":5007,"hz_app_loop":364,"hz_tim_isr":10014,"hz_vsense":364,"mpcc_cost":0.00538523495,"mpcc_du":50.3479767,"mpcc_dv":48.6102638,"mpcc_dw":51.3897362,"mpcc_enc_sign":1,"mpcc_id_a":0.831729054,"mpcc_iq_a":-1.83671439,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.13129568,"mpcc_pred_id_a":-0.261130244,"mpcc_pred_iq_a":-3.16349959,"mpcc_state":1,"mpcc_theta_e":0.449211597,"mpcc_theta_mech":0.556788206,"sam_rpm":-7.7885375,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234962106,"thr_a_norm":0.0234962106,"thr_a_v":0.593984842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467795819,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.90917,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.588670254,"cg_iw_a":-0.740683079,"cg_theta_rad":0.556385636,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00276193582,"mpcc_du":49.9545784,"mpcc_dv":49.2759399,"mpcc_dw":50.7240601,"mpcc_enc_sign":1,"mpcc_id_a":1.54584777,"mpcc_iq_a":-3.79760599,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.238697305,"mpcc_pred_id_a":-0.623266578,"mpcc_pred_iq_a":-3.16157532,"mpcc_state":1,"mpcc_theta_e":0.446675301,"mpcc_theta_mech":0.556280971,"sam_rpm":0.0514685102,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0465712994,"thr_a_norm":0.0465712994,"thr_a_v":0.686285198,"thr_b":0.0137903392,"thr_b_norm":0.0137903392,"thr_b_v":0.555161357,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.919119,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.153744221,"cg_iw_a":-1.46555996,"cg_theta_rad":0.554288864,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00367928599,"mpcc_du":49.9064903,"mpcc_dv":49.0404625,"mpcc_dw":50.9595375,"mpcc_enc_sign":1,"mpcc_id_a":1.13911402,"mpcc_iq_a":-0.704471111,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.0946417,"mpcc_pred_id_a":0.0271261372,"mpcc_pred_iq_a":-3.30153489,"mpcc_state":1,"mpcc_theta_e":0.431607723,"mpcc_theta_mech":0.553267479,"sam_rpm":-17.1543121,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0465712994,"thr_a_norm":0.0465712994,"thr_a_v":0.686285198,"thr_b":0.0137903392,"thr_b_norm":0.0137903392,"thr_b_v":0.555161357,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.92919,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-1.02359605,"cg_iw_a":-0.160782099,"cg_theta_rad":0.555696249,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0306177996,"mpcc_du":49.8747292,"mpcc_dv":49.0291901,"mpcc_dw":50.9708099,"mpcc_enc_sign":1,"mpcc_id_a":1.83323812,"mpcc_iq_a":-1.76220489,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.4540925,"mpcc_pred_id_a":0.262663662,"mpcc_pred_iq_a":-3.69872117,"mpcc_state":1,"mpcc_theta_e":0.449286461,"mpcc_theta_mech":0.556803226,"sam_rpm":5.11828089,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00710573792,"thr_a_norm":0.00710573792,"thr_a_v":0.528422952,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443122,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.939199,"values":{"cg_iu_a":3.72144651,"cg_iv_a":-0.371207237,"cg_iw_a":-3.35023928,"cg_theta_rad":0.554742277,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0603980087,"mpcc_du":51.0850334,"mpcc_dv":47.6196594,"mpcc_dw":52.3803406,"mpcc_enc_sign":1,"mpcc_id_a":1.07770097,"mpcc_iq_a":0.889107168,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.9452896,"mpcc_pred_id_a":-0.149401963,"mpcc_pred_iq_a":-0.873808563,"mpcc_state":1,"mpcc_theta_e":0.433554649,"mpcc_theta_mech":0.553656876,"sam_rpm":-20.6733875,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151121467,"thr_a_norm":0.00710573792,"thr_a_v":0.560448587,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466083795,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.948965,"values":{"cg_iu_a":-0.70030117,"cg_iv_a":-1.96593571,"cg_iw_a":-0.16078186,"cg_theta_rad":0.557082117,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0522241145,"mpcc_du":49.6816978,"mpcc_dv":49.0194511,"mpcc_dw":50.9805489,"mpcc_enc_sign":1,"mpcc_id_a":1.76733935,"mpcc_iq_a":0.259217232,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.6100111,"mpcc_pred_id_a":0.140469402,"mpcc_pred_iq_a":-2.07066369,"mpcc_state":1,"mpcc_theta_e":0.454293251,"mpcc_theta_mech":0.557804525,"sam_rpm":18.4837322,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151121467,"thr_a_norm":0.0151121467,"thr_a_v":0.560448587,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466083795,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.959402,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.60349751,"cg_iw_a":-0.958146095,"cg_theta_rad":0.55626452,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0506790467,"mpcc_du":49.7675858,"mpcc_dv":49.1467819,"mpcc_dw":50.8532181,"mpcc_enc_sign":1,"mpcc_id_a":2.16832352,"mpcc_iq_a":-0.559860349,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.474001497,"mpcc_pred_id_a":0.268474638,"mpcc_pred_iq_a":-4.43211555,"mpcc_state":1,"mpcc_theta_e":0.44251442,"mpcc_theta_mech":0.555448771,"sam_rpm":1.23706651,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00896885991,"thr_a_norm":0.00896885991,"thr_a_v":0.53587544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43254748,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.981222,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.588670254,"cg_iw_a":-0.450732708,"cg_theta_rad":0.557062387,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.01535777,"mpcc_du":50.6181488,"mpcc_dv":48.0217018,"mpcc_dw":51.9782982,"mpcc_enc_sign":1,"mpcc_id_a":2.3993969,"mpcc_iq_a":-1.25834894,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.78795218,"mpcc_pred_id_a":0.467135251,"mpcc_pred_iq_a":1.63910258,"mpcc_state":1,"mpcc_theta_e":0.438155174,"mpcc_theta_mech":0.554576993,"sam_rpm":-6.23263311,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00896885991,"thr_a_norm":0.00896885991,"thr_a_v":0.53587544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43254748,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.98815,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.60349751,"cg_iw_a":-0.885658741,"cg_theta_rad":0.558490992,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00193315663,"mpcc_du":49.6562386,"mpcc_dv":50.2830391,"mpcc_dw":50.3437614,"mpcc_enc_sign":1,"mpcc_id_a":-0.185491174,"mpcc_iq_a":-1.11341751,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.27793026,"mpcc_pred_id_a":-0.438661516,"mpcc_pred_iq_a":-3.99669409,"mpcc_state":1,"mpcc_theta_e":0.447464943,"mpcc_theta_mech":0.556438923,"sam_rpm":8.76744938,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025120154,"thr_a_norm":0.025120154,"thr_a_v":0.600480616,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484010041,"vdc_v":55.2955055}} +{"type":"telemetry","t":10.994253,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-2.69081235,"cg_iw_a":1.94136024,"cg_theta_rad":0.557335079,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00448698457,"mpcc_du":50.3983612,"mpcc_dv":48.3552017,"mpcc_dw":51.6447983,"mpcc_enc_sign":1,"mpcc_id_a":1.25557709,"mpcc_iq_a":-1.49332428,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.9011536,"mpcc_pred_id_a":0.300068796,"mpcc_pred_iq_a":-1.71709228,"mpcc_state":1,"mpcc_theta_e":0.430575371,"mpcc_theta_mech":0.553061008,"sam_rpm":-19.261776,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025120154,"thr_a_norm":0.025120154,"thr_a_v":0.600480616,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484010041,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.002188,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.31354666,"cg_iw_a":-2.19043684,"cg_theta_rad":0.557096064,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00844035856,"mpcc_du":49.2461472,"mpcc_dv":50.7538528,"mpcc_dw":49.801796,"mpcc_enc_sign":1,"mpcc_id_a":1.61536062,"mpcc_iq_a":-0.546143532,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.19724178,"mpcc_pred_id_a":-0.509697318,"mpcc_pred_iq_a":-7.35020494,"mpcc_state":1,"mpcc_theta_e":0.451456547,"mpcc_theta_mech":0.557237208,"sam_rpm":3.95179319,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.023231864,"thr_a_v":0.592927456,"thr_b":0.00308994949,"thr_b_norm":0.00308994949,"thr_b_v":0.512359798,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.012197,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.82096052,"cg_iw_a":0.201656342,"cg_theta_rad":0.556290388,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0509558246,"mpcc_du":49.6690559,"mpcc_dv":49.3304558,"mpcc_dw":50.6695442,"mpcc_enc_sign":1,"mpcc_id_a":0.681619525,"mpcc_iq_a":0.184647948,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.60062504,"mpcc_pred_id_a":0.251380295,"mpcc_pred_iq_a":-2.71810889,"mpcc_state":1,"mpcc_theta_e":0.45314455,"mpcc_theta_mech":0.557574868,"sam_rpm":15.6902847,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189139396,"thr_a_norm":0.023231864,"thr_a_v":0.575655758,"thr_b":0,"thr_b_norm":0.00308994949,"thr_b_v":0.456365317,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.022299,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.371207237,"cg_iw_a":-0.740683079,"cg_theta_rad":0.555443048,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0150641203,"mpcc_du":49.4242325,"mpcc_dv":49.6076813,"mpcc_dw":50.5757675,"mpcc_enc_sign":1,"mpcc_id_a":2.45224857,"mpcc_iq_a":-1.48375416,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.18557096,"mpcc_pred_id_a":0.752402484,"mpcc_pred_iq_a":-2.71707201,"mpcc_state":1,"mpcc_theta_e":0.440228939,"mpcc_theta_mech":0.554991663,"sam_rpm":3.83763433,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189139396,"thr_a_norm":0.0189139396,"thr_a_v":0.575655758,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456365317,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.0324,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.6759851,"cg_iw_a":1.21648383,"cg_theta_rad":0.552777052,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0747516155,"mpcc_du":50.0792427,"mpcc_dv":48.4551773,"mpcc_dw":51.5448227,"mpcc_enc_sign":1,"mpcc_id_a":5.36513424,"mpcc_iq_a":1.25798094,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.012558,"mpcc_pred_id_a":0.939477444,"mpcc_pred_iq_a":-1.16223955,"mpcc_state":1,"mpcc_theta_e":0.423604488,"mpcc_theta_mech":0.551666796,"sam_rpm":-26.6426697,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00754635036,"thr_b_norm":0.00754635036,"thr_b_v":0.530185401,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.044577,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.45852208,"cg_iw_a":0.709069967,"cg_theta_rad":0.556606829,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0249142796,"mpcc_du":50.1864471,"mpcc_dv":48.6103401,"mpcc_dw":51.3896599,"mpcc_enc_sign":1,"mpcc_id_a":2.14626002,"mpcc_iq_a":-1.79437172,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.34383011,"mpcc_pred_id_a":0.328618526,"mpcc_pred_iq_a":-3.08894491,"mpcc_state":1,"mpcc_theta_e":0.440696239,"mpcc_theta_mech":0.555085123,"sam_rpm":-6.90157938,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0456900895,"thr_a_norm":0.0296772718,"thr_a_v":0.682760358,"thr_b":0.0176424831,"thr_b_norm":0.00754635036,"thr_b_v":0.570569932,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.054495,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.951108456,"cg_iw_a":-2.11794901,"cg_theta_rad":0.55507952,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0359384306,"mpcc_du":49.8684349,"mpcc_dv":49.037693,"mpcc_dw":50.962307,"mpcc_enc_sign":1,"mpcc_id_a":2.14501119,"mpcc_iq_a":-1.83045244,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.0988064,"mpcc_pred_id_a":0.0993299186,"mpcc_pred_iq_a":-2.18154216,"mpcc_state":1,"mpcc_theta_e":0.422074795,"mpcc_theta_mech":0.551360905,"sam_rpm":-26.068079,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0456900895,"thr_a_norm":0.0456900895,"thr_a_v":0.682760358,"thr_b":0.0176424831,"thr_b_norm":0.0176424831,"thr_b_v":0.570569932,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.064566,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-1.74847269,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556701183,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0403490514,"mpcc_du":50.8575745,"mpcc_dv":48.0941315,"mpcc_dw":51.9058685,"mpcc_enc_sign":1,"mpcc_id_a":0.211792976,"mpcc_iq_a":-0.79193151,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.461496353,"mpcc_pred_id_a":-0.36869055,"mpcc_pred_iq_a":-0.146240503,"mpcc_state":1,"mpcc_theta_e":0.444886684,"mpcc_theta_mech":0.555923283,"sam_rpm":1.28417528,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204245895,"thr_a_norm":0.0204245895,"thr_a_v":0.581698358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.445538998,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.088003,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-2.11091113,"cg_iw_a":-1.90048599,"cg_theta_rad":0.555821717,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0108657619,"mpcc_du":50.3823051,"mpcc_dv":48.5015984,"mpcc_dw":51.4984016,"mpcc_enc_sign":1,"mpcc_id_a":0.78926152,"mpcc_iq_a":-0.595058143,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.63375092,"mpcc_pred_id_a":0.0849979147,"mpcc_pred_iq_a":-1.3777082,"mpcc_state":1,"mpcc_theta_e":0.436910629,"mpcc_theta_mech":0.554328024,"sam_rpm":-9.99016476,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204245895,"thr_a_norm":0.0204245895,"thr_a_v":0.581698358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.445538998,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.094534,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.31354666,"cg_iw_a":-1.10312176,"cg_theta_rad":0.55297339,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0052044075,"mpcc_du":49.5462456,"mpcc_dv":49.7896843,"mpcc_dw":50.4537544,"mpcc_enc_sign":1,"mpcc_id_a":1.20437074,"mpcc_iq_a":-1.07253778,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.195161477,"mpcc_pred_id_a":0.120944254,"mpcc_pred_iq_a":-4.05209541,"mpcc_state":1,"mpcc_theta_e":0.440708637,"mpcc_theta_mech":0.555087686,"sam_rpm":-0.212681428,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.104806602,"thr_a_norm":0.104806602,"thr_a_v":0.919226408,"thr_b":0.0488624424,"thr_b_norm":0.0488624424,"thr_b_v":0.695449769,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.101004,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.661157608,"cg_iw_a":-0.160782337,"cg_theta_rad":0.553076923,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0340702571,"mpcc_du":49.5956993,"mpcc_dv":49.4588776,"mpcc_dw":50.5411224,"mpcc_enc_sign":1,"mpcc_id_a":1.35867465,"mpcc_iq_a":0.612340987,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.533064485,"mpcc_pred_id_a":0.293672115,"mpcc_pred_iq_a":1.43640292,"mpcc_state":1,"mpcc_theta_e":0.441348076,"mpcc_theta_mech":0.555215538,"sam_rpm":2.61002254,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0121538043,"thr_a_norm":0.104806602,"thr_a_v":0.548615217,"thr_b":0,"thr_b_norm":0.0488624424,"thr_b_v":0.452840477,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.111166,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-2.0384233,"cg_iw_a":0.564094305,"cg_theta_rad":0.555664122,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0683017522,"mpcc_du":49.7186546,"mpcc_dv":49.2338943,"mpcc_dw":50.7661057,"mpcc_enc_sign":1,"mpcc_id_a":2.08475852,"mpcc_iq_a":-0.0803001598,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.3851624,"mpcc_pred_id_a":0.336850405,"mpcc_pred_iq_a":-2.47078228,"mpcc_state":1,"mpcc_theta_e":0.453447342,"mpcc_theta_mech":0.557635427,"sam_rpm":18.9821949,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0121538043,"thr_a_norm":0.0121538043,"thr_a_v":0.548615217,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452840477,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.121359,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.96593571,"cg_iw_a":-0.958146572,"cg_theta_rad":0.556326151,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0208365917,"mpcc_du":49.5787621,"mpcc_dv":49.7015114,"mpcc_dw":51.0732498,"mpcc_enc_sign":1,"mpcc_id_a":-0.131912887,"mpcc_iq_a":-1.97995162,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.3766279,"mpcc_pred_id_a":-0.109078944,"mpcc_pred_iq_a":-4.0790987,"mpcc_state":1,"mpcc_theta_e":0.453818798,"mpcc_theta_mech":0.557709694,"sam_rpm":18.6281509,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020688951,"thr_a_norm":0.020688951,"thr_a_v":0.582755804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461149007,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.133749,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.89344811,"cg_iw_a":0.854045153,"cg_theta_rad":0.555310667,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.183775544,"mpcc_du":50.2290649,"mpcc_dv":48.2711334,"mpcc_dw":51.7288666,"mpcc_enc_sign":1,"mpcc_id_a":4.64113092,"mpcc_iq_a":0.548354089,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.16560936,"mpcc_pred_id_a":1.17141688,"mpcc_pred_iq_a":-2.76676965,"mpcc_state":1,"mpcc_theta_e":0.450663567,"mpcc_theta_mech":0.55707866,"sam_rpm":4.66295099,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.020688951,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490153342,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.143789,"values":{"cg_iu_a":2.27169323,"cg_iv_a":0.0637187958,"cg_iw_a":0.854045153,"cg_theta_rad":0.556704044,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.000465295801,"mpcc_du":49.5357056,"mpcc_dv":50.4642944,"mpcc_dw":50.2538185,"mpcc_enc_sign":1,"mpcc_id_a":0.431398362,"mpcc_iq_a":-1.50263536,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.0457172,"mpcc_pred_id_a":-0.217852369,"mpcc_pred_iq_a":-3.12815213,"mpcc_state":1,"mpcc_theta_e":0.447734356,"mpcc_theta_mech":0.556492746,"sam_rpm":14.4090605,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.021620512,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490153342,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.153769,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":-0.516182423,"cg_iw_a":-2.48038721,"cg_theta_rad":0.556797624,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00319328136,"mpcc_du":49.6382828,"mpcc_dv":49.5939445,"mpcc_dw":50.4060555,"mpcc_enc_sign":1,"mpcc_id_a":0.224296987,"mpcc_iq_a":-1.2986716,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.9610548,"mpcc_pred_id_a":-0.468745887,"mpcc_pred_iq_a":-3.31675196,"mpcc_state":1,"mpcc_theta_e":0.43386507,"mpcc_theta_mech":0.553718925,"sam_rpm":-9.49009132,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283176899,"thr_a_norm":0.0283176899,"thr_a_v":0.61327076,"thr_b":0.000924691558,"thr_b_norm":0.000924691558,"thr_b_v":0.503698766,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.163809,"values":{"cg_iu_a":3.93890953,"cg_iv_a":-0.588670254,"cg_iw_a":-3.35023928,"cg_theta_rad":0.556293547,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0293355547,"mpcc_du":50.7850227,"mpcc_dv":47.9158325,"mpcc_dw":52.0841675,"mpcc_enc_sign":1,"mpcc_id_a":2.24327898,"mpcc_iq_a":-0.390221477,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.2022333,"mpcc_pred_id_a":0.191401243,"mpcc_pred_iq_a":-0.561989248,"mpcc_state":1,"mpcc_theta_e":0.434323788,"mpcc_theta_mech":0.5558846,"sam_rpm":-16.7120094,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283176899,"thr_a_norm":0.0283176899,"thr_a_v":0.61327076,"thr_b":0.000924691558,"thr_b_norm":0.000924691558,"thr_b_v":0.503698766,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.186972,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.298719406,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556699753,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00749943359,"mpcc_du":49.6543617,"mpcc_dv":49.9403191,"mpcc_dw":50.3456383,"mpcc_enc_sign":1,"mpcc_id_a":-0.246837541,"mpcc_iq_a":-0.757848203,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.70244598,"mpcc_pred_id_a":-0.551707149,"mpcc_pred_iq_a":-5.53434706,"mpcc_state":1,"mpcc_theta_e":0.436955929,"mpcc_theta_mech":0.554337144,"sam_rpm":-3.02835107,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209784806,"thr_a_norm":0.0209784806,"thr_a_v":0.583913922,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.193472,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.733645439,"cg_iw_a":-0.378244877,"cg_theta_rad":0.556437135,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0291153546,"mpcc_du":49.8011703,"mpcc_dv":48.9057159,"mpcc_dw":51.0942841,"mpcc_enc_sign":1,"mpcc_id_a":3.37436843,"mpcc_iq_a":-0.369471014,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.29499483,"mpcc_pred_id_a":0.820512235,"mpcc_pred_iq_a":-0.642954469,"mpcc_state":1,"mpcc_theta_e":0.436633587,"mpcc_theta_mech":0.554272652,"sam_rpm":-3.61039996,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0209784806,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.200064,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.02359605,"cg_iw_a":0.709069967,"cg_theta_rad":0.551581025,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0122560775,"mpcc_du":50.4522209,"mpcc_dv":48.4956284,"mpcc_dw":51.5043716,"mpcc_enc_sign":1,"mpcc_id_a":1.59054732,"mpcc_iq_a":-1.10670805,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.77462196,"mpcc_pred_id_a":0.192308605,"mpcc_pred_iq_a":0.651045263,"mpcc_state":1,"mpcc_theta_e":0.436374664,"mpcc_theta_mech":0.557123601,"sam_rpm":-30.8829746,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.206594,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.02359605,"cg_iw_a":-0.23326993,"cg_theta_rad":0.552904963,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0331796184,"mpcc_du":50.1032219,"mpcc_dv":48.7723846,"mpcc_dw":51.2276154,"mpcc_enc_sign":1,"mpcc_id_a":2.23795033,"mpcc_iq_a":-0.419704586,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.83169603,"mpcc_pred_id_a":0.384667307,"mpcc_pred_iq_a":-0.714730501,"mpcc_state":1,"mpcc_theta_e":0.447482109,"mpcc_theta_mech":0.55644238,"sam_rpm":7.52683496,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263034999,"thr_a_norm":0.0263034999,"thr_a_v":0.605214,"thr_b":0.000647738576,"thr_b_norm":0.000647738576,"thr_b_v":0.502590954,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.216574,"values":{"cg_iu_a":2.05423021,"cg_iv_a":0.281181812,"cg_iw_a":-2.33541203,"cg_theta_rad":0.557204843,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0316538513,"mpcc_du":49.5704193,"mpcc_dv":49.9212646,"mpcc_dw":50.4295807,"mpcc_enc_sign":1,"mpcc_id_a":2.19135809,"mpcc_iq_a":-1.01997256,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.3170815,"mpcc_pred_id_a":0.0573458076,"mpcc_pred_iq_a":-3.37536049,"mpcc_state":1,"mpcc_theta_e":0.454626083,"mpcc_theta_mech":0.557871163,"sam_rpm":19.4155006,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291737169,"thr_a_norm":0.0263034999,"thr_a_v":0.616694868,"thr_b":0.0039459765,"thr_b_norm":0.000647738576,"thr_b_v":0.515783906,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.228354,"values":{"cg_iu_a":1.69179153,"cg_iv_a":0.0637187958,"cg_iw_a":-2.55287504,"cg_theta_rad":0.556223989,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0294736251,"mpcc_du":50.2170792,"mpcc_dv":48.576683,"mpcc_dw":51.423317,"mpcc_enc_sign":1,"mpcc_id_a":2.1405611,"mpcc_iq_a":-1.8011663,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.61884487,"mpcc_pred_id_a":0.461063981,"mpcc_pred_iq_a":-2.54146194,"mpcc_state":1,"mpcc_theta_e":0.443866253,"mpcc_theta_mech":0.555719137,"sam_rpm":-1.61671615,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291737169,"thr_a_norm":0.0291737169,"thr_a_v":0.616694868,"thr_b":0.0039459765,"thr_b_norm":0.0039459765,"thr_b_v":0.515783906,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.2376,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.298719406,"cg_iw_a":-0.885658741,"cg_theta_rad":0.555373251,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0028488494,"mpcc_du":50.0896606,"mpcc_dv":49.0188675,"mpcc_dw":50.9811325,"mpcc_enc_sign":1,"mpcc_id_a":0.600391686,"mpcc_iq_a":-1.48911381,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.47645712,"mpcc_pred_id_a":-0.25056088,"mpcc_pred_iq_a":-0.591480851,"mpcc_state":1,"mpcc_theta_e":0.446343422,"mpcc_theta_mech":0.556214571,"sam_rpm":7.65635395,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217212141,"thr_a_norm":0.0217212141,"thr_a_v":0.586884856,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.2488,"values":{"cg_iu_a":2.5616436,"cg_iv_a":0.136206627,"cg_iw_a":0.926532984,"cg_theta_rad":0.553745747,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00158909417,"mpcc_du":50.3782425,"mpcc_dv":48.4752159,"mpcc_dw":51.5247841,"mpcc_enc_sign":1,"mpcc_id_a":0.451922029,"mpcc_iq_a":-2.66276646,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.64412546,"mpcc_pred_id_a":0.240546629,"mpcc_pred_iq_a":-1.77720857,"mpcc_state":1,"mpcc_theta_e":0.441698074,"mpcc_theta_mech":0.555285573,"sam_rpm":-7.2012105,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0154520422,"thr_a_norm":0.0217212141,"thr_a_v":0.561808169,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.260977,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.09608364,"cg_iw_a":-1.17560959,"cg_theta_rad":0.555932105,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0522885732,"mpcc_du":49.2915726,"mpcc_dv":50.7084274,"mpcc_dw":50.1418266,"mpcc_enc_sign":1,"mpcc_id_a":1.29437876,"mpcc_iq_a":-3.60947561,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.45535278,"mpcc_pred_id_a":0.324362516,"mpcc_pred_iq_a":-3.01916718,"mpcc_state":1,"mpcc_theta_e":0.439303875,"mpcc_theta_mech":0.55480665,"sam_rpm":5.46791792,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0154520422,"thr_a_norm":0.0154520422,"thr_a_v":0.561808169,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.284414,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.38603449,"cg_iw_a":-1.03063393,"cg_theta_rad":0.556547225,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00196027011,"mpcc_du":49.6017113,"mpcc_dv":50.3982887,"mpcc_dw":50.3016968,"mpcc_enc_sign":1,"mpcc_id_a":0.0366807245,"mpcc_iq_a":-1.16955566,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.730274677,"mpcc_pred_id_a":-0.213837087,"mpcc_pred_iq_a":-5.84467983,"mpcc_state":1,"mpcc_theta_e":0.440616131,"mpcc_theta_mech":0.555069149,"sam_rpm":-1.45761776,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024188593,"thr_a_norm":0.024188593,"thr_a_v":0.596754372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.290884,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.02359605,"cg_iw_a":-0.813171148,"cg_theta_rad":0.557491362,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0223074146,"mpcc_du":50.6235046,"mpcc_dv":48.1135139,"mpcc_dw":51.8864861,"mpcc_enc_sign":1,"mpcc_id_a":2.84732008,"mpcc_iq_a":-1.66656649,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.296277434,"mpcc_pred_id_a":0.416261464,"mpcc_pred_iq_a":1.58335614,"mpcc_state":1,"mpcc_theta_e":0.441871643,"mpcc_theta_mech":0.555320263,"sam_rpm":-0.32770741,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.024188593,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482146949,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.297415,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":-0.443694592,"cg_iw_a":0.491606712,"cg_theta_rad":0.557163596,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0251154061,"mpcc_du":49.7444649,"mpcc_dv":49.1496964,"mpcc_dw":50.8503036,"mpcc_enc_sign":1,"mpcc_id_a":3.02986026,"mpcc_iq_a":-1.95430255,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.09849215,"mpcc_pred_id_a":0.520374835,"mpcc_pred_iq_a":-2.38752389,"mpcc_state":1,"mpcc_theta_e":0.44596529,"mpcc_theta_mech":0.556138933,"sam_rpm":4.48771095,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.021620512,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482146949,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.303976,"values":{"cg_iu_a":3.93890953,"cg_iv_a":-0.153744221,"cg_iw_a":0.999020576,"cg_theta_rad":0.557417452,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0114425886,"mpcc_du":50.0922089,"mpcc_dv":48.9518967,"mpcc_dw":51.0481033,"mpcc_enc_sign":1,"mpcc_id_a":1.58364606,"mpcc_iq_a":-3.09470963,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.00415707,"mpcc_pred_id_a":-0.0312528871,"mpcc_pred_iq_a":-1.76437891,"mpcc_state":1,"mpcc_theta_e":0.453356266,"mpcc_theta_mech":0.557617188,"sam_rpm":13.2343044,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248558074,"thr_a_norm":0.0248558074,"thr_a_v":0.59942323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472176731,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.311789,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.02359605,"cg_iw_a":0.41911912,"cg_theta_rad":0.556500912,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0364697389,"mpcc_du":50.3342667,"mpcc_dv":48.8490906,"mpcc_dw":51.1509094,"mpcc_enc_sign":1,"mpcc_id_a":0.905750096,"mpcc_iq_a":-0.0122492602,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.11622691,"mpcc_pred_id_a":-0.543887556,"mpcc_pred_iq_a":-1.61879098,"mpcc_state":1,"mpcc_theta_e":0.447297573,"mpcc_theta_mech":0.556405425,"sam_rpm":5.03927135,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248558074,"thr_a_norm":0.0248558074,"thr_a_v":0.59942323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472176731,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.321981,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.82096052,"cg_iw_a":1.07150841,"cg_theta_rad":0.554820716,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0224903021,"mpcc_du":49.062706,"mpcc_dv":50.937294,"mpcc_dw":49.5937538,"mpcc_enc_sign":1,"mpcc_id_a":1.14531839,"mpcc_iq_a":-3.61799955,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.27661037,"mpcc_pred_id_a":-0.45076257,"mpcc_pred_iq_a":-3.08638597,"mpcc_state":1,"mpcc_theta_e":0.434401989,"mpcc_theta_mech":0.553826272,"sam_rpm":-9.91915417,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248306245,"thr_a_norm":0.0248306245,"thr_a_v":0.599322498,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49508813,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.332144,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.878620625,"cg_iw_a":-1.32058477,"cg_theta_rad":0.555530846,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0336465575,"mpcc_du":49.4453888,"mpcc_dv":49.8985252,"mpcc_dw":50.5546112,"mpcc_enc_sign":1,"mpcc_id_a":3.6659286,"mpcc_iq_a":-0.763728499,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.1899519,"mpcc_pred_id_a":0.782813787,"mpcc_pred_iq_a":-0.174282789,"mpcc_state":1,"mpcc_theta_e":0.43193531,"mpcc_theta_mech":0.553332984,"sam_rpm":-3.21918392,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025749594,"thr_a_norm":0.0248306245,"thr_a_v":0.602998376,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.342123,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.733645439,"cg_iw_a":-0.233269691,"cg_theta_rad":0.555918157,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0215505082,"mpcc_du":49.7110291,"mpcc_dv":49.4315109,"mpcc_dw":50.5684891,"mpcc_enc_sign":1,"mpcc_id_a":2.44107223,"mpcc_iq_a":-2.00540686,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.23784256,"mpcc_pred_id_a":0.304595172,"mpcc_pred_iq_a":-2.93810415,"mpcc_state":1,"mpcc_theta_e":0.448283195,"mpcc_theta_mech":0.556602597,"sam_rpm":8.38090897,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025749594,"thr_a_norm":0.025749594,"thr_a_v":0.602998376,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.352224,"values":{"cg_iu_a":1.25686598,"cg_iv_a":0.788595676,"cg_iw_a":-2.98780107,"cg_theta_rad":0.556248307,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0714852884,"mpcc_du":51.1007462,"mpcc_dv":47.7756348,"mpcc_dw":52.2243652,"mpcc_enc_sign":1,"mpcc_id_a":0.363477916,"mpcc_iq_a":-0.636427581,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.29390073,"mpcc_pred_id_a":-0.199551553,"mpcc_pred_iq_a":0.614730239,"mpcc_state":1,"mpcc_theta_e":0.450868607,"mpcc_theta_mech":0.557119668,"sam_rpm":6.40804577,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0398866981,"thr_a_norm":0.0398866981,"thr_a_v":0.659546793,"thr_b":0.00968642533,"thr_b_norm":0.00968642533,"thr_b_v":0.538745701,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.362173,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.02359605,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.557859361,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0192435142,"mpcc_du":49.569191,"mpcc_dv":50.356163,"mpcc_dw":50.430809,"mpcc_enc_sign":1,"mpcc_id_a":1.97884786,"mpcc_iq_a":-1.61821067,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.3607473,"mpcc_pred_id_a":0.0576506183,"mpcc_pred_iq_a":-3.41861629,"mpcc_state":1,"mpcc_theta_e":0.455843449,"mpcc_theta_mech":0.558114648,"sam_rpm":23.7456417,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0398866981,"thr_a_norm":0.0398866981,"thr_a_v":0.659546793,"thr_b":0.00968642533,"thr_b_norm":0.00968642533,"thr_b_v":0.538745701,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.385611,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.11091113,"cg_iw_a":-1.97297382,"cg_theta_rad":0.556250572,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0201900769,"mpcc_du":49.3402443,"mpcc_dv":50.6597557,"mpcc_dw":50.2789421,"mpcc_enc_sign":1,"mpcc_id_a":2.46246743,"mpcc_iq_a":-0.950948715,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.6520166,"mpcc_pred_id_a":0.597034097,"mpcc_pred_iq_a":-1.15365696,"mpcc_state":1,"mpcc_theta_e":0.433536053,"mpcc_theta_mech":0.553653121,"sam_rpm":14.5721264,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294632614,"thr_a_norm":0.0294632614,"thr_a_v":0.617853045,"thr_b":0.00521744788,"thr_b_norm":0.00521744788,"thr_b_v":0.520869792,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.39208,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.02359605,"cg_iw_a":-1.90048623,"cg_theta_rad":0.555432439,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0204343162,"mpcc_du":49.8576851,"mpcc_dv":49.3019829,"mpcc_dw":50.6980171,"mpcc_enc_sign":1,"mpcc_id_a":0.438230246,"mpcc_iq_a":-1.14094865,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.2249441,"mpcc_pred_id_a":-0.255370408,"mpcc_pred_iq_a":-1.68154395,"mpcc_state":1,"mpcc_theta_e":0.454253197,"mpcc_theta_mech":0.557796597,"sam_rpm":19.14221,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0155779272,"thr_a_norm":0.0294632614,"thr_a_v":0.562311709,"thr_b":0,"thr_b_norm":0.00521744788,"thr_b_v":0.472932041,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.398672,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.443694592,"cg_iw_a":-1.32058477,"cg_theta_rad":0.554827809,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0176266916,"mpcc_du":48.4391403,"mpcc_dv":51.5608597,"mpcc_dw":49.1054573,"mpcc_enc_sign":1,"mpcc_id_a":0.66064173,"mpcc_iq_a":-0.530321538,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.69768715,"mpcc_pred_id_a":0.292159617,"mpcc_pred_iq_a":-0.976113439,"mpcc_state":1,"mpcc_theta_e":0.431766033,"mpcc_theta_mech":0.553299129,"sam_rpm":37.9618683,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0155779272,"thr_a_norm":0.0155779272,"thr_a_v":0.562311709,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472932041,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.405142,"values":{"cg_iu_a":-0.772789001,"cg_iv_a":-0.878620625,"cg_iw_a":-2.6253624,"cg_theta_rad":0.552910447,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0181090459,"mpcc_du":49.9057426,"mpcc_dv":49.1447258,"mpcc_dw":50.8552742,"mpcc_enc_sign":1,"mpcc_id_a":1.27373803,"mpcc_iq_a":-0.417339563,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.08197188,"mpcc_pred_id_a":-0.0128313648,"mpcc_pred_iq_a":-2.36253262,"mpcc_state":1,"mpcc_theta_e":0.444902897,"mpcc_theta_mech":0.555926502,"sam_rpm":3.22456431,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024213776,"thr_a_norm":0.024213776,"thr_a_v":0.596855104,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475802243,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.413137,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.733645439,"cg_iw_a":-1.39307237,"cg_theta_rad":0.557308555,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.000628965674,"mpcc_du":50.9306107,"mpcc_dv":47.930378,"mpcc_dw":52.069622,"mpcc_enc_sign":1,"mpcc_id_a":0.417546302,"mpcc_iq_a":-0.548122525,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-23.3270054,"mpcc_pred_id_a":-0.491856486,"mpcc_pred_iq_a":-0.526188314,"mpcc_state":1,"mpcc_theta_e":0.41914463,"mpcc_theta_mech":0.550774872,"sam_rpm":-35.3299217,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024213776,"thr_a_norm":0.024213776,"thr_a_v":0.596855104,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475802243,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.42333,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-2.61832476,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.558434188,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0406522341,"mpcc_du":50.9038773,"mpcc_dv":47.6249428,"mpcc_dw":52.3750572,"mpcc_enc_sign":1,"mpcc_id_a":2.98122096,"mpcc_iq_a":-0.169173777,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.0242414,"mpcc_pred_id_a":0.487365931,"mpcc_pred_iq_a":0.0267211981,"mpcc_state":1,"mpcc_theta_e":0.431141376,"mpcc_theta_mech":0.556261122,"sam_rpm":-20.5383167,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195056051,"thr_a_norm":0.0195056051,"thr_a_v":0.57802242,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482348382,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.433584,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.09608364,"cg_iw_a":0.0566806793,"cg_theta_rad":0.556387186,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0507447794,"mpcc_du":50.290596,"mpcc_dv":48.7233963,"mpcc_dw":51.2766037,"mpcc_enc_sign":1,"mpcc_id_a":0.499264359,"mpcc_iq_a":-0.189355806,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.91146517,"mpcc_pred_id_a":-0.3088817,"mpcc_pred_iq_a":-1.84637344,"mpcc_state":1,"mpcc_theta_e":0.4486022,"mpcc_theta_mech":0.556666374,"sam_rpm":7.58540773,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205127001,"thr_a_norm":0.0195056051,"thr_a_v":0.5820508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.443563,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.16857147,"cg_iw_a":0.201656342,"cg_theta_rad":0.557647943,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0144363279,"mpcc_du":49.6406898,"mpcc_dv":49.4391022,"mpcc_dw":50.5608978,"mpcc_enc_sign":1,"mpcc_id_a":1.59503925,"mpcc_iq_a":-1.26149035,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.119974799,"mpcc_pred_id_a":-0.0885054842,"mpcc_pred_iq_a":-4.29293442,"mpcc_state":1,"mpcc_theta_e":0.44285202,"mpcc_theta_mech":0.555516303,"sam_rpm":0.404267818,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205127001,"thr_a_norm":0.0205127001,"thr_a_v":0.5820508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.453573,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.47334933,"cg_iw_a":-1.75551033,"cg_theta_rad":0.553680658,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00523975119,"mpcc_du":50.191391,"mpcc_dv":48.8094521,"mpcc_dw":51.1905479,"mpcc_enc_sign":1,"mpcc_id_a":0.607353151,"mpcc_iq_a":0.0485265851,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.26424217,"mpcc_pred_id_a":-0.229464814,"mpcc_pred_iq_a":-1.87878871,"mpcc_state":1,"mpcc_theta_e":0.429477692,"mpcc_theta_mech":0.552841485,"sam_rpm":-14.0059223,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167360902,"thr_a_norm":0.0167360902,"thr_a_v":0.566944361,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479780257,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.4634,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.298719406,"cg_iw_a":-1.46555996,"cg_theta_rad":0.557683289,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.000122924583,"mpcc_du":49.7999077,"mpcc_dv":49.3466225,"mpcc_dw":50.6533775,"mpcc_enc_sign":1,"mpcc_id_a":-0.0509959124,"mpcc_iq_a":-2.99249935,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.37278366,"mpcc_pred_id_a":-0.216443539,"mpcc_pred_iq_a":-2.19853044,"mpcc_state":1,"mpcc_theta_e":0.450423717,"mpcc_theta_mech":0.557030678,"sam_rpm":5.38733959,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167360902,"thr_a_norm":0.0167360902,"thr_a_v":0.566944361,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479780257,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.486746,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.298719406,"cg_iw_a":0.491606712,"cg_theta_rad":0.554977417,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.000530536694,"mpcc_du":50.3923073,"mpcc_dv":48.7388229,"mpcc_dw":51.2611771,"mpcc_enc_sign":1,"mpcc_id_a":-0.307673067,"mpcc_iq_a":-1.70448554,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.70022774,"mpcc_pred_id_a":-0.470942527,"mpcc_pred_iq_a":-2.85633874,"mpcc_state":1,"mpcc_theta_e":0.447095871,"mpcc_theta_mech":0.556365132,"sam_rpm":-9.11212158,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0141805857,"thr_a_norm":0.0141805857,"thr_a_v":0.556722343,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440100729,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.493307,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.02359605,"cg_iw_a":0.636582136,"cg_theta_rad":0.552560866,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0327776857,"mpcc_du":49.4844284,"mpcc_dv":49.8710861,"mpcc_dw":50.5155716,"mpcc_enc_sign":1,"mpcc_id_a":3.04157424,"mpcc_iq_a":-1.0925498,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.37440586,"mpcc_pred_id_a":0.545538962,"mpcc_pred_iq_a":-3.57685924,"mpcc_state":1,"mpcc_theta_e":0.449898243,"mpcc_theta_mech":0.556925535,"sam_rpm":12.4845028,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027537182,"thr_a_norm":0.0141805857,"thr_a_v":0.610148728,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492268264,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.499838,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.588670254,"cg_iw_a":-0.81317091,"cg_theta_rad":0.555797756,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0147849573,"mpcc_du":50.1301651,"mpcc_dv":48.7493324,"mpcc_dw":51.2506676,"mpcc_enc_sign":1,"mpcc_id_a":1.84004724,"mpcc_iq_a":-1.79437804,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.0680466,"mpcc_pred_id_a":0.178890958,"mpcc_pred_iq_a":-2.0950141,"mpcc_state":1,"mpcc_theta_e":0.425519466,"mpcc_theta_mech":0.552049816,"sam_rpm":-23.1910648,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027537182,"thr_a_norm":0.027537182,"thr_a_v":0.610148728,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492268264,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.506338,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.951108456,"cg_iw_a":0.709070206,"cg_theta_rad":0.552158713,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00161310355,"mpcc_du":50.9045982,"mpcc_dv":47.9247284,"mpcc_dw":52.0752716,"mpcc_enc_sign":1,"mpcc_id_a":0.26190272,"mpcc_iq_a":-2.02435899,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.59773016,"mpcc_pred_id_a":-0.377094656,"mpcc_pred_iq_a":-3.09780622,"mpcc_state":1,"mpcc_theta_e":0.447389126,"mpcc_theta_mech":0.555155873,"sam_rpm":8.10917664,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0146589577,"thr_a_norm":0.0146589577,"thr_a_v":0.558635831,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456415653,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.516531,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.6759851,"cg_iw_a":2.44877386,"cg_theta_rad":0.556507289,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0735616386,"mpcc_du":50.4660339,"mpcc_dv":48.1567764,"mpcc_dw":51.8432236,"mpcc_enc_sign":1,"mpcc_id_a":3.5866456,"mpcc_iq_a":-0.951163709,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.68580437,"mpcc_pred_id_a":0.62970829,"mpcc_pred_iq_a":-2.28249574,"mpcc_state":1,"mpcc_theta_e":0.441794395,"mpcc_theta_mech":0.555304825,"sam_rpm":-6.52865124,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280659199,"thr_a_norm":0.0146589577,"thr_a_v":0.61226368,"thr_b":0.00337947905,"thr_b_norm":0,"thr_b_v":0.513517916,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.526388,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.371207237,"cg_iw_a":-2.04546118,"cg_theta_rad":0.554872453,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0284458622,"mpcc_du":50.2900085,"mpcc_dv":48.413147,"mpcc_dw":51.586853,"mpcc_enc_sign":1,"mpcc_id_a":3.09661913,"mpcc_iq_a":-0.95891726,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.6561804,"mpcc_pred_id_a":0.44211337,"mpcc_pred_iq_a":-2.36141777,"mpcc_state":1,"mpcc_theta_e":0.431027889,"mpcc_theta_mech":0.553151488,"sam_rpm":-18.8750095,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280659199,"thr_a_norm":0.0280659199,"thr_a_v":0.61226368,"thr_b":0.00337947905,"thr_b_norm":0.00337947905,"thr_b_v":0.513517916,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.53652,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.153744221,"cg_iw_a":0.12916851,"cg_theta_rad":0.557429552,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0105616767,"mpcc_du":49.0730705,"mpcc_dv":50.9269295,"mpcc_dw":49.9309044,"mpcc_enc_sign":1,"mpcc_id_a":2.05488062,"mpcc_iq_a":-1.4646256,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":19.3621712,"mpcc_pred_id_a":0.351325691,"mpcc_pred_iq_a":-3.00888562,"mpcc_state":1,"mpcc_theta_e":0.454248428,"mpcc_theta_mech":0.557795584,"sam_rpm":27.2809048,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193923116,"thr_a_norm":0.0193923116,"thr_a_v":0.577569246,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472176731,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.546469,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.806133032,"cg_iw_a":-0.595707893,"cg_theta_rad":0.553088605,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0107893432,"mpcc_du":49.6016121,"mpcc_dv":49.5598831,"mpcc_dw":50.4401169,"mpcc_enc_sign":1,"mpcc_id_a":1.793118,"mpcc_iq_a":-2.49883962,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.6949272,"mpcc_pred_id_a":-0.02445665,"mpcc_pred_iq_a":-4.92634678,"mpcc_state":1,"mpcc_theta_e":0.453481674,"mpcc_theta_mech":0.557642221,"sam_rpm":19.5495644,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193923116,"thr_a_norm":0.0193923116,"thr_a_v":0.577569246,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472176731,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.556509,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.733645439,"cg_iw_a":-0.16078186,"cg_theta_rad":0.55473727,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.000104755978,"mpcc_du":49.6394844,"mpcc_dv":49.8932571,"mpcc_dw":50.3605156,"mpcc_enc_sign":1,"mpcc_id_a":-0.0230343882,"mpcc_iq_a":-1.60979342,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.68221664,"mpcc_pred_id_a":-0.26821059,"mpcc_pred_iq_a":-1.84573066,"mpcc_state":1,"mpcc_theta_e":0.448288441,"mpcc_theta_mech":0.556603611,"sam_rpm":14.3281584,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201979876,"thr_a_norm":0.0201979876,"thr_a_v":0.58079195,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462810725,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.566732,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.74847269,"cg_iw_a":-1.10312176,"cg_theta_rad":0.553687394,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00248675654,"mpcc_du":49.1772232,"mpcc_dv":50.8227768,"mpcc_dw":49.7942924,"mpcc_enc_sign":1,"mpcc_id_a":0.82347405,"mpcc_iq_a":-1.69091558,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.69052029,"mpcc_pred_id_a":-0.241846725,"mpcc_pred_iq_a":-4.95898485,"mpcc_state":1,"mpcc_theta_e":0.447722435,"mpcc_theta_mech":0.553270817,"sam_rpm":11.7108259,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021544978,"thr_a_norm":0.0201979876,"thr_a_v":0.586179912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473586619,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.589773,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.371207237,"cg_iw_a":-0.233269691,"cg_theta_rad":0.555680037,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.000156058391,"mpcc_du":49.4960976,"mpcc_dv":50.5039024,"mpcc_dw":50.0317841,"mpcc_enc_sign":1,"mpcc_id_a":0.144706711,"mpcc_iq_a":-1.81529641,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.6759224,"mpcc_pred_id_a":-0.499616444,"mpcc_pred_iq_a":-0.263028592,"mpcc_state":1,"mpcc_theta_e":0.4338727,"mpcc_theta_mech":0.553720474,"sam_rpm":5.84486961,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021544978,"thr_a_norm":0.021544978,"thr_a_v":0.586179912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473586619,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.596304,"values":{"cg_iu_a":0.749452114,"cg_iv_a":0.0637187958,"cg_iw_a":-0.958146095,"cg_theta_rad":0.552982986,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00811171904,"mpcc_du":50.1003456,"mpcc_dv":48.8321037,"mpcc_dw":51.1678963,"mpcc_enc_sign":1,"mpcc_id_a":2.21628141,"mpcc_iq_a":-0.123982541,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.17454267,"mpcc_pred_id_a":0.0296536498,"mpcc_pred_iq_a":-7.28052855,"mpcc_state":1,"mpcc_theta_e":0.444499016,"mpcc_theta_mech":0.555845737,"sam_rpm":10.2498369,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225772411,"thr_a_norm":0.0225772411,"thr_a_v":0.590308964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487534881,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.602835,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-2.61832476,"cg_iw_a":0.564094782,"cg_theta_rad":0.555710971,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0192189217,"mpcc_du":50.9105873,"mpcc_dv":47.9362106,"mpcc_dw":52.0637894,"mpcc_enc_sign":1,"mpcc_id_a":0.0989928246,"mpcc_iq_a":-0.363650531,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.7769833,"mpcc_pred_id_a":-0.233450875,"mpcc_pred_iq_a":-1.41410124,"mpcc_state":1,"mpcc_theta_e":0.43159771,"mpcc_theta_mech":0.553265452,"sam_rpm":-20.9578419,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225772411,"thr_a_norm":0.0225772411,"thr_a_v":0.590308964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487534881,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.609549,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.09608364,"cg_iw_a":-1.17560959,"cg_theta_rad":0.553521514,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0044597676,"mpcc_du":49.6859818,"mpcc_dv":49.3958321,"mpcc_dw":50.6041679,"mpcc_enc_sign":1,"mpcc_id_a":0.95628947,"mpcc_iq_a":-1.09688962,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.37258482,"mpcc_pred_id_a":0.0528211109,"mpcc_pred_iq_a":-2.25575733,"mpcc_state":1,"mpcc_theta_e":0.43873024,"mpcc_theta_mech":0.55469197,"sam_rpm":5.98510695,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024566263,"thr_a_norm":0.024566263,"thr_a_v":0.598265052,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483002961,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.619772,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.31354666,"cg_iw_a":0.78155756,"cg_theta_rad":0.555507123,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.000257241278,"mpcc_du":50.4540176,"mpcc_dv":48.572998,"mpcc_dw":51.427002,"mpcc_enc_sign":1,"mpcc_id_a":-0.0425874703,"mpcc_iq_a":-1.17665076,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.01986265,"mpcc_pred_id_a":-0.27517426,"mpcc_pred_iq_a":-0.131835341,"mpcc_state":1,"mpcc_theta_e":0.437092781,"mpcc_theta_mech":0.554364502,"sam_rpm":-6.70647621,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196189135,"thr_a_norm":0.024566263,"thr_a_v":0.578475654,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459285885,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.629782,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.31354666,"cg_iw_a":0.0566806793,"cg_theta_rad":0.552763104,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0190126058,"mpcc_du":49.6122665,"mpcc_dv":49.8657722,"mpcc_dw":50.3877335,"mpcc_enc_sign":1,"mpcc_id_a":1.38477087,"mpcc_iq_a":0.313488096,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.54776335,"mpcc_pred_id_a":-0.106707051,"mpcc_pred_iq_a":-2.97782302,"mpcc_state":1,"mpcc_theta_e":0.44849062,"mpcc_theta_mech":0.556644022,"sam_rpm":10.2187548,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196189135,"thr_a_norm":0.0196189135,"thr_a_v":0.578475654,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459285885,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.63973,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.298719406,"cg_iw_a":-0.378244877,"cg_theta_rad":0.555668056,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0117665576,"mpcc_du":50.1937752,"mpcc_dv":48.9035263,"mpcc_dw":51.0964737,"mpcc_enc_sign":1,"mpcc_id_a":0.173218027,"mpcc_iq_a":-1.37671113,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.34494293,"mpcc_pred_id_a":-0.263656259,"mpcc_pred_iq_a":-2.124511,"mpcc_state":1,"mpcc_theta_e":0.445417404,"mpcc_theta_mech":0.556029439,"sam_rpm":2.68489027,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295765549,"thr_a_norm":0.0295765549,"thr_a_v":0.61830622,"thr_b":0.00517967343,"thr_b_norm":0.00517967343,"thr_b_v":0.520718694,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.649527,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.951108456,"cg_iw_a":-1.82799816,"cg_theta_rad":0.555465996,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00377470395,"mpcc_du":49.9914169,"mpcc_dv":49.1240959,"mpcc_dw":50.8759041,"mpcc_enc_sign":1,"mpcc_id_a":0.118515246,"mpcc_iq_a":-2.32613993,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.40441942,"mpcc_pred_id_a":-0.259079307,"mpcc_pred_iq_a":-2.23736572,"mpcc_state":1,"mpcc_theta_e":0.446763992,"mpcc_theta_mech":0.556298733,"sam_rpm":7.86146975,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295765549,"thr_a_norm":0.0295765549,"thr_a_v":0.61830622,"thr_b":0.00517967343,"thr_b_norm":0.00517967343,"thr_b_v":0.520718694,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.65975,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.298719406,"cg_iw_a":-0.523220539,"cg_theta_rad":0.556086659,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0230420176,"mpcc_du":50.0276871,"mpcc_dv":49.1971931,"mpcc_dw":50.8028069,"mpcc_enc_sign":1,"mpcc_id_a":-0.146677479,"mpcc_iq_a":-0.528680861,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.23975849,"mpcc_pred_id_a":-0.551217496,"mpcc_pred_iq_a":-2.65677381,"mpcc_state":1,"mpcc_theta_e":0.448482037,"mpcc_theta_mech":0.556642294,"sam_rpm":6.90288401,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.442064524,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.669729,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.443694592,"cg_iw_a":0.0566806793,"cg_theta_rad":0.554977894,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00712787267,"mpcc_du":50.7271881,"mpcc_dv":48.1629829,"mpcc_dw":51.8370171,"mpcc_enc_sign":1,"mpcc_id_a":0.695755959,"mpcc_iq_a":-0.454167902,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.1852875,"mpcc_pred_id_a":-0.178554267,"mpcc_pred_iq_a":-0.191326946,"mpcc_state":1,"mpcc_theta_e":0.431574345,"mpcc_theta_mech":0.553260803,"sam_rpm":-15.3371706,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297779739,"thr_a_norm":0.0200217366,"thr_a_v":0.619111896,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466285199,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.692739,"values":{"cg_iu_a":0.966915131,"cg_iv_a":0.933570862,"cg_iw_a":-1.90048599,"cg_theta_rad":0.552839041,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0502761193,"mpcc_du":50.5367203,"mpcc_dv":48.5904999,"mpcc_dw":51.4095001,"mpcc_enc_sign":1,"mpcc_id_a":0.0356034599,"mpcc_iq_a":-0.151371211,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.90052724,"mpcc_pred_id_a":-0.520822406,"mpcc_pred_iq_a":-2.69630051,"mpcc_state":1,"mpcc_theta_e":0.443089485,"mpcc_theta_mech":0.555563807,"sam_rpm":-3.21521044,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297779739,"thr_a_norm":0.0297779739,"thr_a_v":0.619111896,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466285199,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.69927,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.371207237,"cg_iw_a":-1.75551033,"cg_theta_rad":0.556518734,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0378246829,"mpcc_du":50.4840584,"mpcc_dv":48.2277489,"mpcc_dw":51.7722511,"mpcc_enc_sign":1,"mpcc_id_a":3.18251753,"mpcc_iq_a":-0.0916311592,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.25549412,"mpcc_pred_id_a":0.493917406,"mpcc_pred_iq_a":-0.742365181,"mpcc_state":1,"mpcc_theta_e":0.435525894,"mpcc_theta_mech":0.554051101,"sam_rpm":-13.6117401,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461602181,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.705801,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.733645439,"cg_iw_a":-1.82799816,"cg_theta_rad":0.553378582,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0083367927,"mpcc_du":50.0063057,"mpcc_dv":48.96558,"mpcc_dw":51.03442,"mpcc_enc_sign":1,"mpcc_id_a":1.16010499,"mpcc_iq_a":-1.66359508,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.60115051,"mpcc_pred_id_a":0.172942549,"mpcc_pred_iq_a":-1.51643538,"mpcc_state":1,"mpcc_theta_e":0.446047306,"mpcc_theta_mech":0.556155384,"sam_rpm":5.69022274,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461602181,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.71456,"values":{"cg_iu_a":1.54681635,"cg_iv_a":0.136206627,"cg_iw_a":-1.68302298,"cg_theta_rad":0.554301441,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0993093178,"mpcc_du":49.5754814,"mpcc_dv":49.3134995,"mpcc_dw":50.6865005,"mpcc_enc_sign":1,"mpcc_id_a":3.40538096,"mpcc_iq_a":-0.340721518,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.12235451,"mpcc_pred_id_a":0.534229338,"mpcc_pred_iq_a":-5.2860384,"mpcc_state":1,"mpcc_theta_e":0.450455189,"mpcc_theta_mech":0.557036936,"sam_rpm":9.08432102,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273735374,"thr_a_norm":0.0273735374,"thr_a_v":0.60949415,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481945544,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.724752,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.31354666,"cg_iw_a":-0.885658741,"cg_theta_rad":0.557517409,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0342176743,"mpcc_du":49.9891701,"mpcc_dv":48.9649048,"mpcc_dw":51.0350952,"mpcc_enc_sign":1,"mpcc_id_a":2.2761097,"mpcc_iq_a":-0.331161678,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.908303082,"mpcc_pred_id_a":0.0899438336,"mpcc_pred_iq_a":-2.53698182,"mpcc_state":1,"mpcc_theta_e":0.44173193,"mpcc_theta_mech":0.555292308,"sam_rpm":-0.0700463355,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271217674,"thr_a_norm":0.0273735374,"thr_a_v":0.60848707,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.734732,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.661157608,"cg_iw_a":0.346631527,"cg_theta_rad":0.557006538,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00279625994,"mpcc_du":49.6550331,"mpcc_dv":50.2056503,"mpcc_dw":50.3449669,"mpcc_enc_sign":1,"mpcc_id_a":-0.826890111,"mpcc_iq_a":-1.45586419,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.14868879,"mpcc_pred_id_a":-0.505980074,"mpcc_pred_iq_a":-4.33663034,"mpcc_state":1,"mpcc_theta_e":0.444563866,"mpcc_theta_mech":0.555858672,"sam_rpm":6.04071426,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271217674,"thr_a_norm":0.0271217674,"thr_a_v":0.60848707,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.745138,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.24105906,"cg_iw_a":0.636582136,"cg_theta_rad":0.556746602,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00256572338,"mpcc_du":49.8171654,"mpcc_dv":49.5545197,"mpcc_dw":50.4454803,"mpcc_enc_sign":1,"mpcc_id_a":0.451829195,"mpcc_iq_a":-1.13563204,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.801063061,"mpcc_pred_id_a":-0.892116845,"mpcc_pred_iq_a":-3.27839065,"mpcc_state":1,"mpcc_theta_e":0.442306519,"mpcc_theta_mech":0.555407226,"sam_rpm":1.41410959,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0978953838,"thr_a_norm":0.0978953838,"thr_a_v":0.891581535,"thr_b":0.0396600962,"thr_b_norm":0.0396600962,"thr_b_v":0.658640385,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.755117,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-1.53100967,"cg_iw_a":-0.450732708,"cg_theta_rad":0.55551517,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0314853713,"mpcc_du":49.7395172,"mpcc_dv":49.14814,"mpcc_dw":50.85186,"mpcc_enc_sign":1,"mpcc_id_a":3.12490463,"mpcc_iq_a":-1.58720315,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.98681903,"mpcc_pred_id_a":0.457560837,"mpcc_pred_iq_a":-2.8124392,"mpcc_state":1,"mpcc_theta_e":0.447239876,"mpcc_theta_mech":0.556393921,"sam_rpm":4.63967276,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0978953838,"thr_a_norm":0.0978953838,"thr_a_v":0.891581535,"thr_b":0.0396600962,"thr_b_norm":0.0396600962,"thr_b_v":0.658640385,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.765341,"values":{"cg_iu_a":2.1992054,"cg_iv_a":0.136206627,"cg_iw_a":-2.33541203,"cg_theta_rad":0.555650234,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0213447046,"mpcc_du":49.5991821,"mpcc_dv":50.0682564,"mpcc_dw":50.4008179,"mpcc_enc_sign":1,"mpcc_id_a":-1.17182362,"mpcc_iq_a":-3.79952741,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.8649311,"mpcc_pred_id_a":-0.0734664723,"mpcc_pred_iq_a":-4.25891638,"mpcc_state":1,"mpcc_theta_e":0.451775551,"mpcc_theta_mech":0.557301044,"sam_rpm":19.7080669,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.102162957,"thr_a_norm":0.102162957,"thr_a_v":0.908651829,"thr_b":0.0465712994,"thr_b_norm":0.0465712994,"thr_b_v":0.686285198,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.775503,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.31354666,"cg_iw_a":-1.90048599,"cg_theta_rad":0.554068923,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.016056262,"mpcc_du":50.0412636,"mpcc_dv":49.0876884,"mpcc_dw":50.9123116,"mpcc_enc_sign":1,"mpcc_id_a":0.596506,"mpcc_iq_a":-0.322318435,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.73395252,"mpcc_pred_id_a":-0.353072137,"mpcc_pred_iq_a":-2.92421818,"mpcc_state":1,"mpcc_theta_e":0.439638138,"mpcc_theta_mech":0.554873526,"sam_rpm":-2.73549914,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245033205,"thr_a_norm":0.102162957,"thr_a_v":0.598013282,"thr_b":0,"thr_b_norm":0.0465712994,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.798574,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.951108456,"cg_iw_a":-0.81317091,"cg_theta_rad":0.552613854,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0306083392,"mpcc_du":50.2888031,"mpcc_dv":48.5435028,"mpcc_dw":51.4564972,"mpcc_enc_sign":1,"mpcc_id_a":2.56257415,"mpcc_iq_a":-0.23035875,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.84642744,"mpcc_pred_id_a":0.284698188,"mpcc_pred_iq_a":-1.34432721,"mpcc_state":1,"mpcc_theta_e":0.439936161,"mpcc_theta_mech":0.556407332,"sam_rpm":-6.95022583,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245033205,"thr_a_norm":0.0245033205,"thr_a_v":0.598013282,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.805075,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.6759851,"cg_iw_a":-0.813171148,"cg_theta_rad":0.553101659,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00371503504,"mpcc_du":49.7189522,"mpcc_dv":49.4508362,"mpcc_dw":50.5491638,"mpcc_enc_sign":1,"mpcc_id_a":0.347527146,"mpcc_iq_a":-0.34212023,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.81900692,"mpcc_pred_id_a":-0.227973521,"mpcc_pred_iq_a":-3.8476193,"mpcc_state":1,"mpcc_theta_e":0.43601656,"mpcc_theta_mech":0.55414921,"sam_rpm":-7.62410641,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0141680092,"thr_a_norm":0.0141680092,"thr_a_v":0.556672037,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456919193,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.811666,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-2.11091113,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.557838202,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0169190969,"mpcc_du":50.0948524,"mpcc_dv":48.7878113,"mpcc_dw":51.2121887,"mpcc_enc_sign":1,"mpcc_id_a":2.33370113,"mpcc_iq_a":-1.05733871,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.98095751,"mpcc_pred_id_a":0.242001608,"mpcc_pred_iq_a":-0.17033425,"mpcc_state":1,"mpcc_theta_e":0.443328857,"mpcc_theta_mech":0.55561167,"sam_rpm":4.28515673,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0141680092,"thr_a_norm":0.0141680092,"thr_a_v":0.556672037,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456919193,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.818136,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.951108456,"cg_iw_a":-0.740683079,"cg_theta_rad":0.552517116,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00106399786,"mpcc_du":50.4577332,"mpcc_dv":48.6102295,"mpcc_dw":51.3897705,"mpcc_enc_sign":1,"mpcc_id_a":-0.34532845,"mpcc_iq_a":-1.49578571,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.32408333,"mpcc_pred_id_a":-0.522885621,"mpcc_pred_iq_a":-1.76548135,"mpcc_state":1,"mpcc_theta_e":0.433238983,"mpcc_theta_mech":0.553593695,"sam_rpm":-13.6292477,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0230178535,"thr_a_norm":0.0230178535,"thr_a_v":0.592071414,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496246278,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.826132,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.298719406,"cg_iw_a":-1.10312176,"cg_theta_rad":0.553233802,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0141574303,"mpcc_du":49.6870079,"mpcc_dv":49.2785721,"mpcc_dw":50.7214279,"mpcc_enc_sign":1,"mpcc_id_a":2.25539613,"mpcc_iq_a":-0.538020492,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.11615515,"mpcc_pred_id_a":0.250497401,"mpcc_pred_iq_a":-3.18944407,"mpcc_state":1,"mpcc_theta_e":0.435831547,"mpcc_theta_mech":0.554112196,"sam_rpm":-8.27383423,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203112811,"thr_a_norm":0.0230178535,"thr_a_v":0.581245124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461199343,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.836111,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.733645439,"cg_iw_a":-0.595707893,"cg_theta_rad":0.555275857,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00179787958,"mpcc_du":50.6404343,"mpcc_dv":48.2031364,"mpcc_dw":51.7968636,"mpcc_enc_sign":1,"mpcc_id_a":0.673151672,"mpcc_iq_a":-1.54733539,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.0609388,"mpcc_pred_id_a":-0.0696484968,"mpcc_pred_iq_a":-0.0408509448,"mpcc_state":1,"mpcc_theta_e":0.429960251,"mpcc_theta_mech":0.552937925,"sam_rpm":-18.8162632,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203112811,"thr_a_norm":0.0203112811,"thr_a_v":0.581245124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461199343,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.846548,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.82096052,"cg_iw_a":-0.378244877,"cg_theta_rad":0.555037737,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0724336877,"mpcc_du":49.822773,"mpcc_dv":49.0551147,"mpcc_dw":50.9448853,"mpcc_enc_sign":1,"mpcc_id_a":2.93039703,"mpcc_iq_a":-0.156828314,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.9329648,"mpcc_pred_id_a":0.524549425,"mpcc_pred_iq_a":-3.1563735,"mpcc_state":1,"mpcc_theta_e":0.450232029,"mpcc_theta_mech":0.556992292,"sam_rpm":9.27601147,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024314478,"thr_a_norm":0.024314478,"thr_a_v":0.597257912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472529203,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.858511,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-4.06807804,"cg_iw_a":2.95618773,"cg_theta_rad":0.556215346,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0169319455,"mpcc_du":49.9771652,"mpcc_dv":49.0825577,"mpcc_dw":50.9174423,"mpcc_enc_sign":1,"mpcc_id_a":2.04826736,"mpcc_iq_a":-0.644785643,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.25289965,"mpcc_pred_id_a":-0.091372475,"mpcc_pred_iq_a":-1.08966458,"mpcc_state":1,"mpcc_theta_e":0.443737984,"mpcc_theta_mech":0.555693507,"sam_rpm":5.75585985,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269832909,"thr_a_norm":0.024314478,"thr_a_v":0.607933164,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486175328,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.86849,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-2.11091113,"cg_iw_a":0.709069967,"cg_theta_rad":0.557286859,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.000742708449,"mpcc_du":49.2544937,"mpcc_dv":50.7455063,"mpcc_dw":49.961113,"mpcc_enc_sign":1,"mpcc_id_a":0.518794596,"mpcc_iq_a":-0.986817062,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.688096,"mpcc_pred_id_a":-0.0737609938,"mpcc_pred_iq_a":-3.8157897,"mpcc_state":1,"mpcc_theta_e":0.447062492,"mpcc_theta_mech":0.556358397,"sam_rpm":14.0423183,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269832909,"thr_a_norm":0.0269832909,"thr_a_v":0.607933164,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486175328,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.878775,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.24105906,"cg_iw_a":0.709069729,"cg_theta_rad":0.552514136,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0513684899,"mpcc_du":49.8914986,"mpcc_dv":49.3598671,"mpcc_dw":50.6401329,"mpcc_enc_sign":1,"mpcc_id_a":0.0541591607,"mpcc_iq_a":-0.440993458,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.82539463,"mpcc_pred_id_a":-0.462216198,"mpcc_pred_iq_a":-3.56572413,"mpcc_state":1,"mpcc_theta_e":0.453896999,"mpcc_theta_mech":0.55772531,"sam_rpm":14.8689976,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236346871,"thr_a_norm":0.0236346871,"thr_a_v":0.594538748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487685949,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.903189,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-2.40086174,"cg_iw_a":-0.233269691,"cg_theta_rad":0.555788279,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0128480457,"mpcc_du":49.6689911,"mpcc_dv":49.8783035,"mpcc_dw":50.3310089,"mpcc_enc_sign":1,"mpcc_id_a":0.16579555,"mpcc_iq_a":-0.722634017,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.409727067,"mpcc_pred_id_a":-0.554873884,"mpcc_pred_iq_a":-5.29244375,"mpcc_state":1,"mpcc_theta_e":0.44291687,"mpcc_theta_mech":0.555529296,"sam_rpm":1.01887286,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182970911,"thr_a_norm":0.0236346871,"thr_a_v":0.573188365,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462307125,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.909689,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.806133032,"cg_iw_a":-0.23326993,"cg_theta_rad":0.555307209,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5000,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.02499309,"mpcc_du":49.501049,"mpcc_dv":50.2430305,"mpcc_dw":50.498951,"mpcc_enc_sign":1,"mpcc_id_a":3.12538409,"mpcc_iq_a":-2.25141478,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.2478428,"mpcc_pred_id_a":0.552383125,"mpcc_pred_iq_a":-3.66028428,"mpcc_state":1,"mpcc_theta_e":0.450605392,"mpcc_theta_mech":0.557067037,"sam_rpm":15.1138773,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182970911,"thr_a_norm":0.0182970911,"thr_a_v":0.573188365,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462307125,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.91622,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.60349751,"cg_iw_a":1.07150841,"cg_theta_rad":0.553839147,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0456585474,"mpcc_du":50.9068604,"mpcc_dv":47.6181564,"mpcc_dw":52.3818436,"mpcc_enc_sign":1,"mpcc_id_a":3.08143258,"mpcc_iq_a":0.565624654,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.3060398,"mpcc_pred_id_a":0.583915532,"mpcc_pred_iq_a":1.31285965,"mpcc_state":1,"mpcc_theta_e":0.431932449,"mpcc_theta_mech":0.553332388,"sam_rpm":-16.1270123,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00977453589,"thr_a_norm":0.00977453589,"thr_a_v":0.539098144,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443776608,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.922689,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.806133032,"cg_iw_a":1.21648359,"cg_theta_rad":0.557136595,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0200926717,"mpcc_du":49.938858,"mpcc_dv":49.2277641,"mpcc_dw":50.7722359,"mpcc_enc_sign":1,"mpcc_id_a":-0.273721069,"mpcc_iq_a":-1.11862731,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.28612804,"mpcc_pred_id_a":-0.287611187,"mpcc_pred_iq_a":-2.51082301,"mpcc_state":1,"mpcc_theta_e":0.45172739,"mpcc_theta_mech":0.557291389,"sam_rpm":11.5634527,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266559869,"thr_a_norm":0.00977453589,"thr_a_v":0.606623948,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488894492,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.93273,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.82096052,"cg_iw_a":-4.00262785,"cg_theta_rad":0.55371213,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0134180672,"mpcc_du":49.5786514,"mpcc_dv":50.1060715,"mpcc_dw":50.4213486,"mpcc_enc_sign":1,"mpcc_id_a":1.73872614,"mpcc_iq_a":-1.12148225,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.5829077,"mpcc_pred_id_a":-0.000254330313,"mpcc_pred_iq_a":-2.53157449,"mpcc_state":1,"mpcc_theta_e":0.453168869,"mpcc_theta_mech":0.557579696,"sam_rpm":20.0125275,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266559869,"thr_a_norm":0.0266559869,"thr_a_v":0.606623948,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488894492,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.942617,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.31354666,"cg_iw_a":-1.61053562,"cg_theta_rad":0.555372953,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.000144043021,"mpcc_du":49.6705322,"mpcc_dv":49.3471642,"mpcc_dw":50.6528358,"mpcc_enc_sign":1,"mpcc_id_a":-0.0230936278,"mpcc_iq_a":-2.62811327,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.72083735,"mpcc_pred_id_a":-0.384462982,"mpcc_pred_iq_a":-4.24802637,"mpcc_state":1,"mpcc_theta_e":0.445605755,"mpcc_theta_mech":0.555184007,"sam_rpm":9.77088833,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281288624,"thr_a_norm":0.0281288624,"thr_a_v":0.61251545,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495490968,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.952536,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-1.38603449,"cg_iw_a":1.50643444,"cg_theta_rad":0.55171144,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0326664485,"mpcc_du":49.5558395,"mpcc_dv":49.2194939,"mpcc_dw":50.7805061,"mpcc_enc_sign":1,"mpcc_id_a":3.48193192,"mpcc_iq_a":-0.102856681,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.6525135,"mpcc_pred_id_a":0.900783956,"mpcc_pred_iq_a":2.05211949,"mpcc_state":1,"mpcc_theta_e":0.425411224,"mpcc_theta_mech":0.55202812,"sam_rpm":-25.125349,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281288624,"thr_a_norm":0.0281288624,"thr_a_v":0.61251545,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495490968,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.962973,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.60349751,"cg_iw_a":-1.97297382,"cg_theta_rad":0.552248836,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0628487915,"mpcc_du":50.1451187,"mpcc_dv":48.7687454,"mpcc_dw":51.2312546,"mpcc_enc_sign":1,"mpcc_id_a":3.04716825,"mpcc_iq_a":-0.577026963,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.387101829,"mpcc_pred_id_a":0.30967927,"mpcc_pred_iq_a":-3.1377337,"mpcc_state":1,"mpcc_theta_e":0.45078373,"mpcc_theta_mech":0.557102621,"sam_rpm":0.170863688,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026479736,"thr_a_norm":0.026479736,"thr_a_v":0.605918944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474392295,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.972921,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.09608364,"cg_iw_a":-0.958146095,"cg_theta_rad":0.551555812,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0808465779,"mpcc_du":50.39188,"mpcc_dv":48.7533951,"mpcc_dw":51.2466049,"mpcc_enc_sign":1,"mpcc_id_a":2.95818019,"mpcc_iq_a":0.585318506,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.45951676,"mpcc_pred_id_a":0.535437167,"mpcc_pred_iq_a":-2.37920809,"mpcc_state":1,"mpcc_theta_e":0.445810795,"mpcc_theta_mech":0.555538654,"sam_rpm":-6.99750853,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0169249177,"thr_a_norm":0.026479736,"thr_a_v":0.567699671,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438690752,"vdc_v":55.2955055}} +{"type":"telemetry","t":11.982931,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.60349751,"cg_iw_a":1.65140963,"cg_theta_rad":0.553567648,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0338952541,"mpcc_du":49.7038765,"mpcc_dv":49.1217957,"mpcc_dw":50.8782043,"mpcc_enc_sign":1,"mpcc_id_a":3.63469481,"mpcc_iq_a":0.0244515631,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.01194525,"mpcc_pred_id_a":0.674454212,"mpcc_pred_iq_a":0.846486509,"mpcc_state":1,"mpcc_theta_e":0.434595108,"mpcc_theta_mech":0.553864956,"sam_rpm":0.965954304,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0169249177,"thr_a_norm":0.0169249177,"thr_a_v":0.567699671,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438690752,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.005514,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.09608364,"cg_iw_a":1.14399624,"cg_theta_rad":0.553801596,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0177858509,"mpcc_du":51.3372002,"mpcc_dv":47.1988297,"mpcc_dw":52.8011703,"mpcc_enc_sign":1,"mpcc_id_a":2.62546849,"mpcc_iq_a":-1.64249587,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.3119507,"mpcc_pred_id_a":0.253229797,"mpcc_pred_iq_a":1.03248465,"mpcc_state":1,"mpcc_theta_e":0.424803734,"mpcc_theta_mech":0.551906705,"sam_rpm":-31.6214485,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215701461,"thr_a_norm":0.0215701461,"thr_a_v":0.586280584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.012075,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.951108456,"cg_iw_a":0.419119358,"cg_theta_rad":0.556078136,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0067278482,"mpcc_du":50.2628975,"mpcc_dv":48.7130814,"mpcc_dw":51.2869186,"mpcc_enc_sign":1,"mpcc_id_a":1.53359532,"mpcc_iq_a":-0.88738209,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.31638718,"mpcc_pred_id_a":-0.051621031,"mpcc_pred_iq_a":-1.70478141,"mpcc_state":1,"mpcc_theta_e":0.432238579,"mpcc_theta_mech":0.553393602,"sam_rpm":-14.0805082,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215701461,"thr_a_norm":0.0215701461,"thr_a_v":0.586280584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.018576,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-1.02359605,"cg_iw_a":-2.55287528,"cg_theta_rad":0.55234617,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0573708303,"mpcc_du":50.2214699,"mpcc_dv":48.5344009,"mpcc_dw":51.4655991,"mpcc_enc_sign":1,"mpcc_id_a":2.78890109,"mpcc_iq_a":0.0669879988,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.85624516,"mpcc_pred_id_a":0.663496375,"mpcc_pred_iq_a":-0.817325175,"mpcc_state":1,"mpcc_theta_e":0.444444656,"mpcc_theta_mech":0.55583483,"sam_rpm":3.58806729,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252586454,"thr_a_norm":0.0252586454,"thr_a_v":0.601034582,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478622139,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.025106,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.806133032,"cg_iw_a":-2.33541203,"cg_theta_rad":0.556963205,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0356019437,"mpcc_du":50.9922981,"mpcc_dv":47.6622086,"mpcc_dw":52.3377914,"mpcc_enc_sign":1,"mpcc_id_a":2.29040265,"mpcc_iq_a":-0.463772833,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.99247599,"mpcc_pred_id_a":0.361390799,"mpcc_pred_iq_a":1.16510439,"mpcc_state":1,"mpcc_theta_e":0.436542988,"mpcc_theta_mech":0.554254532,"sam_rpm":-9.88770008,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0377466232,"thr_a_norm":0.0252586454,"thr_a_v":0.650986493,"thr_b":0.00548180938,"thr_b_norm":0,"thr_b_v":0.521927238,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.03414,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-2.18339872,"cg_iw_a":-0.233269691,"cg_theta_rad":0.552145302,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.00741804065,"mpcc_du":50.2233086,"mpcc_dv":48.9688644,"mpcc_dw":51.0311356,"mpcc_enc_sign":1,"mpcc_id_a":0.520890653,"mpcc_iq_a":-3.45433378,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.836544,"mpcc_pred_id_a":-0.568331897,"mpcc_pred_iq_a":-3.34921646,"mpcc_state":1,"mpcc_theta_e":0.428554058,"mpcc_theta_mech":0.55265671,"sam_rpm":-17.6865921,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0377466232,"thr_a_norm":0.0377466232,"thr_a_v":0.650986493,"thr_b":0.00548180938,"thr_b_norm":0.00548180938,"thr_b_v":0.521927238,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.044119,"values":{"cg_iu_a":1.98174238,"cg_iv_a":0.498644829,"cg_iw_a":-2.19043684,"cg_theta_rad":0.556619346,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0970111713,"mpcc_du":49.3367462,"mpcc_dv":49.8794556,"mpcc_dw":50.6632538,"mpcc_enc_sign":1,"mpcc_id_a":5.84903097,"mpcc_iq_a":-0.431255221,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.96953011,"mpcc_pred_id_a":1.43931401,"mpcc_pred_iq_a":-2.7820785,"mpcc_state":1,"mpcc_theta_e":0.446820736,"mpcc_theta_mech":0.556310058,"sam_rpm":12.8141375,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023685053,"thr_a_norm":0.023685053,"thr_a_v":0.594740212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466083795,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.054037,"values":{"cg_iu_a":4.08388519,"cg_iv_a":-0.951108456,"cg_iw_a":-3.13277674,"cg_theta_rad":0.557661951,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0124010397,"mpcc_du":50.4910355,"mpcc_dv":48.2724953,"mpcc_dw":51.7275047,"mpcc_enc_sign":1,"mpcc_id_a":2.04551601,"mpcc_iq_a":-0.988879502,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.9267759,"mpcc_pred_id_a":0.218628824,"mpcc_pred_iq_a":-1.34912002,"mpcc_state":1,"mpcc_theta_e":0.433677673,"mpcc_theta_mech":0.553681433,"sam_rpm":-20.6059303,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023685053,"thr_a_norm":0.023685053,"thr_a_v":0.594740212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466083795,"vdc_v":54.6292953}} +{"type":"telemetry","t":12.064138,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.31354666,"cg_iw_a":-0.305757523,"cg_theta_rad":0.555153966,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0633663237,"mpcc_du":50.5244217,"mpcc_dv":48.4941711,"mpcc_dw":51.5058289,"mpcc_enc_sign":1,"mpcc_id_a":0.549769104,"mpcc_iq_a":0.251439154,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.01545763,"mpcc_pred_id_a":-0.214750141,"mpcc_pred_iq_a":-1.97651505,"mpcc_state":1,"mpcc_theta_e":0.44711113,"mpcc_theta_mech":0.556368113,"sam_rpm":-0.0249575879,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232948065,"thr_a_norm":0.0232948065,"thr_a_v":0.593179226,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463414967,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.074301,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.32837415,"cg_iw_a":-0.378245115,"cg_theta_rad":0.556707442,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.000735675916,"mpcc_du":50.2129478,"mpcc_dv":48.8557129,"mpcc_dw":51.1442871,"mpcc_enc_sign":1,"mpcc_id_a":0.448865145,"mpcc_iq_a":-0.98717761,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.79694176,"mpcc_pred_id_a":-0.277375877,"mpcc_pred_iq_a":-2.28635144,"mpcc_state":1,"mpcc_theta_e":0.433402061,"mpcc_theta_mech":0.553626359,"sam_rpm":-15.6835051,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203742236,"thr_a_norm":0.0232948065,"thr_a_v":0.581496894,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464774519,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.086203,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.371207237,"cg_iw_a":-2.40789938,"cg_theta_rad":0.552066982,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0375187583,"mpcc_du":50.2770576,"mpcc_dv":48.7624016,"mpcc_dw":51.2375984,"mpcc_enc_sign":1,"mpcc_id_a":0.268436641,"mpcc_iq_a":-1.5146265,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.40639758,"mpcc_pred_id_a":-0.079940632,"mpcc_pred_iq_a":-3.78516912,"mpcc_state":1,"mpcc_theta_e":0.445120335,"mpcc_theta_mech":0.555970013,"sam_rpm":-0.636832714,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203742236,"thr_a_norm":0.0203742236,"thr_a_v":0.581496894,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464774519,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.109518,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.02359605,"cg_iw_a":0.781557798,"cg_theta_rad":0.553704917,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.00534614641,"mpcc_du":49.2021751,"mpcc_dv":50.7978249,"mpcc_dw":49.6663628,"mpcc_enc_sign":1,"mpcc_id_a":-0.0939737409,"mpcc_iq_a":-2.635113,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.51564455,"mpcc_pred_id_a":-0.558851123,"mpcc_pred_iq_a":-5.97616673,"mpcc_state":1,"mpcc_theta_e":0.44083643,"mpcc_theta_mech":0.555113196,"sam_rpm":4.11461163,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0236472934,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462055355,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.116079,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-1.60349751,"cg_iw_a":1.28897142,"cg_theta_rad":0.553876042,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0530604124,"mpcc_du":51.2569733,"mpcc_dv":47.4263039,"mpcc_dw":52.5736961,"mpcc_enc_sign":1,"mpcc_id_a":2.45457077,"mpcc_iq_a":0.0667107478,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.9676418,"mpcc_pred_id_a":0.201738283,"mpcc_pred_iq_a":0.707551837,"mpcc_state":1,"mpcc_theta_e":0.433773518,"mpcc_theta_mech":0.56024909,"sam_rpm":-17.9626522,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278267413,"thr_a_norm":0.0236472934,"thr_a_v":0.611306965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493476748,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.12261,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-0.806133032,"cg_iw_a":-2.69785047,"cg_theta_rad":0.558333397,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.00329822418,"mpcc_du":49.523983,"mpcc_dv":50.476017,"mpcc_dw":50.2250328,"mpcc_enc_sign":1,"mpcc_id_a":0.543101966,"mpcc_iq_a":-0.767353058,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.72566414,"mpcc_pred_id_a":-0.0273189656,"mpcc_pred_iq_a":-3.64499474,"mpcc_state":1,"mpcc_theta_e":0.448097229,"mpcc_theta_mech":0.556565404,"sam_rpm":12.6545897,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278267413,"thr_a_norm":0.0278267413,"thr_a_v":0.611306965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493476748,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.12908,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.61832476,"cg_iw_a":1.50643444,"cg_theta_rad":0.55496639,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0108054439,"mpcc_du":50.4159737,"mpcc_dv":48.4688568,"mpcc_dw":51.5311432,"mpcc_enc_sign":1,"mpcc_id_a":1.85153437,"mpcc_iq_a":-1.94124448,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.9109077,"mpcc_pred_id_a":0.100551158,"mpcc_pred_iq_a":-1.43948901,"mpcc_state":1,"mpcc_theta_e":0.426916122,"mpcc_theta_mech":0.552329123,"sam_rpm":-22.6840172,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263664424,"thr_a_norm":0.0263664424,"thr_a_v":0.60546577,"thr_b":0.00189402699,"thr_b_norm":0.00189402699,"thr_b_v":0.507576108,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.13674,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.153744221,"cg_iw_a":-0.450732708,"cg_theta_rad":0.554475963,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.01289922,"mpcc_du":50.6259956,"mpcc_dv":48.1255074,"mpcc_dw":51.8744926,"mpcc_enc_sign":1,"mpcc_id_a":2.12188601,"mpcc_iq_a":-0.82157743,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.8165054,"mpcc_pred_id_a":0.25150016,"mpcc_pred_iq_a":-1.36829519,"mpcc_state":1,"mpcc_theta_e":0.426411629,"mpcc_theta_mech":0.552228272,"sam_rpm":-26.4936733,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263664424,"thr_a_norm":0.0263664424,"thr_a_v":0.60546577,"thr_b":0.00189402699,"thr_b_norm":0.00189402699,"thr_b_v":0.507576108,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.147146,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.516182423,"cg_iw_a":-2.19043684,"cg_theta_rad":0.553338885,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0125396093,"mpcc_du":49.5230255,"mpcc_dv":50.4769745,"mpcc_dw":50.0782852,"mpcc_enc_sign":1,"mpcc_id_a":-0.464724302,"mpcc_iq_a":-2.88084555,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.67176723,"mpcc_pred_id_a":-0.514739156,"mpcc_pred_iq_a":-2.94254661,"mpcc_state":1,"mpcc_theta_e":0.44547224,"mpcc_theta_mech":0.556040406,"sam_rpm":11.4750614,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0391817391,"thr_a_norm":0.0391817391,"thr_a_v":0.656726956,"thr_b":0.0117761493,"thr_b_norm":0.0117761493,"thr_b_v":0.547104597,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.157095,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.38603449,"cg_iw_a":-0.305757046,"cg_theta_rad":0.55625844,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0085811289,"mpcc_du":48.79916,"mpcc_dv":51.20084,"mpcc_dw":49.2439041,"mpcc_enc_sign":1,"mpcc_id_a":-0.616404474,"mpcc_iq_a":-2.8138907,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.1381073,"mpcc_pred_id_a":-0.548828304,"mpcc_pred_iq_a":-4.60668278,"mpcc_state":1,"mpcc_theta_e":0.452877045,"mpcc_theta_mech":0.557521343,"sam_rpm":24.5503178,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0391817391,"thr_a_norm":0.0391817391,"thr_a_v":0.656726956,"thr_b":0.0117761493,"thr_b_norm":0.0117761493,"thr_b_v":0.547104597,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.167318,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.74847269,"cg_iw_a":0.999020576,"cg_theta_rad":0.557182372,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.036650449,"mpcc_du":49.6701469,"mpcc_dv":49.4381485,"mpcc_dw":50.5618515,"mpcc_enc_sign":1,"mpcc_id_a":1.10860538,"mpcc_iq_a":0.0797406435,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.967028856,"mpcc_pred_id_a":0.0198030137,"mpcc_pred_iq_a":-4.3829546,"mpcc_state":1,"mpcc_theta_e":0.4439044,"mpcc_theta_mech":0.555726767,"sam_rpm":1.86523485,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100904092,"thr_a_norm":0.100904092,"thr_a_v":0.903616369,"thr_b":0.0410826206,"thr_b_norm":0.0410826206,"thr_b_v":0.664330482,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.177511,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.45852208,"cg_iw_a":-0.668195486,"cg_theta_rad":0.557325006,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0584056973,"mpcc_du":49.5511208,"mpcc_dv":49.709362,"mpcc_dw":50.4488792,"mpcc_enc_sign":1,"mpcc_id_a":0.0682418868,"mpcc_iq_a":-2.25717044,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.96767712,"mpcc_pred_id_a":0.179524273,"mpcc_pred_iq_a":-3.180305,"mpcc_state":1,"mpcc_theta_e":0.448085308,"mpcc_theta_mech":0.55656302,"sam_rpm":22.3493938,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0150240362,"thr_a_norm":0.100904092,"thr_a_v":0.560096145,"thr_b":0,"thr_b_norm":0.0410826206,"thr_b_v":0.452890843,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.189291,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.951108456,"cg_iw_a":-1.24809694,"cg_theta_rad":0.556095958,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0359486267,"mpcc_du":50.1696625,"mpcc_dv":48.743988,"mpcc_dw":50.4614029,"mpcc_enc_sign":1,"mpcc_id_a":2.52659488,"mpcc_iq_a":0.198447719,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.426558733,"mpcc_pred_id_a":0.219197974,"mpcc_pred_iq_a":-0.852966368,"mpcc_state":1,"mpcc_theta_e":0.441756248,"mpcc_theta_mech":0.555297136,"sam_rpm":0.411940008,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0150240362,"thr_a_norm":0.0150240362,"thr_a_v":0.560096145,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452890843,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.210745,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.153744221,"cg_iw_a":-3.27775192,"cg_theta_rad":0.554300964,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.00677551655,"mpcc_du":49.6579208,"mpcc_dv":50.2294273,"mpcc_dw":50.3420792,"mpcc_enc_sign":1,"mpcc_id_a":0.913268209,"mpcc_iq_a":-1.17306304,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.80738354,"mpcc_pred_id_a":-0.363809228,"mpcc_pred_iq_a":-4.61912632,"mpcc_state":1,"mpcc_theta_e":0.445110321,"mpcc_theta_mech":0.555967987,"sam_rpm":6.62885618,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236220956,"thr_a_norm":0.0236220956,"thr_a_v":0.594488382,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482549787,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.217276,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.6759851,"cg_iw_a":-1.4655602,"cg_theta_rad":0.555433393,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0118600605,"mpcc_du":49.3114014,"mpcc_dv":50.6885986,"mpcc_dw":49.8650513,"mpcc_enc_sign":1,"mpcc_id_a":1.90011716,"mpcc_iq_a":-1.13449931,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.8598061,"mpcc_pred_id_a":-0.0459547862,"mpcc_pred_iq_a":-1.46856964,"mpcc_state":1,"mpcc_theta_e":0.4263978,"mpcc_theta_mech":0.552225471,"sam_rpm":11.7070408,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0382879376,"thr_a_norm":0.0236220956,"thr_a_v":0.653151751,"thr_b":0.0102403313,"thr_b_norm":0,"thr_b_v":0.540961325,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.223776,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.89344811,"cg_iw_a":0.926532984,"cg_theta_rad":0.555668712,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.00791602302,"mpcc_du":49.4899139,"mpcc_dv":50.5100861,"mpcc_dw":50.1576653,"mpcc_enc_sign":1,"mpcc_id_a":0.473472446,"mpcc_iq_a":-1.57330179,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.48768997,"mpcc_pred_id_a":-0.342935115,"mpcc_pred_iq_a":-5.23607159,"mpcc_state":1,"mpcc_theta_e":0.451009274,"mpcc_theta_mech":0.557147801,"sam_rpm":14.3668919,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0382879376,"thr_a_norm":0.0382879376,"thr_a_v":0.653151751,"thr_b":0.0102403313,"thr_b_norm":0.0102403313,"thr_b_v":0.540961325,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.232321,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.516182423,"cg_iw_a":-2.48038721,"cg_theta_rad":0.555760682,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0194478929,"mpcc_du":50.8918343,"mpcc_dv":47.756031,"mpcc_dw":52.243969,"mpcc_enc_sign":1,"mpcc_id_a":2.16233516,"mpcc_iq_a":-0.909500778,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.58442593,"mpcc_pred_id_a":0.27929315,"mpcc_pred_iq_a":1.0858928,"mpcc_state":1,"mpcc_theta_e":0.43556881,"mpcc_theta_mech":0.554059684,"sam_rpm":-12.6205254,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271595269,"thr_a_norm":0.0271595269,"thr_a_v":0.608638108,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492268264,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.242514,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.6759851,"cg_iw_a":0.709069967,"cg_theta_rad":0.557096064,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.00397067564,"mpcc_du":49.9849625,"mpcc_dv":49.4029579,"mpcc_dw":50.5970421,"mpcc_enc_sign":1,"mpcc_id_a":-0.541500628,"mpcc_iq_a":-1.86981893,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.74701393,"mpcc_pred_id_a":-0.928412795,"mpcc_pred_iq_a":-3.21932602,"mpcc_state":1,"mpcc_theta_e":0.444173336,"mpcc_theta_mech":0.55578059,"sam_rpm":3.49397993,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176550597,"thr_a_norm":0.0271595269,"thr_a_v":0.570620239,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44362554,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.252493,"values":{"cg_iu_a":0.749452114,"cg_iv_a":0.57113266,"cg_iw_a":-3.27775192,"cg_theta_rad":0.557146668,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.000719390868,"mpcc_du":49.6606865,"mpcc_dv":50.1249352,"mpcc_dw":50.3393135,"mpcc_enc_sign":1,"mpcc_id_a":0.40050739,"mpcc_iq_a":-2.74076509,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.94844103,"mpcc_pred_id_a":-0.395970583,"mpcc_pred_iq_a":-3.75100541,"mpcc_state":1,"mpcc_theta_e":0.447404861,"mpcc_theta_mech":0.556426883,"sam_rpm":10.2183456,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176550597,"thr_a_norm":0.0176550597,"thr_a_v":0.570620239,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44362554,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.262503,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.298719406,"cg_iw_a":-0.305757523,"cg_theta_rad":0.557265103,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0126897804,"mpcc_du":50.5334396,"mpcc_dv":48.3407402,"mpcc_dw":51.6592598,"mpcc_enc_sign":1,"mpcc_id_a":0.805832744,"mpcc_iq_a":-0.735107303,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.1146078,"mpcc_pred_id_a":-0.00229179743,"mpcc_pred_iq_a":-1.78394341,"mpcc_state":1,"mpcc_theta_e":0.431459427,"mpcc_theta_mech":0.554896176,"sam_rpm":-15.7981319,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.018020153,"thr_a_norm":0.018020153,"thr_a_v":0.572080612,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440503567,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.272543,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-2.11091113,"cg_iw_a":-1.10312152,"cg_theta_rad":0.554519594,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0580992438,"mpcc_du":49.8541145,"mpcc_dv":49.0205345,"mpcc_dw":50.9794655,"mpcc_enc_sign":1,"mpcc_id_a":2.83249354,"mpcc_iq_a":-0.523482382,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.54339409,"mpcc_pred_id_a":0.54127115,"mpcc_pred_iq_a":-2.51845193,"mpcc_state":1,"mpcc_theta_e":0.448815346,"mpcc_theta_mech":0.556708992,"sam_rpm":9.5868597,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.018020153,"thr_a_norm":0.018020153,"thr_a_v":0.572080612,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440503567,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.282736,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-2.76329994,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.554169357,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0313316323,"mpcc_du":50.8528519,"mpcc_dv":47.7583275,"mpcc_dw":52.2416725,"mpcc_enc_sign":1,"mpcc_id_a":2.43669534,"mpcc_iq_a":-0.661046088,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.6166868,"mpcc_pred_id_a":0.490937114,"mpcc_pred_iq_a":-0.0564485379,"mpcc_state":1,"mpcc_theta_e":0.433073521,"mpcc_theta_mech":0.553560615,"sam_rpm":-16.6822205,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0279526263,"thr_a_norm":0.0279526263,"thr_a_v":0.611810505,"thr_b":0.00107575953,"thr_b_norm":0.00107575953,"thr_b_v":0.504303038,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.292898,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.96593571,"cg_iw_a":1.50643444,"cg_theta_rad":0.555826545,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.00100667891,"mpcc_du":49.3170547,"mpcc_dv":50.6829453,"mpcc_dw":49.949482,"mpcc_enc_sign":1,"mpcc_id_a":0.523996353,"mpcc_iq_a":-0.984064817,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.36464167,"mpcc_pred_id_a":-0.29970336,"mpcc_pred_iq_a":-4.730937,"mpcc_state":1,"mpcc_theta_e":0.441783905,"mpcc_theta_mech":0.551397622,"sam_rpm":4.54057217,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0279526263,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0.00107575953,"thr_b_v":0.454602867,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.315786,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.371207237,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556862772,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0375479944,"mpcc_du":49.6565285,"mpcc_dv":49.9258194,"mpcc_dw":50.3434715,"mpcc_enc_sign":1,"mpcc_id_a":0.450740308,"mpcc_iq_a":-1.43260968,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.9343386,"mpcc_pred_id_a":-0.378394991,"mpcc_pred_iq_a":-4.45286655,"mpcc_state":1,"mpcc_theta_e":0.459549427,"mpcc_theta_mech":0.558855832,"sam_rpm":22.1566887,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454602867,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.322317,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.31354666,"cg_iw_a":0.709069729,"cg_theta_rad":0.554733574,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0364074931,"mpcc_du":49.957695,"mpcc_dv":48.9669495,"mpcc_dw":51.0330505,"mpcc_enc_sign":1,"mpcc_id_a":2.81222153,"mpcc_iq_a":0.298643738,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.66970837,"mpcc_pred_id_a":0.339225709,"mpcc_pred_iq_a":-1.90124655,"mpcc_state":1,"mpcc_theta_e":0.440333366,"mpcc_theta_mech":0.555012584,"sam_rpm":-2.61514163,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214316845,"thr_a_norm":0.0214316845,"thr_a_v":0.585726738,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.328787,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-2.0384233,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.552848399,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.000360736361,"mpcc_du":49.6259918,"mpcc_dv":50.3013573,"mpcc_dw":50.3740082,"mpcc_enc_sign":1,"mpcc_id_a":0.360073715,"mpcc_iq_a":-2.67076373,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.6817925,"mpcc_pred_id_a":-0.172369987,"mpcc_pred_iq_a":-5.28353786,"mpcc_state":1,"mpcc_theta_e":0.444854259,"mpcc_theta_mech":0.555916786,"sam_rpm":3.46163034,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214316845,"thr_a_norm":0.0214316845,"thr_a_v":0.585726738,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.335287,"values":{"cg_iu_a":1.25686598,"cg_iv_a":0.353669643,"cg_iw_a":-0.45073247,"cg_theta_rad":0.554003596,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0125115495,"mpcc_du":49.2393417,"mpcc_dv":50.7606583,"mpcc_dw":49.8457565,"mpcc_enc_sign":1,"mpcc_id_a":0.335652202,"mpcc_iq_a":-1.51175928,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.6780062,"mpcc_pred_id_a":-0.329610318,"mpcc_pred_iq_a":-5.94671822,"mpcc_state":1,"mpcc_theta_e":0.455868244,"mpcc_theta_mech":0.558119535,"sam_rpm":20.3577538,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027285412,"thr_a_norm":0.027285412,"thr_a_v":0.609141648,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478471011,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.345358,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.661157608,"cg_iw_a":0.274143934,"cg_theta_rad":0.557262659,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0295487754,"mpcc_du":50.6413841,"mpcc_dv":48.0625572,"mpcc_dw":51.9374428,"mpcc_enc_sign":1,"mpcc_id_a":1.27451801,"mpcc_iq_a":0.105389297,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.5555754,"mpcc_pred_id_a":0.386584103,"mpcc_pred_iq_a":-0.953280509,"mpcc_state":1,"mpcc_theta_e":0.434240341,"mpcc_theta_mech":0.553793967,"sam_rpm":-15.1513491,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212176591,"thr_a_norm":0.027285412,"thr_a_v":0.584870636,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.355307,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.740683556,"cg_theta_rad":0.552849293,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0543920137,"mpcc_du":50.4717865,"mpcc_dv":48.3923035,"mpcc_dw":51.6076965,"mpcc_enc_sign":1,"mpcc_id_a":2.06058383,"mpcc_iq_a":0.244007781,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.71884918,"mpcc_pred_id_a":0.12441624,"mpcc_pred_iq_a":-2.85759115,"mpcc_state":1,"mpcc_theta_e":0.436443806,"mpcc_theta_mech":0.554234684,"sam_rpm":-13.2851887,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212176591,"thr_a_norm":0.0212176591,"thr_a_v":0.584870636,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.365499,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.878620625,"cg_iw_a":0.346631527,"cg_theta_rad":0.556138694,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.00433096429,"mpcc_du":49.5749397,"mpcc_dv":50.4250603,"mpcc_dw":50.236927,"mpcc_enc_sign":1,"mpcc_id_a":1.2196269,"mpcc_iq_a":-1.87654531,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.98858833,"mpcc_pred_id_a":-0.366520315,"mpcc_pred_iq_a":-3.61991382,"mpcc_state":1,"mpcc_theta_e":0.445541382,"mpcc_theta_mech":0.556054235,"sam_rpm":10.0693102,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026051715,"thr_a_norm":0.026051715,"thr_a_v":0.60420686,"thr_b":0.00107575953,"thr_b_norm":0.00107575953,"thr_b_v":0.504303038,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.377615,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.661157608,"cg_iw_a":-1.61053562,"cg_theta_rad":0.554196656,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0258185994,"mpcc_du":51.2915001,"mpcc_dv":47.2730103,"mpcc_dw":52.7269897,"mpcc_enc_sign":1,"mpcc_id_a":0.930716991,"mpcc_iq_a":-1.15926778,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.1620903,"mpcc_pred_id_a":0.227292657,"mpcc_pred_iq_a":-0.0264374334,"mpcc_state":1,"mpcc_theta_e":0.430148125,"mpcc_theta_mech":0.552975535,"sam_rpm":-22.5982838,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0175795406,"thr_a_norm":0.026051715,"thr_a_v":0.570318162,"thr_b":0,"thr_b_norm":0.00107575953,"thr_b_v":0.472327769,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.387716,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.806133032,"cg_iw_a":2.23131084,"cg_theta_rad":0.557068288,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0613574944,"mpcc_du":49.9541969,"mpcc_dv":48.8997993,"mpcc_dw":51.1002007,"mpcc_enc_sign":1,"mpcc_id_a":2.81368279,"mpcc_iq_a":0.284546465,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.159709722,"mpcc_pred_id_a":0.466962516,"mpcc_pred_iq_a":-2.91041183,"mpcc_state":1,"mpcc_theta_e":0.445344925,"mpcc_theta_mech":0.556014895,"sam_rpm":0.484739155,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0175795406,"thr_a_norm":0.0175795406,"thr_a_v":0.570318162,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472327769,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.411093,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-2.32837415,"cg_iw_a":1.07150817,"cg_theta_rad":0.556565046,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0234765783,"mpcc_du":48.9095039,"mpcc_dv":51.0904961,"mpcc_dw":49.6891136,"mpcc_enc_sign":1,"mpcc_id_a":2.68954921,"mpcc_iq_a":-0.328493506,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.9184504,"mpcc_pred_id_a":0.239652589,"mpcc_pred_iq_a":-5.36292934,"mpcc_state":1,"mpcc_theta_e":0.453456402,"mpcc_theta_mech":0.557637215,"sam_rpm":19.8152409,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226653665,"thr_a_norm":0.0226653665,"thr_a_v":0.590661466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483053327,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.417654,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.298719406,"cg_iw_a":-1.8279984,"cg_theta_rad":0.557078242,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.00539419195,"mpcc_du":50.2244987,"mpcc_dv":48.8788452,"mpcc_dw":51.1211548,"mpcc_enc_sign":1,"mpcc_id_a":0.642747939,"mpcc_iq_a":-1.41079307,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.8241986,"mpcc_pred_id_a":-0.353091389,"mpcc_pred_iq_a":-1.89466727,"mpcc_state":1,"mpcc_theta_e":0.441935539,"mpcc_theta_mech":0.555333018,"sam_rpm":-2.38958526,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226653665,"thr_a_norm":0.0226653665,"thr_a_v":0.590661466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483053327,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.424154,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.661157608,"cg_iw_a":-1.75551081,"cg_theta_rad":0.557770967,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0155228097,"mpcc_du":50.6175957,"mpcc_dv":48.441391,"mpcc_dw":51.558609,"mpcc_enc_sign":1,"mpcc_id_a":-0.945949674,"mpcc_iq_a":-1.02772713,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.32216358,"mpcc_pred_id_a":-0.497737676,"mpcc_pred_iq_a":-0.603770316,"mpcc_state":1,"mpcc_theta_e":0.445809364,"mpcc_theta_mech":0.556107759,"sam_rpm":3.76514626,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022325471,"thr_a_norm":0.022325471,"thr_a_v":0.589301884,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48929733,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.430746,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-2.18339872,"cg_iw_a":-0.305757523,"cg_theta_rad":0.556170225,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0171281025,"mpcc_du":49.4560966,"mpcc_dv":50.5439034,"mpcc_dw":50.1301117,"mpcc_enc_sign":1,"mpcc_id_a":1.16443014,"mpcc_iq_a":-0.646239161,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.67779016,"mpcc_pred_id_a":-0.308894455,"mpcc_pred_iq_a":-6.29632044,"mpcc_state":1,"mpcc_theta_e":0.446825027,"mpcc_theta_mech":0.556310892,"sam_rpm":6.84895945,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0127706528,"thr_a_norm":0.0127706528,"thr_a_v":0.551082611,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439244658,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.440939,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.02359605,"cg_iw_a":0.274143934,"cg_theta_rad":0.553996563,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.00413750205,"mpcc_du":50.5402222,"mpcc_dv":48.3924942,"mpcc_dw":51.6075058,"mpcc_enc_sign":1,"mpcc_id_a":1.286376,"mpcc_iq_a":-0.906276047,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.2635546,"mpcc_pred_id_a":-0.289576143,"mpcc_pred_iq_a":-0.419299662,"mpcc_state":1,"mpcc_theta_e":0.429113865,"mpcc_theta_mech":0.552768648,"sam_rpm":-17.7673512,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0127706528,"thr_a_norm":0.0127706528,"thr_a_v":0.551082611,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439244658,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.450888,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-2.11091113,"cg_iw_a":-0.668195486,"cg_theta_rad":0.555590034,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0509163961,"mpcc_du":50.2797661,"mpcc_dv":48.2863007,"mpcc_dw":51.7136993,"mpcc_enc_sign":1,"mpcc_id_a":4.23929834,"mpcc_iq_a":0.315463781,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.0830269,"mpcc_pred_id_a":0.754348159,"mpcc_pred_iq_a":-0.26113385,"mpcc_state":1,"mpcc_theta_e":0.430205822,"mpcc_theta_mech":0.554152846,"sam_rpm":-15.3721581,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0322327763,"thr_a_norm":0.0322327763,"thr_a_v":0.628931105,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.461111,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.588670254,"cg_iw_a":-0.015806675,"cg_theta_rad":0.555059254,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0818164796,"mpcc_du":49.477066,"mpcc_dv":49.9207039,"mpcc_dw":50.522934,"mpcc_enc_sign":1,"mpcc_id_a":3.5410583,"mpcc_iq_a":0.0866302252,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.1952324,"mpcc_pred_id_a":0.555610776,"mpcc_pred_iq_a":-3.73470926,"mpcc_state":1,"mpcc_theta_e":0.455720901,"mpcc_theta_mech":0.558090091,"sam_rpm":21.2291451,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0322327763,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454653233,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.471121,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.588670254,"cg_iw_a":-1.10312128,"cg_theta_rad":0.557696283,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0184480455,"mpcc_du":49.4405174,"mpcc_dv":50.5594826,"mpcc_dw":50.2232056,"mpcc_enc_sign":1,"mpcc_id_a":0.514369786,"mpcc_iq_a":-3.02209687,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.41728687,"mpcc_pred_id_a":-0.0253332388,"mpcc_pred_iq_a":-2.92239571,"mpcc_state":1,"mpcc_theta_e":0.444648266,"mpcc_theta_mech":0.555875599,"sam_rpm":10.7775974,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454653233,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.481314,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.02359605,"cg_iw_a":-1.68302298,"cg_theta_rad":0.558001041,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0530861653,"mpcc_du":49.852375,"mpcc_dv":49.1144409,"mpcc_dw":50.8855591,"mpcc_enc_sign":1,"mpcc_id_a":3.55881,"mpcc_iq_a":-0.684098363,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.19920206,"mpcc_pred_id_a":0.195664197,"mpcc_pred_iq_a":-2.43970585,"mpcc_state":1,"mpcc_theta_e":0.447948933,"mpcc_theta_mech":0.556535661,"sam_rpm":7.42086983,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272980034,"thr_a_norm":0.0272980034,"thr_a_v":0.609192014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482449085,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.49111,"values":{"cg_iu_a":2.48915625,"cg_iv_a":1.51347208,"cg_iw_a":-4.00262833,"cg_theta_rad":0.552842975,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.00913760997,"mpcc_du":49.9213333,"mpcc_dv":49.1655464,"mpcc_dw":50.8344536,"mpcc_enc_sign":1,"mpcc_id_a":1.90385091,"mpcc_iq_a":-0.776476741,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.1072712,"mpcc_pred_id_a":-0.213364273,"mpcc_pred_iq_a":-3.2886765,"mpcc_state":1,"mpcc_theta_e":0.429949284,"mpcc_theta_mech":0.552935779,"sam_rpm":-15.8320866,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272980034,"thr_a_norm":0.0272980034,"thr_a_v":0.609192014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482449085,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.514395,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.96593571,"cg_iw_a":0.636582375,"cg_theta_rad":0.554527342,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.00782348495,"mpcc_du":50.4152107,"mpcc_dv":48.6815987,"mpcc_dw":51.3184013,"mpcc_enc_sign":1,"mpcc_id_a":-0.0383744016,"mpcc_iq_a":-2.05075216,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.95857906,"mpcc_pred_id_a":-0.418417275,"mpcc_pred_iq_a":-0.477118492,"mpcc_state":1,"mpcc_theta_e":0.431022644,"mpcc_theta_mech":0.553150475,"sam_rpm":-15.458025,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205001235,"thr_a_norm":0.0205001235,"thr_a_v":0.582000494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470414281,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.520864,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.74847269,"cg_iw_a":-1.61053562,"cg_theta_rad":0.557028055,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.00435021985,"mpcc_du":50.3287659,"mpcc_dv":48.7298775,"mpcc_dw":51.2701225,"mpcc_enc_sign":1,"mpcc_id_a":-0.0942358151,"mpcc_iq_a":-0.0904142037,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.0343428,"mpcc_pred_id_a":-0.320903867,"mpcc_pred_iq_a":-2.55075479,"mpcc_state":1,"mpcc_theta_e":0.430444241,"mpcc_theta_mech":0.553034723,"sam_rpm":-19.7465649,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282547474,"thr_a_norm":0.0205001235,"thr_a_v":0.61301899,"thr_b":0.00219614804,"thr_b_norm":0,"thr_b_v":0.508784592,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.527365,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.47334933,"cg_iw_a":1.28897119,"cg_theta_rad":0.555606306,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0337367542,"mpcc_du":50.6778831,"mpcc_dv":47.9123535,"mpcc_dw":52.0876465,"mpcc_enc_sign":1,"mpcc_id_a":2.70954514,"mpcc_iq_a":-0.41307953,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.6138239,"mpcc_pred_id_a":0.655009925,"mpcc_pred_iq_a":-1.40575933,"mpcc_state":1,"mpcc_theta_e":0.431261063,"mpcc_theta_mech":0.553198099,"sam_rpm":-22.3983078,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282547474,"thr_a_norm":0.0282547474,"thr_a_v":0.61301899,"thr_b":0.00219614804,"thr_b_norm":0.00219614804,"thr_b_v":0.508784592,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.533895,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-2.40086174,"cg_iw_a":2.30379868,"cg_theta_rad":0.556508362,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0014653994,"mpcc_du":49.6282082,"mpcc_dv":49.4175873,"mpcc_dw":50.5824127,"mpcc_enc_sign":1,"mpcc_id_a":0.525960505,"mpcc_iq_a":-2.65779305,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.87023592,"mpcc_pred_id_a":0.259073377,"mpcc_pred_iq_a":-2.18137598,"mpcc_state":1,"mpcc_theta_e":0.44522953,"mpcc_theta_mech":0.555991828,"sam_rpm":7.13575268,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00713092089,"thr_b_norm":0.00713092089,"thr_b_v":0.528523684,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.541891,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.661157608,"cg_iw_a":0.346631527,"cg_theta_rad":0.55527395,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.00254858425,"mpcc_du":49.935112,"mpcc_dv":49.28965,"mpcc_dw":50.71035,"mpcc_enc_sign":1,"mpcc_id_a":0.448512405,"mpcc_iq_a":-0.474613875,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.8981171,"mpcc_pred_id_a":-0.312750429,"mpcc_pred_iq_a":-2.74611926,"mpcc_state":1,"mpcc_theta_e":0.425693989,"mpcc_theta_mech":0.552084744,"sam_rpm":-11.7501545,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00713092089,"thr_b_norm":0.00713092089,"thr_b_v":0.528523684,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.552114,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.24105906,"cg_iw_a":-1.61053538,"cg_theta_rad":0.554004312,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0325652473,"mpcc_du":48.8992729,"mpcc_dv":51.1007271,"mpcc_dw":49.7486076,"mpcc_enc_sign":1,"mpcc_id_a":2.45857906,"mpcc_iq_a":-2.80432463,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.3373346,"mpcc_pred_id_a":0.533271849,"mpcc_pred_iq_a":-3.94422412,"mpcc_state":1,"mpcc_theta_e":0.448553562,"mpcc_theta_mech":0.556656599,"sam_rpm":17.8463993,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259384215,"thr_a_norm":0.0259384215,"thr_a_v":0.603753686,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49886474,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.562063,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.951108456,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556030214,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0269855,"mpcc_du":49.3915482,"mpcc_dv":50.6084518,"mpcc_dw":50.1072426,"mpcc_enc_sign":1,"mpcc_id_a":1.03178608,"mpcc_iq_a":-4.4376359,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.0772114,"mpcc_pred_id_a":-0.169331998,"mpcc_pred_iq_a":-3.75141907,"mpcc_state":1,"mpcc_theta_e":0.447833061,"mpcc_theta_mech":0.555350721,"sam_rpm":14.1661968,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0286324173,"thr_a_norm":0.0259384215,"thr_a_v":0.614529669,"thr_b":0.00139047205,"thr_b_norm":0,"thr_b_v":0.505561888,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.57189,"values":{"cg_iu_a":2.92408228,"cg_iv_a":1.15103388,"cg_iw_a":-1.17560935,"cg_theta_rad":0.558676004,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.054678835,"mpcc_du":49.7559738,"mpcc_dv":49.1990509,"mpcc_dw":50.8009491,"mpcc_enc_sign":1,"mpcc_id_a":2.43019319,"mpcc_iq_a":-0.185243949,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.80981255,"mpcc_pred_id_a":0.286402136,"mpcc_pred_iq_a":-3.75570607,"mpcc_state":1,"mpcc_theta_e":0.44677639,"mpcc_theta_mech":0.556301177,"sam_rpm":5.59025812,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0286324173,"thr_a_norm":0.0286324173,"thr_a_v":0.614529669,"thr_b":0.00139047205,"thr_b_norm":0.00139047205,"thr_b_v":0.505561888,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.582235,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.371207237,"cg_iw_a":-2.62536287,"cg_theta_rad":0.556657016,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.093842715,"mpcc_du":50.6996727,"mpcc_dv":47.9885406,"mpcc_dw":52.0114594,"mpcc_enc_sign":1,"mpcc_id_a":2.5753212,"mpcc_iq_a":0.105792008,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.94512987,"mpcc_pred_id_a":0.264206439,"mpcc_pred_iq_a":-3.41180682,"mpcc_state":1,"mpcc_theta_e":0.451012135,"mpcc_theta_mech":0.557148337,"sam_rpm":-9.14239693,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252838284,"thr_a_norm":0.0252838284,"thr_a_v":0.601135314,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480585933,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.591848,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-2.76329994,"cg_iw_a":1.07150841,"cg_theta_rad":0.553973675,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.124548361,"mpcc_du":50.0870247,"mpcc_dv":48.532814,"mpcc_dw":51.467186,"mpcc_enc_sign":1,"mpcc_id_a":4.28653049,"mpcc_iq_a":0.810785532,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.64689302,"mpcc_pred_id_a":0.956776321,"mpcc_pred_iq_a":-0.696812153,"mpcc_state":1,"mpcc_theta_e":0.451211929,"mpcc_theta_mech":0.557188332,"sam_rpm":13.2010145,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252838284,"thr_a_norm":0.0252838284,"thr_a_v":0.601135314,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480585933,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.615316,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.96593571,"cg_iw_a":-1.39307261,"cg_theta_rad":0.55597651,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0179284811,"mpcc_du":49.7345657,"mpcc_dv":49.9686165,"mpcc_dw":50.2654343,"mpcc_enc_sign":1,"mpcc_id_a":-1.59389877,"mpcc_iq_a":-4.42755127,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.71716189,"mpcc_pred_id_a":-1.10604334,"mpcc_pred_iq_a":-4.2079196,"mpcc_state":1,"mpcc_theta_e":0.443355083,"mpcc_theta_mech":0.555616975,"sam_rpm":5.19051456,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02428931,"thr_a_norm":0.02428931,"thr_a_v":0.59715724,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480787337,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.621817,"values":{"cg_iu_a":3.93890953,"cg_iv_a":-1.02359605,"cg_iw_a":-2.91531348,"cg_theta_rad":0.554838538,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0126385428,"mpcc_du":49.7506485,"mpcc_dv":49.5242882,"mpcc_dw":50.4757118,"mpcc_enc_sign":1,"mpcc_id_a":0.0127640646,"mpcc_iq_a":-1.679052,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.1356459,"mpcc_pred_id_a":-0.597448766,"mpcc_pred_iq_a":-2.64240551,"mpcc_state":1,"mpcc_theta_e":0.455070972,"mpcc_theta_mech":0.557960153,"sam_rpm":18.8482494,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0148478001,"thr_a_norm":0.02428931,"thr_a_v":0.559391201,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460292965,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.628347,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.733645439,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556138217,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.00223262841,"mpcc_du":50.1947098,"mpcc_dv":49.0024757,"mpcc_dw":50.9975243,"mpcc_enc_sign":1,"mpcc_id_a":0.32425344,"mpcc_iq_a":-2.23741913,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.61265111,"mpcc_pred_id_a":-0.571173072,"mpcc_pred_iq_a":-1.8657949,"mpcc_state":1,"mpcc_theta_e":0.445572853,"mpcc_theta_mech":0.556060493,"sam_rpm":3.83393621,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0148478001,"thr_a_norm":0.0148478001,"thr_a_v":0.559391201,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460292965,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.634878,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.11091113,"cg_iw_a":1.28897119,"cg_theta_rad":0.556393623,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0340150334,"mpcc_du":50.1281471,"mpcc_dv":48.76334,"mpcc_dw":50.7799606,"mpcc_enc_sign":1,"mpcc_id_a":2.29998684,"mpcc_iq_a":-0.112035632,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.25930345,"mpcc_pred_id_a":0.285440981,"mpcc_pred_iq_a":-1.7440871,"mpcc_state":1,"mpcc_theta_e":0.442180157,"mpcc_theta_mech":0.556964695,"sam_rpm":-1.22607553,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0157919377,"thr_a_norm":0.0157919377,"thr_a_v":0.563167751,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462659657,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.642874,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-2.0384233,"cg_iw_a":1.07150817,"cg_theta_rad":0.552669525,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0308443829,"mpcc_du":49.5307007,"mpcc_dv":50.1526451,"mpcc_dw":50.4692993,"mpcc_enc_sign":1,"mpcc_id_a":2.4642837,"mpcc_iq_a":-0.616049588,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.30834079,"mpcc_pred_id_a":0.357679725,"mpcc_pred_iq_a":-5.61358213,"mpcc_state":1,"mpcc_theta_e":0.445624828,"mpcc_theta_mech":0.556070864,"sam_rpm":3.76863122,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0157919377,"thr_a_norm":0.0157919377,"thr_a_v":0.563167751,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462659657,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.653097,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.661157608,"cg_iw_a":-1.39307213,"cg_theta_rad":0.556141496,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.00199498259,"mpcc_du":50.2877083,"mpcc_dv":49.5490608,"mpcc_dw":50.4509392,"mpcc_enc_sign":1,"mpcc_id_a":0.89222014,"mpcc_iq_a":0.148099706,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.43130112,"mpcc_pred_id_a":-0.090136975,"mpcc_pred_iq_a":-0.302658826,"mpcc_state":1,"mpcc_theta_e":0.429618835,"mpcc_theta_mech":0.552869678,"sam_rpm":-15.8434486,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0302059948,"thr_a_norm":0.0302059948,"thr_a_v":0.620823979,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463666737,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.66329,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.74847269,"cg_iw_a":0.564094543,"cg_theta_rad":0.556280613,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0231385678,"mpcc_du":49.8731384,"mpcc_dv":49.0304451,"mpcc_dw":50.9695549,"mpcc_enc_sign":1,"mpcc_id_a":2.58966947,"mpcc_iq_a":-0.504809976,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.48728466,"mpcc_pred_id_a":0.267386347,"mpcc_pred_iq_a":-3.3775866,"mpcc_state":1,"mpcc_theta_e":0.434339523,"mpcc_theta_mech":0.553813815,"sam_rpm":-10.9757385,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211295485,"thr_a_norm":0.0302059948,"thr_a_v":0.584518194,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.673208,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.661157608,"cg_iw_a":-2.26292467,"cg_theta_rad":0.556775749,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0116908001,"mpcc_du":49.5900803,"mpcc_dv":49.6674461,"mpcc_dw":50.4099197,"mpcc_enc_sign":1,"mpcc_id_a":0.740918815,"mpcc_iq_a":-2.05642867,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.51503229,"mpcc_pred_id_a":-0.1623597,"mpcc_pred_iq_a":-1.02226412,"mpcc_state":1,"mpcc_theta_e":0.440359116,"mpcc_theta_mech":0.55501771,"sam_rpm":5.98321438,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211295485,"thr_a_norm":0.0211295485,"thr_a_v":0.584518194,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.683493,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.588670254,"cg_iw_a":0.129168987,"cg_theta_rad":0.556430578,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.00468969112,"mpcc_du":49.7151527,"mpcc_dv":50.2848473,"mpcc_dw":50.2476044,"mpcc_enc_sign":1,"mpcc_id_a":-0.890412509,"mpcc_iq_a":-4.35774899,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.5006514,"mpcc_pred_id_a":-0.841629267,"mpcc_pred_iq_a":-4.15580702,"mpcc_state":1,"mpcc_theta_e":0.454221249,"mpcc_theta_mech":0.55779016,"sam_rpm":17.5699635,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025799945,"thr_a_norm":0.025799945,"thr_a_v":0.60319978,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492167562,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.69573,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.90827537,"cg_iw_a":1.72389722,"cg_theta_rad":0.555094957,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0279370546,"mpcc_du":49.7142906,"mpcc_dv":49.5268784,"mpcc_dw":50.4731216,"mpcc_enc_sign":1,"mpcc_id_a":0.351273656,"mpcc_iq_a":-1.212816,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.36467457,"mpcc_pred_id_a":-0.441738874,"mpcc_pred_iq_a":-1.42132092,"mpcc_state":1,"mpcc_theta_e":0.426925182,"mpcc_theta_mech":0.553274155,"sam_rpm":-14.6249123,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165220946,"thr_a_norm":0.025799945,"thr_a_v":0.566088378,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469658971,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.719931,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.588670254,"cg_iw_a":0.564094543,"cg_theta_rad":0.554647028,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0256549362,"mpcc_du":50.1825943,"mpcc_dv":48.7996521,"mpcc_dw":51.2003479,"mpcc_enc_sign":1,"mpcc_id_a":3.05707669,"mpcc_iq_a":0.367448568,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.6446266,"mpcc_pred_id_a":-0.111996487,"mpcc_pred_iq_a":-3.17952847,"mpcc_state":1,"mpcc_theta_e":0.424672127,"mpcc_theta_mech":0.55188036,"sam_rpm":-26.7876053,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165220946,"thr_a_norm":0.0165220946,"thr_a_v":0.566088378,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469658971,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.726461,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.516182423,"cg_iw_a":0.12916851,"cg_theta_rad":0.557346761,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0226949286,"mpcc_du":49.8654556,"mpcc_dv":48.9249344,"mpcc_dw":51.0750656,"mpcc_enc_sign":1,"mpcc_id_a":2.72309899,"mpcc_iq_a":-1.25150716,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.24394941,"mpcc_pred_id_a":0.729316115,"mpcc_pred_iq_a":-0.991013408,"mpcc_state":1,"mpcc_theta_e":0.446120739,"mpcc_theta_mech":0.556170046,"sam_rpm":6.02523518,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0168997496,"thr_a_norm":0.0168997496,"thr_a_v":0.567598999,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.434964508,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.732992,"values":{"cg_iu_a":4.66378593,"cg_iv_a":-0.878620625,"cg_iw_a":-3.78516531,"cg_theta_rad":0.554592133,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0171629507,"mpcc_du":49.5931091,"mpcc_dv":49.7143097,"mpcc_dw":50.4068909,"mpcc_enc_sign":1,"mpcc_id_a":0.819595098,"mpcc_iq_a":-1.03419626,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.428178668,"mpcc_pred_id_a":-0.202314541,"mpcc_pred_iq_a":-5.4861784,"mpcc_state":1,"mpcc_theta_e":0.444010735,"mpcc_theta_mech":0.555748105,"sam_rpm":1.19846296,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0168997496,"thr_a_norm":0.0168997496,"thr_a_v":0.567598999,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.434964508,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.739492,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.16857147,"cg_iw_a":-1.68302298,"cg_theta_rad":0.55427134,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0165193025,"mpcc_du":50.8603783,"mpcc_dv":47.9509125,"mpcc_dw":52.0490875,"mpcc_enc_sign":1,"mpcc_id_a":0.619009137,"mpcc_iq_a":-0.107799649,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.01197433,"mpcc_pred_id_a":-0.386789382,"mpcc_pred_iq_a":-1.88244665,"mpcc_state":1,"mpcc_theta_e":0.448819637,"mpcc_theta_mech":0.556709826,"sam_rpm":-24.3991299,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259761959,"thr_a_norm":0.0259761959,"thr_a_v":0.603904784,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493426412,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.749502,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.951108456,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556767285,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.00639094599,"mpcc_du":50.0958748,"mpcc_dv":48.9302711,"mpcc_dw":51.0697289,"mpcc_enc_sign":1,"mpcc_id_a":1.55240953,"mpcc_iq_a":-3.01736355,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.27007675,"mpcc_pred_id_a":-0.205917522,"mpcc_pred_iq_a":-5.17782736,"mpcc_state":1,"mpcc_theta_e":0.44819355,"mpcc_theta_mech":0.555327654,"sam_rpm":8.39294529,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0384264141,"thr_a_norm":0.0259761959,"thr_a_v":0.653705657,"thr_b":0.0113733113,"thr_b_norm":0,"thr_b_v":0.545493245,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.759268,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-2.11091113,"cg_iw_a":0.129168749,"cg_theta_rad":0.555630267,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0364002809,"mpcc_du":49.7832375,"mpcc_dv":49.4088249,"mpcc_dw":50.5911751,"mpcc_enc_sign":1,"mpcc_id_a":-0.0752270967,"mpcc_iq_a":-0.377608567,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.95947361,"mpcc_pred_id_a":-0.346768886,"mpcc_pred_iq_a":-3.09865856,"mpcc_state":1,"mpcc_theta_e":0.451487541,"mpcc_theta_mech":0.557243407,"sam_rpm":14.4680061,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0384264141,"thr_a_norm":0.0384264141,"thr_a_v":0.653705657,"thr_b":0.0113733113,"thr_b_norm":0.0113733113,"thr_b_v":0.545493245,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.769583,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.89344811,"cg_iw_a":0.346631765,"cg_theta_rad":0.557338238,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.00226680818,"mpcc_du":49.1889267,"mpcc_dv":50.8110733,"mpcc_dw":51.0516357,"mpcc_enc_sign":1,"mpcc_id_a":-0.218082428,"mpcc_iq_a":-2.63898516,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.4218483,"mpcc_pred_id_a":-0.603300869,"mpcc_pred_iq_a":-3.34781289,"mpcc_state":1,"mpcc_theta_e":0.45624733,"mpcc_theta_mech":0.555851877,"sam_rpm":26.7265434,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0168871582,"thr_a_norm":0.0168871582,"thr_a_v":0.567548633,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.779501,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.516182423,"cg_iw_a":-0.740683556,"cg_theta_rad":0.554225385,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0203873795,"mpcc_du":49.9278755,"mpcc_dv":49.2961578,"mpcc_dw":50.7038422,"mpcc_enc_sign":1,"mpcc_id_a":-0.463497698,"mpcc_iq_a":-0.195313647,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.06268883,"mpcc_pred_id_a":-0.39140749,"mpcc_pred_iq_a":-0.677036762,"mpcc_state":1,"mpcc_theta_e":0.435434818,"mpcc_theta_mech":0.554032922,"sam_rpm":-1.98016024,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0168871582,"thr_a_norm":0.0168871582,"thr_a_v":0.567548633,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.789694,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.443694592,"cg_iw_a":-0.885658741,"cg_theta_rad":0.553014696,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.000220444781,"mpcc_du":50.1736946,"mpcc_dv":48.8574982,"mpcc_dw":51.1425018,"mpcc_enc_sign":1,"mpcc_id_a":0.283786535,"mpcc_iq_a":-1.5118258,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.84610987,"mpcc_pred_id_a":-0.293678463,"mpcc_pred_iq_a":-2.04618263,"mpcc_state":1,"mpcc_theta_e":0.434976578,"mpcc_theta_mech":0.55394119,"sam_rpm":-10.830617,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.0264545679,"thr_a_v":0.605818272,"thr_b":0.00324101746,"thr_b_norm":0.00324101746,"thr_b_v":0.51296407,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.800894,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.11091113,"cg_iw_a":-3.27775121,"cg_theta_rad":0.554253995,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0518545397,"mpcc_du":50.2107391,"mpcc_dv":48.8849983,"mpcc_dw":51.1150017,"mpcc_enc_sign":1,"mpcc_id_a":0.165886298,"mpcc_iq_a":-0.214064926,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.03755689,"mpcc_pred_id_a":-0.373894334,"mpcc_pred_iq_a":-3.15466809,"mpcc_state":1,"mpcc_theta_e":0.446328163,"mpcc_theta_mech":0.556211531,"sam_rpm":3.45692348,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.0264545679,"thr_a_v":0.592927456,"thr_b":0.000609979033,"thr_b_norm":0.00324101746,"thr_b_v":0.502439916,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.823111,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.371207237,"cg_iw_a":-0.16078186,"cg_theta_rad":0.556934655,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.000666216714,"mpcc_du":50.2093353,"mpcc_dv":48.9981155,"mpcc_dw":51.0018845,"mpcc_enc_sign":1,"mpcc_id_a":0.24178265,"mpcc_iq_a":-0.569602489,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.35783291,"mpcc_pred_id_a":-0.64085865,"mpcc_pred_iq_a":-1.21572483,"mpcc_state":1,"mpcc_theta_e":0.435481071,"mpcc_theta_mech":0.554042161,"sam_rpm":-6.64448881,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.023231864,"thr_a_v":0.592927456,"thr_b":0.000609979033,"thr_b_norm":0.000609979033,"thr_b_v":0.502439916,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.829611,"values":{"cg_iu_a":0.894427299,"cg_iv_a":0.208694458,"cg_iw_a":-1.10312176,"cg_theta_rad":0.550540149,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.00458927127,"mpcc_du":51.1544571,"mpcc_dv":47.440609,"mpcc_dw":52.559391,"mpcc_enc_sign":1,"mpcc_id_a":1.35112238,"mpcc_iq_a":-1.47445703,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.7482014,"mpcc_pred_id_a":0.0524612181,"mpcc_pred_iq_a":0.496729463,"mpcc_state":1,"mpcc_theta_e":0.422328472,"mpcc_theta_mech":0.551411569,"sam_rpm":-32.0224571,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278267413,"thr_a_norm":0.0278267413,"thr_a_v":0.611306965,"thr_b":0.00118906796,"thr_b_norm":0.00118906796,"thr_b_v":0.504756272,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.836142,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-1.45852208,"cg_iw_a":1.57892203,"cg_theta_rad":0.55649817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0541962534,"mpcc_du":51.3063278,"mpcc_dv":47.2608566,"mpcc_dw":52.7391434,"mpcc_enc_sign":1,"mpcc_id_a":2.52620721,"mpcc_iq_a":1.10181427,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.9297113,"mpcc_pred_id_a":0.114000328,"mpcc_pred_iq_a":1.29792047,"mpcc_state":1,"mpcc_theta_e":0.430075169,"mpcc_theta_mech":0.552960992,"sam_rpm":-22.8543911,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278267413,"thr_a_norm":0.0278267413,"thr_a_v":0.611306965,"thr_b":0.00118906796,"thr_b_norm":0.00118906796,"thr_b_v":0.504756272,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.842886,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.661157608,"cg_iw_a":0.999020576,"cg_theta_rad":0.556436718,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0277323388,"mpcc_du":50.080555,"mpcc_dv":48.8456573,"mpcc_dw":51.1543427,"mpcc_enc_sign":1,"mpcc_id_a":2.34222412,"mpcc_iq_a":-1.20788121,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.3149786,"mpcc_pred_id_a":0.137775779,"mpcc_pred_iq_a":-1.98785317,"mpcc_state":1,"mpcc_theta_e":0.445903301,"mpcc_theta_mech":0.556126535,"sam_rpm":3.76941681,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0409567356,"thr_a_norm":0.0409567356,"thr_a_v":0.663826942,"thr_b":0.0132993907,"thr_b_norm":0.0132993907,"thr_b_v":0.553197563,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.852957,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.661157608,"cg_iw_a":-0.958146572,"cg_theta_rad":0.556428432,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0415016562,"mpcc_du":49.7243843,"mpcc_dv":48.9041977,"mpcc_dw":51.0958023,"mpcc_enc_sign":1,"mpcc_id_a":3.47567749,"mpcc_iq_a":-2.73997283,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.9024439,"mpcc_pred_id_a":0.921066225,"mpcc_pred_iq_a":-2.71406651,"mpcc_state":1,"mpcc_theta_e":0.429866791,"mpcc_theta_mech":0.552919269,"sam_rpm":-17.6775494,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0409567356,"thr_a_norm":0.0409567356,"thr_a_v":0.663826942,"thr_b":0.0132993907,"thr_b_norm":0.0132993907,"thr_b_v":0.553197563,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.863089,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.516182423,"cg_iw_a":-1.97297382,"cg_theta_rad":0.5541116,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0272658449,"mpcc_du":51.3417969,"mpcc_dv":47.2011299,"mpcc_dw":52.7988701,"mpcc_enc_sign":1,"mpcc_id_a":1.04380441,"mpcc_iq_a":0.313107401,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-23.3354511,"mpcc_pred_id_a":-0.0165066943,"mpcc_pred_iq_a":-0.141004756,"mpcc_state":1,"mpcc_theta_e":0.448190212,"mpcc_theta_mech":0.556583941,"sam_rpm":-33.7927361,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.104668126,"thr_a_norm":0.104668126,"thr_a_v":0.918672502,"thr_b":0.0457907915,"thr_b_norm":0.0457907915,"thr_b_v":0.683163166,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.873068,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.226231575,"cg_iw_a":-0.160782337,"cg_theta_rad":0.551906645,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.0145563101,"mpcc_du":49.4299355,"mpcc_dv":49.5561676,"mpcc_dw":50.5700645,"mpcc_enc_sign":1,"mpcc_id_a":2.19239044,"mpcc_iq_a":-0.847353101,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.75823998,"mpcc_pred_id_a":0.547668934,"mpcc_pred_iq_a":-3.03370309,"mpcc_state":1,"mpcc_theta_e":0.441827774,"mpcc_theta_mech":0.555311501,"sam_rpm":3.52766395,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0124937147,"thr_a_norm":0.104668126,"thr_a_v":0.549974859,"thr_b":0,"thr_b_norm":0.0457907915,"thr_b_v":0.448207825,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.883078,"values":{"cg_iu_a":4.15637207,"cg_iv_a":-0.516182423,"cg_iw_a":-3.64018965,"cg_theta_rad":0.556607425,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.024406543,"mpcc_du":50.1285973,"mpcc_dv":48.4573479,"mpcc_dw":51.5426521,"mpcc_enc_sign":1,"mpcc_id_a":2.58493876,"mpcc_iq_a":-2.60113573,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.2438984,"mpcc_pred_id_a":0.636244178,"mpcc_pred_iq_a":-1.44906974,"mpcc_state":1,"mpcc_theta_e":0.428091049,"mpcc_theta_mech":0.552564085,"sam_rpm":-20.6870537,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0124937147,"thr_a_norm":0.0124937147,"thr_a_v":0.549974859,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448207825,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.893301,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.733645439,"cg_iw_a":-2.91531324,"cg_theta_rad":0.556905448,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.00590606406,"mpcc_du":49.3666039,"mpcc_dv":50.6333961,"mpcc_dw":50.1389313,"mpcc_enc_sign":1,"mpcc_id_a":1.53248012,"mpcc_iq_a":-2.37180829,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.3777246,"mpcc_pred_id_a":-0.230639562,"mpcc_pred_iq_a":-4.02697897,"mpcc_state":1,"mpcc_theta_e":0.453478813,"mpcc_theta_mech":0.557641685,"sam_rpm":19.3848095,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234458596,"thr_a_norm":0.0234458596,"thr_a_v":0.593783438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466285199,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.904043,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.16857147,"cg_iw_a":-1.39307213,"cg_theta_rad":0.556310356,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5015,"hz_app_loop":365,"hz_tim_isr":10030,"hz_vsense":365,"mpcc_cost":0.053802751,"mpcc_du":50.07658,"mpcc_dv":48.7220688,"mpcc_dw":51.2779312,"mpcc_enc_sign":1,"mpcc_id_a":2.56195426,"mpcc_iq_a":-0.237154216,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.0003376,"mpcc_pred_id_a":0.271135807,"mpcc_pred_iq_a":-2.94389677,"mpcc_state":1,"mpcc_theta_e":0.442588329,"mpcc_theta_mech":0.555463612,"sam_rpm":-2.16254115,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234458596,"thr_a_norm":0.0234458596,"thr_a_v":0.593783438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466285199,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.927298,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.443694592,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556638539,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0242848601,"mpcc_du":49.9551468,"mpcc_dv":47.6182861,"mpcc_dw":52.3817139,"mpcc_enc_sign":1,"mpcc_id_a":-0.262584955,"mpcc_iq_a":-0.101773657,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.74690932,"mpcc_pred_id_a":-0.608682632,"mpcc_pred_iq_a":-3.58949971,"mpcc_state":1,"mpcc_theta_e":0.446537018,"mpcc_theta_mech":0.556253314,"sam_rpm":1.19690382,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285317004,"thr_a_norm":0.0285317004,"thr_a_v":0.614126801,"thr_b":6.86645508e-05,"thr_b_norm":6.86645508e-05,"thr_b_v":0.500274658,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.933798,"values":{"cg_iu_a":4.01139736,"cg_iv_a":-1.02359605,"cg_iw_a":-2.98780131,"cg_theta_rad":0.557174027,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0756038278,"mpcc_du":49.9301796,"mpcc_dv":48.8162346,"mpcc_dw":51.1837654,"mpcc_enc_sign":1,"mpcc_id_a":-0.121079244,"mpcc_iq_a":-1.47122908,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.253492326,"mpcc_pred_id_a":0.574251831,"mpcc_pred_iq_a":-2.48429418,"mpcc_state":1,"mpcc_theta_e":0.450784683,"mpcc_theta_mech":0.557102859,"sam_rpm":1.10684884,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285317004,"thr_a_norm":0.0285317004,"thr_a_v":0.614126801,"thr_b":6.86645508e-05,"thr_b_norm":6.86645508e-05,"thr_b_v":0.500274658,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.940359,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-0.878620625,"cg_iw_a":0.709069729,"cg_theta_rad":0.555480659,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.00797793642,"mpcc_du":49.6153221,"mpcc_dv":50.3520546,"mpcc_dw":51.9701576,"mpcc_enc_sign":1,"mpcc_id_a":1.31386924,"mpcc_iq_a":-1.66110039,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.4506216,"mpcc_pred_id_a":-0.263247609,"mpcc_pred_iq_a":-3.26030731,"mpcc_state":1,"mpcc_theta_e":0.453979969,"mpcc_theta_mech":0.55774188,"sam_rpm":20.9988003,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02428931,"thr_a_norm":0.02428931,"thr_a_v":0.59715724,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476104379,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.946859,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.153744221,"cg_iw_a":-2.11794901,"cg_theta_rad":0.555792511,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0327943154,"mpcc_du":50.2459984,"mpcc_dv":48.6317711,"mpcc_dw":51.3682289,"mpcc_enc_sign":1,"mpcc_id_a":1.64509773,"mpcc_iq_a":0.195898905,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.064609699,"mpcc_pred_id_a":0.138319537,"mpcc_pred_iq_a":-1.04304385,"mpcc_state":1,"mpcc_theta_e":0.443546772,"mpcc_theta_mech":0.557172656,"sam_rpm":0.419115275,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0983108282,"thr_a_norm":0.02428931,"thr_a_v":0.893243313,"thr_b":0.0404909551,"thr_b_norm":0,"thr_b_v":0.66196382,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.955069,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.09608364,"cg_iw_a":0.636582375,"cg_theta_rad":0.553836465,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0605123043,"mpcc_du":50.3208275,"mpcc_dv":48.3868294,"mpcc_dw":51.6131706,"mpcc_enc_sign":1,"mpcc_id_a":3.76797652,"mpcc_iq_a":0.948047221,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.34861255,"mpcc_pred_id_a":0.658976495,"mpcc_pred_iq_a":1.14004791,"mpcc_state":1,"mpcc_theta_e":0.443526268,"mpcc_theta_mech":0.555651188,"sam_rpm":3.3196249,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0983108282,"thr_a_norm":0.0983108282,"thr_a_v":0.893243313,"thr_b":0.0404909551,"thr_b_norm":0.0404909551,"thr_b_v":0.66196382,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.965475,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.16857147,"cg_iw_a":-1.10312176,"cg_theta_rad":0.555467308,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.000458694529,"mpcc_du":49.1212082,"mpcc_dv":50.8787918,"mpcc_dw":49.6787529,"mpcc_enc_sign":1,"mpcc_id_a":0.273069054,"mpcc_iq_a":-1.00476623,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.78668022,"mpcc_pred_id_a":-0.341399938,"mpcc_pred_iq_a":-4.31931973,"mpcc_state":1,"mpcc_theta_e":0.442443371,"mpcc_theta_mech":0.552552581,"sam_rpm":14.3465281,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0164213777,"thr_a_norm":0.0164213777,"thr_a_v":0.565685511,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465378791,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.977713,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.153744221,"cg_iw_a":-0.958146095,"cg_theta_rad":0.555195808,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0011350445,"mpcc_du":49.6719551,"mpcc_dv":49.4969482,"mpcc_dw":50.5030518,"mpcc_enc_sign":1,"mpcc_id_a":0.549058735,"mpcc_iq_a":-0.252870351,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.27621484,"mpcc_pred_id_a":-0.130327091,"mpcc_pred_iq_a":-2.01910305,"mpcc_state":1,"mpcc_theta_e":0.438316822,"mpcc_theta_mech":0.554609239,"sam_rpm":-5.39781046,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261272639,"thr_a_norm":0.0164213777,"thr_a_v":0.604509056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494886726,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.987265,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.45852208,"cg_iw_a":-2.77033782,"cg_theta_rad":0.553894579,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.00171202957,"mpcc_du":50.455555,"mpcc_dv":48.5469666,"mpcc_dw":51.4530334,"mpcc_enc_sign":1,"mpcc_id_a":0.556570888,"mpcc_iq_a":-1.77935469,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.13299417,"mpcc_pred_id_a":-0.258926183,"mpcc_pred_iq_a":-1.58545768,"mpcc_state":1,"mpcc_theta_e":0.43666172,"mpcc_theta_mech":0.554278255,"sam_rpm":-10.8159885,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261272639,"thr_a_norm":0.0261272639,"thr_a_v":0.604509056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494886726,"vdc_v":55.2955055}} +{"type":"telemetry","t":12.997458,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.516182423,"cg_iw_a":-2.33541203,"cg_theta_rad":0.554833531,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0623025633,"mpcc_du":50.2639084,"mpcc_dv":48.6373787,"mpcc_dw":51.3626213,"mpcc_enc_sign":1,"mpcc_id_a":1.21710062,"mpcc_iq_a":0.303902984,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.2615211,"mpcc_pred_id_a":0.150544286,"mpcc_pred_iq_a":-2.11611724,"mpcc_state":1,"mpcc_theta_e":0.446045876,"mpcc_theta_mech":0.556155086,"sam_rpm":3.21579075,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262531489,"thr_a_norm":0.0262531489,"thr_a_v":0.605012596,"thr_b":0.00127717853,"thr_b_norm":0.00127717853,"thr_b_v":0.505108714,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.007498,"values":{"cg_iu_a":-0.845276594,"cg_iv_a":-1.24105906,"cg_iw_a":-1.39307237,"cg_theta_rad":0.554892659,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0113218799,"mpcc_du":50.046257,"mpcc_dv":49.1035118,"mpcc_dw":50.8964882,"mpcc_enc_sign":1,"mpcc_id_a":1.54338324,"mpcc_iq_a":-1.54893708,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0558738783,"mpcc_pred_id_a":-0.372256905,"mpcc_pred_iq_a":-0.00341254193,"mpcc_state":1,"mpcc_theta_e":0.437452793,"mpcc_theta_mech":0.554436505,"sam_rpm":-1.37186837,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262531489,"thr_a_norm":0.0262531489,"thr_a_v":0.605012596,"thr_b":0.00127717853,"thr_b_norm":0.00127717853,"thr_b_v":0.505108714,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.030691,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-0.661157608,"cg_iw_a":-2.77033806,"cg_theta_rad":0.555732369,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0151920626,"mpcc_du":50.2675362,"mpcc_dv":48.5117226,"mpcc_dw":51.4882774,"mpcc_enc_sign":1,"mpcc_id_a":2.32326221,"mpcc_iq_a":-0.402797431,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.19343996,"mpcc_pred_id_a":0.364061147,"mpcc_pred_iq_a":-1.09172213,"mpcc_state":1,"mpcc_theta_e":0.442942619,"mpcc_theta_mech":0.555534482,"sam_rpm":-15.6550865,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024188593,"thr_a_norm":0.024188593,"thr_a_v":0.596754372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.037252,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.09608364,"cg_iw_a":-0.595707893,"cg_theta_rad":0.554840386,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0234279279,"mpcc_du":49.6652641,"mpcc_dv":49.4267769,"mpcc_dw":50.5732231,"mpcc_enc_sign":1,"mpcc_id_a":1.03473198,"mpcc_iq_a":-0.58174175,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.566672802,"mpcc_pred_id_a":-0.0058112829,"mpcc_pred_iq_a":-4.88891411,"mpcc_state":1,"mpcc_theta_e":0.44503355,"mpcc_theta_mech":0.555952609,"sam_rpm":-0.59224093,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0308983773,"thr_a_norm":0.024188593,"thr_a_v":0.623593509,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464522749,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.043722,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-2.32837415,"cg_iw_a":0.274143934,"cg_theta_rad":0.556980371,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0136322677,"mpcc_du":49.8215141,"mpcc_dv":49.2215767,"mpcc_dw":50.7784233,"mpcc_enc_sign":1,"mpcc_id_a":2.0940485,"mpcc_iq_a":-1.05663908,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.02019215,"mpcc_pred_id_a":-0.0116535276,"mpcc_pred_iq_a":-4.32499027,"mpcc_state":1,"mpcc_theta_e":0.433354378,"mpcc_theta_mech":0.553616762,"sam_rpm":-12.3491869,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0308983773,"thr_a_norm":0.0308983773,"thr_a_v":0.623593509,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464522749,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.050467,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.443694592,"cg_iw_a":-0.813171387,"cg_theta_rad":0.556428611,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0262729172,"mpcc_du":49.4682732,"mpcc_dv":50.5317268,"mpcc_dw":50.2506447,"mpcc_enc_sign":1,"mpcc_id_a":1.53724396,"mpcc_iq_a":-0.0352457836,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.07407808,"mpcc_pred_id_a":-0.0479929633,"mpcc_pred_iq_a":-5.97110367,"mpcc_state":1,"mpcc_theta_e":0.446368694,"mpcc_theta_mech":0.556219697,"sam_rpm":7.60637522,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023710236,"thr_a_norm":0.023710236,"thr_a_v":0.594840944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466486603,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.060476,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.24105906,"cg_iw_a":0.129168749,"cg_theta_rad":0.553478301,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0245663319,"mpcc_du":49.8081551,"mpcc_dv":49.1182518,"mpcc_dw":50.8817482,"mpcc_enc_sign":1,"mpcc_id_a":2.6690309,"mpcc_iq_a":-0.845304668,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.42454433,"mpcc_pred_id_a":0.229115099,"mpcc_pred_iq_a":-1.31386209,"mpcc_state":1,"mpcc_theta_e":0.428050041,"mpcc_theta_mech":0.552555919,"sam_rpm":-14.4982052,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0164339691,"thr_a_norm":0.023710236,"thr_a_v":0.565735877,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465882361,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.070456,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.38603449,"cg_iw_a":-2.40789986,"cg_theta_rad":0.555557907,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0271400586,"mpcc_du":49.8338661,"mpcc_dv":49.2823029,"mpcc_dw":50.7176971,"mpcc_enc_sign":1,"mpcc_id_a":0.633972287,"mpcc_iq_a":0.255993605,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.466507,"mpcc_pred_id_a":-0.202174172,"mpcc_pred_iq_a":-1.0307374,"mpcc_state":1,"mpcc_theta_e":0.450017452,"mpcc_theta_mech":0.556949437,"sam_rpm":16.4945221,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0164339691,"thr_a_norm":0.0164339691,"thr_a_v":0.565735877,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465882361,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.080679,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-2.25588632,"cg_iw_a":0.999020338,"cg_theta_rad":0.55629015,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.00229756697,"mpcc_du":50.5165863,"mpcc_dv":50.1028786,"mpcc_dw":50.3274727,"mpcc_enc_sign":1,"mpcc_id_a":-0.0455739014,"mpcc_iq_a":-1.17653883,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.19313622,"mpcc_pred_id_a":-0.530261219,"mpcc_pred_iq_a":0.278149664,"mpcc_state":1,"mpcc_theta_e":0.439630985,"mpcc_theta_mech":0.554872155,"sam_rpm":-0.961696327,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295136124,"thr_a_norm":0.0295136124,"thr_a_v":0.61805445,"thr_b":0.00390821695,"thr_b_norm":0.00390821695,"thr_b_v":0.515632868,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.090689,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.378244877,"cg_theta_rad":0.555479765,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0298226811,"mpcc_du":50.8797684,"mpcc_dv":47.8960037,"mpcc_dw":52.1039963,"mpcc_enc_sign":1,"mpcc_id_a":0.788479447,"mpcc_iq_a":-0.596094072,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.47471237,"mpcc_pred_id_a":0.0259286445,"mpcc_pred_iq_a":-0.755469322,"mpcc_state":1,"mpcc_theta_e":0.438223839,"mpcc_theta_mech":0.554590702,"sam_rpm":-11.7795153,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295136124,"thr_a_norm":0.0295136124,"thr_a_v":0.61805445,"thr_b":0.00390821695,"thr_b_norm":0.00390821695,"thr_b_v":0.515632868,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.102835,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.878620625,"cg_iw_a":-1.10312176,"cg_theta_rad":0.555692554,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0400612466,"mpcc_du":49.8149643,"mpcc_dv":49.2082176,"mpcc_dw":50.7917824,"mpcc_enc_sign":1,"mpcc_id_a":2.1332674,"mpcc_iq_a":-1.48976266,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.37635612,"mpcc_pred_id_a":-0.130800784,"mpcc_pred_iq_a":-2.43596554,"mpcc_state":1,"mpcc_theta_e":0.433339119,"mpcc_theta_mech":0.553613722,"sam_rpm":-5.79854012,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242011845,"thr_a_norm":0.0242011845,"thr_a_v":0.596804738,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476356149,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.126272,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.45852208,"cg_iw_a":0.926533222,"cg_theta_rad":0.555273056,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.00848093629,"mpcc_du":48.8831406,"mpcc_dv":51.1168594,"mpcc_dw":49.2440834,"mpcc_enc_sign":1,"mpcc_id_a":-1.63672602,"mpcc_iq_a":-3.24820828,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.656332,"mpcc_pred_id_a":-1.0682112,"mpcc_pred_iq_a":-6.20748568,"mpcc_state":1,"mpcc_theta_e":0.453578472,"mpcc_theta_mech":0.557661593,"sam_rpm":22.8819294,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221869946,"thr_a_norm":0.0221869946,"thr_a_v":0.588747978,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477614999,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.132803,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.298719406,"cg_iw_a":-1.68302298,"cg_theta_rad":0.552361727,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.00357671804,"mpcc_du":49.5562172,"mpcc_dv":50.2135048,"mpcc_dw":50.4437828,"mpcc_enc_sign":1,"mpcc_id_a":2.25611758,"mpcc_iq_a":-1.00819957,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.876513,"mpcc_pred_id_a":0.0980361402,"mpcc_pred_iq_a":-3.28919291,"mpcc_state":1,"mpcc_theta_e":0.435214043,"mpcc_theta_mech":0.553988695,"sam_rpm":8.04298019,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221869946,"thr_a_norm":0.0221869946,"thr_a_v":0.588747978,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477614999,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.139334,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.951108456,"cg_iw_a":-0.523220539,"cg_theta_rad":0.556188285,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0222027171,"mpcc_du":50.7163239,"mpcc_dv":47.8494644,"mpcc_dw":52.1505356,"mpcc_enc_sign":1,"mpcc_id_a":2.96368217,"mpcc_iq_a":-0.357412338,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.1645699,"mpcc_pred_id_a":0.416536987,"mpcc_pred_iq_a":0.524461925,"mpcc_state":1,"mpcc_theta_e":0.420282841,"mpcc_theta_mech":0.551002502,"sam_rpm":-30.603817,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0223380625,"thr_a_norm":0.0223380625,"thr_a_v":0.58935225,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.145864,"values":{"cg_iu_a":3.1415453,"cg_iv_a":0.0637187958,"cg_iw_a":-3.20526409,"cg_theta_rad":0.554264128,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.00994951464,"mpcc_du":50.2585449,"mpcc_dv":48.7184296,"mpcc_dw":51.2815704,"mpcc_enc_sign":1,"mpcc_id_a":0.787787914,"mpcc_iq_a":-0.597007692,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.6030097,"mpcc_pred_id_a":-0.189761445,"mpcc_pred_iq_a":-1.28641725,"mpcc_state":1,"mpcc_theta_e":0.43938303,"mpcc_theta_mech":0.554822505,"sam_rpm":-3.77675486,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269455314,"thr_a_norm":0.0223380625,"thr_a_v":0.607782125,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489095896,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.155905,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.661157608,"cg_iw_a":-2.40789986,"cg_theta_rad":0.553755403,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0259662084,"mpcc_du":49.7702637,"mpcc_dv":49.0067215,"mpcc_dw":50.9932785,"mpcc_enc_sign":1,"mpcc_id_a":1.92474127,"mpcc_iq_a":-1.24073362,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.23109317,"mpcc_pred_id_a":0.604411542,"mpcc_pred_iq_a":-2.91041684,"mpcc_state":1,"mpcc_theta_e":0.44609499,"mpcc_theta_mech":0.55616492,"sam_rpm":4.51870537,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269455314,"thr_a_norm":0.0269455314,"thr_a_v":0.607782125,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489095896,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.166159,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.806133032,"cg_iw_a":-1.24809718,"cg_theta_rad":0.553908169,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0164514314,"mpcc_du":49.5523491,"mpcc_dv":50.4476509,"mpcc_dw":50.5252495,"mpcc_enc_sign":1,"mpcc_id_a":1.68701982,"mpcc_iq_a":-0.727864027,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.25641251,"mpcc_pred_id_a":-0.0477616377,"mpcc_pred_iq_a":-3.82526827,"mpcc_state":1,"mpcc_theta_e":0.432312965,"mpcc_theta_mech":0.552024305,"sam_rpm":-8.72417641,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224639475,"thr_a_norm":0.0224639475,"thr_a_v":0.58985579,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479880989,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.176077,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.516182423,"cg_iw_a":-2.19043684,"cg_theta_rad":0.553164124,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.062434908,"mpcc_du":50.2401314,"mpcc_dv":48.1758347,"mpcc_dw":51.8241653,"mpcc_enc_sign":1,"mpcc_id_a":4.99521875,"mpcc_iq_a":-0.113333583,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.6227074,"mpcc_pred_id_a":1.16327059,"mpcc_pred_iq_a":0.224222556,"mpcc_state":1,"mpcc_theta_e":0.428192616,"mpcc_theta_mech":0.552584469,"sam_rpm":-20.3381767,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224639475,"thr_a_norm":0.0224639475,"thr_a_v":0.58985579,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479880989,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.18627,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.60349751,"cg_iw_a":-1.10312176,"cg_theta_rad":0.557657003,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0183533095,"mpcc_du":50.2127151,"mpcc_dv":48.6381721,"mpcc_dw":51.3618279,"mpcc_enc_sign":1,"mpcc_id_a":2.24259686,"mpcc_iq_a":-1.42084444,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.73227096,"mpcc_pred_id_a":0.225629374,"mpcc_pred_iq_a":-1.8653419,"mpcc_state":1,"mpcc_theta_e":0.439832211,"mpcc_theta_mech":0.554912329,"sam_rpm":-5.62218857,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105989918,"thr_a_norm":0.105989918,"thr_a_v":0.923959672,"thr_b":0.0495674014,"thr_b_norm":0.0495674014,"thr_b_v":0.698269606,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.196554,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.6759851,"cg_iw_a":2.08633566,"cg_theta_rad":0.557627439,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.000379077275,"mpcc_du":50.0895348,"mpcc_dv":50.5261154,"mpcc_dw":50.1613998,"mpcc_enc_sign":1,"mpcc_id_a":0.32195577,"mpcc_iq_a":-1.58237851,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.86163557,"mpcc_pred_id_a":-0.493071169,"mpcc_pred_iq_a":-0.577075243,"mpcc_state":1,"mpcc_theta_e":0.441257954,"mpcc_theta_mech":0.556577921,"sam_rpm":2.6652894,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0171640962,"thr_a_norm":0.105989918,"thr_a_v":0.568656385,"thr_b":0,"thr_b_norm":0.0495674014,"thr_b_v":0.445085824,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.206442,"values":{"cg_iu_a":2.5616436,"cg_iv_a":0.281181812,"cg_iw_a":-3.06028891,"cg_theta_rad":0.557776093,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0369390361,"mpcc_du":50.5038834,"mpcc_dv":48.4565697,"mpcc_dw":51.5434303,"mpcc_enc_sign":1,"mpcc_id_a":0.757384181,"mpcc_iq_a":-0.82370609,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.630937338,"mpcc_pred_id_a":-0.179524913,"mpcc_pred_iq_a":-1.61518502,"mpcc_state":1,"mpcc_theta_e":0.447906971,"mpcc_theta_mech":0.556527317,"sam_rpm":1.87594271,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0171640962,"thr_a_norm":0.0171640962,"thr_a_v":0.568656385,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.445085824,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.230703,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.53100967,"cg_iw_a":-1.17560959,"cg_theta_rad":0.55860728,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0101415627,"mpcc_du":48.6568985,"mpcc_dv":51.3431015,"mpcc_dw":49.3198357,"mpcc_enc_sign":1,"mpcc_id_a":1.73818409,"mpcc_iq_a":-3.08999848,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":19.118885,"mpcc_pred_id_a":-0.0322983898,"mpcc_pred_iq_a":-5.72935629,"mpcc_state":1,"mpcc_theta_e":0.457390785,"mpcc_theta_mech":0.558424056,"sam_rpm":27.8263741,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0138784498,"thr_a_norm":0.0138784498,"thr_a_v":0.555513799,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44211489,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.237234,"values":{"cg_iu_a":4.01139736,"cg_iv_a":-1.02359605,"cg_iw_a":0.346631527,"cg_theta_rad":0.557348549,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.000632847077,"mpcc_du":50.0378685,"mpcc_dv":49.2105446,"mpcc_dw":50.7894554,"mpcc_enc_sign":1,"mpcc_id_a":-0.0093077356,"mpcc_iq_a":-2.26351714,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.36016345,"mpcc_pred_id_a":-0.626048148,"mpcc_pred_iq_a":-2.21194649,"mpcc_state":1,"mpcc_theta_e":0.445472717,"mpcc_theta_mech":0.556040466,"sam_rpm":4.88911629,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0951384753,"thr_a_norm":0.0138784498,"thr_a_v":0.880553901,"thr_b":0.0375829637,"thr_b_norm":0,"thr_b_v":0.650331855,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.243704,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.24105906,"cg_iw_a":0.709069967,"cg_theta_rad":0.55676949,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0261996314,"mpcc_du":49.4417725,"mpcc_dv":50.5582275,"mpcc_dw":50.3876762,"mpcc_enc_sign":1,"mpcc_id_a":1.91775978,"mpcc_iq_a":-1.56655049,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":24.6179047,"mpcc_pred_id_a":0.451302558,"mpcc_pred_iq_a":-2.75082946,"mpcc_state":1,"mpcc_theta_e":0.46510458,"mpcc_theta_mech":0.559966862,"sam_rpm":37.0504227,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0951384753,"thr_a_norm":0.0951384753,"thr_a_v":0.880553901,"thr_b":0.0375829637,"thr_b_norm":0.0375829637,"thr_b_v":0.650331855,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.250265,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.89344811,"cg_iw_a":0.564094782,"cg_theta_rad":0.556885242,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0275258552,"mpcc_du":51.2006302,"mpcc_dv":47.3689308,"mpcc_dw":52.6310692,"mpcc_enc_sign":1,"mpcc_id_a":1.34301531,"mpcc_iq_a":-0.279861957,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.7889366,"mpcc_pred_id_a":0.199652329,"mpcc_pred_iq_a":-0.546805024,"mpcc_state":1,"mpcc_theta_e":0.455040455,"mpcc_theta_mech":0.557954013,"sam_rpm":20.6818676,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244781524,"thr_a_norm":0.0244781524,"thr_a_v":0.59791261,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473334849,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.259268,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.45852208,"cg_iw_a":-1.10312152,"cg_theta_rad":0.556466758,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.00767058693,"mpcc_du":49.2147331,"mpcc_dv":50.7852669,"mpcc_dw":50.0206032,"mpcc_enc_sign":1,"mpcc_id_a":1.74977171,"mpcc_iq_a":-0.597926915,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.62513351,"mpcc_pred_id_a":0.0974802896,"mpcc_pred_iq_a":-3.74199247,"mpcc_state":1,"mpcc_theta_e":0.444896221,"mpcc_theta_mech":0.555925131,"sam_rpm":13.0754099,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244781524,"thr_a_norm":0.0244781524,"thr_a_v":0.59791261,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473334849,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.269461,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.16857147,"cg_iw_a":-1.03063393,"cg_theta_rad":0.552814543,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.00288469042,"mpcc_du":49.8774757,"mpcc_dv":49.5716362,"mpcc_dw":50.4283638,"mpcc_enc_sign":1,"mpcc_id_a":-0.851073086,"mpcc_iq_a":-2.46703243,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.3190861,"mpcc_pred_id_a":-1.0951401,"mpcc_pred_iq_a":-4.68679142,"mpcc_state":1,"mpcc_theta_e":0.453009605,"mpcc_theta_mech":0.557547808,"sam_rpm":14.2768908,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0236472934,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.280081,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-2.0384233,"cg_iw_a":0.854045391,"cg_theta_rad":0.554072082,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0580003448,"mpcc_du":50.1698532,"mpcc_dv":48.9193878,"mpcc_dw":51.0806122,"mpcc_enc_sign":1,"mpcc_id_a":0.176039338,"mpcc_iq_a":-0.359118789,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.53849983,"mpcc_pred_id_a":-0.341650993,"mpcc_pred_iq_a":-3.44907141,"mpcc_state":1,"mpcc_theta_e":0.449221134,"mpcc_theta_mech":0.556790173,"sam_rpm":6.4004488,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170885772,"thr_a_norm":0.0236472934,"thr_a_v":0.568354309,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454300761,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.289877,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.96593571,"cg_iw_a":1.14399576,"cg_theta_rad":0.556816518,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0344382636,"mpcc_du":49.6876717,"mpcc_dv":49.0837822,"mpcc_dw":50.9162178,"mpcc_enc_sign":1,"mpcc_id_a":3.31111169,"mpcc_iq_a":0.853763402,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0218739826,"mpcc_pred_id_a":0.657182157,"mpcc_pred_iq_a":-1.15584576,"mpcc_state":1,"mpcc_theta_e":0.439060688,"mpcc_theta_mech":0.554758012,"sam_rpm":-1.36480033,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170885772,"thr_a_norm":0.0170885772,"thr_a_v":0.568354309,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454300761,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.30007,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.298719406,"cg_iw_a":0.346631527,"cg_theta_rad":0.553397834,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0388682224,"mpcc_du":50.0102806,"mpcc_dv":48.8702393,"mpcc_dw":51.1297607,"mpcc_enc_sign":1,"mpcc_id_a":2.38109159,"mpcc_iq_a":-0.621592045,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.30022848,"mpcc_pred_id_a":0.192953706,"mpcc_pred_iq_a":-2.43355727,"mpcc_state":1,"mpcc_theta_e":0.445214272,"mpcc_theta_mech":0.555988729,"sam_rpm":3.27387118,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194930136,"thr_a_norm":0.0194930136,"thr_a_v":0.577972054,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470716387,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.31011,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.951108456,"cg_iw_a":-2.48038721,"cg_theta_rad":0.553628325,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0618752204,"mpcc_du":49.8279305,"mpcc_dv":48.9882126,"mpcc_dw":51.0117874,"mpcc_enc_sign":1,"mpcc_id_a":2.35283709,"mpcc_iq_a":1.33968937,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.62592411,"mpcc_pred_id_a":0.446607739,"mpcc_pred_iq_a":-1.81400728,"mpcc_state":1,"mpcc_theta_e":0.445089817,"mpcc_theta_mech":0.555963874,"sam_rpm":6.02598858,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194930136,"thr_a_norm":0.0194930136,"thr_a_v":0.577972054,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470716387,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.333487,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.443694592,"cg_iw_a":-0.160782337,"cg_theta_rad":0.556994736,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.000929355563,"mpcc_du":50.5410843,"mpcc_dv":48.5339088,"mpcc_dw":51.4660912,"mpcc_enc_sign":1,"mpcc_id_a":-0.29007569,"mpcc_iq_a":-1.34068573,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.83536649,"mpcc_pred_id_a":-0.602753222,"mpcc_pred_iq_a":-5.47359562,"mpcc_state":1,"mpcc_theta_e":0.444432735,"mpcc_theta_mech":0.555832505,"sam_rpm":-4.38950825,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0239116549,"thr_a_norm":0.0239116549,"thr_a_v":0.59564662,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.340017,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.16857147,"cg_iw_a":0.0566811562,"cg_theta_rad":0.554970205,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0068790256,"mpcc_du":50.4773674,"mpcc_dv":48.3699913,"mpcc_dw":51.6300087,"mpcc_enc_sign":1,"mpcc_id_a":1.65178931,"mpcc_iq_a":-1.15659881,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.1180763,"mpcc_pred_id_a":-0.103975497,"mpcc_pred_iq_a":-2.37277579,"mpcc_state":1,"mpcc_theta_e":0.425023079,"mpcc_theta_mech":0.551950574,"sam_rpm":-27.1509285,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023810938,"thr_a_norm":0.0239116549,"thr_a_v":0.595243752,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470867455,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.346487,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.588670254,"cg_iw_a":-0.305757046,"cg_theta_rad":0.556790471,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0298358649,"mpcc_du":49.3889427,"mpcc_dv":49.3721123,"mpcc_dw":50.6278877,"mpcc_enc_sign":1,"mpcc_id_a":3.40056205,"mpcc_iq_a":-1.17144048,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.56842065,"mpcc_pred_id_a":0.711182117,"mpcc_pred_iq_a":-3.22089529,"mpcc_state":1,"mpcc_theta_e":0.437804699,"mpcc_theta_mech":0.554506898,"sam_rpm":-5.65609646,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023810938,"thr_a_norm":0.023810938,"thr_a_v":0.595243752,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470867455,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.353018,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-2.25588632,"cg_iw_a":-1.03063416,"cg_theta_rad":0.55551523,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0212961081,"mpcc_du":50.0581665,"mpcc_dv":48.6309853,"mpcc_dw":51.3690147,"mpcc_enc_sign":1,"mpcc_id_a":2.28961873,"mpcc_iq_a":-1.14938736,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.50253677,"mpcc_pred_id_a":0.681163251,"mpcc_pred_iq_a":0.642620981,"mpcc_state":1,"mpcc_theta_e":0.45049572,"mpcc_theta_mech":0.557045043,"sam_rpm":12.524641,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.107034788,"thr_a_norm":0.107034788,"thr_a_v":0.92813915,"thr_b":0.0373186022,"thr_b_norm":0.0373186022,"thr_b_v":0.649274409,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.360952,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.38603449,"cg_iw_a":-1.24809694,"cg_theta_rad":0.557229042,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0195300132,"mpcc_du":49.5641212,"mpcc_dv":49.3434067,"mpcc_dw":50.6565933,"mpcc_enc_sign":1,"mpcc_id_a":1.88304901,"mpcc_iq_a":-1.32421386,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.01782703,"mpcc_pred_id_a":0.370998144,"mpcc_pred_iq_a":-2.49881458,"mpcc_state":1,"mpcc_theta_e":0.450321198,"mpcc_theta_mech":0.557010174,"sam_rpm":13.4143152,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.107034788,"thr_a_norm":0.107034788,"thr_a_v":0.92813915,"thr_b":0.0373186022,"thr_b_norm":0.0373186022,"thr_b_v":0.649274409,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.371054,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-2.11091113,"cg_iw_a":-0.378245115,"cg_theta_rad":0.557747304,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0574943833,"mpcc_du":49.5305672,"mpcc_dv":49.8020706,"mpcc_dw":50.4694328,"mpcc_enc_sign":1,"mpcc_id_a":2.70957518,"mpcc_iq_a":-0.619025826,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.25030518,"mpcc_pred_id_a":0.0278823283,"mpcc_pred_iq_a":-4.98168135,"mpcc_state":1,"mpcc_theta_e":0.453934193,"mpcc_theta_mech":0.557732761,"sam_rpm":13.4690247,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0230178535,"thr_a_norm":0.0230178535,"thr_a_v":0.592071414,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493476748,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.381399,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.806133032,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.556321084,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.00641214522,"mpcc_du":49.7963486,"mpcc_dv":49.5592155,"mpcc_dw":50.4407845,"mpcc_enc_sign":1,"mpcc_id_a":2.16180372,"mpcc_iq_a":-1.08088803,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.65768623,"mpcc_pred_id_a":0.0831033513,"mpcc_pred_iq_a":-4.57086754,"mpcc_state":1,"mpcc_theta_e":0.448007584,"mpcc_theta_mech":0.556547403,"sam_rpm":2.25054932,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0239242315,"thr_a_norm":0.0230178535,"thr_a_v":0.595696926,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478974611,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.391439,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.02359605,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.554698229,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.00320518692,"mpcc_du":50.4459801,"mpcc_dv":48.3239517,"mpcc_dw":51.6760483,"mpcc_enc_sign":1,"mpcc_id_a":1.10696697,"mpcc_iq_a":0.0999430194,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.8681221,"mpcc_pred_id_a":-0.0242266133,"mpcc_pred_iq_a":-0.490685999,"mpcc_state":1,"mpcc_theta_e":0.42566824,"mpcc_theta_mech":0.552079558,"sam_rpm":-23.7295113,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0239242315,"thr_a_norm":0.0239242315,"thr_a_v":0.595696926,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478974611,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.401663,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.226231575,"cg_iw_a":-0.450732708,"cg_theta_rad":0.552929342,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.00952383131,"mpcc_du":50.3303909,"mpcc_dv":48.3797684,"mpcc_dw":51.6202316,"mpcc_enc_sign":1,"mpcc_id_a":1.94775176,"mpcc_iq_a":-0.328371555,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.068573,"mpcc_pred_id_a":0.245836481,"mpcc_pred_iq_a":-0.615184844,"mpcc_state":1,"mpcc_theta_e":0.426221848,"mpcc_theta_mech":0.552190244,"sam_rpm":-22.2780514,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480585933,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.411489,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.951108456,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556311846,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0467451364,"mpcc_du":49.9979134,"mpcc_dv":49.035923,"mpcc_dw":50.964077,"mpcc_enc_sign":1,"mpcc_id_a":0.727702558,"mpcc_iq_a":0.12003167,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.87118411,"mpcc_pred_id_a":-0.168520451,"mpcc_pred_iq_a":-2.53981423,"mpcc_state":1,"mpcc_theta_e":0.446626663,"mpcc_theta_mech":0.556271255,"sam_rpm":8.3159132,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480585933,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.436056,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-2.11091113,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556571245,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.01077013,"mpcc_du":50.2186661,"mpcc_dv":49.0224113,"mpcc_dw":50.9775887,"mpcc_enc_sign":1,"mpcc_id_a":-0.0571292639,"mpcc_iq_a":-1.68529987,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.41350436,"mpcc_pred_id_a":-0.724622011,"mpcc_pred_iq_a":-2.25939655,"mpcc_state":1,"mpcc_theta_e":0.446992874,"mpcc_theta_mech":0.55634445,"sam_rpm":5.75696945,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105700389,"thr_a_norm":0.105700389,"thr_a_v":0.922801554,"thr_b":0.0513172299,"thr_b_norm":0.0513172299,"thr_b_v":0.705268919,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.442587,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.24105906,"cg_iw_a":2.37628651,"cg_theta_rad":0.55671221,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0209632181,"mpcc_du":49.36726,"mpcc_dv":50.63274,"mpcc_dw":49.7374344,"mpcc_enc_sign":1,"mpcc_id_a":-2.06358886,"mpcc_iq_a":-0.681675971,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.12337804,"mpcc_pred_id_a":-1.16952515,"mpcc_pred_iq_a":-7.09430218,"mpcc_state":1,"mpcc_theta_e":0.444355488,"mpcc_theta_mech":0.555817008,"sam_rpm":4.73135757,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021670863,"thr_a_norm":0.021670863,"thr_a_v":0.586683452,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.449087,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-0.951108456,"cg_iw_a":0.78155756,"cg_theta_rad":0.556259334,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0210638549,"mpcc_du":50.1720734,"mpcc_dv":48.662735,"mpcc_dw":51.337265,"mpcc_enc_sign":1,"mpcc_id_a":0.66532588,"mpcc_iq_a":-2.30489707,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.80005288,"mpcc_pred_id_a":0.347354621,"mpcc_pred_iq_a":-1.81998479,"mpcc_state":1,"mpcc_theta_e":0.451812744,"mpcc_theta_mech":0.557308495,"sam_rpm":3.42596865,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021670863,"thr_a_norm":0.021670863,"thr_a_v":0.586683452,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.455618,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.806133032,"cg_iw_a":0.636582136,"cg_theta_rad":0.553649008,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.029989725,"mpcc_du":50.1848755,"mpcc_dv":48.5815773,"mpcc_dw":51.4184227,"mpcc_enc_sign":1,"mpcc_id_a":3.04814577,"mpcc_iq_a":-1.07407868,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.06838512,"mpcc_pred_id_a":0.414844632,"mpcc_pred_iq_a":-0.122439131,"mpcc_state":1,"mpcc_theta_e":0.443831921,"mpcc_theta_mech":0.555712342,"sam_rpm":3.18642044,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209784806,"thr_a_norm":0.0209784806,"thr_a_v":0.583913922,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.465231,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.02359605,"cg_iw_a":0.0566809177,"cg_theta_rad":0.553508759,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0021283105,"mpcc_du":50.4481812,"mpcc_dv":48.2981071,"mpcc_dw":51.7018929,"mpcc_enc_sign":1,"mpcc_id_a":0.898172617,"mpcc_iq_a":-0.360997111,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.6107912,"mpcc_pred_id_a":0.190178424,"mpcc_pred_iq_a":0.22997947,"mpcc_state":1,"mpcc_theta_e":0.42961359,"mpcc_theta_mech":0.553962767,"sam_rpm":-16.8496265,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0393202156,"thr_a_norm":0.0209784806,"thr_a_v":0.657280862,"thr_b":0.0117887408,"thr_b_norm":0,"thr_b_v":0.547154963,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.475058,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.443694592,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.555481911,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.099691458,"mpcc_du":50.7781296,"mpcc_dv":47.720726,"mpcc_dw":52.279274,"mpcc_enc_sign":1,"mpcc_id_a":3.79699707,"mpcc_iq_a":1.93860936,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.1951571,"mpcc_pred_id_a":0.663618326,"mpcc_pred_iq_a":-0.139871523,"mpcc_state":1,"mpcc_theta_e":0.432705402,"mpcc_theta_mech":0.553487003,"sam_rpm":-17.1712513,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0393202156,"thr_a_norm":0.0393202156,"thr_a_v":0.657280862,"thr_b":0.0117887408,"thr_b_norm":0.0117887408,"thr_b_v":0.547154963,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.485281,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.96593571,"cg_iw_a":0.564094543,"cg_theta_rad":0.556399107,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0809988678,"mpcc_du":50.4334412,"mpcc_dv":48.2174072,"mpcc_dw":51.7825928,"mpcc_enc_sign":1,"mpcc_id_a":3.00319362,"mpcc_iq_a":0.0188792851,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.93581629,"mpcc_pred_id_a":0.493227631,"mpcc_pred_iq_a":-2.20790672,"mpcc_state":1,"mpcc_theta_e":0.441912174,"mpcc_theta_mech":0.555328369,"sam_rpm":-5.80519295,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0175921172,"thr_a_norm":0.0175921172,"thr_a_v":0.570368469,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463012129,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.497458,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-3.05325079,"cg_iw_a":2.01384783,"cg_theta_rad":0.557189465,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0172962397,"mpcc_du":49.564003,"mpcc_dv":49.451786,"mpcc_dw":50.548214,"mpcc_enc_sign":1,"mpcc_id_a":2.23372102,"mpcc_iq_a":-1.27067363,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.75609887,"mpcc_pred_id_a":0.165684983,"mpcc_pred_iq_a":-1.93927264,"mpcc_state":1,"mpcc_theta_e":0.43727684,"mpcc_theta_mech":0.554401278,"sam_rpm":-4.64127731,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204623491,"thr_a_norm":0.0175921172,"thr_a_v":0.581849396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454351097,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.507437,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.371207237,"cg_iw_a":-0.595707893,"cg_theta_rad":0.551708817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0345436484,"mpcc_du":49.5847397,"mpcc_dv":49.0243149,"mpcc_dw":50.9756851,"mpcc_enc_sign":1,"mpcc_id_a":3.54658151,"mpcc_iq_a":1.02807486,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.33954787,"mpcc_pred_id_a":1.19731009,"mpcc_pred_iq_a":-0.54732281,"mpcc_state":1,"mpcc_theta_e":0.436622143,"mpcc_theta_mech":0.554270327,"sam_rpm":-3.88169026,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204623491,"thr_a_norm":0.0204623491,"thr_a_v":0.581849396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454351097,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.517477,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.878620625,"cg_iw_a":-0.160782337,"cg_theta_rad":0.551795959,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0215583369,"mpcc_du":50.3420143,"mpcc_dv":48.4089127,"mpcc_dw":51.5910873,"mpcc_enc_sign":1,"mpcc_id_a":1.4426012,"mpcc_iq_a":-0.907283604,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.6734786,"mpcc_pred_id_a":0.29584083,"mpcc_pred_iq_a":-1.35096431,"mpcc_state":1,"mpcc_theta_e":0.440718174,"mpcc_theta_mech":0.555089593,"sam_rpm":-4.56874228,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0995696783,"thr_a_norm":0.0995696783,"thr_a_v":0.898278713,"thr_b":0.0460425615,"thr_b_norm":0.0460425615,"thr_b_v":0.684170246,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.540548,"values":{"cg_iu_a":1.54681635,"cg_iv_a":1.00605869,"cg_iw_a":-2.55287504,"cg_theta_rad":0.557991505,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0114992354,"mpcc_du":50.2643509,"mpcc_dv":48.4902382,"mpcc_dw":51.5097618,"mpcc_enc_sign":1,"mpcc_id_a":1.83628404,"mpcc_iq_a":-0.581742644,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.2513423,"mpcc_pred_id_a":0.394743562,"mpcc_pred_iq_a":-0.00518590072,"mpcc_state":1,"mpcc_theta_e":0.43966198,"mpcc_theta_mech":0.554878354,"sam_rpm":-5.29105473,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0995696783,"thr_a_norm":0.0995696783,"thr_a_v":0.898278713,"thr_b":0.0460425615,"thr_b_norm":0.0460425615,"thr_b_v":0.684170246,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.54711,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-2.0384233,"cg_iw_a":0.564094305,"cg_theta_rad":0.556658268,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.00283860974,"mpcc_du":50.2466125,"mpcc_dv":48.9677162,"mpcc_dw":51.0322838,"mpcc_enc_sign":1,"mpcc_id_a":0.453591019,"mpcc_iq_a":-1.79169726,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.86875916,"mpcc_pred_id_a":-0.352101743,"mpcc_pred_iq_a":-2.74042368,"mpcc_state":1,"mpcc_theta_e":0.447613239,"mpcc_theta_mech":0.556468546,"sam_rpm":-2.27574205,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285065323,"thr_a_norm":0.0285065323,"thr_a_v":0.614026129,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4983612,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.553579,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.74847269,"cg_iw_a":0.274143696,"cg_theta_rad":0.556631684,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0239082426,"mpcc_du":50.5505562,"mpcc_dv":48.3874359,"mpcc_dw":51.6125641,"mpcc_enc_sign":1,"mpcc_id_a":1.50097489,"mpcc_iq_a":0.916237712,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.260861039,"mpcc_pred_id_a":-0.107578225,"mpcc_pred_iq_a":-4.05160856,"mpcc_state":1,"mpcc_theta_e":0.440567017,"mpcc_theta_mech":0.555059314,"sam_rpm":-10.1358795,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285065323,"thr_a_norm":0.0285065323,"thr_a_v":0.614026129,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4983612,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.560446,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.38603449,"cg_iw_a":-0.595707893,"cg_theta_rad":0.55348748,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.00750747556,"mpcc_du":49.6729927,"mpcc_dv":49.4620399,"mpcc_dw":50.5379601,"mpcc_enc_sign":1,"mpcc_id_a":1.61320913,"mpcc_iq_a":-0.886582911,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.84511161,"mpcc_pred_id_a":-0.210026667,"mpcc_pred_iq_a":-3.50747919,"mpcc_state":1,"mpcc_theta_e":0.436471939,"mpcc_theta_mech":0.554240346,"sam_rpm":-4.64330006,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205882341,"thr_a_norm":0.0205882341,"thr_a_v":0.582352936,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461249709,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.570669,"values":{"cg_iu_a":5.24368763,"cg_iv_a":-0.516182423,"cg_iw_a":-4.72750521,"cg_theta_rad":0.557502806,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0237534102,"mpcc_du":50.1861191,"mpcc_dv":48.8368225,"mpcc_dw":51.1631775,"mpcc_enc_sign":1,"mpcc_id_a":0.364636034,"mpcc_iq_a":-1.14363706,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.702023804,"mpcc_pred_id_a":-0.289144069,"mpcc_pred_iq_a":-2.68028188,"mpcc_state":1,"mpcc_theta_e":0.445603371,"mpcc_theta_mech":0.556066573,"sam_rpm":2.39379907,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263664424,"thr_a_norm":0.0205882341,"thr_a_v":0.60546577,"thr_b":0.000295266509,"thr_b_norm":0,"thr_b_v":0.501181066,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.581015,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.89344811,"cg_iw_a":-1.24809718,"cg_theta_rad":0.556512296,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0132220006,"mpcc_du":50.2334442,"mpcc_dv":48.5777016,"mpcc_dw":51.4222984,"mpcc_enc_sign":1,"mpcc_id_a":1.94141686,"mpcc_iq_a":-1.21447492,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.64856148,"mpcc_pred_id_a":0.166401222,"mpcc_pred_iq_a":0.4460693,"mpcc_state":1,"mpcc_theta_e":0.43251133,"mpcc_theta_mech":0.553448141,"sam_rpm":-11.6892776,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263664424,"thr_a_norm":0.0263664424,"thr_a_v":0.60546577,"thr_b":0.000295266509,"thr_b_norm":0.000295266509,"thr_b_v":0.501181066,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.590872,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.53100967,"cg_iw_a":-0.958146095,"cg_theta_rad":0.559611261,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0220123529,"mpcc_du":50.0559578,"mpcc_dv":48.5896606,"mpcc_dw":51.4103394,"mpcc_enc_sign":1,"mpcc_id_a":2.36039233,"mpcc_iq_a":-0.317988157,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.97366834,"mpcc_pred_id_a":0.740278423,"mpcc_pred_iq_a":-0.640856028,"mpcc_state":1,"mpcc_theta_e":0.439050198,"mpcc_theta_mech":0.554755986,"sam_rpm":-3.30943418,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277386159,"thr_a_norm":0.0277386159,"thr_a_v":0.610954463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492268264,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.603231,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.951108456,"cg_iw_a":-1.90048599,"cg_theta_rad":0.55316478,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.00118649716,"mpcc_du":50.1070213,"mpcc_dv":49.0413933,"mpcc_dw":50.9586067,"mpcc_enc_sign":1,"mpcc_id_a":-0.111213051,"mpcc_iq_a":-1.69389009,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.4853716,"mpcc_pred_id_a":-0.665049314,"mpcc_pred_iq_a":-3.5272367,"mpcc_state":1,"mpcc_theta_e":0.4296422,"mpcc_theta_mech":0.552874327,"sam_rpm":-19.9983101,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172018856,"thr_a_norm":0.0277386159,"thr_a_v":0.568807542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.433655322,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.612997,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.661157608,"cg_iw_a":-0.378245354,"cg_theta_rad":0.55144161,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0567352325,"mpcc_du":50.017334,"mpcc_dv":48.5230751,"mpcc_dw":51.4769249,"mpcc_enc_sign":1,"mpcc_id_a":4.63869238,"mpcc_iq_a":-0.699105799,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.0207691,"mpcc_pred_id_a":0.850915432,"mpcc_pred_iq_a":-1.86120617,"mpcc_state":1,"mpcc_theta_e":0.42142868,"mpcc_theta_mech":0.551231623,"sam_rpm":-30.0194397,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172018856,"thr_a_norm":0.0172018856,"thr_a_v":0.568807542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.433655322,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.636435,"values":{"cg_iu_a":4.01139736,"cg_iv_a":-1.02359605,"cg_iw_a":-2.98780131,"cg_theta_rad":0.555593967,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0547368154,"mpcc_du":50.2348518,"mpcc_dv":48.8361206,"mpcc_dw":51.1638794,"mpcc_enc_sign":1,"mpcc_id_a":0.724416554,"mpcc_iq_a":-0.390171468,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.19675751,"mpcc_pred_id_a":-0.407085329,"mpcc_pred_iq_a":-3.5029273,"mpcc_state":1,"mpcc_theta_e":0.448108673,"mpcc_theta_mech":0.556567669,"sam_rpm":1.86426365,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023533985,"thr_a_norm":0.023533985,"thr_a_v":0.59413594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.642996,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.951108456,"cg_iw_a":-0.885658741,"cg_theta_rad":0.555176437,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0235817861,"mpcc_du":49.5925598,"mpcc_dv":49.4155998,"mpcc_dw":50.5844002,"mpcc_enc_sign":1,"mpcc_id_a":2.25244141,"mpcc_iq_a":-1.22608542,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.84262943,"mpcc_pred_id_a":0.135455385,"mpcc_pred_iq_a":-2.60083151,"mpcc_state":1,"mpcc_theta_e":0.451093674,"mpcc_theta_mech":0.557164609,"sam_rpm":13.1959724,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023533985,"thr_a_norm":0.023533985,"thr_a_v":0.59413594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.649466,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.298719406,"cg_iw_a":-1.03063393,"cg_theta_rad":0.557039857,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.00931329839,"mpcc_du":49.5984879,"mpcc_dv":49.3227463,"mpcc_dw":50.6772537,"mpcc_enc_sign":1,"mpcc_id_a":1.59040344,"mpcc_iq_a":-1.26732993,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.96509552,"mpcc_pred_id_a":0.338688403,"mpcc_pred_iq_a":-2.23947906,"mpcc_state":1,"mpcc_theta_e":0.446518421,"mpcc_theta_mech":0.556249559,"sam_rpm":7.00766087,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270588249,"thr_a_norm":0.0270588249,"thr_a_v":0.6082353,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494584531,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.656057,"values":{"cg_iu_a":1.47432899,"cg_iv_a":0.426157475,"cg_iw_a":-0.813171148,"cg_theta_rad":0.555149913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0415235274,"mpcc_du":49.4067116,"mpcc_dv":50.5932884,"mpcc_dw":50.2023468,"mpcc_enc_sign":1,"mpcc_id_a":2.38220978,"mpcc_iq_a":-0.129613817,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.9541903,"mpcc_pred_id_a":-0.0711742863,"mpcc_pred_iq_a":-5.45564508,"mpcc_state":1,"mpcc_theta_e":0.452414036,"mpcc_theta_mech":0.557428718,"sam_rpm":16.2170544,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272350609,"thr_a_norm":0.0270588249,"thr_a_v":0.608940244,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492217898,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.66387,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-1.89344811,"cg_iw_a":0.999020815,"cg_theta_rad":0.555432141,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0345111713,"mpcc_du":49.6309013,"mpcc_dv":49.2982674,"mpcc_dw":50.7017326,"mpcc_enc_sign":1,"mpcc_id_a":1.79970264,"mpcc_iq_a":-0.149772435,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.92705584,"mpcc_pred_id_a":0.209322616,"mpcc_pred_iq_a":-5.4131074,"mpcc_state":1,"mpcc_theta_e":0.440453529,"mpcc_theta_mech":0.555036604,"sam_rpm":-7.21456575,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272350609,"thr_a_norm":0.0272350609,"thr_a_v":0.608940244,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492217898,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.67391,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.298719406,"cg_iw_a":-0.16078186,"cg_theta_rad":0.556856751,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0288157314,"mpcc_du":50.1318245,"mpcc_dv":48.537323,"mpcc_dw":51.462677,"mpcc_enc_sign":1,"mpcc_id_a":3.37744641,"mpcc_iq_a":0.535286248,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.2247543,"mpcc_pred_id_a":0.627081037,"mpcc_pred_iq_a":-0.00525017967,"mpcc_state":1,"mpcc_theta_e":0.427484512,"mpcc_theta_mech":0.552442849,"sam_rpm":-16.7020435,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200595111,"thr_a_norm":0.0200595111,"thr_a_v":0.580238044,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455005705,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.683859,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.31354666,"cg_iw_a":1.21648359,"cg_theta_rad":0.555576086,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0498680621,"mpcc_du":49.6110039,"mpcc_dv":49.5181885,"mpcc_dw":50.4818115,"mpcc_enc_sign":1,"mpcc_id_a":0.688382149,"mpcc_iq_a":1.20588589,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.42750502,"mpcc_pred_id_a":-0.105506986,"mpcc_pred_iq_a":-3.27456045,"mpcc_state":1,"mpcc_theta_e":0.448750973,"mpcc_theta_mech":0.556696117,"sam_rpm":10.2222672,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200595111,"thr_a_norm":0.0200595111,"thr_a_v":0.580238044,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455005705,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.694021,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.09608364,"cg_iw_a":0.274143696,"cg_theta_rad":0.55778116,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0354787484,"mpcc_du":49.5145111,"mpcc_dv":49.8288231,"mpcc_dw":50.4854889,"mpcc_enc_sign":1,"mpcc_id_a":2.55022788,"mpcc_iq_a":-1.10791433,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.61756074,"mpcc_pred_id_a":0.271561444,"mpcc_pred_iq_a":-2.23376822,"mpcc_state":1,"mpcc_theta_e":0.441406727,"mpcc_theta_mech":0.55522728,"sam_rpm":12.7009058,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201602131,"thr_a_norm":0.0201602131,"thr_a_v":0.580640852,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453998625,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.704275,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.588670254,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.55573523,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0237389933,"mpcc_du":49.7010651,"mpcc_dv":48.7500496,"mpcc_dw":51.2499504,"mpcc_enc_sign":1,"mpcc_id_a":-1.04888701,"mpcc_iq_a":-1.25875485,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.61015415,"mpcc_pred_id_a":-0.829674363,"mpcc_pred_iq_a":-5.23870468,"mpcc_state":1,"mpcc_theta_e":0.441562653,"mpcc_theta_mech":0.555258453,"sam_rpm":15.131011,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022098884,"thr_a_norm":0.0201602131,"thr_a_v":0.588395536,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.714224,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.16857147,"cg_iw_a":-0.378244877,"cg_theta_rad":0.556178391,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.037319418,"mpcc_du":49.5366478,"mpcc_dv":49.7057877,"mpcc_dw":50.4633522,"mpcc_enc_sign":1,"mpcc_id_a":1.9654758,"mpcc_iq_a":-2.32948279,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.2804898,"mpcc_pred_id_a":0.0730416626,"mpcc_pred_iq_a":-5.47725916,"mpcc_state":1,"mpcc_theta_e":0.446836472,"mpcc_theta_mech":0.556313217,"sam_rpm":10.1378708,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022098884,"thr_a_norm":0.022098884,"thr_a_v":0.588395536,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.737661,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.661157608,"cg_iw_a":-0.160782337,"cg_theta_rad":0.553904593,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.00572814513,"mpcc_du":49.606987,"mpcc_dv":49.9442902,"mpcc_dw":50.393013,"mpcc_enc_sign":1,"mpcc_id_a":0.607774079,"mpcc_iq_a":-0.467941254,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.189511672,"mpcc_pred_id_a":-0.368089765,"mpcc_pred_iq_a":-4.37128305,"mpcc_state":1,"mpcc_theta_e":0.441542625,"mpcc_theta_mech":0.555254459,"sam_rpm":0.125881091,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184103847,"thr_a_norm":0.0184103847,"thr_a_v":0.573641539,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452437609,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.744192,"values":{"cg_iu_a":4.01139736,"cg_iv_a":-1.82096052,"cg_iw_a":0.346631527,"cg_theta_rad":0.553206801,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.00699954526,"mpcc_du":49.9035912,"mpcc_dv":50.2144356,"mpcc_dw":50.415554,"mpcc_enc_sign":1,"mpcc_id_a":1.60331523,"mpcc_iq_a":-0.73625952,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.01384735,"mpcc_pred_id_a":-0.146125913,"mpcc_pred_iq_a":-3.12167668,"mpcc_state":1,"mpcc_theta_e":0.432790279,"mpcc_theta_mech":0.553503931,"sam_rpm":-14.0097666,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184103847,"thr_a_norm":0.0184103847,"thr_a_v":0.573641539,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452437609,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.750723,"values":{"cg_iu_a":2.12671757,"cg_iv_a":0.498644829,"cg_iw_a":-2.6253624,"cg_theta_rad":0.556790173,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.013746025,"mpcc_du":49.5332298,"mpcc_dv":50.3739586,"mpcc_dw":50.4667702,"mpcc_enc_sign":1,"mpcc_id_a":1.7261517,"mpcc_iq_a":0.720224261,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0617172085,"mpcc_pred_id_a":0.107256934,"mpcc_pred_iq_a":-2.64568138,"mpcc_state":1,"mpcc_theta_e":0.438629627,"mpcc_theta_mech":0.552880108,"sam_rpm":17.5340214,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.102716863,"thr_a_norm":0.102716863,"thr_a_v":0.910867453,"thr_b":0.0449599475,"thr_b_norm":0.0449599475,"thr_b_v":0.67983979,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.757223,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.661157608,"cg_iw_a":-1.61053562,"cg_theta_rad":0.553815722,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0342711955,"mpcc_du":50.1955757,"mpcc_dv":49.0115433,"mpcc_dw":50.9884567,"mpcc_enc_sign":1,"mpcc_id_a":0.785730302,"mpcc_iq_a":-0.0970414802,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.94345045,"mpcc_pred_id_a":-0.714904606,"mpcc_pred_iq_a":-1.20383334,"mpcc_state":1,"mpcc_theta_e":0.451044559,"mpcc_theta_mech":0.557154834,"sam_rpm":12.4577837,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177683681,"thr_a_norm":0.102716863,"thr_a_v":0.571073472,"thr_b":0,"thr_b_norm":0.0449599475,"thr_b_v":0.446344733,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.765005,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.31354666,"cg_iw_a":-1.75551081,"cg_theta_rad":0.557030439,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0521002263,"mpcc_du":50.6512642,"mpcc_dv":48.0117111,"mpcc_dw":51.9882889,"mpcc_enc_sign":1,"mpcc_id_a":3.08657646,"mpcc_iq_a":0.0300374404,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.8992908,"mpcc_pred_id_a":0.391076952,"mpcc_pred_iq_a":0.348574996,"mpcc_state":1,"mpcc_theta_e":0.440509796,"mpcc_theta_mech":0.55504787,"sam_rpm":-5.28245974,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177683681,"thr_a_norm":0.0177683681,"thr_a_v":0.571073472,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446344733,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.776419,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.661157608,"cg_iw_a":-2.04546165,"cg_theta_rad":0.552114844,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0162771437,"mpcc_du":48.5686531,"mpcc_dv":51.4313469,"mpcc_dw":49.194088,"mpcc_enc_sign":1,"mpcc_id_a":2.46136022,"mpcc_iq_a":-1.12676609,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.0578938,"mpcc_pred_id_a":-0.0990607813,"mpcc_pred_iq_a":-5.99341488,"mpcc_state":1,"mpcc_theta_e":0.446268559,"mpcc_theta_mech":0.55619961,"sam_rpm":16.6944046,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204749405,"thr_a_norm":0.0204749405,"thr_a_v":0.581899762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457422733,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.787436,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.53100967,"cg_iw_a":0.564094543,"cg_theta_rad":0.555425286,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0417214856,"mpcc_du":49.7066154,"mpcc_dv":49.2108917,"mpcc_dw":50.7891083,"mpcc_enc_sign":1,"mpcc_id_a":2.57686305,"mpcc_iq_a":-0.566566586,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.4290943,"mpcc_pred_id_a":0.29168582,"mpcc_pred_iq_a":-1.74773872,"mpcc_state":1,"mpcc_theta_e":0.458244801,"mpcc_theta_mech":0.558594882,"sam_rpm":16.9049988,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205882341,"thr_a_norm":0.0204749405,"thr_a_v":0.582352936,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462005019,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.797384,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.661157608,"cg_iw_a":0.636582613,"cg_theta_rad":0.557751656,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.00134851446,"mpcc_du":50.6197929,"mpcc_dv":48.1429062,"mpcc_dw":51.8570938,"mpcc_enc_sign":1,"mpcc_id_a":0.711841464,"mpcc_iq_a":-0.595240533,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.9757948,"mpcc_pred_id_a":-0.0426794663,"mpcc_pred_iq_a":0.439054638,"mpcc_state":1,"mpcc_theta_e":0.426944733,"mpcc_theta_mech":0.552334845,"sam_rpm":-21.7807178,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205882341,"thr_a_norm":0.0205882341,"thr_a_v":0.582352936,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462005019,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.807608,"values":{"cg_iu_a":3.8664217,"cg_iv_a":-1.6759851,"cg_iw_a":-2.1904366,"cg_theta_rad":0.556279659,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.034894295,"mpcc_du":50.4957466,"mpcc_dv":48.2112274,"mpcc_dw":51.7887726,"mpcc_enc_sign":1,"mpcc_id_a":2.44419599,"mpcc_iq_a":-0.307747662,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.14487982,"mpcc_pred_id_a":0.236066207,"mpcc_pred_iq_a":-0.787041008,"mpcc_state":1,"mpcc_theta_e":0.437752247,"mpcc_theta_mech":0.554496348,"sam_rpm":-8.90893269,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190524161,"thr_a_norm":0.0190524161,"thr_a_v":0.576209664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467695117,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.817434,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.38603449,"cg_iw_a":-1.39307213,"cg_theta_rad":0.557548642,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0542889461,"mpcc_du":50.9123268,"mpcc_dv":47.5549545,"mpcc_dw":52.4450455,"mpcc_enc_sign":1,"mpcc_id_a":3.39304423,"mpcc_iq_a":0.376074106,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.8276749,"mpcc_pred_id_a":0.571611762,"mpcc_pred_iq_a":1.01222086,"mpcc_state":1,"mpcc_theta_e":0.431878567,"mpcc_theta_mech":0.55332166,"sam_rpm":-16.6212196,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190524161,"thr_a_norm":0.0190524161,"thr_a_v":0.576209664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467695117,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.840811,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.806133032,"cg_iw_a":-2.62536263,"cg_theta_rad":0.557094574,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.00427648006,"mpcc_du":51.0584679,"mpcc_dv":47.5577087,"mpcc_dw":52.4422913,"mpcc_enc_sign":1,"mpcc_id_a":1.22683382,"mpcc_iq_a":-3.46224475,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.672574,"mpcc_pred_id_a":0.0649201572,"mpcc_pred_iq_a":-0.106266111,"mpcc_state":1,"mpcc_theta_e":0.431209087,"mpcc_theta_mech":0.553187728,"sam_rpm":-22.7750969,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0321572423,"thr_a_norm":0.0321572423,"thr_a_v":0.628628969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478370309,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.847372,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.226231575,"cg_iw_a":-4.51004219,"cg_theta_rad":0.553535044,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0349967256,"mpcc_du":50.699131,"mpcc_dv":47.7452888,"mpcc_dw":50.4612465,"mpcc_enc_sign":1,"mpcc_id_a":3.42400098,"mpcc_iq_a":-0.425009549,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.197506,"mpcc_pred_id_a":0.724208772,"mpcc_pred_iq_a":1.02375388,"mpcc_state":1,"mpcc_theta_e":0.432824135,"mpcc_theta_mech":0.558638334,"sam_rpm":-16.3659096,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022174418,"thr_a_norm":0.0321572423,"thr_a_v":0.588697672,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.853872,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.53100967,"cg_iw_a":0.709069729,"cg_theta_rad":0.556231022,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.00818138756,"mpcc_du":49.4017639,"mpcc_dv":50.5982361,"mpcc_dw":50.2440186,"mpcc_enc_sign":1,"mpcc_id_a":0.893110096,"mpcc_iq_a":-0.37334618,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.57451439,"mpcc_pred_id_a":-0.0487861857,"mpcc_pred_iq_a":-5.59278774,"mpcc_state":1,"mpcc_theta_e":0.443401337,"mpcc_theta_mech":0.555626154,"sam_rpm":4.71302032,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022174418,"thr_a_norm":0.022174418,"thr_a_v":0.588697672,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.860403,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.02359605,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.559854507,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.00988942012,"mpcc_du":49.8373413,"mpcc_dv":49.0619507,"mpcc_dw":50.9380493,"mpcc_enc_sign":1,"mpcc_id_a":1.8601799,"mpcc_iq_a":-1.38149416,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.21757841,"mpcc_pred_id_a":0.227658391,"mpcc_pred_iq_a":-2.21852207,"mpcc_state":1,"mpcc_theta_e":0.44056797,"mpcc_theta_mech":0.555059552,"sam_rpm":-1.99013829,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245788544,"thr_a_norm":0.0245788544,"thr_a_v":0.598315418,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486024261,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.868612,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.226231575,"cg_iw_a":-2.98780107,"cg_theta_rad":0.552374542,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.00800532475,"mpcc_du":49.5067101,"mpcc_dv":49.5853539,"mpcc_dw":50.4932899,"mpcc_enc_sign":1,"mpcc_id_a":0.970211744,"mpcc_iq_a":-1.38785601,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.05211306,"mpcc_pred_id_a":0.139060676,"mpcc_pred_iq_a":-3.85106301,"mpcc_state":1,"mpcc_theta_e":0.446429253,"mpcc_theta_mech":0.556231737,"sam_rpm":6.03617334,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245788544,"thr_a_norm":0.0245788544,"thr_a_v":0.598315418,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486024261,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.879019,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.588670254,"cg_iw_a":0.636582136,"cg_theta_rad":0.554839134,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.00177252467,"mpcc_du":49.6753883,"mpcc_dv":50.3038368,"mpcc_dw":50.3246117,"mpcc_enc_sign":1,"mpcc_id_a":0.0298218075,"mpcc_iq_a":-1.83568215,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.970788,"mpcc_pred_id_a":-0.665106714,"mpcc_pred_iq_a":-3.82312226,"mpcc_state":1,"mpcc_theta_e":0.446669102,"mpcc_theta_mech":0.556279778,"sam_rpm":15.233922,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0310620219,"thr_a_norm":0.0310620219,"thr_a_v":0.624248087,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.889151,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-2.32837415,"cg_iw_a":0.854045153,"cg_theta_rad":0.555752039,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0525286496,"mpcc_du":50.6737518,"mpcc_dv":47.9778862,"mpcc_dw":52.0221138,"mpcc_enc_sign":1,"mpcc_id_a":2.49780774,"mpcc_iq_a":0.512840986,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.6405888,"mpcc_pred_id_a":0.236173153,"mpcc_pred_iq_a":-1.34842408,"mpcc_state":1,"mpcc_theta_e":0.431592464,"mpcc_theta_mech":0.55326438,"sam_rpm":-17.5252857,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218596905,"thr_a_norm":0.0310620219,"thr_a_v":0.587438762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.899069,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.951108456,"cg_iw_a":-0.450732708,"cg_theta_rad":0.554691911,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.39063,"hz_adc_isr":5015,"hz_app_loop":366,"hz_tim_isr":10029,"hz_vsense":366,"mpcc_cost":0.0238424856,"mpcc_du":50.9234886,"mpcc_dv":47.5530167,"mpcc_dw":52.4469833,"mpcc_enc_sign":1,"mpcc_id_a":1.83636653,"mpcc_iq_a":-0.0435337685,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.1905289,"mpcc_pred_id_a":0.363155067,"mpcc_pred_iq_a":-0.932001412,"mpcc_state":1,"mpcc_theta_e":0.423826694,"mpcc_theta_mech":0.551711261,"sam_rpm":-30.9607677,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218596905,"thr_a_norm":0.0218596905,"thr_a_v":0.587438762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.909964,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.74847269,"cg_iw_a":-3.78516579,"cg_theta_rad":0.556287169,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.00338695711,"mpcc_du":50.4668007,"mpcc_dv":48.4757767,"mpcc_dw":51.5242233,"mpcc_enc_sign":1,"mpcc_id_a":0.429291368,"mpcc_iq_a":-2.15829659,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.2069378,"mpcc_pred_id_a":-0.320245922,"mpcc_pred_iq_a":-0.974250019,"mpcc_state":1,"mpcc_theta_e":0.452287197,"mpcc_theta_mech":0.557403326,"sam_rpm":-2.67496037,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246292055,"thr_a_norm":0.0246292055,"thr_a_v":0.598516822,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488441318,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.922262,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-1.38603449,"cg_iw_a":-1.97297382,"cg_theta_rad":0.553668082,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0568979755,"mpcc_du":50.7898293,"mpcc_dv":47.8616867,"mpcc_dw":52.1383133,"mpcc_enc_sign":1,"mpcc_id_a":2.62153196,"mpcc_iq_a":0.0738738701,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.27712536,"mpcc_pred_id_a":0.188610464,"mpcc_pred_iq_a":-0.554945886,"mpcc_state":1,"mpcc_theta_e":0.436769485,"mpcc_theta_mech":0.554299772,"sam_rpm":-11.1784544,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0246292055,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44438085,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.945303,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-2.18339872,"cg_iw_a":1.86887264,"cg_theta_rad":0.552767694,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0034661903,"mpcc_du":50.3564377,"mpcc_dv":48.4724388,"mpcc_dw":51.5275612,"mpcc_enc_sign":1,"mpcc_id_a":1.11489189,"mpcc_iq_a":-0.927901268,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.67245674,"mpcc_pred_id_a":-0.0127271926,"mpcc_pred_iq_a":-0.261440963,"mpcc_state":1,"mpcc_theta_e":0.434333324,"mpcc_theta_mech":0.553812623,"sam_rpm":-10.5905714,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44438085,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.951773,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.60349751,"cg_iw_a":-3.06028843,"cg_theta_rad":0.556061566,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.00681212358,"mpcc_du":49.5113106,"mpcc_dv":50.4886894,"mpcc_dw":50.3801842,"mpcc_enc_sign":1,"mpcc_id_a":1.64513958,"mpcc_iq_a":-3.60521722,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.8626518,"mpcc_pred_id_a":0.00354738487,"mpcc_pred_iq_a":-3.09612107,"mpcc_state":1,"mpcc_theta_e":0.457761765,"mpcc_theta_mech":0.558498263,"sam_rpm":28.3081017,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185236931,"thr_a_norm":0.0185236931,"thr_a_v":0.574094772,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.958303,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.443694592,"cg_iw_a":-0.59570837,"cg_theta_rad":0.556394219,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.02356961,"mpcc_du":49.489502,"mpcc_dv":49.1911316,"mpcc_dw":50.8088684,"mpcc_enc_sign":1,"mpcc_id_a":2.69363546,"mpcc_iq_a":-0.803945303,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0652378574,"mpcc_pred_id_a":0.20869948,"mpcc_pred_iq_a":-4.36329603,"mpcc_state":1,"mpcc_theta_e":0.440941334,"mpcc_theta_mech":0.555134177,"sam_rpm":-0.318540215,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185236931,"thr_a_norm":0.0185236931,"thr_a_v":0.574094772,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.964804,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.31354666,"cg_iw_a":-0.160782337,"cg_theta_rad":0.556170702,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0447226316,"mpcc_du":50.6418839,"mpcc_dv":48.0607643,"mpcc_dw":51.9392357,"mpcc_enc_sign":1,"mpcc_id_a":1.66768897,"mpcc_iq_a":0.930322587,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.80492306,"mpcc_pred_id_a":0.205255091,"mpcc_pred_iq_a":0.756034076,"mpcc_state":1,"mpcc_theta_e":0.440446377,"mpcc_theta_mech":0.555035233,"sam_rpm":-3.56706142,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198958516,"thr_a_norm":0.0198958516,"thr_a_v":0.579583406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479327083,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.972982,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.74847269,"cg_iw_a":-0.305757523,"cg_theta_rad":0.552349925,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0183300432,"mpcc_du":49.9075775,"mpcc_dv":48.8821793,"mpcc_dw":51.1178207,"mpcc_enc_sign":1,"mpcc_id_a":2.4798584,"mpcc_iq_a":-0.22999683,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.65387201,"mpcc_pred_id_a":0.471218139,"mpcc_pred_iq_a":-1.57226729,"mpcc_state":1,"mpcc_theta_e":0.43696928,"mpcc_theta_mech":0.556409359,"sam_rpm":-7.32431746,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0191783011,"thr_a_norm":0.0198958516,"thr_a_v":0.576713204,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467896521,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.984976,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-2.83578777,"cg_iw_a":1.07150841,"cg_theta_rad":0.554596484,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0549228489,"mpcc_du":49.5825882,"mpcc_dv":49.5917053,"mpcc_dw":50.4174118,"mpcc_enc_sign":1,"mpcc_id_a":2.17864156,"mpcc_iq_a":-0.216802269,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.66388416,"mpcc_pred_id_a":-0.158329129,"mpcc_pred_iq_a":-3.89974475,"mpcc_state":1,"mpcc_theta_e":0.452414513,"mpcc_theta_mech":0.557428837,"sam_rpm":15.1926088,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0191783011,"thr_a_norm":0.0191783011,"thr_a_v":0.576713204,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467896521,"vdc_v":55.2955055}} +{"type":"telemetry","t":13.995443,"values":{"cg_iu_a":3.79393435,"cg_iv_a":-2.25588632,"cg_iw_a":1.94136024,"cg_theta_rad":0.552004755,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.00240151747,"mpcc_du":49.8713531,"mpcc_dv":49.1651154,"mpcc_dw":50.8348846,"mpcc_enc_sign":1,"mpcc_id_a":3.44058919,"mpcc_iq_a":-1.24519181,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.03098059,"mpcc_pred_id_a":-0.143719509,"mpcc_pred_iq_a":-2.089288,"mpcc_state":1,"mpcc_theta_e":0.429412842,"mpcc_theta_mech":0.552828491,"sam_rpm":-12.137722,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285820514,"thr_a_norm":0.0285820514,"thr_a_v":0.614328206,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499519348,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.005636,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.60349751,"cg_iw_a":1.28897142,"cg_theta_rad":0.55487448,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.00354225445,"mpcc_du":50.556282,"mpcc_dv":48.4241409,"mpcc_dw":51.5758591,"mpcc_enc_sign":1,"mpcc_id_a":-0.388366431,"mpcc_iq_a":-2.66880059,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.7460613,"mpcc_pred_id_a":-0.526904643,"mpcc_pred_iq_a":-2.32561183,"mpcc_state":1,"mpcc_theta_e":0.426106453,"mpcc_theta_mech":0.552167177,"sam_rpm":-25.5128574,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021796748,"thr_a_norm":0.0285820514,"thr_a_v":0.587186992,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474946201,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.015402,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-2.0384233,"cg_iw_a":0.0566809177,"cg_theta_rad":0.554719448,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.044443991,"mpcc_du":50.3674126,"mpcc_dv":48.2989883,"mpcc_dw":51.7010117,"mpcc_enc_sign":1,"mpcc_id_a":3.24265265,"mpcc_iq_a":-0.311740756,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.41407967,"mpcc_pred_id_a":0.581907511,"mpcc_pred_iq_a":-1.03301597,"mpcc_state":1,"mpcc_theta_e":0.437736988,"mpcc_theta_mech":0.554493308,"sam_rpm":-8.98521423,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021796748,"thr_a_norm":0.021796748,"thr_a_v":0.587186992,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474946201,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.025686,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-2.32837415,"cg_iw_a":1.65140986,"cg_theta_rad":0.55735898,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0626138076,"mpcc_du":50.4804802,"mpcc_dv":47.8789406,"mpcc_dw":52.1210594,"mpcc_enc_sign":1,"mpcc_id_a":4.31605053,"mpcc_iq_a":0.398549169,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.32067919,"mpcc_pred_id_a":1.08944714,"mpcc_pred_iq_a":-0.175361365,"mpcc_state":1,"mpcc_theta_e":0.446219921,"mpcc_theta_mech":0.556189895,"sam_rpm":-19.2151566,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451581597,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.048666,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.661157608,"cg_iw_a":-0.450732708,"cg_theta_rad":0.554053426,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0334708169,"mpcc_du":49.5316353,"mpcc_dv":50.3223267,"mpcc_dw":52.0273399,"mpcc_enc_sign":1,"mpcc_id_a":2.42844152,"mpcc_iq_a":-0.867704034,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.7991333,"mpcc_pred_id_a":0.220451087,"mpcc_pred_iq_a":-3.11131358,"mpcc_state":1,"mpcc_theta_e":0.458604336,"mpcc_theta_mech":0.558666825,"sam_rpm":26.3161259,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451581597,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.055136,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-2.47334933,"cg_iw_a":2.37628627,"cg_theta_rad":0.555399001,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.00900264084,"mpcc_du":50.7612953,"mpcc_dv":48.0470924,"mpcc_dw":51.9529076,"mpcc_enc_sign":1,"mpcc_id_a":0.470957786,"mpcc_iq_a":-0.766828895,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.59120083,"mpcc_pred_id_a":-0.14939405,"mpcc_pred_iq_a":-0.203414813,"mpcc_state":1,"mpcc_theta_e":0.433402061,"mpcc_theta_mech":0.553626359,"sam_rpm":-13.7250271,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250068605,"thr_a_norm":0.0250068605,"thr_a_v":0.600027442,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483305097,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.061666,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.16857147,"cg_iw_a":-2.26292443,"cg_theta_rad":0.556175351,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0224584043,"mpcc_du":49.9730988,"mpcc_dv":49.2436485,"mpcc_dw":50.7563515,"mpcc_enc_sign":1,"mpcc_id_a":0.642254889,"mpcc_iq_a":-0.902236164,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.845930338,"mpcc_pred_id_a":-0.594967246,"mpcc_pred_iq_a":-4.28297997,"mpcc_state":1,"mpcc_theta_e":0.442837238,"mpcc_theta_mech":0.555513382,"sam_rpm":-0.546433687,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250068605,"thr_a_norm":0.0250068605,"thr_a_v":0.600027442,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483305097,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.068258,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-2.90827537,"cg_iw_a":0.854045153,"cg_theta_rad":0.55618906,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0203155167,"mpcc_du":48.5772018,"mpcc_dv":51.4227982,"mpcc_dw":49.2461624,"mpcc_enc_sign":1,"mpcc_id_a":2.12878251,"mpcc_iq_a":-0.454863042,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.5821896,"mpcc_pred_id_a":0.0961088613,"mpcc_pred_iq_a":-7.99396992,"mpcc_state":1,"mpcc_theta_e":0.425507069,"mpcc_theta_mech":0.552047312,"sam_rpm":16.8985825,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.442165226,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.078176,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.588670254,"cg_iw_a":-0.450732708,"cg_theta_rad":0.554395258,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0227946229,"mpcc_du":50.6945152,"mpcc_dv":47.8240395,"mpcc_dw":52.1759605,"mpcc_enc_sign":1,"mpcc_id_a":2.95926595,"mpcc_iq_a":-1.09556973,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.32007408,"mpcc_pred_id_a":0.446524739,"mpcc_pred_iq_a":-4.85681534,"mpcc_state":1,"mpcc_theta_e":0.44883585,"mpcc_theta_mech":0.556713104,"sam_rpm":-17.104641,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197951496,"thr_a_norm":0.0200217366,"thr_a_v":0.579180598,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480837703,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.08779,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.443694592,"cg_iw_a":-2.11794901,"cg_theta_rad":0.555079281,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0765380859,"mpcc_du":49.8828697,"mpcc_dv":48.9198761,"mpcc_dw":51.0801239,"mpcc_enc_sign":1,"mpcc_id_a":2.92933083,"mpcc_iq_a":-0.175617456,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.3795013,"mpcc_pred_id_a":0.487493783,"mpcc_pred_iq_a":-2.99893665,"mpcc_state":1,"mpcc_theta_e":0.456645012,"mpcc_theta_mech":0.558274925,"sam_rpm":17.3433609,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197951496,"thr_a_norm":0.0197951496,"thr_a_v":0.579180598,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480837703,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.098196,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-2.0384233,"cg_iw_a":-2.19043684,"cg_theta_rad":0.556806266,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0132869957,"mpcc_du":49.8301697,"mpcc_dv":49.1154938,"mpcc_dw":50.8845062,"mpcc_enc_sign":1,"mpcc_id_a":1.9488399,"mpcc_iq_a":-1.72026098,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.2035751,"mpcc_pred_id_a":-0.03152081,"mpcc_pred_iq_a":-3.0399065,"mpcc_state":1,"mpcc_theta_e":0.430800915,"mpcc_theta_mech":0.553106129,"sam_rpm":-16.6133404,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227031261,"thr_a_norm":0.0227031261,"thr_a_v":0.590812504,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486477464,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.108206,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.38603449,"cg_iw_a":-1.61053514,"cg_theta_rad":0.553125381,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0463614389,"mpcc_du":49.5177116,"mpcc_dv":50.1530228,"mpcc_dw":50.4822884,"mpcc_enc_sign":1,"mpcc_id_a":2.24162602,"mpcc_iq_a":-1.25667548,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.09190702,"mpcc_pred_id_a":0.109247625,"mpcc_pred_iq_a":0.0582469627,"mpcc_state":1,"mpcc_theta_e":0.431021214,"mpcc_theta_mech":0.553150117,"sam_rpm":2.63252783,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227031261,"thr_a_norm":0.0227031261,"thr_a_v":0.590812504,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486477464,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.118185,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.6759851,"cg_iw_a":0.78155756,"cg_theta_rad":0.554006934,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0263933595,"mpcc_du":49.4308128,"mpcc_dv":49.7603111,"mpcc_dw":50.5691872,"mpcc_enc_sign":1,"mpcc_id_a":3.18123865,"mpcc_iq_a":0.404623359,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.69045067,"mpcc_pred_id_a":0.535873473,"mpcc_pred_iq_a":-1.28055692,"mpcc_state":1,"mpcc_theta_e":0.439573765,"mpcc_theta_mech":0.554860711,"sam_rpm":6.54030657,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284309834,"thr_a_norm":0.0284309834,"thr_a_v":0.613723934,"thr_b":0.002951473,"thr_b_norm":0.002951473,"thr_b_v":0.511805892,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.128378,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.733645439,"cg_iw_a":0.0566811562,"cg_theta_rad":0.552934945,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.00594178028,"mpcc_du":49.5700951,"mpcc_dv":50.4299049,"mpcc_dw":50.418499,"mpcc_enc_sign":1,"mpcc_id_a":0.894799232,"mpcc_iq_a":0.645540595,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.3236313,"mpcc_pred_id_a":-0.131294295,"mpcc_pred_iq_a":-1.73007476,"mpcc_state":1,"mpcc_theta_e":0.442713261,"mpcc_theta_mech":0.555488586,"sam_rpm":15.4704428,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0158926547,"thr_a_norm":0.0284309834,"thr_a_v":0.563570619,"thr_b":0,"thr_b_norm":0.002951473,"thr_b_v":0.460292965,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.151419,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.878620625,"cg_iw_a":0.201656342,"cg_theta_rad":0.556320906,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0204891395,"mpcc_du":49.8369408,"mpcc_dv":49.5097389,"mpcc_dw":50.4902611,"mpcc_enc_sign":1,"mpcc_id_a":-0.675890446,"mpcc_iq_a":-0.650080025,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.0717287,"mpcc_pred_id_a":-0.703410208,"mpcc_pred_iq_a":-1.04200757,"mpcc_state":1,"mpcc_theta_e":0.436293602,"mpcc_theta_mech":0.554204643,"sam_rpm":-0.225886419,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0158926547,"thr_a_norm":0.0158926547,"thr_a_v":0.563570619,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460292965,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.15798,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.878620625,"cg_iw_a":1.57892203,"cg_theta_rad":0.553842187,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.00901470147,"mpcc_du":49.5100365,"mpcc_dv":49.4795341,"mpcc_dw":50.5204659,"mpcc_enc_sign":1,"mpcc_id_a":0.340780646,"mpcc_iq_a":-0.85507232,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.71377468,"mpcc_pred_id_a":0.181262583,"mpcc_pred_iq_a":-2.75358129,"mpcc_state":1,"mpcc_theta_e":0.447081089,"mpcc_theta_mech":0.556362152,"sam_rpm":9.98629761,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022879377,"thr_a_norm":0.022879377,"thr_a_v":0.591517508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483808637,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.16448,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.74847269,"cg_iw_a":0.999020576,"cg_theta_rad":0.555594385,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.020099882,"mpcc_du":50.9651527,"mpcc_dv":47.6970291,"mpcc_dw":52.3029709,"mpcc_enc_sign":1,"mpcc_id_a":1.59460223,"mpcc_iq_a":0.282210112,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.5058727,"mpcc_pred_id_a":0.031419754,"mpcc_pred_iq_a":1.40453529,"mpcc_state":1,"mpcc_theta_e":0.43264389,"mpcc_theta_mech":0.553474724,"sam_rpm":-15.5967522,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022879377,"thr_a_norm":0.022879377,"thr_a_v":0.591517508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483808637,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.17098,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.60349751,"cg_iw_a":-0.740683079,"cg_theta_rad":0.55602926,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.016441619,"mpcc_du":50.1788521,"mpcc_dv":48.5471764,"mpcc_dw":51.4528236,"mpcc_enc_sign":1,"mpcc_id_a":1.13387239,"mpcc_iq_a":-0.197113171,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.62927437,"mpcc_pred_id_a":0.310871035,"mpcc_pred_iq_a":-2.37014222,"mpcc_state":1,"mpcc_theta_e":0.43315506,"mpcc_theta_mech":0.553576887,"sam_rpm":-13.9994125,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0158045292,"thr_a_norm":0.0158045292,"thr_a_v":0.563218117,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451631933,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.181356,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.38603449,"cg_iw_a":-2.26292419,"cg_theta_rad":0.552570581,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.00204083347,"mpcc_du":48.7874298,"mpcc_dv":51.2125702,"mpcc_dw":49.3474693,"mpcc_enc_sign":1,"mpcc_id_a":0.583013296,"mpcc_iq_a":-2.29709148,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":24.1167984,"mpcc_pred_id_a":-0.51999104,"mpcc_pred_iq_a":-4.9855032,"mpcc_state":1,"mpcc_theta_e":0.462568283,"mpcc_theta_mech":0.559459567,"sam_rpm":36.0058479,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220233351,"thr_a_norm":0.0158045292,"thr_a_v":0.58809334,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492469668,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.19219,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.45852208,"cg_iw_a":-1.10312152,"cg_theta_rad":0.556617737,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0357051045,"mpcc_du":49.5293159,"mpcc_dv":50.4311409,"mpcc_dw":50.4706841,"mpcc_enc_sign":1,"mpcc_id_a":2.03187776,"mpcc_iq_a":-1.87187898,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.78812742,"mpcc_pred_id_a":0.15953891,"mpcc_pred_iq_a":-0.645379245,"mpcc_state":1,"mpcc_theta_e":0.438169479,"mpcc_theta_mech":0.554579794,"sam_rpm":9.8937149,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220233351,"thr_a_norm":0.0220233351,"thr_a_v":0.58809334,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492469668,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.20159,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.298719406,"cg_iw_a":0.346631765,"cg_theta_rad":0.556916177,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.00686761457,"mpcc_du":50.2993431,"mpcc_dv":48.6598434,"mpcc_dw":51.3401566,"mpcc_enc_sign":1,"mpcc_id_a":1.52472425,"mpcc_iq_a":-3.44727206,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.04085636,"mpcc_pred_id_a":-0.265994668,"mpcc_pred_iq_a":-2.92677307,"mpcc_state":1,"mpcc_theta_e":0.441527367,"mpcc_theta_mech":0.55525142,"sam_rpm":-4.783391,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447804987,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.21166,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.16857147,"cg_iw_a":0.12916851,"cg_theta_rad":0.553643703,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0381791294,"mpcc_du":50.4991302,"mpcc_dv":48.3681221,"mpcc_dw":51.6318779,"mpcc_enc_sign":1,"mpcc_id_a":0.59500134,"mpcc_iq_a":0.188894525,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.41850281,"mpcc_pred_id_a":-0.182680935,"mpcc_pred_iq_a":-2.5617907,"mpcc_state":1,"mpcc_theta_e":0.436149597,"mpcc_theta_mech":0.554175854,"sam_rpm":-13.0443754,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447804987,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.221609,"values":{"cg_iu_a":1.90925455,"cg_iv_a":1.00605869,"cg_iw_a":-2.91531324,"cg_theta_rad":0.555799484,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0340666063,"mpcc_du":50.3567886,"mpcc_dv":48.2349701,"mpcc_dw":51.7650299,"mpcc_enc_sign":1,"mpcc_id_a":2.87087512,"mpcc_iq_a":0.117613509,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.8570375,"mpcc_pred_id_a":0.520883381,"mpcc_pred_iq_a":-1.77335632,"mpcc_state":1,"mpcc_theta_e":0.429120064,"mpcc_theta_mech":0.552769959,"sam_rpm":-20.1689758,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453243315,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.231833,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.661157608,"cg_iw_a":0.12916851,"cg_theta_rad":0.555503786,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.00652879803,"mpcc_du":49.5862885,"mpcc_dv":49.5707474,"mpcc_dw":50.4292526,"mpcc_enc_sign":1,"mpcc_id_a":0.365031749,"mpcc_iq_a":-1.50493538,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.08981991,"mpcc_pred_id_a":-0.376059532,"mpcc_pred_iq_a":-5.38985968,"mpcc_state":1,"mpcc_theta_e":0.436390877,"mpcc_theta_mech":0.554224133,"sam_rpm":-2.75798869,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201098621,"thr_a_norm":0.0208274126,"thr_a_v":0.580439448,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.255026,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":-1.53100967,"cg_iw_a":-1.53804779,"cg_theta_rad":0.551433563,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0140453978,"mpcc_du":49.5759239,"mpcc_dv":49.657692,"mpcc_dw":50.4240761,"mpcc_enc_sign":1,"mpcc_id_a":2.23771572,"mpcc_iq_a":-1.26362574,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.06774235,"mpcc_pred_id_a":-0.248923242,"mpcc_pred_iq_a":-5.91087103,"mpcc_state":1,"mpcc_theta_e":0.43412447,"mpcc_theta_mech":0.553770781,"sam_rpm":-12.2607794,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201098621,"thr_a_norm":0.0201098621,"thr_a_v":0.580439448,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.261587,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.02359605,"cg_iw_a":0.41911912,"cg_theta_rad":0.555963337,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.00913128071,"mpcc_du":50.6207237,"mpcc_dv":48.5299034,"mpcc_dw":51.4700966,"mpcc_enc_sign":1,"mpcc_id_a":-1.33735669,"mpcc_iq_a":-1.86248529,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.31822968,"mpcc_pred_id_a":-0.81014812,"mpcc_pred_iq_a":-0.84436214,"mpcc_state":1,"mpcc_theta_e":0.454408169,"mpcc_theta_mech":0.557827592,"sam_rpm":-1.26126695,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020563066,"thr_a_norm":0.020563066,"thr_a_v":0.582252264,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472227067,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.268026,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.226231575,"cg_iw_a":-1.82799864,"cg_theta_rad":0.554921031,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.00197765697,"mpcc_du":49.9535141,"mpcc_dv":48.877346,"mpcc_dw":51.122654,"mpcc_enc_sign":1,"mpcc_id_a":-0.0301916841,"mpcc_iq_a":-1.97447836,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.2674315,"mpcc_pred_id_a":-0.121225387,"mpcc_pred_iq_a":-1.38492429,"mpcc_state":1,"mpcc_theta_e":0.448151112,"mpcc_theta_mech":0.556576133,"sam_rpm":-5.48897791,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020563066,"thr_a_norm":0.020563066,"thr_a_v":0.582252264,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472227067,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.274588,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.733645439,"cg_iw_a":-0.16078186,"cg_theta_rad":0.552686214,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.00906914845,"mpcc_du":49.6237907,"mpcc_dv":50.0413094,"mpcc_dw":50.3762093,"mpcc_enc_sign":1,"mpcc_id_a":0.238389552,"mpcc_iq_a":-0.571030855,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.851373553,"mpcc_pred_id_a":-0.451586962,"mpcc_pred_iq_a":-5.67894316,"mpcc_state":1,"mpcc_theta_e":0.441430569,"mpcc_theta_mech":0.555231988,"sam_rpm":-1.52749431,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0366262347,"thr_a_norm":0.0366262347,"thr_a_v":0.646504939,"thr_b":0.00560769439,"thr_b_norm":0.00560769439,"thr_b_v":0.522430778,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.284475,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.588670254,"cg_iw_a":-0.378244877,"cg_theta_rad":0.556960166,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.00799826626,"mpcc_du":50.7710648,"mpcc_dv":47.9834862,"mpcc_dw":52.0165138,"mpcc_enc_sign":1,"mpcc_id_a":3.31213427,"mpcc_iq_a":-0.188249588,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.39828324,"mpcc_pred_id_a":0.54735142,"mpcc_pred_iq_a":-0.131527752,"mpcc_state":1,"mpcc_theta_e":0.446227551,"mpcc_theta_mech":0.556191385,"sam_rpm":-15.3211584,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.0366262347,"thr_a_v":0.592927456,"thr_b":0,"thr_b_norm":0.00560769439,"thr_b_v":0.4978576,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.294394,"values":{"cg_iu_a":2.48915625,"cg_iv_a":0.0637187958,"cg_iw_a":-0.160782099,"cg_theta_rad":0.553165495,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0377062038,"mpcc_du":50.2757187,"mpcc_dv":48.6090355,"mpcc_dw":51.3909645,"mpcc_enc_sign":1,"mpcc_id_a":2.3454814,"mpcc_iq_a":-1.20154417,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.82480645,"mpcc_pred_id_a":0.0423535518,"mpcc_pred_iq_a":-2.8055737,"mpcc_state":1,"mpcc_theta_e":0.443199635,"mpcc_theta_mech":0.555585802,"sam_rpm":-2.78977919,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.023231864,"thr_a_v":0.592927456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4978576,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.304617,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.02359605,"cg_iw_a":-1.17560959,"cg_theta_rad":0.553267658,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0612788014,"mpcc_du":50.7520027,"mpcc_dv":48.1551476,"mpcc_dw":51.8448524,"mpcc_enc_sign":1,"mpcc_id_a":0.249704957,"mpcc_iq_a":-0.207162499,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.77361131,"mpcc_pred_id_a":-0.206197217,"mpcc_pred_iq_a":-1.9262042,"mpcc_state":1,"mpcc_theta_e":0.444560051,"mpcc_theta_mech":0.555857897,"sam_rpm":-3.91007757,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160059482,"thr_a_norm":0.0160059482,"thr_a_v":0.564023793,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454854637,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.314566,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.45852208,"cg_iw_a":0.346631765,"cg_theta_rad":0.556737304,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0214652792,"mpcc_du":49.6572533,"mpcc_dv":49.4926338,"mpcc_dw":51.2333145,"mpcc_enc_sign":1,"mpcc_id_a":0.347817391,"mpcc_iq_a":-1.65590978,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.7540369,"mpcc_pred_id_a":-0.249278009,"mpcc_pred_iq_a":-3.29737306,"mpcc_state":1,"mpcc_theta_e":0.454447269,"mpcc_theta_mech":0.557383716,"sam_rpm":19.0229855,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160059482,"thr_a_norm":0.0160059482,"thr_a_v":0.564023793,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454854637,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.324606,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.588670254,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556159854,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0625242367,"mpcc_du":50.2671814,"mpcc_dv":48.2693443,"mpcc_dw":51.7306557,"mpcc_enc_sign":1,"mpcc_id_a":0.353948236,"mpcc_iq_a":-0.491112679,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.19786596,"mpcc_pred_id_a":-0.302782267,"mpcc_pred_iq_a":-3.28045058,"mpcc_state":1,"mpcc_theta_e":0.448822975,"mpcc_theta_mech":0.557339311,"sam_rpm":5.19998741,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0135763288,"thr_a_norm":0.0135763288,"thr_a_v":0.554305315,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.427461684,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.334646,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.45852208,"cg_iw_a":-1.39307237,"cg_theta_rad":0.556966126,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0638600737,"mpcc_du":49.8790855,"mpcc_dv":49.085659,"mpcc_dw":50.914341,"mpcc_enc_sign":1,"mpcc_id_a":1.02543449,"mpcc_iq_a":0.0692563802,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.11194134,"mpcc_pred_id_a":-0.0195655916,"mpcc_pred_iq_a":-4.17840624,"mpcc_state":1,"mpcc_theta_e":0.447630882,"mpcc_theta_mech":0.556472123,"sam_rpm":4.91235495,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021670863,"thr_a_norm":0.0135763288,"thr_a_v":0.586683452,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.35784,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.24105906,"cg_iw_a":-2.55287504,"cg_theta_rad":0.557979822,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0122146094,"mpcc_du":49.076683,"mpcc_dv":50.923317,"mpcc_dw":49.8014908,"mpcc_enc_sign":1,"mpcc_id_a":2.18974376,"mpcc_iq_a":-1.90322518,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.0055866,"mpcc_pred_id_a":0.14810285,"mpcc_pred_iq_a":1.08669341,"mpcc_state":1,"mpcc_theta_e":0.424310207,"mpcc_theta_mech":0.55180794,"sam_rpm":-29.6559734,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021670863,"thr_a_norm":0.021670863,"thr_a_v":0.586683452,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.36434,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.24105906,"cg_iw_a":-2.40789962,"cg_theta_rad":0.557303965,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.00668521784,"mpcc_du":49.9646111,"mpcc_dv":48.9889221,"mpcc_dw":51.0110779,"mpcc_enc_sign":1,"mpcc_id_a":1.17209148,"mpcc_iq_a":-1.30050111,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.04724407,"mpcc_pred_id_a":0.00226453482,"mpcc_pred_iq_a":-0.158059314,"mpcc_state":1,"mpcc_theta_e":0.422710419,"mpcc_theta_mech":0.551487982,"sam_rpm":11.7053795,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192538351,"thr_a_norm":0.0192538351,"thr_a_v":0.57701534,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454854637,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.370871,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.733645439,"cg_iw_a":-2.04546118,"cg_theta_rad":0.553825438,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0344061069,"mpcc_du":49.6395302,"mpcc_dv":49.256588,"mpcc_dw":52.2389069,"mpcc_enc_sign":1,"mpcc_id_a":2.96699333,"mpcc_iq_a":-0.0749599189,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.32873583,"mpcc_pred_id_a":0.381110102,"mpcc_pred_iq_a":-1.48892188,"mpcc_state":1,"mpcc_theta_e":0.448038578,"mpcc_theta_mech":0.55536145,"sam_rpm":10.3577385,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192538351,"thr_a_norm":0.0192538351,"thr_a_v":0.57701534,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454854637,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.377584,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.76329994,"cg_iw_a":1.65140963,"cg_theta_rad":0.554977596,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0487399474,"mpcc_du":50.3468513,"mpcc_dv":48.381813,"mpcc_dw":51.618187,"mpcc_enc_sign":1,"mpcc_id_a":3.74445748,"mpcc_iq_a":0.182745084,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.4804087,"mpcc_pred_id_a":0.848215163,"mpcc_pred_iq_a":-3.04197574,"mpcc_state":1,"mpcc_theta_e":0.453156948,"mpcc_theta_mech":0.557577312,"sam_rpm":-2.76726818,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024390012,"thr_a_norm":0.024390012,"thr_a_v":0.597560048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485319316,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.387777,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.74847269,"cg_iw_a":0.854045391,"cg_theta_rad":0.557970166,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0449816696,"mpcc_du":49.4387436,"mpcc_dv":49.4966354,"mpcc_dw":50.5612564,"mpcc_enc_sign":1,"mpcc_id_a":3.57004762,"mpcc_iq_a":-0.827450275,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.62250805,"mpcc_pred_id_a":0.458779424,"mpcc_pred_iq_a":-3.44690323,"mpcc_state":1,"mpcc_theta_e":0.447610378,"mpcc_theta_mech":0.55646801,"sam_rpm":9.3088131,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162954777,"thr_a_norm":0.024390012,"thr_a_v":0.565181911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471673131,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.397787,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.226231575,"cg_iw_a":-1.75551033,"cg_theta_rad":0.556885719,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.039908126,"mpcc_du":49.9121361,"mpcc_dv":49.0190353,"mpcc_dw":50.9809647,"mpcc_enc_sign":1,"mpcc_id_a":2.27395344,"mpcc_iq_a":-0.845533371,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.545510173,"mpcc_pred_id_a":-0.0571462288,"mpcc_pred_iq_a":-1.89339805,"mpcc_state":1,"mpcc_theta_e":0.444033146,"mpcc_theta_mech":0.555752516,"sam_rpm":2.04622173,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162954777,"thr_a_norm":0.0162954777,"thr_a_v":0.565181911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471673131,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.407766,"values":{"cg_iu_a":2.77910662,"cg_iv_a":0.716107845,"cg_iw_a":0.0566809177,"cg_theta_rad":0.556275666,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0281003416,"mpcc_du":50.1536217,"mpcc_dv":48.4786377,"mpcc_dw":51.5213623,"mpcc_enc_sign":1,"mpcc_id_a":3.23120809,"mpcc_iq_a":0.741425693,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.3698196,"mpcc_pred_id_a":0.507590115,"mpcc_pred_iq_a":-0.191655457,"mpcc_state":1,"mpcc_theta_e":0.426949501,"mpcc_theta_mech":0.552335799,"sam_rpm":-16.7094536,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179949552,"thr_a_norm":0.0179949552,"thr_a_v":0.571979821,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462005019,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.417593,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.09608364,"cg_iw_a":0.419119358,"cg_theta_rad":0.552868724,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0643895194,"mpcc_du":50.5981216,"mpcc_dv":47.7998734,"mpcc_dw":52.2001266,"mpcc_enc_sign":1,"mpcc_id_a":4.27475786,"mpcc_iq_a":1.2710222,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.0163183,"mpcc_pred_id_a":0.869997919,"mpcc_pred_iq_a":0.367309898,"mpcc_state":1,"mpcc_theta_e":0.428892136,"mpcc_theta_mech":0.552724361,"sam_rpm":-21.7422733,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179949552,"thr_a_norm":0.0179949552,"thr_a_v":0.571979821,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462005019,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.427938,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.45852208,"cg_iw_a":-1.03063416,"cg_theta_rad":0.552228272,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.00312737795,"mpcc_du":48.5861092,"mpcc_dv":51.4138908,"mpcc_dw":49.3714981,"mpcc_enc_sign":1,"mpcc_id_a":0.528137445,"mpcc_iq_a":-0.981848598,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.97746503,"mpcc_pred_id_a":-0.535619557,"mpcc_pred_iq_a":-1.89416087,"mpcc_state":1,"mpcc_theta_e":0.437571049,"mpcc_theta_mech":0.554460168,"sam_rpm":39.4054031,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00674067438,"thr_b_norm":0.00674067438,"thr_b_v":0.526962698,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.437979,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.31354666,"cg_iw_a":-2.40789986,"cg_theta_rad":0.55549556,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.00879302807,"mpcc_du":49.8702545,"mpcc_dv":49.0689583,"mpcc_dw":50.9310417,"mpcc_enc_sign":1,"mpcc_id_a":1.80095565,"mpcc_iq_a":-0.133864969,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.62292147,"mpcc_pred_id_a":-0.0136129428,"mpcc_pred_iq_a":-1.24793541,"mpcc_state":1,"mpcc_theta_e":0.431617737,"mpcc_theta_mech":0.553269506,"sam_rpm":-12.3771763,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162325352,"thr_a_norm":0.0296772718,"thr_a_v":0.564930141,"thr_b":0,"thr_b_norm":0.00674067438,"thr_b_v":0.467695117,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.460196,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.226231575,"cg_iw_a":-2.48038769,"cg_theta_rad":0.556816101,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.00227650511,"mpcc_du":49.5194893,"mpcc_dv":50.4805107,"mpcc_dw":50.0190086,"mpcc_enc_sign":1,"mpcc_id_a":-0.153915226,"mpcc_iq_a":-2.42183781,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.88339853,"mpcc_pred_id_a":-0.983966112,"mpcc_pred_iq_a":-5.51236534,"mpcc_state":1,"mpcc_theta_e":0.440942287,"mpcc_theta_mech":0.555134356,"sam_rpm":1.83417451,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162325352,"thr_a_norm":0.0162325352,"thr_a_v":0.564930141,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467695117,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.466726,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.516182423,"cg_iw_a":-1.68302298,"cg_theta_rad":0.55387336,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0134972455,"mpcc_du":50.4700165,"mpcc_dv":48.2865677,"mpcc_dw":51.7134323,"mpcc_enc_sign":1,"mpcc_id_a":2.19096613,"mpcc_iq_a":-1.19257963,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.2812948,"mpcc_pred_id_a":0.142191961,"mpcc_pred_iq_a":-1.16761947,"mpcc_state":1,"mpcc_theta_e":0.432942867,"mpcc_theta_mech":0.553534508,"sam_rpm":-16.7748375,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247928649,"thr_a_norm":0.0247928649,"thr_a_v":0.59917146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490606517,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.473227,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.53100967,"cg_iw_a":-1.32058477,"cg_theta_rad":0.555699289,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0126116453,"mpcc_du":50.2764244,"mpcc_dv":48.5586815,"mpcc_dw":50.2426758,"mpcc_enc_sign":1,"mpcc_id_a":1.80136955,"mpcc_iq_a":-0.128176719,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.3675232,"mpcc_pred_id_a":0.0529986732,"mpcc_pred_iq_a":-1.85737705,"mpcc_state":1,"mpcc_theta_e":0.428459644,"mpcc_theta_mech":0.552637815,"sam_rpm":-18.18186,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247928649,"thr_a_norm":0.0247928649,"thr_a_v":0.59917146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490606517,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.479757,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.371207237,"cg_iw_a":0.0566811562,"cg_theta_rad":0.55501318,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0190241039,"mpcc_du":49.864212,"mpcc_dv":49.14291,"mpcc_dw":52.0688477,"mpcc_enc_sign":1,"mpcc_id_a":0.528090656,"mpcc_iq_a":-0.626250267,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.4380054,"mpcc_pred_id_a":0.0237981193,"mpcc_pred_iq_a":-0.467883795,"mpcc_state":1,"mpcc_theta_e":0.454623222,"mpcc_theta_mech":0.555937767,"sam_rpm":19.7601528,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443273067,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.489187,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.53100967,"cg_iw_a":-0.740683556,"cg_theta_rad":0.554466963,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0257978309,"mpcc_du":50.4212341,"mpcc_dv":48.2920799,"mpcc_dw":51.7079201,"mpcc_enc_sign":1,"mpcc_id_a":0.362393171,"mpcc_iq_a":-0.546434104,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.019968,"mpcc_pred_id_a":0.341892451,"mpcc_pred_iq_a":-2.2312119,"mpcc_state":1,"mpcc_theta_e":0.436527252,"mpcc_theta_mech":0.554251373,"sam_rpm":-22.7669277,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181586146,"thr_a_norm":0.0200217366,"thr_a_v":0.572634459,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453746855,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.499197,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.89344811,"cg_iw_a":0.12916851,"cg_theta_rad":0.55615896,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0330195688,"mpcc_du":49.5675697,"mpcc_dv":49.9356346,"mpcc_dw":50.4324303,"mpcc_enc_sign":1,"mpcc_id_a":0.814071953,"mpcc_iq_a":-0.535697043,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.2317343,"mpcc_pred_id_a":-0.0842245817,"mpcc_pred_iq_a":-3.41343641,"mpcc_state":1,"mpcc_theta_e":0.457019806,"mpcc_theta_mech":0.558349848,"sam_rpm":21.9648285,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181586146,"thr_a_norm":0.0181586146,"thr_a_v":0.572634459,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453746855,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.509176,"values":{"cg_iu_a":1.40184116,"cg_iv_a":0.643620491,"cg_iw_a":-2.04546165,"cg_theta_rad":0.557254553,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.016828673,"mpcc_du":49.505352,"mpcc_dv":50.0090904,"mpcc_dw":50.494648,"mpcc_enc_sign":1,"mpcc_id_a":2.46567202,"mpcc_iq_a":-0.610468805,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.94680858,"mpcc_pred_id_a":0.281657517,"mpcc_pred_iq_a":-3.4005847,"mpcc_state":1,"mpcc_theta_e":0.443360806,"mpcc_theta_mech":0.555618048,"sam_rpm":4.9450078,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208525956,"thr_a_norm":0.0208525956,"thr_a_v":0.583410382,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.45596242,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.519186,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.45852208,"cg_iw_a":-2.84282541,"cg_theta_rad":0.552749276,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.021825077,"mpcc_du":50.1992111,"mpcc_dv":49.0143814,"mpcc_dw":50.9856186,"mpcc_enc_sign":1,"mpcc_id_a":-1.14450121,"mpcc_iq_a":-1.12080503,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.79396939,"mpcc_pred_id_a":-0.830438733,"mpcc_pred_iq_a":-3.45573616,"mpcc_state":1,"mpcc_theta_e":0.441843033,"mpcc_theta_mech":0.555314541,"sam_rpm":-1.69154704,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208525956,"thr_a_norm":0.0208525956,"thr_a_v":0.583410382,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.45596242,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.529409,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.733645439,"cg_iw_a":1.50643444,"cg_theta_rad":0.557782412,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0126692187,"mpcc_du":50.2241631,"mpcc_dv":48.4851761,"mpcc_dw":51.5148239,"mpcc_enc_sign":1,"mpcc_id_a":2.22947025,"mpcc_iq_a":-1.1098212,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.3904743,"mpcc_pred_id_a":0.386058003,"mpcc_pred_iq_a":-1.85188341,"mpcc_state":1,"mpcc_theta_e":0.429899693,"mpcc_theta_mech":0.552925885,"sam_rpm":-19.300436,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0421652496,"thr_a_norm":0.0421652496,"thr_a_v":0.668660998,"thr_b":0.0172522366,"thr_b_norm":0.0172522366,"thr_b_v":0.569008946,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.539633,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.31354666,"cg_iw_a":-1.10312176,"cg_theta_rad":0.552660048,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0151018687,"mpcc_du":49.9963531,"mpcc_dv":49.1803055,"mpcc_dw":50.8196945,"mpcc_enc_sign":1,"mpcc_id_a":-0.461043805,"mpcc_iq_a":-2.0044198,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.98102808,"mpcc_pred_id_a":-0.558181524,"mpcc_pred_iq_a":-3.08017278,"mpcc_state":1,"mpcc_theta_e":0.451393127,"mpcc_theta_mech":0.557224572,"sam_rpm":10.2463245,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257873684,"thr_a_norm":0.0421652496,"thr_a_v":0.603149474,"thr_b":0,"thr_b_norm":0.0172522366,"thr_b_v":0.492721438,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.562582,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.16857147,"cg_iw_a":-0.523220062,"cg_theta_rad":0.553891122,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0207773652,"mpcc_du":50.1159172,"mpcc_dv":48.710041,"mpcc_dw":51.289959,"mpcc_enc_sign":1,"mpcc_id_a":2.404387,"mpcc_iq_a":-1.41541028,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.853948832,"mpcc_pred_id_a":0.257521629,"mpcc_pred_iq_a":-1.28330433,"mpcc_state":1,"mpcc_theta_e":0.443393707,"mpcc_theta_mech":0.555624664,"sam_rpm":1.21423185,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257873684,"thr_a_norm":0.0257873684,"thr_a_v":0.603149474,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492721438,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.569113,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.60349751,"cg_iw_a":0.274144173,"cg_theta_rad":0.556432843,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0579844862,"mpcc_du":49.3944473,"mpcc_dv":50.4789429,"mpcc_dw":50.6055527,"mpcc_enc_sign":1,"mpcc_id_a":4.78477573,"mpcc_iq_a":-2.31727171,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":20.6748505,"mpcc_pred_id_a":1.09657311,"mpcc_pred_iq_a":-2.09186459,"mpcc_state":1,"mpcc_theta_e":0.459646225,"mpcc_theta_mech":0.558875144,"sam_rpm":30.2426853,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163710117,"thr_a_norm":0.0163710117,"thr_a_v":0.565484047,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484614313,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.575644,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.09608364,"cg_iw_a":-0.81317091,"cg_theta_rad":0.555871308,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0341389515,"mpcc_du":50.197834,"mpcc_dv":48.599926,"mpcc_dw":51.400074,"mpcc_enc_sign":1,"mpcc_id_a":2.83276391,"mpcc_iq_a":-1.02132165,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.68240118,"mpcc_pred_id_a":0.348825157,"mpcc_pred_iq_a":-1.21109259,"mpcc_state":1,"mpcc_theta_e":0.444829464,"mpcc_theta_mech":0.555911779,"sam_rpm":1.34519279,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163710117,"thr_a_norm":0.0163710117,"thr_a_v":0.565484047,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484614313,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.582174,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.298719406,"cg_iw_a":-0.450732708,"cg_theta_rad":0.554516494,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0253922734,"mpcc_du":50.1735764,"mpcc_dv":48.7987404,"mpcc_dw":51.2012596,"mpcc_enc_sign":1,"mpcc_id_a":2.30490613,"mpcc_iq_a":-0.784802258,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.17515469,"mpcc_pred_id_a":0.256834328,"mpcc_pred_iq_a":-3.88178992,"mpcc_state":1,"mpcc_theta_e":0.450470448,"mpcc_theta_mech":0.557039976,"sam_rpm":5.97339296,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200721025,"thr_a_norm":0.0200721025,"thr_a_v":0.58028841,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449114203,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.592184,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.733645439,"cg_iw_a":-1.46555996,"cg_theta_rad":0.55754751,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0301278792,"mpcc_du":50.5354538,"mpcc_dv":48.4959755,"mpcc_dw":51.5040245,"mpcc_enc_sign":1,"mpcc_id_a":-0.868527234,"mpcc_iq_a":-0.881877184,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.48090458,"mpcc_pred_id_a":-0.442209423,"mpcc_pred_iq_a":-3.11032224,"mpcc_state":1,"mpcc_theta_e":0.446911335,"mpcc_theta_mech":0.556328177,"sam_rpm":-9.80083942,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291359574,"thr_a_norm":0.0200721025,"thr_a_v":0.616543829,"thr_b":0.00393338501,"thr_b_norm":0,"thr_b_v":0.51573354,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.602285,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.53100967,"cg_iw_a":-1.46555996,"cg_theta_rad":0.555078506,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0207452606,"mpcc_du":49.3506737,"mpcc_dv":50.6493263,"mpcc_dw":50.1611099,"mpcc_enc_sign":1,"mpcc_id_a":1.03234625,"mpcc_iq_a":-1.29200757,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.75652885,"mpcc_pred_id_a":-0.0169681925,"mpcc_pred_iq_a":0.827026606,"mpcc_state":1,"mpcc_theta_e":0.426465988,"mpcc_theta_mech":0.555239141,"sam_rpm":-16.3505535,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291359574,"thr_a_norm":0.0291359574,"thr_a_v":0.616543829,"thr_b":0.00393338501,"thr_b_norm":0.00393338501,"thr_b_v":0.51573354,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.612753,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.24105906,"cg_iw_a":-1.03063393,"cg_theta_rad":0.551808,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0397956595,"mpcc_du":49.6400681,"mpcc_dv":49.2431297,"mpcc_dw":50.7568703,"mpcc_enc_sign":1,"mpcc_id_a":2.64574981,"mpcc_iq_a":-1.42180884,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.60807037,"mpcc_pred_id_a":0.363053948,"mpcc_pred_iq_a":-1.41410422,"mpcc_state":1,"mpcc_theta_e":0.424744606,"mpcc_theta_mech":0.551894844,"sam_rpm":-16.546051,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282169729,"thr_a_norm":0.0282169729,"thr_a_v":0.612867892,"thr_b":0.00108835101,"thr_b_norm":0.00108835101,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.622549,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-2.54583716,"cg_iw_a":0.926532984,"cg_theta_rad":0.554247439,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0305142105,"mpcc_du":50.3551102,"mpcc_dv":48.4630699,"mpcc_dw":51.5369301,"mpcc_enc_sign":1,"mpcc_id_a":1.06028855,"mpcc_iq_a":0.154459924,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.3463192,"mpcc_pred_id_a":0.153060079,"mpcc_pred_iq_a":-1.32903731,"mpcc_state":1,"mpcc_theta_e":0.43844223,"mpcc_theta_mech":0.554634392,"sam_rpm":-5.28137398,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282169729,"thr_a_norm":0.0282169729,"thr_a_v":0.612867892,"thr_b":0.00108835101,"thr_b_norm":0.00108835101,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.632742,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.24105906,"cg_iw_a":0.12916851,"cg_theta_rad":0.555109262,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.088074483,"mpcc_du":49.9590797,"mpcc_dv":48.8535957,"mpcc_dw":51.1464043,"mpcc_enc_sign":1,"mpcc_id_a":3.68684912,"mpcc_iq_a":-0.759777069,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.59024477,"mpcc_pred_id_a":0.503974438,"mpcc_pred_iq_a":-2.99632692,"mpcc_state":1,"mpcc_theta_e":0.451443195,"mpcc_theta_mech":0.557234585,"sam_rpm":10.2432728,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00753375888,"thr_b_norm":0.00753375888,"thr_b_v":0.530135036,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.642996,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.31354666,"cg_iw_a":-0.595707893,"cg_theta_rad":0.555087447,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0290946104,"mpcc_du":49.5884895,"mpcc_dv":49.4326286,"mpcc_dw":50.5673714,"mpcc_enc_sign":1,"mpcc_id_a":1.22206473,"mpcc_iq_a":-2.44127178,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.85708618,"mpcc_pred_id_a":0.0781207755,"mpcc_pred_iq_a":-3.08760571,"mpcc_state":1,"mpcc_theta_e":0.428952217,"mpcc_theta_mech":0.552736402,"sam_rpm":-16.9349308,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023357749,"thr_a_norm":0.0296772718,"thr_a_v":0.593430996,"thr_b":0,"thr_b_norm":0.00753375888,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.665823,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.443694592,"cg_iw_a":-0.958146572,"cg_theta_rad":0.558025718,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.00934778713,"mpcc_du":49.4695282,"mpcc_dv":50.5304718,"mpcc_dw":50.2197647,"mpcc_enc_sign":1,"mpcc_id_a":1.600775,"mpcc_iq_a":-0.908841252,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.93715,"mpcc_pred_id_a":-0.165820345,"mpcc_pred_iq_a":-4.10083246,"mpcc_state":1,"mpcc_theta_e":0.450322628,"mpcc_theta_mech":0.557010472,"sam_rpm":14.339118,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023357749,"thr_a_norm":0.023357749,"thr_a_v":0.593430996,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.672323,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.951108456,"cg_iw_a":-0.305757523,"cg_theta_rad":0.556831658,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.00528344419,"mpcc_du":49.804882,"mpcc_dv":49.2563019,"mpcc_dw":50.7436981,"mpcc_enc_sign":1,"mpcc_id_a":1.13466239,"mpcc_iq_a":-1.22236705,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.528329551,"mpcc_pred_id_a":-0.101595365,"mpcc_pred_iq_a":-2.7593534,"mpcc_state":1,"mpcc_theta_e":0.43931675,"mpcc_theta_mech":0.554809272,"sam_rpm":-0.924083948,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0272728354,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477312863,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.678885,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.24105906,"cg_iw_a":0.781557798,"cg_theta_rad":0.555951476,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.00209724577,"mpcc_du":50.2907829,"mpcc_dv":48.7106552,"mpcc_dw":51.2893448,"mpcc_enc_sign":1,"mpcc_id_a":0.220364854,"mpcc_iq_a":-0.789589226,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.40288305,"mpcc_pred_id_a":-0.259292364,"mpcc_pred_iq_a":-1.54395723,"mpcc_state":1,"mpcc_theta_e":0.434046745,"mpcc_theta_mech":0.553755283,"sam_rpm":-11.0684671,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0272728354,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477312863,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.685385,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.24105906,"cg_iw_a":-1.10312152,"cg_theta_rad":0.557408333,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0203810912,"mpcc_du":49.958519,"mpcc_dv":49.0230751,"mpcc_dw":50.9769249,"mpcc_enc_sign":1,"mpcc_id_a":2.11843991,"mpcc_iq_a":-1.67015171,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.68424797,"mpcc_pred_id_a":0.109567806,"mpcc_pred_iq_a":-1.40089524,"mpcc_state":1,"mpcc_theta_e":0.450222969,"mpcc_theta_mech":0.556990504,"sam_rpm":12.0531654,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0164213777,"thr_a_norm":0.0164213777,"thr_a_v":0.565685511,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466385901,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.695211,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.53100967,"cg_iw_a":-0.305757523,"cg_theta_rad":0.557070434,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.01660599,"mpcc_du":49.853405,"mpcc_dv":49.1456833,"mpcc_dw":50.8543167,"mpcc_enc_sign":1,"mpcc_id_a":1.28917491,"mpcc_iq_a":-0.719733536,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.5047932,"mpcc_pred_id_a":0.201789498,"mpcc_pred_iq_a":-2.04537678,"mpcc_state":1,"mpcc_theta_e":0.455221653,"mpcc_theta_mech":0.557990253,"sam_rpm":10.7262774,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023685053,"thr_a_norm":0.023685053,"thr_a_v":0.594740212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468651831,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.705191,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.733645439,"cg_iw_a":-1.90048599,"cg_theta_rad":0.555702329,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0386393629,"mpcc_du":50.1295815,"mpcc_dv":48.579689,"mpcc_dw":51.420311,"mpcc_enc_sign":1,"mpcc_id_a":3.69519758,"mpcc_iq_a":-0.198208854,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.18116522,"mpcc_pred_id_a":0.693772435,"mpcc_pred_iq_a":-0.557203174,"mpcc_state":1,"mpcc_theta_e":0.437241077,"mpcc_theta_mech":0.554394126,"sam_rpm":-7.22627211,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023685053,"thr_a_norm":0.023685053,"thr_a_v":0.594740212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468651831,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.715384,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.443694592,"cg_iw_a":-1.82799864,"cg_theta_rad":0.551510751,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0543274805,"mpcc_du":50.4290085,"mpcc_dv":48.5431786,"mpcc_dw":51.4568214,"mpcc_enc_sign":1,"mpcc_id_a":1.51332319,"mpcc_iq_a":-0.249128371,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.30419827,"mpcc_pred_id_a":-0.0898790061,"mpcc_pred_iq_a":-3.21833253,"mpcc_state":1,"mpcc_theta_e":0.442296028,"mpcc_theta_mech":0.55540508,"sam_rpm":-6.44110012,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0340581238,"thr_a_norm":0.0340581238,"thr_a_v":0.636232495,"thr_b":0.0044747144,"thr_b_norm":0.0044747144,"thr_b_v":0.517898858,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.725363,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.733645439,"cg_iw_a":1.65140939,"cg_theta_rad":0.55645895,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.00790733378,"mpcc_du":49.7613487,"mpcc_dv":49.3576698,"mpcc_dw":50.6423302,"mpcc_enc_sign":1,"mpcc_id_a":1.30769765,"mpcc_iq_a":-1.35851538,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.42073977,"mpcc_pred_id_a":-0.110736467,"mpcc_pred_iq_a":-3.0574584,"mpcc_state":1,"mpcc_theta_e":0.44372654,"mpcc_theta_mech":0.555691183,"sam_rpm":2.71467876,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0340581238,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0.0044747144,"thr_b_v":0.453344017,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.736349,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.878620625,"cg_iw_a":-0.305757523,"cg_theta_rad":0.55550611,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0123607172,"mpcc_du":49.5639915,"mpcc_dv":49.6951103,"mpcc_dw":50.4360085,"mpcc_enc_sign":1,"mpcc_id_a":0.989040256,"mpcc_iq_a":-0.509438336,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.90287387,"mpcc_pred_id_a":-0.0529191419,"mpcc_pred_iq_a":-3.99358463,"mpcc_state":1,"mpcc_theta_e":0.441669464,"mpcc_theta_mech":0.555279851,"sam_rpm":3.44731474,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453344017,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.760794,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.0812563896,"cg_iw_a":-3.06028891,"cg_theta_rad":0.556273043,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0037706031,"mpcc_du":51.316803,"mpcc_dv":47.3731918,"mpcc_dw":52.6268082,"mpcc_enc_sign":1,"mpcc_id_a":1.01044083,"mpcc_iq_a":-1.51340044,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.4922523,"mpcc_pred_id_a":-0.175600141,"mpcc_pred_iq_a":1.02758467,"mpcc_state":1,"mpcc_theta_e":0.427352428,"mpcc_theta_mech":0.552416384,"sam_rpm":-26.3981419,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296520889,"thr_a_norm":0.0296520889,"thr_a_v":0.618608356,"thr_b":0.00531814992,"thr_b_norm":0.00531814992,"thr_b_v":0.5212726,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.767355,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.45852208,"cg_iw_a":0.781557798,"cg_theta_rad":0.557723224,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0373684876,"mpcc_du":49.5628319,"mpcc_dv":50.3763466,"mpcc_dw":50.4371681,"mpcc_enc_sign":1,"mpcc_id_a":2.6108942,"mpcc_iq_a":0.193807527,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.31311798,"mpcc_pred_id_a":0.133178681,"mpcc_pred_iq_a":-5.34151506,"mpcc_state":1,"mpcc_theta_e":0.446155071,"mpcc_theta_mech":0.55617696,"sam_rpm":5.87781858,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101533532,"thr_a_norm":0.0296520889,"thr_a_v":0.906134129,"thr_b":0.0429961085,"thr_b_norm":0.00531814992,"thr_b_v":0.671984434,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.773886,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.82096052,"cg_iw_a":-0.450732708,"cg_theta_rad":0.553049207,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0162574872,"mpcc_du":50.1121216,"mpcc_dv":48.861721,"mpcc_dw":51.138279,"mpcc_enc_sign":1,"mpcc_id_a":2.43555808,"mpcc_iq_a":-0.6652233,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.76666927,"mpcc_pred_id_a":-0.013282612,"mpcc_pred_iq_a":-1.8637718,"mpcc_state":1,"mpcc_theta_e":0.434788227,"mpcc_theta_mech":0.55390352,"sam_rpm":-10.4796133,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101533532,"thr_a_norm":0.101533532,"thr_a_v":0.906134129,"thr_b":0.0429961085,"thr_b_norm":0.0429961085,"thr_b_v":0.671984434,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.780386,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.806133032,"cg_iw_a":1.21648335,"cg_theta_rad":0.556161821,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.00288074696,"mpcc_du":50.1356544,"mpcc_dv":48.810688,"mpcc_dw":51.189312,"mpcc_enc_sign":1,"mpcc_id_a":0.69376272,"mpcc_iq_a":-1.6277386,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.44274187,"mpcc_pred_id_a":0.128157899,"mpcc_pred_iq_a":0.0256390218,"mpcc_state":1,"mpcc_theta_e":0.447123528,"mpcc_theta_mech":0.556370616,"sam_rpm":8.04632854,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198329091,"thr_a_norm":0.0198329091,"thr_a_v":0.579331636,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462055355,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.790701,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.89344811,"cg_iw_a":-1.61053562,"cg_theta_rad":0.557622194,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.016291514,"mpcc_du":50.4319725,"mpcc_dv":48.550972,"mpcc_dw":51.449028,"mpcc_enc_sign":1,"mpcc_id_a":2.3138988,"mpcc_iq_a":-1.61785519,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.0906782,"mpcc_pred_id_a":0.350967795,"mpcc_pred_iq_a":-1.74603653,"mpcc_state":1,"mpcc_theta_e":0.43281889,"mpcc_theta_mech":0.553509653,"sam_rpm":-28.4675217,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0135133862,"thr_a_norm":0.0198329091,"thr_a_v":0.554053545,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461400777,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.800497,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.806133032,"cg_iw_a":-0.23326993,"cg_theta_rad":0.555325627,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0570889749,"mpcc_du":49.5159607,"mpcc_dv":49.3057442,"mpcc_dw":50.6942558,"mpcc_enc_sign":1,"mpcc_id_a":3.75864506,"mpcc_iq_a":0.561136484,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.49909401,"mpcc_pred_id_a":0.832662821,"mpcc_pred_iq_a":-1.58242476,"mpcc_state":1,"mpcc_theta_e":0.449458122,"mpcc_theta_mech":0.556837499,"sam_rpm":11.7736359,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0135133862,"thr_a_norm":0.0135133862,"thr_a_v":0.554053545,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461400777,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.810568,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.09608364,"cg_iw_a":-0.668195724,"cg_theta_rad":0.551787138,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0263862237,"mpcc_du":49.4748535,"mpcc_dv":49.489151,"mpcc_dw":50.5251465,"mpcc_enc_sign":1,"mpcc_id_a":2.62780595,"mpcc_iq_a":-1.80431139,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.12752771,"mpcc_pred_id_a":0.40537402,"mpcc_pred_iq_a":-3.02916431,"mpcc_state":1,"mpcc_theta_e":0.431466103,"mpcc_theta_mech":0.553239167,"sam_rpm":-10.9896746,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259761959,"thr_a_norm":0.0259761959,"thr_a_v":0.603904784,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49659875,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.820425,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.951108456,"cg_iw_a":-0.16078186,"cg_theta_rad":0.557741106,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0061642807,"mpcc_du":50.2730789,"mpcc_dv":48.4887962,"mpcc_dw":51.5112038,"mpcc_enc_sign":1,"mpcc_id_a":0.967208922,"mpcc_iq_a":-2.04703712,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.836071,"mpcc_pred_id_a":0.292550653,"mpcc_pred_iq_a":-5.84205103,"mpcc_state":1,"mpcc_theta_e":0.45208931,"mpcc_theta_mech":0.557363808,"sam_rpm":1.52746129,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259761959,"thr_a_norm":0.0259761959,"thr_a_v":0.603904784,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49659875,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.83077,"values":{"cg_iu_a":0.821939945,"cg_iv_a":0.353669643,"cg_iw_a":-1.61053562,"cg_theta_rad":0.555854797,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0226969309,"mpcc_du":50.7782097,"mpcc_dv":47.8360367,"mpcc_dw":52.1639633,"mpcc_enc_sign":1,"mpcc_id_a":2.35007071,"mpcc_iq_a":-0.145207688,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.6975479,"mpcc_pred_id_a":0.306307584,"mpcc_pred_iq_a":-0.87217474,"mpcc_state":1,"mpcc_theta_e":0.42699337,"mpcc_theta_mech":0.552344561,"sam_rpm":-26.7807713,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224891305,"thr_a_norm":0.0224891305,"thr_a_v":0.589956522,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.84075,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.31354666,"cg_iw_a":-1.82799864,"cg_theta_rad":0.556113482,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0030026224,"mpcc_du":50.4194908,"mpcc_dv":48.4122658,"mpcc_dw":51.5877342,"mpcc_enc_sign":1,"mpcc_id_a":0.882192373,"mpcc_iq_a":-1.09107661,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.1538057,"mpcc_pred_id_a":-0.0138044944,"mpcc_pred_iq_a":-1.56221223,"mpcc_state":1,"mpcc_theta_e":0.430233002,"mpcc_theta_mech":0.552992523,"sam_rpm":-18.3675766,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0229926705,"thr_a_norm":0.0224891305,"thr_a_v":0.591970682,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482146949,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.865988,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.733645439,"cg_iw_a":-0.81317091,"cg_theta_rad":0.557483494,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0455928668,"mpcc_du":50.4415703,"mpcc_dv":48.4068108,"mpcc_dw":51.5931892,"mpcc_enc_sign":1,"mpcc_id_a":2.09004307,"mpcc_iq_a":-0.730297923,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.1946764,"mpcc_pred_id_a":0.0981603265,"mpcc_pred_iq_a":-2.90303397,"mpcc_state":1,"mpcc_theta_e":0.451666832,"mpcc_theta_mech":0.557279289,"sam_rpm":-5.76487303,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0229926705,"thr_a_norm":0.0229926705,"thr_a_v":0.591970682,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482146949,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.872488,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.09608364,"cg_iw_a":0.491606712,"cg_theta_rad":0.554237664,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0556356795,"mpcc_du":49.4754715,"mpcc_dv":49.4613724,"mpcc_dw":50.5386276,"mpcc_enc_sign":1,"mpcc_id_a":3.26413608,"mpcc_iq_a":-0.136322722,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.00789356,"mpcc_pred_id_a":0.469957739,"mpcc_pred_iq_a":-3.28907681,"mpcc_state":1,"mpcc_theta_e":0.451468468,"mpcc_theta_mech":0.557239652,"sam_rpm":12.069108,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210162401,"thr_a_norm":0.0210162401,"thr_a_v":0.58406496,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470817119,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.87908,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.733645439,"cg_iw_a":-2.40789986,"cg_theta_rad":0.553743958,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0579370297,"mpcc_du":49.6041031,"mpcc_dv":49.4329567,"mpcc_dw":50.5670433,"mpcc_enc_sign":1,"mpcc_id_a":2.46803427,"mpcc_iq_a":-0.784711659,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.0642214,"mpcc_pred_id_a":0.13464649,"mpcc_pred_iq_a":-3.94635034,"mpcc_state":1,"mpcc_theta_e":0.455385685,"mpcc_theta_mech":0.558023095,"sam_rpm":15.8938828,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210162401,"thr_a_norm":0.0210162401,"thr_a_v":0.58406496,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470817119,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.88555,"values":{"cg_iu_a":2.5616436,"cg_iv_a":0.136206627,"cg_iw_a":1.07150817,"cg_theta_rad":0.55637747,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0297103636,"mpcc_du":49.8261795,"mpcc_dv":48.9411125,"mpcc_dw":51.0588875,"mpcc_enc_sign":1,"mpcc_id_a":3.16799808,"mpcc_iq_a":-0.990299165,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.25994754,"mpcc_pred_id_a":0.643069983,"mpcc_pred_iq_a":-1.63989091,"mpcc_state":1,"mpcc_theta_e":0.443352699,"mpcc_theta_mech":0.555616498,"sam_rpm":1.27734172,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0331769288,"thr_a_norm":0.0331769288,"thr_a_v":0.632707715,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.893789,"values":{"cg_iu_a":1.32935333,"cg_iv_a":0.281181812,"cg_iw_a":-1.61053514,"cg_theta_rad":0.556333184,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0209938176,"mpcc_du":49.1900711,"mpcc_dv":50.8099289,"mpcc_dw":50.087574,"mpcc_enc_sign":1,"mpcc_id_a":2.53740549,"mpcc_iq_a":-0.459686607,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.42108583,"mpcc_pred_id_a":0.277422011,"mpcc_pred_iq_a":-6.46694326,"mpcc_state":1,"mpcc_theta_e":0.443532467,"mpcc_theta_mech":0.55565238,"sam_rpm":4.39175558,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176173002,"thr_a_norm":0.0331769288,"thr_a_v":0.570469201,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.435870886,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.903769,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-1.09608364,"cg_iw_a":-2.26292467,"cg_theta_rad":0.557224572,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5005,"hz_app_loop":362,"hz_tim_isr":10010,"hz_vsense":362,"mpcc_cost":0.0506750755,"mpcc_du":50.340065,"mpcc_dv":48.4757385,"mpcc_dw":51.5242615,"mpcc_enc_sign":1,"mpcc_id_a":2.23877048,"mpcc_iq_a":-0.415307194,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.550126016,"mpcc_pred_id_a":0.142034099,"mpcc_pred_iq_a":-1.44474566,"mpcc_state":1,"mpcc_theta_e":0.44551754,"mpcc_theta_mech":0.556049407,"sam_rpm":2.1987884,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176173002,"thr_a_norm":0.0176173002,"thr_a_v":0.570469201,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.435870886,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.914541,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.878620625,"cg_iw_a":-1.39307261,"cg_theta_rad":0.555206537,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.00320681208,"mpcc_du":49.9785614,"mpcc_dv":48.9186287,"mpcc_dw":51.0813713,"mpcc_enc_sign":1,"mpcc_id_a":1.05180585,"mpcc_iq_a":-0.717996895,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.68882751,"mpcc_pred_id_a":0.08479435,"mpcc_pred_iq_a":-0.864072502,"mpcc_state":1,"mpcc_theta_e":0.437146664,"mpcc_theta_mech":0.553884149,"sam_rpm":-3.66052723,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0130098313,"thr_a_norm":0.0130098313,"thr_a_v":0.552039325,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456818491,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.924582,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-0.443694592,"cg_iw_a":-3.35023952,"cg_theta_rad":0.557852864,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.00430872804,"mpcc_du":50.4230843,"mpcc_dv":48.5079575,"mpcc_dw":51.4920425,"mpcc_enc_sign":1,"mpcc_id_a":1.23724568,"mpcc_iq_a":-0.838986576,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.6188507,"mpcc_pred_id_a":-0.317424744,"mpcc_pred_iq_a":-1.5526998,"mpcc_state":1,"mpcc_theta_e":0.429862499,"mpcc_theta_mech":0.552918375,"sam_rpm":-19.0977974,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0130098313,"thr_a_norm":0.0130098313,"thr_a_v":0.552039325,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456818491,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.934744,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.733645439,"cg_iw_a":-0.668195724,"cg_theta_rad":0.555876553,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0115538519,"mpcc_du":49.5269394,"mpcc_dv":48.3520355,"mpcc_dw":51.6479645,"mpcc_enc_sign":1,"mpcc_id_a":1.49068642,"mpcc_iq_a":-1.79429996,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.2547092,"mpcc_pred_id_a":0.121621974,"mpcc_pred_iq_a":-3.44598341,"mpcc_state":1,"mpcc_theta_e":0.454127789,"mpcc_theta_mech":0.557771444,"sam_rpm":18.5979786,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0324341953,"thr_a_norm":0.0324341953,"thr_a_v":0.629736781,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.944967,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.09608364,"cg_iw_a":0.491606712,"cg_theta_rad":0.554244816,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0114737088,"mpcc_du":49.549427,"mpcc_dv":49.7898254,"mpcc_dw":50.450573,"mpcc_enc_sign":1,"mpcc_id_a":0.242279366,"mpcc_iq_a":-3.11638951,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.19201529,"mpcc_pred_id_a":-0.0980455652,"mpcc_pred_iq_a":-3.09624505,"mpcc_state":1,"mpcc_theta_e":0.44008112,"mpcc_theta_mech":0.554962158,"sam_rpm":0.978279233,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0286575854,"thr_a_norm":0.0324341953,"thr_a_v":0.614630342,"thr_b":0.00516709685,"thr_b_norm":0,"thr_b_v":0.520668387,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.968161,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.09608364,"cg_iw_a":0.999020576,"cg_theta_rad":0.553643167,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0263996944,"mpcc_du":50.8600388,"mpcc_dv":47.6973991,"mpcc_dw":52.3026009,"mpcc_enc_sign":1,"mpcc_id_a":3.12517977,"mpcc_iq_a":-0.383480877,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.60404968,"mpcc_pred_id_a":0.461020112,"mpcc_pred_iq_a":2.44491315,"mpcc_state":1,"mpcc_theta_e":0.434137344,"mpcc_theta_mech":0.557229519,"sam_rpm":-12.9983206,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0286575854,"thr_a_norm":0.0286575854,"thr_a_v":0.614630342,"thr_b":0.00516709685,"thr_b_norm":0.00516709685,"thr_b_v":0.520668387,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.974722,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.0087685585,"cg_iw_a":-1.90048599,"cg_theta_rad":0.552977085,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.000957845361,"mpcc_du":49.5038376,"mpcc_dv":50.4961624,"mpcc_dw":50.0654907,"mpcc_enc_sign":1,"mpcc_id_a":-0.241994768,"mpcc_iq_a":-2.28505349,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.35943294,"mpcc_pred_id_a":-0.675113678,"mpcc_pred_iq_a":-6.62688446,"mpcc_state":1,"mpcc_theta_e":0.437744617,"mpcc_theta_mech":0.554494858,"sam_rpm":-4.06579304,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103585482,"thr_a_norm":0.103585482,"thr_a_v":0.914341927,"thr_b":0.0511661768,"thr_b_norm":0.0511661768,"thr_b_v":0.704664707,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.981222,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.82096052,"cg_iw_a":-0.668195724,"cg_theta_rad":0.555695236,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.000306462258,"mpcc_du":49.8593369,"mpcc_dv":49.1747894,"mpcc_dw":50.8252106,"mpcc_enc_sign":1,"mpcc_id_a":-0.345141947,"mpcc_iq_a":-2.00423455,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.40214777,"mpcc_pred_id_a":-0.598182082,"mpcc_pred_iq_a":-2.52269268,"mpcc_state":1,"mpcc_theta_e":0.439926147,"mpcc_theta_mech":0.554931104,"sam_rpm":-11.1707945,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103585482,"thr_a_norm":0.103585482,"thr_a_v":0.914341927,"thr_b":0.0511661768,"thr_b_norm":0.0511661768,"thr_b_v":0.704664707,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.987753,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.588670254,"cg_iw_a":-1.17560911,"cg_theta_rad":0.557543099,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.00054405292,"mpcc_du":49.7919044,"mpcc_dv":49.424263,"mpcc_dw":50.575737,"mpcc_enc_sign":1,"mpcc_id_a":-0.344564676,"mpcc_iq_a":-2.14671755,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.79607344,"mpcc_pred_id_a":-0.467155367,"mpcc_pred_iq_a":-3.99473763,"mpcc_state":1,"mpcc_theta_e":0.440886021,"mpcc_theta_mech":0.555123091,"sam_rpm":-2.61582208,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0146589577,"thr_a_norm":0.0146589577,"thr_a_v":0.558635831,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":14.996267,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.25588632,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556360364,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.000928685302,"mpcc_du":49.5555038,"mpcc_dv":49.9079399,"mpcc_dw":50.4444962,"mpcc_enc_sign":1,"mpcc_id_a":0.394481421,"mpcc_iq_a":-1.43072617,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.07578206,"mpcc_pred_id_a":-0.655696332,"mpcc_pred_iq_a":-4.02843618,"mpcc_state":1,"mpcc_theta_e":0.440536976,"mpcc_theta_mech":0.552452207,"sam_rpm":14.5442686,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238487124,"thr_a_norm":0.0146589577,"thr_a_v":0.59539485,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474694431,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.006124,"values":{"cg_iu_a":-0.70030117,"cg_iv_a":-1.24105906,"cg_iw_a":-0.160782099,"cg_theta_rad":0.553068399,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0189190693,"mpcc_du":49.7047081,"mpcc_dv":49.2096558,"mpcc_dw":50.7903442,"mpcc_enc_sign":1,"mpcc_id_a":2.05759645,"mpcc_iq_a":-0.795111477,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.79674292,"mpcc_pred_id_a":0.48829931,"mpcc_pred_iq_a":-1.11534405,"mpcc_state":1,"mpcc_theta_e":0.446561337,"mpcc_theta_mech":0.556258142,"sam_rpm":12.4486465,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238487124,"thr_a_norm":0.0238487124,"thr_a_v":0.59539485,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474694431,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.016317,"values":{"cg_iu_a":0.821939945,"cg_iv_a":0.136206627,"cg_iw_a":-2.77033806,"cg_theta_rad":0.554429471,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.00165749248,"mpcc_du":50.4797211,"mpcc_dv":48.4864235,"mpcc_dw":51.5135765,"mpcc_enc_sign":1,"mpcc_id_a":0.619857788,"mpcc_iq_a":-1.48111677,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.87763977,"mpcc_pred_id_a":-0.135994717,"mpcc_pred_iq_a":-1.39838135,"mpcc_state":1,"mpcc_theta_e":0.433236122,"mpcc_theta_mech":0.553593099,"sam_rpm":-14.1976967,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235213935,"thr_a_norm":0.0235213935,"thr_a_v":0.594085574,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473083079,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.026205,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.45852208,"cg_iw_a":0.999020815,"cg_theta_rad":0.556712806,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0286045708,"mpcc_du":50.1043282,"mpcc_dv":48.7194099,"mpcc_dw":51.2805901,"mpcc_enc_sign":1,"mpcc_id_a":2.85276008,"mpcc_iq_a":-0.626541436,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.61504745,"mpcc_pred_id_a":0.421734244,"mpcc_pred_iq_a":-2.72469091,"mpcc_state":1,"mpcc_theta_e":0.434240341,"mpcc_theta_mech":0.553793967,"sam_rpm":-12.8454742,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235213935,"thr_a_norm":0.0235213935,"thr_a_v":0.594085574,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473083079,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.036551,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-3.99559045,"cg_iw_a":2.59374928,"cg_theta_rad":0.556101084,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0163373705,"mpcc_du":50.1975822,"mpcc_dv":48.4782143,"mpcc_dw":51.5217857,"mpcc_enc_sign":1,"mpcc_id_a":2.54232979,"mpcc_iq_a":-0.431621343,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.97452831,"mpcc_pred_id_a":0.718707681,"mpcc_pred_iq_a":0.0172774177,"mpcc_state":1,"mpcc_theta_e":0.432482719,"mpcc_theta_mech":0.553442478,"sam_rpm":-12.4992552,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199336261,"thr_a_norm":0.0199336261,"thr_a_v":0.579734504,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474895835,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.046743,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.74847269,"cg_iw_a":-0.740683556,"cg_theta_rad":0.553471565,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0995360762,"mpcc_du":50.3332481,"mpcc_dv":48.4122925,"mpcc_dw":51.5877075,"mpcc_enc_sign":1,"mpcc_id_a":3.02536869,"mpcc_iq_a":-0.286239922,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.73806739,"mpcc_pred_id_a":0.592795312,"mpcc_pred_iq_a":-3.4171443,"mpcc_state":1,"mpcc_theta_e":0.447244167,"mpcc_theta_mech":0.557373524,"sam_rpm":-2.52031374,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0268196315,"thr_a_norm":0.0199336261,"thr_a_v":0.607278526,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488944858,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.06954,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.53100967,"cg_iw_a":0.636582375,"cg_theta_rad":0.557040274,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.034621615,"mpcc_du":50.0193787,"mpcc_dv":48.9054222,"mpcc_dw":51.0945778,"mpcc_enc_sign":1,"mpcc_id_a":2.67828894,"mpcc_iq_a":-0.673049092,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.22691751,"mpcc_pred_id_a":0.372645766,"mpcc_pred_iq_a":-1.79227936,"mpcc_state":1,"mpcc_theta_e":0.446010113,"mpcc_theta_mech":0.556147933,"sam_rpm":3.58960056,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0268196315,"thr_a_norm":0.0268196315,"thr_a_v":0.607278526,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488944858,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.076071,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.38603449,"cg_iw_a":0.491607189,"cg_theta_rad":0.555318773,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0105723515,"mpcc_du":50.8173981,"mpcc_dv":47.8596802,"mpcc_dw":52.1403198,"mpcc_enc_sign":1,"mpcc_id_a":1.84370768,"mpcc_iq_a":-1.59338629,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.6850543,"mpcc_pred_id_a":0.421790212,"mpcc_pred_iq_a":1.10721123,"mpcc_state":1,"mpcc_theta_e":0.436061382,"mpcc_theta_mech":0.554158151,"sam_rpm":-10.9825191,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185992122,"thr_a_norm":0.0185992122,"thr_a_v":0.574396849,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.082693,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.516182423,"cg_iw_a":0.0566811562,"cg_theta_rad":0.556830764,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.00689409301,"mpcc_du":51.186203,"mpcc_dv":47.2779274,"mpcc_dw":52.7220726,"mpcc_enc_sign":1,"mpcc_id_a":1.64333737,"mpcc_iq_a":-0.647940397,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.3337975,"mpcc_pred_id_a":0.528357863,"mpcc_pred_iq_a":3.10813475,"mpcc_state":1,"mpcc_theta_e":0.425272942,"mpcc_theta_mech":0.552000463,"sam_rpm":-24.4645767,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185992122,"thr_a_norm":0.0185992122,"thr_a_v":0.574396849,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.089132,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.02359605,"cg_iw_a":-1.39307237,"cg_theta_rad":0.552669644,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0192634091,"mpcc_du":51.1657639,"mpcc_dv":47.3023262,"mpcc_dw":52.6976738,"mpcc_enc_sign":1,"mpcc_id_a":2.75486541,"mpcc_iq_a":-1.1799382,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-23.3535023,"mpcc_pred_id_a":0.495233148,"mpcc_pred_iq_a":1.50591969,"mpcc_state":1,"mpcc_theta_e":0.419992447,"mpcc_theta_mech":0.556792021,"sam_rpm":-34.7691078,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025246039,"thr_a_norm":0.025246039,"thr_a_v":0.600984156,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499519348,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.099173,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.668195724,"cg_theta_rad":0.555309415,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0506814197,"mpcc_du":50.3204575,"mpcc_dv":48.4261818,"mpcc_dw":51.5738182,"mpcc_enc_sign":1,"mpcc_id_a":3.10615945,"mpcc_iq_a":-1.29000413,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.19446158,"mpcc_pred_id_a":0.452647477,"mpcc_pred_iq_a":-2.39725089,"mpcc_state":1,"mpcc_theta_e":0.444633007,"mpcc_theta_mech":0.5558725,"sam_rpm":-4.09448528,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280533284,"thr_a_norm":0.025246039,"thr_a_v":0.612213314,"thr_b":0.00312770903,"thr_b_norm":0,"thr_b_v":0.512510836,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.109182,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.89344811,"cg_iw_a":0.999020576,"cg_theta_rad":0.557294309,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0036851936,"mpcc_du":49.1078453,"mpcc_dv":50.8921547,"mpcc_dw":49.7539902,"mpcc_enc_sign":1,"mpcc_id_a":0.0508570597,"mpcc_iq_a":-1.45888543,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.9531631,"mpcc_pred_id_a":-0.237339854,"mpcc_pred_iq_a":-2.68528676,"mpcc_state":1,"mpcc_theta_e":0.44737339,"mpcc_theta_mech":0.556420624,"sam_rpm":21.1439686,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280533284,"thr_a_norm":0.0280533284,"thr_a_v":0.612213314,"thr_b":0.00312770903,"thr_b_norm":0.00312770903,"thr_b_v":0.512510836,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.119345,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-1.82096052,"cg_iw_a":-1.24809694,"cg_theta_rad":0.552506328,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.031141581,"mpcc_du":49.6947899,"mpcc_dv":49.2793045,"mpcc_dw":50.7206955,"mpcc_enc_sign":1,"mpcc_id_a":2.52886915,"mpcc_iq_a":-1.4886595,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.410527736,"mpcc_pred_id_a":0.275978833,"mpcc_pred_iq_a":-4.65345955,"mpcc_state":1,"mpcc_theta_e":0.447759151,"mpcc_theta_mech":0.55528605,"sam_rpm":0.421484977,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0293625593,"thr_a_norm":0.0293625593,"thr_a_v":0.617450237,"thr_b":0.00379492342,"thr_b_norm":0.00379492342,"thr_b_v":0.515179694,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.131552,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.443694592,"cg_iw_a":-2.40789986,"cg_theta_rad":0.557015836,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0297035631,"mpcc_du":50.5970039,"mpcc_dv":48.4099236,"mpcc_dw":51.5900764,"mpcc_enc_sign":1,"mpcc_id_a":0.293081164,"mpcc_iq_a":-0.786156476,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.41040123,"mpcc_pred_id_a":-0.284767836,"mpcc_pred_iq_a":-1.54477835,"mpcc_state":1,"mpcc_theta_e":0.447628498,"mpcc_theta_mech":0.556471646,"sam_rpm":-1.77545166,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179446042,"thr_a_norm":0.0293625593,"thr_a_v":0.571778417,"thr_b":0,"thr_b_norm":0.00379492342,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.141409,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.96593571,"cg_iw_a":0.854045391,"cg_theta_rad":0.553494096,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0575179048,"mpcc_du":50.2321701,"mpcc_dv":48.9186249,"mpcc_dw":51.0813751,"mpcc_enc_sign":1,"mpcc_id_a":0.592240691,"mpcc_iq_a":-0.330090195,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.76357651,"mpcc_pred_id_a":-0.402018368,"mpcc_pred_iq_a":-2.3593657,"mpcc_state":1,"mpcc_theta_e":0.45271349,"mpcc_theta_mech":0.55748862,"sam_rpm":11.8868494,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179446042,"thr_a_norm":0.0179446042,"thr_a_v":0.571778417,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.151632,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.878620625,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556492209,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0265177228,"mpcc_du":50.3764343,"mpcc_dv":48.5839081,"mpcc_dw":51.4160919,"mpcc_enc_sign":1,"mpcc_id_a":3.17496705,"mpcc_iq_a":-1.48239708,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.88038254,"mpcc_pred_id_a":0.374733955,"mpcc_pred_iq_a":-5.35127401,"mpcc_state":1,"mpcc_theta_e":0.437979698,"mpcc_theta_mech":0.554541826,"sam_rpm":-14.175108,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176928341,"thr_a_norm":0.0176928341,"thr_a_v":0.570771337,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.174795,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.38603449,"cg_iw_a":-1.61053538,"cg_theta_rad":0.556631327,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0198622625,"mpcc_du":49.3657494,"mpcc_dv":50.6342506,"mpcc_dw":49.963253,"mpcc_enc_sign":1,"mpcc_id_a":0.703124404,"mpcc_iq_a":-1.26577115,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.72171402,"mpcc_pred_id_a":-0.4234761,"mpcc_pred_iq_a":-6.86198664,"mpcc_state":1,"mpcc_theta_e":0.450821877,"mpcc_theta_mech":0.55711031,"sam_rpm":13.2202358,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176928341,"thr_a_norm":0.0176928341,"thr_a_v":0.570771337,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.181295,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.60349751,"cg_iw_a":-1.17560911,"cg_theta_rad":0.553997338,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.00345927733,"mpcc_du":50.0564461,"mpcc_dv":48.9639893,"mpcc_dw":51.0360107,"mpcc_enc_sign":1,"mpcc_id_a":-0.190470487,"mpcc_iq_a":-1.47920072,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.60381901,"mpcc_pred_id_a":-0.0811207145,"mpcc_pred_iq_a":-2.25300026,"mpcc_state":1,"mpcc_theta_e":0.441254139,"mpcc_theta_mech":0.555196702,"sam_rpm":-2.3056109,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.045979619,"thr_a_norm":0.045979619,"thr_a_v":0.683918476,"thr_b":0.0131735057,"thr_b_norm":0.0131735057,"thr_b_v":0.552694023,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.187826,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.74847269,"cg_iw_a":-0.668195724,"cg_theta_rad":0.554556012,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.032967519,"mpcc_du":49.6346436,"mpcc_dv":49.5230446,"mpcc_dw":50.4769554,"mpcc_enc_sign":1,"mpcc_id_a":1.66201282,"mpcc_iq_a":-0.616275907,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.39138508,"mpcc_pred_id_a":-0.110541873,"mpcc_pred_iq_a":-3.45477176,"mpcc_state":1,"mpcc_theta_e":0.451967716,"mpcc_theta_mech":0.557339489,"sam_rpm":13.2217054,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.045979619,"thr_a_norm":0.045979619,"thr_a_v":0.683918476,"thr_b":0.0131735057,"thr_b_norm":0.0131735057,"thr_b_v":0.552694023,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.194326,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.45852208,"cg_iw_a":0.926532984,"cg_theta_rad":0.557304144,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0290872436,"mpcc_du":50.3447189,"mpcc_dv":48.6981468,"mpcc_dw":51.3018532,"mpcc_enc_sign":1,"mpcc_id_a":0.436544001,"mpcc_iq_a":-0.485644996,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.52726364,"mpcc_pred_id_a":-0.205270469,"mpcc_pred_iq_a":-3.46795917,"mpcc_state":1,"mpcc_theta_e":0.450620174,"mpcc_theta_mech":0.557069957,"sam_rpm":0.758398056,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0300927013,"thr_a_norm":0.0300927013,"thr_a_v":0.620370805,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457724869,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.204458,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.96593571,"cg_iw_a":-0.450732708,"cg_theta_rad":0.557334125,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0517555624,"mpcc_du":50.4087639,"mpcc_dv":48.5670509,"mpcc_dw":51.4329491,"mpcc_enc_sign":1,"mpcc_id_a":1.06079614,"mpcc_iq_a":0.150933653,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.41966963,"mpcc_pred_id_a":-0.126660183,"mpcc_pred_iq_a":-2.48944378,"mpcc_state":1,"mpcc_theta_e":0.441767216,"mpcc_theta_mech":0.555299401,"sam_rpm":-3.80239558,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203868151,"thr_a_norm":0.0300927013,"thr_a_v":0.58154726,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.214193,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.38603449,"cg_iw_a":-1.32058477,"cg_theta_rad":0.555791795,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.03377432,"mpcc_du":50.0929642,"mpcc_dv":48.7392693,"mpcc_dw":51.2607307,"mpcc_enc_sign":1,"mpcc_id_a":2.82784724,"mpcc_iq_a":-0.855630875,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.0052719,"mpcc_pred_id_a":0.35881117,"mpcc_pred_iq_a":-4.35863209,"mpcc_state":1,"mpcc_theta_e":0.437336445,"mpcc_theta_mech":0.554413199,"sam_rpm":-17.1511173,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203868151,"thr_a_norm":0.0203868151,"thr_a_v":0.58154726,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.224722,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.661157608,"cg_iw_a":-1.75551081,"cg_theta_rad":0.55508548,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0241203941,"mpcc_du":50.5629768,"mpcc_dv":48.2519417,"mpcc_dw":51.7480583,"mpcc_enc_sign":1,"mpcc_id_a":0.934015214,"mpcc_iq_a":-0.799848676,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.1788912,"mpcc_pred_id_a":0.0686269477,"mpcc_pred_iq_a":-2.68125176,"mpcc_state":1,"mpcc_theta_e":0.435854912,"mpcc_theta_mech":0.554116905,"sam_rpm":-15.9384613,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261272639,"thr_a_norm":0.0261272639,"thr_a_v":0.604509056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490153342,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.23464,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.74847269,"cg_iw_a":-1.03063393,"cg_theta_rad":0.556282222,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.012521863,"mpcc_du":49.6867104,"mpcc_dv":49.3646736,"mpcc_dw":50.6353264,"mpcc_enc_sign":1,"mpcc_id_a":0.0118192974,"mpcc_iq_a":-1.75435984,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.87816143,"mpcc_pred_id_a":-0.0892588794,"mpcc_pred_iq_a":-1.19803047,"mpcc_state":1,"mpcc_theta_e":0.434639454,"mpcc_theta_mech":0.553873777,"sam_rpm":-4.81510735,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261272639,"thr_a_norm":0.0261272639,"thr_a_v":0.604509056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490153342,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.244558,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.74847269,"cg_iw_a":-0.595707893,"cg_theta_rad":0.557319164,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0704399943,"mpcc_du":50.2650986,"mpcc_dv":48.6676369,"mpcc_dw":51.3323631,"mpcc_enc_sign":1,"mpcc_id_a":1.10368621,"mpcc_iq_a":-0.438555628,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.4397397,"mpcc_pred_id_a":0.0219940618,"mpcc_pred_iq_a":-2.31771946,"mpcc_state":1,"mpcc_theta_e":0.452191353,"mpcc_theta_mech":0.557384193,"sam_rpm":10.2462101,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0434367061,"thr_a_norm":0.0434367061,"thr_a_v":0.673746824,"thr_b":0.00928358734,"thr_b_norm":0.00928358734,"thr_b_v":0.537134349,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.254934,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.298719406,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556275785,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0313481912,"mpcc_du":50.3557091,"mpcc_dv":48.4422417,"mpcc_dw":51.5577583,"mpcc_enc_sign":1,"mpcc_id_a":1.77730429,"mpcc_iq_a":-2.45714021,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.1927662,"mpcc_pred_id_a":0.0944638699,"mpcc_pred_iq_a":-0.231799051,"mpcc_state":1,"mpcc_theta_e":0.426202297,"mpcc_theta_mech":0.55218637,"sam_rpm":-23.5152111,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221869946,"thr_a_norm":0.0434367061,"thr_a_v":0.588747978,"thr_b":0,"thr_b_norm":0.00928358734,"thr_b_v":0.477010757,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.277945,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.32837415,"cg_iw_a":-1.17560935,"cg_theta_rad":0.556553841,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0408086665,"mpcc_du":49.5556831,"mpcc_dv":49.4699936,"mpcc_dw":50.5300064,"mpcc_enc_sign":1,"mpcc_id_a":2.04307365,"mpcc_iq_a":-0.661058247,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.53313255,"mpcc_pred_id_a":0.15016377,"mpcc_pred_iq_a":-3.87072206,"mpcc_state":1,"mpcc_theta_e":0.451692581,"mpcc_theta_mech":0.557284474,"sam_rpm":12.0645723,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221869946,"thr_a_norm":0.0221869946,"thr_a_v":0.588747978,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477010757,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.284536,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.371207237,"cg_iw_a":-0.305757046,"cg_theta_rad":0.555141211,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0214781035,"mpcc_du":50.081028,"mpcc_dv":49.3000565,"mpcc_dw":50.6999435,"mpcc_enc_sign":1,"mpcc_id_a":1.83661377,"mpcc_iq_a":-0.580700636,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.65184832,"mpcc_pred_id_a":-0.137493387,"mpcc_pred_iq_a":-3.06154275,"mpcc_state":1,"mpcc_theta_e":0.439094543,"mpcc_theta_mech":0.553694427,"sam_rpm":-6.80046511,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277260244,"thr_a_norm":0.0277260244,"thr_a_v":0.610904098,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495138496,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.291037,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-2.32837415,"cg_iw_a":-0.523220301,"cg_theta_rad":0.556860447,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.00904840603,"mpcc_du":49.9054108,"mpcc_dv":49.1266289,"mpcc_dw":50.8733711,"mpcc_enc_sign":1,"mpcc_id_a":0.38639909,"mpcc_iq_a":-1.58025503,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.8129139,"mpcc_pred_id_a":-0.0266154967,"mpcc_pred_iq_a":-0.757102907,"mpcc_state":1,"mpcc_theta_e":0.45328331,"mpcc_theta_mech":0.557602584,"sam_rpm":17.8709564,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277260244,"thr_a_norm":0.0277260244,"thr_a_v":0.610904098,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495138496,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.297537,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.443694592,"cg_iw_a":-2.33541203,"cg_theta_rad":0.552251697,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0109458715,"mpcc_du":50.587738,"mpcc_dv":48.2567215,"mpcc_dw":51.7432785,"mpcc_enc_sign":1,"mpcc_id_a":1.69470239,"mpcc_iq_a":-2.05813932,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.78820777,"mpcc_pred_id_a":0.129749924,"mpcc_pred_iq_a":1.22717011,"mpcc_state":1,"mpcc_theta_e":0.445949078,"mpcc_theta_mech":0.556135714,"sam_rpm":6.22017097,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.0167864412,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485772491,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.305777,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.806133032,"cg_iw_a":-1.46555996,"cg_theta_rad":0.554083884,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.00198204862,"mpcc_du":49.7341347,"mpcc_dv":49.4863205,"mpcc_dw":50.5136795,"mpcc_enc_sign":1,"mpcc_id_a":-0.302412957,"mpcc_iq_a":-2.58089304,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.96672153,"mpcc_pred_id_a":-0.407787621,"mpcc_pred_iq_a":-3.82369518,"mpcc_state":1,"mpcc_theta_e":0.438476086,"mpcc_theta_mech":0.554641128,"sam_rpm":-4.88411331,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024818033,"thr_a_norm":0.0167864412,"thr_a_v":0.599272132,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491512954,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.31777,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.02359605,"cg_iw_a":-1.39307237,"cg_theta_rad":0.556453764,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0204532444,"mpcc_du":49.7149734,"mpcc_dv":49.2967606,"mpcc_dw":50.7032394,"mpcc_enc_sign":1,"mpcc_id_a":2.20157933,"mpcc_iq_a":-1.66446185,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.50740433,"mpcc_pred_id_a":0.201761231,"mpcc_pred_iq_a":-2.63320422,"mpcc_state":1,"mpcc_theta_e":0.450425625,"mpcc_theta_mech":0.558058858,"sam_rpm":10.7933874,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024818033,"thr_a_norm":0.024818033,"thr_a_v":0.599272132,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491512954,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.327963,"values":{"cg_iu_a":-0.627813578,"cg_iv_a":-1.6759851,"cg_iw_a":2.30379868,"cg_theta_rad":0.55761224,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0621595904,"mpcc_du":50.1817627,"mpcc_dv":48.6228638,"mpcc_dw":51.3771362,"mpcc_enc_sign":1,"mpcc_id_a":2.91506195,"mpcc_iq_a":-0.522273839,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.94622278,"mpcc_pred_id_a":0.416194201,"mpcc_pred_iq_a":-1.45691645,"mpcc_state":1,"mpcc_theta_e":0.450545788,"mpcc_theta_mech":0.557055116,"sam_rpm":8.27138996,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271343589,"thr_a_norm":0.0271343589,"thr_a_v":0.608537436,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494937062,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.338247,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.82096052,"cg_iw_a":-0.0882940292,"cg_theta_rad":0.555481374,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0172081105,"mpcc_du":50.7819633,"mpcc_dv":47.9450226,"mpcc_dw":52.0549774,"mpcc_enc_sign":1,"mpcc_id_a":0.950847864,"mpcc_iq_a":-1.09618211,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.62750316,"mpcc_pred_id_a":-0.534868896,"mpcc_pred_iq_a":-2.16052604,"mpcc_state":1,"mpcc_theta_e":0.443705082,"mpcc_theta_mech":0.556587875,"sam_rpm":-3.82999516,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151750892,"thr_a_norm":0.0271343589,"thr_a_v":0.560700357,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474543363,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.350119,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.82096052,"cg_iw_a":-0.958146095,"cg_theta_rad":0.55534786,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0473900661,"mpcc_du":49.7090263,"mpcc_dv":48.871376,"mpcc_dw":51.128624,"mpcc_enc_sign":1,"mpcc_id_a":4.33947945,"mpcc_iq_a":-0.879607797,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.80378866,"mpcc_pred_id_a":1.19406044,"mpcc_pred_iq_a":-1.19886959,"mpcc_state":1,"mpcc_theta_e":0.439489365,"mpcc_theta_mech":0.554843783,"sam_rpm":-3.88421369,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151750892,"thr_a_norm":0.0151750892,"thr_a_v":0.560700357,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474543363,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.372396,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-0.516182423,"cg_iw_a":-4.14760351,"cg_theta_rad":0.555528045,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.00841045287,"mpcc_du":51.2932434,"mpcc_dv":47.3435593,"mpcc_dw":52.6564407,"mpcc_enc_sign":1,"mpcc_id_a":-0.162688151,"mpcc_iq_a":-0.243488416,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.4925652,"mpcc_pred_id_a":-0.159651399,"mpcc_pred_iq_a":0.901072979,"mpcc_state":1,"mpcc_theta_e":0.42468071,"mpcc_theta_mech":0.551882029,"sam_rpm":-28.8206291,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188887715,"thr_a_norm":0.0188887715,"thr_a_v":0.575555086,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466436267,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.378866,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.53100967,"cg_iw_a":-0.378244877,"cg_theta_rad":0.555140018,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0124868499,"mpcc_du":50.0703011,"mpcc_dv":48.8559723,"mpcc_dw":51.1440277,"mpcc_enc_sign":1,"mpcc_id_a":1.19108307,"mpcc_iq_a":-1.08727515,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.4070196,"mpcc_pred_id_a":-0.332609713,"mpcc_pred_iq_a":-4.95445871,"mpcc_state":1,"mpcc_theta_e":0.453012943,"mpcc_theta_mech":0.557548523,"sam_rpm":6.51580858,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0188887715,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483959705,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.385397,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.588670254,"cg_iw_a":0.0566811562,"cg_theta_rad":0.555784583,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.00338750333,"mpcc_du":49.6398277,"mpcc_dv":50.2003365,"mpcc_dw":50.3601723,"mpcc_enc_sign":1,"mpcc_id_a":0.390460253,"mpcc_iq_a":-0.923133135,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.65543509,"mpcc_pred_id_a":-0.397985399,"mpcc_pred_iq_a":-4.42217827,"mpcc_state":1,"mpcc_theta_e":0.444471836,"mpcc_theta_mech":0.555840254,"sam_rpm":5.10626507,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483959705,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.39327,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.60349751,"cg_iw_a":-1.32058477,"cg_theta_rad":0.553209007,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0489912815,"mpcc_du":49.7503891,"mpcc_dv":49.1495972,"mpcc_dw":50.8504028,"mpcc_enc_sign":1,"mpcc_id_a":3.31224489,"mpcc_iq_a":-0.186294213,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.30974936,"mpcc_pred_id_a":0.447450429,"mpcc_pred_iq_a":-2.56301761,"mpcc_state":1,"mpcc_theta_e":0.445637226,"mpcc_theta_mech":0.556073368,"sam_rpm":5.23400497,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0171389282,"thr_a_norm":0.0171389282,"thr_a_v":0.568555713,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447956055,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.403311,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.02359605,"cg_iw_a":-0.958146572,"cg_theta_rad":0.55656755,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0139586981,"mpcc_du":49.3184204,"mpcc_dv":50.6815796,"mpcc_dw":50.2204094,"mpcc_enc_sign":1,"mpcc_id_a":1.08986402,"mpcc_iq_a":-2.01810455,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.51293087,"mpcc_pred_id_a":0.0388630033,"mpcc_pred_iq_a":-2.19111061,"mpcc_state":1,"mpcc_theta_e":0.432802677,"mpcc_theta_mech":0.553506494,"sam_rpm":-14.4857187,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234332681,"thr_a_norm":0.0171389282,"thr_a_v":0.593733072,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.413321,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.02359605,"cg_iw_a":-1.39307237,"cg_theta_rad":0.552920282,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0340602063,"mpcc_du":49.3436508,"mpcc_dv":50.6563492,"mpcc_dw":50.3564339,"mpcc_enc_sign":1,"mpcc_id_a":3.40240502,"mpcc_iq_a":-1.84796107,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.13560915,"mpcc_pred_id_a":0.650152445,"mpcc_pred_iq_a":-3.47967553,"mpcc_state":1,"mpcc_theta_e":0.444536209,"mpcc_theta_mech":0.553428888,"sam_rpm":8.91064739,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234332681,"thr_a_norm":0.0234332681,"thr_a_v":0.593733072,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.423544,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.661157608,"cg_iw_a":-1.61053562,"cg_theta_rad":0.556291163,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0307657048,"mpcc_du":50.5920601,"mpcc_dv":50.1711349,"mpcc_dw":50.4861183,"mpcc_enc_sign":1,"mpcc_id_a":2.68573451,"mpcc_iq_a":-0.642695725,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.69091892,"mpcc_pred_id_a":0.417833507,"mpcc_pred_iq_a":-0.48225078,"mpcc_state":1,"mpcc_theta_e":0.43469286,"mpcc_theta_mech":0.553884447,"sam_rpm":-12.5968952,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179949552,"thr_a_norm":0.0179949552,"thr_a_v":0.571979821,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460997939,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.433523,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.82096052,"cg_iw_a":-0.668195724,"cg_theta_rad":0.553271472,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0195783656,"mpcc_du":49.2617874,"mpcc_dv":50.7382126,"mpcc_dw":50.0423088,"mpcc_enc_sign":1,"mpcc_id_a":2.73844981,"mpcc_iq_a":0.186862424,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.1951637,"mpcc_pred_id_a":0.348504275,"mpcc_pred_iq_a":-3.56079888,"mpcc_state":1,"mpcc_theta_e":0.425859928,"mpcc_theta_mech":0.552117944,"sam_rpm":19.755909,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179949552,"thr_a_norm":0.0179949552,"thr_a_v":0.571979821,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460997939,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.443533,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.878620625,"cg_iw_a":-2.69785023,"cg_theta_rad":0.556801319,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0191089958,"mpcc_du":49.5092163,"mpcc_dv":50.1849937,"mpcc_dw":50.4907837,"mpcc_enc_sign":1,"mpcc_id_a":2.03089809,"mpcc_iq_a":-1.87294161,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.91203976,"mpcc_pred_id_a":0.301092386,"mpcc_pred_iq_a":-2.92750716,"mpcc_state":1,"mpcc_theta_e":0.43869257,"mpcc_theta_mech":0.55468446,"sam_rpm":0.965427458,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027663067,"thr_a_norm":0.027663067,"thr_a_v":0.610652268,"thr_b":0.0012268275,"thr_b_norm":0.0012268275,"thr_b_v":0.50490731,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.453726,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.371207237,"cg_iw_a":-1.68302298,"cg_theta_rad":0.554409206,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.00235045771,"mpcc_du":49.4644775,"mpcc_dv":50.5355225,"mpcc_dw":50.142292,"mpcc_enc_sign":1,"mpcc_id_a":-0.0516665541,"mpcc_iq_a":-2.99248791,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.4202986,"mpcc_pred_id_a":-0.511977494,"mpcc_pred_iq_a":-3.89188719,"mpcc_state":1,"mpcc_theta_e":0.450647831,"mpcc_theta_mech":0.5570755,"sam_rpm":16.613451,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103258193,"thr_a_norm":0.027663067,"thr_a_v":0.91303277,"thr_b":0.0464705825,"thr_b_norm":0.0012268275,"thr_b_v":0.68588233,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.476797,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.443694592,"cg_iw_a":-0.160782099,"cg_theta_rad":0.556751013,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0376928188,"mpcc_du":49.6526985,"mpcc_dv":49.7698288,"mpcc_dw":50.3473015,"mpcc_enc_sign":1,"mpcc_id_a":0.11358878,"mpcc_iq_a":1.01765656,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.914891,"mpcc_pred_id_a":-0.631362021,"mpcc_pred_iq_a":-4.62744617,"mpcc_state":1,"mpcc_theta_e":0.447410583,"mpcc_theta_mech":0.556428075,"sam_rpm":4.05426836,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103258193,"thr_a_norm":0.103258193,"thr_a_v":0.91303277,"thr_b":0.0464705825,"thr_b_norm":0.0464705825,"thr_b_v":0.68588233,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.483297,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.60349751,"cg_iw_a":0.0566811562,"cg_theta_rad":0.557567894,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0224210713,"mpcc_du":49.9446297,"mpcc_dv":49.1758194,"mpcc_dw":50.8241806,"mpcc_enc_sign":1,"mpcc_id_a":-0.105969504,"mpcc_iq_a":0.564455092,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.45577741,"mpcc_pred_id_a":-0.3656573,"mpcc_pred_iq_a":-2.02879953,"mpcc_state":1,"mpcc_theta_e":0.443361759,"mpcc_theta_mech":0.555618227,"sam_rpm":3.57035065,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215072036,"thr_a_norm":0.0215072036,"thr_a_v":0.586028814,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.489828,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.878620625,"cg_iw_a":-2.33541203,"cg_theta_rad":0.553917646,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0302693285,"mpcc_du":49.4846115,"mpcc_dv":49.8881073,"mpcc_dw":50.5153885,"mpcc_enc_sign":1,"mpcc_id_a":1.87326384,"mpcc_iq_a":0.501086295,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.24865055,"mpcc_pred_id_a":0.377625704,"mpcc_pred_iq_a":-3.81422043,"mpcc_state":1,"mpcc_theta_e":0.445637226,"mpcc_theta_mech":0.556073368,"sam_rpm":7.67550659,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215072036,"thr_a_norm":0.0215072036,"thr_a_v":0.586028814,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.496328,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.25588632,"cg_iw_a":0.854045153,"cg_theta_rad":0.55619812,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0586908199,"mpcc_du":50.5420341,"mpcc_dv":48.2055092,"mpcc_dw":51.7944908,"mpcc_enc_sign":1,"mpcc_id_a":3.93234611,"mpcc_iq_a":-0.0713663623,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.8578968,"mpcc_pred_id_a":0.334269166,"mpcc_pred_iq_a":1.81303251,"mpcc_state":1,"mpcc_theta_e":0.447221756,"mpcc_theta_mech":0.556390285,"sam_rpm":7.50479507,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243018866,"thr_a_norm":0.0243018866,"thr_a_v":0.597207546,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.506338,"values":{"cg_iu_a":4.01139736,"cg_iv_a":1.51347208,"cg_iw_a":-5.52486944,"cg_theta_rad":0.553516269,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.112414248,"mpcc_du":49.7322502,"mpcc_dv":49.2385788,"mpcc_dw":50.7614212,"mpcc_enc_sign":1,"mpcc_id_a":2.95635796,"mpcc_iq_a":-0.619536042,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.0862913,"mpcc_pred_id_a":0.19932726,"mpcc_pred_iq_a":-3.9368968,"mpcc_state":1,"mpcc_theta_e":0.460015297,"mpcc_theta_mech":0.558948994,"sam_rpm":22.9237671,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196440816,"thr_a_norm":0.0243018866,"thr_a_v":0.578576326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.518148,"values":{"cg_iu_a":3.8664217,"cg_iv_a":-2.69081235,"cg_iw_a":-1.17560935,"cg_theta_rad":0.556530178,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0119254468,"mpcc_du":50.0751953,"mpcc_dv":49.2423248,"mpcc_dw":50.7576752,"mpcc_enc_sign":1,"mpcc_id_a":-1.09307182,"mpcc_iq_a":-2.21006036,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.51359749,"mpcc_pred_id_a":-0.917938471,"mpcc_pred_iq_a":0.154582962,"mpcc_state":1,"mpcc_theta_e":0.43987608,"mpcc_theta_mech":0.55492115,"sam_rpm":4.42866278,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196440816,"thr_a_norm":0.0196440816,"thr_a_v":0.578576326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.528341,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.60349751,"cg_iw_a":-0.958146095,"cg_theta_rad":0.555266798,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0225968789,"mpcc_du":50.7484436,"mpcc_dv":47.804348,"mpcc_dw":52.195652,"mpcc_enc_sign":1,"mpcc_id_a":2.10727,"mpcc_iq_a":0.190593004,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.8693876,"mpcc_pred_id_a":0.452494234,"mpcc_pred_iq_a":-0.19429034,"mpcc_state":1,"mpcc_theta_e":0.429254532,"mpcc_theta_mech":0.552796841,"sam_rpm":-22.6136112,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100765616,"thr_a_norm":0.100765616,"thr_a_v":0.903062463,"thr_b":0.0419764221,"thr_b_norm":0.0419764221,"thr_b_v":0.667905688,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.538534,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.806133032,"cg_iw_a":-0.523220539,"cg_theta_rad":0.553684115,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.000274595426,"mpcc_du":49.6406021,"mpcc_dv":50.6554184,"mpcc_dw":49.9546051,"mpcc_enc_sign":1,"mpcc_id_a":0.0468411371,"mpcc_iq_a":-0.804984391,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.16255331,"mpcc_pred_id_a":-0.427286386,"mpcc_pred_iq_a":-1.72256291,"mpcc_state":1,"mpcc_theta_e":0.442485809,"mpcc_theta_mech":0.555443048,"sam_rpm":7.59363413,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0129091293,"thr_a_norm":0.100765616,"thr_a_v":0.551636517,"thr_b":0,"thr_b_norm":0.0419764221,"thr_b_v":0.452991545,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.548544,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-2.47334933,"cg_iw_a":-2.11794901,"cg_theta_rad":0.553464413,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0346257165,"mpcc_du":49.1899872,"mpcc_dv":50.8100128,"mpcc_dw":49.7732506,"mpcc_enc_sign":1,"mpcc_id_a":1.87753069,"mpcc_iq_a":-2.54086828,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.10541368,"mpcc_pred_id_a":-0.543262661,"mpcc_pred_iq_a":-4.6320796,"mpcc_state":1,"mpcc_theta_e":0.438768387,"mpcc_theta_mech":0.551899672,"sam_rpm":1.98638368,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0129091293,"thr_a_norm":0.0129091293,"thr_a_v":0.551636517,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452991545,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.559622,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.74847269,"cg_iw_a":-0.668195486,"cg_theta_rad":0.55619204,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0038957661,"mpcc_du":49.5790863,"mpcc_dv":50.3491554,"mpcc_dw":50.4209137,"mpcc_enc_sign":1,"mpcc_id_a":1.02447045,"mpcc_iq_a":-1.2982614,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.97929573,"mpcc_pred_id_a":0.061154101,"mpcc_pred_iq_a":-3.63846946,"mpcc_state":1,"mpcc_theta_e":0.432547092,"mpcc_theta_mech":0.553455353,"sam_rpm":2.81162047,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0153261572,"thr_a_norm":0.0153261572,"thr_a_v":0.561304629,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.581747,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.371207237,"cg_iw_a":-2.69785023,"cg_theta_rad":0.556170881,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0197899155,"mpcc_du":48.7538948,"mpcc_dv":51.2461052,"mpcc_dw":49.5412941,"mpcc_enc_sign":1,"mpcc_id_a":2.80896425,"mpcc_iq_a":-1.46454918,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.12850904,"mpcc_pred_id_a":0.242133409,"mpcc_pred_iq_a":-6.92661905,"mpcc_state":1,"mpcc_theta_e":0.427138329,"mpcc_theta_mech":0.552373588,"sam_rpm":9.50529671,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0153261572,"thr_a_norm":0.0153261572,"thr_a_v":0.561304629,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.588308,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.153744221,"cg_iw_a":-2.26292419,"cg_theta_rad":0.558261871,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0155097712,"mpcc_du":50.8413353,"mpcc_dv":47.819561,"mpcc_dw":52.180439,"mpcc_enc_sign":1,"mpcc_id_a":2.3117249,"mpcc_iq_a":-1.10425234,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.5863733,"mpcc_pred_id_a":0.162445113,"mpcc_pred_iq_a":0.405549109,"mpcc_state":1,"mpcc_theta_e":0.430878162,"mpcc_theta_mech":0.553121567,"sam_rpm":-18.5732117,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204245895,"thr_a_norm":0.0204245895,"thr_a_v":0.581698358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446999311,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.594809,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.951108456,"cg_iw_a":-1.32058477,"cg_theta_rad":0.555598736,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.00504774274,"mpcc_du":49.9752274,"mpcc_dv":49.0261612,"mpcc_dw":50.9738388,"mpcc_enc_sign":1,"mpcc_id_a":1.26157844,"mpcc_iq_a":-2.96428657,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.08922696,"mpcc_pred_id_a":-0.0810150355,"mpcc_pred_iq_a":-2.74653649,"mpcc_state":1,"mpcc_theta_e":0.445916653,"mpcc_theta_mech":0.556129217,"sam_rpm":3.59341764,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204245895,"thr_a_norm":0.0204245895,"thr_a_v":0.581698358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446999311,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.601339,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.806133032,"cg_iw_a":-1.53804755,"cg_theta_rad":0.554226756,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.119559713,"mpcc_du":49.3942375,"mpcc_dv":49.267498,"mpcc_dw":50.732502,"mpcc_enc_sign":1,"mpcc_id_a":5.26915359,"mpcc_iq_a":1.58354044,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.178659827,"mpcc_pred_id_a":1.09616303,"mpcc_pred_iq_a":-3.86081266,"mpcc_state":1,"mpcc_theta_e":0.442416668,"mpcc_theta_mech":0.55542928,"sam_rpm":-0.0423175469,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210036635,"thr_a_norm":0.0210036635,"thr_a_v":0.584014654,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.611654,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.160782337,"cg_theta_rad":0.556109548,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.000630753522,"mpcc_du":50.1855812,"mpcc_dv":48.6539841,"mpcc_dw":51.3460159,"mpcc_enc_sign":1,"mpcc_id_a":0.50087887,"mpcc_iq_a":-1.05380118,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.9802723,"mpcc_pred_id_a":-0.370046288,"mpcc_pred_iq_a":-2.73533034,"mpcc_state":1,"mpcc_theta_e":0.429795265,"mpcc_theta_mech":0.552904963,"sam_rpm":-24.0191669,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221618265,"thr_a_norm":0.0210036635,"thr_a_v":0.588647306,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489750504,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.621725,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.60349751,"cg_iw_a":1.28897142,"cg_theta_rad":0.555792689,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0045281956,"mpcc_du":50.0012779,"mpcc_dv":49.0675697,"mpcc_dw":50.9324303,"mpcc_enc_sign":1,"mpcc_id_a":0.0935673416,"mpcc_iq_a":-1.23766565,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.67691183,"mpcc_pred_id_a":-0.296173245,"mpcc_pred_iq_a":-0.874388456,"mpcc_state":1,"mpcc_theta_e":0.433207989,"mpcc_theta_mech":0.553587556,"sam_rpm":-8.9367075,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221618265,"thr_a_norm":0.0221618265,"thr_a_v":0.588647306,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489750504,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.631948,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.516182423,"cg_iw_a":-0.81317091,"cg_theta_rad":0.55303812,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0218648575,"mpcc_du":50.0092392,"mpcc_dv":48.8542976,"mpcc_dw":51.1457024,"mpcc_enc_sign":1,"mpcc_id_a":2.01611876,"mpcc_iq_a":-0.709715962,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.63167906,"mpcc_pred_id_a":0.275506556,"mpcc_pred_iq_a":-2.57935619,"mpcc_state":1,"mpcc_theta_e":0.438443184,"mpcc_theta_mech":0.554634571,"sam_rpm":-4.93488169,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173655301,"thr_a_norm":0.0173655301,"thr_a_v":0.569462121,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444078743,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.641806,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.24105906,"cg_iw_a":0.781557798,"cg_theta_rad":0.556631446,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.10348656,"mpcc_du":50.1164856,"mpcc_dv":48.8723717,"mpcc_dw":51.1276283,"mpcc_enc_sign":1,"mpcc_id_a":1.08912253,"mpcc_iq_a":0.357998252,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.6213884,"mpcc_pred_id_a":-0.0231006797,"mpcc_pred_iq_a":-2.2595365,"mpcc_state":1,"mpcc_theta_e":0.453811646,"mpcc_theta_mech":0.557708204,"sam_rpm":18.3869324,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173655301,"thr_a_norm":0.0173655301,"thr_a_v":0.569462121,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444078743,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.651937,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.661157608,"cg_iw_a":-0.378245354,"cg_theta_rad":0.557050407,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0191129837,"mpcc_du":50.4805984,"mpcc_dv":48.7943726,"mpcc_dw":51.2056274,"mpcc_enc_sign":1,"mpcc_id_a":2.10261679,"mpcc_iq_a":-1.20888031,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.0165329,"mpcc_pred_id_a":0.390958935,"mpcc_pred_iq_a":-0.996696532,"mpcc_state":1,"mpcc_theta_e":0.437086582,"mpcc_theta_mech":0.554363251,"sam_rpm":-10.2901888,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194048882,"thr_a_norm":0.0194048882,"thr_a_v":0.577619553,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473586619,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.66213,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.24105906,"cg_iw_a":-0.958146334,"cg_theta_rad":0.556856751,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0714529827,"mpcc_du":50.0450439,"mpcc_dv":48.7712784,"mpcc_dw":51.2287216,"mpcc_enc_sign":1,"mpcc_id_a":3.2919929,"mpcc_iq_a":0.611235678,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.08685088,"mpcc_pred_id_a":0.421093494,"mpcc_pred_iq_a":-1.38462114,"mpcc_state":1,"mpcc_theta_e":0.445841312,"mpcc_theta_mech":0.556114197,"sam_rpm":5.59737206,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254600644,"thr_a_norm":0.0194048882,"thr_a_v":0.601840258,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.685019,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.733645439,"cg_iw_a":-0.378244877,"cg_theta_rad":0.555865169,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0110687567,"mpcc_du":49.4768867,"mpcc_dv":50.5231133,"mpcc_dw":50.1492577,"mpcc_enc_sign":1,"mpcc_id_a":0.308663189,"mpcc_iq_a":-1.58502495,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.08093262,"mpcc_pred_id_a":-0.502166808,"mpcc_pred_iq_a":-6.9091258,"mpcc_state":1,"mpcc_theta_e":0.449651241,"mpcc_theta_mech":0.556876183,"sam_rpm":7.5835948,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254600644,"thr_a_norm":0.0254600644,"thr_a_v":0.601840258,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.691549,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-2.11091113,"cg_iw_a":1.57892203,"cg_theta_rad":0.556711078,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0361094773,"mpcc_du":49.4812965,"mpcc_dv":49.3406792,"mpcc_dw":50.6593208,"mpcc_enc_sign":1,"mpcc_id_a":3.29135227,"mpcc_iq_a":-1.07603455,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.81727123,"mpcc_pred_id_a":0.616733909,"mpcc_pred_iq_a":-1.9641428,"mpcc_state":1,"mpcc_theta_e":0.450498104,"mpcc_theta_mech":0.557045519,"sam_rpm":14.3729048,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194426626,"thr_a_norm":0.0194426626,"thr_a_v":0.57777065,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466486603,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.698141,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.878620625,"cg_iw_a":-0.015806675,"cg_theta_rad":0.555861115,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.00107835943,"mpcc_du":50.1485062,"mpcc_dv":48.820385,"mpcc_dw":51.179615,"mpcc_enc_sign":1,"mpcc_id_a":3.00432873,"mpcc_iq_a":-1.17009604,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.55584908,"mpcc_pred_id_a":-0.171790093,"mpcc_pred_iq_a":-0.379337519,"mpcc_state":1,"mpcc_theta_e":0.450621605,"mpcc_theta_mech":0.557070255,"sam_rpm":6.73204899,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194426626,"thr_a_norm":0.0194426626,"thr_a_v":0.57777065,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466486603,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.70458,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.38603449,"cg_iw_a":-2.98780107,"cg_theta_rad":0.55754894,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0361037441,"mpcc_du":50.1155128,"mpcc_dv":48.6608124,"mpcc_dw":51.3391876,"mpcc_enc_sign":1,"mpcc_id_a":2.43206573,"mpcc_iq_a":0.330667287,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.09012604,"mpcc_pred_id_a":0.29745388,"mpcc_pred_iq_a":-0.391952962,"mpcc_state":1,"mpcc_theta_e":0.443988323,"mpcc_theta_mech":0.555743575,"sam_rpm":3.14747405,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0169123262,"thr_a_norm":0.0169123262,"thr_a_v":0.567649305,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441661686,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.712942,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-1.74847269,"cg_iw_a":-0.378245354,"cg_theta_rad":0.558444977,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0119094905,"mpcc_du":49.5490456,"mpcc_dv":49.5973511,"mpcc_dw":50.4509544,"mpcc_enc_sign":1,"mpcc_id_a":0.945070326,"mpcc_iq_a":-0.432685941,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.80490303,"mpcc_pred_id_a":-0.184603766,"mpcc_pred_iq_a":-3.39706063,"mpcc_state":1,"mpcc_theta_e":0.433259487,"mpcc_theta_mech":0.553597808,"sam_rpm":6.2087183,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0339826047,"thr_a_norm":0.0169123262,"thr_a_v":0.635930419,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.722982,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.878620625,"cg_iw_a":-0.160782337,"cg_theta_rad":0.553484678,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0991009697,"mpcc_du":49.9432983,"mpcc_dv":48.8884888,"mpcc_dw":51.1115112,"mpcc_enc_sign":1,"mpcc_id_a":3.33718371,"mpcc_iq_a":0.011230615,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.26090813,"mpcc_pred_id_a":0.329031944,"mpcc_pred_iq_a":-2.68570852,"mpcc_state":1,"mpcc_theta_e":0.452390671,"mpcc_theta_mech":0.557424068,"sam_rpm":12.7222872,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0339826047,"thr_a_norm":0.0339826047,"thr_a_v":0.635930419,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.733145,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.96593571,"cg_iw_a":1.28897142,"cg_theta_rad":0.553694427,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.00306701334,"mpcc_du":49.4911003,"mpcc_dv":50.5088997,"mpcc_dw":50.0184593,"mpcc_enc_sign":1,"mpcc_id_a":0.61671418,"mpcc_iq_a":-3.45185328,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.41501904,"mpcc_pred_id_a":-0.905690372,"mpcc_pred_iq_a":-4.84463358,"mpcc_state":1,"mpcc_theta_e":0.449110985,"mpcc_theta_mech":0.556768119,"sam_rpm":14.0613184,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0351533592,"thr_a_norm":0.0351533592,"thr_a_v":0.640613437,"thr_b":0.00297665596,"thr_b_norm":0.00297665596,"thr_b_v":0.511906624,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.743124,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.443694592,"cg_iw_a":-2.04546118,"cg_theta_rad":0.555274785,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.00316865696,"mpcc_du":50.1977806,"mpcc_dv":48.8791313,"mpcc_dw":51.1208687,"mpcc_enc_sign":1,"mpcc_id_a":-0.36376977,"mpcc_iq_a":-2.73377013,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.35646486,"mpcc_pred_id_a":-0.468008012,"mpcc_pred_iq_a":-2.25604153,"mpcc_state":1,"mpcc_theta_e":0.434921265,"mpcc_theta_mech":0.553930163,"sam_rpm":-11.0384254,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0351533592,"thr_a_norm":0.0351533592,"thr_a_v":0.640613437,"thr_b":0.00297665596,"thr_b_norm":0.00297665596,"thr_b_v":0.511906624,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.753347,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.02359605,"cg_iw_a":0.41911912,"cg_theta_rad":0.557468534,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0458832122,"mpcc_du":51.2382965,"mpcc_dv":47.3947906,"mpcc_dw":52.6052094,"mpcc_enc_sign":1,"mpcc_id_a":1.73349893,"mpcc_iq_a":-0.800156772,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.1041927,"mpcc_pred_id_a":0.0851745307,"mpcc_pred_iq_a":-0.682291687,"mpcc_state":1,"mpcc_theta_e":0.434574127,"mpcc_theta_mech":0.553860724,"sam_rpm":-19.461813,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0268448144,"thr_a_norm":0.0268448144,"thr_a_v":0.607379258,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498461902,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.763693,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.443694592,"cg_iw_a":-0.885658741,"cg_theta_rad":0.555810273,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0494506881,"mpcc_du":50.5057983,"mpcc_dv":48.3609009,"mpcc_dw":51.6390991,"mpcc_enc_sign":1,"mpcc_id_a":-0.0839347765,"mpcc_iq_a":-0.233641282,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.64565372,"mpcc_pred_id_a":0.0736585334,"mpcc_pred_iq_a":-1.96395767,"mpcc_state":1,"mpcc_theta_e":0.444040298,"mpcc_theta_mech":0.555754006,"sam_rpm":-2.08721113,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253467709,"thr_a_norm":0.0268448144,"thr_a_v":0.601387084,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48929733,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.78771,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.74847269,"cg_iw_a":-0.378245115,"cg_theta_rad":0.551818848,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0184616316,"mpcc_du":49.3139915,"mpcc_dv":50.6860085,"mpcc_dw":49.9515839,"mpcc_enc_sign":1,"mpcc_id_a":0.457374483,"mpcc_iq_a":-0.775007248,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.41906738,"mpcc_pred_id_a":-0.412550688,"mpcc_pred_iq_a":-6.67009497,"mpcc_state":1,"mpcc_theta_e":0.451021194,"mpcc_theta_mech":0.557150126,"sam_rpm":12.9370461,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253467709,"thr_a_norm":0.0253467709,"thr_a_v":0.601387084,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48929733,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.794302,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.733645439,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556511521,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0172821172,"mpcc_du":50.4316978,"mpcc_dv":48.398098,"mpcc_dw":51.601902,"mpcc_enc_sign":1,"mpcc_id_a":2.17114544,"mpcc_iq_a":-1.57255363,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.64509344,"mpcc_pred_id_a":0.126928508,"mpcc_pred_iq_a":-1.11075568,"mpcc_state":1,"mpcc_theta_e":0.43994236,"mpcc_theta_mech":0.554934382,"sam_rpm":-6.16847467,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0123552233,"thr_a_norm":0.0123552233,"thr_a_v":0.549420893,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457624167,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.800833,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.878620625,"cg_iw_a":-0.523220539,"cg_theta_rad":0.556707919,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.000125969018,"mpcc_du":51.4064713,"mpcc_dv":47.0919228,"mpcc_dw":52.9080772,"mpcc_enc_sign":1,"mpcc_id_a":0.101943597,"mpcc_iq_a":-0.726902127,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-28.8187103,"mpcc_pred_id_a":0.0200271029,"mpcc_pred_iq_a":0.851184428,"mpcc_state":1,"mpcc_theta_e":0.416032314,"mpcc_theta_mech":0.550152361,"sam_rpm":-42.9578018,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0123552233,"thr_a_norm":0.0123552233,"thr_a_v":0.549420893,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457624167,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.807272,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.226231575,"cg_iw_a":-1.53804779,"cg_theta_rad":0.553829432,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.000828508288,"mpcc_du":50.7224121,"mpcc_dv":48.0378761,"mpcc_dw":51.9621239,"mpcc_enc_sign":1,"mpcc_id_a":0.543512583,"mpcc_iq_a":-0.973421693,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.4134045,"mpcc_pred_id_a":-0.129289523,"mpcc_pred_iq_a":-0.976733446,"mpcc_state":1,"mpcc_theta_e":0.421844482,"mpcc_theta_mech":0.551314771,"sam_rpm":-30.7014427,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284435749,"thr_a_norm":0.0284435749,"thr_a_v":0.6137743,"thr_b":0.00218357146,"thr_b_norm":0.00218357146,"thr_b_v":0.508734286,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.816336,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.878620625,"cg_iw_a":-1.68302298,"cg_theta_rad":0.553903639,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0115673188,"mpcc_du":49.484375,"mpcc_dv":49.7702866,"mpcc_dw":50.515625,"mpcc_enc_sign":1,"mpcc_id_a":1.50266433,"mpcc_iq_a":-0.087166816,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.90594387,"mpcc_pred_id_a":0.158159554,"mpcc_pred_iq_a":-3.12914801,"mpcc_state":1,"mpcc_theta_e":0.430669308,"mpcc_theta_mech":0.553079784,"sam_rpm":7.3818655,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0997837186,"thr_a_norm":0.0284435749,"thr_a_v":0.899134874,"thr_b":0.0409315675,"thr_b_norm":0.00218357146,"thr_b_v":0.66372627,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.826132,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.96593571,"cg_iw_a":-1.10312176,"cg_theta_rad":0.554148495,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.00258937711,"mpcc_du":49.6593399,"mpcc_dv":49.5300369,"mpcc_dw":50.4699631,"mpcc_enc_sign":1,"mpcc_id_a":0.594769716,"mpcc_iq_a":-0.67871958,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.9666634,"mpcc_pred_id_a":-0.22007066,"mpcc_pred_iq_a":-0.74621141,"mpcc_state":1,"mpcc_theta_e":0.425621033,"mpcc_theta_mech":0.552070081,"sam_rpm":-28.6226997,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0997837186,"thr_a_norm":0.0997837186,"thr_a_v":0.899134874,"thr_b":0.0409315675,"thr_b_norm":0.0409315675,"thr_b_v":0.66372627,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.836477,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-2.32837415,"cg_iw_a":1.36145902,"cg_theta_rad":0.553492606,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0212138481,"mpcc_du":50.1056099,"mpcc_dv":48.629715,"mpcc_dw":51.370285,"mpcc_enc_sign":1,"mpcc_id_a":2.65385342,"mpcc_iq_a":-1.57656801,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.3289471,"mpcc_pred_id_a":0.458341509,"mpcc_pred_iq_a":-1.26852512,"mpcc_state":1,"mpcc_theta_e":0.428693295,"mpcc_theta_mech":0.552684605,"sam_rpm":-18.1488075,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195056051,"thr_a_norm":0.0195056051,"thr_a_v":0.57802242,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475953311,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.846548,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.733645439,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556161582,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0592535958,"mpcc_du":51.1724129,"mpcc_dv":47.63834,"mpcc_dw":52.36166,"mpcc_enc_sign":1,"mpcc_id_a":1.50835168,"mpcc_iq_a":0.607607245,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.4256182,"mpcc_pred_id_a":-0.260967046,"mpcc_pred_iq_a":-0.338144302,"mpcc_state":1,"mpcc_theta_e":0.448153496,"mpcc_theta_mech":0.55657661,"sam_rpm":-14.4846706,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195056051,"thr_a_norm":0.0195056051,"thr_a_v":0.57802242,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475953311,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.85668,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.516182423,"cg_iw_a":0.12916851,"cg_theta_rad":0.556313634,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.039396774,"mpcc_du":50.0111198,"mpcc_dv":48.9509888,"mpcc_dw":51.0490112,"mpcc_enc_sign":1,"mpcc_id_a":1.80363476,"mpcc_iq_a":-2.7469418,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.3107309,"mpcc_pred_id_a":0.0274885651,"mpcc_pred_iq_a":-1.58880603,"mpcc_state":1,"mpcc_theta_e":0.426881313,"mpcc_theta_mech":0.552322149,"sam_rpm":-20.5269413,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216330886,"thr_a_norm":0.0216330886,"thr_a_v":0.586532354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459990859,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.866934,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.16857147,"cg_iw_a":0.346631527,"cg_theta_rad":0.55666244,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0507411771,"mpcc_du":49.8848495,"mpcc_dv":49.0632591,"mpcc_dw":50.9367409,"mpcc_enc_sign":1,"mpcc_id_a":2.53846121,"mpcc_iq_a":0.0532722995,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.372915059,"mpcc_pred_id_a":0.277814567,"mpcc_pred_iq_a":-3.37457919,"mpcc_state":1,"mpcc_theta_e":0.442026138,"mpcc_theta_mech":0.555351138,"sam_rpm":0.523856163,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024138242,"thr_a_norm":0.0216330886,"thr_a_v":0.596552968,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476557553,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.889914,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.806133032,"cg_iw_a":-2.04546142,"cg_theta_rad":0.556546986,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0591484271,"mpcc_du":49.5429726,"mpcc_dv":49.4037361,"mpcc_dw":50.5962639,"mpcc_enc_sign":1,"mpcc_id_a":2.62295508,"mpcc_iq_a":-0.440571129,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.16895294,"mpcc_pred_id_a":0.540233731,"mpcc_pred_iq_a":-0.788348675,"mpcc_state":1,"mpcc_theta_e":0.43879509,"mpcc_theta_mech":0.554704964,"sam_rpm":-12.2439899,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024138242,"thr_a_norm":0.024138242,"thr_a_v":0.596552968,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476557553,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.896444,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.09608364,"cg_iw_a":-2.91531372,"cg_theta_rad":0.556702614,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0102894353,"mpcc_du":50.7538567,"mpcc_dv":48.0604477,"mpcc_dw":51.9395523,"mpcc_enc_sign":1,"mpcc_id_a":1.05094945,"mpcc_iq_a":-0.202421501,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.7958117,"mpcc_pred_id_a":-0.0500609167,"mpcc_pred_iq_a":-0.0967195779,"mpcc_state":1,"mpcc_theta_e":0.431012154,"mpcc_theta_mech":0.553148329,"sam_rpm":-17.2733212,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0391943306,"thr_a_norm":0.0391943306,"thr_a_v":0.656777322,"thr_b":0.0127832443,"thr_b_norm":0.0127832443,"thr_b_v":0.551132977,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.903006,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.16857147,"cg_iw_a":-1.82799816,"cg_theta_rad":0.55607754,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0107311551,"mpcc_du":49.5519905,"mpcc_dv":49.8064384,"mpcc_dw":50.4480095,"mpcc_enc_sign":1,"mpcc_id_a":1.34830332,"mpcc_iq_a":-0.767774999,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.05000019,"mpcc_pred_id_a":0.157080412,"mpcc_pred_iq_a":-1.27314556,"mpcc_state":1,"mpcc_theta_e":0.439263821,"mpcc_theta_mech":0.554798663,"sam_rpm":10.0986643,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0391943306,"thr_a_norm":0.0391943306,"thr_a_v":0.656777322,"thr_b":0.0127832443,"thr_b_norm":0.0127832443,"thr_b_v":0.551132977,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.909506,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.806133032,"cg_iw_a":-3.6401906,"cg_theta_rad":0.556608081,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10002,"hz_vsense":366,"mpcc_cost":0.0102796191,"mpcc_du":50.3930054,"mpcc_dv":48.5576515,"mpcc_dw":51.4423485,"mpcc_enc_sign":1,"mpcc_id_a":1.41875851,"mpcc_iq_a":-0.617958903,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.99900579,"mpcc_pred_id_a":-0.119751282,"mpcc_pred_iq_a":-0.178803951,"mpcc_state":1,"mpcc_theta_e":0.440457821,"mpcc_theta_mech":0.555037498,"sam_rpm":-2.85832119,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0236472934,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457019925,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.918295,"values":{"cg_iu_a":2.48915625,"cg_iv_a":0.426157475,"cg_iw_a":-0.813171387,"cg_theta_rad":0.554672897,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.00987422094,"mpcc_du":50.3231354,"mpcc_dv":48.5634651,"mpcc_dw":51.4365349,"mpcc_enc_sign":1,"mpcc_id_a":1.94518447,"mpcc_iq_a":-0.86098367,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.40876412,"mpcc_pred_id_a":0.0533892177,"mpcc_pred_iq_a":0.657930851,"mpcc_state":1,"mpcc_theta_e":0.438288212,"mpcc_theta_mech":0.557075441,"sam_rpm":-2.37998581,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215701461,"thr_a_norm":0.0236472934,"thr_a_v":0.586280584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481945544,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.930105,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.443694592,"cg_iw_a":-1.32058477,"cg_theta_rad":0.555319011,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.00489400933,"mpcc_du":49.3027725,"mpcc_dv":50.6972275,"mpcc_dw":50.2179031,"mpcc_enc_sign":1,"mpcc_id_a":1.16215765,"mpcc_iq_a":-0.480842799,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.828825,"mpcc_pred_id_a":0.0146336798,"mpcc_pred_iq_a":0.31423229,"mpcc_state":1,"mpcc_theta_e":0.428817749,"mpcc_theta_mech":0.556171954,"sam_rpm":11.6769648,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215701461,"thr_a_norm":0.0215701461,"thr_a_v":0.586280584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481945544,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.940298,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.6759851,"cg_iw_a":-1.39307213,"cg_theta_rad":0.556431174,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.033019565,"mpcc_du":50.3963737,"mpcc_dv":48.696804,"mpcc_dw":51.303196,"mpcc_enc_sign":1,"mpcc_id_a":0.140736118,"mpcc_iq_a":-0.942892969,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.03735709,"mpcc_pred_id_a":-0.535302162,"mpcc_pred_iq_a":-3.0392127,"mpcc_state":1,"mpcc_theta_e":0.443840981,"mpcc_theta_mech":0.555714071,"sam_rpm":-1.62233305,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0369661152,"thr_a_norm":0.0369661152,"thr_a_v":0.647864461,"thr_b":0.00339207053,"thr_b_norm":0.00339207053,"thr_b_v":0.513568282,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.951529,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.371207237,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556574225,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.00345724006,"mpcc_du":50.4986687,"mpcc_dv":48.4734879,"mpcc_dw":51.5265121,"mpcc_enc_sign":1,"mpcc_id_a":0.90351969,"mpcc_iq_a":-0.870728314,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.5678692,"mpcc_pred_id_a":-0.385150135,"mpcc_pred_iq_a":-1.75209439,"mpcc_state":1,"mpcc_theta_e":0.430309772,"mpcc_theta_mech":0.553007841,"sam_rpm":-18.9609356,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02428931,"thr_a_norm":0.0369661152,"thr_a_v":0.59715724,"thr_b":0,"thr_b_norm":0.00339207053,"thr_b_v":0.475701541,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.961721,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.98780107,"cg_theta_rad":0.555993557,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0264873356,"mpcc_du":50.3503838,"mpcc_dv":48.5881958,"mpcc_dw":51.4118042,"mpcc_enc_sign":1,"mpcc_id_a":1.64921772,"mpcc_iq_a":-1.48054326,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.842823803,"mpcc_pred_id_a":0.0241854284,"mpcc_pred_iq_a":-2.24128747,"mpcc_state":1,"mpcc_theta_e":0.451992512,"mpcc_theta_mech":0.557344377,"sam_rpm":-0.129576325,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02428931,"thr_a_norm":0.02428931,"thr_a_v":0.59715724,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475701541,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.985922,"values":{"cg_iu_a":3.06905746,"cg_iv_a":0.281181812,"cg_iw_a":-3.35023928,"cg_theta_rad":0.551708639,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0303421132,"mpcc_du":50.4583015,"mpcc_dv":48.6806793,"mpcc_dw":51.3193207,"mpcc_enc_sign":1,"mpcc_id_a":-0.703981102,"mpcc_iq_a":-0.355728477,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.348693341,"mpcc_pred_id_a":-0.568634629,"mpcc_pred_iq_a":-1.88397086,"mpcc_state":1,"mpcc_theta_e":0.44412899,"mpcc_theta_mech":0.555771708,"sam_rpm":0.0800075084,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281162709,"thr_a_norm":0.0281162709,"thr_a_v":0.612465084,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490002275,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.992453,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.516182423,"cg_iw_a":-1.46555996,"cg_theta_rad":0.557867885,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0596271418,"mpcc_du":51.3727417,"mpcc_dv":47.2136993,"mpcc_dw":52.7863007,"mpcc_enc_sign":1,"mpcc_id_a":1.60981274,"mpcc_iq_a":1.51858211,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.0613441,"mpcc_pred_id_a":0.257552654,"mpcc_pred_iq_a":1.81524003,"mpcc_state":1,"mpcc_theta_e":0.434029102,"mpcc_theta_mech":0.553751707,"sam_rpm":-18.5572872,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281162709,"thr_a_norm":0.0281162709,"thr_a_v":0.612465084,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490002275,"vdc_v":55.2955055}} +{"type":"telemetry","t":15.998983,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.45852208,"cg_iw_a":-1.17560935,"cg_theta_rad":0.552301109,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.00751431705,"mpcc_du":49.9159546,"mpcc_dv":49.210022,"mpcc_dw":50.789978,"mpcc_enc_sign":1,"mpcc_id_a":0.559250355,"mpcc_iq_a":-0.400348812,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.55429387,"mpcc_pred_id_a":-0.110099435,"mpcc_pred_iq_a":-1.84716344,"mpcc_state":1,"mpcc_theta_e":0.443724632,"mpcc_theta_mech":0.555690825,"sam_rpm":3.39864922,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183348656,"thr_a_norm":0.0183348656,"thr_a_v":0.573339462,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462005019,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.005484,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.878620625,"cg_iw_a":-1.90048599,"cg_theta_rad":0.552779853,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.00736950431,"mpcc_du":49.6804771,"mpcc_dv":49.5595779,"mpcc_dw":50.4404221,"mpcc_enc_sign":1,"mpcc_id_a":-0.02659918,"mpcc_iq_a":-2.26338005,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.83099651,"mpcc_pred_id_a":-0.355508924,"mpcc_pred_iq_a":-3.47493196,"mpcc_state":1,"mpcc_theta_e":0.453112125,"mpcc_theta_mech":0.557568371,"sam_rpm":15.3380947,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184985101,"thr_a_norm":0.0183348656,"thr_a_v":0.57399404,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458832651,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.013906,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.45852208,"cg_iw_a":0.491606712,"cg_theta_rad":0.555870354,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.00452132896,"mpcc_du":49.8183556,"mpcc_dv":49.3098259,"mpcc_dw":50.6901741,"mpcc_enc_sign":1,"mpcc_id_a":1.25706601,"mpcc_iq_a":-0.621588111,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.81074524,"mpcc_pred_id_a":-0.220074713,"mpcc_pred_iq_a":-2.54387856,"mpcc_state":1,"mpcc_theta_e":0.432269096,"mpcc_theta_mech":0.553399742,"sam_rpm":-11.1776752,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184985101,"thr_a_norm":0.0184985101,"thr_a_v":0.57399404,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458832651,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.024099,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.45852208,"cg_iw_a":-1.32058454,"cg_theta_rad":0.555393457,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0552698895,"mpcc_du":49.6855125,"mpcc_dv":49.6285515,"mpcc_dw":50.3714485,"mpcc_enc_sign":1,"mpcc_id_a":0.775627851,"mpcc_iq_a":0.0403750688,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.5013895,"mpcc_pred_id_a":-0.493891805,"mpcc_pred_iq_a":-2.98617268,"mpcc_state":1,"mpcc_theta_e":0.460300922,"mpcc_theta_mech":0.559006095,"sam_rpm":24.3487186,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204245895,"thr_a_norm":0.0204245895,"thr_a_v":0.581698358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451128393,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.036398,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-2.0384233,"cg_iw_a":-1.32058501,"cg_theta_rad":0.553615451,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0178948268,"mpcc_du":48.4054489,"mpcc_dv":51.5945511,"mpcc_dw":48.9958572,"mpcc_enc_sign":1,"mpcc_id_a":0.970622957,"mpcc_iq_a":-1.43937159,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.4554043,"mpcc_pred_id_a":-0.00914498791,"mpcc_pred_iq_a":1.3033005,"mpcc_state":1,"mpcc_theta_e":0.421247959,"mpcc_theta_mech":0.555597842,"sam_rpm":-30.6220093,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026227966,"thr_a_norm":0.0204245895,"thr_a_v":0.604911864,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495289534,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.048544,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.806133032,"cg_iw_a":-1.8279984,"cg_theta_rad":0.553267539,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0599098243,"mpcc_du":50.9945984,"mpcc_dv":47.3191109,"mpcc_dw":52.6808891,"mpcc_enc_sign":1,"mpcc_id_a":4.55074978,"mpcc_iq_a":-0.737121582,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.2136364,"mpcc_pred_id_a":0.952679574,"mpcc_pred_iq_a":0.652567804,"mpcc_state":1,"mpcc_theta_e":0.427903175,"mpcc_theta_mech":0.552526534,"sam_rpm":-25.8634911,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026227966,"thr_a_norm":0.026227966,"thr_a_v":0.604911864,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495289534,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.058523,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.588670254,"cg_iw_a":0.636582375,"cg_theta_rad":0.55679673,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.012611445,"mpcc_du":50.0505104,"mpcc_dv":48.9834938,"mpcc_dw":51.0165062,"mpcc_enc_sign":1,"mpcc_id_a":1.77710092,"mpcc_iq_a":-2.05255699,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.28495812,"mpcc_pred_id_a":-0.0651047826,"mpcc_pred_iq_a":-1.98729062,"mpcc_state":1,"mpcc_theta_e":0.446461201,"mpcc_theta_mech":0.556238115,"sam_rpm":5.55659628,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297150314,"thr_a_norm":0.0297150314,"thr_a_v":0.618860126,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467141211,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.068747,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.74847269,"cg_iw_a":0.78155756,"cg_theta_rad":0.556101143,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.000355843018,"mpcc_du":49.6070824,"mpcc_dv":50.3929176,"mpcc_dw":50.2502098,"mpcc_enc_sign":1,"mpcc_id_a":-0.376963764,"mpcc_iq_a":-2.50835991,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.95376682,"mpcc_pred_id_a":-0.452364266,"mpcc_pred_iq_a":-4.49649811,"mpcc_state":1,"mpcc_theta_e":0.449107647,"mpcc_theta_mech":0.556767404,"sam_rpm":11.8297815,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224513561,"thr_a_norm":0.0297150314,"thr_a_v":0.589805424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467896521,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.091696,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.0087685585,"cg_iw_a":1.36145878,"cg_theta_rad":0.556606948,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0581975654,"mpcc_du":50.3427277,"mpcc_dv":48.6220703,"mpcc_dw":51.3779297,"mpcc_enc_sign":1,"mpcc_id_a":0.827042341,"mpcc_iq_a":0.487626135,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.9500165,"mpcc_pred_id_a":-0.0023811704,"mpcc_pred_iq_a":-1.95066047,"mpcc_state":1,"mpcc_theta_e":0.450773716,"mpcc_theta_mech":0.557100654,"sam_rpm":5.42262745,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224513561,"thr_a_norm":0.0224513561,"thr_a_v":0.589805424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467896521,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.098288,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.661157608,"cg_iw_a":-1.03063393,"cg_theta_rad":0.555598795,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.009889137,"mpcc_du":50.1438866,"mpcc_dv":48.7786064,"mpcc_dw":51.2213936,"mpcc_enc_sign":1,"mpcc_id_a":2.71344972,"mpcc_iq_a":-2.78114128,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.84365058,"mpcc_pred_id_a":-0.0130820647,"mpcc_pred_iq_a":-1.91357589,"mpcc_state":1,"mpcc_theta_e":0.446946621,"mpcc_theta_mech":0.55633527,"sam_rpm":-5.58792686,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0147722512,"thr_a_norm":0.0147722512,"thr_a_v":0.559089005,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458480179,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.104757,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-2.18339872,"cg_iw_a":-0.668195724,"cg_theta_rad":0.557269633,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0185022131,"mpcc_du":49.8196144,"mpcc_dv":49.3787575,"mpcc_dw":50.6212425,"mpcc_enc_sign":1,"mpcc_id_a":-0.382447869,"mpcc_iq_a":-2.14029312,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.3163395,"mpcc_pred_id_a":-0.4259305,"mpcc_pred_iq_a":-2.75644493,"mpcc_state":1,"mpcc_theta_e":0.458559036,"mpcc_theta_mech":0.558657765,"sam_rpm":20.857563,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0147722512,"thr_a_norm":0.0147722512,"thr_a_v":0.559089005,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458480179,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.111502,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.878620625,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556552708,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0265433732,"mpcc_du":50.2164116,"mpcc_dv":48.5038872,"mpcc_dw":51.4961128,"mpcc_enc_sign":1,"mpcc_id_a":3.00294375,"mpcc_iq_a":0.0430898555,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.28897667,"mpcc_pred_id_a":0.469154954,"mpcc_pred_iq_a":-0.25985688,"mpcc_state":1,"mpcc_theta_e":0.433850288,"mpcc_theta_mech":0.553715944,"sam_rpm":-9.78188992,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212176591,"thr_a_norm":0.0212176591,"thr_a_v":0.584870636,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483002961,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.121725,"values":{"cg_iu_a":0.966915131,"cg_iv_a":0.281181812,"cg_iw_a":-2.6253624,"cg_theta_rad":0.555926442,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.204285547,"mpcc_du":50.1047859,"mpcc_dv":48.5001411,"mpcc_dw":51.4998589,"mpcc_enc_sign":1,"mpcc_id_a":4.19204521,"mpcc_iq_a":2.7577796,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.21644402,"mpcc_pred_id_a":1.00776052,"mpcc_pred_iq_a":-0.975531459,"mpcc_state":1,"mpcc_theta_e":0.453139305,"mpcc_theta_mech":0.556801379,"sam_rpm":13.7508469,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165850371,"thr_a_norm":0.0212176591,"thr_a_v":0.566340148,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.131521,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-0.733645439,"cg_iw_a":-2.55287504,"cg_theta_rad":0.558082521,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0529523455,"mpcc_du":50.9862671,"mpcc_dv":47.8683472,"mpcc_dw":52.1316528,"mpcc_enc_sign":1,"mpcc_id_a":0.524447799,"mpcc_iq_a":0.0347376578,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.00739193,"mpcc_pred_id_a":-0.17971696,"mpcc_pred_iq_a":-0.684286237,"mpcc_state":1,"mpcc_theta_e":0.440774918,"mpcc_theta_mech":0.555100858,"sam_rpm":-8.55957127,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165850371,"thr_a_norm":0.0165850371,"thr_a_v":0.566340148,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.141684,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.153744221,"cg_iw_a":-2.77033806,"cg_theta_rad":0.556212664,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0677265748,"mpcc_du":51.187809,"mpcc_dv":47.5976563,"mpcc_dw":52.4023438,"mpcc_enc_sign":1,"mpcc_id_a":0.274166256,"mpcc_iq_a":0.0146843605,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.8007526,"mpcc_pred_id_a":-0.130701572,"mpcc_pred_iq_a":-1.32788408,"mpcc_state":1,"mpcc_theta_e":0.438147545,"mpcc_theta_mech":0.554575443,"sam_rpm":-15.478363,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270336419,"thr_a_norm":0.0270336419,"thr_a_v":0.608134568,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486477464,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.151663,"values":{"cg_iu_a":-0.845276594,"cg_iv_a":0.208694458,"cg_iw_a":0.636582136,"cg_theta_rad":0.552503288,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.015250029,"mpcc_du":50.4622955,"mpcc_dv":48.7763329,"mpcc_dw":51.2236671,"mpcc_enc_sign":1,"mpcc_id_a":-0.0854055658,"mpcc_iq_a":-2.55865169,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.36399889,"mpcc_pred_id_a":-0.696409523,"mpcc_pred_iq_a":-2.22856188,"mpcc_state":1,"mpcc_theta_e":0.451444626,"mpcc_theta_mech":0.557234824,"sam_rpm":8.30569172,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270336419,"thr_a_norm":0.0270336419,"thr_a_v":0.608134568,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486477464,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.162924,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.371207237,"cg_iw_a":-0.885658741,"cg_theta_rad":0.554730594,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0162919872,"mpcc_du":49.6296082,"mpcc_dv":49.9552956,"mpcc_dw":50.3703918,"mpcc_enc_sign":1,"mpcc_id_a":0.164664254,"mpcc_iq_a":-1.08560193,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.16307068,"mpcc_pred_id_a":-0.276212484,"mpcc_pred_iq_a":-1.94453764,"mpcc_state":1,"mpcc_theta_e":0.432449341,"mpcc_theta_mech":0.553435802,"sam_rpm":-5.56984663,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0187125206,"thr_a_norm":0.0187125206,"thr_a_v":0.574850082,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452941179,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.172293,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-2.0384233,"cg_iw_a":2.08633542,"cg_theta_rad":0.556647897,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0823931322,"mpcc_du":50.4311829,"mpcc_dv":48.0190659,"mpcc_dw":51.9809341,"mpcc_enc_sign":1,"mpcc_id_a":4.89814138,"mpcc_iq_a":-0.00251428457,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.4290352,"mpcc_pred_id_a":1.17336702,"mpcc_pred_iq_a":-1.83818126,"mpcc_state":1,"mpcc_theta_e":0.433403492,"mpcc_theta_mech":0.555657625,"sam_rpm":-19.9057007,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023382917,"thr_a_norm":0.0187125206,"thr_a_v":0.593531668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470464617,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.195303,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.02359605,"cg_iw_a":-0.958146334,"cg_theta_rad":0.553140223,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0175368153,"mpcc_du":49.3536148,"mpcc_dv":50.6463852,"mpcc_dw":50.0397263,"mpcc_enc_sign":1,"mpcc_id_a":2.10289884,"mpcc_iq_a":-0.692410231,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.88832283,"mpcc_pred_id_a":-0.13001506,"mpcc_pred_iq_a":0.294870496,"mpcc_state":1,"mpcc_theta_e":0.433595181,"mpcc_theta_mech":0.553664923,"sam_rpm":9.51277065,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023382917,"thr_a_norm":0.023382917,"thr_a_v":0.593531668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470464617,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.201864,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.661157608,"cg_iw_a":-3.78516507,"cg_theta_rad":0.557389319,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0355636403,"mpcc_du":50.2562256,"mpcc_dv":48.5820351,"mpcc_dw":51.4179649,"mpcc_enc_sign":1,"mpcc_id_a":2.27396894,"mpcc_iq_a":-0.345556259,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.78305721,"mpcc_pred_id_a":0.372838736,"mpcc_pred_iq_a":-0.0782877356,"mpcc_state":1,"mpcc_theta_e":0.448059082,"mpcc_theta_mech":0.556557775,"sam_rpm":7.56589127,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193419456,"thr_a_norm":0.0193419456,"thr_a_v":0.577367783,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468097955,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.208364,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.6759851,"cg_iw_a":0.0566809177,"cg_theta_rad":0.55664891,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0166859347,"mpcc_du":50.6381302,"mpcc_dv":48.0629539,"mpcc_dw":51.9370461,"mpcc_enc_sign":1,"mpcc_id_a":2.20423818,"mpcc_iq_a":0.0548796877,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.5702868,"mpcc_pred_id_a":0.374128371,"mpcc_pred_iq_a":-0.0794809014,"mpcc_state":1,"mpcc_theta_e":0.428922176,"mpcc_theta_mech":0.552730381,"sam_rpm":-20.5109806,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193419456,"thr_a_norm":0.0193419456,"thr_a_v":0.577367783,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468097955,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.214895,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.38603449,"cg_iw_a":-0.160782099,"cg_theta_rad":0.555481493,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0131025091,"mpcc_du":49.5412598,"mpcc_dv":49.5941811,"mpcc_dw":50.4587402,"mpcc_enc_sign":1,"mpcc_id_a":1.93029952,"mpcc_iq_a":-1.39315867,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.31218433,"mpcc_pred_id_a":0.16646786,"mpcc_pred_iq_a":-2.4736042,"mpcc_state":1,"mpcc_theta_e":0.450173855,"mpcc_theta_mech":0.556980729,"sam_rpm":13.5276127,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023533985,"thr_a_norm":0.023533985,"thr_a_v":0.59413594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472478837,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.223074,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.16857147,"cg_iw_a":-1.46555996,"cg_theta_rad":0.554210424,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0180213917,"mpcc_du":49.7107086,"mpcc_dv":49.1722298,"mpcc_dw":50.8277702,"mpcc_enc_sign":1,"mpcc_id_a":2.38188195,"mpcc_iq_a":-1.12485731,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.289954752,"mpcc_pred_id_a":0.531057954,"mpcc_pred_iq_a":-2.76866245,"mpcc_state":1,"mpcc_theta_e":0.4427495,"mpcc_theta_mech":0.555016577,"sam_rpm":0.0394972414,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.023533985,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483657569,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.232901,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.588670254,"cg_iw_a":-0.0882940292,"cg_theta_rad":0.552263439,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0422633514,"mpcc_du":50.0988998,"mpcc_dv":48.7670135,"mpcc_dw":51.2329865,"mpcc_enc_sign":1,"mpcc_id_a":2.26044273,"mpcc_iq_a":-0.707399249,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.689201,"mpcc_pred_id_a":0.367493749,"mpcc_pred_iq_a":-2.29463291,"mpcc_state":1,"mpcc_theta_e":0.446855545,"mpcc_theta_mech":0.556317031,"sam_rpm":3.71287727,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483657569,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.243063,"values":{"cg_iu_a":-0.845276594,"cg_iv_a":-1.24105906,"cg_iw_a":-1.32058454,"cg_theta_rad":0.558423936,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.026682917,"mpcc_du":50.4350014,"mpcc_dv":48.4291725,"mpcc_dw":51.5708275,"mpcc_enc_sign":1,"mpcc_id_a":2.04382253,"mpcc_iq_a":-0.992374718,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.41358757,"mpcc_pred_id_a":0.0887028202,"mpcc_pred_iq_a":-2.44919658,"mpcc_state":1,"mpcc_theta_e":0.435387135,"mpcc_theta_mech":0.554023385,"sam_rpm":-11.6764698,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0337811857,"thr_a_norm":0.0337811857,"thr_a_v":0.635124743,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478873909,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.253195,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.96593571,"cg_iw_a":1.28897142,"cg_theta_rad":0.551941872,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.00353875174,"mpcc_du":50.2099953,"mpcc_dv":48.4349937,"mpcc_dw":51.5650063,"mpcc_enc_sign":1,"mpcc_id_a":0.162526727,"mpcc_iq_a":-0.57582134,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.4104643,"mpcc_pred_id_a":-0.137777314,"mpcc_pred_iq_a":-3.06595469,"mpcc_state":1,"mpcc_theta_e":0.428332329,"mpcc_theta_mech":0.553737462,"sam_rpm":-23.715332,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0337811857,"thr_a_norm":0.0337811857,"thr_a_v":0.635124743,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478873909,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.263296,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.24105906,"cg_iw_a":0.854045153,"cg_theta_rad":0.555914879,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0406500697,"mpcc_du":50.0082855,"mpcc_dv":48.766037,"mpcc_dw":51.233963,"mpcc_enc_sign":1,"mpcc_id_a":3.15887332,"mpcc_iq_a":-0.322717696,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.62614679,"mpcc_pred_id_a":0.577457786,"mpcc_pred_iq_a":-2.58308649,"mpcc_state":1,"mpcc_theta_e":0.438939571,"mpcc_theta_mech":0.554733813,"sam_rpm":-6.79589844,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195811391,"thr_a_norm":0.0195811391,"thr_a_v":0.578324556,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469810039,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.273489,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.02359605,"cg_iw_a":0.12916851,"cg_theta_rad":0.552420139,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0540709682,"mpcc_du":49.8967285,"mpcc_dv":49.207798,"mpcc_dw":50.792202,"mpcc_enc_sign":1,"mpcc_id_a":0.883164227,"mpcc_iq_a":-0.891367912,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.35724831,"mpcc_pred_id_a":-0.198367506,"mpcc_pred_iq_a":-3.69368792,"mpcc_state":1,"mpcc_theta_e":0.453412533,"mpcc_theta_mech":0.557628393,"sam_rpm":14.2698421,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0139162242,"thr_a_norm":0.0195811391,"thr_a_v":0.555664897,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448509932,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.296713,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-2.25588632,"cg_iw_a":-2.19043684,"cg_theta_rad":0.553065121,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.00925599691,"mpcc_du":48.8985596,"mpcc_dv":51.1014404,"mpcc_dw":49.3349953,"mpcc_enc_sign":1,"mpcc_id_a":1.79374909,"mpcc_iq_a":-1.17849493,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.18290806,"mpcc_pred_id_a":-0.707622588,"mpcc_pred_iq_a":-7.94563389,"mpcc_state":1,"mpcc_theta_e":0.446268082,"mpcc_theta_mech":0.556199551,"sam_rpm":6.88417292,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0139162242,"thr_a_norm":0.0139162242,"thr_a_v":0.555664897,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448509932,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.303213,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.18339872,"cg_iw_a":0.999020576,"cg_theta_rad":0.55700624,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0314370953,"mpcc_du":49.8983765,"mpcc_dv":48.956501,"mpcc_dw":51.043499,"mpcc_enc_sign":1,"mpcc_id_a":3.0178628,"mpcc_iq_a":-1.30786908,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.14865351,"mpcc_pred_id_a":0.416733503,"mpcc_pred_iq_a":-1.22786295,"mpcc_state":1,"mpcc_theta_e":0.448361874,"mpcc_theta_mech":0.556618273,"sam_rpm":9.32167053,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167612731,"thr_a_norm":0.0167612731,"thr_a_v":0.567045093,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.309744,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.951108456,"cg_iw_a":-1.24809694,"cg_theta_rad":0.55569607,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.000567316252,"mpcc_du":50.4408188,"mpcc_dv":48.6243744,"mpcc_dw":51.3756256,"mpcc_enc_sign":1,"mpcc_id_a":0.302358687,"mpcc_iq_a":-0.782635212,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.78163075,"mpcc_pred_id_a":-0.410843402,"mpcc_pred_iq_a":0.149635226,"mpcc_state":1,"mpcc_theta_e":0.435801029,"mpcc_theta_mech":0.554106116,"sam_rpm":-6.39076185,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024087891,"thr_a_norm":0.0167612731,"thr_a_v":0.596351564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473334849,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.320303,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.516182423,"cg_iw_a":-1.90048599,"cg_theta_rad":0.555155873,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0648445934,"mpcc_du":50.3334618,"mpcc_dv":48.4178772,"mpcc_dw":51.5821228,"mpcc_enc_sign":1,"mpcc_id_a":2.63093352,"mpcc_iq_a":-0.604074895,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.793072283,"mpcc_pred_id_a":0.434322268,"mpcc_pred_iq_a":-2.22110581,"mpcc_state":1,"mpcc_theta_e":0.446029663,"mpcc_theta_mech":0.556151807,"sam_rpm":0.488000959,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024087891,"thr_a_norm":0.024087891,"thr_a_v":0.596351564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473334849,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.330526,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-0.443694592,"cg_iw_a":-0.740683556,"cg_theta_rad":0.553797543,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.013563524,"mpcc_du":49.5582199,"mpcc_dv":50.0895348,"mpcc_dw":50.4417801,"mpcc_enc_sign":1,"mpcc_id_a":2.18273234,"mpcc_iq_a":-1.37155235,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.20469379,"mpcc_pred_id_a":-0.0477647632,"mpcc_pred_iq_a":-3.38941407,"mpcc_state":1,"mpcc_theta_e":0.448713779,"mpcc_theta_mech":0.556688666,"sam_rpm":11.815485,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0439780205,"thr_a_norm":0.0439780205,"thr_a_v":0.675912082,"thr_b":0.00198215246,"thr_b_norm":0.00198215246,"thr_b_v":0.50792861,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.340445,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-2.61832476,"cg_iw_a":1.72389746,"cg_theta_rad":0.555964649,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.00709459418,"mpcc_du":49.7125893,"mpcc_dv":49.2533798,"mpcc_dw":50.7466202,"mpcc_enc_sign":1,"mpcc_id_a":0.989074111,"mpcc_iq_a":-0.86038965,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.4030037,"mpcc_pred_id_a":-0.0623484515,"mpcc_pred_iq_a":-2.96694326,"mpcc_state":1,"mpcc_theta_e":0.427737236,"mpcc_theta_mech":0.552493334,"sam_rpm":-19.1270313,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0439780205,"thr_a_norm":0.0439780205,"thr_a_v":0.675912082,"thr_b":0.00198215246,"thr_b_norm":0.00198215246,"thr_b_v":0.50792861,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.350912,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-0.153744221,"cg_iw_a":0.564094782,"cg_theta_rad":0.55711031,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0240685362,"mpcc_du":50.3563385,"mpcc_dv":48.6796417,"mpcc_dw":51.3203583,"mpcc_enc_sign":1,"mpcc_id_a":0.320800155,"mpcc_iq_a":-1.72934008,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.54485559,"mpcc_pred_id_a":-0.529933333,"mpcc_pred_iq_a":-2.5051825,"mpcc_state":1,"mpcc_theta_e":0.44882679,"mpcc_theta_mech":0.556711257,"sam_rpm":2.0609076,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0967246592,"thr_a_norm":0.0967246592,"thr_a_v":0.886898637,"thr_b":0.0395845622,"thr_b_norm":0.0395845622,"thr_b_v":0.658338249,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.360861,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.24105906,"cg_iw_a":-1.03063416,"cg_theta_rad":0.55319947,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0227543823,"mpcc_du":50.6652451,"mpcc_dv":47.9854965,"mpcc_dw":52.0145035,"mpcc_enc_sign":1,"mpcc_id_a":2.74564719,"mpcc_iq_a":-0.327845305,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.1500092,"mpcc_pred_id_a":0.157033607,"mpcc_pred_iq_a":-0.159265116,"mpcc_state":1,"mpcc_theta_e":0.427910805,"mpcc_theta_mech":0.552528083,"sam_rpm":-21.1487637,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0967246592,"thr_a_norm":0.0967246592,"thr_a_v":0.886898637,"thr_b":0.0395845622,"thr_b_norm":0.0395845622,"thr_b_v":0.658338249,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.371176,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.806133032,"cg_iw_a":-0.595707893,"cg_theta_rad":0.552177846,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.00332017499,"mpcc_du":49.6496582,"mpcc_dv":49.9763145,"mpcc_dw":50.3503418,"mpcc_enc_sign":1,"mpcc_id_a":0.629390776,"mpcc_iq_a":-3.59609675,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.45217752,"mpcc_pred_id_a":-0.64780134,"mpcc_pred_iq_a":-3.6852324,"mpcc_state":1,"mpcc_theta_e":0.448585987,"mpcc_theta_mech":0.556663096,"sam_rpm":11.2631483,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103094533,"thr_a_norm":0.103094533,"thr_a_v":0.912378132,"thr_b":0.0472888499,"thr_b_norm":0.0472888499,"thr_b_v":0.6891554,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.394491,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.878620625,"cg_iw_a":-0.160782337,"cg_theta_rad":0.555433035,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.00645778934,"mpcc_du":49.6337738,"mpcc_dv":50.0060349,"mpcc_dw":50.3662262,"mpcc_enc_sign":1,"mpcc_id_a":-0.324578822,"mpcc_iq_a":-0.396603465,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.79671955,"mpcc_pred_id_a":-0.629061937,"mpcc_pred_iq_a":-3.11349225,"mpcc_state":1,"mpcc_theta_e":0.448709965,"mpcc_theta_mech":0.556687891,"sam_rpm":11.3687153,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188132375,"thr_a_norm":0.103094533,"thr_a_v":0.57525295,"thr_b":0,"thr_b_norm":0.0472888499,"thr_b_v":0.453495085,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.400961,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.96593571,"cg_iw_a":-0.523220539,"cg_theta_rad":0.553621769,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0340927392,"mpcc_du":49.4500389,"mpcc_dv":49.980854,"mpcc_dw":50.5499611,"mpcc_enc_sign":1,"mpcc_id_a":2.96679783,"mpcc_iq_a":-0.0823350102,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.075676,"mpcc_pred_id_a":0.553605258,"mpcc_pred_iq_a":-2.60212445,"mpcc_state":1,"mpcc_theta_e":0.45052433,"mpcc_theta_mech":0.557050765,"sam_rpm":15.8342142,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188132375,"thr_a_norm":0.0188132375,"thr_a_v":0.57525295,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453495085,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.407522,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.11794901,"cg_theta_rad":0.557021141,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0165580083,"mpcc_du":49.9837914,"mpcc_dv":48.9649506,"mpcc_dw":51.0350494,"mpcc_enc_sign":1,"mpcc_id_a":1.61159396,"mpcc_iq_a":-1.55759656,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.58757949,"mpcc_pred_id_a":-0.000812306011,"mpcc_pred_iq_a":-2.19503999,"mpcc_state":1,"mpcc_theta_e":0.447248459,"mpcc_theta_mech":0.55639565,"sam_rpm":5.70729017,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0251327455,"thr_a_norm":0.0251327455,"thr_a_v":0.600530982,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493224978,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.414267,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.595707893,"cg_theta_rad":0.555819869,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.00467459625,"mpcc_du":50.0514793,"mpcc_dv":49.0119247,"mpcc_dw":50.9880753,"mpcc_enc_sign":1,"mpcc_id_a":0.987328053,"mpcc_iq_a":-3.71208525,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.23740268,"mpcc_pred_id_a":-0.359469652,"mpcc_pred_iq_a":-1.63323307,"mpcc_state":1,"mpcc_theta_e":0.445029736,"mpcc_theta_mech":0.555951893,"sam_rpm":4.6092062,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0994312167,"thr_a_norm":0.0251327455,"thr_a_v":0.897724867,"thr_b":0.0417750031,"thr_b_norm":0,"thr_b_v":0.667100012,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.424307,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.153744221,"cg_iw_a":-0.16078186,"cg_theta_rad":0.55441618,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0011512608,"mpcc_du":50.2467804,"mpcc_dv":48.5839729,"mpcc_dw":51.4160271,"mpcc_enc_sign":1,"mpcc_id_a":0.593378425,"mpcc_iq_a":-1.1925056,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.4048214,"mpcc_pred_id_a":0.0107475072,"mpcc_pred_iq_a":-1.67693853,"mpcc_state":1,"mpcc_theta_e":0.433499813,"mpcc_theta_mech":0.553645849,"sam_rpm":-15.0212355,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0994312167,"thr_a_norm":0.0994312167,"thr_a_v":0.897724867,"thr_b":0.0417750031,"thr_b_norm":0.0417750031,"thr_b_v":0.667100012,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.434378,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.733645439,"cg_iw_a":-1.46555996,"cg_theta_rad":0.555750191,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0143458145,"mpcc_du":49.5741272,"mpcc_dv":49.4349709,"mpcc_dw":50.5650291,"mpcc_enc_sign":1,"mpcc_id_a":2.3501687,"mpcc_iq_a":-1.86277199,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.64067554,"mpcc_pred_id_a":0.0405586399,"mpcc_pred_iq_a":-2.42499566,"mpcc_state":1,"mpcc_theta_e":0.446423054,"mpcc_theta_mech":0.556230545,"sam_rpm":8.56277466,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019681856,"thr_a_norm":0.019681856,"thr_a_v":0.578727424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.444296,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.951108456,"cg_iw_a":0.346631527,"cg_theta_rad":0.556618273,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0170086864,"mpcc_du":49.9098015,"mpcc_dv":49.0929108,"mpcc_dw":50.9070892,"mpcc_enc_sign":1,"mpcc_id_a":1.24834454,"mpcc_iq_a":-1.14539564,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.04005098,"mpcc_pred_id_a":-0.217872828,"mpcc_pred_iq_a":-2.70830894,"mpcc_state":1,"mpcc_theta_e":0.443975449,"mpcc_theta_mech":0.555741012,"sam_rpm":4.13945484,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019681856,"thr_a_norm":0.019681856,"thr_a_v":0.578727424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.45458,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-3.92310286,"cg_iw_a":3.46360159,"cg_theta_rad":0.553368509,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0199927744,"mpcc_du":49.7216187,"mpcc_dv":49.4371452,"mpcc_dw":50.5628548,"mpcc_enc_sign":1,"mpcc_id_a":2.3624537,"mpcc_iq_a":-0.998814404,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.5555792,"mpcc_pred_id_a":0.0912439749,"mpcc_pred_iq_a":-1.51696134,"mpcc_state":1,"mpcc_theta_e":0.450550079,"mpcc_theta_mech":0.557587683,"sam_rpm":16.0398598,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257621855,"thr_a_norm":0.0257621855,"thr_a_v":0.603048742,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486729234,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.464682,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-2.69081235,"cg_iw_a":2.73872447,"cg_theta_rad":0.556233823,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0286621246,"mpcc_du":50.5916557,"mpcc_dv":48.1716347,"mpcc_dw":51.8283653,"mpcc_enc_sign":1,"mpcc_id_a":2.26917958,"mpcc_iq_a":-0.678851604,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.6361246,"mpcc_pred_id_a":-0.0090728309,"mpcc_pred_iq_a":-1.90952134,"mpcc_state":1,"mpcc_theta_e":0.434250832,"mpcc_theta_mech":0.553796113,"sam_rpm":-16.73242,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160185397,"thr_a_norm":0.0257621855,"thr_a_v":0.564074159,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461803585,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.474661,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.951108456,"cg_iw_a":0.0566811562,"cg_theta_rad":0.554163754,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0152510684,"mpcc_du":50.1929169,"mpcc_dv":48.365757,"mpcc_dw":51.634243,"mpcc_enc_sign":1,"mpcc_id_a":2.468009,"mpcc_iq_a":-0.0624340326,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.2639294,"mpcc_pred_id_a":0.720014572,"mpcc_pred_iq_a":-0.235173404,"mpcc_state":1,"mpcc_theta_e":0.427595615,"mpcc_theta_mech":0.553006113,"sam_rpm":-19.7344818,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160185397,"thr_a_norm":0.0160185397,"thr_a_v":0.564074159,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461803585,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.497946,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-1.38603449,"cg_iw_a":1.14399624,"cg_theta_rad":0.556711197,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.000601839856,"mpcc_du":49.6304207,"mpcc_dv":49.5910187,"mpcc_dw":50.4089813,"mpcc_enc_sign":1,"mpcc_id_a":0.32384792,"mpcc_iq_a":-1.58199239,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.550528049,"mpcc_pred_id_a":-0.505687177,"mpcc_pred_iq_a":-5.02083588,"mpcc_state":1,"mpcc_theta_e":0.440062046,"mpcc_theta_mech":0.554958284,"sam_rpm":13.1975183,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270714164,"thr_a_norm":0.0270714164,"thr_a_v":0.608285666,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485420018,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.504446,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.02359605,"cg_iw_a":-1.8279984,"cg_theta_rad":0.552396417,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.00425467826,"mpcc_du":49.4490051,"mpcc_dv":50.5509949,"mpcc_dw":50.2882919,"mpcc_enc_sign":1,"mpcc_id_a":0.0241819005,"mpcc_iq_a":-2.77256727,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.49246597,"mpcc_pred_id_a":-0.410582393,"mpcc_pred_iq_a":-1.81456769,"mpcc_state":1,"mpcc_theta_e":0.432629108,"mpcc_theta_mech":0.553471744,"sam_rpm":10.0262175,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02428931,"thr_a_norm":0.0270714164,"thr_a_v":0.59715724,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.510946,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.733645439,"cg_iw_a":-1.03063393,"cg_theta_rad":0.557444036,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0249911267,"mpcc_du":50.3743935,"mpcc_dv":48.1798019,"mpcc_dw":51.8201981,"mpcc_enc_sign":1,"mpcc_id_a":2.92511225,"mpcc_iq_a":-0.462682307,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.1892366,"mpcc_pred_id_a":0.680466413,"mpcc_pred_iq_a":-0.738316476,"mpcc_state":1,"mpcc_theta_e":0.430139065,"mpcc_theta_mech":0.552973688,"sam_rpm":-18.115612,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02428931,"thr_a_norm":0.02428931,"thr_a_v":0.59715724,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.517508,"values":{"cg_iu_a":0.169550896,"cg_iv_a":0.136206627,"cg_iw_a":-0.305757523,"cg_theta_rad":0.552478552,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0115400618,"mpcc_du":50.656559,"mpcc_dv":48.2430992,"mpcc_dw":51.7569008,"mpcc_enc_sign":1,"mpcc_id_a":0.967829406,"mpcc_iq_a":-0.884219527,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.7558575,"mpcc_pred_id_a":-0.26293543,"mpcc_pred_iq_a":-0.780071616,"mpcc_state":1,"mpcc_theta_e":0.45209074,"mpcc_theta_mech":0.557364106,"sam_rpm":-12.1857967,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185866356,"thr_a_norm":0.0185866356,"thr_a_v":0.574346542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467040509,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.527334,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.371207237,"cg_iw_a":-0.0882940292,"cg_theta_rad":0.556950867,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0111453095,"mpcc_du":50.1642838,"mpcc_dv":48.8221512,"mpcc_dw":51.1778488,"mpcc_enc_sign":1,"mpcc_id_a":1.15569651,"mpcc_iq_a":-0.496171027,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.00126827299,"mpcc_pred_id_a":-0.121610187,"mpcc_pred_iq_a":-0.908047676,"mpcc_state":1,"mpcc_theta_e":0.442043781,"mpcc_theta_mech":0.555354714,"sam_rpm":0.534784913,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185866356,"thr_a_norm":0.0185866356,"thr_a_v":0.574346542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467040509,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.537466,"values":{"cg_iu_a":2.63413143,"cg_iv_a":0.0637187958,"cg_iw_a":-2.69785023,"cg_theta_rad":0.556551516,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0357739888,"mpcc_du":49.3391304,"mpcc_dv":50.6608696,"mpcc_dw":50.0086327,"mpcc_enc_sign":1,"mpcc_id_a":1.24390388,"mpcc_iq_a":-3.39282703,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.01202154,"mpcc_pred_id_a":-0.198606238,"mpcc_pred_iq_a":-3.40642738,"mpcc_state":1,"mpcc_theta_e":0.43649435,"mpcc_theta_mech":0.554244757,"sam_rpm":17.6264648,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024087891,"thr_a_norm":0.024087891,"thr_a_v":0.596351564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.547476,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.82096052,"cg_iw_a":0.854045391,"cg_theta_rad":0.556713045,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.00260997517,"mpcc_du":49.599884,"mpcc_dv":50.0653458,"mpcc_dw":50.400116,"mpcc_enc_sign":1,"mpcc_id_a":0.908803463,"mpcc_iq_a":-3.94496107,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.8601332,"mpcc_pred_id_a":-0.223252311,"mpcc_pred_iq_a":-2.92311311,"mpcc_state":1,"mpcc_theta_e":0.458707333,"mpcc_theta_mech":0.558687389,"sam_rpm":23.3250771,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021796748,"thr_a_norm":0.024087891,"thr_a_v":0.587186992,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447653919,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.557241,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.661157608,"cg_iw_a":-1.82799864,"cg_theta_rad":0.557110548,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.013689992,"mpcc_du":50.3019676,"mpcc_dv":48.4403305,"mpcc_dw":51.5596695,"mpcc_enc_sign":1,"mpcc_id_a":2.30780649,"mpcc_iq_a":-1.94567788,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.4030228,"mpcc_pred_id_a":0.258142412,"mpcc_pred_iq_a":-5.46493101,"mpcc_state":1,"mpcc_theta_e":0.449628353,"mpcc_theta_mech":0.556871593,"sam_rpm":-7.70080233,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021796748,"thr_a_norm":0.021796748,"thr_a_v":0.587186992,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447653919,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.567709,"values":{"cg_iu_a":0.966915131,"cg_iv_a":0.353669643,"cg_iw_a":-0.233269453,"cg_theta_rad":0.557926357,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0187704824,"mpcc_du":50.8009872,"mpcc_dv":47.8721886,"mpcc_dw":52.1278114,"mpcc_enc_sign":1,"mpcc_id_a":0.948271394,"mpcc_iq_a":-0.942708075,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.6418171,"mpcc_pred_id_a":0.314230651,"mpcc_pred_iq_a":-0.144880041,"mpcc_state":1,"mpcc_theta_e":0.4342103,"mpcc_theta_mech":0.553787947,"sam_rpm":-22.1901875,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203112811,"thr_a_norm":0.0203112811,"thr_a_v":0.581245124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465731293,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.577475,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.233269453,"cg_theta_rad":0.554027498,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0143541563,"mpcc_du":49.7241554,"mpcc_dv":49.638855,"mpcc_dw":50.361145,"mpcc_enc_sign":1,"mpcc_id_a":-0.337554097,"mpcc_iq_a":-2.0055263,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.29842281,"mpcc_pred_id_a":-0.657031417,"mpcc_pred_iq_a":-2.89740586,"mpcc_state":1,"mpcc_theta_e":0.431410313,"mpcc_theta_mech":0.553228021,"sam_rpm":-10.099824,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203112811,"thr_a_norm":0.0203112811,"thr_a_v":0.581245124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465731293,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.600698,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.806133032,"cg_iw_a":0.346631765,"cg_theta_rad":0.554767251,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0195796397,"mpcc_du":50.4741478,"mpcc_dv":48.3058167,"mpcc_dw":51.6941833,"mpcc_enc_sign":1,"mpcc_id_a":0.792490005,"mpcc_iq_a":-1.91331196,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.21766067,"mpcc_pred_id_a":0.426778883,"mpcc_pred_iq_a":-0.397694618,"mpcc_state":1,"mpcc_theta_e":0.450723171,"mpcc_theta_mech":0.557090521,"sam_rpm":6.23175335,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253215879,"thr_a_norm":0.0253215879,"thr_a_v":0.601286352,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.60726,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.74847269,"cg_iw_a":0.201656342,"cg_theta_rad":0.558463037,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0158289149,"mpcc_du":49.7295113,"mpcc_dv":49.2214508,"mpcc_dw":50.7785492,"mpcc_enc_sign":1,"mpcc_id_a":1.62749338,"mpcc_iq_a":-1.19054377,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.0075593,"mpcc_pred_id_a":0.278575718,"mpcc_pred_iq_a":-3.12265229,"mpcc_state":1,"mpcc_theta_e":0.445724964,"mpcc_theta_mech":0.556090891,"sam_rpm":2.78445888,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027285412,"thr_a_norm":0.0253215879,"thr_a_v":0.609141648,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479024947,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.61376,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.516182423,"cg_iw_a":-0.233269453,"cg_theta_rad":0.555571735,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.00383136305,"mpcc_du":50.4425888,"mpcc_dv":48.2246933,"mpcc_dw":51.7753067,"mpcc_enc_sign":1,"mpcc_id_a":0.60937804,"mpcc_iq_a":-1.63447976,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.18036461,"mpcc_pred_id_a":0.565450191,"mpcc_pred_iq_a":-1.509781,"mpcc_state":1,"mpcc_theta_e":0.447691441,"mpcc_theta_mech":0.556484222,"sam_rpm":-30.8695698,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027285412,"thr_a_norm":0.027285412,"thr_a_v":0.609141648,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479024947,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.620291,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.53100967,"cg_iw_a":0.854045153,"cg_theta_rad":0.553989053,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0158243906,"mpcc_du":49.7970161,"mpcc_dv":49.2373009,"mpcc_dw":50.7626991,"mpcc_enc_sign":1,"mpcc_id_a":0.801900208,"mpcc_iq_a":-0.895243824,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.6496315,"mpcc_pred_id_a":0.0644639805,"mpcc_pred_iq_a":-1.79747522,"mpcc_state":1,"mpcc_theta_e":0.450922489,"mpcc_theta_mech":0.557130456,"sam_rpm":12.9602585,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243018866,"thr_a_norm":0.0243018866,"thr_a_v":0.597207546,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476708621,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.628256,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-0.733645439,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556414068,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.033807952,"mpcc_du":50.6038628,"mpcc_dv":48.1388817,"mpcc_dw":51.8611183,"mpcc_enc_sign":1,"mpcc_id_a":2.54769945,"mpcc_iq_a":0.435485423,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.19602013,"mpcc_pred_id_a":0.319113821,"mpcc_pred_iq_a":0.0732549578,"mpcc_state":1,"mpcc_theta_e":0.435133934,"mpcc_theta_mech":0.553972721,"sam_rpm":-11.7663069,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243018866,"thr_a_norm":0.0243018866,"thr_a_v":0.597207546,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476708621,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.638479,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.60349751,"cg_iw_a":0.854045391,"cg_theta_rad":0.55722481,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.026647035,"mpcc_du":49.9592896,"mpcc_dv":49.0800056,"mpcc_dw":50.9199944,"mpcc_enc_sign":1,"mpcc_id_a":0.217112005,"mpcc_iq_a":-2.53663015,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.09208012,"mpcc_pred_id_a":-0.0792145729,"mpcc_pred_iq_a":-1.10374248,"mpcc_state":1,"mpcc_theta_e":0.430935383,"mpcc_theta_mech":0.553132951,"sam_rpm":-14.1852522,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258503109,"thr_a_norm":0.0258503109,"thr_a_v":0.603401244,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499519348,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.6509,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.89344811,"cg_iw_a":0.999020815,"cg_theta_rad":0.557214916,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.00380105409,"mpcc_du":50.0726776,"mpcc_dv":48.1545868,"mpcc_dw":51.8454132,"mpcc_enc_sign":1,"mpcc_id_a":-1.14660025,"mpcc_iq_a":-4.31686687,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.55878067,"mpcc_pred_id_a":-0.733315051,"mpcc_pred_iq_a":-4.4723382,"mpcc_state":1,"mpcc_theta_e":0.444691181,"mpcc_theta_mech":0.555534899,"sam_rpm":-2.50052762,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0154142827,"thr_a_norm":0.0154142827,"thr_a_v":0.561657131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.661673,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.298719406,"cg_iw_a":-1.82799816,"cg_theta_rad":0.556131244,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0117586786,"mpcc_du":49.5563622,"mpcc_dv":50.0516624,"mpcc_dw":50.4436378,"mpcc_enc_sign":1,"mpcc_id_a":2.00224662,"mpcc_iq_a":-1.07998049,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.62084627,"mpcc_pred_id_a":0.146841437,"mpcc_pred_iq_a":-1.82342982,"mpcc_state":1,"mpcc_theta_e":0.441227913,"mpcc_theta_mech":0.555191517,"sam_rpm":7.1182189,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0154142827,"thr_a_norm":0.0154142827,"thr_a_v":0.561657131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.672842,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.82096052,"cg_iw_a":0.491607189,"cg_theta_rad":0.556491435,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0380013436,"mpcc_du":50.3853073,"mpcc_dv":48.5877075,"mpcc_dw":51.4122925,"mpcc_enc_sign":1,"mpcc_id_a":1.61786103,"mpcc_iq_a":-0.53869158,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.58337212,"mpcc_pred_id_a":-0.000842415029,"mpcc_pred_iq_a":-0.604233325,"mpcc_state":1,"mpcc_theta_e":0.446846962,"mpcc_theta_mech":0.556315303,"sam_rpm":7.39007187,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00686655939,"thr_b_norm":0.00686655939,"thr_b_v":0.527466238,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.698477,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.02359605,"cg_iw_a":0.274143934,"cg_theta_rad":0.552876711,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.00784717128,"mpcc_du":50.6093102,"mpcc_dv":48.2848625,"mpcc_dw":51.7151375,"mpcc_enc_sign":1,"mpcc_id_a":1.74554157,"mpcc_iq_a":-0.946122169,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.43284035,"mpcc_pred_id_a":0.0425985791,"mpcc_pred_iq_a":0.885524929,"mpcc_state":1,"mpcc_theta_e":0.435470104,"mpcc_theta_mech":0.554039955,"sam_rpm":-9.91890717,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023836121,"thr_a_norm":0.0296772718,"thr_a_v":0.595344484,"thr_b":0,"thr_b_norm":0.00686655939,"thr_b_v":0.479931325,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.705038,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-2.0384233,"cg_iw_a":2.01384807,"cg_theta_rad":0.556499183,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.00910623185,"mpcc_du":50.7586746,"mpcc_dv":48.1880074,"mpcc_dw":51.8119926,"mpcc_enc_sign":1,"mpcc_id_a":0.0888017416,"mpcc_iq_a":-0.728624344,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.6111803,"mpcc_pred_id_a":-0.245924473,"mpcc_pred_iq_a":-1.09736335,"mpcc_state":1,"mpcc_theta_e":0.434089661,"mpcc_theta_mech":0.553763866,"sam_rpm":-16.5707588,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023836121,"thr_a_norm":0.023836121,"thr_a_v":0.595344484,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479931325,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.711508,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.74847269,"cg_iw_a":0.491606951,"cg_theta_rad":0.558417022,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0303668212,"mpcc_du":49.6050949,"mpcc_dv":49.4410362,"mpcc_dw":50.5589638,"mpcc_enc_sign":1,"mpcc_id_a":2.46087575,"mpcc_iq_a":-0.629524112,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.27105045,"mpcc_pred_id_a":0.234065056,"mpcc_pred_iq_a":-2.31818104,"mpcc_state":1,"mpcc_theta_e":0.451096535,"mpcc_theta_mech":0.557165205,"sam_rpm":13.8638544,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021494627,"thr_a_norm":0.021494627,"thr_a_v":0.585978508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474543363,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.718039,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-2.47334933,"cg_iw_a":0.346631765,"cg_theta_rad":0.554595947,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.00560278818,"mpcc_du":49.778038,"mpcc_dv":49.5896568,"mpcc_dw":50.4103432,"mpcc_enc_sign":1,"mpcc_id_a":-1.06566942,"mpcc_iq_a":-2.26934266,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.50717688,"mpcc_pred_id_a":-0.700914204,"mpcc_pred_iq_a":-3.80994654,"mpcc_state":1,"mpcc_theta_e":0.448830605,"mpcc_theta_mech":0.556712031,"sam_rpm":8.20667553,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021494627,"thr_a_norm":0.021494627,"thr_a_v":0.585978508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474543363,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.726034,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-2.0384233,"cg_iw_a":-0.16078186,"cg_theta_rad":0.556156158,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.00138565514,"mpcc_du":50.4688454,"mpcc_dv":48.570488,"mpcc_dw":51.429512,"mpcc_enc_sign":1,"mpcc_id_a":-0.683308423,"mpcc_iq_a":-0.512692094,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.9808788,"mpcc_pred_id_a":-0.376769125,"mpcc_pred_iq_a":-2.01733756,"mpcc_state":1,"mpcc_theta_e":0.426036358,"mpcc_theta_mech":0.55215323,"sam_rpm":-24.5696144,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258628875,"thr_a_norm":0.0258628875,"thr_a_v":0.60345155,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483355463,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.736258,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.38603449,"cg_iw_a":-0.523220062,"cg_theta_rad":0.55529958,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0529373474,"mpcc_du":49.9354401,"mpcc_dv":48.9384804,"mpcc_dw":51.0615196,"mpcc_enc_sign":1,"mpcc_id_a":2.14079261,"mpcc_iq_a":-2.71152377,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.8156834,"mpcc_pred_id_a":0.29022944,"mpcc_pred_iq_a":-0.844016671,"mpcc_state":1,"mpcc_theta_e":0.425437927,"mpcc_theta_mech":0.553378999,"sam_rpm":-19.8765526,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242263675,"thr_a_norm":0.0258628875,"thr_a_v":0.59690547,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.748098,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.298719406,"cg_iw_a":-2.04546118,"cg_theta_rad":0.552227139,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0344296433,"mpcc_du":50.2151566,"mpcc_dv":48.4876175,"mpcc_dw":51.5123825,"mpcc_enc_sign":1,"mpcc_id_a":3.49524522,"mpcc_iq_a":-0.259533942,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.560154,"mpcc_pred_id_a":0.568668485,"mpcc_pred_iq_a":-2.47329926,"mpcc_state":1,"mpcc_theta_e":0.428958416,"mpcc_theta_mech":0.552737594,"sam_rpm":-22.7377377,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242263675,"thr_a_norm":0.0242263675,"thr_a_v":0.59690547,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.758322,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.74847269,"cg_iw_a":0.419119358,"cg_theta_rad":0.560170114,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0674736053,"mpcc_du":50.2227249,"mpcc_dv":48.4980011,"mpcc_dw":51.5019989,"mpcc_enc_sign":1,"mpcc_id_a":2.83634067,"mpcc_iq_a":0.00836980715,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.21289873,"mpcc_pred_id_a":0.620008409,"mpcc_pred_iq_a":-2.66775918,"mpcc_state":1,"mpcc_theta_e":0.44080162,"mpcc_theta_mech":0.555106223,"sam_rpm":-5.09576607,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019631505,"thr_a_norm":0.019631505,"thr_a_v":0.57852602,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462710023,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.768454,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.38603449,"cg_iw_a":0.709070206,"cg_theta_rad":0.554765284,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.00804292038,"mpcc_du":49.2975845,"mpcc_dv":50.7024155,"mpcc_dw":50.0378952,"mpcc_enc_sign":1,"mpcc_id_a":1.7678293,"mpcc_iq_a":-1.39979756,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.81883335,"mpcc_pred_id_a":-0.0538615063,"mpcc_pred_iq_a":-3.85933757,"mpcc_state":1,"mpcc_theta_e":0.446978569,"mpcc_theta_mech":0.556341648,"sam_rpm":13.8488216,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217338055,"thr_a_norm":0.019631505,"thr_a_v":0.586935222,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467745453,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.778433,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.951108456,"cg_iw_a":-1.75551081,"cg_theta_rad":0.556672454,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0338636227,"mpcc_du":49.5730209,"mpcc_dv":49.6437912,"mpcc_dw":50.4535599,"mpcc_enc_sign":1,"mpcc_id_a":2.14828038,"mpcc_iq_a":-0.942219257,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.20364857,"mpcc_pred_id_a":-0.00573354773,"mpcc_pred_iq_a":-3.89601731,"mpcc_state":1,"mpcc_theta_e":0.45074892,"mpcc_theta_mech":0.555178344,"sam_rpm":13.0280991,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217338055,"thr_a_norm":0.0217338055,"thr_a_v":0.586935222,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467745453,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.801565,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.516182423,"cg_iw_a":-0.958146572,"cg_theta_rad":0.556349516,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0115987593,"mpcc_du":51.1096535,"mpcc_dv":47.6806145,"mpcc_dw":52.3193855,"mpcc_enc_sign":1,"mpcc_id_a":1.33608341,"mpcc_iq_a":-2.35958147,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.6709518,"mpcc_pred_id_a":-0.178037003,"mpcc_pred_iq_a":2.45868325,"mpcc_state":1,"mpcc_theta_e":0.430699825,"mpcc_theta_mech":0.553085864,"sam_rpm":-19.6886578,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256866515,"thr_a_norm":0.0256866515,"thr_a_v":0.602746606,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486729234,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.808126,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.38603449,"cg_iw_a":-0.015806675,"cg_theta_rad":0.555337727,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0184940081,"mpcc_du":49.6760712,"mpcc_dv":49.4549599,"mpcc_dw":50.5450401,"mpcc_enc_sign":1,"mpcc_id_a":0.806719661,"mpcc_iq_a":-0.386290193,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.47759056,"mpcc_pred_id_a":-0.0584435463,"mpcc_pred_iq_a":-2.07870674,"mpcc_state":1,"mpcc_theta_e":0.451120377,"mpcc_theta_mech":0.557170033,"sam_rpm":14.1455183,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256866515,"thr_a_norm":0.0256866515,"thr_a_v":0.602746606,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486729234,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.814627,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.298719406,"cg_iw_a":-2.77033806,"cg_theta_rad":0.55758822,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0217798427,"mpcc_du":50.4839859,"mpcc_dv":48.2375488,"mpcc_dw":51.7624512,"mpcc_enc_sign":1,"mpcc_id_a":2.95082664,"mpcc_iq_a":-0.756631196,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.52382851,"mpcc_pred_id_a":0.400329381,"mpcc_pred_iq_a":0.635406911,"mpcc_state":1,"mpcc_theta_e":0.431922436,"mpcc_theta_mech":0.553330362,"sam_rpm":-14.8840408,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266685635,"thr_a_norm":0.0266685635,"thr_a_v":0.606674254,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.821157,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.951108456,"cg_iw_a":-1.61053514,"cg_theta_rad":0.557120502,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0130002284,"mpcc_du":49.7918167,"mpcc_dv":49.5287132,"mpcc_dw":50.4712868,"mpcc_enc_sign":1,"mpcc_id_a":0.0650498942,"mpcc_iq_a":-1.09430861,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.76700282,"mpcc_pred_id_a":-0.542817771,"mpcc_pred_iq_a":-3.84940124,"mpcc_state":1,"mpcc_theta_e":0.447315216,"mpcc_theta_mech":0.556409001,"sam_rpm":5.97757959,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208400041,"thr_a_norm":0.0266685635,"thr_a_v":0.583360016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449819207,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.829245,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.6759851,"cg_iw_a":0.636582136,"cg_theta_rad":0.556717396,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0740994737,"mpcc_du":50.3340912,"mpcc_dv":48.3797073,"mpcc_dw":51.6202927,"mpcc_enc_sign":1,"mpcc_id_a":3.8259697,"mpcc_iq_a":1.25066173,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.51742315,"mpcc_pred_id_a":0.681217253,"mpcc_pred_iq_a":-0.167537168,"mpcc_state":1,"mpcc_theta_e":0.441723824,"mpcc_theta_mech":0.555290639,"sam_rpm":-3.54813075,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208400041,"thr_a_norm":0.0208400041,"thr_a_v":0.583360016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449819207,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.839468,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.60349751,"cg_iw_a":-1.46555996,"cg_theta_rad":0.552907169,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0414477773,"mpcc_du":50.2041359,"mpcc_dv":48.7684097,"mpcc_dw":51.2315903,"mpcc_enc_sign":1,"mpcc_id_a":2.25228095,"mpcc_iq_a":-0.0480738692,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.655326664,"mpcc_pred_id_a":0.0994169414,"mpcc_pred_iq_a":-1.56504011,"mpcc_state":1,"mpcc_theta_e":0.444347858,"mpcc_theta_mech":0.555815518,"sam_rpm":2.08407497,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10269168,"thr_a_norm":0.10269168,"thr_a_v":0.910766721,"thr_b":0.0467223525,"thr_b_norm":0.0467223525,"thr_b_v":0.68688941,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.849478,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.661157608,"cg_iw_a":-0.668195724,"cg_theta_rad":0.555445671,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.033396095,"mpcc_du":49.725029,"mpcc_dv":48.9901466,"mpcc_dw":51.0098534,"mpcc_enc_sign":1,"mpcc_id_a":3.57233381,"mpcc_iq_a":-2.65757012,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.87739229,"mpcc_pred_id_a":1.05146706,"mpcc_pred_iq_a":-1.30369818,"mpcc_state":1,"mpcc_theta_e":0.451419353,"mpcc_theta_mech":0.557229817,"sam_rpm":12.122961,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10269168,"thr_a_norm":0.10269168,"thr_a_v":0.910766721,"thr_b":0.0467223525,"thr_b_norm":0.0467223525,"thr_b_v":0.68688941,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.861654,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.31354666,"cg_iw_a":-1.53804779,"cg_theta_rad":0.55246079,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.0207590107,"mpcc_du":49.8206482,"mpcc_dv":49.2995682,"mpcc_dw":50.7004318,"mpcc_enc_sign":1,"mpcc_id_a":0.444318682,"mpcc_iq_a":-0.478542179,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.9209919,"mpcc_pred_id_a":-0.491353691,"mpcc_pred_iq_a":-3.76962543,"mpcc_state":1,"mpcc_theta_e":0.434493542,"mpcc_theta_mech":0.555113137,"sam_rpm":1.03613281,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185866356,"thr_a_norm":0.0185866356,"thr_a_v":0.574346542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463163197,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.873037,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.02359605,"cg_iw_a":-1.53804755,"cg_theta_rad":0.555719376,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.000353065581,"mpcc_du":50.5261116,"mpcc_dv":48.530098,"mpcc_dw":51.469902,"mpcc_enc_sign":1,"mpcc_id_a":1.50172091,"mpcc_iq_a":-2.25605893,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.8197536,"mpcc_pred_id_a":-0.420704335,"mpcc_pred_iq_a":-2.72524905,"mpcc_state":1,"mpcc_theta_e":0.440636635,"mpcc_theta_mech":0.555073202,"sam_rpm":-17.9089527,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025246039,"thr_a_norm":0.025246039,"thr_a_v":0.600984156,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498411536,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.882315,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.951108456,"cg_iw_a":-1.32058477,"cg_theta_rad":0.556033134,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.020795295,"mpcc_du":49.518959,"mpcc_dv":50.0631676,"mpcc_dw":50.481041,"mpcc_enc_sign":1,"mpcc_id_a":2.88410187,"mpcc_iq_a":-0.0575274304,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.25186062,"mpcc_pred_id_a":0.449751586,"mpcc_pred_iq_a":-2.05213499,"mpcc_state":1,"mpcc_theta_e":0.425420284,"mpcc_theta_mech":0.552029967,"sam_rpm":4.54256058,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025246039,"thr_a_norm":0.025246039,"thr_a_v":0.600984156,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498411536,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.905661,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.371207237,"cg_iw_a":-2.40789938,"cg_theta_rad":0.552259088,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.00943996198,"mpcc_du":50.543335,"mpcc_dv":48.6096001,"mpcc_dw":51.3903999,"mpcc_enc_sign":1,"mpcc_id_a":0.171161592,"mpcc_iq_a":-3.70309615,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.3496609,"mpcc_pred_id_a":-0.751109958,"mpcc_pred_iq_a":-6.73061895,"mpcc_state":1,"mpcc_theta_e":0.449827671,"mpcc_theta_mech":0.556911409,"sam_rpm":-4.76390982,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204119831,"thr_a_norm":0.0204119831,"thr_a_v":0.581647933,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466335565,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.912191,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.82096052,"cg_iw_a":1.43394661,"cg_theta_rad":0.551911354,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5009,"hz_app_loop":364,"hz_tim_isr":10018,"hz_vsense":364,"mpcc_cost":0.000744487043,"mpcc_du":50.2948837,"mpcc_dv":48.7430878,"mpcc_dw":51.2569122,"mpcc_enc_sign":1,"mpcc_id_a":0.390912414,"mpcc_iq_a":-1.79364777,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.89114857,"mpcc_pred_id_a":-0.236107171,"mpcc_pred_iq_a":-1.96487474,"mpcc_state":1,"mpcc_theta_e":0.436041355,"mpcc_theta_mech":0.555439413,"sam_rpm":-10.2284803,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276378989,"thr_a_norm":0.0276378989,"thr_a_v":0.610551596,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499015808,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.918753,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.878620625,"cg_iw_a":-2.91531324,"cg_theta_rad":0.558520138,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0390093774,"mpcc_du":50.8967628,"mpcc_dv":47.9872246,"mpcc_dw":52.0127754,"mpcc_enc_sign":1,"mpcc_id_a":0.8481884,"mpcc_iq_a":0.198233098,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.65099859,"mpcc_pred_id_a":-0.260426641,"mpcc_pred_iq_a":-3.08974385,"mpcc_state":1,"mpcc_theta_e":0.451022148,"mpcc_theta_mech":0.557150364,"sam_rpm":-15.0024691,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276378989,"thr_a_norm":0.0276378989,"thr_a_v":0.610551596,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499015808,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.926046,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.878620625,"cg_iw_a":-0.450732708,"cg_theta_rad":0.552863359,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.010435516,"mpcc_du":49.6965027,"mpcc_dv":49.2566986,"mpcc_dw":50.7433014,"mpcc_enc_sign":1,"mpcc_id_a":2.02085161,"mpcc_iq_a":-2.0397737,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.66526508,"mpcc_pred_id_a":0.369163215,"mpcc_pred_iq_a":-0.738071918,"mpcc_state":1,"mpcc_theta_e":0.449705601,"mpcc_theta_mech":0.556887031,"sam_rpm":14.1466284,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0103410333,"thr_a_norm":0.0103410333,"thr_a_v":0.541364133,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459285885,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.93627,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.38603449,"cg_iw_a":0.491607189,"cg_theta_rad":0.555801868,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0405160636,"mpcc_du":49.9850426,"mpcc_dv":49.0480499,"mpcc_dw":50.9519501,"mpcc_enc_sign":1,"mpcc_id_a":0.900851905,"mpcc_iq_a":-1.02945328,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.05920887,"mpcc_pred_id_a":-0.0651266128,"mpcc_pred_iq_a":-4.85763073,"mpcc_state":1,"mpcc_theta_e":0.446130276,"mpcc_theta_mech":0.556171954,"sam_rpm":-1.68787026,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185740441,"thr_a_norm":0.0103410333,"thr_a_v":0.574296176,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457825571,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.94805,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.443694592,"cg_iw_a":-1.10312176,"cg_theta_rad":0.554762125,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.00432228483,"mpcc_du":50.0312767,"mpcc_dv":48.8554688,"mpcc_dw":51.1445313,"mpcc_enc_sign":1,"mpcc_id_a":0.748224318,"mpcc_iq_a":0.349821985,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.47745085,"mpcc_pred_id_a":0.177590534,"mpcc_pred_iq_a":-0.955394983,"mpcc_state":1,"mpcc_theta_e":0.433630943,"mpcc_theta_mech":0.553672075,"sam_rpm":-9.48174286,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185740441,"thr_a_norm":0.0185740441,"thr_a_v":0.574296176,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457825571,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.958303,"values":{"cg_iu_a":0.966915131,"cg_iv_a":0.208694458,"cg_iw_a":-1.32058477,"cg_theta_rad":0.556551814,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.00341217639,"mpcc_du":49.9399261,"mpcc_dv":49.272049,"mpcc_dw":50.727951,"mpcc_enc_sign":1,"mpcc_id_a":-0.83008498,"mpcc_iq_a":-3.26701999,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.00098419,"mpcc_pred_id_a":-0.611944437,"mpcc_pred_iq_a":-3.08134651,"mpcc_state":1,"mpcc_theta_e":0.451020718,"mpcc_theta_mech":0.557150066,"sam_rpm":9.82003975,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.968466,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.60349751,"cg_iw_a":0.78155756,"cg_theta_rad":0.556178927,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.00391616626,"mpcc_du":49.5283394,"mpcc_dv":49.5880241,"mpcc_dw":50.4716606,"mpcc_enc_sign":1,"mpcc_id_a":1.21887243,"mpcc_iq_a":-3.19121981,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.4601994,"mpcc_pred_id_a":0.0155723859,"mpcc_pred_iq_a":-2.83890676,"mpcc_state":1,"mpcc_theta_e":0.451518536,"mpcc_theta_mech":0.557249665,"sam_rpm":15.8760843,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192034841,"thr_a_norm":0.0240501165,"thr_a_v":0.576813936,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474140525,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.978415,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.09608364,"cg_iw_a":-1.39307261,"cg_theta_rad":0.556837022,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0109464871,"mpcc_du":49.3869438,"mpcc_dv":49.607357,"mpcc_dw":50.6130562,"mpcc_enc_sign":1,"mpcc_id_a":2.07876873,"mpcc_iq_a":-1.59133112,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.4281826,"mpcc_pred_id_a":0.799923241,"mpcc_pred_iq_a":-2.49155402,"mpcc_state":1,"mpcc_theta_e":0.445598602,"mpcc_theta_mech":0.556065619,"sam_rpm":7.38262939,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192034841,"thr_a_norm":0.0192034841,"thr_a_v":0.576813936,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474140525,"vdc_v":55.2955055}} +{"type":"telemetry","t":16.988333,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.878620625,"cg_iw_a":-1.90048599,"cg_theta_rad":0.557070136,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0178814773,"mpcc_du":49.539959,"mpcc_dv":49.9547234,"mpcc_dw":50.460041,"mpcc_enc_sign":1,"mpcc_id_a":0.204015091,"mpcc_iq_a":-2.46503115,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.60958576,"mpcc_pred_id_a":-0.0500106514,"mpcc_pred_iq_a":-4.96327734,"mpcc_state":1,"mpcc_theta_e":0.450449467,"mpcc_theta_mech":0.557035804,"sam_rpm":14.8340769,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226150155,"thr_a_norm":0.0226150155,"thr_a_v":0.590460062,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491966128,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.011374,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.74847269,"cg_iw_a":1.86887264,"cg_theta_rad":0.556013823,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0332102254,"mpcc_du":50.4390755,"mpcc_dv":48.3183899,"mpcc_dw":51.6816101,"mpcc_enc_sign":1,"mpcc_id_a":2.71888399,"mpcc_iq_a":-1.0896461,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.60681725,"mpcc_pred_id_a":0.164838955,"mpcc_pred_iq_a":-1.65705669,"mpcc_state":1,"mpcc_theta_e":0.439742088,"mpcc_theta_mech":0.554894328,"sam_rpm":-9.11367607,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226150155,"thr_a_norm":0.0226150155,"thr_a_v":0.590460062,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491966128,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.017904,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.60349751,"cg_iw_a":0.564094543,"cg_theta_rad":0.55489248,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0170400012,"mpcc_du":49.5282745,"mpcc_dv":50.2946663,"mpcc_dw":50.4717255,"mpcc_enc_sign":1,"mpcc_id_a":2.50670314,"mpcc_iq_a":-2.05221534,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.29048574,"mpcc_pred_id_a":0.236092091,"mpcc_pred_iq_a":-4.98991489,"mpcc_state":1,"mpcc_theta_e":0.439344406,"mpcc_theta_mech":0.554814756,"sam_rpm":-2.73594928,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250446349,"thr_a_norm":0.0250446349,"thr_a_v":0.60017854,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.024374,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.661157608,"cg_iw_a":-1.61053562,"cg_theta_rad":0.553051651,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0280268695,"mpcc_du":49.7616692,"mpcc_dv":48.9259758,"mpcc_dw":51.0740242,"mpcc_enc_sign":1,"mpcc_id_a":2.86182117,"mpcc_iq_a":-0.264846802,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.24301815,"mpcc_pred_id_a":0.774364233,"mpcc_pred_iq_a":-3.01450396,"mpcc_state":1,"mpcc_theta_e":0.435299873,"mpcc_theta_mech":0.554005861,"sam_rpm":-10.8696251,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250446349,"thr_a_norm":0.0250446349,"thr_a_v":0.60017854,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.031027,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.02359605,"cg_iw_a":-0.958146334,"cg_theta_rad":0.557016075,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.00544004887,"mpcc_du":49.6472969,"mpcc_dv":49.4572029,"mpcc_dw":50.5427971,"mpcc_enc_sign":1,"mpcc_id_a":1.47511876,"mpcc_iq_a":-2.66369629,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.6955452,"mpcc_pred_id_a":-0.119674765,"mpcc_pred_iq_a":-1.6390841,"mpcc_state":1,"mpcc_theta_e":0.451295376,"mpcc_theta_mech":0.557205021,"sam_rpm":15.5764999,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023710236,"thr_a_norm":0.023710236,"thr_a_v":0.594840944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468248993,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.04125,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.588670254,"cg_iw_a":-2.11794901,"cg_theta_rad":0.556169152,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.00871570315,"mpcc_du":49.7706528,"mpcc_dv":49.4972267,"mpcc_dw":50.5027733,"mpcc_enc_sign":1,"mpcc_id_a":0.627638161,"mpcc_iq_a":-2.2201426,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.566082,"mpcc_pred_id_a":-0.508361638,"mpcc_pred_iq_a":-1.4987278,"mpcc_state":1,"mpcc_theta_e":0.459293842,"mpcc_theta_mech":0.558804691,"sam_rpm":25.6904945,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100967035,"thr_a_norm":0.023710236,"thr_a_v":0.903868139,"thr_b":0.0445570946,"thr_b_norm":0,"thr_b_v":0.678228378,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.05126,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.878620625,"cg_iw_a":-1.24809694,"cg_theta_rad":0.557453394,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0090460917,"mpcc_du":48.9321632,"mpcc_dv":51.0678368,"mpcc_dw":49.4480247,"mpcc_enc_sign":1,"mpcc_id_a":1.36474144,"mpcc_iq_a":-2.89006877,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.9826508,"mpcc_pred_id_a":-0.503645897,"mpcc_pred_iq_a":-5.53083754,"mpcc_state":1,"mpcc_theta_e":0.451593876,"mpcc_theta_mech":0.557264686,"sam_rpm":18.6010895,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100967035,"thr_a_norm":0.100967035,"thr_a_v":0.903868139,"thr_b":0.0445570946,"thr_b_norm":0.0445570946,"thr_b_v":0.678228378,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.061239,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.878620625,"cg_iw_a":-0.668195724,"cg_theta_rad":0.554718733,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0348312892,"mpcc_du":50.0256958,"mpcc_dv":49.242424,"mpcc_dw":50.757576,"mpcc_enc_sign":1,"mpcc_id_a":-1.28438115,"mpcc_iq_a":-1.04808724,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.44267797,"mpcc_pred_id_a":-0.567200065,"mpcc_pred_iq_a":-3.68676043,"mpcc_state":1,"mpcc_theta_e":0.450222492,"mpcc_theta_mech":0.556990445,"sam_rpm":7.91701889,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189139396,"thr_a_norm":0.0189139396,"thr_a_v":0.575655758,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450876623,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.071432,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.89344811,"cg_iw_a":1.28897119,"cg_theta_rad":0.553462803,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.000924383523,"mpcc_du":49.6681175,"mpcc_dv":49.7245674,"mpcc_dw":50.3318825,"mpcc_enc_sign":1,"mpcc_id_a":-0.591029644,"mpcc_iq_a":-2.30986118,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.85963833,"mpcc_pred_id_a":-0.542856097,"mpcc_pred_iq_a":-4.16149902,"mpcc_state":1,"mpcc_theta_e":0.444432735,"mpcc_theta_mech":0.555832446,"sam_rpm":3.00463414,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189139396,"thr_a_norm":0.0189139396,"thr_a_v":0.575655758,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450876623,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.081656,"values":{"cg_iu_a":5.38866234,"cg_iv_a":-0.516182423,"cg_iw_a":-1.10312176,"cg_theta_rad":0.554864407,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0162403043,"mpcc_du":49.5157318,"mpcc_dv":49.6563416,"mpcc_dw":50.4842682,"mpcc_enc_sign":1,"mpcc_id_a":2.54708958,"mpcc_iq_a":-1.11511004,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.2319355,"mpcc_pred_id_a":0.308320761,"mpcc_pred_iq_a":-1.86274791,"mpcc_state":1,"mpcc_theta_e":0.44423008,"mpcc_theta_mech":0.555791914,"sam_rpm":7.19828272,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.029274419,"thr_a_norm":0.029274419,"thr_a_v":0.617097676,"thr_b":0.00448729098,"thr_b_norm":0.00448729098,"thr_b_v":0.517949164,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.091818,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.02359605,"cg_iw_a":-1.90048623,"cg_theta_rad":0.5565117,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0227770638,"mpcc_du":50.1509209,"mpcc_dv":48.894001,"mpcc_dw":51.105999,"mpcc_enc_sign":1,"mpcc_id_a":2.03664017,"mpcc_iq_a":-1.00703287,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.72843957,"mpcc_pred_id_a":-0.176747471,"mpcc_pred_iq_a":-2.82528901,"mpcc_state":1,"mpcc_theta_e":0.44257164,"mpcc_theta_mech":0.555460274,"sam_rpm":-3.44219637,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183348656,"thr_a_norm":0.029274419,"thr_a_v":0.573339462,"thr_b":0,"thr_b_norm":0.00448729098,"thr_b_v":0.469205767,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.114889,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.09608364,"cg_iw_a":-1.17560959,"cg_theta_rad":0.553825974,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0131672993,"mpcc_du":50.0406609,"mpcc_dv":48.7388153,"mpcc_dw":51.2611847,"mpcc_enc_sign":1,"mpcc_id_a":2.16654634,"mpcc_iq_a":-2.08719873,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.210946053,"mpcc_pred_id_a":0.500963807,"mpcc_pred_iq_a":-1.30699337,"mpcc_state":1,"mpcc_theta_e":0.442481995,"mpcc_theta_mech":0.555442333,"sam_rpm":0.805354357,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183348656,"thr_a_norm":0.0183348656,"thr_a_v":0.573339462,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469205767,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.121389,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.661157608,"cg_iw_a":-2.55287504,"cg_theta_rad":0.555076063,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0302160662,"mpcc_du":51.0667152,"mpcc_dv":47.6197052,"mpcc_dw":52.3802948,"mpcc_enc_sign":1,"mpcc_id_a":1.07094836,"mpcc_iq_a":-0.668985248,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":22.1826057,"mpcc_pred_id_a":-0.0831699073,"mpcc_pred_iq_a":-6.95031118,"mpcc_state":1,"mpcc_theta_e":0.461998463,"mpcc_theta_mech":0.559345603,"sam_rpm":-0.813674271,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0361856222,"thr_a_norm":0.0361856222,"thr_a_v":0.644742489,"thr_b":0.0017555505,"thr_b_norm":0.0017555505,"thr_b_v":0.507022202,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.127951,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.02359605,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.556531012,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0169285275,"mpcc_du":49.9078445,"mpcc_dv":49.4790459,"mpcc_dw":50.5209541,"mpcc_enc_sign":1,"mpcc_id_a":-2.43478298,"mpcc_iq_a":-1.80424607,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.562512994,"mpcc_pred_id_a":-0.953937113,"mpcc_pred_iq_a":-3.83288455,"mpcc_state":1,"mpcc_theta_e":0.443441868,"mpcc_theta_mech":0.55563432,"sam_rpm":0.783861637,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0361856222,"thr_a_norm":0.0361856222,"thr_a_v":0.644742489,"thr_b":0.0017555505,"thr_b_norm":0.0017555505,"thr_b_v":0.507022202,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.134481,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.31354666,"cg_iw_a":-1.03063393,"cg_theta_rad":0.555957735,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0290392749,"mpcc_du":49.4944954,"mpcc_dv":49.809536,"mpcc_dw":50.5055046,"mpcc_enc_sign":1,"mpcc_id_a":2.77147698,"mpcc_iq_a":-0.816207051,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.73189402,"mpcc_pred_id_a":0.359197766,"mpcc_pred_iq_a":-3.63278055,"mpcc_state":1,"mpcc_theta_e":0.447852135,"mpcc_theta_mech":0.556516349,"sam_rpm":10.069953,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197196156,"thr_a_norm":0.0197196156,"thr_a_v":0.578878462,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468450427,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.144674,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-1.16857147,"cg_iw_a":-2.48038721,"cg_theta_rad":0.554990053,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.00884031504,"mpcc_du":48.7833481,"mpcc_dv":51.2166519,"mpcc_dw":49.3741875,"mpcc_enc_sign":1,"mpcc_id_a":-0.126715913,"mpcc_iq_a":-2.77791214,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":22.5066357,"mpcc_pred_id_a":-0.339783937,"mpcc_pred_iq_a":-3.37473321,"mpcc_state":1,"mpcc_theta_e":0.456932068,"mpcc_theta_mech":0.558332324,"sam_rpm":32.3679085,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181208551,"thr_a_norm":0.0197196156,"thr_a_v":0.57248342,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446797907,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.154837,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.16857147,"cg_iw_a":0.0566811562,"cg_theta_rad":0.556870997,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0399724506,"mpcc_du":50.2385674,"mpcc_dv":48.6058502,"mpcc_dw":51.3941498,"mpcc_enc_sign":1,"mpcc_id_a":1.68025506,"mpcc_iq_a":0.276183784,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.55366063,"mpcc_pred_id_a":0.103997752,"mpcc_pred_iq_a":-2.04091096,"mpcc_state":1,"mpcc_theta_e":0.440760612,"mpcc_theta_mech":0.555097997,"sam_rpm":-4.46570921,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181208551,"thr_a_norm":0.0181208551,"thr_a_v":0.57248342,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446797907,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.16506,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.951108456,"cg_iw_a":-0.813171387,"cg_theta_rad":0.556035101,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0148696862,"mpcc_du":49.7534752,"mpcc_dv":49.2841911,"mpcc_dw":50.7158089,"mpcc_enc_sign":1,"mpcc_id_a":0.957092464,"mpcc_iq_a":-1.9601773,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.11216545,"mpcc_pred_id_a":-0.0744234025,"mpcc_pred_iq_a":-2.14754581,"mpcc_state":1,"mpcc_theta_e":0.433396339,"mpcc_theta_mech":0.553625166,"sam_rpm":-11.2471371,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219603926,"thr_a_norm":0.0219603926,"thr_a_v":0.58784157,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481139839,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.174826,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.661157608,"cg_iw_a":-0.668195724,"cg_theta_rad":0.555865228,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":3.36275916e-05,"mpcc_du":50.6733055,"mpcc_dv":48.2213249,"mpcc_dw":51.7786751,"mpcc_enc_sign":1,"mpcc_id_a":-0.044876758,"mpcc_iq_a":-1.54160619,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.2009726,"mpcc_pred_id_a":-0.336665124,"mpcc_pred_iq_a":-0.197966769,"mpcc_state":1,"mpcc_theta_e":0.431844234,"mpcc_theta_mech":0.553314805,"sam_rpm":-15.2421284,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219603926,"thr_a_norm":0.0219603926,"thr_a_v":0.58784157,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481139839,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.185049,"values":{"cg_iu_a":1.90925455,"cg_iv_a":0.208694458,"cg_iw_a":-1.46556044,"cg_theta_rad":0.556153238,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0329777338,"mpcc_du":49.9472694,"mpcc_dv":49.2025223,"mpcc_dw":50.7974777,"mpcc_enc_sign":1,"mpcc_id_a":1.94710815,"mpcc_iq_a":-3.10596228,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.30778408,"mpcc_pred_id_a":-0.471398592,"mpcc_pred_iq_a":-2.73099732,"mpcc_state":1,"mpcc_theta_e":0.432199955,"mpcc_theta_mech":0.553385913,"sam_rpm":-15.9946556,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.041598767,"thr_a_norm":0.041598767,"thr_a_v":0.666395068,"thr_b":0.0155905336,"thr_b_norm":0.0155905336,"thr_b_v":0.562362134,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.195211,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-1.02359605,"cg_iw_a":0.0566809177,"cg_theta_rad":0.55750376,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0119693847,"mpcc_du":49.0907784,"mpcc_dv":50.9092216,"mpcc_dw":50.8928909,"mpcc_enc_sign":1,"mpcc_id_a":2.12359238,"mpcc_iq_a":-1.82114172,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.8577042,"mpcc_pred_id_a":0.212402642,"mpcc_pred_iq_a":-5.06262064,"mpcc_state":1,"mpcc_theta_e":0.453235149,"mpcc_theta_mech":0.557592988,"sam_rpm":20.5069504,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023332566,"thr_a_norm":0.041598767,"thr_a_v":0.593330264,"thr_b":0,"thr_b_norm":0.0155905336,"thr_b_v":0.462911427,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.218283,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.153744221,"cg_iw_a":-0.740683079,"cg_theta_rad":0.555612922,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0234985631,"mpcc_du":51.0154343,"mpcc_dv":47.6119423,"mpcc_dw":52.3880577,"mpcc_enc_sign":1,"mpcc_id_a":1.81263256,"mpcc_iq_a":-0.288716435,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.30781174,"mpcc_pred_id_a":0.256049484,"mpcc_pred_iq_a":1.74463713,"mpcc_state":1,"mpcc_theta_e":0.437401772,"mpcc_theta_mech":0.554426253,"sam_rpm":-10.5319719,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023332566,"thr_a_norm":0.023332566,"thr_a_v":0.593330264,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462911427,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.224752,"values":{"cg_iu_a":4.30134773,"cg_iv_a":-0.733645439,"cg_iw_a":1.86887264,"cg_theta_rad":0.552597404,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0235756747,"mpcc_du":49.8253517,"mpcc_dv":49.1680336,"mpcc_dw":50.8319664,"mpcc_enc_sign":1,"mpcc_id_a":2.55443764,"mpcc_iq_a":-1.26801729,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.54907799,"mpcc_pred_id_a":0.0978549048,"mpcc_pred_iq_a":-1.96572495,"mpcc_state":1,"mpcc_theta_e":0.447511196,"mpcc_theta_mech":0.556448162,"sam_rpm":8.40916634,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0236472934,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.231283,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.02359605,"cg_iw_a":0.346631765,"cg_theta_rad":0.556514204,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0279999319,"mpcc_du":49.8576126,"mpcc_dv":49.2864838,"mpcc_dw":50.7135162,"mpcc_enc_sign":1,"mpcc_id_a":1.54491723,"mpcc_iq_a":-0.691011727,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.96802187,"mpcc_pred_id_a":-0.249960274,"mpcc_pred_iq_a":-3.57965255,"mpcc_state":1,"mpcc_theta_e":0.447722912,"mpcc_theta_mech":0.556490481,"sam_rpm":4.95643139,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0236472934,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.237844,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.951108456,"cg_iw_a":-0.305757523,"cg_theta_rad":0.551920891,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0163487121,"mpcc_du":49.548542,"mpcc_dv":49.7585907,"mpcc_dw":50.451458,"mpcc_enc_sign":1,"mpcc_id_a":1.77464199,"mpcc_iq_a":-0.376688331,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.59294558,"mpcc_pred_id_a":0.140600473,"mpcc_pred_iq_a":-3.88893771,"mpcc_state":1,"mpcc_theta_e":0.444243431,"mpcc_theta_mech":0.555794597,"sam_rpm":3.67838287,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246417969,"thr_a_norm":0.0246417969,"thr_a_v":0.598567188,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487434179,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.24584,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.806133032,"cg_iw_a":-0.160782099,"cg_theta_rad":0.55673784,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0163441096,"mpcc_du":50.0534286,"mpcc_dv":48.7447243,"mpcc_dw":51.2552757,"mpcc_enc_sign":1,"mpcc_id_a":2.3447504,"mpcc_iq_a":-2.37468338,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.73390746,"mpcc_pred_id_a":0.545606852,"mpcc_pred_iq_a":-1.14658058,"mpcc_state":1,"mpcc_theta_e":0.447608471,"mpcc_theta_mech":0.556467593,"sam_rpm":5.98082352,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019681856,"thr_a_norm":0.0246417969,"thr_a_v":0.578727424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472227067,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.258017,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-2.47334933,"cg_iw_a":-0.595708132,"cg_theta_rad":0.555546045,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.090558365,"mpcc_du":50.2493401,"mpcc_dv":48.3979149,"mpcc_dw":51.6020851,"mpcc_enc_sign":1,"mpcc_id_a":3.82573032,"mpcc_iq_a":0.2293147,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.00664186,"mpcc_pred_id_a":0.79999727,"mpcc_pred_iq_a":-2.42963648,"mpcc_state":1,"mpcc_theta_e":0.442527294,"mpcc_theta_mech":0.555451334,"sam_rpm":-4.79986906,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019681856,"thr_a_norm":0.019681856,"thr_a_v":0.578727424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472227067,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.269247,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-2.61832476,"cg_iw_a":1.86887264,"cg_theta_rad":0.55643183,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0162349585,"mpcc_du":49.226963,"mpcc_dv":50.773037,"mpcc_dw":50.1121368,"mpcc_enc_sign":1,"mpcc_id_a":2.54754615,"mpcc_iq_a":-0.610299885,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.99267292,"mpcc_pred_id_a":0.170325965,"mpcc_pred_iq_a":0.601771891,"mpcc_state":1,"mpcc_theta_e":0.445927143,"mpcc_theta_mech":0.556131303,"sam_rpm":22.0127525,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00972418487,"thr_a_norm":0.00972418487,"thr_a_v":0.538896739,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444582283,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.28063,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-2.18339872,"cg_iw_a":-0.523220539,"cg_theta_rad":0.555690706,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0164099373,"mpcc_du":49.5142593,"mpcc_dv":50.4365387,"mpcc_dw":50.4857407,"mpcc_enc_sign":1,"mpcc_id_a":1.92924845,"mpcc_iq_a":-0.225647137,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.8308096,"mpcc_pred_id_a":0.451453507,"mpcc_pred_iq_a":-2.98675108,"mpcc_state":1,"mpcc_theta_e":0.447740555,"mpcc_theta_mech":0.556494057,"sam_rpm":16.356699,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166102052,"thr_a_norm":0.0166102052,"thr_a_v":0.566440821,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469658971,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.290457,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.878620625,"cg_iw_a":-2.04546165,"cg_theta_rad":0.557647228,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0144354999,"mpcc_du":49.893631,"mpcc_dv":49.045845,"mpcc_dw":50.4590874,"mpcc_enc_sign":1,"mpcc_id_a":2.1263082,"mpcc_iq_a":-1.81797028,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.7587471,"mpcc_pred_id_a":0.220501125,"mpcc_pred_iq_a":-2.28396654,"mpcc_state":1,"mpcc_theta_e":0.451742649,"mpcc_theta_mech":0.557294488,"sam_rpm":1.93407762,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166102052,"thr_a_norm":0.0166102052,"thr_a_v":0.566440821,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469658971,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.313864,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.53100967,"cg_iw_a":0.78155756,"cg_theta_rad":0.556771159,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0236904901,"mpcc_du":50.8743591,"mpcc_dv":47.8925247,"mpcc_dw":52.1074753,"mpcc_enc_sign":1,"mpcc_id_a":1.12418878,"mpcc_iq_a":-0.563328862,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.1361227,"mpcc_pred_id_a":0.041999016,"mpcc_pred_iq_a":-0.897073627,"mpcc_state":1,"mpcc_theta_e":0.434470177,"mpcc_theta_mech":0.553839982,"sam_rpm":-17.2544708,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235717446,"thr_a_norm":0.0235717446,"thr_a_v":0.594286978,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472881675,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.320333,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.226231575,"cg_iw_a":-0.885658741,"cg_theta_rad":0.557443798,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0631780252,"mpcc_du":49.3441429,"mpcc_dv":50.6558571,"mpcc_dw":50.3672104,"mpcc_enc_sign":1,"mpcc_id_a":3.13337445,"mpcc_iq_a":-0.0854105502,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.8975382,"mpcc_pred_id_a":0.667678416,"mpcc_pred_iq_a":-6.01372385,"mpcc_state":1,"mpcc_theta_e":0.455406189,"mpcc_theta_mech":0.558027148,"sam_rpm":16.4332848,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00966124237,"thr_a_norm":0.0235717446,"thr_a_v":0.538644969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43481347,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.326895,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.661157608,"cg_iw_a":-1.46555996,"cg_theta_rad":0.553387642,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0182629377,"mpcc_du":49.678894,"mpcc_dv":49.3394279,"mpcc_dw":50.6605721,"mpcc_enc_sign":1,"mpcc_id_a":2.70081353,"mpcc_iq_a":-1.2986393,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.43184185,"mpcc_pred_id_a":0.0447200537,"mpcc_pred_iq_a":-3.7589519,"mpcc_state":1,"mpcc_theta_e":0.435586929,"mpcc_theta_mech":0.55406332,"sam_rpm":-9.93833256,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00966124237,"thr_a_norm":0.00966124237,"thr_a_v":0.538644969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43481347,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.333395,"values":{"cg_iu_a":2.5616436,"cg_iv_a":0.57113266,"cg_iw_a":-3.13277626,"cg_theta_rad":0.555850804,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.00891810097,"mpcc_du":50.1822624,"mpcc_dv":48.7376442,"mpcc_dw":51.2623558,"mpcc_enc_sign":1,"mpcc_id_a":1.08336353,"mpcc_iq_a":-0.648687124,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.16855383,"mpcc_pred_id_a":-0.0408169292,"mpcc_pred_iq_a":-1.38888097,"mpcc_state":1,"mpcc_theta_e":0.443154812,"mpcc_theta_mech":0.555576921,"sam_rpm":-5.10417271,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0127832443,"thr_a_norm":0.0127832443,"thr_a_v":0.551132977,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.434612036,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.341238,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.02359605,"cg_iw_a":-1.24809718,"cg_theta_rad":0.554284811,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0265880562,"mpcc_du":50.1074409,"mpcc_dv":48.7571907,"mpcc_dw":51.2428093,"mpcc_enc_sign":1,"mpcc_id_a":2.49898362,"mpcc_iq_a":0.507079601,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.85661936,"mpcc_pred_id_a":0.125354677,"mpcc_pred_iq_a":-1.93445921,"mpcc_state":1,"mpcc_theta_e":0.433898449,"mpcc_theta_mech":0.5537256,"sam_rpm":-12.1617479,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0127832443,"thr_a_norm":0.0127832443,"thr_a_v":0.551132977,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.434612036,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.351431,"values":{"cg_iu_a":-0.555325985,"cg_iv_a":-0.153744221,"cg_iw_a":-2.19043684,"cg_theta_rad":0.556320786,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0286160745,"mpcc_du":50.8363152,"mpcc_dv":48.3681679,"mpcc_dw":51.6318321,"mpcc_enc_sign":1,"mpcc_id_a":-1.56692362,"mpcc_iq_a":-2.1698215,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.84900069,"mpcc_pred_id_a":-1.02104819,"mpcc_pred_iq_a":-2.227494,"mpcc_state":1,"mpcc_theta_e":0.444037914,"mpcc_theta_mech":0.555753469,"sam_rpm":-2.42441273,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0365255177,"thr_a_norm":0.0365255177,"thr_a_v":0.646102071,"thr_b":0.00653925538,"thr_b_norm":0.00653925538,"thr_b_v":0.526157022,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.361624,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.153744221,"cg_iw_a":-2.19043684,"cg_theta_rad":0.555717587,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0740182623,"mpcc_du":49.4605484,"mpcc_dv":49.9752045,"mpcc_dw":50.5394516,"mpcc_enc_sign":1,"mpcc_id_a":3.67207384,"mpcc_iq_a":0.575088382,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.12238145,"mpcc_pred_id_a":0.589107513,"mpcc_pred_iq_a":-0.747643948,"mpcc_state":1,"mpcc_theta_e":0.443972588,"mpcc_theta_mech":0.555740416,"sam_rpm":-0.583537102,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0293751508,"thr_a_norm":0.0365255177,"thr_a_v":0.617500603,"thr_b":0.00437399745,"thr_b_norm":0.00653925538,"thr_b_v":0.51749599,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.371634,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.84282589,"cg_theta_rad":0.554024637,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0218130574,"mpcc_du":49.8873711,"mpcc_dv":49.0699959,"mpcc_dw":50.9300041,"mpcc_enc_sign":1,"mpcc_id_a":2.15904999,"mpcc_iq_a":-1.26310396,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.4806366,"mpcc_pred_id_a":0.0251519307,"mpcc_pred_iq_a":-1.09635186,"mpcc_state":1,"mpcc_theta_e":0.430414677,"mpcc_theta_mech":0.553028822,"sam_rpm":-13.4584856,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0293751508,"thr_a_norm":0.0293751508,"thr_a_v":0.617500603,"thr_b":0.00437399745,"thr_b_norm":0.00437399745,"thr_b_v":0.51749599,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.381857,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.82096052,"cg_iw_a":-0.740683317,"cg_theta_rad":0.556098759,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0382539704,"mpcc_du":50.342865,"mpcc_dv":48.6368408,"mpcc_dw":51.3631592,"mpcc_enc_sign":1,"mpcc_id_a":0.648819029,"mpcc_iq_a":-1.04992747,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.733904481,"mpcc_pred_id_a":-0.103064068,"mpcc_pred_iq_a":-2.65302467,"mpcc_state":1,"mpcc_theta_e":0.447732449,"mpcc_theta_mech":0.556492388,"sam_rpm":2.10377049,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173277706,"thr_a_norm":0.0173277706,"thr_a_v":0.569311082,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448308527,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.391653,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.02359605,"cg_iw_a":-1.90048623,"cg_theta_rad":0.555421889,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0151015921,"mpcc_du":49.9500427,"mpcc_dv":49.2536926,"mpcc_dw":50.7463074,"mpcc_enc_sign":1,"mpcc_id_a":0.31466198,"mpcc_iq_a":-1.58384502,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.02148247,"mpcc_pred_id_a":-0.477861136,"mpcc_pred_iq_a":-4.20462704,"mpcc_state":1,"mpcc_theta_e":0.445865154,"mpcc_theta_mech":0.556118906,"sam_rpm":1.82238698,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173277706,"thr_a_norm":0.0173277706,"thr_a_v":0.569311082,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448308527,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.414846,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-2.32837415,"cg_iw_a":1.94136024,"cg_theta_rad":0.555553734,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.00361244171,"mpcc_du":49.5275879,"mpcc_dv":50.4724121,"mpcc_dw":50.3027229,"mpcc_enc_sign":1,"mpcc_id_a":1.07859778,"mpcc_iq_a":-1.51625419,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.93834591,"mpcc_pred_id_a":-0.138924703,"mpcc_pred_iq_a":-5.70882559,"mpcc_state":1,"mpcc_theta_e":0.437385082,"mpcc_theta_mech":0.554422915,"sam_rpm":-5.13766003,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204119831,"thr_a_norm":0.0204119831,"thr_a_v":0.581647933,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473788053,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.421377,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.516182423,"cg_iw_a":-0.523220539,"cg_theta_rad":0.552582562,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0710519552,"mpcc_du":50.3267288,"mpcc_dv":48.154747,"mpcc_dw":51.845253,"mpcc_enc_sign":1,"mpcc_id_a":3.9738636,"mpcc_iq_a":1.81601644,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.2759962,"mpcc_pred_id_a":0.940535963,"mpcc_pred_iq_a":-0.580700576,"mpcc_state":1,"mpcc_theta_e":0.431047916,"mpcc_theta_mech":0.553155541,"sam_rpm":-16.7460575,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0171640962,"thr_a_norm":0.0204119831,"thr_a_v":0.568656385,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449768841,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.427938,"values":{"cg_iu_a":3.79393435,"cg_iv_a":-0.588670254,"cg_iw_a":-3.20526409,"cg_theta_rad":0.557120681,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0147259356,"mpcc_du":50.9015999,"mpcc_dv":47.6499443,"mpcc_dw":52.3500557,"mpcc_enc_sign":1,"mpcc_id_a":2.33839369,"mpcc_iq_a":-0.870181024,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.1346874,"mpcc_pred_id_a":0.272665888,"mpcc_pred_iq_a":0.146076813,"mpcc_state":1,"mpcc_theta_e":0.425026894,"mpcc_theta_mech":0.551951289,"sam_rpm":-28.2576542,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0171640962,"thr_a_norm":0.0171640962,"thr_a_v":0.568656385,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449768841,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.434408,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-2.25588632,"cg_iw_a":-1.39307261,"cg_theta_rad":0.554516673,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0211225748,"mpcc_du":49.874218,"mpcc_dv":49.1284828,"mpcc_dw":50.8715172,"mpcc_enc_sign":1,"mpcc_id_a":0.630080402,"mpcc_iq_a":-0.251768619,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.87971163,"mpcc_pred_id_a":0.0276887938,"mpcc_pred_iq_a":-1.75039363,"mpcc_state":1,"mpcc_theta_e":0.447865486,"mpcc_theta_mech":0.556518972,"sam_rpm":9.31902981,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253593475,"thr_a_norm":0.0253593475,"thr_a_v":0.60143739,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.442282,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.661157608,"cg_iw_a":0.12916851,"cg_theta_rad":0.556150913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0133902021,"mpcc_du":50.6444397,"mpcc_dv":47.9776382,"mpcc_dw":52.0223618,"mpcc_enc_sign":1,"mpcc_id_a":2.04630089,"mpcc_iq_a":-0.459435105,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.1955605,"mpcc_pred_id_a":0.357000232,"mpcc_pred_iq_a":-1.17038572,"mpcc_state":1,"mpcc_theta_e":0.423735142,"mpcc_theta_mech":0.551692963,"sam_rpm":-28.1461906,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253593475,"thr_a_norm":0.0253593475,"thr_a_v":0.60143739,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.452444,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-2.47334933,"cg_iw_a":0.129168749,"cg_theta_rad":0.559692264,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.00195736857,"mpcc_du":49.8987045,"mpcc_dv":49.2675972,"mpcc_dw":50.7324028,"mpcc_enc_sign":1,"mpcc_id_a":-0.0217960533,"mpcc_iq_a":-1.97458887,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.66244721,"mpcc_pred_id_a":-0.362926722,"mpcc_pred_iq_a":-3.77251577,"mpcc_state":1,"mpcc_theta_e":0.440336704,"mpcc_theta_mech":0.555013299,"sam_rpm":-3.15809393,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202735066,"thr_a_norm":0.0202735066,"thr_a_v":0.581094027,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456214249,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.462667,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-1.74847269,"cg_iw_a":1.65140963,"cg_theta_rad":0.556657434,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0562521406,"mpcc_du":50.2356071,"mpcc_dv":48.8596687,"mpcc_dw":51.1403313,"mpcc_enc_sign":1,"mpcc_id_a":0.658610523,"mpcc_iq_a":-0.689654469,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.04820442,"mpcc_pred_id_a":-0.259374291,"mpcc_pred_iq_a":-2.18569255,"mpcc_state":1,"mpcc_theta_e":0.454231262,"mpcc_theta_mech":0.557792187,"sam_rpm":13.7349586,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105939567,"thr_a_norm":0.0202735066,"thr_a_v":0.923758268,"thr_b":0.0504863858,"thr_b_norm":0,"thr_b_v":0.701945543,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.472464,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.371207237,"cg_iw_a":-3.06028843,"cg_theta_rad":0.552297533,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0201702155,"mpcc_du":51.2344894,"mpcc_dv":47.47295,"mpcc_dw":52.52705,"mpcc_enc_sign":1,"mpcc_id_a":1.24292052,"mpcc_iq_a":-0.479615986,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.6050482,"mpcc_pred_id_a":-0.0732296482,"mpcc_pred_iq_a":1.00185788,"mpcc_state":1,"mpcc_theta_e":0.43419838,"mpcc_theta_mech":0.553785563,"sam_rpm":-18.426403,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105939567,"thr_a_norm":0.105939567,"thr_a_v":0.923758268,"thr_b":0.0504863858,"thr_b_norm":0.0504863858,"thr_b_v":0.701945543,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.482748,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.733645439,"cg_iw_a":-1.39307213,"cg_theta_rad":0.556970477,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.00745545235,"mpcc_du":50.3304253,"mpcc_dv":48.7067337,"mpcc_dw":51.2932663,"mpcc_enc_sign":1,"mpcc_id_a":-0.129915088,"mpcc_iq_a":-1.9800837,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.5894127,"mpcc_pred_id_a":-0.335487187,"mpcc_pred_iq_a":1.55175483,"mpcc_state":1,"mpcc_theta_e":0.452809811,"mpcc_theta_mech":0.557507873,"sam_rpm":-0.68720603,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0111844838,"thr_a_norm":0.0111844838,"thr_a_v":0.544737935,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.430231184,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.492605,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.53100967,"cg_iw_a":-1.46555996,"cg_theta_rad":0.551702738,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.000730200321,"mpcc_du":49.7690468,"mpcc_dv":49.3226242,"mpcc_dw":50.6773758,"mpcc_enc_sign":1,"mpcc_id_a":0.0914847106,"mpcc_iq_a":-2.03726435,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.1053462,"mpcc_pred_id_a":-0.163094521,"mpcc_pred_iq_a":-1.77982628,"mpcc_state":1,"mpcc_theta_e":0.449107647,"mpcc_theta_mech":0.556767464,"sam_rpm":10.6117496,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0111844838,"thr_a_norm":0.0111844838,"thr_a_v":0.544737935,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.430231184,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.51586,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.53100967,"cg_iw_a":-1.39307213,"cg_theta_rad":0.552177846,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0110425837,"mpcc_du":50.772995,"mpcc_dv":47.8760796,"mpcc_dw":52.1239204,"mpcc_enc_sign":1,"mpcc_id_a":2.08557248,"mpcc_iq_a":-1.42058074,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.6118207,"mpcc_pred_id_a":0.20562233,"mpcc_pred_iq_a":1.60593486,"mpcc_state":1,"mpcc_theta_e":0.432973862,"mpcc_theta_mech":0.553540647,"sam_rpm":-11.8401937,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198455006,"thr_a_norm":0.0198455006,"thr_a_v":0.579382002,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.52236,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.02359605,"cg_iw_a":0.709070206,"cg_theta_rad":0.555654943,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0505869091,"mpcc_du":50.2435799,"mpcc_dv":48.3437653,"mpcc_dw":51.6562347,"mpcc_enc_sign":1,"mpcc_id_a":2.93149424,"mpcc_iq_a":-0.134771511,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.83133268,"mpcc_pred_id_a":0.820019066,"mpcc_pred_iq_a":-0.931195855,"mpcc_state":1,"mpcc_theta_e":0.442706585,"mpcc_theta_mech":0.555487275,"sam_rpm":-1.96664667,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198455006,"thr_a_norm":0.0198455006,"thr_a_v":0.579382002,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.52886,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.96593571,"cg_iw_a":1.28897142,"cg_theta_rad":0.559761226,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0189389419,"mpcc_du":49.5876694,"mpcc_dv":49.6310577,"mpcc_dw":50.4123306,"mpcc_enc_sign":1,"mpcc_id_a":0.54213959,"mpcc_iq_a":-0.768033266,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.65549183,"mpcc_pred_id_a":-0.290986508,"mpcc_pred_iq_a":-3.91273594,"mpcc_state":1,"mpcc_theta_e":0.449350834,"mpcc_theta_mech":0.556816041,"sam_rpm":10.1459932,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211673081,"thr_a_norm":0.0211673081,"thr_a_v":0.584669232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474140525,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.535482,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.806133032,"cg_iw_a":-1.97297359,"cg_theta_rad":0.553066909,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0128592476,"mpcc_du":49.8402367,"mpcc_dv":49.1041946,"mpcc_dw":50.8958054,"mpcc_enc_sign":1,"mpcc_id_a":1.70861983,"mpcc_iq_a":-1.18737972,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.86658049,"mpcc_pred_id_a":0.174720928,"mpcc_pred_iq_a":-1.41556191,"mpcc_state":1,"mpcc_theta_e":0.447682858,"mpcc_theta_mech":0.556482494,"sam_rpm":8.47438717,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281162709,"thr_a_norm":0.0211673081,"thr_a_v":0.612465084,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495037764,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.544424,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.74847269,"cg_iw_a":-1.90048599,"cg_theta_rad":0.557055652,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0271831471,"mpcc_du":50.5035706,"mpcc_dv":48.3419075,"mpcc_dw":51.6580925,"mpcc_enc_sign":1,"mpcc_id_a":0.610395193,"mpcc_iq_a":-0.975367665,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.64571953,"mpcc_pred_id_a":-0.11824356,"mpcc_pred_iq_a":-3.15810418,"mpcc_state":1,"mpcc_theta_e":0.438734531,"mpcc_theta_mech":0.554692864,"sam_rpm":-13.303257,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281162709,"thr_a_norm":0.0281162709,"thr_a_v":0.612465084,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495037764,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.555838,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.6759851,"cg_iw_a":-2.69785047,"cg_theta_rad":0.554525316,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.00480848039,"mpcc_du":49.8960304,"mpcc_dv":49.2567596,"mpcc_dw":50.7432404,"mpcc_enc_sign":1,"mpcc_id_a":1.21916485,"mpcc_iq_a":-2.89318991,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.2471981,"mpcc_pred_id_a":-0.444946915,"mpcc_pred_iq_a":-4.95456028,"mpcc_state":1,"mpcc_theta_e":0.444211006,"mpcc_theta_mech":0.555788159,"sam_rpm":-4.99589109,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252586454,"thr_a_norm":0.0252586454,"thr_a_v":0.601034582,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481139839,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.566,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.878620625,"cg_iw_a":-2.19043636,"cg_theta_rad":0.554612637,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.021274088,"mpcc_du":50.3781776,"mpcc_dv":48.4072189,"mpcc_dw":51.5927811,"mpcc_enc_sign":1,"mpcc_id_a":1.81634378,"mpcc_iq_a":-0.793918252,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.4433317,"mpcc_pred_id_a":0.192644477,"mpcc_pred_iq_a":-2.84100723,"mpcc_state":1,"mpcc_theta_e":0.435236454,"mpcc_theta_mech":0.553993165,"sam_rpm":-16.7507629,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254852325,"thr_a_norm":0.0252586454,"thr_a_v":0.60194093,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495188832,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.57604,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.661157608,"cg_iw_a":-1.82799864,"cg_theta_rad":0.557105601,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.028830152,"mpcc_du":49.5935249,"mpcc_dv":49.4204025,"mpcc_dw":50.5795975,"mpcc_enc_sign":1,"mpcc_id_a":2.4907155,"mpcc_iq_a":-1.23535907,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.46077394,"mpcc_pred_id_a":0.0644040257,"mpcc_pred_iq_a":-1.35268009,"mpcc_state":1,"mpcc_theta_e":0.431782722,"mpcc_theta_mech":0.553302467,"sam_rpm":-8.25707531,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254852325,"thr_a_norm":0.0254852325,"thr_a_v":0.60194093,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495188832,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.586264,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.951108456,"cg_iw_a":-1.24809694,"cg_theta_rad":0.558793247,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0784984604,"mpcc_du":50.0336075,"mpcc_dv":48.7038956,"mpcc_dw":51.2961044,"mpcc_enc_sign":1,"mpcc_id_a":3.10999537,"mpcc_iq_a":-0.956162691,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.50242043,"mpcc_pred_id_a":0.600645006,"mpcc_pred_iq_a":-3.03511906,"mpcc_state":1,"mpcc_theta_e":0.454511642,"mpcc_theta_mech":0.557848215,"sam_rpm":10.4366951,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025220871,"thr_a_norm":0.025220871,"thr_a_v":0.600883484,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492671102,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.596212,"values":{"cg_iu_a":2.05423021,"cg_iv_a":0.498644829,"cg_iw_a":-2.55287504,"cg_theta_rad":0.554854751,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.000256594532,"mpcc_du":49.6518135,"mpcc_dv":50.3481865,"mpcc_dw":50.3442459,"mpcc_enc_sign":1,"mpcc_id_a":-0.290946662,"mpcc_iq_a":-2.50242829,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.51865244,"mpcc_pred_id_a":-0.523357213,"mpcc_pred_iq_a":-4.23639917,"mpcc_state":1,"mpcc_theta_e":0.4480896,"mpcc_theta_mech":0.556563795,"sam_rpm":11.1102428,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025220871,"thr_a_norm":0.025220871,"thr_a_v":0.600883484,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492671102,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.619467,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.951108456,"cg_iw_a":0.274144173,"cg_theta_rad":0.554308295,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0530643761,"mpcc_du":50.23806,"mpcc_dv":48.7306404,"mpcc_dw":51.2693596,"mpcc_enc_sign":1,"mpcc_id_a":2.61262083,"mpcc_iq_a":-0.981201768,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.29031897,"mpcc_pred_id_a":-0.045464877,"mpcc_pred_iq_a":-2.06848907,"mpcc_state":1,"mpcc_theta_e":0.450823307,"mpcc_theta_mech":0.557110608,"sam_rpm":7.54885864,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0450606495,"thr_a_norm":0.0450606495,"thr_a_v":0.680242598,"thr_b":0.0123678297,"thr_b_norm":0.0123678297,"thr_b_v":0.549471319,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.625967,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.6759851,"cg_iw_a":0.854045153,"cg_theta_rad":0.553783059,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.000535586092,"mpcc_du":49.671402,"mpcc_dv":49.8889771,"mpcc_dw":50.328598,"mpcc_enc_sign":1,"mpcc_id_a":-0.124723047,"mpcc_iq_a":-3.79669166,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.97525978,"mpcc_pred_id_a":-0.584826171,"mpcc_pred_iq_a":-3.64552045,"mpcc_state":1,"mpcc_theta_e":0.452216148,"mpcc_theta_mech":0.55738914,"sam_rpm":14.7677488,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0140295327,"thr_a_norm":0.0140295327,"thr_a_v":0.556118131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446344733,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.632528,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.951108456,"cg_iw_a":-1.82799816,"cg_theta_rad":0.555477917,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.00155709754,"mpcc_du":49.777813,"mpcc_dv":49.3928947,"mpcc_dw":50.6071053,"mpcc_enc_sign":1,"mpcc_id_a":-0.116014622,"mpcc_iq_a":-2.63423467,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.8430481,"mpcc_pred_id_a":-0.287317216,"mpcc_pred_iq_a":-2.59613776,"mpcc_state":1,"mpcc_theta_e":0.449202061,"mpcc_theta_mech":0.556786358,"sam_rpm":12.0644922,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0140295327,"thr_a_norm":0.0140295327,"thr_a_v":0.556118131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446344733,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.639212,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.74847269,"cg_iw_a":-0.523220539,"cg_theta_rad":0.553699255,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0336333476,"mpcc_du":49.9835548,"mpcc_dv":48.8252907,"mpcc_dw":51.1747093,"mpcc_enc_sign":1,"mpcc_id_a":2.7753036,"mpcc_iq_a":-0.302583665,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.46658897,"mpcc_pred_id_a":0.516768277,"mpcc_pred_iq_a":-0.544883668,"mpcc_state":1,"mpcc_theta_e":0.446231365,"mpcc_theta_mech":0.55619216,"sam_rpm":6.85706711,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0141050667,"thr_a_norm":0.0141050667,"thr_a_v":0.556420267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446495771,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.649466,"values":{"cg_iu_a":4.73627377,"cg_iv_a":-0.153744221,"cg_iw_a":-4.58252954,"cg_theta_rad":0.552434742,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0134550408,"mpcc_du":50.4141197,"mpcc_dv":48.4856834,"mpcc_dw":51.5143166,"mpcc_enc_sign":1,"mpcc_id_a":0.64640826,"mpcc_iq_a":-0.38752681,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.91085625,"mpcc_pred_id_a":-0.112195551,"mpcc_pred_iq_a":-1.82384586,"mpcc_state":1,"mpcc_theta_e":0.434193134,"mpcc_theta_mech":0.553784549,"sam_rpm":-12.4656582,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0345239192,"thr_a_norm":0.0141050667,"thr_a_v":0.638095677,"thr_b":0.00199474394,"thr_b_norm":0,"thr_b_v":0.507978976,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.659231,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.588670254,"cg_iw_a":-2.04546118,"cg_theta_rad":0.557941318,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0313701294,"mpcc_du":49.5586815,"mpcc_dv":49.2623405,"mpcc_dw":50.7376595,"mpcc_enc_sign":1,"mpcc_id_a":3.19222927,"mpcc_iq_a":-0.274106622,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.25460625,"mpcc_pred_id_a":0.520492733,"mpcc_pred_iq_a":-4.16268444,"mpcc_state":1,"mpcc_theta_e":0.447443485,"mpcc_theta_mech":0.556434631,"sam_rpm":17.1050415,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0345239192,"thr_a_norm":0.0345239192,"thr_a_v":0.638095677,"thr_b":0.00199474394,"thr_b_norm":0.00199474394,"thr_b_v":0.507978976,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.669577,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-2.18339872,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556891859,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0549261086,"mpcc_du":50.227169,"mpcc_dv":48.2206345,"mpcc_dw":51.7793655,"mpcc_enc_sign":1,"mpcc_id_a":4.57890701,"mpcc_iq_a":-0.144192845,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.1713963,"mpcc_pred_id_a":1.09299958,"mpcc_pred_iq_a":1.0790447,"mpcc_state":1,"mpcc_theta_e":0.426225185,"mpcc_theta_mech":0.552190959,"sam_rpm":-21.4889107,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0305081159,"thr_a_norm":0.0305081159,"thr_a_v":0.622032464,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.679373,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.588670254,"cg_iw_a":-1.97297335,"cg_theta_rad":0.552696526,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.00828764401,"mpcc_du":50.1068153,"mpcc_dv":48.8850517,"mpcc_dw":51.1149483,"mpcc_enc_sign":1,"mpcc_id_a":1.81701183,"mpcc_iq_a":-3.4984262,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.869155705,"mpcc_pred_id_a":-0.0320380703,"mpcc_pred_iq_a":-2.44353771,"mpcc_state":1,"mpcc_theta_e":0.443135738,"mpcc_theta_mech":0.555573106,"sam_rpm":-0.468639761,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0305081159,"thr_a_norm":0.0305081159,"thr_a_v":0.622032464,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.690603,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.16857147,"cg_iw_a":-1.17560911,"cg_theta_rad":0.555412233,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0937311873,"mpcc_du":50.1945572,"mpcc_dv":48.1967545,"mpcc_dw":51.8032455,"mpcc_enc_sign":1,"mpcc_id_a":4.94526434,"mpcc_iq_a":-0.125651956,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.07326365,"mpcc_pred_id_a":1.4711535,"mpcc_pred_iq_a":-0.513407946,"mpcc_state":1,"mpcc_theta_e":0.444466114,"mpcc_theta_mech":0.555839121,"sam_rpm":-0.947024286,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019807741,"thr_a_norm":0.019807741,"thr_a_v":0.579230964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478622139,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.701803,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.806133032,"cg_iw_a":-1.61053538,"cg_theta_rad":0.553076327,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0474486127,"mpcc_du":50.5774384,"mpcc_dv":48.2037048,"mpcc_dw":51.7962952,"mpcc_enc_sign":1,"mpcc_id_a":2.42012072,"mpcc_iq_a":-0.532673955,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.96078587,"mpcc_pred_id_a":0.181367859,"mpcc_pred_iq_a":-2.44999766,"mpcc_state":1,"mpcc_theta_e":0.439683914,"mpcc_theta_mech":0.554882705,"sam_rpm":-12.9789562,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451128393,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.724997,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.661157608,"cg_iw_a":-0.813171387,"cg_theta_rad":0.553215265,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0344709009,"mpcc_du":50.6476936,"mpcc_dv":48.1204872,"mpcc_dw":51.8795128,"mpcc_enc_sign":1,"mpcc_id_a":1.85791862,"mpcc_iq_a":0.657195926,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.12345505,"mpcc_pred_id_a":0.158224106,"mpcc_pred_iq_a":0.484439552,"mpcc_state":1,"mpcc_theta_e":0.439414024,"mpcc_theta_mech":0.554828763,"sam_rpm":-7.19545031,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451128393,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.731497,"values":{"cg_iu_a":1.25686598,"cg_iv_a":0.136206627,"cg_iw_a":-1.75551081,"cg_theta_rad":0.553837597,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.00363711524,"mpcc_du":50.3035164,"mpcc_dv":51.0836754,"mpcc_dw":49.4725456,"mpcc_enc_sign":1,"mpcc_id_a":1.19036543,"mpcc_iq_a":-0.403447151,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.3615408,"mpcc_pred_id_a":-0.163517162,"mpcc_pred_iq_a":-1.02052629,"mpcc_state":1,"mpcc_theta_e":0.444738865,"mpcc_theta_mech":0.55589366,"sam_rpm":-18.9511909,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022325471,"thr_a_norm":0.022325471,"thr_a_v":0.589301884,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.737936,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.16857147,"cg_iw_a":-0.305757523,"cg_theta_rad":0.555634975,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0268742852,"mpcc_du":50.2063446,"mpcc_dv":48.5414848,"mpcc_dw":51.4585152,"mpcc_enc_sign":1,"mpcc_id_a":3.11345124,"mpcc_iq_a":-1.27230453,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.82364058,"mpcc_pred_id_a":0.549680352,"mpcc_pred_iq_a":-0.609960735,"mpcc_state":1,"mpcc_theta_e":0.438941479,"mpcc_theta_mech":0.55473417,"sam_rpm":-4.13266373,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022325471,"thr_a_norm":0.022325471,"thr_a_v":0.589301884,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.74468,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.951108456,"cg_iw_a":-0.305757523,"cg_theta_rad":0.552608848,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0176257342,"mpcc_du":49.7508736,"mpcc_dv":49.2938004,"mpcc_dw":50.7061996,"mpcc_enc_sign":1,"mpcc_id_a":2.18666887,"mpcc_iq_a":-1.36526752,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.31124163,"mpcc_pred_id_a":0.0609472096,"mpcc_pred_iq_a":-2.8578794,"mpcc_state":1,"mpcc_theta_e":0.445837021,"mpcc_theta_mech":0.556113303,"sam_rpm":4.65234232,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209029466,"thr_a_norm":0.0209029466,"thr_a_v":0.583611786,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464623481,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.754995,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.153744221,"cg_iw_a":-0.595707893,"cg_theta_rad":0.552724361,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.00738967024,"mpcc_du":49.7907639,"mpcc_dv":49.4530106,"mpcc_dw":50.5469894,"mpcc_enc_sign":1,"mpcc_id_a":0.126143381,"mpcc_iq_a":-2.18058825,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.844554067,"mpcc_pred_id_a":-0.442374438,"mpcc_pred_iq_a":-2.0305357,"mpcc_state":1,"mpcc_theta_e":0.438164711,"mpcc_theta_mech":0.5545789,"sam_rpm":-3.0956943,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022325471,"thr_a_norm":0.0209029466,"thr_a_v":0.589301884,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485117882,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.766836,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-3.56066442,"cg_iw_a":2.52126145,"cg_theta_rad":0.557548225,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.00523287617,"mpcc_du":49.5517159,"mpcc_dv":50.1016006,"mpcc_dw":50.4482841,"mpcc_enc_sign":1,"mpcc_id_a":1.44061542,"mpcc_iq_a":-1.57409394,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.5607567,"mpcc_pred_id_a":0.154439703,"mpcc_pred_iq_a":-2.18213177,"mpcc_state":1,"mpcc_theta_e":0.449832916,"mpcc_theta_mech":0.556912482,"sam_rpm":14.3527222,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022325471,"thr_a_norm":0.022325471,"thr_a_v":0.589301884,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485117882,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.776815,"values":{"cg_iu_a":2.1992054,"cg_iv_a":1.22352171,"cg_iw_a":-4.29257917,"cg_theta_rad":0.553488076,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0215894096,"mpcc_du":49.7046547,"mpcc_dv":49.2991982,"mpcc_dw":50.7008018,"mpcc_enc_sign":1,"mpcc_id_a":2.38382387,"mpcc_iq_a":-1.79058301,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.63536215,"mpcc_pred_id_a":0.168821529,"mpcc_pred_iq_a":-3.33633399,"mpcc_state":1,"mpcc_theta_e":0.44781065,"mpcc_theta_mech":0.556508064,"sam_rpm":6.29535961,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0298535079,"thr_a_norm":0.0298535079,"thr_a_v":0.619414032,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460796505,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.787039,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.6759851,"cg_iw_a":-0.668195486,"cg_theta_rad":0.557055295,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.00607191492,"mpcc_du":50.8133087,"mpcc_dv":48.0063438,"mpcc_dw":51.9936562,"mpcc_enc_sign":1,"mpcc_id_a":0.954265237,"mpcc_iq_a":-0.936640263,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.0012875,"mpcc_pred_id_a":-0.183403835,"mpcc_pred_iq_a":-1.80466604,"mpcc_state":1,"mpcc_theta_e":0.42783165,"mpcc_theta_mech":0.552512228,"sam_rpm":-28.4201431,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025749594,"thr_a_norm":0.0298535079,"thr_a_v":0.602998376,"thr_b":0.000370800495,"thr_b_norm":0,"thr_b_v":0.501483202,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.797201,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.16857147,"cg_iw_a":-1.75551081,"cg_theta_rad":0.557702959,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.012550083,"mpcc_du":49.6276321,"mpcc_dv":50.3723679,"mpcc_dw":50.2478905,"mpcc_enc_sign":1,"mpcc_id_a":-0.448926091,"mpcc_iq_a":-2.51666903,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.12567091,"mpcc_pred_id_a":-0.659272432,"mpcc_pred_iq_a":-2.54640508,"mpcc_state":1,"mpcc_theta_e":0.444533348,"mpcc_theta_mech":0.555852592,"sam_rpm":9.25008202,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025749594,"thr_a_norm":0.025749594,"thr_a_v":0.602998376,"thr_b":0.000370800495,"thr_b_norm":0.000370800495,"thr_b_v":0.501483202,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.820517,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.16078186,"cg_theta_rad":0.557991087,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.00424750987,"mpcc_du":49.3722229,"mpcc_dv":50.6277771,"mpcc_dw":49.8362007,"mpcc_enc_sign":1,"mpcc_id_a":-1.4651252,"mpcc_iq_a":-2.17564726,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.49142647,"mpcc_pred_id_a":-1.07959056,"mpcc_pred_iq_a":-6.50387669,"mpcc_state":1,"mpcc_theta_e":0.435574055,"mpcc_theta_mech":0.554060698,"sam_rpm":7.08229637,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023483634,"thr_a_norm":0.023483634,"thr_a_v":0.593934536,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473385215,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.826925,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.02359605,"cg_iw_a":-0.885658503,"cg_theta_rad":0.55414319,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0207943153,"mpcc_du":50.3130684,"mpcc_dv":48.4297256,"mpcc_dw":51.5702744,"mpcc_enc_sign":1,"mpcc_id_a":2.18238711,"mpcc_iq_a":-0.175123647,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.0239964,"mpcc_pred_id_a":0.422426224,"mpcc_pred_iq_a":-1.40061462,"mpcc_state":1,"mpcc_theta_e":0.433300972,"mpcc_theta_mech":0.553606093,"sam_rpm":-14.5798769,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0159304142,"thr_a_norm":0.023483634,"thr_a_v":0.563721657,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.833456,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.371207237,"cg_iw_a":-3.42272711,"cg_theta_rad":0.555241108,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0205759984,"mpcc_du":49.5355949,"mpcc_dv":49.7378082,"mpcc_dw":50.4644051,"mpcc_enc_sign":1,"mpcc_id_a":2.41645002,"mpcc_iq_a":-1.05219793,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.41253698,"mpcc_pred_id_a":0.0999506637,"mpcc_pred_iq_a":-4.45936632,"mpcc_state":1,"mpcc_theta_e":0.443978786,"mpcc_theta_mech":0.555741668,"sam_rpm":1.85487604,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0159304142,"thr_a_norm":0.0159304142,"thr_a_v":0.563721657,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.840414,"values":{"cg_iu_a":3.79393435,"cg_iv_a":-1.31354666,"cg_iw_a":-1.68302298,"cg_theta_rad":0.555914938,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.00360396667,"mpcc_du":50.5927429,"mpcc_dv":48.2049789,"mpcc_dw":51.7950211,"mpcc_enc_sign":1,"mpcc_id_a":0.45332709,"mpcc_iq_a":-1.7108351,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-22.4328136,"mpcc_pred_id_a":-0.161256865,"mpcc_pred_iq_a":-1.84214318,"mpcc_state":1,"mpcc_theta_e":0.420255184,"mpcc_theta_mech":0.550996959,"sam_rpm":-33.7695999,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217086226,"thr_a_norm":0.0217086226,"thr_a_v":0.58683449,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473485917,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.849997,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.153744221,"cg_iw_a":-0.885658741,"cg_theta_rad":0.552757502,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.00630480191,"mpcc_du":50.0878334,"mpcc_dv":48.7290726,"mpcc_dw":51.2709274,"mpcc_enc_sign":1,"mpcc_id_a":1.41928232,"mpcc_iq_a":-0.965015471,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.5246944,"mpcc_pred_id_a":0.252250046,"mpcc_pred_iq_a":-1.96037948,"mpcc_state":1,"mpcc_theta_e":0.42800045,"mpcc_theta_mech":0.552546024,"sam_rpm":-21.8726845,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217086226,"thr_a_norm":0.0217086226,"thr_a_v":0.58683449,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473485917,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.860189,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.96593571,"cg_iw_a":0.78155756,"cg_theta_rad":0.557827592,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0241421778,"mpcc_du":50.847435,"mpcc_dv":47.8384781,"mpcc_dw":52.1615219,"mpcc_enc_sign":1,"mpcc_id_a":2.57194352,"mpcc_iq_a":-1.23212242,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.0153103,"mpcc_pred_id_a":0.14247714,"mpcc_pred_iq_a":-0.907683313,"mpcc_state":1,"mpcc_theta_e":0.433507442,"mpcc_theta_mech":0.553647399,"sam_rpm":-20.8898354,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217212141,"thr_a_norm":0.0217212141,"thr_a_v":0.586884856,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473334849,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.870474,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.806133032,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.553424656,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0658768192,"mpcc_du":50.2927589,"mpcc_dv":48.5996284,"mpcc_dw":51.4003716,"mpcc_enc_sign":1,"mpcc_id_a":2.22440553,"mpcc_iq_a":-0.782504797,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.9501673,"mpcc_pred_id_a":0.597024441,"mpcc_pred_iq_a":-0.749756992,"mpcc_state":1,"mpcc_theta_e":0.446685791,"mpcc_theta_mech":0.559321463,"sam_rpm":-0.986465573,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195811391,"thr_a_norm":0.0217212141,"thr_a_v":0.578324556,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473737687,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.880331,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.733645439,"cg_iw_a":-1.61053514,"cg_theta_rad":0.556176245,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0764947236,"mpcc_du":49.5366631,"mpcc_dv":50.1001129,"mpcc_dw":50.4633369,"mpcc_enc_sign":1,"mpcc_id_a":2.86296034,"mpcc_iq_a":0.188834026,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.5197058,"mpcc_pred_id_a":0.320557266,"mpcc_pred_iq_a":-4.68036604,"mpcc_state":1,"mpcc_theta_e":0.454680443,"mpcc_theta_mech":0.557882011,"sam_rpm":18.1380997,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195811391,"thr_a_norm":0.0195811391,"thr_a_v":0.578324556,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473737687,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.890371,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.31354666,"cg_iw_a":-3.13277674,"cg_theta_rad":0.556946039,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.00608249614,"mpcc_du":50.0245628,"mpcc_dv":49.2052269,"mpcc_dw":50.7947731,"mpcc_enc_sign":1,"mpcc_id_a":0.674419463,"mpcc_iq_a":-1.33722258,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.41812706,"mpcc_pred_id_a":-0.535435259,"mpcc_pred_iq_a":-1.85443747,"mpcc_state":1,"mpcc_theta_e":0.445024014,"mpcc_theta_mech":0.555950761,"sam_rpm":5.9613266,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252586454,"thr_a_norm":0.0252586454,"thr_a_v":0.601034582,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473687351,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.900595,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-2.32837415,"cg_iw_a":1.5064342,"cg_theta_rad":0.555595815,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":360,"hz_tim_isr":9996,"hz_vsense":360,"mpcc_cost":0.0233823247,"mpcc_du":49.9650307,"mpcc_dv":49.2121048,"mpcc_dw":50.7878952,"mpcc_enc_sign":1,"mpcc_id_a":-0.31091705,"mpcc_iq_a":-1.78600872,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.83214235,"mpcc_pred_id_a":-0.43440333,"mpcc_pred_iq_a":-0.887010455,"mpcc_state":1,"mpcc_theta_e":0.428619385,"mpcc_theta_mech":0.552669764,"sam_rpm":-14.2462597,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252586454,"thr_a_norm":0.0252586454,"thr_a_v":0.601034582,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473687351,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.924612,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.878620625,"cg_iw_a":-1.39307261,"cg_theta_rad":0.556592286,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.00189250463,"mpcc_du":51.2339478,"mpcc_dv":47.6110229,"mpcc_dw":52.3889771,"mpcc_enc_sign":1,"mpcc_id_a":0.843424797,"mpcc_iq_a":-1.01485598,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-23.0391788,"mpcc_pred_id_a":-0.461925447,"mpcc_pred_iq_a":0.160054848,"mpcc_state":1,"mpcc_theta_e":0.420752525,"mpcc_theta_mech":0.55109638,"sam_rpm":-34.3409462,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019681856,"thr_a_norm":0.019681856,"thr_a_v":0.578727424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475197971,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.931143,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.878620625,"cg_iw_a":-1.10312176,"cg_theta_rad":0.553273559,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0126916543,"mpcc_du":49.6958084,"mpcc_dv":49.1356392,"mpcc_dw":50.8643608,"mpcc_enc_sign":1,"mpcc_id_a":1.96589279,"mpcc_iq_a":-1.15670168,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.791991889,"mpcc_pred_id_a":0.68791765,"mpcc_pred_iq_a":-2.62206602,"mpcc_state":1,"mpcc_theta_e":0.441754818,"mpcc_theta_mech":0.555296898,"sam_rpm":-1.66377389,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022552073,"thr_a_norm":0.022552073,"thr_a_v":0.590208292,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478168905,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.937643,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.02359605,"cg_iw_a":0.346631765,"cg_theta_rad":0.556454718,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0034332294,"mpcc_du":50.5567894,"mpcc_dv":48.6134491,"mpcc_dw":51.3865509,"mpcc_enc_sign":1,"mpcc_id_a":0.143541917,"mpcc_iq_a":-2.02015734,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.97990513,"mpcc_pred_id_a":-0.685848176,"mpcc_pred_iq_a":-0.229879782,"mpcc_state":1,"mpcc_theta_e":0.446834564,"mpcc_theta_mech":0.556312799,"sam_rpm":2.80204272,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022552073,"thr_a_norm":0.022552073,"thr_a_v":0.590208292,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478168905,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.944418,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.16857147,"cg_iw_a":0.709070206,"cg_theta_rad":0.555837035,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0210944135,"mpcc_du":49.7970581,"mpcc_dv":49.296772,"mpcc_dw":50.703228,"mpcc_enc_sign":1,"mpcc_id_a":1.76988649,"mpcc_iq_a":-1.55469966,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.4818954,"mpcc_pred_id_a":-0.0121767167,"mpcc_pred_iq_a":-2.0777514,"mpcc_state":1,"mpcc_theta_e":0.452812672,"mpcc_theta_mech":0.556004465,"sam_rpm":16.0855713,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289345384,"thr_a_norm":0.0289345384,"thr_a_v":0.615738153,"thr_b":0.000131607056,"thr_b_norm":0.000131607056,"thr_b_v":0.500526428,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.955618,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.38603449,"cg_iw_a":-1.39307213,"cg_theta_rad":0.553884447,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.00501276553,"mpcc_du":49.7111397,"mpcc_dv":50.2874413,"mpcc_dw":50.2888603,"mpcc_enc_sign":1,"mpcc_id_a":-0.798543572,"mpcc_iq_a":-4.06838512,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.93616772,"mpcc_pred_id_a":-0.834136367,"mpcc_pred_iq_a":-5.21271467,"mpcc_state":1,"mpcc_theta_e":0.447218895,"mpcc_theta_mech":0.556389689,"sam_rpm":7.13899994,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275120139,"thr_a_norm":0.0289345384,"thr_a_v":0.610048056,"thr_b":0,"thr_b_norm":0.000131607056,"thr_b_v":0.494685292,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.966513,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.45852208,"cg_iw_a":-1.4655602,"cg_theta_rad":0.552240252,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0452742577,"mpcc_du":50.6835403,"mpcc_dv":47.980217,"mpcc_dw":52.019783,"mpcc_enc_sign":1,"mpcc_id_a":2.42303491,"mpcc_iq_a":0.86934346,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.1655674,"mpcc_pred_id_a":0.299164921,"mpcc_pred_iq_a":-0.878007174,"mpcc_state":1,"mpcc_theta_e":0.431822777,"mpcc_theta_mech":0.553310454,"sam_rpm":-19.1511497,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275120139,"thr_a_norm":0.0275120139,"thr_a_v":0.610048056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494685292,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.976583,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.89344811,"cg_iw_a":-1.24809718,"cg_theta_rad":0.553091466,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":5.82260654e-05,"mpcc_du":50.7293167,"mpcc_dv":48.1559639,"mpcc_dw":51.8440361,"mpcc_enc_sign":1,"mpcc_id_a":0.115671471,"mpcc_iq_a":-0.507258236,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.0865536,"mpcc_pred_id_a":-0.38869977,"mpcc_pred_iq_a":0.00167290086,"mpcc_state":1,"mpcc_theta_e":0.424980164,"mpcc_theta_mech":0.551941991,"sam_rpm":-25.092495,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480686635,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.986776,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.38603449,"cg_iw_a":-1.03063393,"cg_theta_rad":0.55555588,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.000982586527,"mpcc_du":49.6638641,"mpcc_dv":50.1206818,"mpcc_dw":50.3361359,"mpcc_enc_sign":1,"mpcc_id_a":-0.472522914,"mpcc_iq_a":-2.65519261,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.2973976,"mpcc_pred_id_a":-0.530901015,"mpcc_pred_iq_a":-2.2004602,"mpcc_state":1,"mpcc_theta_e":0.457717896,"mpcc_theta_mech":0.558489501,"sam_rpm":25.6542511,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262153894,"thr_a_norm":0.0256614834,"thr_a_v":0.604861557,"thr_b":0.000232309103,"thr_b_norm":0,"thr_b_v":0.500929236,"vdc_v":55.2955055}} +{"type":"telemetry","t":17.996603,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.951108456,"cg_iw_a":0.419119358,"cg_theta_rad":0.555074513,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.00238909293,"mpcc_du":50.7696953,"mpcc_dv":48.0974426,"mpcc_dw":51.9025574,"mpcc_enc_sign":1,"mpcc_id_a":-0.222656533,"mpcc_iq_a":-1.27102423,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.2654476,"mpcc_pred_id_a":-0.332583189,"mpcc_pred_iq_a":-0.398070484,"mpcc_state":1,"mpcc_theta_e":0.41964674,"mpcc_theta_mech":0.550875306,"sam_rpm":-30.4713669,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262153894,"thr_a_norm":0.0262153894,"thr_a_v":0.604861557,"thr_b":0.000232309103,"thr_b_norm":0.000232309103,"thr_b_v":0.500929236,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.007101,"values":{"cg_iu_a":2.92408228,"cg_iv_a":0.0637187958,"cg_iw_a":-2.98780107,"cg_theta_rad":0.55834049,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0243563987,"mpcc_du":49.8409653,"mpcc_dv":49.5386505,"mpcc_dw":51.1693039,"mpcc_enc_sign":1,"mpcc_id_a":-0.208502531,"mpcc_iq_a":-0.824065089,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.89540315,"mpcc_pred_id_a":-0.909855008,"mpcc_pred_iq_a":-4.31557941,"mpcc_state":1,"mpcc_theta_e":0.448626995,"mpcc_theta_mech":0.555645525,"sam_rpm":6.88434839,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280659199,"thr_a_norm":0.0280659199,"thr_a_v":0.61226368,"thr_b":0.00350537896,"thr_b_norm":0.00350537896,"thr_b_v":0.514021516,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.030233,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.24105906,"cg_iw_a":-0.0158064365,"cg_theta_rad":0.553235829,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0215766337,"mpcc_du":50.3359222,"mpcc_dv":48.5299759,"mpcc_dw":51.4700241,"mpcc_enc_sign":1,"mpcc_id_a":2.5707705,"mpcc_iq_a":-0.897300005,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.846632,"mpcc_pred_id_a":-0.080837436,"mpcc_pred_iq_a":-4.42514658,"mpcc_state":1,"mpcc_theta_e":0.445119381,"mpcc_theta_mech":0.555969834,"sam_rpm":-8.55878067,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280659199,"thr_a_norm":0.0280659199,"thr_a_v":0.61226368,"thr_b":0.00350537896,"thr_b_norm":0.00350537896,"thr_b_v":0.514021516,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.0371,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.878620625,"cg_iw_a":-1.97297382,"cg_theta_rad":0.556488633,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.00404551532,"mpcc_du":50.4748344,"mpcc_dv":48.5649185,"mpcc_dw":51.4350815,"mpcc_enc_sign":1,"mpcc_id_a":0.0834065005,"mpcc_iq_a":-3.27493286,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.348267466,"mpcc_pred_id_a":-0.370734125,"mpcc_pred_iq_a":0.34268564,"mpcc_state":1,"mpcc_theta_e":0.441347599,"mpcc_theta_mech":0.555215478,"sam_rpm":-1.17188191,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260139555,"thr_a_norm":0.0260139555,"thr_a_v":0.604055822,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496397346,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.043264,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-1.45852208,"cg_iw_a":-2.11794925,"cg_theta_rad":0.555335283,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.00933457073,"mpcc_du":49.8787498,"mpcc_dv":49.247921,"mpcc_dw":50.752079,"mpcc_enc_sign":1,"mpcc_id_a":0.795271456,"mpcc_iq_a":-1.25423133,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.36051548,"mpcc_pred_id_a":-0.175563484,"mpcc_pred_iq_a":-3.01275992,"mpcc_state":1,"mpcc_theta_e":0.443926811,"mpcc_theta_mech":0.555731297,"sam_rpm":2.18134069,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260139555,"thr_a_norm":0.0260139555,"thr_a_v":0.604055822,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496397346,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.049795,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.951108456,"cg_iw_a":-2.11794901,"cg_theta_rad":0.555236697,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0101923579,"mpcc_du":49.2082558,"mpcc_dv":50.7917442,"mpcc_dw":49.9804115,"mpcc_enc_sign":1,"mpcc_id_a":2.01270199,"mpcc_iq_a":-2.70438147,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.2637129,"mpcc_pred_id_a":0.140105546,"mpcc_pred_iq_a":-4.75912428,"mpcc_state":1,"mpcc_theta_e":0.455106258,"mpcc_theta_mech":0.557967186,"sam_rpm":22.2625408,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184103847,"thr_a_norm":0.0184103847,"thr_a_v":0.573641539,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453897923,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.058187,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.806133032,"cg_iw_a":1.07150817,"cg_theta_rad":0.556291759,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.00352120772,"mpcc_du":50.7706947,"mpcc_dv":48.2293892,"mpcc_dw":51.7706108,"mpcc_enc_sign":1,"mpcc_id_a":-0.0389767811,"mpcc_iq_a":-1.17677593,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.48799515,"mpcc_pred_id_a":-0.536064267,"mpcc_pred_iq_a":-0.502413094,"mpcc_state":1,"mpcc_theta_e":0.434024334,"mpcc_theta_mech":0.553750813,"sam_rpm":-13.6691256,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020613417,"thr_a_norm":0.0184103847,"thr_a_v":0.582453668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473788053,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.06777,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.38603449,"cg_iw_a":0.78155756,"cg_theta_rad":0.557468951,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.00108998234,"mpcc_du":50.0373611,"mpcc_dv":49.0466766,"mpcc_dw":50.9533234,"mpcc_enc_sign":1,"mpcc_id_a":0.405929744,"mpcc_iq_a":-1.57535112,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.1605835,"mpcc_pred_id_a":-0.257407784,"mpcc_pred_iq_a":-0.26523459,"mpcc_state":1,"mpcc_theta_e":0.440905094,"mpcc_theta_mech":0.555126965,"sam_rpm":2.05628109,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020613417,"thr_a_norm":0.020613417,"thr_a_v":0.582453668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473788053,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.077993,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.38603449,"cg_iw_a":0.346631527,"cg_theta_rad":0.554052353,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0569037162,"mpcc_du":50.2337494,"mpcc_dv":48.8433266,"mpcc_dw":51.1566734,"mpcc_enc_sign":1,"mpcc_id_a":1.52325356,"mpcc_iq_a":-0.400698453,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0587780103,"mpcc_pred_id_a":-0.251763105,"mpcc_pred_iq_a":-3.26872849,"mpcc_state":1,"mpcc_theta_e":0.446937084,"mpcc_theta_mech":0.556333303,"sam_rpm":5.25349045,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190146565,"thr_a_norm":0.0190146565,"thr_a_v":0.576058626,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460041195,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.087973,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.09608364,"cg_iw_a":-1.24809694,"cg_theta_rad":0.556341648,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0660658181,"mpcc_du":49.3945427,"mpcc_dv":50.6054573,"mpcc_dw":50.4864197,"mpcc_enc_sign":1,"mpcc_id_a":5.11234331,"mpcc_iq_a":-0.10287524,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.76717234,"mpcc_pred_id_a":0.905765951,"mpcc_pred_iq_a":-3.83321118,"mpcc_state":1,"mpcc_theta_e":0.442599297,"mpcc_theta_mech":0.555465758,"sam_rpm":5.69578505,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190146565,"thr_a_norm":0.0190146565,"thr_a_v":0.576058626,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460041195,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.10018,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.806133032,"cg_iw_a":0.274143934,"cg_theta_rad":0.556527853,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.00343203149,"mpcc_du":49.5345917,"mpcc_dv":50.4654083,"mpcc_dw":50.286396,"mpcc_enc_sign":1,"mpcc_id_a":1.13798332,"mpcc_iq_a":-0.868107796,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.7053127,"mpcc_pred_id_a":-0.168128371,"mpcc_pred_iq_a":-2.41128802,"mpcc_state":1,"mpcc_theta_e":0.448437691,"mpcc_theta_mech":0.556633472,"sam_rpm":17.0412884,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022124052,"thr_a_norm":0.022124052,"thr_a_v":0.588496208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478974611,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.110281,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.6759851,"cg_iw_a":0.926532984,"cg_theta_rad":0.557587683,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0265269876,"mpcc_du":49.6642647,"mpcc_dv":49.8693924,"mpcc_dw":50.3357353,"mpcc_enc_sign":1,"mpcc_id_a":1.2155087,"mpcc_iq_a":-1.0598985,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.93834162,"mpcc_pred_id_a":-0.582330227,"mpcc_pred_iq_a":-1.58612335,"mpcc_state":1,"mpcc_theta_e":0.430262566,"mpcc_theta_mech":0.552998424,"sam_rpm":-3.3417089,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224891305,"thr_a_norm":0.0224891305,"thr_a_v":0.589956522,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475852609,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.133383,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.16857147,"cg_iw_a":-0.740683079,"cg_theta_rad":0.552926123,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.000165892532,"mpcc_du":49.5664291,"mpcc_dv":50.4335709,"mpcc_dw":50.1803932,"mpcc_enc_sign":1,"mpcc_id_a":0.253320992,"mpcc_iq_a":-1.2240169,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.65661299,"mpcc_pred_id_a":-0.555609524,"mpcc_pred_iq_a":-5.59753036,"mpcc_state":1,"mpcc_theta_e":0.438902378,"mpcc_theta_mech":0.554726422,"sam_rpm":-3.18494558,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224891305,"thr_a_norm":0.0224891305,"thr_a_v":0.589956522,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475852609,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.139914,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.24105906,"cg_iw_a":-1.82799864,"cg_theta_rad":0.555356979,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.000151747678,"mpcc_du":49.3189812,"mpcc_dv":50.6810188,"mpcc_dw":49.7417221,"mpcc_enc_sign":1,"mpcc_id_a":0.226845637,"mpcc_iq_a":-1.95389128,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0101068532,"mpcc_pred_id_a":-0.910316885,"mpcc_pred_iq_a":-7.37726784,"mpcc_state":1,"mpcc_theta_e":0.441152096,"mpcc_theta_mech":0.555176377,"sam_rpm":-0.523089588,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101621658,"thr_a_norm":0.101621658,"thr_a_v":0.90648663,"thr_b":0.044192031,"thr_b_norm":0.044192031,"thr_b_v":0.676768124,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.146414,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.16857147,"cg_iw_a":-0.305757523,"cg_theta_rad":0.557563305,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0411673523,"mpcc_du":50.2654877,"mpcc_dv":48.2253227,"mpcc_dw":51.7746773,"mpcc_enc_sign":1,"mpcc_id_a":4.0354948,"mpcc_iq_a":-1.69547045,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.14608192,"mpcc_pred_id_a":1.172701,"mpcc_pred_iq_a":0.185425028,"mpcc_state":1,"mpcc_theta_e":0.436929226,"mpcc_theta_mech":0.55433172,"sam_rpm":-7.6476059,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101621658,"thr_a_norm":0.101621658,"thr_a_v":0.90648663,"thr_b":0.044192031,"thr_b_norm":0.044192031,"thr_b_v":0.676768124,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.152975,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.74847269,"cg_iw_a":-2.33541203,"cg_theta_rad":0.552359164,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0141319968,"mpcc_du":49.9005356,"mpcc_dv":49.1806259,"mpcc_dw":50.8193741,"mpcc_enc_sign":1,"mpcc_id_a":0.449523151,"mpcc_iq_a":-1.2851398,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.387105,"mpcc_pred_id_a":-0.035690587,"mpcc_pred_iq_a":-1.19386542,"mpcc_state":1,"mpcc_theta_e":0.453282833,"mpcc_theta_mech":0.557602525,"sam_rpm":17.1527615,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242389441,"thr_a_norm":0.0242389441,"thr_a_v":0.596955776,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482851923,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.163168,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.443694592,"cg_iw_a":-0.668195486,"cg_theta_rad":0.556910574,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0127725322,"mpcc_du":49.8057556,"mpcc_dv":49.4938011,"mpcc_dw":50.5061989,"mpcc_enc_sign":1,"mpcc_id_a":-0.516071558,"mpcc_iq_a":-1.7912364,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.25907135,"mpcc_pred_id_a":-0.498345882,"mpcc_pred_iq_a":-3.00956774,"mpcc_state":1,"mpcc_theta_e":0.450051785,"mpcc_theta_mech":0.556956232,"sam_rpm":15.0371847,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202735066,"thr_a_norm":0.0242389441,"thr_a_v":0.581094027,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460141927,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.173208,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.16857147,"cg_iw_a":0.709070206,"cg_theta_rad":0.557483971,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0174348131,"mpcc_du":48.8987808,"mpcc_dv":51.1012192,"mpcc_dw":49.53899,"mpcc_enc_sign":1,"mpcc_id_a":1.80217397,"mpcc_iq_a":-2.49231648,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.2409878,"mpcc_pred_id_a":-0.0499893129,"mpcc_pred_iq_a":-4.81667042,"mpcc_state":1,"mpcc_theta_e":0.449852943,"mpcc_theta_mech":0.556916475,"sam_rpm":16.5272198,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202735066,"thr_a_norm":0.0202735066,"thr_a_v":0.581094027,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460141927,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.183401,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.53100967,"cg_iw_a":0.564094543,"cg_theta_rad":0.556101263,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0015747844,"mpcc_du":51.0644493,"mpcc_dv":47.6329231,"mpcc_dw":52.3670769,"mpcc_enc_sign":1,"mpcc_id_a":0.295227021,"mpcc_iq_a":-2.019768,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.5548487,"mpcc_pred_id_a":-0.0168255586,"mpcc_pred_iq_a":0.546665549,"mpcc_state":1,"mpcc_theta_e":0.430909157,"mpcc_theta_mech":0.553127706,"sam_rpm":-19.3346825,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0161318332,"thr_a_norm":0.0161318332,"thr_a_v":0.564527333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472529203,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.193472,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.82096052,"cg_iw_a":0.346631527,"cg_theta_rad":0.556431413,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0508311838,"mpcc_du":48.883255,"mpcc_dv":51.116745,"mpcc_dw":49.4848328,"mpcc_enc_sign":1,"mpcc_id_a":2.46136761,"mpcc_iq_a":-2.84641004,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.675306737,"mpcc_pred_id_a":0.384580612,"mpcc_pred_iq_a":-0.717972159,"mpcc_state":1,"mpcc_theta_e":0.434901714,"mpcc_theta_mech":0.553926289,"sam_rpm":16.7568874,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0161318332,"thr_a_norm":0.0161318332,"thr_a_v":0.564527333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472529203,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.203787,"values":{"cg_iu_a":1.76427937,"cg_iv_a":0.0637187958,"cg_iw_a":0.564094543,"cg_theta_rad":0.555421054,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.00688311551,"mpcc_du":50.1442795,"mpcc_dv":48.7548027,"mpcc_dw":51.2451973,"mpcc_enc_sign":1,"mpcc_id_a":1.42014849,"mpcc_iq_a":-1.47979999,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.23461437,"mpcc_pred_id_a":0.109400727,"mpcc_pred_iq_a":-1.28354931,"mpcc_state":1,"mpcc_theta_e":0.432000637,"mpcc_theta_mech":0.553346038,"sam_rpm":-15.1697578,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.107840478,"thr_a_norm":0.107840478,"thr_a_v":0.931361914,"thr_b":0.0382501781,"thr_b_norm":0.0382501781,"thr_b_v":0.653000712,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.21401,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.02359605,"cg_iw_a":-0.813171148,"cg_theta_rad":0.552510142,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0187903345,"mpcc_du":49.6830864,"mpcc_dv":50.2582741,"mpcc_dw":50.3169136,"mpcc_enc_sign":1,"mpcc_id_a":-0.34718588,"mpcc_iq_a":-2.65548491,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.08560467,"mpcc_pred_id_a":-0.619572699,"mpcc_pred_iq_a":-4.51935482,"mpcc_state":1,"mpcc_theta_e":0.441953659,"mpcc_theta_mech":0.555336654,"sam_rpm":16.8953037,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0150995702,"thr_a_norm":0.107840478,"thr_a_v":0.560398281,"thr_b":0,"thr_b_norm":0.0382501781,"thr_b_v":0.460947573,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.236807,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-2.40086174,"cg_iw_a":1.72389746,"cg_theta_rad":0.555220723,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0216543358,"mpcc_du":50.1415863,"mpcc_dv":48.7232552,"mpcc_dw":51.2767448,"mpcc_enc_sign":1,"mpcc_id_a":2.93805742,"mpcc_iq_a":-0.609848082,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.95755005,"mpcc_pred_id_a":0.216486141,"mpcc_pred_iq_a":-0.844016135,"mpcc_state":1,"mpcc_theta_e":0.431099892,"mpcc_theta_mech":0.553165853,"sam_rpm":-14.290719,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0150995702,"thr_a_norm":0.0150995702,"thr_a_v":0.560398281,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460947573,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.243277,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.02359605,"cg_iw_a":-0.378245115,"cg_theta_rad":0.554002762,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.00408538571,"mpcc_du":49.6433296,"mpcc_dv":49.7389641,"mpcc_dw":50.3566704,"mpcc_enc_sign":1,"mpcc_id_a":0.240858048,"mpcc_iq_a":-1.44247234,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.69142008,"mpcc_pred_id_a":-0.427509725,"mpcc_pred_iq_a":-5.09747458,"mpcc_state":1,"mpcc_theta_e":0.431391239,"mpcc_theta_mech":0.553224206,"sam_rpm":-4.37419891,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270965844,"thr_a_norm":0.0270965844,"thr_a_v":0.608386338,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489599437,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.249838,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.82096052,"cg_iw_a":1.28897142,"cg_theta_rad":0.553760111,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0156806763,"mpcc_du":49.5880699,"mpcc_dv":50.1829033,"mpcc_dw":50.4119301,"mpcc_enc_sign":1,"mpcc_id_a":1.17784989,"mpcc_iq_a":-0.283781618,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.92935228,"mpcc_pred_id_a":-0.0262593981,"mpcc_pred_iq_a":-3.81012654,"mpcc_state":1,"mpcc_theta_e":0.448626995,"mpcc_theta_mech":0.556671321,"sam_rpm":11.5487556,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270965844,"thr_a_norm":0.0270965844,"thr_a_v":0.608386338,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489599437,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.256369,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.74847269,"cg_iw_a":0.926532745,"cg_theta_rad":0.555967033,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0843048915,"mpcc_du":49.8092384,"mpcc_dv":48.942627,"mpcc_dw":51.057373,"mpcc_enc_sign":1,"mpcc_id_a":5.00548077,"mpcc_iq_a":0.178677067,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.235283762,"mpcc_pred_id_a":0.729469538,"mpcc_pred_iq_a":-2.03513312,"mpcc_state":1,"mpcc_theta_e":0.442734241,"mpcc_theta_mech":0.555492759,"sam_rpm":0.834263504,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0145204812,"thr_a_norm":0.0145204812,"thr_a_v":0.558081925,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.264578,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.09608364,"cg_iw_a":-1.82799864,"cg_theta_rad":0.555311322,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.00644670893,"mpcc_du":50.3259048,"mpcc_dv":48.5851517,"mpcc_dw":51.4148483,"mpcc_enc_sign":1,"mpcc_id_a":-0.15952237,"mpcc_iq_a":-1.76882339,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.04819489,"mpcc_pred_id_a":-0.0998601243,"mpcc_pred_iq_a":-2.82220435,"mpcc_state":1,"mpcc_theta_e":0.437240124,"mpcc_theta_mech":0.554393947,"sam_rpm":-11.3105583,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0144575387,"thr_a_norm":0.0145204812,"thr_a_v":0.557830155,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449365973,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.274588,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.6759851,"cg_iw_a":1.36145902,"cg_theta_rad":0.556507409,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0393570401,"mpcc_du":49.8638878,"mpcc_dv":49.0615501,"mpcc_dw":50.9384499,"mpcc_enc_sign":1,"mpcc_id_a":2.1429441,"mpcc_iq_a":-0.285467625,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.6268568,"mpcc_pred_id_a":0.2971389,"mpcc_pred_iq_a":-1.20903862,"mpcc_state":1,"mpcc_theta_e":0.449326992,"mpcc_theta_mech":0.556811273,"sam_rpm":14.2919769,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0144575387,"thr_a_norm":0.0144575387,"thr_a_v":0.557830155,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449365973,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.284597,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-1.53100967,"cg_iw_a":-1.82799864,"cg_theta_rad":0.555912614,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0728269294,"mpcc_du":49.620285,"mpcc_dv":49.443943,"mpcc_dw":51.584877,"mpcc_enc_sign":1,"mpcc_id_a":1.53703344,"mpcc_iq_a":-0.0434696749,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.4476423,"mpcc_pred_id_a":0.0592930391,"mpcc_pred_iq_a":-3.35691953,"mpcc_state":1,"mpcc_theta_e":0.451718807,"mpcc_theta_mech":0.55728972,"sam_rpm":21.2253685,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0286324173,"thr_a_norm":0.0286324173,"thr_a_v":0.614529669,"thr_b":0.00189402699,"thr_b_norm":0.00189402699,"thr_b_v":0.507576108,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.297018,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.516182423,"cg_iw_a":-2.48038721,"cg_theta_rad":0.554057896,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.00312208384,"mpcc_du":49.5102768,"mpcc_dv":50.0457764,"mpcc_dw":50.4897232,"mpcc_enc_sign":1,"mpcc_id_a":0.850418329,"mpcc_iq_a":-0.807412326,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.34107137,"mpcc_pred_id_a":0.321687996,"mpcc_pred_iq_a":-3.45285916,"mpcc_state":1,"mpcc_theta_e":0.436123848,"mpcc_theta_mech":0.554170668,"sam_rpm":-4.60344791,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260643214,"thr_a_norm":0.0286324173,"thr_a_v":0.604257286,"thr_b":0,"thr_b_norm":0.00189402699,"thr_b_v":0.492117196,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.306967,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.02359605,"cg_iw_a":-1.97297359,"cg_theta_rad":0.553835452,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0447158739,"mpcc_du":50.0605202,"mpcc_dv":48.7556419,"mpcc_dw":51.2443581,"mpcc_enc_sign":1,"mpcc_id_a":2.47919631,"mpcc_iq_a":0.265049934,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.908271968,"mpcc_pred_id_a":0.320716649,"mpcc_pred_iq_a":-1.35674059,"mpcc_state":1,"mpcc_theta_e":0.442652225,"mpcc_theta_mech":0.555476367,"sam_rpm":2.15935826,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260643214,"thr_a_norm":0.0260643214,"thr_a_v":0.604257286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492117196,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.31719,"values":{"cg_iu_a":1.40184116,"cg_iv_a":0.281181812,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556272507,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.00706509221,"mpcc_du":49.6152344,"mpcc_dv":49.673275,"mpcc_dw":50.3847656,"mpcc_enc_sign":1,"mpcc_id_a":0.453466564,"mpcc_iq_a":-2.15334702,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.16717505,"mpcc_pred_id_a":-0.356703609,"mpcc_pred_iq_a":-1.99928498,"mpcc_state":1,"mpcc_theta_e":0.441073418,"mpcc_theta_mech":0.555160582,"sam_rpm":3.34686279,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0268699974,"thr_a_norm":0.0268699974,"thr_a_v":0.60747999,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477917135,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.34017,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.38603449,"cg_iw_a":0.636582375,"cg_theta_rad":0.554467857,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.000354422344,"mpcc_du":49.5806694,"mpcc_dv":50.4193306,"mpcc_dw":50.1164284,"mpcc_enc_sign":1,"mpcc_id_a":-0.371249139,"mpcc_iq_a":-2.50921226,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.08227301,"mpcc_pred_id_a":-0.750241339,"mpcc_pred_iq_a":-5.49712896,"mpcc_state":1,"mpcc_theta_e":0.446829796,"mpcc_theta_mech":0.556311905,"sam_rpm":7.21454096,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0268699974,"thr_a_norm":0.0268699974,"thr_a_v":0.60747999,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477917135,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.346701,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.878620625,"cg_iw_a":-0.523220539,"cg_theta_rad":0.555048347,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.00367459049,"mpcc_du":49.6765823,"mpcc_dv":49.9734535,"mpcc_dw":50.3234177,"mpcc_enc_sign":1,"mpcc_id_a":0.0657566711,"mpcc_iq_a":-1.60328627,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.7246778,"mpcc_pred_id_a":-0.549647629,"mpcc_pred_iq_a":-4.93907356,"mpcc_state":1,"mpcc_theta_e":0.444966316,"mpcc_theta_mech":0.555939198,"sam_rpm":3.84274364,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0164213777,"thr_a_norm":0.0164213777,"thr_a_v":0.565685511,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476104379,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.353201,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.661157608,"cg_iw_a":-0.885658741,"cg_theta_rad":0.551593184,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0289731454,"mpcc_du":49.5529289,"mpcc_dv":49.5187912,"mpcc_dw":50.4812088,"mpcc_enc_sign":1,"mpcc_id_a":2.63760042,"mpcc_iq_a":-0.764551997,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.6246061,"mpcc_pred_id_a":0.235358909,"mpcc_pred_iq_a":-2.18580031,"mpcc_state":1,"mpcc_theta_e":0.452066898,"mpcc_theta_mech":0.557359278,"sam_rpm":15.8600702,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0164213777,"thr_a_norm":0.0164213777,"thr_a_v":0.565685511,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476104379,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.360128,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-2.0384233,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.556732535,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0406233072,"mpcc_du":50.5150185,"mpcc_dv":48.2272186,"mpcc_dw":51.7727814,"mpcc_enc_sign":1,"mpcc_id_a":2.08585882,"mpcc_iq_a":0.962686181,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.30307734,"mpcc_pred_id_a":0.43438527,"mpcc_pred_iq_a":0.881970465,"mpcc_state":1,"mpcc_theta_e":0.441595554,"mpcc_theta_mech":0.555265009,"sam_rpm":-1.57547319,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174914151,"thr_a_norm":0.0174914151,"thr_a_v":0.569965661,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455056071,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.370352,"values":{"cg_iu_a":1.61930418,"cg_iv_a":0.136206627,"cg_iw_a":-2.11794901,"cg_theta_rad":0.552770495,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.144775987,"mpcc_du":49.7638779,"mpcc_dv":49.1105461,"mpcc_dw":50.8894539,"mpcc_enc_sign":1,"mpcc_id_a":3.42845178,"mpcc_iq_a":0.512196541,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.85182762,"mpcc_pred_id_a":0.626370311,"mpcc_pred_iq_a":-3.88561249,"mpcc_state":1,"mpcc_theta_e":0.456502914,"mpcc_theta_mech":0.558246493,"sam_rpm":17.0671196,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0133119673,"thr_a_norm":0.0133119673,"thr_a_v":0.553247869,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.380301,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.878620625,"cg_iw_a":0.491606712,"cg_theta_rad":0.555437446,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.00299901771,"mpcc_du":50.1982956,"mpcc_dv":48.7559814,"mpcc_dw":50.8294487,"mpcc_enc_sign":1,"mpcc_id_a":1.08036971,"mpcc_iq_a":-1.36061883,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.9333048,"mpcc_pred_id_a":-0.00641182903,"mpcc_pred_iq_a":-3.28660631,"mpcc_state":1,"mpcc_theta_e":0.426950932,"mpcc_theta_mech":0.553783059,"sam_rpm":-24.4092884,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0133119673,"thr_a_norm":0.0133119673,"thr_a_v":0.553247869,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.390341,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-2.11091113,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556480169,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0389620662,"mpcc_du":49.0815582,"mpcc_dv":50.9184418,"mpcc_dw":49.748539,"mpcc_enc_sign":1,"mpcc_id_a":1.98370636,"mpcc_iq_a":-2.3139782,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.46702385,"mpcc_pred_id_a":-0.0540855452,"mpcc_pred_iq_a":-4.09482479,"mpcc_state":1,"mpcc_theta_e":0.438984394,"mpcc_theta_mech":0.554742754,"sam_rpm":4.33774376,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0476916879,"thr_a_norm":0.0476916879,"thr_a_v":0.690766752,"thr_b":0.0177935362,"thr_b_norm":0.0177935362,"thr_b_v":0.571174145,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.400564,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-2.18339872,"cg_iw_a":-0.523220539,"cg_theta_rad":0.555872679,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.00592620252,"mpcc_du":50.1531105,"mpcc_dv":49.0966721,"mpcc_dw":50.9033279,"mpcc_enc_sign":1,"mpcc_id_a":-0.996150553,"mpcc_iq_a":-1.97785187,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.01503563,"mpcc_pred_id_a":-0.613845825,"mpcc_pred_iq_a":-2.46747899,"mpcc_state":1,"mpcc_theta_e":0.444928646,"mpcc_theta_mech":0.555931687,"sam_rpm":2.23058891,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173907131,"thr_a_norm":0.0476916879,"thr_a_v":0.569562852,"thr_b":0,"thr_b_norm":0.0177935362,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.41036,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.516182423,"cg_iw_a":-0.450732708,"cg_theta_rad":0.553152025,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0184887461,"mpcc_du":49.8792076,"mpcc_dv":48.9319115,"mpcc_dw":51.0680885,"mpcc_enc_sign":1,"mpcc_id_a":2.68528271,"mpcc_iq_a":-0.644580662,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.99252605,"mpcc_pred_id_a":0.516141236,"mpcc_pred_iq_a":-2.10347176,"mpcc_state":1,"mpcc_theta_e":0.435394764,"mpcc_theta_mech":0.554024875,"sam_rpm":-11.5855265,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173907131,"thr_a_norm":0.0173907131,"thr_a_v":0.569562852,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.420767,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-2.61832476,"cg_iw_a":-0.740683556,"cg_theta_rad":0.557319403,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0216753297,"mpcc_du":49.2054291,"mpcc_dv":50.7945709,"mpcc_dw":49.9380531,"mpcc_enc_sign":1,"mpcc_id_a":2.23146868,"mpcc_iq_a":-2.45067596,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.26001549,"mpcc_pred_id_a":-0.0411611609,"mpcc_pred_iq_a":-4.34757185,"mpcc_state":1,"mpcc_theta_e":0.444997787,"mpcc_theta_mech":0.555945516,"sam_rpm":9.90139198,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0267189294,"thr_a_norm":0.0267189294,"thr_a_v":0.606875718,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480988771,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.444204,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.53100967,"cg_iw_a":0.709069729,"cg_theta_rad":0.555689275,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0234423373,"mpcc_du":49.5635681,"mpcc_dv":50.172348,"mpcc_dw":50.4364319,"mpcc_enc_sign":1,"mpcc_id_a":2.5745759,"mpcc_iq_a":-0.375603169,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.138926223,"mpcc_pred_id_a":0.13475728,"mpcc_pred_iq_a":-0.250532657,"mpcc_state":1,"mpcc_theta_e":0.440237522,"mpcc_theta_mech":0.554993391,"sam_rpm":10.8818102,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0267189294,"thr_a_norm":0.0267189294,"thr_a_v":0.606875718,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480988771,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.450277,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.588670254,"cg_iw_a":0.0566811562,"cg_theta_rad":0.552379549,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0216808505,"mpcc_du":50.1488037,"mpcc_dv":48.8087578,"mpcc_dw":51.1912422,"mpcc_enc_sign":1,"mpcc_id_a":0.0829837918,"mpcc_iq_a":-1.38367224,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.32760811,"mpcc_pred_id_a":0.0501544178,"mpcc_pred_iq_a":-1.70360339,"mpcc_state":1,"mpcc_theta_e":0.450324059,"mpcc_theta_mech":0.55701071,"sam_rpm":8.79118538,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213309675,"thr_a_norm":0.0213309675,"thr_a_v":0.58532387,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.456839,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.371207237,"cg_iw_a":-2.55287504,"cg_theta_rad":0.556752801,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0064310506,"mpcc_du":49.4149055,"mpcc_dv":50.5850945,"mpcc_dw":50.0800858,"mpcc_enc_sign":1,"mpcc_id_a":1.20373833,"mpcc_iq_a":-0.0547876507,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.33866405,"mpcc_pred_id_a":-0.377117664,"mpcc_pred_iq_a":-5.22288561,"mpcc_state":1,"mpcc_theta_e":0.441143036,"mpcc_theta_mech":0.55517453,"sam_rpm":2.43340564,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213309675,"thr_a_norm":0.0213309675,"thr_a_v":0.58532387,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.463369,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.24105906,"cg_iw_a":-1.03063416,"cg_theta_rad":0.554289997,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.00502364244,"mpcc_du":50.079792,"mpcc_dv":48.8346405,"mpcc_dw":51.1653595,"mpcc_enc_sign":1,"mpcc_id_a":1.21519697,"mpcc_iq_a":1.32835233,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.88575125,"mpcc_pred_id_a":0.0547809713,"mpcc_pred_iq_a":1.02368546,"mpcc_state":1,"mpcc_theta_e":0.440968037,"mpcc_theta_mech":0.555139482,"sam_rpm":-16.428484,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218596905,"thr_a_norm":0.0218596905,"thr_a_v":0.587438762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473083079,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.473562,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.16857147,"cg_iw_a":-1.82799816,"cg_theta_rad":0.554598987,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0238585398,"mpcc_du":50.2795143,"mpcc_dv":48.2638817,"mpcc_dw":51.7361183,"mpcc_enc_sign":1,"mpcc_id_a":3.0857892,"mpcc_iq_a":0.0759024173,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.2415934,"mpcc_pred_id_a":0.709951162,"mpcc_pred_iq_a":-0.415492088,"mpcc_state":1,"mpcc_theta_e":0.425648689,"mpcc_theta_mech":0.552075684,"sam_rpm":-24.3459263,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276756734,"thr_a_norm":0.0218596905,"thr_a_v":0.610702693,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485218614,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.483389,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.45852208,"cg_iw_a":-1.32058454,"cg_theta_rad":0.553384185,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0109473513,"mpcc_du":50.6729317,"mpcc_dv":47.9695663,"mpcc_dw":52.0304337,"mpcc_enc_sign":1,"mpcc_id_a":1.71842718,"mpcc_iq_a":-0.131239191,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.1781063,"mpcc_pred_id_a":0.202336505,"mpcc_pred_iq_a":-0.512489378,"mpcc_state":1,"mpcc_theta_e":0.425614357,"mpcc_theta_mech":0.55206883,"sam_rpm":-25.6552925,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276756734,"thr_a_norm":0.0276756734,"thr_a_v":0.610702693,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485218614,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.493582,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":0.716107845,"cg_iw_a":-1.68302298,"cg_theta_rad":0.554150045,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0137063675,"mpcc_du":50.0926552,"mpcc_dv":48.6995392,"mpcc_dw":51.3004608,"mpcc_enc_sign":1,"mpcc_id_a":2.23353338,"mpcc_iq_a":-1.10162139,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.841692,"mpcc_pred_id_a":0.201587394,"mpcc_pred_iq_a":-2.33771896,"mpcc_state":1,"mpcc_theta_e":0.426225185,"mpcc_theta_mech":0.552190959,"sam_rpm":-23.5118256,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024138242,"thr_a_norm":0.024138242,"thr_a_v":0.596552968,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476910055,"vdc_v":54.6292953}} +{"type":"telemetry","t":18.503531,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.733645439,"cg_iw_a":-0.305757523,"cg_theta_rad":0.55207926,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0603557378,"mpcc_du":49.5846062,"mpcc_dv":49.9086494,"mpcc_dw":50.4153938,"mpcc_enc_sign":1,"mpcc_id_a":1.27852035,"mpcc_iq_a":-0.576760471,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.6101971,"mpcc_pred_id_a":-0.16592823,"mpcc_pred_iq_a":-5.09605932,"mpcc_state":1,"mpcc_theta_e":0.456522465,"mpcc_theta_mech":0.558250368,"sam_rpm":19.0444508,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024138242,"thr_a_norm":0.024138242,"thr_a_v":0.596552968,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476910055,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.513418,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.878620625,"cg_iw_a":-0.740683556,"cg_theta_rad":0.557429075,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.105625629,"mpcc_du":50.5816841,"mpcc_dv":48.1629601,"mpcc_dw":52.4865608,"mpcc_enc_sign":1,"mpcc_id_a":2.6565733,"mpcc_iq_a":0.7538836,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.4388046,"mpcc_pred_id_a":0.21486631,"mpcc_pred_iq_a":-1.21013129,"mpcc_state":1,"mpcc_theta_e":0.455413342,"mpcc_theta_mech":0.558028579,"sam_rpm":0.960622847,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0268699974,"thr_a_norm":0.0268699974,"thr_a_v":0.60747999,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478219241,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.52474,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.878620625,"cg_iw_a":-0.378245354,"cg_theta_rad":0.555048347,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.00117876241,"mpcc_du":49.2065887,"mpcc_dv":50.7934113,"mpcc_dw":49.9418983,"mpcc_enc_sign":1,"mpcc_id_a":0.683230281,"mpcc_iq_a":-0.975756705,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.9195604,"mpcc_pred_id_a":-0.0876037329,"mpcc_pred_iq_a":-2.97888875,"mpcc_state":1,"mpcc_theta_e":0.449604034,"mpcc_theta_mech":0.554894388,"sam_rpm":22.1632938,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0136392713,"thr_a_norm":0.0268699974,"thr_a_v":0.554557085,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.433453888,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.546988,"values":{"cg_iu_a":2.77910662,"cg_iv_a":0.281181812,"cg_iw_a":-3.06028843,"cg_theta_rad":0.556817472,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.00356997526,"mpcc_du":49.7102852,"mpcc_dv":50.0617981,"mpcc_dw":50.2897148,"mpcc_enc_sign":1,"mpcc_id_a":-0.131212622,"mpcc_iq_a":-1.69245839,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.363277674,"mpcc_pred_id_a":-0.689052463,"mpcc_pred_iq_a":-2.17944813,"mpcc_state":1,"mpcc_theta_e":0.441453934,"mpcc_theta_mech":0.555236697,"sam_rpm":10.0504799,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0136392713,"thr_a_norm":0.0136392713,"thr_a_v":0.554557085,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.433453888,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.553518,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.226231575,"cg_iw_a":-0.015806675,"cg_theta_rad":0.557070673,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.000353805197,"mpcc_du":50.7910423,"mpcc_dv":48.1591759,"mpcc_dw":51.8408241,"mpcc_enc_sign":1,"mpcc_id_a":0.365133405,"mpcc_iq_a":-1.35715032,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.5669975,"mpcc_pred_id_a":-0.517619252,"mpcc_pred_iq_a":-1.11955786,"mpcc_state":1,"mpcc_theta_e":0.427023411,"mpcc_theta_mech":0.552350581,"sam_rpm":-24.9670982,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021998167,"thr_a_norm":0.021998167,"thr_a_v":0.587992668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476758987,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.560019,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.24105906,"cg_iw_a":0.564094782,"cg_theta_rad":0.556581974,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.00510686124,"mpcc_du":50.9475327,"mpcc_dv":47.9347954,"mpcc_dw":52.0652046,"mpcc_enc_sign":1,"mpcc_id_a":-0.122578152,"mpcc_iq_a":-0.675779045,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.469759,"mpcc_pred_id_a":-0.408037275,"mpcc_pred_iq_a":-0.497799814,"mpcc_state":1,"mpcc_theta_e":0.428884506,"mpcc_theta_mech":0.552722812,"sam_rpm":-22.6992302,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021998167,"thr_a_norm":0.021998167,"thr_a_v":0.587992668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476758987,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.566549,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.806133032,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.557006419,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.00878579635,"mpcc_du":50.6835442,"mpcc_dv":47.924366,"mpcc_dw":52.075634,"mpcc_enc_sign":1,"mpcc_id_a":1.0723598,"mpcc_iq_a":0.0256301332,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.9714985,"mpcc_pred_id_a":0.333011001,"mpcc_pred_iq_a":-0.888885498,"mpcc_state":1,"mpcc_theta_e":0.423878193,"mpcc_theta_mech":0.551721513,"sam_rpm":-27.9721775,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0268951803,"thr_a_norm":0.0268951803,"thr_a_v":0.607580721,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.574972,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.588670254,"cg_iw_a":-2.26292419,"cg_theta_rad":0.555439413,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0216975417,"mpcc_du":50.3235588,"mpcc_dv":48.4340019,"mpcc_dw":51.5659981,"mpcc_enc_sign":1,"mpcc_id_a":2.82033658,"mpcc_iq_a":-0.691180944,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.495204,"mpcc_pred_id_a":0.346162409,"mpcc_pred_iq_a":-1.33985722,"mpcc_state":1,"mpcc_theta_e":0.430233955,"mpcc_theta_mech":0.552992702,"sam_rpm":-17.2275219,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023836121,"thr_a_norm":0.0268951803,"thr_a_v":0.595344484,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482046247,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.584768,"values":{"cg_iu_a":0.966915131,"cg_iv_a":1.51347208,"cg_iw_a":-3.9301405,"cg_theta_rad":0.556832492,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0426053517,"mpcc_du":49.7336998,"mpcc_dv":49.0437012,"mpcc_dw":50.9562988,"mpcc_enc_sign":1,"mpcc_id_a":3.29502106,"mpcc_iq_a":-2.25849509,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.91174984,"mpcc_pred_id_a":0.681383193,"mpcc_pred_iq_a":-0.983795881,"mpcc_state":1,"mpcc_theta_e":0.43349123,"mpcc_theta_mech":0.55364418,"sam_rpm":-9.2267189,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023836121,"thr_a_norm":0.023836121,"thr_a_v":0.595344484,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482046247,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.594961,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.733645439,"cg_iw_a":-1.82799816,"cg_theta_rad":0.551030695,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.00626606634,"mpcc_du":49.3378906,"mpcc_dv":50.6621094,"mpcc_dw":50.0398178,"mpcc_enc_sign":1,"mpcc_id_a":1.54762554,"mpcc_iq_a":-1.35046458,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.1118889,"mpcc_pred_id_a":-0.105763339,"mpcc_pred_iq_a":-3.60955215,"mpcc_state":1,"mpcc_theta_e":0.451444149,"mpcc_theta_mech":0.557234764,"sam_rpm":19.1776562,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289848894,"thr_a_norm":0.0289848894,"thr_a_v":0.615939558,"thr_b":0.000874340534,"thr_b_norm":0.000874340534,"thr_b_v":0.503497362,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.605154,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.951108456,"cg_iw_a":-1.39307213,"cg_theta_rad":0.556434155,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.034165103,"mpcc_du":49.5173454,"mpcc_dv":49.6590462,"mpcc_dw":50.4826546,"mpcc_enc_sign":1,"mpcc_id_a":1.09360957,"mpcc_iq_a":-0.952891767,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.7124014,"mpcc_pred_id_a":0.363175482,"mpcc_pred_iq_a":-3.44274402,"mpcc_state":1,"mpcc_theta_e":0.456963539,"mpcc_theta_mech":0.558338583,"sam_rpm":20.3900223,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289848894,"thr_a_norm":0.0289848894,"thr_a_v":0.615939558,"thr_b":0.000874340534,"thr_b_norm":0.000874340534,"thr_b_v":0.503497362,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.615286,"values":{"cg_iu_a":2.12671757,"cg_iv_a":0.0637187958,"cg_iw_a":-2.19043636,"cg_theta_rad":0.556512237,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.00384521857,"mpcc_du":49.6027031,"mpcc_dv":50.2199821,"mpcc_dw":50.3972969,"mpcc_enc_sign":1,"mpcc_id_a":1.21190989,"mpcc_iq_a":-3.04523873,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.51328993,"mpcc_pred_id_a":-0.0515484251,"mpcc_pred_iq_a":-4.34335899,"mpcc_state":1,"mpcc_theta_e":0.450376511,"mpcc_theta_mech":0.557021201,"sam_rpm":11.1254854,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100048065,"thr_a_norm":0.100048065,"thr_a_v":0.900192261,"thr_b":0.044192031,"thr_b_norm":0.044192031,"thr_b_v":0.676768124,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.625387,"values":{"cg_iu_a":3.72144651,"cg_iv_a":-1.02359605,"cg_iw_a":-2.69785047,"cg_theta_rad":0.556211829,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.00418999279,"mpcc_du":50.7064514,"mpcc_dv":48.0453377,"mpcc_dw":51.9546623,"mpcc_enc_sign":1,"mpcc_id_a":1.2867043,"mpcc_iq_a":-0.90580976,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.5979424,"mpcc_pred_id_a":0.133780658,"mpcc_pred_iq_a":0.695849955,"mpcc_state":1,"mpcc_theta_e":0.428751469,"mpcc_theta_mech":0.552696228,"sam_rpm":-19.9907665,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00971159339,"thr_a_norm":0.100048065,"thr_a_v":0.538846374,"thr_b":0,"thr_b_norm":0.044192031,"thr_b_v":0.435921252,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.648764,"values":{"cg_iu_a":-0.337862968,"cg_iv_a":-0.588670254,"cg_iw_a":-4.79999304,"cg_theta_rad":0.556787431,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.032601174,"mpcc_du":49.6223412,"mpcc_dv":50.0607567,"mpcc_dw":50.3776588,"mpcc_enc_sign":1,"mpcc_id_a":0.556919098,"mpcc_iq_a":-0.403585613,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.25080681,"mpcc_pred_id_a":-0.146837413,"mpcc_pred_iq_a":-5.54478359,"mpcc_state":1,"mpcc_theta_e":0.449524403,"mpcc_theta_mech":0.556850791,"sam_rpm":8.59854603,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00971159339,"thr_a_norm":0.00971159339,"thr_a_v":0.538846374,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.435921252,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.655355,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.09608364,"cg_iw_a":-1.90048599,"cg_theta_rad":0.555526614,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.00832179841,"mpcc_du":49.7918091,"mpcc_dv":49.3052406,"mpcc_dw":50.6947594,"mpcc_enc_sign":1,"mpcc_id_a":0.689614475,"mpcc_iq_a":-0.971255183,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.07070494,"mpcc_pred_id_a":0.0349733345,"mpcc_pred_iq_a":-1.44819558,"mpcc_state":1,"mpcc_theta_e":0.443046093,"mpcc_theta_mech":0.555555165,"sam_rpm":7.60385513,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248558074,"thr_a_norm":0.0248558074,"thr_a_v":0.59942323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474442661,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.661825,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.60349751,"cg_iw_a":-0.958146095,"cg_theta_rad":0.555036128,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0202737562,"mpcc_du":50.3590965,"mpcc_dv":48.3882637,"mpcc_dw":51.6117363,"mpcc_enc_sign":1,"mpcc_id_a":2.7922914,"mpcc_iq_a":-0.931771696,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.51591349,"mpcc_pred_id_a":0.563684106,"mpcc_pred_iq_a":0.888767123,"mpcc_state":1,"mpcc_theta_e":0.437449932,"mpcc_theta_mech":0.554435909,"sam_rpm":-4.31789017,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248558074,"thr_a_norm":0.0248558074,"thr_a_v":0.59942323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474442661,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.668356,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.89344811,"cg_iw_a":-0.668195486,"cg_theta_rad":0.553363681,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.00150018325,"mpcc_du":50.349884,"mpcc_dv":48.8033218,"mpcc_dw":51.1966782,"mpcc_enc_sign":1,"mpcc_id_a":0.2749345,"mpcc_iq_a":-2.16866159,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.38352704,"mpcc_pred_id_a":-0.402033597,"mpcc_pred_iq_a":-0.520535827,"mpcc_state":1,"mpcc_theta_e":0.446469784,"mpcc_theta_mech":0.556239903,"sam_rpm":5.33377838,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.021620512,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486024261,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.678366,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-1.38603449,"cg_iw_a":-2.26292419,"cg_theta_rad":0.55676657,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.12891075,"mpcc_du":50.2376099,"mpcc_dv":48.5364838,"mpcc_dw":51.4635162,"mpcc_enc_sign":1,"mpcc_id_a":3.58135533,"mpcc_iq_a":0.691285074,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.67664456,"mpcc_pred_id_a":0.598225474,"mpcc_pred_iq_a":-2.32741141,"mpcc_state":1,"mpcc_theta_e":0.450024605,"mpcc_theta_mech":0.556950867,"sam_rpm":6.15811157,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0471252054,"thr_a_norm":0.021620512,"thr_a_v":0.688500822,"thr_b":0.0144449472,"thr_b_norm":0,"thr_b_v":0.557779789,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.688192,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.516182423,"cg_iw_a":-0.81317091,"cg_theta_rad":0.553922951,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0342266522,"mpcc_du":50.632328,"mpcc_dv":48.3990936,"mpcc_dw":51.6009064,"mpcc_enc_sign":1,"mpcc_id_a":0.345947266,"mpcc_iq_a":-0.343717724,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.76265621,"mpcc_pred_id_a":-0.30528003,"mpcc_pred_iq_a":-2.00737691,"mpcc_state":1,"mpcc_theta_e":0.44062376,"mpcc_theta_mech":0.555070698,"sam_rpm":-7.29611588,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0471252054,"thr_a_norm":0.0471252054,"thr_a_v":0.688500822,"thr_b":0.0144449472,"thr_b_norm":0.0144449472,"thr_b_v":0.557779789,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.698385,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.951108456,"cg_iw_a":-2.11794901,"cg_theta_rad":0.553846538,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0062148408,"mpcc_du":49.9585724,"mpcc_dv":49.2785072,"mpcc_dw":50.7214928,"mpcc_enc_sign":1,"mpcc_id_a":0.0307123661,"mpcc_iq_a":-1.67881954,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.7212379,"mpcc_pred_id_a":-0.472503513,"mpcc_pred_iq_a":-2.60571814,"mpcc_state":1,"mpcc_theta_e":0.44438076,"mpcc_theta_mech":0.555822074,"sam_rpm":6.88017559,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0313767344,"thr_a_norm":0.0313767344,"thr_a_v":0.625506938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476557553,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.708517,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.82096052,"cg_iw_a":0.564094543,"cg_theta_rad":0.556836843,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0620793216,"mpcc_du":50.5685043,"mpcc_dv":48.0472603,"mpcc_dw":51.9527397,"mpcc_enc_sign":1,"mpcc_id_a":2.78850675,"mpcc_iq_a":0.081768319,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.19658184,"mpcc_pred_id_a":0.721243203,"mpcc_pred_iq_a":-1.54260516,"mpcc_state":1,"mpcc_theta_e":0.439144611,"mpcc_theta_mech":0.554774821,"sam_rpm":-11.2161379,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0313767344,"thr_a_norm":0.0313767344,"thr_a_v":0.625506938,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476557553,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.71874,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.806133032,"cg_iw_a":-1.4655602,"cg_theta_rad":0.558076978,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0454572141,"mpcc_du":49.7436256,"mpcc_dv":49.3152924,"mpcc_dw":50.6847076,"mpcc_enc_sign":1,"mpcc_id_a":2.7167089,"mpcc_iq_a":-0.0908647478,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.40734768,"mpcc_pred_id_a":0.087082915,"mpcc_pred_iq_a":-3.02863097,"mpcc_state":1,"mpcc_theta_e":0.446915627,"mpcc_theta_mech":0.556329012,"sam_rpm":7.75204039,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252838284,"thr_a_norm":0.0252838284,"thr_a_v":0.601135314,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483657569,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.72872,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.588670254,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556152225,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.00491558621,"mpcc_du":49.6238403,"mpcc_dv":49.9460258,"mpcc_dw":50.3761597,"mpcc_enc_sign":1,"mpcc_id_a":0.35254401,"mpcc_iq_a":-1.36047494,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.98322701,"mpcc_pred_id_a":-0.293578207,"mpcc_pred_iq_a":-3.39789104,"mpcc_state":1,"mpcc_theta_e":0.436288357,"mpcc_theta_mech":0.554203629,"sam_rpm":-5.00748062,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0230430365,"thr_a_norm":0.0252838284,"thr_a_v":0.592172146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.751791,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-2.83578777,"cg_iw_a":-0.523220062,"cg_theta_rad":0.551413476,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.00106508262,"mpcc_du":49.7454529,"mpcc_dv":50.0260544,"mpcc_dw":50.2545471,"mpcc_enc_sign":1,"mpcc_id_a":-0.602653921,"mpcc_iq_a":-2.02421927,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.2148459,"mpcc_pred_id_a":-0.826137722,"mpcc_pred_iq_a":-3.21889687,"mpcc_state":1,"mpcc_theta_e":0.438842773,"mpcc_theta_mech":0.554714501,"sam_rpm":12.4810038,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0230430365,"thr_a_norm":0.0230430365,"thr_a_v":0.592172146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.758352,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.61832476,"cg_iw_a":1.50643444,"cg_theta_rad":0.556089461,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.00214695837,"mpcc_du":49.8878899,"mpcc_dv":49.3119545,"mpcc_dw":50.6880455,"mpcc_enc_sign":1,"mpcc_id_a":0.357148021,"mpcc_iq_a":-1.65392244,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.65254927,"mpcc_pred_id_a":-0.321951717,"mpcc_pred_iq_a":-1.48461127,"mpcc_state":1,"mpcc_theta_e":0.448809147,"mpcc_theta_mech":0.55670774,"sam_rpm":11.0523863,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212554336,"thr_a_norm":0.0212554336,"thr_a_v":0.585021734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473989457,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.764791,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.951108456,"cg_iw_a":-1.68302298,"cg_theta_rad":0.554338157,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0189958457,"mpcc_du":49.5325661,"mpcc_dv":49.9415894,"mpcc_dw":50.4674339,"mpcc_enc_sign":1,"mpcc_id_a":1.42884493,"mpcc_iq_a":-0.928797126,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.3315945,"mpcc_pred_id_a":0.334322661,"mpcc_pred_iq_a":-2.47315979,"mpcc_state":1,"mpcc_theta_e":0.455702305,"mpcc_theta_mech":0.558086395,"sam_rpm":22.6542454,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212554336,"thr_a_norm":0.0212554336,"thr_a_v":0.585021734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473989457,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.771444,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.82096052,"cg_iw_a":-0.523220062,"cg_theta_rad":0.552616298,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.00198740675,"mpcc_du":49.6714096,"mpcc_dv":50.3285904,"mpcc_dw":50.291832,"mpcc_enc_sign":1,"mpcc_id_a":0.164236173,"mpcc_iq_a":-1.23186874,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.84535778,"mpcc_pred_id_a":-0.481613964,"mpcc_pred_iq_a":-5.24390411,"mpcc_state":1,"mpcc_theta_e":0.443517208,"mpcc_theta_mech":0.55564934,"sam_rpm":2.32599688,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176424831,"thr_a_norm":0.0176424831,"thr_a_v":0.570569932,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439899296,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.78179,"values":{"cg_iu_a":1.18437815,"cg_iv_a":0.281181812,"cg_iw_a":-3.78516531,"cg_theta_rad":0.556472003,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0480928086,"mpcc_du":51.139637,"mpcc_dv":47.4898682,"mpcc_dw":52.5101318,"mpcc_enc_sign":1,"mpcc_id_a":2.41939163,"mpcc_iq_a":-0.00916242599,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.9039469,"mpcc_pred_id_a":0.280078024,"mpcc_pred_iq_a":-0.0285023265,"mpcc_state":1,"mpcc_theta_e":0.433742046,"mpcc_theta_mech":0.553694367,"sam_rpm":-19.7994461,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193545371,"thr_a_norm":0.0193545371,"thr_a_v":0.577418149,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.791769,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.45852208,"cg_iw_a":-0.595708132,"cg_theta_rad":0.557628989,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0693216622,"mpcc_du":50.0297928,"mpcc_dv":48.9904137,"mpcc_dw":51.0095863,"mpcc_enc_sign":1,"mpcc_id_a":1.03603101,"mpcc_iq_a":-0.0806993619,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.3592577,"mpcc_pred_id_a":0.0946624875,"mpcc_pred_iq_a":-3.30108142,"mpcc_state":1,"mpcc_theta_e":0.452840328,"mpcc_theta_mech":0.557514012,"sam_rpm":9.85866642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193545371,"thr_a_norm":0.0193545371,"thr_a_v":0.577418149,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.801962,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.09608364,"cg_iw_a":-1.32058454,"cg_theta_rad":0.559954226,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.00825966988,"mpcc_du":49.7034111,"mpcc_dv":49.4646912,"mpcc_dw":50.5353088,"mpcc_enc_sign":1,"mpcc_id_a":-0.65410161,"mpcc_iq_a":-3.11445379,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.74509335,"mpcc_pred_id_a":-0.276635855,"mpcc_pred_iq_a":-1.78255188,"mpcc_state":1,"mpcc_theta_e":0.444744587,"mpcc_theta_mech":0.555894852,"sam_rpm":6.43403816,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0423037261,"thr_a_norm":0.0423037261,"thr_a_v":0.669214904,"thr_b":0.0147974342,"thr_b_norm":0.0147974342,"thr_b_v":0.559189737,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.812155,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.951108456,"cg_iw_a":0.12916851,"cg_theta_rad":0.55828011,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0363357924,"mpcc_du":49.5765076,"mpcc_dv":49.6221886,"mpcc_dw":50.4234924,"mpcc_enc_sign":1,"mpcc_id_a":1.2521956,"mpcc_iq_a":-2.87904787,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.4553299,"mpcc_pred_id_a":-0.21246618,"mpcc_pred_iq_a":-2.07950282,"mpcc_state":1,"mpcc_theta_e":0.432766438,"mpcc_theta_mech":0.553499162,"sam_rpm":-6.71789074,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209029466,"thr_a_norm":0.0423037261,"thr_a_v":0.583611786,"thr_b":0,"thr_b_norm":0.0147974342,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.822134,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.878620625,"cg_iw_a":-3.27775192,"cg_theta_rad":0.554498613,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0463222489,"mpcc_du":50.1581764,"mpcc_dv":48.7445831,"mpcc_dw":51.2554169,"mpcc_enc_sign":1,"mpcc_id_a":0.918271065,"mpcc_iq_a":0.356422156,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0380960368,"mpcc_pred_id_a":0.132139355,"mpcc_pred_iq_a":-2.00396085,"mpcc_state":1,"mpcc_theta_e":0.442839146,"mpcc_theta_mech":0.55551374,"sam_rpm":1.80003488,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209029466,"thr_a_norm":0.0209029466,"thr_a_v":0.583611786,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.832357,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.0384233,"cg_iw_a":-2.62536287,"cg_theta_rad":0.556593716,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0489095151,"mpcc_du":49.6896782,"mpcc_dv":49.3756371,"mpcc_dw":50.6243629,"mpcc_enc_sign":1,"mpcc_id_a":1.02478921,"mpcc_iq_a":0.0782261491,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.86202383,"mpcc_pred_id_a":-0.0743704587,"mpcc_pred_iq_a":-5.17400217,"mpcc_state":1,"mpcc_theta_e":0.43888092,"mpcc_theta_mech":0.55472213,"sam_rpm":5.0692153,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217212141,"thr_a_norm":0.0217212141,"thr_a_v":0.586884856,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472932041,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.855154,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.74847269,"cg_iw_a":0.201656342,"cg_theta_rad":0.555958867,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0472697169,"mpcc_du":49.8811455,"mpcc_dv":49.1695862,"mpcc_dw":50.8304138,"mpcc_enc_sign":1,"mpcc_id_a":2.57063603,"mpcc_iq_a":-0.40168336,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.96243,"mpcc_pred_id_a":0.0598920099,"mpcc_pred_iq_a":-2.90329218,"mpcc_state":1,"mpcc_theta_e":0.45037508,"mpcc_theta_mech":0.557020903,"sam_rpm":8.10599804,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217212141,"thr_a_norm":0.0217212141,"thr_a_v":0.586884856,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472932041,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.861715,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.226231575,"cg_iw_a":-1.46555996,"cg_theta_rad":0.557552814,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.00510548474,"mpcc_du":50.422718,"mpcc_dv":48.3877754,"mpcc_dw":51.6122246,"mpcc_enc_sign":1,"mpcc_id_a":1.41354537,"mpcc_iq_a":-1.13416719,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.0046711,"mpcc_pred_id_a":0.125059485,"mpcc_pred_iq_a":-1.48928511,"mpcc_state":1,"mpcc_theta_e":0.445450783,"mpcc_theta_mech":0.556036115,"sam_rpm":-19.3406124,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0105676353,"thr_a_norm":0.0105676353,"thr_a_v":0.542270541,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.417994976,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.868246,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.878620625,"cg_iw_a":0.201656342,"cg_theta_rad":0.556184173,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0109724822,"mpcc_du":51.3495827,"mpcc_dv":46.9966927,"mpcc_dw":53.0033073,"mpcc_enc_sign":1,"mpcc_id_a":2.0832715,"mpcc_iq_a":-0.368989378,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-26.0750046,"mpcc_pred_id_a":0.410797954,"mpcc_pred_iq_a":2.19771838,"mpcc_state":1,"mpcc_theta_e":0.416940212,"mpcc_theta_mech":0.550333917,"sam_rpm":-39.0077095,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0105676353,"thr_a_norm":0.0105676353,"thr_a_v":0.542270541,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.417994976,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.874929,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.806133032,"cg_iw_a":-0.16078186,"cg_theta_rad":0.556569219,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.00502471114,"mpcc_du":50.6231346,"mpcc_dv":48.4316864,"mpcc_dw":51.5683136,"mpcc_enc_sign":1,"mpcc_id_a":-0.163958505,"mpcc_iq_a":-1.25938523,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.21381426,"mpcc_pred_id_a":-0.577931702,"mpcc_pred_iq_a":-0.529293299,"mpcc_state":1,"mpcc_theta_e":0.439118385,"mpcc_theta_mech":0.554769635,"sam_rpm":-5.99919987,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211924911,"thr_a_norm":0.0211924911,"thr_a_v":0.584769964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.885,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.31354666,"cg_iw_a":-1.17560959,"cg_theta_rad":0.552459836,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0470397733,"mpcc_du":49.8388443,"mpcc_dv":49.1733894,"mpcc_dw":50.8266106,"mpcc_enc_sign":1,"mpcc_id_a":1.08355355,"mpcc_iq_a":-0.145268649,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.13486004,"mpcc_pred_id_a":0.0291593187,"mpcc_pred_iq_a":-3.44923401,"mpcc_state":1,"mpcc_theta_e":0.448429585,"mpcc_theta_mech":0.556631863,"sam_rpm":7.52187061,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.895956,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.588670254,"cg_iw_a":-2.40789938,"cg_theta_rad":0.557802439,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0559397787,"mpcc_du":49.6280975,"mpcc_dv":49.2253456,"mpcc_dw":50.7746544,"mpcc_enc_sign":1,"mpcc_id_a":2.9871788,"mpcc_iq_a":-1.53819442,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.91208982,"mpcc_pred_id_a":0.577560663,"mpcc_pred_iq_a":-4.63757849,"mpcc_state":1,"mpcc_theta_e":0.451817513,"mpcc_theta_mech":0.557309449,"sam_rpm":8.5237999,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.907248,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.18339872,"cg_iw_a":-0.81317091,"cg_theta_rad":0.553683281,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5001,"hz_app_loop":364,"hz_tim_isr":10003,"hz_vsense":364,"mpcc_cost":0.0953102335,"mpcc_du":49.7560997,"mpcc_dv":49.2451057,"mpcc_dw":51.9600334,"mpcc_enc_sign":1,"mpcc_id_a":2.25830913,"mpcc_iq_a":0.438592255,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.70026493,"mpcc_pred_id_a":0.171395108,"mpcc_pred_iq_a":-3.48321652,"mpcc_state":1,"mpcc_theta_e":0.454306602,"mpcc_theta_mech":0.556553304,"sam_rpm":16.2581177,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215072036,"thr_a_norm":0.0215072036,"thr_a_v":0.586028814,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477715701,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.917959,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.298719406,"cg_iw_a":0.926532984,"cg_theta_rad":0.555914342,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.1127088,"mpcc_du":49.3992004,"mpcc_dv":49.5542755,"mpcc_dw":50.6007996,"mpcc_enc_sign":1,"mpcc_id_a":4.16956282,"mpcc_iq_a":1.24533617,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.63971281,"mpcc_pred_id_a":0.911047459,"mpcc_pred_iq_a":-4.41813803,"mpcc_state":1,"mpcc_theta_e":0.449577332,"mpcc_theta_mech":0.556861341,"sam_rpm":9.28936863,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0286324173,"thr_a_norm":0.0215072036,"thr_a_v":0.614529669,"thr_b":0.001491189,"thr_b_norm":0,"thr_b_v":0.505964756,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.927725,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.04546142,"cg_theta_rad":0.555965185,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0158519875,"mpcc_du":49.8915939,"mpcc_dv":49.0262489,"mpcc_dw":50.9737511,"mpcc_enc_sign":1,"mpcc_id_a":2.02430773,"mpcc_iq_a":-0.863935828,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.92851734,"mpcc_pred_id_a":0.25031358,"mpcc_pred_iq_a":-1.38772106,"mpcc_state":1,"mpcc_theta_e":0.443264484,"mpcc_theta_mech":0.555598795,"sam_rpm":4.21693277,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0286324173,"thr_a_norm":0.0286324173,"thr_a_v":0.614529669,"thr_b":0.001491189,"thr_b_norm":0.001491189,"thr_b_v":0.505964756,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.95104,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.31354666,"cg_iw_a":-1.53804779,"cg_theta_rad":0.554181635,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.00224616728,"mpcc_du":51.6063042,"mpcc_dv":47.1702881,"mpcc_dw":52.8297119,"mpcc_enc_sign":1,"mpcc_id_a":0.925774455,"mpcc_iq_a":-1.52226746,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.9228477,"mpcc_pred_id_a":-0.528762996,"mpcc_pred_iq_a":2.67706585,"mpcc_state":1,"mpcc_theta_e":0.428241253,"mpcc_theta_mech":0.552594125,"sam_rpm":-25.0462074,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198580921,"thr_a_norm":0.0198580921,"thr_a_v":0.579432368,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480434865,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.957571,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.153744221,"cg_iw_a":-3.85765266,"cg_theta_rad":0.556831002,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.054196313,"mpcc_du":50.0522842,"mpcc_dv":48.6177444,"mpcc_dw":51.3822556,"mpcc_enc_sign":1,"mpcc_id_a":3.37767172,"mpcc_iq_a":1.52211988,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.09460878,"mpcc_pred_id_a":0.735753655,"mpcc_pred_iq_a":-1.00969863,"mpcc_state":1,"mpcc_theta_e":0.436783314,"mpcc_theta_mech":0.554302573,"sam_rpm":-7.9493618,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198580921,"thr_a_norm":0.0198580921,"thr_a_v":0.579432368,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480434865,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.964163,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.0384233,"cg_iw_a":-0.378245115,"cg_theta_rad":0.55924958,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.000903087086,"mpcc_du":50.5011826,"mpcc_dv":48.5757828,"mpcc_dw":51.4242172,"mpcc_enc_sign":1,"mpcc_id_a":-0.0734782666,"mpcc_iq_a":-1.25275779,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.03804016,"mpcc_pred_id_a":-0.575030088,"mpcc_pred_iq_a":-1.44866431,"mpcc_state":1,"mpcc_theta_e":0.433467865,"mpcc_theta_mech":0.553639472,"sam_rpm":-13.4329405,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0464957654,"thr_a_norm":0.0464957654,"thr_a_v":0.685983062,"thr_b":0.0158926547,"thr_b_norm":0.0158926547,"thr_b_v":0.563570619,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.970602,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-2.25588632,"cg_iw_a":-0.160782099,"cg_theta_rad":0.554007292,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.018817639,"mpcc_du":50.4205971,"mpcc_dv":48.494297,"mpcc_dw":51.505703,"mpcc_enc_sign":1,"mpcc_id_a":1.36480284,"mpcc_iq_a":-1.06691051,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.30091095,"mpcc_pred_id_a":0.038346801,"mpcc_pred_iq_a":-0.0870984271,"mpcc_state":1,"mpcc_theta_e":0.446726799,"mpcc_theta_mech":0.556291282,"sam_rpm":5.2324481,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220862925,"thr_a_norm":0.0464957654,"thr_a_v":0.58834517,"thr_b":0,"thr_b_norm":0.0158926547,"thr_b_v":0.471924901,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.979757,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-0.371207237,"cg_iw_a":-3.06028843,"cg_theta_rad":0.555353701,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0154636297,"mpcc_du":50.3381157,"mpcc_dv":48.5730667,"mpcc_dw":51.4269333,"mpcc_enc_sign":1,"mpcc_id_a":1.90821314,"mpcc_iq_a":-0.427249223,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.76039791,"mpcc_pred_id_a":0.0424438678,"mpcc_pred_iq_a":-0.49481827,"mpcc_state":1,"mpcc_theta_e":0.438083649,"mpcc_theta_mech":0.554562688,"sam_rpm":-5.18418312,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220862925,"thr_a_norm":0.0220862925,"thr_a_v":0.58834517,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471924901,"vdc_v":55.2955055}} +{"type":"telemetry","t":18.989157,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.16857147,"cg_iw_a":-3.42272711,"cg_theta_rad":0.555159807,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0365177989,"mpcc_du":49.456337,"mpcc_dv":49.8111572,"mpcc_dw":50.543663,"mpcc_enc_sign":1,"mpcc_id_a":0.995188236,"mpcc_iq_a":-0.497321248,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.7020483,"mpcc_pred_id_a":-0.169669583,"mpcc_pred_iq_a":-3.23629284,"mpcc_state":1,"mpcc_theta_e":0.429456234,"mpcc_theta_mech":0.552837133,"sam_rpm":-1.48652351,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0171515197,"thr_a_norm":0.0171515197,"thr_a_v":0.568606079,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447956055,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.00115,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-3.27071381,"cg_iw_a":0.78155756,"cg_theta_rad":0.556449592,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0271396041,"mpcc_du":50.0205536,"mpcc_dv":49.2432098,"mpcc_dw":50.7567902,"mpcc_enc_sign":1,"mpcc_id_a":0.297871411,"mpcc_iq_a":-0.275339663,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.60633004,"mpcc_pred_id_a":-0.65746963,"mpcc_pred_iq_a":-4.03517485,"mpcc_state":1,"mpcc_theta_e":0.4419384,"mpcc_theta_mech":0.555333555,"sam_rpm":-1.51218891,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.102817565,"thr_a_norm":0.0171515197,"thr_a_v":0.911270261,"thr_b":0.0447837114,"thr_b_norm":0,"thr_b_v":0.679134846,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.011099,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.0087685585,"cg_iw_a":0.201656103,"cg_theta_rad":0.553343832,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0458029918,"mpcc_du":50.9920349,"mpcc_dv":47.5745201,"mpcc_dw":52.4254799,"mpcc_enc_sign":1,"mpcc_id_a":3.42478991,"mpcc_iq_a":0.476374477,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.8007011,"mpcc_pred_id_a":0.378025115,"mpcc_pred_iq_a":0.138110101,"mpcc_state":1,"mpcc_theta_e":0.424791336,"mpcc_theta_mech":0.551904142,"sam_rpm":-27.4715137,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.102817565,"thr_a_norm":0.102817565,"thr_a_v":0.911270261,"thr_b":0.0447837114,"thr_b_norm":0.0447837114,"thr_b_v":0.679134846,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.021444,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.38603449,"cg_iw_a":-0.885658741,"cg_theta_rad":0.552209795,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0664332733,"mpcc_du":49.5037384,"mpcc_dv":49.5454903,"mpcc_dw":50.4962616,"mpcc_enc_sign":1,"mpcc_id_a":2.84008813,"mpcc_iq_a":-0.681684017,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.85764885,"mpcc_pred_id_a":0.421022087,"mpcc_pred_iq_a":-4.71094894,"mpcc_state":1,"mpcc_theta_e":0.447429657,"mpcc_theta_mech":0.55643183,"sam_rpm":13.494813,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218470991,"thr_a_norm":0.0218470991,"thr_a_v":0.587388396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.031118,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.45852208,"cg_iw_a":-3.20526409,"cg_theta_rad":0.554786801,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0376302749,"mpcc_du":49.483593,"mpcc_dv":49.3798447,"mpcc_dw":50.6201553,"mpcc_enc_sign":1,"mpcc_id_a":3.67911458,"mpcc_iq_a":-2.45713425,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.89720654,"mpcc_pred_id_a":0.702437878,"mpcc_pred_iq_a":-3.1713655,"mpcc_state":1,"mpcc_theta_e":0.437820911,"mpcc_theta_mech":0.554510057,"sam_rpm":-5.1570673,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218470991,"thr_a_norm":0.0218470991,"thr_a_v":0.587388396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.054556,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.31354666,"cg_iw_a":1.14399624,"cg_theta_rad":0.553852141,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0028010516,"mpcc_du":49.3576927,"mpcc_dv":48.4339027,"mpcc_dw":51.5660973,"mpcc_enc_sign":1,"mpcc_id_a":-0.456264675,"mpcc_iq_a":-1.35415709,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.81007767,"mpcc_pred_id_a":-0.856832922,"mpcc_pred_iq_a":-6.80302954,"mpcc_state":1,"mpcc_theta_e":0.443923473,"mpcc_theta_mech":0.555730581,"sam_rpm":3.43765998,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025951013,"thr_a_norm":0.025951013,"thr_a_v":0.603804052,"thr_b":0.001163885,"thr_b_norm":0.001163885,"thr_b_v":0.50465554,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.061087,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.0812563896,"cg_iw_a":2.08633566,"cg_theta_rad":0.555994153,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.00437016832,"mpcc_du":49.868557,"mpcc_dv":49.419445,"mpcc_dw":50.580555,"mpcc_enc_sign":1,"mpcc_id_a":0.110239401,"mpcc_iq_a":-1.67245841,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.30772781,"mpcc_pred_id_a":-0.687644482,"mpcc_pred_iq_a":-3.04639602,"mpcc_state":1,"mpcc_theta_e":0.446720123,"mpcc_theta_mech":0.556289911,"sam_rpm":6.46113777,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0124055892,"thr_a_norm":0.025951013,"thr_a_v":0.549622357,"thr_b":0,"thr_b_norm":0.001163885,"thr_b_v":0.440302134,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.067587,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.298719406,"cg_iw_a":-0.885658741,"cg_theta_rad":0.554443061,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0232031588,"mpcc_du":49.5427475,"mpcc_dv":49.6735497,"mpcc_dw":50.4572525,"mpcc_enc_sign":1,"mpcc_id_a":2.16893053,"mpcc_iq_a":-0.0510693267,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.22080231,"mpcc_pred_id_a":0.0462168045,"mpcc_pred_iq_a":-3.65367174,"mpcc_state":1,"mpcc_theta_e":0.442673683,"mpcc_theta_mech":0.555480659,"sam_rpm":3.22476554,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0124055892,"thr_a_norm":0.0124055892,"thr_a_v":0.549622357,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440302134,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.075918,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.31354666,"cg_iw_a":-1.24809694,"cg_theta_rad":0.556266427,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0148685127,"mpcc_du":50.4434013,"mpcc_dv":48.4361076,"mpcc_dw":51.5638924,"mpcc_enc_sign":1,"mpcc_id_a":0.620784342,"mpcc_iq_a":-0.0970558673,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.1685066,"mpcc_pred_id_a":-0.0241126996,"mpcc_pred_iq_a":-2.47999144,"mpcc_state":1,"mpcc_theta_e":0.431488514,"mpcc_theta_mech":0.553243637,"sam_rpm":-19.248003,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179697722,"thr_a_norm":0.0179697722,"thr_a_v":0.571879089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456768155,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.085958,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.09608364,"cg_iw_a":-1.82799864,"cg_theta_rad":0.554022312,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0393247642,"mpcc_du":50.6775322,"mpcc_dv":48.2638626,"mpcc_dw":51.7361374,"mpcc_enc_sign":1,"mpcc_id_a":0.583592117,"mpcc_iq_a":-0.688354135,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.27974319,"mpcc_pred_id_a":-0.235560402,"mpcc_pred_iq_a":-1.98009992,"mpcc_state":1,"mpcc_theta_e":0.441973209,"mpcc_theta_mech":0.555340528,"sam_rpm":-6.16959,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294380933,"thr_a_norm":0.0294380933,"thr_a_v":0.617752373,"thr_b":0.00369420648,"thr_b_norm":0.00369420648,"thr_b_v":0.514776826,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.097708,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-2.11091113,"cg_iw_a":-0.45073247,"cg_theta_rad":0.556667268,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0248206109,"mpcc_du":49.9983025,"mpcc_dv":50.0339851,"mpcc_dw":50.4088402,"mpcc_enc_sign":1,"mpcc_id_a":1.19152939,"mpcc_iq_a":-1.64123416,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.550971,"mpcc_pred_id_a":-0.117658764,"mpcc_pred_iq_a":-0.847597063,"mpcc_state":1,"mpcc_theta_e":0.427030563,"mpcc_theta_mech":0.552352011,"sam_rpm":-18.1845055,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294380933,"thr_a_norm":0.0294380933,"thr_a_v":0.617752373,"thr_b":0.00369420648,"thr_b_norm":0.00369420648,"thr_b_v":0.514776826,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.108145,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.733645439,"cg_iw_a":0.636582375,"cg_theta_rad":0.554269254,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.056629885,"mpcc_du":49.566864,"mpcc_dv":49.879631,"mpcc_dw":50.433136,"mpcc_enc_sign":1,"mpcc_id_a":1.24741304,"mpcc_iq_a":-4.70707417,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.15568066,"mpcc_pred_id_a":-0.0278479978,"mpcc_pred_iq_a":-1.51756155,"mpcc_state":1,"mpcc_theta_e":0.442152977,"mpcc_theta_mech":0.55537653,"sam_rpm":6.54580307,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0144449472,"thr_a_norm":0.0144449472,"thr_a_v":0.557779789,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443172365,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.120565,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.371207237,"cg_iw_a":0.491607189,"cg_theta_rad":0.555447638,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0163005404,"mpcc_du":49.6265755,"mpcc_dv":49.8960953,"mpcc_dw":50.3734245,"mpcc_enc_sign":1,"mpcc_id_a":0.621241033,"mpcc_iq_a":-0.76539135,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.5238132,"mpcc_pred_id_a":-0.347633213,"mpcc_pred_iq_a":-1.76134908,"mpcc_state":1,"mpcc_theta_e":0.455072403,"mpcc_theta_mech":0.557960391,"sam_rpm":26.1167679,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235969275,"thr_a_norm":0.0144449472,"thr_a_v":0.59438771,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.130362,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.16857147,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.556648195,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0210903827,"mpcc_du":50.0171165,"mpcc_dv":48.9065437,"mpcc_dw":51.0934563,"mpcc_enc_sign":1,"mpcc_id_a":1.93254936,"mpcc_iq_a":-1.89540267,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.08271742,"mpcc_pred_id_a":0.16945003,"mpcc_pred_iq_a":-2.34533167,"mpcc_state":1,"mpcc_theta_e":0.446611404,"mpcc_theta_mech":0.556268156,"sam_rpm":5.98761892,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235969275,"thr_a_norm":0.0235969275,"thr_a_v":0.59438771,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.154013,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.806133032,"cg_iw_a":-2.33541226,"cg_theta_rad":0.554037154,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0110521233,"mpcc_du":50.0851135,"mpcc_dv":48.9037247,"mpcc_dw":51.0962753,"mpcc_enc_sign":1,"mpcc_id_a":1.94934618,"mpcc_iq_a":-0.851519108,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.5828066,"mpcc_pred_id_a":-0.116064429,"mpcc_pred_iq_a":-2.67647648,"mpcc_state":1,"mpcc_theta_e":0.433427811,"mpcc_theta_mech":0.553631485,"sam_rpm":-13.1671581,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208525956,"thr_a_norm":0.0208525956,"thr_a_v":0.583410382,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.160269,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.38603449,"cg_iw_a":-1.75551033,"cg_theta_rad":0.555974007,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0377895869,"mpcc_du":50.7923813,"mpcc_dv":48.2561913,"mpcc_dw":51.7438087,"mpcc_enc_sign":1,"mpcc_id_a":0.44116956,"mpcc_iq_a":0.0255644489,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.434514701,"mpcc_pred_id_a":-0.501341641,"mpcc_pred_iq_a":0.0577055179,"mpcc_state":1,"mpcc_theta_e":0.445872784,"mpcc_theta_mech":0.556120515,"sam_rpm":1.22084308,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208525956,"thr_a_norm":0.0208525956,"thr_a_v":0.583410382,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.16683,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-1.24105906,"cg_iw_a":-2.11794925,"cg_theta_rad":0.555891871,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0285627153,"mpcc_du":50.6098747,"mpcc_dv":48.0614624,"mpcc_dw":51.9385376,"mpcc_enc_sign":1,"mpcc_id_a":2.86362171,"mpcc_iq_a":-0.778613806,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.26112509,"mpcc_pred_id_a":0.408098936,"mpcc_pred_iq_a":0.385249943,"mpcc_state":1,"mpcc_theta_e":0.436919689,"mpcc_theta_mech":0.554329813,"sam_rpm":-8.72023296,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209784806,"thr_a_norm":0.0209784806,"thr_a_v":0.583913922,"thr_b":0.000181958079,"thr_b_norm":0.000181958079,"thr_b_v":0.500727832,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.1733,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.733645439,"cg_iw_a":0.346631527,"cg_theta_rad":0.557224929,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0225777049,"mpcc_du":49.5028229,"mpcc_dv":49.8363495,"mpcc_dw":50.4971771,"mpcc_enc_sign":1,"mpcc_id_a":0.492864817,"mpcc_iq_a":-1.05757308,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.68591547,"mpcc_pred_id_a":0.315878779,"mpcc_pred_iq_a":-3.29502082,"mpcc_state":1,"mpcc_theta_e":0.437386513,"mpcc_theta_mech":0.554423213,"sam_rpm":11.2409639,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0251327455,"thr_a_norm":0.0209784806,"thr_a_v":0.600530982,"thr_b":0,"thr_b_norm":0.000181958079,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.181295,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.74847269,"cg_iw_a":0.926532745,"cg_theta_rad":0.557180166,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.000454284367,"mpcc_du":51.1300354,"mpcc_dv":47.6594315,"mpcc_dw":52.3405685,"mpcc_enc_sign":1,"mpcc_id_a":-0.417249203,"mpcc_iq_a":-1.50655389,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.6880627,"mpcc_pred_id_a":-0.313126981,"mpcc_pred_iq_a":0.39923051,"mpcc_state":1,"mpcc_theta_e":0.425637722,"mpcc_theta_mech":0.552073419,"sam_rpm":-27.7347908,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0251327455,"thr_a_norm":0.0251327455,"thr_a_v":0.600530982,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.191641,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-1.53100967,"cg_iw_a":-0.015806675,"cg_theta_rad":0.553674519,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.00144129409,"mpcc_du":49.636982,"mpcc_dv":50.2503052,"mpcc_dw":50.363018,"mpcc_enc_sign":1,"mpcc_id_a":0.618123651,"mpcc_iq_a":-3.59805059,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.4651651,"mpcc_pred_id_a":-0.378839403,"mpcc_pred_iq_a":-4.02444935,"mpcc_state":1,"mpcc_theta_e":0.45171833,"mpcc_theta_mech":0.5572896,"sam_rpm":15.99757,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.104277849,"thr_a_norm":0.104277849,"thr_a_v":0.917111397,"thr_b":0.0443808585,"thr_b_norm":0.0443808585,"thr_b_v":0.677523434,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.201315,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.951108456,"cg_iw_a":0.781557798,"cg_theta_rad":0.556618333,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0310796499,"mpcc_du":50.6605339,"mpcc_dv":48.0147858,"mpcc_dw":51.9852142,"mpcc_enc_sign":1,"mpcc_id_a":1.53747261,"mpcc_iq_a":-0.0232175309,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.05208921,"mpcc_pred_id_a":0.286453336,"mpcc_pred_iq_a":0.346398503,"mpcc_state":1,"mpcc_theta_e":0.43854475,"mpcc_theta_mech":0.554654896,"sam_rpm":-6.59254694,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.104277849,"thr_a_norm":0.104277849,"thr_a_v":0.917111397,"thr_b":0.0443808585,"thr_b_norm":0.0443808585,"thr_b_v":0.677523434,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.211538,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.38603449,"cg_iw_a":0.636582375,"cg_theta_rad":0.557304561,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0250050835,"mpcc_du":50.1592674,"mpcc_dv":48.5571213,"mpcc_dw":51.4428787,"mpcc_enc_sign":1,"mpcc_id_a":2.64756942,"mpcc_iq_a":-0.729281783,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.35326719,"mpcc_pred_id_a":0.395151079,"mpcc_pred_iq_a":-1.65445876,"mpcc_state":1,"mpcc_theta_e":0.438720226,"mpcc_theta_mech":0.554690003,"sam_rpm":-8.76283455,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260769129,"thr_a_norm":0.0260769129,"thr_a_v":0.604307652,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485923558,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.221945,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-2.11091113,"cg_iw_a":0.636582136,"cg_theta_rad":0.554163814,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.075514853,"mpcc_du":50.4100571,"mpcc_dv":48.4197006,"mpcc_dw":51.5802994,"mpcc_enc_sign":1,"mpcc_id_a":1.68731749,"mpcc_iq_a":-0.896969974,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.64699006,"mpcc_pred_id_a":0.0952501446,"mpcc_pred_iq_a":-3.34852743,"mpcc_state":1,"mpcc_theta_e":0.446915627,"mpcc_theta_mech":0.556329012,"sam_rpm":-2.12038112,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259384215,"thr_a_norm":0.0260769129,"thr_a_v":0.603753686,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461400777,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.231894,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.24105906,"cg_iw_a":0.564094782,"cg_theta_rad":0.556121945,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0130234547,"mpcc_du":50.3054276,"mpcc_dv":48.6080055,"mpcc_dw":51.3919945,"mpcc_enc_sign":1,"mpcc_id_a":0.967281878,"mpcc_iq_a":-2.46689081,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.01483631,"mpcc_pred_id_a":-0.136597112,"mpcc_pred_iq_a":-0.326121122,"mpcc_state":1,"mpcc_theta_e":0.43089962,"mpcc_theta_mech":0.553125799,"sam_rpm":-14.4744015,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259384215,"thr_a_norm":0.0259384215,"thr_a_v":0.603753686,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461400777,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.255239,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.951108456,"cg_iw_a":-0.668195724,"cg_theta_rad":0.555867136,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0356228277,"mpcc_du":49.4800415,"mpcc_dv":50.1783371,"mpcc_dw":50.5199585,"mpcc_enc_sign":1,"mpcc_id_a":3.51394773,"mpcc_iq_a":0.440095931,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.619713485,"mpcc_pred_id_a":0.621775568,"mpcc_pred_iq_a":-4.09660053,"mpcc_state":1,"mpcc_theta_e":0.437475681,"mpcc_theta_mech":0.554441035,"sam_rpm":-1.59717357,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.023231864,"thr_a_v":0.592927456,"thr_b":0.00108835101,"thr_b_norm":0.00108835101,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.26174,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.371207237,"cg_iw_a":-0.450732708,"cg_theta_rad":0.555424452,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0182364229,"mpcc_du":50.5314331,"mpcc_dv":48.5231438,"mpcc_dw":51.4768562,"mpcc_enc_sign":1,"mpcc_id_a":0.918925822,"mpcc_iq_a":-0.658770561,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.32436228,"mpcc_pred_id_a":-0.394407481,"mpcc_pred_iq_a":-1.35387802,"mpcc_state":1,"mpcc_theta_e":0.439484119,"mpcc_theta_mech":0.55484277,"sam_rpm":-5.62532377,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.023231864,"thr_a_v":0.592927456,"thr_b":0.00108835101,"thr_b_norm":0.00108835101,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.268301,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.09608364,"cg_iw_a":-2.40789938,"cg_theta_rad":0.558305919,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0279123653,"mpcc_du":49.0967865,"mpcc_dv":50.9032135,"mpcc_dw":49.9638748,"mpcc_enc_sign":1,"mpcc_id_a":3.18310881,"mpcc_iq_a":-0.068077974,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.7973909,"mpcc_pred_id_a":0.481722862,"mpcc_pred_iq_a":-2.71889853,"mpcc_state":1,"mpcc_theta_e":0.428125858,"mpcc_theta_mech":0.552571058,"sam_rpm":-20.9905376,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179949552,"thr_a_norm":0.0179949552,"thr_a_v":0.571979821,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468953997,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.27532,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.371207237,"cg_iw_a":-1.3205843,"cg_theta_rad":0.552620351,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0250040889,"mpcc_du":50.4988747,"mpcc_dv":48.218708,"mpcc_dw":51.781292,"mpcc_enc_sign":1,"mpcc_id_a":2.73760676,"mpcc_iq_a":-0.884335041,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.29789567,"mpcc_pred_id_a":0.524150908,"mpcc_pred_iq_a":1.96701467,"mpcc_state":1,"mpcc_theta_e":0.445177555,"mpcc_theta_mech":0.555981398,"sam_rpm":4.82086134,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201476216,"thr_a_norm":0.0201476216,"thr_a_v":0.580590487,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457724869,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.285299,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.45852208,"cg_iw_a":0.781557798,"cg_theta_rad":0.555396736,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0253323186,"mpcc_du":50.1553841,"mpcc_dv":49.0482941,"mpcc_dw":50.9517059,"mpcc_enc_sign":1,"mpcc_id_a":0.111817941,"mpcc_iq_a":-1.16344297,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.754710615,"mpcc_pred_id_a":-0.490972996,"mpcc_pred_iq_a":-3.51462293,"mpcc_state":1,"mpcc_theta_e":0.447732449,"mpcc_theta_mech":0.556492388,"sam_rpm":2.30826616,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201476216,"thr_a_norm":0.0201476216,"thr_a_v":0.580590487,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457724869,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.296835,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.31354666,"cg_iw_a":-0.668195724,"cg_theta_rad":0.555055141,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0508873798,"mpcc_du":49.6288223,"mpcc_dv":49.7213287,"mpcc_dw":50.3711777,"mpcc_enc_sign":1,"mpcc_id_a":1.39457679,"mpcc_iq_a":-0.329445869,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.85422659,"mpcc_pred_id_a":-0.267979771,"mpcc_pred_iq_a":-5.13867044,"mpcc_state":1,"mpcc_theta_e":0.440770626,"mpcc_theta_mech":0.555100024,"sam_rpm":11.023613,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0130601972,"thr_a_norm":0.0130601972,"thr_a_v":0.552240789,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473838389,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.306936,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.0087685585,"cg_iw_a":-1.10312176,"cg_theta_rad":0.557453454,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0631954446,"mpcc_du":50.2485008,"mpcc_dv":48.8113213,"mpcc_dw":51.1886787,"mpcc_enc_sign":1,"mpcc_id_a":0.571920395,"mpcc_iq_a":-0.0377315991,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.70450282,"mpcc_pred_id_a":-0.197014257,"mpcc_pred_iq_a":-2.40108514,"mpcc_state":1,"mpcc_theta_e":0.447229385,"mpcc_theta_mech":0.556391776,"sam_rpm":7.73320484,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166857392,"thr_a_norm":0.0130601972,"thr_a_v":0.566742957,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479880989,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.318899,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-2.69081235,"cg_iw_a":1.72389722,"cg_theta_rad":0.556154668,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.00939035043,"mpcc_du":50.3483849,"mpcc_dv":48.3901405,"mpcc_dw":51.6098595,"mpcc_enc_sign":1,"mpcc_id_a":1.86946261,"mpcc_iq_a":-1.72372782,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.4236422,"mpcc_pred_id_a":0.261404544,"mpcc_pred_iq_a":-1.84168077,"mpcc_state":1,"mpcc_theta_e":0.42850399,"mpcc_theta_mech":0.552646756,"sam_rpm":-23.8618336,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166857392,"thr_a_norm":0.0166857392,"thr_a_v":0.566742957,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479880989,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.327932,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.588670254,"cg_iw_a":0.926532984,"cg_theta_rad":0.555343926,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0303837601,"mpcc_du":50.2859306,"mpcc_dv":48.7002563,"mpcc_dw":51.2997437,"mpcc_enc_sign":1,"mpcc_id_a":0.655492067,"mpcc_iq_a":-0.536673665,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.06460667,"mpcc_pred_id_a":-0.186535954,"mpcc_pred_iq_a":-3.68057013,"mpcc_state":1,"mpcc_theta_e":0.441418648,"mpcc_theta_mech":0.555229664,"sam_rpm":-9.7782135,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219478011,"thr_a_norm":0.0219478011,"thr_a_v":0.587791204,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473385215,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.339285,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.24105906,"cg_iw_a":0.0566809177,"cg_theta_rad":0.554841816,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.00825719535,"mpcc_du":50.3086319,"mpcc_dv":48.476757,"mpcc_dw":51.523243,"mpcc_enc_sign":1,"mpcc_id_a":1.32292581,"mpcc_iq_a":-0.481483459,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.1066799,"mpcc_pred_id_a":0.278289586,"mpcc_pred_iq_a":-2.65626359,"mpcc_state":1,"mpcc_theta_e":0.441249847,"mpcc_theta_mech":0.555195928,"sam_rpm":-16.9845695,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212176591,"thr_a_norm":0.0219478011,"thr_a_v":0.584870636,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476607919,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.362356,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.45852208,"cg_iw_a":-2.11794901,"cg_theta_rad":0.550712466,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0332014188,"mpcc_du":49.6316032,"mpcc_dv":49.1792984,"mpcc_dw":50.8207016,"mpcc_enc_sign":1,"mpcc_id_a":2.84820199,"mpcc_iq_a":-0.138775364,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.14323282,"mpcc_pred_id_a":0.616325736,"mpcc_pred_iq_a":-3.87175941,"mpcc_state":1,"mpcc_theta_e":0.441737652,"mpcc_theta_mech":0.555293441,"sam_rpm":-6.36522388,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212176591,"thr_a_norm":0.0212176591,"thr_a_v":0.584870636,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476607919,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.368856,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.38603449,"cg_iw_a":1.07150841,"cg_theta_rad":0.552573144,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.00114339066,"mpcc_du":49.3009796,"mpcc_dv":50.6990204,"mpcc_dw":49.7098007,"mpcc_enc_sign":1,"mpcc_id_a":0.646003902,"mpcc_iq_a":0.494406074,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.53709555,"mpcc_pred_id_a":-0.98599118,"mpcc_pred_iq_a":-6.28870106,"mpcc_state":1,"mpcc_theta_e":0.421741962,"mpcc_theta_mech":0.551294267,"sam_rpm":5.87497711,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00695468485,"thr_b_norm":0.00695468485,"thr_b_v":0.527818739,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.375357,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.951108456,"cg_iw_a":0.346631527,"cg_theta_rad":0.555993915,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.00350420317,"mpcc_du":49.8290482,"mpcc_dv":49.3676872,"mpcc_dw":50.6323128,"mpcc_enc_sign":1,"mpcc_id_a":0.197825328,"mpcc_iq_a":-1.66554427,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.38053346,"mpcc_pred_id_a":-0.339523643,"mpcc_pred_iq_a":-3.11139083,"mpcc_state":1,"mpcc_theta_e":0.444239616,"mpcc_theta_mech":0.556109667,"sam_rpm":3.76603699,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00695468485,"thr_b_norm":0.00695468485,"thr_b_v":0.527818739,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.381887,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.09608364,"cg_iw_a":0.201656342,"cg_theta_rad":0.557409406,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.00733108819,"mpcc_du":49.4648628,"mpcc_dv":50.5351372,"mpcc_dw":50.1923141,"mpcc_enc_sign":1,"mpcc_id_a":1.5149765,"mpcc_iq_a":-1.42167103,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.54245472,"mpcc_pred_id_a":-0.141390622,"mpcc_pred_iq_a":-4.60508776,"mpcc_state":1,"mpcc_theta_e":0.448728085,"mpcc_theta_mech":0.556691527,"sam_rpm":12.1861429,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0287205279,"thr_a_norm":0.0287205279,"thr_a_v":0.614882112,"thr_b":0.00308994949,"thr_b_norm":0.00308994949,"thr_b_v":0.512359798,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.391897,"values":{"cg_iu_a":0.676964283,"cg_iv_a":0.498644829,"cg_iw_a":-1.17560911,"cg_theta_rad":0.555864275,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0227023382,"mpcc_du":49.8381348,"mpcc_dv":49.1590767,"mpcc_dw":50.8409233,"mpcc_enc_sign":1,"mpcc_id_a":1.6240108,"mpcc_iq_a":-1.85523844,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.24416161,"mpcc_pred_id_a":0.151717588,"mpcc_pred_iq_a":-2.51076698,"mpcc_state":1,"mpcc_theta_e":0.453782082,"mpcc_theta_mech":0.557702363,"sam_rpm":13.5508108,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021066606,"thr_a_norm":0.0287205279,"thr_a_v":0.584266424,"thr_b":0,"thr_b_norm":0.00308994949,"thr_b_v":0.467141211,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.401693,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-2.25588632,"cg_iw_a":-1.97297382,"cg_theta_rad":0.557508945,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0366264135,"mpcc_du":51.1638336,"mpcc_dv":47.5927544,"mpcc_dw":52.4072456,"mpcc_enc_sign":1,"mpcc_id_a":1.03739285,"mpcc_iq_a":-0.0607347339,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.0459776,"mpcc_pred_id_a":-0.176318139,"mpcc_pred_iq_a":-0.582198381,"mpcc_state":1,"mpcc_theta_e":0.43358326,"mpcc_theta_mech":0.553662539,"sam_rpm":-21.3144379,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021066606,"thr_a_norm":0.021066606,"thr_a_v":0.584266424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467141211,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.411123,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-2.18339872,"cg_iw_a":0.564094543,"cg_theta_rad":0.557046056,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0171009954,"mpcc_du":50.5876312,"mpcc_dv":48.430027,"mpcc_dw":51.569973,"mpcc_enc_sign":1,"mpcc_id_a":-0.0377759933,"mpcc_iq_a":-0.811711729,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.3333292,"mpcc_pred_id_a":-0.349400401,"mpcc_pred_iq_a":-0.784053445,"mpcc_state":1,"mpcc_theta_e":0.44395256,"mpcc_theta_mech":0.555736423,"sam_rpm":-2.43582821,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0175921172,"thr_a_norm":0.0175921172,"thr_a_v":0.570368469,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466083795,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.422079,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.6759851,"cg_iw_a":-1.90048599,"cg_theta_rad":0.554085553,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0459007472,"mpcc_du":49.5691605,"mpcc_dv":49.2498207,"mpcc_dw":50.7501793,"mpcc_enc_sign":1,"mpcc_id_a":2.91159725,"mpcc_iq_a":-1.69309413,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.49872446,"mpcc_pred_id_a":0.675413609,"mpcc_pred_iq_a":-3.90495348,"mpcc_state":1,"mpcc_theta_e":0.453291893,"mpcc_theta_mech":0.557604253,"sam_rpm":11.5487747,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0175921172,"thr_a_norm":0.0175921172,"thr_a_v":0.570368469,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466083795,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.432302,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.516182423,"cg_iw_a":-0.523220539,"cg_theta_rad":0.552805185,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.00944251474,"mpcc_du":50.6747398,"mpcc_dv":48.1309319,"mpcc_dw":51.8690681,"mpcc_enc_sign":1,"mpcc_id_a":1.49915266,"mpcc_iq_a":-0.962419927,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.0167379,"mpcc_pred_id_a":-0.0725988522,"mpcc_pred_iq_a":-1.25087392,"mpcc_state":1,"mpcc_theta_e":0.431594372,"mpcc_theta_mech":0.55559659,"sam_rpm":-20.9965038,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179320127,"thr_a_norm":0.0179320127,"thr_a_v":0.571728051,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456617087,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.442312,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.11091113,"cg_iw_a":0.926532984,"cg_theta_rad":0.555840075,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0346774347,"mpcc_du":50.5252838,"mpcc_dv":48.1267548,"mpcc_dw":51.8732452,"mpcc_enc_sign":1,"mpcc_id_a":3.09952235,"mpcc_iq_a":-0.086212717,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.1310606,"mpcc_pred_id_a":0.414697349,"mpcc_pred_iq_a":-1.11270463,"mpcc_state":1,"mpcc_theta_e":0.431402206,"mpcc_theta_mech":0.553226352,"sam_rpm":-19.7148285,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.043940261,"thr_a_norm":0.0179320127,"thr_a_v":0.675761044,"thr_b":0.0107564628,"thr_b_norm":0,"thr_b_v":0.543025851,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.465353,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.298719406,"cg_iw_a":-2.69785023,"cg_theta_rad":0.55674684,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0762802139,"mpcc_du":50.6620064,"mpcc_dv":47.8133659,"mpcc_dw":52.1866341,"mpcc_enc_sign":1,"mpcc_id_a":4.24140358,"mpcc_iq_a":0.285769165,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.55228519,"mpcc_pred_id_a":0.929797947,"mpcc_pred_iq_a":-0.166546881,"mpcc_state":1,"mpcc_theta_e":0.437208652,"mpcc_theta_mech":0.554387629,"sam_rpm":-13.8544035,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.043940261,"thr_a_norm":0.043940261,"thr_a_v":0.675761044,"thr_b":0.0107564628,"thr_b_norm":0.0107564628,"thr_b_v":0.543025851,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.471853,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.61832476,"cg_iw_a":1.57892179,"cg_theta_rad":0.557518244,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0138068367,"mpcc_du":50.4109192,"mpcc_dv":48.9420128,"mpcc_dw":51.0579872,"mpcc_enc_sign":1,"mpcc_id_a":-1.36779249,"mpcc_iq_a":-0.421058178,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.97715664,"mpcc_pred_id_a":-1.13000107,"mpcc_pred_iq_a":-3.21299171,"mpcc_state":1,"mpcc_theta_e":0.435242176,"mpcc_theta_mech":0.553994358,"sam_rpm":-13.5071573,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448812068,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.478354,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-3.77812743,"cg_iw_a":3.1736505,"cg_theta_rad":0.552666128,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0057912427,"mpcc_du":50.5859222,"mpcc_dv":49.6825638,"mpcc_dw":50.3174362,"mpcc_enc_sign":1,"mpcc_id_a":-0.0137781305,"mpcc_iq_a":-1.89887261,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.21425056,"mpcc_pred_id_a":-0.422853142,"mpcc_pred_iq_a":-2.26047921,"mpcc_state":1,"mpcc_theta_e":0.454902649,"mpcc_theta_mech":0.557926476,"sam_rpm":-11.4262953,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448812068,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.484915,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.02359605,"cg_iw_a":-0.958146334,"cg_theta_rad":0.555312216,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0531193502,"mpcc_du":49.4094238,"mpcc_dv":50.5905762,"mpcc_dw":50.3506088,"mpcc_enc_sign":1,"mpcc_id_a":3.32183433,"mpcc_iq_a":0.811042428,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.7212162,"mpcc_pred_id_a":0.444841176,"mpcc_pred_iq_a":-4.05365562,"mpcc_state":1,"mpcc_theta_e":0.451941967,"mpcc_theta_mech":0.557334304,"sam_rpm":16.8678837,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172018856,"thr_a_norm":0.0172018856,"thr_a_v":0.568807542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43103686,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.495138,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.813171387,"cg_theta_rad":0.55636996,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0299638137,"mpcc_du":50.4707222,"mpcc_dv":48.35746,"mpcc_dw":51.64254,"mpcc_enc_sign":1,"mpcc_id_a":1.89617562,"mpcc_iq_a":-0.280483425,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.0820179,"mpcc_pred_id_a":0.144313589,"mpcc_pred_iq_a":-1.78228903,"mpcc_state":1,"mpcc_theta_e":0.436860085,"mpcc_theta_mech":0.554317892,"sam_rpm":-11.6469193,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238487124,"thr_a_norm":0.0172018856,"thr_a_v":0.59539485,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468299359,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.504904,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.951108456,"cg_iw_a":-0.015806675,"cg_theta_rad":0.557364285,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0751760155,"mpcc_du":50.010231,"mpcc_dv":48.6802406,"mpcc_dw":51.3197594,"mpcc_enc_sign":1,"mpcc_id_a":4.19512177,"mpcc_iq_a":0.334059685,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.50255179,"mpcc_pred_id_a":0.798136413,"mpcc_pred_iq_a":-1.75570726,"mpcc_state":1,"mpcc_theta_e":0.442052364,"mpcc_theta_mech":0.555356383,"sam_rpm":-1.30830073,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238487124,"thr_a_norm":0.0238487124,"thr_a_v":0.59539485,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468299359,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.515005,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.11091113,"cg_iw_a":0.781557798,"cg_theta_rad":0.556391776,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0230710339,"mpcc_du":49.467289,"mpcc_dv":50.4326019,"mpcc_dw":50.2186394,"mpcc_enc_sign":1,"mpcc_id_a":2.42891645,"mpcc_iq_a":-2.87415147,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.20058298,"mpcc_pred_id_a":0.523761332,"mpcc_pred_iq_a":-2.21321726,"mpcc_state":1,"mpcc_theta_e":0.446247101,"mpcc_theta_mech":0.556195319,"sam_rpm":5.4411912,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0408937931,"thr_a_norm":0.0408937931,"thr_a_v":0.663575172,"thr_b":0.0144575387,"thr_b_norm":0.0144575387,"thr_b_v":0.557830155,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.527487,"values":{"cg_iu_a":4.15637207,"cg_iv_a":-0.516182423,"cg_iw_a":-1.53804779,"cg_theta_rad":0.553354561,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0794734284,"mpcc_du":50.1615944,"mpcc_dv":48.5124664,"mpcc_dw":51.4875336,"mpcc_enc_sign":1,"mpcc_id_a":2.23823857,"mpcc_iq_a":-1.77670407,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.355265707,"mpcc_pred_id_a":0.536191106,"mpcc_pred_iq_a":1.91079378,"mpcc_state":1,"mpcc_theta_e":0.435890198,"mpcc_theta_mech":0.554123938,"sam_rpm":-22.2157593,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283302814,"thr_a_norm":0.0408937931,"thr_a_v":0.613321126,"thr_b":0.000874340534,"thr_b_norm":0.0144575387,"thr_b_v":0.503497362,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.537497,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.02359605,"cg_iw_a":-0.305757284,"cg_theta_rad":0.559874713,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0331591442,"mpcc_du":49.5856247,"mpcc_dv":50.0355492,"mpcc_dw":50.4143753,"mpcc_enc_sign":1,"mpcc_id_a":0.502911866,"mpcc_iq_a":-3.09376931,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.223916993,"mpcc_pred_id_a":-0.10130731,"mpcc_pred_iq_a":-2.34785438,"mpcc_state":1,"mpcc_theta_e":0.436719418,"mpcc_theta_mech":0.554289758,"sam_rpm":-1.13938951,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283302814,"thr_a_norm":0.0283302814,"thr_a_v":0.613321126,"thr_b":0.000874340534,"thr_b_norm":0.000874340534,"thr_b_v":0.503497362,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.560934,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.38603449,"cg_iw_a":-1.75551081,"cg_theta_rad":0.556550562,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.00318738469,"mpcc_du":48.9764595,"mpcc_dv":51.0235405,"mpcc_dw":49.5261574,"mpcc_enc_sign":1,"mpcc_id_a":0.836202562,"mpcc_iq_a":-1.47805762,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.4960861,"mpcc_pred_id_a":-0.44803375,"mpcc_pred_iq_a":-5.50501442,"mpcc_state":1,"mpcc_theta_e":0.456211567,"mpcc_theta_mech":0.5581882,"sam_rpm":22.243082,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021494627,"thr_a_norm":0.021494627,"thr_a_v":0.585978508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.567434,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-2.0384233,"cg_iw_a":1.28897119,"cg_theta_rad":0.55512023,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.00277081877,"mpcc_du":50.2578239,"mpcc_dv":48.8868179,"mpcc_dw":51.1131821,"mpcc_enc_sign":1,"mpcc_id_a":-0.312899053,"mpcc_iq_a":-2.07041144,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.155796081,"mpcc_pred_id_a":-0.434165448,"mpcc_pred_iq_a":-0.246490732,"mpcc_state":1,"mpcc_theta_e":0.442843437,"mpcc_theta_mech":0.555514574,"sam_rpm":-14.9056444,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021494627,"thr_a_norm":0.021494627,"thr_a_v":0.585978508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.573965,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.38603449,"cg_iw_a":0.999020576,"cg_theta_rad":0.556791008,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0260204077,"mpcc_du":50.635006,"mpcc_dv":48.1652412,"mpcc_dw":51.8347588,"mpcc_enc_sign":1,"mpcc_id_a":2.06303358,"mpcc_iq_a":-0.780895591,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.04496145,"mpcc_pred_id_a":0.0977816582,"mpcc_pred_iq_a":-0.370440394,"mpcc_state":1,"mpcc_theta_e":0.439661503,"mpcc_theta_mech":0.554878235,"sam_rpm":-6.82197952,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472378135,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.580526,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.6759851,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.558305979,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.00115933281,"mpcc_du":50.3740349,"mpcc_dv":48.648159,"mpcc_dw":49.7058296,"mpcc_enc_sign":1,"mpcc_id_a":0.321246743,"mpcc_iq_a":-1.43543029,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.31800365,"mpcc_pred_id_a":-0.360115767,"mpcc_pred_iq_a":-2.02975154,"mpcc_state":1,"mpcc_theta_e":0.433451653,"mpcc_theta_mech":0.556456029,"sam_rpm":-13.8215866,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023609519,"thr_a_norm":0.0264671594,"thr_a_v":0.594438076,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.588339,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.588670254,"cg_iw_a":-0.233269691,"cg_theta_rad":0.554163754,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0239174962,"mpcc_du":49.5113258,"mpcc_dv":49.3811836,"mpcc_dw":50.6188164,"mpcc_enc_sign":1,"mpcc_id_a":2.85520005,"mpcc_iq_a":-1.31120098,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.55405951,"mpcc_pred_id_a":0.521952033,"mpcc_pred_iq_a":-2.70398426,"mpcc_state":1,"mpcc_theta_e":0.445119381,"mpcc_theta_mech":0.555969834,"sam_rpm":6.57661533,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023609519,"thr_a_norm":0.023609519,"thr_a_v":0.594438076,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.598501,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.60349751,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556751072,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0243915357,"mpcc_du":50.4828758,"mpcc_dv":48.1153984,"mpcc_dw":51.8846016,"mpcc_enc_sign":1,"mpcc_id_a":3.12130857,"mpcc_iq_a":-0.725218952,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.3585472,"mpcc_pred_id_a":0.499674916,"mpcc_pred_iq_a":-0.506798863,"mpcc_state":1,"mpcc_theta_e":0.426765442,"mpcc_theta_mech":0.552299023,"sam_rpm":-25.8236809,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264167935,"thr_a_norm":0.0264167935,"thr_a_v":0.605667174,"thr_b":0.00229686499,"thr_b_norm":0.00229686499,"thr_b_v":0.50918746,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.608541,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.16857147,"cg_iw_a":-1.90048599,"cg_theta_rad":0.55547905,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.00193646259,"mpcc_du":50.3067207,"mpcc_dv":48.6406097,"mpcc_dw":51.3593903,"mpcc_enc_sign":1,"mpcc_id_a":0.817747355,"mpcc_iq_a":-1.90265417,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.47030687,"mpcc_pred_id_a":-0.163023174,"mpcc_pred_iq_a":-0.709491134,"mpcc_state":1,"mpcc_theta_e":0.437485695,"mpcc_theta_mech":0.554443061,"sam_rpm":-7.82199812,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264167935,"thr_a_norm":0.0264167935,"thr_a_v":0.605667174,"thr_b":0.00229686499,"thr_b_norm":0.00229686499,"thr_b_v":0.50918746,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.618521,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-2.54583716,"cg_iw_a":1.143996,"cg_theta_rad":0.553176641,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0399952419,"mpcc_du":50.0569763,"mpcc_dv":49.0089149,"mpcc_dw":50.9910851,"mpcc_enc_sign":1,"mpcc_id_a":0.764094532,"mpcc_iq_a":0.194586858,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.4706068,"mpcc_pred_id_a":-0.202890247,"mpcc_pred_iq_a":-2.05260992,"mpcc_state":1,"mpcc_theta_e":0.447852135,"mpcc_theta_mech":0.556516349,"sam_rpm":7.53344631,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167990327,"thr_a_norm":0.0167990327,"thr_a_v":0.567196131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.433453888,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.628744,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.31354666,"cg_iw_a":-2.19043684,"cg_theta_rad":0.555743039,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.00376880378,"mpcc_du":50.2525063,"mpcc_dv":48.6562424,"mpcc_dw":51.3437576,"mpcc_enc_sign":1,"mpcc_id_a":2.30901098,"mpcc_iq_a":-0.961497188,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.12867117,"mpcc_pred_id_a":-0.0506697111,"mpcc_pred_iq_a":-1.06727505,"mpcc_state":1,"mpcc_theta_e":0.442982674,"mpcc_theta_mech":0.555542409,"sam_rpm":-6.79011202,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0401762426,"thr_a_norm":0.0167990327,"thr_a_v":0.66070497,"thr_b":0.00633783638,"thr_b_norm":0,"thr_b_v":0.525351346,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.638632,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.53100967,"cg_iw_a":0.12916851,"cg_theta_rad":0.555296004,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0290890578,"mpcc_du":50.0500984,"mpcc_dv":48.9168396,"mpcc_dw":51.0831604,"mpcc_enc_sign":1,"mpcc_id_a":0.53066802,"mpcc_iq_a":-0.624067783,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.91026211,"mpcc_pred_id_a":-0.079524979,"mpcc_pred_iq_a":-2.01357794,"mpcc_state":1,"mpcc_theta_e":0.450500488,"mpcc_theta_mech":0.557045996,"sam_rpm":7.45509243,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0401762426,"thr_a_norm":0.0401762426,"thr_a_v":0.66070497,"thr_b":0.00633783638,"thr_b_norm":0.00633783638,"thr_b_v":0.525351346,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.661917,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.16857147,"cg_iw_a":0.564094543,"cg_theta_rad":0.557860911,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.00165791146,"mpcc_du":50.3329735,"mpcc_dv":48.6418381,"mpcc_dw":51.3581619,"mpcc_enc_sign":1,"mpcc_id_a":0.626350939,"mpcc_iq_a":-1.62805116,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.68205452,"mpcc_pred_id_a":-0.355370581,"mpcc_pred_iq_a":-1.45055807,"mpcc_state":1,"mpcc_theta_e":0.437286854,"mpcc_theta_mech":0.554403245,"sam_rpm":-8.66367722,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296269208,"thr_a_norm":0.0296269208,"thr_a_v":0.618507683,"thr_b":0.00597277284,"thr_b_norm":0.00597277284,"thr_b_v":0.523891091,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.668447,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-2.61832476,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556626856,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0777235925,"mpcc_du":49.9466362,"mpcc_dv":48.647995,"mpcc_dw":51.352005,"mpcc_enc_sign":1,"mpcc_id_a":4.51734257,"mpcc_iq_a":0.502811611,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.269677877,"mpcc_pred_id_a":0.835080385,"mpcc_pred_iq_a":-1.20295763,"mpcc_state":1,"mpcc_theta_e":0.44271946,"mpcc_theta_mech":0.555489838,"sam_rpm":-0.225762635,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296269208,"thr_a_norm":0.0296269208,"thr_a_v":0.618507683,"thr_b":0.00597277284,"thr_b_norm":0.00597277284,"thr_b_v":0.523891091,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.674978,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-2.18339872,"cg_iw_a":-0.740683556,"cg_theta_rad":0.556233823,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.00931008812,"mpcc_du":49.7869873,"mpcc_dv":48.9050064,"mpcc_dw":51.0949936,"mpcc_enc_sign":1,"mpcc_id_a":5.0294013,"mpcc_iq_a":-0.0845252872,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.67761755,"mpcc_pred_id_a":1.3502363,"mpcc_pred_iq_a":-2.22000194,"mpcc_state":1,"mpcc_theta_e":0.437603951,"mpcc_theta_mech":0.554466665,"sam_rpm":-3.98355746,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0153135657,"thr_a_norm":0.0153135657,"thr_a_v":0.561254263,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455056071,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.681692,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.153744221,"cg_iw_a":1.36145926,"cg_theta_rad":0.555307448,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0220707543,"mpcc_du":50.396183,"mpcc_dv":48.2668152,"mpcc_dw":51.7331848,"mpcc_enc_sign":1,"mpcc_id_a":2.49034047,"mpcc_iq_a":0.131964952,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.28228593,"mpcc_pred_id_a":0.429776967,"mpcc_pred_iq_a":1.36117911,"mpcc_state":1,"mpcc_theta_e":0.438068867,"mpcc_theta_mech":0.554559708,"sam_rpm":-3.72571278,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0311501473,"thr_a_norm":0.0153135657,"thr_a_v":0.624600589,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474442661,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.693747,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.89344811,"cg_iw_a":-0.45073247,"cg_theta_rad":0.55592531,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.033022847,"mpcc_du":49.7800026,"mpcc_dv":49.3271332,"mpcc_dw":50.6728668,"mpcc_enc_sign":1,"mpcc_id_a":1.755162,"mpcc_iq_a":-1.41564834,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.7597971,"mpcc_pred_id_a":-0.247399196,"mpcc_pred_iq_a":-2.83994913,"mpcc_state":1,"mpcc_theta_e":0.455976963,"mpcc_theta_mech":0.558141291,"sam_rpm":17.5496445,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0311501473,"thr_a_norm":0.0311501473,"thr_a_v":0.624600589,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474442661,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.703878,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.02359605,"cg_iw_a":-0.305757284,"cg_theta_rad":0.557483554,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0697900727,"mpcc_du":50.5396538,"mpcc_dv":48.0161285,"mpcc_dw":51.9838715,"mpcc_enc_sign":1,"mpcc_id_a":3.477355,"mpcc_iq_a":0.374930352,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.4226885,"mpcc_pred_id_a":0.595786333,"mpcc_pred_iq_a":-1.68123424,"mpcc_state":1,"mpcc_theta_e":0.434412479,"mpcc_theta_mech":0.553828418,"sam_rpm":-15.9912424,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199839771,"thr_a_norm":0.0199839771,"thr_a_v":0.579935908,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.714071,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.82096052,"cg_iw_a":0.564094543,"cg_theta_rad":0.556649029,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.000481684227,"mpcc_du":50.1398735,"mpcc_dv":48.9159393,"mpcc_dw":51.0840607,"mpcc_enc_sign":1,"mpcc_id_a":0.305303991,"mpcc_iq_a":-1.29173052,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.84522247,"mpcc_pred_id_a":-0.382551938,"mpcc_pred_iq_a":-2.60370445,"mpcc_state":1,"mpcc_theta_e":0.43569088,"mpcc_theta_mech":0.554084063,"sam_rpm":-12.6703148,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174914151,"thr_a_norm":0.0199839771,"thr_a_v":0.569965661,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456113547,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.724081,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.371207237,"cg_iw_a":-0.885658741,"cg_theta_rad":0.557882071,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0906479731,"mpcc_du":49.8408623,"mpcc_dv":49.4385376,"mpcc_dw":50.5614624,"mpcc_enc_sign":1,"mpcc_id_a":-0.431800634,"mpcc_iq_a":0.543983698,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.037673,"mpcc_pred_id_a":-0.650873005,"mpcc_pred_iq_a":-3.38340569,"mpcc_state":1,"mpcc_theta_e":0.457965374,"mpcc_theta_mech":0.558538973,"sam_rpm":21.5693169,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174914151,"thr_a_norm":0.0174914151,"thr_a_v":0.569965661,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456113547,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.733999,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.951108456,"cg_iw_a":-0.523220539,"cg_theta_rad":0.552656829,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0559581146,"mpcc_du":50.3785896,"mpcc_dv":48.5385399,"mpcc_dw":51.4614601,"mpcc_enc_sign":1,"mpcc_id_a":2.83542776,"mpcc_iq_a":0.521086574,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.94098186,"mpcc_pred_id_a":0.282036781,"mpcc_pred_iq_a":-2.98827648,"mpcc_state":1,"mpcc_theta_e":0.439538956,"mpcc_theta_mech":0.554346919,"sam_rpm":-10.9924488,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186999291,"thr_a_norm":0.0186999291,"thr_a_v":0.574799716,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468148291,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.743856,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.31354666,"cg_iw_a":-4.14760351,"cg_theta_rad":0.558049142,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0124940798,"mpcc_du":49.5106964,"mpcc_dv":50.2145081,"mpcc_dw":50.4893036,"mpcc_enc_sign":1,"mpcc_id_a":1.93161058,"mpcc_iq_a":-1.39134014,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.0809288,"mpcc_pred_id_a":0.341338724,"mpcc_pred_iq_a":-3.86546278,"mpcc_state":1,"mpcc_theta_e":0.449232101,"mpcc_theta_mech":0.556792319,"sam_rpm":11.9827223,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186999291,"thr_a_norm":0.0186999291,"thr_a_v":0.574799716,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468148291,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.767324,"values":{"cg_iu_a":4.15637207,"cg_iv_a":-1.6759851,"cg_iw_a":-2.48038697,"cg_theta_rad":0.556514502,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.00988951791,"mpcc_du":49.6835213,"mpcc_dv":49.4983253,"mpcc_dw":50.5016747,"mpcc_enc_sign":1,"mpcc_id_a":1.10796678,"mpcc_iq_a":-0.936159372,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.39152682,"mpcc_pred_id_a":-0.319708496,"mpcc_pred_iq_a":-4.33264828,"mpcc_state":1,"mpcc_theta_e":0.441763401,"mpcc_theta_mech":0.555298567,"sam_rpm":-2.20410061,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0152128637,"thr_a_norm":0.0152128637,"thr_a_v":0.560851455,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.773855,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.60349751,"cg_iw_a":0.0566806793,"cg_theta_rad":0.553758919,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0034153522,"mpcc_du":51.2233887,"mpcc_dv":47.3468971,"mpcc_dw":52.6531029,"mpcc_enc_sign":1,"mpcc_id_a":0.713647366,"mpcc_iq_a":-0.593074262,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.3819923,"mpcc_pred_id_a":0.0428133644,"mpcc_pred_iq_a":1.5162158,"mpcc_state":1,"mpcc_theta_e":0.423905373,"mpcc_theta_mech":0.551726997,"sam_rpm":-28.7414284,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0286072344,"thr_a_norm":0.0152128637,"thr_a_v":0.614428937,"thr_b":0.00193180144,"thr_b_norm":0,"thr_b_v":0.507727206,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.780416,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.371207237,"cg_iw_a":-0.378245115,"cg_theta_rad":0.558193147,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0341455266,"mpcc_du":49.1553345,"mpcc_dv":50.8446655,"mpcc_dw":50.0658722,"mpcc_enc_sign":1,"mpcc_id_a":2.96685481,"mpcc_iq_a":-0.0802595243,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.15348911,"mpcc_pred_id_a":0.398120999,"mpcc_pred_iq_a":-5.62291956,"mpcc_state":1,"mpcc_theta_e":0.44982481,"mpcc_theta_mech":0.556910872,"sam_rpm":13.1157408,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0286072344,"thr_a_norm":0.0286072344,"thr_a_v":0.614428937,"thr_b":0.00193180144,"thr_b_norm":0.00193180144,"thr_b_v":0.507727206,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.786886,"values":{"cg_iu_a":3.72144651,"cg_iv_a":-0.516182423,"cg_iw_a":-3.20526409,"cg_theta_rad":0.552848458,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0124875512,"mpcc_du":49.5454102,"mpcc_dv":50.4545898,"mpcc_dw":50.3099594,"mpcc_enc_sign":1,"mpcc_id_a":-0.429646969,"mpcc_iq_a":-0.763530612,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.4048729,"mpcc_pred_id_a":-0.257050216,"mpcc_pred_iq_a":-2.80080771,"mpcc_state":1,"mpcc_theta_e":0.457835197,"mpcc_theta_mech":0.558512986,"sam_rpm":26.6891918,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172270536,"thr_a_norm":0.0172270536,"thr_a_v":0.568908215,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440453202,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.797323,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.02359605,"cg_iw_a":0.564094782,"cg_theta_rad":0.556554198,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0176787861,"mpcc_du":48.9670219,"mpcc_dv":51.0329781,"mpcc_dw":49.6190567,"mpcc_enc_sign":1,"mpcc_id_a":1.91938651,"mpcc_iq_a":-0.916684687,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.4273033,"mpcc_pred_id_a":-0.284308702,"mpcc_pred_iq_a":-3.55882359,"mpcc_state":1,"mpcc_theta_e":0.433005333,"mpcc_theta_mech":0.553547025,"sam_rpm":13.3193712,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227031261,"thr_a_norm":0.0172270536,"thr_a_v":0.590812504,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480837703,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.807089,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.24105906,"cg_iw_a":0.0566809177,"cg_theta_rad":0.555775046,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0352715217,"mpcc_du":49.4861488,"mpcc_dv":48.8429375,"mpcc_dw":51.1570625,"mpcc_enc_sign":1,"mpcc_id_a":2.31782413,"mpcc_iq_a":-0.923574984,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.5937691,"mpcc_pred_id_a":0.247985691,"mpcc_pred_iq_a":-2.84005618,"mpcc_state":1,"mpcc_theta_e":0.447960377,"mpcc_theta_mech":0.556537986,"sam_rpm":20.7332172,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227031261,"thr_a_norm":0.0227031261,"thr_a_v":0.590812504,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480837703,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.817282,"values":{"cg_iu_a":0.169550896,"cg_iv_a":0.0637187958,"cg_iw_a":-0.233269691,"cg_theta_rad":0.558120549,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0207819175,"mpcc_du":50.8772583,"mpcc_dv":47.8799324,"mpcc_dw":52.1200676,"mpcc_enc_sign":1,"mpcc_id_a":0.537707806,"mpcc_iq_a":-1.6370014,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.59562206,"mpcc_pred_id_a":-0.0171105843,"mpcc_pred_iq_a":-0.90695554,"mpcc_state":1,"mpcc_theta_e":0.440497398,"mpcc_theta_mech":0.555045426,"sam_rpm":-10.0887814,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215197951,"thr_a_norm":0.0215197951,"thr_a_v":0.58607918,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.827322,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.661157608,"cg_iw_a":-0.59570837,"cg_theta_rad":0.556091368,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.00538430363,"mpcc_du":50.2676315,"mpcc_dv":48.6679611,"mpcc_dw":51.3320389,"mpcc_enc_sign":1,"mpcc_id_a":0.9183833,"mpcc_iq_a":-1.01384437,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.4155865,"mpcc_pred_id_a":-0.214189261,"mpcc_pred_iq_a":-0.452813864,"mpcc_state":1,"mpcc_theta_e":0.428970814,"mpcc_theta_mech":0.552740097,"sam_rpm":-17.3032951,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215197951,"thr_a_norm":0.0215197951,"thr_a_v":0.58607918,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.837484,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.60349751,"cg_iw_a":0.274143934,"cg_theta_rad":0.552350581,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0606834181,"mpcc_du":49.862278,"mpcc_dv":49.21558,"mpcc_dw":50.78442,"mpcc_enc_sign":1,"mpcc_id_a":2.90793467,"mpcc_iq_a":0.156664714,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.54694986,"mpcc_pred_id_a":0.455299169,"mpcc_pred_iq_a":-1.4166398,"mpcc_state":1,"mpcc_theta_e":0.441869736,"mpcc_theta_mech":0.555319846,"sam_rpm":3.9175384,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241760015,"thr_a_norm":0.0241760015,"thr_a_v":0.596704006,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480283797,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.849722,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.661157608,"cg_iw_a":-2.04546165,"cg_theta_rad":0.553844631,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0468700454,"mpcc_du":49.9516182,"mpcc_dv":49.1886253,"mpcc_dw":50.8113747,"mpcc_enc_sign":1,"mpcc_id_a":-0.793661892,"mpcc_iq_a":-3.86825752,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.14466572,"mpcc_pred_id_a":-0.482864261,"mpcc_pred_iq_a":-2.037503,"mpcc_state":1,"mpcc_theta_e":0.43085146,"mpcc_theta_mech":0.553116202,"sam_rpm":-15.8173819,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253971219,"thr_a_norm":0.0241760015,"thr_a_v":0.601588488,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.873892,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-1.6759851,"cg_iw_a":-1.68302298,"cg_theta_rad":0.55635035,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0477533005,"mpcc_du":50.2075272,"mpcc_dv":48.5736465,"mpcc_dw":51.4263535,"mpcc_enc_sign":1,"mpcc_id_a":2.80756116,"mpcc_iq_a":-0.920012951,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.4814053,"mpcc_pred_id_a":0.375833869,"mpcc_pred_iq_a":-4.04206038,"mpcc_state":1,"mpcc_theta_e":0.460184574,"mpcc_theta_mech":0.55898279,"sam_rpm":25.0401649,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253971219,"thr_a_norm":0.0253971219,"thr_a_v":0.601588488,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.880453,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.02359605,"cg_iw_a":-0.305757284,"cg_theta_rad":0.555953622,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0101092076,"mpcc_du":49.596283,"mpcc_dv":50.403717,"mpcc_dw":50.2692337,"mpcc_enc_sign":1,"mpcc_id_a":2.01047087,"mpcc_iq_a":-3.31758451,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.6440964,"mpcc_pred_id_a":0.380112588,"mpcc_pred_iq_a":-2.34209728,"mpcc_state":1,"mpcc_theta_e":0.43164587,"mpcc_theta_mech":0.553275049,"sam_rpm":5.67658758,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025120154,"thr_a_norm":0.025120154,"thr_a_v":0.600480616,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485822856,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.887197,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-0.371207237,"cg_iw_a":0.78155756,"cg_theta_rad":0.556826353,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.01073616,"mpcc_du":50.5059166,"mpcc_dv":48.528492,"mpcc_dw":51.471508,"mpcc_enc_sign":1,"mpcc_id_a":0.774945438,"mpcc_iq_a":-0.962993324,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.81439042,"mpcc_pred_id_a":-0.444263726,"mpcc_pred_iq_a":-0.852706492,"mpcc_state":1,"mpcc_theta_e":0.441073418,"mpcc_theta_mech":0.555160582,"sam_rpm":-4.03489494,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025120154,"thr_a_norm":0.025120154,"thr_a_v":0.600480616,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485822856,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.893454,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.31354666,"cg_iw_a":-0.160782337,"cg_theta_rad":0.552831233,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0406825468,"mpcc_du":49.4343987,"mpcc_dv":50.5656013,"mpcc_dw":50.3028374,"mpcc_enc_sign":1,"mpcc_id_a":0.284228474,"mpcc_iq_a":-2.74874234,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.24886322,"mpcc_pred_id_a":0.181680664,"mpcc_pred_iq_a":-5.78948736,"mpcc_state":1,"mpcc_theta_e":0.428998947,"mpcc_theta_mech":0.5527457,"sam_rpm":7.62024736,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0267692804,"thr_a_norm":0.0267692804,"thr_a_v":0.607077122,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484966785,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.902945,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.0384233,"cg_iw_a":-0.958146572,"cg_theta_rad":0.554953218,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":4998,"hz_app_loop":357,"hz_tim_isr":9996,"hz_vsense":357,"mpcc_cost":0.0147045106,"mpcc_du":49.5926514,"mpcc_dv":50.4073486,"mpcc_dw":50.3216629,"mpcc_enc_sign":1,"mpcc_id_a":2.41124558,"mpcc_iq_a":-1.72751284,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.334198,"mpcc_pred_id_a":0.270303041,"mpcc_pred_iq_a":-1.73506033,"mpcc_state":1,"mpcc_theta_e":0.452934742,"mpcc_theta_mech":0.556109667,"sam_rpm":24.1137314,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0373437852,"thr_a_norm":0.0267692804,"thr_a_v":0.649375141,"thr_b":0.00431105494,"thr_b_norm":0,"thr_b_v":0.51724422,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.913443,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.17560959,"cg_theta_rad":0.553150535,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00816468243,"mpcc_du":49.6495094,"mpcc_dv":50.3028641,"mpcc_dw":50.3504906,"mpcc_enc_sign":1,"mpcc_id_a":0.849162579,"mpcc_iq_a":0.712109923,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.7645936,"mpcc_pred_id_a":-0.348338604,"mpcc_pred_iq_a":-2.78523874,"mpcc_state":1,"mpcc_theta_e":0.445425034,"mpcc_theta_mech":0.556030929,"sam_rpm":8.71060085,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0373437852,"thr_a_norm":0.0373437852,"thr_a_v":0.649375141,"thr_b":0.00431105494,"thr_b_norm":0.00431105494,"thr_b_v":0.51724422,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.92391,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.31354666,"cg_iw_a":0.274143696,"cg_theta_rad":0.555528879,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0275867414,"mpcc_du":49.2745056,"mpcc_dv":50.7254944,"mpcc_dw":50.0744209,"mpcc_enc_sign":1,"mpcc_id_a":2.05185652,"mpcc_iq_a":-0.976003587,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":24.0907364,"mpcc_pred_id_a":0.124152727,"mpcc_pred_iq_a":-3.15440726,"mpcc_state":1,"mpcc_theta_e":0.464202404,"mpcc_theta_mech":0.559786379,"sam_rpm":35.5522385,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261020809,"thr_a_norm":0.0261020809,"thr_a_v":0.604408324,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49609521,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.93569,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.24105906,"cg_iw_a":-0.23326993,"cg_theta_rad":0.557374299,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0253711753,"mpcc_du":49.4958763,"mpcc_dv":49.553669,"mpcc_dw":50.5041237,"mpcc_enc_sign":1,"mpcc_id_a":2.87264323,"mpcc_iq_a":0.0606366135,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.1069574,"mpcc_pred_id_a":0.35681951,"mpcc_pred_iq_a":-0.542662203,"mpcc_state":1,"mpcc_theta_e":0.448959827,"mpcc_theta_mech":0.55673784,"sam_rpm":15.543601,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261020809,"thr_a_norm":0.0261020809,"thr_a_v":0.604408324,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49609521,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.945883,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-2.47334933,"cg_iw_a":-1.24809694,"cg_theta_rad":0.554368317,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0747806728,"mpcc_du":49.3840446,"mpcc_dv":50.0111313,"mpcc_dw":50.6159554,"mpcc_enc_sign":1,"mpcc_id_a":4.35468912,"mpcc_iq_a":2.01227784,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.00543547,"mpcc_pred_id_a":1.06233323,"mpcc_pred_iq_a":-2.61524868,"mpcc_state":1,"mpcc_theta_e":0.443734169,"mpcc_theta_mech":0.555692732,"sam_rpm":7.98885298,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02403754,"thr_a_norm":0.02403754,"thr_a_v":0.59615016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.969198,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.806133032,"cg_iw_a":-4.14760351,"cg_theta_rad":0.553565264,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0183020029,"mpcc_du":49.5604286,"mpcc_dv":49.8164215,"mpcc_dw":50.4395714,"mpcc_enc_sign":1,"mpcc_id_a":0.549120545,"mpcc_iq_a":-0.914884388,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.4933977,"mpcc_pred_id_a":-0.104429625,"mpcc_pred_iq_a":-3.52260852,"mpcc_state":1,"mpcc_theta_e":0.453479767,"mpcc_theta_mech":0.557641864,"sam_rpm":15.7628498,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0360849202,"thr_a_norm":0.02403754,"thr_a_v":0.644339681,"thr_b":0.00475165248,"thr_b_norm":0,"thr_b_v":0.51900661,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.975729,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.6759851,"cg_iw_a":0.274143934,"cg_theta_rad":0.552652955,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00869409461,"mpcc_du":50.6826096,"mpcc_dv":48.0316887,"mpcc_dw":51.9683113,"mpcc_enc_sign":1,"mpcc_id_a":1.66850758,"mpcc_iq_a":-0.94234556,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.6960974,"mpcc_pred_id_a":0.0884594768,"mpcc_pred_iq_a":-0.459746033,"mpcc_state":1,"mpcc_theta_e":0.428778648,"mpcc_theta_mech":0.552701652,"sam_rpm":-21.4585209,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0360849202,"thr_a_norm":0.0360849202,"thr_a_v":0.644339681,"thr_b":0.00475165248,"thr_b_norm":0.00475165248,"thr_b_v":0.51900661,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.98229,"values":{"cg_iu_a":4.44632339,"cg_iv_a":-1.60349751,"cg_iw_a":-2.84282589,"cg_theta_rad":0.555156887,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0325493738,"mpcc_du":49.8174591,"mpcc_dv":49.161026,"mpcc_dw":50.838974,"mpcc_enc_sign":1,"mpcc_id_a":0.348802149,"mpcc_iq_a":-0.929457366,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.58678913,"mpcc_pred_id_a":0.0780154318,"mpcc_pred_iq_a":-2.08430147,"mpcc_state":1,"mpcc_theta_e":0.4478302,"mpcc_theta_mech":0.556511998,"sam_rpm":11.9793711,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0452620685,"thr_a_norm":0.0452620685,"thr_a_v":0.681048274,"thr_b":0.0135889202,"thr_b_norm":0.0135889202,"thr_b_v":0.554355681,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.988791,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.60349751,"cg_iw_a":-1.82799864,"cg_theta_rad":0.55521822,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00141859928,"mpcc_du":50.2696533,"mpcc_dv":48.8854904,"mpcc_dw":51.1145096,"mpcc_enc_sign":1,"mpcc_id_a":-0.334719956,"mpcc_iq_a":-1.78170133,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.58316672,"mpcc_pred_id_a":-0.66785264,"mpcc_pred_iq_a":-1.70425713,"mpcc_state":1,"mpcc_theta_e":0.441962719,"mpcc_theta_mech":0.555338442,"sam_rpm":-2.55575776,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0452620685,"thr_a_norm":0.0452620685,"thr_a_v":0.681048274,"thr_b":0.0135889202,"thr_b_norm":0.0135889202,"thr_b_v":0.554355681,"vdc_v":55.2955055}} +{"type":"telemetry","t":19.997061,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.516182423,"cg_iw_a":-1.61053514,"cg_theta_rad":0.557419121,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0016321945,"mpcc_du":49.569046,"mpcc_dv":50.430954,"mpcc_dw":50.375412,"mpcc_enc_sign":1,"mpcc_id_a":0.806892037,"mpcc_iq_a":-1.39869928,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.2927084,"mpcc_pred_id_a":-0.161140025,"mpcc_pred_iq_a":-4.04648972,"mpcc_state":1,"mpcc_theta_e":0.443867683,"mpcc_theta_mech":0.555719435,"sam_rpm":6.9897089,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105788499,"thr_a_norm":0.105788499,"thr_a_v":0.923153996,"thr_b":0.0516571254,"thr_b_norm":0.0516571254,"thr_b_v":0.706628501,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.007101,"values":{"cg_iu_a":1.61930418,"cg_iv_a":0.933570862,"cg_iw_a":-2.55287504,"cg_theta_rad":0.555790186,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00457795337,"mpcc_du":50.8681946,"mpcc_dv":47.8872032,"mpcc_dw":52.1127968,"mpcc_enc_sign":1,"mpcc_id_a":1.00949383,"mpcc_iq_a":-0.640588582,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.7803879,"mpcc_pred_id_a":-0.135628521,"mpcc_pred_iq_a":0.617477536,"mpcc_state":1,"mpcc_theta_e":0.42840004,"mpcc_theta_mech":0.552625895,"sam_rpm":-20.2143135,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0108445883,"thr_a_norm":0.105788499,"thr_a_v":0.543378353,"thr_b":0,"thr_b_norm":0.0516571254,"thr_b_v":0.435266644,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.01705,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.878620625,"cg_iw_a":0.0566806793,"cg_theta_rad":0.557344139,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0105119422,"mpcc_du":49.5691032,"mpcc_dv":50.2178802,"mpcc_dw":50.4308968,"mpcc_enc_sign":1,"mpcc_id_a":2.05017829,"mpcc_iq_a":-0.638683319,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.97981429,"mpcc_pred_id_a":0.018207835,"mpcc_pred_iq_a":-3.2332375,"mpcc_state":1,"mpcc_theta_e":0.440760136,"mpcc_theta_mech":0.555097938,"sam_rpm":2.97272825,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0108445883,"thr_a_norm":0.0108445883,"thr_a_v":0.543378353,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.435266644,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.027273,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.38603449,"cg_iw_a":0.419119358,"cg_theta_rad":0.552199781,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.013097276,"mpcc_du":49.705555,"mpcc_dv":49.2097168,"mpcc_dw":50.7902832,"mpcc_enc_sign":1,"mpcc_id_a":2.03961301,"mpcc_iq_a":-2.83687925,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.37428474,"mpcc_pred_id_a":0.321882576,"mpcc_pred_iq_a":-1.72274613,"mpcc_state":1,"mpcc_theta_e":0.449130535,"mpcc_theta_mech":0.556771994,"sam_rpm":3.4366281,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0133245587,"thr_a_norm":0.0133245587,"thr_a_v":0.553298235,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453948259,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.037313,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.09608364,"cg_iw_a":0.636582375,"cg_theta_rad":0.556638539,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0117415879,"mpcc_du":49.4676933,"mpcc_dv":50.5323067,"mpcc_dw":50.4870872,"mpcc_enc_sign":1,"mpcc_id_a":2.15703773,"mpcc_iq_a":-1.59184968,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.4416237,"mpcc_pred_id_a":0.611091375,"mpcc_pred_iq_a":-3.02929401,"mpcc_state":1,"mpcc_theta_e":0.448858738,"mpcc_theta_mech":0.556717634,"sam_rpm":14.5141516,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0133245587,"thr_a_norm":0.0133245587,"thr_a_v":0.553298235,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453948259,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.047476,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.77033806,"cg_theta_rad":0.554613113,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0465847962,"mpcc_du":49.3665619,"mpcc_dv":50.6334381,"mpcc_dw":50.4533691,"mpcc_enc_sign":1,"mpcc_id_a":4.18189049,"mpcc_iq_a":-1.04998124,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.30394697,"mpcc_pred_id_a":0.871665061,"mpcc_pred_iq_a":-2.90575862,"mpcc_state":1,"mpcc_theta_e":0.442321301,"mpcc_theta_mech":0.553413987,"sam_rpm":7.93919849,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283806324,"thr_a_norm":0.0283806324,"thr_a_v":0.61352253,"thr_b":0.00146600604,"thr_b_norm":0.00146600604,"thr_b_v":0.505864024,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.070791,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.516182423,"cg_iw_a":-1.03063393,"cg_theta_rad":0.55566591,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0292822216,"mpcc_du":49.3302803,"mpcc_dv":50.6697197,"mpcc_dw":50.0532265,"mpcc_enc_sign":1,"mpcc_id_a":1.85614645,"mpcc_iq_a":-0.379633814,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.8986125,"mpcc_pred_id_a":-0.181400061,"mpcc_pred_iq_a":-6.31951046,"mpcc_state":1,"mpcc_theta_e":0.449402332,"mpcc_theta_mech":0.556826413,"sam_rpm":11.7315569,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177935362,"thr_a_norm":0.0283806324,"thr_a_v":0.571174145,"thr_b":0,"thr_b_norm":0.00146600604,"thr_b_v":0.456768155,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.077353,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.733645439,"cg_iw_a":-0.668195724,"cg_theta_rad":0.551171064,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0465368181,"mpcc_du":49.4703217,"mpcc_dv":50.2678642,"mpcc_dw":50.5296783,"mpcc_enc_sign":1,"mpcc_id_a":3.46482468,"mpcc_iq_a":-0.543104529,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.77424574,"mpcc_pred_id_a":0.645655453,"mpcc_pred_iq_a":-5.32190704,"mpcc_state":1,"mpcc_theta_e":0.447152615,"mpcc_theta_mech":0.556376398,"sam_rpm":7.0038023,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177935362,"thr_a_norm":0.0177935362,"thr_a_v":0.571174145,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456768155,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.083822,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.371207237,"cg_iw_a":-2.77033806,"cg_theta_rad":0.55417341,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.000422052923,"mpcc_du":49.9510155,"mpcc_dv":48.9034538,"mpcc_dw":51.0965462,"mpcc_enc_sign":1,"mpcc_id_a":-0.255492985,"mpcc_iq_a":-2.14048505,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.39832067,"mpcc_pred_id_a":-0.59539026,"mpcc_pred_iq_a":-1.62387431,"mpcc_state":1,"mpcc_theta_e":0.438242912,"mpcc_theta_mech":0.557602525,"sam_rpm":-13.0161304,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021368742,"thr_a_norm":0.021368742,"thr_a_v":0.585474968,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.090353,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.588670254,"cg_iw_a":-1.03063393,"cg_theta_rad":0.550973892,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0226676147,"mpcc_du":49.721283,"mpcc_dv":49.2245598,"mpcc_dw":50.7754402,"mpcc_enc_sign":1,"mpcc_id_a":2.36791873,"mpcc_iq_a":-1.65310526,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.34845304,"mpcc_pred_id_a":0.287186027,"mpcc_pred_iq_a":-2.33918381,"mpcc_state":1,"mpcc_theta_e":0.450798035,"mpcc_theta_mech":0.557105482,"sam_rpm":11.2861109,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021368742,"thr_a_norm":0.021368742,"thr_a_v":0.585474968,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.098318,"values":{"cg_iu_a":-0.410350561,"cg_iv_a":-0.588670254,"cg_iw_a":0.78155756,"cg_theta_rad":0.556082189,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0278727077,"mpcc_du":50.3449287,"mpcc_dv":48.5219154,"mpcc_dw":51.4780846,"mpcc_enc_sign":1,"mpcc_id_a":1.76748943,"mpcc_iq_a":-4.05984116,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.7896023,"mpcc_pred_id_a":-0.0145112239,"mpcc_pred_iq_a":-2.78073883,"mpcc_state":1,"mpcc_theta_e":0.425778866,"mpcc_theta_mech":0.552101672,"sam_rpm":-26.948494,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019807741,"thr_a_norm":0.019807741,"thr_a_v":0.579230964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.10848,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.661157608,"cg_iw_a":0.12916851,"cg_theta_rad":0.55722487,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0200068802,"mpcc_du":49.6221657,"mpcc_dv":50.3312531,"mpcc_dw":50.3778343,"mpcc_enc_sign":1,"mpcc_id_a":0.95824945,"mpcc_iq_a":-1.39614224,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.9341707,"mpcc_pred_id_a":-0.211798921,"mpcc_pred_iq_a":-4.68213081,"mpcc_state":1,"mpcc_theta_e":0.455022812,"mpcc_theta_mech":0.557950437,"sam_rpm":18.722517,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0981219858,"thr_a_norm":0.019807741,"thr_a_v":0.892487943,"thr_b":0.0405287147,"thr_b_norm":0,"thr_b_v":0.662114859,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.118277,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.371207237,"cg_iw_a":-2.19043636,"cg_theta_rad":0.555129707,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00485048816,"mpcc_du":50.2040062,"mpcc_dv":48.6565399,"mpcc_dw":51.3434601,"mpcc_enc_sign":1,"mpcc_id_a":1.39290488,"mpcc_iq_a":-1.19190896,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.27145863,"mpcc_pred_id_a":0.137427583,"mpcc_pred_iq_a":-1.44490993,"mpcc_state":1,"mpcc_theta_e":0.432606697,"mpcc_theta_mech":0.553467274,"sam_rpm":-14.7858448,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0981219858,"thr_a_norm":0.0981219858,"thr_a_v":0.892487943,"thr_b":0.0405287147,"thr_b_norm":0.0405287147,"thr_b_v":0.662114859,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.128469,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.806133032,"cg_iw_a":-1.24809718,"cg_theta_rad":0.553290904,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0051030051,"mpcc_du":49.1178322,"mpcc_dv":50.8821678,"mpcc_dw":49.7961159,"mpcc_enc_sign":1,"mpcc_id_a":0.389332324,"mpcc_iq_a":-2.52661729,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":22.2998333,"mpcc_pred_id_a":-0.245362595,"mpcc_pred_iq_a":-4.47354841,"mpcc_state":1,"mpcc_theta_e":0.461808681,"mpcc_theta_mech":0.559307635,"sam_rpm":34.2481079,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210288316,"thr_a_norm":0.0210288316,"thr_a_v":0.584115326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455559611,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.138693,"values":{"cg_iu_a":2.34418058,"cg_iv_a":0.716107845,"cg_iw_a":-0.378244877,"cg_theta_rad":0.557095885,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0244498178,"mpcc_du":49.4977646,"mpcc_dv":49.3340836,"mpcc_dw":50.6659164,"mpcc_enc_sign":1,"mpcc_id_a":3.04940033,"mpcc_iq_a":-0.886652827,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.6401882,"mpcc_pred_id_a":0.581320286,"mpcc_pred_iq_a":-1.75319493,"mpcc_state":1,"mpcc_theta_e":0.429730415,"mpcc_theta_mech":0.55289197,"sam_rpm":-9.65455818,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210288316,"thr_a_norm":0.0210288316,"thr_a_v":0.584115326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455559611,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.148672,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.153744221,"cg_iw_a":-1.53804731,"cg_theta_rad":0.556557775,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00682612462,"mpcc_du":49.2517433,"mpcc_dv":50.7482567,"mpcc_dw":49.7858086,"mpcc_enc_sign":1,"mpcc_id_a":0.231935099,"mpcc_iq_a":-1.44393396,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.61942178,"mpcc_pred_id_a":-0.640136182,"mpcc_pred_iq_a":-5.30815601,"mpcc_state":1,"mpcc_theta_e":0.43757391,"mpcc_theta_mech":0.554460704,"sam_rpm":-1.44263291,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0146211833,"thr_a_norm":0.0146211833,"thr_a_v":0.558484733,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453847557,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.17211,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-2.0384233,"cg_iw_a":0.926533222,"cg_theta_rad":0.556915998,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00600163965,"mpcc_du":49.8387375,"mpcc_dv":49.3496857,"mpcc_dw":50.6503143,"mpcc_enc_sign":1,"mpcc_id_a":0.333889902,"mpcc_iq_a":-0.708561361,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.5178206,"mpcc_pred_id_a":-0.328847796,"mpcc_pred_iq_a":-3.4253962,"mpcc_state":1,"mpcc_theta_e":0.44117403,"mpcc_theta_mech":0.555180728,"sam_rpm":-3.53341389,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199210346,"thr_a_norm":0.0146211833,"thr_a_v":0.579684138,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472378135,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.17861,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.45852208,"cg_iw_a":-0.595708132,"cg_theta_rad":0.554556072,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0079173157,"mpcc_du":50.142189,"mpcc_dv":48.8303261,"mpcc_dw":51.1696739,"mpcc_enc_sign":1,"mpcc_id_a":0.587440848,"mpcc_iq_a":-1.1954416,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.15423393,"mpcc_pred_id_a":-0.41868028,"mpcc_pred_iq_a":-2.53183794,"mpcc_state":1,"mpcc_theta_e":0.438472748,"mpcc_theta_mech":0.554640472,"sam_rpm":-14.1546478,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199210346,"thr_a_norm":0.0199210346,"thr_a_v":0.579684138,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472378135,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.18511,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.38603449,"cg_iw_a":-1.61053514,"cg_theta_rad":0.554042637,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0175259523,"mpcc_du":49.6426239,"mpcc_dv":49.39254,"mpcc_dw":50.60746,"mpcc_enc_sign":1,"mpcc_id_a":2.48692822,"mpcc_iq_a":-1.57316089,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.84970951,"mpcc_pred_id_a":0.0907144174,"mpcc_pred_iq_a":-1.38396609,"mpcc_state":1,"mpcc_theta_e":0.451394558,"mpcc_theta_mech":0.55722487,"sam_rpm":14.0487776,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182593316,"thr_a_norm":0.0182593316,"thr_a_v":0.573037326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.191671,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.24105906,"cg_iw_a":-1.8279984,"cg_theta_rad":0.557379186,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0109617002,"mpcc_du":49.5266151,"mpcc_dv":49.7731934,"mpcc_dw":50.4733849,"mpcc_enc_sign":1,"mpcc_id_a":2.07768893,"mpcc_iq_a":-1.94274986,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.38790417,"mpcc_pred_id_a":0.0704460666,"mpcc_pred_iq_a":-5.1602211,"mpcc_state":1,"mpcc_theta_e":0.439236641,"mpcc_theta_mech":0.554793239,"sam_rpm":-5.55753756,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182593316,"thr_a_norm":0.0182593316,"thr_a_v":0.573037326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.201681,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.878620625,"cg_iw_a":-1.82799864,"cg_theta_rad":0.557030439,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0209569205,"mpcc_du":49.1606216,"mpcc_dv":50.8393784,"mpcc_dw":49.9734535,"mpcc_enc_sign":1,"mpcc_id_a":2.13916492,"mpcc_iq_a":-1.8028245,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.35707474,"mpcc_pred_id_a":0.126137778,"mpcc_pred_iq_a":-3.65930557,"mpcc_state":1,"mpcc_theta_e":0.444641113,"mpcc_theta_mech":0.555874109,"sam_rpm":10.0838614,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0239494145,"thr_a_norm":0.0239494145,"thr_a_v":0.595797658,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472176731,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.212027,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.6759851,"cg_iw_a":-0.160782099,"cg_theta_rad":0.552319348,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0588597208,"mpcc_du":50.0198822,"mpcc_dv":48.9100304,"mpcc_dw":51.0899696,"mpcc_enc_sign":1,"mpcc_id_a":1.55512249,"mpcc_iq_a":-2.20441222,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.16170049,"mpcc_pred_id_a":-0.00664425502,"mpcc_pred_iq_a":0.0218649786,"mpcc_state":1,"mpcc_theta_e":0.438676357,"mpcc_theta_mech":0.554681182,"sam_rpm":-16.7628841,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0191153586,"thr_a_norm":0.0239494145,"thr_a_v":0.576461434,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462558955,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.222097,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-2.90827537,"cg_iw_a":0.564094782,"cg_theta_rad":0.556946099,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0171322748,"mpcc_du":49.7441788,"mpcc_dv":49.2035637,"mpcc_dw":51.7422371,"mpcc_enc_sign":1,"mpcc_id_a":2.30228186,"mpcc_iq_a":-0.61093986,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.98942542,"mpcc_pred_id_a":0.145100564,"mpcc_pred_iq_a":-3.15403366,"mpcc_state":1,"mpcc_theta_e":0.437733173,"mpcc_theta_mech":0.554057717,"sam_rpm":-6.71179438,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0191153586,"thr_a_norm":0.0191153586,"thr_a_v":0.576461434,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462558955,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.232168,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-2.61832476,"cg_iw_a":0.491607189,"cg_theta_rad":0.557588577,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0192119703,"mpcc_du":49.5892906,"mpcc_dv":50.3486519,"mpcc_dw":50.4107094,"mpcc_enc_sign":1,"mpcc_id_a":2.41543221,"mpcc_iq_a":-0.553545952,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.2007418,"mpcc_pred_id_a":0.31885162,"mpcc_pred_iq_a":-0.771323025,"mpcc_state":1,"mpcc_theta_e":0.448316574,"mpcc_theta_mech":0.556610942,"sam_rpm":15.5114346,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196063071,"thr_a_norm":0.0196063071,"thr_a_v":0.578425229,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.242025,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.74847269,"cg_iw_a":-1.46555996,"cg_theta_rad":0.55521816,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0241001658,"mpcc_du":49.4976387,"mpcc_dv":50.5023613,"mpcc_dw":50.2284698,"mpcc_enc_sign":1,"mpcc_id_a":0.102196313,"mpcc_iq_a":-2.40086341,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.12916255,"mpcc_pred_id_a":-0.291967779,"mpcc_pred_iq_a":-3.06774282,"mpcc_state":1,"mpcc_theta_e":0.438499928,"mpcc_theta_mech":0.554645896,"sam_rpm":1.0373863,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196063071,"thr_a_norm":0.0196063071,"thr_a_v":0.578425229,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.25231,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.02359605,"cg_iw_a":-0.885658741,"cg_theta_rad":0.553719342,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0248512831,"mpcc_du":50.5149612,"mpcc_dv":48.7487297,"mpcc_dw":51.2512703,"mpcc_enc_sign":1,"mpcc_id_a":-1.09830904,"mpcc_iq_a":-0.677730262,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.643376648,"mpcc_pred_id_a":-1.01753032,"mpcc_pred_iq_a":-1.70502055,"mpcc_state":1,"mpcc_theta_e":0.444363594,"mpcc_theta_mech":0.555818677,"sam_rpm":0.166480199,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0396097451,"thr_a_norm":0.0396097451,"thr_a_v":0.658438981,"thr_b":0.00835202634,"thr_b_norm":0.00835202634,"thr_b_v":0.533408105,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.275259,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.38603449,"cg_iw_a":-1.10312176,"cg_theta_rad":0.55710566,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0384168737,"mpcc_du":50.8572083,"mpcc_dv":47.780777,"mpcc_dw":52.219223,"mpcc_enc_sign":1,"mpcc_id_a":0.327766865,"mpcc_iq_a":-1.36665595,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.78385687,"mpcc_pred_id_a":0.372284591,"mpcc_pred_iq_a":0.86184299,"mpcc_state":1,"mpcc_theta_e":0.454458714,"mpcc_theta_mech":0.557837665,"sam_rpm":-9.29775238,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276882648,"thr_a_norm":0.0396097451,"thr_a_v":0.610753059,"thr_b":0,"thr_b_norm":0.00835202634,"thr_b_v":0.487484545,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.28182,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.11091113,"cg_iw_a":1.28897119,"cg_theta_rad":0.556582034,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00153421576,"mpcc_du":49.8976326,"mpcc_dv":49.1888618,"mpcc_dw":50.8111382,"mpcc_enc_sign":1,"mpcc_id_a":-0.376867861,"mpcc_iq_a":-2.3655467,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.30541658,"mpcc_pred_id_a":-0.187038675,"mpcc_pred_iq_a":-0.675286353,"mpcc_state":1,"mpcc_theta_e":0.444504261,"mpcc_theta_mech":0.55584681,"sam_rpm":7.3602705,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276882648,"thr_a_norm":0.0276882648,"thr_a_v":0.610753059,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487484545,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.288351,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.16857147,"cg_iw_a":-1.90048599,"cg_theta_rad":0.55801779,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0289845932,"mpcc_du":49.5593491,"mpcc_dv":49.3076935,"mpcc_dw":50.6923065,"mpcc_enc_sign":1,"mpcc_id_a":3.38883972,"mpcc_iq_a":-0.501356065,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.01371384,"mpcc_pred_id_a":0.457822651,"mpcc_pred_iq_a":-3.55727792,"mpcc_state":1,"mpcc_theta_e":0.432931423,"mpcc_theta_mech":0.553532243,"sam_rpm":-12.4862165,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226653665,"thr_a_norm":0.0226653665,"thr_a_v":0.590661466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491664022,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.297049,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.661157608,"cg_iw_a":-2.62536287,"cg_theta_rad":0.555752158,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.000593785488,"mpcc_du":49.6119728,"mpcc_dv":49.6371155,"mpcc_dw":50.3880272,"mpcc_enc_sign":1,"mpcc_id_a":-0.0245208833,"mpcc_iq_a":-2.1189425,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.95499516,"mpcc_pred_id_a":-0.394399643,"mpcc_pred_iq_a":-3.53035951,"mpcc_state":1,"mpcc_theta_e":0.447312355,"mpcc_theta_mech":0.556408405,"sam_rpm":7.22812319,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193671286,"thr_a_norm":0.0226653665,"thr_a_v":0.577468514,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468248993,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.308065,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.31354666,"cg_iw_a":0.564094543,"cg_theta_rad":0.556434274,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0603295192,"mpcc_du":50.010704,"mpcc_dv":48.9425583,"mpcc_dw":51.0574417,"mpcc_enc_sign":1,"mpcc_id_a":2.24554586,"mpcc_iq_a":-0.57775557,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.51158428,"mpcc_pred_id_a":0.148811579,"mpcc_pred_iq_a":-2.9453578,"mpcc_state":1,"mpcc_theta_e":0.453487396,"mpcc_theta_mech":0.557643414,"sam_rpm":9.44587708,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193671286,"thr_a_norm":0.0193671286,"thr_a_v":0.577468514,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468248993,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.319265,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.443694592,"cg_iw_a":-0.59570837,"cg_theta_rad":0.55349201,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0285397563,"mpcc_du":49.9326477,"mpcc_dv":48.8345375,"mpcc_dw":51.1654625,"mpcc_enc_sign":1,"mpcc_id_a":2.88512731,"mpcc_iq_a":-1.76938999,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.378047,"mpcc_pred_id_a":0.437085748,"mpcc_pred_iq_a":-1.97886777,"mpcc_state":1,"mpcc_theta_e":0.427364349,"mpcc_theta_mech":0.552418828,"sam_rpm":-20.3086987,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203364491,"thr_a_norm":0.0203364491,"thr_a_v":0.581345797,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456163883,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.329367,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-2.0384233,"cg_iw_a":-1.75551057,"cg_theta_rad":0.557030916,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00106615352,"mpcc_du":49.6536293,"mpcc_dv":49.6003227,"mpcc_dw":50.2922096,"mpcc_enc_sign":1,"mpcc_id_a":-0.51162082,"mpcc_iq_a":-1.79251266,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.48190308,"mpcc_pred_id_a":-0.493494779,"mpcc_pred_iq_a":-1.08203936,"mpcc_state":1,"mpcc_theta_e":0.44756794,"mpcc_theta_mech":0.556076527,"sam_rpm":13.7330065,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261524469,"thr_a_norm":0.0203364491,"thr_a_v":0.604609787,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499468982,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.339285,"values":{"cg_iu_a":2.27169323,"cg_iv_a":0.426157475,"cg_iw_a":-1.10312176,"cg_theta_rad":0.551909089,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.000579734624,"mpcc_du":49.8496399,"mpcc_dv":49.4329491,"mpcc_dw":50.5670509,"mpcc_enc_sign":1,"mpcc_id_a":0.133103251,"mpcc_iq_a":-1.96151221,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.06130362,"mpcc_pred_id_a":-0.61356163,"mpcc_pred_iq_a":-2.07166219,"mpcc_state":1,"mpcc_theta_e":0.446416855,"mpcc_theta_mech":0.556229293,"sam_rpm":9.29920578,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261524469,"thr_a_norm":0.0261524469,"thr_a_v":0.604609787,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499468982,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.349478,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-3.3432014,"cg_iw_a":0.0566811562,"cg_theta_rad":0.552679241,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0517991893,"mpcc_du":50.1383286,"mpcc_dv":48.7069893,"mpcc_dw":51.2930107,"mpcc_enc_sign":1,"mpcc_id_a":2.30233073,"mpcc_iq_a":0.385939449,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.5065999,"mpcc_pred_id_a":0.347153753,"mpcc_pred_iq_a":-0.691979229,"mpcc_state":1,"mpcc_theta_e":0.447030067,"mpcc_theta_mech":0.5563519,"sam_rpm":7.93977737,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024138242,"thr_a_norm":0.024138242,"thr_a_v":0.596552968,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479880989,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.359274,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.31354666,"cg_iw_a":-2.62536287,"cg_theta_rad":0.558616757,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0276242401,"mpcc_du":49.7878456,"mpcc_dv":49.57201,"mpcc_dw":50.42799,"mpcc_enc_sign":1,"mpcc_id_a":-0.889823735,"mpcc_iq_a":-4.29841471,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.22219634,"mpcc_pred_id_a":-0.889113665,"mpcc_pred_iq_a":-2.1868732,"mpcc_state":1,"mpcc_theta_e":0.443189621,"mpcc_theta_mech":0.555583835,"sam_rpm":3.41001916,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024138242,"thr_a_norm":0.024138242,"thr_a_v":0.596552968,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479880989,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.382711,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.02359605,"cg_iw_a":-1.10312152,"cg_theta_rad":0.55613029,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00154480548,"mpcc_du":49.1842194,"mpcc_dv":50.8157806,"mpcc_dw":49.7364235,"mpcc_enc_sign":1,"mpcc_id_a":0.120206729,"mpcc_iq_a":-2.32605314,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.03664827,"mpcc_pred_id_a":-0.513149977,"mpcc_pred_iq_a":-7.91634369,"mpcc_state":1,"mpcc_theta_e":0.446036816,"mpcc_theta_mech":0.556153238,"sam_rpm":5.58934832,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0989780277,"thr_a_norm":0.0989780277,"thr_a_v":0.895912111,"thr_b":0.0393453836,"thr_b_norm":0.0393453836,"thr_b_v":0.657381535,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.389212,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.96593571,"cg_iw_a":-1.03063393,"cg_theta_rad":0.55555898,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0289321449,"mpcc_du":50.404686,"mpcc_dv":48.3216057,"mpcc_dw":51.6783943,"mpcc_enc_sign":1,"mpcc_id_a":2.98068738,"mpcc_iq_a":-0.178332001,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.55733776,"mpcc_pred_id_a":0.360143602,"mpcc_pred_iq_a":-0.505595982,"mpcc_state":1,"mpcc_theta_e":0.434213638,"mpcc_theta_mech":0.553788602,"sam_rpm":-12.9927244,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0230430365,"thr_a_norm":0.0989780277,"thr_a_v":0.592172146,"thr_b":0,"thr_b_norm":0.0393453836,"thr_b_v":0.482247651,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.395712,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.0812563896,"cg_iw_a":-3.20526409,"cg_theta_rad":0.557572782,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00872728508,"mpcc_du":49.8390121,"mpcc_dv":49.2202415,"mpcc_dw":50.7797585,"mpcc_enc_sign":1,"mpcc_id_a":0.546626389,"mpcc_iq_a":-0.764846385,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.11816716,"mpcc_pred_id_a":-0.0244514253,"mpcc_pred_iq_a":-1.20465803,"mpcc_state":1,"mpcc_theta_e":0.443496704,"mpcc_theta_mech":0.555645227,"sam_rpm":0.385393709,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0230430365,"thr_a_norm":0.0230430365,"thr_a_v":0.592172146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482247651,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.402243,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.45852208,"cg_iw_a":-0.305757284,"cg_theta_rad":0.556751311,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0165805146,"mpcc_du":49.5137634,"mpcc_dv":49.5986671,"mpcc_dw":50.4862366,"mpcc_enc_sign":1,"mpcc_id_a":2.31663752,"mpcc_iq_a":-1.59009063,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.6278257,"mpcc_pred_id_a":0.272768974,"mpcc_pred_iq_a":-1.96804047,"mpcc_state":1,"mpcc_theta_e":0.453487873,"mpcc_theta_mech":0.557643473,"sam_rpm":17.1482315,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256992429,"thr_a_norm":0.0256992429,"thr_a_v":0.602796972,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485067546,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.412222,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.16857147,"cg_iw_a":-1.53804779,"cg_theta_rad":0.55242914,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0116205178,"mpcc_du":50.2813187,"mpcc_dv":48.7249451,"mpcc_dw":51.2750549,"mpcc_enc_sign":1,"mpcc_id_a":1.23108661,"mpcc_iq_a":-0.847998261,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.83118057,"mpcc_pred_id_a":-0.18295233,"mpcc_pred_iq_a":-2.70939732,"mpcc_state":1,"mpcc_theta_e":0.437164307,"mpcc_theta_mech":0.554378808,"sam_rpm":-12.0734682,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.102867916,"thr_a_norm":0.0256992429,"thr_a_v":0.911471665,"thr_b":0.0470622629,"thr_b_norm":0,"thr_b_v":0.688249052,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.422232,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.806133032,"cg_iw_a":0.274143934,"cg_theta_rad":0.557890117,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0226647947,"mpcc_du":49.0043411,"mpcc_dv":50.9956589,"mpcc_dw":49.4579391,"mpcc_enc_sign":1,"mpcc_id_a":-0.559689999,"mpcc_iq_a":-3.25230789,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.89398479,"mpcc_pred_id_a":-0.672003388,"mpcc_pred_iq_a":-4.74651289,"mpcc_state":1,"mpcc_theta_e":0.44488287,"mpcc_theta_mech":0.555922508,"sam_rpm":13.1487036,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.102867916,"thr_a_norm":0.102867916,"thr_a_v":0.911471665,"thr_b":0.0470622629,"thr_b_norm":0.0470622629,"thr_b_v":0.688249052,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.432089,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.298719406,"cg_iw_a":-0.233269691,"cg_theta_rad":0.5560776,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0381639116,"mpcc_du":49.2159042,"mpcc_dv":50.7840958,"mpcc_dw":50.6123352,"mpcc_enc_sign":1,"mpcc_id_a":3.69790196,"mpcc_iq_a":-1.22082973,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.03497291,"mpcc_pred_id_a":0.661094248,"mpcc_pred_iq_a":-3.81815767,"mpcc_state":1,"mpcc_theta_e":0.438418865,"mpcc_theta_mech":0.554629683,"sam_rpm":25.0658054,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00670289993,"thr_a_norm":0.00670289993,"thr_a_v":0.5268116,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.435417712,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.442068,"values":{"cg_iu_a":-0.917764187,"cg_iv_a":-1.53100967,"cg_iw_a":2.44877386,"cg_theta_rad":0.557120502,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0256123058,"mpcc_du":50.2872505,"mpcc_dv":48.6433449,"mpcc_dw":51.3566551,"mpcc_enc_sign":1,"mpcc_id_a":1.3183943,"mpcc_iq_a":-0.996681094,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.389885694,"mpcc_pred_id_a":0.0366899595,"mpcc_pred_iq_a":-1.73964643,"mpcc_state":1,"mpcc_theta_e":0.445839405,"mpcc_theta_mech":0.556113839,"sam_rpm":1.32320929,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00670289993,"thr_a_norm":0.00670289993,"thr_a_v":0.5268116,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.435417712,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.452444,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.443694592,"cg_iw_a":-0.59570837,"cg_theta_rad":0.557309449,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0381141156,"mpcc_du":50.052597,"mpcc_dv":48.9060936,"mpcc_dw":51.0939064,"mpcc_enc_sign":1,"mpcc_id_a":0.140920863,"mpcc_iq_a":-1.08893859,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.1906691,"mpcc_pred_id_a":0.0625498071,"mpcc_pred_iq_a":-1.68358088,"mpcc_state":1,"mpcc_theta_e":0.454286098,"mpcc_theta_mech":0.557803094,"sam_rpm":16.3223763,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021872282,"thr_a_norm":0.021872282,"thr_a_v":0.587489128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476255447,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.462851,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.74847269,"cg_iw_a":-0.740683556,"cg_theta_rad":0.555792749,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00369069818,"mpcc_du":49.5749168,"mpcc_dv":50.4250832,"mpcc_dw":50.4185219,"mpcc_enc_sign":1,"mpcc_id_a":1.16610336,"mpcc_iq_a":-1.15084338,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.3822403,"mpcc_pred_id_a":0.0391530916,"mpcc_pred_iq_a":-3.22425961,"mpcc_state":1,"mpcc_theta_e":0.442937374,"mpcc_theta_mech":0.55553335,"sam_rpm":7.38554239,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0298157483,"thr_a_norm":0.021872282,"thr_a_v":0.619262993,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462760359,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.486868,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.443694592,"cg_iw_a":-2.19043684,"cg_theta_rad":0.553009868,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00403216667,"mpcc_du":50.6778793,"mpcc_dv":48.0140915,"mpcc_dw":51.9859085,"mpcc_enc_sign":1,"mpcc_id_a":1.2194227,"mpcc_iq_a":-2.08242011,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.34423828,"mpcc_pred_id_a":0.234504521,"mpcc_pred_iq_a":0.68936497,"mpcc_state":1,"mpcc_theta_e":0.450103283,"mpcc_theta_mech":0.556966603,"sam_rpm":-14.1207933,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0298157483,"thr_a_norm":0.0298157483,"thr_a_v":0.619262993,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462760359,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.493399,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.24105906,"cg_iw_a":1.07150817,"cg_theta_rad":0.557120562,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0119114025,"mpcc_du":49.6947556,"mpcc_dv":49.2550659,"mpcc_dw":50.7449341,"mpcc_enc_sign":1,"mpcc_id_a":2.14714432,"mpcc_iq_a":-0.251936316,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.26815128,"mpcc_pred_id_a":0.198822379,"mpcc_pred_iq_a":-2.69656205,"mpcc_state":1,"mpcc_theta_e":0.433695316,"mpcc_theta_mech":0.553685009,"sam_rpm":-10.1257877,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022325471,"thr_a_norm":0.022325471,"thr_a_v":0.589301884,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491714358,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.499929,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.09608364,"cg_iw_a":-0.160782337,"cg_theta_rad":0.557622373,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0326212049,"mpcc_du":49.6014633,"mpcc_dv":49.2254333,"mpcc_dw":50.7745667,"mpcc_enc_sign":1,"mpcc_id_a":2.976017,"mpcc_iq_a":-1.39522338,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.3782053,"mpcc_pred_id_a":0.62135452,"mpcc_pred_iq_a":-1.72043991,"mpcc_state":1,"mpcc_theta_e":0.452365398,"mpcc_theta_mech":0.557419002,"sam_rpm":15.5829821,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022325471,"thr_a_norm":0.022325471,"thr_a_v":0.589301884,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491714358,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.506491,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.951108456,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.558010817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0307506081,"mpcc_du":50.7909279,"mpcc_dv":47.8172913,"mpcc_dw":52.1827087,"mpcc_enc_sign":1,"mpcc_id_a":3.2031095,"mpcc_iq_a":-0.723833144,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.2163677,"mpcc_pred_id_a":0.335888237,"mpcc_pred_iq_a":-0.232491702,"mpcc_state":1,"mpcc_theta_e":0.428858757,"mpcc_theta_mech":0.552717686,"sam_rpm":-22.2352734,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0329755098,"thr_a_norm":0.0329755098,"thr_a_v":0.631902039,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.515676,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.54583716,"cg_iw_a":1.143996,"cg_theta_rad":0.55320555,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0352773182,"mpcc_du":50.762249,"mpcc_dv":47.9604988,"mpcc_dw":52.0395012,"mpcc_enc_sign":1,"mpcc_id_a":0.905817151,"mpcc_iq_a":-0.00535290176,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.86737585,"mpcc_pred_id_a":0.220148787,"mpcc_pred_iq_a":-0.604284585,"mpcc_state":1,"mpcc_theta_e":0.439683914,"mpcc_theta_mech":0.554882705,"sam_rpm":-10.8521433,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247047395,"thr_a_norm":0.0329755098,"thr_a_v":0.598818958,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482700855,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.525839,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.45852208,"cg_iw_a":0.346631765,"cg_theta_rad":0.554242253,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.030935755,"mpcc_du":49.8522377,"mpcc_dv":49.1429825,"mpcc_dw":50.8570175,"mpcc_enc_sign":1,"mpcc_id_a":0.0732902884,"mpcc_iq_a":-1.82235515,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.23009777,"mpcc_pred_id_a":-0.0361175239,"mpcc_pred_iq_a":-0.41921106,"mpcc_state":1,"mpcc_theta_e":0.427317142,"mpcc_theta_mech":0.552409351,"sam_rpm":-14.4951391,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247047395,"thr_a_norm":0.0247047395,"thr_a_v":0.598818958,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482700855,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.536093,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.951108456,"cg_iw_a":-0.958146572,"cg_theta_rad":0.558104873,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0594711453,"mpcc_du":50.1652184,"mpcc_dv":48.8420982,"mpcc_dw":51.1579018,"mpcc_enc_sign":1,"mpcc_id_a":0.661095321,"mpcc_iq_a":-0.687272966,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.5179913,"mpcc_pred_id_a":-0.0712430179,"mpcc_pred_iq_a":-3.36395621,"mpcc_state":1,"mpcc_theta_e":0.450622082,"mpcc_theta_mech":0.557070374,"sam_rpm":6.76762104,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0102906823,"thr_a_norm":0.0102906823,"thr_a_v":0.541162729,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453092247,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.545919,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.6759851,"cg_iw_a":-2.77033806,"cg_theta_rad":0.553438067,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0805819184,"mpcc_du":50.279953,"mpcc_dv":48.577877,"mpcc_dw":51.422123,"mpcc_enc_sign":1,"mpcc_id_a":1.63537109,"mpcc_iq_a":0.331327558,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.57044709,"mpcc_pred_id_a":0.203877136,"mpcc_pred_iq_a":-2.38383532,"mpcc_state":1,"mpcc_theta_e":0.449103832,"mpcc_theta_mech":0.556766689,"sam_rpm":4.0405755,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0102906823,"thr_a_norm":0.0102906823,"thr_a_v":0.541162729,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453092247,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.556051,"values":{"cg_iu_a":2.41666842,"cg_iv_a":0.57113266,"cg_iw_a":-0.305757523,"cg_theta_rad":0.552438796,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0130694732,"mpcc_du":49.601944,"mpcc_dv":49.490757,"mpcc_dw":50.509243,"mpcc_enc_sign":1,"mpcc_id_a":2.13202596,"mpcc_iq_a":-0.637026668,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.06256509,"mpcc_pred_id_a":-0.076470837,"mpcc_pred_iq_a":-2.22840905,"mpcc_state":1,"mpcc_theta_e":0.443230629,"mpcc_theta_mech":0.555592,"sam_rpm":4.49523258,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0434492975,"thr_a_norm":0.0434492975,"thr_a_v":0.67379719,"thr_b":0.00716868043,"thr_b_norm":0.00716868043,"thr_b_v":0.528674722,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.566336,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-3.27071381,"cg_iw_a":-2.40789938,"cg_theta_rad":0.554229736,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0157492999,"mpcc_du":49.0305748,"mpcc_dv":50.9694252,"mpcc_dw":49.9737511,"mpcc_enc_sign":1,"mpcc_id_a":2.19369626,"mpcc_iq_a":-2.17684746,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.7519808,"mpcc_pred_id_a":0.542979836,"mpcc_pred_iq_a":-3.46996975,"mpcc_state":1,"mpcc_theta_e":0.451915264,"mpcc_theta_mech":0.553898633,"sam_rpm":21.827404,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195937157,"thr_a_norm":0.0434492975,"thr_a_v":0.578374863,"thr_b":0,"thr_b_norm":0.00716868043,"thr_b_v":0.478924245,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.589071,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.24105906,"cg_iw_a":0.129168749,"cg_theta_rad":0.552160382,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0305092707,"mpcc_du":49.4575386,"mpcc_dv":50.5424614,"mpcc_dw":50.1691589,"mpcc_enc_sign":1,"mpcc_id_a":2.24781752,"mpcc_iq_a":-0.568852961,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.77798414,"mpcc_pred_id_a":-0.163448423,"mpcc_pred_iq_a":-5.78262997,"mpcc_state":1,"mpcc_theta_e":0.449524879,"mpcc_theta_mech":0.55685091,"sam_rpm":11.4863892,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195937157,"thr_a_norm":0.0195937157,"thr_a_v":0.578374863,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478924245,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.595572,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.516182423,"cg_iw_a":-0.81317091,"cg_theta_rad":0.558138192,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00651484448,"mpcc_du":49.6267204,"mpcc_dv":50.050808,"mpcc_dw":50.3732796,"mpcc_enc_sign":1,"mpcc_id_a":1.48748946,"mpcc_iq_a":-0.980350137,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.35454559,"mpcc_pred_id_a":-0.216926277,"mpcc_pred_iq_a":-3.45727968,"mpcc_state":1,"mpcc_theta_e":0.443601131,"mpcc_theta_mech":0.555666149,"sam_rpm":5.91164684,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180327296,"thr_a_norm":0.0180327296,"thr_a_v":0.572130919,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450624853,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.602102,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-1.45852208,"cg_iw_a":1.28897119,"cg_theta_rad":0.553167403,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0112612769,"mpcc_du":49.4820137,"mpcc_dv":49.4599495,"mpcc_dw":50.5400505,"mpcc_enc_sign":1,"mpcc_id_a":1.87357128,"mpcc_iq_a":-1.83832502,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.5710526,"mpcc_pred_id_a":0.538091958,"mpcc_pred_iq_a":-1.74390924,"mpcc_state":1,"mpcc_theta_e":0.452983856,"mpcc_theta_mech":0.557542682,"sam_rpm":17.0596752,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180327296,"thr_a_norm":0.0180327296,"thr_a_v":0.572130919,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450624853,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.608633,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.878620625,"cg_iw_a":-1.75551081,"cg_theta_rad":0.557095528,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0216448903,"mpcc_du":50.8307114,"mpcc_dv":47.7317581,"mpcc_dw":52.2682419,"mpcc_enc_sign":1,"mpcc_id_a":2.47401524,"mpcc_iq_a":-0.575725675,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.1687355,"mpcc_pred_id_a":0.467309982,"mpcc_pred_iq_a":0.139335364,"mpcc_state":1,"mpcc_theta_e":0.429294109,"mpcc_theta_mech":0.557667434,"sam_rpm":-22.2331772,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165346712,"thr_a_norm":0.0165346712,"thr_a_v":0.566138685,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472730607,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.616629,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.31354666,"cg_iw_a":-1.97297382,"cg_theta_rad":0.55893147,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0373315923,"mpcc_du":50.055088,"mpcc_dv":48.918293,"mpcc_dw":51.081707,"mpcc_enc_sign":1,"mpcc_id_a":1.49661314,"mpcc_iq_a":-0.62449795,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.52019095,"mpcc_pred_id_a":0.0844014138,"mpcc_pred_iq_a":-2.48571754,"mpcc_state":1,"mpcc_theta_e":0.449454784,"mpcc_theta_mech":0.556836843,"sam_rpm":6.07757854,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023710236,"thr_a_norm":0.0165346712,"thr_a_v":0.594840944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468148291,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.626669,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-2.54583716,"cg_iw_a":-0.813171148,"cg_theta_rad":0.552899659,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.147589877,"mpcc_du":49.9653893,"mpcc_dv":48.7339783,"mpcc_dw":51.2660217,"mpcc_enc_sign":1,"mpcc_id_a":3.70415282,"mpcc_iq_a":2.3168726,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.446639389,"mpcc_pred_id_a":0.842074096,"mpcc_pred_iq_a":-2.63649583,"mpcc_state":1,"mpcc_theta_e":0.445518494,"mpcc_theta_mech":0.556049585,"sam_rpm":2.477391,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023710236,"thr_a_norm":0.023710236,"thr_a_v":0.594840944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468148291,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.636862,"values":{"cg_iu_a":1.25686598,"cg_iv_a":0.643620491,"cg_iw_a":-0.958146334,"cg_theta_rad":0.557229877,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0230403896,"mpcc_du":49.3798065,"mpcc_dv":50.6201935,"mpcc_dw":50.0475616,"mpcc_enc_sign":1,"mpcc_id_a":0.288024604,"mpcc_iq_a":-1.65774822,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.601467967,"mpcc_pred_id_a":-0.285144508,"mpcc_pred_iq_a":0.263261169,"mpcc_state":1,"mpcc_theta_e":0.440162659,"mpcc_theta_mech":0.55497843,"sam_rpm":7.15729904,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265930444,"thr_a_norm":0.0265930444,"thr_a_v":0.606372178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483959705,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.646658,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-2.0384233,"cg_iw_a":-1.39307237,"cg_theta_rad":0.551202953,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0865524933,"mpcc_du":50.1365623,"mpcc_dv":48.7116165,"mpcc_dw":51.2883835,"mpcc_enc_sign":1,"mpcc_id_a":1.72257578,"mpcc_iq_a":0.847155392,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.98860693,"mpcc_pred_id_a":0.333059818,"mpcc_pred_iq_a":-2.24079037,"mpcc_state":1,"mpcc_theta_e":0.44882679,"mpcc_theta_mech":0.556711257,"sam_rpm":6.1711688,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265930444,"thr_a_norm":0.0265930444,"thr_a_v":0.606372178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483959705,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.656851,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.6759851,"cg_iw_a":0.564094782,"cg_theta_rad":0.55705601,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.000289809017,"mpcc_du":49.2093163,"mpcc_dv":50.7906837,"mpcc_dw":49.8857574,"mpcc_enc_sign":1,"mpcc_id_a":0.331585735,"mpcc_iq_a":-0.20312196,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.7861595,"mpcc_pred_id_a":-0.258114129,"mpcc_pred_iq_a":-1.78081954,"mpcc_state":1,"mpcc_theta_e":0.452287197,"mpcc_theta_mech":0.553860724,"sam_rpm":24.3847275,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274742395,"thr_a_norm":0.0274742395,"thr_a_v":0.609896958,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482046247,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.667013,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.6759851,"cg_iw_a":0.12916851,"cg_theta_rad":0.557294667,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00555083575,"mpcc_du":50.0865631,"mpcc_dv":49.1952095,"mpcc_dw":50.8047905,"mpcc_enc_sign":1,"mpcc_id_a":-0.138348073,"mpcc_iq_a":-1.83560979,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.6692305,"mpcc_pred_id_a":-0.356004179,"mpcc_pred_iq_a":-2.9553721,"mpcc_state":1,"mpcc_theta_e":0.451817513,"mpcc_theta_mech":0.556171119,"sam_rpm":9.99000168,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0973666757,"thr_a_norm":0.0274742395,"thr_a_v":0.889466703,"thr_b":0.0348763913,"thr_b_norm":0,"thr_b_v":0.639505565,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.68984,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.02359605,"cg_iw_a":-1.39307237,"cg_theta_rad":0.557070374,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0141648855,"mpcc_du":49.7155075,"mpcc_dv":49.4466438,"mpcc_dw":50.5533562,"mpcc_enc_sign":1,"mpcc_id_a":-0.188769713,"mpcc_iq_a":-0.602318048,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.0788021,"mpcc_pred_id_a":-0.25656715,"mpcc_pred_iq_a":-0.692652643,"mpcc_state":1,"mpcc_theta_e":0.458096027,"mpcc_theta_mech":0.55856514,"sam_rpm":23.7471142,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0973666757,"thr_a_norm":0.0973666757,"thr_a_v":0.889466703,"thr_b":0.0348763913,"thr_b_norm":0.0348763913,"thr_b_v":0.639505565,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.696402,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.516182423,"cg_iw_a":2.08633542,"cg_theta_rad":0.557588637,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00501902122,"mpcc_du":50.4477997,"mpcc_dv":48.5156174,"mpcc_dw":51.4843826,"mpcc_enc_sign":1,"mpcc_id_a":0.466470778,"mpcc_iq_a":-1.93580353,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.58445263,"mpcc_pred_id_a":-0.0833303928,"mpcc_pred_iq_a":0.19713591,"mpcc_state":1,"mpcc_theta_e":0.44664526,"mpcc_theta_mech":0.556274951,"sam_rpm":5.92299557,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263286829,"thr_a_norm":0.0263286829,"thr_a_v":0.605314732,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497958362,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.702932,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-2.54583716,"cg_iw_a":-1.24809694,"cg_theta_rad":0.555565655,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0105231665,"mpcc_du":50.0941048,"mpcc_dv":48.8549271,"mpcc_dw":51.1450729,"mpcc_enc_sign":1,"mpcc_id_a":0.475628704,"mpcc_iq_a":-0.407246202,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.02117062,"mpcc_pred_id_a":0.153391168,"mpcc_pred_iq_a":-0.51137507,"mpcc_state":1,"mpcc_theta_e":0.44418478,"mpcc_theta_mech":0.555782855,"sam_rpm":4.6633997,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263286829,"thr_a_norm":0.0263286829,"thr_a_v":0.605314732,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497958362,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.709402,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.661157608,"cg_iw_a":-1.53804779,"cg_theta_rad":0.555853903,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00434037065,"mpcc_du":49.8303223,"mpcc_dv":49.3944588,"mpcc_dw":50.6055412,"mpcc_enc_sign":1,"mpcc_id_a":0.788050294,"mpcc_iq_a":-1.76600528,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.79516077,"mpcc_pred_id_a":-0.451727569,"mpcc_pred_iq_a":-2.66278291,"mpcc_state":1,"mpcc_theta_e":0.447262764,"mpcc_theta_mech":0.556398451,"sam_rpm":7.12796831,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201224536,"thr_a_norm":0.0201224536,"thr_a_v":0.580489814,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451128393,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.717642,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-2.11091113,"cg_iw_a":0.636582136,"cg_theta_rad":0.557349622,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00235665753,"mpcc_du":48.9342003,"mpcc_dv":51.0657997,"mpcc_dw":49.5626106,"mpcc_enc_sign":1,"mpcc_id_a":-0.149938777,"mpcc_iq_a":-2.20040345,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.13821697,"mpcc_pred_id_a":-0.314386457,"mpcc_pred_iq_a":-1.37803614,"mpcc_state":1,"mpcc_theta_e":0.449927807,"mpcc_theta_mech":0.556931436,"sam_rpm":15.8366861,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208903551,"thr_a_norm":0.0201224536,"thr_a_v":0.58356142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.727407,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-1.16857147,"cg_iw_a":-0.885658741,"cg_theta_rad":0.554683208,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.143806025,"mpcc_du":50.4782143,"mpcc_dv":47.985569,"mpcc_dw":52.014431,"mpcc_enc_sign":1,"mpcc_id_a":5.44783306,"mpcc_iq_a":0.419002205,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.45258749,"mpcc_pred_id_a":1.02827287,"mpcc_pred_iq_a":-0.520635843,"mpcc_state":1,"mpcc_theta_e":0.445233345,"mpcc_theta_mech":0.555992544,"sam_rpm":-0.442755878,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208903551,"thr_a_norm":0.0208903551,"thr_a_v":0.58356142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.737661,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.09608364,"cg_iw_a":-0.16078186,"cg_theta_rad":0.557823539,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.020367207,"mpcc_du":49.4279556,"mpcc_dv":50.5720444,"mpcc_dw":50.269207,"mpcc_enc_sign":1,"mpcc_id_a":1.42666566,"mpcc_iq_a":-2.8019712,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.29013205,"mpcc_pred_id_a":0.029531423,"mpcc_pred_iq_a":-3.19237971,"mpcc_state":1,"mpcc_theta_e":0.442550659,"mpcc_theta_mech":0.555456042,"sam_rpm":8.37460709,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0316159278,"thr_a_norm":0.0316159278,"thr_a_v":0.626463711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479226381,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.747458,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.02359605,"cg_iw_a":-2.04546142,"cg_theta_rad":0.554851592,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0203480646,"mpcc_du":50.2946396,"mpcc_dv":48.8347244,"mpcc_dw":51.1652756,"mpcc_enc_sign":1,"mpcc_id_a":0.438830882,"mpcc_iq_a":-0.991678894,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.04277527,"mpcc_pred_id_a":-0.598789692,"mpcc_pred_iq_a":-2.44813228,"mpcc_state":1,"mpcc_theta_e":0.443543434,"mpcc_theta_mech":0.555654585,"sam_rpm":-0.186824948,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0316159278,"thr_a_norm":0.0316159278,"thr_a_v":0.626463711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479226381,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.758688,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-3.12573838,"cg_iw_a":-2.48038721,"cg_theta_rad":0.55621469,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0227990076,"mpcc_du":50.1674995,"mpcc_dv":48.833744,"mpcc_dw":51.166256,"mpcc_enc_sign":1,"mpcc_id_a":-0.0381798483,"mpcc_iq_a":-3.28952312,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.0592442,"mpcc_pred_id_a":-0.351289183,"mpcc_pred_iq_a":-2.1027143,"mpcc_state":1,"mpcc_theta_e":0.427589893,"mpcc_theta_mech":0.552463889,"sam_rpm":-21.1572227,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0125314742,"thr_a_norm":0.0125314742,"thr_a_v":0.550125897,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446948975,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.768026,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.45852208,"cg_iw_a":0.274144173,"cg_theta_rad":0.557130516,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00846183952,"mpcc_du":50.2352295,"mpcc_dv":48.7286148,"mpcc_dw":51.2713852,"mpcc_enc_sign":1,"mpcc_id_a":0.82626605,"mpcc_iq_a":-1.53903759,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.73331928,"mpcc_pred_id_a":-0.185079649,"mpcc_pred_iq_a":-3.06563425,"mpcc_state":1,"mpcc_theta_e":0.438788891,"mpcc_theta_mech":0.554703712,"sam_rpm":-10.2394838,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202609301,"thr_a_norm":0.0125314742,"thr_a_v":0.58104372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456566721,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.791037,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.951108456,"cg_iw_a":0.854045391,"cg_theta_rad":0.555316508,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0453633256,"mpcc_du":51.3369179,"mpcc_dv":47.0809059,"mpcc_dw":52.9190941,"mpcc_enc_sign":1,"mpcc_id_a":2.80114961,"mpcc_iq_a":-0.0401572026,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.5389423,"mpcc_pred_id_a":0.527132571,"mpcc_pred_iq_a":1.69104409,"mpcc_state":1,"mpcc_theta_e":0.431099892,"mpcc_theta_mech":0.553165913,"sam_rpm":-22.1096821,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202609301,"thr_a_norm":0.0202609301,"thr_a_v":0.58104372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456566721,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.797567,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.74847269,"cg_iw_a":-0.81317091,"cg_theta_rad":0.553485274,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00482531497,"mpcc_du":49.5487633,"mpcc_dv":49.6375465,"mpcc_dw":50.4512367,"mpcc_enc_sign":1,"mpcc_id_a":0.517059207,"mpcc_iq_a":-2.29830933,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.0256615,"mpcc_pred_id_a":0.0224327408,"mpcc_pred_iq_a":-2.79027605,"mpcc_state":1,"mpcc_theta_e":0.454920769,"mpcc_theta_mech":0.557930052,"sam_rpm":18.3756523,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181334466,"thr_a_norm":0.0181334466,"thr_a_v":0.572533786,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457573801,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.804098,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.31354666,"cg_iw_a":-1.17560935,"cg_theta_rad":0.556876957,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0373019539,"mpcc_du":50.0762939,"mpcc_dv":48.7782097,"mpcc_dw":51.2217903,"mpcc_enc_sign":1,"mpcc_id_a":2.15644622,"mpcc_iq_a":-0.416060805,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.91569495,"mpcc_pred_id_a":0.316123992,"mpcc_pred_iq_a":-2.93545365,"mpcc_state":1,"mpcc_theta_e":0.442838669,"mpcc_theta_mech":0.55551368,"sam_rpm":-3.99158216,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181334466,"thr_a_norm":0.0181334466,"thr_a_v":0.572533786,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457573801,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.81069,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.09608364,"cg_iw_a":-1.75551081,"cg_theta_rad":0.55472219,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0265368372,"mpcc_du":50.2575264,"mpcc_dv":48.3519897,"mpcc_dw":51.6480103,"mpcc_enc_sign":1,"mpcc_id_a":2.35936546,"mpcc_iq_a":-0.833309531,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.06346154,"mpcc_pred_id_a":0.842487693,"mpcc_pred_iq_a":-0.552311301,"mpcc_state":1,"mpcc_theta_e":0.441670895,"mpcc_theta_mech":0.555280089,"sam_rpm":-2.76563692,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0315403938,"thr_a_norm":0.0315403938,"thr_a_v":0.626161575,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.818624,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.6759851,"cg_iw_a":0.709069967,"cg_theta_rad":0.558453083,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0526328608,"mpcc_du":49.7646484,"mpcc_dv":49.1847305,"mpcc_dw":50.8152695,"mpcc_enc_sign":1,"mpcc_id_a":-0.409696609,"mpcc_iq_a":-0.401186854,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.1217251,"mpcc_pred_id_a":0.342431903,"mpcc_pred_iq_a":-1.28355026,"mpcc_state":1,"mpcc_theta_e":0.452816486,"mpcc_theta_mech":0.557509243,"sam_rpm":23.1210728,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025548175,"thr_a_norm":0.0315403938,"thr_a_v":0.6021927,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495138496,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.828451,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-1.31354666,"cg_iw_a":-0.81317091,"cg_theta_rad":0.555420399,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0383412987,"mpcc_du":49.9248161,"mpcc_dv":49.0832176,"mpcc_dw":50.9167824,"mpcc_enc_sign":1,"mpcc_id_a":1.73829019,"mpcc_iq_a":-1.62460816,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.89116621,"mpcc_pred_id_a":-0.0614116229,"mpcc_pred_iq_a":-4.4691124,"mpcc_state":1,"mpcc_theta_e":0.449726105,"mpcc_theta_mech":0.556891143,"sam_rpm":4.04607058,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025548175,"thr_a_norm":0.025548175,"thr_a_v":0.6021927,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495138496,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.838797,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-3.12573838,"cg_iw_a":-3.13277674,"cg_theta_rad":0.553972781,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0400689021,"mpcc_du":49.5360374,"mpcc_dv":49.8854828,"mpcc_dw":50.4639626,"mpcc_enc_sign":1,"mpcc_id_a":2.00852513,"mpcc_iq_a":-2.44817901,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.08518839,"mpcc_pred_id_a":0.0911285728,"mpcc_pred_iq_a":-2.36764622,"mpcc_state":1,"mpcc_theta_e":0.433862209,"mpcc_theta_mech":0.553718328,"sam_rpm":-6.87402916,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0159933567,"thr_a_norm":0.0159933567,"thr_a_v":0.563973427,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.848501,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.226231575,"cg_iw_a":-1.61053562,"cg_theta_rad":0.553514421,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00986607559,"mpcc_du":49.6546936,"mpcc_dv":49.3765984,"mpcc_dw":50.6234016,"mpcc_enc_sign":1,"mpcc_id_a":1.97572911,"mpcc_iq_a":-1.96860266,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.48231888,"mpcc_pred_id_a":0.0470831543,"mpcc_pred_iq_a":-3.54509616,"mpcc_state":1,"mpcc_theta_e":0.448707581,"mpcc_theta_mech":0.556687474,"sam_rpm":13.8770971,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0159933567,"thr_a_norm":0.0159933567,"thr_a_v":0.563973427,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.858786,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.38603449,"cg_iw_a":-1.24809694,"cg_theta_rad":0.557880998,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0258105416,"mpcc_du":50.446209,"mpcc_dv":48.1958199,"mpcc_dw":51.8041801,"mpcc_enc_sign":1,"mpcc_id_a":2.22641659,"mpcc_iq_a":-1.82424748,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.3285484,"mpcc_pred_id_a":0.397869051,"mpcc_pred_iq_a":0.146088332,"mpcc_state":1,"mpcc_theta_e":0.42309761,"mpcc_theta_mech":0.551565409,"sam_rpm":-27.3622208,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024087891,"thr_a_norm":0.024087891,"thr_a_v":0.596351564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467745453,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.869009,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.38603449,"cg_iw_a":1.57892203,"cg_theta_rad":0.556711197,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.219758168,"mpcc_du":50.6229019,"mpcc_dv":47.9339523,"mpcc_dw":52.0660477,"mpcc_enc_sign":1,"mpcc_id_a":3.7388711,"mpcc_iq_a":2.00540423,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.45043111,"mpcc_pred_id_a":0.798754334,"mpcc_pred_iq_a":-0.743778884,"mpcc_state":1,"mpcc_theta_e":0.451519489,"mpcc_theta_mech":0.557249784,"sam_rpm":8.26494789,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266559869,"thr_a_norm":0.024087891,"thr_a_v":0.606623948,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492469668,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.89205,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.371207237,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556672752,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0464937054,"mpcc_du":49.5762978,"mpcc_dv":50.0844231,"mpcc_dw":50.4237022,"mpcc_enc_sign":1,"mpcc_id_a":0.957080543,"mpcc_iq_a":0.425491393,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.72828579,"mpcc_pred_id_a":-0.0489955768,"mpcc_pred_iq_a":-4.88870811,"mpcc_state":1,"mpcc_theta_e":0.449702263,"mpcc_theta_mech":0.556886375,"sam_rpm":11.6818724,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266559869,"thr_a_norm":0.0266559869,"thr_a_v":0.606623948,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492469668,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.898581,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.16857147,"cg_iw_a":-1.03063393,"cg_theta_rad":0.556514502,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00120211241,"mpcc_du":49.9391403,"mpcc_dv":48.9679031,"mpcc_dw":51.0320969,"mpcc_enc_sign":1,"mpcc_id_a":0.189741209,"mpcc_iq_a":-2.17526364,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.02417612,"mpcc_pred_id_a":0.24147211,"mpcc_pred_iq_a":-0.812764227,"mpcc_state":1,"mpcc_theta_e":0.447269917,"mpcc_theta_mech":0.556399882,"sam_rpm":9.20842171,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259006619,"thr_a_norm":0.0259006619,"thr_a_v":0.603602648,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498461902,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.905111,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.588670254,"cg_iw_a":-1.46555996,"cg_theta_rad":0.552605569,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0159899723,"mpcc_du":49.4644394,"mpcc_dv":49.7815552,"mpcc_dw":50.5355606,"mpcc_enc_sign":1,"mpcc_id_a":2.38389778,"mpcc_iq_a":-0.0935642198,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.84042549,"mpcc_pred_id_a":0.474924415,"mpcc_pred_iq_a":-3.62554407,"mpcc_state":1,"mpcc_theta_e":0.437286854,"mpcc_theta_mech":0.554403245,"sam_rpm":-3.7639358,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259006619,"thr_a_norm":0.0259006619,"thr_a_v":0.603602648,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498461902,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.911642,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.98076296,"cg_iw_a":2.15882301,"cg_theta_rad":0.557429135,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0280938782,"mpcc_du":49.8450584,"mpcc_dv":49.1136169,"mpcc_dw":50.8863831,"mpcc_enc_sign":1,"mpcc_id_a":2.41559911,"mpcc_iq_a":-0.552816868,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.65845871,"mpcc_pred_id_a":0.255237609,"mpcc_pred_iq_a":-1.59884429,"mpcc_state":1,"mpcc_theta_e":0.448014736,"mpcc_theta_mech":0.556548893,"sam_rpm":8.35532379,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0128461868,"thr_a_norm":0.0128461868,"thr_a_v":0.551384747,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450926989,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.922445,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.31354666,"cg_iw_a":-0.81317091,"cg_theta_rad":0.558081508,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.17578,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0120855859,"mpcc_du":49.9537582,"mpcc_dv":48.9492493,"mpcc_dw":51.0507507,"mpcc_enc_sign":1,"mpcc_id_a":2.19240975,"mpcc_iq_a":-1.7053231,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.29492855,"mpcc_pred_id_a":0.259158701,"mpcc_pred_iq_a":-2.67382312,"mpcc_state":1,"mpcc_theta_e":0.434595108,"mpcc_theta_mech":0.553864896,"sam_rpm":-12.0605679,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0367143452,"thr_a_norm":0.0128461868,"thr_a_v":0.646857381,"thr_b":0.00813801587,"thr_b_norm":0,"thr_b_v":0.532552063,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.932241,"values":{"cg_iu_a":4.01139736,"cg_iv_a":-0.806133032,"cg_iw_a":-1.68302321,"cg_theta_rad":0.553639531,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0144603774,"mpcc_du":50.5568199,"mpcc_dv":48.2431602,"mpcc_dw":51.7568398,"mpcc_enc_sign":1,"mpcc_id_a":2.40458727,"mpcc_iq_a":-1.0754652,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.5796242,"mpcc_pred_id_a":-0.025164621,"mpcc_pred_iq_a":-2.34315419,"mpcc_state":1,"mpcc_theta_e":0.422111988,"mpcc_theta_mech":0.551368296,"sam_rpm":-32.5061951,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0367143452,"thr_a_norm":0.0367143452,"thr_a_v":0.646857381,"thr_b":0.00813801587,"thr_b_norm":0.00813801587,"thr_b_v":0.532552063,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.942434,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.951108456,"cg_iw_a":-1.24809694,"cg_theta_rad":0.557393909,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.000325781875,"mpcc_du":49.9656525,"mpcc_dv":49.3237457,"mpcc_dw":50.6762543,"mpcc_enc_sign":1,"mpcc_id_a":-0.333955228,"mpcc_iq_a":-2.43388295,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.87029696,"mpcc_pred_id_a":-0.694158375,"mpcc_pred_iq_a":-1.74360287,"mpcc_state":1,"mpcc_theta_e":0.446367264,"mpcc_theta_mech":0.556219339,"sam_rpm":9.0768919,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284813493,"thr_a_norm":0.0284813493,"thr_a_v":0.613925397,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485571086,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.95281,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.31354666,"cg_iw_a":-1.61053562,"cg_theta_rad":0.553683996,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0181708802,"mpcc_du":51.0430984,"mpcc_dv":47.6615028,"mpcc_dw":52.3384972,"mpcc_enc_sign":1,"mpcc_id_a":1.362082,"mpcc_iq_a":-0.394202292,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.5529613,"mpcc_pred_id_a":0.0395631716,"mpcc_pred_iq_a":0.5582304,"mpcc_state":1,"mpcc_theta_e":0.43272543,"mpcc_theta_mech":0.553490996,"sam_rpm":-18.1801128,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284813493,"thr_a_norm":0.0284813493,"thr_a_v":0.613925397,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485571086,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.963003,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-2.25588632,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556554198,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.00277728261,"mpcc_du":49.8486481,"mpcc_dv":49.4085464,"mpcc_dw":50.5914536,"mpcc_enc_sign":1,"mpcc_id_a":-0.781428874,"mpcc_iq_a":-2.68468976,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.62965441,"mpcc_pred_id_a":-0.498831391,"mpcc_pred_iq_a":-3.30966043,"mpcc_state":1,"mpcc_theta_e":0.448328018,"mpcc_theta_mech":0.556611538,"sam_rpm":7.29247808,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232696235,"thr_a_norm":0.0232696235,"thr_a_v":0.593078494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462508589,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.973227,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.60349751,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556802392,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.00777515862,"mpcc_du":50.7266502,"mpcc_dv":48.1541443,"mpcc_dw":51.8458557,"mpcc_enc_sign":1,"mpcc_id_a":0.506074846,"mpcc_iq_a":-0.690891385,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.8152933,"mpcc_pred_id_a":-0.00685854722,"mpcc_pred_iq_a":-1.18576813,"mpcc_state":1,"mpcc_theta_e":0.433451653,"mpcc_theta_mech":0.553636253,"sam_rpm":-18.8166904,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0354806483,"thr_a_norm":0.0232696235,"thr_a_v":0.641922593,"thr_b":0.000282675028,"thr_b_norm":0,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":20.996237,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.60349751,"cg_iw_a":1.14399624,"cg_theta_rad":0.558027506,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0241352674,"mpcc_du":50.3144226,"mpcc_dv":48.4169922,"mpcc_dw":51.5830078,"mpcc_enc_sign":1,"mpcc_id_a":3.10709786,"mpcc_iq_a":-1.1114763,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.88978672,"mpcc_pred_id_a":0.618548572,"mpcc_pred_iq_a":-0.666627228,"mpcc_state":1,"mpcc_theta_e":0.433667183,"mpcc_theta_mech":0.553679347,"sam_rpm":-15.7702169,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0354806483,"thr_a_norm":0.0354806483,"thr_a_v":0.641922593,"thr_b":0.000282675028,"thr_b_norm":0.000282675028,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.003073,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.878620625,"cg_iw_a":-2.04546165,"cg_theta_rad":0.555756629,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.00226407708,"mpcc_du":49.7548828,"mpcc_dv":49.3829536,"mpcc_dw":50.6170464,"mpcc_enc_sign":1,"mpcc_id_a":0.848698616,"mpcc_iq_a":-1.31935608,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.88410258,"mpcc_pred_id_a":-0.0113727497,"mpcc_pred_iq_a":-3.395648,"mpcc_state":1,"mpcc_theta_e":0.439430714,"mpcc_theta_mech":0.554832101,"sam_rpm":-4.83209848,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024062708,"thr_a_norm":0.024062708,"thr_a_v":0.596250832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.009268,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-2.32837415,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.555999875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.00110905035,"mpcc_du":50.4985771,"mpcc_dv":48.51894,"mpcc_dw":51.48106,"mpcc_enc_sign":1,"mpcc_id_a":0.25001657,"mpcc_iq_a":-1.07752132,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.6950722,"mpcc_pred_id_a":-0.268740714,"mpcc_pred_iq_a":-2.07606649,"mpcc_state":1,"mpcc_theta_e":0.44645071,"mpcc_theta_mech":0.556236088,"sam_rpm":-20.3892078,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024062708,"thr_a_norm":0.024062708,"thr_a_v":0.596250832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.015829,"values":{"cg_iu_a":3.1415453,"cg_iv_a":0.861083508,"cg_iw_a":1.28897119,"cg_theta_rad":0.555784166,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0193142574,"mpcc_du":50.2203445,"mpcc_dv":48.7035217,"mpcc_dw":51.2964783,"mpcc_enc_sign":1,"mpcc_id_a":2.47027326,"mpcc_iq_a":-1.27574515,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.38663626,"mpcc_pred_id_a":0.282819629,"mpcc_pred_iq_a":0.666885376,"mpcc_state":1,"mpcc_theta_e":0.44806385,"mpcc_theta_mech":0.556558728,"sam_rpm":9.35562897,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0150743872,"thr_a_norm":0.0150743872,"thr_a_v":0.560297549,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466939807,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.025839,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.6759851,"cg_iw_a":0.491606951,"cg_theta_rad":0.55500406,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0116593391,"mpcc_du":49.6157417,"mpcc_dv":50.2532997,"mpcc_dw":50.3842583,"mpcc_enc_sign":1,"mpcc_id_a":-1.31225097,"mpcc_iq_a":-1.77897096,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.9844065,"mpcc_pred_id_a":-0.0181529727,"mpcc_pred_iq_a":-3.34489489,"mpcc_state":1,"mpcc_theta_e":0.44883585,"mpcc_theta_mech":0.556713045,"sam_rpm":19.4117756,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194048882,"thr_a_norm":0.0150743872,"thr_a_v":0.577619553,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.035635,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.89344811,"cg_iw_a":-0.740683317,"cg_theta_rad":0.553829551,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.00637123687,"mpcc_du":49.525692,"mpcc_dv":50.474308,"mpcc_dw":50.1956635,"mpcc_enc_sign":1,"mpcc_id_a":0.811074495,"mpcc_iq_a":-0.377060771,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.60505617,"mpcc_pred_id_a":0.0689206421,"mpcc_pred_iq_a":1.71383548,"mpcc_state":1,"mpcc_theta_e":0.439710617,"mpcc_theta_mech":0.55488807,"sam_rpm":6.80269766,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194048882,"thr_a_norm":0.0194048882,"thr_a_v":0.577619553,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.045828,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.878620625,"cg_iw_a":-1.32058477,"cg_theta_rad":0.552607298,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.00390135171,"mpcc_du":50.1413498,"mpcc_dv":49.1742249,"mpcc_dw":50.8257751,"mpcc_enc_sign":1,"mpcc_id_a":0.484091043,"mpcc_iq_a":-2.07885265,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.684360683,"mpcc_pred_id_a":-0.714547932,"mpcc_pred_iq_a":-3.14218783,"mpcc_state":1,"mpcc_theta_e":0.443531513,"mpcc_theta_mech":0.555652201,"sam_rpm":-0.171667233,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277134329,"thr_a_norm":0.0277134329,"thr_a_v":0.610853732,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493174642,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.056021,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.588670254,"cg_iw_a":-0.740683079,"cg_theta_rad":0.557214916,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":3.97870535e-05,"mpcc_du":50.5808907,"mpcc_dv":48.3960114,"mpcc_dw":51.6039886,"mpcc_enc_sign":1,"mpcc_id_a":0.124279626,"mpcc_iq_a":-2.54485655,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.2268343,"mpcc_pred_id_a":-0.141086102,"mpcc_pred_iq_a":-1.64246869,"mpcc_state":1,"mpcc_theta_e":0.434664726,"mpcc_theta_mech":0.553878903,"sam_rpm":-15.182497,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277134329,"thr_a_norm":0.0277134329,"thr_a_v":0.610853732,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493174642,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.066244,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.45852208,"cg_iw_a":1.21648359,"cg_theta_rad":0.558199704,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0275131892,"mpcc_du":51.0531158,"mpcc_dv":47.6463242,"mpcc_dw":52.3536758,"mpcc_enc_sign":1,"mpcc_id_a":0.658628881,"mpcc_iq_a":-0.532819271,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.2996244,"mpcc_pred_id_a":0.250813603,"mpcc_pred_iq_a":-0.0318658054,"mpcc_state":1,"mpcc_theta_e":0.435552597,"mpcc_theta_mech":0.554056466,"sam_rpm":-15.8104782,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245536715,"thr_a_norm":0.0245536715,"thr_a_v":0.598214686,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481341243,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.076223,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.24105906,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.553905606,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0359860174,"mpcc_du":48.8570786,"mpcc_dv":51.1429214,"mpcc_dw":49.4350204,"mpcc_enc_sign":1,"mpcc_id_a":0.687510252,"mpcc_iq_a":-1.42329621,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":26.5734253,"mpcc_pred_id_a":-0.250596792,"mpcc_pred_iq_a":-6.13000488,"mpcc_state":1,"mpcc_theta_e":0.46928215,"mpcc_theta_mech":0.560802341,"sam_rpm":40.6882782,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173403472,"thr_a_norm":0.0245536715,"thr_a_v":0.569361389,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453192949,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.099203,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.733645439,"cg_iw_a":-0.015806675,"cg_theta_rad":0.557940423,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.00147473381,"mpcc_du":49.2022285,"mpcc_dv":50.7977715,"mpcc_dw":49.5523605,"mpcc_enc_sign":1,"mpcc_id_a":-0.666375339,"mpcc_iq_a":-2.03784585,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.7833099,"mpcc_pred_id_a":-0.797964513,"mpcc_pred_iq_a":-6.66064596,"mpcc_state":1,"mpcc_theta_e":0.429170132,"mpcc_theta_mech":0.552779973,"sam_rpm":4.94049549,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173403472,"thr_a_norm":0.0173403472,"thr_a_v":0.569361389,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453192949,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.105734,"values":{"cg_iu_a":1.11189032,"cg_iv_a":0.861083508,"cg_iw_a":-1.97297382,"cg_theta_rad":0.554333031,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0480143353,"mpcc_du":50.6156006,"mpcc_dv":47.8568077,"mpcc_dw":52.1431923,"mpcc_enc_sign":1,"mpcc_id_a":2.00149274,"mpcc_iq_a":-0.0806644633,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.51560497,"mpcc_pred_id_a":0.337499917,"mpcc_pred_iq_a":-2.68905187,"mpcc_state":1,"mpcc_theta_e":0.450697899,"mpcc_theta_mech":0.557085514,"sam_rpm":-16.5467491,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0239494145,"thr_a_norm":0.0239494145,"thr_a_v":0.595797658,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473485917,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.112295,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.516182423,"cg_iw_a":-0.813171148,"cg_theta_rad":0.556098759,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0173248723,"mpcc_du":50.2363358,"mpcc_dv":48.9209709,"mpcc_dw":51.0790291,"mpcc_enc_sign":1,"mpcc_id_a":-0.177690282,"mpcc_iq_a":-0.605679095,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.91689682,"mpcc_pred_id_a":-0.496959329,"mpcc_pred_iq_a":-1.48320067,"mpcc_state":1,"mpcc_theta_e":0.439753056,"mpcc_theta_mech":0.554896533,"sam_rpm":-6.62261391,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0239494145,"thr_a_norm":0.0239494145,"thr_a_v":0.595797658,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473485917,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.118826,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.53100967,"cg_iw_a":0.709069729,"cg_theta_rad":0.55602473,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0051822355,"mpcc_du":50.2747612,"mpcc_dv":48.768734,"mpcc_dw":51.231266,"mpcc_enc_sign":1,"mpcc_id_a":0.242538124,"mpcc_iq_a":-2.60717154,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.0839167,"mpcc_pred_id_a":-0.404716939,"mpcc_pred_iq_a":-2.39083552,"mpcc_state":1,"mpcc_theta_e":0.439742565,"mpcc_theta_mech":0.554894388,"sam_rpm":-16.5156002,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198958516,"thr_a_norm":0.0198958516,"thr_a_v":0.579583406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481895179,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.129202,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.16857147,"cg_iw_a":0.12916851,"cg_theta_rad":0.557837665,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.095004335,"mpcc_du":50.121376,"mpcc_dv":48.1378937,"mpcc_dw":51.8621063,"mpcc_enc_sign":1,"mpcc_id_a":6.04416609,"mpcc_iq_a":-0.0308110733,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.9736862,"mpcc_pred_id_a":1.54010522,"mpcc_pred_iq_a":-0.1619699,"mpcc_state":1,"mpcc_theta_e":0.419090748,"mpcc_theta_mech":0.550764084,"sam_rpm":-33.3465919,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0130727738,"thr_a_norm":0.0198958516,"thr_a_v":0.552291095,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446898609,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.139181,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.02359605,"cg_iw_a":0.491606951,"cg_theta_rad":0.555952609,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.00027556374,"mpcc_du":49.3884926,"mpcc_dv":50.6115074,"mpcc_dw":49.9430351,"mpcc_enc_sign":1,"mpcc_id_a":-0.324489772,"mpcc_iq_a":-2.86488628,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.9325867,"mpcc_pred_id_a":-0.745557785,"mpcc_pred_iq_a":-4.31821871,"mpcc_state":1,"mpcc_theta_e":0.454772472,"mpcc_theta_mech":0.557900369,"sam_rpm":21.9031391,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0130727738,"thr_a_norm":0.0130727738,"thr_a_v":0.552291095,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446898609,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.149374,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.53100967,"cg_iw_a":-1.17560935,"cg_theta_rad":0.555689991,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.00523938099,"mpcc_du":50.2460785,"mpcc_dv":48.962204,"mpcc_dw":51.037796,"mpcc_enc_sign":1,"mpcc_id_a":-0.294070035,"mpcc_iq_a":-2.35885334,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0190934688,"mpcc_pred_id_a":-0.679974198,"mpcc_pred_iq_a":-2.74183583,"mpcc_state":1,"mpcc_theta_e":0.444776535,"mpcc_theta_mech":0.555901229,"sam_rpm":1.26997435,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0298283249,"thr_a_norm":0.0298283249,"thr_a_v":0.6193133,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.159262,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.82096052,"cg_iw_a":0.999020576,"cg_theta_rad":0.553962946,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.132189289,"mpcc_du":49.5425568,"mpcc_dv":48.3356323,"mpcc_dw":51.6643677,"mpcc_enc_sign":1,"mpcc_id_a":4.85532141,"mpcc_iq_a":0.489212215,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.5509553,"mpcc_pred_id_a":0.896425486,"mpcc_pred_iq_a":-3.74259162,"mpcc_state":1,"mpcc_theta_e":0.451095104,"mpcc_theta_mech":0.557164907,"sam_rpm":11.6001463,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0298283249,"thr_a_norm":0.0298283249,"thr_a_v":0.6193133,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.169668,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.24105906,"cg_iw_a":-0.595707893,"cg_theta_rad":0.552122712,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0492894202,"mpcc_du":50.7394142,"mpcc_dv":47.9615173,"mpcc_dw":52.0384827,"mpcc_enc_sign":1,"mpcc_id_a":1.47704351,"mpcc_iq_a":-0.833822966,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.42230463,"mpcc_pred_id_a":0.200652525,"mpcc_pred_iq_a":-1.59477234,"mpcc_state":1,"mpcc_theta_e":0.442235947,"mpcc_theta_mech":0.5553931,"sam_rpm":-8.31411457,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218219161,"thr_a_norm":0.0218219161,"thr_a_v":0.587287664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477212161,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.179831,"values":{"cg_iu_a":2.99656963,"cg_iv_a":0.0637187958,"cg_iw_a":0.201656342,"cg_theta_rad":0.556579053,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0669076368,"mpcc_du":48.7551651,"mpcc_dv":51.2448349,"mpcc_dw":49.153244,"mpcc_enc_sign":1,"mpcc_id_a":-0.31869632,"mpcc_iq_a":-4.10674953,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.61422825,"mpcc_pred_id_a":-0.857981205,"mpcc_pred_iq_a":-4.74438667,"mpcc_state":1,"mpcc_theta_e":0.443492889,"mpcc_theta_mech":0.555644512,"sam_rpm":11.6210222,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262027979,"thr_a_norm":0.0218219161,"thr_a_v":0.604811192,"thr_b":0.000282675028,"thr_b_norm":0,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.202597,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.38603449,"cg_iw_a":0.491607189,"cg_theta_rad":0.554888368,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.015247887,"mpcc_du":50.7029037,"mpcc_dv":48.2895355,"mpcc_dw":51.7104645,"mpcc_enc_sign":1,"mpcc_id_a":0.674199522,"mpcc_iq_a":-0.829810202,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.00981998,"mpcc_pred_id_a":-0.341742098,"mpcc_pred_iq_a":1.20938408,"mpcc_state":1,"mpcc_theta_e":0.447572708,"mpcc_theta_mech":0.5564605,"sam_rpm":5.13461304,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262027979,"thr_a_norm":0.0262027979,"thr_a_v":0.604811192,"thr_b":0.000282675028,"thr_b_norm":0.000282675028,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.209188,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-1.60349751,"cg_iw_a":-1.97297382,"cg_theta_rad":0.557414055,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0233376808,"mpcc_du":49.7740326,"mpcc_dv":48.8124161,"mpcc_dw":51.1875839,"mpcc_enc_sign":1,"mpcc_id_a":2.79730344,"mpcc_iq_a":-0.59360379,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.78378868,"mpcc_pred_id_a":1.16257739,"mpcc_pred_iq_a":0.877704382,"mpcc_state":1,"mpcc_theta_e":0.446923733,"mpcc_theta_mech":0.556330621,"sam_rpm":10.9443998,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226401836,"thr_a_norm":0.0226401836,"thr_a_v":0.590560734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477917135,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.215689,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.96593571,"cg_iw_a":-0.595707893,"cg_theta_rad":0.555872679,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0259412322,"mpcc_du":49.8249207,"mpcc_dv":49.022789,"mpcc_dw":50.977211,"mpcc_enc_sign":1,"mpcc_id_a":2.6473105,"mpcc_iq_a":-0.730220973,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.58551311,"mpcc_pred_id_a":0.417836368,"mpcc_pred_iq_a":-3.04756165,"mpcc_state":1,"mpcc_theta_e":0.439074993,"mpcc_theta_mech":0.554760873,"sam_rpm":-5.46133661,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226401836,"thr_a_norm":0.0226401836,"thr_a_v":0.590560734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477917135,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.222189,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.661157608,"cg_iw_a":-1.32058477,"cg_theta_rad":0.554660678,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.00449743075,"mpcc_du":50.5725288,"mpcc_dv":48.4043198,"mpcc_dw":51.5956802,"mpcc_enc_sign":1,"mpcc_id_a":0.0982794613,"mpcc_iq_a":-2.03694797,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.79316592,"mpcc_pred_id_a":-0.181002453,"mpcc_pred_iq_a":0.462629437,"mpcc_state":1,"mpcc_theta_e":0.445772171,"mpcc_theta_mech":0.556100368,"sam_rpm":4.6435051,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263790339,"thr_a_norm":0.0263790339,"thr_a_v":0.605516136,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496447682,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.23049,"values":{"cg_iu_a":4.30134773,"cg_iv_a":-3.12573838,"cg_iw_a":1.21648383,"cg_theta_rad":0.554122508,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0147420345,"mpcc_du":51.2422066,"mpcc_dv":47.6430664,"mpcc_dw":52.3569336,"mpcc_enc_sign":1,"mpcc_id_a":0.358899683,"mpcc_iq_a":-1.50640953,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.3759923,"mpcc_pred_id_a":-0.37662062,"mpcc_pred_iq_a":1.12809575,"mpcc_state":1,"mpcc_theta_e":0.459849358,"mpcc_theta_mech":0.558915794,"sam_rpm":-8.32061005,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283554494,"thr_a_norm":0.0263790339,"thr_a_v":0.613421798,"thr_b":0.00269970298,"thr_b_norm":0,"thr_b_v":0.510798812,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.240408,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-1.38603449,"cg_iw_a":-2.33541203,"cg_theta_rad":0.552415729,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.00782625657,"mpcc_du":50.7611732,"mpcc_dv":49.097435,"mpcc_dw":50.902565,"mpcc_enc_sign":1,"mpcc_id_a":1.57428122,"mpcc_iq_a":-2.19077086,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.3602037,"mpcc_pred_id_a":0.00133055833,"mpcc_pred_iq_a":-0.133593991,"mpcc_state":1,"mpcc_theta_e":0.429958344,"mpcc_theta_mech":0.552937567,"sam_rpm":-21.9499989,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283554494,"thr_a_norm":0.0283554494,"thr_a_v":0.613421798,"thr_b":0.00269970298,"thr_b_norm":0.00269970298,"thr_b_v":0.510798812,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.250601,"values":{"cg_iu_a":2.41666842,"cg_iv_a":0.643620491,"cg_iw_a":-1.32058477,"cg_theta_rad":0.554733098,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.00718813017,"mpcc_du":50.9781456,"mpcc_dv":47.8461685,"mpcc_dw":52.1538315,"mpcc_enc_sign":1,"mpcc_id_a":0.778591573,"mpcc_iq_a":-1.83032703,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.1636057,"mpcc_pred_id_a":-0.20580025,"mpcc_pred_iq_a":-1.13557315,"mpcc_state":1,"mpcc_theta_e":0.432696819,"mpcc_theta_mech":0.553485274,"sam_rpm":-20.6730251,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212302655,"thr_a_norm":0.0212302655,"thr_a_v":0.584921062,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460091561,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.260641,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.733645439,"cg_iw_a":-1.24809694,"cg_theta_rad":0.557668388,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0684581101,"mpcc_du":50.5006485,"mpcc_dv":48.2476578,"mpcc_dw":51.7523422,"mpcc_enc_sign":1,"mpcc_id_a":3.4799149,"mpcc_iq_a":-0.15691191,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.88047838,"mpcc_pred_id_a":0.394872814,"mpcc_pred_iq_a":-1.38217163,"mpcc_state":1,"mpcc_theta_e":0.440939903,"mpcc_theta_mech":0.555133879,"sam_rpm":-5.63662052,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212302655,"thr_a_norm":0.0212302655,"thr_a_v":0.584921062,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460091561,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.270834,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.806133032,"cg_iw_a":-1.82799816,"cg_theta_rad":0.54993546,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0142357619,"mpcc_du":49.2667503,"mpcc_dv":50.7332497,"mpcc_dw":50.055172,"mpcc_enc_sign":1,"mpcc_id_a":2.27902365,"mpcc_iq_a":-1.00481462,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.0809793,"mpcc_pred_id_a":0.116484813,"mpcc_pred_iq_a":-3.57093,"mpcc_state":1,"mpcc_theta_e":0.450502396,"mpcc_theta_mech":0.557046413,"sam_rpm":20.5473747,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0989780277,"thr_a_norm":0.0989780277,"thr_a_v":0.895912111,"thr_b":0.0387663096,"thr_b_norm":0.0387663096,"thr_b_v":0.655065238,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.28124,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.74847269,"cg_iw_a":0.346631527,"cg_theta_rad":0.552377999,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0237172898,"mpcc_du":49.5237694,"mpcc_dv":50.0667648,"mpcc_dw":50.4762306,"mpcc_enc_sign":1,"mpcc_id_a":2.30450487,"mpcc_iq_a":-1.11924255,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.490515858,"mpcc_pred_id_a":0.335790485,"mpcc_pred_iq_a":-2.05864525,"mpcc_state":1,"mpcc_theta_e":0.437372684,"mpcc_theta_mech":0.554420412,"sam_rpm":-1.3647995,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025246039,"thr_a_norm":0.0989780277,"thr_a_v":0.600984156,"thr_b":0.000282675028,"thr_b_norm":0.0387663096,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.30422,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.588670254,"cg_iw_a":-0.523220062,"cg_theta_rad":0.55610919,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0340032279,"mpcc_du":50.2118301,"mpcc_dv":48.6694183,"mpcc_dw":51.3305817,"mpcc_enc_sign":1,"mpcc_id_a":2.20308614,"mpcc_iq_a":-0.489109159,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.455224633,"mpcc_pred_id_a":0.115744554,"mpcc_pred_iq_a":-1.40769398,"mpcc_state":1,"mpcc_theta_e":0.444732666,"mpcc_theta_mech":0.555892467,"sam_rpm":-9.86049938,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025246039,"thr_a_norm":0.025246039,"thr_a_v":0.600984156,"thr_b":0.000282675028,"thr_b_norm":0.000282675028,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.31072,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.53100967,"cg_iw_a":-0.16078186,"cg_theta_rad":0.552543819,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0368111134,"mpcc_du":49.5028458,"mpcc_dv":49.9383583,"mpcc_dw":50.4971542,"mpcc_enc_sign":1,"mpcc_id_a":2.90530229,"mpcc_iq_a":-0.371309489,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.89202023,"mpcc_pred_id_a":0.396451294,"mpcc_pred_iq_a":-3.90314412,"mpcc_state":1,"mpcc_theta_e":0.448350906,"mpcc_theta_mech":0.556616068,"sam_rpm":10.0298023,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265678614,"thr_a_norm":0.0265678614,"thr_a_v":0.606271446,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484261811,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.317282,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.588670254,"cg_iw_a":-1.10312176,"cg_theta_rad":0.555993617,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0129490569,"mpcc_du":50.6461601,"mpcc_dv":48.223053,"mpcc_dw":51.776947,"mpcc_enc_sign":1,"mpcc_id_a":0.829102397,"mpcc_iq_a":-1.02659011,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.4386263,"mpcc_pred_id_a":-0.0626147985,"mpcc_pred_iq_a":-1.81654596,"mpcc_state":1,"mpcc_theta_e":0.434783936,"mpcc_theta_mech":0.553902686,"sam_rpm":-16.2392139,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265678614,"thr_a_norm":0.0265678614,"thr_a_v":0.606271446,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484261811,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.323782,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.09608364,"cg_iw_a":-2.04546165,"cg_theta_rad":0.555897117,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0407910123,"mpcc_du":50.3935089,"mpcc_dv":48.2797775,"mpcc_dw":51.7202225,"mpcc_enc_sign":1,"mpcc_id_a":3.19390297,"mpcc_iq_a":-0.253865421,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.31640029,"mpcc_pred_id_a":0.636231661,"mpcc_pred_iq_a":0.169139758,"mpcc_state":1,"mpcc_theta_e":0.441104412,"mpcc_theta_mech":0.555166841,"sam_rpm":-3.02789783,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024138242,"thr_a_norm":0.024138242,"thr_a_v":0.596552968,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476708621,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.331991,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.661157608,"cg_iw_a":-0.233269691,"cg_theta_rad":0.55705595,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.00371485157,"mpcc_du":50.1126556,"mpcc_dv":48.9637184,"mpcc_dw":51.0362816,"mpcc_enc_sign":1,"mpcc_id_a":0.286133111,"mpcc_iq_a":-2.82206774,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.28621626,"mpcc_pred_id_a":-0.300762147,"mpcc_pred_iq_a":0.796582043,"mpcc_state":1,"mpcc_theta_e":0.445528507,"mpcc_theta_mech":0.550672472,"sam_rpm":10.4563894,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194048882,"thr_a_norm":0.024138242,"thr_a_v":0.577619553,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472075969,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.341818,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.226231575,"cg_iw_a":-4.65501785,"cg_theta_rad":0.556876957,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0103734201,"mpcc_du":50.8144073,"mpcc_dv":47.872776,"mpcc_dw":52.127224,"mpcc_enc_sign":1,"mpcc_id_a":1.65183949,"mpcc_iq_a":-1.15652716,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.7162561,"mpcc_pred_id_a":0.0337962769,"mpcc_pred_iq_a":1.34902501,"mpcc_state":1,"mpcc_theta_e":0.424979687,"mpcc_theta_mech":0.551941872,"sam_rpm":-25.5507545,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194048882,"thr_a_norm":0.0194048882,"thr_a_v":0.577619553,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472075969,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.352133,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.878620625,"cg_iw_a":-1.24809694,"cg_theta_rad":0.558503509,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.065656431,"mpcc_du":49.6791954,"mpcc_dv":49.2383423,"mpcc_dw":50.7616577,"mpcc_enc_sign":1,"mpcc_id_a":1.27628803,"mpcc_iq_a":0.0811899453,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.87497139,"mpcc_pred_id_a":0.384172022,"mpcc_pred_iq_a":-3.33727908,"mpcc_state":1,"mpcc_theta_e":0.453213692,"mpcc_theta_mech":0.557588696,"sam_rpm":14.2679968,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0354302973,"thr_a_norm":0.0354302973,"thr_a_v":0.641721189,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490405113,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.364401,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-2.11091113,"cg_iw_a":-0.958146334,"cg_theta_rad":0.55437851,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0612422861,"mpcc_du":50.7296181,"mpcc_dv":47.9823341,"mpcc_dw":52.0176659,"mpcc_enc_sign":1,"mpcc_id_a":2.11902094,"mpcc_iq_a":-1.00247157,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.29299498,"mpcc_pred_id_a":0.268728346,"mpcc_pred_iq_a":-2.40620446,"mpcc_state":1,"mpcc_theta_e":0.443615913,"mpcc_theta_mech":0.555669069,"sam_rpm":-9.60649681,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256111175,"thr_a_norm":0.0354302973,"thr_a_v":0.60244447,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496649116,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.374197,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.661157608,"cg_iw_a":-0.015806675,"cg_theta_rad":0.553478479,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0379303731,"mpcc_du":50.4995079,"mpcc_dv":48.2473183,"mpcc_dw":51.7526817,"mpcc_enc_sign":1,"mpcc_id_a":2.135221,"mpcc_iq_a":-0.62623316,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.23268747,"mpcc_pred_id_a":0.251399338,"mpcc_pred_iq_a":-1.68313766,"mpcc_state":1,"mpcc_theta_e":0.438171864,"mpcc_theta_mech":0.554580331,"sam_rpm":-9.19332027,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256111175,"thr_a_norm":0.0256111175,"thr_a_v":0.60244447,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496649116,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.38439,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-2.54583716,"cg_iw_a":0.129168749,"cg_theta_rad":0.555847466,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0418588854,"mpcc_du":50.2542877,"mpcc_dv":48.7838211,"mpcc_dw":51.2161789,"mpcc_enc_sign":1,"mpcc_id_a":0.690395534,"mpcc_iq_a":-0.462275773,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.39261019,"mpcc_pred_id_a":-0.272285819,"mpcc_pred_iq_a":-3.04283237,"mpcc_state":1,"mpcc_theta_e":0.443272591,"mpcc_theta_mech":0.555600405,"sam_rpm":-0.437739342,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0249816924,"thr_a_norm":0.0249816924,"thr_a_v":0.59992677,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480283797,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.407553,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-1.31354666,"cg_iw_a":1.36145926,"cg_theta_rad":0.55655843,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0175972227,"mpcc_du":50.08255,"mpcc_dv":48.9299011,"mpcc_dw":51.0700989,"mpcc_enc_sign":1,"mpcc_id_a":1.86934149,"mpcc_iq_a":-1.52947414,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.43514356,"mpcc_pred_id_a":-0.0491605178,"mpcc_pred_iq_a":-2.31873107,"mpcc_state":1,"mpcc_theta_e":0.442440987,"mpcc_theta_mech":0.555434108,"sam_rpm":1.04423285,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0249816924,"thr_a_norm":0.0249816924,"thr_a_v":0.59992677,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480283797,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.414053,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.09608364,"cg_iw_a":-2.26292467,"cg_theta_rad":0.556276381,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.00240085041,"mpcc_du":50.4782486,"mpcc_dv":48.5789032,"mpcc_dw":51.4210968,"mpcc_enc_sign":1,"mpcc_id_a":0.578813851,"mpcc_iq_a":-1.0489583,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.70480204,"mpcc_pred_id_a":-0.400075227,"mpcc_pred_iq_a":-1.08399129,"mpcc_state":1,"mpcc_theta_e":0.434949398,"mpcc_theta_mech":0.553935826,"sam_rpm":-11.6239328,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0131735057,"thr_a_norm":0.0131735057,"thr_a_v":0.552694023,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453847557,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.420584,"values":{"cg_iu_a":3.57647133,"cg_iv_a":0.0637187958,"cg_iw_a":0.0566811562,"cg_theta_rad":0.556196392,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.00408893125,"mpcc_du":49.5847588,"mpcc_dv":49.7412872,"mpcc_dw":50.4152412,"mpcc_enc_sign":1,"mpcc_id_a":1.02482116,"mpcc_iq_a":-1.80971122,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.6456337,"mpcc_pred_id_a":-0.194840044,"mpcc_pred_iq_a":-4.48489523,"mpcc_state":1,"mpcc_theta_e":0.434818745,"mpcc_theta_mech":0.553909659,"sam_rpm":-9.14191055,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0131735057,"thr_a_norm":0.0131735057,"thr_a_v":0.552694023,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453847557,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.427511,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.806133032,"cg_iw_a":-0.523220301,"cg_theta_rad":0.557398796,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0173624139,"mpcc_du":49.7639923,"mpcc_dv":49.4503174,"mpcc_dw":50.5496826,"mpcc_enc_sign":1,"mpcc_id_a":0.110636778,"mpcc_iq_a":-1.16355586,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.58105373,"mpcc_pred_id_a":-0.382264733,"mpcc_pred_iq_a":-3.95821357,"mpcc_state":1,"mpcc_theta_e":0.448747635,"mpcc_theta_mech":0.556695461,"sam_rpm":6.93518257,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210288316,"thr_a_norm":0.0210288316,"thr_a_v":0.584115326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460242629,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.437704,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-2.69081235,"cg_iw_a":0.636582136,"cg_theta_rad":0.55422157,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0576793142,"mpcc_du":49.9225998,"mpcc_dv":49.0730171,"mpcc_dw":51.005352,"mpcc_enc_sign":1,"mpcc_id_a":1.14533329,"mpcc_iq_a":0.149462879,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.06116581,"mpcc_pred_id_a":0.133384705,"mpcc_pred_iq_a":-2.621315,"mpcc_state":1,"mpcc_theta_e":0.449028492,"mpcc_theta_mech":0.55612886,"sam_rpm":10.5628462,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02567406,"thr_a_norm":0.02567406,"thr_a_v":0.60269624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480686635,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.447409,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.09608364,"cg_iw_a":1.07150817,"cg_theta_rad":0.555765927,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0235896856,"mpcc_du":49.5889778,"mpcc_dv":50.4110222,"mpcc_dw":50.2665977,"mpcc_enc_sign":1,"mpcc_id_a":-0.647164881,"mpcc_iq_a":-3.48285866,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.504199386,"mpcc_pred_id_a":-0.36479798,"mpcc_pred_iq_a":-4.28853416,"mpcc_state":1,"mpcc_theta_e":0.438968182,"mpcc_theta_mech":0.554739535,"sam_rpm":-0.966003895,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02567406,"thr_a_norm":0.02567406,"thr_a_v":0.60269624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480686635,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.457846,"values":{"cg_iu_a":-0.917764187,"cg_iv_a":-0.806133032,"cg_iw_a":1.72389722,"cg_theta_rad":0.55752337,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.00848124269,"mpcc_du":49.6594467,"mpcc_dv":49.6887321,"mpcc_dw":50.3405533,"mpcc_enc_sign":1,"mpcc_id_a":-0.293138832,"mpcc_iq_a":-1.7070452,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.85988855,"mpcc_pred_id_a":-0.528249741,"mpcc_pred_iq_a":-1.24178147,"mpcc_state":1,"mpcc_theta_e":0.438575268,"mpcc_theta_mech":0.554660976,"sam_rpm":3.26902461,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278896838,"thr_a_norm":0.0278896838,"thr_a_v":0.611558735,"thr_b":0.00068551302,"thr_b_norm":0.00068551302,"thr_b_v":0.502742052,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.46813,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-2.54583716,"cg_iw_a":0.781557798,"cg_theta_rad":0.554323435,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0207549091,"mpcc_du":50.3009529,"mpcc_dv":51.2100906,"mpcc_dw":49.1894836,"mpcc_enc_sign":1,"mpcc_id_a":-0.960818052,"mpcc_iq_a":-3.14920735,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.44387758,"mpcc_pred_id_a":-0.772081316,"mpcc_pred_iq_a":0.479016691,"mpcc_state":1,"mpcc_theta_e":0.436143875,"mpcc_theta_mech":0.557364166,"sam_rpm":-2.28294086,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215701461,"thr_a_norm":0.0278896838,"thr_a_v":0.586280584,"thr_b":0,"thr_b_norm":0.00068551302,"thr_b_v":0.480283797,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.478018,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.951108456,"cg_iw_a":0.999020576,"cg_theta_rad":0.557528198,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0424214974,"mpcc_du":49.4700966,"mpcc_dv":49.7437439,"mpcc_dw":50.5299034,"mpcc_enc_sign":1,"mpcc_id_a":2.63343859,"mpcc_iq_a":-0.0921224132,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.637406945,"mpcc_pred_id_a":0.574915111,"mpcc_pred_iq_a":-1.12143147,"mpcc_state":1,"mpcc_theta_e":0.44495821,"mpcc_theta_mech":0.555937529,"sam_rpm":1.78009021,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215701461,"thr_a_norm":0.0215701461,"thr_a_v":0.586280584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480283797,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.487967,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.661157608,"cg_iw_a":0.854045153,"cg_theta_rad":0.55502218,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0334647819,"mpcc_du":50.0619888,"mpcc_dv":48.5660286,"mpcc_dw":51.4339714,"mpcc_enc_sign":1,"mpcc_id_a":3.21226048,"mpcc_iq_a":0.510208964,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.0972281,"mpcc_pred_id_a":0.683801711,"mpcc_pred_iq_a":-1.35818493,"mpcc_state":1,"mpcc_theta_e":0.430290699,"mpcc_theta_mech":0.553004086,"sam_rpm":-15.5659399,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278519094,"thr_a_norm":0.0278519094,"thr_a_v":0.611407638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477161825,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.511007,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.31354666,"cg_iw_a":-0.305757523,"cg_theta_rad":0.555680096,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.00976371299,"mpcc_du":49.1119766,"mpcc_dv":50.8880234,"mpcc_dw":49.7947922,"mpcc_enc_sign":1,"mpcc_id_a":1.90581656,"mpcc_iq_a":-2.11700034,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.55521822,"mpcc_pred_id_a":-0.193523943,"mpcc_pred_iq_a":-5.77914572,"mpcc_state":1,"mpcc_theta_e":0.447429657,"mpcc_theta_mech":0.55643183,"sam_rpm":10.3981619,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278519094,"thr_a_norm":0.0278519094,"thr_a_v":0.611407638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477161825,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.517569,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.09608364,"cg_iw_a":0.491606951,"cg_theta_rad":0.555824578,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0131982099,"mpcc_du":49.5594521,"mpcc_dv":50.3163528,"mpcc_dw":50.4405479,"mpcc_enc_sign":1,"mpcc_id_a":2.18639612,"mpcc_iq_a":-1.3657043,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.60844564,"mpcc_pred_id_a":0.114886895,"mpcc_pred_iq_a":-4.15559483,"mpcc_state":1,"mpcc_theta_e":0.446036816,"mpcc_theta_mech":0.556153238,"sam_rpm":7.97936487,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0150617957,"thr_a_norm":0.0150617957,"thr_a_v":0.560247183,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463616401,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.524099,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.443694592,"cg_iw_a":-2.55287504,"cg_theta_rad":0.55360198,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0283465274,"mpcc_du":49.7225113,"mpcc_dv":49.2492638,"mpcc_dw":50.7507362,"mpcc_enc_sign":1,"mpcc_id_a":2.32969189,"mpcc_iq_a":-1.06614339,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.81609917,"mpcc_pred_id_a":0.206988156,"mpcc_pred_iq_a":-2.84934258,"mpcc_state":1,"mpcc_theta_e":0.447104931,"mpcc_theta_mech":0.556366861,"sam_rpm":7.71818924,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0150617957,"thr_a_norm":0.0150617957,"thr_a_v":0.560247183,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463616401,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.530569,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.733645439,"cg_iw_a":-1.17560911,"cg_theta_rad":0.55712533,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.00786792766,"mpcc_du":50.4562531,"mpcc_dv":48.3506584,"mpcc_dw":51.6493416,"mpcc_enc_sign":1,"mpcc_id_a":1.24154091,"mpcc_iq_a":-0.483175963,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.32711744,"mpcc_pred_id_a":0.127323419,"mpcc_pred_iq_a":0.265695184,"mpcc_state":1,"mpcc_theta_e":0.437064171,"mpcc_theta_mech":0.554358721,"sam_rpm":-8.07285213,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0119775683,"thr_a_norm":0.0119775683,"thr_a_v":0.547910273,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.428569466,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.538778,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.443694592,"cg_iw_a":-0.740683556,"cg_theta_rad":0.552491248,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0128853703,"mpcc_du":49.519558,"mpcc_dv":50.1268692,"mpcc_dw":50.480442,"mpcc_enc_sign":1,"mpcc_id_a":2.26704669,"mpcc_iq_a":-2.0259726,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.6674833,"mpcc_pred_id_a":0.313508779,"mpcc_pred_iq_a":-2.48772812,"mpcc_state":1,"mpcc_theta_e":0.451793194,"mpcc_theta_mech":0.557304561,"sam_rpm":17.0304222,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.0119775683,"thr_a_v":0.605818272,"thr_b":0.00229686499,"thr_b_norm":0,"thr_b_v":0.50918746,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.550802,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-2.32837415,"cg_iw_a":1.65140986,"cg_theta_rad":0.552501202,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.021844713,"mpcc_du":50.3678551,"mpcc_dv":48.5730667,"mpcc_dw":51.4269333,"mpcc_enc_sign":1,"mpcc_id_a":1.01260149,"mpcc_iq_a":-1.96722543,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.48189092,"mpcc_pred_id_a":0.00391129358,"mpcc_pred_iq_a":-3.0879724,"mpcc_state":1,"mpcc_theta_e":0.44760704,"mpcc_theta_mech":0.556467295,"sam_rpm":-3.36312294,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.0264545679,"thr_a_v":0.605818272,"thr_b":0.00229686499,"thr_b_norm":0.00229686499,"thr_b_v":0.50918746,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.560781,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.878620625,"cg_iw_a":-1.46555996,"cg_theta_rad":0.55406332,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.00303083169,"mpcc_du":50.7541847,"mpcc_dv":47.9718742,"mpcc_dw":52.0281258,"mpcc_enc_sign":1,"mpcc_id_a":1.06097245,"mpcc_iq_a":-0.704380989,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.0669117,"mpcc_pred_id_a":0.0681620836,"mpcc_pred_iq_a":-0.655050695,"mpcc_state":1,"mpcc_theta_e":0.424257755,"mpcc_theta_mech":0.551797509,"sam_rpm":-29.3394012,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220107436,"thr_a_norm":0.0220107436,"thr_a_v":0.588042974,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486729234,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.571005,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.806133032,"cg_iw_a":-1.68302321,"cg_theta_rad":0.553034425,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0035578867,"mpcc_du":49.5811386,"mpcc_dv":49.6112938,"mpcc_dw":50.4188614,"mpcc_enc_sign":1,"mpcc_id_a":0.330233812,"mpcc_iq_a":-1.21871293,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.7194829,"mpcc_pred_id_a":-0.163383543,"mpcc_pred_iq_a":-2.45696783,"mpcc_state":1,"mpcc_theta_e":0.444230556,"mpcc_theta_mech":0.555792034,"sam_rpm":10.8422031,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0119020343,"thr_a_norm":0.0220107436,"thr_a_v":0.547608137,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446747541,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.581015,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.16857147,"cg_iw_a":0.346631527,"cg_theta_rad":0.554553509,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0597759895,"mpcc_du":49.7803497,"mpcc_dv":49.0663261,"mpcc_dw":50.9336739,"mpcc_enc_sign":1,"mpcc_id_a":3.30088758,"mpcc_iq_a":-0.0467017852,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.9889245,"mpcc_pred_id_a":0.542825401,"mpcc_pred_iq_a":-1.90438771,"mpcc_state":1,"mpcc_theta_e":0.447134495,"mpcc_theta_mech":0.556372821,"sam_rpm":10.4548054,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0119020343,"thr_a_norm":0.0119020343,"thr_a_v":0.547608137,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446747541,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.591208,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.38603449,"cg_iw_a":0.854045153,"cg_theta_rad":0.55699569,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0174149778,"mpcc_du":50.3300629,"mpcc_dv":48.3956909,"mpcc_dw":51.6043091,"mpcc_enc_sign":1,"mpcc_id_a":2.46787143,"mpcc_iq_a":-0.936834693,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.7541294,"mpcc_pred_id_a":0.307131171,"mpcc_pred_iq_a":-0.401825398,"mpcc_state":1,"mpcc_theta_e":0.427810669,"mpcc_theta_mech":0.552508056,"sam_rpm":-22.1520061,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220862925,"thr_a_norm":0.0220862925,"thr_a_v":0.58834517,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.614035,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.47334933,"cg_iw_a":1.43394637,"cg_theta_rad":0.553042233,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0113456966,"mpcc_du":49.4163094,"mpcc_dv":50.5836906,"mpcc_dw":50.0760727,"mpcc_enc_sign":1,"mpcc_id_a":1.14667881,"mpcc_iq_a":-1.015154,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.57735062,"mpcc_pred_id_a":-0.369145572,"mpcc_pred_iq_a":-5.2216382,"mpcc_state":1,"mpcc_theta_e":0.450598717,"mpcc_theta_mech":0.557065666,"sam_rpm":14.2370358,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220862925,"thr_a_norm":0.0220862925,"thr_a_v":0.58834517,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.620565,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.226231575,"cg_iw_a":-0.59570837,"cg_theta_rad":0.556434691,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.00149611477,"mpcc_du":50.4486923,"mpcc_dv":48.418457,"mpcc_dw":51.581543,"mpcc_enc_sign":1,"mpcc_id_a":0.530029953,"mpcc_iq_a":-2.21542716,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.3550453,"mpcc_pred_id_a":-0.0889817104,"mpcc_pred_iq_a":-2.45168614,"mpcc_state":1,"mpcc_theta_e":0.428057671,"mpcc_theta_mech":0.552557468,"sam_rpm":-24.6611748,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209155381,"thr_a_norm":0.0209155381,"thr_a_v":0.583662152,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467241913,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.627035,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.24105906,"cg_iw_a":0.0566809177,"cg_theta_rad":0.555920064,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.044992663,"mpcc_du":49.9413681,"mpcc_dv":48.948452,"mpcc_dw":51.051548,"mpcc_enc_sign":1,"mpcc_id_a":2.67416382,"mpcc_iq_a":-0.689257145,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.88736629,"mpcc_pred_id_a":0.324035794,"mpcc_pred_iq_a":-1.86913943,"mpcc_state":1,"mpcc_theta_e":0.452066422,"mpcc_theta_mech":0.557359159,"sam_rpm":10.4558887,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209155381,"thr_a_norm":0.0209155381,"thr_a_v":0.583662152,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467241913,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.633596,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.45852208,"cg_iw_a":-1.75551057,"cg_theta_rad":0.552366495,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0272663627,"mpcc_du":49.4997101,"mpcc_dv":48.0428772,"mpcc_dw":51.9571228,"mpcc_enc_sign":1,"mpcc_id_a":1.81867921,"mpcc_iq_a":-0.45942089,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.69922829,"mpcc_pred_id_a":0.282566488,"mpcc_pred_iq_a":-3.06435966,"mpcc_state":1,"mpcc_theta_e":0.451818943,"mpcc_theta_mech":0.554591656,"sam_rpm":12.5287037,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0133623332,"thr_a_norm":0.0133623332,"thr_a_v":0.553449333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463163197,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.643972,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.24105906,"cg_iw_a":-1.90048623,"cg_theta_rad":0.552956581,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0509025417,"mpcc_du":49.6505203,"mpcc_dv":49.7458382,"mpcc_dw":50.3494797,"mpcc_enc_sign":1,"mpcc_id_a":-0.573609114,"mpcc_iq_a":-2.53979087,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.52111053,"mpcc_pred_id_a":-0.650868952,"mpcc_pred_iq_a":-2.350775,"mpcc_state":1,"mpcc_theta_e":0.427886963,"mpcc_theta_mech":0.552523315,"sam_rpm":-14.8278751,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215072036,"thr_a_norm":0.0133623332,"thr_a_v":0.586028814,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481039107,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.653982,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-2.83578777,"cg_iw_a":1.72389746,"cg_theta_rad":0.556280673,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0401381068,"mpcc_du":50.080471,"mpcc_dv":48.5274849,"mpcc_dw":51.4725151,"mpcc_enc_sign":1,"mpcc_id_a":3.66739821,"mpcc_iq_a":-2.14597559,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.7355194,"mpcc_pred_id_a":0.747682095,"mpcc_pred_iq_a":-0.907509744,"mpcc_state":1,"mpcc_theta_e":0.431736469,"mpcc_theta_mech":0.553293169,"sam_rpm":-17.2922497,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215072036,"thr_a_norm":0.0215072036,"thr_a_v":0.586028814,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481039107,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.664358,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.76329994,"cg_iw_a":0.491606712,"cg_theta_rad":0.554399371,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0299928244,"mpcc_du":50.3600693,"mpcc_dv":48.2751465,"mpcc_dw":51.7248535,"mpcc_enc_sign":1,"mpcc_id_a":2.86872745,"mpcc_iq_a":-1.10404563,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.2549114,"mpcc_pred_id_a":0.391359299,"mpcc_pred_iq_a":0.151450321,"mpcc_state":1,"mpcc_theta_e":0.423194408,"mpcc_theta_mech":0.554364622,"sam_rpm":-27.1514091,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178313106,"thr_a_norm":0.0178313106,"thr_a_v":0.571325243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450926989,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.674246,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-2.0384233,"cg_iw_a":-0.885658503,"cg_theta_rad":0.556312799,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0164563432,"mpcc_du":49.967659,"mpcc_dv":49.1465721,"mpcc_dw":50.8534279,"mpcc_enc_sign":1,"mpcc_id_a":0.246563077,"mpcc_iq_a":-0.716809273,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.78172827,"mpcc_pred_id_a":-0.391873986,"mpcc_pred_iq_a":-2.07149577,"mpcc_state":1,"mpcc_theta_e":0.446632862,"mpcc_theta_mech":0.556272507,"sam_rpm":7.91918707,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178313106,"thr_a_norm":0.0178313106,"thr_a_v":0.571325243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450926989,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.684378,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-1.60349751,"cg_iw_a":-0.740683079,"cg_theta_rad":0.555712819,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0299855825,"mpcc_du":50.505909,"mpcc_dv":48.1551132,"mpcc_dw":51.8448868,"mpcc_enc_sign":1,"mpcc_id_a":2.87870789,"mpcc_iq_a":-1.4315685,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.69006157,"mpcc_pred_id_a":0.374383241,"mpcc_pred_iq_a":-1.7513299,"mpcc_state":1,"mpcc_theta_e":0.43670845,"mpcc_theta_mech":0.554287612,"sam_rpm":-14.1846285,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199210346,"thr_a_norm":0.0199210346,"thr_a_v":0.579684138,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476557553,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.694571,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.951108456,"cg_iw_a":-0.233269691,"cg_theta_rad":0.555194318,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0453730896,"mpcc_du":50.0513992,"mpcc_dv":48.6789207,"mpcc_dw":51.3210793,"mpcc_enc_sign":1,"mpcc_id_a":2.98438334,"mpcc_iq_a":-1.37723672,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.25974417,"mpcc_pred_id_a":0.603353381,"mpcc_pred_iq_a":-2.39664578,"mpcc_state":1,"mpcc_theta_e":0.44633007,"mpcc_theta_mech":0.556211889,"sam_rpm":2.71773338,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282169729,"thr_a_norm":0.0199210346,"thr_a_v":0.612867892,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498562604,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.717581,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.661157608,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556170106,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.00860097632,"mpcc_du":49.2123909,"mpcc_dv":50.7876091,"mpcc_dw":49.8459358,"mpcc_enc_sign":1,"mpcc_id_a":0.363965511,"mpcc_iq_a":-0.63614887,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.94385052,"mpcc_pred_id_a":-0.47614345,"mpcc_pred_iq_a":-5.72206974,"mpcc_state":1,"mpcc_theta_e":0.431012154,"mpcc_theta_mech":0.553148389,"sam_rpm":14.4778976,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282169729,"thr_a_norm":0.0282169729,"thr_a_v":0.612867892,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498562604,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.724142,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.09608364,"cg_iw_a":0.201656342,"cg_theta_rad":0.554169357,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.00258449302,"mpcc_du":50.3277283,"mpcc_dv":48.6876373,"mpcc_dw":51.3123627,"mpcc_enc_sign":1,"mpcc_id_a":-0.648252249,"mpcc_iq_a":-4.27693224,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.27235889,"mpcc_pred_id_a":-0.386592746,"mpcc_pred_iq_a":-1.24849236,"mpcc_state":1,"mpcc_theta_e":0.445228577,"mpcc_theta_mech":0.55599165,"sam_rpm":2.52867198,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0169878602,"thr_a_norm":0.0169878602,"thr_a_v":0.567951441,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448509932,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.730703,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.02359605,"cg_iw_a":0.0566809177,"cg_theta_rad":0.554457009,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.000523593859,"mpcc_du":49.7539902,"mpcc_dv":49.4573288,"mpcc_dw":50.5426712,"mpcc_enc_sign":1,"mpcc_id_a":-0.355832696,"mpcc_iq_a":-3.30700874,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.6511364,"mpcc_pred_id_a":-0.585153818,"mpcc_pred_iq_a":-3.76312423,"mpcc_state":1,"mpcc_theta_e":0.446439743,"mpcc_theta_mech":0.556233823,"sam_rpm":7.32060528,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0169878602,"thr_a_norm":0.0169878602,"thr_a_v":0.567951441,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448509932,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.737173,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.0087685585,"cg_iw_a":0.564094782,"cg_theta_rad":0.558121681,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0360356681,"mpcc_du":49.4878578,"mpcc_dv":50.4413109,"mpcc_dw":50.5121422,"mpcc_enc_sign":1,"mpcc_id_a":3.06381083,"mpcc_iq_a":0.306266874,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.65924954,"mpcc_pred_id_a":0.4181512,"mpcc_pred_iq_a":-4.83580589,"mpcc_state":1,"mpcc_theta_e":0.444662571,"mpcc_theta_mech":0.555878401,"sam_rpm":4.86861849,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259132534,"thr_a_norm":0.0259132534,"thr_a_v":0.603653014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491865426,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.745413,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.45852208,"cg_iw_a":-1.61053538,"cg_theta_rad":0.55337292,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0129337339,"mpcc_du":49.5318642,"mpcc_dv":49.4161835,"mpcc_dw":50.5838165,"mpcc_enc_sign":1,"mpcc_id_a":0.309676677,"mpcc_iq_a":-0.419846535,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.06940329,"mpcc_pred_id_a":0.182393417,"mpcc_pred_iq_a":-4.23987389,"mpcc_state":1,"mpcc_theta_e":0.441986084,"mpcc_theta_mech":0.555343091,"sam_rpm":-1.56987882,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0408434421,"thr_a_norm":0.0259132534,"thr_a_v":0.663373768,"thr_b":0.0139791816,"thr_b_norm":0,"thr_b_v":0.555916727,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.755362,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.878620625,"cg_iw_a":-1.10312176,"cg_theta_rad":0.557145119,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0190663096,"mpcc_du":49.5106354,"mpcc_dv":50.01474,"mpcc_dw":50.4893646,"mpcc_enc_sign":1,"mpcc_id_a":2.75392127,"mpcc_iq_a":-2.85678911,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.39683628,"mpcc_pred_id_a":0.201366603,"mpcc_pred_iq_a":-3.74359536,"mpcc_state":1,"mpcc_theta_e":0.449332237,"mpcc_theta_mech":0.556275904,"sam_rpm":11.0371494,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0408434421,"thr_a_norm":0.0408434421,"thr_a_v":0.663373768,"thr_b":0.0139791816,"thr_b_norm":0.0139791816,"thr_b_v":0.555916727,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.765799,"values":{"cg_iu_a":2.34418058,"cg_iv_a":0.136206627,"cg_iw_a":-2.48038721,"cg_theta_rad":0.554162443,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0549367033,"mpcc_du":50.6461487,"mpcc_dv":48.047287,"mpcc_dw":51.952713,"mpcc_enc_sign":1,"mpcc_id_a":2.91965246,"mpcc_iq_a":-0.495969206,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.14983559,"mpcc_pred_id_a":0.268609643,"mpcc_pred_iq_a":-0.91510433,"mpcc_state":1,"mpcc_theta_e":0.441529274,"mpcc_theta_mech":0.555251777,"sam_rpm":-6.79516745,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473485917,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.77767,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.733645439,"cg_iw_a":0.0566811562,"cg_theta_rad":0.558225036,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0114164716,"mpcc_du":50.1713066,"mpcc_dv":48.8626366,"mpcc_dw":51.1373634,"mpcc_enc_sign":1,"mpcc_id_a":2.1148448,"mpcc_iq_a":-1.35378027,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.88155937,"mpcc_pred_id_a":-0.135583594,"mpcc_pred_iq_a":-3.59892869,"mpcc_state":1,"mpcc_theta_e":0.437307358,"mpcc_theta_mech":0.554407418,"sam_rpm":-15.4778576,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473485917,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.788137,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.60349751,"cg_iw_a":-1.03063393,"cg_theta_rad":0.554715633,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0147802942,"mpcc_du":49.924881,"mpcc_dv":48.911541,"mpcc_dw":51.088459,"mpcc_enc_sign":1,"mpcc_id_a":0.00814353675,"mpcc_iq_a":-1.67899263,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.26427603,"mpcc_pred_id_a":-0.367434323,"mpcc_pred_iq_a":-1.8646909,"mpcc_state":1,"mpcc_theta_e":0.4578228,"mpcc_theta_mech":0.558510482,"sam_rpm":11.0708971,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0164843202,"thr_a_norm":0.0164843202,"thr_a_v":0.565937281,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471018523,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.797995,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.31354666,"cg_iw_a":-1.39307261,"cg_theta_rad":0.554404378,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0775099769,"mpcc_du":50.0856934,"mpcc_dv":48.569767,"mpcc_dw":51.430233,"mpcc_enc_sign":1,"mpcc_id_a":2.62274265,"mpcc_iq_a":0.566958249,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.95986593,"mpcc_pred_id_a":0.713947535,"mpcc_pred_iq_a":-2.50939441,"mpcc_state":1,"mpcc_theta_e":0.442892075,"mpcc_theta_mech":0.55552429,"sam_rpm":-1.45834899,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0164843202,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.821218,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.89344811,"cg_iw_a":-2.33541203,"cg_theta_rad":0.556035101,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0180209801,"mpcc_du":49.461792,"mpcc_dv":50.538208,"mpcc_dw":50.3470154,"mpcc_enc_sign":1,"mpcc_id_a":2.5549891,"mpcc_iq_a":-0.578349531,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.68517351,"mpcc_pred_id_a":0.396031737,"mpcc_pred_iq_a":3.05446076,"mpcc_state":1,"mpcc_theta_e":0.433403969,"mpcc_theta_mech":0.553626716,"sam_rpm":-12.0941515,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.827719,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.96593571,"cg_iw_a":-0.958146572,"cg_theta_rad":0.556314826,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0188443288,"mpcc_du":49.7273026,"mpcc_dv":49.1350555,"mpcc_dw":50.8649445,"mpcc_enc_sign":1,"mpcc_id_a":2.2928679,"mpcc_iq_a":-1.14289224,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.57737017,"mpcc_pred_id_a":0.523163319,"mpcc_pred_iq_a":-1.50432467,"mpcc_state":1,"mpcc_theta_e":0.447660923,"mpcc_theta_mech":0.556478083,"sam_rpm":8.58343983,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180327296,"thr_a_norm":0.0180327296,"thr_a_v":0.572130919,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453595787,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.834249,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.53100967,"cg_iw_a":-0.958146572,"cg_theta_rad":0.557204962,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0279447362,"mpcc_du":49.7719955,"mpcc_dv":49.0823517,"mpcc_dw":50.9176483,"mpcc_enc_sign":1,"mpcc_id_a":3.11886835,"mpcc_iq_a":-1.43175769,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.99127233,"mpcc_pred_id_a":0.446009099,"mpcc_pred_iq_a":-2.29918432,"mpcc_state":1,"mpcc_theta_e":0.443744659,"mpcc_theta_mech":0.555694818,"sam_rpm":1.63902211,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180327296,"thr_a_norm":0.0180327296,"thr_a_v":0.572130919,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453595787,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.84075,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.371207237,"cg_iw_a":-0.885658741,"cg_theta_rad":0.550242007,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.00544946874,"mpcc_du":50.0825806,"mpcc_dv":48.9646263,"mpcc_dw":51.0353737,"mpcc_enc_sign":1,"mpcc_id_a":1.21036196,"mpcc_iq_a":-0.549746037,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.7101231,"mpcc_pred_id_a":-0.251345098,"mpcc_pred_iq_a":-3.36454105,"mpcc_state":1,"mpcc_theta_e":0.429397583,"mpcc_theta_mech":0.552825451,"sam_rpm":-18.9566917,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024264127,"thr_a_norm":0.024264127,"thr_a_v":0.597056508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469105065,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.848745,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.09608364,"cg_iw_a":-1.46555996,"cg_theta_rad":0.55392909,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.00220162026,"mpcc_du":50.65345,"mpcc_dv":48.1525841,"mpcc_dw":51.8474159,"mpcc_enc_sign":1,"mpcc_id_a":0.938415706,"mpcc_iq_a":-1.81870115,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.38775826,"mpcc_pred_id_a":0.126034439,"mpcc_pred_iq_a":1.13056672,"mpcc_state":1,"mpcc_theta_e":0.436487675,"mpcc_theta_mech":0.554243445,"sam_rpm":-8.06621456,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211547166,"thr_a_norm":0.024264127,"thr_a_v":0.584618866,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475500137,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.858572,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.878620625,"cg_iw_a":0.201656342,"cg_theta_rad":0.555795312,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0333513021,"mpcc_du":50.4599228,"mpcc_dv":48.2787514,"mpcc_dw":51.7212486,"mpcc_enc_sign":1,"mpcc_id_a":2.19436288,"mpcc_iq_a":-0.326959074,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.34457874,"mpcc_pred_id_a":0.174975947,"mpcc_pred_iq_a":-0.549775362,"mpcc_state":1,"mpcc_theta_e":0.436695576,"mpcc_theta_mech":0.55428499,"sam_rpm":-28.8633785,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211547166,"thr_a_norm":0.0211547166,"thr_a_v":0.584618866,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475500137,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.868795,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.38603449,"cg_iw_a":0.201656342,"cg_theta_rad":0.556830585,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0126992492,"mpcc_du":50.7754326,"mpcc_dv":48.1623573,"mpcc_dw":51.8376427,"mpcc_enc_sign":1,"mpcc_id_a":0.0409679897,"mpcc_iq_a":-1.16941333,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.1351843,"mpcc_pred_id_a":-0.29320994,"mpcc_pred_iq_a":-1.61727405,"mpcc_state":1,"mpcc_theta_e":0.436950207,"mpcc_theta_mech":0.554335952,"sam_rpm":-15.0264254,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025069803,"thr_a_norm":0.025069803,"thr_a_v":0.600279212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479780257,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.878805,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.806133032,"cg_iw_a":-1.97297382,"cg_theta_rad":0.556299865,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.036763344,"mpcc_du":50.0624542,"mpcc_dv":49.0206642,"mpcc_dw":50.9793358,"mpcc_enc_sign":1,"mpcc_id_a":0.712034643,"mpcc_iq_a":-0.752832949,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.478865266,"mpcc_pred_id_a":-0.197585315,"mpcc_pred_iq_a":-3.91578794,"mpcc_state":1,"mpcc_theta_e":0.445435047,"mpcc_theta_mech":0.556032956,"sam_rpm":0.679672182,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025069803,"thr_a_norm":0.025069803,"thr_a_v":0.600279212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479780257,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.889395,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.806133032,"cg_iw_a":-2.11794925,"cg_theta_rad":0.557085574,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0300514009,"mpcc_du":49.8460922,"mpcc_dv":48.8209457,"mpcc_dw":51.1790543,"mpcc_enc_sign":1,"mpcc_id_a":3.41952109,"mpcc_iq_a":0.0904290825,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.83853626,"mpcc_pred_id_a":0.799358964,"mpcc_pred_iq_a":0.161041498,"mpcc_state":1,"mpcc_theta_e":0.430975914,"mpcc_theta_mech":0.553141057,"sam_rpm":-10.9785795,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0187125206,"thr_a_norm":0.0187125206,"thr_a_v":0.574850082,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472579539,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.899343,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-3.19822598,"cg_iw_a":1.94136,"cg_theta_rad":0.557150185,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0026756688,"mpcc_du":50.5004005,"mpcc_dv":48.2631531,"mpcc_dw":51.7368469,"mpcc_enc_sign":1,"mpcc_id_a":0.762250841,"mpcc_iq_a":-0.661329806,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.2263145,"mpcc_pred_id_a":0.056674365,"mpcc_pred_iq_a":0.0854717717,"mpcc_state":1,"mpcc_theta_e":0.424289703,"mpcc_theta_mech":0.553463995,"sam_rpm":-23.8603973,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.0187125206,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487585247,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.922384,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.371207237,"cg_iw_a":-0.81317091,"cg_theta_rad":0.55389452,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5014,"hz_app_loop":363,"hz_tim_isr":10028,"hz_vsense":363,"mpcc_cost":0.0102691147,"mpcc_du":49.6821518,"mpcc_dv":49.5956154,"mpcc_dw":50.4043846,"mpcc_enc_sign":1,"mpcc_id_a":0.075191237,"mpcc_iq_a":-1.89291787,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.2122817,"mpcc_pred_id_a":-0.566840589,"mpcc_pred_iq_a":-4.07072544,"mpcc_state":1,"mpcc_theta_e":0.4520154,"mpcc_theta_mech":0.557349026,"sam_rpm":10.9863119,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.0167864412,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487585247,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.928915,"values":{"cg_iu_a":3.06905746,"cg_iv_a":0.716107845,"cg_iw_a":-2.19043684,"cg_theta_rad":0.55286932,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9898.30469,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0573812388,"mpcc_du":50.5667953,"mpcc_dv":48.153511,"mpcc_dw":51.846489,"mpcc_enc_sign":1,"mpcc_id_a":3.4499259,"mpcc_iq_a":1.16723561,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.34416294,"mpcc_pred_id_a":0.272814751,"mpcc_pred_iq_a":0.218496993,"mpcc_state":1,"mpcc_theta_e":0.436041355,"mpcc_theta_mech":0.554154158,"sam_rpm":-10.6007862,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178187191,"thr_a_norm":0.0178187191,"thr_a_v":0.571274877,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440302134,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.935415,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.733645439,"cg_iw_a":-1.75551081,"cg_theta_rad":0.556391776,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0414196886,"mpcc_du":49.7883301,"mpcc_dv":47.7832108,"mpcc_dw":52.2167892,"mpcc_enc_sign":1,"mpcc_id_a":2.69704461,"mpcc_iq_a":-0.972502887,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.58128357,"mpcc_pred_id_a":0.502591431,"mpcc_pred_iq_a":-2.58016229,"mpcc_state":1,"mpcc_theta_e":0.449854374,"mpcc_theta_mech":0.556097269,"sam_rpm":8.89501572,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178187191,"thr_a_norm":0.0178187191,"thr_a_v":0.571274877,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440302134,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.941977,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.371207237,"cg_iw_a":-0.0882940292,"cg_theta_rad":0.559599221,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0419474617,"mpcc_du":49.3728485,"mpcc_dv":49.2949982,"mpcc_dw":50.7050018,"mpcc_enc_sign":1,"mpcc_id_a":3.62283421,"mpcc_iq_a":-1.55546784,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.82612753,"mpcc_pred_id_a":1.11555576,"mpcc_pred_iq_a":-3.2062068,"mpcc_state":1,"mpcc_theta_e":0.449054241,"mpcc_theta_mech":0.556756735,"sam_rpm":8.97915459,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193923116,"thr_a_norm":0.0193923116,"thr_a_v":0.577569246,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.950796,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.16857147,"cg_iw_a":0.491607189,"cg_theta_rad":0.555896103,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.04120107,"mpcc_du":50.1190147,"mpcc_dv":48.9220009,"mpcc_dw":51.0779991,"mpcc_enc_sign":1,"mpcc_id_a":1.39349484,"mpcc_iq_a":-1.00189292,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.11694527,"mpcc_pred_id_a":-0.292738825,"mpcc_pred_iq_a":-3.21530271,"mpcc_state":1,"mpcc_theta_e":0.454220295,"mpcc_theta_mech":0.557789981,"sam_rpm":5.32025146,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0955413133,"thr_a_norm":0.0193923116,"thr_a_v":0.882165253,"thr_b":0.0390936136,"thr_b_norm":0,"thr_b_v":0.656374454,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.960806,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.24105906,"cg_iw_a":-1.53804755,"cg_theta_rad":0.556360245,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0120061152,"mpcc_du":50.3998108,"mpcc_dv":48.4895401,"mpcc_dw":51.5104599,"mpcc_enc_sign":1,"mpcc_id_a":1.5066694,"mpcc_iq_a":-2.85395026,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.8643665,"mpcc_pred_id_a":-0.260262698,"mpcc_pred_iq_a":-1.72808576,"mpcc_state":1,"mpcc_theta_e":0.431223869,"mpcc_theta_mech":0.553190649,"sam_rpm":-20.3273106,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0955413133,"thr_a_norm":0.0955413133,"thr_a_v":0.882165253,"thr_b":0.0390936136,"thr_b_norm":0.0390936136,"thr_b_v":0.656374454,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.970968,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.298719406,"cg_iw_a":-1.53804779,"cg_theta_rad":0.553368509,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.00843547285,"mpcc_du":49.9639359,"mpcc_dv":48.7928505,"mpcc_dw":51.2071495,"mpcc_enc_sign":1,"mpcc_id_a":1.56488621,"mpcc_iq_a":-0.81862998,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.83098221,"mpcc_pred_id_a":0.468086809,"mpcc_pred_iq_a":-1.77261615,"mpcc_state":1,"mpcc_theta_e":0.43686676,"mpcc_theta_mech":0.554319263,"sam_rpm":-8.06779194,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209155381,"thr_a_norm":0.0209155381,"thr_a_v":0.583662152,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466436267,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.981009,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.31354666,"cg_iw_a":0.346631527,"cg_theta_rad":0.554923296,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0027020222,"mpcc_du":49.7504616,"mpcc_dv":49.553524,"mpcc_dw":50.446476,"mpcc_enc_sign":1,"mpcc_id_a":-0.283815652,"mpcc_iq_a":-2.64658523,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.84574842,"mpcc_pred_id_a":-0.647040844,"mpcc_pred_iq_a":-4.37320948,"mpcc_state":1,"mpcc_theta_e":0.449527264,"mpcc_theta_mech":0.556851327,"sam_rpm":5.90150166,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209155381,"thr_a_norm":0.0209155381,"thr_a_v":0.583662152,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466436267,"vdc_v":55.2955055}} +{"type":"telemetry","t":21.991293,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.09608364,"cg_iw_a":-0.668195724,"cg_theta_rad":0.555503428,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0195366144,"mpcc_du":49.2976799,"mpcc_dv":50.7023201,"mpcc_dw":50.3027191,"mpcc_enc_sign":1,"mpcc_id_a":2.78842664,"mpcc_iq_a":-1.11785996,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.461031,"mpcc_pred_id_a":0.634174228,"mpcc_pred_iq_a":-1.92239678,"mpcc_state":1,"mpcc_theta_e":0.447841644,"mpcc_theta_mech":0.556514263,"sam_rpm":25.7662563,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265804529,"thr_a_norm":0.0265804529,"thr_a_v":0.606321812,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481290877,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.001394,"values":{"cg_iu_a":2.12671757,"cg_iv_a":0.933570862,"cg_iw_a":1.57892179,"cg_theta_rad":0.552338958,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0220095739,"mpcc_du":50.0531273,"mpcc_dv":48.6981773,"mpcc_dw":51.3018227,"mpcc_enc_sign":1,"mpcc_id_a":2.9377501,"mpcc_iq_a":-1.30664945,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.09866238,"mpcc_pred_id_a":0.507404983,"mpcc_pred_iq_a":1.2719276,"mpcc_state":1,"mpcc_theta_e":0.445803642,"mpcc_theta_mech":0.556106627,"sam_rpm":8.92109585,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02000916,"thr_a_norm":0.0265804529,"thr_a_v":0.58003664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484513581,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.02416,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.45852208,"cg_iw_a":0.201656103,"cg_theta_rad":0.555538595,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0315210335,"mpcc_du":49.4043007,"mpcc_dv":50.5956993,"mpcc_dw":50.2619324,"mpcc_enc_sign":1,"mpcc_id_a":2.43996525,"mpcc_iq_a":-0.339665174,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.1301432,"mpcc_pred_id_a":0.183043435,"mpcc_pred_iq_a":-4.56518841,"mpcc_state":1,"mpcc_theta_e":0.450821877,"mpcc_theta_mech":0.55711025,"sam_rpm":17.5858707,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02000916,"thr_a_norm":0.02000916,"thr_a_v":0.58003664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484513581,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.030722,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.77033806,"cg_theta_rad":0.556891561,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0083710216,"mpcc_du":51.0277405,"mpcc_dv":47.72332,"mpcc_dw":52.27668,"mpcc_enc_sign":1,"mpcc_id_a":0.777366281,"mpcc_iq_a":-0.4494932,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.76706076,"mpcc_pred_id_a":-0.0432472154,"mpcc_pred_iq_a":2.25997424,"mpcc_state":1,"mpcc_theta_e":0.435451031,"mpcc_theta_mech":0.554036081,"sam_rpm":-9.89972782,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0421274751,"thr_a_norm":0.0421274751,"thr_a_v":0.668509901,"thr_b":0.0148855597,"thr_b_norm":0.0148855597,"thr_b_v":0.559542239,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.037222,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.733645439,"cg_iw_a":-1.82799816,"cg_theta_rad":0.557150185,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0142518478,"mpcc_du":49.1315613,"mpcc_dv":50.8684387,"mpcc_dw":49.8350067,"mpcc_enc_sign":1,"mpcc_id_a":2.01917005,"mpcc_iq_a":-1.53850579,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.1075191,"mpcc_pred_id_a":-0.0399552062,"mpcc_pred_iq_a":-5.24734879,"mpcc_state":1,"mpcc_theta_e":0.453588009,"mpcc_theta_mech":0.554155529,"sam_rpm":21.1850319,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0421274751,"thr_a_norm":0.0421274751,"thr_a_v":0.668509901,"thr_b":0.0148855597,"thr_b_norm":0.0148855597,"thr_b_v":0.559542239,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.04418,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.6759851,"cg_iw_a":0.636582136,"cg_theta_rad":0.557602048,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0064024427,"mpcc_du":48.805912,"mpcc_dv":51.194088,"mpcc_dw":49.4684067,"mpcc_enc_sign":1,"mpcc_id_a":1.54465699,"mpcc_iq_a":-1.35385895,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.2457085,"mpcc_pred_id_a":-0.117346019,"mpcc_pred_iq_a":-5.24803638,"mpcc_state":1,"mpcc_theta_e":0.453639507,"mpcc_theta_mech":0.557673812,"sam_rpm":23.6606293,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205882341,"thr_a_norm":0.0205882341,"thr_a_v":0.582352936,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459285885,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.05422,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.60349751,"cg_iw_a":-1.32058477,"cg_theta_rad":0.558363438,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.00296826148,"mpcc_du":49.7849541,"mpcc_dv":49.2777863,"mpcc_dw":50.7222137,"mpcc_enc_sign":1,"mpcc_id_a":0.995833337,"mpcc_iq_a":-1.67500472,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.33554029,"mpcc_pred_id_a":-0.0843380392,"mpcc_pred_iq_a":-1.38902164,"mpcc_state":1,"mpcc_theta_e":0.444478989,"mpcc_theta_mech":0.555841684,"sam_rpm":7.66887951,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163332522,"thr_a_norm":0.0205882341,"thr_a_v":0.565333009,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.064169,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.53100967,"cg_iw_a":1.28897119,"cg_theta_rad":0.556033134,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0630307421,"mpcc_du":49.8733101,"mpcc_dv":48.7272797,"mpcc_dw":51.2727203,"mpcc_enc_sign":1,"mpcc_id_a":4.20745993,"mpcc_iq_a":0.177426487,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.19412374,"mpcc_pred_id_a":0.98644197,"mpcc_pred_iq_a":-0.143859878,"mpcc_state":1,"mpcc_theta_e":0.444937706,"mpcc_theta_mech":0.555933416,"sam_rpm":6.42968607,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163332522,"thr_a_norm":0.0163332522,"thr_a_v":0.565333009,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.074545,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.02359605,"cg_iw_a":0.709069967,"cg_theta_rad":0.556837082,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0097139217,"mpcc_du":49.8480034,"mpcc_dv":49.047348,"mpcc_dw":50.952652,"mpcc_enc_sign":1,"mpcc_id_a":2.66555262,"mpcc_iq_a":-1.67509604,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.13417554,"mpcc_pred_id_a":0.305395186,"mpcc_pred_iq_a":-1.17680919,"mpcc_state":1,"mpcc_theta_e":0.448826313,"mpcc_theta_mech":0.556711197,"sam_rpm":4.61210871,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167990327,"thr_a_norm":0.0167990327,"thr_a_v":0.567196131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.42877087,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.084402,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.09608364,"cg_iw_a":-1.32058477,"cg_theta_rad":0.556291282,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0268347841,"mpcc_du":49.5916824,"mpcc_dv":49.3990898,"mpcc_dw":50.2718544,"mpcc_enc_sign":1,"mpcc_id_a":1.90843177,"mpcc_iq_a":-0.765148878,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.7812672,"mpcc_pred_id_a":0.124689743,"mpcc_pred_iq_a":-1.2817862,"mpcc_state":1,"mpcc_theta_e":0.424006462,"mpcc_theta_mech":0.551747203,"sam_rpm":-15.1234035,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167990327,"thr_a_norm":0.0167990327,"thr_a_v":0.567196131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.42877087,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.094778,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.47334933,"cg_iw_a":1.143996,"cg_theta_rad":0.557045817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0287287142,"mpcc_du":50.4852066,"mpcc_dv":48.5489693,"mpcc_dw":51.4510307,"mpcc_enc_sign":1,"mpcc_id_a":-0.251847297,"mpcc_iq_a":-2.93666077,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.23968983,"mpcc_pred_id_a":-0.359363377,"mpcc_pred_iq_a":-5.09540367,"mpcc_state":1,"mpcc_theta_e":0.445947647,"mpcc_theta_mech":0.556135476,"sam_rpm":-7.96132421,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0347253382,"thr_a_norm":0.0347253382,"thr_a_v":0.638901353,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499972522,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.105001,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.443694592,"cg_iw_a":-2.40789986,"cg_theta_rad":0.555010498,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.00500736339,"mpcc_du":49.6477852,"mpcc_dv":49.8183746,"mpcc_dw":50.3522148,"mpcc_enc_sign":1,"mpcc_id_a":1.08056736,"mpcc_iq_a":-2.53538299,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.671222091,"mpcc_pred_id_a":-0.519315481,"mpcc_pred_iq_a":-4.02860498,"mpcc_state":1,"mpcc_theta_e":0.438183308,"mpcc_theta_mech":0.554582536,"sam_rpm":-1.95586288,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151750892,"thr_a_norm":0.0347253382,"thr_a_v":0.560700357,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469759673,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.128225,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.45852208,"cg_iw_a":0.564094782,"cg_theta_rad":0.553209722,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.000665727421,"mpcc_du":51.0512581,"mpcc_dv":47.9538269,"mpcc_dw":52.0461731,"mpcc_enc_sign":1,"mpcc_id_a":-0.402701408,"mpcc_iq_a":-1.28422546,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.4916277,"mpcc_pred_id_a":-0.646135151,"mpcc_pred_iq_a":0.590957642,"mpcc_state":1,"mpcc_theta_e":0.430177212,"mpcc_theta_mech":0.552981317,"sam_rpm":-19.9841652,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151750892,"thr_a_norm":0.0151750892,"thr_a_v":0.560700357,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469759673,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.134756,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.661157608,"cg_iw_a":0.12916851,"cg_theta_rad":0.556123197,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.00656652404,"mpcc_du":50.4042015,"mpcc_dv":48.6571655,"mpcc_dw":51.3428345,"mpcc_enc_sign":1,"mpcc_id_a":-0.181394443,"mpcc_iq_a":-1.11409223,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.26319242,"mpcc_pred_id_a":-0.298132002,"mpcc_pred_iq_a":0.0177545268,"mpcc_state":1,"mpcc_theta_e":0.443786621,"mpcc_theta_mech":0.555703223,"sam_rpm":3.56243777,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206637681,"thr_a_norm":0.0206637681,"thr_a_v":0.582655072,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464422047,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.141226,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-2.40086174,"cg_iw_a":0.564094543,"cg_theta_rad":0.557055295,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0410237014,"mpcc_du":50.0639343,"mpcc_dv":48.7310944,"mpcc_dw":51.2689056,"mpcc_enc_sign":1,"mpcc_id_a":2.61546373,"mpcc_iq_a":-0.973598242,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.80362868,"mpcc_pred_id_a":0.609785497,"mpcc_pred_iq_a":-1.74268043,"mpcc_state":1,"mpcc_theta_e":0.4479146,"mpcc_theta_mech":0.556528866,"sam_rpm":5.019701,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206637681,"thr_a_norm":0.0206637681,"thr_a_v":0.582655072,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464422047,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.147726,"values":{"cg_iu_a":2.63413143,"cg_iv_a":0.136206627,"cg_iw_a":-2.77033806,"cg_theta_rad":0.554949343,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.000106543288,"mpcc_du":50.7859001,"mpcc_dv":48.0766335,"mpcc_dw":51.9233665,"mpcc_enc_sign":1,"mpcc_id_a":-0.107049949,"mpcc_iq_a":-1.32884669,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.0823231,"mpcc_pred_id_a":-0.196823597,"mpcc_pred_iq_a":0.713636637,"mpcc_state":1,"mpcc_theta_e":0.432275295,"mpcc_theta_mech":0.553400993,"sam_rpm":-15.4720469,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446596503,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.158346,"values":{"cg_iu_a":1.90925455,"cg_iv_a":1.07854605,"cg_iw_a":-2.9878006,"cg_theta_rad":0.552061796,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0131913368,"mpcc_du":50.2502365,"mpcc_dv":48.7535553,"mpcc_dw":51.2464447,"mpcc_enc_sign":1,"mpcc_id_a":0.974823594,"mpcc_iq_a":-0.876502752,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.4206841,"mpcc_pred_id_a":-0.10558106,"mpcc_pred_iq_a":-1.67956126,"mpcc_state":1,"mpcc_theta_e":0.444146156,"mpcc_theta_mech":0.555775106,"sam_rpm":-2.37998962,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0155905336,"thr_a_norm":0.0200217366,"thr_a_v":0.562362134,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.168142,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.24105906,"cg_iw_a":0.0566811562,"cg_theta_rad":0.553679168,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0319859125,"mpcc_du":50.2581367,"mpcc_dv":48.3859711,"mpcc_dw":51.6140289,"mpcc_enc_sign":1,"mpcc_id_a":3.17444444,"mpcc_iq_a":-0.444110751,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.9704971,"mpcc_pred_id_a":0.623927951,"mpcc_pred_iq_a":-1.9357127,"mpcc_state":1,"mpcc_theta_e":0.431670666,"mpcc_theta_mech":0.553280056,"sam_rpm":-18.2969494,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0155905336,"thr_a_norm":0.0155905336,"thr_a_v":0.562362134,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.178396,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.09608364,"cg_iw_a":-0.0882940292,"cg_theta_rad":0.555149198,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0978159904,"mpcc_du":49.550087,"mpcc_dv":48.9760513,"mpcc_dw":51.0239487,"mpcc_enc_sign":1,"mpcc_id_a":5.06713486,"mpcc_iq_a":-0.817359805,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.80987978,"mpcc_pred_id_a":1.39155114,"mpcc_pred_iq_a":1.494102,"mpcc_state":1,"mpcc_theta_e":0.42472744,"mpcc_theta_mech":0.551891446,"sam_rpm":-12.6205206,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253593475,"thr_a_norm":0.0253593475,"thr_a_v":0.60143739,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484362543,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.188314,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-2.25588632,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.556200147,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.00120626215,"mpcc_du":50.1359978,"mpcc_dv":48.8370094,"mpcc_dw":51.1629906,"mpcc_enc_sign":1,"mpcc_id_a":0.330974668,"mpcc_iq_a":-1.07048738,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.79712582,"mpcc_pred_id_a":-0.174138531,"mpcc_pred_iq_a":-1.08188677,"mpcc_state":1,"mpcc_theta_e":0.432820797,"mpcc_theta_mech":0.55351007,"sam_rpm":-12.7464905,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253593475,"thr_a_norm":0.0253593475,"thr_a_v":0.60143739,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484362543,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.198385,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.74847269,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556355119,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0504106432,"mpcc_du":49.5113678,"mpcc_dv":50.325779,"mpcc_dw":50.4886322,"mpcc_enc_sign":1,"mpcc_id_a":2.52549791,"mpcc_iq_a":-2.18909097,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.79736805,"mpcc_pred_id_a":0.395591944,"mpcc_pred_iq_a":-1.22175288,"mpcc_state":1,"mpcc_theta_e":0.436336994,"mpcc_theta_mech":0.554213285,"sam_rpm":3.10657144,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0157289952,"thr_a_norm":0.0157289952,"thr_a_v":0.562915981,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.208578,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.24105906,"cg_iw_a":-0.813171148,"cg_theta_rad":0.556711257,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0177060254,"mpcc_du":50.339325,"mpcc_dv":48.4573021,"mpcc_dw":51.5426979,"mpcc_enc_sign":1,"mpcc_id_a":2.38634586,"mpcc_iq_a":0.798297226,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.6721601,"mpcc_pred_id_a":0.146098539,"mpcc_pred_iq_a":-0.482247293,"mpcc_state":1,"mpcc_theta_e":0.429739952,"mpcc_theta_mech":0.552893877,"sam_rpm":-18.873682,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156786442,"thr_a_norm":0.0157289952,"thr_a_v":0.562714577,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467695117,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.231741,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.74847269,"cg_iw_a":-1.24809694,"cg_theta_rad":0.55746913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0290623549,"mpcc_du":49.1165047,"mpcc_dv":50.8834953,"mpcc_dw":49.8011551,"mpcc_enc_sign":1,"mpcc_id_a":2.53612709,"mpcc_iq_a":-0.466687888,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.73197985,"mpcc_pred_id_a":-0.110526294,"mpcc_pred_iq_a":-7.47720098,"mpcc_state":1,"mpcc_theta_e":0.4462924,"mpcc_theta_mech":0.556204438,"sam_rpm":6.79710913,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156786442,"thr_a_norm":0.0156786442,"thr_a_v":0.562714577,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467695117,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.238302,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.09608364,"cg_iw_a":-1.46555996,"cg_theta_rad":0.557473838,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0243492369,"mpcc_du":50.2591934,"mpcc_dv":48.7023201,"mpcc_dw":51.2976799,"mpcc_enc_sign":1,"mpcc_id_a":1.6567539,"mpcc_iq_a":-1.12513471,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.6958313,"mpcc_pred_id_a":0.0348682329,"mpcc_pred_iq_a":0.140381664,"mpcc_state":1,"mpcc_theta_e":0.451817513,"mpcc_theta_mech":0.557309389,"sam_rpm":13.8358231,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173781216,"thr_a_norm":0.0173781216,"thr_a_v":0.569512486,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452840477,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.244894,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.09608364,"cg_iw_a":-0.378245354,"cg_theta_rad":0.55619216,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.00250779022,"mpcc_du":50.2265892,"mpcc_dv":48.9343567,"mpcc_dw":51.0656433,"mpcc_enc_sign":1,"mpcc_id_a":-0.224553049,"mpcc_iq_a":-2.35097408,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.50449467,"mpcc_pred_id_a":-0.434697092,"mpcc_pred_iq_a":-3.15758109,"mpcc_state":1,"mpcc_theta_e":0.450697899,"mpcc_theta_mech":0.557085514,"sam_rpm":1.09117794,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173781216,"thr_a_norm":0.0173781216,"thr_a_v":0.569512486,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452840477,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.251333,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.806133032,"cg_iw_a":-1.75551081,"cg_theta_rad":0.557145178,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.00108126819,"mpcc_du":50.3657875,"mpcc_dv":48.7807541,"mpcc_dw":51.2192459,"mpcc_enc_sign":1,"mpcc_id_a":-0.399868548,"mpcc_iq_a":-1.79270077,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.6809683,"mpcc_pred_id_a":-0.572531402,"mpcc_pred_iq_a":-2.02603531,"mpcc_state":1,"mpcc_theta_e":0.43175745,"mpcc_theta_mech":0.5532974,"sam_rpm":-16.5199757,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233199745,"thr_a_norm":0.0233199745,"thr_a_v":0.593279898,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.261374,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.24105906,"cg_iw_a":-1.68302321,"cg_theta_rad":0.556598485,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.00317630498,"mpcc_du":49.9605484,"mpcc_dv":49.0705795,"mpcc_dw":50.9294205,"mpcc_enc_sign":1,"mpcc_id_a":0.690936446,"mpcc_iq_a":-0.815926969,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.9156876,"mpcc_pred_id_a":-0.039885819,"mpcc_pred_iq_a":1.19293344,"mpcc_state":1,"mpcc_theta_e":0.427233696,"mpcc_theta_mech":0.552392662,"sam_rpm":-28.6582756,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295136124,"thr_a_norm":0.0295136124,"thr_a_v":0.61805445,"thr_b":0.00431105494,"thr_b_norm":0.00431105494,"thr_b_v":0.51724422,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.272543,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-2.76329994,"cg_iw_a":-0.668195486,"cg_theta_rad":0.557085574,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.00914616045,"mpcc_du":49.3631096,"mpcc_dv":50.6368904,"mpcc_dw":50.1335754,"mpcc_enc_sign":1,"mpcc_id_a":1.89370382,"mpcc_iq_a":-0.296713561,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.12805843,"mpcc_pred_id_a":-0.00176741509,"mpcc_pred_iq_a":-2.97771573,"mpcc_state":1,"mpcc_theta_e":0.445425034,"mpcc_theta_mech":0.556030929,"sam_rpm":13.3092918,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295136124,"thr_a_norm":0.0295136124,"thr_a_v":0.61805445,"thr_b":0.00431105494,"thr_b_norm":0.00431105494,"thr_b_v":0.51724422,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.283743,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.661157608,"cg_iw_a":-1.46555996,"cg_theta_rad":0.555337548,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.00803250726,"mpcc_du":49.9523506,"mpcc_dv":49.0068321,"mpcc_dw":50.9931679,"mpcc_enc_sign":1,"mpcc_id_a":1.61261189,"mpcc_iq_a":-1.90951979,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.263565332,"mpcc_pred_id_a":0.10061904,"mpcc_pred_iq_a":-0.729731619,"mpcc_state":1,"mpcc_theta_e":0.439366341,"mpcc_theta_mech":0.554819167,"sam_rpm":-1.23675287,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0293247849,"thr_a_norm":0.0293247849,"thr_a_v":0.617299139,"thr_b":0.00151635706,"thr_b_norm":0.00151635706,"thr_b_v":0.506065428,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.293966,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.16857147,"cg_iw_a":1.14399624,"cg_theta_rad":0.554950953,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0528588928,"mpcc_du":50.206955,"mpcc_dv":48.7381897,"mpcc_dw":51.2618103,"mpcc_enc_sign":1,"mpcc_id_a":1.0611968,"mpcc_iq_a":0.148090839,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.36756706,"mpcc_pred_id_a":0.0320386402,"mpcc_pred_iq_a":-2.0232029,"mpcc_state":1,"mpcc_theta_e":0.444446564,"mpcc_theta_mech":0.555835247,"sam_rpm":3.86351848,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103900194,"thr_a_norm":0.0293247849,"thr_a_v":0.915600777,"thr_b":0.0457907915,"thr_b_norm":0.00151635706,"thr_b_v":0.683163166,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.303946,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-2.69081235,"cg_iw_a":0.709069967,"cg_theta_rad":0.557828903,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0116543705,"mpcc_du":48.3775673,"mpcc_dv":51.6224327,"mpcc_dw":49.0438805,"mpcc_enc_sign":1,"mpcc_id_a":1.32062662,"mpcc_iq_a":-1.65573311,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.9814796,"mpcc_pred_id_a":0.160970345,"mpcc_pred_iq_a":-5.21041965,"mpcc_state":1,"mpcc_theta_e":0.449905396,"mpcc_theta_mech":0.55216682,"sam_rpm":23.6404724,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103900194,"thr_a_norm":0.103900194,"thr_a_v":0.915600777,"thr_b":0.0457907915,"thr_b_norm":0.0457907915,"thr_b_v":0.683163166,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.327139,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.02359605,"cg_iw_a":-1.17560935,"cg_theta_rad":0.556035101,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.035438709,"mpcc_du":51.0550995,"mpcc_dv":47.4238739,"mpcc_dw":52.5761261,"mpcc_enc_sign":1,"mpcc_id_a":3.71471524,"mpcc_iq_a":-1.1686722,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.0528107,"mpcc_pred_id_a":0.414970577,"mpcc_pred_iq_a":0.611386776,"mpcc_state":1,"mpcc_theta_e":0.424346447,"mpcc_theta_mech":0.551815212,"sam_rpm":-30.1425438,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173907131,"thr_a_norm":0.0173907131,"thr_a_v":0.569562852,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453192949,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.3337,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.31354666,"cg_iw_a":-1.46555996,"cg_theta_rad":0.55425477,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0133076692,"mpcc_du":50.2810326,"mpcc_dv":48.6576195,"mpcc_dw":51.3423805,"mpcc_enc_sign":1,"mpcc_id_a":1.0600884,"mpcc_iq_a":-0.867631137,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.34807444,"mpcc_pred_id_a":-0.0448628552,"mpcc_pred_iq_a":-1.44947076,"mpcc_state":1,"mpcc_theta_e":0.442042351,"mpcc_theta_mech":0.555354416,"sam_rpm":-3.3912642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173907131,"thr_a_norm":0.0173907131,"thr_a_v":0.569562852,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453192949,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.340231,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.153744221,"cg_iw_a":-1.39307213,"cg_theta_rad":0.553799093,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.00760774827,"mpcc_du":51.0110626,"mpcc_dv":47.7275314,"mpcc_dw":52.2724686,"mpcc_enc_sign":1,"mpcc_id_a":1.14366865,"mpcc_iq_a":-1.72623372,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.1548243,"mpcc_pred_id_a":-0.0925401896,"mpcc_pred_iq_a":0.142604738,"mpcc_state":1,"mpcc_theta_e":0.434693336,"mpcc_theta_mech":0.553884566,"sam_rpm":-17.1133537,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0171892792,"thr_a_norm":0.0171892792,"thr_a_v":0.568757117,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452185839,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.346762,"values":{"cg_iu_a":1.32935333,"cg_iv_a":0.498644829,"cg_iw_a":-1.82799816,"cg_theta_rad":0.556790531,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0131434686,"mpcc_du":50.4361801,"mpcc_dv":48.3313026,"mpcc_dw":51.6686974,"mpcc_enc_sign":1,"mpcc_id_a":2.29239869,"mpcc_iq_a":-1.32082772,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.7295809,"mpcc_pred_id_a":0.164595246,"mpcc_pred_iq_a":-1.12221944,"mpcc_state":1,"mpcc_theta_e":0.429207325,"mpcc_theta_mech":0.552787423,"sam_rpm":-20.6572266,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177180022,"thr_a_norm":0.0171892792,"thr_a_v":0.570872009,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444179446,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.356802,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.24105906,"cg_iw_a":-0.885658503,"cg_theta_rad":0.5555951,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0120267952,"mpcc_du":49.6408272,"mpcc_dv":49.29776,"mpcc_dw":50.3166275,"mpcc_enc_sign":1,"mpcc_id_a":2.18970037,"mpcc_iq_a":-0.854281008,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.05678749,"mpcc_pred_id_a":0.339738131,"mpcc_pred_iq_a":0.0168802179,"mpcc_state":1,"mpcc_theta_e":0.444989681,"mpcc_theta_mech":0.555595636,"sam_rpm":11.0894413,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177180022,"thr_a_norm":0.0177180022,"thr_a_v":0.570872009,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444179446,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.365927,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-0.0087685585,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556533635,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0567797869,"mpcc_du":50.0503654,"mpcc_dv":48.5267372,"mpcc_dw":51.4732628,"mpcc_enc_sign":1,"mpcc_id_a":4.30416155,"mpcc_iq_a":-0.434294492,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.27344513,"mpcc_pred_id_a":0.976009667,"mpcc_pred_iq_a":-2.14996672,"mpcc_state":1,"mpcc_theta_e":0.436718464,"mpcc_theta_mech":0.554289579,"sam_rpm":-12.4357901,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210414231,"thr_a_norm":0.0210414231,"thr_a_v":0.584165692,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.377127,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.733645439,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556093097,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0201513041,"mpcc_du":49.5288582,"mpcc_dv":49.8490028,"mpcc_dw":50.4711418,"mpcc_enc_sign":1,"mpcc_id_a":1.826792,"mpcc_iq_a":-1.10808933,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.7872276,"mpcc_pred_id_a":0.0426063389,"mpcc_pred_iq_a":-2.56421065,"mpcc_state":1,"mpcc_theta_e":0.449056625,"mpcc_theta_mech":0.556757271,"sam_rpm":19.235054,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263412744,"thr_a_norm":0.0210414231,"thr_a_v":0.605365098,"thr_b":0.00213320553,"thr_b_norm":0,"thr_b_v":0.508532822,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.387167,"values":{"cg_iu_a":0.821939945,"cg_iv_a":0.0637187958,"cg_iw_a":-1.39307237,"cg_theta_rad":0.554276168,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0242526252,"mpcc_du":50.677578,"mpcc_dv":48.2940102,"mpcc_dw":51.7059898,"mpcc_enc_sign":1,"mpcc_id_a":-0.633381963,"mpcc_iq_a":-2.69439816,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.2088757,"mpcc_pred_id_a":-0.602196395,"mpcc_pred_iq_a":-0.150068209,"mpcc_state":1,"mpcc_theta_e":0.42428875,"mpcc_theta_mech":0.551803648,"sam_rpm":-27.7012062,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263412744,"thr_a_norm":0.0263412744,"thr_a_v":0.605365098,"thr_b":0.00213320553,"thr_b_norm":0.00213320553,"thr_b_v":0.508532822,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.397146,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.226231575,"cg_iw_a":-0.59570837,"cg_theta_rad":0.556101263,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.000711345579,"mpcc_du":50.2209358,"mpcc_dv":48.9993134,"mpcc_dw":51.0006866,"mpcc_enc_sign":1,"mpcc_id_a":0.383970231,"mpcc_iq_a":-0.26467061,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.62438202,"mpcc_pred_id_a":-0.724493802,"mpcc_pred_iq_a":-1.61120379,"mpcc_state":1,"mpcc_theta_e":0.431898594,"mpcc_theta_mech":0.553325593,"sam_rpm":-12.521843,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275749564,"thr_a_norm":0.0275749564,"thr_a_v":0.610299826,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.407125,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.96593571,"cg_iw_a":-1.03063393,"cg_theta_rad":0.555752814,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0319095552,"mpcc_du":49.373642,"mpcc_dv":50.626358,"mpcc_dw":50.1658173,"mpcc_enc_sign":1,"mpcc_id_a":1.93378985,"mpcc_iq_a":-2.24708676,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.55521011,"mpcc_pred_id_a":-0.0209701359,"mpcc_pred_iq_a":-2.76530814,"mpcc_state":1,"mpcc_theta_e":0.439914703,"mpcc_theta_mech":0.554928899,"sam_rpm":5.79271221,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275749564,"thr_a_norm":0.0275749564,"thr_a_v":0.610299826,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.430563,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.69081235,"cg_iw_a":-0.523220301,"cg_theta_rad":0.559542298,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0225509871,"mpcc_du":49.7611237,"mpcc_dv":49.5296516,"mpcc_dw":50.4703484,"mpcc_enc_sign":1,"mpcc_id_a":0.659646869,"mpcc_iq_a":-1.85099626,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.67812872,"mpcc_pred_id_a":-0.566287458,"mpcc_pred_iq_a":-4.64822006,"mpcc_state":1,"mpcc_theta_e":0.451991081,"mpcc_theta_mech":0.557344139,"sam_rpm":10.8664894,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0981597453,"thr_a_norm":0.0981597453,"thr_a_v":0.892638981,"thr_b":0.0428198576,"thr_b_norm":0.0428198576,"thr_b_v":0.67127943,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.437063,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.31354666,"cg_iw_a":-0.885658741,"cg_theta_rad":0.555620611,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0118636582,"mpcc_du":49.8046532,"mpcc_dv":49.1195068,"mpcc_dw":50.8804932,"mpcc_enc_sign":1,"mpcc_id_a":1.60699022,"mpcc_iq_a":-0.393142521,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.99603415,"mpcc_pred_id_a":0.361255378,"mpcc_pred_iq_a":-0.275265872,"mpcc_state":1,"mpcc_theta_e":0.446224213,"mpcc_theta_mech":0.556190729,"sam_rpm":10.1195173,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024767682,"thr_a_norm":0.0981597453,"thr_a_v":0.599070728,"thr_b":0,"thr_b_norm":0.0428198576,"thr_b_v":0.482549787,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.443624,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.226231575,"cg_iw_a":-0.59570837,"cg_theta_rad":0.554550111,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0296039321,"mpcc_du":50.2438049,"mpcc_dv":48.7824478,"mpcc_dw":51.2175522,"mpcc_enc_sign":1,"mpcc_id_a":0.864293694,"mpcc_iq_a":0.941093802,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.20340157,"mpcc_pred_id_a":-0.237300232,"mpcc_pred_iq_a":-2.63474679,"mpcc_state":1,"mpcc_theta_e":0.435165405,"mpcc_theta_mech":0.553979039,"sam_rpm":-12.2661753,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024767682,"thr_a_norm":0.024767682,"thr_a_v":0.599070728,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482549787,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.450155,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-0.951108456,"cg_iw_a":0.854045391,"cg_theta_rad":0.557120025,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0317262784,"mpcc_du":50.8326645,"mpcc_dv":47.9268532,"mpcc_dw":50.4202461,"mpcc_enc_sign":1,"mpcc_id_a":0.883712113,"mpcc_iq_a":-0.220122188,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.5782413,"mpcc_pred_id_a":0.0190917682,"mpcc_pred_iq_a":-2.09374571,"mpcc_state":1,"mpcc_theta_e":0.43352747,"mpcc_theta_mech":0.557085395,"sam_rpm":-22.1833878,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167612731,"thr_a_norm":0.0167612731,"thr_a_v":0.567045093,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.460348,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.588670254,"cg_iw_a":-1.75551033,"cg_theta_rad":0.555438221,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0197314005,"mpcc_du":50.501091,"mpcc_dv":48.6022606,"mpcc_dw":51.3977394,"mpcc_enc_sign":1,"mpcc_id_a":-0.219170526,"mpcc_iq_a":-1.18934882,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.69593203,"mpcc_pred_id_a":-0.507871211,"mpcc_pred_iq_a":-2.04844522,"mpcc_state":1,"mpcc_theta_e":0.445331573,"mpcc_theta_mech":0.556012273,"sam_rpm":-2.32103634,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0975303203,"thr_a_norm":0.0167612731,"thr_a_v":0.890121281,"thr_b":0.0386404246,"thr_b_norm":0,"thr_b_v":0.654561698,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.470327,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.951108456,"cg_iw_a":-0.305757523,"cg_theta_rad":0.555738986,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0542393588,"mpcc_du":48.933445,"mpcc_dv":51.066555,"mpcc_dw":49.2384491,"mpcc_enc_sign":1,"mpcc_id_a":-1.58502197,"mpcc_iq_a":-3.92159081,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.05523682,"mpcc_pred_id_a":-1.02702463,"mpcc_pred_iq_a":-5.39984989,"mpcc_state":1,"mpcc_theta_e":0.441356659,"mpcc_theta_mech":0.555217266,"sam_rpm":7.09246922,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0975303203,"thr_a_norm":0.0975303203,"thr_a_v":0.890121281,"thr_b":0.0386404246,"thr_b_norm":0.0386404246,"thr_b_v":0.654561698,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.480337,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.588670254,"cg_iw_a":0.201656103,"cg_theta_rad":0.556299806,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.00116984639,"mpcc_du":50.1931076,"mpcc_dv":48.876133,"mpcc_dw":51.123867,"mpcc_enc_sign":1,"mpcc_id_a":0.6815992,"mpcc_iq_a":-1.69373977,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.1684809,"mpcc_pred_id_a":-0.20271796,"mpcc_pred_iq_a":-2.93176413,"mpcc_state":1,"mpcc_theta_e":0.432977676,"mpcc_theta_mech":0.553541481,"sam_rpm":-16.0209541,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021469444,"thr_a_norm":0.021469444,"thr_a_v":0.585877776,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471320659,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.490347,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.878620625,"cg_iw_a":-1.24809694,"cg_theta_rad":0.557244897,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0200283788,"mpcc_du":49.4416161,"mpcc_dv":48.7660942,"mpcc_dw":51.2339058,"mpcc_enc_sign":1,"mpcc_id_a":2.43185306,"mpcc_iq_a":-1.18882585,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.9849565,"mpcc_pred_id_a":0.171195403,"mpcc_pred_iq_a":-3.50926852,"mpcc_state":1,"mpcc_theta_e":0.440732479,"mpcc_theta_mech":0.555092454,"sam_rpm":2.18116903,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021469444,"thr_a_norm":0.021469444,"thr_a_v":0.585877776,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471320659,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.500723,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.74847269,"cg_iw_a":-1.17560959,"cg_theta_rad":0.55494529,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.00644447468,"mpcc_du":49.2905998,"mpcc_dv":50.7094002,"mpcc_dw":50.016613,"mpcc_enc_sign":1,"mpcc_id_a":0.0468281209,"mpcc_iq_a":-0.804985166,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.94383049,"mpcc_pred_id_a":-0.831977308,"mpcc_pred_iq_a":-3.57613802,"mpcc_state":1,"mpcc_theta_e":0.442502022,"mpcc_theta_mech":0.555446327,"sam_rpm":11.5214138,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0161318332,"thr_a_norm":0.0161318332,"thr_a_v":0.564527333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469054729,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.510763,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.443694592,"cg_iw_a":-1.17560935,"cg_theta_rad":0.55641669,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0149109839,"mpcc_du":50.5504189,"mpcc_dv":48.4574471,"mpcc_dw":51.5425529,"mpcc_enc_sign":1,"mpcc_id_a":2.9914484,"mpcc_iq_a":0.161816224,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.01734567,"mpcc_pred_id_a":0.438250601,"mpcc_pred_iq_a":-1.61027122,"mpcc_state":1,"mpcc_theta_e":0.442431927,"mpcc_theta_mech":0.555752754,"sam_rpm":-10.2258167,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288338214,"thr_a_norm":0.0161318332,"thr_a_v":0.615335286,"thr_b":0.00331653655,"thr_b_norm":0,"thr_b_v":0.513266146,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.533773,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.371207237,"cg_iw_a":-1.17560911,"cg_theta_rad":0.557788253,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.00318033271,"mpcc_du":50.6701736,"mpcc_dv":48.1601906,"mpcc_dw":51.8398094,"mpcc_enc_sign":1,"mpcc_id_a":1.1181941,"mpcc_iq_a":-1.43721855,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.37658215,"mpcc_pred_id_a":0.0110180685,"mpcc_pred_iq_a":0.400377303,"mpcc_state":1,"mpcc_theta_e":0.434505939,"mpcc_theta_mech":0.553847134,"sam_rpm":-13.7809649,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288338214,"thr_a_norm":0.0288338214,"thr_a_v":0.615335286,"thr_b":0.00331653655,"thr_b_norm":0.00331653655,"thr_b_v":0.513266146,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.540365,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.6759851,"cg_iw_a":-0.813171148,"cg_theta_rad":0.553228855,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.00493465271,"mpcc_du":49.7769699,"mpcc_dv":49.3541718,"mpcc_dw":50.6458282,"mpcc_enc_sign":1,"mpcc_id_a":0.0171806794,"mpcc_iq_a":-2.33276486,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.9230671,"mpcc_pred_id_a":-0.145227134,"mpcc_pred_iq_a":-1.83578229,"mpcc_state":1,"mpcc_theta_e":0.45442915,"mpcc_theta_mech":0.557831705,"sam_rpm":18.3691483,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101420239,"thr_a_norm":0.101420239,"thr_a_v":0.905680954,"thr_b":0.0410196781,"thr_b_norm":0.0410196781,"thr_b_v":0.664078712,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.546774,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.24105906,"cg_iw_a":-0.523220539,"cg_theta_rad":0.551897347,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0208623987,"mpcc_du":49.5334702,"mpcc_dv":50.4665298,"mpcc_dw":50.3236313,"mpcc_enc_sign":1,"mpcc_id_a":1.77901483,"mpcc_iq_a":-0.355463386,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.43532276,"mpcc_pred_id_a":-0.0201554727,"mpcc_pred_iq_a":-4.61649656,"mpcc_state":1,"mpcc_theta_e":0.432298183,"mpcc_theta_mech":0.553405523,"sam_rpm":12.2936335,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101420239,"thr_a_norm":0.101420239,"thr_a_v":0.905680954,"thr_b":0.0410196781,"thr_b_norm":0.0410196781,"thr_b_v":0.664078712,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.553335,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.53100967,"cg_iw_a":0.926532745,"cg_theta_rad":0.557309449,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.00664091203,"mpcc_du":50.4298019,"mpcc_dv":48.7649155,"mpcc_dw":51.2350845,"mpcc_enc_sign":1,"mpcc_id_a":-1.09138858,"mpcc_iq_a":-1.70247269,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.10713196,"mpcc_pred_id_a":-0.658379257,"mpcc_pred_iq_a":-2.228549,"mpcc_state":1,"mpcc_theta_e":0.43845892,"mpcc_theta_mech":0.55463773,"sam_rpm":-7.14279079,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296520889,"thr_a_norm":0.0296520889,"thr_a_v":0.618608356,"thr_b":0.00456282496,"thr_b_norm":0.00456282496,"thr_b_v":0.5182513,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.561544,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.588670254,"cg_iw_a":-2.26292419,"cg_theta_rad":0.557190001,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0269817375,"mpcc_du":49.8693314,"mpcc_dv":49.0805054,"mpcc_dw":50.9194946,"mpcc_enc_sign":1,"mpcc_id_a":2.65375209,"mpcc_iq_a":-0.892113566,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.35813189,"mpcc_pred_id_a":0.224313185,"mpcc_pred_iq_a":-1.8826375,"mpcc_state":1,"mpcc_theta_e":0.445637703,"mpcc_theta_mech":0.556073487,"sam_rpm":5.04542303,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0191153586,"thr_a_norm":0.0296520889,"thr_a_v":0.576461434,"thr_b":0,"thr_b_norm":0.00456282496,"thr_b_v":0.464724183,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.571554,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.16857147,"cg_iw_a":-2.26292419,"cg_theta_rad":0.557035744,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0474669375,"mpcc_du":49.5798073,"mpcc_dv":50.3188934,"mpcc_dw":50.4201927,"mpcc_enc_sign":1,"mpcc_id_a":2.63056755,"mpcc_iq_a":-0.788409173,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":19.0532742,"mpcc_pred_id_a":0.0694873035,"mpcc_pred_iq_a":-3.27851629,"mpcc_state":1,"mpcc_theta_e":0.461123943,"mpcc_theta_mech":0.559170723,"sam_rpm":29.0599804,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0191153586,"thr_a_norm":0.0191153586,"thr_a_v":0.576461434,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464724183,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.58135,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.516182423,"cg_iw_a":-1.32058477,"cg_theta_rad":0.555290639,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.00442635361,"mpcc_du":50.327919,"mpcc_dv":48.6424065,"mpcc_dw":51.3575935,"mpcc_enc_sign":1,"mpcc_id_a":0.465835273,"mpcc_iq_a":-1.27931738,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.249416098,"mpcc_pred_id_a":-0.144050851,"mpcc_pred_iq_a":-0.731840312,"mpcc_state":1,"mpcc_theta_e":0.440561295,"mpcc_theta_mech":0.555058181,"sam_rpm":-18.9218388,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469810039,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.591482,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.53100967,"cg_iw_a":0.419119358,"cg_theta_rad":0.556472778,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0431073867,"mpcc_du":49.4936523,"mpcc_dv":49.8465614,"mpcc_dw":50.5063477,"mpcc_enc_sign":1,"mpcc_id_a":2.71062279,"mpcc_iq_a":-2.1515739,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.4996357,"mpcc_pred_id_a":0.422822326,"mpcc_pred_iq_a":-3.31212854,"mpcc_state":1,"mpcc_theta_e":0.42784977,"mpcc_theta_mech":0.552515864,"sam_rpm":-13.9779253,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469810039,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.601522,"values":{"cg_iu_a":-0.555325985,"cg_iv_a":-2.11091113,"cg_iw_a":2.66623712,"cg_theta_rad":0.557190001,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.050623361,"mpcc_du":50.4266396,"mpcc_dv":48.3811264,"mpcc_dw":51.6188736,"mpcc_enc_sign":1,"mpcc_id_a":2.60972524,"mpcc_iq_a":-0.304380059,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.21279335,"mpcc_pred_id_a":0.290342838,"mpcc_pred_iq_a":-1.72397411,"mpcc_state":1,"mpcc_theta_e":0.441960812,"mpcc_theta_mech":0.555338085,"sam_rpm":-5.23657703,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0155779272,"thr_a_norm":0.0155779272,"thr_a_v":0.562311709,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.611746,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.47334933,"cg_iw_a":1.36145902,"cg_theta_rad":0.55342406,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0318787992,"mpcc_du":50.7392883,"mpcc_dv":47.9232254,"mpcc_dw":52.0767746,"mpcc_enc_sign":1,"mpcc_id_a":2.04534602,"mpcc_iq_a":-1.50353169,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.9881659,"mpcc_pred_id_a":0.393494725,"mpcc_pred_iq_a":-1.84544742,"mpcc_state":1,"mpcc_theta_e":0.436378956,"mpcc_theta_mech":0.55422169,"sam_rpm":-14.970808,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234332681,"thr_a_norm":0.0155779272,"thr_a_v":0.593733072,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.634787,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.6759851,"cg_iw_a":2.08633566,"cg_theta_rad":0.556153715,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0137983654,"mpcc_du":51.726223,"mpcc_dv":47.0525398,"mpcc_dw":52.9474602,"mpcc_enc_sign":1,"mpcc_id_a":-0.918196678,"mpcc_iq_a":-1.59603941,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.1031609,"mpcc_pred_id_a":-0.6828444,"mpcc_pred_iq_a":-7.58406115,"mpcc_state":1,"mpcc_theta_e":0.456622601,"mpcc_theta_mech":0.558270454,"sam_rpm":-23.9639339,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234332681,"thr_a_norm":0.0234332681,"thr_a_v":0.593733072,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.641287,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.588670254,"cg_iw_a":0.636582375,"cg_theta_rad":0.553252816,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0218098909,"mpcc_du":50.1352844,"mpcc_dv":48.7604713,"mpcc_dw":51.2395287,"mpcc_enc_sign":1,"mpcc_id_a":2.2832334,"mpcc_iq_a":-1.50048614,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.516863406,"mpcc_pred_id_a":0.293785721,"mpcc_pred_iq_a":-1.71168053,"mpcc_state":1,"mpcc_theta_e":0.444602966,"mpcc_theta_mech":0.555866539,"sam_rpm":1.04890394,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023533985,"thr_a_norm":0.023533985,"thr_a_v":0.59413594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473032743,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.647787,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-2.83578777,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.556287646,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.10810665,"mpcc_du":49.3911324,"mpcc_dv":49.3153114,"mpcc_dw":50.6846886,"mpcc_enc_sign":1,"mpcc_id_a":5.60548449,"mpcc_iq_a":1.08519065,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.02542019,"mpcc_pred_id_a":1.16015863,"mpcc_pred_iq_a":-2.4671061,"mpcc_state":1,"mpcc_theta_e":0.445336819,"mpcc_theta_mech":0.556013286,"sam_rpm":5.99571037,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023533985,"thr_a_norm":0.023533985,"thr_a_v":0.59413594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473032743,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.654348,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.53100967,"cg_iw_a":0.346631527,"cg_theta_rad":0.559201241,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0189129263,"mpcc_du":50.1563797,"mpcc_dv":48.6335564,"mpcc_dw":51.3664436,"mpcc_enc_sign":1,"mpcc_id_a":2.10738039,"mpcc_iq_a":0.189369023,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.3679314,"mpcc_pred_id_a":0.278076708,"mpcc_pred_iq_a":-2.58861232,"mpcc_state":1,"mpcc_theta_e":0.42983532,"mpcc_theta_mech":0.552912951,"sam_rpm":-20.1144562,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.106820777,"thr_a_norm":0.106820777,"thr_a_v":0.927283108,"thr_b":0.0544644147,"thr_b_norm":0.0544644147,"thr_b_v":0.717857659,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.662619,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.160782099,"cg_theta_rad":0.555315733,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.00295475125,"mpcc_du":50.7214661,"mpcc_dv":48.1865082,"mpcc_dw":51.8134918,"mpcc_enc_sign":1,"mpcc_id_a":0.775908291,"mpcc_iq_a":-1.16708791,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-22.1197186,"mpcc_pred_id_a":-0.476072282,"mpcc_pred_iq_a":-1.31459641,"mpcc_state":1,"mpcc_theta_e":0.446418762,"mpcc_theta_mech":0.556229651,"sam_rpm":-33.1952667,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0155905336,"thr_a_norm":0.106820777,"thr_a_v":0.562362134,"thr_b":0,"thr_b_norm":0.0544644147,"thr_b_v":0.452840477,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.672506,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.153744221,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.556768239,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.111453451,"mpcc_du":50.2933922,"mpcc_dv":48.5571899,"mpcc_dw":51.4428101,"mpcc_enc_sign":1,"mpcc_id_a":3.05566788,"mpcc_iq_a":0.954881608,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.510087311,"mpcc_pred_id_a":0.974654794,"mpcc_pred_iq_a":-0.905849516,"mpcc_state":1,"mpcc_theta_e":0.446313381,"mpcc_theta_mech":0.558093786,"sam_rpm":-4.73586941,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0155905336,"thr_a_norm":0.0155905336,"thr_a_v":0.562362134,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452840477,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.68276,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.02359605,"cg_iw_a":0.491606951,"cg_theta_rad":0.553952217,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.000502571813,"mpcc_du":49.8969002,"mpcc_dv":49.3613472,"mpcc_dw":50.6386528,"mpcc_enc_sign":1,"mpcc_id_a":0.22143428,"mpcc_iq_a":-2.46352744,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.040648032,"mpcc_pred_id_a":-0.598210096,"mpcc_pred_iq_a":-3.47613025,"mpcc_state":1,"mpcc_theta_e":0.443380833,"mpcc_theta_mech":0.555622101,"sam_rpm":0.603950143,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0293625593,"thr_a_norm":0.0293625593,"thr_a_v":0.617450237,"thr_b":0.00310254097,"thr_b_norm":0.00310254097,"thr_b_v":0.512410164,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.693777,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.24105906,"cg_iw_a":-0.885658503,"cg_theta_rad":0.555435002,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.018920023,"mpcc_du":49.3542709,"mpcc_dv":50.6457291,"mpcc_dw":50.1666985,"mpcc_enc_sign":1,"mpcc_id_a":2.61579752,"mpcc_iq_a":-1.63893521,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.3052368,"mpcc_pred_id_a":0.0954850316,"mpcc_pred_iq_a":-3.94434118,"mpcc_state":1,"mpcc_theta_e":0.452362537,"mpcc_theta_mech":0.555561244,"sam_rpm":20.0824718,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0293625593,"thr_a_norm":0.0293625593,"thr_a_v":0.617450237,"thr_b":0.00310254097,"thr_b_norm":0.00310254097,"thr_b_v":0.512410164,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.703115,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.0087685585,"cg_iw_a":-1.75551081,"cg_theta_rad":0.556453288,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0238202624,"mpcc_du":49.8171959,"mpcc_dv":49.0206032,"mpcc_dw":50.9793968,"mpcc_enc_sign":1,"mpcc_id_a":2.71240854,"mpcc_iq_a":-1.27424395,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.7314358,"mpcc_pred_id_a":0.326244414,"mpcc_pred_iq_a":-1.84122837,"mpcc_state":1,"mpcc_theta_e":0.426573753,"mpcc_theta_mech":0.552260697,"sam_rpm":-17.2742653,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278645009,"thr_a_norm":0.0278645009,"thr_a_v":0.611458004,"thr_b":0.000484094024,"thr_b_norm":0.000484094024,"thr_b_v":0.501936376,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.712912,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.878620625,"cg_iw_a":-2.04546118,"cg_theta_rad":0.555319071,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.00393602625,"mpcc_du":49.571003,"mpcc_dv":50.2174072,"mpcc_dw":50.428997,"mpcc_enc_sign":1,"mpcc_id_a":1.22173357,"mpcc_iq_a":-1.36745763,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.33128738,"mpcc_pred_id_a":-0.0966662094,"mpcc_pred_iq_a":-2.52574205,"mpcc_state":1,"mpcc_theta_e":0.445577621,"mpcc_theta_mech":0.556061447,"sam_rpm":10.7812328,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278645009,"thr_a_norm":0.0278645009,"thr_a_v":0.611458004,"thr_b":0.000484094024,"thr_b_norm":0.000484094024,"thr_b_v":0.501936376,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.736166,"values":{"cg_iu_a":0.749452114,"cg_iv_a":0.0637187958,"cg_iw_a":-0.81317091,"cg_theta_rad":0.552293122,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.00840375293,"mpcc_du":49.3636665,"mpcc_dv":50.6363335,"mpcc_dw":50.2083473,"mpcc_enc_sign":1,"mpcc_id_a":-0.175996929,"mpcc_iq_a":-1.76726019,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.232097358,"mpcc_pred_id_a":-0.604071915,"mpcc_pred_iq_a":-1.83877957,"mpcc_state":1,"mpcc_theta_e":0.446557999,"mpcc_theta_mech":0.556257546,"sam_rpm":27.3259125,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466486603,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.742727,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.09608364,"cg_iw_a":0.926532984,"cg_theta_rad":0.558424354,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.021527363,"mpcc_du":50.3559456,"mpcc_dv":48.283432,"mpcc_dw":51.716568,"mpcc_enc_sign":1,"mpcc_id_a":0.619882822,"mpcc_iq_a":-0.102656543,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.41287374,"mpcc_pred_id_a":0.69229269,"mpcc_pred_iq_a":-0.546401501,"mpcc_state":1,"mpcc_theta_e":0.440516949,"mpcc_theta_mech":0.5550493,"sam_rpm":-6.08403301,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296520889,"thr_a_norm":0.0240501165,"thr_a_v":0.618608356,"thr_b":0.00448729098,"thr_b_norm":0,"thr_b_v":0.517949164,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.749228,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.226231575,"cg_iw_a":-2.19043684,"cg_theta_rad":0.553288877,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0143179977,"mpcc_du":49.2892303,"mpcc_dv":50.7107697,"mpcc_dw":50.1045876,"mpcc_enc_sign":1,"mpcc_id_a":0.931334674,"mpcc_iq_a":-0.959444046,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.2434244,"mpcc_pred_id_a":0.0998680815,"mpcc_pred_iq_a":-5.54193449,"mpcc_state":1,"mpcc_theta_e":0.452017784,"mpcc_theta_mech":0.557349503,"sam_rpm":16.5093765,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296520889,"thr_a_norm":0.0296520889,"thr_a_v":0.618608356,"thr_b":0.00448729098,"thr_b_norm":0.00448729098,"thr_b_v":0.517949164,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.755941,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.89344811,"cg_iw_a":-0.813171148,"cg_theta_rad":0.556080639,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0231605824,"mpcc_du":50.1486702,"mpcc_dv":48.5624733,"mpcc_dw":51.4375267,"mpcc_enc_sign":1,"mpcc_id_a":3.02297187,"mpcc_iq_a":-0.594179273,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.2136221,"mpcc_pred_id_a":0.393383592,"mpcc_pred_iq_a":-1.79711628,"mpcc_state":1,"mpcc_theta_e":0.428473473,"mpcc_theta_mech":0.55388093,"sam_rpm":-20.5449677,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197070241,"thr_a_norm":0.0197070241,"thr_a_v":0.578828096,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474543363,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.766134,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.371207237,"cg_iw_a":-0.305757046,"cg_theta_rad":0.556787431,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.00174858619,"mpcc_du":49.7904434,"mpcc_dv":49.3565178,"mpcc_dw":50.6434822,"mpcc_enc_sign":1,"mpcc_id_a":0.124400169,"mpcc_iq_a":-2.32583261,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.80281854,"mpcc_pred_id_a":-0.389827967,"mpcc_pred_iq_a":-1.87832642,"mpcc_state":1,"mpcc_theta_e":0.444233894,"mpcc_theta_mech":0.555792689,"sam_rpm":3.02182364,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250320435,"thr_a_norm":0.0197070241,"thr_a_v":0.600128174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493476748,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.776114,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.24105906,"cg_iw_a":-2.11794901,"cg_theta_rad":0.552394807,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0125318142,"mpcc_du":49.6010208,"mpcc_dv":50.2528381,"mpcc_dw":50.3989792,"mpcc_enc_sign":1,"mpcc_id_a":1.53307986,"mpcc_iq_a":-1.05206406,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.7016387,"mpcc_pred_id_a":-0.168078125,"mpcc_pred_iq_a":-4.69430828,"mpcc_state":1,"mpcc_theta_e":0.445427895,"mpcc_theta_mech":0.556031466,"sam_rpm":7.61556768,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250320435,"thr_a_norm":0.0250320435,"thr_a_v":0.600128174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493476748,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.787527,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.153744221,"cg_iw_a":-1.03063393,"cg_theta_rad":0.55611378,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.00952004455,"mpcc_du":49.6821365,"mpcc_dv":50.0441246,"mpcc_dw":50.2620354,"mpcc_enc_sign":1,"mpcc_id_a":0.339852124,"mpcc_iq_a":-1.21606588,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0546383597,"mpcc_pred_id_a":-0.634204328,"mpcc_pred_iq_a":-2.53768253,"mpcc_state":1,"mpcc_theta_e":0.436329842,"mpcc_theta_mech":0.554211855,"sam_rpm":-0.971613705,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204497576,"thr_a_norm":0.0204497576,"thr_a_v":0.58179903,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461199343,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.798727,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.806133032,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556577325,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0961544961,"mpcc_du":50.0815125,"mpcc_dv":48.8698235,"mpcc_dw":51.1301765,"mpcc_enc_sign":1,"mpcc_id_a":1.83420873,"mpcc_iq_a":-0.0990705267,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.93322372,"mpcc_pred_id_a":0.0176929757,"mpcc_pred_iq_a":-3.1548357,"mpcc_state":1,"mpcc_theta_e":0.454084873,"mpcc_theta_mech":0.557762921,"sam_rpm":12.1299582,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0204497576,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469759673,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.808859,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.45852208,"cg_iw_a":-1.03063416,"cg_theta_rad":0.557354152,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.00121558562,"mpcc_du":49.6560249,"mpcc_dv":49.7851906,"mpcc_dw":52.5040283,"mpcc_enc_sign":1,"mpcc_id_a":0.681312621,"mpcc_iq_a":-1.84313166,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.4729867,"mpcc_pred_id_a":-0.554915965,"mpcc_pred_iq_a":-4.58798075,"mpcc_state":1,"mpcc_theta_e":0.440261364,"mpcc_theta_mech":0.554432213,"sam_rpm":-4.54507208,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469759673,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.819143,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.153744221,"cg_iw_a":-0.885658741,"cg_theta_rad":0.555893719,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.047342319,"mpcc_du":48.7149086,"mpcc_dv":51.2850914,"mpcc_dw":49.2250214,"mpcc_enc_sign":1,"mpcc_id_a":1.06452632,"mpcc_iq_a":-3.55945611,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.7082243,"mpcc_pred_id_a":-0.374243706,"mpcc_pred_iq_a":-4.81218672,"mpcc_state":1,"mpcc_theta_e":0.44358778,"mpcc_theta_mech":0.555663466,"sam_rpm":13.6948833,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026227966,"thr_a_norm":0.026227966,"thr_a_v":0.604911864,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498310834,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.842367,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-1.16857147,"cg_iw_a":0.999020576,"cg_theta_rad":0.554932237,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.00542026991,"mpcc_du":50.7565994,"mpcc_dv":48.0377274,"mpcc_dw":51.9622726,"mpcc_enc_sign":1,"mpcc_id_a":0.612207711,"mpcc_iq_a":-0.462125629,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.5923576,"mpcc_pred_id_a":-0.0526510216,"mpcc_pred_iq_a":0.215083003,"mpcc_state":1,"mpcc_theta_e":0.432008743,"mpcc_theta_mech":0.553347707,"sam_rpm":-17.0292854,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026227966,"thr_a_norm":0.026227966,"thr_a_v":0.604911864,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498310834,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.848898,"values":{"cg_iu_a":3.79393435,"cg_iv_a":-2.32837415,"cg_iw_a":-1.4655602,"cg_theta_rad":0.551697969,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.00729256542,"mpcc_du":50.1568985,"mpcc_dv":48.6398087,"mpcc_dw":51.3601913,"mpcc_enc_sign":1,"mpcc_id_a":0.628093958,"mpcc_iq_a":-1.77632618,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.45033169,"mpcc_pred_id_a":-0.191775039,"mpcc_pred_iq_a":-5.99727106,"mpcc_state":1,"mpcc_theta_e":0.443347454,"mpcc_theta_mech":0.554244816,"sam_rpm":-1.57069278,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024490729,"thr_a_norm":0.024490729,"thr_a_v":0.597962916,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481593013,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.855398,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-0.661157608,"cg_iw_a":0.0566806793,"cg_theta_rad":0.554085553,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0546271726,"mpcc_du":50.9272232,"mpcc_dv":47.6315689,"mpcc_dw":52.3684311,"mpcc_enc_sign":1,"mpcc_id_a":2.96649241,"mpcc_iq_a":-0.0926856473,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.0402546,"mpcc_pred_id_a":0.547308445,"mpcc_pred_iq_a":0.721002042,"mpcc_state":1,"mpcc_theta_e":0.454013348,"mpcc_theta_mech":0.557748556,"sam_rpm":-10.724925,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024490729,"thr_a_norm":0.024490729,"thr_a_v":0.597962916,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481593013,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.861929,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.02359605,"cg_iw_a":0.564094543,"cg_theta_rad":0.556352735,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.00560828298,"mpcc_du":49.7992897,"mpcc_dv":49.3613548,"mpcc_dw":50.6386452,"mpcc_enc_sign":1,"mpcc_id_a":0.430523515,"mpcc_iq_a":-0.335293174,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.64448714,"mpcc_pred_id_a":-0.310155571,"mpcc_pred_iq_a":-3.49383545,"mpcc_state":1,"mpcc_theta_e":0.437164307,"mpcc_theta_mech":0.554378808,"sam_rpm":-5.91646814,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019807741,"thr_a_norm":0.019807741,"thr_a_v":0.579230964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478521377,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.872152,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.661157608,"cg_iw_a":-2.19043684,"cg_theta_rad":0.553873897,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0505164936,"mpcc_du":49.7532959,"mpcc_dv":49.2945366,"mpcc_dw":50.7054634,"mpcc_enc_sign":1,"mpcc_id_a":2.05935407,"mpcc_iq_a":-3.02652264,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.03810787,"mpcc_pred_id_a":-0.179262847,"mpcc_pred_iq_a":-0.371871352,"mpcc_state":1,"mpcc_theta_e":0.434238911,"mpcc_theta_mech":0.554492652,"sam_rpm":-4.75866842,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10663195,"thr_a_norm":0.019807741,"thr_a_v":0.926527798,"thr_b":0.0491645634,"thr_b_norm":0,"thr_b_v":0.696658254,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.881918,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.226231575,"cg_iw_a":-2.55287504,"cg_theta_rad":0.556778252,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0168883018,"mpcc_du":50.0591393,"mpcc_dv":48.7053185,"mpcc_dw":51.2946815,"mpcc_enc_sign":1,"mpcc_id_a":2.31222558,"mpcc_iq_a":-1.10320401,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.63145542,"mpcc_pred_id_a":0.244484141,"mpcc_pred_iq_a":-0.27234143,"mpcc_state":1,"mpcc_theta_e":0.43042469,"mpcc_theta_mech":0.553030849,"sam_rpm":-13.1060572,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10663195,"thr_a_norm":0.10663195,"thr_a_v":0.926527798,"thr_b":0.0491645634,"thr_b_norm":0.0491645634,"thr_b_v":0.696658254,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.89205,"values":{"cg_iu_a":1.18437815,"cg_iv_a":0.136206627,"cg_iw_a":-1.32058477,"cg_theta_rad":0.553726494,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.121052727,"mpcc_du":49.3917046,"mpcc_dv":49.4742851,"mpcc_dw":50.6082954,"mpcc_enc_sign":1,"mpcc_id_a":3.03896356,"mpcc_iq_a":0.0953816026,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.00114965,"mpcc_pred_id_a":0.611452043,"mpcc_pred_iq_a":-4.6990366,"mpcc_state":1,"mpcc_theta_e":0.441635132,"mpcc_theta_mech":0.555272937,"sam_rpm":12.6223869,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228416175,"thr_a_norm":0.0228416175,"thr_a_v":0.59136647,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472529203,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.901907,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.16857147,"cg_iw_a":-0.378245115,"cg_theta_rad":0.555994153,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.013204555,"mpcc_du":50.4766731,"mpcc_dv":48.1733017,"mpcc_dw":51.8266983,"mpcc_enc_sign":1,"mpcc_id_a":2.10778475,"mpcc_iq_a":-1.19984674,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.8833523,"mpcc_pred_id_a":0.346211404,"mpcc_pred_iq_a":-1.36231673,"mpcc_state":1,"mpcc_theta_e":0.432795525,"mpcc_theta_mech":0.553505063,"sam_rpm":-19.7500496,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228416175,"thr_a_norm":0.0228416175,"thr_a_v":0.59136647,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472529203,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.911917,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.806133032,"cg_iw_a":-0.885658741,"cg_theta_rad":0.553924441,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10020,"hz_vsense":364,"mpcc_cost":0.0199457463,"mpcc_du":49.6341248,"mpcc_dv":50.0904922,"mpcc_dw":50.3658752,"mpcc_enc_sign":1,"mpcc_id_a":-0.850310385,"mpcc_iq_a":-3.85620117,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.53722811,"mpcc_pred_id_a":-0.498900324,"mpcc_pred_iq_a":-2.54522586,"mpcc_state":1,"mpcc_theta_e":0.445518494,"mpcc_theta_mech":0.556049585,"sam_rpm":10.0552359,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023357749,"thr_a_norm":0.023357749,"thr_a_v":0.593430996,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463918507,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.936911,"values":{"cg_iu_a":2.5616436,"cg_iv_a":0.208694458,"cg_iw_a":-2.77033806,"cg_theta_rad":0.556394875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0216596834,"mpcc_du":51.1312027,"mpcc_dv":47.4612541,"mpcc_dw":52.5387459,"mpcc_enc_sign":1,"mpcc_id_a":0.813803434,"mpcc_iq_a":-0.371134281,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.7446823,"mpcc_pred_id_a":0.130603448,"mpcc_pred_iq_a":0.413853437,"mpcc_state":1,"mpcc_theta_e":0.432415962,"mpcc_theta_mech":0.553429127,"sam_rpm":-20.8444576,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163836032,"thr_a_norm":0.023357749,"thr_a_v":0.565534413,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479024947,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.943472,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-2.40086174,"cg_iw_a":0.78155756,"cg_theta_rad":0.556751788,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0237818491,"mpcc_du":50.5176506,"mpcc_dv":48.0812302,"mpcc_dw":51.9187698,"mpcc_enc_sign":1,"mpcc_id_a":2.87809873,"mpcc_iq_a":-0.383920401,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.4325447,"mpcc_pred_id_a":0.401880324,"mpcc_pred_iq_a":-1.30330491,"mpcc_state":1,"mpcc_theta_e":0.426491261,"mpcc_theta_mech":0.552244127,"sam_rpm":-26.226656,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163836032,"thr_a_norm":0.0163836032,"thr_a_v":0.565534413,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479024947,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.949972,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.0384233,"cg_iw_a":0.346631765,"cg_theta_rad":0.555354416,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0108395489,"mpcc_du":49.7883377,"mpcc_dv":49.1233902,"mpcc_dw":50.8766098,"mpcc_enc_sign":1,"mpcc_id_a":1.94316363,"mpcc_iq_a":-1.21167791,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.45950127,"mpcc_pred_id_a":0.0994913206,"mpcc_pred_iq_a":-2.51131749,"mpcc_state":1,"mpcc_theta_e":0.431071281,"mpcc_theta_mech":0.553160131,"sam_rpm":-13.6495953,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452840477,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.956503,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.733645439,"cg_iw_a":-0.885658741,"cg_theta_rad":0.554123938,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0046138023,"mpcc_du":49.2723503,"mpcc_dv":50.7276497,"mpcc_dw":50.0208778,"mpcc_enc_sign":1,"mpcc_id_a":0.149062708,"mpcc_iq_a":-1.23379683,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.5762148,"mpcc_pred_id_a":-0.253088564,"mpcc_pred_iq_a":-4.29340458,"mpcc_state":1,"mpcc_theta_e":0.455824852,"mpcc_theta_mech":0.558110893,"sam_rpm":22.475481,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.018951714,"thr_a_norm":0.0232444406,"thr_a_v":0.575806856,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.965902,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.53100967,"cg_iw_a":-1.17560959,"cg_theta_rad":0.556840837,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0203738846,"mpcc_du":49.6858521,"mpcc_dv":49.5814438,"mpcc_dw":50.4185562,"mpcc_enc_sign":1,"mpcc_id_a":-1.35424554,"mpcc_iq_a":-1.95142078,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.06843996,"mpcc_pred_id_a":-0.703725755,"mpcc_pred_iq_a":-2.23764849,"mpcc_state":1,"mpcc_theta_e":0.43304491,"mpcc_theta_mech":0.553554893,"sam_rpm":-7.76820707,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.018951714,"thr_a_norm":0.018951714,"thr_a_v":0.575806856,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.976248,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.443694592,"cg_iw_a":0.201656342,"cg_theta_rad":0.552666128,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0293690357,"mpcc_du":50.3156967,"mpcc_dv":48.7064896,"mpcc_dw":51.2935104,"mpcc_enc_sign":1,"mpcc_id_a":-0.00569492811,"mpcc_iq_a":-1.75439036,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.03220558,"mpcc_pred_id_a":-0.310962945,"mpcc_pred_iq_a":-5.27030039,"mpcc_state":1,"mpcc_theta_e":0.444622517,"mpcc_theta_mech":0.555870414,"sam_rpm":-10.9838743,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0268951803,"thr_a_norm":0.0268951803,"thr_a_v":0.607580721,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.985922,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.371207237,"cg_iw_a":-1.24809694,"cg_theta_rad":0.552600741,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0165820345,"mpcc_du":49.8308334,"mpcc_dv":49.3547668,"mpcc_dw":50.6452332,"mpcc_enc_sign":1,"mpcc_id_a":-0.840863824,"mpcc_iq_a":-2.61164117,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.37078857,"mpcc_pred_id_a":-0.462606788,"mpcc_pred_iq_a":-4.39512062,"mpcc_state":1,"mpcc_theta_e":0.453015804,"mpcc_theta_mech":0.557549119,"sam_rpm":10.5516949,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0268951803,"thr_a_norm":0.0268951803,"thr_a_v":0.607580721,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":22.996084,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-0.878620625,"cg_iw_a":0.78155756,"cg_theta_rad":0.555276632,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0178133175,"mpcc_du":49.2547073,"mpcc_dv":50.7452927,"mpcc_dw":50.0849571,"mpcc_enc_sign":1,"mpcc_id_a":2.65996528,"mpcc_iq_a":-1.55071819,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.9910116,"mpcc_pred_id_a":0.118622512,"mpcc_pred_iq_a":-3.97686076,"mpcc_state":1,"mpcc_theta_e":0.447493076,"mpcc_theta_mech":0.556444526,"sam_rpm":15.1008329,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0419512391,"thr_a_norm":0.0419512391,"thr_a_v":0.667804956,"thr_b":0.0148855597,"thr_b_norm":0.0148855597,"thr_b_v":0.559542239,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.006521,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.153744221,"cg_iw_a":-0.595707893,"cg_theta_rad":0.557916164,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00031347145,"mpcc_du":50.1040764,"mpcc_dv":48.9396629,"mpcc_dw":51.0603371,"mpcc_enc_sign":1,"mpcc_id_a":0.272703052,"mpcc_iq_a":-0.856726646,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.1514978,"mpcc_pred_id_a":-0.313701957,"mpcc_pred_iq_a":-3.14799476,"mpcc_state":1,"mpcc_theta_e":0.429180622,"mpcc_theta_mech":0.553226411,"sam_rpm":-20.0508614,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292240679,"thr_a_norm":0.0419512391,"thr_a_v":0.616896272,"thr_b":0.00335431099,"thr_b_norm":0.0148855597,"thr_b_v":0.513417244,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.016317,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.24105906,"cg_iw_a":-0.523220301,"cg_theta_rad":0.556232691,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0196633656,"mpcc_du":49.775013,"mpcc_dv":49.0929413,"mpcc_dw":50.9070587,"mpcc_enc_sign":1,"mpcc_id_a":2.77005768,"mpcc_iq_a":-0.631097436,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.57282448,"mpcc_pred_id_a":0.332772166,"mpcc_pred_iq_a":-2.75964832,"mpcc_state":1,"mpcc_theta_e":0.433188438,"mpcc_theta_mech":0.553583622,"sam_rpm":-12.2329121,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292240679,"thr_a_norm":0.0292240679,"thr_a_v":0.616896272,"thr_b":0.00335431099,"thr_b_norm":0.00335431099,"thr_b_v":0.513417244,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.039663,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.38603449,"cg_iw_a":-0.015806675,"cg_theta_rad":0.554288685,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0123108262,"mpcc_du":51.0434875,"mpcc_dv":47.5265694,"mpcc_dw":52.4734306,"mpcc_enc_sign":1,"mpcc_id_a":2.18726683,"mpcc_iq_a":-1.55005217,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.3590984,"mpcc_pred_id_a":0.254086971,"mpcc_pred_iq_a":1.22158694,"mpcc_state":1,"mpcc_theta_e":0.429616928,"mpcc_theta_mech":0.55286932,"sam_rpm":-22.7942657,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259636045,"thr_a_norm":0.0259636045,"thr_a_v":0.603854418,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491915792,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.046164,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.733645439,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556830943,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0127249388,"mpcc_du":49.5201416,"mpcc_dv":50.1935959,"mpcc_dw":50.4798584,"mpcc_enc_sign":1,"mpcc_id_a":2.10772967,"mpcc_iq_a":-0.354129076,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.66151142,"mpcc_pred_id_a":0.303738356,"mpcc_pred_iq_a":-3.0468359,"mpcc_state":1,"mpcc_theta_e":0.446132183,"mpcc_theta_mech":0.554434121,"sam_rpm":7.44923592,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259636045,"thr_a_norm":0.0259636045,"thr_a_v":0.603854418,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491915792,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.052725,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.60349751,"cg_iw_a":0.0566811562,"cg_theta_rad":0.556299865,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0105046406,"mpcc_du":50.2178612,"mpcc_dv":48.4913063,"mpcc_dw":51.5086937,"mpcc_enc_sign":1,"mpcc_id_a":2.02945423,"mpcc_iq_a":-1.87450588,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.04283202,"mpcc_pred_id_a":0.562825024,"mpcc_pred_iq_a":0.178464502,"mpcc_state":1,"mpcc_theta_e":0.439463139,"mpcc_theta_mech":0.554838538,"sam_rpm":-1.71948349,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226401836,"thr_a_norm":0.0226401836,"thr_a_v":0.590560734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477614999,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.059713,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.60349751,"cg_iw_a":0.564094543,"cg_theta_rad":0.557229877,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0190492161,"mpcc_du":49.5301743,"mpcc_dv":49.8037949,"mpcc_dw":50.4698257,"mpcc_enc_sign":1,"mpcc_id_a":2.55320573,"mpcc_iq_a":-0.586171985,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.97557425,"mpcc_pred_id_a":0.0469417721,"mpcc_pred_iq_a":-4.46390438,"mpcc_state":1,"mpcc_theta_e":0.436466694,"mpcc_theta_mech":0.554239213,"sam_rpm":-4.83466673,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273105949,"thr_a_norm":0.0226401836,"thr_a_v":0.60924238,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485319316,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.069723,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.38603449,"cg_iw_a":0.636582375,"cg_theta_rad":0.554242253,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0112032956,"mpcc_du":49.6253357,"mpcc_dv":50.0435791,"mpcc_dw":50.3746643,"mpcc_enc_sign":1,"mpcc_id_a":-0.211724252,"mpcc_iq_a":-0.823243201,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.8527908,"mpcc_pred_id_a":-0.457255751,"mpcc_pred_iq_a":-3.16769385,"mpcc_state":1,"mpcc_theta_e":0.45253849,"mpcc_theta_mech":0.557453632,"sam_rpm":16.6241283,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273105949,"thr_a_norm":0.0273105949,"thr_a_v":0.60924238,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485319316,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.079947,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.60349751,"cg_iw_a":-0.81317091,"cg_theta_rad":0.554956973,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00483518373,"mpcc_du":50.2236023,"mpcc_dv":48.7149773,"mpcc_dw":51.2850227,"mpcc_enc_sign":1,"mpcc_id_a":1.38761377,"mpcc_iq_a":-1.55357337,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.7202177,"mpcc_pred_id_a":-0.17667459,"mpcc_pred_iq_a":-2.15868139,"mpcc_state":1,"mpcc_theta_e":0.430386066,"mpcc_theta_mech":0.55302316,"sam_rpm":-17.0418797,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266685635,"thr_a_norm":0.0266685635,"thr_a_v":0.606674254,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477514297,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.089712,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.806133032,"cg_iw_a":0.564094543,"cg_theta_rad":0.554443061,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0353241265,"mpcc_du":50.153492,"mpcc_dv":48.8759613,"mpcc_dw":51.1240387,"mpcc_enc_sign":1,"mpcc_id_a":1.23976648,"mpcc_iq_a":-2.31756878,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.484031498,"mpcc_pred_id_a":-0.206760898,"mpcc_pred_iq_a":-4.59782457,"mpcc_state":1,"mpcc_theta_e":0.451494694,"mpcc_theta_mech":0.557244837,"sam_rpm":1.74620283,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266685635,"thr_a_norm":0.0266685635,"thr_a_v":0.606674254,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477514297,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.099905,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.31354666,"cg_iw_a":1.07150817,"cg_theta_rad":0.556032538,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0300449673,"mpcc_du":50.039753,"mpcc_dv":48.9304161,"mpcc_dw":51.0695839,"mpcc_enc_sign":1,"mpcc_id_a":2.02794123,"mpcc_iq_a":-1.52692592,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.57453895,"mpcc_pred_id_a":-0.00478925649,"mpcc_pred_iq_a":-3.05170774,"mpcc_state":1,"mpcc_theta_e":0.447865486,"mpcc_theta_mech":0.556519032,"sam_rpm":3.06402349,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186621547,"thr_a_norm":0.0186621547,"thr_a_v":0.574648619,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460444033,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.110159,"values":{"cg_iu_a":3.79393435,"cg_iv_a":-0.516182423,"cg_iw_a":0.0566806793,"cg_theta_rad":0.554538608,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00883356761,"mpcc_du":49.6392097,"mpcc_dv":49.3857422,"mpcc_dw":50.6142578,"mpcc_enc_sign":1,"mpcc_id_a":1.70511568,"mpcc_iq_a":-0.519974291,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.48422909,"mpcc_pred_id_a":0.0231716894,"mpcc_pred_iq_a":0.860100925,"mpcc_state":1,"mpcc_theta_e":0.43962574,"mpcc_theta_mech":0.554871023,"sam_rpm":9.0571003,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248558074,"thr_a_norm":0.0186621547,"thr_a_v":0.59942323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470666051,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.119925,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-2.69081235,"cg_iw_a":2.08633542,"cg_theta_rad":0.55775243,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0201432183,"mpcc_du":49.8533974,"mpcc_dv":49.2159386,"mpcc_dw":50.7840614,"mpcc_enc_sign":1,"mpcc_id_a":0.798511267,"mpcc_iq_a":-0.234019786,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.12811685,"mpcc_pred_id_a":-0.102078199,"mpcc_pred_iq_a":-1.20193744,"mpcc_state":1,"mpcc_theta_e":0.441493988,"mpcc_theta_mech":0.555244744,"sam_rpm":-0.101440489,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248558074,"thr_a_norm":0.0248558074,"thr_a_v":0.59942323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470666051,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.143362,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.53100967,"cg_iw_a":-1.17560911,"cg_theta_rad":0.557150185,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00296362746,"mpcc_du":49.8771095,"mpcc_dv":49.438961,"mpcc_dw":50.561039,"mpcc_enc_sign":1,"mpcc_id_a":-1.08864582,"mpcc_iq_a":-2.35097885,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.20728683,"mpcc_pred_id_a":-0.855917335,"mpcc_pred_iq_a":-3.89923644,"mpcc_state":1,"mpcc_theta_e":0.443291664,"mpcc_theta_mech":0.555604219,"sam_rpm":-3.46950102,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263034999,"thr_a_norm":0.0263034999,"thr_a_v":0.605214,"thr_b":0.000798806548,"thr_b_norm":0.000798806548,"thr_b_v":0.503195226,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.149832,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.226231575,"cg_iw_a":-0.668195724,"cg_theta_rad":0.554243743,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00957249664,"mpcc_du":49.7747383,"mpcc_dv":49.1434631,"mpcc_dw":50.8565369,"mpcc_enc_sign":1,"mpcc_id_a":1.79958749,"mpcc_iq_a":-1.16956019,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.00859725568,"mpcc_pred_id_a":0.206846669,"mpcc_pred_iq_a":-1.99768901,"mpcc_state":1,"mpcc_theta_e":0.441295147,"mpcc_theta_mech":0.555204928,"sam_rpm":-0.25071615,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263034999,"thr_a_norm":0.0263034999,"thr_a_v":0.605214,"thr_b":0.000798806548,"thr_b_norm":0.000798806548,"thr_b_v":0.503195226,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.156393,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.53100967,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.557006121,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.000175794135,"mpcc_du":49.325058,"mpcc_dv":50.674942,"mpcc_dw":49.9288902,"mpcc_enc_sign":1,"mpcc_id_a":0.108250514,"mpcc_iq_a":-1.01812291,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.50052071,"mpcc_pred_id_a":-0.514034569,"mpcc_pred_iq_a":-5.50196123,"mpcc_state":1,"mpcc_theta_e":0.440446377,"mpcc_theta_mech":0.555035174,"sam_rpm":0.841612935,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202105641,"thr_a_norm":0.0202105641,"thr_a_v":0.580842257,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466939807,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.163137,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.371207237,"cg_iw_a":0.781557798,"cg_theta_rad":0.555901706,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.051132787,"mpcc_du":49.5693817,"mpcc_dv":49.1594772,"mpcc_dw":50.8405228,"mpcc_enc_sign":1,"mpcc_id_a":4.39912128,"mpcc_iq_a":-1.77995467,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.30375814,"mpcc_pred_id_a":0.935146451,"mpcc_pred_iq_a":-1.92011762,"mpcc_state":1,"mpcc_theta_e":0.447108746,"mpcc_theta_mech":0.556367695,"sam_rpm":8.03298855,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222499371,"thr_a_norm":0.0222499371,"thr_a_v":0.588999748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480888069,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.173117,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.96593571,"cg_iw_a":1.57892203,"cg_theta_rad":0.555354714,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00275730854,"mpcc_du":50.5615997,"mpcc_dv":48.2800484,"mpcc_dw":51.7199516,"mpcc_enc_sign":1,"mpcc_id_a":0.521349847,"mpcc_iq_a":-1.85515237,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.55928802,"mpcc_pred_id_a":-0.0905182436,"mpcc_pred_iq_a":-1.41079462,"mpcc_state":1,"mpcc_theta_e":0.436565876,"mpcc_theta_mech":0.554259062,"sam_rpm":-14.3766441,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222499371,"thr_a_norm":0.0222499371,"thr_a_v":0.588999748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480888069,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.183371,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.45852208,"cg_iw_a":0.41911912,"cg_theta_rad":0.553718328,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0128392437,"mpcc_du":50.7220917,"mpcc_dv":48.0870247,"mpcc_dw":51.9129753,"mpcc_enc_sign":1,"mpcc_id_a":1.67292738,"mpcc_iq_a":-1.10094297,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.38312435,"mpcc_pred_id_a":-0.0419804677,"mpcc_pred_iq_a":0.0428728983,"mpcc_state":1,"mpcc_theta_e":0.437286854,"mpcc_theta_mech":0.554403245,"sam_rpm":-11.0212402,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173655301,"thr_a_norm":0.0173655301,"thr_a_v":0.569462121,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448258162,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.193533,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.661157608,"cg_iw_a":-2.33541203,"cg_theta_rad":0.552810371,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.000921001367,"mpcc_du":49.4731903,"mpcc_dv":49.7929649,"mpcc_dw":50.3560944,"mpcc_enc_sign":1,"mpcc_id_a":-0.515461028,"mpcc_iq_a":-2.44376445,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.8952904,"mpcc_pred_id_a":-0.499835342,"mpcc_pred_iq_a":-3.18188691,"mpcc_state":1,"mpcc_theta_e":0.452338696,"mpcc_theta_mech":0.557413697,"sam_rpm":20.8078842,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022149235,"thr_a_norm":0.0173655301,"thr_a_v":0.58859694,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474795133,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.203329,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.6759851,"cg_iw_a":0.709069967,"cg_theta_rad":0.556727052,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0254282709,"mpcc_du":49.7507095,"mpcc_dv":49.1030388,"mpcc_dw":50.8969612,"mpcc_enc_sign":1,"mpcc_id_a":2.75382447,"mpcc_iq_a":-1.68992519,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.5022259,"mpcc_pred_id_a":0.299929291,"mpcc_pred_iq_a":-3.64742422,"mpcc_state":1,"mpcc_theta_e":0.447861671,"mpcc_theta_mech":0.556518257,"sam_rpm":4.39611721,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022149235,"thr_a_norm":0.022149235,"thr_a_v":0.58859694,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474795133,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.213705,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.951108456,"cg_iw_a":-1.75551081,"cg_theta_rad":0.551516294,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0378388911,"mpcc_du":50.1676521,"mpcc_dv":48.7803955,"mpcc_dw":51.2196045,"mpcc_enc_sign":1,"mpcc_id_a":1.52516139,"mpcc_iq_a":-0.393374473,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.91183114,"mpcc_pred_id_a":-0.00845896173,"mpcc_pred_iq_a":-3.00665736,"mpcc_state":1,"mpcc_theta_e":0.442131996,"mpcc_theta_mech":0.555553794,"sam_rpm":-3.36076117,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273231864,"thr_a_norm":0.0273231864,"thr_a_v":0.609292746,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480938405,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.223684,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.38603449,"cg_iw_a":-1.24809694,"cg_theta_rad":0.556497693,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0536088198,"mpcc_du":50.4064827,"mpcc_dv":48.2689896,"mpcc_dw":51.7310104,"mpcc_enc_sign":1,"mpcc_id_a":2.35946012,"mpcc_iq_a":0.188455239,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.36143875,"mpcc_pred_id_a":0.54032284,"mpcc_pred_iq_a":-1.67433584,"mpcc_state":1,"mpcc_theta_e":0.440191269,"mpcc_theta_mech":0.554984152,"sam_rpm":-8.42195702,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273231864,"thr_a_norm":0.0273231864,"thr_a_v":0.609292746,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480938405,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.246725,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.588670254,"cg_iw_a":0.0566811562,"cg_theta_rad":0.555006981,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0126068173,"mpcc_du":48.2962837,"mpcc_dv":51.7037163,"mpcc_dw":48.7987862,"mpcc_enc_sign":1,"mpcc_id_a":1.66781723,"mpcc_iq_a":-1.77320492,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.4666748,"mpcc_pred_id_a":-0.224648565,"mpcc_pred_iq_a":-7.33348322,"mpcc_state":1,"mpcc_theta_e":0.448429585,"mpcc_theta_mech":0.556631863,"sam_rpm":15.806694,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296269208,"thr_a_norm":0.0296269208,"thr_a_v":0.618507683,"thr_b":0.00540627539,"thr_b_norm":0.00540627539,"thr_b_v":0.521625102,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.253256,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.53100967,"cg_iw_a":1.8688724,"cg_theta_rad":0.556412399,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00418631453,"mpcc_du":49.9626007,"mpcc_dv":49.0081024,"mpcc_dw":50.9918976,"mpcc_enc_sign":1,"mpcc_id_a":0.227950901,"mpcc_iq_a":-1.5908159,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.78740382,"mpcc_pred_id_a":0.0890473351,"mpcc_pred_iq_a":-1.56406248,"mpcc_state":1,"mpcc_theta_e":0.447916031,"mpcc_theta_mech":0.556529105,"sam_rpm":5.42035198,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103333712,"thr_a_norm":0.0296269208,"thr_a_v":0.913334846,"thr_b":0.0495799929,"thr_b_norm":0.00540627539,"thr_b_v":0.698319972,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.259787,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.16857147,"cg_iw_a":-1.75551081,"cg_theta_rad":0.557483613,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.015922755,"mpcc_du":51.2576714,"mpcc_dv":47.2215652,"mpcc_dw":52.7784348,"mpcc_enc_sign":1,"mpcc_id_a":2.50481796,"mpcc_iq_a":-1.73115945,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.0706787,"mpcc_pred_id_a":0.287804306,"mpcc_pred_iq_a":1.21477139,"mpcc_state":1,"mpcc_theta_e":0.426457882,"mpcc_theta_mech":0.552237451,"sam_rpm":-29.9887695,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103333712,"thr_a_norm":0.103333712,"thr_a_v":0.913334846,"thr_b":0.0495799929,"thr_b_norm":0.0495799929,"thr_b_v":0.698319972,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.266317,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.03063393,"cg_theta_rad":0.556395173,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0329063646,"mpcc_du":49.9633713,"mpcc_dv":49.0013084,"mpcc_dw":50.9986916,"mpcc_enc_sign":1,"mpcc_id_a":1.28560412,"mpcc_iq_a":0.972214341,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.97422838,"mpcc_pred_id_a":-0.0463294089,"mpcc_pred_iq_a":-2.7690866,"mpcc_state":1,"mpcc_theta_e":0.439716816,"mpcc_theta_mech":0.554889262,"sam_rpm":-5.98213387,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195811391,"thr_a_norm":0.0195811391,"thr_a_v":0.578324556,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472881675,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.274496,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.09608364,"cg_iw_a":-0.305757523,"cg_theta_rad":0.555913925,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0368441194,"mpcc_du":49.7130089,"mpcc_dv":50.2869911,"mpcc_dw":50.2623177,"mpcc_enc_sign":1,"mpcc_id_a":-1.18329656,"mpcc_iq_a":-0.681674778,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.16024077,"mpcc_pred_id_a":-0.963536799,"mpcc_pred_iq_a":-7.29324293,"mpcc_state":1,"mpcc_theta_e":0.446630478,"mpcc_theta_mech":0.55627197,"sam_rpm":2.69787192,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195811391,"thr_a_norm":0.0195811391,"thr_a_v":0.578324556,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472881675,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.284719,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-0.806133032,"cg_iw_a":2.52126169,"cg_theta_rad":0.558344781,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0174926817,"mpcc_du":50.5353355,"mpcc_dv":48.2488136,"mpcc_dw":51.7511864,"mpcc_enc_sign":1,"mpcc_id_a":2.5844059,"mpcc_iq_a":-1.89186466,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.2929354,"mpcc_pred_id_a":0.102243915,"mpcc_pred_iq_a":-1.24140811,"mpcc_state":1,"mpcc_theta_e":0.435917377,"mpcc_theta_mech":0.554129362,"sam_rpm":-15.8092041,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0334035307,"thr_a_norm":0.0334035307,"thr_a_v":0.633614123,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482952625,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.29479,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.40789986,"cg_theta_rad":0.557045877,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00173347536,"mpcc_du":49.4847527,"mpcc_dv":50.5152473,"mpcc_dw":50.2497711,"mpcc_enc_sign":1,"mpcc_id_a":0.430118024,"mpcc_iq_a":-2.01133633,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.64349079,"mpcc_pred_id_a":-0.195630267,"mpcc_pred_iq_a":-3.28929353,"mpcc_state":1,"mpcc_theta_e":0.446743965,"mpcc_theta_mech":0.556294739,"sam_rpm":13.454587,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022073701,"thr_a_norm":0.0334035307,"thr_a_v":0.588294804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473687351,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.305716,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.6759851,"cg_iw_a":-0.885658503,"cg_theta_rad":0.553739429,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0747983754,"mpcc_du":50.4994965,"mpcc_dv":48.2173805,"mpcc_dw":51.7826195,"mpcc_enc_sign":1,"mpcc_id_a":2.84797525,"mpcc_iq_a":-0.143350706,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.0285821,"mpcc_pred_id_a":0.41961205,"mpcc_pred_iq_a":-1.89056194,"mpcc_state":1,"mpcc_theta_e":0.443344116,"mpcc_theta_mech":0.555614769,"sam_rpm":-4.67642117,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022073701,"thr_a_norm":0.022073701,"thr_a_v":0.588294804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473687351,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.315115,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.16857147,"cg_iw_a":-1.61053514,"cg_theta_rad":0.554357827,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.024108775,"mpcc_du":49.5839005,"mpcc_dv":49.9587402,"mpcc_dw":50.4160995,"mpcc_enc_sign":1,"mpcc_id_a":1.18210697,"mpcc_iq_a":-2.15953946,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.50608778,"mpcc_pred_id_a":-0.0730707943,"mpcc_pred_iq_a":-2.40733218,"mpcc_state":1,"mpcc_theta_e":0.434775829,"mpcc_theta_mech":0.553901076,"sam_rpm":-4.30548143,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00709316134,"thr_b_norm":0.00709316134,"thr_b_v":0.528372645,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.325094,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.516182423,"cg_iw_a":-2.26292419,"cg_theta_rad":0.553746223,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0621683896,"mpcc_du":51.0137177,"mpcc_dv":47.6803474,"mpcc_dw":52.3196526,"mpcc_enc_sign":1,"mpcc_id_a":2.57653332,"mpcc_iq_a":-0.88061595,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.2371941,"mpcc_pred_id_a":0.102457836,"mpcc_pred_iq_a":-2.05486345,"mpcc_state":1,"mpcc_theta_e":0.43863678,"mpcc_theta_mech":0.554673254,"sam_rpm":-18.1243038,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00709316134,"thr_b_norm":0.00709316134,"thr_b_v":0.528372645,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.348379,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.74847269,"cg_iw_a":-3.78516531,"cg_theta_rad":0.557219803,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0123748649,"mpcc_du":50.7829056,"mpcc_dv":47.9402657,"mpcc_dw":52.0597343,"mpcc_enc_sign":1,"mpcc_id_a":1.79837823,"mpcc_iq_a":0.36379537,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.25819921,"mpcc_pred_id_a":0.230122626,"mpcc_pred_iq_a":2.63753986,"mpcc_state":1,"mpcc_theta_e":0.437990189,"mpcc_theta_mech":0.554543912,"sam_rpm":-8.86164284,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162577182,"thr_a_norm":0.0162577182,"thr_a_v":0.565030873,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466285199,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.354818,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.298719406,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.556339622,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00875673536,"mpcc_du":49.7079659,"mpcc_dv":49.4683418,"mpcc_dw":50.7932053,"mpcc_enc_sign":1,"mpcc_id_a":0.162056997,"mpcc_iq_a":-1.88664436,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.55322552,"mpcc_pred_id_a":-0.25732106,"mpcc_pred_iq_a":-3.51750946,"mpcc_state":1,"mpcc_theta_e":0.450224876,"mpcc_theta_mech":0.556990921,"sam_rpm":10.095047,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0279777944,"thr_a_norm":0.0162577182,"thr_a_v":0.611911178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49810943,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.361349,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.31354666,"cg_iw_a":-1.53804779,"cg_theta_rad":0.557085931,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0157358367,"mpcc_du":50.1593552,"mpcc_dv":48.9373436,"mpcc_dw":51.0626564,"mpcc_enc_sign":1,"mpcc_id_a":1.4912107,"mpcc_iq_a":-0.463071853,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.6469264,"mpcc_pred_id_a":-0.370360434,"mpcc_pred_iq_a":-2.76629829,"mpcc_state":1,"mpcc_theta_e":0.438135624,"mpcc_theta_mech":0.554573059,"sam_rpm":-8.44336033,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0279777944,"thr_a_norm":0.0279777944,"thr_a_v":0.611911178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49810943,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.369772,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.02359605,"cg_iw_a":0.346631765,"cg_theta_rad":0.554413319,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00268067303,"mpcc_du":49.6600304,"mpcc_dv":49.6253128,"mpcc_dw":50.3746872,"mpcc_enc_sign":1,"mpcc_id_a":0.149092451,"mpcc_iq_a":-1.59672141,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.7614677,"mpcc_pred_id_a":-0.436493248,"mpcc_pred_iq_a":-3.7514019,"mpcc_state":1,"mpcc_theta_e":0.44503355,"mpcc_theta_mech":0.555952609,"sam_rpm":4.03439856,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.107563511,"thr_a_norm":0.107563511,"thr_a_v":0.930254042,"thr_b":0.0406042635,"thr_b_norm":0.0406042635,"thr_b_v":0.662417054,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.379721,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.45852208,"cg_iw_a":0.564094782,"cg_theta_rad":0.55667156,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.158219367,"mpcc_du":49.3543663,"mpcc_dv":49.7026291,"mpcc_dw":50.6456337,"mpcc_enc_sign":1,"mpcc_id_a":5.52975845,"mpcc_iq_a":-0.0409031659,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.8643637,"mpcc_pred_id_a":1.31044507,"mpcc_pred_iq_a":-0.449632287,"mpcc_state":1,"mpcc_theta_e":0.437515736,"mpcc_theta_mech":0.554449081,"sam_rpm":8.02104282,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195685476,"thr_a_norm":0.0195685476,"thr_a_v":0.57827419,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469457537,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.3897,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.878620625,"cg_iw_a":2.95618749,"cg_theta_rad":0.555923641,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0160061456,"mpcc_du":50.9148712,"mpcc_dv":48.0527802,"mpcc_dw":51.9472198,"mpcc_enc_sign":1,"mpcc_id_a":-1.47040427,"mpcc_iq_a":-1.15809989,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.5435467,"mpcc_pred_id_a":-0.562282562,"mpcc_pred_iq_a":-0.841442347,"mpcc_state":1,"mpcc_theta_e":0.435091972,"mpcc_theta_mech":0.553964317,"sam_rpm":-15.0491867,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195685476,"thr_a_norm":0.0195685476,"thr_a_v":0.57827419,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469457537,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.399923,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-2.18339872,"cg_iw_a":1.21648383,"cg_theta_rad":0.557169855,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0849393979,"mpcc_du":50.2760582,"mpcc_dv":48.376133,"mpcc_dw":51.623867,"mpcc_enc_sign":1,"mpcc_id_a":3.31203341,"mpcc_iq_a":-0.190018445,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.91485226,"mpcc_pred_id_a":0.720984578,"mpcc_pred_iq_a":-2.39353728,"mpcc_state":1,"mpcc_theta_e":0.446761608,"mpcc_theta_mech":0.556298196,"sam_rpm":-1.46547818,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176173002,"thr_a_norm":0.0176173002,"thr_a_v":0.570469201,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.434007794,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.410086,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-2.0384233,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.555287182,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0916945413,"mpcc_du":50.4521904,"mpcc_dv":48.3236694,"mpcc_dw":51.6763306,"mpcc_enc_sign":1,"mpcc_id_a":0.92159009,"mpcc_iq_a":0.347750247,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.74475074,"mpcc_pred_id_a":0.341866434,"mpcc_pred_iq_a":-1.37036157,"mpcc_state":1,"mpcc_theta_e":0.452265739,"mpcc_theta_mech":0.557399035,"sam_rpm":7.26058578,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177305937,"thr_a_norm":0.0176173002,"thr_a_v":0.570922375,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446747541,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.419882,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.02359605,"cg_iw_a":0.999020815,"cg_theta_rad":0.555470049,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.136011273,"mpcc_du":50.1412697,"mpcc_dv":48.8289108,"mpcc_dw":51.1710892,"mpcc_enc_sign":1,"mpcc_id_a":3.53797579,"mpcc_iq_a":1.78903639,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.22982597,"mpcc_pred_id_a":0.264499784,"mpcc_pred_iq_a":-1.89552355,"mpcc_state":1,"mpcc_theta_e":0.447114944,"mpcc_theta_mech":0.556368887,"sam_rpm":7.11773157,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177305937,"thr_a_norm":0.0177305937,"thr_a_v":0.570922375,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446747541,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.430319,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.02359605,"cg_iw_a":-0.885658503,"cg_theta_rad":0.555834591,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.040414609,"mpcc_du":50.1517982,"mpcc_dv":48.8436508,"mpcc_dw":51.1563492,"mpcc_enc_sign":1,"mpcc_id_a":0.274249196,"mpcc_iq_a":0.0130441962,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.28877005,"mpcc_pred_id_a":-0.118201286,"mpcc_pred_iq_a":-2.4945693,"mpcc_state":1,"mpcc_theta_e":0.44412899,"mpcc_theta_mech":0.556529343,"sam_rpm":1.72616541,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185111016,"thr_a_norm":0.0185111016,"thr_a_v":0.574044406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453092247,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.453329,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.443694592,"cg_iw_a":-1.75551081,"cg_theta_rad":0.554444253,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.000118524993,"mpcc_du":49.6303444,"mpcc_dv":50.3696556,"mpcc_dw":50.8895416,"mpcc_enc_sign":1,"mpcc_id_a":0.137055755,"mpcc_iq_a":-2.6154325,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.99402618,"mpcc_pred_id_a":-0.565606415,"mpcc_pred_iq_a":-4.54525709,"mpcc_state":1,"mpcc_theta_e":0.448184967,"mpcc_theta_mech":0.556582928,"sam_rpm":12.0907774,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185111016,"thr_a_norm":0.0185111016,"thr_a_v":0.574044406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453092247,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.45986,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.31354666,"cg_iw_a":-0.668195724,"cg_theta_rad":0.551748157,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00615736051,"mpcc_du":49.6199875,"mpcc_dv":50.2927513,"mpcc_dw":51.3248253,"mpcc_enc_sign":1,"mpcc_id_a":0.734628439,"mpcc_iq_a":-1.55005836,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.50405884,"mpcc_pred_id_a":-0.230693609,"mpcc_pred_iq_a":-5.98400164,"mpcc_state":1,"mpcc_theta_e":0.44410944,"mpcc_theta_mech":0.552853882,"sam_rpm":1.92697752,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00687915087,"thr_b_norm":0.00687915087,"thr_b_v":0.527516603,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.466391,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-2.0384233,"cg_iw_a":0.201656103,"cg_theta_rad":0.557254791,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0224822499,"mpcc_du":50.2521019,"mpcc_dv":48.5463028,"mpcc_dw":51.4536972,"mpcc_enc_sign":1,"mpcc_id_a":2.25580788,"mpcc_iq_a":-0.536291003,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.33785391,"mpcc_pred_id_a":0.301232964,"mpcc_pred_iq_a":-1.67705297,"mpcc_state":1,"mpcc_theta_e":0.435064793,"mpcc_theta_mech":0.553958833,"sam_rpm":-10.4264288,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00687915087,"thr_b_norm":0.00687915087,"thr_b_v":0.527516603,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.472891,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.24105906,"cg_iw_a":3.39111352,"cg_theta_rad":0.556551516,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00639203656,"mpcc_du":49.5679207,"mpcc_dv":50.4320793,"mpcc_dw":50.3157654,"mpcc_enc_sign":1,"mpcc_id_a":-0.400864571,"mpcc_iq_a":-3.03278804,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.9971962,"mpcc_pred_id_a":-0.562978148,"mpcc_pred_iq_a":-2.74446583,"mpcc_state":1,"mpcc_theta_e":0.428125858,"mpcc_theta_mech":0.552571058,"sam_rpm":9.55540562,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256111175,"thr_a_norm":0.0256111175,"thr_a_v":0.60244447,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494131356,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.482687,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-1.02359605,"cg_iw_a":-1.24809718,"cg_theta_rad":0.557728171,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0262419824,"mpcc_du":50.3884583,"mpcc_dv":48.3886642,"mpcc_dw":51.6113358,"mpcc_enc_sign":1,"mpcc_id_a":2.19532204,"mpcc_iq_a":-0.839729011,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.45514774,"mpcc_pred_id_a":0.216702864,"mpcc_pred_iq_a":-2.19522166,"mpcc_state":1,"mpcc_theta_e":0.438352585,"mpcc_theta_mech":0.554616451,"sam_rpm":-12.269268,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254097134,"thr_a_norm":0.0256111175,"thr_a_v":0.601638854,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48829025,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.492453,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.60349751,"cg_iw_a":0.999020576,"cg_theta_rad":0.556077003,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.178697929,"mpcc_du":50.1632195,"mpcc_dv":48.4742851,"mpcc_dw":51.5257149,"mpcc_enc_sign":1,"mpcc_id_a":3.94559717,"mpcc_iq_a":0.916306913,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.922822,"mpcc_pred_id_a":0.70477438,"mpcc_pred_iq_a":-3.46739697,"mpcc_state":1,"mpcc_theta_e":0.454979897,"mpcc_theta_mech":0.557941914,"sam_rpm":12.0080223,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254097134,"thr_a_norm":0.0254097134,"thr_a_v":0.601638854,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48829025,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.50292,"values":{"cg_iu_a":1.69179153,"cg_iv_a":0.208694458,"cg_iw_a":-1.75551033,"cg_theta_rad":0.555194974,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0262188558,"mpcc_du":50.1040001,"mpcc_dv":48.9605637,"mpcc_dw":51.0394363,"mpcc_enc_sign":1,"mpcc_id_a":-0.0742370188,"mpcc_iq_a":-0.887256742,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.806158364,"mpcc_pred_id_a":-0.322823375,"mpcc_pred_iq_a":-2.93309188,"mpcc_state":1,"mpcc_theta_e":0.444527626,"mpcc_theta_mech":0.55585146,"sam_rpm":2.80411124,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243522525,"thr_a_norm":0.0243522525,"thr_a_v":0.59740901,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478823543,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.515066,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.74847269,"cg_iw_a":0.926532745,"cg_theta_rad":0.55595237,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0637434646,"mpcc_du":50.4106026,"mpcc_dv":48.5425034,"mpcc_dw":51.4574966,"mpcc_enc_sign":1,"mpcc_id_a":1.1899513,"mpcc_iq_a":-0.424886137,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.31716251,"mpcc_pred_id_a":-0.123783961,"mpcc_pred_iq_a":-3.42650104,"mpcc_state":1,"mpcc_theta_e":0.445714951,"mpcc_theta_mech":0.556088924,"sam_rpm":-3.14596558,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271343589,"thr_a_norm":0.0243522525,"thr_a_v":0.608537436,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492167562,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.52474,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.371207237,"cg_iw_a":-1.03063393,"cg_theta_rad":0.556021214,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0183725581,"mpcc_du":49.5326958,"mpcc_dv":50.065567,"mpcc_dw":50.4673042,"mpcc_enc_sign":1,"mpcc_id_a":2.38610792,"mpcc_iq_a":-1.94585013,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.1773386,"mpcc_pred_id_a":0.206364617,"mpcc_pred_iq_a":-3.52846646,"mpcc_state":1,"mpcc_theta_e":0.452290058,"mpcc_theta_mech":0.557403922,"sam_rpm":16.8328972,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271343589,"thr_a_norm":0.0271343589,"thr_a_v":0.608537436,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492167562,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.547995,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.16857147,"cg_iw_a":-1.53804779,"cg_theta_rad":0.556076467,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0021087036,"mpcc_du":49.065731,"mpcc_dv":50.934269,"mpcc_dw":49.4672852,"mpcc_enc_sign":1,"mpcc_id_a":0.187591076,"mpcc_iq_a":-1.01193428,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.24726534,"mpcc_pred_id_a":-0.931003332,"mpcc_pred_iq_a":-7.42624855,"mpcc_state":1,"mpcc_theta_e":0.444471836,"mpcc_theta_mech":0.555840313,"sam_rpm":5.41724682,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026051715,"thr_a_norm":0.026051715,"thr_a_v":0.60420686,"thr_b":0.00185625255,"thr_b_norm":0.00185625255,"thr_b_v":0.50742501,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.554525,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.661157608,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556420803,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0201910846,"mpcc_du":49.6253815,"mpcc_dv":49.8272209,"mpcc_dw":50.3746185,"mpcc_enc_sign":1,"mpcc_id_a":-0.467376083,"mpcc_iq_a":-1.3503623,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.50295353,"mpcc_pred_id_a":-0.367135704,"mpcc_pred_iq_a":-4.25394869,"mpcc_state":1,"mpcc_theta_e":0.452140331,"mpcc_theta_mech":0.557373941,"sam_rpm":15.0071888,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026051715,"thr_a_norm":0.026051715,"thr_a_v":0.60420686,"thr_b":0.00185625255,"thr_b_norm":0.00185625255,"thr_b_v":0.50742501,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.561056,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.98076296,"cg_iw_a":-1.24809694,"cg_theta_rad":0.556632221,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0266058967,"mpcc_du":50.212574,"mpcc_dv":48.7987595,"mpcc_dw":51.2012405,"mpcc_enc_sign":1,"mpcc_id_a":0.97849828,"mpcc_iq_a":-1.6851902,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.9288902,"mpcc_pred_id_a":-0.0657447949,"mpcc_pred_iq_a":-0.818316817,"mpcc_state":1,"mpcc_theta_e":0.454796791,"mpcc_theta_mech":0.557905257,"sam_rpm":17.3307133,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443424135,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.567556,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.516182423,"cg_iw_a":-0.015806675,"cg_theta_rad":0.55641973,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0289985333,"mpcc_du":50.0600357,"mpcc_dv":48.70121,"mpcc_dw":51.29879,"mpcc_enc_sign":1,"mpcc_id_a":3.3616848,"mpcc_iq_a":-0.745407701,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.16773282,"mpcc_pred_id_a":0.497141272,"mpcc_pred_iq_a":0.285093814,"mpcc_state":1,"mpcc_theta_e":0.439973831,"mpcc_theta_mech":0.554940641,"sam_rpm":-0.623031497,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440755337,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.575888,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-2.61832476,"cg_iw_a":0.78155756,"cg_theta_rad":0.555383742,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0241085868,"mpcc_du":49.9777298,"mpcc_dv":49.0447426,"mpcc_dw":50.9552574,"mpcc_enc_sign":1,"mpcc_id_a":1.14660895,"mpcc_iq_a":0.663197875,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.14348102,"mpcc_pred_id_a":-0.0340597108,"mpcc_pred_iq_a":-1.12237382,"mpcc_state":1,"mpcc_theta_e":0.445009708,"mpcc_theta_mech":0.55594784,"sam_rpm":4.67424965,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440755337,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.586111,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.588670254,"cg_iw_a":-1.61053538,"cg_theta_rad":0.553312182,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.141203061,"mpcc_du":50.1999245,"mpcc_dv":48.5481758,"mpcc_dw":51.4518242,"mpcc_enc_sign":1,"mpcc_id_a":3.40550137,"mpcc_iq_a":1.33952713,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.609452009,"mpcc_pred_id_a":0.534640431,"mpcc_pred_iq_a":-2.64438057,"mpcc_state":1,"mpcc_theta_e":0.448014736,"mpcc_theta_mech":0.556548893,"sam_rpm":3.23686028,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289471298,"thr_a_norm":0.0289471298,"thr_a_v":0.615788519,"thr_b":0.00145341456,"thr_b_norm":0.00145341456,"thr_b_v":0.505813658,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.595877,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.371207237,"cg_iw_a":-1.97297335,"cg_theta_rad":0.555419624,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0156538468,"mpcc_du":49.7357063,"mpcc_dv":49.2071762,"mpcc_dw":50.7928238,"mpcc_enc_sign":1,"mpcc_id_a":2.35387683,"mpcc_iq_a":-1.85808396,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.84542131,"mpcc_pred_id_a":0.277740836,"mpcc_pred_iq_a":-2.37696457,"mpcc_state":1,"mpcc_theta_e":0.444429874,"mpcc_theta_mech":0.55583185,"sam_rpm":4.4802413,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289471298,"thr_a_norm":0.0289471298,"thr_a_v":0.615788519,"thr_b":0.00145341456,"thr_b_norm":0.00145341456,"thr_b_v":0.505813658,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.608267,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.09608364,"cg_iw_a":-0.305757523,"cg_theta_rad":0.556529045,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.000621238432,"mpcc_du":48.7199287,"mpcc_dv":51.2800713,"mpcc_dw":49.2911491,"mpcc_enc_sign":1,"mpcc_id_a":2.83353567,"mpcc_iq_a":-0.836600304,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.7483101,"mpcc_pred_id_a":-0.374463558,"mpcc_pred_iq_a":-5.26387548,"mpcc_state":1,"mpcc_theta_e":0.430613518,"mpcc_theta_mech":0.553068638,"sam_rpm":24.886919,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257118344,"thr_a_norm":0.0257118344,"thr_a_v":0.602847338,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482197315,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.619711,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.31354666,"cg_iw_a":0.926532745,"cg_theta_rad":0.556687236,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0309966169,"mpcc_du":49.6786423,"mpcc_dv":50.2556419,"mpcc_dw":50.3213577,"mpcc_enc_sign":1,"mpcc_id_a":-0.112391427,"mpcc_iq_a":-1.69381225,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.55151439,"mpcc_pred_id_a":-0.661906481,"mpcc_pred_iq_a":-2.37010336,"mpcc_state":1,"mpcc_theta_e":0.430337906,"mpcc_theta_mech":0.553013504,"sam_rpm":-7.73235655,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0331517458,"thr_a_norm":0.0331517458,"thr_a_v":0.632606983,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.630636,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.878620625,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556065202,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0300038476,"mpcc_du":49.7496376,"mpcc_dv":49.1749878,"mpcc_dw":50.8250122,"mpcc_enc_sign":1,"mpcc_id_a":1.67365634,"mpcc_iq_a":-0.758087099,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.81547832,"mpcc_pred_id_a":0.217417568,"mpcc_pred_iq_a":-1.75405121,"mpcc_state":1,"mpcc_theta_e":0.450298786,"mpcc_theta_mech":0.557005703,"sam_rpm":14.791666,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0331517458,"thr_a_norm":0.0331517458,"thr_a_v":0.632606983,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.656149,"values":{"cg_iu_a":1.8367672,"cg_iv_a":0.208694458,"cg_iw_a":-0.59570837,"cg_theta_rad":0.555790782,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0509494096,"mpcc_du":49.5280266,"mpcc_dv":50.1755638,"mpcc_dw":51.0583534,"mpcc_enc_sign":1,"mpcc_id_a":2.86570215,"mpcc_iq_a":-0.467544973,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.63965321,"mpcc_pred_id_a":0.197083443,"mpcc_pred_iq_a":-4.88591671,"mpcc_state":1,"mpcc_theta_e":0.455607414,"mpcc_theta_mech":0.555864871,"sam_rpm":14.9435587,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281540304,"thr_a_norm":0.0281540304,"thr_a_v":0.612616122,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499519348,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.662588,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.60349751,"cg_iw_a":-1.24809694,"cg_theta_rad":0.553068697,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.049986355,"mpcc_du":50.3890991,"mpcc_dv":48.1876373,"mpcc_dw":51.8123627,"mpcc_enc_sign":1,"mpcc_id_a":4.01623201,"mpcc_iq_a":-0.0279264208,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.98622012,"mpcc_pred_id_a":0.677359045,"mpcc_pred_iq_a":0.775314629,"mpcc_state":1,"mpcc_theta_e":0.437995434,"mpcc_theta_mech":0.554545045,"sam_rpm":-6.15909004,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0154142827,"thr_a_norm":0.0154142827,"thr_a_v":0.561657131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.669149,"values":{"cg_iu_a":3.8664217,"cg_iv_a":-0.806133032,"cg_iw_a":-3.06028867,"cg_theta_rad":0.556538999,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00282562221,"mpcc_du":50.5344238,"mpcc_dv":48.4718437,"mpcc_dw":51.5281563,"mpcc_enc_sign":1,"mpcc_id_a":0.37936005,"mpcc_iq_a":-0.271237224,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.1035442,"mpcc_pred_id_a":-0.512719691,"mpcc_pred_iq_a":-0.335087121,"mpcc_state":1,"mpcc_theta_e":0.449103355,"mpcc_theta_mech":0.55676657,"sam_rpm":-9.26244354,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0154142827,"thr_a_norm":0.0154142827,"thr_a_v":0.561657131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.67568,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.371207237,"cg_iw_a":-0.233269691,"cg_theta_rad":0.553408384,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00525478041,"mpcc_du":48.9929886,"mpcc_dv":51.0070114,"mpcc_dw":49.7542038,"mpcc_enc_sign":1,"mpcc_id_a":0.822602093,"mpcc_iq_a":-1.18467379,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.7732105,"mpcc_pred_id_a":-0.0438442975,"mpcc_pred_iq_a":-5.81793928,"mpcc_state":1,"mpcc_theta_e":0.431012154,"mpcc_theta_mech":0.553148389,"sam_rpm":18.3994598,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215323865,"thr_a_norm":0.0215323865,"thr_a_v":0.586129546,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471421361,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.68569,"values":{"cg_iu_a":1.03940296,"cg_iv_a":0.0637187958,"cg_iw_a":-2.26292419,"cg_theta_rad":0.556806982,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0217524283,"mpcc_du":49.4339066,"mpcc_dv":50.3153076,"mpcc_dw":50.5660934,"mpcc_enc_sign":1,"mpcc_id_a":2.72770476,"mpcc_iq_a":-2.22724724,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":19.0390148,"mpcc_pred_id_a":0.676771164,"mpcc_pred_iq_a":-2.29133964,"mpcc_state":1,"mpcc_theta_e":0.458155632,"mpcc_theta_mech":0.558577001,"sam_rpm":29.1385288,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0409567356,"thr_a_norm":0.0215323865,"thr_a_v":0.663826942,"thr_b":0.0155905336,"thr_b_norm":0,"thr_b_v":0.562362134,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.695486,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.806133032,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556061029,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0158416573,"mpcc_du":49.5199661,"mpcc_dv":50.4800339,"mpcc_dw":50.3670883,"mpcc_enc_sign":1,"mpcc_id_a":1.44414091,"mpcc_iq_a":-1.0660814,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.519207,"mpcc_pred_id_a":-0.102055497,"mpcc_pred_iq_a":-4.76682568,"mpcc_state":1,"mpcc_theta_e":0.45059824,"mpcc_theta_mech":0.557065547,"sam_rpm":14.7143097,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0409567356,"thr_a_norm":0.0409567356,"thr_a_v":0.663826942,"thr_b":0.0155905336,"thr_b_norm":0.0155905336,"thr_b_v":0.562362134,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.705832,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.89344811,"cg_iw_a":-0.958146334,"cg_theta_rad":0.555993617,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0321958438,"mpcc_du":50.4849319,"mpcc_dv":48.4160805,"mpcc_dw":51.5839195,"mpcc_enc_sign":1,"mpcc_id_a":1.08195555,"mpcc_iq_a":-0.651032984,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.27861917,"mpcc_pred_id_a":-0.152747154,"mpcc_pred_iq_a":-1.31905317,"mpcc_state":1,"mpcc_theta_e":0.44532156,"mpcc_theta_mech":0.556010246,"sam_rpm":-0.80522275,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260139555,"thr_a_norm":0.0260139555,"thr_a_v":0.604055822,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49810943,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.716085,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.09608364,"cg_iw_a":-1.10312176,"cg_theta_rad":0.55299449,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.031297233,"mpcc_du":49.4701881,"mpcc_dv":50.5298119,"mpcc_dw":50.3677139,"mpcc_enc_sign":1,"mpcc_id_a":0.738155544,"mpcc_iq_a":-0.688120544,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.060257,"mpcc_pred_id_a":0.162870988,"mpcc_pred_iq_a":-4.241189,"mpcc_state":1,"mpcc_theta_e":0.459997177,"mpcc_theta_mech":0.556062043,"sam_rpm":26.4561977,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260139555,"thr_a_norm":0.0260139555,"thr_a_v":0.604055822,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49810943,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.726095,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.31354666,"cg_iw_a":-0.668195724,"cg_theta_rad":0.554261327,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0602378026,"mpcc_du":50.2387314,"mpcc_dv":48.4972572,"mpcc_dw":51.5027428,"mpcc_enc_sign":1,"mpcc_id_a":2.46383381,"mpcc_iq_a":-0.617846072,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.35405993,"mpcc_pred_id_a":0.418195277,"mpcc_pred_iq_a":-1.85864449,"mpcc_state":1,"mpcc_theta_e":0.446353912,"mpcc_theta_mech":0.556216657,"sam_rpm":3.64972878,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0154772252,"thr_a_norm":0.0154772252,"thr_a_v":0.561908901,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472730607,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.736288,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.733645439,"cg_iw_a":1.72389746,"cg_theta_rad":0.555360675,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0226799995,"mpcc_du":50.4890251,"mpcc_dv":48.5113983,"mpcc_dw":51.4886017,"mpcc_enc_sign":1,"mpcc_id_a":0.489698231,"mpcc_iq_a":-1.05904305,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.35124922,"mpcc_pred_id_a":-0.400340408,"mpcc_pred_iq_a":-3.0482502,"mpcc_state":1,"mpcc_theta_e":0.440378666,"mpcc_theta_mech":0.555021644,"sam_rpm":-10.4722013,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186369866,"thr_a_norm":0.0154772252,"thr_a_v":0.574547946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459336251,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.759298,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.226231575,"cg_iw_a":-0.378245354,"cg_theta_rad":0.552827418,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00104152237,"mpcc_du":50.6334801,"mpcc_dv":48.2957268,"mpcc_dw":51.7042732,"mpcc_enc_sign":1,"mpcc_id_a":-0.230985224,"mpcc_iq_a":-1.77763319,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.2824068,"mpcc_pred_id_a":-0.425140649,"mpcc_pred_iq_a":-0.756332636,"mpcc_state":1,"mpcc_theta_e":0.430527687,"mpcc_theta_mech":0.553051472,"sam_rpm":-20.366642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186369866,"thr_a_norm":0.0186369866,"thr_a_v":0.574547946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459336251,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.766195,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.733645439,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.556856751,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0208578408,"mpcc_du":50.0755882,"mpcc_dv":48.8045692,"mpcc_dw":51.1954308,"mpcc_enc_sign":1,"mpcc_id_a":1.92877805,"mpcc_iq_a":-1.26655316,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.215436772,"mpcc_pred_id_a":0.153222919,"mpcc_pred_iq_a":-2.38588333,"mpcc_state":1,"mpcc_theta_e":0.443903446,"mpcc_theta_mech":0.555726647,"sam_rpm":0.678803205,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195433646,"thr_a_norm":0.0195433646,"thr_a_v":0.578173459,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482851923,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.772329,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.588670254,"cg_iw_a":-0.668195724,"cg_theta_rad":0.552694798,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00994678214,"mpcc_du":48.8663406,"mpcc_dv":51.1336594,"mpcc_dw":49.5242119,"mpcc_enc_sign":1,"mpcc_id_a":0.382097185,"mpcc_iq_a":-0.926625967,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.3567953,"mpcc_pred_id_a":-0.364380091,"mpcc_pred_iq_a":-6.84166288,"mpcc_state":1,"mpcc_theta_e":0.453514099,"mpcc_theta_mech":0.552559495,"sam_rpm":19.6310062,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195433646,"thr_a_norm":0.0195433646,"thr_a_v":0.578173459,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482851923,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.778891,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.53100967,"cg_iw_a":1.07150841,"cg_theta_rad":0.551515341,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0178588852,"mpcc_du":49.8152122,"mpcc_dv":48.9309998,"mpcc_dw":51.0690002,"mpcc_enc_sign":1,"mpcc_id_a":1.74482262,"mpcc_iq_a":-1.1119734,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.55255032,"mpcc_pred_id_a":0.46695888,"mpcc_pred_iq_a":-1.30672419,"mpcc_state":1,"mpcc_theta_e":0.44770956,"mpcc_theta_mech":0.556487799,"sam_rpm":8.34849644,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199839771,"thr_a_norm":0.0199839771,"thr_a_v":0.579935908,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476154745,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.788839,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.6759851,"cg_iw_a":-0.668195486,"cg_theta_rad":0.554770708,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0239698961,"mpcc_du":49.4762268,"mpcc_dv":49.5389709,"mpcc_dw":50.5237732,"mpcc_enc_sign":1,"mpcc_id_a":2.65282845,"mpcc_iq_a":-0.894856453,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.07246447,"mpcc_pred_id_a":0.117593534,"mpcc_pred_iq_a":-2.77949739,"mpcc_state":1,"mpcc_theta_e":0.446671486,"mpcc_theta_mech":0.556280255,"sam_rpm":9.43999958,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020613417,"thr_a_norm":0.0199839771,"thr_a_v":0.582453668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472579539,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.80068,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.878620625,"cg_iw_a":-2.33541226,"cg_theta_rad":0.557547569,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0281664114,"mpcc_du":49.9487267,"mpcc_dv":48.9944115,"mpcc_dw":51.0055885,"mpcc_enc_sign":1,"mpcc_id_a":1.74071074,"mpcc_iq_a":-0.444342524,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.72221613,"mpcc_pred_id_a":-0.0525918417,"mpcc_pred_iq_a":-2.49763179,"mpcc_state":1,"mpcc_theta_e":0.439689159,"mpcc_theta_mech":0.554883778,"sam_rpm":-3.87200522,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020613417,"thr_a_norm":0.020613417,"thr_a_v":0.582453668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472579539,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.810781,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.588670254,"cg_iw_a":-2.04546118,"cg_theta_rad":0.556722879,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0170466062,"mpcc_du":50.4910851,"mpcc_dv":48.2055511,"mpcc_dw":51.7944489,"mpcc_enc_sign":1,"mpcc_id_a":-0.0924319625,"mpcc_iq_a":-1.98218715,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.2704706,"mpcc_pred_id_a":-0.512961745,"mpcc_pred_iq_a":-1.05609679,"mpcc_state":1,"mpcc_theta_e":0.433890343,"mpcc_theta_mech":0.553723991,"sam_rpm":-30.9937,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265049189,"thr_a_norm":0.0265049189,"thr_a_v":0.606019676,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.821188,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.806133032,"cg_iw_a":-0.23326993,"cg_theta_rad":0.553055286,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00752635812,"mpcc_du":48.8228035,"mpcc_dv":51.1771965,"mpcc_dw":49.4187431,"mpcc_enc_sign":1,"mpcc_id_a":1.4296844,"mpcc_iq_a":-1.93561304,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.9263439,"mpcc_pred_id_a":-0.324773341,"mpcc_pred_iq_a":-5.43748474,"mpcc_state":1,"mpcc_theta_e":0.447719097,"mpcc_theta_mech":0.556489706,"sam_rpm":17.1729641,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0265049189,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451178759,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.831045,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.60349751,"cg_iw_a":0.78155756,"cg_theta_rad":0.552235186,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0558763519,"mpcc_du":50.1812592,"mpcc_dv":48.6801796,"mpcc_dw":51.3198204,"mpcc_enc_sign":1,"mpcc_id_a":1.99062574,"mpcc_iq_a":0.590474606,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.1884526,"mpcc_pred_id_a":0.0737724602,"mpcc_pred_iq_a":-1.92483902,"mpcc_state":1,"mpcc_theta_e":0.441950798,"mpcc_theta_mech":0.555336118,"sam_rpm":-0.201727182,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451178759,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.854177,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.878620625,"cg_iw_a":-1.32058477,"cg_theta_rad":0.555137336,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0209631864,"mpcc_du":50.0402832,"mpcc_dv":48.8709679,"mpcc_dw":51.1290321,"mpcc_enc_sign":1,"mpcc_id_a":0.205317125,"mpcc_iq_a":-1.30180728,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.33198357,"mpcc_pred_id_a":0.0504187718,"mpcc_pred_iq_a":-1.84630835,"mpcc_state":1,"mpcc_theta_e":0.448462009,"mpcc_theta_mech":0.5566383,"sam_rpm":8.9925499,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0311375558,"thr_a_norm":0.0311375558,"thr_a_v":0.624550223,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.860708,"values":{"cg_iu_a":1.90925455,"cg_iv_a":0.208694458,"cg_iw_a":0.636582375,"cg_theta_rad":0.555823505,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00825357623,"mpcc_du":49.9842834,"mpcc_dv":48.936882,"mpcc_dw":51.063118,"mpcc_enc_sign":1,"mpcc_id_a":1.11786556,"mpcc_iq_a":-1.0826689,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.07975078,"mpcc_pred_id_a":0.0360127129,"mpcc_pred_iq_a":-1.07645488,"mpcc_state":1,"mpcc_theta_e":0.44356823,"mpcc_theta_mech":0.555659592,"sam_rpm":4.34475565,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0311375558,"thr_a_norm":0.0311375558,"thr_a_v":0.624550223,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.8673,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.45852208,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.55561012,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0157599635,"mpcc_du":49.7138977,"mpcc_dv":49.2447891,"mpcc_dw":50.7552109,"mpcc_enc_sign":1,"mpcc_id_a":0.162329286,"mpcc_iq_a":-0.723420501,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.21478033,"mpcc_pred_id_a":-0.774444163,"mpcc_pred_iq_a":-2.88027954,"mpcc_state":1,"mpcc_theta_e":0.447710991,"mpcc_theta_mech":0.556488097,"sam_rpm":10.9858341,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022174418,"thr_a_norm":0.022174418,"thr_a_v":0.588697672,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480535567,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.873739,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.226231575,"cg_iw_a":-1.53804779,"cg_theta_rad":0.555854499,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0431121252,"mpcc_du":49.5634537,"mpcc_dv":49.8464584,"mpcc_dw":50.4365463,"mpcc_enc_sign":1,"mpcc_id_a":1.0676403,"mpcc_iq_a":1.16338837,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.65796852,"mpcc_pred_id_a":-0.148225307,"mpcc_pred_iq_a":-3.74127889,"mpcc_state":1,"mpcc_theta_e":0.4472332,"mpcc_theta_mech":0.55639255,"sam_rpm":9.70526886,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.040667206,"thr_a_norm":0.022174418,"thr_a_v":0.662668824,"thr_b":0.00927099586,"thr_b_norm":0,"thr_b_v":0.537083983,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.882071,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.878620625,"cg_iw_a":-1.82799864,"cg_theta_rad":0.555534124,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.00748347212,"mpcc_du":49.2907295,"mpcc_dv":50.7092705,"mpcc_dw":49.9957809,"mpcc_enc_sign":1,"mpcc_id_a":0.149202734,"mpcc_iq_a":-1.23377979,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.1686354,"mpcc_pred_id_a":-0.407692224,"mpcc_pred_iq_a":-4.90685463,"mpcc_state":1,"mpcc_theta_e":0.455711365,"mpcc_theta_mech":0.55632937,"sam_rpm":20.9740086,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.040667206,"thr_a_norm":0.040667206,"thr_a_v":0.662668824,"thr_b":0.00927099586,"thr_b_norm":0.00927099586,"thr_b_v":0.537083983,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.892263,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.24105906,"cg_iw_a":0.346631765,"cg_theta_rad":0.550814033,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0103281671,"mpcc_du":49.5011215,"mpcc_dv":50.4988785,"mpcc_dw":50.268219,"mpcc_enc_sign":1,"mpcc_id_a":1.90814424,"mpcc_iq_a":-2.11490273,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.15380573,"mpcc_pred_id_a":-0.278008103,"mpcc_pred_iq_a":-3.37599111,"mpcc_state":1,"mpcc_theta_e":0.446329594,"mpcc_theta_mech":0.556211829,"sam_rpm":13.3066616,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182215571,"thr_a_norm":0.0182215571,"thr_a_v":0.572886229,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443776608,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.902273,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.516182423,"cg_iw_a":-2.26292419,"cg_theta_rad":0.554384708,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.0392673239,"mpcc_du":50.7203484,"mpcc_dv":47.8706741,"mpcc_dw":52.1293259,"mpcc_enc_sign":1,"mpcc_id_a":3.19289064,"mpcc_iq_a":0.266403794,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.79328871,"mpcc_pred_id_a":0.384788096,"mpcc_pred_iq_a":1.25397754,"mpcc_state":1,"mpcc_theta_e":0.437618256,"mpcc_theta_mech":0.554469585,"sam_rpm":-10.7775888,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182215571,"thr_a_norm":0.0182215571,"thr_a_v":0.572886229,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443776608,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.912252,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.89344811,"cg_iw_a":-1.17560935,"cg_theta_rad":0.55283308,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10000,"hz_vsense":360,"mpcc_cost":0.116926938,"mpcc_du":50.7555542,"mpcc_dv":47.9080505,"mpcc_dw":52.0919495,"mpcc_enc_sign":1,"mpcc_id_a":3.22846127,"mpcc_iq_a":-0.198363096,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.53801656,"mpcc_pred_id_a":0.334300786,"mpcc_pred_iq_a":-1.31738114,"mpcc_state":1,"mpcc_theta_e":0.447356224,"mpcc_theta_mech":0.556417167,"sam_rpm":0.514208019,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194174796,"thr_a_norm":0.0194174796,"thr_a_v":0.577669919,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463717103,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.923056,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.878620625,"cg_iw_a":-0.233269691,"cg_theta_rad":0.553405523,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.66016,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0118526062,"mpcc_du":49.2129822,"mpcc_dv":50.7870178,"mpcc_dw":50.0549812,"mpcc_enc_sign":1,"mpcc_id_a":1.15040886,"mpcc_iq_a":-1.72174931,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.8359661,"mpcc_pred_id_a":0.143240154,"mpcc_pred_iq_a":-3.36148643,"mpcc_state":1,"mpcc_theta_e":0.430783749,"mpcc_theta_mech":0.553102672,"sam_rpm":16.0669727,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023533985,"thr_a_norm":0.0194174796,"thr_a_v":0.59413594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474392295,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.933065,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.60349751,"cg_iw_a":0.274144173,"cg_theta_rad":0.555120766,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0116111636,"mpcc_du":50.967205,"mpcc_dv":47.80336,"mpcc_dw":52.19664,"mpcc_enc_sign":1,"mpcc_id_a":0.53044194,"mpcc_iq_a":-0.467990518,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.5901299,"mpcc_pred_id_a":-0.176680341,"mpcc_pred_iq_a":-0.438951045,"mpcc_state":1,"mpcc_theta_e":0.428627968,"mpcc_theta_mech":0.552671492,"sam_rpm":-22.7281227,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023533985,"thr_a_norm":0.023533985,"thr_a_v":0.59413594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474392295,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.956381,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.16857147,"cg_iw_a":-1.97297382,"cg_theta_rad":0.55743432,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0228802096,"mpcc_du":50.1700363,"mpcc_dv":48.8048286,"mpcc_dw":51.1951714,"mpcc_enc_sign":1,"mpcc_id_a":1.71426213,"mpcc_iq_a":-1.84302521,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.76805353,"mpcc_pred_id_a":0.0359544866,"mpcc_pred_iq_a":-2.21272492,"mpcc_state":1,"mpcc_theta_e":0.448826313,"mpcc_theta_mech":0.556711197,"sam_rpm":5.34634733,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202231556,"thr_a_norm":0.0202231556,"thr_a_v":0.580892622,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450222015,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.962912,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.298719406,"cg_iw_a":-0.015806675,"cg_theta_rad":0.557015955,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0129225822,"mpcc_du":50.4464493,"mpcc_dv":48.5113792,"mpcc_dw":51.4886208,"mpcc_enc_sign":1,"mpcc_id_a":0.387508333,"mpcc_iq_a":-1.94134712,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.915729284,"mpcc_pred_id_a":-0.0621613301,"mpcc_pred_iq_a":-1.72105873,"mpcc_state":1,"mpcc_theta_e":0.444332123,"mpcc_theta_mech":0.555812359,"sam_rpm":-0.824537635,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202231556,"thr_a_norm":0.0202231556,"thr_a_v":0.580892622,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450222015,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.969442,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.74847269,"cg_iw_a":0.346631765,"cg_theta_rad":0.554317355,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.05138807,"mpcc_du":50.0361366,"mpcc_dv":48.6411667,"mpcc_dw":51.3588333,"mpcc_enc_sign":1,"mpcc_id_a":3.69257021,"mpcc_iq_a":-0.731466591,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.343712628,"mpcc_pred_id_a":0.81007874,"mpcc_pred_iq_a":-1.56665766,"mpcc_state":1,"mpcc_theta_e":0.443770409,"mpcc_theta_mech":0.555700004,"sam_rpm":0.0744955912,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257370025,"thr_a_norm":0.0257370025,"thr_a_v":0.60294801,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493124276,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.975943,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.38603449,"cg_iw_a":-1.10312176,"cg_theta_rad":0.559477329,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.00991690625,"mpcc_du":50.6437263,"mpcc_dv":48.176857,"mpcc_dw":51.823143,"mpcc_enc_sign":1,"mpcc_id_a":1.81439674,"mpcc_iq_a":-0.798358142,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.4404819,"mpcc_pred_id_a":0.103612773,"mpcc_pred_iq_a":1.59594882,"mpcc_state":1,"mpcc_theta_e":0.437682152,"mpcc_theta_mech":0.554482341,"sam_rpm":-5.14289808,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0257370025,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.445488662,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.983877,"values":{"cg_iu_a":4.73627377,"cg_iv_a":-2.98076296,"cg_iw_a":1.57892179,"cg_theta_rad":0.556672513,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0160037763,"mpcc_du":49.2443314,"mpcc_dv":50.7556686,"mpcc_dw":49.9301567,"mpcc_enc_sign":1,"mpcc_id_a":1.45886886,"mpcc_iq_a":-0.702754617,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.4822865,"mpcc_pred_id_a":-0.136446193,"mpcc_pred_iq_a":-5.40564823,"mpcc_state":1,"mpcc_theta_e":0.45141983,"mpcc_theta_mech":0.557229877,"sam_rpm":16.9726028,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.445488662,"vdc_v":55.2955055}} +{"type":"telemetry","t":23.99407,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.806133032,"cg_iw_a":-1.61053538,"cg_theta_rad":0.554833174,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.011997913,"mpcc_du":50.1816635,"mpcc_dv":48.6748505,"mpcc_dw":51.3251495,"mpcc_enc_sign":1,"mpcc_id_a":2.17839479,"mpcc_iq_a":-1.39837062,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.3706665,"mpcc_pred_id_a":0.120883025,"mpcc_pred_iq_a":-2.54917455,"mpcc_state":1,"mpcc_theta_e":0.426240921,"mpcc_theta_mech":0.552194059,"sam_rpm":-28.0604897,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183978081,"thr_a_norm":0.0183978081,"thr_a_v":0.573591232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479327083,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.00408,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.371207237,"cg_iw_a":-1.82799816,"cg_theta_rad":0.553582013,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.000857232488,"mpcc_du":49.3953934,"mpcc_dv":50.6046066,"mpcc_dw":50.0625191,"mpcc_enc_sign":1,"mpcc_id_a":0.351715028,"mpcc_iq_a":-2.16330767,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.59647274,"mpcc_pred_id_a":-0.196304411,"mpcc_pred_iq_a":-5.11628485,"mpcc_state":1,"mpcc_theta_e":0.44955492,"mpcc_theta_mech":0.55685693,"sam_rpm":13.6660194,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183978081,"thr_a_norm":0.0183978081,"thr_a_v":0.573591232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479327083,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.014212,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.96593571,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556018174,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0174872614,"mpcc_du":50.2264633,"mpcc_dv":48.600235,"mpcc_dw":51.399765,"mpcc_enc_sign":1,"mpcc_id_a":2.62885761,"mpcc_iq_a":-0.403861851,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.3201256,"mpcc_pred_id_a":0.314658403,"mpcc_pred_iq_a":-2.25168681,"mpcc_state":1,"mpcc_theta_e":0.424815655,"mpcc_theta_mech":0.552031219,"sam_rpm":-25.5762234,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204245895,"thr_a_norm":0.0204245895,"thr_a_v":0.581698358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452739716,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.024435,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.24105906,"cg_iw_a":-0.668195486,"cg_theta_rad":0.553722382,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0534885786,"mpcc_du":49.6076851,"mpcc_dv":49.112133,"mpcc_dw":50.887867,"mpcc_enc_sign":1,"mpcc_id_a":4.61631107,"mpcc_iq_a":-0.614875972,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.93578196,"mpcc_pred_id_a":0.983966231,"mpcc_pred_iq_a":-2.33901882,"mpcc_state":1,"mpcc_theta_e":0.434412956,"mpcc_theta_mech":0.553828478,"sam_rpm":-9.37527561,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0148478001,"thr_a_norm":0.0204245895,"thr_a_v":0.559391201,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451178759,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.034445,"values":{"cg_iu_a":2.99656963,"cg_iv_a":0.353669643,"cg_iw_a":-3.35023928,"cg_theta_rad":0.552116871,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0180845447,"mpcc_du":49.685154,"mpcc_dv":49.315712,"mpcc_dw":50.684288,"mpcc_enc_sign":1,"mpcc_id_a":1.41767466,"mpcc_iq_a":-0.117009163,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.30490589,"mpcc_pred_id_a":0.350448757,"mpcc_pred_iq_a":-1.86803544,"mpcc_state":1,"mpcc_theta_e":0.446231365,"mpcc_theta_mech":0.556192219,"sam_rpm":7.7023387,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0148478001,"thr_a_norm":0.0148478001,"thr_a_v":0.559391201,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451178759,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.05773,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-2.69081235,"cg_iw_a":-1.03063416,"cg_theta_rad":0.557354152,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0236895997,"mpcc_du":50.6920586,"mpcc_dv":47.9479027,"mpcc_dw":52.0520973,"mpcc_enc_sign":1,"mpcc_id_a":2.69274712,"mpcc_iq_a":-0.8069157,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.0986737,"mpcc_pred_id_a":0.616315842,"mpcc_pred_iq_a":2.2790904,"mpcc_state":1,"mpcc_theta_e":0.442044258,"mpcc_theta_mech":0.555354774,"sam_rpm":-1.79769802,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021268025,"thr_a_norm":0.021268025,"thr_a_v":0.5850721,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468802899,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.064291,"values":{"cg_iu_a":-0.337862968,"cg_iv_a":-0.806133032,"cg_iw_a":1.143996,"cg_theta_rad":0.555760026,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0382335186,"mpcc_du":49.5217094,"mpcc_dv":50.4782906,"mpcc_dw":50.465374,"mpcc_enc_sign":1,"mpcc_id_a":3.5260458,"mpcc_iq_a":-0.24891144,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.94655085,"mpcc_pred_id_a":0.469055176,"mpcc_pred_iq_a":-3.84791803,"mpcc_state":1,"mpcc_theta_e":0.447522163,"mpcc_theta_mech":0.556450307,"sam_rpm":11.2407866,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021268025,"thr_a_norm":0.021268025,"thr_a_v":0.5850721,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468802899,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.070852,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.661157608,"cg_iw_a":-1.17560959,"cg_theta_rad":0.554202378,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.00569322426,"mpcc_du":50.586174,"mpcc_dv":48.414608,"mpcc_dw":51.585392,"mpcc_enc_sign":1,"mpcc_id_a":0.714918017,"mpcc_iq_a":-0.241398856,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.04711163,"mpcc_pred_id_a":-0.208608657,"mpcc_pred_iq_a":1.6759696,"mpcc_state":1,"mpcc_theta_e":0.442213535,"mpcc_theta_mech":0.555388629,"sam_rpm":0.523443222,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188132375,"thr_a_norm":0.0188132375,"thr_a_v":0.57525295,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449718475,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.077353,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.516182423,"cg_iw_a":-0.523220539,"cg_theta_rad":0.553108811,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.000301317748,"mpcc_du":49.6205711,"mpcc_dv":50.1674576,"mpcc_dw":50.3794289,"mpcc_enc_sign":1,"mpcc_id_a":-0.141223073,"mpcc_iq_a":-1.54814494,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.581790864,"mpcc_pred_id_a":-0.1083171,"mpcc_pred_iq_a":-4.3816309,"mpcc_state":1,"mpcc_theta_e":0.440236092,"mpcc_theta_mech":0.554993153,"sam_rpm":-1.56919026,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244529694,"thr_a_norm":0.0188132375,"thr_a_v":0.597811878,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469658971,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.085257,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.74847269,"cg_iw_a":-0.885658741,"cg_theta_rad":0.55782634,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.00543157896,"mpcc_du":50.3086586,"mpcc_dv":48.6878929,"mpcc_dw":51.3121071,"mpcc_enc_sign":1,"mpcc_id_a":0.611844182,"mpcc_iq_a":-0.974459291,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.85509491,"mpcc_pred_id_a":-0.0689604878,"mpcc_pred_iq_a":-1.29112363,"mpcc_state":1,"mpcc_theta_e":0.43724823,"mpcc_theta_mech":0.554395556,"sam_rpm":-6.89865351,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244529694,"thr_a_norm":0.0244529694,"thr_a_v":0.597811878,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469658971,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.095449,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.82096052,"cg_iw_a":-0.740683079,"cg_theta_rad":0.555274069,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0370989367,"mpcc_du":50.2783775,"mpcc_dv":48.7163696,"mpcc_dw":51.2836304,"mpcc_enc_sign":1,"mpcc_id_a":2.16919351,"mpcc_iq_a":-0.0383061804,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.4415913,"mpcc_pred_id_a":-0.064394094,"mpcc_pred_iq_a":-3.73519349,"mpcc_state":1,"mpcc_theta_e":0.436789513,"mpcc_theta_mech":0.554303825,"sam_rpm":-15.3578711,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277260244,"thr_a_norm":0.0277260244,"thr_a_v":0.610904098,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491412193,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.10787,"values":{"cg_iu_a":2.05423021,"cg_iv_a":0.281181812,"cg_iw_a":-0.885658741,"cg_theta_rad":0.552903414,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0285917222,"mpcc_du":49.9266777,"mpcc_dv":49.0287666,"mpcc_dw":50.9712334,"mpcc_enc_sign":1,"mpcc_id_a":2.21298003,"mpcc_iq_a":-0.638950944,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.9963088,"mpcc_pred_id_a":0.256714433,"mpcc_pred_iq_a":-1.53291082,"mpcc_state":1,"mpcc_theta_e":0.447134495,"mpcc_theta_mech":0.556372821,"sam_rpm":7.78053617,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165976137,"thr_a_norm":0.0277260244,"thr_a_v":0.566390455,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471320659,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.117849,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.733645439,"cg_iw_a":-1.46555996,"cg_theta_rad":0.553703308,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0150568802,"mpcc_du":50.4093513,"mpcc_dv":48.5283203,"mpcc_dw":51.4716797,"mpcc_enc_sign":1,"mpcc_id_a":2.24376631,"mpcc_iq_a":-0.906972647,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.54167342,"mpcc_pred_id_a":-0.0439120829,"mpcc_pred_iq_a":-0.0716657117,"mpcc_state":1,"mpcc_theta_e":0.437720776,"mpcc_theta_mech":0.554490089,"sam_rpm":-5.50790453,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165976137,"thr_a_norm":0.0165976137,"thr_a_v":0.566390455,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471320659,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.127859,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.298719406,"cg_iw_a":1.65140939,"cg_theta_rad":0.559291899,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0199587941,"mpcc_du":50.0527802,"mpcc_dv":49.0489998,"mpcc_dw":50.9510002,"mpcc_enc_sign":1,"mpcc_id_a":0.297650099,"mpcc_iq_a":-0.275578916,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.66570282,"mpcc_pred_id_a":-0.233390853,"mpcc_pred_iq_a":-1.89979744,"mpcc_state":1,"mpcc_theta_e":0.442741871,"mpcc_theta_mech":0.555494308,"sam_rpm":3.92964625,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163836032,"thr_a_norm":0.0163836032,"thr_a_v":0.565534413,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477312863,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.137808,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.6759851,"cg_iw_a":1.21648383,"cg_theta_rad":0.55519855,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0140027413,"mpcc_du":50.2973938,"mpcc_dv":48.5611954,"mpcc_dw":51.4388046,"mpcc_enc_sign":1,"mpcc_id_a":1.80290866,"mpcc_iq_a":-2.33897948,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.60935974,"mpcc_pred_id_a":0.177801356,"mpcc_pred_iq_a":0.173661396,"mpcc_state":1,"mpcc_theta_e":0.444981098,"mpcc_theta_mech":0.555942118,"sam_rpm":-10.5236263,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163836032,"thr_a_norm":0.0163836032,"thr_a_v":0.565534413,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477312863,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.161062,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.226231575,"cg_iw_a":-0.523220539,"cg_theta_rad":0.553724945,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.010798445,"mpcc_du":50.2808113,"mpcc_dv":48.9449425,"mpcc_dw":51.0550575,"mpcc_enc_sign":1,"mpcc_id_a":-0.415284842,"mpcc_iq_a":-1.93111336,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.62355447,"mpcc_pred_id_a":-0.673842788,"mpcc_pred_iq_a":-2.48928213,"mpcc_state":1,"mpcc_theta_e":0.446602345,"mpcc_theta_mech":0.556266427,"sam_rpm":3.13991594,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026857391,"thr_a_norm":0.026857391,"thr_a_v":0.607429564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49962005,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.167593,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.878620625,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.554840684,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0683372021,"mpcc_du":50.4943848,"mpcc_dv":48.4244308,"mpcc_dw":51.5755692,"mpcc_enc_sign":1,"mpcc_id_a":4.02789021,"mpcc_iq_a":-0.188816816,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.71468759,"mpcc_pred_id_a":0.374269098,"mpcc_pred_iq_a":1.29522407,"mpcc_state":1,"mpcc_theta_e":0.442078114,"mpcc_theta_mech":0.555361509,"sam_rpm":-29.8392773,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276756734,"thr_a_norm":0.0276756734,"thr_a_v":0.610702693,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486678869,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.174124,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-1.24105906,"cg_iw_a":0.999020815,"cg_theta_rad":0.555634975,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0069419425,"mpcc_du":50.4004669,"mpcc_dv":48.3783684,"mpcc_dw":51.6216316,"mpcc_enc_sign":1,"mpcc_id_a":1.54106283,"mpcc_iq_a":-0.525996447,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.51200867,"mpcc_pred_id_a":0.359477013,"mpcc_pred_iq_a":0.503087163,"mpcc_state":1,"mpcc_theta_e":0.434417725,"mpcc_theta_mech":0.556882143,"sam_rpm":-9.90455151,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276756734,"thr_a_norm":0.0276756734,"thr_a_v":0.610702693,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486678869,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.180624,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-0.588670254,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556101263,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0010815158,"mpcc_du":50.4729843,"mpcc_dv":48.4364243,"mpcc_dw":51.5635757,"mpcc_enc_sign":1,"mpcc_id_a":0.585276484,"mpcc_iq_a":-2.72424817,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.19403076,"mpcc_pred_id_a":-0.0142587777,"mpcc_pred_iq_a":-0.716231227,"mpcc_state":1,"mpcc_theta_e":0.440856457,"mpcc_theta_mech":0.55511719,"sam_rpm":-4.28582573,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026051715,"thr_a_norm":0.026051715,"thr_a_v":0.60420686,"thr_b":0.00205768645,"thr_b_norm":0.00205768645,"thr_b_v":0.508230746,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.190603,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.82096052,"cg_iw_a":-0.523220062,"cg_theta_rad":0.554561496,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0425594486,"mpcc_du":50.4669228,"mpcc_dv":48.6446838,"mpcc_dw":51.3553162,"mpcc_enc_sign":1,"mpcc_id_a":-0.621519923,"mpcc_iq_a":-2.83811021,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.5243893,"mpcc_pred_id_a":-0.698829234,"mpcc_pred_iq_a":-0.967208505,"mpcc_state":1,"mpcc_theta_e":0.425173759,"mpcc_theta_mech":0.551980674,"sam_rpm":-24.7464409,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173025876,"thr_a_norm":0.026051715,"thr_a_v":0.569210351,"thr_b":0,"thr_b_norm":0.00205768645,"thr_b_v":0.443071604,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.200247,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":-0.806133032,"cg_iw_a":-1.32058454,"cg_theta_rad":0.555354714,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0692713484,"mpcc_du":49.9085007,"mpcc_dv":49.2840652,"mpcc_dw":50.7159348,"mpcc_enc_sign":1,"mpcc_id_a":0.504636765,"mpcc_iq_a":0.317143828,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.1472645,"mpcc_pred_id_a":-0.394656301,"mpcc_pred_iq_a":-2.78603816,"mpcc_state":1,"mpcc_theta_e":0.453808784,"mpcc_theta_mech":0.557707667,"sam_rpm":17.1219063,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173025876,"thr_a_norm":0.0173025876,"thr_a_v":0.569210351,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443071604,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.210623,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.878620625,"cg_iw_a":-0.160782337,"cg_theta_rad":0.556250095,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0198672339,"mpcc_du":49.4885979,"mpcc_dv":50.5114021,"mpcc_dw":50.3989906,"mpcc_enc_sign":1,"mpcc_id_a":2.63345289,"mpcc_iq_a":0.428507507,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.02304316,"mpcc_pred_id_a":0.283437282,"mpcc_pred_iq_a":-2.87643337,"mpcc_state":1,"mpcc_theta_e":0.440594196,"mpcc_theta_mech":0.555064738,"sam_rpm":8.97974205,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183348656,"thr_a_norm":0.0183348656,"thr_a_v":0.573339462,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.220663,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-2.11091113,"cg_iw_a":-0.813171148,"cg_theta_rad":0.55842495,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.00522301206,"mpcc_du":49.5789642,"mpcc_dv":50.1496582,"mpcc_dw":50.4210358,"mpcc_enc_sign":1,"mpcc_id_a":0.320090413,"mpcc_iq_a":-2.09180522,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.57392502,"mpcc_pred_id_a":-0.0548305623,"mpcc_pred_iq_a":-3.05731511,"mpcc_state":1,"mpcc_theta_e":0.44216156,"mpcc_theta_mech":0.555378199,"sam_rpm":3.80952597,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183348656,"thr_a_norm":0.0183348656,"thr_a_v":0.573339462,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.230764,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.31354666,"cg_iw_a":0.491606712,"cg_theta_rad":0.555873513,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.113022782,"mpcc_du":50.8889809,"mpcc_dv":48.0673409,"mpcc_dw":51.9326591,"mpcc_enc_sign":1,"mpcc_id_a":0.696327329,"mpcc_iq_a":-0.613317072,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.54382324,"mpcc_pred_id_a":-0.282356799,"mpcc_pred_iq_a":-2.05791497,"mpcc_state":1,"mpcc_theta_e":0.452617168,"mpcc_theta_mech":0.557469308,"sam_rpm":5.5278759,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0410448611,"thr_a_norm":0.0410448611,"thr_a_v":0.664179444,"thr_b":0.0123678297,"thr_b_norm":0.0123678297,"thr_b_v":0.549471319,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.240896,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.74847269,"cg_iw_a":-0.233269691,"cg_theta_rad":0.552595675,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.00505126035,"mpcc_du":49.6169128,"mpcc_dv":50.2028847,"mpcc_dw":50.3830872,"mpcc_enc_sign":1,"mpcc_id_a":0.521032512,"mpcc_iq_a":-1.34521151,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.18408203,"mpcc_pred_id_a":-0.233115986,"mpcc_pred_iq_a":-4.6075654,"mpcc_state":1,"mpcc_theta_e":0.435008049,"mpcc_theta_mech":0.553947508,"sam_rpm":8.15318775,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0130098313,"thr_a_norm":0.0410448611,"thr_a_v":0.552039325,"thr_b":0,"thr_b_norm":0.0123678297,"thr_b_v":0.451178759,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.26409,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.31354666,"cg_iw_a":-1.24809694,"cg_theta_rad":0.555872619,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0043231328,"mpcc_du":51.1232948,"mpcc_dv":47.491127,"mpcc_dw":52.508873,"mpcc_enc_sign":1,"mpcc_id_a":1.27625263,"mpcc_iq_a":-1.63206112,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.8017197,"mpcc_pred_id_a":0.130363986,"mpcc_pred_iq_a":1.15645266,"mpcc_state":1,"mpcc_theta_e":0.426166058,"mpcc_theta_mech":0.552179158,"sam_rpm":-28.4250031,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0130098313,"thr_a_norm":0.0130098313,"thr_a_v":0.552039325,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451178759,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.270559,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.38603449,"cg_iw_a":0.419119358,"cg_theta_rad":0.555067837,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.018794788,"mpcc_du":50.303524,"mpcc_dv":48.5558243,"mpcc_dw":51.4441757,"mpcc_enc_sign":1,"mpcc_id_a":1.92948568,"mpcc_iq_a":0.303473026,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.09741926,"mpcc_pred_id_a":0.100096144,"mpcc_pred_iq_a":-0.21115078,"mpcc_state":1,"mpcc_theta_e":0.437386513,"mpcc_theta_mech":0.554423213,"sam_rpm":-6.42784166,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443776608,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.27709,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.02359605,"cg_iw_a":-0.523220301,"cg_theta_rad":0.556434631,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.00545174442,"mpcc_du":49.9578705,"mpcc_dv":49.2473488,"mpcc_dw":50.7526512,"mpcc_enc_sign":1,"mpcc_id_a":2.14738703,"mpcc_iq_a":0.22017327,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.9537783,"mpcc_pred_id_a":0.346383721,"mpcc_pred_iq_a":-2.1329248,"mpcc_state":1,"mpcc_theta_e":0.450947285,"mpcc_theta_mech":0.55614382,"sam_rpm":5.0663538,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443776608,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.283651,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.0087685585,"cg_iw_a":-1.68302298,"cg_theta_rad":0.552793384,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0105546433,"mpcc_du":50.2818985,"mpcc_dv":48.7611656,"mpcc_dw":51.2388344,"mpcc_enc_sign":1,"mpcc_id_a":-0.0543125533,"mpcc_iq_a":-1.68539298,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.34839475,"mpcc_pred_id_a":-0.287310749,"mpcc_pred_iq_a":-1.74595678,"mpcc_state":1,"mpcc_theta_e":0.44532156,"mpcc_theta_mech":0.556010187,"sam_rpm":2.75373602,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297402143,"thr_a_norm":0.0297402143,"thr_a_v":0.618960857,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451178759,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.293631,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-1.16857147,"cg_iw_a":-2.26292419,"cg_theta_rad":0.557587504,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0180964861,"mpcc_du":50.6629562,"mpcc_dv":48.2791214,"mpcc_dw":51.7208786,"mpcc_enc_sign":1,"mpcc_id_a":-0.351778388,"mpcc_iq_a":-2.5928545,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.0774632,"mpcc_pred_id_a":-0.39776507,"mpcc_pred_iq_a":-0.184805572,"mpcc_state":1,"mpcc_theta_e":0.425338268,"mpcc_theta_mech":0.552013576,"sam_rpm":-26.0006046,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0155653358,"thr_a_norm":0.0297402143,"thr_a_v":0.562261343,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476356149,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.305624,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-4.28554106,"cg_iw_a":3.39111328,"cg_theta_rad":0.554144621,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.043777369,"mpcc_du":50.2668495,"mpcc_dv":48.6445313,"mpcc_dw":51.3554688,"mpcc_enc_sign":1,"mpcc_id_a":0.739476025,"mpcc_iq_a":-1.19050539,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.26269031,"mpcc_pred_id_a":0.173303261,"mpcc_pred_iq_a":-2.5352447,"mpcc_state":1,"mpcc_theta_e":0.450920582,"mpcc_theta_mech":0.557130039,"sam_rpm":5.85604763,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0155653358,"thr_a_norm":0.0155653358,"thr_a_v":0.562261343,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476356149,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.315664,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.878620625,"cg_iw_a":0.854045153,"cg_theta_rad":0.555981398,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0194629263,"mpcc_du":49.8653679,"mpcc_dv":49.0189552,"mpcc_dw":50.9810448,"mpcc_enc_sign":1,"mpcc_id_a":2.78355432,"mpcc_iq_a":-0.774018109,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.63153648,"mpcc_pred_id_a":0.451998472,"mpcc_pred_iq_a":-2.35619664,"mpcc_state":1,"mpcc_theta_e":0.432662964,"mpcc_theta_mech":0.553478479,"sam_rpm":-12.1623211,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193041861,"thr_a_norm":0.0193041861,"thr_a_v":0.577216744,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466486603,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.325857,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.24105906,"cg_iw_a":0.129168749,"cg_theta_rad":0.557025909,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0321741514,"mpcc_du":49.5665283,"mpcc_dv":49.8587112,"mpcc_dw":50.4334717,"mpcc_enc_sign":1,"mpcc_id_a":2.13913393,"mpcc_iq_a":-1.99694598,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.73204708,"mpcc_pred_id_a":0.00382540515,"mpcc_pred_iq_a":-2.28174782,"mpcc_state":1,"mpcc_theta_e":0.432433128,"mpcc_theta_mech":0.553432524,"sam_rpm":-6.13387775,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215827376,"thr_a_norm":0.0193041861,"thr_a_v":0.58633095,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.337881,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.878620625,"cg_iw_a":-1.03063393,"cg_theta_rad":0.5527457,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0126298852,"mpcc_du":49.3023872,"mpcc_dv":50.6976128,"mpcc_dw":50.1395836,"mpcc_enc_sign":1,"mpcc_id_a":2.20266938,"mpcc_iq_a":-1.85285115,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.09861469,"mpcc_pred_id_a":0.206854209,"mpcc_pred_iq_a":-5.42660284,"mpcc_state":1,"mpcc_theta_e":0.436013699,"mpcc_theta_mech":0.554148614,"sam_rpm":12.717473,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215827376,"thr_a_norm":0.0215827376,"thr_a_v":0.58633095,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.361258,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.806133032,"cg_iw_a":-1.53804755,"cg_theta_rad":0.556697309,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0084580835,"mpcc_du":50.7596855,"mpcc_dv":48.0051613,"mpcc_dw":51.9948387,"mpcc_enc_sign":1,"mpcc_id_a":1.20129514,"mpcc_iq_a":-1.78837121,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.9825592,"mpcc_pred_id_a":0.0539792217,"mpcc_pred_iq_a":1.25631654,"mpcc_state":1,"mpcc_theta_e":0.429388046,"mpcc_theta_mech":0.552823484,"sam_rpm":-20.0294418,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.107072547,"thr_a_norm":0.107072547,"thr_a_v":0.928290188,"thr_b":0.0381494612,"thr_b_norm":0.0381494612,"thr_b_v":0.652597845,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.367788,"values":{"cg_iu_a":2.1992054,"cg_iv_a":0.57113266,"cg_iw_a":-1.17560959,"cg_theta_rad":0.554971635,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.00150216464,"mpcc_du":50.3680229,"mpcc_dv":48.725975,"mpcc_dw":51.274025,"mpcc_enc_sign":1,"mpcc_id_a":-0.167799205,"mpcc_iq_a":-1.91154814,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.74998999,"mpcc_pred_id_a":-0.396447986,"mpcc_pred_iq_a":-2.87496662,"mpcc_state":1,"mpcc_theta_e":0.448106289,"mpcc_theta_mech":0.556567132,"sam_rpm":-7.48089886,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244529694,"thr_a_norm":0.107072547,"thr_a_v":0.597811878,"thr_b":0,"thr_b_norm":0.0381494612,"thr_b_v":0.472176731,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.374319,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.09608364,"cg_iw_a":-1.24809694,"cg_theta_rad":0.555455029,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.00628040032,"mpcc_du":49.5141182,"mpcc_dv":50.4858818,"mpcc_dw":51.3654938,"mpcc_enc_sign":1,"mpcc_id_a":0.212172821,"mpcc_iq_a":-1.44696987,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.12315559,"mpcc_pred_id_a":-0.330384582,"mpcc_pred_iq_a":-5.1113596,"mpcc_state":1,"mpcc_theta_e":0.451245785,"mpcc_theta_mech":0.553840518,"sam_rpm":13.4998617,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244529694,"thr_a_norm":0.0244529694,"thr_a_v":0.597811878,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472176731,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.38088,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.53100967,"cg_iw_a":0.346631527,"cg_theta_rad":0.554217339,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.00248314627,"mpcc_du":49.6028748,"mpcc_dv":50.2755699,"mpcc_dw":50.3971252,"mpcc_enc_sign":1,"mpcc_id_a":0.988873661,"mpcc_iq_a":-2.84312248,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.54009914,"mpcc_pred_id_a":-0.120437473,"mpcc_pred_iq_a":-4.35989809,"mpcc_state":1,"mpcc_theta_e":0.449825764,"mpcc_theta_mech":0.556911051,"sam_rpm":12.7335472,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192412436,"thr_a_norm":0.0192412436,"thr_a_v":0.576964974,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457422733,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.390768,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.0087685585,"cg_iw_a":2.23131084,"cg_theta_rad":0.555680513,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.00627080351,"mpcc_du":49.635231,"mpcc_dv":50.0748825,"mpcc_dw":50.364769,"mpcc_enc_sign":1,"mpcc_id_a":-0.0319485553,"mpcc_iq_a":-1.46527386,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.88106084,"mpcc_pred_id_a":-0.314785868,"mpcc_pred_iq_a":-5.40623808,"mpcc_state":1,"mpcc_theta_e":0.446928024,"mpcc_theta_mech":0.556331515,"sam_rpm":3.76375914,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0192412436,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469356835,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.401632,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.878620625,"cg_iw_a":-2.11794901,"cg_theta_rad":0.55484724,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0648412481,"mpcc_du":50.4036751,"mpcc_dv":48.7220688,"mpcc_dw":51.2779312,"mpcc_enc_sign":1,"mpcc_id_a":-0.501195431,"mpcc_iq_a":-5.23195124,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.8493347,"mpcc_pred_id_a":-0.721756339,"mpcc_pred_iq_a":-2.48995113,"mpcc_state":1,"mpcc_theta_e":0.423222542,"mpcc_theta_mech":0.551590383,"sam_rpm":-28.5162392,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469356835,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.411917,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-2.32837415,"cg_iw_a":-0.885658503,"cg_theta_rad":0.554308355,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.111046582,"mpcc_du":50.4104919,"mpcc_dv":48.193119,"mpcc_dw":51.806881,"mpcc_enc_sign":1,"mpcc_id_a":1.58561218,"mpcc_iq_a":1.0478797,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.33926964,"mpcc_pred_id_a":0.230004102,"mpcc_pred_iq_a":-4.49702835,"mpcc_state":1,"mpcc_theta_e":0.453091145,"mpcc_theta_mech":0.557564139,"sam_rpm":3.15028286,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023836121,"thr_a_norm":0.023836121,"thr_a_v":0.595344484,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480233461,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.421926,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.588670254,"cg_iw_a":-1.39307213,"cg_theta_rad":0.553925455,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.00233609625,"mpcc_du":49.9497604,"mpcc_dv":49.1051636,"mpcc_dw":50.8948364,"mpcc_enc_sign":1,"mpcc_id_a":0.677056074,"mpcc_iq_a":-1.99322343,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.6813221,"mpcc_pred_id_a":-0.215103954,"mpcc_pred_iq_a":-0.703421474,"mpcc_state":1,"mpcc_theta_e":0.448462963,"mpcc_theta_mech":0.556638539,"sam_rpm":2.20408082,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023836121,"thr_a_norm":0.023836121,"thr_a_v":0.595344484,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480233461,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.432058,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.16857147,"cg_iw_a":0.274144173,"cg_theta_rad":0.554467976,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0126221832,"mpcc_du":50.0160675,"mpcc_dv":49.147213,"mpcc_dw":50.852787,"mpcc_enc_sign":1,"mpcc_id_a":-0.0267143343,"mpcc_iq_a":-1.60973656,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.66704464,"mpcc_pred_id_a":-0.299120575,"mpcc_pred_iq_a":-1.91458774,"mpcc_state":1,"mpcc_theta_e":0.450574398,"mpcc_theta_mech":0.557060778,"sam_rpm":14.0486488,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173403472,"thr_a_norm":0.0173403472,"thr_a_v":0.569361389,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447754622,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.442129,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.298719406,"cg_iw_a":-2.91531372,"cg_theta_rad":0.552952707,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0618624799,"mpcc_du":50.2248802,"mpcc_dv":48.6968651,"mpcc_dw":51.3031349,"mpcc_enc_sign":1,"mpcc_id_a":2.25842047,"mpcc_iq_a":-0.7138291,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.10375953,"mpcc_pred_id_a":0.221700504,"mpcc_pred_iq_a":-2.65136838,"mpcc_state":1,"mpcc_theta_e":0.449701309,"mpcc_theta_mech":0.556886196,"sam_rpm":0.15715155,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235088021,"thr_a_norm":0.0173403472,"thr_a_v":0.594035208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469658971,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.466238,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-1.31354666,"cg_iw_a":-2.26292467,"cg_theta_rad":0.552328765,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.00144452706,"mpcc_du":49.2623558,"mpcc_dv":50.7376442,"mpcc_dw":49.7769928,"mpcc_enc_sign":1,"mpcc_id_a":-0.279321402,"mpcc_iq_a":-2.13750625,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.46972275,"mpcc_pred_id_a":-0.622576594,"mpcc_pred_iq_a":-6.56860018,"mpcc_state":1,"mpcc_theta_e":0.449382782,"mpcc_theta_mech":0.556822479,"sam_rpm":10.3679905,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235088021,"thr_a_norm":0.0235088021,"thr_a_v":0.594035208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469658971,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.472769,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.53100967,"cg_iw_a":-0.523220539,"cg_theta_rad":0.554401577,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0129044708,"mpcc_du":49.5837059,"mpcc_dv":49.5894356,"mpcc_dw":50.4162941,"mpcc_enc_sign":1,"mpcc_id_a":1.12911999,"mpcc_iq_a":-1.22748864,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.07384467,"mpcc_pred_id_a":-0.0911038592,"mpcc_pred_iq_a":-3.09563994,"mpcc_state":1,"mpcc_theta_e":0.443841457,"mpcc_theta_mech":0.55571425,"sam_rpm":12.1904669,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178564787,"thr_a_norm":0.0178564787,"thr_a_v":0.571425915,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450524151,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.479361,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.55287504,"cg_theta_rad":0.556961536,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0522206239,"mpcc_du":49.0143852,"mpcc_dv":50.9856148,"mpcc_dw":49.8200989,"mpcc_enc_sign":1,"mpcc_id_a":3.03157401,"mpcc_iq_a":-0.46371907,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.7245293,"mpcc_pred_id_a":0.278072029,"mpcc_pred_iq_a":-6.07461023,"mpcc_state":1,"mpcc_theta_e":0.458096504,"mpcc_theta_mech":0.558565199,"sam_rpm":25.1180515,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178564787,"thr_a_norm":0.0178564787,"thr_a_v":0.571425915,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450524151,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.48583,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.153744221,"cg_iw_a":-2.19043636,"cg_theta_rad":0.556162059,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0407959186,"mpcc_du":50.4864616,"mpcc_dv":48.416378,"mpcc_dw":51.583622,"mpcc_enc_sign":1,"mpcc_id_a":0.62251246,"mpcc_iq_a":-0.764357626,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.98983622,"mpcc_pred_id_a":0.197368622,"mpcc_pred_iq_a":0.268856406,"mpcc_state":1,"mpcc_theta_e":0.459549904,"mpcc_theta_mech":0.558855891,"sam_rpm":13.1758633,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0949748307,"thr_a_norm":0.0949748307,"thr_a_v":0.879899323,"thr_b":0.0354806483,"thr_b_norm":0.0354806483,"thr_b_v":0.641922593,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.495413,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.16857147,"cg_iw_a":-0.015806675,"cg_theta_rad":0.557264626,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0749027655,"mpcc_du":50.808754,"mpcc_dv":47.8974762,"mpcc_dw":52.1025238,"mpcc_enc_sign":1,"mpcc_id_a":3.03889942,"mpcc_iq_a":0.0974016115,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.14737082,"mpcc_pred_id_a":0.438483268,"mpcc_pred_iq_a":-0.462268621,"mpcc_state":1,"mpcc_theta_e":0.440970421,"mpcc_theta_mech":0.555139959,"sam_rpm":-7.53700542,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236346871,"thr_a_norm":0.0949748307,"thr_a_v":0.594538748,"thr_b":0,"thr_b_norm":0.0354806483,"thr_b_v":0.479427785,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.505392,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.298719406,"cg_iw_a":-2.33541203,"cg_theta_rad":0.553387642,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.107549667,"mpcc_du":51.0361824,"mpcc_dv":47.307045,"mpcc_dw":52.692955,"mpcc_enc_sign":1,"mpcc_id_a":4.86262894,"mpcc_iq_a":-0.0983279869,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.4507017,"mpcc_pred_id_a":1.15304077,"mpcc_pred_iq_a":0.106599957,"mpcc_state":1,"mpcc_theta_e":0.437485695,"mpcc_theta_mech":0.554443061,"sam_rpm":-17.5604763,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236346871,"thr_a_norm":0.0236346871,"thr_a_v":0.594538748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479427785,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.515402,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.233269453,"cg_theta_rad":0.556502998,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0349607319,"mpcc_du":50.1420937,"mpcc_dv":48.6892166,"mpcc_dw":51.3107834,"mpcc_enc_sign":1,"mpcc_id_a":1.70027137,"mpcc_iq_a":-2.61467338,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.19220924,"mpcc_pred_id_a":0.350080073,"mpcc_pred_iq_a":0.589615583,"mpcc_state":1,"mpcc_theta_e":0.429198265,"mpcc_theta_mech":0.552785575,"sam_rpm":-14.1055584,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443675905,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.525198,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.588670254,"cg_iw_a":-1.68302298,"cg_theta_rad":0.557746768,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0243346654,"mpcc_du":49.4393654,"mpcc_dv":49.9585266,"mpcc_dw":50.5606346,"mpcc_enc_sign":1,"mpcc_id_a":2.73209381,"mpcc_iq_a":-1.74282348,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.16013861,"mpcc_pred_id_a":0.802688837,"mpcc_pred_iq_a":-0.156454176,"mpcc_state":1,"mpcc_theta_e":0.439586639,"mpcc_theta_mech":0.554863274,"sam_rpm":0.840189159,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443675905,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.535666,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.298719406,"cg_iw_a":-2.48038721,"cg_theta_rad":0.556951463,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0471257232,"mpcc_du":50.3961525,"mpcc_dv":48.439373,"mpcc_dw":51.560627,"mpcc_enc_sign":1,"mpcc_id_a":0.676594615,"mpcc_iq_a":-1.63494933,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.8580723,"mpcc_pred_id_a":-0.207187966,"mpcc_pred_iq_a":-5.25762939,"mpcc_state":1,"mpcc_theta_e":0.457647324,"mpcc_theta_mech":0.558475375,"sam_rpm":20.9350204,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02428931,"thr_a_norm":0.02428931,"thr_a_v":0.59715724,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481190175,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.545675,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.16857147,"cg_iw_a":-2.62536287,"cg_theta_rad":0.557085633,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0452107452,"mpcc_du":50.2750969,"mpcc_dv":48.6773987,"mpcc_dw":51.3226013,"mpcc_enc_sign":1,"mpcc_id_a":2.02484822,"mpcc_iq_a":-1.68849266,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.4378281,"mpcc_pred_id_a":0.0838289931,"mpcc_pred_iq_a":-2.30822587,"mpcc_state":1,"mpcc_theta_e":0.456235409,"mpcc_theta_mech":0.558327675,"sam_rpm":2.57516646,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.02428931,"thr_a_v":0.618709087,"thr_b":0.00742045045,"thr_b_norm":0,"thr_b_v":0.529681802,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.568655,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.226231575,"cg_iw_a":-2.33541203,"cg_theta_rad":0.555871725,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.00515373703,"mpcc_du":49.5620499,"mpcc_dv":50.4379501,"mpcc_dw":50.1780968,"mpcc_enc_sign":1,"mpcc_id_a":0.270204306,"mpcc_iq_a":-1.00554049,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.15923023,"mpcc_pred_id_a":-0.580446959,"mpcc_pred_iq_a":-5.12120819,"mpcc_state":1,"mpcc_theta_e":0.445293427,"mpcc_theta_mech":0.556004584,"sam_rpm":7.2221303,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00742045045,"thr_b_norm":0.00742045045,"thr_b_v":0.529681802,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.575186,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.878620625,"cg_iw_a":-1.68302298,"cg_theta_rad":0.557175219,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":9.24996784e-05,"mpcc_du":50.0683556,"mpcc_dv":49.0704422,"mpcc_dw":50.9295578,"mpcc_enc_sign":1,"mpcc_id_a":-0.119211398,"mpcc_iq_a":-1.6933459,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.69037199,"mpcc_pred_id_a":-0.433923841,"mpcc_pred_iq_a":-2.85064554,"mpcc_state":1,"mpcc_theta_e":0.434364796,"mpcc_theta_mech":0.553818882,"sam_rpm":-12.0834875,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0109956563,"thr_a_norm":0.0109956563,"thr_a_v":0.543982625,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.432698548,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.581717,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.16857147,"cg_iw_a":-1.10312176,"cg_theta_rad":0.554075897,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0167040899,"mpcc_du":50.661274,"mpcc_dv":48.1162758,"mpcc_dw":51.8837242,"mpcc_enc_sign":1,"mpcc_id_a":2.28188682,"mpcc_iq_a":-1.33890665,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.82819366,"mpcc_pred_id_a":0.157465905,"mpcc_pred_iq_a":0.662037432,"mpcc_state":1,"mpcc_theta_e":0.437111855,"mpcc_theta_mech":0.554368317,"sam_rpm":-7.06049824,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0109956563,"thr_a_norm":0.0109956563,"thr_a_v":0.543982625,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.432698548,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.588461,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.516182423,"cg_iw_a":-2.19043684,"cg_theta_rad":0.550592601,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0300217886,"mpcc_du":49.5387115,"mpcc_dv":49.5831451,"mpcc_dw":50.4612885,"mpcc_enc_sign":1,"mpcc_id_a":1.00672781,"mpcc_iq_a":0.34899509,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.7717915,"mpcc_pred_id_a":0.102224313,"mpcc_pred_iq_a":-0.740151823,"mpcc_state":1,"mpcc_theta_e":0.442141533,"mpcc_theta_mech":0.555374265,"sam_rpm":26.1144543,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185236931,"thr_a_norm":0.0185236931,"thr_a_v":0.574094772,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450020611,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.598684,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.806133032,"cg_iw_a":-0.378245115,"cg_theta_rad":0.559316874,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0192121621,"mpcc_du":50.2839012,"mpcc_dv":48.606945,"mpcc_dw":51.393055,"mpcc_enc_sign":1,"mpcc_id_a":0.843313694,"mpcc_iq_a":-0.814830065,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.54121768,"mpcc_pred_id_a":0.102850132,"mpcc_pred_iq_a":-1.65766406,"mpcc_state":1,"mpcc_theta_e":0.44488287,"mpcc_theta_mech":0.555922508,"sam_rpm":-2.06170988,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0299542099,"thr_a_norm":0.0185236931,"thr_a_v":0.61981684,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465479493,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.610617,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-2.83578777,"cg_iw_a":0.12916851,"cg_theta_rad":0.554443717,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0512764715,"mpcc_du":49.9833221,"mpcc_dv":48.6399307,"mpcc_dw":51.3600693,"mpcc_enc_sign":1,"mpcc_id_a":2.95180964,"mpcc_iq_a":-0.940478623,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.70055032,"mpcc_pred_id_a":1.0033356,"mpcc_pred_iq_a":-3.23067045,"mpcc_state":1,"mpcc_theta_e":0.445269585,"mpcc_theta_mech":0.555999875,"sam_rpm":-3.64079642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0299542099,"thr_a_norm":0.0299542099,"thr_a_v":0.61981684,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465479493,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.619802,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.806133032,"cg_iw_a":-0.813171148,"cg_theta_rad":0.556711197,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.00789998099,"mpcc_du":50.0049362,"mpcc_dv":48.879364,"mpcc_dw":51.120636,"mpcc_enc_sign":1,"mpcc_id_a":1.35356188,"mpcc_iq_a":-1.11275971,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.7406607,"mpcc_pred_id_a":0.1252978,"mpcc_pred_iq_a":-2.25820231,"mpcc_state":1,"mpcc_theta_e":0.424627781,"mpcc_theta_mech":0.551871479,"sam_rpm":-22.700325,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281540304,"thr_a_norm":0.0281540304,"thr_a_v":0.612616122,"thr_b":4.34815884e-05,"thr_b_norm":4.34815884e-05,"thr_b_v":0.500173926,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.631033,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.588670254,"cg_iw_a":-0.233269691,"cg_theta_rad":0.555046916,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0259124357,"mpcc_du":49.6392136,"mpcc_dv":49.2556038,"mpcc_dw":50.7443962,"mpcc_enc_sign":1,"mpcc_id_a":2.53462505,"mpcc_iq_a":-0.973122537,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.84608746,"mpcc_pred_id_a":0.35285604,"mpcc_pred_iq_a":-1.72256219,"mpcc_state":1,"mpcc_theta_e":0.445228577,"mpcc_theta_mech":0.55599165,"sam_rpm":11.3228712,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0281540304,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":4.34815884e-05,"thr_b_v":0.471068889,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.641256,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.806133032,"cg_iw_a":-1.68302321,"cg_theta_rad":0.556857407,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0348756872,"mpcc_du":50.5681458,"mpcc_dv":48.3397751,"mpcc_dw":51.6602249,"mpcc_enc_sign":1,"mpcc_id_a":1.39382768,"mpcc_iq_a":0.183347136,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.56983423,"mpcc_pred_id_a":-0.176008284,"mpcc_pred_iq_a":-0.676418602,"mpcc_state":1,"mpcc_theta_e":0.438147545,"mpcc_theta_mech":0.554575443,"sam_rpm":-5.57081127,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471068889,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.664846,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.89344811,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.554925978,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.017932903,"mpcc_du":51.1840019,"mpcc_dv":47.2125587,"mpcc_dw":52.7874413,"mpcc_enc_sign":1,"mpcc_id_a":2.05264616,"mpcc_iq_a":-0.807804942,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.14541483,"mpcc_pred_id_a":0.433635235,"mpcc_pred_iq_a":1.20198298,"mpcc_state":1,"mpcc_theta_e":0.452737808,"mpcc_theta_mech":0.557493448,"sam_rpm":-26.8637123,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00767223537,"thr_b_norm":0.00767223537,"thr_b_v":0.530688941,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.671347,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.74847269,"cg_iw_a":-0.595707893,"cg_theta_rad":0.55613327,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.00571944937,"mpcc_du":50.2699356,"mpcc_dv":48.8751793,"mpcc_dw":51.1248207,"mpcc_enc_sign":1,"mpcc_id_a":0.0523942225,"mpcc_iq_a":-0.949845076,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.68318558,"mpcc_pred_id_a":-0.669398963,"mpcc_pred_iq_a":-1.68014884,"mpcc_state":1,"mpcc_theta_e":0.449007034,"mpcc_theta_mech":0.556747317,"sam_rpm":-3.62707615,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00767223537,"thr_b_norm":0.00767223537,"thr_b_v":0.530688941,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.677908,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-0.951108456,"cg_iw_a":0.636582136,"cg_theta_rad":0.557820976,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0143686309,"mpcc_du":50.3481865,"mpcc_dv":48.3041191,"mpcc_dw":51.6958809,"mpcc_enc_sign":1,"mpcc_id_a":1.86298978,"mpcc_iq_a":-0.865533113,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.68032312,"mpcc_pred_id_a":0.46167925,"mpcc_pred_iq_a":-0.603350222,"mpcc_state":1,"mpcc_theta_e":0.436901569,"mpcc_theta_mech":0.554326236,"sam_rpm":-10.0765276,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00919547677,"thr_b_norm":0.00919547677,"thr_b_v":0.536781907,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.684408,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.588670254,"cg_iw_a":-0.233269691,"cg_theta_rad":0.5569911,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0867836028,"mpcc_du":50.8569298,"mpcc_dv":47.1462135,"mpcc_dw":52.8537865,"mpcc_enc_sign":1,"mpcc_id_a":5.83496237,"mpcc_iq_a":0.758065522,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-24.910738,"mpcc_pred_id_a":1.51198339,"mpcc_pred_iq_a":2.05227995,"mpcc_state":1,"mpcc_theta_e":0.417555332,"mpcc_theta_mech":0.550457001,"sam_rpm":-37.7259369,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243774205,"thr_a_norm":0.0296772718,"thr_a_v":0.597509682,"thr_b":0,"thr_b_norm":0.00919547677,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.694387,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.31354666,"cg_iw_a":-1.82799864,"cg_theta_rad":0.555971444,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0536674373,"mpcc_du":49.5993538,"mpcc_dv":49.3215523,"mpcc_dw":50.6784477,"mpcc_enc_sign":1,"mpcc_id_a":1.00953329,"mpcc_iq_a":-0.301001161,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.89674473,"mpcc_pred_id_a":0.302899063,"mpcc_pred_iq_a":-3.54447913,"mpcc_state":1,"mpcc_theta_e":0.453260422,"mpcc_theta_mech":0.557597995,"sam_rpm":14.580327,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243774205,"thr_a_norm":0.0243774205,"thr_a_v":0.597509682,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.70458,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-2.32837415,"cg_iw_a":-0.160782099,"cg_theta_rad":0.555979729,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0189988054,"mpcc_du":49.6161346,"mpcc_dv":49.729248,"mpcc_dw":50.3838654,"mpcc_enc_sign":1,"mpcc_id_a":-0.142143026,"mpcc_iq_a":-2.71018744,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.99649143,"mpcc_pred_id_a":-0.536984622,"mpcc_pred_iq_a":-2.42636609,"mpcc_state":1,"mpcc_theta_e":0.445431232,"mpcc_theta_mech":0.556032121,"sam_rpm":2.91118717,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280785114,"thr_a_norm":0.0280785114,"thr_a_v":0.612314045,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485822856,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.714499,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.16857147,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556629241,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0466432534,"mpcc_du":49.698616,"mpcc_dv":49.2621994,"mpcc_dw":50.7378006,"mpcc_enc_sign":1,"mpcc_id_a":2.00029278,"mpcc_iq_a":-0.577515185,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.28371882,"mpcc_pred_id_a":0.0579200201,"mpcc_pred_iq_a":-5.77575684,"mpcc_state":1,"mpcc_theta_e":0.439252853,"mpcc_theta_mech":0.554796457,"sam_rpm":-4.47398376,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280785114,"thr_a_norm":0.0280785114,"thr_a_v":0.612314045,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485822856,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.724844,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.6759851,"cg_iw_a":-1.39307237,"cg_theta_rad":0.555677772,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0526829325,"mpcc_du":50.4033508,"mpcc_dv":48.1433945,"mpcc_dw":51.8566055,"mpcc_enc_sign":1,"mpcc_id_a":2.65822935,"mpcc_iq_a":-0.366878301,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.90391302,"mpcc_pred_id_a":0.727368593,"mpcc_pred_iq_a":-0.751656234,"mpcc_state":1,"mpcc_theta_e":0.439577103,"mpcc_theta_mech":0.554861307,"sam_rpm":-3.89703774,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02542229,"thr_a_norm":0.02542229,"thr_a_v":0.60168916,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487534881,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.734793,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.516182423,"cg_iw_a":-2.40789986,"cg_theta_rad":0.556702554,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0773731768,"mpcc_du":50.0580521,"mpcc_dv":48.8853455,"mpcc_dw":51.1146545,"mpcc_enc_sign":1,"mpcc_id_a":1.21427715,"mpcc_iq_a":-0.207642451,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.617182076,"mpcc_pred_id_a":-0.00072610128,"mpcc_pred_iq_a":-4.14832115,"mpcc_state":1,"mpcc_theta_e":0.44803381,"mpcc_theta_mech":0.556552708,"sam_rpm":3.34980869,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.02542229,"thr_a_v":0.618709087,"thr_b":0.00889334083,"thr_b_norm":0,"thr_b_v":0.535573363,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.744619,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.0812563896,"cg_iw_a":-3.56770229,"cg_theta_rad":0.555441737,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.00644865818,"mpcc_du":50.4099312,"mpcc_dv":48.4309196,"mpcc_dw":51.5690804,"mpcc_enc_sign":1,"mpcc_id_a":0.549652636,"mpcc_iq_a":-1.12189496,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.54497051,"mpcc_pred_id_a":-0.0637329444,"mpcc_pred_iq_a":0.961310387,"mpcc_state":1,"mpcc_theta_e":0.429512501,"mpcc_theta_mech":0.552848458,"sam_rpm":-16.2537041,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00889334083,"thr_b_norm":0.00889334083,"thr_b_v":0.535573363,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.76824,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.588670254,"cg_iw_a":-0.16078186,"cg_theta_rad":0.555994213,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.00761602819,"mpcc_du":49.2993011,"mpcc_dv":50.7006989,"mpcc_dw":49.9767952,"mpcc_enc_sign":1,"mpcc_id_a":1.6578927,"mpcc_iq_a":-1.78248763,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.4270582,"mpcc_pred_id_a":-0.261568308,"mpcc_pred_iq_a":-4.03419971,"mpcc_state":1,"mpcc_theta_e":0.454011917,"mpcc_theta_mech":0.557748258,"sam_rpm":21.3200932,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160940737,"thr_a_norm":0.0160940737,"thr_a_v":0.564376295,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457573801,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.774801,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.806133032,"cg_iw_a":-1.82799816,"cg_theta_rad":0.555655777,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0564657822,"mpcc_du":49.4550705,"mpcc_dv":49.8446388,"mpcc_dw":50.5449295,"mpcc_enc_sign":1,"mpcc_id_a":3.43439436,"mpcc_iq_a":0.401315093,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.05039072,"mpcc_pred_id_a":0.606106699,"mpcc_pred_iq_a":-4.31234169,"mpcc_state":1,"mpcc_theta_e":0.446676254,"mpcc_theta_mech":0.556281209,"sam_rpm":5.85309982,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160940737,"thr_a_norm":0.0160940737,"thr_a_v":0.564376295,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457573801,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.781301,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.733645439,"cg_iw_a":-2.48038721,"cg_theta_rad":0.554112971,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0339299887,"mpcc_du":49.5433273,"mpcc_dv":49.5193405,"mpcc_dw":51.6531639,"mpcc_enc_sign":1,"mpcc_id_a":1.04610038,"mpcc_iq_a":-0.226148859,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.8584909,"mpcc_pred_id_a":0.0133328671,"mpcc_pred_iq_a":-2.88963103,"mpcc_state":1,"mpcc_theta_e":0.453640461,"mpcc_theta_mech":0.555465817,"sam_rpm":16.6723633,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0150617957,"thr_a_norm":0.0150617957,"thr_a_v":0.560247183,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466436267,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.787802,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.951108456,"cg_iw_a":-0.16078186,"cg_theta_rad":0.553206086,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0131843342,"mpcc_du":50.047905,"mpcc_dv":49.0529556,"mpcc_dw":50.9470444,"mpcc_enc_sign":1,"mpcc_id_a":0.97773838,"mpcc_iq_a":-0.873250127,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.85850811,"mpcc_pred_id_a":-0.386781693,"mpcc_pred_iq_a":-3.12618637,"mpcc_state":1,"mpcc_theta_e":0.440814495,"mpcc_theta_mech":0.555108845,"sam_rpm":-4.05074596,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214442611,"thr_a_norm":0.0150617957,"thr_a_v":0.585777044,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.797598,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.733645439,"cg_iw_a":-0.305757523,"cg_theta_rad":0.552844465,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.00577380648,"mpcc_du":49.5976677,"mpcc_dv":49.558136,"mpcc_dw":50.441864,"mpcc_enc_sign":1,"mpcc_id_a":0.0234484933,"mpcc_iq_a":-1.7542429,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.6359129,"mpcc_pred_id_a":-0.131512344,"mpcc_pred_iq_a":-0.262022287,"mpcc_state":1,"mpcc_theta_e":0.428010464,"mpcc_theta_mech":0.552548051,"sam_rpm":-12.9870586,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214442611,"thr_a_norm":0.0214442611,"thr_a_v":0.585777044,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.807791,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-2.11091113,"cg_iw_a":-0.23326993,"cg_theta_rad":0.552829385,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0106562311,"mpcc_du":49.3144073,"mpcc_dv":50.6855927,"mpcc_dw":49.6604195,"mpcc_enc_sign":1,"mpcc_id_a":-1.00847125,"mpcc_iq_a":-4.15498066,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.16629505,"mpcc_pred_id_a":-1.2209481,"mpcc_pred_iq_a":-5.72893715,"mpcc_state":1,"mpcc_theta_e":0.448858738,"mpcc_theta_mech":0.556717634,"sam_rpm":12.3798847,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0454635024,"thr_a_norm":0.0454635024,"thr_a_v":0.68185401,"thr_b":0.0143316537,"thr_b_norm":0.0143316537,"thr_b_v":0.557326615,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.817678,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.588670254,"cg_iw_a":-1.68302298,"cg_theta_rad":0.555452883,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0308964942,"mpcc_du":49.6952782,"mpcc_dv":49.4922028,"mpcc_dw":50.5077972,"mpcc_enc_sign":1,"mpcc_id_a":1.03668654,"mpcc_iq_a":-0.0717898607,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0321696699,"mpcc_pred_id_a":-0.147051737,"mpcc_pred_iq_a":-0.456838071,"mpcc_state":1,"mpcc_theta_e":0.444243431,"mpcc_theta_mech":0.555794597,"sam_rpm":8.61565018,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0454635024,"thr_a_norm":0.0454635024,"thr_a_v":0.68185401,"thr_b":0.0143316537,"thr_b_norm":0.0143316537,"thr_b_v":0.557326615,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.828207,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.32837415,"cg_iw_a":1.14399576,"cg_theta_rad":0.556260526,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.000818560598,"mpcc_du":50.5710068,"mpcc_dv":48.2869873,"mpcc_dw":51.7130127,"mpcc_enc_sign":1,"mpcc_id_a":0.315226346,"mpcc_iq_a":-0.415695965,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.4843321,"mpcc_pred_id_a":-0.0400621928,"mpcc_pred_iq_a":-0.204449505,"mpcc_state":1,"mpcc_theta_e":0.428702354,"mpcc_theta_mech":0.553330421,"sam_rpm":-19.6579552,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188635886,"thr_a_norm":0.0188635886,"thr_a_v":0.575454354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458631247,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.838217,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-3.05325079,"cg_iw_a":0.78155756,"cg_theta_rad":0.557150126,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.00513057597,"mpcc_du":49.7221146,"mpcc_dv":50.0564156,"mpcc_dw":50.2778854,"mpcc_enc_sign":1,"mpcc_id_a":-0.584051967,"mpcc_iq_a":-2.08493423,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.0551844,"mpcc_pred_id_a":-0.733475029,"mpcc_pred_iq_a":-3.55226064,"mpcc_state":1,"mpcc_theta_e":0.452837944,"mpcc_theta_mech":0.557513475,"sam_rpm":17.2484818,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0188635886,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476557553,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.848227,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.82096052,"cg_iw_a":-1.39307213,"cg_theta_rad":0.556320429,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0308261625,"mpcc_du":48.8036499,"mpcc_dv":51.1963501,"mpcc_dw":49.3868675,"mpcc_enc_sign":1,"mpcc_id_a":1.99207556,"mpcc_iq_a":-1.44226444,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.31912327,"mpcc_pred_id_a":-0.172324181,"mpcc_pred_iq_a":-4.04798937,"mpcc_state":1,"mpcc_theta_e":0.440038204,"mpcc_theta_mech":0.554953575,"sam_rpm":9.87964344,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0272728354,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476557553,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.871634,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.951108456,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556151927,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0130716302,"mpcc_du":50.9927788,"mpcc_dv":47.8119392,"mpcc_dw":52.1880608,"mpcc_enc_sign":1,"mpcc_id_a":1.78142905,"mpcc_iq_a":-1.21994436,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.9286909,"mpcc_pred_id_a":-0.167570129,"mpcc_pred_iq_a":2.98405266,"mpcc_state":1,"mpcc_theta_e":0.427023411,"mpcc_theta_mech":0.55235064,"sam_rpm":-19.6285191,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170130432,"thr_a_norm":0.0170130432,"thr_a_v":0.568052173,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.435468048,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.878164,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.96593571,"cg_iw_a":-0.958146334,"cg_theta_rad":0.554685712,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0410551354,"mpcc_du":49.7093468,"mpcc_dv":49.4145203,"mpcc_dw":50.5854797,"mpcc_enc_sign":1,"mpcc_id_a":1.06376743,"mpcc_iq_a":-0.520736754,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.2645025,"mpcc_pred_id_a":-0.00929728989,"mpcc_pred_iq_a":-2.00499177,"mpcc_state":1,"mpcc_theta_e":0.458660126,"mpcc_theta_mech":0.558677971,"sam_rpm":23.2611523,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170130432,"thr_a_norm":0.0170130432,"thr_a_v":0.568052173,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.435468048,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.884695,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.24105906,"cg_iw_a":-1.75551057,"cg_theta_rad":0.557105839,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0188517384,"mpcc_du":49.5531158,"mpcc_dv":49.5463104,"mpcc_dw":50.4536896,"mpcc_enc_sign":1,"mpcc_id_a":1.06008637,"mpcc_iq_a":-0.359607249,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.10253155,"mpcc_pred_id_a":0.0592590831,"mpcc_pred_iq_a":-4.7995429,"mpcc_state":1,"mpcc_theta_e":0.443091869,"mpcc_theta_mech":0.555564284,"sam_rpm":-1.91979086,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205001235,"thr_a_norm":0.0205001235,"thr_a_v":0.582000494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462861091,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.891195,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.0087685585,"cg_iw_a":-1.24809742,"cg_theta_rad":0.551940739,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0143981278,"mpcc_du":50.4564629,"mpcc_dv":48.4394455,"mpcc_dw":51.5605545,"mpcc_enc_sign":1,"mpcc_id_a":1.989676,"mpcc_iq_a":0.0953427777,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.51270294,"mpcc_pred_id_a":-0.0562158972,"mpcc_pred_iq_a":0.488483757,"mpcc_state":1,"mpcc_theta_e":0.434913158,"mpcc_theta_mech":0.556658089,"sam_rpm":-8.7487669,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273483545,"thr_a_norm":0.0205001235,"thr_a_v":0.609393418,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496145576,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.901236,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.45852208,"cg_iw_a":-4.94496822,"cg_theta_rad":0.555930018,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0389640853,"mpcc_du":50.396946,"mpcc_dv":48.5652046,"mpcc_dw":51.4347954,"mpcc_enc_sign":1,"mpcc_id_a":0.2471167,"mpcc_iq_a":-0.716618598,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.913755536,"mpcc_pred_id_a":-0.160876587,"mpcc_pred_iq_a":-2.20959282,"mpcc_state":1,"mpcc_theta_e":0.445860386,"mpcc_theta_mech":0.556117952,"sam_rpm":0.23255375,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273483545,"thr_a_norm":0.0273483545,"thr_a_v":0.609393418,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496145576,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.911367,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-2.18339872,"cg_iw_a":-1.10312176,"cg_theta_rad":0.555160642,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":365,"hz_tim_isr":10002,"hz_vsense":365,"mpcc_cost":0.0461350903,"mpcc_du":50.6066818,"mpcc_dv":48.380703,"mpcc_dw":51.619297,"mpcc_enc_sign":1,"mpcc_id_a":0.283741772,"mpcc_iq_a":-0.640865147,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.45248055,"mpcc_pred_id_a":-0.370250851,"mpcc_pred_iq_a":-1.70997298,"mpcc_state":1,"mpcc_theta_e":0.44503355,"mpcc_theta_mech":0.555952609,"sam_rpm":-0.187056527,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165220946,"thr_a_norm":0.0165220946,"thr_a_v":0.566088378,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475197971,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.92211,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.6759851,"cg_iw_a":-0.523220301,"cg_theta_rad":0.553165913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.00198795088,"mpcc_du":50.1018944,"mpcc_dv":48.8031921,"mpcc_dw":51.1968079,"mpcc_enc_sign":1,"mpcc_id_a":-0.578441799,"mpcc_iq_a":-2.73890996,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.2567492,"mpcc_pred_id_a":-0.870342433,"mpcc_pred_iq_a":-4.26742458,"mpcc_state":1,"mpcc_theta_e":0.452388287,"mpcc_theta_mech":0.557423592,"sam_rpm":5.88494921,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0132616162,"thr_a_norm":0.0165220946,"thr_a_v":0.553046465,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456214249,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.931997,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-3.05325079,"cg_iw_a":0.346631527,"cg_theta_rad":0.559043586,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0253155548,"mpcc_du":49.7597847,"mpcc_dv":49.1041603,"mpcc_dw":50.8958397,"mpcc_enc_sign":1,"mpcc_id_a":3.17529941,"mpcc_iq_a":-0.966632187,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.77842951,"mpcc_pred_id_a":0.373242974,"mpcc_pred_iq_a":-2.04621696,"mpcc_state":1,"mpcc_theta_e":0.435890675,"mpcc_theta_mech":0.554124057,"sam_rpm":-6.29410124,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0132616162,"thr_a_norm":0.0132616162,"thr_a_v":0.553046465,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456214249,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.942404,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.443694592,"cg_iw_a":-2.33541203,"cg_theta_rad":0.556910694,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0395106263,"mpcc_du":50.9311333,"mpcc_dv":47.5880661,"mpcc_dw":52.4119339,"mpcc_enc_sign":1,"mpcc_id_a":3.03004146,"mpcc_iq_a":-0.231600851,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.0243473,"mpcc_pred_id_a":0.456065476,"mpcc_pred_iq_a":-0.373328924,"mpcc_state":1,"mpcc_theta_e":0.429198265,"mpcc_theta_mech":0.552785575,"sam_rpm":-24.9152489,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254600644,"thr_a_norm":0.0254600644,"thr_a_v":0.601840258,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484211475,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.952017,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.02359605,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.556260943,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.110461026,"mpcc_du":50.867939,"mpcc_dv":47.635891,"mpcc_dw":52.364109,"mpcc_enc_sign":1,"mpcc_id_a":3.99026275,"mpcc_iq_a":-0.29061535,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.22001886,"mpcc_pred_id_a":0.831250191,"mpcc_pred_iq_a":0.323366672,"mpcc_state":1,"mpcc_theta_e":0.448628426,"mpcc_theta_mech":0.55667156,"sam_rpm":0.697266281,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254600644,"thr_a_norm":0.0254600644,"thr_a_v":0.601840258,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484211475,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.975454,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.443694592,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.555395484,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0361769572,"mpcc_du":50.9881287,"mpcc_dv":47.9028893,"mpcc_dw":52.0971107,"mpcc_enc_sign":1,"mpcc_id_a":0.881952703,"mpcc_iq_a":-0.22706902,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.83613873,"mpcc_pred_id_a":-0.276115388,"mpcc_pred_iq_a":0.198004335,"mpcc_state":1,"mpcc_theta_e":0.441396236,"mpcc_theta_mech":0.555225194,"sam_rpm":-6.80591917,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199084431,"thr_a_norm":0.0199084431,"thr_a_v":0.579633772,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476658285,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.981985,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.82096052,"cg_iw_a":0.129168987,"cg_theta_rad":0.557428956,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0116357105,"mpcc_du":49.5689507,"mpcc_dv":49.8508873,"mpcc_dw":50.4310493,"mpcc_enc_sign":1,"mpcc_id_a":1.51467001,"mpcc_iq_a":-0.240805164,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.90892363,"mpcc_pred_id_a":-0.0433458202,"mpcc_pred_iq_a":-5.26330137,"mpcc_state":1,"mpcc_theta_e":0.436798573,"mpcc_theta_mech":0.554305673,"sam_rpm":-7.75075817,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0199084431,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462055355,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.988485,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.38603449,"cg_iw_a":0.926533222,"cg_theta_rad":0.556392968,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.00195228239,"mpcc_du":51.12854,"mpcc_dv":47.5525894,"mpcc_dw":52.4474106,"mpcc_enc_sign":1,"mpcc_id_a":0.778123975,"mpcc_iq_a":-1.31890678,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.6688643,"mpcc_pred_id_a":0.0452150069,"mpcc_pred_iq_a":1.77297032,"mpcc_state":1,"mpcc_theta_e":0.429730415,"mpcc_theta_mech":0.552892029,"sam_rpm":-20.2660885,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0236472934,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462055355,"vdc_v":55.2955055}} +{"type":"telemetry","t":24.995016,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.24105906,"cg_iw_a":-1.39307237,"cg_theta_rad":0.552685022,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0141075402,"mpcc_du":49.5873184,"mpcc_dv":49.79319,"mpcc_dw":50.4126816,"mpcc_enc_sign":1,"mpcc_id_a":0.950846314,"mpcc_iq_a":-1.09618342,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.1160655,"mpcc_pred_id_a":-0.047269322,"mpcc_pred_iq_a":-4.90266895,"mpcc_state":1,"mpcc_theta_e":0.443706512,"mpcc_theta_mech":0.555687189,"sam_rpm":3.46738243,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0409567356,"thr_a_norm":0.0409567356,"thr_a_v":0.663826942,"thr_b":0.0131735057,"thr_b_norm":0.0131735057,"thr_b_v":0.552694023,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.005392,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.6759851,"cg_iw_a":0.419119358,"cg_theta_rad":0.554011226,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0403351076,"mpcc_du":49.4036369,"mpcc_dv":50.5963631,"mpcc_dw":50.4698906,"mpcc_enc_sign":1,"mpcc_id_a":3.98604059,"mpcc_iq_a":-0.588837147,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.41200256,"mpcc_pred_id_a":0.833578527,"mpcc_pred_iq_a":-5.13925123,"mpcc_state":1,"mpcc_theta_e":0.431965828,"mpcc_theta_mech":0.553339064,"sam_rpm":-8.04636955,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246417969,"thr_a_norm":0.0409567356,"thr_a_v":0.598567188,"thr_b":0,"thr_b_norm":0.0131735057,"thr_b_v":0.487383813,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.016409,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.443694592,"cg_iw_a":-2.48038769,"cg_theta_rad":0.555811524,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.00879232399,"mpcc_du":49.3266258,"mpcc_dv":50.6733742,"mpcc_dw":50.0090332,"mpcc_enc_sign":1,"mpcc_id_a":0.199134707,"mpcc_iq_a":-2.7562139,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.3622551,"mpcc_pred_id_a":-0.161257848,"mpcc_pred_iq_a":-5.58703518,"mpcc_state":1,"mpcc_theta_e":0.459911823,"mpcc_theta_mech":0.558928311,"sam_rpm":25.3233128,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246417969,"thr_a_norm":0.0246417969,"thr_a_v":0.598567188,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487383813,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.027639,"values":{"cg_iu_a":4.08388519,"cg_iv_a":-1.82096052,"cg_iw_a":-2.26292467,"cg_theta_rad":0.553804755,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0257075019,"mpcc_du":49.6595535,"mpcc_dv":49.5169868,"mpcc_dw":50.4830132,"mpcc_enc_sign":1,"mpcc_id_a":0.279342592,"mpcc_iq_a":-1.2975924,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.6270304,"mpcc_pred_id_a":-0.173722818,"mpcc_pred_iq_a":-3.10922956,"mpcc_state":1,"mpcc_theta_e":0.455742836,"mpcc_theta_mech":0.558094442,"sam_rpm":18.2328892,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246040374,"thr_a_norm":0.0246040374,"thr_a_v":0.59841615,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.037802,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.60349751,"cg_iw_a":1.28897142,"cg_theta_rad":0.556767225,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.00914161559,"mpcc_du":49.7372856,"mpcc_dv":49.3891869,"mpcc_dw":50.6108131,"mpcc_enc_sign":1,"mpcc_id_a":1.50619245,"mpcc_iq_a":-1.2746712,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.16280365,"mpcc_pred_id_a":-0.0424778797,"mpcc_pred_iq_a":-1.84191287,"mpcc_state":1,"mpcc_theta_e":0.447113037,"mpcc_theta_mech":0.55636853,"sam_rpm":9.14923286,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0972785503,"thr_a_norm":0.0246040374,"thr_a_v":0.889114201,"thr_b":0.0429457426,"thr_b_norm":0,"thr_b_v":0.67178297,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.047689,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.371207237,"cg_iw_a":-0.16078186,"cg_theta_rad":0.556911051,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0277432427,"mpcc_du":49.5319176,"mpcc_dv":49.6914368,"mpcc_dw":50.4680824,"mpcc_enc_sign":1,"mpcc_id_a":2.78804183,"mpcc_iq_a":0.0963282511,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.96070671,"mpcc_pred_id_a":0.454929858,"mpcc_pred_iq_a":-1.8277961,"mpcc_state":1,"mpcc_theta_e":0.433922768,"mpcc_theta_mech":0.553527892,"sam_rpm":-9.17517662,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0972785503,"thr_a_norm":0.0972785503,"thr_a_v":0.889114201,"thr_b":0.0429457426,"thr_b_norm":0.0429457426,"thr_b_v":0.67178297,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.058004,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.24105906,"cg_iw_a":-3.20526409,"cg_theta_rad":0.553606093,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0129921082,"mpcc_du":49.9382477,"mpcc_dv":48.7704468,"mpcc_dw":51.2295532,"mpcc_enc_sign":1,"mpcc_id_a":3.75711417,"mpcc_iq_a":-0.922849476,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.61061907,"mpcc_pred_id_a":0.957671046,"mpcc_pred_iq_a":-0.406396359,"mpcc_state":1,"mpcc_theta_e":0.437897205,"mpcc_theta_mech":0.554525316,"sam_rpm":-14.9299116,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240752995,"thr_a_norm":0.0240752995,"thr_a_v":0.596301198,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.080832,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.89344811,"cg_iw_a":-0.0158064365,"cg_theta_rad":0.552783668,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0181049798,"mpcc_du":51.1013374,"mpcc_dv":47.8102455,"mpcc_dw":52.1897545,"mpcc_enc_sign":1,"mpcc_id_a":-0.319404691,"mpcc_iq_a":-4.12069607,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.8878345,"mpcc_pred_id_a":-0.684650183,"mpcc_pred_iq_a":-0.38348943,"mpcc_state":1,"mpcc_theta_e":0.423400402,"mpcc_theta_mech":0.551625967,"sam_rpm":-31.3545132,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240752995,"thr_a_norm":0.0240752995,"thr_a_v":0.596301198,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.087393,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.53100967,"cg_iw_a":0.346631527,"cg_theta_rad":0.556594372,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0107325204,"mpcc_du":50.6382866,"mpcc_dv":48.1575127,"mpcc_dw":51.8424873,"mpcc_enc_sign":1,"mpcc_id_a":1.96094561,"mpcc_iq_a":-0.998768806,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.9528327,"mpcc_pred_id_a":0.113211073,"mpcc_pred_iq_a":1.23055863,"mpcc_state":1,"mpcc_theta_e":0.434887409,"mpcc_theta_mech":0.553923368,"sam_rpm":-8.76029682,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201098621,"thr_a_norm":0.0201098621,"thr_a_v":0.580439448,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461904317,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.093832,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.53100967,"cg_iw_a":0.926532745,"cg_theta_rad":0.553091407,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.00556060066,"mpcc_du":48.4230194,"mpcc_dv":51.5769806,"mpcc_dw":48.9119453,"mpcc_enc_sign":1,"mpcc_id_a":1.15563464,"mpcc_iq_a":-1.16135526,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.0167484,"mpcc_pred_id_a":-0.303323835,"mpcc_pred_iq_a":-8.15312672,"mpcc_state":1,"mpcc_theta_e":0.451992512,"mpcc_theta_mech":0.557344437,"sam_rpm":18.62327,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201098621,"thr_a_norm":0.0201098621,"thr_a_v":0.580439448,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461904317,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.100393,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.45852208,"cg_iw_a":0.636582136,"cg_theta_rad":0.553831935,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.00351793133,"mpcc_du":49.4781113,"mpcc_dv":50.5218887,"mpcc_dw":50.0797615,"mpcc_enc_sign":1,"mpcc_id_a":0.210461542,"mpcc_iq_a":-1.30098546,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.88640499,"mpcc_pred_id_a":-0.525831103,"mpcc_pred_iq_a":-5.98799658,"mpcc_state":1,"mpcc_theta_e":0.435251713,"mpcc_theta_mech":0.553996265,"sam_rpm":4.30717707,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242389441,"thr_a_norm":0.0242389441,"thr_a_v":0.596955776,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485671788,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.108603,"values":{"cg_iu_a":4.15637207,"cg_iv_a":0.281181812,"cg_iw_a":-4.43755388,"cg_theta_rad":0.555947304,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.00214464008,"mpcc_du":48.4854813,"mpcc_dv":51.5145187,"mpcc_dw":48.8772812,"mpcc_enc_sign":1,"mpcc_id_a":0.72584188,"mpcc_iq_a":-0.387513548,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.44689369,"mpcc_pred_id_a":-0.536670327,"mpcc_pred_iq_a":-8.11793423,"mpcc_state":1,"mpcc_theta_e":0.444443226,"mpcc_theta_mech":0.555834591,"sam_rpm":9.62130547,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217841566,"thr_a_norm":0.0242389441,"thr_a_v":0.587136626,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470363915,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.118582,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.16857147,"cg_iw_a":1.07150817,"cg_theta_rad":0.555931687,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0297199562,"mpcc_du":49.8130035,"mpcc_dv":48.8354607,"mpcc_dw":51.1645393,"mpcc_enc_sign":1,"mpcc_id_a":3.41923428,"mpcc_iq_a":0.10069643,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.17207384,"mpcc_pred_id_a":0.962025106,"mpcc_pred_iq_a":0.503692091,"mpcc_state":1,"mpcc_theta_e":0.42797327,"mpcc_theta_mech":0.5525406,"sam_rpm":-9.70869732,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217841566,"thr_a_norm":0.0217841566,"thr_a_v":0.587136626,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470363915,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.128805,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.60349751,"cg_iw_a":-0.378245354,"cg_theta_rad":0.555296957,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.00247670594,"mpcc_du":50.1647224,"mpcc_dv":48.6009254,"mpcc_dw":51.3990746,"mpcc_enc_sign":1,"mpcc_id_a":0.994307578,"mpcc_iq_a":-0.499079585,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.71945333,"mpcc_pred_id_a":0.341018558,"mpcc_pred_iq_a":0.601380408,"mpcc_state":1,"mpcc_theta_e":0.431223869,"mpcc_theta_mech":0.553190649,"sam_rpm":-9.10392952,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0223128796,"thr_a_norm":0.0223128796,"thr_a_v":0.589251518,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49055618,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.140829,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.24105906,"cg_iw_a":0.636582136,"cg_theta_rad":0.554427505,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.00194838864,"mpcc_du":49.8855705,"mpcc_dv":49.1303825,"mpcc_dw":50.8696175,"mpcc_enc_sign":1,"mpcc_id_a":0.502516091,"mpcc_iq_a":-0.180549458,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.551966786,"mpcc_pred_id_a":-0.100892805,"mpcc_pred_iq_a":0.779845357,"mpcc_state":1,"mpcc_theta_e":0.431021214,"mpcc_theta_mech":0.553150177,"sam_rpm":-1.55002046,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195559561,"thr_a_norm":0.0223128796,"thr_a_v":0.578223825,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473737687,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.150991,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.38603449,"cg_iw_a":-0.595707893,"cg_theta_rad":0.557583153,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0285112876,"mpcc_du":49.1880455,"mpcc_dv":50.8119545,"mpcc_dw":50.0378418,"mpcc_enc_sign":1,"mpcc_id_a":2.59724259,"mpcc_iq_a":-1.68677461,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.46022987,"mpcc_pred_id_a":0.209022611,"mpcc_pred_iq_a":-2.53010631,"mpcc_state":1,"mpcc_theta_e":0.441759586,"mpcc_theta_mech":0.555297792,"sam_rpm":12.9039307,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195559561,"thr_a_norm":0.0195559561,"thr_a_v":0.578223825,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473737687,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.161215,"values":{"cg_iu_a":3.79393435,"cg_iv_a":-2.11091113,"cg_iw_a":-1.68302321,"cg_theta_rad":0.557269692,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0435697399,"mpcc_du":50.7077293,"mpcc_dv":48.0136414,"mpcc_dw":51.9863586,"mpcc_enc_sign":1,"mpcc_id_a":2.15129352,"mpcc_iq_a":-0.441930294,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.2397861,"mpcc_pred_id_a":0.0127547355,"mpcc_pred_iq_a":-4.8412962,"mpcc_state":1,"mpcc_theta_e":0.454849243,"mpcc_theta_mech":0.557915807,"sam_rpm":-2.3321979,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180830956,"thr_a_norm":0.0180830956,"thr_a_v":0.572332382,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457473099,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.184195,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.09608364,"cg_iw_a":-0.81317091,"cg_theta_rad":0.553824425,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.00440903986,"mpcc_du":51.7855682,"mpcc_dv":46.6678352,"mpcc_dw":53.3321648,"mpcc_enc_sign":1,"mpcc_id_a":1.16078317,"mpcc_iq_a":-1.71477211,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.7294312,"mpcc_pred_id_a":0.0305632409,"mpcc_pred_iq_a":5.03386164,"mpcc_state":1,"mpcc_theta_e":0.424746037,"mpcc_theta_mech":0.551895082,"sam_rpm":-27.7494278,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180830956,"thr_a_norm":0.0180830956,"thr_a_v":0.572332382,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457473099,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.190786,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-1.60349751,"cg_iw_a":-1.75551081,"cg_theta_rad":0.554443061,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.042133756,"mpcc_du":49.3301468,"mpcc_dv":50.6698532,"mpcc_dw":50.3761292,"mpcc_enc_sign":1,"mpcc_id_a":3.60147762,"mpcc_iq_a":0.839842677,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.5809183,"mpcc_pred_id_a":0.759585917,"mpcc_pred_iq_a":-0.555588067,"mpcc_state":1,"mpcc_theta_e":0.429749012,"mpcc_theta_mech":0.552895725,"sam_rpm":12.6031275,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026051715,"thr_a_norm":0.026051715,"thr_a_v":0.60420686,"thr_b":0.00178071856,"thr_b_norm":0.00178071856,"thr_b_v":0.507122874,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.197256,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.588670254,"cg_iw_a":-2.11794901,"cg_theta_rad":0.554655552,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.00986002758,"mpcc_du":49.9726028,"mpcc_dv":48.9264145,"mpcc_dw":51.0735855,"mpcc_enc_sign":1,"mpcc_id_a":1.60325706,"mpcc_iq_a":-2.57727551,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.3698535,"mpcc_pred_id_a":0.19924815,"mpcc_pred_iq_a":-1.47269535,"mpcc_state":1,"mpcc_theta_e":0.448135853,"mpcc_theta_mech":0.556573093,"sam_rpm":9.00131321,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225646496,"thr_a_norm":0.026051715,"thr_a_v":0.590258598,"thr_b":0,"thr_b_norm":0.00178071856,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.205587,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.661157608,"cg_iw_a":-2.33541203,"cg_theta_rad":0.55751878,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.00277326442,"mpcc_du":49.1434364,"mpcc_dv":50.8565636,"mpcc_dw":49.581604,"mpcc_enc_sign":1,"mpcc_id_a":-0.397778511,"mpcc_iq_a":-2.65916443,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.1703119,"mpcc_pred_id_a":-0.890626788,"mpcc_pred_iq_a":-5.05966282,"mpcc_state":1,"mpcc_theta_e":0.429634094,"mpcc_theta_mech":0.552872777,"sam_rpm":15.8191891,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225646496,"thr_a_norm":0.0225646496,"thr_a_v":0.590258598,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.216024,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-2.61832476,"cg_iw_a":2.01384783,"cg_theta_rad":0.556791484,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0156566706,"mpcc_du":50.2440681,"mpcc_dv":48.623951,"mpcc_dw":51.376049,"mpcc_enc_sign":1,"mpcc_id_a":1.12303758,"mpcc_iq_a":-0.565620422,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.28515053,"mpcc_pred_id_a":0.0628752112,"mpcc_pred_iq_a":-2.7075839,"mpcc_state":1,"mpcc_theta_e":0.436509609,"mpcc_theta_mech":0.554247797,"sam_rpm":-13.7630091,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0110334158,"thr_a_norm":0.0110334158,"thr_a_v":0.544133663,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441057444,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.225546,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.733645439,"cg_iw_a":0.12916851,"cg_theta_rad":0.55631572,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.00111920165,"mpcc_du":49.705883,"mpcc_dv":49.2823372,"mpcc_dw":50.7176628,"mpcc_enc_sign":1,"mpcc_id_a":0.658534348,"mpcc_iq_a":-1.55361271,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.55358863,"mpcc_pred_id_a":0.112683468,"mpcc_pred_iq_a":-2.70217538,"mpcc_state":1,"mpcc_theta_e":0.439387798,"mpcc_theta_mech":0.554823518,"sam_rpm":-4.89443016,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0110334158,"thr_a_norm":0.0110334158,"thr_a_v":0.544133663,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441057444,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.2358,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-0.806133032,"cg_iw_a":0.781557798,"cg_theta_rad":0.556189775,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0384091362,"mpcc_du":50.0707169,"mpcc_dv":49.0673828,"mpcc_dw":50.9326172,"mpcc_enc_sign":1,"mpcc_id_a":1.23812318,"mpcc_iq_a":-2.46826816,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.19163513,"mpcc_pred_id_a":-0.355704099,"mpcc_pred_iq_a":-3.67697096,"mpcc_state":1,"mpcc_theta_e":0.45639801,"mpcc_theta_mech":0.558225513,"sam_rpm":14.2232971,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275623649,"thr_a_norm":0.0275623649,"thr_a_v":0.61024946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497958362,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.246176,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.226231575,"cg_iw_a":0.564094782,"cg_theta_rad":0.555917323,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0421741158,"mpcc_du":50.2337074,"mpcc_dv":48.8104401,"mpcc_dw":51.1895599,"mpcc_enc_sign":1,"mpcc_id_a":0.878461719,"mpcc_iq_a":-3.2012167,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.0174551,"mpcc_pred_id_a":-0.327050269,"mpcc_pred_iq_a":-0.576501071,"mpcc_state":1,"mpcc_theta_e":0.427538395,"mpcc_theta_mech":0.552453578,"sam_rpm":-19.7542648,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0150743872,"thr_a_norm":0.0275623649,"thr_a_v":0.560297549,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460796505,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.255819,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-3.05325079,"cg_iw_a":2.08633566,"cg_theta_rad":0.557622671,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0945683345,"mpcc_du":50.3137321,"mpcc_dv":48.5081863,"mpcc_dw":51.4918137,"mpcc_enc_sign":1,"mpcc_id_a":3.15387249,"mpcc_iq_a":-0.368397534,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.35600424,"mpcc_pred_id_a":0.400621563,"mpcc_pred_iq_a":-1.08712387,"mpcc_state":1,"mpcc_theta_e":0.453411579,"mpcc_theta_mech":0.557628274,"sam_rpm":13.2762079,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0150743872,"thr_a_norm":0.0150743872,"thr_a_v":0.560297549,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460796505,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.279165,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.24105906,"cg_iw_a":-1.39307237,"cg_theta_rad":0.556634009,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.017314503,"mpcc_du":51.1578178,"mpcc_dv":47.8462753,"mpcc_dw":52.1537247,"mpcc_enc_sign":1,"mpcc_id_a":0.306542218,"mpcc_iq_a":-1.07773805,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.2756414,"mpcc_pred_id_a":-0.833925545,"mpcc_pred_iq_a":-4.34048748,"mpcc_state":1,"mpcc_theta_e":0.455566406,"mpcc_theta_mech":0.558059156,"sam_rpm":-16.0170994,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217589736,"thr_a_norm":0.0217589736,"thr_a_v":0.587035894,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477262527,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.285727,"values":{"cg_iu_a":2.5616436,"cg_iv_a":0.281181812,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.557637513,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0170274414,"mpcc_du":49.5425644,"mpcc_dv":49.5438309,"mpcc_dw":50.4574356,"mpcc_enc_sign":1,"mpcc_id_a":2.41848135,"mpcc_iq_a":-1.04752016,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.224465251,"mpcc_pred_id_a":0.0500562675,"mpcc_pred_iq_a":-3.63189435,"mpcc_state":1,"mpcc_theta_e":0.442043781,"mpcc_theta_mech":0.555354714,"sam_rpm":-0.143543452,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217589736,"thr_a_norm":0.0217589736,"thr_a_v":0.587035894,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477262527,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.292288,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.806133032,"cg_iw_a":0.274143934,"cg_theta_rad":0.55322808,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.00264222198,"mpcc_du":49.3948822,"mpcc_dv":50.6051178,"mpcc_dw":50.0658607,"mpcc_enc_sign":1,"mpcc_id_a":0.592868626,"mpcc_iq_a":-1.99972081,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.4483881,"mpcc_pred_id_a":-0.299071074,"mpcc_pred_iq_a":-5.4754734,"mpcc_state":1,"mpcc_theta_e":0.448823929,"mpcc_theta_mech":0.55671066,"sam_rpm":12.1547861,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0305458903,"thr_a_norm":0.0305458903,"thr_a_v":0.622183561,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460544735,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.298758,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.45852208,"cg_iw_a":0.41911912,"cg_theta_rad":0.555651903,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0106772836,"mpcc_du":49.6722755,"mpcc_dv":49.4629784,"mpcc_dw":50.5370216,"mpcc_enc_sign":1,"mpcc_id_a":0.332104474,"mpcc_iq_a":-0.202272713,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.60264301,"mpcc_pred_id_a":-0.118274629,"mpcc_pred_iq_a":-2.23823142,"mpcc_state":1,"mpcc_theta_e":0.449728012,"mpcc_theta_mech":0.556891501,"sam_rpm":12.9866772,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273231864,"thr_a_norm":0.0305458903,"thr_a_v":0.609292746,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486930639,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.307028,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.153744221,"cg_iw_a":-0.0882940292,"cg_theta_rad":0.555712283,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0109494571,"mpcc_du":50.4262886,"mpcc_dv":48.5971031,"mpcc_dw":51.4028969,"mpcc_enc_sign":1,"mpcc_id_a":-0.201767638,"mpcc_iq_a":-1.33481145,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.70395231,"mpcc_pred_id_a":-0.337826103,"mpcc_pred_iq_a":-2.06222153,"mpcc_state":1,"mpcc_theta_e":0.440784454,"mpcc_theta_mech":0.555102825,"sam_rpm":-6.59584475,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273231864,"thr_a_norm":0.0273231864,"thr_a_v":0.609292746,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486930639,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.317404,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.24105906,"cg_iw_a":0.274143934,"cg_theta_rad":0.554040432,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.000349034672,"mpcc_du":49.7018318,"mpcc_dv":49.495121,"mpcc_dw":50.504879,"mpcc_enc_sign":1,"mpcc_id_a":0.370459735,"mpcc_iq_a":-1.14176393,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.698319912,"mpcc_pred_id_a":-0.32713896,"mpcc_pred_iq_a":-2.30461884,"mpcc_state":1,"mpcc_theta_e":0.440506935,"mpcc_theta_mech":0.555047333,"sam_rpm":0.835335135,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0997962952,"thr_a_norm":0.0997962952,"thr_a_v":0.899185181,"thr_b":0.041674301,"thr_b_norm":0.041674301,"thr_b_v":0.666697204,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.327414,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.60349751,"cg_iw_a":-1.10312176,"cg_theta_rad":0.558705449,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0477740802,"mpcc_du":49.8288307,"mpcc_dv":49.1296921,"mpcc_dw":50.8703079,"mpcc_enc_sign":1,"mpcc_id_a":2.28439713,"mpcc_iq_a":-0.492503762,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.30961227,"mpcc_pred_id_a":0.214007482,"mpcc_pred_iq_a":-2.13504362,"mpcc_state":1,"mpcc_theta_e":0.449103355,"mpcc_theta_mech":0.556766629,"sam_rpm":7.5142746,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0997962952,"thr_a_norm":0.0997962952,"thr_a_v":0.899185181,"thr_b":0.041674301,"thr_b_norm":0.041674301,"thr_b_v":0.666697204,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.338125,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.09608364,"cg_iw_a":-0.233269691,"cg_theta_rad":0.555815518,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.00146942388,"mpcc_du":49.4351692,"mpcc_dv":50.5648308,"mpcc_dw":50.1052284,"mpcc_enc_sign":1,"mpcc_id_a":0.211127147,"mpcc_iq_a":-0.792109311,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.84692526,"mpcc_pred_id_a":-0.300431818,"mpcc_pred_iq_a":-4.19165373,"mpcc_state":1,"mpcc_theta_e":0.445727348,"mpcc_theta_mech":0.556091428,"sam_rpm":10.2623053,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105209425,"thr_a_norm":0.105209425,"thr_a_v":0.9208377,"thr_b":0.0504486114,"thr_b_norm":0.0504486114,"thr_b_v":0.701794446,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.347982,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.45852208,"cg_iw_a":-0.668195486,"cg_theta_rad":0.555969834,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0394588634,"mpcc_du":49.8825035,"mpcc_dv":49.3125954,"mpcc_dw":50.6874046,"mpcc_enc_sign":1,"mpcc_id_a":1.23101401,"mpcc_iq_a":-1.00800359,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.26436329,"mpcc_pred_id_a":-0.362883389,"mpcc_pred_iq_a":-4.58433056,"mpcc_state":1,"mpcc_theta_e":0.449748993,"mpcc_theta_mech":0.556895733,"sam_rpm":5.29846764,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213939101,"thr_a_norm":0.105209425,"thr_a_v":0.58557564,"thr_b":0,"thr_b_norm":0.0504486114,"thr_b_v":0.469457537,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.357595,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.38603449,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556910694,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0310247317,"mpcc_du":50.2606926,"mpcc_dv":48.7320709,"mpcc_dw":51.4600487,"mpcc_enc_sign":1,"mpcc_id_a":1.16793036,"mpcc_iq_a":-0.131097749,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.61449409,"mpcc_pred_id_a":-0.147820041,"mpcc_pred_iq_a":-2.14757776,"mpcc_state":1,"mpcc_theta_e":0.441675663,"mpcc_theta_mech":0.555281043,"sam_rpm":-3.08715868,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213939101,"thr_a_norm":0.0213939101,"thr_a_v":0.58557564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469457537,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.38204,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.38603449,"cg_iw_a":-1.32058477,"cg_theta_rad":0.553953588,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.00202765199,"mpcc_du":51.1458778,"mpcc_dv":47.7058487,"mpcc_dw":52.2941513,"mpcc_enc_sign":1,"mpcc_id_a":0.389479995,"mpcc_iq_a":-1.64660847,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.3357019,"mpcc_pred_id_a":-0.331647515,"mpcc_pred_iq_a":2.34398007,"mpcc_state":1,"mpcc_theta_e":0.429217815,"mpcc_theta_mech":0.552789509,"sam_rpm":-19.9073238,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0144827217,"thr_a_norm":0.0144827217,"thr_a_v":0.557930887,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44488439,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.38851,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.89344811,"cg_iw_a":-0.595708132,"cg_theta_rad":0.557185233,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.000937715813,"mpcc_du":49.7839851,"mpcc_dv":49.4852333,"mpcc_dw":50.5147667,"mpcc_enc_sign":1,"mpcc_id_a":0.0155840488,"mpcc_iq_a":-0.880555391,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.87734079,"mpcc_pred_id_a":-0.533819139,"mpcc_pred_iq_a":-3.58796358,"mpcc_state":1,"mpcc_theta_e":0.437281609,"mpcc_theta_mech":0.554402232,"sam_rpm":-6.30659723,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10794118,"thr_a_norm":0.0144827217,"thr_a_v":0.931764722,"thr_b":0.0397608131,"thr_b_norm":0,"thr_b_v":0.659043252,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.395041,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.74847269,"cg_iw_a":-0.305757523,"cg_theta_rad":0.556482494,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0184273031,"mpcc_du":49.5886078,"mpcc_dv":50.2270775,"mpcc_dw":50.4113922,"mpcc_enc_sign":1,"mpcc_id_a":1.4427669,"mpcc_iq_a":-0.396459728,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.99281693,"mpcc_pred_id_a":0.0195487067,"mpcc_pred_iq_a":-1.00794339,"mpcc_state":1,"mpcc_theta_e":0.439548492,"mpcc_theta_mech":0.554855585,"sam_rpm":-5.40857601,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10794118,"thr_a_norm":0.10794118,"thr_a_v":0.931764722,"thr_b":0.0397608131,"thr_b_norm":0.0397608131,"thr_b_v":0.659043252,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.402609,"values":{"cg_iu_a":-0.70030117,"cg_iv_a":-0.661157608,"cg_iw_a":1.36145878,"cg_theta_rad":0.55561471,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0153948124,"mpcc_du":50.4800415,"mpcc_dv":48.4217873,"mpcc_dw":52.1458015,"mpcc_enc_sign":1,"mpcc_id_a":1.69822156,"mpcc_iq_a":-1.54774141,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.43770397,"mpcc_pred_id_a":-0.0594812185,"mpcc_pred_iq_a":0.0375140645,"mpcc_state":1,"mpcc_theta_e":0.445202827,"mpcc_theta_mech":0.557549357,"sam_rpm":2.66685843,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0236472934,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460041195,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.412771,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.09608364,"cg_iw_a":-2.04546165,"cg_theta_rad":0.558685601,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0147044286,"mpcc_du":49.6039085,"mpcc_dv":50.1883354,"mpcc_dw":50.3960915,"mpcc_enc_sign":1,"mpcc_id_a":0.47163108,"mpcc_iq_a":-1.78703332,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.11017585,"mpcc_pred_id_a":-0.211296722,"mpcc_pred_iq_a":-2.1481843,"mpcc_state":1,"mpcc_theta_e":0.437531471,"mpcc_theta_mech":0.554452181,"sam_rpm":1.1265775,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196944475,"thr_a_norm":0.0236472934,"thr_a_v":0.57877779,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474946201,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.422781,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.0087685585,"cg_iw_a":-1.75551081,"cg_theta_rad":0.551716685,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0237959214,"mpcc_du":50.2068138,"mpcc_dv":48.5231209,"mpcc_dw":51.4768791,"mpcc_enc_sign":1,"mpcc_id_a":2.28088188,"mpcc_iq_a":-1.69102275,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.86390305,"mpcc_pred_id_a":0.398141176,"mpcc_pred_iq_a":0.739942074,"mpcc_state":1,"mpcc_theta_e":0.431583881,"mpcc_theta_mech":0.553262651,"sam_rpm":-14.0787144,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196944475,"thr_a_norm":0.0196944475,"thr_a_v":0.57877779,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474946201,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.432974,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.6759851,"cg_iw_a":0.564094782,"cg_theta_rad":0.556300759,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0313557126,"mpcc_du":50.1516304,"mpcc_dv":48.7164421,"mpcc_dw":51.2835579,"mpcc_enc_sign":1,"mpcc_id_a":2.38383317,"mpcc_iq_a":-0.0951988623,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.48830843,"mpcc_pred_id_a":0.0616838783,"mpcc_pred_iq_a":-2.23162627,"mpcc_state":1,"mpcc_theta_e":0.437972546,"mpcc_theta_mech":0.554540396,"sam_rpm":-8.28458214,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024339661,"thr_a_norm":0.024339661,"thr_a_v":0.597358644,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487736315,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.442892,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.74847269,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556032538,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0124264853,"mpcc_du":49.8840599,"mpcc_dv":49.0603523,"mpcc_dw":50.9396477,"mpcc_enc_sign":1,"mpcc_id_a":0.551911294,"mpcc_iq_a":-0.913203537,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.1083794,"mpcc_pred_id_a":-0.3136006,"mpcc_pred_iq_a":-2.65318537,"mpcc_state":1,"mpcc_theta_e":0.450426579,"mpcc_theta_mech":0.557031214,"sam_rpm":8.33014584,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024339661,"thr_a_norm":0.024339661,"thr_a_v":0.597358644,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487736315,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.453115,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-2.0384233,"cg_iw_a":0.491606951,"cg_theta_rad":0.554367602,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.076688163,"mpcc_du":49.5049362,"mpcc_dv":48.5014877,"mpcc_dw":51.4985123,"mpcc_enc_sign":1,"mpcc_id_a":1.50605977,"mpcc_iq_a":0.389321506,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.07499504,"mpcc_pred_id_a":0.171533957,"mpcc_pred_iq_a":-5.11283064,"mpcc_state":1,"mpcc_theta_e":0.452390671,"mpcc_theta_mech":0.554895997,"sam_rpm":13.3664637,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209155381,"thr_a_norm":0.0209155381,"thr_a_v":0.583662152,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467493683,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.463156,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.31354666,"cg_iw_a":0.274143934,"cg_theta_rad":0.55660677,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.104989268,"mpcc_du":50.3477516,"mpcc_dv":48.4013062,"mpcc_dw":51.5986938,"mpcc_enc_sign":1,"mpcc_id_a":2.7039721,"mpcc_iq_a":0.681618094,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.235411867,"mpcc_pred_id_a":0.376178056,"mpcc_pred_iq_a":-1.98793912,"mpcc_state":1,"mpcc_theta_e":0.456448078,"mpcc_theta_mech":0.558235526,"sam_rpm":2.08135343,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0209155381,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466234833,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.486166,"values":{"cg_iu_a":0.821939945,"cg_iv_a":0.353669643,"cg_iw_a":1.43394661,"cg_theta_rad":0.555771768,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0228268541,"mpcc_du":50.6602821,"mpcc_dv":48.05867,"mpcc_dw":51.94133,"mpcc_enc_sign":1,"mpcc_id_a":2.09843946,"mpcc_iq_a":-0.705809653,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.83831477,"mpcc_pred_id_a":0.166747272,"mpcc_pred_iq_a":0.736076176,"mpcc_state":1,"mpcc_theta_e":0.439973831,"mpcc_theta_mech":0.554940641,"sam_rpm":-5.2407465,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466234833,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.492727,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-2.32837415,"cg_iw_a":1.79638505,"cg_theta_rad":0.556369245,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.00465738215,"mpcc_du":49.5856972,"mpcc_dv":50.4143028,"mpcc_dw":50.3862953,"mpcc_enc_sign":1,"mpcc_id_a":0.362775981,"mpcc_iq_a":-1.14422846,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.75993633,"mpcc_pred_id_a":-0.199841872,"mpcc_pred_iq_a":-4.45470476,"mpcc_state":1,"mpcc_theta_e":0.447229385,"mpcc_theta_mech":0.556391835,"sam_rpm":9.97722816,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0120782703,"thr_a_norm":0.0120782703,"thr_a_v":0.548313081,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.430634022,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.499228,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.951108456,"cg_iw_a":-1.39307213,"cg_theta_rad":0.557016134,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0122215394,"mpcc_du":51.0066833,"mpcc_dv":47.6726265,"mpcc_dw":52.3273735,"mpcc_enc_sign":1,"mpcc_id_a":0.56852448,"mpcc_iq_a":-0.902954459,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.2573576,"mpcc_pred_id_a":-0.018681962,"mpcc_pred_iq_a":-0.131387621,"mpcc_state":1,"mpcc_theta_e":0.432132244,"mpcc_theta_mech":0.553372383,"sam_rpm":-20.646246,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0120782703,"thr_a_norm":0.0120782703,"thr_a_v":0.548313081,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.430634022,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.505758,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.16857147,"cg_iw_a":-1.68302298,"cg_theta_rad":0.557229817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0116482237,"mpcc_du":50.2107506,"mpcc_dv":47.8137321,"mpcc_dw":52.1862679,"mpcc_enc_sign":1,"mpcc_id_a":-1.63317454,"mpcc_iq_a":-1.43748081,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.00369263,"mpcc_pred_id_a":-1.13711119,"mpcc_pred_iq_a":-0.640162706,"mpcc_state":1,"mpcc_theta_e":0.450027943,"mpcc_theta_mech":0.556790531,"sam_rpm":13.4315996,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228667855,"thr_a_norm":0.0228667855,"thr_a_v":0.591467142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482146949,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.514181,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.53100967,"cg_iw_a":0.926532745,"cg_theta_rad":0.554839611,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0117264185,"mpcc_du":50.6010208,"mpcc_dv":48.3545914,"mpcc_dw":51.6454086,"mpcc_enc_sign":1,"mpcc_id_a":-0.427690774,"mpcc_iq_a":-0.121204868,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.8926125,"mpcc_pred_id_a":-0.440107107,"mpcc_pred_iq_a":-1.67259383,"mpcc_state":1,"mpcc_theta_e":0.431269646,"mpcc_theta_mech":0.555874705,"sam_rpm":-18.7420082,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162577182,"thr_a_norm":0.0228667855,"thr_a_v":0.565030873,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465882361,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.523977,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.74847269,"cg_iw_a":-0.378244877,"cg_theta_rad":0.560353994,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0323216692,"mpcc_du":50.2283516,"mpcc_dv":48.6207047,"mpcc_dw":51.3792953,"mpcc_enc_sign":1,"mpcc_id_a":1.15490222,"mpcc_iq_a":-0.498017073,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.90372515,"mpcc_pred_id_a":0.139910743,"mpcc_pred_iq_a":-2.41476035,"mpcc_state":1,"mpcc_theta_e":0.443641663,"mpcc_theta_mech":0.555674255,"sam_rpm":-3.74131393,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162577182,"thr_a_norm":0.0162577182,"thr_a_v":0.565030873,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465882361,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.533926,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.09608364,"cg_iw_a":-1.97297382,"cg_theta_rad":0.556911707,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0901320577,"mpcc_du":50.568058,"mpcc_dv":48.6943703,"mpcc_dw":51.3056297,"mpcc_enc_sign":1,"mpcc_id_a":-1.92037261,"mpcc_iq_a":-0.375778019,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.50112808,"mpcc_pred_id_a":-1.10427821,"mpcc_pred_iq_a":-3.87680936,"mpcc_state":1,"mpcc_theta_e":0.446233273,"mpcc_theta_mech":0.556192577,"sam_rpm":0.511504114,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0314019173,"thr_a_norm":0.0314019173,"thr_a_v":0.625607669,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473536283,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.543997,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-2.0384233,"cg_iw_a":-0.958146334,"cg_theta_rad":0.553186476,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0358036719,"mpcc_du":50.0555573,"mpcc_dv":48.6824608,"mpcc_dw":51.3175392,"mpcc_enc_sign":1,"mpcc_id_a":3.57184458,"mpcc_iq_a":-0.612410307,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.46391964,"mpcc_pred_id_a":0.439497709,"mpcc_pred_iq_a":0.168619424,"mpcc_state":1,"mpcc_theta_e":0.427842617,"mpcc_theta_mech":0.552514434,"sam_rpm":-15.624959,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0314019173,"thr_a_norm":0.0314019173,"thr_a_v":0.625607669,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473536283,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.555166,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.443694592,"cg_iw_a":-1.61053562,"cg_theta_rad":0.553706408,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0280177537,"mpcc_du":49.8306656,"mpcc_dv":49.0344772,"mpcc_dw":50.9655228,"mpcc_enc_sign":1,"mpcc_id_a":2.69236588,"mpcc_iq_a":-1.31606376,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.82118225,"mpcc_pred_id_a":0.356330991,"mpcc_pred_iq_a":-3.5164156,"mpcc_state":1,"mpcc_theta_e":0.44204855,"mpcc_theta_mech":0.555355668,"sam_rpm":-2.79531455,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480837703,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.56658,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.733645439,"cg_iw_a":0.274144173,"cg_theta_rad":0.553345144,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0142501649,"mpcc_du":49.5139656,"mpcc_dv":49.4314041,"mpcc_dw":50.5685959,"mpcc_enc_sign":1,"mpcc_id_a":1.7889061,"mpcc_iq_a":-1.02291584,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.38558698,"mpcc_pred_id_a":0.326153129,"mpcc_pred_iq_a":-3.65957046,"mpcc_state":1,"mpcc_theta_e":0.440087318,"mpcc_theta_mech":0.55496335,"sam_rpm":13.2575932,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0133623332,"thr_a_norm":0.0133623332,"thr_a_v":0.553449333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461652547,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.589346,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.53100967,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.553634763,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0344296768,"mpcc_du":50.4850044,"mpcc_dv":48.1515579,"mpcc_dw":51.8484421,"mpcc_enc_sign":1,"mpcc_id_a":2.47953749,"mpcc_iq_a":-0.747569144,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.67025566,"mpcc_pred_id_a":0.554404855,"mpcc_pred_iq_a":-1.06321907,"mpcc_state":1,"mpcc_theta_e":0.440371513,"mpcc_theta_mech":0.556591153,"sam_rpm":-9.3385067,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0133623332,"thr_a_norm":0.0133623332,"thr_a_v":0.553449333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461652547,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.595938,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.53100967,"cg_iw_a":-1.39307261,"cg_theta_rad":0.555213749,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0160995834,"mpcc_du":49.8471794,"mpcc_dv":49.2003136,"mpcc_dw":50.7996864,"mpcc_enc_sign":1,"mpcc_id_a":2.1510489,"mpcc_iq_a":0.626609683,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.40545082,"mpcc_pred_id_a":-0.185469821,"mpcc_pred_iq_a":-3.10370588,"mpcc_state":1,"mpcc_theta_e":0.43151474,"mpcc_theta_mech":0.553248882,"sam_rpm":-14.8493834,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022124052,"thr_a_norm":0.022124052,"thr_a_v":0.588496208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481844842,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.602438,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.96593571,"cg_iw_a":1.07150841,"cg_theta_rad":0.554387629,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0144960145,"mpcc_du":49.8806496,"mpcc_dv":49.1615486,"mpcc_dw":50.8384514,"mpcc_enc_sign":1,"mpcc_id_a":0.828984559,"mpcc_iq_a":-1.33183122,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.8599997,"mpcc_pred_id_a":-0.0963078067,"mpcc_pred_iq_a":-0.982942045,"mpcc_state":1,"mpcc_theta_e":0.454302311,"mpcc_theta_mech":0.557806373,"sam_rpm":17.8251133,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022124052,"thr_a_norm":0.022124052,"thr_a_v":0.588496208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481844842,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.608999,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.54583716,"cg_iw_a":1.72389722,"cg_theta_rad":0.556232095,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0131561598,"mpcc_du":49.5708084,"mpcc_dv":50.1328583,"mpcc_dw":50.4291916,"mpcc_enc_sign":1,"mpcc_id_a":1.110309,"mpcc_iq_a":-1.09041703,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.20141888,"mpcc_pred_id_a":-0.0471383668,"mpcc_pred_iq_a":-3.94313145,"mpcc_state":1,"mpcc_theta_e":0.4505229,"mpcc_theta_mech":0.557050526,"sam_rpm":13.8334322,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459638387,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.619101,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.09608364,"cg_iw_a":-0.740683556,"cg_theta_rad":0.555698514,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0114232861,"mpcc_du":49.8314362,"mpcc_dv":49.305233,"mpcc_dw":50.694767,"mpcc_enc_sign":1,"mpcc_id_a":1.58335578,"mpcc_iq_a":-2.94479871,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.94569588,"mpcc_pred_id_a":0.0117850034,"mpcc_pred_iq_a":-3.42906833,"mpcc_state":1,"mpcc_theta_e":0.457435131,"mpcc_theta_mech":0.558432937,"sam_rpm":8.3061552,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0337182432,"thr_a_norm":0.0240501165,"thr_a_v":0.634872973,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.628927,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.443694592,"cg_iw_a":-2.33541203,"cg_theta_rad":0.555155277,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0803154781,"mpcc_du":49.5793877,"mpcc_dv":49.3340378,"mpcc_dw":50.6659622,"mpcc_enc_sign":1,"mpcc_id_a":2.14122057,"mpcc_iq_a":1.90382981,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.01830697,"mpcc_pred_id_a":0.377879322,"mpcc_pred_iq_a":-4.1381712,"mpcc_state":1,"mpcc_theta_e":0.445484638,"mpcc_theta_mech":0.55604285,"sam_rpm":1.42741966,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0337182432,"thr_a_norm":0.0337182432,"thr_a_v":0.634872973,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.639303,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.806133032,"cg_iw_a":-1.61053514,"cg_theta_rad":0.552886307,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.00631117402,"mpcc_du":49.9498405,"mpcc_dv":49.2122192,"mpcc_dw":50.7877808,"mpcc_enc_sign":1,"mpcc_id_a":0.132845432,"mpcc_iq_a":-1.67081475,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.9455924,"mpcc_pred_id_a":-0.510069966,"mpcc_pred_iq_a":-1.82589304,"mpcc_state":1,"mpcc_theta_e":0.433197021,"mpcc_theta_mech":0.553585351,"sam_rpm":-10.5195217,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465781659,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.649069,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-2.61832476,"cg_iw_a":-0.81317091,"cg_theta_rad":0.554008365,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.000121661156,"mpcc_du":49.5914154,"mpcc_dv":49.8873978,"mpcc_dw":50.4085846,"mpcc_enc_sign":1,"mpcc_id_a":-0.204701245,"mpcc_iq_a":-2.13046789,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.9697618,"mpcc_pred_id_a":-0.220833406,"mpcc_pred_iq_a":-1.5772171,"mpcc_state":1,"mpcc_theta_e":0.45353651,"mpcc_theta_mech":0.557653189,"sam_rpm":20.5406303,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465781659,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.65914,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.588670254,"cg_iw_a":-0.81317091,"cg_theta_rad":0.552212059,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0181599446,"mpcc_du":49.5262566,"mpcc_dv":49.9700241,"mpcc_dw":50.4737434,"mpcc_enc_sign":1,"mpcc_id_a":1.38792908,"mpcc_iq_a":-1.708709,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.8039459,"mpcc_pred_id_a":0.0970413759,"mpcc_pred_iq_a":-1.85999525,"mpcc_state":1,"mpcc_theta_e":0.438123226,"mpcc_theta_mech":0.554570556,"sam_rpm":0.136345178,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023685053,"thr_a_norm":0.023685053,"thr_a_v":0.594740212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473536283,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.669363,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-2.69081235,"cg_iw_a":0.999020815,"cg_theta_rad":0.555110335,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0575264692,"mpcc_du":50.1711273,"mpcc_dv":48.6234856,"mpcc_dw":51.3765144,"mpcc_enc_sign":1,"mpcc_id_a":2.298002,"mpcc_iq_a":-0.626845658,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.163572431,"mpcc_pred_id_a":0.273986042,"mpcc_pred_iq_a":-2.47575474,"mpcc_state":1,"mpcc_theta_e":0.444648266,"mpcc_theta_mech":0.555875599,"sam_rpm":2.19971633,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0302437693,"thr_a_norm":0.023685053,"thr_a_v":0.620975077,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469860375,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.692373,"values":{"cg_iu_a":3.21403265,"cg_iv_a":0.353669643,"cg_iw_a":-1.39307261,"cg_theta_rad":0.554976463,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0144240176,"mpcc_du":48.8187904,"mpcc_dv":51.1812096,"mpcc_dw":49.2619514,"mpcc_enc_sign":1,"mpcc_id_a":0.0108556254,"mpcc_iq_a":-1.02531826,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.5108967,"mpcc_pred_id_a":-0.841762543,"mpcc_pred_iq_a":-8.03520584,"mpcc_state":1,"mpcc_theta_e":0.454084873,"mpcc_theta_mech":0.557762921,"sam_rpm":18.4764633,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0302437693,"thr_a_norm":0.0302437693,"thr_a_v":0.620975077,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469860375,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.698904,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.878620625,"cg_iw_a":1.50643444,"cg_theta_rad":0.557031214,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0125945257,"mpcc_du":49.8324471,"mpcc_dv":49.3048706,"mpcc_dw":50.6951294,"mpcc_enc_sign":1,"mpcc_id_a":1.08333945,"mpcc_iq_a":-1.96792817,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.4217005,"mpcc_pred_id_a":-0.424658567,"mpcc_pred_iq_a":-1.68504846,"mpcc_state":1,"mpcc_theta_e":0.454083443,"mpcc_theta_mech":0.557762623,"sam_rpm":19.2760944,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253089964,"thr_a_norm":0.0253089964,"thr_a_v":0.601235986,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480132759,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.705404,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.45852208,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.55227077,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.012960189,"mpcc_du":49.5467606,"mpcc_dv":50.4532394,"mpcc_dw":50.3628082,"mpcc_enc_sign":1,"mpcc_id_a":2.07004476,"mpcc_iq_a":-2.26145387,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.5213442,"mpcc_pred_id_a":-0.176536739,"mpcc_pred_iq_a":-3.95495987,"mpcc_state":1,"mpcc_theta_e":0.453514099,"mpcc_theta_mech":0.557648778,"sam_rpm":20.0248737,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253089964,"thr_a_norm":0.0253089964,"thr_a_v":0.601235986,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480132759,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.711935,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.38603449,"cg_iw_a":-0.958146095,"cg_theta_rad":0.554290831,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0586729087,"mpcc_du":49.3351669,"mpcc_dv":50.6648331,"mpcc_dw":50.2419624,"mpcc_enc_sign":1,"mpcc_id_a":3.64879012,"mpcc_iq_a":0.343103945,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.77787638,"mpcc_pred_id_a":0.212541789,"mpcc_pred_iq_a":-6.14337397,"mpcc_state":1,"mpcc_theta_e":0.447229385,"mpcc_theta_mech":0.556391835,"sam_rpm":8.37738419,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.102490261,"thr_a_norm":0.102490261,"thr_a_v":0.909961045,"thr_b":0.046609059,"thr_b_norm":0.046609059,"thr_b_v":0.686436236,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.720205,"values":{"cg_iu_a":2.48915625,"cg_iv_a":0.136206627,"cg_iw_a":-0.523220301,"cg_theta_rad":0.553959966,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0138486186,"mpcc_du":49.3717842,"mpcc_dv":50.6282158,"mpcc_dw":50.323555,"mpcc_enc_sign":1,"mpcc_id_a":1.36655629,"mpcc_iq_a":-0.560243189,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.0808611,"mpcc_pred_id_a":0.295646459,"mpcc_pred_iq_a":-4.51208925,"mpcc_state":1,"mpcc_theta_e":0.448527813,"mpcc_theta_mech":0.556651473,"sam_rpm":14.8363943,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0126321763,"thr_a_norm":0.102490261,"thr_a_v":0.550528705,"thr_b":0,"thr_b_norm":0.046609059,"thr_b_v":0.451128393,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.729971,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.661157608,"cg_iw_a":-0.160782099,"cg_theta_rad":0.556688726,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0115268538,"mpcc_du":49.6316261,"mpcc_dv":49.1066246,"mpcc_dw":50.8933754,"mpcc_enc_sign":1,"mpcc_id_a":1.89292324,"mpcc_iq_a":-2.17236042,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.72243643,"mpcc_pred_id_a":0.584511161,"mpcc_pred_iq_a":-2.25138855,"mpcc_state":1,"mpcc_theta_e":0.436744213,"mpcc_theta_mech":0.554294765,"sam_rpm":-6.66193008,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0126321763,"thr_a_norm":0.0126321763,"thr_a_v":0.550528705,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451128393,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.740347,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.371207237,"cg_iw_a":-0.885658741,"cg_theta_rad":0.552810431,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0272782501,"mpcc_du":49.5632706,"mpcc_dv":49.4394188,"mpcc_dw":50.5605812,"mpcc_enc_sign":1,"mpcc_id_a":2.5690248,"mpcc_iq_a":-0.902286232,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.04927778,"mpcc_pred_id_a":0.0270961188,"mpcc_pred_iq_a":-2.8143816,"mpcc_state":1,"mpcc_theta_e":0.447059631,"mpcc_theta_mech":0.556357861,"sam_rpm":9.57494545,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023483634,"thr_a_norm":0.023483634,"thr_a_v":0.593934536,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469004363,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.750235,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.24105906,"cg_iw_a":-0.45073247,"cg_theta_rad":0.555633366,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0283578523,"mpcc_du":49.4506187,"mpcc_dv":49.8327675,"mpcc_dw":50.5493813,"mpcc_enc_sign":1,"mpcc_id_a":2.67609525,"mpcc_iq_a":-1.00777471,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.582016945,"mpcc_pred_id_a":0.469206274,"mpcc_pred_iq_a":-1.24221325,"mpcc_state":1,"mpcc_theta_e":0.434825897,"mpcc_theta_mech":0.55391109,"sam_rpm":-1.37059987,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023483634,"thr_a_norm":0.023483634,"thr_a_v":0.593934536,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469004363,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.760366,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-0.878620625,"cg_iw_a":-3.49521494,"cg_theta_rad":0.555597305,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0655149817,"mpcc_du":50.1640892,"mpcc_dv":48.8309135,"mpcc_dw":51.1690865,"mpcc_enc_sign":1,"mpcc_id_a":0.851471543,"mpcc_iq_a":-0.459727049,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.21123981,"mpcc_pred_id_a":-0.201228335,"mpcc_pred_iq_a":-2.31624556,"mpcc_state":1,"mpcc_theta_e":0.456011295,"mpcc_theta_mech":0.558148205,"sam_rpm":13.3407717,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0310116708,"thr_a_norm":0.0310116708,"thr_a_v":0.624046683,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472428501,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.770651,"values":{"cg_iu_a":4.66378593,"cg_iv_a":-0.733645439,"cg_iw_a":-3.9301405,"cg_theta_rad":0.554523289,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.108379923,"mpcc_du":51.2021751,"mpcc_dv":47.2879562,"mpcc_dw":52.7120438,"mpcc_enc_sign":1,"mpcc_id_a":0.678473175,"mpcc_iq_a":-0.318385154,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.17576694,"mpcc_pred_id_a":-0.19564189,"mpcc_pred_iq_a":-5.04166746,"mpcc_state":1,"mpcc_theta_e":0.444181919,"mpcc_theta_mech":0.556950927,"sam_rpm":-25.7983932,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0310116708,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477564633,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.7936,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.516182423,"cg_iw_a":-1.39307213,"cg_theta_rad":0.556885779,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0249199327,"mpcc_du":50.0617867,"mpcc_dv":48.9128571,"mpcc_dw":51.0871429,"mpcc_enc_sign":1,"mpcc_id_a":0.578804016,"mpcc_iq_a":-0.692385137,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.09469652,"mpcc_pred_id_a":-0.0369570516,"mpcc_pred_iq_a":-1.83966422,"mpcc_state":1,"mpcc_theta_e":0.448908806,"mpcc_theta_mech":0.556727707,"sam_rpm":6.56435442,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477564633,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.8001,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.153744221,"cg_iw_a":-1.10312176,"cg_theta_rad":0.555761933,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.00981134269,"mpcc_du":49.5576401,"mpcc_dv":49.5361595,"mpcc_dw":50.4638405,"mpcc_enc_sign":1,"mpcc_id_a":0.570920527,"mpcc_iq_a":-0.544754744,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.51313341,"mpcc_pred_id_a":-0.141894385,"mpcc_pred_iq_a":-3.65059495,"mpcc_state":1,"mpcc_theta_e":0.443536282,"mpcc_theta_mech":0.555653155,"sam_rpm":2.17153955,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0239494145,"thr_a_norm":0.0239494145,"thr_a_v":0.595797658,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470464617,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.806631,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.443694592,"cg_iw_a":-0.015806675,"cg_theta_rad":0.553210914,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0230700038,"mpcc_du":49.3744812,"mpcc_dv":50.6255188,"mpcc_dw":50.3113289,"mpcc_enc_sign":1,"mpcc_id_a":2.04025865,"mpcc_iq_a":-0.669695497,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.7589092,"mpcc_pred_id_a":0.257248044,"mpcc_pred_iq_a":-3.21806431,"mpcc_state":1,"mpcc_theta_e":0.45592308,"mpcc_theta_mech":0.558130503,"sam_rpm":26.0833149,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0239494145,"thr_a_norm":0.0239494145,"thr_a_v":0.595797658,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470464617,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.813131,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.588670254,"cg_iw_a":-2.6253624,"cg_theta_rad":0.552336097,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0246976838,"mpcc_du":50.5516739,"mpcc_dv":48.0304794,"mpcc_dw":51.9695206,"mpcc_enc_sign":1,"mpcc_id_a":2.6365304,"mpcc_iq_a":-0.579159617,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.26875019,"mpcc_pred_id_a":0.472487271,"mpcc_pred_iq_a":0.760439515,"mpcc_state":1,"mpcc_theta_e":0.436569691,"mpcc_theta_mech":0.554259896,"sam_rpm":-9.29923344,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263286829,"thr_a_norm":0.0263286829,"thr_a_v":0.605314732,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498059064,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.82305,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-2.83578777,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.557105124,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.00494575175,"mpcc_du":49.4871101,"mpcc_dv":49.6314316,"mpcc_dw":50.5128899,"mpcc_enc_sign":1,"mpcc_id_a":1.00700665,"mpcc_iq_a":-1.97009528,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.20351696,"mpcc_pred_id_a":0.169017807,"mpcc_pred_iq_a":-2.53531027,"mpcc_state":1,"mpcc_theta_e":0.45044899,"mpcc_theta_mech":0.557035744,"sam_rpm":14.5842552,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189013481,"thr_a_norm":0.0189013481,"thr_a_v":0.575605392,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.832937,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.40086174,"cg_iw_a":-0.305757284,"cg_theta_rad":0.557761908,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0315551199,"mpcc_du":49.4441109,"mpcc_dv":50.5558891,"mpcc_dw":50.3087311,"mpcc_enc_sign":1,"mpcc_id_a":1.18724477,"mpcc_iq_a":-3.47601938,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.46264219,"mpcc_pred_id_a":-0.136593714,"mpcc_pred_iq_a":-3.23049068,"mpcc_state":1,"mpcc_theta_e":0.442620754,"mpcc_theta_mech":0.555470109,"sam_rpm":6.12129354,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189013481,"thr_a_norm":0.0189013481,"thr_a_v":0.575605392,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.84313,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.878620625,"cg_iw_a":-1.17560959,"cg_theta_rad":0.556960702,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0262477882,"mpcc_du":50.1392403,"mpcc_dv":48.7108116,"mpcc_dw":51.2891884,"mpcc_enc_sign":1,"mpcc_id_a":1.3604399,"mpcc_iq_a":-0.399832577,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.48698997,"mpcc_pred_id_a":-0.00657111919,"mpcc_pred_iq_a":-1.96911454,"mpcc_state":1,"mpcc_theta_e":0.436861515,"mpcc_theta_mech":0.55431819,"sam_rpm":-13.7251577,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283680409,"thr_a_norm":0.0283680409,"thr_a_v":0.613472164,"thr_b":0.00212062895,"thr_b_norm":0.00212062895,"thr_b_v":0.508482516,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.853537,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.226231575,"cg_iw_a":-1.39307213,"cg_theta_rad":0.55798018,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0144961905,"mpcc_du":50.6174316,"mpcc_dv":48.0483322,"mpcc_dw":51.9516678,"mpcc_enc_sign":1,"mpcc_id_a":1.50249863,"mpcc_iq_a":-0.0899775922,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.0208912,"mpcc_pred_id_a":0.0704412684,"mpcc_pred_iq_a":-0.377940446,"mpcc_state":1,"mpcc_theta_e":0.43253994,"mpcc_theta_mech":0.553453922,"sam_rpm":-18.4041977,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0158800632,"thr_a_norm":0.0283680409,"thr_a_v":0.563520253,"thr_b":0,"thr_b_norm":0.00212062895,"thr_b_v":0.471068889,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.86315,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.31354666,"cg_iw_a":-1.75551081,"cg_theta_rad":0.555655301,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0225045104,"mpcc_du":50.8706093,"mpcc_dv":47.7780075,"mpcc_dw":52.2219925,"mpcc_enc_sign":1,"mpcc_id_a":1.13383508,"mpcc_iq_a":-0.197327837,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.7732344,"mpcc_pred_id_a":-0.0190510619,"mpcc_pred_iq_a":0.306174725,"mpcc_state":1,"mpcc_theta_e":0.433344364,"mpcc_theta_mech":0.553614795,"sam_rpm":-15.0310078,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0158800632,"thr_a_norm":0.0158800632,"thr_a_v":0.563520253,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471068889,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.873343,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.6759851,"cg_iw_a":1.65140986,"cg_theta_rad":0.55557251,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0329316631,"mpcc_du":50.0976334,"mpcc_dv":48.9818993,"mpcc_dw":51.0181007,"mpcc_enc_sign":1,"mpcc_id_a":-0.384655118,"mpcc_iq_a":-0.692948043,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.54654574,"mpcc_pred_id_a":-0.525053501,"mpcc_pred_iq_a":-2.50628924,"mpcc_state":1,"mpcc_theta_e":0.446259975,"mpcc_theta_mech":0.556197882,"sam_rpm":6.85179138,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025120154,"thr_a_norm":0.025120154,"thr_a_v":0.600480616,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486124963,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.89559,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.878620625,"cg_iw_a":-1.39307261,"cg_theta_rad":0.558979869,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.00249374215,"mpcc_du":49.075264,"mpcc_dv":50.924736,"mpcc_dw":49.6862679,"mpcc_enc_sign":1,"mpcc_id_a":0.058074452,"mpcc_iq_a":-0.804252028,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.53939486,"mpcc_pred_id_a":-0.530881107,"mpcc_pred_iq_a":-6.90482426,"mpcc_state":1,"mpcc_theta_e":0.428524971,"mpcc_theta_mech":0.552650928,"sam_rpm":6.0312109,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025120154,"thr_a_norm":0.025120154,"thr_a_v":0.600480616,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486124963,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.902121,"values":{"cg_iu_a":-0.845276594,"cg_iv_a":-1.09608364,"cg_iw_a":1.94136024,"cg_theta_rad":0.552827418,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0358620808,"mpcc_du":50.5683479,"mpcc_dv":48.0388184,"mpcc_dw":51.9611816,"mpcc_enc_sign":1,"mpcc_id_a":1.84894502,"mpcc_iq_a":0.277924836,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.08250618,"mpcc_pred_id_a":0.290272117,"mpcc_pred_iq_a":0.633417964,"mpcc_state":1,"mpcc_theta_e":0.447313786,"mpcc_theta_mech":0.556408703,"sam_rpm":-26.3038559,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276756734,"thr_a_norm":0.0276756734,"thr_a_v":0.610702693,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.908651,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-3.27071381,"cg_iw_a":1.07150841,"cg_theta_rad":0.558110416,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.0222567897,"mpcc_du":49.2053452,"mpcc_dv":50.7946548,"mpcc_dw":50.121273,"mpcc_enc_sign":1,"mpcc_id_a":4.4170208,"mpcc_iq_a":-1.21786904,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.58736324,"mpcc_pred_id_a":1.03539383,"mpcc_pred_iq_a":-1.38023961,"mpcc_state":1,"mpcc_theta_e":0.435099125,"mpcc_theta_mech":0.553965747,"sam_rpm":20.9029274,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276756734,"thr_a_norm":0.0276756734,"thr_a_v":0.610702693,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.915152,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.806133032,"cg_iw_a":-1.4655602,"cg_theta_rad":0.557453632,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5006,"hz_app_loop":360,"hz_tim_isr":10012,"hz_vsense":360,"mpcc_cost":0.00175249297,"mpcc_du":49.1986275,"mpcc_dv":50.8013725,"mpcc_dw":49.9256172,"mpcc_enc_sign":1,"mpcc_id_a":0.582459807,"mpcc_iq_a":-0.53239882,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.3086987,"mpcc_pred_id_a":0.192653716,"mpcc_pred_iq_a":-2.37193799,"mpcc_state":1,"mpcc_theta_e":0.422111511,"mpcc_theta_mech":0.551368237,"sam_rpm":14.8240576,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217715651,"thr_a_norm":0.0217715651,"thr_a_v":0.58708626,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475248307,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.924917,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.6759851,"cg_iw_a":-0.595708132,"cg_theta_rad":0.556970656,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.00352977659,"mpcc_du":49.5392113,"mpcc_dv":49.4449387,"mpcc_dw":50.5550613,"mpcc_enc_sign":1,"mpcc_id_a":1.17751229,"mpcc_iq_a":-1.29559505,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.64555836,"mpcc_pred_id_a":0.168897077,"mpcc_pred_iq_a":-2.13299894,"mpcc_state":1,"mpcc_theta_e":0.443147659,"mpcc_theta_mech":0.55557543,"sam_rpm":4.30965042,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248306245,"thr_a_norm":0.0217715651,"thr_a_v":0.599322498,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495037764,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.934958,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.31354666,"cg_iw_a":-1.10312176,"cg_theta_rad":0.556312859,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.2666,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0238578506,"mpcc_du":49.4445305,"mpcc_dv":50.5554695,"mpcc_dw":50.4434395,"mpcc_enc_sign":1,"mpcc_id_a":2.88372946,"mpcc_iq_a":-0.0738849938,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.0566769,"mpcc_pred_id_a":0.470863283,"mpcc_pred_iq_a":-2.88673186,"mpcc_state":1,"mpcc_theta_e":0.445474625,"mpcc_theta_mech":0.556040883,"sam_rpm":14.0785217,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248306245,"thr_a_norm":0.0248306245,"thr_a_v":0.599322498,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495037764,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.94515,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.09608364,"cg_iw_a":-1.03063393,"cg_theta_rad":0.556618333,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0204384103,"mpcc_du":49.4959717,"mpcc_dv":50.0142403,"mpcc_dw":50.5040283,"mpcc_enc_sign":1,"mpcc_id_a":2.5421524,"mpcc_iq_a":-1.12632036,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.8383913,"mpcc_pred_id_a":0.290083587,"mpcc_pred_iq_a":-2.99182749,"mpcc_state":1,"mpcc_theta_e":0.448635578,"mpcc_theta_mech":0.55667305,"sam_rpm":13.9599037,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156534761,"thr_a_norm":0.0156534761,"thr_a_v":0.562613904,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452991545,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.95513,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.60349751,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556965888,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0215939935,"mpcc_du":49.6672859,"mpcc_dv":49.3772278,"mpcc_dw":50.6227722,"mpcc_enc_sign":1,"mpcc_id_a":0.902224541,"mpcc_iq_a":-0.522198915,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.68925571,"mpcc_pred_id_a":0.00554597611,"mpcc_pred_iq_a":-2.91267562,"mpcc_state":1,"mpcc_theta_e":0.448208332,"mpcc_theta_mech":0.556587577,"sam_rpm":9.30217552,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156534761,"thr_a_norm":0.0156534761,"thr_a_v":0.562613904,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452991545,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.965139,"values":{"cg_iu_a":1.98174238,"cg_iv_a":0.426157475,"cg_iw_a":-2.40789986,"cg_theta_rad":0.556579053,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0490161069,"mpcc_du":51.0820122,"mpcc_dv":47.739563,"mpcc_dw":52.260437,"mpcc_enc_sign":1,"mpcc_id_a":0.763380468,"mpcc_iq_a":-0.308129311,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.63480759,"mpcc_pred_id_a":-0.265895307,"mpcc_pred_iq_a":-0.00807397161,"mpcc_state":1,"mpcc_theta_e":0.439441204,"mpcc_theta_mech":0.554834187,"sam_rpm":-7.98776007,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0407679081,"thr_a_norm":0.0407679081,"thr_a_v":0.663071632,"thr_b":0.00939688087,"thr_b_norm":0.00939688087,"thr_b_v":0.537587523,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.975546,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.588670254,"cg_iw_a":-2.77033806,"cg_theta_rad":0.556591988,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0176232159,"mpcc_du":49.8697166,"mpcc_dv":49.0191612,"mpcc_dw":50.9808388,"mpcc_enc_sign":1,"mpcc_id_a":2.64876366,"mpcc_iq_a":0.682048142,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.17834902,"mpcc_pred_id_a":0.310934722,"mpcc_pred_iq_a":0.645859301,"mpcc_state":1,"mpcc_theta_e":0.435698032,"mpcc_theta_mech":0.554085493,"sam_rpm":-6.6873498,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195811391,"thr_a_norm":0.0407679081,"thr_a_v":0.578324556,"thr_b":0,"thr_b_norm":0.00939688087,"thr_b_v":0.472176731,"vdc_v":55.2955055}} +{"type":"telemetry","t":25.998556,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.878620625,"cg_iw_a":-2.11794901,"cg_theta_rad":0.554368317,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0330058113,"mpcc_du":49.8604317,"mpcc_dv":49.0894928,"mpcc_dw":50.9105072,"mpcc_enc_sign":1,"mpcc_id_a":2.12137485,"mpcc_iq_a":0.0154873421,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.614306986,"mpcc_pred_id_a":0.245013371,"mpcc_pred_iq_a":-2.53168392,"mpcc_state":1,"mpcc_theta_e":0.443762779,"mpcc_theta_mech":0.555698514,"sam_rpm":1.26664007,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195811391,"thr_a_norm":0.0195811391,"thr_a_v":0.578324556,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472176731,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.005117,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.806133032,"cg_iw_a":-0.160782099,"cg_theta_rad":0.55556494,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.00505109224,"mpcc_du":49.5844955,"mpcc_dv":49.7539749,"mpcc_dw":50.4155045,"mpcc_enc_sign":1,"mpcc_id_a":0.431881994,"mpcc_iq_a":-1.50249648,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.95075893,"mpcc_pred_id_a":-0.0551432073,"mpcc_pred_iq_a":-3.54702449,"mpcc_state":1,"mpcc_theta_e":0.447412491,"mpcc_theta_mech":0.554666042,"sam_rpm":9.01795483,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447804987,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.011587,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.31354666,"cg_iw_a":0.419119358,"cg_theta_rad":0.555874109,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0294024441,"mpcc_du":49.5392227,"mpcc_dv":49.4904747,"mpcc_dw":51.0604477,"mpcc_enc_sign":1,"mpcc_id_a":2.25885534,"mpcc_iq_a":-1.21422815,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.1741364,"mpcc_pred_id_a":0.187039271,"mpcc_pred_iq_a":-4.6584878,"mpcc_state":1,"mpcc_theta_e":0.445837021,"mpcc_theta_mech":0.556113362,"sam_rpm":3.83961058,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447804987,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.018148,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.82096052,"cg_iw_a":1.43394661,"cg_theta_rad":0.557429254,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0142319677,"mpcc_du":49.9245224,"mpcc_dv":49.1708641,"mpcc_dw":50.8291359,"mpcc_enc_sign":1,"mpcc_id_a":1.50492752,"mpcc_iq_a":-2.44145417,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.318995,"mpcc_pred_id_a":-0.194405451,"mpcc_pred_iq_a":-2.66752195,"mpcc_state":1,"mpcc_theta_e":0.449748993,"mpcc_theta_mech":0.556895733,"sam_rpm":6.79812241,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180956721,"thr_a_norm":0.0180956721,"thr_a_v":0.572382689,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456818491,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.026144,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.16857147,"cg_iw_a":0.564094543,"cg_theta_rad":0.554565549,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.00920397881,"mpcc_du":50.8840523,"mpcc_dv":47.8434143,"mpcc_dw":52.1565857,"mpcc_enc_sign":1,"mpcc_id_a":1.10068727,"mpcc_iq_a":-0.785300732,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.86461306,"mpcc_pred_id_a":0.0670739859,"mpcc_pred_iq_a":1.44389868,"mpcc_state":1,"mpcc_theta_e":0.435965538,"mpcc_theta_mech":0.554139018,"sam_rpm":-10.4761124,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243774205,"thr_a_norm":0.0180956721,"thr_a_v":0.597509682,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485873193,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.035757,"values":{"cg_iu_a":0.604476929,"cg_iv_a":0.643620491,"cg_iw_a":-3.71267796,"cg_theta_rad":0.554005742,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0167821515,"mpcc_du":49.4908409,"mpcc_dv":49.8513374,"mpcc_dw":50.5091591,"mpcc_enc_sign":1,"mpcc_id_a":2.50406861,"mpcc_iq_a":-1.03548455,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.24736881,"mpcc_pred_id_a":0.347005129,"mpcc_pred_iq_a":-2.04776669,"mpcc_state":1,"mpcc_theta_e":0.439959526,"mpcc_theta_mech":0.55493784,"sam_rpm":3.07488251,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243774205,"thr_a_norm":0.0243774205,"thr_a_v":0.597509682,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485873193,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.04595,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.516182423,"cg_iw_a":-1.10312176,"cg_theta_rad":0.556860805,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.00905789342,"mpcc_du":49.6220512,"mpcc_dv":49.5124855,"mpcc_dw":50.4875145,"mpcc_enc_sign":1,"mpcc_id_a":-0.397589087,"mpcc_iq_a":-3.74796438,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.08480883,"mpcc_pred_id_a":-0.109633461,"mpcc_pred_iq_a":-1.90171432,"mpcc_state":1,"mpcc_theta_e":0.445673466,"mpcc_theta_mech":0.556080639,"sam_rpm":8.81517124,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180453211,"thr_a_norm":0.0180453211,"thr_a_v":0.572181284,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451128393,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.058371,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-2.11091113,"cg_iw_a":1.36145902,"cg_theta_rad":0.554442585,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.027187746,"mpcc_du":49.7644234,"mpcc_dv":49.0429459,"mpcc_dw":50.9570541,"mpcc_enc_sign":1,"mpcc_id_a":3.21193314,"mpcc_iq_a":-1.57354999,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.64839315,"mpcc_pred_id_a":0.537411928,"mpcc_pred_iq_a":-1.50654507,"mpcc_state":1,"mpcc_theta_e":0.444975853,"mpcc_theta_mech":0.555941045,"sam_rpm":3.63621783,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205252916,"thr_a_norm":0.0180453211,"thr_a_v":0.582101166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454753935,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.06835,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.96593571,"cg_iw_a":-0.81317091,"cg_theta_rad":0.553155601,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0352488942,"mpcc_du":49.8010292,"mpcc_dv":48.8326225,"mpcc_dw":51.1673775,"mpcc_enc_sign":1,"mpcc_id_a":2.9320972,"mpcc_iq_a":-0.120943919,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.97422886,"mpcc_pred_id_a":0.859200299,"mpcc_pred_iq_a":-2.5300889,"mpcc_state":1,"mpcc_theta_e":0.437990189,"mpcc_theta_mech":0.554662228,"sam_rpm":-7.34147501,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205252916,"thr_a_norm":0.0205252916,"thr_a_v":0.582101166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454753935,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.07836,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.298719406,"cg_iw_a":-1.17560911,"cg_theta_rad":0.5537256,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.00538550131,"mpcc_du":50.5046272,"mpcc_dv":48.3765335,"mpcc_dw":51.6234665,"mpcc_enc_sign":1,"mpcc_id_a":0.373965561,"mpcc_iq_a":-1.35474324,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.4308739,"mpcc_pred_id_a":-0.32222876,"mpcc_pred_iq_a":-1.48880935,"mpcc_state":1,"mpcc_theta_e":0.420509815,"mpcc_theta_mech":0.551047862,"sam_rpm":-32.2767639,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022325471,"thr_a_norm":0.022325471,"thr_a_v":0.589301884,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484060407,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.101339,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.60349751,"cg_iw_a":0.346631527,"cg_theta_rad":0.552566528,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.00400445703,"mpcc_du":50.6611862,"mpcc_dv":48.4113503,"mpcc_dw":51.5886497,"mpcc_enc_sign":1,"mpcc_id_a":-0.29644236,"mpcc_iq_a":-0.181069687,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.48186731,"mpcc_pred_id_a":-0.759126961,"mpcc_pred_iq_a":0.742601335,"mpcc_state":1,"mpcc_theta_e":0.433763027,"mpcc_theta_mech":0.55369854,"sam_rpm":-8.27773094,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022325471,"thr_a_norm":0.022325471,"thr_a_v":0.589301884,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484060407,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.10784,"values":{"cg_iu_a":-0.555325985,"cg_iv_a":-0.806133032,"cg_iw_a":-0.740683317,"cg_theta_rad":0.556668997,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.00235551153,"mpcc_du":50.8997612,"mpcc_dv":47.8700104,"mpcc_dw":52.1299896,"mpcc_enc_sign":1,"mpcc_id_a":0.636766016,"mpcc_iq_a":-0.752524674,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.79479599,"mpcc_pred_id_a":-0.121973924,"mpcc_pred_iq_a":2.58501244,"mpcc_state":1,"mpcc_theta_e":0.434617519,"mpcc_theta_mech":0.553869426,"sam_rpm":-8.75477219,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274616629,"thr_a_norm":0.0274616629,"thr_a_v":0.609846652,"thr_b":0.00155413151,"thr_b_norm":0.00155413151,"thr_b_v":0.506216526,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.114401,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-2.54583716,"cg_iw_a":1.28897119,"cg_theta_rad":0.556281447,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.00269851834,"mpcc_du":50.8431931,"mpcc_dv":48.0636787,"mpcc_dw":51.9363213,"mpcc_enc_sign":1,"mpcc_id_a":0.00472197635,"mpcc_iq_a":-1.24525416,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.39423656,"mpcc_pred_id_a":-0.360116601,"mpcc_pred_iq_a":1.33068252,"mpcc_state":1,"mpcc_theta_e":0.43761301,"mpcc_theta_mech":0.554468513,"sam_rpm":-6.63919067,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274616629,"thr_a_norm":0.0274616629,"thr_a_v":0.609846652,"thr_b":0.00155413151,"thr_b_norm":0.00155413151,"thr_b_v":0.506216526,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.120932,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.806133032,"cg_iw_a":-1.75551057,"cg_theta_rad":0.55448544,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.00505937682,"mpcc_du":50.6156158,"mpcc_dv":48.0715103,"mpcc_dw":51.9284897,"mpcc_enc_sign":1,"mpcc_id_a":1.26208043,"mpcc_iq_a":-0.611342251,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.70154,"mpcc_pred_id_a":0.216861874,"mpcc_pred_iq_a":-0.970976412,"mpcc_state":1,"mpcc_theta_e":0.424134731,"mpcc_theta_mech":0.551772833,"sam_rpm":-27.6544647,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204623491,"thr_a_norm":0.0204623491,"thr_a_v":0.581849396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457221329,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.131369,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.96593571,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556153715,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0349991843,"mpcc_du":50.294445,"mpcc_dv":48.5145264,"mpcc_dw":51.4854736,"mpcc_enc_sign":1,"mpcc_id_a":1.95997441,"mpcc_iq_a":-1.3278079,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.44641972,"mpcc_pred_id_a":0.275637329,"mpcc_pred_iq_a":-4.04718018,"mpcc_state":1,"mpcc_theta_e":0.455273151,"mpcc_theta_mech":0.558000505,"sam_rpm":0.541568995,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0120782703,"thr_a_norm":0.0204623491,"thr_a_v":0.548313081,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.432497114,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.141348,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.6759851,"cg_iw_a":0.781557798,"cg_theta_rad":0.554745913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0631672144,"mpcc_du":49.9957886,"mpcc_dv":49.0157661,"mpcc_dw":50.9842339,"mpcc_enc_sign":1,"mpcc_id_a":0.760123134,"mpcc_iq_a":-0.316079438,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.729375,"mpcc_pred_id_a":0.0299084559,"mpcc_pred_iq_a":-4.20053339,"mpcc_state":1,"mpcc_theta_e":0.449877739,"mpcc_theta_mech":0.556921482,"sam_rpm":4.06292725,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0120782703,"thr_a_norm":0.0120782703,"thr_a_v":0.548313081,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.432497114,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.151541,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.62536287,"cg_theta_rad":0.558302283,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.01831837,"mpcc_du":49.1035309,"mpcc_dv":50.8964691,"mpcc_dw":49.6289368,"mpcc_enc_sign":1,"mpcc_id_a":-0.0598186702,"mpcc_iq_a":-2.05023885,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.48766136,"mpcc_pred_id_a":-0.514361918,"mpcc_pred_iq_a":-3.41946507,"mpcc_state":1,"mpcc_theta_e":0.441480637,"mpcc_theta_mech":0.555242062,"sam_rpm":11.2476501,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0157793611,"thr_a_norm":0.0157793611,"thr_a_v":0.563117445,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473385215,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.161337,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.806133032,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.550899506,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0487390645,"mpcc_du":49.5124702,"mpcc_dv":49.4106369,"mpcc_dw":50.5893631,"mpcc_enc_sign":1,"mpcc_id_a":2.54396939,"mpcc_iq_a":-0.625041664,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.0923262,"mpcc_pred_id_a":0.572090745,"mpcc_pred_iq_a":-2.84927917,"mpcc_state":1,"mpcc_theta_e":0.451717854,"mpcc_theta_mech":0.557289481,"sam_rpm":16.84445,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0157793611,"thr_a_norm":0.0157793611,"thr_a_v":0.563117445,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473385215,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.171652,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.38603449,"cg_iw_a":0.491607189,"cg_theta_rad":0.558363736,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0737692565,"mpcc_du":49.8719025,"mpcc_dv":48.9879837,"mpcc_dw":51.0120163,"mpcc_enc_sign":1,"mpcc_id_a":3.182693,"mpcc_iq_a":0.3930206,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.710854888,"mpcc_pred_id_a":0.733407855,"mpcc_pred_iq_a":-3.13582897,"mpcc_state":1,"mpcc_theta_e":0.443220139,"mpcc_theta_mech":0.555281043,"sam_rpm":-0.189532846,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194678307,"thr_a_norm":0.0194678307,"thr_a_v":0.577871323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474190891,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.181753,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.60349751,"cg_iw_a":-0.59570837,"cg_theta_rad":0.553738534,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0539113693,"mpcc_du":50.0709572,"mpcc_dv":48.9950943,"mpcc_dw":51.0049057,"mpcc_enc_sign":1,"mpcc_id_a":1.04822338,"mpcc_iq_a":-0.88192904,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.37328911,"mpcc_pred_id_a":-0.084814705,"mpcc_pred_iq_a":-2.77339029,"mpcc_state":1,"mpcc_theta_e":0.455605507,"mpcc_theta_mech":0.557349563,"sam_rpm":13.4255266,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202609301,"thr_a_norm":0.0194678307,"thr_a_v":0.58104372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458379477,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.20458,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.878620625,"cg_iw_a":0.12916851,"cg_theta_rad":0.555426836,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.00611567171,"mpcc_du":48.8855133,"mpcc_dv":51.1144867,"mpcc_dw":49.4785347,"mpcc_enc_sign":1,"mpcc_id_a":1.45366037,"mpcc_iq_a":-0.544346154,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.28687954,"mpcc_pred_id_a":-0.202078283,"mpcc_pred_iq_a":-5.68530703,"mpcc_state":1,"mpcc_theta_e":0.441902161,"mpcc_theta_mech":0.555326343,"sam_rpm":6.51919699,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202609301,"thr_a_norm":0.0202609301,"thr_a_v":0.58104372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458379477,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.211081,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.516182423,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556514263,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0113481395,"mpcc_du":49.7778893,"mpcc_dv":49.1107254,"mpcc_dw":50.8892746,"mpcc_enc_sign":1,"mpcc_id_a":1.56788278,"mpcc_iq_a":0.572015285,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.99821377,"mpcc_pred_id_a":0.352038264,"mpcc_pred_iq_a":-2.84498906,"mpcc_state":1,"mpcc_theta_e":0.431972504,"mpcc_theta_mech":0.553340375,"sam_rpm":-14.1402426,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245410949,"thr_a_norm":0.0245410949,"thr_a_v":0.59816438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.217642,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.733645439,"cg_iw_a":-2.77033806,"cg_theta_rad":0.559635878,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.00260031736,"mpcc_du":49.784565,"mpcc_dv":49.2605591,"mpcc_dw":50.7394409,"mpcc_enc_sign":1,"mpcc_id_a":0.890193582,"mpcc_iq_a":-0.726163924,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.8578634,"mpcc_pred_id_a":-0.0627795011,"mpcc_pred_iq_a":-3.20405173,"mpcc_state":1,"mpcc_theta_e":0.430063248,"mpcc_theta_mech":0.552958548,"sam_rpm":-17.3636208,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245410949,"thr_a_norm":0.0245410949,"thr_a_v":0.59816438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.224112,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.6759851,"cg_iw_a":-0.740683317,"cg_theta_rad":0.555771112,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0135943647,"mpcc_du":49.7924614,"mpcc_dv":49.2551155,"mpcc_dw":50.7448845,"mpcc_enc_sign":1,"mpcc_id_a":1.93082714,"mpcc_iq_a":-0.210087463,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.27093244,"mpcc_pred_id_a":-0.014919254,"mpcc_pred_iq_a":-2.52476692,"mpcc_state":1,"mpcc_theta_e":0.440521717,"mpcc_theta_mech":0.555050254,"sam_rpm":-4.05858326,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020865187,"thr_a_norm":0.020865187,"thr_a_v":0.583460748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.234518,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-2.32837415,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.558064103,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0155064892,"mpcc_du":50.3368683,"mpcc_dv":48.4932518,"mpcc_dw":51.5067482,"mpcc_enc_sign":1,"mpcc_id_a":0.895679414,"mpcc_iq_a":-0.719386637,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.7823811,"mpcc_pred_id_a":0.0261737928,"mpcc_pred_iq_a":0.536236823,"mpcc_state":1,"mpcc_theta_e":0.422473431,"mpcc_theta_mech":0.551440597,"sam_rpm":-25.715147,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271721184,"thr_a_norm":0.020865187,"thr_a_v":0.608688474,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498713672,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.244528,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.516182423,"cg_iw_a":-2.91531324,"cg_theta_rad":0.555517614,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0154771963,"mpcc_du":50.1477737,"mpcc_dv":48.7610931,"mpcc_dw":51.2389069,"mpcc_enc_sign":1,"mpcc_id_a":1.03263938,"mpcc_iq_a":-1.65256786,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.7168865,"mpcc_pred_id_a":-0.137831628,"mpcc_pred_iq_a":-2.00082016,"mpcc_state":1,"mpcc_theta_e":0.422358036,"mpcc_theta_mech":0.55141753,"sam_rpm":-28.394455,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271721184,"thr_a_norm":0.0271721184,"thr_a_v":0.608688474,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498713672,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.254721,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.450732708,"cg_theta_rad":0.555388689,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0500356555,"mpcc_du":50.4291191,"mpcc_dv":48.5768242,"mpcc_dw":51.4231758,"mpcc_enc_sign":1,"mpcc_id_a":0.464114457,"mpcc_iq_a":-0.262750953,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.4064033,"mpcc_pred_id_a":-0.375544548,"mpcc_pred_iq_a":-2.66485953,"mpcc_state":1,"mpcc_theta_e":0.444234371,"mpcc_theta_mech":0.555792749,"sam_rpm":-2.16254449,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193671286,"thr_a_norm":0.0193671286,"thr_a_v":0.577468514,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.265707,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.516182423,"cg_iw_a":-0.378244877,"cg_theta_rad":0.555643559,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0574649945,"mpcc_du":50.6805916,"mpcc_dv":48.2376137,"mpcc_dw":51.7623863,"mpcc_enc_sign":1,"mpcc_id_a":0.594171047,"mpcc_iq_a":-0.326602757,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.3065927,"mpcc_pred_id_a":-0.250066042,"mpcc_pred_iq_a":-1.74523127,"mpcc_state":1,"mpcc_theta_e":0.446834564,"mpcc_theta_mech":0.556312799,"sam_rpm":-2.31414032,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193671286,"thr_a_norm":0.0193671286,"thr_a_v":0.577468514,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.276937,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.153744221,"cg_iw_a":-0.958146095,"cg_theta_rad":0.554844916,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0320571773,"mpcc_du":50.304657,"mpcc_dv":48.7078705,"mpcc_dw":51.2921295,"mpcc_enc_sign":1,"mpcc_id_a":1.09579122,"mpcc_iq_a":-1.45437145,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.12958443,"mpcc_pred_id_a":-0.303329468,"mpcc_pred_iq_a":-2.80358624,"mpcc_state":1,"mpcc_theta_e":0.450000763,"mpcc_theta_mech":0.556946099,"sam_rpm":2.19071198,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260895044,"thr_a_norm":0.0260895044,"thr_a_v":0.604358017,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495188832,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.300344,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.96593571,"cg_iw_a":2.08633566,"cg_theta_rad":0.556510448,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0108455233,"mpcc_du":50.6942291,"mpcc_dv":47.9469223,"mpcc_dw":52.0530777,"mpcc_enc_sign":1,"mpcc_id_a":1.91240394,"mpcc_iq_a":-0.408080846,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.4988832,"mpcc_pred_id_a":0.188704386,"mpcc_pred_iq_a":0.63715744,"mpcc_state":1,"mpcc_theta_e":0.428049564,"mpcc_theta_mech":0.552555799,"sam_rpm":-20.0768623,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253719389,"thr_a_norm":0.0260895044,"thr_a_v":0.601487756,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461400777,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.306875,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.806133032,"cg_iw_a":-1.61053538,"cg_theta_rad":0.55242461,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0168863144,"mpcc_du":49.507534,"mpcc_dv":49.865097,"mpcc_dw":50.492466,"mpcc_enc_sign":1,"mpcc_id_a":2.43131924,"mpcc_iq_a":-1.69914508,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.677247167,"mpcc_pred_id_a":0.166516751,"mpcc_pred_iq_a":-3.40262008,"mpcc_state":1,"mpcc_theta_e":0.441218853,"mpcc_theta_mech":0.555189669,"sam_rpm":10.4197283,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253719389,"thr_a_norm":0.0253719389,"thr_a_v":0.601487756,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461400777,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.313437,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.153744221,"cg_iw_a":-2.91531324,"cg_theta_rad":0.555752218,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.022090232,"mpcc_du":50.4149475,"mpcc_dv":48.2900772,"mpcc_dw":51.7099228,"mpcc_enc_sign":1,"mpcc_id_a":2.18332934,"mpcc_iq_a":-0.16295591,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.0153198,"mpcc_pred_id_a":0.161774278,"mpcc_pred_iq_a":-2.51010132,"mpcc_state":1,"mpcc_theta_e":0.427726746,"mpcc_theta_mech":0.552491307,"sam_rpm":-24.9935818,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258377194,"thr_a_norm":0.0258377194,"thr_a_v":0.603350878,"thr_b":0.000232309103,"thr_b_norm":0.000232309103,"thr_b_v":0.500929236,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.319937,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.60349751,"cg_iw_a":0.78155756,"cg_theta_rad":0.556391776,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0480225272,"mpcc_du":50.537056,"mpcc_dv":48.0576553,"mpcc_dw":51.9423447,"mpcc_enc_sign":1,"mpcc_id_a":3.19548559,"mpcc_iq_a":-0.233100668,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.4307108,"mpcc_pred_id_a":0.527145386,"mpcc_pred_iq_a":-1.39799094,"mpcc_state":1,"mpcc_theta_e":0.434604645,"mpcc_theta_mech":0.553866863,"sam_rpm":-16.2458191,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183978081,"thr_a_norm":0.0258377194,"thr_a_v":0.573591232,"thr_b":0,"thr_b_norm":0.000232309103,"thr_b_v":0.468450427,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.329947,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.60349751,"cg_iw_a":0.926533222,"cg_theta_rad":0.555991173,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0701793283,"mpcc_du":50.1285057,"mpcc_dv":48.6844902,"mpcc_dw":51.3155098,"mpcc_enc_sign":1,"mpcc_id_a":2.1932497,"mpcc_iq_a":0.166653574,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.51234388,"mpcc_pred_id_a":0.248340383,"mpcc_pred_iq_a":-3.26252508,"mpcc_state":1,"mpcc_theta_e":0.44377327,"mpcc_theta_mech":0.555700541,"sam_rpm":-2.55601215,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183978081,"thr_a_norm":0.0183978081,"thr_a_v":0.573591232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468450427,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.34017,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.733645439,"cg_iw_a":-1.90048599,"cg_theta_rad":0.553127766,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0350389928,"mpcc_du":49.5224419,"mpcc_dv":50.4299545,"mpcc_dw":50.4775581,"mpcc_enc_sign":1,"mpcc_id_a":2.21034265,"mpcc_iq_a":-3.0231595,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.62098193,"mpcc_pred_id_a":0.277451843,"mpcc_pred_iq_a":-3.06203604,"mpcc_state":1,"mpcc_theta_e":0.439457417,"mpcc_theta_mech":0.554837406,"sam_rpm":2.44446707,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237479955,"thr_a_norm":0.0237479955,"thr_a_v":0.594991982,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.349936,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.74847269,"cg_iw_a":0.0566811562,"cg_theta_rad":0.553604364,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0275131799,"mpcc_du":49.9311066,"mpcc_dv":48.973484,"mpcc_dw":51.026516,"mpcc_enc_sign":1,"mpcc_id_a":2.01169467,"mpcc_iq_a":-0.722160578,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.795967281,"mpcc_pred_id_a":0.200411737,"mpcc_pred_iq_a":-2.2932446,"mpcc_state":1,"mpcc_theta_e":0.444622517,"mpcc_theta_mech":0.555870414,"sam_rpm":2.57151222,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237479955,"thr_a_norm":0.0237479955,"thr_a_v":0.594991982,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.360128,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.588670254,"cg_iw_a":-0.958146095,"cg_theta_rad":0.555534959,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0255829953,"mpcc_du":49.987709,"mpcc_dv":48.7447319,"mpcc_dw":51.2552681,"mpcc_enc_sign":1,"mpcc_id_a":2.89807796,"mpcc_iq_a":-0.173582286,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.95270586,"mpcc_pred_id_a":0.555683374,"mpcc_pred_iq_a":0.922139883,"mpcc_state":1,"mpcc_theta_e":0.429996014,"mpcc_theta_mech":0.552945137,"sam_rpm":-12.52143,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278645009,"thr_a_norm":0.0278645009,"thr_a_v":0.611458004,"thr_b":0.000509276986,"thr_b_norm":0.000509276986,"thr_b_v":0.502037108,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.370535,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.588670254,"cg_iw_a":-2.19043636,"cg_theta_rad":0.555421114,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0191491209,"mpcc_du":50.6308403,"mpcc_dv":48.092926,"mpcc_dw":51.907074,"mpcc_enc_sign":1,"mpcc_id_a":2.62892675,"mpcc_iq_a":-0.936636984,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.4506302,"mpcc_pred_id_a":0.258093089,"mpcc_pred_iq_a":-0.126352087,"mpcc_state":1,"mpcc_theta_e":0.433819294,"mpcc_theta_mech":0.553709805,"sam_rpm":-17.4944935,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.107425034,"thr_a_norm":0.0278645009,"thr_a_v":0.929700136,"thr_b":0.0430464596,"thr_b_norm":0.000509276986,"thr_b_v":0.672185838,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.380301,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.661157608,"cg_iw_a":-1.17560959,"cg_theta_rad":0.552973747,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0235391837,"mpcc_du":50.3898582,"mpcc_dv":48.3471527,"mpcc_dw":51.6528473,"mpcc_enc_sign":1,"mpcc_id_a":2.98176455,"mpcc_iq_a":-0.159305796,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.9976149,"mpcc_pred_id_a":0.353046596,"mpcc_pred_iq_a":-1.11936712,"mpcc_state":1,"mpcc_theta_e":0.42783165,"mpcc_theta_mech":0.552512288,"sam_rpm":-23.336092,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.107425034,"thr_a_norm":0.107425034,"thr_a_v":0.929700136,"thr_b":0.0430464596,"thr_b_norm":0.0430464596,"thr_b_v":0.672185838,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.403524,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.661157608,"cg_iw_a":-0.378245354,"cg_theta_rad":0.556951165,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0272469539,"mpcc_du":49.7078323,"mpcc_dv":49.4743309,"mpcc_dw":50.5256691,"mpcc_enc_sign":1,"mpcc_id_a":0.301802188,"mpcc_iq_a":-1.58634567,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.51915216,"mpcc_pred_id_a":-0.371922702,"mpcc_pred_iq_a":-4.36157608,"mpcc_state":1,"mpcc_theta_e":0.453978062,"mpcc_theta_mech":0.557741523,"sam_rpm":12.4999323,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.0167864412,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484110773,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.410086,"values":{"cg_iu_a":0.169550896,"cg_iv_a":0.0637187958,"cg_iw_a":-3.13277626,"cg_theta_rad":0.557617545,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.00659485441,"mpcc_du":49.5285721,"mpcc_dv":49.9525414,"mpcc_dw":50.4714279,"mpcc_enc_sign":1,"mpcc_id_a":1.20262623,"mpcc_iq_a":-1.73597157,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.51329041,"mpcc_pred_id_a":0.168234125,"mpcc_pred_iq_a":-3.43228388,"mpcc_state":1,"mpcc_theta_e":0.448826313,"mpcc_theta_mech":0.556711197,"sam_rpm":12.7434788,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.0167864412,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484110773,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.416586,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.09608364,"cg_iw_a":0.12916851,"cg_theta_rad":0.553803802,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.00361180282,"mpcc_du":49.6998177,"mpcc_dv":49.4999008,"mpcc_dw":50.5000992,"mpcc_enc_sign":1,"mpcc_id_a":-0.345513165,"mpcc_iq_a":-2.28928375,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.30818462,"mpcc_pred_id_a":-0.432568789,"mpcc_pred_iq_a":-3.79933524,"mpcc_state":1,"mpcc_theta_e":0.446529865,"mpcc_theta_mech":0.556251884,"sam_rpm":6.80676222,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178942531,"thr_a_norm":0.0178942531,"thr_a_v":0.571577013,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475751907,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.423147,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.02359605,"cg_iw_a":-1.17560935,"cg_theta_rad":0.553159714,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0142202508,"mpcc_du":49.2340813,"mpcc_dv":50.7659187,"mpcc_dw":49.9804039,"mpcc_enc_sign":1,"mpcc_id_a":0.655398428,"mpcc_iq_a":-1.19691038,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.4348412,"mpcc_pred_id_a":-0.0952601656,"mpcc_pred_iq_a":-6.29974174,"mpcc_state":1,"mpcc_theta_e":0.451419353,"mpcc_theta_mech":0.552623689,"sam_rpm":15.6396418,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206637681,"thr_a_norm":0.0178942531,"thr_a_v":0.582655072,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465127021,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.431173,"values":{"cg_iu_a":0.459501266,"cg_iv_a":0.788595676,"cg_iw_a":-3.49521494,"cg_theta_rad":0.556014121,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.00557725783,"mpcc_du":49.0779572,"mpcc_dv":50.9220428,"mpcc_dw":49.6882095,"mpcc_enc_sign":1,"mpcc_id_a":0.309815764,"mpcc_iq_a":0.0900046602,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.947315812,"mpcc_pred_id_a":-0.452349067,"mpcc_pred_iq_a":-7.18004227,"mpcc_state":1,"mpcc_theta_e":0.439679146,"mpcc_theta_mech":0.554881752,"sam_rpm":0.835632324,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206637681,"thr_a_norm":0.0206637681,"thr_a_v":0.582655072,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465127021,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.441366,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-1.82096052,"cg_iw_a":1.65140963,"cg_theta_rad":0.556145787,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0284535848,"mpcc_du":50.5124016,"mpcc_dv":48.3788033,"mpcc_dw":51.6211967,"mpcc_enc_sign":1,"mpcc_id_a":0.571571052,"mpcc_iq_a":-0.544072151,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.73783195,"mpcc_pred_id_a":-0.171731725,"mpcc_pred_iq_a":-0.903606415,"mpcc_state":1,"mpcc_theta_e":0.442341328,"mpcc_theta_mech":0.5554142,"sam_rpm":-1.36740959,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.452322,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.951108456,"cg_iw_a":-1.75551081,"cg_theta_rad":0.553055286,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0387049094,"mpcc_du":49.592804,"mpcc_dv":49.3651199,"mpcc_dw":50.6348801,"mpcc_enc_sign":1,"mpcc_id_a":0.396747261,"mpcc_iq_a":-2.37252831,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.6994343,"mpcc_pred_id_a":0.115306266,"mpcc_pred_iq_a":-3.385818,"mpcc_state":1,"mpcc_theta_e":0.419832706,"mpcc_theta_mech":0.550912499,"sam_rpm":-27.2063675,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.461721,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.89344811,"cg_iw_a":-0.378245115,"cg_theta_rad":0.558227241,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0159701258,"mpcc_du":49.0778275,"mpcc_dv":50.9221725,"mpcc_dw":49.8029404,"mpcc_enc_sign":1,"mpcc_id_a":-0.32240504,"mpcc_iq_a":-1.27417123,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.2782307,"mpcc_pred_id_a":-0.0525950454,"mpcc_pred_iq_a":-4.07649994,"mpcc_state":1,"mpcc_theta_e":0.43255949,"mpcc_theta_mech":0.553457797,"sam_rpm":15.54844,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.021620512,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486376733,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.471731,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.09608364,"cg_iw_a":0.0566806793,"cg_theta_rad":0.555197716,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0625275448,"mpcc_du":50.0166168,"mpcc_dv":49.2842712,"mpcc_dw":50.7157288,"mpcc_enc_sign":1,"mpcc_id_a":-1.33739293,"mpcc_iq_a":-0.325692147,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.41748953,"mpcc_pred_id_a":-0.808826745,"mpcc_pred_iq_a":-4.18140507,"mpcc_state":1,"mpcc_theta_e":0.449825287,"mpcc_theta_mech":0.556910932,"sam_rpm":8.26824093,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.021620512,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486376733,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.481833,"values":{"cg_iu_a":4.95373726,"cg_iv_a":-0.298719406,"cg_iw_a":-4.65501785,"cg_theta_rad":0.552810192,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.00407923013,"mpcc_du":49.5999718,"mpcc_dv":49.7994804,"mpcc_dw":50.4000282,"mpcc_enc_sign":1,"mpcc_id_a":1.1787293,"mpcc_iq_a":-2.46248817,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.87368965,"mpcc_pred_id_a":-0.288454235,"mpcc_pred_iq_a":-2.6349256,"mpcc_state":1,"mpcc_theta_e":0.446626186,"mpcc_theta_mech":0.556271136,"sam_rpm":9.59868717,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022149235,"thr_a_norm":0.022149235,"thr_a_v":0.58859694,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473536283,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.505056,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.16857147,"cg_iw_a":-0.958146095,"cg_theta_rad":0.554879487,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0101110218,"mpcc_du":49.522522,"mpcc_dv":50.477478,"mpcc_dw":50.2514687,"mpcc_enc_sign":1,"mpcc_id_a":1.89229453,"mpcc_iq_a":-1.81904614,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0836543292,"mpcc_pred_id_a":-0.200826839,"mpcc_pred_iq_a":-6.45999956,"mpcc_state":1,"mpcc_theta_e":0.442745209,"mpcc_theta_mech":0.555494964,"sam_rpm":-0.793426633,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.022149235,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.511526,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.226231575,"cg_iw_a":-1.68302298,"cg_theta_rad":0.557746947,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0328587815,"mpcc_du":50.8040504,"mpcc_dv":47.8096581,"mpcc_dw":52.1903419,"mpcc_enc_sign":1,"mpcc_id_a":3.16902876,"mpcc_iq_a":0.0863561258,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.9894524,"mpcc_pred_id_a":0.285778016,"mpcc_pred_iq_a":-0.853430152,"mpcc_state":1,"mpcc_theta_e":0.424932957,"mpcc_theta_mech":0.551932514,"sam_rpm":-31.1399593,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.021620512,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.518087,"values":{"cg_iu_a":2.5616436,"cg_iv_a":1.58595991,"cg_iw_a":-0.305757523,"cg_theta_rad":0.555674255,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0232546236,"mpcc_du":49.60466,"mpcc_dv":49.360714,"mpcc_dw":50.639286,"mpcc_enc_sign":1,"mpcc_id_a":1.90697742,"mpcc_iq_a":0.071833536,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.1701756,"mpcc_pred_id_a":0.352171868,"mpcc_pred_iq_a":-0.701413989,"mpcc_state":1,"mpcc_theta_e":0.443355083,"mpcc_theta_mech":0.555616915,"sam_rpm":16.2099609,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172018856,"thr_a_norm":0.0172018856,"thr_a_v":0.568807542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441057444,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.524832,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.443694592,"cg_iw_a":-1.0306344,"cg_theta_rad":0.557046056,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.00220377697,"mpcc_du":50.3856888,"mpcc_dv":48.7923508,"mpcc_dw":51.2076492,"mpcc_enc_sign":1,"mpcc_id_a":0.262382686,"mpcc_iq_a":-0.350768119,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.87415791,"mpcc_pred_id_a":-0.493807644,"mpcc_pred_iq_a":-1.65733922,"mpcc_state":1,"mpcc_theta_e":0.441055298,"mpcc_theta_mech":0.55357486,"sam_rpm":-0.645214498,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0172018856,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478017837,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.534567,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.371207237,"cg_iw_a":-2.04546118,"cg_theta_rad":0.555874527,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.00997487735,"mpcc_du":50.5070114,"mpcc_dv":48.3821564,"mpcc_dw":51.6178436,"mpcc_enc_sign":1,"mpcc_id_a":0.880682766,"mpcc_iq_a":-0.732080698,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.75745392,"mpcc_pred_id_a":-0.106609769,"mpcc_pred_iq_a":-1.35729015,"mpcc_state":1,"mpcc_theta_e":0.443057537,"mpcc_theta_mech":0.55555743,"sam_rpm":-13.3880863,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478017837,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.544912,"values":{"cg_iu_a":2.70661926,"cg_iv_a":0.208694458,"cg_iw_a":-2.91531372,"cg_theta_rad":0.556926489,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.066433154,"mpcc_du":50.3930969,"mpcc_dv":48.1095085,"mpcc_dw":51.8904915,"mpcc_enc_sign":1,"mpcc_id_a":1.82431674,"mpcc_iq_a":-1.85226488,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.5019836,"mpcc_pred_id_a":0.670108795,"mpcc_pred_iq_a":2.1806922,"mpcc_state":1,"mpcc_theta_e":0.415408611,"mpcc_theta_mech":0.553898633,"sam_rpm":-33.2545738,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019077599,"thr_a_norm":0.019077599,"thr_a_v":0.576310396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465479493,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.554739,"values":{"cg_iu_a":1.40184116,"cg_iv_a":1.36849689,"cg_iw_a":-4.22009134,"cg_theta_rad":0.550895452,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0204621982,"mpcc_du":49.7936821,"mpcc_dv":49.1989479,"mpcc_dw":50.8010521,"mpcc_enc_sign":1,"mpcc_id_a":2.37819529,"mpcc_iq_a":-1.13263023,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.77824497,"mpcc_pred_id_a":0.0386020876,"mpcc_pred_iq_a":-1.70348036,"mpcc_state":1,"mpcc_theta_e":0.446015358,"mpcc_theta_mech":0.556148946,"sam_rpm":7.86657143,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019077599,"thr_a_norm":0.019077599,"thr_a_v":0.576310396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465479493,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.564718,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.878620625,"cg_iw_a":-1.75551081,"cg_theta_rad":0.553072393,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0269433595,"mpcc_du":50.419796,"mpcc_dv":48.3964081,"mpcc_dw":51.6035919,"mpcc_enc_sign":1,"mpcc_id_a":0.376919866,"mpcc_iq_a":-1.28788269,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.591772556,"mpcc_pred_id_a":0.11283426,"mpcc_pred_iq_a":-1.38066709,"mpcc_state":1,"mpcc_theta_e":0.44483614,"mpcc_theta_mech":0.55591315,"sam_rpm":0.836341023,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023458451,"thr_a_norm":0.023458451,"thr_a_v":0.593833804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455156773,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.574911,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.60349751,"cg_iw_a":1.28897142,"cg_theta_rad":0.557190001,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0178792421,"mpcc_du":48.9227791,"mpcc_dv":51.0772209,"mpcc_dw":49.7135735,"mpcc_enc_sign":1,"mpcc_id_a":1.30116844,"mpcc_iq_a":-2.3790133,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.69463634,"mpcc_pred_id_a":0.185105383,"mpcc_pred_iq_a":-4.43077803,"mpcc_state":1,"mpcc_theta_e":0.445436001,"mpcc_theta_mech":0.556033134,"sam_rpm":12.6218252,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0158297122,"thr_a_norm":0.023458451,"thr_a_v":0.563318849,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469105065,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.584921,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.588670254,"cg_iw_a":-0.595708132,"cg_theta_rad":0.557628572,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0171882305,"mpcc_du":49.3606262,"mpcc_dv":50.6393738,"mpcc_dw":50.0271492,"mpcc_enc_sign":1,"mpcc_id_a":-1.00518286,"mpcc_iq_a":-2.48408842,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.5995846,"mpcc_pred_id_a":-0.512054741,"mpcc_pred_iq_a":-2.02732968,"mpcc_state":1,"mpcc_theta_e":0.447820663,"mpcc_theta_mech":0.556510091,"sam_rpm":17.3189659,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0158297122,"thr_a_norm":0.0158297122,"thr_a_v":0.563318849,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469105065,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.608114,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.45852208,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.555717587,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.00527003128,"mpcc_du":49.6868591,"mpcc_dv":49.4117966,"mpcc_dw":50.5882034,"mpcc_enc_sign":1,"mpcc_id_a":0.78383553,"mpcc_iq_a":-1.10964358,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.17227578,"mpcc_pred_id_a":-0.18032597,"mpcc_pred_iq_a":-2.64123082,"mpcc_state":1,"mpcc_theta_e":0.443834305,"mpcc_theta_mech":0.555712819,"sam_rpm":4.69698143,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026857391,"thr_a_norm":0.026857391,"thr_a_v":0.607429564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499066144,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.614676,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-5.15539312,"cg_iw_a":3.75355196,"cg_theta_rad":0.555691779,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0385800116,"mpcc_du":49.5749855,"mpcc_dv":49.4348297,"mpcc_dw":50.5651703,"mpcc_enc_sign":1,"mpcc_id_a":2.86088777,"mpcc_iq_a":0.21799317,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.6266067,"mpcc_pred_id_a":0.133290648,"mpcc_pred_iq_a":-3.12638855,"mpcc_state":1,"mpcc_theta_e":0.444491863,"mpcc_theta_mech":0.555844247,"sam_rpm":3.94193816,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234332681,"thr_a_norm":0.026857391,"thr_a_v":0.593733072,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472529203,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.621206,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.74847269,"cg_iw_a":0.12916851,"cg_theta_rad":0.558034658,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.00656100176,"mpcc_du":48.7326126,"mpcc_dv":51.2673874,"mpcc_dw":49.1978264,"mpcc_enc_sign":1,"mpcc_id_a":0.209060773,"mpcc_iq_a":-0.792657197,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.59483147,"mpcc_pred_id_a":-0.571977377,"mpcc_pred_iq_a":-8.682827,"mpcc_state":1,"mpcc_theta_e":0.448335171,"mpcc_theta_mech":0.556612909,"sam_rpm":9.30978966,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234332681,"thr_a_norm":0.0234332681,"thr_a_v":0.593733072,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472529203,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.629904,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.516182423,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556767941,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0138559816,"mpcc_du":50.2478485,"mpcc_dv":48.5204964,"mpcc_dw":51.4795036,"mpcc_enc_sign":1,"mpcc_id_a":0.849977434,"mpcc_iq_a":-0.807876527,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.14892483,"mpcc_pred_id_a":0.392268598,"mpcc_pred_iq_a":-2.27907848,"mpcc_state":1,"mpcc_theta_e":0.436669827,"mpcc_theta_mech":0.554279864,"sam_rpm":-11.5622063,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0154394507,"thr_a_norm":0.0154394507,"thr_a_v":0.561757803,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460242629,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.640341,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.371207237,"cg_iw_a":0.129168987,"cg_theta_rad":0.556530416,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0024086074,"mpcc_du":49.8307724,"mpcc_dv":49.3184547,"mpcc_dw":50.6815453,"mpcc_enc_sign":1,"mpcc_id_a":0.0754180327,"mpcc_iq_a":-1.60286093,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.947671592,"mpcc_pred_id_a":-0.339696944,"mpcc_pred_iq_a":-1.64973056,"mpcc_state":1,"mpcc_theta_e":0.438939571,"mpcc_theta_mech":0.554733872,"sam_rpm":-2.94925833,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0154394507,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471522063,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.650351,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-0.661157608,"cg_iw_a":-2.6978507,"cg_theta_rad":0.554014027,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0289997011,"mpcc_du":49.9667931,"mpcc_dv":48.8649101,"mpcc_dw":51.1350899,"mpcc_enc_sign":1,"mpcc_id_a":2.82072401,"mpcc_iq_a":-1.560305,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.6707163,"mpcc_pred_id_a":0.321782619,"mpcc_pred_iq_a":-1.49872339,"mpcc_state":1,"mpcc_theta_e":0.428551674,"mpcc_theta_mech":0.552656233,"sam_rpm":-19.3656006,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471522063,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.660421,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.61053514,"cg_theta_rad":0.5568313,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.00572809856,"mpcc_du":49.6107025,"mpcc_dv":49.4837036,"mpcc_dw":51.4658127,"mpcc_enc_sign":1,"mpcc_id_a":1.36058509,"mpcc_iq_a":-0.912131369,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.97934985,"mpcc_pred_id_a":-0.0822924227,"mpcc_pred_iq_a":-3.82814145,"mpcc_state":1,"mpcc_theta_e":0.439187527,"mpcc_theta_mech":0.553851604,"sam_rpm":-5.60528469,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149862617,"thr_a_norm":0.0149862617,"thr_a_v":0.559945047,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451128393,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.67034,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.16857147,"cg_iw_a":-1.53804779,"cg_theta_rad":0.556811512,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0292148758,"mpcc_du":49.4924965,"mpcc_dv":50.0321083,"mpcc_dw":50.5075035,"mpcc_enc_sign":1,"mpcc_id_a":2.77371407,"mpcc_iq_a":-1.64242065,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.1760254,"mpcc_pred_id_a":0.413244277,"mpcc_pred_iq_a":-3.05194354,"mpcc_state":1,"mpcc_theta_e":0.457905769,"mpcc_theta_mech":0.558527112,"sam_rpm":22.4998951,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149862617,"thr_a_norm":0.0149862617,"thr_a_v":0.559945047,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451128393,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.680441,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-1.38603449,"cg_iw_a":0.274143934,"cg_theta_rad":0.555890083,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.00571576925,"mpcc_du":50.3548317,"mpcc_dv":48.4225883,"mpcc_dw":51.5774117,"mpcc_enc_sign":1,"mpcc_id_a":0.955531895,"mpcc_iq_a":-0.935348034,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.6644926,"mpcc_pred_id_a":0.173073247,"mpcc_pred_iq_a":-0.12392997,"mpcc_state":1,"mpcc_theta_e":0.426478386,"mpcc_theta_mech":0.552241623,"sam_rpm":-21.9348736,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0445445031,"thr_a_norm":0.0445445031,"thr_a_v":0.678178012,"thr_b":0.0119649768,"thr_b_norm":0.0119649768,"thr_b_v":0.547859907,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.690878,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.89344811,"cg_iw_a":-0.523220301,"cg_theta_rad":0.556866825,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0530753024,"mpcc_du":50.1970978,"mpcc_dv":48.6593018,"mpcc_dw":51.3406982,"mpcc_enc_sign":1,"mpcc_id_a":2.74120688,"mpcc_iq_a":-1.54828763,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.60885572,"mpcc_pred_id_a":0.284937978,"mpcc_pred_iq_a":-2.93048739,"mpcc_state":1,"mpcc_theta_e":0.448927402,"mpcc_theta_mech":0.556991041,"sam_rpm":3.34373999,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179446042,"thr_a_norm":0.0445445031,"thr_a_v":0.571778417,"thr_b":0,"thr_b_norm":0.0119649768,"thr_b_v":0.455408543,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.713949,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.60349751,"cg_iw_a":-1.39307213,"cg_theta_rad":0.556184173,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0204471964,"mpcc_du":49.5558205,"mpcc_dv":49.7095108,"mpcc_dw":50.4441795,"mpcc_enc_sign":1,"mpcc_id_a":2.32095242,"mpcc_iq_a":-0.915684938,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.5869292,"mpcc_pred_id_a":0.0557397567,"mpcc_pred_iq_a":-4.3698082,"mpcc_state":1,"mpcc_theta_e":0.44455862,"mpcc_theta_mech":0.555857599,"sam_rpm":1.94608557,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179446042,"thr_a_norm":0.0179446042,"thr_a_v":0.571778417,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455408543,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.720449,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.806133032,"cg_iw_a":0.0566809177,"cg_theta_rad":0.554498672,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0247483477,"mpcc_du":50.3091965,"mpcc_dv":48.3619728,"mpcc_dw":51.6380272,"mpcc_enc_sign":1,"mpcc_id_a":3.06515002,"mpcc_iq_a":-0.149934217,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.1516647,"mpcc_pred_id_a":0.499200791,"mpcc_pred_iq_a":-0.959566593,"mpcc_state":1,"mpcc_theta_e":0.42738533,"mpcc_theta_mech":0.552422941,"sam_rpm":-21.363163,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0299038589,"thr_a_norm":0.0299038589,"thr_a_v":0.619615436,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455207109,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.72698,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.82096052,"cg_iw_a":0.709070206,"cg_theta_rad":0.555540144,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0108396485,"mpcc_du":49.5358696,"mpcc_dv":50.4641304,"mpcc_dw":50.3717613,"mpcc_enc_sign":1,"mpcc_id_a":1.20491266,"mpcc_iq_a":-0.561588943,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.64421868,"mpcc_pred_id_a":0.103816137,"mpcc_pred_iq_a":-6.54124308,"mpcc_state":1,"mpcc_theta_e":0.439204216,"mpcc_theta_mech":0.554786801,"sam_rpm":-3.85055733,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0299038589,"thr_a_norm":0.0299038589,"thr_a_v":0.619615436,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455207109,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.733511,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.516182423,"cg_iw_a":-1.32058477,"cg_theta_rad":0.552375317,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0105560319,"mpcc_du":49.2922134,"mpcc_dv":50.7077866,"mpcc_dw":50.0419922,"mpcc_enc_sign":1,"mpcc_id_a":0.640824139,"mpcc_iq_a":-1.05482614,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.8264275,"mpcc_pred_id_a":-0.0726200789,"mpcc_pred_iq_a":-4.68129015,"mpcc_state":1,"mpcc_theta_e":0.455329418,"mpcc_theta_mech":0.55801183,"sam_rpm":21.6184616,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021998167,"thr_a_norm":0.021998167,"thr_a_v":0.587992668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.743704,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.516182423,"cg_iw_a":-3.49521494,"cg_theta_rad":0.5557338,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0101234438,"mpcc_du":49.2090721,"mpcc_dv":50.7909279,"mpcc_dw":49.7788239,"mpcc_enc_sign":1,"mpcc_id_a":0.0997869223,"mpcc_iq_a":-2.03687453,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.4877386,"mpcc_pred_id_a":-0.556149602,"mpcc_pred_iq_a":-3.23147917,"mpcc_state":1,"mpcc_theta_e":0.44503212,"mpcc_theta_mech":0.55595237,"sam_rpm":14.2202349,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265930444,"thr_a_norm":0.021998167,"thr_a_v":0.606372178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.753927,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.16857147,"cg_iw_a":-0.305757523,"cg_theta_rad":0.551756501,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0243754983,"mpcc_du":50.4009972,"mpcc_dv":48.7992783,"mpcc_dw":51.2007217,"mpcc_enc_sign":1,"mpcc_id_a":0.0397530012,"mpcc_iq_a":-2.40772295,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.75809002,"mpcc_pred_id_a":-0.892797232,"mpcc_pred_iq_a":0.645299196,"mpcc_state":1,"mpcc_theta_e":0.429797173,"mpcc_theta_mech":0.552905321,"sam_rpm":-12.2511816,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265930444,"thr_a_norm":0.0265930444,"thr_a_v":0.606372178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.763906,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.588670254,"cg_iw_a":0.419119358,"cg_theta_rad":0.556551814,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0148959812,"mpcc_du":49.0610886,"mpcc_dv":50.9389114,"mpcc_dw":49.9395599,"mpcc_enc_sign":1,"mpcc_id_a":2.3010993,"mpcc_iq_a":-1.29238927,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.9350176,"mpcc_pred_id_a":0.385094762,"mpcc_pred_iq_a":-3.01458406,"mpcc_state":1,"mpcc_theta_e":0.449806213,"mpcc_theta_mech":0.556907117,"sam_rpm":20.5501671,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160437077,"thr_a_norm":0.0160437077,"thr_a_v":0.564174831,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454552531,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.773733,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.6759851,"cg_iw_a":0.491606951,"cg_theta_rad":0.557369292,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0253577754,"mpcc_du":49.466507,"mpcc_dv":49.4912338,"mpcc_dw":50.533493,"mpcc_enc_sign":1,"mpcc_id_a":2.52330589,"mpcc_iq_a":-1.84135473,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.30680275,"mpcc_pred_id_a":0.343797892,"mpcc_pred_iq_a":-1.19102061,"mpcc_state":1,"mpcc_theta_e":0.443046093,"mpcc_theta_mech":0.555555165,"sam_rpm":0.385709584,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160437077,"thr_a_norm":0.0160437077,"thr_a_v":0.564174831,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454552531,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.784109,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.588670254,"cg_iw_a":-1.90048599,"cg_theta_rad":0.554727376,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0069992505,"mpcc_du":50.7028313,"mpcc_dv":48.0901184,"mpcc_dw":51.9098816,"mpcc_enc_sign":1,"mpcc_id_a":1.57118022,"mpcc_iq_a":-2.70505142,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.1434145,"mpcc_pred_id_a":-0.0179452002,"mpcc_pred_iq_a":-0.633631766,"mpcc_state":1,"mpcc_theta_e":0.433243752,"mpcc_theta_mech":0.553594708,"sam_rpm":-18.724638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020688951,"thr_a_norm":0.020688951,"thr_a_v":0.582755804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463817805,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.794088,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.661157608,"cg_iw_a":-2.33541203,"cg_theta_rad":0.554360688,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.00511661638,"mpcc_du":50.3506851,"mpcc_dv":48.4330559,"mpcc_dw":51.5669441,"mpcc_enc_sign":1,"mpcc_id_a":1.29386199,"mpcc_iq_a":-1.41420627,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.842289,"mpcc_pred_id_a":0.16563046,"mpcc_pred_iq_a":-0.930409133,"mpcc_state":1,"mpcc_theta_e":0.428210258,"mpcc_theta_mech":0.554297268,"sam_rpm":-20.2046051,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0207141191,"thr_a_norm":0.020688951,"thr_a_v":0.582856476,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469054729,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.817129,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.806133032,"cg_iw_a":-0.885658503,"cg_theta_rad":0.55558449,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.00507171312,"mpcc_du":50.5900307,"mpcc_dv":48.4221077,"mpcc_dw":51.5778923,"mpcc_enc_sign":1,"mpcc_id_a":0.135572851,"mpcc_iq_a":-1.8160013,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.52507925,"mpcc_pred_id_a":-0.398178309,"mpcc_pred_iq_a":-1.827685,"mpcc_state":1,"mpcc_theta_e":0.438903332,"mpcc_theta_mech":0.554726601,"sam_rpm":-10.8844824,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0207141191,"thr_a_norm":0.0207141191,"thr_a_v":0.582856476,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469054729,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.82366,"values":{"cg_iu_a":4.66378593,"cg_iv_a":-1.02359605,"cg_iw_a":-3.64018989,"cg_theta_rad":0.554829955,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0251349621,"mpcc_du":49.6349297,"mpcc_dv":49.5082283,"mpcc_dw":50.4917717,"mpcc_enc_sign":1,"mpcc_id_a":1.29874682,"mpcc_iq_a":0.826184809,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.200902939,"mpcc_pred_id_a":-0.176870421,"mpcc_pred_iq_a":-3.67590475,"mpcc_state":1,"mpcc_theta_e":0.440921307,"mpcc_theta_mech":0.555130184,"sam_rpm":-1.26836896,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257244259,"thr_a_norm":0.0257244259,"thr_a_v":0.602897704,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.830191,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-2.47334933,"cg_iw_a":1.72389722,"cg_theta_rad":0.557800889,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.00125871296,"mpcc_du":50.2068977,"mpcc_dv":48.8293724,"mpcc_dw":51.1706276,"mpcc_enc_sign":1,"mpcc_id_a":0.414678395,"mpcc_iq_a":-1.06276429,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.1980982,"mpcc_pred_id_a":-0.298325896,"mpcc_pred_iq_a":-2.502738,"mpcc_state":1,"mpcc_theta_e":0.43249464,"mpcc_theta_mech":0.553444803,"sam_rpm":-15.1099176,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257244259,"thr_a_norm":0.0257244259,"thr_a_v":0.602897704,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.836691,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.298719406,"cg_iw_a":-0.885658741,"cg_theta_rad":0.553564489,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0518180616,"mpcc_du":50.4202003,"mpcc_dv":48.4342422,"mpcc_dw":51.5657578,"mpcc_enc_sign":1,"mpcc_id_a":3.19597912,"mpcc_iq_a":0.226362348,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.56245899,"mpcc_pred_id_a":0.81038934,"mpcc_pred_iq_a":0.210131139,"mpcc_state":1,"mpcc_theta_e":0.450152874,"mpcc_theta_mech":0.556976497,"sam_rpm":-16.5398102,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02542229,"thr_a_norm":0.02542229,"thr_a_v":0.60168916,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489398032,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.845022,"values":{"cg_iu_a":-0.410350561,"cg_iv_a":-1.31354666,"cg_iw_a":-1.53804779,"cg_theta_rad":0.553150535,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.006681812,"mpcc_du":49.8839455,"mpcc_dv":49.3169746,"mpcc_dw":50.6830254,"mpcc_enc_sign":1,"mpcc_id_a":0.619106174,"mpcc_iq_a":-2.64899135,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.80470943,"mpcc_pred_id_a":0.0745783001,"mpcc_pred_iq_a":-2.2999177,"mpcc_state":1,"mpcc_theta_e":0.441568851,"mpcc_theta_mech":0.555259705,"sam_rpm":0.854934454,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224891305,"thr_a_norm":0.02542229,"thr_a_v":0.589956522,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476658285,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.854879,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.371207237,"cg_iw_a":-0.378244877,"cg_theta_rad":0.554141819,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0104109226,"mpcc_du":50.6847839,"mpcc_dv":47.9534645,"mpcc_dw":52.0465355,"mpcc_enc_sign":1,"mpcc_id_a":1.95690703,"mpcc_iq_a":-1.35553002,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.9439621,"mpcc_pred_id_a":0.438441873,"mpcc_pred_iq_a":-0.692643583,"mpcc_state":1,"mpcc_theta_e":0.430814266,"mpcc_theta_mech":0.553108811,"sam_rpm":-22.8802757,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224891305,"thr_a_norm":0.0224891305,"thr_a_v":0.589956522,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476658285,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.867331,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.45852208,"cg_iw_a":0.636582136,"cg_theta_rad":0.556511939,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0975100249,"mpcc_du":49.7887115,"mpcc_dv":49.192276,"mpcc_dw":50.807724,"mpcc_enc_sign":1,"mpcc_id_a":1.93596244,"mpcc_iq_a":-0.391936302,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.9616318,"mpcc_pred_id_a":0.281628519,"mpcc_pred_iq_a":-3.28054428,"mpcc_state":1,"mpcc_theta_e":0.458952904,"mpcc_theta_mech":0.558736503,"sam_rpm":22.7114849,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167990327,"thr_a_norm":0.0167990327,"thr_a_v":0.567196131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.436676592,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.87734,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.516182423,"cg_iw_a":-1.97297382,"cg_theta_rad":0.55053705,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0197967216,"mpcc_du":49.7041512,"mpcc_dv":49.2987785,"mpcc_dw":50.7012215,"mpcc_enc_sign":1,"mpcc_id_a":0.0977066085,"mpcc_iq_a":-1.01918876,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.0909338,"mpcc_pred_id_a":0.1792247,"mpcc_pred_iq_a":-2.55932713,"mpcc_state":1,"mpcc_theta_e":0.450797081,"mpcc_theta_mech":0.557105362,"sam_rpm":13.2248926,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184481591,"thr_a_norm":0.0167990327,"thr_a_v":0.573792636,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446948975,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.887228,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.951108456,"cg_iw_a":0.274144173,"cg_theta_rad":0.555713475,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0113852965,"mpcc_du":50.2029572,"mpcc_dv":48.6676941,"mpcc_dw":51.3323059,"mpcc_enc_sign":1,"mpcc_id_a":1.24940467,"mpcc_iq_a":-1.80538642,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.07062435,"mpcc_pred_id_a":0.207410902,"mpcc_pred_iq_a":-0.121882543,"mpcc_state":1,"mpcc_theta_e":0.458268166,"mpcc_theta_mech":0.558599591,"sam_rpm":10.2862425,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184481591,"thr_a_norm":0.0184481591,"thr_a_v":0.573792636,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446948975,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.897299,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.806133032,"cg_iw_a":-1.61053538,"cg_theta_rad":0.552532792,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0358368382,"mpcc_du":50.2735176,"mpcc_dv":48.3326225,"mpcc_dw":51.6673775,"mpcc_enc_sign":1,"mpcc_id_a":3.51190853,"mpcc_iq_a":-0.3772268,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.6069813,"mpcc_pred_id_a":0.488875657,"mpcc_pred_iq_a":-0.291123301,"mpcc_state":1,"mpcc_theta_e":0.42137146,"mpcc_theta_mech":0.551220238,"sam_rpm":-29.7388763,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0164843202,"thr_a_norm":0.0164843202,"thr_a_v":0.565937281,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.920309,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-2.11091113,"cg_iw_a":1.5064342,"cg_theta_rad":0.553504288,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.0136732357,"mpcc_du":51.0050812,"mpcc_dv":47.5682259,"mpcc_dw":52.4317741,"mpcc_enc_sign":1,"mpcc_id_a":2.03760457,"mpcc_iq_a":0.0380263105,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.1358652,"mpcc_pred_id_a":0.198998123,"mpcc_pred_iq_a":2.36863065,"mpcc_state":1,"mpcc_theta_e":0.42942667,"mpcc_theta_mech":0.552831292,"sam_rpm":-19.4703293,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0164843202,"thr_a_norm":0.0164843202,"thr_a_v":0.565937281,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.926992,"values":{"cg_iu_a":4.44632339,"cg_iv_a":-0.371207237,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556567729,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10006,"hz_vsense":364,"mpcc_cost":0.013259057,"mpcc_du":50.3556824,"mpcc_dv":48.1896858,"mpcc_dw":51.8103142,"mpcc_enc_sign":1,"mpcc_id_a":2.05758786,"mpcc_iq_a":-0.614393771,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.6762629,"mpcc_pred_id_a":0.642303944,"mpcc_pred_iq_a":-1.01273274,"mpcc_state":1,"mpcc_theta_e":0.428934097,"mpcc_theta_mech":0.552732706,"sam_rpm":-20.3197308,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0105172694,"thr_a_norm":0.0105172694,"thr_a_v":0.542069077,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.42700848,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.933401,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.31354666,"cg_iw_a":-2.77033806,"cg_theta_rad":0.552571058,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0432716645,"mpcc_du":50.3747749,"mpcc_dv":48.1612167,"mpcc_dw":51.8387833,"mpcc_enc_sign":1,"mpcc_id_a":3.45478034,"mpcc_iq_a":0.160290942,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.8655128,"mpcc_pred_id_a":0.66489768,"mpcc_pred_iq_a":-0.825047612,"mpcc_state":1,"mpcc_theta_e":0.432766438,"mpcc_theta_mech":0.553499162,"sam_rpm":-16.0225163,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0105172694,"thr_a_norm":0.0105172694,"thr_a_v":0.542069077,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.42700848,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.939932,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.588670254,"cg_iw_a":0.0566811562,"cg_theta_rad":0.55386281,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.28125,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.00381726958,"mpcc_du":50.8307457,"mpcc_dv":48.0297813,"mpcc_dw":51.9702187,"mpcc_enc_sign":1,"mpcc_id_a":0.547607064,"mpcc_iq_a":-1.12289476,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.1618404,"mpcc_pred_id_a":-0.539823711,"mpcc_pred_iq_a":-0.372911304,"mpcc_state":1,"mpcc_theta_e":0.431334972,"mpcc_theta_mech":0.553212881,"sam_rpm":-18.0841503,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201853961,"thr_a_norm":0.0201853961,"thr_a_v":0.580741584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458278775,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.94869,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-0.661157608,"cg_iw_a":0.78155756,"cg_theta_rad":0.556751788,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0702742711,"mpcc_du":50.041378,"mpcc_dv":48.5113373,"mpcc_dw":51.4886627,"mpcc_enc_sign":1,"mpcc_id_a":3.94138312,"mpcc_iq_a":-0.719662845,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.716374278,"mpcc_pred_id_a":0.915432632,"mpcc_pred_iq_a":-1.77998805,"mpcc_state":1,"mpcc_theta_e":0.445855618,"mpcc_theta_mech":0.556117058,"sam_rpm":2.13744211,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0419638306,"thr_a_norm":0.0201853961,"thr_a_v":0.667855322,"thr_b":0.0143820047,"thr_b_norm":0,"thr_b_v":0.557528019,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.9587,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.516182423,"cg_iw_a":-0.885658741,"cg_theta_rad":0.557572722,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.00431619072,"mpcc_du":49.5147018,"mpcc_dv":49.4987907,"mpcc_dw":50.5012093,"mpcc_enc_sign":1,"mpcc_id_a":1.1622299,"mpcc_iq_a":-4.13995266,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.40673494,"mpcc_pred_id_a":0.0780101344,"mpcc_pred_iq_a":-3.46274471,"mpcc_state":1,"mpcc_theta_e":0.451344967,"mpcc_theta_mech":0.557214916,"sam_rpm":11.4376431,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0419638306,"thr_a_norm":0.0419638306,"thr_a_v":0.667855322,"thr_b":0.0143820047,"thr_b_norm":0.0143820047,"thr_b_v":0.557528019,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.969107,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-2.25588632,"cg_iw_a":-2.48038745,"cg_theta_rad":0.552747309,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.00150794489,"mpcc_du":50.4388237,"mpcc_dv":48.5988197,"mpcc_dw":51.4011803,"mpcc_enc_sign":1,"mpcc_id_a":-0.0376732722,"mpcc_iq_a":-2.91693926,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.4956779,"mpcc_pred_id_a":-0.534444273,"mpcc_pred_iq_a":-5.41642141,"mpcc_state":1,"mpcc_theta_e":0.458348274,"mpcc_theta_mech":0.558615565,"sam_rpm":27.604702,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024390012,"thr_a_norm":0.024390012,"thr_a_v":0.597560048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.9793,"values":{"cg_iu_a":3.21403265,"cg_iv_a":0.136206627,"cg_iw_a":-3.35023928,"cg_theta_rad":0.556174815,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0104254577,"mpcc_du":49.5509224,"mpcc_dv":49.8366814,"mpcc_dw":50.4490776,"mpcc_enc_sign":1,"mpcc_id_a":1.8579334,"mpcc_iq_a":-1.89320791,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.90862441,"mpcc_pred_id_a":-0.0632052645,"mpcc_pred_iq_a":-2.6267395,"mpcc_state":1,"mpcc_theta_e":0.441954136,"mpcc_theta_mech":0.555336714,"sam_rpm":4.64596891,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024390012,"thr_a_norm":0.024390012,"thr_a_v":0.597560048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.98934,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.661157608,"cg_iw_a":-0.378245354,"cg_theta_rad":0.557065845,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.00317691616,"mpcc_du":49.5215073,"mpcc_dv":49.8546104,"mpcc_dw":50.4784927,"mpcc_enc_sign":1,"mpcc_id_a":1.10525966,"mpcc_iq_a":-2.61396289,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.7382493,"mpcc_pred_id_a":0.1211906,"mpcc_pred_iq_a":-3.07831001,"mpcc_state":1,"mpcc_theta_e":0.447071552,"mpcc_theta_mech":0.556360185,"sam_rpm":14.7213411,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.01975739,"thr_a_norm":0.01975739,"thr_a_v":0.57902956,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474392295,"vdc_v":55.2955055}} +{"type":"telemetry","t":26.999716,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-2.0384233,"cg_iw_a":1.36145902,"cg_theta_rad":0.553907812,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0223035887,"mpcc_du":51.1594505,"mpcc_dv":47.6496658,"mpcc_dw":52.3503342,"mpcc_enc_sign":1,"mpcc_id_a":0.857228458,"mpcc_iq_a":0.0735141858,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.5811749,"mpcc_pred_id_a":-0.516869247,"mpcc_pred_iq_a":-0.400788039,"mpcc_state":1,"mpcc_theta_e":0.427858353,"mpcc_theta_mech":0.552517593,"sam_rpm":-25.4459476,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0105676353,"thr_a_norm":0.01975739,"thr_a_v":0.542270541,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.422577232,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.022696,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.11091113,"cg_iw_a":0.999020815,"cg_theta_rad":0.552446544,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0479733273,"mpcc_du":50.3025932,"mpcc_dv":48.7214432,"mpcc_dw":51.2785568,"mpcc_enc_sign":1,"mpcc_id_a":1.7985965,"mpcc_iq_a":-0.663101912,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.80406594,"mpcc_pred_id_a":-0.37212348,"mpcc_pred_iq_a":-2.99652481,"mpcc_state":1,"mpcc_theta_e":0.442783833,"mpcc_theta_mech":0.555502653,"sam_rpm":-7.9396534,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0105676353,"thr_a_norm":0.0105676353,"thr_a_v":0.542270541,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.422577232,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.029196,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.89344811,"cg_iw_a":-0.668195724,"cg_theta_rad":0.55489254,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0192307401,"mpcc_du":49.6448479,"mpcc_dv":49.575695,"mpcc_dw":50.424305,"mpcc_enc_sign":1,"mpcc_id_a":0.204752579,"mpcc_iq_a":0.37046808,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.94881248,"mpcc_pred_id_a":-0.352295816,"mpcc_pred_iq_a":-2.61818409,"mpcc_state":1,"mpcc_theta_e":0.446812153,"mpcc_theta_mech":0.556308389,"sam_rpm":9.05964184,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0311375558,"thr_a_norm":0.0311375558,"thr_a_v":0.624550223,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.035727,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.16857147,"cg_iw_a":-1.82799816,"cg_theta_rad":0.554704845,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0388627537,"mpcc_du":49.5735054,"mpcc_dv":49.3897667,"mpcc_dw":50.6102333,"mpcc_enc_sign":1,"mpcc_id_a":2.37840199,"mpcc_iq_a":-0.631804824,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.37210464,"mpcc_pred_id_a":0.322266936,"mpcc_pred_iq_a":-3.11857533,"mpcc_state":1,"mpcc_theta_e":0.449505806,"mpcc_theta_mech":0.556847095,"sam_rpm":11.6448975,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0311375558,"thr_a_norm":0.0311375558,"thr_a_v":0.624550223,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.042288,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.733645439,"cg_iw_a":-1.61053514,"cg_theta_rad":0.55422008,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0110372445,"mpcc_du":49.5608711,"mpcc_dv":49.8097,"mpcc_dw":50.4391289,"mpcc_enc_sign":1,"mpcc_id_a":0.607445657,"mpcc_iq_a":-1.12815988,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.9679718,"mpcc_pred_id_a":0.0340561941,"mpcc_pred_iq_a":-2.59127331,"mpcc_state":1,"mpcc_theta_e":0.452291489,"mpcc_theta_mech":0.55740422,"sam_rpm":18.2521706,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270084739,"thr_a_norm":0.0270084739,"thr_a_v":0.608033895,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.05068,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.298719406,"cg_iw_a":-0.958146572,"cg_theta_rad":0.556051612,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0142162135,"mpcc_du":50.8280525,"mpcc_dv":47.7122536,"mpcc_dw":52.2877464,"mpcc_enc_sign":1,"mpcc_id_a":2.38355541,"mpcc_iq_a":-1.29867435,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.2347603,"mpcc_pred_id_a":0.39111039,"mpcc_pred_iq_a":-0.06571237,"mpcc_state":1,"mpcc_theta_e":0.423213005,"mpcc_theta_mech":0.551588476,"sam_rpm":-30.5660782,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176676512,"thr_a_norm":0.0270084739,"thr_a_v":0.570670605,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443122,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.062338,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.38603449,"cg_iw_a":-1.03063393,"cg_theta_rad":0.553928792,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0430537835,"mpcc_du":49.6553612,"mpcc_dv":49.1189575,"mpcc_dw":50.8810425,"mpcc_enc_sign":1,"mpcc_id_a":3.18324947,"mpcc_iq_a":-2.3328054,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.14542007,"mpcc_pred_id_a":0.697819293,"mpcc_pred_iq_a":-1.80297303,"mpcc_state":1,"mpcc_theta_e":0.430603981,"mpcc_theta_mech":0.553066671,"sam_rpm":-13.9569101,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176676512,"thr_a_norm":0.0176676512,"thr_a_v":0.570670605,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443122,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.072683,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-2.47334933,"cg_iw_a":-0.305757284,"cg_theta_rad":0.55635941,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.066014953,"mpcc_du":49.4680977,"mpcc_dv":50.502388,"mpcc_dw":50.5319023,"mpcc_enc_sign":1,"mpcc_id_a":1.68934143,"mpcc_iq_a":0.164880961,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.3288174,"mpcc_pred_id_a":0.218712389,"mpcc_pred_iq_a":-0.724882305,"mpcc_state":1,"mpcc_theta_e":0.421140194,"mpcc_theta_mech":0.551173985,"sam_rpm":-4.88797808,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0418631285,"thr_a_norm":0.0418631285,"thr_a_v":0.667452514,"thr_b":0.0140169412,"thr_b_norm":0.0140169412,"thr_b_v":0.556067765,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.082907,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.53100967,"cg_iw_a":0.346631527,"cg_theta_rad":0.554961443,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0821149051,"mpcc_du":49.8095322,"mpcc_dv":48.9755936,"mpcc_dw":51.0244064,"mpcc_enc_sign":1,"mpcc_id_a":3.49345446,"mpcc_iq_a":0.175756738,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.28260374,"mpcc_pred_id_a":0.540061474,"mpcc_pred_iq_a":-2.05969787,"mpcc_state":1,"mpcc_theta_e":0.450098515,"mpcc_theta_mech":0.55696559,"sam_rpm":12.3644457,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0105802119,"thr_a_norm":0.0418631285,"thr_a_v":0.542320848,"thr_b":0,"thr_b_norm":0.0140169412,"thr_b_v":0.429677248,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.092886,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.38603449,"cg_iw_a":-1.03063393,"cg_theta_rad":0.558164299,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0375862718,"mpcc_du":50.3445816,"mpcc_dv":48.3319626,"mpcc_dw":51.6680374,"mpcc_enc_sign":1,"mpcc_id_a":2.75287461,"mpcc_iq_a":0.0169201922,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.40867519,"mpcc_pred_id_a":0.43721205,"mpcc_pred_iq_a":-1.3351233,"mpcc_state":1,"mpcc_theta_e":0.435181141,"mpcc_theta_mech":0.553982139,"sam_rpm":-11.7588234,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0105802119,"thr_a_norm":0.0105802119,"thr_a_v":0.542320848,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.429677248,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.102865,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.82096052,"cg_iw_a":-2.33541203,"cg_theta_rad":0.553640246,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.00529745966,"mpcc_du":49.5949211,"mpcc_dv":49.8644066,"mpcc_dw":50.4050789,"mpcc_enc_sign":1,"mpcc_id_a":0.456415534,"mpcc_iq_a":-1.28270817,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.19480801,"mpcc_pred_id_a":-0.321411908,"mpcc_pred_iq_a":-3.40893221,"mpcc_state":1,"mpcc_theta_e":0.4479146,"mpcc_theta_mech":0.556528807,"sam_rpm":10.967659,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277763754,"thr_a_norm":0.0277763754,"thr_a_v":0.611105502,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492771804,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.125906,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.668195724,"cg_theta_rad":0.554452181,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0214320477,"mpcc_du":49.3865852,"mpcc_dv":50.6134148,"mpcc_dw":50.0486946,"mpcc_enc_sign":1,"mpcc_id_a":0.0342883952,"mpcc_iq_a":-0.151674509,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.63586521,"mpcc_pred_id_a":-0.389349699,"mpcc_pred_iq_a":-5.55056524,"mpcc_state":1,"mpcc_theta_e":0.451768398,"mpcc_theta_mech":0.557299554,"sam_rpm":14.6006355,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277763754,"thr_a_norm":0.0277763754,"thr_a_v":0.611105502,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492771804,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.132467,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.16857147,"cg_iw_a":-0.595707893,"cg_theta_rad":0.554034293,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.00638497388,"mpcc_du":50.4103584,"mpcc_dv":48.4111824,"mpcc_dw":51.5888176,"mpcc_enc_sign":1,"mpcc_id_a":1.31485963,"mpcc_iq_a":-0.32161364,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.0062513,"mpcc_pred_id_a":0.023364218,"mpcc_pred_iq_a":-0.887382627,"mpcc_state":1,"mpcc_theta_e":0.429531574,"mpcc_theta_mech":0.552852273,"sam_rpm":-17.919426,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.0167864412,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483002961,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.138998,"values":{"cg_iu_a":0.676964283,"cg_iv_a":0.57113266,"cg_iw_a":-2.11794901,"cg_theta_rad":0.55376327,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0190062802,"mpcc_du":49.5653305,"mpcc_dv":50.1604195,"mpcc_dw":50.4346695,"mpcc_enc_sign":1,"mpcc_id_a":2.20317531,"mpcc_iq_a":-0.99418956,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.42980468,"mpcc_pred_id_a":-0.0157299023,"mpcc_pred_iq_a":-5.32994843,"mpcc_state":1,"mpcc_theta_e":0.442892075,"mpcc_theta_mech":0.55552429,"sam_rpm":2.02895045,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.0167864412,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483002961,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.145712,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.89344811,"cg_iw_a":1.43394685,"cg_theta_rad":0.556552768,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.011442123,"mpcc_du":50.4459915,"mpcc_dv":48.3767204,"mpcc_dw":51.6232796,"mpcc_enc_sign":1,"mpcc_id_a":2.13908195,"mpcc_iq_a":-1.48140204,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.056879,"mpcc_pred_id_a":0.0322754309,"mpcc_pred_iq_a":-1.18902671,"mpcc_state":1,"mpcc_theta_e":0.42942524,"mpcc_theta_mech":0.552830935,"sam_rpm":-19.5429401,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023382917,"thr_a_norm":0.023382917,"thr_a_v":0.593531668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469356835,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.157064,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.588670254,"cg_iw_a":-2.04546118,"cg_theta_rad":0.557110429,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.00564981345,"mpcc_du":49.5829659,"mpcc_dv":50.4170341,"mpcc_dw":50.3872948,"mpcc_enc_sign":1,"mpcc_id_a":0.95447886,"mpcc_iq_a":-0.583120763,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.31153917,"mpcc_pred_id_a":-0.132128775,"mpcc_pred_iq_a":-2.18582821,"mpcc_state":1,"mpcc_theta_e":0.439586639,"mpcc_theta_mech":0.554863274,"sam_rpm":4.55435658,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227912515,"thr_a_norm":0.023382917,"thr_a_v":0.591165006,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496246278,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.168081,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.516182423,"cg_iw_a":-1.82799864,"cg_theta_rad":0.555691421,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0331288725,"mpcc_du":49.8847389,"mpcc_dv":48.8592224,"mpcc_dw":51.1407776,"mpcc_enc_sign":1,"mpcc_id_a":3.04413676,"mpcc_iq_a":-0.372433901,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.74769831,"mpcc_pred_id_a":0.501285195,"mpcc_pred_iq_a":0.761826038,"mpcc_state":1,"mpcc_theta_e":0.428049564,"mpcc_theta_mech":0.552555799,"sam_rpm":-13.2572393,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227912515,"thr_a_norm":0.0227912515,"thr_a_v":0.591165006,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496246278,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.178335,"values":{"cg_iu_a":2.41666842,"cg_iv_a":1.44098473,"cg_iw_a":-2.04546118,"cg_theta_rad":0.55719018,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0333050899,"mpcc_du":50.0928764,"mpcc_dv":48.8933449,"mpcc_dw":51.1066551,"mpcc_enc_sign":1,"mpcc_id_a":3.06431293,"mpcc_iq_a":0.301201463,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.59046888,"mpcc_pred_id_a":-0.129614323,"mpcc_pred_iq_a":-2.32684827,"mpcc_state":1,"mpcc_theta_e":0.446315765,"mpcc_theta_mech":0.556209028,"sam_rpm":7.96604919,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.045224309,"thr_a_norm":0.045224309,"thr_a_v":0.680897236,"thr_b":0.0131735057,"thr_b_norm":0.0131735057,"thr_b_v":0.552694023,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.18807,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.02359605,"cg_iw_a":-1.53804755,"cg_theta_rad":0.556767762,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.00931435172,"mpcc_du":50.282753,"mpcc_dv":48.7356491,"mpcc_dw":51.2643509,"mpcc_enc_sign":1,"mpcc_id_a":-0.0795923844,"mpcc_iq_a":-1.90543926,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.430971801,"mpcc_pred_id_a":-0.356511503,"mpcc_pred_iq_a":-2.25902438,"mpcc_state":1,"mpcc_theta_e":0.445616722,"mpcc_theta_mech":0.556069255,"sam_rpm":-0.334896237,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.045224309,"thr_a_norm":0.045224309,"thr_a_v":0.680897236,"thr_b":0.0131735057,"thr_b_norm":0.0131735057,"thr_b_v":0.552694023,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.198385,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.24105906,"cg_iw_a":0.636582136,"cg_theta_rad":0.557944119,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0226394329,"mpcc_du":50.1114197,"mpcc_dv":48.9880219,"mpcc_dw":50.4571915,"mpcc_enc_sign":1,"mpcc_id_a":-0.0266924351,"mpcc_iq_a":-2.55993748,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.5705156,"mpcc_pred_id_a":-0.440669626,"mpcc_pred_iq_a":-2.02822042,"mpcc_state":1,"mpcc_theta_e":0.428504467,"mpcc_theta_mech":0.552806497,"sam_rpm":-21.1738987,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174284726,"thr_a_norm":0.0174284726,"thr_a_v":0.569713891,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447956055,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.221884,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.24105906,"cg_iw_a":-3.13277626,"cg_theta_rad":0.557185113,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.00208199909,"mpcc_du":50.7628403,"mpcc_dv":48.1035919,"mpcc_dw":51.8964081,"mpcc_enc_sign":1,"mpcc_id_a":0.635238111,"mpcc_iq_a":-0.238456085,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.2977467,"mpcc_pred_id_a":-0.308341205,"mpcc_pred_iq_a":-0.0041499082,"mpcc_state":1,"mpcc_theta_e":0.426824093,"mpcc_theta_mech":0.552310705,"sam_rpm":-23.153595,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197070241,"thr_a_norm":0.0174284726,"thr_a_v":0.578828096,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.228445,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.16857147,"cg_iw_a":-2.77033806,"cg_theta_rad":0.556269526,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.00953988079,"mpcc_du":50.1384926,"mpcc_dv":48.6709251,"mpcc_dw":51.3290749,"mpcc_enc_sign":1,"mpcc_id_a":1.57411122,"mpcc_iq_a":-0.45763576,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.837053478,"mpcc_pred_id_a":0.370850116,"mpcc_pred_iq_a":0.117689952,"mpcc_state":1,"mpcc_theta_e":0.439220905,"mpcc_theta_mech":0.55479008,"sam_rpm":-1.24069095,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197070241,"thr_a_norm":0.0197070241,"thr_a_v":0.578828096,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.234915,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.38603449,"cg_iw_a":-0.523220062,"cg_theta_rad":0.557458937,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.00754165137,"mpcc_du":50.7935562,"mpcc_dv":47.7973404,"mpcc_dw":52.2026596,"mpcc_enc_sign":1,"mpcc_id_a":1.48246253,"mpcc_iq_a":-0.301303416,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.8087883,"mpcc_pred_id_a":0.29117617,"mpcc_pred_iq_a":0.451256663,"mpcc_state":1,"mpcc_theta_e":0.426436901,"mpcc_theta_mech":0.552233338,"sam_rpm":-25.0215816,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0290730149,"thr_a_norm":0.0290730149,"thr_a_v":0.616292059,"thr_b":0.00291371346,"thr_b_norm":0.00291371346,"thr_b_v":0.511654854,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.241476,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-2.61832476,"cg_iw_a":-1.10312176,"cg_theta_rad":0.55354929,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.00202218792,"mpcc_du":51.3041954,"mpcc_dv":47.3856773,"mpcc_dw":52.6143227,"mpcc_enc_sign":1,"mpcc_id_a":0.249779776,"mpcc_iq_a":-0.566141248,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-23.5078602,"mpcc_pred_id_a":-0.434587687,"mpcc_pred_iq_a":0.594876528,"mpcc_state":1,"mpcc_theta_e":0.42139864,"mpcc_theta_mech":0.551225662,"sam_rpm":-34.9597626,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0290730149,"thr_a_norm":0.0290730149,"thr_a_v":0.616292059,"thr_b":0.00291371346,"thr_b_norm":0.00291371346,"thr_b_v":0.511654854,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.249533,"values":{"cg_iu_a":-0.845276594,"cg_iv_a":-1.31354666,"cg_iw_a":-0.740683317,"cg_theta_rad":0.555779636,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0157787949,"mpcc_du":49.9452896,"mpcc_dv":48.9357338,"mpcc_dw":51.0642662,"mpcc_enc_sign":1,"mpcc_id_a":2.37316728,"mpcc_iq_a":-0.973085165,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.51334691,"mpcc_pred_id_a":0.211763203,"mpcc_pred_iq_a":-1.58686149,"mpcc_state":1,"mpcc_theta_e":0.439683914,"mpcc_theta_mech":0.554882705,"sam_rpm":-3.96323133,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0125944167,"thr_a_norm":0.0125944167,"thr_a_v":0.550377667,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457473099,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.259665,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.588670254,"cg_iw_a":-0.740683079,"cg_theta_rad":0.554622233,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0630954728,"mpcc_du":50.0230103,"mpcc_dv":48.9548874,"mpcc_dw":51.0451126,"mpcc_enc_sign":1,"mpcc_id_a":0.759524167,"mpcc_iq_a":-0.317515999,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.11659384,"mpcc_pred_id_a":-0.00717390282,"mpcc_pred_iq_a":-2.99216652,"mpcc_state":1,"mpcc_theta_e":0.451768398,"mpcc_theta_mech":0.557299554,"sam_rpm":10.6387653,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202231556,"thr_a_norm":0.0125944167,"thr_a_v":0.580892622,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452538311,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.269674,"values":{"cg_iu_a":3.1415453,"cg_iv_a":0.716107845,"cg_iw_a":-0.523220062,"cg_theta_rad":0.555802464,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.00329719624,"mpcc_du":49.6276207,"mpcc_dv":50.2148514,"mpcc_dw":50.3723793,"mpcc_enc_sign":1,"mpcc_id_a":1.06629908,"mpcc_iq_a":-2.03294921,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.26621294,"mpcc_pred_id_a":-0.331462622,"mpcc_pred_iq_a":-3.27078009,"mpcc_state":1,"mpcc_theta_e":0.444429874,"mpcc_theta_mech":0.55583185,"sam_rpm":9.1940918,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202231556,"thr_a_norm":0.0202231556,"thr_a_v":0.580892622,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452538311,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.279928,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.53100967,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556871057,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0842787772,"mpcc_du":49.4207039,"mpcc_dv":50.1499977,"mpcc_dw":50.5792961,"mpcc_enc_sign":1,"mpcc_id_a":4.09979296,"mpcc_iq_a":-2.92770624,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.09971547,"mpcc_pred_id_a":0.79478389,"mpcc_pred_iq_a":-1.56698585,"mpcc_state":1,"mpcc_theta_e":0.437160492,"mpcc_theta_mech":0.554377973,"sam_rpm":0.522517443,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280659199,"thr_a_norm":0.0280659199,"thr_a_v":0.61226368,"thr_b":0.00263674557,"thr_b_norm":0.00263674557,"thr_b_v":0.510546982,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.289663,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-0.878620625,"cg_iw_a":-2.55287504,"cg_theta_rad":0.558027148,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0623966604,"mpcc_du":50.1001892,"mpcc_dv":48.5758324,"mpcc_dw":51.4241676,"mpcc_enc_sign":1,"mpcc_id_a":3.33816266,"mpcc_iq_a":-0.451343924,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.48056316,"mpcc_pred_id_a":0.617765546,"mpcc_pred_iq_a":-3.77068591,"mpcc_state":1,"mpcc_theta_e":0.438437939,"mpcc_theta_mech":0.554633498,"sam_rpm":-11.3558025,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280659199,"thr_a_norm":0.0280659199,"thr_a_v":0.61226368,"thr_b":0.00263674557,"thr_b_norm":0.00263674557,"thr_b_v":0.510546982,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.299765,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.31354666,"cg_iw_a":0.0566806793,"cg_theta_rad":0.556652248,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.00858043414,"mpcc_du":50.1211472,"mpcc_dv":48.8916054,"mpcc_dw":51.1083946,"mpcc_enc_sign":1,"mpcc_id_a":-0.0613355674,"mpcc_iq_a":-2.92426562,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.72360921,"mpcc_pred_id_a":-0.099879913,"mpcc_pred_iq_a":-2.94254494,"mpcc_state":1,"mpcc_theta_e":0.437871933,"mpcc_theta_mech":0.554520309,"sam_rpm":-19.924139,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0230178535,"thr_a_norm":0.0230178535,"thr_a_v":0.592071414,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.32308,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-2.25588632,"cg_iw_a":0.0566809177,"cg_theta_rad":0.558067024,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.032119073,"mpcc_du":51.3961029,"mpcc_dv":47.0775909,"mpcc_dw":52.9224091,"mpcc_enc_sign":1,"mpcc_id_a":3.05014014,"mpcc_iq_a":-0.0814628899,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.2547283,"mpcc_pred_id_a":-0.133845821,"mpcc_pred_iq_a":-7.09847307,"mpcc_state":1,"mpcc_theta_e":0.452241898,"mpcc_theta_mech":0.557394266,"sam_rpm":19.2441673,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185740441,"thr_a_norm":0.0230178535,"thr_a_v":0.574296176,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459537655,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.329641,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.31354666,"cg_iw_a":-0.450732708,"cg_theta_rad":0.553873837,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.00374968583,"mpcc_du":49.8716927,"mpcc_dv":49.3794136,"mpcc_dw":50.6205864,"mpcc_enc_sign":1,"mpcc_id_a":-1.05066824,"mpcc_iq_a":-3.2077353,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.9581289,"mpcc_pred_id_a":-0.576877058,"mpcc_pred_iq_a":-2.080791,"mpcc_state":1,"mpcc_theta_e":0.453084946,"mpcc_theta_mech":0.557562888,"sam_rpm":16.6863632,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185740441,"thr_a_norm":0.0185740441,"thr_a_v":0.574296176,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459537655,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.336111,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.878620625,"cg_iw_a":-1.82799864,"cg_theta_rad":0.556419373,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0104760313,"mpcc_du":49.5845146,"mpcc_dv":50.4154854,"mpcc_dw":50.2831001,"mpcc_enc_sign":1,"mpcc_id_a":0.559184134,"mpcc_iq_a":-0.400441378,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.39433312,"mpcc_pred_id_a":-0.383478016,"mpcc_pred_iq_a":-5.2886343,"mpcc_state":1,"mpcc_theta_e":0.443890095,"mpcc_theta_mech":0.555723965,"sam_rpm":4.72889566,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256866515,"thr_a_norm":0.0256866515,"thr_a_v":0.602746606,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485470384,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.342672,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-2.40086174,"cg_iw_a":0.926532745,"cg_theta_rad":0.553804696,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.00265428284,"mpcc_du":49.5750732,"mpcc_dv":49.7337494,"mpcc_dw":50.4249268,"mpcc_enc_sign":1,"mpcc_id_a":0.67289573,"mpcc_iq_a":-2.1425724,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.2164268,"mpcc_pred_id_a":-0.0451086201,"mpcc_pred_iq_a":-1.29254544,"mpcc_state":1,"mpcc_theta_e":0.455491543,"mpcc_theta_mech":0.558044255,"sam_rpm":24.1181488,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256866515,"thr_a_norm":0.0256866515,"thr_a_v":0.602746606,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485470384,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.350668,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.16857147,"cg_iw_a":-0.015806675,"cg_theta_rad":0.552144706,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0166751184,"mpcc_du":49.1098709,"mpcc_dv":50.8901291,"mpcc_dw":49.8361435,"mpcc_enc_sign":1,"mpcc_id_a":2.52944136,"mpcc_iq_a":-0.284567744,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.4097309,"mpcc_pred_id_a":0.136150911,"mpcc_pred_iq_a":0.346087277,"mpcc_state":1,"mpcc_theta_e":0.431423187,"mpcc_theta_mech":0.553230524,"sam_rpm":17.4359989,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0120656937,"thr_a_norm":0.0120656937,"thr_a_v":0.548262775,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440000027,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.360678,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.878620625,"cg_iw_a":-0.958146572,"cg_theta_rad":0.557214916,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0687765777,"mpcc_du":50.3244781,"mpcc_dv":48.5584068,"mpcc_dw":51.4415932,"mpcc_enc_sign":1,"mpcc_id_a":2.2875278,"mpcc_iq_a":0.546280861,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.7500639,"mpcc_pred_id_a":0.11879953,"mpcc_pred_iq_a":-2.75800514,"mpcc_state":1,"mpcc_theta_e":0.440132618,"mpcc_theta_mech":0.55497241,"sam_rpm":-6.7204566,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0321950018,"thr_a_norm":0.0120656937,"thr_a_v":0.628780007,"thr_b":0.00350537896,"thr_b_norm":0,"thr_b_v":0.514021516,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.370474,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.45852208,"cg_iw_a":-1.4655602,"cg_theta_rad":0.556946576,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0130824829,"mpcc_du":49.5853615,"mpcc_dv":49.3687782,"mpcc_dw":50.6312218,"mpcc_enc_sign":1,"mpcc_id_a":2.27978349,"mpcc_iq_a":-1.17446339,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.6901388,"mpcc_pred_id_a":0.270276159,"mpcc_pred_iq_a":-1.57435572,"mpcc_state":1,"mpcc_theta_e":0.428314686,"mpcc_theta_mech":0.552608848,"sam_rpm":-13.5257387,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0321950018,"thr_a_norm":0.0321950018,"thr_a_v":0.628780007,"thr_b":0.00350537896,"thr_b_norm":0.00350537896,"thr_b_v":0.514021516,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.38088,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.60349751,"cg_iw_a":-0.958146095,"cg_theta_rad":0.555678487,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0700174645,"mpcc_du":50.58218,"mpcc_dv":48.0722504,"mpcc_dw":51.9277496,"mpcc_enc_sign":1,"mpcc_id_a":2.91819,"mpcc_iq_a":-0.504502714,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.83670509,"mpcc_pred_id_a":0.568018138,"mpcc_pred_iq_a":-0.851459146,"mpcc_state":1,"mpcc_theta_e":0.444452763,"mpcc_theta_mech":0.555836439,"sam_rpm":-1.15770745,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024339661,"thr_a_norm":0.024339661,"thr_a_v":0.597358644,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.390676,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.45852208,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556064606,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0353069156,"mpcc_du":49.4673767,"mpcc_dv":50.175499,"mpcc_dw":50.5326233,"mpcc_enc_sign":1,"mpcc_id_a":3.15507507,"mpcc_iq_a":-0.357951045,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.395957,"mpcc_pred_id_a":0.670513451,"mpcc_pred_iq_a":-2.72441125,"mpcc_state":1,"mpcc_theta_e":0.450099945,"mpcc_theta_mech":0.556965947,"sam_rpm":17.4639759,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024339661,"thr_a_norm":0.024339661,"thr_a_v":0.597358644,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.4009,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.02359605,"cg_iw_a":-0.160782337,"cg_theta_rad":0.556840837,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0164880119,"mpcc_du":50.5700493,"mpcc_dv":48.1068306,"mpcc_dw":51.8931694,"mpcc_enc_sign":1,"mpcc_id_a":2.54414725,"mpcc_iq_a":-1.29370213,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.8022842,"mpcc_pred_id_a":0.337151051,"mpcc_pred_iq_a":-0.281914413,"mpcc_state":1,"mpcc_theta_e":0.427847385,"mpcc_theta_mech":0.552515388,"sam_rpm":-23.1391373,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208400041,"thr_a_norm":0.0208400041,"thr_a_v":0.583360016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450977325,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.424337,"values":{"cg_iu_a":-0.555325985,"cg_iv_a":-1.53100967,"cg_iw_a":2.08633566,"cg_theta_rad":0.55602628,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.000801193644,"mpcc_du":49.6672897,"mpcc_dv":49.5465317,"mpcc_dw":50.4534683,"mpcc_enc_sign":1,"mpcc_id_a":0.524550676,"mpcc_iq_a":-1.49292147,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.449961334,"mpcc_pred_id_a":-0.320637047,"mpcc_pred_iq_a":-3.272053,"mpcc_state":1,"mpcc_theta_e":0.441249847,"mpcc_theta_mech":0.555195928,"sam_rpm":0.137594029,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210917741,"thr_a_norm":0.0208400041,"thr_a_v":0.584367096,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.430807,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.84282589,"cg_theta_rad":0.558207989,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":1.59824617e-06,"mpcc_du":49.163662,"mpcc_dv":50.836338,"mpcc_dw":49.8267593,"mpcc_enc_sign":1,"mpcc_id_a":0.00575058069,"mpcc_iq_a":-1.38978815,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.67946386,"mpcc_pred_id_a":-0.193442643,"mpcc_pred_iq_a":-5.40315342,"mpcc_state":1,"mpcc_theta_e":0.445831776,"mpcc_theta_mech":0.556112289,"sam_rpm":10.1816969,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210917741,"thr_a_norm":0.0210917741,"thr_a_v":0.584367096,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.437368,"values":{"cg_iu_a":-0.482838154,"cg_iv_a":-1.82096052,"cg_iw_a":-0.668195724,"cg_theta_rad":0.557229817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0248632859,"mpcc_du":50.9192924,"mpcc_dv":47.6140747,"mpcc_dw":52.3859253,"mpcc_enc_sign":1,"mpcc_id_a":2.18786311,"mpcc_iq_a":1.08073103,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.9112263,"mpcc_pred_id_a":0.423627794,"mpcc_pred_iq_a":0.882408857,"mpcc_state":1,"mpcc_theta_e":0.425426006,"mpcc_theta_mech":0.552031159,"sam_rpm":-26.7350044,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262531489,"thr_a_norm":0.0262531489,"thr_a_v":0.605012596,"thr_b":0.00320324302,"thr_b_norm":0.00320324302,"thr_b_v":0.512812972,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.443869,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-2.76329994,"cg_iw_a":2.30379868,"cg_theta_rad":0.556558073,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0102360994,"mpcc_du":49.2636108,"mpcc_dv":50.7363892,"mpcc_dw":49.9583244,"mpcc_enc_sign":1,"mpcc_id_a":1.60544276,"mpcc_iq_a":-0.731608927,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.9621687,"mpcc_pred_id_a":0.228626907,"mpcc_pred_iq_a":-0.4033508,"mpcc_state":1,"mpcc_theta_e":0.429891586,"mpcc_theta_mech":0.552924275,"sam_rpm":12.5510559,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262531489,"thr_a_norm":0.0262531489,"thr_a_v":0.605012596,"thr_b":0.00320324302,"thr_b_norm":0.00320324302,"thr_b_v":0.512812972,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.451773,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.16857147,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.552852154,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0015605333,"mpcc_du":49.4475365,"mpcc_dv":50.5524635,"mpcc_dw":50.2162094,"mpcc_enc_sign":1,"mpcc_id_a":0.789925456,"mpcc_iq_a":-1.10531664,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.04557157,"mpcc_pred_id_a":-0.0917452425,"mpcc_pred_iq_a":-5.67062044,"mpcc_state":1,"mpcc_theta_e":0.438335419,"mpcc_theta_mech":0.554612994,"sam_rpm":-2.29771876,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184985101,"thr_a_norm":0.0184985101,"thr_a_v":0.57399404,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456868857,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.464102,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.53100967,"cg_iw_a":-0.958146572,"cg_theta_rad":0.556232095,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0207037013,"mpcc_du":49.6094971,"mpcc_dv":49.8800125,"mpcc_dw":50.3905029,"mpcc_enc_sign":1,"mpcc_id_a":-0.0674822256,"mpcc_iq_a":-2.62734818,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.1657515,"mpcc_pred_id_a":-0.284269184,"mpcc_pred_iq_a":-4.62815046,"mpcc_state":1,"mpcc_theta_e":0.462497711,"mpcc_theta_mech":0.559445441,"sam_rpm":23.3834515,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204497576,"thr_a_norm":0.0184985101,"thr_a_v":0.58179903,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459436953,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.473684,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.878620625,"cg_iw_a":-1.24809694,"cg_theta_rad":0.553190649,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.00612407876,"mpcc_du":49.9833946,"mpcc_dv":48.9891167,"mpcc_dw":51.0108833,"mpcc_enc_sign":1,"mpcc_id_a":0.925382137,"mpcc_iq_a":-0.649670124,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.8861294,"mpcc_pred_id_a":-0.0314396694,"mpcc_pred_iq_a":-0.730531693,"mpcc_state":1,"mpcc_theta_e":0.429615498,"mpcc_theta_mech":0.552869022,"sam_rpm":-22.474947,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204497576,"thr_a_norm":0.0204497576,"thr_a_v":0.58179903,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459436953,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.483877,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.02359605,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.556372643,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.00708027044,"mpcc_du":49.2554131,"mpcc_dv":50.7445869,"mpcc_dw":49.8838539,"mpcc_enc_sign":1,"mpcc_id_a":0.237430528,"mpcc_iq_a":-1.22719824,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.3692064,"mpcc_pred_id_a":-0.475716382,"mpcc_pred_iq_a":-5.48057461,"mpcc_state":1,"mpcc_theta_e":0.45186758,"mpcc_theta_mech":0.557319403,"sam_rpm":17.532053,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176047087,"thr_a_norm":0.0176047087,"thr_a_v":0.570418835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.434712738,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.493826,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-3.77812743,"cg_iw_a":2.0863359,"cg_theta_rad":0.552176058,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0143058216,"mpcc_du":49.9814262,"mpcc_dv":49.1602249,"mpcc_dw":50.8397751,"mpcc_enc_sign":1,"mpcc_id_a":0.678324461,"mpcc_iq_a":-0.826441765,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.10852349,"mpcc_pred_id_a":-0.466529995,"mpcc_pred_iq_a":-3.18828154,"mpcc_state":1,"mpcc_theta_e":0.442591667,"mpcc_theta_mech":0.555464208,"sam_rpm":-0.494608045,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176047087,"thr_a_norm":0.0176047087,"thr_a_v":0.570418835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.434712738,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.50408,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.0384233,"cg_iw_a":0.709069967,"cg_theta_rad":0.553040326,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.015782943,"mpcc_du":49.7325592,"mpcc_dv":49.0894661,"mpcc_dw":50.9105339,"mpcc_enc_sign":1,"mpcc_id_a":1.1247046,"mpcc_iq_a":-1.43212926,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.51895285,"mpcc_pred_id_a":0.399474978,"mpcc_pred_iq_a":-0.767426372,"mpcc_state":1,"mpcc_theta_e":0.42996788,"mpcc_theta_mech":0.552939534,"sam_rpm":-11.6736393,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0141176432,"thr_a_norm":0.0141176432,"thr_a_v":0.556470573,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456818491,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.528494,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.443694592,"cg_iw_a":-1.0306344,"cg_theta_rad":0.556720853,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0203041043,"mpcc_du":48.4262695,"mpcc_dv":51.5737305,"mpcc_dw":49.054287,"mpcc_enc_sign":1,"mpcc_id_a":1.75912118,"mpcc_iq_a":0.310120374,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.5315876,"mpcc_pred_id_a":0.13283509,"mpcc_pred_iq_a":3.52185702,"mpcc_state":1,"mpcc_theta_e":0.425426006,"mpcc_theta_mech":0.552031159,"sam_rpm":18.6709747,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0141176432,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476003677,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.535025,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-0.371207237,"cg_iw_a":0.346632004,"cg_theta_rad":0.557508171,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0454565845,"mpcc_du":50.1391563,"mpcc_dv":48.6533585,"mpcc_dw":51.3466415,"mpcc_enc_sign":1,"mpcc_id_a":2.86839938,"mpcc_iq_a":-0.946922898,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.584699035,"mpcc_pred_id_a":0.336766779,"mpcc_pred_iq_a":-2.27445364,"mpcc_state":1,"mpcc_theta_e":0.445232868,"mpcc_theta_mech":0.555992484,"sam_rpm":0.120631762,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476003677,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.541525,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.02359605,"cg_iw_a":-1.97297359,"cg_theta_rad":0.554110229,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.00409247214,"mpcc_du":49.6314964,"mpcc_dv":49.917717,"mpcc_dw":50.3685036,"mpcc_enc_sign":1,"mpcc_id_a":3.21410465,"mpcc_iq_a":-1.56911004,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.28779483,"mpcc_pred_id_a":-0.566887617,"mpcc_pred_iq_a":-4.59889317,"mpcc_state":1,"mpcc_theta_e":0.443593979,"mpcc_theta_mech":0.555664718,"sam_rpm":-2.47331786,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220359415,"thr_a_norm":0.0220359415,"thr_a_v":0.588143766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465328425,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.548056,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.878620625,"cg_iw_a":-2.33541203,"cg_theta_rad":0.556507409,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.00691238884,"mpcc_du":50.2770882,"mpcc_dv":48.3706322,"mpcc_dw":51.6293678,"mpcc_enc_sign":1,"mpcc_id_a":1.56563103,"mpcc_iq_a":-0.293919027,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.741457,"mpcc_pred_id_a":0.391699553,"mpcc_pred_iq_a":-1.66129112,"mpcc_state":1,"mpcc_theta_e":0.426906586,"mpcc_theta_mech":0.552327275,"sam_rpm":-25.2140923,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220359415,"thr_a_norm":0.0220359415,"thr_a_v":0.588143766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465328425,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.557058,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.226231575,"cg_iw_a":-1.61053562,"cg_theta_rad":0.552778184,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.00868781097,"mpcc_du":49.9172134,"mpcc_dv":49.1826286,"mpcc_dw":50.8173714,"mpcc_enc_sign":1,"mpcc_id_a":0.729328215,"mpcc_iq_a":-1.55255914,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.74330783,"mpcc_pred_id_a":-0.305848002,"mpcc_pred_iq_a":-2.82429433,"mpcc_state":1,"mpcc_theta_e":0.447525978,"mpcc_theta_mech":0.556451142,"sam_rpm":4.34162331,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0298031569,"thr_a_norm":0.0298031569,"thr_a_v":0.619212627,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459487319,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.567739,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-0.443694592,"cg_iw_a":-0.885658741,"cg_theta_rad":0.551948965,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.00870423019,"mpcc_du":50.1006432,"mpcc_dv":48.8052902,"mpcc_dw":51.1947098,"mpcc_enc_sign":1,"mpcc_id_a":2.82260966,"mpcc_iq_a":-1.4622277,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.075675,"mpcc_pred_id_a":-0.0144297378,"mpcc_pred_iq_a":-1.67715955,"mpcc_state":1,"mpcc_theta_e":0.435477257,"mpcc_theta_mech":0.554041326,"sam_rpm":-21.4710178,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0128713697,"thr_a_norm":0.0298031569,"thr_a_v":0.551485479,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44161135,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.577444,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.74847269,"cg_iw_a":0.854045391,"cg_theta_rad":0.552859783,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.00994355697,"mpcc_du":49.5187721,"mpcc_dv":49.4387131,"mpcc_dw":50.5612869,"mpcc_enc_sign":1,"mpcc_id_a":0.803345799,"mpcc_iq_a":-2.11967468,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.21509123,"mpcc_pred_id_a":0.195804134,"mpcc_pred_iq_a":-3.0941565,"mpcc_state":1,"mpcc_theta_e":0.433435917,"mpcc_theta_mech":0.553633094,"sam_rpm":-9.82743073,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0128713697,"thr_a_norm":0.0128713697,"thr_a_v":0.551485479,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44161135,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.587667,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.02359605,"cg_iw_a":0.274143934,"cg_theta_rad":0.553682566,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.034269914,"mpcc_du":49.5451546,"mpcc_dv":49.6649895,"mpcc_dw":50.4548454,"mpcc_enc_sign":1,"mpcc_id_a":2.05354095,"mpcc_iq_a":-1.4923197,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.5236814,"mpcc_pred_id_a":-0.132701382,"mpcc_pred_iq_a":-1.07191598,"mpcc_state":1,"mpcc_theta_e":0.430908203,"mpcc_theta_mech":0.553127587,"sam_rpm":-5.99717569,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282673389,"thr_a_norm":0.0282673389,"thr_a_v":0.613069355,"thr_b":0.00136530399,"thr_b_norm":0.00136530399,"thr_b_v":0.505461216,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.598959,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.516182423,"cg_iw_a":-0.740683556,"cg_theta_rad":0.556150913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.000677392585,"mpcc_du":50.613266,"mpcc_dv":48.1522675,"mpcc_dw":51.8477325,"mpcc_enc_sign":1,"mpcc_id_a":2.01818132,"mpcc_iq_a":-2.44022489,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.5311642,"mpcc_pred_id_a":0.199865535,"mpcc_pred_iq_a":-2.25867057,"mpcc_state":1,"mpcc_theta_e":0.429911613,"mpcc_theta_mech":0.552928209,"sam_rpm":-38.6157837,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0124685317,"thr_a_norm":0.0282673389,"thr_a_v":0.549874127,"thr_b":0,"thr_b_norm":0.00136530399,"thr_b_v":0.442014188,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.610037,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.25588632,"cg_iw_a":-2.62536287,"cg_theta_rad":0.553119421,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.00886536296,"mpcc_du":49.9996529,"mpcc_dv":49.0551491,"mpcc_dw":50.9448509,"mpcc_enc_sign":1,"mpcc_id_a":1.8420558,"mpcc_iq_a":-5.75818682,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.98717415,"mpcc_pred_id_a":-0.330320865,"mpcc_pred_iq_a":-5.57249784,"mpcc_state":1,"mpcc_theta_e":0.448423862,"mpcc_theta_mech":0.556630731,"sam_rpm":-2.52170753,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0124685317,"thr_a_norm":0.0124685317,"thr_a_v":0.549874127,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.442014188,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.633322,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.60349751,"cg_iw_a":-0.305757046,"cg_theta_rad":0.557866216,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0419125706,"mpcc_du":50.3853188,"mpcc_dv":48.6274872,"mpcc_dw":51.3725128,"mpcc_enc_sign":1,"mpcc_id_a":0.709449768,"mpcc_iq_a":-0.755269408,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.50800514,"mpcc_pred_id_a":-0.312463909,"mpcc_pred_iq_a":-1.99018371,"mpcc_state":1,"mpcc_theta_e":0.448863029,"mpcc_theta_mech":0.556718528,"sam_rpm":4.50790215,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453142613,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.639822,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.82096052,"cg_iw_a":0.999020576,"cg_theta_rad":0.553129852,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.00918930583,"mpcc_du":50.542469,"mpcc_dv":48.3541603,"mpcc_dw":51.6458397,"mpcc_enc_sign":1,"mpcc_id_a":0.968315125,"mpcc_iq_a":-0.725359797,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.19931602,"mpcc_pred_id_a":-0.151183963,"mpcc_pred_iq_a":-0.19117181,"mpcc_state":1,"mpcc_theta_e":0.437286854,"mpcc_theta_mech":0.554403245,"sam_rpm":-7.44256687,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0317040533,"thr_a_norm":0.0192160606,"thr_a_v":0.626816213,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469558269,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.646353,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.53100967,"cg_iw_a":0.926532745,"cg_theta_rad":0.556249797,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.00267496658,"mpcc_du":50.3310089,"mpcc_dv":48.794426,"mpcc_dw":51.205574,"mpcc_enc_sign":1,"mpcc_id_a":0.0654284656,"mpcc_iq_a":-2.1123724,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.35794187,"mpcc_pred_id_a":-0.521231055,"mpcc_pred_iq_a":-1.23682821,"mpcc_state":1,"mpcc_theta_e":0.444239616,"mpcc_theta_mech":0.555793881,"sam_rpm":2.28434873,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0317040533,"thr_a_norm":0.0317040533,"thr_a_v":0.626816213,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469558269,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.652853,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-2.61832476,"cg_iw_a":-2.48038697,"cg_theta_rad":0.556549788,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0263656527,"mpcc_du":49.510849,"mpcc_dv":49.6155396,"mpcc_dw":50.489151,"mpcc_enc_sign":1,"mpcc_id_a":2.53666687,"mpcc_iq_a":-0.967788041,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.313412875,"mpcc_pred_id_a":0.148093551,"mpcc_pred_iq_a":-4.75163078,"mpcc_state":1,"mpcc_theta_e":0.443124771,"mpcc_theta_mech":0.5555709,"sam_rpm":0.595778883,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278267413,"thr_a_norm":0.0278267413,"thr_a_v":0.611306965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498713672,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.66503,"values":{"cg_iu_a":1.25686598,"cg_iv_a":0.0637187958,"cg_iw_a":-1.39307237,"cg_theta_rad":0.55694592,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0473215617,"mpcc_du":51.2934189,"mpcc_dv":47.6665611,"mpcc_dw":52.3334389,"mpcc_enc_sign":1,"mpcc_id_a":-1.0798769,"mpcc_iq_a":-3.28544283,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.62803626,"mpcc_pred_id_a":-0.7093575,"mpcc_pred_iq_a":-1.57077169,"mpcc_state":1,"mpcc_theta_e":0.450822353,"mpcc_theta_mech":0.557110369,"sam_rpm":-0.838062048,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0317544043,"thr_a_norm":0.0278267413,"thr_a_v":0.627017617,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486074626,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.674826,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.6759851,"cg_iw_a":-1.10312152,"cg_theta_rad":0.55489254,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0439147688,"mpcc_du":50.5967445,"mpcc_dv":48.40065,"mpcc_dw":51.59935,"mpcc_enc_sign":1,"mpcc_id_a":0.0609950274,"mpcc_iq_a":-1.09454215,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.80413294,"mpcc_pred_id_a":-0.38051039,"mpcc_pred_iq_a":-1.16761661,"mpcc_state":1,"mpcc_theta_e":0.451020241,"mpcc_theta_mech":0.557149947,"sam_rpm":7.08628845,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0317544043,"thr_a_norm":0.0317544043,"thr_a_v":0.627017617,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486074626,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.685049,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.516182423,"cg_iw_a":-2.26292419,"cg_theta_rad":0.558089733,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0827941149,"mpcc_du":49.7992897,"mpcc_dv":49.0709496,"mpcc_dw":50.9290504,"mpcc_enc_sign":1,"mpcc_id_a":3.01367259,"mpcc_iq_a":-0.154647782,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.11159801,"mpcc_pred_id_a":0.424135029,"mpcc_pred_iq_a":-2.80076885,"mpcc_state":1,"mpcc_theta_e":0.451544285,"mpcc_theta_mech":0.557254791,"sam_rpm":14.0912514,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162325352,"thr_a_norm":0.0162325352,"thr_a_v":0.564930141,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465731293,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.695059,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.153744221,"cg_iw_a":-0.740683079,"cg_theta_rad":0.559200704,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.00185022654,"mpcc_du":50.5512505,"mpcc_dv":48.2083092,"mpcc_dw":51.7916908,"mpcc_enc_sign":1,"mpcc_id_a":0.858087301,"mpcc_iq_a":-1.31326914,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.7654533,"mpcc_pred_id_a":0.130584553,"mpcc_pred_iq_a":-0.159189537,"mpcc_state":1,"mpcc_theta_e":0.432298183,"mpcc_theta_mech":0.553405523,"sam_rpm":-17.0012169,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162325352,"thr_a_norm":0.0162325352,"thr_a_v":0.564930141,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465731293,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.705282,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.60349751,"cg_iw_a":0.274144173,"cg_theta_rad":0.554602623,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0382930897,"mpcc_du":50.1450996,"mpcc_dv":48.8051872,"mpcc_dw":51.1948128,"mpcc_enc_sign":1,"mpcc_id_a":0.989215851,"mpcc_iq_a":-0.00430906657,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.78258348,"mpcc_pred_id_a":-0.0901848972,"mpcc_pred_iq_a":-2.22977614,"mpcc_state":1,"mpcc_theta_e":0.445720673,"mpcc_theta_mech":0.556090057,"sam_rpm":3.44005585,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261902064,"thr_a_norm":0.0261902064,"thr_a_v":0.604760826,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498210132,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.728384,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.02359605,"cg_iw_a":-0.958146334,"cg_theta_rad":0.553226709,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0568836182,"mpcc_du":49.7698402,"mpcc_dv":49.0102043,"mpcc_dw":50.9897957,"mpcc_enc_sign":1,"mpcc_id_a":3.50103307,"mpcc_iq_a":-0.467513859,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.30364323,"mpcc_pred_id_a":0.53921628,"mpcc_pred_iq_a":-2.60489011,"mpcc_state":1,"mpcc_theta_e":0.447118759,"mpcc_theta_mech":0.556369662,"sam_rpm":5.25122309,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258880705,"thr_a_norm":0.0261902064,"thr_a_v":0.603552282,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495289534,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.734915,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.45852208,"cg_iw_a":0.346631765,"cg_theta_rad":0.554042637,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.00793347321,"mpcc_du":48.56604,"mpcc_dv":51.43396,"mpcc_dw":51.0161247,"mpcc_enc_sign":1,"mpcc_id_a":0.450153202,"mpcc_iq_a":-0.473057926,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.4953594,"mpcc_pred_id_a":-0.735492289,"mpcc_pred_iq_a":-7.13100195,"mpcc_state":1,"mpcc_theta_e":0.422231197,"mpcc_theta_mech":0.551392138,"sam_rpm":23.0660419,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258880705,"thr_a_norm":0.0258880705,"thr_a_v":0.603552282,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495289534,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.741415,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.226231575,"cg_iw_a":-0.523220539,"cg_theta_rad":0.55375433,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0104176793,"mpcc_du":49.3676376,"mpcc_dv":50.6323624,"mpcc_dw":50.0731735,"mpcc_enc_sign":1,"mpcc_id_a":0.510585248,"mpcc_iq_a":-0.333222598,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.84596109,"mpcc_pred_id_a":-0.371792436,"mpcc_pred_iq_a":-5.45140934,"mpcc_state":1,"mpcc_theta_e":0.447227955,"mpcc_theta_mech":0.556391478,"sam_rpm":9.83122253,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0298786908,"thr_a_norm":0.0298786908,"thr_a_v":0.619514763,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469759673,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.747946,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.45852208,"cg_iw_a":-1.17560911,"cg_theta_rad":0.553854167,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0293558557,"mpcc_du":49.8496323,"mpcc_dv":49.0304794,"mpcc_dw":50.9695206,"mpcc_enc_sign":1,"mpcc_id_a":1.5254724,"mpcc_iq_a":0.117196701,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.56520295,"mpcc_pred_id_a":0.163555846,"mpcc_pred_iq_a":-2.86285472,"mpcc_state":1,"mpcc_theta_e":0.441191673,"mpcc_theta_mech":0.555184245,"sam_rpm":-1.78004014,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0298786908,"thr_a_norm":0.0298786908,"thr_a_v":0.619514763,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469759673,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.756033,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-3.05325079,"cg_iw_a":2.08633566,"cg_theta_rad":0.553861678,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0171677209,"mpcc_du":49.9973145,"mpcc_dv":48.7903328,"mpcc_dw":51.2096672,"mpcc_enc_sign":1,"mpcc_id_a":1.57574439,"mpcc_iq_a":-1.12768483,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.3676033,"mpcc_pred_id_a":0.227455065,"mpcc_pred_iq_a":-3.56713748,"mpcc_state":1,"mpcc_theta_e":0.449624538,"mpcc_theta_mech":0.556870818,"sam_rpm":2.28801656,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0321068913,"thr_a_norm":0.0321068913,"thr_a_v":0.628427565,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466738373,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.766256,"values":{"cg_iu_a":4.5912981,"cg_iv_a":-0.733645439,"cg_iw_a":-3.85765266,"cg_theta_rad":0.556872666,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0373084322,"mpcc_du":50.1286011,"mpcc_dv":48.7090874,"mpcc_dw":51.2909126,"mpcc_enc_sign":1,"mpcc_id_a":0.586766422,"mpcc_iq_a":-1.34563601,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.1780014,"mpcc_pred_id_a":0.164740279,"mpcc_pred_iq_a":-2.75812769,"mpcc_state":1,"mpcc_theta_e":0.448154449,"mpcc_theta_mech":0.556576788,"sam_rpm":5.08081627,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291359574,"thr_a_norm":0.0321068913,"thr_a_v":0.616543829,"thr_b":0.00118906796,"thr_b_norm":0,"thr_b_v":0.504756272,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.778372,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":-1.24105906,"cg_iw_a":-1.4655602,"cg_theta_rad":0.557194948,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0453278646,"mpcc_du":49.6572113,"mpcc_dv":49.4246445,"mpcc_dw":50.5753555,"mpcc_enc_sign":1,"mpcc_id_a":1.94108474,"mpcc_iq_a":-1.69441545,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.2278252,"mpcc_pred_id_a":-0.0955545604,"mpcc_pred_iq_a":-4.30963945,"mpcc_state":1,"mpcc_theta_e":0.456384182,"mpcc_theta_mech":0.558222771,"sam_rpm":16.1669197,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291359574,"thr_a_norm":0.0291359574,"thr_a_v":0.616543829,"thr_b":0.00118906796,"thr_b_norm":0.00118906796,"thr_b_v":0.504756272,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.78945,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.16857147,"cg_iw_a":-1.68302298,"cg_theta_rad":0.553019285,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0554679595,"mpcc_du":50.0205421,"mpcc_dv":48.8813667,"mpcc_dw":51.1186333,"mpcc_enc_sign":1,"mpcc_id_a":2.53655457,"mpcc_iq_a":-0.464358509,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.29954314,"mpcc_pred_id_a":0.155268252,"mpcc_pred_iq_a":-3.5130558,"mpcc_state":1,"mpcc_theta_e":0.445374012,"mpcc_theta_mech":0.556020677,"sam_rpm":-0.336975038,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198580921,"thr_a_norm":0.0198580921,"thr_a_v":0.579432368,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485420018,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.798819,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.24809694,"cg_theta_rad":0.552191019,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0258662049,"mpcc_du":50.1203003,"mpcc_dv":48.8086166,"mpcc_dw":51.1913834,"mpcc_enc_sign":1,"mpcc_id_a":0.447377056,"mpcc_iq_a":-0.937300384,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.57409596,"mpcc_pred_id_a":-0.0180094466,"mpcc_pred_iq_a":-1.32586348,"mpcc_state":1,"mpcc_theta_e":0.450203419,"mpcc_theta_mech":0.55698657,"sam_rpm":4.58932829,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244529694,"thr_a_norm":0.0198580921,"thr_a_v":0.597811878,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"console","t":27.806837,"sequence":5,"text":"> var list"} +{"type":"telemetry","t":27.808676,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.806133032,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.554642856,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0243059527,"mpcc_du":49.5292473,"mpcc_dv":51.0036201,"mpcc_dw":49.8083992,"mpcc_enc_sign":1,"mpcc_id_a":2.21634841,"mpcc_iq_a":-2.15377975,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.83946753,"mpcc_pred_id_a":0.131119385,"mpcc_pred_iq_a":-1.71816909,"mpcc_state":1,"mpcc_theta_e":0.441453934,"mpcc_theta_mech":0.555236697,"sam_rpm":6.83365393,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244529694,"thr_a_norm":0.0244529694,"thr_a_v":0.597811878,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"command","t":27.810879,"source":"ui","text":"var list","sent":true} +{"type":"console","t":27.810884,"sequence":6,"text":"(sent)"} +{"type":"telemetry","t":27.832083,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.24105906,"cg_iw_a":1.50643444,"cg_theta_rad":0.554232419,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0169684608,"mpcc_du":49.4161568,"mpcc_dv":50.5838432,"mpcc_dw":50.3604355,"mpcc_enc_sign":1,"mpcc_id_a":2.61080027,"mpcc_iq_a":-1.66571295,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.30318928,"mpcc_pred_id_a":0.317111015,"mpcc_pred_iq_a":-4.89219189,"mpcc_state":1,"mpcc_theta_e":0.433671474,"mpcc_theta_mech":0.553680182,"sam_rpm":8.3962059,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0293499678,"thr_a_norm":0.0293499678,"thr_a_v":0.617399871,"thr_b":0.00199474394,"thr_b_norm":0.00199474394,"thr_b_v":0.507978976,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.838583,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-3.05325079,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.555484354,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.00618297793,"mpcc_du":50.3826294,"mpcc_dv":48.6523323,"mpcc_dw":51.3476677,"mpcc_enc_sign":1,"mpcc_id_a":0.253650248,"mpcc_iq_a":-1.37073517,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.11277056,"mpcc_pred_id_a":-0.102243207,"mpcc_pred_iq_a":-1.81794107,"mpcc_state":1,"mpcc_theta_e":0.447616577,"mpcc_theta_mech":0.556469262,"sam_rpm":-9.61557293,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022602424,"thr_a_norm":0.0293499678,"thr_a_v":0.590409696,"thr_b":0,"thr_b_norm":0.00199474394,"thr_b_v":0.486477464,"vdc_v":55.2955055}} +{"type":"console","t":27.844327,"sequence":7,"text":"[SHELL] IdVar = 0.0000"} +{"type":"console","t":27.844328,"sequence":8,"text":"[SHELL] IqVar = 0.0000"} +{"type":"console","t":27.844329,"sequence":9,"text":"[SHELL] ThrottleEnable = 1.0000"} +{"type":"console","t":27.84433,"sequence":10,"text":"[SHELL] SpdVar = 0.0000"} +{"type":"telemetry","t":27.845114,"values":{"cg_iu_a":3.64895868,"cg_iv_a":0.0637187958,"cg_iw_a":0.636582375,"cg_theta_rad":0.556393683,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0126773454,"mpcc_du":49.8114815,"mpcc_dv":49.1646614,"mpcc_dw":50.4321327,"mpcc_enc_sign":1,"mpcc_id_a":2.21344519,"mpcc_iq_a":-1.4869678,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.23361731,"mpcc_pred_id_a":0.0180152096,"mpcc_pred_iq_a":-3.64337063,"mpcc_state":1,"mpcc_theta_e":0.435483456,"mpcc_theta_mech":0.555298567,"sam_rpm":-10.7666092,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022602424,"thr_a_norm":0.022602424,"thr_a_v":0.590409696,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486477464,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.855551,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.878620625,"cg_iw_a":-1.82799864,"cg_theta_rad":0.557000697,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0297102407,"mpcc_du":49.8566017,"mpcc_dv":48.9829826,"mpcc_dw":51.0170174,"mpcc_enc_sign":1,"mpcc_id_a":1.78754258,"mpcc_iq_a":-0.0213863514,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.34193182,"mpcc_pred_id_a":-0.0342976376,"mpcc_pred_iq_a":-3.94253683,"mpcc_state":1,"mpcc_theta_e":0.449453354,"mpcc_theta_mech":0.556836605,"sam_rpm":10.2022209,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482046247,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.863241,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.226231575,"cg_iw_a":-0.160782337,"cg_theta_rad":0.557304561,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.00499802269,"mpcc_du":49.6552544,"mpcc_dv":49.7408295,"mpcc_dw":50.3447456,"mpcc_enc_sign":1,"mpcc_id_a":-0.534874976,"mpcc_iq_a":-2.15485573,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.84768963,"mpcc_pred_id_a":-0.65486753,"mpcc_pred_iq_a":-3.87614322,"mpcc_state":1,"mpcc_theta_e":0.451767445,"mpcc_theta_mech":0.557299435,"sam_rpm":11.7784443,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235969275,"thr_a_norm":0.0256614834,"thr_a_v":0.59438771,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472881675,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.873037,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.878620625,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.558369219,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0475154631,"mpcc_du":50.0639305,"mpcc_dv":48.6026192,"mpcc_dw":51.3973808,"mpcc_enc_sign":1,"mpcc_id_a":3.63800383,"mpcc_iq_a":-1.36348546,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.2086487,"mpcc_pred_id_a":0.620763898,"mpcc_pred_iq_a":-2.18568158,"mpcc_state":1,"mpcc_theta_e":0.456737995,"mpcc_theta_mech":0.558293521,"sam_rpm":2.64041114,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235969275,"thr_a_norm":0.0235969275,"thr_a_v":0.59438771,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472881675,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.88323,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.878620625,"cg_iw_a":-0.59570837,"cg_theta_rad":0.557801902,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0565527752,"mpcc_du":50.5053215,"mpcc_dv":48.2363853,"mpcc_dw":51.7636147,"mpcc_enc_sign":1,"mpcc_id_a":0.701867998,"mpcc_iq_a":-0.606968641,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.46303415,"mpcc_pred_id_a":0.245832533,"mpcc_pred_iq_a":-2.4524076,"mpcc_state":1,"mpcc_theta_e":0.443536282,"mpcc_theta_mech":0.555653155,"sam_rpm":-4.88444805,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103170067,"thr_a_norm":0.103170067,"thr_a_v":0.912680268,"thr_b":0.0462314039,"thr_b_norm":0.0462314039,"thr_b_v":0.684925616,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.89324,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.951108456,"cg_iw_a":-1.53804755,"cg_theta_rad":0.555225194,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0282632615,"mpcc_du":50.438488,"mpcc_dv":48.2421646,"mpcc_dw":51.7578354,"mpcc_enc_sign":1,"mpcc_id_a":2.27929044,"mpcc_iq_a":-0.831038654,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.67340946,"mpcc_pred_id_a":0.308200836,"mpcc_pred_iq_a":-1.66160178,"mpcc_state":1,"mpcc_theta_e":0.437666416,"mpcc_theta_mech":0.554479182,"sam_rpm":-12.6088982,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103170067,"thr_a_norm":0.103170067,"thr_a_v":0.912680268,"thr_b":0.0462314039,"thr_b_norm":0.0462314039,"thr_b_v":0.684925616,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.903463,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.16857147,"cg_iw_a":0.636582136,"cg_theta_rad":0.556830883,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0170531683,"mpcc_du":50.1142426,"mpcc_dv":48.5928726,"mpcc_dw":51.4071274,"mpcc_enc_sign":1,"mpcc_id_a":2.26125908,"mpcc_iq_a":-1.04049146,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.33806372,"mpcc_pred_id_a":0.412871629,"mpcc_pred_iq_a":0.645169199,"mpcc_state":1,"mpcc_theta_e":0.43288517,"mpcc_theta_mech":0.553522944,"sam_rpm":-19.1027317,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0302815288,"thr_a_norm":0.0302815288,"thr_a_v":0.621126115,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477766067,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.915823,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.83578777,"cg_iw_a":-0.595707893,"cg_theta_rad":0.555685043,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5008,"hz_app_loop":362,"hz_tim_isr":10016,"hz_vsense":362,"mpcc_cost":0.0442547202,"mpcc_du":50.0240211,"mpcc_dv":49.0427933,"mpcc_dw":50.9572067,"mpcc_enc_sign":1,"mpcc_id_a":0.947156429,"mpcc_iq_a":-0.594940603,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.94121122,"mpcc_pred_id_a":-0.209046364,"mpcc_pred_iq_a":-2.50889111,"mpcc_state":1,"mpcc_theta_e":0.452017784,"mpcc_theta_mech":0.557349503,"sam_rpm":11.4142933,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212302655,"thr_a_norm":0.0302815288,"thr_a_v":0.584921062,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457573801,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.939444,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.588670254,"cg_iw_a":-2.55287504,"cg_theta_rad":0.554022014,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0316954441,"mpcc_du":50.3143349,"mpcc_dv":48.5926895,"mpcc_dw":51.4073105,"mpcc_enc_sign":1,"mpcc_id_a":2.25960231,"mpcc_iq_a":-0.710079491,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.17808676,"mpcc_pred_id_a":-0.029830033,"mpcc_pred_iq_a":-0.64387691,"mpcc_state":1,"mpcc_theta_e":0.448041439,"mpcc_theta_mech":0.556554198,"sam_rpm":3.83817649,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212302655,"thr_a_norm":0.0212302655,"thr_a_v":0.584921062,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457573801,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.946005,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.516182423,"cg_iw_a":-0.305757523,"cg_theta_rad":0.554254413,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.26367,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0811526701,"mpcc_du":49.4084396,"mpcc_dv":49.2284737,"mpcc_dw":50.7715263,"mpcc_enc_sign":1,"mpcc_id_a":4.86418867,"mpcc_iq_a":-0.610536754,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.4346962,"mpcc_pred_id_a":1.12449324,"mpcc_pred_iq_a":0.211359546,"mpcc_state":1,"mpcc_theta_e":0.438117981,"mpcc_theta_mech":0.554569483,"sam_rpm":-13.8225698,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179823637,"thr_a_norm":0.0179823637,"thr_a_v":0.571929455,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.952505,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.45852208,"cg_iw_a":0.854045153,"cg_theta_rad":0.55712539,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0232204981,"mpcc_du":49.7544937,"mpcc_dv":49.2500267,"mpcc_dw":50.7499733,"mpcc_enc_sign":1,"mpcc_id_a":0.845373511,"mpcc_iq_a":-0.305035174,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.297919869,"mpcc_pred_id_a":-0.0287643354,"mpcc_pred_iq_a":-3.67607808,"mpcc_state":1,"mpcc_theta_e":0.444099903,"mpcc_theta_mech":0.555765867,"sam_rpm":0.513337851,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179823637,"thr_a_norm":0.0179823637,"thr_a_v":0.571929455,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.959066,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.951108456,"cg_iw_a":0.564094543,"cg_theta_rad":0.556737125,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.00175016688,"mpcc_du":50.9225388,"mpcc_dv":47.9959221,"mpcc_dw":52.0040779,"mpcc_enc_sign":1,"mpcc_id_a":1.92836201,"mpcc_iq_a":-2.40572453,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.71665144,"mpcc_pred_id_a":-0.497242391,"mpcc_pred_iq_a":0.232416868,"mpcc_state":1,"mpcc_theta_e":0.447229385,"mpcc_theta_mech":0.556391776,"sam_rpm":-10.040287,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226275921,"thr_a_norm":0.0226275921,"thr_a_v":0.590510368,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489700168,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.967672,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.02359605,"cg_iw_a":-1.75551057,"cg_theta_rad":0.553948343,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0353430547,"mpcc_du":50.7956581,"mpcc_dv":48.0278816,"mpcc_dw":51.9721184,"mpcc_enc_sign":1,"mpcc_id_a":0.797431588,"mpcc_iq_a":0.278505236,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.92031288,"mpcc_pred_id_a":-0.213715732,"mpcc_pred_iq_a":-1.0389328,"mpcc_state":1,"mpcc_theta_e":0.43724823,"mpcc_theta_mech":0.554395556,"sam_rpm":-14.4872999,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101923779,"thr_a_norm":0.0226275921,"thr_a_v":0.907695115,"thr_b":0.0449851155,"thr_b_norm":0,"thr_b_v":0.679940462,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.97756,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.226231575,"cg_iw_a":-1.10312176,"cg_theta_rad":0.556186557,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.00244907336,"mpcc_du":49.4294586,"mpcc_dv":50.5705414,"mpcc_dw":50.0330925,"mpcc_enc_sign":1,"mpcc_id_a":-0.0537265353,"mpcc_iq_a":-1.54132318,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.725206077,"mpcc_pred_id_a":-0.669516325,"mpcc_pred_iq_a":-5.4968524,"mpcc_state":1,"mpcc_theta_e":0.419847012,"mpcc_theta_mech":0.550915301,"sam_rpm":-3.16215897,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101923779,"thr_a_norm":0.101923779,"thr_a_v":0.907695115,"thr_b":0.0449851155,"thr_b_norm":0.0449851155,"thr_b_v":0.679940462,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.987631,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.958146572,"cg_theta_rad":0.555771112,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0102076409,"mpcc_du":49.5662308,"mpcc_dv":50.2143326,"mpcc_dw":50.4337692,"mpcc_enc_sign":1,"mpcc_id_a":2.0074389,"mpcc_iq_a":-1.74144232,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.39265776,"mpcc_pred_id_a":-0.0873389617,"mpcc_pred_iq_a":-4.22728443,"mpcc_state":1,"mpcc_theta_e":0.445127487,"mpcc_theta_mech":0.555971444,"sam_rpm":5.71983576,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253467709,"thr_a_norm":0.0253467709,"thr_a_v":0.601387084,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":27.997549,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.443694592,"cg_iw_a":-1.32058477,"cg_theta_rad":0.557329237,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0269322768,"mpcc_du":49.711647,"mpcc_dv":49.5695114,"mpcc_dw":50.4304886,"mpcc_enc_sign":1,"mpcc_id_a":-0.628925323,"mpcc_iq_a":-2.38047862,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.35421991,"mpcc_pred_id_a":-0.679656029,"mpcc_pred_iq_a":-5.81822109,"mpcc_state":1,"mpcc_theta_e":0.445232868,"mpcc_theta_mech":0.555992484,"sam_rpm":9.69874859,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253467709,"thr_a_norm":0.0253467709,"thr_a_v":0.601387084,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.007681,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.25588632,"cg_iw_a":1.21648335,"cg_theta_rad":0.55555743,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0117655834,"mpcc_du":49.8488846,"mpcc_dv":49.3775787,"mpcc_dw":50.6224213,"mpcc_enc_sign":1,"mpcc_id_a":-1.11233199,"mpcc_iq_a":-2.20042968,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.977036,"mpcc_pred_id_a":-0.573419869,"mpcc_pred_iq_a":-3.81163526,"mpcc_state":1,"mpcc_theta_e":0.448609829,"mpcc_theta_mech":0.556667924,"sam_rpm":7.1434226,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245033205,"thr_a_norm":0.0245033205,"thr_a_v":0.598013282,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473284513,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.017813,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.806133032,"cg_iw_a":-1.75551057,"cg_theta_rad":0.556371272,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0510170721,"mpcc_du":50.3629875,"mpcc_dv":48.6131172,"mpcc_dw":51.4711647,"mpcc_enc_sign":1,"mpcc_id_a":0.762480795,"mpcc_iq_a":0.200817227,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.32649565,"mpcc_pred_id_a":-0.263084054,"mpcc_pred_iq_a":-2.9809227,"mpcc_state":1,"mpcc_theta_e":0.439689636,"mpcc_theta_mech":0.555091143,"sam_rpm":-6.64133739,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0290226489,"thr_a_norm":0.0245033205,"thr_a_v":0.616090596,"thr_b":0.00512932241,"thr_b_norm":0,"thr_b_v":0.52051729,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.04067,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.733645439,"cg_iw_a":-0.305757523,"cg_theta_rad":0.557946503,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0134123079,"mpcc_du":50.77248,"mpcc_dv":47.9537048,"mpcc_dw":52.0462952,"mpcc_enc_sign":1,"mpcc_id_a":2.29136872,"mpcc_iq_a":-1.32261348,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.0299902,"mpcc_pred_id_a":0.0744342506,"mpcc_pred_iq_a":0.215165839,"mpcc_state":1,"mpcc_theta_e":0.429986477,"mpcc_theta_mech":0.55294323,"sam_rpm":-20.2652111,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0290226489,"thr_a_norm":0.0290226489,"thr_a_v":0.616090596,"thr_b":0.00512932241,"thr_b_norm":0.00512932241,"thr_b_v":0.52051729,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.047171,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.24105906,"cg_iw_a":-0.305757284,"cg_theta_rad":0.55532968,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0188071206,"mpcc_du":50.2014732,"mpcc_dv":48.6647034,"mpcc_dw":51.3352966,"mpcc_enc_sign":1,"mpcc_id_a":2.85763311,"mpcc_iq_a":-0.306750327,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.24578953,"mpcc_pred_id_a":0.0425229929,"mpcc_pred_iq_a":-3.17974114,"mpcc_state":1,"mpcc_theta_e":0.449952602,"mpcc_theta_mech":0.556936443,"sam_rpm":-11.3103123,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0991920233,"thr_a_norm":0.0991920233,"thr_a_v":0.896768093,"thr_b":0.0409567356,"thr_b_norm":0.0409567356,"thr_b_v":0.663826942,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.053732,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.24105906,"cg_iw_a":-1.0306344,"cg_theta_rad":0.556861043,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.000123225022,"mpcc_du":50.5368423,"mpcc_dv":48.3864861,"mpcc_dw":51.6135139,"mpcc_enc_sign":1,"mpcc_id_a":0.194766089,"mpcc_iq_a":-1.37382829,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.7727575,"mpcc_pred_id_a":-0.406273425,"mpcc_pred_iq_a":-0.871177077,"mpcc_state":1,"mpcc_theta_e":0.429749489,"mpcc_theta_mech":0.552895784,"sam_rpm":-18.8597736,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0991920233,"thr_a_norm":0.0991920233,"thr_a_v":0.896768093,"thr_b":0.0409567356,"thr_b_norm":0.0409567356,"thr_b_v":0.663826942,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.060263,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.09608364,"cg_iw_a":0.0566806793,"cg_theta_rad":0.557085574,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.00292843394,"mpcc_du":50.2689552,"mpcc_dv":48.6962776,"mpcc_dw":51.3037224,"mpcc_enc_sign":1,"mpcc_id_a":1.06907427,"mpcc_iq_a":-1.36951172,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.1129632,"mpcc_pred_id_a":-0.283571333,"mpcc_pred_iq_a":-0.500707746,"mpcc_state":1,"mpcc_theta_e":0.435225487,"mpcc_theta_mech":0.55399102,"sam_rpm":-8.12416363,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023685053,"thr_a_norm":0.023685053,"thr_a_v":0.594740212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468752533,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.068441,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-0.588670254,"cg_iw_a":1.57892179,"cg_theta_rad":0.552434742,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.000946888176,"mpcc_du":49.2788315,"mpcc_dv":50.7211685,"mpcc_dw":49.8594017,"mpcc_enc_sign":1,"mpcc_id_a":-0.603498697,"mpcc_iq_a":-0.500354946,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.10168171,"mpcc_pred_id_a":-0.535665035,"mpcc_pred_iq_a":-2.76255012,"mpcc_state":1,"mpcc_theta_e":0.432989597,"mpcc_theta_mech":0.553543806,"sam_rpm":-9.94224834,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0312886238,"thr_a_norm":0.023685053,"thr_a_v":0.625154495,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488894492,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.078421,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.588670254,"cg_iw_a":-2.26292467,"cg_theta_rad":0.55684799,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0294424836,"mpcc_du":49.9280586,"mpcc_dv":49.1009865,"mpcc_dw":50.8990135,"mpcc_enc_sign":1,"mpcc_id_a":1.54282129,"mpcc_iq_a":-0.695679069,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.43789196,"mpcc_pred_id_a":-0.233546808,"mpcc_pred_iq_a":-1.9458425,"mpcc_state":1,"mpcc_theta_e":0.450746059,"mpcc_theta_mech":0.55709517,"sam_rpm":11.3477697,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0312886238,"thr_a_norm":0.0312886238,"thr_a_v":0.625154495,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488894492,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.088644,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-2.54583716,"cg_iw_a":1.86887288,"cg_theta_rad":0.555994153,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0439706445,"mpcc_du":49.9036064,"mpcc_dv":49.1944885,"mpcc_dw":50.8055115,"mpcc_enc_sign":1,"mpcc_id_a":-0.287328422,"mpcc_iq_a":-3.45683813,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.14230347,"mpcc_pred_id_a":-0.518122971,"mpcc_pred_iq_a":-0.99069047,"mpcc_state":1,"mpcc_theta_e":0.431378365,"mpcc_theta_mech":0.553221583,"sam_rpm":-10.7920799,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022073701,"thr_a_norm":0.022073701,"thr_a_v":0.588294804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473939121,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.101156,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.09608364,"cg_iw_a":-0.160782099,"cg_theta_rad":0.555437148,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0423398241,"mpcc_du":49.4589157,"mpcc_dv":49.3693924,"mpcc_dw":50.6306076,"mpcc_enc_sign":1,"mpcc_id_a":2.18943048,"mpcc_iq_a":-1.52210617,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.98579597,"mpcc_pred_id_a":0.290181786,"mpcc_pred_iq_a":-4.49253082,"mpcc_state":1,"mpcc_theta_e":0.451444626,"mpcc_theta_mech":0.557234824,"sam_rpm":28.7413254,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226653665,"thr_a_norm":0.022073701,"thr_a_v":0.590661466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480132759,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.110952,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.09608364,"cg_iw_a":-0.958146572,"cg_theta_rad":0.556592286,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0221216194,"mpcc_du":51.2448349,"mpcc_dv":47.2079811,"mpcc_dw":52.7920189,"mpcc_enc_sign":1,"mpcc_id_a":2.71073771,"mpcc_iq_a":-1.66065729,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.79497671,"mpcc_pred_id_a":0.322499096,"mpcc_pred_iq_a":4.00944805,"mpcc_state":1,"mpcc_theta_e":0.472851753,"mpcc_theta_mech":0.561516285,"sam_rpm":-7.31296015,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226653665,"thr_a_norm":0.0226653665,"thr_a_v":0.590661466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480132759,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.121054,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.371207237,"cg_iw_a":-0.305757046,"cg_theta_rad":0.556832671,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0153357768,"mpcc_du":49.1468964,"mpcc_dv":50.8531036,"mpcc_dw":49.6146202,"mpcc_enc_sign":1,"mpcc_id_a":-0.552097321,"mpcc_iq_a":-3.39621711,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.84688663,"mpcc_pred_id_a":-0.983634531,"mpcc_pred_iq_a":-4.58039761,"mpcc_state":1,"mpcc_theta_e":0.446003914,"mpcc_theta_mech":0.556146741,"sam_rpm":14.2094669,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199084431,"thr_a_norm":0.0199084431,"thr_a_v":0.579633772,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483506501,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.144033,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.31354666,"cg_iw_a":-0.233269691,"cg_theta_rad":0.555261612,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0142742917,"mpcc_du":51.1321602,"mpcc_dv":47.408474,"mpcc_dw":52.591526,"mpcc_enc_sign":1,"mpcc_id_a":2.36075544,"mpcc_iq_a":0.595209479,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.1578236,"mpcc_pred_id_a":0.0511740483,"mpcc_pred_iq_a":3.04770875,"mpcc_state":1,"mpcc_theta_e":0.422401428,"mpcc_theta_mech":0.551426232,"sam_rpm":-28.9936256,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199084431,"thr_a_norm":0.0199084431,"thr_a_v":0.579633772,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483506501,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.150625,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.47334933,"cg_iw_a":-1.75551057,"cg_theta_rad":0.552377343,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.00277145719,"mpcc_du":49.9477463,"mpcc_dv":49.2987289,"mpcc_dw":50.7012711,"mpcc_enc_sign":1,"mpcc_id_a":-0.464475304,"mpcc_iq_a":-1.86158967,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.49600744,"mpcc_pred_id_a":-0.767241776,"mpcc_pred_iq_a":-1.98514509,"mpcc_state":1,"mpcc_theta_e":0.447616577,"mpcc_theta_mech":0.556469262,"sam_rpm":8.3646698,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195559561,"thr_a_norm":0.0195559561,"thr_a_v":0.578223825,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471723467,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.157095,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.60349751,"cg_iw_a":-0.450732708,"cg_theta_rad":0.555244684,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0083916029,"mpcc_du":49.6927376,"mpcc_dv":49.6345558,"mpcc_dw":50.3654442,"mpcc_enc_sign":1,"mpcc_id_a":0.0632536933,"mpcc_iq_a":-1.74837124,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.1888418,"mpcc_pred_id_a":-0.759287596,"mpcc_pred_iq_a":-2.7636106,"mpcc_state":1,"mpcc_theta_e":0.452912807,"mpcc_theta_mech":0.557528496,"sam_rpm":17.4335995,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195559561,"thr_a_norm":0.0195559561,"thr_a_v":0.578223825,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471723467,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.163595,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.661157608,"cg_iw_a":-1.53804779,"cg_theta_rad":0.555135846,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.024363691,"mpcc_du":49.6227913,"mpcc_dv":49.4810638,"mpcc_dw":50.5189362,"mpcc_enc_sign":1,"mpcc_id_a":0.386823535,"mpcc_iq_a":-0.924662948,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.10725832,"mpcc_pred_id_a":-0.165848121,"mpcc_pred_iq_a":-4.44453287,"mpcc_state":1,"mpcc_theta_e":0.448408127,"mpcc_theta_mech":0.556627572,"sam_rpm":6.6111455,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021419093,"thr_a_norm":0.021419093,"thr_a_v":0.585676372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.171621,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.226231575,"cg_iw_a":-0.740683556,"cg_theta_rad":0.556508839,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0542344116,"mpcc_du":49.4334068,"mpcc_dv":49.2661095,"mpcc_dw":50.7338905,"mpcc_enc_sign":1,"mpcc_id_a":4.58519173,"mpcc_iq_a":-1.38574243,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.75530577,"mpcc_pred_id_a":0.994727671,"mpcc_pred_iq_a":-2.43925405,"mpcc_state":1,"mpcc_theta_e":0.443433285,"mpcc_theta_mech":0.555632591,"sam_rpm":3.72707272,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.021419093,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453545451,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.181662,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.6759851,"cg_iw_a":0.854045391,"cg_theta_rad":0.557001352,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.083662726,"mpcc_du":50.6061249,"mpcc_dv":48.1508751,"mpcc_dw":51.8491249,"mpcc_enc_sign":1,"mpcc_id_a":1.63353693,"mpcc_iq_a":0.85167408,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.98293972,"mpcc_pred_id_a":0.23468858,"mpcc_pred_iq_a":-1.25622523,"mpcc_state":1,"mpcc_theta_e":0.442244053,"mpcc_theta_mech":0.555394709,"sam_rpm":-3.81567192,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453545451,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.191824,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.661157608,"cg_iw_a":-1.0306344,"cg_theta_rad":0.55554539,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0154833961,"mpcc_du":49.3119469,"mpcc_dv":50.6880531,"mpcc_dw":49.9995041,"mpcc_enc_sign":1,"mpcc_id_a":0.877722442,"mpcc_iq_a":-2.77402139,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.16470242,"mpcc_pred_id_a":-0.280895293,"mpcc_pred_iq_a":-3.97889161,"mpcc_state":1,"mpcc_theta_e":0.442839146,"mpcc_theta_mech":0.55551374,"sam_rpm":8.16797543,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021796748,"thr_a_norm":0.021796748,"thr_a_v":0.587186992,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470917821,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.201651,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-2.54583716,"cg_iw_a":0.129168749,"cg_theta_rad":0.553953528,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0315192081,"mpcc_du":50.2319489,"mpcc_dv":48.4989166,"mpcc_dw":51.5010834,"mpcc_enc_sign":1,"mpcc_id_a":2.3324697,"mpcc_iq_a":-1.56677461,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.74586987,"mpcc_pred_id_a":0.449640632,"mpcc_pred_iq_a":-1.83935475,"mpcc_state":1,"mpcc_theta_e":0.443457603,"mpcc_theta_mech":0.555637419,"sam_rpm":-0.87783742,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021796748,"thr_a_norm":0.021796748,"thr_a_v":0.587186992,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470917821,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.211843,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.878620625,"cg_iw_a":0.0566806793,"cg_theta_rad":0.5555709,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0315839648,"mpcc_du":49.4835777,"mpcc_dv":49.4675522,"mpcc_dw":50.5324478,"mpcc_enc_sign":1,"mpcc_id_a":3.34654188,"mpcc_iq_a":-1.45714104,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.27059984,"mpcc_pred_id_a":0.191106871,"mpcc_pred_iq_a":-2.64094734,"mpcc_state":1,"mpcc_theta_e":0.434708118,"mpcc_theta_mech":0.553887546,"sam_rpm":-4.54700994,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025951013,"thr_a_norm":0.025951013,"thr_a_v":0.603804052,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498965442,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.222189,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-2.0384233,"cg_iw_a":0.854045153,"cg_theta_rad":0.553832531,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0684261918,"mpcc_du":50.0902519,"mpcc_dv":49.0164833,"mpcc_dw":50.9835167,"mpcc_enc_sign":1,"mpcc_id_a":-0.359995931,"mpcc_iq_a":-3.83112884,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.96609592,"mpcc_pred_id_a":-0.583335519,"mpcc_pred_iq_a":-0.349790007,"mpcc_state":1,"mpcc_theta_e":0.426424503,"mpcc_theta_mech":0.552230835,"sam_rpm":-16.803318,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254600644,"thr_a_norm":0.025951013,"thr_a_v":0.601840258,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482197315,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.245474,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.89344811,"cg_iw_a":-0.740683317,"cg_theta_rad":0.551720738,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.00641427329,"mpcc_du":48.8622131,"mpcc_dv":51.1377869,"mpcc_dw":49.552784,"mpcc_enc_sign":1,"mpcc_id_a":1.13467467,"mpcc_iq_a":-0.19244121,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.854661,"mpcc_pred_id_a":-0.145964131,"mpcc_pred_iq_a":-6.230165,"mpcc_state":1,"mpcc_theta_e":0.42903614,"mpcc_theta_mech":0.55275315,"sam_rpm":12.5133152,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254600644,"thr_a_norm":0.0254600644,"thr_a_v":0.601840258,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482197315,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.251944,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.443694592,"cg_iw_a":1.79638481,"cg_theta_rad":0.556209922,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.00133456325,"mpcc_du":50.9566841,"mpcc_dv":47.6352005,"mpcc_dw":52.3647995,"mpcc_enc_sign":1,"mpcc_id_a":0.475420296,"mpcc_iq_a":-1.12595963,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.1279221,"mpcc_pred_id_a":0.0958145931,"mpcc_pred_iq_a":1.10333979,"mpcc_state":1,"mpcc_theta_e":0.421444893,"mpcc_theta_mech":0.551234901,"sam_rpm":-30.1084251,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024818033,"thr_a_norm":0.024818033,"thr_a_v":0.599272132,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.258505,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.02359605,"cg_iw_a":-0.305757284,"cg_theta_rad":0.55442816,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0179340746,"mpcc_du":48.9240761,"mpcc_dv":51.0759239,"mpcc_dw":51.4410553,"mpcc_enc_sign":1,"mpcc_id_a":2.44357657,"mpcc_iq_a":-0.998490036,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.8990488,"mpcc_pred_id_a":0.326852024,"mpcc_pred_iq_a":-5.72672176,"mpcc_state":1,"mpcc_theta_e":0.452916145,"mpcc_theta_mech":0.55266577,"sam_rpm":18.2422848,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024818033,"thr_a_norm":0.024818033,"thr_a_v":0.599272132,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.265036,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.878620625,"cg_iw_a":0.419119358,"cg_theta_rad":0.557170093,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0136699956,"mpcc_du":51.3665924,"mpcc_dv":47.200695,"mpcc_dw":52.799305,"mpcc_enc_sign":1,"mpcc_id_a":2.04320383,"mpcc_iq_a":-2.73047829,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.2647057,"mpcc_pred_id_a":-0.0567474961,"mpcc_pred_iq_a":0.0610893853,"mpcc_state":1,"mpcc_theta_e":0.430681705,"mpcc_theta_mech":0.553082287,"sam_rpm":-26.0606956,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280785114,"thr_a_norm":0.0280785114,"thr_a_v":0.612314045,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493426412,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.272818,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.89344811,"cg_iw_a":-0.523220301,"cg_theta_rad":0.555929959,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0278338008,"mpcc_du":48.9657669,"mpcc_dv":51.0342331,"mpcc_dw":49.7125931,"mpcc_enc_sign":1,"mpcc_id_a":1.06834877,"mpcc_iq_a":-1.47464776,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":27.2456627,"mpcc_pred_id_a":-0.150140598,"mpcc_pred_iq_a":-4.91101265,"mpcc_state":1,"mpcc_theta_e":0.468738556,"mpcc_theta_mech":0.560693622,"sam_rpm":40.9098969,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180705041,"thr_a_norm":0.0280785114,"thr_a_v":0.572282016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447956055,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.282858,"values":{"cg_iu_a":4.08388519,"cg_iv_a":-1.38603449,"cg_iw_a":-2.6978507,"cg_theta_rad":0.55436337,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0405021831,"mpcc_du":49.5903206,"mpcc_dv":50.1998482,"mpcc_dw":50.4096794,"mpcc_enc_sign":1,"mpcc_id_a":0.887135684,"mpcc_iq_a":-3.28041768,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.30794811,"mpcc_pred_id_a":-0.241997316,"mpcc_pred_iq_a":-1.40526104,"mpcc_state":1,"mpcc_theta_e":0.439733028,"mpcc_theta_mech":0.55489254,"sam_rpm":6.06261921,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180705041,"thr_a_norm":0.0180705041,"thr_a_v":0.572282016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447956055,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.29302,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.09608364,"cg_iw_a":-1.17560959,"cg_theta_rad":0.557120442,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0882961228,"mpcc_du":50.276886,"mpcc_dv":48.6109009,"mpcc_dw":51.3890991,"mpcc_enc_sign":1,"mpcc_id_a":1.73625505,"mpcc_iq_a":-0.461446106,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.924372971,"mpcc_pred_id_a":0.0924964696,"mpcc_pred_iq_a":-3.47777462,"mpcc_state":1,"mpcc_theta_e":0.449527264,"mpcc_theta_mech":0.556851327,"sam_rpm":3.77320981,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235213935,"thr_a_norm":0.0235213935,"thr_a_v":0.594085574,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473939121,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.302999,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.443694592,"cg_iw_a":-0.59570837,"cg_theta_rad":0.552779973,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0302852076,"mpcc_du":50.187561,"mpcc_dv":48.8393135,"mpcc_dw":51.1606865,"mpcc_enc_sign":1,"mpcc_id_a":0.858969271,"mpcc_iq_a":-0.445560962,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.44394827,"mpcc_pred_id_a":-0.229679242,"mpcc_pred_iq_a":-3.83906937,"mpcc_state":1,"mpcc_theta_e":0.439447403,"mpcc_theta_mech":0.554835439,"sam_rpm":-8.89930248,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235213935,"thr_a_norm":0.0235213935,"thr_a_v":0.594085574,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473939121,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.31304,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-0.298719406,"cg_iw_a":0.491606951,"cg_theta_rad":0.554703891,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0543420836,"mpcc_du":50.4396133,"mpcc_dv":48.4905396,"mpcc_dw":51.5094604,"mpcc_enc_sign":1,"mpcc_id_a":3.56811786,"mpcc_iq_a":2.00011492,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.87849307,"mpcc_pred_id_a":-0.0660058111,"mpcc_pred_iq_a":-1.42791879,"mpcc_state":1,"mpcc_theta_e":0.449624062,"mpcc_theta_mech":0.556870759,"sam_rpm":4.39323044,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00943465531,"thr_a_norm":0.00943465531,"thr_a_v":0.537738621,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446747541,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.323172,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-1.53100967,"cg_iw_a":-1.68302298,"cg_theta_rad":0.555059969,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.00081467058,"mpcc_du":50.7363243,"mpcc_dv":48.0831184,"mpcc_dw":51.9168816,"mpcc_enc_sign":1,"mpcc_id_a":0.320396334,"mpcc_iq_a":-1.94535613,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.87867832,"mpcc_pred_id_a":-0.0543133803,"mpcc_pred_iq_a":-0.113747656,"mpcc_state":1,"mpcc_theta_e":0.435945034,"mpcc_theta_mech":0.554134965,"sam_rpm":-13.5185804,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172144622,"thr_a_norm":0.00943465531,"thr_a_v":0.568857849,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.435468048,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.346212,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.661157608,"cg_iw_a":-3.64019012,"cg_theta_rad":0.555972278,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.00574140577,"mpcc_du":49.2936821,"mpcc_dv":50.7063179,"mpcc_dw":49.9576263,"mpcc_enc_sign":1,"mpcc_id_a":0.517865419,"mpcc_iq_a":-1.85612822,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.0851984,"mpcc_pred_id_a":-0.151796043,"mpcc_pred_iq_a":0.758871973,"mpcc_state":1,"mpcc_theta_e":0.438443661,"mpcc_theta_mech":0.554634631,"sam_rpm":12.7300835,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172144622,"thr_a_norm":0.0172144622,"thr_a_v":0.568857849,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.435468048,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.352743,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-2.0384233,"cg_iw_a":0.491607189,"cg_theta_rad":0.556539893,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0286465548,"mpcc_du":50.3540726,"mpcc_dv":48.3648529,"mpcc_dw":51.6351471,"mpcc_enc_sign":1,"mpcc_id_a":2.95801711,"mpcc_iq_a":-0.40160954,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.45153904,"mpcc_pred_id_a":0.354036778,"mpcc_pred_iq_a":-0.882330298,"mpcc_state":1,"mpcc_theta_e":0.435209751,"mpcc_theta_mech":0.553987861,"sam_rpm":-12.4836941,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0331517458,"thr_a_norm":0.0331517458,"thr_a_v":0.632606983,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477715701,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.359304,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.16857147,"cg_iw_a":-1.46555996,"cg_theta_rad":0.554141819,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0105973799,"mpcc_du":49.5437584,"mpcc_dv":49.6799927,"mpcc_dw":50.4562416,"mpcc_enc_sign":1,"mpcc_id_a":2.05820513,"mpcc_iq_a":-1.80660367,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.87742686,"mpcc_pred_id_a":-0.0631927922,"mpcc_pred_iq_a":-2.89633584,"mpcc_state":1,"mpcc_theta_e":0.443268776,"mpcc_theta_mech":0.55559963,"sam_rpm":5.2365098,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0331517458,"thr_a_norm":0.0331517458,"thr_a_v":0.632606983,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477715701,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.365805,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.16857147,"cg_iw_a":-1.32058477,"cg_theta_rad":0.55559659,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0228574015,"mpcc_du":49.196167,"mpcc_dv":50.803833,"mpcc_dw":49.9360695,"mpcc_enc_sign":1,"mpcc_id_a":2.23738408,"mpcc_iq_a":-0.422712535,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.51683426,"mpcc_pred_id_a":-0.0399722457,"mpcc_pred_iq_a":-5.6444416,"mpcc_state":1,"mpcc_theta_e":0.448826313,"mpcc_theta_mech":0.556711197,"sam_rpm":14.0249119,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0995193273,"thr_a_norm":0.0995193273,"thr_a_v":0.898077309,"thr_b":0.04477112,"thr_b_norm":0.04477112,"thr_b_v":0.67908448,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.375845,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.733645439,"cg_iw_a":-1.61053514,"cg_theta_rad":0.55377996,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.00813161209,"mpcc_du":49.7266083,"mpcc_dv":49.5927124,"mpcc_dw":50.4072876,"mpcc_enc_sign":1,"mpcc_id_a":-0.0111174453,"mpcc_iq_a":-1.75436449,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.06378365,"mpcc_pred_id_a":-0.70013684,"mpcc_pred_iq_a":-3.66932774,"mpcc_state":1,"mpcc_theta_e":0.447713375,"mpcc_theta_mech":0.556488633,"sam_rpm":9.85434437,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258628875,"thr_a_norm":0.0995193273,"thr_a_v":0.60345155,"thr_b":0,"thr_b_norm":0.04477112,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.385611,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.226231575,"cg_iw_a":-0.668195724,"cg_theta_rad":0.553894103,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0273392741,"mpcc_du":50.3937531,"mpcc_dv":48.3516541,"mpcc_dw":51.6483459,"mpcc_enc_sign":1,"mpcc_id_a":0.685941994,"mpcc_iq_a":-0.820130169,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.5285168,"mpcc_pred_id_a":0.31106627,"mpcc_pred_iq_a":-4.00151539,"mpcc_state":1,"mpcc_theta_e":0.433339119,"mpcc_theta_mech":0.553613782,"sam_rpm":-20.3458405,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258628875,"thr_a_norm":0.0258628875,"thr_a_v":0.60345155,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.396841,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.74847269,"cg_iw_a":-0.958146572,"cg_theta_rad":0.55604291,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0152761498,"mpcc_du":49.7806854,"mpcc_dv":49.3538208,"mpcc_dw":50.6461792,"mpcc_enc_sign":1,"mpcc_id_a":0.394428611,"mpcc_iq_a":-2.23327947,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.25213671,"mpcc_pred_id_a":-0.20686987,"mpcc_pred_iq_a":-4.08866882,"mpcc_state":1,"mpcc_theta_e":0.451518536,"mpcc_theta_mech":0.557249665,"sam_rpm":9.62204361,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0129594803,"thr_a_norm":0.0129594803,"thr_a_v":0.551837921,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458983719,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.408194,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.31354666,"cg_iw_a":-0.740683556,"cg_theta_rad":0.5571751,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0334008895,"mpcc_du":49.610218,"mpcc_dv":49.6777992,"mpcc_dw":50.389782,"mpcc_enc_sign":1,"mpcc_id_a":-0.143757552,"mpcc_iq_a":-2.27886105,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.96993947,"mpcc_pred_id_a":-0.519476235,"mpcc_pred_iq_a":-0.693530083,"mpcc_state":1,"mpcc_theta_e":0.431229591,"mpcc_theta_mech":0.553191841,"sam_rpm":-2.50286102,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020537883,"thr_a_norm":0.0129594803,"thr_a_v":0.582151532,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454451799,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.418203,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.6759851,"cg_iw_a":0.274143934,"cg_theta_rad":0.554582477,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0336003043,"mpcc_du":50.7001457,"mpcc_dv":48.1563187,"mpcc_dw":51.8436813,"mpcc_enc_sign":1,"mpcc_id_a":0.690689862,"mpcc_iq_a":-0.461835861,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.7186718,"mpcc_pred_id_a":-0.135979921,"mpcc_pred_iq_a":-1.03150141,"mpcc_state":1,"mpcc_theta_e":0.442635536,"mpcc_theta_mech":0.55547303,"sam_rpm":-6.64644241,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020537883,"thr_a_norm":0.020537883,"thr_a_v":0.582151532,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454451799,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.428396,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-2.18339872,"cg_iw_a":-1.61053514,"cg_theta_rad":0.551562011,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.000933546282,"mpcc_du":49.6577911,"mpcc_dv":50.2731705,"mpcc_dw":50.3422089,"mpcc_enc_sign":1,"mpcc_id_a":0.595301986,"mpcc_iq_a":-3.16267538,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.48041058,"mpcc_pred_id_a":-0.587528527,"mpcc_pred_iq_a":-4.27771091,"mpcc_state":1,"mpcc_theta_e":0.449058533,"mpcc_theta_mech":0.556757629,"sam_rpm":12.8857813,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292870253,"thr_a_norm":0.0292870253,"thr_a_v":0.617148101,"thr_b":0.000597387552,"thr_b_norm":0.000597387552,"thr_b_v":0.50238955,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.451437,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.02359605,"cg_iw_a":-1.24809718,"cg_theta_rad":0.553917706,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0376105011,"mpcc_du":49.7129211,"mpcc_dv":49.1238899,"mpcc_dw":50.8761101,"mpcc_enc_sign":1,"mpcc_id_a":3.02481484,"mpcc_iq_a":-0.292035908,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.52254391,"mpcc_pred_id_a":0.588898599,"mpcc_pred_iq_a":-0.744900644,"mpcc_state":1,"mpcc_theta_e":0.449160099,"mpcc_theta_mech":0.556777894,"sam_rpm":13.0277281,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292870253,"thr_a_norm":0.0292870253,"thr_a_v":0.617148101,"thr_b":0.000597387552,"thr_b_norm":0.000597387552,"thr_b_v":0.50238955,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.457968,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.82096052,"cg_iw_a":0.564094543,"cg_theta_rad":0.555910885,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.00683916593,"mpcc_du":49.9081535,"mpcc_dv":48.9691391,"mpcc_dw":51.0308609,"mpcc_enc_sign":1,"mpcc_id_a":1.64327276,"mpcc_iq_a":-1.16866732,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.1129837,"mpcc_pred_id_a":0.22164768,"mpcc_pred_iq_a":-2.40908027,"mpcc_state":1,"mpcc_theta_e":0.432348251,"mpcc_theta_mech":0.553415537,"sam_rpm":-11.9919977,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289597064,"thr_a_norm":0.0289597064,"thr_a_v":0.615838826,"thr_b":0.0021583885,"thr_b_norm":0.0021583885,"thr_b_v":0.508633554,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.464468,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.661157608,"cg_iw_a":-1.32058477,"cg_theta_rad":0.556767285,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0130075533,"mpcc_du":50.4033012,"mpcc_dv":48.3497696,"mpcc_dw":51.6502304,"mpcc_enc_sign":1,"mpcc_id_a":2.12753749,"mpcc_iq_a":-0.460651368,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.9759054,"mpcc_pred_id_a":0.161534384,"mpcc_pred_iq_a":-0.951715946,"mpcc_state":1,"mpcc_theta_e":0.428226948,"mpcc_theta_mech":0.552591264,"sam_rpm":-19.4616203,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289597064,"thr_a_norm":0.0289597064,"thr_a_v":0.615838826,"thr_b":0.0021583885,"thr_b_norm":0.0021583885,"thr_b_v":0.508633554,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.471151,"values":{"cg_iu_a":4.5912981,"cg_iv_a":-1.24105906,"cg_iw_a":-0.015806675,"cg_theta_rad":0.554841816,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0224766228,"mpcc_du":50.0142746,"mpcc_dv":48.8966637,"mpcc_dw":51.1033363,"mpcc_enc_sign":1,"mpcc_id_a":2.57093644,"mpcc_iq_a":-0.89682436,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.13159227,"mpcc_pred_id_a":0.141169727,"mpcc_pred_iq_a":-0.748198986,"mpcc_state":1,"mpcc_theta_e":0.444934368,"mpcc_theta_mech":0.55593282,"sam_rpm":4.62687159,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023483634,"thr_a_norm":0.023483634,"thr_a_v":0.593934536,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471320659,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.479422,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.45852208,"cg_iw_a":0.636582136,"cg_theta_rad":0.554762125,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0521146767,"mpcc_du":50.5422363,"mpcc_dv":48.2670937,"mpcc_dw":51.7329063,"mpcc_enc_sign":1,"mpcc_id_a":2.39629698,"mpcc_iq_a":0.253338367,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.701530695,"mpcc_pred_id_a":0.116859652,"mpcc_pred_iq_a":-0.191019371,"mpcc_state":1,"mpcc_theta_e":0.4447155,"mpcc_theta_mech":0.55588901,"sam_rpm":-0.682112157,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0129091293,"thr_a_norm":0.023483634,"thr_a_v":0.551636517,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453192949,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.491293,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.153744221,"cg_iw_a":-1.53804731,"cg_theta_rad":0.556936443,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0151863648,"mpcc_du":50.0607414,"mpcc_dv":48.9154282,"mpcc_dw":51.0845718,"mpcc_enc_sign":1,"mpcc_id_a":1.27170098,"mpcc_iq_a":-1.94248116,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.6243639,"mpcc_pred_id_a":-0.0825021639,"mpcc_pred_iq_a":-5.20466948,"mpcc_state":1,"mpcc_theta_e":0.443124771,"mpcc_theta_mech":0.5555709,"sam_rpm":-12.9220638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0129091293,"thr_a_norm":0.0129091293,"thr_a_v":0.551636517,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453192949,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.501425,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.24105906,"cg_iw_a":-1.97297359,"cg_theta_rad":0.556099832,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.00084546837,"mpcc_du":49.228653,"mpcc_dv":50.771347,"mpcc_dw":50.0396919,"mpcc_enc_sign":1,"mpcc_id_a":0.100876629,"mpcc_iq_a":-2.03682089,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.28015471,"mpcc_pred_id_a":-0.400917828,"mpcc_pred_iq_a":1.01721501,"mpcc_state":1,"mpcc_theta_e":0.444497108,"mpcc_theta_mech":0.55584532,"sam_rpm":22.3332081,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024490729,"thr_a_norm":0.024490729,"thr_a_v":0.597962916,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480032027,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.511648,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.371207237,"cg_iw_a":0.274144173,"cg_theta_rad":0.552616775,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0327982083,"mpcc_du":50.2039261,"mpcc_dv":48.4570618,"mpcc_dw":51.5429382,"mpcc_enc_sign":1,"mpcc_id_a":3.51720595,"mpcc_iq_a":-1.09566164,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.02798939,"mpcc_pred_id_a":0.721974671,"mpcc_pred_iq_a":-0.122778587,"mpcc_state":1,"mpcc_theta_e":0.445044518,"mpcc_theta_mech":0.555954814,"sam_rpm":-5.49170732,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0239116549,"thr_a_norm":0.024490729,"thr_a_v":0.59564662,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476910055,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.521627,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.02359605,"cg_iw_a":0.999020576,"cg_theta_rad":0.554232419,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0567762405,"mpcc_du":49.4903259,"mpcc_dv":49.5468216,"mpcc_dw":50.5096741,"mpcc_enc_sign":1,"mpcc_id_a":1.71420014,"mpcc_iq_a":-0.178139761,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.98958111,"mpcc_pred_id_a":0.386176527,"mpcc_pred_iq_a":-3.68636274,"mpcc_state":1,"mpcc_theta_e":0.452939034,"mpcc_theta_mech":0.557533681,"sam_rpm":16.7356911,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0239116549,"thr_a_norm":0.0239116549,"thr_a_v":0.59564662,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476910055,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.53179,"values":{"cg_iu_a":1.32935333,"cg_iv_a":0.498644829,"cg_iw_a":-1.03063416,"cg_theta_rad":0.555570841,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.075885579,"mpcc_du":50.5292282,"mpcc_dv":48.2872696,"mpcc_dw":51.7127304,"mpcc_enc_sign":1,"mpcc_id_a":2.40749645,"mpcc_iq_a":0.113677129,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.6059742,"mpcc_pred_id_a":0.119681872,"mpcc_pred_iq_a":-1.85651922,"mpcc_state":1,"mpcc_theta_e":0.442695618,"mpcc_theta_mech":0.556831777,"sam_rpm":-3.84679055,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.555258,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.371207237,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556846738,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.00526516419,"mpcc_du":48.9772797,"mpcc_dv":51.0227203,"mpcc_dw":49.6124382,"mpcc_enc_sign":1,"mpcc_id_a":1.19128442,"mpcc_iq_a":-2.96553159,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.7763468,"mpcc_pred_id_a":-0.242536187,"mpcc_pred_iq_a":-8.0894146,"mpcc_state":1,"mpcc_theta_e":0.441484451,"mpcc_theta_mech":0.555242836,"sam_rpm":2.02657485,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.561178,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.09608364,"cg_iw_a":0.12916851,"cg_theta_rad":0.557379186,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.00922558084,"mpcc_du":49.6248932,"mpcc_dv":49.6027985,"mpcc_dw":50.3972015,"mpcc_enc_sign":1,"mpcc_id_a":0.250788122,"mpcc_iq_a":-1.3712616,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.35534382,"mpcc_pred_id_a":-0.379936218,"mpcc_pred_iq_a":-3.21640897,"mpcc_state":1,"mpcc_theta_e":0.44970417,"mpcc_theta_mech":0.555435419,"sam_rpm":11.6036577,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234962106,"thr_a_norm":0.0234962106,"thr_a_v":0.593984842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.567678,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.516182423,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556472719,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.00671161385,"mpcc_du":50.193203,"mpcc_dv":48.8641281,"mpcc_dw":51.1358719,"mpcc_enc_sign":1,"mpcc_id_a":2.86391783,"mpcc_iq_a":-1.80351746,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.74159241,"mpcc_pred_id_a":0.245962739,"mpcc_pred_iq_a":-3.85358024,"mpcc_state":1,"mpcc_theta_e":0.439236641,"mpcc_theta_mech":0.554793239,"sam_rpm":-9.49166489,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234962106,"thr_a_norm":0.0234962106,"thr_a_v":0.593984842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.574209,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.38603449,"cg_iw_a":-1.53804779,"cg_theta_rad":0.557423532,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0168500822,"mpcc_du":49.2590752,"mpcc_dv":50.7409248,"mpcc_dw":50.153244,"mpcc_enc_sign":1,"mpcc_id_a":0.96176672,"mpcc_iq_a":-0.571020424,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.29758215,"mpcc_pred_id_a":0.289855301,"mpcc_pred_iq_a":-4.47006989,"mpcc_state":1,"mpcc_theta_e":0.426957607,"mpcc_theta_mech":0.552337468,"sam_rpm":10.0890341,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022098884,"thr_a_norm":0.022098884,"thr_a_v":0.588395536,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.582602,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.806133032,"cg_iw_a":-0.233269691,"cg_theta_rad":0.555436254,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0173788499,"mpcc_du":50.0499649,"mpcc_dv":48.9969749,"mpcc_dw":51.0030251,"mpcc_enc_sign":1,"mpcc_id_a":0.816064835,"mpcc_iq_a":-1.03698409,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.76655531,"mpcc_pred_id_a":-0.237156123,"mpcc_pred_iq_a":-1.9120698,"mpcc_state":1,"mpcc_theta_e":0.447419643,"mpcc_theta_mech":0.556429803,"sam_rpm":6.06413603,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025145337,"thr_a_norm":0.022098884,"thr_a_v":0.600581348,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492167562,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.592611,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.878620625,"cg_iw_a":-1.61053562,"cg_theta_rad":0.555973232,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.108429588,"mpcc_du":50.454628,"mpcc_dv":47.9538994,"mpcc_dw":52.0461006,"mpcc_enc_sign":1,"mpcc_id_a":4.44353819,"mpcc_iq_a":0.37703535,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.4079819,"mpcc_pred_id_a":1.09324884,"mpcc_pred_iq_a":-2.25293946,"mpcc_state":1,"mpcc_theta_e":0.436985016,"mpcc_theta_mech":0.554342926,"sam_rpm":-15.7447271,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025145337,"thr_a_norm":0.025145337,"thr_a_v":0.600581348,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492167562,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.602835,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.298719406,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556711197,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0222287346,"mpcc_du":49.5209846,"mpcc_dv":49.7458954,"mpcc_dw":50.4790154,"mpcc_enc_sign":1,"mpcc_id_a":0.127843127,"mpcc_iq_a":-1.81656182,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.28183532,"mpcc_pred_id_a":-0.204211235,"mpcc_pred_iq_a":-1.54452872,"mpcc_state":1,"mpcc_theta_e":0.443159103,"mpcc_theta_mech":0.555577695,"sam_rpm":8.6687994,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027663067,"thr_a_norm":0.027663067,"thr_a_v":0.610652268,"thr_b":0.00159189105,"thr_b_norm":0.00159189105,"thr_b_v":0.506367564,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.6126,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.53100967,"cg_iw_a":0.12916851,"cg_theta_rad":0.558723927,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0487403274,"mpcc_du":50.4320946,"mpcc_dv":48.1699257,"mpcc_dw":51.8300743,"mpcc_enc_sign":1,"mpcc_id_a":3.67921019,"mpcc_iq_a":0.466643393,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.7343121,"mpcc_pred_id_a":0.649029911,"mpcc_pred_iq_a":-0.783631921,"mpcc_state":1,"mpcc_theta_e":0.434174538,"mpcc_theta_mech":0.553780854,"sam_rpm":-18.0780296,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027663067,"thr_a_norm":0.027663067,"thr_a_v":0.610652268,"thr_b":0.00159189105,"thr_b_norm":0.00159189105,"thr_b_v":0.506367564,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.622793,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.878620625,"cg_iw_a":-1.90048599,"cg_theta_rad":0.554489553,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0109082963,"mpcc_du":49.2939415,"mpcc_dv":50.7060585,"mpcc_dw":49.9301338,"mpcc_enc_sign":1,"mpcc_id_a":0.569422066,"mpcc_iq_a":-2.43340611,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.2500701,"mpcc_pred_id_a":-0.355291277,"mpcc_pred_iq_a":-2.54562092,"mpcc_state":1,"mpcc_theta_e":0.437525272,"mpcc_theta_mech":0.554450989,"sam_rpm":15.0026779,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244781524,"thr_a_norm":0.0244781524,"thr_a_v":0.59791261,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473737687,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.6332,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-3.12573838,"cg_iw_a":-1.24809718,"cg_theta_rad":0.556139648,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0401773788,"mpcc_du":49.5288315,"mpcc_dv":49.4979553,"mpcc_dw":50.5020447,"mpcc_enc_sign":1,"mpcc_id_a":1.46306467,"mpcc_iq_a":-2.42298675,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.21212816,"mpcc_pred_id_a":0.112297565,"mpcc_pred_iq_a":-1.29618716,"mpcc_state":1,"mpcc_theta_e":0.432662964,"mpcc_theta_mech":0.553478479,"sam_rpm":-8.88390064,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0244781524,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461249709,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.655966,"values":{"cg_iu_a":4.44632339,"cg_iv_a":-0.951108456,"cg_iw_a":-0.233269691,"cg_theta_rad":0.555855393,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0421200916,"mpcc_du":50.5678101,"mpcc_dv":47.9410324,"mpcc_dw":52.0589676,"mpcc_enc_sign":1,"mpcc_id_a":3.64331818,"mpcc_iq_a":-1.50686502,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.3584719,"mpcc_pred_id_a":0.854860485,"mpcc_pred_iq_a":-0.766926229,"mpcc_state":1,"mpcc_theta_e":0.435676575,"mpcc_theta_mech":0.554081261,"sam_rpm":-14.5557032,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0236472934,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461249709,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.662527,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-3.48817682,"cg_iw_a":1.36145926,"cg_theta_rad":0.554201007,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.00828118622,"mpcc_du":50.6203384,"mpcc_dv":48.3769836,"mpcc_dw":51.6230164,"mpcc_enc_sign":1,"mpcc_id_a":0.0438161306,"mpcc_iq_a":-1.82330191,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.440872699,"mpcc_pred_id_a":-0.320296526,"mpcc_pred_iq_a":-0.211347878,"mpcc_state":1,"mpcc_theta_e":0.443486214,"mpcc_theta_mech":0.555643141,"sam_rpm":0.147801548,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023533985,"thr_a_norm":0.023533985,"thr_a_v":0.59413594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.669088,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.588670254,"cg_iw_a":-0.015806675,"cg_theta_rad":0.552453578,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.00896877423,"mpcc_du":50.9050179,"mpcc_dv":47.7370224,"mpcc_dw":52.2629776,"mpcc_enc_sign":1,"mpcc_id_a":1.48052061,"mpcc_iq_a":-1.1789732,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.0408611,"mpcc_pred_id_a":0.0941073373,"mpcc_pred_iq_a":-0.108160309,"mpcc_state":1,"mpcc_theta_e":0.429001331,"mpcc_theta_mech":0.552746177,"sam_rpm":-23.5416203,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023533985,"thr_a_norm":0.023533985,"thr_a_v":0.59413594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.675619,"values":{"cg_iu_a":2.5616436,"cg_iv_a":0.426157475,"cg_iw_a":-2.98780107,"cg_theta_rad":0.552690506,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.00451424019,"mpcc_du":49.6055794,"mpcc_dv":50.197937,"mpcc_dw":50.3944206,"mpcc_enc_sign":1,"mpcc_id_a":1.3158989,"mpcc_iq_a":-1.50597656,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.99259233,"mpcc_pred_id_a":-0.26117599,"mpcc_pred_iq_a":-3.19972491,"mpcc_state":1,"mpcc_theta_e":0.44596386,"mpcc_theta_mech":0.556138694,"sam_rpm":10.1075621,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190650076,"thr_a_norm":0.0190650076,"thr_a_v":0.57626003,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463817805,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.685415,"values":{"cg_iu_a":2.70661926,"cg_iv_a":0.498644829,"cg_iw_a":-3.20526409,"cg_theta_rad":0.550995946,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0161223821,"mpcc_du":50.8040543,"mpcc_dv":47.7078705,"mpcc_dw":52.2921295,"mpcc_enc_sign":1,"mpcc_id_a":2.36017871,"mpcc_iq_a":-2.40042019,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.9043503,"mpcc_pred_id_a":0.54398632,"mpcc_pred_iq_a":-0.398150891,"mpcc_state":1,"mpcc_theta_e":0.426310539,"mpcc_theta_mech":0.552208066,"sam_rpm":-30.8984852,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172899961,"thr_a_norm":0.0190650076,"thr_a_v":0.569159985,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446344733,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.697317,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-2.47334933,"cg_iw_a":0.129168749,"cg_theta_rad":0.553685009,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0241458863,"mpcc_du":49.2183037,"mpcc_dv":50.7816963,"mpcc_dw":49.9608574,"mpcc_enc_sign":1,"mpcc_id_a":0.868233621,"mpcc_iq_a":-0.594313622,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.71233892,"mpcc_pred_id_a":-0.197355866,"mpcc_pred_iq_a":-3.38749242,"mpcc_state":1,"mpcc_theta_e":0.44438076,"mpcc_theta_mech":0.555822074,"sam_rpm":35.3046036,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172899961,"thr_a_norm":0.0172899961,"thr_a_v":0.569159985,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446344733,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.707388,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.516182423,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.55303055,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.149847373,"mpcc_du":50.0091019,"mpcc_dv":48.5205231,"mpcc_dw":51.4794769,"mpcc_enc_sign":1,"mpcc_id_a":3.91591334,"mpcc_iq_a":0.712288797,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.8133769,"mpcc_pred_id_a":1.07021534,"mpcc_pred_iq_a":-2.81161737,"mpcc_state":1,"mpcc_theta_e":0.450945854,"mpcc_theta_mech":0.557135046,"sam_rpm":6.28867531,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.021620512,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48904556,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.718008,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.443694592,"cg_iw_a":-2.40789986,"cg_theta_rad":0.553633094,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0107165454,"mpcc_du":49.601284,"mpcc_dv":50.0120087,"mpcc_dw":50.5156288,"mpcc_enc_sign":1,"mpcc_id_a":-0.123235755,"mpcc_iq_a":-1.18417084,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0872698054,"mpcc_pred_id_a":-0.309457213,"mpcc_pred_iq_a":-1.75440657,"mpcc_state":1,"mpcc_theta_e":0.43477869,"mpcc_theta_mech":0.553960562,"sam_rpm":-1.20058584,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219729841,"thr_a_norm":0.021620512,"thr_a_v":0.587891936,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.727682,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.82096052,"cg_iw_a":-0.958146095,"cg_theta_rad":0.556368887,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0488779806,"mpcc_du":50.2515068,"mpcc_dv":48.5616798,"mpcc_dw":51.4383202,"mpcc_enc_sign":1,"mpcc_id_a":0.506729662,"mpcc_iq_a":-0.842856169,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.13060069,"mpcc_pred_id_a":-0.294333607,"mpcc_pred_iq_a":-2.87492108,"mpcc_state":1,"mpcc_theta_e":0.448225975,"mpcc_theta_mech":0.557100058,"sam_rpm":-0.0410172865,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219729841,"thr_a_norm":0.0219729841,"thr_a_v":0.587891936,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.750998,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.82096052,"cg_iw_a":0.274143934,"cg_theta_rad":0.552996516,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0381360911,"mpcc_du":50.6759415,"mpcc_dv":48.2049026,"mpcc_dw":51.7950974,"mpcc_enc_sign":1,"mpcc_id_a":0.665700376,"mpcc_iq_a":-0.178672493,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.61515427,"mpcc_pred_id_a":-0.197179973,"mpcc_pred_iq_a":-3.50211978,"mpcc_state":1,"mpcc_theta_e":0.451394558,"mpcc_theta_mech":0.55722487,"sam_rpm":-7.40263939,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211169571,"thr_a_norm":0.0211169571,"thr_a_v":0.584467828,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.757528,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.24105906,"cg_iw_a":-2.6978507,"cg_theta_rad":0.555146396,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0352941789,"mpcc_du":50.407135,"mpcc_dv":48.6271629,"mpcc_dw":51.3728371,"mpcc_enc_sign":1,"mpcc_id_a":0.773924947,"mpcc_iq_a":-1.11657846,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.35500669,"mpcc_pred_id_a":-0.288535327,"mpcc_pred_iq_a":-0.815542459,"mpcc_state":1,"mpcc_theta_e":0.452737808,"mpcc_theta_mech":0.557493448,"sam_rpm":11.7581453,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211169571,"thr_a_norm":0.0211169571,"thr_a_v":0.584467828,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.76412,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.951108456,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.55639255,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0403536744,"mpcc_du":50.2916069,"mpcc_dv":48.3399849,"mpcc_dw":51.6600151,"mpcc_enc_sign":1,"mpcc_id_a":3.55252528,"mpcc_iq_a":-0.507863939,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.86171055,"mpcc_pred_id_a":0.644634426,"mpcc_pred_iq_a":0.129770696,"mpcc_state":1,"mpcc_theta_e":0.439027309,"mpcc_theta_mech":0.554751337,"sam_rpm":-4.25825405,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248558074,"thr_a_norm":0.0248558074,"thr_a_v":0.59942323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476708621,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.77059,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-2.40086174,"cg_iw_a":-0.015806675,"cg_theta_rad":0.555950761,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.00144491077,"mpcc_du":50.0992355,"mpcc_dv":48.9381065,"mpcc_dw":51.0618935,"mpcc_enc_sign":1,"mpcc_id_a":0.517748475,"mpcc_iq_a":-2.15114331,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.91226959,"mpcc_pred_id_a":-0.0702603832,"mpcc_pred_iq_a":-0.555511355,"mpcc_state":1,"mpcc_theta_e":0.449978352,"mpcc_theta_mech":0.556941628,"sam_rpm":13.2427254,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283932239,"thr_a_norm":0.0248558074,"thr_a_v":0.613572896,"thr_b":0.000282675028,"thr_b_norm":0,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.78063,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.516182423,"cg_iw_a":-1.03063393,"cg_theta_rad":0.55711025,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0105073629,"mpcc_du":50.3047638,"mpcc_dv":48.5345192,"mpcc_dw":51.4654808,"mpcc_enc_sign":1,"mpcc_id_a":2.04812622,"mpcc_iq_a":-0.983461678,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.4940329,"mpcc_pred_id_a":0.151100293,"mpcc_pred_iq_a":-1.12593722,"mpcc_state":1,"mpcc_theta_e":0.43103075,"mpcc_theta_mech":0.553152025,"sam_rpm":-18.4267139,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283932239,"thr_a_norm":0.0283932239,"thr_a_v":0.613572896,"thr_b":0.000282675028,"thr_b_norm":0.000282675028,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.790823,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.733645439,"cg_iw_a":0.201656342,"cg_theta_rad":0.553985178,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0443406925,"mpcc_du":50.6091995,"mpcc_dv":48.3789482,"mpcc_dw":51.6210518,"mpcc_enc_sign":1,"mpcc_id_a":0.560356259,"mpcc_iq_a":-0.398799539,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.96346426,"mpcc_pred_id_a":-0.295154572,"mpcc_pred_iq_a":-2.08925819,"mpcc_state":1,"mpcc_theta_e":0.440957069,"mpcc_theta_mech":0.555137336,"sam_rpm":-5.66836309,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262405574,"thr_a_norm":0.0262405574,"thr_a_v":0.60496223,"thr_b":0.00108835101,"thr_b_norm":0.00108835101,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.800802,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-2.40086174,"cg_iw_a":-0.595707893,"cg_theta_rad":0.552805007,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.103390858,"mpcc_du":50.545681,"mpcc_dv":48.0365715,"mpcc_dw":51.9634285,"mpcc_enc_sign":1,"mpcc_id_a":2.40114689,"mpcc_iq_a":0.752607942,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.23560011,"mpcc_pred_id_a":0.769335687,"mpcc_pred_iq_a":-0.393688768,"mpcc_state":1,"mpcc_theta_e":0.448826313,"mpcc_theta_mech":0.556711197,"sam_rpm":3.17758846,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262405574,"thr_a_norm":0.0262405574,"thr_a_v":0.60496223,"thr_b":0.00108835101,"thr_b_norm":0.00108835101,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.811087,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.516182423,"cg_iw_a":-1.90048599,"cg_theta_rad":0.552751601,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0163660161,"mpcc_du":49.546608,"mpcc_dv":49.4174118,"mpcc_dw":50.5825882,"mpcc_enc_sign":1,"mpcc_id_a":2.01692748,"mpcc_iq_a":-1.73044372,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.34653854,"mpcc_pred_id_a":0.171590149,"mpcc_pred_iq_a":-1.1016407,"mpcc_state":1,"mpcc_theta_e":0.439661503,"mpcc_theta_mech":0.554878235,"sam_rpm":0.476859659,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.028468743,"thr_a_norm":0.028468743,"thr_a_v":0.613874972,"thr_b":0.00308994949,"thr_b_norm":0.00308994949,"thr_b_v":0.512359798,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.82128,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.16857147,"cg_iw_a":-1.61053514,"cg_theta_rad":0.557065606,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0662595928,"mpcc_du":49.9843941,"mpcc_dv":49.0394936,"mpcc_dw":50.9605064,"mpcc_enc_sign":1,"mpcc_id_a":1.31182683,"mpcc_iq_a":0.165494412,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.35277033,"mpcc_pred_id_a":-0.193080202,"mpcc_pred_iq_a":-1.66134346,"mpcc_state":1,"mpcc_theta_e":0.446315289,"mpcc_theta_mech":0.556208968,"sam_rpm":4.95547771,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254474729,"thr_a_norm":0.028468743,"thr_a_v":0.601789892,"thr_b":0.00181849301,"thr_b_norm":0.00308994949,"thr_b_v":0.507273972,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.831289,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.443694592,"cg_iw_a":-2.26292467,"cg_theta_rad":0.556323111,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0684652701,"mpcc_du":49.6642075,"mpcc_dv":49.163826,"mpcc_dw":50.836174,"mpcc_enc_sign":1,"mpcc_id_a":3.38745737,"mpcc_iq_a":-0.717971027,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.479805,"mpcc_pred_id_a":0.480576277,"mpcc_pred_iq_a":-2.36798263,"mpcc_state":1,"mpcc_theta_e":0.454209328,"mpcc_theta_mech":0.557787776,"sam_rpm":17.2524567,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254474729,"thr_a_norm":0.0254474729,"thr_a_v":0.601789892,"thr_b":0.00181849301,"thr_b_norm":0.00181849301,"thr_b_v":0.507273972,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.854422,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-3.99559045,"cg_iw_a":2.88370013,"cg_theta_rad":0.556871057,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.00351684773,"mpcc_du":49.6329422,"mpcc_dv":50.3670578,"mpcc_dw":50.3331223,"mpcc_enc_sign":1,"mpcc_id_a":0.408591479,"mpcc_iq_a":-1.42676055,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.4546318,"mpcc_pred_id_a":-0.230712786,"mpcc_pred_iq_a":-6.6116662,"mpcc_state":1,"mpcc_theta_e":0.430661201,"mpcc_theta_mech":0.553078115,"sam_rpm":-3.78480411,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241004825,"thr_a_norm":0.0241004825,"thr_a_v":0.59640193,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470061809,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.860952,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.371207237,"cg_iw_a":-2.26292419,"cg_theta_rad":0.554626524,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0258306693,"mpcc_du":49.0182152,"mpcc_dv":50.9817848,"mpcc_dw":49.8466949,"mpcc_enc_sign":1,"mpcc_id_a":0.764067769,"mpcc_iq_a":-0.306420982,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.27250195,"mpcc_pred_id_a":-0.422465384,"mpcc_pred_iq_a":-0.91437453,"mpcc_state":1,"mpcc_theta_e":0.437204361,"mpcc_theta_mech":0.554386795,"sam_rpm":28.8776436,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241004825,"thr_a_norm":0.0241004825,"thr_a_v":0.59640193,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470061809,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.867453,"values":{"cg_iu_a":4.37383556,"cg_iv_a":-0.0812563896,"cg_iw_a":0.0566811562,"cg_theta_rad":0.555876315,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0338283069,"mpcc_du":49.4938583,"mpcc_dv":49.3164444,"mpcc_dw":50.6835556,"mpcc_enc_sign":1,"mpcc_id_a":3.3409915,"mpcc_iq_a":-0.429903209,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.6336908,"mpcc_pred_id_a":0.48846215,"mpcc_pred_iq_a":-3.59847116,"mpcc_state":1,"mpcc_theta_e":0.432017803,"mpcc_theta_mech":0.553349495,"sam_rpm":-4.56424236,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0171640962,"thr_a_norm":0.0171640962,"thr_a_v":0.568656385,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440704972,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.873983,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.806133032,"cg_iw_a":-0.160782099,"cg_theta_rad":0.556434691,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0437802263,"mpcc_du":50.1040192,"mpcc_dv":48.4237595,"mpcc_dw":51.5762405,"mpcc_enc_sign":1,"mpcc_id_a":4.18099594,"mpcc_iq_a":-1.72288358,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.6377926,"mpcc_pred_id_a":0.846259296,"mpcc_pred_iq_a":-2.1657722,"mpcc_state":1,"mpcc_theta_e":0.428799152,"mpcc_theta_mech":0.552705765,"sam_rpm":-21.9669533,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276378989,"thr_a_norm":0.0171640962,"thr_a_v":0.610551596,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4983612,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.881887,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.45852208,"cg_iw_a":0.491607189,"cg_theta_rad":0.553165913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0026174034,"mpcc_du":50.0200348,"mpcc_dv":49.034523,"mpcc_dw":50.965477,"mpcc_enc_sign":1,"mpcc_id_a":1.01889718,"mpcc_iq_a":-1.96397209,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.83049941,"mpcc_pred_id_a":-0.291112661,"mpcc_pred_iq_a":-0.924514472,"mpcc_state":1,"mpcc_theta_e":0.444404125,"mpcc_theta_mech":0.555826724,"sam_rpm":4.02062988,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276378989,"thr_a_norm":0.0276378989,"thr_a_v":0.610551596,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4983612,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.892172,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.24105906,"cg_iw_a":1.57892203,"cg_theta_rad":0.556688666,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.00966020487,"mpcc_du":49.6196289,"mpcc_dv":50.1718254,"mpcc_dw":50.3803711,"mpcc_enc_sign":1,"mpcc_id_a":2.42449045,"mpcc_iq_a":-1.70887446,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.8118372,"mpcc_pred_id_a":-0.387204915,"mpcc_pred_iq_a":-5.08377457,"mpcc_state":1,"mpcc_theta_e":0.445226192,"mpcc_theta_mech":0.555991113,"sam_rpm":8.94736862,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225898325,"thr_a_norm":0.0225898325,"thr_a_v":0.59035933,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479780257,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.901999,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.82096052,"cg_iw_a":0.491607189,"cg_theta_rad":0.554244936,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0197269171,"mpcc_du":49.9860344,"mpcc_dv":48.8888512,"mpcc_dw":51.1111488,"mpcc_enc_sign":1,"mpcc_id_a":2.50556087,"mpcc_iq_a":-0.515881002,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.34881449,"mpcc_pred_id_a":0.141621992,"mpcc_pred_iq_a":-2.28139305,"mpcc_state":1,"mpcc_theta_e":0.435780048,"mpcc_theta_mech":0.554101944,"sam_rpm":-10.0769262,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225898325,"thr_a_norm":0.0225898325,"thr_a_v":0.59035933,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479780257,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.912191,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.516182423,"cg_iw_a":0.274144173,"cg_theta_rad":0.555030882,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.0193049293,"mpcc_du":49.5238762,"mpcc_dv":50.1387062,"mpcc_dw":50.4761238,"mpcc_enc_sign":1,"mpcc_id_a":1.88244617,"mpcc_iq_a":-0.151384056,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.94991016,"mpcc_pred_id_a":0.192488357,"mpcc_pred_iq_a":-3.35748172,"mpcc_state":1,"mpcc_theta_e":0.445001602,"mpcc_theta_mech":0.555946231,"sam_rpm":10.7787981,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247173309,"thr_a_norm":0.0247173309,"thr_a_v":0.598869324,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487081707,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.922476,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.588670254,"cg_iw_a":0.346632004,"cg_theta_rad":0.559080184,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5004,"hz_app_loop":359,"hz_tim_isr":10008,"hz_vsense":359,"mpcc_cost":0.00260511809,"mpcc_du":49.5993614,"mpcc_dv":49.528347,"mpcc_dw":50.471653,"mpcc_enc_sign":1,"mpcc_id_a":1.0250473,"mpcc_iq_a":-2.32019877,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.9109077,"mpcc_pred_id_a":-0.29280439,"mpcc_pred_iq_a":-5.01494741,"mpcc_state":1,"mpcc_theta_e":0.436145306,"mpcc_theta_mech":0.55417496,"sam_rpm":-6.37050867,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0317544043,"thr_a_norm":0.0247173309,"thr_a_v":0.627017617,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.93276,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.0384233,"cg_iw_a":0.854045153,"cg_theta_rad":0.557080746,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0362932533,"mpcc_du":49.873024,"mpcc_dv":49.1949463,"mpcc_dw":50.8050537,"mpcc_enc_sign":1,"mpcc_id_a":-0.110398151,"mpcc_iq_a":-0.453253329,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.52189708,"mpcc_pred_id_a":-0.345828027,"mpcc_pred_iq_a":-3.84738421,"mpcc_state":1,"mpcc_theta_e":0.448512077,"mpcc_theta_mech":0.556648374,"sam_rpm":4.68491793,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0317544043,"thr_a_norm":0.0317544043,"thr_a_v":0.627017617,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.956045,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.661157608,"cg_iw_a":-2.19043684,"cg_theta_rad":0.555519044,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.00493329437,"mpcc_du":50.7047462,"mpcc_dv":48.2654724,"mpcc_dw":51.7345276,"mpcc_enc_sign":1,"mpcc_id_a":-0.785400033,"mpcc_iq_a":-1.61534309,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.4779148,"mpcc_pred_id_a":-0.873728335,"mpcc_pred_iq_a":-3.45288706,"mpcc_state":1,"mpcc_theta_e":0.425879002,"mpcc_theta_mech":0.552121699,"sam_rpm":-29.0519657,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474492997,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.962515,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.02359605,"cg_iw_a":-0.23326993,"cg_theta_rad":0.557403922,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.101988696,"mpcc_du":49.28088,"mpcc_dv":49.234417,"mpcc_dw":50.765583,"mpcc_enc_sign":1,"mpcc_id_a":5.94650173,"mpcc_iq_a":-0.0507243313,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.98082018,"mpcc_pred_id_a":1.31202495,"mpcc_pred_iq_a":-2.4371295,"mpcc_state":1,"mpcc_theta_e":0.445218086,"mpcc_theta_mech":0.555989563,"sam_rpm":5.68613863,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194174796,"thr_a_norm":0.0224387646,"thr_a_v":0.577669919,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460091561,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.969046,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.153744221,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556438327,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.00141713792,"mpcc_du":49.8612518,"mpcc_dv":49.0548706,"mpcc_dw":50.9451294,"mpcc_enc_sign":1,"mpcc_id_a":-0.0210748632,"mpcc_iq_a":-1.32125771,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.53871536,"mpcc_pred_id_a":-0.197583765,"mpcc_pred_iq_a":-2.56038594,"mpcc_state":1,"mpcc_theta_e":0.430290699,"mpcc_theta_mech":0.553004086,"sam_rpm":-15.0904408,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194174796,"thr_a_norm":0.0194174796,"thr_a_v":0.577669919,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460091561,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.975576,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-2.98076296,"cg_iw_a":0.926532745,"cg_theta_rad":0.553006113,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.00617613224,"mpcc_du":49.6094971,"mpcc_dv":49.444355,"mpcc_dw":50.555645,"mpcc_enc_sign":1,"mpcc_id_a":-0.230720237,"mpcc_iq_a":-2.06352019,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.20526135,"mpcc_pred_id_a":-0.318287551,"mpcc_pred_iq_a":-2.6902411,"mpcc_state":1,"mpcc_theta_e":0.44344902,"mpcc_theta_mech":0.55563575,"sam_rpm":13.391922,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194930136,"thr_a_norm":0.0194930136,"thr_a_v":0.577972054,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.985586,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.82096052,"cg_iw_a":-0.378244877,"cg_theta_rad":0.5555709,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0162692908,"mpcc_du":49.9545479,"mpcc_dv":48.7417221,"mpcc_dw":51.2582779,"mpcc_enc_sign":1,"mpcc_id_a":2.34718394,"mpcc_iq_a":-1.19821453,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.554127097,"mpcc_pred_id_a":0.418888032,"mpcc_pred_iq_a":-0.669311643,"mpcc_state":1,"mpcc_theta_e":0.441780567,"mpcc_theta_mech":0.555302024,"sam_rpm":0.815775454,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194930136,"thr_a_norm":0.0194930136,"thr_a_v":0.577972054,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":28.998007,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.53100967,"cg_iw_a":0.419119358,"cg_theta_rad":0.55238843,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.00637069438,"mpcc_du":50.2340355,"mpcc_dv":48.5114708,"mpcc_dw":51.4885292,"mpcc_enc_sign":1,"mpcc_id_a":1.52445555,"mpcc_iq_a":0.129753351,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.86127853,"mpcc_pred_id_a":0.130964503,"mpcc_pred_iq_a":0.608714283,"mpcc_state":1,"mpcc_theta_e":0.432957649,"mpcc_theta_mech":0.553537488,"sam_rpm":-10.2058392,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0236472934,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457573801,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.0082,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-2.0384233,"cg_iw_a":1.57892203,"cg_theta_rad":0.554163814,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.01594094,"mpcc_du":50.2196922,"mpcc_dv":48.4201393,"mpcc_dw":51.5798607,"mpcc_enc_sign":1,"mpcc_id_a":1.52721155,"mpcc_iq_a":-0.385338753,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.68340731,"mpcc_pred_id_a":0.486698419,"mpcc_pred_iq_a":-0.623590767,"mpcc_state":1,"mpcc_theta_e":0.43686676,"mpcc_theta_mech":0.554319263,"sam_rpm":-6.88327265,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285694748,"thr_a_norm":0.0285694748,"thr_a_v":0.614277899,"thr_b":0.00190661848,"thr_b_norm":0.00190661848,"thr_b_v":0.507626474,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.017965,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.24105906,"cg_iw_a":0.564094782,"cg_theta_rad":0.559429467,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0579546653,"mpcc_du":49.8463249,"mpcc_dv":49.1727448,"mpcc_dw":50.8272552,"mpcc_enc_sign":1,"mpcc_id_a":1.19057071,"mpcc_iq_a":-2.7561202,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.3905468,"mpcc_pred_id_a":-0.123183891,"mpcc_pred_iq_a":-2.62640238,"mpcc_state":1,"mpcc_theta_e":0.450422764,"mpcc_theta_mech":0.557030439,"sam_rpm":13.0298996,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285694748,"thr_a_norm":0.0285694748,"thr_a_v":0.614277899,"thr_b":0.00190661848,"thr_b_norm":0.00190661848,"thr_b_v":0.507626474,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.028189,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.806133032,"cg_iw_a":-0.378245115,"cg_theta_rad":0.556262255,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0433738679,"mpcc_du":50.8497353,"mpcc_dv":47.6597176,"mpcc_dw":52.3402824,"mpcc_enc_sign":1,"mpcc_id_a":2.55107355,"mpcc_iq_a":-0.0651306584,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.9831352,"mpcc_pred_id_a":0.33721,"mpcc_pred_iq_a":-0.4152942,"mpcc_state":1,"mpcc_theta_e":0.431797504,"mpcc_theta_mech":0.553305387,"sam_rpm":-19.6729736,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269958824,"thr_a_norm":0.0269958824,"thr_a_v":0.60798353,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488995194,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.038534,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.0384233,"cg_iw_a":1.21648335,"cg_theta_rad":0.557165325,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0382209532,"mpcc_du":50.2055054,"mpcc_dv":48.9127541,"mpcc_dw":51.0872459,"mpcc_enc_sign":1,"mpcc_id_a":-0.654827058,"mpcc_iq_a":0.0863397419,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.81881881,"mpcc_pred_id_a":-0.697684824,"mpcc_pred_iq_a":-1.61908388,"mpcc_state":1,"mpcc_theta_e":0.446984291,"mpcc_theta_mech":0.557309449,"sam_rpm":7.02352667,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269077569,"thr_a_norm":0.0269958824,"thr_a_v":0.607631028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482751191,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.063803,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.02359605,"cg_iw_a":-2.04546142,"cg_theta_rad":0.552766323,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.00709386356,"mpcc_du":51.1927223,"mpcc_dv":47.2963829,"mpcc_dw":52.7036171,"mpcc_enc_sign":1,"mpcc_id_a":1.67775834,"mpcc_iq_a":-1.96353984,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.887289,"mpcc_pred_id_a":0.0688131377,"mpcc_pred_iq_a":2.40592337,"mpcc_state":1,"mpcc_theta_e":0.430565357,"mpcc_theta_mech":0.553058982,"sam_rpm":-19.3862553,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269077569,"thr_a_norm":0.0269077569,"thr_a_v":0.607631028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482751191,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.070395,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.298719406,"cg_iw_a":-1.39307213,"cg_theta_rad":0.555576921,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0298069809,"mpcc_du":49.0480652,"mpcc_dv":50.9519348,"mpcc_dw":49.8766556,"mpcc_enc_sign":1,"mpcc_id_a":2.80010319,"mpcc_iq_a":-0.0864514261,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.34031773,"mpcc_pred_id_a":0.0605110191,"mpcc_pred_iq_a":-6.09594202,"mpcc_state":1,"mpcc_theta_e":0.447629452,"mpcc_theta_mech":0.556471825,"sam_rpm":12.2850523,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278393179,"thr_a_norm":0.0278393179,"thr_a_v":0.611357272,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498411536,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.076864,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.806133032,"cg_iw_a":-0.958146334,"cg_theta_rad":0.553849161,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.00587264448,"mpcc_du":49.5283127,"mpcc_dv":49.7593002,"mpcc_dw":50.4716873,"mpcc_enc_sign":1,"mpcc_id_a":0.616435766,"mpcc_iq_a":-2.28834867,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.07286263,"mpcc_pred_id_a":-0.0681170821,"mpcc_pred_iq_a":-4.67216635,"mpcc_state":1,"mpcc_theta_e":0.447990894,"mpcc_theta_mech":0.556544065,"sam_rpm":7.86350012,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278393179,"thr_a_norm":0.0278393179,"thr_a_v":0.611357272,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498411536,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.083395,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-1.89344811,"cg_iw_a":1.79638505,"cg_theta_rad":0.556846559,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.012616002,"mpcc_du":50.2816544,"mpcc_dv":48.538662,"mpcc_dw":51.461338,"mpcc_enc_sign":1,"mpcc_id_a":1.17132986,"mpcc_iq_a":-0.797024488,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.45637798,"mpcc_pred_id_a":0.0105469832,"mpcc_pred_iq_a":-1.68224514,"mpcc_state":1,"mpcc_theta_e":0.452140331,"mpcc_theta_mech":0.557373941,"sam_rpm":-9.12441921,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0157667696,"thr_a_norm":0.0157667696,"thr_a_v":0.563067079,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471471697,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.093374,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.443694592,"cg_iw_a":1.36145902,"cg_theta_rad":0.557105541,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0742285401,"mpcc_du":50.2165337,"mpcc_dv":48.3045349,"mpcc_dw":51.6954651,"mpcc_enc_sign":1,"mpcc_id_a":3.76283979,"mpcc_iq_a":0.968233824,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.90325546,"mpcc_pred_id_a":0.880380929,"mpcc_pred_iq_a":-1.03550494,"mpcc_state":1,"mpcc_theta_e":0.438165188,"mpcc_theta_mech":0.55457896,"sam_rpm":-8.1315527,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174410641,"thr_a_norm":0.0157667696,"thr_a_v":0.569764256,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447502851,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.103201,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.806133032,"cg_iw_a":-1.90048623,"cg_theta_rad":0.555550635,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0123040732,"mpcc_du":50.3475647,"mpcc_dv":48.5080223,"mpcc_dw":51.4919777,"mpcc_enc_sign":1,"mpcc_id_a":1.53822637,"mpcc_iq_a":-2.72392535,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.19689798,"mpcc_pred_id_a":0.016053576,"mpcc_pred_iq_a":-2.18551207,"mpcc_state":1,"mpcc_theta_e":0.445383549,"mpcc_theta_mech":0.556022644,"sam_rpm":-2.20235944,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174410641,"thr_a_norm":0.0174410641,"thr_a_v":0.569764256,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447502851,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.113394,"values":{"cg_iu_a":3.72144651,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.557363927,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.00887859426,"mpcc_du":49.5619278,"mpcc_dv":49.7792702,"mpcc_dw":50.4380722,"mpcc_enc_sign":1,"mpcc_id_a":1.29015684,"mpcc_iq_a":-3.25095773,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.53751612,"mpcc_pred_id_a":-0.22224769,"mpcc_pred_iq_a":-2.96739912,"mpcc_state":1,"mpcc_theta_e":0.444047928,"mpcc_theta_mech":0.555755496,"sam_rpm":6.80206966,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273861289,"thr_a_norm":0.0273861289,"thr_a_v":0.609544516,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484765351,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.125784,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.09608364,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556049585,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0388371684,"mpcc_du":50.099987,"mpcc_dv":48.8633728,"mpcc_dw":51.1366272,"mpcc_enc_sign":1,"mpcc_id_a":0.831005216,"mpcc_iq_a":-1.98613894,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.49557829,"mpcc_pred_id_a":-0.140795752,"mpcc_pred_iq_a":-3.51719451,"mpcc_state":1,"mpcc_theta_e":0.45500803,"mpcc_theta_mech":0.557947516,"sam_rpm":8.96028423,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201602131,"thr_a_norm":0.0273861289,"thr_a_v":0.580640852,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454804301,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.13558,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.38603449,"cg_iw_a":0.78155756,"cg_theta_rad":0.558449924,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0199484229,"mpcc_du":50.343689,"mpcc_dv":48.7747078,"mpcc_dw":51.2252922,"mpcc_enc_sign":1,"mpcc_id_a":-0.0385670327,"mpcc_iq_a":-1.32086289,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.92225218,"mpcc_pred_id_a":-0.696457565,"mpcc_pred_iq_a":-2.66915679,"mpcc_state":1,"mpcc_theta_e":0.443531513,"mpcc_theta_mech":0.555652201,"sam_rpm":-1.41410732,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201602131,"thr_a_norm":0.0201602131,"thr_a_v":0.580640852,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454804301,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.158834,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-2.90827537,"cg_iw_a":1.21648383,"cg_theta_rad":0.553247571,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.016116837,"mpcc_du":51.0953789,"mpcc_dv":47.5320435,"mpcc_dw":52.4679565,"mpcc_enc_sign":1,"mpcc_id_a":2.30534983,"mpcc_iq_a":-0.599259019,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.5586805,"mpcc_pred_id_a":0.0555696078,"mpcc_pred_iq_a":2.47015977,"mpcc_state":1,"mpcc_theta_e":0.432662964,"mpcc_theta_mech":0.553478479,"sam_rpm":-17.0360947,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0191279501,"thr_a_norm":0.0191279501,"thr_a_v":0.5765118,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463213563,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.165304,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.878620625,"cg_iw_a":-0.305757523,"cg_theta_rad":0.557483256,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.000279465457,"mpcc_du":49.4525719,"mpcc_dv":50.5474281,"mpcc_dw":50.1530647,"mpcc_enc_sign":1,"mpcc_id_a":-0.185816035,"mpcc_iq_a":-0.829475045,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-22.3753605,"mpcc_pred_id_a":-0.0830631107,"mpcc_pred_iq_a":-3.11714602,"mpcc_state":1,"mpcc_theta_e":0.421188831,"mpcc_theta_mech":0.551183641,"sam_rpm":8.71557522,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283806324,"thr_a_norm":0.0191279501,"thr_a_v":0.61352253,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499972522,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.171865,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-2.25588632,"cg_iw_a":-1.75551081,"cg_theta_rad":0.553576529,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0214209706,"mpcc_du":50.2880363,"mpcc_dv":48.4098396,"mpcc_dw":51.5901604,"mpcc_enc_sign":1,"mpcc_id_a":2.68433404,"mpcc_iq_a":-1.16288912,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.86557603,"mpcc_pred_id_a":0.272740275,"mpcc_pred_iq_a":-0.320602477,"mpcc_state":1,"mpcc_theta_e":0.438812256,"mpcc_theta_mech":0.554708362,"sam_rpm":-5.88565016,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283806324,"thr_a_norm":0.0283806324,"thr_a_v":0.61352253,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499972522,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.178366,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.02359605,"cg_iw_a":1.07150841,"cg_theta_rad":0.554699898,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0100496607,"mpcc_du":50.8207436,"mpcc_dv":47.8405571,"mpcc_dw":52.1594429,"mpcc_enc_sign":1,"mpcc_id_a":1.49750125,"mpcc_iq_a":-0.964987695,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.0350885,"mpcc_pred_id_a":0.0602045767,"mpcc_pred_iq_a":0.609848678,"mpcc_state":1,"mpcc_theta_e":0.433308125,"mpcc_theta_mech":0.553607583,"sam_rpm":-16.1107006,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199462175,"thr_a_norm":0.0199462175,"thr_a_v":0.57978487,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477866769,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.188131,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.60349751,"cg_iw_a":0.12916851,"cg_theta_rad":0.554051101,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.00282808812,"mpcc_du":49.5465088,"mpcc_dv":50.174881,"mpcc_dw":50.4534912,"mpcc_enc_sign":1,"mpcc_id_a":0.779175043,"mpcc_iq_a":-0.803124309,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.7867165,"mpcc_pred_id_a":-0.0648472309,"mpcc_pred_iq_a":-4.45417786,"mpcc_state":1,"mpcc_theta_e":0.421119213,"mpcc_theta_mech":0.551169753,"sam_rpm":-9.91377544,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199462175,"thr_a_norm":0.0199462175,"thr_a_v":0.57978487,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477866769,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.198233,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.878620625,"cg_iw_a":-0.885658741,"cg_theta_rad":0.557955921,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0164307579,"mpcc_du":49.6115074,"mpcc_dv":50.3352242,"mpcc_dw":50.3884926,"mpcc_enc_sign":1,"mpcc_id_a":1.21798718,"mpcc_iq_a":-1.21540105,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.79854822,"mpcc_pred_id_a":-0.434242487,"mpcc_pred_iq_a":-0.855354726,"mpcc_state":1,"mpcc_theta_e":0.439382553,"mpcc_theta_mech":0.554822385,"sam_rpm":8.28365326,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025145337,"thr_a_norm":0.025145337,"thr_a_v":0.600581348,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.208578,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.38603449,"cg_iw_a":-1.68302298,"cg_theta_rad":0.555912614,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0633504987,"mpcc_du":49.5465393,"mpcc_dv":49.0804214,"mpcc_dw":50.9195786,"mpcc_enc_sign":1,"mpcc_id_a":4.66942358,"mpcc_iq_a":0.211879089,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.20323181,"mpcc_pred_id_a":0.886707962,"mpcc_pred_iq_a":0.731959045,"mpcc_state":1,"mpcc_theta_e":0.42983532,"mpcc_theta_mech":0.552912951,"sam_rpm":-9.85285282,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0323334783,"thr_a_norm":0.025145337,"thr_a_v":0.629333913,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485772491,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.220388,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-0.951108456,"cg_iw_a":-0.305757523,"cg_theta_rad":0.556520224,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0447009802,"mpcc_du":49.8786964,"mpcc_dv":48.7574234,"mpcc_dw":51.2425766,"mpcc_enc_sign":1,"mpcc_id_a":4.22388697,"mpcc_iq_a":-0.410730541,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.2452412,"mpcc_pred_id_a":0.707029402,"mpcc_pred_iq_a":-2.15765953,"mpcc_state":1,"mpcc_theta_e":0.42941761,"mpcc_theta_mech":0.552829444,"sam_rpm":-19.4821148,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0323334783,"thr_a_norm":0.0323334783,"thr_a_v":0.629333913,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485772491,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.230612,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.6759851,"cg_iw_a":-2.33541203,"cg_theta_rad":0.557925165,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0708873346,"mpcc_du":49.9571381,"mpcc_dv":48.8268013,"mpcc_dw":51.1731987,"mpcc_enc_sign":1,"mpcc_id_a":2.86825633,"mpcc_iq_a":-0.451611578,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.41193295,"mpcc_pred_id_a":0.406699866,"mpcc_pred_iq_a":-2.567837,"mpcc_state":1,"mpcc_theta_e":0.450049877,"mpcc_theta_mech":0.556955874,"sam_rpm":8.40417099,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44438085,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.240744,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.02359605,"cg_iw_a":-0.450732946,"cg_theta_rad":0.558795333,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0160605423,"mpcc_du":49.282093,"mpcc_dv":50.717907,"mpcc_dw":50.1209106,"mpcc_enc_sign":1,"mpcc_id_a":1.90975177,"mpcc_iq_a":-0.936591446,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.90569925,"mpcc_pred_id_a":0.0212808046,"mpcc_pred_iq_a":-3.26414347,"mpcc_state":1,"mpcc_theta_e":0.438192844,"mpcc_theta_mech":0.554584503,"sam_rpm":4.4414382,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0191027671,"thr_a_norm":0.0200217366,"thr_a_v":0.576411068,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472932041,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.263784,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-2.54583716,"cg_iw_a":1.28897119,"cg_theta_rad":0.556676388,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0231850985,"mpcc_du":50.3574867,"mpcc_dv":48.3595047,"mpcc_dw":51.6404953,"mpcc_enc_sign":1,"mpcc_id_a":2.2428143,"mpcc_iq_a":-0.909323871,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.72748709,"mpcc_pred_id_a":0.298954815,"mpcc_pred_iq_a":-1.40426517,"mpcc_state":1,"mpcc_theta_e":0.438768864,"mpcc_theta_mech":0.554699719,"sam_rpm":-9.916255,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0191027671,"thr_a_norm":0.0191027671,"thr_a_v":0.576411068,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472932041,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.270346,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.45852208,"cg_iw_a":0.129168749,"cg_theta_rad":0.554844856,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0186073333,"mpcc_du":49.1924973,"mpcc_dv":50.8075027,"mpcc_dw":49.8396149,"mpcc_enc_sign":1,"mpcc_id_a":0.322489679,"mpcc_iq_a":-0.713822126,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.359539,"mpcc_pred_id_a":-0.392977297,"mpcc_pred_iq_a":-5.19886923,"mpcc_state":1,"mpcc_theta_e":0.457203388,"mpcc_theta_mech":0.558386624,"sam_rpm":24.4832268,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0267189294,"thr_a_norm":0.0267189294,"thr_a_v":0.606875718,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.276785,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-1.16857147,"cg_iw_a":0.999020576,"cg_theta_rad":0.556920886,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.00921573862,"mpcc_du":50.2465973,"mpcc_dv":48.9335556,"mpcc_dw":51.0664444,"mpcc_enc_sign":1,"mpcc_id_a":-0.167539299,"mpcc_iq_a":-1.25891387,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.905210435,"mpcc_pred_id_a":-0.613733232,"mpcc_pred_iq_a":-2.21676922,"mpcc_state":1,"mpcc_theta_e":0.441962242,"mpcc_theta_mech":0.555338383,"sam_rpm":-0.758935988,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0267189294,"thr_a_norm":0.0267189294,"thr_a_v":0.606875718,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.284323,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-2.11091113,"cg_iw_a":-0.813171148,"cg_theta_rad":0.557070434,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.020864699,"mpcc_du":48.8556862,"mpcc_dv":51.1443138,"mpcc_dw":49.5756683,"mpcc_enc_sign":1,"mpcc_id_a":2.39327693,"mpcc_iq_a":-0.267546892,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.51656437,"mpcc_pred_id_a":0.0570026226,"mpcc_pred_iq_a":-6.92734098,"mpcc_state":1,"mpcc_theta_e":0.449624538,"mpcc_theta_mech":0.556870818,"sam_rpm":11.9344807,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234206915,"thr_a_norm":0.0234206915,"thr_a_v":0.593682766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472932041,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.293753,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-3.05325079,"cg_iw_a":0.0566809177,"cg_theta_rad":0.553093374,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0134745687,"mpcc_du":50.0268097,"mpcc_dv":49.1485214,"mpcc_dw":50.9325752,"mpcc_enc_sign":1,"mpcc_id_a":0.0338520221,"mpcc_iq_a":-1.8235141,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.90951967,"mpcc_pred_id_a":-0.477898777,"mpcc_pred_iq_a":-3.36657715,"mpcc_state":1,"mpcc_theta_e":0.448950768,"mpcc_theta_mech":0.556736112,"sam_rpm":4.92132282,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190020651,"thr_a_norm":0.0234206915,"thr_a_v":0.57600826,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472478837,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.303396,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-1.82096052,"cg_iw_a":-1.53804779,"cg_theta_rad":0.556295574,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0133716743,"mpcc_du":49.552433,"mpcc_dv":50.1645851,"mpcc_dw":50.447567,"mpcc_enc_sign":1,"mpcc_id_a":0.236748114,"mpcc_iq_a":-2.09860492,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.43257809,"mpcc_pred_id_a":0.0727997273,"mpcc_pred_iq_a":-1.24214602,"mpcc_state":1,"mpcc_theta_e":0.442122459,"mpcc_theta_mech":0.55537039,"sam_rpm":9.46597385,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190020651,"thr_a_norm":0.0190020651,"thr_a_v":0.57600826,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472478837,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.313559,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.31354666,"cg_iw_a":-1.75551081,"cg_theta_rad":0.555117071,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.00236619636,"mpcc_du":49.6110268,"mpcc_dv":49.6850243,"mpcc_dw":50.3889732,"mpcc_enc_sign":1,"mpcc_id_a":-0.200680837,"mpcc_iq_a":-1.9873302,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.49833667,"mpcc_pred_id_a":-0.389128417,"mpcc_pred_iq_a":-4.80616903,"mpcc_state":1,"mpcc_theta_e":0.44640398,"mpcc_theta_mech":0.556226671,"sam_rpm":1.33581555,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165976137,"thr_a_norm":0.0165976137,"thr_a_v":0.566390455,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.323599,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.60349751,"cg_iw_a":-1.24809694,"cg_theta_rad":0.556388199,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0142875733,"mpcc_du":49.5450439,"mpcc_dv":50.1159058,"mpcc_dw":50.4549561,"mpcc_enc_sign":1,"mpcc_id_a":2.29164529,"mpcc_iq_a":-1.14534163,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.3346663,"mpcc_pred_id_a":0.0703794137,"mpcc_pred_iq_a":-2.43378806,"mpcc_state":1,"mpcc_theta_e":0.448729515,"mpcc_theta_mech":0.556691825,"sam_rpm":15.1235781,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165976137,"thr_a_norm":0.0165976137,"thr_a_v":0.566390455,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.3337,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.24105906,"cg_iw_a":-0.740683556,"cg_theta_rad":0.557160199,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0060650087,"mpcc_du":50.7173996,"mpcc_dv":48.2907143,"mpcc_dw":51.7092857,"mpcc_enc_sign":1,"mpcc_id_a":-0.65778172,"mpcc_iq_a":-1.30510652,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.6422968,"mpcc_pred_id_a":-0.554070711,"mpcc_pred_iq_a":-1.65290761,"mpcc_state":1,"mpcc_theta_e":0.434058666,"mpcc_theta_mech":0.553757668,"sam_rpm":-16.8465176,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228416175,"thr_a_norm":0.0228416175,"thr_a_v":0.59136647,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470263213,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.343954,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.733645439,"cg_iw_a":-1.17560911,"cg_theta_rad":0.554612696,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0174526982,"mpcc_du":49.9320869,"mpcc_dv":49.0624466,"mpcc_dw":50.9375534,"mpcc_enc_sign":1,"mpcc_id_a":0.598221183,"mpcc_iq_a":-1.70132172,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.21079206,"mpcc_pred_id_a":-0.0508625545,"mpcc_pred_iq_a":0.249901444,"mpcc_state":1,"mpcc_theta_e":0.432989597,"mpcc_theta_mech":0.553543806,"sam_rpm":-6.73082685,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0319558233,"thr_a_norm":0.0228416175,"thr_a_v":0.627823293,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487736315,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.367025,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.733645439,"cg_iw_a":-0.16078186,"cg_theta_rad":0.553886354,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0307409987,"mpcc_du":50.3031082,"mpcc_dv":48.6281509,"mpcc_dw":51.3718491,"mpcc_enc_sign":1,"mpcc_id_a":0.55780834,"mpcc_iq_a":-0.402355611,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.919107199,"mpcc_pred_id_a":-0.0402822457,"mpcc_pred_iq_a":-1.56673574,"mpcc_state":1,"mpcc_theta_e":0.4473176,"mpcc_theta_mech":0.556409478,"sam_rpm":2.17811656,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0319558233,"thr_a_norm":0.0319558233,"thr_a_v":0.627823293,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487736315,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.373495,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.443694592,"cg_iw_a":-0.160782337,"cg_theta_rad":0.555464208,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0433176421,"mpcc_du":50.1758232,"mpcc_dv":48.4195442,"mpcc_dw":51.5804558,"mpcc_enc_sign":1,"mpcc_id_a":2.32879996,"mpcc_iq_a":2.25469661,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.0656214,"mpcc_pred_id_a":0.671133935,"mpcc_pred_iq_a":-1.87273169,"mpcc_state":1,"mpcc_theta_e":0.427516937,"mpcc_theta_mech":0.552449286,"sam_rpm":-22.6520348,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215827376,"thr_a_norm":0.0215827376,"thr_a_v":0.58633095,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474291593,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.380056,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.38603449,"cg_iw_a":0.12916851,"cg_theta_rad":0.554443061,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0127418041,"mpcc_du":50.2809105,"mpcc_dv":48.5183868,"mpcc_dw":49.4252129,"mpcc_enc_sign":1,"mpcc_id_a":2.23302603,"mpcc_iq_a":-1.43583906,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.28676844,"mpcc_pred_id_a":0.127753064,"mpcc_pred_iq_a":-1.60930526,"mpcc_state":1,"mpcc_theta_e":0.446532726,"mpcc_theta_mech":0.55625248,"sam_rpm":-17.7348843,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215827376,"thr_a_norm":0.0215827376,"thr_a_v":0.58633095,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474291593,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.386618,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.733645439,"cg_iw_a":-1.68302298,"cg_theta_rad":0.555914342,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0138899079,"mpcc_du":50.4936523,"mpcc_dv":48.4287415,"mpcc_dw":51.5712585,"mpcc_enc_sign":1,"mpcc_id_a":0.925641179,"mpcc_iq_a":-1.31688583,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.217251211,"mpcc_pred_id_a":-0.130316868,"mpcc_pred_iq_a":-0.587651312,"mpcc_state":1,"mpcc_theta_e":0.444346905,"mpcc_theta_mech":0.555815339,"sam_rpm":0.132450029,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188635886,"thr_a_norm":0.0188635886,"thr_a_v":0.575454354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456768155,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.396353,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.588670254,"cg_iw_a":-1.75551033,"cg_theta_rad":0.554327011,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0118187014,"mpcc_du":50.6709938,"mpcc_dv":48.2904129,"mpcc_dw":51.7095871,"mpcc_enc_sign":1,"mpcc_id_a":0.0472176634,"mpcc_iq_a":-1.31408596,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.80016804,"mpcc_pred_id_a":-0.310146183,"mpcc_pred_iq_a":-1.5520848,"mpcc_state":1,"mpcc_theta_e":0.44174242,"mpcc_theta_mech":0.555294394,"sam_rpm":-9.88362312,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019077599,"thr_a_norm":0.0188635886,"thr_a_v":0.576310396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467090875,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.408407,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.806133032,"cg_iw_a":-0.305757284,"cg_theta_rad":0.554545224,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.00792048033,"mpcc_du":49.568615,"mpcc_dv":50.431385,"mpcc_dw":50.4121323,"mpcc_enc_sign":1,"mpcc_id_a":1.05002904,"mpcc_iq_a":-0.207143113,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.09299231,"mpcc_pred_id_a":0.0137282219,"mpcc_pred_iq_a":-0.875956953,"mpcc_state":1,"mpcc_theta_e":0.435506821,"mpcc_theta_mech":0.554047287,"sam_rpm":8.49908161,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019077599,"thr_a_norm":0.019077599,"thr_a_v":0.576310396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467090875,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.418386,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.806133032,"cg_iw_a":-0.523220301,"cg_theta_rad":0.555902839,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0221036058,"mpcc_du":50.146389,"mpcc_dv":48.8544693,"mpcc_dw":51.1455307,"mpcc_enc_sign":1,"mpcc_id_a":0.178345695,"mpcc_iq_a":-2.03074026,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.67815733,"mpcc_pred_id_a":-0.11395178,"mpcc_pred_iq_a":-3.56373549,"mpcc_state":1,"mpcc_theta_e":0.447437763,"mpcc_theta_mech":0.556433499,"sam_rpm":2.3769145,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274616629,"thr_a_norm":0.0274616629,"thr_a_v":0.609846652,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498713672,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.428701,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.31354666,"cg_iw_a":-1.24809694,"cg_theta_rad":0.556448221,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.000527521071,"mpcc_du":50.5992737,"mpcc_dv":48.4595413,"mpcc_dw":51.5404587,"mpcc_enc_sign":1,"mpcc_id_a":0.362599701,"mpcc_iq_a":-1.14428437,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.655768037,"mpcc_pred_id_a":-0.311858833,"mpcc_pred_iq_a":-4.10954666,"mpcc_state":1,"mpcc_theta_e":0.447383404,"mpcc_theta_mech":0.556422591,"sam_rpm":-14.4276104,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027663067,"thr_a_norm":0.0274616629,"thr_a_v":0.610652268,"thr_b":0.00350537896,"thr_b_norm":0,"thr_b_v":0.514021516,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.438925,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.661157608,"cg_iw_a":-0.59570837,"cg_theta_rad":0.557613313,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.025783604,"mpcc_du":50.0697327,"mpcc_dv":49.001503,"mpcc_dw":50.998497,"mpcc_enc_sign":1,"mpcc_id_a":0.344968736,"mpcc_iq_a":-1.5096606,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.57577467,"mpcc_pred_id_a":-0.129106611,"mpcc_pred_iq_a":-2.54943919,"mpcc_state":1,"mpcc_theta_e":0.449701309,"mpcc_theta_mech":0.556886196,"sam_rpm":10.2144575,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027663067,"thr_a_norm":0.027663067,"thr_a_v":0.610652268,"thr_b":0.00350537896,"thr_b_norm":0.00350537896,"thr_b_v":0.514021516,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.462393,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.951108456,"cg_iw_a":-0.015806675,"cg_theta_rad":0.55563432,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.000914153701,"mpcc_du":49.0434265,"mpcc_dv":50.9565735,"mpcc_dw":49.3612976,"mpcc_enc_sign":1,"mpcc_id_a":-0.364261389,"mpcc_iq_a":-0.981289148,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.43159389,"mpcc_pred_id_a":-1.05965304,"mpcc_pred_iq_a":-5.90712404,"mpcc_state":1,"mpcc_theta_e":0.448305607,"mpcc_theta_mech":0.556607008,"sam_rpm":13.4324265,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441460282,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.468924,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.298719406,"cg_iw_a":-1.97297382,"cg_theta_rad":0.553873837,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.00218458357,"mpcc_du":49.6110153,"mpcc_dv":49.8098335,"mpcc_dw":50.3889847,"mpcc_enc_sign":1,"mpcc_id_a":0.148020416,"mpcc_iq_a":-1.59682107,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.49747944,"mpcc_pred_id_a":-0.179711536,"mpcc_pred_iq_a":-3.52067327,"mpcc_state":1,"mpcc_theta_e":0.445704937,"mpcc_theta_mech":0.556086898,"sam_rpm":8.00461578,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441460282,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.475393,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.661157608,"cg_iw_a":-1.90048599,"cg_theta_rad":0.553789616,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.00159613183,"mpcc_du":49.83424,"mpcc_dv":49.3139076,"mpcc_dw":50.6860924,"mpcc_enc_sign":1,"mpcc_id_a":0.17767638,"mpcc_iq_a":-1.52206039,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.1020136,"mpcc_pred_id_a":-0.147100762,"mpcc_pred_iq_a":-0.678143561,"mpcc_state":1,"mpcc_theta_e":0.449928761,"mpcc_theta_mech":0.556931674,"sam_rpm":14.5360918,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022325471,"thr_a_norm":0.022325471,"thr_a_v":0.589301884,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.481924,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.806133032,"cg_iw_a":-0.523220301,"cg_theta_rad":0.555414617,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0149814645,"mpcc_du":49.6066895,"mpcc_dv":49.4333763,"mpcc_dw":50.5666237,"mpcc_enc_sign":1,"mpcc_id_a":2.23143435,"mpcc_iq_a":-0.936902702,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.0691032,"mpcc_pred_id_a":0.239352137,"mpcc_pred_iq_a":-0.99104315,"mpcc_state":1,"mpcc_theta_e":0.451096535,"mpcc_theta_mech":0.557165205,"sam_rpm":14.5754614,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177935362,"thr_a_norm":0.022325471,"thr_a_v":0.571174145,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454753935,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.489767,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.09608364,"cg_iw_a":0.564094543,"cg_theta_rad":0.556880772,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0286703613,"mpcc_du":50.0941734,"mpcc_dv":48.795929,"mpcc_dw":51.204071,"mpcc_enc_sign":1,"mpcc_id_a":2.84329271,"mpcc_iq_a":-1.16798997,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.07058787,"mpcc_pred_id_a":0.279584825,"mpcc_pred_iq_a":-0.89731437,"mpcc_state":1,"mpcc_theta_e":0.445582867,"mpcc_theta_mech":0.55606252,"sam_rpm":4.88830662,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177935362,"thr_a_norm":0.0177935362,"thr_a_v":0.571174145,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454753935,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.499929,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-0.516182423,"cg_iw_a":-0.305757523,"cg_theta_rad":0.555185139,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0128029287,"mpcc_du":50.254612,"mpcc_dv":48.5847473,"mpcc_dw":51.4152527,"mpcc_enc_sign":1,"mpcc_id_a":2.2454977,"mpcc_iq_a":-0.902677476,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.21661568,"mpcc_pred_id_a":0.33414951,"mpcc_pred_iq_a":-0.692167997,"mpcc_state":1,"mpcc_theta_e":0.435807228,"mpcc_theta_mech":0.554107368,"sam_rpm":-11.7340422,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0231814981,"thr_a_norm":0.0231814981,"thr_a_v":0.592725992,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499015808,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.509939,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.82096052,"cg_iw_a":0.78155756,"cg_theta_rad":0.555216372,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0293097496,"mpcc_du":49.6346397,"mpcc_dv":49.5881424,"mpcc_dw":50.4118576,"mpcc_enc_sign":1,"mpcc_id_a":-0.26262784,"mpcc_iq_a":-0.101662964,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.47998333,"mpcc_pred_id_a":-0.260910332,"mpcc_pred_iq_a":-3.53430653,"mpcc_state":1,"mpcc_theta_e":0.446958542,"mpcc_theta_mech":0.556337655,"sam_rpm":10.953784,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0231814981,"thr_a_norm":0.0231814981,"thr_a_v":0.592725992,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499015808,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.520132,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.371207237,"cg_iw_a":0.0566811562,"cg_theta_rad":0.557572901,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0083403131,"mpcc_du":50.5735397,"mpcc_dv":48.1620369,"mpcc_dw":51.8379631,"mpcc_enc_sign":1,"mpcc_id_a":1.82062066,"mpcc_iq_a":-0.784060836,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.7625465,"mpcc_pred_id_a":0.323214471,"mpcc_pred_iq_a":0.822063327,"mpcc_state":1,"mpcc_theta_e":0.429815769,"mpcc_theta_mech":0.552909076,"sam_rpm":-17.0746498,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204245895,"thr_a_norm":0.0204245895,"thr_a_v":0.581698358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447452515,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.530386,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.53100967,"cg_iw_a":1.07150841,"cg_theta_rad":0.552482903,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0293733962,"mpcc_du":49.6323662,"mpcc_dv":50.3676338,"mpcc_dw":50.2578659,"mpcc_enc_sign":1,"mpcc_id_a":-0.521603823,"mpcc_iq_a":-3.34027958,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.63971186,"mpcc_pred_id_a":-0.505163789,"mpcc_pred_iq_a":-3.54486942,"mpcc_state":1,"mpcc_theta_e":0.422656536,"mpcc_theta_mech":0.551477194,"sam_rpm":-7.80708075,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292366594,"thr_a_norm":0.0204245895,"thr_a_v":0.616946638,"thr_b":0.00428587198,"thr_b_norm":0,"thr_b_v":0.517143488,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.540365,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.298719406,"cg_iw_a":-0.305757523,"cg_theta_rad":0.556469023,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.02860827,"mpcc_du":50.4123726,"mpcc_dv":48.3874474,"mpcc_dw":51.6125526,"mpcc_enc_sign":1,"mpcc_id_a":0.360565335,"mpcc_iq_a":-0.996517658,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.92295074,"mpcc_pred_id_a":0.22869426,"mpcc_pred_iq_a":-3.49221778,"mpcc_state":1,"mpcc_theta_e":0.438362122,"mpcc_theta_mech":0.554618359,"sam_rpm":-13.9833021,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292366594,"thr_a_norm":0.0292366594,"thr_a_v":0.616946638,"thr_b":0.00428587198,"thr_b_norm":0.00428587198,"thr_b_v":0.517143488,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.563986,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.16857147,"cg_iw_a":-1.24809694,"cg_theta_rad":0.556751251,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0162390899,"mpcc_du":50.728096,"mpcc_dv":47.9770432,"mpcc_dw":52.0229568,"mpcc_enc_sign":1,"mpcc_id_a":2.07762337,"mpcc_iq_a":-0.919880152,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.31811333,"mpcc_pred_id_a":0.315545529,"mpcc_pred_iq_a":0.740979195,"mpcc_state":1,"mpcc_theta_e":0.437022209,"mpcc_theta_mech":0.554350317,"sam_rpm":-10.5389843,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275120139,"thr_a_norm":0.0275120139,"thr_a_v":0.610048056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490606517,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.570486,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.298719406,"cg_iw_a":-1.97297382,"cg_theta_rad":0.556353092,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.000152181325,"mpcc_du":50.0420914,"mpcc_dv":49.180172,"mpcc_dw":50.819828,"mpcc_enc_sign":1,"mpcc_id_a":-0.0725276172,"mpcc_iq_a":-1.90572131,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.426200062,"mpcc_pred_id_a":-0.571900308,"mpcc_pred_iq_a":-2.00267053,"mpcc_state":1,"mpcc_theta_e":0.441909313,"mpcc_theta_mech":0.555327773,"sam_rpm":0.639947832,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275120139,"thr_a_norm":0.0275120139,"thr_a_v":0.610048056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490606517,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.576986,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.32058477,"cg_theta_rad":0.555589199,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.000978637021,"mpcc_du":50.3496017,"mpcc_dv":48.6723824,"mpcc_dw":51.3276176,"mpcc_enc_sign":1,"mpcc_id_a":0.603608012,"mpcc_iq_a":-1.84824502,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.68240118,"mpcc_pred_id_a":-0.188492939,"mpcc_pred_iq_a":-0.918598831,"mpcc_state":1,"mpcc_theta_e":0.437175274,"mpcc_theta_mech":0.554380953,"sam_rpm":-6.74844599,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0955287218,"thr_a_norm":0.0955287218,"thr_a_v":0.882114887,"thr_b":0.0390055031,"thr_b_norm":0.0390055031,"thr_b_v":0.656022012,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.583548,"values":{"cg_iu_a":0.314526081,"cg_iv_a":0.136206627,"cg_iw_a":-0.450732708,"cg_theta_rad":0.558131337,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.03010967,"mpcc_du":50.4413528,"mpcc_dv":48.6521645,"mpcc_dw":51.3478355,"mpcc_enc_sign":1,"mpcc_id_a":0.0405944437,"mpcc_iq_a":-1.31430721,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.9328109,"mpcc_pred_id_a":-0.35200265,"mpcc_pred_iq_a":-3.03126907,"mpcc_state":1,"mpcc_theta_e":0.446782112,"mpcc_theta_mech":0.556302369,"sam_rpm":-2.25307631,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0143820047,"thr_a_norm":0.0955287218,"thr_a_v":0.557528019,"thr_b":0,"thr_b_norm":0.0390055031,"thr_b_v":0.435619116,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.593405,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.38603449,"cg_iw_a":-0.305757046,"cg_theta_rad":0.556950927,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0377201065,"mpcc_du":49.5889511,"mpcc_dv":49.8400726,"mpcc_dw":50.4110489,"mpcc_enc_sign":1,"mpcc_id_a":0.852083683,"mpcc_iq_a":-0.458591431,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.8999376,"mpcc_pred_id_a":-0.02788206,"mpcc_pred_iq_a":-3.71670079,"mpcc_state":1,"mpcc_theta_e":0.454678059,"mpcc_theta_mech":0.557881534,"sam_rpm":18.9374771,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0143820047,"thr_a_norm":0.0143820047,"thr_a_v":0.557528019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.435619116,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.603323,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.951108456,"cg_iw_a":0.0566811562,"cg_theta_rad":0.557070434,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0204230268,"mpcc_du":50.554863,"mpcc_dv":48.1428108,"mpcc_dw":50.3507881,"mpcc_enc_sign":1,"mpcc_id_a":2.22167182,"mpcc_iq_a":-1.30753636,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-22.4270782,"mpcc_pred_id_a":0.302023798,"mpcc_pred_iq_a":-0.690445364,"mpcc_state":1,"mpcc_theta_e":0.41964674,"mpcc_theta_mech":0.550875306,"sam_rpm":-35.1139526,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178942531,"thr_a_norm":0.0178942531,"thr_a_v":0.571577013,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459185123,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.613546,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.371207237,"cg_iw_a":-0.233269691,"cg_theta_rad":0.55673784,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.105091996,"mpcc_du":49.7546387,"mpcc_dv":49.0468864,"mpcc_dw":50.9531136,"mpcc_enc_sign":1,"mpcc_id_a":2.80406737,"mpcc_iq_a":0.417704672,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.30744433,"mpcc_pred_id_a":0.84588033,"mpcc_pred_iq_a":-2.12090182,"mpcc_state":1,"mpcc_theta_e":0.449402332,"mpcc_theta_mech":0.556826353,"sam_rpm":5.04402208,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022929728,"thr_a_norm":0.0178942531,"thr_a_v":0.591718912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488844126,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.623587,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.806133032,"cg_iw_a":-1.39307237,"cg_theta_rad":0.556951702,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.00369263534,"mpcc_du":50.541153,"mpcc_dv":48.1704826,"mpcc_dw":51.8295174,"mpcc_enc_sign":1,"mpcc_id_a":1.08056128,"mpcc_iq_a":-1.51485562,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.85600853,"mpcc_pred_id_a":0.431378633,"mpcc_pred_iq_a":-0.241161168,"mpcc_state":1,"mpcc_theta_e":0.436089516,"mpcc_theta_mech":0.554163814,"sam_rpm":-13.7494278,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022929728,"thr_a_norm":0.022929728,"thr_a_v":0.591718912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488844126,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.633749,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.16857147,"cg_iw_a":-0.958146095,"cg_theta_rad":0.554443121,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0109020676,"mpcc_du":49.2018738,"mpcc_dv":50.7981262,"mpcc_dw":49.5839043,"mpcc_enc_sign":1,"mpcc_id_a":-1.78347874,"mpcc_iq_a":-2.24789,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.1975603,"mpcc_pred_id_a":-1.04106319,"mpcc_pred_iq_a":-3.70949411,"mpcc_state":1,"mpcc_theta_e":0.450128555,"mpcc_theta_mech":0.55697161,"sam_rpm":20.5925503,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0223380625,"thr_a_norm":0.0223380625,"thr_a_v":0.58935225,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483808637,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.643545,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.878620625,"cg_iw_a":0.999020576,"cg_theta_rad":0.552331746,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0173120089,"mpcc_du":50.6157837,"mpcc_dv":48.083149,"mpcc_dw":51.916851,"mpcc_enc_sign":1,"mpcc_id_a":2.47372508,"mpcc_iq_a":-0.57697016,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.0734634,"mpcc_pred_id_a":0.314114779,"mpcc_pred_iq_a":-0.485497177,"mpcc_state":1,"mpcc_theta_e":0.429797173,"mpcc_theta_mech":0.552905321,"sam_rpm":-21.8033047,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0223380625,"thr_a_norm":0.0223380625,"thr_a_v":0.58935225,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483808637,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.666983,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.516182423,"cg_iw_a":-4.14760351,"cg_theta_rad":0.556870878,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0185183845,"mpcc_du":50.9163857,"mpcc_dv":47.821537,"mpcc_dw":52.178463,"mpcc_enc_sign":1,"mpcc_id_a":2.42087889,"mpcc_iq_a":-0.529217243,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.89358711,"mpcc_pred_id_a":0.125416487,"mpcc_pred_iq_a":2.11422467,"mpcc_state":1,"mpcc_theta_e":0.438255787,"mpcc_theta_mech":0.55459708,"sam_rpm":-10.1105518,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0391062051,"thr_a_norm":0.0391062051,"thr_a_v":0.65642482,"thr_b":0.00419774652,"thr_b_norm":0.00419774652,"thr_b_v":0.516790986,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.673483,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.16857147,"cg_iw_a":0.0566811562,"cg_theta_rad":0.551758945,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.00559298694,"mpcc_du":49.4595146,"mpcc_dv":50.5404854,"mpcc_dw":50.3569527,"mpcc_enc_sign":1,"mpcc_id_a":1.51474929,"mpcc_iq_a":0.254581124,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.35393906,"mpcc_pred_id_a":0.657136977,"mpcc_pred_iq_a":-5.45988035,"mpcc_state":1,"mpcc_theta_e":0.445879936,"mpcc_theta_mech":0.556121945,"sam_rpm":7.41028643,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257621855,"thr_a_norm":0.0257621855,"thr_a_v":0.603048742,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487937719,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.680044,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.951108456,"cg_iw_a":0.926533222,"cg_theta_rad":0.55595237,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0323250033,"mpcc_du":49.5182991,"mpcc_dv":50.4817009,"mpcc_dw":50.2339211,"mpcc_enc_sign":1,"mpcc_id_a":0.764912724,"mpcc_iq_a":0.191345334,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.5161133,"mpcc_pred_id_a":-0.311911225,"mpcc_pred_iq_a":-4.68501806,"mpcc_state":1,"mpcc_theta_e":0.452092171,"mpcc_theta_mech":0.557364345,"sam_rpm":17.4554386,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257621855,"thr_a_norm":0.0257621855,"thr_a_v":0.603048742,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487937719,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.688528,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.38603449,"cg_iw_a":-0.740683079,"cg_theta_rad":0.556910634,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0320415758,"mpcc_du":50.2761307,"mpcc_dv":48.6736679,"mpcc_dw":51.3263321,"mpcc_enc_sign":1,"mpcc_id_a":1.91835833,"mpcc_iq_a":-0.0787622109,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.09291458,"mpcc_pred_id_a":0.00083567464,"mpcc_pred_iq_a":-0.200994551,"mpcc_state":1,"mpcc_theta_e":0.446527958,"mpcc_theta_mech":0.556251466,"sam_rpm":6.48495579,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0961581469,"thr_a_norm":0.0961581469,"thr_a_v":0.884632587,"thr_b":0.0378473252,"thr_b_norm":0.0378473252,"thr_b_v":0.651389301,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.698965,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.53100967,"cg_iw_a":0.564094543,"cg_theta_rad":0.555983186,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0155861778,"mpcc_du":50.6387138,"mpcc_dv":48.1556091,"mpcc_dw":51.8443909,"mpcc_enc_sign":1,"mpcc_id_a":1.50770712,"mpcc_iq_a":-1.82645571,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.1045647,"mpcc_pred_id_a":0.00149090111,"mpcc_pred_iq_a":0.0502447672,"mpcc_state":1,"mpcc_theta_e":0.425050259,"mpcc_theta_mech":0.554264486,"sam_rpm":-27.4696827,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02227512,"thr_a_norm":0.0961581469,"thr_a_v":0.58910048,"thr_b":0,"thr_b_norm":0.0378473252,"thr_b_v":0.483808637,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.708822,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.60349751,"cg_iw_a":-1.24809694,"cg_theta_rad":0.556462824,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0148177547,"mpcc_du":48.4885139,"mpcc_dv":51.5114861,"mpcc_dw":49.1251717,"mpcc_enc_sign":1,"mpcc_id_a":2.14082766,"mpcc_iq_a":-2.57266903,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":27.6498642,"mpcc_pred_id_a":-0.0290360991,"mpcc_pred_iq_a":-6.06903267,"mpcc_state":1,"mpcc_theta_e":0.466417789,"mpcc_theta_mech":0.56022948,"sam_rpm":41.3244476,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02227512,"thr_a_norm":0.02227512,"thr_a_v":0.58910048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483808637,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.719961,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.82096052,"cg_iw_a":-0.450732708,"cg_theta_rad":0.557647526,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0558887832,"mpcc_du":50.2614021,"mpcc_dv":48.6683273,"mpcc_dw":51.3316727,"mpcc_enc_sign":1,"mpcc_id_a":1.83258152,"mpcc_iq_a":-0.593303084,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.0104537,"mpcc_pred_id_a":0.00642338954,"mpcc_pred_iq_a":-3.34213281,"mpcc_state":1,"mpcc_theta_e":0.44596386,"mpcc_theta_mech":0.556138694,"sam_rpm":-1.57163382,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177935362,"thr_a_norm":0.0177935362,"thr_a_v":0.571174145,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456264615,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.731131,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-2.98076296,"cg_iw_a":0.419119358,"cg_theta_rad":0.559418261,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.010025857,"mpcc_du":49.3118935,"mpcc_dv":50.6881065,"mpcc_dw":50.1171265,"mpcc_enc_sign":1,"mpcc_id_a":1.9944942,"mpcc_iq_a":-0.406181157,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.3809576,"mpcc_pred_id_a":0.0790809542,"mpcc_pred_iq_a":-0.930428863,"mpcc_state":1,"mpcc_theta_e":0.431099892,"mpcc_theta_mech":0.553165913,"sam_rpm":-19.9696465,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245788544,"thr_a_norm":0.0177935362,"thr_a_v":0.598315418,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487383813,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.74111,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.298719406,"cg_iw_a":-2.26292419,"cg_theta_rad":0.553174794,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.00992510095,"mpcc_du":48.7068176,"mpcc_dv":51.2931824,"mpcc_dw":49.6021156,"mpcc_enc_sign":1,"mpcc_id_a":1.99115157,"mpcc_iq_a":-1.76004207,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.8742313,"mpcc_pred_id_a":0.509105206,"mpcc_pred_iq_a":-4.79463339,"mpcc_state":1,"mpcc_theta_e":0.45443058,"mpcc_theta_mech":0.557832003,"sam_rpm":27.9820576,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245788544,"thr_a_norm":0.0245788544,"thr_a_v":0.598315418,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487383813,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.751486,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.24105906,"cg_iw_a":1.57892203,"cg_theta_rad":0.55643189,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.00256758486,"mpcc_du":50.5724831,"mpcc_dv":48.2707787,"mpcc_dw":51.7292213,"mpcc_enc_sign":1,"mpcc_id_a":3.10803676,"mpcc_iq_a":-0.288494974,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.23024321,"mpcc_pred_id_a":0.292979985,"mpcc_pred_iq_a":-0.305052221,"mpcc_state":1,"mpcc_theta_e":0.437240601,"mpcc_theta_mech":0.554394007,"sam_rpm":-8.58661461,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.0167864412,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.774374,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.60349751,"cg_iw_a":1.28897142,"cg_theta_rad":0.55694598,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.011047557,"mpcc_du":49.5539093,"mpcc_dv":50.4460907,"mpcc_dw":50.3558311,"mpcc_enc_sign":1,"mpcc_id_a":1.09673274,"mpcc_iq_a":-1.45366168,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.44045162,"mpcc_pred_id_a":-0.0442069694,"mpcc_pred_iq_a":-4.97969532,"mpcc_state":1,"mpcc_theta_e":0.449353218,"mpcc_theta_mech":0.556816518,"sam_rpm":12.9584522,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.0167864412,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.780874,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.878620625,"cg_iw_a":-1.61053562,"cg_theta_rad":0.557788491,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0155006442,"mpcc_du":50.8076324,"mpcc_dv":47.8738785,"mpcc_dw":52.1261215,"mpcc_enc_sign":1,"mpcc_id_a":0.880982459,"mpcc_iq_a":-0.230804816,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.58643341,"mpcc_pred_id_a":-0.461181819,"mpcc_pred_iq_a":-1.54863393,"mpcc_state":1,"mpcc_theta_e":0.445634365,"mpcc_theta_mech":0.556072831,"sam_rpm":-29.0523186,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261272639,"thr_a_norm":0.0261272639,"thr_a_v":0.604509056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.787436,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.733645439,"cg_iw_a":-1.97297382,"cg_theta_rad":0.556374252,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.00102847256,"mpcc_du":50.2639961,"mpcc_dv":48.9436188,"mpcc_dw":51.0563812,"mpcc_enc_sign":1,"mpcc_id_a":-0.629058123,"mpcc_iq_a":-3.54640579,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.79588342,"mpcc_pred_id_a":-0.54530853,"mpcc_pred_iq_a":-1.69443619,"mpcc_state":1,"mpcc_theta_e":0.447342873,"mpcc_theta_mech":0.556414485,"sam_rpm":4.5381465,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261272639,"thr_a_norm":0.0261272639,"thr_a_v":0.604509056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.793936,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.661157608,"cg_iw_a":-2.26292467,"cg_theta_rad":0.551758945,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0102247326,"mpcc_du":50.9397926,"mpcc_dv":47.7279472,"mpcc_dw":52.2720528,"mpcc_enc_sign":1,"mpcc_id_a":2.01861882,"mpcc_iq_a":-1.04906058,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.6568413,"mpcc_pred_id_a":0.209800646,"mpcc_pred_iq_a":0.824039459,"mpcc_state":1,"mpcc_theta_e":0.425848484,"mpcc_theta_mech":0.552115619,"sam_rpm":-26.2297783,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262531489,"thr_a_norm":0.0262531489,"thr_a_v":0.605012596,"thr_b":0.00256122649,"thr_b_norm":0.00256122649,"thr_b_v":0.510244906,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.801931,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.153744221,"cg_iw_a":-2.6253624,"cg_theta_rad":0.556434631,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0181855485,"mpcc_du":50.639782,"mpcc_dv":48.181282,"mpcc_dw":51.818718,"mpcc_enc_sign":1,"mpcc_id_a":1.28752136,"mpcc_iq_a":-0.0367707387,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.5880213,"mpcc_pred_id_a":0.0933970362,"mpcc_pred_iq_a":-1.08701932,"mpcc_state":1,"mpcc_theta_e":0.432502747,"mpcc_theta_mech":0.553446472,"sam_rpm":-18.3316841,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181208551,"thr_a_norm":0.0262531489,"thr_a_v":0.57248342,"thr_b":0,"thr_b_norm":0.00256122649,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.811941,"values":{"cg_iu_a":-0.410350561,"cg_iv_a":-0.588670254,"cg_iw_a":-1.61053514,"cg_theta_rad":0.558360755,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.00892273523,"mpcc_du":50.14925,"mpcc_dv":48.7144508,"mpcc_dw":51.2855492,"mpcc_enc_sign":1,"mpcc_id_a":1.85384464,"mpcc_iq_a":-0.7122944,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.14233017,"mpcc_pred_id_a":0.34839204,"mpcc_pred_iq_a":-0.717087269,"mpcc_state":1,"mpcc_theta_e":0.432146072,"mpcc_theta_mech":0.553375125,"sam_rpm":-14.8957195,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181208551,"thr_a_norm":0.0181208551,"thr_a_v":0.57248342,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.822165,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.661157608,"cg_iw_a":-2.55287504,"cg_theta_rad":0.557195127,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.040919207,"mpcc_du":50.3390236,"mpcc_dv":48.6865196,"mpcc_dw":51.3134804,"mpcc_enc_sign":1,"mpcc_id_a":0.46047321,"mpcc_iq_a":-0.773170173,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.22020388,"mpcc_pred_id_a":-0.147676796,"mpcc_pred_iq_a":-4.18452168,"mpcc_state":1,"mpcc_theta_e":0.447018147,"mpcc_theta_mech":0.556349516,"sam_rpm":4.88649797,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179949552,"thr_a_norm":0.0179949552,"thr_a_v":0.571979821,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461954653,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.83312,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.226231575,"cg_iw_a":-2.48038721,"cg_theta_rad":0.557105541,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0459598117,"mpcc_du":49.8926125,"mpcc_dv":49.1875496,"mpcc_dw":51.162796,"mpcc_enc_sign":1,"mpcc_id_a":0.786222339,"mpcc_iq_a":-0.0929706022,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.3393389,"mpcc_pred_id_a":-0.12153241,"mpcc_pred_iq_a":-3.79686451,"mpcc_state":1,"mpcc_theta_e":0.445865154,"mpcc_theta_mech":0.556118965,"sam_rpm":3.6470437,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179949552,"thr_a_norm":0.0179949552,"thr_a_v":0.571979821,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461954653,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.84252,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.806133032,"cg_iw_a":-1.68302321,"cg_theta_rad":0.553488135,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0333658978,"mpcc_du":49.4783707,"mpcc_dv":50.5216293,"mpcc_dw":50.4283524,"mpcc_enc_sign":1,"mpcc_id_a":3.51105046,"mpcc_iq_a":-0.618111849,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.1096115,"mpcc_pred_id_a":0.517363608,"mpcc_pred_iq_a":-2.58267164,"mpcc_state":1,"mpcc_theta_e":0.442997932,"mpcc_theta_mech":0.555545509,"sam_rpm":18.0015984,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024692148,"thr_a_norm":0.024692148,"thr_a_v":0.598768592,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485772491,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.85253,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556448221,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0164705534,"mpcc_du":50.6348495,"mpcc_dv":48.2162781,"mpcc_dw":51.7837219,"mpcc_enc_sign":1,"mpcc_id_a":0.592027009,"mpcc_iq_a":-1.1931771,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.8107147,"mpcc_pred_id_a":-0.0813952908,"mpcc_pred_iq_a":-3.11511874,"mpcc_state":1,"mpcc_theta_e":0.434632778,"mpcc_theta_mech":0.553872466,"sam_rpm":-21.5301476,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024692148,"thr_a_norm":0.024692148,"thr_a_v":0.598768592,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485772491,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.875937,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.31354666,"cg_iw_a":-1.17560959,"cg_theta_rad":0.555547655,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0355726182,"mpcc_du":49.6932983,"mpcc_dv":50.0579033,"mpcc_dw":50.3067017,"mpcc_enc_sign":1,"mpcc_id_a":-0.268378317,"mpcc_iq_a":-1.77237344,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.71731925,"mpcc_pred_id_a":-0.672414303,"mpcc_pred_iq_a":-7.40970135,"mpcc_state":1,"mpcc_theta_e":0.451593399,"mpcc_theta_mech":0.557264626,"sam_rpm":6.49101639,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240752995,"thr_a_norm":0.0240752995,"thr_a_v":0.596301198,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469658971,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.882498,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.69081235,"cg_iw_a":0.41911912,"cg_theta_rad":0.55423969,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.00720237661,"mpcc_du":50.3804779,"mpcc_dv":48.7293205,"mpcc_dw":51.2706795,"mpcc_enc_sign":1,"mpcc_id_a":0.775392592,"mpcc_iq_a":-0.962633312,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.45857167,"mpcc_pred_id_a":-0.444311827,"mpcc_pred_iq_a":-1.05250585,"mpcc_state":1,"mpcc_theta_e":0.440608978,"mpcc_theta_mech":0.555067718,"sam_rpm":-3.56779289,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274238884,"thr_a_norm":0.0274238884,"thr_a_v":0.609695554,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485973924,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.889059,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.31354666,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.553522944,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0198773295,"mpcc_du":50.3826714,"mpcc_dv":48.4276466,"mpcc_dw":51.5723534,"mpcc_enc_sign":1,"mpcc_id_a":2.6554265,"mpcc_iq_a":-0.70013231,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.8630228,"mpcc_pred_id_a":0.190550372,"mpcc_pred_iq_a":1.04452085,"mpcc_state":1,"mpcc_theta_e":0.427726746,"mpcc_theta_mech":0.552491307,"sam_rpm":-15.4402952,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274238884,"thr_a_norm":0.0274238884,"thr_a_v":0.609695554,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485973924,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.895529,"values":{"cg_iu_a":1.25686598,"cg_iv_a":0.208694458,"cg_iw_a":-1.46556044,"cg_theta_rad":0.556936741,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0478382036,"mpcc_du":49.5704956,"mpcc_dv":50.4142189,"mpcc_dw":50.4295044,"mpcc_enc_sign":1,"mpcc_id_a":2.9223125,"mpcc_iq_a":0.508514345,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.62889576,"mpcc_pred_id_a":0.205590352,"mpcc_pred_iq_a":-4.95607615,"mpcc_state":1,"mpcc_theta_e":0.446249962,"mpcc_theta_mech":0.556195915,"sam_rpm":8.35235119,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297402143,"thr_a_norm":0.0297402143,"thr_a_v":0.618960857,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459990859,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.905752,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-2.0384233,"cg_iw_a":0.564094305,"cg_theta_rad":0.556238115,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.046669431,"mpcc_du":50.4002495,"mpcc_dv":48.3578339,"mpcc_dw":51.6421661,"mpcc_enc_sign":1,"mpcc_id_a":2.35998583,"mpcc_iq_a":-0.320990831,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.7528193,"mpcc_pred_id_a":0.415419698,"mpcc_pred_iq_a":-1.32526791,"mpcc_state":1,"mpcc_theta_e":0.440322399,"mpcc_theta_mech":0.555010378,"sam_rpm":-3.86854553,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222499371,"thr_a_norm":0.0297402143,"thr_a_v":0.588999748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472277433,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.915518,"values":{"cg_iu_a":2.41666842,"cg_iv_a":0.57113266,"cg_iw_a":-2.98780107,"cg_theta_rad":0.558080077,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0190816354,"mpcc_du":49.4281921,"mpcc_dv":50.5718079,"mpcc_dw":50.3860512,"mpcc_enc_sign":1,"mpcc_id_a":2.70953941,"mpcc_iq_a":-1.61590898,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.65577602,"mpcc_pred_id_a":0.476879865,"mpcc_pred_iq_a":-3.18266773,"mpcc_state":1,"mpcc_theta_e":0.446051121,"mpcc_theta_mech":0.556156158,"sam_rpm":12.1059656,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222499371,"thr_a_norm":0.0222499371,"thr_a_v":0.588999748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472277433,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.925741,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-2.40086174,"cg_iw_a":0.491606951,"cg_theta_rad":0.553285301,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5019,"hz_app_loop":370,"hz_tim_isr":10038,"hz_vsense":370,"mpcc_cost":0.0456784293,"mpcc_du":49.5726738,"mpcc_dv":50.0367661,"mpcc_dw":50.4273262,"mpcc_enc_sign":1,"mpcc_id_a":1.92134178,"mpcc_iq_a":-2.45866871,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.32986069,"mpcc_pred_id_a":-0.0328940079,"mpcc_pred_iq_a":-1.20921183,"mpcc_state":1,"mpcc_theta_e":0.435416222,"mpcc_theta_mech":0.554029167,"sam_rpm":-0.405514657,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278141499,"thr_a_norm":0.0278141499,"thr_a_v":0.611256599,"thr_b":0.000572219491,"thr_b_norm":0.000572219491,"thr_b_v":0.502288878,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.936361,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.25588632,"cg_iw_a":-0.885658741,"cg_theta_rad":0.552084327,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0292287078,"mpcc_du":50.1300926,"mpcc_dv":49.0892258,"mpcc_dw":50.9107742,"mpcc_enc_sign":1,"mpcc_id_a":-0.425736517,"mpcc_iq_a":-1.92883623,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.69991398,"mpcc_pred_id_a":-0.534552813,"mpcc_pred_iq_a":-3.33738303,"mpcc_state":1,"mpcc_theta_e":0.452017784,"mpcc_theta_mech":0.557349503,"sam_rpm":10.1706915,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278141499,"thr_a_norm":0.0278141499,"thr_a_v":0.611256599,"thr_b":0.000572219491,"thr_b_norm":0.000572219491,"thr_b_v":0.502288878,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.946554,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-2.11091113,"cg_iw_a":0.781557798,"cg_theta_rad":0.552844465,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0145365298,"mpcc_du":49.6556587,"mpcc_dv":49.5283279,"mpcc_dw":50.4716721,"mpcc_enc_sign":1,"mpcc_id_a":-0.260470212,"mpcc_iq_a":-2.42637587,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.07713079,"mpcc_pred_id_a":-0.262313128,"mpcc_pred_iq_a":-4.69711542,"mpcc_state":1,"mpcc_theta_e":0.450474262,"mpcc_theta_mech":0.557040811,"sam_rpm":10.3626146,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0133371502,"thr_a_norm":0.0133371502,"thr_a_v":0.553348601,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459285885,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.956747,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.89344811,"cg_iw_a":1.143996,"cg_theta_rad":0.551962018,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.00975207146,"mpcc_du":50.6947174,"mpcc_dv":48.1634598,"mpcc_dw":51.8365402,"mpcc_enc_sign":1,"mpcc_id_a":0.239109978,"mpcc_iq_a":-0.0593045913,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.3985596,"mpcc_pred_id_a":-0.214195192,"mpcc_pred_iq_a":-0.697619259,"mpcc_state":1,"mpcc_theta_e":0.430586338,"mpcc_theta_mech":0.553063214,"sam_rpm":-19.274807,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212050676,"thr_a_norm":0.0133371502,"thr_a_v":0.584820271,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477413595,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.980001,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.60349751,"cg_iw_a":0.12916851,"cg_theta_rad":0.554093719,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0409058593,"mpcc_du":49.4032173,"mpcc_dv":46.6589317,"mpcc_dw":53.3410683,"mpcc_enc_sign":1,"mpcc_id_a":-0.23851876,"mpcc_iq_a":-1.18562007,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.4736633,"mpcc_pred_id_a":-0.371414632,"mpcc_pred_iq_a":-5.32028198,"mpcc_state":1,"mpcc_theta_e":0.461624622,"mpcc_theta_mech":0.559270799,"sam_rpm":29.0534706,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212050676,"thr_a_norm":0.0212050676,"thr_a_v":0.584820271,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477413595,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.986502,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.733645439,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556151211,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.00284417323,"mpcc_du":49.6656609,"mpcc_dv":49.9379578,"mpcc_dw":50.3343391,"mpcc_enc_sign":1,"mpcc_id_a":0.0408329703,"mpcc_iq_a":-1.96816885,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.28093433,"mpcc_pred_id_a":-0.613554716,"mpcc_pred_iq_a":-3.36756516,"mpcc_state":1,"mpcc_theta_e":0.438951969,"mpcc_theta_mech":0.554736316,"sam_rpm":14.0222816,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185362697,"thr_a_norm":0.0185362697,"thr_a_v":0.574145079,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462508589,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.993002,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.16857147,"cg_iw_a":-0.233269691,"cg_theta_rad":0.554475784,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0262122676,"mpcc_du":50.5610924,"mpcc_dv":48.0814133,"mpcc_dw":51.9185867,"mpcc_enc_sign":1,"mpcc_id_a":2.0945909,"mpcc_iq_a":-0.227967814,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.6539249,"mpcc_pred_id_a":0.463122934,"mpcc_pred_iq_a":-0.478164434,"mpcc_state":1,"mpcc_theta_e":0.454902649,"mpcc_theta_mech":0.557926476,"sam_rpm":-14.1664286,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185362697,"thr_a_norm":0.0185362697,"thr_a_v":0.574145079,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462508589,"vdc_v":55.2955055}} +{"type":"telemetry","t":29.999533,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.02359605,"cg_iw_a":-0.813171148,"cg_theta_rad":0.554811597,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0220502298,"mpcc_du":50.5349464,"mpcc_dv":48.0249557,"mpcc_dw":51.9750443,"mpcc_enc_sign":1,"mpcc_id_a":2.64059114,"mpcc_iq_a":0.326309741,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.6366673,"mpcc_pred_id_a":0.583608747,"mpcc_pred_iq_a":-0.906813383,"mpcc_state":1,"mpcc_theta_e":0.424598217,"mpcc_theta_mech":0.551865578,"sam_rpm":-29.0367851,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233451575,"thr_a_norm":0.0233451575,"thr_a_v":0.59338063,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458832651,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.011923,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.16857147,"cg_iw_a":-0.45073247,"cg_theta_rad":0.557329476,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0215505492,"mpcc_du":49.6718826,"mpcc_dv":49.547657,"mpcc_dw":50.452343,"mpcc_enc_sign":1,"mpcc_id_a":-0.57843858,"mpcc_iq_a":-2.17189026,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.96346819,"mpcc_pred_id_a":-0.422349721,"mpcc_pred_iq_a":-1.38307953,"mpcc_state":1,"mpcc_theta_e":0.433340073,"mpcc_theta_mech":0.553613901,"sam_rpm":-4.99391556,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00723162293,"thr_b_norm":0.00723162293,"thr_b_v":0.528926492,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.021933,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.806133032,"cg_iw_a":-0.740683317,"cg_theta_rad":0.555461884,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0757587403,"mpcc_du":50.8023758,"mpcc_dv":47.5915375,"mpcc_dw":52.4084625,"mpcc_enc_sign":1,"mpcc_id_a":3.0294416,"mpcc_iq_a":1.14019585,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.0361719,"mpcc_pred_id_a":0.968729854,"mpcc_pred_iq_a":0.00754887844,"mpcc_state":1,"mpcc_theta_e":0.432888508,"mpcc_theta_mech":0.5535236,"sam_rpm":-18.1351604,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00723162293,"thr_b_norm":0.00723162293,"thr_b_v":0.528926492,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.032095,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.516182423,"cg_iw_a":-1.24809694,"cg_theta_rad":0.557244837,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.000748591905,"mpcc_du":49.5344696,"mpcc_dv":49.5523224,"mpcc_dw":50.4655304,"mpcc_enc_sign":1,"mpcc_id_a":0.55197376,"mpcc_iq_a":-0.760996282,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.06524706,"mpcc_pred_id_a":0.0607141629,"mpcc_pred_iq_a":-0.892315686,"mpcc_state":1,"mpcc_theta_e":0.436487675,"mpcc_theta_mech":0.554243445,"sam_rpm":9.19215775,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0441290885,"thr_a_norm":0.0441290885,"thr_a_v":0.676516354,"thr_b":0.0136266798,"thr_b_norm":0.0136266798,"thr_b_v":0.554506719,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.042318,"values":{"cg_iu_a":4.51881123,"cg_iv_a":-0.806133032,"cg_iw_a":0.0566809177,"cg_theta_rad":0.556070864,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.024172809,"mpcc_du":48.3201485,"mpcc_dv":51.6798515,"mpcc_dw":48.9916725,"mpcc_enc_sign":1,"mpcc_id_a":0.386331975,"mpcc_iq_a":-2.52075291,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.674036,"mpcc_pred_id_a":0.21054253,"mpcc_pred_iq_a":-5.83443451,"mpcc_state":1,"mpcc_theta_e":0.429929733,"mpcc_theta_mech":0.552931905,"sam_rpm":23.8857384,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180075616,"thr_a_norm":0.0441290885,"thr_a_v":0.572030246,"thr_b":0,"thr_b_norm":0.0136266798,"thr_b_v":0.441812754,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.052359,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.09608364,"cg_iw_a":0.999020576,"cg_theta_rad":0.558305979,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0104225203,"mpcc_du":48.807045,"mpcc_dv":51.192955,"mpcc_dw":49.2791748,"mpcc_enc_sign":1,"mpcc_id_a":-0.385072619,"mpcc_iq_a":-1.85439813,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.2995186,"mpcc_pred_id_a":-0.617519319,"mpcc_pred_iq_a":-3.81935811,"mpcc_state":1,"mpcc_theta_e":0.449803829,"mpcc_theta_mech":0.5569067,"sam_rpm":21.1349716,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180075616,"thr_a_norm":0.0180075616,"thr_a_v":0.572030246,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441812754,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.075735,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.90827537,"cg_iw_a":-2.04546118,"cg_theta_rad":0.555551469,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0173522867,"mpcc_du":50.2883987,"mpcc_dv":48.517971,"mpcc_dw":51.482029,"mpcc_enc_sign":1,"mpcc_id_a":2.07979441,"mpcc_iq_a":-1.08442628,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.56708145,"mpcc_pred_id_a":0.245201662,"mpcc_pred_iq_a":0.439087629,"mpcc_state":1,"mpcc_theta_e":0.446669102,"mpcc_theta_mech":0.556279778,"sam_rpm":4.15044546,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024264127,"thr_a_norm":0.024264127,"thr_a_v":0.597056508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467745453,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.082266,"values":{"cg_iu_a":1.90925455,"cg_iv_a":0.0637187958,"cg_iw_a":0.12916851,"cg_theta_rad":0.557513714,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.019092204,"mpcc_du":49.8228569,"mpcc_dv":49.0472717,"mpcc_dw":50.9527283,"mpcc_enc_sign":1,"mpcc_id_a":2.4355638,"mpcc_iq_a":-1.34838521,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.88622046,"mpcc_pred_id_a":0.298602045,"mpcc_pred_iq_a":-0.995536804,"mpcc_state":1,"mpcc_theta_e":0.446914196,"mpcc_theta_mech":0.556328714,"sam_rpm":8.82563591,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024264127,"thr_a_norm":0.024264127,"thr_a_v":0.597056508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467745453,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.088797,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.16857147,"cg_iw_a":-2.11794901,"cg_theta_rad":0.556032956,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.00894918852,"mpcc_du":49.6313438,"mpcc_dv":49.4208336,"mpcc_dw":50.5791664,"mpcc_enc_sign":1,"mpcc_id_a":1.24934649,"mpcc_iq_a":-0.63696152,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.43702984,"mpcc_pred_id_a":-0.127186775,"mpcc_pred_iq_a":-2.19578767,"mpcc_state":1,"mpcc_theta_e":0.444536209,"mpcc_theta_mech":0.555853188,"sam_rpm":6.53045845,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242515355,"thr_a_norm":0.0242515355,"thr_a_v":0.597006142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469054729,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.095358,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.226231575,"cg_iw_a":-0.813171148,"cg_theta_rad":0.556985915,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0435631499,"mpcc_du":49.6190224,"mpcc_dv":49.196331,"mpcc_dw":50.803669,"mpcc_enc_sign":1,"mpcc_id_a":2.80869436,"mpcc_iq_a":-0.737065792,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.04705429,"mpcc_pred_id_a":0.489161909,"mpcc_pred_iq_a":-3.4981575,"mpcc_state":1,"mpcc_theta_e":0.446536541,"mpcc_theta_mech":0.556253195,"sam_rpm":5.15432119,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0242515355,"thr_a_v":0.618709087,"thr_b":0.0072568059,"thr_b_norm":0,"thr_b_v":0.529027224,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.103109,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.6759851,"cg_iw_a":-0.885658503,"cg_theta_rad":0.556191802,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.00677536195,"mpcc_du":50.6081123,"mpcc_dv":48.2042465,"mpcc_dw":50.4323273,"mpcc_enc_sign":1,"mpcc_id_a":0.919655323,"mpcc_iq_a":-1.67765987,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.67679119,"mpcc_pred_id_a":-0.0713135898,"mpcc_pred_iq_a":0.0326634832,"mpcc_state":1,"mpcc_theta_e":0.440155506,"mpcc_theta_mech":0.554977059,"sam_rpm":-4.87041759,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.0072568059,"thr_b_norm":0.0072568059,"thr_b_v":0.529027224,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.113333,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.226231575,"cg_iw_a":-1.82799864,"cg_theta_rad":0.553444862,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0234080981,"mpcc_du":50.6577492,"mpcc_dv":47.9260368,"mpcc_dw":52.0739632,"mpcc_enc_sign":1,"mpcc_id_a":2.83548474,"mpcc_iq_a":-0.829969347,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.3076954,"mpcc_pred_id_a":0.252108514,"mpcc_pred_iq_a":-1.35884786,"mpcc_state":1,"mpcc_theta_e":0.428274155,"mpcc_theta_mech":0.552600741,"sam_rpm":-27.5456505,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183222741,"thr_a_norm":0.0183222741,"thr_a_v":0.573289096,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456768155,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.123281,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.733645439,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.555666506,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0345203727,"mpcc_du":50.7754707,"mpcc_dv":47.971199,"mpcc_dw":52.028801,"mpcc_enc_sign":1,"mpcc_id_a":0.930822253,"mpcc_iq_a":-0.292053074,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.179348,"mpcc_pred_id_a":-0.129629716,"mpcc_pred_iq_a":-1.65393126,"mpcc_state":1,"mpcc_theta_e":0.437286854,"mpcc_theta_mech":0.554403245,"sam_rpm":-15.9030075,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183222741,"thr_a_norm":0.0183222741,"thr_a_v":0.573289096,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456768155,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.133505,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-1.74847269,"cg_iw_a":-0.885658503,"cg_theta_rad":0.556348383,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0391985066,"mpcc_du":50.5625916,"mpcc_dv":47.9578857,"mpcc_dw":52.0421143,"mpcc_enc_sign":1,"mpcc_id_a":3.9363544,"mpcc_iq_a":-1.05280602,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.12177849,"mpcc_pred_id_a":0.626176476,"mpcc_pred_iq_a":0.976633668,"mpcc_state":1,"mpcc_theta_e":0.437857151,"mpcc_theta_mech":0.554517329,"sam_rpm":-13.4341764,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02290456,"thr_a_norm":0.02290456,"thr_a_v":0.59161824,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480585933,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.143606,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-2.90827537,"cg_iw_a":0.419119358,"cg_theta_rad":0.556036115,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0380578004,"mpcc_du":50.7400246,"mpcc_dv":47.7434578,"mpcc_dw":52.2565422,"mpcc_enc_sign":1,"mpcc_id_a":0.787707925,"mpcc_iq_a":-0.597113252,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.46175146,"mpcc_pred_id_a":-0.210395336,"mpcc_pred_iq_a":-3.48993993,"mpcc_state":1,"mpcc_theta_e":0.442809105,"mpcc_theta_mech":0.555507779,"sam_rpm":-26.1072292,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0385648906,"thr_a_norm":0.02290456,"thr_a_v":0.654259562,"thr_b":0.00754635036,"thr_b_norm":0,"thr_b_v":0.530185401,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.153555,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.153744221,"cg_iw_a":-3.13277626,"cg_theta_rad":0.555437446,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0139452489,"mpcc_du":49.0172043,"mpcc_dv":50.9827957,"mpcc_dw":49.7674637,"mpcc_enc_sign":1,"mpcc_id_a":1.66325116,"mpcc_iq_a":-0.61292547,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.4742384,"mpcc_pred_id_a":-0.10199932,"mpcc_pred_iq_a":-5.4717617,"mpcc_state":1,"mpcc_theta_e":0.449952602,"mpcc_theta_mech":0.556936443,"sam_rpm":18.7532253,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0385648906,"thr_a_norm":0.0385648906,"thr_a_v":0.654259562,"thr_b":0.00754635036,"thr_b_norm":0.00754635036,"thr_b_v":0.530185401,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.176962,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.951108456,"cg_iw_a":-1.61053514,"cg_theta_rad":0.555394232,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.000208909478,"mpcc_du":51.0970802,"mpcc_dv":47.6882248,"mpcc_dw":52.3117752,"mpcc_enc_sign":1,"mpcc_id_a":-0.178041652,"mpcc_iq_a":-0.972427189,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.1348267,"mpcc_pred_id_a":-0.243891448,"mpcc_pred_iq_a":2.00160956,"mpcc_state":1,"mpcc_theta_e":0.42843008,"mpcc_theta_mech":0.552631974,"sam_rpm":-19.7649174,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198203325,"thr_a_norm":0.0198203325,"thr_a_v":0.57928133,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465076655,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.183462,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.82096052,"cg_iw_a":-0.160782099,"cg_theta_rad":0.553266227,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.00799808558,"mpcc_du":49.5603676,"mpcc_dv":50.1598434,"mpcc_dw":50.4396324,"mpcc_enc_sign":1,"mpcc_id_a":1.34518588,"mpcc_iq_a":-0.269235432,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.99566555,"mpcc_pred_id_a":0.157806098,"mpcc_pred_iq_a":-2.72912312,"mpcc_state":1,"mpcc_theta_e":0.447134495,"mpcc_theta_mech":0.556372821,"sam_rpm":10.8233433,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198958516,"thr_a_norm":0.0198203325,"thr_a_v":0.579583406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.190023,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-0.516182423,"cg_iw_a":0.491607189,"cg_theta_rad":0.557717621,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.00411219802,"mpcc_du":48.8875008,"mpcc_dv":51.1124992,"mpcc_dw":49.6901855,"mpcc_enc_sign":1,"mpcc_id_a":1.1483705,"mpcc_iq_a":-0.33674565,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.0578537,"mpcc_pred_id_a":0.575851142,"mpcc_pred_iq_a":0.0779177174,"mpcc_state":1,"mpcc_theta_e":0.429016113,"mpcc_theta_mech":0.552749157,"sam_rpm":21.2003555,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198958516,"thr_a_norm":0.0198958516,"thr_a_v":0.579583406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.196493,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.6759851,"cg_iw_a":0.129168749,"cg_theta_rad":0.557573676,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0319321007,"mpcc_du":49.7648468,"mpcc_dv":49.0691452,"mpcc_dw":50.9308548,"mpcc_enc_sign":1,"mpcc_id_a":3.0420053,"mpcc_iq_a":-1.09134889,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.70484734,"mpcc_pred_id_a":0.566676199,"mpcc_pred_iq_a":-0.974541306,"mpcc_state":1,"mpcc_theta_e":0.449503422,"mpcc_theta_mech":0.556846559,"sam_rpm":11.7912817,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100161374,"thr_a_norm":0.100161374,"thr_a_v":0.900645494,"thr_b":0.047666505,"thr_b_norm":0.047666505,"thr_b_v":0.69066602,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.208487,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.83578777,"cg_iw_a":1.72389746,"cg_theta_rad":0.557939172,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0188162234,"mpcc_du":50.3310547,"mpcc_dv":48.6555367,"mpcc_dw":51.3444633,"mpcc_enc_sign":1,"mpcc_id_a":1.4995991,"mpcc_iq_a":-0.617293715,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.58303714,"mpcc_pred_id_a":-0.175218701,"mpcc_pred_iq_a":-1.61363161,"mpcc_state":1,"mpcc_theta_e":0.444645882,"mpcc_theta_mech":0.555875063,"sam_rpm":-4.54756975,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289219469,"thr_a_norm":0.100161374,"thr_a_v":0.615687788,"thr_b":0.00123941898,"thr_b_norm":0.047666505,"thr_b_v":0.504957676,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.218283,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.443694592,"cg_iw_a":-2.62536287,"cg_theta_rad":0.554155588,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0321305431,"mpcc_du":50.70504,"mpcc_dv":47.8165894,"mpcc_dw":52.1834106,"mpcc_enc_sign":1,"mpcc_id_a":3.57290101,"mpcc_iq_a":-0.606214941,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.1451359,"mpcc_pred_id_a":0.57529515,"mpcc_pred_iq_a":0.431377411,"mpcc_state":1,"mpcc_theta_e":0.42610836,"mpcc_theta_mech":0.552167594,"sam_rpm":-26.5419979,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289219469,"thr_a_norm":0.0289219469,"thr_a_v":0.615687788,"thr_b":0.00123941898,"thr_b_norm":0.00123941898,"thr_b_v":0.504957676,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.229544,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.53100967,"cg_iw_a":-0.523220539,"cg_theta_rad":0.555752754,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0619731694,"mpcc_du":49.6997566,"mpcc_dv":49.3871536,"mpcc_dw":50.6128464,"mpcc_enc_sign":1,"mpcc_id_a":1.95763111,"mpcc_iq_a":-1.98660088,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.05333233,"mpcc_pred_id_a":-0.0344462506,"mpcc_pred_iq_a":-5.34691763,"mpcc_state":1,"mpcc_theta_e":0.457859039,"mpcc_theta_mech":0.558517754,"sam_rpm":15.2643404,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192664266,"thr_a_norm":0.0192664266,"thr_a_v":0.577065706,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460192263,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.240713,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.02359605,"cg_iw_a":0.201656103,"cg_theta_rad":0.555435717,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0275863912,"mpcc_du":50.2075768,"mpcc_dv":48.8673325,"mpcc_dw":51.1326675,"mpcc_enc_sign":1,"mpcc_id_a":1.0781548,"mpcc_iq_a":-1.161798,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.27114356,"mpcc_pred_id_a":-0.337290376,"mpcc_pred_iq_a":-3.37420464,"mpcc_state":1,"mpcc_theta_e":0.446834564,"mpcc_theta_mech":0.556312799,"sam_rpm":-1.68393874,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282295644,"thr_a_norm":0.0192664266,"thr_a_v":0.612918258,"thr_b":0.000282675028,"thr_b_norm":0,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.250692,"values":{"cg_iu_a":3.72144651,"cg_iv_a":0.136206627,"cg_iw_a":-3.85765314,"cg_theta_rad":0.557264745,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0257937144,"mpcc_du":50.7246284,"mpcc_dv":48.1267204,"mpcc_dw":51.8732796,"mpcc_enc_sign":1,"mpcc_id_a":0.999714255,"mpcc_iq_a":-1.16392839,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.94613504,"mpcc_pred_id_a":-0.0713419393,"mpcc_pred_iq_a":-1.315485,"mpcc_state":1,"mpcc_theta_e":0.44253397,"mpcc_theta_mech":0.555452704,"sam_rpm":-8.47293186,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282295644,"thr_a_norm":0.0282295644,"thr_a_v":0.612918258,"thr_b":0.000282675028,"thr_b_norm":0.000282675028,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.260916,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.53100967,"cg_iw_a":-2.26292419,"cg_theta_rad":0.556394875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0343601741,"mpcc_du":50.6823807,"mpcc_dv":48.1885986,"mpcc_dw":51.8114014,"mpcc_enc_sign":1,"mpcc_id_a":0.55564791,"mpcc_iq_a":-0.405333906,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.30564117,"mpcc_pred_id_a":-0.490996182,"mpcc_pred_iq_a":-4.23227692,"mpcc_state":1,"mpcc_theta_e":0.452667236,"mpcc_theta_mech":0.557479322,"sam_rpm":-7.26877356,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0304955393,"thr_a_norm":0.0304955393,"thr_a_v":0.621982157,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459285885,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.283926,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.74847269,"cg_iw_a":-1.61053562,"cg_theta_rad":0.554673493,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0196897984,"mpcc_du":49.306839,"mpcc_dv":50.693161,"mpcc_dw":52.1411667,"mpcc_enc_sign":1,"mpcc_id_a":1.74074817,"mpcc_iq_a":-1.77729797,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.4064369,"mpcc_pred_id_a":-0.200594202,"mpcc_pred_iq_a":-6.2600913,"mpcc_state":1,"mpcc_theta_e":0.454373837,"mpcc_theta_mech":0.554440498,"sam_rpm":17.2545433,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0304955393,"thr_a_norm":0.0304955393,"thr_a_v":0.621982157,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459285885,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.290487,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.45852208,"cg_iw_a":0.564094782,"cg_theta_rad":0.556527615,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0230675843,"mpcc_du":49.6683769,"mpcc_dv":49.3167191,"mpcc_dw":50.6832809,"mpcc_enc_sign":1,"mpcc_id_a":2.17620444,"mpcc_iq_a":-2.69576073,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.61656,"mpcc_pred_id_a":0.243543655,"mpcc_pred_iq_a":-2.94687724,"mpcc_state":1,"mpcc_theta_e":0.456408501,"mpcc_theta_mech":0.558227599,"sam_rpm":17.9107838,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188006312,"thr_a_norm":0.0188006312,"thr_a_v":0.575202525,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471421361,"vdc_v":54.6292953}} +{"type":"telemetry","t":30.296988,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.298719406,"cg_iw_a":-2.19043684,"cg_theta_rad":0.553231716,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0145293241,"mpcc_du":49.5879288,"mpcc_dv":50.1371231,"mpcc_dw":50.4120712,"mpcc_enc_sign":1,"mpcc_id_a":2.39674735,"mpcc_iq_a":-1.26338828,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.79052711,"mpcc_pred_id_a":-0.0598297678,"mpcc_pred_iq_a":-3.54928613,"mpcc_state":1,"mpcc_theta_e":0.440256596,"mpcc_theta_mech":0.554997265,"sam_rpm":1.74612319,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188006312,"thr_a_norm":0.0188006312,"thr_a_v":0.575202525,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471421361,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.303488,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.31354666,"cg_iw_a":-1.90048599,"cg_theta_rad":0.554592133,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.025988061,"mpcc_du":49.4919891,"mpcc_dv":49.4424095,"mpcc_dw":50.5575905,"mpcc_enc_sign":1,"mpcc_id_a":0.953125775,"mpcc_iq_a":-1.26720166,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.4364653,"mpcc_pred_id_a":0.462284446,"mpcc_pred_iq_a":-1.78472865,"mpcc_state":1,"mpcc_theta_e":0.441902637,"mpcc_theta_mech":0.555326402,"sam_rpm":16.9097023,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269581228,"thr_a_norm":0.0269581228,"thr_a_v":0.607832491,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492268264,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.311911,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.45852208,"cg_iw_a":0.636582136,"cg_theta_rad":0.557294548,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0223526955,"mpcc_du":50.497406,"mpcc_dv":48.1362228,"mpcc_dw":51.8637772,"mpcc_enc_sign":1,"mpcc_id_a":2.94748712,"mpcc_iq_a":-0.229760304,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.3607216,"mpcc_pred_id_a":0.477874815,"mpcc_pred_iq_a":-0.789831519,"mpcc_state":1,"mpcc_theta_e":0.425896645,"mpcc_theta_mech":0.552125275,"sam_rpm":-27.5866852,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0269581228,"thr_a_v":0.618709087,"thr_b":0.00692950189,"thr_b_norm":0,"thr_b_v":0.527718008,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.321859,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-3.12573838,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.555276632,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0341341719,"mpcc_du":50.1039314,"mpcc_dv":49.0032349,"mpcc_dw":50.9967651,"mpcc_enc_sign":1,"mpcc_id_a":1.45387721,"mpcc_iq_a":-0.0386082977,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.250327587,"mpcc_pred_id_a":-0.128338158,"mpcc_pred_iq_a":-2.6667726,"mpcc_state":1,"mpcc_theta_e":0.444239616,"mpcc_theta_mech":0.555793881,"sam_rpm":2.37953687,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00692950189,"thr_b_norm":0.00692950189,"thr_b_v":0.527718008,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.332083,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.951108456,"cg_iw_a":0.274144173,"cg_theta_rad":0.555439472,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0236774795,"mpcc_du":49.5499115,"mpcc_dv":50.2780342,"mpcc_dw":50.4500885,"mpcc_enc_sign":1,"mpcc_id_a":1.76076579,"mpcc_iq_a":-1.60022128,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.43042672,"mpcc_pred_id_a":0.205433458,"mpcc_pred_iq_a":-1.97017896,"mpcc_state":1,"mpcc_theta_e":0.435787201,"mpcc_theta_mech":0.554103374,"sam_rpm":0.661891937,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202860981,"thr_a_norm":0.0202860981,"thr_a_v":0.581144392,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453595787,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.341909,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.733645439,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.553613901,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0391846001,"mpcc_du":50.0708618,"mpcc_dv":49.1656342,"mpcc_dw":50.8343658,"mpcc_enc_sign":1,"mpcc_id_a":-0.215651169,"mpcc_iq_a":-0.170353219,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.56882238,"mpcc_pred_id_a":-0.520946205,"mpcc_pred_iq_a":-2.44831777,"mpcc_state":1,"mpcc_theta_e":0.44872427,"mpcc_theta_mech":0.556690812,"sam_rpm":9.62899971,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202860981,"thr_a_norm":0.0202860981,"thr_a_v":0.581144392,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453595787,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.352224,"values":{"cg_iu_a":0.676964283,"cg_iv_a":0.281181812,"cg_iw_a":-0.958146095,"cg_theta_rad":0.555040598,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0271533411,"mpcc_du":49.8013954,"mpcc_dv":49.0223122,"mpcc_dw":50.0623512,"mpcc_enc_sign":1,"mpcc_id_a":2.92618322,"mpcc_iq_a":-0.985594988,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.03705502,"mpcc_pred_id_a":0.603992343,"mpcc_pred_iq_a":1.34397042,"mpcc_state":1,"mpcc_theta_e":0.434854031,"mpcc_theta_mech":0.555655718,"sam_rpm":0.93749702,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176047087,"thr_a_norm":0.0176047087,"thr_a_v":0.570418835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43934536,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.362265,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-3.77812743,"cg_iw_a":1.21648383,"cg_theta_rad":0.554122508,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0234301277,"mpcc_du":50.2038727,"mpcc_dv":48.7030945,"mpcc_dw":51.2969055,"mpcc_enc_sign":1,"mpcc_id_a":-0.436196387,"mpcc_iq_a":-3.02790809,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.284892291,"mpcc_pred_id_a":-0.298951,"mpcc_pred_iq_a":-4.87313843,"mpcc_state":1,"mpcc_theta_e":0.439785004,"mpcc_theta_mech":0.554902911,"sam_rpm":-15.7844067,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024440363,"thr_a_norm":0.0176047087,"thr_a_v":0.597761452,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48929733,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.384359,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.16857147,"cg_iw_a":-0.160782099,"cg_theta_rad":0.555148363,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0572813265,"mpcc_du":51.2955132,"mpcc_dv":47.1387253,"mpcc_dw":52.8612747,"mpcc_enc_sign":1,"mpcc_id_a":2.25864434,"mpcc_iq_a":0.436862648,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.1672859,"mpcc_pred_id_a":0.303368717,"mpcc_pred_iq_a":-5.19975853,"mpcc_state":1,"mpcc_theta_e":0.455072403,"mpcc_theta_mech":0.557960391,"sam_rpm":-23.2711601,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024440363,"thr_a_norm":0.024440363,"thr_a_v":0.597761452,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48929733,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.39086,"values":{"cg_iu_a":1.25686598,"cg_iv_a":1.00605869,"cg_iw_a":-2.26292467,"cg_theta_rad":0.55712533,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.00479967706,"mpcc_du":50.0150909,"mpcc_dv":49.0963364,"mpcc_dw":50.9036636,"mpcc_enc_sign":1,"mpcc_id_a":-0.207858011,"mpcc_iq_a":-1.19137788,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.87252903,"mpcc_pred_id_a":-0.462045282,"mpcc_pred_iq_a":-4.26939154,"mpcc_state":1,"mpcc_theta_e":0.435828209,"mpcc_theta_mech":0.553604364,"sam_rpm":-13.4187365,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211673081,"thr_a_norm":0.0211673081,"thr_a_v":0.584669232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472881675,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.397329,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-2.76329994,"cg_iw_a":1.72389698,"cg_theta_rad":0.556159258,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0409195274,"mpcc_du":49.4478302,"mpcc_dv":50.0012665,"mpcc_dw":50.5521698,"mpcc_enc_sign":1,"mpcc_id_a":3.2904079,"mpcc_iq_a":0.075239636,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.8525629,"mpcc_pred_id_a":0.648434639,"mpcc_pred_iq_a":-2.03687596,"mpcc_state":1,"mpcc_theta_e":0.441191673,"mpcc_theta_mech":0.555184245,"sam_rpm":18.9090385,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211673081,"thr_a_norm":0.0211673081,"thr_a_v":0.584669232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472881675,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.403921,"values":{"cg_iu_a":-0.410350561,"cg_iv_a":-0.371207237,"cg_iw_a":0.781557798,"cg_theta_rad":0.556147218,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.000680373108,"mpcc_du":49.7999535,"mpcc_dv":49.3243561,"mpcc_dw":51.3821297,"mpcc_enc_sign":1,"mpcc_id_a":0.396060705,"mpcc_iq_a":-2.08642507,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.65075874,"mpcc_pred_id_a":-0.231363669,"mpcc_pred_iq_a":-1.77319741,"mpcc_state":1,"mpcc_theta_e":0.445735455,"mpcc_theta_mech":0.555235922,"sam_rpm":8.27918911,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026681155,"thr_a_norm":0.026681155,"thr_a_v":0.60672462,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476910055,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.41329,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.951108456,"cg_iw_a":0.346631527,"cg_theta_rad":0.556188464,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0262603313,"mpcc_du":49.4971466,"mpcc_dv":50.2252884,"mpcc_dw":50.5028534,"mpcc_enc_sign":1,"mpcc_id_a":3.13865113,"mpcc_iq_a":-1.22348571,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.89225388,"mpcc_pred_id_a":0.430960387,"mpcc_pred_iq_a":-2.81467295,"mpcc_state":1,"mpcc_theta_e":0.447513103,"mpcc_theta_mech":0.556448519,"sam_rpm":14.9679518,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185866356,"thr_a_norm":0.026681155,"thr_a_v":0.574346542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.42333,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.443694592,"cg_iw_a":-0.233269691,"cg_theta_rad":0.55624032,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0694063231,"mpcc_du":49.0086517,"mpcc_dv":50.9913483,"mpcc_dw":49.5675774,"mpcc_enc_sign":1,"mpcc_id_a":-0.219953954,"mpcc_iq_a":-4.1009016,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.48519278,"mpcc_pred_id_a":-0.428565472,"mpcc_pred_iq_a":-4.14414024,"mpcc_state":1,"mpcc_theta_e":0.439759254,"mpcc_theta_mech":0.554897726,"sam_rpm":5.92774248,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185866356,"thr_a_norm":0.0185866356,"thr_a_v":0.574346542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.433523,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.74847269,"cg_iw_a":-0.378244877,"cg_theta_rad":0.551955998,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0157765299,"mpcc_du":49.5563278,"mpcc_dv":49.5788956,"mpcc_dw":50.4436722,"mpcc_enc_sign":1,"mpcc_id_a":1.8639971,"mpcc_iq_a":-2.35030961,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.8426561,"mpcc_pred_id_a":-0.0621934794,"mpcc_pred_iq_a":-3.1652689,"mpcc_state":1,"mpcc_theta_e":0.454528809,"mpcc_theta_mech":0.557851672,"sam_rpm":17.211031,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0319684148,"thr_a_norm":0.0319684148,"thr_a_v":0.627873659,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480636299,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.44335,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.951108456,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556906939,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0181143619,"mpcc_du":49.6165504,"mpcc_dv":49.8381004,"mpcc_dw":50.3834496,"mpcc_enc_sign":1,"mpcc_id_a":0.787656367,"mpcc_iq_a":-0.0799156278,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0713162348,"mpcc_pred_id_a":-0.325264186,"mpcc_pred_iq_a":-5.03907633,"mpcc_state":1,"mpcc_theta_e":0.42927599,"mpcc_theta_mech":0.552801073,"sam_rpm":-0.364810795,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0319684148,"thr_a_norm":0.0319684148,"thr_a_v":0.627873659,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480636299,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.453695,"values":{"cg_iu_a":0.314526081,"cg_iv_a":0.643620491,"cg_iw_a":-1.97297382,"cg_theta_rad":0.55821979,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0520967171,"mpcc_du":49.8535309,"mpcc_dv":48.8107452,"mpcc_dw":51.1892548,"mpcc_enc_sign":1,"mpcc_id_a":3.31742096,"mpcc_iq_a":-1.87030637,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.3950129,"mpcc_pred_id_a":0.831692278,"mpcc_pred_iq_a":-0.581488967,"mpcc_state":1,"mpcc_theta_e":0.42640686,"mpcc_theta_mech":0.552227259,"sam_rpm":-20.4651508,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0430464596,"thr_a_norm":0.0430464596,"thr_a_v":0.672185838,"thr_b":0.0067910254,"thr_b_norm":0.0067910254,"thr_b_v":0.527164102,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.463919,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.16857147,"cg_iw_a":0.419119358,"cg_theta_rad":0.55563581,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.056446597,"mpcc_du":49.802166,"mpcc_dv":49.1206589,"mpcc_dw":50.8793411,"mpcc_enc_sign":1,"mpcc_id_a":2.19956517,"mpcc_iq_a":-1.00939131,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.42407942,"mpcc_pred_id_a":0.292888373,"mpcc_pred_iq_a":-3.98580527,"mpcc_state":1,"mpcc_theta_e":0.446508884,"mpcc_theta_mech":0.556247711,"sam_rpm":8.26486301,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024113059,"thr_a_norm":0.0430464596,"thr_a_v":0.596452236,"thr_b":0,"thr_b_norm":0.0067910254,"thr_b_v":0.469457537,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.486715,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.6759851,"cg_iw_a":-0.305757284,"cg_theta_rad":0.55535388,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0440631509,"mpcc_du":49.6655502,"mpcc_dv":49.5541611,"mpcc_dw":50.4458389,"mpcc_enc_sign":1,"mpcc_id_a":0.822236955,"mpcc_iq_a":-0.020915458,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.78338814,"mpcc_pred_id_a":-0.411839753,"mpcc_pred_iq_a":-4.89301491,"mpcc_state":1,"mpcc_theta_e":0.450077534,"mpcc_theta_mech":0.556961417,"sam_rpm":5.94643641,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024113059,"thr_a_norm":0.024113059,"thr_a_v":0.596452236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469457537,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.493246,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.733645439,"cg_iw_a":-0.450732708,"cg_theta_rad":0.552566528,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0146116316,"mpcc_du":49.5343056,"mpcc_dv":50.394577,"mpcc_dw":50.4656944,"mpcc_enc_sign":1,"mpcc_id_a":2.31319475,"mpcc_iq_a":-1.43470418,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.89953899,"mpcc_pred_id_a":0.239879489,"mpcc_pred_iq_a":-3.54772592,"mpcc_state":1,"mpcc_theta_e":0.448826313,"mpcc_theta_mech":0.556711197,"sam_rpm":13.1790361,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202860981,"thr_a_norm":0.0202860981,"thr_a_v":0.581144392,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454653233,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.499777,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.96593571,"cg_iw_a":0.709069729,"cg_theta_rad":0.557851732,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0164753906,"mpcc_du":49.1226234,"mpcc_dv":50.8773766,"mpcc_dw":49.8231239,"mpcc_enc_sign":1,"mpcc_id_a":1.28153205,"mpcc_iq_a":-0.570037305,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.0535231,"mpcc_pred_id_a":-0.179775253,"mpcc_pred_iq_a":-6.23203945,"mpcc_state":1,"mpcc_theta_e":0.451270103,"mpcc_theta_mech":0.557199895,"sam_rpm":14.8659554,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202860981,"thr_a_norm":0.0202860981,"thr_a_v":0.581144392,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454653233,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.506521,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.82096052,"cg_iw_a":-1.17560911,"cg_theta_rad":0.554562688,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.00624129875,"mpcc_du":49.828743,"mpcc_dv":49.0341492,"mpcc_dw":50.9658508,"mpcc_enc_sign":1,"mpcc_id_a":1.13205004,"mpcc_iq_a":-1.06782854,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.2532291,"mpcc_pred_id_a":0.253657639,"mpcc_pred_iq_a":-4.71210337,"mpcc_state":1,"mpcc_theta_e":0.43037653,"mpcc_theta_mech":0.553021193,"sam_rpm":-19.5764465,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297905654,"thr_a_norm":0.0297905654,"thr_a_v":0.619162261,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461702883,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.516897,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.24105906,"cg_iw_a":-0.740683317,"cg_theta_rad":0.556672513,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.00420099543,"mpcc_du":49.3695679,"mpcc_dv":50.6304321,"mpcc_dw":50.0205078,"mpcc_enc_sign":1,"mpcc_id_a":-0.203838497,"mpcc_iq_a":-0.825231016,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.9543371,"mpcc_pred_id_a":-0.377292782,"mpcc_pred_iq_a":-1.71378398,"mpcc_state":1,"mpcc_theta_e":0.44297123,"mpcc_theta_mech":0.555540144,"sam_rpm":15.1662321,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202105641,"thr_a_norm":0.0297905654,"thr_a_v":0.580842257,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465429127,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.527884,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.516182423,"cg_iw_a":0.274143934,"cg_theta_rad":0.555710316,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0687701404,"mpcc_du":49.8285789,"mpcc_dv":49.1673584,"mpcc_dw":50.8326416,"mpcc_enc_sign":1,"mpcc_id_a":2.72155023,"mpcc_iq_a":0.929942727,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.48154044,"mpcc_pred_id_a":0.1335859,"mpcc_pred_iq_a":-2.54891706,"mpcc_state":1,"mpcc_theta_e":0.445978642,"mpcc_theta_mech":0.556141615,"sam_rpm":6.96226311,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202105641,"thr_a_norm":0.0202105641,"thr_a_v":0.580842257,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465429127,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.539297,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.74847269,"cg_iw_a":-1.39307261,"cg_theta_rad":0.552379608,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0646763295,"mpcc_du":50.5093613,"mpcc_dv":48.1984215,"mpcc_dw":51.8015785,"mpcc_enc_sign":1,"mpcc_id_a":2.71743655,"mpcc_iq_a":0.43187511,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.01595104,"mpcc_pred_id_a":0.426701874,"mpcc_pred_iq_a":0.0462344475,"mpcc_state":1,"mpcc_theta_e":0.441908836,"mpcc_theta_mech":0.555327713,"sam_rpm":0.32984513,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216330886,"thr_a_norm":0.0216330886,"thr_a_v":0.586532354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456768155,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.549368,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.588670254,"cg_iw_a":-1.90048599,"cg_theta_rad":0.555771708,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.00160695391,"mpcc_du":49.5575638,"mpcc_dv":49.6907082,"mpcc_dw":50.4424362,"mpcc_enc_sign":1,"mpcc_id_a":0.198949292,"mpcc_iq_a":-0.647850215,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.81995964,"mpcc_pred_id_a":-0.0582648963,"mpcc_pred_iq_a":-1.46477139,"mpcc_state":1,"mpcc_theta_e":0.447116375,"mpcc_theta_mech":0.556369185,"sam_rpm":12.4713688,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273357779,"thr_a_norm":0.0216330886,"thr_a_v":0.609343112,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484261811,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.561209,"values":{"cg_iu_a":1.40184116,"cg_iv_a":0.643620491,"cg_iw_a":-2.04546165,"cg_theta_rad":0.559008539,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.00920246821,"mpcc_du":50.2504883,"mpcc_dv":48.7249298,"mpcc_dw":51.2750702,"mpcc_enc_sign":1,"mpcc_id_a":0.402493685,"mpcc_iq_a":-2.08519363,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.55862141,"mpcc_pred_id_a":-0.686673701,"mpcc_pred_iq_a":-2.85746622,"mpcc_state":1,"mpcc_theta_e":0.442651272,"mpcc_theta_mech":0.555476129,"sam_rpm":-12.81355,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273357779,"thr_a_norm":0.0273357779,"thr_a_v":0.609343112,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484261811,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.584677,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.806133032,"cg_iw_a":-0.160782099,"cg_theta_rad":0.553141057,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0447110087,"mpcc_du":49.7896538,"mpcc_dv":49.256073,"mpcc_dw":50.743927,"mpcc_enc_sign":1,"mpcc_id_a":3.00322032,"mpcc_iq_a":0.0139860502,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.352694064,"mpcc_pred_id_a":-0.0707050636,"mpcc_pred_iq_a":-3.41283679,"mpcc_state":1,"mpcc_theta_e":0.443541527,"mpcc_theta_mech":0.555654228,"sam_rpm":0.0909685642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156031102,"thr_a_norm":0.0156031102,"thr_a_v":0.562412441,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462005019,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.591085,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.38603449,"cg_iw_a":-1.61053514,"cg_theta_rad":0.555146337,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0175462421,"mpcc_du":50.7387886,"mpcc_dv":48.0084572,"mpcc_dw":51.9915428,"mpcc_enc_sign":1,"mpcc_id_a":2.61510658,"mpcc_iq_a":-1.13794434,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.4974995,"mpcc_pred_id_a":0.0110491505,"mpcc_pred_iq_a":-0.513641238,"mpcc_state":1,"mpcc_theta_e":0.426529884,"mpcc_theta_mech":0.552251875,"sam_rpm":-24.3921356,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193167776,"thr_a_norm":0.0156031102,"thr_a_v":0.57726711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461753249,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.597677,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.878620625,"cg_iw_a":-2.6978507,"cg_theta_rad":0.556631923,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.00695005246,"mpcc_du":49.8833466,"mpcc_dv":49.3484116,"mpcc_dw":50.6515884,"mpcc_enc_sign":1,"mpcc_id_a":0.491197258,"mpcc_iq_a":-1.20786178,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.01015091,"mpcc_pred_id_a":-0.493660271,"mpcc_pred_iq_a":-1.69286931,"mpcc_state":1,"mpcc_theta_e":0.449130535,"mpcc_theta_mech":0.556771994,"sam_rpm":11.5326366,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193167776,"thr_a_norm":0.0193167776,"thr_a_v":0.57726711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461753249,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.6043,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.54583716,"cg_iw_a":0.491606951,"cg_theta_rad":0.55746907,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0321993902,"mpcc_du":49.9248199,"mpcc_dv":49.0836296,"mpcc_dw":50.9163704,"mpcc_enc_sign":1,"mpcc_id_a":1.5203526,"mpcc_iq_a":-0.411568761,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.86061668,"mpcc_pred_id_a":0.0482030809,"mpcc_pred_iq_a":-1.39809513,"mpcc_state":1,"mpcc_theta_e":0.454080105,"mpcc_theta_mech":0.557761908,"sam_rpm":13.4702787,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280659199,"thr_a_norm":0.0280659199,"thr_a_v":0.61226368,"thr_b":0.00189402699,"thr_b_norm":0.00189402699,"thr_b_v":0.507576108,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.614798,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.53100967,"cg_iw_a":-0.740683556,"cg_theta_rad":0.556856275,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.100547083,"mpcc_du":50.0102615,"mpcc_dv":48.6367302,"mpcc_dw":51.3632698,"mpcc_enc_sign":1,"mpcc_id_a":3.87331843,"mpcc_iq_a":-1.0421288,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.1699295,"mpcc_pred_id_a":0.891822875,"mpcc_pred_iq_a":-3.02442384,"mpcc_state":1,"mpcc_theta_e":0.452791691,"mpcc_theta_mech":0.557504296,"sam_rpm":8.76139832,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0145834237,"thr_a_norm":0.0280659199,"thr_a_v":0.558333695,"thr_b":0,"thr_b_norm":0.00189402699,"thr_b_v":0.444330513,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.624685,"values":{"cg_iu_a":4.15637207,"cg_iv_a":0.498644829,"cg_iw_a":2.01384807,"cg_theta_rad":0.556532264,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0350718126,"mpcc_du":50.3907013,"mpcc_dv":48.439518,"mpcc_dw":51.560482,"mpcc_enc_sign":1,"mpcc_id_a":2.10879087,"mpcc_iq_a":-0.854629338,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.00971365,"mpcc_pred_id_a":0.133854076,"mpcc_pred_iq_a":-2.15869808,"mpcc_state":1,"mpcc_theta_e":0.442036152,"mpcc_theta_mech":0.555353165,"sam_rpm":-6.59431934,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0145834237,"thr_a_norm":0.0145834237,"thr_a_v":0.558333695,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444330513,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.634695,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.733645439,"cg_iw_a":-0.450732708,"cg_theta_rad":0.55703038,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.00911047775,"mpcc_du":49.5551529,"mpcc_dv":50.061657,"mpcc_dw":50.4448471,"mpcc_enc_sign":1,"mpcc_id_a":1.89541614,"mpcc_iq_a":-2.63138866,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.39024067,"mpcc_pred_id_a":0.00834445655,"mpcc_pred_iq_a":-3.52002144,"mpcc_state":1,"mpcc_theta_e":0.450200081,"mpcc_theta_mech":0.556985915,"sam_rpm":13.980648,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0272728354,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480384529,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.644491,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.82096052,"cg_iw_a":0.926533222,"cg_theta_rad":0.556270361,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0212265197,"mpcc_du":49.4563522,"mpcc_dv":49.77108,"mpcc_dw":50.5436478,"mpcc_enc_sign":1,"mpcc_id_a":2.84383559,"mpcc_iq_a":-1.33541489,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.9665651,"mpcc_pred_id_a":0.572996974,"mpcc_pred_iq_a":-1.05727649,"mpcc_state":1,"mpcc_theta_e":0.426990986,"mpcc_theta_mech":0.552344084,"sam_rpm":-7.68804741,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0272728354,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480384529,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.654867,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.806133032,"cg_iw_a":-2.40789962,"cg_theta_rad":0.554891527,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0185123123,"mpcc_du":50.6119003,"mpcc_dv":48.1482124,"mpcc_dw":51.8517876,"mpcc_enc_sign":1,"mpcc_id_a":2.22255087,"mpcc_iq_a":-2.3458159,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.1712942,"mpcc_pred_id_a":0.036616575,"mpcc_pred_iq_a":-0.333567977,"mpcc_state":1,"mpcc_theta_e":0.428712368,"mpcc_theta_mech":0.55268842,"sam_rpm":-23.5525513,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0161821842,"thr_a_norm":0.0161821842,"thr_a_v":0.564728737,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472529203,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.664877,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.60349751,"cg_iw_a":-1.53804779,"cg_theta_rad":0.55215323,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.024478551,"mpcc_du":50.991848,"mpcc_dv":47.5411873,"mpcc_dw":52.4588127,"mpcc_enc_sign":1,"mpcc_id_a":2.98328471,"mpcc_iq_a":-0.691841066,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.11819983,"mpcc_pred_id_a":0.384106427,"mpcc_pred_iq_a":-2.76345778,"mpcc_state":1,"mpcc_theta_e":0.43568325,"mpcc_theta_mech":0.553685009,"sam_rpm":-45.0851059,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202860981,"thr_a_norm":0.0161821842,"thr_a_v":0.581144392,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459638387,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.687887,"values":{"cg_iu_a":0.676964283,"cg_iv_a":0.0637187958,"cg_iw_a":-0.740683079,"cg_theta_rad":0.555115938,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.000132116635,"mpcc_du":49.6582222,"mpcc_dv":49.7823944,"mpcc_dw":50.3417778,"mpcc_enc_sign":1,"mpcc_id_a":-0.124435909,"mpcc_iq_a":-1.83660531,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.88317204,"mpcc_pred_id_a":-0.615941465,"mpcc_pred_iq_a":-3.0645957,"mpcc_state":1,"mpcc_theta_e":0.44424057,"mpcc_theta_mech":0.555794001,"sam_rpm":5.14357996,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202860981,"thr_a_norm":0.0202860981,"thr_a_v":0.581144392,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459638387,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.694479,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.45852208,"cg_iw_a":-2.19043684,"cg_theta_rad":0.554317892,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.010020487,"mpcc_du":51.2070274,"mpcc_dv":47.3648148,"mpcc_dw":52.6351852,"mpcc_enc_sign":1,"mpcc_id_a":1.27296591,"mpcc_iq_a":0.122722633,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-24.0907745,"mpcc_pred_id_a":0.0559822693,"mpcc_pred_iq_a":0.519630611,"mpcc_state":1,"mpcc_theta_e":0.420632362,"mpcc_theta_mech":0.551072359,"sam_rpm":-35.6140671,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0239494145,"thr_a_norm":0.0239494145,"thr_a_v":0.595797658,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477816403,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.700918,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.09608364,"cg_iw_a":-0.160782337,"cg_theta_rad":0.555868924,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0138405794,"mpcc_du":49.6299324,"mpcc_dv":50.3700676,"mpcc_dw":50.0958138,"mpcc_enc_sign":1,"mpcc_id_a":-1.86390722,"mpcc_iq_a":-1.09923518,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.42477584,"mpcc_pred_id_a":-1.03445303,"mpcc_pred_iq_a":-5.66919565,"mpcc_state":1,"mpcc_theta_e":0.445831776,"mpcc_theta_mech":0.556112289,"sam_rpm":4.79386234,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0239494145,"thr_a_norm":0.0239494145,"thr_a_v":0.595797658,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477816403,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.707479,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-3.27071381,"cg_iw_a":1.57892227,"cg_theta_rad":0.55909127,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0152809899,"mpcc_du":49.6188278,"mpcc_dv":49.803669,"mpcc_dw":51.0907745,"mpcc_enc_sign":1,"mpcc_id_a":1.52832806,"mpcc_iq_a":-1.71826112,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.71414185,"mpcc_pred_id_a":-0.341794223,"mpcc_pred_iq_a":-4.35974836,"mpcc_state":1,"mpcc_theta_e":0.453590393,"mpcc_theta_mech":0.556080639,"sam_rpm":11.2743311,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0958937854,"thr_a_norm":0.0958937854,"thr_a_v":0.883575141,"thr_b":0.0393957347,"thr_b_norm":0.0393957347,"thr_b_v":0.657582939,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.717733,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.04546118,"cg_theta_rad":0.551121652,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0586777329,"mpcc_du":50.0485344,"mpcc_dv":49.0678749,"mpcc_dw":50.9321251,"mpcc_enc_sign":1,"mpcc_id_a":2.43629456,"mpcc_iq_a":-1.3470645,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.69464302,"mpcc_pred_id_a":-0.333999097,"mpcc_pred_iq_a":-3.65495348,"mpcc_state":1,"mpcc_theta_e":0.446372032,"mpcc_theta_mech":0.556220293,"sam_rpm":9.11807346,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0169375092,"thr_a_norm":0.0958937854,"thr_a_v":0.567750037,"thr_b":0,"thr_b_norm":0.0393957347,"thr_b_v":0.446344733,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.727682,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.371207237,"cg_iw_a":-0.450732708,"cg_theta_rad":0.552350581,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0103096655,"mpcc_du":50.6681061,"mpcc_dv":48.1305351,"mpcc_dw":51.8694649,"mpcc_enc_sign":1,"mpcc_id_a":1.19722188,"mpcc_iq_a":-0.403945565,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.2330933,"mpcc_pred_id_a":-0.0983775184,"mpcc_pred_iq_a":-1.55875218,"mpcc_state":1,"mpcc_theta_e":0.428171158,"mpcc_theta_mech":0.552580178,"sam_rpm":-24.312809,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0169375092,"thr_a_norm":0.0169375092,"thr_a_v":0.567750037,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446344733,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.737906,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.6759851,"cg_iw_a":0.636582136,"cg_theta_rad":0.556516349,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.00280270772,"mpcc_du":50.6107368,"mpcc_dv":48.0779572,"mpcc_dw":51.9220428,"mpcc_enc_sign":1,"mpcc_id_a":1.05876195,"mpcc_iq_a":-0.707699358,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.5392513,"mpcc_pred_id_a":0.252387136,"mpcc_pred_iq_a":0.723750234,"mpcc_state":1,"mpcc_theta_e":0.427388668,"mpcc_theta_mech":0.554386735,"sam_rpm":-19.452816,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238487124,"thr_a_norm":0.0238487124,"thr_a_v":0.59539485,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470464617,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.747854,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.45852208,"cg_iw_a":0.636582136,"cg_theta_rad":0.556915641,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0164880473,"mpcc_du":50.8691368,"mpcc_dv":47.8696289,"mpcc_dw":52.1303711,"mpcc_enc_sign":1,"mpcc_id_a":2.5589757,"mpcc_iq_a":0.304252803,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.9203644,"mpcc_pred_id_a":0.0938167647,"mpcc_pred_iq_a":2.8877461,"mpcc_state":1,"mpcc_theta_e":0.429986477,"mpcc_theta_mech":0.55294323,"sam_rpm":-19.1632099,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238487124,"thr_a_norm":0.0238487124,"thr_a_v":0.59539485,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470464617,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.758078,"values":{"cg_iu_a":2.85159445,"cg_iv_a":0.0637187958,"cg_iw_a":-2.91531324,"cg_theta_rad":0.553626716,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0470004566,"mpcc_du":49.3326225,"mpcc_dv":50.6673775,"mpcc_dw":49.7833977,"mpcc_enc_sign":1,"mpcc_id_a":0.449563235,"mpcc_iq_a":-3.5353055,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.84685659,"mpcc_pred_id_a":-0.831129432,"mpcc_pred_iq_a":-3.12407732,"mpcc_state":1,"mpcc_theta_e":0.438898087,"mpcc_theta_mech":0.554725528,"sam_rpm":7.04258299,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266685635,"thr_a_norm":0.0266685635,"thr_a_v":0.606674254,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482499421,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.76827,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.951108456,"cg_iw_a":0.12916851,"cg_theta_rad":0.556217074,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0337385535,"mpcc_du":50.0065422,"mpcc_dv":48.7575035,"mpcc_dw":51.2424965,"mpcc_enc_sign":1,"mpcc_id_a":2.09537888,"mpcc_iq_a":-0.714844644,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.30225325,"mpcc_pred_id_a":0.571728587,"mpcc_pred_iq_a":-2.95409989,"mpcc_state":1,"mpcc_theta_e":0.444282532,"mpcc_theta_mech":0.555802464,"sam_rpm":-3.26505041,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019807741,"thr_a_norm":0.0266685635,"thr_a_v":0.579230964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474543363,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.791098,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.24105906,"cg_iw_a":-1.53804755,"cg_theta_rad":0.553574204,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0331537388,"mpcc_du":50.6931572,"mpcc_dv":48.3378296,"mpcc_dw":51.6621704,"mpcc_enc_sign":1,"mpcc_id_a":0.341961116,"mpcc_iq_a":-1.51034474,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.62691712,"mpcc_pred_id_a":-0.338010728,"mpcc_pred_iq_a":-1.18001747,"mpcc_state":1,"mpcc_theta_e":0.451693058,"mpcc_theta_mech":0.557284534,"sam_rpm":4.53314924,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019807741,"thr_a_norm":0.019807741,"thr_a_v":0.579230964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474543363,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.797598,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-2.32837415,"cg_iw_a":-1.17560935,"cg_theta_rad":0.557229817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0302545074,"mpcc_du":50.5576286,"mpcc_dv":48.0535622,"mpcc_dw":51.9464378,"mpcc_enc_sign":1,"mpcc_id_a":2.97505283,"mpcc_iq_a":0.348517478,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.9804583,"mpcc_pred_id_a":0.623984039,"mpcc_pred_iq_a":-0.656607926,"mpcc_state":1,"mpcc_theta_e":0.428257465,"mpcc_theta_mech":0.552597404,"sam_rpm":-23.3953876,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238487124,"thr_a_norm":0.0238487124,"thr_a_v":0.59539485,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466738373,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.804129,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.24105906,"cg_iw_a":1.65140963,"cg_theta_rad":0.553478479,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0292420182,"mpcc_du":49.6177216,"mpcc_dv":50.3238297,"mpcc_dw":50.3822784,"mpcc_enc_sign":1,"mpcc_id_a":3.28752089,"mpcc_iq_a":-0.710916817,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.5861988,"mpcc_pred_id_a":0.728565753,"mpcc_pred_iq_a":-1.51423061,"mpcc_state":1,"mpcc_theta_e":0.427338123,"mpcc_theta_mech":0.556239963,"sam_rpm":4.08120346,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238487124,"thr_a_norm":0.0238487124,"thr_a_v":0.59539485,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466738373,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.810659,"values":{"cg_iu_a":3.93890953,"cg_iv_a":-2.11091113,"cg_iw_a":-1.8279984,"cg_theta_rad":0.556632161,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.00771738682,"mpcc_du":50.4737892,"mpcc_dv":48.4724922,"mpcc_dw":51.5275078,"mpcc_enc_sign":1,"mpcc_id_a":1.16112709,"mpcc_iq_a":-0.483325988,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.6861315,"mpcc_pred_id_a":-0.121564299,"mpcc_pred_iq_a":-1.55921257,"mpcc_state":1,"mpcc_theta_e":0.43095541,"mpcc_theta_mech":0.553137004,"sam_rpm":-17.4730244,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209281296,"thr_a_norm":0.0209281296,"thr_a_v":0.583712518,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458429813,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.818869,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-2.25588632,"cg_iw_a":-1.68302298,"cg_theta_rad":0.554084063,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0167516302,"mpcc_du":49.6338005,"mpcc_dv":49.4923134,"mpcc_dw":50.5076866,"mpcc_enc_sign":1,"mpcc_id_a":1.17562568,"mpcc_iq_a":-4.13616848,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.86680126,"mpcc_pred_id_a":0.00218368252,"mpcc_pred_iq_a":-0.985210657,"mpcc_state":1,"mpcc_theta_e":0.448107719,"mpcc_theta_mech":0.55656743,"sam_rpm":14.1278467,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253089964,"thr_a_norm":0.0209281296,"thr_a_v":0.601235986,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483154029,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.828878,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.878620625,"cg_iw_a":0.491606712,"cg_theta_rad":0.556897819,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0479687639,"mpcc_du":50.1517067,"mpcc_dv":48.8546371,"mpcc_dw":51.1453629,"mpcc_enc_sign":1,"mpcc_id_a":1.4374634,"mpcc_iq_a":-0.41527766,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.01462126,"mpcc_pred_id_a":0.0626782179,"mpcc_pred_iq_a":-1.38808894,"mpcc_state":1,"mpcc_theta_e":0.452615261,"mpcc_theta_mech":0.55746901,"sam_rpm":12.5492182,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253089964,"thr_a_norm":0.0253089964,"thr_a_v":0.601235986,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483154029,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.839041,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.661157608,"cg_iw_a":-0.740683556,"cg_theta_rad":0.556252778,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0198800899,"mpcc_du":50.4393997,"mpcc_dv":48.2950401,"mpcc_dw":51.7049599,"mpcc_enc_sign":1,"mpcc_id_a":2.57557964,"mpcc_iq_a":-1.57627571,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.4106026,"mpcc_pred_id_a":0.236525655,"mpcc_pred_iq_a":-0.843482137,"mpcc_state":1,"mpcc_theta_e":0.425497055,"mpcc_theta_mech":0.552045345,"sam_rpm":-25.870697,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197447985,"thr_a_norm":0.0197447985,"thr_a_v":0.578979194,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464875251,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.848867,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.60349751,"cg_iw_a":0.41911912,"cg_theta_rad":0.55495435,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0436555818,"mpcc_du":49.7278709,"mpcc_dv":49.2724648,"mpcc_dw":50.7275352,"mpcc_enc_sign":1,"mpcc_id_a":2.4436965,"mpcc_iq_a":0.184812516,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.38671827,"mpcc_pred_id_a":0.206461191,"mpcc_pred_iq_a":-3.03872347,"mpcc_state":1,"mpcc_theta_e":0.444536209,"mpcc_theta_mech":0.555853188,"sam_rpm":4.46239328,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197447985,"thr_a_norm":0.0197447985,"thr_a_v":0.578979194,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464875251,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.859091,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.16857147,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556980491,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0251729675,"mpcc_du":50.6196976,"mpcc_dv":48.1193886,"mpcc_dw":51.8806114,"mpcc_enc_sign":1,"mpcc_id_a":2.67613268,"mpcc_iq_a":-1.00767517,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.3511801,"mpcc_pred_id_a":0.218253538,"mpcc_pred_iq_a":-1.39690256,"mpcc_state":1,"mpcc_theta_e":0.434788704,"mpcc_theta_mech":0.553903699,"sam_rpm":-18.3022003,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246417969,"thr_a_norm":0.0246417969,"thr_a_v":0.598567188,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491613656,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.869467,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.32837415,"cg_iw_a":-0.305757284,"cg_theta_rad":0.554162383,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0277894866,"mpcc_du":50.0470657,"mpcc_dv":48.8947182,"mpcc_dw":51.1052818,"mpcc_enc_sign":1,"mpcc_id_a":2.21661496,"mpcc_iq_a":-0.117871627,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.17084122,"mpcc_pred_id_a":0.058207579,"mpcc_pred_iq_a":-1.91609073,"mpcc_state":1,"mpcc_theta_e":0.441741943,"mpcc_theta_mech":0.555294275,"sam_rpm":-2.099545,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226401836,"thr_a_norm":0.0246417969,"thr_a_v":0.590560734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485117882,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.892355,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.31354666,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.558186889,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0162221305,"mpcc_du":51.3806229,"mpcc_dv":47.3197021,"mpcc_dw":52.6802979,"mpcc_enc_sign":1,"mpcc_id_a":1.7724508,"mpcc_iq_a":-0.715104163,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.2810221,"mpcc_pred_id_a":-0.264510095,"mpcc_pred_iq_a":1.70233488,"mpcc_state":1,"mpcc_theta_e":0.429417133,"mpcc_theta_mech":0.552829385,"sam_rpm":-22.4230652,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226401836,"thr_a_norm":0.0226401836,"thr_a_v":0.590560734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485117882,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.898825,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.443694592,"cg_iw_a":-1.75551081,"cg_theta_rad":0.557717323,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.000178769449,"mpcc_du":50.8167076,"mpcc_dv":48.1761208,"mpcc_dw":51.8238792,"mpcc_enc_sign":1,"mpcc_id_a":-0.0581182428,"mpcc_iq_a":-1.76229036,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.6745596,"mpcc_pred_id_a":-0.633858323,"mpcc_pred_iq_a":-0.777881145,"mpcc_state":1,"mpcc_theta_e":0.427015781,"mpcc_theta_mech":0.552349031,"sam_rpm":-23.2520714,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.107840478,"thr_a_norm":0.107840478,"thr_a_v":0.931361914,"thr_b":0.0406923741,"thr_b_norm":0.0406923741,"thr_b_v":0.662769496,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.905355,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.806133032,"cg_iw_a":-1.68302321,"cg_theta_rad":0.553215325,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0133775016,"mpcc_du":50.203949,"mpcc_dv":49.0372314,"mpcc_dw":50.9627686,"mpcc_enc_sign":1,"mpcc_id_a":-0.470720172,"mpcc_iq_a":-1.86002016,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.81963301,"mpcc_pred_id_a":-0.655559421,"mpcc_pred_iq_a":-1.83056521,"mpcc_state":1,"mpcc_theta_e":0.450972557,"mpcc_theta_mech":0.55714041,"sam_rpm":11.0591173,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.107840478,"thr_a_norm":0.107840478,"thr_a_v":0.931361914,"thr_b":0.0406923741,"thr_b_norm":0.0406923741,"thr_b_v":0.662769496,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.911856,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.09608364,"cg_iw_a":0.201656342,"cg_theta_rad":0.556837559,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0227525569,"mpcc_du":49.5103416,"mpcc_dv":50.0914917,"mpcc_dw":50.4896584,"mpcc_enc_sign":1,"mpcc_id_a":2.74789238,"mpcc_iq_a":-3.32256699,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.3725872,"mpcc_pred_id_a":0.354259759,"mpcc_pred_iq_a":-3.61628342,"mpcc_state":1,"mpcc_theta_e":0.460915089,"mpcc_theta_mech":0.55912894,"sam_rpm":25.8210144,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021242857,"thr_a_norm":0.021242857,"thr_a_v":0.584971428,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459436953,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.922079,"values":{"cg_iu_a":1.25686598,"cg_iv_a":0.281181812,"cg_iw_a":-1.32058477,"cg_theta_rad":0.553877532,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5016,"hz_app_loop":368,"hz_tim_isr":10032,"hz_vsense":368,"mpcc_cost":0.0544107668,"mpcc_du":49.7089157,"mpcc_dv":49.7103233,"mpcc_dw":50.2910843,"mpcc_enc_sign":1,"mpcc_id_a":-1.53598249,"mpcc_iq_a":-2.69762373,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.7712152,"mpcc_pred_id_a":-0.869681954,"mpcc_pred_iq_a":-0.849087894,"mpcc_state":1,"mpcc_theta_e":0.432011127,"mpcc_theta_mech":0.553348184,"sam_rpm":-4.77080202,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260643214,"thr_a_norm":0.0260643214,"thr_a_v":0.604257286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485319316,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.932852,"values":{"cg_iu_a":1.32935333,"cg_iv_a":0.353669643,"cg_iw_a":-0.958146095,"cg_theta_rad":0.556387484,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.00801875815,"mpcc_du":50.3848381,"mpcc_dv":48.29245,"mpcc_dw":51.70755,"mpcc_enc_sign":1,"mpcc_id_a":1.71852386,"mpcc_iq_a":-0.129967391,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.5452356,"mpcc_pred_id_a":0.446210742,"mpcc_pred_iq_a":0.228925496,"mpcc_state":1,"mpcc_theta_e":0.424874306,"mpcc_theta_mech":0.551920772,"sam_rpm":-24.4637165,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260643214,"thr_a_norm":0.0260643214,"thr_a_v":0.604257286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485319316,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.943075,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.53100967,"cg_iw_a":1.07150841,"cg_theta_rad":0.552212059,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0323442481,"mpcc_du":49.779171,"mpcc_dv":49.031086,"mpcc_dw":50.968914,"mpcc_enc_sign":1,"mpcc_id_a":2.16764545,"mpcc_iq_a":0.467351556,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.02641654,"mpcc_pred_id_a":0.484836936,"mpcc_pred_iq_a":-2.76313329,"mpcc_state":1,"mpcc_theta_e":0.438392162,"mpcc_theta_mech":0.554624319,"sam_rpm":-4.87067986,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0964980423,"thr_a_norm":0.0964980423,"thr_a_v":0.885992169,"thr_b":0.0422911495,"thr_b_norm":0.0422911495,"thr_b_v":0.669164598,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.953482,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.32058477,"cg_theta_rad":0.556870162,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.00491163181,"mpcc_du":49.6333427,"mpcc_dv":50.1237869,"mpcc_dw":50.3666573,"mpcc_enc_sign":1,"mpcc_id_a":0.00359609467,"mpcc_iq_a":-2.04350638,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.8447781,"mpcc_pred_id_a":-0.402527988,"mpcc_pred_iq_a":-3.76907587,"mpcc_state":1,"mpcc_theta_e":0.451270103,"mpcc_theta_mech":0.557199955,"sam_rpm":16.7288227,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198455006,"thr_a_norm":0.0964980423,"thr_a_v":0.579382002,"thr_b":0,"thr_b_norm":0.0422911495,"thr_b_v":0.474190891,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.965261,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.733645439,"cg_iw_a":0.201656342,"cg_theta_rad":0.554482937,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.00917592831,"mpcc_du":49.5361938,"mpcc_dv":50.252243,"mpcc_dw":50.4638062,"mpcc_enc_sign":1,"mpcc_id_a":1.68640625,"mpcc_iq_a":-3.07835937,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.70310068,"mpcc_pred_id_a":0.162822023,"mpcc_pred_iq_a":-3.97856021,"mpcc_state":1,"mpcc_theta_e":0.447108746,"mpcc_theta_mech":0.556367695,"sam_rpm":8.62894058,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198455006,"thr_a_norm":0.0198455006,"thr_a_v":0.579382002,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474190891,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.988546,"values":{"cg_iu_a":4.88124943,"cg_iv_a":-1.38603449,"cg_iw_a":-3.49521494,"cg_theta_rad":0.555358887,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.00575245079,"mpcc_du":48.9995384,"mpcc_dv":51.0004616,"mpcc_dw":49.7759323,"mpcc_enc_sign":1,"mpcc_id_a":3.6076448,"mpcc_iq_a":1.20919514,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.39465046,"mpcc_pred_id_a":0.0724039301,"mpcc_pred_iq_a":-6.99607372,"mpcc_state":1,"mpcc_theta_e":0.428477764,"mpcc_theta_mech":0.552641451,"sam_rpm":11.9208117,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257118344,"thr_a_norm":0.0257118344,"thr_a_v":0.602847338,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487031341,"vdc_v":55.2955055}} +{"type":"telemetry","t":30.995016,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.45852208,"cg_iw_a":-3.06028891,"cg_theta_rad":0.553391993,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.00597721804,"mpcc_du":49.6245651,"mpcc_dv":50.056736,"mpcc_dw":50.3754349,"mpcc_enc_sign":1,"mpcc_id_a":1.12085986,"mpcc_iq_a":-1.23503578,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.9534636,"mpcc_pred_id_a":-0.472560078,"mpcc_pred_iq_a":-2.53701496,"mpcc_state":1,"mpcc_theta_e":0.450550079,"mpcc_theta_mech":0.55705595,"sam_rpm":15.9474735,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0470496714,"thr_a_norm":0.0257118344,"thr_a_v":0.688198686,"thr_b":0.0139917582,"thr_b_norm":0,"thr_b_v":0.555967033,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.001577,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.53100967,"cg_iw_a":-0.378244877,"cg_theta_rad":0.555943787,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0582796484,"mpcc_du":50.337616,"mpcc_dv":48.1132126,"mpcc_dw":51.8867874,"mpcc_enc_sign":1,"mpcc_id_a":3.94421864,"mpcc_iq_a":-0.200564131,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.352316022,"mpcc_pred_id_a":1.01941407,"mpcc_pred_iq_a":0.952675343,"mpcc_state":1,"mpcc_theta_e":0.443328381,"mpcc_theta_mech":0.55561161,"sam_rpm":-0.313767463,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0470496714,"thr_a_norm":0.0470496714,"thr_a_v":0.688198686,"thr_b":0.0139917582,"thr_b_norm":0.0139917582,"thr_b_v":0.555967033,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.008078,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-2.0384233,"cg_iw_a":0.274143934,"cg_theta_rad":0.555641413,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.00673256069,"mpcc_du":49.5972786,"mpcc_dv":49.8408508,"mpcc_dw":50.4027214,"mpcc_enc_sign":1,"mpcc_id_a":1.43982708,"mpcc_iq_a":-1.26182723,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.0389929,"mpcc_pred_id_a":-0.421377391,"mpcc_pred_iq_a":-6.57460642,"mpcc_state":1,"mpcc_theta_e":0.428470612,"mpcc_theta_mech":0.552640021,"sam_rpm":-15.3385344,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254852325,"thr_a_norm":0.0254852325,"thr_a_v":0.60194093,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493426412,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.016653,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.09608364,"cg_iw_a":0.12916851,"cg_theta_rad":0.554597914,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0138607854,"mpcc_du":50.0677109,"mpcc_dv":48.9047661,"mpcc_dw":51.0952339,"mpcc_enc_sign":1,"mpcc_id_a":0.782392025,"mpcc_iq_a":-1.11066198,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.6950407,"mpcc_pred_id_a":-0.0508555509,"mpcc_pred_iq_a":-1.78736961,"mpcc_state":1,"mpcc_theta_e":0.44513464,"mpcc_theta_mech":0.555972815,"sam_rpm":3.12484217,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254852325,"thr_a_norm":0.0254852325,"thr_a_v":0.60194093,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493426412,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.026876,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.878620625,"cg_iw_a":0.0566806793,"cg_theta_rad":0.554735124,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0371632352,"mpcc_du":50.2419586,"mpcc_dv":48.8082542,"mpcc_dw":51.1917458,"mpcc_enc_sign":1,"mpcc_id_a":0.698523223,"mpcc_iq_a":-0.610814929,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.68355465,"mpcc_pred_id_a":-0.389706582,"mpcc_pred_iq_a":-1.87935352,"mpcc_state":1,"mpcc_theta_e":0.449029446,"mpcc_theta_mech":0.556751788,"sam_rpm":6.72669172,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226905346,"thr_a_norm":0.0226905346,"thr_a_v":0.590762138,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482046247,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.037069,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.31354666,"cg_iw_a":0.709069729,"cg_theta_rad":0.55336374,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.030214984,"mpcc_du":49.0494881,"mpcc_dv":50.9505119,"mpcc_dw":49.9441948,"mpcc_enc_sign":1,"mpcc_id_a":1.22960401,"mpcc_iq_a":-1.20364702,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.5201292,"mpcc_pred_id_a":0.313273937,"mpcc_pred_iq_a":-4.74917269,"mpcc_state":1,"mpcc_theta_e":0.429778099,"mpcc_theta_mech":0.552901506,"sam_rpm":8.09675312,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211043656,"thr_a_norm":0.0226905346,"thr_a_v":0.584417462,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469105065,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.046865,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.733645439,"cg_iw_a":-1.68302298,"cg_theta_rad":0.554876149,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.00942244288,"mpcc_du":49.6601791,"mpcc_dv":49.372551,"mpcc_dw":50.627449,"mpcc_enc_sign":1,"mpcc_id_a":0.955019355,"mpcc_iq_a":-1.24639916,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.57381678,"mpcc_pred_id_a":-0.175466478,"mpcc_pred_iq_a":-3.17884803,"mpcc_state":1,"mpcc_theta_e":0.449655056,"mpcc_theta_mech":0.556856811,"sam_rpm":8.17603207,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211043656,"thr_a_norm":0.0211043656,"thr_a_v":0.584417462,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469105065,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.057058,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.806133032,"cg_iw_a":-0.450732946,"cg_theta_rad":0.55179435,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0230031125,"mpcc_du":49.4777527,"mpcc_dv":49.991291,"mpcc_dw":50.5222473,"mpcc_enc_sign":1,"mpcc_id_a":2.57249618,"mpcc_iq_a":-0.389592767,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.4423275,"mpcc_pred_id_a":0.381004721,"mpcc_pred_iq_a":-2.80931687,"mpcc_state":1,"mpcc_theta_e":0.445673466,"mpcc_theta_mech":0.556080639,"sam_rpm":11.2660322,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270084739,"thr_a_norm":0.0270084739,"thr_a_v":0.608033895,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49257037,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.067099,"values":{"cg_iu_a":2.41666842,"cg_iv_a":0.861083508,"cg_iw_a":0.636582375,"cg_theta_rad":0.560092092,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0452524014,"mpcc_du":50.5208626,"mpcc_dv":48.2649345,"mpcc_dw":51.7350655,"mpcc_enc_sign":1,"mpcc_id_a":0.513233662,"mpcc_iq_a":-2.28762388,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.542223,"mpcc_pred_id_a":-0.155488446,"mpcc_pred_iq_a":0.667001963,"mpcc_state":1,"mpcc_theta_e":0.420218468,"mpcc_theta_mech":0.550989628,"sam_rpm":-32.649662,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270084739,"thr_a_norm":0.0270084739,"thr_a_v":0.608033895,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49257037,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.090292,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.53100967,"cg_iw_a":0.201656342,"cg_theta_rad":0.555057049,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.00188970589,"mpcc_du":50.3118248,"mpcc_dv":48.6175728,"mpcc_dw":51.3824272,"mpcc_enc_sign":1,"mpcc_id_a":0.70462358,"mpcc_iq_a":-0.603767514,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.2779696,"mpcc_pred_id_a":-0.195715025,"mpcc_pred_iq_a":1.35537016,"mpcc_state":1,"mpcc_theta_e":0.438984394,"mpcc_theta_mech":0.555914938,"sam_rpm":1.37995589,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209281296,"thr_a_norm":0.0209281296,"thr_a_v":0.583712518,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452890843,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.096792,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.53100967,"cg_iw_a":0.346631527,"cg_theta_rad":0.556417525,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0346154943,"mpcc_du":50.3053703,"mpcc_dv":48.598938,"mpcc_dw":51.401062,"mpcc_enc_sign":1,"mpcc_id_a":1.63823795,"mpcc_iq_a":-0.83145535,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.49194193,"mpcc_pred_id_a":-0.0256233383,"mpcc_pred_iq_a":-0.874789834,"mpcc_state":1,"mpcc_theta_e":0.449083805,"mpcc_theta_mech":0.556762636,"sam_rpm":7.60870934,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0134756267,"thr_a_norm":0.0209281296,"thr_a_v":0.553902507,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459537655,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.103354,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.806133032,"cg_iw_a":-2.48038769,"cg_theta_rad":0.555583775,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0140972715,"mpcc_du":49.5751114,"mpcc_dv":49.2604446,"mpcc_dw":50.7395554,"mpcc_enc_sign":1,"mpcc_id_a":2.07655501,"mpcc_iq_a":-0.405084133,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.76161718,"mpcc_pred_id_a":0.424923778,"mpcc_pred_iq_a":-3.78783584,"mpcc_state":1,"mpcc_theta_e":0.434293747,"mpcc_theta_mech":0.553804696,"sam_rpm":-10.4228477,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0134756267,"thr_a_norm":0.0134756267,"thr_a_v":0.553902507,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459537655,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.109854,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.226231575,"cg_iw_a":-3.13277674,"cg_theta_rad":0.555386186,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.00537060108,"mpcc_du":49.863472,"mpcc_dv":49.3816872,"mpcc_dw":50.6183128,"mpcc_enc_sign":1,"mpcc_id_a":-0.349812448,"mpcc_iq_a":-1.12695956,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.90498209,"mpcc_pred_id_a":-0.675373435,"mpcc_pred_iq_a":-3.0761261,"mpcc_state":1,"mpcc_theta_e":0.445159912,"mpcc_theta_mech":0.555977941,"sam_rpm":2.63175297,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0373815596,"thr_a_norm":0.0373815596,"thr_a_v":0.649526238,"thr_b":0.00535592437,"thr_b_norm":0.00535592437,"thr_b_v":0.521423697,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.117758,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.661157608,"cg_iw_a":-1.75551081,"cg_theta_rad":0.553846538,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.000168886865,"mpcc_du":49.5584869,"mpcc_dv":49.5883904,"mpcc_dw":50.4415131,"mpcc_enc_sign":1,"mpcc_id_a":-0.0044938596,"mpcc_iq_a":-3.06173301,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.51718044,"mpcc_pred_id_a":-0.237154514,"mpcc_pred_iq_a":-3.0025692,"mpcc_state":1,"mpcc_theta_e":0.450598717,"mpcc_theta_mech":0.557065666,"sam_rpm":14.282588,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0373815596,"thr_a_norm":0.0373815596,"thr_a_v":0.649526238,"thr_b":0.00535592437,"thr_b_norm":0.00535592437,"thr_b_v":0.521423697,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.127859,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-2.32837415,"cg_iw_a":2.15882325,"cg_theta_rad":0.556591451,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0177603085,"mpcc_du":49.8817139,"mpcc_dv":49.196785,"mpcc_dw":50.803215,"mpcc_enc_sign":1,"mpcc_id_a":0.633460701,"mpcc_iq_a":-1.41498744,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.54862928,"mpcc_pred_id_a":-0.120809682,"mpcc_pred_iq_a":-3.39938664,"mpcc_state":1,"mpcc_theta_e":0.448508739,"mpcc_theta_mech":0.556647658,"sam_rpm":10.7872219,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160940737,"thr_a_norm":0.0160940737,"thr_a_v":0.564376295,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457624167,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.138449,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-1.53100967,"cg_iw_a":-1.82799864,"cg_theta_rad":0.555374801,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0415630303,"mpcc_du":50.3251839,"mpcc_dv":48.4118385,"mpcc_dw":51.5881615,"mpcc_enc_sign":1,"mpcc_id_a":3.29950094,"mpcc_iq_a":-1.05078232,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.34243941,"mpcc_pred_id_a":0.466308892,"mpcc_pred_iq_a":-1.44426417,"mpcc_state":1,"mpcc_theta_e":0.442835331,"mpcc_theta_mech":0.555513024,"sam_rpm":-4.97828627,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02227512,"thr_a_norm":0.0160940737,"thr_a_v":0.58910048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479226381,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.150259,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-3.77812743,"cg_iw_a":0.999020815,"cg_theta_rad":0.556459427,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.00227399683,"mpcc_du":50.2548027,"mpcc_dv":48.6965561,"mpcc_dw":51.3034439,"mpcc_enc_sign":1,"mpcc_id_a":0.91503042,"mpcc_iq_a":-1.5287497,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.33203697,"mpcc_pred_id_a":-0.162284479,"mpcc_pred_iq_a":-2.15231013,"mpcc_state":1,"mpcc_theta_e":0.435284138,"mpcc_theta_mech":0.555872679,"sam_rpm":-14.2818022,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02227512,"thr_a_norm":0.02227512,"thr_a_v":0.58910048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479226381,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.160421,"values":{"cg_iu_a":2.92408228,"cg_iv_a":0.57113266,"cg_iw_a":0.346631765,"cg_theta_rad":0.555674911,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0299620815,"mpcc_du":50.1441536,"mpcc_dv":48.6139336,"mpcc_dw":51.3860664,"mpcc_enc_sign":1,"mpcc_id_a":2.74866986,"mpcc_iq_a":-1.53499973,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.68087626,"mpcc_pred_id_a":0.4148058,"mpcc_pred_iq_a":-2.32484531,"mpcc_state":1,"mpcc_theta_e":0.444086552,"mpcc_theta_mech":0.555763245,"sam_rpm":-3.96541643,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0119523853,"thr_a_norm":0.0119523853,"thr_a_v":0.547809541,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454753935,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.170645,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.878620625,"cg_iw_a":-0.450732708,"cg_theta_rad":0.554710448,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0666999295,"mpcc_du":50.4805603,"mpcc_dv":47.8754692,"mpcc_dw":52.1245308,"mpcc_enc_sign":1,"mpcc_id_a":5.03482771,"mpcc_iq_a":-1.09520376,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.0490103,"mpcc_pred_id_a":1.15547323,"mpcc_pred_iq_a":-0.0334185846,"mpcc_state":1,"mpcc_theta_e":0.436096668,"mpcc_theta_mech":0.554165244,"sam_rpm":-16.6841698,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282799155,"thr_a_norm":0.0119523853,"thr_a_v":0.613119662,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495390266,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.192862,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.24105906,"cg_iw_a":0.0566809177,"cg_theta_rad":0.555514574,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0114028854,"mpcc_du":50.9153595,"mpcc_dv":48.0091057,"mpcc_dw":51.9908943,"mpcc_enc_sign":1,"mpcc_id_a":0.749109328,"mpcc_iq_a":-2.8588593,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.54082632,"mpcc_pred_id_a":-0.402028143,"mpcc_pred_iq_a":-1.14933407,"mpcc_state":1,"mpcc_theta_e":0.446099758,"mpcc_theta_mech":0.556165874,"sam_rpm":-5.99121952,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282799155,"thr_a_norm":0.0282799155,"thr_a_v":0.613119662,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495390266,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.199392,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.733645439,"cg_iw_a":-1.39307213,"cg_theta_rad":0.555004179,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0874803662,"mpcc_du":49.387394,"mpcc_dv":50.4155884,"mpcc_dw":50.612606,"mpcc_enc_sign":1,"mpcc_id_a":5.33189678,"mpcc_iq_a":0.836177647,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.30123854,"mpcc_pred_id_a":1.10931945,"mpcc_pred_iq_a":-3.8432653,"mpcc_state":1,"mpcc_theta_e":0.447083473,"mpcc_theta_mech":0.556362569,"sam_rpm":9.04922295,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181082636,"thr_a_norm":0.0181082636,"thr_a_v":0.572433054,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447100043,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.205954,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-3.12573838,"cg_iw_a":0.854045153,"cg_theta_rad":0.557499111,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0121557415,"mpcc_du":49.5542259,"mpcc_dv":50.2364426,"mpcc_dw":50.4457741,"mpcc_enc_sign":1,"mpcc_id_a":2.01365352,"mpcc_iq_a":-1.22532094,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.40539646,"mpcc_pred_id_a":0.0913289562,"mpcc_pred_iq_a":-4.95634222,"mpcc_state":1,"mpcc_theta_e":0.441653252,"mpcc_theta_mech":0.555276573,"sam_rpm":1.694332,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181082636,"thr_a_norm":0.0181082636,"thr_a_v":0.572433054,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447100043,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.212515,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-2.61832476,"cg_iw_a":1.50643444,"cg_theta_rad":0.556696355,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.00958307367,"mpcc_du":49.7398338,"mpcc_dv":49.374836,"mpcc_dw":50.625164,"mpcc_enc_sign":1,"mpcc_id_a":1.91245556,"mpcc_iq_a":-0.931058109,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.28153276,"mpcc_pred_id_a":-0.21411258,"mpcc_pred_iq_a":-3.44553161,"mpcc_state":1,"mpcc_theta_e":0.435297489,"mpcc_theta_mech":0.554005384,"sam_rpm":-8.53251934,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242515355,"thr_a_norm":0.0242515355,"thr_a_v":0.597006142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.221487,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.588670254,"cg_iw_a":-1.61053514,"cg_theta_rad":0.554352045,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0081115244,"mpcc_du":49.6679001,"mpcc_dv":49.5266876,"mpcc_dw":50.4733124,"mpcc_enc_sign":1,"mpcc_id_a":0.210683614,"mpcc_iq_a":-1.66396666,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.2643646,"mpcc_pred_id_a":-0.310161114,"mpcc_pred_iq_a":-1.43256199,"mpcc_state":1,"mpcc_theta_e":0.436515808,"mpcc_theta_mech":0.554249108,"sam_rpm":-1.66519034,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0420267731,"thr_a_norm":0.0242515355,"thr_a_v":0.668107092,"thr_b":0.0144197792,"thr_b_norm":0,"thr_b_v":0.557679117,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.231436,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.31354666,"cg_iw_a":-1.24809694,"cg_theta_rad":0.554251552,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.031921003,"mpcc_du":49.4749947,"mpcc_dv":50.3189392,"mpcc_dw":50.5250053,"mpcc_enc_sign":1,"mpcc_id_a":3.5473187,"mpcc_iq_a":-2.21363139,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.74185133,"mpcc_pred_id_a":0.523312926,"mpcc_pred_iq_a":-4.09646654,"mpcc_state":1,"mpcc_theta_e":0.4485569,"mpcc_theta_mech":0.556657314,"sam_rpm":11.9175978,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0420267731,"thr_a_norm":0.0420267731,"thr_a_v":0.668107092,"thr_b":0.0144197792,"thr_b_norm":0.0144197792,"thr_b_v":0.557679117,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.241659,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.31354666,"cg_iw_a":-1.53804779,"cg_theta_rad":0.556672096,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0215281118,"mpcc_du":50.3678169,"mpcc_dv":48.6664963,"mpcc_dw":51.3335037,"mpcc_enc_sign":1,"mpcc_id_a":0.747823536,"mpcc_iq_a":-0.677601218,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.5492928,"mpcc_pred_id_a":-0.370236158,"mpcc_pred_iq_a":-0.707843661,"mpcc_state":1,"mpcc_theta_e":0.445839405,"mpcc_theta_mech":0.55611378,"sam_rpm":4.90071964,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215575695,"thr_a_norm":0.0215575695,"thr_a_v":0.586230278,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.251852,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.371207237,"cg_iw_a":-2.40789938,"cg_theta_rad":0.557190061,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0522419885,"mpcc_du":49.5574036,"mpcc_dv":49.9874802,"mpcc_dw":50.4425964,"mpcc_enc_sign":1,"mpcc_id_a":2.45030951,"mpcc_iq_a":-0.981851518,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.579,"mpcc_pred_id_a":0.22555393,"mpcc_pred_iq_a":-4.28284979,"mpcc_state":1,"mpcc_theta_e":0.446116447,"mpcc_theta_mech":0.556169212,"sam_rpm":28.7971039,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215575695,"thr_a_norm":0.0215575695,"thr_a_v":0.586230278,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.261892,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.298719406,"cg_iw_a":2.81121254,"cg_theta_rad":0.558768868,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0466473028,"mpcc_du":50.6306648,"mpcc_dv":47.9610481,"mpcc_dw":52.0389519,"mpcc_enc_sign":1,"mpcc_id_a":3.67003226,"mpcc_iq_a":-0.437571287,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.75173521,"mpcc_pred_id_a":0.660577834,"mpcc_pred_iq_a":1.44713652,"mpcc_state":1,"mpcc_theta_e":0.442443848,"mpcc_theta_mech":0.555434644,"sam_rpm":-3.45368409,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025497824,"thr_a_norm":0.025497824,"thr_a_v":0.601991296,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494735658,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.272055,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.443694592,"cg_iw_a":-1.24809694,"cg_theta_rad":0.556532264,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0460803807,"mpcc_du":50.1279602,"mpcc_dv":49.2512741,"mpcc_dw":50.7487259,"mpcc_enc_sign":1,"mpcc_id_a":-1.34568667,"mpcc_iq_a":-3.19942689,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.3984804,"mpcc_pred_id_a":-1.17996824,"mpcc_pred_iq_a":-1.68790448,"mpcc_state":1,"mpcc_theta_e":0.42610836,"mpcc_theta_mech":0.552167594,"sam_rpm":-17.4005547,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246040374,"thr_a_norm":0.025497824,"thr_a_v":0.59841615,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483909339,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.295126,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.82096052,"cg_iw_a":0.926533222,"cg_theta_rad":0.555231452,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.000788529578,"mpcc_du":50.7878494,"mpcc_dv":48.2670288,"mpcc_dw":51.7329712,"mpcc_enc_sign":1,"mpcc_id_a":-0.0363259874,"mpcc_iq_a":-1.32092631,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.46979666,"mpcc_pred_id_a":-0.795658767,"mpcc_pred_iq_a":0.69236058,"mpcc_state":1,"mpcc_theta_e":0.441834927,"mpcc_theta_mech":0.555312932,"sam_rpm":-16.6924801,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246040374,"thr_a_norm":0.0246040374,"thr_a_v":0.59841615,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483909339,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.301565,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.153744221,"cg_iw_a":1.5064342,"cg_theta_rad":0.556072354,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.00672986498,"mpcc_du":49.5595436,"mpcc_dv":50.0958862,"mpcc_dw":50.4404564,"mpcc_enc_sign":1,"mpcc_id_a":1.62367713,"mpcc_iq_a":-1.0343864,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.547702253,"mpcc_pred_id_a":0.0561065599,"mpcc_pred_iq_a":-3.78594112,"mpcc_state":1,"mpcc_theta_e":0.438550949,"mpcc_theta_mech":0.554656148,"sam_rpm":-1.6888479,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280785114,"thr_a_norm":0.0280785114,"thr_a_v":0.612314045,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492520034,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.308157,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-1.02359605,"cg_iw_a":1.21648359,"cg_theta_rad":0.556405008,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0129317427,"mpcc_du":50.1279144,"mpcc_dv":48.7603378,"mpcc_dw":51.2396622,"mpcc_enc_sign":1,"mpcc_id_a":1.78871691,"mpcc_iq_a":-1.16660249,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.11175537,"mpcc_pred_id_a":0.111240372,"mpcc_pred_iq_a":-2.14984226,"mpcc_state":1,"mpcc_theta_e":0.45052433,"mpcc_theta_mech":0.557050824,"sam_rpm":-7.3243885,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280785114,"thr_a_norm":0.0280785114,"thr_a_v":0.612314045,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492520034,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.314627,"values":{"cg_iu_a":4.5912981,"cg_iv_a":-0.878620625,"cg_iw_a":-3.71267748,"cg_theta_rad":0.557463408,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.00170308258,"mpcc_du":49.8160362,"mpcc_dv":49.3566017,"mpcc_dw":50.6433983,"mpcc_enc_sign":1,"mpcc_id_a":0.528142691,"mpcc_iq_a":-1.49165463,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.29284191,"mpcc_pred_id_a":-0.384091526,"mpcc_pred_iq_a":-4.07910538,"mpcc_state":1,"mpcc_theta_e":0.438842773,"mpcc_theta_mech":0.554714501,"sam_rpm":2.20572519,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021419093,"thr_a_norm":0.021419093,"thr_a_v":0.585676372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482549787,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.325033,"values":{"cg_iu_a":-0.482838154,"cg_iv_a":-1.02359605,"cg_iw_a":0.201656103,"cg_theta_rad":0.553818882,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0607549325,"mpcc_du":50.1289787,"mpcc_dv":48.7019577,"mpcc_dw":51.2980423,"mpcc_enc_sign":1,"mpcc_id_a":2.13333559,"mpcc_iq_a":-0.809304476,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.8289356,"mpcc_pred_id_a":0.306853056,"mpcc_pred_iq_a":-2.52480054,"mpcc_state":1,"mpcc_theta_e":0.456216335,"mpcc_theta_mech":0.558189154,"sam_rpm":17.8368988,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179949552,"thr_a_norm":0.0179949552,"thr_a_v":0.571979821,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461904317,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.335043,"values":{"cg_iu_a":1.8367672,"cg_iv_a":1.07854605,"cg_iw_a":-0.885658503,"cg_theta_rad":0.556577921,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0307753086,"mpcc_du":49.4127464,"mpcc_dv":49.957489,"mpcc_dw":50.5872536,"mpcc_enc_sign":1,"mpcc_id_a":3.48903418,"mpcc_iq_a":-0.823506415,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.07965374,"mpcc_pred_id_a":0.721801281,"mpcc_pred_iq_a":-1.79561782,"mpcc_state":1,"mpcc_theta_e":0.444657803,"mpcc_theta_mech":0.555877507,"sam_rpm":12.2035522,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179949552,"thr_a_norm":0.0179949552,"thr_a_v":0.571979821,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461904317,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.345236,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-2.32837415,"cg_iw_a":2.08633566,"cg_theta_rad":0.556926489,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0315320753,"mpcc_du":49.5592995,"mpcc_dv":49.8010483,"mpcc_dw":50.4407005,"mpcc_enc_sign":1,"mpcc_id_a":2.48056293,"mpcc_iq_a":0.251940757,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.15624428,"mpcc_pred_id_a":-0.0179427639,"mpcc_pred_iq_a":-3.30572128,"mpcc_state":1,"mpcc_theta_e":0.447938442,"mpcc_theta_mech":0.556533575,"sam_rpm":7.86990786,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0438017845,"thr_a_norm":0.0438017845,"thr_a_v":0.675207138,"thr_b":0.00833943486,"thr_b_norm":0.00833943486,"thr_b_v":0.533357739,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.355429,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.516182423,"cg_iw_a":0.274144173,"cg_theta_rad":0.556866765,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0140050482,"mpcc_du":50.4101181,"mpcc_dv":48.3773651,"mpcc_dw":51.6226349,"mpcc_enc_sign":1,"mpcc_id_a":1.75012672,"mpcc_iq_a":-2.12052202,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.98943281,"mpcc_pred_id_a":0.322474271,"mpcc_pred_iq_a":-1.77171254,"mpcc_state":1,"mpcc_theta_e":0.442146301,"mpcc_theta_mech":0.555375159,"sam_rpm":-7.07278681,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188006312,"thr_a_norm":0.0438017845,"thr_a_v":0.575202525,"thr_b":0,"thr_b_norm":0.00833943486,"thr_b_v":0.476003677,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.365469,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.443694592,"cg_iw_a":-2.77033806,"cg_theta_rad":0.556911051,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0587273128,"mpcc_du":49.445507,"mpcc_dv":50.3685303,"mpcc_dw":50.3275452,"mpcc_enc_sign":1,"mpcc_id_a":3.5163672,"mpcc_iq_a":-2.30208397,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.44430876,"mpcc_pred_id_a":0.693503678,"mpcc_pred_iq_a":-2.94292521,"mpcc_state":1,"mpcc_theta_e":0.430708885,"mpcc_theta_mech":0.552261293,"sam_rpm":-8.62513733,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188006312,"thr_a_norm":0.0188006312,"thr_a_v":0.575202525,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476003677,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.375418,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-0.443694592,"cg_iw_a":-1.17560959,"cg_theta_rad":0.555475354,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0195334069,"mpcc_du":49.3209038,"mpcc_dv":50.6790962,"mpcc_dw":49.9124718,"mpcc_enc_sign":1,"mpcc_id_a":-0.473755747,"mpcc_iq_a":-2.73670864,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.59602261,"mpcc_pred_id_a":-0.55913949,"mpcc_pred_iq_a":-3.03054714,"mpcc_state":1,"mpcc_theta_e":0.444637775,"mpcc_theta_mech":0.555873513,"sam_rpm":12.3955669,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0239116549,"thr_a_norm":0.0239116549,"thr_a_v":0.59564662,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473334849,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.39852,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.878620625,"cg_iw_a":-0.233269691,"cg_theta_rad":0.554442525,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":9.40121536e-05,"mpcc_du":50.2082634,"mpcc_dv":48.7898598,"mpcc_dw":51.2101402,"mpcc_enc_sign":1,"mpcc_id_a":0.0270827282,"mpcc_iq_a":-2.04332995,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.21385431,"mpcc_pred_id_a":-0.171361715,"mpcc_pred_iq_a":-1.45044661,"mpcc_state":1,"mpcc_theta_e":0.439776421,"mpcc_theta_mech":0.554901183,"sam_rpm":-4.62594366,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0239116549,"thr_a_norm":0.0239116549,"thr_a_v":0.59564662,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473334849,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.404989,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.31354666,"cg_iw_a":0.346631527,"cg_theta_rad":0.555672407,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0169933531,"mpcc_du":50.3112526,"mpcc_dv":48.4886818,"mpcc_dw":51.5113182,"mpcc_enc_sign":1,"mpcc_id_a":2.02662134,"mpcc_iq_a":-0.858494401,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.19587278,"mpcc_pred_id_a":0.238707632,"mpcc_pred_iq_a":-0.384293169,"mpcc_state":1,"mpcc_theta_e":0.440577984,"mpcc_theta_mech":0.555061519,"sam_rpm":-2.9493947,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204749405,"thr_a_norm":0.0204749405,"thr_a_v":0.581899762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454401463,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.411489,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.24105906,"cg_iw_a":0.709069967,"cg_theta_rad":0.557527959,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.00508741429,"mpcc_du":49.5974655,"mpcc_dv":50.3905487,"mpcc_dw":50.4025345,"mpcc_enc_sign":1,"mpcc_id_a":0.732595444,"mpcc_iq_a":-1.04336154,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.77203083,"mpcc_pred_id_a":-0.091907084,"mpcc_pred_iq_a":-4.36649847,"mpcc_state":1,"mpcc_theta_e":0.447429657,"mpcc_theta_mech":0.55643183,"sam_rpm":9.66546631,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204749405,"thr_a_norm":0.0204749405,"thr_a_v":0.581899762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454401463,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.41802,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.31354666,"cg_iw_a":-1.46555996,"cg_theta_rad":0.555891871,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0273077246,"mpcc_du":49.4625015,"mpcc_dv":49.5906601,"mpcc_dw":50.5374985,"mpcc_enc_sign":1,"mpcc_id_a":2.74671435,"mpcc_iq_a":-1.0348568,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.23467255,"mpcc_pred_id_a":0.395603001,"mpcc_pred_iq_a":-3.56345534,"mpcc_state":1,"mpcc_theta_e":0.447358131,"mpcc_theta_mech":0.556417525,"sam_rpm":7.71601391,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137399882,"thr_a_norm":0.0137399882,"thr_a_v":0.554959953,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443122,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.426474,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.89344811,"cg_iw_a":1.5064342,"cg_theta_rad":0.555334091,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.039808996,"mpcc_du":50.0163956,"mpcc_dv":48.8859787,"mpcc_dw":51.1140213,"mpcc_enc_sign":1,"mpcc_id_a":1.96547878,"mpcc_iq_a":-0.150284171,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.54380989,"mpcc_pred_id_a":0.0913911536,"mpcc_pred_iq_a":-1.64758229,"mpcc_state":1,"mpcc_theta_e":0.447785378,"mpcc_theta_mech":0.556502998,"sam_rpm":7.42784071,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0137399882,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456617087,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.436453,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.16857147,"cg_iw_a":0.346631527,"cg_theta_rad":0.553216755,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0149269151,"mpcc_du":49.4849739,"mpcc_dv":50.5150261,"mpcc_dw":50.4034615,"mpcc_enc_sign":1,"mpcc_id_a":1.96139336,"mpcc_iq_a":-1.16431499,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.48106003,"mpcc_pred_id_a":0.125686154,"mpcc_pred_iq_a":-4.82887459,"mpcc_state":1,"mpcc_theta_e":0.445631981,"mpcc_theta_mech":0.556072295,"sam_rpm":11.3435879,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456617087,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.446432,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.09608364,"cg_iw_a":-2.77033806,"cg_theta_rad":0.557807267,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0157059748,"mpcc_du":50.3752251,"mpcc_dv":48.2968674,"mpcc_dw":51.7031326,"mpcc_enc_sign":1,"mpcc_id_a":2.05200696,"mpcc_iq_a":-1.49442816,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.3398056,"mpcc_pred_id_a":0.255382597,"mpcc_pred_iq_a":0.0576327704,"mpcc_state":1,"mpcc_theta_e":0.43193531,"mpcc_theta_mech":0.553332984,"sam_rpm":-20.3599243,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463213563,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.456411,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.31354666,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556291282,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.00314471638,"mpcc_du":50.0092354,"mpcc_dv":49.0410042,"mpcc_dw":50.9589958,"mpcc_enc_sign":1,"mpcc_id_a":-0.245583177,"mpcc_iq_a":-2.65040612,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.03225231,"mpcc_pred_id_a":-0.803198516,"mpcc_pred_iq_a":-3.72417784,"mpcc_state":1,"mpcc_theta_e":0.435091972,"mpcc_theta_mech":0.5541749,"sam_rpm":-12.7618551,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463213563,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.466452,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-2.18339872,"cg_iw_a":1.07150841,"cg_theta_rad":0.556469321,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0270585604,"mpcc_du":49.3690338,"mpcc_dv":50.6309662,"mpcc_dw":50.2627678,"mpcc_enc_sign":1,"mpcc_id_a":2.01168251,"mpcc_iq_a":-2.24504495,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.36531448,"mpcc_pred_id_a":0.254956752,"mpcc_pred_iq_a":-2.3619523,"mpcc_state":1,"mpcc_theta_e":0.442374229,"mpcc_theta_mech":0.555420756,"sam_rpm":10.3233223,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.0264545679,"thr_a_v":0.605818272,"thr_b":0.00310254097,"thr_b_norm":0.00310254097,"thr_b_v":0.512410164,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.476461,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.32837415,"cg_iw_a":1.5064342,"cg_theta_rad":0.556315362,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.09420605,"mpcc_du":50.0980988,"mpcc_dv":48.7900352,"mpcc_dw":51.2099648,"mpcc_enc_sign":1,"mpcc_id_a":2.68022871,"mpcc_iq_a":-0.171199888,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.97406971,"mpcc_pred_id_a":0.169652387,"mpcc_pred_iq_a":-3.62577295,"mpcc_state":1,"mpcc_theta_e":0.448726654,"mpcc_theta_mech":0.556691289,"sam_rpm":4.84848976,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0298157483,"thr_a_norm":0.0264545679,"thr_a_v":0.619262993,"thr_b":0,"thr_b_norm":0.00310254097,"thr_b_v":0.469961077,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.499685,"values":{"cg_iu_a":0.387013912,"cg_iv_a":0.281181812,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556747019,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0234379303,"mpcc_du":49.587986,"mpcc_dv":50.0633698,"mpcc_dw":50.412014,"mpcc_enc_sign":1,"mpcc_id_a":0.802101254,"mpcc_iq_a":-0.895063698,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.06390142,"mpcc_pred_id_a":-0.194582522,"mpcc_pred_iq_a":-5.08204985,"mpcc_state":1,"mpcc_theta_e":0.450697899,"mpcc_theta_mech":0.557085514,"sam_rpm":10.8780508,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0298157483,"thr_a_norm":0.0298157483,"thr_a_v":0.619262993,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469961077,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.506186,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.89344811,"cg_iw_a":-0.450732708,"cg_theta_rad":0.555794597,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0194637738,"mpcc_du":49.8819466,"mpcc_dv":49.1441498,"mpcc_dw":50.8558502,"mpcc_enc_sign":1,"mpcc_id_a":1.05921137,"mpcc_iq_a":-0.362176061,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.00643611,"mpcc_pred_id_a":-0.122313246,"mpcc_pred_iq_a":-2.4886682,"mpcc_state":1,"mpcc_theta_e":0.445516109,"mpcc_theta_mech":0.556049109,"sam_rpm":3.2278018,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0300297439,"thr_a_norm":0.0300297439,"thr_a_v":0.620118976,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471119225,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.512716,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.588670254,"cg_iw_a":0.781557798,"cg_theta_rad":0.553717434,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.000126186613,"mpcc_du":50.0032196,"mpcc_dv":49.0421677,"mpcc_dw":50.9578323,"mpcc_enc_sign":1,"mpcc_id_a":0.115943134,"mpcc_iq_a":-1.67207265,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.63137388,"mpcc_pred_id_a":-0.239142284,"mpcc_pred_iq_a":-0.607512951,"mpcc_state":1,"mpcc_theta_e":0.443309307,"mpcc_theta_mech":0.555607796,"sam_rpm":5.07217455,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0300297439,"thr_a_norm":0.0300297439,"thr_a_v":0.620118976,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471119225,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.519247,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.661157608,"cg_iw_a":-1.61053562,"cg_theta_rad":0.556014121,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0149917649,"mpcc_du":49.8180885,"mpcc_dv":49.1560593,"mpcc_dw":50.8439407,"mpcc_enc_sign":1,"mpcc_id_a":1.55470574,"mpcc_iq_a":-0.837803006,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.17778683,"mpcc_pred_id_a":0.0240621343,"mpcc_pred_iq_a":-1.03354359,"mpcc_state":1,"mpcc_theta_e":0.449158669,"mpcc_theta_mech":0.556777656,"sam_rpm":12.066308,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262531489,"thr_a_norm":0.0262531489,"thr_a_v":0.605012596,"thr_b":0.0081128329,"thr_b_norm":0.0081128329,"thr_b_v":0.532451332,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.529287,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.733645439,"cg_iw_a":0.274144173,"cg_theta_rad":0.551348031,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.00680280663,"mpcc_du":50.5354424,"mpcc_dv":48.2135201,"mpcc_dw":51.7864799,"mpcc_enc_sign":1,"mpcc_id_a":1.20038438,"mpcc_iq_a":-0.917667627,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.8225403,"mpcc_pred_id_a":0.0729914904,"mpcc_pred_iq_a":-1.29635227,"mpcc_state":1,"mpcc_theta_e":0.432022095,"mpcc_theta_mech":0.553350329,"sam_rpm":-19.61413,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0321572423,"thr_a_norm":0.0262531489,"thr_a_v":0.628628969,"thr_b":0,"thr_b_norm":0.0081128329,"thr_b_v":0.479276717,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.541464,"values":{"cg_iu_a":3.57647133,"cg_iv_a":0.136206627,"cg_iw_a":-1.24809694,"cg_theta_rad":0.556312799,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0418544859,"mpcc_du":50.257885,"mpcc_dv":48.6868591,"mpcc_dw":51.3131409,"mpcc_enc_sign":1,"mpcc_id_a":0.674542904,"mpcc_iq_a":-0.829531074,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.46362877,"mpcc_pred_id_a":-0.11421863,"mpcc_pred_iq_a":-2.31318784,"mpcc_state":1,"mpcc_theta_e":0.447158813,"mpcc_theta_mech":0.556377649,"sam_rpm":4.59277678,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0321572423,"thr_a_norm":0.0321572423,"thr_a_v":0.628628969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479276717,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.551657,"values":{"cg_iu_a":4.15637207,"cg_iv_a":-1.31354666,"cg_iw_a":-2.84282541,"cg_theta_rad":0.556781471,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0318171456,"mpcc_du":50.6859818,"mpcc_dv":48.0932312,"mpcc_dw":51.9067688,"mpcc_enc_sign":1,"mpcc_id_a":1.95163465,"mpcc_iq_a":-1.0168426,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.85456324,"mpcc_pred_id_a":0.0798065364,"mpcc_pred_iq_a":-0.611480355,"mpcc_state":1,"mpcc_theta_e":0.444126129,"mpcc_theta_mech":0.555771112,"sam_rpm":-5.13803101,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0168493837,"thr_a_norm":0.0168493837,"thr_a_v":0.567397535,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44412908,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.561666,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.588670254,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556682944,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.00425295392,"mpcc_du":49.6627159,"mpcc_dv":50.1183052,"mpcc_dw":50.3372841,"mpcc_enc_sign":1,"mpcc_id_a":-0.841249049,"mpcc_iq_a":-2.32975507,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.72352886,"mpcc_pred_id_a":-0.669151127,"mpcc_pred_iq_a":-3.06756806,"mpcc_state":1,"mpcc_theta_e":0.444390297,"mpcc_theta_mech":0.555823982,"sam_rpm":7.76574659,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024440363,"thr_a_norm":0.0168493837,"thr_a_v":0.597761452,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493476748,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.571432,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.02359605,"cg_iw_a":-1.39307237,"cg_theta_rad":0.55392909,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0125589101,"mpcc_du":50.1851501,"mpcc_dv":49.3672867,"mpcc_dw":50.6327133,"mpcc_enc_sign":1,"mpcc_id_a":-0.123901695,"mpcc_iq_a":-1.83664143,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.940214336,"mpcc_pred_id_a":-0.478045672,"mpcc_pred_iq_a":-2.56564546,"mpcc_state":1,"mpcc_theta_e":0.443949699,"mpcc_theta_mech":0.555735886,"sam_rpm":2.98344469,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024440363,"thr_a_norm":0.024440363,"thr_a_v":0.597761452,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493476748,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.581808,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.09608364,"cg_iw_a":-0.595707893,"cg_theta_rad":0.55661267,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0293065291,"mpcc_du":50.2025642,"mpcc_dv":48.6628456,"mpcc_dw":51.3371544,"mpcc_enc_sign":1,"mpcc_id_a":0.119343333,"mpcc_iq_a":-0.144384652,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.646332026,"mpcc_pred_id_a":0.00423115771,"mpcc_pred_iq_a":-1.21171236,"mpcc_state":1,"mpcc_theta_e":0.44094944,"mpcc_theta_mech":0.555135846,"sam_rpm":2.38338542,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026353851,"thr_a_norm":0.026353851,"thr_a_v":0.605415404,"thr_b":0.00108835101,"thr_b_norm":0.00108835101,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.604666,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.82096052,"cg_iw_a":-2.55287504,"cg_theta_rad":0.550655961,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0100831278,"mpcc_du":49.5416298,"mpcc_dv":50.0609741,"mpcc_dw":50.4583702,"mpcc_enc_sign":1,"mpcc_id_a":1.88513362,"mpcc_iq_a":-1.8264662,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.403556138,"mpcc_pred_id_a":0.127503097,"mpcc_pred_iq_a":-5.27113152,"mpcc_state":1,"mpcc_theta_e":0.44667387,"mpcc_theta_mech":0.556280673,"sam_rpm":0.372438341,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026353851,"thr_a_norm":0.026353851,"thr_a_v":0.605415404,"thr_b":0.00108835101,"thr_b_norm":0.00108835101,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.611197,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.951108456,"cg_iw_a":-1.24809694,"cg_theta_rad":0.553334355,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.00320092193,"mpcc_du":49.525074,"mpcc_dv":49.8548622,"mpcc_dw":50.474926,"mpcc_enc_sign":1,"mpcc_id_a":0.472944736,"mpcc_iq_a":-2.5214355,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.9074783,"mpcc_pred_id_a":0.181748286,"mpcc_pred_iq_a":-1.92907536,"mpcc_state":1,"mpcc_theta_e":0.461780548,"mpcc_theta_mech":0.559302032,"sam_rpm":26.6335144,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245914459,"thr_a_norm":0.0245914459,"thr_a_v":0.598365784,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481995881,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.617727,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.878620625,"cg_iw_a":0.564094543,"cg_theta_rad":0.557960689,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.00994630251,"mpcc_du":50.7116661,"mpcc_dv":48.1963539,"mpcc_dw":51.8036461,"mpcc_enc_sign":1,"mpcc_id_a":0.46885559,"mpcc_iq_a":-2.51307559,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.0646982,"mpcc_pred_id_a":-0.294611335,"mpcc_pred_iq_a":0.696658909,"mpcc_state":1,"mpcc_theta_e":0.430252552,"mpcc_theta_mech":0.552996397,"sam_rpm":-18.3314476,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245914459,"thr_a_norm":0.0245914459,"thr_a_v":0.598365784,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481995881,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.624655,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.60349751,"cg_iw_a":-1.03063393,"cg_theta_rad":0.553999841,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0188128632,"mpcc_du":49.528389,"mpcc_dv":49.6325874,"mpcc_dw":50.471611,"mpcc_enc_sign":1,"mpcc_id_a":2.5634532,"mpcc_iq_a":-0.220360354,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.91557646,"mpcc_pred_id_a":0.158334523,"mpcc_pred_iq_a":-4.21366024,"mpcc_state":1,"mpcc_theta_e":0.436035156,"mpcc_theta_mech":0.554152906,"sam_rpm":-8.1472311,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0145204812,"thr_a_norm":0.0145204812,"thr_a_v":0.558081925,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452538311,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.634665,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.806133032,"cg_iw_a":-0.595708132,"cg_theta_rad":0.557189941,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.022122236,"mpcc_du":50.4301033,"mpcc_dv":48.6825485,"mpcc_dw":51.3174515,"mpcc_enc_sign":1,"mpcc_id_a":0.0842220783,"mpcc_iq_a":-0.219849795,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.82987118,"mpcc_pred_id_a":-0.554950178,"mpcc_pred_iq_a":-1.97668505,"mpcc_state":1,"mpcc_theta_e":0.438211441,"mpcc_theta_mech":0.55682683,"sam_rpm":-5.97734928,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199965686,"thr_a_norm":0.0145204812,"thr_a_v":0.579986274,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.64443,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-2.32837415,"cg_iw_a":-0.523220301,"cg_theta_rad":0.556541264,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0477484316,"mpcc_du":50.1736946,"mpcc_dv":48.5607071,"mpcc_dw":51.4392929,"mpcc_enc_sign":1,"mpcc_id_a":0.739110291,"mpcc_iq_a":-2.8472774,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.193037,"mpcc_pred_id_a":0.365027696,"mpcc_pred_iq_a":0.158469617,"mpcc_state":1,"mpcc_theta_e":0.420385838,"mpcc_theta_mech":0.551023126,"sam_rpm":-24.8923149,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199965686,"thr_a_norm":0.0199965686,"thr_a_v":0.579986274,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.655844,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.89344811,"cg_iw_a":-0.378245115,"cg_theta_rad":0.555886984,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0154699134,"mpcc_du":49.6761322,"mpcc_dv":49.3399696,"mpcc_dw":50.6600304,"mpcc_enc_sign":1,"mpcc_id_a":2.45479298,"mpcc_iq_a":0.0579695962,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.68108416,"mpcc_pred_id_a":0.0304710325,"mpcc_pred_iq_a":0.36781314,"mpcc_state":1,"mpcc_theta_e":0.437334538,"mpcc_theta_mech":0.554412782,"sam_rpm":3.72472548,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024062708,"thr_a_norm":0.024062708,"thr_a_v":0.596250832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.667257,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.516182423,"cg_iw_a":-0.015806675,"cg_theta_rad":0.552922428,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0553985015,"mpcc_du":50.9598999,"mpcc_dv":47.6648445,"mpcc_dw":52.3351555,"mpcc_enc_sign":1,"mpcc_id_a":2.58574438,"mpcc_iq_a":-1.03284085,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.41088772,"mpcc_pred_id_a":0.276533276,"mpcc_pred_iq_a":-1.13751149,"mpcc_state":1,"mpcc_theta_e":0.441640854,"mpcc_theta_mech":0.555274069,"sam_rpm":-12.993928,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0298786908,"thr_a_norm":0.024062708,"thr_a_v":0.619514763,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469507903,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.67687,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.38603449,"cg_iw_a":-1.46555996,"cg_theta_rad":0.555742443,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0372695588,"mpcc_du":50.1422462,"mpcc_dv":48.638546,"mpcc_dw":51.361454,"mpcc_enc_sign":1,"mpcc_id_a":2.32316256,"mpcc_iq_a":-0.910063505,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.73906422,"mpcc_pred_id_a":0.354453743,"mpcc_pred_iq_a":-2.76667047,"mpcc_state":1,"mpcc_theta_e":0.442137718,"mpcc_theta_mech":0.55537349,"sam_rpm":-4.28154325,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0298786908,"thr_a_norm":0.0298786908,"thr_a_v":0.619514763,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469507903,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.700247,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-2.18339872,"cg_iw_a":-0.015806675,"cg_theta_rad":0.554749191,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.012211116,"mpcc_du":49.9291458,"mpcc_dv":49.1953926,"mpcc_dw":50.8046074,"mpcc_enc_sign":1,"mpcc_id_a":0.902290344,"mpcc_iq_a":-1.02819288,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.12719667,"mpcc_pred_id_a":-0.314413905,"mpcc_pred_iq_a":-3.36525846,"mpcc_state":1,"mpcc_theta_e":0.444732189,"mpcc_theta_mech":0.555892348,"sam_rpm":-1.28241515,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192412436,"thr_a_norm":0.0192412436,"thr_a_v":0.576964974,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456818491,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.706778,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.74847269,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.554601371,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0180604868,"mpcc_du":50.2719269,"mpcc_dv":48.5906448,"mpcc_dw":51.4093552,"mpcc_enc_sign":1,"mpcc_id_a":2.80657172,"mpcc_iq_a":0.400532871,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.7777023,"mpcc_pred_id_a":0.408261031,"mpcc_pred_iq_a":-0.735118866,"mpcc_state":1,"mpcc_theta_e":0.455523491,"mpcc_theta_mech":0.558050573,"sam_rpm":5.96423149,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192412436,"thr_a_norm":0.0192412436,"thr_a_v":0.576964974,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456818491,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.713278,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.733645439,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.5550192,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.00119230512,"mpcc_du":50.7480736,"mpcc_dv":48.0358238,"mpcc_dw":51.9641762,"mpcc_enc_sign":1,"mpcc_id_a":0.469475597,"mpcc_iq_a":-1.12845135,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.9354668,"mpcc_pred_id_a":-0.113000445,"mpcc_pred_iq_a":-1.04416704,"mpcc_state":1,"mpcc_theta_e":0.426718712,"mpcc_theta_mech":0.552289665,"sam_rpm":-26.7086391,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0401636511,"thr_a_norm":0.0401636511,"thr_a_v":0.660654604,"thr_b":0.00618676841,"thr_b_norm":0.00618676841,"thr_b_v":0.524747074,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.719809,"values":{"cg_iu_a":2.41666842,"cg_iv_a":0.643620491,"cg_iw_a":1.57892203,"cg_theta_rad":0.556587338,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.00520642893,"mpcc_du":50.1942787,"mpcc_dv":48.8408585,"mpcc_dw":51.1591415,"mpcc_enc_sign":1,"mpcc_id_a":0.93526274,"mpcc_iq_a":-0.798389554,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.81274414,"mpcc_pred_id_a":-0.272841483,"mpcc_pred_iq_a":-2.28401089,"mpcc_state":1,"mpcc_theta_e":0.434293747,"mpcc_theta_mech":0.553804696,"sam_rpm":-11.8782902,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266685635,"thr_a_norm":0.0401636511,"thr_a_v":0.606674254,"thr_b":0,"thr_b_norm":0.00618676841,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.727835,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.53100967,"cg_iw_a":0.78155756,"cg_theta_rad":0.555182576,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0631615669,"mpcc_du":50.0540504,"mpcc_dv":48.6468163,"mpcc_dw":51.3531837,"mpcc_enc_sign":1,"mpcc_id_a":3.98255754,"mpcc_iq_a":0.369324058,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.15687943,"mpcc_pred_id_a":0.832851827,"mpcc_pred_iq_a":0.394694179,"mpcc_state":1,"mpcc_theta_e":0.447059631,"mpcc_theta_mech":0.556357801,"sam_rpm":7.8446784,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266685635,"thr_a_norm":0.0266685635,"thr_a_v":0.606674254,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.737997,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.443694592,"cg_iw_a":-0.450732708,"cg_theta_rad":0.554552317,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0763396919,"mpcc_du":50.1800232,"mpcc_dv":48.8942337,"mpcc_dw":51.1057663,"mpcc_enc_sign":1,"mpcc_id_a":0.8263973,"mpcc_iq_a":0.48871848,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.47510481,"mpcc_pred_id_a":-0.236909255,"mpcc_pred_iq_a":-2.55453086,"mpcc_state":1,"mpcc_theta_e":0.4494524,"mpcc_theta_mech":0.556836426,"sam_rpm":8.51914215,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288212448,"thr_a_norm":0.0288212448,"thr_a_v":0.615284979,"thr_b":0.00390821695,"thr_b_norm":0.00390821695,"thr_b_v":0.515632868,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.747793,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.53100967,"cg_iw_a":-1.17560959,"cg_theta_rad":0.556352377,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0123948473,"mpcc_du":49.6408882,"mpcc_dv":50.322403,"mpcc_dw":50.3591118,"mpcc_enc_sign":1,"mpcc_id_a":-0.730258286,"mpcc_iq_a":-3.40679955,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.8026705,"mpcc_pred_id_a":-0.397660762,"mpcc_pred_iq_a":-2.11909866,"mpcc_state":1,"mpcc_theta_e":0.449308395,"mpcc_theta_mech":0.556807637,"sam_rpm":16.3731899,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288212448,"thr_a_norm":0.0288212448,"thr_a_v":0.615284979,"thr_b":0.00390821695,"thr_b_norm":0.00390821695,"thr_b_v":0.515632868,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.758017,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.661157608,"cg_iw_a":-2.33541203,"cg_theta_rad":0.552870989,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.00988707226,"mpcc_du":50.2838783,"mpcc_dv":48.8265152,"mpcc_dw":51.1734848,"mpcc_enc_sign":1,"mpcc_id_a":-1.71328318,"mpcc_iq_a":-1.69355822,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.25311565,"mpcc_pred_id_a":-0.519832432,"mpcc_pred_iq_a":-1.21833873,"mpcc_state":1,"mpcc_theta_e":0.432680607,"mpcc_theta_mech":0.553482056,"sam_rpm":-13.7762079,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167109221,"thr_a_norm":0.0167109221,"thr_a_v":0.566843688,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473737687,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.76824,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.96593571,"cg_iw_a":-2.55287504,"cg_theta_rad":0.554344356,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.044449985,"mpcc_du":49.5596237,"mpcc_dv":49.4374809,"mpcc_dw":50.5625191,"mpcc_enc_sign":1,"mpcc_id_a":1.44739783,"mpcc_iq_a":0.606715262,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.0196857,"mpcc_pred_id_a":0.268223882,"mpcc_pred_iq_a":-2.14594984,"mpcc_state":1,"mpcc_theta_e":0.450001717,"mpcc_theta_mech":0.556946278,"sam_rpm":15.7845602,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0251075774,"thr_a_norm":0.0167109221,"thr_a_v":0.60043031,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485571086,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.78005,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.74847269,"cg_iw_a":0.564094543,"cg_theta_rad":0.552878678,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.028663015,"mpcc_du":50.1522827,"mpcc_dv":48.8024368,"mpcc_dw":51.1975632,"mpcc_enc_sign":1,"mpcc_id_a":0.845773697,"mpcc_iq_a":-1.47260177,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.23797464,"mpcc_pred_id_a":0.103088118,"mpcc_pred_iq_a":-2.77844501,"mpcc_state":1,"mpcc_theta_e":0.449724197,"mpcc_theta_mech":0.556890786,"sam_rpm":4.17020226,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0251075774,"thr_a_norm":0.0251075774,"thr_a_v":0.60043031,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485571086,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.803457,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.733645439,"cg_iw_a":-0.450732708,"cg_theta_rad":0.55624938,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.00292610191,"mpcc_du":48.7995529,"mpcc_dv":51.2004471,"mpcc_dw":49.3539124,"mpcc_enc_sign":1,"mpcc_id_a":0.677608371,"mpcc_iq_a":-0.320221573,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.01206827,"mpcc_pred_id_a":-0.186849043,"mpcc_pred_iq_a":-6.81830978,"mpcc_state":1,"mpcc_theta_e":0.430812836,"mpcc_theta_mech":0.553108513,"sam_rpm":9.84547901,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244529694,"thr_a_norm":0.0244529694,"thr_a_v":0.597811878,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469658971,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.809958,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":-1.74847269,"cg_iw_a":-2.62536287,"cg_theta_rad":0.55774188,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0508832522,"mpcc_du":49.3978119,"mpcc_dv":49.847435,"mpcc_dw":50.6021881,"mpcc_enc_sign":1,"mpcc_id_a":4.42141485,"mpcc_iq_a":-0.370005786,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.66314584,"mpcc_pred_id_a":1.09951782,"mpcc_pred_iq_a":-3.3660872,"mpcc_state":1,"mpcc_theta_e":0.440974236,"mpcc_theta_mech":0.555140793,"sam_rpm":0.190188915,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149988532,"thr_a_norm":0.0244529694,"thr_a_v":0.559995413,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450624853,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.816519,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-1.53100967,"cg_iw_a":-1.82799864,"cg_theta_rad":0.555510819,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0210398044,"mpcc_du":49.4623871,"mpcc_dv":49.5625725,"mpcc_dw":50.5376129,"mpcc_enc_sign":1,"mpcc_id_a":2.75781512,"mpcc_iq_a":-1.17927301,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.29797983,"mpcc_pred_id_a":0.594273984,"mpcc_pred_iq_a":-2.41360641,"mpcc_state":1,"mpcc_theta_e":0.447308064,"mpcc_theta_mech":0.556407571,"sam_rpm":8.65294933,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149988532,"thr_a_norm":0.0149988532,"thr_a_v":0.559995413,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450624853,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.82305,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.443694592,"cg_iw_a":-2.1904366,"cg_theta_rad":0.555869222,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0113767395,"mpcc_du":50.4113159,"mpcc_dv":48.6668243,"mpcc_dw":51.3331757,"mpcc_enc_sign":1,"mpcc_id_a":0.194957107,"mpcc_iq_a":-1.01054096,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.25296688,"mpcc_pred_id_a":-0.410611838,"mpcc_pred_iq_a":-2.74039435,"mpcc_state":1,"mpcc_theta_e":0.437187672,"mpcc_theta_mech":0.554383457,"sam_rpm":-11.3316965,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220233351,"thr_a_norm":0.0220233351,"thr_a_v":0.58809334,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487182409,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.830801,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-0.733645439,"cg_iw_a":-0.305757523,"cg_theta_rad":0.553894818,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0224213712,"mpcc_du":49.5366173,"mpcc_dv":49.8704834,"mpcc_dw":50.4633827,"mpcc_enc_sign":1,"mpcc_id_a":2.56938958,"mpcc_iq_a":-1.40540898,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.22990727,"mpcc_pred_id_a":0.194116667,"mpcc_pred_iq_a":-5.09679937,"mpcc_state":1,"mpcc_theta_e":0.444720745,"mpcc_theta_mech":0.555890083,"sam_rpm":1.57309735,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220233351,"thr_a_norm":0.0220233351,"thr_a_v":0.58809334,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487182409,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.841024,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.443694592,"cg_iw_a":1.143996,"cg_theta_rad":0.556068182,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.00981465541,"mpcc_du":50.151638,"mpcc_dv":48.7396126,"mpcc_dw":50.4253006,"mpcc_enc_sign":1,"mpcc_id_a":1.95946062,"mpcc_iq_a":-1.51406622,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.48694754,"mpcc_pred_id_a":0.165858731,"mpcc_pred_iq_a":-1.78204751,"mpcc_state":1,"mpcc_theta_e":0.438033104,"mpcc_theta_mech":0.554552555,"sam_rpm":-10.4076614,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194804221,"thr_a_norm":0.0194804221,"thr_a_v":0.577921689,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.851217,"values":{"cg_iu_a":3.8664217,"cg_iv_a":-1.02359605,"cg_iw_a":-2.84282565,"cg_theta_rad":0.552977562,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0138927586,"mpcc_du":49.5991631,"mpcc_dv":49.6344414,"mpcc_dw":50.4008369,"mpcc_enc_sign":1,"mpcc_id_a":0.725481033,"mpcc_iq_a":-1.04832101,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.8588142,"mpcc_pred_id_a":-0.232846633,"mpcc_pred_iq_a":-2.18399501,"mpcc_state":1,"mpcc_theta_e":0.454232216,"mpcc_theta_mech":0.557792366,"sam_rpm":19.6273785,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227912515,"thr_a_norm":0.0194804221,"thr_a_v":0.591165006,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48980087,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.861105,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.74847269,"cg_iw_a":-0.523220539,"cg_theta_rad":0.556349456,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.00821305066,"mpcc_du":50.059391,"mpcc_dv":49.1425972,"mpcc_dw":50.4175682,"mpcc_enc_sign":1,"mpcc_id_a":0.346930802,"mpcc_iq_a":-2.01771688,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.16028571,"mpcc_pred_id_a":-0.486487806,"mpcc_pred_iq_a":-2.96703863,"mpcc_state":1,"mpcc_theta_e":0.446611404,"mpcc_theta_mech":0.556072831,"sam_rpm":4.312006,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227912515,"thr_a_norm":0.0227912515,"thr_a_v":0.591165006,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48980087,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.871237,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.24105906,"cg_iw_a":-1.03063416,"cg_theta_rad":0.556003928,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.016118627,"mpcc_du":49.8776703,"mpcc_dv":49.3855972,"mpcc_dw":50.6144028,"mpcc_enc_sign":1,"mpcc_id_a":-0.519010842,"mpcc_iq_a":-1.79038692,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.91400385,"mpcc_pred_id_a":-0.608924329,"mpcc_pred_iq_a":-3.03427386,"mpcc_state":1,"mpcc_theta_e":0.451693058,"mpcc_theta_mech":0.557284534,"sam_rpm":13.402277,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278770924,"thr_a_norm":0.0278770924,"thr_a_v":0.611508369,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49634698,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.883383,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.878620625,"cg_iw_a":-0.378245354,"cg_theta_rad":0.553155839,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.000596601341,"mpcc_du":49.2005882,"mpcc_dv":50.7994118,"mpcc_dw":49.7841377,"mpcc_enc_sign":1,"mpcc_id_a":0.464712381,"mpcc_iq_a":-0.261691988,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.946228,"mpcc_pred_id_a":-0.522904634,"mpcc_pred_iq_a":-3.15392017,"mpcc_state":1,"mpcc_theta_e":0.441954136,"mpcc_theta_mech":0.555336714,"sam_rpm":16.2723446,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02252689,"thr_a_norm":0.0278770924,"thr_a_v":0.59010756,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483154029,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.906271,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.153744221,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556817055,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0195911806,"mpcc_du":50.7936897,"mpcc_dv":47.8682556,"mpcc_dw":52.1317444,"mpcc_enc_sign":1,"mpcc_id_a":2.46039915,"mpcc_iq_a":-0.956286788,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.20627642,"mpcc_pred_id_a":0.207096145,"mpcc_pred_iq_a":1.53670275,"mpcc_state":1,"mpcc_theta_e":0.435704708,"mpcc_theta_mech":0.554086864,"sam_rpm":-9.34147072,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02252689,"thr_a_norm":0.02252689,"thr_a_v":0.59010756,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483154029,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.912802,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.733645439,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.556111276,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.01282195,"mpcc_du":49.5404816,"mpcc_dv":49.9002533,"mpcc_dw":50.4595184,"mpcc_enc_sign":1,"mpcc_id_a":2.17121792,"mpcc_iq_a":-1.06185043,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.59834397,"mpcc_pred_id_a":0.030872779,"mpcc_pred_iq_a":-4.55209351,"mpcc_state":1,"mpcc_theta_e":0.439220428,"mpcc_theta_mech":0.55479002,"sam_rpm":-3.10784101,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170508027,"thr_a_norm":0.0170508027,"thr_a_v":0.568203211,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.445287228,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.919271,"values":{"cg_iu_a":0.604476929,"cg_iv_a":0.716107845,"cg_iw_a":-1.32058477,"cg_theta_rad":0.553909361,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.00272447034,"mpcc_du":50.9057274,"mpcc_dv":47.6738625,"mpcc_dw":52.3261375,"mpcc_enc_sign":1,"mpcc_id_a":0.900727451,"mpcc_iq_a":-0.354574412,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.9024162,"mpcc_pred_id_a":0.102247946,"mpcc_pred_iq_a":0.618811309,"mpcc_state":1,"mpcc_theta_e":0.422472954,"mpcc_theta_mech":0.551440537,"sam_rpm":-29.8324223,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170508027,"thr_a_norm":0.0170508027,"thr_a_v":0.568203211,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.445287228,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.925833,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.31354666,"cg_iw_a":-0.81317091,"cg_theta_rad":0.557254732,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5013,"hz_app_loop":365,"hz_tim_isr":10026,"hz_vsense":365,"mpcc_cost":0.0128714098,"mpcc_du":49.5538635,"mpcc_dv":50.0433426,"mpcc_dw":50.6619072,"mpcc_enc_sign":1,"mpcc_id_a":1.17835617,"mpcc_iq_a":-0.281671613,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.25256109,"mpcc_pred_id_a":-0.093929626,"mpcc_pred_iq_a":-3.37122679,"mpcc_state":1,"mpcc_theta_e":0.446835995,"mpcc_theta_mech":0.554036081,"sam_rpm":10.5141821,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0315278023,"thr_a_norm":0.0315278023,"thr_a_v":0.626111209,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488189489,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.934652,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.878620625,"cg_iw_a":0.12916851,"cg_theta_rad":0.55613029,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0364408419,"mpcc_du":49.749157,"mpcc_dv":49.1704483,"mpcc_dw":50.8295517,"mpcc_enc_sign":1,"mpcc_id_a":2.54899573,"mpcc_iq_a":-0.604217052,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.993880451,"mpcc_pred_id_a":0.213273168,"mpcc_pred_iq_a":-3.36066723,"mpcc_state":1,"mpcc_theta_e":0.443540096,"mpcc_theta_mech":0.55565393,"sam_rpm":1.89119363,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216834545,"thr_a_norm":0.0315278023,"thr_a_v":0.586733818,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463817805,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.944418,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.53100967,"cg_iw_a":0.636582375,"cg_theta_rad":0.557509124,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.29883,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0232363511,"mpcc_du":50.0615158,"mpcc_dv":48.7069359,"mpcc_dw":51.2930641,"mpcc_enc_sign":1,"mpcc_id_a":2.39688873,"mpcc_iq_a":-1.44490457,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.1920109,"mpcc_pred_id_a":0.18532449,"mpcc_pred_iq_a":-2.53793335,"mpcc_state":1,"mpcc_theta_e":0.424040794,"mpcc_theta_mech":0.551754057,"sam_rpm":-31.9358463,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216834545,"thr_a_norm":0.0216834545,"thr_a_v":0.586733818,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463817805,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.954794,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.74847269,"cg_iw_a":1.14399576,"cg_theta_rad":0.552240252,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0141205434,"mpcc_du":49.425724,"mpcc_dv":50.574276,"mpcc_dw":50.3038368,"mpcc_enc_sign":1,"mpcc_id_a":1.39541125,"mpcc_iq_a":-1.50314903,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.69012928,"mpcc_pred_id_a":0.11961171,"mpcc_pred_iq_a":-3.7794075,"mpcc_state":1,"mpcc_theta_e":0.448585987,"mpcc_theta_mech":0.556663096,"sam_rpm":25.8840637,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288338214,"thr_a_norm":0.0288338214,"thr_a_v":0.615335286,"thr_b":0.00229686499,"thr_b_norm":0.00229686499,"thr_b_v":0.50918746,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.964437,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.16857147,"cg_iw_a":-1.53804779,"cg_theta_rad":0.557924747,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.00916108955,"mpcc_du":51.3145523,"mpcc_dv":47.2682571,"mpcc_dw":52.7317429,"mpcc_enc_sign":1,"mpcc_id_a":1.91386223,"mpcc_iq_a":-0.401186109,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.3357105,"mpcc_pred_id_a":0.0361863859,"mpcc_pred_iq_a":2.83694172,"mpcc_state":1,"mpcc_theta_e":0.424445629,"mpcc_theta_mech":0.55183506,"sam_rpm":-29.276926,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288338214,"thr_a_norm":0.0288338214,"thr_a_v":0.615335286,"thr_b":0.00229686499,"thr_b_norm":0.00229686499,"thr_b_v":0.50918746,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.976797,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.53100967,"cg_iw_a":-0.740683556,"cg_theta_rad":0.558859825,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.00548774656,"mpcc_du":49.590107,"mpcc_dv":50.1284904,"mpcc_dw":50.409893,"mpcc_enc_sign":1,"mpcc_id_a":1.47517681,"mpcc_iq_a":-2.36151123,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.41599202,"mpcc_pred_id_a":-0.0360482149,"mpcc_pred_iq_a":-5.43183517,"mpcc_state":1,"mpcc_theta_e":0.442425251,"mpcc_theta_mech":0.555431008,"sam_rpm":-1.66727388,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219100416,"thr_a_norm":0.0219100416,"thr_a_v":0.587640166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481844842,"vdc_v":55.2955055}} +{"type":"telemetry","t":31.98702,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.89344811,"cg_iw_a":0.636582136,"cg_theta_rad":0.553843498,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0170808434,"mpcc_du":49.543911,"mpcc_dv":49.3238678,"mpcc_dw":50.6761322,"mpcc_enc_sign":1,"mpcc_id_a":2.44216895,"mpcc_iq_a":-1.33638465,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.80671978,"mpcc_pred_id_a":0.401687652,"mpcc_pred_iq_a":-3.76740885,"mpcc_state":1,"mpcc_theta_e":0.441993713,"mpcc_theta_mech":0.555344701,"sam_rpm":10.3636999,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0249565095,"thr_a_norm":0.0249565095,"thr_a_v":0.599826038,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479327083,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.010212,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.31354666,"cg_iw_a":0.419119358,"cg_theta_rad":0.551017404,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.00154673832,"mpcc_du":51.3976288,"mpcc_dv":47.2553902,"mpcc_dw":52.7446098,"mpcc_enc_sign":1,"mpcc_id_a":0.362180322,"mpcc_iq_a":-1.35794151,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.6270227,"mpcc_pred_id_a":-0.169830099,"mpcc_pred_iq_a":2.3121295,"mpcc_state":1,"mpcc_theta_e":0.429198742,"mpcc_theta_mech":0.552785695,"sam_rpm":-23.1710033,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0249565095,"thr_a_norm":0.0249565095,"thr_a_v":0.599826038,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479327083,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.016773,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.89344811,"cg_iw_a":0.129168749,"cg_theta_rad":0.556990504,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.000372902694,"mpcc_du":50.2513847,"mpcc_dv":48.7406731,"mpcc_dw":51.2593269,"mpcc_enc_sign":1,"mpcc_id_a":-0.177226484,"mpcc_iq_a":-2.64204335,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.764331639,"mpcc_pred_id_a":-0.228795558,"mpcc_pred_iq_a":-0.705397964,"mpcc_state":1,"mpcc_theta_e":0.440774918,"mpcc_theta_mech":0.555100858,"sam_rpm":-1.22735322,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0389425457,"thr_a_norm":0.0389425457,"thr_a_v":0.655770183,"thr_b":0.0134000927,"thr_b_norm":0.0134000927,"thr_b_v":0.553600371,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.023273,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.153744221,"cg_iw_a":-1.24809694,"cg_theta_rad":0.553224623,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.027224591,"mpcc_du":50.0794792,"mpcc_dv":48.8798752,"mpcc_dw":51.1201248,"mpcc_enc_sign":1,"mpcc_id_a":2.70179653,"mpcc_iq_a":-0.959221721,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.997649312,"mpcc_pred_id_a":0.0853132904,"mpcc_pred_iq_a":-1.45608997,"mpcc_state":1,"mpcc_theta_e":0.444934368,"mpcc_theta_mech":0.55593282,"sam_rpm":1.94500756,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0389425457,"thr_a_norm":0.0389425457,"thr_a_v":0.655770183,"thr_b":0.0134000927,"thr_b_norm":0.0134000927,"thr_b_v":0.553600371,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.029835,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.226231575,"cg_iw_a":1.36145902,"cg_theta_rad":0.557309687,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.00121743686,"mpcc_du":50.0318069,"mpcc_dv":48.9327774,"mpcc_dw":51.0672226,"mpcc_enc_sign":1,"mpcc_id_a":0.554760516,"mpcc_iq_a":-0.758967161,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.97445488,"mpcc_pred_id_a":0.0156060113,"mpcc_pred_iq_a":-2.26571059,"mpcc_state":1,"mpcc_theta_e":0.432820797,"mpcc_theta_mech":0.55351007,"sam_rpm":-13.6723461,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185614526,"thr_a_norm":0.0185614526,"thr_a_v":0.574245811,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457221329,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.037525,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-3.48817682,"cg_iw_a":2.44877386,"cg_theta_rad":0.554225862,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.00942700636,"mpcc_du":50.133194,"mpcc_dv":48.811779,"mpcc_dw":51.188221,"mpcc_enc_sign":1,"mpcc_id_a":0.905822515,"mpcc_iq_a":-0.00434866128,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.14458776,"mpcc_pred_id_a":-0.0847024396,"mpcc_pred_iq_a":-0.97058183,"mpcc_state":1,"mpcc_theta_e":0.438575268,"mpcc_theta_mech":0.554660976,"sam_rpm":-4.66805601,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021419093,"thr_a_norm":0.0185614526,"thr_a_v":0.585676372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476758987,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.047413,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.82096052,"cg_iw_a":0.926533222,"cg_theta_rad":0.552779973,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.002569895,"mpcc_du":49.0735741,"mpcc_dv":50.9264259,"mpcc_dw":49.7091675,"mpcc_enc_sign":1,"mpcc_id_a":0.866030514,"mpcc_iq_a":-3.8745172,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.8714447,"mpcc_pred_id_a":-0.396288753,"mpcc_pred_iq_a":-5.54711771,"mpcc_state":1,"mpcc_theta_e":0.457755089,"mpcc_theta_mech":0.558496952,"sam_rpm":24.9710026,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021419093,"thr_a_norm":0.021419093,"thr_a_v":0.585676372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476758987,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.057819,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.16857147,"cg_iw_a":0.274144173,"cg_theta_rad":0.553727925,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0291053858,"mpcc_du":49.8829041,"mpcc_dv":49.2347145,"mpcc_dw":50.7652855,"mpcc_enc_sign":1,"mpcc_id_a":-0.125878036,"mpcc_iq_a":-2.42345667,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.84125137,"mpcc_pred_id_a":-0.421736956,"mpcc_pred_iq_a":-1.29828751,"mpcc_state":1,"mpcc_theta_e":0.42936945,"mpcc_theta_mech":0.552819848,"sam_rpm":-14.1829958,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250823945,"thr_a_norm":0.0250823945,"thr_a_v":0.600329578,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485671788,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.067677,"values":{"cg_iu_a":3.5039835,"cg_iv_a":0.281181812,"cg_iw_a":0.201656103,"cg_theta_rad":0.553543746,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.00137967698,"mpcc_du":50.067997,"mpcc_dv":48.9061546,"mpcc_dw":51.0938454,"mpcc_enc_sign":1,"mpcc_id_a":0.23753868,"mpcc_iq_a":-2.09851551,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.27283502,"mpcc_pred_id_a":-0.156807512,"mpcc_pred_iq_a":-1.96017933,"mpcc_state":1,"mpcc_theta_e":0.441745758,"mpcc_theta_mech":0.556752801,"sam_rpm":-1.32166064,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250823945,"thr_a_norm":0.0250823945,"thr_a_v":0.600329578,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485671788,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.077625,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.0087685585,"cg_iw_a":-3.13277674,"cg_theta_rad":0.554130793,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0856670886,"mpcc_du":50.1836052,"mpcc_dv":48.6506119,"mpcc_dw":51.3493881,"mpcc_enc_sign":1,"mpcc_id_a":2.28249454,"mpcc_iq_a":0.667074263,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.3255353,"mpcc_pred_id_a":0.229880065,"mpcc_pred_iq_a":-1.08572268,"mpcc_state":1,"mpcc_theta_e":0.450521946,"mpcc_theta_mech":0.557050288,"sam_rpm":11.0214767,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294884443,"thr_a_norm":0.0294884443,"thr_a_v":0.617953777,"thr_b":0.00189402699,"thr_b_norm":0.00189402699,"thr_b_v":0.507576108,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.087788,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.951108456,"cg_iw_a":-1.61053514,"cg_theta_rad":0.553677619,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.00191203644,"mpcc_du":49.3290443,"mpcc_dv":50.6709557,"mpcc_dw":50.0517082,"mpcc_enc_sign":1,"mpcc_id_a":0.230795175,"mpcc_iq_a":-1.5904057,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.33067036,"mpcc_pred_id_a":-0.304407507,"mpcc_pred_iq_a":-3.44188476,"mpcc_state":1,"mpcc_theta_e":0.446127892,"mpcc_theta_mech":0.556171477,"sam_rpm":13.0651426,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0313515663,"thr_a_norm":0.0294884443,"thr_a_v":0.625406265,"thr_b":0,"thr_b_norm":0.00189402699,"thr_b_v":0.473687351,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.110859,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.298719406,"cg_iw_a":-0.450732708,"cg_theta_rad":0.554898739,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.00544781191,"mpcc_du":51.151329,"mpcc_dv":47.6761971,"mpcc_dw":52.3238029,"mpcc_enc_sign":1,"mpcc_id_a":-0.293036222,"mpcc_iq_a":-1.99249601,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.8554764,"mpcc_pred_id_a":-0.536961257,"mpcc_pred_iq_a":1.93340349,"mpcc_state":1,"mpcc_theta_e":0.450870991,"mpcc_theta_mech":0.557120144,"sam_rpm":-25.0421715,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0313515663,"thr_a_norm":0.0313515663,"thr_a_v":0.625406265,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473687351,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.11742,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.371207237,"cg_iw_a":-0.958146095,"cg_theta_rad":0.556155145,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0332470648,"mpcc_du":50.6224937,"mpcc_dv":48.2109222,"mpcc_dw":51.7890778,"mpcc_enc_sign":1,"mpcc_id_a":1.14433074,"mpcc_iq_a":-0.350227714,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.39454126,"mpcc_pred_id_a":-0.0440447554,"mpcc_pred_iq_a":-0.821643054,"mpcc_state":1,"mpcc_theta_e":0.440776825,"mpcc_theta_mech":0.555101275,"sam_rpm":-5.64656687,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258377194,"thr_a_norm":0.0258377194,"thr_a_v":0.603350878,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497051924,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.12389,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.31354666,"cg_iw_a":-0.523220539,"cg_theta_rad":0.558161497,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.00318295322,"mpcc_du":50.8740273,"mpcc_dv":48.0472145,"mpcc_dw":51.9527855,"mpcc_enc_sign":1,"mpcc_id_a":-0.213611647,"mpcc_iq_a":-2.78323078,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.6349125,"mpcc_pred_id_a":-0.339101404,"mpcc_pred_iq_a":0.300040781,"mpcc_state":1,"mpcc_theta_e":0.458146572,"mpcc_theta_mech":0.558575273,"sam_rpm":-12.7539139,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258377194,"thr_a_norm":0.0258377194,"thr_a_v":0.603350878,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497051924,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.130421,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.371207237,"cg_iw_a":-0.523220062,"cg_theta_rad":0.553047359,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0239101201,"mpcc_du":49.9460449,"mpcc_dv":48.9103775,"mpcc_dw":51.0896225,"mpcc_enc_sign":1,"mpcc_id_a":2.59738541,"mpcc_iq_a":-0.676620007,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.26412058,"mpcc_pred_id_a":0.391068518,"mpcc_pred_iq_a":-0.427279145,"mpcc_state":1,"mpcc_theta_e":0.442235947,"mpcc_theta_mech":0.5553931,"sam_rpm":6.36873484,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177431852,"thr_a_norm":0.0177431852,"thr_a_v":0.570972741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447150379,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.140583,"values":{"cg_iu_a":3.72144651,"cg_iv_a":-1.89344811,"cg_iw_a":0.781557798,"cg_theta_rad":0.556592584,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0832429454,"mpcc_du":49.5110512,"mpcc_dv":49.7563934,"mpcc_dw":50.4889488,"mpcc_enc_sign":1,"mpcc_id_a":2.62245035,"mpcc_iq_a":0.0253348686,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.4555616,"mpcc_pred_id_a":0.263097256,"mpcc_pred_iq_a":-3.60895324,"mpcc_state":1,"mpcc_theta_e":0.455281258,"mpcc_theta_mech":0.558002174,"sam_rpm":23.2454243,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215072036,"thr_a_norm":0.0177431852,"thr_a_v":0.586028814,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478722841,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.150196,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.38603449,"cg_iw_a":0.78155756,"cg_theta_rad":0.556568921,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0251658745,"mpcc_du":49.5087814,"mpcc_dv":50.2980042,"mpcc_dw":50.4912186,"mpcc_enc_sign":1,"mpcc_id_a":2.03907442,"mpcc_iq_a":-1.86403656,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.09587097,"mpcc_pred_id_a":0.428322554,"mpcc_pred_iq_a":-2.37472558,"mpcc_state":1,"mpcc_theta_e":0.434316635,"mpcc_theta_mech":0.553809226,"sam_rpm":1.30468786,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215072036,"thr_a_norm":0.0215072036,"thr_a_v":0.586028814,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478722841,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.160419,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.96593571,"cg_iw_a":-1.10312176,"cg_theta_rad":0.559543848,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0262723453,"mpcc_du":50.1419716,"mpcc_dv":48.7700272,"mpcc_dw":51.2299728,"mpcc_enc_sign":1,"mpcc_id_a":1.69987154,"mpcc_iq_a":-1.70201874,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.92749166,"mpcc_pred_id_a":0.0510816127,"mpcc_pred_iq_a":-2.346277,"mpcc_state":1,"mpcc_theta_e":0.450920582,"mpcc_theta_mech":0.557130039,"sam_rpm":4.64450502,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0249061584,"thr_a_norm":0.0249061584,"thr_a_v":0.599624634,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480233461,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.170429,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.588670254,"cg_iw_a":-2.26292419,"cg_theta_rad":0.55236423,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0572585762,"mpcc_du":50.137352,"mpcc_dv":48.7550468,"mpcc_dw":51.2449532,"mpcc_enc_sign":1,"mpcc_id_a":1.49628961,"mpcc_iq_a":-0.62527287,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.51974392,"mpcc_pred_id_a":0.0782001093,"mpcc_pred_iq_a":-2.93304825,"mpcc_state":1,"mpcc_theta_e":0.44997263,"mpcc_theta_mech":0.556940436,"sam_rpm":5.04137325,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0249061584,"thr_a_norm":0.0249061584,"thr_a_v":0.599624634,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480233461,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.18288,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.806133032,"cg_iw_a":-2.33541226,"cg_theta_rad":0.555220842,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0113203758,"mpcc_du":50.3842964,"mpcc_dv":48.4640198,"mpcc_dw":51.5359802,"mpcc_enc_sign":1,"mpcc_id_a":2.08000565,"mpcc_iq_a":-2.29528236,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.1686592,"mpcc_pred_id_a":0.00624632929,"mpcc_pred_iq_a":-1.70800662,"mpcc_state":1,"mpcc_theta_e":0.43337965,"mpcc_theta_mech":0.553621829,"sam_rpm":-17.5304775,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273357779,"thr_a_norm":0.0273357779,"thr_a_v":0.609343112,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483154029,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.206104,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.31354666,"cg_iw_a":-0.015806675,"cg_theta_rad":0.558430254,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.00157202932,"mpcc_du":50.662693,"mpcc_dv":48.293129,"mpcc_dw":51.706871,"mpcc_enc_sign":1,"mpcc_id_a":-0.786324978,"mpcc_iq_a":-2.76922393,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.6979537,"mpcc_pred_id_a":-0.476258755,"mpcc_pred_iq_a":-0.494426459,"mpcc_state":1,"mpcc_theta_e":0.436975956,"mpcc_theta_mech":0.554341078,"sam_rpm":-9.77328014,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281792134,"thr_a_norm":0.0281792134,"thr_a_v":0.612716854,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488592356,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.212574,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.02359605,"cg_iw_a":0.564094782,"cg_theta_rad":0.552566946,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0209048931,"mpcc_du":50.5937157,"mpcc_dv":48.148037,"mpcc_dw":51.851963,"mpcc_enc_sign":1,"mpcc_id_a":2.7430923,"mpcc_iq_a":-0.867170215,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.22985005,"mpcc_pred_id_a":0.201878548,"mpcc_pred_iq_a":1.79143178,"mpcc_state":1,"mpcc_theta_e":0.438913822,"mpcc_theta_mech":0.554728687,"sam_rpm":-3.5460434,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281792134,"thr_a_norm":0.0281792134,"thr_a_v":0.612716854,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488592356,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.219044,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.48038721,"cg_theta_rad":0.553388596,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.00865034573,"mpcc_du":50.6494217,"mpcc_dv":48.2026825,"mpcc_dw":51.7973175,"mpcc_enc_sign":1,"mpcc_id_a":1.59739661,"mpcc_iq_a":-0.749014258,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.25148225,"mpcc_pred_id_a":-0.0423644967,"mpcc_pred_iq_a":1.81951082,"mpcc_state":1,"mpcc_theta_e":0.440760136,"mpcc_theta_mech":0.555097938,"sam_rpm":-2.58616281,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291611254,"thr_a_norm":0.0291611254,"thr_a_v":0.616644502,"thr_b":0.00436140597,"thr_b_norm":0.00436140597,"thr_b_v":0.517445624,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.225544,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.951108456,"cg_iw_a":-1.82799816,"cg_theta_rad":0.557403862,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.00528233498,"mpcc_du":49.6252937,"mpcc_dv":49.973259,"mpcc_dw":50.3747063,"mpcc_enc_sign":1,"mpcc_id_a":0.256165385,"mpcc_iq_a":-2.46237469,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.2478085,"mpcc_pred_id_a":-0.332319289,"mpcc_pred_iq_a":-2.51363778,"mpcc_state":1,"mpcc_theta_e":0.463180542,"mpcc_theta_mech":0.559581995,"sam_rpm":27.5135765,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266433954,"thr_a_norm":0.0291611254,"thr_a_v":0.606573582,"thr_b":0,"thr_b_norm":0.00436140597,"thr_b_v":0.490405113,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.233418,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-1.24105906,"cg_iw_a":-0.885658503,"cg_theta_rad":0.556152225,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.000494668318,"mpcc_du":51.0637321,"mpcc_dv":47.7204666,"mpcc_dw":52.2795334,"mpcc_enc_sign":1,"mpcc_id_a":0.437307566,"mpcc_iq_a":-1.20375085,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.6441212,"mpcc_pred_id_a":-0.288590401,"mpcc_pred_iq_a":1.0701555,"mpcc_state":1,"mpcc_theta_e":0.424663544,"mpcc_theta_mech":0.551878631,"sam_rpm":-24.7304802,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266433954,"thr_a_norm":0.0266433954,"thr_a_v":0.606573582,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490405113,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.243763,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.878620625,"cg_iw_a":-1.97297382,"cg_theta_rad":0.552931845,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0326896533,"mpcc_du":49.6978951,"mpcc_dv":49.3100014,"mpcc_dw":50.6899986,"mpcc_enc_sign":1,"mpcc_id_a":2.02597284,"mpcc_iq_a":-1.5295366,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.89843178,"mpcc_pred_id_a":0.1934838,"mpcc_pred_iq_a":-4.59413767,"mpcc_state":1,"mpcc_theta_e":0.449153423,"mpcc_theta_mech":0.556776583,"sam_rpm":4.7385726,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0251579285,"thr_a_norm":0.0251579285,"thr_a_v":0.600631714,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48526895,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.256214,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.24105906,"cg_iw_a":-0.305757284,"cg_theta_rad":0.555872679,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0451272801,"mpcc_du":50.0642509,"mpcc_dv":48.9962769,"mpcc_dw":51.0037231,"mpcc_enc_sign":1,"mpcc_id_a":0.417504698,"mpcc_iq_a":-0.191957727,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.16114736,"mpcc_pred_id_a":-0.245686561,"mpcc_pred_iq_a":-4.17744446,"mpcc_state":1,"mpcc_theta_e":0.439795017,"mpcc_theta_mech":0.554904878,"sam_rpm":-3.39574552,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237228274,"thr_a_norm":0.0251579285,"thr_a_v":0.59489131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477413595,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.268024,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.53100967,"cg_iw_a":-1.46555996,"cg_theta_rad":0.552028716,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0314417332,"mpcc_du":49.5537872,"mpcc_dv":49.6087112,"mpcc_dw":50.4462128,"mpcc_enc_sign":1,"mpcc_id_a":0.922525406,"mpcc_iq_a":-0.813073933,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.89183521,"mpcc_pred_id_a":0.0135051301,"mpcc_pred_iq_a":-3.66087914,"mpcc_state":1,"mpcc_theta_e":0.450101852,"mpcc_theta_mech":0.556966305,"sam_rpm":15.0657234,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237228274,"thr_a_norm":0.0237228274,"thr_a_v":0.59489131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477413595,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.277973,"values":{"cg_iu_a":-0.410350561,"cg_iv_a":1.07854605,"cg_iw_a":-2.69785023,"cg_theta_rad":0.552996516,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0189401601,"mpcc_du":49.5264778,"mpcc_dv":50.4735222,"mpcc_dw":50.3262596,"mpcc_enc_sign":1,"mpcc_id_a":1.56053007,"mpcc_iq_a":-1.84444046,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.68373966,"mpcc_pred_id_a":-0.0256595351,"mpcc_pred_iq_a":-2.21945333,"mpcc_state":1,"mpcc_theta_e":0.441689491,"mpcc_theta_mech":0.555283785,"sam_rpm":6.86684084,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253341794,"thr_a_norm":0.0253341794,"thr_a_v":0.601336718,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490908653,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.288197,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.96593571,"cg_iw_a":-1.10312176,"cg_theta_rad":0.557309687,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0229842253,"mpcc_du":49.4671211,"mpcc_dv":50.5328789,"mpcc_dw":50.4098549,"mpcc_enc_sign":1,"mpcc_id_a":1.5634104,"mpcc_iq_a":0.17418845,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.9941578,"mpcc_pred_id_a":0.382449836,"mpcc_pred_iq_a":-2.28837347,"mpcc_state":1,"mpcc_theta_e":0.453157425,"mpcc_theta_mech":0.557577372,"sam_rpm":25.7957287,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0253341794,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462911427,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.313435,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.18339872,"cg_iw_a":1.36145878,"cg_theta_rad":0.553527892,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0280415211,"mpcc_du":49.3329697,"mpcc_dv":50.6670303,"mpcc_dw":50.2504768,"mpcc_enc_sign":1,"mpcc_id_a":3.26217246,"mpcc_iq_a":-0.629006684,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.79520798,"mpcc_pred_id_a":0.424883127,"mpcc_pred_iq_a":-3.04333401,"mpcc_state":1,"mpcc_theta_e":0.446430683,"mpcc_theta_mech":0.556232095,"sam_rpm":8.52797031,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0236472934,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462911427,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.319935,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.38603449,"cg_iw_a":0.636582375,"cg_theta_rad":0.554002762,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.000537912245,"mpcc_du":50.1142006,"mpcc_dv":48.9793282,"mpcc_dw":51.0206718,"mpcc_enc_sign":1,"mpcc_id_a":0.43351686,"mpcc_iq_a":-1.35395038,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.327166438,"mpcc_pred_id_a":-0.404231042,"mpcc_pred_iq_a":-0.376063079,"mpcc_state":1,"mpcc_theta_e":0.438068867,"mpcc_theta_mech":0.554559708,"sam_rpm":-0.832519948,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101923779,"thr_a_norm":0.101923779,"thr_a_v":0.907695115,"thr_b":0.0447081774,"thr_b_norm":0.0447081774,"thr_b_v":0.67883271,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.326527,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.74847269,"cg_iw_a":0.0566811562,"cg_theta_rad":0.556432843,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0138767976,"mpcc_du":49.9151993,"mpcc_dv":49.1611404,"mpcc_dw":50.8388596,"mpcc_enc_sign":1,"mpcc_id_a":0.950875342,"mpcc_iq_a":-0.588978589,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.95187902,"mpcc_pred_id_a":-0.19500792,"mpcc_pred_iq_a":-1.51723194,"mpcc_state":1,"mpcc_theta_e":0.445735455,"mpcc_theta_mech":0.556092978,"sam_rpm":7.47983694,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101923779,"thr_a_norm":0.101923779,"thr_a_v":0.907695115,"thr_b":0.0447081774,"thr_b_norm":0.0447081774,"thr_b_v":0.67883271,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.332966,"values":{"cg_iu_a":2.27169323,"cg_iv_a":0.208694458,"cg_iw_a":-1.0306344,"cg_theta_rad":0.556732535,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0059308745,"mpcc_du":49.6736526,"mpcc_dv":49.6023102,"mpcc_dw":50.3976898,"mpcc_enc_sign":1,"mpcc_id_a":0.489001274,"mpcc_iq_a":-1.05936515,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.01947546,"mpcc_pred_id_a":-0.537308395,"mpcc_pred_iq_a":-4.68686581,"mpcc_state":1,"mpcc_theta_e":0.441036701,"mpcc_theta_mech":0.555153251,"sam_rpm":-3.2700665,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254474729,"thr_a_norm":0.0254474729,"thr_a_v":0.601789892,"thr_b":0.000119015574,"thr_b_norm":0.000119015574,"thr_b_v":0.500476062,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.340778,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.02359605,"cg_iw_a":-1.4655602,"cg_theta_rad":0.555914938,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0286050122,"mpcc_du":49.9877777,"mpcc_dv":48.9776917,"mpcc_dw":51.0223083,"mpcc_enc_sign":1,"mpcc_id_a":1.66284084,"mpcc_iq_a":-0.61403805,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.19498396,"mpcc_pred_id_a":0.180073619,"mpcc_pred_iq_a":-1.46278059,"mpcc_state":1,"mpcc_theta_e":0.450621605,"mpcc_theta_mech":0.557070196,"sam_rpm":9.50372887,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274742395,"thr_a_norm":0.0254474729,"thr_a_v":0.609896958,"thr_b":0,"thr_b_norm":0.000119015574,"thr_b_v":0.486930639,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.350727,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.96593571,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556733847,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.019564813,"mpcc_du":49.4565506,"mpcc_dv":49.746479,"mpcc_dw":50.5434494,"mpcc_enc_sign":1,"mpcc_id_a":2.63369131,"mpcc_iq_a":-1.93189609,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.7644129,"mpcc_pred_id_a":0.651500881,"mpcc_pred_iq_a":-1.95703042,"mpcc_state":1,"mpcc_theta_e":0.453783989,"mpcc_theta_mech":0.55770272,"sam_rpm":19.5267735,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274742395,"thr_a_norm":0.0274742395,"thr_a_v":0.609896958,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486930639,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.360798,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.516182423,"cg_iw_a":-2.33541203,"cg_theta_rad":0.554170668,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0293571111,"mpcc_du":49.9138489,"mpcc_dv":49.1291885,"mpcc_dw":50.8708115,"mpcc_enc_sign":1,"mpcc_id_a":0.27897495,"mpcc_iq_a":-1.65929508,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.315378278,"mpcc_pred_id_a":0.109887205,"mpcc_pred_iq_a":-2.82711649,"mpcc_state":1,"mpcc_theta_e":0.445619106,"mpcc_theta_mech":0.556069732,"sam_rpm":8.04261017,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266182125,"thr_a_norm":0.0266182125,"thr_a_v":0.60647285,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.371143,"values":{"cg_iu_a":2.63413143,"cg_iv_a":0.136206627,"cg_iw_a":-0.595707893,"cg_theta_rad":0.554903269,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0206755642,"mpcc_du":50.126133,"mpcc_dv":48.7085838,"mpcc_dw":51.2914162,"mpcc_enc_sign":1,"mpcc_id_a":2.82768011,"mpcc_iq_a":-0.856182396,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.35925722,"mpcc_pred_id_a":0.314388037,"mpcc_pred_iq_a":-1.05538619,"mpcc_state":1,"mpcc_theta_e":0.437531471,"mpcc_theta_mech":0.554452181,"sam_rpm":-9.3512125,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266182125,"thr_a_norm":0.0266182125,"thr_a_v":0.60647285,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.383198,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.38603449,"cg_iw_a":0.78155756,"cg_theta_rad":0.556450367,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0404900052,"mpcc_du":49.5469513,"mpcc_dv":49.6781425,"mpcc_dw":50.4530487,"mpcc_enc_sign":1,"mpcc_id_a":1.00400126,"mpcc_iq_a":-1.51768029,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.17027771,"mpcc_pred_id_a":0.00472716335,"mpcc_pred_iq_a":0.640222788,"mpcc_state":1,"mpcc_theta_e":0.431601524,"mpcc_theta_mech":0.553266227,"sam_rpm":-0.773857296,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447956055,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.393391,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-2.47334933,"cg_iw_a":0.201656103,"cg_theta_rad":0.553431988,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.00885848142,"mpcc_du":49.5235481,"mpcc_dv":49.738018,"mpcc_dw":50.4764519,"mpcc_enc_sign":1,"mpcc_id_a":1.83940768,"mpcc_iq_a":-1.91121221,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.5625734,"mpcc_pred_id_a":0.193789095,"mpcc_pred_iq_a":-1.4070152,"mpcc_state":1,"mpcc_theta_e":0.451693058,"mpcc_theta_mech":0.557284534,"sam_rpm":14.0700092,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00967383385,"thr_a_norm":0.00967383385,"thr_a_v":0.538695335,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441661686,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.416584,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.61832476,"cg_iw_a":-0.015806675,"cg_theta_rad":0.553285301,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.00302384421,"mpcc_du":49.1320305,"mpcc_dv":50.8679695,"mpcc_dw":51.9042473,"mpcc_enc_sign":1,"mpcc_id_a":-0.404688179,"mpcc_iq_a":-1.56569266,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.42359209,"mpcc_pred_id_a":-0.964654863,"mpcc_pred_iq_a":-7.25957155,"mpcc_state":1,"mpcc_theta_e":0.448678493,"mpcc_theta_mech":0.553763926,"sam_rpm":9.18997669,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00967383385,"thr_a_norm":0.00967383385,"thr_a_v":0.538695335,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441661686,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.423115,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.16857147,"cg_iw_a":-1.46555996,"cg_theta_rad":0.554601371,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0143948402,"mpcc_du":50.443428,"mpcc_dv":48.4648933,"mpcc_dw":51.5351067,"mpcc_enc_sign":1,"mpcc_id_a":1.18852091,"mpcc_iq_a":-0.932981551,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.914025426,"mpcc_pred_id_a":-0.129076824,"mpcc_pred_iq_a":0.0235841088,"mpcc_state":1,"mpcc_theta_e":0.444842815,"mpcc_theta_mech":0.555914462,"sam_rpm":1.88381958,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166353881,"thr_a_norm":0.0166353881,"thr_a_v":0.566541553,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475600839,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.429676,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-3.3432014,"cg_iw_a":0.129168749,"cg_theta_rad":0.556063592,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.00886420347,"mpcc_du":50.1635361,"mpcc_dv":48.8644257,"mpcc_dw":51.1355743,"mpcc_enc_sign":1,"mpcc_id_a":0.463694662,"mpcc_iq_a":-1.28009486,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.84452462,"mpcc_pred_id_a":-0.332606077,"mpcc_pred_iq_a":-2.32367992,"mpcc_state":1,"mpcc_theta_e":0.442234039,"mpcc_theta_mech":0.555392742,"sam_rpm":-2.31621218,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166353881,"thr_a_norm":0.0166353881,"thr_a_v":0.566541553,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475600839,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.436237,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.45852208,"cg_iw_a":0.129168749,"cg_theta_rad":0.556093514,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0175497737,"mpcc_du":50.4926262,"mpcc_dv":48.3822937,"mpcc_dw":51.6177063,"mpcc_enc_sign":1,"mpcc_id_a":0.64994359,"mpcc_iq_a":-0.543380022,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.31507587,"mpcc_pred_id_a":-0.113430738,"mpcc_pred_iq_a":0.998960137,"mpcc_state":1,"mpcc_theta_e":0.451693058,"mpcc_theta_mech":0.557284534,"sam_rpm":7.95293188,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193167776,"thr_a_norm":0.0193167776,"thr_a_v":0.57726711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460192263,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.446583,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.02359605,"cg_iw_a":-2.1904366,"cg_theta_rad":0.556391776,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0143252155,"mpcc_du":49.8722305,"mpcc_dv":48.9975433,"mpcc_dw":51.0024567,"mpcc_enc_sign":1,"mpcc_id_a":2.29443026,"mpcc_iq_a":-0.969118655,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.17145121,"mpcc_pred_id_a":0.167942017,"mpcc_pred_iq_a":0.586123645,"mpcc_state":1,"mpcc_theta_e":0.434892654,"mpcc_theta_mech":0.553924441,"sam_rpm":1.31266379,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194678307,"thr_a_norm":0.0193167776,"thr_a_v":0.577871323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478722841,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.456562,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.298719406,"cg_iw_a":-0.378245354,"cg_theta_rad":0.551965356,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0131201139,"mpcc_du":49.571907,"mpcc_dv":49.4679489,"mpcc_dw":50.5320511,"mpcc_enc_sign":1,"mpcc_id_a":0.759502232,"mpcc_iq_a":-0.821753502,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.6261673,"mpcc_pred_id_a":0.00379581051,"mpcc_pred_iq_a":-2.60282373,"mpcc_state":1,"mpcc_theta_e":0.445332527,"mpcc_theta_mech":0.556012392,"sam_rpm":11.1657429,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194678307,"thr_a_norm":0.0194678307,"thr_a_v":0.577871323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478722841,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.466785,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.45852208,"cg_iw_a":-1.53804755,"cg_theta_rad":0.556791484,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0200491082,"mpcc_du":50.4159927,"mpcc_dv":48.3052177,"mpcc_dw":51.6947823,"mpcc_enc_sign":1,"mpcc_id_a":2.53513312,"mpcc_iq_a":-1.66154587,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.7413301,"mpcc_pred_id_a":0.191396609,"mpcc_pred_iq_a":-0.183804527,"mpcc_state":1,"mpcc_theta_e":0.429055691,"mpcc_theta_mech":0.552757084,"sam_rpm":-20.6290245,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204245895,"thr_a_norm":0.0204245895,"thr_a_v":0.581698358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448308527,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.476551,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.588670254,"cg_iw_a":-2.26292419,"cg_theta_rad":0.555038631,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0681693479,"mpcc_du":50.576355,"mpcc_dv":48.0999756,"mpcc_dw":51.9000244,"mpcc_enc_sign":1,"mpcc_id_a":2.70548368,"mpcc_iq_a":0.0593725555,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.46026301,"mpcc_pred_id_a":0.387419641,"mpcc_pred_iq_a":-0.457530499,"mpcc_state":1,"mpcc_theta_e":0.444813251,"mpcc_theta_mech":0.555908561,"sam_rpm":-0.752578199,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204245895,"thr_a_norm":0.0204245895,"thr_a_v":0.581698358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448308527,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.487782,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.733645439,"cg_iw_a":-2.11794901,"cg_theta_rad":0.552882552,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.011349313,"mpcc_du":50.4687195,"mpcc_dv":48.293354,"mpcc_dw":51.706646,"mpcc_enc_sign":1,"mpcc_id_a":2.12330413,"mpcc_iq_a":-3.23750973,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.2150116,"mpcc_pred_id_a":0.0381737351,"mpcc_pred_iq_a":-2.70054531,"mpcc_state":1,"mpcc_theta_e":0.433355808,"mpcc_theta_mech":0.55361712,"sam_rpm":-19.7511234,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0229675025,"thr_a_norm":0.0229675025,"thr_a_v":0.59187001,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49282214,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.497181,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.24105906,"cg_iw_a":2.08633542,"cg_theta_rad":0.554122508,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0187709443,"mpcc_du":50.0071487,"mpcc_dv":49.1048622,"mpcc_dw":50.8951378,"mpcc_enc_sign":1,"mpcc_id_a":1.50618243,"mpcc_iq_a":-1.42269218,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.67696118,"mpcc_pred_id_a":-0.365957707,"mpcc_pred_iq_a":-2.79058075,"mpcc_state":1,"mpcc_theta_e":0.454893589,"mpcc_theta_mech":0.557924628,"sam_rpm":5.06733036,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0152758062,"thr_a_norm":0.0229675025,"thr_a_v":0.561103225,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457624167,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.520222,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.371207237,"cg_iw_a":-0.450732708,"cg_theta_rad":0.55538702,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.00304517383,"mpcc_du":51.4452744,"mpcc_dv":47.1182404,"mpcc_dw":52.8817596,"mpcc_enc_sign":1,"mpcc_id_a":0.697370112,"mpcc_iq_a":-0.451685429,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.9306335,"mpcc_pred_id_a":-0.0181325991,"mpcc_pred_iq_a":3.40137672,"mpcc_state":1,"mpcc_theta_e":0.428010464,"mpcc_theta_mech":0.552548051,"sam_rpm":-23.8918877,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0152758062,"thr_a_norm":0.0152758062,"thr_a_v":0.561103225,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457624167,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.526722,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.0087685585,"cg_iw_a":-1.75551033,"cg_theta_rad":0.554841816,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0305004213,"mpcc_du":49.7566681,"mpcc_dv":49.2786903,"mpcc_dw":50.7213097,"mpcc_enc_sign":1,"mpcc_id_a":1.7014122,"mpcc_iq_a":-0.531967044,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.62399578,"mpcc_pred_id_a":-0.0555481613,"mpcc_pred_iq_a":-3.08900309,"mpcc_state":1,"mpcc_theta_e":0.446666718,"mpcc_theta_mech":0.556279242,"sam_rpm":7.24133921,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215197951,"thr_a_norm":0.0215197951,"thr_a_v":0.58607918,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48929733,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.533253,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.951108456,"cg_iw_a":-1.24809694,"cg_theta_rad":0.556479752,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.00909631234,"mpcc_du":50.0635033,"mpcc_dv":48.9895439,"mpcc_dw":51.0104561,"mpcc_enc_sign":1,"mpcc_id_a":0.89814347,"mpcc_iq_a":-1.53873146,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.85068464,"mpcc_pred_id_a":-0.267145485,"mpcc_pred_iq_a":-1.93847632,"mpcc_state":1,"mpcc_theta_e":0.446294308,"mpcc_theta_mech":0.556204796,"sam_rpm":4.54478025,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215197951,"thr_a_norm":0.0215197951,"thr_a_v":0.58607918,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48929733,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.539814,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.6759851,"cg_iw_a":0.564094782,"cg_theta_rad":0.555251777,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0229715463,"mpcc_du":50.2776489,"mpcc_dv":48.6386871,"mpcc_dw":51.3613129,"mpcc_enc_sign":1,"mpcc_id_a":0.858530283,"mpcc_iq_a":0.0563089959,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.47079134,"mpcc_pred_id_a":-0.0351846181,"mpcc_pred_iq_a":0.613827348,"mpcc_state":1,"mpcc_theta_e":0.44791317,"mpcc_theta_mech":0.556528509,"sam_rpm":9.71934605,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209155381,"thr_a_norm":0.0209155381,"thr_a_v":0.583662152,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462911427,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.547413,"values":{"cg_iu_a":1.03940296,"cg_iv_a":0.0637187958,"cg_iw_a":-1.10312176,"cg_theta_rad":0.557045639,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0205866471,"mpcc_du":49.8155441,"mpcc_dv":49.2244949,"mpcc_dw":50.7755051,"mpcc_enc_sign":1,"mpcc_id_a":2.09082747,"mpcc_iq_a":-1.2291584,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.10764527,"mpcc_pred_id_a":-0.0444583967,"mpcc_pred_iq_a":-1.6038667,"mpcc_state":1,"mpcc_theta_e":0.446757793,"mpcc_theta_mech":0.556297481,"sam_rpm":14.7969418,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209155381,"thr_a_norm":0.0209155381,"thr_a_v":0.583662152,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462911427,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.557606,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.02359605,"cg_iw_a":0.636582375,"cg_theta_rad":0.557867825,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0642975271,"mpcc_du":50.3848343,"mpcc_dv":48.4978714,"mpcc_dw":51.5021286,"mpcc_enc_sign":1,"mpcc_id_a":1.20002294,"mpcc_iq_a":-0.571963191,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.60291636,"mpcc_pred_id_a":0.0424658582,"mpcc_pred_iq_a":-2.98907423,"mpcc_state":1,"mpcc_theta_e":0.447831631,"mpcc_theta_mech":0.556512237,"sam_rpm":0.384863555,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240752995,"thr_a_norm":0.0240752995,"thr_a_v":0.596301198,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472428501,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.567768,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.878620625,"cg_iw_a":0.0566809177,"cg_theta_rad":0.556363761,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0345662609,"mpcc_du":49.6616364,"mpcc_dv":49.1030807,"mpcc_dw":50.8969193,"mpcc_enc_sign":1,"mpcc_id_a":2.99569845,"mpcc_iq_a":-1.17694402,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.43699932,"mpcc_pred_id_a":0.603766382,"mpcc_pred_iq_a":-1.35125315,"mpcc_state":1,"mpcc_theta_e":0.427650452,"mpcc_theta_mech":0.552476048,"sam_rpm":-15.9516716,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0326985568,"thr_a_norm":0.0240752995,"thr_a_v":0.630794227,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494534194,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.577595,"values":{"cg_iu_a":4.37383556,"cg_iv_a":-1.24105906,"cg_iw_a":-3.1327765,"cg_theta_rad":0.553446472,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0160239171,"mpcc_du":50.0403824,"mpcc_dv":49.7952309,"mpcc_dw":50.5114365,"mpcc_enc_sign":1,"mpcc_id_a":2.27989459,"mpcc_iq_a":-1.1742481,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.1575718,"mpcc_pred_id_a":0.208561689,"mpcc_pred_iq_a":-2.47352958,"mpcc_state":1,"mpcc_theta_e":0.428220272,"mpcc_theta_mech":0.552589953,"sam_rpm":-25.610527,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0326985568,"thr_a_norm":0.0326985568,"thr_a_v":0.630794227,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494534194,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.589985,"values":{"cg_iu_a":0.387013912,"cg_iv_a":0.353669643,"cg_iw_a":-0.740683556,"cg_theta_rad":0.554443061,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.00144679099,"mpcc_du":50.0936661,"mpcc_dv":49.0963669,"mpcc_dw":50.9036331,"mpcc_enc_sign":1,"mpcc_id_a":-0.755363286,"mpcc_iq_a":-3.48465109,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.496315002,"mpcc_pred_id_a":-0.670383215,"mpcc_pred_iq_a":-3.50280929,"mpcc_state":1,"mpcc_theta_e":0.446078777,"mpcc_theta_mech":0.556161702,"sam_rpm":-0.704140723,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282925069,"thr_a_norm":0.0282925069,"thr_a_v":0.613170028,"thr_b":0.000811398029,"thr_b_norm":0.000811398029,"thr_b_v":0.503245592,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.600147,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.45852208,"cg_iw_a":-0.885658503,"cg_theta_rad":0.556362569,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.033827547,"mpcc_du":49.7045784,"mpcc_dv":49.2615776,"mpcc_dw":50.7384224,"mpcc_enc_sign":1,"mpcc_id_a":1.18746758,"mpcc_iq_a":-1.09122264,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.77441311,"mpcc_pred_id_a":0.289040387,"mpcc_pred_iq_a":-4.04322386,"mpcc_state":1,"mpcc_theta_e":0.456332207,"mpcc_theta_mech":0.558212399,"sam_rpm":9.07735252,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0143820047,"thr_a_norm":0.0282925069,"thr_a_v":0.557528019,"thr_b":0,"thr_b_norm":0.000811398029,"thr_b_v":0.432648182,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.623249,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.661157608,"cg_iw_a":-0.160782337,"cg_theta_rad":0.552977502,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.000754793291,"mpcc_du":49.199028,"mpcc_dv":50.800972,"mpcc_dw":49.7001038,"mpcc_enc_sign":1,"mpcc_id_a":0.248979896,"mpcc_iq_a":-1.22490728,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.10554194,"mpcc_pred_id_a":-0.749832809,"mpcc_pred_iq_a":-7.1488061,"mpcc_state":1,"mpcc_theta_e":0.442447662,"mpcc_theta_mech":0.555435419,"sam_rpm":1.33530164,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0143820047,"thr_a_norm":0.0143820047,"thr_a_v":0.557528019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.432648182,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.629841,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-3.05325079,"cg_iw_a":-0.233269691,"cg_theta_rad":0.55142796,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.00882992614,"mpcc_du":49.5883827,"mpcc_dv":49.4982643,"mpcc_dw":50.5017357,"mpcc_enc_sign":1,"mpcc_id_a":0.718728185,"mpcc_iq_a":-1.40778983,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.85318565,"mpcc_pred_id_a":-0.00751331262,"mpcc_pred_iq_a":-3.53712058,"mpcc_state":1,"mpcc_theta_e":0.447229385,"mpcc_theta_mech":0.556391776,"sam_rpm":7.35349321,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197070241,"thr_a_norm":0.0197070241,"thr_a_v":0.578828096,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.636372,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-2.54583716,"cg_iw_a":-1.17560959,"cg_theta_rad":0.553190112,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0123967957,"mpcc_du":49.4543304,"mpcc_dv":50.5456696,"mpcc_dw":50.2300529,"mpcc_enc_sign":1,"mpcc_id_a":1.83517301,"mpcc_iq_a":-0.0792261064,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.78698421,"mpcc_pred_id_a":-0.0281813387,"mpcc_pred_iq_a":-4.77089739,"mpcc_state":1,"mpcc_theta_e":0.443268776,"mpcc_theta_mech":0.555599689,"sam_rpm":4.62224102,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197070241,"thr_a_norm":0.0197070241,"thr_a_v":0.578828096,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.642872,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.45852208,"cg_iw_a":-1.24809718,"cg_theta_rad":0.554002821,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0118198618,"mpcc_du":49.8293228,"mpcc_dv":49.1772041,"mpcc_dw":50.8227959,"mpcc_enc_sign":1,"mpcc_id_a":0.243697494,"mpcc_iq_a":-1.37253952,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.4483109,"mpcc_pred_id_a":0.0922580287,"mpcc_pred_iq_a":-0.70542413,"mpcc_state":1,"mpcc_theta_e":0.454872608,"mpcc_theta_mech":0.557920396,"sam_rpm":20.0173225,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295765549,"thr_a_norm":0.0295765549,"thr_a_v":0.61830622,"thr_b":0.00470130146,"thr_b_norm":0.00470130146,"thr_b_v":0.518805206,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.65337,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.38603449,"cg_iw_a":-1.10312176,"cg_theta_rad":0.55293566,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.00180779782,"mpcc_du":50.6355934,"mpcc_dv":48.3238983,"mpcc_dw":51.6761017,"mpcc_enc_sign":1,"mpcc_id_a":-0.177884042,"mpcc_iq_a":-1.48076701,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.5382833,"mpcc_pred_id_a":-0.438532442,"mpcc_pred_iq_a":-1.98551524,"mpcc_state":1,"mpcc_theta_e":0.432749748,"mpcc_theta_mech":0.553495824,"sam_rpm":-20.571806,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176424831,"thr_a_norm":0.0295765549,"thr_a_v":0.570569932,"thr_b":0,"thr_b_norm":0.00470130146,"thr_b_v":0.442769498,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.663319,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.31354666,"cg_iw_a":-0.958146572,"cg_theta_rad":0.556110203,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0362270288,"mpcc_du":49.8800163,"mpcc_dv":48.7337151,"mpcc_dw":51.2662849,"mpcc_enc_sign":1,"mpcc_id_a":3.36696839,"mpcc_iq_a":-1.05829585,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.6372614,"mpcc_pred_id_a":0.835175395,"mpcc_pred_iq_a":-1.39024591,"mpcc_state":1,"mpcc_theta_e":0.424557209,"mpcc_theta_mech":0.551857352,"sam_rpm":-23.8151283,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176424831,"thr_a_norm":0.0176424831,"thr_a_v":0.570569932,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.442769498,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.673573,"values":{"cg_iu_a":4.30134773,"cg_iv_a":-1.96593571,"cg_iw_a":1.28897119,"cg_theta_rad":0.555952609,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0243268982,"mpcc_du":49.5013847,"mpcc_dv":50.4986153,"mpcc_dw":50.2489395,"mpcc_enc_sign":1,"mpcc_id_a":0.995624125,"mpcc_iq_a":-3.85741067,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.60872746,"mpcc_pred_id_a":-0.18796508,"mpcc_pred_iq_a":-3.03648973,"mpcc_state":1,"mpcc_theta_e":0.445828915,"mpcc_theta_mech":0.556111693,"sam_rpm":11.9515181,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0130224228,"thr_a_norm":0.0130224228,"thr_a_v":0.552089691,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.68346,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-3.05325079,"cg_iw_a":2.08633566,"cg_theta_rad":0.557259738,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0717067346,"mpcc_du":49.9995728,"mpcc_dv":51.5202103,"mpcc_dw":48.7582703,"mpcc_enc_sign":1,"mpcc_id_a":0.711965382,"mpcc_iq_a":-3.43347263,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.8430643,"mpcc_pred_id_a":-0.385969698,"mpcc_pred_iq_a":-0.652773142,"mpcc_state":1,"mpcc_theta_e":0.421444893,"mpcc_theta_mech":0.554724455,"sam_rpm":-20.508894,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0130224228,"thr_a_norm":0.0130224228,"thr_a_v":0.552089691,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.693592,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.25588632,"cg_iw_a":-0.595708132,"cg_theta_rad":0.554560304,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0271606073,"mpcc_du":49.7970619,"mpcc_dv":49.0281448,"mpcc_dw":50.9718552,"mpcc_enc_sign":1,"mpcc_id_a":0.426181495,"mpcc_iq_a":-1.71779859,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.06575966,"mpcc_pred_id_a":-0.280756742,"mpcc_pred_iq_a":-1.96711922,"mpcc_state":1,"mpcc_theta_e":0.436089516,"mpcc_theta_mech":0.554163814,"sam_rpm":-13.8189049,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0136518627,"thr_a_norm":0.0136518627,"thr_a_v":0.554607451,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.437985808,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.703541,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.02359605,"cg_iw_a":-2.11794925,"cg_theta_rad":0.557020962,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0257744491,"mpcc_du":49.9941673,"mpcc_dv":48.9395752,"mpcc_dw":51.0604248,"mpcc_enc_sign":1,"mpcc_id_a":1.13826478,"mpcc_iq_a":-0.867738724,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.72542763,"mpcc_pred_id_a":0.0552004352,"mpcc_pred_iq_a":-1.82991004,"mpcc_state":1,"mpcc_theta_e":0.448113441,"mpcc_theta_mech":0.556568623,"sam_rpm":8.3354311,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023735404,"thr_a_norm":0.0136518627,"thr_a_v":0.594941616,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473838389,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.726551,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.443694592,"cg_iw_a":-0.378245354,"cg_theta_rad":0.55336374,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.000447827158,"mpcc_du":49.5814362,"mpcc_dv":50.4185638,"mpcc_dw":50.2740211,"mpcc_enc_sign":1,"mpcc_id_a":0.369883209,"mpcc_iq_a":-0.632726431,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.24998021,"mpcc_pred_id_a":-0.333704621,"mpcc_pred_iq_a":-4.29107141,"mpcc_state":1,"mpcc_theta_e":0.440774918,"mpcc_theta_mech":0.555100858,"sam_rpm":1.09199488,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023735404,"thr_a_norm":0.023735404,"thr_a_v":0.594941616,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473838389,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.733173,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.588670254,"cg_iw_a":0.274144173,"cg_theta_rad":0.554198146,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.00844576862,"mpcc_du":49.3297424,"mpcc_dv":50.6702576,"mpcc_dw":50.0722694,"mpcc_enc_sign":1,"mpcc_id_a":0.661010087,"mpcc_iq_a":-0.687354922,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.0214806,"mpcc_pred_id_a":-0.0745439306,"mpcc_pred_iq_a":-4.99963856,"mpcc_state":1,"mpcc_theta_e":0.450746059,"mpcc_theta_mech":0.55709517,"sam_rpm":14.0691185,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214065015,"thr_a_norm":0.0214065015,"thr_a_v":0.585626006,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483254731,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.739735,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-2.25588632,"cg_iw_a":-0.160782099,"cg_theta_rad":0.551368237,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.00760545721,"mpcc_du":49.5809288,"mpcc_dv":49.3693123,"mpcc_dw":50.6306877,"mpcc_enc_sign":1,"mpcc_id_a":1.6511035,"mpcc_iq_a":-2.13946199,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.44901371,"mpcc_pred_id_a":0.452592164,"mpcc_pred_iq_a":-0.534223199,"mpcc_state":1,"mpcc_theta_e":0.449458122,"mpcc_theta_mech":0.556837559,"sam_rpm":13.3280067,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214065015,"thr_a_norm":0.0214065015,"thr_a_v":0.585626006,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483254731,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.746174,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.11794901,"cg_theta_rad":0.552492857,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0183423702,"mpcc_du":49.7762337,"mpcc_dv":48.9880066,"mpcc_dw":51.0119934,"mpcc_enc_sign":1,"mpcc_id_a":2.63336611,"mpcc_iq_a":-1.10171425,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.80598271,"mpcc_pred_id_a":0.716230392,"mpcc_pred_iq_a":-0.831892252,"mpcc_state":1,"mpcc_theta_e":0.441661835,"mpcc_theta_mech":0.556090891,"sam_rpm":2.35038686,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.102024496,"thr_a_norm":0.102024496,"thr_a_v":0.908097982,"thr_b":0.045753032,"thr_b_norm":0.045753032,"thr_b_v":0.683012128,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.756123,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.31354666,"cg_iw_a":-0.668195724,"cg_theta_rad":0.557070792,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0175052676,"mpcc_du":50.3842392,"mpcc_dv":48.6242447,"mpcc_dw":51.3757553,"mpcc_enc_sign":1,"mpcc_id_a":0.40706566,"mpcc_iq_a":-2.15357852,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.7711468,"mpcc_pred_id_a":-0.458891392,"mpcc_pred_iq_a":-1.26038861,"mpcc_state":1,"mpcc_theta_e":0.423912525,"mpcc_theta_mech":0.551728427,"sam_rpm":-26.9337215,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0147596598,"thr_a_norm":0.102024496,"thr_a_v":0.559038639,"thr_b":0,"thr_b_norm":0.045753032,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.766346,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.588670254,"cg_iw_a":-2.11794901,"cg_theta_rad":0.557309449,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0341025703,"mpcc_du":50.665123,"mpcc_dv":48.2864532,"mpcc_dw":51.7135468,"mpcc_enc_sign":1,"mpcc_id_a":0.228720069,"mpcc_iq_a":-1.59070551,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.06287122,"mpcc_pred_id_a":-0.236543447,"mpcc_pred_iq_a":-1.7823571,"mpcc_state":1,"mpcc_theta_e":0.447432518,"mpcc_theta_mech":0.556432426,"sam_rpm":-0.310204238,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0147596598,"thr_a_norm":0.0147596598,"thr_a_v":0.559038639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.776417,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.82096052,"cg_iw_a":-0.16078186,"cg_theta_rad":0.557329297,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0519595928,"mpcc_du":49.4591026,"mpcc_dv":49.3651848,"mpcc_dw":50.6348152,"mpcc_enc_sign":1,"mpcc_id_a":1.67837107,"mpcc_iq_a":-1.09262609,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.7553606,"mpcc_pred_id_a":0.679362297,"mpcc_pred_iq_a":-0.852721751,"mpcc_state":1,"mpcc_theta_e":0.432323456,"mpcc_theta_mech":0.55341059,"sam_rpm":-10.6621399,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022728309,"thr_a_norm":0.022728309,"thr_a_v":0.590913236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496649116,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.786427,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.516182423,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556285322,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.057347253,"mpcc_du":50.0507927,"mpcc_dv":48.8848381,"mpcc_dw":51.1151619,"mpcc_enc_sign":1,"mpcc_id_a":1.00644624,"mpcc_iq_a":-0.806372464,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.29034138,"mpcc_pred_id_a":0.0994980559,"mpcc_pred_iq_a":-3.41148043,"mpcc_state":1,"mpcc_theta_e":0.449550152,"mpcc_theta_mech":0.556855917,"sam_rpm":6.96315718,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022728309,"thr_a_norm":0.022728309,"thr_a_v":0.590913236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496649116,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.796558,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-2.76329994,"cg_iw_a":1.50643396,"cg_theta_rad":0.555626035,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0967249498,"mpcc_du":49.8910675,"mpcc_dv":48.7164574,"mpcc_dw":51.2835426,"mpcc_enc_sign":1,"mpcc_id_a":4.64402294,"mpcc_iq_a":-0.600279629,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.04160309,"mpcc_pred_id_a":0.995680034,"mpcc_pred_iq_a":-2.63113952,"mpcc_state":1,"mpcc_theta_e":0.447608471,"mpcc_theta_mech":0.556467593,"sam_rpm":4.27324629,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170885772,"thr_a_norm":0.0170885772,"thr_a_v":0.568354309,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451128393,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.806751,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.733645439,"cg_iw_a":-1.17560911,"cg_theta_rad":0.551783562,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0361540467,"mpcc_du":50.144001,"mpcc_dv":48.7861061,"mpcc_dw":51.2138939,"mpcc_enc_sign":1,"mpcc_id_a":1.29827869,"mpcc_iq_a":-0.197819114,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.28846812,"mpcc_pred_id_a":-0.0101795448,"mpcc_pred_iq_a":-2.87715983,"mpcc_state":1,"mpcc_theta_e":0.445333958,"mpcc_theta_mech":0.55601269,"sam_rpm":-3.48576355,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170004517,"thr_a_norm":0.0170885772,"thr_a_v":0.568001807,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440050364,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.829609,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.305757523,"cg_theta_rad":0.555516183,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0929639637,"mpcc_du":50.734951,"mpcc_dv":47.6719627,"mpcc_dw":52.3280373,"mpcc_enc_sign":1,"mpcc_id_a":4.68219137,"mpcc_iq_a":0.534232616,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.09609985,"mpcc_pred_id_a":0.982743502,"mpcc_pred_iq_a":1.10918045,"mpcc_state":1,"mpcc_theta_e":0.438898087,"mpcc_theta_mech":0.554725528,"sam_rpm":-8.67401981,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170004517,"thr_a_norm":0.0170004517,"thr_a_v":0.568001807,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440050364,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.836079,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.661157608,"cg_iw_a":-2.04546165,"cg_theta_rad":0.555476189,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.00240544346,"mpcc_du":49.9537964,"mpcc_dv":49.0581741,"mpcc_dw":50.9418259,"mpcc_enc_sign":1,"mpcc_id_a":0.782789409,"mpcc_iq_a":-1.61866212,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.2586627,"mpcc_pred_id_a":-0.029639421,"mpcc_pred_iq_a":-1.25259793,"mpcc_state":1,"mpcc_theta_e":0.443685532,"mpcc_theta_mech":0.555683017,"sam_rpm":3.61915207,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.842609,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.24105906,"cg_iw_a":-1.68302321,"cg_theta_rad":0.553446472,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0955816582,"mpcc_du":49.6267471,"mpcc_dv":48.9259644,"mpcc_dw":51.0740356,"mpcc_enc_sign":1,"mpcc_id_a":5.63740683,"mpcc_iq_a":0.143592089,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.75893927,"mpcc_pred_id_a":1.34009361,"mpcc_pred_iq_a":-1.0600853,"mpcc_state":1,"mpcc_theta_e":0.445136547,"mpcc_theta_mech":0.555973232,"sam_rpm":5.29010582,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.849415,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.09608364,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556039214,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0487056486,"mpcc_du":50.0165977,"mpcc_dv":48.8322639,"mpcc_dw":51.1677361,"mpcc_enc_sign":1,"mpcc_id_a":2.9586935,"mpcc_iq_a":-1.0971148,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.46784997,"mpcc_pred_id_a":0.415492117,"mpcc_pred_iq_a":-2.8201201,"mpcc_state":1,"mpcc_theta_e":0.449357986,"mpcc_theta_mech":0.556817532,"sam_rpm":3.08689594,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234332681,"thr_a_norm":0.0234332681,"thr_a_v":0.593733072,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477010757,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.859577,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.24105906,"cg_iw_a":0.709069967,"cg_theta_rad":0.555319905,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0301791504,"mpcc_du":50.350769,"mpcc_dv":48.6300011,"mpcc_dw":51.3699989,"mpcc_enc_sign":1,"mpcc_id_a":0.846145689,"mpcc_iq_a":-0.811888814,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.23277569,"mpcc_pred_id_a":-0.181769803,"mpcc_pred_iq_a":-3.62049103,"mpcc_state":1,"mpcc_theta_e":0.441401005,"mpcc_theta_mech":0.555226088,"sam_rpm":-10.2358036,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0144197792,"thr_a_norm":0.0234332681,"thr_a_v":0.557679117,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441510648,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.869556,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.443694592,"cg_iw_a":-2.62536287,"cg_theta_rad":0.556514859,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0316147059,"mpcc_du":50.0036583,"mpcc_dv":48.9497032,"mpcc_dw":51.0502968,"mpcc_enc_sign":1,"mpcc_id_a":1.66784501,"mpcc_iq_a":-0.600312829,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.46960521,"mpcc_pred_id_a":0.0598730445,"mpcc_pred_iq_a":-3.04694724,"mpcc_state":1,"mpcc_theta_e":0.442379951,"mpcc_theta_mech":0.555421889,"sam_rpm":-0.935194612,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0144197792,"thr_a_norm":0.0144197792,"thr_a_v":0.557679117,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441510648,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.87978,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.878620625,"cg_iw_a":-1.53804779,"cg_theta_rad":0.558260024,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.00807539001,"mpcc_du":49.2165947,"mpcc_dv":50.7834053,"mpcc_dw":50.0686111,"mpcc_enc_sign":1,"mpcc_id_a":1.72353268,"mpcc_iq_a":-2.14219356,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.4230862,"mpcc_pred_id_a":0.182976872,"mpcc_pred_iq_a":-3.88737845,"mpcc_state":1,"mpcc_theta_e":0.454623699,"mpcc_theta_mech":0.557870686,"sam_rpm":25.004097,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284183919,"thr_a_norm":0.0284183919,"thr_a_v":0.613673568,"thr_b":0.00228427351,"thr_b_norm":0.00228427351,"thr_b_v":0.509137094,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.889362,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.09608364,"cg_iw_a":-1.90048599,"cg_theta_rad":0.555852652,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.00413537538,"mpcc_du":49.9479828,"mpcc_dv":49.1797104,"mpcc_dw":50.8202896,"mpcc_enc_sign":1,"mpcc_id_a":0.254385054,"mpcc_iq_a":-1.58680332,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.4171181,"mpcc_pred_id_a":-0.392986804,"mpcc_pred_iq_a":-3.33506322,"mpcc_state":1,"mpcc_theta_e":0.431278706,"mpcc_theta_mech":0.553201675,"sam_rpm":-20.0060844,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284183919,"thr_a_norm":0.0284183919,"thr_a_v":0.613673568,"thr_b":0.00228427351,"thr_b_norm":0.00228427351,"thr_b_v":0.509137094,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.899555,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.516182423,"cg_iw_a":-1.10312176,"cg_theta_rad":0.552127242,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0394928604,"mpcc_du":49.0909309,"mpcc_dv":50.9090691,"mpcc_dw":49.5907059,"mpcc_enc_sign":1,"mpcc_id_a":-0.394135714,"mpcc_iq_a":-1.93554056,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.11754131,"mpcc_pred_id_a":-0.63329339,"mpcc_pred_iq_a":-3.21144176,"mpcc_state":1,"mpcc_theta_e":0.435663223,"mpcc_theta_mech":0.554078579,"sam_rpm":3.6336174,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182970911,"thr_a_norm":0.0182970911,"thr_a_v":0.573188365,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467745453,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.909992,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.588670254,"cg_iw_a":-0.0882940292,"cg_theta_rad":0.55323416,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0436983779,"mpcc_du":50.3124962,"mpcc_dv":48.6088905,"mpcc_dw":51.3911095,"mpcc_enc_sign":1,"mpcc_id_a":0.805375338,"mpcc_iq_a":-0.892118752,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.632545352,"mpcc_pred_id_a":0.0186734945,"mpcc_pred_iq_a":-2.72741246,"mpcc_state":1,"mpcc_theta_e":0.447033882,"mpcc_theta_mech":0.556352675,"sam_rpm":0.317966312,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022803843,"thr_a_norm":0.0182970911,"thr_a_v":0.591215372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49181506,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.932789,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.45852208,"cg_iw_a":0.636582136,"cg_theta_rad":0.553412318,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.00404888112,"mpcc_du":49.5870667,"mpcc_dv":49.6991882,"mpcc_dw":50.4129333,"mpcc_enc_sign":1,"mpcc_id_a":1.19937849,"mpcc_iq_a":-1.738217,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.06910706,"mpcc_pred_id_a":-0.108525217,"mpcc_pred_iq_a":-2.49344897,"mpcc_state":1,"mpcc_theta_e":0.450695992,"mpcc_theta_mech":0.557085097,"sam_rpm":10.487092,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022803843,"thr_a_norm":0.022803843,"thr_a_v":0.591215372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49181506,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.93932,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.60349751,"cg_iw_a":-1.39307213,"cg_theta_rad":0.55719018,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5007,"hz_app_loop":365,"hz_tim_isr":10014,"hz_vsense":365,"mpcc_cost":0.0448465832,"mpcc_du":49.5514793,"mpcc_dv":49.3171158,"mpcc_dw":50.6828842,"mpcc_enc_sign":1,"mpcc_id_a":2.87260437,"mpcc_iq_a":0.0624515899,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.87207174,"mpcc_pred_id_a":0.586832821,"mpcc_pred_iq_a":-2.26540613,"mpcc_state":1,"mpcc_theta_e":0.448328018,"mpcc_theta_mech":0.556611538,"sam_rpm":10.1885509,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199839771,"thr_a_norm":0.0199839771,"thr_a_v":0.579935908,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.94582,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-3.3432014,"cg_iw_a":2.4487741,"cg_theta_rad":0.556423008,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.00381993456,"mpcc_du":49.7306023,"mpcc_dv":49.4892807,"mpcc_dw":50.5107193,"mpcc_enc_sign":1,"mpcc_id_a":-0.194973916,"mpcc_iq_a":-1.47861385,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.442222,"mpcc_pred_id_a":-0.368524462,"mpcc_pred_iq_a":-3.53042936,"mpcc_state":1,"mpcc_theta_e":0.444299221,"mpcc_theta_mech":0.555805802,"sam_rpm":2.11327529,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199839771,"thr_a_norm":0.0199839771,"thr_a_v":0.579935908,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.952351,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.31354666,"cg_iw_a":-0.160782337,"cg_theta_rad":0.553829491,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.00227479637,"mpcc_du":49.6985359,"mpcc_dv":49.5267448,"mpcc_dw":50.4732552,"mpcc_enc_sign":1,"mpcc_id_a":0.454360664,"mpcc_iq_a":-1.79150224,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.0616827,"mpcc_pred_id_a":-0.453984052,"mpcc_pred_iq_a":-2.57945609,"mpcc_state":1,"mpcc_theta_e":0.447183609,"mpcc_theta_mech":0.556382656,"sam_rpm":8.9362793,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0494666994,"thr_a_norm":0.0494666994,"thr_a_v":0.697866797,"thr_b":0.0153639168,"thr_b_norm":0.0153639168,"thr_b_v":0.561455667,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.963367,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.0384233,"cg_iw_a":-1.17560911,"cg_theta_rad":0.554256082,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0263360199,"mpcc_du":49.5155373,"mpcc_dv":49.4421806,"mpcc_dw":50.5578194,"mpcc_enc_sign":1,"mpcc_id_a":2.90881228,"mpcc_iq_a":-1.19369936,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.52926064,"mpcc_pred_id_a":0.392229557,"mpcc_pred_iq_a":-2.54979062,"mpcc_state":1,"mpcc_theta_e":0.430652142,"mpcc_theta_mech":0.553076386,"sam_rpm":-11.6024485,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214316845,"thr_a_norm":0.0494666994,"thr_a_v":0.585726738,"thr_b":0,"thr_b_norm":0.0153639168,"thr_b_v":0.463515669,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.974964,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.76329994,"cg_iw_a":1.43394661,"cg_theta_rad":0.556028008,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.00380781665,"mpcc_du":50.5711784,"mpcc_dv":48.3786736,"mpcc_dw":51.6213264,"mpcc_enc_sign":1,"mpcc_id_a":0.313503981,"mpcc_iq_a":-3.18290877,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.2875452,"mpcc_pred_id_a":-0.240637824,"mpcc_pred_iq_a":-1.76421618,"mpcc_state":1,"mpcc_theta_e":0.432709217,"mpcc_theta_mech":0.553487718,"sam_rpm":-20.6182232,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214316845,"thr_a_norm":0.0214316845,"thr_a_v":0.585726738,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463515669,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.985157,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.16857147,"cg_iw_a":0.0566811562,"cg_theta_rad":0.552988946,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0662339479,"mpcc_du":49.8836136,"mpcc_dv":48.9195671,"mpcc_dw":51.0804329,"mpcc_enc_sign":1,"mpcc_id_a":4.018466,"mpcc_iq_a":-1.23554075,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.22585881,"mpcc_pred_id_a":0.603805065,"mpcc_pred_iq_a":-3.37197804,"mpcc_state":1,"mpcc_theta_e":0.449150562,"mpcc_theta_mech":0.556776047,"sam_rpm":2.32330179,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204497576,"thr_a_norm":0.0204497576,"thr_a_v":0.58179903,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458429813,"vdc_v":55.2955055}} +{"type":"telemetry","t":32.995441,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.588670254,"cg_iw_a":0.129168987,"cg_theta_rad":0.553159714,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0452883765,"mpcc_du":49.7161331,"mpcc_dv":50.0129509,"mpcc_dw":50.27034,"mpcc_enc_sign":1,"mpcc_id_a":1.52306354,"mpcc_iq_a":-2.48421574,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.28721189,"mpcc_pred_id_a":-0.0467951447,"mpcc_pred_iq_a":-0.831495583,"mpcc_state":1,"mpcc_theta_e":0.42794466,"mpcc_theta_mech":0.553026915,"sam_rpm":-11.0712385,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227409005,"thr_a_norm":0.0204497576,"thr_a_v":0.590963602,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489599437,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.00536,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.82096052,"cg_iw_a":-1.10312176,"cg_theta_rad":0.554765284,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.112443268,"mpcc_du":50.0283623,"mpcc_dv":48.7484169,"mpcc_dw":51.2515831,"mpcc_enc_sign":1,"mpcc_id_a":2.35138083,"mpcc_iq_a":2.49679041,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.49592829,"mpcc_pred_id_a":0.718368232,"mpcc_pred_iq_a":-1.92569804,"mpcc_state":1,"mpcc_theta_e":0.447514534,"mpcc_theta_mech":0.556448817,"sam_rpm":2.22032523,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227409005,"thr_a_norm":0.0227409005,"thr_a_v":0.590963602,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489599437,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.02895,"values":{"cg_iu_a":1.98174238,"cg_iv_a":0.933570862,"cg_iw_a":-0.885658741,"cg_theta_rad":0.555534959,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0115033435,"mpcc_du":50.3551903,"mpcc_dv":48.8008385,"mpcc_dw":51.1991615,"mpcc_enc_sign":1,"mpcc_id_a":0.94617945,"mpcc_iq_a":-1.45555615,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.88379574,"mpcc_pred_id_a":-0.481921792,"mpcc_pred_iq_a":-3.21017098,"mpcc_state":1,"mpcc_theta_e":0.43813467,"mpcc_theta_mech":0.554572821,"sam_rpm":-9.94527817,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027411297,"thr_a_norm":0.027411297,"thr_a_v":0.609645188,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49282214,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.03548,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.6759851,"cg_iw_a":-1.10312152,"cg_theta_rad":0.552607298,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.00733726844,"mpcc_du":49.6439514,"mpcc_dv":50.3560486,"mpcc_dw":50.2418365,"mpcc_enc_sign":1,"mpcc_id_a":0.26238519,"mpcc_iq_a":-0.350766271,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.159889504,"mpcc_pred_id_a":-0.487336218,"mpcc_pred_iq_a":-5.40092802,"mpcc_state":1,"mpcc_theta_e":0.441048145,"mpcc_theta_mech":0.555155516,"sam_rpm":0.304147601,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027411297,"thr_a_norm":0.027411297,"thr_a_v":0.609645188,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49282214,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.042042,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.6759851,"cg_iw_a":1.07150817,"cg_theta_rad":0.552366495,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.00495181885,"mpcc_du":51.444622,"mpcc_dv":47.1252518,"mpcc_dw":52.8747482,"mpcc_enc_sign":1,"mpcc_id_a":1.33252263,"mpcc_iq_a":-0.454249352,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-22.8956337,"mpcc_pred_id_a":0.154694051,"mpcc_pred_iq_a":2.40805197,"mpcc_state":1,"mpcc_theta_e":0.420738697,"mpcc_theta_mech":0.551093698,"sam_rpm":-34.6436424,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451430529,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.048512,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":-2.83578777,"cg_iw_a":0.12916851,"cg_theta_rad":0.553361595,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0137754763,"mpcc_du":48.7205391,"mpcc_dv":51.2794609,"mpcc_dw":49.3624916,"mpcc_enc_sign":1,"mpcc_id_a":2.0840838,"mpcc_iq_a":-2.2915802,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.73335314,"mpcc_pred_id_a":0.436007738,"mpcc_pred_iq_a":3.31813884,"mpcc_state":1,"mpcc_theta_e":0.431601524,"mpcc_theta_mech":0.553266227,"sam_rpm":12.3967543,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0192160606,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444783688,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.056355,"values":{"cg_iu_a":-0.337862968,"cg_iv_a":-1.38603449,"cg_iw_a":0.201656342,"cg_theta_rad":0.554467976,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.00825686194,"mpcc_du":49.1407547,"mpcc_dv":50.8592453,"mpcc_dw":49.4626579,"mpcc_enc_sign":1,"mpcc_id_a":-1.77252829,"mpcc_iq_a":-1.23249006,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.01634789,"mpcc_pred_id_a":-0.923390508,"mpcc_pred_iq_a":-5.66909885,"mpcc_state":1,"mpcc_theta_e":0.448530674,"mpcc_theta_mech":0.556652009,"sam_rpm":11.5066738,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444783688,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.066639,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-2.18339872,"cg_iw_a":1.07150841,"cg_theta_rad":0.552804887,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.00840651058,"mpcc_du":49.6350441,"mpcc_dv":49.5081444,"mpcc_dw":50.3176804,"mpcc_enc_sign":1,"mpcc_id_a":1.65632689,"mpcc_iq_a":-0.454928637,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.28409314,"mpcc_pred_id_a":-0.0192757789,"mpcc_pred_iq_a":-1.74343705,"mpcc_state":1,"mpcc_theta_e":0.441844463,"mpcc_theta_mech":0.553783059,"sam_rpm":4.15410805,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0279777944,"thr_a_norm":0.0279777944,"thr_a_v":0.611911178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497152656,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.076374,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.733645439,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556352377,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0248631425,"mpcc_du":49.3561859,"mpcc_dv":50.6438141,"mpcc_dw":50.3567848,"mpcc_enc_sign":1,"mpcc_id_a":2.72432375,"mpcc_iq_a":-2.07459664,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.4196224,"mpcc_pred_id_a":0.716569722,"mpcc_pred_iq_a":-4.48119354,"mpcc_state":1,"mpcc_theta_e":0.455221176,"mpcc_theta_mech":0.557990193,"sam_rpm":21.9315701,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0279777944,"thr_a_norm":0.0279777944,"thr_a_v":0.611911178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497152656,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.086567,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-2.83578777,"cg_iw_a":-0.015806675,"cg_theta_rad":0.554743588,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0183078647,"mpcc_du":49.6583633,"mpcc_dv":49.2757835,"mpcc_dw":50.7242165,"mpcc_enc_sign":1,"mpcc_id_a":2.51539898,"mpcc_iq_a":-1.5272249,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.16565228,"mpcc_pred_id_a":0.360930175,"mpcc_pred_iq_a":-3.10046983,"mpcc_state":1,"mpcc_theta_e":0.433029175,"mpcc_theta_mech":0.553551733,"sam_rpm":-14.4005709,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259132534,"thr_a_norm":0.0259132534,"thr_a_v":0.603653014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491714358,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.096851,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-2.11091113,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.555346429,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0255106706,"mpcc_du":49.5126419,"mpcc_dv":50.4873581,"mpcc_dw":50.8158417,"mpcc_enc_sign":1,"mpcc_id_a":3.12968135,"mpcc_iq_a":-1.57776368,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.99968672,"mpcc_pred_id_a":0.483228147,"mpcc_pred_iq_a":-2.80456233,"mpcc_state":1,"mpcc_theta_e":0.444221497,"mpcc_theta_mech":0.555292606,"sam_rpm":9.86240292,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023105979,"thr_a_norm":0.0259132534,"thr_a_v":0.592423916,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493023574,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.10677,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.661157608,"cg_iw_a":-0.668195724,"cg_theta_rad":0.55441153,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0371284336,"mpcc_du":49.5453148,"mpcc_dv":49.574646,"mpcc_dw":50.4546852,"mpcc_enc_sign":1,"mpcc_id_a":2.46095967,"mpcc_iq_a":-1.12764049,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.00917482,"mpcc_pred_id_a":0.0277208947,"mpcc_pred_iq_a":-5.181005,"mpcc_state":1,"mpcc_theta_e":0.446623802,"mpcc_theta_mech":0.556270719,"sam_rpm":3.30853844,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023105979,"thr_a_norm":0.023105979,"thr_a_v":0.592423916,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493023574,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.12978,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.733645439,"cg_iw_a":-1.03063393,"cg_theta_rad":0.557165205,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.00467886031,"mpcc_du":50.9880066,"mpcc_dv":47.9490128,"mpcc_dw":52.0509872,"mpcc_enc_sign":1,"mpcc_id_a":-0.226204559,"mpcc_iq_a":-1.5548867,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.93532276,"mpcc_pred_id_a":-0.352410674,"mpcc_pred_iq_a":1.61987174,"mpcc_state":1,"mpcc_theta_e":0.441246033,"mpcc_theta_mech":0.555195153,"sam_rpm":-4.42686415,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.043336004,"thr_a_norm":0.043336004,"thr_a_v":0.673344016,"thr_b":0.00995078683,"thr_b_norm":0.00995078683,"thr_b_v":0.539803147,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.136341,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.588670254,"cg_iw_a":-1.10312128,"cg_theta_rad":0.552802563,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.00361820706,"mpcc_du":50.0593987,"mpcc_dv":48.9342499,"mpcc_dw":51.0657501,"mpcc_enc_sign":1,"mpcc_id_a":0.192891017,"mpcc_iq_a":-1.01093745,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.09703541,"mpcc_pred_id_a":0.0127069727,"mpcc_pred_iq_a":-1.81786752,"mpcc_state":1,"mpcc_theta_e":0.444005013,"mpcc_theta_mech":0.555746913,"sam_rpm":-4.4105978,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.043336004,"thr_a_norm":0.043336004,"thr_a_v":0.673344016,"thr_b":0.00995078683,"thr_b_norm":0.00995078683,"thr_b_v":0.539803147,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.142811,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.96593571,"cg_iw_a":0.78155756,"cg_theta_rad":0.554819167,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0289020091,"mpcc_du":49.9098969,"mpcc_dv":49.1052628,"mpcc_dw":50.8947372,"mpcc_enc_sign":1,"mpcc_id_a":2.13506365,"mpcc_iq_a":-1.30323899,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.1943965,"mpcc_pred_id_a":0.0914603174,"mpcc_pred_iq_a":-2.15011072,"mpcc_state":1,"mpcc_theta_e":0.44910717,"mpcc_theta_mech":0.556767344,"sam_rpm":10.1581659,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0407804996,"thr_a_norm":0.0407804996,"thr_a_v":0.663121998,"thr_b":0.0101899803,"thr_b_norm":0.0101899803,"thr_b_v":0.540759921,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.149342,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.31354666,"cg_iw_a":-0.740683556,"cg_theta_rad":0.554825544,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.00659173867,"mpcc_du":50.1257782,"mpcc_dv":48.8897018,"mpcc_dw":51.1102982,"mpcc_enc_sign":1,"mpcc_id_a":2.25230408,"mpcc_iq_a":-0.0469795763,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.54412222,"mpcc_pred_id_a":0.0314120166,"mpcc_pred_iq_a":-1.54877913,"mpcc_state":1,"mpcc_theta_e":0.443861961,"mpcc_theta_mech":0.555718303,"sam_rpm":-11.059145,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212806165,"thr_a_norm":0.0407804996,"thr_a_v":0.585122466,"thr_b":0,"thr_b_norm":0.0101899803,"thr_b_v":0.462861091,"vdc_v":55.2955055}} +{"type":"console","t":33.153319,"sequence":11,"text":"> var set SpdVar 100"} +{"type":"telemetry","t":33.159412,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.668195486,"cg_theta_rad":0.55596,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.00678252708,"mpcc_du":49.9531288,"mpcc_dv":48.8593254,"mpcc_dw":51.1406746,"mpcc_enc_sign":1,"mpcc_id_a":0.690344214,"mpcc_iq_a":-1.47963834,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.47148538,"mpcc_pred_id_a":-0.0855929479,"mpcc_pred_iq_a":-3.34662938,"mpcc_state":1,"mpcc_theta_e":0.441954613,"mpcc_theta_mech":0.555336833,"sam_rpm":-3.91295338,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212806165,"thr_a_norm":0.0212806165,"thr_a_v":0.585122466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462861091,"vdc_v":55.2955055}} +{"type":"command","t":33.163116,"source":"ui","text":"var set SpdVar 100","sent":true} +{"type":"console","t":33.16312,"sequence":12,"text":"(sent)"} +{"type":"telemetry","t":33.170765,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":-1.24105906,"cg_iw_a":-1.17560911,"cg_theta_rad":0.556452215,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0104570407,"mpcc_du":50.2050667,"mpcc_dv":48.750946,"mpcc_dw":51.249054,"mpcc_enc_sign":1,"mpcc_id_a":1.78735638,"mpcc_iq_a":-2.04363275,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.15378809,"mpcc_pred_id_a":0.00910556689,"mpcc_pred_iq_a":-2.81641984,"mpcc_state":1,"mpcc_theta_e":0.441453934,"mpcc_theta_mech":0.555236697,"sam_rpm":-9.06999588,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0223632455,"thr_a_norm":0.0223632455,"thr_a_v":0.589452982,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482952625,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.180927,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.16857147,"cg_iw_a":0.0566809177,"cg_theta_rad":0.554115653,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0134939896,"mpcc_du":50.7052956,"mpcc_dv":48.3701515,"mpcc_dw":51.6298485,"mpcc_enc_sign":1,"mpcc_id_a":-0.263425618,"mpcc_iq_a":-1.63033402,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.96677399,"mpcc_pred_id_a":-0.507017255,"mpcc_pred_iq_a":-1.90133202,"mpcc_state":1,"mpcc_theta_e":0.442150593,"mpcc_theta_mech":0.555375993,"sam_rpm":-8.65019417,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10995537,"thr_a_norm":0.0223632455,"thr_a_v":0.939821482,"thr_b":0.0455138534,"thr_b_norm":0,"thr_b_v":0.682055414,"vdc_v":55.2955055}} +{"type":"console","t":33.1885,"sequence":13,"text":"[SHELL] SpdVar = 100.0000"} +{"type":"telemetry","t":33.190784,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.60349751,"cg_iw_a":0.491607189,"cg_theta_rad":0.556238174,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0086885998,"mpcc_du":49.6609268,"mpcc_dv":49.8609352,"mpcc_dw":50.3390732,"mpcc_enc_sign":1,"mpcc_id_a":-0.366742343,"mpcc_iq_a":-1.34916461,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.06456327,"mpcc_pred_id_a":-0.260762215,"mpcc_pred_iq_a":-2.72180223,"mpcc_state":1,"mpcc_theta_e":0.439409256,"mpcc_theta_mech":0.55482775,"sam_rpm":11.7844496,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10995537,"thr_a_norm":0.10995537,"thr_a_v":0.939821482,"thr_b":0.0455138534,"thr_b_norm":0.0455138534,"thr_b_v":0.682055414,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.203419,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.878620625,"cg_iw_a":1.07150817,"cg_theta_rad":0.552430451,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0204895381,"mpcc_du":50.9646263,"mpcc_dv":48.0915833,"mpcc_dw":51.9084167,"mpcc_enc_sign":1,"mpcc_id_a":-1.08002448,"mpcc_iq_a":-3.31980538,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.1718788,"mpcc_pred_id_a":-0.694212794,"mpcc_pred_iq_a":-1.06389284,"mpcc_state":1,"mpcc_theta_e":0.425614834,"mpcc_theta_mech":0.552068889,"sam_rpm":-33.1017227,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160185397,"thr_a_norm":0.0160185397,"thr_a_v":0.564074159,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462710023,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.213123,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.6759851,"cg_iw_a":-0.958146334,"cg_theta_rad":0.556537807,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0522466265,"mpcc_du":50.1559677,"mpcc_dv":48.759964,"mpcc_dw":51.240036,"mpcc_enc_sign":1,"mpcc_id_a":1.5010916,"mpcc_iq_a":-0.111005083,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.20876741,"mpcc_pred_id_a":0.300666124,"mpcc_pred_iq_a":-1.96274507,"mpcc_state":1,"mpcc_theta_e":0.446541309,"mpcc_theta_mech":0.557363927,"sam_rpm":5.19899559,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022300303,"thr_a_norm":0.0160185397,"thr_a_v":0.589201212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482348382,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.236195,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.16857147,"cg_iw_a":0.854045391,"cg_theta_rad":0.554163814,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0118725896,"mpcc_du":49.3793678,"mpcc_dv":50.6206322,"mpcc_dw":50.1574326,"mpcc_enc_sign":1,"mpcc_id_a":2.08610535,"mpcc_iq_a":-1.58170116,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.13736749,"mpcc_pred_id_a":0.170530081,"mpcc_pred_iq_a":-0.207116961,"mpcc_state":1,"mpcc_theta_e":0.440974236,"mpcc_theta_mech":0.555140793,"sam_rpm":13.9201708,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022300303,"thr_a_norm":0.022300303,"thr_a_v":0.589201212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482348382,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.242695,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.09608364,"cg_iw_a":0.78155756,"cg_theta_rad":0.553495884,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0176839493,"mpcc_du":50.6524086,"mpcc_dv":48.1681595,"mpcc_dw":51.8318405,"mpcc_enc_sign":1,"mpcc_id_a":2.5070672,"mpcc_iq_a":-0.508509636,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.751977,"mpcc_pred_id_a":0.213569552,"mpcc_pred_iq_a":0.417570055,"mpcc_state":1,"mpcc_theta_e":0.432838917,"mpcc_theta_mech":0.553513706,"sam_rpm":-15.628356,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253467709,"thr_a_norm":0.0253467709,"thr_a_v":0.601387084,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489347667,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.249226,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.89344811,"cg_iw_a":0.491606951,"cg_theta_rad":0.553887963,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0104215145,"mpcc_du":49.5536613,"mpcc_dv":49.9463692,"mpcc_dw":50.4463387,"mpcc_enc_sign":1,"mpcc_id_a":1.55757058,"mpcc_iq_a":-0.832464933,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.37380791,"mpcc_pred_id_a":0.165248066,"mpcc_pred_iq_a":-3.56374454,"mpcc_state":1,"mpcc_theta_e":0.445728302,"mpcc_theta_mech":0.556091547,"sam_rpm":21.0544014,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253467709,"thr_a_norm":0.0253467709,"thr_a_v":0.601387084,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489347667,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.255726,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.38603449,"cg_iw_a":0.491607189,"cg_theta_rad":0.554921746,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0206591245,"mpcc_du":49.685421,"mpcc_dv":49.2248459,"mpcc_dw":50.7751541,"mpcc_enc_sign":1,"mpcc_id_a":2.36987281,"mpcc_iq_a":-0.476398438,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.63859892,"mpcc_pred_id_a":0.468883157,"mpcc_pred_iq_a":-1.44158578,"mpcc_state":1,"mpcc_theta_e":0.444934368,"mpcc_theta_mech":0.55593282,"sam_rpm":6.3523612,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213561505,"thr_a_norm":0.0213561505,"thr_a_v":0.585424602,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472730607,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.263935,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.38603449,"cg_iw_a":-0.740683079,"cg_theta_rad":0.555775046,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.00506633986,"mpcc_du":50.5651894,"mpcc_dv":48.2714272,"mpcc_dw":51.7285728,"mpcc_enc_sign":1,"mpcc_id_a":0.336846203,"mpcc_iq_a":-0.194273725,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.6355267,"mpcc_pred_id_a":-0.0667456612,"mpcc_pred_iq_a":-1.74723494,"mpcc_state":1,"mpcc_theta_e":0.425814152,"mpcc_theta_mech":0.552108765,"sam_rpm":-26.1698437,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02542229,"thr_a_norm":0.0213561505,"thr_a_v":0.60168916,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488995194,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.273548,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.02359605,"cg_iw_a":-1.24809718,"cg_theta_rad":0.557772338,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.00980895199,"mpcc_du":50.4247589,"mpcc_dv":48.3862381,"mpcc_dw":51.6137619,"mpcc_enc_sign":1,"mpcc_id_a":1.94006193,"mpcc_iq_a":0.180815578,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.1127653,"mpcc_pred_id_a":0.142297909,"mpcc_pred_iq_a":-0.359317213,"mpcc_state":1,"mpcc_theta_e":0.426166058,"mpcc_theta_mech":0.552179158,"sam_rpm":-22.5788708,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02542229,"thr_a_norm":0.02542229,"thr_a_v":0.60168916,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488995194,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.285938,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-2.69081235,"cg_iw_a":0.709069967,"cg_theta_rad":0.555625737,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0455940291,"mpcc_du":50.0141678,"mpcc_dv":48.9279709,"mpcc_dw":51.0720291,"mpcc_enc_sign":1,"mpcc_id_a":-0.23884514,"mpcc_iq_a":-2.20598269,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.59230828,"mpcc_pred_id_a":0.331089646,"mpcc_pred_iq_a":-4.2954855,"mpcc_state":1,"mpcc_theta_e":0.452389717,"mpcc_theta_mech":0.55742383,"sam_rpm":4.02502441,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021872282,"thr_a_norm":0.021872282,"thr_a_v":0.587489128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482851923,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.296162,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.16857147,"cg_iw_a":-1.46555996,"cg_theta_rad":0.553972781,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0137753077,"mpcc_du":49.6496315,"mpcc_dv":50.2890015,"mpcc_dw":50.3503685,"mpcc_enc_sign":1,"mpcc_id_a":-0.367897004,"mpcc_iq_a":-1.34885013,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.0191803,"mpcc_pred_id_a":-0.325644463,"mpcc_pred_iq_a":-0.644524992,"mpcc_state":1,"mpcc_theta_e":0.440265179,"mpcc_theta_mech":0.554998934,"sam_rpm":9.06546974,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0126573592,"thr_a_norm":0.021872282,"thr_a_v":0.550629437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454401463,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.308155,"values":{"cg_iu_a":1.69179153,"cg_iv_a":0.0637187958,"cg_iw_a":-2.55287504,"cg_theta_rad":0.553824425,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0170788988,"mpcc_du":50.9923096,"mpcc_dv":47.9104538,"mpcc_dw":52.0895462,"mpcc_enc_sign":1,"mpcc_id_a":0.743590474,"mpcc_iq_a":-1.54577899,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.0646067,"mpcc_pred_id_a":-0.348604739,"mpcc_pred_iq_a":-1.11949146,"mpcc_state":1,"mpcc_theta_e":0.438319683,"mpcc_theta_mech":0.554609835,"sam_rpm":-14.8906794,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0126573592,"thr_a_norm":0.0126573592,"thr_a_v":0.550629437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454401463,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.318134,"values":{"cg_iu_a":0.821939945,"cg_iv_a":0.136206627,"cg_iw_a":-1.17560911,"cg_theta_rad":0.55632776,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.00260742963,"mpcc_du":50.1141205,"mpcc_dv":48.849472,"mpcc_dw":51.150528,"mpcc_enc_sign":1,"mpcc_id_a":0.608819544,"mpcc_iq_a":-1.84653497,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.85216808,"mpcc_pred_id_a":-0.0407125428,"mpcc_pred_iq_a":-1.18962812,"mpcc_state":1,"mpcc_theta_e":0.434354305,"mpcc_theta_mech":0.553816736,"sam_rpm":-10.0048447,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247047395,"thr_a_norm":0.0247047395,"thr_a_v":0.598818958,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488894492,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.341541,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.09608364,"cg_iw_a":-5.30740643,"cg_theta_rad":0.556955934,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0154870134,"mpcc_du":50.4488449,"mpcc_dv":48.4835663,"mpcc_dw":51.5164337,"mpcc_enc_sign":1,"mpcc_id_a":0.629376113,"mpcc_iq_a":-1.2670697,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.38841796,"mpcc_pred_id_a":-0.172853231,"mpcc_pred_iq_a":-1.20608211,"mpcc_state":1,"mpcc_theta_e":0.443155766,"mpcc_theta_mech":0.55557704,"sam_rpm":-1.5655576,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278519094,"thr_a_norm":0.0247047395,"thr_a_v":0.611407638,"thr_b":0.000710681081,"thr_b_norm":0,"thr_b_v":0.502842724,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.348103,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-2.0384233,"cg_iw_a":-1.17560935,"cg_theta_rad":0.557589054,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.00514994236,"mpcc_du":51.3715668,"mpcc_dv":47.133049,"mpcc_dw":52.866951,"mpcc_enc_sign":1,"mpcc_id_a":1.38993835,"mpcc_iq_a":0.210815355,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-25.3163223,"mpcc_pred_id_a":0.0023380022,"mpcc_pred_iq_a":2.50310993,"mpcc_state":1,"mpcc_theta_e":0.418413639,"mpcc_theta_mech":0.550628662,"sam_rpm":-37.333889,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278519094,"thr_a_norm":0.0278519094,"thr_a_v":0.611407638,"thr_b":0.000710681081,"thr_b_norm":0.000710681081,"thr_b_v":0.502842724,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.354603,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.45852208,"cg_iw_a":0.781557798,"cg_theta_rad":0.555395544,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0117147416,"mpcc_du":49.5561676,"mpcc_dv":49.5143127,"mpcc_dw":50.4856873,"mpcc_enc_sign":1,"mpcc_id_a":1.13240707,"mpcc_iq_a":-0.205363959,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.187709719,"mpcc_pred_id_a":-0.0613106899,"mpcc_pred_iq_a":-3.19688797,"mpcc_state":1,"mpcc_theta_e":0.440436363,"mpcc_theta_mech":0.555033147,"sam_rpm":-0.289253443,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149862617,"thr_a_norm":0.0149862617,"thr_a_v":0.559945047,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448207825,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.361134,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.09608364,"cg_iw_a":-0.160782337,"cg_theta_rad":0.556591094,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0368252359,"mpcc_du":50.512001,"mpcc_dv":48.1133499,"mpcc_dw":51.8866501,"mpcc_enc_sign":1,"mpcc_id_a":2.93959951,"mpcc_iq_a":-1.97099078,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.81716728,"mpcc_pred_id_a":0.581156969,"mpcc_pred_iq_a":0.799158871,"mpcc_state":1,"mpcc_theta_e":0.449429989,"mpcc_theta_mech":0.556831896,"sam_rpm":8.27145576,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261902064,"thr_a_norm":0.0149862617,"thr_a_v":0.604760826,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498008728,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.370747,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-0.878620625,"cg_iw_a":-0.450732708,"cg_theta_rad":0.553230286,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0337167718,"mpcc_du":50.0536156,"mpcc_dv":48.7184105,"mpcc_dw":51.2815895,"mpcc_enc_sign":1,"mpcc_id_a":2.92861795,"mpcc_iq_a":-1.1567229,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.07360208,"mpcc_pred_id_a":0.394742697,"mpcc_pred_iq_a":-2.12968755,"mpcc_state":1,"mpcc_theta_e":0.443962574,"mpcc_theta_mech":0.555738389,"sam_rpm":-1.69498289,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261902064,"thr_a_norm":0.0261902064,"thr_a_v":0.604760826,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498008728,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.381123,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.733645439,"cg_iw_a":-1.24809694,"cg_theta_rad":0.555689275,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0185894631,"mpcc_du":49.4607887,"mpcc_dv":49.8686943,"mpcc_dw":50.5392113,"mpcc_enc_sign":1,"mpcc_id_a":1.50269496,"mpcc_iq_a":0.402113259,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.94631433,"mpcc_pred_id_a":0.517568111,"mpcc_pred_iq_a":-2.74451542,"mpcc_state":1,"mpcc_theta_e":0.443887711,"mpcc_theta_mech":0.555723429,"sam_rpm":9.40882492,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.106229126,"thr_a_norm":0.106229126,"thr_a_v":0.924916506,"thr_b":0.0484218299,"thr_b_norm":0.0484218299,"thr_b_v":0.69368732,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.390919,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.31354666,"cg_iw_a":-1.46555996,"cg_theta_rad":0.557448685,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0348230265,"mpcc_du":49.4556847,"mpcc_dv":50.5443153,"mpcc_dw":50.3386459,"mpcc_enc_sign":1,"mpcc_id_a":1.27622545,"mpcc_iq_a":-2.44878435,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.78881025,"mpcc_pred_id_a":0.110512026,"mpcc_pred_iq_a":-1.64915001,"mpcc_state":1,"mpcc_theta_e":0.440900326,"mpcc_theta_mech":0.553453863,"sam_rpm":8.32325172,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.106229126,"thr_a_norm":0.106229126,"thr_a_v":0.924916506,"thr_b":0.0484218299,"thr_b_norm":0.0484218299,"thr_b_v":0.69368732,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.400959,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.588670254,"cg_iw_a":-2.84282541,"cg_theta_rad":0.557692647,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.00321558723,"mpcc_du":50.4726753,"mpcc_dv":48.3630791,"mpcc_dw":51.6369209,"mpcc_enc_sign":1,"mpcc_id_a":0.562166214,"mpcc_iq_a":-1.7775948,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.2164564,"mpcc_pred_id_a":-0.129793108,"mpcc_pred_iq_a":-2.41226768,"mpcc_state":1,"mpcc_theta_e":0.433515549,"mpcc_theta_mech":0.553649008,"sam_rpm":-18.1308517,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269329399,"thr_a_norm":0.0269329399,"thr_a_v":0.60773176,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481995881,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.411121,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.31354666,"cg_iw_a":-1.97297382,"cg_theta_rad":0.557110429,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.00339296507,"mpcc_du":50.7724838,"mpcc_dv":48.2265968,"mpcc_dw":51.7734032,"mpcc_enc_sign":1,"mpcc_id_a":-0.147589713,"mpcc_iq_a":-2.93128991,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.2639399,"mpcc_pred_id_a":-0.617625952,"mpcc_pred_iq_a":-2.65572929,"mpcc_state":1,"mpcc_theta_e":0.438847542,"mpcc_theta_mech":0.554715395,"sam_rpm":-14.9678898,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022728309,"thr_a_norm":0.0269329399,"thr_a_v":0.590913236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49181506,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.437122,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-2.40086174,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.552897692,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0207977612,"mpcc_du":49.3717003,"mpcc_dv":50.6282997,"mpcc_dw":50.1686668,"mpcc_enc_sign":1,"mpcc_id_a":1.37097049,"mpcc_iq_a":-0.0243144128,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.01986456,"mpcc_pred_id_a":0.0386570282,"mpcc_pred_iq_a":-6.24389935,"mpcc_state":1,"mpcc_theta_e":0.428970814,"mpcc_theta_mech":0.552740097,"sam_rpm":5.69460917,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022728309,"thr_a_norm":0.022728309,"thr_a_v":0.590913236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49181506,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.443684,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.74847269,"cg_iw_a":0.636582375,"cg_theta_rad":0.552920461,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0268441979,"mpcc_du":50.3496437,"mpcc_dv":48.4993439,"mpcc_dw":51.5006561,"mpcc_enc_sign":1,"mpcc_id_a":1.08438849,"mpcc_iq_a":-0.138898656,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.32093501,"mpcc_pred_id_a":0.130517676,"mpcc_pred_iq_a":-1.16047418,"mpcc_state":1,"mpcc_theta_e":0.442553043,"mpcc_theta_mech":0.555456519,"sam_rpm":-3.27282429,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020940721,"thr_a_norm":0.020940721,"thr_a_v":0.583762884,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458429813,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.450214,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.0384233,"cg_iw_a":-2.33541203,"cg_theta_rad":0.555219889,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.00516355736,"mpcc_du":49.9548683,"mpcc_dv":49.1538696,"mpcc_dw":50.8461304,"mpcc_enc_sign":1,"mpcc_id_a":0.690666795,"mpcc_iq_a":-0.970507205,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.750628889,"mpcc_pred_id_a":-0.40516308,"mpcc_pred_iq_a":-2.05874467,"mpcc_state":1,"mpcc_theta_e":0.441962242,"mpcc_theta_mech":0.555338383,"sam_rpm":0.929130495,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020940721,"thr_a_norm":0.020940721,"thr_a_v":0.583762884,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458429813,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.456745,"values":{"cg_iu_a":-0.917764187,"cg_iv_a":-0.661157608,"cg_iw_a":-1.61053562,"cg_theta_rad":0.556472719,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0069746566,"mpcc_du":49.5731506,"mpcc_dv":49.964035,"mpcc_dw":50.4268494,"mpcc_enc_sign":1,"mpcc_id_a":1.34454441,"mpcc_iq_a":-2.09470296,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.9606209,"mpcc_pred_id_a":-0.0976587981,"mpcc_pred_iq_a":-2.86180687,"mpcc_state":1,"mpcc_theta_e":0.453779221,"mpcc_theta_mech":0.557701766,"sam_rpm":18.8620987,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023533985,"thr_a_norm":0.023533985,"thr_a_v":0.59413594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477715701,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.466145,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.951108456,"cg_iw_a":-1.32058477,"cg_theta_rad":0.555372834,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.00371643808,"mpcc_du":49.6385841,"mpcc_dv":49.8222389,"mpcc_dw":50.3614159,"mpcc_enc_sign":1,"mpcc_id_a":0.0293124542,"mpcc_iq_a":-1.16976357,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.49894142,"mpcc_pred_id_a":-0.477740258,"mpcc_pred_iq_a":-2.8710444,"mpcc_state":1,"mpcc_theta_e":0.446915627,"mpcc_theta_mech":0.556329012,"sam_rpm":11.4353132,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292870253,"thr_a_norm":0.023533985,"thr_a_v":0.617148101,"thr_b":0.00152894855,"thr_b_norm":0,"thr_b_v":0.506115794,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.476307,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.74847269,"cg_iw_a":-2.26292467,"cg_theta_rad":0.55218643,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0139020113,"mpcc_du":49.5642662,"mpcc_dv":50.0507622,"mpcc_dw":50.4357338,"mpcc_enc_sign":1,"mpcc_id_a":2.2673676,"mpcc_iq_a":-1.19825804,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.45836091,"mpcc_pred_id_a":0.00997115579,"mpcc_pred_iq_a":-2.699651,"mpcc_state":1,"mpcc_theta_e":0.438780308,"mpcc_theta_mech":0.554701984,"sam_rpm":2.96422982,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292870253,"thr_a_norm":0.0292870253,"thr_a_v":0.617148101,"thr_b":0.00152894855,"thr_b_norm":0.00152894855,"thr_b_v":0.506115794,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.486347,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-2.61832476,"cg_iw_a":-0.595707893,"cg_theta_rad":0.553155839,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0852470845,"mpcc_du":49.8247185,"mpcc_dv":48.9017906,"mpcc_dw":51.0982094,"mpcc_enc_sign":1,"mpcc_id_a":3.60176158,"mpcc_iq_a":0.932142794,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.30659103,"mpcc_pred_id_a":0.757519603,"mpcc_pred_iq_a":-2.0542326,"mpcc_state":1,"mpcc_theta_e":0.444224358,"mpcc_theta_mech":0.555514574,"sam_rpm":4.98759031,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02655527,"thr_a_norm":0.02655527,"thr_a_v":0.60622108,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.496204,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.806133032,"cg_iw_a":-1.03063416,"cg_theta_rad":0.556631863,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0333536528,"mpcc_du":49.7318649,"mpcc_dv":51.1437912,"mpcc_dw":49.5569534,"mpcc_enc_sign":1,"mpcc_id_a":2.04350567,"mpcc_iq_a":-1.34283185,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.41619492,"mpcc_pred_id_a":0.055877354,"mpcc_pred_iq_a":-0.066499874,"mpcc_state":1,"mpcc_theta_e":0.428393364,"mpcc_theta_mech":0.554071784,"sam_rpm":-9.692626,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02655527,"thr_a_norm":0.02655527,"thr_a_v":0.60622108,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.506367,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.443694592,"cg_iw_a":-0.813171387,"cg_theta_rad":0.557349145,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0824474096,"mpcc_du":49.7537498,"mpcc_dv":49.3409119,"mpcc_dw":50.6590881,"mpcc_enc_sign":1,"mpcc_id_a":2.24148965,"mpcc_iq_a":-0.593297482,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.37388611,"mpcc_pred_id_a":0.00720600458,"mpcc_pred_iq_a":-4.73655272,"mpcc_state":1,"mpcc_theta_e":0.460414886,"mpcc_theta_mech":0.559028864,"sam_rpm":14.1844196,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288590044,"thr_a_norm":0.0288590044,"thr_a_v":0.615436018,"thr_b":0.00431105494,"thr_b_norm":0.00431105494,"thr_b_v":0.51724422,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.516346,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-2.25588632,"cg_iw_a":0.564094782,"cg_theta_rad":0.554412782,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0437464677,"mpcc_du":49.641655,"mpcc_dv":49.2731094,"mpcc_dw":50.7268906,"mpcc_enc_sign":1,"mpcc_id_a":2.87694931,"mpcc_iq_a":-1.26276577,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.67916918,"mpcc_pred_id_a":0.357108235,"mpcc_pred_iq_a":-0.486406744,"mpcc_state":1,"mpcc_theta_e":0.428220272,"mpcc_theta_mech":0.552589953,"sam_rpm":-12.2848539,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262153894,"thr_a_norm":0.0288590044,"thr_a_v":0.604861557,"thr_b":0,"thr_b_norm":0.00431105494,"thr_b_v":0.499821454,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.539387,"values":{"cg_iu_a":-0.772789001,"cg_iv_a":-0.661157608,"cg_iw_a":1.43394661,"cg_theta_rad":0.554938912,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0218205359,"mpcc_du":48.8608322,"mpcc_dv":51.1391678,"mpcc_dw":49.5426559,"mpcc_enc_sign":1,"mpcc_id_a":2.48728228,"mpcc_iq_a":-2.07571054,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.2938375,"mpcc_pred_id_a":0.0344782174,"mpcc_pred_iq_a":-5.1139226,"mpcc_state":1,"mpcc_theta_e":0.448753834,"mpcc_theta_mech":0.556696653,"sam_rpm":13.8824244,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262153894,"thr_a_norm":0.0262153894,"thr_a_v":0.604861557,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499821454,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.545856,"values":{"cg_iu_a":3.35900831,"cg_iv_a":0.426157475,"cg_iw_a":0.346631527,"cg_theta_rad":0.552350581,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.000645083026,"mpcc_du":49.8039627,"mpcc_dv":49.5224648,"mpcc_dw":50.4775352,"mpcc_enc_sign":1,"mpcc_id_a":-0.423709244,"mpcc_iq_a":-1.13712156,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.98723936,"mpcc_pred_id_a":-0.695851028,"mpcc_pred_iq_a":-3.58537626,"mpcc_state":1,"mpcc_theta_e":0.436750412,"mpcc_theta_mech":0.554296017,"sam_rpm":-6.74503326,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0123426318,"thr_a_norm":0.0123426318,"thr_a_v":0.549370527,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459990859,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.552387,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.6759851,"cg_iw_a":1.143996,"cg_theta_rad":0.554866612,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0172988456,"mpcc_du":50.5622444,"mpcc_dv":48.1973572,"mpcc_dw":51.8026428,"mpcc_enc_sign":1,"mpcc_id_a":1.93791282,"mpcc_iq_a":0.674121022,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.28636932,"mpcc_pred_id_a":0.291568547,"mpcc_pred_iq_a":1.70638621,"mpcc_state":1,"mpcc_theta_e":0.434316635,"mpcc_theta_mech":0.553809226,"sam_rpm":-8.2562685,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0123426318,"thr_a_norm":0.0123426318,"thr_a_v":0.549370527,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459990859,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.558918,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.588670254,"cg_iw_a":-3.20526409,"cg_theta_rad":0.556191623,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0175961256,"mpcc_du":50.2271156,"mpcc_dv":48.6230736,"mpcc_dw":51.3769264,"mpcc_enc_sign":1,"mpcc_id_a":0.694248319,"mpcc_iq_a":-0.468158513,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.5927105,"mpcc_pred_id_a":-0.477395266,"mpcc_pred_iq_a":-4.45562935,"mpcc_state":1,"mpcc_theta_e":0.434885502,"mpcc_theta_mech":0.553923011,"sam_rpm":15.4381094,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192412436,"thr_a_norm":0.0192412436,"thr_a_v":0.576964974,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462558955,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.569141,"values":{"cg_iu_a":2.05423021,"cg_iv_a":0.0637187958,"cg_iw_a":-2.19043636,"cg_theta_rad":0.554147303,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0302930363,"mpcc_du":49.8301964,"mpcc_dv":48.9560356,"mpcc_dw":51.0439644,"mpcc_enc_sign":1,"mpcc_id_a":2.67365217,"mpcc_iq_a":-1.87620258,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.2900176,"mpcc_pred_id_a":0.558821619,"mpcc_pred_iq_a":-0.00738712586,"mpcc_state":1,"mpcc_theta_e":0.432797432,"mpcc_theta_mech":0.553505421,"sam_rpm":-8.05386257,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151121467,"thr_a_norm":0.0151121467,"thr_a_v":0.560448587,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.57909,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.371207237,"cg_iw_a":-2.11794901,"cg_theta_rad":0.553623497,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0285149869,"mpcc_du":50.2372437,"mpcc_dv":48.7119408,"mpcc_dw":51.2880592,"mpcc_enc_sign":1,"mpcc_id_a":0.547920108,"mpcc_iq_a":-0.255328059,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.350976944,"mpcc_pred_id_a":-0.0297459718,"mpcc_pred_iq_a":-1.4820832,"mpcc_state":1,"mpcc_theta_e":0.442797661,"mpcc_theta_mech":0.555505455,"sam_rpm":1.3042959,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151121467,"thr_a_norm":0.0151121467,"thr_a_v":0.560448587,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.591328,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.89344811,"cg_iw_a":1.5064342,"cg_theta_rad":0.554893255,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0449771024,"mpcc_du":49.9943428,"mpcc_dv":48.8110619,"mpcc_dw":51.1889381,"mpcc_enc_sign":1,"mpcc_id_a":2.57422328,"mpcc_iq_a":0.129787222,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.00208747,"mpcc_pred_id_a":0.402628452,"mpcc_pred_iq_a":-1.97928452,"mpcc_state":1,"mpcc_theta_e":0.441692829,"mpcc_theta_mech":0.5552845,"sam_rpm":-0.462395817,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0397608131,"thr_a_norm":0.0397608131,"thr_a_v":0.659043252,"thr_b":0.00662736595,"thr_b_norm":0.00662736595,"thr_b_v":0.526509464,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.601307,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.60349751,"cg_iw_a":0.78155756,"cg_theta_rad":0.555597305,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0129520874,"mpcc_du":49.7901955,"mpcc_dv":49.3465424,"mpcc_dw":50.6534576,"mpcc_enc_sign":1,"mpcc_id_a":-0.114740938,"mpcc_iq_a":-0.962296784,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.51917839,"mpcc_pred_id_a":-0.335809916,"mpcc_pred_iq_a":-2.05381727,"mpcc_state":1,"mpcc_theta_e":0.449212551,"mpcc_theta_mech":0.556788445,"sam_rpm":12.3192854,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280785114,"thr_a_norm":0.0280785114,"thr_a_v":0.612314045,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486074626,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.613361,"values":{"cg_iu_a":3.93890953,"cg_iv_a":-1.02359605,"cg_iw_a":-2.91531348,"cg_theta_rad":0.555152655,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0306212716,"mpcc_du":50.729435,"mpcc_dv":47.9474106,"mpcc_dw":52.0525894,"mpcc_enc_sign":1,"mpcc_id_a":2.80542779,"mpcc_iq_a":-0.553938031,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.6449575,"mpcc_pred_id_a":0.230905741,"mpcc_pred_iq_a":-1.34589946,"mpcc_state":1,"mpcc_theta_e":0.43276453,"mpcc_theta_mech":0.553498805,"sam_rpm":-23.5203781,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280785114,"thr_a_norm":0.0280785114,"thr_a_v":0.612314045,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486074626,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.623493,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.806133032,"cg_iw_a":-1.4655602,"cg_theta_rad":0.554535508,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0524511449,"mpcc_du":49.6974258,"mpcc_dv":48.9563599,"mpcc_dw":51.0436401,"mpcc_enc_sign":1,"mpcc_id_a":3.46471691,"mpcc_iq_a":-0.543791831,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.02374184,"mpcc_pred_id_a":0.978414178,"mpcc_pred_iq_a":-2.89699244,"mpcc_state":1,"mpcc_theta_e":0.447350979,"mpcc_theta_mech":0.556416094,"sam_rpm":1.4711206,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216456801,"thr_a_norm":0.0216456801,"thr_a_v":0.58658272,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460091561,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.6469,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.226231575,"cg_iw_a":-0.523220539,"cg_theta_rad":0.555637836,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.00102933904,"mpcc_du":48.6301918,"mpcc_dv":51.3698082,"mpcc_dw":49.0937653,"mpcc_enc_sign":1,"mpcc_id_a":-0.00328575587,"mpcc_iq_a":-2.1881454,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.4437027,"mpcc_pred_id_a":-0.631252408,"mpcc_pred_iq_a":-6.8816762,"mpcc_state":1,"mpcc_theta_e":0.459203243,"mpcc_theta_mech":0.558786571,"sam_rpm":27.2055759,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022174418,"thr_a_norm":0.0216456801,"thr_a_v":0.588697672,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485168248,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.653492,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.226231575,"cg_iw_a":-2.40789986,"cg_theta_rad":0.55137372,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.00703903893,"mpcc_du":50.2346725,"mpcc_dv":48.5943108,"mpcc_dw":51.4056892,"mpcc_enc_sign":1,"mpcc_id_a":1.5762912,"mpcc_iq_a":-1.47584665,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.04608488,"mpcc_pred_id_a":0.210067585,"mpcc_pred_iq_a":-0.276680291,"mpcc_state":1,"mpcc_theta_e":0.439182758,"mpcc_theta_mech":0.55478251,"sam_rpm":-3.15861082,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022174418,"thr_a_norm":0.022174418,"thr_a_v":0.588697672,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485168248,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.659931,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-0.516182423,"cg_iw_a":-1.82799816,"cg_theta_rad":0.556827188,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0162622835,"mpcc_du":49.6778831,"mpcc_dv":49.4252357,"mpcc_dw":50.5747643,"mpcc_enc_sign":1,"mpcc_id_a":0.778640568,"mpcc_iq_a":-1.11329508,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.27757645,"mpcc_pred_id_a":-0.13528432,"mpcc_pred_iq_a":-3.44068313,"mpcc_state":1,"mpcc_theta_e":0.448508263,"mpcc_theta_mech":0.556647599,"sam_rpm":8.29911995,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204119831,"thr_a_norm":0.0204119831,"thr_a_v":0.581647933,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469608605,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.666523,"values":{"cg_iu_a":3.93890953,"cg_iv_a":-1.89344811,"cg_iw_a":-2.04546142,"cg_theta_rad":0.555616677,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0263836533,"mpcc_du":51.1089516,"mpcc_dv":47.3187714,"mpcc_dw":52.6812286,"mpcc_enc_sign":1,"mpcc_id_a":3.06063104,"mpcc_iq_a":1.11957085,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-25.8478737,"mpcc_pred_id_a":0.362108201,"mpcc_pred_iq_a":1.68087423,"mpcc_state":1,"mpcc_theta_e":0.417323112,"mpcc_theta_mech":0.550410569,"sam_rpm":-38.4827271,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204119831,"thr_a_norm":0.0204119831,"thr_a_v":0.581647933,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469608605,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.676929,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.74847269,"cg_iw_a":0.564094782,"cg_theta_rad":0.553956449,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.00532042608,"mpcc_du":50.2828445,"mpcc_dv":48.5740891,"mpcc_dw":51.4259109,"mpcc_enc_sign":1,"mpcc_id_a":0.785151899,"mpcc_iq_a":-1.61751759,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.07071304,"mpcc_pred_id_a":0.123944983,"mpcc_pred_iq_a":-1.32477486,"mpcc_state":1,"mpcc_theta_e":0.442225456,"mpcc_theta_mech":0.555391014,"sam_rpm":-4.79953909,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283806324,"thr_a_norm":0.0283806324,"thr_a_v":0.61352253,"thr_b":0.000295266509,"thr_b_norm":0.000295266509,"thr_b_v":0.501181066,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.686848,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.74847269,"cg_iw_a":-0.740683556,"cg_theta_rad":0.557150543,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0184091181,"mpcc_du":49.6778641,"mpcc_dv":49.1306381,"mpcc_dw":50.8693619,"mpcc_enc_sign":1,"mpcc_id_a":2.64513159,"mpcc_iq_a":-1.07315874,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.43519783,"mpcc_pred_id_a":0.341045737,"mpcc_pred_iq_a":-2.53402734,"mpcc_state":1,"mpcc_theta_e":0.4308424,"mpcc_theta_mech":0.552671909,"sam_rpm":-12.0025663,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025296405,"thr_a_norm":0.025296405,"thr_a_v":0.60118562,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48980087,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.696705,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.443694592,"cg_iw_a":-0.305757523,"cg_theta_rad":0.555914998,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0379545279,"mpcc_du":49.545845,"mpcc_dv":49.3846626,"mpcc_dw":50.6153374,"mpcc_enc_sign":1,"mpcc_id_a":2.00442219,"mpcc_iq_a":0.437030613,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.17360067,"mpcc_pred_id_a":0.336414039,"mpcc_pred_iq_a":-2.66780639,"mpcc_state":1,"mpcc_theta_e":0.446418762,"mpcc_theta_mech":0.556229651,"sam_rpm":8.56137276,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025296405,"thr_a_norm":0.025296405,"thr_a_v":0.60118562,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48980087,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.70702,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.38603449,"cg_iw_a":0.709069729,"cg_theta_rad":0.552473485,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0180994105,"mpcc_du":50.195015,"mpcc_dv":48.6400833,"mpcc_dw":51.3599167,"mpcc_enc_sign":1,"mpcc_id_a":2.24211884,"mpcc_iq_a":-0.911037922,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.66354132,"mpcc_pred_id_a":0.214967549,"mpcc_pred_iq_a":-1.75979018,"mpcc_state":1,"mpcc_theta_e":0.439533234,"mpcc_theta_mech":0.554852545,"sam_rpm":-8.99994278,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0418882966,"thr_a_norm":0.0418882966,"thr_a_v":0.667553186,"thr_b":0.0125314742,"thr_b_norm":0.0125314742,"thr_b_v":0.550125897,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.717121,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.45852208,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.556450307,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0521436408,"mpcc_du":50.2457695,"mpcc_dv":48.3737946,"mpcc_dw":51.6262054,"mpcc_enc_sign":1,"mpcc_id_a":1.6364243,"mpcc_iq_a":0.846112967,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.76936793,"mpcc_pred_id_a":0.154786661,"mpcc_pred_iq_a":-1.95858681,"mpcc_state":1,"mpcc_theta_e":0.445645332,"mpcc_theta_mech":0.555752158,"sam_rpm":-5.88523245,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156786442,"thr_a_norm":0.0418882966,"thr_a_v":0.562714577,"thr_b":0,"thr_b_norm":0.0125314742,"thr_b_v":0.462861091,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.727131,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.371207237,"cg_iw_a":-0.740683079,"cg_theta_rad":0.553550184,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.00030032589,"mpcc_du":50.5331154,"mpcc_dv":48.3778343,"mpcc_dw":51.6221657,"mpcc_enc_sign":1,"mpcc_id_a":0.258487463,"mpcc_iq_a":-0.712596059,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.7383509,"mpcc_pred_id_a":-0.265472949,"mpcc_pred_iq_a":-0.00229782262,"mpcc_state":1,"mpcc_theta_e":0.429948807,"mpcc_theta_mech":0.554156959,"sam_rpm":-18.591526,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156786442,"thr_a_norm":0.0156786442,"thr_a_v":0.562714577,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462861091,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.750446,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.60349751,"cg_iw_a":0.346631527,"cg_theta_rad":0.556527913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0176668894,"mpcc_du":49.3923988,"mpcc_dv":50.6076012,"mpcc_dw":50.1763229,"mpcc_enc_sign":1,"mpcc_id_a":2.55109859,"mpcc_iq_a":-1.61559641,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.526487052,"mpcc_pred_id_a":-0.0376095995,"mpcc_pred_iq_a":-6.9475503,"mpcc_state":1,"mpcc_theta_e":0.44083643,"mpcc_theta_mech":0.555113196,"sam_rpm":-1.01703095,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225646496,"thr_a_norm":0.0225646496,"thr_a_v":0.590258598,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482046247,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.756977,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.806133032,"cg_iw_a":0.0566809177,"cg_theta_rad":0.554198146,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.00609587552,"mpcc_du":49.6469612,"mpcc_dv":50.0133743,"mpcc_dw":50.3530388,"mpcc_enc_sign":1,"mpcc_id_a":-0.298767686,"mpcc_iq_a":-1.33877563,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.8693295,"mpcc_pred_id_a":-0.450795174,"mpcc_pred_iq_a":-3.04538393,"mpcc_state":1,"mpcc_theta_e":0.450920582,"mpcc_theta_mech":0.557130039,"sam_rpm":16.6764736,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225646496,"thr_a_norm":0.0225646496,"thr_a_v":0.590258598,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482046247,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.763538,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.6759851,"cg_iw_a":0.564094543,"cg_theta_rad":0.55490762,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.00779168541,"mpcc_du":49.3268356,"mpcc_dv":50.6731644,"mpcc_dw":50.0908852,"mpcc_enc_sign":1,"mpcc_id_a":1.73611844,"mpcc_iq_a":-1.97797179,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.7843976,"mpcc_pred_id_a":-0.0510342121,"mpcc_pred_iq_a":-6.44425678,"mpcc_state":1,"mpcc_theta_e":0.443265438,"mpcc_theta_mech":0.555598974,"sam_rpm":3.92761517,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024994269,"thr_a_norm":0.024994269,"thr_a_v":0.599977076,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48829025,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.769978,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.38603449,"cg_iw_a":-1.97297382,"cg_theta_rad":0.553290904,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0119064935,"mpcc_du":49.7629166,"mpcc_dv":49.2050362,"mpcc_dw":50.7949638,"mpcc_enc_sign":1,"mpcc_id_a":2.16029215,"mpcc_iq_a":-1.42617726,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.224650651,"mpcc_pred_id_a":0.166783422,"mpcc_pred_iq_a":-1.45648575,"mpcc_state":1,"mpcc_theta_e":0.439058781,"mpcc_theta_mech":0.554757714,"sam_rpm":-0.619180262,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238738805,"thr_a_norm":0.024994269,"thr_a_v":0.595495522,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477816403,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.778126,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.588670254,"cg_iw_a":0.129168987,"cg_theta_rad":0.553359449,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.00701497775,"mpcc_du":49.6808968,"mpcc_dv":49.5730019,"mpcc_dw":50.4269981,"mpcc_enc_sign":1,"mpcc_id_a":-0.0511500873,"mpcc_iq_a":-1.68549192,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.352044612,"mpcc_pred_id_a":-0.523785412,"mpcc_pred_iq_a":-5.13286066,"mpcc_state":1,"mpcc_theta_e":0.443445206,"mpcc_theta_mech":0.555634975,"sam_rpm":-0.424265504,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238738805,"thr_a_norm":0.0238738805,"thr_a_v":0.595495522,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477816403,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.788136,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.74847269,"cg_iw_a":-1.32058477,"cg_theta_rad":0.556072414,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.030058112,"mpcc_du":50.7613602,"mpcc_dv":47.8275337,"mpcc_dw":52.1724663,"mpcc_enc_sign":1,"mpcc_id_a":2.80285478,"mpcc_iq_a":-0.566813171,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.26264572,"mpcc_pred_id_a":0.483819067,"mpcc_pred_iq_a":0.792909086,"mpcc_state":1,"mpcc_theta_e":0.437355995,"mpcc_theta_mech":0.554417074,"sam_rpm":-11.9817543,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234710425,"thr_a_norm":0.0234710425,"thr_a_v":0.59388417,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.800312,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-0.951108456,"cg_iw_a":0.926533222,"cg_theta_rad":0.552236676,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.055641409,"mpcc_du":49.9573936,"mpcc_dv":49.2590218,"mpcc_dw":50.7409782,"mpcc_enc_sign":1,"mpcc_id_a":-0.17285417,"mpcc_iq_a":-0.74849534,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.82025862,"mpcc_pred_id_a":-0.533758759,"mpcc_pred_iq_a":-4.13001728,"mpcc_state":1,"mpcc_theta_e":0.449502468,"mpcc_theta_mech":0.55684644,"sam_rpm":10.6954069,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0119523853,"thr_a_norm":0.0234710425,"thr_a_v":0.547809541,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457624167,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.810261,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.443694592,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556587517,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.00803722441,"mpcc_du":49.2408829,"mpcc_dv":50.7591171,"mpcc_dw":50.1083374,"mpcc_enc_sign":1,"mpcc_id_a":1.22670496,"mpcc_iq_a":-0.689284503,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.0617342,"mpcc_pred_id_a":0.0871164501,"mpcc_pred_iq_a":0.328237236,"mpcc_state":1,"mpcc_theta_e":0.425485134,"mpcc_theta_mech":0.554764152,"sam_rpm":-22.6536636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0119523853,"thr_a_norm":0.0119523853,"thr_a_v":0.547809541,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457624167,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.820301,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.668195724,"cg_theta_rad":0.552952826,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0155553399,"mpcc_du":50.5122108,"mpcc_dv":48.4227562,"mpcc_dw":51.5772438,"mpcc_enc_sign":1,"mpcc_id_a":0.513453305,"mpcc_iq_a":-0.838777125,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.06297541,"mpcc_pred_id_a":-0.258343816,"mpcc_pred_iq_a":-1.67948318,"mpcc_state":1,"mpcc_theta_e":0.440229416,"mpcc_theta_mech":0.554991841,"sam_rpm":-8.9224596,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194174796,"thr_a_norm":0.0194174796,"thr_a_v":0.577669919,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461300045,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.844318,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.661157608,"cg_iw_a":-0.160782337,"cg_theta_rad":0.554228544,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0189423524,"mpcc_du":50.4131927,"mpcc_dv":48.4272919,"mpcc_dw":51.5727081,"mpcc_enc_sign":1,"mpcc_id_a":2.04249096,"mpcc_iq_a":-0.995112419,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.44421768,"mpcc_pred_id_a":0.03487546,"mpcc_pred_iq_a":-1.82465363,"mpcc_state":1,"mpcc_theta_e":0.436727047,"mpcc_theta_mech":0.554291368,"sam_rpm":-12.2787638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194174796,"thr_a_norm":0.0194174796,"thr_a_v":0.577669919,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461300045,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.850849,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.02359605,"cg_iw_a":-1.10312152,"cg_theta_rad":0.556218386,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0169296041,"mpcc_du":49.6907845,"mpcc_dv":49.5341606,"mpcc_dw":50.4658394,"mpcc_enc_sign":1,"mpcc_id_a":0.0623248294,"mpcc_iq_a":-1.09446716,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.76763201,"mpcc_pred_id_a":-0.49256596,"mpcc_pred_iq_a":-4.43878698,"mpcc_state":1,"mpcc_theta_e":0.44980526,"mpcc_theta_mech":0.556906939,"sam_rpm":5.72244835,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269832909,"thr_a_norm":0.0269832909,"thr_a_v":0.607933164,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.857441,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.45852208,"cg_iw_a":0.201656342,"cg_theta_rad":0.553154051,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.00831748918,"mpcc_du":49.8644943,"mpcc_dv":49.0079193,"mpcc_dw":50.9920807,"mpcc_enc_sign":1,"mpcc_id_a":1.45836842,"mpcc_iq_a":-2.37192845,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.34544897,"mpcc_pred_id_a":0.303983003,"mpcc_pred_iq_a":-1.61877954,"mpcc_state":1,"mpcc_theta_e":0.449527264,"mpcc_theta_mech":0.556851327,"sam_rpm":9.78199291,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269832909,"thr_a_norm":0.0269832909,"thr_a_v":0.607933164,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.86388,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.733645439,"cg_iw_a":0.0566811562,"cg_theta_rad":0.556450367,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.00627901359,"mpcc_du":49.4926605,"mpcc_dv":50.5073395,"mpcc_dw":50.2949448,"mpcc_enc_sign":1,"mpcc_id_a":1.5233947,"mpcc_iq_a":-0.904781938,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.44665647,"mpcc_pred_id_a":-0.0144833028,"mpcc_pred_iq_a":-4.87978554,"mpcc_state":1,"mpcc_theta_e":0.443622112,"mpcc_theta_mech":0.555670381,"sam_rpm":2.89024282,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100992203,"thr_a_norm":0.100992203,"thr_a_v":0.903968811,"thr_b":0.0392572731,"thr_b_norm":0.0392572731,"thr_b_v":0.657029092,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.873096,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.733645439,"cg_iw_a":-2.26292419,"cg_theta_rad":0.556966126,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.00745563675,"mpcc_du":50.7438278,"mpcc_dv":47.9092445,"mpcc_dw":52.0907555,"mpcc_enc_sign":1,"mpcc_id_a":1.31058753,"mpcc_iq_a":-0.679961979,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.7437687,"mpcc_pred_id_a":0.230796561,"mpcc_pred_iq_a":-1.47302949,"mpcc_state":1,"mpcc_theta_e":0.424627781,"mpcc_theta_mech":0.555041432,"sam_rpm":-30.9340687,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0105802119,"thr_a_norm":0.100992203,"thr_a_v":0.542320848,"thr_b":0,"thr_b_norm":0.0392572731,"thr_b_v":0.426958084,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.884113,"values":{"cg_iu_a":1.32935333,"cg_iv_a":0.716107845,"cg_iw_a":-2.04546118,"cg_theta_rad":0.552690864,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0368476659,"mpcc_du":50.2391243,"mpcc_dv":48.6371384,"mpcc_dw":51.3628616,"mpcc_enc_sign":1,"mpcc_id_a":1.08135712,"mpcc_iq_a":-0.652026355,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0452127568,"mpcc_pred_id_a":0.115816973,"mpcc_pred_iq_a":-2.35838652,"mpcc_state":1,"mpcc_theta_e":0.446239948,"mpcc_theta_mech":0.556193948,"sam_rpm":0.549890101,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0105802119,"thr_a_norm":0.0105802119,"thr_a_v":0.542320848,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.426958084,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.89452,"values":{"cg_iu_a":2.77910662,"cg_iv_a":0.933570862,"cg_iw_a":-3.78516531,"cg_theta_rad":0.556951761,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0486479215,"mpcc_du":50.1930275,"mpcc_dv":48.7226639,"mpcc_dw":51.2773361,"mpcc_enc_sign":1,"mpcc_id_a":1.80893338,"mpcc_iq_a":-1.47646415,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.10936832,"mpcc_pred_id_a":0.0528982095,"mpcc_pred_iq_a":-2.86876869,"mpcc_state":1,"mpcc_theta_e":0.451169968,"mpcc_theta_mech":0.557179928,"sam_rpm":7.32850218,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205127001,"thr_a_norm":0.0205127001,"thr_a_v":0.5820508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.905903,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.16857147,"cg_iw_a":0.201656342,"cg_theta_rad":0.55619216,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0286718924,"mpcc_du":50.4714203,"mpcc_dv":48.1813087,"mpcc_dw":51.8186913,"mpcc_enc_sign":1,"mpcc_id_a":3.08052254,"mpcc_iq_a":-0.824698031,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.8910217,"mpcc_pred_id_a":0.474806011,"mpcc_pred_iq_a":-1.065503,"mpcc_state":1,"mpcc_theta_e":0.434316635,"mpcc_theta_mech":0.553809226,"sam_rpm":-16.9966106,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0205127001,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454653233,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.915546,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.38603449,"cg_iw_a":-0.450732708,"cg_theta_rad":0.553512752,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0229348801,"mpcc_du":49.4861794,"mpcc_dv":49.5079956,"mpcc_dw":50.5138206,"mpcc_enc_sign":1,"mpcc_id_a":2.86630082,"mpcc_iq_a":-0.95325613,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.22980404,"mpcc_pred_id_a":0.353869379,"mpcc_pred_iq_a":-1.73974085,"mpcc_state":1,"mpcc_theta_e":0.447441578,"mpcc_theta_mech":0.556434274,"sam_rpm":11.591507,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454653233,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.925739,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.6759851,"cg_iw_a":-1.10312152,"cg_theta_rad":0.555610776,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":365,"hz_tim_isr":10004,"hz_vsense":365,"mpcc_cost":0.0665078908,"mpcc_du":49.8810959,"mpcc_dv":49.3770218,"mpcc_dw":50.6229782,"mpcc_enc_sign":1,"mpcc_id_a":-1.22421443,"mpcc_iq_a":-4.834517,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.11634922,"mpcc_pred_id_a":-0.503220022,"mpcc_pred_iq_a":-4.13452864,"mpcc_state":1,"mpcc_theta_e":0.443129063,"mpcc_theta_mech":0.555571735,"sam_rpm":-6.71703148,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021469444,"thr_a_norm":0.021469444,"thr_a_v":0.585877776,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479830623,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.949329,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-2.40086174,"cg_iw_a":-0.523220539,"cg_theta_rad":0.552806437,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.020077819,"mpcc_du":49.9582329,"mpcc_dv":49.0318985,"mpcc_dw":50.9681015,"mpcc_enc_sign":1,"mpcc_id_a":1.8838619,"mpcc_iq_a":-1.16129148,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.11723852,"mpcc_pred_id_a":-0.130213454,"mpcc_pred_iq_a":-3.48628378,"mpcc_state":1,"mpcc_theta_e":0.440558434,"mpcc_theta_mech":0.555057585,"sam_rpm":-2.82841802,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021469444,"thr_a_norm":0.021469444,"thr_a_v":0.585877776,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479830623,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.95583,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.09608364,"cg_iw_a":-3.93014097,"cg_theta_rad":0.554513752,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0197586641,"mpcc_du":49.9730339,"mpcc_dv":49.2065468,"mpcc_dw":50.7934532,"mpcc_enc_sign":1,"mpcc_id_a":-1.24343145,"mpcc_iq_a":-0.463573486,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.2828021,"mpcc_pred_id_a":-0.374541342,"mpcc_pred_iq_a":-1.40649545,"mpcc_state":1,"mpcc_theta_e":0.450252056,"mpcc_theta_mech":0.556996286,"sam_rpm":11.213644,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253341794,"thr_a_norm":0.0253341794,"thr_a_v":0.601336718,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491865426,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.962391,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.516182423,"cg_iw_a":1.28897142,"cg_theta_rad":0.554700255,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0332025141,"mpcc_du":49.9763641,"mpcc_dv":48.742363,"mpcc_dw":51.257637,"mpcc_enc_sign":1,"mpcc_id_a":3.61466503,"mpcc_iq_a":-2.07197571,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.9378395,"mpcc_pred_id_a":0.825893402,"mpcc_pred_iq_a":1.45164645,"mpcc_state":1,"mpcc_theta_e":0.451096535,"mpcc_theta_mech":0.557165205,"sam_rpm":16.5427933,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253341794,"thr_a_norm":0.0253341794,"thr_a_v":0.601336718,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491865426,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.968891,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.153744221,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556370854,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.00855680089,"mpcc_du":50.5493317,"mpcc_dv":48.2470856,"mpcc_dw":51.7529144,"mpcc_enc_sign":1,"mpcc_id_a":0.162023336,"mpcc_iq_a":0.298638225,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.1753979,"mpcc_pred_id_a":0.146017998,"mpcc_pred_iq_a":-1.8060205,"mpcc_state":1,"mpcc_theta_e":0.424703598,"mpcc_theta_mech":0.551886678,"sam_rpm":-26.712429,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248054415,"thr_a_norm":0.0248054415,"thr_a_v":0.599221766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491059721,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.978107,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.24105906,"cg_iw_a":0.0566809177,"cg_theta_rad":0.553507149,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0246081818,"mpcc_du":49.4913406,"mpcc_dv":49.8926468,"mpcc_dw":50.5086594,"mpcc_enc_sign":1,"mpcc_id_a":2.93110895,"mpcc_iq_a":-0.642414808,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.51350904,"mpcc_pred_id_a":0.584293187,"mpcc_pred_iq_a":-3.85539556,"mpcc_state":1,"mpcc_theta_e":0.442197323,"mpcc_theta_mech":0.555385411,"sam_rpm":1.63699579,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262531489,"thr_a_norm":0.0248054415,"thr_a_v":0.605012596,"thr_b":0.00159189105,"thr_b_norm":0,"thr_b_v":0.506367564,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.989063,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.02359605,"cg_iw_a":-1.61053538,"cg_theta_rad":0.554067552,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0527378134,"mpcc_du":51.0574226,"mpcc_dv":47.703186,"mpcc_dw":52.296814,"mpcc_enc_sign":1,"mpcc_id_a":1.21041787,"mpcc_iq_a":-0.229069427,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.6961412,"mpcc_pred_id_a":0.249104306,"mpcc_pred_iq_a":-0.558426023,"mpcc_state":1,"mpcc_theta_e":0.465707302,"mpcc_theta_mech":0.560087383,"sam_rpm":-3.40931106,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262531489,"thr_a_norm":0.0262531489,"thr_a_v":0.605012596,"thr_b":0.00159189105,"thr_b_norm":0.00159189105,"thr_b_v":0.506367564,"vdc_v":55.2955055}} +{"type":"telemetry","t":33.999317,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-2.83578777,"cg_iw_a":0.419119358,"cg_theta_rad":0.555097461,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0335045494,"mpcc_du":50.0773582,"mpcc_dv":48.5791397,"mpcc_dw":51.4208603,"mpcc_enc_sign":1,"mpcc_id_a":2.88389707,"mpcc_iq_a":-0.0670231879,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.73938656,"mpcc_pred_id_a":0.962702453,"mpcc_pred_iq_a":0.862196505,"mpcc_state":1,"mpcc_theta_e":0.443095207,"mpcc_theta_mech":0.55556494,"sam_rpm":6.43747568,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218093395,"thr_a_norm":0.0218093395,"thr_a_v":0.587237358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.009327,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.45852208,"cg_iw_a":-2.40789986,"cg_theta_rad":0.555211842,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0116850799,"mpcc_du":49.9306831,"mpcc_dv":49.125515,"mpcc_dw":50.874485,"mpcc_enc_sign":1,"mpcc_id_a":1.01318133,"mpcc_iq_a":0.21966286,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.71881342,"mpcc_pred_id_a":0.105137616,"mpcc_pred_iq_a":-0.970585883,"mpcc_state":1,"mpcc_theta_e":0.441861153,"mpcc_theta_mech":0.555318177,"sam_rpm":3.23029327,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218093395,"thr_a_norm":0.0218093395,"thr_a_v":0.587237358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.019306,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.878620625,"cg_iw_a":-0.233269691,"cg_theta_rad":0.555855393,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0239227284,"mpcc_du":49.7261696,"mpcc_dv":49.6037178,"mpcc_dw":50.3962822,"mpcc_enc_sign":1,"mpcc_id_a":-0.680205047,"mpcc_iq_a":-1.38738418,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.3307724,"mpcc_pred_id_a":-0.461416751,"mpcc_pred_iq_a":-1.63493872,"mpcc_state":1,"mpcc_theta_e":0.424827576,"mpcc_theta_mech":0.551911414,"sam_rpm":-8.60196209,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248306245,"thr_a_norm":0.0248306245,"thr_a_v":0.599322498,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496044844,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.029499,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-2.61832476,"cg_iw_a":-0.595707893,"cg_theta_rad":0.555799723,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.00448259898,"mpcc_du":50.3983765,"mpcc_dv":48.4959908,"mpcc_dw":51.5040092,"mpcc_enc_sign":1,"mpcc_id_a":0.793977261,"mpcc_iq_a":-0.588751256,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.1639042,"mpcc_pred_id_a":0.128484115,"mpcc_pred_iq_a":-2.08153868,"mpcc_state":1,"mpcc_theta_e":0.428943634,"mpcc_theta_mech":0.552734613,"sam_rpm":-21.3557663,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246417969,"thr_a_norm":0.0248306245,"thr_a_v":0.598567188,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486225694,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.052692,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.60349751,"cg_iw_a":-1.03063416,"cg_theta_rad":0.553939521,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0574066192,"mpcc_du":48.3513451,"mpcc_dv":46.6179924,"mpcc_dw":53.3820076,"mpcc_enc_sign":1,"mpcc_id_a":3.13443232,"mpcc_iq_a":-1.72662711,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":23.7858849,"mpcc_pred_id_a":0.146891043,"mpcc_pred_iq_a":-9.1235733,"mpcc_state":1,"mpcc_theta_e":0.469545841,"mpcc_theta_mech":0.560855091,"sam_rpm":35.8451958,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246417969,"thr_a_norm":0.0246417969,"thr_a_v":0.598567188,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486225694,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.059223,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.25588632,"cg_iw_a":0.274143934,"cg_theta_rad":0.553072631,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0484822653,"mpcc_du":49.8903084,"mpcc_dv":49.2809944,"mpcc_dw":50.7190056,"mpcc_enc_sign":1,"mpcc_id_a":-0.00169326144,"mpcc_iq_a":-0.226983353,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.35586143,"mpcc_pred_id_a":-0.0908252671,"mpcc_pred_iq_a":-4.33340645,"mpcc_state":1,"mpcc_theta_e":0.449306965,"mpcc_theta_mech":0.55680728,"sam_rpm":4.36989498,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454602867,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.065754,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.96593571,"cg_iw_a":-0.16078186,"cg_theta_rad":0.557334244,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0599059016,"mpcc_du":50.4856377,"mpcc_dv":48.2355995,"mpcc_dw":51.7644005,"mpcc_enc_sign":1,"mpcc_id_a":3.0427897,"mpcc_iq_a":-1.08915973,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.38384593,"mpcc_pred_id_a":0.715822101,"mpcc_pred_iq_a":-0.892545283,"mpcc_state":1,"mpcc_theta_e":0.448783875,"mpcc_theta_mech":0.556702673,"sam_rpm":2.37938428,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454602867,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.072407,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.153744221,"cg_iw_a":-1.82799816,"cg_theta_rad":0.556538999,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0230355635,"mpcc_du":49.4998665,"mpcc_dv":50.148468,"mpcc_dw":50.5001335,"mpcc_enc_sign":1,"mpcc_id_a":2.19101787,"mpcc_iq_a":-1.51981997,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.69355726,"mpcc_pred_id_a":0.635383129,"mpcc_pred_iq_a":-4.54393339,"mpcc_state":1,"mpcc_theta_e":0.450400829,"mpcc_theta_mech":0.557026088,"sam_rpm":12.1524191,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174284726,"thr_a_norm":0.0174284726,"thr_a_v":0.569713891,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448207825,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.082478,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.443694592,"cg_iw_a":-2.6978507,"cg_theta_rad":0.549966216,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.053414952,"mpcc_du":50.1527634,"mpcc_dv":48.6384163,"mpcc_dw":51.3615837,"mpcc_enc_sign":1,"mpcc_id_a":3.76500368,"mpcc_iq_a":-1.08312798,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.01300931,"mpcc_pred_id_a":0.528958678,"mpcc_pred_iq_a":-1.94932795,"mpcc_state":1,"mpcc_theta_e":0.442100525,"mpcc_theta_mech":0.55536598,"sam_rpm":-2.16296792,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.107563511,"thr_a_norm":0.0174284726,"thr_a_v":0.930254042,"thr_b":0.0417750031,"thr_b_norm":0,"thr_b_v":0.667100012,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.092518,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.24105906,"cg_iw_a":0.0566809177,"cg_theta_rad":0.555145562,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0400980562,"mpcc_du":50.3992233,"mpcc_dv":48.7386322,"mpcc_dw":52.3868828,"mpcc_enc_sign":1,"mpcc_id_a":-0.169096231,"mpcc_iq_a":-0.74935329,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.15791678,"mpcc_pred_id_a":-0.553073168,"mpcc_pred_iq_a":-3.07733393,"mpcc_state":1,"mpcc_theta_e":0.444484711,"mpcc_theta_mech":0.555842817,"sam_rpm":-1.79830742,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.107563511,"thr_a_norm":0.107563511,"thr_a_v":0.930254042,"thr_b":0.0417750031,"thr_b_norm":0.0417750031,"thr_b_v":0.667100012,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.102467,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.878620625,"cg_iw_a":-2.26292467,"cg_theta_rad":0.557737291,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0196643807,"mpcc_du":49.619072,"mpcc_dv":49.9141273,"mpcc_dw":50.380928,"mpcc_enc_sign":1,"mpcc_id_a":0.926179469,"mpcc_iq_a":-0.808909118,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.15180826,"mpcc_pred_id_a":-0.283988714,"mpcc_pred_iq_a":-3.69565392,"mpcc_state":1,"mpcc_theta_e":0.445596218,"mpcc_theta_mech":0.556065142,"sam_rpm":14.1445541,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181837976,"thr_a_norm":0.0181837976,"thr_a_v":0.57273519,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459436953,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.112507,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.31354666,"cg_iw_a":-1.46555996,"cg_theta_rad":0.557403862,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0174493864,"mpcc_du":50.7237968,"mpcc_dv":48.060833,"mpcc_dw":51.939167,"mpcc_enc_sign":1,"mpcc_id_a":2.42918491,"mpcc_iq_a":-1.53931081,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.4175081,"mpcc_pred_id_a":0.104714885,"mpcc_pred_iq_a":-0.679878414,"mpcc_state":1,"mpcc_theta_e":0.434886932,"mpcc_theta_mech":0.553923309,"sam_rpm":-17.3259048,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181837976,"thr_a_norm":0.0181837976,"thr_a_v":0.57273519,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459436953,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.122761,"values":{"cg_iu_a":-1.06273961,"cg_iv_a":-1.24105906,"cg_iw_a":-1.39307261,"cg_theta_rad":0.553765714,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0461122133,"mpcc_du":50.3109474,"mpcc_dv":48.8776588,"mpcc_dw":51.1223412,"mpcc_enc_sign":1,"mpcc_id_a":-0.213532135,"mpcc_iq_a":-1.33297992,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.112998277,"mpcc_pred_id_a":-0.453111619,"mpcc_pred_iq_a":-4.09465647,"mpcc_state":1,"mpcc_theta_e":0.449604034,"mpcc_theta_mech":0.556866765,"sam_rpm":1.55742836,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190020651,"thr_a_norm":0.0190020651,"thr_a_v":0.57600826,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472529203,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.132923,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.89344811,"cg_iw_a":-1.10312152,"cg_theta_rad":0.55995667,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0184825156,"mpcc_du":50.8154945,"mpcc_dv":47.9553757,"mpcc_dw":52.0446243,"mpcc_enc_sign":1,"mpcc_id_a":0.882932365,"mpcc_iq_a":-0.223229378,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.22279358,"mpcc_pred_id_a":0.200495362,"mpcc_pred_iq_a":0.446199387,"mpcc_state":1,"mpcc_theta_e":0.437045097,"mpcc_theta_mech":0.554354906,"sam_rpm":-11.7155933,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264042169,"thr_a_norm":0.0190020651,"thr_a_v":0.605616868,"thr_b":0.00209544599,"thr_b_norm":0,"thr_b_v":0.508381784,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.157124,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.806133032,"cg_iw_a":-3.78516531,"cg_theta_rad":0.555156887,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0115033574,"mpcc_du":50.5145798,"mpcc_dv":48.3759842,"mpcc_dw":51.6240158,"mpcc_enc_sign":1,"mpcc_id_a":1.55610156,"mpcc_iq_a":-2.4852519,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.154254,"mpcc_pred_id_a":-0.0110902619,"mpcc_pred_iq_a":-0.355553746,"mpcc_state":1,"mpcc_theta_e":0.44811964,"mpcc_theta_mech":0.556569815,"sam_rpm":-17.1927547,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264042169,"thr_a_norm":0.0264042169,"thr_a_v":0.605616868,"thr_b":0.00209544599,"thr_b_norm":0.00209544599,"thr_b_v":0.508381784,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.163624,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.02359605,"cg_iw_a":0.854045391,"cg_theta_rad":0.554532468,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.000909522991,"mpcc_du":49.4099236,"mpcc_dv":50.5900764,"mpcc_dw":50.0580635,"mpcc_enc_sign":1,"mpcc_id_a":-0.578462124,"mpcc_iq_a":-2.59661722,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.31566906,"mpcc_pred_id_a":-0.273163974,"mpcc_pred_iq_a":-5.46516132,"mpcc_state":1,"mpcc_theta_e":0.448421955,"mpcc_theta_mech":0.556630313,"sam_rpm":11.2486181,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022149235,"thr_a_norm":0.022149235,"thr_a_v":0.58859694,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472478837,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.170216,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-2.54583716,"cg_iw_a":-0.233269453,"cg_theta_rad":0.558607876,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.000883245433,"mpcc_du":49.5775185,"mpcc_dv":50.4224815,"mpcc_dw":50.2900009,"mpcc_enc_sign":1,"mpcc_id_a":0.485923856,"mpcc_iq_a":-1.06078017,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.91703725,"mpcc_pred_id_a":-0.246126413,"mpcc_pred_iq_a":-4.20508003,"mpcc_state":1,"mpcc_theta_e":0.443939686,"mpcc_theta_mech":0.55573386,"sam_rpm":5.11264277,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022149235,"thr_a_norm":0.022149235,"thr_a_v":0.58859694,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472478837,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.178089,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.443694592,"cg_iw_a":-0.740683556,"cg_theta_rad":0.556911051,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0179033857,"mpcc_du":49.516304,"mpcc_dv":50.192688,"mpcc_dw":50.483696,"mpcc_enc_sign":1,"mpcc_id_a":2.24125767,"mpcc_iq_a":-0.94671464,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.544054,"mpcc_pred_id_a":0.451820612,"mpcc_pred_iq_a":-1.79082954,"mpcc_state":1,"mpcc_theta_e":0.440477371,"mpcc_theta_mech":0.555041432,"sam_rpm":23.9309254,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209155381,"thr_a_norm":0.0209155381,"thr_a_v":0.583662152,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466536969,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.188099,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.89344811,"cg_iw_a":0.854045153,"cg_theta_rad":0.554077148,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0313189216,"mpcc_du":50.0307236,"mpcc_dv":48.716465,"mpcc_dw":51.283535,"mpcc_enc_sign":1,"mpcc_id_a":3.44909406,"mpcc_iq_a":-1.23833859,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.7839303,"mpcc_pred_id_a":0.637151778,"mpcc_pred_iq_a":-2.05717635,"mpcc_state":1,"mpcc_theta_e":0.437301159,"mpcc_theta_mech":0.554406106,"sam_rpm":-10.8554716,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02000916,"thr_a_norm":0.02000916,"thr_a_v":0.58003664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485722154,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.199909,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.96593571,"cg_iw_a":1.07150841,"cg_theta_rad":0.55580765,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0120602353,"mpcc_du":50.1650047,"mpcc_dv":48.7373199,"mpcc_dw":51.2626801,"mpcc_enc_sign":1,"mpcc_id_a":1.3647337,"mpcc_iq_a":-1.06699896,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.9183414,"mpcc_pred_id_a":0.0880969241,"mpcc_pred_iq_a":-0.306924045,"mpcc_state":1,"mpcc_theta_e":0.446791649,"mpcc_theta_mech":0.556304276,"sam_rpm":5.63740587,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02000916,"thr_a_norm":0.02000916,"thr_a_v":0.58003664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485722154,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.210194,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.878620625,"cg_iw_a":0.12916851,"cg_theta_rad":0.554361999,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.00439631054,"mpcc_du":49.7432671,"mpcc_dv":49.5214233,"mpcc_dw":50.4785767,"mpcc_enc_sign":1,"mpcc_id_a":2.29719424,"mpcc_iq_a":-1.64148748,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.25310373,"mpcc_pred_id_a":0.132591233,"mpcc_pred_iq_a":-3.72458696,"mpcc_state":1,"mpcc_theta_e":0.443068981,"mpcc_theta_mech":0.555559754,"sam_rpm":6.07765627,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199210346,"thr_a_norm":0.0199210346,"thr_a_v":0.579684138,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469105065,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.220417,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.82096052,"cg_iw_a":0.636582375,"cg_theta_rad":0.554809451,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0147960335,"mpcc_du":50.2222977,"mpcc_dv":48.7073364,"mpcc_dw":51.2926636,"mpcc_enc_sign":1,"mpcc_id_a":1.31349897,"mpcc_iq_a":-1.35290718,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.29446173,"mpcc_pred_id_a":-0.0268071517,"mpcc_pred_iq_a":-3.33251786,"mpcc_state":1,"mpcc_theta_e":0.439447403,"mpcc_theta_mech":0.554835439,"sam_rpm":-10.6879816,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0355687737,"thr_a_norm":0.0199210346,"thr_a_v":0.642275095,"thr_b":0.00767223537,"thr_b_norm":0,"thr_b_v":0.530688941,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.230122,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.371207237,"cg_iw_a":-2.04546118,"cg_theta_rad":0.556444824,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.13310191,"mpcc_du":49.2539482,"mpcc_dv":50.7460518,"mpcc_dw":50.2928848,"mpcc_enc_sign":1,"mpcc_id_a":4.65578079,"mpcc_iq_a":0.353550136,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.5660915,"mpcc_pred_id_a":0.788896024,"mpcc_pred_iq_a":-6.1541605,"mpcc_state":1,"mpcc_theta_e":0.461453438,"mpcc_theta_mech":0.559236586,"sam_rpm":26.2019291,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0355687737,"thr_a_norm":0.0355687737,"thr_a_v":0.642275095,"thr_b":0.00767223537,"thr_b_norm":0.00767223537,"thr_b_v":0.530688941,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.253498,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.153744221,"cg_iw_a":-2.98780107,"cg_theta_rad":0.557717323,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.00645074341,"mpcc_du":50.1136475,"mpcc_dv":49.2708626,"mpcc_dw":50.7291374,"mpcc_enc_sign":1,"mpcc_id_a":-0.876914084,"mpcc_iq_a":-1.89561474,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.354233772,"mpcc_pred_id_a":-0.972890377,"mpcc_pred_iq_a":-0.0869824365,"mpcc_state":1,"mpcc_theta_e":0.44505024,"mpcc_theta_mech":0.555956006,"sam_rpm":-5.95007277,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226905346,"thr_a_norm":0.0226905346,"thr_a_v":0.590762138,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.260029,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.153744221,"cg_iw_a":-2.55287504,"cg_theta_rad":0.557189941,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.00346915727,"mpcc_du":50.7635193,"mpcc_dv":48.1561775,"mpcc_dw":51.8438225,"mpcc_enc_sign":1,"mpcc_id_a":0.792800486,"mpcc_iq_a":-1.10325634,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.35435247,"mpcc_pred_id_a":-0.340255588,"mpcc_pred_iq_a":0.848112106,"mpcc_state":1,"mpcc_theta_e":0.435731888,"mpcc_theta_mech":0.554092288,"sam_rpm":-9.23873806,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149862617,"thr_a_norm":0.0226905346,"thr_a_v":0.559945047,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447804987,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.26656,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.733645439,"cg_iw_a":-0.595707893,"cg_theta_rad":0.55521816,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0156187033,"mpcc_du":50.6059532,"mpcc_dv":48.1041718,"mpcc_dw":51.8958282,"mpcc_enc_sign":1,"mpcc_id_a":2.28625154,"mpcc_iq_a":-1.33143961,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.6427889,"mpcc_pred_id_a":0.258308232,"mpcc_pred_iq_a":-0.564865768,"mpcc_state":1,"mpcc_theta_e":0.45253849,"mpcc_theta_mech":0.557453632,"sam_rpm":-15.8812304,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149862617,"thr_a_norm":0.0149862617,"thr_a_v":0.559945047,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447804987,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.273273,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.878620625,"cg_iw_a":-1.53804779,"cg_theta_rad":0.552968025,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0465971567,"mpcc_du":49.562664,"mpcc_dv":49.169117,"mpcc_dw":50.830883,"mpcc_enc_sign":1,"mpcc_id_a":4.08215475,"mpcc_iq_a":-0.932389081,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.78469563,"mpcc_pred_id_a":0.868125319,"mpcc_pred_iq_a":-1.45332801,"mpcc_state":1,"mpcc_theta_e":0.447244644,"mpcc_theta_mech":0.556394875,"sam_rpm":8.60583782,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0299164504,"thr_a_norm":0.0299164504,"thr_a_v":0.619665802,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489095896,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.283283,"values":{"cg_iu_a":-0.627813578,"cg_iv_a":0.0637187958,"cg_iw_a":2.23131108,"cg_theta_rad":0.556910634,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.00844584964,"mpcc_du":49.9850655,"mpcc_dv":48.9438324,"mpcc_dw":51.0561676,"mpcc_enc_sign":1,"mpcc_id_a":-0.0540794395,"mpcc_iq_a":-1.39740479,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.0589561,"mpcc_pred_id_a":0.0528669991,"mpcc_pred_iq_a":-1.78245485,"mpcc_state":1,"mpcc_theta_e":0.428923607,"mpcc_theta_mech":0.55273068,"sam_rpm":-19.8417339,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0299164504,"thr_a_norm":0.0299164504,"thr_a_v":0.619665802,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489095896,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.29369,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-1.24105906,"cg_iw_a":-0.305757284,"cg_theta_rad":0.553559542,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0024011042,"mpcc_du":50.6869812,"mpcc_dv":48.3849754,"mpcc_dw":51.6150246,"mpcc_enc_sign":1,"mpcc_id_a":-0.0022765717,"mpcc_iq_a":-2.62821388,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.8529148,"mpcc_pred_id_a":-0.69080615,"mpcc_pred_iq_a":-3.18343282,"mpcc_state":1,"mpcc_theta_e":0.437685013,"mpcc_theta_mech":0.554482937,"sam_rpm":-17.8022766,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.102804974,"thr_a_norm":0.102804974,"thr_a_v":0.911219895,"thr_b":0.0456649065,"thr_b_norm":0.0456649065,"thr_b_v":0.682659626,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.303883,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.878620625,"cg_iw_a":-2.40789986,"cg_theta_rad":0.55579263,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.00446897652,"mpcc_du":49.4325981,"mpcc_dv":50.5674019,"mpcc_dw":50.1047211,"mpcc_enc_sign":1,"mpcc_id_a":-0.54272908,"mpcc_iq_a":-1.86946273,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.39737082,"mpcc_pred_id_a":-0.40391919,"mpcc_pred_iq_a":-3.42573071,"mpcc_state":1,"mpcc_theta_e":0.444830418,"mpcc_theta_mech":0.555912018,"sam_rpm":10.4595442,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023836121,"thr_a_norm":0.102804974,"thr_a_v":0.595344484,"thr_b":0,"thr_b_norm":0.0456649065,"thr_b_v":0.480988771,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.313892,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.951108456,"cg_iw_a":-0.595707893,"cg_theta_rad":0.557150364,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0558834113,"mpcc_du":49.7002068,"mpcc_dv":49.1582413,"mpcc_dw":50.8417587,"mpcc_enc_sign":1,"mpcc_id_a":3.63164067,"mpcc_iq_a":-0.530991614,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.2131784,"mpcc_pred_id_a":0.488291591,"mpcc_pred_iq_a":-3.41340899,"mpcc_state":1,"mpcc_theta_e":0.447337627,"mpcc_theta_mech":0.55527401,"sam_rpm":3.23071218,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023836121,"thr_a_norm":0.023836121,"thr_a_v":0.595344484,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480988771,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.324055,"values":{"cg_iu_a":3.93890953,"cg_iv_a":-1.09608364,"cg_iw_a":0.564094543,"cg_theta_rad":0.553498805,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0187302753,"mpcc_du":49.6802216,"mpcc_dv":50.0853386,"mpcc_dw":50.3197784,"mpcc_enc_sign":1,"mpcc_id_a":-0.0841344222,"mpcc_iq_a":-2.12639904,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.25009561,"mpcc_pred_id_a":-0.710209608,"mpcc_pred_iq_a":-1.8236196,"mpcc_state":1,"mpcc_theta_e":0.436096191,"mpcc_theta_mech":0.554165184,"sam_rpm":1.94031775,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250446349,"thr_a_norm":0.0250446349,"thr_a_v":0.60017854,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49156329,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.333881,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.38603449,"cg_iw_a":0.491607189,"cg_theta_rad":0.555202961,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0319231339,"mpcc_du":50.5683975,"mpcc_dv":48.2680435,"mpcc_dw":51.7319565,"mpcc_enc_sign":1,"mpcc_id_a":0.858699679,"mpcc_iq_a":-0.446080208,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.842556,"mpcc_pred_id_a":0.0147581436,"mpcc_pred_iq_a":-1.80280101,"mpcc_state":1,"mpcc_theta_e":0.440052032,"mpcc_theta_mech":0.554956317,"sam_rpm":-9.20597458,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250446349,"thr_a_norm":0.0250446349,"thr_a_v":0.60017854,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49156329,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.357136,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-2.90827537,"cg_iw_a":0.201656103,"cg_theta_rad":0.552262127,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.122164495,"mpcc_du":49.3085632,"mpcc_dv":50.6277771,"mpcc_dw":50.6914368,"mpcc_enc_sign":1,"mpcc_id_a":6.91050911,"mpcc_iq_a":-0.547872484,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.1331439,"mpcc_pred_id_a":1.7786392,"mpcc_pred_iq_a":-4.87112188,"mpcc_state":1,"mpcc_theta_e":0.44393301,"mpcc_theta_mech":0.555732548,"sam_rpm":4.08397055,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0267692804,"thr_a_norm":0.0267692804,"thr_a_v":0.607077122,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490908653,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.363667,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.878620625,"cg_iw_a":0.491606712,"cg_theta_rad":0.555460274,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0433695167,"mpcc_du":50.585453,"mpcc_dv":48.0878105,"mpcc_dw":51.9121895,"mpcc_enc_sign":1,"mpcc_id_a":3.18277168,"mpcc_iq_a":-0.0823403075,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.6889925,"mpcc_pred_id_a":0.446366608,"mpcc_pred_iq_a":-1.06519246,"mpcc_state":1,"mpcc_theta_e":0.432606697,"mpcc_theta_mech":0.553467274,"sam_rpm":-17.188242,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250572115,"thr_a_norm":0.0267692804,"thr_a_v":0.600228846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481945544,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.370167,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.31354666,"cg_iw_a":-1.39307261,"cg_theta_rad":0.555476964,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0502964891,"mpcc_du":50.1095848,"mpcc_dv":48.6082764,"mpcc_dw":51.3917236,"mpcc_enc_sign":1,"mpcc_id_a":3.88442135,"mpcc_iq_a":-0.493271738,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.350562811,"mpcc_pred_id_a":0.705959082,"mpcc_pred_iq_a":-0.732179224,"mpcc_state":1,"mpcc_theta_e":0.442550659,"mpcc_theta_mech":0.555456042,"sam_rpm":-0.35228616,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250572115,"thr_a_norm":0.0250572115,"thr_a_v":0.600228846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481945544,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.376759,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.806133032,"cg_iw_a":-0.595708132,"cg_theta_rad":0.556169152,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0492735617,"mpcc_du":49.1742439,"mpcc_dv":50.8257561,"mpcc_dw":50.0907364,"mpcc_enc_sign":1,"mpcc_id_a":4.00482225,"mpcc_iq_a":0.0754255727,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.53798008,"mpcc_pred_id_a":0.591994107,"mpcc_pred_iq_a":-4.85605764,"mpcc_state":1,"mpcc_theta_e":0.448257446,"mpcc_theta_mech":0.556597412,"sam_rpm":13.8312464,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264293849,"thr_a_norm":0.0264293849,"thr_a_v":0.60571754,"thr_b":0.00125201046,"thr_b_norm":0.00125201046,"thr_b_v":0.505008042,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.384663,"values":{"cg_iu_a":2.41666842,"cg_iv_a":0.208694458,"cg_iw_a":0.346631527,"cg_theta_rad":0.554439366,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0299355034,"mpcc_du":50.0741043,"mpcc_dv":48.8491631,"mpcc_dw":51.1508369,"mpcc_enc_sign":1,"mpcc_id_a":2.33801532,"mpcc_iq_a":0.463935643,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.17878628,"mpcc_pred_id_a":0.234381139,"mpcc_pred_iq_a":0.503403723,"mpcc_state":1,"mpcc_theta_e":0.445952415,"mpcc_theta_mech":0.556136429,"sam_rpm":8.98888588,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264293849,"thr_a_norm":0.0264293849,"thr_a_v":0.60571754,"thr_b":0.00125201046,"thr_b_norm":0.00125201046,"thr_b_v":0.505008042,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.395069,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-2.18339872,"cg_iw_a":0.274143934,"cg_theta_rad":0.557403862,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0482648984,"mpcc_du":49.7994118,"mpcc_dv":49.2796173,"mpcc_dw":50.7203827,"mpcc_enc_sign":1,"mpcc_id_a":3.03930736,"mpcc_iq_a":-0.567213774,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.6988349,"mpcc_pred_id_a":-0.0303659104,"mpcc_pred_iq_a":-3.52670026,"mpcc_state":1,"mpcc_theta_e":0.445474625,"mpcc_theta_mech":0.556040823,"sam_rpm":13.1069221,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241760015,"thr_a_norm":0.0241760015,"thr_a_v":0.596704006,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475500137,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.405079,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.31354666,"cg_iw_a":0.346631527,"cg_theta_rad":0.557921886,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0633582547,"mpcc_du":49.5639763,"mpcc_dv":49.256218,"mpcc_dw":50.743782,"mpcc_enc_sign":1,"mpcc_id_a":1.42755687,"mpcc_iq_a":-0.268678129,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.95417786,"mpcc_pred_id_a":0.784471989,"mpcc_pred_iq_a":-1.49226952,"mpcc_state":1,"mpcc_theta_e":0.451221466,"mpcc_theta_mech":0.55719018,"sam_rpm":11.5509872,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197447985,"thr_a_norm":0.0241760015,"thr_a_v":0.578979194,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472277433,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.415058,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.298719406,"cg_iw_a":-1.17560959,"cg_theta_rad":0.557871103,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0360795707,"mpcc_du":50.2523079,"mpcc_dv":48.5603676,"mpcc_dw":51.4396324,"mpcc_enc_sign":1,"mpcc_id_a":1.32293761,"mpcc_iq_a":0.0256353766,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.620428622,"mpcc_pred_id_a":0.271681815,"mpcc_pred_iq_a":-1.17459738,"mpcc_state":1,"mpcc_theta_e":0.442775249,"mpcc_theta_mech":0.555500925,"sam_rpm":0.368118495,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197447985,"thr_a_norm":0.0197447985,"thr_a_v":0.578979194,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472277433,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.425282,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.84282589,"cg_theta_rad":0.556926489,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.00577095104,"mpcc_du":50.6350365,"mpcc_dv":48.1416702,"mpcc_dw":51.8583298,"mpcc_enc_sign":1,"mpcc_id_a":1.37962699,"mpcc_iq_a":-2.4306345,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.4292488,"mpcc_pred_id_a":0.0244521461,"mpcc_pred_iq_a":-0.685313165,"mpcc_state":1,"mpcc_theta_e":0.432696819,"mpcc_theta_mech":0.553485274,"sam_rpm":-19.3096199,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023206681,"thr_a_norm":0.023206681,"thr_a_v":0.592826724,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497152656,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.437489,"values":{"cg_iu_a":2.63413143,"cg_iv_a":0.353669643,"cg_iw_a":-1.10312176,"cg_theta_rad":0.555915058,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.00150213996,"mpcc_du":49.9040527,"mpcc_dv":48.8057709,"mpcc_dw":51.1942291,"mpcc_enc_sign":1,"mpcc_id_a":0.765448391,"mpcc_iq_a":-0.816217601,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.399191469,"mpcc_pred_id_a":-0.363121986,"mpcc_pred_iq_a":-4.64432001,"mpcc_state":1,"mpcc_theta_e":0.438072205,"mpcc_theta_mech":0.551787853,"sam_rpm":-6.14840746,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024113059,"thr_a_norm":0.023206681,"thr_a_v":0.596452236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474996537,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.460316,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.951108456,"cg_iw_a":-0.378244877,"cg_theta_rad":0.555148423,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0638604313,"mpcc_du":50.5457573,"mpcc_dv":48.2481918,"mpcc_dw":51.7518082,"mpcc_enc_sign":1,"mpcc_id_a":2.59172702,"mpcc_iq_a":-0.691311538,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.98614645,"mpcc_pred_id_a":0.124873109,"mpcc_pred_iq_a":-0.425563484,"mpcc_state":1,"mpcc_theta_e":0.450550556,"mpcc_theta_mech":0.55705601,"sam_rpm":7.38162804,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024113059,"thr_a_norm":0.024113059,"thr_a_v":0.596452236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474996537,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.466816,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.951108456,"cg_iw_a":-0.958146095,"cg_theta_rad":0.556707799,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.000641925377,"mpcc_du":49.5976677,"mpcc_dv":49.9248123,"mpcc_dw":50.4023323,"mpcc_enc_sign":1,"mpcc_id_a":-0.215469941,"mpcc_iq_a":-1.69922018,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.28348076,"mpcc_pred_id_a":-0.341000587,"mpcc_pred_iq_a":-4.42297554,"mpcc_state":1,"mpcc_theta_e":0.441946983,"mpcc_theta_mech":0.555335283,"sam_rpm":1.58085382,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228919685,"thr_a_norm":0.0228919685,"thr_a_v":0.591567874,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487434179,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.473377,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.53100967,"cg_iw_a":0.346631527,"cg_theta_rad":0.555237651,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.00834337249,"mpcc_du":49.5526695,"mpcc_dv":49.6188316,"mpcc_dw":50.4473305,"mpcc_enc_sign":1,"mpcc_id_a":0.891192555,"mpcc_iq_a":-0.883341134,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.51842356,"mpcc_pred_id_a":-0.117584184,"mpcc_pred_iq_a":-3.53590178,"mpcc_state":1,"mpcc_theta_e":0.444365025,"mpcc_theta_mech":0.555818915,"sam_rpm":5.09254599,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228919685,"thr_a_norm":0.0228919685,"thr_a_v":0.591567874,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487434179,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.479847,"values":{"cg_iu_a":2.5616436,"cg_iv_a":0.0637187958,"cg_iw_a":-0.668195724,"cg_theta_rad":0.557668447,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0756878629,"mpcc_du":49.2841339,"mpcc_dv":50.7158661,"mpcc_dw":50.3131142,"mpcc_enc_sign":1,"mpcc_id_a":4.4342289,"mpcc_iq_a":-1.56095576,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":20.6897373,"mpcc_pred_id_a":0.563103437,"mpcc_pred_iq_a":-4.97948933,"mpcc_state":1,"mpcc_theta_e":0.464309692,"mpcc_theta_mech":0.559807897,"sam_rpm":30.7407246,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253719389,"thr_a_norm":0.0253719389,"thr_a_v":0.601487756,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.490101,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.89344811,"cg_iw_a":-0.813171148,"cg_theta_rad":0.555912614,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.00840651803,"mpcc_du":50.1229134,"mpcc_dv":48.9322968,"mpcc_dw":51.0677032,"mpcc_enc_sign":1,"mpcc_id_a":0.40459317,"mpcc_iq_a":-2.30087018,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.53166199,"mpcc_pred_id_a":-0.42400977,"mpcc_pred_iq_a":-1.88612771,"mpcc_state":1,"mpcc_theta_e":0.431262493,"mpcc_theta_mech":0.553198397,"sam_rpm":-15.4535179,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192412436,"thr_a_norm":0.0253719389,"thr_a_v":0.576964974,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461249709,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.501972,"values":{"cg_iu_a":2.48915625,"cg_iv_a":1.51347208,"cg_iw_a":-4.00262833,"cg_theta_rad":0.557155311,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.000898694037,"mpcc_du":49.983326,"mpcc_dv":48.8601074,"mpcc_dw":51.1398926,"mpcc_enc_sign":1,"mpcc_id_a":0.172720268,"mpcc_iq_a":-2.90376997,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.97213233,"mpcc_pred_id_a":-0.579868734,"mpcc_pred_iq_a":-4.16230345,"mpcc_state":1,"mpcc_theta_e":0.443426609,"mpcc_theta_mech":0.555355608,"sam_rpm":-3.17917013,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192412436,"thr_a_norm":0.0192412436,"thr_a_v":0.576964974,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461249709,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.512074,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.16857147,"cg_iw_a":0.12916851,"cg_theta_rad":0.555434942,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0016629874,"mpcc_du":50.5148926,"mpcc_dv":48.2864304,"mpcc_dw":51.7135696,"mpcc_enc_sign":1,"mpcc_id_a":0.551369786,"mpcc_iq_a":-1.12105203,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.8165369,"mpcc_pred_id_a":-0.0305158682,"mpcc_pred_iq_a":-0.303149611,"mpcc_state":1,"mpcc_theta_e":0.427981377,"mpcc_theta_mech":0.55254221,"sam_rpm":-21.940197,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245788544,"thr_a_norm":0.0245788544,"thr_a_v":0.598315418,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.522297,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-0.951108456,"cg_iw_a":0.78155756,"cg_theta_rad":0.553224623,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.012220297,"mpcc_du":49.9895058,"mpcc_dv":48.8644333,"mpcc_dw":51.1355667,"mpcc_enc_sign":1,"mpcc_id_a":2.10342693,"mpcc_iq_a":-2.58625364,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.5758686,"mpcc_pred_id_a":0.242903605,"mpcc_pred_iq_a":-3.43882585,"mpcc_state":1,"mpcc_theta_e":0.434424877,"mpcc_theta_mech":0.553830922,"sam_rpm":-16.7691231,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208903551,"thr_a_norm":0.0245788544,"thr_a_v":0.58356142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458631247,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.532063,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.24105906,"cg_iw_a":0.274144173,"cg_theta_rad":0.553190649,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0306845848,"mpcc_du":49.7700806,"mpcc_dv":49.1155624,"mpcc_dw":50.8844376,"mpcc_enc_sign":1,"mpcc_id_a":2.0730238,"mpcc_iq_a":-0.422783494,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.365678102,"mpcc_pred_id_a":0.312218964,"mpcc_pred_iq_a":-2.99543214,"mpcc_state":1,"mpcc_theta_e":0.442824364,"mpcc_theta_mech":0.555510819,"sam_rpm":1.51061845,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208903551,"thr_a_norm":0.0208903551,"thr_a_v":0.58356142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458631247,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.555286,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.806133032,"cg_iw_a":0.346631527,"cg_theta_rad":0.556169689,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0187490713,"mpcc_du":51.3928757,"mpcc_dv":50.4221191,"mpcc_dw":50.2013092,"mpcc_enc_sign":1,"mpcc_id_a":0.489099711,"mpcc_iq_a":-0.0363814496,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.60851,"mpcc_pred_id_a":-0.485500664,"mpcc_pred_iq_a":1.29092538,"mpcc_state":1,"mpcc_theta_e":0.431402206,"mpcc_theta_mech":0.553226352,"sam_rpm":-22.3099403,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024062708,"thr_a_norm":0.024062708,"thr_a_v":0.596250832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462861091,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.561787,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-2.76329994,"cg_iw_a":0.0566806793,"cg_theta_rad":0.555890143,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.058501035,"mpcc_du":49.5442276,"mpcc_dv":49.1293106,"mpcc_dw":50.8706894,"mpcc_enc_sign":1,"mpcc_id_a":4.37515306,"mpcc_iq_a":0.171040818,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.42761421,"mpcc_pred_id_a":1.07249081,"mpcc_pred_iq_a":0.0386404879,"mpcc_state":1,"mpcc_theta_e":0.44940424,"mpcc_theta_mech":0.55682677,"sam_rpm":13.7767029,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024062708,"thr_a_norm":0.024062708,"thr_a_v":0.596250832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462861091,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.568378,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.82096052,"cg_iw_a":-1.75551081,"cg_theta_rad":0.554038882,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.00517643848,"mpcc_du":48.9112816,"mpcc_dv":51.0887184,"mpcc_dw":49.2428932,"mpcc_enc_sign":1,"mpcc_id_a":-0.100008629,"mpcc_iq_a":-0.597739398,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.116396,"mpcc_pred_id_a":-1.14106166,"mpcc_pred_iq_a":-6.63979864,"mpcc_state":1,"mpcc_theta_e":0.449325085,"mpcc_theta_mech":0.556810915,"sam_rpm":15.8291845,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021368742,"thr_a_norm":0.021368742,"thr_a_v":0.585474968,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472075969,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.574879,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.733645439,"cg_iw_a":-2.26292419,"cg_theta_rad":0.552775979,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.00431024982,"mpcc_du":50.5030746,"mpcc_dv":48.516407,"mpcc_dw":51.483593,"mpcc_enc_sign":1,"mpcc_id_a":0.409039617,"mpcc_iq_a":-1.36154497,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.3037567,"mpcc_pred_id_a":-0.249503508,"mpcc_pred_iq_a":-0.897945464,"mpcc_state":1,"mpcc_theta_e":0.456096172,"mpcc_theta_mech":0.558165133,"sam_rpm":-9.04014206,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021368742,"thr_a_norm":0.021368742,"thr_a_v":0.585474968,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472075969,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.582844,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.62536287,"cg_theta_rad":0.555973232,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.00881859567,"mpcc_du":49.6211777,"mpcc_dv":49.8729248,"mpcc_dw":50.3788223,"mpcc_enc_sign":1,"mpcc_id_a":0.223103568,"mpcc_iq_a":-1.29887724,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.41926956,"mpcc_pred_id_a":-0.404468507,"mpcc_pred_iq_a":-4.44790697,"mpcc_state":1,"mpcc_theta_e":0.434783936,"mpcc_theta_mech":0.553902686,"sam_rpm":7.0916419,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023533985,"thr_a_norm":0.023533985,"thr_a_v":0.59413594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477564633,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.592884,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.25588632,"cg_iw_a":-1.97297335,"cg_theta_rad":0.555209219,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0200455785,"mpcc_du":50.4504242,"mpcc_dv":48.5466385,"mpcc_dw":51.4533615,"mpcc_enc_sign":1,"mpcc_id_a":2.57747793,"mpcc_iq_a":-0.877847493,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.84146643,"mpcc_pred_id_a":0.168228924,"mpcc_pred_iq_a":-4.31250906,"mpcc_state":1,"mpcc_theta_e":0.437562466,"mpcc_theta_mech":0.552259088,"sam_rpm":-20.104229,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225646496,"thr_a_norm":0.023533985,"thr_a_v":0.590258598,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.603046,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.74847269,"cg_iw_a":-0.668195724,"cg_theta_rad":0.55453068,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0380193889,"mpcc_du":50.1086426,"mpcc_dv":48.920311,"mpcc_dw":51.079689,"mpcc_enc_sign":1,"mpcc_id_a":-0.369612634,"mpcc_iq_a":-1.4899708,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.88995647,"mpcc_pred_id_a":-0.143700004,"mpcc_pred_iq_a":-1.84425557,"mpcc_state":1,"mpcc_theta_e":0.449505329,"mpcc_theta_mech":0.556846976,"sam_rpm":4.48400307,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225646496,"thr_a_norm":0.0225646496,"thr_a_v":0.590258598,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.61327,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.74847269,"cg_iw_a":1.36145878,"cg_theta_rad":0.555355608,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0250903834,"mpcc_du":50.7335472,"mpcc_dv":47.7120857,"mpcc_dw":52.2879143,"mpcc_enc_sign":1,"mpcc_id_a":3.11410427,"mpcc_iq_a":-1.61460054,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.5488205,"mpcc_pred_id_a":0.873183429,"mpcc_pred_iq_a":1.86598837,"mpcc_state":1,"mpcc_theta_e":0.431740284,"mpcc_theta_mech":0.553293943,"sam_rpm":-18.2329941,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0146841258,"thr_a_norm":0.0146841258,"thr_a_v":0.558736503,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.623249,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.153744221,"cg_iw_a":-1.82799816,"cg_theta_rad":0.554300904,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0405788906,"mpcc_du":49.294899,"mpcc_dv":50.705101,"mpcc_dw":50.3314247,"mpcc_enc_sign":1,"mpcc_id_a":3.17677522,"mpcc_iq_a":-1.30386412,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.29062176,"mpcc_pred_id_a":0.753014565,"mpcc_pred_iq_a":-2.73801661,"mpcc_state":1,"mpcc_theta_e":0.427225113,"mpcc_theta_mech":0.552390933,"sam_rpm":3.18892002,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0146841258,"thr_a_norm":0.0146841258,"thr_a_v":0.558736503,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.633289,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.24105906,"cg_iw_a":0.41911912,"cg_theta_rad":0.557918549,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0112544876,"mpcc_du":49.4455452,"mpcc_dv":50.5544548,"mpcc_dw":50.1464119,"mpcc_enc_sign":1,"mpcc_id_a":0.283217013,"mpcc_iq_a":-1.51193261,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.789280474,"mpcc_pred_id_a":-0.26611653,"mpcc_pred_iq_a":-4.01646519,"mpcc_state":1,"mpcc_theta_e":0.435353279,"mpcc_theta_mech":0.55401659,"sam_rpm":-2.99121356,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167990327,"thr_a_norm":0.0167990327,"thr_a_v":0.567196131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.429677248,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.656727,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.16857147,"cg_iw_a":-1.75551081,"cg_theta_rad":0.553682566,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.000926916895,"mpcc_du":51.5426178,"mpcc_dv":47.1421623,"mpcc_dw":52.8578377,"mpcc_enc_sign":1,"mpcc_id_a":0.00532632275,"mpcc_iq_a":-2.84857321,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.9643135,"mpcc_pred_id_a":-0.27602461,"mpcc_pred_iq_a":2.18662477,"mpcc_state":1,"mpcc_theta_e":0.426928997,"mpcc_theta_mech":0.552331746,"sam_rpm":-26.3922005,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206637681,"thr_a_norm":0.0167990327,"thr_a_v":0.582655072,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461652547,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.663258,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.733645439,"cg_iw_a":-1.68302298,"cg_theta_rad":0.557761192,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0115568787,"mpcc_du":50.0835381,"mpcc_dv":48.7938004,"mpcc_dw":51.2061996,"mpcc_enc_sign":1,"mpcc_id_a":1.73403919,"mpcc_iq_a":-0.798985302,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.43740177,"mpcc_pred_id_a":0.220247746,"mpcc_pred_iq_a":-2.70846462,"mpcc_state":1,"mpcc_theta_e":0.433898449,"mpcc_theta_mech":0.5537256,"sam_rpm":-13.9611807,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206637681,"thr_a_norm":0.0206637681,"thr_a_v":0.582655072,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461652547,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.669758,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.371207237,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556039393,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0154866166,"mpcc_du":49.5169792,"mpcc_dv":49.7352257,"mpcc_dw":50.4830208,"mpcc_enc_sign":1,"mpcc_id_a":2.08797574,"mpcc_iq_a":-1.89525354,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.1658926,"mpcc_pred_id_a":0.249701053,"mpcc_pred_iq_a":-2.87117743,"mpcc_state":1,"mpcc_theta_e":0.452689648,"mpcc_theta_mech":0.557483852,"sam_rpm":16.1334438,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190146565,"thr_a_norm":0.0190146565,"thr_a_v":0.576058626,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463112861,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.676289,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.16857147,"cg_iw_a":-0.16078186,"cg_theta_rad":0.552314281,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0185692031,"mpcc_du":50.0847626,"mpcc_dv":48.8106155,"mpcc_dw":51.1893845,"mpcc_enc_sign":1,"mpcc_id_a":2.15187955,"mpcc_iq_a":-1.43883944,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.72131586,"mpcc_pred_id_a":0.1798058,"mpcc_pred_iq_a":-0.853864849,"mpcc_state":1,"mpcc_theta_e":0.444931507,"mpcc_theta_mech":0.556471825,"sam_rpm":5.83421516,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190146565,"thr_a_norm":0.0190146565,"thr_a_v":0.576058626,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463112861,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.684284,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.02359605,"cg_iw_a":-1.32058477,"cg_theta_rad":0.556142092,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0367336161,"mpcc_du":50.3858414,"mpcc_dv":48.439827,"mpcc_dw":51.560173,"mpcc_enc_sign":1,"mpcc_id_a":2.3416369,"mpcc_iq_a":0.85635525,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.29692745,"mpcc_pred_id_a":0.186863914,"mpcc_pred_iq_a":-1.2868576,"mpcc_state":1,"mpcc_theta_e":0.434094429,"mpcc_theta_mech":0.55376482,"sam_rpm":-13.7625027,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295891464,"thr_a_norm":0.0295891464,"thr_a_v":0.618356586,"thr_b":0.00397115946,"thr_b_norm":0.00397115946,"thr_b_v":0.515884638,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.694477,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.82096052,"cg_iw_a":0.419119358,"cg_theta_rad":0.553185344,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0276794136,"mpcc_du":50.241787,"mpcc_dv":48.8749123,"mpcc_dw":51.1250877,"mpcc_enc_sign":1,"mpcc_id_a":-0.0872712657,"mpcc_iq_a":-0.742550254,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.159034893,"mpcc_pred_id_a":-0.38780424,"mpcc_pred_iq_a":-2.72945929,"mpcc_state":1,"mpcc_theta_e":0.446658611,"mpcc_theta_mech":0.55559659,"sam_rpm":0.801128209,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023206681,"thr_a_norm":0.0295891464,"thr_a_v":0.592826724,"thr_b":0,"thr_b_norm":0.00397115946,"thr_b_v":0.494685292,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.70647,"values":{"cg_iu_a":0.894427299,"cg_iv_a":0.281181812,"cg_iw_a":-3.9301405,"cg_theta_rad":0.55598253,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0193911809,"mpcc_du":49.552597,"mpcc_dv":50.447403,"mpcc_dw":50.299633,"mpcc_enc_sign":1,"mpcc_id_a":0.519004345,"mpcc_iq_a":-1.34599531,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.52632928,"mpcc_pred_id_a":-0.62859422,"mpcc_pred_iq_a":0.184078678,"mpcc_state":1,"mpcc_theta_e":0.436515331,"mpcc_theta_mech":0.555319905,"sam_rpm":1.3020128,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023206681,"thr_a_norm":0.023206681,"thr_a_v":0.592826724,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494685292,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.716724,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.09608364,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.55641973,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0793973356,"mpcc_du":50.4971771,"mpcc_dv":48.0819435,"mpcc_dw":51.9180565,"mpcc_enc_sign":1,"mpcc_id_a":3.24908781,"mpcc_iq_a":0.575585723,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.22699833,"mpcc_pred_id_a":0.643202066,"mpcc_pred_iq_a":-1.37465119,"mpcc_state":1,"mpcc_theta_e":0.43358326,"mpcc_theta_mech":0.553662539,"sam_rpm":-11.3500385,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024818033,"thr_a_norm":0.024818033,"thr_a_v":0.599272132,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492520034,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.726856,"values":{"cg_iu_a":-0.265375137,"cg_iv_a":-0.371207237,"cg_iw_a":0.636582375,"cg_theta_rad":0.554364204,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0277386345,"mpcc_du":50.5880127,"mpcc_dv":48.4737091,"mpcc_dw":51.5262909,"mpcc_enc_sign":1,"mpcc_id_a":0.312376201,"mpcc_iq_a":-1.07606161,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.45295095,"mpcc_pred_id_a":-0.535115778,"mpcc_pred_iq_a":-2.78753209,"mpcc_state":1,"mpcc_theta_e":0.450149059,"mpcc_theta_mech":0.556975722,"sam_rpm":-8.87049294,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026731506,"thr_a_norm":0.024818033,"thr_a_v":0.606926024,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485772491,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.736866,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.443694592,"cg_iw_a":-1.68302321,"cg_theta_rad":0.557548404,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.00313442969,"mpcc_du":49.3508644,"mpcc_dv":50.6491356,"mpcc_dw":49.988018,"mpcc_enc_sign":1,"mpcc_id_a":0.124250747,"mpcc_iq_a":-1.81681108,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.65785885,"mpcc_pred_id_a":-0.394571751,"mpcc_pred_iq_a":-3.5675025,"mpcc_state":1,"mpcc_theta_e":0.445136547,"mpcc_theta_mech":0.555973232,"sam_rpm":11.4126892,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026731506,"thr_a_norm":0.026731506,"thr_a_v":0.606926024,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485772491,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.760059,"values":{"cg_iu_a":-1.42517781,"cg_iv_a":-1.6759851,"cg_iw_a":3.10116291,"cg_theta_rad":0.554874003,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0130309928,"mpcc_du":49.9466667,"mpcc_dv":49.1685905,"mpcc_dw":50.8314095,"mpcc_enc_sign":1,"mpcc_id_a":-0.148789078,"mpcc_iq_a":-1.03802645,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.993224204,"mpcc_pred_id_a":-0.194789067,"mpcc_pred_iq_a":-3.05034137,"mpcc_state":1,"mpcc_theta_e":0.446996689,"mpcc_theta_mech":0.556345224,"sam_rpm":1.79344869,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151876807,"thr_a_norm":0.0151876807,"thr_a_v":0.560750723,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448459595,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.76659,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.6759851,"cg_iw_a":-1.46555996,"cg_theta_rad":0.553448319,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0298555065,"mpcc_du":49.5744591,"mpcc_dv":49.561039,"mpcc_dw":50.438961,"mpcc_enc_sign":1,"mpcc_id_a":1.40129828,"mpcc_iq_a":-0.489295185,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.47608471,"mpcc_pred_id_a":-0.0119615439,"mpcc_pred_iq_a":-3.27203774,"mpcc_state":1,"mpcc_theta_e":0.451718807,"mpcc_theta_mech":0.55728972,"sam_rpm":13.1569767,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151876807,"thr_a_norm":0.0151876807,"thr_a_v":0.560750723,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448459595,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.773151,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.806133032,"cg_iw_a":-1.32058454,"cg_theta_rad":0.552791417,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.00634088926,"mpcc_du":50.7766762,"mpcc_dv":47.9504051,"mpcc_dw":52.0495949,"mpcc_enc_sign":1,"mpcc_id_a":1.54742765,"mpcc_iq_a":-0.506965876,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.8643494,"mpcc_pred_id_a":0.142070428,"mpcc_pred_iq_a":-0.279416025,"mpcc_state":1,"mpcc_theta_e":0.422094345,"mpcc_theta_mech":0.551364779,"sam_rpm":-29.6338177,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204749405,"thr_a_norm":0.0204749405,"thr_a_v":0.581899762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457724869,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.779865,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-2.18339872,"cg_iw_a":-0.595707893,"cg_theta_rad":0.555396736,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.00829922687,"mpcc_du":49.5706444,"mpcc_dv":49.7696686,"mpcc_dw":50.4293556,"mpcc_enc_sign":1,"mpcc_id_a":1.3578707,"mpcc_iq_a":-0.916167259,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0615010932,"mpcc_pred_id_a":0.12165799,"mpcc_pred_iq_a":-2.14094377,"mpcc_state":1,"mpcc_theta_e":0.442156792,"mpcc_theta_mech":0.556000412,"sam_rpm":-0.452826738,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284435749,"thr_a_norm":0.0284435749,"thr_a_v":0.6137743,"thr_b":0.00269970298,"thr_b_norm":0.00269970298,"thr_b_v":0.510798812,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.789783,"values":{"cg_iu_a":-0.772789001,"cg_iv_a":-1.24105906,"cg_iw_a":2.01384807,"cg_theta_rad":0.555994153,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.050427679,"mpcc_du":49.6358948,"mpcc_dv":50.3537979,"mpcc_dw":49.7455826,"mpcc_enc_sign":1,"mpcc_id_a":0.84722209,"mpcc_iq_a":-3.06175923,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.085886769,"mpcc_pred_id_a":0.0238301363,"mpcc_pred_iq_a":-2.12921906,"mpcc_state":1,"mpcc_theta_e":0.433204651,"mpcc_theta_mech":0.552512228,"sam_rpm":-2.28920913,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284435749,"thr_a_norm":0.0284435749,"thr_a_v":0.6137743,"thr_b":0.00269970298,"thr_b_norm":0.00269970298,"thr_b_v":0.510798812,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.799946,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-2.98076296,"cg_iw_a":0.274143696,"cg_theta_rad":0.557876647,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0173052512,"mpcc_du":49.9450073,"mpcc_dv":49.348259,"mpcc_dw":50.4208183,"mpcc_enc_sign":1,"mpcc_id_a":0.176636472,"mpcc_iq_a":-1.23015189,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.91586709,"mpcc_pred_id_a":-0.48408711,"mpcc_pred_iq_a":0.0994224176,"mpcc_state":1,"mpcc_theta_e":0.433444023,"mpcc_theta_mech":0.554737568,"sam_rpm":-6.16025925,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214316845,"thr_a_norm":0.0214316845,"thr_a_v":0.585726738,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466939807,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.810078,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.443694592,"cg_iw_a":-2.98780107,"cg_theta_rad":0.55553484,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0599196032,"mpcc_du":50.3208237,"mpcc_dv":48.8226128,"mpcc_dw":51.1773872,"mpcc_enc_sign":1,"mpcc_id_a":0.467360228,"mpcc_iq_a":-0.919869065,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.21114063,"mpcc_pred_id_a":-0.175432205,"mpcc_pred_iq_a":-2.64932203,"mpcc_state":1,"mpcc_theta_e":0.451594353,"mpcc_theta_mech":0.557264745,"sam_rpm":10.2962065,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188761801,"thr_a_norm":0.0214316845,"thr_a_v":0.57550472,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455458879,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.820881,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.0087685585,"cg_iw_a":-1.24809742,"cg_theta_rad":0.556741297,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0685598925,"mpcc_du":50.3232536,"mpcc_dv":48.414978,"mpcc_dw":51.585022,"mpcc_enc_sign":1,"mpcc_id_a":2.08990312,"mpcc_iq_a":0.95387435,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.53911835,"mpcc_pred_id_a":0.683550537,"mpcc_pred_iq_a":-0.515054941,"mpcc_state":1,"mpcc_theta_e":0.44581604,"mpcc_theta_mech":0.55610913,"sam_rpm":2.47448802,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188761801,"thr_a_norm":0.0188761801,"thr_a_v":0.57550472,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455458879,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.83025,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.740683556,"cg_theta_rad":0.557234824,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0529058315,"mpcc_du":50.166069,"mpcc_dv":49.0738373,"mpcc_dw":50.9261627,"mpcc_enc_sign":1,"mpcc_id_a":0.124045216,"mpcc_iq_a":0.0866011828,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.55072784,"mpcc_pred_id_a":-0.469025046,"mpcc_pred_iq_a":-2.45131779,"mpcc_state":1,"mpcc_theta_e":0.450275898,"mpcc_theta_mech":0.557001114,"sam_rpm":9.80778694,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0293247849,"thr_a_norm":0.0293247849,"thr_a_v":0.617299139,"thr_b":0.001491189,"thr_b_norm":0.001491189,"thr_b_v":0.505964756,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.84026,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-1.6759851,"cg_iw_a":-0.45073247,"cg_theta_rad":0.554710448,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0957411751,"mpcc_du":49.8682556,"mpcc_dv":49.0655289,"mpcc_dw":50.9344711,"mpcc_enc_sign":1,"mpcc_id_a":2.91968417,"mpcc_iq_a":-0.025516348,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.06472015,"mpcc_pred_id_a":0.488285959,"mpcc_pred_iq_a":-2.80594087,"mpcc_state":1,"mpcc_theta_e":0.454778194,"mpcc_theta_mech":0.557901561,"sam_rpm":15.6658697,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0293247849,"thr_a_norm":0.0293247849,"thr_a_v":0.617299139,"thr_b":0.001491189,"thr_b_norm":0.001491189,"thr_b_v":0.505964756,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.862507,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.516182423,"cg_iw_a":-2.40789986,"cg_theta_rad":0.556221187,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0876187831,"mpcc_du":50.5244331,"mpcc_dv":48.0080261,"mpcc_dw":51.9919739,"mpcc_enc_sign":1,"mpcc_id_a":3.71550989,"mpcc_iq_a":1.5408392,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.65020537,"mpcc_pred_id_a":0.892097235,"mpcc_pred_iq_a":0.790076971,"mpcc_state":1,"mpcc_theta_e":0.439559937,"mpcc_theta_mech":0.55485791,"sam_rpm":-4.88802195,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0126321763,"thr_a_norm":0.0126321763,"thr_a_v":0.550528705,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450171679,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.868977,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.951108456,"cg_iw_a":3.46360159,"cg_theta_rad":0.556039691,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.00431615859,"mpcc_du":49.5829659,"mpcc_dv":49.6020203,"mpcc_dw":50.4170341,"mpcc_enc_sign":1,"mpcc_id_a":0.185763359,"mpcc_iq_a":-1.52109468,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.42597675,"mpcc_pred_id_a":-0.139826745,"mpcc_pred_iq_a":-3.93647909,"mpcc_state":1,"mpcc_theta_e":0.444613934,"mpcc_theta_mech":0.555868685,"sam_rpm":3.70325041,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220233351,"thr_a_norm":0.0126321763,"thr_a_v":0.58809334,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487283111,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.875507,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.16857147,"cg_iw_a":0.274144173,"cg_theta_rad":0.554641247,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.00204052567,"mpcc_du":49.6738663,"mpcc_dv":49.5626144,"mpcc_dw":50.4373856,"mpcc_enc_sign":1,"mpcc_id_a":0.182865411,"mpcc_iq_a":-1.52144575,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.68357229,"mpcc_pred_id_a":-0.384086162,"mpcc_pred_iq_a":-2.65719151,"mpcc_state":1,"mpcc_theta_e":0.446518898,"mpcc_theta_mech":0.556249738,"sam_rpm":8.11439991,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220233351,"thr_a_norm":0.0220233351,"thr_a_v":0.58809334,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487283111,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.882069,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.82096052,"cg_iw_a":1.14399624,"cg_theta_rad":0.557100236,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.00891110767,"mpcc_du":50.6190491,"mpcc_dv":49.3446083,"mpcc_dw":50.6553917,"mpcc_enc_sign":1,"mpcc_id_a":0.753539562,"mpcc_iq_a":-1.18165386,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.5031004,"mpcc_pred_id_a":-0.0999034867,"mpcc_pred_iq_a":-0.283773929,"mpcc_state":1,"mpcc_theta_e":0.439063549,"mpcc_theta_mech":0.557747006,"sam_rpm":-7.49483156,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228919685,"thr_a_norm":0.0228919685,"thr_a_v":0.591567874,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490203708,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.891254,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.298719406,"cg_iw_a":-0.16078186,"cg_theta_rad":0.549917221,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.00366656738,"mpcc_du":49.5741653,"mpcc_dv":49.7062836,"mpcc_dw":50.4258347,"mpcc_enc_sign":1,"mpcc_id_a":1.1439383,"mpcc_iq_a":0.159789562,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.61725831,"mpcc_pred_id_a":-0.0799866468,"mpcc_pred_iq_a":-1.38122046,"mpcc_state":1,"mpcc_theta_e":0.440006733,"mpcc_theta_mech":0.554947257,"sam_rpm":4.32576561,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228919685,"thr_a_norm":0.0228919685,"thr_a_v":0.591567874,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490203708,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.901569,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.60349751,"cg_iw_a":1.14399624,"cg_theta_rad":0.556151807,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0514319167,"mpcc_du":49.631424,"mpcc_dv":50.3302231,"mpcc_dw":50.368576,"mpcc_enc_sign":1,"mpcc_id_a":2.86811304,"mpcc_iq_a":-1.61779094,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.96485186,"mpcc_pred_id_a":0.0804488957,"mpcc_pred_iq_a":-2.95483565,"mpcc_state":1,"mpcc_theta_e":0.451221466,"mpcc_theta_mech":0.55719018,"sam_rpm":28.9213257,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199587941,"thr_a_norm":0.0199587941,"thr_a_v":0.579835176,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479780257,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.911884,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.951108456,"cg_iw_a":0.274144173,"cg_theta_rad":0.556816459,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0216301903,"mpcc_du":50.3268166,"mpcc_dv":48.5981178,"mpcc_dw":51.4018822,"mpcc_enc_sign":1,"mpcc_id_a":1.98426569,"mpcc_iq_a":-1.45299053,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.920417428,"mpcc_pred_id_a":0.0460245386,"mpcc_pred_iq_a":-1.59534228,"mpcc_state":1,"mpcc_theta_e":0.44543314,"mpcc_theta_mech":0.556032538,"sam_rpm":-1.14089429,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0300549269,"thr_a_norm":0.0199587941,"thr_a_v":0.620219707,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465731293,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.921467,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.588670254,"cg_iw_a":-1.75551033,"cg_theta_rad":0.553231657,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0352325253,"mpcc_du":50.0022316,"mpcc_dv":48.7253075,"mpcc_dw":51.2746925,"mpcc_enc_sign":1,"mpcc_id_a":3.4808991,"mpcc_iq_a":-0.133305892,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.49740124,"mpcc_pred_id_a":0.553795934,"mpcc_pred_iq_a":-2.02003002,"mpcc_state":1,"mpcc_theta_e":0.434157372,"mpcc_theta_mech":0.553777397,"sam_rpm":-13.4965944,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0300549269,"thr_a_norm":0.0300549269,"thr_a_v":0.620219707,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465731293,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.931629,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.45852208,"cg_iw_a":-1.10312152,"cg_theta_rad":0.557851255,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10023,"hz_vsense":364,"mpcc_cost":0.0116447788,"mpcc_du":49.5832481,"mpcc_dv":49.8160286,"mpcc_dw":50.4167519,"mpcc_enc_sign":1,"mpcc_id_a":-0.0773296952,"mpcc_iq_a":-0.886992514,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.32282495,"mpcc_pred_id_a":-0.243385538,"mpcc_pred_iq_a":-3.50333261,"mpcc_state":1,"mpcc_theta_e":0.448013783,"mpcc_theta_mech":0.556548655,"sam_rpm":11.7491064,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194552541,"thr_a_norm":0.0194552541,"thr_a_v":0.577821016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466033429,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.942432,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.96593571,"cg_iw_a":0.854045391,"cg_theta_rad":0.553347707,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.19141,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.00852526259,"mpcc_du":49.4226799,"mpcc_dv":50.5773201,"mpcc_dw":50.0870476,"mpcc_enc_sign":1,"mpcc_id_a":0.549295843,"mpcc_iq_a":-1.92954767,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.6111126,"mpcc_pred_id_a":-0.431965083,"mpcc_pred_iq_a":-2.49297285,"mpcc_state":1,"mpcc_theta_e":0.44697094,"mpcc_theta_mech":0.556340098,"sam_rpm":13.8822479,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194552541,"thr_a_norm":0.0194552541,"thr_a_v":0.577821016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466033429,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.96587,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.878620625,"cg_iw_a":-1.46555996,"cg_theta_rad":0.55646652,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0114139421,"mpcc_du":51.3912277,"mpcc_dv":47.1685448,"mpcc_dw":52.8314552,"mpcc_enc_sign":1,"mpcc_id_a":2.13669062,"mpcc_iq_a":-0.964236915,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.5406036,"mpcc_pred_id_a":0.0765174329,"mpcc_pred_iq_a":3.22891927,"mpcc_state":1,"mpcc_theta_e":0.425647736,"mpcc_theta_mech":0.552075446,"sam_rpm":-26.0913677,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182719231,"thr_a_norm":0.0182719231,"thr_a_v":0.573087692,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452840477,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.97237,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.96593571,"cg_iw_a":-0.740683556,"cg_theta_rad":0.553047895,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0282741897,"mpcc_du":50.3875809,"mpcc_dv":48.0774384,"mpcc_dw":51.9225616,"mpcc_enc_sign":1,"mpcc_id_a":3.01672554,"mpcc_iq_a":-1.13775313,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.83568811,"mpcc_pred_id_a":1.04921699,"mpcc_pred_iq_a":0.606648147,"mpcc_state":1,"mpcc_theta_e":0.439878464,"mpcc_theta_mech":0.554921567,"sam_rpm":-5.42909622,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0322705358,"thr_a_norm":0.0182719231,"thr_a_v":0.629082143,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489095896,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.978931,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.951108456,"cg_iw_a":-1.32058454,"cg_theta_rad":0.557165146,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.00824317988,"mpcc_du":49.6527634,"mpcc_dv":50.0468941,"mpcc_dw":50.3472366,"mpcc_enc_sign":1,"mpcc_id_a":0.839154243,"mpcc_iq_a":-0.661217093,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.97927189,"mpcc_pred_id_a":-0.605938435,"mpcc_pred_iq_a":-2.72191715,"mpcc_state":1,"mpcc_theta_e":0.434007645,"mpcc_theta_mech":0.553747475,"sam_rpm":15.6715193,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0322705358,"thr_a_norm":0.0322705358,"thr_a_v":0.629082143,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489095896,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.986866,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.588670254,"cg_iw_a":-1.82799816,"cg_theta_rad":0.552899659,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0151202669,"mpcc_du":49.7694359,"mpcc_dv":49.1568298,"mpcc_dw":50.8431702,"mpcc_enc_sign":1,"mpcc_id_a":2.28834867,"mpcc_iq_a":-1.65379679,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.50174379,"mpcc_pred_id_a":0.246152952,"mpcc_pred_iq_a":-1.08673847,"mpcc_state":1,"mpcc_theta_e":0.448437691,"mpcc_theta_mech":0.556633472,"sam_rpm":10.9115362,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282043964,"thr_a_norm":0.0282043964,"thr_a_v":0.612817585,"thr_b":0.00106316805,"thr_b_norm":0.00106316805,"thr_b_v":0.504252672,"vdc_v":55.2955055}} +{"type":"telemetry","t":34.998066,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.53100967,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556792676,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0189534482,"mpcc_du":49.7921295,"mpcc_dv":48.9951935,"mpcc_dw":51.0048065,"mpcc_enc_sign":1,"mpcc_id_a":2.72737813,"mpcc_iq_a":0.804001987,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.54806209,"mpcc_pred_id_a":0.517816663,"mpcc_pred_iq_a":1.73897278,"mpcc_state":1,"mpcc_theta_e":0.439166546,"mpcc_theta_mech":0.554779232,"sam_rpm":4.84425354,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222877115,"thr_a_norm":0.0222877115,"thr_a_v":0.589150846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480888069,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.007862,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-2.90827537,"cg_iw_a":0.781557322,"cg_theta_rad":0.556751788,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0434598364,"mpcc_du":50.0579185,"mpcc_dv":48.7483253,"mpcc_dw":51.2516747,"mpcc_enc_sign":1,"mpcc_id_a":2.28575301,"mpcc_iq_a":-0.48617205,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.880251646,"mpcc_pred_id_a":0.30884251,"mpcc_pred_iq_a":-2.21358538,"mpcc_state":1,"mpcc_theta_e":0.446332455,"mpcc_theta_mech":0.556212366,"sam_rpm":2.11925912,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222877115,"thr_a_norm":0.0222877115,"thr_a_v":0.589150846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480888069,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.018055,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.82096052,"cg_iw_a":1.72389746,"cg_theta_rad":0.552939534,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0136051979,"mpcc_du":49.6566887,"mpcc_dv":49.2908592,"mpcc_dw":50.7091408,"mpcc_enc_sign":1,"mpcc_id_a":2.2604363,"mpcc_iq_a":-1.04227781,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.33368778,"mpcc_pred_id_a":0.1139763,"mpcc_pred_iq_a":-2.5065949,"mpcc_state":1,"mpcc_theta_e":0.433675289,"mpcc_theta_mech":0.553681016,"sam_rpm":-9.60281563,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215197951,"thr_a_norm":0.0215197951,"thr_a_v":0.58607918,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.028278,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-1.82096052,"cg_iw_a":-0.450732708,"cg_theta_rad":0.557016671,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0410581082,"mpcc_du":49.4085884,"mpcc_dv":49.599617,"mpcc_dw":50.5914116,"mpcc_enc_sign":1,"mpcc_id_a":3.91112089,"mpcc_iq_a":-2.46470046,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.29770088,"mpcc_pred_id_a":0.75056231,"mpcc_pred_iq_a":-1.64603662,"mpcc_state":1,"mpcc_theta_e":0.44523859,"mpcc_theta_mech":0.555993617,"sam_rpm":8.99147606,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.029274419,"thr_a_norm":0.0215197951,"thr_a_v":0.617097676,"thr_b":0.00603571534,"thr_b_norm":0,"thr_b_v":0.524142861,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.040241,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.45852208,"cg_iw_a":-1.17560935,"cg_theta_rad":0.557329297,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0157400519,"mpcc_du":49.7319183,"mpcc_dv":49.2785454,"mpcc_dw":50.7214546,"mpcc_enc_sign":1,"mpcc_id_a":2.14755535,"mpcc_iq_a":-1.11492229,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.67409611,"mpcc_pred_id_a":0.0228038151,"mpcc_pred_iq_a":-2.49183202,"mpcc_state":1,"mpcc_theta_e":0.428627968,"mpcc_theta_mech":0.552671492,"sam_rpm":-15.6127491,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.029274419,"thr_a_norm":0.029274419,"thr_a_v":0.617097676,"thr_b":0.00603571534,"thr_b_norm":0.00603571534,"thr_b_v":0.524142861,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.063465,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.82096052,"cg_iw_a":0.274143934,"cg_theta_rad":0.556871593,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.018855283,"mpcc_du":50.029892,"mpcc_dv":49.0119514,"mpcc_dw":50.9880486,"mpcc_enc_sign":1,"mpcc_id_a":2.36474276,"mpcc_iq_a":-1.49693561,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.052526,"mpcc_pred_id_a":0.00220806804,"mpcc_pred_iq_a":-1.4629674,"mpcc_state":1,"mpcc_theta_e":0.445894241,"mpcc_theta_mech":0.556124747,"sam_rpm":4.86925745,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224513561,"thr_a_norm":0.0224513561,"thr_a_v":0.589805424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469356835,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.069996,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.443694592,"cg_iw_a":-1.32058477,"cg_theta_rad":0.55386728,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0360374972,"mpcc_du":50.8112526,"mpcc_dv":48.0186882,"mpcc_dw":51.9813118,"mpcc_enc_sign":1,"mpcc_id_a":0.482086688,"mpcc_iq_a":-0.556176066,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.93652248,"mpcc_pred_id_a":0.0156837441,"mpcc_pred_iq_a":-4.5816679,"mpcc_state":1,"mpcc_theta_e":0.453287125,"mpcc_theta_mech":0.5576033,"sam_rpm":-6.98112345,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227031261,"thr_a_norm":0.0224513561,"thr_a_v":0.590812504,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479125679,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.076527,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.96593571,"cg_iw_a":0.564094543,"cg_theta_rad":0.55556649,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0653572157,"mpcc_du":49.3181343,"mpcc_dv":50.6818657,"mpcc_dw":50.3808861,"mpcc_enc_sign":1,"mpcc_id_a":4.55280256,"mpcc_iq_a":0.0433112234,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.99090862,"mpcc_pred_id_a":0.882487297,"mpcc_pred_iq_a":-4.28988647,"mpcc_state":1,"mpcc_theta_e":0.448429585,"mpcc_theta_mech":0.556631863,"sam_rpm":14.5123777,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227031261,"thr_a_norm":0.0227031261,"thr_a_v":0.590812504,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479125679,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.082996,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-2.69081235,"cg_iw_a":-0.233269691,"cg_theta_rad":0.553285301,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0290592108,"mpcc_du":51.0505104,"mpcc_dv":47.4405098,"mpcc_dw":52.5594902,"mpcc_enc_sign":1,"mpcc_id_a":3.40819764,"mpcc_iq_a":-1.14903665,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.24735069,"mpcc_pred_id_a":0.662383556,"mpcc_pred_iq_a":3.71457052,"mpcc_state":1,"mpcc_theta_e":0.431223869,"mpcc_theta_mech":0.553190649,"sam_rpm":-14.1886511,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253593475,"thr_a_norm":0.0253593475,"thr_a_v":0.60143739,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481290877,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.093433,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.40086174,"cg_iw_a":-0.233269691,"cg_theta_rad":0.555159807,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0353590436,"mpcc_du":49.6579361,"mpcc_dv":49.066143,"mpcc_dw":50.933857,"mpcc_enc_sign":1,"mpcc_id_a":3.73040962,"mpcc_iq_a":-0.644964039,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.96958876,"mpcc_pred_id_a":0.949357629,"mpcc_pred_iq_a":-0.234479308,"mpcc_state":1,"mpcc_theta_e":0.44084549,"mpcc_theta_mech":0.555115044,"sam_rpm":3.84534717,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183474422,"thr_a_norm":0.0253593475,"thr_a_v":0.573389769,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467946887,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.103382,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.806133032,"cg_iw_a":0.274143934,"cg_theta_rad":0.55618,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0109396977,"mpcc_du":49.5293617,"mpcc_dv":49.5029945,"mpcc_dw":50.4970055,"mpcc_enc_sign":1,"mpcc_id_a":2.01219344,"mpcc_iq_a":-1.89302266,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.0568304,"mpcc_pred_id_a":0.382329822,"mpcc_pred_iq_a":-3.36133003,"mpcc_state":1,"mpcc_theta_e":0.448626041,"mpcc_theta_mech":0.555757284,"sam_rpm":15.5225573,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183474422,"thr_a_norm":0.0183474422,"thr_a_v":0.573389769,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467946887,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.113453,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.16857147,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.555532694,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.000411001267,"mpcc_du":50.2612419,"mpcc_dv":48.9268112,"mpcc_dw":51.0731888,"mpcc_enc_sign":1,"mpcc_id_a":-0.3056584,"mpcc_iq_a":-2.43759823,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.1827927,"mpcc_pred_id_a":-0.671055734,"mpcc_pred_iq_a":-3.54579186,"mpcc_state":1,"mpcc_theta_e":0.43475008,"mpcc_theta_mech":0.55389595,"sam_rpm":-16.8574791,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176424831,"thr_a_norm":0.0176424831,"thr_a_v":0.570569932,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444280148,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.12328,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.516182423,"cg_iw_a":-0.378244877,"cg_theta_rad":0.552973688,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.00822575949,"mpcc_du":49.6256638,"mpcc_dv":49.7201843,"mpcc_dw":50.3743362,"mpcc_enc_sign":1,"mpcc_id_a":0.368589729,"mpcc_iq_a":-2.81566954,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.69907522,"mpcc_pred_id_a":-0.410343856,"mpcc_pred_iq_a":-7.19172812,"mpcc_state":1,"mpcc_theta_e":0.445879936,"mpcc_theta_mech":0.556121945,"sam_rpm":-3.43640399,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176424831,"thr_a_norm":0.0176424831,"thr_a_v":0.570569932,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444280148,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.133411,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.806133032,"cg_iw_a":0.274143934,"cg_theta_rad":0.557105124,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0130280601,"mpcc_du":49.628212,"mpcc_dv":50.371788,"mpcc_dw":50.3712769,"mpcc_enc_sign":1,"mpcc_id_a":0.712586224,"mpcc_iq_a":-1.10857368,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.418087274,"mpcc_pred_id_a":-0.190790594,"mpcc_pred_iq_a":-2.37748408,"mpcc_state":1,"mpcc_theta_e":0.432879925,"mpcc_theta_mech":0.552359998,"sam_rpm":-2.05985284,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0135763288,"thr_a_norm":0.0135763288,"thr_a_v":0.554305315,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.425397098,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.143635,"values":{"cg_iu_a":2.05423021,"cg_iv_a":0.498644829,"cg_iw_a":-2.55287504,"cg_theta_rad":0.555620372,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0265944079,"mpcc_du":49.9501801,"mpcc_dv":49.0574684,"mpcc_dw":50.9425316,"mpcc_enc_sign":1,"mpcc_id_a":0.484066576,"mpcc_iq_a":-0.55445379,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.29717207,"mpcc_pred_id_a":0.0444526225,"mpcc_pred_iq_a":-1.8703078,"mpcc_state":1,"mpcc_theta_e":0.449721813,"mpcc_theta_mech":0.556890309,"sam_rpm":9.70750809,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137651563,"thr_a_norm":0.0135763288,"thr_a_v":0.555060625,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446898609,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.166523,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.09608364,"cg_iw_a":-1.39307261,"cg_theta_rad":0.556503713,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0490972064,"mpcc_du":49.3834457,"mpcc_dv":50.6165543,"mpcc_dw":50.1181183,"mpcc_enc_sign":1,"mpcc_id_a":1.92482221,"mpcc_iq_a":0.413013488,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.6144152,"mpcc_pred_id_a":-0.0320893899,"mpcc_pred_iq_a":-4.84184027,"mpcc_state":1,"mpcc_theta_e":0.455552578,"mpcc_theta_mech":0.558056474,"sam_rpm":21.1978798,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137651563,"thr_a_norm":0.0137651563,"thr_a_v":0.555060625,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446898609,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.173084,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.02359605,"cg_iw_a":0.419119358,"cg_theta_rad":0.552831113,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0108911581,"mpcc_du":49.9423294,"mpcc_dv":49.0434303,"mpcc_dw":50.9565697,"mpcc_enc_sign":1,"mpcc_id_a":0.798904657,"mpcc_iq_a":-0.742630839,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.65527952,"mpcc_pred_id_a":0.157239407,"mpcc_pred_iq_a":-2.55486107,"mpcc_state":1,"mpcc_theta_e":0.440835953,"mpcc_theta_mech":0.555113137,"sam_rpm":-2.57620335,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0127706528,"thr_a_norm":0.0127706528,"thr_a_v":0.551082611,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.437734038,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.179585,"values":{"cg_iu_a":0.169550896,"cg_iv_a":0.208694458,"cg_iw_a":-0.378245354,"cg_theta_rad":0.557547569,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0206092205,"mpcc_du":51.0009575,"mpcc_dv":47.7282982,"mpcc_dw":52.2717018,"mpcc_enc_sign":1,"mpcc_id_a":1.73045707,"mpcc_iq_a":-0.288729578,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.0773058,"mpcc_pred_id_a":0.108377621,"mpcc_pred_iq_a":0.92318815,"mpcc_state":1,"mpcc_theta_e":0.433243752,"mpcc_theta_mech":0.553594708,"sam_rpm":-16.1348877,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0127706528,"thr_a_norm":0.0127706528,"thr_a_v":0.551082611,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.437734038,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.186115,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.6759851,"cg_iw_a":1.21648383,"cg_theta_rad":0.557976544,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.00490428321,"mpcc_du":50.6211281,"mpcc_dv":48.2465973,"mpcc_dw":51.7534027,"mpcc_enc_sign":1,"mpcc_id_a":0.604568183,"mpcc_iq_a":-3.16091704,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.8905983,"mpcc_pred_id_a":-0.0829531923,"mpcc_pred_iq_a":0.55698818,"mpcc_state":1,"mpcc_theta_e":0.446127892,"mpcc_theta_mech":0.556171477,"sam_rpm":-17.7428131,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172018856,"thr_a_norm":0.0172018856,"thr_a_v":0.568807542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.437935442,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.194538,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.24105906,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556567729,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0245703049,"mpcc_du":49.7954102,"mpcc_dv":49.2899284,"mpcc_dw":50.7100716,"mpcc_enc_sign":1,"mpcc_id_a":2.18251872,"mpcc_iq_a":-1.55673039,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.2099571,"mpcc_pred_id_a":0.0382380411,"mpcc_pred_iq_a":3.10273957,"mpcc_state":1,"mpcc_theta_e":0.432673454,"mpcc_theta_mech":0.560550988,"sam_rpm":-25.0022259,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222625285,"thr_a_norm":0.0172018856,"thr_a_v":0.589050114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480384529,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.204426,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.02359605,"cg_iw_a":-0.81317091,"cg_theta_rad":0.554682612,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0209156331,"mpcc_du":50.4912529,"mpcc_dv":48.1397591,"mpcc_dw":51.8602409,"mpcc_enc_sign":1,"mpcc_id_a":2.10997272,"mpcc_iq_a":-1.19599533,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.0883427,"mpcc_pred_id_a":0.413219094,"mpcc_pred_iq_a":-3.32237768,"mpcc_state":1,"mpcc_theta_e":0.430969238,"mpcc_theta_mech":0.553139746,"sam_rpm":-26.7482128,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222625285,"thr_a_norm":0.0222625285,"thr_a_v":0.589050114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480384529,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.214863,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.516182423,"cg_iw_a":-0.668195724,"cg_theta_rad":0.553818345,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.00227279472,"mpcc_du":49.2308121,"mpcc_dv":50.7691879,"mpcc_dw":49.8600121,"mpcc_enc_sign":1,"mpcc_id_a":0.321959317,"mpcc_iq_a":-0.0545117408,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.41616821,"mpcc_pred_id_a":-0.469553351,"mpcc_pred_iq_a":-2.57609892,"mpcc_state":1,"mpcc_theta_e":0.439838886,"mpcc_theta_mech":0.5549137,"sam_rpm":11.2342339,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023332566,"thr_a_norm":0.023332566,"thr_a_v":0.593330264,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465127021,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.224842,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.153744221,"cg_iw_a":-3.06028843,"cg_theta_rad":0.556797266,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0270357821,"mpcc_du":49.4946175,"mpcc_dv":49.4469681,"mpcc_dw":50.5530319,"mpcc_enc_sign":1,"mpcc_id_a":2.94073629,"mpcc_iq_a":-0.79494524,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.24292135,"mpcc_pred_id_a":0.249689713,"mpcc_pred_iq_a":-2.36979485,"mpcc_state":1,"mpcc_theta_e":0.444928646,"mpcc_theta_mech":0.555931687,"sam_rpm":8.12240791,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023332566,"thr_a_norm":0.023332566,"thr_a_v":0.593330264,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465127021,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.235035,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-2.18339872,"cg_iw_a":0.346631527,"cg_theta_rad":0.556049585,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0364264175,"mpcc_du":49.8389549,"mpcc_dv":48.9727478,"mpcc_dw":51.0272522,"mpcc_enc_sign":1,"mpcc_id_a":0.958831668,"mpcc_iq_a":-0.737850189,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.39325333,"mpcc_pred_id_a":-0.0777089447,"mpcc_pred_iq_a":-4.14645672,"mpcc_state":1,"mpcc_theta_e":0.450249195,"mpcc_theta_mech":0.556995749,"sam_rpm":13.0647879,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0978953838,"thr_a_norm":0.0978953838,"thr_a_v":0.891581535,"thr_b":0.0393453836,"thr_b_norm":0.0393453836,"thr_b_v":0.657381535,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.245228,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.153744221,"cg_iw_a":-0.813171148,"cg_theta_rad":0.557349503,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0010093858,"mpcc_du":49.6463661,"mpcc_dv":49.8924675,"mpcc_dw":50.3536339,"mpcc_enc_sign":1,"mpcc_id_a":0.0724628568,"mpcc_iq_a":-0.584658325,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.54921389,"mpcc_pred_id_a":-0.628994048,"mpcc_pred_iq_a":-2.97000074,"mpcc_state":1,"mpcc_theta_e":0.439871788,"mpcc_theta_mech":0.554920256,"sam_rpm":3.72627401,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188761801,"thr_a_norm":0.0978953838,"thr_a_v":0.57550472,"thr_b":0,"thr_b_norm":0.0393453836,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.268452,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-2.25588632,"cg_iw_a":0.926532745,"cg_theta_rad":0.555053651,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0198171027,"mpcc_du":49.6435051,"mpcc_dv":49.5329361,"mpcc_dw":50.4670639,"mpcc_enc_sign":1,"mpcc_id_a":0.972363055,"mpcc_iq_a":-0.879231572,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.98871803,"mpcc_pred_id_a":-0.298083067,"mpcc_pred_iq_a":-4.05875587,"mpcc_state":1,"mpcc_theta_e":0.446949005,"mpcc_theta_mech":0.556335688,"sam_rpm":6.43074799,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188761801,"thr_a_norm":0.0188761801,"thr_a_v":0.57550472,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.274982,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.96593571,"cg_iw_a":0.0566809177,"cg_theta_rad":0.555625737,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.00435776683,"mpcc_du":49.3713303,"mpcc_dv":50.6286697,"mpcc_dw":49.851757,"mpcc_enc_sign":1,"mpcc_id_a":-1.10610366,"mpcc_iq_a":-1.83085477,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.1767254,"mpcc_pred_id_a":-0.929121435,"mpcc_pred_iq_a":-4.71513367,"mpcc_state":1,"mpcc_theta_e":0.453165054,"mpcc_theta_mech":0.557578921,"sam_rpm":18.0001411,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025951013,"thr_a_norm":0.025951013,"thr_a_v":0.603804052,"thr_b":0.000282675028,"thr_b_norm":0.000282675028,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.281483,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.53100967,"cg_iw_a":-1.03063393,"cg_theta_rad":0.555098832,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.00596244121,"mpcc_du":49.2388992,"mpcc_dv":50.7611008,"mpcc_dw":51.1287003,"mpcc_enc_sign":1,"mpcc_id_a":-1.2269547,"mpcc_iq_a":-1.26165009,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.15954208,"mpcc_pred_id_a":-1.18312097,"mpcc_pred_iq_a":-5.98462725,"mpcc_state":1,"mpcc_theta_e":0.450423717,"mpcc_theta_mech":0.552516997,"sam_rpm":12.330802,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025951013,"thr_a_norm":0.025951013,"thr_a_v":0.603804052,"thr_b":0.000282675028,"thr_b_norm":0.000282675028,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.288013,"values":{"cg_iu_a":-0.845276594,"cg_iv_a":-1.31354666,"cg_iw_a":2.15882325,"cg_theta_rad":0.556281924,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0437560976,"mpcc_du":49.7624893,"mpcc_dv":49.4177132,"mpcc_dw":50.5822868,"mpcc_enc_sign":1,"mpcc_id_a":0.618038476,"mpcc_iq_a":-1.57016182,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":21.2826576,"mpcc_pred_id_a":-0.132648677,"mpcc_pred_iq_a":-1.86401129,"mpcc_state":1,"mpcc_theta_e":0.465313911,"mpcc_theta_mech":0.557030439,"sam_rpm":32.6771507,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275623649,"thr_a_norm":0.0275623649,"thr_a_v":0.61024946,"thr_b":0.000421151519,"thr_b_norm":0.000421151519,"thr_b_v":0.501684606,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.295856,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.82096052,"cg_iw_a":0.709070206,"cg_theta_rad":0.555922508,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0252754577,"mpcc_du":50.0466194,"mpcc_dv":48.8205185,"mpcc_dw":51.1794815,"mpcc_enc_sign":1,"mpcc_id_a":2.64089704,"mpcc_iq_a":-1.25536323,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.61592376,"mpcc_pred_id_a":0.388778746,"mpcc_pred_iq_a":-1.38740623,"mpcc_state":1,"mpcc_theta_e":0.445127487,"mpcc_theta_mech":0.555971444,"sam_rpm":2.37824321,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166605562,"thr_a_norm":0.0275623649,"thr_a_v":0.566642225,"thr_b":0,"thr_b_norm":0.000421151519,"thr_b_v":0.468551129,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.305805,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.09608364,"cg_iw_a":-0.305757523,"cg_theta_rad":0.554373741,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0129313618,"mpcc_du":49.4807243,"mpcc_dv":49.9208794,"mpcc_dw":50.5192757,"mpcc_enc_sign":1,"mpcc_id_a":0.666164577,"mpcc_iq_a":-0.176933974,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.3726149,"mpcc_pred_id_a":0.57267189,"mpcc_pred_iq_a":-2.21585584,"mpcc_state":1,"mpcc_theta_e":0.448783875,"mpcc_theta_mech":0.556702673,"sam_rpm":16.0942707,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166605562,"thr_a_norm":0.0166605562,"thr_a_v":0.566642225,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468551129,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.316029,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.60349751,"cg_iw_a":-1.53804779,"cg_theta_rad":0.556313694,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0363527015,"mpcc_du":50.3142548,"mpcc_dv":48.1355743,"mpcc_dw":51.8644257,"mpcc_enc_sign":1,"mpcc_id_a":3.33004975,"mpcc_iq_a":-0.804701805,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.0349665,"mpcc_pred_id_a":1.08898687,"mpcc_pred_iq_a":-1.07518482,"mpcc_state":1,"mpcc_theta_e":0.435035229,"mpcc_theta_mech":0.553952992,"sam_rpm":-15.0155735,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0300800949,"thr_a_norm":0.0300800949,"thr_a_v":0.62032038,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471068889,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.328236,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.45852208,"cg_iw_a":-1.39307237,"cg_theta_rad":0.553606093,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.003045897,"mpcc_du":49.7374611,"mpcc_dv":49.4359512,"mpcc_dw":50.5640488,"mpcc_enc_sign":1,"mpcc_id_a":0.955531359,"mpcc_iq_a":-0.581394374,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.63227129,"mpcc_pred_id_a":-0.308888704,"mpcc_pred_iq_a":-0.708830595,"mpcc_state":1,"mpcc_theta_e":0.43777895,"mpcc_theta_mech":0.554501712,"sam_rpm":7.82036781,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197322071,"thr_a_norm":0.0300800949,"thr_a_v":0.578928828,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474090159,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.339832,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.371207237,"cg_iw_a":-2.33541203,"cg_theta_rad":0.55723989,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.00194969948,"mpcc_du":50.4140892,"mpcc_dv":48.6612091,"mpcc_dw":51.3387909,"mpcc_enc_sign":1,"mpcc_id_a":0.168296531,"mpcc_iq_a":-2.24967623,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.16174889,"mpcc_pred_id_a":-0.443893522,"mpcc_pred_iq_a":-2.40073276,"mpcc_state":1,"mpcc_theta_e":0.440711975,"mpcc_theta_mech":0.555088282,"sam_rpm":-9.40364647,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197322071,"thr_a_norm":0.0197322071,"thr_a_v":0.578928828,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474090159,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.350025,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.951108456,"cg_iw_a":-1.97297382,"cg_theta_rad":0.554081261,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0243373234,"mpcc_du":49.2986107,"mpcc_dv":50.7013893,"mpcc_dw":50.494873,"mpcc_enc_sign":1,"mpcc_id_a":3.11946654,"mpcc_iq_a":-0.733101845,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.6294355,"mpcc_pred_id_a":1.2401588,"mpcc_pred_iq_a":0.89053452,"mpcc_state":1,"mpcc_theta_e":0.429291725,"mpcc_theta_mech":0.552804232,"sam_rpm":1.67244673,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0272728354,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479075313,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.373463,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-0.806133032,"cg_iw_a":-1.82799816,"cg_theta_rad":0.55695045,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0134845888,"mpcc_du":51.0937996,"mpcc_dv":47.7138824,"mpcc_dw":52.2861176,"mpcc_enc_sign":1,"mpcc_id_a":0.693567634,"mpcc_iq_a":-1.47813022,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.0504179,"mpcc_pred_id_a":-0.123382509,"mpcc_pred_iq_a":0.936121583,"mpcc_state":1,"mpcc_theta_e":0.43977499,"mpcc_theta_mech":0.554900885,"sam_rpm":-8.85456944,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250572115,"thr_a_norm":0.0272728354,"thr_a_v":0.600228846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479578853,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.379993,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.53100967,"cg_iw_a":-0.668195724,"cg_theta_rad":0.555758059,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0519728102,"mpcc_du":49.7995911,"mpcc_dv":49.0849953,"mpcc_dw":50.9150047,"mpcc_enc_sign":1,"mpcc_id_a":4.09792948,"mpcc_iq_a":-0.55546546,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.96890855,"mpcc_pred_id_a":1.01475453,"mpcc_pred_iq_a":-4.16849041,"mpcc_state":1,"mpcc_theta_e":0.444230556,"mpcc_theta_mech":0.555792034,"sam_rpm":-6.41950035,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250572115,"thr_a_norm":0.0250572115,"thr_a_v":0.600228846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479578853,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.386524,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.25588632,"cg_iw_a":1.143996,"cg_theta_rad":0.556591451,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0038751855,"mpcc_du":50.9305077,"mpcc_dv":47.7358131,"mpcc_dw":52.2641869,"mpcc_enc_sign":1,"mpcc_id_a":0.820499003,"mpcc_iq_a":-0.87822938,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.7301769,"mpcc_pred_id_a":0.0772887766,"mpcc_pred_iq_a":0.628984571,"mpcc_state":1,"mpcc_theta_e":0.429948807,"mpcc_theta_mech":0.55293566,"sam_rpm":-22.0573215,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243018866,"thr_a_norm":0.0243018866,"thr_a_v":0.597207546,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480888069,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.393085,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.53100967,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.555020154,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0031791525,"mpcc_du":50.2002907,"mpcc_dv":48.7101746,"mpcc_dw":51.2898254,"mpcc_enc_sign":1,"mpcc_id_a":0.956560373,"mpcc_iq_a":-0.579699874,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.33670902,"mpcc_pred_id_a":-0.0536827333,"mpcc_pred_iq_a":-0.356193483,"mpcc_state":1,"mpcc_theta_e":0.436006546,"mpcc_theta_mech":0.554147243,"sam_rpm":-6.6847434,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0243018866,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470615685,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.404835,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.371207237,"cg_iw_a":-0.740683079,"cg_theta_rad":0.555946171,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.00513958884,"mpcc_du":49.7120743,"mpcc_dv":49.2390938,"mpcc_dw":50.7609062,"mpcc_enc_sign":1,"mpcc_id_a":1.09048367,"mpcc_iq_a":-0.636645138,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.17567348,"mpcc_pred_id_a":0.0473149009,"mpcc_pred_iq_a":-1.4320004,"mpcc_state":1,"mpcc_theta_e":0.432075977,"mpcc_theta_mech":0.553361118,"sam_rpm":-8.98391247,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470615685,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.415424,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.6759851,"cg_iw_a":-1.90048623,"cg_theta_rad":0.55611378,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0268361177,"mpcc_du":49.52351,"mpcc_dv":50.3069572,"mpcc_dw":50.47649,"mpcc_enc_sign":1,"mpcc_id_a":3.11693096,"mpcc_iq_a":-0.933305442,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.06726265,"mpcc_pred_id_a":0.194024146,"mpcc_pred_iq_a":-3.39265633,"mpcc_state":1,"mpcc_theta_e":0.447170258,"mpcc_theta_mech":0.556379974,"sam_rpm":11.9614773,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273231864,"thr_a_norm":0.0273231864,"thr_a_v":0.609292746,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486578166,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.425251,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.54583716,"cg_iw_a":-0.523220301,"cg_theta_rad":0.556351542,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0369843394,"mpcc_du":49.5813675,"mpcc_dv":49.5662918,"mpcc_dw":50.4337082,"mpcc_enc_sign":1,"mpcc_id_a":0.488152117,"mpcc_iq_a":-0.0474303216,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.4608097,"mpcc_pred_id_a":-0.261701226,"mpcc_pred_iq_a":-2.55837822,"mpcc_state":1,"mpcc_theta_e":0.454013348,"mpcc_theta_mech":0.557748556,"sam_rpm":19.7192173,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273231864,"thr_a_norm":0.0273231864,"thr_a_v":0.609292746,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486578166,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.435444,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.226231575,"cg_iw_a":-4.43755436,"cg_theta_rad":0.555130482,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.00594059424,"mpcc_du":50.3332329,"mpcc_dv":48.4924812,"mpcc_dw":51.5075188,"mpcc_enc_sign":1,"mpcc_id_a":1.53928375,"mpcc_iq_a":-1.39531648,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.0740557,"mpcc_pred_id_a":0.0098940311,"mpcc_pred_iq_a":-2.19801879,"mpcc_state":1,"mpcc_theta_e":0.431470871,"mpcc_theta_mech":0.553240061,"sam_rpm":-21.9501705,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284309834,"thr_a_norm":0.0284309834,"thr_a_v":0.613723934,"thr_b":0.00146600604,"thr_b_norm":0.00146600604,"thr_b_v":0.505864024,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.445637,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.661157608,"cg_iw_a":-1.39307261,"cg_theta_rad":0.554814875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0359866172,"mpcc_du":49.8804436,"mpcc_dv":49.2638016,"mpcc_dw":50.7361984,"mpcc_enc_sign":1,"mpcc_id_a":0.783326924,"mpcc_iq_a":-0.602848947,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.66822648,"mpcc_pred_id_a":-0.33071363,"mpcc_pred_iq_a":-3.55714989,"mpcc_state":1,"mpcc_theta_e":0.446818829,"mpcc_theta_mech":0.5563097,"sam_rpm":7.3044486,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165095031,"thr_a_norm":0.0284309834,"thr_a_v":0.566038013,"thr_b":0,"thr_b_norm":0.00146600604,"thr_b_v":0.475500137,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.468891,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-3.12573838,"cg_iw_a":0.564094782,"cg_theta_rad":0.554225862,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0144249061,"mpcc_du":50.7489052,"mpcc_dv":48.3158073,"mpcc_dw":51.6841927,"mpcc_enc_sign":1,"mpcc_id_a":-0.153265014,"mpcc_iq_a":-0.38584733,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.24409389,"mpcc_pred_id_a":-0.626568794,"mpcc_pred_iq_a":-0.695525229,"mpcc_state":1,"mpcc_theta_e":0.437332153,"mpcc_theta_mech":0.554412365,"sam_rpm":-10.1699305,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165095031,"thr_a_norm":0.0165095031,"thr_a_v":0.566038013,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475500137,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.475391,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.878620625,"cg_iw_a":-1.75551081,"cg_theta_rad":0.554303825,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.000166288475,"mpcc_du":49.4476547,"mpcc_dv":50.5523453,"mpcc_dw":49.8913345,"mpcc_enc_sign":1,"mpcc_id_a":-0.253155768,"mpcc_iq_a":-2.42714977,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.75415611,"mpcc_pred_id_a":-1.00916076,"mpcc_pred_iq_a":-6.14589071,"mpcc_state":1,"mpcc_theta_e":0.447460175,"mpcc_theta_mech":0.556437969,"sam_rpm":6.59933949,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10319525,"thr_a_norm":0.10319525,"thr_a_v":0.912781,"thr_b":0.0497814119,"thr_b_norm":0.0497814119,"thr_b_v":0.699125648,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.481892,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-2.0384233,"cg_iw_a":0.41911912,"cg_theta_rad":0.55361551,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0101556685,"mpcc_du":49.9477539,"mpcc_dv":49.0360527,"mpcc_dw":50.9639473,"mpcc_enc_sign":1,"mpcc_id_a":1.92431557,"mpcc_iq_a":-2.40896249,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.61442041,"mpcc_pred_id_a":0.0865418538,"mpcc_pred_iq_a":-1.03613353,"mpcc_state":1,"mpcc_theta_e":0.448910236,"mpcc_theta_mech":0.556727946,"sam_rpm":10.4397392,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10319525,"thr_a_norm":0.10319525,"thr_a_v":0.912781,"thr_b":0.0497814119,"thr_b_norm":0.0497814119,"thr_b_v":0.699125648,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.488422,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.38603449,"cg_iw_a":-2.04546118,"cg_theta_rad":0.55249697,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0221990589,"mpcc_du":50.1364784,"mpcc_dv":48.6169815,"mpcc_dw":51.3830185,"mpcc_enc_sign":1,"mpcc_id_a":2.59076762,"mpcc_iq_a":-0.499143243,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.8484268,"mpcc_pred_id_a":0.487305731,"mpcc_pred_iq_a":-2.55343461,"mpcc_state":1,"mpcc_theta_e":0.432151794,"mpcc_theta_mech":0.553376257,"sam_rpm":-17.6789837,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183852166,"thr_a_norm":0.0183852166,"thr_a_v":0.573540866,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467795819,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.498524,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.16857147,"cg_iw_a":-0.015806675,"cg_theta_rad":0.553129375,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0424563512,"mpcc_du":50.1449013,"mpcc_dv":48.8581657,"mpcc_dw":51.1418343,"mpcc_enc_sign":1,"mpcc_id_a":0.748126805,"mpcc_iq_a":-0.677266359,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.669584751,"mpcc_pred_id_a":-0.0456048809,"mpcc_pred_iq_a":-3.40331912,"mpcc_state":1,"mpcc_theta_e":0.445391655,"mpcc_theta_mech":0.556024253,"sam_rpm":0.585508943,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179446042,"thr_a_norm":0.0179446042,"thr_a_v":0.571778417,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458480179,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.508564,"values":{"cg_iu_a":4.01139736,"cg_iv_a":-0.661157608,"cg_iw_a":-3.35023975,"cg_theta_rad":0.553019285,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0195342544,"mpcc_du":49.5516396,"mpcc_dv":50.4483604,"mpcc_dw":50.4364586,"mpcc_enc_sign":1,"mpcc_id_a":2.10522914,"mpcc_iq_a":-1.9128716,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.2328835,"mpcc_pred_id_a":0.224214807,"mpcc_pred_iq_a":-4.91321325,"mpcc_state":1,"mpcc_theta_e":0.424951077,"mpcc_theta_mech":0.55193609,"sam_rpm":-8.42566776,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179446042,"thr_a_norm":0.0179446042,"thr_a_v":0.571778417,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458480179,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.518726,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-2.69081235,"cg_iw_a":-0.378245115,"cg_theta_rad":0.557244837,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.00762734748,"mpcc_du":49.8500786,"mpcc_dv":49.3567276,"mpcc_dw":50.6432724,"mpcc_enc_sign":1,"mpcc_id_a":0.182829395,"mpcc_iq_a":-0.35570994,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.51077747,"mpcc_pred_id_a":-0.44101274,"mpcc_pred_iq_a":-1.85004854,"mpcc_state":1,"mpcc_theta_e":0.430223942,"mpcc_theta_mech":0.552990735,"sam_rpm":-17.4742165,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.529041,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.31354666,"cg_iw_a":-1.24809694,"cg_theta_rad":0.557877839,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0924028084,"mpcc_du":50.0758247,"mpcc_dv":48.857975,"mpcc_dw":51.142025,"mpcc_enc_sign":1,"mpcc_id_a":2.74693322,"mpcc_iq_a":0.62832123,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.16106558,"mpcc_pred_id_a":0.195628479,"mpcc_pred_iq_a":-1.98276043,"mpcc_state":1,"mpcc_theta_e":0.450547695,"mpcc_theta_mech":0.557055414,"sam_rpm":11.1250515,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225772411,"thr_a_norm":0.0256614834,"thr_a_v":0.590308964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.538837,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.661157608,"cg_iw_a":-1.32058477,"cg_theta_rad":0.554545224,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0260076579,"mpcc_du":49.5755424,"mpcc_dv":50.2208061,"mpcc_dw":50.4244576,"mpcc_enc_sign":1,"mpcc_id_a":2.23523712,"mpcc_iq_a":-0.751005113,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.82366443,"mpcc_pred_id_a":0.0522510558,"mpcc_pred_iq_a":-2.71154809,"mpcc_state":1,"mpcc_theta_e":0.43255949,"mpcc_theta_mech":0.551266849,"sam_rpm":-8.68896008,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225772411,"thr_a_norm":0.0225772411,"thr_a_v":0.590308964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.54903,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.19043684,"cg_theta_rad":0.55488044,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0708525777,"mpcc_du":49.6822014,"mpcc_dv":49.6218834,"mpcc_dw":50.3781166,"mpcc_enc_sign":1,"mpcc_id_a":0.536997259,"mpcc_iq_a":-3.45186663,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.4588585,"mpcc_pred_id_a":-0.640968323,"mpcc_pred_iq_a":-2.98070288,"mpcc_state":1,"mpcc_theta_e":0.423889637,"mpcc_theta_mech":0.551723838,"sam_rpm":-21.2292747,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0300927013,"thr_a_norm":0.0300927013,"thr_a_v":0.620370805,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458429813,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.572254,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.878620625,"cg_iw_a":-1.97297382,"cg_theta_rad":0.556080103,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0094090756,"mpcc_du":50.8178711,"mpcc_dv":47.9641838,"mpcc_dw":52.0358162,"mpcc_enc_sign":1,"mpcc_id_a":1.93149137,"mpcc_iq_a":-1.06420195,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.4497805,"mpcc_pred_id_a":0.0113244196,"mpcc_pred_iq_a":1.46587694,"mpcc_state":1,"mpcc_theta_e":0.443975449,"mpcc_theta_mech":0.555741012,"sam_rpm":-17.6373577,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0300927013,"thr_a_norm":0.0300927013,"thr_a_v":0.620370805,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458429813,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.578785,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.516182423,"cg_iw_a":-1.97297382,"cg_theta_rad":0.55236721,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0472110249,"mpcc_du":49.6529808,"mpcc_dv":50.2076988,"mpcc_dw":50.3470192,"mpcc_enc_sign":1,"mpcc_id_a":0.858922005,"mpcc_iq_a":0.049979344,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.3168268,"mpcc_pred_id_a":-0.367631942,"mpcc_pred_iq_a":-4.48082161,"mpcc_state":1,"mpcc_theta_e":0.455284119,"mpcc_theta_mech":0.55800277,"sam_rpm":18.9046974,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190398246,"thr_a_norm":0.0190398246,"thr_a_v":0.576159298,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466083795,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.585285,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.878620625,"cg_iw_a":0.999020338,"cg_theta_rad":0.556184173,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.076883167,"mpcc_du":50.4566917,"mpcc_dv":48.2571793,"mpcc_dw":51.7428207,"mpcc_enc_sign":1,"mpcc_id_a":3.09826112,"mpcc_iq_a":-0.123490259,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.73381186,"mpcc_pred_id_a":0.479196042,"mpcc_pred_iq_a":-2.12216973,"mpcc_state":1,"mpcc_theta_e":0.443431377,"mpcc_theta_mech":0.555632234,"sam_rpm":-5.78932238,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190398246,"thr_a_norm":0.0190398246,"thr_a_v":0.576159298,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466083795,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.591816,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.371207237,"cg_iw_a":0.854045391,"cg_theta_rad":0.555108547,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0258473083,"mpcc_du":49.8477364,"mpcc_dv":48.9868279,"mpcc_dw":51.0131721,"mpcc_enc_sign":1,"mpcc_id_a":2.89402509,"mpcc_iq_a":-1.39808476,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.3021641,"mpcc_pred_id_a":0.507452786,"mpcc_pred_iq_a":-0.0589601509,"mpcc_state":1,"mpcc_theta_e":0.451295376,"mpcc_theta_mech":0.557205021,"sam_rpm":14.9689722,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278645009,"thr_a_norm":0.0278645009,"thr_a_v":0.611458004,"thr_b":0.001491189,"thr_b_norm":0.001491189,"thr_b_v":0.505964756,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.599812,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.40789986,"cg_theta_rad":0.557065666,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.00184816087,"mpcc_du":50.786438,"mpcc_dv":47.9747009,"mpcc_dw":52.0252991,"mpcc_enc_sign":1,"mpcc_id_a":-0.785328269,"mpcc_iq_a":-2.26120663,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.25752258,"mpcc_pred_id_a":0.00412630476,"mpcc_pred_iq_a":1.26620233,"mpcc_state":1,"mpcc_theta_e":0.43555975,"mpcc_theta_mech":0.554057896,"sam_rpm":-10.8539791,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177935362,"thr_a_norm":0.0278645009,"thr_a_v":0.571174145,"thr_b":0,"thr_b_norm":0.001491189,"thr_b_v":0.458429813,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.609608,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.516182423,"cg_iw_a":-0.160782337,"cg_theta_rad":0.55832994,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.00468433509,"mpcc_du":49.5019226,"mpcc_dv":49.5384331,"mpcc_dw":50.4980774,"mpcc_enc_sign":1,"mpcc_id_a":1.33657563,"mpcc_iq_a":-2.30385995,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.11741734,"mpcc_pred_id_a":0.102319889,"mpcc_pred_iq_a":-2.54497051,"mpcc_state":1,"mpcc_theta_e":0.445720673,"mpcc_theta_mech":0.556090057,"sam_rpm":7.14190245,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177935362,"thr_a_norm":0.0177935362,"thr_a_v":0.571174145,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458429813,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.619801,"values":{"cg_iu_a":5.09871197,"cg_iv_a":-1.31354666,"cg_iw_a":0.274143696,"cg_theta_rad":0.553807199,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0193627533,"mpcc_du":50.0790863,"mpcc_dv":48.6268578,"mpcc_dw":51.3731422,"mpcc_enc_sign":1,"mpcc_id_a":2.12535906,"mpcc_iq_a":-1.3372128,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.19995975,"mpcc_pred_id_a":0.396414906,"mpcc_pred_iq_a":0.185862988,"mpcc_state":1,"mpcc_theta_e":0.42949295,"mpcc_theta_mech":0.552844465,"sam_rpm":-15.615797,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285568833,"thr_a_norm":0.0285568833,"thr_a_v":0.614227533,"thr_b":0.0017555505,"thr_b_norm":0.0017555505,"thr_b_v":0.507022202,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.62981,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.74847269,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.557100654,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0154209835,"mpcc_du":50.1525078,"mpcc_dv":48.6134186,"mpcc_dw":51.3865814,"mpcc_enc_sign":1,"mpcc_id_a":2.14902663,"mpcc_iq_a":-1.11208367,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.1588173,"mpcc_pred_id_a":0.198977992,"mpcc_pred_iq_a":-0.871173501,"mpcc_state":1,"mpcc_theta_e":0.427306652,"mpcc_theta_mech":0.552407265,"sam_rpm":-21.2066574,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285568833,"thr_a_norm":0.0285568833,"thr_a_v":0.614227533,"thr_b":0.0017555505,"thr_b_norm":0.0017555505,"thr_b_v":0.507022202,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.63982,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.60349751,"cg_iw_a":-1.24809694,"cg_theta_rad":0.551368237,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0320672132,"mpcc_du":49.9353561,"mpcc_dv":48.8801422,"mpcc_dw":51.1198578,"mpcc_enc_sign":1,"mpcc_id_a":2.54948163,"mpcc_iq_a":-0.602162778,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.156780884,"mpcc_pred_id_a":0.339226365,"mpcc_pred_iq_a":-1.86466277,"mpcc_state":1,"mpcc_theta_e":0.442734241,"mpcc_theta_mech":0.555492759,"sam_rpm":1.51745152,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022929728,"thr_a_norm":0.022929728,"thr_a_v":0.591718912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492217898,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.649982,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-0.443694592,"cg_iw_a":-0.59570837,"cg_theta_rad":0.554517329,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0796322525,"mpcc_du":50.01511,"mpcc_dv":48.6731834,"mpcc_dw":51.3268166,"mpcc_enc_sign":1,"mpcc_id_a":3.03613877,"mpcc_iq_a":-0.432824016,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.15511084,"mpcc_pred_id_a":0.602949023,"mpcc_pred_iq_a":-2.6627388,"mpcc_state":1,"mpcc_theta_e":0.44791317,"mpcc_theta_mech":0.556528509,"sam_rpm":5.23402166,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265930444,"thr_a_norm":0.022929728,"thr_a_v":0.606372178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484211475,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.659992,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.153744221,"cg_iw_a":-2.19043636,"cg_theta_rad":0.556817234,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0152399698,"mpcc_du":50.05439,"mpcc_dv":49.0234528,"mpcc_dw":50.9765472,"mpcc_enc_sign":1,"mpcc_id_a":2.51625299,"mpcc_iq_a":-2.04049468,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.63139868,"mpcc_pred_id_a":0.295808196,"mpcc_pred_iq_a":-1.24460948,"mpcc_state":1,"mpcc_theta_e":0.434677601,"mpcc_theta_mech":0.553737521,"sam_rpm":-15.1945791,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265930444,"thr_a_norm":0.0265930444,"thr_a_v":0.606372178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484211475,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.683216,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.733645439,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556532264,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.022985341,"mpcc_du":50.1147003,"mpcc_dv":48.6278038,"mpcc_dw":51.3721962,"mpcc_enc_sign":1,"mpcc_id_a":2.95023966,"mpcc_iq_a":-0.94539243,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.07194805,"mpcc_pred_id_a":0.290141642,"mpcc_pred_iq_a":-3.39162302,"mpcc_state":1,"mpcc_theta_e":0.4469347,"mpcc_theta_mech":0.556332886,"sam_rpm":9.75445938,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258125365,"thr_a_norm":0.0258125365,"thr_a_v":0.603250146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494131356,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.689777,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.661157608,"cg_iw_a":0.926532984,"cg_theta_rad":0.55656743,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.00433862815,"mpcc_du":49.9859123,"mpcc_dv":49.0640564,"mpcc_dw":50.9359436,"mpcc_enc_sign":1,"mpcc_id_a":0.288493693,"mpcc_iq_a":-1.14834833,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.53288054,"mpcc_pred_id_a":-0.302480876,"mpcc_pred_iq_a":-2.74967909,"mpcc_state":1,"mpcc_theta_e":0.439247131,"mpcc_theta_mech":0.554795384,"sam_rpm":-5.15719223,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258125365,"thr_a_norm":0.0258125365,"thr_a_v":0.603250146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494131356,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.696278,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.53100967,"cg_iw_a":0.201656342,"cg_theta_rad":0.553068697,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0116119664,"mpcc_du":50.0905342,"mpcc_dv":48.8621979,"mpcc_dw":51.1378021,"mpcc_enc_sign":1,"mpcc_id_a":1.65946805,"mpcc_iq_a":-0.443332881,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.61846399,"mpcc_pred_id_a":-0.150161073,"mpcc_pred_iq_a":-2.30635738,"mpcc_state":1,"mpcc_theta_e":0.434850216,"mpcc_theta_mech":0.553915918,"sam_rpm":-11.5797386,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197699666,"thr_a_norm":0.0197699666,"thr_a_v":0.579079866,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472932041,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.702839,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.951108456,"cg_iw_a":-2.26292419,"cg_theta_rad":0.555158675,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.00795318466,"mpcc_du":49.2986755,"mpcc_dv":50.7013245,"mpcc_dw":50.068718,"mpcc_enc_sign":1,"mpcc_id_a":1.42351735,"mpcc_iq_a":-0.775942445,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.7508707,"mpcc_pred_id_a":-0.145304993,"mpcc_pred_iq_a":-4.25681782,"mpcc_state":1,"mpcc_theta_e":0.449923515,"mpcc_theta_mech":0.556930602,"sam_rpm":15.5756092,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0306591839,"thr_a_norm":0.0197699666,"thr_a_v":0.622636735,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472881675,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.71059,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.45852208,"cg_iw_a":0.346631765,"cg_theta_rad":0.552166283,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0143338591,"mpcc_du":50.1893501,"mpcc_dv":48.9320755,"mpcc_dw":51.0679245,"mpcc_enc_sign":1,"mpcc_id_a":2.96683884,"mpcc_iq_a":-0.0808466002,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.55742121,"mpcc_pred_id_a":-0.567997813,"mpcc_pred_iq_a":-1.09608436,"mpcc_state":1,"mpcc_theta_e":0.450022697,"mpcc_theta_mech":0.55695045,"sam_rpm":8.82019138,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0306591839,"thr_a_norm":0.0306591839,"thr_a_v":0.622636735,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472881675,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.720814,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.588670254,"cg_iw_a":0.346632004,"cg_theta_rad":0.554641187,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.00669663865,"mpcc_du":50.2601738,"mpcc_dv":48.5794258,"mpcc_dw":51.4205742,"mpcc_enc_sign":1,"mpcc_id_a":0.897054553,"mpcc_iq_a":-0.877387524,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.59895706,"mpcc_pred_id_a":0.0295037143,"mpcc_pred_iq_a":-1.78552449,"mpcc_state":1,"mpcc_theta_e":0.43770647,"mpcc_theta_mech":0.554487169,"sam_rpm":-11.8019323,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160814822,"thr_a_norm":0.0160814822,"thr_a_v":0.564325929,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.730854,"values":{"cg_iu_a":1.03940296,"cg_iv_a":0.208694458,"cg_iw_a":-1.24809742,"cg_theta_rad":0.553258419,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0182462521,"mpcc_du":49.2375069,"mpcc_dv":50.7624931,"mpcc_dw":49.8228378,"mpcc_enc_sign":1,"mpcc_id_a":0.986269891,"mpcc_iq_a":-1.22182024,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.931195557,"mpcc_pred_id_a":-0.640659511,"mpcc_pred_iq_a":-4.54522657,"mpcc_state":1,"mpcc_theta_e":0.424334049,"mpcc_theta_mech":0.551812708,"sam_rpm":-0.746509433,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160814822,"thr_a_norm":0.0160814822,"thr_a_v":0.564325929,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.740803,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.951108456,"cg_iw_a":-0.740683556,"cg_theta_rad":0.554170609,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0696671233,"mpcc_du":49.7088814,"mpcc_dv":49.0901108,"mpcc_dw":50.9098892,"mpcc_enc_sign":1,"mpcc_id_a":3.47044826,"mpcc_iq_a":0.477551043,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.72727919,"mpcc_pred_id_a":0.471846759,"mpcc_pred_iq_a":-2.72704673,"mpcc_state":1,"mpcc_theta_e":0.446461201,"mpcc_theta_mech":0.556238115,"sam_rpm":4.99909401,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203993917,"thr_a_norm":0.0203993917,"thr_a_v":0.581597567,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476305783,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.751026,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.878620625,"cg_iw_a":0.419119358,"cg_theta_rad":0.554424524,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0624474399,"mpcc_du":50.0658493,"mpcc_dv":48.7628479,"mpcc_dw":51.2371521,"mpcc_enc_sign":1,"mpcc_id_a":2.64893365,"mpcc_iq_a":-0.906320095,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.18445635,"mpcc_pred_id_a":0.319702297,"mpcc_pred_iq_a":-2.24877501,"mpcc_state":1,"mpcc_theta_e":0.450995922,"mpcc_theta_mech":0.557145119,"sam_rpm":9.60371685,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281666219,"thr_a_norm":0.0203993917,"thr_a_v":0.612666488,"thr_b":0.000320449471,"thr_b_norm":0,"thr_b_v":0.501281798,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.761005,"values":{"cg_iu_a":4.44632339,"cg_iv_a":-0.733645439,"cg_iw_a":0.854045391,"cg_theta_rad":0.552337468,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0538118333,"mpcc_du":50.6745071,"mpcc_dv":48.0206985,"mpcc_dw":51.9793015,"mpcc_enc_sign":1,"mpcc_id_a":1.37047863,"mpcc_iq_a":-0.0440413915,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.91557527,"mpcc_pred_id_a":0.294045806,"mpcc_pred_iq_a":-0.0504341386,"mpcc_state":1,"mpcc_theta_e":0.443362236,"mpcc_theta_mech":0.555618346,"sam_rpm":-1.0669781,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281666219,"thr_a_norm":0.0281666219,"thr_a_v":0.612666488,"thr_b":0.000320449471,"thr_b_norm":0.000320449471,"thr_b_v":0.501281798,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.783222,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.38603449,"cg_iw_a":0.201656342,"cg_theta_rad":0.556221187,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":3.73725288e-06,"mpcc_du":50.5885506,"mpcc_dv":48.3486252,"mpcc_dw":51.6513748,"mpcc_enc_sign":1,"mpcc_id_a":0.000342572748,"mpcc_iq_a":-1.1008414,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.2693157,"mpcc_pred_id_a":-0.418213636,"mpcc_pred_iq_a":-0.31735754,"mpcc_state":1,"mpcc_theta_e":0.430281162,"mpcc_theta_mech":0.553002179,"sam_rpm":-17.2565632,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252586454,"thr_a_norm":0.0252586454,"thr_a_v":0.601034582,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478672475,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.789722,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-2.32837415,"cg_iw_a":1.86887288,"cg_theta_rad":0.55669862,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.00506839156,"mpcc_du":50.531929,"mpcc_dv":48.2202911,"mpcc_dw":51.7797089,"mpcc_enc_sign":1,"mpcc_id_a":0.958118618,"mpcc_iq_a":-0.577120662,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.44829941,"mpcc_pred_id_a":0.147512823,"mpcc_pred_iq_a":0.0266758539,"mpcc_state":1,"mpcc_theta_e":0.433312416,"mpcc_theta_mech":0.553608358,"sam_rpm":-14.1079721,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252586454,"thr_a_norm":0.0252586454,"thr_a_v":0.601034582,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478672475,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.796253,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.96593571,"cg_iw_a":0.419119358,"cg_theta_rad":0.556474388,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0300673619,"mpcc_du":50.394146,"mpcc_dv":48.4412079,"mpcc_dw":51.5587921,"mpcc_enc_sign":1,"mpcc_id_a":3.31671786,"mpcc_iq_a":-0.857996881,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.3214712,"mpcc_pred_id_a":0.768405974,"mpcc_pred_iq_a":-2.70820355,"mpcc_state":1,"mpcc_theta_e":0.451071262,"mpcc_theta_mech":0.557160199,"sam_rpm":-10.7037659,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024440363,"thr_a_norm":0.024440363,"thr_a_v":0.597761452,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486225694,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.802814,"values":{"cg_iu_a":2.41666842,"cg_iv_a":0.353669643,"cg_iw_a":-2.77033806,"cg_theta_rad":0.556831777,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0652670711,"mpcc_du":50.0147858,"mpcc_dv":48.858448,"mpcc_dw":51.141552,"mpcc_enc_sign":1,"mpcc_id_a":2.83631516,"mpcc_iq_a":-0.0146777174,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.11439085,"mpcc_pred_id_a":0.346953481,"mpcc_pred_iq_a":-2.01488256,"mpcc_state":1,"mpcc_theta_e":0.448927402,"mpcc_theta_mech":0.556731403,"sam_rpm":7.41572332,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027537182,"thr_a_norm":0.024440363,"thr_a_v":0.610148728,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49282214,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.813831,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.298719406,"cg_iw_a":-0.958146572,"cg_theta_rad":0.555849016,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0182564445,"mpcc_du":50.5281525,"mpcc_dv":48.2384071,"mpcc_dw":51.7615929,"mpcc_enc_sign":1,"mpcc_id_a":2.14914393,"mpcc_iq_a":-1.1118573,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.1193266,"mpcc_pred_id_a":0.118251048,"mpcc_pred_iq_a":1.47713649,"mpcc_state":1,"mpcc_theta_e":0.427201271,"mpcc_theta_mech":0.552386165,"sam_rpm":-19.2574177,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027537182,"thr_a_norm":0.027537182,"thr_a_v":0.610148728,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49282214,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.823994,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.16857147,"cg_iw_a":-0.16078186,"cg_theta_rad":0.553636253,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0149504934,"mpcc_du":50.8059387,"mpcc_dv":47.9471817,"mpcc_dw":52.0528183,"mpcc_enc_sign":1,"mpcc_id_a":1.564762,"mpcc_iq_a":-2.80465674,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.3958578,"mpcc_pred_id_a":-0.0937305465,"mpcc_pred_iq_a":-4.08537579,"mpcc_state":1,"mpcc_theta_e":0.452833652,"mpcc_theta_mech":0.557512641,"sam_rpm":-24.7036457,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166102052,"thr_a_norm":0.0166102052,"thr_a_v":0.566440821,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473737687,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.834431,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.16857147,"cg_iw_a":0.491606712,"cg_theta_rad":0.553240061,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.00494251307,"mpcc_du":50.7992592,"mpcc_dv":48.28368,"mpcc_dw":51.71632,"mpcc_enc_sign":1,"mpcc_id_a":-0.123225175,"mpcc_iq_a":-2.78869486,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-22.461462,"mpcc_pred_id_a":-0.86828655,"mpcc_pred_iq_a":-2.82490897,"mpcc_state":1,"mpcc_theta_e":0.42570591,"mpcc_theta_mech":0.555475414,"sam_rpm":-34.4490738,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199084431,"thr_a_norm":0.0166102052,"thr_a_v":0.579633772,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479729921,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.844166,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.951108456,"cg_iw_a":-2.11794925,"cg_theta_rad":0.557429433,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0235169884,"mpcc_du":50.1326065,"mpcc_dv":49.0318336,"mpcc_dw":50.9681664,"mpcc_enc_sign":1,"mpcc_id_a":0.565012991,"mpcc_iq_a":-1.05645609,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.02138901,"mpcc_pred_id_a":-0.506650984,"mpcc_pred_iq_a":-2.55187845,"mpcc_state":1,"mpcc_theta_e":0.448059082,"mpcc_theta_mech":0.556557775,"sam_rpm":5.80290747,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199084431,"thr_a_norm":0.0199084431,"thr_a_v":0.579633772,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479729921,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.85442,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.371207237,"cg_iw_a":-1.97297335,"cg_theta_rad":0.553413451,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.037630517,"mpcc_du":50.9574509,"mpcc_dv":47.7782936,"mpcc_dw":52.2217064,"mpcc_enc_sign":1,"mpcc_id_a":-0.619890094,"mpcc_iq_a":-2.01900768,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.507144,"mpcc_pred_id_a":-0.0498513393,"mpcc_pred_iq_a":-1.20594931,"mpcc_state":1,"mpcc_theta_e":0.447368622,"mpcc_theta_mech":0.556419671,"sam_rpm":-20.6327305,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220862925,"thr_a_norm":0.0220862925,"thr_a_v":0.58834517,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.864399,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.298719406,"cg_iw_a":1.43394685,"cg_theta_rad":0.558477938,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.00164654618,"mpcc_du":50.660778,"mpcc_dv":48.0773125,"mpcc_dw":51.9226875,"mpcc_enc_sign":1,"mpcc_id_a":0.811531961,"mpcc_iq_a":-1.24377215,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.6486883,"mpcc_pred_id_a":0.0768743455,"mpcc_pred_iq_a":-0.2991696,"mpcc_state":1,"mpcc_theta_e":0.430908203,"mpcc_theta_mech":0.553127587,"sam_rpm":-22.8391857,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220862925,"thr_a_norm":0.0220862925,"thr_a_v":0.58834517,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.887806,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.53100967,"cg_iw_a":0.636582375,"cg_theta_rad":0.553786039,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0199208967,"mpcc_du":51.2248497,"mpcc_dv":47.4266396,"mpcc_dw":52.5733604,"mpcc_enc_sign":1,"mpcc_id_a":2.70843005,"mpcc_iq_a":-0.624017119,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.0581741,"mpcc_pred_id_a":-0.271948457,"mpcc_pred_iq_a":3.4027853,"mpcc_state":1,"mpcc_theta_e":0.455776691,"mpcc_theta_mech":0.558101237,"sam_rpm":-16.163641,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0300927013,"thr_a_norm":0.0300927013,"thr_a_v":0.620370805,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456516385,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.894337,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.806133032,"cg_iw_a":0.0566809177,"cg_theta_rad":0.553355813,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0387569703,"mpcc_du":49.693119,"mpcc_dv":49.1343842,"mpcc_dw":50.8656158,"mpcc_enc_sign":1,"mpcc_id_a":2.91979003,"mpcc_iq_a":0.00583459949,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.56235993,"mpcc_pred_id_a":0.574962318,"mpcc_pred_iq_a":-2.23556876,"mpcc_state":1,"mpcc_theta_e":0.444040775,"mpcc_theta_mech":0.555754066,"sam_rpm":2.7344017,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245159119,"thr_a_norm":0.0300927013,"thr_a_v":0.598063648,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474492997,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.900837,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.6759851,"cg_iw_a":-0.958146334,"cg_theta_rad":0.555058479,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0640437603,"mpcc_du":50.422821,"mpcc_dv":48.3203201,"mpcc_dw":51.6796799,"mpcc_enc_sign":1,"mpcc_id_a":4.1562295,"mpcc_iq_a":-0.292165458,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.29422,"mpcc_pred_id_a":0.946259737,"mpcc_pred_iq_a":-3.39558482,"mpcc_state":1,"mpcc_theta_e":0.452017784,"mpcc_theta_mech":0.554323733,"sam_rpm":15.6554699,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245159119,"thr_a_norm":0.0245159119,"thr_a_v":0.598063648,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474492997,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.907368,"values":{"cg_iu_a":2.63413143,"cg_iv_a":1.7309351,"cg_iw_a":-4.36506653,"cg_theta_rad":0.552591622,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.00457564974,"mpcc_du":49.7775383,"mpcc_dv":49.3343391,"mpcc_dw":50.6656609,"mpcc_enc_sign":1,"mpcc_id_a":1.09011483,"mpcc_iq_a":-1.81328177,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.70832109,"mpcc_pred_id_a":-0.280124933,"mpcc_pred_iq_a":-2.66821432,"mpcc_state":1,"mpcc_theta_e":0.444818974,"mpcc_theta_mech":0.555909693,"sam_rpm":3.90434098,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283176899,"thr_a_norm":0.0283176899,"thr_a_v":0.61327076,"thr_b":4.34815884e-05,"thr_b_norm":4.34815884e-05,"thr_b_v":0.500173926,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.915302,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.806133032,"cg_iw_a":0.12916851,"cg_theta_rad":0.555475533,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0133341709,"mpcc_du":49.5479317,"mpcc_dv":50.1407738,"mpcc_dw":50.4520683,"mpcc_enc_sign":1,"mpcc_id_a":2.27508688,"mpcc_iq_a":-1.3504287,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.54116797,"mpcc_pred_id_a":0.111297026,"mpcc_pred_iq_a":-4.0408988,"mpcc_state":1,"mpcc_theta_e":0.442168713,"mpcc_theta_mech":0.555379629,"sam_rpm":3.20631075,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283176899,"thr_a_norm":0.0283176899,"thr_a_v":0.61327076,"thr_b":4.34815884e-05,"thr_b_norm":4.34815884e-05,"thr_b_v":0.500173926,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.925587,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.298719406,"cg_iw_a":-0.885658741,"cg_theta_rad":0.558502913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0271905772,"mpcc_du":50.0300331,"mpcc_dv":48.9872055,"mpcc_dw":51.0127945,"mpcc_enc_sign":1,"mpcc_id_a":0.600199997,"mpcc_iq_a":-0.981674194,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.56709433,"mpcc_pred_id_a":-0.0864431113,"mpcc_pred_iq_a":-2.58963275,"mpcc_state":1,"mpcc_theta_e":0.449153423,"mpcc_theta_mech":0.556776583,"sam_rpm":6.31140137,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296394974,"thr_a_norm":0.0296394974,"thr_a_v":0.61855799,"thr_b":0.00494047999,"thr_b_norm":0.00494047999,"thr_b_v":0.51976192,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.93578,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.03063393,"cg_theta_rad":0.556306124,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5006,"hz_app_loop":361,"hz_tim_isr":10010,"hz_vsense":361,"mpcc_cost":0.0451952256,"mpcc_du":50.8442307,"mpcc_dv":47.8143539,"mpcc_dw":52.1856461,"mpcc_enc_sign":1,"mpcc_id_a":2.42117667,"mpcc_iq_a":-1.04127538,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.1566725,"mpcc_pred_id_a":0.27154088,"mpcc_pred_iq_a":-1.60475719,"mpcc_state":1,"mpcc_theta_e":0.439463139,"mpcc_theta_mech":0.554838538,"sam_rpm":-15.5607796,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228164196,"thr_a_norm":0.0296394974,"thr_a_v":0.591265678,"thr_b":0,"thr_b_norm":0.00494047999,"thr_b_v":0.499418616,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.946308,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.02359605,"cg_iw_a":0.346631765,"cg_theta_rad":0.555438578,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.000857306237,"mpcc_du":49.4402657,"mpcc_dv":50.5597343,"mpcc_dw":50.0529785,"mpcc_enc_sign":1,"mpcc_id_a":-0.57998693,"mpcc_iq_a":-3.53455806,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.3196564,"mpcc_pred_id_a":-0.614924073,"mpcc_pred_iq_a":-4.61027527,"mpcc_state":1,"mpcc_theta_e":0.457064152,"mpcc_theta_mech":0.558358729,"sam_rpm":23.0663052,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228164196,"thr_a_norm":0.0228164196,"thr_a_v":0.591265678,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499418616,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.956409,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-2.40086174,"cg_iw_a":2.44877386,"cg_theta_rad":0.558006704,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0270021465,"mpcc_du":50.3398819,"mpcc_dv":48.277092,"mpcc_dw":51.722908,"mpcc_enc_sign":1,"mpcc_id_a":2.99414825,"mpcc_iq_a":0.578705668,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.0916386,"mpcc_pred_id_a":0.551347792,"mpcc_pred_iq_a":-1.03249276,"mpcc_state":1,"mpcc_theta_e":0.425009251,"mpcc_theta_mech":0.551947773,"sam_rpm":-24.7022114,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263412744,"thr_a_norm":0.0263412744,"thr_a_v":0.605365098,"thr_b":0.00105057657,"thr_b_norm":0.00105057657,"thr_b_v":0.504202306,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.967823,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.6759851,"cg_iw_a":-1.03063393,"cg_theta_rad":0.553085983,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.00721945334,"mpcc_du":49.4963989,"mpcc_dv":50.2868309,"mpcc_dw":50.5036011,"mpcc_enc_sign":1,"mpcc_id_a":1.0931356,"mpcc_iq_a":-0.79577899,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.17080784,"mpcc_pred_id_a":0.386755735,"mpcc_pred_iq_a":-3.60677695,"mpcc_state":1,"mpcc_theta_e":0.445518017,"mpcc_theta_mech":0.556049526,"sam_rpm":10.8810396,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022476539,"thr_a_norm":0.0263412744,"thr_a_v":0.589906156,"thr_b":0,"thr_b_norm":0.00105057657,"thr_b_v":0.477212161,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.989979,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.09608364,"cg_iw_a":0.0566811562,"cg_theta_rad":0.55703038,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0100915777,"mpcc_du":48.7353172,"mpcc_dv":51.2646828,"mpcc_dw":49.2880745,"mpcc_enc_sign":1,"mpcc_id_a":-0.102330834,"mpcc_iq_a":-0.597346306,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.9365568,"mpcc_pred_id_a":-0.464440435,"mpcc_pred_iq_a":-7.27377701,"mpcc_state":1,"mpcc_theta_e":0.453211308,"mpcc_theta_mech":0.55758816,"sam_rpm":18.8112965,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022476539,"thr_a_norm":0.022476539,"thr_a_v":0.589906156,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477212161,"vdc_v":55.2955055}} +{"type":"telemetry","t":35.99651,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.951108456,"cg_iw_a":0.346631527,"cg_theta_rad":0.556519032,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.029436918,"mpcc_du":49.8706512,"mpcc_dv":48.8247528,"mpcc_dw":51.1752472,"mpcc_enc_sign":1,"mpcc_id_a":2.98832393,"mpcc_iq_a":-0.863333941,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.62869191,"mpcc_pred_id_a":0.741766214,"mpcc_pred_iq_a":-0.623053491,"mpcc_state":1,"mpcc_theta_e":0.444732666,"mpcc_theta_mech":0.555892408,"sam_rpm":5.18196583,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194048882,"thr_a_norm":0.0194048882,"thr_a_v":0.577619553,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474090159,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.003071,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.516182423,"cg_iw_a":0.781557322,"cg_theta_rad":0.556866825,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.00885151792,"mpcc_du":50.3106041,"mpcc_dv":48.6270027,"mpcc_dw":51.3729973,"mpcc_enc_sign":1,"mpcc_id_a":-0.461075306,"mpcc_iq_a":-1.72095656,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.00334167,"mpcc_pred_id_a":-0.316619456,"mpcc_pred_iq_a":-2.56012774,"mpcc_state":1,"mpcc_theta_e":0.439236641,"mpcc_theta_mech":0.554793239,"sam_rpm":-7.92929697,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194048882,"thr_a_norm":0.0194048882,"thr_a_v":0.577619553,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474090159,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.009571,"values":{"cg_iu_a":4.30134773,"cg_iv_a":-1.38603449,"cg_iw_a":-0.668195724,"cg_theta_rad":0.554367781,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0396504737,"mpcc_du":51.9382172,"mpcc_dv":46.248867,"mpcc_dw":53.751133,"mpcc_enc_sign":1,"mpcc_id_a":2.41401863,"mpcc_iq_a":-0.739580393,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.8758545,"mpcc_pred_id_a":0.170881897,"mpcc_pred_iq_a":2.74446726,"mpcc_state":1,"mpcc_theta_e":0.465451241,"mpcc_theta_mech":0.560036123,"sam_rpm":-34.1455116,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0329125673,"thr_a_norm":0.0329125673,"thr_a_v":0.631650269,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464774519,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.020039,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-0.226231575,"cg_iw_a":0.41911912,"cg_theta_rad":0.555670321,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0691455156,"mpcc_du":49.9416161,"mpcc_dv":48.7850685,"mpcc_dw":51.2149315,"mpcc_enc_sign":1,"mpcc_id_a":3.49230886,"mpcc_iq_a":0.197213888,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.946878374,"mpcc_pred_id_a":0.559479952,"mpcc_pred_iq_a":-2.49197149,"mpcc_state":1,"mpcc_theta_e":0.443955421,"mpcc_theta_mech":0.555439353,"sam_rpm":-0.580253363,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263160914,"thr_a_norm":0.0263160914,"thr_a_v":0.605264366,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498713672,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.029835,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.951108456,"cg_iw_a":-1.90048599,"cg_theta_rad":0.554259896,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0226269867,"mpcc_du":50.0444679,"mpcc_dv":48.8896523,"mpcc_dw":51.1103477,"mpcc_enc_sign":1,"mpcc_id_a":1.85252857,"mpcc_iq_a":-1.39173746,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.71037829,"mpcc_pred_id_a":0.0158076957,"mpcc_pred_iq_a":-2.17374778,"mpcc_state":1,"mpcc_theta_e":0.44608593,"mpcc_theta_mech":0.556163132,"sam_rpm":3.43442464,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263160914,"thr_a_norm":0.0263160914,"thr_a_v":0.605264366,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498713672,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.040028,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.661157608,"cg_iw_a":-0.958146572,"cg_theta_rad":0.553171277,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0349857546,"mpcc_du":50.0442123,"mpcc_dv":49.239521,"mpcc_dw":50.760479,"mpcc_enc_sign":1,"mpcc_id_a":-1.02039289,"mpcc_iq_a":-1.31290293,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.8351192,"mpcc_pred_id_a":-0.821366847,"mpcc_pred_iq_a":-1.86213613,"mpcc_state":1,"mpcc_theta_e":0.456071854,"mpcc_theta_mech":0.558160245,"sam_rpm":20.561758,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0229423195,"thr_a_norm":0.0229423195,"thr_a_v":0.591769278,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480283797,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.050159,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.38603449,"cg_iw_a":0.346631527,"cg_theta_rad":0.553402901,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.00299630943,"mpcc_du":49.591774,"mpcc_dv":49.7269592,"mpcc_dw":50.408226,"mpcc_enc_sign":1,"mpcc_id_a":0.848982871,"mpcc_iq_a":-0.808921576,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.6668191,"mpcc_pred_id_a":-0.294050604,"mpcc_pred_iq_a":-3.77111936,"mpcc_state":1,"mpcc_theta_e":0.437900066,"mpcc_theta_mech":0.554525971,"sam_rpm":-3.02024984,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0229423195,"thr_a_v":0.618709087,"thr_b":0.00709316134,"thr_b_norm":0,"thr_b_v":0.528372645,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.062,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.878620625,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.553989112,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0249214042,"mpcc_du":49.7719612,"mpcc_dv":49.2766228,"mpcc_dw":50.7233772,"mpcc_enc_sign":1,"mpcc_id_a":0.890945852,"mpcc_iq_a":-0.378481865,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.7109375,"mpcc_pred_id_a":-0.0786305591,"mpcc_pred_iq_a":-2.5156014,"mpcc_state":1,"mpcc_theta_e":0.449158669,"mpcc_theta_mech":0.556777656,"sam_rpm":9.08378124,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00709316134,"thr_b_norm":0.00709316134,"thr_b_v":0.528372645,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.072193,"values":{"cg_iu_a":2.12671757,"cg_iv_a":0.426157475,"cg_iw_a":-2.55287504,"cg_theta_rad":0.555957139,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.00374748488,"mpcc_du":49.574604,"mpcc_dv":50.0566483,"mpcc_dw":50.425396,"mpcc_enc_sign":1,"mpcc_id_a":1.03694582,"mpcc_iq_a":-0.0679414794,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.45666385,"mpcc_pred_id_a":-0.10430228,"mpcc_pred_iq_a":-2.64766431,"mpcc_state":1,"mpcc_theta_e":0.440531731,"mpcc_theta_mech":0.555052221,"sam_rpm":4.16862106,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0301430523,"thr_a_norm":0.0301430523,"thr_a_v":0.620572209,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460444033,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.09679,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.74847269,"cg_iw_a":-0.378244877,"cg_theta_rad":0.556656063,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0235046092,"mpcc_du":50.6875763,"mpcc_dv":48.2971611,"mpcc_dw":51.7028389,"mpcc_enc_sign":1,"mpcc_id_a":1.07266426,"mpcc_iq_a":0.00200956361,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.17882848,"mpcc_pred_id_a":-0.677699089,"mpcc_pred_iq_a":-5.27802706,"mpcc_state":1,"mpcc_theta_e":0.445900917,"mpcc_theta_mech":0.556126118,"sam_rpm":-4.4293828,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201476216,"thr_a_norm":0.0301430523,"thr_a_v":0.580590487,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451581597,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.103321,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.09608364,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556527913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0159560144,"mpcc_du":49.4487534,"mpcc_dv":50.5512466,"mpcc_dw":50.3610382,"mpcc_enc_sign":1,"mpcc_id_a":1.38132703,"mpcc_iq_a":-0.194118828,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.68249083,"mpcc_pred_id_a":0.303866982,"mpcc_pred_iq_a":-5.34191751,"mpcc_state":1,"mpcc_theta_e":0.447392464,"mpcc_theta_mech":0.556747317,"sam_rpm":6.55668402,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201476216,"thr_a_norm":0.0201476216,"thr_a_v":0.580590487,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451581597,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.109852,"values":{"cg_iu_a":0.24203825,"cg_iv_a":0.136206627,"cg_iw_a":-0.378244877,"cg_theta_rad":0.555076122,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0557011291,"mpcc_du":49.8875313,"mpcc_dv":49.0160828,"mpcc_dw":50.9839172,"mpcc_enc_sign":1,"mpcc_id_a":2.12627316,"mpcc_iq_a":1.02882004,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.06514668,"mpcc_pred_id_a":0.349517077,"mpcc_pred_iq_a":-1.88256085,"mpcc_state":1,"mpcc_theta_e":0.446086407,"mpcc_theta_mech":0.556163192,"sam_rpm":4.89581919,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.104945078,"thr_a_norm":0.104945078,"thr_a_v":0.919780314,"thr_b":0.0492778569,"thr_b_norm":0.0492778569,"thr_b_v":0.697111428,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.116383,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.661157608,"cg_iw_a":-2.11794901,"cg_theta_rad":0.552141607,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0233556982,"mpcc_du":49.5052948,"mpcc_dv":49.5318108,"mpcc_dw":50.4947052,"mpcc_enc_sign":1,"mpcc_id_a":2.62442279,"mpcc_iq_a":-0.43174234,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.88000393,"mpcc_pred_id_a":0.295989096,"mpcc_pred_iq_a":-2.01077724,"mpcc_state":1,"mpcc_theta_e":0.43543005,"mpcc_theta_mech":0.554031909,"sam_rpm":3.49206901,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.104945078,"thr_a_norm":0.104945078,"thr_a_v":0.919780314,"thr_b":0.0492778569,"thr_b_norm":0.0492778569,"thr_b_v":0.697111428,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.125141,"values":{"cg_iu_a":1.47432899,"cg_iv_a":0.136206627,"cg_iw_a":-1.61053562,"cg_theta_rad":0.552173436,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.00587970857,"mpcc_du":49.8026428,"mpcc_dv":49.2375832,"mpcc_dw":50.7624168,"mpcc_enc_sign":1,"mpcc_id_a":1.41667223,"mpcc_iq_a":-0.968843102,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.42956257,"mpcc_pred_id_a":0.0291247442,"mpcc_pred_iq_a":-2.61456823,"mpcc_state":1,"mpcc_theta_e":0.430699825,"mpcc_theta_mech":0.553085923,"sam_rpm":-13.6863651,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238487124,"thr_a_norm":0.0238487124,"thr_a_v":0.59539485,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.137592,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.951108456,"cg_iw_a":-1.17560959,"cg_theta_rad":0.554717958,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0545151085,"mpcc_du":50.4441528,"mpcc_dv":48.5510254,"mpcc_dw":51.4489746,"mpcc_enc_sign":1,"mpcc_id_a":0.233543009,"mpcc_iq_a":-0.573030055,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.28126407,"mpcc_pred_id_a":-0.073614262,"mpcc_pred_iq_a":-1.69278657,"mpcc_state":1,"mpcc_theta_e":0.449903011,"mpcc_theta_mech":0.556926489,"sam_rpm":6.44170427,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192790031,"thr_a_norm":0.0238487124,"thr_a_v":0.577116013,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459285885,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.148365,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-1.6759851,"cg_iw_a":-1.75551057,"cg_theta_rad":0.5569911,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0338334404,"mpcc_du":49.7954636,"mpcc_dv":49.1160278,"mpcc_dw":50.8839722,"mpcc_enc_sign":1,"mpcc_id_a":3.15586281,"mpcc_iq_a":-2.0243268,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.941147387,"mpcc_pred_id_a":0.374844462,"mpcc_pred_iq_a":-3.83755946,"mpcc_state":1,"mpcc_theta_e":0.448337555,"mpcc_theta_mech":0.556613386,"sam_rpm":0.916622341,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192790031,"thr_a_norm":0.0192790031,"thr_a_v":0.577116013,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459285885,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.159595,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.53100967,"cg_iw_a":-1.46555996,"cg_theta_rad":0.555172741,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0403852724,"mpcc_du":49.6594353,"mpcc_dv":49.2487144,"mpcc_dw":50.7512856,"mpcc_enc_sign":1,"mpcc_id_a":2.61106944,"mpcc_iq_a":-2.30336881,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.36458683,"mpcc_pred_id_a":0.334435523,"mpcc_pred_iq_a":-3.74361658,"mpcc_state":1,"mpcc_theta_e":0.456460953,"mpcc_theta_mech":0.558238149,"sam_rpm":15.0225182,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0249313265,"thr_a_norm":0.0249313265,"thr_a_v":0.599725306,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.169971,"values":{"cg_iu_a":4.08388519,"cg_iv_a":-0.878620625,"cg_iw_a":-3.20526457,"cg_theta_rad":0.556956172,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0507696345,"mpcc_du":49.4758492,"mpcc_dv":50.1069336,"mpcc_dw":50.5241508,"mpcc_enc_sign":1,"mpcc_id_a":0.861300647,"mpcc_iq_a":0.943833828,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.8938284,"mpcc_pred_id_a":-0.206950516,"mpcc_pred_iq_a":0.718623102,"mpcc_state":1,"mpcc_theta_e":0.43198967,"mpcc_theta_mech":0.553343892,"sam_rpm":5.40279913,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0962462723,"thr_a_norm":0.0249313265,"thr_a_v":0.884985089,"thr_b":0.0392320901,"thr_b_norm":0,"thr_b_v":0.65692836,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.193012,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.31354666,"cg_iw_a":-1.75551081,"cg_theta_rad":0.556631863,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0251515545,"mpcc_du":50.5123596,"mpcc_dv":48.221859,"mpcc_dw":51.778141,"mpcc_enc_sign":1,"mpcc_id_a":1.53756118,"mpcc_iq_a":-0.0163390804,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.1701279,"mpcc_pred_id_a":0.180795208,"mpcc_pred_iq_a":-1.48152041,"mpcc_state":1,"mpcc_theta_e":0.434071064,"mpcc_theta_mech":0.553760111,"sam_rpm":-16.3244286,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0962462723,"thr_a_norm":0.0962462723,"thr_a_v":0.884985089,"thr_b":0.0392320901,"thr_b_norm":0.0392320901,"thr_b_v":0.65692836,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.199543,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.02359605,"cg_iw_a":-0.160782099,"cg_theta_rad":0.555345595,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.00420933869,"mpcc_du":50.036335,"mpcc_dv":48.9215889,"mpcc_dw":51.0784111,"mpcc_enc_sign":1,"mpcc_id_a":1.21198201,"mpcc_iq_a":-2.23800373,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.10375524,"mpcc_pred_id_a":-0.0480865203,"mpcc_pred_iq_a":-0.317763895,"mpcc_state":1,"mpcc_theta_e":0.442944527,"mpcc_theta_mech":0.55553484,"sam_rpm":2.9005506,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242515355,"thr_a_norm":0.0242515355,"thr_a_v":0.597006142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467342645,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.206043,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.24105906,"cg_iw_a":-1.46555996,"cg_theta_rad":0.550238729,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.00176938064,"mpcc_du":50.5887566,"mpcc_dv":48.3104897,"mpcc_dw":51.6895103,"mpcc_enc_sign":1,"mpcc_id_a":0.748243928,"mpcc_iq_a":-1.032197,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.94688034,"mpcc_pred_id_a":-0.299554825,"mpcc_pred_iq_a":0.225625962,"mpcc_state":1,"mpcc_theta_e":0.432351112,"mpcc_theta_mech":0.553416133,"sam_rpm":-13.3599367,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242515355,"thr_a_norm":0.0242515355,"thr_a_v":0.597006142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467342645,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.212543,"values":{"cg_iu_a":4.01139736,"cg_iv_a":-0.733645439,"cg_iw_a":-3.27775192,"cg_theta_rad":0.556512892,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0715004131,"mpcc_du":49.455616,"mpcc_dv":50.2510643,"mpcc_dw":50.544384,"mpcc_enc_sign":1,"mpcc_id_a":4.56576014,"mpcc_iq_a":0.424935907,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.29982281,"mpcc_pred_id_a":0.607160985,"mpcc_pred_iq_a":-4.47649622,"mpcc_state":1,"mpcc_theta_e":0.444692135,"mpcc_theta_mech":0.555884302,"sam_rpm":6.05759525,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193041861,"thr_a_norm":0.0193041861,"thr_a_v":0.577216744,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467745453,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.220753,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.74847269,"cg_iw_a":-0.740683556,"cg_theta_rad":0.555929959,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0124033215,"mpcc_du":49.6208687,"mpcc_dv":49.9570351,"mpcc_dw":50.3791313,"mpcc_enc_sign":1,"mpcc_id_a":0.487944812,"mpcc_iq_a":-1.7167753,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.41528893,"mpcc_pred_id_a":-0.468708873,"mpcc_pred_iq_a":-5.71047401,"mpcc_state":1,"mpcc_theta_e":0.44870472,"mpcc_theta_mech":0.556686878,"sam_rpm":5.25076294,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241256505,"thr_a_norm":0.0193041861,"thr_a_v":0.596502602,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479377449,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.230762,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.806133032,"cg_iw_a":1.86887264,"cg_theta_rad":0.55613029,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0648471043,"mpcc_du":49.3458443,"mpcc_dv":50.6541557,"mpcc_dw":50.5078583,"mpcc_enc_sign":1,"mpcc_id_a":4.73026371,"mpcc_iq_a":-0.106003977,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.2533989,"mpcc_pred_id_a":0.967813551,"mpcc_pred_iq_a":-2.24989581,"mpcc_state":1,"mpcc_theta_e":0.452091217,"mpcc_theta_mech":0.557364166,"sam_rpm":24.7257423,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241256505,"thr_a_norm":0.0241256505,"thr_a_v":0.596502602,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479377449,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.242146,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-2.32837415,"cg_iw_a":-1.75551081,"cg_theta_rad":0.551827371,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0516242683,"mpcc_du":50.2486687,"mpcc_dv":48.431282,"mpcc_dw":51.568718,"mpcc_enc_sign":1,"mpcc_id_a":2.82301569,"mpcc_iq_a":-1.37888277,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.0504961,"mpcc_pred_id_a":0.487927318,"mpcc_pred_iq_a":-3.509058,"mpcc_state":1,"mpcc_theta_e":0.442331791,"mpcc_theta_mech":0.555412233,"sam_rpm":-8.29757118,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0207518935,"thr_a_norm":0.0207518935,"thr_a_v":0.583007574,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.253162,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.733645439,"cg_iw_a":0.12916851,"cg_theta_rad":0.555913329,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0264422074,"mpcc_du":50.0141525,"mpcc_dv":48.7673187,"mpcc_dw":51.2326813,"mpcc_enc_sign":1,"mpcc_id_a":2.44062924,"mpcc_iq_a":-2.39520216,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.0158892,"mpcc_pred_id_a":0.216618508,"mpcc_pred_iq_a":-2.39565229,"mpcc_state":1,"mpcc_theta_e":0.427503109,"mpcc_theta_mech":0.552446544,"sam_rpm":-24.0557117,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024390012,"thr_a_norm":0.0207518935,"thr_a_v":0.597560048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.262989,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.878620625,"cg_iw_a":-1.61053562,"cg_theta_rad":0.554603636,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0306275319,"mpcc_du":49.4253273,"mpcc_dv":49.446907,"mpcc_dw":50.5746727,"mpcc_enc_sign":1,"mpcc_id_a":2.72562599,"mpcc_iq_a":-0.74209708,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.93384552,"mpcc_pred_id_a":0.444596916,"mpcc_pred_iq_a":-0.26808235,"mpcc_state":1,"mpcc_theta_e":0.446018219,"mpcc_theta_mech":0.556149542,"sam_rpm":10.4531937,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024390012,"thr_a_norm":0.024390012,"thr_a_v":0.597560048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.273396,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.733645439,"cg_iw_a":-1.17560911,"cg_theta_rad":0.555265903,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0478685685,"mpcc_du":49.4293747,"mpcc_dv":50.0255623,"mpcc_dw":50.5706253,"mpcc_enc_sign":1,"mpcc_id_a":3.74846482,"mpcc_iq_a":-0.760092616,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.866709948,"mpcc_pred_id_a":0.596800208,"mpcc_pred_iq_a":-1.49246812,"mpcc_state":1,"mpcc_theta_e":0.433009148,"mpcc_theta_mech":0.55354774,"sam_rpm":-3.45926118,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228416175,"thr_a_norm":0.0228416175,"thr_a_v":0.59136647,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477564633,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.296406,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.226231575,"cg_iw_a":-0.450732708,"cg_theta_rad":0.554495573,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.013600925,"mpcc_du":48.5916328,"mpcc_dv":51.4083672,"mpcc_dw":49.3646851,"mpcc_enc_sign":1,"mpcc_id_a":1.93952823,"mpcc_iq_a":-1.03974843,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.0024214,"mpcc_pred_id_a":0.151867136,"mpcc_pred_iq_a":-7.03172159,"mpcc_state":1,"mpcc_theta_e":0.455899239,"mpcc_theta_mech":0.558125734,"sam_rpm":21.5190601,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228416175,"thr_a_norm":0.0228416175,"thr_a_v":0.59136647,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477564633,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.302876,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.24105906,"cg_iw_a":-1.90048623,"cg_theta_rad":0.55643183,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0158080216,"mpcc_du":50.3720894,"mpcc_dv":48.5691147,"mpcc_dw":50.5336647,"mpcc_enc_sign":1,"mpcc_id_a":1.32338428,"mpcc_iq_a":-0.480221599,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.64002752,"mpcc_pred_id_a":-0.247190535,"mpcc_pred_iq_a":-0.670419812,"mpcc_state":1,"mpcc_theta_e":0.440296173,"mpcc_theta_mech":0.557419062,"sam_rpm":-3.39920998,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227031261,"thr_a_norm":0.0227031261,"thr_a_v":0.590812504,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477463931,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.309437,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.31354666,"cg_iw_a":-1.17560959,"cg_theta_rad":0.556761563,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0160821807,"mpcc_du":50.2655411,"mpcc_dv":48.4398956,"mpcc_dw":51.5601044,"mpcc_enc_sign":1,"mpcc_id_a":2.18754363,"mpcc_iq_a":-0.680781424,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.1025591,"mpcc_pred_id_a":0.253867477,"mpcc_pred_iq_a":-1.64585853,"mpcc_state":1,"mpcc_theta_e":0.431717873,"mpcc_theta_mech":0.553289533,"sam_rpm":-16.3055439,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227031261,"thr_a_norm":0.0227031261,"thr_a_v":0.590812504,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477463931,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.318195,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.31354666,"cg_iw_a":-1.39307261,"cg_theta_rad":0.554730833,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0361271352,"mpcc_du":50.5854111,"mpcc_dv":48.102272,"mpcc_dw":51.897728,"mpcc_enc_sign":1,"mpcc_id_a":1.41728675,"mpcc_iq_a":0.402459323,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.38482666,"mpcc_pred_id_a":0.145393848,"mpcc_pred_iq_a":0.203389853,"mpcc_state":1,"mpcc_theta_e":0.447002411,"mpcc_theta_mech":0.556346357,"sam_rpm":-5.81768417,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022325471,"thr_a_norm":0.022325471,"thr_a_v":0.589301884,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486175328,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.328419,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.38603449,"cg_iw_a":0.78155756,"cg_theta_rad":0.553165913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0306378789,"mpcc_du":49.2031517,"mpcc_dv":50.7968483,"mpcc_dw":49.8907242,"mpcc_enc_sign":1,"mpcc_id_a":-0.17096588,"mpcc_iq_a":-2.13344026,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.69025993,"mpcc_pred_id_a":-0.340207487,"mpcc_pred_iq_a":-3.0198133,"mpcc_state":1,"mpcc_theta_e":0.437713146,"mpcc_theta_mech":0.553448796,"sam_rpm":5.11970615,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241760015,"thr_a_norm":0.0241760015,"thr_a_v":0.596704006,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478974611,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.338123,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.951108456,"cg_iw_a":0.201656342,"cg_theta_rad":0.555448651,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.00319019007,"mpcc_du":49.5127831,"mpcc_dv":49.7122421,"mpcc_dw":50.4872169,"mpcc_enc_sign":1,"mpcc_id_a":0.906561673,"mpcc_iq_a":-1.02442873,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.07489538,"mpcc_pred_id_a":-0.00346482592,"mpcc_pred_iq_a":-1.41289043,"mpcc_state":1,"mpcc_theta_e":0.440570354,"mpcc_theta_mech":0.554473877,"sam_rpm":5.3239646,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241760015,"thr_a_norm":0.0241760015,"thr_a_v":0.596704006,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478974611,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.348408,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.0812563896,"cg_iw_a":0.854045391,"cg_theta_rad":0.556846261,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0717261434,"mpcc_du":50.4432526,"mpcc_dv":48.343544,"mpcc_dw":51.656456,"mpcc_enc_sign":1,"mpcc_id_a":1.67968643,"mpcc_iq_a":-0.238979906,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.96849966,"mpcc_pred_id_a":0.107839495,"mpcc_pred_iq_a":-2.80742931,"mpcc_state":1,"mpcc_theta_e":0.444347858,"mpcc_theta_mech":0.555815518,"sam_rpm":-4.42299223,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023030445,"thr_a_norm":0.023030445,"thr_a_v":0.59212178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48980087,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.358601,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.806133032,"cg_iw_a":-1.03063393,"cg_theta_rad":0.552821815,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0784795135,"mpcc_du":50.0240746,"mpcc_dv":48.7731438,"mpcc_dw":51.2268562,"mpcc_enc_sign":1,"mpcc_id_a":2.85796022,"mpcc_iq_a":-0.303689778,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.26732707,"mpcc_pred_id_a":0.377998173,"mpcc_pred_iq_a":-2.99662232,"mpcc_state":1,"mpcc_theta_e":0.448881626,"mpcc_theta_mech":0.556722224,"sam_rpm":4.97703409,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208903551,"thr_a_norm":0.023030445,"thr_a_v":0.58356142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452639014,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.368397,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.82096052,"cg_iw_a":0.564094543,"cg_theta_rad":0.556837559,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0105707841,"mpcc_du":50.4568443,"mpcc_dv":48.3002625,"mpcc_dw":51.6997375,"mpcc_enc_sign":1,"mpcc_id_a":2.04504156,"mpcc_iq_a":-1.85748827,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.7436934,"mpcc_pred_id_a":0.0810742155,"mpcc_pred_iq_a":-1.72461605,"mpcc_state":1,"mpcc_theta_e":0.431109905,"mpcc_theta_mech":0.553167939,"sam_rpm":-20.5959187,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208903551,"thr_a_norm":0.0208903551,"thr_a_v":0.58356142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452639014,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.37862,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.45852208,"cg_iw_a":-1.17560935,"cg_theta_rad":0.557588875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0470241793,"mpcc_du":50.4199371,"mpcc_dv":48.270874,"mpcc_dw":51.729126,"mpcc_enc_sign":1,"mpcc_id_a":2.16870046,"mpcc_iq_a":-0.558398247,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.93668222,"mpcc_pred_id_a":0.406756282,"mpcc_pred_iq_a":-1.77182007,"mpcc_state":1,"mpcc_theta_e":0.441840172,"mpcc_theta_mech":0.555313945,"sam_rpm":-6.12966347,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461702883,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.401661,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.53100967,"cg_iw_a":0.274143696,"cg_theta_rad":0.555994689,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0230636001,"mpcc_du":49.5155067,"mpcc_dv":50.112751,"mpcc_dw":50.4844933,"mpcc_enc_sign":1,"mpcc_id_a":2.70522666,"mpcc_iq_a":0.070106715,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.938664436,"mpcc_pred_id_a":0.313496828,"mpcc_pred_iq_a":-4.34683323,"mpcc_state":1,"mpcc_theta_e":0.44084549,"mpcc_theta_mech":0.555115044,"sam_rpm":-1.62775195,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461702883,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.408222,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.6759851,"cg_iw_a":-0.813171148,"cg_theta_rad":0.553144753,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0267634112,"mpcc_du":49.520916,"mpcc_dv":50.0344734,"mpcc_dw":50.479084,"mpcc_enc_sign":1,"mpcc_id_a":2.34124088,"mpcc_iq_a":-0.709806561,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.82494926,"mpcc_pred_id_a":0.276663661,"mpcc_pred_iq_a":-3.65086079,"mpcc_state":1,"mpcc_theta_e":0.450622559,"mpcc_theta_mech":0.557070434,"sam_rpm":13.3665781,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176550597,"thr_a_norm":0.0176550597,"thr_a_v":0.570620239,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446344733,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.414722,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.31354666,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556911707,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0554407537,"mpcc_du":49.3810387,"mpcc_dv":49.7121735,"mpcc_dw":50.6189613,"mpcc_enc_sign":1,"mpcc_id_a":4.30841398,"mpcc_iq_a":-1.12934542,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.65769148,"mpcc_pred_id_a":1.00367498,"mpcc_pred_iq_a":-4.35375214,"mpcc_state":1,"mpcc_theta_e":0.446336746,"mpcc_theta_mech":0.55621326,"sam_rpm":3.90675569,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176550597,"thr_a_norm":0.0176550597,"thr_a_v":0.570620239,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446344733,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.421223,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.38603449,"cg_iw_a":-0.378244877,"cg_theta_rad":0.556751788,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0472379811,"mpcc_du":49.8880997,"mpcc_dv":48.7553024,"mpcc_dw":51.2446976,"mpcc_enc_sign":1,"mpcc_id_a":4.02201605,"mpcc_iq_a":-1.22393525,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.63071322,"mpcc_pred_id_a":0.732024252,"mpcc_pred_iq_a":-4.83468866,"mpcc_state":1,"mpcc_theta_e":0.44626379,"mpcc_theta_mech":0.556198716,"sam_rpm":2.64538741,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194552541,"thr_a_norm":0.0194552541,"thr_a_v":0.577821016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473989457,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.429554,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.53100967,"cg_iw_a":0.564094543,"cg_theta_rad":0.556111813,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0271194018,"mpcc_du":49.5388832,"mpcc_dv":50.4611168,"mpcc_dw":50.3617668,"mpcc_enc_sign":1,"mpcc_id_a":2.41758418,"mpcc_iq_a":-1.21758068,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.0854921,"mpcc_pred_id_a":0.021062877,"mpcc_pred_iq_a":-4.58804321,"mpcc_state":1,"mpcc_theta_e":0.452591419,"mpcc_theta_mech":0.557464182,"sam_rpm":16.813715,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253467709,"thr_a_norm":0.0194552541,"thr_a_v":0.601387084,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.43932,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-2.25588632,"cg_iw_a":-2.1904366,"cg_theta_rad":0.557373941,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0209389906,"mpcc_du":50.3329239,"mpcc_dv":48.4873352,"mpcc_dw":51.5126648,"mpcc_enc_sign":1,"mpcc_id_a":2.03326011,"mpcc_iq_a":-1.35829508,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.3645802,"mpcc_pred_id_a":0.209385678,"mpcc_pred_iq_a":-2.84958816,"mpcc_state":1,"mpcc_theta_e":0.435979366,"mpcc_theta_mech":0.554141819,"sam_rpm":-14.3711691,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253467709,"thr_a_norm":0.0253467709,"thr_a_v":0.601387084,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.449574,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-2.11091113,"cg_iw_a":2.73872471,"cg_theta_rad":0.556731284,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0398192592,"mpcc_du":50.02145,"mpcc_dv":48.9680977,"mpcc_dw":51.0319023,"mpcc_enc_sign":1,"mpcc_id_a":1.20724928,"mpcc_iq_a":-1.73275971,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.04530096,"mpcc_pred_id_a":0.0423709452,"mpcc_pred_iq_a":-5.92214727,"mpcc_state":1,"mpcc_theta_e":0.446160793,"mpcc_theta_mech":0.556178093,"sam_rpm":-6.73423672,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278015584,"thr_a_norm":0.0278015584,"thr_a_v":0.611206234,"thr_b":0.000672921538,"thr_b_norm":0.000672921538,"thr_b_v":0.502691686,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.459583,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.09608364,"cg_iw_a":0.709069729,"cg_theta_rad":0.559468031,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.00268299831,"mpcc_du":49.6634636,"mpcc_dv":50.2516861,"mpcc_dw":50.3365364,"mpcc_enc_sign":1,"mpcc_id_a":-0.311678052,"mpcc_iq_a":-2.86630845,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.5004206,"mpcc_pred_id_a":-0.436210543,"mpcc_pred_iq_a":-2.09311843,"mpcc_state":1,"mpcc_theta_e":0.450301647,"mpcc_theta_mech":0.55700624,"sam_rpm":18.6163273,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278015584,"thr_a_norm":0.0278015584,"thr_a_v":0.611206234,"thr_b":0.000672921538,"thr_b_norm":0.000672921538,"thr_b_v":0.502691686,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.469532,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.47334933,"cg_iw_a":1.28897119,"cg_theta_rad":0.556391776,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0300890338,"mpcc_du":48.9327698,"mpcc_dv":51.0672302,"mpcc_dw":49.3606415,"mpcc_enc_sign":1,"mpcc_id_a":-0.705998242,"mpcc_iq_a":-3.55408335,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.70791721,"mpcc_pred_id_a":-0.735657036,"mpcc_pred_iq_a":-4.87944555,"mpcc_state":1,"mpcc_theta_e":0.44550848,"mpcc_theta_mech":0.556047618,"sam_rpm":12.8017702,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10269168,"thr_a_norm":0.10269168,"thr_a_v":0.910766721,"thr_b":0.0478301644,"thr_b_norm":0.0478301644,"thr_b_v":0.691320658,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.479755,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.298719406,"cg_iw_a":-3.71267796,"cg_theta_rad":0.553942502,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0593615249,"mpcc_du":50.5931244,"mpcc_dv":48.2248306,"mpcc_dw":51.7751694,"mpcc_enc_sign":1,"mpcc_id_a":0.522428751,"mpcc_iq_a":1.05374455,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.36553383,"mpcc_pred_id_a":0.0637162849,"mpcc_pred_iq_a":-1.78091884,"mpcc_state":1,"mpcc_theta_e":0.439372063,"mpcc_theta_mech":0.554820299,"sam_rpm":-11.8257294,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0113607198,"thr_a_norm":0.10269168,"thr_a_v":0.545442879,"thr_b":0,"thr_b_norm":0.0478301644,"thr_b_v":0.425447464,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.503986,"values":{"cg_iu_a":4.30134773,"cg_iv_a":-1.02359605,"cg_iw_a":0.709069729,"cg_theta_rad":0.555643141,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0104980776,"mpcc_du":49.0449028,"mpcc_dv":50.9550972,"mpcc_dw":49.6119041,"mpcc_enc_sign":1,"mpcc_id_a":0.697069049,"mpcc_iq_a":-0.452149868,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.5639687,"mpcc_pred_id_a":-0.55033493,"mpcc_pred_iq_a":-6.97344828,"mpcc_state":1,"mpcc_theta_e":0.428676605,"mpcc_theta_mech":0.552681267,"sam_rpm":10.1402521,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0113607198,"thr_a_norm":0.0113607198,"thr_a_v":0.545442879,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.425447464,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.510487,"values":{"cg_iu_a":0.387013912,"cg_iv_a":0.0637187958,"cg_iw_a":-0.450732708,"cg_theta_rad":0.557065666,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0338014811,"mpcc_du":50.4827461,"mpcc_dv":48.1116295,"mpcc_dw":51.8883705,"mpcc_enc_sign":1,"mpcc_id_a":0.472006142,"mpcc_iq_a":-0.411439329,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.6589012,"mpcc_pred_id_a":-0.212863535,"mpcc_pred_iq_a":-4.25027657,"mpcc_state":1,"mpcc_theta_e":0.453034401,"mpcc_theta_mech":0.557552814,"sam_rpm":-7.2005806,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256866515,"thr_a_norm":0.0256866515,"thr_a_v":0.602746606,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487685949,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.517048,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.588670254,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556817234,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.00360672828,"mpcc_du":49.8148079,"mpcc_dv":49.1504288,"mpcc_dw":50.8495712,"mpcc_enc_sign":1,"mpcc_id_a":-0.255850971,"mpcc_iq_a":-1.26476026,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.99702358,"mpcc_pred_id_a":0.0946852937,"mpcc_pred_iq_a":-1.53636396,"mpcc_state":1,"mpcc_theta_e":0.445826054,"mpcc_theta_mech":0.556111097,"sam_rpm":5.91978741,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256866515,"thr_a_norm":0.0256866515,"thr_a_v":0.602746606,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487685949,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.523579,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.878620625,"cg_iw_a":-1.61053562,"cg_theta_rad":0.556631863,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0437464565,"mpcc_du":50.6722984,"mpcc_dv":47.8142433,"mpcc_dw":52.1857567,"mpcc_enc_sign":1,"mpcc_id_a":3.28090143,"mpcc_iq_a":0.668215454,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.9564457,"mpcc_pred_id_a":0.606079161,"mpcc_pred_iq_a":-0.081360206,"mpcc_state":1,"mpcc_theta_e":0.42850399,"mpcc_theta_mech":0.552646756,"sam_rpm":-23.2424755,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0164465606,"thr_a_norm":0.0164465606,"thr_a_v":0.565786242,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464220643,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.532978,"values":{"cg_iu_a":2.1992054,"cg_iv_a":0.136206627,"cg_iw_a":0.274144173,"cg_theta_rad":0.557020664,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0313376896,"mpcc_du":49.1699257,"mpcc_dv":50.8300743,"mpcc_dw":50.1161385,"mpcc_enc_sign":1,"mpcc_id_a":3.53939438,"mpcc_iq_a":0.138874888,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.32817793,"mpcc_pred_id_a":0.45368886,"mpcc_pred_iq_a":-3.44577265,"mpcc_state":1,"mpcc_theta_e":0.440963745,"mpcc_theta_mech":0.555138648,"sam_rpm":8.3645916,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0394209176,"thr_a_norm":0.0164465606,"thr_a_v":0.657683671,"thr_b":0.00641337037,"thr_b_norm":0,"thr_b_v":0.525653481,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.544941,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.16857147,"cg_iw_a":2.52126169,"cg_theta_rad":0.556355774,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0526758768,"mpcc_du":50.5797615,"mpcc_dv":47.8988075,"mpcc_dw":52.1011925,"mpcc_enc_sign":1,"mpcc_id_a":3.69539666,"mpcc_iq_a":-0.194462672,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.092577,"mpcc_pred_id_a":0.712895811,"mpcc_pred_iq_a":-0.785451651,"mpcc_state":1,"mpcc_theta_e":0.436227322,"mpcc_theta_mech":0.554191351,"sam_rpm":-17.8448048,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0394209176,"thr_a_norm":0.0394209176,"thr_a_v":0.657683671,"thr_b":0.00641337037,"thr_b_norm":0.00641337037,"thr_b_v":0.525653481,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.555073,"values":{"cg_iu_a":1.69179153,"cg_iv_a":0.208694458,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556250632,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0119204288,"mpcc_du":49.7483025,"mpcc_dv":49.4076576,"mpcc_dw":50.5923424,"mpcc_enc_sign":1,"mpcc_id_a":0.490873128,"mpcc_iq_a":-0.552519679,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.31228328,"mpcc_pred_id_a":-0.450047135,"mpcc_pred_iq_a":-3.22964478,"mpcc_state":1,"mpcc_theta_e":0.437378883,"mpcc_theta_mech":0.554421723,"sam_rpm":2.96837068,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235591531,"thr_a_norm":0.0235591531,"thr_a_v":0.594236612,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465781659,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.565174,"values":{"cg_iu_a":2.12671757,"cg_iv_a":0.208694458,"cg_iw_a":-2.33541203,"cg_theta_rad":0.556747019,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0175424907,"mpcc_du":49.5280037,"mpcc_dv":50.4719963,"mpcc_dw":50.2647552,"mpcc_enc_sign":1,"mpcc_id_a":-0.21976307,"mpcc_iq_a":-2.71720123,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.45681953,"mpcc_pred_id_a":-0.399981052,"mpcc_pred_iq_a":-2.10838938,"mpcc_state":1,"mpcc_theta_e":0.443286896,"mpcc_theta_mech":0.555603325,"sam_rpm":11.3130503,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253971219,"thr_a_norm":0.0235591531,"thr_a_v":0.601588488,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493426412,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.575184,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.6759851,"cg_iw_a":0.709069967,"cg_theta_rad":0.555203199,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.104742497,"mpcc_du":49.608429,"mpcc_dv":49.2647362,"mpcc_dw":50.7352638,"mpcc_enc_sign":1,"mpcc_id_a":0.0239403769,"mpcc_iq_a":-0.00687838066,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.085188657,"mpcc_pred_id_a":-0.404386371,"mpcc_pred_iq_a":-3.84279799,"mpcc_state":1,"mpcc_theta_e":0.443642139,"mpcc_theta_mech":0.555674314,"sam_rpm":18.6737881,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253971219,"thr_a_norm":0.0253971219,"thr_a_v":0.601588488,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493426412,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.598316,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.74847269,"cg_iw_a":-0.305757284,"cg_theta_rad":0.5569911,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0522814915,"mpcc_du":49.5721512,"mpcc_dv":50.1235161,"mpcc_dw":50.4278488,"mpcc_enc_sign":1,"mpcc_id_a":1.688182,"mpcc_iq_a":-0.39641875,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.98929214,"mpcc_pred_id_a":-0.0365659334,"mpcc_pred_iq_a":-5.59039307,"mpcc_state":1,"mpcc_theta_e":0.451993465,"mpcc_theta_mech":0.557344615,"sam_rpm":12.7320404,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101533532,"thr_a_norm":0.101533532,"thr_a_v":0.906134129,"thr_b":0.0434241146,"thr_b_norm":0.0434241146,"thr_b_v":0.673696458,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.604816,"values":{"cg_iu_a":3.72144651,"cg_iv_a":-1.6759851,"cg_iw_a":-2.04546142,"cg_theta_rad":0.554588377,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0111761419,"mpcc_du":50.1698151,"mpcc_dv":48.7629662,"mpcc_dw":51.2370338,"mpcc_enc_sign":1,"mpcc_id_a":1.00236237,"mpcc_iq_a":-0.135700926,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.91583824,"mpcc_pred_id_a":-0.051599659,"mpcc_pred_iq_a":-2.39585757,"mpcc_state":1,"mpcc_theta_e":0.43259573,"mpcc_theta_mech":0.553465068,"sam_rpm":-14.305625,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101533532,"thr_a_norm":0.101533532,"thr_a_v":0.906134129,"thr_b":0.0434241146,"thr_b_norm":0.0434241146,"thr_b_v":0.673696458,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.611347,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.24105906,"cg_iw_a":0.274143934,"cg_theta_rad":0.551927924,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.00424703956,"mpcc_du":49.4531326,"mpcc_dv":50.5468674,"mpcc_dw":49.9909973,"mpcc_enc_sign":1,"mpcc_id_a":-0.75284636,"mpcc_iq_a":-1.30591667,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.91919899,"mpcc_pred_id_a":-0.767183721,"mpcc_pred_iq_a":-6.54033613,"mpcc_state":1,"mpcc_theta_e":0.442993641,"mpcc_theta_mech":0.555544674,"sam_rpm":1.2081269,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.617847,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.806133032,"cg_iw_a":0.12916851,"cg_theta_rad":0.553783059,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0192311872,"mpcc_du":50.0696335,"mpcc_dv":48.8028603,"mpcc_dw":51.1971397,"mpcc_enc_sign":1,"mpcc_id_a":2.1572783,"mpcc_iq_a":-1.59152353,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.81515646,"mpcc_pred_id_a":0.28432861,"mpcc_pred_iq_a":-0.825006485,"mpcc_state":1,"mpcc_theta_e":0.448707581,"mpcc_theta_mech":0.556687474,"sam_rpm":7.46939039,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186747462,"thr_a_norm":0.0192160606,"thr_a_v":0.574698985,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460796505,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.626179,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-2.76329994,"cg_iw_a":-0.668195724,"cg_theta_rad":0.554374576,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.031135574,"mpcc_du":51.3521042,"mpcc_dv":47.2654762,"mpcc_dw":52.7345238,"mpcc_enc_sign":1,"mpcc_id_a":2.52796721,"mpcc_iq_a":-0.297376782,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.9074297,"mpcc_pred_id_a":0.025491951,"mpcc_pred_iq_a":3.45573854,"mpcc_state":1,"mpcc_theta_e":0.436488628,"mpcc_theta_mech":0.554243684,"sam_rpm":-10.6313133,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186747462,"thr_a_norm":0.0186747462,"thr_a_v":0.574698985,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460796505,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.636341,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.951108456,"cg_iw_a":-1.61053514,"cg_theta_rad":0.559026361,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.040788468,"mpcc_du":48.8864594,"mpcc_dv":51.1135406,"mpcc_dw":49.7432632,"mpcc_enc_sign":1,"mpcc_id_a":3.34313583,"mpcc_iq_a":0.518347859,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.4390202,"mpcc_pred_id_a":0.326856762,"mpcc_pred_iq_a":-4.67352533,"mpcc_state":1,"mpcc_theta_e":0.452985287,"mpcc_theta_mech":0.55754298,"sam_rpm":22.9335117,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170130432,"thr_a_norm":0.0170130432,"thr_a_v":0.568052173,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.432597816,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.646198,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.24105906,"cg_iw_a":-1.39307237,"cg_theta_rad":0.555917799,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0169733632,"mpcc_du":49.6597061,"mpcc_dv":49.3032722,"mpcc_dw":50.6967278,"mpcc_enc_sign":1,"mpcc_id_a":0.598683119,"mpcc_iq_a":-0.982600033,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.44057178,"mpcc_pred_id_a":0.13374804,"mpcc_pred_iq_a":-2.14014482,"mpcc_state":1,"mpcc_theta_e":0.450697899,"mpcc_theta_mech":0.557085454,"sam_rpm":13.6539593,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170130432,"thr_a_norm":0.0170130432,"thr_a_v":0.568052173,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.432597816,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.656361,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.733645439,"cg_iw_a":-1.03063393,"cg_theta_rad":0.556364536,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0418787599,"mpcc_du":49.8382607,"mpcc_dv":49.3279495,"mpcc_dw":50.6720505,"mpcc_enc_sign":1,"mpcc_id_a":0.327197224,"mpcc_iq_a":-0.711676657,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.08301783,"mpcc_pred_id_a":-0.494159639,"mpcc_pred_iq_a":-3.5663197,"mpcc_state":1,"mpcc_theta_e":0.450598717,"mpcc_theta_mech":0.557065666,"sam_rpm":12.2981834,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0348008573,"thr_a_norm":0.0348008573,"thr_a_v":0.639203429,"thr_b":0.00596018136,"thr_b_norm":0.00596018136,"thr_b_v":0.523840725,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.666767,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.0812563896,"cg_iw_a":0.419119358,"cg_theta_rad":0.555173934,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0493336357,"mpcc_du":49.4958611,"mpcc_dv":51.3883934,"mpcc_dw":49.4882622,"mpcc_enc_sign":1,"mpcc_id_a":2.20160794,"mpcc_iq_a":-1.17281759,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.73143291,"mpcc_pred_id_a":0.467688084,"mpcc_pred_iq_a":0.318001091,"mpcc_state":1,"mpcc_theta_e":0.42394495,"mpcc_theta_mech":0.551734924,"sam_rpm":-12.0893726,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235717446,"thr_a_norm":0.0348008573,"thr_a_v":0.594286978,"thr_b":0,"thr_b_norm":0.00596018136,"thr_b_v":0.472327769,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.676777,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.45852208,"cg_iw_a":-0.450732708,"cg_theta_rad":0.55338341,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0512320809,"mpcc_du":49.5602913,"mpcc_dv":49.5774765,"mpcc_dw":50.4397087,"mpcc_enc_sign":1,"mpcc_id_a":0.580146015,"mpcc_iq_a":-3.30389643,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.27003241,"mpcc_pred_id_a":-0.362402529,"mpcc_pred_iq_a":-1.703385,"mpcc_state":1,"mpcc_theta_e":0.431675434,"mpcc_theta_mech":0.55294323,"sam_rpm":-8.87786293,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235717446,"thr_a_norm":0.0235717446,"thr_a_v":0.594286978,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472327769,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.69997,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-2.40086174,"cg_iw_a":-0.958146572,"cg_theta_rad":0.556931317,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.00475849584,"mpcc_du":49.1708679,"mpcc_dv":50.8291321,"mpcc_dw":49.8232956,"mpcc_enc_sign":1,"mpcc_id_a":1.15203893,"mpcc_iq_a":-3.84755898,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.35315084,"mpcc_pred_id_a":-0.55065459,"mpcc_pred_iq_a":-6.96940088,"mpcc_state":1,"mpcc_theta_e":0.448554516,"mpcc_theta_mech":0.556656778,"sam_rpm":10.845355,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0310997963,"thr_a_norm":0.0310997963,"thr_a_v":0.624399185,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470464617,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.70647,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.02359605,"cg_iw_a":-1.4655602,"cg_theta_rad":0.554840624,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0246381927,"mpcc_du":50.0232811,"mpcc_dv":48.701992,"mpcc_dw":51.298008,"mpcc_enc_sign":1,"mpcc_id_a":3.08551145,"mpcc_iq_a":-2.01063871,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.55607939,"mpcc_pred_id_a":0.354509115,"mpcc_pred_iq_a":-1.25458372,"mpcc_state":1,"mpcc_theta_e":0.441847801,"mpcc_theta_mech":0.555315435,"sam_rpm":-2.19852209,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0310997963,"thr_a_norm":0.0310997963,"thr_a_v":0.624399185,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470464617,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.713001,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.53100967,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556015491,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0109080141,"mpcc_du":50.5447388,"mpcc_dv":48.262722,"mpcc_dw":51.737278,"mpcc_enc_sign":1,"mpcc_id_a":1.6662873,"mpcc_iq_a":-1.11096716,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.68275845,"mpcc_pred_id_a":-0.162570089,"mpcc_pred_iq_a":1.69535589,"mpcc_state":1,"mpcc_theta_e":0.44329071,"mpcc_theta_mech":0.5556041,"sam_rpm":2.58451223,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027663067,"thr_a_norm":0.027663067,"thr_a_v":0.610652268,"thr_b":0.00108835101,"thr_b_norm":0.00108835101,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.719532,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.371207237,"cg_iw_a":-0.305757046,"cg_theta_rad":0.553935826,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.000111701003,"mpcc_du":50.0232353,"mpcc_dv":49.0458336,"mpcc_dw":50.9541664,"mpcc_enc_sign":1,"mpcc_id_a":0.0554803237,"mpcc_iq_a":-1.67818367,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.7587929,"mpcc_pred_id_a":-0.569858432,"mpcc_pred_iq_a":-4.08021975,"mpcc_state":1,"mpcc_theta_e":0.429625034,"mpcc_theta_mech":0.552870929,"sam_rpm":-21.0535297,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023382917,"thr_a_norm":0.027663067,"thr_a_v":0.593531668,"thr_b":0,"thr_b_norm":0.00108835101,"thr_b_v":0.464774519,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.729511,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.74847269,"cg_iw_a":-1.10312176,"cg_theta_rad":0.556295574,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0505521819,"mpcc_du":49.4321671,"mpcc_dv":50.5678329,"mpcc_dw":50.2856026,"mpcc_enc_sign":1,"mpcc_id_a":1.94312608,"mpcc_iq_a":-2.2390182,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.55760098,"mpcc_pred_id_a":0.00894356798,"mpcc_pred_iq_a":-1.99700868,"mpcc_state":1,"mpcc_theta_e":0.435752392,"mpcc_theta_mech":0.554096401,"sam_rpm":1.03895509,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023382917,"thr_a_norm":0.023382917,"thr_a_v":0.593531668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464774519,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.739765,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.951108456,"cg_iw_a":-0.523220539,"cg_theta_rad":0.556443095,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0353565291,"mpcc_du":49.8761826,"mpcc_dv":49.0672035,"mpcc_dw":50.9327965,"mpcc_enc_sign":1,"mpcc_id_a":2.74041986,"mpcc_iq_a":-0.369000435,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.47307432,"mpcc_pred_id_a":0.0720264465,"mpcc_pred_iq_a":-3.02255607,"mpcc_state":1,"mpcc_theta_e":0.442914009,"mpcc_theta_mech":0.55552876,"sam_rpm":-2.22007799,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149359107,"thr_a_norm":0.0149359107,"thr_a_v":0.559743643,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458983719,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.749958,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.371207237,"cg_iw_a":-1.82799816,"cg_theta_rad":0.556208968,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.046595443,"mpcc_du":49.9375305,"mpcc_dv":49.151638,"mpcc_dw":50.848362,"mpcc_enc_sign":1,"mpcc_id_a":-0.0678047538,"mpcc_iq_a":-3.00086665,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.3540182,"mpcc_pred_id_a":-0.378779083,"mpcc_pred_iq_a":-1.29304242,"mpcc_state":1,"mpcc_theta_e":0.428199768,"mpcc_theta_mech":0.5525859,"sam_rpm":-18.1860657,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151247382,"thr_a_norm":0.0149359107,"thr_a_v":0.560498953,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.759724,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.03063393,"cg_theta_rad":0.556312799,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.00530965347,"mpcc_du":49.4667435,"mpcc_dv":50.5332565,"mpcc_dw":50.1200218,"mpcc_enc_sign":1,"mpcc_id_a":0.033653073,"mpcc_iq_a":-2.1878891,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.59744883,"mpcc_pred_id_a":-0.45902282,"mpcc_pred_iq_a":-3.72686243,"mpcc_state":1,"mpcc_theta_e":0.442321301,"mpcc_theta_mech":0.555410206,"sam_rpm":7.41009521,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151247382,"thr_a_norm":0.0151247382,"thr_a_v":0.560498953,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.770924,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.516182423,"cg_iw_a":-2.1904366,"cg_theta_rad":0.558001161,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.00521374634,"mpcc_du":50.4837074,"mpcc_dv":48.4680099,"mpcc_dw":51.5319901,"mpcc_enc_sign":1,"mpcc_id_a":0.0629233047,"mpcc_iq_a":-2.18724298,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.0211124,"mpcc_pred_id_a":-0.284048617,"mpcc_pred_iq_a":-0.889926016,"mpcc_state":1,"mpcc_theta_e":0.42894125,"mpcc_theta_mech":0.552734137,"sam_rpm":-20.5441666,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166605562,"thr_a_norm":0.0166605562,"thr_a_v":0.566642225,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471924901,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.782368,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.60349751,"cg_iw_a":0.346631527,"cg_theta_rad":0.554202378,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0106630633,"mpcc_du":50.0934334,"mpcc_dv":48.9418449,"mpcc_dw":51.0581551,"mpcc_enc_sign":1,"mpcc_id_a":1.72007608,"mpcc_iq_a":-2.34510517,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.30492926,"mpcc_pred_id_a":-0.104772657,"mpcc_pred_iq_a":-3.47242165,"mpcc_state":1,"mpcc_theta_e":0.444720745,"mpcc_theta_mech":0.555890083,"sam_rpm":-5.19887495,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0303822309,"thr_a_norm":0.0166605562,"thr_a_v":0.621528924,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473687351,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.805378,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.951108456,"cg_iw_a":0.78155756,"cg_theta_rad":0.556267262,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0797999576,"mpcc_du":50.6368637,"mpcc_dv":48.1902122,"mpcc_dw":51.8097878,"mpcc_enc_sign":1,"mpcc_id_a":1.36448097,"mpcc_iq_a":-0.565279007,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.80826807,"mpcc_pred_id_a":0.139910728,"mpcc_pred_iq_a":-1.34140623,"mpcc_state":1,"mpcc_theta_e":0.452215672,"mpcc_theta_mech":0.557389081,"sam_rpm":5.76915026,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0303822309,"thr_a_norm":0.0303822309,"thr_a_v":0.621528924,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473687351,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.811909,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.951108456,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556717694,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.021426592,"mpcc_du":49.5453224,"mpcc_dv":49.4536552,"mpcc_dw":50.5463448,"mpcc_enc_sign":1,"mpcc_id_a":2.84525251,"mpcc_iq_a":-0.659796715,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.51124096,"mpcc_pred_id_a":0.244330227,"mpcc_pred_iq_a":-1.17898226,"mpcc_state":1,"mpcc_theta_e":0.445912838,"mpcc_theta_mech":0.556128442,"sam_rpm":9.14683437,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292618424,"thr_a_norm":0.0292618424,"thr_a_v":0.617047369,"thr_b":0.0052048564,"thr_b_norm":0.0052048564,"thr_b_v":0.520819426,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.818409,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.733645439,"cg_iw_a":-1.32058477,"cg_theta_rad":0.554329813,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.00484208483,"mpcc_du":50.040184,"mpcc_dv":49.1627846,"mpcc_dw":50.8372154,"mpcc_enc_sign":1,"mpcc_id_a":-0.410008579,"mpcc_iq_a":-2.15712643,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.526299,"mpcc_pred_id_a":-0.663597882,"mpcc_pred_iq_a":-2.37969995,"mpcc_state":1,"mpcc_theta_e":0.432548046,"mpcc_theta_mech":0.553455532,"sam_rpm":-11.9124393,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292618424,"thr_a_norm":0.0292618424,"thr_a_v":0.617047369,"thr_b":0.0052048564,"thr_b_norm":0.0052048564,"thr_b_v":0.520819426,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.82494,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.02359605,"cg_iw_a":-0.740683317,"cg_theta_rad":0.557309687,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0116173495,"mpcc_du":49.7913704,"mpcc_dv":49.4488907,"mpcc_dw":50.5511093,"mpcc_enc_sign":1,"mpcc_id_a":-0.420565963,"mpcc_iq_a":-0.768570006,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.61387491,"mpcc_pred_id_a":-0.623895705,"mpcc_pred_iq_a":-3.34258914,"mpcc_state":1,"mpcc_theta_e":0.445981026,"mpcc_theta_mech":0.556482494,"sam_rpm":3.95918727,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100526437,"thr_a_norm":0.100526437,"thr_a_v":0.902105749,"thr_b":0.0474021435,"thr_b_norm":0.0474021435,"thr_b_v":0.689608574,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.832752,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-1.53100967,"cg_iw_a":-1.17560959,"cg_theta_rad":0.556272507,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":8.87851911e-06,"mpcc_du":49.6101074,"mpcc_dv":50.3898926,"mpcc_dw":51.2922935,"mpcc_enc_sign":1,"mpcc_id_a":-0.0542774983,"mpcc_iq_a":-2.19457793,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.19863677,"mpcc_pred_id_a":-0.554481149,"mpcc_pred_iq_a":-5.07334566,"mpcc_state":1,"mpcc_theta_e":0.444374084,"mpcc_theta_mech":0.552987039,"sam_rpm":4.4058733,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156534761,"thr_a_norm":0.100526437,"thr_a_v":0.562613904,"thr_b":0,"thr_b_norm":0.0474021435,"thr_b_v":0.454451799,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.84267,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.89344811,"cg_iw_a":-0.813171148,"cg_theta_rad":0.557503819,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0125602111,"mpcc_du":49.4763565,"mpcc_dv":50.5236435,"mpcc_dw":50.3864288,"mpcc_enc_sign":1,"mpcc_id_a":0.811625421,"mpcc_iq_a":-1.39595795,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.0106993,"mpcc_pred_id_a":0.228653952,"mpcc_pred_iq_a":-2.57763267,"mpcc_state":1,"mpcc_theta_e":0.440480232,"mpcc_theta_mech":0.555041969,"sam_rpm":15.8956709,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156534761,"thr_a_norm":0.0156534761,"thr_a_v":0.562613904,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454451799,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.853931,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.24105906,"cg_iw_a":-1.17560935,"cg_theta_rad":0.552498639,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.00468678121,"mpcc_du":50.4878311,"mpcc_dv":48.4078827,"mpcc_dw":51.5921173,"mpcc_enc_sign":1,"mpcc_id_a":1.02978349,"mpcc_iq_a":-2.16759729,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.6508503,"mpcc_pred_id_a":-0.255017072,"mpcc_pred_iq_a":-2.2471931,"mpcc_state":1,"mpcc_theta_e":0.428133965,"mpcc_theta_mech":0.552572727,"sam_rpm":-27.4948311,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284939408,"thr_a_norm":0.0284939408,"thr_a_v":0.613975763,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492620736,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.865345,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.516182423,"cg_iw_a":-0.740683556,"cg_theta_rad":0.551368237,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0794490501,"mpcc_du":50.0510826,"mpcc_dv":48.7296181,"mpcc_dw":51.2703819,"mpcc_enc_sign":1,"mpcc_id_a":3.58317041,"mpcc_iq_a":-0.471259326,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.42718661,"mpcc_pred_id_a":0.530220091,"mpcc_pred_iq_a":-2.86892319,"mpcc_state":1,"mpcc_theta_e":0.449948311,"mpcc_theta_mech":0.556935549,"sam_rpm":2.66207218,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0157415867,"thr_a_norm":0.0284939408,"thr_a_v":0.562966347,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.874958,"values":{"cg_iu_a":-0.265375137,"cg_iv_a":-0.588670254,"cg_iw_a":-2.19043636,"cg_theta_rad":0.556578517,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0321956165,"mpcc_du":49.5271492,"mpcc_dv":49.3925552,"mpcc_dw":50.6074448,"mpcc_enc_sign":1,"mpcc_id_a":1.83604348,"mpcc_iq_a":-2.31306052,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.03526211,"mpcc_pred_id_a":0.353838176,"mpcc_pred_iq_a":-1.77873039,"mpcc_state":1,"mpcc_theta_e":0.430736065,"mpcc_theta_mech":0.553093135,"sam_rpm":-10.8788662,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0157415867,"thr_a_norm":0.0157415867,"thr_a_v":0.562966347,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.88512,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.588670254,"cg_iw_a":-1.61053514,"cg_theta_rad":0.554030836,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.00410879543,"mpcc_du":50.1551285,"mpcc_dv":48.8760185,"mpcc_dw":51.1239815,"mpcc_enc_sign":1,"mpcc_id_a":0.655024707,"mpcc_iq_a":-1.40513515,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.04812908,"mpcc_pred_id_a":-0.284258693,"mpcc_pred_iq_a":-1.08821404,"mpcc_state":1,"mpcc_theta_e":0.433216095,"mpcc_theta_mech":0.553589165,"sam_rpm":-14.0269098,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244529694,"thr_a_norm":0.0244529694,"thr_a_v":0.597811878,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.908283,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.516182423,"cg_iw_a":0.0566811562,"cg_theta_rad":0.550804615,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.01185463,"mpcc_du":48.8229828,"mpcc_dv":51.1770172,"mpcc_dw":49.4966087,"mpcc_enc_sign":1,"mpcc_id_a":2.13331604,"mpcc_iq_a":-1.30609763,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.086153,"mpcc_pred_id_a":-0.1654488,"mpcc_pred_iq_a":-6.28661871,"mpcc_state":1,"mpcc_theta_e":0.450446606,"mpcc_theta_mech":0.557035267,"sam_rpm":15.7026882,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244529694,"thr_a_norm":0.0244529694,"thr_a_v":0.597811878,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.914753,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.226231575,"cg_iw_a":-0.378245115,"cg_theta_rad":0.556035697,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.00901812408,"mpcc_du":50.1588821,"mpcc_dv":48.8443871,"mpcc_dw":51.1556129,"mpcc_enc_sign":1,"mpcc_id_a":1.14531672,"mpcc_iq_a":-0.858409584,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.9549222,"mpcc_pred_id_a":-0.327569604,"mpcc_pred_iq_a":-1.41199505,"mpcc_state":1,"mpcc_theta_e":0.439942837,"mpcc_theta_mech":0.554934442,"sam_rpm":-2.88035965,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246543884,"thr_a_norm":0.0246543884,"thr_a_v":0.598617554,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479327083,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.921314,"values":{"cg_iu_a":2.5616436,"cg_iv_a":0.498644829,"cg_iw_a":0.274143696,"cg_theta_rad":0.557652295,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0257379916,"mpcc_du":49.9859352,"mpcc_dv":48.6491241,"mpcc_dw":51.3508759,"mpcc_enc_sign":1,"mpcc_id_a":3.14578795,"mpcc_iq_a":-1.20501733,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.41055036,"mpcc_pred_id_a":0.663970947,"mpcc_pred_iq_a":0.612912714,"mpcc_state":1,"mpcc_theta_e":0.441635609,"mpcc_theta_mech":0.555272996,"sam_rpm":3.3519814,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246543884,"thr_a_norm":0.0246543884,"thr_a_v":0.598617554,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479327083,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.927845,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.226231575,"cg_iw_a":-0.813171387,"cg_theta_rad":0.556355059,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0158575419,"mpcc_du":50.0298347,"mpcc_dv":48.7744637,"mpcc_dw":51.2255363,"mpcc_enc_sign":1,"mpcc_id_a":2.48799276,"mpcc_iq_a":-2.0748589,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.52091122,"mpcc_pred_id_a":0.304977417,"mpcc_pred_iq_a":-2.26102328,"mpcc_state":1,"mpcc_theta_e":0.448411465,"mpcc_theta_mech":0.556628168,"sam_rpm":-12.2283316,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213057995,"thr_a_norm":0.0213057995,"thr_a_v":0.585223198,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473989457,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.936146,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.09608364,"cg_iw_a":-0.015806675,"cg_theta_rad":0.557234824,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5011,"hz_app_loop":362,"hz_tim_isr":10022,"hz_vsense":362,"mpcc_cost":0.0312520638,"mpcc_du":49.6166344,"mpcc_dv":49.3127136,"mpcc_dw":50.6872864,"mpcc_enc_sign":1,"mpcc_id_a":1.84847248,"mpcc_iq_a":-0.896117926,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.3805876,"mpcc_pred_id_a":0.208860964,"mpcc_pred_iq_a":-2.20735383,"mpcc_state":1,"mpcc_theta_e":0.453382492,"mpcc_theta_mech":0.557622373,"sam_rpm":16.2253666,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213057995,"thr_a_norm":0.0213057995,"thr_a_v":0.585223198,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.946766,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-2.76329994,"cg_iw_a":1.14399576,"cg_theta_rad":0.553148389,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.00505475979,"mpcc_du":49.5872993,"mpcc_dv":50.37323,"mpcc_dw":50.4127007,"mpcc_enc_sign":1,"mpcc_id_a":1.31968462,"mpcc_iq_a":-2.3135767,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.7090769,"mpcc_pred_id_a":-0.161810547,"mpcc_pred_iq_a":-2.99571037,"mpcc_state":1,"mpcc_theta_e":0.453036785,"mpcc_theta_mech":0.556793153,"sam_rpm":20.9288654,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213057995,"thr_a_norm":0.0213057995,"thr_a_v":0.585223198,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.956959,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.82096052,"cg_iw_a":0.636582375,"cg_theta_rad":0.55615747,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0835306644,"mpcc_du":50.3820496,"mpcc_dv":48.045105,"mpcc_dw":51.954895,"mpcc_enc_sign":1,"mpcc_id_a":5.04796267,"mpcc_iq_a":0.664699018,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.36655903,"mpcc_pred_id_a":0.981082261,"mpcc_pred_iq_a":0.236971825,"mpcc_state":1,"mpcc_theta_e":0.433675289,"mpcc_theta_mech":0.553680956,"sam_rpm":-13.0425053,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276882648,"thr_a_norm":0.0276882648,"thr_a_v":0.610753059,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.969257,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-2.32837415,"cg_iw_a":1.79638505,"cg_theta_rad":0.555485904,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.063839525,"mpcc_du":49.5138588,"mpcc_dv":49.8842392,"mpcc_dw":50.4861412,"mpcc_enc_sign":1,"mpcc_id_a":2.04723191,"mpcc_iq_a":-0.648065567,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.90851474,"mpcc_pred_id_a":0.139966637,"mpcc_pred_iq_a":-4.56245518,"mpcc_state":1,"mpcc_theta_e":0.44533968,"mpcc_theta_mech":0.556013823,"sam_rpm":19.5590267,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282043964,"thr_a_norm":0.0276882648,"thr_a_v":0.612817585,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4983612,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.978962,"values":{"cg_iu_a":3.79393435,"cg_iv_a":0.0637187958,"cg_iw_a":-3.42272711,"cg_theta_rad":0.555918872,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.107978374,"mpcc_du":49.5572128,"mpcc_dv":49.3732834,"mpcc_dw":50.6267166,"mpcc_enc_sign":1,"mpcc_id_a":3.21167898,"mpcc_iq_a":1.6259284,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0678513572,"mpcc_pred_id_a":0.246801823,"mpcc_pred_iq_a":-4.90713263,"mpcc_state":1,"mpcc_theta_e":0.444928646,"mpcc_theta_mech":0.555931628,"sam_rpm":1.0723418,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282043964,"thr_a_norm":0.0282043964,"thr_a_v":0.612817585,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4983612,"vdc_v":55.2955055}} +{"type":"telemetry","t":36.989399,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.53100967,"cg_iw_a":-0.668195724,"cg_theta_rad":0.553955853,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0449166335,"mpcc_du":49.7712326,"mpcc_dv":49.204628,"mpcc_dw":50.795372,"mpcc_enc_sign":1,"mpcc_id_a":1.02151608,"mpcc_iq_a":-1.50594711,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.7977467,"mpcc_pred_id_a":-0.0972634181,"mpcc_pred_iq_a":-0.174950778,"mpcc_state":1,"mpcc_theta_e":0.420016289,"mpcc_theta_mech":0.550949216,"sam_rpm":-19.3244877,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248558074,"thr_a_norm":0.0248558074,"thr_a_v":0.59942323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473284513,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.012318,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.661157608,"cg_iw_a":-0.233269691,"cg_theta_rad":0.553657889,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.00832597818,"mpcc_du":50.718689,"mpcc_dv":47.9168549,"mpcc_dw":52.0831451,"mpcc_enc_sign":1,"mpcc_id_a":0.905832767,"mpcc_iq_a":-0.000589135685,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.55709457,"mpcc_pred_id_a":0.170168251,"mpcc_pred_iq_a":1.28004551,"mpcc_state":1,"mpcc_theta_e":0.434424877,"mpcc_theta_mech":0.553830922,"sam_rpm":-14.3330221,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248558074,"thr_a_norm":0.0248558074,"thr_a_v":0.59942323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473284513,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.018879,"values":{"cg_iu_a":4.01139736,"cg_iv_a":-0.588670254,"cg_iw_a":-3.42272711,"cg_theta_rad":0.554603696,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0304235108,"mpcc_du":50.4597588,"mpcc_dv":47.8583107,"mpcc_dw":52.1416893,"mpcc_enc_sign":1,"mpcc_id_a":3.4835062,"mpcc_iq_a":-0.978146195,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.0028534,"mpcc_pred_id_a":1.01626396,"mpcc_pred_iq_a":0.44222936,"mpcc_state":1,"mpcc_theta_e":0.425819397,"mpcc_theta_mech":0.552109838,"sam_rpm":-25.4916592,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263664424,"thr_a_norm":0.0263664424,"thr_a_v":0.60546577,"thr_b":0.000672921538,"thr_b_norm":0.000672921538,"thr_b_v":0.502691686,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.02544,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.02359605,"cg_iw_a":-1.4655602,"cg_theta_rad":0.557190001,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0273812227,"mpcc_du":49.6362267,"mpcc_dv":49.9439011,"mpcc_dw":52.775177,"mpcc_enc_sign":1,"mpcc_id_a":0.535882056,"mpcc_iq_a":-1.12853742,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.86342192,"mpcc_pred_id_a":-0.575287521,"mpcc_pred_iq_a":-5.66127634,"mpcc_state":1,"mpcc_theta_e":0.441750526,"mpcc_theta_mech":0.555296004,"sam_rpm":8.09556293,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263664424,"thr_a_norm":0.0263664424,"thr_a_v":0.60546577,"thr_b":0.000672921538,"thr_b_norm":0.000672921538,"thr_b_v":0.502691686,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.03191,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.516182423,"cg_iw_a":-1.90048599,"cg_theta_rad":0.552897751,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0329698287,"mpcc_du":50.5068436,"mpcc_dv":48.0349922,"mpcc_dw":51.9650078,"mpcc_enc_sign":1,"mpcc_id_a":2.51742363,"mpcc_iq_a":-0.663539171,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.96529579,"mpcc_pred_id_a":0.636117935,"mpcc_pred_iq_a":-0.679469168,"mpcc_state":1,"mpcc_theta_e":0.437067509,"mpcc_theta_mech":0.554359436,"sam_rpm":-12.3676434,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262027979,"thr_a_norm":0.0262027979,"thr_a_v":0.604811192,"thr_b":0.000748455524,"thr_b_norm":0.000748455524,"thr_b_v":0.502993822,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.04195,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.60349751,"cg_iw_a":-0.450732708,"cg_theta_rad":0.554297268,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0238476563,"mpcc_du":49.5858498,"mpcc_dv":50.0603142,"mpcc_dw":50.4141502,"mpcc_enc_sign":1,"mpcc_id_a":0.413822562,"mpcc_iq_a":-0.199771956,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.0812511,"mpcc_pred_id_a":-0.273964763,"mpcc_pred_iq_a":-1.70972574,"mpcc_state":1,"mpcc_theta_e":0.458593845,"mpcc_theta_mech":0.55866468,"sam_rpm":27.6146393,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103358895,"thr_a_norm":0.0262027979,"thr_a_v":0.913435578,"thr_b":0.0487617254,"thr_b_norm":0.000748455524,"thr_b_v":0.695046902,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.053913,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.298719406,"cg_iw_a":-0.015806675,"cg_theta_rad":0.555099785,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0213383399,"mpcc_du":50.0243607,"mpcc_dv":48.9405441,"mpcc_dw":51.0594559,"mpcc_enc_sign":1,"mpcc_id_a":0.881440997,"mpcc_iq_a":-0.736763477,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.908174157,"mpcc_pred_id_a":-0.0936386287,"mpcc_pred_iq_a":-2.58852243,"mpcc_state":1,"mpcc_theta_e":0.442028999,"mpcc_theta_mech":0.555351734,"sam_rpm":-0.450257301,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103358895,"thr_a_norm":0.103358895,"thr_a_v":0.913435578,"thr_b":0.0487617254,"thr_b_norm":0.0487617254,"thr_b_v":0.695046902,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.06493,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.371207237,"cg_iw_a":-0.81317091,"cg_theta_rad":0.555354774,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0167430583,"mpcc_du":49.8397713,"mpcc_dv":48.9634171,"mpcc_dw":51.0365829,"mpcc_enc_sign":1,"mpcc_id_a":1.89361286,"mpcc_iq_a":0.231110498,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.42698956,"mpcc_pred_id_a":0.324389637,"mpcc_pred_iq_a":-2.25053334,"mpcc_state":1,"mpcc_theta_e":0.43555975,"mpcc_theta_mech":0.554057896,"sam_rpm":-9.8881464,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217338055,"thr_a_norm":0.0217338055,"thr_a_v":0.586935222,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469155431,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.07613,"values":{"cg_iu_a":3.93890953,"cg_iv_a":-1.24105906,"cg_iw_a":-2.69785047,"cg_theta_rad":0.556107104,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0125315813,"mpcc_du":49.4482002,"mpcc_dv":49.6203537,"mpcc_dw":50.5517998,"mpcc_enc_sign":1,"mpcc_id_a":2.03319359,"mpcc_iq_a":-1.01397359,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.96683931,"mpcc_pred_id_a":0.34945479,"mpcc_pred_iq_a":-2.58569932,"mpcc_state":1,"mpcc_theta_e":0.445982456,"mpcc_theta_mech":0.55614239,"sam_rpm":6.67595053,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0144701302,"thr_a_norm":0.0144701302,"thr_a_v":0.557880521,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449617773,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.086323,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.878620625,"cg_iw_a":-0.523220539,"cg_theta_rad":0.554023683,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.00449734461,"mpcc_du":50.0836525,"mpcc_dv":48.8775902,"mpcc_dw":51.1224098,"mpcc_enc_sign":1,"mpcc_id_a":0.586056709,"mpcc_iq_a":-1.55658233,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.9351931,"mpcc_pred_id_a":-0.319803983,"mpcc_pred_iq_a":-4.64847422,"mpcc_state":1,"mpcc_theta_e":0.432376862,"mpcc_theta_mech":0.553421259,"sam_rpm":-20.5222721,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0144701302,"thr_a_norm":0.0144701302,"thr_a_v":0.557880521,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449617773,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.10976,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.09608364,"cg_iw_a":-1.03063393,"cg_theta_rad":0.557364166,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0537752211,"mpcc_du":49.7759094,"mpcc_dv":49.298336,"mpcc_dw":50.701664,"mpcc_enc_sign":1,"mpcc_id_a":1.26005232,"mpcc_iq_a":-0.283196628,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.89142704,"mpcc_pred_id_a":-0.248981059,"mpcc_pred_iq_a":-3.60465503,"mpcc_state":1,"mpcc_theta_e":0.453135967,"mpcc_theta_mech":0.55757314,"sam_rpm":11.3258305,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210162401,"thr_a_norm":0.0210162401,"thr_a_v":0.58406496,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477312863,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.116261,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-2.32837415,"cg_iw_a":0.346631765,"cg_theta_rad":0.555585921,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0372912474,"mpcc_du":49.3878479,"mpcc_dv":50.6121521,"mpcc_dw":50.2759476,"mpcc_enc_sign":1,"mpcc_id_a":2.40444016,"mpcc_iq_a":-0.409498513,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.19161129,"mpcc_pred_id_a":0.103642032,"mpcc_pred_iq_a":-6.12501335,"mpcc_state":1,"mpcc_theta_e":0.448531628,"mpcc_theta_mech":0.556652248,"sam_rpm":9.7607975,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224639475,"thr_a_norm":0.0210162401,"thr_a_v":0.58985579,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473183811,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.122791,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.31354666,"cg_iw_a":-2.11794901,"cg_theta_rad":0.557190001,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.00683080964,"mpcc_du":49.9096489,"mpcc_dv":49.204895,"mpcc_dw":50.795105,"mpcc_enc_sign":1,"mpcc_id_a":0.0311078615,"mpcc_iq_a":-1.67881227,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.40557307,"mpcc_pred_id_a":-0.399884671,"mpcc_pred_iq_a":-3.46355271,"mpcc_state":1,"mpcc_theta_e":0.444145203,"mpcc_theta_mech":0.555774987,"sam_rpm":-0.653267205,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224639475,"thr_a_norm":0.0224639475,"thr_a_v":0.58985579,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473183811,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.129322,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.38603449,"cg_iw_a":-0.523220539,"cg_theta_rad":0.554317355,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0482362285,"mpcc_du":50.1572304,"mpcc_dv":48.5713539,"mpcc_dw":51.4286461,"mpcc_enc_sign":1,"mpcc_id_a":3.50244641,"mpcc_iq_a":-0.456805736,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.42252231,"mpcc_pred_id_a":0.539381742,"mpcc_pred_iq_a":-0.0258490443,"mpcc_state":1,"mpcc_theta_e":0.444060802,"mpcc_theta_mech":0.555758059,"sam_rpm":3.99972367,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195559561,"thr_a_norm":0.0195559561,"thr_a_v":0.578223825,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.139118,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.733645439,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.555296898,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0129403109,"mpcc_du":49.4957123,"mpcc_dv":49.9876175,"mpcc_dw":50.5042877,"mpcc_enc_sign":1,"mpcc_id_a":2.26637959,"mpcc_iq_a":-0.15879643,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.63356972,"mpcc_pred_id_a":0.274972349,"mpcc_pred_iq_a":-3.98564839,"mpcc_state":1,"mpcc_theta_e":0.42942667,"mpcc_theta_mech":0.552831233,"sam_rpm":-12.0497017,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225646496,"thr_a_norm":0.0195559561,"thr_a_v":0.590258598,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482952625,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.149158,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-2.76329994,"cg_iw_a":0.274144173,"cg_theta_rad":0.553370655,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0360079668,"mpcc_du":49.9218254,"mpcc_dv":49.1253395,"mpcc_dw":50.8746605,"mpcc_enc_sign":1,"mpcc_id_a":0.665686131,"mpcc_iq_a":-1.34159136,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.386904,"mpcc_pred_id_a":-0.212956324,"mpcc_pred_iq_a":-4.32216454,"mpcc_state":1,"mpcc_theta_e":0.451544285,"mpcc_theta_mech":0.557254791,"sam_rpm":4.35738277,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225646496,"thr_a_norm":0.0225646496,"thr_a_v":0.590258598,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482952625,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.159351,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-2.0384233,"cg_iw_a":1.21648335,"cg_theta_rad":0.553513348,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0033894896,"mpcc_du":49.8401527,"mpcc_dv":49.0721283,"mpcc_dw":50.9278717,"mpcc_enc_sign":1,"mpcc_id_a":0.417628944,"mpcc_iq_a":-1.21071887,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.14665508,"mpcc_pred_id_a":0.138860106,"mpcc_pred_iq_a":-3.75735855,"mpcc_state":1,"mpcc_theta_e":0.440963745,"mpcc_theta_mech":0.555138648,"sam_rpm":-1.83530867,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0311879069,"thr_a_norm":0.0311879069,"thr_a_v":0.624751627,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486427099,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.1693,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.516182423,"cg_iw_a":0.0566806793,"cg_theta_rad":0.556852043,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.00152774947,"mpcc_du":49.5243454,"mpcc_dv":49.8528442,"mpcc_dw":50.4756546,"mpcc_enc_sign":1,"mpcc_id_a":0.513623774,"mpcc_iq_a":-2.00489664,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.06221771,"mpcc_pred_id_a":0.0376504026,"mpcc_pred_iq_a":-3.07886314,"mpcc_state":1,"mpcc_theta_e":0.446718216,"mpcc_theta_mech":0.556289554,"sam_rpm":10.7443314,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0311879069,"thr_a_norm":0.0311879069,"thr_a_v":0.624751627,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486427099,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.179554,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.878620625,"cg_iw_a":-0.160782337,"cg_theta_rad":0.555345654,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0982600078,"mpcc_du":49.6174316,"mpcc_dv":49.3268394,"mpcc_dw":50.6731606,"mpcc_enc_sign":1,"mpcc_id_a":2.2598865,"mpcc_iq_a":-0.709174335,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.47942257,"mpcc_pred_id_a":0.240440756,"mpcc_pred_iq_a":-4.87112999,"mpcc_state":1,"mpcc_theta_e":0.447640896,"mpcc_theta_mech":0.55647409,"sam_rpm":13.5285196,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0230430365,"thr_a_norm":0.0230430365,"thr_a_v":0.592172146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486376733,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.189716,"values":{"cg_iu_a":1.40184116,"cg_iv_a":0.0637187958,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556072354,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0217319876,"mpcc_du":50.2734184,"mpcc_dv":48.2743111,"mpcc_dw":51.7256889,"mpcc_enc_sign":1,"mpcc_id_a":2.7576704,"mpcc_iq_a":-0.482721239,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.3523188,"mpcc_pred_id_a":0.701788545,"mpcc_pred_iq_a":-0.393086612,"mpcc_state":1,"mpcc_theta_e":0.431740284,"mpcc_theta_mech":0.553293943,"sam_rpm":-15.6516333,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296017379,"thr_a_norm":0.0230430365,"thr_a_v":0.618406951,"thr_b":0.00592240691,"thr_b_norm":0,"thr_b_v":0.523689628,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.214008,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-0.443694592,"cg_iw_a":-3.13277674,"cg_theta_rad":0.55916357,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0118927509,"mpcc_du":49.4190483,"mpcc_dv":50.5809517,"mpcc_dw":50.0237999,"mpcc_enc_sign":1,"mpcc_id_a":-0.0779204518,"mpcc_iq_a":-1.54028964,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.1714649,"mpcc_pred_id_a":-0.771308005,"mpcc_pred_iq_a":-5.60916185,"mpcc_state":1,"mpcc_theta_e":0.453287125,"mpcc_theta_mech":0.5576033,"sam_rpm":17.1465721,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296017379,"thr_a_norm":0.0296017379,"thr_a_v":0.618406951,"thr_b":0.00592240691,"thr_b_norm":0.00592240691,"thr_b_v":0.523689628,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.220509,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.16857147,"cg_iw_a":1.143996,"cg_theta_rad":0.552966058,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.000563304813,"mpcc_du":50.2903671,"mpcc_dv":48.605484,"mpcc_dw":51.394516,"mpcc_enc_sign":1,"mpcc_id_a":0.115442552,"mpcc_iq_a":-1.01733255,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.35043812,"mpcc_pred_id_a":-0.0904264674,"mpcc_pred_iq_a":-0.708106458,"mpcc_state":1,"mpcc_theta_e":0.43337965,"mpcc_theta_mech":0.553621829,"sam_rpm":-11.0636024,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219352245,"thr_a_norm":0.0219352245,"thr_a_v":0.587740898,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475852609,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.226978,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.740683556,"cg_theta_rad":0.553874493,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.00532518653,"mpcc_du":49.5635948,"mpcc_dv":49.8455658,"mpcc_dw":50.4364052,"mpcc_enc_sign":1,"mpcc_id_a":1.38403642,"mpcc_iq_a":-0.173752248,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.43032932,"mpcc_pred_id_a":-0.120524608,"mpcc_pred_iq_a":-3.15662789,"mpcc_state":1,"mpcc_theta_e":0.432662964,"mpcc_theta_mech":0.553478479,"sam_rpm":-9.34378815,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219352245,"thr_a_norm":0.0219352245,"thr_a_v":0.587740898,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475852609,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.23357,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.38603449,"cg_iw_a":-0.740683079,"cg_theta_rad":0.555914938,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.00673089921,"mpcc_du":50.3729172,"mpcc_dv":48.4772568,"mpcc_dw":51.5227432,"mpcc_enc_sign":1,"mpcc_id_a":0.682427943,"mpcc_iq_a":-0.976318061,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.30731106,"mpcc_pred_id_a":0.0156171713,"mpcc_pred_iq_a":-0.602967203,"mpcc_state":1,"mpcc_theta_e":0.450426102,"mpcc_theta_mech":0.557031155,"sam_rpm":-10.8369675,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021998167,"thr_a_norm":0.021998167,"thr_a_v":0.587992668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478168905,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.242725,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.951108456,"cg_iw_a":-1.46555996,"cg_theta_rad":0.553209126,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0156478938,"mpcc_du":51.4329834,"mpcc_dv":47.2923737,"mpcc_dw":52.7076263,"mpcc_enc_sign":1,"mpcc_id_a":-0.274287879,"mpcc_iq_a":-1.34400475,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.2923279,"mpcc_pred_id_a":-0.40825513,"mpcc_pred_iq_a":0.437238723,"mpcc_state":1,"mpcc_theta_e":0.432671547,"mpcc_theta_mech":0.553480268,"sam_rpm":-23.1071739,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026605621,"thr_a_norm":0.021998167,"thr_a_v":0.606422484,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487585247,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.252522,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.02359605,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.554900944,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.00653766887,"mpcc_du":50.4822006,"mpcc_dv":48.2592773,"mpcc_dw":51.7407227,"mpcc_enc_sign":1,"mpcc_id_a":1.36413634,"mpcc_iq_a":-0.387033641,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.2193508,"mpcc_pred_id_a":0.0436016396,"mpcc_pred_iq_a":-1.62867177,"mpcc_state":1,"mpcc_theta_e":0.427466393,"mpcc_theta_mech":0.552439213,"sam_rpm":-26.5022545,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026605621,"thr_a_norm":0.026605621,"thr_a_v":0.606422484,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487585247,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.263111,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.02359605,"cg_iw_a":1.143996,"cg_theta_rad":0.554420888,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0226453375,"mpcc_du":50.6366692,"mpcc_dv":48.040493,"mpcc_dw":51.959507,"mpcc_enc_sign":1,"mpcc_id_a":2.68812752,"mpcc_iq_a":-1.66796398,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.98602962,"mpcc_pred_id_a":0.230497271,"mpcc_pred_iq_a":-0.847681165,"mpcc_state":1,"mpcc_theta_e":0.437301159,"mpcc_theta_mech":0.554406106,"sam_rpm":-14.8673916,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203112811,"thr_a_norm":0.0203112811,"thr_a_v":0.581245124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459839791,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.274952,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.6759851,"cg_iw_a":-0.45073247,"cg_theta_rad":0.552749455,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0505262688,"mpcc_du":49.0765343,"mpcc_dv":50.9234657,"mpcc_dw":50.0142517,"mpcc_enc_sign":1,"mpcc_id_a":3.79616237,"mpcc_iq_a":2.18364835,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.3175402,"mpcc_pred_id_a":0.453506351,"mpcc_pred_iq_a":-2.45823646,"mpcc_state":1,"mpcc_theta_e":0.444259644,"mpcc_theta_mech":0.555797875,"sam_rpm":19.8650646,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203112811,"thr_a_norm":0.0203112811,"thr_a_v":0.581245124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459839791,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.285114,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.878620625,"cg_iw_a":-1.32058477,"cg_theta_rad":0.554121137,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0338397212,"mpcc_du":49.6664124,"mpcc_dv":49.7146797,"mpcc_dw":50.3335876,"mpcc_enc_sign":1,"mpcc_id_a":-1.0645777,"mpcc_iq_a":-3.37753701,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.07074499,"mpcc_pred_id_a":-0.8617118,"mpcc_pred_iq_a":-2.43750954,"mpcc_state":1,"mpcc_theta_e":0.43545723,"mpcc_theta_mech":0.554037392,"sam_rpm":-4.82857227,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278519094,"thr_a_norm":0.0278519094,"thr_a_v":0.611407638,"thr_b":0.001692608,"thr_b_norm":0.001692608,"thr_b_v":0.506770432,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.295277,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.226231575,"cg_iw_a":-0.305757523,"cg_theta_rad":0.552432537,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0234381277,"mpcc_du":50.5969772,"mpcc_dv":48.212925,"mpcc_dw":51.787075,"mpcc_enc_sign":1,"mpcc_id_a":0.967752874,"mpcc_iq_a":-1.23653841,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.03869104,"mpcc_pred_id_a":-0.0476461835,"mpcc_pred_iq_a":-1.58696032,"mpcc_state":1,"mpcc_theta_e":0.439398289,"mpcc_theta_mech":0.554825604,"sam_rpm":-9.16390419,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0267440975,"thr_a_norm":0.0278519094,"thr_a_v":0.60697639,"thr_b":0,"thr_b_norm":0.001692608,"thr_b_v":0.493426412,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.318317,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.878620625,"cg_iw_a":0.564094543,"cg_theta_rad":0.554108799,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.000476932706,"mpcc_du":48.7370834,"mpcc_dv":51.2629166,"mpcc_dw":49.1857796,"mpcc_enc_sign":1,"mpcc_id_a":0.436482817,"mpcc_iq_a":-2.15685391,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.79736805,"mpcc_pred_id_a":-0.626537263,"mpcc_pred_iq_a":-7.6682272,"mpcc_state":1,"mpcc_theta_e":0.448954105,"mpcc_theta_mech":0.556736708,"sam_rpm":12.5647202,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0267440975,"thr_a_norm":0.0267440975,"thr_a_v":0.60697639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493426412,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.324848,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.09608364,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556945682,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0269941967,"mpcc_du":50.6482086,"mpcc_dv":48.0859985,"mpcc_dw":51.9140015,"mpcc_enc_sign":1,"mpcc_id_a":3.09704423,"mpcc_iq_a":-1.64708769,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.81229758,"mpcc_pred_id_a":0.222513124,"mpcc_pred_iq_a":1.46770751,"mpcc_state":1,"mpcc_theta_e":0.442201138,"mpcc_theta_mech":0.555386186,"sam_rpm":-1.9954735,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196944475,"thr_a_norm":0.0196944475,"thr_a_v":0.57877779,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474795133,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.331409,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.62536287,"cg_theta_rad":0.55655396,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0121721309,"mpcc_du":50.2024651,"mpcc_dv":48.5387268,"mpcc_dw":51.4612732,"mpcc_enc_sign":1,"mpcc_id_a":2.11351991,"mpcc_iq_a":-1.35584795,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.10340929,"mpcc_pred_id_a":0.439820886,"mpcc_pred_iq_a":-0.341381878,"mpcc_state":1,"mpcc_theta_e":0.438285351,"mpcc_theta_mech":0.554602981,"sam_rpm":-6.25547981,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196944475,"thr_a_norm":0.0196944475,"thr_a_v":0.57877779,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474795133,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.338306,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.588670254,"cg_iw_a":0.274144173,"cg_theta_rad":0.553334713,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0178126674,"mpcc_du":49.9165268,"mpcc_dv":49.0417404,"mpcc_dw":50.9582596,"mpcc_enc_sign":1,"mpcc_id_a":1.87309885,"mpcc_iq_a":-2.34306216,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.15850592,"mpcc_pred_id_a":0.0763288811,"mpcc_pred_iq_a":-2.15143132,"mpcc_state":1,"mpcc_theta_e":0.450650215,"mpcc_theta_mech":0.557075977,"sam_rpm":8.31882572,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269455314,"thr_a_norm":0.0269455314,"thr_a_v":0.607782125,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494685292,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.348103,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.31354666,"cg_iw_a":-0.378244877,"cg_theta_rad":0.553846538,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.00823112391,"mpcc_du":50.3967667,"mpcc_dv":48.5634727,"mpcc_dw":51.4365273,"mpcc_enc_sign":1,"mpcc_id_a":0.837652504,"mpcc_iq_a":-1.17408037,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.35931969,"mpcc_pred_id_a":-0.358570844,"mpcc_pred_iq_a":-1.91014159,"mpcc_state":1,"mpcc_theta_e":0.43845892,"mpcc_theta_mech":0.55463773,"sam_rpm":-11.0806208,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269455314,"thr_a_norm":0.0269455314,"thr_a_v":0.607782125,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494685292,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.358326,"values":{"cg_iu_a":2.1992054,"cg_iv_a":0.353669643,"cg_iw_a":0.491607189,"cg_theta_rad":0.555597305,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0266324189,"mpcc_du":50.040226,"mpcc_dv":48.5655785,"mpcc_dw":51.4344215,"mpcc_enc_sign":1,"mpcc_id_a":2.91682816,"mpcc_iq_a":-1.1739763,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.8566971,"mpcc_pred_id_a":0.613167644,"mpcc_pred_iq_a":-1.4526931,"mpcc_state":1,"mpcc_theta_e":0.423881054,"mpcc_theta_mech":0.551722109,"sam_rpm":-26.9780121,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0230430365,"thr_a_norm":0.0230430365,"thr_a_v":0.592172146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476406515,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.368519,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.90827537,"cg_iw_a":2.08633542,"cg_theta_rad":0.556152225,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0359866396,"mpcc_du":48.7451019,"mpcc_dv":51.2548981,"mpcc_dw":49.450882,"mpcc_enc_sign":1,"mpcc_id_a":-0.970758915,"mpcc_iq_a":-1.91051948,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.8718739,"mpcc_pred_id_a":-0.0483557992,"mpcc_pred_iq_a":-3.95917225,"mpcc_state":1,"mpcc_theta_e":0.423807144,"mpcc_theta_mech":0.551707327,"sam_rpm":14.3453217,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218345076,"thr_a_norm":0.0230430365,"thr_a_v":0.58733803,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467443347,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.378498,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.53100967,"cg_iw_a":0.709069729,"cg_theta_rad":0.556548178,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0692879334,"mpcc_du":50.6447487,"mpcc_dv":48.2303696,"mpcc_dw":51.7696304,"mpcc_enc_sign":1,"mpcc_id_a":0.786257625,"mpcc_iq_a":-0.0926714242,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.7743082,"mpcc_pred_id_a":-0.242202371,"mpcc_pred_iq_a":-2.37826228,"mpcc_state":1,"mpcc_theta_e":0.445484638,"mpcc_theta_mech":0.55604285,"sam_rpm":-5.73496771,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218345076,"thr_a_norm":0.0218345076,"thr_a_v":0.58733803,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467443347,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.388721,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-0.661157608,"cg_iw_a":-2.84282589,"cg_theta_rad":0.557115197,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0439009964,"mpcc_du":49.3971519,"mpcc_dv":49.3211212,"mpcc_dw":51.9715919,"mpcc_enc_sign":1,"mpcc_id_a":3.83831954,"mpcc_iq_a":-0.410805017,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.09990263,"mpcc_pred_id_a":0.824524283,"mpcc_pred_iq_a":-4.34141207,"mpcc_state":1,"mpcc_theta_e":0.439005375,"mpcc_theta_mech":0.55340153,"sam_rpm":-8.41703033,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.0167864412,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.398304,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-3.19822598,"cg_iw_a":1.86887264,"cg_theta_rad":0.557100475,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0413751937,"mpcc_du":49.4434242,"mpcc_dv":50.0207901,"mpcc_dw":50.5565758,"mpcc_enc_sign":1,"mpcc_id_a":3.24960351,"mpcc_iq_a":-0.493720233,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.3372602,"mpcc_pred_id_a":0.488200456,"mpcc_pred_iq_a":-2.37872314,"mpcc_state":1,"mpcc_theta_e":0.449278831,"mpcc_theta_mech":0.556801677,"sam_rpm":22.3751774,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.0167864412,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.421711,"values":{"cg_iu_a":1.03940296,"cg_iv_a":0.861083508,"cg_iw_a":-1.82799864,"cg_theta_rad":0.554952979,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0143552162,"mpcc_du":50.9714508,"mpcc_dv":47.5541801,"mpcc_dw":52.4458199,"mpcc_enc_sign":1,"mpcc_id_a":2.19529295,"mpcc_iq_a":-0.320653409,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.61083221,"mpcc_pred_id_a":0.336462766,"mpcc_pred_iq_a":3.53808117,"mpcc_state":1,"mpcc_theta_e":0.433822632,"mpcc_theta_mech":0.553710461,"sam_rpm":-11.4790249,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023584336,"thr_a_norm":0.023584336,"thr_a_v":0.594337344,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475751907,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.428272,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-3.41568899,"cg_iw_a":0.636582136,"cg_theta_rad":0.55558145,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.00950988196,"mpcc_du":49.7290955,"mpcc_dv":49.2180977,"mpcc_dw":50.7819023,"mpcc_enc_sign":1,"mpcc_id_a":1.21453762,"mpcc_iq_a":-0.710504413,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.243572816,"mpcc_pred_id_a":0.0297555141,"mpcc_pred_iq_a":-2.53716207,"mpcc_state":1,"mpcc_theta_e":0.442869186,"mpcc_theta_mech":0.55551976,"sam_rpm":0.150486544,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0168493837,"thr_a_norm":0.023584336,"thr_a_v":0.567397535,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.432597816,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.434803,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.45852208,"cg_iw_a":0.926532984,"cg_theta_rad":0.555775046,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0185862184,"mpcc_du":50.3377266,"mpcc_dv":48.5340843,"mpcc_dw":51.4659157,"mpcc_enc_sign":1,"mpcc_id_a":1.05749667,"mpcc_iq_a":-0.870788097,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.08619094,"mpcc_pred_id_a":-0.101221099,"mpcc_pred_iq_a":0.018756168,"mpcc_state":1,"mpcc_theta_e":0.445024014,"mpcc_theta_mech":0.555950761,"sam_rpm":5.52173233,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0168493837,"thr_a_norm":0.0168493837,"thr_a_v":0.567397535,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.432597816,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.441547,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-3.12573838,"cg_iw_a":0.41911912,"cg_theta_rad":0.55140245,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.010214272,"mpcc_du":50.1286087,"mpcc_dv":48.83078,"mpcc_dw":51.16922,"mpcc_enc_sign":1,"mpcc_id_a":0.557244837,"mpcc_iq_a":-0.403135628,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.10347557,"mpcc_pred_id_a":-0.162530482,"mpcc_pred_iq_a":-1.28478622,"mpcc_state":1,"mpcc_theta_e":0.44871664,"mpcc_theta_mech":0.556689203,"sam_rpm":-3.77586246,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0168368071,"thr_a_norm":0.0168368071,"thr_a_v":0.567347229,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440453202,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.451435,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.18339872,"cg_iw_a":1.14399576,"cg_theta_rad":0.555464864,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0374931023,"mpcc_du":49.7149277,"mpcc_dv":48.9783249,"mpcc_dw":50.2018051,"mpcc_enc_sign":1,"mpcc_id_a":3.06539369,"mpcc_iq_a":-0.144866735,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.8451581,"mpcc_pred_id_a":0.526034534,"mpcc_pred_iq_a":0.685620606,"mpcc_state":1,"mpcc_theta_e":0.425732136,"mpcc_theta_mech":0.552878678,"sam_rpm":-14.3898582,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0168368071,"thr_a_norm":0.0168368071,"thr_a_v":0.567347229,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440453202,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.46172,"values":{"cg_iu_a":4.01139736,"cg_iv_a":-0.733645439,"cg_iw_a":-0.305757523,"cg_theta_rad":0.556896269,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0449364893,"mpcc_du":48.9831581,"mpcc_dv":50.2179108,"mpcc_dw":50.3797646,"mpcc_enc_sign":1,"mpcc_id_a":2.61276078,"mpcc_iq_a":-2.19765425,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.67810917,"mpcc_pred_id_a":0.218065903,"mpcc_pred_iq_a":-2.82184267,"mpcc_state":1,"mpcc_theta_e":0.434556961,"mpcc_theta_mech":0.553857327,"sam_rpm":12.4884758,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243018866,"thr_a_norm":0.0243018866,"thr_a_v":0.597207546,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.471729,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.53100967,"cg_iw_a":0.201656342,"cg_theta_rad":0.555693388,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.00976301543,"mpcc_du":49.2300148,"mpcc_dv":50.7699852,"mpcc_dw":50.1478195,"mpcc_enc_sign":1,"mpcc_id_a":1.88722956,"mpcc_iq_a":-1.82430053,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.87678242,"mpcc_pred_id_a":0.186509788,"mpcc_pred_iq_a":-4.41415691,"mpcc_state":1,"mpcc_theta_e":0.445525646,"mpcc_theta_mech":0.556051075,"sam_rpm":11.0612183,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02000916,"thr_a_norm":0.0243018866,"thr_a_v":0.58003664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486225694,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.481525,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.878620625,"cg_iw_a":-1.68302298,"cg_theta_rad":0.555668652,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.031046629,"mpcc_du":50.7664833,"mpcc_dv":47.6689224,"mpcc_dw":52.3310776,"mpcc_enc_sign":1,"mpcc_id_a":2.35445285,"mpcc_iq_a":-2.36506367,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.50803709,"mpcc_pred_id_a":0.755948424,"mpcc_pred_iq_a":-0.861690879,"mpcc_state":1,"mpcc_theta_e":0.443514347,"mpcc_theta_mech":0.555648804,"sam_rpm":-10.2616348,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02000916,"thr_a_norm":0.02000916,"thr_a_v":0.58003664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486225694,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.49181,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.733645439,"cg_iw_a":-2.55287504,"cg_theta_rad":0.555358648,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0372950919,"mpcc_du":49.5284004,"mpcc_dv":50.0602493,"mpcc_dw":50.4715996,"mpcc_enc_sign":1,"mpcc_id_a":-0.461428255,"mpcc_iq_a":-1.43997622,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.6148758,"mpcc_pred_id_a":-0.581369698,"mpcc_pred_iq_a":-0.869605601,"mpcc_state":1,"mpcc_theta_e":0.422469139,"mpcc_theta_mech":0.551439703,"sam_rpm":-12.1083927,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262783319,"thr_a_norm":0.0262783319,"thr_a_v":0.605113328,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496699452,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.517292,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.53100967,"cg_iw_a":-1.10312176,"cg_theta_rad":0.554071724,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0371247604,"mpcc_du":49.4351158,"mpcc_dv":50.5648842,"mpcc_dw":50.2728729,"mpcc_enc_sign":1,"mpcc_id_a":2.52660227,"mpcc_iq_a":-0.993766725,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.1874514,"mpcc_pred_id_a":-0.154318079,"mpcc_pred_iq_a":-5.22177982,"mpcc_state":1,"mpcc_theta_e":0.453386307,"mpcc_theta_mech":0.557623208,"sam_rpm":18.5307808,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281540304,"thr_a_norm":0.0262783319,"thr_a_v":0.612616122,"thr_b":0.000383391976,"thr_b_norm":0,"thr_b_v":0.501533568,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.523853,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.16857147,"cg_iw_a":-1.75551081,"cg_theta_rad":0.556706846,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0160263628,"mpcc_du":49.5738754,"mpcc_dv":50.4261246,"mpcc_dw":50.3474312,"mpcc_enc_sign":1,"mpcc_id_a":1.84376371,"mpcc_iq_a":-0.73799628,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.04911757,"mpcc_pred_id_a":-0.372026563,"mpcc_pred_iq_a":-5.18072557,"mpcc_state":1,"mpcc_theta_e":0.446047783,"mpcc_theta_mech":0.556155503,"sam_rpm":5.71300554,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281540304,"thr_a_norm":0.0281540304,"thr_a_v":0.612616122,"thr_b":0.000383391976,"thr_b_norm":0.000383391976,"thr_b_v":0.501533568,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.530384,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.6759851,"cg_iw_a":-1.17560935,"cg_theta_rad":0.557149827,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0553643852,"mpcc_du":49.4007149,"mpcc_dv":50.350563,"mpcc_dw":50.5992851,"mpcc_enc_sign":1,"mpcc_id_a":3.82646918,"mpcc_iq_a":0.216633156,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.252707,"mpcc_pred_id_a":0.893299818,"mpcc_pred_iq_a":-4.80845881,"mpcc_state":1,"mpcc_theta_e":0.445841789,"mpcc_theta_mech":0.556114256,"sam_rpm":6.09217787,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025296405,"thr_a_norm":0.025296405,"thr_a_v":0.60118562,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.537128,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.661157608,"cg_iw_a":-0.378245354,"cg_theta_rad":0.555467904,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0249063224,"mpcc_du":49.6949234,"mpcc_dv":48.8234825,"mpcc_dw":51.1765175,"mpcc_enc_sign":1,"mpcc_id_a":3.09086537,"mpcc_iq_a":-0.97730428,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.4106555,"mpcc_pred_id_a":1.11049223,"mpcc_pred_iq_a":-1.51204467,"mpcc_state":1,"mpcc_theta_e":0.436971188,"mpcc_theta_mech":0.554340124,"sam_rpm":-6.76322174,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201476216,"thr_a_norm":0.025296405,"thr_a_v":0.580590487,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459285885,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.547321,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.82096052,"cg_iw_a":0.78155756,"cg_theta_rad":0.555951893,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.00307613518,"mpcc_du":50.6818581,"mpcc_dv":48.2232666,"mpcc_dw":51.7767334,"mpcc_enc_sign":1,"mpcc_id_a":0.0215845779,"mpcc_iq_a":-2.40795445,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.88086033,"mpcc_pred_id_a":-0.491757572,"mpcc_pred_iq_a":-1.79728758,"mpcc_state":1,"mpcc_theta_e":0.437342644,"mpcc_theta_mech":0.554414451,"sam_rpm":-14.6368971,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201476216,"thr_a_norm":0.0201476216,"thr_a_v":0.580590487,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459285885,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.557301,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.951108456,"cg_iw_a":-1.10312176,"cg_theta_rad":0.555472255,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0158251282,"mpcc_du":49.3507729,"mpcc_dv":50.6492271,"mpcc_dw":49.9771729,"mpcc_enc_sign":1,"mpcc_id_a":-0.507890403,"mpcc_iq_a":-2.16137505,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.28089857,"mpcc_pred_id_a":-0.679542124,"mpcc_pred_iq_a":-3.85764098,"mpcc_state":1,"mpcc_theta_e":0.439263821,"mpcc_theta_mech":0.554798663,"sam_rpm":2.82131481,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240752995,"thr_a_norm":0.0240752995,"thr_a_v":0.596301198,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470867455,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.567097,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.6759851,"cg_iw_a":-0.378245115,"cg_theta_rad":0.558082938,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.00356892589,"mpcc_du":49.595993,"mpcc_dv":50.1102104,"mpcc_dw":50.404007,"mpcc_enc_sign":1,"mpcc_id_a":0.108979456,"mpcc_iq_a":-0.508737922,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.02328253,"mpcc_pred_id_a":-0.363541126,"mpcc_pred_iq_a":-1.63363659,"mpcc_state":1,"mpcc_theta_e":0.438153267,"mpcc_theta_mech":0.554576576,"sam_rpm":2.36145759,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240752995,"thr_a_norm":0.0240752995,"thr_a_v":0.596301198,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470867455,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.57729,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.661157608,"cg_iw_a":0.129168749,"cg_theta_rad":0.55616349,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0326931328,"mpcc_du":50.2907066,"mpcc_dv":48.5320778,"mpcc_dw":50.7253342,"mpcc_enc_sign":1,"mpcc_id_a":0.870086312,"mpcc_iq_a":-0.0821896344,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.18732738,"mpcc_pred_id_a":0.0382501669,"mpcc_pred_iq_a":-2.21954036,"mpcc_state":1,"mpcc_theta_e":0.440943718,"mpcc_theta_mech":0.555134654,"sam_rpm":-7.18802118,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0907198489,"thr_a_norm":0.0907198489,"thr_a_v":0.862879395,"thr_b":0.0358709097,"thr_b_norm":0.0358709097,"thr_b_v":0.643483639,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.587482,"values":{"cg_iu_a":1.69179153,"cg_iv_a":1.22352171,"cg_iw_a":-1.03063393,"cg_theta_rad":0.555435717,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.00865544006,"mpcc_du":49.6204491,"mpcc_dv":50.0321198,"mpcc_dw":50.3795509,"mpcc_enc_sign":1,"mpcc_id_a":0.790879488,"mpcc_iq_a":-2.84758663,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.7843361,"mpcc_pred_id_a":-0.33423391,"mpcc_pred_iq_a":-0.168462202,"mpcc_state":1,"mpcc_theta_e":0.431460381,"mpcc_theta_mech":0.553237975,"sam_rpm":-21.9138355,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0168871582,"thr_a_norm":0.0907198489,"thr_a_v":0.567548633,"thr_b":0,"thr_b_norm":0.0358709097,"thr_b_v":0.44211489,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.598499,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.371207237,"cg_iw_a":-0.0882940292,"cg_theta_rad":0.55665803,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.00501819095,"mpcc_du":50.3120155,"mpcc_dv":48.4684219,"mpcc_dw":51.5315781,"mpcc_enc_sign":1,"mpcc_id_a":0.971710443,"mpcc_iq_a":-1.59204686,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.5276432,"mpcc_pred_id_a":0.0724569261,"mpcc_pred_iq_a":-1.04305589,"mpcc_state":1,"mpcc_theta_e":0.429891586,"mpcc_theta_mech":0.552924216,"sam_rpm":-21.326685,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0168871582,"thr_a_norm":0.0168871582,"thr_a_v":0.567548633,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44211489,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.621052,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.24105906,"cg_iw_a":0.564094782,"cg_theta_rad":0.557030559,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0296014417,"mpcc_du":51.3106575,"mpcc_dv":46.8801117,"mpcc_dw":53.1198883,"mpcc_enc_sign":1,"mpcc_id_a":3.25511646,"mpcc_iq_a":0.481220841,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-23.0421505,"mpcc_pred_id_a":0.680666268,"mpcc_pred_iq_a":3.40295529,"mpcc_state":1,"mpcc_theta_e":0.418232441,"mpcc_theta_mech":0.550592363,"sam_rpm":-34.2085991,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173403472,"thr_a_norm":0.0173403472,"thr_a_v":0.569361389,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447049677,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.627522,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-0.806133032,"cg_iw_a":-2.55287528,"cg_theta_rad":0.555951297,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0202380996,"mpcc_du":50.3288879,"mpcc_dv":48.4025803,"mpcc_dw":51.5974197,"mpcc_enc_sign":1,"mpcc_id_a":2.03731394,"mpcc_iq_a":-1.51439762,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.91331911,"mpcc_pred_id_a":0.278090894,"mpcc_pred_iq_a":-1.13984811,"mpcc_state":1,"mpcc_theta_e":0.441701889,"mpcc_theta_mech":0.555286288,"sam_rpm":-3.80072403,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173403472,"thr_a_norm":0.0173403472,"thr_a_v":0.569361389,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447049677,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.634052,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.02359605,"cg_iw_a":-1.24809694,"cg_theta_rad":0.554422021,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0188404899,"mpcc_du":50.0545692,"mpcc_dv":48.7876854,"mpcc_dw":51.2123146,"mpcc_enc_sign":1,"mpcc_id_a":2.42424011,"mpcc_iq_a":-0.513600409,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.0791836,"mpcc_pred_id_a":0.0662099794,"mpcc_pred_iq_a":-2.90546393,"mpcc_state":1,"mpcc_theta_e":0.431809425,"mpcc_theta_mech":0.553307831,"sam_rpm":-16.9152374,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257621855,"thr_a_norm":0.0257621855,"thr_a_v":0.603048742,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487434179,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.640614,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.153744221,"cg_iw_a":-2.6253624,"cg_theta_rad":0.557155311,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0158419758,"mpcc_du":49.5184593,"mpcc_dv":50.0675125,"mpcc_dw":50.4815407,"mpcc_enc_sign":1,"mpcc_id_a":1.96298802,"mpcc_iq_a":-0.657001257,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.63461256,"mpcc_pred_id_a":0.0932624787,"mpcc_pred_iq_a":-3.78369832,"mpcc_state":1,"mpcc_theta_e":0.446557999,"mpcc_theta_mech":0.556257486,"sam_rpm":8.10568428,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019681856,"thr_a_norm":0.0257621855,"thr_a_v":0.578727424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469407201,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.648701,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-2.0384233,"cg_iw_a":-2.98780107,"cg_theta_rad":0.55375433,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.00878963899,"mpcc_du":50.1374512,"mpcc_dv":48.8787384,"mpcc_dw":50.6085091,"mpcc_enc_sign":1,"mpcc_id_a":-0.0624990724,"mpcc_iq_a":-2.1943593,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.2735436,"mpcc_pred_id_a":-0.304399192,"mpcc_pred_iq_a":-2.07669473,"mpcc_state":1,"mpcc_theta_e":0.448120594,"mpcc_theta_mech":0.556570053,"sam_rpm":5.9154501,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019681856,"thr_a_norm":0.019681856,"thr_a_v":0.578727424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469407201,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.661121,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.298719406,"cg_iw_a":-2.19043684,"cg_theta_rad":0.553478479,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0214001127,"mpcc_du":50.6338501,"mpcc_dv":47.9153328,"mpcc_dw":52.0846672,"mpcc_enc_sign":1,"mpcc_id_a":2.73092151,"mpcc_iq_a":-0.196114242,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.6997576,"mpcc_pred_id_a":0.456804335,"mpcc_pred_iq_a":0.859522045,"mpcc_state":1,"mpcc_theta_e":0.432517052,"mpcc_theta_mech":0.553449333,"sam_rpm":-18.2401981,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181712061,"thr_a_norm":0.0181712061,"thr_a_v":0.572684824,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456566721,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.67104,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.82096052,"cg_iw_a":0.564094782,"cg_theta_rad":0.55501467,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0270375218,"mpcc_du":50.0689125,"mpcc_dv":48.9649849,"mpcc_dw":51.0350151,"mpcc_enc_sign":1,"mpcc_id_a":-0.00156337931,"mpcc_iq_a":-0.226976752,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.9067421,"mpcc_pred_id_a":-0.425355971,"mpcc_pred_iq_a":-2.99714255,"mpcc_state":1,"mpcc_theta_e":0.44873476,"mpcc_theta_mech":0.556692839,"sam_rpm":21.1121712,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209658891,"thr_a_norm":0.0181712061,"thr_a_v":0.583863556,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464573115,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.680927,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.24105906,"cg_iw_a":-0.958146334,"cg_theta_rad":0.553924799,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.00440003676,"mpcc_du":50.138443,"mpcc_dv":49.188942,"mpcc_dw":50.811058,"mpcc_enc_sign":1,"mpcc_id_a":-1.30933881,"mpcc_iq_a":-2.01767087,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.4090881,"mpcc_pred_id_a":-1.01249862,"mpcc_pred_iq_a":-2.80996871,"mpcc_state":1,"mpcc_theta_e":0.434693336,"mpcc_theta_mech":0.553884566,"sam_rpm":-5.29508257,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209658891,"thr_a_norm":0.0209658891,"thr_a_v":0.583863556,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464573115,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.691273,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.38603449,"cg_iw_a":-0.595707893,"cg_theta_rad":0.555873275,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0632051528,"mpcc_du":50.2444801,"mpcc_dv":48.6251106,"mpcc_dw":51.3748894,"mpcc_enc_sign":1,"mpcc_id_a":2.70278549,"mpcc_iq_a":-0.455213279,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.63623881,"mpcc_pred_id_a":0.203461602,"mpcc_pred_iq_a":-2.94632602,"mpcc_state":1,"mpcc_theta_e":0.446830273,"mpcc_theta_mech":0.556311965,"sam_rpm":-1.7950685,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156157017,"thr_a_norm":0.0156157017,"thr_a_v":0.562462807,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456818491,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.702717,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.878620625,"cg_iw_a":-1.68302298,"cg_theta_rad":0.552867293,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.00795014109,"mpcc_du":50.4897614,"mpcc_dv":48.3160172,"mpcc_dw":51.6839828,"mpcc_enc_sign":1,"mpcc_id_a":1.73803139,"mpcc_iq_a":-0.790263474,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.79952145,"mpcc_pred_id_a":0.132311657,"mpcc_pred_iq_a":0.906379044,"mpcc_state":1,"mpcc_theta_e":0.428874493,"mpcc_theta_mech":0.552720845,"sam_rpm":-15.3314705,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0156157017,"thr_a_v":0.618709087,"thr_b":0.00728198886,"thr_b_norm":0,"thr_b_v":0.529127955,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.724689,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.951108456,"cg_iw_a":-0.450732946,"cg_theta_rad":0.553951204,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0204533041,"mpcc_du":51.2519035,"mpcc_dv":47.4937325,"mpcc_dw":52.5062675,"mpcc_enc_sign":1,"mpcc_id_a":1.5433383,"mpcc_iq_a":-0.694531262,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.692132,"mpcc_pred_id_a":-0.459703773,"mpcc_pred_iq_a":-6.92178297,"mpcc_state":1,"mpcc_theta_e":0.450002193,"mpcc_theta_mech":0.556946337,"sam_rpm":-19.1274357,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00728198886,"thr_b_norm":0.00728198886,"thr_b_v":0.529127955,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.731251,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.24105906,"cg_iw_a":-2.26292419,"cg_theta_rad":0.552626252,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.00834225304,"mpcc_du":50.3900528,"mpcc_dv":48.4363098,"mpcc_dw":51.5636902,"mpcc_enc_sign":1,"mpcc_id_a":0.501202345,"mpcc_iq_a":-1.20374453,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.84841156,"mpcc_pred_id_a":0.169516176,"mpcc_pred_iq_a":-0.524136662,"mpcc_state":1,"mpcc_theta_e":0.440833092,"mpcc_theta_mech":0.555112541,"sam_rpm":-3.50530601,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163458437,"thr_a_norm":0.0163458437,"thr_a_v":0.565383375,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474291593,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.737782,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.53100967,"cg_iw_a":0.129168749,"cg_theta_rad":0.556029439,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.000211444087,"mpcc_du":50.1987991,"mpcc_dv":48.8859024,"mpcc_dw":51.1140976,"mpcc_enc_sign":1,"mpcc_id_a":-0.19146207,"mpcc_iq_a":-1.33632851,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.70989513,"mpcc_pred_id_a":-0.390595466,"mpcc_pred_iq_a":-2.2021656,"mpcc_state":1,"mpcc_theta_e":0.433068275,"mpcc_theta_mech":0.553559542,"sam_rpm":-13.0703688,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163458437,"thr_a_norm":0.0163458437,"thr_a_v":0.565383375,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474291593,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.744282,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.82096052,"cg_iw_a":-1.17560911,"cg_theta_rad":0.553447127,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0157609917,"mpcc_du":49.4963684,"mpcc_dv":49.420742,"mpcc_dw":50.579258,"mpcc_enc_sign":1,"mpcc_id_a":2.5106225,"mpcc_iq_a":-1.85861099,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.4184723,"mpcc_pred_id_a":0.46723783,"mpcc_pred_iq_a":-0.495079666,"mpcc_state":1,"mpcc_theta_e":0.449902058,"mpcc_theta_mech":0.55692631,"sam_rpm":16.5033073,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.107072547,"thr_a_norm":0.107072547,"thr_a_v":0.928290188,"thr_b":0.0386781842,"thr_b_norm":0.0386781842,"thr_b_v":0.654712737,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.754047,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.96593571,"cg_iw_a":-1.03063393,"cg_theta_rad":0.556090891,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0133687649,"mpcc_du":49.8541031,"mpcc_dv":49.5176086,"mpcc_dw":50.8997345,"mpcc_enc_sign":1,"mpcc_id_a":-1.22620368,"mpcc_iq_a":-1.26238,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.0399971,"mpcc_pred_id_a":-0.934256136,"mpcc_pred_iq_a":-2.43679285,"mpcc_state":1,"mpcc_theta_e":0.449828625,"mpcc_theta_mech":0.556141078,"sam_rpm":12.8417645,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0315907449,"thr_a_norm":0.107072547,"thr_a_v":0.626362979,"thr_b":0,"thr_b_norm":0.0386781842,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.763905,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.60349751,"cg_iw_a":-1.32058477,"cg_theta_rad":0.553626716,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0584169738,"mpcc_du":50.5129166,"mpcc_dv":48.3888092,"mpcc_dw":51.6111908,"mpcc_enc_sign":1,"mpcc_id_a":2.04822421,"mpcc_iq_a":-0.644922376,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.66635275,"mpcc_pred_id_a":-0.0801169723,"mpcc_pred_iq_a":-3.31127787,"mpcc_state":1,"mpcc_theta_e":0.443804741,"mpcc_theta_mech":0.555706859,"sam_rpm":-9.0369978,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0315907449,"thr_a_norm":0.0315907449,"thr_a_v":0.626362979,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.775318,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.951108456,"cg_iw_a":-1.17560935,"cg_theta_rad":0.556034565,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0261598285,"mpcc_du":49.6273041,"mpcc_dv":49.0434341,"mpcc_dw":50.9565659,"mpcc_enc_sign":1,"mpcc_id_a":2.46078372,"mpcc_iq_a":-0.428990394,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.92772245,"mpcc_pred_id_a":0.862385154,"mpcc_pred_iq_a":0.860637844,"mpcc_state":1,"mpcc_theta_e":0.42831707,"mpcc_theta_mech":0.552609324,"sam_rpm":-8.3518858,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023710236,"thr_a_norm":0.023710236,"thr_a_v":0.594840944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.786488,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.661157608,"cg_iw_a":-1.10312176,"cg_theta_rad":0.556192577,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0977974534,"mpcc_du":49.8570328,"mpcc_dv":48.8917427,"mpcc_dw":51.1082573,"mpcc_enc_sign":1,"mpcc_id_a":3.35196614,"mpcc_iq_a":0.386077434,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.53066111,"mpcc_pred_id_a":0.608480096,"mpcc_pred_iq_a":-2.71737194,"mpcc_state":1,"mpcc_theta_e":0.449303627,"mpcc_theta_mech":0.556806684,"sam_rpm":8.42607403,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023030445,"thr_a_norm":0.023710236,"thr_a_v":0.59212178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494433492,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.796284,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-2.76329994,"cg_iw_a":0.854045391,"cg_theta_rad":0.555794001,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.00321333739,"mpcc_du":48.7900581,"mpcc_dv":51.2099419,"mpcc_dw":49.5066757,"mpcc_enc_sign":1,"mpcc_id_a":1.12399399,"mpcc_iq_a":-0.728352726,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":19.2467976,"mpcc_pred_id_a":-0.0919644609,"mpcc_pred_iq_a":-3.48069644,"mpcc_state":1,"mpcc_theta_e":0.452712059,"mpcc_theta_mech":0.557488322,"sam_rpm":28.1772633,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023030445,"thr_a_norm":0.023030445,"thr_a_v":0.59212178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494433492,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.80666,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.16857147,"cg_iw_a":-0.305757523,"cg_theta_rad":0.554011583,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0510298051,"mpcc_du":50.3539124,"mpcc_dv":48.6188087,"mpcc_dw":51.3811913,"mpcc_enc_sign":1,"mpcc_id_a":0.410869241,"mpcc_iq_a":-0.705459058,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.05523348,"mpcc_pred_id_a":-0.231443793,"mpcc_pred_iq_a":-2.38061476,"mpcc_state":1,"mpcc_theta_e":0.450324059,"mpcc_theta_mech":0.55701071,"sam_rpm":4.04213381,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478219241,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.82967,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.45852208,"cg_iw_a":-2.26292419,"cg_theta_rad":0.556554019,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.000100383986,"mpcc_du":50.2774734,"mpcc_dv":48.6439285,"mpcc_dw":51.3560715,"mpcc_enc_sign":1,"mpcc_id_a":0.198483065,"mpcc_iq_a":-1.51948726,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.25483608,"mpcc_pred_id_a":-0.134114221,"mpcc_pred_iq_a":-0.992147207,"mpcc_state":1,"mpcc_theta_e":0.436247349,"mpcc_theta_mech":0.554195404,"sam_rpm":-10.9044104,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478219241,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.836262,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.443694592,"cg_iw_a":-2.04546165,"cg_theta_rad":0.552521706,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0149732279,"mpcc_du":49.9127274,"mpcc_dv":49.1556091,"mpcc_dw":50.8443909,"mpcc_enc_sign":1,"mpcc_id_a":0.524071753,"mpcc_iq_a":-1.13407016,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.76685095,"mpcc_pred_id_a":-0.165530667,"mpcc_pred_iq_a":-1.68668735,"mpcc_state":1,"mpcc_theta_e":0.452189922,"mpcc_theta_mech":0.557383895,"sam_rpm":11.8941994,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203112811,"thr_a_norm":0.0203112811,"thr_a_v":0.581245124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.842731,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.516182423,"cg_iw_a":-0.740683556,"cg_theta_rad":0.553494275,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0115039404,"mpcc_du":49.2563705,"mpcc_dv":50.7436295,"mpcc_dw":49.7365761,"mpcc_enc_sign":1,"mpcc_id_a":0.0405508392,"mpcc_iq_a":-0.805325806,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.51967144,"mpcc_pred_id_a":-0.875848055,"mpcc_pred_iq_a":-6.41545343,"mpcc_state":1,"mpcc_theta_e":0.450298309,"mpcc_theta_mech":0.557005584,"sam_rpm":12.2925444,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203112811,"thr_a_norm":0.0203112811,"thr_a_v":0.581245124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.849293,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.733645439,"cg_iw_a":1.28897142,"cg_theta_rad":0.556298614,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0134459455,"mpcc_du":49.5018845,"mpcc_dv":49.418705,"mpcc_dw":50.581295,"mpcc_enc_sign":1,"mpcc_id_a":2.31720686,"mpcc_iq_a":-0.747702718,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.67968941,"mpcc_pred_id_a":0.350368112,"mpcc_pred_iq_a":-3.6033442,"mpcc_state":1,"mpcc_theta_e":0.434417725,"mpcc_theta_mech":0.553829491,"sam_rpm":-10.8757324,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178061277,"thr_a_norm":0.0178061277,"thr_a_v":0.571224511,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444985121,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.857319,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.371207237,"cg_iw_a":-0.305757046,"cg_theta_rad":0.554306626,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.00130513764,"mpcc_du":51.0591888,"mpcc_dv":47.8272095,"mpcc_dw":52.1727905,"mpcc_enc_sign":1,"mpcc_id_a":0.289868414,"mpcc_iq_a":-1.95013869,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.9576073,"mpcc_pred_id_a":-0.23896642,"mpcc_pred_iq_a":-2.15412235,"mpcc_state":1,"mpcc_theta_e":0.451618195,"mpcc_theta_mech":0.555087745,"sam_rpm":-28.5731182,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0133371502,"thr_a_norm":0.0178061277,"thr_a_v":0.553348601,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458782315,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.867054,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.0384233,"cg_iw_a":-0.885658979,"cg_theta_rad":0.55564934,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.00060177478,"mpcc_du":49.3730927,"mpcc_dv":50.6269073,"mpcc_dw":50.015007,"mpcc_enc_sign":1,"mpcc_id_a":0.307002693,"mpcc_iq_a":-2.09376597,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.7344637,"mpcc_pred_id_a":-0.4673388,"mpcc_pred_iq_a":-3.87859988,"mpcc_state":1,"mpcc_theta_e":0.448415279,"mpcc_theta_mech":0.556628942,"sam_rpm":15.5929279,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0133371502,"thr_a_norm":0.0133371502,"thr_a_v":0.553348601,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458782315,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.877491,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.24105906,"cg_iw_a":-1.24809718,"cg_theta_rad":0.555392206,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0323508456,"mpcc_du":49.6910782,"mpcc_dv":49.1580353,"mpcc_dw":50.8419647,"mpcc_enc_sign":1,"mpcc_id_a":-0.321862072,"mpcc_iq_a":-2.15023851,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.1581917,"mpcc_pred_id_a":0.334776938,"mpcc_pred_iq_a":-2.11022186,"mpcc_state":1,"mpcc_theta_e":0.430319309,"mpcc_theta_mech":0.553009808,"sam_rpm":-21.4699097,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261524469,"thr_a_norm":0.0261524469,"thr_a_v":0.604609787,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497202992,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.887318,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.96593571,"cg_iw_a":-1.17560959,"cg_theta_rad":0.554191172,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0286734216,"mpcc_du":49.5693169,"mpcc_dv":49.588665,"mpcc_dw":50.4306831,"mpcc_enc_sign":1,"mpcc_id_a":0.894283056,"mpcc_iq_a":0.135085464,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.05470145,"mpcc_pred_id_a":-0.0659118146,"mpcc_pred_iq_a":-1.44612026,"mpcc_state":1,"mpcc_theta_e":0.444188118,"mpcc_theta_mech":0.55578351,"sam_rpm":13.4902086,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261524469,"thr_a_norm":0.0261524469,"thr_a_v":0.604609787,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497202992,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.89748,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.661157608,"cg_iw_a":-2.40789986,"cg_theta_rad":0.557035565,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0335268863,"mpcc_du":50.1879005,"mpcc_dv":48.8839607,"mpcc_dw":51.1160393,"mpcc_enc_sign":1,"mpcc_id_a":1.03671598,"mpcc_iq_a":-0.0713632554,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.41875851,"mpcc_pred_id_a":-0.348916978,"mpcc_pred_iq_a":-1.73136282,"mpcc_state":1,"mpcc_theta_e":0.443831921,"mpcc_theta_mech":0.555712283,"sam_rpm":3.61092448,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178313106,"thr_a_norm":0.0178313106,"thr_a_v":0.571325243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451581597,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.907887,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-3.27071381,"cg_iw_a":1.79638481,"cg_theta_rad":0.555398762,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0122914035,"mpcc_du":50.0951233,"mpcc_dv":48.8242569,"mpcc_dw":51.1757431,"mpcc_enc_sign":1,"mpcc_id_a":0.618484199,"mpcc_iq_a":-1.63105583,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.50163555,"mpcc_pred_id_a":0.0701538026,"mpcc_pred_iq_a":0.402384549,"mpcc_state":1,"mpcc_theta_e":0.442114353,"mpcc_theta_mech":0.555368781,"sam_rpm":-4.95265436,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0290730149,"thr_a_norm":0.0178313106,"thr_a_v":0.616292059,"thr_b":0.00390821695,"thr_b_norm":0,"thr_b_v":0.515632868,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.930927,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.60349751,"cg_iw_a":0.926533222,"cg_theta_rad":0.554642498,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0129681332,"mpcc_du":49.3580208,"mpcc_dv":50.6419792,"mpcc_dw":50.0455818,"mpcc_enc_sign":1,"mpcc_id_a":1.37449872,"mpcc_iq_a":-1.05438972,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.02325106,"mpcc_pred_id_a":-0.134131879,"mpcc_pred_iq_a":-0.821623921,"mpcc_state":1,"mpcc_theta_e":0.437585354,"mpcc_theta_mech":0.554463029,"sam_rpm":16.5862274,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0290730149,"thr_a_norm":0.0290730149,"thr_a_v":0.616292059,"thr_b":0.00390821695,"thr_b_norm":0.00390821695,"thr_b_v":0.515632868,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.937428,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.69081235,"cg_iw_a":-1.39307284,"cg_theta_rad":0.557588398,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.0122840712,"mpcc_du":49.6440697,"mpcc_dv":49.4251099,"mpcc_dw":50.5748901,"mpcc_enc_sign":1,"mpcc_id_a":0.972182751,"mpcc_iq_a":-0.87943095,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.79242849,"mpcc_pred_id_a":-0.131653935,"mpcc_pred_iq_a":-3.08256841,"mpcc_state":1,"mpcc_theta_e":0.447154045,"mpcc_theta_mech":0.556376755,"sam_rpm":5.80030155,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272224694,"thr_a_norm":0.0272224694,"thr_a_v":0.608889878,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498562604,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.943928,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.45852208,"cg_iw_a":0.0566809177,"cg_theta_rad":0.557970643,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10004,"hz_vsense":361,"mpcc_cost":0.035594359,"mpcc_du":49.3601608,"mpcc_dv":50.6398392,"mpcc_dw":50.2422104,"mpcc_enc_sign":1,"mpcc_id_a":2.74880743,"mpcc_iq_a":-0.530871153,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.0498724,"mpcc_pred_id_a":0.101113923,"mpcc_pred_iq_a":-6.23526525,"mpcc_state":1,"mpcc_theta_e":0.449228287,"mpcc_theta_mech":0.556791604,"sam_rpm":8.55351448,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272224694,"thr_a_norm":0.0272224694,"thr_a_v":0.608889878,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498562604,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.950489,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.951108456,"cg_iw_a":0.636582375,"cg_theta_rad":0.556776583,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.00517001702,"mpcc_du":49.5515938,"mpcc_dv":49.6286163,"mpcc_dw":50.4484062,"mpcc_enc_sign":1,"mpcc_id_a":1.36687088,"mpcc_iq_a":-1.76796007,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.77194214,"mpcc_pred_id_a":-0.155733615,"mpcc_pred_iq_a":-2.98244357,"mpcc_state":1,"mpcc_theta_e":0.442734241,"mpcc_theta_mech":0.555492759,"sam_rpm":11.6082897,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023735404,"thr_a_norm":0.023735404,"thr_a_v":0.594941616,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476154745,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.959278,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.45852208,"cg_iw_a":0.491606951,"cg_theta_rad":0.554007173,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0221735016,"mpcc_du":49.5808983,"mpcc_dv":49.3182564,"mpcc_dw":50.6817436,"mpcc_enc_sign":1,"mpcc_id_a":2.3110652,"mpcc_iq_a":-2.09849644,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.39389896,"mpcc_pred_id_a":0.308341175,"mpcc_pred_iq_a":-2.60722947,"mpcc_state":1,"mpcc_theta_e":0.453187943,"mpcc_theta_mech":0.557583511,"sam_rpm":14.6059065,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259384215,"thr_a_norm":0.023735404,"thr_a_v":0.603753686,"thr_b":0.000295266509,"thr_b_norm":0,"thr_b_v":0.501181066,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.969257,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.443694592,"cg_iw_a":0.999020576,"cg_theta_rad":0.557384014,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.00554426061,"mpcc_du":49.5726967,"mpcc_dv":49.7688255,"mpcc_dw":50.4273033,"mpcc_enc_sign":1,"mpcc_id_a":0.0755406171,"mpcc_iq_a":-2.11203504,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.16796649,"mpcc_pred_id_a":-0.285865605,"mpcc_pred_iq_a":-2.5840373,"mpcc_state":1,"mpcc_theta_e":0.439452171,"mpcc_theta_mech":0.554836333,"sam_rpm":0.30326131,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259384215,"thr_a_norm":0.0259384215,"thr_a_v":0.603753686,"thr_b":0.000295266509,"thr_b_norm":0.000295266509,"thr_b_v":0.501181066,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.979572,"values":{"cg_iu_a":-0.555325985,"cg_iv_a":-1.53100967,"cg_iw_a":2.08633566,"cg_theta_rad":0.557190001,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0325996056,"mpcc_du":49.4847946,"mpcc_dv":49.0289764,"mpcc_dw":50.9710236,"mpcc_enc_sign":1,"mpcc_id_a":2.4633863,"mpcc_iq_a":-1.81663322,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.16938782,"mpcc_pred_id_a":0.150470585,"mpcc_pred_iq_a":-3.408952,"mpcc_state":1,"mpcc_theta_e":0.430215359,"mpcc_theta_mech":0.552350581,"sam_rpm":-15.8019505,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0272728354,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480787337,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.989491,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.24105906,"cg_iw_a":0.346631527,"cg_theta_rad":0.554983079,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0569071583,"mpcc_du":49.9871597,"mpcc_dv":48.7785263,"mpcc_dw":51.2214737,"mpcc_enc_sign":1,"mpcc_id_a":3.06189132,"mpcc_iq_a":-0.206024572,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.20584583,"mpcc_pred_id_a":0.32528922,"mpcc_pred_iq_a":-2.72359824,"mpcc_state":1,"mpcc_theta_e":0.44569397,"mpcc_theta_mech":0.556084752,"sam_rpm":-1.02918041,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0272728354,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480787337,"vdc_v":55.2955055}} +{"type":"telemetry","t":37.99947,"values":{"cg_iu_a":3.79393435,"cg_iv_a":-3.05325079,"cg_iw_a":-0.740683556,"cg_theta_rad":0.55436337,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0420813784,"mpcc_du":49.453228,"mpcc_dv":50.011467,"mpcc_dw":50.546772,"mpcc_enc_sign":1,"mpcc_id_a":3.14452434,"mpcc_iq_a":-0.21196638,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.71478844,"mpcc_pred_id_a":0.466851264,"mpcc_pred_iq_a":-3.16899443,"mpcc_state":1,"mpcc_theta_e":0.449654579,"mpcc_theta_mech":0.556876838,"sam_rpm":14.8777208,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0255230069,"thr_a_norm":0.0255230069,"thr_a_v":0.602092028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495793074,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.009663,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.09608364,"cg_iw_a":-1.82799864,"cg_theta_rad":0.557085991,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.00403075572,"mpcc_du":49.0621872,"mpcc_dv":50.9378128,"mpcc_dw":49.5052452,"mpcc_enc_sign":1,"mpcc_id_a":-0.414142847,"mpcc_iq_a":-2.58362699,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.2777405,"mpcc_pred_id_a":-0.968044043,"mpcc_pred_iq_a":-4.93736792,"mpcc_state":1,"mpcc_theta_e":0.449432373,"mpcc_theta_mech":0.556832373,"sam_rpm":17.1090107,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224513561,"thr_a_norm":0.0255230069,"thr_a_v":0.589805424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.032703,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.588670254,"cg_iw_a":0.346631765,"cg_theta_rad":0.555160642,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.00550547242,"mpcc_du":49.6329994,"mpcc_dv":49.5999184,"mpcc_dw":50.4000816,"mpcc_enc_sign":1,"mpcc_id_a":0.586495042,"mpcc_iq_a":-1.19590604,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.18260956,"mpcc_pred_id_a":-0.415662169,"mpcc_pred_iq_a":-1.23056674,"mpcc_state":1,"mpcc_theta_e":0.439263821,"mpcc_theta_mech":0.554798722,"sam_rpm":1.62728083,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224513561,"thr_a_norm":0.0224513561,"thr_a_v":0.589805424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.039234,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.45852208,"cg_iw_a":0.709070206,"cg_theta_rad":0.555894017,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.00104372296,"mpcc_du":50.0319138,"mpcc_dv":49.1248055,"mpcc_dw":50.8751945,"mpcc_enc_sign":1,"mpcc_id_a":-0.622569919,"mpcc_iq_a":-2.24538302,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.18003368,"mpcc_pred_id_a":-0.56554085,"mpcc_pred_iq_a":-3.21010017,"mpcc_state":1,"mpcc_theta_e":0.437339306,"mpcc_theta_mech":0.554413795,"sam_rpm":-9.35845089,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199965686,"thr_a_norm":0.0199965686,"thr_a_v":0.579986274,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.045734,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.516182423,"cg_iw_a":-1.61053514,"cg_theta_rad":0.557016253,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.00873784442,"mpcc_du":50.547245,"mpcc_dv":48.3048325,"mpcc_dw":51.6951675,"mpcc_enc_sign":1,"mpcc_id_a":0.52231878,"mpcc_iq_a":-0.477039754,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.48367381,"mpcc_pred_id_a":-0.108911775,"mpcc_pred_iq_a":-4.49015474,"mpcc_state":1,"mpcc_theta_e":0.445818901,"mpcc_theta_mech":0.556109667,"sam_rpm":-11.2601461,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199965686,"thr_a_norm":0.0199965686,"thr_a_v":0.579986274,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.052296,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.45852208,"cg_iw_a":-1.75551057,"cg_theta_rad":0.557214975,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.00555165578,"mpcc_du":50.5667381,"mpcc_dv":48.2732277,"mpcc_dw":51.7267723,"mpcc_enc_sign":1,"mpcc_id_a":0.917711914,"mpcc_iq_a":-1.16958988,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.69088113,"mpcc_pred_id_a":0.100651696,"mpcc_pred_iq_a":0.943608224,"mpcc_state":1,"mpcc_theta_e":0.441316605,"mpcc_theta_mech":0.555209219,"sam_rpm":-2.5925467,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160311311,"thr_a_norm":0.0160311311,"thr_a_v":0.564124525,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443323433,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.062672,"values":{"cg_iu_a":-0.772789001,"cg_iv_a":-1.31354666,"cg_iw_a":2.08633566,"cg_theta_rad":0.557354331,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.00374975638,"mpcc_du":50.0334282,"mpcc_dv":49.1364594,"mpcc_dw":50.8635406,"mpcc_enc_sign":1,"mpcc_id_a":-0.379153907,"mpcc_iq_a":-2.30447841,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.0153809,"mpcc_pred_id_a":-0.620759487,"mpcc_pred_iq_a":-4.47773552,"mpcc_state":1,"mpcc_theta_e":0.424874306,"mpcc_theta_mech":0.551920772,"sam_rpm":-24.7631912,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220611095,"thr_a_norm":0.0220611095,"thr_a_v":0.588244438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470263213,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.073505,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.53100967,"cg_iw_a":-0.885658741,"cg_theta_rad":0.55148226,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0757907629,"mpcc_du":50.2194824,"mpcc_dv":48.439991,"mpcc_dw":51.560009,"mpcc_enc_sign":1,"mpcc_id_a":3.84833789,"mpcc_iq_a":0.462078422,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.79160929,"mpcc_pred_id_a":0.648454249,"mpcc_pred_iq_a":-1.24905288,"mpcc_state":1,"mpcc_theta_e":0.439247131,"mpcc_theta_mech":0.556817532,"sam_rpm":-4.55113316,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220611095,"thr_a_norm":0.0220611095,"thr_a_v":0.588244438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470263213,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.084675,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.588670254,"cg_iw_a":-1.17560959,"cg_theta_rad":0.557549,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0186431855,"mpcc_du":49.5019188,"mpcc_dv":49.4352417,"mpcc_dw":50.5647583,"mpcc_enc_sign":1,"mpcc_id_a":2.72480798,"mpcc_iq_a":-2.4195106,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.58177185,"mpcc_pred_id_a":0.374918878,"mpcc_pred_iq_a":-1.46833622,"mpcc_state":1,"mpcc_theta_e":0.448028088,"mpcc_theta_mech":0.556551516,"sam_rpm":12.4866209,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197070241,"thr_a_norm":0.0197070241,"thr_a_v":0.578828096,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.094868,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.53100967,"cg_iw_a":-1.61053562,"cg_theta_rad":0.555634379,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0124570578,"mpcc_du":49.5023155,"mpcc_dv":49.648262,"mpcc_dw":50.4976845,"mpcc_enc_sign":1,"mpcc_id_a":2.03775215,"mpcc_iq_a":0.0290599465,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.97188616,"mpcc_pred_id_a":0.254536837,"mpcc_pred_iq_a":-1.57265413,"mpcc_state":1,"mpcc_theta_e":0.433826923,"mpcc_theta_mech":0.553711295,"sam_rpm":-6.43164396,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02315633,"thr_a_norm":0.0197070241,"thr_a_v":0.59262532,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486880273,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.107075,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.733645439,"cg_iw_a":-2.77033806,"cg_theta_rad":0.55680716,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0460394286,"mpcc_du":49.7618752,"mpcc_dv":49.2070007,"mpcc_dw":50.7929993,"mpcc_enc_sign":1,"mpcc_id_a":0.201868594,"mpcc_iq_a":-0.138778582,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.90705943,"mpcc_pred_id_a":0.179385602,"mpcc_pred_iq_a":-3.92029047,"mpcc_state":1,"mpcc_theta_e":0.447394371,"mpcc_theta_mech":0.556424797,"sam_rpm":4.46717691,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02315633,"thr_a_norm":0.02315633,"thr_a_v":0.59262532,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486880273,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.130268,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.588670254,"cg_iw_a":0.129168987,"cg_theta_rad":0.553399801,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0263910424,"mpcc_du":50.8498764,"mpcc_dv":47.985405,"mpcc_dw":52.014595,"mpcc_enc_sign":1,"mpcc_id_a":-0.131880403,"mpcc_iq_a":-0.816719949,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.0060797,"mpcc_pred_id_a":-0.232670888,"mpcc_pred_iq_a":-5.63400745,"mpcc_state":1,"mpcc_theta_e":0.457001209,"mpcc_theta_mech":0.558346152,"sam_rpm":-1.66811752,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212050676,"thr_a_norm":0.0212050676,"thr_a_v":0.584820271,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484362543,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.136799,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.02359605,"cg_iw_a":-0.885658503,"cg_theta_rad":0.557224929,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0211978517,"mpcc_du":50.7903099,"mpcc_dv":47.7385368,"mpcc_dw":52.2614632,"mpcc_enc_sign":1,"mpcc_id_a":2.90465188,"mpcc_iq_a":-1.55123115,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.9289484,"mpcc_pred_id_a":0.511743605,"mpcc_pred_iq_a":1.34893072,"mpcc_state":1,"mpcc_theta_e":0.428162575,"mpcc_theta_mech":0.552578449,"sam_rpm":-20.9743671,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206637681,"thr_a_norm":0.0212050676,"thr_a_v":0.582655072,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.14333,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.53100967,"cg_iw_a":0.999020576,"cg_theta_rad":0.554628432,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.00447613094,"mpcc_du":50.7226677,"mpcc_dv":48.026062,"mpcc_dw":51.973938,"mpcc_enc_sign":1,"mpcc_id_a":1.32845175,"mpcc_iq_a":-1.85207641,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.6942005,"mpcc_pred_id_a":-0.00465532299,"mpcc_pred_iq_a":0.70513618,"mpcc_state":1,"mpcc_theta_e":0.43190527,"mpcc_theta_mech":0.553326964,"sam_rpm":-15.9362459,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206637681,"thr_a_norm":0.0206637681,"thr_a_v":0.582655072,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.150288,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.371207237,"cg_iw_a":-0.59570837,"cg_theta_rad":0.553325593,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.00171897467,"mpcc_du":49.1970825,"mpcc_dv":50.8029175,"mpcc_dw":49.886219,"mpcc_enc_sign":1,"mpcc_id_a":0.522960901,"mpcc_iq_a":-0.476335704,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.47949886,"mpcc_pred_id_a":-0.249064282,"mpcc_pred_iq_a":-4.68440294,"mpcc_state":1,"mpcc_theta_e":0.444471836,"mpcc_theta_mech":0.555840313,"sam_rpm":10.104147,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020739302,"thr_a_norm":0.020739302,"thr_a_v":0.582957208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460494399,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.160603,"values":{"cg_iu_a":1.32935333,"cg_iv_a":1.51347208,"cg_iw_a":-4.43755436,"cg_theta_rad":0.555010438,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.00237568701,"mpcc_du":50.1256409,"mpcc_dv":48.7461624,"mpcc_dw":51.2538376,"mpcc_enc_sign":1,"mpcc_id_a":0.803978741,"mpcc_iq_a":-0.737134635,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.75269389,"mpcc_pred_id_a":0.0907231644,"mpcc_pred_iq_a":0.838825762,"mpcc_state":1,"mpcc_theta_e":0.433978081,"mpcc_theta_mech":0.553741515,"sam_rpm":-5.94520855,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188635886,"thr_a_norm":0.020739302,"thr_a_v":0.575454354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455005705,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.17046,"values":{"cg_iu_a":5.09871197,"cg_iv_a":-0.806133032,"cg_iw_a":-4.2925787,"cg_theta_rad":0.557229817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0197594389,"mpcc_du":49.4001884,"mpcc_dv":50.5998116,"mpcc_dw":50.3411407,"mpcc_enc_sign":1,"mpcc_id_a":2.8048315,"mpcc_iq_a":1.33049095,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.75835609,"mpcc_pred_id_a":0.399897516,"mpcc_pred_iq_a":-1.91178071,"mpcc_state":1,"mpcc_theta_e":0.435499191,"mpcc_theta_mech":0.554045737,"sam_rpm":4.65808344,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188635886,"thr_a_norm":0.0188635886,"thr_a_v":0.575454354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455005705,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.180653,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.951108456,"cg_iw_a":0.999020576,"cg_theta_rad":0.553552628,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.00151693996,"mpcc_du":50.2992859,"mpcc_dv":48.605217,"mpcc_dw":51.394783,"mpcc_enc_sign":1,"mpcc_id_a":0.763786793,"mpcc_iq_a":-1.17505658,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.1529102,"mpcc_pred_id_a":-0.127204239,"mpcc_pred_iq_a":-1.21960187,"mpcc_state":1,"mpcc_theta_e":0.43036747,"mpcc_theta_mech":0.553019404,"sam_rpm":-17.5270138,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184985101,"thr_a_norm":0.0184985101,"thr_a_v":0.57399404,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456919193,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.190479,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.02359605,"cg_iw_a":-0.885658741,"cg_theta_rad":0.557948411,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.00295002689,"mpcc_du":49.5727196,"mpcc_dv":49.9277802,"mpcc_dw":50.4272804,"mpcc_enc_sign":1,"mpcc_id_a":1.01521468,"mpcc_iq_a":-1.4585129,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.1821518,"mpcc_pred_id_a":-0.117958464,"mpcc_pred_iq_a":-1.47885072,"mpcc_state":1,"mpcc_theta_e":0.448014736,"mpcc_theta_mech":0.556548893,"sam_rpm":17.1495934,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184985101,"thr_a_norm":0.0184985101,"thr_a_v":0.57399404,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456919193,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.20171,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.6759851,"cg_iw_a":-1.4655602,"cg_theta_rad":0.556698024,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.056906864,"mpcc_du":49.5577011,"mpcc_dv":49.7630348,"mpcc_dw":50.4422989,"mpcc_enc_sign":1,"mpcc_id_a":0.854354143,"mpcc_iq_a":-0.45434761,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.1012063,"mpcc_pred_id_a":-0.159982428,"mpcc_pred_iq_a":-5.30107927,"mpcc_state":1,"mpcc_theta_e":0.44970417,"mpcc_theta_mech":0.556886792,"sam_rpm":12.0648079,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186369866,"thr_a_norm":0.0186369866,"thr_a_v":0.574547946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459638387,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.211048,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.45852208,"cg_iw_a":1.57892179,"cg_theta_rad":0.555793405,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.00065407448,"mpcc_du":50.0349464,"mpcc_dv":49.1197929,"mpcc_dw":50.8802071,"mpcc_enc_sign":1,"mpcc_id_a":-0.493280441,"mpcc_iq_a":-1.93894827,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.49374628,"mpcc_pred_id_a":-0.588101447,"mpcc_pred_iq_a":-0.372076422,"mpcc_state":1,"mpcc_theta_e":0.443786621,"mpcc_theta_mech":0.555703223,"sam_rpm":6.6463089,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212176591,"thr_a_norm":0.0186369866,"thr_a_v":0.584870636,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481139839,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.234272,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.661157608,"cg_iw_a":-0.015806675,"cg_theta_rad":0.553049624,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.00436766958,"mpcc_du":49.4766922,"mpcc_dv":50.5233078,"mpcc_dw":50.1512642,"mpcc_enc_sign":1,"mpcc_id_a":1.21388853,"mpcc_iq_a":-1.21949446,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.32582343,"mpcc_pred_id_a":-0.413125306,"mpcc_pred_iq_a":-5.57964802,"mpcc_state":1,"mpcc_theta_e":0.442749023,"mpcc_theta_mech":0.555495739,"sam_rpm":1.42132866,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212176591,"thr_a_norm":0.0212176591,"thr_a_v":0.584870636,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481139839,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.240803,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.733645439,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556283176,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.00166323909,"mpcc_du":49.8753052,"mpcc_dv":50.5197105,"mpcc_dw":50.3656197,"mpcc_enc_sign":1,"mpcc_id_a":0.707876563,"mpcc_iq_a":-1.47133136,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.9067764,"mpcc_pred_id_a":0.249201015,"mpcc_pred_iq_a":-2.81871605,"mpcc_state":1,"mpcc_theta_e":0.430072308,"mpcc_theta_mech":0.552960336,"sam_rpm":-17.0125771,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.0167864412,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487182409,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.247334,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.76329994,"cg_iw_a":0.274143696,"cg_theta_rad":0.557085574,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0223890822,"mpcc_du":50.9244919,"mpcc_dv":47.5966988,"mpcc_dw":52.4033012,"mpcc_enc_sign":1,"mpcc_id_a":2.4601593,"mpcc_iq_a":0.451418549,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.8485298,"mpcc_pred_id_a":0.336710483,"mpcc_pred_iq_a":1.14136136,"mpcc_state":1,"mpcc_theta_e":0.425659657,"mpcc_theta_mech":0.552077889,"sam_rpm":-26.5697441,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.0167864412,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487182409,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.253864,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.6759851,"cg_iw_a":-1.10312152,"cg_theta_rad":0.557682574,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.00687928218,"mpcc_du":49.5214424,"mpcc_dv":50.4785576,"mpcc_dw":50.3322182,"mpcc_enc_sign":1,"mpcc_id_a":1.3050462,"mpcc_iq_a":-0.855335236,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.4354382,"mpcc_pred_id_a":-0.114163786,"mpcc_pred_iq_a":-3.23796988,"mpcc_state":1,"mpcc_theta_e":0.448282719,"mpcc_theta_mech":0.556602478,"sam_rpm":15.2023296,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188006312,"thr_a_norm":0.0188006312,"thr_a_v":0.575202525,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.262012,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-1.60349751,"cg_iw_a":-1.75551081,"cg_theta_rad":0.552336097,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.012074356,"mpcc_du":49.6628685,"mpcc_dv":49.3502655,"mpcc_dw":50.6497345,"mpcc_enc_sign":1,"mpcc_id_a":0.906692922,"mpcc_iq_a":-0.514401317,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.97272182,"mpcc_pred_id_a":-0.0363062285,"mpcc_pred_iq_a":-3.93136525,"mpcc_state":1,"mpcc_theta_e":0.439587116,"mpcc_theta_mech":0.554863334,"sam_rpm":-4.49335194,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204497576,"thr_a_norm":0.0188006312,"thr_a_v":0.58179903,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459839791,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.271839,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.951108456,"cg_iw_a":-0.378244877,"cg_theta_rad":0.556087434,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0437127985,"mpcc_du":50.7161751,"mpcc_dv":47.8981743,"mpcc_dw":52.1018257,"mpcc_enc_sign":1,"mpcc_id_a":0.285563886,"mpcc_iq_a":-1.29623735,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.7119188,"mpcc_pred_id_a":0.331084818,"mpcc_pred_iq_a":-1.73871326,"mpcc_state":1,"mpcc_theta_e":0.450945854,"mpcc_theta_mech":0.557135105,"sam_rpm":-22.9506474,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204497576,"thr_a_norm":0.0204497576,"thr_a_v":0.58179903,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459839791,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.282276,"values":{"cg_iu_a":1.11189032,"cg_iv_a":0.57113266,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556391776,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0414046422,"mpcc_du":49.4029388,"mpcc_dv":49.55756,"mpcc_dw":50.5970612,"mpcc_enc_sign":1,"mpcc_id_a":2.88339329,"mpcc_iq_a":-0.900233388,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.9341774,"mpcc_pred_id_a":0.572182119,"mpcc_pred_iq_a":0.91868341,"mpcc_state":1,"mpcc_theta_e":0.42899847,"mpcc_theta_mech":0.55274564,"sam_rpm":-14.1921148,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021419093,"thr_a_norm":0.021419093,"thr_a_v":0.585676372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476305783,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.292255,"values":{"cg_iu_a":4.37383556,"cg_iv_a":-1.02359605,"cg_iw_a":-3.35023952,"cg_theta_rad":0.551333249,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0100521222,"mpcc_du":49.5213737,"mpcc_dv":49.9936142,"mpcc_dw":50.9779053,"mpcc_enc_sign":1,"mpcc_id_a":1.5973438,"mpcc_iq_a":-1.41665125,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.38934231,"mpcc_pred_id_a":0.0352652259,"mpcc_pred_iq_a":-3.15531015,"mpcc_state":1,"mpcc_theta_e":0.449504852,"mpcc_theta_mech":0.556846917,"sam_rpm":13.1411972,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021419093,"thr_a_norm":0.021419093,"thr_a_v":0.585676372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476305783,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.302265,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.31354666,"cg_iw_a":-1.68302298,"cg_theta_rad":0.552816093,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.00748768868,"mpcc_du":49.0069313,"mpcc_dv":50.9930687,"mpcc_dw":49.7671432,"mpcc_enc_sign":1,"mpcc_id_a":1.72412074,"mpcc_iq_a":-2.29392195,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":19.9261665,"mpcc_pred_id_a":-0.18379949,"mpcc_pred_iq_a":-4.04229307,"mpcc_state":1,"mpcc_theta_e":0.458729267,"mpcc_theta_mech":0.5586918,"sam_rpm":29.4938221,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10344702,"thr_a_norm":0.10344702,"thr_a_v":0.91378808,"thr_b":0.047213316,"thr_b_norm":0.047213316,"thr_b_v":0.688853264,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.312458,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.24105906,"cg_iw_a":-1.17560935,"cg_theta_rad":0.553806186,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.00426656054,"mpcc_du":49.472538,"mpcc_dv":50.527462,"mpcc_dw":50.0903358,"mpcc_enc_sign":1,"mpcc_id_a":-0.238722682,"mpcc_iq_a":-0.901117384,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.46293068,"mpcc_pred_id_a":-0.794040263,"mpcc_pred_iq_a":-1.62321472,"mpcc_state":1,"mpcc_theta_e":0.441869736,"mpcc_theta_mech":0.555319905,"sam_rpm":13.5016727,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0158548802,"thr_a_norm":0.10344702,"thr_a_v":0.563419521,"thr_b":0,"thr_b_norm":0.047213316,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.335835,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.02359605,"cg_iw_a":0.41911912,"cg_theta_rad":0.555147231,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0101619046,"mpcc_du":49.7964935,"mpcc_dv":49.3867111,"mpcc_dw":50.6132889,"mpcc_enc_sign":1,"mpcc_id_a":0.0491964631,"mpcc_iq_a":-1.45894241,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.18598509,"mpcc_pred_id_a":-0.539679766,"mpcc_pred_iq_a":-3.05768418,"mpcc_state":1,"mpcc_theta_e":0.4485116,"mpcc_theta_mech":0.556648195,"sam_rpm":8.29961014,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0158548802,"thr_a_norm":0.0158548802,"thr_a_v":0.563419521,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.342396,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.226231575,"cg_iw_a":-2.33541203,"cg_theta_rad":0.551544249,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0118270796,"mpcc_du":49.5952377,"mpcc_dv":49.6807175,"mpcc_dw":50.4047623,"mpcc_enc_sign":1,"mpcc_id_a":0.572512805,"mpcc_iq_a":-1.20266235,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.83307171,"mpcc_pred_id_a":-0.399050415,"mpcc_pred_iq_a":-3.15994263,"mpcc_state":1,"mpcc_theta_e":0.450922489,"mpcc_theta_mech":0.557130456,"sam_rpm":13.3597364,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0159933567,"thr_a_norm":0.0159933567,"thr_a_v":0.563973427,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451128393,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.348927,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.6759851,"cg_iw_a":-0.015806675,"cg_theta_rad":0.552810371,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0165868066,"mpcc_du":50.2149544,"mpcc_dv":48.6826248,"mpcc_dw":51.3173752,"mpcc_enc_sign":1,"mpcc_id_a":2.01243377,"mpcc_iq_a":-1.22732329,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.10407877,"mpcc_pred_id_a":-0.06573309,"mpcc_pred_iq_a":-0.80326581,"mpcc_state":1,"mpcc_theta_e":0.442647934,"mpcc_theta_mech":0.555475533,"sam_rpm":0.234207869,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0159933567,"thr_a_norm":0.0159933567,"thr_a_v":0.563973427,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451128393,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.355427,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.153744221,"cg_iw_a":-2.55287504,"cg_theta_rad":0.557940423,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0129189203,"mpcc_du":49.1131859,"mpcc_dv":50.8868141,"mpcc_dw":49.6190262,"mpcc_enc_sign":1,"mpcc_id_a":2.215487,"mpcc_iq_a":-1.3179884,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.7600021,"mpcc_pred_id_a":0.0722560287,"mpcc_pred_iq_a":1.43516111,"mpcc_state":1,"mpcc_theta_e":0.424357891,"mpcc_theta_mech":0.558530867,"sam_rpm":-30.2275925,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188132375,"thr_a_norm":0.0188132375,"thr_a_v":0.57525295,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448761702,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.363667,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.153744221,"cg_iw_a":-0.668195724,"cg_theta_rad":0.554427147,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0331802815,"mpcc_du":49.446064,"mpcc_dv":50.360218,"mpcc_dw":50.553936,"mpcc_enc_sign":1,"mpcc_id_a":1.73900557,"mpcc_iq_a":-0.78811723,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.901413,"mpcc_pred_id_a":-0.0915980116,"mpcc_pred_iq_a":-2.50721288,"mpcc_state":1,"mpcc_theta_e":0.427639961,"mpcc_theta_mech":0.552473903,"sam_rpm":15.5253401,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137022138,"thr_a_norm":0.0188132375,"thr_a_v":0.554808855,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438892186,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.373463,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.298719406,"cg_iw_a":-1.24809694,"cg_theta_rad":0.557727277,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0515957735,"mpcc_du":50.0686951,"mpcc_dv":48.2515411,"mpcc_dw":51.7484589,"mpcc_enc_sign":1,"mpcc_id_a":4.46787453,"mpcc_iq_a":-0.74245441,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.469182,"mpcc_pred_id_a":1.21768975,"mpcc_pred_iq_a":0.0965204164,"mpcc_state":1,"mpcc_theta_e":0.427306652,"mpcc_theta_mech":0.552407265,"sam_rpm":-21.6206303,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137022138,"thr_a_norm":0.0137022138,"thr_a_v":0.554808855,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438892186,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.383839,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.74847269,"cg_iw_a":-0.015806675,"cg_theta_rad":0.555899382,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0152511206,"mpcc_du":50.2777405,"mpcc_dv":48.6157455,"mpcc_dw":51.3842545,"mpcc_enc_sign":1,"mpcc_id_a":2.4662106,"mpcc_iq_a":-2.29096508,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.09808588,"mpcc_pred_id_a":0.166160494,"mpcc_pred_iq_a":-4.92491913,"mpcc_state":1,"mpcc_theta_e":0.446834564,"mpcc_theta_mech":0.556312799,"sam_rpm":-11.868206,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.0264545679,"thr_a_v":0.605818272,"thr_b":0.00269970298,"thr_b_norm":0.00269970298,"thr_b_v":0.510798812,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.393879,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.661157608,"cg_iw_a":0.564094543,"cg_theta_rad":0.557463408,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0274693556,"mpcc_du":49.9266357,"mpcc_dv":49.0658531,"mpcc_dw":50.9341469,"mpcc_enc_sign":1,"mpcc_id_a":-0.124846026,"mpcc_iq_a":-2.42351007,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.3134203,"mpcc_pred_id_a":-0.281442314,"mpcc_pred_iq_a":-0.858276129,"mpcc_state":1,"mpcc_theta_e":0.428943634,"mpcc_theta_mech":0.552734613,"sam_rpm":-14.6847706,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.0264545679,"thr_a_v":0.605818272,"thr_b":0.00269970298,"thr_b_norm":0.00269970298,"thr_b_v":0.510798812,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.403828,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.31354666,"cg_iw_a":-1.82799864,"cg_theta_rad":0.555914938,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0164365526,"mpcc_du":50.0778694,"mpcc_dv":48.7663651,"mpcc_dw":51.2336349,"mpcc_enc_sign":1,"mpcc_id_a":0.626933277,"mpcc_iq_a":-1.84046388,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.2975903,"mpcc_pred_id_a":-0.026239831,"mpcc_pred_iq_a":-1.45404267,"mpcc_state":1,"mpcc_theta_e":0.424528599,"mpcc_theta_mech":0.55185163,"sam_rpm":-24.7616253,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022073701,"thr_a_norm":0.022073701,"thr_a_v":0.588294804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470867455,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.414021,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.16857147,"cg_iw_a":0.274144173,"cg_theta_rad":0.557373941,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0641905814,"mpcc_du":49.840065,"mpcc_dv":49.0622063,"mpcc_dw":50.9377937,"mpcc_enc_sign":1,"mpcc_id_a":2.39418697,"mpcc_iq_a":-0.259278417,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.730356455,"mpcc_pred_id_a":0.0845584348,"mpcc_pred_iq_a":-4.46836233,"mpcc_state":1,"mpcc_theta_e":0.44617033,"mpcc_theta_mech":0.556179941,"sam_rpm":0.120165534,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0375829637,"thr_a_norm":0.022073701,"thr_a_v":0.650331855,"thr_b":0.00753375888,"thr_b_norm":0,"thr_b_v":0.530135036,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.437397,"values":{"cg_iu_a":-0.482838154,"cg_iv_a":-1.24105906,"cg_iw_a":1.72389722,"cg_theta_rad":0.557065427,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0709528476,"mpcc_du":50.0467033,"mpcc_dv":48.4309921,"mpcc_dw":51.5690079,"mpcc_enc_sign":1,"mpcc_id_a":5.16030931,"mpcc_iq_a":-0.672913253,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.83110112,"mpcc_pred_id_a":1.06877029,"mpcc_pred_iq_a":0.556577802,"mpcc_state":1,"mpcc_theta_e":0.441056252,"mpcc_theta_mech":0.555157185,"sam_rpm":-0.898771048,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0375829637,"thr_a_norm":0.0375829637,"thr_a_v":0.650331855,"thr_b":0.00753375888,"thr_b_norm":0.00753375888,"thr_b_v":0.530135036,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.443897,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.6759851,"cg_iw_a":-3.64018965,"cg_theta_rad":0.557205021,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.00724181253,"mpcc_du":50.1747856,"mpcc_dv":48.860775,"mpcc_dw":51.139225,"mpcc_enc_sign":1,"mpcc_id_a":-0.0480579585,"mpcc_iq_a":-1.17644,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.68485951,"mpcc_pred_id_a":-0.402052134,"mpcc_pred_iq_a":-2.14426541,"mpcc_state":1,"mpcc_theta_e":0.44174242,"mpcc_theta_mech":0.555294394,"sam_rpm":-3.7236464,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220611095,"thr_a_norm":0.0220611095,"thr_a_v":0.588244438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474140525,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.450459,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.878620625,"cg_iw_a":-0.523220539,"cg_theta_rad":0.557668447,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0101286815,"mpcc_du":49.8052292,"mpcc_dv":49.1093979,"mpcc_dw":50.8906021,"mpcc_enc_sign":1,"mpcc_id_a":2.00849152,"mpcc_iq_a":-0.548320711,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.3418236,"mpcc_pred_id_a":0.0992239416,"mpcc_pred_iq_a":-2.96182609,"mpcc_state":1,"mpcc_theta_e":0.42999649,"mpcc_theta_mech":0.552945197,"sam_rpm":-17.9794502,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220611095,"thr_a_norm":0.0220611095,"thr_a_v":0.588244438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474140525,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.456928,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.951108456,"cg_iw_a":-1.32058477,"cg_theta_rad":0.555040538,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0153244464,"mpcc_du":50.2249718,"mpcc_dv":48.6352577,"mpcc_dw":51.3647423,"mpcc_enc_sign":1,"mpcc_id_a":2.22423601,"mpcc_iq_a":-2.302145,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.670558333,"mpcc_pred_id_a":0.126049682,"mpcc_pred_iq_a":-1.34123015,"mpcc_state":1,"mpcc_theta_e":0.443196297,"mpcc_theta_mech":0.557209969,"sam_rpm":-0.35196355,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197825581,"thr_a_norm":0.0197825581,"thr_a_v":0.579130232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476809323,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.465656,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.24105906,"cg_iw_a":-2.6978507,"cg_theta_rad":0.552354932,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.00443366542,"mpcc_du":49.8322678,"mpcc_dv":49.1072044,"mpcc_dw":50.8927956,"mpcc_enc_sign":1,"mpcc_id_a":3.20212054,"mpcc_iq_a":-1.59760165,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.4618387,"mpcc_pred_id_a":0.59907335,"mpcc_pred_iq_a":-0.153096199,"mpcc_state":1,"mpcc_theta_e":0.428827286,"mpcc_theta_mech":0.552711368,"sam_rpm":9.16395187,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220359415,"thr_a_norm":0.0197825581,"thr_a_v":0.588143766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466134131,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.475269,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-0.806133032,"cg_iw_a":-0.305757284,"cg_theta_rad":0.555841684,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0194741935,"mpcc_du":49.7005081,"mpcc_dv":48.948822,"mpcc_dw":51.051178,"mpcc_enc_sign":1,"mpcc_id_a":2.6719532,"mpcc_iq_a":-1.36193085,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.07999039,"mpcc_pred_id_a":0.638202012,"mpcc_pred_iq_a":-2.23677802,"mpcc_state":1,"mpcc_theta_e":0.430867672,"mpcc_theta_mech":0.553119421,"sam_rpm":-14.9797077,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220359415,"thr_a_norm":0.0220359415,"thr_a_v":0.588143766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466134131,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.485432,"values":{"cg_iu_a":0.314526081,"cg_iv_a":1.65844774,"cg_iw_a":-4.43755436,"cg_theta_rad":0.557373941,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0172689334,"mpcc_du":49.2053528,"mpcc_dv":50.7946472,"mpcc_dw":49.8354988,"mpcc_enc_sign":1,"mpcc_id_a":0.432113469,"mpcc_iq_a":-0.844690859,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.6004591,"mpcc_pred_id_a":-0.627878129,"mpcc_pred_iq_a":-2.24128342,"mpcc_state":1,"mpcc_theta_e":0.43777895,"mpcc_theta_mech":0.554501712,"sam_rpm":8.0316,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271091759,"thr_a_norm":0.0271091759,"thr_a_v":0.608436704,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493678182,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.495441,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.74847269,"cg_iw_a":-2.62536287,"cg_theta_rad":0.554983854,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0564150587,"mpcc_du":49.8262405,"mpcc_dv":49.1682777,"mpcc_dw":50.8317223,"mpcc_enc_sign":1,"mpcc_id_a":2.47254324,"mpcc_iq_a":-1.43534815,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.0139122,"mpcc_pred_id_a":-0.0310156513,"mpcc_pred_iq_a":-4.19562387,"mpcc_state":1,"mpcc_theta_e":0.454136372,"mpcc_theta_mech":0.557773173,"sam_rpm":10.0678625,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271091759,"thr_a_norm":0.0271091759,"thr_a_v":0.608436704,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493678182,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.507832,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.298719406,"cg_iw_a":-2.26292419,"cg_theta_rad":0.557654083,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0648719594,"mpcc_du":49.7469864,"mpcc_dv":49.3318443,"mpcc_dw":50.6681557,"mpcc_enc_sign":1,"mpcc_id_a":1.96240914,"mpcc_iq_a":-1.16260207,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.378633082,"mpcc_pred_id_a":-0.127264842,"mpcc_pred_iq_a":-4.25407076,"mpcc_state":1,"mpcc_theta_e":0.444758892,"mpcc_theta_mech":0.555897713,"sam_rpm":15.5814848,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0136266798,"thr_a_norm":0.0136266798,"thr_a_v":0.554506719,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438287944,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.517841,"values":{"cg_iu_a":1.98174238,"cg_iv_a":0.0637187958,"cg_iw_a":0.999020576,"cg_theta_rad":0.556274951,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0376165286,"mpcc_du":49.7926598,"mpcc_dv":49.1233025,"mpcc_dw":50.8766975,"mpcc_enc_sign":1,"mpcc_id_a":2.35958409,"mpcc_iq_a":-1.00557494,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.239254,"mpcc_pred_id_a":0.248349443,"mpcc_pred_iq_a":-1.60802412,"mpcc_state":1,"mpcc_theta_e":0.453413486,"mpcc_theta_mech":0.557628572,"sam_rpm":16.1884117,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0171263367,"thr_a_norm":0.0171263367,"thr_a_v":0.568505347,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449919909,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.541981,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.74847269,"cg_iw_a":-0.668195724,"cg_theta_rad":0.55711025,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.00685267709,"mpcc_du":50.8857994,"mpcc_dv":48.0204964,"mpcc_dw":51.9795036,"mpcc_enc_sign":1,"mpcc_id_a":-0.0478123054,"mpcc_iq_a":-1.17645001,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.803192317,"mpcc_pred_id_a":-0.362341911,"mpcc_pred_iq_a":1.82769644,"mpcc_state":1,"mpcc_theta_e":0.441533566,"mpcc_theta_mech":0.555252612,"sam_rpm":-0.966230631,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0171263367,"thr_a_norm":0.0171263367,"thr_a_v":0.568505347,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449919909,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.548512,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-2.98076296,"cg_iw_a":0.636582375,"cg_theta_rad":0.557483554,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0177757237,"mpcc_du":50.949913,"mpcc_dv":47.5204582,"mpcc_dw":52.4795418,"mpcc_enc_sign":1,"mpcc_id_a":1.74454153,"mpcc_iq_a":-0.429055512,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.7475719,"mpcc_pred_id_a":0.629280329,"mpcc_pred_iq_a":0.94885993,"mpcc_state":1,"mpcc_theta_e":0.430916786,"mpcc_theta_mech":0.553129315,"sam_rpm":-21.1710529,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182215571,"thr_a_norm":0.0182215571,"thr_a_v":0.572886229,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451128393,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.554981,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.371207237,"cg_iw_a":-1.39307213,"cg_theta_rad":0.554492593,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0291831624,"mpcc_du":49.9977493,"mpcc_dv":48.9226341,"mpcc_dw":51.0773659,"mpcc_enc_sign":1,"mpcc_id_a":2.41959,"mpcc_iq_a":-1.71580637,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.12239313,"mpcc_pred_id_a":0.221267149,"mpcc_pred_iq_a":-2.38617539,"mpcc_state":1,"mpcc_theta_e":0.448088169,"mpcc_theta_mech":0.556563556,"sam_rpm":5.49798441,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182215571,"thr_a_norm":0.0182215571,"thr_a_v":0.572886229,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451128393,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.561543,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-2.11091113,"cg_iw_a":-2.11794925,"cg_theta_rad":0.551906765,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0144826034,"mpcc_du":49.8596344,"mpcc_dv":49.2675476,"mpcc_dw":50.7324524,"mpcc_enc_sign":1,"mpcc_id_a":0.34802109,"mpcc_iq_a":-1.00096762,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.50380611,"mpcc_pred_id_a":-0.328344882,"mpcc_pred_iq_a":-1.5322367,"mpcc_state":1,"mpcc_theta_e":0.450922012,"mpcc_theta_mech":0.557130337,"sam_rpm":14.5991945,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02567406,"thr_a_norm":0.02567406,"thr_a_v":0.60269624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478924245,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.571003,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.31354666,"cg_iw_a":-1.03063393,"cg_theta_rad":0.554439366,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0542463064,"mpcc_du":49.5979424,"mpcc_dv":49.7254028,"mpcc_dw":50.4020576,"mpcc_enc_sign":1,"mpcc_id_a":-0.0968860388,"mpcc_iq_a":-0.741357028,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.4758406,"mpcc_pred_id_a":-0.313430578,"mpcc_pred_iq_a":-4.0997839,"mpcc_state":1,"mpcc_theta_e":0.459617138,"mpcc_theta_mech":0.558869302,"sam_rpm":22.5634499,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0431723446,"thr_a_norm":0.02567406,"thr_a_v":0.672689378,"thr_b":0.0118265003,"thr_b_norm":0,"thr_b_v":0.547306001,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.581074,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.371207237,"cg_iw_a":-0.885658741,"cg_theta_rad":0.554528832,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0283989888,"mpcc_du":50.1393394,"mpcc_dv":48.574791,"mpcc_dw":51.425209,"mpcc_enc_sign":1,"mpcc_id_a":2.76515317,"mpcc_iq_a":-1.16196263,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.77235365,"mpcc_pred_id_a":0.438968658,"mpcc_pred_iq_a":-1.97988045,"mpcc_state":1,"mpcc_theta_e":0.441039562,"mpcc_theta_mech":0.555153847,"sam_rpm":-7.04908657,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0431723446,"thr_a_norm":0.0431723446,"thr_a_v":0.672689378,"thr_b":0.0118265003,"thr_b_norm":0.0118265003,"thr_b_v":0.547306001,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.591236,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.53100967,"cg_iw_a":0.491607189,"cg_theta_rad":0.554652393,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.00472537754,"mpcc_du":49.5811577,"mpcc_dv":49.5427437,"mpcc_dw":50.4572563,"mpcc_enc_sign":1,"mpcc_id_a":-0.270304173,"mpcc_iq_a":-4.31950855,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.0996747,"mpcc_pred_id_a":-0.367825359,"mpcc_pred_iq_a":-3.76237559,"mpcc_state":1,"mpcc_theta_e":0.44597578,"mpcc_theta_mech":0.556141078,"sam_rpm":5.24778605,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151121467,"thr_a_norm":0.0151121467,"thr_a_v":0.560448587,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466335565,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.601215,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.24105906,"cg_iw_a":-2.33541203,"cg_theta_rad":0.55711025,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0476522781,"mpcc_du":50.2702179,"mpcc_dv":48.4804001,"mpcc_dw":51.5195999,"mpcc_enc_sign":1,"mpcc_id_a":2.28813457,"mpcc_iq_a":0.036574997,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.44589233,"mpcc_pred_id_a":0.213073298,"mpcc_pred_iq_a":-1.79954934,"mpcc_state":1,"mpcc_theta_e":0.440381527,"mpcc_theta_mech":0.55502218,"sam_rpm":-5.09619665,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151121467,"thr_a_norm":0.0151121467,"thr_a_v":0.560448587,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466335565,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.611652,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.38603449,"cg_iw_a":0.564094543,"cg_theta_rad":0.555079937,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0374640748,"mpcc_du":49.4454727,"mpcc_dv":50.5545273,"mpcc_dw":50.3752937,"mpcc_enc_sign":1,"mpcc_id_a":0.747399688,"mpcc_iq_a":-0.832776189,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.2597694,"mpcc_pred_id_a":0.135692701,"mpcc_pred_iq_a":-5.06640673,"mpcc_state":1,"mpcc_theta_e":0.459961891,"mpcc_theta_mech":0.553957403,"sam_rpm":24.3046684,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156786442,"thr_a_norm":0.0156786442,"thr_a_v":0.562714577,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.621845,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.516182423,"cg_iw_a":-0.305757523,"cg_theta_rad":0.555730641,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0502405316,"mpcc_du":50.0854073,"mpcc_dv":48.7945175,"mpcc_dw":51.2054825,"mpcc_enc_sign":1,"mpcc_id_a":-0.784589827,"mpcc_iq_a":0.154028282,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.7665367,"mpcc_pred_id_a":-0.888460279,"mpcc_pred_iq_a":-3.77259588,"mpcc_state":1,"mpcc_theta_e":0.453382492,"mpcc_theta_mech":0.555633366,"sam_rpm":17.5351467,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256488919,"thr_a_norm":0.0156786442,"thr_a_v":0.602595568,"thr_b":0.000609979033,"thr_b_norm":0,"thr_b_v":0.502439916,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.644703,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.6759851,"cg_iw_a":0.0566809177,"cg_theta_rad":0.556088984,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0905694962,"mpcc_du":50.7223969,"mpcc_dv":47.9166374,"mpcc_dw":52.0833626,"mpcc_enc_sign":1,"mpcc_id_a":3.47894931,"mpcc_iq_a":-0.177032188,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.229992077,"mpcc_pred_id_a":0.414978117,"mpcc_pred_iq_a":-0.0108258985,"mpcc_state":1,"mpcc_theta_e":0.446722507,"mpcc_theta_mech":0.556290448,"sam_rpm":1.10578418,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256488919,"thr_a_norm":0.0256488919,"thr_a_v":0.602595568,"thr_b":0.000609979033,"thr_b_norm":0.000609979033,"thr_b_v":0.502439916,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.651234,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.16857147,"cg_iw_a":-4.00262833,"cg_theta_rad":0.555917323,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0258654766,"mpcc_du":50.743042,"mpcc_dv":47.9628029,"mpcc_dw":52.0371971,"mpcc_enc_sign":1,"mpcc_id_a":1.70293796,"mpcc_iq_a":0.885969281,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.2158794,"mpcc_pred_id_a":-0.0197691862,"mpcc_pred_iq_a":-0.993191898,"mpcc_state":1,"mpcc_theta_e":0.426166058,"mpcc_theta_mech":0.552179158,"sam_rpm":-26.8963547,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026353851,"thr_a_norm":0.026353851,"thr_a_v":0.605415404,"thr_b":0.00389562547,"thr_b_norm":0.00389562547,"thr_b_v":0.515582502,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.657673,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.298719406,"cg_iw_a":-1.75551081,"cg_theta_rad":0.55547303,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0140879136,"mpcc_du":49.665554,"mpcc_dv":49.3220787,"mpcc_dw":50.6779213,"mpcc_enc_sign":1,"mpcc_id_a":1.89841115,"mpcc_iq_a":-1.62028408,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.8311253,"mpcc_pred_id_a":0.054947339,"mpcc_pred_iq_a":-0.980165243,"mpcc_state":1,"mpcc_theta_e":0.453948975,"mpcc_theta_mech":0.551784515,"sam_rpm":19.0419407,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026353851,"thr_a_norm":0.026353851,"thr_a_v":0.605415404,"thr_b":0.00389562547,"thr_b_norm":0.00389562547,"thr_b_v":0.515582502,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.664448,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-2.54583716,"cg_iw_a":-0.523220301,"cg_theta_rad":0.554443061,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0054267603,"mpcc_du":50.2730217,"mpcc_dv":48.5515022,"mpcc_dw":51.4484978,"mpcc_enc_sign":1,"mpcc_id_a":0.182345912,"mpcc_iq_a":-1.01289248,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.445858,"mpcc_pred_id_a":-0.712118626,"mpcc_pred_iq_a":-4.92610884,"mpcc_state":1,"mpcc_theta_e":0.449652672,"mpcc_theta_mech":0.556876481,"sam_rpm":-1.74564517,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203112811,"thr_a_norm":0.0203112811,"thr_a_v":0.581245124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466285199,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.674427,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.878620625,"cg_iw_a":0.274143696,"cg_theta_rad":0.552561462,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.00227240054,"mpcc_du":49.6808586,"mpcc_dv":49.6198196,"mpcc_dw":50.3801804,"mpcc_enc_sign":1,"mpcc_id_a":-0.353955209,"mpcc_iq_a":-2.94096851,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.8633633,"mpcc_pred_id_a":-0.668640733,"mpcc_pred_iq_a":-3.40913081,"mpcc_state":1,"mpcc_theta_e":0.452289581,"mpcc_theta_mech":0.557403862,"sam_rpm":14.4128113,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149485022,"thr_a_norm":0.0149485022,"thr_a_v":0.559794009,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456365317,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.684498,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.516182423,"cg_iw_a":-1.75551033,"cg_theta_rad":0.555558085,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0318794325,"mpcc_du":49.3598785,"mpcc_dv":50.6401215,"mpcc_dw":50.3451729,"mpcc_enc_sign":1,"mpcc_id_a":3.56986022,"mpcc_iq_a":-1.99881124,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.0741491,"mpcc_pred_id_a":0.490017414,"mpcc_pred_iq_a":-3.35697341,"mpcc_state":1,"mpcc_theta_e":0.450004101,"mpcc_theta_mech":0.556946754,"sam_rpm":18.1040554,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149485022,"thr_a_norm":0.0149485022,"thr_a_v":0.559794009,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456365317,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.69466,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.298719406,"cg_iw_a":-0.450732708,"cg_theta_rad":0.552573204,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.00126033986,"mpcc_du":49.5500412,"mpcc_dv":50.4499588,"mpcc_dw":50.2548141,"mpcc_enc_sign":1,"mpcc_id_a":0.0570021607,"mpcc_iq_a":-1.60362136,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.1649141,"mpcc_pred_id_a":-0.471620977,"mpcc_pred_iq_a":-3.12611246,"mpcc_state":1,"mpcc_theta_e":0.450426102,"mpcc_theta_mech":0.557031155,"sam_rpm":18.930212,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0441794395,"thr_a_norm":0.0441794395,"thr_a_v":0.676717758,"thr_b":0.0147848576,"thr_b_norm":0.0147848576,"thr_b_v":0.559139431,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.704762,"values":{"cg_iu_a":0.749452114,"cg_iv_a":0.0637187958,"cg_iw_a":-4.43755436,"cg_theta_rad":0.557672203,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0183965657,"mpcc_du":49.4938354,"mpcc_dv":49.5272179,"mpcc_dw":50.5061646,"mpcc_enc_sign":1,"mpcc_id_a":2.46316099,"mpcc_iq_a":-0.949150801,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.33117294,"mpcc_pred_id_a":0.0606640726,"mpcc_pred_iq_a":-2.10690594,"mpcc_state":1,"mpcc_theta_e":0.432806015,"mpcc_theta_mech":0.553507149,"sam_rpm":-5.00512886,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174410641,"thr_a_norm":0.0441794395,"thr_a_v":0.569764256,"thr_b":0,"thr_b_norm":0.0147848576,"thr_b_v":0.447956055,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.715687,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-2.69081235,"cg_iw_a":0.0566806793,"cg_theta_rad":0.55584532,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0807974115,"mpcc_du":50.2547607,"mpcc_dv":48.8461723,"mpcc_dw":51.1538277,"mpcc_enc_sign":1,"mpcc_id_a":-0.399143636,"mpcc_iq_a":-0.546018362,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.69427443,"mpcc_pred_id_a":-0.509836137,"mpcc_pred_iq_a":-3.56937456,"mpcc_state":1,"mpcc_theta_e":0.45226717,"mpcc_theta_mech":0.557399333,"sam_rpm":8.5292387,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174410641,"thr_a_norm":0.0174410641,"thr_a_v":0.569764256,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447956055,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.725025,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.09608364,"cg_iw_a":-2.62536287,"cg_theta_rad":0.554102004,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0112225888,"mpcc_du":48.9539757,"mpcc_dv":51.0460243,"mpcc_dw":49.7636375,"mpcc_enc_sign":1,"mpcc_id_a":2.11683869,"mpcc_iq_a":-0.507552564,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.8489923,"mpcc_pred_id_a":0.113682069,"mpcc_pred_iq_a":-3.64418745,"mpcc_state":1,"mpcc_theta_e":0.450326443,"mpcc_theta_mech":0.557011247,"sam_rpm":20.2197685,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.0264545679,"thr_a_v":0.605818272,"thr_b":0.00269970298,"thr_b_norm":0.00269970298,"thr_b_v":0.510798812,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.748035,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.878620625,"cg_iw_a":-0.160782337,"cg_theta_rad":0.555716217,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0233501159,"mpcc_du":50.2405701,"mpcc_dv":48.575676,"mpcc_dw":51.424324,"mpcc_enc_sign":1,"mpcc_id_a":2.58684802,"mpcc_iq_a":-0.519073367,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.46034491,"mpcc_pred_id_a":0.191621438,"mpcc_pred_iq_a":-0.059312325,"mpcc_state":1,"mpcc_theta_e":0.43985033,"mpcc_theta_mech":0.554915965,"sam_rpm":-2.16330624,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.0264545679,"thr_a_v":0.605818272,"thr_b":0.00269970298,"thr_b_norm":0.00269970298,"thr_b_v":0.510798812,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.754536,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-0.443694592,"cg_iw_a":-2.19043684,"cg_theta_rad":0.556212723,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0129424818,"mpcc_du":49.5274925,"mpcc_dv":49.7124062,"mpcc_dw":50.4725075,"mpcc_enc_sign":1,"mpcc_id_a":1.13068676,"mpcc_iq_a":-1.38024259,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.30413818,"mpcc_pred_id_a":0.0524689741,"mpcc_pred_iq_a":-3.15402079,"mpcc_state":1,"mpcc_theta_e":0.451096535,"mpcc_theta_mech":0.557165205,"sam_rpm":14.1483364,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444682986,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.761097,"values":{"cg_iu_a":3.79393435,"cg_iv_a":-0.371207237,"cg_iw_a":-3.42272711,"cg_theta_rad":0.557882667,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0136790825,"mpcc_du":50.1950378,"mpcc_dv":48.6384773,"mpcc_dw":51.3615227,"mpcc_enc_sign":1,"mpcc_id_a":1.33902371,"mpcc_iq_a":0.770437598,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.6103048,"mpcc_pred_id_a":0.116515495,"mpcc_pred_iq_a":-1.60856473,"mpcc_state":1,"mpcc_theta_e":0.431212425,"mpcc_theta_mech":0.553188443,"sam_rpm":-17.5400448,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444682986,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.767963,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.806133032,"cg_iw_a":-1.32058454,"cg_theta_rad":0.560757935,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0201839898,"mpcc_du":50.0547943,"mpcc_dv":48.7156448,"mpcc_dw":51.2843552,"mpcc_enc_sign":1,"mpcc_id_a":2.14800835,"mpcc_iq_a":-1.44461215,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.92747593,"mpcc_pred_id_a":0.464414597,"mpcc_pred_iq_a":-0.680102348,"mpcc_state":1,"mpcc_theta_e":0.447616577,"mpcc_theta_mech":0.556469262,"sam_rpm":6.27559662,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162073672,"thr_a_norm":0.0162073672,"thr_a_v":0.564829469,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458178043,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.778004,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.733645439,"cg_iw_a":-2.19043684,"cg_theta_rad":0.554682672,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0471326336,"mpcc_du":49.9876671,"mpcc_dv":48.8160896,"mpcc_dw":51.1839104,"mpcc_enc_sign":1,"mpcc_id_a":2.77789712,"mpcc_iq_a":-2.00229359,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.55373001,"mpcc_pred_id_a":0.29087016,"mpcc_pred_iq_a":0.459646046,"mpcc_state":1,"mpcc_theta_e":0.42894125,"mpcc_theta_mech":0.554251969,"sam_rpm":-15.1527529,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248432159,"thr_a_norm":0.0248432159,"thr_a_v":0.599372864,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49332568,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.787861,"values":{"cg_iu_a":2.92408228,"cg_iv_a":1.07854605,"cg_iw_a":-0.523220301,"cg_theta_rad":0.555345058,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0691080466,"mpcc_du":50.0240784,"mpcc_dv":48.6856842,"mpcc_dw":51.3143158,"mpcc_enc_sign":1,"mpcc_id_a":2.80259681,"mpcc_iq_a":0.427460074,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.59869623,"mpcc_pred_id_a":0.531730533,"mpcc_pred_iq_a":-1.33054078,"mpcc_state":1,"mpcc_theta_e":0.445922375,"mpcc_theta_mech":0.55613035,"sam_rpm":5.91390181,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248432159,"thr_a_norm":0.0248432159,"thr_a_v":0.599372864,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49332568,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.798054,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.443694592,"cg_iw_a":-2.6978507,"cg_theta_rad":0.557483375,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.00911410246,"mpcc_du":49.2834435,"mpcc_dv":50.7165565,"mpcc_dw":49.8713684,"mpcc_enc_sign":1,"mpcc_id_a":0.45554933,"mpcc_iq_a":-1.28301609,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.81228924,"mpcc_pred_id_a":-0.638514519,"mpcc_pred_iq_a":-6.24945879,"mpcc_state":1,"mpcc_theta_e":0.448589802,"mpcc_theta_mech":0.556663871,"sam_rpm":12.3861771,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.80846,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.0384233,"cg_iw_a":-0.813171148,"cg_theta_rad":0.558304071,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.00838011224,"mpcc_du":50.4421997,"mpcc_dv":48.4755669,"mpcc_dw":51.5244331,"mpcc_enc_sign":1,"mpcc_id_a":0.309156895,"mpcc_iq_a":-1.65393746,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.8735914,"mpcc_pred_id_a":-0.246588886,"mpcc_pred_iq_a":0.124693662,"mpcc_state":1,"mpcc_theta_e":0.427400589,"mpcc_theta_mech":0.55242604,"sam_rpm":-20.1634369,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179949552,"thr_a_norm":0.0240501165,"thr_a_v":0.571979821,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466335565,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.819233,"values":{"cg_iu_a":1.40184116,"cg_iv_a":0.57113266,"cg_iw_a":-1.68302298,"cg_theta_rad":0.554958999,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0310501587,"mpcc_du":49.4188232,"mpcc_dv":50.5811768,"mpcc_dw":50.1386871,"mpcc_enc_sign":1,"mpcc_id_a":0.388239175,"mpcc_iq_a":-1.79422832,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.84089041,"mpcc_pred_id_a":-0.144972384,"mpcc_pred_iq_a":-2.48646665,"mpcc_state":1,"mpcc_theta_e":0.437531471,"mpcc_theta_mech":0.554452181,"sam_rpm":11.1315813,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179949552,"thr_a_norm":0.0179949552,"thr_a_v":0.571979821,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466335565,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.843647,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.16857147,"cg_iw_a":-1.46555996,"cg_theta_rad":0.558942974,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0845528021,"mpcc_du":49.6818924,"mpcc_dv":49.4483566,"mpcc_dw":50.5516434,"mpcc_enc_sign":1,"mpcc_id_a":4.1575861,"mpcc_iq_a":0.284857512,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.9494829,"mpcc_pred_id_a":0.759941697,"mpcc_pred_iq_a":-1.74998391,"mpcc_state":1,"mpcc_theta_e":0.43569088,"mpcc_theta_mech":0.555573106,"sam_rpm":3.10621452,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0236472934,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460242629,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.850208,"values":{"cg_iu_a":4.37383556,"cg_iv_a":-1.60349751,"cg_iw_a":0.926533222,"cg_theta_rad":0.556562662,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0334477425,"mpcc_du":49.9475441,"mpcc_dv":49.0436745,"mpcc_dw":50.9563255,"mpcc_enc_sign":1,"mpcc_id_a":1.2394371,"mpcc_iq_a":0.0231295452,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.53934288,"mpcc_pred_id_a":-0.0303190034,"mpcc_pred_iq_a":-3.63331532,"mpcc_state":1,"mpcc_theta_e":0.439344883,"mpcc_theta_mech":0.554814875,"sam_rpm":-9.37995911,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254097134,"thr_a_norm":0.0236472934,"thr_a_v":0.601638854,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.856709,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.60349751,"cg_iw_a":-0.16078186,"cg_theta_rad":0.553733587,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0324514136,"mpcc_du":49.5823631,"mpcc_dv":50.0792007,"mpcc_dw":50.4176369,"mpcc_enc_sign":1,"mpcc_id_a":1.98735225,"mpcc_iq_a":-1.10714984,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.0597744,"mpcc_pred_id_a":-0.0745104402,"mpcc_pred_iq_a":-4.30175161,"mpcc_state":1,"mpcc_theta_e":0.454847813,"mpcc_theta_mech":0.557915509,"sam_rpm":17.1869812,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254097134,"thr_a_norm":0.0254097134,"thr_a_v":0.601638854,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.863209,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.03063393,"cg_theta_rad":0.556547344,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0107446965,"mpcc_du":50.3790245,"mpcc_dv":48.3953819,"mpcc_dw":51.6046181,"mpcc_enc_sign":1,"mpcc_id_a":1.91242349,"mpcc_iq_a":-0.407989711,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.0722761,"mpcc_pred_id_a":0.223780647,"mpcc_pred_iq_a":-1.46080351,"mpcc_state":1,"mpcc_theta_e":0.428001881,"mpcc_theta_mech":0.552546322,"sam_rpm":-22.7180367,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02227512,"thr_a_norm":0.02227512,"thr_a_v":0.58910048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480585933,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.871235,"values":{"cg_iu_a":1.03940296,"cg_iv_a":0.208694458,"cg_iw_a":-2.6978507,"cg_theta_rad":0.558377385,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0453934781,"mpcc_du":49.5708733,"mpcc_dv":47.7704849,"mpcc_dw":52.2295151,"mpcc_enc_sign":1,"mpcc_id_a":1.50066972,"mpcc_iq_a":-0.116570167,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.97099304,"mpcc_pred_id_a":0.104125738,"mpcc_pred_iq_a":-4.00333071,"mpcc_state":1,"mpcc_theta_e":0.450249195,"mpcc_theta_mech":0.556995749,"sam_rpm":9.40563583,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02227512,"thr_a_norm":0.02227512,"thr_a_v":0.58910048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480585933,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.882435,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.733645439,"cg_iw_a":-1.39307213,"cg_theta_rad":0.55238843,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.066574879,"mpcc_du":49.932766,"mpcc_dv":48.9528351,"mpcc_dw":51.0471649,"mpcc_enc_sign":1,"mpcc_id_a":3.05843973,"mpcc_iq_a":-0.72034651,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.72584414,"mpcc_pred_id_a":0.287157178,"mpcc_pred_iq_a":-3.46469903,"mpcc_state":1,"mpcc_theta_e":0.447390556,"mpcc_theta_mech":0.556424022,"sam_rpm":3.94022822,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0146337748,"thr_a_norm":0.0146337748,"thr_a_v":0.558535099,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.893818,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.24105906,"cg_iw_a":-1.32058454,"cg_theta_rad":0.556485534,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0328446925,"mpcc_du":50.324192,"mpcc_dv":48.5686951,"mpcc_dw":51.4313049,"mpcc_enc_sign":1,"mpcc_id_a":-0.0181034412,"mpcc_iq_a":-1.10069251,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.12991261,"mpcc_pred_id_a":0.0544384792,"mpcc_pred_iq_a":-2.6866622,"mpcc_state":1,"mpcc_theta_e":0.447038174,"mpcc_theta_mech":0.556353509,"sam_rpm":-2.33196115,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172396451,"thr_a_norm":0.0172396451,"thr_a_v":0.56895858,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.442970902,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.903461,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.806133032,"cg_iw_a":-0.813171148,"cg_theta_rad":0.554386497,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0207008533,"mpcc_du":48.8781242,"mpcc_dv":51.1218758,"mpcc_dw":49.7468643,"mpcc_enc_sign":1,"mpcc_id_a":2.86529183,"mpcc_iq_a":-1.11293185,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.6636219,"mpcc_pred_id_a":0.527947664,"mpcc_pred_iq_a":1.53308725,"mpcc_state":1,"mpcc_theta_e":0.42629385,"mpcc_theta_mech":0.552204728,"sam_rpm":-25.3837967,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172396451,"thr_a_norm":0.0172396451,"thr_a_v":0.56895858,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.442970902,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.913624,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.806133032,"cg_iw_a":-1.8279984,"cg_theta_rad":0.556817055,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0566125326,"mpcc_du":50.1957054,"mpcc_dv":48.717865,"mpcc_dw":51.282135,"mpcc_enc_sign":1,"mpcc_id_a":1.71544945,"mpcc_iq_a":-0.165676445,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.79283547,"mpcc_pred_id_a":-0.0419735275,"mpcc_pred_iq_a":-1.69579089,"mpcc_state":1,"mpcc_theta_e":0.445671082,"mpcc_theta_mech":0.556080103,"sam_rpm":6.15785599,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024138242,"thr_a_norm":0.024138242,"thr_a_v":0.596552968,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476607919,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.92403,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.82096052,"cg_iw_a":-1.39307213,"cg_theta_rad":0.556518972,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0181323513,"mpcc_du":49.932209,"mpcc_dv":48.8987198,"mpcc_dw":51.1012802,"mpcc_enc_sign":1,"mpcc_id_a":0.309169739,"mpcc_iq_a":-1.43807995,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.6967448,"mpcc_pred_id_a":-0.303717285,"mpcc_pred_iq_a":-2.02797198,"mpcc_state":1,"mpcc_theta_e":0.441857338,"mpcc_theta_mech":0.555317342,"sam_rpm":-9.58110523,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0401636511,"thr_a_norm":0.024138242,"thr_a_v":0.660654604,"thr_b":0.0060608834,"thr_b_norm":0,"thr_b_v":0.524243534,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.947071,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-3.70563984,"cg_iw_a":2.37628651,"cg_theta_rad":0.555279315,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5011,"hz_app_loop":361,"hz_tim_isr":10020,"hz_vsense":361,"mpcc_cost":0.0166115798,"mpcc_du":51.339653,"mpcc_dv":47.1204338,"mpcc_dw":52.8795662,"mpcc_enc_sign":1,"mpcc_id_a":2.18890476,"mpcc_iq_a":0.216365606,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.3956089,"mpcc_pred_id_a":0.119206369,"mpcc_pred_iq_a":2.57509804,"mpcc_state":1,"mpcc_theta_e":0.421085835,"mpcc_theta_mech":0.551163077,"sam_rpm":-31.603878,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0401636511,"thr_a_norm":0.0401636511,"thr_a_v":0.660654604,"thr_b":0.0060608834,"thr_b_norm":0.0060608834,"thr_b_v":0.524243534,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.953541,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.951108456,"cg_iw_a":-2.04546118,"cg_theta_rad":0.557229817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0104734972,"mpcc_du":50.6137695,"mpcc_dv":48.1694489,"mpcc_dw":51.8305511,"mpcc_enc_sign":1,"mpcc_id_a":-0.139231488,"mpcc_iq_a":-0.530690372,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.6347504,"mpcc_pred_id_a":-0.111590244,"mpcc_pred_iq_a":-0.800507188,"mpcc_state":1,"mpcc_theta_e":0.434424877,"mpcc_theta_mech":0.553830922,"sam_rpm":-15.5043497,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105410844,"thr_a_norm":0.105410844,"thr_a_v":0.921643376,"thr_b":0.0524376184,"thr_b_norm":0.0524376184,"thr_b_v":0.709750473,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.960102,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.878620625,"cg_iw_a":-2.62536287,"cg_theta_rad":0.554690897,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0152258379,"mpcc_du":49.949604,"mpcc_dv":49.004364,"mpcc_dw":50.995636,"mpcc_enc_sign":1,"mpcc_id_a":1.2657187,"mpcc_iq_a":-0.256687194,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.57267,"mpcc_pred_id_a":-0.124653257,"mpcc_pred_iq_a":-4.74215603,"mpcc_state":1,"mpcc_theta_e":0.432145596,"mpcc_theta_mech":0.553375065,"sam_rpm":-20.0018864,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105410844,"thr_a_norm":0.105410844,"thr_a_v":0.921643376,"thr_b":0.0524376184,"thr_b_norm":0.0524376184,"thr_b_v":0.709750473,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.966602,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.31354666,"cg_iw_a":0.12916851,"cg_theta_rad":0.557842553,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.00144545932,"mpcc_du":49.7156181,"mpcc_dv":49.316906,"mpcc_dw":50.683094,"mpcc_enc_sign":1,"mpcc_id_a":0.670324564,"mpcc_iq_a":-1.33927989,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.24246025,"mpcc_pred_id_a":-0.0593772382,"mpcc_pred_iq_a":-0.468864858,"mpcc_state":1,"mpcc_theta_e":0.448083878,"mpcc_theta_mech":0.556562662,"sam_rpm":11.7708282,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0101522058,"thr_a_norm":0.0101522058,"thr_a_v":0.540608823,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438438982,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.976215,"values":{"cg_iu_a":4.66378593,"cg_iv_a":-1.6759851,"cg_iw_a":-2.98780084,"cg_theta_rad":0.556301117,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0600933097,"mpcc_du":49.4813271,"mpcc_dv":49.7250175,"mpcc_dw":50.5186729,"mpcc_enc_sign":1,"mpcc_id_a":4.87039137,"mpcc_iq_a":0.31280905,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.8237514,"mpcc_pred_id_a":0.900340378,"mpcc_pred_iq_a":-2.16635847,"mpcc_state":1,"mpcc_theta_e":0.427952766,"mpcc_theta_mech":0.552536488,"sam_rpm":-0.96210587,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193167776,"thr_a_norm":0.0101522058,"thr_a_v":0.57726711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459285885,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.987202,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.806133032,"cg_iw_a":-2.55287504,"cg_theta_rad":0.55563432,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0246805511,"mpcc_du":49.596817,"mpcc_dv":50.1552162,"mpcc_dw":50.403183,"mpcc_enc_sign":1,"mpcc_id_a":0.493506551,"mpcc_iq_a":-3.09528351,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.4354682,"mpcc_pred_id_a":-0.257303417,"mpcc_pred_iq_a":-2.72656584,"mpcc_state":1,"mpcc_theta_e":0.439758778,"mpcc_theta_mech":0.554897666,"sam_rpm":0.310950011,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193167776,"thr_a_norm":0.0193167776,"thr_a_v":0.57726711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459285885,"vdc_v":55.2955055}} +{"type":"telemetry","t":38.997456,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.09608364,"cg_iw_a":-4.00262833,"cg_theta_rad":0.557662845,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.000562586123,"mpcc_du":49.6358566,"mpcc_dv":50.0600586,"mpcc_dw":50.3641434,"mpcc_enc_sign":1,"mpcc_id_a":0.238741502,"mpcc_iq_a":-1.73539948,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.12983227,"mpcc_pred_id_a":-0.511012316,"mpcc_pred_iq_a":-2.96001291,"mpcc_state":1,"mpcc_theta_e":0.448014736,"mpcc_theta_mech":0.556548834,"sam_rpm":11.963171,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237228274,"thr_a_norm":0.0237228274,"thr_a_v":0.59489131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476154745,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.007648,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.661157608,"cg_iw_a":-1.39307261,"cg_theta_rad":0.557115793,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.00637152744,"mpcc_du":50.0407066,"mpcc_dv":49.0986023,"mpcc_dw":50.9013977,"mpcc_enc_sign":1,"mpcc_id_a":0.0893604308,"mpcc_iq_a":-1.38327503,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.25949299,"mpcc_pred_id_a":-0.489721984,"mpcc_pred_iq_a":-2.27605128,"mpcc_state":1,"mpcc_theta_e":0.445714951,"mpcc_theta_mech":0.556088924,"sam_rpm":2.21033072,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024087891,"thr_a_norm":0.0237228274,"thr_a_v":0.596351564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472730607,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.017536,"values":{"cg_iu_a":0.169550896,"cg_iv_a":0.208694458,"cg_iw_a":-2.19043684,"cg_theta_rad":0.556866705,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0257003922,"mpcc_du":49.5584717,"mpcc_dv":49.8336639,"mpcc_dw":50.4415283,"mpcc_enc_sign":1,"mpcc_id_a":0.799283564,"mpcc_iq_a":0.273144782,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.102098718,"mpcc_pred_id_a":-0.0912165716,"mpcc_pred_iq_a":-5.03121233,"mpcc_state":1,"mpcc_theta_e":0.443962574,"mpcc_theta_mech":0.555738389,"sam_rpm":0.214210212,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024087891,"thr_a_norm":0.024087891,"thr_a_v":0.596351564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472730607,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.027821,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.661157608,"cg_iw_a":-2.40789962,"cg_theta_rad":0.556043208,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0276461933,"mpcc_du":50.7292709,"mpcc_dv":48.1367569,"mpcc_dw":51.8632431,"mpcc_enc_sign":1,"mpcc_id_a":0.38121742,"mpcc_iq_a":-0.777528405,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.64526892,"mpcc_pred_id_a":-0.249658361,"mpcc_pred_iq_a":-0.919712245,"mpcc_state":1,"mpcc_theta_e":0.441622734,"mpcc_theta_mech":0.555270493,"sam_rpm":-6.86477804,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02403754,"thr_a_norm":0.02403754,"thr_a_v":0.59615016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488995194,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.050831,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.11091113,"cg_iw_a":1.28897119,"cg_theta_rad":0.556696177,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.00847698096,"mpcc_du":50.4962578,"mpcc_dv":48.467598,"mpcc_dw":51.532402,"mpcc_enc_sign":1,"mpcc_id_a":0.137975857,"mpcc_iq_a":-0.943300903,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.07198071,"mpcc_pred_id_a":-0.254377663,"mpcc_pred_iq_a":0.6221174,"mpcc_state":1,"mpcc_theta_e":0.446767807,"mpcc_theta_mech":0.556299448,"sam_rpm":3.46365976,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02403754,"thr_a_norm":0.02403754,"thr_a_v":0.59615016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488995194,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.057362,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.82096052,"cg_iw_a":0.0566811562,"cg_theta_rad":0.555954754,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0147172092,"mpcc_du":50.4226532,"mpcc_dv":48.2594986,"mpcc_dw":51.7405014,"mpcc_enc_sign":1,"mpcc_id_a":1.89520645,"mpcc_iq_a":-0.286960095,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.752316475,"mpcc_pred_id_a":0.45664075,"mpcc_pred_iq_a":2.04273295,"mpcc_state":1,"mpcc_theta_e":0.440276623,"mpcc_theta_mech":0.555001259,"sam_rpm":1.20623457,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023760587,"thr_a_norm":0.023760587,"thr_a_v":0.595042348,"thr_b":0.00120164454,"thr_b_norm":0.00120164454,"thr_b_v":0.504806578,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.063953,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.82096052,"cg_iw_a":0.999020576,"cg_theta_rad":0.557643414,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0276203863,"mpcc_du":49.4894676,"mpcc_dv":50.5105324,"mpcc_dw":50.4905586,"mpcc_enc_sign":1,"mpcc_id_a":2.66605639,"mpcc_iq_a":-0.53350836,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.52094221,"mpcc_pred_id_a":0.478170305,"mpcc_pred_iq_a":-4.74242973,"mpcc_state":1,"mpcc_theta_e":0.44788456,"mpcc_theta_mech":0.556522787,"sam_rpm":9.57878304,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023760587,"thr_a_norm":0.023760587,"thr_a_v":0.595042348,"thr_b":0.00120164454,"thr_b_norm":0.00120164454,"thr_b_v":0.504806578,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.07082,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.38603449,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556711972,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0430907086,"mpcc_du":49.4826698,"mpcc_dv":49.8058548,"mpcc_dw":50.5173302,"mpcc_enc_sign":1,"mpcc_id_a":2.80095696,"mpcc_iq_a":-0.576118767,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.00666666,"mpcc_pred_id_a":0.3166233,"mpcc_pred_iq_a":-4.26588154,"mpcc_state":1,"mpcc_theta_e":0.440677166,"mpcc_theta_mech":0.555081367,"sam_rpm":10.8703499,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285946429,"thr_a_norm":0.0285946429,"thr_a_v":0.614378572,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498008728,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.080677,"values":{"cg_iu_a":0.749452114,"cg_iv_a":0.0637187958,"cg_iw_a":-1.53804779,"cg_theta_rad":0.553453863,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0542472787,"mpcc_du":50.3397141,"mpcc_dv":48.5566101,"mpcc_dw":50.9491043,"mpcc_enc_sign":1,"mpcc_id_a":1.16734064,"mpcc_iq_a":-0.136249587,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.23680529,"mpcc_pred_id_a":0.0299383551,"mpcc_pred_iq_a":-1.92858183,"mpcc_state":1,"mpcc_theta_e":0.446087837,"mpcc_theta_mech":0.557867467,"sam_rpm":1.76821589,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285946429,"thr_a_norm":0.0285946429,"thr_a_v":0.614378572,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498008728,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.090809,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-0.588670254,"cg_iw_a":-1.97297335,"cg_theta_rad":0.554605246,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0641917139,"mpcc_du":49.4961472,"mpcc_dv":48.1716423,"mpcc_dw":51.8283577,"mpcc_enc_sign":1,"mpcc_id_a":4.25326824,"mpcc_iq_a":-0.398132443,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.57488179,"mpcc_pred_id_a":0.914491177,"mpcc_pred_iq_a":-4.15058041,"mpcc_state":1,"mpcc_theta_e":0.444338322,"mpcc_theta_mech":0.554203808,"sam_rpm":-2.62254786,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204119831,"thr_a_norm":0.0204119831,"thr_a_v":0.581647933,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470414281,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.100819,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.31354666,"cg_iw_a":-1.61053562,"cg_theta_rad":0.555591941,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.00880831387,"mpcc_du":49.6304855,"mpcc_dv":50.1749611,"mpcc_dw":50.3695145,"mpcc_enc_sign":1,"mpcc_id_a":0.435828388,"mpcc_iq_a":-2.37239933,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.677152455,"mpcc_pred_id_a":-0.383247256,"mpcc_pred_iq_a":-3.80809069,"mpcc_state":1,"mpcc_theta_e":0.438484192,"mpcc_theta_mech":0.554642797,"sam_rpm":-2.37969184,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0120405108,"thr_a_norm":0.0204119831,"thr_a_v":0.548162043,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449668139,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.111042,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.31354666,"cg_iw_a":-1.10312176,"cg_theta_rad":0.554649889,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0316628143,"mpcc_du":50.6343498,"mpcc_dv":48.3908043,"mpcc_dw":51.6091957,"mpcc_enc_sign":1,"mpcc_id_a":0.316690415,"mpcc_iq_a":-1.07479978,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.764294922,"mpcc_pred_id_a":-0.477783561,"mpcc_pred_iq_a":-1.31092954,"mpcc_state":1,"mpcc_theta_e":0.446137428,"mpcc_theta_mech":0.556173384,"sam_rpm":0.229317769,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0120405108,"thr_a_norm":0.0120405108,"thr_a_v":0.548162043,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449668139,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.121082,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.733645439,"cg_iw_a":-2.04546118,"cg_theta_rad":0.556070268,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0497607477,"mpcc_du":50.290123,"mpcc_dv":48.2582893,"mpcc_dw":51.7417107,"mpcc_enc_sign":1,"mpcc_id_a":4.36916351,"mpcc_iq_a":-1.48530006,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.5887957,"mpcc_pred_id_a":0.813635528,"mpcc_pred_iq_a":-0.744260848,"mpcc_state":1,"mpcc_theta_e":0.42850399,"mpcc_theta_mech":0.552646756,"sam_rpm":-24.3702583,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197070241,"thr_a_norm":0.0197070241,"thr_a_v":0.578828096,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471119225,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.130787,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.806133032,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.556670725,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0618458278,"mpcc_du":50.3835564,"mpcc_dv":48.1535225,"mpcc_dw":51.8464775,"mpcc_enc_sign":1,"mpcc_id_a":3.41469407,"mpcc_iq_a":1.09098983,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.55664063,"mpcc_pred_id_a":0.876813233,"mpcc_pred_iq_a":-0.740517199,"mpcc_state":1,"mpcc_theta_e":0.436151505,"mpcc_theta_mech":0.554176211,"sam_rpm":-14.1984434,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197070241,"thr_a_norm":0.0197070241,"thr_a_v":0.578828096,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471119225,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.154041,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.47334933,"cg_iw_a":1.43394637,"cg_theta_rad":0.558748782,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0140176462,"mpcc_du":51.6468353,"mpcc_dv":47.1511612,"mpcc_dw":52.8488388,"mpcc_enc_sign":1,"mpcc_id_a":0.0539852865,"mpcc_iq_a":-1.2400229,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":23.9864254,"mpcc_pred_id_a":-0.57071048,"mpcc_pred_iq_a":-5.98957491,"mpcc_state":1,"mpcc_theta_e":0.465156078,"mpcc_theta_mech":0.559977174,"sam_rpm":36.5495682,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023533985,"thr_a_norm":0.023533985,"thr_a_v":0.59413594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.160603,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.153744221,"cg_iw_a":-2.26292443,"cg_theta_rad":0.554154158,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0195165891,"mpcc_du":49.5357323,"mpcc_dv":50.1253357,"mpcc_dw":50.4642677,"mpcc_enc_sign":1,"mpcc_id_a":1.6459775,"mpcc_iq_a":0.188364625,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.04938984,"mpcc_pred_id_a":0.1371319,"mpcc_pred_iq_a":-3.48427439,"mpcc_state":1,"mpcc_theta_e":0.448125362,"mpcc_theta_mech":0.556570947,"sam_rpm":9.49620342,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266433954,"thr_a_norm":0.023533985,"thr_a_v":0.606573582,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489951938,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.167133,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-2.0384233,"cg_iw_a":0.564094305,"cg_theta_rad":0.55613029,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.019440759,"mpcc_du":50.7203064,"mpcc_dv":48.059967,"mpcc_dw":51.940033,"mpcc_enc_sign":1,"mpcc_id_a":2.3124938,"mpcc_iq_a":-1.61986268,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.05515,"mpcc_pred_id_a":-0.0362912118,"mpcc_pred_iq_a":-1.18007398,"mpcc_state":1,"mpcc_theta_e":0.433686733,"mpcc_theta_mech":0.553683281,"sam_rpm":-16.7986813,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266433954,"thr_a_norm":0.0266433954,"thr_a_v":0.606573582,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489951938,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.173664,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.09608364,"cg_iw_a":0.78155756,"cg_theta_rad":0.555370033,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.02884073,"mpcc_du":49.5694847,"mpcc_dv":49.4142075,"mpcc_dw":50.5857925,"mpcc_enc_sign":1,"mpcc_id_a":2.36659884,"mpcc_iq_a":-0.492404699,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.7133608,"mpcc_pred_id_a":0.260178089,"mpcc_pred_iq_a":-1.33959532,"mpcc_state":1,"mpcc_theta_e":0.451693058,"mpcc_theta_mech":0.557284534,"sam_rpm":17.7171555,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02252689,"thr_a_norm":0.02252689,"thr_a_v":0.59010756,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.181477,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.02359605,"cg_iw_a":0.274143934,"cg_theta_rad":0.556433499,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0274757985,"mpcc_du":49.1310577,"mpcc_dv":50.8689423,"mpcc_dw":49.847538,"mpcc_enc_sign":1,"mpcc_id_a":2.12143135,"mpcc_iq_a":-0.000755429501,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.1707001,"mpcc_pred_id_a":-0.0717794001,"mpcc_pred_iq_a":-5.61739826,"mpcc_state":1,"mpcc_theta_e":0.451419353,"mpcc_theta_mech":0.557229817,"sam_rpm":16.2075806,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02252689,"thr_a_norm":0.02252689,"thr_a_v":0.59010756,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.193836,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.16857147,"cg_iw_a":-1.17560911,"cg_theta_rad":0.557508588,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.00555361435,"mpcc_du":49.5292053,"mpcc_dv":49.5608902,"mpcc_dw":50.4707947,"mpcc_enc_sign":1,"mpcc_id_a":0.902689815,"mpcc_iq_a":0.507895291,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.80416834,"mpcc_pred_id_a":0.0578405522,"mpcc_pred_iq_a":0.559633851,"mpcc_state":1,"mpcc_theta_e":0.435134411,"mpcc_theta_mech":0.553972781,"sam_rpm":1.67708576,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283806324,"thr_a_norm":0.0283806324,"thr_a_v":0.61352253,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499519348,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.203999,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.31354666,"cg_iw_a":-2.26292419,"cg_theta_rad":0.552895784,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0883657262,"mpcc_du":49.9940605,"mpcc_dv":49.014061,"mpcc_dw":50.985939,"mpcc_enc_sign":1,"mpcc_id_a":2.03792548,"mpcc_iq_a":-0.0117612686,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.94606543,"mpcc_pred_id_a":-0.0846647397,"mpcc_pred_iq_a":-3.21052265,"mpcc_state":1,"mpcc_theta_e":0.453857899,"mpcc_theta_mech":0.557717502,"sam_rpm":12.3627243,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256866515,"thr_a_norm":0.0256866515,"thr_a_v":0.602746606,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.213825,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.82096052,"cg_iw_a":1.28897142,"cg_theta_rad":0.552393258,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0629063621,"mpcc_du":50.2556725,"mpcc_dv":48.5851173,"mpcc_dw":51.4148827,"mpcc_enc_sign":1,"mpcc_id_a":1.60223615,"mpcc_iq_a":0.769116759,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.62845898,"mpcc_pred_id_a":0.149824113,"mpcc_pred_iq_a":-1.18479264,"mpcc_state":1,"mpcc_theta_e":0.448104858,"mpcc_theta_mech":0.556566894,"sam_rpm":3.73202372,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256866515,"thr_a_norm":0.0256866515,"thr_a_v":0.602746606,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.224171,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.45852208,"cg_iw_a":-1.4655602,"cg_theta_rad":0.551721454,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0593221709,"mpcc_du":50.2018356,"mpcc_dv":48.723278,"mpcc_dw":51.276722,"mpcc_enc_sign":1,"mpcc_id_a":0.640399039,"mpcc_iq_a":-0.397378594,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.80530834,"mpcc_pred_id_a":0.09467379,"mpcc_pred_iq_a":-2.09648299,"mpcc_state":1,"mpcc_theta_e":0.449504852,"mpcc_theta_mech":0.556846917,"sam_rpm":9.10785961,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.043663308,"thr_a_norm":0.043663308,"thr_a_v":0.674653232,"thr_b":0.0112222433,"thr_b_norm":0.0112222433,"thr_b_v":0.544888973,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.234394,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.24105906,"cg_iw_a":0.129168749,"cg_theta_rad":0.556138635,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0180914365,"mpcc_du":49.5473938,"mpcc_dv":49.5313797,"mpcc_dw":50.4686203,"mpcc_enc_sign":1,"mpcc_id_a":1.55921924,"mpcc_iq_a":-2.20151639,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.707154155,"mpcc_pred_id_a":-0.0895985439,"mpcc_pred_iq_a":-1.42695999,"mpcc_state":1,"mpcc_theta_e":0.436816692,"mpcc_theta_mech":0.554309249,"sam_rpm":-0.0107691614,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276001245,"thr_a_norm":0.043663308,"thr_a_v":0.610400498,"thr_b":0,"thr_b_norm":0.0112222433,"thr_b_v":0.496548384,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.257191,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.806133032,"cg_iw_a":-2.33541226,"cg_theta_rad":0.552534878,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.00189628697,"mpcc_du":49.2969322,"mpcc_dv":50.7030678,"mpcc_dw":50.046875,"mpcc_enc_sign":1,"mpcc_id_a":0.156473726,"mpcc_iq_a":-2.03254247,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.0538177,"mpcc_pred_id_a":-0.180515781,"mpcc_pred_iq_a":-3.57870078,"mpcc_state":1,"mpcc_theta_e":0.458203316,"mpcc_theta_mech":0.558586597,"sam_rpm":27.2513828,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276001245,"thr_a_norm":0.0276001245,"thr_a_v":0.610400498,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496548384,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.263783,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.45852208,"cg_iw_a":-1.32058454,"cg_theta_rad":0.556606174,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.00799531396,"mpcc_du":49.6231689,"mpcc_dv":49.7652092,"mpcc_dw":50.3768311,"mpcc_enc_sign":1,"mpcc_id_a":1.54920387,"mpcc_iq_a":-0.681347132,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.06803834,"mpcc_pred_id_a":-0.412054121,"mpcc_pred_iq_a":-3.3891387,"mpcc_state":1,"mpcc_theta_e":0.441475868,"mpcc_theta_mech":0.555241108,"sam_rpm":1.1525054,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481240541,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.270252,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.45852208,"cg_iw_a":-1.53804755,"cg_theta_rad":0.556261301,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0659761131,"mpcc_du":50.0667648,"mpcc_dv":48.5187569,"mpcc_dw":51.4812431,"mpcc_enc_sign":1,"mpcc_id_a":4.26421785,"mpcc_iq_a":1.00686038,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.11357522,"mpcc_pred_id_a":0.957992256,"mpcc_pred_iq_a":-0.227877975,"mpcc_state":1,"mpcc_theta_e":0.439156532,"mpcc_theta_mech":0.554777205,"sam_rpm":-5.26769733,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481240541,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.276814,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.24105906,"cg_iw_a":-1.75551057,"cg_theta_rad":0.55536145,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.00848154072,"mpcc_du":50.1381493,"mpcc_dv":48.7666512,"mpcc_dw":51.2333488,"mpcc_enc_sign":1,"mpcc_id_a":-0.0987586454,"mpcc_iq_a":-1.61658251,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.10132647,"mpcc_pred_id_a":0.0693655312,"mpcc_pred_iq_a":-2.0738399,"mpcc_state":1,"mpcc_theta_e":0.443500042,"mpcc_theta_mech":0.555645943,"sam_rpm":-1.12094605,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022199586,"thr_a_norm":0.022199586,"thr_a_v":0.588798344,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479578853,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.287006,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.45852208,"cg_iw_a":-0.378245115,"cg_theta_rad":0.554267049,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0488802418,"mpcc_du":49.6513977,"mpcc_dv":49.5851784,"mpcc_dw":50.4148216,"mpcc_enc_sign":1,"mpcc_id_a":0.583080411,"mpcc_iq_a":-1.91960871,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.46193147,"mpcc_pred_id_a":-0.434186459,"mpcc_pred_iq_a":-0.101662554,"mpcc_state":1,"mpcc_theta_e":0.429417133,"mpcc_theta_mech":0.552829385,"sam_rpm":-7.56366158,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0135637373,"thr_a_norm":0.022199586,"thr_a_v":0.554254949,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474543363,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.297016,"values":{"cg_iu_a":3.93890953,"cg_iv_a":-0.661157608,"cg_iw_a":-3.27775192,"cg_theta_rad":0.554306924,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0360230021,"mpcc_du":50.4384995,"mpcc_dv":48.5622559,"mpcc_dw":51.4377441,"mpcc_enc_sign":1,"mpcc_id_a":0.85807538,"mpcc_iq_a":0.0628622621,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.39829731,"mpcc_pred_id_a":-0.234557852,"mpcc_pred_iq_a":-2.25335169,"mpcc_state":1,"mpcc_theta_e":0.440278053,"mpcc_theta_mech":0.555001557,"sam_rpm":-7.51254845,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0135637373,"thr_a_norm":0.0135637373,"thr_a_v":0.554254949,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474543363,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.307423,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.588670254,"cg_iw_a":-0.305757046,"cg_theta_rad":0.553829491,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.000752989261,"mpcc_du":50.1546669,"mpcc_dv":48.8549042,"mpcc_dw":51.1450958,"mpcc_enc_sign":1,"mpcc_id_a":0.480831891,"mpcc_iq_a":-1.42279232,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.02931547,"mpcc_pred_id_a":-0.0461241938,"mpcc_pred_iq_a":-0.974268436,"mpcc_state":1,"mpcc_theta_e":0.440784454,"mpcc_theta_mech":0.555102825,"sam_rpm":-7.26358986,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194426626,"thr_a_norm":0.0194426626,"thr_a_v":0.57777065,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468953997,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.317219,"values":{"cg_iu_a":2.63413143,"cg_iv_a":0.861083508,"cg_iw_a":0.926533222,"cg_theta_rad":0.555218995,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0234256405,"mpcc_du":50.0492554,"mpcc_dv":48.6570816,"mpcc_dw":51.3429184,"mpcc_enc_sign":1,"mpcc_id_a":3.05159473,"mpcc_iq_a":-0.879070103,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.302392,"mpcc_pred_id_a":0.628185451,"mpcc_pred_iq_a":-2.39510441,"mpcc_state":1,"mpcc_theta_e":0.427244663,"mpcc_theta_mech":0.552394807,"sam_rpm":-24.2000313,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194426626,"thr_a_norm":0.0194426626,"thr_a_v":0.57777065,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468953997,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.327412,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.951108456,"cg_iw_a":0.491607189,"cg_theta_rad":0.556204259,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0383920707,"mpcc_du":49.5428238,"mpcc_dv":50.4571762,"mpcc_dw":50.3638229,"mpcc_enc_sign":1,"mpcc_id_a":1.18929636,"mpcc_iq_a":-1.79637289,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.64186573,"mpcc_pred_id_a":0.036428459,"mpcc_pred_iq_a":-0.889350235,"mpcc_state":1,"mpcc_theta_e":0.436082363,"mpcc_theta_mech":0.554162383,"sam_rpm":4.56067276,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195937157,"thr_a_norm":0.0195937157,"thr_a_v":0.578374863,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477463931,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.337605,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-2.32837415,"cg_iw_a":0.926532984,"cg_theta_rad":0.556487024,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0186767671,"mpcc_du":50.7293701,"mpcc_dv":47.9480247,"mpcc_dw":52.0519753,"mpcc_enc_sign":1,"mpcc_id_a":2.44837642,"mpcc_iq_a":-1.83681297,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.8833828,"mpcc_pred_id_a":0.297847182,"mpcc_pred_iq_a":-0.856525362,"mpcc_state":1,"mpcc_theta_e":0.438432217,"mpcc_theta_mech":0.554632366,"sam_rpm":-16.5786095,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0143820047,"thr_a_norm":0.0195937157,"thr_a_v":0.557528019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.436878026,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.360615,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.60349751,"cg_iw_a":0.564094543,"cg_theta_rad":0.558428109,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0114555154,"mpcc_du":50.5338135,"mpcc_dv":48.4804993,"mpcc_dw":51.5195007,"mpcc_enc_sign":1,"mpcc_id_a":2.27272439,"mpcc_iq_a":-0.353648484,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.24876857,"mpcc_pred_id_a":-0.32894817,"mpcc_pred_iq_a":-1.92699671,"mpcc_state":1,"mpcc_theta_e":0.451618671,"mpcc_theta_mech":0.557269692,"sam_rpm":-2.73412108,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0143820047,"thr_a_norm":0.0143820047,"thr_a_v":0.557528019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.436878026,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.367146,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-2.76329994,"cg_iw_a":-2.19043732,"cg_theta_rad":0.557498872,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0333446115,"mpcc_du":49.6755562,"mpcc_dv":49.3077888,"mpcc_dw":50.6922112,"mpcc_enc_sign":1,"mpcc_id_a":1.97980332,"mpcc_iq_a":0.213858858,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.36795902,"mpcc_pred_id_a":0.23309505,"mpcc_pred_iq_a":-2.2701304,"mpcc_state":1,"mpcc_theta_e":0.447999477,"mpcc_theta_mech":0.556545794,"sam_rpm":8.53794098,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027285412,"thr_a_norm":0.027285412,"thr_a_v":0.609141648,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486578166,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.373676,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-3.56066442,"cg_iw_a":1.07150817,"cg_theta_rad":0.557175159,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0320710354,"mpcc_du":49.2907715,"mpcc_dv":50.7092285,"mpcc_dw":49.9443283,"mpcc_enc_sign":1,"mpcc_id_a":0.712598681,"mpcc_iq_a":0.275054574,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.8134537,"mpcc_pred_id_a":-0.373167425,"mpcc_pred_iq_a":-5.23211956,"mpcc_state":1,"mpcc_theta_e":0.431965828,"mpcc_theta_mech":0.553339064,"sam_rpm":19.729044,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027285412,"thr_a_norm":0.027285412,"thr_a_v":0.609141648,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486578166,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.380177,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.31354666,"cg_iw_a":0.274143696,"cg_theta_rad":0.556577921,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.00886517018,"mpcc_du":49.6611099,"mpcc_dv":50.1967773,"mpcc_dw":50.3388901,"mpcc_enc_sign":1,"mpcc_id_a":-0.423138827,"mpcc_iq_a":-1.92940772,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.4404974,"mpcc_pred_id_a":-0.565334916,"mpcc_pred_iq_a":-4.86128139,"mpcc_state":1,"mpcc_theta_e":0.450671196,"mpcc_theta_mech":0.55708015,"sam_rpm":13.0724087,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178061277,"thr_a_norm":0.0178061277,"thr_a_v":0.571224511,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443172365,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.387989,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.82096052,"cg_iw_a":0.346631527,"cg_theta_rad":0.556320012,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.00472985813,"mpcc_du":50.4039192,"mpcc_dv":48.5363731,"mpcc_dw":51.4636269,"mpcc_enc_sign":1,"mpcc_id_a":1.26973605,"mpcc_iq_a":-1.28020644,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.03780842,"mpcc_pred_id_a":-0.244393423,"mpcc_pred_iq_a":-0.843152106,"mpcc_state":1,"mpcc_theta_e":0.436302185,"mpcc_theta_mech":0.554206312,"sam_rpm":-10.6710215,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217086226,"thr_a_norm":0.0178061277,"thr_a_v":0.58683449,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472680271,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.397999,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.951108456,"cg_iw_a":-2.04546118,"cg_theta_rad":0.552690864,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.00872822572,"mpcc_du":49.3659439,"mpcc_dv":50.6340561,"mpcc_dw":50.0846748,"mpcc_enc_sign":1,"mpcc_id_a":0.653555453,"mpcc_iq_a":-3.08270693,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.98265529,"mpcc_pred_id_a":-0.244416207,"mpcc_pred_iq_a":-4.98323631,"mpcc_state":1,"mpcc_theta_e":0.441954136,"mpcc_theta_mech":0.555336714,"sam_rpm":5.6148448,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217086226,"thr_a_norm":0.0217086226,"thr_a_v":0.58683449,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472680271,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.408161,"values":{"cg_iu_a":2.85159445,"cg_iv_a":0.136206627,"cg_iw_a":-0.958146572,"cg_theta_rad":0.556032062,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0141087342,"mpcc_du":49.087204,"mpcc_dv":50.912796,"mpcc_dw":49.8792686,"mpcc_enc_sign":1,"mpcc_id_a":2.23976231,"mpcc_iq_a":-0.409925669,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.8556414,"mpcc_pred_id_a":0.109292708,"mpcc_pred_iq_a":-2.82594037,"mpcc_state":1,"mpcc_theta_e":0.443114281,"mpcc_theta_mech":0.555568814,"sam_rpm":15.2359066,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0440283865,"thr_a_norm":0.0440283865,"thr_a_v":0.676113546,"thr_b":0.0107564628,"thr_b_norm":0.0107564628,"thr_b_v":0.543025851,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.418201,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.16857147,"cg_iw_a":-1.61053514,"cg_theta_rad":0.554067731,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0194077548,"mpcc_du":50.1038055,"mpcc_dv":48.6826363,"mpcc_dw":51.3173637,"mpcc_enc_sign":1,"mpcc_id_a":2.19749022,"mpcc_iq_a":-1.69877124,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.92191982,"mpcc_pred_id_a":0.261039674,"mpcc_pred_iq_a":-0.129185274,"mpcc_state":1,"mpcc_theta_e":0.431610107,"mpcc_theta_mech":0.553267956,"sam_rpm":-13.4834461,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0440283865,"thr_a_norm":0.0440283865,"thr_a_v":0.676113546,"thr_b":0.0107564628,"thr_b_norm":0.0107564628,"thr_b_v":0.543025851,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.428181,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.24105906,"cg_iw_a":-0.378245115,"cg_theta_rad":0.555316508,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0482424423,"mpcc_du":49.5472946,"mpcc_dv":50.3146019,"mpcc_dw":50.4527054,"mpcc_enc_sign":1,"mpcc_id_a":2.13955736,"mpcc_iq_a":-2.35344505,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.70510864,"mpcc_pred_id_a":0.117522493,"mpcc_pred_iq_a":-4.05178213,"mpcc_state":1,"mpcc_theta_e":0.428571701,"mpcc_theta_mech":0.552660227,"sam_rpm":-16.001545,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452236176,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.438435,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.24105906,"cg_iw_a":-2.11794925,"cg_theta_rad":0.556826234,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.000353881245,"mpcc_du":50.7779312,"mpcc_dv":48.1052361,"mpcc_dw":51.8947639,"mpcc_enc_sign":1,"mpcc_id_a":0.362627774,"mpcc_iq_a":-2.01495504,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.64202499,"mpcc_pred_id_a":-0.293825865,"mpcc_pred_iq_a":1.17012346,"mpcc_state":1,"mpcc_theta_e":0.438826561,"mpcc_theta_mech":0.554711223,"sam_rpm":-8.85536766,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234458596,"thr_a_norm":0.0192160606,"thr_a_v":0.593783438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.461445,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.31354666,"cg_iw_a":-0.958146572,"cg_theta_rad":0.555249989,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.00247099274,"mpcc_du":49.7147026,"mpcc_dv":49.9876022,"mpcc_dw":50.2852974,"mpcc_enc_sign":1,"mpcc_id_a":-0.379725546,"mpcc_iq_a":-2.87451839,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.13993526,"mpcc_pred_id_a":-0.842506707,"mpcc_pred_iq_a":-2.95653176,"mpcc_state":1,"mpcc_theta_e":0.444931984,"mpcc_theta_mech":0.555932283,"sam_rpm":8.70325565,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234458596,"thr_a_norm":0.0234458596,"thr_a_v":0.593783438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.467976,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.661157608,"cg_iw_a":0.12916851,"cg_theta_rad":0.55555898,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.00973089412,"mpcc_du":49.9403801,"mpcc_dv":49.2508469,"mpcc_dw":50.7491531,"mpcc_enc_sign":1,"mpcc_id_a":-0.49468714,"mpcc_iq_a":-1.56991458,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.3071499,"mpcc_pred_id_a":-0.367941052,"mpcc_pred_iq_a":-1.33387947,"mpcc_state":1,"mpcc_theta_e":0.452836514,"mpcc_theta_mech":0.557513177,"sam_rpm":15.5780058,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211169571,"thr_a_norm":0.0211169571,"thr_a_v":0.584467828,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476910055,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.474476,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.371207237,"cg_iw_a":-0.523220062,"cg_theta_rad":0.553871751,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0161818322,"mpcc_du":49.5759201,"mpcc_dv":49.9370155,"mpcc_dw":50.4240799,"mpcc_enc_sign":1,"mpcc_id_a":0.435245097,"mpcc_iq_a":-0.99325788,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.22301602,"mpcc_pred_id_a":-0.0332595482,"mpcc_pred_iq_a":-5.15192175,"mpcc_state":1,"mpcc_theta_e":0.447156429,"mpcc_theta_mech":0.556377232,"sam_rpm":5.21727276,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211169571,"thr_a_norm":0.0211169571,"thr_a_v":0.584467828,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476910055,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.480976,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.371207237,"cg_iw_a":-0.958146572,"cg_theta_rad":0.55719018,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0602011122,"mpcc_du":49.9460258,"mpcc_dv":48.8632851,"mpcc_dw":51.1367149,"mpcc_enc_sign":1,"mpcc_id_a":2.47908449,"mpcc_iq_a":-0.926228464,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.49619532,"mpcc_pred_id_a":0.610225201,"mpcc_pred_iq_a":-2.30198836,"mpcc_state":1,"mpcc_theta_e":0.454126358,"mpcc_theta_mech":0.557771206,"sam_rpm":12.4070883,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219603926,"thr_a_norm":0.0219603926,"thr_a_v":0.58784157,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481089473,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.491047,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.661157608,"cg_iw_a":-1.82799864,"cg_theta_rad":0.552255452,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0260011051,"mpcc_du":49.9426003,"mpcc_dv":48.7274323,"mpcc_dw":51.2725677,"mpcc_enc_sign":1,"mpcc_id_a":1.15545082,"mpcc_iq_a":-0.496742994,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.30821991,"mpcc_pred_id_a":0.393642902,"mpcc_pred_iq_a":-1.1621002,"mpcc_state":1,"mpcc_theta_e":0.442538738,"mpcc_theta_mech":0.555453658,"sam_rpm":-21.5464821,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022300303,"thr_a_norm":0.0219603926,"thr_a_v":0.589201212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480585933,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.50301,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-2.40086174,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556242347,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.00728003262,"mpcc_du":50.235836,"mpcc_dv":48.747612,"mpcc_dw":51.252388,"mpcc_enc_sign":1,"mpcc_id_a":1.59189653,"mpcc_iq_a":-3.29803205,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.54634118,"mpcc_pred_id_a":-0.192988724,"mpcc_pred_iq_a":-2.88367653,"mpcc_state":1,"mpcc_theta_e":0.44285059,"mpcc_theta_mech":0.555516005,"sam_rpm":-4.14937782,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022300303,"thr_a_norm":0.022300303,"thr_a_v":0.589201212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480585933,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.513142,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.53100967,"cg_iw_a":0.78155756,"cg_theta_rad":0.557429433,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0510285459,"mpcc_du":50.2310524,"mpcc_dv":48.6232605,"mpcc_dw":51.3767395,"mpcc_enc_sign":1,"mpcc_id_a":2.9915688,"mpcc_iq_a":-1.52963889,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.53127038,"mpcc_pred_id_a":0.507769763,"mpcc_pred_iq_a":-5.05568933,"mpcc_state":1,"mpcc_theta_e":0.448955536,"mpcc_theta_mech":0.556737006,"sam_rpm":2.68824577,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025799945,"thr_a_norm":0.025799945,"thr_a_v":0.60319978,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497001588,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.523212,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-2.25588632,"cg_iw_a":-1.8279984,"cg_theta_rad":0.554849207,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.00408428768,"mpcc_du":50.0400963,"mpcc_dv":49.0237923,"mpcc_dw":50.9762077,"mpcc_enc_sign":1,"mpcc_id_a":0.187598407,"mpcc_iq_a":-0.865004897,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.2218227,"mpcc_pred_id_a":-0.175910264,"mpcc_pred_iq_a":-2.9744482,"mpcc_state":1,"mpcc_theta_e":0.431233883,"mpcc_theta_mech":0.553192675,"sam_rpm":-13.1195107,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179320127,"thr_a_norm":0.025799945,"thr_a_v":0.571728051,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457473099,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.533192,"values":{"cg_iu_a":2.27169323,"cg_iv_a":0.208694458,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556428134,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0282339677,"mpcc_du":50.5190926,"mpcc_dv":48.0851097,"mpcc_dw":51.9148903,"mpcc_enc_sign":1,"mpcc_id_a":3.19397163,"mpcc_iq_a":-1.09376204,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.7253428,"mpcc_pred_id_a":0.36321786,"mpcc_pred_iq_a":-1.04994226,"mpcc_state":1,"mpcc_theta_e":0.430472851,"mpcc_theta_mech":0.553040445,"sam_rpm":-20.9946938,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179320127,"thr_a_norm":0.0179320127,"thr_a_v":0.571728051,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457473099,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.556477,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.661157608,"cg_iw_a":-2.19043684,"cg_theta_rad":0.55294323,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0295991171,"mpcc_du":51.1645699,"mpcc_dv":47.1429939,"mpcc_dw":52.8570061,"mpcc_enc_sign":1,"mpcc_id_a":3.07129455,"mpcc_iq_a":0.224566191,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.4371567,"mpcc_pred_id_a":0.53174752,"mpcc_pred_iq_a":2.15183353,"mpcc_state":1,"mpcc_theta_e":0.424221516,"mpcc_theta_mech":0.551790178,"sam_rpm":-30.3768539,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244277716,"thr_a_norm":0.0244277716,"thr_a_v":0.597711086,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493023574,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.562946,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.951108456,"cg_iw_a":-2.11794901,"cg_theta_rad":0.556806505,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.00757882651,"mpcc_du":49.5421181,"mpcc_dv":49.8993454,"mpcc_dw":50.4578819,"mpcc_enc_sign":1,"mpcc_id_a":0.853798151,"mpcc_iq_a":-0.96017164,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.15937948,"mpcc_pred_id_a":-0.164957628,"mpcc_pred_iq_a":-3.73624516,"mpcc_state":1,"mpcc_theta_e":0.445837021,"mpcc_theta_mech":0.556113362,"sam_rpm":7.30961466,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244277716,"thr_a_norm":0.0244277716,"thr_a_v":0.597711086,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493023574,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.569477,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.74847269,"cg_iw_a":-2.19043684,"cg_theta_rad":0.553923309,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.00767165795,"mpcc_du":49.8985291,"mpcc_dv":49.0244064,"mpcc_dw":50.9755936,"mpcc_enc_sign":1,"mpcc_id_a":0.89243412,"mpcc_iq_a":-1.54204988,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.49591637,"mpcc_pred_id_a":0.0144687863,"mpcc_pred_iq_a":-0.594858885,"mpcc_state":1,"mpcc_theta_e":0.450000763,"mpcc_theta_mech":0.556946099,"sam_rpm":13.2184277,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469306499,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.575977,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.60349751,"cg_iw_a":-1.82799816,"cg_theta_rad":0.557344496,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0170343239,"mpcc_du":50.340538,"mpcc_dv":48.4797859,"mpcc_dw":51.5202141,"mpcc_enc_sign":1,"mpcc_id_a":1.65328944,"mpcc_iq_a":-0.968796611,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.91394889,"mpcc_pred_id_a":0.0422310382,"mpcc_pred_iq_a":-0.116192468,"mpcc_state":1,"mpcc_theta_e":0.444704056,"mpcc_theta_mech":0.555886686,"sam_rpm":-21.8638439,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269706994,"thr_a_norm":0.0224387646,"thr_a_v":0.607882798,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489246964,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.583973,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.806133032,"cg_iw_a":-0.450732946,"cg_theta_rad":0.555242896,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.00259451265,"mpcc_du":50.355751,"mpcc_dv":48.403656,"mpcc_dw":51.596344,"mpcc_enc_sign":1,"mpcc_id_a":0.974559486,"mpcc_iq_a":-0.716948211,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.8122864,"mpcc_pred_id_a":0.057103686,"mpcc_pred_iq_a":-1.09253407,"mpcc_state":1,"mpcc_theta_e":0.428627968,"mpcc_theta_mech":0.552671492,"sam_rpm":-20.887249,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269706994,"thr_a_norm":0.0269706994,"thr_a_v":0.607882798,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489246964,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.594318,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-2.18339872,"cg_iw_a":-0.305757523,"cg_theta_rad":0.556139052,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0106590744,"mpcc_du":49.5680847,"mpcc_dv":50.0529823,"mpcc_dw":50.4319153,"mpcc_enc_sign":1,"mpcc_id_a":1.07217133,"mpcc_iq_a":-1.01183605,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.35990381,"mpcc_pred_id_a":-0.181218609,"mpcc_pred_iq_a":-4.62723494,"mpcc_state":1,"mpcc_theta_e":0.441773415,"mpcc_theta_mech":0.555300593,"sam_rpm":6.35089731,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0440787375,"thr_a_norm":0.0440787375,"thr_a_v":0.67631495,"thr_b":0.0125692338,"thr_b_norm":0.0125692338,"thr_b_v":0.550276935,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.606586,"values":{"cg_iu_a":1.98174238,"cg_iv_a":0.208694458,"cg_iw_a":-2.19043684,"cg_theta_rad":0.555728674,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0189409014,"mpcc_du":50.1470833,"mpcc_dv":48.4743767,"mpcc_dw":51.5256233,"mpcc_enc_sign":1,"mpcc_id_a":2.60218763,"mpcc_iq_a":0.743240058,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.18334866,"mpcc_pred_id_a":0.492170066,"mpcc_pred_iq_a":1.70962894,"mpcc_state":1,"mpcc_theta_e":0.430700779,"mpcc_theta_mech":0.553086042,"sam_rpm":-5.847651,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0231437385,"thr_a_norm":0.0440787375,"thr_a_v":0.592574954,"thr_b":0,"thr_b_norm":0.0125692338,"thr_b_v":0.486678869,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.616413,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.89344811,"cg_iw_a":-0.958146334,"cg_theta_rad":0.557802737,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0246331543,"mpcc_du":49.5924454,"mpcc_dv":49.4238091,"mpcc_dw":50.5761909,"mpcc_enc_sign":1,"mpcc_id_a":-0.218676403,"mpcc_iq_a":-1.84199035,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.36751223,"mpcc_pred_id_a":-0.527377069,"mpcc_pred_iq_a":-3.62546802,"mpcc_state":1,"mpcc_theta_e":0.450103283,"mpcc_theta_mech":0.556141078,"sam_rpm":15.1269016,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0231437385,"thr_a_norm":0.0231437385,"thr_a_v":0.592574954,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486678869,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.626606,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.09608364,"cg_iw_a":-1.82799864,"cg_theta_rad":0.554662168,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":7.22500627e-05,"mpcc_du":49.6395836,"mpcc_dv":50.116703,"mpcc_dw":50.3604164,"mpcc_enc_sign":1,"mpcc_id_a":-0.146257445,"mpcc_iq_a":-2.05689216,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.77126694,"mpcc_pred_id_a":-0.5949561,"mpcc_pred_iq_a":-3.73556066,"mpcc_state":1,"mpcc_theta_e":0.442948341,"mpcc_theta_mech":0.555535614,"sam_rpm":7.74490499,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218345076,"thr_a_norm":0.0218345076,"thr_a_v":0.58733803,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470414281,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.636555,"values":{"cg_iu_a":2.70661926,"cg_iv_a":0.57113266,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556622863,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0359243788,"mpcc_du":50.1791306,"mpcc_dv":48.6671829,"mpcc_dw":51.3328171,"mpcc_enc_sign":1,"mpcc_id_a":2.64212394,"mpcc_iq_a":-1.25277853,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.82001162,"mpcc_pred_id_a":0.099826403,"mpcc_pred_iq_a":-2.67566729,"mpcc_state":1,"mpcc_theta_e":0.444149017,"mpcc_theta_mech":0.555775702,"sam_rpm":-3.77951097,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218345076,"thr_a_norm":0.0218345076,"thr_a_v":0.58733803,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470414281,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.659992,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.02359605,"cg_iw_a":-1.10312152,"cg_theta_rad":0.554464102,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.023506701,"mpcc_du":51.5680656,"mpcc_dv":46.8991127,"mpcc_dw":53.1008873,"mpcc_enc_sign":1,"mpcc_id_a":2.66226578,"mpcc_iq_a":-0.336338729,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.7583561,"mpcc_pred_id_a":0.109615825,"mpcc_pred_iq_a":3.37358785,"mpcc_state":1,"mpcc_theta_e":0.428097248,"mpcc_theta_mech":0.552565336,"sam_rpm":-26.3306599,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276756734,"thr_a_norm":0.0276756734,"thr_a_v":0.610702693,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487937719,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.666584,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.74847269,"cg_iw_a":-0.378244877,"cg_theta_rad":0.55488044,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0234517846,"mpcc_du":49.5969009,"mpcc_dv":49.3588753,"mpcc_dw":50.6411247,"mpcc_enc_sign":1,"mpcc_id_a":2.4548769,"mpcc_iq_a":0.0542940423,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.916924,"mpcc_pred_id_a":0.239938855,"mpcc_pred_iq_a":-3.3765018,"mpcc_state":1,"mpcc_theta_e":0.438831806,"mpcc_theta_mech":0.554712296,"sam_rpm":-4.73422241,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0320942998,"thr_a_norm":0.0276756734,"thr_a_v":0.628377199,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499317914,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.673115,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.6759851,"cg_iw_a":-1.24809718,"cg_theta_rad":0.555281043,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0210408363,"mpcc_du":49.5997276,"mpcc_dv":49.283886,"mpcc_dw":50.716114,"mpcc_enc_sign":1,"mpcc_id_a":2.46717787,"mpcc_iq_a":-0.604354322,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.69250607,"mpcc_pred_id_a":0.358109146,"mpcc_pred_iq_a":-3.16393661,"mpcc_state":1,"mpcc_theta_e":0.440881729,"mpcc_theta_mech":0.555122256,"sam_rpm":-2.53751111,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0320942998,"thr_a_norm":0.0320942998,"thr_a_v":0.628377199,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499317914,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.679768,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.31354666,"cg_iw_a":0.419119358,"cg_theta_rad":0.555970967,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0363271534,"mpcc_du":49.8852692,"mpcc_dv":48.9581909,"mpcc_dw":51.0418091,"mpcc_enc_sign":1,"mpcc_id_a":2.48342896,"mpcc_iq_a":-0.91451633,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.47208834,"mpcc_pred_id_a":0.343836784,"mpcc_pred_iq_a":-1.84424782,"mpcc_state":1,"mpcc_theta_e":0.449406147,"mpcc_theta_mech":0.556827128,"sam_rpm":8.53029156,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212050676,"thr_a_norm":0.0212050676,"thr_a_v":0.584820271,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477363229,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.68993,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.09608364,"cg_iw_a":-1.03063393,"cg_theta_rad":0.554990828,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0481299907,"mpcc_du":49.8180122,"mpcc_dv":49.2241211,"mpcc_dw":50.7758789,"mpcc_enc_sign":1,"mpcc_id_a":0.794881165,"mpcc_iq_a":-3.01025891,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.3624277,"mpcc_pred_id_a":-0.0251130052,"mpcc_pred_iq_a":-4.32798672,"mpcc_state":1,"mpcc_theta_e":0.462380886,"mpcc_theta_mech":0.559422135,"sam_rpm":22.4370136,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025497824,"thr_a_norm":0.0212050676,"thr_a_v":0.601991296,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.699848,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.516182423,"cg_iw_a":-2.69785023,"cg_theta_rad":0.555436552,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0582849272,"mpcc_du":49.9172249,"mpcc_dv":48.6658173,"mpcc_dw":51.3341827,"mpcc_enc_sign":1,"mpcc_id_a":4.57404613,"mpcc_iq_a":-1.90971637,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.8789101,"mpcc_pred_id_a":0.879259229,"mpcc_pred_iq_a":-1.23688793,"mpcc_state":1,"mpcc_theta_e":0.430110455,"mpcc_theta_mech":0.552968025,"sam_rpm":-17.7617302,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025497824,"thr_a_norm":0.025497824,"thr_a_v":0.601991296,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.70998,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.153744221,"cg_iw_a":-0.015806675,"cg_theta_rad":0.554382563,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.04003134,"mpcc_du":50.1575165,"mpcc_dv":48.4651833,"mpcc_dw":51.5348167,"mpcc_enc_sign":1,"mpcc_id_a":3.67218232,"mpcc_iq_a":-0.419145286,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.83136845,"mpcc_pred_id_a":0.652319252,"mpcc_pred_iq_a":-1.05610383,"mpcc_state":1,"mpcc_theta_e":0.43742466,"mpcc_theta_mech":0.554430842,"sam_rpm":-10.9481163,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247047395,"thr_a_norm":0.0247047395,"thr_a_v":0.598818958,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480988771,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.71999,"values":{"cg_iu_a":2.5616436,"cg_iv_a":0.788595676,"cg_iw_a":-3.35023928,"cg_theta_rad":0.557070374,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0604581833,"mpcc_du":50.0868645,"mpcc_dv":48.7922363,"mpcc_dw":51.2077637,"mpcc_enc_sign":1,"mpcc_id_a":2.76065826,"mpcc_iq_a":-0.671020806,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.263678581,"mpcc_pred_id_a":0.138994858,"mpcc_pred_iq_a":-3.30815005,"mpcc_state":1,"mpcc_theta_e":0.44762516,"mpcc_theta_mech":0.55647099,"sam_rpm":0.605107486,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247047395,"thr_a_norm":0.0247047395,"thr_a_v":0.598818958,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480988771,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.73,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.443694592,"cg_iw_a":-1.90048599,"cg_theta_rad":0.553786039,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0640258938,"mpcc_du":49.9445915,"mpcc_dv":48.9021912,"mpcc_dw":51.0978088,"mpcc_enc_sign":1,"mpcc_id_a":2.27713084,"mpcc_iq_a":1.19554138,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.421890914,"mpcc_pred_id_a":0.341273665,"mpcc_pred_iq_a":-2.17420125,"mpcc_state":1,"mpcc_theta_e":0.442042351,"mpcc_theta_mech":0.555354416,"sam_rpm":0.645631373,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156534761,"thr_a_norm":0.0156534761,"thr_a_v":0.562613904,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455257475,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.740192,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-0.951108456,"cg_iw_a":-2.40789986,"cg_theta_rad":0.556244254,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0501715355,"mpcc_du":49.8215637,"mpcc_dv":48.7240067,"mpcc_dw":51.2759933,"mpcc_enc_sign":1,"mpcc_id_a":4.47650862,"mpcc_iq_a":-1.43521404,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.25661659,"mpcc_pred_id_a":1.18283379,"mpcc_pred_iq_a":-1.84468687,"mpcc_state":1,"mpcc_theta_e":0.436089039,"mpcc_theta_mech":0.554163754,"sam_rpm":-13.5953531,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023533985,"thr_a_norm":0.0156534761,"thr_a_v":0.59413594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472831309,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.763203,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.806133032,"cg_iw_a":0.0566809177,"cg_theta_rad":0.556112289,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.000522506598,"mpcc_du":50.6691055,"mpcc_dv":48.2260704,"mpcc_dw":51.7739296,"mpcc_enc_sign":1,"mpcc_id_a":-0.20327276,"mpcc_iq_a":-2.06640434,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.6975136,"mpcc_pred_id_a":-0.321604967,"mpcc_pred_iq_a":-0.548532426,"mpcc_state":1,"mpcc_theta_e":0.430157185,"mpcc_theta_mech":0.552977383,"sam_rpm":-19.3730183,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023533985,"thr_a_norm":0.023533985,"thr_a_v":0.59413594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472831309,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.769733,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.733645439,"cg_iw_a":-1.82799816,"cg_theta_rad":0.555705249,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0114712184,"mpcc_du":49.575901,"mpcc_dv":49.7658234,"mpcc_dw":50.424099,"mpcc_enc_sign":1,"mpcc_id_a":-0.116842203,"mpcc_iq_a":-1.47157156,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.8575871,"mpcc_pred_id_a":-0.187026784,"mpcc_pred_iq_a":-4.9861393,"mpcc_state":1,"mpcc_theta_e":0.438352585,"mpcc_theta_mech":0.554616451,"sam_rpm":4.59330845,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260643214,"thr_a_norm":0.0260643214,"thr_a_v":0.604257286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486779571,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.776264,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.226231575,"cg_iw_a":-2.77033806,"cg_theta_rad":0.557269633,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0343310684,"mpcc_du":51.1246109,"mpcc_dv":47.6460571,"mpcc_dw":52.3539429,"mpcc_enc_sign":1,"mpcc_id_a":1.98955178,"mpcc_iq_a":-0.0233700946,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.5898542,"mpcc_pred_id_a":-0.258002192,"mpcc_pred_iq_a":0.250804275,"mpcc_state":1,"mpcc_theta_e":0.461016178,"mpcc_theta_mech":0.559149146,"sam_rpm":-15.9002457,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260643214,"thr_a_norm":0.0260643214,"thr_a_v":0.604257286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486779571,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.782734,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.153744221,"cg_iw_a":-1.53804731,"cg_theta_rad":0.556671858,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.00233911932,"mpcc_du":50.0955124,"mpcc_dv":48.6757584,"mpcc_dw":51.3242416,"mpcc_enc_sign":1,"mpcc_id_a":0.962439835,"mpcc_iq_a":-1.39325678,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.8195772,"mpcc_pred_id_a":-0.441621602,"mpcc_pred_iq_a":-6.89021921,"mpcc_state":1,"mpcc_theta_e":0.452018261,"mpcc_theta_mech":0.550939441,"sam_rpm":11.4956608,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0411959141,"thr_a_norm":0.0411959141,"thr_a_v":0.664783657,"thr_b":0.0118013322,"thr_b_norm":0.0118013322,"thr_b_v":0.547205329,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.792774,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.09608364,"cg_iw_a":-2.19043684,"cg_theta_rad":0.557254791,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0427702554,"mpcc_du":50.3004608,"mpcc_dv":48.4991035,"mpcc_dw":51.5008965,"mpcc_enc_sign":1,"mpcc_id_a":2.08559418,"mpcc_iq_a":-0.564067483,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.65457892,"mpcc_pred_id_a":0.157635882,"mpcc_pred_iq_a":-1.94397783,"mpcc_state":1,"mpcc_theta_e":0.441280842,"mpcc_theta_mech":0.555202127,"sam_rpm":-3.45561385,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263160914,"thr_a_norm":0.0411959141,"thr_a_v":0.605264366,"thr_b":0,"thr_b_norm":0.0118013322,"thr_b_v":0.496951222,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.804554,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.153744221,"cg_iw_a":-1.10312176,"cg_theta_rad":0.555673599,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0202619229,"mpcc_du":49.3552017,"mpcc_dv":50.6447983,"mpcc_dw":50.3263435,"mpcc_enc_sign":1,"mpcc_id_a":2.81245875,"mpcc_iq_a":-0.213917658,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.96618414,"mpcc_pred_id_a":0.350641519,"mpcc_pred_iq_a":-3.1473856,"mpcc_state":1,"mpcc_theta_e":0.441551208,"mpcc_theta_mech":0.555256188,"sam_rpm":10.4767265,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263160914,"thr_a_norm":0.0263160914,"thr_a_v":0.605264366,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496951222,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.814625,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.443694592,"cg_iw_a":-0.740683556,"cg_theta_rad":0.554284871,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0342865847,"mpcc_du":50.200985,"mpcc_dv":48.7812729,"mpcc_dw":51.2187271,"mpcc_enc_sign":1,"mpcc_id_a":0.461320549,"mpcc_iq_a":-0.772664964,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.649766445,"mpcc_pred_id_a":-0.229978025,"mpcc_pred_iq_a":-3.2864852,"mpcc_state":1,"mpcc_theta_e":0.445921898,"mpcc_theta_mech":0.55613029,"sam_rpm":-2.66420865,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026681155,"thr_a_norm":0.026681155,"thr_a_v":0.60672462,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479377449,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.825153,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.09608364,"cg_iw_a":0.491606712,"cg_theta_rad":0.555752754,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.018341504,"mpcc_du":50.5039215,"mpcc_dv":48.2799149,"mpcc_dw":51.7200851,"mpcc_enc_sign":1,"mpcc_id_a":2.63815022,"mpcc_iq_a":-0.571736157,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.6874733,"mpcc_pred_id_a":0.0990199894,"mpcc_pred_iq_a":-0.413319468,"mpcc_state":1,"mpcc_theta_e":0.433754921,"mpcc_theta_mech":0.55369693,"sam_rpm":-18.3213596,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.104151964,"thr_a_norm":0.026681155,"thr_a_v":0.916607857,"thr_b":0.0463069379,"thr_b_norm":0,"thr_b_v":0.685227752,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.835163,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.16857147,"cg_iw_a":0.0566806793,"cg_theta_rad":0.552749574,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0806175023,"mpcc_du":49.9906998,"mpcc_dv":48.9611015,"mpcc_dw":51.0388985,"mpcc_enc_sign":1,"mpcc_id_a":2.13762093,"mpcc_iq_a":0.36030072,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.78318882,"mpcc_pred_id_a":0.0256018806,"mpcc_pred_iq_a":-1.96682203,"mpcc_state":1,"mpcc_theta_e":0.453036785,"mpcc_theta_mech":0.557553291,"sam_rpm":9.90866089,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.104151964,"thr_a_norm":0.104151964,"thr_a_v":0.916607857,"thr_b":0.0463069379,"thr_b_norm":0.0463069379,"thr_b_v":0.685227752,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.845173,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.661157608,"cg_iw_a":-2.84282589,"cg_theta_rad":0.556005001,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0148715153,"mpcc_du":50.2584381,"mpcc_dv":48.4702225,"mpcc_dw":51.5297775,"mpcc_enc_sign":1,"mpcc_id_a":2.43813634,"mpcc_iq_a":-1.52509284,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.4244366,"mpcc_pred_id_a":0.303778261,"mpcc_pred_iq_a":-2.10452676,"mpcc_state":1,"mpcc_theta_e":0.429044724,"mpcc_theta_mech":0.552754879,"sam_rpm":-21.7794971,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246417969,"thr_a_norm":0.0246417969,"thr_a_v":0.598567188,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487031341,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.869587,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.98780107,"cg_theta_rad":0.555095553,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.013273132,"mpcc_du":49.6458817,"mpcc_dv":50.0280533,"mpcc_dw":50.3541183,"mpcc_enc_sign":1,"mpcc_id_a":0.432515413,"mpcc_iq_a":-0.994449556,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.69748831,"mpcc_pred_id_a":-0.449524224,"mpcc_pred_iq_a":-4.34707975,"mpcc_state":1,"mpcc_theta_e":0.449903011,"mpcc_theta_mech":0.556926548,"sam_rpm":10.3198557,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186369866,"thr_a_norm":0.0246417969,"thr_a_v":0.574547946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459487319,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.876118,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-3.27071381,"cg_iw_a":2.52126169,"cg_theta_rad":0.553290904,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.00637733098,"mpcc_du":50.352066,"mpcc_dv":48.4505692,"mpcc_dw":51.5494308,"mpcc_enc_sign":1,"mpcc_id_a":0.518334091,"mpcc_iq_a":-0.835769832,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.12954426,"mpcc_pred_id_a":0.245365992,"mpcc_pred_iq_a":-1.32699788,"mpcc_state":1,"mpcc_theta_e":0.434400082,"mpcc_theta_mech":0.553825974,"sam_rpm":-12.9720469,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186369866,"thr_a_norm":0.0186369866,"thr_a_v":0.574547946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459487319,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.882648,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.443694592,"cg_iw_a":-0.885658741,"cg_theta_rad":0.557707012,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0271509886,"mpcc_du":50.4068146,"mpcc_dv":48.3720093,"mpcc_dw":51.6279907,"mpcc_enc_sign":1,"mpcc_id_a":2.32159638,"mpcc_iq_a":-0.412289113,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.89963818,"mpcc_pred_id_a":0.50621295,"mpcc_pred_iq_a":-0.612245917,"mpcc_state":1,"mpcc_theta_e":0.447029591,"mpcc_theta_mech":0.55635184,"sam_rpm":-18.9709435,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0930739194,"thr_a_norm":0.0930739194,"thr_a_v":0.872295678,"thr_b":0.0403902382,"thr_b_norm":0.0403902382,"thr_b_v":0.661560953,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.889149,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.588670254,"cg_iw_a":-2.26292419,"cg_theta_rad":0.556532025,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.020874517,"mpcc_du":50.131958,"mpcc_dv":48.6837959,"mpcc_dw":51.3162041,"mpcc_enc_sign":1,"mpcc_id_a":2.69862843,"mpcc_iq_a":-0.78702271,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.42041159,"mpcc_pred_id_a":0.331194848,"mpcc_pred_iq_a":-1.54302514,"mpcc_state":1,"mpcc_theta_e":0.434664726,"mpcc_theta_mech":0.553878903,"sam_rpm":-11.4678574,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0930739194,"thr_a_norm":0.0930739194,"thr_a_v":0.872295678,"thr_b":0.0403902382,"thr_b_norm":0.0403902382,"thr_b_v":0.661560953,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.898151,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.09608364,"cg_iw_a":1.57892179,"cg_theta_rad":0.556551516,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0792857856,"mpcc_du":49.687458,"mpcc_dv":49.1190758,"mpcc_dw":50.8809242,"mpcc_enc_sign":1,"mpcc_id_a":3.42778897,"mpcc_iq_a":1.56616187,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.17018366,"mpcc_pred_id_a":0.641041398,"mpcc_pred_iq_a":-2.09982228,"mpcc_state":1,"mpcc_theta_e":0.446080685,"mpcc_theta_mech":0.556162059,"sam_rpm":4.829669,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479024947,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.908405,"values":{"cg_iu_a":2.77910662,"cg_iv_a":0.0637187958,"cg_iw_a":-0.015806675,"cg_theta_rad":0.554551184,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0621920601,"mpcc_du":50.1102104,"mpcc_dv":48.6602287,"mpcc_dw":51.3397713,"mpcc_enc_sign":1,"mpcc_id_a":3.09255171,"mpcc_iq_a":-0.654872477,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.34679031,"mpcc_pred_id_a":0.499704212,"mpcc_pred_iq_a":-1.85827529,"mpcc_state":1,"mpcc_theta_e":0.450619698,"mpcc_theta_mech":0.557069898,"sam_rpm":5.58617735,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022174418,"thr_a_norm":0.0256614834,"thr_a_v":0.588697672,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482449085,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.918262,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.45852208,"cg_iw_a":-2.7703383,"cg_theta_rad":0.557434022,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0272093136,"mpcc_du":49.8097076,"mpcc_dv":49.1553955,"mpcc_dw":50.8446045,"mpcc_enc_sign":1,"mpcc_id_a":2.14052248,"mpcc_iq_a":-0.7900998,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.03449512,"mpcc_pred_id_a":0.150241479,"mpcc_pred_iq_a":-2.55820799,"mpcc_state":1,"mpcc_theta_e":0.447229385,"mpcc_theta_mech":0.556391776,"sam_rpm":4.94933319,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022174418,"thr_a_norm":0.022174418,"thr_a_v":0.588697672,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482449085,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.928364,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.153744221,"cg_iw_a":-1.90048599,"cg_theta_rad":0.55267787,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.0399992839,"mpcc_du":50.5014038,"mpcc_dv":48.5910034,"mpcc_dw":51.4089966,"mpcc_enc_sign":1,"mpcc_id_a":0.129558414,"mpcc_iq_a":-0.798317909,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.50191259,"mpcc_pred_id_a":-0.515001893,"mpcc_pred_iq_a":-3.09377265,"mpcc_state":1,"mpcc_theta_e":0.44337368,"mpcc_theta_mech":0.555620611,"sam_rpm":-5.55426073,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220233351,"thr_a_norm":0.0220233351,"thr_a_v":0.58809334,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487736315,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.938557,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-1.6759851,"cg_iw_a":0.636582375,"cg_theta_rad":0.55506289,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5000,"hz_app_loop":358,"hz_tim_isr":10000,"hz_vsense":358,"mpcc_cost":0.139157981,"mpcc_du":50.22715,"mpcc_dv":48.6146698,"mpcc_dw":51.3853302,"mpcc_enc_sign":1,"mpcc_id_a":2.32621622,"mpcc_iq_a":1.24673092,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.54607964,"mpcc_pred_id_a":0.327049881,"mpcc_pred_iq_a":-2.11861897,"mpcc_state":1,"mpcc_theta_e":0.452589989,"mpcc_theta_mech":0.557463884,"sam_rpm":10.3180285,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220233351,"thr_a_norm":0.0220233351,"thr_a_v":0.58809334,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487736315,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.949543,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.443694592,"cg_iw_a":-0.378245354,"cg_theta_rad":0.556448817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9918.08203,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0129009914,"mpcc_du":49.6633606,"mpcc_dv":49.3074684,"mpcc_dw":50.6925316,"mpcc_enc_sign":1,"mpcc_id_a":1.94388783,"mpcc_iq_a":-1.88377225,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.5714705,"mpcc_pred_id_a":0.235305816,"mpcc_pred_iq_a":-0.820218146,"mpcc_state":1,"mpcc_theta_e":0.440610886,"mpcc_theta_mech":0.555707991,"sam_rpm":2.83910155,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174032897,"thr_a_norm":0.0174032897,"thr_a_v":0.569613159,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452840477,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.972797,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.153744221,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556711197,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0114022801,"mpcc_du":50.0434341,"mpcc_dv":49.3378944,"mpcc_dw":50.6621056,"mpcc_enc_sign":1,"mpcc_id_a":-0.651388288,"mpcc_iq_a":-0.93838495,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.68647432,"mpcc_pred_id_a":-0.892862797,"mpcc_pred_iq_a":-4.48546505,"mpcc_state":1,"mpcc_theta_e":0.437124729,"mpcc_theta_mech":0.554370821,"sam_rpm":-8.12406254,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247802734,"thr_a_norm":0.0174032897,"thr_a_v":0.599121094,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491915792,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.979328,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.443694592,"cg_iw_a":-2.04546165,"cg_theta_rad":0.55583185,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0038383049,"mpcc_du":48.9494057,"mpcc_dv":51.0505943,"mpcc_dw":49.4718933,"mpcc_enc_sign":1,"mpcc_id_a":0.72517395,"mpcc_iq_a":-1.5545038,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.11313725,"mpcc_pred_id_a":-0.354786098,"mpcc_pred_iq_a":-7.09979105,"mpcc_state":1,"mpcc_theta_e":0.450200081,"mpcc_theta_mech":0.556985915,"sam_rpm":12.9822502,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247802734,"thr_a_norm":0.0247802734,"thr_a_v":0.599121094,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491915792,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.985798,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.516182423,"cg_iw_a":-0.668195724,"cg_theta_rad":0.555761218,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0213146899,"mpcc_du":50.3852806,"mpcc_dv":48.3038292,"mpcc_dw":51.6961708,"mpcc_enc_sign":1,"mpcc_id_a":2.58105421,"mpcc_iq_a":-0.867275298,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.43229771,"mpcc_pred_id_a":0.549789667,"mpcc_pred_iq_a":-0.577526927,"mpcc_state":1,"mpcc_theta_e":0.433463573,"mpcc_theta_mech":0.553638637,"sam_rpm":-12.4134655,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023030445,"thr_a_norm":0.023030445,"thr_a_v":0.59212178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493728518,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.992329,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.60349751,"cg_iw_a":0.346631527,"cg_theta_rad":0.55336374,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0608850978,"mpcc_du":49.8771973,"mpcc_dv":48.9966507,"mpcc_dw":51.0033493,"mpcc_enc_sign":1,"mpcc_id_a":2.39688182,"mpcc_iq_a":0.247745559,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.18152189,"mpcc_pred_id_a":0.397936463,"mpcc_pred_iq_a":-3.11792922,"mpcc_state":1,"mpcc_theta_e":0.447049141,"mpcc_theta_mech":0.556355774,"sam_rpm":2.64976358,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023030445,"thr_a_norm":0.023030445,"thr_a_v":0.59212178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493728518,"vdc_v":55.2955055}} +{"type":"telemetry","t":39.999958,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.45852208,"cg_iw_a":-1.53804755,"cg_theta_rad":0.553165913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0320403427,"mpcc_du":50.2938805,"mpcc_dv":48.3990707,"mpcc_dw":51.6009293,"mpcc_enc_sign":1,"mpcc_id_a":3.22177482,"mpcc_iq_a":-0.518690228,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.6554823,"mpcc_pred_id_a":0.570340514,"mpcc_pred_iq_a":-1.5027771,"mpcc_state":1,"mpcc_theta_e":0.433607101,"mpcc_theta_mech":0.553667367,"sam_rpm":-16.1501484,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167990327,"thr_a_norm":0.0167990327,"thr_a_v":0.567196131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.42625314,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.010365,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.878620625,"cg_iw_a":-1.53804779,"cg_theta_rad":0.552789509,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0234719962,"mpcc_du":49.6007767,"mpcc_dv":50.2031441,"mpcc_dw":50.3992233,"mpcc_enc_sign":1,"mpcc_id_a":1.951334,"mpcc_iq_a":-2.54117513,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.13960075,"mpcc_pred_id_a":-0.0373607986,"mpcc_pred_iq_a":-2.41643929,"mpcc_state":1,"mpcc_theta_e":0.442550659,"mpcc_theta_mech":0.555456042,"sam_rpm":4.57553244,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0167990327,"thr_a_v":0.618709087,"thr_b":0.00704279542,"thr_b_norm":0,"thr_b_v":0.528171182,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.022419,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.878620625,"cg_iw_a":-1.97297382,"cg_theta_rad":0.556681573,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0151333911,"mpcc_du":49.5802917,"mpcc_dv":49.8839455,"mpcc_dw":50.4197083,"mpcc_enc_sign":1,"mpcc_id_a":3.71296525,"mpcc_iq_a":-0.340240389,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.40160084,"mpcc_pred_id_a":-0.0502874665,"mpcc_pred_iq_a":-2.71948195,"mpcc_state":1,"mpcc_theta_e":0.446429729,"mpcc_theta_mech":0.556231856,"sam_rpm":14.9135065,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00704279542,"thr_b_norm":0.00704279542,"thr_b_v":0.528171182,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.032398,"values":{"cg_iu_a":3.93890953,"cg_iv_a":-1.09608364,"cg_iw_a":0.12916851,"cg_theta_rad":0.55776161,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0108229462,"mpcc_du":49.8771935,"mpcc_dv":49.0518227,"mpcc_dw":50.9481773,"mpcc_enc_sign":1,"mpcc_id_a":2.07577467,"mpcc_iq_a":-0.924044132,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.292937309,"mpcc_pred_id_a":0.238682643,"mpcc_pred_iq_a":-0.776416779,"mpcc_state":1,"mpcc_theta_e":0.439027309,"mpcc_theta_mech":0.554751337,"sam_rpm":-1.34712541,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0121663958,"thr_a_norm":0.0121663958,"thr_a_v":0.548665583,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438539714,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.042591,"values":{"cg_iu_a":1.47432899,"cg_iv_a":0.281181812,"cg_iw_a":-1.75551081,"cg_theta_rad":0.552669704,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0157329533,"mpcc_du":50.7520905,"mpcc_dv":48.0391808,"mpcc_dw":51.9608192,"mpcc_enc_sign":1,"mpcc_id_a":0.145363271,"mpcc_iq_a":-1.30568671,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.0844822,"mpcc_pred_id_a":-0.0852608383,"mpcc_pred_iq_a":-2.60208488,"mpcc_state":1,"mpcc_theta_e":0.430471897,"mpcc_theta_mech":0.553040326,"sam_rpm":-22.7096367,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181334466,"thr_a_norm":0.0121663958,"thr_a_v":0.572533786,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457523465,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.05254,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.45852208,"cg_iw_a":0.636582136,"cg_theta_rad":0.553125799,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0480964109,"mpcc_du":50.1511612,"mpcc_dv":48.8424606,"mpcc_dw":51.1575394,"mpcc_enc_sign":1,"mpcc_id_a":0.381472707,"mpcc_iq_a":-0.268257767,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.42001486,"mpcc_pred_id_a":-0.133766472,"mpcc_pred_iq_a":-4.2637105,"mpcc_state":1,"mpcc_theta_e":0.441271305,"mpcc_theta_mech":0.555200219,"sam_rpm":-6.32211113,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181334466,"thr_a_norm":0.0181334466,"thr_a_v":0.572533786,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457523465,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.075581,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.31354666,"cg_iw_a":-1.17560959,"cg_theta_rad":0.557672679,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0192685574,"mpcc_du":50.3414307,"mpcc_dv":48.3520203,"mpcc_dw":51.6479797,"mpcc_enc_sign":1,"mpcc_id_a":1.85927606,"mpcc_iq_a":-0.363997102,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.718819141,"mpcc_pred_id_a":0.537180662,"mpcc_pred_iq_a":0.665646851,"mpcc_state":1,"mpcc_theta_e":0.440985203,"mpcc_theta_mech":0.555142999,"sam_rpm":-1.17605066,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0268699974,"thr_a_norm":0.0268699974,"thr_a_v":0.60747999,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477010757,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.082142,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.806133032,"cg_iw_a":-1.32058454,"cg_theta_rad":0.55622828,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00682138884,"mpcc_du":49.3358116,"mpcc_dv":50.6641884,"mpcc_dw":49.655262,"mpcc_enc_sign":1,"mpcc_id_a":-1.4447304,"mpcc_iq_a":-1.06933928,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.81787634,"mpcc_pred_id_a":-1.27101839,"mpcc_pred_iq_a":-6.69650412,"mpcc_state":1,"mpcc_theta_e":0.444021225,"mpcc_theta_mech":0.555750191,"sam_rpm":2.17542052,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0268699974,"thr_a_norm":0.0268699974,"thr_a_v":0.60747999,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477010757,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.088642,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.38603449,"cg_iw_a":0.999020576,"cg_theta_rad":0.554167986,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.000236147331,"mpcc_du":50.7437668,"mpcc_dv":48.1309319,"mpcc_dw":51.8690681,"mpcc_enc_sign":1,"mpcc_id_a":-0.0458433665,"mpcc_iq_a":-1.39769924,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.9779396,"mpcc_pred_id_a":-0.333086282,"mpcc_pred_iq_a":-1.14831316,"mpcc_state":1,"mpcc_theta_e":0.423030376,"mpcc_theta_mech":0.551551998,"sam_rpm":-29.6295586,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219729841,"thr_a_norm":0.0219729841,"thr_a_v":0.587891936,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481945544,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.095142,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.806133032,"cg_iw_a":0.346631765,"cg_theta_rad":0.554829776,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.011589841,"mpcc_du":50.6416168,"mpcc_dv":48.139225,"mpcc_dw":51.860775,"mpcc_enc_sign":1,"mpcc_id_a":1.82862914,"mpcc_iq_a":-0.418063313,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.3435965,"mpcc_pred_id_a":0.098744303,"mpcc_pred_iq_a":-0.458145916,"mpcc_state":1,"mpcc_theta_e":0.429141521,"mpcc_theta_mech":0.552774251,"sam_rpm":-21.0283699,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0251830965,"thr_a_norm":0.0219729841,"thr_a_v":0.600732386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491009355,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.103138,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.371207237,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556986213,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0232686959,"mpcc_du":50.2054443,"mpcc_dv":48.6867218,"mpcc_dw":51.3132782,"mpcc_enc_sign":1,"mpcc_id_a":2.24386692,"mpcc_iq_a":-0.90672332,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.4620924,"mpcc_pred_id_a":0.0730183497,"mpcc_pred_iq_a":-2.32916689,"mpcc_state":1,"mpcc_theta_e":0.437609673,"mpcc_theta_mech":0.55703038,"sam_rpm":-8.70762539,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0251830965,"thr_a_norm":0.0251830965,"thr_a_v":0.600732386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491009355,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.113392,"values":{"cg_iu_a":1.11189032,"cg_iv_a":0.643620491,"cg_iw_a":-3.78516579,"cg_theta_rad":0.557080626,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0243136398,"mpcc_du":50.0991821,"mpcc_dv":48.7046738,"mpcc_dw":51.2953262,"mpcc_enc_sign":1,"mpcc_id_a":1.59191549,"mpcc_iq_a":-1.26543009,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.15304232,"mpcc_pred_id_a":0.382751971,"mpcc_pred_iq_a":-1.68129277,"mpcc_state":1,"mpcc_theta_e":0.445324421,"mpcc_theta_mech":0.556010783,"sam_rpm":3.18457389,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0990661383,"thr_a_norm":0.0990661383,"thr_a_v":0.896264553,"thr_b":0.0429709256,"thr_b_norm":0.0429709256,"thr_b_v":0.671883702,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.123371,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.09608364,"cg_iw_a":-1.39307261,"cg_theta_rad":0.556012988,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0186995137,"mpcc_du":49.5029221,"mpcc_dv":49.4959106,"mpcc_dw":50.5040894,"mpcc_enc_sign":1,"mpcc_id_a":0.9561795,"mpcc_iq_a":-2.47121549,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.91097283,"mpcc_pred_id_a":0.211404115,"mpcc_pred_iq_a":-1.94581318,"mpcc_state":1,"mpcc_theta_e":0.435396194,"mpcc_theta_mech":0.554025173,"sam_rpm":-4.52607679,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0990661383,"thr_a_norm":0.0990661383,"thr_a_v":0.896264553,"thr_b":0.0429709256,"thr_b_norm":0.0429709256,"thr_b_v":0.671883702,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.13332,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.82096052,"cg_iw_a":-0.595707893,"cg_theta_rad":0.557219863,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.023199914,"mpcc_du":50.3009682,"mpcc_dv":48.5393906,"mpcc_dw":51.4606094,"mpcc_enc_sign":1,"mpcc_id_a":2.74337482,"mpcc_iq_a":-0.346347541,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.96568489,"mpcc_pred_id_a":0.184886485,"mpcc_pred_iq_a":-1.54642165,"mpcc_state":1,"mpcc_theta_e":0.434652328,"mpcc_theta_mech":0.55387634,"sam_rpm":-15.7970953,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218345076,"thr_a_norm":0.0218345076,"thr_a_v":0.58733803,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468953997,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.143543,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.733645439,"cg_iw_a":-0.450732708,"cg_theta_rad":0.555460274,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0248117242,"mpcc_du":49.5643158,"mpcc_dv":50.0366745,"mpcc_dw":50.4356842,"mpcc_enc_sign":1,"mpcc_id_a":2.16923261,"mpcc_iq_a":-1.23166895,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.6401968,"mpcc_pred_id_a":0.0620173216,"mpcc_pred_iq_a":-3.7810111,"mpcc_state":1,"mpcc_theta_e":0.450872421,"mpcc_theta_mech":0.555973232,"sam_rpm":15.4499941,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274742395,"thr_a_norm":0.0218345076,"thr_a_v":0.609896958,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485067546,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.153461,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.02359605,"cg_iw_a":0.346631765,"cg_theta_rad":0.554940641,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0192832146,"mpcc_du":49.7661324,"mpcc_dv":49.4897804,"mpcc_dw":50.5102196,"mpcc_enc_sign":1,"mpcc_id_a":-0.284663349,"mpcc_iq_a":-2.58291101,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.86946249,"mpcc_pred_id_a":-0.562620103,"mpcc_pred_iq_a":-2.76062918,"mpcc_state":1,"mpcc_theta_e":0.431601524,"mpcc_theta_mech":0.553266227,"sam_rpm":-12.3302059,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274742395,"thr_a_norm":0.0274742395,"thr_a_v":0.609896958,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485067546,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.176594,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.878620625,"cg_iw_a":-1.24809694,"cg_theta_rad":0.556951463,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0217674095,"mpcc_du":51.0377045,"mpcc_dv":47.7356071,"mpcc_dw":52.2643929,"mpcc_enc_sign":1,"mpcc_id_a":1.68110693,"mpcc_iq_a":-0.228773266,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.75647211,"mpcc_pred_id_a":-0.109526068,"mpcc_pred_iq_a":2.29356217,"mpcc_state":1,"mpcc_theta_e":0.438273907,"mpcc_theta_mech":0.554600716,"sam_rpm":-6.47283936,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0229171515,"thr_a_norm":0.0229171515,"thr_a_v":0.591668606,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490505815,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.183094,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.48038769,"cg_theta_rad":0.556115746,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0155363334,"mpcc_du":50.3554001,"mpcc_dv":48.5016747,"mpcc_dw":51.4983253,"mpcc_enc_sign":1,"mpcc_id_a":0.122725919,"mpcc_iq_a":-0.528642237,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.5978632,"mpcc_pred_id_a":0.0878573507,"mpcc_pred_iq_a":-1.46736419,"mpcc_state":1,"mpcc_theta_e":0.44597578,"mpcc_theta_mech":0.556141078,"sam_rpm":-17.2391586,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0229171515,"thr_a_norm":0.0229171515,"thr_a_v":0.591668606,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490505815,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.189625,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-2.83578777,"cg_iw_a":1.07150841,"cg_theta_rad":0.555623591,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0209543891,"mpcc_du":49.8153954,"mpcc_dv":49.0786743,"mpcc_dw":50.9213257,"mpcc_enc_sign":1,"mpcc_id_a":2.70768595,"mpcc_iq_a":-0.425095081,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.2528758,"mpcc_pred_id_a":0.345832914,"mpcc_pred_iq_a":-2.6493516,"mpcc_state":1,"mpcc_theta_e":0.435697079,"mpcc_theta_mech":0.554085314,"sam_rpm":-9.77344608,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0394964516,"thr_a_norm":0.0394964516,"thr_a_v":0.657985806,"thr_b":0.00833943486,"thr_b_norm":0.00833943486,"thr_b_v":0.533357739,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.196186,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.16857147,"cg_iw_a":-1.17560911,"cg_theta_rad":0.559301198,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00594472,"mpcc_du":50.3291969,"mpcc_dv":48.7235184,"mpcc_dw":51.2764816,"mpcc_enc_sign":1,"mpcc_id_a":0.0986025557,"mpcc_iq_a":-0.873381495,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.28968191,"mpcc_pred_id_a":-0.347478628,"mpcc_pred_iq_a":-1.60953712,"mpcc_state":1,"mpcc_theta_e":0.43770647,"mpcc_theta_mech":0.554487169,"sam_rpm":-7.53552151,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0290604234,"thr_a_norm":0.0394964516,"thr_a_v":0.616241693,"thr_b":0.00355572999,"thr_b_norm":0.00833943486,"thr_b_v":0.51422292,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.204365,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.02359605,"cg_iw_a":-1.97297359,"cg_theta_rad":0.557712972,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0226965472,"mpcc_du":48.7772293,"mpcc_dv":51.2227707,"mpcc_dw":49.4902191,"mpcc_enc_sign":1,"mpcc_id_a":2.62217975,"mpcc_iq_a":0.0454002768,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.71181202,"mpcc_pred_id_a":0.0559909232,"mpcc_pred_iq_a":-6.410676,"mpcc_state":1,"mpcc_theta_e":0.447629452,"mpcc_theta_mech":0.556471765,"sam_rpm":13.7605495,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0290604234,"thr_a_norm":0.0290604234,"thr_a_v":0.616241693,"thr_b":0.00355572999,"thr_b_norm":0.00355572999,"thr_b_v":0.51422292,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.214527,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.45852208,"cg_iw_a":-1.32058454,"cg_theta_rad":0.554444253,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0221782159,"mpcc_du":49.3690109,"mpcc_dv":50.6309891,"mpcc_dw":49.9721565,"mpcc_enc_sign":1,"mpcc_id_a":-0.132556483,"mpcc_iq_a":-1.54891109,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.81788599,"mpcc_pred_id_a":-0.533460021,"mpcc_pred_iq_a":-2.878124,"mpcc_state":1,"mpcc_theta_e":0.434639454,"mpcc_theta_mech":0.553873837,"sam_rpm":0.869570017,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186999291,"thr_a_norm":0.0186999291,"thr_a_v":0.574799716,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464321345,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.224567,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.661157608,"cg_iw_a":-0.378245354,"cg_theta_rad":0.556711197,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00152165024,"mpcc_du":50.070446,"mpcc_dv":48.7075615,"mpcc_dw":51.2924385,"mpcc_enc_sign":1,"mpcc_id_a":0.696488976,"mpcc_iq_a":-0.453042954,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.92215061,"mpcc_pred_id_a":-0.2571069,"mpcc_pred_iq_a":-1.54030502,"mpcc_state":1,"mpcc_theta_e":0.429958344,"mpcc_theta_mech":0.553845108,"sam_rpm":-16.3330879,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186999291,"thr_a_norm":0.0186999291,"thr_a_v":0.574799716,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464321345,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.234577,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.443694592,"cg_iw_a":-0.958146334,"cg_theta_rad":0.558388352,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0140364822,"mpcc_du":50.3226471,"mpcc_dv":48.5032043,"mpcc_dw":51.4967957,"mpcc_enc_sign":1,"mpcc_id_a":1.36174643,"mpcc_iq_a":-0.395360172,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.424736,"mpcc_pred_id_a":0.0588245392,"mpcc_pred_iq_a":-2.25422907,"mpcc_state":1,"mpcc_theta_e":0.43357563,"mpcc_theta_mech":0.553661048,"sam_rpm":-16.9578781,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197699666,"thr_a_norm":0.0197699666,"thr_a_v":0.579079866,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.24474,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.31354666,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556192577,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00188347511,"mpcc_du":49.563385,"mpcc_dv":50.3954506,"mpcc_dw":50.436615,"mpcc_enc_sign":1,"mpcc_id_a":0.767569423,"mpcc_iq_a":-0.96888274,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.0363426,"mpcc_pred_id_a":0.0742440745,"mpcc_pred_iq_a":-1.7008971,"mpcc_state":1,"mpcc_theta_e":0.448709488,"mpcc_theta_mech":0.556687772,"sam_rpm":19.5490837,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246292055,"thr_a_norm":0.0197699666,"thr_a_v":0.598516822,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49332568,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.254688,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.82096052,"cg_iw_a":-1.24809694,"cg_theta_rad":0.552741766,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0208674297,"mpcc_du":50.4459343,"mpcc_dv":48.7966652,"mpcc_dw":51.2033348,"mpcc_enc_sign":1,"mpcc_id_a":0.459655166,"mpcc_iq_a":-1.79015124,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.84904861,"mpcc_pred_id_a":0.420149118,"mpcc_pred_iq_a":-1.8158927,"mpcc_state":1,"mpcc_theta_e":0.444227219,"mpcc_theta_mech":0.555791318,"sam_rpm":-4.49749231,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246292055,"thr_a_norm":0.0246292055,"thr_a_v":0.598516822,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49332568,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.278004,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.878620625,"cg_iw_a":-0.015806675,"cg_theta_rad":0.551858485,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00925890636,"mpcc_du":51.0524635,"mpcc_dv":47.682991,"mpcc_dw":52.317009,"mpcc_enc_sign":1,"mpcc_id_a":0.541095436,"mpcc_iq_a":-2.72366452,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.7867432,"mpcc_pred_id_a":-0.261575371,"mpcc_pred_iq_a":1.19125903,"mpcc_state":1,"mpcc_theta_e":0.42647171,"mpcc_theta_mech":0.552240252,"sam_rpm":-27.0249672,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023483634,"thr_a_norm":0.023483634,"thr_a_v":0.593934536,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467493683,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.284473,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.6759851,"cg_iw_a":0.491606951,"cg_theta_rad":0.553429127,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00854315329,"mpcc_du":50.382061,"mpcc_dv":48.361866,"mpcc_dw":51.638134,"mpcc_enc_sign":1,"mpcc_id_a":1.19525516,"mpcc_iq_a":-0.409728408,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.59843254,"mpcc_pred_id_a":0.199181974,"mpcc_pred_iq_a":-0.433730811,"mpcc_state":1,"mpcc_theta_e":0.433005333,"mpcc_theta_mech":0.553547025,"sam_rpm":-12.5151882,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023483634,"thr_a_norm":0.023483634,"thr_a_v":0.593934536,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467493683,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.291004,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.09608364,"cg_iw_a":-1.61053562,"cg_theta_rad":0.552778184,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.000475217501,"mpcc_du":50.5403824,"mpcc_dv":48.4692802,"mpcc_dw":51.5307198,"mpcc_enc_sign":1,"mpcc_id_a":0.324243337,"mpcc_iq_a":-1.4347564,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.7127094,"mpcc_pred_id_a":-0.537025273,"mpcc_pred_iq_a":-0.53556174,"mpcc_state":1,"mpcc_theta_e":0.431363583,"mpcc_theta_mech":0.553218603,"sam_rpm":-16.1639042,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022199586,"thr_a_norm":0.022199586,"thr_a_v":0.588798344,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476003677,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.297535,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.60349751,"cg_iw_a":-1.53804779,"cg_theta_rad":0.555758059,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00848863181,"mpcc_du":49.6188126,"mpcc_dv":50.032074,"mpcc_dw":50.3811874,"mpcc_enc_sign":1,"mpcc_id_a":0.881981075,"mpcc_iq_a":-0.226958841,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.33565474,"mpcc_pred_id_a":-0.364987433,"mpcc_pred_iq_a":-4.16741467,"mpcc_state":1,"mpcc_theta_e":0.441271305,"mpcc_theta_mech":0.555200219,"sam_rpm":1.58725715,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022199586,"thr_a_norm":0.022199586,"thr_a_v":0.588798344,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476003677,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.305531,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.6759851,"cg_iw_a":0.999020815,"cg_theta_rad":0.557429075,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0184283331,"mpcc_du":50.9250526,"mpcc_dv":47.7374001,"mpcc_dw":52.2625999,"mpcc_enc_sign":1,"mpcc_id_a":2.16858983,"mpcc_iq_a":-1.23280036,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.38652515,"mpcc_pred_id_a":0.269136161,"mpcc_pred_iq_a":-2.57894349,"mpcc_state":1,"mpcc_theta_e":0.451394081,"mpcc_theta_mech":0.557224751,"sam_rpm":-22.0203419,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0337182432,"thr_a_norm":0.0337182432,"thr_a_v":0.634872973,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472075969,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.315754,"values":{"cg_iu_a":2.34418058,"cg_iv_a":0.353669643,"cg_iw_a":-2.69785023,"cg_theta_rad":0.552350581,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0575951189,"mpcc_du":50.4146118,"mpcc_dv":48.431221,"mpcc_dw":51.568779,"mpcc_enc_sign":1,"mpcc_id_a":1.09477222,"mpcc_iq_a":-0.288579106,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.931856155,"mpcc_pred_id_a":0.0911387205,"mpcc_pred_iq_a":-1.61773932,"mpcc_state":1,"mpcc_theta_e":0.447282314,"mpcc_theta_mech":0.556402385,"sam_rpm":3.06808996,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219100416,"thr_a_norm":0.0337182432,"thr_a_v":0.587640166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.325733,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.298719406,"cg_iw_a":-0.378244877,"cg_theta_rad":0.557463408,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0195959825,"mpcc_du":50.6713791,"mpcc_dv":48.2777977,"mpcc_dw":51.7222023,"mpcc_enc_sign":1,"mpcc_id_a":0.570801735,"mpcc_iq_a":-1.05333972,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.90092373,"mpcc_pred_id_a":-0.330298752,"mpcc_pred_iq_a":-1.22938979,"mpcc_state":1,"mpcc_theta_e":0.44257164,"mpcc_theta_mech":0.555460274,"sam_rpm":-6.99093962,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219100416,"thr_a_norm":0.0219100416,"thr_a_v":0.587640166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.335957,"values":{"cg_iu_a":-0.772789001,"cg_iv_a":-0.806133032,"cg_iw_a":1.57892203,"cg_theta_rad":0.554512501,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.002552727,"mpcc_du":48.8542671,"mpcc_dv":51.1457329,"mpcc_dw":49.2848549,"mpcc_enc_sign":1,"mpcc_id_a":-0.99628526,"mpcc_iq_a":-2.39745927,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":20.8973675,"mpcc_pred_id_a":-0.89157021,"mpcc_pred_iq_a":-5.03273535,"mpcc_state":1,"mpcc_theta_e":0.459199905,"mpcc_theta_mech":0.558785856,"sam_rpm":31.0272312,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283050984,"thr_a_norm":0.0283050984,"thr_a_v":0.613220394,"thr_b":0.000383391976,"thr_b_norm":0.000383391976,"thr_b_v":0.501533568,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.345966,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-2.11091113,"cg_iw_a":2.88370013,"cg_theta_rad":0.556930602,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0202293973,"mpcc_du":49.9578171,"mpcc_dv":48.8496323,"mpcc_dw":51.1503677,"mpcc_enc_sign":1,"mpcc_id_a":1.93235576,"mpcc_iq_a":-1.73875701,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.37090969,"mpcc_pred_id_a":0.324803174,"mpcc_pred_iq_a":-4.69099569,"mpcc_state":1,"mpcc_theta_e":0.440331936,"mpcc_theta_mech":0.555012345,"sam_rpm":-12.1804438,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283050984,"thr_a_norm":0.0283050984,"thr_a_v":0.613220394,"thr_b":0.000383391976,"thr_b_norm":0.000383391976,"thr_b_v":0.501533568,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.356159,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.82799816,"cg_theta_rad":0.556681871,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00746861519,"mpcc_du":49.6947975,"mpcc_dv":49.515728,"mpcc_dw":50.484272,"mpcc_enc_sign":1,"mpcc_id_a":0.0576782823,"mpcc_iq_a":-2.25746512,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.07381296,"mpcc_pred_id_a":-0.465923101,"mpcc_pred_iq_a":-4.20866346,"mpcc_state":1,"mpcc_theta_e":0.452764988,"mpcc_theta_mech":0.557498872,"sam_rpm":8.94639206,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195433646,"thr_a_norm":0.0195433646,"thr_a_v":0.578173459,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473989457,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.379566,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-1.45852208,"cg_iw_a":1.28897119,"cg_theta_rad":0.556815922,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0114912316,"mpcc_du":48.3502769,"mpcc_dv":51.6497231,"mpcc_dw":48.890831,"mpcc_enc_sign":1,"mpcc_id_a":1.75594699,"mpcc_iq_a":-0.926667333,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.2065735,"mpcc_pred_id_a":-0.0996250957,"mpcc_pred_iq_a":-8.87350273,"mpcc_state":1,"mpcc_theta_e":0.424357891,"mpcc_theta_mech":0.551817536,"sam_rpm":16.7484703,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213183761,"thr_a_norm":0.0195433646,"thr_a_v":0.585273504,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471320659,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.386066,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.951108456,"cg_iw_a":0.0566811562,"cg_theta_rad":0.556787431,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0133878049,"mpcc_du":50.6537971,"mpcc_dv":48.1503296,"mpcc_dw":51.8496704,"mpcc_enc_sign":1,"mpcc_id_a":1.02648544,"mpcc_iq_a":-0.429809153,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.47908115,"mpcc_pred_id_a":0.0654425398,"mpcc_pred_iq_a":0.481517494,"mpcc_state":1,"mpcc_theta_e":0.43780899,"mpcc_theta_mech":0.554507673,"sam_rpm":-7.59113979,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213183761,"thr_a_norm":0.0213183761,"thr_a_v":0.585273504,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471320659,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.392658,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.661157608,"cg_iw_a":-1.39307261,"cg_theta_rad":0.554519832,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.000705822546,"mpcc_du":50.5365143,"mpcc_dv":48.517601,"mpcc_dw":51.482399,"mpcc_enc_sign":1,"mpcc_id_a":0.0978279486,"mpcc_iq_a":-3.19997501,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.63662601,"mpcc_pred_id_a":-0.438543618,"mpcc_pred_iq_a":-0.542717159,"mpcc_state":1,"mpcc_theta_e":0.448014736,"mpcc_theta_mech":0.556548893,"sam_rpm":-23.1389542,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0323964208,"thr_a_norm":0.0323964208,"thr_a_v":0.629585683,"thr_b":0.00555732846,"thr_b_norm":0.00555732846,"thr_b_v":0.522229314,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.399525,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.806133032,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.553674519,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0167207029,"mpcc_du":49.5764961,"mpcc_dv":50.2193184,"mpcc_dw":50.4235039,"mpcc_enc_sign":1,"mpcc_id_a":1.61818933,"mpcc_iq_a":-1.04295027,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.943096161,"mpcc_pred_id_a":0.0447787195,"mpcc_pred_iq_a":-5.87773705,"mpcc_state":1,"mpcc_theta_e":0.443834305,"mpcc_theta_mech":0.555712819,"sam_rpm":1.51008773,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213183761,"thr_a_norm":0.0323964208,"thr_a_v":0.585273504,"thr_b":0,"thr_b_norm":0.00555732846,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.409351,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-2.40086174,"cg_iw_a":-0.16078186,"cg_theta_rad":0.557229817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0205382798,"mpcc_du":49.5931282,"mpcc_dv":49.6802635,"mpcc_dw":50.4068718,"mpcc_enc_sign":1,"mpcc_id_a":0.190821826,"mpcc_iq_a":0.00610477338,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.71376896,"mpcc_pred_id_a":-0.196967259,"mpcc_pred_iq_a":-3.44564104,"mpcc_state":1,"mpcc_theta_e":0.445673466,"mpcc_theta_mech":0.556080639,"sam_rpm":8.02594948,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213183761,"thr_a_norm":0.0213183761,"thr_a_v":0.585273504,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.419331,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.89344811,"cg_iw_a":-0.885658503,"cg_theta_rad":0.55777359,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0043338472,"mpcc_du":49.5981789,"mpcc_dv":50.0419502,"mpcc_dw":50.4018211,"mpcc_enc_sign":1,"mpcc_id_a":1.07901776,"mpcc_iq_a":-1.51595533,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.05111313,"mpcc_pred_id_a":0.0397916213,"mpcc_pred_iq_a":-0.377380788,"mpcc_state":1,"mpcc_theta_e":0.43710804,"mpcc_theta_mech":0.554367542,"sam_rpm":-10.7071228,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257621855,"thr_a_norm":0.0257621855,"thr_a_v":0.603048742,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480737001,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.429401,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.38603449,"cg_iw_a":-1.53804779,"cg_theta_rad":0.555873811,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0422305204,"mpcc_du":50.3266487,"mpcc_dv":48.5755959,"mpcc_dw":51.4244041,"mpcc_enc_sign":1,"mpcc_id_a":2.37011051,"mpcc_iq_a":-0.475214094,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.96908617,"mpcc_pred_id_a":0.0893515274,"mpcc_pred_iq_a":-1.83896601,"mpcc_state":1,"mpcc_theta_e":0.444434643,"mpcc_theta_mech":0.555832803,"sam_rpm":-2.43478513,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257621855,"thr_a_norm":0.0257621855,"thr_a_v":0.603048742,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480737001,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.440754,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.09608364,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556098819,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0358400494,"mpcc_du":49.9329643,"mpcc_dv":49.3628845,"mpcc_dw":50.6371155,"mpcc_enc_sign":1,"mpcc_id_a":-0.573620141,"mpcc_iq_a":-1.71855593,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.66906071,"mpcc_pred_id_a":-0.666916728,"mpcc_pred_iq_a":-4.43414164,"mpcc_state":1,"mpcc_theta_e":0.445569992,"mpcc_theta_mech":0.556059897,"sam_rpm":11.9441051,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274364799,"thr_a_norm":0.0274364799,"thr_a_v":0.60974592,"thr_b":0.000408560038,"thr_b_norm":0.000408560038,"thr_b_v":0.50163424,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.449726,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-2.0384233,"cg_iw_a":0.274143934,"cg_theta_rad":0.552808344,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0558601916,"mpcc_du":50.8970566,"mpcc_dv":48.0954552,"mpcc_dw":51.9045448,"mpcc_enc_sign":1,"mpcc_id_a":0.187610939,"mpcc_iq_a":-0.503396273,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.90029943,"mpcc_pred_id_a":-0.41281113,"mpcc_pred_iq_a":-0.949010193,"mpcc_state":1,"mpcc_theta_e":0.447635651,"mpcc_theta_mech":0.556473017,"sam_rpm":-1.1691339,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166102052,"thr_a_norm":0.0274364799,"thr_a_v":0.566440821,"thr_b":0,"thr_b_norm":0.000408560038,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.474751,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.371207237,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556472003,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0281728096,"mpcc_du":49.584259,"mpcc_dv":49.4474373,"mpcc_dw":50.5525627,"mpcc_enc_sign":1,"mpcc_id_a":1.87105405,"mpcc_iq_a":-0.00896383822,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.32708859,"mpcc_pred_id_a":0.146879777,"mpcc_pred_iq_a":-3.50911832,"mpcc_state":1,"mpcc_theta_e":0.446127892,"mpcc_theta_mech":0.556171477,"sam_rpm":3.54748178,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166102052,"thr_a_norm":0.0166102052,"thr_a_v":0.566440821,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.481281,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.951108456,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556647897,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0195302572,"mpcc_du":49.5443916,"mpcc_dv":48.7404366,"mpcc_dw":51.2595634,"mpcc_enc_sign":1,"mpcc_id_a":2.21196985,"mpcc_iq_a":-1.14430356,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.43025565,"mpcc_pred_id_a":0.152109116,"mpcc_pred_iq_a":-4.54614449,"mpcc_state":1,"mpcc_theta_e":0.445426941,"mpcc_theta_mech":0.556031287,"sam_rpm":5.43288851,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284561664,"thr_a_norm":0.0284561664,"thr_a_v":0.613824666,"thr_b":0.00353056192,"thr_b_norm":0.00353056192,"thr_b_v":0.514122248,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.487812,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.443694592,"cg_iw_a":-1.90048599,"cg_theta_rad":0.554326534,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0286815148,"mpcc_du":49.1362953,"mpcc_dv":50.8637047,"mpcc_dw":49.9600258,"mpcc_enc_sign":1,"mpcc_id_a":2.80141973,"mpcc_iq_a":-0.0099768294,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-23.6144543,"mpcc_pred_id_a":0.459901839,"mpcc_pred_iq_a":-1.29051471,"mpcc_state":1,"mpcc_theta_e":0.420326233,"mpcc_theta_mech":0.551011145,"sam_rpm":11.3319683,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284561664,"thr_a_norm":0.0284561664,"thr_a_v":0.613824666,"thr_b":0.00353056192,"thr_b_norm":0.00353056192,"thr_b_v":0.514122248,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.494343,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.02359605,"cg_iw_a":-1.39307261,"cg_theta_rad":0.556093514,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00557214674,"mpcc_du":51.1953278,"mpcc_dv":47.7643814,"mpcc_dw":52.2356186,"mpcc_enc_sign":1,"mpcc_id_a":-0.345428616,"mpcc_iq_a":-1.12831092,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.38146508,"mpcc_pred_id_a":-0.609926879,"mpcc_pred_iq_a":3.2443881,"mpcc_state":1,"mpcc_theta_e":0.441272259,"mpcc_theta_mech":0.555200398,"sam_rpm":-1.50658,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218219161,"thr_a_norm":0.0218219161,"thr_a_v":0.587287664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479629219,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.502827,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-3.05325079,"cg_iw_a":2.37628651,"cg_theta_rad":0.553019404,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00550917909,"mpcc_du":49.5703392,"mpcc_dv":50.1524811,"mpcc_dw":50.4296608,"mpcc_enc_sign":1,"mpcc_id_a":1.48350501,"mpcc_iq_a":-1.49229026,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.10491085,"mpcc_pred_id_a":-0.0155593827,"mpcc_pred_iq_a":-2.85117388,"mpcc_state":1,"mpcc_theta_e":0.430053234,"mpcc_theta_mech":0.552956581,"sam_rpm":9.62899113,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0239242315,"thr_a_norm":0.0218219161,"thr_a_v":0.595696926,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482197315,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.512775,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.47334933,"cg_iw_a":1.36145902,"cg_theta_rad":0.557214916,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0445271544,"mpcc_du":49.8953705,"mpcc_dv":49.180027,"mpcc_dw":50.819973,"mpcc_enc_sign":1,"mpcc_id_a":1.35388839,"mpcc_iq_a":-0.421484649,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.97662926,"mpcc_pred_id_a":-0.0786674246,"mpcc_pred_iq_a":-3.03734684,"mpcc_state":1,"mpcc_theta_e":0.452815056,"mpcc_theta_mech":0.557508945,"sam_rpm":9.54197216,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0239242315,"thr_a_norm":0.0239242315,"thr_a_v":0.595696926,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482197315,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.522907,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-0.443694592,"cg_iw_a":-2.62536287,"cg_theta_rad":0.554309011,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0227257311,"mpcc_du":50.3240166,"mpcc_dv":48.5805092,"mpcc_dw":51.4194908,"mpcc_enc_sign":1,"mpcc_id_a":1.30293226,"mpcc_iq_a":1.19914138,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.43398333,"mpcc_pred_id_a":-0.0559949055,"mpcc_pred_iq_a":0.276956081,"mpcc_state":1,"mpcc_theta_e":0.434569359,"mpcc_theta_mech":0.55385983,"sam_rpm":-5.62760687,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282925069,"thr_a_norm":0.0282925069,"thr_a_v":0.613170028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493023574,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.532856,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.74847269,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556507409,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0406314544,"mpcc_du":50.8637161,"mpcc_dv":47.9330559,"mpcc_dw":52.0669441,"mpcc_enc_sign":1,"mpcc_id_a":3.2021153,"mpcc_iq_a":-0.427325249,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.45129776,"mpcc_pred_id_a":0.420136064,"mpcc_pred_iq_a":-5.02410364,"mpcc_state":1,"mpcc_theta_e":0.450148582,"mpcc_theta_mech":0.554415762,"sam_rpm":9.07617283,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282925069,"thr_a_norm":0.0282925069,"thr_a_v":0.613170028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493023574,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.542957,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.16857147,"cg_iw_a":-0.740683079,"cg_theta_rad":0.556059361,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0346222706,"mpcc_du":50.4450722,"mpcc_dv":48.4215355,"mpcc_dw":51.5784645,"mpcc_enc_sign":1,"mpcc_id_a":1.57006681,"mpcc_iq_a":-1.52188313,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.3106861,"mpcc_pred_id_a":-0.119034857,"mpcc_pred_iq_a":0.943699419,"mpcc_state":1,"mpcc_theta_e":0.420074463,"mpcc_theta_mech":0.550960779,"sam_rpm":-27.9094887,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165346712,"thr_a_norm":0.0165346712,"thr_a_v":0.566138685,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472881675,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.553303,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.02359605,"cg_iw_a":-1.17560935,"cg_theta_rad":0.556323528,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.021491589,"mpcc_du":50.4370003,"mpcc_dv":48.5696182,"mpcc_dw":51.4303818,"mpcc_enc_sign":1,"mpcc_id_a":0.392201632,"mpcc_iq_a":-0.413876027,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.55109644,"mpcc_pred_id_a":-0.234029502,"mpcc_pred_iq_a":-1.32156062,"mpcc_state":1,"mpcc_theta_e":0.444158554,"mpcc_theta_mech":0.555777669,"sam_rpm":-3.54553652,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227660686,"thr_a_norm":0.0165346712,"thr_a_v":0.591064274,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487988085,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.57616,"values":{"cg_iu_a":0.894427299,"cg_iv_a":0.136206627,"cg_iw_a":-2.04546118,"cg_theta_rad":0.557030618,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0666812658,"mpcc_du":49.5087585,"mpcc_dv":50.2399368,"mpcc_dw":50.4912415,"mpcc_enc_sign":1,"mpcc_id_a":3.22116518,"mpcc_iq_a":0.450583518,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.61151743,"mpcc_pred_id_a":0.402507126,"mpcc_pred_iq_a":-5.55827093,"mpcc_state":1,"mpcc_theta_e":0.448826313,"mpcc_theta_mech":0.556711197,"sam_rpm":7.42425871,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227660686,"thr_a_norm":0.0227660686,"thr_a_v":0.591064274,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487988085,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.582661,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.298719406,"cg_iw_a":-0.233269691,"cg_theta_rad":0.551358044,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00601834478,"mpcc_du":50.323864,"mpcc_dv":48.4572182,"mpcc_dw":51.5427818,"mpcc_enc_sign":1,"mpcc_id_a":1.49784899,"mpcc_iq_a":-1.63405001,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.84872866,"mpcc_pred_id_a":0.27650708,"mpcc_pred_iq_a":1.45849156,"mpcc_state":1,"mpcc_theta_e":0.443636417,"mpcc_theta_mech":0.555673242,"sam_rpm":4.0999918,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205001235,"thr_a_norm":0.0205001235,"thr_a_v":0.582000494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.589252,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.661157608,"cg_iw_a":0.201656342,"cg_theta_rad":0.557334125,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00957540702,"mpcc_du":50.1841621,"mpcc_dv":48.7656326,"mpcc_dw":51.2343674,"mpcc_enc_sign":1,"mpcc_id_a":0.92031312,"mpcc_iq_a":-1.32061493,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.16359377,"mpcc_pred_id_a":-0.0169515386,"mpcc_pred_iq_a":-0.203847438,"mpcc_state":1,"mpcc_theta_e":0.448387146,"mpcc_theta_mech":0.55662334,"sam_rpm":8.03437424,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205001235,"thr_a_norm":0.0205001235,"thr_a_v":0.582000494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.595753,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-2.47334933,"cg_iw_a":-0.305757284,"cg_theta_rad":0.552617013,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0163015909,"mpcc_du":49.7598114,"mpcc_dv":49.0659103,"mpcc_dw":50.9340897,"mpcc_enc_sign":1,"mpcc_id_a":3.32459617,"mpcc_iq_a":-0.373084486,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.85888004,"mpcc_pred_id_a":0.478754759,"mpcc_pred_iq_a":-0.548803985,"mpcc_state":1,"mpcc_theta_e":0.442379951,"mpcc_theta_mech":0.555421889,"sam_rpm":8.51053429,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0139791816,"thr_a_norm":0.0139791816,"thr_a_v":0.555916727,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.436273724,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.605915,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.951108456,"cg_iw_a":-1.61053514,"cg_theta_rad":0.554924607,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0411494672,"mpcc_du":50.0819893,"mpcc_dv":48.8166351,"mpcc_dw":51.1833649,"mpcc_enc_sign":1,"mpcc_id_a":1.34513605,"mpcc_iq_a":-0.269484371,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.02360964,"mpcc_pred_id_a":0.151619345,"mpcc_pred_iq_a":-1.79471862,"mpcc_state":1,"mpcc_theta_e":0.447319508,"mpcc_theta_mech":0.556409836,"sam_rpm":6.15820837,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.01975739,"thr_a_norm":0.0139791816,"thr_a_v":0.57902956,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475953311,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.615925,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-3.63315201,"cg_iw_a":-0.378245354,"cg_theta_rad":0.552781582,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0851034597,"mpcc_du":49.5309448,"mpcc_dv":49.2579193,"mpcc_dw":50.7420807,"mpcc_enc_sign":1,"mpcc_id_a":3.9977777,"mpcc_iq_a":0.727306724,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.30820608,"mpcc_pred_id_a":0.718001008,"mpcc_pred_iq_a":-2.50556374,"mpcc_state":1,"mpcc_theta_e":0.448709488,"mpcc_theta_mech":0.556687772,"sam_rpm":10.7474041,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.01975739,"thr_a_norm":0.01975739,"thr_a_v":0.57902956,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475953311,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.626118,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-2.0384233,"cg_iw_a":-0.233269453,"cg_theta_rad":0.555227876,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0098294802,"mpcc_du":49.6592598,"mpcc_dv":49.305027,"mpcc_dw":50.694973,"mpcc_enc_sign":1,"mpcc_id_a":1.80390215,"mpcc_iq_a":-2.33821321,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.1343565,"mpcc_pred_id_a":0.185305849,"mpcc_pred_iq_a":-1.97618675,"mpcc_state":1,"mpcc_theta_e":0.444556236,"mpcc_theta_mech":0.555857182,"sam_rpm":1.82798076,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0310872048,"thr_a_norm":0.0310872048,"thr_a_v":0.624348819,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482902259,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.635944,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-2.0384233,"cg_iw_a":1.143996,"cg_theta_rad":0.554526448,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0481861867,"mpcc_du":50.431778,"mpcc_dv":48.4966469,"mpcc_dw":51.5033531,"mpcc_enc_sign":1,"mpcc_id_a":0.526320517,"mpcc_iq_a":0.541799903,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.83467567,"mpcc_pred_id_a":-0.14374575,"mpcc_pred_iq_a":-0.629864216,"mpcc_state":1,"mpcc_theta_e":0.444723606,"mpcc_theta_mech":0.55589062,"sam_rpm":2.84309745,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0310872048,"thr_a_norm":0.0310872048,"thr_a_v":0.624348819,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482902259,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.646137,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.951108456,"cg_iw_a":-0.523220539,"cg_theta_rad":0.552227199,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0249910131,"mpcc_du":50.381897,"mpcc_dv":48.4074287,"mpcc_dw":51.5925713,"mpcc_enc_sign":1,"mpcc_id_a":0.873362541,"mpcc_iq_a":-2.17948627,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.6791849,"mpcc_pred_id_a":-0.00581541657,"mpcc_pred_iq_a":0.182202309,"mpcc_state":1,"mpcc_theta_e":0.423449039,"mpcc_theta_mech":0.551635683,"sam_rpm":-25.0918312,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253467709,"thr_a_norm":0.0253467709,"thr_a_v":0.601387084,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.656513,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.226231575,"cg_iw_a":-0.885658741,"cg_theta_rad":0.554385483,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00238102069,"mpcc_du":50.1800423,"mpcc_dv":48.6793251,"mpcc_dw":51.3206749,"mpcc_enc_sign":1,"mpcc_id_a":1.95878899,"mpcc_iq_a":-0.45130384,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.69304037,"mpcc_pred_id_a":0.11605987,"mpcc_pred_iq_a":0.0777767375,"mpcc_state":1,"mpcc_theta_e":0.438476563,"mpcc_theta_mech":0.554641187,"sam_rpm":-5.25285101,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0268699974,"thr_a_norm":0.0253467709,"thr_a_v":0.60747999,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474190891,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.681721,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.153744221,"cg_iw_a":-2.33541203,"cg_theta_rad":0.552732289,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0160935316,"mpcc_du":50.7305832,"mpcc_dv":48.0610542,"mpcc_dw":51.9389458,"mpcc_enc_sign":1,"mpcc_id_a":0.11972674,"mpcc_iq_a":-0.144066885,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.3767662,"mpcc_pred_id_a":-0.0329047889,"mpcc_pred_iq_a":0.891144872,"mpcc_state":1,"mpcc_theta_e":0.438291073,"mpcc_theta_mech":0.554604113,"sam_rpm":-6.50858688,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0268699974,"thr_a_norm":0.0268699974,"thr_a_v":0.60747999,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474190891,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.688282,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.298719406,"cg_iw_a":-1.46555996,"cg_theta_rad":0.551477194,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0039775148,"mpcc_du":51.1240921,"mpcc_dv":47.4567833,"mpcc_dw":52.5432167,"mpcc_enc_sign":1,"mpcc_id_a":0.738820136,"mpcc_iq_a":-2.50146866,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.3570099,"mpcc_pred_id_a":0.117265098,"mpcc_pred_iq_a":-2.12283111,"mpcc_state":1,"mpcc_theta_e":0.45568943,"mpcc_theta_mech":0.558083773,"sam_rpm":-33.0390663,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025195688,"thr_a_norm":0.025195688,"thr_a_v":0.600782752,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49257037,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.694782,"values":{"cg_iu_a":2.70661926,"cg_iv_a":0.353669643,"cg_iw_a":0.564094782,"cg_theta_rad":0.557643116,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0116613088,"mpcc_du":49.2856216,"mpcc_dv":50.7143784,"mpcc_dw":50.0429573,"mpcc_enc_sign":1,"mpcc_id_a":2.15959144,"mpcc_iq_a":-2.09439397,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.03854752,"mpcc_pred_id_a":-0.0220760182,"mpcc_pred_iq_a":-5.86452532,"mpcc_state":1,"mpcc_theta_e":0.445808411,"mpcc_theta_mech":0.55610764,"sam_rpm":6.94393206,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025195688,"thr_a_norm":0.025195688,"thr_a_v":0.600782752,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49257037,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.701344,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.733645439,"cg_iw_a":-1.24809694,"cg_theta_rad":0.559900939,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00316433958,"mpcc_du":50.3510895,"mpcc_dv":48.5884743,"mpcc_dw":51.4115257,"mpcc_enc_sign":1,"mpcc_id_a":-0.427313715,"mpcc_iq_a":-1.9284873,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.7704344,"mpcc_pred_id_a":-0.792245746,"mpcc_pred_iq_a":-4.15508652,"mpcc_state":1,"mpcc_theta_e":0.45283556,"mpcc_theta_mech":0.554134965,"sam_rpm":-1.00462592,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183852166,"thr_a_norm":0.0183852166,"thr_a_v":0.573540866,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.709522,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.09608364,"cg_iw_a":-2.04546165,"cg_theta_rad":0.552570999,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00704526948,"mpcc_du":50.0928154,"mpcc_dv":49.0128593,"mpcc_dw":50.9871407,"mpcc_enc_sign":1,"mpcc_id_a":0.371096134,"mpcc_iq_a":-1.14155722,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.21931934,"mpcc_pred_id_a":-0.353624314,"mpcc_pred_iq_a":-2.97110105,"mpcc_state":1,"mpcc_theta_e":0.439949512,"mpcc_theta_mech":0.554935813,"sam_rpm":-6.21611834,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0230682045,"thr_a_norm":0.0183852166,"thr_a_v":0.592272818,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490203708,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.719135,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.806133032,"cg_iw_a":-1.53804755,"cg_theta_rad":0.552668095,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0270805564,"mpcc_du":50.2719803,"mpcc_dv":49.8192177,"mpcc_dw":50.3605766,"mpcc_enc_sign":1,"mpcc_id_a":0.428134114,"mpcc_iq_a":-0.846714795,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.64041054,"mpcc_pred_id_a":-0.351532906,"mpcc_pred_iq_a":-2.5124948,"mpcc_state":1,"mpcc_theta_e":0.442484379,"mpcc_theta_mech":0.55544281,"sam_rpm":-0.681031168,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0230682045,"thr_a_norm":0.0230682045,"thr_a_v":0.592272818,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490203708,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.729298,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.02359605,"cg_iw_a":-1.8279984,"cg_theta_rad":0.554957211,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0418022536,"mpcc_du":50.5459557,"mpcc_dv":48.4658241,"mpcc_dw":51.5341759,"mpcc_enc_sign":1,"mpcc_id_a":0.542638183,"mpcc_iq_a":-0.767681003,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.67383343,"mpcc_pred_id_a":-0.295191258,"mpcc_pred_iq_a":-1.58407354,"mpcc_state":1,"mpcc_theta_e":0.448701382,"mpcc_theta_mech":0.556686223,"sam_rpm":1.87550139,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221114755,"thr_a_norm":0.0221114755,"thr_a_v":0.588445902,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483254731,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.739307,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.298719406,"cg_iw_a":-0.81317091,"cg_theta_rad":0.553626716,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0379072651,"mpcc_du":50.0695267,"mpcc_dv":49.129837,"mpcc_dw":50.870163,"mpcc_enc_sign":1,"mpcc_id_a":-0.027853366,"mpcc_iq_a":-0.446917921,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.17541742,"mpcc_pred_id_a":-0.56135422,"mpcc_pred_iq_a":-2.42367125,"mpcc_state":1,"mpcc_theta_e":0.450572968,"mpcc_theta_mech":0.55706048,"sam_rpm":10.4484415,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221114755,"thr_a_norm":0.0221114755,"thr_a_v":0.588445902,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483254731,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.74947,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.443694592,"cg_iw_a":-1.24809694,"cg_theta_rad":0.557743013,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0976851583,"mpcc_du":49.9287529,"mpcc_dv":48.7404785,"mpcc_dw":51.2595215,"mpcc_enc_sign":1,"mpcc_id_a":3.64225841,"mpcc_iq_a":0.991238415,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.08353186,"mpcc_pred_id_a":0.809108973,"mpcc_pred_iq_a":-1.45957339,"mpcc_state":1,"mpcc_theta_e":0.448752403,"mpcc_theta_mech":0.556696355,"sam_rpm":7.59232378,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273231864,"thr_a_norm":0.0273231864,"thr_a_v":0.609292746,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481995881,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.761951,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.6759851,"cg_iw_a":1.07150817,"cg_theta_rad":0.555058181,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00326579111,"mpcc_du":50.3129616,"mpcc_dv":48.7178574,"mpcc_dw":51.2821426,"mpcc_enc_sign":1,"mpcc_id_a":1.01789129,"mpcc_iq_a":-1.81361818,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.45691776,"mpcc_pred_id_a":-0.474644184,"mpcc_pred_iq_a":-1.37594235,"mpcc_state":1,"mpcc_theta_e":0.438643932,"mpcc_theta_mech":0.554674685,"sam_rpm":-12.5931816,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026227966,"thr_a_norm":0.0273231864,"thr_a_v":0.604911864,"thr_b":0.00068551302,"thr_b_norm":0,"thr_b_v":0.502742052,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.78603,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.96593571,"cg_iw_a":-0.378244877,"cg_theta_rad":0.555603325,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0139657669,"mpcc_du":50.6528969,"mpcc_dv":48.0290184,"mpcc_dw":51.9709816,"mpcc_enc_sign":1,"mpcc_id_a":1.83754575,"mpcc_iq_a":-0.577744961,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.79579639,"mpcc_pred_id_a":0.262420356,"mpcc_pred_iq_a":1.47329128,"mpcc_state":1,"mpcc_theta_e":0.437485695,"mpcc_theta_mech":0.554443061,"sam_rpm":-7.23246908,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026227966,"thr_a_norm":0.026227966,"thr_a_v":0.604911864,"thr_b":0.00068551302,"thr_b_norm":0.00068551302,"thr_b_v":0.502742052,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.792561,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.82096052,"cg_iw_a":-2.11794901,"cg_theta_rad":0.559855521,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.000857837847,"mpcc_du":50.6326981,"mpcc_dv":48.3102989,"mpcc_dw":51.6897011,"mpcc_enc_sign":1,"mpcc_id_a":0.187429711,"mpcc_iq_a":-0.865041494,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.1264391,"mpcc_pred_id_a":-0.385142773,"mpcc_pred_iq_a":-0.237756491,"mpcc_state":1,"mpcc_theta_e":0.431428909,"mpcc_theta_mech":0.553231657,"sam_rpm":-16.4963856,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248809755,"thr_a_norm":0.026227966,"thr_a_v":0.599523902,"thr_b":0,"thr_b_norm":0.00068551302,"thr_b_v":0.476557553,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.799122,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.226231575,"cg_iw_a":0.201656342,"cg_theta_rad":0.55700624,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0234854016,"mpcc_du":49.9489822,"mpcc_dv":48.7397079,"mpcc_dw":51.2602921,"mpcc_enc_sign":1,"mpcc_id_a":2.48975325,"mpcc_iq_a":0.142615482,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.16823912,"mpcc_pred_id_a":0.619233549,"mpcc_pred_iq_a":-1.67515826,"mpcc_state":1,"mpcc_theta_e":0.433791637,"mpcc_theta_mech":0.553704202,"sam_rpm":-10.5588665,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248809755,"thr_a_norm":0.0248809755,"thr_a_v":0.599523902,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476557553,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.805622,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.74847269,"cg_iw_a":1.07150841,"cg_theta_rad":0.557105839,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0101733608,"mpcc_du":49.686264,"mpcc_dv":49.3260994,"mpcc_dw":50.6739006,"mpcc_enc_sign":1,"mpcc_id_a":1.01173162,"mpcc_iq_a":-0.293527246,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.81060028,"mpcc_pred_id_a":-0.0070951446,"mpcc_pred_iq_a":-1.4893291,"mpcc_state":1,"mpcc_theta_e":0.445865154,"mpcc_theta_mech":0.556118906,"sam_rpm":8.56600094,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021595329,"thr_a_norm":0.021595329,"thr_a_v":0.586381316,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477262527,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.81493,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.09608364,"cg_iw_a":0.12916851,"cg_theta_rad":0.556807101,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0111405831,"mpcc_du":49.0186615,"mpcc_dv":50.9813385,"mpcc_dw":49.8013306,"mpcc_enc_sign":1,"mpcc_id_a":1.67154229,"mpcc_iq_a":-1.76969385,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.3892746,"mpcc_pred_id_a":0.0314465798,"mpcc_pred_iq_a":-3.91804552,"mpcc_state":1,"mpcc_theta_e":0.446326733,"mpcc_theta_mech":0.556211233,"sam_rpm":16.1649284,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0471000224,"thr_a_norm":0.021595329,"thr_a_v":0.68840009,"thr_b":0.0158548802,"thr_b_norm":0,"thr_b_v":0.563419521,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.825092,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.733645439,"cg_iw_a":-1.17560911,"cg_theta_rad":0.552692413,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0198052041,"mpcc_du":48.8293037,"mpcc_dv":51.1706963,"mpcc_dw":49.5816345,"mpcc_enc_sign":1,"mpcc_id_a":2.56383967,"mpcc_iq_a":-0.737523317,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.73609018,"mpcc_pred_id_a":0.126015678,"mpcc_pred_iq_a":-5.73032808,"mpcc_state":1,"mpcc_theta_e":0.439167023,"mpcc_theta_mech":0.554779351,"sam_rpm":3.72140622,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0471000224,"thr_a_norm":0.0471000224,"thr_a_v":0.68840009,"thr_b":0.0158548802,"thr_b_norm":0.0158548802,"thr_b_v":0.563419521,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.835133,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.878620625,"cg_iw_a":-0.740683556,"cg_theta_rad":0.555632234,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0073792357,"mpcc_du":50.5230103,"mpcc_dv":48.0151711,"mpcc_dw":51.9848289,"mpcc_enc_sign":1,"mpcc_id_a":1.11260748,"mpcc_iq_a":-0.415402174,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.2318573,"mpcc_pred_id_a":0.566812038,"mpcc_pred_iq_a":-0.562369406,"mpcc_state":1,"mpcc_theta_e":0.431298256,"mpcc_theta_mech":0.55320555,"sam_rpm":-21.6673069,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199839771,"thr_a_norm":0.0199839771,"thr_a_v":0.579935908,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.844959,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-2.25588632,"cg_iw_a":1.28897119,"cg_theta_rad":0.557388842,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0516904183,"mpcc_du":50.2599487,"mpcc_dv":48.5217781,"mpcc_dw":51.4782219,"mpcc_enc_sign":1,"mpcc_id_a":0.632585406,"mpcc_iq_a":-0.909041822,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.66545439,"mpcc_pred_id_a":0.354737252,"mpcc_pred_iq_a":-1.68723118,"mpcc_state":1,"mpcc_theta_e":0.453514099,"mpcc_theta_mech":0.557648778,"sam_rpm":0.804853678,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199839771,"thr_a_norm":0.0199839771,"thr_a_v":0.579935908,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.855305,"values":{"cg_iu_a":3.79393435,"cg_iv_a":-1.89344811,"cg_iw_a":0.709069967,"cg_theta_rad":0.5558815,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0319952145,"mpcc_du":49.6026878,"mpcc_dv":49.4212914,"mpcc_dw":50.5787086,"mpcc_enc_sign":1,"mpcc_id_a":0.987068415,"mpcc_iq_a":-0.513248444,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.82256341,"mpcc_pred_id_a":0.0125961918,"mpcc_pred_iq_a":-4.01921892,"mpcc_state":1,"mpcc_theta_e":0.445525646,"mpcc_theta_mech":0.556051075,"sam_rpm":7.130826,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269706994,"thr_a_norm":0.0269706994,"thr_a_v":0.607882798,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482751191,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.865376,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.31354666,"cg_iw_a":0.781557798,"cg_theta_rad":0.557887495,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00139581668,"mpcc_du":49.6397209,"mpcc_dv":49.4520607,"mpcc_dw":50.5479393,"mpcc_enc_sign":1,"mpcc_id_a":-0.0935158208,"mpcc_iq_a":-1.10696411,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.14381599,"mpcc_pred_id_a":-0.418009043,"mpcc_pred_iq_a":-2.95046544,"mpcc_state":1,"mpcc_theta_e":0.43977499,"mpcc_theta_mech":0.554900885,"sam_rpm":13.2659521,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196063071,"thr_a_norm":0.0269706994,"thr_a_v":0.578425229,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478722841,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.888325,"values":{"cg_iu_a":3.93890953,"cg_iv_a":-0.951108456,"cg_iw_a":-2.98780107,"cg_theta_rad":0.556618273,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.022150632,"mpcc_du":48.7145767,"mpcc_dv":51.2854233,"mpcc_dw":49.3746986,"mpcc_enc_sign":1,"mpcc_id_a":2.9760716,"mpcc_iq_a":-2.71291018,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.7441292,"mpcc_pred_id_a":-0.128787696,"mpcc_pred_iq_a":-7.26382732,"mpcc_state":1,"mpcc_theta_e":0.455807686,"mpcc_theta_mech":0.558107495,"sam_rpm":19.7456684,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196063071,"thr_a_norm":0.0196063071,"thr_a_v":0.578425229,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478722841,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.894886,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-2.25588632,"cg_iw_a":-0.813171148,"cg_theta_rad":0.552905321,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0338905081,"mpcc_du":50.5044975,"mpcc_dv":48.2330856,"mpcc_dw":51.7669144,"mpcc_enc_sign":1,"mpcc_id_a":0.78024298,"mpcc_iq_a":-0.61291641,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.37259841,"mpcc_pred_id_a":0.279438347,"mpcc_pred_iq_a":0.271334231,"mpcc_state":1,"mpcc_theta_e":0.451917648,"mpcc_theta_mech":0.557329476,"sam_rpm":-0.097736232,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0401888341,"thr_a_norm":0.0401888341,"thr_a_v":0.660755336,"thr_b":0.00706797838,"thr_b_norm":0.00706797838,"thr_b_v":0.528271914,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.901417,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.733645439,"cg_iw_a":-2.48038721,"cg_theta_rad":0.556627333,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.024995869,"mpcc_du":49.6894341,"mpcc_dv":49.2626534,"mpcc_dw":50.7373466,"mpcc_enc_sign":1,"mpcc_id_a":2.22680306,"mpcc_iq_a":-0.775655448,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.978691816,"mpcc_pred_id_a":0.249279633,"mpcc_pred_iq_a":-3.26387167,"mpcc_state":1,"mpcc_theta_e":0.443608284,"mpcc_theta_mech":0.555667579,"sam_rpm":1.78396249,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0401888341,"thr_a_norm":0.0401888341,"thr_a_v":0.660755336,"thr_b":0.00706797838,"thr_b_norm":0.00706797838,"thr_b_v":0.528271914,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.907917,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.878620625,"cg_iw_a":-1.24809694,"cg_theta_rad":0.553824425,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0162322875,"mpcc_du":50.2991867,"mpcc_dv":48.4477577,"mpcc_dw":51.5522423,"mpcc_enc_sign":1,"mpcc_id_a":0.594502628,"mpcc_iq_a":-0.833496332,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.0269451,"mpcc_pred_id_a":0.330509394,"mpcc_pred_iq_a":-1.42938352,"mpcc_state":1,"mpcc_theta_e":0.443065166,"mpcc_theta_mech":0.55555898,"sam_rpm":-17.9531784,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0251830965,"thr_a_norm":0.0251830965,"thr_a_v":0.600732386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491613656,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.918354,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-2.18339872,"cg_iw_a":-3.06028843,"cg_theta_rad":0.55641973,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0332753621,"mpcc_du":49.9633904,"mpcc_dv":48.9263496,"mpcc_dw":51.0736504,"mpcc_enc_sign":1,"mpcc_id_a":2.53346324,"mpcc_iq_a":-1.48082745,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.43746376,"mpcc_pred_id_a":0.23742418,"mpcc_pred_iq_a":-4.15005159,"mpcc_state":1,"mpcc_theta_e":0.444664955,"mpcc_theta_mech":0.555878937,"sam_rpm":-5.07592058,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023533985,"thr_a_norm":0.0251830965,"thr_a_v":0.59413594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472075969,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.928303,"values":{"cg_iu_a":4.8087616,"cg_iv_a":-1.82096052,"cg_iw_a":-2.98780107,"cg_theta_rad":0.555345595,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0515964888,"mpcc_du":49.6130371,"mpcc_dv":49.6066017,"mpcc_dw":50.3933983,"mpcc_enc_sign":1,"mpcc_id_a":1.31566823,"mpcc_iq_a":-0.500974894,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.65720463,"mpcc_pred_id_a":-0.41857639,"mpcc_pred_iq_a":-4.51368809,"mpcc_state":1,"mpcc_theta_e":0.456023693,"mpcc_theta_mech":0.558150649,"sam_rpm":14.8981056,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023533985,"thr_a_norm":0.023533985,"thr_a_v":0.59413594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472075969,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.938496,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.371207237,"cg_iw_a":0.12916851,"cg_theta_rad":0.554423213,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0604413226,"mpcc_du":49.0939026,"mpcc_dv":50.9060974,"mpcc_dw":49.8736458,"mpcc_enc_sign":1,"mpcc_id_a":1.93471324,"mpcc_iq_a":-2.80757833,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.52104568,"mpcc_pred_id_a":0.174329653,"mpcc_pred_iq_a":-0.881174862,"mpcc_state":1,"mpcc_theta_e":0.427197456,"mpcc_theta_mech":0.55238539,"sam_rpm":4.67122316,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0293499678,"thr_a_norm":0.0293499678,"thr_a_v":0.617399871,"thr_b":0.00159189105,"thr_b_norm":0.00159189105,"thr_b_v":0.506367564,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.949116,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-1.31354666,"cg_iw_a":0.0566806793,"cg_theta_rad":0.555594921,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.19824,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0549165234,"mpcc_du":50.4784241,"mpcc_dv":48.0569382,"mpcc_dw":51.9430618,"mpcc_enc_sign":1,"mpcc_id_a":2.9422102,"mpcc_iq_a":0.250817329,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.7455549,"mpcc_pred_id_a":0.75860846,"mpcc_pred_iq_a":-1.41875136,"mpcc_state":1,"mpcc_theta_e":0.435586929,"mpcc_theta_mech":0.55406332,"sam_rpm":-15.0074844,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0293499678,"thr_a_norm":0.0293499678,"thr_a_v":0.617399871,"thr_b":0.00159189105,"thr_b_norm":0.00159189105,"thr_b_v":0.506367564,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.959339,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.31354666,"cg_iw_a":-1.61053562,"cg_theta_rad":0.556632161,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.00211963127,"mpcc_du":49.7107315,"mpcc_dv":49.5096741,"mpcc_dw":50.4903259,"mpcc_enc_sign":1,"mpcc_id_a":0.878919661,"mpcc_iq_a":-1.7559315,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.05180383,"mpcc_pred_id_a":-0.404065073,"mpcc_pred_iq_a":-2.82773852,"mpcc_state":1,"mpcc_theta_e":0.443046093,"mpcc_theta_mech":0.555555165,"sam_rpm":3.2800827,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0329125673,"thr_a_norm":0.0329125673,"thr_a_v":0.631650269,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465026289,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.969685,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.226231575,"cg_iw_a":-2.33541203,"cg_theta_rad":0.556348741,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.00229149265,"mpcc_du":50.8779259,"mpcc_dv":49.3155861,"mpcc_dw":50.6844139,"mpcc_enc_sign":1,"mpcc_id_a":0.821231544,"mpcc_iq_a":-0.877544403,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.8404722,"mpcc_pred_id_a":-0.128187105,"mpcc_pred_iq_a":1.00742042,"mpcc_state":1,"mpcc_theta_e":0.429114342,"mpcc_theta_mech":0.552768767,"sam_rpm":-19.3260536,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241004825,"thr_a_norm":0.0329125673,"thr_a_v":0.59640193,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469658971,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.992542,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.516182423,"cg_iw_a":1.43394661,"cg_theta_rad":0.555435419,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0477816872,"mpcc_du":49.7010269,"mpcc_dv":49.1756935,"mpcc_dw":50.8243065,"mpcc_enc_sign":1,"mpcc_id_a":1.84904087,"mpcc_iq_a":0.277285665,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.3393476,"mpcc_pred_id_a":0.408301532,"mpcc_pred_iq_a":-3.30062604,"mpcc_state":1,"mpcc_theta_e":0.447659492,"mpcc_theta_mech":0.556477845,"sam_rpm":4.25154877,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241004825,"thr_a_norm":0.0241004825,"thr_a_v":0.59640193,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469658971,"vdc_v":55.2955055}} +{"type":"telemetry","t":40.999012,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.806133032,"cg_iw_a":-1.97297359,"cg_theta_rad":0.558186889,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0162627716,"mpcc_du":48.9367943,"mpcc_dv":51.0632057,"mpcc_dw":49.7014122,"mpcc_enc_sign":1,"mpcc_id_a":1.14924407,"mpcc_iq_a":-0.510938525,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.6972303,"mpcc_pred_id_a":0.0207650363,"mpcc_pred_iq_a":-5.6569972,"mpcc_state":1,"mpcc_theta_e":0.454857349,"mpcc_theta_mech":0.557917356,"sam_rpm":23.2169552,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211295485,"thr_a_norm":0.0211295485,"thr_a_v":0.584518194,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.005573,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-2.54583716,"cg_iw_a":-0.0158064365,"cg_theta_rad":0.554932356,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0114838146,"mpcc_du":50.3433533,"mpcc_dv":48.4621429,"mpcc_dw":51.5378571,"mpcc_enc_sign":1,"mpcc_id_a":1.65240622,"mpcc_iq_a":-0.802929223,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.4696894,"mpcc_pred_id_a":0.00540170958,"mpcc_pred_iq_a":-2.11596036,"mpcc_state":1,"mpcc_theta_e":0.431746483,"mpcc_theta_mech":0.553295195,"sam_rpm":-18.139595,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211295485,"thr_a_norm":0.0211295485,"thr_a_v":0.584518194,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.012135,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.60349751,"cg_iw_a":0.854045391,"cg_theta_rad":0.553602695,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.00410230691,"mpcc_du":50.1994247,"mpcc_dv":49.0112839,"mpcc_dw":50.9887161,"mpcc_enc_sign":1,"mpcc_id_a":-0.445592582,"mpcc_iq_a":-0.98854965,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.604146,"mpcc_pred_id_a":-0.733910263,"mpcc_pred_iq_a":-0.174028158,"mpcc_state":1,"mpcc_theta_e":0.446146488,"mpcc_theta_mech":0.556175232,"sam_rpm":8.15908241,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00900663435,"thr_a_norm":0.00900663435,"thr_a_v":0.536026537,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.434259564,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.022083,"values":{"cg_iu_a":-0.410350561,"cg_iv_a":-1.09608364,"cg_iw_a":1.5064342,"cg_theta_rad":0.557249725,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0128436368,"mpcc_du":49.8338318,"mpcc_dv":49.2416306,"mpcc_dw":50.7583694,"mpcc_enc_sign":1,"mpcc_id_a":1.70936561,"mpcc_iq_a":-1.69248354,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.438451946,"mpcc_pred_id_a":-0.201017797,"mpcc_pred_iq_a":-3.44076252,"mpcc_state":1,"mpcc_theta_e":0.445326805,"mpcc_theta_mech":0.55601126,"sam_rpm":1.12484741,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214568526,"thr_a_norm":0.00900663435,"thr_a_v":0.58582741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475600839,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.032124,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.45852208,"cg_iw_a":0.41911912,"cg_theta_rad":0.555908084,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0217833705,"mpcc_du":49.9626579,"mpcc_dv":48.8730392,"mpcc_dw":51.1269608,"mpcc_enc_sign":1,"mpcc_id_a":1.38745964,"mpcc_iq_a":-1.35560656,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.05755758,"mpcc_pred_id_a":0.279374063,"mpcc_pred_iq_a":-2.38082528,"mpcc_state":1,"mpcc_theta_e":0.446439743,"mpcc_theta_mech":0.556233823,"sam_rpm":4.18585014,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214568526,"thr_a_norm":0.0214568526,"thr_a_v":0.58582741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475600839,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.042316,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.6759851,"cg_iw_a":-1.61053538,"cg_theta_rad":0.552886307,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0412378423,"mpcc_du":50.0127296,"mpcc_dv":48.6967926,"mpcc_dw":51.3032074,"mpcc_enc_sign":1,"mpcc_id_a":2.47655249,"mpcc_iq_a":-0.757399082,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.435351461,"mpcc_pred_id_a":0.535895467,"mpcc_pred_iq_a":-2.0494678,"mpcc_state":1,"mpcc_theta_e":0.444338322,"mpcc_theta_mech":0.555813611,"sam_rpm":1.9850533,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101709783,"thr_a_norm":0.101709783,"thr_a_v":0.906839132,"thr_b":0.043713659,"thr_b_norm":0.043713659,"thr_b_v":0.674854636,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.052143,"values":{"cg_iu_a":4.15637207,"cg_iv_a":-1.53100967,"cg_iw_a":-2.6253624,"cg_theta_rad":0.556032121,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0132259466,"mpcc_du":49.6271477,"mpcc_dv":49.989006,"mpcc_dw":50.3728523,"mpcc_enc_sign":1,"mpcc_id_a":0.447062641,"mpcc_iq_a":-1.13751686,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.88437653,"mpcc_pred_id_a":-0.37867555,"mpcc_pred_iq_a":-2.68266511,"mpcc_state":1,"mpcc_theta_e":0.446500301,"mpcc_theta_mech":0.556245983,"sam_rpm":17.8271275,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101709783,"thr_a_norm":0.101709783,"thr_a_v":0.906839132,"thr_b":0.043713659,"thr_b_norm":0.043713659,"thr_b_v":0.674854636,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.062305,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.24105906,"cg_iw_a":0.201656103,"cg_theta_rad":0.556768358,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0553391092,"mpcc_du":49.5925941,"mpcc_dv":49.2386932,"mpcc_dw":50.7613068,"mpcc_enc_sign":1,"mpcc_id_a":3.276685,"mpcc_iq_a":-0.255253285,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.04434884,"mpcc_pred_id_a":0.57300967,"mpcc_pred_iq_a":-3.72806883,"mpcc_state":1,"mpcc_theta_e":0.443632603,"mpcc_theta_mech":0.555672407,"sam_rpm":2.8659327,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.442215592,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.072529,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.6759851,"cg_iw_a":0.41911912,"cg_theta_rad":0.557626486,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.00262134336,"mpcc_du":49.8279953,"mpcc_dv":49.2929802,"mpcc_dw":50.7070198,"mpcc_enc_sign":1,"mpcc_id_a":0.431177706,"mpcc_iq_a":-2.01110935,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.93935251,"mpcc_pred_id_a":-0.297988236,"mpcc_pred_iq_a":-4.54846191,"mpcc_state":1,"mpcc_theta_e":0.44621706,"mpcc_theta_mech":0.556189358,"sam_rpm":13.8977776,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0231814981,"thr_a_norm":0.0200217366,"thr_a_v":0.592725992,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494685292,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.095509,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.96593571,"cg_iw_a":0.854045391,"cg_theta_rad":0.558292091,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0226854011,"mpcc_du":49.0834084,"mpcc_dv":50.9165916,"mpcc_dw":49.8629837,"mpcc_enc_sign":1,"mpcc_id_a":2.32142043,"mpcc_iq_a":-0.413279921,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.15041399,"mpcc_pred_id_a":0.0796334893,"mpcc_pred_iq_a":-6.72438145,"mpcc_state":1,"mpcc_theta_e":0.44745636,"mpcc_theta_mech":0.556437194,"sam_rpm":8.86088753,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0231814981,"thr_a_norm":0.0231814981,"thr_a_v":0.592725992,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494685292,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.10207,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.38603449,"cg_iw_a":0.78155756,"cg_theta_rad":0.556698024,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0033549231,"mpcc_du":49.6562195,"mpcc_dv":49.6879807,"mpcc_dw":50.3437805,"mpcc_enc_sign":1,"mpcc_id_a":-1.14464116,"mpcc_iq_a":-2.27785969,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.33367205,"mpcc_pred_id_a":-0.650848985,"mpcc_pred_iq_a":-3.18332744,"mpcc_state":1,"mpcc_theta_e":0.446856022,"mpcc_theta_mech":0.556317091,"sam_rpm":7.93949556,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156786442,"thr_a_norm":0.0156786442,"thr_a_v":0.562714577,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466184497,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.10857,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.733645439,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556084335,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0574199334,"mpcc_du":49.6596565,"mpcc_dv":49.1435013,"mpcc_dw":50.8564987,"mpcc_enc_sign":1,"mpcc_id_a":2.56333709,"mpcc_iq_a":0.265010715,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.6643666,"mpcc_pred_id_a":0.625027895,"mpcc_pred_iq_a":-3.44715643,"mpcc_state":1,"mpcc_theta_e":0.445308208,"mpcc_theta_mech":0.556007564,"sam_rpm":3.21655941,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156786442,"thr_a_norm":0.0156786442,"thr_a_v":0.562714577,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466184497,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.115101,"values":{"cg_iu_a":3.8664217,"cg_iv_a":-2.40086174,"cg_iw_a":-1.46555996,"cg_theta_rad":0.554991007,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0228989795,"mpcc_du":49.4837151,"mpcc_dv":49.4983139,"mpcc_dw":50.5162849,"mpcc_enc_sign":1,"mpcc_id_a":2.43594074,"mpcc_iq_a":-0.846422255,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.62582111,"mpcc_pred_id_a":0.342707694,"mpcc_pred_iq_a":-2.18253779,"mpcc_state":1,"mpcc_theta_e":0.449854374,"mpcc_theta_mech":0.556916773,"sam_rpm":12.7844677,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217589736,"thr_a_norm":0.0217589736,"thr_a_v":0.587035894,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473284513,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.123127,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-2.0384233,"cg_iw_a":0.636582136,"cg_theta_rad":0.55563575,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.00685313717,"mpcc_du":50.363987,"mpcc_dv":48.5251122,"mpcc_dw":50.3752022,"mpcc_enc_sign":1,"mpcc_id_a":0.620588303,"mpcc_iq_a":-0.0983015895,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.82834053,"mpcc_pred_id_a":-0.119575769,"mpcc_pred_iq_a":-1.16455555,"mpcc_state":1,"mpcc_theta_e":0.433495522,"mpcc_theta_mech":0.556867182,"sam_rpm":-14.2123413,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278645009,"thr_a_norm":0.0217589736,"thr_a_v":0.611458004,"thr_b":0.000987634063,"thr_b_norm":0,"thr_b_v":0.503950536,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.133106,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.878620625,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556072772,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.020453088,"mpcc_du":50.1721802,"mpcc_dv":48.8916664,"mpcc_dw":51.1083336,"mpcc_enc_sign":1,"mpcc_id_a":0.759157538,"mpcc_iq_a":-1.32991421,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.7746191,"mpcc_pred_id_a":-0.321958125,"mpcc_pred_iq_a":-3.84107447,"mpcc_state":1,"mpcc_theta_e":0.444050789,"mpcc_theta_mech":0.556232035,"sam_rpm":-5.24450445,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278645009,"thr_a_norm":0.0278645009,"thr_a_v":0.611458004,"thr_b":0.000987634063,"thr_b_norm":0.000987634063,"thr_b_v":0.503950536,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.143299,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.0384233,"cg_iw_a":-1.53804779,"cg_theta_rad":0.554027736,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0258983225,"mpcc_du":49.5372581,"mpcc_dv":49.8804512,"mpcc_dw":50.4627419,"mpcc_enc_sign":1,"mpcc_id_a":1.70415211,"mpcc_iq_a":-0.0220042672,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.08222818,"mpcc_pred_id_a":0.103285961,"mpcc_pred_iq_a":-3.55567718,"mpcc_state":1,"mpcc_theta_e":0.446177483,"mpcc_theta_mech":0.556181371,"sam_rpm":9.66540146,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280785114,"thr_a_norm":0.0280785114,"thr_a_v":0.612314045,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.152912,"values":{"cg_iu_a":2.85159445,"cg_iv_a":0.788595676,"cg_iw_a":-3.64019012,"cg_theta_rad":0.5561921,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0438414402,"mpcc_du":49.7816963,"mpcc_dv":48.8960686,"mpcc_dw":51.1039314,"mpcc_enc_sign":1,"mpcc_id_a":3.73026991,"mpcc_iq_a":-0.965848625,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.66086864,"mpcc_pred_id_a":0.794440269,"mpcc_pred_iq_a":-0.394990623,"mpcc_state":1,"mpcc_theta_e":0.429092884,"mpcc_theta_mech":0.552764535,"sam_rpm":-15.0599642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280785114,"thr_a_norm":0.0280785114,"thr_a_v":0.612314045,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.163166,"values":{"cg_iu_a":2.85159445,"cg_iv_a":0.208694458,"cg_iw_a":-3.06028891,"cg_theta_rad":0.552846193,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0349282697,"mpcc_du":50.012352,"mpcc_dv":49.1674042,"mpcc_dw":50.8325958,"mpcc_enc_sign":1,"mpcc_id_a":0.80083245,"mpcc_iq_a":-0.896199167,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.11862326,"mpcc_pred_id_a":-0.481852561,"mpcc_pred_iq_a":-3.34855795,"mpcc_state":1,"mpcc_theta_e":0.452114582,"mpcc_theta_mech":0.557368875,"sam_rpm":8.14959526,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024138242,"thr_a_norm":0.024138242,"thr_a_v":0.596552968,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.173512,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.226231575,"cg_iw_a":-2.19043684,"cg_theta_rad":0.555193305,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.00805638544,"mpcc_du":49.565773,"mpcc_dv":49.7829132,"mpcc_dw":50.434227,"mpcc_enc_sign":1,"mpcc_id_a":1.4376303,"mpcc_iq_a":-0.749471545,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.09899759,"mpcc_pred_id_a":-0.0667545944,"mpcc_pred_iq_a":0.278835982,"mpcc_state":1,"mpcc_theta_e":0.431420326,"mpcc_theta_mech":0.553229988,"sam_rpm":-8.02911663,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.024138242,"thr_a_v":0.618709087,"thr_b":0.0065266639,"thr_b_norm":0,"thr_b_v":0.526106656,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.196522,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.661157608,"cg_iw_a":-1.03063393,"cg_theta_rad":0.557443678,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.00386252487,"mpcc_du":51.1866112,"mpcc_dv":47.4141846,"mpcc_dw":52.5858154,"mpcc_enc_sign":1,"mpcc_id_a":0.939363778,"mpcc_iq_a":-0.793560266,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.0080633,"mpcc_pred_id_a":0.128047571,"mpcc_pred_iq_a":2.4036243,"mpcc_state":1,"mpcc_theta_e":0.429141521,"mpcc_theta_mech":0.552774251,"sam_rpm":-20.9982929,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.0065266639,"thr_b_norm":0.0065266639,"thr_b_v":0.526106656,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.203053,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.11091113,"cg_iw_a":0.781557798,"cg_theta_rad":0.556271613,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0150269726,"mpcc_du":49.4989853,"mpcc_dv":50.5010147,"mpcc_dw":50.3433228,"mpcc_enc_sign":1,"mpcc_id_a":2.44125581,"mpcc_iq_a":-0.83096844,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.15537357,"mpcc_pred_id_a":0.0899235681,"mpcc_pred_iq_a":-4.16771412,"mpcc_state":1,"mpcc_theta_e":0.443517208,"mpcc_theta_mech":0.55564934,"sam_rpm":4.73594284,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296520889,"thr_a_norm":0.0296520889,"thr_a_v":0.618608356,"thr_b":0.00568321347,"thr_b_norm":0.00568321347,"thr_b_v":0.522732854,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.209614,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.878620625,"cg_iw_a":-1.46555996,"cg_theta_rad":0.557643414,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0147182969,"mpcc_du":49.4678955,"mpcc_dv":50.5321045,"mpcc_dw":50.3218346,"mpcc_enc_sign":1,"mpcc_id_a":1.81047785,"mpcc_iq_a":-1.47457004,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.23887777,"mpcc_pred_id_a":0.127466634,"mpcc_pred_iq_a":-5.47284985,"mpcc_state":1,"mpcc_theta_e":0.45012331,"mpcc_theta_mech":0.556970537,"sam_rpm":10.5758467,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296520889,"thr_a_norm":0.0296520889,"thr_a_v":0.618608356,"thr_b":0.00568321347,"thr_b_norm":0.00568321347,"thr_b_v":0.522732854,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.216114,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.661157608,"cg_iw_a":-0.16078186,"cg_theta_rad":0.55723983,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0410774611,"mpcc_du":49.9947243,"mpcc_dv":49.0593719,"mpcc_dw":50.9406281,"mpcc_enc_sign":1,"mpcc_id_a":1.3331871,"mpcc_iq_a":-0.134209707,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.7314758,"mpcc_pred_id_a":-0.140815139,"mpcc_pred_iq_a":-1.01564848,"mpcc_state":1,"mpcc_theta_e":0.454277515,"mpcc_theta_mech":0.557801425,"sam_rpm":16.9697552,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208777785,"thr_a_norm":0.0208777785,"thr_a_v":0.583511114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454351097,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.224506,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.45852208,"cg_iw_a":0.346631765,"cg_theta_rad":0.556268156,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0199235752,"mpcc_du":49.7413712,"mpcc_dv":49.1968117,"mpcc_dw":50.8031883,"mpcc_enc_sign":1,"mpcc_id_a":2.64172363,"mpcc_iq_a":-2.77643752,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.54910421,"mpcc_pred_id_a":0.293924391,"mpcc_pred_iq_a":-1.51610398,"mpcc_state":1,"mpcc_theta_e":0.442730427,"mpcc_theta_mech":0.555492043,"sam_rpm":3.11539054,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0207267106,"thr_a_norm":0.0208777785,"thr_a_v":0.582906842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462911427,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.234425,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-0.298719406,"cg_iw_a":0.201656342,"cg_theta_rad":0.554524541,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.021053642,"mpcc_du":49.5956306,"mpcc_dv":50.4043694,"mpcc_dw":50.2395134,"mpcc_enc_sign":1,"mpcc_id_a":1.59348345,"mpcc_iq_a":-2.33126187,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.59825516,"mpcc_pred_id_a":-0.0108351735,"mpcc_pred_iq_a":-2.3041904,"mpcc_state":1,"mpcc_theta_e":0.427538395,"mpcc_theta_mech":0.552453578,"sam_rpm":-2.94182014,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0207267106,"thr_a_norm":0.0207267106,"thr_a_v":0.582906842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462911427,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.244526,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.60349751,"cg_iw_a":0.709070206,"cg_theta_rad":0.553387642,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0219585225,"mpcc_du":50.1915779,"mpcc_dv":48.5982819,"mpcc_dw":51.4017181,"mpcc_enc_sign":1,"mpcc_id_a":2.32496309,"mpcc_iq_a":-0.905453384,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.53807116,"mpcc_pred_id_a":0.385051429,"mpcc_pred_iq_a":-1.88401747,"mpcc_state":1,"mpcc_theta_e":0.440154076,"mpcc_theta_mech":0.554976761,"sam_rpm":-8.42072487,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446344733,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.254292,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.31354666,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556241691,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.033404164,"mpcc_du":49.8805351,"mpcc_dv":48.969017,"mpcc_dw":51.030983,"mpcc_enc_sign":1,"mpcc_id_a":2.71549487,"mpcc_iq_a":-0.592517853,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.523239672,"mpcc_pred_id_a":0.425450295,"mpcc_pred_iq_a":-2.64852595,"mpcc_state":1,"mpcc_theta_e":0.444161892,"mpcc_theta_mech":0.555778265,"sam_rpm":-1.28097343,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446344733,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.264484,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.878620625,"cg_iw_a":-1.68302298,"cg_theta_rad":0.558818698,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.00301569211,"mpcc_du":49.2152596,"mpcc_dv":50.7847404,"mpcc_dw":49.9256363,"mpcc_enc_sign":1,"mpcc_id_a":1.02289486,"mpcc_iq_a":-0.438285619,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.6893787,"mpcc_pred_id_a":-0.18598403,"mpcc_pred_iq_a":-2.98536777,"mpcc_state":1,"mpcc_theta_e":0.446081161,"mpcc_theta_mech":0.556162179,"sam_rpm":18.9225807,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0136644542,"thr_a_norm":0.0136644542,"thr_a_v":0.554657817,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441963822,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.274708,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.60349751,"cg_iw_a":0.78155756,"cg_theta_rad":0.555353463,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0297587197,"mpcc_du":49.6107368,"mpcc_dv":50.2794075,"mpcc_dw":50.3892632,"mpcc_enc_sign":1,"mpcc_id_a":1.62851,"mpcc_iq_a":-1.3807112,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.26727676,"mpcc_pred_id_a":0.142804101,"mpcc_pred_iq_a":-1.78787446,"mpcc_state":1,"mpcc_theta_e":0.427223206,"mpcc_theta_mech":0.552390516,"sam_rpm":-1.38389075,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241256505,"thr_a_norm":0.0136644542,"thr_a_v":0.596502602,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476658285,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.297565,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.371207237,"cg_iw_a":-2.11794901,"cg_theta_rad":0.554674923,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.00220033363,"mpcc_du":50.7216759,"mpcc_dv":48.1597023,"mpcc_dw":51.8402977,"mpcc_enc_sign":1,"mpcc_id_a":0.285820216,"mpcc_iq_a":-1.00121367,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.79621887,"mpcc_pred_id_a":-0.188847855,"mpcc_pred_iq_a":1.98885357,"mpcc_state":1,"mpcc_theta_e":0.429730415,"mpcc_theta_mech":0.55289197,"sam_rpm":-14.8132238,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241256505,"thr_a_norm":0.0241256505,"thr_a_v":0.596502602,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476658285,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.304035,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.878620625,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556673288,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.00433347188,"mpcc_du":49.30233,"mpcc_dv":50.69767,"mpcc_dw":49.930336,"mpcc_enc_sign":1,"mpcc_id_a":0.241582111,"mpcc_iq_a":-2.82553959,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.0347815,"mpcc_pred_id_a":-0.192869902,"mpcc_pred_iq_a":-1.03102624,"mpcc_state":1,"mpcc_theta_e":0.431770325,"mpcc_theta_mech":0.553300023,"sam_rpm":-18.1864529,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272098929,"thr_a_norm":0.0272098929,"thr_a_v":0.608839571,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493728518,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.310566,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.588670254,"cg_iw_a":-1.61053514,"cg_theta_rad":0.555085599,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0113362484,"mpcc_du":49.6737404,"mpcc_dv":50.0495453,"mpcc_dw":50.3262596,"mpcc_enc_sign":1,"mpcc_id_a":0.417942762,"mpcc_iq_a":-0.191002041,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.04839897,"mpcc_pred_id_a":-0.528476715,"mpcc_pred_iq_a":-1.1869967,"mpcc_state":1,"mpcc_theta_e":0.437507153,"mpcc_theta_mech":0.554447353,"sam_rpm":9.56623173,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272098929,"thr_a_norm":0.0272098929,"thr_a_v":0.608839571,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493728518,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.317066,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.02359605,"cg_iw_a":-0.378244877,"cg_theta_rad":0.555237651,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0100233844,"mpcc_du":49.2288437,"mpcc_dv":50.7711563,"mpcc_dw":49.902153,"mpcc_enc_sign":1,"mpcc_id_a":0.510761738,"mpcc_iq_a":-0.990998626,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.4210129,"mpcc_pred_id_a":-0.366071105,"mpcc_pred_iq_a":-4.63740301,"mpcc_state":1,"mpcc_theta_e":0.455185413,"mpcc_theta_mech":0.557982981,"sam_rpm":23.2442303,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0279274434,"thr_a_norm":0.0279274434,"thr_a_v":0.611709774,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49735406,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.325092,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.226231575,"cg_iw_a":-1.46555996,"cg_theta_rad":0.557065547,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0105866827,"mpcc_du":50.4336052,"mpcc_dv":48.4113579,"mpcc_dw":51.5886421,"mpcc_enc_sign":1,"mpcc_id_a":0.799400389,"mpcc_iq_a":-0.230964378,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.24303198,"mpcc_pred_id_a":-0.00609097211,"mpcc_pred_iq_a":-0.195700824,"mpcc_state":1,"mpcc_theta_e":0.437669754,"mpcc_theta_mech":0.554479837,"sam_rpm":-7.47435856,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217715651,"thr_a_norm":0.0279274434,"thr_a_v":0.58708626,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485973924,"vdc_v":55.2955055}} +{"type":"console","t":41.330376,"sequence":14,"text":"> var set IqVar 5"} +{"type":"telemetry","t":41.335163,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-0.951108456,"cg_iw_a":0.854045391,"cg_theta_rad":0.556991398,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0156261567,"mpcc_du":50.289505,"mpcc_dv":48.8018799,"mpcc_dw":51.1981201,"mpcc_enc_sign":1,"mpcc_id_a":0.399409026,"mpcc_iq_a":-1.57701707,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.41061401,"mpcc_pred_id_a":-0.461516082,"mpcc_pred_iq_a":-3.36883545,"mpcc_state":1,"mpcc_theta_e":0.445042133,"mpcc_theta_mech":0.555954337,"sam_rpm":-4.96610022,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217715651,"thr_a_norm":0.0217715651,"thr_a_v":0.58708626,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485973924,"vdc_v":55.2955055}} +{"type":"command","t":41.337801,"source":"ui","text":"var set IqVar 5","sent":true} +{"type":"console","t":41.337803,"sequence":15,"text":"(sent)"} +{"type":"telemetry","t":41.345478,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.6759851,"cg_iw_a":0.346631765,"cg_theta_rad":0.556631863,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.005344328,"mpcc_du":50.6105156,"mpcc_dv":48.2403221,"mpcc_dw":51.7596779,"mpcc_enc_sign":1,"mpcc_id_a":-0.408977628,"mpcc_iq_a":-3.31720591,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.83086014,"mpcc_pred_id_a":-0.0481965952,"mpcc_pred_iq_a":-3.10731554,"mpcc_state":1,"mpcc_theta_e":0.438897133,"mpcc_theta_mech":0.554725349,"sam_rpm":-13.7230473,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204119831,"thr_a_norm":0.0204119831,"thr_a_v":0.581647933,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468299359,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.355305,"values":{"cg_iu_a":4.5912981,"cg_iv_a":-1.31354666,"cg_iw_a":0.636582375,"cg_theta_rad":0.557493448,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.102164268,"mpcc_du":49.7803688,"mpcc_dv":48.6618233,"mpcc_dw":51.3381767,"mpcc_enc_sign":1,"mpcc_id_a":6.02930069,"mpcc_iq_a":0.498009294,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.50075126,"mpcc_pred_id_a":1.44245446,"mpcc_pred_iq_a":-0.722073555,"mpcc_state":1,"mpcc_theta_e":0.439738274,"mpcc_theta_mech":0.554893553,"sam_rpm":-4.41533089,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204119831,"thr_a_norm":0.0204119831,"thr_a_v":0.581647933,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468299359,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.365498,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.82096052,"cg_iw_a":-1.17560911,"cg_theta_rad":0.556966305,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.00405191677,"mpcc_du":49.2290039,"mpcc_dv":50.7709961,"mpcc_dw":49.8600349,"mpcc_enc_sign":1,"mpcc_id_a":0.965377986,"mpcc_iq_a":0.289072633,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.80986547,"mpcc_pred_id_a":-0.429114521,"mpcc_pred_iq_a":-4.38780499,"mpcc_state":1,"mpcc_theta_e":0.441259384,"mpcc_theta_mech":0.555197835,"sam_rpm":8.43197918,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151750892,"thr_a_norm":0.0151750892,"thr_a_v":0.560700357,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470162511,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.377857,"values":{"cg_iu_a":0.676964283,"cg_iv_a":0.426157475,"cg_iw_a":-1.10312176,"cg_theta_rad":0.55438,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.00289998529,"mpcc_du":49.9132233,"mpcc_dv":49.1179848,"mpcc_dw":50.8820152,"mpcc_enc_sign":1,"mpcc_id_a":0.474607497,"mpcc_iq_a":-2.08103824,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.597735286,"mpcc_pred_id_a":-0.0189465638,"mpcc_pred_iq_a":-2.82964897,"mpcc_state":1,"mpcc_theta_e":0.44809103,"mpcc_theta_mech":0.556564093,"sam_rpm":0.976199627,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261650234,"thr_a_norm":0.0151750892,"thr_a_v":0.604660094,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492217898,"vdc_v":55.2955055}} +{"type":"console","t":41.38004,"sequence":16,"text":"[SHELL] IqVar = 5.0000"} +{"type":"telemetry","t":41.400135,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.298719406,"cg_iw_a":-2.40789986,"cg_theta_rad":0.553965807,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0185959395,"mpcc_du":50.1089134,"mpcc_dv":48.6503258,"mpcc_dw":51.3496742,"mpcc_enc_sign":1,"mpcc_id_a":2.25248575,"mpcc_iq_a":-0.037277922,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.69913173,"mpcc_pred_id_a":0.563100457,"mpcc_pred_iq_a":0.0846390575,"mpcc_state":1,"mpcc_theta_e":0.439554691,"mpcc_theta_mech":0.554856896,"sam_rpm":-2.29905653,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261650234,"thr_a_norm":0.0261650234,"thr_a_v":0.604660094,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492217898,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.406635,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.02359605,"cg_iw_a":0.41911912,"cg_theta_rad":0.554452777,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0245862585,"mpcc_du":50.2267418,"mpcc_dv":48.6651268,"mpcc_dw":51.3348732,"mpcc_enc_sign":1,"mpcc_id_a":0.7984761,"mpcc_iq_a":-0.23413974,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.10300732,"mpcc_pred_id_a":0.100034095,"mpcc_pred_iq_a":-2.11905169,"mpcc_state":1,"mpcc_theta_e":0.441644192,"mpcc_theta_mech":0.555274725,"sam_rpm":-5.37419319,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151750892,"thr_a_norm":0.0151750892,"thr_a_v":0.560700357,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470363915,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.413166,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.38603449,"cg_iw_a":-1.75551081,"cg_theta_rad":0.558205307,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0424551666,"mpcc_du":49.5891457,"mpcc_dv":50.0901451,"mpcc_dw":50.4108543,"mpcc_enc_sign":1,"mpcc_id_a":0.868695855,"mpcc_iq_a":-0.0957754031,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.9951992,"mpcc_pred_id_a":-0.119071878,"mpcc_pred_iq_a":-3.92679214,"mpcc_state":1,"mpcc_theta_e":0.456570148,"mpcc_theta_mech":0.555884182,"sam_rpm":20.0332222,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151750892,"thr_a_norm":0.0151750892,"thr_a_v":0.560700357,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470363915,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.419666,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.38603449,"cg_iw_a":0.564094543,"cg_theta_rad":0.556671858,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0484053306,"mpcc_du":51.3121452,"mpcc_dv":47.292778,"mpcc_dw":52.707222,"mpcc_enc_sign":1,"mpcc_id_a":1.49026108,"mpcc_iq_a":0.0118788891,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":19.3304882,"mpcc_pred_id_a":-0.00164667808,"mpcc_pred_iq_a":-4.71133137,"mpcc_state":1,"mpcc_theta_e":0.46107769,"mpcc_theta_mech":0.559161484,"sam_rpm":-16.6897297,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0300675184,"thr_a_norm":0.0300675184,"thr_a_v":0.620270073,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479075313,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.428272,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.951108456,"cg_iw_a":0.491607189,"cg_theta_rad":0.556033134,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0350542106,"mpcc_du":49.4649162,"mpcc_dv":49.8299255,"mpcc_dw":50.5350838,"mpcc_enc_sign":1,"mpcc_id_a":3.55765867,"mpcc_iq_a":-0.690060556,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.7150497,"mpcc_pred_id_a":0.686711192,"mpcc_pred_iq_a":-1.59133971,"mpcc_state":1,"mpcc_theta_e":0.449624538,"mpcc_theta_mech":0.556870818,"sam_rpm":15.393342,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203112811,"thr_a_norm":0.0300675184,"thr_a_v":0.581245124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466637671,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.438251,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.153744221,"cg_iw_a":1.36145926,"cg_theta_rad":0.557120204,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0669078454,"mpcc_du":49.9129791,"mpcc_dv":48.8025398,"mpcc_dw":51.1974602,"mpcc_enc_sign":1,"mpcc_id_a":3.39694571,"mpcc_iq_a":0.339031011,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.47562265,"mpcc_pred_id_a":0.821369648,"mpcc_pred_iq_a":-3.33335543,"mpcc_state":1,"mpcc_theta_e":0.442789555,"mpcc_theta_mech":0.555503845,"sam_rpm":-6.64968252,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203112811,"thr_a_norm":0.0203112811,"thr_a_v":0.581245124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466637671,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.448505,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.371207237,"cg_iw_a":-1.10312152,"cg_theta_rad":0.558887661,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0271325037,"mpcc_du":50.1473579,"mpcc_dv":48.7690506,"mpcc_dw":51.2309494,"mpcc_enc_sign":1,"mpcc_id_a":2.14608097,"mpcc_iq_a":-1.95232689,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.65455663,"mpcc_pred_id_a":0.18714945,"mpcc_pred_iq_a":-3.28396082,"mpcc_state":1,"mpcc_theta_e":0.446958542,"mpcc_theta_mech":0.556337655,"sam_rpm":-2.04498005,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165850371,"thr_a_norm":0.0165850371,"thr_a_v":0.566340148,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.458302,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-3.12573838,"cg_iw_a":2.4487741,"cg_theta_rad":0.555429161,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0411194637,"mpcc_du":49.9443283,"mpcc_dv":48.983448,"mpcc_dw":51.016552,"mpcc_enc_sign":1,"mpcc_id_a":2.59101677,"mpcc_iq_a":-1.19177616,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.19351673,"mpcc_pred_id_a":0.239784226,"mpcc_pred_iq_a":-2.63931084,"mpcc_state":1,"mpcc_theta_e":0.447209358,"mpcc_theta_mech":0.556387782,"sam_rpm":6.34353733,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165850371,"thr_a_norm":0.0165850371,"thr_a_v":0.566340148,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.468494,"values":{"cg_iu_a":-1.1352272,"cg_iv_a":0.426157475,"cg_iw_a":0.709069729,"cg_theta_rad":0.552375257,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0383737274,"mpcc_du":50.8571281,"mpcc_dv":47.7517319,"mpcc_dw":52.2482681,"mpcc_enc_sign":1,"mpcc_id_a":3.25554276,"mpcc_iq_a":-0.452906549,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.88270569,"mpcc_pred_id_a":0.556924939,"mpcc_pred_iq_a":0.817049205,"mpcc_state":1,"mpcc_theta_e":0.436730862,"mpcc_theta_mech":0.554292083,"sam_rpm":-14.7053909,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.01975739,"thr_a_norm":0.01975739,"thr_a_v":0.57902956,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482952625,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.47887,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.806133032,"cg_iw_a":0.129168749,"cg_theta_rad":0.552503765,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0276422333,"mpcc_du":49.4975014,"mpcc_dv":49.6054993,"mpcc_dw":50.5024986,"mpcc_enc_sign":1,"mpcc_id_a":2.82161617,"mpcc_iq_a":-0.87596029,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.55128765,"mpcc_pred_id_a":0.387842298,"mpcc_pred_iq_a":-2.81234789,"mpcc_state":1,"mpcc_theta_e":0.444533348,"mpcc_theta_mech":0.555852592,"sam_rpm":9.37258434,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.01975739,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452840477,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.501728,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.588670254,"cg_iw_a":0.999020576,"cg_theta_rad":0.553693593,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0158799831,"mpcc_du":50.9827805,"mpcc_dv":47.6583138,"mpcc_dw":52.3416862,"mpcc_enc_sign":1,"mpcc_id_a":1.53512704,"mpcc_iq_a":-1.71218944,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.08332396,"mpcc_pred_id_a":-0.326388568,"mpcc_pred_iq_a":-5.55748892,"mpcc_state":1,"mpcc_theta_e":0.449626446,"mpcc_theta_mech":0.556871235,"sam_rpm":-19.5850887,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452840477,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.508259,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.806133032,"cg_iw_a":-1.97297359,"cg_theta_rad":0.552493393,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0122395465,"mpcc_du":49.4439812,"mpcc_dv":50.461113,"mpcc_dw":50.5560188,"mpcc_enc_sign":1,"mpcc_id_a":2.19945288,"mpcc_iq_a":-1.85666823,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.32495236,"mpcc_pred_id_a":0.410864145,"mpcc_pred_iq_a":-2.27877641,"mpcc_state":1,"mpcc_theta_e":0.437747955,"mpcc_theta_mech":0.556132257,"sam_rpm":16.7373085,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137148052,"thr_a_norm":0.0137148052,"thr_a_v":0.554859221,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.445035458,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.514759,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.24105906,"cg_iw_a":-1.17560935,"cg_theta_rad":0.553545296,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0243461933,"mpcc_du":50.551899,"mpcc_dv":47.9095573,"mpcc_dw":52.0904427,"mpcc_enc_sign":1,"mpcc_id_a":3.03652716,"mpcc_iq_a":0.154595688,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.0473194,"mpcc_pred_id_a":0.802203178,"mpcc_pred_iq_a":-0.120484315,"mpcc_state":1,"mpcc_theta_e":0.422142982,"mpcc_theta_mech":0.555654943,"sam_rpm":-30.1776237,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137148052,"thr_a_norm":0.0137148052,"thr_a_v":0.554859221,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.445035458,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.521687,"values":{"cg_iu_a":0.894427299,"cg_iv_a":1.29600906,"cg_iw_a":-3.71267748,"cg_theta_rad":0.552449226,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0268990081,"mpcc_du":50.2941933,"mpcc_dv":48.520546,"mpcc_dw":51.479454,"mpcc_enc_sign":1,"mpcc_id_a":2.69529438,"mpcc_iq_a":-0.277435988,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.02006054,"mpcc_pred_id_a":0.203944191,"mpcc_pred_iq_a":-1.24662328,"mpcc_state":1,"mpcc_theta_e":0.434493542,"mpcc_theta_mech":0.553844631,"sam_rpm":-11.5267467,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209029466,"thr_a_norm":0.0209029466,"thr_a_v":0.583611786,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470363915,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.531666,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.02359605,"cg_iw_a":-1.53804755,"cg_theta_rad":0.557428718,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0339666009,"mpcc_du":49.6165924,"mpcc_dv":49.1122131,"mpcc_dw":50.8877869,"mpcc_enc_sign":1,"mpcc_id_a":3.55691504,"mpcc_iq_a":-1.52130568,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.88024879,"mpcc_pred_id_a":0.71258539,"mpcc_pred_iq_a":-2.34816623,"mpcc_state":1,"mpcc_theta_e":0.437669277,"mpcc_theta_mech":0.554479778,"sam_rpm":-11.5148506,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185992122,"thr_a_norm":0.0185992122,"thr_a_v":0.574396849,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.541676,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.74847269,"cg_iw_a":1.21648359,"cg_theta_rad":0.557408929,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.100211158,"mpcc_du":50.263916,"mpcc_dv":48.6911087,"mpcc_dw":51.3088913,"mpcc_enc_sign":1,"mpcc_id_a":1.16642308,"mpcc_iq_a":-0.1438936,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.51286459,"mpcc_pred_id_a":0.0472130403,"mpcc_pred_iq_a":-3.35745931,"mpcc_state":1,"mpcc_theta_e":0.452638626,"mpcc_theta_mech":0.55747366,"sam_rpm":7.70023251,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185992122,"thr_a_norm":0.0185992122,"thr_a_v":0.574396849,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.551868,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.60349751,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.556927025,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0381763913,"mpcc_du":49.5704575,"mpcc_dv":49.7981071,"mpcc_dw":50.4295425,"mpcc_enc_sign":1,"mpcc_id_a":1.27442563,"mpcc_iq_a":-2.14682841,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.76998234,"mpcc_pred_id_a":-0.0822374299,"mpcc_pred_iq_a":-1.74616992,"mpcc_state":1,"mpcc_theta_e":0.430613518,"mpcc_theta_mech":0.553068638,"sam_rpm":-8.73151016,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0301808268,"thr_a_norm":0.0301808268,"thr_a_v":0.620723307,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468702197,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.562122,"values":{"cg_iu_a":3.8664217,"cg_iv_a":-0.878620625,"cg_iw_a":-2.98780107,"cg_theta_rad":0.557822406,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.00151793123,"mpcc_du":49.8675613,"mpcc_dv":49.2863579,"mpcc_dw":50.6279449,"mpcc_enc_sign":1,"mpcc_id_a":0.431447774,"mpcc_iq_a":-1.35461104,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.08209276,"mpcc_pred_id_a":-0.363162875,"mpcc_pred_iq_a":-2.87095213,"mpcc_state":1,"mpcc_theta_e":0.439596653,"mpcc_theta_mech":0.554865241,"sam_rpm":-3.1547792,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.029274419,"thr_a_norm":0.0301808268,"thr_a_v":0.617097676,"thr_b":0.00491531193,"thr_b_norm":0,"thr_b_v":0.519661248,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.571888,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.38603449,"cg_iw_a":0.926532984,"cg_theta_rad":0.555655003,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0638213158,"mpcc_du":49.6546249,"mpcc_dv":49.2781372,"mpcc_dw":50.7218628,"mpcc_enc_sign":1,"mpcc_id_a":2.89354706,"mpcc_iq_a":-0.237427652,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.83593512,"mpcc_pred_id_a":0.33271715,"mpcc_pred_iq_a":-3.35491967,"mpcc_state":1,"mpcc_theta_e":0.45204258,"mpcc_theta_mech":0.55735445,"sam_rpm":11.3651018,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.029274419,"thr_a_norm":0.029274419,"thr_a_v":0.617097676,"thr_b":0.00491531193,"thr_b_norm":0.00491531193,"thr_b_v":0.519661248,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.582111,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.806133032,"cg_iw_a":-1.90048623,"cg_theta_rad":0.552350581,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0326657072,"mpcc_du":50.7327499,"mpcc_dv":48.3226547,"mpcc_dw":51.6773453,"mpcc_enc_sign":1,"mpcc_id_a":-0.74043268,"mpcc_iq_a":-1.54414272,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.5181885,"mpcc_pred_id_a":-0.791862667,"mpcc_pred_iq_a":1.34280992,"mpcc_state":1,"mpcc_theta_e":0.419140339,"mpcc_theta_mech":0.550773978,"sam_rpm":-29.5468922,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453545451,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.605305,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.16857147,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556496263,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0392526276,"mpcc_du":50.4203453,"mpcc_dv":48.4013672,"mpcc_dw":51.5986328,"mpcc_enc_sign":1,"mpcc_id_a":2.27566624,"mpcc_iq_a":-0.334195971,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.26242137,"mpcc_pred_id_a":0.202679843,"mpcc_pred_iq_a":-0.92615658,"mpcc_state":1,"mpcc_theta_e":0.443065166,"mpcc_theta_mech":0.55555898,"sam_rpm":-2.68607712,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453545451,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.611897,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.153744221,"cg_iw_a":-4.65501738,"cg_theta_rad":0.556285799,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0032665492,"mpcc_du":49.5463905,"mpcc_dv":49.9503059,"mpcc_dw":50.4536095,"mpcc_enc_sign":1,"mpcc_id_a":0.967071176,"mpcc_iq_a":-1.23707163,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.210811168,"mpcc_pred_id_a":0.0575969815,"mpcc_pred_iq_a":-4.34010315,"mpcc_state":1,"mpcc_theta_e":0.439949512,"mpcc_theta_mech":0.554935813,"sam_rpm":-0.706347406,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0306340009,"thr_a_norm":0.0306340009,"thr_a_v":0.622536004,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474492997,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.618366,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.02359605,"cg_iw_a":-1.4655602,"cg_theta_rad":0.556566894,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0385001786,"mpcc_du":49.5047874,"mpcc_dv":50.1120529,"mpcc_dw":50.4952126,"mpcc_enc_sign":1,"mpcc_id_a":2.64819431,"mpcc_iq_a":0.257421553,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.19452572,"mpcc_pred_id_a":0.326112926,"mpcc_pred_iq_a":-3.37220407,"mpcc_state":1,"mpcc_theta_e":0.450647354,"mpcc_theta_mech":0.557075381,"sam_rpm":13.726429,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0306340009,"thr_a_norm":0.0306340009,"thr_a_v":0.622536004,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474492997,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.624866,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.31354666,"cg_iw_a":-0.305757523,"cg_theta_rad":0.55746305,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0116461692,"mpcc_du":50.6296234,"mpcc_dv":48.2710304,"mpcc_dw":51.7289696,"mpcc_enc_sign":1,"mpcc_id_a":0.757103026,"mpcc_iq_a":-0.667217016,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.3771877,"mpcc_pred_id_a":-0.354903221,"mpcc_pred_iq_a":-2.15196347,"mpcc_state":1,"mpcc_theta_e":0.432039261,"mpcc_theta_mech":0.553353786,"sam_rpm":-20.9102211,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0398237556,"thr_a_norm":0.0398237556,"thr_a_v":0.659295022,"thr_b":0.00701762736,"thr_b_norm":0.00701762736,"thr_b_v":0.528070509,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.63509,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.951108456,"cg_iw_a":-1.53804755,"cg_theta_rad":0.556786537,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0186481886,"mpcc_du":49.1176147,"mpcc_dv":50.8823853,"mpcc_dw":49.7719574,"mpcc_enc_sign":1,"mpcc_id_a":0.3314583,"mpcc_iq_a":-0.858728945,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":20.2817631,"mpcc_pred_id_a":-0.296836436,"mpcc_pred_iq_a":-4.38368893,"mpcc_state":1,"mpcc_theta_e":0.457960129,"mpcc_theta_mech":0.5585379,"sam_rpm":31.6901531,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208777785,"thr_a_norm":0.0398237556,"thr_a_v":0.583511114,"thr_b":0,"thr_b_norm":0.00701762736,"thr_b_v":0.457624167,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.645893,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.298719406,"cg_iw_a":-4.14760399,"cg_theta_rad":0.555998027,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0700505227,"mpcc_du":50.0573616,"mpcc_dv":48.6801682,"mpcc_dw":51.3198318,"mpcc_enc_sign":1,"mpcc_id_a":2.46447039,"mpcc_iq_a":-0.615302205,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.40559149,"mpcc_pred_id_a":0.534179568,"mpcc_pred_iq_a":-4.13421726,"mpcc_state":1,"mpcc_theta_e":0.44532156,"mpcc_theta_mech":0.555486917,"sam_rpm":-3.72879815,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208777785,"thr_a_norm":0.0208777785,"thr_a_v":0.583511114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457624167,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.657307,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.16857147,"cg_iw_a":2.15882349,"cg_theta_rad":0.557045817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.00981293526,"mpcc_du":50.4213371,"mpcc_dv":48.4224968,"mpcc_dw":51.5775032,"mpcc_enc_sign":1,"mpcc_id_a":-0.228980362,"mpcc_iq_a":-2.71643972,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.68301439,"mpcc_pred_id_a":0.0922716334,"mpcc_pred_iq_a":-2.55486631,"mpcc_state":1,"mpcc_theta_e":0.446679592,"mpcc_theta_mech":0.556281865,"sam_rpm":-5.02330971,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244529694,"thr_a_norm":0.0244529694,"thr_a_v":0.597811878,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467846185,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.667469,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.38603449,"cg_iw_a":-1.03063393,"cg_theta_rad":0.555890083,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.00740772672,"mpcc_du":50.223114,"mpcc_dv":48.7494354,"mpcc_dw":51.2505646,"mpcc_enc_sign":1,"mpcc_id_a":1.44032323,"mpcc_iq_a":-2.43657374,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.51912212,"mpcc_pred_id_a":-0.166982457,"mpcc_pred_iq_a":-2.98007441,"mpcc_state":1,"mpcc_theta_e":0.442022324,"mpcc_theta_mech":0.555350363,"sam_rpm":-8.1643486,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.107840478,"thr_a_norm":0.0244529694,"thr_a_v":0.931361914,"thr_b":0.0392698497,"thr_b_norm":0,"thr_b_v":0.657079399,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.677479,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.74847269,"cg_iw_a":-1.39307261,"cg_theta_rad":0.557229817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0676730573,"mpcc_du":49.2440681,"mpcc_dv":50.7559319,"mpcc_dw":50.4076653,"mpcc_enc_sign":1,"mpcc_id_a":5.19562674,"mpcc_iq_a":-0.103592202,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.2366924,"mpcc_pred_id_a":1.06087804,"mpcc_pred_iq_a":-1.77150905,"mpcc_state":1,"mpcc_theta_e":0.444040775,"mpcc_theta_mech":0.555754066,"sam_rpm":15.8404217,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.107840478,"thr_a_norm":0.107840478,"thr_a_v":0.931361914,"thr_b":0.0392698497,"thr_b_norm":0.0392698497,"thr_b_v":0.657079399,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.700672,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.0087685585,"cg_iw_a":-3.93014097,"cg_theta_rad":0.555578411,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0144168036,"mpcc_du":50.7573166,"mpcc_dv":48.1049881,"mpcc_dw":51.8950119,"mpcc_enc_sign":1,"mpcc_id_a":1.24012995,"mpcc_iq_a":-0.486785799,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.79753685,"mpcc_pred_id_a":-0.232075289,"mpcc_pred_iq_a":0.729531944,"mpcc_state":1,"mpcc_theta_e":0.439973354,"mpcc_theta_mech":0.554940581,"sam_rpm":-7.12092638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174788237,"thr_a_norm":0.0174788237,"thr_a_v":0.569915295,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454653233,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.707233,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.96593571,"cg_iw_a":0.201656103,"cg_theta_rad":0.557389319,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.00342595624,"mpcc_du":49.5943298,"mpcc_dv":49.4475136,"mpcc_dw":50.5524864,"mpcc_enc_sign":1,"mpcc_id_a":1.01416945,"mpcc_iq_a":-1.66396666,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.36382961,"mpcc_pred_id_a":-0.125143796,"mpcc_pred_iq_a":-4.26235294,"mpcc_state":1,"mpcc_theta_e":0.433495998,"mpcc_theta_mech":0.553645074,"sam_rpm":-12.983016,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174788237,"thr_a_norm":0.0174788237,"thr_a_v":0.569915295,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454653233,"vdc_v":54.6292953}} +{"type":"telemetry","t":41.713764,"values":{"cg_iu_a":3.8664217,"cg_iv_a":0.353669643,"cg_iw_a":-4.22009134,"cg_theta_rad":0.554421723,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.00237026205,"mpcc_du":49.9236565,"mpcc_dv":49.0898933,"mpcc_dw":50.9101067,"mpcc_enc_sign":1,"mpcc_id_a":0.945118248,"mpcc_iq_a":-1.96597874,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.49428606,"mpcc_pred_id_a":-0.200926065,"mpcc_pred_iq_a":-1.81023705,"mpcc_state":1,"mpcc_theta_e":0.43949604,"mpcc_theta_mech":0.554845095,"sam_rpm":-2.4640789,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182215571,"thr_a_norm":0.0182215571,"thr_a_v":0.572886229,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446395069,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.720478,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.45852208,"cg_iw_a":-3.49521494,"cg_theta_rad":0.553714454,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0429109223,"mpcc_du":49.4375839,"mpcc_dv":49.6328621,"mpcc_dw":50.5624161,"mpcc_enc_sign":1,"mpcc_id_a":2.89758086,"mpcc_iq_a":0.286551327,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.71905708,"mpcc_pred_id_a":0.536879182,"mpcc_pred_iq_a":-2.87712765,"mpcc_state":1,"mpcc_theta_e":0.446911335,"mpcc_theta_mech":0.556328177,"sam_rpm":10.0694742,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024339661,"thr_a_norm":0.024339661,"thr_a_v":0.597358644,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.730122,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.77033806,"cg_theta_rad":0.556609273,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0364438854,"mpcc_du":49.3941727,"mpcc_dv":49.6711845,"mpcc_dw":50.6058273,"mpcc_enc_sign":1,"mpcc_id_a":3.81453609,"mpcc_iq_a":-0.0969704613,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.57975245,"mpcc_pred_id_a":0.674488246,"mpcc_pred_iq_a":-2.12739229,"mpcc_state":1,"mpcc_theta_e":0.432471752,"mpcc_theta_mech":0.553440273,"sam_rpm":0.84485209,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024339661,"thr_a_norm":0.024339661,"thr_a_v":0.597358644,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.742481,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.31354666,"cg_iw_a":0.12916851,"cg_theta_rad":0.556049585,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0338030644,"mpcc_du":49.8904381,"mpcc_dv":48.8850365,"mpcc_dw":51.1149635,"mpcc_enc_sign":1,"mpcc_id_a":2.18434072,"mpcc_iq_a":-0.148787469,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.4351797,"mpcc_pred_id_a":0.398418337,"mpcc_pred_iq_a":1.04632461,"mpcc_state":1,"mpcc_theta_e":0.421238899,"mpcc_theta_mech":0.551193655,"sam_rpm":-20.1451893,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0117132068,"thr_a_norm":0.0117132068,"thr_a_v":0.546852827,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.442568064,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.752644,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.16857147,"cg_iw_a":0.274144173,"cg_theta_rad":0.555595756,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0398276821,"mpcc_du":49.5813179,"mpcc_dv":49.5712433,"mpcc_dw":50.4287567,"mpcc_enc_sign":1,"mpcc_id_a":1.3309077,"mpcc_iq_a":-0.634308577,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.248107448,"mpcc_pred_id_a":-0.137827635,"mpcc_pred_iq_a":-2.36054301,"mpcc_state":1,"mpcc_theta_e":0.447507858,"mpcc_theta_mech":0.556447446,"sam_rpm":17.2497864,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198706836,"thr_a_norm":0.0198706836,"thr_a_v":0.579482734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473989457,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.764729,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.661157608,"cg_iw_a":0.419119358,"cg_theta_rad":0.555624425,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.00517189689,"mpcc_du":49.974556,"mpcc_dv":48.8315659,"mpcc_dw":51.1684341,"mpcc_enc_sign":1,"mpcc_id_a":1.33888435,"mpcc_iq_a":-0.617293298,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.22864771,"mpcc_pred_id_a":0.311065555,"mpcc_pred_iq_a":-0.753620505,"mpcc_state":1,"mpcc_theta_e":0.434761524,"mpcc_theta_mech":0.553898215,"sam_rpm":-6.43589687,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198706836,"thr_a_norm":0.0198706836,"thr_a_v":0.579482734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473989457,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.774677,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.371207237,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556516707,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0215609632,"mpcc_du":50.0934563,"mpcc_dv":48.786541,"mpcc_dw":51.213459,"mpcc_enc_sign":1,"mpcc_id_a":2.27680397,"mpcc_iq_a":-2.051018,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.451272,"mpcc_pred_id_a":-0.000999590848,"mpcc_pred_iq_a":-1.5104084,"mpcc_state":1,"mpcc_theta_e":0.429493427,"mpcc_theta_mech":0.552844584,"sam_rpm":-19.017662,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215197951,"thr_a_norm":0.0215197951,"thr_a_v":0.58607918,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478722841,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.78484,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.24105906,"cg_iw_a":-2.62536263,"cg_theta_rad":0.55730933,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0255447458,"mpcc_du":50.2180061,"mpcc_dv":48.8855133,"mpcc_dw":51.1144867,"mpcc_enc_sign":1,"mpcc_id_a":0.487039208,"mpcc_iq_a":-0.551844418,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.809109986,"mpcc_pred_id_a":-0.508961678,"mpcc_pred_iq_a":-1.98647571,"mpcc_state":1,"mpcc_theta_e":0.444347858,"mpcc_theta_mech":0.555815518,"sam_rpm":2.87382245,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101130679,"thr_a_norm":0.0215197951,"thr_a_v":0.904522717,"thr_b":0.0418505371,"thr_b_norm":0,"thr_b_v":0.667402148,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.807911,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.806133032,"cg_iw_a":-0.595708132,"cg_theta_rad":0.550706804,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.00532785198,"mpcc_du":49.9401665,"mpcc_dv":49.2626534,"mpcc_dw":50.7373466,"mpcc_enc_sign":1,"mpcc_id_a":-0.496925026,"mpcc_iq_a":-1.42811513,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.13673401,"mpcc_pred_id_a":-0.53637892,"mpcc_pred_iq_a":-1.84415317,"mpcc_state":1,"mpcc_theta_e":0.447220802,"mpcc_theta_mech":0.556390047,"sam_rpm":7.80959129,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101130679,"thr_a_norm":0.101130679,"thr_a_v":0.904522717,"thr_b":0.0418505371,"thr_b_norm":0.0418505371,"thr_b_v":0.667402148,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.814472,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-2.11091113,"cg_iw_a":-0.160782099,"cg_theta_rad":0.554412782,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.020541884,"mpcc_du":49.5497093,"mpcc_dv":49.9904556,"mpcc_dw":50.4502907,"mpcc_enc_sign":1,"mpcc_id_a":2.14138865,"mpcc_iq_a":-1.29281974,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.8127737,"mpcc_pred_id_a":0.100394733,"mpcc_pred_iq_a":-2.89382792,"mpcc_state":1,"mpcc_theta_e":0.444234371,"mpcc_theta_mech":0.555792749,"sam_rpm":19.0782146,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280659199,"thr_a_norm":0.0280659199,"thr_a_v":0.61226368,"thr_b":0.00277523696,"thr_b_norm":0.00277523696,"thr_b_v":0.511100948,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.820942,"values":{"cg_iu_a":2.12671757,"cg_iv_a":0.281181812,"cg_iw_a":0.0566811562,"cg_theta_rad":0.556199193,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0173559338,"mpcc_du":49.6036682,"mpcc_dv":49.4538116,"mpcc_dw":50.5461884,"mpcc_enc_sign":1,"mpcc_id_a":0.887982488,"mpcc_iq_a":-1.54461753,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.3617973,"mpcc_pred_id_a":0.00852969009,"mpcc_pred_iq_a":-2.86140442,"mpcc_state":1,"mpcc_theta_e":0.452885151,"mpcc_theta_mech":0.557522953,"sam_rpm":15.8244038,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280659199,"thr_a_norm":0.0280659199,"thr_a_v":0.61226368,"thr_b":0.00277523696,"thr_b_norm":0.00277523696,"thr_b_v":0.511100948,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.827473,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.96593571,"cg_iw_a":1.50643444,"cg_theta_rad":0.556379557,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0469801724,"mpcc_du":49.9709587,"mpcc_dv":48.7518959,"mpcc_dw":51.2481041,"mpcc_enc_sign":1,"mpcc_id_a":3.25340366,"mpcc_iq_a":0.0438440517,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.32686663,"mpcc_pred_id_a":0.619557619,"mpcc_pred_iq_a":-1.99600756,"mpcc_state":1,"mpcc_theta_e":0.440536499,"mpcc_theta_mech":0.555053174,"sam_rpm":-4.73828268,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0279777944,"thr_a_norm":0.0279777944,"thr_a_v":0.611911178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496900886,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.835468,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.806133032,"cg_iw_a":0.491606951,"cg_theta_rad":0.556736529,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0251315143,"mpcc_du":50.184063,"mpcc_dv":48.4780769,"mpcc_dw":51.5219231,"mpcc_enc_sign":1,"mpcc_id_a":2.65982747,"mpcc_iq_a":-0.873832762,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.7951932,"mpcc_pred_id_a":0.541167438,"mpcc_pred_iq_a":-0.998764038,"mpcc_state":1,"mpcc_theta_e":0.438756943,"mpcc_theta_mech":0.554697275,"sam_rpm":-6.81190538,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205001235,"thr_a_norm":0.0279777944,"thr_a_v":0.582000494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462659657,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.845264,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-3.41568899,"cg_iw_a":0.491606712,"cg_theta_rad":0.558104873,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0139432186,"mpcc_du":49.4605103,"mpcc_dv":49.5775909,"mpcc_dw":50.5394897,"mpcc_enc_sign":1,"mpcc_id_a":2.35356188,"mpcc_iq_a":-2.36595058,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.99612117,"mpcc_pred_id_a":0.338701338,"mpcc_pred_iq_a":-3.11887479,"mpcc_state":1,"mpcc_theta_e":0.443891048,"mpcc_theta_mech":0.555724144,"sam_rpm":4.42043018,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205001235,"thr_a_norm":0.0205001235,"thr_a_v":0.582000494,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462659657,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.855488,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.733645439,"cg_iw_a":-2.98780107,"cg_theta_rad":0.557563245,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.00514157396,"mpcc_du":49.7540779,"mpcc_dv":49.4349937,"mpcc_dw":50.5650063,"mpcc_enc_sign":1,"mpcc_id_a":0.174934685,"mpcc_iq_a":-0.867654622,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.23254442,"mpcc_pred_id_a":-0.425062716,"mpcc_pred_iq_a":-1.71043134,"mpcc_state":1,"mpcc_theta_e":0.445851326,"mpcc_theta_mech":0.556116223,"sam_rpm":10.1890621,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281414539,"thr_a_norm":0.0281414539,"thr_a_v":0.612565815,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495289534,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.865345,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.60349751,"cg_iw_a":1.28897142,"cg_theta_rad":0.550915301,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0372399613,"mpcc_du":50.054863,"mpcc_dv":48.8514557,"mpcc_dw":51.1485443,"mpcc_enc_sign":1,"mpcc_id_a":0.416763574,"mpcc_iq_a":-0.193561494,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.23673701,"mpcc_pred_id_a":-0.558528364,"mpcc_pred_iq_a":-3.72790694,"mpcc_state":1,"mpcc_theta_e":0.443639755,"mpcc_theta_mech":0.555673838,"sam_rpm":6.39751768,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281414539,"thr_a_norm":0.0281414539,"thr_a_v":0.612565815,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495289534,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.875446,"values":{"cg_iu_a":0.749452114,"cg_iv_a":0.353669643,"cg_iw_a":-1.10312176,"cg_theta_rad":0.554323077,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0237855688,"mpcc_du":49.534687,"mpcc_dv":49.6963654,"mpcc_dw":50.465313,"mpcc_enc_sign":1,"mpcc_id_a":1.92663157,"mpcc_iq_a":-1.42527997,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.3756542,"mpcc_pred_id_a":-0.0307024065,"mpcc_pred_iq_a":-1.01175094,"mpcc_state":1,"mpcc_theta_e":0.427538395,"mpcc_theta_mech":0.552453578,"sam_rpm":-12.0923233,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227660686,"thr_a_norm":0.0227660686,"thr_a_v":0.591064274,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485420018,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.88567,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-0.0087685585,"cg_iw_a":-3.35023975,"cg_theta_rad":0.554487765,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.032585986,"mpcc_du":49.9639359,"mpcc_dv":48.9996223,"mpcc_dw":51.0003777,"mpcc_enc_sign":1,"mpcc_id_a":-0.200107068,"mpcc_iq_a":-0.96812737,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.49803638,"mpcc_pred_id_a":0.0257138889,"mpcc_pred_iq_a":-2.8878541,"mpcc_state":1,"mpcc_theta_e":0.451170444,"mpcc_theta_mech":0.557179987,"sam_rpm":7.66797066,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180830956,"thr_a_norm":0.0227660686,"thr_a_v":0.572332382,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456063181,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.908772,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.18339872,"cg_iw_a":0.854045391,"cg_theta_rad":0.558524787,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0166243706,"mpcc_du":48.8769188,"mpcc_dv":51.1230812,"mpcc_dw":49.484333,"mpcc_enc_sign":1,"mpcc_id_a":0.701931,"mpcc_iq_a":-0.762262225,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.5220718,"mpcc_pred_id_a":-0.436610222,"mpcc_pred_iq_a":-6.40592527,"mpcc_state":1,"mpcc_theta_e":0.458772182,"mpcc_theta_mech":0.558700323,"sam_rpm":24.8411942,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180830956,"thr_a_norm":0.0180830956,"thr_a_v":0.572332382,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456063181,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.915272,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.951108456,"cg_iw_a":0.274144173,"cg_theta_rad":0.557484448,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.00521514472,"mpcc_du":49.3568306,"mpcc_dv":50.6431694,"mpcc_dw":50.2722588,"mpcc_enc_sign":1,"mpcc_id_a":1.00769436,"mpcc_iq_a":-0.643415511,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.3986969,"mpcc_pred_id_a":0.506898403,"mpcc_pred_iq_a":-0.770730853,"mpcc_state":1,"mpcc_theta_e":0.431202888,"mpcc_theta_mech":0.553186476,"sam_rpm":12.4438868,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026353851,"thr_a_norm":0.026353851,"thr_a_v":0.605415404,"thr_b":0.001692608,"thr_b_norm":0.001692608,"thr_b_v":0.506770432,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.921864,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-0.0812563896,"cg_iw_a":0.201656342,"cg_theta_rad":0.557100892,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0105627179,"mpcc_du":49.8188667,"mpcc_dv":49.1742554,"mpcc_dw":50.8257446,"mpcc_enc_sign":1,"mpcc_id_a":1.36955738,"mpcc_iq_a":-0.552866459,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.89033103,"mpcc_pred_id_a":0.0899930671,"mpcc_pred_iq_a":-1.69995177,"mpcc_state":1,"mpcc_theta_e":0.443135738,"mpcc_theta_mech":0.555573106,"sam_rpm":2.70515823,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026353851,"thr_a_norm":0.026353851,"thr_a_v":0.605415404,"thr_b":0.001692608,"thr_b_norm":0.001692608,"thr_b_v":0.506770432,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.928425,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.82096052,"cg_iw_a":0.999020576,"cg_theta_rad":0.55242455,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0175547004,"mpcc_du":50.2355118,"mpcc_dv":48.4216461,"mpcc_dw":50.05476,"mpcc_enc_sign":1,"mpcc_id_a":2.53557301,"mpcc_iq_a":-0.790158272,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.2342415,"mpcc_pred_id_a":0.595315397,"mpcc_pred_iq_a":-1.57651877,"mpcc_state":1,"mpcc_theta_e":0.430034161,"mpcc_theta_mech":0.556010783,"sam_rpm":-19.5181961,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0279526263,"thr_a_norm":0.0279526263,"thr_a_v":0.611810505,"thr_b":0.00157929957,"thr_b_norm":0.00157929957,"thr_b_v":0.506317198,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.938831,"values":{"cg_iu_a":3.79393435,"cg_iv_a":-1.6759851,"cg_iw_a":-0.305757284,"cg_theta_rad":0.555312037,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":361,"hz_tim_isr":10000,"hz_vsense":361,"mpcc_cost":0.0185448825,"mpcc_du":49.5420876,"mpcc_dv":49.371273,"mpcc_dw":50.628727,"mpcc_enc_sign":1,"mpcc_id_a":2.56403494,"mpcc_iq_a":-0.736844778,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.48897171,"mpcc_pred_id_a":0.365885258,"mpcc_pred_iq_a":0.648736,"mpcc_state":1,"mpcc_theta_e":0.438902378,"mpcc_theta_mech":0.554726422,"sam_rpm":8.1034441,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0321068913,"thr_a_norm":0.0279526263,"thr_a_v":0.628427565,"thr_b":0,"thr_b_norm":0.00157929957,"thr_b_v":0.475399435,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.949451,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.661157608,"cg_iw_a":-4.43755436,"cg_theta_rad":0.556132257,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0472904183,"mpcc_du":50.5173225,"mpcc_dv":48.5308113,"mpcc_dw":51.4691887,"mpcc_enc_sign":1,"mpcc_id_a":2.58441114,"mpcc_iq_a":1.23174596,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.27970314,"mpcc_pred_id_a":-0.537599444,"mpcc_pred_iq_a":-2.15375233,"mpcc_state":1,"mpcc_theta_e":0.444491863,"mpcc_theta_mech":0.555844247,"sam_rpm":-11.6116962,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0321068913,"thr_a_norm":0.0321068913,"thr_a_v":0.628427565,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475399435,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.959492,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.45852208,"cg_iw_a":0.854045153,"cg_theta_rad":0.555396378,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0481961556,"mpcc_du":50.3065224,"mpcc_dv":48.553772,"mpcc_dw":51.446228,"mpcc_enc_sign":1,"mpcc_id_a":2.96731162,"mpcc_iq_a":-0.0610760078,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.48908997,"mpcc_pred_id_a":0.170069009,"mpcc_pred_iq_a":-1.32967651,"mpcc_state":1,"mpcc_theta_e":0.443359375,"mpcc_theta_mech":0.555617809,"sam_rpm":-3.0649631,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261146724,"thr_a_norm":0.0261146724,"thr_a_v":0.60445869,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489901572,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.969471,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.96593571,"cg_iw_a":1.21648359,"cg_theta_rad":0.555944979,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00467987172,"mpcc_du":49.6332741,"mpcc_dv":50.3667259,"mpcc_dw":50.3499069,"mpcc_enc_sign":1,"mpcc_id_a":0.0326920636,"mpcc_iq_a":-2.11313248,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.002142,"mpcc_pred_id_a":-0.346348226,"mpcc_pred_iq_a":-2.88127303,"mpcc_state":1,"mpcc_theta_e":0.459733963,"mpcc_theta_mech":0.558892667,"sam_rpm":26.763483,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261146724,"thr_a_norm":0.0261146724,"thr_a_v":0.60445869,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489901572,"vdc_v":55.2955055}} +{"type":"telemetry","t":41.979633,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-1.31354666,"cg_iw_a":-0.81317091,"cg_theta_rad":0.551731229,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0399329662,"mpcc_du":49.4018669,"mpcc_dv":49.6219826,"mpcc_dw":50.5981331,"mpcc_enc_sign":1,"mpcc_id_a":3.99300313,"mpcc_iq_a":-0.766792774,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.0915997,"mpcc_pred_id_a":0.879793644,"mpcc_pred_iq_a":-2.16593027,"mpcc_state":1,"mpcc_theta_e":0.440371037,"mpcc_theta_mech":0.555020154,"sam_rpm":2.3119967,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275497735,"thr_a_norm":0.0275497735,"thr_a_v":0.610199094,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49911651,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.004963,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":0.426157475,"cg_iw_a":-0.523220539,"cg_theta_rad":0.553727925,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0241444279,"mpcc_du":49.2652664,"mpcc_dv":50.7347336,"mpcc_dw":49.9502335,"mpcc_enc_sign":1,"mpcc_id_a":2.173491,"mpcc_iq_a":-0.724394202,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.56107712,"mpcc_pred_id_a":-0.172184333,"mpcc_pred_iq_a":-5.77089548,"mpcc_state":1,"mpcc_theta_e":0.45171833,"mpcc_theta_mech":0.5572896,"sam_rpm":14.2339163,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0139665753,"thr_a_norm":0.0139665753,"thr_a_v":0.555866301,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458681583,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.011494,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.516182423,"cg_iw_a":-0.450732708,"cg_theta_rad":0.554795325,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0270954818,"mpcc_du":50.5456734,"mpcc_dv":48.0851097,"mpcc_dw":51.9148903,"mpcc_enc_sign":1,"mpcc_id_a":3.2528162,"mpcc_iq_a":0.0757866427,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.051899,"mpcc_pred_id_a":0.586777568,"mpcc_pred_iq_a":1.34716213,"mpcc_state":1,"mpcc_theta_e":0.430717468,"mpcc_theta_mech":0.55308944,"sam_rpm":-17.319912,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0139665753,"thr_a_norm":0.0139665753,"thr_a_v":0.555866301,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458681583,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.018085,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.16857147,"cg_iw_a":-3.78516531,"cg_theta_rad":0.55422014,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0661595985,"mpcc_du":49.4027901,"mpcc_dv":49.9135246,"mpcc_dw":50.5972099,"mpcc_enc_sign":1,"mpcc_id_a":4.90868473,"mpcc_iq_a":-0.703275621,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.880481124,"mpcc_pred_id_a":0.96914798,"mpcc_pred_iq_a":-4.38757038,"mpcc_state":1,"mpcc_theta_e":0.443023682,"mpcc_theta_mech":0.555550635,"sam_rpm":1.13241935,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291485339,"thr_a_norm":0.0291485339,"thr_a_v":0.616594136,"thr_b":0.00208285451,"thr_b_norm":0.00208285451,"thr_b_v":0.508331418,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.024525,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.45852208,"cg_iw_a":-1.03063416,"cg_theta_rad":0.554570675,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00267856824,"mpcc_du":49.5544205,"mpcc_dv":49.4237404,"mpcc_dw":50.5762596,"mpcc_enc_sign":1,"mpcc_id_a":0.654346108,"mpcc_iq_a":-1.04649174,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.35494685,"mpcc_pred_id_a":-0.0402883068,"mpcc_pred_iq_a":-3.68748498,"mpcc_state":1,"mpcc_theta_e":0.442459583,"mpcc_theta_mech":0.555258811,"sam_rpm":10.0177336,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0291485339,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0.00208285451,"thr_b_v":0.465227723,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.032459,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.733645439,"cg_iw_a":-1.39307213,"cg_theta_rad":0.556500256,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00626165839,"mpcc_du":49.6976318,"mpcc_dv":49.4806709,"mpcc_dw":51.8579025,"mpcc_enc_sign":1,"mpcc_id_a":0.669861495,"mpcc_iq_a":-1.33951151,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.72413349,"mpcc_pred_id_a":-0.256376624,"mpcc_pred_iq_a":-1.95394087,"mpcc_state":1,"mpcc_theta_e":0.448429585,"mpcc_theta_mech":0.556631863,"sam_rpm":13.6433954,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465227723,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.042652,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.806133032,"cg_iw_a":-2.04546142,"cg_theta_rad":0.557652533,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0295815133,"mpcc_du":50.8374825,"mpcc_dv":48.1572189,"mpcc_dw":51.8427811,"mpcc_enc_sign":1,"mpcc_id_a":0.155954167,"mpcc_iq_a":-1.08688736,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.37387753,"mpcc_pred_id_a":-0.531626403,"mpcc_pred_iq_a":-1.84215736,"mpcc_state":1,"mpcc_theta_e":0.440467834,"mpcc_theta_mech":0.555039525,"sam_rpm":-10.0967474,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201224536,"thr_a_norm":0.0201224536,"thr_a_v":0.580489814,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449869543,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.052662,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.516182423,"cg_iw_a":-0.595707893,"cg_theta_rad":0.555745006,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0296313986,"mpcc_du":50.2186203,"mpcc_dv":48.546669,"mpcc_dw":51.453331,"mpcc_enc_sign":1,"mpcc_id_a":2.97746634,"mpcc_iq_a":-1.73012018,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.48659897,"mpcc_pred_id_a":0.425216079,"mpcc_pred_iq_a":-1.86200309,"mpcc_state":1,"mpcc_theta_e":0.442394733,"mpcc_theta_mech":0.555424869,"sam_rpm":-4.86394644,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201224536,"thr_a_norm":0.0201224536,"thr_a_v":0.580489814,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449869543,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.065022,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.6759851,"cg_iw_a":0.129168749,"cg_theta_rad":0.555207551,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00322209299,"mpcc_du":50.8860245,"mpcc_dv":48.043087,"mpcc_dw":51.956913,"mpcc_enc_sign":1,"mpcc_id_a":-0.23994337,"mpcc_iq_a":-1.63395512,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.9271469,"mpcc_pred_id_a":-0.568030298,"mpcc_pred_iq_a":0.149272457,"mpcc_state":1,"mpcc_theta_e":0.427763462,"mpcc_theta_mech":0.552498639,"sam_rpm":-26.5083256,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025497824,"thr_a_norm":0.025497824,"thr_a_v":0.601991296,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494685292,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.075245,"values":{"cg_iu_a":1.69179153,"cg_iv_a":0.353669643,"cg_iw_a":-0.450732708,"cg_theta_rad":0.553313434,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0379885845,"mpcc_du":49.5357056,"mpcc_dv":49.5025063,"mpcc_dw":50.4974937,"mpcc_enc_sign":1,"mpcc_id_a":2.21094537,"mpcc_iq_a":-0.645955503,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.75160742,"mpcc_pred_id_a":0.0934592485,"mpcc_pred_iq_a":-3.42640328,"mpcc_state":1,"mpcc_theta_e":0.45030117,"mpcc_theta_mech":0.55700618,"sam_rpm":12.7159367,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257370025,"thr_a_norm":0.0257370025,"thr_a_v":0.60294801,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490254045,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.085011,"values":{"cg_iu_a":5.09871197,"cg_iv_a":-0.516182423,"cg_iw_a":-0.233269691,"cg_theta_rad":0.553392708,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0221253987,"mpcc_du":50.4508972,"mpcc_dv":48.540905,"mpcc_dw":51.459095,"mpcc_enc_sign":1,"mpcc_id_a":-0.0203653947,"mpcc_iq_a":-1.60982943,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.473973036,"mpcc_pred_id_a":-0.366114378,"mpcc_pred_iq_a":-4.04122877,"mpcc_state":1,"mpcc_theta_e":0.446630478,"mpcc_theta_mech":0.55627197,"sam_rpm":0.322862804,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257370025,"thr_a_norm":0.0257370025,"thr_a_v":0.60294801,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490254045,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.108479,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.18339872,"cg_iw_a":0.854045391,"cg_theta_rad":0.552702546,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0224728212,"mpcc_du":51.1641121,"mpcc_dv":47.5048714,"mpcc_dw":52.4951286,"mpcc_enc_sign":1,"mpcc_id_a":2.57876539,"mpcc_iq_a":-0.345670462,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.231739,"mpcc_pred_id_a":-0.137526467,"mpcc_pred_iq_a":1.54922974,"mpcc_state":1,"mpcc_theta_e":0.428620815,"mpcc_theta_mech":0.552670062,"sam_rpm":-22.652092,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0315907449,"thr_a_norm":0.0315907449,"thr_a_v":0.626362979,"thr_b":0.00189402699,"thr_b_norm":0.00189402699,"thr_b_v":0.507576108,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.11504,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.45852208,"cg_iw_a":-0.233269691,"cg_theta_rad":0.55278194,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0136625292,"mpcc_du":49.7341881,"mpcc_dv":49.2502632,"mpcc_dw":50.7497368,"mpcc_enc_sign":1,"mpcc_id_a":1.27194297,"mpcc_iq_a":-0.422778964,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.63758755,"mpcc_pred_id_a":-0.236152485,"mpcc_pred_iq_a":-4.31136131,"mpcc_state":1,"mpcc_theta_e":0.449176311,"mpcc_theta_mech":0.556781173,"sam_rpm":16.2628422,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183978081,"thr_a_norm":0.0315907449,"thr_a_v":0.573591232,"thr_b":0,"thr_b_norm":0.00189402699,"thr_b_v":0.464975953,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.12154,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.951108456,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556432784,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0123240063,"mpcc_du":49.5161247,"mpcc_dv":49.540699,"mpcc_dw":50.4838753,"mpcc_enc_sign":1,"mpcc_id_a":0.192777231,"mpcc_iq_a":-1.01095915,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.25054312,"mpcc_pred_id_a":-0.36933437,"mpcc_pred_iq_a":-2.16843534,"mpcc_state":1,"mpcc_theta_e":0.439344406,"mpcc_theta_mech":0.556619346,"sam_rpm":6.68870735,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183978081,"thr_a_norm":0.0183978081,"thr_a_v":0.573591232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464975953,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.12804,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.02359605,"cg_iw_a":0.926532745,"cg_theta_rad":0.557229817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.019985253,"mpcc_du":49.7492256,"mpcc_dv":49.4979973,"mpcc_dw":50.5020027,"mpcc_enc_sign":1,"mpcc_id_a":0.615808845,"mpcc_iq_a":-0.61629796,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.70600033,"mpcc_pred_id_a":-0.577727675,"mpcc_pred_iq_a":-3.47861719,"mpcc_state":1,"mpcc_theta_e":0.447806358,"mpcc_theta_mech":0.55650717,"sam_rpm":7.75710392,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0339448303,"thr_a_norm":0.0339448303,"thr_a_v":0.635779321,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491764724,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.138233,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-1.24105906,"cg_iw_a":1.43394661,"cg_theta_rad":0.556032538,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0719895139,"mpcc_du":49.8298416,"mpcc_dv":48.8002319,"mpcc_dw":51.1997681,"mpcc_enc_sign":1,"mpcc_id_a":4.30688953,"mpcc_iq_a":-0.725824356,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.8157444,"mpcc_pred_id_a":0.913572788,"mpcc_pred_iq_a":0.292080939,"mpcc_state":1,"mpcc_theta_e":0.419703484,"mpcc_theta_mech":0.550886571,"sam_rpm":-24.2302895,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0339448303,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455156773,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.148365,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-2.61832476,"cg_iw_a":0.0566811562,"cg_theta_rad":0.555633366,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.026285708,"mpcc_du":49.2665291,"mpcc_dv":50.7334709,"mpcc_dw":49.938652,"mpcc_enc_sign":1,"mpcc_id_a":0.288827747,"mpcc_iq_a":-1.65760851,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.92461538,"mpcc_pred_id_a":-0.205961108,"mpcc_pred_iq_a":-2.02845716,"mpcc_state":1,"mpcc_theta_e":0.439678192,"mpcc_theta_mech":0.554881513,"sam_rpm":7.94613552,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455156773,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.158466,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.153744221,"cg_iw_a":-2.26292419,"cg_theta_rad":0.556996167,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0130691519,"mpcc_du":49.5538712,"mpcc_dv":50.4164124,"mpcc_dw":50.4461288,"mpcc_enc_sign":1,"mpcc_id_a":2.21506476,"mpcc_iq_a":-1.1383009,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.40423012,"mpcc_pred_id_a":0.232055008,"mpcc_pred_iq_a":-2.15918756,"mpcc_state":1,"mpcc_theta_e":0.442715168,"mpcc_theta_mech":0.554091096,"sam_rpm":10.7853374,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253593475,"thr_a_norm":0.0253593475,"thr_a_v":0.60143739,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480988771,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.168476,"values":{"cg_iu_a":0.676964283,"cg_iv_a":0.281181812,"cg_iw_a":-2.48038721,"cg_theta_rad":0.555262446,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00585002871,"mpcc_du":49.1939774,"mpcc_dv":50.8060226,"mpcc_dw":49.9132843,"mpcc_enc_sign":1,"mpcc_id_a":1.52959383,"mpcc_iq_a":-1.05712581,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.4221382,"mpcc_pred_id_a":-0.0876408666,"mpcc_pred_iq_a":-2.86790609,"mpcc_state":1,"mpcc_theta_e":0.44873333,"mpcc_theta_mech":0.5566926,"sam_rpm":21.405899,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253593475,"thr_a_norm":0.0253593475,"thr_a_v":0.60143739,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480988771,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.17873,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.38603449,"cg_iw_a":-0.523220301,"cg_theta_rad":0.555001259,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0060129771,"mpcc_du":50.2071152,"mpcc_dv":48.90345,"mpcc_dw":51.09655,"mpcc_enc_sign":1,"mpcc_id_a":0.782409608,"mpcc_iq_a":-1.61884582,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.61912298,"mpcc_pred_id_a":-0.398660064,"mpcc_pred_iq_a":-2.36133361,"mpcc_state":1,"mpcc_theta_e":0.443920135,"mpcc_theta_mech":0.555729926,"sam_rpm":-4.12580156,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192538351,"thr_a_norm":0.0192538351,"thr_a_v":0.57701534,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459487319,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.188679,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.82096052,"cg_iw_a":-2.3354125,"cg_theta_rad":0.552594185,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00373639655,"mpcc_du":49.7722206,"mpcc_dv":49.4442673,"mpcc_dw":50.5557327,"mpcc_enc_sign":1,"mpcc_id_a":0.152983725,"mpcc_iq_a":-1.81461751,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.778883,"mpcc_pred_id_a":-0.47722742,"mpcc_pred_iq_a":-4.4226656,"mpcc_state":1,"mpcc_theta_e":0.429312229,"mpcc_theta_mech":0.552808344,"sam_rpm":-4.19761276,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0125566572,"thr_a_norm":0.0192538351,"thr_a_v":0.550226629,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451178759,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.211658,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.806133032,"cg_iw_a":-0.523220301,"cg_theta_rad":0.556320429,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.000254736544,"mpcc_du":49.2649803,"mpcc_dv":50.7350197,"mpcc_dw":49.8212433,"mpcc_enc_sign":1,"mpcc_id_a":-0.160750985,"mpcc_iq_a":-1.40283883,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.31641769,"mpcc_pred_id_a":-0.609030664,"mpcc_pred_iq_a":-5.98844528,"mpcc_state":1,"mpcc_theta_e":0.445549488,"mpcc_theta_mech":0.556055784,"sam_rpm":5.73167419,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0125566572,"thr_a_norm":0.0125566572,"thr_a_v":0.550226629,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451178759,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.218189,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.371207237,"cg_iw_a":0.129168749,"cg_theta_rad":0.554037154,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00176161306,"mpcc_du":49.6834145,"mpcc_dv":49.5638885,"mpcc_dw":50.4361115,"mpcc_enc_sign":1,"mpcc_id_a":0.25445959,"mpcc_iq_a":-0.714044273,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.87835598,"mpcc_pred_id_a":-0.567333519,"mpcc_pred_iq_a":-4.89635515,"mpcc_state":1,"mpcc_theta_e":0.435595512,"mpcc_theta_mech":0.554064989,"sam_rpm":-12.3114815,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210162401,"thr_a_norm":0.0210162401,"thr_a_v":0.58406496,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481895179,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.22472,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.878620625,"cg_iw_a":-0.378245354,"cg_theta_rad":0.555338383,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.016989002,"mpcc_du":50.0253601,"mpcc_dv":48.7731171,"mpcc_dw":51.2268829,"mpcc_enc_sign":1,"mpcc_id_a":2.01534319,"mpcc_iq_a":-0.193606079,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.07295036,"mpcc_pred_id_a":0.34742099,"mpcc_pred_iq_a":-2.15699148,"mpcc_state":1,"mpcc_theta_e":0.434981346,"mpcc_theta_mech":0.553942144,"sam_rpm":-11.9380455,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210162401,"thr_a_norm":0.0210162401,"thr_a_v":0.58406496,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481895179,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.231464,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.74847269,"cg_iw_a":0.346631527,"cg_theta_rad":0.556841373,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0346117876,"mpcc_du":50.2325211,"mpcc_dv":48.4177856,"mpcc_dw":51.5822144,"mpcc_enc_sign":1,"mpcc_id_a":3.22795892,"mpcc_iq_a":-0.695634305,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.676788449,"mpcc_pred_id_a":0.677817941,"mpcc_pred_iq_a":0.443445116,"mpcc_state":1,"mpcc_theta_e":0.443681717,"mpcc_theta_mech":0.555682302,"sam_rpm":1.17993069,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292870253,"thr_a_norm":0.0292870253,"thr_a_v":0.617148101,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498814374,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.24184,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.24105906,"cg_iw_a":-1.39307237,"cg_theta_rad":0.554613292,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0834195092,"mpcc_du":50.0454941,"mpcc_dv":48.9070854,"mpcc_dw":51.0929146,"mpcc_enc_sign":1,"mpcc_id_a":0.7576074,"mpcc_iq_a":0.847244203,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.30387497,"mpcc_pred_id_a":0.0275451094,"mpcc_pred_iq_a":-2.97490931,"mpcc_state":1,"mpcc_theta_e":0.449210167,"mpcc_theta_mech":0.556787908,"sam_rpm":6.45444298,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214820355,"thr_a_norm":0.0214820355,"thr_a_v":0.585928142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.251759,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-2.11091113,"cg_iw_a":0.0566806793,"cg_theta_rad":0.555790782,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.025856996,"mpcc_du":49.8676949,"mpcc_dv":49.0903244,"mpcc_dw":50.9096756,"mpcc_enc_sign":1,"mpcc_id_a":0.31735456,"mpcc_iq_a":-0.566678584,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.1800642,"mpcc_pred_id_a":-0.214185268,"mpcc_pred_iq_a":-2.67262244,"mpcc_state":1,"mpcc_theta_e":0.449308395,"mpcc_theta_mech":0.556807578,"sam_rpm":9.93915653,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214820355,"thr_a_norm":0.0214820355,"thr_a_v":0.585928142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.261829,"values":{"cg_iu_a":2.48915625,"cg_iv_a":1.22352171,"cg_iw_a":-3.71267796,"cg_theta_rad":0.554243684,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0225248113,"mpcc_du":50.1451759,"mpcc_dv":48.5704422,"mpcc_dw":51.4295578,"mpcc_enc_sign":1,"mpcc_id_a":1.66876841,"mpcc_iq_a":-0.0839979649,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.98328972,"mpcc_pred_id_a":0.393464893,"mpcc_pred_iq_a":-0.194205493,"mpcc_state":1,"mpcc_theta_e":0.438077927,"mpcc_theta_mech":0.554561496,"sam_rpm":-16.5935974,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0364122093,"thr_a_norm":0.0364122093,"thr_a_v":0.645648837,"thr_b":0.00592240691,"thr_b_norm":0.00592240691,"thr_b_v":0.523689628,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.273212,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.02359605,"cg_iw_a":0.274143934,"cg_theta_rad":0.556353509,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00365414703,"mpcc_du":50.8475456,"mpcc_dv":48.0481491,"mpcc_dw":51.9518509,"mpcc_enc_sign":1,"mpcc_id_a":3.08190441,"mpcc_iq_a":-1.00520504,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.6192217,"mpcc_pred_id_a":-0.423921525,"mpcc_pred_iq_a":-0.872935176,"mpcc_state":1,"mpcc_theta_e":0.446011066,"mpcc_theta_mech":0.556148112,"sam_rpm":-22.3840237,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258125365,"thr_a_norm":0.0364122093,"thr_a_v":0.603250146,"thr_b":0,"thr_b_norm":0.00592240691,"thr_b_v":0.494080991,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.284229,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.516182423,"cg_iw_a":-2.48038721,"cg_theta_rad":0.554663718,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0209776405,"mpcc_du":49.6091194,"mpcc_dv":50.1585541,"mpcc_dw":50.3908806,"mpcc_enc_sign":1,"mpcc_id_a":1.38620567,"mpcc_iq_a":-3.23893762,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.47375202,"mpcc_pred_id_a":-0.268281579,"mpcc_pred_iq_a":-2.60796213,"mpcc_state":1,"mpcc_theta_e":0.440157413,"mpcc_theta_mech":0.554977357,"sam_rpm":5.88319159,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258125365,"thr_a_norm":0.0258125365,"thr_a_v":0.603250146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494080991,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.294544,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.45852208,"cg_iw_a":-1.53804755,"cg_theta_rad":0.558383107,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0165571049,"mpcc_du":49.5596275,"mpcc_dv":50.2685165,"mpcc_dw":50.4403725,"mpcc_enc_sign":1,"mpcc_id_a":0.457897872,"mpcc_iq_a":-0.622443676,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.620861471,"mpcc_pred_id_a":0.117899127,"mpcc_pred_iq_a":-2.21602201,"mpcc_state":1,"mpcc_theta_e":0.433403969,"mpcc_theta_mech":0.553626716,"sam_rpm":7.66655827,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0239494145,"thr_a_norm":0.0239494145,"thr_a_v":0.595797658,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476154745,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.317493,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.516182423,"cg_iw_a":0.999020576,"cg_theta_rad":0.556058407,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0460960642,"mpcc_du":50.4664383,"mpcc_dv":48.4753761,"mpcc_dw":51.5246239,"mpcc_enc_sign":1,"mpcc_id_a":2.36853528,"mpcc_iq_a":-0.483003885,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.65452099,"mpcc_pred_id_a":-0.0460236259,"mpcc_pred_iq_a":-0.763858378,"mpcc_state":1,"mpcc_theta_e":0.447722435,"mpcc_theta_mech":0.556490362,"sam_rpm":3.40388489,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0239494145,"thr_a_norm":0.0239494145,"thr_a_v":0.595797658,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476154745,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.323963,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.45852208,"cg_iw_a":-1.39307237,"cg_theta_rad":0.556698024,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0205690917,"mpcc_du":48.76334,"mpcc_dv":51.23666,"mpcc_dw":49.2154617,"mpcc_enc_sign":1,"mpcc_id_a":1.19313014,"mpcc_iq_a":0.0697771236,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":19.9031754,"mpcc_pred_id_a":-0.593611658,"mpcc_pred_iq_a":-5.59519577,"mpcc_state":1,"mpcc_theta_e":0.457846165,"mpcc_theta_mech":0.558515191,"sam_rpm":29.1628113,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0169501007,"thr_a_norm":0.0169501007,"thr_a_v":0.567800403,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441258878,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.330524,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-3.05325079,"cg_iw_a":0.709070206,"cg_theta_rad":0.554297268,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.022061104,"mpcc_du":49.9972343,"mpcc_dv":49.0671463,"mpcc_dw":50.9328537,"mpcc_enc_sign":1,"mpcc_id_a":2.28321266,"mpcc_iq_a":-1.50051773,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.78160477,"mpcc_pred_id_a":-0.111852773,"mpcc_pred_iq_a":-2.51831412,"mpcc_state":1,"mpcc_theta_e":0.444616795,"mpcc_theta_mech":0.555869281,"sam_rpm":4.87801027,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0169501007,"thr_a_norm":0.0169501007,"thr_a_v":0.567800403,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441258878,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.336994,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.878620625,"cg_iw_a":-1.53804779,"cg_theta_rad":0.552409351,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0119574917,"mpcc_du":49.5267639,"mpcc_dv":50.4732361,"mpcc_dw":50.3006516,"mpcc_enc_sign":1,"mpcc_id_a":2.1731317,"mpcc_iq_a":-1.7298224,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.47619867,"mpcc_pred_id_a":-0.030300267,"mpcc_pred_iq_a":-4.83941698,"mpcc_state":1,"mpcc_theta_e":0.445818901,"mpcc_theta_mech":0.556109667,"sam_rpm":6.02423143,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214316845,"thr_a_norm":0.0214316845,"thr_a_v":0.585726738,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466134131,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.345234,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.82096052,"cg_iw_a":-0.740683079,"cg_theta_rad":0.555610955,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00476566982,"mpcc_du":50.1255455,"mpcc_dv":48.8806267,"mpcc_dw":51.1193733,"mpcc_enc_sign":1,"mpcc_id_a":0.66553241,"mpcc_iq_a":-0.682977021,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.11866283,"mpcc_pred_id_a":0.0154142883,"mpcc_pred_iq_a":0.0357575007,"mpcc_state":1,"mpcc_theta_e":0.444145679,"mpcc_theta_mech":0.555775046,"sam_rpm":4.25597525,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179194212,"thr_a_norm":0.0214316845,"thr_a_v":0.571677685,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447301447,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.355274,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.02359605,"cg_iw_a":0.274143934,"cg_theta_rad":0.55848664,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0214986149,"mpcc_du":50.1921082,"mpcc_dv":49.1113167,"mpcc_dw":50.8886833,"mpcc_enc_sign":1,"mpcc_id_a":-0.649570346,"mpcc_iq_a":-1.07643223,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.159262583,"mpcc_pred_id_a":-0.760281563,"mpcc_pred_iq_a":-3.40992117,"mpcc_state":1,"mpcc_theta_e":0.447038174,"mpcc_theta_mech":0.556353509,"sam_rpm":0.466346174,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179194212,"thr_a_norm":0.0179194212,"thr_a_v":0.571677685,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447301447,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.365498,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.806133032,"cg_iw_a":-0.378245115,"cg_theta_rad":0.555914938,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0242656861,"mpcc_du":50.5075378,"mpcc_dv":48.5868454,"mpcc_dw":51.4131546,"mpcc_enc_sign":1,"mpcc_id_a":0.0836072862,"mpcc_iq_a":-1.38363469,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.64309788,"mpcc_pred_id_a":-0.372041196,"mpcc_pred_iq_a":-0.990487516,"mpcc_state":1,"mpcc_theta_e":0.449873447,"mpcc_theta_mech":0.556920588,"sam_rpm":6.49875307,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021368742,"thr_a_norm":0.021368742,"thr_a_v":0.585474968,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473838389,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.375263,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.951108456,"cg_iw_a":0.12916851,"cg_theta_rad":0.556758046,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0138029931,"mpcc_du":49.5380211,"mpcc_dv":49.9539566,"mpcc_dw":50.4619789,"mpcc_enc_sign":1,"mpcc_id_a":2.16281962,"mpcc_iq_a":-1.25663817,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.0018778,"mpcc_pred_id_a":0.22008206,"mpcc_pred_iq_a":-1.15044522,"mpcc_state":1,"mpcc_theta_e":0.427422523,"mpcc_theta_mech":0.552430391,"sam_rpm":-23.9191074,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021368742,"thr_a_norm":0.021368742,"thr_a_v":0.585474968,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473838389,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.385487,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.588670254,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556298137,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0675620064,"mpcc_du":49.9587059,"mpcc_dv":49.1719513,"mpcc_dw":50.8280487,"mpcc_enc_sign":1,"mpcc_id_a":0.114354558,"mpcc_iq_a":-0.654445529,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.73000908,"mpcc_pred_id_a":-0.327717513,"mpcc_pred_iq_a":-4.51462698,"mpcc_state":1,"mpcc_theta_e":0.448855877,"mpcc_theta_mech":0.556717098,"sam_rpm":8.13806248,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209155381,"thr_a_norm":0.0209155381,"thr_a_v":0.583662152,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463465333,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.395741,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.53100967,"cg_iw_a":-0.305757523,"cg_theta_rad":0.55703038,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0270434972,"mpcc_du":50.3229942,"mpcc_dv":48.4775391,"mpcc_dw":50.5648003,"mpcc_enc_sign":1,"mpcc_id_a":2.54796767,"mpcc_iq_a":-1.11310208,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.60568285,"mpcc_pred_id_a":0.310230672,"mpcc_pred_iq_a":-1.01051867,"mpcc_state":1,"mpcc_theta_e":0.443441868,"mpcc_theta_mech":0.557269812,"sam_rpm":-3.73781872,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226653665,"thr_a_norm":0.0209155381,"thr_a_v":0.590661466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485420018,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.418629,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-2.69081235,"cg_iw_a":2.30379844,"cg_theta_rad":0.552804708,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0601620488,"mpcc_du":50.9442253,"mpcc_dv":47.7266235,"mpcc_dw":52.2733765,"mpcc_enc_sign":1,"mpcc_id_a":2.27631068,"mpcc_iq_a":0.178174779,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.65267801,"mpcc_pred_id_a":0.265366673,"mpcc_pred_iq_a":0.358263224,"mpcc_state":1,"mpcc_theta_e":0.441644192,"mpcc_theta_mech":0.555274725,"sam_rpm":-8.78609276,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226653665,"thr_a_norm":0.0226653665,"thr_a_v":0.590661466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485420018,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.42519,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.45852208,"cg_iw_a":-1.03063393,"cg_theta_rad":0.5564574,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.030019274,"mpcc_du":49.7560463,"mpcc_dv":49.1489716,"mpcc_dw":50.8510284,"mpcc_enc_sign":1,"mpcc_id_a":2.2071259,"mpcc_iq_a":-1.31632662,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.9110498,"mpcc_pred_id_a":0.433491915,"mpcc_pred_iq_a":-0.822939157,"mpcc_state":1,"mpcc_theta_e":0.457836628,"mpcc_theta_mech":0.558513284,"sam_rpm":21.4370251,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176047087,"thr_a_norm":0.0176047087,"thr_a_v":0.570418835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4373312,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.431721,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-1.60349751,"cg_iw_a":-1.75551081,"cg_theta_rad":0.55227536,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00190899405,"mpcc_du":50.5482445,"mpcc_dv":48.2997742,"mpcc_dw":51.7002258,"mpcc_enc_sign":1,"mpcc_id_a":0.727047563,"mpcc_iq_a":-1.25218308,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.0897903,"mpcc_pred_id_a":-0.0708303005,"mpcc_pred_iq_a":-0.805820286,"mpcc_state":1,"mpcc_theta_e":0.431820393,"mpcc_theta_mech":0.553310037,"sam_rpm":-17.8452759,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176047087,"thr_a_norm":0.0176047087,"thr_a_v":0.570418835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4373312,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.438251,"values":{"cg_iu_a":3.72144651,"cg_iv_a":-1.60349751,"cg_iw_a":-2.11794901,"cg_theta_rad":0.556970894,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0192664079,"mpcc_du":49.5116844,"mpcc_dv":50.4883156,"mpcc_dw":50.2498741,"mpcc_enc_sign":1,"mpcc_id_a":1.59581769,"mpcc_iq_a":-0.248383507,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.69983816,"mpcc_pred_id_a":-0.238768667,"mpcc_pred_iq_a":-5.08150291,"mpcc_state":1,"mpcc_theta_e":0.446087837,"mpcc_theta_mech":0.55616349,"sam_rpm":8.53038597,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254600644,"thr_a_norm":0.0254600644,"thr_a_v":0.601840258,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.448475,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.60349751,"cg_iw_a":-1.53804779,"cg_theta_rad":0.55660671,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0167490654,"mpcc_du":50.623394,"mpcc_dv":48.0558624,"mpcc_dw":51.9441376,"mpcc_enc_sign":1,"mpcc_id_a":2.58104372,"mpcc_iq_a":-0.867307365,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.8050766,"mpcc_pred_id_a":0.354726136,"mpcc_pred_iq_a":1.29483509,"mpcc_state":1,"mpcc_theta_e":0.433475971,"mpcc_theta_mech":0.553641081,"sam_rpm":-14.2282028,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0314396769,"thr_a_norm":0.0314396769,"thr_a_v":0.625758708,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476154745,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.45821,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.951108456,"cg_iw_a":0.12916851,"cg_theta_rad":0.556254148,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0182444826,"mpcc_du":49.2982674,"mpcc_dv":50.7017326,"mpcc_dw":50.1986046,"mpcc_enc_sign":1,"mpcc_id_a":2.69899845,"mpcc_iq_a":-1.65031517,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.9030514,"mpcc_pred_id_a":0.541356444,"mpcc_pred_iq_a":-0.433284581,"mpcc_state":1,"mpcc_theta_e":0.43074894,"mpcc_theta_mech":0.553095698,"sam_rpm":9.16020107,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0314396769,"thr_a_norm":0.0314396769,"thr_a_v":0.625758708,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476154745,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.468586,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.16857147,"cg_iw_a":-1.24809694,"cg_theta_rad":0.552648783,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0486948453,"mpcc_du":50.7017479,"mpcc_dv":48.3766708,"mpcc_dw":50.8343277,"mpcc_enc_sign":1,"mpcc_id_a":-0.122745387,"mpcc_iq_a":-0.818142653,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.07799053,"mpcc_pred_id_a":-0.511371434,"mpcc_pred_iq_a":-1.99249721,"mpcc_state":1,"mpcc_theta_e":0.445826054,"mpcc_theta_mech":0.557746708,"sam_rpm":-1.10456491,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177935362,"thr_a_norm":0.0177935362,"thr_a_v":0.571174145,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456214249,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.478626,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.31354666,"cg_iw_a":-1.68302298,"cg_theta_rad":0.557547808,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0095748594,"mpcc_du":49.8778572,"mpcc_dv":49.1561699,"mpcc_dw":50.8438301,"mpcc_enc_sign":1,"mpcc_id_a":0.669537723,"mpcc_iq_a":-0.679051042,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.22535682,"mpcc_pred_id_a":-0.0629493147,"mpcc_pred_iq_a":-2.61836433,"mpcc_state":1,"mpcc_theta_e":0.43826437,"mpcc_theta_mech":0.554598749,"sam_rpm":-1.93803608,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.028342858,"thr_a_norm":0.0177935362,"thr_a_v":0.613371432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499519348,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.488453,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.61832476,"cg_iw_a":1.57892179,"cg_theta_rad":0.554593325,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0293516833,"mpcc_du":49.607605,"mpcc_dv":49.5882912,"mpcc_dw":50.4117088,"mpcc_enc_sign":1,"mpcc_id_a":0.243611559,"mpcc_iq_a":-0.717817724,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.86973,"mpcc_pred_id_a":-0.300800055,"mpcc_pred_iq_a":-4.31176376,"mpcc_state":1,"mpcc_theta_e":0.45074749,"mpcc_theta_mech":0.557095408,"sam_rpm":10.0250044,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.028342858,"thr_a_norm":0.028342858,"thr_a_v":0.613371432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499519348,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.498615,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-0.153744221,"cg_iw_a":1.79638481,"cg_theta_rad":0.555481553,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00867560692,"mpcc_du":50.5023766,"mpcc_dv":48.4066162,"mpcc_dw":51.5933838,"mpcc_enc_sign":1,"mpcc_id_a":0.555204153,"mpcc_iq_a":-1.11915803,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.6594334,"mpcc_pred_id_a":-0.229120404,"mpcc_pred_iq_a":0.501168668,"mpcc_state":1,"mpcc_theta_e":0.424558163,"mpcc_theta_mech":0.551857531,"sam_rpm":-23.0486832,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025749594,"thr_a_norm":0.025749594,"thr_a_v":0.602998376,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496699452,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.520832,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.733645439,"cg_iw_a":-1.82799816,"cg_theta_rad":0.55463773,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0180564355,"mpcc_du":50.5892296,"mpcc_dv":48.3611832,"mpcc_dw":51.6388168,"mpcc_enc_sign":1,"mpcc_id_a":0.167136356,"mpcc_iq_a":-0.722325087,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.25130606,"mpcc_pred_id_a":-0.25610131,"mpcc_pred_iq_a":-1.08718538,"mpcc_state":1,"mpcc_theta_e":0.44106102,"mpcc_theta_mech":0.555158079,"sam_rpm":-6.95726204,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025749594,"thr_a_norm":0.025749594,"thr_a_v":0.602998376,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496699452,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.527363,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-2.11091113,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556273818,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00182098534,"mpcc_du":50.605587,"mpcc_dv":48.4228706,"mpcc_dw":51.5771294,"mpcc_enc_sign":1,"mpcc_id_a":-0.820029199,"mpcc_iq_a":-0.819218278,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.32411,"mpcc_pred_id_a":-0.604526579,"mpcc_pred_iq_a":-1.15861464,"mpcc_state":1,"mpcc_theta_e":0.424028873,"mpcc_theta_mech":0.551751733,"sam_rpm":-25.9383774,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149736851,"thr_a_norm":0.0149736851,"thr_a_v":0.559894741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.533924,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.89344811,"cg_iw_a":1.21648383,"cg_theta_rad":0.553681016,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":6.5005559e-05,"mpcc_du":50.0385132,"mpcc_dv":48.8810425,"mpcc_dw":51.1189575,"mpcc_enc_sign":1,"mpcc_id_a":0.147592887,"mpcc_iq_a":-2.61485887,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.29225516,"mpcc_pred_id_a":-0.547051549,"mpcc_pred_iq_a":-5.5356102,"mpcc_state":1,"mpcc_theta_e":0.444155693,"mpcc_theta_mech":0.554196835,"sam_rpm":0.259744108,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149736851,"thr_a_norm":0.0149736851,"thr_a_v":0.559894741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.540424,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.371207237,"cg_iw_a":-2.04546118,"cg_theta_rad":0.553078055,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.000954289339,"mpcc_du":48.6900902,"mpcc_dv":51.3099098,"mpcc_dw":49.082592,"mpcc_enc_sign":1,"mpcc_id_a":-0.228218973,"mpcc_iq_a":-2.28647041,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.0819635,"mpcc_pred_id_a":-0.807745278,"mpcc_pred_iq_a":-6.35800457,"mpcc_state":1,"mpcc_theta_e":0.431717873,"mpcc_theta_mech":0.553289533,"sam_rpm":28.1981487,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185992122,"thr_a_norm":0.0185992122,"thr_a_v":0.574396849,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468400061,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.549244,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.516182423,"cg_iw_a":-0.523220539,"cg_theta_rad":0.554849207,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00684329448,"mpcc_du":50.142971,"mpcc_dv":48.8912163,"mpcc_dw":51.1087837,"mpcc_enc_sign":1,"mpcc_id_a":1.51636267,"mpcc_iq_a":-0.229905322,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.37701988,"mpcc_pred_id_a":-0.265885681,"mpcc_pred_iq_a":-0.282280892,"mpcc_state":1,"mpcc_theta_e":0.429606438,"mpcc_theta_mech":0.552867234,"sam_rpm":-13.7383661,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185992122,"thr_a_norm":0.0185992122,"thr_a_v":0.574396849,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468400061,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.559437,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-2.18339872,"cg_iw_a":0.926532745,"cg_theta_rad":0.557652593,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0136318272,"mpcc_du":49.6124649,"mpcc_dv":49.9917984,"mpcc_dw":50.3875351,"mpcc_enc_sign":1,"mpcc_id_a":0.0446567461,"mpcc_iq_a":-0.296281338,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.8760633,"mpcc_pred_id_a":-0.320503473,"mpcc_pred_iq_a":-2.68460107,"mpcc_state":1,"mpcc_theta_e":0.451891899,"mpcc_theta_mech":0.55732429,"sam_rpm":16.5344238,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026051715,"thr_a_norm":0.026051715,"thr_a_v":0.60420686,"thr_b":0.00141565502,"thr_b_norm":0.00141565502,"thr_b_v":0.50566262,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.569843,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-1.09608364,"cg_iw_a":-1.53804779,"cg_theta_rad":0.556671858,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0590263121,"mpcc_du":50.0541878,"mpcc_dv":49.1056023,"mpcc_dw":50.8943977,"mpcc_enc_sign":1,"mpcc_id_a":0.754110634,"mpcc_iq_a":-1.33278251,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.49207711,"mpcc_pred_id_a":-0.408294261,"mpcc_pred_iq_a":-1.85916853,"mpcc_state":1,"mpcc_theta_e":0.447841644,"mpcc_theta_mech":0.556514263,"sam_rpm":-2.87832427,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212176591,"thr_a_norm":0.026051715,"thr_a_v":0.584870636,"thr_b":0,"thr_b_norm":0.00141565502,"thr_b_v":0.486981004,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.579975,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.806133032,"cg_iw_a":-2.33541226,"cg_theta_rad":0.556837201,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0840779617,"mpcc_du":49.5719643,"mpcc_dv":50.4280357,"mpcc_dw":50.3121719,"mpcc_enc_sign":1,"mpcc_id_a":0.399056047,"mpcc_iq_a":-2.51876998,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.57414103,"mpcc_pred_id_a":-0.317920268,"mpcc_pred_iq_a":-2.20575094,"mpcc_state":1,"mpcc_theta_e":0.424880028,"mpcc_theta_mech":0.551921964,"sam_rpm":-14.0613899,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212176591,"thr_a_norm":0.0212176591,"thr_a_v":0.584870636,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486981004,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.590015,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.951108456,"cg_iw_a":0.201656342,"cg_theta_rad":0.55611378,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0449892879,"mpcc_du":49.5771523,"mpcc_dv":49.4492531,"mpcc_dw":50.5507469,"mpcc_enc_sign":1,"mpcc_id_a":2.17954969,"mpcc_iq_a":-1.39656997,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.85532379,"mpcc_pred_id_a":0.0407932624,"mpcc_pred_iq_a":-0.865998328,"mpcc_state":1,"mpcc_theta_e":0.425414562,"mpcc_theta_mech":0.552028835,"sam_rpm":-14.3463764,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020563066,"thr_a_norm":0.020563066,"thr_a_v":0.582252264,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.599812,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.661157608,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.553329527,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.024063034,"mpcc_du":50.3348427,"mpcc_dv":48.4171219,"mpcc_dw":51.5828781,"mpcc_enc_sign":1,"mpcc_id_a":2.20198584,"mpcc_iq_a":-0.494039029,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.10027695,"mpcc_pred_id_a":0.256690025,"mpcc_pred_iq_a":-2.43764591,"mpcc_state":1,"mpcc_theta_e":0.44697094,"mpcc_theta_mech":0.556340098,"sam_rpm":-9.02408981,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020563066,"thr_a_norm":0.020563066,"thr_a_v":0.582252264,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.62328,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.40086174,"cg_iw_a":0.201656342,"cg_theta_rad":0.557229817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00279764179,"mpcc_du":50.8046494,"mpcc_dv":48.1534309,"mpcc_dw":51.8465691,"mpcc_enc_sign":1,"mpcc_id_a":-0.112272978,"mpcc_iq_a":-0.819645524,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.38006496,"mpcc_pred_id_a":-0.502573252,"mpcc_pred_iq_a":0.851342082,"mpcc_state":1,"mpcc_theta_e":0.433037758,"mpcc_theta_mech":0.553553462,"sam_rpm":-11.422473,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022929728,"thr_a_norm":0.022929728,"thr_a_v":0.591718912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492167562,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.629749,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.53100967,"cg_iw_a":0.419119358,"cg_theta_rad":0.555380523,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0359180085,"mpcc_du":50.053009,"mpcc_dv":48.7114449,"mpcc_dw":51.2885551,"mpcc_enc_sign":1,"mpcc_id_a":3.22839403,"mpcc_iq_a":0.341913998,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.5593729,"mpcc_pred_id_a":0.518596232,"mpcc_pred_iq_a":-0.605554223,"mpcc_state":1,"mpcc_theta_e":0.437712193,"mpcc_theta_mech":0.554488361,"sam_rpm":-5.28647709,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453646153,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.636311,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.02359605,"cg_iw_a":-0.378245115,"cg_theta_rad":0.555558145,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00144723943,"mpcc_du":50.4199371,"mpcc_dv":48.5397568,"mpcc_dw":51.4602432,"mpcc_enc_sign":1,"mpcc_id_a":-0.391310662,"mpcc_iq_a":-1.42798591,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.0429811,"mpcc_pred_id_a":-0.246469915,"mpcc_pred_iq_a":-2.25166059,"mpcc_state":1,"mpcc_theta_e":0.431670666,"mpcc_theta_mech":0.553280056,"sam_rpm":-19.0931854,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453646153,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.642811,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.09608364,"cg_iw_a":-1.46555996,"cg_theta_rad":0.555585921,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0158120971,"mpcc_du":49.7822838,"mpcc_dv":49.4130859,"mpcc_dw":50.5869141,"mpcc_enc_sign":1,"mpcc_id_a":2.28818631,"mpcc_iq_a":-1.09436023,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.45880842,"mpcc_pred_id_a":-0.429694384,"mpcc_pred_iq_a":-3.95925236,"mpcc_state":1,"mpcc_theta_e":0.441865921,"mpcc_theta_mech":0.555319071,"sam_rpm":4.03911066,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.023231864,"thr_a_v":0.592927456,"thr_b":0.000282675028,"thr_b_norm":0.000282675028,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.652821,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":0.208694458,"cg_iw_a":-3.35023975,"cg_theta_rad":0.554886043,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0588313192,"mpcc_du":50.4105377,"mpcc_dv":48.4305801,"mpcc_dw":51.5694199,"mpcc_enc_sign":1,"mpcc_id_a":0.365422398,"mpcc_iq_a":-0.635313094,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.58157086,"mpcc_pred_id_a":-0.33212477,"mpcc_pred_iq_a":-1.55211604,"mpcc_state":1,"mpcc_theta_e":0.44781065,"mpcc_theta_mech":0.556508064,"sam_rpm":1.2668364,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237983465,"thr_a_norm":0.023231864,"thr_a_v":0.595193386,"thr_b":0,"thr_b_norm":0.000282675028,"thr_b_v":0.472176731,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.6646,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.806133032,"cg_iw_a":-1.53804755,"cg_theta_rad":0.556832552,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.025900932,"mpcc_du":50.330452,"mpcc_dv":48.7053375,"mpcc_dw":51.2946625,"mpcc_enc_sign":1,"mpcc_id_a":1.10083282,"mpcc_iq_a":-0.944537938,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.7873702,"mpcc_pred_id_a":-0.239897102,"mpcc_pred_iq_a":-1.72798824,"mpcc_state":1,"mpcc_theta_e":0.44934988,"mpcc_theta_mech":0.556815922,"sam_rpm":2.58486962,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237983465,"thr_a_norm":0.0237983465,"thr_a_v":0.595193386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472176731,"vdc_v":55.2955055}} +{"type":"console","t":42.674199,"sequence":17,"text":"> var set IqVar 10"} +{"type":"telemetry","t":42.674793,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.661157608,"cg_iw_a":-1.17560959,"cg_theta_rad":0.553985178,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0137720546,"mpcc_du":49.5466843,"mpcc_dv":49.5117149,"mpcc_dw":50.4882851,"mpcc_enc_sign":1,"mpcc_id_a":2.32409739,"mpcc_iq_a":-0.397949845,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.31492662,"mpcc_pred_id_a":0.0528718419,"mpcc_pred_iq_a":-0.268851638,"mpcc_state":1,"mpcc_theta_e":0.440856457,"mpcc_theta_mech":0.555409789,"sam_rpm":7.19731236,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024264127,"thr_a_norm":0.024264127,"thr_a_v":0.597056508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476356149,"vdc_v":55.2955055}} +{"type":"command","t":42.677046,"source":"ui","text":"var set IqVar 10","sent":true} +{"type":"console","t":42.677049,"sequence":18,"text":"(sent)"} +{"type":"telemetry","t":42.685047,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-2.11091113,"cg_iw_a":1.86887288,"cg_theta_rad":0.556831002,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00955257192,"mpcc_du":50.4379692,"mpcc_dv":48.4565086,"mpcc_dw":51.5434914,"mpcc_enc_sign":1,"mpcc_id_a":1.76500952,"mpcc_iq_a":-1.24358153,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.57377338,"mpcc_pred_id_a":-0.00262402534,"mpcc_pred_iq_a":-0.289228648,"mpcc_state":1,"mpcc_theta_e":0.440353394,"mpcc_theta_mech":0.555016637,"sam_rpm":-7.43331766,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022426188,"thr_a_norm":0.024264127,"thr_a_v":0.589704752,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.694996,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.733645439,"cg_iw_a":0.274144173,"cg_theta_rad":0.55588609,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0414956957,"mpcc_du":49.7358513,"mpcc_dv":49.2456512,"mpcc_dw":50.7543488,"mpcc_enc_sign":1,"mpcc_id_a":1.40972948,"mpcc_iq_a":0.534683883,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.59655714,"mpcc_pred_id_a":0.250266433,"mpcc_pred_iq_a":-2.50630903,"mpcc_state":1,"mpcc_theta_e":0.441950798,"mpcc_theta_mech":0.555336118,"sam_rpm":7.48339128,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022426188,"thr_a_norm":0.022426188,"thr_a_v":0.589704752,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.718128,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.733645439,"cg_iw_a":-3.06028843,"cg_theta_rad":0.553925872,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0152325742,"mpcc_du":50.7949409,"mpcc_dv":47.97789,"mpcc_dw":52.02211,"mpcc_enc_sign":1,"mpcc_id_a":2.38960147,"mpcc_iq_a":-0.588029563,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.7116461,"mpcc_pred_id_a":0.00660997955,"mpcc_pred_iq_a":1.05028522,"mpcc_state":1,"mpcc_theta_e":0.431144238,"mpcc_theta_mech":0.553174794,"sam_rpm":-17.8900928,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156786442,"thr_a_norm":0.0156786442,"thr_a_v":0.562714577,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"console","t":42.724556,"sequence":19,"text":"[SHELL] IqVar = 10.0000"} +{"type":"telemetry","t":42.7253,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.661157608,"cg_iw_a":-1.53804779,"cg_theta_rad":0.556966603,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00537562743,"mpcc_du":49.6022491,"mpcc_dv":49.9518127,"mpcc_dw":50.3977509,"mpcc_enc_sign":1,"mpcc_id_a":1.01209521,"mpcc_iq_a":-1.30793178,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.17203557,"mpcc_pred_id_a":-0.153057411,"mpcc_pred_iq_a":-5.1760416,"mpcc_state":1,"mpcc_theta_e":0.442043781,"mpcc_theta_mech":0.555354714,"sam_rpm":-2.28043699,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156786442,"thr_a_norm":0.0156786442,"thr_a_v":0.562714577,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.73177,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-2.54583716,"cg_iw_a":1.36145878,"cg_theta_rad":0.557443798,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0464387313,"mpcc_du":50.4753914,"mpcc_dv":48.1520081,"mpcc_dw":51.8479919,"mpcc_enc_sign":1,"mpcc_id_a":3.85052705,"mpcc_iq_a":-0.555553734,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.63165569,"mpcc_pred_id_a":0.685256183,"mpcc_pred_iq_a":0.547887683,"mpcc_state":1,"mpcc_theta_e":0.439081192,"mpcc_theta_mech":0.554762125,"sam_rpm":-6.56204844,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211043656,"thr_a_norm":0.0211043656,"thr_a_v":0.584417462,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467644751,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.7383,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.60349751,"cg_iw_a":-0.740683079,"cg_theta_rad":0.556751072,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0297511648,"mpcc_du":49.3515778,"mpcc_dv":50.6484222,"mpcc_dw":49.9126358,"mpcc_enc_sign":1,"mpcc_id_a":-0.179628268,"mpcc_iq_a":-0.746898651,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.773242,"mpcc_pred_id_a":-0.609296143,"mpcc_pred_iq_a":-5.93655205,"mpcc_state":1,"mpcc_theta_e":0.458562374,"mpcc_theta_mech":0.558658361,"sam_rpm":20.7625561,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0211043656,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476910055,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.746998,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.38603449,"cg_iw_a":0.346631527,"cg_theta_rad":0.558148205,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00725145126,"mpcc_du":50.0487404,"mpcc_dv":48.985836,"mpcc_dw":51.5994606,"mpcc_enc_sign":1,"mpcc_id_a":0.881403744,"mpcc_iq_a":-0.229190454,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.11634886,"mpcc_pred_id_a":-0.0889286399,"mpcc_pred_iq_a":-1.83291352,"mpcc_state":1,"mpcc_theta_e":0.443802357,"mpcc_theta_mech":0.555706382,"sam_rpm":-6.57124996,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476910055,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.757282,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.951108456,"cg_iw_a":-0.668195724,"cg_theta_rad":0.552606463,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0385633819,"mpcc_du":49.8751678,"mpcc_dv":48.9650803,"mpcc_dw":51.0349197,"mpcc_enc_sign":1,"mpcc_id_a":2.68974757,"mpcc_iq_a":-1.32140696,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.07052135,"mpcc_pred_id_a":0.518057525,"mpcc_pred_iq_a":-2.61717916,"mpcc_state":1,"mpcc_theta_e":0.4440341,"mpcc_theta_mech":0.555752754,"sam_rpm":-2.46234226,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294003189,"thr_a_norm":0.0294003189,"thr_a_v":0.617601275,"thr_b":0.00165483356,"thr_b_norm":0.00165483356,"thr_b_v":0.506619334,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.7672,"values":{"cg_iu_a":2.48915625,"cg_iv_a":0.716107845,"cg_iw_a":-0.740683556,"cg_theta_rad":0.558418095,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0133188432,"mpcc_du":49.5587463,"mpcc_dv":50.1744347,"mpcc_dw":50.4412537,"mpcc_enc_sign":1,"mpcc_id_a":1.80645776,"mpcc_iq_a":-0.816162527,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.60903645,"mpcc_pred_id_a":0.123189159,"mpcc_pred_iq_a":-3.65185237,"mpcc_state":1,"mpcc_theta_e":0.447516441,"mpcc_theta_mech":0.556449234,"sam_rpm":9.85500908,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294003189,"thr_a_norm":0.0294003189,"thr_a_v":0.617601275,"thr_b":0.00165483356,"thr_b_norm":0.00165483356,"thr_b_v":0.506619334,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.777241,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-1.16857147,"cg_iw_a":-2.48038721,"cg_theta_rad":0.554517329,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0502142496,"mpcc_du":49.9087982,"mpcc_dv":48.9400711,"mpcc_dw":51.0599289,"mpcc_enc_sign":1,"mpcc_id_a":3.10425353,"mpcc_iq_a":-0.933906972,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.4184523,"mpcc_pred_id_a":0.28758499,"mpcc_pred_iq_a":0.0850640908,"mpcc_state":1,"mpcc_theta_e":0.422961235,"mpcc_theta_mech":0.551538169,"sam_rpm":-21.3087902,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186369866,"thr_a_norm":0.0186369866,"thr_a_v":0.574547946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457674503,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.787434,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.226231575,"cg_iw_a":-0.885658741,"cg_theta_rad":0.55582267,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0472803824,"mpcc_du":50.4187431,"mpcc_dv":48.7332306,"mpcc_dw":51.2667694,"mpcc_enc_sign":1,"mpcc_id_a":0.222646222,"mpcc_iq_a":-0.428563774,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.53094292,"mpcc_pred_id_a":-0.523615479,"mpcc_pred_iq_a":-2.24619532,"mpcc_state":1,"mpcc_theta_e":0.450423241,"mpcc_theta_mech":0.557030559,"sam_rpm":4.41141367,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188132375,"thr_a_norm":0.0186369866,"thr_a_v":0.57525295,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448963135,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.797443,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.371207237,"cg_iw_a":-1.17560911,"cg_theta_rad":0.55473721,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0287283249,"mpcc_du":49.9651756,"mpcc_dv":49.3929329,"mpcc_dw":50.6070671,"mpcc_enc_sign":1,"mpcc_id_a":-0.802455842,"mpcc_iq_a":-2.0256269,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.7578344,"mpcc_pred_id_a":-0.798857272,"mpcc_pred_iq_a":-3.28211951,"mpcc_state":1,"mpcc_theta_e":0.455082417,"mpcc_theta_mech":0.557962358,"sam_rpm":18.1405373,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188132375,"thr_a_norm":0.0188132375,"thr_a_v":0.57525295,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448963135,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.820637,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.24105906,"cg_iw_a":-1.03063416,"cg_theta_rad":0.556010783,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0146444282,"mpcc_du":49.187252,"mpcc_dv":50.812748,"mpcc_dw":49.5995789,"mpcc_enc_sign":1,"mpcc_id_a":-0.5068385,"mpcc_iq_a":-0.773217261,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.73925018,"mpcc_pred_id_a":-0.787652433,"mpcc_pred_iq_a":-6.76941729,"mpcc_state":1,"mpcc_theta_e":0.449627399,"mpcc_theta_mech":0.556871355,"sam_rpm":13.2263517,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246417969,"thr_a_norm":0.0246417969,"thr_a_v":0.598567188,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.827168,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.53100967,"cg_iw_a":-0.740683079,"cg_theta_rad":0.55571419,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0301862452,"mpcc_du":49.5556259,"mpcc_dv":50.2526703,"mpcc_dw":50.4443741,"mpcc_enc_sign":1,"mpcc_id_a":1.86589253,"mpcc_iq_a":0.23697643,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.87094927,"mpcc_pred_id_a":0.258584648,"mpcc_pred_iq_a":-4.18462324,"mpcc_state":1,"mpcc_theta_e":0.433535576,"mpcc_theta_mech":0.553653002,"sam_rpm":8.30354118,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246417969,"thr_a_norm":0.0246417969,"thr_a_v":0.598567188,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.833668,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.661157608,"cg_iw_a":-2.26292443,"cg_theta_rad":0.556388557,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00269358605,"mpcc_du":49.5775566,"mpcc_dv":49.936245,"mpcc_dw":50.4224434,"mpcc_enc_sign":1,"mpcc_id_a":0.415138543,"mpcc_iq_a":-1.8676486,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.69578123,"mpcc_pred_id_a":-0.0438155234,"mpcc_pred_iq_a":-3.97509336,"mpcc_state":1,"mpcc_theta_e":0.448804855,"mpcc_theta_mech":0.556706846,"sam_rpm":8.46166611,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221869946,"thr_a_norm":0.0221869946,"thr_a_v":0.588747978,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.840199,"values":{"cg_iu_a":1.47432899,"cg_iv_a":0.0637187958,"cg_iw_a":-0.668195724,"cg_theta_rad":0.557628453,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0260640159,"mpcc_du":49.4741974,"mpcc_dv":50.5258026,"mpcc_dw":50.2470551,"mpcc_enc_sign":1,"mpcc_id_a":1.78979862,"mpcc_iq_a":-1.34346175,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.5666656,"mpcc_pred_id_a":-0.0447622091,"mpcc_pred_iq_a":-4.75952435,"mpcc_state":1,"mpcc_theta_e":0.457631588,"mpcc_theta_mech":0.558472276,"sam_rpm":21.9448223,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289219469,"thr_a_norm":0.0221869946,"thr_a_v":0.615687788,"thr_b":0.00218357146,"thr_b_norm":0,"thr_b_v":0.508734286,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.848133,"values":{"cg_iu_a":0.966915131,"cg_iv_a":0.0637187958,"cg_iw_a":-1.03063393,"cg_theta_rad":0.553798199,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00184627075,"mpcc_du":50.3804398,"mpcc_dv":48.7477112,"mpcc_dw":51.2522888,"mpcc_enc_sign":1,"mpcc_id_a":0.315846443,"mpcc_iq_a":-1.9461,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.9598093,"mpcc_pred_id_a":-0.697841942,"mpcc_pred_iq_a":-2.3800571,"mpcc_state":1,"mpcc_theta_e":0.438283443,"mpcc_theta_mech":0.554602623,"sam_rpm":-10.0809422,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289219469,"thr_a_norm":0.0289219469,"thr_a_v":0.615687788,"thr_b":0.00218357146,"thr_b_norm":0.00218357146,"thr_b_v":0.508734286,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.858509,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.24105906,"cg_iw_a":-1.39307237,"cg_theta_rad":0.555617809,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00118472311,"mpcc_du":49.6352348,"mpcc_dv":50.0205383,"mpcc_dw":51.2878723,"mpcc_enc_sign":1,"mpcc_id_a":0.680474997,"mpcc_iq_a":-0.824671924,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.01443529,"mpcc_pred_id_a":-0.399952412,"mpcc_pred_iq_a":-3.89227438,"mpcc_state":1,"mpcc_theta_e":0.439986706,"mpcc_theta_mech":0.553581953,"sam_rpm":-2.70741296,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217715651,"thr_a_norm":0.0217715651,"thr_a_v":0.58708626,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469961077,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.86861,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.38603449,"cg_iw_a":-0.885658741,"cg_theta_rad":0.55435878,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0146387108,"mpcc_du":50.4155998,"mpcc_dv":48.3962326,"mpcc_dw":51.6037674,"mpcc_enc_sign":1,"mpcc_id_a":1.30640495,"mpcc_iq_a":-1.86769283,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.30687189,"mpcc_pred_id_a":0.240032703,"mpcc_pred_iq_a":-2.04503059,"mpcc_state":1,"mpcc_theta_e":0.443758965,"mpcc_theta_mech":0.557189882,"sam_rpm":-7.75870323,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217715651,"thr_a_norm":0.0217715651,"thr_a_v":0.58708626,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469961077,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.87859,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.371207237,"cg_iw_a":-3.49521446,"cg_theta_rad":0.556155562,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0579113476,"mpcc_du":50.1481514,"mpcc_dv":48.6494408,"mpcc_dw":51.3505592,"mpcc_enc_sign":1,"mpcc_id_a":2.96727705,"mpcc_iq_a":-0.0627300888,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.36333442,"mpcc_pred_id_a":0.397790343,"mpcc_pred_iq_a":-2.56271505,"mpcc_state":1,"mpcc_theta_e":0.443916798,"mpcc_theta_mech":0.55572927,"sam_rpm":-4.46767902,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0978576243,"thr_a_norm":0.0978576243,"thr_a_v":0.891430497,"thr_b":0.039811179,"thr_b_norm":0.039811179,"thr_b_v":0.659244716,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.888813,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.31354666,"cg_iw_a":-0.740683556,"cg_theta_rad":0.557135582,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0312050153,"mpcc_du":50.4225311,"mpcc_dv":48.747036,"mpcc_dw":51.252964,"mpcc_enc_sign":1,"mpcc_id_a":-0.268022925,"mpcc_iq_a":-1.1200062,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.42514968,"mpcc_pred_id_a":-0.606788635,"mpcc_pred_iq_a":-3.20141339,"mpcc_state":1,"mpcc_theta_e":0.446636677,"mpcc_theta_mech":0.556273282,"sam_rpm":-2.82468104,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0978576243,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0.039811179,"thr_b_v":0.450524151,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.899006,"values":{"cg_iu_a":3.8664217,"cg_iv_a":-1.53100967,"cg_iw_a":-2.33541203,"cg_theta_rad":0.55689621,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0352856517,"mpcc_du":49.5832634,"mpcc_dv":50.1365356,"mpcc_dw":50.4167366,"mpcc_enc_sign":1,"mpcc_id_a":0.912136555,"mpcc_iq_a":-1.89018738,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.09675813,"mpcc_pred_id_a":-0.0123407589,"mpcc_pred_iq_a":-1.92418849,"mpcc_state":1,"mpcc_theta_e":0.431675434,"mpcc_theta_mech":0.553281009,"sam_rpm":-6.9217639,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450524151,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.92226,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-2.40086174,"cg_iw_a":-0.595707893,"cg_theta_rad":0.555288851,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00752684707,"mpcc_du":49.7558899,"mpcc_dv":49.3817825,"mpcc_dw":50.6182175,"mpcc_enc_sign":1,"mpcc_id_a":1.02280855,"mpcc_iq_a":-0.944884658,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.659674287,"mpcc_pred_id_a":-0.230482668,"mpcc_pred_iq_a":-2.03630447,"mpcc_state":1,"mpcc_theta_e":0.443603039,"mpcc_theta_mech":0.555666506,"sam_rpm":2.31828642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167234987,"thr_a_norm":0.0167234987,"thr_a_v":0.566893995,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476910055,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.92873,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.298719406,"cg_iw_a":-1.32058454,"cg_theta_rad":0.555731237,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.00967166945,"mpcc_du":49.3158455,"mpcc_dv":50.6841545,"mpcc_dw":50.1026764,"mpcc_enc_sign":1,"mpcc_id_a":0.105785549,"mpcc_iq_a":-1.16400695,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.9860697,"mpcc_pred_id_a":-0.0276423004,"mpcc_pred_iq_a":-5.11857748,"mpcc_state":1,"mpcc_theta_e":0.452916145,"mpcc_theta_mech":0.557529151,"sam_rpm":17.6828518,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167234987,"thr_a_norm":0.0167234987,"thr_a_v":0.566893995,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476910055,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.935291,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.38603449,"cg_iw_a":0.419119358,"cg_theta_rad":0.55566591,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0186047144,"mpcc_du":49.5741272,"mpcc_dv":49.3209457,"mpcc_dw":50.6790543,"mpcc_enc_sign":1,"mpcc_id_a":1.88206458,"mpcc_iq_a":0.369469702,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.46134007,"mpcc_pred_id_a":0.389152199,"mpcc_pred_iq_a":-2.67228103,"mpcc_state":1,"mpcc_theta_e":0.438777924,"mpcc_theta_mech":0.554701507,"sam_rpm":-2.36376858,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019631505,"thr_a_norm":0.019631505,"thr_a_v":0.57852602,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458530545,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.941822,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.82096052,"cg_iw_a":0.926533222,"cg_theta_rad":0.556308448,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5002,"hz_app_loop":366,"hz_tim_isr":10004,"hz_vsense":366,"mpcc_cost":0.0238251444,"mpcc_du":50.1974564,"mpcc_dv":48.5338593,"mpcc_dw":51.4661407,"mpcc_enc_sign":1,"mpcc_id_a":2.63281155,"mpcc_iq_a":-0.595837235,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.2052412,"mpcc_pred_id_a":0.483540207,"mpcc_pred_iq_a":0.610283673,"mpcc_state":1,"mpcc_theta_e":0.442899704,"mpcc_theta_mech":0.555525899,"sam_rpm":1.93901169,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0268196315,"thr_a_norm":0.019631505,"thr_a_v":0.607278526,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492469668,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.950367,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-1.16857147,"cg_iw_a":1.07150841,"cg_theta_rad":0.555943787,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0188417546,"mpcc_du":49.4390602,"mpcc_dv":49.5716934,"mpcc_dw":51.216217,"mpcc_enc_sign":1,"mpcc_id_a":2.74442315,"mpcc_iq_a":-1.37608051,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.13055444,"mpcc_pred_id_a":0.601376355,"mpcc_pred_iq_a":-3.4747386,"mpcc_state":1,"mpcc_theta_e":0.438831806,"mpcc_theta_mech":0.551970184,"sam_rpm":-4.41336441,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0268196315,"thr_a_norm":0.0268196315,"thr_a_v":0.607278526,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492469668,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.96059,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.0087685585,"cg_iw_a":0.636582136,"cg_theta_rad":0.557901561,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0261784811,"mpcc_du":50.8819199,"mpcc_dv":47.930027,"mpcc_dw":52.069973,"mpcc_enc_sign":1,"mpcc_id_a":1.24868059,"mpcc_iq_a":-0.638265848,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.446155846,"mpcc_pred_id_a":-0.0669757053,"mpcc_pred_iq_a":1.66432345,"mpcc_state":1,"mpcc_theta_e":0.445580482,"mpcc_theta_mech":0.556061983,"sam_rpm":1.03723454,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194174796,"thr_a_norm":0.0194174796,"thr_a_v":0.577669919,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460041195,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.970539,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.298719406,"cg_iw_a":-2.77033806,"cg_theta_rad":0.556036115,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00508658402,"mpcc_du":49.3754959,"mpcc_dv":50.6245041,"mpcc_dw":50.1732063,"mpcc_enc_sign":1,"mpcc_id_a":0.499541938,"mpcc_iq_a":-2.51630116,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.7755718,"mpcc_pred_id_a":-0.044899907,"mpcc_pred_iq_a":-2.85175252,"mpcc_state":1,"mpcc_theta_e":0.451221466,"mpcc_theta_mech":0.55719018,"sam_rpm":17.7013397,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194174796,"thr_a_norm":0.0194174796,"thr_a_v":0.577669919,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460041195,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.980427,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.806133032,"cg_iw_a":-2.04546142,"cg_theta_rad":0.554481745,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0113024302,"mpcc_du":49.5797234,"mpcc_dv":49.4061584,"mpcc_dw":50.5938416,"mpcc_enc_sign":1,"mpcc_id_a":1.9779135,"mpcc_iq_a":-2.62598825,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.33147478,"mpcc_pred_id_a":0.237509862,"mpcc_pred_iq_a":-2.98647332,"mpcc_state":1,"mpcc_theta_e":0.450572968,"mpcc_theta_mech":0.55706048,"sam_rpm":9.96439171,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196063071,"thr_a_norm":0.0196063071,"thr_a_v":0.578425229,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478924245,"vdc_v":55.2955055}} +{"type":"telemetry","t":42.990711,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.24105906,"cg_iw_a":1.07150817,"cg_theta_rad":0.555115044,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0537347682,"mpcc_du":50.1325531,"mpcc_dv":48.4997597,"mpcc_dw":51.5002403,"mpcc_enc_sign":1,"mpcc_id_a":1.18750954,"mpcc_iq_a":1.6200732,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.98524714,"mpcc_pred_id_a":0.16250819,"mpcc_pred_iq_a":0.330925912,"mpcc_state":1,"mpcc_theta_e":0.438647747,"mpcc_theta_mech":0.556068182,"sam_rpm":-17.2401867,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0377340317,"thr_a_norm":0.0196063071,"thr_a_v":0.650936127,"thr_b":0.0115621537,"thr_b_norm":0,"thr_b_v":0.546248615,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.000629,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.53100967,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556111693,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00483457837,"mpcc_du":49.6048317,"mpcc_dv":49.5946312,"mpcc_dw":50.4053688,"mpcc_enc_sign":1,"mpcc_id_a":1.28605366,"mpcc_iq_a":-2.74440646,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.92347264,"mpcc_pred_id_a":-0.25295046,"mpcc_pred_iq_a":-4.39645958,"mpcc_state":1,"mpcc_theta_e":0.446052551,"mpcc_theta_mech":0.556156456,"sam_rpm":3.6436336,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0377340317,"thr_a_norm":0.0377340317,"thr_a_v":0.650936127,"thr_b":0.0115621537,"thr_b_norm":0.0115621537,"thr_b_v":0.546248615,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.023975,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.661157608,"cg_iw_a":-0.233269691,"cg_theta_rad":0.55328548,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.000582522829,"mpcc_du":49.5956421,"mpcc_dv":50.4043579,"mpcc_dw":50.2817612,"mpcc_enc_sign":1,"mpcc_id_a":0.405701637,"mpcc_iq_a":-0.556946516,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.969613016,"mpcc_pred_id_a":-0.387710631,"mpcc_pred_iq_a":-4.25369167,"mpcc_state":1,"mpcc_theta_e":0.440580845,"mpcc_theta_mech":0.555062056,"sam_rpm":0.518732429,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177431852,"thr_a_norm":0.0177431852,"thr_a_v":0.570972741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450322747,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.030537,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.02359605,"cg_iw_a":0.564094543,"cg_theta_rad":0.556337655,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00312680658,"mpcc_du":49.556797,"mpcc_dv":50.443203,"mpcc_dw":50.1369019,"mpcc_enc_sign":1,"mpcc_id_a":3.15598655,"mpcc_iq_a":0.213001341,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.01355076,"mpcc_pred_id_a":-0.564463675,"mpcc_pred_iq_a":-4.79982662,"mpcc_state":1,"mpcc_theta_e":0.430518627,"mpcc_theta_mech":0.553049624,"sam_rpm":8.54118347,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234710425,"thr_a_norm":0.0177431852,"thr_a_v":0.59388417,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.037067,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.11091113,"cg_iw_a":0.491606951,"cg_theta_rad":0.554825604,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00405124249,"mpcc_du":49.768116,"mpcc_dv":49.3177986,"mpcc_dw":50.6822014,"mpcc_enc_sign":1,"mpcc_id_a":0.611122549,"mpcc_iq_a":-1.1261723,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.02851486,"mpcc_pred_id_a":-0.0350361504,"mpcc_pred_iq_a":-1.37833095,"mpcc_state":1,"mpcc_theta_e":0.449029446,"mpcc_theta_mech":0.556751788,"sam_rpm":9.88903332,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234710425,"thr_a_norm":0.0234710425,"thr_a_v":0.59388417,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.043598,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.74847269,"cg_iw_a":-0.523220539,"cg_theta_rad":0.56045109,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0440108813,"mpcc_du":49.4573975,"mpcc_dv":50.0649681,"mpcc_dw":50.5426025,"mpcc_enc_sign":1,"mpcc_id_a":3.14926505,"mpcc_iq_a":0.291907221,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.95694542,"mpcc_pred_id_a":0.705545425,"mpcc_pred_iq_a":-2.93210196,"mpcc_state":1,"mpcc_theta_e":0.451320171,"mpcc_theta_mech":0.557209909,"sam_rpm":14.7029724,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0977065563,"thr_a_norm":0.0977065563,"thr_a_v":0.890826225,"thr_b":0.0392572731,"thr_b_norm":0.0392572731,"thr_b_v":0.657029092,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.053211,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.60349751,"cg_iw_a":-1.17560911,"cg_theta_rad":0.555757344,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0216092989,"mpcc_du":50.2296715,"mpcc_dv":48.4608498,"mpcc_dw":51.5391502,"mpcc_enc_sign":1,"mpcc_id_a":2.76455116,"mpcc_iq_a":-0.149909303,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.49617004,"mpcc_pred_id_a":0.307137191,"mpcc_pred_iq_a":-5.69248056,"mpcc_state":1,"mpcc_theta_e":0.44328928,"mpcc_theta_mech":0.551212311,"sam_rpm":-8.38067913,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0977065563,"thr_a_norm":0.0977065563,"thr_a_v":0.890826225,"thr_b":0.0392572731,"thr_b_norm":0.0392572731,"thr_b_v":0.657029092,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.063374,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.516182423,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.553873837,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0404607877,"mpcc_du":49.3873978,"mpcc_dv":50.6126022,"mpcc_dw":50.2447777,"mpcc_enc_sign":1,"mpcc_id_a":2.09446025,"mpcc_iq_a":-2.23886037,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.43952465,"mpcc_pred_id_a":0.150325403,"mpcc_pred_iq_a":-1.43233848,"mpcc_state":1,"mpcc_theta_e":0.44266367,"mpcc_theta_mech":0.555478692,"sam_rpm":9.83048058,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00908216834,"thr_a_norm":0.00908216834,"thr_a_v":0.536328673,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439949661,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.073689,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.588670254,"cg_iw_a":-0.740683079,"cg_theta_rad":0.555731297,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0348287486,"mpcc_du":49.520195,"mpcc_dv":49.6268158,"mpcc_dw":50.3999825,"mpcc_enc_sign":1,"mpcc_id_a":1.89306986,"mpcc_iq_a":-1.50000536,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.20941162,"mpcc_pred_id_a":0.135376543,"mpcc_pred_iq_a":-2.24328208,"mpcc_state":1,"mpcc_theta_e":0.426776409,"mpcc_theta_mech":0.552196801,"sam_rpm":-16.2648087,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0187376887,"thr_a_norm":0.00908216834,"thr_a_v":0.574950755,"thr_b":0.00212062895,"thr_b_norm":0,"thr_b_v":0.508482516,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.08379,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.661157608,"cg_iw_a":-1.46555996,"cg_theta_rad":0.560222387,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0165496115,"mpcc_du":49.3951149,"mpcc_dv":50.6048851,"mpcc_dw":50.1552086,"mpcc_enc_sign":1,"mpcc_id_a":1.1604414,"mpcc_iq_a":-0.653374612,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.5135841,"mpcc_pred_id_a":-0.103072435,"mpcc_pred_iq_a":-4.03621054,"mpcc_state":1,"mpcc_theta_e":0.452963352,"mpcc_theta_mech":0.557538629,"sam_rpm":20.8066368,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0187376887,"thr_a_norm":0.0187376887,"thr_a_v":0.574950755,"thr_b":0.00212062895,"thr_b_norm":0.00212062895,"thr_b_v":0.508482516,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.093678,"values":{"cg_iu_a":3.8664217,"cg_iv_a":-1.24105906,"cg_iw_a":-2.62536263,"cg_theta_rad":0.555877566,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0126061244,"mpcc_du":50.1582336,"mpcc_dv":48.78899,"mpcc_dw":51.21101,"mpcc_enc_sign":1,"mpcc_id_a":0.118742839,"mpcc_iq_a":-2.90942025,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.0512104,"mpcc_pred_id_a":-0.627507627,"mpcc_pred_iq_a":-5.30812979,"mpcc_state":1,"mpcc_theta_e":0.43330431,"mpcc_theta_mech":0.552943289,"sam_rpm":-19.4377937,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260643214,"thr_a_norm":0.0260643214,"thr_a_v":0.604257286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492268264,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.103596,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.38603449,"cg_iw_a":-0.740683079,"cg_theta_rad":0.557309449,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0228081737,"mpcc_du":49.5180206,"mpcc_dv":49.8944435,"mpcc_dw":50.4819794,"mpcc_enc_sign":1,"mpcc_id_a":2.763901,"mpcc_iq_a":-0.161453113,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.36801147,"mpcc_pred_id_a":0.204281121,"mpcc_pred_iq_a":-1.44316494,"mpcc_state":1,"mpcc_theta_e":0.44746542,"mpcc_theta_mech":0.556439042,"sam_rpm":14.0010147,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260643214,"thr_a_norm":0.0260643214,"thr_a_v":0.604257286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492268264,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.127003,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.16857147,"cg_iw_a":-0.81317091,"cg_theta_rad":0.555495858,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0391738415,"mpcc_du":49.5207176,"mpcc_dv":49.4328651,"mpcc_dw":50.5671349,"mpcc_enc_sign":1,"mpcc_id_a":2.00761747,"mpcc_iq_a":-0.733419418,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.44272566,"mpcc_pred_id_a":0.210461512,"mpcc_pred_iq_a":-3.76418447,"mpcc_state":1,"mpcc_theta_e":0.450224876,"mpcc_theta_mech":0.556990921,"sam_rpm":10.6791477,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0954909623,"thr_a_norm":0.0954909623,"thr_a_v":0.881963849,"thr_b":0.0379228592,"thr_b_norm":0.0379228592,"thr_b_v":0.651691437,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.133533,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.24105906,"cg_iw_a":-0.885658741,"cg_theta_rad":0.557708263,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00187981874,"mpcc_du":50.7536163,"mpcc_dv":47.9141617,"mpcc_dw":52.0858383,"mpcc_enc_sign":1,"mpcc_id_a":0.654779732,"mpcc_iq_a":-0.893188,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.6643581,"mpcc_pred_id_a":0.0731472746,"mpcc_pred_iq_a":0.584043324,"mpcc_state":1,"mpcc_theta_e":0.42888546,"mpcc_theta_mech":0.55272305,"sam_rpm":-20.52841,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023131147,"thr_a_norm":0.0954909623,"thr_a_v":0.592524588,"thr_b":0,"thr_b_norm":0.0379228592,"thr_b_v":0.4978576,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.140064,"values":{"cg_iu_a":4.2288599,"cg_iv_a":-0.443694592,"cg_iw_a":-3.78516531,"cg_theta_rad":0.557095528,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0215423666,"mpcc_du":51.0244713,"mpcc_dv":47.6481781,"mpcc_dw":52.3518219,"mpcc_enc_sign":1,"mpcc_id_a":0.660870671,"mpcc_iq_a":-0.840464115,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":21.7093029,"mpcc_pred_id_a":0.092824474,"mpcc_pred_iq_a":1.81955922,"mpcc_state":1,"mpcc_theta_e":0.463532448,"mpcc_theta_mech":0.559652388,"sam_rpm":-0.935722888,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023131147,"thr_a_norm":0.023131147,"thr_a_v":0.592524588,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4978576,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.146564,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.951108456,"cg_iw_a":0.346631527,"cg_theta_rad":0.553267956,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0256921835,"mpcc_du":49.5078239,"mpcc_dv":50.1676292,"mpcc_dw":50.4921761,"mpcc_enc_sign":1,"mpcc_id_a":2.59821725,"mpcc_iq_a":-0.154688373,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.28568769,"mpcc_pred_id_a":0.298518926,"mpcc_pred_iq_a":-5.50655413,"mpcc_state":1,"mpcc_theta_e":0.439959526,"mpcc_theta_mech":0.55493784,"sam_rpm":-4.06592894,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189642906,"thr_a_norm":0.0189642906,"thr_a_v":0.575857162,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.156605,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.53100967,"cg_iw_a":-1.03063393,"cg_theta_rad":0.553405523,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00796010625,"mpcc_du":50.6369438,"mpcc_dv":47.948246,"mpcc_dw":52.051754,"mpcc_enc_sign":1,"mpcc_id_a":1.68963647,"mpcc_iq_a":-0.721768916,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.8592377,"mpcc_pred_id_a":0.428303719,"mpcc_pred_iq_a":1.63705003,"mpcc_state":1,"mpcc_theta_e":0.428702831,"mpcc_theta_mech":0.552686453,"sam_rpm":-20.5233841,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189642906,"thr_a_norm":0.0189642906,"thr_a_v":0.575857162,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.166798,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.6759851,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.555621445,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00633078814,"mpcc_du":50.548954,"mpcc_dv":48.4200401,"mpcc_dw":51.5799599,"mpcc_enc_sign":1,"mpcc_id_a":0.262933046,"mpcc_iq_a":-2.09548521,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.1440296,"mpcc_pred_id_a":-0.487545013,"mpcc_pred_iq_a":-0.299889266,"mpcc_state":1,"mpcc_theta_e":0.429636002,"mpcc_theta_mech":0.552873135,"sam_rpm":-19.4989319,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182719231,"thr_a_norm":0.0182719231,"thr_a_v":0.573087692,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456516385,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.176991,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.878620625,"cg_iw_a":0.0566806793,"cg_theta_rad":0.553544343,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0665833727,"mpcc_du":50.1386032,"mpcc_dv":48.7159309,"mpcc_dw":51.2840691,"mpcc_enc_sign":1,"mpcc_id_a":2.21007133,"mpcc_iq_a":-1.14796615,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.37448168,"mpcc_pred_id_a":0.264548153,"mpcc_pred_iq_a":-4.39644861,"mpcc_state":1,"mpcc_theta_e":0.447083473,"mpcc_theta_mech":0.556362569,"sam_rpm":-1.59870684,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0412085056,"thr_a_norm":0.0182719231,"thr_a_v":0.664834023,"thr_b":0.0116250962,"thr_b_norm":0,"thr_b_v":0.546500385,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.18697,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.298719406,"cg_iw_a":-2.69785023,"cg_theta_rad":0.553912222,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0306277294,"mpcc_du":49.2237282,"mpcc_dv":50.7762718,"mpcc_dw":49.9490204,"mpcc_enc_sign":1,"mpcc_id_a":0.538026273,"mpcc_iq_a":-1.48811817,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.0942924,"mpcc_pred_id_a":-0.10888882,"mpcc_pred_iq_a":-3.90780687,"mpcc_state":1,"mpcc_theta_e":0.432209015,"mpcc_theta_mech":0.553387702,"sam_rpm":-5.98619413,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0412085056,"thr_a_norm":0.0412085056,"thr_a_v":0.664834023,"thr_b":0.0116250962,"thr_b_norm":0.0116250962,"thr_b_v":0.546500385,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.197224,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.298719406,"cg_iw_a":-0.885658741,"cg_theta_rad":0.554535449,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0180223119,"mpcc_du":49.571785,"mpcc_dv":49.3563995,"mpcc_dw":50.6436005,"mpcc_enc_sign":1,"mpcc_id_a":0.884927034,"mpcc_iq_a":-0.732572794,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.285904467,"mpcc_pred_id_a":-0.229714081,"mpcc_pred_iq_a":-3.03109884,"mpcc_state":1,"mpcc_theta_e":0.437283993,"mpcc_theta_mech":0.554402709,"sam_rpm":2.82500505,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024440363,"thr_a_norm":0.024440363,"thr_a_v":0.597761452,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.206959,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-2.32837415,"cg_iw_a":-0.958146334,"cg_theta_rad":0.558026075,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0213841703,"mpcc_du":50.0035706,"mpcc_dv":48.7855682,"mpcc_dw":51.2144318,"mpcc_enc_sign":1,"mpcc_id_a":2.72640586,"mpcc_iq_a":-1.07068622,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.8304472,"mpcc_pred_id_a":0.342247695,"mpcc_pred_iq_a":-0.33014676,"mpcc_state":1,"mpcc_theta_e":0.432778358,"mpcc_theta_mech":0.553501606,"sam_rpm":-11.9703674,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024440363,"thr_a_norm":0.024440363,"thr_a_v":0.597761452,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.230244,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.733645439,"cg_iw_a":-1.03063393,"cg_theta_rad":0.551366448,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00056614005,"mpcc_du":49.6406403,"mpcc_dv":50.3593597,"mpcc_dw":50.1777954,"mpcc_enc_sign":1,"mpcc_id_a":-0.466269195,"mpcc_iq_a":-2.37099528,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.5032959,"mpcc_pred_id_a":-0.857642651,"mpcc_pred_iq_a":-5.01397085,"mpcc_state":1,"mpcc_theta_e":0.447018147,"mpcc_theta_mech":0.556349516,"sam_rpm":6.52124643,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181460381,"thr_a_norm":0.0181460381,"thr_a_v":0.572584152,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462861091,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.236713,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.45852208,"cg_iw_a":-1.68302321,"cg_theta_rad":0.555948913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0336567797,"mpcc_du":50.5507927,"mpcc_dv":48.0729065,"mpcc_dw":51.9270935,"mpcc_enc_sign":1,"mpcc_id_a":2.47675061,"mpcc_iq_a":0.287006468,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.4162102,"mpcc_pred_id_a":0.616886497,"mpcc_pred_iq_a":-0.496259987,"mpcc_state":1,"mpcc_theta_e":0.433791637,"mpcc_theta_mech":0.553704202,"sam_rpm":-16.6646194,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022929728,"thr_a_norm":0.022929728,"thr_a_v":0.591718912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492721438,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.243275,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.45852208,"cg_iw_a":-1.90048623,"cg_theta_rad":0.557414055,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0148843117,"mpcc_du":49.5027771,"mpcc_dv":49.8312912,"mpcc_dw":50.4972229,"mpcc_enc_sign":1,"mpcc_id_a":2.43009758,"mpcc_iq_a":-1.53786957,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.80985069,"mpcc_pred_id_a":0.3751885,"mpcc_pred_iq_a":-5.21670961,"mpcc_state":1,"mpcc_theta_e":0.434293747,"mpcc_theta_mech":0.553804696,"sam_rpm":-12.3724918,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022929728,"thr_a_norm":0.022929728,"thr_a_v":0.591718912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492721438,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.249836,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-2.40086174,"cg_iw_a":1.43394661,"cg_theta_rad":0.556722224,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0238960311,"mpcc_du":49.945118,"mpcc_dv":49.1968956,"mpcc_dw":50.8031044,"mpcc_enc_sign":1,"mpcc_id_a":1.75132823,"mpcc_iq_a":-0.093993932,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.12588024,"mpcc_pred_id_a":-0.233964413,"mpcc_pred_iq_a":-1.40333354,"mpcc_state":1,"mpcc_theta_e":0.447865486,"mpcc_theta_mech":0.556519032,"sam_rpm":7.86214685,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024339661,"thr_a_norm":0.024339661,"thr_a_v":0.597358644,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485067546,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.259754,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.89344811,"cg_iw_a":0.781557798,"cg_theta_rad":0.553493738,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0724716559,"mpcc_du":50.0105743,"mpcc_dv":48.9510994,"mpcc_dw":51.0489006,"mpcc_enc_sign":1,"mpcc_id_a":2.20695472,"mpcc_iq_a":-0.659461141,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.10474396,"mpcc_pred_id_a":0.306525707,"mpcc_pred_iq_a":-2.7306385,"mpcc_state":1,"mpcc_theta_e":0.456415176,"mpcc_theta_mech":0.55822897,"sam_rpm":13.71908,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254726559,"thr_a_norm":0.024339661,"thr_a_v":0.601890624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.269794,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.38603449,"cg_iw_a":0.78155756,"cg_theta_rad":0.556743562,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00700036203,"mpcc_du":49.4986572,"mpcc_dv":50.5013428,"mpcc_dw":50.2855911,"mpcc_enc_sign":1,"mpcc_id_a":1.26758206,"mpcc_iq_a":-2.603405,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.83243084,"mpcc_pred_id_a":0.130268514,"mpcc_pred_iq_a":-3.55309534,"mpcc_state":1,"mpcc_theta_e":0.44883585,"mpcc_theta_mech":0.556713045,"sam_rpm":11.8297205,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254726559,"thr_a_norm":0.0254726559,"thr_a_v":0.601890624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.279987,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.371207237,"cg_iw_a":-1.10312176,"cg_theta_rad":0.557379067,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0534462705,"mpcc_du":49.6704903,"mpcc_dv":49.3572311,"mpcc_dw":50.6427689,"mpcc_enc_sign":1,"mpcc_id_a":2.66933417,"mpcc_iq_a":-0.0312255118,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.69706154,"mpcc_pred_id_a":0.306701422,"mpcc_pred_iq_a":-2.70105529,"mpcc_state":1,"mpcc_theta_e":0.450448036,"mpcc_theta_mech":0.557035565,"sam_rpm":12.5733147,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225142986,"thr_a_norm":0.0225142986,"thr_a_v":0.590057194,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477262527,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.289783,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.60349751,"cg_iw_a":0.854045391,"cg_theta_rad":0.556782305,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0206809063,"mpcc_du":50.2406006,"mpcc_dv":48.6340485,"mpcc_dw":51.3659515,"mpcc_enc_sign":1,"mpcc_id_a":2.35929847,"mpcc_iq_a":-0.833498538,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.55572987,"mpcc_pred_id_a":0.205991969,"mpcc_pred_iq_a":-1.4629072,"mpcc_state":1,"mpcc_theta_e":0.441751003,"mpcc_theta_mech":0.555296123,"sam_rpm":-7.19958735,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225142986,"thr_a_norm":0.0225142986,"thr_a_v":0.590057194,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477262527,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.30019,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-0.661157608,"cg_iw_a":-3.27775192,"cg_theta_rad":0.554084063,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0315951221,"mpcc_du":50.2009201,"mpcc_dv":48.617775,"mpcc_dw":51.382225,"mpcc_enc_sign":1,"mpcc_id_a":2.93134093,"mpcc_iq_a":-0.138061985,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.546498775,"mpcc_pred_id_a":0.342096031,"mpcc_pred_iq_a":-0.304895252,"mpcc_state":1,"mpcc_theta_e":0.44382906,"mpcc_theta_mech":0.555711687,"sam_rpm":-1.61151326,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10760127,"thr_a_norm":0.10760127,"thr_a_v":0.93040508,"thr_b":0.043084234,"thr_b_norm":0.043084234,"thr_b_v":0.672336936,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.310291,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-3.05325079,"cg_iw_a":1.36145926,"cg_theta_rad":0.555824578,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0047700163,"mpcc_du":49.2212029,"mpcc_dv":50.7787971,"mpcc_dw":49.6943359,"mpcc_enc_sign":1,"mpcc_id_a":-0.575297475,"mpcc_iq_a":-0.926664889,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.66151333,"mpcc_pred_id_a":-0.83152616,"mpcc_pred_iq_a":-6.62868071,"mpcc_state":1,"mpcc_theta_e":0.444981098,"mpcc_theta_mech":0.555942118,"sam_rpm":6.77767467,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0145834237,"thr_a_norm":0.10760127,"thr_a_v":0.558333695,"thr_b":0,"thr_b_norm":0.043084234,"thr_b_v":0.444682986,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.333179,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.661157608,"cg_iw_a":-0.305757523,"cg_theta_rad":0.557718337,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00292369467,"mpcc_du":49.0726738,"mpcc_dv":50.9273262,"mpcc_dw":49.5510063,"mpcc_enc_sign":1,"mpcc_id_a":0.195914343,"mpcc_iq_a":-2.3202343,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.8425961,"mpcc_pred_id_a":-0.685813069,"mpcc_pred_iq_a":-4.85716772,"mpcc_state":1,"mpcc_theta_e":0.449374199,"mpcc_theta_mech":0.55682075,"sam_rpm":16.5004349,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0145834237,"thr_a_norm":0.0145834237,"thr_a_v":0.558333695,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444682986,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.339741,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.53100967,"cg_iw_a":-0.015806675,"cg_theta_rad":0.552610934,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00419914816,"mpcc_du":49.8653183,"mpcc_dv":49.3654938,"mpcc_dw":50.6345062,"mpcc_enc_sign":1,"mpcc_id_a":0.952771008,"mpcc_iq_a":-1.09451103,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.753529489,"mpcc_pred_id_a":-0.427420616,"mpcc_pred_iq_a":-2.4927206,"mpcc_state":1,"mpcc_theta_e":0.441949368,"mpcc_theta_mech":0.55533582,"sam_rpm":0.964093685,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0328370333,"thr_a_norm":0.0328370333,"thr_a_v":0.631348133,"thr_b":0.000282675028,"thr_b_norm":0.000282675028,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.346241,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.38603449,"cg_iw_a":-3.35023928,"cg_theta_rad":0.556641996,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0224920809,"mpcc_du":49.7471962,"mpcc_dv":49.0377846,"mpcc_dw":50.9622154,"mpcc_enc_sign":1,"mpcc_id_a":2.36116529,"mpcc_iq_a":-0.312196434,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.82977581,"mpcc_pred_id_a":0.641698778,"mpcc_pred_iq_a":-3.45631051,"mpcc_state":1,"mpcc_theta_e":0.43659687,"mpcc_theta_mech":0.55426532,"sam_rpm":-10.5276012,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0328370333,"thr_a_norm":0.0328370333,"thr_a_v":0.631348133,"thr_b":0.000282675028,"thr_b_norm":0.000282675028,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.352741,"values":{"cg_iu_a":2.85159445,"cg_iv_a":0.0637187958,"cg_iw_a":-2.91531324,"cg_theta_rad":0.552390456,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00722988648,"mpcc_du":49.9075775,"mpcc_dv":48.9375725,"mpcc_dw":51.0624275,"mpcc_enc_sign":1,"mpcc_id_a":1.28053904,"mpcc_iq_a":-0.914505005,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.1690331,"mpcc_pred_id_a":0.268159568,"mpcc_pred_iq_a":-2.34219909,"mpcc_state":1,"mpcc_theta_e":0.435525417,"mpcc_theta_mech":0.554051042,"sam_rpm":-23.1156807,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0279903859,"thr_a_norm":0.0279903859,"thr_a_v":0.611961544,"thr_b":0.000408560038,"thr_b_norm":0.000408560038,"thr_b_v":0.50163424,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.362934,"values":{"cg_iu_a":0.169550896,"cg_iv_a":1.15103388,"cg_iw_a":-3.85765314,"cg_theta_rad":0.552776515,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00329468818,"mpcc_du":49.9145508,"mpcc_dv":49.318367,"mpcc_dw":50.681633,"mpcc_enc_sign":1,"mpcc_id_a":2.32745862,"mpcc_iq_a":-2.23668528,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.53054667,"mpcc_pred_id_a":0.31256929,"mpcc_pred_iq_a":-4.03489065,"mpcc_state":1,"mpcc_theta_e":0.450422764,"mpcc_theta_mech":0.557030439,"sam_rpm":8.33075809,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.043461889,"thr_a_norm":0.0279903859,"thr_a_v":0.673847556,"thr_b":0.0103662163,"thr_b_norm":0.000408560038,"thr_b_v":0.541464865,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.373005,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.153744221,"cg_iw_a":-2.04546118,"cg_theta_rad":0.557055175,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0511049144,"mpcc_du":49.3745308,"mpcc_dv":50.6254692,"mpcc_dw":50.5075035,"mpcc_enc_sign":1,"mpcc_id_a":4.3398881,"mpcc_iq_a":1.1414243,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.9631834,"mpcc_pred_id_a":0.876077235,"mpcc_pred_iq_a":-2.08708858,"mpcc_state":1,"mpcc_theta_e":0.443065166,"mpcc_theta_mech":0.55555898,"sam_rpm":12.3159094,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.043461889,"thr_a_norm":0.043461889,"thr_a_v":0.673847556,"thr_b":0.0103662163,"thr_b_norm":0.0103662163,"thr_b_v":0.541464865,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.382954,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.38603449,"cg_iw_a":-1.39307213,"cg_theta_rad":0.555808425,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0245457832,"mpcc_du":49.8857117,"mpcc_dv":49.1938362,"mpcc_dw":50.8061638,"mpcc_enc_sign":1,"mpcc_id_a":0.541160405,"mpcc_iq_a":-1.27583599,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.79747307,"mpcc_pred_id_a":-0.189556584,"mpcc_pred_iq_a":-3.88856983,"mpcc_state":1,"mpcc_theta_e":0.446909428,"mpcc_theta_mech":0.55632776,"sam_rpm":3.68322134,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00998856127,"thr_a_norm":0.00998856127,"thr_a_v":0.539954245,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439446062,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.393208,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-1.31354666,"cg_iw_a":-2.26292467,"cg_theta_rad":0.555501819,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0478579402,"mpcc_du":49.7032204,"mpcc_dv":49.215992,"mpcc_dw":50.784008,"mpcc_enc_sign":1,"mpcc_id_a":3.16734314,"mpcc_iq_a":-0.492208481,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.91014528,"mpcc_pred_id_a":0.355542541,"mpcc_pred_iq_a":-2.18694997,"mpcc_state":1,"mpcc_theta_e":0.446838856,"mpcc_theta_mech":0.556313694,"sam_rpm":10.1247835,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00998856127,"thr_a_norm":0.00998856127,"thr_a_v":0.539954245,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439446062,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.40337,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.226231575,"cg_iw_a":-0.450732708,"cg_theta_rad":0.552608907,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0381466523,"mpcc_du":50.0358276,"mpcc_dv":48.8789597,"mpcc_dw":51.1210403,"mpcc_enc_sign":1,"mpcc_id_a":2.44401455,"mpcc_iq_a":-0.822818756,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.10121441,"mpcc_pred_id_a":0.0814926326,"mpcc_pred_iq_a":-4.33321953,"mpcc_state":1,"mpcc_theta_e":0.440180779,"mpcc_theta_mech":0.554982066,"sam_rpm":-10.3830252,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173781216,"thr_a_norm":0.0173781216,"thr_a_v":0.569512486,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458178043,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.413593,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.443694592,"cg_iw_a":-1.10312176,"cg_theta_rad":0.556313694,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00383828208,"mpcc_du":50.4105797,"mpcc_dv":48.6361389,"mpcc_dw":51.3638611,"mpcc_enc_sign":1,"mpcc_id_a":0.600936234,"mpcc_iq_a":-1.48889422,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.98246884,"mpcc_pred_id_a":-0.372302681,"mpcc_pred_iq_a":0.35415107,"mpcc_state":1,"mpcc_theta_e":0.445977688,"mpcc_theta_mech":0.556141496,"sam_rpm":4.14417362,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292114764,"thr_a_norm":0.0173781216,"thr_a_v":0.616845906,"thr_b":0.00319065154,"thr_b_norm":0,"thr_b_v":0.512762606,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.436573,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.443694592,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.557967722,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0024148263,"mpcc_du":51.4245148,"mpcc_dv":47.3186722,"mpcc_dw":52.6813278,"mpcc_enc_sign":1,"mpcc_id_a":0.347521424,"mpcc_iq_a":-1.57696104,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.4458323,"mpcc_pred_id_a":-0.416091889,"mpcc_pred_iq_a":3.68590951,"mpcc_state":1,"mpcc_theta_e":0.4250741,"mpcc_theta_mech":0.551960766,"sam_rpm":-23.5690918,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292114764,"thr_a_norm":0.0292114764,"thr_a_v":0.616845906,"thr_b":0.00319065154,"thr_b_norm":0.00319065154,"thr_b_v":0.512762606,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.443134,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.53100967,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556936502,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00195665448,"mpcc_du":50.0003967,"mpcc_dv":48.973053,"mpcc_dw":51.026947,"mpcc_enc_sign":1,"mpcc_id_a":0.392480314,"mpcc_iq_a":-0.771904349,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.9178181,"mpcc_pred_id_a":-0.0651308149,"mpcc_pred_iq_a":-1.80723548,"mpcc_state":1,"mpcc_theta_e":0.427084923,"mpcc_theta_mech":0.552362919,"sam_rpm":-18.6174049,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206385851,"thr_a_norm":0.0206385851,"thr_a_v":0.58255434,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.449635,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.806133032,"cg_iw_a":0.41911912,"cg_theta_rad":0.556508839,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00345900096,"mpcc_du":49.9897194,"mpcc_dv":49.1883774,"mpcc_dw":50.8116226,"mpcc_enc_sign":1,"mpcc_id_a":0.145914465,"mpcc_iq_a":-0.432465404,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.21028471,"mpcc_pred_id_a":-0.504270256,"mpcc_pred_iq_a":-2.88173556,"mpcc_state":1,"mpcc_theta_e":0.434864521,"mpcc_theta_mech":0.553918839,"sam_rpm":-9.57192707,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206385851,"thr_a_norm":0.0206385851,"thr_a_v":0.58255434,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.456348,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.153744221,"cg_iw_a":-2.84282541,"cg_theta_rad":0.55448544,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0477427542,"mpcc_du":49.833622,"mpcc_dv":49.0236282,"mpcc_dw":50.9763718,"mpcc_enc_sign":1,"mpcc_id_a":2.71426702,"mpcc_iq_a":1.06444311,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.16885161,"mpcc_pred_id_a":0.418423653,"mpcc_pred_iq_a":-2.24321485,"mpcc_state":1,"mpcc_theta_e":0.449679852,"mpcc_theta_mech":0.556881845,"sam_rpm":-2.83381486,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458278775,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.466602,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.89344811,"cg_iw_a":0.0566809177,"cg_theta_rad":0.555677772,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.122971661,"mpcc_du":49.7991714,"mpcc_dv":49.0949936,"mpcc_dw":50.9050064,"mpcc_enc_sign":1,"mpcc_id_a":3.41813588,"mpcc_iq_a":0.659939885,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.50965786,"mpcc_pred_id_a":0.431850314,"mpcc_pred_iq_a":-3.22100687,"mpcc_state":1,"mpcc_theta_e":0.455597878,"mpcc_theta_mech":0.558065474,"sam_rpm":14.0575075,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022325471,"thr_a_norm":0.022325471,"thr_a_v":0.589301884,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483456165,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.478474,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.153744221,"cg_iw_a":-0.450732708,"cg_theta_rad":0.555513024,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0420782045,"mpcc_du":49.9936028,"mpcc_dv":48.982338,"mpcc_dw":51.017662,"mpcc_enc_sign":1,"mpcc_id_a":3.65713143,"mpcc_iq_a":-2.32778406,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.818374991,"mpcc_pred_id_a":0.896725297,"mpcc_pred_iq_a":-5.16662693,"mpcc_state":1,"mpcc_theta_e":0.441942215,"mpcc_theta_mech":0.555334389,"sam_rpm":-9.15055943,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022325471,"thr_a_norm":0.022325471,"thr_a_v":0.589301884,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483456165,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.487965,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.38603449,"cg_iw_a":0.0566811562,"cg_theta_rad":0.55584532,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0152404802,"mpcc_du":49.7592888,"mpcc_dv":49.1290779,"mpcc_dw":50.8709221,"mpcc_enc_sign":1,"mpcc_id_a":2.43661356,"mpcc_iq_a":-0.661346972,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.11910439,"mpcc_pred_id_a":0.377571553,"mpcc_pred_iq_a":-1.75602925,"mpcc_state":1,"mpcc_theta_e":0.433197021,"mpcc_theta_mech":0.553585291,"sam_rpm":-10.7881126,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176550597,"thr_a_norm":0.0176550597,"thr_a_v":0.570620239,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447804987,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.498158,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.806133032,"cg_iw_a":-2.33541203,"cg_theta_rad":0.554940641,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0176487304,"mpcc_du":49.5808907,"mpcc_dv":49.2438545,"mpcc_dw":50.7561455,"mpcc_enc_sign":1,"mpcc_id_a":1.22396541,"mpcc_iq_a":-0.694137573,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.43577194,"mpcc_pred_id_a":0.593077421,"mpcc_pred_iq_a":0.0918550789,"mpcc_state":1,"mpcc_theta_e":0.429445744,"mpcc_theta_mech":0.552835107,"sam_rpm":-8.43058395,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02315633,"thr_a_norm":0.0176550597,"thr_a_v":0.59262532,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.509144,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.298719406,"cg_iw_a":-2.84282589,"cg_theta_rad":0.554027617,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0679357275,"mpcc_du":49.7599182,"mpcc_dv":48.8495483,"mpcc_dw":51.1504517,"mpcc_enc_sign":1,"mpcc_id_a":4.07450342,"mpcc_iq_a":-0.273033738,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.99999809,"mpcc_pred_id_a":1.0370121,"mpcc_pred_iq_a":-1.08599734,"mpcc_state":1,"mpcc_theta_e":0.445851803,"mpcc_theta_mech":0.556116283,"sam_rpm":9.2092886,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02315633,"thr_a_norm":0.02315633,"thr_a_v":0.59262532,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.532581,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.733645439,"cg_iw_a":-2.26292419,"cg_theta_rad":0.557642877,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00689752446,"mpcc_du":50.9815025,"mpcc_dv":47.8204727,"mpcc_dw":52.1795273,"mpcc_enc_sign":1,"mpcc_id_a":-0.399016351,"mpcc_iq_a":-0.411810845,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.625351,"mpcc_pred_id_a":-0.452699482,"mpcc_pred_iq_a":-1.40359449,"mpcc_state":1,"mpcc_theta_e":0.426544189,"mpcc_theta_mech":0.552254736,"sam_rpm":-32.2082024,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216330886,"thr_a_norm":0.0216330886,"thr_a_v":0.586532354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465328425,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.539143,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-2.18339872,"cg_iw_a":-1.24809694,"cg_theta_rad":0.554329813,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0212967787,"mpcc_du":49.4259033,"mpcc_dv":49.460743,"mpcc_dw":50.5740967,"mpcc_enc_sign":1,"mpcc_id_a":2.62919807,"mpcc_iq_a":-0.611584544,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.89439487,"mpcc_pred_id_a":0.577195108,"mpcc_pred_iq_a":-1.13377237,"mpcc_state":1,"mpcc_theta_e":0.448884964,"mpcc_theta_mech":0.556722879,"sam_rpm":14.0999718,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216330886,"thr_a_norm":0.0216330886,"thr_a_v":0.586532354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465328425,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.545643,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.661157608,"cg_iw_a":-0.378245354,"cg_theta_rad":0.551528871,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00349967647,"mpcc_du":51.0022125,"mpcc_dv":47.579628,"mpcc_dw":52.420372,"mpcc_enc_sign":1,"mpcc_id_a":0.911679626,"mpcc_iq_a":-0.862180948,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.0704784,"mpcc_pred_id_a":0.0485098436,"mpcc_pred_iq_a":1.82790923,"mpcc_state":1,"mpcc_theta_e":0.420892239,"mpcc_theta_mech":0.551124334,"sam_rpm":-30.2249889,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235465765,"thr_a_norm":0.0235465765,"thr_a_v":0.594186306,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475751907,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.552174,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-2.11091113,"cg_iw_a":0.709069967,"cg_theta_rad":0.55470252,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0223085899,"mpcc_du":49.4889183,"mpcc_dv":50.5110817,"mpcc_dw":50.3003349,"mpcc_enc_sign":1,"mpcc_id_a":2.12716889,"mpcc_iq_a":-1.15334201,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.167665,"mpcc_pred_id_a":-0.0806174129,"mpcc_pred_iq_a":-6.21796465,"mpcc_state":1,"mpcc_theta_e":0.446602821,"mpcc_theta_mech":0.556266487,"sam_rpm":6.23021173,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245788544,"thr_a_norm":0.0235465765,"thr_a_v":0.598315418,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.561359,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.951108456,"cg_iw_a":-1.39307213,"cg_theta_rad":0.551615,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00123131438,"mpcc_du":49.250576,"mpcc_dv":50.749424,"mpcc_dw":50.0034332,"mpcc_enc_sign":1,"mpcc_id_a":0.579664528,"mpcc_iq_a":-0.691664815,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.6162701,"mpcc_pred_id_a":-0.119964287,"mpcc_pred_iq_a":-3.47981524,"mpcc_state":1,"mpcc_theta_e":0.447665215,"mpcc_theta_mech":0.556478918,"sam_rpm":16.7848701,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245788544,"thr_a_norm":0.0245788544,"thr_a_v":0.598315418,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.572559,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-2.0384233,"cg_iw_a":-0.378245115,"cg_theta_rad":0.555157185,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0349488445,"mpcc_du":50.2434692,"mpcc_dv":48.6439247,"mpcc_dw":51.3560753,"mpcc_enc_sign":1,"mpcc_id_a":1.44706857,"mpcc_iq_a":-1.72223938,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.52858829,"mpcc_pred_id_a":0.195545226,"mpcc_pred_iq_a":-2.1155448,"mpcc_state":1,"mpcc_theta_e":0.452292442,"mpcc_theta_mech":0.557404399,"sam_rpm":7.2632699,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262531489,"thr_a_norm":0.0262531489,"thr_a_v":0.605012596,"thr_b":0.00162966549,"thr_b_norm":0.00162966549,"thr_b_v":0.506518662,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.582691,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.31354666,"cg_iw_a":0.926532984,"cg_theta_rad":0.554071784,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0161887296,"mpcc_du":49.5629349,"mpcc_dv":50.3611908,"mpcc_dw":50.4370651,"mpcc_enc_sign":1,"mpcc_id_a":0.427503854,"mpcc_iq_a":-2.22718477,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.763838768,"mpcc_pred_id_a":0.0195264518,"mpcc_pred_iq_a":-2.17645454,"mpcc_state":1,"mpcc_theta_e":0.436688423,"mpcc_theta_mech":0.554170668,"sam_rpm":7.89966917,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289471298,"thr_a_norm":0.0262531489,"thr_a_v":0.615788519,"thr_b":0,"thr_b_norm":0.00162966549,"thr_b_v":0.497807235,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.592548,"values":{"cg_iu_a":3.06905746,"cg_iv_a":0.716107845,"cg_iw_a":-2.04546118,"cg_theta_rad":0.556552768,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0611958392,"mpcc_du":50.4382515,"mpcc_dv":48.3402748,"mpcc_dw":51.6597252,"mpcc_enc_sign":1,"mpcc_id_a":2.17776799,"mpcc_iq_a":-0.225407496,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.0310993,"mpcc_pred_id_a":0.178635284,"mpcc_pred_iq_a":-3.1511941,"mpcc_state":1,"mpcc_theta_e":0.456365108,"mpcc_theta_mech":0.558218896,"sam_rpm":2.4384501,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289471298,"thr_a_norm":0.0289471298,"thr_a_v":0.615788519,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497807235,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.602955,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.226231575,"cg_iw_a":-3.64019012,"cg_theta_rad":0.555758119,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0236163475,"mpcc_du":49.7434387,"mpcc_dv":49.4044685,"mpcc_dw":50.5955315,"mpcc_enc_sign":1,"mpcc_id_a":0.231205776,"mpcc_iq_a":-1.08171368,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.51645517,"mpcc_pred_id_a":-0.27536568,"mpcc_pred_iq_a":-3.59763002,"mpcc_state":1,"mpcc_theta_e":0.448018074,"mpcc_theta_mech":0.556549549,"sam_rpm":9.7614212,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0102403313,"thr_a_norm":0.0102403313,"thr_a_v":0.540961325,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462508589,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.612751,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.371207237,"cg_iw_a":-1.03063393,"cg_theta_rad":0.5541116,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0523204207,"mpcc_du":49.4058571,"mpcc_dv":49.3224907,"mpcc_dw":50.6775093,"mpcc_enc_sign":1,"mpcc_id_a":3.39785528,"mpcc_iq_a":-1.8674196,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.80697536,"mpcc_pred_id_a":0.79315716,"mpcc_pred_iq_a":-1.77264929,"mpcc_state":1,"mpcc_theta_e":0.427947044,"mpcc_theta_mech":0.552535355,"sam_rpm":-14.0397282,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0102403313,"thr_a_norm":0.0102403313,"thr_a_v":0.540961325,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462508589,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.636005,"values":{"cg_iu_a":1.11189032,"cg_iv_a":0.0637187958,"cg_iw_a":-1.17560911,"cg_theta_rad":0.551980555,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00486492831,"mpcc_du":50.660183,"mpcc_dv":48.3913612,"mpcc_dw":51.6086388,"mpcc_enc_sign":1,"mpcc_id_a":0.124545887,"mpcc_iq_a":-1.30783665,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.24227166,"mpcc_pred_id_a":-0.654438138,"mpcc_pred_iq_a":-4.25351143,"mpcc_state":1,"mpcc_theta_e":0.446402073,"mpcc_theta_mech":0.556226313,"sam_rpm":-12.4426479,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025875479,"thr_a_norm":0.025875479,"thr_a_v":0.603501916,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.642506,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-2.47334933,"cg_iw_a":-1.03063393,"cg_theta_rad":0.555689275,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00239602383,"mpcc_du":50.1352577,"mpcc_dv":48.8139153,"mpcc_dw":51.1860847,"mpcc_enc_sign":1,"mpcc_id_a":0.0249181017,"mpcc_iq_a":-1.38957667,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.2700443,"mpcc_pred_id_a":-0.0681765378,"mpcc_pred_iq_a":-3.68624592,"mpcc_state":1,"mpcc_theta_e":0.432039261,"mpcc_theta_mech":0.553353786,"sam_rpm":-18.3913422,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023836121,"thr_a_norm":0.025875479,"thr_a_v":0.595344484,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478622139,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.649006,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.16857147,"cg_iw_a":-1.39307213,"cg_theta_rad":0.552411497,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00840251055,"mpcc_du":49.6044197,"mpcc_dv":49.7473335,"mpcc_dw":50.3955803,"mpcc_enc_sign":1,"mpcc_id_a":1.73091686,"mpcc_iq_a":-1.31721663,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.01423573,"mpcc_pred_id_a":-0.323657304,"mpcc_pred_iq_a":-4.69739962,"mpcc_state":1,"mpcc_theta_e":0.439150333,"mpcc_theta_mech":0.554776013,"sam_rpm":-5.04213095,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023836121,"thr_a_norm":0.023836121,"thr_a_v":0.595344484,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478622139,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.655567,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.02359605,"cg_iw_a":0.709069967,"cg_theta_rad":0.556966305,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00864774082,"mpcc_du":49.4994621,"mpcc_dv":49.4796295,"mpcc_dw":50.5203705,"mpcc_enc_sign":1,"mpcc_id_a":1.81090939,"mpcc_iq_a":-2.33279061,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.840757549,"mpcc_pred_id_a":0.254886329,"mpcc_pred_iq_a":-3.09703207,"mpcc_state":1,"mpcc_theta_e":0.441555977,"mpcc_theta_mech":0.555257082,"sam_rpm":0.823551297,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0135007948,"thr_a_norm":0.0135007948,"thr_a_v":0.554003179,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464119941,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.665791,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.878620625,"cg_iw_a":-1.32058477,"cg_theta_rad":0.55616349,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00210282835,"mpcc_du":50.5857582,"mpcc_dv":48.3368568,"mpcc_dw":51.6631432,"mpcc_enc_sign":1,"mpcc_id_a":-0.310393572,"mpcc_iq_a":-2.80285501,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.7478123,"mpcc_pred_id_a":-0.408486009,"mpcc_pred_iq_a":-1.22681499,"mpcc_state":1,"mpcc_theta_e":0.433040619,"mpcc_theta_mech":0.553553998,"sam_rpm":-18.1446609,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284813493,"thr_a_norm":0.0135007948,"thr_a_v":0.613925397,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492016494,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.675739,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.16857147,"cg_iw_a":0.854045391,"cg_theta_rad":0.557642341,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00962686539,"mpcc_du":50.695015,"mpcc_dv":47.9282341,"mpcc_dw":52.0717659,"mpcc_enc_sign":1,"mpcc_id_a":1.62560093,"mpcc_iq_a":-1.03136039,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.05518866,"mpcc_pred_id_a":0.391880423,"mpcc_pred_iq_a":1.10715556,"mpcc_state":1,"mpcc_theta_e":0.436688423,"mpcc_theta_mech":0.554283559,"sam_rpm":-11.0643015,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284813493,"thr_a_norm":0.0284813493,"thr_a_v":0.613925397,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492016494,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.685932,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.298719406,"cg_iw_a":0.709069729,"cg_theta_rad":0.558407962,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00850151386,"mpcc_du":51.1449623,"mpcc_dv":47.6915207,"mpcc_dw":52.3084793,"mpcc_enc_sign":1,"mpcc_id_a":0.74905467,"mpcc_iq_a":-1.18450201,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.035465762,"mpcc_pred_id_a":-0.285708904,"mpcc_pred_iq_a":-5.30243349,"mpcc_state":1,"mpcc_theta_e":0.442854404,"mpcc_theta_mech":0.555516779,"sam_rpm":-26.7087326,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0290855914,"thr_a_norm":0.0290855914,"thr_a_v":0.616342366,"thr_b":0.00068551302,"thr_b_norm":0.00068551302,"thr_b_v":0.502742052,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.695759,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":0.0637187958,"cg_iw_a":-3.20526409,"cg_theta_rad":0.557721913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00259344024,"mpcc_du":50.1675148,"mpcc_dv":48.7642555,"mpcc_dw":51.2357445,"mpcc_enc_sign":1,"mpcc_id_a":1.00990844,"mpcc_iq_a":0.234250098,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.6071253,"mpcc_pred_id_a":-0.117407352,"mpcc_pred_iq_a":-0.555419028,"mpcc_state":1,"mpcc_theta_e":0.427440643,"mpcc_theta_mech":0.552434087,"sam_rpm":-17.7682476,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0290855914,"thr_a_norm":0.0290855914,"thr_a_v":0.616342366,"thr_b":0.00068551302,"thr_b_norm":0.00068551302,"thr_b_v":0.502742052,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.706165,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.53100967,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556338847,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0366943777,"mpcc_du":50.2954559,"mpcc_dv":48.85466,"mpcc_dw":51.14534,"mpcc_enc_sign":1,"mpcc_id_a":0.0146064432,"mpcc_iq_a":-1.02527165,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.78000975,"mpcc_pred_id_a":-0.525910974,"mpcc_pred_iq_a":-2.33491755,"mpcc_state":1,"mpcc_theta_e":0.450426579,"mpcc_theta_mech":0.557031214,"sam_rpm":6.8263936,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277386159,"thr_a_norm":0.0277386159,"thr_a_v":0.610954463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48829025,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.716145,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.31354666,"cg_iw_a":-1.82799864,"cg_theta_rad":0.55595237,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.058167614,"mpcc_du":48.8321838,"mpcc_dv":51.1678162,"mpcc_dw":49.2368469,"mpcc_enc_sign":1,"mpcc_id_a":-1.01245821,"mpcc_iq_a":-3.36091137,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.8427038,"mpcc_pred_id_a":-0.747040868,"mpcc_pred_iq_a":-2.8047905,"mpcc_state":1,"mpcc_theta_e":0.444744587,"mpcc_theta_mech":0.555894852,"sam_rpm":18.5960598,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0158423036,"thr_a_norm":0.0277386159,"thr_a_v":0.563369215,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473083079,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.739185,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.806133032,"cg_iw_a":0.564094782,"cg_theta_rad":0.555155993,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0118716201,"mpcc_du":50.3096046,"mpcc_dv":49.0841217,"mpcc_dw":50.9158783,"mpcc_enc_sign":1,"mpcc_id_a":-1.45926118,"mpcc_iq_a":-1.94291079,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.20726275,"mpcc_pred_id_a":-1.0693903,"mpcc_pred_iq_a":-3.05649137,"mpcc_state":1,"mpcc_theta_e":0.444145679,"mpcc_theta_mech":0.555775046,"sam_rpm":-1.40687287,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0158423036,"thr_a_norm":0.0158423036,"thr_a_v":0.563369215,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473083079,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.745747,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.371207237,"cg_iw_a":-0.233269691,"cg_theta_rad":0.553594768,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00963478908,"mpcc_du":50.7833023,"mpcc_dv":48.157692,"mpcc_dw":51.842308,"mpcc_enc_sign":1,"mpcc_id_a":0.672773659,"mpcc_iq_a":-1.18723083,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.76943874,"mpcc_pred_id_a":-0.254796952,"mpcc_pred_iq_a":-0.567059159,"mpcc_state":1,"mpcc_theta_e":0.436843872,"mpcc_theta_mech":0.554314733,"sam_rpm":-12.4817047,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0981723666,"thr_a_norm":0.0981723666,"thr_a_v":0.892689466,"thr_b":0.0377088487,"thr_b_norm":0.0377088487,"thr_b_v":0.650835395,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.752247,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.806133032,"cg_iw_a":-0.668195963,"cg_theta_rad":0.556632221,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00590154389,"mpcc_du":50.3133659,"mpcc_dv":48.6281929,"mpcc_dw":51.3718071,"mpcc_enc_sign":1,"mpcc_id_a":1.00797355,"mpcc_iq_a":-1.15678334,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.91692257,"mpcc_pred_id_a":-0.104382902,"mpcc_pred_iq_a":-2.01673794,"mpcc_state":1,"mpcc_theta_e":0.435416222,"mpcc_theta_mech":0.555121064,"sam_rpm":-13.3661032,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0981723666,"thr_a_norm":0.0981723666,"thr_a_v":0.892689466,"thr_b":0.0377088487,"thr_b_norm":0.0377088487,"thr_b_v":0.650835395,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.758747,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-3.41568899,"cg_iw_a":0.78155756,"cg_theta_rad":0.557065904,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0110721309,"mpcc_du":49.2752419,"mpcc_dv":49.9746361,"mpcc_dw":50.5261612,"mpcc_enc_sign":1,"mpcc_id_a":0.673985839,"mpcc_iq_a":-0.829983771,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.39811754,"mpcc_pred_id_a":-0.403800398,"mpcc_pred_iq_a":-6.91202974,"mpcc_state":1,"mpcc_theta_e":0.4478302,"mpcc_theta_mech":0.552140176,"sam_rpm":6.18940449,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215197951,"thr_a_norm":0.0215197951,"thr_a_v":0.58607918,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472529203,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.766956,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.371207237,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556592286,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00963428896,"mpcc_du":50.2108727,"mpcc_dv":48.908226,"mpcc_dw":51.091774,"mpcc_enc_sign":1,"mpcc_id_a":0.880649686,"mpcc_iq_a":-0.737709165,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.01178598,"mpcc_pred_id_a":-0.489425331,"mpcc_pred_iq_a":-0.911812603,"mpcc_state":1,"mpcc_theta_e":0.44310236,"mpcc_theta_mech":0.55556643,"sam_rpm":1.91934276,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0331895053,"thr_a_norm":0.0215197951,"thr_a_v":0.632758021,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486225694,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.776966,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.54583716,"cg_iw_a":2.73872471,"cg_theta_rad":0.556851089,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.022132976,"mpcc_du":50.1003723,"mpcc_dv":48.8606682,"mpcc_dw":51.1393318,"mpcc_enc_sign":1,"mpcc_id_a":1.04411387,"mpcc_iq_a":-0.729137421,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.864740372,"mpcc_pred_id_a":-0.055175148,"mpcc_pred_iq_a":-2.12607384,"mpcc_state":1,"mpcc_theta_e":0.447777271,"mpcc_theta_mech":0.556501389,"sam_rpm":1.38172626,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0331895053,"thr_a_norm":0.0331895053,"thr_a_v":0.632758021,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486225694,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.787159,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.951108456,"cg_iw_a":-1.17560911,"cg_theta_rad":0.554151475,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0109938318,"mpcc_du":49.5899773,"mpcc_dv":50.2759895,"mpcc_dw":50.4100227,"mpcc_enc_sign":1,"mpcc_id_a":1.27146697,"mpcc_iq_a":-0.424208224,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.140274,"mpcc_pred_id_a":-0.187134087,"mpcc_pred_iq_a":-2.31592846,"mpcc_state":1,"mpcc_theta_e":0.450300217,"mpcc_theta_mech":0.557005942,"sam_rpm":18.6491699,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021343559,"thr_a_norm":0.021343559,"thr_a_v":0.585374236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466285199,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.796772,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.298719406,"cg_iw_a":-1.68302298,"cg_theta_rad":0.552786291,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0474233553,"mpcc_du":50.0284767,"mpcc_dv":49.0676498,"mpcc_dw":50.9323502,"mpcc_enc_sign":1,"mpcc_id_a":0.691628098,"mpcc_iq_a":0.0433094352,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.29074049,"mpcc_pred_id_a":-0.22635524,"mpcc_pred_iq_a":-2.31863451,"mpcc_state":1,"mpcc_theta_e":0.448407173,"mpcc_theta_mech":0.556627393,"sam_rpm":9.41688156,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021343559,"thr_a_norm":0.021343559,"thr_a_v":0.585374236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466285199,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.809162,"values":{"cg_iu_a":2.34418058,"cg_iv_a":0.0637187958,"cg_iw_a":0.636582136,"cg_theta_rad":0.556871653,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0293920171,"mpcc_du":49.9693985,"mpcc_dv":48.8810272,"mpcc_dw":51.1189728,"mpcc_enc_sign":1,"mpcc_id_a":3.02613139,"mpcc_iq_a":-0.278062224,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.04587531,"mpcc_pred_id_a":0.464294642,"mpcc_pred_iq_a":-1.26347244,"mpcc_state":1,"mpcc_theta_e":0.444541454,"mpcc_theta_mech":0.555854201,"sam_rpm":-2.51463366,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193545371,"thr_a_norm":0.0193545371,"thr_a_v":0.577418149,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465479493,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.819752,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.806133032,"cg_iw_a":-2.26292467,"cg_theta_rad":0.554566324,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0153714893,"mpcc_du":49.8867264,"mpcc_dv":49.1136169,"mpcc_dw":50.8863831,"mpcc_enc_sign":1,"mpcc_id_a":1.03796208,"mpcc_iq_a":-0.0500735976,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.3518896,"mpcc_pred_id_a":-0.0232470278,"mpcc_pred_iq_a":0.0676643699,"mpcc_state":1,"mpcc_theta_e":0.423309326,"mpcc_theta_mech":0.551607788,"sam_rpm":-16.9985218,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454955339,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.843739,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-1.6759851,"cg_iw_a":-1.97297359,"cg_theta_rad":0.556516349,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0062597068,"mpcc_du":51.1687546,"mpcc_dv":47.6711082,"mpcc_dw":52.3288918,"mpcc_enc_sign":1,"mpcc_id_a":0.185175836,"mpcc_iq_a":0.518116474,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.6267776,"mpcc_pred_id_a":-0.305571496,"mpcc_pred_iq_a":2.1324091,"mpcc_state":1,"mpcc_theta_e":0.430443287,"mpcc_theta_mech":0.553034544,"sam_rpm":-20.5060997,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454955339,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.8503,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.38603449,"cg_iw_a":0.709069967,"cg_theta_rad":0.554814875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00416113809,"mpcc_du":50.6502342,"mpcc_dv":48.2373199,"mpcc_dw":51.7626801,"mpcc_enc_sign":1,"mpcc_id_a":0.710617185,"mpcc_iq_a":-0.596701562,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.8314342,"mpcc_pred_id_a":-0.128226042,"mpcc_pred_iq_a":-1.6689955,"mpcc_state":1,"mpcc_theta_e":0.428998947,"mpcc_theta_mech":0.5527457,"sam_rpm":-25.3677654,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023936823,"thr_a_norm":0.023936823,"thr_a_v":0.595747292,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478521377,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.8568,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.82096052,"cg_iw_a":0.709070206,"cg_theta_rad":0.556064546,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0135495188,"mpcc_du":50.4153099,"mpcc_dv":48.4381332,"mpcc_dw":51.5618668,"mpcc_enc_sign":1,"mpcc_id_a":0.113605216,"mpcc_iq_a":-0.654576063,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.52151585,"mpcc_pred_id_a":0.201268077,"mpcc_pred_iq_a":0.653238654,"mpcc_state":1,"mpcc_theta_e":0.450000763,"mpcc_theta_mech":0.556946099,"sam_rpm":-6.85780382,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023936823,"thr_a_norm":0.023936823,"thr_a_v":0.595747292,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478521377,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.863331,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-2.18339872,"cg_iw_a":1.28897142,"cg_theta_rad":0.556038082,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0492435172,"mpcc_du":49.7389679,"mpcc_dv":49.0314598,"mpcc_dw":50.9685402,"mpcc_enc_sign":1,"mpcc_id_a":4.29584455,"mpcc_iq_a":0.610203207,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.02999306,"mpcc_pred_id_a":0.745077014,"mpcc_pred_iq_a":-1.83461714,"mpcc_state":1,"mpcc_theta_e":0.430613995,"mpcc_theta_mech":0.553068697,"sam_rpm":-12.4760618,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283680409,"thr_a_norm":0.0283680409,"thr_a_v":0.613472164,"thr_b":0.00310254097,"thr_b_norm":0.00310254097,"thr_b_v":0.512410164,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.874897,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.733645439,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556549549,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0193874277,"mpcc_du":49.5060921,"mpcc_dv":49.7418785,"mpcc_dw":50.4939079,"mpcc_enc_sign":1,"mpcc_id_a":2.8300662,"mpcc_iq_a":-1.09151292,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.80528975,"mpcc_pred_id_a":0.372616351,"mpcc_pred_iq_a":-3.59561181,"mpcc_state":1,"mpcc_theta_e":0.444393158,"mpcc_theta_mech":0.555824518,"sam_rpm":8.92704964,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170004517,"thr_a_norm":0.0283680409,"thr_a_v":0.568001807,"thr_b":0,"thr_b_norm":0.00310254097,"thr_b_v":0.43078509,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.884785,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.02359605,"cg_iw_a":-0.23326993,"cg_theta_rad":0.552880526,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0314067528,"mpcc_du":50.1179314,"mpcc_dv":48.8956451,"mpcc_dw":51.1043549,"mpcc_enc_sign":1,"mpcc_id_a":2.7203896,"mpcc_iq_a":-0.567924201,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.5568132,"mpcc_pred_id_a":0.425358415,"mpcc_pred_iq_a":-3.29985809,"mpcc_state":1,"mpcc_theta_e":0.435738564,"mpcc_theta_mech":0.554093659,"sam_rpm":-19.1257439,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170004517,"thr_a_norm":0.0170004517,"thr_a_v":0.568001807,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43078509,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.894978,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.31354666,"cg_iw_a":-1.17560959,"cg_theta_rad":0.555506289,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0340179205,"mpcc_du":49.6948929,"mpcc_dv":49.2779007,"mpcc_dw":50.7220993,"mpcc_enc_sign":1,"mpcc_id_a":2.46761179,"mpcc_iq_a":-1.45806074,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.76284814,"mpcc_pred_id_a":0.141373336,"mpcc_pred_iq_a":-0.292651147,"mpcc_state":1,"mpcc_theta_e":0.432721615,"mpcc_theta_mech":0.553490281,"sam_rpm":-7.62738657,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218345076,"thr_a_norm":0.0218345076,"thr_a_v":0.58733803,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463918507,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.904957,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.09608364,"cg_iw_a":-2.04546118,"cg_theta_rad":0.55742383,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.050730668,"mpcc_du":50.1201744,"mpcc_dv":48.9863739,"mpcc_dw":51.0136261,"mpcc_enc_sign":1,"mpcc_id_a":0.761114597,"mpcc_iq_a":-0.313684583,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.1501894,"mpcc_pred_id_a":-0.349493325,"mpcc_pred_iq_a":-4.34051514,"mpcc_state":1,"mpcc_theta_e":0.446729183,"mpcc_theta_mech":0.556291759,"sam_rpm":-2.05813861,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218345076,"thr_a_norm":0.0218345076,"thr_a_v":0.58733803,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463918507,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.91515,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.38603449,"cg_iw_a":-0.378244877,"cg_theta_rad":0.55647409,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00890243798,"mpcc_du":48.9763451,"mpcc_dv":51.0236549,"mpcc_dw":49.6735611,"mpcc_enc_sign":1,"mpcc_id_a":0.991601706,"mpcc_iq_a":0.504550993,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.16769886,"mpcc_pred_id_a":-0.0676260665,"mpcc_pred_iq_a":-5.60611391,"mpcc_state":1,"mpcc_theta_e":0.445994854,"mpcc_theta_mech":0.556144893,"sam_rpm":11.2602062,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196440816,"thr_a_norm":0.0196440816,"thr_a_v":0.578576326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465177357,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.925129,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.38603449,"cg_iw_a":0.491607189,"cg_theta_rad":0.555359185,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0319211334,"mpcc_du":48.4864731,"mpcc_dv":51.5135269,"mpcc_dw":49.2789345,"mpcc_enc_sign":1,"mpcc_id_a":2.92730045,"mpcc_iq_a":-0.843077779,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":23.2680531,"mpcc_pred_id_a":0.363028139,"mpcc_pred_iq_a":-5.88888741,"mpcc_state":1,"mpcc_theta_e":0.461333275,"mpcc_theta_mech":0.559212565,"sam_rpm":34.527317,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273735374,"thr_a_norm":0.0196440816,"thr_a_v":0.60949415,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484110773,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.94817,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.16857147,"cg_iw_a":0.491607189,"cg_theta_rad":0.555592954,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.004625306,"mpcc_du":50.4005127,"mpcc_dv":48.6055756,"mpcc_dw":51.3944244,"mpcc_enc_sign":1,"mpcc_id_a":1.07011092,"mpcc_iq_a":-1.52225578,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.112958997,"mpcc_pred_id_a":-0.256903857,"mpcc_pred_iq_a":-0.0509103946,"mpcc_state":1,"mpcc_theta_e":0.44297123,"mpcc_theta_mech":0.555540144,"sam_rpm":-0.521278679,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273735374,"thr_a_norm":0.0273735374,"thr_a_v":0.60949415,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484110773,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.954731,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.24105906,"cg_iw_a":0.491606951,"cg_theta_rad":0.553165913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0315174274,"mpcc_du":49.6940498,"mpcc_dv":49.3333855,"mpcc_dw":50.6666145,"mpcc_enc_sign":1,"mpcc_id_a":2.63976192,"mpcc_iq_a":-0.757055521,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.62866831,"mpcc_pred_id_a":0.0498072468,"mpcc_pred_iq_a":-1.80640149,"mpcc_state":1,"mpcc_theta_e":0.449225903,"mpcc_theta_mech":0.556791127,"sam_rpm":6.70525217,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280533284,"thr_a_norm":0.0280533284,"thr_a_v":0.612213314,"thr_b":0.00390821695,"thr_b_norm":0.00390821695,"thr_b_v":0.515632868,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.961231,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-3.56066442,"cg_iw_a":2.8112123,"cg_theta_rad":0.557741523,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0243309345,"mpcc_du":50.1113853,"mpcc_dv":48.7292862,"mpcc_dw":51.2707138,"mpcc_enc_sign":1,"mpcc_id_a":3.05626822,"mpcc_iq_a":-0.526705921,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.779851,"mpcc_pred_id_a":0.260670334,"mpcc_pred_iq_a":-1.83556163,"mpcc_state":1,"mpcc_theta_e":0.431306839,"mpcc_theta_mech":0.553207278,"sam_rpm":-16.4292183,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280533284,"thr_a_norm":0.0280533284,"thr_a_v":0.612213314,"thr_b":0.00390821695,"thr_b_norm":0.00390821695,"thr_b_v":0.515632868,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.968525,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-3.41568899,"cg_iw_a":1.21648359,"cg_theta_rad":0.55474174,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.019309897,"mpcc_du":49.658535,"mpcc_dv":49.3530502,"mpcc_dw":50.6469498,"mpcc_enc_sign":1,"mpcc_id_a":2.70675349,"mpcc_iq_a":-1.11943865,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.0987129,"mpcc_pred_id_a":0.262840152,"mpcc_pred_iq_a":-3.07403851,"mpcc_state":1,"mpcc_theta_e":0.450724125,"mpcc_theta_mech":0.5570907,"sam_rpm":13.8301344,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220862925,"thr_a_norm":0.0220862925,"thr_a_v":0.58834517,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476910055,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.978748,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-0.951108456,"cg_iw_a":0.78155756,"cg_theta_rad":0.555359483,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0187350288,"mpcc_du":50.4696922,"mpcc_dv":48.0964279,"mpcc_dw":51.9035721,"mpcc_enc_sign":1,"mpcc_id_a":2.64289141,"mpcc_iq_a":-0.549402177,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.1996002,"mpcc_pred_id_a":0.570991993,"mpcc_pred_iq_a":-0.563708723,"mpcc_state":1,"mpcc_theta_e":0.425296783,"mpcc_theta_mech":0.552005291,"sam_rpm":-24.2151318,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261272639,"thr_a_norm":0.0220862925,"thr_a_v":0.604509056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49584344,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.988789,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.60349751,"cg_iw_a":0.419119358,"cg_theta_rad":0.556891084,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0293100271,"mpcc_du":50.1346169,"mpcc_dv":48.7833748,"mpcc_dw":51.2166252,"mpcc_enc_sign":1,"mpcc_id_a":0.629608989,"mpcc_iq_a":-0.758522809,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.39281034,"mpcc_pred_id_a":0.065350458,"mpcc_pred_iq_a":-2.9031105,"mpcc_state":1,"mpcc_theta_e":0.444090366,"mpcc_theta_mech":0.55576396,"sam_rpm":-2.12035799,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261272639,"thr_a_norm":0.0261272639,"thr_a_v":0.604509056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49584344,"vdc_v":55.2955055}} +{"type":"telemetry","t":43.998768,"values":{"cg_iu_a":4.15637207,"cg_iv_a":-0.806133032,"cg_iw_a":-3.35023904,"cg_theta_rad":0.554048419,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0480587035,"mpcc_du":49.3915749,"mpcc_dv":50.1065865,"mpcc_dw":50.6084251,"mpcc_enc_sign":1,"mpcc_id_a":1.26562178,"mpcc_iq_a":-0.257164598,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.08983612,"mpcc_pred_id_a":0.211616084,"mpcc_pred_iq_a":-3.3830142,"mpcc_state":1,"mpcc_theta_e":0.432522774,"mpcc_theta_mech":0.554483593,"sam_rpm":1.36538219,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023861289,"thr_a_norm":0.023861289,"thr_a_v":0.595445156,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470011443,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.008747,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-1.31354666,"cg_iw_a":1.21648359,"cg_theta_rad":0.553571105,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0145111484,"mpcc_du":49.9341698,"mpcc_dv":48.7994995,"mpcc_dw":51.2005005,"mpcc_enc_sign":1,"mpcc_id_a":1.9081558,"mpcc_iq_a":-1.2877723,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.21847677,"mpcc_pred_id_a":0.56875813,"mpcc_pred_iq_a":-0.197662041,"mpcc_state":1,"mpcc_theta_e":0.431097507,"mpcc_theta_mech":0.553165436,"sam_rpm":-12.3506985,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023861289,"thr_a_norm":0.023861289,"thr_a_v":0.595445156,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470011443,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.01897,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.588670254,"cg_iw_a":0.274144173,"cg_theta_rad":0.553083479,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0376335122,"mpcc_du":50.5745125,"mpcc_dv":48.2857056,"mpcc_dw":51.7142944,"mpcc_enc_sign":1,"mpcc_id_a":0.159659192,"mpcc_iq_a":-1.23247027,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.1119324,"mpcc_pred_id_a":0.0244718436,"mpcc_pred_iq_a":-0.873799682,"mpcc_state":1,"mpcc_theta_e":0.44723177,"mpcc_theta_mech":0.556392252,"sam_rpm":3.69787741,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022929728,"thr_a_norm":0.022929728,"thr_a_v":0.591718912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487434179,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.029163,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.45852208,"cg_iw_a":-1.68302321,"cg_theta_rad":0.55745399,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0344747566,"mpcc_du":50.3137283,"mpcc_dv":48.5206146,"mpcc_dw":51.4793854,"mpcc_enc_sign":1,"mpcc_id_a":0.522308648,"mpcc_iq_a":-0.984961629,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.03994679,"mpcc_pred_id_a":-0.494654328,"mpcc_pred_iq_a":-4.08095026,"mpcc_state":1,"mpcc_theta_e":0.443498135,"mpcc_theta_mech":0.555645525,"sam_rpm":-3.93714094,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103018999,"thr_a_norm":0.022929728,"thr_a_v":0.912075996,"thr_b":0.0441794395,"thr_b_norm":0,"thr_b_v":0.676717758,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.05196,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.661157608,"cg_iw_a":0.419119358,"cg_theta_rad":0.55864954,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0360826179,"mpcc_du":49.6049538,"mpcc_dv":49.3435745,"mpcc_dw":50.6564255,"mpcc_enc_sign":1,"mpcc_id_a":2.91632581,"mpcc_iq_a":-0.515169322,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.47459078,"mpcc_pred_id_a":0.340551883,"mpcc_pred_iq_a":-2.96212077,"mpcc_state":1,"mpcc_theta_e":0.44810915,"mpcc_theta_mech":0.556567729,"sam_rpm":5.61458349,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103018999,"thr_a_norm":0.103018999,"thr_a_v":0.912075996,"thr_b":0.0441794395,"thr_b_norm":0.0441794395,"thr_b_v":0.676717758,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.058521,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.6759851,"cg_iw_a":-0.885658503,"cg_theta_rad":0.556711257,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.00254597561,"mpcc_du":50.4488525,"mpcc_dv":48.4128647,"mpcc_dw":51.5871353,"mpcc_enc_sign":1,"mpcc_id_a":0.538864493,"mpcc_iq_a":-1.636621,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.50936079,"mpcc_pred_id_a":-0.0494550578,"mpcc_pred_iq_a":-0.0851448104,"mpcc_state":1,"mpcc_theta_e":0.439790726,"mpcc_theta_mech":0.554904103,"sam_rpm":-4.84065199,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166102052,"thr_a_norm":0.0166102052,"thr_a_v":0.566440821,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466184497,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.065022,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.09608364,"cg_iw_a":-2.19043684,"cg_theta_rad":0.557533681,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0084588211,"mpcc_du":50.1290512,"mpcc_dv":48.8947105,"mpcc_dw":51.1052895,"mpcc_enc_sign":1,"mpcc_id_a":0.131069988,"mpcc_iq_a":-0.944285154,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.9688101,"mpcc_pred_id_a":-0.671620667,"mpcc_pred_iq_a":-4.04626036,"mpcc_state":1,"mpcc_theta_e":0.454084873,"mpcc_theta_mech":0.557762921,"sam_rpm":7.342731,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166102052,"thr_a_norm":0.0166102052,"thr_a_v":0.566440821,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466184497,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.071583,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-2.54583716,"cg_iw_a":-0.0158064365,"cg_theta_rad":0.557708621,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.00034499247,"mpcc_du":50.1764641,"mpcc_dv":48.7789192,"mpcc_dw":51.2210808,"mpcc_enc_sign":1,"mpcc_id_a":0.252240539,"mpcc_iq_a":-1.58714569,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.3018656,"mpcc_pred_id_a":-0.14207083,"mpcc_pred_iq_a":-1.97435045,"mpcc_state":1,"mpcc_theta_e":0.445211887,"mpcc_theta_mech":0.555988252,"sam_rpm":-15.3497152,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0230430365,"thr_a_norm":0.0230430365,"thr_a_v":0.592172146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.083942,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.31354666,"cg_iw_a":-1.61053562,"cg_theta_rad":0.555556834,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0358245485,"mpcc_du":49.8420906,"mpcc_dv":49.1571198,"mpcc_dw":50.8428802,"mpcc_enc_sign":1,"mpcc_id_a":1.39651823,"mpcc_iq_a":-0.997674227,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.94116592,"mpcc_pred_id_a":0.090459317,"mpcc_pred_iq_a":-2.70917583,"mpcc_state":1,"mpcc_theta_e":0.451196194,"mpcc_theta_mech":0.557185113,"sam_rpm":11.9097834,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212050676,"thr_a_norm":0.0230430365,"thr_a_v":0.584820271,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477363229,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.093739,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-2.47334933,"cg_iw_a":1.5064342,"cg_theta_rad":0.556380272,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0663578212,"mpcc_du":49.5294113,"mpcc_dv":49.4718323,"mpcc_dw":50.5281677,"mpcc_enc_sign":1,"mpcc_id_a":2.43871784,"mpcc_iq_a":-1.01029909,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.97481537,"mpcc_pred_id_a":0.242189646,"mpcc_pred_iq_a":-4.86685753,"mpcc_state":1,"mpcc_theta_e":0.457753658,"mpcc_theta_mech":0.558496654,"sam_rpm":14.4329109,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212050676,"thr_a_norm":0.0212050676,"thr_a_v":0.584820271,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477363229,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.104115,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.588670254,"cg_iw_a":-1.10312128,"cg_theta_rad":0.552890122,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0568482131,"mpcc_du":49.6156349,"mpcc_dv":49.3487473,"mpcc_dw":50.6512527,"mpcc_enc_sign":1,"mpcc_id_a":2.3443656,"mpcc_iq_a":-1.73912072,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.483058,"mpcc_pred_id_a":0.136862978,"mpcc_pred_iq_a":-1.38449109,"mpcc_state":1,"mpcc_theta_e":0.422923565,"mpcc_theta_mech":0.552656651,"sam_rpm":-20.9369221,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448711365,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.113941,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.33541203,"cg_theta_rad":0.552973688,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0134486584,"mpcc_du":50.5706215,"mpcc_dv":48.3456573,"mpcc_dw":51.6543427,"mpcc_enc_sign":1,"mpcc_id_a":0.266889721,"mpcc_iq_a":-0.858555436,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.76391983,"mpcc_pred_id_a":-0.320168108,"mpcc_pred_iq_a":-1.92148411,"mpcc_state":1,"mpcc_theta_e":0.435958862,"mpcc_theta_mech":0.554137647,"sam_rpm":-14.3043537,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448711365,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.124104,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.806133032,"cg_iw_a":0.346631765,"cg_theta_rad":0.557847142,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0324161686,"mpcc_du":50.0010414,"mpcc_dv":48.750164,"mpcc_dw":51.249836,"mpcc_enc_sign":1,"mpcc_id_a":2.22720671,"mpcc_iq_a":-0.77449584,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.853732586,"mpcc_pred_id_a":0.412613124,"mpcc_pred_iq_a":-1.60726082,"mpcc_state":1,"mpcc_theta_e":0.443087578,"mpcc_theta_mech":0.55556345,"sam_rpm":2.85806489,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0251830965,"thr_a_norm":0.0251830965,"thr_a_v":0.600732386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499317914,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.147541,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.89344811,"cg_iw_a":0.0566809177,"cg_theta_rad":0.558012247,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0275547728,"mpcc_du":49.7917519,"mpcc_dv":48.0273209,"mpcc_dw":51.9726791,"mpcc_enc_sign":1,"mpcc_id_a":1.40621078,"mpcc_iq_a":-1.14324844,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.38517237,"mpcc_pred_id_a":-0.0948303714,"mpcc_pred_iq_a":-3.15530396,"mpcc_state":1,"mpcc_theta_e":0.451891899,"mpcc_theta_mech":0.55732429,"sam_rpm":10.0189209,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275623649,"thr_a_norm":0.0251830965,"thr_a_v":0.61024946,"thr_b":0.000131607056,"thr_b_norm":0,"thr_b_v":0.500526428,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.154072,"values":{"cg_iu_a":2.1992054,"cg_iv_a":0.57113266,"cg_iw_a":-2.77033806,"cg_theta_rad":0.55273068,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0582923777,"mpcc_du":50.8043823,"mpcc_dv":47.6603966,"mpcc_dw":52.3396034,"mpcc_enc_sign":1,"mpcc_id_a":3.82534075,"mpcc_iq_a":0.743672371,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.5550282,"mpcc_pred_id_a":0.730992973,"mpcc_pred_iq_a":3.18838143,"mpcc_state":1,"mpcc_theta_e":0.441162586,"mpcc_theta_mech":0.555178404,"sam_rpm":-3.41276193,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275623649,"thr_a_norm":0.0275623649,"thr_a_v":0.61024946,"thr_b":0.000131607056,"thr_b_norm":0.000131607056,"thr_b_v":0.500526428,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.160572,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.45852208,"cg_iw_a":0.201656342,"cg_theta_rad":0.556609273,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.00613112422,"mpcc_du":49.5858307,"mpcc_dv":49.8485641,"mpcc_dw":50.4141693,"mpcc_enc_sign":1,"mpcc_id_a":0.822381139,"mpcc_iq_a":-0.0141523695,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.7396245,"mpcc_pred_id_a":-0.216861635,"mpcc_pred_iq_a":-3.3261869,"mpcc_state":1,"mpcc_theta_e":0.441853046,"mpcc_theta_mech":0.555316508,"sam_rpm":1.71085596,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0307473093,"thr_a_norm":0.0307473093,"thr_a_v":0.622989237,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468148291,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.167103,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-4.06807804,"cg_iw_a":2.73872471,"cg_theta_rad":0.554154158,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.000356597564,"mpcc_du":49.6941566,"mpcc_dv":49.1617622,"mpcc_dw":50.8382378,"mpcc_enc_sign":1,"mpcc_id_a":0.201806828,"mpcc_iq_a":-1.66506648,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.09849524,"mpcc_pred_id_a":-0.177871302,"mpcc_pred_iq_a":-2.50493193,"mpcc_state":1,"mpcc_theta_e":0.441848755,"mpcc_theta_mech":0.555315673,"sam_rpm":-0.483001024,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0307473093,"thr_a_norm":0.0307473093,"thr_a_v":0.622989237,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468148291,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.175159,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.24105906,"cg_iw_a":-0.958146572,"cg_theta_rad":0.555994153,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0266072415,"mpcc_du":49.0335617,"mpcc_dv":50.9664383,"mpcc_dw":49.6824837,"mpcc_enc_sign":1,"mpcc_id_a":0.524894476,"mpcc_iq_a":0.027165506,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.625967,"mpcc_pred_id_a":-0.338568121,"mpcc_pred_iq_a":-5.95030212,"mpcc_state":1,"mpcc_theta_e":0.455206871,"mpcc_theta_mech":0.557987332,"sam_rpm":22.1134148,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209784806,"thr_a_norm":0.0209784806,"thr_a_v":0.583913922,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466385901,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.185322,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":0.281181812,"cg_iw_a":-3.13277626,"cg_theta_rad":0.553248882,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0620466955,"mpcc_du":49.8604393,"mpcc_dv":49.2893372,"mpcc_dw":50.7106628,"mpcc_enc_sign":1,"mpcc_id_a":-0.160401344,"mpcc_iq_a":-0.382935703,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.4027424,"mpcc_pred_id_a":-0.283926755,"mpcc_pred_iq_a":-3.19006872,"mpcc_state":1,"mpcc_theta_e":0.455896854,"mpcc_theta_mech":0.558125317,"sam_rpm":17.4730186,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024188593,"thr_a_norm":0.0209784806,"thr_a_v":0.596754372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480283797,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.195148,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.45852208,"cg_iw_a":-0.958146334,"cg_theta_rad":0.558040619,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0307913851,"mpcc_du":49.496357,"mpcc_dv":49.9417,"mpcc_dw":50.503643,"mpcc_enc_sign":1,"mpcc_id_a":2.86221838,"mpcc_iq_a":-0.260516524,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.801774,"mpcc_pred_id_a":0.407675624,"mpcc_pred_iq_a":2.66413593,"mpcc_state":1,"mpcc_theta_e":0.433786869,"mpcc_theta_mech":0.553703308,"sam_rpm":-7.60189247,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024188593,"thr_a_norm":0.024188593,"thr_a_v":0.596754372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480283797,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.205524,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.74847269,"cg_iw_a":0.78155756,"cg_theta_rad":0.557746768,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0450083837,"mpcc_du":49.9292183,"mpcc_dv":48.9797745,"mpcc_dw":51.0202255,"mpcc_enc_sign":1,"mpcc_id_a":3.22334003,"mpcc_iq_a":-0.716732442,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.24142194,"mpcc_pred_id_a":0.244682908,"mpcc_pred_iq_a":-2.36669517,"mpcc_state":1,"mpcc_theta_e":0.450222492,"mpcc_theta_mech":0.556990445,"sam_rpm":3.65177488,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201602131,"thr_a_norm":0.0201602131,"thr_a_v":0.580640852,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457875937,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.215382,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-0.806133032,"cg_iw_a":-1.8279984,"cg_theta_rad":0.555227101,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0276985951,"mpcc_du":50.4073982,"mpcc_dv":48.448349,"mpcc_dw":51.551651,"mpcc_enc_sign":1,"mpcc_id_a":2.47000909,"mpcc_iq_a":-0.592677295,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.4885445,"mpcc_pred_id_a":0.0488700271,"mpcc_pred_iq_a":-2.26269436,"mpcc_state":1,"mpcc_theta_e":0.436151505,"mpcc_theta_mech":0.554176211,"sam_rpm":-15.439764,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201602131,"thr_a_norm":0.0201602131,"thr_a_v":0.580640852,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457875937,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.22533,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.0087685585,"cg_iw_a":-1.90048599,"cg_theta_rad":0.55341059,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.00809607189,"mpcc_du":49.2831688,"mpcc_dv":50.7168312,"mpcc_dw":50.0704079,"mpcc_enc_sign":1,"mpcc_id_a":0.723154306,"mpcc_iq_a":-1.04992735,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.5457935,"mpcc_pred_id_a":0.00790739618,"mpcc_pred_iq_a":-3.8577137,"mpcc_state":1,"mpcc_theta_e":0.456449986,"mpcc_theta_mech":0.558235884,"sam_rpm":24.3868389,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.248737,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.806133032,"cg_iw_a":-1.90048623,"cg_theta_rad":0.555532694,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.00639257161,"mpcc_du":50.4545212,"mpcc_dv":48.4102821,"mpcc_dw":51.5897179,"mpcc_enc_sign":1,"mpcc_id_a":1.37683976,"mpcc_iq_a":-1.21043098,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.46197176,"mpcc_pred_id_a":-0.163026243,"mpcc_pred_iq_a":0.387540638,"mpcc_state":1,"mpcc_theta_e":0.445981026,"mpcc_theta_mech":0.556142092,"sam_rpm":-4.99179888,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0158926547,"thr_a_norm":0.0224387646,"thr_a_v":0.563570619,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473586619,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.255238,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-2.90827537,"cg_iw_a":-1.32058477,"cg_theta_rad":0.552572727,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0202347841,"mpcc_du":50.5518036,"mpcc_dv":48.3122177,"mpcc_dw":51.6877823,"mpcc_enc_sign":1,"mpcc_id_a":1.09805143,"mpcc_iq_a":-0.94776988,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.92792034,"mpcc_pred_id_a":0.0422167592,"mpcc_pred_iq_a":-0.827531815,"mpcc_state":1,"mpcc_theta_e":0.452289581,"mpcc_theta_mech":0.557403862,"sam_rpm":15.1230192,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0158926547,"thr_a_norm":0.0158926547,"thr_a_v":0.563570619,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473586619,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.261799,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.89344811,"cg_iw_a":0.999020815,"cg_theta_rad":0.556066155,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.00906495471,"mpcc_du":49.8996468,"mpcc_dv":49.1588211,"mpcc_dw":50.8411789,"mpcc_enc_sign":1,"mpcc_id_a":1.87566471,"mpcc_iq_a":-2.69522476,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.32264137,"mpcc_pred_id_a":-0.0530183241,"mpcc_pred_iq_a":-1.78503633,"mpcc_state":1,"mpcc_theta_e":0.444027901,"mpcc_theta_mech":0.555751503,"sam_rpm":3.15635538,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211547166,"thr_a_norm":0.0211547166,"thr_a_v":0.584618866,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474895835,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.26833,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.16857147,"cg_iw_a":-0.015806675,"cg_theta_rad":0.554991841,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.00355800637,"mpcc_du":49.946701,"mpcc_dv":49.2687111,"mpcc_dw":50.7312889,"mpcc_enc_sign":1,"mpcc_id_a":-0.211130351,"mpcc_iq_a":-1.69976497,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.46313143,"mpcc_pred_id_a":-0.560153484,"mpcc_pred_iq_a":-4.32299519,"mpcc_state":1,"mpcc_theta_e":0.43939352,"mpcc_theta_mech":0.555615246,"sam_rpm":-7.65397358,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211547166,"thr_a_norm":0.0211547166,"thr_a_v":0.584618866,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474895835,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.277515,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.24105906,"cg_iw_a":-1.90048623,"cg_theta_rad":0.557373941,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0148313651,"mpcc_du":49.5816841,"mpcc_dv":50.3742981,"mpcc_dw":50.4183159,"mpcc_enc_sign":1,"mpcc_id_a":2.19279432,"mpcc_iq_a":-1.3554076,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.04015875,"mpcc_pred_id_a":-0.0241765771,"mpcc_pred_iq_a":-2.59374905,"mpcc_state":1,"mpcc_theta_e":0.441334248,"mpcc_theta_mech":0.555212796,"sam_rpm":6.41055202,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021746397,"thr_a_norm":0.021746397,"thr_a_v":0.586985588,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464422047,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.288746,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.33541203,"cg_theta_rad":0.554671645,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0419039689,"mpcc_du":50.2458382,"mpcc_dv":48.5275383,"mpcc_dw":51.4724617,"mpcc_enc_sign":1,"mpcc_id_a":2.63899302,"mpcc_iq_a":-1.42474747,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.87101364,"mpcc_pred_id_a":0.343081504,"mpcc_pred_iq_a":-3.66645789,"mpcc_state":1,"mpcc_theta_e":0.454522133,"mpcc_theta_mech":0.557850301,"sam_rpm":-1.57245052,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0315026194,"thr_a_norm":0.0315026194,"thr_a_v":0.626010478,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469457537,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.298695,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.153744221,"cg_iw_a":-1.75551081,"cg_theta_rad":0.557125568,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.083770901,"mpcc_du":50.4805794,"mpcc_dv":48.2689285,"mpcc_dw":51.7310715,"mpcc_enc_sign":1,"mpcc_id_a":2.97785091,"mpcc_iq_a":-0.220685855,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.957855761,"mpcc_pred_id_a":0.420424968,"mpcc_pred_iq_a":-1.63543868,"mpcc_state":1,"mpcc_theta_e":0.448429585,"mpcc_theta_mech":0.556631863,"sam_rpm":0.474756509,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0315026194,"thr_a_norm":0.0315026194,"thr_a_v":0.626010478,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469457537,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.308949,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.878620625,"cg_iw_a":-0.668195724,"cg_theta_rad":0.55409956,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0421568193,"mpcc_du":49.8902168,"mpcc_dv":49.1291008,"mpcc_dw":50.8708992,"mpcc_enc_sign":1,"mpcc_id_a":1.8485142,"mpcc_iq_a":0.280775845,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.14098811,"mpcc_pred_id_a":0.0734016895,"mpcc_pred_iq_a":-2.24239135,"mpcc_state":1,"mpcc_theta_e":0.445771694,"mpcc_theta_mech":0.556100249,"sam_rpm":6.1998024,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0279526263,"thr_a_norm":0.0279526263,"thr_a_v":0.611810505,"thr_b":0.00183106959,"thr_b_norm":0.00183106959,"thr_b_v":0.507324278,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.319294,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.661157608,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.554367602,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0426390767,"mpcc_du":50.2574158,"mpcc_dv":48.517746,"mpcc_dw":51.482254,"mpcc_enc_sign":1,"mpcc_id_a":1.73944092,"mpcc_iq_a":-2.89625573,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.7370358,"mpcc_pred_id_a":0.293059528,"mpcc_pred_iq_a":-0.336884856,"mpcc_state":1,"mpcc_theta_e":0.425115585,"mpcc_theta_mech":0.551969051,"sam_rpm":-25.2200966,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210288316,"thr_a_norm":0.0279526263,"thr_a_v":0.584115326,"thr_b":0,"thr_b_norm":0.00183106959,"thr_b_v":0.461602181,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.329334,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.16857147,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556273341,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0178752262,"mpcc_du":49.425518,"mpcc_dv":50.574482,"mpcc_dw":50.1807289,"mpcc_enc_sign":1,"mpcc_id_a":0.331867069,"mpcc_iq_a":-2.08996916,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.100452244,"mpcc_pred_id_a":-0.0740171745,"mpcc_pred_iq_a":-3.80635476,"mpcc_state":1,"mpcc_theta_e":0.43652916,"mpcc_theta_mech":0.55425173,"sam_rpm":-1.58949304,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210288316,"thr_a_norm":0.0210288316,"thr_a_v":0.584115326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461602181,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.352314,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.82096052,"cg_iw_a":1.28897142,"cg_theta_rad":0.556910574,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0147927757,"mpcc_du":51.0099716,"mpcc_dv":47.7558441,"mpcc_dw":52.2441559,"mpcc_enc_sign":1,"mpcc_id_a":1.99643862,"mpcc_iq_a":-0.922363222,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.76974678,"mpcc_pred_id_a":-0.0335616022,"mpcc_pred_iq_a":1.34241486,"mpcc_state":1,"mpcc_theta_e":0.434639454,"mpcc_theta_mech":0.553873837,"sam_rpm":-14.8239269,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291485339,"thr_a_norm":0.0291485339,"thr_a_v":0.616594136,"thr_b":0.00225909054,"thr_b_norm":0.00225909054,"thr_b_v":0.509036362,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.358906,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.74847269,"cg_iw_a":0.419119358,"cg_theta_rad":0.553509414,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0203869678,"mpcc_du":50.0190163,"mpcc_dv":48.9820595,"mpcc_dw":51.0179405,"mpcc_enc_sign":1,"mpcc_id_a":2.85486317,"mpcc_iq_a":-1.13941681,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.25490713,"mpcc_pred_id_a":-0.00795648433,"mpcc_pred_iq_a":-1.59319603,"mpcc_state":1,"mpcc_theta_e":0.435554028,"mpcc_theta_mech":0.554056764,"sam_rpm":-8.61224174,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291485339,"thr_a_norm":0.0291485339,"thr_a_v":0.616594136,"thr_b":0.00225909054,"thr_b_norm":0.00225909054,"thr_b_v":0.509036362,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.365376,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-2.25588632,"cg_iw_a":0.999020338,"cg_theta_rad":0.554238021,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.00661121169,"mpcc_du":49.9111977,"mpcc_dv":49.2696266,"mpcc_dw":50.7303734,"mpcc_enc_sign":1,"mpcc_id_a":0.572333813,"mpcc_iq_a":-1.20274746,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.1014566,"mpcc_pred_id_a":-0.360986114,"mpcc_pred_iq_a":-0.638244569,"mpcc_state":1,"mpcc_theta_e":0.451071262,"mpcc_theta_mech":0.557160199,"sam_rpm":15.1873512,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243270695,"thr_a_norm":0.0243270695,"thr_a_v":0.597308278,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485168248,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.371906,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.09608364,"cg_iw_a":0.564094543,"cg_theta_rad":0.552911043,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0272091106,"mpcc_du":50.9861641,"mpcc_dv":47.5119209,"mpcc_dw":52.4880791,"mpcc_enc_sign":1,"mpcc_id_a":2.88456678,"mpcc_iq_a":-0.0250810795,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.9124613,"mpcc_pred_id_a":0.478057414,"mpcc_pred_iq_a":1.79819596,"mpcc_state":1,"mpcc_theta_e":0.428553581,"mpcc_theta_mech":0.552656651,"sam_rpm":-21.9580078,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245285034,"thr_a_norm":0.0243270695,"thr_a_v":0.598114014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485923558,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.379719,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.53100967,"cg_iw_a":-1.53804779,"cg_theta_rad":0.55732429,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.00377937872,"mpcc_du":50.1826286,"mpcc_dv":48.853363,"mpcc_dw":51.146637,"mpcc_enc_sign":1,"mpcc_id_a":0.612418175,"mpcc_iq_a":-1.63334322,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.44108009,"mpcc_pred_id_a":-0.196153715,"mpcc_pred_iq_a":-0.749656439,"mpcc_state":1,"mpcc_theta_e":0.445830822,"mpcc_theta_mech":0.556112051,"sam_rpm":3.89932513,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245285034,"thr_a_norm":0.0245285034,"thr_a_v":0.598114014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485923558,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.389912,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.02359605,"cg_iw_a":0.41911912,"cg_theta_rad":0.556290865,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0294136703,"mpcc_du":50.1919212,"mpcc_dv":48.4778481,"mpcc_dw":51.5221519,"mpcc_enc_sign":1,"mpcc_id_a":2.89974904,"mpcc_iq_a":0.798174858,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.5220671,"mpcc_pred_id_a":0.613012135,"mpcc_pred_iq_a":-2.44824862,"mpcc_state":1,"mpcc_theta_e":0.446051121,"mpcc_theta_mech":0.556156158,"sam_rpm":-5.49181795,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0120279193,"thr_a_norm":0.0120279193,"thr_a_v":0.548111677,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.430583656,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.399952,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.733645439,"cg_iw_a":-0.305757284,"cg_theta_rad":0.557150126,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0128833074,"mpcc_du":50.2492714,"mpcc_dv":48.6919594,"mpcc_dw":51.3080406,"mpcc_enc_sign":1,"mpcc_id_a":1.75975871,"mpcc_iq_a":-0.567862213,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.8414192,"mpcc_pred_id_a":-0.0735655576,"mpcc_pred_iq_a":0.0157740675,"mpcc_state":1,"mpcc_theta_e":0.427763462,"mpcc_theta_mech":0.554002762,"sam_rpm":-19.6434097,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0120279193,"thr_a_norm":0.0120279193,"thr_a_v":0.548111677,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.430583656,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.409901,"values":{"cg_iu_a":2.27169323,"cg_iv_a":0.0637187958,"cg_iw_a":0.999020576,"cg_theta_rad":0.554851353,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0972141027,"mpcc_du":50.4243851,"mpcc_dv":48.3004646,"mpcc_dw":51.6995354,"mpcc_enc_sign":1,"mpcc_id_a":2.57759619,"mpcc_iq_a":0.625988364,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.692850173,"mpcc_pred_id_a":0.508397222,"mpcc_pred_iq_a":-1.4770999,"mpcc_state":1,"mpcc_theta_e":0.446714401,"mpcc_theta_mech":0.556288838,"sam_rpm":1.06280911,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023080796,"thr_a_norm":0.023080796,"thr_a_v":0.592323184,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492016494,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.420124,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.878620625,"cg_iw_a":0.12916851,"cg_theta_rad":0.555034637,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0265202001,"mpcc_du":50.7510223,"mpcc_dv":47.8411789,"mpcc_dw":52.1588211,"mpcc_enc_sign":1,"mpcc_id_a":2.56642842,"mpcc_iq_a":-0.728463411,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.0558434,"mpcc_pred_id_a":0.497604251,"mpcc_pred_iq_a":-0.254806608,"mpcc_state":1,"mpcc_theta_e":0.43563509,"mpcc_theta_mech":0.554072976,"sam_rpm":-18.228651,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282547474,"thr_a_norm":0.023080796,"thr_a_v":0.61301899,"thr_b":0.002221331,"thr_b_norm":0,"thr_b_v":0.508885324,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.430103,"values":{"cg_iu_a":3.93890953,"cg_iv_a":-1.53100967,"cg_iw_a":2.01384807,"cg_theta_rad":0.557319403,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0131821847,"mpcc_du":50.3706894,"mpcc_dv":48.4937897,"mpcc_dw":51.5062103,"mpcc_enc_sign":1,"mpcc_id_a":1.33290088,"mpcc_iq_a":-1.64586818,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.36272955,"mpcc_pred_id_a":0.0700898245,"mpcc_pred_iq_a":-2.07888842,"mpcc_state":1,"mpcc_theta_e":0.442470074,"mpcc_theta_mech":0.555439949,"sam_rpm":-7.74307156,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282547474,"thr_a_norm":0.0282547474,"thr_a_v":0.61301899,"thr_b":0.002221331,"thr_b_norm":0.002221331,"thr_b_v":0.508885324,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.453327,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.82096052,"cg_iw_a":0.419119358,"cg_theta_rad":0.556986034,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.00294546853,"mpcc_du":48.8119354,"mpcc_dv":51.1880646,"mpcc_dw":49.3362465,"mpcc_enc_sign":1,"mpcc_id_a":0.974758327,"mpcc_iq_a":-2.69978237,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.8697414,"mpcc_pred_id_a":-0.327861339,"mpcc_pred_iq_a":-7.09620047,"mpcc_state":1,"mpcc_theta_e":0.451096535,"mpcc_theta_mech":0.557165205,"sam_rpm":15.2007141,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228416175,"thr_a_norm":0.0228416175,"thr_a_v":0.59136647,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476003677,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.460194,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.443694592,"cg_iw_a":-0.378245354,"cg_theta_rad":0.552296817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.00710849743,"mpcc_du":50.7519531,"mpcc_dv":48.1435852,"mpcc_dw":51.8564148,"mpcc_enc_sign":1,"mpcc_id_a":1.04443717,"mpcc_iq_a":-2.55047917,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.99086428,"mpcc_pred_id_a":-0.245348662,"mpcc_pred_iq_a":-3.69921732,"mpcc_state":1,"mpcc_theta_e":0.452391148,"mpcc_theta_mech":0.557424128,"sam_rpm":-16.5483742,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228416175,"thr_a_norm":0.0228416175,"thr_a_v":0.59136647,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476003677,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.46645,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.45852208,"cg_iw_a":-1.8279984,"cg_theta_rad":0.556786597,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0249023754,"mpcc_du":49.5809898,"mpcc_dv":50.1035042,"mpcc_dw":50.4190102,"mpcc_enc_sign":1,"mpcc_id_a":2.52090263,"mpcc_iq_a":-0.835781455,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.37073183,"mpcc_pred_id_a":0.0137261832,"mpcc_pred_iq_a":-4.23572445,"mpcc_state":1,"mpcc_theta_e":0.448079109,"mpcc_theta_mech":0.556561768,"sam_rpm":8.81467247,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0321068913,"thr_a_norm":0.0321068913,"thr_a_v":0.628427565,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473737687,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.472889,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-0.443694592,"cg_iw_a":-1.32058454,"cg_theta_rad":0.556846559,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0163248163,"mpcc_du":50.3961334,"mpcc_dv":48.7615929,"mpcc_dw":51.2384071,"mpcc_enc_sign":1,"mpcc_id_a":-0.666193247,"mpcc_iq_a":-2.09128308,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.01976585,"mpcc_pred_id_a":-0.498603672,"mpcc_pred_iq_a":-1.29742706,"mpcc_state":1,"mpcc_theta_e":0.45219183,"mpcc_theta_mech":0.557384312,"sam_rpm":9.94250488,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019807741,"thr_a_norm":0.0321068913,"thr_a_v":0.579230964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490707248,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.480915,"values":{"cg_iu_a":3.06905746,"cg_iv_a":0.0637187958,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.556767285,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0222464614,"mpcc_du":50.2061424,"mpcc_dv":48.7142601,"mpcc_dw":51.2857399,"mpcc_enc_sign":1,"mpcc_id_a":2.51872945,"mpcc_iq_a":-0.658564627,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.61620617,"mpcc_pred_id_a":-0.00339589943,"mpcc_pred_iq_a":-2.58735394,"mpcc_state":1,"mpcc_theta_e":0.435091972,"mpcc_theta_mech":0.553964317,"sam_rpm":-14.3412151,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019807741,"thr_a_norm":0.019807741,"thr_a_v":0.579230964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490707248,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.491322,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-2.54583716,"cg_iw_a":1.86887288,"cg_theta_rad":0.554809451,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0440207236,"mpcc_du":49.8715591,"mpcc_dv":49.2213783,"mpcc_dw":50.7786217,"mpcc_enc_sign":1,"mpcc_id_a":0.667845011,"mpcc_iq_a":-0.834932923,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.65313053,"mpcc_pred_id_a":-0.110422306,"mpcc_pred_iq_a":-3.78799176,"mpcc_state":1,"mpcc_theta_e":0.455206871,"mpcc_theta_mech":0.556478143,"sam_rpm":10.4530725,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215575695,"thr_a_norm":0.0215575695,"thr_a_v":0.586230278,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480988771,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.50124,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.371207237,"cg_iw_a":-0.305757046,"cg_theta_rad":0.553804696,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.064162083,"mpcc_du":49.9383469,"mpcc_dv":48.9035988,"mpcc_dw":51.0964012,"mpcc_enc_sign":1,"mpcc_id_a":0.796736598,"mpcc_iq_a":-0.899842381,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.0730991,"mpcc_pred_id_a":0.580222428,"mpcc_pred_iq_a":-2.42970085,"mpcc_state":1,"mpcc_theta_e":0.456675529,"mpcc_theta_mech":0.558281004,"sam_rpm":17.4551868,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215575695,"thr_a_norm":0.0215575695,"thr_a_v":0.586230278,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480988771,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.511127,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.951108456,"cg_iw_a":-1.24809694,"cg_theta_rad":0.55511719,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.00498409569,"mpcc_du":50.1595116,"mpcc_dv":48.8077469,"mpcc_dw":51.1922531,"mpcc_enc_sign":1,"mpcc_id_a":1.35605741,"mpcc_iq_a":-1.26977813,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.40798664,"mpcc_pred_id_a":-0.0998911113,"mpcc_pred_iq_a":-2.37995958,"mpcc_state":1,"mpcc_theta_e":0.433990955,"mpcc_theta_mech":0.553744078,"sam_rpm":-21.0719261,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292870253,"thr_a_norm":0.0292870253,"thr_a_v":0.617148101,"thr_b":0.000584796071,"thr_b_norm":0.000584796071,"thr_b_v":0.502339184,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.521534,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.53100967,"cg_iw_a":1.57892179,"cg_theta_rad":0.553964317,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0469182841,"mpcc_du":49.9218369,"mpcc_dv":48.7769699,"mpcc_dw":51.2230301,"mpcc_enc_sign":1,"mpcc_id_a":3.32277822,"mpcc_iq_a":-1.50799918,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.707715,"mpcc_pred_id_a":0.732819855,"mpcc_pred_iq_a":-0.0367023982,"mpcc_state":1,"mpcc_theta_e":0.427153587,"mpcc_theta_mech":0.552376628,"sam_rpm":-18.3000965,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278393179,"thr_a_norm":0.0292870253,"thr_a_v":0.611357272,"thr_b":0,"thr_b_norm":0.000584796071,"thr_b_v":0.49508813,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.531513,"values":{"cg_iu_a":2.34418058,"cg_iv_a":0.136206627,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556390345,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0200238023,"mpcc_du":50.5898628,"mpcc_dv":48.3038826,"mpcc_dw":51.6961174,"mpcc_enc_sign":1,"mpcc_id_a":2.37736273,"mpcc_iq_a":-0.63570416,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.02009106,"mpcc_pred_id_a":0.0293807629,"mpcc_pred_iq_a":0.861356974,"mpcc_state":1,"mpcc_theta_e":0.451145649,"mpcc_theta_mech":0.55717504,"sam_rpm":0.954363942,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278393179,"thr_a_norm":0.0278393179,"thr_a_v":0.611357272,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49508813,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.554737,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.31354666,"cg_iw_a":0.419119358,"cg_theta_rad":0.553388596,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0228827074,"mpcc_du":50.9217148,"mpcc_dv":47.8700027,"mpcc_dw":52.1299973,"mpcc_enc_sign":1,"mpcc_id_a":1.96350896,"mpcc_iq_a":0.38663277,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.118804,"mpcc_pred_id_a":-0.0844805017,"mpcc_pred_iq_a":1.20579505,"mpcc_state":1,"mpcc_theta_e":0.43365097,"mpcc_theta_mech":0.553676128,"sam_rpm":-14.7847328,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260643214,"thr_a_norm":0.0260643214,"thr_a_v":0.604257286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486326396,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.561268,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.16857147,"cg_iw_a":-0.305757523,"cg_theta_rad":0.557349563,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0303390324,"mpcc_du":49.3589401,"mpcc_dv":50.6410599,"mpcc_dw":50.1139297,"mpcc_enc_sign":1,"mpcc_id_a":2.15727448,"mpcc_iq_a":0.0919522494,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.354779482,"mpcc_pred_id_a":-0.0254259501,"mpcc_pred_iq_a":-7.14481688,"mpcc_state":1,"mpcc_theta_e":0.443359375,"mpcc_theta_mech":0.555617809,"sam_rpm":0.570131898,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260643214,"thr_a_norm":0.0260643214,"thr_a_v":0.604257286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486326396,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.567799,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.38603449,"cg_iw_a":-1.24809694,"cg_theta_rad":0.556950927,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.018181866,"mpcc_du":49.5911217,"mpcc_dv":50.4088783,"mpcc_dw":50.4084587,"mpcc_enc_sign":1,"mpcc_id_a":1.70574641,"mpcc_iq_a":1.00200939,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.91498852,"mpcc_pred_id_a":-0.035092406,"mpcc_pred_iq_a":-3.51170063,"mpcc_state":1,"mpcc_theta_e":0.442808628,"mpcc_theta_mech":0.55550766,"sam_rpm":6.71071672,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256488919,"thr_a_norm":0.0256488919,"thr_a_v":0.602595568,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499519348,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.574299,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.82096052,"cg_iw_a":-0.740683079,"cg_theta_rad":0.552240252,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.00297363894,"mpcc_du":49.902935,"mpcc_dv":49.3221245,"mpcc_dw":50.6778755,"mpcc_enc_sign":1,"mpcc_id_a":0.235628903,"mpcc_iq_a":-2.60780525,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.81071723,"mpcc_pred_id_a":-0.523135602,"mpcc_pred_iq_a":-1.70122087,"mpcc_state":1,"mpcc_theta_e":0.442392349,"mpcc_theta_mech":0.555424392,"sam_rpm":2.38945317,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0290352404,"thr_a_norm":0.0256488919,"thr_a_v":0.616140962,"thr_b":0.00310254097,"thr_b_norm":0,"thr_b_v":0.512410164,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.584309,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.16857147,"cg_iw_a":-1.75551081,"cg_theta_rad":0.552922547,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.00555234402,"mpcc_du":49.3979759,"mpcc_dv":50.6020241,"mpcc_dw":50.0644531,"mpcc_enc_sign":1,"mpcc_id_a":1.150841,"mpcc_iq_a":-0.850988865,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.2906332,"mpcc_pred_id_a":-0.0735511482,"mpcc_pred_iq_a":0.277846277,"mpcc_state":1,"mpcc_theta_e":0.433479309,"mpcc_theta_mech":0.553641796,"sam_rpm":-17.4025173,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0290352404,"thr_a_norm":0.0290352404,"thr_a_v":0.616140962,"thr_b":0.00310254097,"thr_b_norm":0.00310254097,"thr_b_v":0.512410164,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.594532,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-2.11091113,"cg_iw_a":0.491607189,"cg_theta_rad":0.55551523,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0670006201,"mpcc_du":50.2400475,"mpcc_dv":48.5736008,"mpcc_dw":51.4263992,"mpcc_enc_sign":1,"mpcc_id_a":2.77805805,"mpcc_iq_a":0.203199625,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.12898147,"mpcc_pred_id_a":0.389776111,"mpcc_pred_iq_a":-2.22112608,"mpcc_state":1,"mpcc_theta_e":0.447436333,"mpcc_theta_mech":0.556433201,"sam_rpm":-1.31960738,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0268951803,"thr_a_norm":0.0268951803,"thr_a_v":0.607580721,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494685292,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.604725,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-2.47334933,"cg_iw_a":1.21648335,"cg_theta_rad":0.556437254,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.00457940111,"mpcc_du":50.5547066,"mpcc_dv":48.6329308,"mpcc_dw":51.3670692,"mpcc_enc_sign":1,"mpcc_id_a":-1.02120304,"mpcc_iq_a":-2.56767154,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.42045403,"mpcc_pred_id_a":-0.875580192,"mpcc_pred_iq_a":-3.13387847,"mpcc_state":1,"mpcc_theta_e":0.439932346,"mpcc_theta_mech":0.554932415,"sam_rpm":-12.5057392,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233199745,"thr_a_norm":0.0268951803,"thr_a_v":0.593279898,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464875251,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.614735,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.16857147,"cg_iw_a":0.564094543,"cg_theta_rad":0.554536164,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0269617904,"mpcc_du":49.8670387,"mpcc_dv":49.5191193,"mpcc_dw":50.4808807,"mpcc_enc_sign":1,"mpcc_id_a":0.102525882,"mpcc_iq_a":-0.510077715,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.46053028,"mpcc_pred_id_a":-0.922092438,"mpcc_pred_iq_a":-3.87054658,"mpcc_state":1,"mpcc_theta_e":0.450821877,"mpcc_theta_mech":0.55711025,"sam_rpm":8.45569992,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233199745,"thr_a_norm":0.0233199745,"thr_a_v":0.593279898,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464875251,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.624714,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.38603449,"cg_iw_a":0.491607189,"cg_theta_rad":0.550463557,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0191976726,"mpcc_du":49.5839767,"mpcc_dv":49.5135422,"mpcc_dw":50.4864578,"mpcc_enc_sign":1,"mpcc_id_a":0.738823831,"mpcc_iq_a":-0.0253009573,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.7425909,"mpcc_pred_id_a":-0.00124020735,"mpcc_pred_iq_a":-1.99299693,"mpcc_state":1,"mpcc_theta_e":0.444280148,"mpcc_theta_mech":0.555801928,"sam_rpm":13.9195642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228416175,"thr_a_norm":0.0228416175,"thr_a_v":0.59136647,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473032743,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.634602,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.74847269,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556071341,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0133669153,"mpcc_du":50.0401993,"mpcc_dv":49.0030174,"mpcc_dw":51.2556953,"mpcc_enc_sign":1,"mpcc_id_a":0.515307605,"mpcc_iq_a":-1.49613702,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.493391812,"mpcc_pred_id_a":-0.185269758,"mpcc_pred_iq_a":-3.15209866,"mpcc_state":1,"mpcc_theta_e":0.447434425,"mpcc_theta_mech":0.556631863,"sam_rpm":0.739444852,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228416175,"thr_a_norm":0.0228416175,"thr_a_v":0.59136647,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473032743,"vdc_v":54.6292953}} +{"type":"telemetry","t":44.657978,"values":{"cg_iu_a":3.79393435,"cg_iv_a":-1.45852208,"cg_iw_a":-2.33541226,"cg_theta_rad":0.556351602,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.00611130102,"mpcc_du":49.9612694,"mpcc_dv":49.3481483,"mpcc_dw":50.6518517,"mpcc_enc_sign":1,"mpcc_id_a":-1.38649213,"mpcc_iq_a":-2.16525841,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.23065948,"mpcc_pred_id_a":-0.814189792,"mpcc_pred_iq_a":-5.34626961,"mpcc_state":1,"mpcc_theta_e":0.437763691,"mpcc_theta_mech":0.554498672,"sam_rpm":-12.1371021,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0139791816,"thr_a_norm":0.0139791816,"thr_a_v":0.555916727,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.436273724,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.664478,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.38603449,"cg_iw_a":-2.77033758,"cg_theta_rad":0.557150006,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0387530141,"mpcc_du":49.4285545,"mpcc_dv":49.5577164,"mpcc_dw":50.5714455,"mpcc_enc_sign":1,"mpcc_id_a":2.08768129,"mpcc_iq_a":0.444391102,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.22806287,"mpcc_pred_id_a":0.636713028,"mpcc_pred_iq_a":-3.79935551,"mpcc_state":1,"mpcc_theta_e":0.445984364,"mpcc_theta_mech":0.556142807,"sam_rpm":4.89854145,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198958516,"thr_a_norm":0.0198958516,"thr_a_v":0.579583406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482197315,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.670979,"values":{"cg_iu_a":4.51881123,"cg_iv_a":-2.40086174,"cg_iw_a":-2.11794949,"cg_theta_rad":0.558130145,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0203683209,"mpcc_du":50.8721352,"mpcc_dv":47.5912399,"mpcc_dw":52.4087601,"mpcc_enc_sign":1,"mpcc_id_a":2.75243139,"mpcc_iq_a":0.0522182025,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.1068115,"mpcc_pred_id_a":0.500328481,"mpcc_pred_iq_a":1.10469341,"mpcc_state":1,"mpcc_theta_e":0.422358036,"mpcc_theta_mech":0.55141753,"sam_rpm":-29.8472919,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198958516,"thr_a_norm":0.0198958516,"thr_a_v":0.579583406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482197315,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.677509,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.588670254,"cg_iw_a":-0.595708132,"cg_theta_rad":0.555266857,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0393452607,"mpcc_du":50.2755318,"mpcc_dv":48.4242439,"mpcc_dw":51.5757561,"mpcc_enc_sign":1,"mpcc_id_a":3.85330319,"mpcc_iq_a":-0.535959363,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.95281649,"mpcc_pred_id_a":0.440862685,"mpcc_pred_iq_a":-0.0973806381,"mpcc_state":1,"mpcc_theta_e":0.433994293,"mpcc_theta_mech":0.553744733,"sam_rpm":-10.2885838,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0171515197,"thr_a_norm":0.0171515197,"thr_a_v":0.568606079,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447402149,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.688465,"values":{"cg_iu_a":-0.70030117,"cg_iv_a":-3.41568899,"cg_iw_a":-0.305757523,"cg_theta_rad":0.557747483,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0280852076,"mpcc_du":50.4540443,"mpcc_dv":48.76717,"mpcc_dw":51.23283,"mpcc_enc_sign":1,"mpcc_id_a":-0.280148983,"mpcc_iq_a":-1.62754369,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.06019378,"mpcc_pred_id_a":-0.787955225,"mpcc_pred_iq_a":-2.46751499,"mpcc_state":1,"mpcc_theta_e":0.452416897,"mpcc_theta_mech":0.557429314,"sam_rpm":5.21386147,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233073831,"thr_a_norm":0.0171515197,"thr_a_v":0.593229532,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.699482,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.6759851,"cg_iw_a":-1.10312152,"cg_theta_rad":0.557065427,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0191031378,"mpcc_du":49.3378601,"mpcc_dv":50.6621399,"mpcc_dw":50.2046928,"mpcc_enc_sign":1,"mpcc_id_a":2.46689844,"mpcc_iq_a":-0.0968364552,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.646245,"mpcc_pred_id_a":0.270907849,"mpcc_pred_iq_a":-1.27307165,"mpcc_state":1,"mpcc_theta_e":0.441537857,"mpcc_theta_mech":0.555253446,"sam_rpm":11.8274069,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233073831,"thr_a_norm":0.0233073831,"thr_a_v":0.593229532,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.709705,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-2.90827537,"cg_iw_a":2.15882325,"cg_theta_rad":0.556022286,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.032331042,"mpcc_du":49.5435638,"mpcc_dv":50.1826324,"mpcc_dw":50.4564362,"mpcc_enc_sign":1,"mpcc_id_a":1.98490417,"mpcc_iq_a":-0.450716943,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.7113647,"mpcc_pred_id_a":0.201537341,"mpcc_pred_iq_a":-3.22620964,"mpcc_state":1,"mpcc_theta_e":0.453482151,"mpcc_theta_mech":0.557642341,"sam_rpm":20.2081871,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.043537423,"thr_a_norm":0.043537423,"thr_a_v":0.674149692,"thr_b":0.0100137293,"thr_b_norm":0.0100137293,"thr_b_v":0.540054917,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.719746,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.74847269,"cg_iw_a":1.14399576,"cg_theta_rad":0.558419108,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0188573115,"mpcc_du":50.7350464,"mpcc_dv":47.9985199,"mpcc_dw":52.0014801,"mpcc_enc_sign":1,"mpcc_id_a":1.90292108,"mpcc_iq_a":-0.950393081,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.296404511,"mpcc_pred_id_a":0.105801255,"mpcc_pred_iq_a":-3.42223048,"mpcc_state":1,"mpcc_theta_e":0.445432663,"mpcc_theta_mech":0.556032479,"sam_rpm":-22.3218365,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.043537423,"thr_a_norm":0.043537423,"thr_a_v":0.674149692,"thr_b":0.0100137293,"thr_b_norm":0.0100137293,"thr_b_v":0.540054917,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.729877,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.16857147,"cg_iw_a":-3.35023928,"cg_theta_rad":0.55456692,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0015042288,"mpcc_du":50.3913956,"mpcc_dv":48.522892,"mpcc_dw":51.477108,"mpcc_enc_sign":1,"mpcc_id_a":0.669910252,"mpcc_iq_a":-2.0593946,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.696249,"mpcc_pred_id_a":-0.124130398,"mpcc_pred_iq_a":-1.5217042,"mpcc_state":1,"mpcc_theta_e":0.434342384,"mpcc_theta_mech":0.553814352,"sam_rpm":-16.8072681,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020613417,"thr_a_norm":0.020613417,"thr_a_v":0.582453668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466889441,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.739918,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.16857147,"cg_iw_a":-1.10312176,"cg_theta_rad":0.55554539,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0280447379,"mpcc_du":50.2771111,"mpcc_dv":48.7706871,"mpcc_dw":51.2293129,"mpcc_enc_sign":1,"mpcc_id_a":0.668287873,"mpcc_iq_a":-1.34029734,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.18458414,"mpcc_pred_id_a":-0.304687858,"mpcc_pred_iq_a":-1.72891378,"mpcc_state":1,"mpcc_theta_e":0.449604034,"mpcc_theta_mech":0.556866765,"sam_rpm":7.63923359,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295136124,"thr_a_norm":0.020613417,"thr_a_v":0.61805445,"thr_b":0.00456282496,"thr_b_norm":0,"thr_b_v":0.5182513,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.763142,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.516182423,"cg_iw_a":-0.378245115,"cg_theta_rad":0.557105482,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0123616299,"mpcc_du":49.5684166,"mpcc_dv":50.0997887,"mpcc_dw":50.4315834,"mpcc_enc_sign":1,"mpcc_id_a":1.90208149,"mpcc_iq_a":-0.952072263,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.05032063,"mpcc_pred_id_a":-0.0748536885,"mpcc_pred_iq_a":-4.00391674,"mpcc_state":1,"mpcc_theta_e":0.446315289,"mpcc_theta_mech":0.556208968,"sam_rpm":5.86261177,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295136124,"thr_a_norm":0.0295136124,"thr_a_v":0.61805445,"thr_b":0.00456282496,"thr_b_norm":0.00456282496,"thr_b_v":0.5182513,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.769672,"values":{"cg_iu_a":2.92408228,"cg_iv_a":0.498644829,"cg_iw_a":-1.17560959,"cg_theta_rad":0.556466162,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0189848058,"mpcc_du":50.1715202,"mpcc_dv":48.5967102,"mpcc_dw":51.4032898,"mpcc_enc_sign":1,"mpcc_id_a":2.54154396,"mpcc_iq_a":-0.436224878,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.63191414,"mpcc_pred_id_a":0.294589788,"mpcc_pred_iq_a":-1.248734,"mpcc_state":1,"mpcc_theta_e":0.434293747,"mpcc_theta_mech":0.553804696,"sam_rpm":-13.1101465,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025548175,"thr_a_norm":0.025548175,"thr_a_v":0.6021927,"thr_b":0.000144198537,"thr_b_norm":0.000144198537,"thr_b_v":0.500576794,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.776173,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.38603449,"cg_iw_a":-2.19043684,"cg_theta_rad":0.55778116,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0161631387,"mpcc_du":49.4945946,"mpcc_dv":50.1263466,"mpcc_dw":50.5054054,"mpcc_enc_sign":1,"mpcc_id_a":2.07834315,"mpcc_iq_a":-1.08720505,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.56395769,"mpcc_pred_id_a":0.363149166,"mpcc_pred_iq_a":-4.19110441,"mpcc_state":1,"mpcc_theta_e":0.448005676,"mpcc_theta_mech":0.556547046,"sam_rpm":8.17688274,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025548175,"thr_a_norm":0.025548175,"thr_a_v":0.6021927,"thr_b":0.000144198537,"thr_b_norm":0.000144198537,"thr_b_v":0.500576794,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.782703,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.60349751,"cg_iw_a":-1.17560911,"cg_theta_rad":0.554860115,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0743000656,"mpcc_du":50.108654,"mpcc_dv":48.4922562,"mpcc_dw":51.5077438,"mpcc_enc_sign":1,"mpcc_id_a":4.34944725,"mpcc_iq_a":1.90657711,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.60934448,"mpcc_pred_id_a":0.705181956,"mpcc_pred_iq_a":-0.648362994,"mpcc_state":1,"mpcc_theta_e":0.441440582,"mpcc_theta_mech":0.555234075,"sam_rpm":-11.5988007,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0117761493,"thr_a_norm":0.0117761493,"thr_a_v":0.547104597,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43582055,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.792896,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-0.153744221,"cg_iw_a":0.274144173,"cg_theta_rad":0.555132389,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0394351557,"mpcc_du":49.4497871,"mpcc_dv":49.9981117,"mpcc_dw":50.5502129,"mpcc_enc_sign":1,"mpcc_id_a":3.01620221,"mpcc_iq_a":0.376611233,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.24459267,"mpcc_pred_id_a":0.569737732,"mpcc_pred_iq_a":-3.10807395,"mpcc_state":1,"mpcc_theta_e":0.44420433,"mpcc_theta_mech":0.555786788,"sam_rpm":10.2157869,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025749594,"thr_a_norm":0.0117761493,"thr_a_v":0.602998376,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496044844,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.802906,"values":{"cg_iu_a":2.34418058,"cg_iv_a":0.643620491,"cg_iw_a":-3.13277674,"cg_theta_rad":0.555284441,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0301020108,"mpcc_du":49.5286179,"mpcc_dv":50.2827377,"mpcc_dw":50.4713821,"mpcc_enc_sign":1,"mpcc_id_a":1.20734012,"mpcc_iq_a":-0.722667277,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.4073305,"mpcc_pred_id_a":0.188786685,"mpcc_pred_iq_a":-4.69667768,"mpcc_state":1,"mpcc_theta_e":0.452913284,"mpcc_theta_mech":0.557528555,"sam_rpm":16.3137665,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025749594,"thr_a_norm":0.025749594,"thr_a_v":0.602998376,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496044844,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.813099,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.74847269,"cg_iw_a":-0.378245115,"cg_theta_rad":0.556656778,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0266507845,"mpcc_du":50.1916008,"mpcc_dv":48.922802,"mpcc_dw":51.077198,"mpcc_enc_sign":1,"mpcc_id_a":-0.557429671,"mpcc_iq_a":-3.33448768,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.24075222,"mpcc_pred_id_a":-0.631125987,"mpcc_pred_iq_a":-0.253227711,"mpcc_state":1,"mpcc_theta_e":0.433391094,"mpcc_theta_mech":0.553624153,"sam_rpm":-8.98814964,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277008563,"thr_a_norm":0.0277008563,"thr_a_v":0.610803425,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48879379,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.822895,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-2.18339872,"cg_iw_a":0.346631527,"cg_theta_rad":0.555817723,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0197052266,"mpcc_du":49.5152435,"mpcc_dv":49.4416161,"mpcc_dw":50.5583839,"mpcc_enc_sign":1,"mpcc_id_a":2.67211509,"mpcc_iq_a":-0.502283096,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.374613792,"mpcc_pred_id_a":0.165986061,"mpcc_pred_iq_a":-0.941782594,"mpcc_state":1,"mpcc_theta_e":0.436185837,"mpcc_theta_mech":0.554183066,"sam_rpm":-1.06510758,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277008563,"thr_a_norm":0.0277008563,"thr_a_v":0.610803425,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48879379,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.83321,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-2.11091113,"cg_iw_a":0.129168749,"cg_theta_rad":0.555291772,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0354777314,"mpcc_du":50.1019859,"mpcc_dv":49.0435028,"mpcc_dw":50.9564972,"mpcc_enc_sign":1,"mpcc_id_a":2.58422327,"mpcc_iq_a":-0.531987786,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.2809298,"mpcc_pred_id_a":0.119708218,"mpcc_pred_iq_a":-2.57511258,"mpcc_state":1,"mpcc_theta_e":0.4448452,"mpcc_theta_mech":0.556073487,"sam_rpm":-3.37447524,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0318551213,"thr_a_norm":0.0318551213,"thr_a_v":0.627420485,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482952625,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.843311,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.45852208,"cg_iw_a":-2.48038721,"cg_theta_rad":0.555693448,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.00865705963,"mpcc_du":50.4038086,"mpcc_dv":48.4425392,"mpcc_dw":51.5574608,"mpcc_enc_sign":1,"mpcc_id_a":1.47015738,"mpcc_iq_a":-1.54653847,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.3891878,"mpcc_pred_id_a":-0.0402870253,"mpcc_pred_iq_a":0.0500307865,"mpcc_state":1,"mpcc_theta_e":0.430900097,"mpcc_theta_mech":0.553125918,"sam_rpm":-16.8391781,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234458596,"thr_a_norm":0.0318551213,"thr_a_v":0.593783438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472176731,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.866352,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.878620625,"cg_iw_a":1.5064342,"cg_theta_rad":0.555832803,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0261657126,"mpcc_du":49.094162,"mpcc_dv":50.905838,"mpcc_dw":49.747036,"mpcc_enc_sign":1,"mpcc_id_a":2.09485459,"mpcc_iq_a":-0.225533605,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.052453,"mpcc_pred_id_a":-0.19221659,"mpcc_pred_iq_a":-5.51312017,"mpcc_state":1,"mpcc_theta_e":0.453740597,"mpcc_theta_mech":0.557694077,"sam_rpm":19.637392,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234458596,"thr_a_norm":0.0234458596,"thr_a_v":0.593783438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472176731,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.872852,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.661157608,"cg_iw_a":-1.61053562,"cg_theta_rad":0.552646816,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.00719348993,"mpcc_du":50.7490158,"mpcc_dv":48.2050285,"mpcc_dw":51.7949715,"mpcc_enc_sign":1,"mpcc_id_a":0.446931034,"mpcc_iq_a":-0.988054752,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.13111019,"mpcc_pred_id_a":-0.280992657,"mpcc_pred_iq_a":-0.140823275,"mpcc_state":1,"mpcc_theta_e":0.435360432,"mpcc_theta_mech":0.554017961,"sam_rpm":-11.322258,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10369879,"thr_a_norm":0.10369879,"thr_a_v":0.91479516,"thr_b":0.0510780513,"thr_b_norm":0.0510780513,"thr_b_v":0.704312205,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.879353,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-1.38603449,"cg_iw_a":-0.81317091,"cg_theta_rad":0.557364166,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0180733614,"mpcc_du":49.971199,"mpcc_dv":49.0624199,"mpcc_dw":50.9375801,"mpcc_enc_sign":1,"mpcc_id_a":2.12136078,"mpcc_iq_a":0.0172938872,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.1717279,"mpcc_pred_id_a":0.651456594,"mpcc_pred_iq_a":-0.182802096,"mpcc_state":1,"mpcc_theta_e":0.442911148,"mpcc_theta_mech":0.555528164,"sam_rpm":-7.23522806,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10369879,"thr_a_norm":0.10369879,"thr_a_v":0.91479516,"thr_b":0.0510780513,"thr_b_norm":0.0510780513,"thr_b_v":0.704312205,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.88625,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.09608364,"cg_iw_a":-0.23326993,"cg_theta_rad":0.554546416,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0446333438,"mpcc_du":48.7867355,"mpcc_dv":51.2132645,"mpcc_dw":49.7073708,"mpcc_enc_sign":1,"mpcc_id_a":3.98270226,"mpcc_iq_a":0.367757112,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.09606743,"mpcc_pred_id_a":0.813842118,"mpcc_pred_iq_a":-6.14030552,"mpcc_state":1,"mpcc_theta_e":0.447453022,"mpcc_theta_mech":0.556436539,"sam_rpm":11.0480042,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284561664,"thr_a_norm":0.0284561664,"thr_a_v":0.613824666,"thr_b":0.00538109243,"thr_b_norm":0.00538109243,"thr_b_v":0.52152437,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.89629,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.371207237,"cg_iw_a":-0.378244877,"cg_theta_rad":0.55235064,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0221080873,"mpcc_du":50.495327,"mpcc_dv":48.3591995,"mpcc_dw":51.6408005,"mpcc_enc_sign":1,"mpcc_id_a":1.71670914,"mpcc_iq_a":-1.17565393,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.63853359,"mpcc_pred_id_a":0.176955894,"mpcc_pred_iq_a":-1.85678101,"mpcc_state":1,"mpcc_theta_e":0.44083643,"mpcc_theta_mech":0.555113196,"sam_rpm":-9.70975876,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0249061584,"thr_a_norm":0.0284561664,"thr_a_v":0.599624634,"thr_b":0,"thr_b_norm":0.00538109243,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.906116,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.45852208,"cg_iw_a":-1.32058454,"cg_theta_rad":0.55752337,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0447056815,"mpcc_du":49.9196053,"mpcc_dv":49.0452423,"mpcc_dw":50.9547577,"mpcc_enc_sign":1,"mpcc_id_a":2.83030462,"mpcc_iq_a":-1.02811718,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.938149035,"mpcc_pred_id_a":0.221819043,"mpcc_pred_iq_a":-3.03326964,"mpcc_state":1,"mpcc_theta_e":0.447229385,"mpcc_theta_mech":0.556391835,"sam_rpm":-1.15571392,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0249061584,"thr_a_norm":0.0249061584,"thr_a_v":0.599624634,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.916492,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.878620625,"cg_iw_a":-2.04546142,"cg_theta_rad":0.557827592,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.00317384186,"mpcc_du":49.5685959,"mpcc_dv":50.2223473,"mpcc_dw":50.4314041,"mpcc_enc_sign":1,"mpcc_id_a":0.98821497,"mpcc_iq_a":-0.51103735,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.87902308,"mpcc_pred_id_a":-0.295122355,"mpcc_pred_iq_a":-3.41353893,"mpcc_state":1,"mpcc_theta_e":0.443286896,"mpcc_theta_mech":0.555603325,"sam_rpm":13.5679569,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023836121,"thr_a_norm":0.023836121,"thr_a_v":0.595344484,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.926136,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.25588632,"cg_iw_a":-0.885658979,"cg_theta_rad":0.558949351,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.00335527584,"mpcc_du":49.888237,"mpcc_dv":49.4265289,"mpcc_dw":50.5734711,"mpcc_enc_sign":1,"mpcc_id_a":-0.233722776,"mpcc_iq_a":-1.04410231,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.43695068,"mpcc_pred_id_a":-0.543455601,"mpcc_pred_iq_a":-0.721900344,"mpcc_state":1,"mpcc_theta_e":0.448411465,"mpcc_theta_mech":0.556628168,"sam_rpm":14.5998154,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023836121,"thr_a_norm":0.023836121,"thr_a_v":0.595344484,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.936481,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.516182423,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556768239,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.0401014201,"mpcc_du":49.5598412,"mpcc_dv":49.3955154,"mpcc_dw":50.6044846,"mpcc_enc_sign":1,"mpcc_id_a":2.72968411,"mpcc_iq_a":-1.40509117,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.66311264,"mpcc_pred_id_a":0.502560973,"mpcc_pred_iq_a":-3.94798112,"mpcc_state":1,"mpcc_theta_e":0.449430943,"mpcc_theta_mech":0.556832075,"sam_rpm":9.65814686,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149359107,"thr_a_norm":0.0149359107,"thr_a_v":0.559743643,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459185123,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.946735,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-2.47334933,"cg_iw_a":0.781557798,"cg_theta_rad":0.553402126,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5015,"hz_app_loop":361,"hz_tim_isr":10030,"hz_vsense":361,"mpcc_cost":0.034119904,"mpcc_du":50.1331024,"mpcc_dv":48.970768,"mpcc_dw":51.029232,"mpcc_enc_sign":1,"mpcc_id_a":0.0439308099,"mpcc_iq_a":-1.53379047,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.85443211,"mpcc_pred_id_a":-0.342615604,"mpcc_pred_iq_a":1.6416198,"mpcc_state":1,"mpcc_theta_e":0.428285599,"mpcc_theta_mech":0.552603066,"sam_rpm":-10.9698105,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0111970603,"thr_a_norm":0.0149359107,"thr_a_v":0.544788241,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.428871572,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.970478,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.878620625,"cg_iw_a":-0.59570837,"cg_theta_rad":0.55038029,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0197154135,"mpcc_du":51.0141716,"mpcc_dv":47.6865883,"mpcc_dw":52.3134117,"mpcc_enc_sign":1,"mpcc_id_a":1.79455602,"mpcc_iq_a":-1.01297104,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.5919714,"mpcc_pred_id_a":0.22241579,"mpcc_pred_iq_a":0.603078306,"mpcc_state":1,"mpcc_theta_e":0.434536934,"mpcc_theta_mech":0.553853273,"sam_rpm":-15.4028702,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0111970603,"thr_a_norm":0.0111970603,"thr_a_v":0.544788241,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.428871572,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.977039,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-0.733645439,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556738138,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.00111473084,"mpcc_du":49.6549568,"mpcc_dv":50.3126335,"mpcc_dw":50.3450432,"mpcc_enc_sign":1,"mpcc_id_a":-0.11703483,"mpcc_iq_a":-1.98088682,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.7246089,"mpcc_pred_id_a":-0.337745965,"mpcc_pred_iq_a":-5.1582284,"mpcc_state":1,"mpcc_theta_e":0.446306229,"mpcc_theta_mech":0.55620712,"sam_rpm":4.95454025,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185236931,"thr_a_norm":0.0185236931,"thr_a_v":0.574094772,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451631933,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.98354,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.96593571,"cg_iw_a":2.23131084,"cg_theta_rad":0.557030559,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0450708345,"mpcc_du":50.2095146,"mpcc_dv":48.652298,"mpcc_dw":51.347702,"mpcc_enc_sign":1,"mpcc_id_a":2.41897917,"mpcc_iq_a":-0.0456131585,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.72767925,"mpcc_pred_id_a":0.285225093,"mpcc_pred_iq_a":-0.417982131,"mpcc_state":1,"mpcc_theta_e":0.448809147,"mpcc_theta_mech":0.55670774,"sam_rpm":7.5013957,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185236931,"thr_a_norm":0.0185236931,"thr_a_v":0.574094772,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451631933,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.990101,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.74847269,"cg_iw_a":-0.885658741,"cg_theta_rad":0.555316508,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0213593617,"mpcc_du":49.8029976,"mpcc_dv":49.0635681,"mpcc_dw":50.9364319,"mpcc_enc_sign":1,"mpcc_id_a":2.43542051,"mpcc_iq_a":-2.0122664,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.2173357,"mpcc_pred_id_a":0.524772584,"mpcc_pred_iq_a":-1.74284852,"mpcc_state":1,"mpcc_theta_e":0.451096535,"mpcc_theta_mech":0.557165205,"sam_rpm":11.1875687,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228416175,"thr_a_norm":0.0228416175,"thr_a_v":0.59136647,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475399435,"vdc_v":55.2955055}} +{"type":"telemetry","t":44.998096,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.16857147,"cg_iw_a":-1.32058477,"cg_theta_rad":0.554896891,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.00504946336,"mpcc_du":50.02911,"mpcc_dv":49.0240746,"mpcc_dw":50.9759254,"mpcc_enc_sign":1,"mpcc_id_a":0.962008178,"mpcc_iq_a":-0.733703732,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.97041893,"mpcc_pred_id_a":-0.0368823744,"mpcc_pred_iq_a":0.201518342,"mpcc_state":1,"mpcc_theta_e":0.445931911,"mpcc_theta_mech":0.557214916,"sam_rpm":8.60450363,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172018856,"thr_a_norm":0.0228416175,"thr_a_v":0.568807542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.434259564,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.008106,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.733645439,"cg_iw_a":-2.11794901,"cg_theta_rad":0.557115257,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0177540034,"mpcc_du":50.0107803,"mpcc_dv":49.0434074,"mpcc_dw":50.9565926,"mpcc_enc_sign":1,"mpcc_id_a":2.11516833,"mpcc_iq_a":-1.51534998,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.28286016,"mpcc_pred_id_a":0.000385761843,"mpcc_pred_iq_a":-3.00169158,"mpcc_state":1,"mpcc_theta_e":0.445384502,"mpcc_theta_mech":0.556022823,"sam_rpm":-2.16634154,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172018856,"thr_a_norm":0.0172018856,"thr_a_v":0.568807542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.434259564,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.020466,"values":{"cg_iu_a":4.51881123,"cg_iv_a":-1.24105906,"cg_iw_a":-3.27775216,"cg_theta_rad":0.55511719,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0187844746,"mpcc_du":49.5847969,"mpcc_dv":49.6675453,"mpcc_dw":50.4152031,"mpcc_enc_sign":1,"mpcc_id_a":0.558746934,"mpcc_iq_a":-0.401051193,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.17610812,"mpcc_pred_id_a":-0.160061538,"mpcc_pred_iq_a":-4.3974309,"mpcc_state":1,"mpcc_theta_e":0.444981098,"mpcc_theta_mech":0.555942118,"sam_rpm":3.39320326,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0138280988,"thr_a_norm":0.0138280988,"thr_a_v":0.555312395,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439496428,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.030689,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.951108456,"cg_iw_a":0.346631527,"cg_theta_rad":0.55565989,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0663054809,"mpcc_du":49.528347,"mpcc_dv":49.5674591,"mpcc_dw":50.471653,"mpcc_enc_sign":1,"mpcc_id_a":2.52636361,"mpcc_iq_a":0.81768012,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.5679445,"mpcc_pred_id_a":0.282887489,"mpcc_pred_iq_a":-2.02479959,"mpcc_state":1,"mpcc_theta_e":0.455400944,"mpcc_theta_mech":0.558026075,"sam_rpm":21.2440929,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211421251,"thr_a_norm":0.0138280988,"thr_a_v":0.584568501,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461853951,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.0425,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.09608364,"cg_iw_a":-1.32058477,"cg_theta_rad":0.554566264,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0157676283,"mpcc_du":49.8315735,"mpcc_dv":49.0735779,"mpcc_dw":50.9264221,"mpcc_enc_sign":1,"mpcc_id_a":2.1335659,"mpcc_iq_a":-0.118175425,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.150540814,"mpcc_pred_id_a":0.434886068,"mpcc_pred_iq_a":-1.79671705,"mpcc_state":1,"mpcc_theta_e":0.438676357,"mpcc_theta_mech":0.554681182,"sam_rpm":-0.825171053,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211421251,"thr_a_norm":0.0211421251,"thr_a_v":0.584568501,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461853951,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.065693,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.24105906,"cg_iw_a":-1.61053538,"cg_theta_rad":0.551370859,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.00189616252,"mpcc_du":49.9853783,"mpcc_dv":49.182766,"mpcc_dw":50.3131943,"mpcc_enc_sign":1,"mpcc_id_a":-0.805675685,"mpcc_iq_a":-2.62271023,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.70294333,"mpcc_pred_id_a":-0.367807567,"mpcc_pred_iq_a":-3.35925198,"mpcc_state":1,"mpcc_theta_e":0.439570904,"mpcc_theta_mech":0.554860115,"sam_rpm":-7.23024273,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178061277,"thr_a_norm":0.0178061277,"thr_a_v":0.571224511,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440251797,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.072254,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-2.0384233,"cg_iw_a":-0.668195724,"cg_theta_rad":0.553985178,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0108999023,"mpcc_du":50.2452888,"mpcc_dv":48.461422,"mpcc_dw":51.538578,"mpcc_enc_sign":1,"mpcc_id_a":2.07200098,"mpcc_iq_a":-1.44030368,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.44747066,"mpcc_pred_id_a":0.64602989,"mpcc_pred_iq_a":1.28716981,"mpcc_state":1,"mpcc_theta_e":0.442461491,"mpcc_theta_mech":0.555438221,"sam_rpm":1.51189744,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262405574,"thr_a_norm":0.0178061277,"thr_a_v":0.60496223,"thr_b":0.001491189,"thr_b_norm":0,"thr_b_v":0.505964756,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.078785,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.53100967,"cg_iw_a":0.491606712,"cg_theta_rad":0.55705595,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.02228266,"mpcc_du":50.43536,"mpcc_dv":48.5723648,"mpcc_dw":51.4276352,"mpcc_enc_sign":1,"mpcc_id_a":0.779583693,"mpcc_iq_a":-1.11263502,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.81145728,"mpcc_pred_id_a":-0.244827047,"mpcc_pred_iq_a":-4.41156006,"mpcc_state":1,"mpcc_theta_e":0.447660923,"mpcc_theta_mech":0.556478083,"sam_rpm":-4.64745283,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262405574,"thr_a_norm":0.0262405574,"thr_a_v":0.60496223,"thr_b":0.001491189,"thr_b_norm":0.001491189,"thr_b_v":0.505964756,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.085255,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-0.878620625,"cg_iw_a":-0.160782099,"cg_theta_rad":0.555674255,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0210365728,"mpcc_du":48.6175194,"mpcc_dv":51.3824806,"mpcc_dw":49.1093178,"mpcc_enc_sign":1,"mpcc_id_a":2.08958149,"mpcc_iq_a":-3.4110024,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.8473053,"mpcc_pred_id_a":-0.297445506,"mpcc_pred_iq_a":-7.54915094,"mpcc_state":1,"mpcc_theta_e":0.447131157,"mpcc_theta_mech":0.556372106,"sam_rpm":11.921011,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151499212,"thr_a_norm":0.0151499212,"thr_a_v":0.560599685,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460695803,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.093098,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.298719406,"cg_iw_a":-0.958146572,"cg_theta_rad":0.555814147,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0111863846,"mpcc_du":51.3225632,"mpcc_dv":47.2811241,"mpcc_dw":52.7188759,"mpcc_enc_sign":1,"mpcc_id_a":1.68400931,"mpcc_iq_a":-0.206326023,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.8529396,"mpcc_pred_id_a":0.066962719,"mpcc_pred_iq_a":2.08594394,"mpcc_state":1,"mpcc_theta_e":0.424932957,"mpcc_theta_mech":0.556787133,"sam_rpm":-28.4067059,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151499212,"thr_a_norm":0.0151499212,"thr_a_v":0.560599685,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460695803,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.103291,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-2.47334933,"cg_iw_a":0.781557798,"cg_theta_rad":0.555898845,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.00128045434,"mpcc_du":49.5727005,"mpcc_dv":49.5218086,"mpcc_dw":50.4781914,"mpcc_enc_sign":1,"mpcc_id_a":0.562424421,"mpcc_iq_a":-0.395877421,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.26831293,"mpcc_pred_id_a":0.020606108,"mpcc_pred_iq_a":-3.31268859,"mpcc_state":1,"mpcc_theta_e":0.435751915,"mpcc_theta_mech":0.554096341,"sam_rpm":-7.50483561,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100664914,"thr_a_norm":0.100664914,"thr_a_v":0.902659655,"thr_b":0.0413847566,"thr_b_norm":0.0413847566,"thr_b_v":0.665539026,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.113483,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.60349751,"cg_iw_a":-0.740683079,"cg_theta_rad":0.553845108,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0229164213,"mpcc_du":49.9465675,"mpcc_dv":48.8342323,"mpcc_dw":51.1657677,"mpcc_enc_sign":1,"mpcc_id_a":2.93683982,"mpcc_iq_a":-1.13568616,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.32896519,"mpcc_pred_id_a":0.55780375,"mpcc_pred_iq_a":-2.29182053,"mpcc_state":1,"mpcc_theta_e":0.436789513,"mpcc_theta_mech":0.554303825,"sam_rpm":-11.2417965,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256866515,"thr_a_norm":0.100664914,"thr_a_v":0.602746606,"thr_b":0,"thr_b_norm":0.0413847566,"thr_b_v":0.487031341,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.12331,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-2.18339872,"cg_iw_a":0.926532745,"cg_theta_rad":0.55719018,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0200080555,"mpcc_du":49.5402603,"mpcc_dv":50.0118675,"mpcc_dw":50.4597397,"mpcc_enc_sign":1,"mpcc_id_a":1.43051291,"mpcc_iq_a":-2.34508872,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.3441553,"mpcc_pred_id_a":0.359213293,"mpcc_pred_iq_a":-2.287081,"mpcc_state":1,"mpcc_theta_e":0.425978184,"mpcc_theta_mech":0.552141547,"sam_rpm":-6.70601559,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256866515,"thr_a_norm":0.0256866515,"thr_a_v":0.602746606,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487031341,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.133686,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.951108456,"cg_iw_a":0.564094543,"cg_theta_rad":0.553388596,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.043918591,"mpcc_du":49.9917374,"mpcc_dv":49.140358,"mpcc_dw":50.859642,"mpcc_enc_sign":1,"mpcc_id_a":0.276588738,"mpcc_iq_a":-2.60377932,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.69311619,"mpcc_pred_id_a":-0.329543322,"mpcc_pred_iq_a":-0.148246214,"mpcc_state":1,"mpcc_theta_e":0.426673889,"mpcc_theta_mech":0.552280724,"sam_rpm":-14.6812563,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204245895,"thr_a_norm":0.0204245895,"thr_a_v":0.581698358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44941631,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.145924,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.31354666,"cg_iw_a":0.201656342,"cg_theta_rad":0.556308389,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0117951995,"mpcc_du":50.2539368,"mpcc_dv":48.7599602,"mpcc_dw":51.2400398,"mpcc_enc_sign":1,"mpcc_id_a":0.0713417903,"mpcc_iq_a":-1.09391654,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.53022718,"mpcc_pred_id_a":-0.165286377,"mpcc_pred_iq_a":-2.55446935,"mpcc_state":1,"mpcc_theta_e":0.44156456,"mpcc_theta_mech":0.555336654,"sam_rpm":-6.5191555,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.0204245895,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.16869,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-1.02359605,"cg_iw_a":0.781557798,"cg_theta_rad":0.558248103,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0091210492,"mpcc_du":50.8689728,"mpcc_dv":47.9518509,"mpcc_dw":52.0481491,"mpcc_enc_sign":1,"mpcc_id_a":1.55424404,"mpcc_iq_a":-1.18378317,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.03384972,"mpcc_pred_id_a":-0.0782063454,"mpcc_pred_iq_a":1.44293058,"mpcc_state":1,"mpcc_theta_e":0.437157631,"mpcc_theta_mech":0.554377437,"sam_rpm":-8.68092537,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.021620512,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.175251,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.09608364,"cg_iw_a":-2.19043684,"cg_theta_rad":0.557120204,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.009695841,"mpcc_du":50.4414635,"mpcc_dv":48.4093552,"mpcc_dw":51.5906448,"mpcc_enc_sign":1,"mpcc_id_a":1.81017852,"mpcc_iq_a":-1.66727722,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.89541435,"mpcc_pred_id_a":0.0657307357,"mpcc_pred_iq_a":1.13874364,"mpcc_state":1,"mpcc_theta_e":0.434967995,"mpcc_theta_mech":0.553939521,"sam_rpm":-7.56416273,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456214249,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.181751,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.878620625,"cg_iw_a":0.636582375,"cg_theta_rad":0.553454876,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.00213806727,"mpcc_du":49.5847969,"mpcc_dv":50.3705864,"mpcc_dw":50.4152031,"mpcc_enc_sign":1,"mpcc_id_a":0.0591004379,"mpcc_iq_a":-0.44035846,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.78986669,"mpcc_pred_id_a":0.0788705572,"mpcc_pred_iq_a":-3.87032962,"mpcc_state":1,"mpcc_theta_e":0.442684174,"mpcc_theta_mech":0.555482745,"sam_rpm":5.10364962,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456214249,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.188282,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.298719406,"cg_iw_a":-1.17560959,"cg_theta_rad":0.555994153,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0199768133,"mpcc_du":49.4966774,"mpcc_dv":50.5033226,"mpcc_dw":50.36689,"mpcc_enc_sign":1,"mpcc_id_a":2.06107044,"mpcc_iq_a":-0.280167639,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.52981949,"mpcc_pred_id_a":0.284067005,"mpcc_pred_iq_a":-5.50066519,"mpcc_state":1,"mpcc_theta_e":0.443739891,"mpcc_theta_mech":0.555693865,"sam_rpm":3.02660418,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025145337,"thr_a_norm":0.025145337,"thr_a_v":0.600581348,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.197865,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.878620625,"cg_iw_a":-1.39307237,"cg_theta_rad":0.554283559,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0534361601,"mpcc_du":49.4710922,"mpcc_dv":49.871006,"mpcc_dw":50.5289078,"mpcc_enc_sign":1,"mpcc_id_a":3.04295492,"mpcc_iq_a":-0.598849237,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.62458038,"mpcc_pred_id_a":0.698887229,"mpcc_pred_iq_a":-4.279706,"mpcc_state":1,"mpcc_theta_e":0.454962254,"mpcc_theta_mech":0.557938397,"sam_rpm":14.2419119,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0154016912,"thr_a_norm":0.025145337,"thr_a_v":0.561606765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.208851,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.661157608,"cg_iw_a":-4.51004219,"cg_theta_rad":0.557319403,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0419073179,"mpcc_du":50.5477104,"mpcc_dv":48.2146683,"mpcc_dw":51.7853317,"mpcc_enc_sign":1,"mpcc_id_a":1.91865253,"mpcc_iq_a":-0.0712387934,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.79034662,"mpcc_pred_id_a":0.310046434,"mpcc_pred_iq_a":-1.68218517,"mpcc_state":1,"mpcc_theta_e":0.442606449,"mpcc_theta_mech":0.555467248,"sam_rpm":-11.1110306,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0154016912,"thr_a_norm":0.0154016912,"thr_a_v":0.561606765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.221241,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.96593571,"cg_iw_a":-0.378245115,"cg_theta_rad":0.555405676,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0253462065,"mpcc_du":49.5355644,"mpcc_dv":49.9959068,"mpcc_dw":50.4644356,"mpcc_enc_sign":1,"mpcc_id_a":2.54868078,"mpcc_iq_a":-0.605544209,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.07191086,"mpcc_pred_id_a":0.19786644,"mpcc_pred_iq_a":-2.65574074,"mpcc_state":1,"mpcc_theta_e":0.444060802,"mpcc_theta_mech":0.555758059,"sam_rpm":14.2684031,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173781216,"thr_a_norm":0.0173781216,"thr_a_v":0.569512486,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454955339,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.231464,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.53100967,"cg_iw_a":-1.46555996,"cg_theta_rad":0.560063839,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0432084985,"mpcc_du":49.5354309,"mpcc_dv":50.1291466,"mpcc_dw":50.4645691,"mpcc_enc_sign":1,"mpcc_id_a":2.75482774,"mpcc_iq_a":0.498805314,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.06173086,"mpcc_pred_id_a":0.317773908,"mpcc_pred_iq_a":-3.76715732,"mpcc_state":1,"mpcc_theta_e":0.44507885,"mpcc_theta_mech":0.555961728,"sam_rpm":9.84682465,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204245895,"thr_a_norm":0.0204245895,"thr_a_v":0.581698358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451984406,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.243275,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.806133032,"cg_iw_a":-1.03063416,"cg_theta_rad":0.556951642,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.026140295,"mpcc_du":49.9329224,"mpcc_dv":49.1843071,"mpcc_dw":50.8156929,"mpcc_enc_sign":1,"mpcc_id_a":1.74920571,"mpcc_iq_a":-1.76897478,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.2389649,"mpcc_pred_id_a":-0.149897814,"mpcc_pred_iq_a":-4.52467203,"mpcc_state":1,"mpcc_theta_e":0.449604034,"mpcc_theta_mech":0.556866765,"sam_rpm":0.361956149,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204245895,"thr_a_norm":0.0204245895,"thr_a_v":0.581698358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451984406,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.253254,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.226231575,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.557075739,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0589424595,"mpcc_du":50.0564766,"mpcc_dv":48.9155693,"mpcc_dw":51.0844307,"mpcc_enc_sign":1,"mpcc_id_a":1.15311885,"mpcc_iq_a":-0.502132595,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.71143657,"mpcc_pred_id_a":0.229886264,"mpcc_pred_iq_a":-2.48881078,"mpcc_state":1,"mpcc_theta_e":0.447207928,"mpcc_theta_mech":0.556387484,"sam_rpm":6.31565094,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025951013,"thr_a_norm":0.025951013,"thr_a_v":0.603804052,"thr_b":0.00030785799,"thr_b_norm":0.00030785799,"thr_b_v":0.501231432,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.276936,"values":{"cg_iu_a":1.90925455,"cg_iv_a":0.426157475,"cg_iw_a":-2.33541203,"cg_theta_rad":0.555922508,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.00445277197,"mpcc_du":50.8036766,"mpcc_dv":48.1593208,"mpcc_dw":51.8406792,"mpcc_enc_sign":1,"mpcc_id_a":0.313781738,"mpcc_iq_a":-1.43708062,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.05649042,"mpcc_pred_id_a":-0.345812351,"mpcc_pred_iq_a":0.250064641,"mpcc_state":1,"mpcc_theta_e":0.438649178,"mpcc_theta_mech":0.554675758,"sam_rpm":-9.1403389,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196440816,"thr_a_norm":0.025951013,"thr_a_v":0.578576326,"thr_b":0,"thr_b_norm":0.00030785799,"thr_b_v":0.478823543,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.283436,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.62536287,"cg_theta_rad":0.557155073,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0279507209,"mpcc_du":49.6247749,"mpcc_dv":49.2851906,"mpcc_dw":50.7148094,"mpcc_enc_sign":1,"mpcc_id_a":2.60482264,"mpcc_iq_a":-0.828030527,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.83476782,"mpcc_pred_id_a":0.434566051,"mpcc_pred_iq_a":-2.05959105,"mpcc_state":1,"mpcc_theta_e":0.447527885,"mpcc_theta_mech":0.556451499,"sam_rpm":9.20738602,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196440816,"thr_a_norm":0.0196440816,"thr_a_v":0.578576326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478823543,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.289936,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.31354666,"cg_iw_a":0.78155756,"cg_theta_rad":0.556437194,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.00376058416,"mpcc_du":50.2480698,"mpcc_dv":48.6781769,"mpcc_dw":51.3218231,"mpcc_enc_sign":1,"mpcc_id_a":1.13299322,"mpcc_iq_a":-1.06682789,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.2636929,"mpcc_pred_id_a":-0.108992413,"mpcc_pred_iq_a":-2.37043834,"mpcc_state":1,"mpcc_theta_e":0.42949295,"mpcc_theta_mech":0.552844465,"sam_rpm":-19.7475319,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261524469,"thr_a_norm":0.0261524469,"thr_a_v":0.604609787,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497303694,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.296436,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.89344811,"cg_iw_a":0.129168749,"cg_theta_rad":0.553565264,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0169818457,"mpcc_du":49.6876564,"mpcc_dv":49.3322906,"mpcc_dw":50.6677094,"mpcc_enc_sign":1,"mpcc_id_a":2.27820158,"mpcc_iq_a":-0.316449761,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.40567398,"mpcc_pred_id_a":0.00357720791,"mpcc_pred_iq_a":-3.67951798,"mpcc_state":1,"mpcc_theta_e":0.435271263,"mpcc_theta_mech":0.554000139,"sam_rpm":-9.8436842,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0105046928,"thr_a_norm":0.0261524469,"thr_a_v":0.542018771,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.424037546,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.306171,"values":{"cg_iu_a":0.387013912,"cg_iv_a":0.281181812,"cg_iw_a":-0.668195724,"cg_theta_rad":0.55167377,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0815218762,"mpcc_du":50.400116,"mpcc_dv":48.3553123,"mpcc_dw":51.6446877,"mpcc_enc_sign":1,"mpcc_id_a":3.34743452,"mpcc_iq_a":-0.134972304,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.543365,"mpcc_pred_id_a":0.410053819,"mpcc_pred_iq_a":-1.97366834,"mpcc_state":1,"mpcc_theta_e":0.452867031,"mpcc_theta_mech":0.557519317,"sam_rpm":-2.46502209,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0105046928,"thr_a_norm":0.0105046928,"thr_a_v":0.542018771,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.424037546,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.316273,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.09608364,"cg_iw_a":-1.39307261,"cg_theta_rad":0.553026795,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0153285926,"mpcc_du":51.0837593,"mpcc_dv":47.532589,"mpcc_dw":52.467411,"mpcc_enc_sign":1,"mpcc_id_a":2.00892377,"mpcc_iq_a":-0.546735525,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.4255781,"mpcc_pred_id_a":0.0955468565,"mpcc_pred_iq_a":1.26891792,"mpcc_state":1,"mpcc_theta_e":0.429207325,"mpcc_theta_mech":0.552787423,"sam_rpm":-22.9681377,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274490714,"thr_a_norm":0.0274490714,"thr_a_v":0.609796286,"thr_b":3.08901072e-05,"thr_b_norm":3.08901072e-05,"thr_b_v":0.50012356,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.326069,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.516182423,"cg_iw_a":-2.26292419,"cg_theta_rad":0.553350329,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0241212193,"mpcc_du":49.8829575,"mpcc_dv":48.933342,"mpcc_dw":51.066658,"mpcc_enc_sign":1,"mpcc_id_a":2.53974175,"mpcc_iq_a":-1.30232978,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.90706825,"mpcc_pred_id_a":0.398299664,"mpcc_pred_iq_a":-0.0108273057,"mpcc_state":1,"mpcc_theta_e":0.431241512,"mpcc_theta_mech":0.553194225,"sam_rpm":-9.89483356,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274490714,"thr_a_norm":0.0274490714,"thr_a_v":0.609796286,"thr_b":3.08901072e-05,"thr_b_norm":3.08901072e-05,"thr_b_v":0.50012356,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.336323,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.60349751,"cg_iw_a":-0.450732708,"cg_theta_rad":0.553417981,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0243471265,"mpcc_du":50.5324516,"mpcc_dv":48.2503204,"mpcc_dw":51.7496796,"mpcc_enc_sign":1,"mpcc_id_a":2.15191531,"mpcc_iq_a":-2.65444422,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.42389584,"mpcc_pred_id_a":0.0648121983,"mpcc_pred_iq_a":1.22705901,"mpcc_state":1,"mpcc_theta_e":0.434293747,"mpcc_theta_mech":0.553804696,"sam_rpm":-14.0266848,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253845304,"thr_a_norm":0.0253845304,"thr_a_v":0.601538122,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48929733,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.346485,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-1.16857147,"cg_iw_a":-1.10312176,"cg_theta_rad":0.555954754,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0332880691,"mpcc_du":49.990284,"mpcc_dv":48.7888908,"mpcc_dw":51.2111092,"mpcc_enc_sign":1,"mpcc_id_a":1.90396893,"mpcc_iq_a":-0.445781797,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.03277111,"mpcc_pred_id_a":0.484407663,"mpcc_pred_iq_a":-2.04572678,"mpcc_state":1,"mpcc_theta_e":0.447806358,"mpcc_theta_mech":0.55650717,"sam_rpm":-2.28417945,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0318928808,"thr_a_norm":0.0253845304,"thr_a_v":0.627571523,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491412193,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.371784,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.38603449,"cg_iw_a":-1.53804779,"cg_theta_rad":0.554144621,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0100238519,"mpcc_du":49.5417442,"mpcc_dv":50.021862,"mpcc_dw":50.4582558,"mpcc_enc_sign":1,"mpcc_id_a":1.81182492,"mpcc_iq_a":-0.293741405,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.47276711,"mpcc_pred_id_a":0.0885253325,"mpcc_pred_iq_a":-4.18000031,"mpcc_state":1,"mpcc_theta_e":0.44017458,"mpcc_theta_mech":0.554980814,"sam_rpm":-2.88864326,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0318928808,"thr_a_norm":0.0318928808,"thr_a_v":0.627571523,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491412193,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.378315,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-2.18339872,"cg_iw_a":-0.16078186,"cg_theta_rad":0.556707978,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.002684006,"mpcc_du":50.3624763,"mpcc_dv":48.6902504,"mpcc_dw":51.3097496,"mpcc_enc_sign":1,"mpcc_id_a":0.737234533,"mpcc_iq_a":-2.56676555,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.68543029,"mpcc_pred_id_a":-0.390799969,"mpcc_pred_iq_a":-1.80092061,"mpcc_state":1,"mpcc_theta_e":0.441982746,"mpcc_theta_mech":0.555342495,"sam_rpm":-3.75365734,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0303444713,"thr_a_norm":0.0303444713,"thr_a_v":0.621377885,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466285199,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.384846,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.09608364,"cg_iw_a":0.564094543,"cg_theta_rad":0.556209922,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0463203453,"mpcc_du":49.5016327,"mpcc_dv":49.9411354,"mpcc_dw":50.4983673,"mpcc_enc_sign":1,"mpcc_id_a":2.66931009,"mpcc_iq_a":-0.0332200304,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.32955456,"mpcc_pred_id_a":0.374742776,"mpcc_pred_iq_a":-3.68188882,"mpcc_state":1,"mpcc_theta_e":0.45119524,"mpcc_theta_mech":0.557184935,"sam_rpm":13.8995161,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0303444713,"thr_a_norm":0.0303444713,"thr_a_v":0.621377885,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466285199,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.391346,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.806133032,"cg_iw_a":-1.75551057,"cg_theta_rad":0.557016194,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0280587375,"mpcc_du":50.1955261,"mpcc_dv":48.4707222,"mpcc_dw":51.5292778,"mpcc_enc_sign":1,"mpcc_id_a":3.30120087,"mpcc_iq_a":0.0105639761,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.3448572,"mpcc_pred_id_a":0.626309097,"mpcc_pred_iq_a":-0.904595494,"mpcc_state":1,"mpcc_theta_e":0.429787159,"mpcc_theta_mech":0.552903354,"sam_rpm":-20.736393,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179949552,"thr_a_norm":0.0179949552,"thr_a_v":0.571979821,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463515669,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.399494,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.02359605,"cg_iw_a":-1.75551057,"cg_theta_rad":0.555752754,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0343451649,"mpcc_du":49.8867416,"mpcc_dv":48.8315926,"mpcc_dw":51.1684074,"mpcc_enc_sign":1,"mpcc_id_a":3.20545578,"mpcc_iq_a":-1.58670366,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.34238577,"mpcc_pred_id_a":0.832532048,"mpcc_pred_iq_a":-1.28035557,"mpcc_state":1,"mpcc_theta_e":0.449075222,"mpcc_theta_mech":0.556760967,"sam_rpm":6.61417389,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200721025,"thr_a_norm":0.0179949552,"thr_a_v":0.58028841,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451732635,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.40926,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-1.82096052,"cg_iw_a":-0.668195724,"cg_theta_rad":0.557821333,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.020821359,"mpcc_du":49.7438316,"mpcc_dv":49.3798332,"mpcc_dw":50.6201668,"mpcc_enc_sign":1,"mpcc_id_a":1.31479478,"mpcc_iq_a":-0.840272963,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.8485012,"mpcc_pred_id_a":-0.0399549864,"mpcc_pred_iq_a":-2.48519707,"mpcc_state":1,"mpcc_theta_e":0.436784267,"mpcc_theta_mech":0.554302812,"sam_rpm":-17.4959145,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200721025,"thr_a_norm":0.0200721025,"thr_a_v":0.58028841,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451732635,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.419666,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.733645439,"cg_iw_a":0.41911912,"cg_theta_rad":0.551607251,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0772662982,"mpcc_du":50.1954536,"mpcc_dv":48.567482,"mpcc_dw":51.432518,"mpcc_enc_sign":1,"mpcc_id_a":2.52688622,"mpcc_iq_a":0.194703117,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.69037807,"mpcc_pred_id_a":0.550560594,"mpcc_pred_iq_a":-2.39149022,"mpcc_state":1,"mpcc_theta_e":0.443238258,"mpcc_theta_mech":0.55559361,"sam_rpm":-0.526937604,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280533284,"thr_a_norm":0.0280533284,"thr_a_v":0.612213314,"thr_b":0.00431105494,"thr_b_norm":0.00431105494,"thr_b_v":0.51724422,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.432087,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.371207237,"cg_iw_a":-0.668195724,"cg_theta_rad":0.557582736,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0153308939,"mpcc_du":49.8885765,"mpcc_dv":48.835804,"mpcc_dw":51.164196,"mpcc_enc_sign":1,"mpcc_id_a":2.44063759,"mpcc_iq_a":-0.832781851,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.264922112,"mpcc_pred_id_a":0.80232197,"mpcc_pred_iq_a":-0.185397372,"mpcc_state":1,"mpcc_theta_e":0.44426012,"mpcc_theta_mech":0.555797935,"sam_rpm":-0.321379513,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280910879,"thr_a_norm":0.0280533284,"thr_a_v":0.612364352,"thr_b":0,"thr_b_norm":0.00431105494,"thr_b_v":0.491865426,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.441883,"values":{"cg_iu_a":4.73627377,"cg_iv_a":-1.09608364,"cg_iw_a":-0.015806675,"cg_theta_rad":0.557110012,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0186847281,"mpcc_du":49.4832458,"mpcc_dv":49.7054901,"mpcc_dw":50.5167542,"mpcc_enc_sign":1,"mpcc_id_a":2.7027216,"mpcc_iq_a":-0.455593467,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.2106638,"mpcc_pred_id_a":0.441020995,"mpcc_pred_iq_a":-0.754472792,"mpcc_state":1,"mpcc_theta_e":0.44697094,"mpcc_theta_mech":0.556340098,"sam_rpm":12.6307592,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280910879,"thr_a_norm":0.0280910879,"thr_a_v":0.612364352,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491865426,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.452106,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.89344811,"cg_iw_a":-1.39307237,"cg_theta_rad":0.557095468,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0198126938,"mpcc_du":49.7384453,"mpcc_dv":49.3858261,"mpcc_dw":50.6141739,"mpcc_enc_sign":1,"mpcc_id_a":1.69304693,"mpcc_iq_a":-1.39574933,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.38970077,"mpcc_pred_id_a":-0.165122151,"mpcc_pred_iq_a":-4.44629478,"mpcc_state":1,"mpcc_theta_e":0.440787315,"mpcc_theta_mech":0.555103421,"sam_rpm":-0.487219244,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189139396,"thr_a_norm":0.0189139396,"thr_a_v":0.575655758,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.475117,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.588670254,"cg_iw_a":-1.03063393,"cg_theta_rad":0.555831194,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0232819747,"mpcc_du":49.1932945,"mpcc_dv":47.5726128,"mpcc_dw":52.4273872,"mpcc_enc_sign":1,"mpcc_id_a":2.10567284,"mpcc_iq_a":-0.366159648,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.84724045,"mpcc_pred_id_a":-0.130381912,"mpcc_pred_iq_a":-5.69550276,"mpcc_state":1,"mpcc_theta_e":0.451842785,"mpcc_theta_mech":0.557314515,"sam_rpm":14.537219,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189139396,"thr_a_norm":0.0189139396,"thr_a_v":0.575655758,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.481647,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.38603449,"cg_iw_a":-1.53804779,"cg_theta_rad":0.553360403,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0287484564,"mpcc_du":49.4565773,"mpcc_dv":49.5085945,"mpcc_dw":50.5434227,"mpcc_enc_sign":1,"mpcc_id_a":3.05369735,"mpcc_iq_a":-0.740192771,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.036375,"mpcc_pred_id_a":0.610251248,"mpcc_pred_iq_a":-0.264381766,"mpcc_state":1,"mpcc_theta_e":0.453884602,"mpcc_theta_mech":0.557722807,"sam_rpm":22.2375431,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02592583,"thr_a_norm":0.02592583,"thr_a_v":0.60370332,"thr_b":0.000320449471,"thr_b_norm":0.000320449471,"thr_b_v":0.501281798,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.488148,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.733645439,"cg_iw_a":-2.33541203,"cg_theta_rad":0.559587061,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.00513513479,"mpcc_du":49.8480453,"mpcc_dv":49.3495178,"mpcc_dw":50.6504822,"mpcc_enc_sign":1,"mpcc_id_a":0.71646291,"mpcc_iq_a":-0.236774325,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.20648956,"mpcc_pred_id_a":-0.401941985,"mpcc_pred_iq_a":-3.47338057,"mpcc_state":1,"mpcc_theta_e":0.435751915,"mpcc_theta_mech":0.554086924,"sam_rpm":-9.32033825,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02592583,"thr_a_norm":0.02592583,"thr_a_v":0.60370332,"thr_b":0.000320449471,"thr_b_norm":0.000320449471,"thr_b_v":0.501281798,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.494709,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.82096052,"cg_iw_a":1.21648359,"cg_theta_rad":0.55617851,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0411117561,"mpcc_du":49.5826569,"mpcc_dv":50.0741043,"mpcc_dw":50.4173431,"mpcc_enc_sign":1,"mpcc_id_a":3.11205125,"mpcc_iq_a":0.226523116,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.64716721,"mpcc_pred_id_a":0.0369295478,"mpcc_pred_iq_a":-3.70709038,"mpcc_state":1,"mpcc_theta_e":0.448127747,"mpcc_theta_mech":0.556571424,"sam_rpm":9.61542511,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272602439,"thr_a_norm":0.0272602439,"thr_a_v":0.609040976,"thr_b":0.00113870203,"thr_b_norm":0.00113870203,"thr_b_v":0.504554808,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.505085,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.89344811,"cg_iw_a":-0.160782099,"cg_theta_rad":0.553928852,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0166682135,"mpcc_du":49.8292046,"mpcc_dv":49.0783691,"mpcc_dw":50.9216309,"mpcc_enc_sign":1,"mpcc_id_a":1.24939132,"mpcc_iq_a":-1.85686135,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.92867088,"mpcc_pred_id_a":0.289528966,"mpcc_pred_iq_a":-1.7530601,"mpcc_state":1,"mpcc_theta_e":0.429596901,"mpcc_theta_mech":0.552865326,"sam_rpm":-16.4439602,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166479796,"thr_a_norm":0.0272602439,"thr_a_v":0.566591918,"thr_b":0,"thr_b_norm":0.00113870203,"thr_b_v":0.470968157,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.515064,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.02359605,"cg_iw_a":-1.10312152,"cg_theta_rad":0.557349145,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0539100207,"mpcc_du":50.1733589,"mpcc_dv":48.8064117,"mpcc_dw":51.1935883,"mpcc_enc_sign":1,"mpcc_id_a":1.15160108,"mpcc_iq_a":-0.505603671,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.31836724,"mpcc_pred_id_a":-0.0066714203,"mpcc_pred_iq_a":-3.18138003,"mpcc_state":1,"mpcc_theta_e":0.450220108,"mpcc_theta_mech":0.556989968,"sam_rpm":3.13992739,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166479796,"thr_a_norm":0.0166479796,"thr_a_v":0.566591918,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470968157,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.525227,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.951108456,"cg_iw_a":-0.16078186,"cg_theta_rad":0.555241108,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0129630007,"mpcc_du":50.799511,"mpcc_dv":48.2334938,"mpcc_dw":51.7665062,"mpcc_enc_sign":1,"mpcc_id_a":-0.830835283,"mpcc_iq_a":-1.31610668,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.49983263,"mpcc_pred_id_a":-0.535878479,"mpcc_pred_iq_a":-0.403686315,"mpcc_state":1,"mpcc_theta_e":0.438854218,"mpcc_theta_mech":0.554716766,"sam_rpm":-6.68884659,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160562992,"thr_a_norm":0.0160562992,"thr_a_v":0.564225197,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.536243,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-2.40086174,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.555257082,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0230995696,"mpcc_du":49.0915413,"mpcc_dv":50.9084587,"mpcc_dw":49.9265289,"mpcc_enc_sign":1,"mpcc_id_a":1.142169,"mpcc_iq_a":0.171980858,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.22066307,"mpcc_pred_id_a":0.404264688,"mpcc_pred_iq_a":-3.27510834,"mpcc_state":1,"mpcc_theta_e":0.429341316,"mpcc_theta_mech":0.552814186,"sam_rpm":13.0825825,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160562992,"thr_a_norm":0.0160562992,"thr_a_v":0.564225197,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.545673,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.951108456,"cg_iw_a":-2.04546118,"cg_theta_rad":0.555338383,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0218009166,"mpcc_du":49.8866959,"mpcc_dv":49.1778374,"mpcc_dw":50.8221626,"mpcc_enc_sign":1,"mpcc_id_a":2.09605908,"mpcc_iq_a":-1.2202152,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.59292698,"mpcc_pred_id_a":-0.0799183622,"mpcc_pred_iq_a":-3.67219639,"mpcc_state":1,"mpcc_theta_e":0.442485809,"mpcc_theta_mech":0.555443108,"sam_rpm":-2.50206995,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295010358,"thr_a_norm":0.0295010358,"thr_a_v":0.618004143,"thr_b":0.00232203305,"thr_b_norm":0.00232203305,"thr_b_v":0.509288132,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.55788,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.38603449,"cg_iw_a":-2.33541203,"cg_theta_rad":0.553736687,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0185228828,"mpcc_du":49.9436493,"mpcc_dv":49.2188301,"mpcc_dw":50.7811699,"mpcc_enc_sign":1,"mpcc_id_a":0.708663881,"mpcc_iq_a":-0.756006777,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.28855991,"mpcc_pred_id_a":-0.377460837,"mpcc_pred_iq_a":-2.02913284,"mpcc_state":1,"mpcc_theta_e":0.449903011,"mpcc_theta_mech":0.556926548,"sam_rpm":5.79719687,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0961581469,"thr_a_norm":0.0295010358,"thr_a_v":0.884632587,"thr_b":0.0365129262,"thr_b_norm":0.00232203305,"thr_b_v":0.646051705,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.580677,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.878620625,"cg_iw_a":0.0566806793,"cg_theta_rad":0.554345608,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0265649594,"mpcc_du":50.2750168,"mpcc_dv":48.5894127,"mpcc_dw":51.4105873,"mpcc_enc_sign":1,"mpcc_id_a":2.86059594,"mpcc_iq_a":-0.789658785,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.30780196,"mpcc_pred_id_a":0.192321092,"mpcc_pred_iq_a":-0.538265407,"mpcc_state":1,"mpcc_theta_e":0.440778732,"mpcc_theta_mech":0.555101693,"sam_rpm":-3.71564293,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0961581469,"thr_a_norm":0.0961581469,"thr_a_v":0.884632587,"thr_b":0.0365129262,"thr_b_norm":0.0365129262,"thr_b_v":0.646051705,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.587208,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.733645439,"cg_iw_a":-0.378244877,"cg_theta_rad":0.555173755,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.000410084787,"mpcc_du":50.4319801,"mpcc_dv":48.5772095,"mpcc_dw":51.4227905,"mpcc_enc_sign":1,"mpcc_id_a":-0.108387247,"mpcc_iq_a":-2.4905293,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.221700266,"mpcc_pred_id_a":-0.25741145,"mpcc_pred_iq_a":0.430003464,"mpcc_state":1,"mpcc_theta_e":0.441811562,"mpcc_theta_mech":0.555308223,"sam_rpm":-0.221900985,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283806324,"thr_a_norm":0.0283806324,"thr_a_v":0.61352253,"thr_b":0.00161707401,"thr_b_norm":0.00161707401,"thr_b_v":0.506468296,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.593678,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.588670254,"cg_iw_a":-0.740683079,"cg_theta_rad":0.555304885,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0127513846,"mpcc_du":50.1128998,"mpcc_dv":48.9615974,"mpcc_dw":51.0384026,"mpcc_enc_sign":1,"mpcc_id_a":0.499352276,"mpcc_iq_a":-0.695765734,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.124055035,"mpcc_pred_id_a":-0.2029268,"mpcc_pred_iq_a":-1.8707844,"mpcc_state":1,"mpcc_theta_e":0.443147659,"mpcc_theta_mech":0.55557543,"sam_rpm":0.368766189,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283806324,"thr_a_norm":0.0283806324,"thr_a_v":0.61352253,"thr_b":0.00161707401,"thr_b_norm":0.00161707401,"thr_b_v":0.506468296,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.600269,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.09608364,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.557593048,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0248426385,"mpcc_du":49.5699081,"mpcc_dv":49.4228134,"mpcc_dw":50.5771866,"mpcc_enc_sign":1,"mpcc_id_a":1.88092959,"mpcc_iq_a":-0.65947783,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.143219888,"mpcc_pred_id_a":0.17321603,"mpcc_pred_iq_a":-3.31263161,"mpcc_state":1,"mpcc_theta_e":0.444448948,"mpcc_theta_mech":0.555457652,"sam_rpm":0.91380012,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203616321,"thr_a_norm":0.0203616321,"thr_a_v":0.581446528,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461249709,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.608509,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.38603449,"cg_iw_a":-1.82799816,"cg_theta_rad":0.555989325,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.000237592743,"mpcc_du":49.5635643,"mpcc_dv":49.6987305,"mpcc_dw":50.4364357,"mpcc_enc_sign":1,"mpcc_id_a":0.205002412,"mpcc_iq_a":-1.81055725,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.23708773,"mpcc_pred_id_a":-0.0945448205,"mpcc_pred_iq_a":-2.52773881,"mpcc_state":1,"mpcc_theta_e":0.446623802,"mpcc_theta_mech":0.556270719,"sam_rpm":9.0242672,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246292055,"thr_a_norm":0.0203616321,"thr_a_v":0.598516822,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49080795,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.618488,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-0.951108456,"cg_iw_a":-0.668195724,"cg_theta_rad":0.55415827,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0169534516,"mpcc_du":49.5991859,"mpcc_dv":49.7449265,"mpcc_dw":50.4008141,"mpcc_enc_sign":1,"mpcc_id_a":1.03439438,"mpcc_iq_a":-0.93218708,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.33378386,"mpcc_pred_id_a":-0.247095719,"mpcc_pred_iq_a":-1.40407002,"mpcc_state":1,"mpcc_theta_e":0.431258678,"mpcc_theta_mech":0.553197682,"sam_rpm":-7.08728933,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246292055,"thr_a_norm":0.0246292055,"thr_a_v":0.598516822,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49080795,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.628651,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.02359605,"cg_iw_a":0.419119358,"cg_theta_rad":0.552498639,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0173863526,"mpcc_du":49.6234856,"mpcc_dv":50.3765144,"mpcc_dw":50.3638191,"mpcc_enc_sign":1,"mpcc_id_a":-0.0667829961,"mpcc_iq_a":-1.76198328,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.50837421,"mpcc_pred_id_a":-0.29830423,"mpcc_pred_iq_a":-3.41852331,"mpcc_state":1,"mpcc_theta_e":0.431932926,"mpcc_theta_mech":0.553332508,"sam_rpm":-6.8244524,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184229761,"thr_a_norm":0.0184229761,"thr_a_v":0.573691905,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447956055,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.639484,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.69081235,"cg_iw_a":1.5064342,"cg_theta_rad":0.556371152,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0252741389,"mpcc_du":49.6478577,"mpcc_dv":49.5070763,"mpcc_dw":50.4929237,"mpcc_enc_sign":1,"mpcc_id_a":0.640567601,"mpcc_iq_a":-0.397106797,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.94410801,"mpcc_pred_id_a":-0.172445789,"mpcc_pred_iq_a":-3.1036756,"mpcc_state":1,"mpcc_theta_e":0.449080467,"mpcc_theta_mech":0.55676204,"sam_rpm":11.7718821,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184229761,"thr_a_norm":0.0184229761,"thr_a_v":0.573691905,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447956055,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.650684,"values":{"cg_iu_a":1.18437815,"cg_iv_a":0.933570862,"cg_iw_a":-2.11794901,"cg_theta_rad":0.553026915,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.00455397647,"mpcc_du":48.5187569,"mpcc_dv":51.4812431,"mpcc_dw":49.2195168,"mpcc_enc_sign":1,"mpcc_id_a":0.416822702,"mpcc_iq_a":-0.852340102,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":21.6884441,"mpcc_pred_id_a":0.114051729,"mpcc_pred_iq_a":-5.34916449,"mpcc_state":1,"mpcc_theta_e":0.455799103,"mpcc_theta_mech":0.558105707,"sam_rpm":32.5737305,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295513868,"thr_a_norm":0.0295513868,"thr_a_v":0.618205547,"thr_b":0.00353056192,"thr_b_norm":0.00353056192,"thr_b_v":0.514122248,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.661152,"values":{"cg_iu_a":2.77910662,"cg_iv_a":0.353669643,"cg_iw_a":-0.450732708,"cg_theta_rad":0.553560019,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.000514950603,"mpcc_du":49.6633415,"mpcc_dv":49.5592651,"mpcc_dw":50.4407349,"mpcc_enc_sign":1,"mpcc_id_a":0.272978783,"mpcc_iq_a":-2.24025726,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.6908283,"mpcc_pred_id_a":-0.442937165,"mpcc_pred_iq_a":-5.3262291,"mpcc_state":1,"mpcc_theta_e":0.431223869,"mpcc_theta_mech":0.553190649,"sam_rpm":-12.2171574,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0295513868,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0.00353056192,"thr_b_v":0.446344733,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.684284,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.371207237,"cg_iw_a":0.346632004,"cg_theta_rad":0.556320429,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0168899223,"mpcc_du":49.5667191,"mpcc_dv":49.3890152,"mpcc_dw":50.6109848,"mpcc_enc_sign":1,"mpcc_id_a":2.54797316,"mpcc_iq_a":-1.11308992,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.01215172,"mpcc_pred_id_a":0.345318675,"mpcc_pred_iq_a":-0.592255116,"mpcc_state":1,"mpcc_theta_e":0.443437099,"mpcc_theta_mech":0.555082381,"sam_rpm":6.46246195,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446344733,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.690784,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-2.69081235,"cg_iw_a":-2.40789962,"cg_theta_rad":0.555211842,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.000630716851,"mpcc_du":50.3939095,"mpcc_dv":48.5260277,"mpcc_dw":51.4739723,"mpcc_enc_sign":1,"mpcc_id_a":0.459414929,"mpcc_iq_a":-0.621324778,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.1928062,"mpcc_pred_id_a":-0.239328519,"mpcc_pred_iq_a":-0.532339633,"mpcc_state":1,"mpcc_theta_e":0.43096447,"mpcc_theta_mech":0.553138793,"sam_rpm":-15.8262377,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0354302973,"thr_a_norm":0.0354302973,"thr_a_v":0.641721189,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490656883,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.697346,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.09608364,"cg_iw_a":-2.04546165,"cg_theta_rad":0.5555951,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.00550986361,"mpcc_du":51.0804405,"mpcc_dv":49.583168,"mpcc_dw":50.4636002,"mpcc_enc_sign":1,"mpcc_id_a":-0.207443297,"mpcc_iq_a":-0.683229685,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.7738209,"mpcc_pred_id_a":-0.799259484,"mpcc_pred_iq_a":0.0605674796,"mpcc_state":1,"mpcc_theta_e":0.431135654,"mpcc_theta_mech":0.556422591,"sam_rpm":-20.5556126,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0354302973,"thr_a_norm":0.0354302973,"thr_a_v":0.641721189,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490656883,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.703846,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.0087685585,"cg_iw_a":-1.97297382,"cg_theta_rad":0.55559957,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.00295948866,"mpcc_du":50.9543419,"mpcc_dv":47.8074074,"mpcc_dw":52.1925926,"mpcc_enc_sign":1,"mpcc_id_a":0.214453042,"mpcc_iq_a":-1.15369904,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.8409166,"mpcc_pred_id_a":-0.20487076,"mpcc_pred_iq_a":0.00474913744,"mpcc_state":1,"mpcc_theta_e":0.431137085,"mpcc_theta_mech":0.553173304,"sam_rpm":-21.7421398,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199210346,"thr_a_norm":0.0199210346,"thr_a_v":0.579684138,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483859003,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.714252,"values":{"cg_iu_a":4.15637207,"cg_iv_a":-0.153744221,"cg_iw_a":-4.00262785,"cg_theta_rad":0.552620351,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.00374871818,"mpcc_du":50.5151138,"mpcc_dv":48.3743019,"mpcc_dw":51.6256981,"mpcc_enc_sign":1,"mpcc_id_a":0.263691515,"mpcc_iq_a":-1.87804806,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.51078939,"mpcc_pred_id_a":-0.218543485,"mpcc_pred_iq_a":-1.7271837,"mpcc_state":1,"mpcc_theta_e":0.440562725,"mpcc_theta_mech":0.555058479,"sam_rpm":-11.2024679,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210162401,"thr_a_norm":0.0210162401,"thr_a_v":0.58406496,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476054013,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.724049,"values":{"cg_iu_a":3.72144651,"cg_iv_a":-1.82096052,"cg_iw_a":-1.90048599,"cg_theta_rad":0.555035174,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0556264855,"mpcc_du":49.9906158,"mpcc_dv":49.1422272,"mpcc_dw":50.8577728,"mpcc_enc_sign":1,"mpcc_id_a":-0.781301737,"mpcc_iq_a":-3.36330581,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.1405296,"mpcc_pred_id_a":-0.67104578,"mpcc_pred_iq_a":-1.29902244,"mpcc_state":1,"mpcc_theta_e":0.425590515,"mpcc_theta_mech":0.552064061,"sam_rpm":-18.5370712,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210162401,"thr_a_norm":0.0210162401,"thr_a_v":0.58406496,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476054013,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.734272,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-0.806133032,"cg_iw_a":0.564094543,"cg_theta_rad":0.55651027,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0960503072,"mpcc_du":50.3925591,"mpcc_dv":48.4494667,"mpcc_dw":51.5505333,"mpcc_enc_sign":1,"mpcc_id_a":2.26228237,"mpcc_iq_a":-0.209216982,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.80988216,"mpcc_pred_id_a":0.0658221543,"mpcc_pred_iq_a":-2.23498774,"mpcc_state":1,"mpcc_theta_e":0.451693058,"mpcc_theta_mech":0.557284534,"sam_rpm":7.0565753,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023131147,"thr_a_norm":0.023131147,"thr_a_v":0.592524588,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.744465,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-3.3432014,"cg_iw_a":0.491606951,"cg_theta_rad":0.556005001,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.077541858,"mpcc_du":49.9246063,"mpcc_dv":48.892128,"mpcc_dw":51.107872,"mpcc_enc_sign":1,"mpcc_id_a":2.69482803,"mpcc_iq_a":0.1936699,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.37110567,"mpcc_pred_id_a":0.464791656,"mpcc_pred_iq_a":-2.21945882,"mpcc_state":1,"mpcc_theta_e":0.448609352,"mpcc_theta_mech":0.556667805,"sam_rpm":10.0293732,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0416617095,"thr_a_norm":0.023131147,"thr_a_v":0.666646838,"thr_b":0.0146841258,"thr_b_norm":0,"thr_b_v":0.558736503,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.756245,"values":{"cg_iu_a":0.459501266,"cg_iv_a":0.788595676,"cg_iw_a":-1.97297382,"cg_theta_rad":0.556312799,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0328520723,"mpcc_du":50.2189827,"mpcc_dv":48.330822,"mpcc_dw":51.669178,"mpcc_enc_sign":1,"mpcc_id_a":3.48054767,"mpcc_iq_a":-0.142185539,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.91483212,"mpcc_pred_id_a":0.825781524,"mpcc_pred_iq_a":0.816502869,"mpcc_state":1,"mpcc_theta_e":0.43670845,"mpcc_theta_mech":0.554287612,"sam_rpm":-7.5931859,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0416617095,"thr_a_norm":0.0416617095,"thr_a_v":0.666646838,"thr_b":0.0146841258,"thr_b_norm":0.0146841258,"thr_b_v":0.558736503,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.779438,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-1.6759851,"cg_iw_a":1.36145902,"cg_theta_rad":0.557314515,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.00831162371,"mpcc_du":50.6138954,"mpcc_dv":48.289463,"mpcc_dw":51.710537,"mpcc_enc_sign":1,"mpcc_id_a":1.20043242,"mpcc_iq_a":-1.07694399,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.808936656,"mpcc_pred_id_a":-0.124948472,"mpcc_pred_iq_a":1.34796751,"mpcc_state":1,"mpcc_theta_e":0.444373131,"mpcc_theta_mech":0.555820584,"sam_rpm":1.53825235,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275623649,"thr_a_norm":0.0275623649,"thr_a_v":0.61024946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499519348,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.785999,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.951108456,"cg_iw_a":-1.75551081,"cg_theta_rad":0.556966603,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":1.11844392e-05,"mpcc_du":49.3954659,"mpcc_dv":50.6045341,"mpcc_dw":49.942379,"mpcc_enc_sign":1,"mpcc_id_a":0.0143390102,"mpcc_iq_a":-2.04345918,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.05108404,"mpcc_pred_id_a":-0.702666044,"mpcc_pred_iq_a":-5.98379421,"mpcc_state":1,"mpcc_theta_e":0.446012974,"mpcc_theta_mech":0.556148529,"sam_rpm":5.51337004,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0275623649,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460292965,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.79253,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.6759851,"cg_iw_a":-1.39307261,"cg_theta_rad":0.553485274,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.00320021645,"mpcc_du":51.1808052,"mpcc_dv":47.5105362,"mpcc_dw":52.4894638,"mpcc_enc_sign":1,"mpcc_id_a":0.865675986,"mpcc_iq_a":-0.43238622,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.6698036,"mpcc_pred_id_a":-0.186825529,"mpcc_pred_iq_a":1.31385064,"mpcc_state":1,"mpcc_theta_e":0.42416954,"mpcc_theta_mech":0.551779866,"sam_rpm":-28.9855175,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460292965,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.799061,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.96593571,"cg_iw_a":0.0566811562,"cg_theta_rad":0.55412674,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0227543022,"mpcc_du":50.5884476,"mpcc_dv":48.0151329,"mpcc_dw":51.9848671,"mpcc_enc_sign":1,"mpcc_id_a":2.35711122,"mpcc_iq_a":-1.50892413,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.21243572,"mpcc_pred_id_a":0.353111565,"mpcc_pred_iq_a":-2.68669486,"mpcc_state":1,"mpcc_theta_e":0.45097208,"mpcc_theta_mech":0.557140291,"sam_rpm":12.2961321,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0986003727,"thr_a_norm":0.0986003727,"thr_a_v":0.894401491,"thr_b":0.0402769446,"thr_b_norm":0.0402769446,"thr_b_v":0.661107779,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.809498,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.298719406,"cg_iw_a":-2.19043684,"cg_theta_rad":0.555981398,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.00954223983,"mpcc_du":49.4379463,"mpcc_dv":50.5620537,"mpcc_dw":50.1878319,"mpcc_enc_sign":1,"mpcc_id_a":1.59739661,"mpcc_iq_a":-0.749014258,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.23214817,"mpcc_pred_id_a":-0.182742625,"mpcc_pred_iq_a":-2.26388001,"mpcc_state":1,"mpcc_theta_e":0.440760136,"mpcc_theta_mech":0.555097938,"sam_rpm":9.34020901,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.0986003727,"thr_a_v":0.605818272,"thr_b":0.00277523696,"thr_b_norm":0.0402769446,"thr_b_v":0.511100948,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.819447,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-1.6759851,"cg_iw_a":0.709069967,"cg_theta_rad":0.557643414,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0574703775,"mpcc_du":50.4886894,"mpcc_dv":48.3349686,"mpcc_dw":51.6650314,"mpcc_enc_sign":1,"mpcc_id_a":1.54825664,"mpcc_iq_a":-0.181272075,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.995327175,"mpcc_pred_id_a":0.153574511,"mpcc_pred_iq_a":-1.52404153,"mpcc_state":1,"mpcc_theta_e":0.44732666,"mpcc_theta_mech":0.556411266,"sam_rpm":-0.238107428,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.0264545679,"thr_a_v":0.605818272,"thr_b":0.00277523696,"thr_b_norm":0.00277523696,"thr_b_v":0.511100948,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.829792,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.02359605,"cg_iw_a":-1.53804755,"cg_theta_rad":0.554783404,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0463678837,"mpcc_du":49.5622406,"mpcc_dv":49.5913658,"mpcc_dw":50.4377594,"mpcc_enc_sign":1,"mpcc_id_a":1.26949918,"mpcc_iq_a":-0.430061609,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.22099495,"mpcc_pred_id_a":-0.102395937,"mpcc_pred_iq_a":-4.18307304,"mpcc_state":1,"mpcc_theta_e":0.454907417,"mpcc_theta_mech":0.55792737,"sam_rpm":14.6746912,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023382917,"thr_a_norm":0.023382917,"thr_a_v":0.593531668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470061809,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.839436,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.733645439,"cg_iw_a":-2.55287504,"cg_theta_rad":0.553916693,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.00178330822,"mpcc_du":49.392601,"mpcc_dv":50.607399,"mpcc_dw":50.0311508,"mpcc_enc_sign":1,"mpcc_id_a":-0.224846944,"mpcc_iq_a":-1.69800496,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.0444965,"mpcc_pred_id_a":-0.469503254,"mpcc_pred_iq_a":-2.78053069,"mpcc_state":1,"mpcc_theta_e":0.447467327,"mpcc_theta_mech":0.5564394,"sam_rpm":17.1090736,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023382917,"thr_a_norm":0.023382917,"thr_a_v":0.593531668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470061809,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.849628,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-2.47334933,"cg_iw_a":-0.23326993,"cg_theta_rad":0.555456042,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0137613332,"mpcc_du":49.5180588,"mpcc_dv":49.7671547,"mpcc_dw":50.4819412,"mpcc_enc_sign":1,"mpcc_id_a":1.39463472,"mpcc_iq_a":0.177103862,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.01832581,"mpcc_pred_id_a":0.138406232,"mpcc_pred_iq_a":-2.43429446,"mpcc_state":1,"mpcc_theta_e":0.442625523,"mpcc_theta_mech":0.555471003,"sam_rpm":8.23550797,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226653665,"thr_a_norm":0.0226653665,"thr_a_v":0.590661466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481341243,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.860035,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.443694592,"cg_iw_a":-1.39307261,"cg_theta_rad":0.555814147,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0763023123,"mpcc_du":50.3645134,"mpcc_dv":48.4737778,"mpcc_dw":51.5262222,"mpcc_enc_sign":1,"mpcc_id_a":2.01465964,"mpcc_iq_a":-0.886201739,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.36254168,"mpcc_pred_id_a":0.224373534,"mpcc_pred_iq_a":-1.96847641,"mpcc_state":1,"mpcc_theta_e":0.454289913,"mpcc_theta_mech":0.558825552,"sam_rpm":9.60675812,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245410949,"thr_a_norm":0.0226653665,"thr_a_v":0.59816438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486276031,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.882893,"values":{"cg_iu_a":3.79393435,"cg_iv_a":-1.96593571,"cg_iw_a":-1.82799864,"cg_theta_rad":0.552352667,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.00232366123,"mpcc_du":49.5771637,"mpcc_dv":50.4228363,"mpcc_dw":50.1376419,"mpcc_enc_sign":1,"mpcc_id_a":0.560267806,"mpcc_iq_a":-0.398923784,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.71107197,"mpcc_pred_id_a":-0.766208887,"mpcc_pred_iq_a":-4.7060132,"mpcc_state":1,"mpcc_theta_e":0.441178799,"mpcc_theta_mech":0.555181682,"sam_rpm":1.65694439,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245410949,"thr_a_norm":0.0245410949,"thr_a_v":0.59816438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486276031,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.889393,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-3.12573838,"cg_iw_a":0.781557798,"cg_theta_rad":0.555242062,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0141954208,"mpcc_du":49.3098145,"mpcc_dv":50.6901855,"mpcc_dw":50.0738182,"mpcc_enc_sign":1,"mpcc_id_a":2.37021637,"mpcc_iq_a":-0.801925123,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.6813173,"mpcc_pred_id_a":0.0312621444,"mpcc_pred_iq_a":-2.03830934,"mpcc_state":1,"mpcc_theta_e":0.428399563,"mpcc_theta_mech":0.552625835,"sam_rpm":9.44194889,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021494627,"thr_a_norm":0.021494627,"thr_a_v":0.585978508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472932041,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.895863,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.74847269,"cg_iw_a":-1.17560959,"cg_theta_rad":0.556966305,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0195952617,"mpcc_du":50.5114136,"mpcc_dv":48.2044106,"mpcc_dw":51.7955894,"mpcc_enc_sign":1,"mpcc_id_a":2.4308176,"mpcc_iq_a":-2.40515924,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.161191,"mpcc_pred_id_a":0.34976396,"mpcc_pred_iq_a":0.289904982,"mpcc_state":1,"mpcc_theta_e":0.431591034,"mpcc_theta_mech":0.553264141,"sam_rpm":-17.1115761,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021494627,"thr_a_norm":0.021494627,"thr_a_v":0.585978508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472932041,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.902668,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.878620625,"cg_iw_a":-0.523220539,"cg_theta_rad":0.555315673,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.00353325461,"mpcc_du":50.3344383,"mpcc_dv":48.5548363,"mpcc_dw":51.4451637,"mpcc_enc_sign":1,"mpcc_id_a":1.1309216,"mpcc_iq_a":-1.58174133,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.77135944,"mpcc_pred_id_a":-0.0506107472,"mpcc_pred_iq_a":-1.71668804,"mpcc_state":1,"mpcc_theta_e":0.434614182,"mpcc_theta_mech":0.553868711,"sam_rpm":-14.8053522,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024390012,"thr_a_norm":0.024390012,"thr_a_v":0.597560048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482348382,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.914845,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.0087685585,"cg_iw_a":-1.46556044,"cg_theta_rad":0.556497216,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0540915094,"mpcc_du":49.8737297,"mpcc_dv":49.0436554,"mpcc_dw":51.96875,"mpcc_enc_sign":1,"mpcc_id_a":1.86495888,"mpcc_iq_a":-0.53104955,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.16476059,"mpcc_pred_id_a":0.299945623,"mpcc_pred_iq_a":-3.29507351,"mpcc_state":1,"mpcc_theta_e":0.45306778,"mpcc_theta_mech":0.557010174,"sam_rpm":8.55532265,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0307473093,"thr_a_norm":0.024390012,"thr_a_v":0.622989237,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466889441,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.926838,"values":{"cg_iu_a":1.69179153,"cg_iv_a":0.426157475,"cg_iw_a":-1.90048599,"cg_theta_rad":0.55712539,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.00535968971,"mpcc_du":49.5887413,"mpcc_dv":50.3237381,"mpcc_dw":50.4112587,"mpcc_enc_sign":1,"mpcc_id_a":0.869494736,"mpcc_iq_a":-0.0882288069,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.9841833,"mpcc_pred_id_a":-0.0448924266,"mpcc_pred_iq_a":-1.29640043,"mpcc_state":1,"mpcc_theta_e":0.447886944,"mpcc_theta_mech":0.556523323,"sam_rpm":20.4791603,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0307473093,"thr_a_norm":0.0307473093,"thr_a_v":0.622989237,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466889441,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.937031,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.661157608,"cg_iw_a":-0.160782337,"cg_theta_rad":0.557041109,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0409980975,"mpcc_du":49.3998299,"mpcc_dv":49.4753036,"mpcc_dw":50.6001701,"mpcc_enc_sign":1,"mpcc_id_a":3.66141748,"mpcc_iq_a":0.639434338,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.38654613,"mpcc_pred_id_a":0.710374177,"mpcc_pred_iq_a":-0.575178564,"mpcc_state":1,"mpcc_theta_e":0.426424503,"mpcc_theta_mech":0.552230835,"sam_rpm":-11.9053555,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269203484,"thr_a_norm":0.0269203484,"thr_a_v":0.607681394,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.947437,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.16857147,"cg_iw_a":0.274144173,"cg_theta_rad":0.556393325,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905,"hz_adc_isr":5019,"hz_app_loop":369,"hz_tim_isr":10037,"hz_vsense":369,"mpcc_cost":0.0451343991,"mpcc_du":49.7423363,"mpcc_dv":49.0879402,"mpcc_dw":50.9120598,"mpcc_enc_sign":1,"mpcc_id_a":2.36250567,"mpcc_iq_a":-0.998691618,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.15392208,"mpcc_pred_id_a":0.458177477,"mpcc_pred_iq_a":-3.99182892,"mpcc_state":1,"mpcc_theta_e":0.450498104,"mpcc_theta_mech":0.557045519,"sam_rpm":3.70249176,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192915946,"thr_a_norm":0.0269203484,"thr_a_v":0.577166378,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465832025,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.958027,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.09608364,"cg_iw_a":0.419119358,"cg_theta_rad":0.55627811,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0598032698,"mpcc_du":50.2985535,"mpcc_dv":48.3957329,"mpcc_dw":51.6042671,"mpcc_enc_sign":1,"mpcc_id_a":2.84861016,"mpcc_iq_a":-0.130124763,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.70927143,"mpcc_pred_id_a":0.452246457,"mpcc_pred_iq_a":-2.57456088,"mpcc_state":1,"mpcc_theta_e":0.438700676,"mpcc_theta_mech":0.554686069,"sam_rpm":-9.69739056,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192915946,"thr_a_norm":0.0192915946,"thr_a_v":0.577166378,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465832025,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.968037,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-2.11091113,"cg_iw_a":-0.45073247,"cg_theta_rad":0.556172967,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0255888049,"mpcc_du":49.9355583,"mpcc_dv":48.9869308,"mpcc_dw":51.0130692,"mpcc_enc_sign":1,"mpcc_id_a":2.2564342,"mpcc_iq_a":-1.21872163,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.71353865,"mpcc_pred_id_a":0.228448376,"mpcc_pred_iq_a":-1.6038568,"mpcc_state":1,"mpcc_theta_e":0.447827339,"mpcc_theta_mech":0.556511343,"sam_rpm":7.94340515,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024087891,"thr_a_norm":0.024087891,"thr_a_v":0.596351564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473536283,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.991047,"values":{"cg_iu_a":4.15637207,"cg_iv_a":-0.951108456,"cg_iw_a":-3.20526361,"cg_theta_rad":0.556697726,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0162156299,"mpcc_du":50.9117508,"mpcc_dv":47.8549652,"mpcc_dw":52.1450348,"mpcc_enc_sign":1,"mpcc_id_a":2.20825577,"mpcc_iq_a":-0.465212137,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.1538448,"mpcc_pred_id_a":-0.0241673961,"mpcc_pred_iq_a":1.48123097,"mpcc_state":1,"mpcc_theta_e":0.433898449,"mpcc_theta_mech":0.5537256,"sam_rpm":-14.8663502,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024087891,"thr_a_norm":0.024087891,"thr_a_v":0.596351564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473536283,"vdc_v":55.2955055}} +{"type":"telemetry","t":45.997547,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.516182423,"cg_iw_a":-2.48038721,"cg_theta_rad":0.556831002,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.000694643881,"mpcc_du":50.6285133,"mpcc_dv":48.233696,"mpcc_dw":51.766304,"mpcc_enc_sign":1,"mpcc_id_a":0.177575082,"mpcc_iq_a":-0.719829977,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.6536617,"mpcc_pred_id_a":-0.200368866,"mpcc_pred_iq_a":0.401003897,"mpcc_state":1,"mpcc_theta_e":0.426584721,"mpcc_theta_mech":0.552262902,"sam_rpm":-22.1984234,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241256505,"thr_a_norm":0.0241256505,"thr_a_v":0.596502602,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476154745,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.004108,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.16857147,"cg_iw_a":-0.958146095,"cg_theta_rad":0.556886673,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0148695549,"mpcc_du":50.5891571,"mpcc_dv":48.1285057,"mpcc_dw":51.8714943,"mpcc_enc_sign":1,"mpcc_id_a":2.15606737,"mpcc_iq_a":0.116884522,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.62378979,"mpcc_pred_id_a":0.20575285,"mpcc_pred_iq_a":1.26565671,"mpcc_state":1,"mpcc_theta_e":0.431798935,"mpcc_theta_mech":0.553305686,"sam_rpm":-13.1356764,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241256505,"thr_a_norm":0.0241256505,"thr_a_v":0.596502602,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476154745,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.01067,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.38603449,"cg_iw_a":-0.81317091,"cg_theta_rad":0.555507898,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.00733828545,"mpcc_du":49.1185875,"mpcc_dv":50.8814125,"mpcc_dw":49.7351036,"mpcc_enc_sign":1,"mpcc_id_a":1.33180463,"mpcc_iq_a":-1.79994237,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.89990091,"mpcc_pred_id_a":-0.384777099,"mpcc_pred_iq_a":-6.91354227,"mpcc_state":1,"mpcc_theta_e":0.449625492,"mpcc_theta_mech":0.556871057,"sam_rpm":11.5046339,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170633942,"thr_a_norm":0.0170633942,"thr_a_v":0.568253577,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440553904,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.022022,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-1.45852208,"cg_iw_a":1.57892203,"cg_theta_rad":0.557463408,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0134537481,"mpcc_du":49.8496017,"mpcc_dv":49.2651062,"mpcc_dw":50.7348938,"mpcc_enc_sign":1,"mpcc_id_a":0.233451158,"mpcc_iq_a":-1.44368958,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.19143355,"mpcc_pred_id_a":-0.214042008,"mpcc_pred_iq_a":0.677853882,"mpcc_state":1,"mpcc_theta_e":0.436523914,"mpcc_theta_mech":0.554796517,"sam_rpm":0.151878238,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022174418,"thr_a_norm":0.0170633942,"thr_a_v":0.588697672,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478722841,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.033009,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.38603449,"cg_iw_a":-1.17560935,"cg_theta_rad":0.555004537,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0115374802,"mpcc_du":50.0091667,"mpcc_dv":48.926754,"mpcc_dw":51.073246,"mpcc_enc_sign":1,"mpcc_id_a":1.96755278,"mpcc_iq_a":-0.985688806,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.434309,"mpcc_pred_id_a":0.112477131,"mpcc_pred_iq_a":-1.50308919,"mpcc_state":1,"mpcc_theta_e":0.428228378,"mpcc_theta_mech":0.552591622,"sam_rpm":-16.7056122,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022174418,"thr_a_norm":0.022174418,"thr_a_v":0.588697672,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478722841,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.043232,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.6759851,"cg_iw_a":-1.10312152,"cg_theta_rad":0.555188894,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.00326573779,"mpcc_du":49.6046715,"mpcc_dv":50.3953285,"mpcc_dw":50.3908806,"mpcc_enc_sign":1,"mpcc_id_a":1.14237559,"mpcc_iq_a":-1.8793205,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.41442129,"mpcc_pred_id_a":0.0197704062,"mpcc_pred_iq_a":-0.469182074,"mpcc_state":1,"mpcc_theta_e":0.442248344,"mpcc_theta_mech":0.555395544,"sam_rpm":9.12504864,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022048533,"thr_a_norm":0.022048533,"thr_a_v":0.588194132,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469256133,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.052876,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-2.54583716,"cg_iw_a":0.709069967,"cg_theta_rad":0.553178728,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.00328744249,"mpcc_du":49.5715981,"mpcc_dv":50.4284019,"mpcc_dw":50.1571312,"mpcc_enc_sign":1,"mpcc_id_a":0.594155967,"mpcc_iq_a":0.194605172,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.2805367,"mpcc_pred_id_a":-0.0593358763,"mpcc_pred_iq_a":-2.6446321,"mpcc_state":1,"mpcc_theta_e":0.431705475,"mpcc_theta_mech":0.553287029,"sam_rpm":-24.7522526,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022048533,"thr_a_norm":0.022048533,"thr_a_v":0.588194132,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469256133,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.063038,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.31354666,"cg_iw_a":0.419119358,"cg_theta_rad":0.557115436,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0163193457,"mpcc_du":49.9622231,"mpcc_dv":49.9355087,"mpcc_dw":50.52248,"mpcc_enc_sign":1,"mpcc_id_a":2.31668639,"mpcc_iq_a":-0.749313533,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.39672232,"mpcc_pred_id_a":0.575765371,"mpcc_pred_iq_a":-2.10834193,"mpcc_state":1,"mpcc_theta_e":0.435112953,"mpcc_theta_mech":0.553968489,"sam_rpm":-11.3689585,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024062708,"thr_a_norm":0.024062708,"thr_a_v":0.596250832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.086445,"values":{"cg_iu_a":0.821939945,"cg_iv_a":0.0637187958,"cg_iw_a":-0.885658741,"cg_theta_rad":0.552677929,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.01418088,"mpcc_du":49.6837158,"mpcc_dv":49.3425407,"mpcc_dw":50.6574593,"mpcc_enc_sign":1,"mpcc_id_a":2.05675101,"mpcc_iq_a":-1.3013531,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.270497799,"mpcc_pred_id_a":0.128217593,"mpcc_pred_iq_a":-3.20683622,"mpcc_state":1,"mpcc_theta_e":0.445156574,"mpcc_theta_mech":0.555977225,"sam_rpm":0.240305558,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0308228284,"thr_a_norm":0.024062708,"thr_a_v":0.623291314,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486477464,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.092976,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.89344811,"cg_iw_a":-1.03063416,"cg_theta_rad":0.553125799,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.00623570709,"mpcc_du":50.6696167,"mpcc_dv":48.3349152,"mpcc_dw":51.6650848,"mpcc_enc_sign":1,"mpcc_id_a":0.910354853,"mpcc_iq_a":-1.02105939,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.91505003,"mpcc_pred_id_a":-0.375967175,"mpcc_pred_iq_a":0.0570522398,"mpcc_state":1,"mpcc_theta_e":0.436861515,"mpcc_theta_mech":0.55431819,"sam_rpm":-8.79373741,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0308228284,"thr_a_norm":0.0308228284,"thr_a_v":0.623291314,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486477464,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.099506,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-2.90827537,"cg_iw_a":-0.23326993,"cg_theta_rad":0.556018412,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0536068715,"mpcc_du":49.4844666,"mpcc_dv":50.0229988,"mpcc_dw":50.5155334,"mpcc_enc_sign":1,"mpcc_id_a":3.41739058,"mpcc_iq_a":-1.15250885,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.4199972,"mpcc_pred_id_a":0.568062603,"mpcc_pred_iq_a":-4.02134323,"mpcc_state":1,"mpcc_theta_e":0.45440197,"mpcc_theta_mech":0.55782634,"sam_rpm":18.2050095,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0124937147,"thr_a_norm":0.0124937147,"thr_a_v":0.549974859,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446999311,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.106251,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.371207237,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556340814,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.00181578088,"mpcc_du":50.7803535,"mpcc_dv":48.0248184,"mpcc_dw":51.9751816,"mpcc_enc_sign":1,"mpcc_id_a":0.612039685,"mpcc_iq_a":-1.33433068,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.0675383,"mpcc_pred_id_a":-0.0867270157,"mpcc_pred_iq_a":-0.153114706,"mpcc_state":1,"mpcc_theta_e":0.429294109,"mpcc_theta_mech":0.552804708,"sam_rpm":-20.5011063,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0132867992,"thr_a_norm":0.0124937147,"thr_a_v":0.553147197,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450373083,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.116413,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-1.38603449,"cg_iw_a":-1.68302321,"cg_theta_rad":0.554403245,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0188327767,"mpcc_du":49.5695801,"mpcc_dv":50.2522812,"mpcc_dw":50.4304199,"mpcc_enc_sign":1,"mpcc_id_a":2.44091368,"mpcc_iq_a":-0.332780778,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.78817081,"mpcc_pred_id_a":0.0470071808,"mpcc_pred_iq_a":-2.54514599,"mpcc_state":1,"mpcc_theta_e":0.448000908,"mpcc_theta_mech":0.556546092,"sam_rpm":13.3556681,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0132867992,"thr_a_norm":0.0132867992,"thr_a_v":0.553147197,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450373083,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.126392,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-2.11091113,"cg_iw_a":0.854045153,"cg_theta_rad":0.553163707,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0863292292,"mpcc_du":50.7931061,"mpcc_dv":47.7444611,"mpcc_dw":52.2555389,"mpcc_enc_sign":1,"mpcc_id_a":2.47881651,"mpcc_iq_a":1.28669918,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.65400648,"mpcc_pred_id_a":0.688224435,"mpcc_pred_iq_a":0.503988683,"mpcc_state":1,"mpcc_theta_e":0.441290379,"mpcc_theta_mech":0.555203974,"sam_rpm":-7.41331673,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275623649,"thr_a_norm":0.0275623649,"thr_a_v":0.61024946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49634698,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.136463,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.516182423,"cg_iw_a":0.12916851,"cg_theta_rad":0.55482018,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0466209203,"mpcc_du":49.4630051,"mpcc_dv":49.8276176,"mpcc_dw":50.5369949,"mpcc_enc_sign":1,"mpcc_id_a":3.09340143,"mpcc_iq_a":-2.34917331,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.29699826,"mpcc_pred_id_a":0.498729408,"mpcc_pred_iq_a":-2.2446785,"mpcc_state":1,"mpcc_theta_e":0.43337965,"mpcc_theta_mech":0.553621829,"sam_rpm":-6.44902563,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275623649,"thr_a_norm":0.0275623649,"thr_a_v":0.61024946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49634698,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.146656,"values":{"cg_iu_a":1.76427937,"cg_iv_a":0.716107845,"cg_iw_a":-3.64019012,"cg_theta_rad":0.556129873,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.00952158961,"mpcc_du":50.2974129,"mpcc_dv":48.8561325,"mpcc_dw":51.1438675,"mpcc_enc_sign":1,"mpcc_id_a":0.160381213,"mpcc_iq_a":-2.83309412,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.029624,"mpcc_pred_id_a":-0.638147473,"mpcc_pred_iq_a":-2.25268078,"mpcc_state":1,"mpcc_theta_e":0.431012154,"mpcc_theta_mech":0.553148389,"sam_rpm":-19.3467312,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210540146,"thr_a_norm":0.0210540146,"thr_a_v":0.584216058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468097955,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.157032,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-2.54583716,"cg_iw_a":0.274143934,"cg_theta_rad":0.554201007,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0429026,"mpcc_du":49.6538429,"mpcc_dv":49.3692322,"mpcc_dw":50.6307678,"mpcc_enc_sign":1,"mpcc_id_a":2.45667219,"mpcc_iq_a":-0.784219384,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.62604809,"mpcc_pred_id_a":0.124804713,"mpcc_pred_iq_a":-0.210567161,"mpcc_state":1,"mpcc_theta_e":0.424428463,"mpcc_theta_mech":0.551831603,"sam_rpm":-14.8815069,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180579126,"thr_a_norm":0.0210540146,"thr_a_v":0.57223165,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452890843,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.166828,"values":{"cg_iu_a":4.37383556,"cg_iv_a":-0.153744221,"cg_iw_a":-1.53804779,"cg_theta_rad":0.55405277,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0182405189,"mpcc_du":49.5037766,"mpcc_dv":49.7284813,"mpcc_dw":50.4962234,"mpcc_enc_sign":1,"mpcc_id_a":2.69470048,"mpcc_iq_a":-0.283146769,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.38986814,"mpcc_pred_id_a":0.33319065,"mpcc_pred_iq_a":-1.51637125,"mpcc_state":1,"mpcc_theta_e":0.436612606,"mpcc_theta_mech":0.55426842,"sam_rpm":1.56213689,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180579126,"thr_a_norm":0.0180579126,"thr_a_v":0.57223165,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452890843,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.189991,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.16857147,"cg_iw_a":-0.378244877,"cg_theta_rad":0.556200504,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.00413866946,"mpcc_du":49.6909676,"mpcc_dv":49.4748268,"mpcc_dw":50.5251732,"mpcc_enc_sign":1,"mpcc_id_a":0.777686894,"mpcc_iq_a":-1.47074604,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.14010906,"mpcc_pred_id_a":-0.158750951,"mpcc_pred_iq_a":-3.41044974,"mpcc_state":1,"mpcc_theta_e":0.439291,"mpcc_theta_mech":0.554804087,"sam_rpm":1.30589068,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172018856,"thr_a_norm":0.0172018856,"thr_a_v":0.568807542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.436726958,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.196552,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.38603449,"cg_iw_a":-0.958146095,"cg_theta_rad":0.550812602,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0028144333,"mpcc_du":49.9586143,"mpcc_dv":49.0885849,"mpcc_dw":50.9114151,"mpcc_enc_sign":1,"mpcc_id_a":0.0718165189,"mpcc_iq_a":-1.74804044,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.66613102,"mpcc_pred_id_a":-0.0622329824,"mpcc_pred_iq_a":-0.815015435,"mpcc_state":1,"mpcc_theta_e":0.448014736,"mpcc_theta_mech":0.556548893,"sam_rpm":10.2649107,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0318425298,"thr_a_norm":0.0172018856,"thr_a_v":0.627370119,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483707935,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.203114,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.31354666,"cg_iw_a":0.709069729,"cg_theta_rad":0.555598855,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0195347853,"mpcc_du":50.6644135,"mpcc_dv":48.2338791,"mpcc_dw":51.7661209,"mpcc_enc_sign":1,"mpcc_id_a":-0.189285278,"mpcc_iq_a":-3.5935607,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.1062479,"mpcc_pred_id_a":-0.251204312,"mpcc_pred_iq_a":0.609971642,"mpcc_state":1,"mpcc_theta_e":0.431003571,"mpcc_theta_mech":0.553146601,"sam_rpm":-17.1647587,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0318425298,"thr_a_norm":0.0318425298,"thr_a_v":0.627370119,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483707935,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.211628,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.443694592,"cg_iw_a":-0.015806675,"cg_theta_rad":0.555782855,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.015856402,"mpcc_du":50.233139,"mpcc_dv":48.7515717,"mpcc_dw":51.2484283,"mpcc_enc_sign":1,"mpcc_id_a":1.36260593,"mpcc_iq_a":-1.57555306,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.47077727,"mpcc_pred_id_a":-0.0862300619,"mpcc_pred_iq_a":-1.27959752,"mpcc_state":1,"mpcc_theta_e":0.446369648,"mpcc_theta_mech":0.556219816,"sam_rpm":4.33631229,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226401836,"thr_a_norm":0.0226401836,"thr_a_v":0.590560734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481240541,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.221821,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-2.40086174,"cg_iw_a":1.86887264,"cg_theta_rad":0.553903699,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0201419126,"mpcc_du":50.0098381,"mpcc_dv":48.7803917,"mpcc_dw":51.2196083,"mpcc_enc_sign":1,"mpcc_id_a":2.82037616,"mpcc_iq_a":-0.691019595,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.4151268,"mpcc_pred_id_a":0.306203753,"mpcc_pred_iq_a":-1.62706947,"mpcc_state":1,"mpcc_theta_e":0.430176735,"mpcc_theta_mech":0.552981257,"sam_rpm":-18.0343113,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163836032,"thr_a_norm":0.0226401836,"thr_a_v":0.565534413,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476809323,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.2318,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.226231575,"cg_iw_a":-0.740683556,"cg_theta_rad":0.553148389,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0559281781,"mpcc_du":49.5336914,"mpcc_dv":49.4072304,"mpcc_dw":50.5927696,"mpcc_enc_sign":1,"mpcc_id_a":1.93776417,"mpcc_iq_a":0.787792027,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.1903448,"mpcc_pred_id_a":0.218623593,"mpcc_pred_iq_a":-2.10652685,"mpcc_state":1,"mpcc_theta_e":0.45022583,"mpcc_theta_mech":0.556991041,"sam_rpm":16.6270885,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163836032,"thr_a_norm":0.0163836032,"thr_a_v":0.565534413,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476809323,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.242023,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.96593571,"cg_iw_a":-0.233269691,"cg_theta_rad":0.553680956,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0139070647,"mpcc_du":49.3287468,"mpcc_dv":50.6712532,"mpcc_dw":50.2137833,"mpcc_enc_sign":1,"mpcc_id_a":2.19312167,"mpcc_iq_a":-0.845458567,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.53867292,"mpcc_pred_id_a":0.188059762,"mpcc_pred_iq_a":-3.53544331,"mpcc_state":1,"mpcc_theta_e":0.440963745,"mpcc_theta_mech":0.555138648,"sam_rpm":5.57162333,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170382112,"thr_a_norm":0.0170382112,"thr_a_v":0.568152845,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444733351,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.25182,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":-1.38603449,"cg_iw_a":0.346631527,"cg_theta_rad":0.556233823,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.00447996147,"mpcc_du":50.4533348,"mpcc_dv":48.4488525,"mpcc_dw":51.5511475,"mpcc_enc_sign":1,"mpcc_id_a":-0.150021672,"mpcc_iq_a":-2.64372754,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.4099598,"mpcc_pred_id_a":-0.23965849,"mpcc_pred_iq_a":-1.20309615,"mpcc_state":1,"mpcc_theta_e":0.430481434,"mpcc_theta_mech":0.553042233,"sam_rpm":-19.0155354,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170382112,"thr_a_norm":0.0170382112,"thr_a_v":0.568152845,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444733351,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.262012,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-1.45852208,"cg_iw_a":1.36145902,"cg_theta_rad":0.556458712,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0223207269,"mpcc_du":49.7390366,"mpcc_dv":49.1410713,"mpcc_dw":50.8589287,"mpcc_enc_sign":1,"mpcc_id_a":2.26803231,"mpcc_iq_a":-1.19699931,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.08478642,"mpcc_pred_id_a":0.167833641,"mpcc_pred_iq_a":-2.196383,"mpcc_state":1,"mpcc_theta_e":0.438225269,"mpcc_theta_mech":0.55459094,"sam_rpm":8.1349268,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195056051,"thr_a_norm":0.0195056051,"thr_a_v":0.57802242,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472932041,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.272388,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.661157608,"cg_iw_a":0.926533222,"cg_theta_rad":0.557284534,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0406672098,"mpcc_du":50.6632385,"mpcc_dv":48.1088943,"mpcc_dw":51.8911057,"mpcc_enc_sign":1,"mpcc_id_a":1.74882519,"mpcc_iq_a":-1.10566795,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.39850473,"mpcc_pred_id_a":0.12958771,"mpcc_pred_iq_a":-1.37076211,"mpcc_state":1,"mpcc_theta_e":0.444099903,"mpcc_theta_mech":0.555765867,"sam_rpm":-5.33833838,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201098621,"thr_a_norm":0.0195056051,"thr_a_v":0.580439448,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458329111,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.295277,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.516182423,"cg_iw_a":-2.48038721,"cg_theta_rad":0.556437612,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.00126759696,"mpcc_du":49.6680717,"mpcc_dv":50.2412834,"mpcc_dw":50.3319283,"mpcc_enc_sign":1,"mpcc_id_a":-0.524511337,"mpcc_iq_a":-2.66709805,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.05059218,"mpcc_pred_id_a":-0.604988873,"mpcc_pred_iq_a":-5.52927494,"mpcc_state":1,"mpcc_theta_e":0.445881367,"mpcc_theta_mech":0.556122184,"sam_rpm":4.94614649,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201098621,"thr_a_norm":0.0201098621,"thr_a_v":0.580439448,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458329111,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.301777,"values":{"cg_iu_a":4.44632339,"cg_iv_a":-1.02359605,"cg_iw_a":-3.42272735,"cg_theta_rad":0.554542065,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0103275282,"mpcc_du":50.5224037,"mpcc_dv":48.149807,"mpcc_dw":51.850193,"mpcc_enc_sign":1,"mpcc_id_a":2.03234148,"mpcc_iq_a":-0.311977774,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.2332268,"mpcc_pred_id_a":0.207303002,"mpcc_pred_iq_a":-0.533169448,"mpcc_state":1,"mpcc_theta_e":0.422158241,"mpcc_theta_mech":0.551377594,"sam_rpm":-29.2473984,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021670863,"thr_a_norm":0.021670863,"thr_a_v":0.586683452,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469306499,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.308247,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.806133032,"cg_iw_a":-1.17560911,"cg_theta_rad":0.5567168,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0103153586,"mpcc_du":49.5340805,"mpcc_dv":50.16539,"mpcc_dw":50.4659195,"mpcc_enc_sign":1,"mpcc_id_a":2.00348568,"mpcc_iq_a":-2.40630198,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.7933512,"mpcc_pred_id_a":0.0808379352,"mpcc_pred_iq_a":-2.11258626,"mpcc_state":1,"mpcc_theta_e":0.450697899,"mpcc_theta_mech":0.557085514,"sam_rpm":18.8526573,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021670863,"thr_a_norm":0.021670863,"thr_a_v":0.586683452,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469306499,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.314808,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.09608364,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556633174,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0127510773,"mpcc_du":49.5986366,"mpcc_dv":49.8594589,"mpcc_dw":50.4013634,"mpcc_enc_sign":1,"mpcc_id_a":-0.144833252,"mpcc_iq_a":-0.52918905,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.73641467,"mpcc_pred_id_a":-0.40328455,"mpcc_pred_iq_a":-4.4970789,"mpcc_state":1,"mpcc_theta_e":0.444995403,"mpcc_theta_mech":0.555944979,"sam_rpm":4.04799891,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.023231864,"thr_a_v":0.592927456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495188832,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.323017,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.09608364,"cg_iw_a":-1.39307261,"cg_theta_rad":0.555474758,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.00840286445,"mpcc_du":50.5355072,"mpcc_dv":48.4072266,"mpcc_dw":51.5927734,"mpcc_enc_sign":1,"mpcc_id_a":1.2961998,"mpcc_iq_a":-1.2139281,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.6857183,"mpcc_pred_id_a":-0.267686218,"mpcc_pred_iq_a":1.08006597,"mpcc_state":1,"mpcc_theta_e":0.443669319,"mpcc_theta_mech":0.555679798,"sam_rpm":2.90715861,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257118344,"thr_a_norm":0.023231864,"thr_a_v":0.602847338,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492469668,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.33321,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.878620625,"cg_iw_a":-1.82799864,"cg_theta_rad":0.553211212,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0250773039,"mpcc_du":50.3827515,"mpcc_dv":48.6843033,"mpcc_dw":51.3156967,"mpcc_enc_sign":1,"mpcc_id_a":-0.561931193,"mpcc_iq_a":-1.0722326,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.22661614,"mpcc_pred_id_a":-0.586697757,"mpcc_pred_iq_a":-2.87164783,"mpcc_state":1,"mpcc_theta_e":0.443133354,"mpcc_theta_mech":0.555572569,"sam_rpm":-4.33218718,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257118344,"thr_a_norm":0.0257118344,"thr_a_v":0.602847338,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492469668,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.34322,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.951108456,"cg_iw_a":-1.53804779,"cg_theta_rad":0.557219863,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0308181737,"mpcc_du":49.1834564,"mpcc_dv":50.8165436,"mpcc_dw":50.2472954,"mpcc_enc_sign":1,"mpcc_id_a":2.96783423,"mpcc_iq_a":-0.0250809751,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.68047762,"mpcc_pred_id_a":0.770473838,"mpcc_pred_iq_a":-3.31291819,"mpcc_state":1,"mpcc_theta_e":0.431230068,"mpcc_theta_mech":0.5531919,"sam_rpm":11.0592756,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459739089,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.35323,"values":{"cg_iu_a":0.531989098,"cg_iv_a":0.136206627,"cg_iw_a":-0.668195724,"cg_theta_rad":0.55667454,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.00948385615,"mpcc_du":49.3074913,"mpcc_dv":50.6925087,"mpcc_dw":50.0868874,"mpcc_enc_sign":1,"mpcc_id_a":-0.0451871939,"mpcc_iq_a":-0.811332941,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.1804428,"mpcc_pred_id_a":-0.121777698,"mpcc_pred_iq_a":-4.20205736,"mpcc_state":1,"mpcc_theta_e":0.453084946,"mpcc_theta_mech":0.557562888,"sam_rpm":21.6288548,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459739089,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.363453,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.09608364,"cg_iw_a":0.346631527,"cg_theta_rad":0.554583669,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0189770442,"mpcc_du":50.4701805,"mpcc_dv":48.1969147,"mpcc_dw":51.8030853,"mpcc_enc_sign":1,"mpcc_id_a":1.20814884,"mpcc_iq_a":-2.65845799,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.1832829,"mpcc_pred_id_a":0.288160086,"mpcc_pred_iq_a":0.0236496273,"mpcc_state":1,"mpcc_theta_e":0.42624712,"mpcc_theta_mech":0.552195311,"sam_rpm":-24.1136322,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206008255,"thr_a_norm":0.0206008255,"thr_a_v":0.582403302,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467241913,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.373646,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.24105906,"cg_iw_a":-1.61053538,"cg_theta_rad":0.555035174,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0402677432,"mpcc_du":49.8395729,"mpcc_dv":49.211071,"mpcc_dw":50.788929,"mpcc_enc_sign":1,"mpcc_id_a":1.41117215,"mpcc_iq_a":-2.71668053,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.91235876,"mpcc_pred_id_a":-0.143530339,"mpcc_pred_iq_a":-0.398069799,"mpcc_state":1,"mpcc_theta_e":0.430774689,"mpcc_theta_mech":0.553100824,"sam_rpm":-9.19673061,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295136124,"thr_a_norm":0.0206008255,"thr_a_v":0.61805445,"thr_b":0.00390821695,"thr_b_norm":0,"thr_b_v":0.515632868,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.396412,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.38603449,"cg_iw_a":0.274144173,"cg_theta_rad":0.555393159,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0279741734,"mpcc_du":50.2367516,"mpcc_dv":48.5111847,"mpcc_dw":51.4888153,"mpcc_enc_sign":1,"mpcc_id_a":2.69151998,"mpcc_iq_a":-0.810999215,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.1021322,"mpcc_pred_id_a":0.496428519,"mpcc_pred_iq_a":-0.0473922491,"mpcc_state":1,"mpcc_theta_e":0.443561077,"mpcc_theta_mech":0.555658162,"sam_rpm":1.58110106,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295136124,"thr_a_norm":0.0295136124,"thr_a_v":0.61805445,"thr_b":0.00390821695,"thr_b_norm":0.00390821695,"thr_b_v":0.515632868,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.402973,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.588670254,"cg_iw_a":-3.27775145,"cg_theta_rad":0.556762636,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.00450161146,"mpcc_du":50.8409615,"mpcc_dv":47.9079514,"mpcc_dw":52.0920486,"mpcc_enc_sign":1,"mpcc_id_a":0.777221262,"mpcc_iq_a":-1.31943893,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.1341619,"mpcc_pred_id_a":-0.0905544683,"mpcc_pred_iq_a":-0.439070076,"mpcc_state":1,"mpcc_theta_e":0.430414677,"mpcc_theta_mech":0.553028822,"sam_rpm":-20.8456039,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0229171515,"thr_a_norm":0.0229171515,"thr_a_v":0.591668606,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490354747,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.409504,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.588670254,"cg_iw_a":-2.19043636,"cg_theta_rad":0.552920401,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.000726513565,"mpcc_du":48.8253174,"mpcc_dv":51.1746826,"mpcc_dw":49.3354645,"mpcc_enc_sign":1,"mpcc_id_a":0.465308934,"mpcc_iq_a":-0.979534149,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-28.6244049,"mpcc_pred_id_a":-0.125600725,"mpcc_pred_iq_a":0.312465549,"mpcc_state":1,"mpcc_theta_e":0.416680336,"mpcc_theta_mech":0.550281942,"sam_rpm":-42.7324295,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0229171515,"thr_a_norm":0.0229171515,"thr_a_v":0.591668606,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490354747,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.416035,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556886137,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0161596611,"mpcc_du":50.3222504,"mpcc_dv":48.4388885,"mpcc_dw":51.5611115,"mpcc_enc_sign":1,"mpcc_id_a":2.09790421,"mpcc_iq_a":-1.37988687,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.07605648,"mpcc_pred_id_a":-0.020793153,"mpcc_pred_iq_a":-5.23688316,"mpcc_state":1,"mpcc_theta_e":0.449701309,"mpcc_theta_mech":0.556886196,"sam_rpm":-0.838071465,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194552541,"thr_a_norm":0.0194552541,"thr_a_v":0.577821016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467090875,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.424213,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.53100967,"cg_iw_a":-1.53804779,"cg_theta_rad":0.555832803,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0149715198,"mpcc_du":49.3196182,"mpcc_dv":50.6803818,"mpcc_dw":50.256134,"mpcc_enc_sign":1,"mpcc_id_a":2.27886558,"mpcc_iq_a":-0.311632246,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.25898933,"mpcc_pred_id_a":0.302845865,"mpcc_pred_iq_a":0.928480089,"mpcc_state":1,"mpcc_theta_e":0.433156967,"mpcc_theta_mech":0.553577304,"sam_rpm":8.53199387,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241004825,"thr_a_norm":0.0194552541,"thr_a_v":0.59640193,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467241913,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.434254,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.733645439,"cg_iw_a":-2.40789986,"cg_theta_rad":0.558229446,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0739072189,"mpcc_du":50.3053322,"mpcc_dv":48.5475311,"mpcc_dw":51.4524689,"mpcc_enc_sign":1,"mpcc_id_a":1.25353897,"mpcc_iq_a":0.378324747,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.837346435,"mpcc_pred_id_a":0.042031955,"mpcc_pred_iq_a":-2.52407765,"mpcc_state":1,"mpcc_theta_e":0.446915627,"mpcc_theta_mech":0.556329012,"sam_rpm":0.380876869,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241004825,"thr_a_norm":0.0241004825,"thr_a_v":0.59640193,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467241913,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.443592,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.96593571,"cg_iw_a":1.21648359,"cg_theta_rad":0.554749072,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0966693237,"mpcc_du":49.8849678,"mpcc_dv":48.7887306,"mpcc_dw":51.2112694,"mpcc_enc_sign":1,"mpcc_id_a":3.51954699,"mpcc_iq_a":0.392812729,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.13427114,"mpcc_pred_id_a":0.770948589,"mpcc_pred_iq_a":-2.27184796,"mpcc_state":1,"mpcc_theta_e":0.450920582,"mpcc_theta_mech":0.557130039,"sam_rpm":8.65375233,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204749405,"thr_a_norm":0.0204749405,"thr_a_v":0.581899762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.454395,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.371207237,"cg_iw_a":-2.69785023,"cg_theta_rad":0.55799216,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0470561013,"mpcc_du":49.4557533,"mpcc_dv":50.5442467,"mpcc_dw":50.4135323,"mpcc_enc_sign":1,"mpcc_id_a":2.26498365,"mpcc_iq_a":-1.032359,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.35727036,"mpcc_pred_id_a":0.181217432,"mpcc_pred_iq_a":-0.829466522,"mpcc_state":1,"mpcc_theta_e":0.429291725,"mpcc_theta_mech":0.552804232,"sam_rpm":0.530116498,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204749405,"thr_a_norm":0.0204749405,"thr_a_v":0.581899762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.46471,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.45852208,"cg_iw_a":-1.17560935,"cg_theta_rad":0.55643183,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.00661807135,"mpcc_du":50.2559433,"mpcc_dv":48.405468,"mpcc_dw":51.594532,"mpcc_enc_sign":1,"mpcc_id_a":1.23423684,"mpcc_iq_a":-1.86696875,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.08233523,"mpcc_pred_id_a":-0.337287277,"mpcc_pred_iq_a":-5.95100546,"mpcc_state":1,"mpcc_theta_e":0.437736034,"mpcc_theta_mech":0.554493129,"sam_rpm":-14.7926426,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02000916,"thr_a_norm":0.02000916,"thr_a_v":0.58003664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485420018,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.475025,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.951108456,"cg_iw_a":-1.97297382,"cg_theta_rad":0.554634631,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0649840459,"mpcc_du":49.4736519,"mpcc_dv":50.3788795,"mpcc_dw":50.5263481,"mpcc_enc_sign":1,"mpcc_id_a":3.22283721,"mpcc_iq_a":0.438464612,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.2907953,"mpcc_pred_id_a":0.388749897,"mpcc_pred_iq_a":-3.16417432,"mpcc_state":1,"mpcc_theta_e":0.452587605,"mpcc_theta_mech":0.557463408,"sam_rpm":24.3326149,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0290226489,"thr_a_norm":0.02000916,"thr_a_v":0.616090596,"thr_b":0.00361867249,"thr_b_norm":0,"thr_b_v":0.51447469,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.498035,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.806133032,"cg_iw_a":-0.160782099,"cg_theta_rad":0.557334244,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.00119782798,"mpcc_du":51.1877861,"mpcc_dv":47.3839417,"mpcc_dw":52.6160583,"mpcc_enc_sign":1,"mpcc_id_a":0.445567429,"mpcc_iq_a":-2.15499544,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.11476755,"mpcc_pred_id_a":-0.258846313,"mpcc_pred_iq_a":-6.43719339,"mpcc_state":1,"mpcc_theta_e":0.444740295,"mpcc_theta_mech":0.555894017,"sam_rpm":5.34666348,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0290226489,"thr_a_norm":0.0290226489,"thr_a_v":0.616090596,"thr_b":0.00361867249,"thr_b_norm":0.00361867249,"thr_b_v":0.51447469,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.504505,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.878620625,"cg_iw_a":-0.160782337,"cg_theta_rad":0.556494057,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0429058596,"mpcc_du":49.3665352,"mpcc_dv":49.7595177,"mpcc_dw":50.6334648,"mpcc_enc_sign":1,"mpcc_id_a":3.76579142,"mpcc_iq_a":0.447871357,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.0424757,"mpcc_pred_id_a":0.878063738,"mpcc_pred_iq_a":-2.82881427,"mpcc_state":1,"mpcc_theta_e":0.441147327,"mpcc_theta_mech":0.555175424,"sam_rpm":2.64973021,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456163883,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.511066,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.878620625,"cg_iw_a":2.15882325,"cg_theta_rad":0.556390345,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0299969316,"mpcc_du":49.8654404,"mpcc_dv":49.1026497,"mpcc_dw":50.8973503,"mpcc_enc_sign":1,"mpcc_id_a":1.44297612,"mpcc_iq_a":0.0975224748,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.99069357,"mpcc_pred_id_a":-0.0367765427,"mpcc_pred_iq_a":-1.09339321,"mpcc_state":1,"mpcc_theta_e":0.450054169,"mpcc_theta_mech":0.556956708,"sam_rpm":12.0028372,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456163883,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.517597,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.733645439,"cg_iw_a":-0.378244877,"cg_theta_rad":0.554322004,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0100757712,"mpcc_du":49.9946899,"mpcc_dv":48.986805,"mpcc_dw":51.013195,"mpcc_enc_sign":1,"mpcc_id_a":1.09912324,"mpcc_iq_a":-0.271536797,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.8407412,"mpcc_pred_id_a":-0.205545396,"mpcc_pred_iq_a":-3.86909509,"mpcc_state":1,"mpcc_theta_e":0.431746483,"mpcc_theta_mech":0.553295195,"sam_rpm":-17.5024166,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023030445,"thr_a_norm":0.023030445,"thr_a_v":0.59212178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494735658,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.525623,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.806133032,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.556936502,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0140648698,"mpcc_du":49.55513,"mpcc_dv":49.5407524,"mpcc_dw":50.4592476,"mpcc_enc_sign":1,"mpcc_id_a":1.73443162,"mpcc_iq_a":-1.47200465,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.768965364,"mpcc_pred_id_a":-0.107038766,"mpcc_pred_iq_a":-4.52188587,"mpcc_state":1,"mpcc_theta_e":0.445090771,"mpcc_theta_mech":0.555964053,"sam_rpm":1.32664168,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0335671753,"thr_a_norm":0.023030445,"thr_a_v":0.634268701,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481391609,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.535603,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.588670254,"cg_iw_a":-1.75551033,"cg_theta_rad":0.552899659,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0159587283,"mpcc_du":49.6500816,"mpcc_dv":49.9414825,"mpcc_dw":50.3499184,"mpcc_enc_sign":1,"mpcc_id_a":-0.809350729,"mpcc_iq_a":-1.46568739,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.35636163,"mpcc_pred_id_a":-0.677933216,"mpcc_pred_iq_a":-2.56420255,"mpcc_state":1,"mpcc_theta_e":0.432557106,"mpcc_theta_mech":0.55345732,"sam_rpm":-7.15065765,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0335671753,"thr_a_norm":0.0335671753,"thr_a_v":0.634268701,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481391609,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.545887,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.516182423,"cg_iw_a":1.143996,"cg_theta_rad":0.555474639,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0362676717,"mpcc_du":50.2351875,"mpcc_dv":48.6020126,"mpcc_dw":50.4985733,"mpcc_enc_sign":1,"mpcc_id_a":0.774987519,"mpcc_iq_a":-0.453582197,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.22870255,"mpcc_pred_id_a":0.0854567811,"mpcc_pred_iq_a":-2.72494173,"mpcc_state":1,"mpcc_theta_e":0.440719128,"mpcc_theta_mech":0.555089772,"sam_rpm":-4.9505744,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202986896,"thr_a_norm":0.0202986896,"thr_a_v":0.581194758,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.555622,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-1.6759851,"cg_iw_a":1.86887264,"cg_theta_rad":0.55740875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.00175283488,"mpcc_du":49.5755081,"mpcc_dv":50.3845787,"mpcc_dw":50.4244919,"mpcc_enc_sign":1,"mpcc_id_a":0.636407137,"mpcc_iq_a":-1.4136647,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.53054047,"mpcc_pred_id_a":-0.0217222534,"mpcc_pred_iq_a":-2.10318112,"mpcc_state":1,"mpcc_theta_e":0.446425438,"mpcc_theta_mech":0.556230962,"sam_rpm":13.6900759,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202986896,"thr_a_norm":0.0202986896,"thr_a_v":0.581194758,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.565784,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.31354666,"cg_iw_a":0.564094543,"cg_theta_rad":0.556601584,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0393338352,"mpcc_du":50.023098,"mpcc_dv":48.8115997,"mpcc_dw":51.1884003,"mpcc_enc_sign":1,"mpcc_id_a":2.12459922,"mpcc_iq_a":-1.15806901,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.27431226,"mpcc_pred_id_a":0.339955181,"mpcc_pred_iq_a":-2.86959434,"mpcc_state":1,"mpcc_theta_e":0.448826313,"mpcc_theta_mech":0.556711197,"sam_rpm":2.71796679,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181963891,"thr_a_norm":0.0181963891,"thr_a_v":0.572785556,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462760359,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.57613,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.31354666,"cg_iw_a":0.636582375,"cg_theta_rad":0.553427458,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0251675658,"mpcc_du":49.4463921,"mpcc_dv":49.6674423,"mpcc_dw":50.5536079,"mpcc_enc_sign":1,"mpcc_id_a":2.21439838,"mpcc_iq_a":-1.64736867,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.60181201,"mpcc_pred_id_a":0.510017037,"mpcc_pred_iq_a":-5.55611753,"mpcc_state":1,"mpcc_theta_e":0.442684174,"mpcc_theta_mech":0.555482745,"sam_rpm":2.5494833,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0181963891,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453243315,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.599018,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.02359605,"cg_iw_a":0.201656103,"cg_theta_rad":0.551880896,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0212367289,"mpcc_du":49.5501823,"mpcc_dv":49.7290955,"mpcc_dw":50.4498177,"mpcc_enc_sign":1,"mpcc_id_a":2.08408594,"mpcc_iq_a":-1.24055445,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.4436331,"mpcc_pred_id_a":0.01384289,"mpcc_pred_iq_a":-2.83472657,"mpcc_state":1,"mpcc_theta_e":0.452217102,"mpcc_theta_mech":0.557389379,"sam_rpm":15.9618444,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453243315,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.605579,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.378244877,"cg_theta_rad":0.557229817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.00822120253,"mpcc_du":49.6605797,"mpcc_dv":49.1757164,"mpcc_dw":50.8242836,"mpcc_enc_sign":1,"mpcc_id_a":1.70637321,"mpcc_iq_a":-2.04847383,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0874896497,"mpcc_pred_id_a":0.496433079,"mpcc_pred_iq_a":-1.67986476,"mpcc_state":1,"mpcc_theta_e":0.440265179,"mpcc_theta_mech":0.554998934,"sam_rpm":-0.650261462,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021494627,"thr_a_norm":0.021494627,"thr_a_v":0.585978508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.61208,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.806133032,"cg_iw_a":-1.97297382,"cg_theta_rad":0.555481553,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0125452587,"mpcc_du":50.2661629,"mpcc_dv":48.6853256,"mpcc_dw":51.3146744,"mpcc_enc_sign":1,"mpcc_id_a":1.35131204,"mpcc_iq_a":-1.43111277,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.11603069,"mpcc_pred_id_a":-0.0150463916,"mpcc_pred_iq_a":-0.424012989,"mpcc_state":1,"mpcc_theta_e":0.446445942,"mpcc_theta_mech":0.556235135,"sam_rpm":5.15305662,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021494627,"thr_a_norm":0.021494627,"thr_a_v":0.585978508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.61861,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.32837415,"cg_iw_a":1.143996,"cg_theta_rad":0.556450307,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.00374747207,"mpcc_du":49.2628899,"mpcc_dv":50.7371101,"mpcc_dw":49.8952866,"mpcc_enc_sign":1,"mpcc_id_a":0.200583115,"mpcc_iq_a":-1.9567616,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.1986341,"mpcc_pred_id_a":-0.377741694,"mpcc_pred_iq_a":-5.30853081,"mpcc_state":1,"mpcc_theta_e":0.454583168,"mpcc_theta_mech":0.553500473,"sam_rpm":19.4164219,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0272728354,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472579539,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.628437,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.18339872,"cg_iw_a":0.709069729,"cg_theta_rad":0.555294275,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0347370096,"mpcc_du":49.4816475,"mpcc_dv":50.4807587,"mpcc_dw":50.5183525,"mpcc_enc_sign":1,"mpcc_id_a":3.45667577,"mpcc_iq_a":-0.8849473,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.38052273,"mpcc_pred_id_a":0.762767315,"mpcc_pred_iq_a":-1.00711238,"mpcc_state":1,"mpcc_theta_e":0.440570354,"mpcc_theta_mech":0.555059969,"sam_rpm":11.5626392,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219100416,"thr_a_norm":0.0272728354,"thr_a_v":0.587640166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480837703,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.638294,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.45852208,"cg_iw_a":0.201656103,"cg_theta_rad":0.556349516,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0259745959,"mpcc_du":49.4823151,"mpcc_dv":49.5645409,"mpcc_dw":50.5176849,"mpcc_enc_sign":1,"mpcc_id_a":2.96834087,"mpcc_iq_a":-1.58068645,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.1140976,"mpcc_pred_id_a":0.485926181,"mpcc_pred_iq_a":-4.03844738,"mpcc_state":1,"mpcc_theta_e":0.440731049,"mpcc_theta_mech":0.555092156,"sam_rpm":3.11211276,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219100416,"thr_a_norm":0.0219100416,"thr_a_v":0.587640166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480837703,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.648579,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.661157608,"cg_iw_a":0.12916851,"cg_theta_rad":0.556831002,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0466839932,"mpcc_du":49.5818367,"mpcc_dv":49.253479,"mpcc_dw":50.746521,"mpcc_enc_sign":1,"mpcc_id_a":3.78276634,"mpcc_iq_a":-0.889961064,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.17106223,"mpcc_pred_id_a":0.713796675,"mpcc_pred_iq_a":-3.03185058,"mpcc_state":1,"mpcc_theta_e":0.449227333,"mpcc_theta_mech":0.556791425,"sam_rpm":4.3557291,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236346871,"thr_a_norm":0.0236346871,"thr_a_v":0.594538748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487031341,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.658619,"values":{"cg_iu_a":-0.265375137,"cg_iv_a":-0.806133032,"cg_iw_a":-2.1904366,"cg_theta_rad":0.555910826,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0395755135,"mpcc_du":49.514431,"mpcc_dv":50.1647797,"mpcc_dw":50.485569,"mpcc_enc_sign":1,"mpcc_id_a":2.27715111,"mpcc_iq_a":-1.69604325,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.647340238,"mpcc_pred_id_a":0.378923029,"mpcc_pred_iq_a":-1.45526695,"mpcc_state":1,"mpcc_theta_e":0.433786869,"mpcc_theta_mech":0.553703249,"sam_rpm":-1.61402953,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236346871,"thr_a_norm":0.0236346871,"thr_a_v":0.594538748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487031341,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.668568,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.74847269,"cg_iw_a":0.564094782,"cg_theta_rad":0.55499959,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0123622278,"mpcc_du":50.0986519,"mpcc_dv":48.7656898,"mpcc_dw":51.2343102,"mpcc_enc_sign":1,"mpcc_id_a":1.52426028,"mpcc_iq_a":-2.12364602,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.6555214,"mpcc_pred_id_a":0.0954819247,"mpcc_pred_iq_a":-1.84960949,"mpcc_state":1,"mpcc_theta_e":0.430700779,"mpcc_theta_mech":0.553086042,"sam_rpm":-18.7924099,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277512074,"thr_a_norm":0.0277512074,"thr_a_v":0.611004829,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497958362,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.678761,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-2.11091113,"cg_iw_a":0.346631765,"cg_theta_rad":0.555361748,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0361049511,"mpcc_du":50.5715637,"mpcc_dv":48.1278763,"mpcc_dw":51.8721237,"mpcc_enc_sign":1,"mpcc_id_a":2.55056834,"mpcc_iq_a":-0.597543359,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.06367779,"mpcc_pred_id_a":0.350058436,"mpcc_pred_iq_a":-0.537476659,"mpcc_state":1,"mpcc_theta_e":0.440922737,"mpcc_theta_mech":0.555130482,"sam_rpm":-7.47861576,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195056051,"thr_a_norm":0.0277512074,"thr_a_v":0.57802242,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477010757,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.701771,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-1.09608364,"cg_iw_a":0.0566806793,"cg_theta_rad":0.557761908,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0580949411,"mpcc_du":50.0346298,"mpcc_dv":49.2473564,"mpcc_dw":50.7526436,"mpcc_enc_sign":1,"mpcc_id_a":1.29804218,"mpcc_iq_a":-0.199366003,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.49119556,"mpcc_pred_id_a":-0.635243177,"mpcc_pred_iq_a":-5.22061396,"mpcc_state":1,"mpcc_theta_e":0.446525574,"mpcc_theta_mech":0.556251049,"sam_rpm":-0.537387073,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195056051,"thr_a_norm":0.0195056051,"thr_a_v":0.57802242,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477010757,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.708363,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.588670254,"cg_iw_a":-1.32058454,"cg_theta_rad":0.554823458,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0398507975,"mpcc_du":49.950737,"mpcc_dv":48.9134789,"mpcc_dw":51.0865211,"mpcc_enc_sign":1,"mpcc_id_a":2.8527627,"mpcc_iq_a":-0.817504466,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.10995007,"mpcc_pred_id_a":0.496732593,"mpcc_pred_iq_a":-0.532725275,"mpcc_state":1,"mpcc_theta_e":0.450526237,"mpcc_theta_mech":0.557051122,"sam_rpm":14.4084568,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195056051,"thr_a_norm":0.0195056051,"thr_a_v":0.57802242,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476658285,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.714893,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.96593571,"cg_iw_a":-1.61053562,"cg_theta_rad":0.556312799,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0483959019,"mpcc_du":49.9417038,"mpcc_dv":48.7652817,"mpcc_dw":51.2347183,"mpcc_enc_sign":1,"mpcc_id_a":4.18615246,"mpcc_iq_a":-0.51105386,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.74879789,"mpcc_pred_id_a":0.728457987,"mpcc_pred_iq_a":-2.20989561,"mpcc_state":1,"mpcc_theta_e":0.435201645,"mpcc_theta_mech":0.553986251,"sam_rpm":-11.5831776,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195056051,"thr_a_norm":0.0195056051,"thr_a_v":0.57802242,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476658285,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.721363,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.153744221,"cg_iw_a":-1.68302298,"cg_theta_rad":0.552567005,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0242553167,"mpcc_du":49.4713249,"mpcc_dv":50.5286751,"mpcc_dw":50.0975533,"mpcc_enc_sign":1,"mpcc_id_a":0.368153036,"mpcc_iq_a":-0.783798754,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.4166546,"mpcc_pred_id_a":-0.513025582,"mpcc_pred_iq_a":-4.72593164,"mpcc_state":1,"mpcc_theta_e":0.458357334,"mpcc_theta_mech":0.558617413,"sam_rpm":23.1979637,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228416175,"thr_a_norm":0.0228416175,"thr_a_v":0.59136647,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472932041,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.731403,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.31354666,"cg_iw_a":-1.61053562,"cg_theta_rad":0.55632472,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0879793987,"mpcc_du":50.6022568,"mpcc_dv":48.0068283,"mpcc_dw":51.9931717,"mpcc_enc_sign":1,"mpcc_id_a":3.23049331,"mpcc_iq_a":0.321476251,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.89724636,"mpcc_pred_id_a":0.628509104,"mpcc_pred_iq_a":-0.845964193,"mpcc_state":1,"mpcc_theta_e":0.444040775,"mpcc_theta_mech":0.555754066,"sam_rpm":-4.33727837,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228416175,"thr_a_norm":0.0228416175,"thr_a_v":0.59136647,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472932041,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.741627,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.878620625,"cg_iw_a":-2.6253624,"cg_theta_rad":0.55632472,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0259239133,"mpcc_du":50.5929604,"mpcc_dv":48.3739548,"mpcc_dw":51.6260452,"mpcc_enc_sign":1,"mpcc_id_a":-0.285231143,"mpcc_iq_a":-1.34172487,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.05640221,"mpcc_pred_id_a":-0.354756653,"mpcc_pred_iq_a":-2.4337914,"mpcc_state":1,"mpcc_theta_e":0.440820694,"mpcc_theta_mech":0.555110037,"sam_rpm":-7.7232604,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0128210038,"thr_a_norm":0.0128210038,"thr_a_v":0.551284015,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443675905,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.75182,"values":{"cg_iu_a":4.37383556,"cg_iv_a":-0.153744221,"cg_iw_a":0.0566811562,"cg_theta_rad":0.55637002,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0342980362,"mpcc_du":50.4918137,"mpcc_dv":48.3392982,"mpcc_dw":51.6607018,"mpcc_enc_sign":1,"mpcc_id_a":0.739052236,"mpcc_iq_a":-0.0173937101,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.39994717,"mpcc_pred_id_a":-0.0330180787,"mpcc_pred_iq_a":-1.41356254,"mpcc_state":1,"mpcc_theta_e":0.436990738,"mpcc_theta_mech":0.556648433,"sam_rpm":-7.81342268,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0164717287,"thr_a_norm":0.0128210038,"thr_a_v":0.565886915,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471622765,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.761646,"values":{"cg_iu_a":2.85159445,"cg_iv_a":1.58595991,"cg_iw_a":-4.43755436,"cg_theta_rad":0.554654062,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0143996524,"mpcc_du":49.7909164,"mpcc_dv":49.1825027,"mpcc_dw":50.8174973,"mpcc_enc_sign":1,"mpcc_id_a":1.77116203,"mpcc_iq_a":-0.889784217,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.13082075,"mpcc_pred_id_a":0.0526310019,"mpcc_pred_iq_a":-2.3715589,"mpcc_state":1,"mpcc_theta_e":0.446478844,"mpcc_theta_mech":0.556241691,"sam_rpm":6.80001068,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0164717287,"thr_a_norm":0.0164717287,"thr_a_v":0.565886915,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471622765,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.771992,"values":{"cg_iu_a":2.63413143,"cg_iv_a":0.933570862,"cg_iw_a":-0.523220301,"cg_theta_rad":0.550754249,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.017634891,"mpcc_du":49.7122993,"mpcc_dv":49.0966568,"mpcc_dw":50.9033432,"mpcc_enc_sign":1,"mpcc_id_a":2.43784642,"mpcc_iq_a":-0.656787813,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.63508844,"mpcc_pred_id_a":0.46200034,"mpcc_pred_iq_a":-1.45353663,"mpcc_state":1,"mpcc_theta_e":0.431326389,"mpcc_theta_mech":0.553211212,"sam_rpm":-13.0091219,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.023231864,"thr_a_v":0.592927456,"thr_b":0.00131495297,"thr_b_norm":0.00131495297,"thr_b_v":0.505259812,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.797443,"values":{"cg_iu_a":2.5616436,"cg_iv_a":1.7309351,"cg_iw_a":-4.2925787,"cg_theta_rad":0.554393947,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0201069545,"mpcc_du":50.7918854,"mpcc_dv":47.8813515,"mpcc_dw":52.1186485,"mpcc_enc_sign":1,"mpcc_id_a":2.00469351,"mpcc_iq_a":-0.562048197,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.84016657,"mpcc_pred_id_a":0.255869925,"mpcc_pred_iq_a":0.912956655,"mpcc_state":1,"mpcc_theta_e":0.436837673,"mpcc_theta_mech":0.554313421,"sam_rpm":-10.9888201,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149988532,"thr_a_norm":0.023231864,"thr_a_v":0.559995413,"thr_b":0,"thr_b_norm":0.00131495297,"thr_b_v":0.448459595,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.803913,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.516182423,"cg_iw_a":-0.740683079,"cg_theta_rad":0.554338813,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.000187185244,"mpcc_du":49.9840546,"mpcc_dv":49.1025276,"mpcc_dw":50.8974724,"mpcc_enc_sign":1,"mpcc_id_a":0.270234764,"mpcc_iq_a":-1.51430678,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.47442865,"mpcc_pred_id_a":-0.251682937,"mpcc_pred_iq_a":-0.341528296,"mpcc_state":1,"mpcc_theta_e":0.44393301,"mpcc_theta_mech":0.555732548,"sam_rpm":5.89582825,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149988532,"thr_a_norm":0.0149988532,"thr_a_v":0.559995413,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448459595,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.810505,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.45852208,"cg_iw_a":-1.10312152,"cg_theta_rad":0.555360854,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0184861422,"mpcc_du":49.7991829,"mpcc_dv":49.1558685,"mpcc_dw":50.8441315,"mpcc_enc_sign":1,"mpcc_id_a":1.34542143,"mpcc_iq_a":-0.772813976,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.329488933,"mpcc_pred_id_a":0.273620009,"mpcc_pred_iq_a":-3.21125364,"mpcc_state":1,"mpcc_theta_e":0.443005085,"mpcc_theta_mech":0.555546939,"sam_rpm":-0.153904513,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192286521,"thr_a_norm":0.0192286521,"thr_a_v":0.576914608,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450222015,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.816975,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.60349751,"cg_iw_a":-1.03063393,"cg_theta_rad":0.556707501,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.00314923306,"mpcc_du":49.5162659,"mpcc_dv":50.4837341,"mpcc_dw":50.1447411,"mpcc_enc_sign":1,"mpcc_id_a":0.514172018,"mpcc_iq_a":-1.1982621,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.3922987,"mpcc_pred_id_a":-0.405393094,"mpcc_pred_iq_a":-5.44994736,"mpcc_state":1,"mpcc_theta_e":0.430034161,"mpcc_theta_mech":0.552952707,"sam_rpm":5.11600351,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226275921,"thr_a_norm":0.0192286521,"thr_a_v":0.590510368,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488894492,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.826588,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-2.18339872,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556003928,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0105808526,"mpcc_du":49.6191902,"mpcc_dv":49.6906853,"mpcc_dw":50.3808098,"mpcc_enc_sign":1,"mpcc_id_a":-0.599360228,"mpcc_iq_a":-2.53383756,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.08419323,"mpcc_pred_id_a":-0.404016733,"mpcc_pred_iq_a":-2.18438888,"mpcc_state":1,"mpcc_theta_e":0.438037872,"mpcc_theta_mech":0.554553509,"sam_rpm":1.05299807,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226275921,"thr_a_norm":0.0226275921,"thr_a_v":0.590510368,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488894492,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.836964,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":-3.19822598,"cg_iw_a":0.0566806793,"cg_theta_rad":0.557449222,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0394445062,"mpcc_du":49.8109627,"mpcc_dv":49.1685867,"mpcc_dw":50.8314133,"mpcc_enc_sign":1,"mpcc_id_a":0.899598241,"mpcc_iq_a":-1.23259068,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.95485592,"mpcc_pred_id_a":0.104499489,"mpcc_pred_iq_a":1.15023255,"mpcc_state":1,"mpcc_theta_e":0.427080631,"mpcc_theta_mech":0.552362084,"sam_rpm":-11.0567389,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0315403938,"thr_a_norm":0.0315403938,"thr_a_v":0.626161575,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476557553,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.846973,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.806133032,"cg_iw_a":1.43394661,"cg_theta_rad":0.556776404,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0513586998,"mpcc_du":50.2062416,"mpcc_dv":48.6887779,"mpcc_dw":51.3112221,"mpcc_enc_sign":1,"mpcc_id_a":2.55007029,"mpcc_iq_a":-0.0967427269,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.49988914,"mpcc_pred_id_a":0.212840438,"mpcc_pred_iq_a":-2.48097181,"mpcc_state":1,"mpcc_theta_e":0.444191456,"mpcc_theta_mech":0.555784166,"sam_rpm":-3.16855597,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0315403938,"thr_a_norm":0.0315403938,"thr_a_v":0.626161575,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476557553,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.857197,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.53100967,"cg_iw_a":-1.39307261,"cg_theta_rad":0.556677103,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0328918658,"mpcc_du":49.5941315,"mpcc_dv":49.5286865,"mpcc_dw":50.4713135,"mpcc_enc_sign":1,"mpcc_id_a":2.42407799,"mpcc_iq_a":-1.2046001,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.835609019,"mpcc_pred_id_a":-0.056809891,"mpcc_pred_iq_a":-5.7351265,"mpcc_state":1,"mpcc_theta_e":0.447229385,"mpcc_theta_mech":0.556391776,"sam_rpm":-1.16844177,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0929732174,"thr_a_norm":0.0929732174,"thr_a_v":0.871892869,"thr_b":0.0387914777,"thr_b_norm":0.0387914777,"thr_b_v":0.655165911,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.867207,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.74847269,"cg_iw_a":-0.595707893,"cg_theta_rad":0.555555165,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0149294268,"mpcc_du":49.5759583,"mpcc_dv":50.3525658,"mpcc_dw":50.4240417,"mpcc_enc_sign":1,"mpcc_id_a":0.485051721,"mpcc_iq_a":-1.42135918,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0601464286,"mpcc_pred_id_a":0.0646942705,"mpcc_pred_iq_a":-2.63106108,"mpcc_state":1,"mpcc_theta_e":0.435505867,"mpcc_theta_mech":0.554047048,"sam_rpm":-2.41121387,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0168871582,"thr_a_norm":0.0929732174,"thr_a_v":0.567548633,"thr_b":0,"thr_b_norm":0.0387914777,"thr_b_v":0.438136876,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.878162,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.878620625,"cg_iw_a":0.491606712,"cg_theta_rad":0.556032538,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0568583794,"mpcc_du":49.9494629,"mpcc_dv":49.1914101,"mpcc_dw":50.8085899,"mpcc_enc_sign":1,"mpcc_id_a":0.764095843,"mpcc_iq_a":-0.971624494,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.66633272,"mpcc_pred_id_a":-0.257270277,"mpcc_pred_iq_a":-4.36357117,"mpcc_state":1,"mpcc_theta_e":0.452289581,"mpcc_theta_mech":0.557403862,"sam_rpm":9.53599262,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0168871582,"thr_a_norm":0.0168871582,"thr_a_v":0.567548633,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438136876,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.901814,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.09608364,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556208968,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.00981884729,"mpcc_du":51.4134064,"mpcc_dv":47.298687,"mpcc_dw":52.701313,"mpcc_enc_sign":1,"mpcc_id_a":1.61313367,"mpcc_iq_a":-0.367121845,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.3524113,"mpcc_pred_id_a":-0.186281294,"mpcc_pred_iq_a":3.03077388,"mpcc_state":1,"mpcc_theta_e":0.430063248,"mpcc_theta_mech":0.552958548,"sam_rpm":-21.2813835,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256866515,"thr_a_norm":0.0256866515,"thr_a_v":0.602746606,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48526895,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.908314,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.588670254,"cg_iw_a":0.201656342,"cg_theta_rad":0.554501712,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0333045386,"mpcc_du":50.3230247,"mpcc_dv":48.325676,"mpcc_dw":51.674324,"mpcc_enc_sign":1,"mpcc_id_a":3.13719082,"mpcc_iq_a":-0.533442199,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.75778294,"mpcc_pred_id_a":0.691504419,"mpcc_pred_iq_a":-1.07417941,"mpcc_state":1,"mpcc_theta_e":0.435911179,"mpcc_theta_mech":0.55412811,"sam_rpm":-12.6770229,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.108935669,"thr_a_norm":0.0256866515,"thr_a_v":0.935742676,"thr_b":0.046684593,"thr_b_norm":0,"thr_b_v":0.686738372,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.914875,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.82096052,"cg_iw_a":-0.305757046,"cg_theta_rad":0.555608809,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0914828926,"mpcc_du":49.4545364,"mpcc_dv":50.0037575,"mpcc_dw":50.5454636,"mpcc_enc_sign":1,"mpcc_id_a":5.11012602,"mpcc_iq_a":-0.182342634,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.5293064,"mpcc_pred_id_a":0.815389097,"mpcc_pred_iq_a":-2.01757431,"mpcc_state":1,"mpcc_theta_e":0.449480057,"mpcc_theta_mech":0.556841969,"sam_rpm":26.3791389,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.108935669,"thr_a_norm":0.108935669,"thr_a_v":0.935742676,"thr_b":0.046684593,"thr_b_norm":0.046684593,"thr_b_v":0.686738372,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.921375,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.298719406,"cg_iw_a":-1.32058477,"cg_theta_rad":0.553009748,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.0214661993,"mpcc_du":49.5339737,"mpcc_dv":49.9004288,"mpcc_dw":50.4660263,"mpcc_enc_sign":1,"mpcc_id_a":2.7066884,"mpcc_iq_a":-0.431400955,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.66632199,"mpcc_pred_id_a":0.277997702,"mpcc_pred_iq_a":-4.51922703,"mpcc_state":1,"mpcc_theta_e":0.438026428,"mpcc_theta_mech":0.554551244,"sam_rpm":-4.42188549,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0168997496,"thr_a_norm":0.0168997496,"thr_a_v":0.567598999,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.428871572,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.932392,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.371207237,"cg_iw_a":-0.0882940292,"cg_theta_rad":0.557085633,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.00453451416,"mpcc_du":49.685257,"mpcc_dv":49.3881989,"mpcc_dw":50.6118011,"mpcc_enc_sign":1,"mpcc_id_a":0.679793,"mpcc_iq_a":-0.31555742,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.68062949,"mpcc_pred_id_a":0.0383342914,"mpcc_pred_iq_a":-1.70988417,"mpcc_state":1,"mpcc_theta_e":0.440018177,"mpcc_theta_mech":0.554949582,"sam_rpm":5.49284601,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026051715,"thr_a_norm":0.0168997496,"thr_a_v":0.60420686,"thr_b":0.00219614804,"thr_b_norm":0,"thr_b_v":0.508784592,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.944386,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.11091113,"cg_iw_a":1.28897119,"cg_theta_rad":0.553582966,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5004,"hz_app_loop":360,"hz_tim_isr":10006,"hz_vsense":360,"mpcc_cost":0.00419950299,"mpcc_du":50.1407166,"mpcc_dv":49.0776749,"mpcc_dw":50.9223251,"mpcc_enc_sign":1,"mpcc_id_a":0.69584018,"mpcc_iq_a":-3.95481038,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.29067111,"mpcc_pred_id_a":-0.521224022,"mpcc_pred_iq_a":-4.10111618,"mpcc_state":1,"mpcc_theta_e":0.449204445,"mpcc_theta_mech":0.556786776,"sam_rpm":3.55726743,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026051715,"thr_a_norm":0.026051715,"thr_a_v":0.60420686,"thr_b":0.00219614804,"thr_b_norm":0.00219614804,"thr_b_v":0.508784592,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.955097,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.31354666,"cg_iw_a":-1.90048599,"cg_theta_rad":0.555952609,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0023753494,"mpcc_du":50.0322685,"mpcc_dv":48.9908905,"mpcc_dw":51.0091095,"mpcc_enc_sign":1,"mpcc_id_a":0.543012977,"mpcc_iq_a":-1.63524938,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.99399114,"mpcc_pred_id_a":-0.0798252225,"mpcc_pred_iq_a":-0.878202796,"mpcc_state":1,"mpcc_theta_e":0.437254906,"mpcc_theta_mech":0.554396927,"sam_rpm":-5.61811638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024339661,"thr_a_norm":0.024339661,"thr_a_v":0.597358644,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479780257,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.965199,"values":{"cg_iu_a":1.69179153,"cg_iv_a":0.498644829,"cg_iw_a":-1.61053538,"cg_theta_rad":0.555180788,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0111187221,"mpcc_du":50.0549011,"mpcc_dv":49.040081,"mpcc_dw":50.959919,"mpcc_enc_sign":1,"mpcc_id_a":0.694985926,"mpcc_iq_a":-0.455345333,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.9304857,"mpcc_pred_id_a":-0.264875352,"mpcc_pred_iq_a":-2.63302231,"mpcc_state":1,"mpcc_theta_e":0.433267593,"mpcc_theta_mech":0.553599477,"sam_rpm":-5.52905273,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02428931,"thr_a_norm":0.024339661,"thr_a_v":0.59715724,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472529203,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.975178,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-2.40086174,"cg_iw_a":-1.03063393,"cg_theta_rad":0.558067381,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.00371324387,"mpcc_du":49.6309433,"mpcc_dv":49.6929321,"mpcc_dw":50.3690567,"mpcc_enc_sign":1,"mpcc_id_a":0.895762503,"mpcc_iq_a":-0.878706634,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.16238403,"mpcc_pred_id_a":-0.432581156,"mpcc_pred_iq_a":-1.89091897,"mpcc_state":1,"mpcc_theta_e":0.43917799,"mpcc_theta_mech":0.554781497,"sam_rpm":-0.130327553,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02428931,"thr_a_norm":0.02428931,"thr_a_v":0.59715724,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472529203,"vdc_v":55.2955055}} +{"type":"telemetry","t":46.985584,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.02359605,"cg_iw_a":-0.378245115,"cg_theta_rad":0.557867467,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0112796826,"mpcc_du":51.1552811,"mpcc_dv":47.3643074,"mpcc_dw":52.6356926,"mpcc_enc_sign":1,"mpcc_id_a":2.07580829,"mpcc_iq_a":-1.27073395,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.7250986,"mpcc_pred_id_a":0.460846215,"mpcc_pred_iq_a":1.9285928,"mpcc_state":1,"mpcc_theta_e":0.430338383,"mpcc_theta_mech":0.553013623,"sam_rpm":-23.8236465,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248558074,"thr_a_norm":0.0248558074,"thr_a_v":0.59942323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473133445,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.008381,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.588670254,"cg_iw_a":-1.17560911,"cg_theta_rad":0.557523668,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.147556514,"mpcc_du":49.3981018,"mpcc_dv":50.1980515,"mpcc_dw":50.6018982,"mpcc_enc_sign":1,"mpcc_id_a":4.95364571,"mpcc_iq_a":0.282837987,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.7576599,"mpcc_pred_id_a":1.17700517,"mpcc_pred_iq_a":-4.64024305,"mpcc_state":1,"mpcc_theta_e":0.464796543,"mpcc_theta_mech":0.559905231,"sam_rpm":27.3102531,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248558074,"thr_a_norm":0.0248558074,"thr_a_v":0.59942323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473133445,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.014912,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.668195724,"cg_theta_rad":0.555436492,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0338783599,"mpcc_du":50.0943527,"mpcc_dv":48.6809425,"mpcc_dw":51.3190575,"mpcc_enc_sign":1,"mpcc_id_a":3.0284307,"mpcc_iq_a":-0.251788527,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.54985237,"mpcc_pred_id_a":0.33954373,"mpcc_pred_iq_a":-5.57740498,"mpcc_state":1,"mpcc_theta_e":0.435862541,"mpcc_theta_mech":0.554118395,"sam_rpm":-3.43107772,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266685635,"thr_a_norm":0.0266685635,"thr_a_v":0.606674254,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481039107,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.021442,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.443694592,"cg_iw_a":0.12916851,"cg_theta_rad":0.551683962,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.00282016909,"mpcc_du":50.313797,"mpcc_dv":48.5545807,"mpcc_dw":51.4454193,"mpcc_enc_sign":1,"mpcc_id_a":1.01548743,"mpcc_iq_a":-1.15019274,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.3978634,"mpcc_pred_id_a":0.0961918011,"mpcc_pred_iq_a":-0.839897752,"mpcc_state":1,"mpcc_theta_e":0.428902149,"mpcc_theta_mech":0.552726328,"sam_rpm":-17.26581,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266685635,"thr_a_norm":0.0266685635,"thr_a_v":0.606674254,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481039107,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.027943,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.806133032,"cg_iw_a":-0.668195724,"cg_theta_rad":0.555942118,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.00800168794,"mpcc_du":48.9429665,"mpcc_dv":51.0570335,"mpcc_dw":49.1973228,"mpcc_enc_sign":1,"mpcc_id_a":-1.37402308,"mpcc_iq_a":-3.23585343,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.16548824,"mpcc_pred_id_a":-1.18520904,"mpcc_pred_iq_a":-7.12420893,"mpcc_state":1,"mpcc_theta_e":0.449800968,"mpcc_theta_mech":0.556906104,"sam_rpm":12.6626587,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179320127,"thr_a_norm":0.0179320127,"thr_a_v":0.571728051,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.035969,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.31354666,"cg_iw_a":0.854045391,"cg_theta_rad":0.552779973,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0590916574,"mpcc_du":49.5775833,"mpcc_dv":50.3993797,"mpcc_dw":50.4224167,"mpcc_enc_sign":1,"mpcc_id_a":1.95436919,"mpcc_iq_a":-0.0231519807,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.0841055,"mpcc_pred_id_a":0.187766209,"mpcc_pred_iq_a":-5.12559462,"mpcc_state":1,"mpcc_theta_e":0.456701756,"mpcc_theta_mech":0.55828625,"sam_rpm":18.5952129,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270714164,"thr_a_norm":0.0179320127,"thr_a_v":0.608285666,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48526895,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.045979,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.02359605,"cg_iw_a":1.143996,"cg_theta_rad":0.557110071,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0402108319,"mpcc_du":49.9698181,"mpcc_dv":48.9616661,"mpcc_dw":51.0383339,"mpcc_enc_sign":1,"mpcc_id_a":2.47961926,"mpcc_iq_a":0.26106441,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0731218457,"mpcc_pred_id_a":0.33585158,"mpcc_pred_iq_a":-1.97535467,"mpcc_state":1,"mpcc_theta_e":0.444259644,"mpcc_theta_mech":0.555797875,"sam_rpm":0.595962346,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270714164,"thr_a_norm":0.0270714164,"thr_a_v":0.608285666,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48526895,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.056355,"values":{"cg_iu_a":0.821939945,"cg_iv_a":0.281181812,"cg_iw_a":-3.42272711,"cg_theta_rad":0.555983543,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0255710836,"mpcc_du":50.4919968,"mpcc_dv":48.3205872,"mpcc_dw":51.6794128,"mpcc_enc_sign":1,"mpcc_id_a":2.82852721,"mpcc_iq_a":-1.1942575,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.4181442,"mpcc_pred_id_a":0.122079179,"mpcc_pred_iq_a":-3.21650577,"mpcc_state":1,"mpcc_theta_e":0.42810154,"mpcc_theta_mech":0.55256623,"sam_rpm":-26.6386547,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189768821,"thr_a_norm":0.0189768821,"thr_a_v":0.575907528,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.065998,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.878620625,"cg_iw_a":-0.378245354,"cg_theta_rad":0.554605246,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.016040124,"mpcc_du":49.4973602,"mpcc_dv":49.733181,"mpcc_dw":50.5026398,"mpcc_enc_sign":1,"mpcc_id_a":2.10193729,"mpcc_iq_a":-1.87975776,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.38467741,"mpcc_pred_id_a":0.421854883,"mpcc_pred_iq_a":-0.250696152,"mpcc_state":1,"mpcc_theta_e":0.44529295,"mpcc_theta_mech":0.556004524,"sam_rpm":5.56803703,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189768821,"thr_a_norm":0.0189768821,"thr_a_v":0.575907528,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.076221,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.588670254,"cg_iw_a":-1.39307213,"cg_theta_rad":0.551735282,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0218143519,"mpcc_du":49.9093323,"mpcc_dv":48.8951111,"mpcc_dw":51.1048889,"mpcc_enc_sign":1,"mpcc_id_a":2.49156904,"mpcc_iq_a":-0.379931718,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.54591,"mpcc_pred_id_a":0.495760173,"mpcc_pred_iq_a":-1.28306997,"mpcc_state":1,"mpcc_theta_e":0.439177513,"mpcc_theta_mech":0.554781377,"sam_rpm":-2.60486221,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260391384,"thr_a_norm":0.0260391384,"thr_a_v":0.604156554,"thr_b":0.00170518458,"thr_b_norm":0.00170518458,"thr_b_v":0.506820738,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.086567,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.45852208,"cg_iw_a":-1.17560935,"cg_theta_rad":0.556029439,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.00925825629,"mpcc_du":50.1655197,"mpcc_dv":48.8011208,"mpcc_dw":51.1988792,"mpcc_enc_sign":1,"mpcc_id_a":-0.0149049042,"mpcc_iq_a":-1.10074055,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.65187407,"mpcc_pred_id_a":-0.0677992776,"mpcc_pred_iq_a":-2.31390619,"mpcc_state":1,"mpcc_theta_e":0.444132328,"mpcc_theta_mech":0.555772364,"sam_rpm":-8.13023281,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0996200442,"thr_a_norm":0.0260391384,"thr_a_v":0.898480177,"thr_b":0.0443808585,"thr_b_norm":0.00170518458,"thr_b_v":0.677523434,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.109394,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.24105906,"cg_iw_a":0.926532745,"cg_theta_rad":0.55359,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.000920606952,"mpcc_du":49.6171227,"mpcc_dv":49.8594093,"mpcc_dw":50.3828773,"mpcc_enc_sign":1,"mpcc_id_a":-0.497710615,"mpcc_iq_a":-1.9378159,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.95206499,"mpcc_pred_id_a":-0.358065158,"mpcc_pred_iq_a":-2.8430562,"mpcc_state":1,"mpcc_theta_e":0.446072102,"mpcc_theta_mech":0.554467916,"sam_rpm":6.66401768,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0996200442,"thr_a_norm":0.0996200442,"thr_a_v":0.898480177,"thr_b":0.0443808585,"thr_b_norm":0.0443808585,"thr_b_v":0.677523434,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.115894,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.02359605,"cg_iw_a":-1.53804755,"cg_theta_rad":0.557016253,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.00856907293,"mpcc_du":51.2863045,"mpcc_dv":47.2316589,"mpcc_dw":52.7683411,"mpcc_enc_sign":1,"mpcc_id_a":1.39128089,"mpcc_iq_a":0.201765418,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.694788,"mpcc_pred_id_a":0.177696899,"mpcc_pred_iq_a":2.96203518,"mpcc_state":1,"mpcc_theta_e":0.424921513,"mpcc_theta_mech":0.551930189,"sam_rpm":-26.5086594,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237857699,"thr_a_norm":0.0237857699,"thr_a_v":0.59514308,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473284513,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.122486,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.82096052,"cg_iw_a":0.0566811562,"cg_theta_rad":0.554573059,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.00164072798,"mpcc_du":50.2989693,"mpcc_dv":48.7634239,"mpcc_dw":51.2365761,"mpcc_enc_sign":1,"mpcc_id_a":0.447260797,"mpcc_iq_a":-0.987905502,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.23272562,"mpcc_pred_id_a":-0.433917314,"mpcc_pred_iq_a":-1.14266241,"mpcc_state":1,"mpcc_theta_e":0.435026646,"mpcc_theta_mech":0.553951204,"sam_rpm":-9.09951305,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237857699,"thr_a_norm":0.0237857699,"thr_a_v":0.59514308,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473284513,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.128925,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.226231575,"cg_iw_a":-1.10312176,"cg_theta_rad":0.553792119,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0121971592,"mpcc_du":49.5113525,"mpcc_dv":49.7834892,"mpcc_dw":50.4886475,"mpcc_enc_sign":1,"mpcc_id_a":0.903463006,"mpcc_iq_a":-0.520053208,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.82095814,"mpcc_pred_id_a":0.295942336,"mpcc_pred_iq_a":-3.23270535,"mpcc_state":1,"mpcc_theta_e":0.445831776,"mpcc_theta_mech":0.556112289,"sam_rpm":8.50660706,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0231814981,"thr_a_norm":0.0231814981,"thr_a_v":0.592725992,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49332568,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.137592,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-1.60349751,"cg_iw_a":1.72389746,"cg_theta_rad":0.556777418,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0219198074,"mpcc_du":50.0195999,"mpcc_dv":48.8040695,"mpcc_dw":51.1959305,"mpcc_enc_sign":1,"mpcc_id_a":2.64646101,"mpcc_iq_a":-0.733294308,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.55466747,"mpcc_pred_id_a":0.421955019,"mpcc_pred_iq_a":-1.22843337,"mpcc_state":1,"mpcc_theta_e":0.440236092,"mpcc_theta_mech":0.554993153,"sam_rpm":-3.99450636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183474422,"thr_a_norm":0.0231814981,"thr_a_v":0.573389769,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460041195,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.148518,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.74847269,"cg_iw_a":0.709069729,"cg_theta_rad":0.552040458,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.00641316641,"mpcc_du":49.3326912,"mpcc_dv":50.6673088,"mpcc_dw":49.9849434,"mpcc_enc_sign":1,"mpcc_id_a":1.14640999,"mpcc_iq_a":-1.36721122,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.11694193,"mpcc_pred_id_a":-0.227921978,"mpcc_pred_iq_a":-4.68901825,"mpcc_state":1,"mpcc_theta_e":0.439651012,"mpcc_theta_mech":0.554876149,"sam_rpm":1.12434685,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183474422,"thr_a_norm":0.0183474422,"thr_a_v":0.573389769,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460041195,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.159962,"values":{"cg_iu_a":-0.337862968,"cg_iv_a":-1.02359605,"cg_iw_a":1.36145902,"cg_theta_rad":0.556368113,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0909890011,"mpcc_du":49.4911499,"mpcc_dv":49.666893,"mpcc_dw":50.5088501,"mpcc_enc_sign":1,"mpcc_id_a":1.63874054,"mpcc_iq_a":-3.2750082,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.06206846,"mpcc_pred_id_a":0.427670509,"mpcc_pred_iq_a":-0.767966211,"mpcc_state":1,"mpcc_theta_e":0.42859745,"mpcc_theta_mech":0.552665412,"sam_rpm":-11.4718418,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160311311,"thr_a_norm":0.0160311311,"thr_a_v":0.564124525,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460141927,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.169971,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.89344811,"cg_iw_a":-0.595707893,"cg_theta_rad":0.554022312,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0191658214,"mpcc_du":50.1326675,"mpcc_dv":48.4459076,"mpcc_dw":51.5540924,"mpcc_enc_sign":1,"mpcc_id_a":2.59606504,"mpcc_iq_a":0.365033835,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.07395554,"mpcc_pred_id_a":0.986250699,"mpcc_pred_iq_a":1.66004825,"mpcc_state":1,"mpcc_theta_e":0.435883045,"mpcc_theta_mech":0.554122508,"sam_rpm":-3.94245124,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0306591839,"thr_a_norm":0.0160311311,"thr_a_v":0.622636735,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457624167,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.180195,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.45852208,"cg_iw_a":0.926532984,"cg_theta_rad":0.556597888,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0432727337,"mpcc_du":49.8004074,"mpcc_dv":49.289505,"mpcc_dw":50.710495,"mpcc_enc_sign":1,"mpcc_id_a":1.62036538,"mpcc_iq_a":-0.0435996838,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.0305395,"mpcc_pred_id_a":-0.0586142205,"mpcc_pred_iq_a":-1.91195226,"mpcc_state":1,"mpcc_theta_e":0.455508709,"mpcc_theta_mech":0.558047652,"sam_rpm":16.6367149,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0306591839,"thr_a_norm":0.0306591839,"thr_a_v":0.622636735,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457624167,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.190388,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.53100967,"cg_iw_a":-3.13277626,"cg_theta_rad":0.556632638,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0431289375,"mpcc_du":49.9102211,"mpcc_dv":48.7868958,"mpcc_dw":51.2131042,"mpcc_enc_sign":1,"mpcc_id_a":3.3960216,"mpcc_iq_a":-0.173445523,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0938191935,"mpcc_pred_id_a":0.784823835,"mpcc_pred_iq_a":-1.2370193,"mpcc_state":1,"mpcc_theta_e":0.44377327,"mpcc_theta_mech":0.555700541,"sam_rpm":0.0282115992,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294255018,"thr_a_norm":0.0294255018,"thr_a_v":0.617702007,"thr_b":0.00351797044,"thr_b_norm":0.00351797044,"thr_b_v":0.514071882,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.213367,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-1.38603449,"cg_iw_a":-1.8279984,"cg_theta_rad":0.5555709,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0164481718,"mpcc_du":49.1489944,"mpcc_dv":50.8510056,"mpcc_dw":49.9002266,"mpcc_enc_sign":1,"mpcc_id_a":2.3209939,"mpcc_iq_a":-0.735862553,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.5196619,"mpcc_pred_id_a":-0.00483146124,"mpcc_pred_iq_a":0.145295918,"mpcc_state":1,"mpcc_theta_e":0.429312229,"mpcc_theta_mech":0.552808344,"sam_rpm":11.6783419,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294255018,"thr_a_norm":0.0294255018,"thr_a_v":0.617702007,"thr_b":0.00351797044,"thr_b_norm":0.00351797044,"thr_b_v":0.514071882,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.219929,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.02359605,"cg_iw_a":-1.17560935,"cg_theta_rad":0.556517303,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.00244548405,"mpcc_du":50.9133949,"mpcc_dv":47.8499794,"mpcc_dw":52.1500206,"mpcc_enc_sign":1,"mpcc_id_a":0.879051447,"mpcc_iq_a":-1.45298243,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.1277208,"mpcc_pred_id_a":-0.251796901,"mpcc_pred_iq_a":1.36414158,"mpcc_state":1,"mpcc_theta_e":0.426975727,"mpcc_theta_mech":0.552341104,"sam_rpm":-20.8258495,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0302059948,"thr_a_norm":0.0302059948,"thr_a_v":0.620823979,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.226429,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.371207237,"cg_iw_a":-2.40789938,"cg_theta_rad":0.556066573,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0137369093,"mpcc_du":50.0885544,"mpcc_dv":48.9617615,"mpcc_dw":50.5427055,"mpcc_enc_sign":1,"mpcc_id_a":0.785296142,"mpcc_iq_a":-0.600281537,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.894210279,"mpcc_pred_id_a":-0.339871109,"mpcc_pred_iq_a":-1.72565699,"mpcc_state":1,"mpcc_theta_e":0.443545341,"mpcc_theta_mech":0.556330919,"sam_rpm":1.42177308,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0302059948,"thr_a_norm":0.0302059948,"thr_a_v":0.620823979,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.23296,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.31354666,"cg_iw_a":0.201656342,"cg_theta_rad":0.558505714,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0217240825,"mpcc_du":49.406414,"mpcc_dv":50.593586,"mpcc_dw":50.356041,"mpcc_enc_sign":1,"mpcc_id_a":2.69060659,"mpcc_iq_a":-1.6472404,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.2978039,"mpcc_pred_id_a":0.296921283,"mpcc_pred_iq_a":-3.4397006,"mpcc_state":1,"mpcc_theta_e":0.457654953,"mpcc_theta_mech":0.558476865,"sam_rpm":23.7763462,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022224769,"thr_a_norm":0.022224769,"thr_a_v":0.588899076,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491764724,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.241077,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-2.69081235,"cg_iw_a":2.52126145,"cg_theta_rad":0.553384185,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0115853939,"mpcc_du":49.500473,"mpcc_dv":49.9565353,"mpcc_dw":50.499527,"mpcc_enc_sign":1,"mpcc_id_a":2.1134634,"mpcc_iq_a":-0.843008339,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.41203213,"mpcc_pred_id_a":0.184198305,"mpcc_pred_iq_a":-4.96219587,"mpcc_state":1,"mpcc_theta_e":0.436531544,"mpcc_theta_mech":0.554252267,"sam_rpm":-8.59288692,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224135965,"thr_a_norm":0.022224769,"thr_a_v":0.589654386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490203708,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.251026,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.60349751,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556368828,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0229799319,"mpcc_du":49.4591179,"mpcc_dv":50.5408821,"mpcc_dw":50.148838,"mpcc_enc_sign":1,"mpcc_id_a":1.89331651,"mpcc_iq_a":-0.623024642,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.31800878,"mpcc_pred_id_a":-0.530058265,"mpcc_pred_iq_a":-2.62573457,"mpcc_state":1,"mpcc_theta_e":0.425132751,"mpcc_theta_mech":0.551972449,"sam_rpm":-1.23680866,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224135965,"thr_a_norm":0.0224135965,"thr_a_v":0.589654386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490203708,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.261158,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.89344811,"cg_iw_a":0.491606951,"cg_theta_rad":0.557165205,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.00993398391,"mpcc_du":49.7717705,"mpcc_dv":49.426693,"mpcc_dw":50.573307,"mpcc_enc_sign":1,"mpcc_id_a":-0.98035121,"mpcc_iq_a":-2.63384724,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.81600714,"mpcc_pred_id_a":-0.732052803,"mpcc_pred_iq_a":-1.23747492,"mpcc_state":1,"mpcc_theta_e":0.442554474,"mpcc_theta_mech":0.555456817,"sam_rpm":4.1596899,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170633942,"thr_a_norm":0.0170633942,"thr_a_v":0.568253577,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443222731,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.271137,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.443694592,"cg_iw_a":-0.378245354,"cg_theta_rad":0.55515641,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.00811468344,"mpcc_du":49.5936279,"mpcc_dv":49.943676,"mpcc_dw":50.4063721,"mpcc_enc_sign":1,"mpcc_id_a":0.113679625,"mpcc_iq_a":-1.16326249,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.15233612,"mpcc_pred_id_a":-0.254364252,"mpcc_pred_iq_a":-1.66154444,"mpcc_state":1,"mpcc_theta_e":0.446132183,"mpcc_theta_mech":0.556172371,"sam_rpm":15.7051382,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170633942,"thr_a_norm":0.0170633942,"thr_a_v":0.568253577,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443222731,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.281178,"values":{"cg_iu_a":4.44632339,"cg_iv_a":-1.31354666,"cg_iw_a":-0.23326993,"cg_theta_rad":0.556707501,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0683150887,"mpcc_du":49.7860146,"mpcc_dv":49.0476646,"mpcc_dw":50.9523354,"mpcc_enc_sign":1,"mpcc_id_a":2.49167609,"mpcc_iq_a":0.103732847,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.25502348,"mpcc_pred_id_a":0.321013093,"mpcc_pred_iq_a":-2.48465061,"mpcc_state":1,"mpcc_theta_e":0.449402332,"mpcc_theta_mech":0.556826353,"sam_rpm":11.1805592,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186243951,"thr_a_norm":0.0186243951,"thr_a_v":0.574497581,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.29137,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.45852208,"cg_iw_a":-0.305757284,"cg_theta_rad":0.556249022,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0299392696,"mpcc_du":49.9426155,"mpcc_dv":48.9423714,"mpcc_dw":51.0576286,"mpcc_enc_sign":1,"mpcc_id_a":1.97914231,"mpcc_iq_a":-1.45996141,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.30518997,"mpcc_pred_id_a":0.105315365,"mpcc_pred_iq_a":-3.28882933,"mpcc_state":1,"mpcc_theta_e":0.448950768,"mpcc_theta_mech":0.556736112,"sam_rpm":2.28115749,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236724615,"thr_a_norm":0.0186243951,"thr_a_v":0.594689846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470414281,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.314381,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.0384233,"cg_iw_a":-1.90048599,"cg_theta_rad":0.554809511,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.02356066,"mpcc_du":50.4850464,"mpcc_dv":48.1637154,"mpcc_dw":51.8362846,"mpcc_enc_sign":1,"mpcc_id_a":2.97308445,"mpcc_iq_a":-1.05749547,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.0152626,"mpcc_pred_id_a":0.430341214,"mpcc_pred_iq_a":0.29394716,"mpcc_state":1,"mpcc_theta_e":0.43599987,"mpcc_theta_mech":0.554145932,"sam_rpm":-12.3081617,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236724615,"thr_a_norm":0.0236724615,"thr_a_v":0.594689846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470414281,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.320911,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.02359605,"cg_iw_a":-0.378245115,"cg_theta_rad":0.555077016,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.023558449,"mpcc_du":50.650753,"mpcc_dv":48.4115906,"mpcc_dw":51.5884094,"mpcc_enc_sign":1,"mpcc_id_a":-1.34312928,"mpcc_iq_a":-3.2005012,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.3888397,"mpcc_pred_id_a":-0.877535939,"mpcc_pred_iq_a":-1.09931004,"mpcc_state":1,"mpcc_theta_e":0.425309181,"mpcc_theta_mech":0.552007794,"sam_rpm":-26.4905033,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0287079364,"thr_a_norm":0.0287079364,"thr_a_v":0.614831746,"thr_b":0.00238497555,"thr_b_norm":0.00238497555,"thr_b_v":0.509539902,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.327412,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.878620625,"cg_iw_a":-2.19043684,"cg_theta_rad":0.555734694,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0035438484,"mpcc_du":50.2183914,"mpcc_dv":48.7492905,"mpcc_dw":51.2507095,"mpcc_enc_sign":1,"mpcc_id_a":0.603061259,"mpcc_iq_a":-1.48803473,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.49039865,"mpcc_pred_id_a":-0.272347003,"mpcc_pred_iq_a":-0.158948004,"mpcc_state":1,"mpcc_theta_e":0.444550037,"mpcc_theta_mech":0.55585593,"sam_rpm":-15.9456024,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0287079364,"thr_a_norm":0.0287079364,"thr_a_v":0.614831746,"thr_b":0.00238497555,"thr_b_norm":0.00238497555,"thr_b_v":0.509539902,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.334003,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-2.25588632,"cg_iw_a":-0.450732946,"cg_theta_rad":0.555389345,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0431970917,"mpcc_du":50.4615059,"mpcc_dv":47.9895248,"mpcc_dw":52.0104752,"mpcc_enc_sign":1,"mpcc_id_a":3.60147595,"mpcc_iq_a":-0.569479644,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.48363161,"mpcc_pred_id_a":0.747018576,"mpcc_pred_iq_a":0.280857086,"mpcc_state":1,"mpcc_theta_e":0.437061787,"mpcc_theta_mech":0.554358244,"sam_rpm":-10.4262724,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280659199,"thr_a_norm":0.0280659199,"thr_a_v":0.61226368,"thr_b":0.00282558799,"thr_b_norm":0.00282558799,"thr_b_v":0.511302352,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.342121,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.298719406,"cg_iw_a":-1.75551081,"cg_theta_rad":0.556231678,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0228336547,"mpcc_du":49.9445305,"mpcc_dv":48.9127998,"mpcc_dw":51.0872002,"mpcc_enc_sign":1,"mpcc_id_a":1.33395135,"mpcc_iq_a":-0.126387566,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.78371143,"mpcc_pred_id_a":0.125954106,"mpcc_pred_iq_a":-0.655454278,"mpcc_state":1,"mpcc_theta_e":0.448411942,"mpcc_theta_mech":0.556628346,"sam_rpm":8.58759975,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024893567,"thr_a_norm":0.0280659199,"thr_a_v":0.599574268,"thr_b":0,"thr_b_norm":0.00282558799,"thr_b_v":0.485822856,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.352131,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.45852208,"cg_iw_a":-1.61053538,"cg_theta_rad":0.557135284,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0376642719,"mpcc_du":50.5431709,"mpcc_dv":48.0745049,"mpcc_dw":51.9254951,"mpcc_enc_sign":1,"mpcc_id_a":2.0512619,"mpcc_iq_a":-0.635194421,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.00813293,"mpcc_pred_id_a":0.268865138,"mpcc_pred_iq_a":-1.31358564,"mpcc_state":1,"mpcc_theta_e":0.439058781,"mpcc_theta_mech":0.557403862,"sam_rpm":-10.6154156,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024893567,"thr_a_norm":0.024893567,"thr_a_v":0.599574268,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485822856,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.362537,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.951108456,"cg_iw_a":-0.740683079,"cg_theta_rad":0.553548634,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0160575304,"mpcc_du":49.4252586,"mpcc_dv":50.5747414,"mpcc_dw":50.1794167,"mpcc_enc_sign":1,"mpcc_id_a":-0.1731527,"mpcc_iq_a":0.923052073,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.1266308,"mpcc_pred_id_a":-0.48324123,"mpcc_pred_iq_a":-3.29093647,"mpcc_state":1,"mpcc_theta_e":0.447244644,"mpcc_theta_mech":0.556394875,"sam_rpm":16.5250282,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288841873,"thr_a_norm":0.0288841873,"thr_a_v":0.615536749,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490757585,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.372547,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.45852208,"cg_iw_a":-1.10312176,"cg_theta_rad":0.553019226,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0274755601,"mpcc_du":49.5325966,"mpcc_dv":50.2431908,"mpcc_dw":50.4674034,"mpcc_enc_sign":1,"mpcc_id_a":-0.435354441,"mpcc_iq_a":-2.8854301,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.719371676,"mpcc_pred_id_a":-0.0912620649,"mpcc_pred_iq_a":-2.95902085,"mpcc_state":1,"mpcc_theta_e":0.435285568,"mpcc_theta_mech":0.554003,"sam_rpm":-2.44154263,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288841873,"thr_a_norm":0.0288841873,"thr_a_v":0.615536749,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490757585,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.382557,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.45852208,"cg_iw_a":-1.39307237,"cg_theta_rad":0.554870725,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.00419102563,"mpcc_du":49.083149,"mpcc_dv":50.916851,"mpcc_dw":49.7942848,"mpcc_enc_sign":1,"mpcc_id_a":1.23946345,"mpcc_iq_a":-1.81222582,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.3748493,"mpcc_pred_id_a":-0.436727524,"mpcc_pred_iq_a":-4.02517939,"mpcc_state":1,"mpcc_theta_e":0.454527378,"mpcc_theta_mech":0.557851374,"sam_rpm":25.9243469,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213057995,"thr_a_norm":0.0213057995,"thr_a_v":0.585223198,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470464617,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.39397,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.6759851,"cg_iw_a":-1.32058477,"cg_theta_rad":0.55555588,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.00613186508,"mpcc_du":49.8520088,"mpcc_dv":49.0086403,"mpcc_dw":50.9913597,"mpcc_enc_sign":1,"mpcc_id_a":1.33049154,"mpcc_iq_a":0.406656414,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.69990206,"mpcc_pred_id_a":0.0809437558,"mpcc_pred_iq_a":0.385095417,"mpcc_state":1,"mpcc_theta_e":0.430481434,"mpcc_theta_mech":0.553042233,"sam_rpm":-9.81155109,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182215571,"thr_a_norm":0.0213057995,"thr_a_v":0.572886229,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454401463,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.416187,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.951108456,"cg_iw_a":0.419119358,"cg_theta_rad":0.556708634,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.00292434264,"mpcc_du":50.9689026,"mpcc_dv":51.1169662,"mpcc_dw":49.4975014,"mpcc_enc_sign":1,"mpcc_id_a":0.946383059,"mpcc_iq_a":-0.429807007,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.1249104,"mpcc_pred_id_a":-0.319997638,"mpcc_pred_iq_a":1.73214436,"mpcc_state":1,"mpcc_theta_e":0.430215359,"mpcc_theta_mech":0.552988946,"sam_rpm":-20.2183361,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182215571,"thr_a_norm":0.0182215571,"thr_a_v":0.572886229,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454401463,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.422688,"values":{"cg_iu_a":1.18437815,"cg_iv_a":0.0637187958,"cg_iw_a":-1.24809694,"cg_theta_rad":0.556153297,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0176435336,"mpcc_du":50.3325996,"mpcc_dv":48.5717926,"mpcc_dw":51.4282074,"mpcc_enc_sign":1,"mpcc_id_a":0.780515552,"mpcc_iq_a":-1.11198139,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.31592417,"mpcc_pred_id_a":-0.114049815,"mpcc_pred_iq_a":-0.91152668,"mpcc_state":1,"mpcc_theta_e":0.44682312,"mpcc_theta_mech":0.556310534,"sam_rpm":2.73400664,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208400041,"thr_a_norm":0.0208400041,"thr_a_v":0.583360016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453344017,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.429249,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.96593571,"cg_iw_a":0.636582375,"cg_theta_rad":0.555634975,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0864352137,"mpcc_du":49.9341164,"mpcc_dv":48.5867004,"mpcc_dw":51.4132996,"mpcc_enc_sign":1,"mpcc_id_a":4.33453941,"mpcc_iq_a":2.17398977,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.220101,"mpcc_pred_id_a":0.762934566,"mpcc_pred_iq_a":-0.455309451,"mpcc_state":1,"mpcc_theta_e":0.439770222,"mpcc_theta_mech":0.554899931,"sam_rpm":-4.34977007,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208400041,"thr_a_norm":0.0208400041,"thr_a_v":0.583360016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453344017,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.435932,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.733645439,"cg_iw_a":-1.53804779,"cg_theta_rad":0.557905436,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0145037677,"mpcc_du":49.4843826,"mpcc_dv":50.5156174,"mpcc_dw":50.3797684,"mpcc_enc_sign":1,"mpcc_id_a":0.00958783831,"mpcc_iq_a":-1.5343895,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.27557802,"mpcc_pred_id_a":-0.0675710663,"mpcc_pred_iq_a":-6.18625736,"mpcc_state":1,"mpcc_theta_e":0.450671196,"mpcc_theta_mech":0.55708015,"sam_rpm":11.2414017,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.042278558,"thr_a_norm":0.042278558,"thr_a_v":0.669114232,"thr_b":0.0131735057,"thr_b_norm":0.0131735057,"thr_b_v":0.552694023,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.446125,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.885658741,"cg_theta_rad":0.555791974,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0544997752,"mpcc_du":49.7426033,"mpcc_dv":49.1193657,"mpcc_dw":50.8806343,"mpcc_enc_sign":1,"mpcc_id_a":2.79468179,"mpcc_iq_a":-0.605826974,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.53076553,"mpcc_pred_id_a":0.240757808,"mpcc_pred_iq_a":-2.00808454,"mpcc_state":1,"mpcc_theta_e":0.451295376,"mpcc_theta_mech":0.557205021,"sam_rpm":15.7671337,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.042278558,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0.0131735057,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.456165,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.371207237,"cg_iw_a":-1.82799816,"cg_theta_rad":0.557254791,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0441739783,"mpcc_du":50.2206268,"mpcc_dv":48.6083794,"mpcc_dw":51.3916206,"mpcc_enc_sign":1,"mpcc_id_a":0.759516597,"mpcc_iq_a":-0.317534119,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.23608875,"mpcc_pred_id_a":0.088286832,"mpcc_pred_iq_a":-0.586194575,"mpcc_state":1,"mpcc_theta_e":0.45179224,"mpcc_theta_mech":0.557304382,"sam_rpm":12.0072794,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.466175,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-0.588670254,"cg_iw_a":-2.11794901,"cg_theta_rad":0.556631207,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.00596957374,"mpcc_du":50.0902328,"mpcc_dv":48.903904,"mpcc_dw":51.096096,"mpcc_enc_sign":1,"mpcc_id_a":0.82697165,"mpcc_iq_a":-2.04840517,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.8362298,"mpcc_pred_id_a":-0.358707517,"mpcc_pred_iq_a":-0.670664132,"mpcc_state":1,"mpcc_theta_e":0.439070225,"mpcc_theta_mech":0.554759979,"sam_rpm":-5.80016565,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252838284,"thr_a_norm":0.0252838284,"thr_a_v":0.601135314,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485067546,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.476032,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.16857147,"cg_iw_a":-1.46555996,"cg_theta_rad":0.55751884,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.00462825084,"mpcc_du":49.9957237,"mpcc_dv":48.603981,"mpcc_dw":51.396019,"mpcc_enc_sign":1,"mpcc_id_a":1.20108593,"mpcc_iq_a":-1.07621515,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.8822701,"mpcc_pred_id_a":0.0518038422,"mpcc_pred_iq_a":-2.4451921,"mpcc_state":1,"mpcc_theta_e":0.443766117,"mpcc_theta_mech":0.55569917,"sam_rpm":-10.9452257,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252838284,"thr_a_norm":0.0252838284,"thr_a_v":0.601135314,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485067546,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.486347,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.153744221,"cg_iw_a":-1.97297335,"cg_theta_rad":0.55351007,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0364417545,"mpcc_du":49.4718323,"mpcc_dv":49.8352165,"mpcc_dw":50.5281677,"mpcc_enc_sign":1,"mpcc_id_a":2.074049,"mpcc_iq_a":0.0800632536,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.50103712,"mpcc_pred_id_a":0.209194422,"mpcc_pred_iq_a":-3.53729963,"mpcc_state":1,"mpcc_theta_e":0.445857048,"mpcc_theta_mech":0.556117356,"sam_rpm":12.0721092,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196063071,"thr_a_norm":0.0196063071,"thr_a_v":0.578425229,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480787337,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.496357,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.661157608,"cg_iw_a":-1.90048599,"cg_theta_rad":0.555595815,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0481211841,"mpcc_du":50.354599,"mpcc_dv":48.5506821,"mpcc_dw":51.4493179,"mpcc_enc_sign":1,"mpcc_id_a":0.53493917,"mpcc_iq_a":-0.620410562,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.39412689,"mpcc_pred_id_a":-0.270776421,"mpcc_pred_iq_a":-3.14522266,"mpcc_state":1,"mpcc_theta_e":0.443636417,"mpcc_theta_mech":0.555673242,"sam_rpm":-3.38475394,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259384215,"thr_a_norm":0.0196063071,"thr_a_v":0.603753686,"thr_b":0.000345617533,"thr_b_norm":0,"thr_b_v":0.50138247,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.519367,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-2.47334933,"cg_iw_a":1.07150817,"cg_theta_rad":0.554228604,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0103021441,"mpcc_du":49.578701,"mpcc_dv":49.7958221,"mpcc_dw":50.421299,"mpcc_enc_sign":1,"mpcc_id_a":0.269977629,"mpcc_iq_a":-0.857589424,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.6507349,"mpcc_pred_id_a":-0.0545502231,"mpcc_pred_iq_a":0.864894569,"mpcc_state":1,"mpcc_theta_e":0.432360172,"mpcc_theta_mech":0.553417981,"sam_rpm":-4.00629568,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259384215,"thr_a_norm":0.0259384215,"thr_a_v":0.603753686,"thr_b":0.000345617533,"thr_b_norm":0.000345617533,"thr_b_v":0.50138247,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.525898,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.153744221,"cg_iw_a":-0.885658741,"cg_theta_rad":0.552775145,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0107182404,"mpcc_du":49.9723206,"mpcc_dv":48.8031616,"mpcc_dw":51.1968384,"mpcc_enc_sign":1,"mpcc_id_a":1.99467242,"mpcc_iq_a":-1.94940603,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.37025309,"mpcc_pred_id_a":0.398285031,"mpcc_pred_iq_a":-0.721691728,"mpcc_state":1,"mpcc_theta_e":0.4390378,"mpcc_theta_mech":0.554753482,"sam_rpm":-4.21221638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209532976,"thr_a_norm":0.0209532976,"thr_a_v":0.58381319,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470666051,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.532429,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.516182423,"cg_iw_a":-1.61053514,"cg_theta_rad":0.552878678,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.00623974623,"mpcc_du":50.1852989,"mpcc_dv":48.7326927,"mpcc_dw":51.2673073,"mpcc_enc_sign":1,"mpcc_id_a":1.41457033,"mpcc_iq_a":-1.64060163,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.43248844,"mpcc_pred_id_a":-0.0547115281,"mpcc_pred_iq_a":-0.340108722,"mpcc_state":1,"mpcc_theta_e":0.443541527,"mpcc_theta_mech":0.555654228,"sam_rpm":1.95749044,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209532976,"thr_a_norm":0.0209532976,"thr_a_v":0.58381319,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470666051,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.538929,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.371207237,"cg_iw_a":-0.523220062,"cg_theta_rad":0.555612326,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.011941975,"mpcc_du":49.5361404,"mpcc_dv":50.0136719,"mpcc_dw":50.4638596,"mpcc_enc_sign":1,"mpcc_id_a":0.596849918,"mpcc_iq_a":-0.321681112,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.53786802,"mpcc_pred_id_a":0.134941891,"mpcc_pred_iq_a":-2.73768234,"mpcc_state":1,"mpcc_theta_e":0.438570023,"mpcc_theta_mech":0.554659903,"sam_rpm":-8.2275877,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0299793929,"thr_a_norm":0.0299793929,"thr_a_v":0.619917572,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474140525,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.547321,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.661157608,"cg_iw_a":-2.62536287,"cg_theta_rad":0.557269692,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0137919364,"mpcc_du":49.642086,"mpcc_dv":49.513958,"mpcc_dw":50.486042,"mpcc_enc_sign":1,"mpcc_id_a":1.10575283,"mpcc_iq_a":-0.433318466,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.45312929,"mpcc_pred_id_a":-0.296799064,"mpcc_pred_iq_a":-2.7293818,"mpcc_state":1,"mpcc_theta_e":0.447450638,"mpcc_theta_mech":0.557165265,"sam_rpm":8.21968746,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0332020968,"thr_a_norm":0.0299793929,"thr_a_v":0.632808387,"thr_b":0.00235980749,"thr_b_norm":0,"thr_b_v":0.50943923,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.557148,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.53100967,"cg_iw_a":0.709069729,"cg_theta_rad":0.555033147,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.00522056175,"mpcc_du":49.8822975,"mpcc_dv":49.0700226,"mpcc_dw":50.9299774,"mpcc_enc_sign":1,"mpcc_id_a":0.835081816,"mpcc_iq_a":-0.15403901,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.41427457,"mpcc_pred_id_a":0.0273679942,"mpcc_pred_iq_a":-1.68762231,"mpcc_state":1,"mpcc_theta_e":0.436336517,"mpcc_theta_mech":0.554213226,"sam_rpm":-9.627038,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0332020968,"thr_a_norm":0.0332020968,"thr_a_v":0.632808387,"thr_b":0.00235980749,"thr_b_norm":0.00235980749,"thr_b_v":0.50943923,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.567524,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.60349751,"cg_iw_a":0.78155756,"cg_theta_rad":0.555993617,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0178338401,"mpcc_du":50.1537552,"mpcc_dv":48.49189,"mpcc_dw":51.50811,"mpcc_enc_sign":1,"mpcc_id_a":2.60669255,"mpcc_iq_a":-1.1570884,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.43719292,"mpcc_pred_id_a":0.589041471,"mpcc_pred_iq_a":-1.42810345,"mpcc_state":1,"mpcc_theta_e":0.433862209,"mpcc_theta_mech":0.553718328,"sam_rpm":-14.4547758,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281288624,"thr_a_norm":0.0281288624,"thr_a_v":0.61251545,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493124276,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.577473,"values":{"cg_iu_a":2.99656963,"cg_iv_a":0.208694458,"cg_iw_a":-3.20526409,"cg_theta_rad":0.553964317,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0384642184,"mpcc_du":49.5592766,"mpcc_dv":49.3475342,"mpcc_dw":50.6524658,"mpcc_enc_sign":1,"mpcc_id_a":1.23823416,"mpcc_iq_a":-0.99912107,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.54331326,"mpcc_pred_id_a":-0.167693749,"mpcc_pred_iq_a":-0.173049882,"mpcc_state":1,"mpcc_theta_e":0.442554474,"mpcc_theta_mech":0.555456817,"sam_rpm":4.6524682,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281288624,"thr_a_norm":0.0281288624,"thr_a_v":0.61251545,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493124276,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.58794,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.226231575,"cg_iw_a":-2.55287504,"cg_theta_rad":0.554940641,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0902702436,"mpcc_du":50.5897102,"mpcc_dv":48.1428375,"mpcc_dw":51.8571625,"mpcc_enc_sign":1,"mpcc_id_a":1.27142,"mpcc_iq_a":-1.08508134,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.16508245,"mpcc_pred_id_a":0.176232532,"mpcc_pred_iq_a":-1.70168114,"mpcc_state":1,"mpcc_theta_e":0.455926895,"mpcc_theta_mech":0.558131337,"sam_rpm":9.47608566,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295765549,"thr_a_norm":0.0295765549,"thr_a_v":0.61830622,"thr_b":0.00511673093,"thr_b_norm":0.00511673093,"thr_b_v":0.520466924,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.598347,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.951108456,"cg_iw_a":1.07150841,"cg_theta_rad":0.556072831,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.047141023,"mpcc_du":50.2233429,"mpcc_dv":48.6472168,"mpcc_dw":51.3527832,"mpcc_enc_sign":1,"mpcc_id_a":2.01208091,"mpcc_iq_a":-1.38947546,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.27167439,"mpcc_pred_id_a":-0.0561921,"mpcc_pred_iq_a":-3.5977869,"mpcc_state":1,"mpcc_theta_e":0.451394558,"mpcc_theta_mech":0.55722487,"sam_rpm":0.626395583,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233703256,"thr_a_norm":0.0295765549,"thr_a_v":0.593481302,"thr_b":0,"thr_b_norm":0.00511673093,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.621174,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.97297382,"cg_theta_rad":0.561561584,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0207179915,"mpcc_du":51.2528305,"mpcc_dv":47.6168442,"mpcc_dw":52.3831558,"mpcc_enc_sign":1,"mpcc_id_a":-0.547663629,"mpcc_iq_a":-0.708907545,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.96074009,"mpcc_pred_id_a":-0.527321875,"mpcc_pred_iq_a":1.9261173,"mpcc_state":1,"mpcc_theta_e":0.44075489,"mpcc_theta_mech":0.555096865,"sam_rpm":-6.23869562,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233703256,"thr_a_norm":0.0233703256,"thr_a_v":0.593481302,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.628132,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.16857147,"cg_iw_a":-1.53804779,"cg_theta_rad":0.554228544,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.00791567937,"mpcc_du":50.405571,"mpcc_dv":48.4211617,"mpcc_dw":51.5788383,"mpcc_enc_sign":1,"mpcc_id_a":1.05433786,"mpcc_iq_a":-1.58468556,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.16392136,"mpcc_pred_id_a":-0.0386915393,"mpcc_pred_iq_a":1.29511774,"mpcc_state":1,"mpcc_theta_e":0.430337906,"mpcc_theta_mech":0.553013504,"sam_rpm":-11.0601053,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233703256,"thr_a_norm":0.0233703256,"thr_a_v":0.593481302,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477312863,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.634174,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.24105906,"cg_iw_a":-1.24809718,"cg_theta_rad":0.556911409,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.00479688356,"mpcc_du":49.7503281,"mpcc_dv":49.3249702,"mpcc_dw":50.6750298,"mpcc_enc_sign":1,"mpcc_id_a":1.23147297,"mpcc_iq_a":-1.86879289,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.450704038,"mpcc_pred_id_a":-0.225457355,"mpcc_pred_iq_a":-1.79521883,"mpcc_state":1,"mpcc_theta_e":0.43921566,"mpcc_theta_mech":0.554789066,"sam_rpm":0.424305499,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233703256,"thr_a_norm":0.0233703256,"thr_a_v":0.593481302,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477312863,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.640736,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.74847269,"cg_iw_a":-1.03063393,"cg_theta_rad":0.557269633,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0245733149,"mpcc_du":48.9760437,"mpcc_dv":51.0239563,"mpcc_dw":49.6627541,"mpcc_enc_sign":1,"mpcc_id_a":1.98783672,"mpcc_iq_a":-1.10627985,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.8510056,"mpcc_pred_id_a":-0.241056353,"mpcc_pred_iq_a":-7.23901987,"mpcc_state":1,"mpcc_theta_e":0.454410076,"mpcc_theta_mech":0.55782789,"sam_rpm":17.5791912,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0100766718,"thr_a_norm":0.0100766718,"thr_a_v":0.540306687,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44236666,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.650898,"values":{"cg_iu_a":2.41666842,"cg_iv_a":0.353669643,"cg_iw_a":-2.77033806,"cg_theta_rad":0.555472314,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0433813967,"mpcc_du":49.6616364,"mpcc_dv":49.0382042,"mpcc_dw":50.9617958,"mpcc_enc_sign":1,"mpcc_id_a":3.90757513,"mpcc_iq_a":-1.46670866,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.38380766,"mpcc_pred_id_a":0.868989229,"mpcc_pred_iq_a":-3.11829638,"mpcc_state":1,"mpcc_theta_e":0.45042181,"mpcc_theta_mech":0.556257069,"sam_rpm":4.35146046,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0207644701,"thr_a_norm":0.0207644701,"thr_a_v":0.58305788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467695117,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.660725,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.226231575,"cg_iw_a":-1.82799816,"cg_theta_rad":0.558104932,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.00559569616,"mpcc_du":50.3142509,"mpcc_dv":48.2279549,"mpcc_dw":51.7720451,"mpcc_enc_sign":1,"mpcc_id_a":1.42577505,"mpcc_iq_a":-0.601593316,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.8756914,"mpcc_pred_id_a":0.599413633,"mpcc_pred_iq_a":0.344372362,"mpcc_state":1,"mpcc_theta_e":0.428951263,"mpcc_theta_mech":0.552736163,"sam_rpm":-20.5105972,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0207644701,"thr_a_norm":0.0207644701,"thr_a_v":0.58305788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467695117,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.670918,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.0384233,"cg_iw_a":1.21648335,"cg_theta_rad":0.556289971,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.00338786957,"mpcc_du":49.8578072,"mpcc_dv":49.4443245,"mpcc_dw":50.5556755,"mpcc_enc_sign":1,"mpcc_id_a":-0.921504915,"mpcc_iq_a":-1.1826514,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.29633141,"mpcc_pred_id_a":-0.941105545,"mpcc_pred_iq_a":-3.09584808,"mpcc_state":1,"mpcc_theta_e":0.434617043,"mpcc_theta_mech":0.553869367,"sam_rpm":-10.9969444,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.043386355,"thr_a_norm":0.043386355,"thr_a_v":0.67354542,"thr_b":0.00675326586,"thr_b_norm":0.00675326586,"thr_b_v":0.527013063,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.681141,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.24105906,"cg_iw_a":0.854045153,"cg_theta_rad":0.555004179,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0705762804,"mpcc_du":49.9418182,"mpcc_dv":48.8554115,"mpcc_dw":51.1445885,"mpcc_enc_sign":1,"mpcc_id_a":3.12424755,"mpcc_iq_a":0.602642179,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.893116,"mpcc_pred_id_a":0.385924667,"mpcc_pred_iq_a":-1.66645873,"mpcc_state":1,"mpcc_theta_e":0.444429874,"mpcc_theta_mech":0.55583185,"sam_rpm":6.02595329,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149233192,"thr_a_norm":0.043386355,"thr_a_v":0.559693277,"thr_b":0,"thr_b_norm":0.00675326586,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.691029,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.16857147,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556309342,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.07934466,"mpcc_du":50.322403,"mpcc_dv":48.2937737,"mpcc_dw":51.7062263,"mpcc_enc_sign":1,"mpcc_id_a":1.23467648,"mpcc_iq_a":-0.500456572,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.4999361,"mpcc_pred_id_a":0.65172112,"mpcc_pred_iq_a":-1.27829349,"mpcc_state":1,"mpcc_theta_e":0.451021194,"mpcc_theta_mech":0.557150185,"sam_rpm":-3.30521917,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149233192,"thr_a_norm":0.0149233192,"thr_a_v":0.559693277,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.701313,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-2.25588632,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.553905606,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.000217238427,"mpcc_du":49.8903389,"mpcc_dv":49.3235931,"mpcc_dw":50.6764069,"mpcc_enc_sign":1,"mpcc_id_a":-0.00470948266,"mpcc_iq_a":-1.75439334,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.25360727,"mpcc_pred_id_a":-0.689519167,"mpcc_pred_iq_a":-0.46781683,"mpcc_state":1,"mpcc_theta_e":0.444060802,"mpcc_theta_mech":0.555758059,"sam_rpm":9.50000095,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215197951,"thr_a_norm":0.0215197951,"thr_a_v":0.58607918,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475097239,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.724384,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.53100967,"cg_iw_a":0.274143696,"cg_theta_rad":0.556630731,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.000655841082,"mpcc_du":48.9302521,"mpcc_dv":51.0697479,"mpcc_dw":49.3881721,"mpcc_enc_sign":1,"mpcc_id_a":-0.372637302,"mpcc_iq_a":-2.65203309,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.4549608,"mpcc_pred_id_a":-0.916199863,"mpcc_pred_iq_a":-6.35451841,"mpcc_state":1,"mpcc_theta_e":0.451544285,"mpcc_theta_mech":0.557254791,"sam_rpm":17.784668,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215197951,"thr_a_norm":0.0215197951,"thr_a_v":0.58607918,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475097239,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.730885,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.31354666,"cg_iw_a":0.201656342,"cg_theta_rad":0.556633174,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0168983303,"mpcc_du":50.0798302,"mpcc_dv":48.7401543,"mpcc_dw":51.2598457,"mpcc_enc_sign":1,"mpcc_id_a":2.22603035,"mpcc_iq_a":-1.28409863,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.60170275,"mpcc_pred_id_a":0.241788447,"mpcc_pred_iq_a":-0.766401291,"mpcc_state":1,"mpcc_theta_e":0.443297386,"mpcc_theta_mech":0.555605412,"sam_rpm":1.18248713,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261650234,"thr_a_norm":0.0261650234,"thr_a_v":0.604660094,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496749818,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.737415,"values":{"cg_iu_a":-0.265375137,"cg_iv_a":-0.443694592,"cg_iw_a":0.491606951,"cg_theta_rad":0.556030929,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.00757692521,"mpcc_du":49.7492332,"mpcc_dv":49.2232323,"mpcc_dw":50.7767677,"mpcc_enc_sign":1,"mpcc_id_a":0.879938841,"mpcc_iq_a":-2.05464125,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.4665518,"mpcc_pred_id_a":0.122841194,"mpcc_pred_iq_a":-0.988289654,"mpcc_state":1,"mpcc_theta_e":0.453930855,"mpcc_theta_mech":0.557732046,"sam_rpm":18.8899498,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261650234,"thr_a_norm":0.0261650234,"thr_a_v":0.604660094,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496749818,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.743916,"values":{"cg_iu_a":1.25686598,"cg_iv_a":0.0637187958,"cg_iw_a":-1.24809694,"cg_theta_rad":0.556200504,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0169967972,"mpcc_du":49.6862602,"mpcc_dv":49.1787682,"mpcc_dw":50.8212318,"mpcc_enc_sign":1,"mpcc_id_a":2.60015178,"mpcc_iq_a":-0.658916831,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.567134261,"mpcc_pred_id_a":0.346407264,"mpcc_pred_iq_a":-1.2398088,"mpcc_state":1,"mpcc_theta_e":0.438071728,"mpcc_theta_mech":0.554560304,"sam_rpm":-1.88359213,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202105641,"thr_a_norm":0.0202105641,"thr_a_v":0.580842257,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467141211,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.751759,"values":{"cg_iu_a":0.894427299,"cg_iv_a":1.44098473,"cg_iw_a":-3.64019012,"cg_theta_rad":0.553047836,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0312999971,"mpcc_du":49.5732651,"mpcc_dv":49.8847466,"mpcc_dw":50.4267349,"mpcc_enc_sign":1,"mpcc_id_a":2.87174058,"mpcc_iq_a":0.0941351876,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.14415979,"mpcc_pred_id_a":0.568048418,"mpcc_pred_iq_a":0.388054609,"mpcc_state":1,"mpcc_theta_e":0.437296867,"mpcc_theta_mech":0.554405332,"sam_rpm":3.98324156,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254852325,"thr_a_norm":0.0202105641,"thr_a_v":0.60194093,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496296614,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.761707,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.24105906,"cg_iw_a":-1.90048623,"cg_theta_rad":0.556269109,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0500759743,"mpcc_du":50.1096916,"mpcc_dv":48.350666,"mpcc_dw":51.649334,"mpcc_enc_sign":1,"mpcc_id_a":3.95772457,"mpcc_iq_a":-2.38914847,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.6723375,"mpcc_pred_id_a":0.93795079,"mpcc_pred_iq_a":-1.01369774,"mpcc_state":1,"mpcc_theta_e":0.426036358,"mpcc_theta_mech":0.554213345,"sam_rpm":-24.7713699,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254852325,"thr_a_norm":0.0254852325,"thr_a_v":0.60194093,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496296614,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.774128,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.16857147,"cg_iw_a":-1.82799816,"cg_theta_rad":0.556231439,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0568620004,"mpcc_du":49.6740303,"mpcc_dv":49.5512543,"mpcc_dw":50.4487457,"mpcc_enc_sign":1,"mpcc_id_a":-0.317913175,"mpcc_iq_a":-1.33435893,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.5530519,"mpcc_pred_id_a":-0.543398798,"mpcc_pred_iq_a":-4.18665218,"mpcc_state":1,"mpcc_theta_e":0.46524477,"mpcc_theta_mech":0.556797266,"sam_rpm":23.9360752,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00744563341,"thr_b_norm":0.00744563341,"thr_b_v":0.529782534,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.784351,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.298719406,"cg_iw_a":0.78155756,"cg_theta_rad":0.557509482,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0390692092,"mpcc_du":49.3799324,"mpcc_dv":49.529953,"mpcc_dw":50.6200676,"mpcc_enc_sign":1,"mpcc_id_a":3.64943719,"mpcc_iq_a":0.773956001,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.27138877,"mpcc_pred_id_a":0.724101424,"mpcc_pred_iq_a":0.517983258,"mpcc_state":1,"mpcc_theta_e":0.429102421,"mpcc_theta_mech":0.552635372,"sam_rpm":-3.92843723,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0161947757,"thr_a_norm":0.0296772718,"thr_a_v":0.564779103,"thr_b":0,"thr_b_norm":0.00744563341,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.793934,"values":{"cg_iu_a":2.41666842,"cg_iv_a":0.353669643,"cg_iw_a":-2.77033806,"cg_theta_rad":0.554303885,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.00305013731,"mpcc_du":50.2021523,"mpcc_dv":48.70224,"mpcc_dw":51.29776,"mpcc_enc_sign":1,"mpcc_id_a":-0.310269237,"mpcc_iq_a":-3.08910799,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.75532389,"mpcc_pred_id_a":-0.771058917,"mpcc_pred_iq_a":-4.64997768,"mpcc_state":1,"mpcc_theta_e":0.441485405,"mpcc_theta_mech":0.555243015,"sam_rpm":-9.45526695,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0161947757,"thr_a_norm":0.0161947757,"thr_a_v":0.564779103,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.804157,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.806133032,"cg_iw_a":-1.39307237,"cg_theta_rad":0.553478539,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0148713086,"mpcc_du":49.9960251,"mpcc_dv":48.8338242,"mpcc_dw":51.1661758,"mpcc_enc_sign":1,"mpcc_id_a":1.29729664,"mpcc_iq_a":-1.41105616,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.5945263,"mpcc_pred_id_a":0.0532258824,"mpcc_pred_iq_a":-0.799769044,"mpcc_state":1,"mpcc_theta_e":0.425778866,"mpcc_theta_mech":0.552101672,"sam_rpm":-19.0027275,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206511766,"thr_a_norm":0.0206511766,"thr_a_v":0.582604706,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466889441,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.827351,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.233269691,"cg_theta_rad":0.555241168,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0216188524,"mpcc_du":51.0189323,"mpcc_dv":47.4383926,"mpcc_dw":52.5616074,"mpcc_enc_sign":1,"mpcc_id_a":2.94023967,"mpcc_iq_a":0.272950113,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.8821564,"mpcc_pred_id_a":0.462084293,"mpcc_pred_iq_a":4.53271151,"mpcc_state":1,"mpcc_theta_e":0.428061962,"mpcc_theta_mech":0.552558303,"sam_rpm":-18.5584412,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206511766,"thr_a_norm":0.0206511766,"thr_a_v":0.582604706,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466889441,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.833851,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.16857147,"cg_iw_a":-0.595707893,"cg_theta_rad":0.555874527,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0127258338,"mpcc_du":50.2294235,"mpcc_dv":48.693821,"mpcc_dw":51.306179,"mpcc_enc_sign":1,"mpcc_id_a":1.43136895,"mpcc_iq_a":-1.42807269,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.61044979,"mpcc_pred_id_a":-0.0559694245,"mpcc_pred_iq_a":-1.07625747,"mpcc_state":1,"mpcc_theta_e":0.448826313,"mpcc_theta_mech":0.556711197,"sam_rpm":0.977524519,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236346871,"thr_a_norm":0.0236346871,"thr_a_v":0.594538748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482247651,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.840382,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.45852208,"cg_iw_a":-1.32058454,"cg_theta_rad":0.556981504,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0121681923,"mpcc_du":50.4148674,"mpcc_dv":50.6301003,"mpcc_dw":50.2862358,"mpcc_enc_sign":1,"mpcc_id_a":2.20618796,"mpcc_iq_a":-1.33349597,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.064827,"mpcc_pred_id_a":0.433404893,"mpcc_pred_iq_a":-0.465964854,"mpcc_state":1,"mpcc_theta_e":0.431372166,"mpcc_theta_mech":0.553220332,"sam_rpm":-18.2702618,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236346871,"thr_a_norm":0.0236346871,"thr_a_v":0.594538748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482247651,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.846912,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.16857147,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556308091,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0073490045,"mpcc_du":50.3713379,"mpcc_dv":48.3033218,"mpcc_dw":51.6966782,"mpcc_enc_sign":1,"mpcc_id_a":1.5939343,"mpcc_iq_a":-1.26288629,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.90118456,"mpcc_pred_id_a":0.365284413,"mpcc_pred_iq_a":-2.04708171,"mpcc_state":1,"mpcc_theta_e":0.443727493,"mpcc_theta_mech":0.555691421,"sam_rpm":-21.0693684,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192538351,"thr_a_norm":0.0192538351,"thr_a_v":0.57701534,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.854939,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.60349751,"cg_iw_a":1.94136047,"cg_theta_rad":0.556469023,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.00476388959,"mpcc_du":50.630909,"mpcc_dv":48.1275101,"mpcc_dw":51.8724899,"mpcc_enc_sign":1,"mpcc_id_a":1.32173359,"mpcc_iq_a":-1.70264053,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.3265419,"mpcc_pred_id_a":-0.0127472868,"mpcc_pred_iq_a":-1.68520141,"mpcc_state":1,"mpcc_theta_e":0.428060055,"mpcc_theta_mech":0.552557945,"sam_rpm":-25.4657669,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0339070708,"thr_a_norm":0.0192538351,"thr_a_v":0.635628283,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490858287,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.864735,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.6759851,"cg_iw_a":-0.378244877,"cg_theta_rad":0.554391861,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0576847345,"mpcc_du":49.6757164,"mpcc_dv":49.1317215,"mpcc_dw":50.8682785,"mpcc_enc_sign":1,"mpcc_id_a":3.20215774,"mpcc_iq_a":-0.427007616,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.57008171,"mpcc_pred_id_a":0.521506131,"mpcc_pred_iq_a":-2.10418463,"mpcc_state":1,"mpcc_theta_e":0.4500494,"mpcc_theta_mech":0.556955814,"sam_rpm":12.8071346,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0339070708,"thr_a_norm":0.0339070708,"thr_a_v":0.635628283,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490858287,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.874928,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-2.40086174,"cg_iw_a":-0.160782099,"cg_theta_rad":0.55750376,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0112891924,"mpcc_du":49.5017128,"mpcc_dv":50.0536995,"mpcc_dw":50.4982872,"mpcc_enc_sign":1,"mpcc_id_a":2.02509022,"mpcc_iq_a":-0.356021762,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.19054317,"mpcc_pred_id_a":0.247283965,"mpcc_pred_iq_a":-1.37878692,"mpcc_state":1,"mpcc_theta_e":0.443867683,"mpcc_theta_mech":0.555719495,"sam_rpm":13.7777538,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0477546304,"thr_a_norm":0.0477546304,"thr_a_v":0.691018522,"thr_b":0.0170130432,"thr_b_norm":0.0170130432,"thr_b_v":0.568052173,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.884968,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.82096052,"cg_iw_a":-0.885658741,"cg_theta_rad":0.554519117,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.023681147,"mpcc_du":49.5167389,"mpcc_dv":50.2718697,"mpcc_dw":50.4832611,"mpcc_enc_sign":1,"mpcc_id_a":1.72032356,"mpcc_iq_a":-2.70122123,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.35308099,"mpcc_pred_id_a":0.218003184,"mpcc_pred_iq_a":-2.54743624,"mpcc_state":1,"mpcc_theta_e":0.4397645,"mpcc_theta_mech":0.554898798,"sam_rpm":3.93794751,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0477546304,"thr_a_norm":0.0477546304,"thr_a_v":0.691018522,"thr_b":0.0170130432,"thr_b_norm":0.0170130432,"thr_b_v":0.568052173,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.894917,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.951108456,"cg_iw_a":-0.015806675,"cg_theta_rad":0.554935813,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.00470247306,"mpcc_du":50.0816422,"mpcc_dv":48.8875198,"mpcc_dw":51.1124802,"mpcc_enc_sign":1,"mpcc_id_a":1.35368764,"mpcc_iq_a":-1.27230418,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.02279043,"mpcc_pred_id_a":-0.16580838,"mpcc_pred_iq_a":-2.03853989,"mpcc_state":1,"mpcc_theta_e":0.435855389,"mpcc_theta_mech":0.554800808,"sam_rpm":-11.3410902,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0279148519,"thr_a_norm":0.0279148519,"thr_a_v":0.611659408,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49987182,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.905262,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.60349751,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556766868,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.0465560593,"mpcc_du":50.6463852,"mpcc_dv":48.4091759,"mpcc_dw":51.5908241,"mpcc_enc_sign":1,"mpcc_id_a":0.257429272,"mpcc_iq_a":-1.00613832,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.06746387,"mpcc_pred_id_a":-0.62232101,"mpcc_pred_iq_a":-2.58648157,"mpcc_state":1,"mpcc_theta_e":0.457976818,"mpcc_theta_mech":0.558541298,"sam_rpm":-2.66203427,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210917741,"thr_a_norm":0.0279148519,"thr_a_v":0.584367096,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.928333,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-1.24105906,"cg_iw_a":1.36145902,"cg_theta_rad":0.555060029,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.026027048,"mpcc_du":49.5754585,"mpcc_dv":50.1361313,"mpcc_dw":51.6495132,"mpcc_enc_sign":1,"mpcc_id_a":2.3452661,"mpcc_iq_a":-1.36660838,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.88378716,"mpcc_pred_id_a":-0.0578991473,"mpcc_pred_iq_a":-4.70110416,"mpcc_state":1,"mpcc_theta_e":0.451942921,"mpcc_theta_mech":0.557334542,"sam_rpm":12.1332417,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210917741,"thr_a_norm":0.0210917741,"thr_a_v":0.584367096,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.934864,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.298719406,"cg_iw_a":-3.93014097,"cg_theta_rad":0.555124462,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.00149784575,"mpcc_du":50.6543503,"mpcc_dv":48.2946091,"mpcc_dw":51.7053909,"mpcc_enc_sign":1,"mpcc_id_a":-0.212440178,"mpcc_iq_a":-1.55682707,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.781435,"mpcc_pred_id_a":-0.493177205,"mpcc_pred_iq_a":-1.73309183,"mpcc_state":1,"mpcc_theta_e":0.432399273,"mpcc_theta_mech":0.553425729,"sam_rpm":-20.0498257,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0236472934,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461048275,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.941425,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.16857147,"cg_iw_a":-1.17560911,"cg_theta_rad":0.554563224,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.00195316272,"mpcc_du":49.7448158,"mpcc_dv":49.6754875,"mpcc_dw":50.3245125,"mpcc_enc_sign":1,"mpcc_id_a":-0.739795685,"mpcc_iq_a":-3.54720211,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.0123701,"mpcc_pred_id_a":-1.00286067,"mpcc_pred_iq_a":-3.39087534,"mpcc_state":1,"mpcc_theta_e":0.455027103,"mpcc_theta_mech":0.557951331,"sam_rpm":17.3274651,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0236472934,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461048275,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.947895,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.31354666,"cg_iw_a":-0.595707893,"cg_theta_rad":0.553374588,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4996,"hz_app_loop":363,"hz_tim_isr":9992,"hz_vsense":363,"mpcc_cost":0.021060979,"mpcc_du":49.4778061,"mpcc_dv":49.8366585,"mpcc_dw":50.5221939,"mpcc_enc_sign":1,"mpcc_id_a":2.72645831,"mpcc_iq_a":-0.739033282,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.09031391,"mpcc_pred_id_a":0.419922501,"mpcc_pred_iq_a":-2.58811402,"mpcc_state":1,"mpcc_theta_e":0.444894314,"mpcc_theta_mech":0.555924773,"sam_rpm":8.54812527,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180075616,"thr_a_norm":0.0180075616,"thr_a_v":0.572030246,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450926989,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.956715,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.82096052,"cg_iw_a":-0.81317091,"cg_theta_rad":0.554561496,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.00777014345,"mpcc_du":49.8591957,"mpcc_dv":49.1677589,"mpcc_dw":50.8322411,"mpcc_enc_sign":1,"mpcc_id_a":1.15469205,"mpcc_iq_a":-1.00602973,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.691681445,"mpcc_pred_id_a":-0.0496773235,"mpcc_pred_iq_a":-2.1900599,"mpcc_state":1,"mpcc_theta_e":0.442669392,"mpcc_theta_mech":0.555479825,"sam_rpm":1.03758931,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273987204,"thr_a_norm":0.0180075616,"thr_a_v":0.609594882,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490707248,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.966511,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.16857147,"cg_iw_a":-1.82799816,"cg_theta_rad":0.554354548,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0227046851,"mpcc_du":49.9163895,"mpcc_dv":49.0002098,"mpcc_dw":50.9997902,"mpcc_enc_sign":1,"mpcc_id_a":2.14158082,"mpcc_iq_a":-3.01986217,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.31115055,"mpcc_pred_id_a":0.0795706809,"mpcc_pred_iq_a":-1.63461018,"mpcc_state":1,"mpcc_theta_e":0.434616566,"mpcc_theta_mech":0.553869188,"sam_rpm":-9.00789928,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273987204,"thr_a_norm":0.0273987204,"thr_a_v":0.609594882,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490707248,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.976704,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.89344811,"cg_iw_a":-2.7703383,"cg_theta_rad":0.553009748,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0862569883,"mpcc_du":49.2932205,"mpcc_dv":50.7067795,"mpcc_dw":50.0537071,"mpcc_enc_sign":1,"mpcc_id_a":0.988903821,"mpcc_iq_a":-0.0252134874,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":21.2508221,"mpcc_pred_id_a":-0.205359444,"mpcc_pred_iq_a":-5.77275229,"mpcc_state":1,"mpcc_theta_e":0.466855526,"mpcc_theta_mech":0.56031698,"sam_rpm":33.3567696,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277637988,"thr_a_norm":0.0277637988,"thr_a_v":0.611055195,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498713672,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.9865,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.82096052,"cg_iw_a":0.709070206,"cg_theta_rad":0.553379059,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0753385946,"mpcc_du":49.669838,"mpcc_dv":49.2003899,"mpcc_dw":50.7996101,"mpcc_enc_sign":1,"mpcc_id_a":2.836303,"mpcc_iq_a":-0.0168727431,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.21300936,"mpcc_pred_id_a":0.400529861,"mpcc_pred_iq_a":-2.00439668,"mpcc_state":1,"mpcc_theta_e":0.449701309,"mpcc_theta_mech":0.556886196,"sam_rpm":8.19744492,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277637988,"thr_a_norm":0.0277637988,"thr_a_v":0.611055195,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498713672,"vdc_v":55.2955055}} +{"type":"telemetry","t":47.996723,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-0.226231575,"cg_iw_a":-1.53804779,"cg_theta_rad":0.556632161,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0285647754,"mpcc_du":50.1226273,"mpcc_dv":48.5642548,"mpcc_dw":51.4357452,"mpcc_enc_sign":1,"mpcc_id_a":1.94853163,"mpcc_iq_a":-1.52810574,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.97800827,"mpcc_pred_id_a":0.51376152,"mpcc_pred_iq_a":-2.7740581,"mpcc_state":1,"mpcc_theta_e":0.445218086,"mpcc_theta_mech":0.555989563,"sam_rpm":-3.78088236,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.006916,"values":{"cg_iu_a":3.57647133,"cg_iv_a":0.208694458,"cg_iw_a":-3.78516579,"cg_theta_rad":0.554180205,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.015430565,"mpcc_du":50.3918457,"mpcc_dv":48.4953995,"mpcc_dw":51.5046005,"mpcc_enc_sign":1,"mpcc_id_a":0.264574498,"mpcc_iq_a":-2.67856622,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.702579558,"mpcc_pred_id_a":-0.100543819,"mpcc_pred_iq_a":-2.6653018,"mpcc_state":1,"mpcc_theta_e":0.449356556,"mpcc_theta_mech":0.556817234,"sam_rpm":-0.259896427,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020563066,"thr_a_norm":0.0224387646,"thr_a_v":0.582252264,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467392981,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.029896,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.661157608,"cg_iw_a":0.0566806793,"cg_theta_rad":0.55556798,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.00371959363,"mpcc_du":50.4561462,"mpcc_dv":48.5372887,"mpcc_dw":50.3445358,"mpcc_enc_sign":1,"mpcc_id_a":0.143554449,"mpcc_iq_a":-1.45162749,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.97972953,"mpcc_pred_id_a":-0.342335403,"mpcc_pred_iq_a":-0.433131248,"mpcc_state":1,"mpcc_theta_e":0.441010952,"mpcc_theta_mech":0.555148065,"sam_rpm":-2.7696619,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020563066,"thr_a_norm":0.020563066,"thr_a_v":0.582252264,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467392981,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.036488,"values":{"cg_iu_a":3.43149567,"cg_iv_a":0.353669643,"cg_iw_a":1.28897119,"cg_theta_rad":0.555632889,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0118307499,"mpcc_du":49.6044388,"mpcc_dv":49.8409996,"mpcc_dw":50.3955612,"mpcc_enc_sign":1,"mpcc_id_a":2.04533577,"mpcc_iq_a":-1.15691996,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.95311785,"mpcc_pred_id_a":-0.305719465,"mpcc_pred_iq_a":-2.95954537,"mpcc_state":1,"mpcc_theta_e":0.445203781,"mpcc_theta_mech":0.555986643,"sam_rpm":7.5025425,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278015584,"thr_a_norm":0.0278015584,"thr_a_v":0.611206234,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480434865,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.042957,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.443694592,"cg_iw_a":-1.24809694,"cg_theta_rad":0.55442673,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0537781157,"mpcc_du":49.7231331,"mpcc_dv":49.2662468,"mpcc_dw":50.7337532,"mpcc_enc_sign":1,"mpcc_id_a":2.79481745,"mpcc_iq_a":-0.605200589,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.05901289,"mpcc_pred_id_a":0.199482962,"mpcc_pred_iq_a":-3.36944008,"mpcc_state":1,"mpcc_theta_e":0.451071262,"mpcc_theta_mech":0.557160199,"sam_rpm":9.49214935,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278015584,"thr_a_norm":0.0278015584,"thr_a_v":0.611206234,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480434865,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.049549,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.09608364,"cg_iw_a":0.926532745,"cg_theta_rad":0.555113137,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0307128429,"mpcc_du":49.9195557,"mpcc_dv":48.976902,"mpcc_dw":51.023098,"mpcc_enc_sign":1,"mpcc_id_a":2.43957949,"mpcc_iq_a":-0.835876822,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.385050446,"mpcc_pred_id_a":0.331187069,"mpcc_pred_iq_a":-2.70364118,"mpcc_state":1,"mpcc_theta_e":0.445528507,"mpcc_theta_mech":0.556051612,"sam_rpm":-0.0631256849,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151625127,"thr_a_norm":0.0151625127,"thr_a_v":0.560650051,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467342645,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.059528,"values":{"cg_iu_a":3.93890953,"cg_iv_a":-1.38603449,"cg_iw_a":2.23131108,"cg_theta_rad":0.553788602,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.00645035878,"mpcc_du":50.4386215,"mpcc_dv":48.5002213,"mpcc_dw":51.4997787,"mpcc_enc_sign":1,"mpcc_id_a":0.575416744,"mpcc_iq_a":-1.70916927,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.34664106,"mpcc_pred_id_a":-0.0531842932,"mpcc_pred_iq_a":0.397490621,"mpcc_state":1,"mpcc_theta_e":0.446362495,"mpcc_theta_mech":0.556218386,"sam_rpm":5.04144001,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247802734,"thr_a_norm":0.0151625127,"thr_a_v":0.599121094,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.071308,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.59570837,"cg_theta_rad":0.556112051,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0158877987,"mpcc_du":49.6923485,"mpcc_dv":49.144062,"mpcc_dw":50.855938,"mpcc_enc_sign":1,"mpcc_id_a":2.48491931,"mpcc_iq_a":-0.729480982,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.54726505,"mpcc_pred_id_a":0.459825873,"mpcc_pred_iq_a":-3.07447362,"mpcc_state":1,"mpcc_theta_e":0.433084488,"mpcc_theta_mech":0.55356282,"sam_rpm":-13.0624943,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247802734,"thr_a_norm":0.0247802734,"thr_a_v":0.599121094,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.081532,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.09608364,"cg_iw_a":-2.11794901,"cg_theta_rad":0.553473532,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.00073333492,"mpcc_du":50.2173882,"mpcc_dv":48.9796562,"mpcc_dw":51.0203438,"mpcc_enc_sign":1,"mpcc_id_a":0.153901711,"mpcc_iq_a":-0.940833747,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.323719,"mpcc_pred_id_a":-0.781503081,"mpcc_pred_iq_a":-2.21535802,"mpcc_state":1,"mpcc_theta_e":0.429862976,"mpcc_theta_mech":0.552918553,"sam_rpm":-19.0176754,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0391817391,"thr_a_norm":0.0391817391,"thr_a_v":0.656726956,"thr_b":0.0119020343,"thr_b_norm":0.0119020343,"thr_b_v":0.547608137,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.091908,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.60349751,"cg_iw_a":1.79638505,"cg_theta_rad":0.554192603,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0338785201,"mpcc_du":49.7859039,"mpcc_dv":49.1129379,"mpcc_dw":50.8870621,"mpcc_enc_sign":1,"mpcc_id_a":2.60781074,"mpcc_iq_a":-0.320368767,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.79604959,"mpcc_pred_id_a":0.346690446,"mpcc_pred_iq_a":-1.09755898,"mpcc_state":1,"mpcc_theta_e":0.4480896,"mpcc_theta_mech":0.556563795,"sam_rpm":10.7903614,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0391817391,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0.0119020343,"thr_b_v":0.462508589,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.101948,"values":{"cg_iu_a":2.12671757,"cg_iv_a":0.208694458,"cg_iw_a":-1.75551081,"cg_theta_rad":0.557090342,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.00346268504,"mpcc_du":49.5627174,"mpcc_dv":49.5220642,"mpcc_dw":50.4779358,"mpcc_enc_sign":1,"mpcc_id_a":0.684640408,"mpcc_iq_a":-1.48228621,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.63628912,"mpcc_pred_id_a":-0.0410261489,"mpcc_pred_iq_a":-2.58591032,"mpcc_state":1,"mpcc_theta_e":0.445806026,"mpcc_theta_mech":0.556107104,"sam_rpm":8.15493965,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0236472934,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462508589,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.125111,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.298719406,"cg_iw_a":-0.81317091,"cg_theta_rad":0.555211842,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0598358698,"mpcc_du":50.2443085,"mpcc_dv":48.3659706,"mpcc_dw":51.2028122,"mpcc_enc_sign":1,"mpcc_id_a":4.25543594,"mpcc_iq_a":0.0837323293,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.43567848,"mpcc_pred_id_a":0.651672602,"mpcc_pred_iq_a":-1.80181897,"mpcc_state":1,"mpcc_theta_e":0.450747013,"mpcc_theta_mech":0.557095289,"sam_rpm":-17.2377968,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024390012,"thr_a_norm":0.024390012,"thr_a_v":0.597560048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484412879,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.131702,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.82096052,"cg_iw_a":-2.11794925,"cg_theta_rad":0.556658804,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0226578061,"mpcc_du":48.7982254,"mpcc_dv":51.2017746,"mpcc_dw":49.4894714,"mpcc_enc_sign":1,"mpcc_id_a":0.847795963,"mpcc_iq_a":0.19990471,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.01091862,"mpcc_pred_id_a":-0.0559447594,"mpcc_pred_iq_a":-7.99387264,"mpcc_state":1,"mpcc_theta_e":0.449050903,"mpcc_theta_mech":0.556756139,"sam_rpm":11.0378389,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024390012,"thr_a_norm":0.024390012,"thr_a_v":0.597560048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484412879,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.138172,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.661157608,"cg_iw_a":-1.61053562,"cg_theta_rad":0.552629888,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0644110516,"mpcc_du":50.3671379,"mpcc_dv":48.4599304,"mpcc_dw":51.5400696,"mpcc_enc_sign":1,"mpcc_id_a":2.586061,"mpcc_iq_a":-0.0183285605,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.16911101,"mpcc_pred_id_a":0.131596461,"mpcc_pred_iq_a":-2.01426101,"mpcc_state":1,"mpcc_theta_e":0.443095207,"mpcc_theta_mech":0.55556494,"sam_rpm":-3.35610509,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0302815288,"thr_a_norm":0.0302815288,"thr_a_v":0.621126115,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474090159,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.144703,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.02359605,"cg_iw_a":-2.11794925,"cg_theta_rad":0.556826353,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.00329570798,"mpcc_du":51.0519257,"mpcc_dv":47.5282974,"mpcc_dw":52.4717026,"mpcc_enc_sign":1,"mpcc_id_a":1.14126384,"mpcc_iq_a":-1.05797553,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.9930515,"mpcc_pred_id_a":0.0479876436,"mpcc_pred_iq_a":1.35847878,"mpcc_state":1,"mpcc_theta_e":0.421708107,"mpcc_theta_mech":0.551287532,"sam_rpm":-29.9414063,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213183761,"thr_a_norm":0.0302815288,"thr_a_v":0.585273504,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474090159,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.152515,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.588670254,"cg_iw_a":-1.90048599,"cg_theta_rad":0.554002821,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.00897627231,"mpcc_du":49.9022942,"mpcc_dv":49.1340523,"mpcc_dw":50.8659477,"mpcc_enc_sign":1,"mpcc_id_a":0.208841905,"mpcc_iq_a":-0.792714834,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.51914215,"mpcc_pred_id_a":-0.16751036,"mpcc_pred_iq_a":-0.807786822,"mpcc_state":1,"mpcc_theta_e":0.448611259,"mpcc_theta_mech":0.556668162,"sam_rpm":10.9542665,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213183761,"thr_a_norm":0.0213183761,"thr_a_v":0.585273504,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474090159,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.162891,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.588670254,"cg_iw_a":-3.35023928,"cg_theta_rad":0.554467857,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0465375856,"mpcc_du":50.5227051,"mpcc_dv":48.0832291,"mpcc_dw":51.9167709,"mpcc_enc_sign":1,"mpcc_id_a":2.63398886,"mpcc_iq_a":-0.074750185,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.58506489,"mpcc_pred_id_a":0.503323376,"mpcc_pred_iq_a":0.622056961,"mpcc_state":1,"mpcc_theta_e":0.438362122,"mpcc_theta_mech":0.554618359,"sam_rpm":-2.13068724,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248054415,"thr_a_norm":0.0248054415,"thr_a_v":0.599221766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481895179,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.173298,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.951108456,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556452215,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.050753925,"mpcc_du":49.8065758,"mpcc_dv":48.930294,"mpcc_dw":51.069706,"mpcc_enc_sign":1,"mpcc_id_a":2.3672092,"mpcc_iq_a":-0.489462376,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.11668777,"mpcc_pred_id_a":0.184966579,"mpcc_pred_iq_a":-3.54896498,"mpcc_state":1,"mpcc_theta_e":0.450449944,"mpcc_theta_mech":0.557035863,"sam_rpm":6.87628269,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248054415,"thr_a_norm":0.0248054415,"thr_a_v":0.599221766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481895179,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.185291,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.96593571,"cg_iw_a":-0.740683556,"cg_theta_rad":0.555160582,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0326155685,"mpcc_du":49.2301064,"mpcc_dv":50.7698936,"mpcc_dw":50.0844612,"mpcc_enc_sign":1,"mpcc_id_a":2.89710546,"mpcc_iq_a":-0.710708797,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.80934238,"mpcc_pred_id_a":0.193092361,"mpcc_pred_iq_a":-2.2599895,"mpcc_state":1,"mpcc_theta_e":0.439657211,"mpcc_theta_mech":0.554877341,"sam_rpm":6.70726633,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0132238567,"thr_a_norm":0.0132238567,"thr_a_v":0.552895427,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444733351,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.195332,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.38603449,"cg_iw_a":0.419119358,"cg_theta_rad":0.558095217,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0248935446,"mpcc_du":49.4751472,"mpcc_dv":50.2106323,"mpcc_dw":50.5248528,"mpcc_enc_sign":1,"mpcc_id_a":3.09796882,"mpcc_iq_a":-0.130613819,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.2752781,"mpcc_pred_id_a":0.459983885,"mpcc_pred_iq_a":-0.926876605,"mpcc_state":1,"mpcc_theta_e":0.445730686,"mpcc_theta_mech":0.556092024,"sam_rpm":16.7648277,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0229675025,"thr_a_norm":0.0229675025,"thr_a_v":0.59187001,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493476748,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.207111,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.09608364,"cg_iw_a":0.201656342,"cg_theta_rad":0.556298137,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0121209985,"mpcc_du":49.7080345,"mpcc_dv":49.3202248,"mpcc_dw":50.6797752,"mpcc_enc_sign":1,"mpcc_id_a":1.28770268,"mpcc_iq_a":-2.53628349,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.40046978,"mpcc_pred_id_a":-0.000877520244,"mpcc_pred_iq_a":-3.32407546,"mpcc_state":1,"mpcc_theta_e":0.455233097,"mpcc_theta_mech":0.557992518,"sam_rpm":11.6525812,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0229675025,"thr_a_norm":0.0229675025,"thr_a_v":0.59187001,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493476748,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.230488,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.878620625,"cg_iw_a":-0.378245354,"cg_theta_rad":0.556274951,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0193740781,"mpcc_du":50.9199142,"mpcc_dv":47.8072357,"mpcc_dw":52.1927643,"mpcc_enc_sign":1,"mpcc_id_a":1.95444858,"mpcc_iq_a":0.0150212264,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.18216991,"mpcc_pred_id_a":0.0653039664,"mpcc_pred_iq_a":2.15127325,"mpcc_state":1,"mpcc_theta_e":0.437170506,"mpcc_theta_mech":0.55438,"sam_rpm":-10.1406059,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262153894,"thr_a_norm":0.0262153894,"thr_a_v":0.604861557,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498562604,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.23708,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.226231575,"cg_iw_a":-3.06028891,"cg_theta_rad":0.553596437,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0306332819,"mpcc_du":50.115509,"mpcc_dv":48.736599,"mpcc_dw":51.263401,"mpcc_enc_sign":1,"mpcc_id_a":2.46021557,"mpcc_iq_a":-0.432235658,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.9634247,"mpcc_pred_id_a":0.0857522041,"mpcc_pred_iq_a":-4.93544817,"mpcc_state":1,"mpcc_theta_e":0.429636002,"mpcc_theta_mech":0.552873075,"sam_rpm":-24.82584,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0298283249,"thr_a_norm":0.0298283249,"thr_a_v":0.6193133,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.24358,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.09608364,"cg_iw_a":-1.10312176,"cg_theta_rad":0.554597616,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.00376687106,"mpcc_du":49.6954422,"mpcc_dv":49.4643173,"mpcc_dw":50.5356827,"mpcc_enc_sign":1,"mpcc_id_a":2.6432507,"mpcc_iq_a":-1.5942806,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.56735325,"mpcc_pred_id_a":0.154936239,"mpcc_pred_iq_a":-3.94744015,"mpcc_state":1,"mpcc_theta_e":0.435380936,"mpcc_theta_mech":0.554022074,"sam_rpm":0.633165002,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0298283249,"thr_a_norm":0.0298283249,"thr_a_v":0.6193133,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.250538,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.153744221,"cg_iw_a":-0.16078186,"cg_theta_rad":0.552506506,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.011125816,"mpcc_du":50.4824638,"mpcc_dv":48.3496437,"mpcc_dw":51.6503563,"mpcc_enc_sign":1,"mpcc_id_a":1.17369127,"mpcc_iq_a":-3.7576046,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.2807455,"mpcc_pred_id_a":-0.186204582,"mpcc_pred_iq_a":-2.12431955,"mpcc_state":1,"mpcc_theta_e":0.430290699,"mpcc_theta_mech":0.553004086,"sam_rpm":-22.6863174,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276756734,"thr_a_norm":0.0276756734,"thr_a_v":0.610702693,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481844842,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.260517,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.516182423,"cg_iw_a":-2.62536287,"cg_theta_rad":0.555473924,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0229049381,"mpcc_du":50.3191681,"mpcc_dv":48.3141632,"mpcc_dw":51.6858368,"mpcc_enc_sign":1,"mpcc_id_a":2.48876476,"mpcc_iq_a":-2.10728168,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.93805504,"mpcc_pred_id_a":0.334289283,"mpcc_pred_iq_a":0.444654346,"mpcc_state":1,"mpcc_theta_e":0.431003094,"mpcc_theta_mech":0.553146541,"sam_rpm":-16.2373905,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276756734,"thr_a_norm":0.0276756734,"thr_a_v":0.610702693,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481844842,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.27071,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.53100967,"cg_iw_a":0.78155756,"cg_theta_rad":0.552561462,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0152044641,"mpcc_du":49.5931778,"mpcc_dv":49.8759842,"mpcc_dw":50.4068222,"mpcc_enc_sign":1,"mpcc_id_a":-0.00618351717,"mpcc_iq_a":-1.9746995,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.96554542,"mpcc_pred_id_a":-0.428048521,"mpcc_pred_iq_a":-0.121828094,"mpcc_state":1,"mpcc_theta_e":0.432430267,"mpcc_theta_mech":0.553431988,"sam_rpm":-7.4155817,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242515355,"thr_a_norm":0.0242515355,"thr_a_v":0.597006142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465429127,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.280689,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.951108456,"cg_iw_a":-0.595707893,"cg_theta_rad":0.555223465,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0575886145,"mpcc_du":50.1901817,"mpcc_dv":48.5869331,"mpcc_dw":51.4130669,"mpcc_enc_sign":1,"mpcc_id_a":1.96554232,"mpcc_iq_a":-0.149450928,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.231131464,"mpcc_pred_id_a":0.256422251,"mpcc_pred_iq_a":-2.13134265,"mpcc_state":1,"mpcc_theta_e":0.447361469,"mpcc_theta_mech":0.55641818,"sam_rpm":1.74622703,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021368742,"thr_a_norm":0.0242515355,"thr_a_v":0.585474968,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477413595,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.290485,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.516182423,"cg_iw_a":-0.378244877,"cg_theta_rad":0.55491817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0395810679,"mpcc_du":50.0704079,"mpcc_dv":48.7462997,"mpcc_dw":51.2537003,"mpcc_enc_sign":1,"mpcc_id_a":2.1398685,"mpcc_iq_a":-0.791869462,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.0468545,"mpcc_pred_id_a":0.231993943,"mpcc_pred_iq_a":-2.23100901,"mpcc_state":1,"mpcc_theta_e":0.448056221,"mpcc_theta_mech":0.556557178,"sam_rpm":2.7839129,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021368742,"thr_a_norm":0.021368742,"thr_a_v":0.585474968,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477413595,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.300892,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-2.0384233,"cg_iw_a":1.07150817,"cg_theta_rad":0.557577968,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.000641138759,"mpcc_du":49.5632782,"mpcc_dv":50.1248055,"mpcc_dw":50.4367218,"mpcc_enc_sign":1,"mpcc_id_a":0.416472435,"mpcc_iq_a":-1.21111727,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.22569323,"mpcc_pred_id_a":-0.206480369,"mpcc_pred_iq_a":-2.19884205,"mpcc_state":1,"mpcc_theta_e":0.44191885,"mpcc_theta_mech":0.55532968,"sam_rpm":9.30774117,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.0264545679,"thr_a_v":0.605818272,"thr_b":0.00350537896,"thr_b_norm":0.00350537896,"thr_b_v":0.514021516,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.310719,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.443694592,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556935608,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.00138243532,"mpcc_du":48.8384857,"mpcc_dv":51.1615143,"mpcc_dw":49.4860649,"mpcc_enc_sign":1,"mpcc_id_a":0.347771615,"mpcc_iq_a":-1.65591943,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.5042,"mpcc_pred_id_a":-0.380060107,"mpcc_pred_iq_a":-5.21819973,"mpcc_state":1,"mpcc_theta_e":0.454474926,"mpcc_theta_mech":0.557840884,"sam_rpm":25.8828297,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.0264545679,"thr_a_v":0.605818272,"thr_b":0.00350537896,"thr_b_norm":0.00350537896,"thr_b_v":0.514021516,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.333942,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.371207237,"cg_iw_a":-0.523220062,"cg_theta_rad":0.556431353,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0155790141,"mpcc_du":50.9757004,"mpcc_dv":47.6146431,"mpcc_dw":52.3853569,"mpcc_enc_sign":1,"mpcc_id_a":2.41325545,"mpcc_iq_a":-1.23156202,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.7672882,"mpcc_pred_id_a":0.133787438,"mpcc_pred_iq_a":2.63394165,"mpcc_state":1,"mpcc_theta_e":0.427023411,"mpcc_theta_mech":0.552350581,"sam_rpm":-21.190527,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270336419,"thr_a_norm":0.0270336419,"thr_a_v":0.608134568,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488189489,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.340473,"values":{"cg_iu_a":-1.57015324,"cg_iv_a":-0.0812563896,"cg_iw_a":1.65140963,"cg_theta_rad":0.551644742,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0249417648,"mpcc_du":49.4851036,"mpcc_dv":50.5148964,"mpcc_dw":50.4142227,"mpcc_enc_sign":1,"mpcc_id_a":2.53468847,"mpcc_iq_a":-0.474439859,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.38582993,"mpcc_pred_id_a":0.294453025,"mpcc_pred_iq_a":-4.27330112,"mpcc_state":1,"mpcc_theta_e":0.44934988,"mpcc_theta_mech":0.556815922,"sam_rpm":12.0792999,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0479056984,"thr_a_norm":0.0270336419,"thr_a_v":0.691622794,"thr_b":0.0178438872,"thr_b_norm":0,"thr_b_v":0.571375549,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.346973,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.878620625,"cg_iw_a":-2.40789986,"cg_theta_rad":0.554573059,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.00983455125,"mpcc_du":49.993969,"mpcc_dv":48.9358635,"mpcc_dw":51.0641365,"mpcc_enc_sign":1,"mpcc_id_a":0.834085524,"mpcc_iq_a":-0.667599618,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.63320291,"mpcc_pred_id_a":0.0481504165,"mpcc_pred_iq_a":-1.63372815,"mpcc_state":1,"mpcc_theta_e":0.441636562,"mpcc_theta_mech":0.555273235,"sam_rpm":-0.685364187,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0479056984,"thr_a_norm":0.0479056984,"thr_a_v":0.691622794,"thr_b":0.0178438872,"thr_b_norm":0.0178438872,"thr_b_v":0.571375549,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.355701,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.24105906,"cg_iw_a":-1.39307237,"cg_theta_rad":0.556332946,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0321964622,"mpcc_du":49.4265633,"mpcc_dv":49.4337807,"mpcc_dw":50.5734367,"mpcc_enc_sign":1,"mpcc_id_a":3.10952139,"mpcc_iq_a":1.1566273,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.4261179,"mpcc_pred_id_a":0.463002235,"mpcc_pred_iq_a":-4.09339905,"mpcc_state":1,"mpcc_theta_e":0.430044174,"mpcc_theta_mech":0.552954733,"sam_rpm":-15.1033192,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0304955393,"thr_a_norm":0.0304955393,"thr_a_v":0.621982157,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462558955,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.365803,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.53100967,"cg_iw_a":0.201656342,"cg_theta_rad":0.556372821,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0191427208,"mpcc_du":49.6619797,"mpcc_dv":50.2995415,"mpcc_dw":50.3380203,"mpcc_enc_sign":1,"mpcc_id_a":0.560529232,"mpcc_iq_a":-0.907939315,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.59154749,"mpcc_pred_id_a":-0.556090415,"mpcc_pred_iq_a":-4.68739128,"mpcc_state":1,"mpcc_theta_e":0.440962315,"mpcc_theta_mech":0.55513835,"sam_rpm":14.6763096,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185992122,"thr_a_norm":0.0304955393,"thr_a_v":0.574396849,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466335565,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.375904,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.02359605,"cg_iw_a":0.0566809177,"cg_theta_rad":0.557787776,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.052228082,"mpcc_du":50.0673447,"mpcc_dv":48.8919716,"mpcc_dw":51.1080284,"mpcc_enc_sign":1,"mpcc_id_a":1.26365566,"mpcc_iq_a":-1.59441781,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.62523317,"mpcc_pred_id_a":0.0544434898,"mpcc_pred_iq_a":-3.63308954,"mpcc_state":1,"mpcc_theta_e":0.45612812,"mpcc_theta_mech":0.55817157,"sam_rpm":9.56594181,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185992122,"thr_a_norm":0.0185992122,"thr_a_v":0.574396849,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466335565,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.386127,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.516182423,"cg_iw_a":-1.10312152,"cg_theta_rad":0.556737602,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0567885563,"mpcc_du":50.0975037,"mpcc_dv":48.8565445,"mpcc_dw":51.1434555,"mpcc_enc_sign":1,"mpcc_id_a":0.817560911,"mpcc_iq_a":-0.530357122,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.30679464,"mpcc_pred_id_a":0.0252170824,"mpcc_pred_iq_a":-2.83521986,"mpcc_state":1,"mpcc_theta_e":0.450474262,"mpcc_theta_mech":0.557040811,"sam_rpm":7.78675604,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181712061,"thr_a_norm":0.0181712061,"thr_a_v":0.572684824,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456415653,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.395863,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.516182423,"cg_iw_a":-1.32058477,"cg_theta_rad":0.552931905,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0214471892,"mpcc_du":50.4131508,"mpcc_dv":48.4365234,"mpcc_dw":51.5634766,"mpcc_enc_sign":1,"mpcc_id_a":1.40610015,"mpcc_iq_a":0.0423949547,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.334816,"mpcc_pred_id_a":0.0209430512,"mpcc_pred_iq_a":-1.89424992,"mpcc_state":1,"mpcc_theta_e":0.435662746,"mpcc_theta_mech":0.555737078,"sam_rpm":-15.2828989,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181712061,"thr_a_norm":0.0181712061,"thr_a_v":0.572684824,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456415653,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.406086,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.153744221,"cg_iw_a":-0.378244877,"cg_theta_rad":0.555912673,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0500306301,"mpcc_du":50.5550385,"mpcc_dv":48.132206,"mpcc_dw":51.867794,"mpcc_enc_sign":1,"mpcc_id_a":2.91518712,"mpcc_iq_a":-1.01765919,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.41219616,"mpcc_pred_id_a":0.440746486,"mpcc_pred_iq_a":-0.607997358,"mpcc_state":1,"mpcc_theta_e":0.445832253,"mpcc_theta_mech":0.556112349,"sam_rpm":-1.31725192,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0459418595,"thr_a_norm":0.0459418595,"thr_a_v":0.683767438,"thr_b":0.0113984793,"thr_b_norm":0.0113984793,"thr_b_v":0.545593917,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.429523,"values":{"cg_iu_a":4.01139736,"cg_iv_a":-0.588670254,"cg_iw_a":1.57892203,"cg_theta_rad":0.555120468,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0210705698,"mpcc_du":51.0642281,"mpcc_dv":47.5689888,"mpcc_dw":52.4310112,"mpcc_enc_sign":1,"mpcc_id_a":2.40087223,"mpcc_iq_a":-0.739286423,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.76258755,"mpcc_pred_id_a":0.196198404,"mpcc_pred_iq_a":2.01955986,"mpcc_state":1,"mpcc_theta_e":0.434017181,"mpcc_theta_mech":0.553749323,"sam_rpm":-14.4520082,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02252689,"thr_a_norm":0.0459418595,"thr_a_v":0.59010756,"thr_b":0,"thr_b_norm":0.0113984793,"thr_b_v":0.483204395,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.436054,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.48038721,"cg_theta_rad":0.557035863,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.00147171284,"mpcc_du":50.5243874,"mpcc_dv":48.5058479,"mpcc_dw":51.4941521,"mpcc_enc_sign":1,"mpcc_id_a":0.347541898,"mpcc_iq_a":-1.36176133,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.93985152,"mpcc_pred_id_a":-0.409431756,"mpcc_pred_iq_a":0.460194468,"mpcc_state":1,"mpcc_theta_e":0.439963341,"mpcc_theta_mech":0.554938614,"sam_rpm":-2.60162568,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02252689,"thr_a_norm":0.02252689,"thr_a_v":0.59010756,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483204395,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.442585,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.298719406,"cg_iw_a":-2.19043684,"cg_theta_rad":0.556053221,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.011552617,"mpcc_du":50.5589104,"mpcc_dv":48.2848053,"mpcc_dw":51.7151947,"mpcc_enc_sign":1,"mpcc_id_a":1.19421089,"mpcc_iq_a":-0.925687313,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.48457384,"mpcc_pred_id_a":0.0297560133,"mpcc_pred_iq_a":0.258708507,"mpcc_state":1,"mpcc_theta_e":0.438720226,"mpcc_theta_mech":0.554690003,"sam_rpm":-4.88138914,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0131986737,"thr_a_norm":0.0131986737,"thr_a_v":0.552794695,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452236176,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.449085,"values":{"cg_iu_a":2.48915625,"cg_iv_a":1.80342293,"cg_iw_a":0.636582375,"cg_theta_rad":0.555953622,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0210203025,"mpcc_du":49.2672729,"mpcc_dv":50.7327271,"mpcc_dw":50.1390114,"mpcc_enc_sign":1,"mpcc_id_a":2.47484422,"mpcc_iq_a":-0.762962818,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.73189831,"mpcc_pred_id_a":0.308835238,"mpcc_pred_iq_a":-5.83210135,"mpcc_state":1,"mpcc_theta_e":0.446585655,"mpcc_theta_mech":0.55626303,"sam_rpm":7.996418,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0131986737,"thr_a_norm":0.0131986737,"thr_a_v":0.552794695,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452236176,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.456684,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.298719406,"cg_iw_a":-0.450732946,"cg_theta_rad":0.556434631,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.00562447635,"mpcc_du":49.5095139,"mpcc_dv":49.3595619,"mpcc_dw":50.6404381,"mpcc_enc_sign":1,"mpcc_id_a":1.43054068,"mpcc_iq_a":-1.42890239,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.2239704,"mpcc_pred_id_a":0.616881669,"mpcc_pred_iq_a":-0.423264295,"mpcc_state":1,"mpcc_theta_e":0.449406147,"mpcc_theta_mech":0.556827128,"sam_rpm":15.8866653,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022677958,"thr_a_norm":0.022677958,"thr_a_v":0.590711832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.466908,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.878620625,"cg_iw_a":-0.233269691,"cg_theta_rad":0.553447127,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.119491152,"mpcc_du":50.2319107,"mpcc_dv":48.4192238,"mpcc_dw":51.5807762,"mpcc_enc_sign":1,"mpcc_id_a":3.53625035,"mpcc_iq_a":1.79244506,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.59775364,"mpcc_pred_id_a":0.728795946,"mpcc_pred_iq_a":-1.71839583,"mpcc_state":1,"mpcc_theta_e":0.446151257,"mpcc_theta_mech":0.556176126,"sam_rpm":-2.09433079,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265930444,"thr_a_norm":0.022677958,"thr_a_v":0.606372178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485168248,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.476917,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.31354666,"cg_iw_a":-1.10312176,"cg_theta_rad":0.556354702,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.00244862284,"mpcc_du":49.5694275,"mpcc_dv":50.2470741,"mpcc_dw":50.4305725,"mpcc_enc_sign":1,"mpcc_id_a":0.60219425,"mpcc_iq_a":-0.98045212,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.8025503,"mpcc_pred_id_a":0.0336856991,"mpcc_pred_iq_a":0.172695354,"mpcc_state":1,"mpcc_theta_e":0.447120667,"mpcc_theta_mech":0.55637002,"sam_rpm":21.6518955,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265930444,"thr_a_norm":0.0265930444,"thr_a_v":0.606372178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485168248,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.489338,"values":{"cg_iu_a":1.03940296,"cg_iv_a":0.208694458,"cg_iw_a":-1.24809742,"cg_theta_rad":0.553996265,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0712455139,"mpcc_du":50.1379547,"mpcc_dv":48.4836998,"mpcc_dw":51.5163002,"mpcc_enc_sign":1,"mpcc_id_a":3.75156283,"mpcc_iq_a":-0.446995437,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.45356059,"mpcc_pred_id_a":0.866889954,"mpcc_pred_iq_a":-2.38616419,"mpcc_state":1,"mpcc_theta_e":0.446763515,"mpcc_theta_mech":0.556298614,"sam_rpm":-3.41056871,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025548175,"thr_a_norm":0.025548175,"thr_a_v":0.6021927,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475852609,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.499378,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.23326993,"cg_theta_rad":0.556009769,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.040910691,"mpcc_du":50.3674049,"mpcc_dv":48.3385582,"mpcc_dw":51.6614418,"mpcc_enc_sign":1,"mpcc_id_a":2.01478338,"mpcc_iq_a":0.810174942,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.85662556,"mpcc_pred_id_a":0.369119108,"mpcc_pred_iq_a":-2.1416142,"mpcc_state":1,"mpcc_theta_e":0.442174911,"mpcc_theta_mech":0.55538094,"sam_rpm":-17.2642612,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218093395,"thr_a_norm":0.025548175,"thr_a_v":0.587237358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.509296,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-0.443694592,"cg_iw_a":-1.61053562,"cg_theta_rad":0.556448817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0160353519,"mpcc_du":50.4833755,"mpcc_dv":48.4377785,"mpcc_dw":51.5622215,"mpcc_enc_sign":1,"mpcc_id_a":0.572721481,"mpcc_iq_a":-1.05229712,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.84475136,"mpcc_pred_id_a":-0.252969831,"mpcc_pred_iq_a":-1.72317886,"mpcc_state":1,"mpcc_theta_e":0.440748215,"mpcc_theta_mech":0.555095553,"sam_rpm":-21.1478996,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218093395,"thr_a_norm":0.0218093395,"thr_a_v":0.587237358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.533802,"values":{"cg_iu_a":4.73627377,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.305757523,"cg_theta_rad":0.556501746,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0538168959,"mpcc_du":50.5028648,"mpcc_dv":47.961998,"mpcc_dw":52.038002,"mpcc_enc_sign":1,"mpcc_id_a":4.58375072,"mpcc_iq_a":-0.672876656,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.5906353,"mpcc_pred_id_a":0.896433651,"mpcc_pred_iq_a":2.47085452,"mpcc_state":1,"mpcc_theta_e":0.430500984,"mpcc_theta_mech":0.553046107,"sam_rpm":-15.0930672,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021368742,"thr_a_norm":0.021368742,"thr_a_v":0.585474968,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476305783,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.540363,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.82096052,"cg_iw_a":0.999020576,"cg_theta_rad":0.555824101,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.00566890696,"mpcc_du":50.2776222,"mpcc_dv":48.7117577,"mpcc_dw":51.2882423,"mpcc_enc_sign":1,"mpcc_id_a":0.364319175,"mpcc_iq_a":-1.14373803,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.04945493,"mpcc_pred_id_a":-0.18956849,"mpcc_pred_iq_a":-0.124944523,"mpcc_state":1,"mpcc_theta_e":0.445880413,"mpcc_theta_mech":0.556122005,"sam_rpm":4.38281202,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0135259777,"thr_a_norm":0.021368742,"thr_a_v":0.554103911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461199343,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.546864,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.09608364,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556787431,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.00350265205,"mpcc_du":50.8849144,"mpcc_dv":47.9301033,"mpcc_dw":52.0698967,"mpcc_enc_sign":1,"mpcc_id_a":0.0339116752,"mpcc_iq_a":-1.3893863,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.9367638,"mpcc_pred_id_a":-0.406575531,"mpcc_pred_iq_a":-2.15067148,"mpcc_state":1,"mpcc_theta_e":0.425566673,"mpcc_theta_mech":0.552059233,"sam_rpm":-30.8620853,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0135259777,"thr_a_norm":0.0135259777,"thr_a_v":0.554103911,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461199343,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.555897,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.98076296,"cg_iw_a":-1.24809694,"cg_theta_rad":0.556698024,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0406454951,"mpcc_du":50.2045898,"mpcc_dv":48.795578,"mpcc_dw":51.204422,"mpcc_enc_sign":1,"mpcc_id_a":1.32304025,"mpcc_iq_a":0.0196359865,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.98869276,"mpcc_pred_id_a":-0.241450176,"mpcc_pred_iq_a":-1.81169033,"mpcc_state":1,"mpcc_theta_e":0.447309971,"mpcc_theta_mech":0.556407928,"sam_rpm":3.46260095,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245159119,"thr_a_norm":0.0245159119,"thr_a_v":0.598063648,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473687351,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.56612,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.09608364,"cg_iw_a":-1.90048599,"cg_theta_rad":0.557429314,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0851649269,"mpcc_du":50.2821541,"mpcc_dv":48.5729141,"mpcc_dw":51.4270859,"mpcc_enc_sign":1,"mpcc_id_a":2.20928121,"mpcc_iq_a":0.517743349,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.312101543,"mpcc_pred_id_a":0.149767339,"mpcc_pred_iq_a":-2.68260241,"mpcc_state":1,"mpcc_theta_e":0.449902534,"mpcc_theta_mech":0.556926429,"sam_rpm":0.18093814,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101999313,"thr_a_norm":0.0245159119,"thr_a_v":0.907997251,"thr_b":0.043159768,"thr_b_norm":0,"thr_b_v":0.672639072,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.576099,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.82096052,"cg_iw_a":-1.03063393,"cg_theta_rad":0.555993617,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0549822599,"mpcc_du":49.4686089,"mpcc_dv":49.3406792,"mpcc_dw":50.6593208,"mpcc_enc_sign":1,"mpcc_id_a":3.10908532,"mpcc_iq_a":-1.97399032,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.8660996,"mpcc_pred_id_a":0.615946651,"mpcc_pred_iq_a":-0.380543888,"mpcc_state":1,"mpcc_theta_e":0.430015564,"mpcc_theta_mech":0.552949011,"sam_rpm":-7.588202,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101999313,"thr_a_norm":0.101999313,"thr_a_v":0.907997251,"thr_b":0.043159768,"thr_b_norm":0.043159768,"thr_b_v":0.672639072,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.586384,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-2.11091113,"cg_iw_a":-0.523220062,"cg_theta_rad":0.554845095,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0566980653,"mpcc_du":49.6965103,"mpcc_dv":50.0547714,"mpcc_dw":50.3034897,"mpcc_enc_sign":1,"mpcc_id_a":-1.2208358,"mpcc_iq_a":-5.06138086,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.31800365,"mpcc_pred_id_a":-0.864141881,"mpcc_pred_iq_a":-4.18766212,"mpcc_state":1,"mpcc_theta_e":0.437669754,"mpcc_theta_mech":0.554479837,"sam_rpm":-6.633111,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0229423195,"thr_a_norm":0.0229423195,"thr_a_v":0.591769278,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478773177,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.596333,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.226231575,"cg_iw_a":-0.958146572,"cg_theta_rad":0.555764556,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0278004687,"mpcc_du":49.5556107,"mpcc_dv":49.8825073,"mpcc_dw":51.3584442,"mpcc_enc_sign":1,"mpcc_id_a":0.502880573,"mpcc_iq_a":-0.845158339,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.6379185,"mpcc_pred_id_a":-0.0752067193,"mpcc_pred_iq_a":-3.55816317,"mpcc_state":1,"mpcc_theta_e":0.452786446,"mpcc_theta_mech":0.557503164,"sam_rpm":19.0208225,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0229423195,"thr_a_norm":0.0229423195,"thr_a_v":0.591769278,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478773177,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.606495,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-0.806133032,"cg_iw_a":-0.23326993,"cg_theta_rad":0.556287885,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0236813296,"mpcc_du":50.1540642,"mpcc_dv":48.6092987,"mpcc_dw":51.3907013,"mpcc_enc_sign":1,"mpcc_id_a":2.58494353,"mpcc_iq_a":-1.86519969,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.1225204,"mpcc_pred_id_a":0.252460957,"mpcc_pred_iq_a":-3.36914492,"mpcc_state":1,"mpcc_theta_e":0.454826355,"mpcc_theta_mech":0.557911217,"sam_rpm":5.51895905,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284813493,"thr_a_norm":0.0284813493,"thr_a_v":0.613925397,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494735658,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.616688,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-2.11091113,"cg_iw_a":-0.523220301,"cg_theta_rad":0.553975642,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0914585367,"mpcc_du":49.9203339,"mpcc_dv":48.9327202,"mpcc_dw":51.0672798,"mpcc_enc_sign":1,"mpcc_id_a":2.60609365,"mpcc_iq_a":-0.334049046,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.21301794,"mpcc_pred_id_a":0.308675051,"mpcc_pred_iq_a":-3.0929656,"mpcc_state":1,"mpcc_theta_e":0.453337193,"mpcc_theta_mech":0.557613313,"sam_rpm":12.6305132,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0284813493,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453243315,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.639668,"values":{"cg_iu_a":1.90925455,"cg_iv_a":0.788595676,"cg_iw_a":-2.69785023,"cg_theta_rad":0.553213179,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0483320057,"mpcc_du":49.5127487,"mpcc_dv":49.3250961,"mpcc_dw":50.6749039,"mpcc_enc_sign":1,"mpcc_id_a":3.53654814,"mpcc_iq_a":-0.398083091,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.59497976,"mpcc_pred_id_a":0.56080842,"mpcc_pred_iq_a":-2.82722282,"mpcc_state":1,"mpcc_theta_e":0.446130276,"mpcc_theta_mech":0.556172013,"sam_rpm":7.10346651,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453243315,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.64629,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.6759851,"cg_iw_a":0.564094782,"cg_theta_rad":0.55665803,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0270468649,"mpcc_du":49.8786163,"mpcc_dv":48.9408379,"mpcc_dw":51.0591621,"mpcc_enc_sign":1,"mpcc_id_a":2.97704053,"mpcc_iq_a":0.331109494,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.54228544,"mpcc_pred_id_a":0.326342285,"mpcc_pred_iq_a":-1.71744001,"mpcc_state":1,"mpcc_theta_e":0.434106827,"mpcc_theta_mech":0.553767264,"sam_rpm":-10.3888741,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0494666994,"thr_a_norm":0.0494666994,"thr_a_v":0.697866797,"thr_b":0.0143820047,"thr_b_norm":0.0143820047,"thr_b_v":0.557528019,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.652699,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.24105906,"cg_iw_a":-0.740683317,"cg_theta_rad":0.556435704,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0334044397,"mpcc_du":50.5867538,"mpcc_dv":47.9308891,"mpcc_dw":52.0691109,"mpcc_enc_sign":1,"mpcc_id_a":2.05919003,"mpcc_iq_a":0.255504757,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.185874,"mpcc_pred_id_a":0.542733729,"mpcc_pred_iq_a":-1.1059202,"mpcc_state":1,"mpcc_theta_e":0.430862427,"mpcc_theta_mech":0.553118408,"sam_rpm":-21.6055107,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0494666994,"thr_a_norm":0.0494666994,"thr_a_v":0.697866797,"thr_b":0.0143820047,"thr_b_norm":0.0143820047,"thr_b_v":0.557528019,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.65929,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-2.11091113,"cg_iw_a":0.491606951,"cg_theta_rad":0.557683229,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0155328196,"mpcc_du":49.5620918,"mpcc_dv":50.0293159,"mpcc_dw":50.925396,"mpcc_enc_sign":1,"mpcc_id_a":0.786112726,"mpcc_iq_a":0.420734435,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.939586699,"mpcc_pred_id_a":-0.216702953,"mpcc_pred_iq_a":-4.75827503,"mpcc_state":1,"mpcc_theta_e":0.440056324,"mpcc_theta_mech":0.554957211,"sam_rpm":-1.70215225,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0380109847,"thr_a_norm":0.0380109847,"thr_a_v":0.652043939,"thr_b":0.00179331005,"thr_b_norm":0.00179331005,"thr_b_v":0.50717324,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.670155,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.951108456,"cg_iw_a":-0.378244877,"cg_theta_rad":0.559848607,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0350619592,"mpcc_du":49.1160393,"mpcc_dv":50.8839607,"mpcc_dw":50.0295753,"mpcc_enc_sign":1,"mpcc_id_a":2.95017338,"mpcc_iq_a":-0.455668271,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.6783581,"mpcc_pred_id_a":0.256375015,"mpcc_pred_iq_a":-3.90621185,"mpcc_state":1,"mpcc_theta_e":0.453508854,"mpcc_theta_mech":0.557647645,"sam_rpm":27.0102158,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.0380109847,"thr_a_v":0.592927456,"thr_b":0.00068551302,"thr_b_norm":0.00179331005,"thr_b_v":0.502742052,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.679676,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.733645439,"cg_iw_a":-1.4655602,"cg_theta_rad":0.555893004,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0530217029,"mpcc_du":49.9597397,"mpcc_dv":48.9259491,"mpcc_dw":51.0740509,"mpcc_enc_sign":1,"mpcc_id_a":1.38906503,"mpcc_iq_a":-0.848129869,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.774271488,"mpcc_pred_id_a":0.0565626323,"mpcc_pred_iq_a":-4.41785383,"mpcc_state":1,"mpcc_theta_e":0.447629452,"mpcc_theta_mech":0.556471765,"sam_rpm":0.107981823,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.023231864,"thr_a_v":0.592927456,"thr_b":0.00068551302,"thr_b_norm":0.00068551302,"thr_b_v":0.502742052,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.689869,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.16857147,"cg_iw_a":-1.61053562,"cg_theta_rad":0.552122712,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.00619676057,"mpcc_du":49.534771,"mpcc_dv":50.0088997,"mpcc_dw":50.465229,"mpcc_enc_sign":1,"mpcc_id_a":0.767575085,"mpcc_iq_a":-0.814217985,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.058882,"mpcc_pred_id_a":-0.095097661,"mpcc_pred_iq_a":-1.43040919,"mpcc_state":1,"mpcc_theta_e":0.435463428,"mpcc_theta_mech":0.554038584,"sam_rpm":2.39937401,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237731785,"thr_a_norm":0.0237731785,"thr_a_v":0.595092714,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472478837,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.699665,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.878620625,"cg_iw_a":-1.61053562,"cg_theta_rad":0.557469308,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0269593466,"mpcc_du":49.6110306,"mpcc_dv":49.4965324,"mpcc_dw":50.5034676,"mpcc_enc_sign":1,"mpcc_id_a":0.163204461,"mpcc_iq_a":-2.83293271,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.08936453,"mpcc_pred_id_a":-0.446209311,"mpcc_pred_iq_a":-2.64186907,"mpcc_state":1,"mpcc_theta_e":0.430015564,"mpcc_theta_mech":0.552949011,"sam_rpm":-12.3683491,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237731785,"thr_a_norm":0.0237731785,"thr_a_v":0.595092714,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472478837,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.709888,"values":{"cg_iu_a":4.88124943,"cg_iv_a":-0.298719406,"cg_iw_a":0.564094543,"cg_theta_rad":0.55557251,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0447121374,"mpcc_du":50.256588,"mpcc_dv":48.6945953,"mpcc_dw":51.3054047,"mpcc_enc_sign":1,"mpcc_id_a":1.81226778,"mpcc_iq_a":-0.290997148,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.22010851,"mpcc_pred_id_a":-0.356510878,"mpcc_pred_iq_a":-3.25824261,"mpcc_state":1,"mpcc_theta_e":0.438660145,"mpcc_theta_mech":0.554677904,"sam_rpm":-7.74325895,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0457404405,"thr_a_norm":0.0457404405,"thr_a_v":0.682961762,"thr_b":0.0171892792,"thr_b_norm":0.0171892792,"thr_b_v":0.568757117,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.720051,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-1.60349751,"cg_iw_a":-2.04546118,"cg_theta_rad":0.552301168,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0224872902,"mpcc_du":49.4783745,"mpcc_dv":49.9470215,"mpcc_dw":50.5216255,"mpcc_enc_sign":1,"mpcc_id_a":2.70312905,"mpcc_iq_a":-0.453169107,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.68851185,"mpcc_pred_id_a":0.205101714,"mpcc_pred_iq_a":-1.99266386,"mpcc_state":1,"mpcc_theta_e":0.446074009,"mpcc_theta_mech":0.556160748,"sam_rpm":13.3958387,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184985101,"thr_a_norm":0.0457404405,"thr_a_v":0.57399404,"thr_b":0,"thr_b_norm":0.0171892792,"thr_b_v":0.456667423,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.743,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.588670254,"cg_iw_a":-1.17560911,"cg_theta_rad":0.557502687,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0185981952,"mpcc_du":50.0948067,"mpcc_dv":48.9151649,"mpcc_dw":51.0848351,"mpcc_enc_sign":1,"mpcc_id_a":0.693609834,"mpcc_iq_a":-1.12054455,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.98096204,"mpcc_pred_id_a":-0.263819307,"mpcc_pred_iq_a":-1.78288138,"mpcc_state":1,"mpcc_theta_e":0.449905396,"mpcc_theta_mech":0.556927025,"sam_rpm":6.55579996,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184985101,"thr_a_norm":0.0184985101,"thr_a_v":0.57399404,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456667423,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.749531,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.89344811,"cg_iw_a":0.854045391,"cg_theta_rad":0.556851327,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.00791887194,"mpcc_du":49.6037521,"mpcc_dv":49.9427299,"mpcc_dw":50.3962479,"mpcc_enc_sign":1,"mpcc_id_a":1.76309264,"mpcc_iq_a":-1.24629772,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.973399818,"mpcc_pred_id_a":-0.397400647,"mpcc_pred_iq_a":-3.69636869,"mpcc_state":1,"mpcc_theta_e":0.441893101,"mpcc_theta_mech":0.555324495,"sam_rpm":1.22841716,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272980034,"thr_a_norm":0.0272980034,"thr_a_v":0.609192014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486276031,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.756062,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.24105906,"cg_iw_a":0.201656103,"cg_theta_rad":0.554176211,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.117945381,"mpcc_du":49.6070366,"mpcc_dv":48.8218651,"mpcc_dw":51.1781349,"mpcc_enc_sign":1,"mpcc_id_a":6.01961565,"mpcc_iq_a":1.13446546,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.638182521,"mpcc_pred_id_a":1.5447526,"mpcc_pred_iq_a":-1.43621063,"mpcc_state":1,"mpcc_theta_e":0.442587376,"mpcc_theta_mech":0.555463433,"sam_rpm":-1.12660098,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272980034,"thr_a_norm":0.0272980034,"thr_a_v":0.609192014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486276031,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.762592,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.74847269,"cg_iw_a":-3.06028891,"cg_theta_rad":0.556901217,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.00863017794,"mpcc_du":50.118824,"mpcc_dv":48.7194862,"mpcc_dw":51.2805138,"mpcc_enc_sign":1,"mpcc_id_a":1.80740869,"mpcc_iq_a":-0.638691843,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.8613091,"mpcc_pred_id_a":0.150115877,"mpcc_pred_iq_a":-1.16626799,"mpcc_state":1,"mpcc_theta_e":0.429245472,"mpcc_theta_mech":0.5550192,"sam_rpm":-18.4393349,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261650234,"thr_a_norm":0.0261650234,"thr_a_v":0.604660094,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491613656,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.771015,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-1.02359605,"cg_iw_a":0.854045153,"cg_theta_rad":0.557150126,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.028632164,"mpcc_du":50.5220947,"mpcc_dv":48.5265884,"mpcc_dw":51.3213043,"mpcc_enc_sign":1,"mpcc_id_a":0.0711888671,"mpcc_iq_a":-0.07603468,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.17218661,"mpcc_pred_id_a":-0.449663788,"mpcc_pred_iq_a":0.102595307,"mpcc_state":1,"mpcc_theta_e":0.447045803,"mpcc_theta_mech":0.557668686,"sam_rpm":5.4153285,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024742499,"thr_a_norm":0.0261650234,"thr_a_v":0.598969996,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490254045,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.78307,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.24105906,"cg_iw_a":0.0566809177,"cg_theta_rad":0.556603312,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0119824866,"mpcc_du":50.5240517,"mpcc_dv":48.3976097,"mpcc_dw":51.6023903,"mpcc_enc_sign":1,"mpcc_id_a":2.43922329,"mpcc_iq_a":-0.836915612,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.7309856,"mpcc_pred_id_a":-0.251022905,"mpcc_pred_iq_a":1.622931,"mpcc_state":1,"mpcc_theta_e":0.445954323,"mpcc_theta_mech":0.556136787,"sam_rpm":-17.1158676,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024742499,"thr_a_norm":0.024742499,"thr_a_v":0.598969996,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490254045,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.793293,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.45852208,"cg_iw_a":0.999020815,"cg_theta_rad":0.556609213,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.00900646858,"mpcc_du":49.4901772,"mpcc_dv":50.2072792,"mpcc_dw":50.5098228,"mpcc_enc_sign":1,"mpcc_id_a":1.19328904,"mpcc_iq_a":-0.926875293,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.89797735,"mpcc_pred_id_a":0.431238949,"mpcc_pred_iq_a":-1.50550222,"mpcc_state":1,"mpcc_theta_e":0.439715385,"mpcc_theta_mech":0.554889023,"sam_rpm":5.5777092,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269581228,"thr_a_norm":0.0269581228,"thr_a_v":0.607832491,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489700168,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.803516,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.60349751,"cg_iw_a":0.274144173,"cg_theta_rad":0.556231737,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0415623039,"mpcc_du":49.5624123,"mpcc_dv":50.2968025,"mpcc_dw":50.4375877,"mpcc_enc_sign":1,"mpcc_id_a":1.12806714,"mpcc_iq_a":-4.13284779,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.1065917,"mpcc_pred_id_a":0.00810829457,"mpcc_pred_iq_a":-3.43012214,"mpcc_state":1,"mpcc_theta_e":0.439430237,"mpcc_theta_mech":0.554831982,"sam_rpm":-0.291110098,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197070241,"thr_a_norm":0.0269581228,"thr_a_v":0.578828096,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474593699,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.813343,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-0.878620625,"cg_iw_a":0.999020576,"cg_theta_rad":0.551852703,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0824600682,"mpcc_du":49.5010986,"mpcc_dv":49.1426697,"mpcc_dw":50.8573303,"mpcc_enc_sign":1,"mpcc_id_a":2.91716433,"mpcc_iq_a":0.625456631,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.9325075,"mpcc_pred_id_a":0.34141767,"mpcc_pred_iq_a":-3.00510263,"mpcc_state":1,"mpcc_theta_e":0.455720901,"mpcc_theta_mech":0.555576921,"sam_rpm":22.3613586,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197070241,"thr_a_norm":0.0197070241,"thr_a_v":0.578828096,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474593699,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.823505,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.18339872,"cg_iw_a":0.999020576,"cg_theta_rad":0.556072414,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0322015136,"mpcc_du":49.5478821,"mpcc_dv":50.4084625,"mpcc_dw":50.4521179,"mpcc_enc_sign":1,"mpcc_id_a":2.87245131,"mpcc_iq_a":-0.745381057,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.6893892,"mpcc_pred_id_a":0.189239353,"mpcc_pred_iq_a":-3.00215745,"mpcc_state":1,"mpcc_theta_e":0.425332546,"mpcc_theta_mech":0.552012444,"sam_rpm":-7.4301362,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220233351,"thr_a_norm":0.0220233351,"thr_a_v":0.58809334,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487132043,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.846699,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.38603449,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556329012,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0078730816,"mpcc_du":49.4747086,"mpcc_dv":50.5252914,"mpcc_dw":50.1144409,"mpcc_enc_sign":1,"mpcc_id_a":0.26902318,"mpcc_iq_a":-1.00585711,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.76086974,"mpcc_pred_id_a":-0.457812935,"mpcc_pred_iq_a":-6.34593821,"mpcc_state":1,"mpcc_theta_e":0.446467876,"mpcc_theta_mech":0.556239486,"sam_rpm":4.17241716,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220233351,"thr_a_norm":0.0220233351,"thr_a_v":0.58809334,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487132043,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.85323,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.733645439,"cg_iw_a":-1.53804779,"cg_theta_rad":0.555875957,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.00108241162,"mpcc_du":50.4001503,"mpcc_dv":48.5550728,"mpcc_dw":51.4449272,"mpcc_enc_sign":1,"mpcc_id_a":0.413753182,"mpcc_iq_a":-2.08298874,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.38388586,"mpcc_pred_id_a":-0.168001324,"mpcc_pred_iq_a":0.0523584709,"mpcc_state":1,"mpcc_theta_e":0.437248707,"mpcc_theta_mech":0.554395676,"sam_rpm":-6.68929243,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226401836,"thr_a_norm":0.0226401836,"thr_a_v":0.590560734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.85973,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.96593571,"cg_iw_a":1.72389746,"cg_theta_rad":0.555676639,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0310037434,"mpcc_du":49.9369469,"mpcc_dv":48.9855614,"mpcc_dw":51.0144386,"mpcc_enc_sign":1,"mpcc_id_a":2.86982417,"mpcc_iq_a":-0.441538513,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.44536448,"mpcc_pred_id_a":0.419741482,"mpcc_pred_iq_a":-1.95001924,"mpcc_state":1,"mpcc_theta_e":0.446538925,"mpcc_theta_mech":0.556253731,"sam_rpm":1.70760238,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226401836,"thr_a_norm":0.0226401836,"thr_a_v":0.590560734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.86623,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.661157608,"cg_iw_a":-0.59570837,"cg_theta_rad":0.553686559,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0185533706,"mpcc_du":50.4018059,"mpcc_dv":48.310215,"mpcc_dw":51.689785,"mpcc_enc_sign":1,"mpcc_id_a":2.3608849,"mpcc_iq_a":-1.0025171,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.2332411,"mpcc_pred_id_a":-0.107286528,"mpcc_pred_iq_a":-7.96830368,"mpcc_state":1,"mpcc_theta_e":0.45211792,"mpcc_theta_mech":0.557369471,"sam_rpm":5.86152506,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0948615074,"thr_a_norm":0.0948615074,"thr_a_v":0.87944603,"thr_b":0.0363240987,"thr_b_norm":0.0363240987,"thr_b_v":0.645296395,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.876514,"values":{"cg_iu_a":1.98174238,"cg_iv_a":0.0637187958,"cg_iw_a":-0.668195724,"cg_theta_rad":0.558039963,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0117680291,"mpcc_du":50.9484978,"mpcc_dv":47.9175758,"mpcc_dw":52.0824242,"mpcc_enc_sign":1,"mpcc_id_a":0.137205273,"mpcc_iq_a":-0.79703933,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.8689518,"mpcc_pred_id_a":-0.371828705,"mpcc_pred_iq_a":-0.877361834,"mpcc_state":1,"mpcc_theta_e":0.433787346,"mpcc_theta_mech":0.553703368,"sam_rpm":-20.5060291,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259384215,"thr_a_norm":0.0948615074,"thr_a_v":0.603753686,"thr_b":0,"thr_b_norm":0.0363240987,"thr_b_v":0.497907996,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.888264,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.02359605,"cg_iw_a":-2.40789962,"cg_theta_rad":0.554545224,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0445310697,"mpcc_du":49.6072388,"mpcc_dv":49.2608643,"mpcc_dw":50.7391357,"mpcc_enc_sign":1,"mpcc_id_a":3.52422166,"mpcc_iq_a":-0.751781285,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.74937725,"mpcc_pred_id_a":0.500855505,"mpcc_pred_iq_a":-1.73521161,"mpcc_state":1,"mpcc_theta_e":0.445746422,"mpcc_theta_mech":0.556095183,"sam_rpm":11.5031919,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259384215,"thr_a_norm":0.0259384215,"thr_a_v":0.603753686,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497907996,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.898579,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.24105906,"cg_iw_a":0.346631527,"cg_theta_rad":0.558542669,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0426914059,"mpcc_du":49.7933311,"mpcc_dv":49.0495758,"mpcc_dw":50.9504242,"mpcc_enc_sign":1,"mpcc_id_a":2.96631408,"mpcc_iq_a":-0.569963992,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.69136786,"mpcc_pred_id_a":0.47739011,"mpcc_pred_iq_a":-3.35745025,"mpcc_state":1,"mpcc_theta_e":0.443275928,"mpcc_theta_mech":0.55560106,"sam_rpm":-1.7659024,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176928341,"thr_a_norm":0.0176928341,"thr_a_v":0.570771337,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.910938,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.298719406,"cg_iw_a":-1.53804779,"cg_theta_rad":0.557628751,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.01520094,"mpcc_du":49.6743889,"mpcc_dv":49.4268074,"mpcc_dw":50.5731926,"mpcc_enc_sign":1,"mpcc_id_a":0.28004697,"mpcc_iq_a":-1.87567902,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.73694432,"mpcc_pred_id_a":-0.188513845,"mpcc_pred_iq_a":-0.698625267,"mpcc_state":1,"mpcc_theta_e":0.431848526,"mpcc_theta_mech":0.553315639,"sam_rpm":-3.29264712,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0303570628,"thr_a_norm":0.0176928341,"thr_a_v":0.621428251,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469054729,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.920795,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.806133032,"cg_iw_a":0.564094782,"cg_theta_rad":0.557478666,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0135132521,"mpcc_du":49.1037102,"mpcc_dv":50.8962898,"mpcc_dw":49.9546356,"mpcc_enc_sign":1,"mpcc_id_a":1.84547579,"mpcc_iq_a":0.92261827,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.6945133,"mpcc_pred_id_a":0.334996969,"mpcc_pred_iq_a":-1.97961533,"mpcc_state":1,"mpcc_theta_e":0.452189922,"mpcc_theta_mech":0.557383895,"sam_rpm":25.6155663,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0303570628,"thr_a_norm":0.0303570628,"thr_a_v":0.621428251,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469054729,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.943897,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.878620625,"cg_iw_a":0.274143696,"cg_theta_rad":0.5537256,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0366630368,"mpcc_du":49.6649628,"mpcc_dv":48.2973137,"mpcc_dw":51.7026863,"mpcc_enc_sign":1,"mpcc_id_a":2.68671942,"mpcc_iq_a":-0.826763451,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.35911036,"mpcc_pred_id_a":0.215575099,"mpcc_pred_iq_a":-3.04404378,"mpcc_state":1,"mpcc_theta_e":0.449423313,"mpcc_theta_mech":0.556830585,"sam_rpm":8.33122635,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248432159,"thr_a_norm":0.0248432159,"thr_a_v":0.599372864,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499519348,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.950397,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.02359605,"cg_iw_a":1.5064342,"cg_theta_rad":0.552591264,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5001,"hz_app_loop":361,"hz_tim_isr":10002,"hz_vsense":361,"mpcc_cost":0.0303186234,"mpcc_du":49.9972687,"mpcc_dv":48.7012558,"mpcc_dw":51.2987442,"mpcc_enc_sign":1,"mpcc_id_a":3.16402316,"mpcc_iq_a":-1.00292611,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.2212162,"mpcc_pred_id_a":0.794627666,"mpcc_pred_iq_a":0.654409707,"mpcc_state":1,"mpcc_theta_e":0.447340965,"mpcc_theta_mech":0.556414127,"sam_rpm":9.47746849,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248432159,"thr_a_norm":0.0248432159,"thr_a_v":0.599372864,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499519348,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.956928,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.371207237,"cg_iw_a":-3.06028843,"cg_theta_rad":0.554144621,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.20801,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0259246118,"mpcc_du":49.4863892,"mpcc_dv":50.5136108,"mpcc_dw":50.3055305,"mpcc_enc_sign":1,"mpcc_id_a":1.51369512,"mpcc_iq_a":-0.274132222,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.1160431,"mpcc_pred_id_a":-0.00077853346,"mpcc_pred_iq_a":-3.03312922,"mpcc_state":1,"mpcc_theta_e":0.440796852,"mpcc_theta_mech":0.555105269,"sam_rpm":26.6519947,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0251579285,"thr_a_norm":0.0251579285,"thr_a_v":0.600631714,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48526895,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.96349,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.09608364,"cg_iw_a":0.346631527,"cg_theta_rad":0.553507149,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.017235266,"mpcc_du":50.4290428,"mpcc_dv":48.2565155,"mpcc_dw":51.7434845,"mpcc_enc_sign":1,"mpcc_id_a":2.25275922,"mpcc_iq_a":-0.0125371097,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.7489748,"mpcc_pred_id_a":0.315998584,"mpcc_pred_iq_a":-1.09238577,"mpcc_state":1,"mpcc_theta_e":0.428571701,"mpcc_theta_mech":0.552660227,"sam_rpm":-22.4286823,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198203325,"thr_a_norm":0.0251579285,"thr_a_v":0.57928133,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471320659,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.971973,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.89344811,"cg_iw_a":-1.03063416,"cg_theta_rad":0.558699131,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0104455715,"mpcc_du":50.1276779,"mpcc_dv":48.7860413,"mpcc_dw":51.2139587,"mpcc_enc_sign":1,"mpcc_id_a":1.93328905,"mpcc_iq_a":-0.187908351,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.5238943,"mpcc_pred_id_a":0.167207867,"mpcc_pred_iq_a":-1.17733049,"mpcc_state":1,"mpcc_theta_e":0.428200245,"mpcc_theta_mech":0.553446472,"sam_rpm":-19.2218742,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198203325,"thr_a_norm":0.0198203325,"thr_a_v":0.57928133,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471320659,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.982075,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.6759851,"cg_iw_a":-0.958146334,"cg_theta_rad":0.557394266,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.012861874,"mpcc_du":49.288662,"mpcc_dv":49.1789017,"mpcc_dw":50.8210983,"mpcc_enc_sign":1,"mpcc_id_a":1.24194682,"mpcc_iq_a":-0.651271641,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.0389729,"mpcc_pred_id_a":0.0328162163,"mpcc_pred_iq_a":-3.41175532,"mpcc_state":1,"mpcc_theta_e":0.45602417,"mpcc_theta_mech":0.558150709,"sam_rpm":25.8100586,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0424422026,"thr_a_norm":0.0424422026,"thr_a_v":0.66976881,"thr_b":0.0142687112,"thr_b_norm":0.0142687112,"thr_b_v":0.557074845,"vdc_v":55.2955055}} +{"type":"telemetry","t":48.994587,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.516182423,"cg_iw_a":-0.668195724,"cg_theta_rad":0.555230439,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0280963704,"mpcc_du":50.5502167,"mpcc_dv":48.1820564,"mpcc_dw":51.8179436,"mpcc_enc_sign":1,"mpcc_id_a":1.89374924,"mpcc_iq_a":0.229989827,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.371588498,"mpcc_pred_id_a":0.20002532,"mpcc_pred_iq_a":-3.46840119,"mpcc_state":1,"mpcc_theta_e":0.436151505,"mpcc_theta_mech":0.554176211,"sam_rpm":-14.1330814,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200595111,"thr_a_norm":0.0424422026,"thr_a_v":0.580238044,"thr_b":0,"thr_b_norm":0.0142687112,"thr_b_v":0.449668139,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.004475,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-1.31354666,"cg_iw_a":-0.450732708,"cg_theta_rad":0.554156899,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.000133022462,"mpcc_du":49.6065979,"mpcc_dv":50.0308876,"mpcc_dw":50.3934021,"mpcc_enc_sign":1,"mpcc_id_a":0.230317742,"mpcc_iq_a":-0.934731245,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.974834919,"mpcc_pred_id_a":-0.244408056,"mpcc_pred_iq_a":-3.71576023,"mpcc_state":1,"mpcc_theta_e":0.437271118,"mpcc_theta_mech":0.553368509,"sam_rpm":-1.92562103,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200595111,"thr_a_norm":0.0200595111,"thr_a_v":0.580238044,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449668139,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.014484,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.96593571,"cg_iw_a":-0.885658741,"cg_theta_rad":0.557309389,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0255541001,"mpcc_du":50.2283592,"mpcc_dv":48.7312241,"mpcc_dw":51.2687759,"mpcc_enc_sign":1,"mpcc_id_a":0.785002708,"mpcc_iq_a":-0.600665271,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.03656363,"mpcc_pred_id_a":-0.078282699,"mpcc_pred_iq_a":-2.5490222,"mpcc_state":1,"mpcc_theta_e":0.4440341,"mpcc_theta_mech":0.555752754,"sam_rpm":-4.00328684,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283806324,"thr_a_norm":0.0283806324,"thr_a_v":0.61352253,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497656196,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.024464,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.60349751,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556950927,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0189838167,"mpcc_du":49.7156792,"mpcc_dv":49.2568855,"mpcc_dw":50.7431145,"mpcc_enc_sign":1,"mpcc_id_a":2.12426066,"mpcc_iq_a":-2.01276016,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.5612179,"mpcc_pred_id_a":0.134525523,"mpcc_pred_iq_a":-0.399919629,"mpcc_state":1,"mpcc_theta_e":0.439851761,"mpcc_theta_mech":0.554916263,"sam_rpm":1.30163097,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283806324,"thr_a_norm":0.0283806324,"thr_a_v":0.61352253,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497656196,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.047871,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.82096052,"cg_iw_a":1.79638529,"cg_theta_rad":0.557403862,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0166817382,"mpcc_du":49.5677795,"mpcc_dv":49.4333458,"mpcc_dw":50.5666542,"mpcc_enc_sign":1,"mpcc_id_a":2.32523322,"mpcc_iq_a":-0.391257912,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.60734892,"mpcc_pred_id_a":0.152947128,"mpcc_pred_iq_a":-3.19738817,"mpcc_state":1,"mpcc_theta_e":0.437977791,"mpcc_theta_mech":0.554541469,"sam_rpm":-4.05852413,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165598541,"thr_a_norm":0.0165598541,"thr_a_v":0.566239417,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474392295,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.054371,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.45852208,"cg_iw_a":0.346631765,"cg_theta_rad":0.557647228,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.00186169031,"mpcc_du":48.8799477,"mpcc_dv":51.1200523,"mpcc_dw":49.3828926,"mpcc_enc_sign":1,"mpcc_id_a":-0.115743302,"mpcc_iq_a":-1.47165835,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.0832653,"mpcc_pred_id_a":-0.603917062,"mpcc_pred_iq_a":-7.89523935,"mpcc_state":1,"mpcc_theta_e":0.447158337,"mpcc_theta_mech":0.55637759,"sam_rpm":8.45369053,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023282215,"thr_a_norm":0.023282215,"thr_a_v":0.59312886,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466033429,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.060932,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.16857147,"cg_iw_a":-1.46555996,"cg_theta_rad":0.553449333,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0399606787,"mpcc_du":50.6239929,"mpcc_dv":47.9483261,"mpcc_dw":52.0516739,"mpcc_enc_sign":1,"mpcc_id_a":3.12196279,"mpcc_iq_a":0.114370964,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.79780626,"mpcc_pred_id_a":0.701721132,"mpcc_pred_iq_a":1.02259254,"mpcc_state":1,"mpcc_theta_e":0.437747955,"mpcc_theta_mech":0.554495513,"sam_rpm":-10.1329203,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023282215,"thr_a_norm":0.023282215,"thr_a_v":0.59312886,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466033429,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.067524,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.588670254,"cg_iw_a":1.36145926,"cg_theta_rad":0.556747675,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0699580833,"mpcc_du":50.494854,"mpcc_dv":47.9275894,"mpcc_dw":52.0724106,"mpcc_enc_sign":1,"mpcc_id_a":4.72626352,"mpcc_iq_a":0.502292275,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.0076818,"mpcc_pred_id_a":1.08217025,"mpcc_pred_iq_a":-0.0847022086,"mpcc_state":1,"mpcc_theta_e":0.431126118,"mpcc_theta_mech":0.553171098,"sam_rpm":-20.7773113,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200343281,"thr_a_norm":0.0200343281,"thr_a_v":0.580137312,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443927675,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.077839,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-3.05325079,"cg_iw_a":-0.305757046,"cg_theta_rad":0.556961179,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0148620093,"mpcc_du":49.790062,"mpcc_dv":49.1819382,"mpcc_dw":50.8180618,"mpcc_enc_sign":1,"mpcc_id_a":0.68293947,"mpcc_iq_a":-0.976910889,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.12865925,"mpcc_pred_id_a":-0.250821322,"mpcc_pred_iq_a":-1.96017361,"mpcc_state":1,"mpcc_theta_e":0.449902058,"mpcc_theta_mech":0.55692631,"sam_rpm":12.805831,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162577182,"thr_a_norm":0.0200343281,"thr_a_v":0.565030873,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.087482,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.02359605,"cg_iw_a":-1.4655602,"cg_theta_rad":0.556272447,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.00412829639,"mpcc_du":49.9844742,"mpcc_dv":48.9600792,"mpcc_dw":51.0399208,"mpcc_enc_sign":1,"mpcc_id_a":1.02338564,"mpcc_iq_a":0.0948377997,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.5605774,"mpcc_pred_id_a":-0.0667356029,"mpcc_pred_iq_a":-2.03797197,"mpcc_state":1,"mpcc_theta_e":0.422660351,"mpcc_theta_mech":0.551478028,"sam_rpm":-26.0956039,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162577182,"thr_a_norm":0.0162577182,"thr_a_v":0.565030873,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.098652,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.38603449,"cg_iw_a":-1.39307213,"cg_theta_rad":0.553552568,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0296218526,"mpcc_du":50.3518982,"mpcc_dv":48.5767174,"mpcc_dw":51.4232826,"mpcc_enc_sign":1,"mpcc_id_a":0.431544036,"mpcc_iq_a":1.04980922,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.194849,"mpcc_pred_id_a":-0.208545834,"mpcc_pred_iq_a":-2.3227675,"mpcc_state":1,"mpcc_theta_e":0.432236195,"mpcc_theta_mech":0.553393185,"sam_rpm":-16.5326099,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213057995,"thr_a_norm":0.0213057995,"thr_a_v":0.585223198,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469558269,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.110065,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.951108456,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.555217266,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0572946444,"mpcc_du":49.3415794,"mpcc_dv":50.2698822,"mpcc_dw":50.6584206,"mpcc_enc_sign":1,"mpcc_id_a":4.74663353,"mpcc_iq_a":-0.8982898,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.762496,"mpcc_pred_id_a":1.30454004,"mpcc_pred_iq_a":-1.92254269,"mpcc_state":1,"mpcc_theta_e":0.450820446,"mpcc_theta_mech":0.557110012,"sam_rpm":17.0189762,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285694748,"thr_a_norm":0.0213057995,"thr_a_v":0.614277899,"thr_b":0.00108835101,"thr_b_norm":0,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.120045,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.24105906,"cg_iw_a":-0.160782099,"cg_theta_rad":0.556308389,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0469475873,"mpcc_du":49.6930962,"mpcc_dv":48.6389847,"mpcc_dw":51.3610153,"mpcc_enc_sign":1,"mpcc_id_a":2.49850345,"mpcc_iq_a":-0.549043775,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.69784164,"mpcc_pred_id_a":0.438820213,"mpcc_pred_iq_a":-3.14746547,"mpcc_state":1,"mpcc_theta_e":0.449034214,"mpcc_theta_mech":0.557379007,"sam_rpm":6.68913507,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285694748,"thr_a_norm":0.0285694748,"thr_a_v":0.614277899,"thr_b":0.00108835101,"thr_b_norm":0.00108835101,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.130054,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.02359605,"cg_iw_a":-1.39307261,"cg_theta_rad":0.55703038,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0319244601,"mpcc_du":50.3734283,"mpcc_dv":48.637516,"mpcc_dw":51.362484,"mpcc_enc_sign":1,"mpcc_id_a":0.472381681,"mpcc_iq_a":-0.917300522,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.00483505381,"mpcc_pred_id_a":-0.337234348,"mpcc_pred_iq_a":-2.04021835,"mpcc_state":1,"mpcc_theta_e":0.446127892,"mpcc_theta_mech":0.556171477,"sam_rpm":0.928368986,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284813493,"thr_a_norm":0.0284813493,"thr_a_v":0.613925397,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4983612,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.153248,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.31354666,"cg_iw_a":0.274143696,"cg_theta_rad":0.554195285,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.024976423,"mpcc_du":50.6735764,"mpcc_dv":50.6687965,"mpcc_dw":50.202713,"mpcc_enc_sign":1,"mpcc_id_a":2.82752657,"mpcc_iq_a":-0.332335144,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.2392817,"mpcc_pred_id_a":0.237111047,"mpcc_pred_iq_a":0.229604617,"mpcc_state":1,"mpcc_theta_e":0.43232584,"mpcc_theta_mech":0.553411067,"sam_rpm":-18.6237583,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284813493,"thr_a_norm":0.0284813493,"thr_a_v":0.613925397,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4983612,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.159779,"values":{"cg_iu_a":3.21403265,"cg_iv_a":0.281181812,"cg_iw_a":-3.49521446,"cg_theta_rad":0.551327884,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.030495286,"mpcc_du":49.3411903,"mpcc_dv":50.6588097,"mpcc_dw":50.3266449,"mpcc_enc_sign":1,"mpcc_id_a":3.48170161,"mpcc_iq_a":-0.657631755,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.54548228,"mpcc_pred_id_a":0.507276773,"mpcc_pred_iq_a":-4.2870698,"mpcc_state":1,"mpcc_theta_e":0.438521862,"mpcc_theta_mech":0.553104639,"sam_rpm":1.25559008,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0236472934,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458983719,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.16634,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.38603449,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556232095,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.00158427632,"mpcc_du":50.2070885,"mpcc_dv":48.976223,"mpcc_dw":51.023777,"mpcc_enc_sign":1,"mpcc_id_a":0.199951723,"mpcc_iq_a":-1.15630054,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.10417223,"mpcc_pred_id_a":-0.640379429,"mpcc_pred_iq_a":-0.466177702,"mpcc_state":1,"mpcc_theta_e":0.443692207,"mpcc_theta_mech":0.555684328,"sam_rpm":2.54237962,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0236472934,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458983719,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.172871,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-2.40086174,"cg_iw_a":1.28897142,"cg_theta_rad":0.554881632,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0161460899,"mpcc_du":50.1374207,"mpcc_dv":48.5935593,"mpcc_dw":51.4064407,"mpcc_enc_sign":1,"mpcc_id_a":2.53083062,"mpcc_iq_a":-0.805218697,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.59145308,"mpcc_pred_id_a":0.376574427,"mpcc_pred_iq_a":-0.0283997487,"mpcc_state":1,"mpcc_theta_e":0.435979366,"mpcc_theta_mech":0.554141819,"sam_rpm":-8.61027622,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0312886238,"thr_a_norm":0.0312886238,"thr_a_v":0.625154495,"thr_b":0.000534445047,"thr_b_norm":0.000534445047,"thr_b_v":0.50213778,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.181049,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-0.588670254,"cg_iw_a":0.419119358,"cg_theta_rad":0.551677227,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0214330871,"mpcc_du":50.1697922,"mpcc_dv":48.8054161,"mpcc_dw":51.1945839,"mpcc_enc_sign":1,"mpcc_id_a":1.02360451,"mpcc_iq_a":-0.436625689,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.640113771,"mpcc_pred_id_a":-0.166949496,"mpcc_pred_iq_a":-1.7292335,"mpcc_state":1,"mpcc_theta_e":0.444458961,"mpcc_theta_mech":0.555837691,"sam_rpm":-0.52632767,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192538351,"thr_a_norm":0.0312886238,"thr_a_v":0.57701534,"thr_b":0,"thr_b_norm":0.000534445047,"thr_b_v":0.462558955,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.191059,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.53100967,"cg_iw_a":-0.595707893,"cg_theta_rad":0.553884506,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.00298283412,"mpcc_du":48.5416679,"mpcc_dv":51.4583321,"mpcc_dw":49.0091515,"mpcc_enc_sign":1,"mpcc_id_a":0.130064979,"mpcc_iq_a":-0.289428383,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.8630638,"mpcc_pred_id_a":-0.523207784,"mpcc_pred_iq_a":-4.37705183,"mpcc_state":1,"mpcc_theta_e":0.445260525,"mpcc_theta_mech":0.555998027,"sam_rpm":19.3162727,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192538351,"thr_a_norm":0.0192538351,"thr_a_v":0.57701534,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462558955,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.200886,"values":{"cg_iu_a":1.54681635,"cg_iv_a":0.353669643,"cg_iw_a":-1.90048599,"cg_theta_rad":0.554634631,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0209495202,"mpcc_du":49.7867012,"mpcc_dv":49.0448647,"mpcc_dw":50.9551353,"mpcc_enc_sign":1,"mpcc_id_a":2.8801434,"mpcc_iq_a":-0.590205729,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.2611876,"mpcc_pred_id_a":0.224480659,"mpcc_pred_iq_a":-3.85879374,"mpcc_state":1,"mpcc_theta_e":0.447969913,"mpcc_theta_mech":0.556539893,"sam_rpm":6.93862152,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024314478,"thr_a_norm":0.024314478,"thr_a_v":0.597257912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474795133,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.210804,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.661157608,"cg_iw_a":-0.305757284,"cg_theta_rad":0.553184152,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.00072899682,"mpcc_du":50.0700226,"mpcc_dv":49.0468674,"mpcc_dw":50.9531326,"mpcc_enc_sign":1,"mpcc_id_a":0.0156398192,"mpcc_iq_a":-2.04344964,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.00925575756,"mpcc_pred_id_a":-0.423806816,"mpcc_pred_iq_a":-2.0061996,"mpcc_state":1,"mpcc_theta_e":0.445376396,"mpcc_theta_mech":0.556021214,"sam_rpm":-0.171199903,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024314478,"thr_a_norm":0.024314478,"thr_a_v":0.597257912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474795133,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.221027,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.951108456,"cg_iw_a":-1.10312176,"cg_theta_rad":0.555923104,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.000974547118,"mpcc_du":49.9692726,"mpcc_dv":48.9232025,"mpcc_dw":51.0767975,"mpcc_enc_sign":1,"mpcc_id_a":0.0318897925,"mpcc_iq_a":-1.8986547,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.5085754,"mpcc_pred_id_a":0.0370885283,"mpcc_pred_iq_a":-3.19445705,"mpcc_state":1,"mpcc_theta_e":0.430852413,"mpcc_theta_mech":0.553116441,"sam_rpm":-19.3331032,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280910879,"thr_a_norm":0.0280910879,"thr_a_v":0.612364352,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491664022,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.231251,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.878620625,"cg_iw_a":-0.450732708,"cg_theta_rad":0.555738986,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.00478144735,"mpcc_du":48.6628647,"mpcc_dv":51.3371353,"mpcc_dw":49.2521095,"mpcc_enc_sign":1,"mpcc_id_a":1.23954606,"mpcc_iq_a":0.0162723176,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.63215637,"mpcc_pred_id_a":-0.34781608,"mpcc_pred_iq_a":-6.08051825,"mpcc_state":1,"mpcc_theta_e":0.444877148,"mpcc_theta_mech":0.555921316,"sam_rpm":13.4924536,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217715651,"thr_a_norm":0.0280910879,"thr_a_v":0.58708626,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473737687,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.254261,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.45852208,"cg_iw_a":-0.595708132,"cg_theta_rad":0.556337655,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0184198227,"mpcc_du":48.8745003,"mpcc_dv":51.1254997,"mpcc_dw":49.7694817,"mpcc_enc_sign":1,"mpcc_id_a":2.71039605,"mpcc_iq_a":-1.77637947,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.8118668,"mpcc_pred_id_a":0.383025885,"mpcc_pred_iq_a":-6.09335375,"mpcc_state":1,"mpcc_theta_e":0.451917648,"mpcc_theta_mech":0.557329416,"sam_rpm":14.9359026,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217715651,"thr_a_norm":0.0217715651,"thr_a_v":0.58708626,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473737687,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.260792,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-2.18339872,"cg_iw_a":1.57892179,"cg_theta_rad":0.555765867,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.00335777039,"mpcc_du":49.9167175,"mpcc_dv":49.1601868,"mpcc_dw":50.8398132,"mpcc_enc_sign":1,"mpcc_id_a":0.182988763,"mpcc_iq_a":-1.52143097,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.28594065,"mpcc_pred_id_a":-0.291840076,"mpcc_pred_iq_a":-1.57105315,"mpcc_state":1,"mpcc_theta_e":0.446437836,"mpcc_theta_mech":0.556233466,"sam_rpm":6.3595233,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0127958357,"thr_a_norm":0.0127958357,"thr_a_v":0.551183343,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440100729,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.267353,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.24105906,"cg_iw_a":-0.958146334,"cg_theta_rad":0.555734694,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.00207315455,"mpcc_du":49.8381462,"mpcc_dv":49.1774788,"mpcc_dw":50.8225212,"mpcc_enc_sign":1,"mpcc_id_a":0.500690818,"mpcc_iq_a":-2.7313807,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0894472674,"mpcc_pred_id_a":-0.176635772,"mpcc_pred_iq_a":-1.9838624,"mpcc_state":1,"mpcc_theta_e":0.441285133,"mpcc_theta_mech":0.555202961,"sam_rpm":-0.379458487,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0127958357,"thr_a_norm":0.0127958357,"thr_a_v":0.551183343,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440100729,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.273823,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.588670254,"cg_iw_a":-2.48038721,"cg_theta_rad":0.552506506,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":4.84584089e-05,"mpcc_du":50.455574,"mpcc_dv":48.642765,"mpcc_dw":51.357235,"mpcc_enc_sign":1,"mpcc_id_a":-0.135495782,"mpcc_iq_a":-1.5486567,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.75620699,"mpcc_pred_id_a":-0.830836296,"mpcc_pred_iq_a":-1.08072007,"mpcc_state":1,"mpcc_theta_e":0.436537266,"mpcc_theta_mech":0.55678165,"sam_rpm":-12.0119009,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238487124,"thr_a_norm":0.0238487124,"thr_a_v":0.59539485,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467392981,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.282032,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.661157608,"cg_iw_a":0.0566806793,"cg_theta_rad":0.553989053,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.032514181,"mpcc_du":49.9460373,"mpcc_dv":49.0671463,"mpcc_dw":50.9328537,"mpcc_enc_sign":1,"mpcc_id_a":-1.4376955,"mpcc_iq_a":-1.72039866,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.960795343,"mpcc_pred_id_a":-0.189012527,"mpcc_pred_iq_a":-2.45270491,"mpcc_state":1,"mpcc_theta_e":0.445826054,"mpcc_theta_mech":0.556111097,"sam_rpm":3.20139003,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0377717912,"thr_a_norm":0.0238487124,"thr_a_v":0.651087165,"thr_b":0.0067910254,"thr_b_norm":0,"thr_b_v":0.527164102,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.292072,"values":{"cg_iu_a":1.40184116,"cg_iv_a":0.353669643,"cg_iw_a":-0.885658741,"cg_theta_rad":0.554801881,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.032234367,"mpcc_du":50.0999641,"mpcc_dv":49.00103,"mpcc_dw":50.99897,"mpcc_enc_sign":1,"mpcc_id_a":-0.599004745,"mpcc_iq_a":-0.636731327,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.73376179,"mpcc_pred_id_a":-0.487478763,"mpcc_pred_iq_a":-2.50249481,"mpcc_state":1,"mpcc_theta_e":0.44644928,"mpcc_theta_mech":0.556638479,"sam_rpm":5.60763741,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0377717912,"thr_a_norm":0.0377717912,"thr_a_v":0.651087165,"thr_b":0.0067910254,"thr_b_norm":0.0067910254,"thr_b_v":0.527164102,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.302082,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.733645439,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.55563432,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0377296396,"mpcc_du":49.2627945,"mpcc_dv":50.7372055,"mpcc_dw":49.9942474,"mpcc_enc_sign":1,"mpcc_id_a":0.666490436,"mpcc_iq_a":-2.12561226,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.2504292,"mpcc_pred_id_a":-0.0792017281,"mpcc_pred_iq_a":-0.529059589,"mpcc_state":1,"mpcc_theta_e":0.419414997,"mpcc_theta_mech":0.550828934,"sam_rpm":-3.17525172,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189391226,"thr_a_norm":0.0189391226,"thr_a_v":0.57575649,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461853951,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.312031,"values":{"cg_iu_a":3.8664217,"cg_iv_a":-0.588670254,"cg_iw_a":-3.27775145,"cg_theta_rad":0.556711197,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0336252898,"mpcc_du":50.3243599,"mpcc_dv":48.6044731,"mpcc_dw":51.3955269,"mpcc_enc_sign":1,"mpcc_id_a":2.15528917,"mpcc_iq_a":-0.926074207,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.86991429,"mpcc_pred_id_a":-0.143683895,"mpcc_pred_iq_a":-2.46668863,"mpcc_state":1,"mpcc_theta_e":0.443245888,"mpcc_theta_mech":0.5555951,"sam_rpm":-5.39705992,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189391226,"thr_a_norm":0.0189391226,"thr_a_v":0.57575649,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461853951,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.323383,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.443694592,"cg_iw_a":-1.0306344,"cg_theta_rad":0.557924628,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0237356275,"mpcc_du":50.4641304,"mpcc_dv":48.5478973,"mpcc_dw":51.4521027,"mpcc_enc_sign":1,"mpcc_id_a":2.33686495,"mpcc_iq_a":-1.8794347,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.62004161,"mpcc_pred_id_a":0.0914087668,"mpcc_pred_iq_a":-4.56427908,"mpcc_state":1,"mpcc_theta_e":0.453533173,"mpcc_theta_mech":0.557652533,"sam_rpm":-3.48876643,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246543884,"thr_a_norm":0.0246543884,"thr_a_v":0.598617554,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476456851,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.334644,"values":{"cg_iu_a":2.85159445,"cg_iv_a":0.426157475,"cg_iw_a":-0.523220062,"cg_theta_rad":0.556713045,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0213678069,"mpcc_du":49.4145241,"mpcc_dv":49.9168015,"mpcc_dw":50.5854759,"mpcc_enc_sign":1,"mpcc_id_a":2.80103016,"mpcc_iq_a":-0.0477611199,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.5433135,"mpcc_pred_id_a":0.844374716,"mpcc_pred_iq_a":-0.659771562,"mpcc_state":1,"mpcc_theta_e":0.433814526,"mpcc_theta_mech":0.553708851,"sam_rpm":3.33608174,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216456801,"thr_a_norm":0.0216456801,"thr_a_v":0.58658272,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462861091,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.358265,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.16857147,"cg_iw_a":0.274144173,"cg_theta_rad":0.555520594,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.00295192143,"mpcc_du":49.6192589,"mpcc_dv":50.3807411,"mpcc_dw":50.2572632,"mpcc_enc_sign":1,"mpcc_id_a":0.478344709,"mpcc_iq_a":-1.42363048,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.90769291,"mpcc_pred_id_a":-0.381804258,"mpcc_pred_iq_a":-0.364859253,"mpcc_state":1,"mpcc_theta_e":0.440220833,"mpcc_theta_mech":0.554990113,"sam_rpm":9.48092747,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216456801,"thr_a_norm":0.0216456801,"thr_a_v":0.58658272,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462861091,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.364185,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-2.54583716,"cg_iw_a":-0.958146334,"cg_theta_rad":0.555535614,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.00822886918,"mpcc_du":49.1922569,"mpcc_dv":50.8077431,"mpcc_dw":49.7914505,"mpcc_enc_sign":1,"mpcc_id_a":0.196596488,"mpcc_iq_a":-0.648568034,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.4778633,"mpcc_pred_id_a":-0.393555313,"mpcc_pred_iq_a":-5.21615696,"mpcc_state":1,"mpcc_theta_e":0.450746059,"mpcc_theta_mech":0.55709517,"sam_rpm":16.7206459,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0268322229,"thr_a_norm":0.0216456801,"thr_a_v":0.607328892,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487534881,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.370686,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.226231575,"cg_iw_a":-0.740683556,"cg_theta_rad":0.554919183,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.00337798032,"mpcc_du":50.9261208,"mpcc_dv":47.7621117,"mpcc_dw":52.2378883,"mpcc_enc_sign":1,"mpcc_id_a":0.899668694,"mpcc_iq_a":-1.23253918,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.1619263,"mpcc_pred_id_a":0.081288524,"mpcc_pred_iq_a":-0.138871163,"mpcc_state":1,"mpcc_theta_e":0.427023411,"mpcc_theta_mech":0.552350581,"sam_rpm":-26.6800194,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0268322229,"thr_a_norm":0.0268322229,"thr_a_v":0.607328892,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487534881,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.377247,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.226231575,"cg_iw_a":-2.48038769,"cg_theta_rad":0.553849161,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.082883127,"mpcc_du":49.4331245,"mpcc_dv":49.2119598,"mpcc_dw":50.7880402,"mpcc_enc_sign":1,"mpcc_id_a":5.16012859,"mpcc_iq_a":0.344245195,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.11135387,"mpcc_pred_id_a":1.22695661,"mpcc_pred_iq_a":-3.17110133,"mpcc_state":1,"mpcc_theta_e":0.441272259,"mpcc_theta_mech":0.555200398,"sam_rpm":-3.45379162,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100060657,"thr_a_norm":0.100060657,"thr_a_v":0.900242627,"thr_b":0.0459922105,"thr_b_norm":0.0459922105,"thr_b_v":0.683968842,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.385822,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.31354666,"cg_iw_a":-1.53804779,"cg_theta_rad":0.557588875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.00178233511,"mpcc_du":50.5948181,"mpcc_dv":48.4201775,"mpcc_dw":51.5798225,"mpcc_enc_sign":1,"mpcc_id_a":0.5458529,"mpcc_iq_a":-1.12374854,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.5923262,"mpcc_pred_id_a":-0.423512518,"mpcc_pred_iq_a":-0.8127442,"mpcc_state":1,"mpcc_theta_e":0.432896614,"mpcc_theta_mech":0.553525269,"sam_rpm":-15.9415636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0114488304,"thr_a_norm":0.100060657,"thr_a_v":0.545795321,"thr_b":0,"thr_b_norm":0.0459922105,"thr_b_v":0.437734038,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.396046,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.516182423,"cg_iw_a":-0.378244877,"cg_theta_rad":0.557229817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.00976036303,"mpcc_du":50.2551193,"mpcc_dv":48.7460175,"mpcc_dw":51.2539825,"mpcc_enc_sign":1,"mpcc_id_a":0.360231757,"mpcc_iq_a":-2.16190553,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.00062346,"mpcc_pred_id_a":-0.157010794,"mpcc_pred_iq_a":-2.69855142,"mpcc_state":1,"mpcc_theta_e":0.445616722,"mpcc_theta_mech":0.556069255,"sam_rpm":-2.60879016,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0114488304,"thr_a_norm":0.0114488304,"thr_a_v":0.545795321,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.437734038,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.407215,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.96593571,"cg_iw_a":0.78155756,"cg_theta_rad":0.557568669,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":9.29788948e-05,"mpcc_du":49.4481697,"mpcc_dv":50.5518303,"mpcc_dw":50.1350174,"mpcc_enc_sign":1,"mpcc_id_a":0.16613929,"mpcc_iq_a":-2.24983644,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.64008236,"mpcc_pred_id_a":-0.127279848,"mpcc_pred_iq_a":-0.580816209,"mpcc_state":1,"mpcc_theta_e":0.441670895,"mpcc_theta_mech":0.555280089,"sam_rpm":12.1506319,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458127707,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.418629,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-2.11091113,"cg_iw_a":1.65140986,"cg_theta_rad":0.557598948,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.00848473143,"mpcc_du":50.0058174,"mpcc_dv":49.0774536,"mpcc_dw":50.9225464,"mpcc_enc_sign":1,"mpcc_id_a":0.302259892,"mpcc_iq_a":-0.270514816,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.00553417,"mpcc_pred_id_a":-0.322887063,"mpcc_pred_iq_a":0.763023078,"mpcc_state":1,"mpcc_theta_e":0.425859451,"mpcc_theta_mech":0.552117825,"sam_rpm":-10.8930998,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00730715692,"thr_a_norm":0.0232444406,"thr_a_v":0.529228628,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.419304162,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.429646,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.45852208,"cg_iw_a":-0.160782099,"cg_theta_rad":0.551959515,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.023180563,"mpcc_du":49.6051407,"mpcc_dv":49.5521927,"mpcc_dw":50.4478073,"mpcc_enc_sign":1,"mpcc_id_a":2.14814138,"mpcc_iq_a":-1.4444145,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.3396554,"mpcc_pred_id_a":-0.189499915,"mpcc_pred_iq_a":-4.56245136,"mpcc_state":1,"mpcc_theta_e":0.447524548,"mpcc_theta_mech":0.556450784,"sam_rpm":3.56603503,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00730715692,"thr_a_norm":0.00730715692,"thr_a_v":0.529228628,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.419304162,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.452869,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.53100967,"cg_iw_a":0.346631765,"cg_theta_rad":0.556474388,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.00703850761,"mpcc_du":47.947361,"mpcc_dv":52.052639,"mpcc_dw":48.3212929,"mpcc_enc_sign":1,"mpcc_id_a":0.331622064,"mpcc_iq_a":-0.858665764,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.8238392,"mpcc_pred_id_a":-0.358110666,"mpcc_pred_iq_a":-9.35122013,"mpcc_state":1,"mpcc_theta_e":0.457769394,"mpcc_theta_mech":0.558499753,"sam_rpm":27.3720608,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194048882,"thr_a_norm":0.0194048882,"thr_a_v":0.577619553,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472478837,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.459431,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.951108456,"cg_iw_a":-1.75551081,"cg_theta_rad":0.557981789,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0158747509,"mpcc_du":50.6524315,"mpcc_dv":48.0292702,"mpcc_dw":51.9707298,"mpcc_enc_sign":1,"mpcc_id_a":2.30467463,"mpcc_iq_a":-0.601849616,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.98117638,"mpcc_pred_id_a":0.476809978,"mpcc_pred_iq_a":0.800682068,"mpcc_state":1,"mpcc_theta_e":0.433786869,"mpcc_theta_mech":0.553703249,"sam_rpm":-14.9733696,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0107564628,"thr_a_norm":0.0194048882,"thr_a_v":0.543025851,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4169375,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.465931,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.298719406,"cg_iw_a":-0.81317091,"cg_theta_rad":0.554318905,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0218236726,"mpcc_du":49.9918747,"mpcc_dv":48.7537918,"mpcc_dw":51.2462082,"mpcc_enc_sign":1,"mpcc_id_a":1.76337647,"mpcc_iq_a":0.284931004,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.48024261,"mpcc_pred_id_a":0.668109655,"mpcc_pred_iq_a":-0.793753803,"mpcc_state":1,"mpcc_theta_e":0.439727783,"mpcc_theta_mech":0.554891467,"sam_rpm":-2.3285265,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0107564628,"thr_a_norm":0.0107564628,"thr_a_v":0.543025851,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4169375,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.472462,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-2.47334933,"cg_iw_a":0.781557798,"cg_theta_rad":0.556391835,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.00385741168,"mpcc_du":49.5970116,"mpcc_dv":49.7820663,"mpcc_dw":50.4029884,"mpcc_enc_sign":1,"mpcc_id_a":1.2056036,"mpcc_iq_a":-2.090451,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.426635355,"mpcc_pred_id_a":-0.172454879,"mpcc_pred_iq_a":-4.22559404,"mpcc_state":1,"mpcc_theta_e":0.440410137,"mpcc_theta_mech":0.555027962,"sam_rpm":7.51461267,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274616629,"thr_a_norm":0.0274616629,"thr_a_v":0.609846652,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.482624,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.588670254,"cg_iw_a":-0.523220062,"cg_theta_rad":0.554513752,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0328850448,"mpcc_du":49.1666756,"mpcc_dv":50.8333244,"mpcc_dw":50.0125351,"mpcc_enc_sign":1,"mpcc_id_a":4.81207848,"mpcc_iq_a":0.905783057,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.99176741,"mpcc_pred_id_a":0.333881646,"mpcc_pred_iq_a":-1.5130235,"mpcc_state":1,"mpcc_theta_e":0.424686432,"mpcc_theta_mech":0.551883221,"sam_rpm":6.68996811,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177683681,"thr_a_norm":0.0274616629,"thr_a_v":0.571073472,"thr_b":0.00326618552,"thr_b_norm":0,"thr_b_v":0.513064742,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.492847,"values":{"cg_iu_a":4.30134773,"cg_iv_a":-1.24105906,"cg_iw_a":-3.06028867,"cg_theta_rad":0.556936502,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0639131665,"mpcc_du":50.5526047,"mpcc_dv":48.2548218,"mpcc_dw":51.7451782,"mpcc_enc_sign":1,"mpcc_id_a":2.65707898,"mpcc_iq_a":-0.375118107,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.20572996,"mpcc_pred_id_a":0.172469243,"mpcc_pred_iq_a":-1.91350794,"mpcc_state":1,"mpcc_theta_e":0.442677498,"mpcc_theta_mech":0.555481374,"sam_rpm":-6.42909718,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177683681,"thr_a_norm":0.0177683681,"thr_a_v":0.571073472,"thr_b":0.00326618552,"thr_b_norm":0.00326618552,"thr_b_v":0.513064742,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.50304,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.806133032,"cg_iw_a":-0.740683079,"cg_theta_rad":0.556391776,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0109944483,"mpcc_du":49.760006,"mpcc_dv":49.2741318,"mpcc_dw":50.7258682,"mpcc_enc_sign":1,"mpcc_id_a":1.30180776,"mpcc_iq_a":-1.56342256,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.87239027,"mpcc_pred_id_a":0.0377986915,"mpcc_pred_iq_a":-2.31419063,"mpcc_state":1,"mpcc_theta_e":0.431965828,"mpcc_theta_mech":0.553339064,"sam_rpm":-13.5821218,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022300303,"thr_a_norm":0.022300303,"thr_a_v":0.589201212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.512806,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-2.25588632,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.55333209,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0107046552,"mpcc_du":50.06287,"mpcc_dv":48.7581635,"mpcc_dw":51.2418365,"mpcc_enc_sign":1,"mpcc_id_a":2.03265405,"mpcc_iq_a":-0.8441118,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.09846115,"mpcc_pred_id_a":0.376616299,"mpcc_pred_iq_a":0.400020689,"mpcc_state":1,"mpcc_theta_e":0.433491707,"mpcc_theta_mech":0.55364424,"sam_rpm":-6.15322542,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022300303,"thr_a_norm":0.022300303,"thr_a_v":0.589201212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.523121,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-2.0384233,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.557005644,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0156633463,"mpcc_du":50.2232475,"mpcc_dv":49.0192337,"mpcc_dw":50.9807663,"mpcc_enc_sign":1,"mpcc_id_a":-0.148500279,"mpcc_iq_a":-1.54746389,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.06926632,"mpcc_pred_id_a":-0.553388834,"mpcc_pred_iq_a":-3.95595479,"mpcc_state":1,"mpcc_theta_e":0.444937706,"mpcc_theta_mech":0.555933416,"sam_rpm":0.00970554724,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0443682671,"thr_a_norm":0.0443682671,"thr_a_v":0.677473068,"thr_b":0.0131735057,"thr_b_norm":0.0131735057,"thr_b_v":0.552694023,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.533253,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.298719406,"cg_iw_a":0.274143934,"cg_theta_rad":0.555233181,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.00673605734,"mpcc_du":49.8865814,"mpcc_dv":49.3143921,"mpcc_dw":50.6856079,"mpcc_enc_sign":1,"mpcc_id_a":-0.132204518,"mpcc_iq_a":-1.18320298,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.442931801,"mpcc_pred_id_a":-0.428906381,"mpcc_pred_iq_a":-2.8950882,"mpcc_state":1,"mpcc_theta_e":0.442355633,"mpcc_theta_mech":0.555417001,"sam_rpm":1.92858326,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023030445,"thr_a_norm":0.0443682671,"thr_a_v":0.59212178,"thr_b":0,"thr_b_norm":0.0131735057,"thr_b_v":0.491009355,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.55727,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.806133032,"cg_iw_a":-1.4655602,"cg_theta_rad":0.55276829,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0546958931,"mpcc_du":49.4990387,"mpcc_dv":49.9652328,"mpcc_dw":50.5009613,"mpcc_enc_sign":1,"mpcc_id_a":3.17020512,"mpcc_iq_a":0.00105879549,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.90730047,"mpcc_pred_id_a":0.39777115,"mpcc_pred_iq_a":-4.41163063,"mpcc_state":1,"mpcc_theta_e":0.451842308,"mpcc_theta_mech":0.557314396,"sam_rpm":10.2219906,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023030445,"thr_a_norm":0.023030445,"thr_a_v":0.59212178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491009355,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.563831,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.733645439,"cg_iw_a":-2.04546118,"cg_theta_rad":0.551891506,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.00227878988,"mpcc_du":50.5599289,"mpcc_dv":48.5725899,"mpcc_dw":50.0454521,"mpcc_enc_sign":1,"mpcc_id_a":-0.209323764,"mpcc_iq_a":-2.4313221,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.0926723,"mpcc_pred_id_a":-0.781088889,"mpcc_pred_iq_a":-1.88782775,"mpcc_state":1,"mpcc_theta_e":0.429417133,"mpcc_theta_mech":0.556851923,"sam_rpm":-20.9746113,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260391384,"thr_a_norm":0.0260391384,"thr_a_v":0.604156554,"thr_b":0.00112612545,"thr_b_norm":0.00112612545,"thr_b_v":0.504504502,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.570301,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.38603449,"cg_iw_a":-0.885658741,"cg_theta_rad":0.552601516,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0358609296,"mpcc_du":50.8847389,"mpcc_dv":47.6673851,"mpcc_dw":52.3326149,"mpcc_enc_sign":1,"mpcc_id_a":3.40483379,"mpcc_iq_a":0.252642155,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.3015671,"mpcc_pred_id_a":0.397504091,"mpcc_pred_iq_a":0.619075716,"mpcc_state":1,"mpcc_theta_e":0.425731659,"mpcc_theta_mech":0.552092254,"sam_rpm":-27.1198864,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260391384,"thr_a_norm":0.0260391384,"thr_a_v":0.604156554,"thr_b":0.00112612545,"thr_b_norm":0.00112612545,"thr_b_v":0.504504502,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.576832,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.60349751,"cg_iw_a":0.12916851,"cg_theta_rad":0.556155145,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.00743334508,"mpcc_du":50.5843201,"mpcc_dv":48.5437393,"mpcc_dw":51.4562607,"mpcc_enc_sign":1,"mpcc_id_a":-0.784273863,"mpcc_iq_a":-1.38407016,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.76746011,"mpcc_pred_id_a":-0.700500429,"mpcc_pred_iq_a":-0.828662813,"mpcc_state":1,"mpcc_theta_e":0.43977499,"mpcc_theta_mech":0.554900885,"sam_rpm":-5.06372595,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0316662788,"thr_a_norm":0.0316662788,"thr_a_v":0.626665115,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484312177,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.585835,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.38603449,"cg_iw_a":0.709070206,"cg_theta_rad":0.556198716,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0138660744,"mpcc_du":49.5542221,"mpcc_dv":49.7788849,"mpcc_dw":50.4457779,"mpcc_enc_sign":1,"mpcc_id_a":2.10719419,"mpcc_iq_a":-1.36565828,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.4335379,"mpcc_pred_id_a":0.0760312006,"mpcc_pred_iq_a":-4.31604528,"mpcc_state":1,"mpcc_theta_e":0.442934036,"mpcc_theta_mech":0.555532694,"sam_rpm":0.606338322,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0334412903,"thr_a_norm":0.0316662788,"thr_a_v":0.633765161,"thr_b":0.00152894855,"thr_b_norm":0,"thr_b_v":0.506115794,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.595844,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.443694592,"cg_iw_a":-0.59570837,"cg_theta_rad":0.557080746,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.012854835,"mpcc_du":49.5844078,"mpcc_dv":49.6615753,"mpcc_dw":50.4155922,"mpcc_enc_sign":1,"mpcc_id_a":0.850844741,"mpcc_iq_a":-0.962789774,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.37799168,"mpcc_pred_id_a":-0.166694179,"mpcc_pred_iq_a":-2.66836953,"mpcc_state":1,"mpcc_theta_e":0.448908806,"mpcc_theta_mech":0.556727707,"sam_rpm":13.8226824,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0334412903,"thr_a_norm":0.0334412903,"thr_a_v":0.633765161,"thr_b":0.00152894855,"thr_b_norm":0.00152894855,"thr_b_v":0.506115794,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.606068,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.82096052,"cg_iw_a":-0.305757523,"cg_theta_rad":0.556631863,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0427377112,"mpcc_du":49.523777,"mpcc_dv":49.769783,"mpcc_dw":50.476223,"mpcc_enc_sign":1,"mpcc_id_a":2.95321631,"mpcc_iq_a":-0.435510278,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.88288498,"mpcc_pred_id_a":0.18237634,"mpcc_pred_iq_a":-4.0143466,"mpcc_state":1,"mpcc_theta_e":0.446679592,"mpcc_theta_mech":0.556281865,"sam_rpm":8.30759144,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.028342858,"thr_a_norm":0.028342858,"thr_a_v":0.613371432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499267578,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.615833,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.09608364,"cg_iw_a":-0.595707893,"cg_theta_rad":0.554717064,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0377781354,"mpcc_du":50.0358658,"mpcc_dv":48.8707771,"mpcc_dw":51.1292229,"mpcc_enc_sign":1,"mpcc_id_a":2.22687364,"mpcc_iq_a":-0.775452614,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.12619567,"mpcc_pred_id_a":0.256085843,"mpcc_pred_iq_a":-2.77448678,"mpcc_state":1,"mpcc_theta_e":0.443517208,"mpcc_theta_mech":0.55564934,"sam_rpm":-0.325721622,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.028342858,"thr_a_norm":0.028342858,"thr_a_v":0.613371432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499267578,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.626026,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.24105906,"cg_iw_a":-0.305757284,"cg_theta_rad":0.557135165,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.15664193,"mpcc_du":49.4113045,"mpcc_dv":50.0087051,"mpcc_dw":50.5886955,"mpcc_enc_sign":1,"mpcc_id_a":3.673944,"mpcc_iq_a":1.96506822,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":19.8371506,"mpcc_pred_id_a":0.902693272,"mpcc_pred_iq_a":-2.74063301,"mpcc_state":1,"mpcc_theta_e":0.460881233,"mpcc_theta_mech":0.559122205,"sam_rpm":31.5488949,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273861289,"thr_a_norm":0.0273861289,"thr_a_v":0.609544516,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484060407,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.636433,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-3.19822598,"cg_iw_a":3.2461381,"cg_theta_rad":0.557468176,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0328884274,"mpcc_du":49.5899544,"mpcc_dv":49.9755402,"mpcc_dw":50.4100456,"mpcc_enc_sign":1,"mpcc_id_a":1.44316936,"mpcc_iq_a":-0.738749266,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.91505718,"mpcc_pred_id_a":-0.159866467,"mpcc_pred_iq_a":-1.28199923,"mpcc_state":1,"mpcc_theta_e":0.423976421,"mpcc_theta_mech":0.551766932,"sam_rpm":-11.7388449,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0267944485,"thr_a_norm":0.0273861289,"thr_a_v":0.607177794,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495490968,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.659473,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.16857147,"cg_iw_a":0.274144173,"cg_theta_rad":0.554932415,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0235780794,"mpcc_du":48.6823807,"mpcc_dv":51.3176193,"mpcc_dw":49.2989349,"mpcc_enc_sign":1,"mpcc_id_a":2.88329816,"mpcc_iq_a":-0.574595869,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.2397449,"mpcc_pred_id_a":-0.113644332,"mpcc_pred_iq_a":-8.55986595,"mpcc_state":1,"mpcc_theta_e":0.442553043,"mpcc_theta_mech":0.555456519,"sam_rpm":3.70163798,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0267944485,"thr_a_norm":0.0267944485,"thr_a_v":0.607177794,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495490968,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.666004,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.60349751,"cg_iw_a":-0.16078186,"cg_theta_rad":0.55786854,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.000195660992,"mpcc_du":49.2860794,"mpcc_dv":50.7139206,"mpcc_dw":49.9852371,"mpcc_enc_sign":1,"mpcc_id_a":-0.0983219147,"mpcc_iq_a":-2.26981544,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.30209398,"mpcc_pred_id_a":-0.283420295,"mpcc_pred_iq_a":-5.29515934,"mpcc_state":1,"mpcc_theta_e":0.447925568,"mpcc_theta_mech":0.556531012,"sam_rpm":10.2782612,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200595111,"thr_a_norm":0.0200595111,"thr_a_v":0.580238044,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457875937,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.672504,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.733645439,"cg_iw_a":-2.26292419,"cg_theta_rad":0.55411166,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.00334128202,"mpcc_du":50.6024513,"mpcc_dv":48.378849,"mpcc_dw":51.621151,"mpcc_enc_sign":1,"mpcc_id_a":0.39689675,"mpcc_iq_a":-0.920384169,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.77225351,"mpcc_pred_id_a":-0.515874863,"mpcc_pred_iq_a":0.360234052,"mpcc_state":1,"mpcc_theta_e":0.437489033,"mpcc_theta_mech":0.554443717,"sam_rpm":-6.98477697,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200595111,"thr_a_norm":0.0200595111,"thr_a_v":0.580238044,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457875937,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.679035,"values":{"cg_iu_a":-1.64264083,"cg_iv_a":-0.298719406,"cg_iw_a":-2.40789938,"cg_theta_rad":0.554300904,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0133390939,"mpcc_du":50.1300545,"mpcc_dv":48.7924805,"mpcc_dw":50.4380417,"mpcc_enc_sign":1,"mpcc_id_a":0.989216745,"mpcc_iq_a":0.00408670213,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.36255407,"mpcc_pred_id_a":0.025807444,"mpcc_pred_iq_a":-1.89936078,"mpcc_state":1,"mpcc_theta_e":0.437233448,"mpcc_theta_mech":0.554392576,"sam_rpm":-9.35912418,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185992122,"thr_a_norm":0.0185992122,"thr_a_v":0.574396849,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462307125,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.689228,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.516182423,"cg_iw_a":-2.48038721,"cg_theta_rad":0.555946171,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0761843845,"mpcc_du":49.6694908,"mpcc_dv":49.3535004,"mpcc_dw":50.6464996,"mpcc_enc_sign":1,"mpcc_id_a":1.64642,"mpcc_iq_a":0.184457093,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.69683027,"mpcc_pred_id_a":0.173343197,"mpcc_pred_iq_a":-3.01872706,"mpcc_state":1,"mpcc_theta_e":0.450499058,"mpcc_theta_mech":0.557045758,"sam_rpm":18.9362488,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0118642747,"thr_a_norm":0.0185992122,"thr_a_v":0.547457099,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443122,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.698841,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.153744221,"cg_iw_a":-2.19043636,"cg_theta_rad":0.555334389,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.00328165898,"mpcc_du":49.691658,"mpcc_dv":49.2841263,"mpcc_dw":50.7158737,"mpcc_enc_sign":1,"mpcc_id_a":1.14266002,"mpcc_iq_a":-0.861942768,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.5889945,"mpcc_pred_id_a":0.263742536,"mpcc_pred_iq_a":-0.0431319624,"mpcc_state":1,"mpcc_theta_e":0.443031311,"mpcc_theta_mech":0.555552185,"sam_rpm":8.37018394,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0118642747,"thr_a_norm":0.0118642747,"thr_a_v":0.547457099,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443122,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.709034,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.6759851,"cg_iw_a":1.21648383,"cg_theta_rad":0.556601584,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0653629303,"mpcc_du":49.5827942,"mpcc_dv":49.9315491,"mpcc_dw":50.4172058,"mpcc_enc_sign":1,"mpcc_id_a":1.42481852,"mpcc_iq_a":-0.282840461,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.9020128,"mpcc_pred_id_a":0.00825984683,"mpcc_pred_iq_a":-3.79351974,"mpcc_state":1,"mpcc_theta_e":0.4611516,"mpcc_theta_mech":0.559176207,"sam_rpm":25.2250328,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246543884,"thr_a_norm":0.0246543884,"thr_a_v":0.598617554,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475701541,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.719013,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.02359605,"cg_iw_a":0.926532745,"cg_theta_rad":0.555869281,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0169807691,"mpcc_du":51.0116348,"mpcc_dv":48.0736656,"mpcc_dw":51.9263344,"mpcc_enc_sign":1,"mpcc_id_a":-0.558213115,"mpcc_iq_a":-2.09200048,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.7539377,"mpcc_pred_id_a":-0.763719559,"mpcc_pred_iq_a":-2.22865438,"mpcc_state":1,"mpcc_theta_e":0.440465927,"mpcc_theta_mech":0.555039108,"sam_rpm":-15.1266756,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246543884,"thr_a_norm":0.0246543884,"thr_a_v":0.598617554,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475701541,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.729237,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.226231575,"cg_iw_a":0.12916851,"cg_theta_rad":0.556132257,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.00502382778,"mpcc_du":50.2117958,"mpcc_dv":48.7060509,"mpcc_dw":51.2939491,"mpcc_enc_sign":1,"mpcc_id_a":1.22446084,"mpcc_iq_a":-1.72064018,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.19540882,"mpcc_pred_id_a":0.102256469,"mpcc_pred_iq_a":-2.44503736,"mpcc_state":1,"mpcc_theta_e":0.436192989,"mpcc_theta_mech":0.554184556,"sam_rpm":-12.996912,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0239242315,"thr_a_norm":0.0239242315,"thr_a_v":0.595696926,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488491654,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.739429,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.806133032,"cg_iw_a":0.78155756,"cg_theta_rad":0.556072414,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0261006858,"mpcc_du":50.1710587,"mpcc_dv":48.9479408,"mpcc_dw":51.0520592,"mpcc_enc_sign":1,"mpcc_id_a":0.533464432,"mpcc_iq_a":-0.621679127,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.16479874,"mpcc_pred_id_a":-0.37313053,"mpcc_pred_iq_a":-3.19352317,"mpcc_state":1,"mpcc_theta_e":0.446011066,"mpcc_theta_mech":0.556148112,"sam_rpm":-2.6126833,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0125062913,"thr_a_norm":0.0239242315,"thr_a_v":0.550025165,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446999311,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.762623,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.09608364,"cg_iw_a":0.636582375,"cg_theta_rad":0.556667805,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.00493877335,"mpcc_du":51.1722069,"mpcc_dv":47.8014412,"mpcc_dw":52.1985588,"mpcc_enc_sign":1,"mpcc_id_a":-0.658311367,"mpcc_iq_a":-2.5474329,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.9251728,"mpcc_pred_id_a":-0.75985533,"mpcc_pred_iq_a":0.767047644,"mpcc_state":1,"mpcc_theta_e":0.42843008,"mpcc_theta_mech":0.552631974,"sam_rpm":-25.2554588,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0125062913,"thr_a_norm":0.0125062913,"thr_a_v":0.550025165,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446999311,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.769154,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-2.32837415,"cg_iw_a":1.57892203,"cg_theta_rad":0.55619961,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0410627946,"mpcc_du":50.7299995,"mpcc_dv":47.9587822,"mpcc_dw":52.0412178,"mpcc_enc_sign":1,"mpcc_id_a":2.58839846,"mpcc_iq_a":-0.511286378,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.0140476,"mpcc_pred_id_a":0.392491013,"mpcc_pred_iq_a":-0.733764529,"mpcc_state":1,"mpcc_theta_e":0.436841011,"mpcc_theta_mech":0.558912873,"sam_rpm":-13.5715103,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027411297,"thr_a_norm":0.027411297,"thr_a_v":0.609645188,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.434007794,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.775684,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.82096052,"cg_iw_a":1.36145926,"cg_theta_rad":0.557518423,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0474476404,"mpcc_du":49.5113525,"mpcc_dv":49.9131584,"mpcc_dw":50.4886475,"mpcc_enc_sign":1,"mpcc_id_a":3.15918636,"mpcc_iq_a":0.158629283,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.75013828,"mpcc_pred_id_a":0.417421222,"mpcc_pred_iq_a":-4.03513813,"mpcc_state":1,"mpcc_theta_e":0.447737694,"mpcc_theta_mech":0.556493461,"sam_rpm":7.46541214,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027411297,"thr_a_norm":0.027411297,"thr_a_v":0.609645188,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.434007794,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.782215,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.806133032,"cg_iw_a":-0.378245115,"cg_theta_rad":0.556150436,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0509559475,"mpcc_du":49.4204369,"mpcc_dv":49.697464,"mpcc_dw":50.5795631,"mpcc_enc_sign":1,"mpcc_id_a":3.87943196,"mpcc_iq_a":-1.01913452,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.44962275,"mpcc_pred_id_a":0.860202312,"mpcc_pred_iq_a":-4.94803858,"mpcc_state":1,"mpcc_theta_e":0.446859837,"mpcc_theta_mech":0.556317925,"sam_rpm":1.9528873,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151876807,"thr_a_norm":0.0151876807,"thr_a_v":0.560750723,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443273067,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.790424,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.31354666,"cg_iw_a":0.201656342,"cg_theta_rad":0.555977464,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0336998291,"mpcc_du":49.7308693,"mpcc_dv":49.1953964,"mpcc_dw":50.8046036,"mpcc_enc_sign":1,"mpcc_id_a":2.42156839,"mpcc_iq_a":-1.20963717,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.63707924,"mpcc_pred_id_a":0.31864965,"mpcc_pred_iq_a":-2.98679423,"mpcc_state":1,"mpcc_theta_e":0.449308395,"mpcc_theta_mech":0.556807637,"sam_rpm":8.07540607,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024943918,"thr_a_norm":0.0151876807,"thr_a_v":0.599775672,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48526895,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.802326,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":0.136206627,"cg_iw_a":-0.16078186,"cg_theta_rad":0.557229817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.00860878453,"mpcc_du":50.3627281,"mpcc_dv":48.7621918,"mpcc_dw":51.2378082,"mpcc_enc_sign":1,"mpcc_id_a":-0.0675304234,"mpcc_iq_a":-1.54078019,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.493225366,"mpcc_pred_id_a":-0.476828754,"mpcc_pred_iq_a":-1.73504496,"mpcc_state":1,"mpcc_theta_e":0.44654274,"mpcc_theta_mech":0.556254506,"sam_rpm":-0.728004217,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024943918,"thr_a_norm":0.024943918,"thr_a_v":0.599775672,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48526895,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.812244,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.24105906,"cg_iw_a":0.926532984,"cg_theta_rad":0.55415833,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0242907554,"mpcc_du":49.7922783,"mpcc_dv":49.2263832,"mpcc_dw":50.7736168,"mpcc_enc_sign":1,"mpcc_id_a":1.81779671,"mpcc_iq_a":-1.46553802,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.1537991,"mpcc_pred_id_a":0.141736522,"mpcc_pred_iq_a":-1.49434042,"mpcc_state":1,"mpcc_theta_e":0.445144653,"mpcc_theta_mech":0.555974841,"sam_rpm":-4.68643951,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026479736,"thr_a_norm":0.026479736,"thr_a_v":0.605918944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475046903,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.822529,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.588670254,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556349516,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0217605345,"mpcc_du":49.2998924,"mpcc_dv":50.7001076,"mpcc_dw":50.1443863,"mpcc_enc_sign":1,"mpcc_id_a":0.435804844,"mpcc_iq_a":-0.614602864,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.3240824,"mpcc_pred_id_a":0.29162094,"mpcc_pred_iq_a":-3.95209384,"mpcc_state":1,"mpcc_theta_e":0.433403969,"mpcc_theta_mech":0.553626716,"sam_rpm":17.276701,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196063071,"thr_a_norm":0.026479736,"thr_a_v":0.578425229,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.832417,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.733645439,"cg_iw_a":-0.523220539,"cg_theta_rad":0.556092978,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0322819389,"mpcc_du":49.4864311,"mpcc_dv":49.9573708,"mpcc_dw":50.5135689,"mpcc_enc_sign":1,"mpcc_id_a":3.24133396,"mpcc_iq_a":-0.833170295,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.96484351,"mpcc_pred_id_a":0.557366848,"mpcc_pred_iq_a":-0.883514464,"mpcc_state":1,"mpcc_theta_e":0.441528797,"mpcc_theta_mech":0.555251718,"sam_rpm":8.02983952,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196063071,"thr_a_norm":0.0196063071,"thr_a_v":0.578425229,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.84264,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.40086174,"cg_iw_a":-1.39307261,"cg_theta_rad":0.557768404,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0342593603,"mpcc_du":50.1429825,"mpcc_dv":48.7467804,"mpcc_dw":51.2532196,"mpcc_enc_sign":1,"mpcc_id_a":2.14625907,"mpcc_iq_a":-1.44720972,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.5439201,"mpcc_pred_id_a":0.261901319,"mpcc_pred_iq_a":-2.68598199,"mpcc_state":1,"mpcc_theta_e":0.448826313,"mpcc_theta_mech":0.556711197,"sam_rpm":1.29177237,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245536715,"thr_a_norm":0.0245536715,"thr_a_v":0.598214686,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476910055,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.864704,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.31354666,"cg_iw_a":-2.04546165,"cg_theta_rad":0.556657076,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0109072095,"mpcc_du":49.4415512,"mpcc_dv":50.5584488,"mpcc_dw":50.2560196,"mpcc_enc_sign":1,"mpcc_id_a":1.67678261,"mpcc_iq_a":-0.751147032,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.82589197,"mpcc_pred_id_a":0.0438324958,"mpcc_pred_iq_a":-5.06395054,"mpcc_state":1,"mpcc_theta_e":0.446156025,"mpcc_theta_mech":0.556177139,"sam_rpm":6.62126303,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245536715,"thr_a_norm":0.0245536715,"thr_a_v":0.598214686,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476910055,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.871296,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.806133032,"cg_iw_a":0.129168749,"cg_theta_rad":0.552498639,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.00454975851,"mpcc_du":49.577858,"mpcc_dv":50.422142,"mpcc_dw":50.3213348,"mpcc_enc_sign":1,"mpcc_id_a":0.676800191,"mpcc_iq_a":-0.827690482,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.80272388,"mpcc_pred_id_a":-0.20807004,"mpcc_pred_iq_a":-4.73192883,"mpcc_state":1,"mpcc_theta_e":0.444434643,"mpcc_theta_mech":0.555832803,"sam_rpm":5.13483953,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167990327,"thr_a_norm":0.0167990327,"thr_a_v":0.567196131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.427159548,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.877766,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.09608364,"cg_iw_a":0.491606712,"cg_theta_rad":0.555946171,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.00562056387,"mpcc_du":49.7829514,"mpcc_dv":49.2858238,"mpcc_dw":50.7141762,"mpcc_enc_sign":1,"mpcc_id_a":-0.0646724254,"mpcc_iq_a":-2.05009151,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.86987877,"mpcc_pred_id_a":-0.347801208,"mpcc_pred_iq_a":-2.10605145,"mpcc_state":1,"mpcc_theta_e":0.443848133,"mpcc_theta_mech":0.557746708,"sam_rpm":2.87435293,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167990327,"thr_a_norm":0.0167990327,"thr_a_v":0.567196131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.427159548,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.884296,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.516182423,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.556243241,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0108330641,"mpcc_du":50.3395348,"mpcc_dv":48.5559464,"mpcc_dw":51.4440536,"mpcc_enc_sign":1,"mpcc_id_a":1.94973755,"mpcc_iq_a":-0.850623012,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.80747414,"mpcc_pred_id_a":0.0667584091,"mpcc_pred_iq_a":-1.25582004,"mpcc_state":1,"mpcc_theta_e":0.43296814,"mpcc_theta_mech":0.553539515,"sam_rpm":-14.8328667,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273987204,"thr_a_norm":0.0273987204,"thr_a_v":0.609594882,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495793074,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.895832,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.98076296,"cg_iw_a":1.86887264,"cg_theta_rad":0.556751072,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0220486764,"mpcc_du":49.6981735,"mpcc_dv":49.3427811,"mpcc_dw":50.6572189,"mpcc_enc_sign":1,"mpcc_id_a":0.995321453,"mpcc_iq_a":-0.497054517,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.53819776,"mpcc_pred_id_a":0.0434842631,"mpcc_pred_iq_a":0.755346358,"mpcc_state":1,"mpcc_theta_e":0.429188251,"mpcc_theta_mech":0.552783608,"sam_rpm":-6.9377284,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294758528,"thr_a_norm":0.0294758528,"thr_a_v":0.617903411,"thr_b":0.00491531193,"thr_b_norm":0.00491531193,"thr_b_v":0.519661248,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.905842,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.6759851,"cg_iw_a":-0.740683317,"cg_theta_rad":0.554027677,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0222719982,"mpcc_du":49.5481224,"mpcc_dv":50.4518776,"mpcc_dw":50.3531914,"mpcc_enc_sign":1,"mpcc_id_a":-0.206913993,"mpcc_iq_a":-0.00744584203,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.86388874,"mpcc_pred_id_a":-0.0913839862,"mpcc_pred_iq_a":-4.02279234,"mpcc_state":1,"mpcc_theta_e":0.444641113,"mpcc_theta_mech":0.555874169,"sam_rpm":12.3269501,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294758528,"thr_a_norm":0.0294758528,"thr_a_v":0.617903411,"thr_b":0.00491531193,"thr_b_norm":0.00491531193,"thr_b_v":0.519661248,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.916004,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.516182423,"cg_iw_a":0.926532745,"cg_theta_rad":0.5567379,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.00344831636,"mpcc_du":49.5594673,"mpcc_dv":50.4405327,"mpcc_dw":50.3068504,"mpcc_enc_sign":1,"mpcc_id_a":0.149580464,"mpcc_iq_a":-1.08778286,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.80192614,"mpcc_pred_id_a":-0.325302392,"mpcc_pred_iq_a":-4.04788208,"mpcc_state":1,"mpcc_theta_e":0.446329594,"mpcc_theta_mech":0.555634081,"sam_rpm":12.0244865,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219352245,"thr_a_norm":0.0219352245,"thr_a_v":0.587740898,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471975237,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.926014,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.38603449,"cg_iw_a":0.419119358,"cg_theta_rad":0.555343091,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0119664185,"mpcc_du":49.459198,"mpcc_dv":50.540802,"mpcc_dw":50.3074226,"mpcc_enc_sign":1,"mpcc_id_a":0.0713191405,"mpcc_iq_a":-2.47651601,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.253206253,"mpcc_pred_id_a":0.00261592539,"mpcc_pred_iq_a":-3.48939395,"mpcc_state":1,"mpcc_theta_e":0.436617851,"mpcc_theta_mech":0.554269493,"sam_rpm":4.7283287,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024314478,"thr_a_norm":0.0219352245,"thr_a_v":0.597257912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.935993,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.443694592,"cg_iw_a":-0.015806675,"cg_theta_rad":0.557145357,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0395951457,"mpcc_du":50.5099983,"mpcc_dv":48.5441132,"mpcc_dw":51.4558868,"mpcc_enc_sign":1,"mpcc_id_a":-0.493406743,"mpcc_iq_a":-0.919259667,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.70520115,"mpcc_pred_id_a":-0.55979526,"mpcc_pred_iq_a":-1.43157423,"mpcc_state":1,"mpcc_theta_e":0.446669102,"mpcc_theta_mech":0.556279778,"sam_rpm":4.76342916,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024314478,"thr_a_norm":0.024314478,"thr_a_v":0.597257912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.946186,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.661157608,"cg_iw_a":-0.160782099,"cg_theta_rad":0.556593716,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10009,"hz_vsense":362,"mpcc_cost":0.0112301186,"mpcc_du":48.7875481,"mpcc_dv":51.2124519,"mpcc_dw":49.4264717,"mpcc_enc_sign":1,"mpcc_id_a":1.132725,"mpcc_iq_a":-0.203602865,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.2405071,"mpcc_pred_id_a":-0.158013046,"mpcc_pred_iq_a":-2.84100652,"mpcc_state":1,"mpcc_theta_e":0.438881397,"mpcc_theta_mech":0.55472219,"sam_rpm":15.5423374,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0298157483,"thr_a_norm":0.0298157483,"thr_a_v":0.619262993,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458429813,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.969685,"values":{"cg_iu_a":1.11189032,"cg_iv_a":0.0637187958,"cg_iw_a":-1.90048599,"cg_theta_rad":0.553774893,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.08398,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00258230651,"mpcc_du":50.013401,"mpcc_dv":49.1740875,"mpcc_dw":50.8259125,"mpcc_enc_sign":1,"mpcc_id_a":-0.27646777,"mpcc_iq_a":-1.4856075,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.15392554,"mpcc_pred_id_a":-0.631617606,"mpcc_pred_iq_a":-2.57160115,"mpcc_state":1,"mpcc_theta_e":0.442990303,"mpcc_theta_mech":0.555543959,"sam_rpm":-1.40595615,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0298157483,"thr_a_norm":0.0298157483,"thr_a_v":0.619262993,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458429813,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.976154,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.733645439,"cg_iw_a":0.201656342,"cg_theta_rad":0.558616221,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0553558618,"mpcc_du":49.568943,"mpcc_dv":49.2481575,"mpcc_dw":50.7518425,"mpcc_enc_sign":1,"mpcc_id_a":3.91619325,"mpcc_iq_a":-0.4542391,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.49947929,"mpcc_pred_id_a":0.700027049,"mpcc_pred_iq_a":-1.69023609,"mpcc_state":1,"mpcc_theta_e":0.451892853,"mpcc_theta_mech":0.557324529,"sam_rpm":12.8765554,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00981231034,"thr_a_norm":0.00981231034,"thr_a_v":0.539249241,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.436626196,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.982746,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.53100967,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556313992,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0258460268,"mpcc_du":50.2546616,"mpcc_dv":48.4470978,"mpcc_dw":51.5529022,"mpcc_enc_sign":1,"mpcc_id_a":2.30814695,"mpcc_iq_a":-0.775218248,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.2015841,"mpcc_pred_id_a":0.640288532,"mpcc_pred_iq_a":0.541741014,"mpcc_state":1,"mpcc_theta_e":0.446315289,"mpcc_theta_mech":0.556208968,"sam_rpm":4.95747614,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00981231034,"thr_a_norm":0.00981231034,"thr_a_v":0.539249241,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.436626196,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.989185,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.38603449,"cg_iw_a":-1.68302298,"cg_theta_rad":0.553626776,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0329163969,"mpcc_du":49.9898415,"mpcc_dv":48.8079109,"mpcc_dw":51.1920891,"mpcc_enc_sign":1,"mpcc_id_a":3.0629878,"mpcc_iq_a":0.314391583,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.966290593,"mpcc_pred_id_a":0.486662209,"mpcc_pred_iq_a":-0.0564083382,"mpcc_state":1,"mpcc_theta_e":0.442010403,"mpcc_theta_mech":0.557399035,"sam_rpm":1.46475649,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219226331,"thr_a_norm":0.0219226331,"thr_a_v":0.587690532,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480032027,"vdc_v":55.2955055}} +{"type":"telemetry","t":49.999409,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.951108456,"cg_iw_a":-1.97297382,"cg_theta_rad":0.555990696,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.028584104,"mpcc_du":50.4894257,"mpcc_dv":48.3503265,"mpcc_dw":51.6496735,"mpcc_enc_sign":1,"mpcc_id_a":0.729024768,"mpcc_iq_a":-0.381491899,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.0045967,"mpcc_pred_id_a":-0.00498518301,"mpcc_pred_iq_a":-2.98523545,"mpcc_state":1,"mpcc_theta_e":0.436165333,"mpcc_theta_mech":0.554179013,"sam_rpm":-16.6755409,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188635886,"thr_a_norm":0.0219226331,"thr_a_v":0.575454354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456063181,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.011005,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-3.48817682,"cg_iw_a":0.346631527,"cg_theta_rad":0.552606463,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.000330967247,"mpcc_du":49.4555321,"mpcc_dv":50.5444679,"mpcc_dw":50.1604576,"mpcc_enc_sign":1,"mpcc_id_a":0.288361818,"mpcc_iq_a":-1.95036185,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.9131632,"mpcc_pred_id_a":-0.279293329,"mpcc_pred_iq_a":-3.73851776,"mpcc_state":1,"mpcc_theta_e":0.452390671,"mpcc_theta_mech":0.557424068,"sam_rpm":17.2808762,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188635886,"thr_a_norm":0.0188635886,"thr_a_v":0.575454354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456063181,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.021198,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.443694592,"cg_iw_a":-1.90048599,"cg_theta_rad":0.557388902,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0762008727,"mpcc_du":49.8798828,"mpcc_dv":48.9453011,"mpcc_dw":51.0546989,"mpcc_enc_sign":1,"mpcc_id_a":2.70989728,"mpcc_iq_a":-0.617614746,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.29515839,"mpcc_pred_id_a":0.499205768,"mpcc_pred_iq_a":-3.11002278,"mpcc_state":1,"mpcc_theta_e":0.453413486,"mpcc_theta_mech":0.557628572,"sam_rpm":11.1204004,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183978081,"thr_a_norm":0.0183978081,"thr_a_v":0.573591232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472730607,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.031635,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.516182423,"cg_iw_a":-2.26292419,"cg_theta_rad":0.553427458,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0547368824,"mpcc_du":50.4909477,"mpcc_dv":48.5133705,"mpcc_dw":51.4866295,"mpcc_enc_sign":1,"mpcc_id_a":0.845511198,"mpcc_iq_a":-0.304653406,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.98105097,"mpcc_pred_id_a":-0.353037477,"mpcc_pred_iq_a":-2.61825013,"mpcc_state":1,"mpcc_theta_e":0.443648338,"mpcc_theta_mech":0.555675626,"sam_rpm":-2.90117002,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0111970603,"thr_a_norm":0.0183978081,"thr_a_v":0.544788241,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.433453888,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.041706,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.38603449,"cg_iw_a":-0.958146095,"cg_theta_rad":0.55361551,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0100845359,"mpcc_du":50.5457764,"mpcc_dv":48.2535591,"mpcc_dw":51.7464409,"mpcc_enc_sign":1,"mpcc_id_a":1.99629235,"mpcc_iq_a":-0.397249609,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.618391,"mpcc_pred_id_a":0.0377019085,"mpcc_pred_iq_a":0.632307529,"mpcc_state":1,"mpcc_theta_e":0.426623821,"mpcc_theta_mech":0.55227071,"sam_rpm":-17.7377682,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0111970603,"thr_a_norm":0.0111970603,"thr_a_v":0.544788241,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.433453888,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.065022,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.298719406,"cg_iw_a":-1.61053514,"cg_theta_rad":0.555756032,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0717459321,"mpcc_du":49.5410843,"mpcc_dv":49.2105675,"mpcc_dw":50.7894325,"mpcc_enc_sign":1,"mpcc_id_a":3.77603149,"mpcc_iq_a":-0.236191973,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.52667189,"mpcc_pred_id_a":0.844491243,"mpcc_pred_iq_a":-3.42824626,"mpcc_state":1,"mpcc_theta_e":0.449207783,"mpcc_theta_mech":0.556787431,"sam_rpm":7.21022797,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024314478,"thr_a_norm":0.024314478,"thr_a_v":0.597257912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473737687,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.071552,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.38603449,"cg_iw_a":0.346631527,"cg_theta_rad":0.556542158,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0293903425,"mpcc_du":49.9594078,"mpcc_dv":49.0222244,"mpcc_dw":50.9777756,"mpcc_enc_sign":1,"mpcc_id_a":3.06247735,"mpcc_iq_a":-0.197123423,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.84891438,"mpcc_pred_id_a":0.0274174511,"mpcc_pred_iq_a":-0.706662834,"mpcc_state":1,"mpcc_theta_e":0.44278717,"mpcc_theta_mech":0.555503368,"sam_rpm":2.5014782,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024314478,"thr_a_norm":0.024314478,"thr_a_v":0.597257912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473737687,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.078083,"values":{"cg_iu_a":2.85159445,"cg_iv_a":0.426157475,"cg_iw_a":-3.27775192,"cg_theta_rad":0.551756561,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0293802898,"mpcc_du":49.2582741,"mpcc_dv":50.7417259,"mpcc_dw":50.0530663,"mpcc_enc_sign":1,"mpcc_id_a":2.25758672,"mpcc_iq_a":0.965043843,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.21249104,"mpcc_pred_id_a":0.0660460442,"mpcc_pred_iq_a":-4.95887232,"mpcc_state":1,"mpcc_theta_e":0.446630478,"mpcc_theta_mech":0.55627197,"sam_rpm":9.89504814,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259887725,"thr_a_norm":0.0259887725,"thr_a_v":0.60395509,"thr_b":0.00242275,"thr_b_norm":0.00242275,"thr_b_v":0.509691,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.084797,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-1.96593571,"cg_iw_a":-1.03063393,"cg_theta_rad":0.555978537,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0317340344,"mpcc_du":50.6396027,"mpcc_dv":47.7942696,"mpcc_dw":52.2057304,"mpcc_enc_sign":1,"mpcc_id_a":3.18922949,"mpcc_iq_a":0.307144076,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.4291782,"mpcc_pred_id_a":0.766971052,"mpcc_pred_iq_a":-0.411062658,"mpcc_state":1,"mpcc_theta_e":0.424851418,"mpcc_theta_mech":0.551916182,"sam_rpm":-30.241581,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288841873,"thr_a_norm":0.0288841873,"thr_a_v":0.615536749,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494332761,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.094593,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.32837415,"cg_iw_a":-0.305757284,"cg_theta_rad":0.557379127,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0265048947,"mpcc_du":50.1918068,"mpcc_dv":48.7358704,"mpcc_dw":51.2641296,"mpcc_enc_sign":1,"mpcc_id_a":2.63279653,"mpcc_iq_a":-0.108939558,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.47690868,"mpcc_pred_id_a":0.0369571559,"mpcc_pred_iq_a":-0.999959409,"mpcc_state":1,"mpcc_theta_e":0.451344967,"mpcc_theta_mech":0.557214916,"sam_rpm":4.82835817,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288841873,"thr_a_norm":0.0288841873,"thr_a_v":0.615536749,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494332761,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.104786,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.661157608,"cg_iw_a":-2.11794901,"cg_theta_rad":0.558449924,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0759137422,"mpcc_du":50.0582085,"mpcc_dv":48.8656845,"mpcc_dw":51.1343155,"mpcc_enc_sign":1,"mpcc_id_a":2.87810516,"mpcc_iq_a":-0.600067139,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.9759016,"mpcc_pred_id_a":0.193567678,"mpcc_pred_iq_a":-3.24967074,"mpcc_state":1,"mpcc_theta_e":0.451395035,"mpcc_theta_mech":0.557224929,"sam_rpm":5.94812155,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195307732,"thr_a_norm":0.0195307732,"thr_a_v":0.578123093,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466536969,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.115009,"values":{"cg_iu_a":4.51881123,"cg_iv_a":-1.02359605,"cg_iw_a":-3.49521518,"cg_theta_rad":0.55563432,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0327014998,"mpcc_du":50.8351822,"mpcc_dv":47.984539,"mpcc_dw":52.015461,"mpcc_enc_sign":1,"mpcc_id_a":1.3835969,"mpcc_iq_a":-0.692624152,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.1866417,"mpcc_pred_id_a":-0.0421784371,"mpcc_pred_iq_a":-1.44750929,"mpcc_state":1,"mpcc_theta_e":0.439700603,"mpcc_theta_mech":0.554886043,"sam_rpm":-14.8323145,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0405916721,"thr_a_norm":0.0195307732,"thr_a_v":0.662366688,"thr_b":0.00968642533,"thr_b_norm":0,"thr_b_v":0.538745701,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.124622,"values":{"cg_iu_a":1.69179153,"cg_iv_a":1.07854605,"cg_iw_a":-2.77033758,"cg_theta_rad":0.555824578,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0103562037,"mpcc_du":49.5725098,"mpcc_dv":50.4274902,"mpcc_dw":50.3311577,"mpcc_enc_sign":1,"mpcc_id_a":0.443506926,"mpcc_iq_a":-1.49910605,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.50039864,"mpcc_pred_id_a":-0.180062175,"mpcc_pred_iq_a":-2.24410009,"mpcc_state":1,"mpcc_theta_e":0.439666748,"mpcc_theta_mech":0.554879308,"sam_rpm":4.54685163,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0405916721,"thr_a_norm":0.0405916721,"thr_a_v":0.662366688,"thr_b":0.00968642533,"thr_b_norm":0.00968642533,"thr_b_v":0.538745701,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.134815,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.153744221,"cg_iw_a":-0.450732708,"cg_theta_rad":0.554144442,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":5.23557064e-05,"mpcc_du":50.0682869,"mpcc_dv":49.0134392,"mpcc_dw":50.9865608,"mpcc_enc_sign":1,"mpcc_id_a":-0.103146985,"mpcc_iq_a":-1.98165846,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.75357199,"mpcc_pred_id_a":-0.393816233,"mpcc_pred_iq_a":-3.24856043,"mpcc_state":1,"mpcc_theta_e":0.439296722,"mpcc_theta_mech":0.554805219,"sam_rpm":-12.1594591,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226905346,"thr_a_norm":0.0226905346,"thr_a_v":0.590762138,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481139839,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.144794,"values":{"cg_iu_a":-0.410350561,"cg_iv_a":-0.0812563896,"cg_iw_a":0.491606951,"cg_theta_rad":0.554341078,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.071996361,"mpcc_du":49.9987679,"mpcc_dv":48.8064194,"mpcc_dw":51.1935806,"mpcc_enc_sign":1,"mpcc_id_a":2.94720697,"mpcc_iq_a":0.728670478,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.725900054,"mpcc_pred_id_a":0.404066175,"mpcc_pred_iq_a":-2.6410706,"mpcc_state":1,"mpcc_theta_e":0.446212769,"mpcc_theta_mech":0.556188464,"sam_rpm":-0.869451463,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226905346,"thr_a_norm":0.0226905346,"thr_a_v":0.590762138,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481139839,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.168324,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.371207237,"cg_iw_a":-1.3205843,"cg_theta_rad":0.557090402,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00876117684,"mpcc_du":49.3756447,"mpcc_dv":50.6243553,"mpcc_dw":50.1718712,"mpcc_enc_sign":1,"mpcc_id_a":1.66881096,"mpcc_iq_a":-1.10717273,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.01458216,"mpcc_pred_id_a":-0.0270036887,"mpcc_pred_iq_a":-3.24206209,"mpcc_state":1,"mpcc_theta_e":0.441015244,"mpcc_theta_mech":0.555148959,"sam_rpm":8.16590977,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202986896,"thr_a_norm":0.0202986896,"thr_a_v":0.581194758,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480938405,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.174885,"values":{"cg_iu_a":-0.482838154,"cg_iv_a":-1.74847269,"cg_iw_a":0.0566806793,"cg_theta_rad":0.556013525,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0165496152,"mpcc_du":49.8887863,"mpcc_dv":49.4947548,"mpcc_dw":50.5052452,"mpcc_enc_sign":1,"mpcc_id_a":-2.09296274,"mpcc_iq_a":-1.40597951,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.73352742,"mpcc_pred_id_a":-0.922927916,"mpcc_pred_iq_a":-3.3244431,"mpcc_state":1,"mpcc_theta_e":0.44671011,"mpcc_theta_mech":0.555749595,"sam_rpm":4.38024759,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0202986896,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479629219,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.181385,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.96593571,"cg_iw_a":0.926532745,"cg_theta_rad":0.555743039,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.025271643,"mpcc_du":50.18993,"mpcc_dv":48.6188965,"mpcc_dw":51.3811035,"mpcc_enc_sign":1,"mpcc_id_a":2.8846941,"mpcc_iq_a":-0.567546546,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.82965326,"mpcc_pred_id_a":0.430771947,"mpcc_pred_iq_a":-0.124561213,"mpcc_state":1,"mpcc_theta_e":0.440108776,"mpcc_theta_mech":0.554967701,"sam_rpm":-3.08715487,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479629219,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.188221,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.588670254,"cg_iw_a":-0.160782099,"cg_theta_rad":0.556768239,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0221550334,"mpcc_du":49.6995392,"mpcc_dv":49.4378242,"mpcc_dw":50.5621758,"mpcc_enc_sign":1,"mpcc_id_a":0.584482908,"mpcc_iq_a":-1.49542975,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.0791283,"mpcc_pred_id_a":-0.132212743,"mpcc_pred_iq_a":-3.17022824,"mpcc_state":1,"mpcc_theta_e":0.45700407,"mpcc_theta_mech":0.558346748,"sam_rpm":15.9251556,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277260244,"thr_a_norm":0.0277260244,"thr_a_v":0.610904098,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497907996,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.20052,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.45852208,"cg_iw_a":0.709069967,"cg_theta_rad":0.553672135,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0902657434,"mpcc_du":50.98843,"mpcc_dv":47.4829178,"mpcc_dw":52.5170822,"mpcc_enc_sign":1,"mpcc_id_a":4.11040926,"mpcc_iq_a":-0.694175601,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.28038263,"mpcc_pred_id_a":0.765499473,"mpcc_pred_iq_a":0.417651296,"mpcc_state":1,"mpcc_theta_e":0.442817211,"mpcc_theta_mech":0.555509329,"sam_rpm":-7.83196211,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176047087,"thr_a_norm":0.0277260244,"thr_a_v":0.570418835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.434108496,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.210163,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-2.11091113,"cg_iw_a":1.72389722,"cg_theta_rad":0.557578862,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0768962651,"mpcc_du":50.1098137,"mpcc_dv":48.920002,"mpcc_dw":51.079998,"mpcc_enc_sign":1,"mpcc_id_a":1.83487892,"mpcc_iq_a":-0.0857694298,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.10735297,"mpcc_pred_id_a":-0.170639217,"mpcc_pred_iq_a":-4.73634577,"mpcc_state":1,"mpcc_theta_e":0.446834564,"mpcc_theta_mech":0.556312799,"sam_rpm":-2.88166785,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176047087,"thr_a_norm":0.0176047087,"thr_a_v":0.570418835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.434108496,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.220387,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.09608364,"cg_iw_a":0.201656342,"cg_theta_rad":0.556648135,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0785589591,"mpcc_du":49.491993,"mpcc_dv":49.6720734,"mpcc_dw":50.508007,"mpcc_enc_sign":1,"mpcc_id_a":3.02288651,"mpcc_iq_a":-0.311361492,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.3757181,"mpcc_pred_id_a":0.3538059,"mpcc_pred_iq_a":-3.98447108,"mpcc_state":1,"mpcc_theta_e":0.455551147,"mpcc_theta_mech":0.558056176,"sam_rpm":18.6591778,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283680409,"thr_a_norm":0.0283680409,"thr_a_v":0.613472164,"thr_b":0.00281299651,"thr_b_norm":0.00281299651,"thr_b_v":0.511251986,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.230366,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.661157608,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.552430391,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0921747237,"mpcc_du":50.6065521,"mpcc_dv":48.082653,"mpcc_dw":51.917347,"mpcc_enc_sign":1,"mpcc_id_a":2.10189891,"mpcc_iq_a":0.80743736,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.24418414,"mpcc_pred_id_a":0.40602693,"mpcc_pred_iq_a":0.113095284,"mpcc_state":1,"mpcc_theta_e":0.446720123,"mpcc_theta_mech":0.556289911,"sam_rpm":3.87390709,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283680409,"thr_a_norm":0.0283680409,"thr_a_v":0.613472164,"thr_b":0.00281299651,"thr_b_norm":0.00281299651,"thr_b_v":0.511251986,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.240559,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.38603449,"cg_iw_a":-0.885658503,"cg_theta_rad":0.557668447,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0214382242,"mpcc_du":50.5291443,"mpcc_dv":48.2679825,"mpcc_dw":51.7320175,"mpcc_enc_sign":1,"mpcc_id_a":1.95675123,"mpcc_iq_a":-0.493330806,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.5204659,"mpcc_pred_id_a":0.125161067,"mpcc_pred_iq_a":-1.40837836,"mpcc_state":1,"mpcc_theta_e":0.43677187,"mpcc_theta_mech":0.554300249,"sam_rpm":-15.953249,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266559869,"thr_a_norm":0.0266559869,"thr_a_v":0.606623948,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491664022,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.250782,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.02359605,"cg_iw_a":-0.305757284,"cg_theta_rad":0.556975782,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0189724267,"mpcc_du":49.7387428,"mpcc_dv":49.1852951,"mpcc_dw":50.8147049,"mpcc_enc_sign":1,"mpcc_id_a":2.13050318,"mpcc_iq_a":-1.14717126,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.55488753,"mpcc_pred_id_a":0.216431677,"mpcc_pred_iq_a":-3.52978015,"mpcc_state":1,"mpcc_theta_e":0.443704128,"mpcc_theta_mech":0.555190563,"sam_rpm":-2.89280057,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263790339,"thr_a_norm":0.0266559869,"thr_a_v":0.605516136,"thr_b":0.00108835101,"thr_b_norm":0,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.273853,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.53100967,"cg_iw_a":-0.523220539,"cg_theta_rad":0.552447259,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0329151899,"mpcc_du":48.7028923,"mpcc_dv":51.2971077,"mpcc_dw":52.3457718,"mpcc_enc_sign":1,"mpcc_id_a":3.21202517,"mpcc_iq_a":-0.575991988,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.8691034,"mpcc_pred_id_a":0.519747615,"mpcc_pred_iq_a":-7.02509356,"mpcc_state":1,"mpcc_theta_e":0.451419353,"mpcc_theta_mech":0.557229817,"sam_rpm":15.87082,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263790339,"thr_a_norm":0.0263790339,"thr_a_v":0.605516136,"thr_b":0.00108835101,"thr_b_norm":0.00108835101,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.280323,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.6759851,"cg_iw_a":1.43394685,"cg_theta_rad":0.555983722,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.000396543968,"mpcc_du":50.7767944,"mpcc_dv":48.2141075,"mpcc_dw":51.7858925,"mpcc_enc_sign":1,"mpcc_id_a":0.0489509143,"mpcc_iq_a":-1.67838681,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.4819918,"mpcc_pred_id_a":-0.655130088,"mpcc_pred_iq_a":-0.544915676,"mpcc_state":1,"mpcc_theta_e":0.433515549,"mpcc_theta_mech":0.553649008,"sam_rpm":-16.9539566,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.023231864,"thr_a_v":0.592927456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498512268,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.286854,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.806133032,"cg_iw_a":-3.13277674,"cg_theta_rad":0.55895412,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0109902909,"mpcc_du":49.6137314,"mpcc_dv":49.8004913,"mpcc_dw":50.3862686,"mpcc_enc_sign":1,"mpcc_id_a":0.23849301,"mpcc_iq_a":-0.061738912,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.59142208,"mpcc_pred_id_a":-0.405473113,"mpcc_pred_iq_a":-4.54118633,"mpcc_state":1,"mpcc_theta_e":0.440780163,"mpcc_theta_mech":0.555101931,"sam_rpm":-2.27646136,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.023231864,"thr_a_v":0.592927456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498512268,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.293385,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.96593571,"cg_iw_a":-0.885658741,"cg_theta_rad":0.55164367,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0321604609,"mpcc_du":50.1433372,"mpcc_dv":48.6853523,"mpcc_dw":51.3146477,"mpcc_enc_sign":1,"mpcc_id_a":2.73991203,"mpcc_iq_a":0.164034873,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.6670923,"mpcc_pred_id_a":0.228804082,"mpcc_pred_iq_a":-2.61392021,"mpcc_state":1,"mpcc_theta_e":0.434193611,"mpcc_theta_mech":0.553784609,"sam_rpm":-15.9413767,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0144323558,"thr_a_norm":0.0144323558,"thr_a_v":0.557729423,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.436676592,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.303791,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.661157608,"cg_iw_a":-0.740683556,"cg_theta_rad":0.557463884,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0590766855,"mpcc_du":48.6078911,"mpcc_dv":51.3921089,"mpcc_dw":49.4114037,"mpcc_enc_sign":1,"mpcc_id_a":3.03079343,"mpcc_iq_a":0.187423453,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":21.6140747,"mpcc_pred_id_a":0.323264927,"mpcc_pred_iq_a":-6.19280386,"mpcc_state":1,"mpcc_theta_e":0.458950043,"mpcc_theta_mech":0.554141819,"sam_rpm":33.2699471,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024163425,"thr_a_norm":0.0144323558,"thr_a_v":0.5966537,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472327769,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.313587,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.878620625,"cg_iw_a":-2.62536287,"cg_theta_rad":0.554214597,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0330959335,"mpcc_du":49.7328835,"mpcc_dv":49.2062569,"mpcc_dw":50.7937431,"mpcc_enc_sign":1,"mpcc_id_a":2.15152335,"mpcc_iq_a":-1.59929502,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.07357931,"mpcc_pred_id_a":0.17784448,"mpcc_pred_iq_a":-3.10966206,"mpcc_state":1,"mpcc_theta_e":0.452314854,"mpcc_theta_mech":0.557408929,"sam_rpm":11.8279676,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024163425,"thr_a_norm":0.024163425,"thr_a_v":0.5966537,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472327769,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.323627,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.38603449,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556037724,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0653454959,"mpcc_du":50.4207115,"mpcc_dv":48.273365,"mpcc_dw":51.726635,"mpcc_enc_sign":1,"mpcc_id_a":2.18108368,"mpcc_iq_a":0.315386027,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.55285335,"mpcc_pred_id_a":0.385026038,"mpcc_pred_iq_a":-1.30959177,"mpcc_state":1,"mpcc_theta_e":0.441839218,"mpcc_theta_mech":0.555313766,"sam_rpm":-3.25492716,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200721025,"thr_a_norm":0.0200721025,"thr_a_v":0.58028841,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449114203,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.336018,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.806133032,"cg_iw_a":0.346631765,"cg_theta_rad":0.553849161,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0435468033,"mpcc_du":50.4417496,"mpcc_dv":48.3259659,"mpcc_dw":51.6740341,"mpcc_enc_sign":1,"mpcc_id_a":2.60552096,"mpcc_iq_a":-0.825830638,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.51787305,"mpcc_pred_id_a":0.231426522,"mpcc_pred_iq_a":-1.59105992,"mpcc_state":1,"mpcc_theta_e":0.446683407,"mpcc_theta_mech":0.55628264,"sam_rpm":-4.58067942,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277637988,"thr_a_norm":0.0200721025,"thr_a_v":0.611055195,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497051924,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.345966,"values":{"cg_iu_a":1.98174238,"cg_iv_a":0.0637187958,"cg_iw_a":-2.04546118,"cg_theta_rad":0.556627572,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0230879225,"mpcc_du":50.2697105,"mpcc_dv":48.6585426,"mpcc_dw":51.3414574,"mpcc_enc_sign":1,"mpcc_id_a":0.65613085,"mpcc_iq_a":-0.535892487,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.16107225,"mpcc_pred_id_a":-0.0699007064,"mpcc_pred_iq_a":-2.13816762,"mpcc_state":1,"mpcc_theta_e":0.440227509,"mpcc_theta_mech":0.554991424,"sam_rpm":-4.89259768,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277637988,"thr_a_norm":0.0277637988,"thr_a_v":0.611055195,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497051924,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.35619,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.153744221,"cg_iw_a":-0.233269691,"cg_theta_rad":0.551796436,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0080923168,"mpcc_du":50.3815689,"mpcc_dv":48.5462112,"mpcc_dw":51.4537888,"mpcc_enc_sign":1,"mpcc_id_a":0.625928283,"mpcc_iq_a":-1.11801112,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.004427,"mpcc_pred_id_a":-0.186773419,"mpcc_pred_iq_a":-2.5033145,"mpcc_state":1,"mpcc_theta_e":0.435834885,"mpcc_theta_mech":0.554112852,"sam_rpm":-14.6569529,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.023231864,"thr_a_v":0.592927456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497907996,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.3792,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-2.18339872,"cg_iw_a":1.43394661,"cg_theta_rad":0.556072414,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0538308769,"mpcc_du":51.3480301,"mpcc_dv":46.8684807,"mpcc_dw":53.1315193,"mpcc_enc_sign":1,"mpcc_id_a":4.24507761,"mpcc_iq_a":-0.190820038,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.4407759,"mpcc_pred_id_a":0.899519861,"mpcc_pred_iq_a":3.55164003,"mpcc_state":1,"mpcc_theta_e":0.429541111,"mpcc_theta_mech":0.552854121,"sam_rpm":-23.2632275,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.023231864,"thr_a_v":0.592927456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497907996,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.385517,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.24105906,"cg_iw_a":-0.668195486,"cg_theta_rad":0.558426023,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0176314153,"mpcc_du":49.332058,"mpcc_dv":49.9387817,"mpcc_dw":50.4504433,"mpcc_enc_sign":1,"mpcc_id_a":1.40967643,"mpcc_iq_a":0.534823716,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.11859512,"mpcc_pred_id_a":-0.0632851794,"mpcc_pred_iq_a":-4.90474939,"mpcc_state":1,"mpcc_theta_e":0.447536469,"mpcc_theta_mech":0.552040458,"sam_rpm":9.65293026,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208400041,"thr_a_norm":0.0208400041,"thr_a_v":0.583360016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453545451,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.392048,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.96593571,"cg_iw_a":0.636582375,"cg_theta_rad":0.55789721,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.000635003496,"mpcc_du":49.0792427,"mpcc_dv":50.9207573,"mpcc_dw":49.5700912,"mpcc_enc_sign":1,"mpcc_id_a":-0.295320988,"mpcc_iq_a":-1.99215865,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.3640785,"mpcc_pred_id_a":-0.78240788,"mpcc_pred_iq_a":-6.27576113,"mpcc_state":1,"mpcc_theta_e":0.452017784,"mpcc_theta_mech":0.557349503,"sam_rpm":14.9199839,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208400041,"thr_a_norm":0.0208400041,"thr_a_v":0.583360016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453545451,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.398548,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.806133032,"cg_iw_a":-0.450732708,"cg_theta_rad":0.551873803,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.027478449,"mpcc_du":49.7711296,"mpcc_dv":49.1919861,"mpcc_dw":50.8080139,"mpcc_enc_sign":1,"mpcc_id_a":2.57116652,"mpcc_iq_a":-0.896164775,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.43588543,"mpcc_pred_id_a":0.109467372,"mpcc_pred_iq_a":-2.59551191,"mpcc_state":1,"mpcc_theta_e":0.44467783,"mpcc_theta_mech":0.5558815,"sam_rpm":3.97707629,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460796505,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.406574,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.24105906,"cg_iw_a":-4.22009134,"cg_theta_rad":0.557503283,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0229227021,"mpcc_du":50.2046089,"mpcc_dv":48.6085243,"mpcc_dw":51.3914757,"mpcc_enc_sign":1,"mpcc_id_a":2.69042253,"mpcc_iq_a":-1.98792398,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.56397295,"mpcc_pred_id_a":0.368903041,"mpcc_pred_iq_a":-0.204285517,"mpcc_state":1,"mpcc_theta_e":0.448807716,"mpcc_theta_mech":0.556707501,"sam_rpm":6.88856506,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201602131,"thr_a_norm":0.0240501165,"thr_a_v":0.580640852,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458228409,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.416615,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.878620625,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.551721513,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0362767763,"mpcc_du":50.3560486,"mpcc_dv":48.5263443,"mpcc_dw":51.4736557,"mpcc_enc_sign":1,"mpcc_id_a":1.13193214,"mpcc_iq_a":-0.207965568,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.09026384,"mpcc_pred_id_a":0.0462167673,"mpcc_pred_iq_a":-2.42335653,"mpcc_state":1,"mpcc_theta_e":0.442734241,"mpcc_theta_mech":0.555492759,"sam_rpm":-7.24062634,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201602131,"thr_a_norm":0.0201602131,"thr_a_v":0.580640852,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458228409,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.426807,"values":{"cg_iu_a":2.48915625,"cg_iv_a":0.0637187958,"cg_iw_a":-2.55287504,"cg_theta_rad":0.554118454,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0133314291,"mpcc_du":49.5346336,"mpcc_dv":49.6538277,"mpcc_dw":50.4653664,"mpcc_enc_sign":1,"mpcc_id_a":1.49831092,"mpcc_iq_a":-0.620413601,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.1013689,"mpcc_pred_id_a":-0.0884965137,"mpcc_pred_iq_a":-2.3929565,"mpcc_state":1,"mpcc_theta_e":0.446727276,"mpcc_theta_mech":0.555142045,"sam_rpm":13.9899769,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213183761,"thr_a_norm":0.0213183761,"thr_a_v":0.585273504,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468802899,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.439167,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-3.12573838,"cg_iw_a":0.854045153,"cg_theta_rad":0.552478671,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0175674576,"mpcc_du":50.8542824,"mpcc_dv":48.1105003,"mpcc_dw":51.8894997,"mpcc_enc_sign":1,"mpcc_id_a":-0.241104007,"mpcc_iq_a":-1.40989757,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.57559252,"mpcc_pred_id_a":-0.45767802,"mpcc_pred_iq_a":-1.09229314,"mpcc_state":1,"mpcc_theta_e":0.443355083,"mpcc_theta_mech":0.555616915,"sam_rpm":-9.27705956,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022199586,"thr_a_norm":0.0213183761,"thr_a_v":0.588798344,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479377449,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.451008,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.96593571,"cg_iw_a":-1.03063393,"cg_theta_rad":0.555014312,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00569654023,"mpcc_du":49.3648148,"mpcc_dv":50.6351852,"mpcc_dw":50.1948242,"mpcc_enc_sign":1,"mpcc_id_a":0.0625858232,"mpcc_iq_a":-0.949228048,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.11613274,"mpcc_pred_id_a":0.0152489878,"mpcc_pred_iq_a":-1.85782778,"mpcc_state":1,"mpcc_theta_e":0.438273907,"mpcc_theta_mech":0.554600716,"sam_rpm":11.3856411,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022199586,"thr_a_norm":0.022199586,"thr_a_v":0.588798344,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479377449,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.474415,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-0.951108456,"cg_iw_a":1.143996,"cg_theta_rad":0.555236757,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0216798615,"mpcc_du":50.4745712,"mpcc_dv":49.250824,"mpcc_dw":50.749176,"mpcc_enc_sign":1,"mpcc_id_a":0.0107484367,"mpcc_iq_a":-0.371514291,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.775892377,"mpcc_pred_id_a":-0.474753678,"mpcc_pred_iq_a":-0.913574517,"mpcc_state":1,"mpcc_theta_e":0.444782257,"mpcc_theta_mech":0.555902362,"sam_rpm":-0.896554351,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021368742,"thr_a_norm":0.021368742,"thr_a_v":0.585474968,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474744767,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.480946,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.24105906,"cg_iw_a":0.709069967,"cg_theta_rad":0.557662189,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0134853087,"mpcc_du":49.5327682,"mpcc_dv":50.051651,"mpcc_dw":50.4672318,"mpcc_enc_sign":1,"mpcc_id_a":2.11302805,"mpcc_iq_a":-1.01504278,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.81061649,"mpcc_pred_id_a":0.124059081,"mpcc_pred_iq_a":-2.49491596,"mpcc_state":1,"mpcc_theta_e":0.449556828,"mpcc_theta_mech":0.556857288,"sam_rpm":14.1504612,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262531489,"thr_a_norm":0.021368742,"thr_a_v":0.605012596,"thr_b":0.00106316805,"thr_b_norm":0,"thr_b_v":0.504252672,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.487507,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.951108456,"cg_iw_a":0.201656342,"cg_theta_rad":0.559334338,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0169780981,"mpcc_du":50.232132,"mpcc_dv":48.5336571,"mpcc_dw":51.4663429,"mpcc_enc_sign":1,"mpcc_id_a":2.44612169,"mpcc_iq_a":-0.816533446,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.80562353,"mpcc_pred_id_a":0.305147141,"mpcc_pred_iq_a":0.197388142,"mpcc_state":1,"mpcc_theta_e":0.437610149,"mpcc_theta_mech":0.554467916,"sam_rpm":-4.44307375,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262531489,"thr_a_norm":0.0262531489,"thr_a_v":0.605012596,"thr_b":0.00106316805,"thr_b_norm":0.00106316805,"thr_b_v":0.504252672,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.494007,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-1.45852208,"cg_iw_a":-2.1904366,"cg_theta_rad":0.557205021,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0538744479,"mpcc_du":49.8126717,"mpcc_dv":48.9564934,"mpcc_dw":51.0435066,"mpcc_enc_sign":1,"mpcc_id_a":3.15890837,"mpcc_iq_a":0.164070204,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.23390186,"mpcc_pred_id_a":0.569524109,"mpcc_pred_iq_a":-2.25259113,"mpcc_state":1,"mpcc_theta_e":0.446015358,"mpcc_theta_mech":0.556148946,"sam_rpm":2.26224065,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201350451,"thr_a_norm":0.0201350451,"thr_a_v":0.58054018,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457271695,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.501728,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.74847269,"cg_iw_a":0.926532745,"cg_theta_rad":0.554546416,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.018615162,"mpcc_du":49.2959785,"mpcc_dv":50.7040215,"mpcc_dw":50.0721436,"mpcc_enc_sign":1,"mpcc_id_a":2.51610279,"mpcc_iq_a":-2.00971317,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.2002983,"mpcc_pred_id_a":-0.0697128996,"mpcc_pred_iq_a":-5.60030174,"mpcc_state":1,"mpcc_theta_e":0.452490807,"mpcc_theta_mech":0.557444036,"sam_rpm":15.017746,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201350451,"thr_a_norm":0.0201350451,"thr_a_v":0.58054018,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457271695,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.511768,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.951108456,"cg_iw_a":-0.015806675,"cg_theta_rad":0.553454399,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0117047457,"mpcc_du":49.8745079,"mpcc_dv":49.161808,"mpcc_dw":50.838192,"mpcc_enc_sign":1,"mpcc_id_a":0.962902606,"mpcc_iq_a":-1.08560824,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.6023846,"mpcc_pred_id_a":0.050304085,"mpcc_pred_iq_a":-1.65976286,"mpcc_state":1,"mpcc_theta_e":0.432654858,"mpcc_theta_mech":0.55347687,"sam_rpm":-13.2846336,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189139396,"thr_a_norm":0.0189139396,"thr_a_v":0.575655758,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457573801,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.521992,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-0.806133032,"cg_iw_a":-2.69785047,"cg_theta_rad":0.55652374,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.035183616,"mpcc_du":49.2641068,"mpcc_dv":50.7358932,"mpcc_dw":49.9940262,"mpcc_enc_sign":1,"mpcc_id_a":0.965955615,"mpcc_iq_a":-1.04031694,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":22.9320469,"mpcc_pred_id_a":-0.166840538,"mpcc_pred_iq_a":-4.13271666,"mpcc_state":1,"mpcc_theta_e":0.463913441,"mpcc_theta_mech":0.559728563,"sam_rpm":36.3822174,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277889669,"thr_a_norm":0.0189139396,"thr_a_v":0.611155868,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494080991,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.531971,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-1.09608364,"cg_iw_a":-2.40789986,"cg_theta_rad":0.555878043,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0288678277,"mpcc_du":49.5364532,"mpcc_dv":50.0896492,"mpcc_dw":50.4635468,"mpcc_enc_sign":1,"mpcc_id_a":1.64115608,"mpcc_iq_a":-0.327596039,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.2872143,"mpcc_pred_id_a":0.168304548,"mpcc_pred_iq_a":-3.26506472,"mpcc_state":1,"mpcc_theta_e":0.452289104,"mpcc_theta_mech":0.557403743,"sam_rpm":18.130846,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277889669,"thr_a_norm":0.0277889669,"thr_a_v":0.611155868,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494080991,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.542194,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.24105906,"cg_iw_a":-0.885658741,"cg_theta_rad":0.55666703,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0269936081,"mpcc_du":50.1919823,"mpcc_dv":48.8375931,"mpcc_dw":51.1624069,"mpcc_enc_sign":1,"mpcc_id_a":0.980438173,"mpcc_iq_a":-1.02667952,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.7090342,"mpcc_pred_id_a":-0.0301710665,"mpcc_pred_iq_a":-4.40019321,"mpcc_state":1,"mpcc_theta_e":0.449900627,"mpcc_theta_mech":0.556926012,"sam_rpm":2.81848192,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250823945,"thr_a_norm":0.0250823945,"thr_a_v":0.600329578,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481593013,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.551991,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.16857147,"cg_iw_a":-2.26292419,"cg_theta_rad":0.555424452,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0253283754,"mpcc_du":50.140995,"mpcc_dv":48.9533844,"mpcc_dw":51.0466156,"mpcc_enc_sign":1,"mpcc_id_a":0.616154969,"mpcc_iq_a":-0.615951955,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.93706477,"mpcc_pred_id_a":-0.415999621,"mpcc_pred_iq_a":-2.17505074,"mpcc_state":1,"mpcc_theta_e":0.447244644,"mpcc_theta_mech":0.556394875,"sam_rpm":3.97752929,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250823945,"thr_a_norm":0.0250823945,"thr_a_v":0.600329578,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481593013,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.575611,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.02359605,"cg_iw_a":-0.958146334,"cg_theta_rad":0.554598987,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.043217741,"mpcc_du":50.3003883,"mpcc_dv":48.3904877,"mpcc_dw":51.6095123,"mpcc_enc_sign":1,"mpcc_id_a":3.05101752,"mpcc_iq_a":-0.035831701,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.83811665,"mpcc_pred_id_a":0.532213748,"mpcc_pred_iq_a":-1.48354447,"mpcc_state":1,"mpcc_theta_e":0.437283993,"mpcc_theta_mech":0.554402709,"sam_rpm":-11.3041725,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0120405108,"thr_a_norm":0.0120405108,"thr_a_v":0.548162043,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453948259,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.582111,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.16857147,"cg_iw_a":-1.97297382,"cg_theta_rad":0.553990483,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.000413815462,"mpcc_du":49.8876953,"mpcc_dv":49.1726723,"mpcc_dw":50.8273277,"mpcc_enc_sign":1,"mpcc_id_a":-0.403303593,"mpcc_iq_a":-2.07582045,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.16499233,"mpcc_pred_id_a":-0.133787751,"mpcc_pred_iq_a":-0.892308593,"mpcc_state":1,"mpcc_theta_e":0.446202755,"mpcc_theta_mech":0.556186497,"sam_rpm":7.59606743,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189139396,"thr_a_norm":0.0120405108,"thr_a_v":0.575655758,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456113547,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.58913,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.24105906,"cg_iw_a":-0.45073247,"cg_theta_rad":0.554560184,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0271326415,"mpcc_du":49.8318901,"mpcc_dv":49.1206017,"mpcc_dw":50.8793983,"mpcc_enc_sign":1,"mpcc_id_a":2.14608359,"mpcc_iq_a":-0.260819018,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.02043438,"mpcc_pred_id_a":0.193684831,"mpcc_pred_iq_a":-3.60167289,"mpcc_state":1,"mpcc_theta_e":0.437833309,"mpcc_theta_mech":0.55451256,"sam_rpm":-7.1568675,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189139396,"thr_a_norm":0.0189139396,"thr_a_v":0.575655758,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456113547,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.595173,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.45852208,"cg_iw_a":1.143996,"cg_theta_rad":0.556200504,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0316965133,"mpcc_du":50.0229301,"mpcc_dv":48.7043839,"mpcc_dw":51.2956161,"mpcc_enc_sign":1,"mpcc_id_a":3.49952745,"mpcc_iq_a":-0.478654951,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.4728136,"mpcc_pred_id_a":0.630499244,"mpcc_pred_iq_a":-0.916248918,"mpcc_state":1,"mpcc_theta_e":0.450301647,"mpcc_theta_mech":0.55700624,"sam_rpm":-11.2629375,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220359415,"thr_a_norm":0.0220359415,"thr_a_v":0.588143766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464220643,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.602955,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.24105906,"cg_iw_a":0.201656103,"cg_theta_rad":0.556076467,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00627787178,"mpcc_du":50.2723312,"mpcc_dv":48.733429,"mpcc_dw":51.266571,"mpcc_enc_sign":1,"mpcc_id_a":-0.00077743252,"mpcc_iq_a":-1.89892244,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.52341175,"mpcc_pred_id_a":-0.10811305,"mpcc_pred_iq_a":-0.682974935,"mpcc_state":1,"mpcc_theta_e":0.448056221,"mpcc_theta_mech":0.556557178,"sam_rpm":5.98284006,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220359415,"thr_a_norm":0.0220359415,"thr_a_v":0.588143766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464220643,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.613148,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.38603449,"cg_iw_a":1.07150817,"cg_theta_rad":0.556940734,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.021625258,"mpcc_du":49.8061485,"mpcc_dv":48.9428902,"mpcc_dw":51.0571098,"mpcc_enc_sign":1,"mpcc_id_a":2.66465592,"mpcc_iq_a":-1.54264438,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.79857421,"mpcc_pred_id_a":0.770538986,"mpcc_pred_iq_a":-2.52562332,"mpcc_state":1,"mpcc_theta_e":0.444460392,"mpcc_theta_mech":0.555837989,"sam_rpm":-2.85555577,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0132742077,"thr_a_norm":0.0132742077,"thr_a_v":0.553096831,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450775921,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.622181,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.31354666,"cg_iw_a":-0.015806675,"cg_theta_rad":0.557284534,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00805880222,"mpcc_du":49.3132858,"mpcc_dv":50.6867142,"mpcc_dw":50.0371399,"mpcc_enc_sign":1,"mpcc_id_a":1.56295848,"mpcc_iq_a":-1.99635136,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.32861519,"mpcc_pred_id_a":-0.0628803149,"mpcc_pred_iq_a":-4.03480101,"mpcc_state":1,"mpcc_theta_e":0.446423531,"mpcc_theta_mech":0.556230605,"sam_rpm":11.3984776,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0132742077,"thr_a_norm":0.0132742077,"thr_a_v":0.553096831,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450775921,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.633472,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.74847269,"cg_iw_a":-0.958146572,"cg_theta_rad":0.555612981,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.040899612,"mpcc_du":50.2416458,"mpcc_dv":48.7258644,"mpcc_dw":51.2741356,"mpcc_enc_sign":1,"mpcc_id_a":2.62908077,"mpcc_iq_a":-1.77916992,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.05458486,"mpcc_pred_id_a":-0.00773852132,"mpcc_pred_iq_a":-5.0426898,"mpcc_state":1,"mpcc_theta_e":0.450698376,"mpcc_theta_mech":0.557085633,"sam_rpm":1.10397899,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023987174,"thr_a_norm":0.023987174,"thr_a_v":0.595948696,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480434865,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.643757,"values":{"cg_iu_a":-1.06273961,"cg_iv_a":-1.09608364,"cg_iw_a":-1.24809694,"cg_theta_rad":0.557329476,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00190496782,"mpcc_du":49.5085335,"mpcc_dv":50.4914665,"mpcc_dw":50.1750832,"mpcc_enc_sign":1,"mpcc_id_a":0.284469485,"mpcc_iq_a":-0.640542448,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.95751667,"mpcc_pred_id_a":-0.324294686,"mpcc_pred_iq_a":-3.33329654,"mpcc_state":1,"mpcc_theta_e":0.443897724,"mpcc_theta_mech":0.555725455,"sam_rpm":12.3986397,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0998466611,"thr_a_norm":0.023987174,"thr_a_v":0.899386644,"thr_b":0.0428324491,"thr_b_norm":0,"thr_b_v":0.671329796,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.6534,"values":{"cg_iu_a":1.03940296,"cg_iv_a":0.0637187958,"cg_iw_a":-2.77033806,"cg_theta_rad":0.554563284,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00529417675,"mpcc_du":50.8650322,"mpcc_dv":47.931076,"mpcc_dw":52.068924,"mpcc_enc_sign":1,"mpcc_id_a":0.843405485,"mpcc_iq_a":-0.655785859,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.2594852,"mpcc_pred_id_a":-0.147721082,"mpcc_pred_iq_a":-1.14826071,"mpcc_state":1,"mpcc_theta_e":0.427551746,"mpcc_theta_mech":0.55245626,"sam_rpm":-29.1562805,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0998466611,"thr_a_norm":0.0998466611,"thr_a_v":0.899386644,"thr_b":0.0428324491,"thr_b_norm":0.0428324491,"thr_b_v":0.671329796,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.676746,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.82799816,"cg_theta_rad":0.557865798,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0120349322,"mpcc_du":49.1841354,"mpcc_dv":50.8158646,"mpcc_dw":49.6827202,"mpcc_enc_sign":1,"mpcc_id_a":0.835653007,"mpcc_iq_a":-0.150909677,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.2618752,"mpcc_pred_id_a":-0.49178645,"mpcc_pred_iq_a":3.31724811,"mpcc_state":1,"mpcc_theta_e":0.432590485,"mpcc_theta_mech":0.553463995,"sam_rpm":10.3926497,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.021620512,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484211475,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.683277,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.733645439,"cg_iw_a":-1.61053514,"cg_theta_rad":0.557189941,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0208214149,"mpcc_du":49.8486443,"mpcc_dv":49.1407089,"mpcc_dw":50.8592911,"mpcc_enc_sign":1,"mpcc_id_a":1.95554388,"mpcc_iq_a":-2.64268899,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.3019409,"mpcc_pred_id_a":0.232195109,"mpcc_pred_iq_a":-1.67197299,"mpcc_state":1,"mpcc_theta_e":0.459064484,"mpcc_theta_mech":0.558758795,"sam_rpm":20.8909187,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.021620512,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477967471,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.689838,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.24105906,"cg_iw_a":-1.97297359,"cg_theta_rad":0.557185113,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0251787361,"mpcc_du":49.2452316,"mpcc_dv":50.7547684,"mpcc_dw":50.1373138,"mpcc_enc_sign":1,"mpcc_id_a":2.73845077,"mpcc_iq_a":-0.383339316,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.9759798,"mpcc_pred_id_a":0.400152385,"mpcc_pred_iq_a":-4.62577057,"mpcc_state":1,"mpcc_theta_e":0.448148251,"mpcc_theta_mech":0.556575596,"sam_rpm":14.1204023,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477967471,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.69643,"values":{"cg_iu_a":0.894427299,"cg_iv_a":0.0637187958,"cg_iw_a":-1.53804779,"cg_theta_rad":0.555624962,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00474636117,"mpcc_du":49.9664841,"mpcc_dv":49.1303215,"mpcc_dw":50.8696785,"mpcc_enc_sign":1,"mpcc_id_a":-0.413000882,"mpcc_iq_a":-1.93160307,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.49860573,"mpcc_pred_id_a":-0.274747252,"mpcc_pred_iq_a":-2.40319872,"mpcc_state":1,"mpcc_theta_e":0.445419788,"mpcc_theta_mech":0.556029856,"sam_rpm":4.26220179,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103283361,"thr_a_norm":0.103283361,"thr_a_v":0.913133442,"thr_b":0.0486232638,"thr_b_norm":0.0486232638,"thr_b_v":0.694493055,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.706409,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.24105906,"cg_iw_a":-1.03063416,"cg_theta_rad":0.553521395,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0196028817,"mpcc_du":49.3735161,"mpcc_dv":50.6264839,"mpcc_dw":50.2564735,"mpcc_enc_sign":1,"mpcc_id_a":2.50642037,"mpcc_iq_a":-0.511687934,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.494101822,"mpcc_pred_id_a":0.264378697,"mpcc_pred_iq_a":-0.0285633244,"mpcc_state":1,"mpcc_theta_e":0.434106827,"mpcc_theta_mech":0.553767264,"sam_rpm":8.28704834,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103283361,"thr_a_norm":0.103283361,"thr_a_v":0.913133442,"thr_b":0.0486232638,"thr_b_norm":0.0486232638,"thr_b_v":0.694493055,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.716755,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.806133032,"cg_iw_a":0.274143934,"cg_theta_rad":0.554652452,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00291619007,"mpcc_du":50.6351814,"mpcc_dv":48.0917358,"mpcc_dw":51.9082642,"mpcc_enc_sign":1,"mpcc_id_a":1.03516257,"mpcc_iq_a":-0.931333899,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.1036816,"mpcc_pred_id_a":0.104660608,"mpcc_pred_iq_a":0.0403515846,"mpcc_state":1,"mpcc_theta_e":0.430434227,"mpcc_theta_mech":0.553032756,"sam_rpm":-20.3316956,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0164465606,"thr_a_norm":0.0164465606,"thr_a_v":0.565786242,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468299359,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.726704,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.661157608,"cg_iw_a":-1.75551081,"cg_theta_rad":0.555655003,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0950696617,"mpcc_du":50.4642181,"mpcc_dv":48.3576317,"mpcc_dw":51.6423683,"mpcc_enc_sign":1,"mpcc_id_a":3.1642766,"mpcc_iq_a":0.659097314,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.07172298,"mpcc_pred_id_a":0.493100822,"mpcc_pred_iq_a":-1.79767478,"mpcc_state":1,"mpcc_theta_e":0.450474739,"mpcc_theta_mech":0.55816555,"sam_rpm":-6.14099026,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020487532,"thr_a_norm":0.0164465606,"thr_a_v":0.581950128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460292965,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.736561,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.82096052,"cg_iw_a":2.30379868,"cg_theta_rad":0.556591749,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0090407664,"mpcc_du":50.1550217,"mpcc_dv":48.9384041,"mpcc_dw":51.0615959,"mpcc_enc_sign":1,"mpcc_id_a":0.1412303,"mpcc_iq_a":-0.434017688,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.68824911,"mpcc_pred_id_a":-0.302860111,"mpcc_pred_iq_a":-2.12403965,"mpcc_state":1,"mpcc_theta_e":0.445676327,"mpcc_theta_mech":0.556081176,"sam_rpm":10.9896708,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020487532,"thr_a_norm":0.020487532,"thr_a_v":0.581950128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460292965,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.748158,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.74847269,"cg_iw_a":-2.04546165,"cg_theta_rad":0.552884221,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0546067134,"mpcc_du":49.6282425,"mpcc_dv":49.2512131,"mpcc_dw":50.7487869,"mpcc_enc_sign":1,"mpcc_id_a":3.19316697,"mpcc_iq_a":-0.766504526,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.50358951,"mpcc_pred_id_a":0.498833001,"mpcc_pred_iq_a":-4.94169569,"mpcc_state":1,"mpcc_theta_e":0.442201138,"mpcc_theta_mech":0.555386186,"sam_rpm":-1.67316377,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174032897,"thr_a_norm":0.0174032897,"thr_a_v":0.569613159,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440050364,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.759998,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.45852208,"cg_iw_a":-1.32058454,"cg_theta_rad":0.556435704,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0307508931,"mpcc_du":50.1841011,"mpcc_dv":48.6003456,"mpcc_dw":51.3996544,"mpcc_enc_sign":1,"mpcc_id_a":2.67576575,"mpcc_iq_a":-1.18247116,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.927011073,"mpcc_pred_id_a":0.466260433,"mpcc_pred_iq_a":-1.57362008,"mpcc_state":1,"mpcc_theta_e":0.446118832,"mpcc_theta_mech":0.556169689,"sam_rpm":-1.35922778,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174032897,"thr_a_norm":0.0174032897,"thr_a_v":0.569613159,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440050364,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.783192,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.24105906,"cg_iw_a":-0.885658503,"cg_theta_rad":0.553813279,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0167365689,"mpcc_du":49.4732857,"mpcc_dv":50.5267143,"mpcc_dw":50.221344,"mpcc_enc_sign":1,"mpcc_id_a":2.18666577,"mpcc_iq_a":-1.36527264,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.57377458,"mpcc_pred_id_a":-0.0619979128,"mpcc_pred_iq_a":-6.23631144,"mpcc_state":1,"mpcc_theta_e":0.445839405,"mpcc_theta_mech":0.55611378,"sam_rpm":3.91643572,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021469444,"thr_a_norm":0.021469444,"thr_a_v":0.585877776,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473083079,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.789722,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":-0.951108456,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556230068,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00502463197,"mpcc_du":49.484417,"mpcc_dv":50.515583,"mpcc_dw":50.241272,"mpcc_enc_sign":1,"mpcc_id_a":0.869928062,"mpcc_iq_a":-0.0838486254,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.62522316,"mpcc_pred_id_a":0.0051716622,"mpcc_pred_iq_a":-4.15524673,"mpcc_state":1,"mpcc_theta_e":0.44285059,"mpcc_theta_mech":0.555516005,"sam_rpm":6.21404076,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0949496478,"thr_a_norm":0.021469444,"thr_a_v":0.879798591,"thr_b":0.0331643373,"thr_b_norm":0,"thr_b_v":0.632657349,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.796223,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.443694592,"cg_iw_a":-0.305757523,"cg_theta_rad":0.556234717,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0205455739,"mpcc_du":49.6125526,"mpcc_dv":50.1508369,"mpcc_dw":50.3874474,"mpcc_enc_sign":1,"mpcc_id_a":1.59459805,"mpcc_iq_a":-0.256095797,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.41390419,"mpcc_pred_id_a":-0.129398629,"mpcc_pred_iq_a":-3.66568804,"mpcc_state":1,"mpcc_theta_e":0.450922489,"mpcc_theta_mech":0.557130456,"sam_rpm":12.8503723,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0949496478,"thr_a_norm":0.0949496478,"thr_a_v":0.879798591,"thr_b":0.0331643373,"thr_b_norm":0.0331643373,"thr_b_v":0.632657349,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.802753,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.6759851,"cg_iw_a":0.999020576,"cg_theta_rad":0.555952609,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0182242114,"mpcc_du":50.3089409,"mpcc_dv":48.5024185,"mpcc_dw":51.4975815,"mpcc_enc_sign":1,"mpcc_id_a":2.51384759,"mpcc_iq_a":-1.01151276,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.7433224,"mpcc_pred_id_a":0.221463621,"mpcc_pred_iq_a":-2.39738059,"mpcc_state":1,"mpcc_theta_e":0.43040514,"mpcc_theta_mech":0.553026915,"sam_rpm":-20.2990398,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269706994,"thr_a_norm":0.0269706994,"thr_a_v":0.607882798,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479931325,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.810596,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.298719406,"cg_iw_a":-1.46555996,"cg_theta_rad":0.553140938,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00467898557,"mpcc_du":50.428154,"mpcc_dv":48.646801,"mpcc_dw":51.353199,"mpcc_enc_sign":1,"mpcc_id_a":0.342656672,"mpcc_iq_a":-1.36299884,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.40534985,"mpcc_pred_id_a":-0.365540951,"mpcc_pred_iq_a":-0.799965441,"mpcc_state":1,"mpcc_theta_e":0.443549156,"mpcc_theta_mech":0.555655718,"sam_rpm":-1.95063007,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269706994,"thr_a_norm":0.0269706994,"thr_a_v":0.607882798,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479931325,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.820972,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.878620625,"cg_iw_a":-2.40789986,"cg_theta_rad":0.556319594,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0413620025,"mpcc_du":50.3124504,"mpcc_dv":48.8598022,"mpcc_dw":51.1401978,"mpcc_enc_sign":1,"mpcc_id_a":-0.517927647,"mpcc_iq_a":-0.628329694,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.134441808,"mpcc_pred_id_a":-0.518571913,"mpcc_pred_iq_a":-3.42741346,"mpcc_state":1,"mpcc_theta_e":0.450223923,"mpcc_theta_mech":0.556990743,"sam_rpm":0.030872006,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.023231864,"thr_a_v":0.592927456,"thr_b":0.000861749053,"thr_b_norm":0.000861749053,"thr_b_v":0.503446996,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.831135,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.806133032,"cg_iw_a":-1.24809718,"cg_theta_rad":0.556289554,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0806570053,"mpcc_du":50.4716377,"mpcc_dv":48.333683,"mpcc_dw":51.666317,"mpcc_enc_sign":1,"mpcc_id_a":2.45200109,"mpcc_iq_a":-0.47663337,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.223921359,"mpcc_pred_id_a":0.369578212,"mpcc_pred_iq_a":-1.92320836,"mpcc_state":1,"mpcc_theta_e":0.447711945,"mpcc_theta_mech":0.556488335,"sam_rpm":2.52044773,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.023231864,"thr_a_v":0.592927456,"thr_b":0.000861749053,"thr_b_norm":0.000861749053,"thr_b_v":0.503446996,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.841175,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.588670254,"cg_iw_a":0.0566811562,"cg_theta_rad":0.555154383,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0202337727,"mpcc_du":49.4366035,"mpcc_dv":49.9217186,"mpcc_dw":50.5633965,"mpcc_enc_sign":1,"mpcc_id_a":2.8149786,"mpcc_iq_a":-0.177710399,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.44107652,"mpcc_pred_id_a":0.831892371,"mpcc_pred_iq_a":-3.73475933,"mpcc_state":1,"mpcc_theta_e":0.428683281,"mpcc_theta_mech":0.552682579,"sam_rpm":-5.26376915,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192412436,"thr_a_norm":0.0192412436,"thr_a_v":0.576964974,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460595101,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.851582,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.878620625,"cg_iw_a":0.491606712,"cg_theta_rad":0.556274951,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0253487322,"mpcc_du":49.4792061,"mpcc_dv":50.4080734,"mpcc_dw":50.5207939,"mpcc_enc_sign":1,"mpcc_id_a":3.01508069,"mpcc_iq_a":-0.124204077,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.04130268,"mpcc_pred_id_a":0.702691555,"mpcc_pred_iq_a":-2.73785615,"mpcc_state":1,"mpcc_theta_e":0.441444874,"mpcc_theta_mech":0.555234909,"sam_rpm":10.8100748,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024087891,"thr_a_norm":0.0192412436,"thr_a_v":0.596351564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475399435,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.86153,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.371207237,"cg_iw_a":-1.68302298,"cg_theta_rad":0.554850519,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00804341212,"mpcc_du":49.2581558,"mpcc_dv":50.7418442,"mpcc_dw":49.9702263,"mpcc_enc_sign":1,"mpcc_id_a":1.37153852,"mpcc_iq_a":-1.2164346,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.2482462,"mpcc_pred_id_a":-0.0849156901,"mpcc_pred_iq_a":-4.97550821,"mpcc_state":1,"mpcc_theta_e":0.450349808,"mpcc_theta_mech":0.557015896,"sam_rpm":15.8349466,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024087891,"thr_a_norm":0.024087891,"thr_a_v":0.596351564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475399435,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.884663,"values":{"cg_iu_a":-0.772789001,"cg_iv_a":-1.82096052,"cg_iw_a":2.59374952,"cg_theta_rad":0.556820929,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0252398271,"mpcc_du":51.1968422,"mpcc_dv":47.3574448,"mpcc_dw":52.6425552,"mpcc_enc_sign":1,"mpcc_id_a":2.68350577,"mpcc_iq_a":0.758198559,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.0288887,"mpcc_pred_id_a":0.371605217,"mpcc_pred_iq_a":3.44658756,"mpcc_state":1,"mpcc_theta_e":0.428020954,"mpcc_theta_mech":0.552550077,"sam_rpm":-20.2562904,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182844996,"thr_a_norm":0.0182844996,"thr_a_v":0.573137999,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464875251,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.891132,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.45852208,"cg_iw_a":-1.03063416,"cg_theta_rad":0.555595696,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00731041469,"mpcc_du":49.7850342,"mpcc_dv":50.0469513,"mpcc_dw":50.2149658,"mpcc_enc_sign":1,"mpcc_id_a":1.70423532,"mpcc_iq_a":-2.55938864,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.74204111,"mpcc_pred_id_a":0.155813277,"mpcc_pred_iq_a":-1.46257579,"mpcc_state":1,"mpcc_theta_e":0.441308022,"mpcc_theta_mech":0.557488799,"sam_rpm":0.387957662,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185362697,"thr_a_norm":0.0182844996,"thr_a_v":0.574145079,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460796505,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.897663,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.661157608,"cg_iw_a":0.0566806793,"cg_theta_rad":0.556448519,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00180131826,"mpcc_du":50.2524605,"mpcc_dv":48.8456764,"mpcc_dw":51.1543236,"mpcc_enc_sign":1,"mpcc_id_a":0.767085671,"mpcc_iq_a":-1.98441553,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.40838003,"mpcc_pred_id_a":-0.268875927,"mpcc_pred_iq_a":-0.115014732,"mpcc_state":1,"mpcc_theta_e":0.445157051,"mpcc_theta_mech":0.555977285,"sam_rpm":5.0586648,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185362697,"thr_a_norm":0.0185362697,"thr_a_v":0.574145079,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460796505,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.904377,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.951108456,"cg_iw_a":0.491607189,"cg_theta_rad":0.556593418,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0646616071,"mpcc_du":50.5353737,"mpcc_dv":47.7956123,"mpcc_dw":52.2043877,"mpcc_enc_sign":1,"mpcc_id_a":4.29289675,"mpcc_iq_a":-0.269689381,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.8579035,"mpcc_pred_id_a":1.33998609,"mpcc_pred_iq_a":-0.707083046,"mpcc_state":1,"mpcc_theta_e":0.432017803,"mpcc_theta_mech":0.553349495,"sam_rpm":-19.8358574,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167486817,"thr_a_norm":0.0167486817,"thr_a_v":0.566994727,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.916126,"values":{"cg_iu_a":3.28652048,"cg_iv_a":0.933570862,"cg_iw_a":-4.22009134,"cg_theta_rad":0.558268607,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0137008419,"mpcc_du":50.3760948,"mpcc_dv":48.5470505,"mpcc_dw":51.4529495,"mpcc_enc_sign":1,"mpcc_id_a":0.0740521848,"mpcc_iq_a":-1.89296293,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.08650541,"mpcc_pred_id_a":-0.380903423,"mpcc_pred_iq_a":-3.82912993,"mpcc_state":1,"mpcc_theta_e":0.452617168,"mpcc_theta_mech":0.556975722,"sam_rpm":-2.97542024,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167486817,"thr_a_norm":0.0167486817,"thr_a_v":0.566994727,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.92638,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.443694592,"cg_iw_a":-1.61053562,"cg_theta_rad":0.551676631,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00920147076,"mpcc_du":50.3751602,"mpcc_dv":48.5730515,"mpcc_dw":51.4269485,"mpcc_enc_sign":1,"mpcc_id_a":1.80392504,"mpcc_iq_a":-1.16285884,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.14945459,"mpcc_pred_id_a":-0.0334261693,"mpcc_pred_iq_a":-0.840128362,"mpcc_state":1,"mpcc_theta_e":0.437575817,"mpcc_theta_mech":0.554461062,"sam_rpm":-9.869627,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246292055,"thr_a_norm":0.0246292055,"thr_a_v":0.598516822,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489599437,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.936634,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.74847269,"cg_iw_a":1.143996,"cg_theta_rad":0.558218122,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00345016737,"mpcc_du":50.6548767,"mpcc_dv":48.1830139,"mpcc_dw":51.8169861,"mpcc_enc_sign":1,"mpcc_id_a":0.920087576,"mpcc_iq_a":-0.65714699,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.304506063,"mpcc_pred_id_a":0.0799415335,"mpcc_pred_iq_a":2.91933012,"mpcc_state":1,"mpcc_theta_e":0.437718391,"mpcc_theta_mech":0.557065964,"sam_rpm":0.442823172,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236976445,"thr_a_norm":0.0246292055,"thr_a_v":0.594790578,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.948811,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.951108456,"cg_iw_a":-1.39307213,"cg_theta_rad":0.559261441,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.000121908794,"mpcc_du":49.6431732,"mpcc_dv":49.5757942,"mpcc_dw":50.4242058,"mpcc_enc_sign":1,"mpcc_id_a":1.84898961,"mpcc_iq_a":-0.790147245,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.7710278,"mpcc_pred_id_a":-0.326355338,"mpcc_pred_iq_a":-1.21543562,"mpcc_state":1,"mpcc_theta_e":0.439893723,"mpcc_theta_mech":0.554924667,"sam_rpm":5.83025408,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236976445,"thr_a_norm":0.0236976445,"thr_a_v":0.594790578,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.959553,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.09608364,"cg_iw_a":0.274143696,"cg_theta_rad":0.556174397,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.27832,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.00886888802,"mpcc_du":49.5359879,"mpcc_dv":49.6833267,"mpcc_dw":50.4640121,"mpcc_enc_sign":1,"mpcc_id_a":1.8410275,"mpcc_iq_a":-2.41507101,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.50408792,"mpcc_pred_id_a":0.173428044,"mpcc_pred_iq_a":-2.25216651,"mpcc_state":1,"mpcc_theta_e":0.44883585,"mpcc_theta_mech":0.556713045,"sam_rpm":10.4808273,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465832025,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.98299,"values":{"cg_iu_a":-0.265375137,"cg_iv_a":-0.661157608,"cg_iw_a":0.926532745,"cg_theta_rad":0.556463778,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.000195225279,"mpcc_du":49.8899231,"mpcc_dv":49.3092003,"mpcc_dw":50.6907997,"mpcc_enc_sign":1,"mpcc_id_a":0.225550115,"mpcc_iq_a":-0.935893118,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.22245955,"mpcc_pred_id_a":-0.380222261,"mpcc_pred_iq_a":-5.40015745,"mpcc_state":1,"mpcc_theta_e":0.442368507,"mpcc_theta_mech":0.555419624,"sam_rpm":7.95104837,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296520889,"thr_a_norm":0.0240501165,"thr_a_v":0.618608356,"thr_b":0.00490272045,"thr_b_norm":0,"thr_b_v":0.519610882,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.989491,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.38603449,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556232095,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.00266221003,"mpcc_du":49.5734215,"mpcc_dv":50.4265785,"mpcc_dw":50.2481537,"mpcc_enc_sign":1,"mpcc_id_a":0.536231816,"mpcc_iq_a":-1.12837124,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.158416644,"mpcc_pred_id_a":-0.203780189,"mpcc_pred_iq_a":-5.68728209,"mpcc_state":1,"mpcc_theta_e":0.441440582,"mpcc_theta_mech":0.555234075,"sam_rpm":-0.838205397,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296520889,"thr_a_norm":0.0296520889,"thr_a_v":0.618608356,"thr_b":0.00490272045,"thr_b_norm":0.00490272045,"thr_b_v":0.519610882,"vdc_v":55.2955055}} +{"type":"telemetry","t":50.996021,"values":{"cg_iu_a":0.314526081,"cg_iv_a":0.208694458,"cg_iw_a":-0.523220539,"cg_theta_rad":0.555815339,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0328272544,"mpcc_du":49.4215698,"mpcc_dv":50.5784302,"mpcc_dw":50.3853607,"mpcc_enc_sign":1,"mpcc_id_a":2.69528723,"mpcc_iq_a":0.18716979,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.8677807,"mpcc_pred_id_a":0.663844168,"mpcc_pred_iq_a":-3.74472284,"mpcc_state":1,"mpcc_theta_e":0.451021194,"mpcc_theta_mech":0.557150126,"sam_rpm":15.9184675,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103799492,"thr_a_norm":0.103799492,"thr_a_v":0.915197968,"thr_b":0.0522487909,"thr_b_norm":0.0522487909,"thr_b_v":0.708995163,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.002552,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-0.733645439,"cg_iw_a":0.926532984,"cg_theta_rad":0.554346919,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0130981253,"mpcc_du":49.0561104,"mpcc_dv":50.9438896,"mpcc_dw":49.9017563,"mpcc_enc_sign":1,"mpcc_id_a":2.21822572,"mpcc_iq_a":-0.0821610168,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.8236494,"mpcc_pred_id_a":0.552637935,"mpcc_pred_iq_a":-0.978451788,"mpcc_state":1,"mpcc_theta_e":0.425637722,"mpcc_theta_mech":0.552073479,"sam_rpm":-24.0073013,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103799492,"thr_a_norm":0.103799492,"thr_a_v":0.915197968,"thr_b":0.0522487909,"thr_b_norm":0.0522487909,"thr_b_v":0.708995163,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.012531,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.878620625,"cg_iw_a":-2.19043636,"cg_theta_rad":0.553550959,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0669528842,"mpcc_du":50.0404396,"mpcc_dv":49.0871735,"mpcc_dw":50.9128265,"mpcc_enc_sign":1,"mpcc_id_a":1.31278062,"mpcc_iq_a":0.157749414,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.27423811,"mpcc_pred_id_a":-0.210270181,"mpcc_pred_iq_a":-3.35143852,"mpcc_state":1,"mpcc_theta_e":0.452217102,"mpcc_theta_mech":0.557389379,"sam_rpm":7.65974569,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258503109,"thr_a_norm":0.0258503109,"thr_a_v":0.603401244,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49911651,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.022968,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.09608364,"cg_iw_a":-1.53804779,"cg_theta_rad":0.554231465,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0319141559,"mpcc_du":50.8300476,"mpcc_dv":47.7367516,"mpcc_dw":52.2632484,"mpcc_enc_sign":1,"mpcc_id_a":3.09989047,"mpcc_iq_a":-0.0717720836,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.3758602,"mpcc_pred_id_a":0.436483294,"mpcc_pred_iq_a":0.190829173,"mpcc_state":1,"mpcc_theta_e":0.426743507,"mpcc_theta_mech":0.555060983,"sam_rpm":-24.8321266,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0298283249,"thr_a_norm":0.0298283249,"thr_a_v":0.6193133,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459739089,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.033955,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.31354666,"cg_iw_a":-2.04546165,"cg_theta_rad":0.55596,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0161722861,"mpcc_du":49.4029427,"mpcc_dv":50.5970573,"mpcc_dw":50.2037086,"mpcc_enc_sign":1,"mpcc_id_a":1.54201639,"mpcc_iq_a":-2.72178173,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.26620388,"mpcc_pred_id_a":0.135982186,"mpcc_pred_iq_a":-3.33309722,"mpcc_state":1,"mpcc_theta_e":0.443991661,"mpcc_theta_mech":0.555744231,"sam_rpm":10.0539989,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0298283249,"thr_a_norm":0.0298283249,"thr_a_v":0.6193133,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459739089,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.045124,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.6759851,"cg_iw_a":-0.740683317,"cg_theta_rad":0.554438114,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.026830228,"mpcc_du":50.3643951,"mpcc_dv":48.6254425,"mpcc_dw":51.3745575,"mpcc_enc_sign":1,"mpcc_id_a":0.847967982,"mpcc_iq_a":-0.297746718,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.8749228,"mpcc_pred_id_a":-0.203277335,"mpcc_pred_iq_a":-3.68769121,"mpcc_state":1,"mpcc_theta_e":0.435491562,"mpcc_theta_mech":0.554044187,"sam_rpm":-16.7763405,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173781216,"thr_a_norm":0.0173781216,"thr_a_v":0.569512486,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457019925,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.055317,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.6759851,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.552952707,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.014378394,"mpcc_du":50.3935356,"mpcc_dv":48.4318504,"mpcc_dw":51.5681496,"mpcc_enc_sign":1,"mpcc_id_a":2.39384437,"mpcc_iq_a":-1.09916973,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.1732388,"mpcc_pred_id_a":0.188291609,"mpcc_pred_iq_a":-0.836015701,"mpcc_state":1,"mpcc_theta_e":0.431992054,"mpcc_theta_mech":0.553344309,"sam_rpm":-19.2041664,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101697192,"thr_a_norm":0.0173781216,"thr_a_v":0.906788766,"thr_b":0.0431471765,"thr_b_norm":0,"thr_b_v":0.672588706,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.065266,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.806133032,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.55561924,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0996127054,"mpcc_du":49.5189705,"mpcc_dv":49.6230354,"mpcc_dw":50.4810295,"mpcc_enc_sign":1,"mpcc_id_a":2.38985348,"mpcc_iq_a":-0.296574622,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":21.7164326,"mpcc_pred_id_a":0.29259783,"mpcc_pred_iq_a":-2.71956682,"mpcc_state":1,"mpcc_theta_e":0.461761951,"mpcc_theta_mech":0.559298337,"sam_rpm":34.8337593,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101697192,"thr_a_norm":0.101697192,"thr_a_v":0.906788766,"thr_b":0.0431471765,"thr_b_norm":0.0431471765,"thr_b_v":0.672588706,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.088551,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.09608364,"cg_iw_a":0.419119358,"cg_theta_rad":0.555559754,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0191715937,"mpcc_du":50.7450905,"mpcc_dv":47.9796143,"mpcc_dw":52.0203857,"mpcc_enc_sign":1,"mpcc_id_a":2.4947989,"mpcc_iq_a":-0.358109206,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.0256195,"mpcc_pred_id_a":0.194412991,"mpcc_pred_iq_a":0.641283035,"mpcc_state":1,"mpcc_theta_e":0.43042469,"mpcc_theta_mech":0.553030849,"sam_rpm":-17.9734325,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276504904,"thr_a_norm":0.0276504904,"thr_a_v":0.610601962,"thr_b":0.000836566091,"thr_b_norm":0.000836566091,"thr_b_v":0.503346264,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.095081,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.68302298,"cg_theta_rad":0.555173099,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0085974643,"mpcc_du":49.659626,"mpcc_dv":50.0864716,"mpcc_dw":50.340374,"mpcc_enc_sign":1,"mpcc_id_a":0.240732342,"mpcc_iq_a":-1.22655487,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.93634176,"mpcc_pred_id_a":-0.44853428,"mpcc_pred_iq_a":-4.27060843,"mpcc_state":1,"mpcc_theta_e":0.449176311,"mpcc_theta_mech":0.556781173,"sam_rpm":10.4317236,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276504904,"thr_a_norm":0.0276504904,"thr_a_v":0.610601962,"thr_b":0.000836566091,"thr_b_norm":0.000836566091,"thr_b_v":0.503346264,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.101643,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.878620625,"cg_iw_a":-1.17560959,"cg_theta_rad":0.555942655,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.023348188,"mpcc_du":49.5624619,"mpcc_dv":50.4207878,"mpcc_dw":50.4375381,"mpcc_enc_sign":1,"mpcc_id_a":2.93702817,"mpcc_iq_a":-1.30827141,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.66916728,"mpcc_pred_id_a":0.253266573,"mpcc_pred_iq_a":-4.95155907,"mpcc_state":1,"mpcc_theta_e":0.44635582,"mpcc_theta_mech":0.556217074,"sam_rpm":4.76959038,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204245895,"thr_a_norm":0.0204245895,"thr_a_v":0.581698358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450775921,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.108143,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.661157608,"cg_iw_a":-1.61053562,"cg_theta_rad":0.552772522,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0191915818,"mpcc_du":50.0702591,"mpcc_dv":48.7992363,"mpcc_dw":51.2007637,"mpcc_enc_sign":1,"mpcc_id_a":1.16626799,"mpcc_iq_a":-1.30572605,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.85513687,"mpcc_pred_id_a":0.385844529,"mpcc_pred_iq_a":-0.0951425433,"mpcc_state":1,"mpcc_theta_e":0.451792717,"mpcc_theta_mech":0.557304442,"sam_rpm":15.246356,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026026547,"thr_a_norm":0.0204245895,"thr_a_v":0.604106188,"thr_b":3.08901072e-05,"thr_b_norm":0,"thr_b_v":0.50012356,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.115772,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.878620625,"cg_iw_a":-0.523220539,"cg_theta_rad":0.558419168,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0272482056,"mpcc_du":49.9029808,"mpcc_dv":49.0577164,"mpcc_dw":50.9422836,"mpcc_enc_sign":1,"mpcc_id_a":1.67468464,"mpcc_iq_a":-0.755812764,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.2038455,"mpcc_pred_id_a":0.184984177,"mpcc_pred_iq_a":-2.20874596,"mpcc_state":1,"mpcc_theta_e":0.448940277,"mpcc_theta_mech":0.556733966,"sam_rpm":6.89998722,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026026547,"thr_a_norm":0.026026547,"thr_a_v":0.604106188,"thr_b":3.08901072e-05,"thr_b_norm":3.08901072e-05,"thr_b_v":0.50012356,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.125965,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.60349751,"cg_iw_a":0.564094543,"cg_theta_rad":0.55681777,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.021203829,"mpcc_du":49.635479,"mpcc_dv":49.2969551,"mpcc_dw":50.7030449,"mpcc_enc_sign":1,"mpcc_id_a":2.33560205,"mpcc_iq_a":-1.39793015,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.5796566,"mpcc_pred_id_a":0.341420144,"mpcc_pred_iq_a":-1.35919344,"mpcc_state":1,"mpcc_theta_e":0.43300581,"mpcc_theta_mech":0.553547084,"sam_rpm":-7.88205624,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480686635,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.135944,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.443694592,"cg_iw_a":0.926532984,"cg_theta_rad":0.556950986,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0224148817,"mpcc_du":50.1262321,"mpcc_dv":49.0270233,"mpcc_dw":50.9729767,"mpcc_enc_sign":1,"mpcc_id_a":2.11619043,"mpcc_iq_a":-1.00843322,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.26751661,"mpcc_pred_id_a":-0.372900635,"mpcc_pred_iq_a":-3.35438418,"mpcc_state":1,"mpcc_theta_e":0.44643116,"mpcc_theta_mech":0.556232154,"sam_rpm":5.51338053,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480686635,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.145954,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-1.45852208,"cg_iw_a":-1.90048623,"cg_theta_rad":0.557781219,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0324546546,"mpcc_du":50.0671654,"mpcc_dv":48.7321205,"mpcc_dw":51.2678795,"mpcc_enc_sign":1,"mpcc_id_a":0.108690381,"mpcc_iq_a":-2.03641891,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.57462049,"mpcc_pred_id_a":-0.347136587,"mpcc_pred_iq_a":-1.60293651,"mpcc_state":1,"mpcc_theta_e":0.440660477,"mpcc_theta_mech":0.554019332,"sam_rpm":-19.806345,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280281454,"thr_a_norm":0.0280281454,"thr_a_v":0.612112582,"thr_b":0.00108835101,"thr_b_norm":0.00108835101,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.156147,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.153744221,"cg_iw_a":-0.668195724,"cg_theta_rad":0.555993915,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0680681169,"mpcc_du":50.472271,"mpcc_dv":48.5949631,"mpcc_dw":51.4050369,"mpcc_enc_sign":1,"mpcc_id_a":-0.259252518,"mpcc_iq_a":-0.753691435,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.9130168,"mpcc_pred_id_a":-0.202131167,"mpcc_pred_iq_a":-1.74352908,"mpcc_state":1,"mpcc_theta_e":0.453382492,"mpcc_theta_mech":0.557622373,"sam_rpm":4.81336308,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165095031,"thr_a_norm":0.0280281454,"thr_a_v":0.566038013,"thr_b":0,"thr_b_norm":0.00108835101,"thr_b_v":0.464875251,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.166157,"values":{"cg_iu_a":-0.990252018,"cg_iv_a":-1.31354666,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556052804,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0490473546,"mpcc_du":50.3337059,"mpcc_dv":48.5213127,"mpcc_dw":51.4786873,"mpcc_enc_sign":1,"mpcc_id_a":2.20622444,"mpcc_iq_a":-1.15534186,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.55603313,"mpcc_pred_id_a":0.419965982,"mpcc_pred_iq_a":-1.97305751,"mpcc_state":1,"mpcc_theta_e":0.450423717,"mpcc_theta_mech":0.557030618,"sam_rpm":3.27141309,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165095031,"thr_a_norm":0.0165095031,"thr_a_v":0.566038013,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464875251,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.18935,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.0384233,"cg_iw_a":-0.595708132,"cg_theta_rad":0.558225513,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0098852329,"mpcc_du":48.5215645,"mpcc_dv":51.4784355,"mpcc_dw":49.0402946,"mpcc_enc_sign":1,"mpcc_id_a":1.97303987,"mpcc_iq_a":-0.804264545,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.49845982,"mpcc_pred_id_a":-0.0496442914,"mpcc_pred_iq_a":-7.32836199,"mpcc_state":1,"mpcc_theta_e":0.447935104,"mpcc_theta_mech":0.556532979,"sam_rpm":13.1813116,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0931242704,"thr_a_norm":0.0931242704,"thr_a_v":0.872497082,"thr_b":0.0428450406,"thr_b_norm":0.0428450406,"thr_b_v":0.671380162,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.195911,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.24105906,"cg_iw_a":-1.75551057,"cg_theta_rad":0.553688824,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0211037118,"mpcc_du":50.8147354,"mpcc_dv":48.1163521,"mpcc_dw":51.8836479,"mpcc_enc_sign":1,"mpcc_id_a":1.51942873,"mpcc_iq_a":0.640715599,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.71796703,"mpcc_pred_id_a":-0.162207082,"mpcc_pred_iq_a":0.620742738,"mpcc_state":1,"mpcc_theta_e":0.431744576,"mpcc_theta_mech":0.553294837,"sam_rpm":-14.3982525,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0931242704,"thr_a_norm":0.0931242704,"thr_a_v":0.872497082,"thr_b":0.0428450406,"thr_b_norm":0.0428450406,"thr_b_v":0.671380162,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.202412,"values":{"cg_iu_a":2.1992054,"cg_iv_a":0.353669643,"cg_iw_a":-2.55287504,"cg_theta_rad":0.556554019,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.000376598851,"mpcc_du":50.7819748,"mpcc_dv":48.0622368,"mpcc_dw":51.9377632,"mpcc_enc_sign":1,"mpcc_id_a":0.120280445,"mpcc_iq_a":-1.52639019,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.34693527,"mpcc_pred_id_a":0.16182451,"mpcc_pred_iq_a":1.35013115,"mpcc_state":1,"mpcc_theta_e":0.432854176,"mpcc_theta_mech":0.553516746,"sam_rpm":-14.6187344,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.0264545679,"thr_a_v":0.605818272,"thr_b":0.00269970298,"thr_b_norm":0.00269970298,"thr_b_v":0.510798812,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.208942,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.806133032,"cg_iw_a":0.926532745,"cg_theta_rad":0.55643183,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0706683323,"mpcc_du":49.5108376,"mpcc_dv":49.1938629,"mpcc_dw":50.8061371,"mpcc_enc_sign":1,"mpcc_id_a":5.03902292,"mpcc_iq_a":-0.284526259,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.7103405,"mpcc_pred_id_a":1.0246197,"mpcc_pred_iq_a":-4.52595091,"mpcc_state":1,"mpcc_theta_e":0.448626995,"mpcc_theta_mech":0.556671321,"sam_rpm":15.1856003,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221366435,"thr_a_norm":0.0264545679,"thr_a_v":0.588546574,"thr_b":0,"thr_b_norm":0.00269970298,"thr_b_v":0.472478837,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.216755,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.96593571,"cg_iw_a":0.854045391,"cg_theta_rad":0.556681216,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.00190969103,"mpcc_du":49.8528633,"mpcc_dv":49.3063164,"mpcc_dw":50.6936836,"mpcc_enc_sign":1,"mpcc_id_a":0.180668533,"mpcc_iq_a":-0.356812298,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.59426641,"mpcc_pred_id_a":-0.136874422,"mpcc_pred_iq_a":-2.74464059,"mpcc_state":1,"mpcc_theta_e":0.43628931,"mpcc_theta_mech":0.554203808,"sam_rpm":-7.54742622,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221366435,"thr_a_norm":0.0221366435,"thr_a_v":0.588546574,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472478837,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.227314,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.153744221,"cg_iw_a":1.57892203,"cg_theta_rad":0.556736708,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0353672169,"mpcc_du":50.5384102,"mpcc_dv":48.3581772,"mpcc_dw":51.6418228,"mpcc_enc_sign":1,"mpcc_id_a":1.47439766,"mpcc_iq_a":-1.90177453,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.0842676,"mpcc_pred_id_a":0.00736500509,"mpcc_pred_iq_a":1.89376616,"mpcc_state":1,"mpcc_theta_e":0.424416065,"mpcc_theta_mech":0.551829159,"sam_rpm":-21.2782688,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218219161,"thr_a_norm":0.0218219161,"thr_a_v":0.587287664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.237232,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.806133032,"cg_iw_a":-1.32058477,"cg_theta_rad":0.55700618,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.018949911,"mpcc_du":50.454586,"mpcc_dv":48.4073982,"mpcc_dw":51.5926018,"mpcc_enc_sign":1,"mpcc_id_a":2.62693238,"mpcc_iq_a":-0.416199654,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.9624176,"mpcc_pred_id_a":0.21868135,"mpcc_pred_iq_a":-1.54417586,"mpcc_state":1,"mpcc_theta_e":0.429510593,"mpcc_theta_mech":0.552848041,"sam_rpm":-23.0864811,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218219161,"thr_a_norm":0.0218219161,"thr_a_v":0.587287664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.24715,"values":{"cg_iu_a":1.32935333,"cg_iv_a":0.498644829,"cg_iw_a":-1.82799816,"cg_theta_rad":0.554011464,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0065526762,"mpcc_du":49.6010971,"mpcc_dv":50.3733444,"mpcc_dw":50.3989029,"mpcc_enc_sign":1,"mpcc_id_a":1.543594,"mpcc_iq_a":-1.03657603,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.00970697,"mpcc_pred_id_a":0.252713144,"mpcc_pred_iq_a":-0.35095185,"mpcc_state":1,"mpcc_theta_e":0.435359955,"mpcc_theta_mech":0.554017901,"sam_rpm":5.36402464,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0932753384,"thr_a_norm":0.0932753384,"thr_a_v":0.873101354,"thr_b":0.0418253541,"thr_b_norm":0.0418253541,"thr_b_v":0.667301416,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.257343,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.60349751,"cg_iw_a":-1.39307213,"cg_theta_rad":0.553708076,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.00862822495,"mpcc_du":51.4050407,"mpcc_dv":47.2099266,"mpcc_dw":52.7900734,"mpcc_enc_sign":1,"mpcc_id_a":1.15180278,"mpcc_iq_a":-0.849686742,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.1494904,"mpcc_pred_id_a":0.219749168,"mpcc_pred_iq_a":2.829808,"mpcc_state":1,"mpcc_theta_e":0.432348251,"mpcc_theta_mech":0.553415537,"sam_rpm":-19.3634815,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0120153278,"thr_a_norm":0.0932753384,"thr_a_v":0.548061311,"thr_b":0,"thr_b_norm":0.0418253541,"thr_b_v":0.438187212,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.267323,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.45852208,"cg_iw_a":0.926532984,"cg_theta_rad":0.556628168,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0166925155,"mpcc_du":50.4279709,"mpcc_dv":48.4025764,"mpcc_dw":51.5974236,"mpcc_enc_sign":1,"mpcc_id_a":2.54278588,"mpcc_iq_a":-0.428927511,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.2058887,"mpcc_pred_id_a":0.395649165,"mpcc_pred_iq_a":-0.543713272,"mpcc_state":1,"mpcc_theta_e":0.431423187,"mpcc_theta_mech":0.553230524,"sam_rpm":-18.9042816,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0120153278,"thr_a_norm":0.0120153278,"thr_a_v":0.548061311,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438187212,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.29076,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.661157608,"cg_iw_a":-1.24809694,"cg_theta_rad":0.553760171,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0241236389,"mpcc_du":50.4494667,"mpcc_dv":48.2369537,"mpcc_dw":51.7630463,"mpcc_enc_sign":1,"mpcc_id_a":2.86104035,"mpcc_iq_a":0.215980962,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.62120962,"mpcc_pred_id_a":0.408120543,"mpcc_pred_iq_a":-6.04797363,"mpcc_state":1,"mpcc_theta_e":0.445195198,"mpcc_theta_mech":0.555984914,"sam_rpm":-3.34432673,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276253074,"thr_a_norm":0.0276253074,"thr_a_v":0.61050123,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494383126,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.29726,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.153744221,"cg_iw_a":-2.69785023,"cg_theta_rad":0.557011247,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0181743316,"mpcc_du":50.1363106,"mpcc_dv":48.794323,"mpcc_dw":51.205677,"mpcc_enc_sign":1,"mpcc_id_a":2.09512544,"mpcc_iq_a":-1.88734674,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.57387781,"mpcc_pred_id_a":0.381747544,"mpcc_pred_iq_a":-0.665888309,"mpcc_state":1,"mpcc_theta_e":0.448909283,"mpcc_theta_mech":0.556727767,"sam_rpm":8.66864491,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276253074,"thr_a_norm":0.0276253074,"thr_a_v":0.61050123,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494383126,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.303822,"values":{"cg_iu_a":0.676964283,"cg_iv_a":0.933570862,"cg_iw_a":-2.6253624,"cg_theta_rad":0.556049585,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.00185684452,"mpcc_du":50.8824272,"mpcc_dv":48.3090553,"mpcc_dw":51.6909447,"mpcc_enc_sign":1,"mpcc_id_a":-0.755387008,"mpcc_iq_a":-0.793558598,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.90459061,"mpcc_pred_id_a":-0.905958295,"mpcc_pred_iq_a":-0.283527315,"mpcc_state":1,"mpcc_theta_e":0.447268963,"mpcc_theta_mech":0.556399703,"sam_rpm":-26.2746372,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199084431,"thr_a_norm":0.0199084431,"thr_a_v":0.579633772,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.310322,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.878620625,"cg_iw_a":-0.305757523,"cg_theta_rad":0.554622293,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0428763665,"mpcc_du":49.5039673,"mpcc_dv":48.5960732,"mpcc_dw":51.4039268,"mpcc_enc_sign":1,"mpcc_id_a":2.73108125,"mpcc_iq_a":0.269585252,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.26564598,"mpcc_pred_id_a":0.355599195,"mpcc_pred_iq_a":-5.14565992,"mpcc_state":1,"mpcc_theta_e":0.448427677,"mpcc_theta_mech":0.556631446,"sam_rpm":9.06489372,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0964980423,"thr_a_norm":0.0199084431,"thr_a_v":0.885992169,"thr_b":0.043285653,"thr_b_norm":0,"thr_b_v":0.673142612,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.322132,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.53100967,"cg_iw_a":0.491606712,"cg_theta_rad":0.553540647,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0513374098,"mpcc_du":50.3298988,"mpcc_dv":48.5404892,"mpcc_dw":51.4595108,"mpcc_enc_sign":1,"mpcc_id_a":2.61535025,"mpcc_iq_a":-1.476982,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.61599064,"mpcc_pred_id_a":0.342806637,"mpcc_pred_iq_a":-3.3146615,"mpcc_state":1,"mpcc_theta_e":0.445717812,"mpcc_theta_mech":0.556089461,"sam_rpm":-4.27596331,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0964980423,"thr_a_norm":0.0964980423,"thr_a_v":0.885992169,"thr_b":0.043285653,"thr_b_norm":0.043285653,"thr_b_v":0.673142612,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.332355,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.31354666,"cg_iw_a":0.564094543,"cg_theta_rad":0.556210399,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0489654206,"mpcc_du":50.6108589,"mpcc_dv":48.1814842,"mpcc_dw":51.8185158,"mpcc_enc_sign":1,"mpcc_id_a":1.11742091,"mpcc_iq_a":-0.576637149,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.61883783,"mpcc_pred_id_a":0.386237651,"mpcc_pred_iq_a":-0.844461203,"mpcc_state":1,"mpcc_theta_e":0.446343899,"mpcc_theta_mech":0.55621469,"sam_rpm":-0.245360702,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021544978,"thr_a_norm":0.021544978,"thr_a_v":0.586179912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.342548,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-2.11091113,"cg_iw_a":-4.00262833,"cg_theta_rad":0.553948343,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0233898181,"mpcc_du":49.8940048,"mpcc_dv":49.069149,"mpcc_dw":50.930851,"mpcc_enc_sign":1,"mpcc_id_a":3.0387373,"mpcc_iq_a":0.606493533,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.45244646,"mpcc_pred_id_a":0.246325284,"mpcc_pred_iq_a":0.704847395,"mpcc_state":1,"mpcc_theta_e":0.440985203,"mpcc_theta_mech":0.555142999,"sam_rpm":-2.06573248,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236724615,"thr_a_norm":0.021544978,"thr_a_v":0.594689846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470363915,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.352558,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.6759851,"cg_iw_a":0.491606951,"cg_theta_rad":0.559334338,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0781751052,"mpcc_du":50.0300522,"mpcc_dv":49.0533981,"mpcc_dw":50.9466019,"mpcc_enc_sign":1,"mpcc_id_a":2.5587194,"mpcc_iq_a":-0.269826323,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.14071178,"mpcc_pred_id_a":0.213685989,"mpcc_pred_iq_a":-3.08123398,"mpcc_state":1,"mpcc_theta_e":0.455348969,"mpcc_theta_mech":0.558015704,"sam_rpm":18.1542778,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236724615,"thr_a_norm":0.0236724615,"thr_a_v":0.594689846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470363915,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.362537,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.298719406,"cg_iw_a":0.12916851,"cg_theta_rad":0.554155529,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0327368043,"mpcc_du":50.253212,"mpcc_dv":48.7058716,"mpcc_dw":51.2941284,"mpcc_enc_sign":1,"mpcc_id_a":1.79950547,"mpcc_iq_a":-0.152121946,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.65969658,"mpcc_pred_id_a":0.215634242,"mpcc_pred_iq_a":-1.27181995,"mpcc_state":1,"mpcc_theta_e":0.441759109,"mpcc_theta_mech":0.555297732,"sam_rpm":-0.770457983,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284058005,"thr_a_norm":0.0284058005,"thr_a_v":0.613623202,"thr_b":0.00235980749,"thr_b_norm":0.00235980749,"thr_b_v":0.50943923,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.385578,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-0.878620625,"cg_iw_a":0.78155756,"cg_theta_rad":0.554057896,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.010733108,"mpcc_du":49.4863129,"mpcc_dv":50.5136871,"mpcc_dw":50.2875595,"mpcc_enc_sign":1,"mpcc_id_a":1.73114955,"mpcc_iq_a":-1.47586322,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.32297659,"mpcc_pred_id_a":0.127505526,"mpcc_pred_iq_a":-4.70422888,"mpcc_state":1,"mpcc_theta_e":0.4473176,"mpcc_theta_mech":0.556409478,"sam_rpm":10.9727564,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284058005,"thr_a_norm":0.0284058005,"thr_a_v":0.613623202,"thr_b":0.00235980749,"thr_b_norm":0.00235980749,"thr_b_v":0.50943923,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.392078,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-2.76329994,"cg_iw_a":-0.160782337,"cg_theta_rad":0.55428189,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.00679903105,"mpcc_du":50.4360962,"mpcc_dv":48.4445763,"mpcc_dw":51.5554237,"mpcc_enc_sign":1,"mpcc_id_a":1.64644873,"mpcc_iq_a":-1.16418874,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.1814194,"mpcc_pred_id_a":0.0311357584,"mpcc_pred_iq_a":-0.676990807,"mpcc_state":1,"mpcc_theta_e":0.429625511,"mpcc_theta_mech":0.552871048,"sam_rpm":-18.3739376,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274994224,"thr_a_norm":0.0274994224,"thr_a_v":0.60999769,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490707248,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.398609,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.60349751,"cg_iw_a":-0.450732708,"cg_theta_rad":0.55375433,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0300855655,"mpcc_du":49.9866219,"mpcc_dv":48.9569283,"mpcc_dw":51.0430717,"mpcc_enc_sign":1,"mpcc_id_a":2.40702987,"mpcc_iq_a":0.123160832,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.75275946,"mpcc_pred_id_a":0.260404408,"mpcc_pred_iq_a":-3.05523491,"mpcc_state":1,"mpcc_theta_e":0.438755989,"mpcc_theta_mech":0.554697156,"sam_rpm":-10.40452,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274994224,"thr_a_norm":0.0274994224,"thr_a_v":0.60999769,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490707248,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.40514,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-2.32837415,"cg_iw_a":1.94136024,"cg_theta_rad":0.555384874,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.00992573239,"mpcc_du":51.0000229,"mpcc_dv":47.8329239,"mpcc_dw":52.1670761,"mpcc_enc_sign":1,"mpcc_id_a":1.28010499,"mpcc_iq_a":-0.915112436,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.5299325,"mpcc_pred_id_a":-0.120412759,"mpcc_pred_iq_a":1.63393605,"mpcc_state":1,"mpcc_theta_e":0.43599987,"mpcc_theta_mech":0.554145932,"sam_rpm":-10.609808,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205504745,"thr_a_norm":0.0205504745,"thr_a_v":0.582201898,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.412922,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.443694592,"cg_iw_a":-2.19043684,"cg_theta_rad":0.556140542,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.016204603,"mpcc_du":50.217556,"mpcc_dv":48.75877,"mpcc_dw":51.24123,"mpcc_enc_sign":1,"mpcc_id_a":-1.40539992,"mpcc_iq_a":-0.998520434,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.72112536,"mpcc_pred_id_a":0.00960081629,"mpcc_pred_iq_a":-1.69885969,"mpcc_state":1,"mpcc_theta_e":0.440633774,"mpcc_theta_mech":0.555072665,"sam_rpm":-8.94123363,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236346871,"thr_a_norm":0.0205504745,"thr_a_v":0.594538748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483002961,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.422718,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.733645439,"cg_iw_a":0.564094543,"cg_theta_rad":0.55722487,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.00113093585,"mpcc_du":49.4060516,"mpcc_dv":50.5939484,"mpcc_dw":50.0670319,"mpcc_enc_sign":1,"mpcc_id_a":-0.0197536312,"mpcc_iq_a":-1.60983717,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.6898632,"mpcc_pred_id_a":-0.184676558,"mpcc_pred_iq_a":-3.43562531,"mpcc_state":1,"mpcc_theta_e":0.446250439,"mpcc_theta_mech":0.556195974,"sam_rpm":12.0261946,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236346871,"thr_a_norm":0.0236346871,"thr_a_v":0.594538748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483002961,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.433155,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.733645439,"cg_iw_a":-0.450732708,"cg_theta_rad":0.558125317,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0154279433,"mpcc_du":50.497139,"mpcc_dv":48.3182945,"mpcc_dw":51.6817055,"mpcc_enc_sign":1,"mpcc_id_a":2.47483635,"mpcc_iq_a":-1.61158514,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.55558586,"mpcc_pred_id_a":0.322871953,"mpcc_pred_iq_a":-0.669919729,"mpcc_state":1,"mpcc_theta_e":0.436413288,"mpcc_theta_mech":0.554228604,"sam_rpm":-15.0838537,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226275921,"thr_a_norm":0.0226275921,"thr_a_v":0.590510368,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.443134,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.951108456,"cg_iw_a":0.12916851,"cg_theta_rad":0.555098832,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0529975481,"mpcc_du":50.9631577,"mpcc_dv":48.0581017,"mpcc_dw":51.9418983,"mpcc_enc_sign":1,"mpcc_id_a":-1.32386982,"mpcc_iq_a":-0.478203803,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.74611759,"mpcc_pred_id_a":-0.452238798,"mpcc_pred_iq_a":-0.95308435,"mpcc_state":1,"mpcc_theta_e":0.443841457,"mpcc_theta_mech":0.55571419,"sam_rpm":-5.40550804,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226275921,"thr_a_norm":0.0226275921,"thr_a_v":0.590510368,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.453327,"values":{"cg_iu_a":1.98174238,"cg_iv_a":0.136206627,"cg_iw_a":-0.305757284,"cg_theta_rad":0.556527913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.101953961,"mpcc_du":50.476387,"mpcc_dv":48.4848137,"mpcc_dw":51.5151863,"mpcc_enc_sign":1,"mpcc_id_a":2.81989098,"mpcc_iq_a":-0.391877353,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.54593992,"mpcc_pred_id_a":0.567299128,"mpcc_pred_iq_a":-3.36041164,"mpcc_state":1,"mpcc_theta_e":0.453411579,"mpcc_theta_mech":0.557906926,"sam_rpm":2.99646711,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10172236,"thr_a_norm":0.10172236,"thr_a_v":0.906889439,"thr_b":0.0466216505,"thr_b_norm":0.0466216505,"thr_b_v":0.686486602,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.463459,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.45852208,"cg_iw_a":1.21648359,"cg_theta_rad":0.558338583,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0235685129,"mpcc_du":49.7189369,"mpcc_dv":49.9292908,"mpcc_dw":50.3785286,"mpcc_enc_sign":1,"mpcc_id_a":-0.738802075,"mpcc_iq_a":-2.32924676,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.467258781,"mpcc_pred_id_a":-0.776189327,"mpcc_pred_iq_a":-1.97064352,"mpcc_state":1,"mpcc_theta_e":0.436219215,"mpcc_theta_mech":0.552990735,"sam_rpm":-2.35217404,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151876807,"thr_a_norm":0.10172236,"thr_a_v":0.560750723,"thr_b":0,"thr_b_norm":0.0466216505,"thr_b_v":0.44387731,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.486317,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.951108456,"cg_iw_a":0.12916851,"cg_theta_rad":0.553967059,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.00675242627,"mpcc_du":49.253376,"mpcc_dv":50.746624,"mpcc_dw":49.7735558,"mpcc_enc_sign":1,"mpcc_id_a":0.387903452,"mpcc_iq_a":-0.774214447,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.81497574,"mpcc_pred_id_a":-0.326554,"mpcc_pred_iq_a":1.15278292,"mpcc_state":1,"mpcc_theta_e":0.433005333,"mpcc_theta_mech":0.553547025,"sam_rpm":9.86416531,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151876807,"thr_a_norm":0.0151876807,"thr_a_v":0.560750723,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44387731,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.492878,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.588670254,"cg_iw_a":-0.0882940292,"cg_theta_rad":0.557254791,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0112740882,"mpcc_du":50.1427574,"mpcc_dv":48.8512688,"mpcc_dw":51.1487312,"mpcc_enc_sign":1,"mpcc_id_a":1.98875165,"mpcc_iq_a":-0.938822687,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.18141508,"mpcc_pred_id_a":0.0634327382,"mpcc_pred_iq_a":0.202171311,"mpcc_state":1,"mpcc_theta_e":0.442899704,"mpcc_theta_mech":0.555525899,"sam_rpm":2.76950693,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0164969116,"thr_a_norm":0.0164969116,"thr_a_v":0.565987647,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469356835,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.499409,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.516182423,"cg_iw_a":-1.24809694,"cg_theta_rad":0.556707978,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0104166009,"mpcc_du":49.7886696,"mpcc_dv":49.2169456,"mpcc_dw":50.7830544,"mpcc_enc_sign":1,"mpcc_id_a":1.91710627,"mpcc_iq_a":-2.92027831,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.5141592,"mpcc_pred_id_a":0.325764954,"mpcc_pred_iq_a":-0.472184718,"mpcc_state":1,"mpcc_theta_e":0.450053692,"mpcc_theta_mech":0.556956649,"sam_rpm":12.20891,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0164969116,"thr_a_norm":0.0164969116,"thr_a_v":0.565987647,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469356835,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.506153,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.09608364,"cg_iw_a":-1.75551081,"cg_theta_rad":0.555160642,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.00649888534,"mpcc_du":49.7631912,"mpcc_dv":49.7577591,"mpcc_dw":50.2422409,"mpcc_enc_sign":1,"mpcc_id_a":-1.61045241,"mpcc_iq_a":-2.10391927,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.347245395,"mpcc_pred_id_a":-1.0223155,"mpcc_pred_iq_a":-3.91662073,"mpcc_state":1,"mpcc_theta_e":0.442158699,"mpcc_theta_mech":0.555377662,"sam_rpm":0.232292786,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209281296,"thr_a_norm":0.0209281296,"thr_a_v":0.583712518,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454552531,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.516224,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.89344811,"cg_iw_a":0.564094543,"cg_theta_rad":0.553032517,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.015384296,"mpcc_du":50.4199333,"mpcc_dv":48.6729698,"mpcc_dw":51.3270302,"mpcc_enc_sign":1,"mpcc_id_a":-0.10294085,"mpcc_iq_a":-2.41376185,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.50899494,"mpcc_pred_id_a":-0.335033178,"mpcc_pred_iq_a":-2.82464838,"mpcc_state":1,"mpcc_theta_e":0.454379082,"mpcc_theta_mech":0.557821751,"sam_rpm":-0.817886531,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0496051759,"thr_a_norm":0.0209281296,"thr_a_v":0.698420703,"thr_b":0.0180075616,"thr_b_norm":0,"thr_b_v":0.572030246,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.529133,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.60349751,"cg_iw_a":-0.885658741,"cg_theta_rad":0.554769635,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0372673795,"mpcc_du":49.5051575,"mpcc_dv":49.5798759,"mpcc_dw":50.4948425,"mpcc_enc_sign":1,"mpcc_id_a":2.82212687,"mpcc_iq_a":-0.874313295,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.14915729,"mpcc_pred_id_a":0.471821338,"mpcc_pred_iq_a":-4.36176157,"mpcc_state":1,"mpcc_theta_e":0.443949699,"mpcc_theta_mech":0.555735886,"sam_rpm":4.05274868,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0496051759,"thr_a_norm":0.0496051759,"thr_a_v":0.698420703,"thr_b":0.0180075616,"thr_b_norm":0.0180075616,"thr_b_v":0.572030246,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.540363,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.24105906,"cg_iw_a":0.201656103,"cg_theta_rad":0.556713045,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0280235261,"mpcc_du":49.6881523,"mpcc_dv":49.5057487,"mpcc_dw":50.4942513,"mpcc_enc_sign":1,"mpcc_id_a":1.53961515,"mpcc_iq_a":-0.702745974,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.23696804,"mpcc_pred_id_a":-0.0855026767,"mpcc_pred_iq_a":-3.17108583,"mpcc_state":1,"mpcc_theta_e":0.455331326,"mpcc_theta_mech":0.558012187,"sam_rpm":12.3110189,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0279022604,"thr_a_norm":0.0279022604,"thr_a_v":0.611609042,"thr_b":0.00068551302,"thr_b_norm":0.00068551302,"thr_b_v":0.502742052,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.550709,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.878620625,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.555797875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0253282674,"mpcc_du":49.6420212,"mpcc_dv":49.4230843,"mpcc_dw":50.5769157,"mpcc_enc_sign":1,"mpcc_id_a":2.52085376,"mpcc_iq_a":-0.650385737,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0580339022,"mpcc_pred_id_a":0.258705705,"mpcc_pred_iq_a":0.559263587,"mpcc_state":1,"mpcc_theta_e":0.431846142,"mpcc_theta_mech":0.553315163,"sam_rpm":-0.767284155,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188509971,"thr_a_norm":0.0279022604,"thr_a_v":0.575403988,"thr_b":0,"thr_b_norm":0.00068551302,"thr_b_v":0.457573801,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.560505,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.153744221,"cg_iw_a":0.346631765,"cg_theta_rad":0.555874109,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0794025287,"mpcc_du":50.6404343,"mpcc_dv":48.2475815,"mpcc_dw":51.7524185,"mpcc_enc_sign":1,"mpcc_id_a":2.59645224,"mpcc_iq_a":-0.1819271,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.89754212,"mpcc_pred_id_a":0.324769884,"mpcc_pred_iq_a":-0.515847027,"mpcc_state":1,"mpcc_theta_e":0.450446606,"mpcc_theta_mech":0.557035267,"sam_rpm":4.80960703,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188509971,"thr_a_norm":0.0188509971,"thr_a_v":0.575403988,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457573801,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.570911,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.60349751,"cg_iw_a":-1.39307213,"cg_theta_rad":0.556552708,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0761753395,"mpcc_du":50.5266838,"mpcc_dv":48.3573647,"mpcc_dw":51.6426353,"mpcc_enc_sign":1,"mpcc_id_a":2.57947445,"mpcc_iq_a":-0.554555655,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.07985473,"mpcc_pred_id_a":0.416050702,"mpcc_pred_iq_a":-1.4074707,"mpcc_state":1,"mpcc_theta_e":0.453586102,"mpcc_theta_mech":0.557663143,"sam_rpm":4.21085835,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0146841258,"thr_a_norm":0.0146841258,"thr_a_v":0.558736503,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447402149,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.595234,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.878620625,"cg_iw_a":-2.62536287,"cg_theta_rad":0.552419424,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.00159292575,"mpcc_du":50.992321,"mpcc_dv":47.8540611,"mpcc_dw":52.1459389,"mpcc_enc_sign":1,"mpcc_id_a":0.750573993,"mpcc_iq_a":-1.03050387,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.1672659,"mpcc_pred_id_a":-0.037271034,"mpcc_pred_iq_a":1.80411029,"mpcc_state":1,"mpcc_theta_e":0.430091858,"mpcc_theta_mech":0.55296427,"sam_rpm":-17.9563999,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0146841258,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.601795,"values":{"cg_iu_a":1.03940296,"cg_iv_a":0.716107845,"cg_iw_a":-1.68302298,"cg_theta_rad":0.553287387,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.00635764515,"mpcc_du":50.0938034,"mpcc_dv":48.9095917,"mpcc_dw":51.0904083,"mpcc_enc_sign":1,"mpcc_id_a":1.0065825,"mpcc_iq_a":-0.645153522,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.028986,"mpcc_pred_id_a":0.109302096,"mpcc_pred_iq_a":-2.75557685,"mpcc_state":1,"mpcc_theta_e":0.432928562,"mpcc_theta_mech":0.553531587,"sam_rpm":-14.827014,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.608295,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.16857147,"cg_iw_a":-0.958146572,"cg_theta_rad":0.554940641,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.00310698128,"mpcc_du":50.3402672,"mpcc_dv":48.7162971,"mpcc_dw":51.2837029,"mpcc_enc_sign":1,"mpcc_id_a":0.672975898,"mpcc_iq_a":-0.675643802,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.65908909,"mpcc_pred_id_a":-0.23806943,"mpcc_pred_iq_a":-1.27923405,"mpcc_state":1,"mpcc_theta_e":0.433188438,"mpcc_theta_mech":0.553583622,"sam_rpm":-13.2170582,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242263675,"thr_a_norm":0.0242263675,"thr_a_v":0.59690547,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481744081,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.614796,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.226231575,"cg_iw_a":-2.48038769,"cg_theta_rad":0.552594185,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0130902538,"mpcc_du":49.7861481,"mpcc_dv":49.3502388,"mpcc_dw":50.6497612,"mpcc_enc_sign":1,"mpcc_id_a":2.05652881,"mpcc_iq_a":-2.82464051,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.14935708,"mpcc_pred_id_a":0.000331936491,"mpcc_pred_iq_a":-2.07108402,"mpcc_state":1,"mpcc_theta_e":0.443154812,"mpcc_theta_mech":0.555576921,"sam_rpm":1.33585024,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242263675,"thr_a_norm":0.0242263675,"thr_a_v":0.59690547,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481744081,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.624134,"values":{"cg_iu_a":1.8367672,"cg_iv_a":0.0637187958,"cg_iw_a":-0.0882940292,"cg_theta_rad":0.554683745,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0106165726,"mpcc_du":48.9049225,"mpcc_dv":51.0950775,"mpcc_dw":49.5264359,"mpcc_enc_sign":1,"mpcc_id_a":1.97072506,"mpcc_iq_a":-1.97361219,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.3129139,"mpcc_pred_id_a":0.0152490251,"mpcc_pred_iq_a":-4.54289865,"mpcc_state":1,"mpcc_theta_e":0.451246262,"mpcc_theta_mech":0.557195127,"sam_rpm":21.0600357,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0267440975,"thr_a_norm":0.0267440975,"thr_a_v":0.60697639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493527114,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.634296,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.24105906,"cg_iw_a":-1.10312152,"cg_theta_rad":0.552732646,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0505354814,"mpcc_du":49.6053276,"mpcc_dv":50.2715302,"mpcc_dw":50.3946724,"mpcc_enc_sign":1,"mpcc_id_a":2.30364633,"mpcc_iq_a":-0.947003484,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.12180877,"mpcc_pred_id_a":0.10007906,"mpcc_pred_iq_a":-0.673953235,"mpcc_state":1,"mpcc_theta_e":0.425273418,"mpcc_theta_mech":0.552000642,"sam_rpm":-6.58292532,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181334466,"thr_a_norm":0.0267440975,"thr_a_v":0.572533786,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.64452,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.02359605,"cg_iw_a":-1.8279984,"cg_theta_rad":0.55660814,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0045391391,"mpcc_du":49.8229141,"mpcc_dv":49.3026924,"mpcc_dw":50.6973076,"mpcc_enc_sign":1,"mpcc_id_a":0.776398003,"mpcc_iq_a":-0.45116356,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.123080119,"mpcc_pred_id_a":-0.00131307368,"mpcc_pred_iq_a":-1.59832251,"mpcc_state":1,"mpcc_theta_e":0.437601089,"mpcc_theta_mech":0.554466128,"sam_rpm":0.327526748,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181334466,"thr_a_norm":0.0181334466,"thr_a_v":0.572533786,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.65453,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.16857147,"cg_iw_a":-1.32058477,"cg_theta_rad":0.552098095,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0281551071,"mpcc_du":49.8241882,"mpcc_dv":49.2644272,"mpcc_dw":50.7355728,"mpcc_enc_sign":1,"mpcc_id_a":2.08958793,"mpcc_iq_a":-0.731599331,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.21302319,"mpcc_pred_id_a":0.103621267,"mpcc_pred_iq_a":-1.2731688,"mpcc_state":1,"mpcc_theta_e":0.452289581,"mpcc_theta_mech":0.557403862,"sam_rpm":14.8942413,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176298916,"thr_a_norm":0.0176298916,"thr_a_v":0.570519567,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443122,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.664509,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.38603449,"cg_iw_a":0.491607189,"cg_theta_rad":0.555993617,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.00473702326,"mpcc_du":49.8901024,"mpcc_dv":49.4308167,"mpcc_dw":50.5691833,"mpcc_enc_sign":1,"mpcc_id_a":-0.252011359,"mpcc_iq_a":-3.08028746,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.82380265,"mpcc_pred_id_a":-0.513095438,"mpcc_pred_iq_a":-5.00384569,"mpcc_state":1,"mpcc_theta_e":0.449651241,"mpcc_theta_mech":0.556876183,"sam_rpm":1.53813505,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176298916,"thr_a_norm":0.0176298916,"thr_a_v":0.570519567,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443122,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.674793,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.733645439,"cg_iw_a":-0.523220539,"cg_theta_rad":0.556866765,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0566045046,"mpcc_du":49.9639168,"mpcc_dv":49.008606,"mpcc_dw":50.991394,"mpcc_enc_sign":1,"mpcc_id_a":2.24020028,"mpcc_iq_a":-0.407524586,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.23737431,"mpcc_pred_id_a":0.261731327,"mpcc_pred_iq_a":-2.85794401,"mpcc_state":1,"mpcc_theta_e":0.442042351,"mpcc_theta_mech":0.555354416,"sam_rpm":6.24457216,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294129103,"thr_a_norm":0.0294129103,"thr_a_v":0.617651641,"thr_b":0.004210338,"thr_b_norm":0.004210338,"thr_b_v":0.516841352,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.698109,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.16857147,"cg_iw_a":-1.97297382,"cg_theta_rad":0.556171477,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0317050368,"mpcc_du":50.0569572,"mpcc_dv":48.8738251,"mpcc_dw":51.0321388,"mpcc_enc_sign":1,"mpcc_id_a":2.44614124,"mpcc_iq_a":-1.49380124,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.11276364,"mpcc_pred_id_a":0.227800101,"mpcc_pred_iq_a":-2.44374752,"mpcc_state":1,"mpcc_theta_e":0.447268486,"mpcc_theta_mech":0.556399643,"sam_rpm":2.40756321,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0294129103,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0.004210338,"thr_b_v":0.451128393,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.70467,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.806133032,"cg_iw_a":-1.24809718,"cg_theta_rad":0.553017437,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0142921321,"mpcc_du":48.8612022,"mpcc_dv":51.1387978,"mpcc_dw":49.4127312,"mpcc_enc_sign":1,"mpcc_id_a":1.5247128,"mpcc_iq_a":-1.06415367,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.58082771,"mpcc_pred_id_a":-0.277333558,"mpcc_pred_iq_a":-7.56359863,"mpcc_state":1,"mpcc_theta_e":0.453335285,"mpcc_theta_mech":0.557613015,"sam_rpm":14.2011242,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451128393,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.711201,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.09608364,"cg_iw_a":-1.75551081,"cg_theta_rad":0.55604285,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.00816575903,"mpcc_du":49.7581253,"mpcc_dv":49.5185738,"mpcc_dw":50.4814262,"mpcc_enc_sign":1,"mpcc_id_a":-0.170342192,"mpcc_iq_a":-1.4017067,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.4778118,"mpcc_pred_id_a":-0.447839975,"mpcc_pred_iq_a":-1.87761629,"mpcc_state":1,"mpcc_theta_e":0.45238924,"mpcc_theta_mech":0.55742377,"sam_rpm":16.2215652,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262531489,"thr_a_norm":0.0262531489,"thr_a_v":0.605012596,"thr_b":0.00108835101,"thr_b_norm":0.00108835101,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.717701,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.661157608,"cg_iw_a":-1.10312176,"cg_theta_rad":0.553264499,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0596661232,"mpcc_du":50.2851143,"mpcc_dv":48.2501602,"mpcc_dw":51.7498398,"mpcc_enc_sign":1,"mpcc_id_a":4.50979614,"mpcc_iq_a":-0.847092032,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.68237495,"mpcc_pred_id_a":1.02442789,"mpcc_pred_iq_a":-1.20442295,"mpcc_state":1,"mpcc_theta_e":0.435396194,"mpcc_theta_mech":0.554025173,"sam_rpm":-13.7878819,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0175291747,"thr_a_norm":0.0262531489,"thr_a_v":0.570116699,"thr_b":0,"thr_b_norm":0.00108835101,"thr_b_v":0.456566721,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.727528,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-2.47334933,"cg_iw_a":0.926532984,"cg_theta_rad":0.556147456,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.00176515582,"mpcc_du":49.2875595,"mpcc_dv":50.7124405,"mpcc_dw":49.8791962,"mpcc_enc_sign":1,"mpcc_id_a":0.319861472,"mpcc_iq_a":-1.07386041,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.57117701,"mpcc_pred_id_a":-0.338037342,"mpcc_pred_iq_a":-1.15074635,"mpcc_state":1,"mpcc_theta_e":0.443185806,"mpcc_theta_mech":0.55558306,"sam_rpm":10.4893494,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0175291747,"thr_a_norm":0.0175291747,"thr_a_v":0.570116699,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456566721,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.73772,"values":{"cg_iu_a":4.15637207,"cg_iv_a":-1.16857147,"cg_iw_a":-2.9878006,"cg_theta_rad":0.556370378,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.01899313,"mpcc_du":49.1588058,"mpcc_dv":50.8411942,"mpcc_dw":49.8185158,"mpcc_enc_sign":1,"mpcc_id_a":1.80899966,"mpcc_iq_a":-1.15494871,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.217705533,"mpcc_pred_id_a":-0.126175433,"mpcc_pred_iq_a":-4.45770311,"mpcc_state":1,"mpcc_theta_e":0.433197021,"mpcc_theta_mech":0.553585291,"sam_rpm":-1.58383369,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0319558233,"thr_a_norm":0.0319558233,"thr_a_v":0.627823293,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487182409,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.747913,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.806133032,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.552639306,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.000193213215,"mpcc_du":48.9273796,"mpcc_dv":51.0726204,"mpcc_dw":49.4188728,"mpcc_enc_sign":1,"mpcc_id_a":0.272450745,"mpcc_iq_a":-0.496289104,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.1573105,"mpcc_pred_id_a":-0.392459989,"mpcc_pred_iq_a":-4.15247726,"mpcc_state":1,"mpcc_theta_e":0.444857121,"mpcc_theta_mech":0.555917323,"sam_rpm":17.4467506,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0319558233,"thr_a_norm":0.0319558233,"thr_a_v":0.627823293,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487182409,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.758106,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.661157608,"cg_iw_a":-0.233269691,"cg_theta_rad":0.555199564,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0103245592,"mpcc_du":49.5106583,"mpcc_dv":50.4893417,"mpcc_dw":50.2086678,"mpcc_enc_sign":1,"mpcc_id_a":0.458515435,"mpcc_iq_a":-1.13294888,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.7478528,"mpcc_pred_id_a":-0.196329996,"mpcc_pred_iq_a":-2.31238937,"mpcc_state":1,"mpcc_theta_e":0.436411858,"mpcc_theta_mech":0.554228246,"sam_rpm":2.956002,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272602439,"thr_a_norm":0.0272602439,"thr_a_v":0.609040976,"thr_b":0.00269970298,"thr_b_norm":0.00269970298,"thr_b_v":0.510798812,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.768208,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-2.25588632,"cg_iw_a":0.564094543,"cg_theta_rad":0.552148402,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.00507471804,"mpcc_du":49.5556831,"mpcc_dv":49.9444389,"mpcc_dw":50.4443169,"mpcc_enc_sign":1,"mpcc_id_a":0.351030201,"mpcc_iq_a":-0.850915909,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.11893981,"mpcc_pred_id_a":-0.226447612,"mpcc_pred_iq_a":-0.73491478,"mpcc_state":1,"mpcc_theta_e":0.43974781,"mpcc_theta_mech":0.554895461,"sam_rpm":1.95758319,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174536556,"thr_a_norm":0.0272602439,"thr_a_v":0.569814622,"thr_b":0,"thr_b_norm":0.00269970298,"thr_b_v":0.450926989,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.778126,"values":{"cg_iu_a":3.8664217,"cg_iv_a":-2.83578777,"cg_iw_a":0.854045391,"cg_theta_rad":0.553459942,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.102835648,"mpcc_du":49.9354782,"mpcc_dv":48.8065262,"mpcc_dw":51.1934738,"mpcc_enc_sign":1,"mpcc_id_a":3.00323844,"mpcc_iq_a":-0.00930067524,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.11187172,"mpcc_pred_id_a":0.808591962,"mpcc_pred_iq_a":-3.19205928,"mpcc_state":1,"mpcc_theta_e":0.451295376,"mpcc_theta_mech":0.557204962,"sam_rpm":7.79287243,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174536556,"thr_a_norm":0.0174536556,"thr_a_v":0.569814622,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450926989,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.801563,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.24105906,"cg_iw_a":-0.378245115,"cg_theta_rad":0.553829491,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0104866857,"mpcc_du":49.0530777,"mpcc_dv":50.9469223,"mpcc_dw":49.6962471,"mpcc_enc_sign":1,"mpcc_id_a":1.38255405,"mpcc_iq_a":-1.36060929,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.85181999,"mpcc_pred_id_a":-0.125568897,"mpcc_pred_iq_a":-6.81762838,"mpcc_state":1,"mpcc_theta_e":0.450051785,"mpcc_theta_mech":0.556956291,"sam_rpm":12.4449434,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186621547,"thr_a_norm":0.0186621547,"thr_a_v":0.574648619,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460494399,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.808064,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-1.02359605,"cg_iw_a":-1.75551057,"cg_theta_rad":0.557668447,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0572764054,"mpcc_du":49.6508064,"mpcc_dv":49.4014702,"mpcc_dw":50.5985298,"mpcc_enc_sign":1,"mpcc_id_a":2.35287023,"mpcc_iq_a":1.85123122,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.87755299,"mpcc_pred_id_a":0.2020998,"mpcc_pred_iq_a":-2.4274931,"mpcc_state":1,"mpcc_theta_e":0.444066525,"mpcc_theta_mech":0.555759251,"sam_rpm":4.22680998,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186621547,"thr_a_norm":0.0186621547,"thr_a_v":0.574648619,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460494399,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.814564,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.16857147,"cg_iw_a":-1.32058477,"cg_theta_rad":0.556112289,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0198906884,"mpcc_du":49.4372101,"mpcc_dv":49.4356499,"mpcc_dw":50.5643501,"mpcc_enc_sign":1,"mpcc_id_a":2.54314494,"mpcc_iq_a":-1.12407744,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.13053703,"mpcc_pred_id_a":0.679515243,"mpcc_pred_iq_a":-1.92096865,"mpcc_state":1,"mpcc_theta_e":0.447753429,"mpcc_theta_mech":0.55649662,"sam_rpm":10.278841,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212302655,"thr_a_norm":0.0212302655,"thr_a_v":0.584921062,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456617087,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.821308,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.878620625,"cg_iw_a":-0.160782337,"cg_theta_rad":0.554581642,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0128295003,"mpcc_du":49.8448524,"mpcc_dv":49.3570518,"mpcc_dw":50.6429482,"mpcc_enc_sign":1,"mpcc_id_a":1.51103675,"mpcc_iq_a":-0.761810064,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.7423265,"mpcc_pred_id_a":0.0498125628,"mpcc_pred_iq_a":-1.22093201,"mpcc_state":1,"mpcc_theta_e":0.444641113,"mpcc_theta_mech":0.5566113,"sam_rpm":2.67078328,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234962106,"thr_a_norm":0.0234962106,"thr_a_v":0.593984842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.833118,"values":{"cg_iu_a":-0.990252018,"cg_iv_a":-1.31354666,"cg_iw_a":2.30379868,"cg_theta_rad":0.552592158,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.000218221801,"mpcc_du":49.646862,"mpcc_dv":49.8404961,"mpcc_dw":50.353138,"mpcc_enc_sign":1,"mpcc_id_a":-0.0628927127,"mpcc_iq_a":-1.03177261,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.43616676,"mpcc_pred_id_a":-0.385572642,"mpcc_pred_iq_a":-1.03306007,"mpcc_state":1,"mpcc_theta_e":0.444631577,"mpcc_theta_mech":0.555872202,"sam_rpm":14.4938736,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234962106,"thr_a_norm":0.0234962106,"thr_a_v":0.593984842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.843098,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.31354666,"cg_iw_a":-1.97297382,"cg_theta_rad":0.555230498,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0686949939,"mpcc_du":49.8129578,"mpcc_dv":49.1640701,"mpcc_dw":50.8359299,"mpcc_enc_sign":1,"mpcc_id_a":2.76859093,"mpcc_iq_a":0.335074008,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.84663296,"mpcc_pred_id_a":0.293835074,"mpcc_pred_iq_a":-3.51464581,"mpcc_state":1,"mpcc_theta_e":0.452017784,"mpcc_theta_mech":0.557349503,"sam_rpm":4.37628698,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0159430057,"thr_a_norm":0.0159430057,"thr_a_v":0.563772023,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467946887,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.853321,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.53100967,"cg_iw_a":0.854045391,"cg_theta_rad":0.554939747,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.00580516132,"mpcc_du":49.8550415,"mpcc_dv":49.1226997,"mpcc_dw":50.8773003,"mpcc_enc_sign":1,"mpcc_id_a":0.757965744,"mpcc_iq_a":-1.53878117,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.6502695,"mpcc_pred_id_a":0.0244530402,"mpcc_pred_iq_a":-2.56833506,"mpcc_state":1,"mpcc_theta_e":0.428998947,"mpcc_theta_mech":0.5527457,"sam_rpm":-18.2842731,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243018866,"thr_a_norm":0.0159430057,"thr_a_v":0.597207546,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478672475,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.865559,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-0.371207237,"cg_iw_a":0.564094782,"cg_theta_rad":0.555979073,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0143502858,"mpcc_du":50.2920532,"mpcc_dv":48.5247612,"mpcc_dw":51.4752388,"mpcc_enc_sign":1,"mpcc_id_a":0.56195426,"mpcc_iq_a":-1.62883723,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.7906237,"mpcc_pred_id_a":0.0188046433,"mpcc_pred_iq_a":1.02202559,"mpcc_state":1,"mpcc_theta_e":0.425649166,"mpcc_theta_mech":0.552075744,"sam_rpm":-17.0154934,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243018866,"thr_a_norm":0.0243018866,"thr_a_v":0.597207546,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478672475,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.875721,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.53100967,"cg_iw_a":-0.450732708,"cg_theta_rad":0.552779973,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0234681014,"mpcc_du":50.4761314,"mpcc_dv":48.545166,"mpcc_dw":51.454834,"mpcc_enc_sign":1,"mpcc_id_a":-0.669414401,"mpcc_iq_a":-3.27766657,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.3469181,"mpcc_pred_id_a":-0.574482977,"mpcc_pred_iq_a":-0.620493948,"mpcc_state":1,"mpcc_theta_e":0.427411556,"mpcc_theta_mech":0.552428246,"sam_rpm":-21.237402,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245536715,"thr_a_norm":0.0245536715,"thr_a_v":0.598214686,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482549787,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.898945,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.443694592,"cg_iw_a":-1.90048599,"cg_theta_rad":0.557428658,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0274054669,"mpcc_du":50.3779182,"mpcc_dv":48.2342949,"mpcc_dw":51.7657051,"mpcc_enc_sign":1,"mpcc_id_a":2.91016436,"mpcc_iq_a":-0.33105132,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.79714108,"mpcc_pred_id_a":0.64712739,"mpcc_pred_iq_a":-0.182651058,"mpcc_state":1,"mpcc_theta_e":0.434505939,"mpcc_theta_mech":0.553847134,"sam_rpm":-13.4861345,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288967639,"thr_a_norm":0.0245536715,"thr_a_v":0.615587056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49508813,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.905415,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.806133032,"cg_iw_a":-0.305757284,"cg_theta_rad":0.557030678,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0208797362,"mpcc_du":49.5119476,"mpcc_dv":50.0567436,"mpcc_dw":50.4880524,"mpcc_enc_sign":1,"mpcc_id_a":2.76777792,"mpcc_iq_a":-1.82998013,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.68678463,"mpcc_pred_id_a":0.327499896,"mpcc_pred_iq_a":-5.00599432,"mpcc_state":1,"mpcc_theta_e":0.446233273,"mpcc_theta_mech":0.556192577,"sam_rpm":2.05442381,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288967639,"thr_a_norm":0.0288967639,"thr_a_v":0.615587056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49508813,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.911945,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.02359605,"cg_iw_a":-0.305757284,"cg_theta_rad":0.553606093,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0454141386,"mpcc_du":50.3486328,"mpcc_dv":48.5441093,"mpcc_dw":51.4558907,"mpcc_enc_sign":1,"mpcc_id_a":2.32090044,"mpcc_iq_a":-0.4161897,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.73885083,"mpcc_pred_id_a":0.154888451,"mpcc_pred_iq_a":-0.630577028,"mpcc_state":1,"mpcc_theta_e":0.448709965,"mpcc_theta_mech":0.556687891,"sam_rpm":5.13187361,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295387954,"thr_a_norm":0.0295387954,"thr_a_v":0.618155181,"thr_b":0.00296406448,"thr_b_norm":0.00296406448,"thr_b_v":0.511856258,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.918537,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.443694592,"cg_iw_a":-1.32058477,"cg_theta_rad":0.554188609,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0230172239,"mpcc_du":49.866951,"mpcc_dv":49.0792618,"mpcc_dw":50.9207382,"mpcc_enc_sign":1,"mpcc_id_a":2.1272049,"mpcc_iq_a":0.908763111,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.56865215,"mpcc_pred_id_a":0.203491002,"mpcc_pred_iq_a":-2.62495136,"mpcc_state":1,"mpcc_theta_e":0.434604645,"mpcc_theta_mech":0.553866804,"sam_rpm":-11.9100618,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295387954,"thr_a_norm":0.0295387954,"thr_a_v":0.618155181,"thr_b":0.00296406448,"thr_b_norm":0.00296406448,"thr_b_v":0.511856258,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.926502,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.16857147,"cg_iw_a":-0.740683079,"cg_theta_rad":0.554103196,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.00258449558,"mpcc_du":52.0021019,"mpcc_dv":46.6216431,"mpcc_dw":49.4734383,"mpcc_enc_sign":1,"mpcc_id_a":-0.440017343,"mpcc_iq_a":-2.09266686,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-25.7718601,"mpcc_pred_id_a":-0.432888329,"mpcc_pred_iq_a":2.04533625,"mpcc_state":1,"mpcc_theta_e":0.423814297,"mpcc_theta_mech":0.560162246,"sam_rpm":-37.1400337,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0139791816,"thr_a_norm":0.0139791816,"thr_a_v":0.555916727,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43582055,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.938892,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-2.18339872,"cg_iw_a":-0.740683556,"cg_theta_rad":0.556867063,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0342007279,"mpcc_du":50.4586563,"mpcc_dv":48.6242905,"mpcc_dw":51.3757095,"mpcc_enc_sign":1,"mpcc_id_a":0.27932331,"mpcc_iq_a":-0.642803252,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.730486572,"mpcc_pred_id_a":-0.335249722,"mpcc_pred_iq_a":-1.83358526,"mpcc_state":1,"mpcc_theta_e":0.451917648,"mpcc_theta_mech":0.557692349,"sam_rpm":1.36917269,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165724456,"thr_a_norm":0.0165724456,"thr_a_v":0.566289783,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475399435,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.948902,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.38603449,"cg_iw_a":-1.46555996,"cg_theta_rad":0.552770495,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5000,"hz_app_loop":362,"hz_tim_isr":9998,"hz_vsense":362,"mpcc_cost":0.0685555711,"mpcc_du":50.8496704,"mpcc_dv":48.0219116,"mpcc_dw":51.9780884,"mpcc_enc_sign":1,"mpcc_id_a":0.560701251,"mpcc_iq_a":0.10764727,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.19985819,"mpcc_pred_id_a":-0.108199611,"mpcc_pred_iq_a":-0.737421632,"mpcc_state":1,"mpcc_theta_e":0.445755959,"mpcc_theta_mech":0.55609715,"sam_rpm":-2.77190113,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165724456,"thr_a_norm":0.0165724456,"thr_a_v":0.566289783,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475399435,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.959522,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-2.25588632,"cg_iw_a":1.143996,"cg_theta_rad":0.556920588,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0127727231,"mpcc_du":49.5255699,"mpcc_dv":50.2625809,"mpcc_dw":50.4744301,"mpcc_enc_sign":1,"mpcc_id_a":1.85572588,"mpcc_iq_a":-1.54596591,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.1808424,"mpcc_pred_id_a":0.312743366,"mpcc_pred_iq_a":-3.77849889,"mpcc_state":1,"mpcc_theta_e":0.451295376,"mpcc_theta_mech":0.557205021,"sam_rpm":13.9482498,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024440363,"thr_a_norm":0.024440363,"thr_a_v":0.597761452,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485470384,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.969807,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.6759851,"cg_iw_a":0.781557798,"cg_theta_rad":0.557224929,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0749317706,"mpcc_du":49.8867989,"mpcc_dv":48.8539886,"mpcc_dw":51.1460114,"mpcc_enc_sign":1,"mpcc_id_a":3.35655499,"mpcc_iq_a":-0.292789847,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.3037119,"mpcc_pred_id_a":0.703724623,"mpcc_pred_iq_a":-1.9077642,"mpcc_state":1,"mpcc_theta_e":0.456800461,"mpcc_theta_mech":0.558305979,"sam_rpm":10.6273165,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280155689,"thr_a_norm":0.024440363,"thr_a_v":0.612062275,"thr_b":0.001491189,"thr_b_norm":0,"thr_b_v":0.505964756,"vdc_v":55.2955055}} +{"type":"telemetry","t":51.979725,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.74847269,"cg_iw_a":0.854045391,"cg_theta_rad":0.551803291,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.00632562255,"mpcc_du":50.5695534,"mpcc_dv":48.2236137,"mpcc_dw":51.7763863,"mpcc_enc_sign":1,"mpcc_id_a":0.826269805,"mpcc_iq_a":-0.516684234,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.92066765,"mpcc_pred_id_a":0.0175541211,"mpcc_pred_iq_a":0.51540482,"mpcc_state":1,"mpcc_theta_e":0.433839321,"mpcc_theta_mech":0.553713739,"sam_rpm":-10.5102472,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280155689,"thr_a_norm":0.0280155689,"thr_a_v":0.612062275,"thr_b":0.001491189,"thr_b_norm":0.001491189,"thr_b_v":0.505964756,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.002918,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.09608364,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556886375,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0141772367,"mpcc_du":50.148922,"mpcc_dv":48.8352547,"mpcc_dw":51.1647453,"mpcc_enc_sign":1,"mpcc_id_a":1.09389913,"mpcc_iq_a":-1.96207798,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.09010553,"mpcc_pred_id_a":-0.0714569613,"mpcc_pred_iq_a":-1.65340137,"mpcc_state":1,"mpcc_theta_e":0.448709488,"mpcc_theta_mech":0.556687772,"sam_rpm":6.73589468,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283806324,"thr_a_norm":0.0283806324,"thr_a_v":0.61352253,"thr_b":0.000912100077,"thr_b_norm":0.000912100077,"thr_b_v":0.5036484,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.00951,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.82096052,"cg_iw_a":0.999020576,"cg_theta_rad":0.553228855,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0407922342,"mpcc_du":49.4243927,"mpcc_dv":49.7283859,"mpcc_dw":50.5756073,"mpcc_enc_sign":1,"mpcc_id_a":3.646631,"mpcc_iq_a":0.365338385,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.820801198,"mpcc_pred_id_a":0.67035383,"mpcc_pred_iq_a":-3.12348413,"mpcc_state":1,"mpcc_theta_e":0.441133976,"mpcc_theta_mech":0.555172682,"sam_rpm":0.437942266,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283806324,"thr_a_norm":0.0283806324,"thr_a_v":0.61352253,"thr_b":0.000912100077,"thr_b_norm":0.000912100077,"thr_b_v":0.5036484,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.01598,"values":{"cg_iu_a":4.73627377,"cg_iv_a":-1.24105906,"cg_iw_a":0.781557798,"cg_theta_rad":0.555552244,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0342350118,"mpcc_du":50.5102577,"mpcc_dv":48.1057053,"mpcc_dw":51.8942947,"mpcc_enc_sign":1,"mpcc_id_a":2.91733241,"mpcc_iq_a":-0.509439111,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.23527503,"mpcc_pred_id_a":0.583205402,"mpcc_pred_iq_a":2.21961713,"mpcc_state":1,"mpcc_theta_e":0.446144581,"mpcc_theta_mech":0.556174815,"sam_rpm":5.24883652,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160562992,"thr_a_norm":0.0160562992,"thr_a_v":0.564225197,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.02248,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-2.32837415,"cg_iw_a":1.143996,"cg_theta_rad":0.55727464,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0353933275,"mpcc_du":50.2880135,"mpcc_dv":48.1418381,"mpcc_dw":51.8581619,"mpcc_enc_sign":1,"mpcc_id_a":3.63126326,"mpcc_iq_a":-0.83812058,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.639185,"mpcc_pred_id_a":1.02740884,"mpcc_pred_iq_a":-0.96356988,"mpcc_state":1,"mpcc_theta_e":0.431488514,"mpcc_theta_mech":0.553243637,"sam_rpm":-20.1793289,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236346871,"thr_a_norm":0.0160562992,"thr_a_v":0.594538748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482851923,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.030293,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.588670254,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556250095,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0330983326,"mpcc_du":49.3508224,"mpcc_dv":50.6491776,"mpcc_dw":50.2522926,"mpcc_enc_sign":1,"mpcc_id_a":2.96747494,"mpcc_iq_a":0.963152647,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.92607212,"mpcc_pred_id_a":0.215816215,"mpcc_pred_iq_a":-4.8150115,"mpcc_state":1,"mpcc_theta_e":0.441352367,"mpcc_theta_mech":0.555216372,"sam_rpm":3.67945266,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236346871,"thr_a_norm":0.0236346871,"thr_a_v":0.594538748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482851923,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.040516,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.82096052,"cg_iw_a":-0.958146095,"cg_theta_rad":0.55698055,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.00680588838,"mpcc_du":50.0970078,"mpcc_dv":48.8839912,"mpcc_dw":51.1160088,"mpcc_enc_sign":1,"mpcc_id_a":0.872043192,"mpcc_iq_a":-1.60883975,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.49272156,"mpcc_pred_id_a":-0.197338074,"mpcc_pred_iq_a":-2.78427148,"mpcc_state":1,"mpcc_theta_e":0.44007206,"mpcc_theta_mech":0.55496031,"sam_rpm":-6.62076759,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216834545,"thr_a_norm":0.0216834545,"thr_a_v":0.586733818,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.050678,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-2.40086174,"cg_iw_a":-0.523220539,"cg_theta_rad":0.556711257,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0120721012,"mpcc_du":50.0649872,"mpcc_dv":48.6728058,"mpcc_dw":51.3271942,"mpcc_enc_sign":1,"mpcc_id_a":2.16246796,"mpcc_iq_a":-0.90918529,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.88218641,"mpcc_pred_id_a":0.403902501,"mpcc_pred_iq_a":-1.01399076,"mpcc_state":1,"mpcc_theta_e":0.436550617,"mpcc_theta_mech":0.554256082,"sam_rpm":-11.225955,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216834545,"thr_a_norm":0.0216834545,"thr_a_v":0.586733818,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.060719,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.661157608,"cg_iw_a":-0.378245115,"cg_theta_rad":0.553966165,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0829816759,"mpcc_du":49.8636093,"mpcc_dv":48.8060341,"mpcc_dw":51.1939659,"mpcc_enc_sign":1,"mpcc_id_a":2.7058568,"mpcc_iq_a":0.038801983,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.50768614,"mpcc_pred_id_a":0.784815192,"mpcc_pred_iq_a":-2.09336329,"mpcc_state":1,"mpcc_theta_e":0.452415943,"mpcc_theta_mech":0.557429135,"sam_rpm":11.4814157,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.107916012,"thr_a_norm":0.107916012,"thr_a_v":0.93166405,"thr_b":0.0420897156,"thr_b_norm":0.0420897156,"thr_b_v":0.668358862,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.070881,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.516182423,"cg_iw_a":-1.17560911,"cg_theta_rad":0.553058982,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0318781659,"mpcc_du":50.7468567,"mpcc_dv":48.3461609,"mpcc_dw":51.6538391,"mpcc_enc_sign":1,"mpcc_id_a":-0.727473795,"mpcc_iq_a":0.439291507,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.96119499,"mpcc_pred_id_a":-0.80611372,"mpcc_pred_iq_a":-1.05558467,"mpcc_state":1,"mpcc_theta_e":0.43979311,"mpcc_theta_mech":0.554904521,"sam_rpm":-10.390358,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.107916012,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0.0420897156,"thr_b_v":0.466839105,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.081135,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.6759851,"cg_iw_a":-1.24809718,"cg_theta_rad":0.554956257,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0276961979,"mpcc_du":50.631443,"mpcc_dv":48.2765236,"mpcc_dw":51.7234764,"mpcc_enc_sign":1,"mpcc_id_a":0.761018097,"mpcc_iq_a":-1.32885051,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.21450472,"mpcc_pred_id_a":-0.188413039,"mpcc_pred_iq_a":-2.46155548,"mpcc_state":1,"mpcc_theta_e":0.442651272,"mpcc_theta_mech":0.555476129,"sam_rpm":-9.97348881,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466839105,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.104298,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.0087685585,"cg_iw_a":-1.53804755,"cg_theta_rad":0.555187225,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.00434816396,"mpcc_du":49.5395279,"mpcc_dv":50.4604721,"mpcc_dw":50.2725449,"mpcc_enc_sign":1,"mpcc_id_a":0.335805446,"mpcc_iq_a":-0.196067184,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.780772448,"mpcc_pred_id_a":-0.348322511,"mpcc_pred_iq_a":-5.1472187,"mpcc_state":1,"mpcc_theta_e":0.431146622,"mpcc_theta_mech":0.553175211,"sam_rpm":0.604268968,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179697722,"thr_a_norm":0.0179697722,"thr_a_v":0.571879089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460242629,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.110828,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.16857147,"cg_iw_a":-2.04546142,"cg_theta_rad":0.556189835,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.010907908,"mpcc_du":49.7550888,"mpcc_dv":49.5000496,"mpcc_dw":50.4999504,"mpcc_enc_sign":1,"mpcc_id_a":-0.262262046,"mpcc_iq_a":-1.26344645,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.54058838,"mpcc_pred_id_a":-0.577466667,"mpcc_pred_iq_a":-2.83780718,"mpcc_state":1,"mpcc_theta_e":0.450897694,"mpcc_theta_mech":0.557125449,"sam_rpm":11.3749313,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179697722,"thr_a_norm":0.0179697722,"thr_a_v":0.571879089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460242629,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.117329,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-2.0384233,"cg_iw_a":1.07150817,"cg_theta_rad":0.552926183,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.00174913916,"mpcc_du":50.8823814,"mpcc_dv":47.972908,"mpcc_dw":52.027092,"mpcc_enc_sign":1,"mpcc_id_a":-0.814412713,"mpcc_iq_a":-1.32633173,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.7197151,"mpcc_pred_id_a":-0.393405259,"mpcc_pred_iq_a":-0.431815058,"mpcc_state":1,"mpcc_theta_e":0.426424503,"mpcc_theta_mech":0.552230835,"sam_rpm":-26.5362453,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294129103,"thr_a_norm":0.0294129103,"thr_a_v":0.617651641,"thr_b":0.00269970298,"thr_b_norm":0.00269970298,"thr_b_v":0.510798812,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.12389,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.516182423,"cg_iw_a":-1.90048599,"cg_theta_rad":0.555461287,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.04929021,"mpcc_du":49.4368439,"mpcc_dv":50.2666321,"mpcc_dw":50.5631561,"mpcc_enc_sign":1,"mpcc_id_a":4.13239479,"mpcc_iq_a":-0.492690265,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.9705596,"mpcc_pred_id_a":0.80973202,"mpcc_pred_iq_a":-3.88451815,"mpcc_state":1,"mpcc_theta_e":0.447328091,"mpcc_theta_mech":0.556411564,"sam_rpm":8.25059223,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182089806,"thr_a_norm":0.0294129103,"thr_a_v":0.572835922,"thr_b":0,"thr_b_norm":0.00269970298,"thr_b_v":0.447956055,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.131886,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.878620625,"cg_iw_a":-1.39307261,"cg_theta_rad":0.554963589,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0132294996,"mpcc_du":50.119709,"mpcc_dv":48.7705536,"mpcc_dw":50.9652481,"mpcc_enc_sign":1,"mpcc_id_a":1.64439237,"mpcc_iq_a":-0.310944527,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.333515048,"mpcc_pred_id_a":0.180871189,"mpcc_pred_iq_a":-0.172827855,"mpcc_state":1,"mpcc_theta_e":0.442152977,"mpcc_theta_mech":0.556925654,"sam_rpm":0.421544999,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182089806,"thr_a_norm":0.0182089806,"thr_a_v":0.572835922,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447956055,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.142139,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.53100967,"cg_iw_a":0.926532745,"cg_theta_rad":0.556667924,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0217337646,"mpcc_du":49.1191978,"mpcc_dv":50.8808022,"mpcc_dw":49.9729233,"mpcc_enc_sign":1,"mpcc_id_a":2.89480972,"mpcc_iq_a":-0.720002294,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.10121536,"mpcc_pred_id_a":0.436237663,"mpcc_pred_iq_a":-4.82943869,"mpcc_state":1,"mpcc_theta_e":0.442866325,"mpcc_theta_mech":0.555519164,"sam_rpm":10.7393179,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0267063379,"thr_a_norm":0.0267063379,"thr_a_v":0.606825352,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.154255,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.951108456,"cg_iw_a":0.491606712,"cg_theta_rad":0.552536964,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0284840129,"mpcc_du":50.7300568,"mpcc_dv":48.009903,"mpcc_dw":51.990097,"mpcc_enc_sign":1,"mpcc_id_a":2.32444906,"mpcc_iq_a":-0.906772494,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.77032518,"mpcc_pred_id_a":0.315162539,"mpcc_pred_iq_a":0.14437373,"mpcc_state":1,"mpcc_theta_e":0.440721512,"mpcc_theta_mech":0.555090189,"sam_rpm":-8.16724586,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212176591,"thr_a_norm":0.0267063379,"thr_a_v":0.584870636,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482197315,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.16518,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.38603449,"cg_iw_a":-1.17560911,"cg_theta_rad":0.556164563,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0569095835,"mpcc_du":49.7902527,"mpcc_dv":49.1736641,"mpcc_dw":50.8263359,"mpcc_enc_sign":1,"mpcc_id_a":2.2728734,"mpcc_iq_a":-0.352688283,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.5756259,"mpcc_pred_id_a":0.432169169,"mpcc_pred_iq_a":-2.86278462,"mpcc_state":1,"mpcc_theta_e":0.451196194,"mpcc_theta_mech":0.557185113,"sam_rpm":11.2910013,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212176591,"thr_a_norm":0.0212176591,"thr_a_v":0.584870636,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482197315,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.174335,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-2.54583716,"cg_iw_a":-0.0158064365,"cg_theta_rad":0.554557204,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0262652207,"mpcc_du":49.9765511,"mpcc_dv":49.0544586,"mpcc_dw":50.9455414,"mpcc_enc_sign":1,"mpcc_id_a":0.531192541,"mpcc_iq_a":-1.13075233,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.81452847,"mpcc_pred_id_a":0.167675868,"mpcc_pred_iq_a":-3.09661579,"mpcc_state":1,"mpcc_theta_e":0.445901871,"mpcc_theta_mech":0.556126297,"sam_rpm":5.05399179,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211673081,"thr_a_norm":0.0211673081,"thr_a_v":0.584669232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472277433,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.184284,"values":{"cg_iu_a":4.44632339,"cg_iv_a":-0.951108456,"cg_iw_a":0.346631527,"cg_theta_rad":0.557947099,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0202089418,"mpcc_du":49.8826065,"mpcc_dv":49.2107773,"mpcc_dw":50.7892227,"mpcc_enc_sign":1,"mpcc_id_a":1.56265116,"mpcc_iq_a":-2.80583334,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.85719299,"mpcc_pred_id_a":0.0709969476,"mpcc_pred_iq_a":-4.37065315,"mpcc_state":1,"mpcc_theta_e":0.453586102,"mpcc_theta_mech":0.557663143,"sam_rpm":6.65963745,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211673081,"thr_a_norm":0.0211673081,"thr_a_v":0.584669232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472277433,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.207691,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-2.98076296,"cg_iw_a":0.636582375,"cg_theta_rad":0.55647409,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0683863685,"mpcc_du":51.3182487,"mpcc_dv":47.1541061,"mpcc_dw":52.8458939,"mpcc_enc_sign":1,"mpcc_id_a":2.6330986,"mpcc_iq_a":0.430679828,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.59115601,"mpcc_pred_id_a":0.668749928,"mpcc_pred_iq_a":2.42152381,"mpcc_state":1,"mpcc_theta_e":0.439769268,"mpcc_theta_mech":0.554899812,"sam_rpm":-10.9092722,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280155689,"thr_a_norm":0.0280155689,"thr_a_v":0.612062275,"thr_b":0.000345617533,"thr_b_norm":0.000345617533,"thr_b_v":0.50138247,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.214222,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.60349751,"cg_iw_a":1.79638505,"cg_theta_rad":0.556910574,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.00446782447,"mpcc_du":49.5848579,"mpcc_dv":49.6236877,"mpcc_dw":50.4151421,"mpcc_enc_sign":1,"mpcc_id_a":0.462909371,"mpcc_iq_a":-0.771714151,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.2729516,"mpcc_pred_id_a":-0.0504890531,"mpcc_pred_iq_a":-3.15188146,"mpcc_state":1,"mpcc_theta_e":0.443864346,"mpcc_theta_mech":0.55571878,"sam_rpm":3.24884558,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202231556,"thr_a_norm":0.0202231556,"thr_a_v":0.580892622,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.220753,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.11091113,"cg_iw_a":-1.61053514,"cg_theta_rad":0.555794597,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.00484959362,"mpcc_du":50.9908066,"mpcc_dv":47.969326,"mpcc_dw":52.030674,"mpcc_enc_sign":1,"mpcc_id_a":-0.802517414,"mpcc_iq_a":-0.595297039,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.4322891,"mpcc_pred_id_a":-0.515061855,"mpcc_pred_iq_a":-0.218631983,"mpcc_state":1,"mpcc_theta_e":0.428241253,"mpcc_theta_mech":0.552594125,"sam_rpm":-24.4075432,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202231556,"thr_a_norm":0.0202231556,"thr_a_v":0.580892622,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.227253,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.298719406,"cg_iw_a":-0.378244877,"cg_theta_rad":0.557532907,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.000666262815,"mpcc_du":49.7173042,"mpcc_dv":49.4967766,"mpcc_dw":50.5032234,"mpcc_enc_sign":1,"mpcc_id_a":0.0465183519,"mpcc_iq_a":-1.31411088,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.38194776,"mpcc_pred_id_a":-0.25379476,"mpcc_pred_iq_a":-2.49788284,"mpcc_state":1,"mpcc_theta_e":0.435553074,"mpcc_theta_mech":0.554056525,"sam_rpm":2.99496555,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246292055,"thr_a_norm":0.0246292055,"thr_a_v":0.598516822,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493476748,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.237293,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-0.878620625,"cg_iw_a":0.854045391,"cg_theta_rad":0.555481553,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0462453142,"mpcc_du":49.7048912,"mpcc_dv":49.385479,"mpcc_dw":50.614521,"mpcc_enc_sign":1,"mpcc_id_a":2.36744618,"mpcc_iq_a":-1.15493011,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.76939964,"mpcc_pred_id_a":0.158703208,"mpcc_pred_iq_a":-3.4047327,"mpcc_state":1,"mpcc_theta_e":0.455413342,"mpcc_theta_mech":0.558028579,"sam_rpm":15.0195999,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0246292055,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466184497,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.247303,"values":{"cg_iu_a":-1.20771503,"cg_iv_a":-2.11091113,"cg_iw_a":-0.523220301,"cg_theta_rad":0.556697845,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0166317802,"mpcc_du":50.074192,"mpcc_dv":49.2699318,"mpcc_dw":50.7300682,"mpcc_enc_sign":1,"mpcc_id_a":-0.105177425,"mpcc_iq_a":-0.963388979,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.3549232,"mpcc_pred_id_a":-0.735931218,"mpcc_pred_iq_a":-4.51445055,"mpcc_state":1,"mpcc_theta_e":0.439280033,"mpcc_theta_mech":0.554801881,"sam_rpm":-5.13983059,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466184497,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.258686,"values":{"cg_iu_a":2.48915625,"cg_iv_a":0.136206627,"cg_iw_a":0.491606712,"cg_theta_rad":0.556727588,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0106309652,"mpcc_du":50.5564613,"mpcc_dv":48.3460808,"mpcc_dw":51.6539192,"mpcc_enc_sign":1,"mpcc_id_a":2.05401587,"mpcc_iq_a":-1.65288734,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.76684618,"mpcc_pred_id_a":0.121052176,"mpcc_pred_iq_a":0.404512286,"mpcc_state":1,"mpcc_theta_e":0.438777447,"mpcc_theta_mech":0.554701447,"sam_rpm":-10.306592,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00967383385,"thr_a_norm":0.00967383385,"thr_a_v":0.538695335,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447754622,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.270069,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.76329994,"cg_iw_a":-0.958146572,"cg_theta_rad":0.554854751,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0132106422,"mpcc_du":50.3297882,"mpcc_dv":48.5155716,"mpcc_dw":51.4844284,"mpcc_enc_sign":1,"mpcc_id_a":0.599083602,"mpcc_iq_a":-0.674914777,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.2486086,"mpcc_pred_id_a":0.214854404,"mpcc_pred_iq_a":1.58427894,"mpcc_state":1,"mpcc_theta_e":0.41924715,"mpcc_theta_mech":0.550795376,"sam_rpm":-20.2029648,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021670863,"thr_a_norm":0.00967383385,"thr_a_v":0.586683452,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472378135,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.279865,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-0.951108456,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556394875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0177486893,"mpcc_du":50.2101364,"mpcc_dv":48.6149788,"mpcc_dw":51.3850212,"mpcc_enc_sign":1,"mpcc_id_a":2.18336916,"mpcc_iq_a":-1.71688259,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.297615886,"mpcc_pred_id_a":0.472964227,"mpcc_pred_iq_a":1.90472293,"mpcc_state":1,"mpcc_theta_e":0.439878464,"mpcc_theta_mech":0.554921567,"sam_rpm":-1.49342155,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021670863,"thr_a_norm":0.021670863,"thr_a_v":0.586683452,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472378135,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.303211,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.24105906,"cg_iw_a":0.41911912,"cg_theta_rad":0.55583638,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0274746176,"mpcc_du":49.5214958,"mpcc_dv":49.8543434,"mpcc_dw":50.4785042,"mpcc_enc_sign":1,"mpcc_id_a":3.24018526,"mpcc_iq_a":-0.837626994,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.75355172,"mpcc_pred_id_a":0.462797433,"mpcc_pred_iq_a":-3.32472157,"mpcc_state":1,"mpcc_theta_e":0.442903996,"mpcc_theta_mech":0.555526674,"sam_rpm":1.87189674,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0142938942,"thr_a_norm":0.0142938942,"thr_a_v":0.557175577,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446495771,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.309742,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.16857147,"cg_iw_a":-1.39307213,"cg_theta_rad":0.557170033,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0332298465,"mpcc_du":50.3124886,"mpcc_dv":48.9910927,"mpcc_dw":51.0089073,"mpcc_enc_sign":1,"mpcc_id_a":-1.45802319,"mpcc_iq_a":-5.08667326,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.88492441,"mpcc_pred_id_a":-0.853505254,"mpcc_pred_iq_a":-2.13990593,"mpcc_state":1,"mpcc_theta_e":0.435114861,"mpcc_theta_mech":0.553968906,"sam_rpm":-10.3980761,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0142938942,"thr_a_norm":0.0142938942,"thr_a_v":0.557175577,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446495771,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.316242,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.31354666,"cg_iw_a":0.564094543,"cg_theta_rad":0.553713441,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.00332149188,"mpcc_du":50.9217911,"mpcc_dv":47.9568443,"mpcc_dw":52.0431557,"mpcc_enc_sign":1,"mpcc_id_a":0.440019161,"mpcc_iq_a":-1.20276237,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.6064281,"mpcc_pred_id_a":-0.26000753,"mpcc_pred_iq_a":1.26479793,"mpcc_state":1,"mpcc_theta_e":0.422410011,"mpcc_theta_mech":0.55142796,"sam_rpm":-26.4734631,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211673081,"thr_a_norm":0.0211673081,"thr_a_v":0.584669232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473737687,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.322834,"values":{"cg_iu_a":4.95373726,"cg_iv_a":-0.733645439,"cg_iw_a":-0.450732708,"cg_theta_rad":0.557803392,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0117804641,"mpcc_du":48.5852737,"mpcc_dv":51.4147263,"mpcc_dw":49.0570488,"mpcc_enc_sign":1,"mpcc_id_a":0.609239101,"mpcc_iq_a":-1.27687418,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.960331,"mpcc_pred_id_a":-0.329806179,"mpcc_pred_iq_a":-7.15932894,"mpcc_state":1,"mpcc_theta_e":0.458986759,"mpcc_theta_mech":0.558743298,"sam_rpm":28.1472702,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019077599,"thr_a_norm":0.0211673081,"thr_a_v":0.576310396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466083795,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.331165,"values":{"cg_iu_a":0.749452114,"cg_iv_a":0.0637187958,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.556128442,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0115410686,"mpcc_du":49.7394447,"mpcc_dv":50.154747,"mpcc_dw":50.2605553,"mpcc_enc_sign":1,"mpcc_id_a":-0.351297468,"mpcc_iq_a":-1.12649751,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.21321416,"mpcc_pred_id_a":-0.738718092,"mpcc_pred_iq_a":-5.49258804,"mpcc_state":1,"mpcc_theta_e":0.44647789,"mpcc_theta_mech":0.556241512,"sam_rpm":3.59072804,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019077599,"thr_a_norm":0.019077599,"thr_a_v":0.576310396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466083795,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.341236,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.516182423,"cg_iw_a":-1.75551081,"cg_theta_rad":0.556609273,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0315451361,"mpcc_du":50.076973,"mpcc_dv":49.062191,"mpcc_dw":50.937809,"mpcc_enc_sign":1,"mpcc_id_a":-0.189144492,"mpcc_iq_a":-1.70235157,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.53048801,"mpcc_pred_id_a":-0.291684747,"mpcc_pred_iq_a":0.271357864,"mpcc_state":1,"mpcc_theta_e":0.426468849,"mpcc_theta_mech":0.552239656,"sam_rpm":-16.2066746,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212176591,"thr_a_norm":0.0212176591,"thr_a_v":0.584870636,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483909339,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.352253,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.878620625,"cg_iw_a":-2.84282589,"cg_theta_rad":0.556156635,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.037870355,"mpcc_du":50.1127129,"mpcc_dv":48.9267883,"mpcc_dw":51.0732117,"mpcc_enc_sign":1,"mpcc_id_a":-0.017637305,"mpcc_iq_a":-0.812398911,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.8179502,"mpcc_pred_id_a":-0.150756881,"mpcc_pred_iq_a":0.54857713,"mpcc_state":1,"mpcc_theta_e":0.419154167,"mpcc_theta_mech":0.55077678,"sam_rpm":-26.053751,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212176591,"thr_a_norm":0.0212176591,"thr_a_v":0.584870636,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483909339,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.363483,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.733645439,"cg_iw_a":-1.10312176,"cg_theta_rad":0.554463029,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0450078808,"mpcc_du":50.3524017,"mpcc_dv":48.5257683,"mpcc_dw":51.4742317,"mpcc_enc_sign":1,"mpcc_id_a":2.167485,"mpcc_iq_a":-1.23474181,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.3726387,"mpcc_pred_id_a":0.148543194,"mpcc_pred_iq_a":-4.14493322,"mpcc_state":1,"mpcc_theta_e":0.452289581,"mpcc_theta_mech":0.557403862,"sam_rpm":-1.77220261,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210540146,"thr_a_norm":0.0210540146,"thr_a_v":0.584216058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.37389,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.806133032,"cg_iw_a":0.129168749,"cg_theta_rad":0.55606252,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0384671651,"mpcc_du":49.9182434,"mpcc_dv":49.1317596,"mpcc_dw":50.8682404,"mpcc_enc_sign":1,"mpcc_id_a":1.92452538,"mpcc_iq_a":-1.40112412,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.83649635,"mpcc_pred_id_a":0.137689635,"mpcc_pred_iq_a":-2.34930587,"mpcc_state":1,"mpcc_theta_e":0.454306602,"mpcc_theta_mech":0.557807267,"sam_rpm":14.8579473,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022980094,"thr_a_norm":0.0210540146,"thr_a_v":0.591920376,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491664022,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.383869,"values":{"cg_iu_a":-0.772789001,"cg_iv_a":-0.951108456,"cg_iw_a":-1.24809694,"cg_theta_rad":0.558039963,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0347907431,"mpcc_du":50.0055885,"mpcc_dv":48.8634949,"mpcc_dw":51.1365051,"mpcc_enc_sign":1,"mpcc_id_a":3.38365149,"mpcc_iq_a":-0.535251856,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.77560329,"mpcc_pred_id_a":0.51275754,"mpcc_pred_iq_a":-1.65308321,"mpcc_state":1,"mpcc_theta_e":0.442941189,"mpcc_theta_mech":0.555534124,"sam_rpm":-5.02181244,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022980094,"thr_a_norm":0.022980094,"thr_a_v":0.591920376,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491664022,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.407093,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.09608364,"cg_iw_a":0.78155756,"cg_theta_rad":0.560885906,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0102046989,"mpcc_du":49.983593,"mpcc_dv":49.216301,"mpcc_dw":50.783699,"mpcc_enc_sign":1,"mpcc_id_a":-0.0774946958,"mpcc_iq_a":-2.04964685,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.30843759,"mpcc_pred_id_a":-0.380580485,"mpcc_pred_iq_a":-3.81199193,"mpcc_state":1,"mpcc_theta_e":0.450103283,"mpcc_theta_mech":0.556966603,"sam_rpm":2.64475083,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0117509812,"thr_a_norm":0.0117509812,"thr_a_v":0.547003925,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447603583,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.413624,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-1.38603449,"cg_iw_a":1.65140963,"cg_theta_rad":0.55274564,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0206705872,"mpcc_du":49.9035835,"mpcc_dv":49.0830765,"mpcc_dw":50.9169235,"mpcc_enc_sign":1,"mpcc_id_a":2.29981589,"mpcc_iq_a":-1.29467201,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.44426632,"mpcc_pred_id_a":0.230107427,"mpcc_pred_iq_a":-0.666360676,"mpcc_state":1,"mpcc_theta_e":0.450798512,"mpcc_theta_mech":0.55710566,"sam_rpm":13.002634,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0117509812,"thr_a_norm":0.0117509812,"thr_a_v":0.547003925,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447603583,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.420124,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.16857147,"cg_iw_a":-1.46555996,"cg_theta_rad":0.554655254,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.012602699,"mpcc_du":50.3550148,"mpcc_dv":48.6206551,"mpcc_dw":51.3793449,"mpcc_enc_sign":1,"mpcc_id_a":0.295620978,"mpcc_iq_a":0.23704116,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.1268463,"mpcc_pred_id_a":-0.16953145,"mpcc_pred_iq_a":-2.24252057,"mpcc_state":1,"mpcc_theta_e":0.431012154,"mpcc_theta_mech":0.553148389,"sam_rpm":-18.0536804,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022073701,"thr_a_norm":0.022073701,"thr_a_v":0.588294804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476557553,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.426899,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.02359605,"cg_iw_a":-1.4655602,"cg_theta_rad":0.556554019,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.017130468,"mpcc_du":49.9456062,"mpcc_dv":49.0735779,"mpcc_dw":50.9264221,"mpcc_enc_sign":1,"mpcc_id_a":2.388726,"mpcc_iq_a":-1.78403807,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.795009553,"mpcc_pred_id_a":0.197119489,"mpcc_pred_iq_a":-3.40132856,"mpcc_state":1,"mpcc_theta_e":0.445067883,"mpcc_theta_mech":0.555959463,"sam_rpm":0.165315375,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021242857,"thr_a_norm":0.021242857,"thr_a_v":0.584971428,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457523465,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.436665,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-2.18339872,"cg_iw_a":-0.81317091,"cg_theta_rad":0.557847977,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.00966912694,"mpcc_du":50.8441887,"mpcc_dv":48.1050453,"mpcc_dw":51.8949547,"mpcc_enc_sign":1,"mpcc_id_a":0.361045897,"mpcc_iq_a":-0.485918611,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.8105879,"mpcc_pred_id_a":-0.356475353,"mpcc_pred_iq_a":-0.790401757,"mpcc_state":1,"mpcc_theta_e":0.434294224,"mpcc_theta_mech":0.553804755,"sam_rpm":-19.4610596,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021242857,"thr_a_norm":0.021242857,"thr_a_v":0.584971428,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457523465,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.446857,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.153744221,"cg_iw_a":-2.19043636,"cg_theta_rad":0.555574,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0313648842,"mpcc_du":50.1564293,"mpcc_dv":48.849205,"mpcc_dw":51.150795,"mpcc_enc_sign":1,"mpcc_id_a":0.151452184,"mpcc_iq_a":-1.08752382,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.73710012,"mpcc_pred_id_a":-0.020893611,"mpcc_pred_iq_a":-2.81377077,"mpcc_state":1,"mpcc_theta_e":0.444608688,"mpcc_theta_mech":0.555867672,"sam_rpm":-5.45303822,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205504745,"thr_a_norm":0.0205504745,"thr_a_v":0.582201898,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460595101,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.45705,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.443694592,"cg_iw_a":0.419119358,"cg_theta_rad":0.55660814,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0434204526,"mpcc_du":50.2429581,"mpcc_dv":48.524395,"mpcc_dw":51.475605,"mpcc_enc_sign":1,"mpcc_id_a":2.96757793,"mpcc_iq_a":-0.56334579,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.9316082,"mpcc_pred_id_a":0.543535829,"mpcc_pred_iq_a":-2.49604726,"mpcc_state":1,"mpcc_theta_e":0.441045284,"mpcc_theta_mech":0.555154979,"sam_rpm":-10.3310595,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0389929116,"thr_a_norm":0.0205504745,"thr_a_v":0.655971646,"thr_b":0.00996337831,"thr_b_norm":0,"thr_b_v":0.539853513,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.469074,"values":{"cg_iu_a":3.93890953,"cg_iv_a":-0.443694592,"cg_iw_a":-3.49521494,"cg_theta_rad":0.553132951,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0328237303,"mpcc_du":49.4855957,"mpcc_dv":49.5412788,"mpcc_dw":50.5144043,"mpcc_enc_sign":1,"mpcc_id_a":3.00319719,"mpcc_iq_a":0.0182778742,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.12634039,"mpcc_pred_id_a":0.510553122,"mpcc_pred_iq_a":-1.95043039,"mpcc_state":1,"mpcc_theta_e":0.442112446,"mpcc_theta_mech":0.555368364,"sam_rpm":8.41432667,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0389929116,"thr_a_norm":0.0389929116,"thr_a_v":0.655971646,"thr_b":0.00996337831,"thr_b_norm":0.00996337831,"thr_b_v":0.539853513,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.479053,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-2.11091113,"cg_iw_a":-0.958146334,"cg_theta_rad":0.557070374,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.00558895664,"mpcc_du":50.6405907,"mpcc_dv":48.1034126,"mpcc_dw":51.8965874,"mpcc_enc_sign":1,"mpcc_id_a":1.3060149,"mpcc_iq_a":-0.688704014,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.7097092,"mpcc_pred_id_a":0.276366711,"mpcc_pred_iq_a":0.0747879222,"mpcc_state":1,"mpcc_theta_e":0.4313097,"mpcc_theta_mech":0.553207815,"sam_rpm":-19.7334061,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205127001,"thr_a_norm":0.0205127001,"thr_a_v":0.5820508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464422047,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.489246,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-2.83578777,"cg_iw_a":0.0566811562,"cg_theta_rad":0.557668447,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.00442444999,"mpcc_du":50.2723236,"mpcc_dv":48.8987122,"mpcc_dw":51.1012878,"mpcc_enc_sign":1,"mpcc_id_a":0.159638628,"mpcc_iq_a":-2.10494781,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.5299902,"mpcc_pred_id_a":-0.541939914,"mpcc_pred_iq_a":-4.29858732,"mpcc_state":1,"mpcc_theta_e":0.439123154,"mpcc_theta_mech":0.554770589,"sam_rpm":-14.194829,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247173309,"thr_a_norm":0.0205127001,"thr_a_v":0.598869324,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.512318,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.733645439,"cg_iw_a":-1.61053514,"cg_theta_rad":0.553884089,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0144377667,"mpcc_du":50.9602547,"mpcc_dv":48.1255989,"mpcc_dw":51.8744011,"mpcc_enc_sign":1,"mpcc_id_a":-0.151218861,"mpcc_iq_a":-1.69078827,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.0316019,"mpcc_pred_id_a":-0.864028215,"mpcc_pred_iq_a":-6.24473619,"mpcc_state":1,"mpcc_theta_e":0.453280449,"mpcc_theta_mech":0.557601988,"sam_rpm":-4.98730707,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247173309,"thr_a_norm":0.0247173309,"thr_a_v":0.598869324,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.518818,"values":{"cg_iu_a":2.77910662,"cg_iv_a":0.136206627,"cg_iw_a":-0.81317091,"cg_theta_rad":0.555913329,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.00293572992,"mpcc_du":49.5788918,"mpcc_dv":49.6419487,"mpcc_dw":50.4211082,"mpcc_enc_sign":1,"mpcc_id_a":0.941856146,"mpcc_iq_a":-0.949117601,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.114001088,"mpcc_pred_id_a":-0.0433637947,"mpcc_pred_iq_a":-3.22896147,"mpcc_state":1,"mpcc_theta_e":0.440992355,"mpcc_theta_mech":0.55514437,"sam_rpm":-0.566568136,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0157164186,"thr_a_norm":0.0157164186,"thr_a_v":0.562865674,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461652547,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.525379,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.951108456,"cg_iw_a":-0.813171148,"cg_theta_rad":0.557046413,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0207043327,"mpcc_du":50.6116142,"mpcc_dv":48.0699883,"mpcc_dw":51.9300117,"mpcc_enc_sign":1,"mpcc_id_a":1.16682637,"mpcc_iq_a":-0.140585929,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.7484951,"mpcc_pred_id_a":-0.376495451,"mpcc_pred_iq_a":-3.54748964,"mpcc_state":1,"mpcc_theta_e":0.449803352,"mpcc_theta_mech":0.556906581,"sam_rpm":-13.6538477,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0157164186,"thr_a_norm":0.0157164186,"thr_a_v":0.562865674,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461652547,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.5331,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.24105906,"cg_iw_a":-1.53804755,"cg_theta_rad":0.55366981,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0491524301,"mpcc_du":49.4507103,"mpcc_dv":50.3201332,"mpcc_dw":50.5492897,"mpcc_enc_sign":1,"mpcc_id_a":3.88505125,"mpcc_iq_a":-0.0166552085,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.1141157,"mpcc_pred_id_a":0.839656055,"mpcc_pred_iq_a":-2.8326304,"mpcc_state":1,"mpcc_theta_e":0.450921059,"mpcc_theta_mech":0.557130158,"sam_rpm":16.2597218,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227157176,"thr_a_norm":0.0227157176,"thr_a_v":0.59086287,"thr_b":0.000295266509,"thr_b_norm":0.000295266509,"thr_b_v":0.501181066,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.5425,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.733645439,"cg_iw_a":0.274144173,"cg_theta_rad":0.559095621,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.00925703906,"mpcc_du":48.859951,"mpcc_dv":51.140049,"mpcc_dw":49.3589706,"mpcc_enc_sign":1,"mpcc_id_a":0.985465527,"mpcc_iq_a":-1.32811141,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":23.165802,"mpcc_pred_id_a":-0.470024049,"mpcc_pred_iq_a":-4.68730259,"mpcc_state":1,"mpcc_theta_e":0.462247372,"mpcc_theta_mech":0.559395373,"sam_rpm":34.5447006,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227409005,"thr_a_norm":0.0227157176,"thr_a_v":0.590963602,"thr_b":0,"thr_b_norm":0.000295266509,"thr_b_v":0.480636299,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.552113,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.18339872,"cg_iw_a":-0.668195724,"cg_theta_rad":0.555805802,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.00179189257,"mpcc_du":49.8763657,"mpcc_dv":49.319355,"mpcc_dw":50.680645,"mpcc_enc_sign":1,"mpcc_id_a":0.828206718,"mpcc_iq_a":-1.02731276,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.95171952,"mpcc_pred_id_a":-0.336933047,"mpcc_pred_iq_a":-2.26063824,"mpcc_state":1,"mpcc_theta_e":0.435656071,"mpcc_theta_mech":0.554077148,"sam_rpm":-6.87862968,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227409005,"thr_a_norm":0.0227409005,"thr_a_v":0.590963602,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480636299,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.562489,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.24105906,"cg_iw_a":1.50643444,"cg_theta_rad":0.555081367,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0436209142,"mpcc_du":49.5518913,"mpcc_dv":49.7829781,"mpcc_dw":50.4481087,"mpcc_enc_sign":1,"mpcc_id_a":2.19213557,"mpcc_iq_a":-1.54315889,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.57632208,"mpcc_pred_id_a":0.141796499,"mpcc_pred_iq_a":-0.882978857,"mpcc_state":1,"mpcc_theta_e":0.426468849,"mpcc_theta_mech":0.552239656,"sam_rpm":-8.06484127,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295639783,"thr_a_norm":0.0295639783,"thr_a_v":0.618255913,"thr_b":0.00515450537,"thr_b_norm":0.00515450537,"thr_b_v":0.520618021,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.572468,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.951108456,"cg_iw_a":-0.81317091,"cg_theta_rad":0.554144621,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0462193526,"mpcc_du":50.657383,"mpcc_dv":48.2669258,"mpcc_dw":51.7330742,"mpcc_enc_sign":1,"mpcc_id_a":3.55058527,"mpcc_iq_a":-0.0744140595,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.4224834,"mpcc_pred_id_a":0.695178986,"mpcc_pred_iq_a":-4.32929134,"mpcc_state":1,"mpcc_theta_e":0.4603405,"mpcc_theta_mech":0.559014022,"sam_rpm":4.15810728,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295639783,"thr_a_norm":0.0295639783,"thr_a_v":0.618255913,"thr_b":0.00515450537,"thr_b_norm":0.00515450537,"thr_b_v":0.520618021,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.582691,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.09608364,"cg_iw_a":-2.26292419,"cg_theta_rad":0.556548893,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0642352551,"mpcc_du":50.0055275,"mpcc_dv":49.0286751,"mpcc_dw":50.9713249,"mpcc_enc_sign":1,"mpcc_id_a":1.35427642,"mpcc_iq_a":-0.420235902,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.87514114,"mpcc_pred_id_a":0.044541467,"mpcc_pred_iq_a":-2.77933598,"mpcc_state":1,"mpcc_theta_e":0.451892853,"mpcc_theta_mech":0.557324529,"sam_rpm":12.3501749,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202231556,"thr_a_norm":0.0202231556,"thr_a_v":0.580892622,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454200029,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.592854,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.45852208,"cg_iw_a":0.709069967,"cg_theta_rad":0.551631927,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0400155,"mpcc_du":49.7868195,"mpcc_dv":48.9270859,"mpcc_dw":51.0729141,"mpcc_enc_sign":1,"mpcc_id_a":2.59301925,"mpcc_iq_a":-1.18741322,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0400462337,"mpcc_pred_id_a":0.939514041,"mpcc_pred_iq_a":-3.19693065,"mpcc_state":1,"mpcc_theta_e":0.445526123,"mpcc_theta_mech":0.556891799,"sam_rpm":1.48166108,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020613417,"thr_a_norm":0.0202231556,"thr_a_v":0.582453668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471068889,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.615894,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-2.54583716,"cg_iw_a":-0.595708132,"cg_theta_rad":0.555792034,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0180869717,"mpcc_du":51.4383698,"mpcc_dv":47.1130676,"mpcc_dw":52.8869324,"mpcc_enc_sign":1,"mpcc_id_a":2.31495142,"mpcc_iq_a":-0.561025023,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-23.3775043,"mpcc_pred_id_a":-0.0633420348,"mpcc_pred_iq_a":4.11328173,"mpcc_state":1,"mpcc_theta_e":0.4161129,"mpcc_theta_mech":0.550168514,"sam_rpm":-35.581913,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020613417,"thr_a_norm":0.020613417,"thr_a_v":0.582453668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471068889,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.622395,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.82096052,"cg_iw_a":0.564094543,"cg_theta_rad":0.552652538,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0091651259,"mpcc_du":49.5838089,"mpcc_dv":50.0058365,"mpcc_dw":50.4161911,"mpcc_enc_sign":1,"mpcc_id_a":-0.26696068,"mpcc_iq_a":-1.26246214,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.9575005,"mpcc_pred_id_a":-0.0311696231,"mpcc_pred_iq_a":-2.03432012,"mpcc_state":1,"mpcc_theta_e":0.454617977,"mpcc_theta_mech":0.557869554,"sam_rpm":23.6501408,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226653665,"thr_a_norm":0.0226653665,"thr_a_v":0.590661466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.628956,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.89344811,"cg_iw_a":0.274143934,"cg_theta_rad":0.556035101,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.00763922743,"mpcc_du":50.4798965,"mpcc_dv":48.5322151,"mpcc_dw":51.4677849,"mpcc_enc_sign":1,"mpcc_id_a":0.731072783,"mpcc_iq_a":-1.55173838,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.68331695,"mpcc_pred_id_a":-0.217267811,"mpcc_pred_iq_a":0.250573099,"mpcc_state":1,"mpcc_theta_e":0.446402073,"mpcc_theta_mech":0.556226313,"sam_rpm":4.17737532,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226653665,"thr_a_norm":0.0226653665,"thr_a_v":0.590661466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.635426,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.53100967,"cg_iw_a":-0.958146572,"cg_theta_rad":0.553165913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.00116377568,"mpcc_du":50.8091393,"mpcc_dv":48.0963707,"mpcc_dw":51.9036293,"mpcc_enc_sign":1,"mpcc_id_a":0.0257011615,"mpcc_iq_a":-2.2633903,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.8141193,"mpcc_pred_id_a":-0.289936274,"mpcc_pred_iq_a":0.206464991,"mpcc_state":1,"mpcc_theta_e":0.430006027,"mpcc_theta_mech":0.552947164,"sam_rpm":-19.0642815,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0251579285,"thr_a_norm":0.0251579285,"thr_a_v":0.600631714,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485772491,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.646503,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-1.38603449,"cg_iw_a":-1.61053514,"cg_theta_rad":0.559330761,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.00440212572,"mpcc_du":49.2860985,"mpcc_dv":50.7139015,"mpcc_dw":49.8671951,"mpcc_enc_sign":1,"mpcc_id_a":0.122484423,"mpcc_iq_a":-0.652972817,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.90548754,"mpcc_pred_id_a":-0.396516234,"mpcc_pred_iq_a":-3.0956111,"mpcc_state":1,"mpcc_theta_e":0.436419487,"mpcc_theta_mech":0.554229856,"sam_rpm":6.25887966,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244529694,"thr_a_norm":0.0251579285,"thr_a_v":0.597811878,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467493683,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.657551,"values":{"cg_iu_a":-1.1352272,"cg_iv_a":-0.661157608,"cg_iw_a":-1.39307237,"cg_theta_rad":0.555903316,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0368384086,"mpcc_du":49.1312981,"mpcc_dv":50.8687019,"mpcc_dw":50.2328835,"mpcc_enc_sign":1,"mpcc_id_a":3.66446376,"mpcc_iq_a":-1.10542107,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.362133,"mpcc_pred_id_a":1.10863185,"mpcc_pred_iq_a":-4.21329308,"mpcc_state":1,"mpcc_theta_e":0.425637722,"mpcc_theta_mech":0.552073479,"sam_rpm":4.04554176,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244529694,"thr_a_norm":0.0244529694,"thr_a_v":0.597811878,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467493683,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.667683,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.82096052,"cg_iw_a":0.926533222,"cg_theta_rad":0.555662036,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0636222959,"mpcc_du":50.2017021,"mpcc_dv":48.6759911,"mpcc_dw":51.3240089,"mpcc_enc_sign":1,"mpcc_id_a":1.78275979,"mpcc_iq_a":-0.532636404,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.73718715,"mpcc_pred_id_a":0.26747784,"mpcc_pred_iq_a":-1.58414543,"mpcc_state":1,"mpcc_theta_e":0.450648308,"mpcc_theta_mech":0.55707556,"sam_rpm":-1.63719285,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285568833,"thr_a_norm":0.0285568833,"thr_a_v":0.614227533,"thr_b":0.00180590153,"thr_b_norm":0.00180590153,"thr_b_v":0.507223606,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.677631,"values":{"cg_iu_a":4.37383556,"cg_iv_a":-0.443694592,"cg_iw_a":0.999020815,"cg_theta_rad":0.557733059,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0220581833,"mpcc_du":50.6345634,"mpcc_dv":48.0479126,"mpcc_dw":51.9520874,"mpcc_enc_sign":1,"mpcc_id_a":2.2688756,"mpcc_iq_a":-1.89990401,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.722579,"mpcc_pred_id_a":0.23840636,"mpcc_pred_iq_a":1.35962594,"mpcc_state":1,"mpcc_theta_e":0.426501274,"mpcc_theta_mech":0.552246153,"sam_rpm":-21.77878,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285568833,"thr_a_norm":0.0285568833,"thr_a_v":0.614227533,"thr_b":0.00180590153,"thr_b_norm":0.00180590153,"thr_b_v":0.507223606,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.688068,"values":{"cg_iu_a":1.98174238,"cg_iv_a":1.00605869,"cg_iw_a":-2.98780107,"cg_theta_rad":0.556875706,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.00822278298,"mpcc_du":50.2488976,"mpcc_dv":48.7596588,"mpcc_dw":51.2403412,"mpcc_enc_sign":1,"mpcc_id_a":1.6699363,"mpcc_iq_a":-1.26607215,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.5469836,"mpcc_pred_id_a":-0.124606468,"mpcc_pred_iq_a":-1.35819876,"mpcc_state":1,"mpcc_theta_e":0.449621201,"mpcc_theta_mech":0.556870162,"sam_rpm":-2.55685067,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0962966233,"thr_a_norm":0.0962966233,"thr_a_v":0.885186493,"thr_b":0.04074274,"thr_b_norm":0.04074274,"thr_b_v":0.66297096,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.711323,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.09608364,"cg_iw_a":-1.46555996,"cg_theta_rad":0.557065666,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0129347509,"mpcc_du":49.6505661,"mpcc_dv":50.0358124,"mpcc_dw":50.3494339,"mpcc_enc_sign":1,"mpcc_id_a":0.630754232,"mpcc_iq_a":-0.250075608,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.99822593,"mpcc_pred_id_a":-0.38576141,"mpcc_pred_iq_a":-4.21467304,"mpcc_state":1,"mpcc_theta_e":0.445179939,"mpcc_theta_mech":0.555981934,"sam_rpm":5.61515427,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214820355,"thr_a_norm":0.0962966233,"thr_a_v":0.585928142,"thr_b":0,"thr_b_norm":0.04074274,"thr_b_v":0.473788053,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.717823,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.588670254,"cg_iw_a":-2.84282541,"cg_theta_rad":0.552582562,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.00595852081,"mpcc_du":49.6368523,"mpcc_dv":50.3631477,"mpcc_dw":50.1982002,"mpcc_enc_sign":1,"mpcc_id_a":0.118031345,"mpcc_iq_a":-0.653792441,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.89604616,"mpcc_pred_id_a":-0.633739054,"mpcc_pred_iq_a":-5.07960367,"mpcc_state":1,"mpcc_theta_e":0.443234921,"mpcc_theta_mech":0.555592895,"sam_rpm":3.91569209,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214820355,"thr_a_norm":0.0214820355,"thr_a_v":0.585928142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473788053,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.724323,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-2.0384233,"cg_iw_a":-0.740683317,"cg_theta_rad":0.554443061,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0207312405,"mpcc_du":49.9413071,"mpcc_dv":48.9186707,"mpcc_dw":51.0813293,"mpcc_enc_sign":1,"mpcc_id_a":2.15724373,"mpcc_iq_a":-0.411904782,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.24896121,"mpcc_pred_id_a":0.410505205,"mpcc_pred_iq_a":-1.87480748,"mpcc_state":1,"mpcc_theta_e":0.44091177,"mpcc_theta_mech":0.555128276,"sam_rpm":-3.03621268,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258880705,"thr_a_norm":0.0258880705,"thr_a_v":0.603552282,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495138496,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.731098,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.60349751,"cg_iw_a":0.419119358,"cg_theta_rad":0.555056572,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.00367719773,"mpcc_du":51.0611267,"mpcc_dv":47.933609,"mpcc_dw":52.066391,"mpcc_enc_sign":1,"mpcc_id_a":-0.438627213,"mpcc_iq_a":-1.13145089,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.3874588,"mpcc_pred_id_a":-0.683274269,"mpcc_pred_iq_a":-0.380994976,"mpcc_state":1,"mpcc_theta_e":0.449902058,"mpcc_theta_mech":0.55692631,"sam_rpm":-22.8307896,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103623256,"thr_a_norm":0.0258880705,"thr_a_v":0.914493024,"thr_b":0.0473517925,"thr_b_norm":0,"thr_b_v":0.68940717,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.740864,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.38603449,"cg_iw_a":-2.26292467,"cg_theta_rad":0.556981444,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0770531967,"mpcc_du":49.6977692,"mpcc_dv":49.1029968,"mpcc_dw":50.8970032,"mpcc_enc_sign":1,"mpcc_id_a":4.13183784,"mpcc_iq_a":-0.497338295,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.9420349,"mpcc_pred_id_a":0.82826978,"mpcc_pred_iq_a":-3.89649034,"mpcc_state":1,"mpcc_theta_e":0.44845295,"mpcc_theta_mech":0.556636512,"sam_rpm":1.85734785,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103623256,"thr_a_norm":0.103623256,"thr_a_v":0.914493024,"thr_b":0.0473517925,"thr_b_norm":0.0473517925,"thr_b_v":0.68940717,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.750843,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.226231575,"cg_iw_a":-0.740683556,"cg_theta_rad":0.555220902,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0239927452,"mpcc_du":49.60849,"mpcc_dv":49.6511497,"mpcc_dw":50.39151,"mpcc_enc_sign":1,"mpcc_id_a":1.00224888,"mpcc_iq_a":0.361657053,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.30022335,"mpcc_pred_id_a":-0.197796002,"mpcc_pred_iq_a":-2.62339401,"mpcc_state":1,"mpcc_theta_e":0.44435358,"mpcc_theta_mech":0.55581665,"sam_rpm":10.3715153,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178942531,"thr_a_norm":0.0178942531,"thr_a_v":0.571577013,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455559611,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.761036,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.02359605,"cg_iw_a":-3.13277674,"cg_theta_rad":0.556177676,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0247707963,"mpcc_du":49.9100151,"mpcc_dv":49.0686264,"mpcc_dw":50.9313736,"mpcc_enc_sign":1,"mpcc_id_a":0.416400909,"mpcc_iq_a":-1.93535554,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.03330135,"mpcc_pred_id_a":0.074721761,"mpcc_pred_iq_a":-0.424651682,"mpcc_state":1,"mpcc_theta_e":0.42942667,"mpcc_theta_mech":0.552831233,"sam_rpm":-14.2834673,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178942531,"thr_a_norm":0.0178942531,"thr_a_v":0.571577013,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455559611,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.771259,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-2.18339872,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556648195,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0095881056,"mpcc_du":49.5901146,"mpcc_dv":49.5391235,"mpcc_dw":50.4608765,"mpcc_enc_sign":1,"mpcc_id_a":1.41501379,"mpcc_iq_a":-1.64021909,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.70942664,"mpcc_pred_id_a":-0.0461958982,"mpcc_pred_iq_a":-3.32810688,"mpcc_state":1,"mpcc_theta_e":0.44327116,"mpcc_theta_mech":0.555600166,"sam_rpm":6.86735916,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020865187,"thr_a_norm":0.020865187,"thr_a_v":0.583460748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459588021,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.781208,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-2.18339872,"cg_iw_a":-0.233269691,"cg_theta_rad":0.554390609,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0286150724,"mpcc_du":49.7433167,"mpcc_dv":49.4614029,"mpcc_dw":50.5385971,"mpcc_enc_sign":1,"mpcc_id_a":0.811187029,"mpcc_iq_a":0.126268417,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.61617374,"mpcc_pred_id_a":-0.20734252,"mpcc_pred_iq_a":-2.99778557,"mpcc_state":1,"mpcc_theta_e":0.446872711,"mpcc_theta_mech":0.556320429,"sam_rpm":7.93252802,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182089806,"thr_a_norm":0.020865187,"thr_a_v":0.572835922,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446495771,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.792255,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.11091113,"cg_iw_a":-1.24809718,"cg_theta_rad":0.554780364,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.027511267,"mpcc_du":49.5552979,"mpcc_dv":49.8771019,"mpcc_dw":50.4447021,"mpcc_enc_sign":1,"mpcc_id_a":2.5728569,"mpcc_iq_a":-0.387203157,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.80316925,"mpcc_pred_id_a":0.209525049,"mpcc_pred_iq_a":-3.01031733,"mpcc_state":1,"mpcc_theta_e":0.444744587,"mpcc_theta_mech":0.555894852,"sam_rpm":10.4607773,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182089806,"thr_a_norm":0.0182089806,"thr_a_v":0.572835922,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446495771,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.814686,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.89344811,"cg_iw_a":1.21648383,"cg_theta_rad":0.556022823,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.00391722191,"mpcc_du":48.6591568,"mpcc_dv":51.3408432,"mpcc_dw":49.0123672,"mpcc_enc_sign":1,"mpcc_id_a":1.07742941,"mpcc_iq_a":-1.3629483,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.5265131,"mpcc_pred_id_a":-0.524688482,"mpcc_pred_iq_a":1.14412463,"mpcc_state":1,"mpcc_theta_e":0.42911005,"mpcc_theta_mech":0.552767932,"sam_rpm":19.9389229,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176298916,"thr_a_norm":0.0176298916,"thr_a_v":0.570519567,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440352499,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.821186,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.806133032,"cg_iw_a":-0.740683317,"cg_theta_rad":0.553927422,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0281350333,"mpcc_du":50.0861244,"mpcc_dv":49.0710907,"mpcc_dw":50.9289093,"mpcc_enc_sign":1,"mpcc_id_a":0.917020023,"mpcc_iq_a":0.359628618,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.71605062,"mpcc_pred_id_a":-0.344678015,"mpcc_pred_iq_a":-3.29599977,"mpcc_state":1,"mpcc_theta_e":0.439344883,"mpcc_theta_mech":0.554814875,"sam_rpm":-6.66520786,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0176298916,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453243315,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.827717,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.38603449,"cg_iw_a":-1.03063393,"cg_theta_rad":0.555426002,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0210752618,"mpcc_du":49.6032219,"mpcc_dv":49.845314,"mpcc_dw":50.3967781,"mpcc_enc_sign":1,"mpcc_id_a":2.24121976,"mpcc_iq_a":-0.401879936,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.45565534,"mpcc_pred_id_a":-0.0714100897,"mpcc_pred_iq_a":-5.05117416,"mpcc_state":1,"mpcc_theta_e":0.43952322,"mpcc_theta_mech":0.554850519,"sam_rpm":-4.12285757,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453243315,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.838276,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-2.11091113,"cg_iw_a":-0.45073247,"cg_theta_rad":0.556696653,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0393749736,"mpcc_du":50.3851509,"mpcc_dv":48.4982376,"mpcc_dw":51.5017624,"mpcc_enc_sign":1,"mpcc_id_a":1.39459026,"mpcc_iq_a":-2.42208028,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.3222752,"mpcc_pred_id_a":0.056627281,"mpcc_pred_iq_a":1.73853433,"mpcc_state":1,"mpcc_theta_e":0.426529884,"mpcc_theta_mech":0.552251875,"sam_rpm":-16.6244507,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275623649,"thr_a_norm":0.0275623649,"thr_a_v":0.61024946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494685292,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.84856,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.661157608,"cg_iw_a":0.0566811562,"cg_theta_rad":0.556484222,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.042214904,"mpcc_du":50.5900345,"mpcc_dv":48.4422188,"mpcc_dw":50.4066963,"mpcc_enc_sign":1,"mpcc_id_a":0.655315757,"mpcc_iq_a":-0.0326249152,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.77770615,"mpcc_pred_id_a":-0.29268682,"mpcc_pred_iq_a":0.267361015,"mpcc_state":1,"mpcc_theta_e":0.449181557,"mpcc_theta_mech":0.558071077,"sam_rpm":8.27849102,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101281747,"thr_a_norm":0.0275623649,"thr_a_v":0.905126989,"thr_b":0.0445822775,"thr_b_norm":0,"thr_b_v":0.67832911,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.858479,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.661157608,"cg_iw_a":-2.40789986,"cg_theta_rad":0.554243684,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0139412591,"mpcc_du":50.029686,"mpcc_dv":49.0375557,"mpcc_dw":50.9624443,"mpcc_enc_sign":1,"mpcc_id_a":1.97423351,"mpcc_iq_a":-1.81390762,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.42294979,"mpcc_pred_id_a":-0.0680374876,"mpcc_pred_iq_a":-3.6354661,"mpcc_state":1,"mpcc_theta_e":0.443566322,"mpcc_theta_mech":0.555659175,"sam_rpm":-6.89962482,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101281747,"thr_a_norm":0.101281747,"thr_a_v":0.905126989,"thr_b":0.0445822775,"thr_b_norm":0.0445822775,"thr_b_v":0.67832911,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.86858,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.09608364,"cg_iw_a":-0.305757523,"cg_theta_rad":0.554996133,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.00667441683,"mpcc_du":50.3680649,"mpcc_dv":48.5974236,"mpcc_dw":51.4025764,"mpcc_enc_sign":1,"mpcc_id_a":0.499982446,"mpcc_iq_a":-2.36942649,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.103638679,"mpcc_pred_id_a":0.0393120684,"mpcc_pred_iq_a":-1.53118765,"mpcc_state":1,"mpcc_theta_e":0.446613312,"mpcc_theta_mech":0.556268573,"sam_rpm":0.19790338,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.023231864,"thr_a_v":0.592927456,"thr_b":0.000484094024,"thr_b_norm":0.000484094024,"thr_b_v":0.501936376,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.878651,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.443694592,"cg_iw_a":-0.523220539,"cg_theta_rad":0.554919183,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0101187285,"mpcc_du":49.1383896,"mpcc_dv":50.8616104,"mpcc_dw":49.7199287,"mpcc_enc_sign":1,"mpcc_id_a":0.481223047,"mpcc_iq_a":-1.57094848,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.3649979,"mpcc_pred_id_a":-0.302977949,"mpcc_pred_iq_a":-1.89315283,"mpcc_state":1,"mpcc_theta_e":0.446079254,"mpcc_theta_mech":0.556161761,"sam_rpm":20.6838818,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.023231864,"thr_a_v":0.592927456,"thr_b":0.000484094024,"thr_b_norm":0.000484094024,"thr_b_v":0.501936376,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.888905,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.60349751,"cg_iw_a":0.926533222,"cg_theta_rad":0.556711197,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0482381582,"mpcc_du":50.1057968,"mpcc_dv":48.9223709,"mpcc_dw":51.0776291,"mpcc_enc_sign":1,"mpcc_id_a":2.3037672,"mpcc_iq_a":-0.788139284,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.35455012,"mpcc_pred_id_a":0.0749727339,"mpcc_pred_iq_a":-2.94302416,"mpcc_state":1,"mpcc_theta_e":0.451918602,"mpcc_theta_mech":0.557329595,"sam_rpm":4.12386417,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0319054723,"thr_a_norm":0.0319054723,"thr_a_v":0.627621889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480585933,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.89925,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.6759851,"cg_iw_a":-0.0158064365,"cg_theta_rad":0.556612134,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.00423530303,"mpcc_du":50.2825699,"mpcc_dv":48.7653732,"mpcc_dw":51.2346268,"mpcc_enc_sign":1,"mpcc_id_a":1.05127871,"mpcc_iq_a":-2.9068315,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.95149183,"mpcc_pred_id_a":-0.164287373,"mpcc_pred_iq_a":-2.87141442,"mpcc_state":1,"mpcc_theta_e":0.44455862,"mpcc_theta_mech":0.555857599,"sam_rpm":-5.71908855,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190524161,"thr_a_norm":0.0319054723,"thr_a_v":0.576209664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.923267,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.516182423,"cg_iw_a":-1.61053514,"cg_theta_rad":0.552327275,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0238525905,"mpcc_du":50.2259445,"mpcc_dv":48.7429237,"mpcc_dw":51.2570763,"mpcc_enc_sign":1,"mpcc_id_a":1.7639178,"mpcc_iq_a":-0.226255208,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.85681391,"mpcc_pred_id_a":0.0576088242,"mpcc_pred_iq_a":-2.48490572,"mpcc_state":1,"mpcc_theta_e":0.440889835,"mpcc_theta_mech":0.555123866,"sam_rpm":-9.72838593,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190524161,"thr_a_norm":0.0190524161,"thr_a_v":0.576209664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.929798,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.661157608,"cg_iw_a":-0.813171387,"cg_theta_rad":0.558338702,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0101576103,"mpcc_du":49.6267586,"mpcc_dv":49.7901459,"mpcc_dw":50.3732414,"mpcc_enc_sign":1,"mpcc_id_a":0.175217241,"mpcc_iq_a":-1.52234554,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.31468201,"mpcc_pred_id_a":-0.282332659,"mpcc_pred_iq_a":-4.17987633,"mpcc_state":1,"mpcc_theta_e":0.451544285,"mpcc_theta_mech":0.557254791,"sam_rpm":9.77415371,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246417969,"thr_a_norm":0.0246417969,"thr_a_v":0.598567188,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490656883,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.936298,"values":{"cg_iu_a":2.12671757,"cg_iv_a":0.281181812,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556886256,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0518326722,"mpcc_du":50.0774612,"mpcc_dv":48.6855774,"mpcc_dw":51.3144226,"mpcc_enc_sign":1,"mpcc_id_a":2.08397865,"mpcc_iq_a":1.60359359,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.83850145,"mpcc_pred_id_a":0.670041978,"mpcc_pred_iq_a":0.767236352,"mpcc_state":1,"mpcc_theta_e":0.447712421,"mpcc_theta_mech":0.556488395,"sam_rpm":8.70765495,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246417969,"thr_a_norm":0.0246417969,"thr_a_v":0.598567188,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490656883,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.942799,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.09608364,"cg_iw_a":-0.740683556,"cg_theta_rad":0.55366981,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0015304382,"mpcc_du":50.4439812,"mpcc_dv":48.5471954,"mpcc_dw":51.4528046,"mpcc_enc_sign":1,"mpcc_id_a":0.664545774,"mpcc_iq_a":-1.04004455,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.11383533,"mpcc_pred_id_a":-0.304274678,"mpcc_pred_iq_a":0.232494354,"mpcc_state":1,"mpcc_theta_e":0.432682991,"mpcc_theta_mech":0.553482473,"sam_rpm":-12.6076021,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0109201223,"thr_a_norm":0.0109201223,"thr_a_v":0.543680489,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.430986494,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.952229,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.74847269,"cg_iw_a":-1.03063393,"cg_theta_rad":0.556871355,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5001,"hz_app_loop":359,"hz_tim_isr":10000,"hz_vsense":359,"mpcc_cost":0.0444015078,"mpcc_du":50.3427582,"mpcc_dv":48.7179413,"mpcc_dw":51.2820587,"mpcc_enc_sign":1,"mpcc_id_a":0.354105115,"mpcc_iq_a":-0.490999579,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0737545267,"mpcc_pred_id_a":-0.246799707,"mpcc_pred_iq_a":-2.62489343,"mpcc_state":1,"mpcc_theta_e":0.448503494,"mpcc_theta_mech":0.556646585,"sam_rpm":1.05118954,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261020809,"thr_a_norm":0.0109201223,"thr_a_v":0.604408324,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496296614,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.962879,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.53100967,"cg_iw_a":0.12916851,"cg_theta_rad":0.556946754,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0087288199,"mpcc_du":49.4907303,"mpcc_dv":50.5092697,"mpcc_dw":50.336235,"mpcc_enc_sign":1,"mpcc_id_a":1.82191384,"mpcc_iq_a":-2.12375045,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.69650841,"mpcc_pred_id_a":0.147386357,"mpcc_pred_iq_a":-2.24451566,"mpcc_state":1,"mpcc_theta_e":0.447638512,"mpcc_theta_mech":0.556473613,"sam_rpm":20.3363934,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261020809,"thr_a_norm":0.0261020809,"thr_a_v":0.604408324,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496296614,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.973225,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.226231575,"cg_iw_a":-0.813171387,"cg_theta_rad":0.555637419,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.00315434299,"mpcc_du":50.8585014,"mpcc_dv":47.6397476,"mpcc_dw":52.3602524,"mpcc_enc_sign":1,"mpcc_id_a":1.09712338,"mpcc_iq_a":-0.625133514,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.3918343,"mpcc_pred_id_a":0.567574203,"mpcc_pred_iq_a":0.910550892,"mpcc_state":1,"mpcc_theta_e":0.421551704,"mpcc_theta_mech":0.551256239,"sam_rpm":-32.5883141,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250823945,"thr_a_norm":0.0250823945,"thr_a_v":0.600329578,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486930639,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.985432,"values":{"cg_iu_a":1.54681635,"cg_iv_a":0.426157475,"cg_iw_a":-1.97297382,"cg_theta_rad":0.554280639,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0396725126,"mpcc_du":49.4540367,"mpcc_dv":50.5459633,"mpcc_dw":50.1349373,"mpcc_enc_sign":1,"mpcc_id_a":2.93919873,"mpcc_iq_a":-2.50927615,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.48611641,"mpcc_pred_id_a":0.321618199,"mpcc_pred_iq_a":-3.91924286,"mpcc_state":1,"mpcc_theta_e":0.433595657,"mpcc_theta_mech":0.553665042,"sam_rpm":9.51708126,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200595111,"thr_a_norm":0.0250823945,"thr_a_v":0.580238044,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450121313,"vdc_v":55.2955055}} +{"type":"telemetry","t":52.995075,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.878620625,"cg_iw_a":-1.97297382,"cg_theta_rad":0.559174955,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0176697075,"mpcc_du":50.2921181,"mpcc_dv":48.5335083,"mpcc_dw":51.4664917,"mpcc_enc_sign":1,"mpcc_id_a":2.37564683,"mpcc_iq_a":-0.446715236,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.2739563,"mpcc_pred_id_a":0.188488767,"mpcc_pred_iq_a":-1.27298677,"mpcc_state":1,"mpcc_theta_e":0.432424545,"mpcc_theta_mech":0.553430796,"sam_rpm":-14.9763851,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200595111,"thr_a_norm":0.0200595111,"thr_a_v":0.580238044,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450121313,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.018452,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.45852208,"cg_iw_a":-0.813171148,"cg_theta_rad":0.557841718,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0049810214,"mpcc_du":48.9784851,"mpcc_dv":51.0215149,"mpcc_dw":49.6916351,"mpcc_enc_sign":1,"mpcc_id_a":0.723306656,"mpcc_iq_a":-0.392225176,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.6354799,"mpcc_pred_id_a":0.0770536512,"mpcc_pred_iq_a":-5.24364996,"mpcc_state":1,"mpcc_theta_e":0.450945854,"mpcc_theta_mech":0.557135105,"sam_rpm":16.6962051,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.023231864,"thr_a_v":0.592927456,"thr_b":4.34815884e-05,"thr_b_norm":4.34815884e-05,"thr_b_v":0.500173926,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.025013,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.298719406,"cg_iw_a":-2.19043684,"cg_theta_rad":0.552825451,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.00658747414,"mpcc_du":50.401062,"mpcc_dv":48.2443161,"mpcc_dw":51.7556839,"mpcc_enc_sign":1,"mpcc_id_a":5.39798069,"mpcc_iq_a":1.63470685,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.67139912,"mpcc_pred_id_a":1.53209031,"mpcc_pred_iq_a":-0.949308157,"mpcc_state":1,"mpcc_theta_e":0.448213577,"mpcc_theta_mech":0.55658859,"sam_rpm":-13.3712568,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.023231864,"thr_a_v":0.592927456,"thr_b":4.34815884e-05,"thr_b_norm":4.34815884e-05,"thr_b_v":0.500173926,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.031513,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.53100967,"cg_iw_a":0.854045391,"cg_theta_rad":0.555917323,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.00113903463,"mpcc_du":50.9409332,"mpcc_dv":47.9269905,"mpcc_dw":52.0730095,"mpcc_enc_sign":1,"mpcc_id_a":0.0824940577,"mpcc_iq_a":-1.45743883,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.3476582,"mpcc_pred_id_a":-0.374380082,"mpcc_pred_iq_a":0.872651219,"mpcc_state":1,"mpcc_theta_e":0.425677776,"mpcc_theta_mech":0.557324231,"sam_rpm":-24.3247929,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282547474,"thr_a_norm":0.0282547474,"thr_a_v":0.61301899,"thr_b":0.0021583885,"thr_b_norm":0.0021583885,"thr_b_v":0.508633554,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.038044,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.02359605,"cg_iw_a":-0.450732946,"cg_theta_rad":0.555495739,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0194987003,"mpcc_du":49.8694229,"mpcc_dv":49.0935478,"mpcc_dw":50.9064522,"mpcc_enc_sign":1,"mpcc_id_a":2.61812544,"mpcc_iq_a":-1.47205698,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.83153439,"mpcc_pred_id_a":0.269594848,"mpcc_pred_iq_a":-1.7163254,"mpcc_state":1,"mpcc_theta_e":0.443835735,"mpcc_theta_mech":0.555713058,"sam_rpm":2.54378986,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221618265,"thr_a_norm":0.0282547474,"thr_a_v":0.588647306,"thr_b":0,"thr_b_norm":0.0021583885,"thr_b_v":0.481089473,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.046375,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.24105906,"cg_iw_a":0.274143934,"cg_theta_rad":0.553569973,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.00420582062,"mpcc_du":50.3937988,"mpcc_dv":48.5394096,"mpcc_dw":51.4605904,"mpcc_enc_sign":1,"mpcc_id_a":0.582673192,"mpcc_iq_a":-1.70670903,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.543836415,"mpcc_pred_id_a":-0.0657775402,"mpcc_pred_iq_a":-0.212438688,"mpcc_state":1,"mpcc_theta_e":0.453804493,"mpcc_theta_mech":0.557706833,"sam_rpm":-0.13691029,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221618265,"thr_a_norm":0.0221618265,"thr_a_v":0.588647306,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481089473,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.056507,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.24105906,"cg_iw_a":-1.32058454,"cg_theta_rad":0.554655254,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0498736501,"mpcc_du":50.5885849,"mpcc_dv":47.8801956,"mpcc_dw":52.1198044,"mpcc_enc_sign":1,"mpcc_id_a":0.108921915,"mpcc_iq_a":-0.875013828,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.9349289,"mpcc_pred_id_a":0.795231342,"mpcc_pred_iq_a":0.34805873,"mpcc_state":1,"mpcc_theta_e":0.439786911,"mpcc_theta_mech":0.554903269,"sam_rpm":-30.7847004,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476607919,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.066273,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.16857147,"cg_iw_a":-2.11794901,"cg_theta_rad":0.554141819,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0127195064,"mpcc_du":49.5446129,"mpcc_dv":49.7123184,"mpcc_dw":50.4553871,"mpcc_enc_sign":1,"mpcc_id_a":2.2509017,"mpcc_iq_a":-1.73072851,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.97630978,"mpcc_pred_id_a":0.110903904,"mpcc_pred_iq_a":-1.77275646,"mpcc_state":1,"mpcc_theta_e":0.449106693,"mpcc_theta_mech":0.556767285,"sam_rpm":13.1049967,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476607919,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.076374,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.661157608,"cg_iw_a":-1.97297382,"cg_theta_rad":0.555521309,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.113039501,"mpcc_du":50.3802528,"mpcc_dv":48.364315,"mpcc_dw":51.635685,"mpcc_enc_sign":1,"mpcc_id_a":1.15503013,"mpcc_iq_a":1.16589177,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.1094799,"mpcc_pred_id_a":0.144720793,"mpcc_pred_iq_a":-2.44663,"mpcc_state":1,"mpcc_theta_e":0.450600147,"mpcc_theta_mech":0.557065904,"sam_rpm":-0.722541869,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137777478,"thr_a_norm":0.0137777478,"thr_a_v":0.555110991,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.434511334,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.087666,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.45852208,"cg_iw_a":-1.32058454,"cg_theta_rad":0.55552578,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0283577126,"mpcc_du":49.8005791,"mpcc_dv":48.8476563,"mpcc_dw":51.1523438,"mpcc_enc_sign":1,"mpcc_id_a":2.51676989,"mpcc_iq_a":-0.127555922,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.6568203,"mpcc_pred_id_a":0.858200908,"mpcc_pred_iq_a":1.17791951,"mpcc_state":1,"mpcc_theta_e":0.426395416,"mpcc_theta_mech":0.552224994,"sam_rpm":-14.6426868,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0207896531,"thr_a_norm":0.0137777478,"thr_a_v":0.583158612,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466889441,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.098682,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.661157608,"cg_iw_a":-2.26292467,"cg_theta_rad":0.557662368,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0389278382,"mpcc_du":49.6357193,"mpcc_dv":49.7199974,"mpcc_dw":50.3642807,"mpcc_enc_sign":1,"mpcc_id_a":2.91003299,"mpcc_iq_a":-0.33220312,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.10800672,"mpcc_pred_id_a":0.393286079,"mpcc_pred_iq_a":-0.525523186,"mpcc_state":1,"mpcc_theta_e":0.434901714,"mpcc_theta_mech":0.553926229,"sam_rpm":-4.64864349,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0207896531,"thr_a_norm":0.0207896531,"thr_a_v":0.583158612,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466889441,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.121876,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.226231575,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.55588609,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.00488637341,"mpcc_du":49.5459595,"mpcc_dv":50.4540405,"mpcc_dw":50.139782,"mpcc_enc_sign":1,"mpcc_id_a":0.630566418,"mpcc_iq_a":-0.250548929,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.24490452,"mpcc_pred_id_a":-0.540945411,"mpcc_pred_iq_a":-4.51924515,"mpcc_state":1,"mpcc_theta_e":0.445930481,"mpcc_theta_mech":0.556132019,"sam_rpm":5.88353109,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216330886,"thr_a_norm":0.0216330886,"thr_a_v":0.586532354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465731293,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.128407,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.53100967,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556566238,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.000573429454,"mpcc_du":51.2922363,"mpcc_dv":47.4909096,"mpcc_dw":52.5090904,"mpcc_enc_sign":1,"mpcc_id_a":-0.347714871,"mpcc_iq_a":-1.35419321,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.820652,"mpcc_pred_id_a":-0.39204675,"mpcc_pred_iq_a":0.646875441,"mpcc_state":1,"mpcc_theta_e":0.425332546,"mpcc_theta_mech":0.557682097,"sam_rpm":-30.7986755,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216330886,"thr_a_norm":0.0216330886,"thr_a_v":0.586532354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465731293,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.134876,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.733645439,"cg_iw_a":-1.32058477,"cg_theta_rad":0.557880998,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0365307108,"mpcc_du":49.1774673,"mpcc_dv":50.8225327,"mpcc_dw":49.9190559,"mpcc_enc_sign":1,"mpcc_id_a":2.68975878,"mpcc_iq_a":-0.326772332,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.5462265,"mpcc_pred_id_a":0.0298349932,"mpcc_pred_iq_a":-6.08703995,"mpcc_state":1,"mpcc_theta_e":0.452816486,"mpcc_theta_mech":0.55391407,"sam_rpm":15.5725651,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.043965444,"thr_a_norm":0.043965444,"thr_a_v":0.675861776,"thr_b":0.0134882182,"thr_b_norm":0.0134882182,"thr_b_v":0.553952873,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.141438,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.443694592,"cg_iw_a":-1.46555996,"cg_theta_rad":0.555531025,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0014005691,"mpcc_du":49.6405067,"mpcc_dv":49.4871712,"mpcc_dw":50.5128288,"mpcc_enc_sign":1,"mpcc_id_a":0.584864497,"mpcc_iq_a":-0.176149368,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.07885766,"mpcc_pred_id_a":-0.157184035,"mpcc_pred_iq_a":-2.43612146,"mpcc_state":1,"mpcc_theta_e":0.436723232,"mpcc_theta_mech":0.554290593,"sam_rpm":-3.6802218,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220611095,"thr_a_norm":0.043965444,"thr_a_v":0.588244438,"thr_b":0,"thr_b_norm":0.0134882182,"thr_b_v":0.471320659,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.149464,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.588670254,"cg_iw_a":-0.740683079,"cg_theta_rad":0.556330562,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0320455208,"mpcc_du":50.6125526,"mpcc_dv":48.1910973,"mpcc_dw":51.8089027,"mpcc_enc_sign":1,"mpcc_id_a":2.97804809,"mpcc_iq_a":-0.714046001,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.448424369,"mpcc_pred_id_a":0.267113417,"mpcc_pred_iq_a":1.43998492,"mpcc_state":1,"mpcc_theta_e":0.443132877,"mpcc_theta_mech":0.55557251,"sam_rpm":1.16457999,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220611095,"thr_a_norm":0.0220611095,"thr_a_v":0.588244438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471320659,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.159809,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.09608364,"cg_iw_a":-1.24809694,"cg_theta_rad":0.554062128,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0225645062,"mpcc_du":51.3967476,"mpcc_dv":47.1395531,"mpcc_dw":52.8604469,"mpcc_enc_sign":1,"mpcc_id_a":1.92672729,"mpcc_iq_a":-1.5865078,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.5773525,"mpcc_pred_id_a":0.360533535,"mpcc_pred_iq_a":1.56319594,"mpcc_state":1,"mpcc_theta_e":0.43628931,"mpcc_theta_mech":0.554203808,"sam_rpm":-17.8234119,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259006619,"thr_a_norm":0.0259006619,"thr_a_v":0.603602648,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48829025,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.169636,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.878620625,"cg_iw_a":-1.68302298,"cg_theta_rad":0.552949011,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.00195476064,"mpcc_du":49.9686279,"mpcc_dv":49.138546,"mpcc_dw":50.861454,"mpcc_enc_sign":1,"mpcc_id_a":0.81246525,"mpcc_iq_a":-1.39546919,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.1761682,"mpcc_pred_id_a":-0.22110565,"mpcc_pred_iq_a":-1.94679451,"mpcc_state":1,"mpcc_theta_e":0.439878464,"mpcc_theta_mech":0.554921567,"sam_rpm":-2.70142937,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259006619,"thr_a_norm":0.0259006619,"thr_a_v":0.603602648,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48829025,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.179829,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.661157608,"cg_iw_a":-0.015806675,"cg_theta_rad":0.554988027,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0313577242,"mpcc_du":49.5036163,"mpcc_dv":49.9673347,"mpcc_dw":50.4963837,"mpcc_enc_sign":1,"mpcc_id_a":2.59384251,"mpcc_iq_a":0.380505979,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.275921345,"mpcc_pred_id_a":0.353817016,"mpcc_pred_iq_a":0.345729828,"mpcc_state":1,"mpcc_theta_e":0.429920673,"mpcc_theta_mech":0.552930057,"sam_rpm":-1.58881378,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236976445,"thr_a_norm":0.0236976445,"thr_a_v":0.594790578,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.190022,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.951108456,"cg_iw_a":0.201656342,"cg_theta_rad":0.556951165,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0258244909,"mpcc_du":49.5641441,"mpcc_dv":49.8791161,"mpcc_dw":50.4358559,"mpcc_enc_sign":1,"mpcc_id_a":1.39116919,"mpcc_iq_a":-0.34355101,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.0097847,"mpcc_pred_id_a":0.00286445883,"mpcc_pred_iq_a":-2.81890559,"mpcc_state":1,"mpcc_theta_e":0.450897217,"mpcc_theta_mech":0.55712533,"sam_rpm":17.7767181,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023533985,"thr_a_norm":0.0236976445,"thr_a_v":0.59413594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472227067,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.202045,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.733645439,"cg_iw_a":-0.378244877,"cg_theta_rad":0.555471599,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0165706892,"mpcc_du":49.2987022,"mpcc_dv":50.7012978,"mpcc_dw":50.0942726,"mpcc_enc_sign":1,"mpcc_id_a":2.23465896,"mpcc_iq_a":-0.752723038,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.4337597,"mpcc_pred_id_a":0.224544972,"mpcc_pred_iq_a":-0.244639933,"mpcc_state":1,"mpcc_theta_e":0.433328152,"mpcc_theta_mech":0.553611517,"sam_rpm":9.66877651,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023533985,"thr_a_norm":0.023533985,"thr_a_v":0.59413594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472227067,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.225056,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.02359605,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.557015359,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0201145373,"mpcc_du":50.3954659,"mpcc_dv":48.4019547,"mpcc_dw":51.5980453,"mpcc_enc_sign":1,"mpcc_id_a":2.57008719,"mpcc_iq_a":-0.899254918,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.61054134,"mpcc_pred_id_a":0.341433287,"mpcc_pred_iq_a":1.69652569,"mpcc_state":1,"mpcc_theta_e":0.445879936,"mpcc_theta_mech":0.556121945,"sam_rpm":4.97419119,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244529694,"thr_a_norm":0.0244529694,"thr_a_v":0.597811878,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467896521,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.231586,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.951108456,"cg_iw_a":1.43394661,"cg_theta_rad":0.559261441,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0102359271,"mpcc_du":50.024601,"mpcc_dv":49.1525116,"mpcc_dw":50.8474884,"mpcc_enc_sign":1,"mpcc_id_a":0.215542346,"mpcc_iq_a":-0.281332582,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.24816561,"mpcc_pred_id_a":-0.468395829,"mpcc_pred_iq_a":-3.52732253,"mpcc_state":1,"mpcc_theta_e":0.438056469,"mpcc_theta_mech":0.554557204,"sam_rpm":-9.48360348,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195056051,"thr_a_norm":0.0244529694,"thr_a_v":0.57802242,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474543363,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.238117,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.82096052,"cg_iw_a":0.491607189,"cg_theta_rad":0.55507803,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.000762553187,"mpcc_du":49.6773834,"mpcc_dv":50.1053391,"mpcc_dw":50.3226166,"mpcc_enc_sign":1,"mpcc_id_a":0.491598725,"mpcc_iq_a":-1.05816221,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.11519766,"mpcc_pred_id_a":-0.511053324,"mpcc_pred_iq_a":-5.14274931,"mpcc_state":1,"mpcc_theta_e":0.438583374,"mpcc_theta_mech":0.554662585,"sam_rpm":-6.83656359,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195056051,"thr_a_norm":0.0195056051,"thr_a_v":0.57802242,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474543363,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.244648,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.443694592,"cg_iw_a":-1.82799864,"cg_theta_rad":0.55727452,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0222537015,"mpcc_du":49.281414,"mpcc_dv":50.718586,"mpcc_dw":50.0080566,"mpcc_enc_sign":1,"mpcc_id_a":2.58251691,"mpcc_iq_a":-0.540210366,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.42024612,"mpcc_pred_id_a":0.0342694819,"mpcc_pred_iq_a":-5.06142998,"mpcc_state":1,"mpcc_theta_e":0.448028088,"mpcc_theta_mech":0.553049624,"sam_rpm":12.0183687,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248306245,"thr_a_norm":0.0248306245,"thr_a_v":0.599322498,"thr_b":0.00030785799,"thr_b_norm":0.00030785799,"thr_b_v":0.501231432,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.25362,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.951108456,"cg_iw_a":0.491607189,"cg_theta_rad":0.553406656,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0238821805,"mpcc_du":50.0128136,"mpcc_dv":49.1329346,"mpcc_dw":50.8670654,"mpcc_enc_sign":1,"mpcc_id_a":0.301362991,"mpcc_iq_a":-1.43973613,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.291020513,"mpcc_pred_id_a":-0.276695907,"mpcc_pred_iq_a":-4.06019068,"mpcc_state":1,"mpcc_theta_e":0.447282791,"mpcc_theta_mech":0.556402445,"sam_rpm":1.57021368,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248306245,"thr_a_norm":0.0248306245,"thr_a_v":0.599322498,"thr_b":0.00030785799,"thr_b_norm":0.00030785799,"thr_b_v":0.501231432,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.26305,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.298719406,"cg_iw_a":-0.668195486,"cg_theta_rad":0.553245723,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0152255334,"mpcc_du":50.180294,"mpcc_dv":49.0669518,"mpcc_dw":50.9330482,"mpcc_enc_sign":1,"mpcc_id_a":-0.0276891552,"mpcc_iq_a":-1.46536052,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.68403792,"mpcc_pred_id_a":-0.599704206,"mpcc_pred_iq_a":-3.83115959,"mpcc_state":1,"mpcc_theta_e":0.444021225,"mpcc_theta_mech":0.555750191,"sam_rpm":-3.24927425,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227786601,"thr_a_norm":0.0227786601,"thr_a_v":0.59111464,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495541304,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.275471,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.16857147,"cg_iw_a":-1.82799816,"cg_theta_rad":0.557140112,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.058876425,"mpcc_du":50.3812675,"mpcc_dv":48.5122452,"mpcc_dw":51.4877548,"mpcc_enc_sign":1,"mpcc_id_a":2.82997465,"mpcc_iq_a":-0.536932826,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.16868186,"mpcc_pred_id_a":0.413370788,"mpcc_pred_iq_a":-1.35838437,"mpcc_state":1,"mpcc_theta_e":0.453566074,"mpcc_theta_mech":0.557659149,"sam_rpm":4.1046319,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266559869,"thr_a_norm":0.0227786601,"thr_a_v":0.606623948,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490606517,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.285419,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-2.25588632,"cg_iw_a":-0.740683317,"cg_theta_rad":0.554761112,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.016280245,"mpcc_du":49.5129356,"mpcc_dv":49.6366386,"mpcc_dw":50.4870644,"mpcc_enc_sign":1,"mpcc_id_a":2.43359041,"mpcc_iq_a":-0.67238605,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.507734478,"mpcc_pred_id_a":0.428020835,"mpcc_pred_iq_a":-1.99097228,"mpcc_state":1,"mpcc_theta_e":0.437730312,"mpcc_theta_mech":0.554491997,"sam_rpm":-2.79534531,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266559869,"thr_a_norm":0.0266559869,"thr_a_v":0.606623948,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490606517,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.295643,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.96593571,"cg_iw_a":0.926532745,"cg_theta_rad":0.554655313,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0928897336,"mpcc_du":50.4607887,"mpcc_dv":48.2232475,"mpcc_dw":51.7767525,"mpcc_enc_sign":1,"mpcc_id_a":3.45693994,"mpcc_iq_a":0.103760757,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.11354065,"mpcc_pred_id_a":0.778258204,"mpcc_pred_iq_a":-1.70709896,"mpcc_state":1,"mpcc_theta_e":0.449123859,"mpcc_theta_mech":0.556770682,"sam_rpm":-2.24218798,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0313012153,"thr_a_norm":0.0313012153,"thr_a_v":0.625204861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.305653,"values":{"cg_iu_a":-0.845276594,"cg_iv_a":-1.38603449,"cg_iw_a":2.23131108,"cg_theta_rad":0.557379067,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0286607388,"mpcc_du":49.8168068,"mpcc_dv":49.3528214,"mpcc_dw":50.6471786,"mpcc_enc_sign":1,"mpcc_id_a":0.792886078,"mpcc_iq_a":-0.749053359,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.71494722,"mpcc_pred_id_a":-0.109937772,"mpcc_pred_iq_a":-3.1826961,"mpcc_state":1,"mpcc_theta_e":0.448905468,"mpcc_theta_mech":0.556727052,"sam_rpm":10.0300417,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0313012153,"thr_a_norm":0.0313012153,"thr_a_v":0.625204861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.329273,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.371207237,"cg_iw_a":-1.97297335,"cg_theta_rad":0.552768528,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0216171462,"mpcc_du":49.9026031,"mpcc_dv":48.9456711,"mpcc_dw":51.0543289,"mpcc_enc_sign":1,"mpcc_id_a":2.88672256,"mpcc_iq_a":-1.07287359,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.21672153,"mpcc_pred_id_a":0.529169142,"mpcc_pred_iq_a":-1.87930501,"mpcc_state":1,"mpcc_theta_e":0.438788891,"mpcc_theta_mech":0.554703712,"sam_rpm":-6.75998068,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214316845,"thr_a_norm":0.0214316845,"thr_a_v":0.585726738,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474291593,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.335743,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.951108456,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.557070434,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.00873305183,"mpcc_du":49.7597237,"mpcc_dv":49.4030228,"mpcc_dw":50.5969772,"mpcc_enc_sign":1,"mpcc_id_a":1.85708666,"mpcc_iq_a":-1.73705423,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.82314825,"mpcc_pred_id_a":-0.159805506,"mpcc_pred_iq_a":-4.64721632,"mpcc_state":1,"mpcc_theta_e":0.435656071,"mpcc_theta_mech":0.554077148,"sam_rpm":-11.953825,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0325097293,"thr_a_norm":0.0214316845,"thr_a_v":0.630038917,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.342274,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-1.60349751,"cg_iw_a":-2.77033806,"cg_theta_rad":0.55636853,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.00275064935,"mpcc_du":50.274231,"mpcc_dv":48.5846291,"mpcc_dw":51.4153709,"mpcc_enc_sign":1,"mpcc_id_a":0.916543245,"mpcc_iq_a":-1.01550806,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.04353333,"mpcc_pred_id_a":0.143968359,"mpcc_pred_iq_a":-0.19584024,"mpcc_state":1,"mpcc_theta_e":0.430784225,"mpcc_theta_mech":0.553102791,"sam_rpm":-14.1713591,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0325097293,"thr_a_norm":0.0325097293,"thr_a_v":0.630038917,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.348835,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.74847269,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.55333817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0303926244,"mpcc_du":49.6164207,"mpcc_dv":49.1281357,"mpcc_dw":50.8718643,"mpcc_enc_sign":1,"mpcc_id_a":3.40152454,"mpcc_iq_a":-0.648058891,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.10125542,"mpcc_pred_id_a":0.848615229,"mpcc_pred_iq_a":1.39126468,"mpcc_state":1,"mpcc_theta_e":0.433614254,"mpcc_theta_mech":0.553668797,"sam_rpm":16.365099,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025120154,"thr_a_norm":0.025120154,"thr_a_v":0.600480616,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48904556,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.356617,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.24105906,"cg_iw_a":0.781557798,"cg_theta_rad":0.556263447,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.000496948196,"mpcc_du":48.8122444,"mpcc_dv":51.1877556,"mpcc_dw":49.4900055,"mpcc_enc_sign":1,"mpcc_id_a":0.369467378,"mpcc_iq_a":-1.35597682,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.5327759,"mpcc_pred_id_a":0.272378027,"mpcc_pred_iq_a":1.13659251,"mpcc_state":1,"mpcc_theta_e":0.423828602,"mpcc_theta_mech":0.551711679,"sam_rpm":13.6648464,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025120154,"thr_a_norm":0.025120154,"thr_a_v":0.600480616,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48904556,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.36681,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-2.40086174,"cg_iw_a":0.201656342,"cg_theta_rad":0.557667434,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0213908534,"mpcc_du":49.0178146,"mpcc_dv":49.9282417,"mpcc_dw":50.54953,"mpcc_enc_sign":1,"mpcc_id_a":2.9188447,"mpcc_iq_a":1.54296565,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.8737402,"mpcc_pred_id_a":0.58204776,"mpcc_pred_iq_a":-2.26357698,"mpcc_state":1,"mpcc_theta_e":0.440711021,"mpcc_theta_mech":0.555088162,"sam_rpm":12.9035492,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278645009,"thr_a_norm":0.0278645009,"thr_a_v":0.611458004,"thr_b":0.0019569695,"thr_b_norm":0.0019569695,"thr_b_v":0.507827878,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.37923,"values":{"cg_iu_a":0.749452114,"cg_iv_a":0.0637187958,"cg_iw_a":-0.81317091,"cg_theta_rad":0.555902302,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0231717024,"mpcc_du":49.7491035,"mpcc_dv":49.3217316,"mpcc_dw":50.6782684,"mpcc_enc_sign":1,"mpcc_id_a":2.3358593,"mpcc_iq_a":-1.22014439,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.02612257,"mpcc_pred_id_a":-0.00548052834,"mpcc_pred_iq_a":-2.46589065,"mpcc_state":1,"mpcc_theta_e":0.451146126,"mpcc_theta_mech":0.557175159,"sam_rpm":9.4493351,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0161695927,"thr_a_norm":0.0278645009,"thr_a_v":0.564678371,"thr_b":0,"thr_b_norm":0.0019569695,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.38921,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.25588632,"cg_iw_a":1.143996,"cg_theta_rad":0.554645896,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0578075983,"mpcc_du":49.6258011,"mpcc_dv":49.9072685,"mpcc_dw":50.3741989,"mpcc_enc_sign":1,"mpcc_id_a":-0.34102276,"mpcc_iq_a":0.402915031,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.74647236,"mpcc_pred_id_a":-0.373751909,"mpcc_pred_iq_a":-4.28970575,"mpcc_state":1,"mpcc_theta_e":0.45238924,"mpcc_theta_mech":0.55742377,"sam_rpm":16.4678974,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0161695927,"thr_a_norm":0.0161695927,"thr_a_v":0.564678371,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.399464,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-2.11091113,"cg_iw_a":-2.11794877,"cg_theta_rad":0.556623161,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.107926115,"mpcc_du":50.3337479,"mpcc_dv":48.5756531,"mpcc_dw":51.4243469,"mpcc_enc_sign":1,"mpcc_id_a":1.59454906,"mpcc_iq_a":1.42057538,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.03237963,"mpcc_pred_id_a":0.0520962402,"mpcc_pred_iq_a":-1.84310007,"mpcc_state":1,"mpcc_theta_e":0.447954178,"mpcc_theta_mech":0.556536794,"sam_rpm":4.92748165,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206637681,"thr_a_norm":0.0206637681,"thr_a_v":0.582655072,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.40926,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.951108456,"cg_iw_a":-0.16078186,"cg_theta_rad":0.553312182,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0447031818,"mpcc_du":49.101963,"mpcc_dv":50.898037,"mpcc_dw":50.1157455,"mpcc_enc_sign":1,"mpcc_id_a":4.07537556,"mpcc_iq_a":-0.259688586,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.57657242,"mpcc_pred_id_a":0.785259247,"mpcc_pred_iq_a":-2.41532254,"mpcc_state":1,"mpcc_theta_e":0.442576885,"mpcc_theta_mech":0.555461287,"sam_rpm":12.290144,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206637681,"thr_a_norm":0.0206637681,"thr_a_v":0.582655072,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.432667,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.806133032,"cg_iw_a":-1.4655602,"cg_theta_rad":0.556009769,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0065259221,"mpcc_du":51.3540573,"mpcc_dv":47.2944794,"mpcc_dw":52.7055206,"mpcc_enc_sign":1,"mpcc_id_a":1.57352996,"mpcc_iq_a":-1.676965,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.7813797,"mpcc_pred_id_a":-0.0961627662,"mpcc_pred_iq_a":2.16413498,"mpcc_state":1,"mpcc_theta_e":0.426965237,"mpcc_theta_mech":0.552338958,"sam_rpm":-28.1549282,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182593316,"thr_a_norm":0.0182593316,"thr_a_v":0.573037326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456667423,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.439167,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.661157608,"cg_iw_a":0.0566806793,"cg_theta_rad":0.557205081,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.00179134065,"mpcc_du":50.2228737,"mpcc_dv":48.9803429,"mpcc_dw":51.0196571,"mpcc_enc_sign":1,"mpcc_id_a":-0.777691245,"mpcc_iq_a":-3.47973609,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.78167248,"mpcc_pred_id_a":-0.544604123,"mpcc_pred_iq_a":-0.224984631,"mpcc_state":1,"mpcc_theta_e":0.452490807,"mpcc_theta_mech":0.557444036,"sam_rpm":13.3910151,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242767185,"thr_a_norm":0.0242767185,"thr_a_v":0.597106874,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475298673,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.445698,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.733645439,"cg_iw_a":0.201656342,"cg_theta_rad":0.556927025,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.00322580803,"mpcc_du":49.3088531,"mpcc_dv":50.6911469,"mpcc_dw":49.9443207,"mpcc_enc_sign":1,"mpcc_id_a":0.732852101,"mpcc_iq_a":-1.0431813,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.70281172,"mpcc_pred_id_a":-0.419880033,"mpcc_pred_iq_a":-5.64207983,"mpcc_state":1,"mpcc_theta_e":0.447183609,"mpcc_theta_mech":0.556382656,"sam_rpm":7.89833212,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242767185,"thr_a_norm":0.0242767185,"thr_a_v":0.597106874,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475298673,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.453999,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.96593571,"cg_iw_a":-0.740683556,"cg_theta_rad":0.554541528,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.000413672795,"mpcc_du":50.7485809,"mpcc_dv":48.126339,"mpcc_dw":51.873661,"mpcc_enc_sign":1,"mpcc_id_a":0.247721866,"mpcc_iq_a":-1.44130945,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.8715019,"mpcc_pred_id_a":-0.346290857,"mpcc_pred_iq_a":-0.527342916,"mpcc_state":1,"mpcc_theta_e":0.426630974,"mpcc_theta_mech":0.552272141,"sam_rpm":-25.17836,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213813186,"thr_a_norm":0.0213813186,"thr_a_v":0.585525274,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470061809,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.464344,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.951108456,"cg_iw_a":1.07150841,"cg_theta_rad":0.55716002,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0609635822,"mpcc_du":50.1787605,"mpcc_dv":48.6888542,"mpcc_dw":51.0448723,"mpcc_enc_sign":1,"mpcc_id_a":1.58451271,"mpcc_iq_a":-0.105048969,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.564557374,"mpcc_pred_id_a":0.243516371,"mpcc_pred_iq_a":-2.92237473,"mpcc_state":1,"mpcc_theta_e":0.446848869,"mpcc_theta_mech":0.556334138,"sam_rpm":0.171764523,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0138029307,"thr_a_norm":0.0213813186,"thr_a_v":0.555211723,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44387731,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.474201,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.661157608,"cg_iw_a":-1.53804779,"cg_theta_rad":0.552753508,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0302492306,"mpcc_du":49.5757103,"mpcc_dv":49.5672913,"mpcc_dw":50.4327087,"mpcc_enc_sign":1,"mpcc_id_a":0.943220139,"mpcc_iq_a":-0.436704457,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.7847347,"mpcc_pred_id_a":0.0589635558,"mpcc_pred_iq_a":-4.67270517,"mpcc_state":1,"mpcc_theta_e":0.437515736,"mpcc_theta_mech":0.554449081,"sam_rpm":5.53576326,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0138029307,"thr_a_norm":0.0138029307,"thr_a_v":0.555211723,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44387731,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.486408,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.806133032,"cg_iw_a":-2.1904366,"cg_theta_rad":0.555155993,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0784189925,"mpcc_du":50.7522926,"mpcc_dv":48.2188797,"mpcc_dw":51.7811203,"mpcc_enc_sign":1,"mpcc_id_a":0.674251378,"mpcc_iq_a":-0.829768121,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.68425345,"mpcc_pred_id_a":-0.376554906,"mpcc_pred_iq_a":-3.10744095,"mpcc_state":1,"mpcc_theta_e":0.447510242,"mpcc_theta_mech":0.556447923,"sam_rpm":-3.91471744,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250068605,"thr_a_norm":0.0250068605,"thr_a_v":0.600027442,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482499421,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.496601,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.6759851,"cg_iw_a":2.08633542,"cg_theta_rad":0.555092394,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0435968004,"mpcc_du":50.3267097,"mpcc_dv":48.6188087,"mpcc_dw":51.3811913,"mpcc_enc_sign":1,"mpcc_id_a":0.889219284,"mpcc_iq_a":-0.382520705,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.69355965,"mpcc_pred_id_a":0.0892913118,"mpcc_pred_iq_a":-1.12126052,"mpcc_state":1,"mpcc_theta_e":0.453696251,"mpcc_theta_mech":0.557685196,"sam_rpm":7.86030769,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183096826,"thr_a_norm":0.0250068605,"thr_a_v":0.57323873,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454451799,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.506641,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-0.806133032,"cg_iw_a":-0.305757284,"cg_theta_rad":0.557742119,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.00464651873,"mpcc_du":50.290535,"mpcc_dv":48.6676216,"mpcc_dw":51.3323784,"mpcc_enc_sign":1,"mpcc_id_a":1.33662426,"mpcc_iq_a":-1.99986219,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.0393734,"mpcc_pred_id_a":-0.0317299105,"mpcc_pred_iq_a":-1.99422419,"mpcc_state":1,"mpcc_theta_e":0.434458733,"mpcc_theta_mech":0.553837657,"sam_rpm":-15.3072491,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183096826,"thr_a_norm":0.0183096826,"thr_a_v":0.57323873,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454451799,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.530048,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.96593571,"cg_iw_a":0.999020576,"cg_theta_rad":0.553505063,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.00158113916,"mpcc_du":49.6509438,"mpcc_dv":49.8505287,"mpcc_dw":50.3490562,"mpcc_enc_sign":1,"mpcc_id_a":-0.00331909279,"mpcc_iq_a":-1.75439656,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.56636953,"mpcc_pred_id_a":-0.390756667,"mpcc_pred_iq_a":-4.20016241,"mpcc_state":1,"mpcc_theta_e":0.443268299,"mpcc_theta_mech":0.55559957,"sam_rpm":3.79903555,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258125365,"thr_a_norm":0.0258125365,"thr_a_v":0.603250146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48980087,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.536549,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.24105906,"cg_iw_a":-1.17560935,"cg_theta_rad":0.556251884,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.00446195249,"mpcc_du":50.1888313,"mpcc_dv":48.9365387,"mpcc_dw":51.0634613,"mpcc_enc_sign":1,"mpcc_id_a":0.440783948,"mpcc_iq_a":-0.990812302,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.484928399,"mpcc_pred_id_a":-0.32100448,"mpcc_pred_iq_a":-1.24743962,"mpcc_state":1,"mpcc_theta_e":0.441573143,"mpcc_theta_mech":0.555260539,"sam_rpm":-0.656718791,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258125365,"thr_a_norm":0.0258125365,"thr_a_v":0.603250146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48980087,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.54311,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.38603449,"cg_iw_a":0.419119358,"cg_theta_rad":0.556850553,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0123542324,"mpcc_du":49.6486168,"mpcc_dv":49.3198395,"mpcc_dw":50.6801605,"mpcc_enc_sign":1,"mpcc_id_a":2.01243496,"mpcc_iq_a":-1.22732139,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.528240561,"mpcc_pred_id_a":0.432325691,"mpcc_pred_iq_a":-2.73758554,"mpcc_state":1,"mpcc_theta_e":0.44264698,"mpcc_theta_mech":0.555475354,"sam_rpm":0.673965633,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295765549,"thr_a_norm":0.0295765549,"thr_a_v":0.61830622,"thr_b":0.00549438596,"thr_b_norm":0.00549438596,"thr_b_v":0.521977544,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.549976,"values":{"cg_iu_a":1.47432899,"cg_iv_a":0.498644829,"cg_iw_a":-2.91531372,"cg_theta_rad":0.554360688,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0254217535,"mpcc_du":50.6897125,"mpcc_dv":50.5559196,"mpcc_dw":50.4211235,"mpcc_enc_sign":1,"mpcc_id_a":3.03334308,"mpcc_iq_a":-0.752339065,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.4521313,"mpcc_pred_id_a":0.722806275,"mpcc_pred_iq_a":0.85036999,"mpcc_state":1,"mpcc_theta_e":0.433033466,"mpcc_theta_mech":0.553552628,"sam_rpm":-16.9046898,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184733272,"thr_a_norm":0.0295765549,"thr_a_v":0.573893309,"thr_b":0,"thr_b_norm":0.00549438596,"thr_b_v":0.453998625,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.559925,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.371207237,"cg_iw_a":-0.885658741,"cg_theta_rad":0.552592158,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0281475037,"mpcc_du":50.5515747,"mpcc_dv":48.2729034,"mpcc_dw":51.7270966,"mpcc_enc_sign":1,"mpcc_id_a":1.14364982,"mpcc_iq_a":0.161840826,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.02466869,"mpcc_pred_id_a":0.147002861,"mpcc_pred_iq_a":0.0783612654,"mpcc_state":1,"mpcc_theta_e":0.438213348,"mpcc_theta_mech":0.554588556,"sam_rpm":-4.46036577,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184733272,"thr_a_norm":0.0184733272,"thr_a_v":0.573893309,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453998625,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.569904,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.443694592,"cg_iw_a":-1.39307261,"cg_theta_rad":0.557229877,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0305135436,"mpcc_du":49.7456551,"mpcc_dv":49.0888824,"mpcc_dw":50.9111176,"mpcc_enc_sign":1,"mpcc_id_a":3.14229012,"mpcc_iq_a":-1.55249953,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.09810674,"mpcc_pred_id_a":0.512210727,"mpcc_pred_iq_a":-2.67462873,"mpcc_state":1,"mpcc_theta_e":0.436165333,"mpcc_theta_mech":0.554178953,"sam_rpm":-11.2096891,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172899961,"thr_a_norm":0.0172899961,"thr_a_v":0.569159985,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447956055,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.579823,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.96593571,"cg_iw_a":1.28897142,"cg_theta_rad":0.556687474,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.00314147864,"mpcc_du":50.7555733,"mpcc_dv":48.1517029,"mpcc_dw":51.8482971,"mpcc_enc_sign":1,"mpcc_id_a":-0.385731131,"mpcc_iq_a":-1.79579568,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.1227436,"mpcc_pred_id_a":-0.388957292,"mpcc_pred_iq_a":-0.652167499,"mpcc_state":1,"mpcc_theta_e":0.423878193,"mpcc_theta_mech":0.551721513,"sam_rpm":-27.9839706,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172899961,"thr_a_norm":0.0172899961,"thr_a_v":0.569159985,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447956055,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.590137,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.38603449,"cg_iw_a":-1.03063393,"cg_theta_rad":0.555810928,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0147032375,"mpcc_du":50.6467133,"mpcc_dv":48.0395088,"mpcc_dw":51.9604912,"mpcc_enc_sign":1,"mpcc_id_a":2.38645792,"mpcc_iq_a":-0.94001931,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.5372038,"mpcc_pred_id_a":0.133721098,"mpcc_pred_iq_a":1.89131999,"mpcc_state":1,"mpcc_theta_e":0.437393188,"mpcc_theta_mech":0.554424524,"sam_rpm":-15.4871311,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0491016209,"thr_a_norm":0.0491016209,"thr_a_v":0.696406484,"thr_b":0.0153765082,"thr_b_norm":0.0153765082,"thr_b_v":0.561506033,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.600208,"values":{"cg_iu_a":1.98174238,"cg_iv_a":0.281181812,"cg_iw_a":1.36145902,"cg_theta_rad":0.555756032,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.00202551903,"mpcc_du":50.1195374,"mpcc_dv":48.484375,"mpcc_dw":51.515625,"mpcc_enc_sign":1,"mpcc_id_a":0.895773947,"mpcc_iq_a":-1.54011214,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.05524397,"mpcc_pred_id_a":-0.122319691,"mpcc_pred_iq_a":-5.49965286,"mpcc_state":1,"mpcc_theta_e":0.447833538,"mpcc_theta_mech":0.553247154,"sam_rpm":7.83952093,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176802427,"thr_a_norm":0.0491016209,"thr_a_v":0.570720971,"thr_b":0,"thr_b_norm":0.0153765082,"thr_b_v":0.447351813,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.610035,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.02359605,"cg_iw_a":0.491606951,"cg_theta_rad":0.556951821,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0821247175,"mpcc_du":50.4308929,"mpcc_dv":48.3747063,"mpcc_dw":51.6252937,"mpcc_enc_sign":1,"mpcc_id_a":2.76505637,"mpcc_iq_a":1.89180815,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.52711034,"mpcc_pred_id_a":0.175617576,"mpcc_pred_iq_a":-0.55630827,"mpcc_state":1,"mpcc_theta_e":0.441419125,"mpcc_theta_mech":0.555229723,"sam_rpm":-4.10807467,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176802427,"thr_a_norm":0.0176802427,"thr_a_v":0.570720971,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447351813,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.633411,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.96593571,"cg_iw_a":1.36145878,"cg_theta_rad":0.557085395,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.000860939384,"mpcc_du":50.5055046,"mpcc_dv":48.5158501,"mpcc_dw":51.4841499,"mpcc_enc_sign":1,"mpcc_id_a":0.0673896521,"mpcc_iq_a":-0.94889909,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.66858006,"mpcc_pred_id_a":-0.472539485,"mpcc_pred_iq_a":-0.868265748,"mpcc_state":1,"mpcc_theta_e":0.43321228,"mpcc_theta_mech":0.55358839,"sam_rpm":-14.3461618,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0325097293,"thr_a_norm":0.0325097293,"thr_a_v":0.630038917,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478622139,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.640003,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.02359605,"cg_iw_a":0.346631765,"cg_theta_rad":0.553502202,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.00513260206,"mpcc_du":50.1182823,"mpcc_dv":48.8388519,"mpcc_dw":51.1611481,"mpcc_enc_sign":1,"mpcc_id_a":0.883010626,"mpcc_iq_a":-1.24452758,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.07585645,"mpcc_pred_id_a":-0.0465600528,"mpcc_pred_iq_a":-1.47125018,"mpcc_state":1,"mpcc_theta_e":0.44047308,"mpcc_theta_mech":0.555040538,"sam_rpm":-3.08551669,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0425680876,"thr_a_norm":0.0325097293,"thr_a_v":0.67027235,"thr_b":0.0186243951,"thr_b_norm":0,"thr_b_v":0.574497581,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.646503,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.96593571,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556288898,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.01467958,"mpcc_du":50.2024574,"mpcc_dv":48.9292603,"mpcc_dw":51.0707397,"mpcc_enc_sign":1,"mpcc_id_a":0.508561552,"mpcc_iq_a":-0.841752112,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.50660169,"mpcc_pred_id_a":-0.453363478,"mpcc_pred_iq_a":-1.72999287,"mpcc_state":1,"mpcc_theta_e":0.446051121,"mpcc_theta_mech":0.556156158,"sam_rpm":2.48485398,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0425680876,"thr_a_norm":0.0425680876,"thr_a_v":0.67027235,"thr_b":0.0186243951,"thr_b_norm":0.0186243951,"thr_b_v":0.574497581,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.657246,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.02359605,"cg_iw_a":-3.06028914,"cg_theta_rad":0.556391835,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0485365093,"mpcc_du":49.5261192,"mpcc_dv":49.5587425,"mpcc_dw":50.4738808,"mpcc_enc_sign":1,"mpcc_id_a":4.32749081,"mpcc_iq_a":-0.203530192,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.23858202,"mpcc_pred_id_a":0.71958226,"mpcc_pred_iq_a":0.59360373,"mpcc_state":1,"mpcc_theta_e":0.434294224,"mpcc_theta_mech":0.556172013,"sam_rpm":-2.35032773,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0239116549,"thr_a_norm":0.0239116549,"thr_a_v":0.59564662,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467342645,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.667194,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.09608364,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556394935,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.054281313,"mpcc_du":50.0063782,"mpcc_dv":49.1808853,"mpcc_dw":50.8191147,"mpcc_enc_sign":1,"mpcc_id_a":-0.775323927,"mpcc_iq_a":-2.99845767,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.482398,"mpcc_pred_id_a":-0.607740998,"mpcc_pred_iq_a":-1.08445442,"mpcc_state":1,"mpcc_theta_e":0.425659657,"mpcc_theta_mech":0.552077889,"sam_rpm":-19.3640251,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0239116549,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475550473,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.677021,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.806133032,"cg_iw_a":-1.68302321,"cg_theta_rad":0.554580808,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.000284210721,"mpcc_du":50.3482513,"mpcc_dv":48.7448769,"mpcc_dw":51.2551231,"mpcc_enc_sign":1,"mpcc_id_a":0.0763310641,"mpcc_iq_a":-0.584165871,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.16162491,"mpcc_pred_id_a":-0.53517288,"mpcc_pred_iq_a":-1.37989974,"mpcc_state":1,"mpcc_theta_e":0.433252811,"mpcc_theta_mech":0.553596437,"sam_rpm":-7.37755919,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475550473,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.68758,"values":{"cg_iu_a":1.76427937,"cg_iv_a":0.136206627,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556330979,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0568156652,"mpcc_du":50.0304718,"mpcc_dv":48.8837852,"mpcc_dw":51.1162148,"mpcc_enc_sign":1,"mpcc_id_a":0.568649948,"mpcc_iq_a":-0.547124505,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.65475464,"mpcc_pred_id_a":0.283682287,"mpcc_pred_iq_a":-3.18465495,"mpcc_state":1,"mpcc_theta_e":0.447695255,"mpcc_theta_mech":0.556484938,"sam_rpm":6.20794964,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270714164,"thr_a_norm":0.0270714164,"thr_a_v":0.608285666,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492268264,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.697407,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.298719406,"cg_iw_a":-1.61053514,"cg_theta_rad":0.556817234,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0204416923,"mpcc_du":49.5485725,"mpcc_dv":50.0985565,"mpcc_dw":50.4514275,"mpcc_enc_sign":1,"mpcc_id_a":2.45226598,"mpcc_iq_a":-1.31776524,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.11914611,"mpcc_pred_id_a":0.274160326,"mpcc_pred_iq_a":-3.40463185,"mpcc_state":1,"mpcc_theta_e":0.4343853,"mpcc_theta_mech":0.553822935,"sam_rpm":-6.51073122,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270714164,"thr_a_norm":0.0270714164,"thr_a_v":0.608285666,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492268264,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.7076,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.733645439,"cg_iw_a":0.636582375,"cg_theta_rad":0.55619961,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.00762891397,"mpcc_du":48.8979645,"mpcc_dv":51.1020355,"mpcc_dw":49.6387253,"mpcc_enc_sign":1,"mpcc_id_a":1.59321034,"mpcc_iq_a":-1.77156413,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.22930574,"mpcc_pred_id_a":0.219539478,"mpcc_pred_iq_a":-5.76673603,"mpcc_state":1,"mpcc_theta_e":0.443440437,"mpcc_theta_mech":0.555634022,"sam_rpm":10.7160492,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0393453836,"thr_a_norm":0.0393453836,"thr_a_v":0.657381535,"thr_b":0.0144952983,"thr_b_norm":0.0144952983,"thr_b_v":0.557981193,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.731007,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.153744221,"cg_iw_a":-1.82799816,"cg_theta_rad":0.554982483,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.00163905311,"mpcc_du":51.1267242,"mpcc_dv":51.285183,"mpcc_dw":49.057148,"mpcc_enc_sign":1,"mpcc_id_a":0.298375368,"mpcc_iq_a":-1.1458205,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.58692169,"mpcc_pred_id_a":-0.544778049,"mpcc_pred_iq_a":3.25707555,"mpcc_state":1,"mpcc_theta_e":0.430632591,"mpcc_theta_mech":0.553072393,"sam_rpm":-14.9279575,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0393453836,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0.0144952983,"thr_b_v":0.463314265,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.737598,"values":{"cg_iu_a":2.63413143,"cg_iv_a":0.0637187958,"cg_iw_a":-2.69785023,"cg_theta_rad":0.553091705,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0656665787,"mpcc_du":49.7572365,"mpcc_dv":49.1089821,"mpcc_dw":50.8910179,"mpcc_enc_sign":1,"mpcc_id_a":3.41889811,"mpcc_iq_a":1.58547628,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.95265281,"mpcc_pred_id_a":0.586974621,"mpcc_pred_iq_a":-2.45831847,"mpcc_state":1,"mpcc_theta_e":0.440438747,"mpcc_theta_mech":0.555033684,"sam_rpm":-2.83380628,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463314265,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.744068,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.588670254,"cg_iw_a":-4.79999208,"cg_theta_rad":0.555455267,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.00578286871,"mpcc_du":49.2072029,"mpcc_dv":50.7927971,"mpcc_dw":49.7916069,"mpcc_enc_sign":1,"mpcc_id_a":0.310364783,"mpcc_iq_a":-1.07664347,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.9689264,"mpcc_pred_id_a":-0.404611856,"mpcc_pred_iq_a":-5.53520441,"mpcc_state":1,"mpcc_theta_e":0.452017784,"mpcc_theta_mech":0.557349503,"sam_rpm":15.9380121,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233199745,"thr_a_norm":0.0233199745,"thr_a_v":0.593279898,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470363915,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.750599,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.878620625,"cg_iw_a":0.636582375,"cg_theta_rad":0.556966126,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0658954531,"mpcc_du":50.0076408,"mpcc_dv":48.7062569,"mpcc_dw":51.2937431,"mpcc_enc_sign":1,"mpcc_id_a":3.98962307,"mpcc_iq_a":-0.299272031,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.03510904,"mpcc_pred_id_a":0.813057363,"mpcc_pred_iq_a":-0.293456614,"mpcc_state":1,"mpcc_theta_e":0.450798035,"mpcc_theta_mech":0.557105482,"sam_rpm":10.6765881,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233199745,"thr_a_norm":0.0233199745,"thr_a_v":0.593279898,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470363915,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.758411,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.733645439,"cg_iw_a":-1.82799816,"cg_theta_rad":0.555015624,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.00547807897,"mpcc_du":49.338829,"mpcc_dv":50.661171,"mpcc_dw":49.9646873,"mpcc_enc_sign":1,"mpcc_id_a":1.44867551,"mpcc_iq_a":-1.05991125,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.85438633,"mpcc_pred_id_a":-0.320194542,"mpcc_pred_iq_a":-4.36409473,"mpcc_state":1,"mpcc_theta_e":0.446332455,"mpcc_theta_mech":0.556212366,"sam_rpm":11.015604,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253215879,"thr_a_norm":0.0253215879,"thr_a_v":0.601286352,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486527801,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.768574,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-1.24105906,"cg_iw_a":1.143996,"cg_theta_rad":0.557190001,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0362130925,"mpcc_du":50.3058853,"mpcc_dv":48.7611732,"mpcc_dw":51.2388268,"mpcc_enc_sign":1,"mpcc_id_a":-0.0477698147,"mpcc_iq_a":-1.32056201,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.84523547,"mpcc_pred_id_a":-0.152678549,"mpcc_pred_iq_a":-2.89276004,"mpcc_state":1,"mpcc_theta_e":0.450499535,"mpcc_theta_mech":0.557045817,"sam_rpm":3.55501747,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0293877274,"thr_a_norm":0.0253215879,"thr_a_v":0.61755091,"thr_b":0.00155413151,"thr_b_norm":0,"thr_b_v":0.506216526,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.780567,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-2.0384233,"cg_iw_a":0.41911912,"cg_theta_rad":0.55146879,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.00611923635,"mpcc_du":50.5360832,"mpcc_dv":48.4294739,"mpcc_dw":51.5705261,"mpcc_enc_sign":1,"mpcc_id_a":1.46084344,"mpcc_iq_a":-2.42432666,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.5621061,"mpcc_pred_id_a":-0.16608429,"mpcc_pred_iq_a":-2.41367245,"mpcc_state":1,"mpcc_theta_e":0.433579445,"mpcc_theta_mech":0.553661823,"sam_rpm":-23.8782101,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0293877274,"thr_a_norm":0.0293877274,"thr_a_v":0.61755091,"thr_b":0.00155413151,"thr_b_norm":0.00155413151,"thr_b_v":0.506216526,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.790821,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.951108456,"cg_iw_a":-0.523220539,"cg_theta_rad":0.557960689,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0355981141,"mpcc_du":50.0122871,"mpcc_dv":48.664917,"mpcc_dw":51.335083,"mpcc_enc_sign":1,"mpcc_id_a":2.97437024,"mpcc_iq_a":-1.39848709,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.2751093,"mpcc_pred_id_a":0.824215353,"mpcc_pred_iq_a":0.461004764,"mpcc_state":1,"mpcc_theta_e":0.428010464,"mpcc_theta_mech":0.552548051,"sam_rpm":-16.3882275,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211169571,"thr_a_norm":0.0211169571,"thr_a_v":0.584467828,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473888755,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.801136,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.951108456,"cg_iw_a":-0.523220539,"cg_theta_rad":0.554626167,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.029420549,"mpcc_du":50.7482338,"mpcc_dv":48.1275291,"mpcc_dw":51.8724709,"mpcc_enc_sign":1,"mpcc_id_a":0.795757115,"mpcc_iq_a":-0.243220299,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.58469868,"mpcc_pred_id_a":-0.302970678,"mpcc_pred_iq_a":-3.64269996,"mpcc_state":1,"mpcc_theta_e":0.453035831,"mpcc_theta_mech":0.557553113,"sam_rpm":-10.6825829,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180075616,"thr_a_norm":0.0211169571,"thr_a_v":0.572030246,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440503567,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.813007,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-2.83578777,"cg_iw_a":-0.305757523,"cg_theta_rad":0.555536449,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0303126257,"mpcc_du":49.9338989,"mpcc_dv":48.8800087,"mpcc_dw":51.1199913,"mpcc_enc_sign":1,"mpcc_id_a":3.45656252,"mpcc_iq_a":-2.06937432,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.423551857,"mpcc_pred_id_a":0.629637241,"mpcc_pred_iq_a":-1.57618594,"mpcc_state":1,"mpcc_theta_e":0.446830273,"mpcc_theta_mech":0.556311965,"sam_rpm":-0.169070184,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180075616,"thr_a_norm":0.0180075616,"thr_a_v":0.572030246,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440503567,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.838612,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-2.18339872,"cg_iw_a":-0.233269691,"cg_theta_rad":0.553359449,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.00995099451,"mpcc_du":50.4727669,"mpcc_dv":48.6601067,"mpcc_dw":51.3398933,"mpcc_enc_sign":1,"mpcc_id_a":-0.168266714,"mpcc_iq_a":-2.27718234,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.0514226,"mpcc_pred_id_a":-0.487511337,"mpcc_pred_iq_a":-3.00870037,"mpcc_state":1,"mpcc_theta_e":0.441988468,"mpcc_theta_mech":0.555343628,"sam_rpm":-6.84316206,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262153894,"thr_a_norm":0.0262153894,"thr_a_v":0.604861557,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496951222,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.845112,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.806133032,"cg_iw_a":-2.26292443,"cg_theta_rad":0.554713786,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0140200472,"mpcc_du":49.871212,"mpcc_dv":48.9646988,"mpcc_dw":51.0353012,"mpcc_enc_sign":1,"mpcc_id_a":2.18641925,"mpcc_iq_a":-1.87199891,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.32748139,"mpcc_pred_id_a":0.592822015,"mpcc_pred_iq_a":-1.75793064,"mpcc_state":1,"mpcc_theta_e":0.444738865,"mpcc_theta_mech":0.555893719,"sam_rpm":1.82019508,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02252689,"thr_a_norm":0.02252689,"thr_a_v":0.59010756,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484211475,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.851704,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.878620625,"cg_iw_a":-0.450732708,"cg_theta_rad":0.553829491,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0065315445,"mpcc_du":49.8229332,"mpcc_dv":49.28302,"mpcc_dw":50.71698,"mpcc_enc_sign":1,"mpcc_id_a":0.975250185,"mpcc_iq_a":-0.876028061,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.816464782,"mpcc_pred_id_a":-0.011112567,"mpcc_pred_iq_a":-2.33142328,"mpcc_state":1,"mpcc_theta_e":0.443659306,"mpcc_theta_mech":0.555677772,"sam_rpm":1.14686799,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02252689,"thr_a_norm":0.02252689,"thr_a_v":0.59010756,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484211475,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.858204,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.02359605,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.557205021,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.00809249002,"mpcc_du":49.7130547,"mpcc_dv":49.4542351,"mpcc_dw":50.5457649,"mpcc_enc_sign":1,"mpcc_id_a":1.69325113,"mpcc_iq_a":-2.7182734,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.21359348,"mpcc_pred_id_a":-0.094727166,"mpcc_pred_iq_a":-1.12799025,"mpcc_state":1,"mpcc_theta_e":0.449755192,"mpcc_theta_mech":0.556896925,"sam_rpm":13.0823469,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270714164,"thr_a_norm":0.0270714164,"thr_a_v":0.608285666,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.868427,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.443694592,"cg_iw_a":-0.16078186,"cg_theta_rad":0.555663407,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0304252096,"mpcc_du":49.8299255,"mpcc_dv":49.1370506,"mpcc_dw":50.8629494,"mpcc_enc_sign":1,"mpcc_id_a":1.9321512,"mpcc_iq_a":-2.45018315,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.01211357,"mpcc_pred_id_a":0.258063585,"mpcc_pred_iq_a":-1.2741282,"mpcc_state":1,"mpcc_theta_e":0.431012154,"mpcc_theta_mech":0.553148389,"sam_rpm":-13.2705317,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0427191556,"thr_a_norm":0.0270714164,"thr_a_v":0.670876622,"thr_b":0.00753375888,"thr_b_norm":0,"thr_b_v":0.530135036,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.87801,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.16857147,"cg_iw_a":-2.04546118,"cg_theta_rad":0.556508064,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0275953133,"mpcc_du":50.2019234,"mpcc_dv":48.6640549,"mpcc_dw":51.3359451,"mpcc_enc_sign":1,"mpcc_id_a":2.47227669,"mpcc_iq_a":-1.10260761,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.9457283,"mpcc_pred_id_a":0.262058944,"mpcc_pred_iq_a":-3.45373249,"mpcc_state":1,"mpcc_theta_e":0.436475277,"mpcc_theta_mech":0.554240942,"sam_rpm":-14.531723,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0427191556,"thr_a_norm":0.0427191556,"thr_a_v":0.670876622,"thr_b":0.00753375888,"thr_b_norm":0.00753375888,"thr_b_v":0.530135036,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.888203,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.226231575,"cg_iw_a":-2.26292467,"cg_theta_rad":0.556493759,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.00875516143,"mpcc_du":49.3776054,"mpcc_dv":50.6223946,"mpcc_dw":50.0356293,"mpcc_enc_sign":1,"mpcc_id_a":1.24116898,"mpcc_iq_a":-0.48413074,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.95036697,"mpcc_pred_id_a":-0.280795336,"mpcc_pred_iq_a":-2.18328691,"mpcc_state":1,"mpcc_theta_e":0.437833309,"mpcc_theta_mech":0.55451256,"sam_rpm":7.54671764,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450524151,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.898426,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.96593571,"cg_iw_a":-1.0306344,"cg_theta_rad":0.552422941,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.043212276,"mpcc_du":49.4511032,"mpcc_dv":50.5488968,"mpcc_dw":50.2694092,"mpcc_enc_sign":1,"mpcc_id_a":1.19802022,"mpcc_iq_a":-0.576146007,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.3151226,"mpcc_pred_id_a":0.0280579086,"mpcc_pred_iq_a":-6.43098068,"mpcc_state":1,"mpcc_theta_e":0.451320171,"mpcc_theta_mech":0.557209909,"sam_rpm":13.9112082,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450524151,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.908588,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.31354666,"cg_iw_a":-0.740683556,"cg_theta_rad":0.555481553,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0848238096,"mpcc_du":51.0485916,"mpcc_dv":47.5487289,"mpcc_dw":52.4512711,"mpcc_enc_sign":1,"mpcc_id_a":3.06188965,"mpcc_iq_a":-0.206049532,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.27819061,"mpcc_pred_id_a":0.471244425,"mpcc_pred_iq_a":0.140756711,"mpcc_state":1,"mpcc_theta_e":0.445702076,"mpcc_theta_mech":0.556086302,"sam_rpm":-7.63854074,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0249187499,"thr_a_norm":0.0249187499,"thr_a_v":0.599675,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.918781,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.09608364,"cg_iw_a":0.274143696,"cg_theta_rad":0.559298396,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0130965309,"mpcc_du":50.6794128,"mpcc_dv":48.0799294,"mpcc_dw":51.9200706,"mpcc_enc_sign":1,"mpcc_id_a":2.19216084,"mpcc_iq_a":-1.70564306,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.4407978,"mpcc_pred_id_a":0.115192004,"mpcc_pred_iq_a":-0.524544179,"mpcc_state":1,"mpcc_theta_e":0.43474102,"mpcc_theta_mech":0.556631565,"sam_rpm":-17.121748,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172899961,"thr_a_norm":0.0249187499,"thr_a_v":0.569159985,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447049677,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.941822,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.298719406,"cg_iw_a":-2.19043684,"cg_theta_rad":0.553600252,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0351243243,"mpcc_du":50.6156731,"mpcc_dv":48.0991325,"mpcc_dw":51.9008675,"mpcc_enc_sign":1,"mpcc_id_a":3.03839469,"mpcc_iq_a":-0.923662305,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.958844841,"mpcc_pred_id_a":0.35788238,"mpcc_pred_iq_a":1.15666282,"mpcc_state":1,"mpcc_theta_e":0.441888809,"mpcc_theta_mech":0.55532372,"sam_rpm":-0.80655992,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172899961,"thr_a_norm":0.0172899961,"thr_a_v":0.569159985,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447049677,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.948322,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.96593571,"cg_iw_a":1.21648359,"cg_theta_rad":0.557205021,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.0058693327,"mpcc_du":49.6310806,"mpcc_dv":50.147068,"mpcc_dw":50.3689194,"mpcc_enc_sign":1,"mpcc_id_a":1.11185658,"mpcc_iq_a":-1.59520042,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.36387467,"mpcc_pred_id_a":-0.263158262,"mpcc_pred_iq_a":-5.08771086,"mpcc_state":1,"mpcc_theta_e":0.446616173,"mpcc_theta_mech":0.556269109,"sam_rpm":3.11523604,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0150114447,"thr_a_norm":0.0150114447,"thr_a_v":0.560045779,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464119941,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.954823,"values":{"cg_iu_a":-0.265375137,"cg_iv_a":0.0637187958,"cg_iw_a":0.201656342,"cg_theta_rad":0.557006538,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5016,"hz_app_loop":359,"hz_tim_isr":10032,"hz_vsense":359,"mpcc_cost":0.028474981,"mpcc_du":48.9607887,"mpcc_dv":51.0392113,"mpcc_dw":49.8362122,"mpcc_enc_sign":1,"mpcc_id_a":2.36499071,"mpcc_iq_a":-0.281757623,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.80023,"mpcc_pred_id_a":0.55079937,"mpcc_pred_iq_a":-6.27715397,"mpcc_state":1,"mpcc_theta_e":0.423716068,"mpcc_theta_mech":0.551689088,"sam_rpm":13.5725136,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0150114447,"thr_a_norm":0.0150114447,"thr_a_v":0.560045779,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464119941,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.961353,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-2.18339872,"cg_iw_a":0.78155756,"cg_theta_rad":0.557105422,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.08594,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0446433462,"mpcc_du":49.9395828,"mpcc_dv":48.9883041,"mpcc_dw":51.0116959,"mpcc_enc_sign":1,"mpcc_id_a":3.74322414,"mpcc_iq_a":0.20647417,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.45239258,"mpcc_pred_id_a":0.814227939,"mpcc_pred_iq_a":-4.60512066,"mpcc_state":1,"mpcc_theta_e":0.446818829,"mpcc_theta_mech":0.5563097,"sam_rpm":8.11536789,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0493156314,"thr_a_norm":0.0493156314,"thr_a_v":0.697262526,"thr_b":0.0155905336,"thr_b_norm":0.0155905336,"thr_b_v":0.562362134,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.970173,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-2.11091113,"cg_iw_a":-0.813171148,"cg_theta_rad":0.554424107,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0220648199,"mpcc_du":49.544117,"mpcc_dv":49.1941643,"mpcc_dw":50.8058357,"mpcc_enc_sign":1,"mpcc_id_a":0.24314706,"mpcc_iq_a":-0.717975199,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.16473007,"mpcc_pred_id_a":-0.301027298,"mpcc_pred_iq_a":-1.00296867,"mpcc_state":1,"mpcc_theta_e":0.451394558,"mpcc_theta_mech":0.55722487,"sam_rpm":7.83679104,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0493156314,"thr_a_norm":0.0493156314,"thr_a_v":0.697262526,"thr_b":0.0155905336,"thr_b_norm":0.0155905336,"thr_b_v":0.562362134,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.980366,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.226231575,"cg_iw_a":0.999020576,"cg_theta_rad":0.55527395,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0180651881,"mpcc_du":50.4787331,"mpcc_dv":48.1371384,"mpcc_dw":51.8628616,"mpcc_enc_sign":1,"mpcc_id_a":2.27163339,"mpcc_iq_a":-0.670594513,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.6769857,"mpcc_pred_id_a":0.473079771,"mpcc_pred_iq_a":-1.57511365,"mpcc_state":1,"mpcc_theta_e":0.430613995,"mpcc_theta_mech":0.554366231,"sam_rpm":-23.5792179,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218470991,"thr_a_norm":0.0218470991,"thr_a_v":0.587388396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471572429,"vdc_v":55.2955055}} +{"type":"telemetry","t":53.990589,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.16857147,"cg_iw_a":-2.11794901,"cg_theta_rad":0.556138694,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0184265841,"mpcc_du":50.3905258,"mpcc_dv":48.6079445,"mpcc_dw":51.3920555,"mpcc_enc_sign":1,"mpcc_id_a":0.65440309,"mpcc_iq_a":-0.538000941,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.329109699,"mpcc_pred_id_a":-0.335376799,"mpcc_pred_iq_a":-0.731093764,"mpcc_state":1,"mpcc_theta_e":0.443445206,"mpcc_theta_mech":0.555634975,"sam_rpm":0.194792837,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151499212,"thr_a_norm":0.0218470991,"thr_a_v":0.560599685,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469910741,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.000813,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.45852208,"cg_iw_a":0.41911912,"cg_theta_rad":0.554473102,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00332060293,"mpcc_du":49.2361565,"mpcc_dv":50.7638435,"mpcc_dw":49.8402634,"mpcc_enc_sign":1,"mpcc_id_a":-0.510603786,"mpcc_iq_a":-3.09750271,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.9102201,"mpcc_pred_id_a":-0.583400428,"mpcc_pred_iq_a":-4.18928337,"mpcc_state":1,"mpcc_theta_e":0.452289581,"mpcc_theta_mech":0.557403862,"sam_rpm":20.2318439,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151499212,"thr_a_norm":0.0151499212,"thr_a_v":0.560599685,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469910741,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.011097,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.45852208,"cg_iw_a":0.274143696,"cg_theta_rad":0.557339311,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00542503828,"mpcc_du":49.9375153,"mpcc_dv":48.8958168,"mpcc_dw":50.9598007,"mpcc_enc_sign":1,"mpcc_id_a":1.42576325,"mpcc_iq_a":-0.60366565,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.1455812,"mpcc_pred_id_a":0.210879833,"mpcc_pred_iq_a":-2.8460598,"mpcc_state":1,"mpcc_theta_e":0.428970814,"mpcc_theta_mech":0.552740097,"sam_rpm":-19.2341213,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0169752687,"thr_a_norm":0.0169752687,"thr_a_v":0.567901075,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.036366,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.82096052,"cg_iw_a":1.36145878,"cg_theta_rad":0.556076467,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00762331719,"mpcc_du":49.3043785,"mpcc_dv":50.6956215,"mpcc_dw":50.0378532,"mpcc_enc_sign":1,"mpcc_id_a":1.4052937,"mpcc_iq_a":-1.80158865,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.9601421,"mpcc_pred_id_a":-0.298442423,"mpcc_pred_iq_a":-4.83839989,"mpcc_state":1,"mpcc_theta_e":0.455179214,"mpcc_theta_mech":0.55798173,"sam_rpm":18.9115887,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162829012,"thr_a_norm":0.0169752687,"thr_a_v":0.565131605,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.042927,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.82096052,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.558024347,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00429320848,"mpcc_du":49.3312874,"mpcc_dv":50.6687126,"mpcc_dw":50.1002121,"mpcc_enc_sign":1,"mpcc_id_a":1.30976379,"mpcc_iq_a":-2.52496171,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.47470999,"mpcc_pred_id_a":-0.194604456,"mpcc_pred_iq_a":-5.96042538,"mpcc_state":1,"mpcc_theta_e":0.44651556,"mpcc_theta_mech":0.556249022,"sam_rpm":8.15323257,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162829012,"thr_a_norm":0.0162829012,"thr_a_v":0.565131605,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.049427,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.16857147,"cg_iw_a":-1.90048599,"cg_theta_rad":0.554793239,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0264587626,"mpcc_du":49.6594353,"mpcc_dv":49.1118546,"mpcc_dw":50.8881454,"mpcc_enc_sign":1,"mpcc_id_a":3.17209458,"mpcc_iq_a":-3.33019114,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.89177752,"mpcc_pred_id_a":0.617027819,"mpcc_pred_iq_a":-1.56596863,"mpcc_state":1,"mpcc_theta_e":0.447860241,"mpcc_theta_mech":0.556517959,"sam_rpm":7.24549627,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0191531181,"thr_a_norm":0.0191531181,"thr_a_v":0.576612473,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473485917,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.055958,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.02359605,"cg_iw_a":-1.68302321,"cg_theta_rad":0.556956291,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0233294945,"mpcc_du":50.8034782,"mpcc_dv":47.741539,"mpcc_dw":52.258461,"mpcc_enc_sign":1,"mpcc_id_a":2.21397209,"mpcc_iq_a":0.407161742,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.02351189,"mpcc_pred_id_a":0.530704439,"mpcc_pred_iq_a":2.20389819,"mpcc_state":1,"mpcc_theta_e":0.434566498,"mpcc_theta_mech":0.553859234,"sam_rpm":-12.1255598,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0191531181,"thr_a_norm":0.0191531181,"thr_a_v":0.576612473,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473485917,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.063801,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.878620625,"cg_iw_a":-1.17560959,"cg_theta_rad":0.557603061,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":2.0867561e-05,"mpcc_du":50.657074,"mpcc_dv":48.2365913,"mpcc_dw":51.7634087,"mpcc_enc_sign":1,"mpcc_id_a":-0.00149391196,"mpcc_iq_a":-1.46562123,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.2247906,"mpcc_pred_id_a":-0.343681604,"mpcc_pred_iq_a":-1.44981694,"mpcc_state":1,"mpcc_theta_e":0.426146984,"mpcc_theta_mech":0.552175283,"sam_rpm":-25.4808044,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200469196,"thr_a_norm":0.0200469196,"thr_a_v":0.580187678,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457170963,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.074177,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.951108456,"cg_iw_a":0.491607189,"cg_theta_rad":0.554838538,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0516201742,"mpcc_du":50.405735,"mpcc_dv":48.4371185,"mpcc_dw":51.5628815,"mpcc_enc_sign":1,"mpcc_id_a":1.83940279,"mpcc_iq_a":-1.24999702,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.64801192,"mpcc_pred_id_a":0.123966008,"mpcc_pred_iq_a":-2.96813202,"mpcc_state":1,"mpcc_theta_e":0.44760704,"mpcc_theta_mech":0.556467295,"sam_rpm":-2.62539482,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.04439345,"thr_a_norm":0.0200469196,"thr_a_v":0.6775738,"thr_b":0.0111593008,"thr_b_norm":0,"thr_b_v":0.544637203,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.085987,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.45852208,"cg_iw_a":0.491606951,"cg_theta_rad":0.55375433,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0351755843,"mpcc_du":49.4069595,"mpcc_dv":50.5930405,"mpcc_dw":50.2036476,"mpcc_enc_sign":1,"mpcc_id_a":2.72815561,"mpcc_iq_a":-0.231433421,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.35620403,"mpcc_pred_id_a":0.589358866,"mpcc_pred_iq_a":1.05365872,"mpcc_state":1,"mpcc_theta_e":0.445456505,"mpcc_theta_mech":0.556037247,"sam_rpm":23.821106,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.04439345,"thr_a_norm":0.04439345,"thr_a_v":0.6775738,"thr_b":0.0111593008,"thr_b_norm":0.0111593008,"thr_b_v":0.544637203,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.09618,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-0.733645439,"cg_iw_a":-2.69785023,"cg_theta_rad":0.554203808,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0120538333,"mpcc_du":49.5308952,"mpcc_dv":50.4691048,"mpcc_dw":50.2784386,"mpcc_enc_sign":1,"mpcc_id_a":1.88486409,"mpcc_iq_a":-1.15966427,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.12913036,"mpcc_pred_id_a":-0.189640254,"mpcc_pred_iq_a":-2.82100439,"mpcc_state":1,"mpcc_theta_e":0.439694881,"mpcc_theta_mech":0.554884851,"sam_rpm":5.18650389,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0334538817,"thr_a_norm":0.0334538817,"thr_a_v":0.633815527,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481441945,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.106342,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.878620625,"cg_iw_a":-2.04546165,"cg_theta_rad":0.552736402,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0206903908,"mpcc_du":49.9551086,"mpcc_dv":49.0110779,"mpcc_dw":50.9889221,"mpcc_enc_sign":1,"mpcc_id_a":0.871886909,"mpcc_iq_a":-1.81799519,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.58424187,"mpcc_pred_id_a":-0.0538889468,"mpcc_pred_iq_a":-0.638881028,"mpcc_state":1,"mpcc_theta_e":0.427236557,"mpcc_theta_mech":0.552393258,"sam_rpm":-15.7830181,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292996168,"thr_a_norm":0.0334538817,"thr_a_v":0.617198467,"thr_b":0.000383391976,"thr_b_norm":0,"thr_b_v":0.501533568,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.116261,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.96593571,"cg_iw_a":1.50643444,"cg_theta_rad":0.558482111,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0589628108,"mpcc_du":49.8067245,"mpcc_dv":49.0463295,"mpcc_dw":50.9536705,"mpcc_enc_sign":1,"mpcc_id_a":2.65351963,"mpcc_iq_a":-0.399520695,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.06269026,"mpcc_pred_id_a":0.40017134,"mpcc_pred_iq_a":-3.1767962,"mpcc_state":1,"mpcc_theta_e":0.45186758,"mpcc_theta_mech":0.556631863,"sam_rpm":6.92902899,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292996168,"thr_a_norm":0.0292996168,"thr_a_v":0.617198467,"thr_b":0.000383391976,"thr_b_norm":0.000383391976,"thr_b_v":0.501533568,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.139606,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.60349751,"cg_iw_a":1.57892227,"cg_theta_rad":0.554662168,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00670051575,"mpcc_du":51.3022537,"mpcc_dv":47.4176712,"mpcc_dw":52.5823288,"mpcc_enc_sign":1,"mpcc_id_a":1.06635392,"mpcc_iq_a":-0.859918892,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.4271803,"mpcc_pred_id_a":-0.160050437,"mpcc_pred_iq_a":2.81384492,"mpcc_state":1,"mpcc_theta_e":0.434788704,"mpcc_theta_mech":0.553903699,"sam_rpm":-15.6891479,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100274667,"thr_a_norm":0.100274667,"thr_a_v":0.901098669,"thr_b":0.0457404405,"thr_b_norm":0.0457404405,"thr_b_v":0.682961762,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.146137,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.661157608,"cg_iw_a":-1.82799864,"cg_theta_rad":0.556777656,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0481315143,"mpcc_du":49.5543213,"mpcc_dv":49.2744217,"mpcc_dw":50.7255783,"mpcc_enc_sign":1,"mpcc_id_a":3.42389989,"mpcc_iq_a":0.541790187,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.09977293,"mpcc_pred_id_a":0.708145618,"mpcc_pred_iq_a":-1.48673689,"mpcc_state":1,"mpcc_theta_e":0.447865486,"mpcc_theta_mech":0.556519032,"sam_rpm":8.79107571,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.100274667,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0.0457404405,"thr_b_v":0.460595101,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.152668,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-1.60349751,"cg_iw_a":-1.10312176,"cg_theta_rad":0.556966186,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0333943628,"mpcc_du":49.8407097,"mpcc_dv":49.0912971,"mpcc_dw":50.9087029,"mpcc_enc_sign":1,"mpcc_id_a":3.28523254,"mpcc_iq_a":0.646584868,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.28632927,"mpcc_pred_id_a":0.564822674,"mpcc_pred_iq_a":-0.853528321,"mpcc_state":1,"mpcc_theta_e":0.435092449,"mpcc_theta_mech":0.553964376,"sam_rpm":-9.48268604,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460595101,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.161182,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.09608364,"cg_iw_a":-0.958146572,"cg_theta_rad":0.55645436,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00775499735,"mpcc_du":49.9941597,"mpcc_dv":49.1503792,"mpcc_dw":50.8496208,"mpcc_enc_sign":1,"mpcc_id_a":0.783334315,"mpcc_iq_a":-2.27571273,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.78610706,"mpcc_pred_id_a":-0.332524121,"mpcc_pred_iq_a":-2.41897273,"mpcc_state":1,"mpcc_theta_e":0.448002338,"mpcc_theta_mech":0.55654639,"sam_rpm":7.89967823,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.0264545679,"thr_a_v":0.605818272,"thr_b":0.00399632752,"thr_b_norm":0.00399632752,"thr_b_v":0.51598531,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.171589,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-2.0384233,"cg_iw_a":1.79638505,"cg_theta_rad":0.55474478,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0363905169,"mpcc_du":50.4815483,"mpcc_dv":48.2726517,"mpcc_dw":51.7273483,"mpcc_enc_sign":1,"mpcc_id_a":3.36116052,"mpcc_iq_a":-1.25776267,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.49498177,"mpcc_pred_id_a":0.352555156,"mpcc_pred_iq_a":-1.45100665,"mpcc_state":1,"mpcc_theta_e":0.44093132,"mpcc_theta_mech":0.555132151,"sam_rpm":-12.7459373,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0960448533,"thr_a_norm":0.0264545679,"thr_a_v":0.884179413,"thr_b":0.0403650701,"thr_b_norm":0.00399632752,"thr_b_v":0.66146028,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.181599,"values":{"cg_iu_a":1.69179153,"cg_iv_a":0.136206627,"cg_iw_a":-0.595708132,"cg_theta_rad":0.557413876,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.000746581587,"mpcc_du":50.1630974,"mpcc_dv":48.98909,"mpcc_dw":51.01091,"mpcc_enc_sign":1,"mpcc_id_a":2.04112935,"mpcc_iq_a":-1.66877484,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.14289498,"mpcc_pred_id_a":0.017263025,"mpcc_pred_iq_a":-1.92890441,"mpcc_state":1,"mpcc_theta_e":0.446536541,"mpcc_theta_mech":0.556253195,"sam_rpm":-2.30005407,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0960448533,"thr_a_norm":0.0960448533,"thr_a_v":0.884179413,"thr_b":0.0403650701,"thr_b_norm":0.0403650701,"thr_b_v":0.66146028,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.191578,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.951108456,"cg_iw_a":-0.595707893,"cg_theta_rad":0.552931845,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0292824693,"mpcc_du":49.6050034,"mpcc_dv":49.4989357,"mpcc_dw":50.5010643,"mpcc_enc_sign":1,"mpcc_id_a":0.659693062,"mpcc_iq_a":-2.27625513,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.70856285,"mpcc_pred_id_a":0.0251599345,"mpcc_pred_iq_a":-2.15331793,"mpcc_state":1,"mpcc_theta_e":0.429038048,"mpcc_theta_mech":0.552753508,"sam_rpm":-13.8233757,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00773517787,"thr_a_norm":0.00773517787,"thr_a_v":0.530940711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.414772272,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.201588,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.74847269,"cg_iw_a":-0.015806675,"cg_theta_rad":0.553289533,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0485906601,"mpcc_du":50.1891594,"mpcc_dv":48.9032249,"mpcc_dw":51.0967751,"mpcc_enc_sign":1,"mpcc_id_a":1.07266366,"mpcc_iq_a":-0.0022802786,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.19154549,"mpcc_pred_id_a":-0.246896639,"mpcc_pred_iq_a":-1.84908569,"mpcc_state":1,"mpcc_theta_e":0.44990015,"mpcc_theta_mech":0.556925952,"sam_rpm":7.84133339,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00773517787,"thr_a_norm":0.00773517787,"thr_a_v":0.530940711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.414772272,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.211781,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.82096052,"cg_iw_a":0.419119358,"cg_theta_rad":0.556058407,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0685698166,"mpcc_du":50.4653702,"mpcc_dv":48.3527908,"mpcc_dw":51.6472092,"mpcc_enc_sign":1,"mpcc_id_a":2.41923904,"mpcc_iq_a":-0.0286989864,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.41682148,"mpcc_pred_id_a":0.198947996,"mpcc_pred_iq_a":-2.8544476,"mpcc_state":1,"mpcc_theta_e":0.441817284,"mpcc_theta_mech":0.555309355,"sam_rpm":-9.74103355,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225898325,"thr_a_norm":0.0225898325,"thr_a_v":0.59035933,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481089473,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.221973,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.26292419,"cg_theta_rad":0.557861507,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.013285446,"mpcc_du":50.4618225,"mpcc_dv":48.4061966,"mpcc_dw":51.5938034,"mpcc_enc_sign":1,"mpcc_id_a":-0.300931156,"mpcc_iq_a":-2.87825751,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.02879906,"mpcc_pred_id_a":0.116281323,"mpcc_pred_iq_a":-0.909901798,"mpcc_state":1,"mpcc_theta_e":0.447685719,"mpcc_theta_mech":0.55648303,"sam_rpm":-13.9570112,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172144622,"thr_a_norm":0.0225898325,"thr_a_v":0.568857849,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438438982,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.244892,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.09608364,"cg_iw_a":-0.450732708,"cg_theta_rad":0.554123998,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0139355632,"mpcc_du":49.0741692,"mpcc_dv":50.9258308,"mpcc_dw":49.7379189,"mpcc_enc_sign":1,"mpcc_id_a":1.03228402,"mpcc_iq_a":-0.586074531,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.7768836,"mpcc_pred_id_a":-0.154449984,"mpcc_pred_iq_a":-6.7817173,"mpcc_state":1,"mpcc_theta_e":0.449225903,"mpcc_theta_mech":0.556791067,"sam_rpm":11.3241692,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172144622,"thr_a_norm":0.0172144622,"thr_a_v":0.568857849,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438438982,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.251423,"values":{"cg_iu_a":2.5616436,"cg_iv_a":0.208694458,"cg_iw_a":-2.77033806,"cg_theta_rad":0.557060361,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0162979644,"mpcc_du":50.5106277,"mpcc_dv":48.2429314,"mpcc_dw":51.7570686,"mpcc_enc_sign":1,"mpcc_id_a":2.54968524,"mpcc_iq_a":-0.932950795,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.8964548,"mpcc_pred_id_a":0.209928438,"mpcc_pred_iq_a":0.358661443,"mpcc_state":1,"mpcc_theta_e":0.42942667,"mpcc_theta_mech":0.552831292,"sam_rpm":-17.9693775,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0495044589,"thr_a_norm":0.0495044589,"thr_a_v":0.698017836,"thr_b":0.0145960152,"thr_b_norm":0.0145960152,"thr_b_v":0.558384061,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.257984,"values":{"cg_iu_a":3.1415453,"cg_iv_a":0.281181812,"cg_iw_a":-3.42272711,"cg_theta_rad":0.55297941,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00782635901,"mpcc_du":49.718792,"mpcc_dv":49.3914223,"mpcc_dw":50.6085777,"mpcc_enc_sign":1,"mpcc_id_a":1.62095749,"mpcc_iq_a":-1.7037636,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.52554607,"mpcc_pred_id_a":-0.0617997944,"mpcc_pred_iq_a":-1.31567717,"mpcc_state":1,"mpcc_theta_e":0.448243618,"mpcc_theta_mech":0.55659461,"sam_rpm":12.4705019,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0495044589,"thr_a_norm":0.0495044589,"thr_a_v":0.698017836,"thr_b":0.0145960152,"thr_b_norm":0.0145960152,"thr_b_v":0.558384061,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.264454,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.45852208,"cg_iw_a":-1.75551057,"cg_theta_rad":0.557030439,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.025461562,"mpcc_du":49.0746193,"mpcc_dv":50.9253807,"mpcc_dw":49.7074165,"mpcc_enc_sign":1,"mpcc_id_a":0.940737128,"mpcc_iq_a":0.0792899802,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.3503809,"mpcc_pred_id_a":-0.223042101,"mpcc_pred_iq_a":-5.79635525,"mpcc_state":1,"mpcc_theta_e":0.430224419,"mpcc_theta_mech":0.552990794,"sam_rpm":20.0840187,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463515669,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.272785,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.24105906,"cg_iw_a":-1.53804755,"cg_theta_rad":0.557229817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0167107619,"mpcc_du":49.2805214,"mpcc_dv":50.7194786,"mpcc_dw":50.0879669,"mpcc_enc_sign":1,"mpcc_id_a":1.88200164,"mpcc_iq_a":-0.156813145,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.98278093,"mpcc_pred_id_a":0.217724204,"mpcc_pred_iq_a":-4.84650183,"mpcc_state":1,"mpcc_theta_e":0.44788599,"mpcc_theta_mech":0.556523085,"sam_rpm":11.5308247,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254474729,"thr_a_norm":0.0224387646,"thr_a_v":0.601789892,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.282948,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.38603449,"cg_iw_a":0.926532745,"cg_theta_rad":0.554085314,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0219023023,"mpcc_du":50.3198891,"mpcc_dv":48.5597801,"mpcc_dw":51.4402199,"mpcc_enc_sign":1,"mpcc_id_a":1.96517503,"mpcc_iq_a":-1.66641581,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.97149944,"mpcc_pred_id_a":0.237964407,"mpcc_pred_iq_a":-2.78660226,"mpcc_state":1,"mpcc_theta_e":0.44204855,"mpcc_theta_mech":0.555355608,"sam_rpm":-9.1689806,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254474729,"thr_a_norm":0.0254474729,"thr_a_v":0.601789892,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.292957,"values":{"cg_iu_a":1.32935333,"cg_iv_a":0.426157475,"cg_iw_a":0.926532984,"cg_theta_rad":0.556847334,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0221366715,"mpcc_du":49.5199966,"mpcc_dv":49.8107376,"mpcc_dw":50.4800034,"mpcc_enc_sign":1,"mpcc_id_a":2.20479393,"mpcc_iq_a":0.023692267,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.67404413,"mpcc_pred_id_a":0.294383585,"mpcc_pred_iq_a":-2.68918538,"mpcc_state":1,"mpcc_theta_e":0.443068981,"mpcc_theta_mech":0.555559754,"sam_rpm":7.8984046,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101961553,"thr_a_norm":0.101961553,"thr_a_v":0.907846212,"thr_b":0.0449851155,"thr_b_norm":0.0449851155,"thr_b_v":0.679940462,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.302753,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.661157608,"cg_iw_a":-0.160782337,"cg_theta_rad":0.55703038,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0710664839,"mpcc_du":50.1002159,"mpcc_dv":48.4014091,"mpcc_dw":51.5985909,"mpcc_enc_sign":1,"mpcc_id_a":5.14944029,"mpcc_iq_a":-0.815354943,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.019743,"mpcc_pred_id_a":1.15199256,"mpcc_pred_iq_a":0.149984449,"mpcc_state":1,"mpcc_theta_e":0.425942421,"mpcc_theta_mech":0.552134395,"sam_rpm":-22.7130966,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101961553,"thr_a_norm":0.101961553,"thr_a_v":0.907846212,"thr_b":0.0449851155,"thr_b_norm":0.0449851155,"thr_b_v":0.679940462,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.312946,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.09608364,"cg_iw_a":0.201656342,"cg_theta_rad":0.556916952,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00963267032,"mpcc_du":49.2200203,"mpcc_dv":50.7799797,"mpcc_dw":49.9148254,"mpcc_enc_sign":1,"mpcc_id_a":0.692442,"mpcc_iq_a":-1.1212666,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.1671524,"mpcc_pred_id_a":-0.120275751,"mpcc_pred_iq_a":-4.82325459,"mpcc_state":1,"mpcc_theta_e":0.450947285,"mpcc_theta_mech":0.557135403,"sam_rpm":20.8386555,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025875479,"thr_a_norm":0.025875479,"thr_a_v":0.603501916,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488592356,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.323383,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.82096052,"cg_iw_a":-0.16078186,"cg_theta_rad":0.553803205,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0292135403,"mpcc_du":50.2127495,"mpcc_dv":48.6004982,"mpcc_dw":51.3995018,"mpcc_enc_sign":1,"mpcc_id_a":3.03702903,"mpcc_iq_a":-0.928142428,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.57995629,"mpcc_pred_id_a":0.469836622,"mpcc_pred_iq_a":-1.13231707,"mpcc_state":1,"mpcc_theta_e":0.443363667,"mpcc_theta_mech":0.555618644,"sam_rpm":-5.74500751,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188006312,"thr_a_norm":0.025875479,"thr_a_v":0.575202525,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476356149,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.346394,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.951108456,"cg_iw_a":0.491607189,"cg_theta_rad":0.552333832,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.000442791556,"mpcc_du":50.4036674,"mpcc_dv":48.6760674,"mpcc_dw":50.3468971,"mpcc_enc_sign":1,"mpcc_id_a":0.41115725,"mpcc_iq_a":-1.57399487,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.39257908,"mpcc_pred_id_a":-0.334713191,"mpcc_pred_iq_a":0.0857046023,"mpcc_state":1,"mpcc_theta_e":0.437585354,"mpcc_theta_mech":0.554463029,"sam_rpm":-5.13129759,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188006312,"thr_a_norm":0.0188006312,"thr_a_v":0.575202525,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476356149,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.352894,"values":{"cg_iu_a":2.1992054,"cg_iv_a":1.51347208,"cg_iw_a":-1.32058477,"cg_theta_rad":0.556638122,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0664860606,"mpcc_du":49.4507408,"mpcc_dv":49.9045181,"mpcc_dw":50.5492592,"mpcc_enc_sign":1,"mpcc_id_a":4.24077845,"mpcc_iq_a":-0.957124949,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.7175064,"mpcc_pred_id_a":0.771995127,"mpcc_pred_iq_a":-3.20562077,"mpcc_state":1,"mpcc_theta_e":0.45607996,"mpcc_theta_mech":0.558161914,"sam_rpm":19.5371304,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219226331,"thr_a_norm":0.0219226331,"thr_a_v":0.587690532,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486024261,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.359455,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.31354666,"cg_iw_a":0.419119358,"cg_theta_rad":0.556431413,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0278527252,"mpcc_du":50.5150337,"mpcc_dv":48.4060059,"mpcc_dw":51.5939941,"mpcc_enc_sign":1,"mpcc_id_a":0.977336943,"mpcc_iq_a":-1.68586409,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.15703583,"mpcc_pred_id_a":0.109319471,"mpcc_pred_iq_a":0.616322517,"mpcc_state":1,"mpcc_theta_e":0.455485821,"mpcc_theta_mech":0.558043122,"sam_rpm":15.1778526,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219226331,"thr_a_norm":0.0219226331,"thr_a_v":0.587690532,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486024261,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.365986,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.806133032,"cg_iw_a":-1.32058454,"cg_theta_rad":0.556876242,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00233788975,"mpcc_du":50.5309448,"mpcc_dv":48.3337936,"mpcc_dw":51.6662064,"mpcc_enc_sign":1,"mpcc_id_a":0.95088625,"mpcc_iq_a":-1.2987746,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.1046829,"mpcc_pred_id_a":-0.0314402357,"mpcc_pred_iq_a":-1.85197484,"mpcc_state":1,"mpcc_theta_e":0.425044537,"mpcc_theta_mech":0.551954865,"sam_rpm":-26.8338013,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464321345,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.375538,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.588670254,"cg_iw_a":-1.39307213,"cg_theta_rad":0.557070374,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0350963809,"mpcc_du":50.2583656,"mpcc_dv":48.9047661,"mpcc_dw":51.0952339,"mpcc_enc_sign":1,"mpcc_id_a":-1.18544984,"mpcc_iq_a":-0.677923143,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.77292705,"mpcc_pred_id_a":-0.489931315,"mpcc_pred_iq_a":-2.14935279,"mpcc_state":1,"mpcc_theta_e":0.449798107,"mpcc_theta_mech":0.556905568,"sam_rpm":5.17713499,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274238884,"thr_a_norm":0.0232444406,"thr_a_v":0.609695554,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.386585,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.02359605,"cg_iw_a":-1.03063416,"cg_theta_rad":0.555057585,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0223448984,"mpcc_du":49.9975433,"mpcc_dv":48.738205,"mpcc_dw":51.261795,"mpcc_enc_sign":1,"mpcc_id_a":2.98920679,"mpcc_iq_a":0.198974296,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.71158791,"mpcc_pred_id_a":0.562565684,"mpcc_pred_iq_a":0.74228555,"mpcc_state":1,"mpcc_theta_e":0.430006027,"mpcc_theta_mech":0.552947164,"sam_rpm":-8.59882069,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274238884,"thr_a_norm":0.0274238884,"thr_a_v":0.609695554,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.39687,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.02359605,"cg_iw_a":-1.90048623,"cg_theta_rad":0.55550766,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00380595727,"mpcc_du":49.978672,"mpcc_dv":48.6784935,"mpcc_dw":51.3215065,"mpcc_enc_sign":1,"mpcc_id_a":0.714558005,"mpcc_iq_a":0.269923806,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.548999012,"mpcc_pred_id_a":-0.261738211,"mpcc_pred_iq_a":-3.02172112,"mpcc_state":1,"mpcc_theta_e":0.439156055,"mpcc_theta_mech":0.554777086,"sam_rpm":-9.85091496,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023080796,"thr_a_norm":0.023080796,"thr_a_v":0.592323184,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491009355,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.406788,"values":{"cg_iu_a":4.73627377,"cg_iv_a":-1.82096052,"cg_iw_a":-2.91531324,"cg_theta_rad":0.556925893,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0309988577,"mpcc_du":49.7056961,"mpcc_dv":49.3351974,"mpcc_dw":50.6648026,"mpcc_enc_sign":1,"mpcc_id_a":2.36911392,"mpcc_iq_a":-0.480157495,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.63339996,"mpcc_pred_id_a":0.0189414769,"mpcc_pred_iq_a":-2.39183021,"mpcc_state":1,"mpcc_theta_e":0.446520805,"mpcc_theta_mech":0.556250095,"sam_rpm":8.59104633,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023080796,"thr_a_norm":0.023080796,"thr_a_v":0.592323184,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491009355,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.417011,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.09608364,"cg_iw_a":-1.10312176,"cg_theta_rad":0.555998504,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0420962386,"mpcc_du":49.674511,"mpcc_dv":50.1390877,"mpcc_dw":50.325489,"mpcc_enc_sign":1,"mpcc_id_a":-1.43403769,"mpcc_iq_a":-3.76185274,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.26558495,"mpcc_pred_id_a":-0.640434146,"mpcc_pred_iq_a":-1.19660997,"mpcc_state":1,"mpcc_theta_e":0.442404747,"mpcc_theta_mech":0.555426836,"sam_rpm":9.51964951,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0293373764,"thr_a_norm":0.0293373764,"thr_a_v":0.617349505,"thr_b":0.00198215246,"thr_b_norm":0.00198215246,"thr_b_v":0.50792861,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.427143,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.153744221,"cg_iw_a":-2.48038721,"cg_theta_rad":0.553586841,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.000170421423,"mpcc_du":48.9215088,"mpcc_dv":51.0784912,"mpcc_dw":49.4366837,"mpcc_enc_sign":1,"mpcc_id_a":0.178734571,"mpcc_iq_a":-1.52193654,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.6861801,"mpcc_pred_id_a":-0.642507017,"mpcc_pred_iq_a":-5.08486271,"mpcc_state":1,"mpcc_theta_e":0.449233532,"mpcc_theta_mech":0.556792617,"sam_rpm":20.8368282,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282169729,"thr_a_norm":0.0293373764,"thr_a_v":0.612867892,"thr_b":0.00293888152,"thr_b_norm":0.00198215246,"thr_b_v":0.511755526,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.450397,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.298719406,"cg_iw_a":-1.90048599,"cg_theta_rad":0.554958344,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00903549511,"mpcc_du":48.8776093,"mpcc_dv":51.1223907,"mpcc_dw":52.1292496,"mpcc_enc_sign":1,"mpcc_id_a":1.89042759,"mpcc_iq_a":-1.31365895,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.52925253,"mpcc_pred_id_a":-0.17745097,"mpcc_pred_iq_a":-7.28041983,"mpcc_state":1,"mpcc_theta_e":0.444726944,"mpcc_theta_mech":0.552454412,"sam_rpm":6.03517199,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282169729,"thr_a_norm":0.0282169729,"thr_a_v":0.612867892,"thr_b":0.00293888152,"thr_b_norm":0.00293888152,"thr_b_v":0.511755526,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.456928,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.31354666,"cg_iw_a":-0.668195724,"cg_theta_rad":0.553417981,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.012436199,"mpcc_du":50.7388229,"mpcc_dv":48.0715332,"mpcc_dw":51.9284668,"mpcc_enc_sign":1,"mpcc_id_a":1.0168165,"mpcc_iq_a":-0.793255866,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.78378963,"mpcc_pred_id_a":-0.0174441598,"mpcc_pred_iq_a":-0.084573403,"mpcc_state":1,"mpcc_theta_e":0.436584473,"mpcc_theta_mech":0.557865739,"sam_rpm":-12.5333786,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0941439718,"thr_a_norm":0.0941439718,"thr_a_v":0.876575887,"thr_b":0.0309361368,"thr_b_norm":0.0309361368,"thr_b_v":0.623744547,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.463428,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.6759851,"cg_iw_a":-0.813171148,"cg_theta_rad":0.556076527,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.050991971,"mpcc_du":49.4644623,"mpcc_dv":49.2259178,"mpcc_dw":50.7740822,"mpcc_enc_sign":1,"mpcc_id_a":4.23360968,"mpcc_iq_a":-0.798756778,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.8781834,"mpcc_pred_id_a":1.09031129,"mpcc_pred_iq_a":-0.238989696,"mpcc_state":1,"mpcc_theta_e":0.452837467,"mpcc_theta_mech":0.557513416,"sam_rpm":17.4332561,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0941439718,"thr_a_norm":0.0941439718,"thr_a_v":0.876575887,"thr_b":0.0309361368,"thr_b_norm":0.0309361368,"thr_b_v":0.623744547,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.470142,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.0087685585,"cg_iw_a":-1.0306344,"cg_theta_rad":0.552468359,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0112066902,"mpcc_du":50.1150436,"mpcc_dv":48.9999008,"mpcc_dw":51.0000992,"mpcc_enc_sign":1,"mpcc_id_a":-0.167415619,"mpcc_iq_a":-1.4020592,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.49762487,"mpcc_pred_id_a":-0.389324695,"mpcc_pred_iq_a":-0.846921742,"mpcc_state":1,"mpcc_theta_e":0.450301647,"mpcc_theta_mech":0.55700624,"sam_rpm":11.9077425,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276253074,"thr_a_norm":0.0276253074,"thr_a_v":0.61050123,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4983612,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.480732,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.371207237,"cg_iw_a":-0.668195724,"cg_theta_rad":0.554881513,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0309944563,"mpcc_du":50.2435913,"mpcc_dv":48.5156784,"mpcc_dw":51.4843216,"mpcc_enc_sign":1,"mpcc_id_a":1.64869714,"mpcc_iq_a":-1.18123496,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.15593195,"mpcc_pred_id_a":0.408115387,"mpcc_pred_iq_a":-2.44187379,"mpcc_state":1,"mpcc_theta_e":0.44942522,"mpcc_theta_mech":0.556831002,"sam_rpm":-9.25840187,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218219161,"thr_a_norm":0.0276253074,"thr_a_v":0.587287664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484815717,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.490803,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.02359605,"cg_iw_a":-0.523220301,"cg_theta_rad":0.555434644,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0333543085,"mpcc_du":49.8982468,"mpcc_dv":48.8703423,"mpcc_dw":51.1296577,"mpcc_enc_sign":1,"mpcc_id_a":2.8772428,"mpcc_iq_a":-0.390283167,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.29011059,"mpcc_pred_id_a":0.43836391,"mpcc_pred_iq_a":2.00803566,"mpcc_state":1,"mpcc_theta_e":0.428702354,"mpcc_theta_mech":0.552686393,"sam_rpm":-8.16312122,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218219161,"thr_a_norm":0.0218219161,"thr_a_v":0.587287664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484815717,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.500782,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.09608364,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556896925,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0724136829,"mpcc_du":50.5909233,"mpcc_dv":48.0792427,"mpcc_dw":51.9207573,"mpcc_enc_sign":1,"mpcc_id_a":1.20256829,"mpcc_iq_a":-0.0762690008,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.10075855,"mpcc_pred_id_a":0.431189269,"mpcc_pred_iq_a":-1.83445144,"mpcc_state":1,"mpcc_theta_e":0.458996773,"mpcc_theta_mech":0.558745265,"sam_rpm":-1.46330965,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257244259,"thr_a_norm":0.0257244259,"thr_a_v":0.602897704,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487232774,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.510548,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.82096052,"cg_iw_a":0.0566811562,"cg_theta_rad":0.555754781,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0243426692,"mpcc_du":49.7792168,"mpcc_dv":49.1125526,"mpcc_dw":50.8874474,"mpcc_enc_sign":1,"mpcc_id_a":1.63241267,"mpcc_iq_a":-1.3428477,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.22375488,"mpcc_pred_id_a":0.11207176,"mpcc_pred_iq_a":-2.38035679,"mpcc_state":1,"mpcc_theta_e":0.450474262,"mpcc_theta_mech":0.557040811,"sam_rpm":10.8127708,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257244259,"thr_a_norm":0.0257244259,"thr_a_v":0.602897704,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487232774,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.520985,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.298719406,"cg_iw_a":-1.75551081,"cg_theta_rad":0.553480685,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0127191469,"mpcc_du":49.7061424,"mpcc_dv":49.297554,"mpcc_dw":50.702446,"mpcc_enc_sign":1,"mpcc_id_a":-0.0511262491,"mpcc_iq_a":-2.33893156,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.71134764,"mpcc_pred_id_a":-0.474221677,"mpcc_pred_iq_a":-2.73788333,"mpcc_state":1,"mpcc_theta_e":0.447932243,"mpcc_theta_mech":0.556532323,"sam_rpm":6.24668121,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0380109847,"thr_a_norm":0.0380109847,"thr_a_v":0.652043939,"thr_b":0.00833943486,"thr_b_norm":0.00833943486,"thr_b_v":0.533357739,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.531116,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.24105906,"cg_iw_a":-0.740683317,"cg_theta_rad":0.553398788,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0394242033,"mpcc_du":49.9068489,"mpcc_dv":49.0198135,"mpcc_dw":50.9801865,"mpcc_enc_sign":1,"mpcc_id_a":1.02536881,"mpcc_iq_a":0.0702230483,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.44457889,"mpcc_pred_id_a":0.192158923,"mpcc_pred_iq_a":-1.63483083,"mpcc_state":1,"mpcc_theta_e":0.446688175,"mpcc_theta_mech":0.556283534,"sam_rpm":4.73313951,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022954911,"thr_a_norm":0.0380109847,"thr_a_v":0.591819644,"thr_b":0,"thr_b_norm":0.00833943486,"thr_b_v":0.477514297,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.554188,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.6759851,"cg_iw_a":-2.48038769,"cg_theta_rad":0.558895588,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0563018955,"mpcc_du":49.8512535,"mpcc_dv":49.0520744,"mpcc_dw":50.9479256,"mpcc_enc_sign":1,"mpcc_id_a":4.59933233,"mpcc_iq_a":-1.01457369,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.07332087,"mpcc_pred_id_a":0.8823632,"mpcc_pred_iq_a":-2.37306428,"mpcc_state":1,"mpcc_theta_e":0.442010403,"mpcc_theta_mech":0.555348039,"sam_rpm":-3.76650596,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022954911,"thr_a_norm":0.022954911,"thr_a_v":0.591819644,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477514297,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.560688,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.0087685585,"cg_iw_a":-1.53804779,"cg_theta_rad":0.553312182,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.03921948,"mpcc_du":50.8000603,"mpcc_dv":47.7865448,"mpcc_dw":52.2134552,"mpcc_enc_sign":1,"mpcc_id_a":2.80668521,"mpcc_iq_a":-0.547531545,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.6205769,"mpcc_pred_id_a":0.390620917,"mpcc_pred_iq_a":-1.59643602,"mpcc_state":1,"mpcc_theta_e":0.430481434,"mpcc_theta_mech":0.553042233,"sam_rpm":-25.5606213,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274868309,"thr_a_norm":0.0274868309,"thr_a_v":0.609947324,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485772491,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.567219,"values":{"cg_iu_a":2.12671757,"cg_iv_a":0.281181812,"cg_iw_a":0.419119358,"cg_theta_rad":0.557130456,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.017833747,"mpcc_du":50.447094,"mpcc_dv":48.1952171,"mpcc_dw":51.8047829,"mpcc_enc_sign":1,"mpcc_id_a":2.64879799,"mpcc_iq_a":-0.187047571,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.8024397,"mpcc_pred_id_a":0.450333655,"mpcc_pred_iq_a":-0.059542302,"mpcc_state":1,"mpcc_theta_e":0.42621851,"mpcc_theta_mech":0.552189589,"sam_rpm":-23.5950508,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274868309,"thr_a_norm":0.0274868309,"thr_a_v":0.609947324,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485772491,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.573719,"values":{"cg_iu_a":1.32935333,"cg_iv_a":0.933570862,"cg_iw_a":-2.26292419,"cg_theta_rad":0.552286863,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00320768612,"mpcc_du":50.5146675,"mpcc_dv":48.2404747,"mpcc_dw":51.7595253,"mpcc_enc_sign":1,"mpcc_id_a":0.61486733,"mpcc_iq_a":-0.458581001,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.400507,"mpcc_pred_id_a":0.0302017648,"mpcc_pred_iq_a":-1.14259708,"mpcc_state":1,"mpcc_theta_e":0.426231384,"mpcc_theta_mech":0.552192211,"sam_rpm":-24.2200718,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257118344,"thr_a_norm":0.0257118344,"thr_a_v":0.602847338,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48879379,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.581989,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":-0.951108456,"cg_iw_a":-1.82799816,"cg_theta_rad":0.559522569,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0201087128,"mpcc_du":49.4696503,"mpcc_dv":49.5674515,"mpcc_dw":50.5303497,"mpcc_enc_sign":1,"mpcc_id_a":2.71563625,"mpcc_iq_a":-0.591870427,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.37423229,"mpcc_pred_id_a":0.422233552,"mpcc_pred_iq_a":-2.245682,"mpcc_state":1,"mpcc_theta_e":0.443923473,"mpcc_theta_mech":0.555730581,"sam_rpm":4.27758789,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262027979,"thr_a_norm":0.0257118344,"thr_a_v":0.604811192,"thr_b":0.00130236149,"thr_b_norm":0,"thr_b_v":0.505209446,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.591938,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.45852208,"cg_iw_a":-1.4655602,"cg_theta_rad":0.554801881,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0311541036,"mpcc_du":50.4822083,"mpcc_dv":48.2765274,"mpcc_dw":51.7234726,"mpcc_enc_sign":1,"mpcc_id_a":1.92789805,"mpcc_iq_a":-1.74369848,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.89584541,"mpcc_pred_id_a":0.289608419,"mpcc_pred_iq_a":-2.63374615,"mpcc_state":1,"mpcc_theta_e":0.442892075,"mpcc_theta_mech":0.55552429,"sam_rpm":-9.48927593,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262027979,"thr_a_norm":0.0262027979,"thr_a_v":0.604811192,"thr_b":0.00130236149,"thr_b_norm":0.00130236149,"thr_b_v":0.505209446,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.601154,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.82096052,"cg_iw_a":-0.958146572,"cg_theta_rad":0.553593218,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0121339131,"mpcc_du":49.9168625,"mpcc_dv":49.3023071,"mpcc_dw":50.6976929,"mpcc_enc_sign":1,"mpcc_id_a":0.898506641,"mpcc_iq_a":-1.03150094,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.93003321,"mpcc_pred_id_a":-0.483440965,"mpcc_pred_iq_a":-2.49077702,"mpcc_state":1,"mpcc_theta_e":0.448406219,"mpcc_theta_mech":0.556627154,"sam_rpm":6.15772009,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156534761,"thr_a_norm":0.0156534761,"thr_a_v":0.562613904,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459890157,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.612171,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-0.661157608,"cg_iw_a":-1.03063393,"cg_theta_rad":0.55534029,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.000790044433,"mpcc_du":50.1776581,"mpcc_dv":48.9099884,"mpcc_dw":51.0900116,"mpcc_enc_sign":1,"mpcc_id_a":0.22743538,"mpcc_iq_a":-1.95382273,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.32917881,"mpcc_pred_id_a":-0.36664772,"mpcc_pred_iq_a":-2.59260631,"mpcc_state":1,"mpcc_theta_e":0.440850258,"mpcc_theta_mech":0.555115998,"sam_rpm":-8.49820614,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156534761,"thr_a_norm":0.0156534761,"thr_a_v":0.562613904,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459890157,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.622364,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.16857147,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556369662,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0143830804,"mpcc_du":49.5619621,"mpcc_dv":49.1906815,"mpcc_dw":50.8093185,"mpcc_enc_sign":1,"mpcc_id_a":1.93183827,"mpcc_iq_a":-0.719210267,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.52675629,"mpcc_pred_id_a":-0.0581955314,"mpcc_pred_iq_a":-0.762093008,"mpcc_state":1,"mpcc_theta_e":0.43967247,"mpcc_theta_mech":0.55488044,"sam_rpm":11.6317329,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285820514,"thr_a_norm":0.0285820514,"thr_a_v":0.614328206,"thr_b":0.000446334481,"thr_b_norm":0.000446334481,"thr_b_v":0.501785338,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.63274,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.60349751,"cg_iw_a":0.274144173,"cg_theta_rad":0.555000722,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0499530211,"mpcc_du":49.6573296,"mpcc_dv":48.9287071,"mpcc_dw":51.0712929,"mpcc_enc_sign":1,"mpcc_id_a":4.27435637,"mpcc_iq_a":-1.00550294,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.20601034,"mpcc_pred_id_a":1.14553189,"mpcc_pred_iq_a":0.299836963,"mpcc_state":1,"mpcc_theta_e":0.433495998,"mpcc_theta_mech":0.553645074,"sam_rpm":-5.91327238,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0381242782,"thr_a_norm":0.0285820514,"thr_a_v":0.652497113,"thr_b":0.0115621537,"thr_b_norm":0.000446334481,"thr_b_v":0.546248615,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.655567,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.69081235,"cg_iw_a":-0.595708132,"cg_theta_rad":0.559035838,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0103326626,"mpcc_du":50.5176964,"mpcc_dv":48.2324181,"mpcc_dw":51.7675819,"mpcc_enc_sign":1,"mpcc_id_a":1.80518568,"mpcc_iq_a":-0.644948363,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.3662291,"mpcc_pred_id_a":0.246005401,"mpcc_pred_iq_a":-0.24166961,"mpcc_state":1,"mpcc_theta_e":0.432709217,"mpcc_theta_mech":0.553487718,"sam_rpm":-17.0348625,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0381242782,"thr_a_norm":0.0381242782,"thr_a_v":0.652497113,"thr_b":0.0115621537,"thr_b_norm":0.0115621537,"thr_b_v":0.546248615,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.662098,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.16857147,"cg_iw_a":-1.24809694,"cg_theta_rad":0.553770363,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.005501654,"mpcc_du":50.0043564,"mpcc_dv":49.0499153,"mpcc_dw":50.9500847,"mpcc_enc_sign":1,"mpcc_id_a":0.999061882,"mpcc_iq_a":-0.656739533,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.06917286,"mpcc_pred_id_a":-0.134112254,"mpcc_pred_iq_a":-0.447483271,"mpcc_state":1,"mpcc_theta_e":0.44448185,"mpcc_theta_mech":0.55584228,"sam_rpm":4.36515236,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0103410333,"thr_a_norm":0.0103410333,"thr_a_v":0.541364133,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456818491,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.668659,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.951108456,"cg_iw_a":-1.75551081,"cg_theta_rad":0.555758059,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0065267561,"mpcc_du":49.9663925,"mpcc_dv":49.1343231,"mpcc_dw":50.8656769,"mpcc_enc_sign":1,"mpcc_id_a":1.4936192,"mpcc_iq_a":-1.63791704,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.3791914,"mpcc_pred_id_a":-0.0521498062,"mpcc_pred_iq_a":-3.17787242,"mpcc_state":1,"mpcc_theta_e":0.446221828,"mpcc_theta_mech":0.556190252,"sam_rpm":1.30269003,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0103410333,"thr_a_norm":0.0103410333,"thr_a_v":0.541364133,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456818491,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.675343,"values":{"cg_iu_a":-0.845276594,"cg_iv_a":-0.443694592,"cg_iw_a":-0.885658741,"cg_theta_rad":0.554368317,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0447557084,"mpcc_du":50.0368309,"mpcc_dv":48.7803535,"mpcc_dw":51.2196465,"mpcc_enc_sign":1,"mpcc_id_a":2.90834022,"mpcc_iq_a":0.148944929,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.8132261,"mpcc_pred_id_a":0.414322615,"mpcc_pred_iq_a":-0.859949648,"mpcc_state":1,"mpcc_theta_e":0.444524288,"mpcc_theta_mech":0.555850804,"sam_rpm":3.21588969,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021419093,"thr_a_norm":0.021419093,"thr_a_v":0.585676372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473737687,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.685352,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.53100967,"cg_iw_a":-0.378244877,"cg_theta_rad":0.555689275,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00439925492,"mpcc_du":50.1576462,"mpcc_dv":48.8085594,"mpcc_dw":51.1914406,"mpcc_enc_sign":1,"mpcc_id_a":0.511069596,"mpcc_iq_a":-1.56149364,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.5250692,"mpcc_pred_id_a":-0.208683699,"mpcc_pred_iq_a":-1.98303914,"mpcc_state":1,"mpcc_theta_e":0.427023411,"mpcc_theta_mech":0.552350581,"sam_rpm":-21.8604374,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296394974,"thr_a_norm":0.021419093,"thr_a_v":0.61855799,"thr_b":0.00456282496,"thr_b_norm":0,"thr_b_v":0.5182513,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.695362,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.31354666,"cg_iw_a":-1.97297382,"cg_theta_rad":0.554680049,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0429070294,"mpcc_du":50.0765343,"mpcc_dv":48.9631386,"mpcc_dw":51.0368614,"mpcc_enc_sign":1,"mpcc_id_a":1.78489733,"mpcc_iq_a":-1.19185889,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.2811017,"mpcc_pred_id_a":-0.142168239,"mpcc_pred_iq_a":-3.02499485,"mpcc_state":1,"mpcc_theta_e":0.453736782,"mpcc_theta_mech":0.557693303,"sam_rpm":7.15932751,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296394974,"thr_a_norm":0.0296394974,"thr_a_v":0.61855799,"thr_b":0.00456282496,"thr_b_norm":0.00456282496,"thr_b_v":0.5182513,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.705555,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.54583716,"cg_iw_a":-2.48038721,"cg_theta_rad":0.555204928,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0383054987,"mpcc_du":50.3705406,"mpcc_dv":48.5971794,"mpcc_dw":51.4028206,"mpcc_enc_sign":1,"mpcc_id_a":1.66224706,"mpcc_iq_a":-1.1170032,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.14010477,"mpcc_pred_id_a":-0.158928216,"mpcc_pred_iq_a":-2.33723235,"mpcc_state":1,"mpcc_theta_e":0.446917534,"mpcc_theta_mech":0.556329429,"sam_rpm":-0.552443087,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0319432318,"thr_a_norm":0.0319432318,"thr_a_v":0.627772927,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495541304,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.715443,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.53100967,"cg_iw_a":0.564094543,"cg_theta_rad":0.553623557,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0182404723,"mpcc_du":49.4413376,"mpcc_dv":49.4297485,"mpcc_dw":50.5702515,"mpcc_enc_sign":1,"mpcc_id_a":2.67001796,"mpcc_iq_a":-1.02376723,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.86847436,"mpcc_pred_id_a":0.499137998,"mpcc_pred_iq_a":-1.4722203,"mpcc_state":1,"mpcc_theta_e":0.440808773,"mpcc_theta_mech":0.555107653,"sam_rpm":1.83599102,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0319432318,"thr_a_norm":0.0319432318,"thr_a_v":0.627772927,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495541304,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.725574,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.82096052,"cg_iw_a":-1.82799864,"cg_theta_rad":0.555119872,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00911840983,"mpcc_du":49.5770073,"mpcc_dv":50.2489319,"mpcc_dw":50.4229927,"mpcc_enc_sign":1,"mpcc_id_a":1.09511805,"mpcc_iq_a":-0.28726393,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.81960201,"mpcc_pred_id_a":-0.149753898,"mpcc_pred_iq_a":-2.66420722,"mpcc_state":1,"mpcc_theta_e":0.446081161,"mpcc_theta_mech":0.556162179,"sam_rpm":13.9198732,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0150114447,"thr_a_norm":0.0150114447,"thr_a_v":0.560045779,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458127707,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.735828,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.733645439,"cg_iw_a":0.346631765,"cg_theta_rad":0.555775106,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0807693228,"mpcc_du":50.3727112,"mpcc_dv":48.4476738,"mpcc_dw":51.5523262,"mpcc_enc_sign":1,"mpcc_id_a":1.71115923,"mpcc_iq_a":0.470977336,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.44112778,"mpcc_pred_id_a":0.144923836,"mpcc_pred_iq_a":-1.69585335,"mpcc_state":1,"mpcc_theta_e":0.455627441,"mpcc_theta_mech":0.558071375,"sam_rpm":2.93566465,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258880705,"thr_a_norm":0.0150114447,"thr_a_v":0.603552282,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491613656,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.758961,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.878620625,"cg_iw_a":-1.82799864,"cg_theta_rad":0.553326964,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0127758449,"mpcc_du":49.7684059,"mpcc_dv":49.2398529,"mpcc_dw":50.7601471,"mpcc_enc_sign":1,"mpcc_id_a":1.94071615,"mpcc_iq_a":-0.871009052,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.31755114,"mpcc_pred_id_a":-0.0158712119,"mpcc_pred_iq_a":-1.96368241,"mpcc_state":1,"mpcc_theta_e":0.443448067,"mpcc_theta_mech":0.555635512,"sam_rpm":2.34901881,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258880705,"thr_a_norm":0.0258880705,"thr_a_v":0.603552282,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491613656,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.765522,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.38603449,"cg_iw_a":1.28897142,"cg_theta_rad":0.556233466,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0214087982,"mpcc_du":50.3306427,"mpcc_dv":48.6451454,"mpcc_dw":51.3548546,"mpcc_enc_sign":1,"mpcc_id_a":1.48541331,"mpcc_iq_a":-0.983492911,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.572716,"mpcc_pred_id_a":-0.150347069,"mpcc_pred_iq_a":-0.849530339,"mpcc_state":1,"mpcc_theta_e":0.445715427,"mpcc_theta_mech":0.556088984,"sam_rpm":3.06103563,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0337182432,"thr_a_norm":0.0337182432,"thr_a_v":0.634872973,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474090159,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.771961,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-0.733645439,"cg_iw_a":-1.90048623,"cg_theta_rad":0.555824518,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00267449697,"mpcc_du":49.3447876,"mpcc_dv":50.6552124,"mpcc_dw":49.9378586,"mpcc_enc_sign":1,"mpcc_id_a":0.242623553,"mpcc_iq_a":-1.22618222,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.83346558,"mpcc_pred_id_a":-0.541345417,"mpcc_pred_iq_a":-5.71618128,"mpcc_state":1,"mpcc_theta_e":0.430110455,"mpcc_theta_mech":0.552968025,"sam_rpm":8.38349056,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0337182432,"thr_a_norm":0.0337182432,"thr_a_v":0.634872973,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474090159,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.778553,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.09608364,"cg_iw_a":0.419119358,"cg_theta_rad":0.554008305,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00593576767,"mpcc_du":49.5808525,"mpcc_dv":50.4069977,"mpcc_dw":50.4191475,"mpcc_enc_sign":1,"mpcc_id_a":1.10064363,"mpcc_iq_a":-0.944758296,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.2565842,"mpcc_pred_id_a":0.0149413748,"mpcc_pred_iq_a":-3.13331461,"mpcc_state":1,"mpcc_theta_e":0.449550152,"mpcc_theta_mech":0.556855917,"sam_rpm":14.8087626,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025497824,"thr_a_norm":0.025497824,"thr_a_v":0.601991296,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491865426,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.78899,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.806133032,"cg_iw_a":-2.04546142,"cg_theta_rad":0.552605569,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00601505907,"mpcc_du":49.6293373,"mpcc_dv":49.4328461,"mpcc_dw":50.5671539,"mpcc_enc_sign":1,"mpcc_id_a":1.54087043,"mpcc_iq_a":0.861612916,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.60697472,"mpcc_pred_id_a":0.00956421252,"mpcc_pred_iq_a":-0.518829167,"mpcc_state":1,"mpcc_theta_e":0.43141222,"mpcc_theta_mech":0.553228378,"sam_rpm":-2.69885969,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10269168,"thr_a_norm":0.025497824,"thr_a_v":0.910766721,"thr_b":0.0478427559,"thr_b_norm":0,"thr_b_v":0.691371024,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.798664,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.661157608,"cg_iw_a":-1.97297382,"cg_theta_rad":0.55638051,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0261848588,"mpcc_du":49.8903999,"mpcc_dv":49.2415581,"mpcc_dw":50.7584419,"mpcc_enc_sign":1,"mpcc_id_a":0.489019573,"mpcc_iq_a":-0.550090194,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.8066659,"mpcc_pred_id_a":-0.102298647,"mpcc_pred_iq_a":-4.36858654,"mpcc_state":1,"mpcc_theta_e":0.44075346,"mpcc_theta_mech":0.555096567,"sam_rpm":-2.38008952,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10269168,"thr_a_norm":0.10269168,"thr_a_v":0.910766721,"thr_b":0.0478427559,"thr_b_norm":0.0478427559,"thr_b_v":0.691371024,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.808949,"values":{"cg_iu_a":1.18437815,"cg_iv_a":0.643620491,"cg_iw_a":-1.82799864,"cg_theta_rad":0.557582557,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0243251007,"mpcc_du":49.5162048,"mpcc_dv":50.2222748,"mpcc_dw":50.4837952,"mpcc_enc_sign":1,"mpcc_id_a":2.40542459,"mpcc_iq_a":-0.906341076,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.09931469,"mpcc_pred_id_a":0.30673182,"mpcc_pred_iq_a":-5.20648575,"mpcc_state":1,"mpcc_theta_e":0.443421364,"mpcc_theta_mech":0.553723097,"sam_rpm":4.08726168,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026857391,"thr_a_norm":0.026857391,"thr_a_v":0.607429564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498461902,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.818867,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-2.18339872,"cg_iw_a":0.564094782,"cg_theta_rad":0.555553615,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0220559202,"mpcc_du":49.5313377,"mpcc_dv":50.26717,"mpcc_dw":50.4686623,"mpcc_enc_sign":1,"mpcc_id_a":2.57377458,"mpcc_iq_a":-0.381055564,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.16902447,"mpcc_pred_id_a":0.299012363,"mpcc_pred_iq_a":-3.79281902,"mpcc_state":1,"mpcc_theta_e":0.442355633,"mpcc_theta_mech":0.555417001,"sam_rpm":6.53360653,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026857391,"thr_a_norm":0.026857391,"thr_a_v":0.607429564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498461902,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.828785,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.298719406,"cg_iw_a":-0.233269691,"cg_theta_rad":0.554801881,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0165992323,"mpcc_du":50.0542412,"mpcc_dv":49.0735168,"mpcc_dw":50.9264832,"mpcc_enc_sign":1,"mpcc_id_a":-0.191280186,"mpcc_iq_a":-0.460613847,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.29084039,"mpcc_pred_id_a":-0.403795034,"mpcc_pred_iq_a":-3.28991079,"mpcc_state":1,"mpcc_theta_e":0.442895889,"mpcc_theta_mech":0.555525124,"sam_rpm":-4.75278282,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282799155,"thr_a_norm":0.0282799155,"thr_a_v":0.613119662,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4953399,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.839344,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.878620625,"cg_iw_a":-1.03063393,"cg_theta_rad":0.553990424,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0526349917,"mpcc_du":50.2171288,"mpcc_dv":48.6638145,"mpcc_dw":51.3361855,"mpcc_enc_sign":1,"mpcc_id_a":2.48512053,"mpcc_iq_a":-0.909909487,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.9272325,"mpcc_pred_id_a":0.174114376,"mpcc_pred_iq_a":-3.49294138,"mpcc_state":1,"mpcc_theta_e":0.447551727,"mpcc_theta_mech":0.556456268,"sam_rpm":-3.70400381,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0157289952,"thr_a_norm":0.0282799155,"thr_a_v":0.562915981,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463012129,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.862385,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.516182423,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556851327,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0357713848,"mpcc_du":50.5581703,"mpcc_dv":48.2648582,"mpcc_dw":51.7351418,"mpcc_enc_sign":1,"mpcc_id_a":1.8462534,"mpcc_iq_a":-0.731745541,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.50201797,"mpcc_pred_id_a":0.0626948699,"mpcc_pred_iq_a":-1.56527305,"mpcc_state":1,"mpcc_theta_e":0.442659855,"mpcc_theta_mech":0.555477917,"sam_rpm":-7.35921764,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0157289952,"thr_a_norm":0.0157289952,"thr_a_v":0.562915981,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463012129,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.868855,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-2.69081235,"cg_iw_a":1.143996,"cg_theta_rad":0.553211212,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0329475068,"mpcc_du":48.9320679,"mpcc_dv":51.0679321,"mpcc_dw":49.7652016,"mpcc_enc_sign":1,"mpcc_id_a":1.59294188,"mpcc_iq_a":-1.45785928,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.1720905,"mpcc_pred_id_a":0.285128117,"mpcc_pred_iq_a":-6.33462811,"mpcc_state":1,"mpcc_theta_e":0.42783165,"mpcc_theta_mech":0.552512288,"sam_rpm":16.3163376,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0375074446,"thr_a_norm":0.0375074446,"thr_a_v":0.650029778,"thr_b":0.00596018136,"thr_b_norm":0.00596018136,"thr_b_v":0.523840725,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.875385,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.61832476,"cg_iw_a":0.0566811562,"cg_theta_rad":0.556831002,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00380320149,"mpcc_du":49.5940323,"mpcc_dv":49.9694023,"mpcc_dw":50.4059677,"mpcc_enc_sign":1,"mpcc_id_a":0.922719657,"mpcc_iq_a":-1.31893468,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.51812983,"mpcc_pred_id_a":-0.153020903,"mpcc_pred_iq_a":-3.41862535,"mpcc_state":1,"mpcc_theta_e":0.446563721,"mpcc_theta_mech":0.556258678,"sam_rpm":7.91828537,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0153765082,"thr_a_norm":0.0375074446,"thr_a_v":0.561506033,"thr_b":0,"thr_b_norm":0.00596018136,"thr_b_v":0.464371711,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.884144,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.733645439,"cg_iw_a":-0.305757523,"cg_theta_rad":0.55664736,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0198740736,"mpcc_du":50.0983505,"mpcc_dv":49.0051422,"mpcc_dw":50.9948578,"mpcc_enc_sign":1,"mpcc_id_a":0.0660360828,"mpcc_iq_a":-1.09424961,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.15644002,"mpcc_pred_id_a":-0.267402977,"mpcc_pred_iq_a":-2.53826046,"mpcc_state":1,"mpcc_theta_e":0.446413994,"mpcc_theta_mech":0.556228697,"sam_rpm":4.22487974,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0153765082,"thr_a_norm":0.0153765082,"thr_a_v":0.561506033,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464371711,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.894337,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.305757523,"cg_theta_rad":0.553824425,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0539246276,"mpcc_du":49.831089,"mpcc_dv":49.0243874,"mpcc_dw":50.9756126,"mpcc_enc_sign":1,"mpcc_id_a":3.31056356,"mpcc_iq_a":-0.692929149,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.18151402,"mpcc_pred_id_a":0.496810555,"mpcc_pred_iq_a":-4.2799263,"mpcc_state":1,"mpcc_theta_e":0.44488287,"mpcc_theta_mech":0.555922508,"sam_rpm":-4.31172132,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235465765,"thr_a_norm":0.0235465765,"thr_a_v":0.594186306,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.904316,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.74847269,"cg_iw_a":-0.668195724,"cg_theta_rad":0.555957735,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00951417442,"mpcc_du":49.6456642,"mpcc_dv":50.3543358,"mpcc_dw":50.2095909,"mpcc_enc_sign":1,"mpcc_id_a":0.249922857,"mpcc_iq_a":-1.58751225,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.39040554,"mpcc_pred_id_a":-0.724327981,"mpcc_pred_iq_a":-3.47517014,"mpcc_state":1,"mpcc_theta_e":0.434090137,"mpcc_theta_mech":0.553763926,"sam_rpm":-3.36162281,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235465765,"thr_a_norm":0.0235465765,"thr_a_v":0.594186306,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.914234,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-2.11091113,"cg_iw_a":-1.32058454,"cg_theta_rad":0.556593359,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0113885412,"mpcc_du":50.0870552,"mpcc_dv":48.7904549,"mpcc_dw":51.2095451,"mpcc_enc_sign":1,"mpcc_id_a":1.05595005,"mpcc_iq_a":-1.37965643,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.52529478,"mpcc_pred_id_a":0.252774984,"mpcc_pred_iq_a":-2.12839174,"mpcc_state":1,"mpcc_theta_e":0.444773197,"mpcc_theta_mech":0.555900514,"sam_rpm":-7.28116989,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.0167864412,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.924397,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.951108456,"cg_iw_a":-0.885658741,"cg_theta_rad":0.555754662,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0210055932,"mpcc_du":49.5201302,"mpcc_dv":50.4798698,"mpcc_dw":51.1637802,"mpcc_enc_sign":1,"mpcc_id_a":-0.680281222,"mpcc_iq_a":-3.55909538,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.748747885,"mpcc_pred_id_a":-0.833362401,"mpcc_pred_iq_a":-5.10564566,"mpcc_state":1,"mpcc_theta_e":0.438277721,"mpcc_theta_mech":0.553161681,"sam_rpm":-2.4428916,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0230430365,"thr_a_norm":0.0167864412,"thr_a_v":0.592172146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481995881,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.934345,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.82096052,"cg_iw_a":0.201656342,"cg_theta_rad":0.556950867,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0940495282,"mpcc_du":49.9470406,"mpcc_dv":48.9876938,"mpcc_dw":51.0123062,"mpcc_enc_sign":1,"mpcc_id_a":2.7322948,"mpcc_iq_a":0.256994575,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.77519751,"mpcc_pred_id_a":0.241200447,"mpcc_pred_iq_a":-3.07712817,"mpcc_state":1,"mpcc_theta_e":0.453036785,"mpcc_theta_mech":0.557553232,"sam_rpm":10.0323648,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0230430365,"thr_a_norm":0.0230430365,"thr_a_v":0.592172146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481995881,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.957539,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.89344811,"cg_iw_a":0.491606951,"cg_theta_rad":0.555464208,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0223075077,"mpcc_du":50.6589661,"mpcc_dv":48.3963623,"mpcc_dw":51.6036377,"mpcc_enc_sign":1,"mpcc_id_a":0.235096067,"mpcc_iq_a":-0.571508825,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.24038863,"mpcc_pred_id_a":-0.500612199,"mpcc_pred_iq_a":-0.654886663,"mpcc_state":1,"mpcc_theta_e":0.447191238,"mpcc_theta_mech":0.556384206,"sam_rpm":-2.94415116,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021872282,"thr_a_norm":0.021872282,"thr_a_v":0.587489128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473183811,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.964069,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.45852208,"cg_iw_a":-0.45073247,"cg_theta_rad":0.556975663,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5012,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0182336308,"mpcc_du":49.5708694,"mpcc_dv":50.1057739,"mpcc_dw":50.4291306,"mpcc_enc_sign":1,"mpcc_id_a":2.09352922,"mpcc_iq_a":-1.38651526,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.6320257,"mpcc_pred_id_a":0.0621145703,"mpcc_pred_iq_a":-3.52390385,"mpcc_state":1,"mpcc_theta_e":0.45286417,"mpcc_theta_mech":0.55751878,"sam_rpm":15.6066055,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021872282,"thr_a_norm":0.021872282,"thr_a_v":0.587489128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473183811,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.970692,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.951108456,"cg_iw_a":-1.61053514,"cg_theta_rad":0.553719282,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0199069194,"mpcc_du":49.9265938,"mpcc_dv":49.2522583,"mpcc_dw":50.7477417,"mpcc_enc_sign":1,"mpcc_id_a":-0.543704748,"mpcc_iq_a":-0.848287523,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.57359743,"mpcc_pred_id_a":-0.392056018,"mpcc_pred_iq_a":-2.24495292,"mpcc_state":1,"mpcc_theta_e":0.450201511,"mpcc_theta_mech":0.556986213,"sam_rpm":10.5558367,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245033205,"thr_a_norm":0.0245033205,"thr_a_v":0.598013282,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477766067,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.977131,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.53100967,"cg_iw_a":-0.958146572,"cg_theta_rad":0.556667387,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.00917529594,"mpcc_du":50.3311539,"mpcc_dv":48.6492691,"mpcc_dw":51.3507309,"mpcc_enc_sign":1,"mpcc_id_a":0.282880396,"mpcc_iq_a":-1.14974403,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.058735624,"mpcc_pred_id_a":-0.0896796733,"mpcc_pred_iq_a":-0.811481535,"mpcc_state":1,"mpcc_theta_e":0.444132328,"mpcc_theta_mech":0.555772364,"sam_rpm":0.349914998,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024087891,"thr_a_norm":0.0245033205,"thr_a_v":0.596351564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480233461,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.98772,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-2.0384233,"cg_iw_a":-1.39307213,"cg_theta_rad":0.555976272,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.00267926184,"mpcc_du":49.7042656,"mpcc_dv":49.5693245,"mpcc_dw":50.4306755,"mpcc_enc_sign":1,"mpcc_id_a":-0.13802962,"mpcc_iq_a":-0.53100425,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.73084736,"mpcc_pred_id_a":-0.575877607,"mpcc_pred_iq_a":-2.2452445,"mpcc_state":1,"mpcc_theta_e":0.432160854,"mpcc_theta_mech":0.553378046,"sam_rpm":-9.14428997,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024087891,"thr_a_norm":0.024087891,"thr_a_v":0.596351564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480233461,"vdc_v":55.2955055}} +{"type":"telemetry","t":54.99712,"values":{"cg_iu_a":2.48915625,"cg_iv_a":0.208694458,"cg_iw_a":-2.6978507,"cg_theta_rad":0.55900228,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0231713019,"mpcc_du":50.5282784,"mpcc_dv":48.2780418,"mpcc_dw":51.7219582,"mpcc_enc_sign":1,"mpcc_id_a":2.42441392,"mpcc_iq_a":-0.512779653,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.337307,"mpcc_pred_id_a":0.00158589846,"mpcc_pred_iq_a":-1.69626021,"mpcc_state":1,"mpcc_theta_e":0.431470871,"mpcc_theta_mech":0.553240061,"sam_rpm":-19.507452,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0155905336,"thr_a_norm":0.0155905336,"thr_a_v":0.562362134,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453444719,"vdc_v":54.6292953}} +{"type":"telemetry","t":55.008472,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.82096052,"cg_iw_a":1.07150841,"cg_theta_rad":0.557060719,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0817283764,"mpcc_du":49.6563873,"mpcc_dv":49.2380638,"mpcc_dw":50.7619362,"mpcc_enc_sign":1,"mpcc_id_a":2.8448534,"mpcc_iq_a":1.00135767,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.07982206,"mpcc_pred_id_a":0.482801497,"mpcc_pred_iq_a":-2.46934605,"mpcc_state":1,"mpcc_theta_e":0.443339348,"mpcc_theta_mech":0.555613816,"sam_rpm":12.156209,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297150314,"thr_a_norm":0.0155905336,"thr_a_v":0.618860126,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457624167,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.01833,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-1.53100967,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556986213,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.147370547,"mpcc_du":49.8321342,"mpcc_dv":48.6384926,"mpcc_dw":51.3615074,"mpcc_enc_sign":1,"mpcc_id_a":5.85754919,"mpcc_iq_a":1.09562337,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.0569706,"mpcc_pred_id_a":1.43095934,"mpcc_pred_iq_a":-1.41957581,"mpcc_state":1,"mpcc_theta_e":0.44690752,"mpcc_theta_mech":0.556327462,"sam_rpm":4.14053726,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297150314,"thr_a_norm":0.0297150314,"thr_a_v":0.618860126,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457624167,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.028278,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.371207237,"cg_iw_a":-0.0882940292,"cg_theta_rad":0.558556914,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0217443462,"mpcc_du":50.0560379,"mpcc_dv":48.6283073,"mpcc_dw":51.3716927,"mpcc_enc_sign":1,"mpcc_id_a":1.87481606,"mpcc_iq_a":-0.839608788,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.2145119,"mpcc_pred_id_a":0.5165838,"mpcc_pred_iq_a":0.215170175,"mpcc_state":1,"mpcc_theta_e":0.423030376,"mpcc_theta_mech":0.551551998,"sam_rpm":-23.1292324,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195056051,"thr_a_norm":0.0195056051,"thr_a_v":0.57802242,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.038105,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.89344811,"cg_iw_a":-0.523220301,"cg_theta_rad":0.555953085,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0833046287,"mpcc_du":49.812027,"mpcc_dv":48.8498688,"mpcc_dw":51.1501312,"mpcc_enc_sign":1,"mpcc_id_a":4.06500196,"mpcc_iq_a":0.386522174,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.76838422,"mpcc_pred_id_a":0.815079987,"mpcc_pred_iq_a":-1.95853138,"mpcc_state":1,"mpcc_theta_e":0.444403648,"mpcc_theta_mech":0.555826664,"sam_rpm":3.98925233,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195056051,"thr_a_norm":0.0195056051,"thr_a_v":0.57802242,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.061543,"values":{"cg_iu_a":4.44632339,"cg_iv_a":-1.09608364,"cg_iw_a":-3.35023975,"cg_theta_rad":0.555877447,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0053554941,"mpcc_du":49.6025047,"mpcc_dv":50.392498,"mpcc_dw":50.3974953,"mpcc_enc_sign":1,"mpcc_id_a":0.43505314,"mpcc_iq_a":-1.35345745,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.14795589,"mpcc_pred_id_a":-0.060242787,"mpcc_pred_iq_a":0.78632021,"mpcc_state":1,"mpcc_theta_e":0.436933994,"mpcc_theta_mech":0.554332733,"sam_rpm":5.64228916,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00927099586,"thr_a_norm":0.00927099586,"thr_a_v":0.537083983,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44161135,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.068073,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.443694592,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556268156,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0361387096,"mpcc_du":49.6751442,"mpcc_dv":49.1492271,"mpcc_dw":50.8507729,"mpcc_enc_sign":1,"mpcc_id_a":3.46119809,"mpcc_iq_a":-0.867091358,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.9983325,"mpcc_pred_id_a":0.395164549,"mpcc_pred_iq_a":-4.27088737,"mpcc_state":1,"mpcc_theta_e":0.435408115,"mpcc_theta_mech":0.554027557,"sam_rpm":-11.815877,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192915946,"thr_a_norm":0.0192915946,"thr_a_v":0.577166378,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464925587,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.074574,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-2.11091113,"cg_iw_a":0.926532984,"cg_theta_rad":0.554715633,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0161069147,"mpcc_du":50.4564056,"mpcc_dv":48.1915779,"mpcc_dw":51.8084221,"mpcc_enc_sign":1,"mpcc_id_a":2.51643729,"mpcc_iq_a":-1.00505328,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.2002649,"mpcc_pred_id_a":0.299939185,"mpcc_pred_iq_a":0.302265674,"mpcc_state":1,"mpcc_theta_e":0.427836895,"mpcc_theta_mech":0.552513301,"sam_rpm":-19.8834019,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192915946,"thr_a_norm":0.0192915946,"thr_a_v":0.577166378,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464925587,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.081104,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.6759851,"cg_iw_a":0.999020815,"cg_theta_rad":0.556378663,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0108627025,"mpcc_du":50.5921631,"mpcc_dv":48.0391197,"mpcc_dw":51.9608803,"mpcc_enc_sign":1,"mpcc_id_a":1.19647872,"mpcc_iq_a":-0.406141639,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.8007088,"mpcc_pred_id_a":0.245651439,"mpcc_pred_iq_a":-0.861008406,"mpcc_state":1,"mpcc_theta_e":0.430006027,"mpcc_theta_mech":0.552947104,"sam_rpm":-21.6502113,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266685635,"thr_a_norm":0.0266685635,"thr_a_v":0.606674254,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472831309,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.091358,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.74847269,"cg_iw_a":0.564094543,"cg_theta_rad":0.556511939,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0188481826,"mpcc_du":49.5094223,"mpcc_dv":50.0365944,"mpcc_dw":50.4905777,"mpcc_enc_sign":1,"mpcc_id_a":2.31095695,"mpcc_iq_a":-0.26382345,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.68012619,"mpcc_pred_id_a":0.176874533,"mpcc_pred_iq_a":-2.20703506,"mpcc_state":1,"mpcc_theta_e":0.445335388,"mpcc_theta_mech":0.556012988,"sam_rpm":13.4001341,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0299668014,"thr_a_norm":0.0266685635,"thr_a_v":0.619867206,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469004363,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.101093,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.02359605,"cg_iw_a":-1.8279984,"cg_theta_rad":0.551195562,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0156139489,"mpcc_du":49.4398384,"mpcc_dv":49.7167397,"mpcc_dw":50.5601616,"mpcc_enc_sign":1,"mpcc_id_a":2.44369364,"mpcc_iq_a":-1.33359492,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.67365074,"mpcc_pred_id_a":0.511540473,"mpcc_pred_iq_a":-2.16416597,"mpcc_state":1,"mpcc_theta_e":0.440851688,"mpcc_theta_mech":0.555116236,"sam_rpm":3.08647203,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0299668014,"thr_a_norm":0.0299668014,"thr_a_v":0.619867206,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469004363,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.111317,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.16857147,"cg_iw_a":0.564094543,"cg_theta_rad":0.554735124,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0735254884,"mpcc_du":50.898407,"mpcc_dv":47.6026115,"mpcc_dw":52.3973885,"mpcc_enc_sign":1,"mpcc_id_a":2.94269276,"mpcc_iq_a":-0.28465569,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.63760495,"mpcc_pred_id_a":0.651568651,"mpcc_pred_iq_a":1.06703866,"mpcc_state":1,"mpcc_theta_e":0.444535732,"mpcc_theta_mech":0.555853069,"sam_rpm":-2.00102472,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0313012153,"thr_a_norm":0.0313012153,"thr_a_v":0.625204861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.123737,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.733645439,"cg_iw_a":-1.03063393,"cg_theta_rad":0.554635823,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0108995494,"mpcc_du":50.0822792,"mpcc_dv":49.0347443,"mpcc_dw":50.9652557,"mpcc_enc_sign":1,"mpcc_id_a":-0.158335492,"mpcc_iq_a":-1.54648852,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.555185616,"mpcc_pred_id_a":-0.42750743,"mpcc_pred_iq_a":-3.00189781,"mpcc_state":1,"mpcc_theta_e":0.451295376,"mpcc_theta_mech":0.557204962,"sam_rpm":1.10653293,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225394815,"thr_a_norm":0.0313012153,"thr_a_v":0.590157926,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475701541,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.133564,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.806133032,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.557165205,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0161145069,"mpcc_du":49.5685043,"mpcc_dv":49.8043938,"mpcc_dw":50.4314957,"mpcc_enc_sign":1,"mpcc_id_a":0.716534317,"mpcc_iq_a":-2.06505156,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.54030514,"mpcc_pred_id_a":-0.151551723,"mpcc_pred_iq_a":-5.18945122,"mpcc_state":1,"mpcc_theta_e":0.45219183,"mpcc_theta_mech":0.557384253,"sam_rpm":10.0768795,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225394815,"thr_a_norm":0.0225394815,"thr_a_v":0.590157926,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475701541,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.143574,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.951108456,"cg_iw_a":-1.82799816,"cg_theta_rad":0.556109607,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0215052739,"mpcc_du":50.0147362,"mpcc_dv":49.1222076,"mpcc_dw":50.8777924,"mpcc_enc_sign":1,"mpcc_id_a":0.247545272,"mpcc_iq_a":-1.22519803,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.67625332,"mpcc_pred_id_a":-0.37587595,"mpcc_pred_iq_a":-3.18872929,"mpcc_state":1,"mpcc_theta_e":0.443618774,"mpcc_theta_mech":0.555669665,"sam_rpm":-4.41942549,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209532976,"thr_a_norm":0.0209532976,"thr_a_v":0.58381319,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.166553,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.09608364,"cg_iw_a":-0.378245354,"cg_theta_rad":0.553097129,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.00627648691,"mpcc_du":49.2891617,"mpcc_dv":50.7108383,"mpcc_dw":49.904953,"mpcc_enc_sign":1,"mpcc_id_a":0.680598497,"mpcc_iq_a":-0.313816339,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.23077917,"mpcc_pred_id_a":-0.297956586,"mpcc_pred_iq_a":1.22282517,"mpcc_state":1,"mpcc_theta_e":0.437458515,"mpcc_theta_mech":0.554437637,"sam_rpm":13.7792168,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209532976,"thr_a_norm":0.0209532976,"thr_a_v":0.58381319,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.173084,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.806133032,"cg_iw_a":-0.23326993,"cg_theta_rad":0.554741383,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.005089771,"mpcc_du":50.307106,"mpcc_dv":48.8107452,"mpcc_dw":51.1892548,"mpcc_enc_sign":1,"mpcc_id_a":-0.444086403,"mpcc_iq_a":-2.3752501,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.32627535,"mpcc_pred_id_a":-0.588536024,"mpcc_pred_iq_a":-0.085131675,"mpcc_state":1,"mpcc_theta_e":0.431194782,"mpcc_theta_mech":0.553184867,"sam_rpm":-5.18869019,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0306969434,"thr_a_norm":0.0306969434,"thr_a_v":0.622787774,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470917821,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.179585,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.31354666,"cg_iw_a":0.274143696,"cg_theta_rad":0.55588305,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0131752398,"mpcc_du":49.5561752,"mpcc_dv":49.458149,"mpcc_dw":50.541851,"mpcc_enc_sign":1,"mpcc_id_a":1.23943555,"mpcc_iq_a":0.0232099015,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.61083937,"mpcc_pred_id_a":0.262491763,"mpcc_pred_iq_a":0.363847792,"mpcc_state":1,"mpcc_theta_e":0.439280033,"mpcc_theta_mech":0.554801881,"sam_rpm":-2.3861444,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0306969434,"thr_a_norm":0.0306969434,"thr_a_v":0.622787774,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470917821,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.186146,"values":{"cg_iu_a":3.21403265,"cg_iv_a":0.353669643,"cg_iw_a":-3.56770229,"cg_theta_rad":0.556692839,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0100149084,"mpcc_du":49.6784592,"mpcc_dv":49.4666023,"mpcc_dw":50.5333977,"mpcc_enc_sign":1,"mpcc_id_a":0.676584661,"mpcc_iq_a":-0.827866614,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.09916234,"mpcc_pred_id_a":-0.224413738,"mpcc_pred_iq_a":-3.1212914,"mpcc_state":1,"mpcc_theta_e":0.444694996,"mpcc_theta_mech":0.555884957,"sam_rpm":4.61695814,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0404406041,"thr_a_norm":0.0404406041,"thr_a_v":0.661762416,"thr_b":0.0100640953,"thr_b_norm":0.0100640953,"thr_b_v":0.540256381,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.196613,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.24105906,"cg_iw_a":0.274143934,"cg_theta_rad":0.556237102,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0257667135,"mpcc_du":50.5145187,"mpcc_dv":48.2209702,"mpcc_dw":51.7790298,"mpcc_enc_sign":1,"mpcc_id_a":2.49836016,"mpcc_iq_a":-1.21722901,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.3104296,"mpcc_pred_id_a":0.273616642,"mpcc_pred_iq_a":-0.54209888,"mpcc_state":1,"mpcc_theta_e":0.454826355,"mpcc_theta_mech":0.557911217,"sam_rpm":-7.6876235,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193419456,"thr_a_norm":0.0404406041,"thr_a_v":0.577367783,"thr_b":0,"thr_b_norm":0.0100640953,"thr_b_v":0.465177357,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.206501,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.60349751,"cg_iw_a":-0.0158064365,"cg_theta_rad":0.554641187,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.124073915,"mpcc_du":49.4213104,"mpcc_dv":49.5080643,"mpcc_dw":50.5786896,"mpcc_enc_sign":1,"mpcc_id_a":3.45399261,"mpcc_iq_a":0.739656389,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.19129562,"mpcc_pred_id_a":0.704036474,"mpcc_pred_iq_a":-2.65325499,"mpcc_state":1,"mpcc_theta_e":0.4542799,"mpcc_theta_mech":0.557801902,"sam_rpm":30.9115658,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193419456,"thr_a_norm":0.0193419456,"thr_a_v":0.577367783,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465177357,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.216511,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.24105906,"cg_iw_a":0.201656103,"cg_theta_rad":0.554207683,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0520426333,"mpcc_du":50.5431976,"mpcc_dv":48.4881744,"mpcc_dw":51.5118256,"mpcc_enc_sign":1,"mpcc_id_a":-0.398881137,"mpcc_iq_a":-3.25613904,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.6308784,"mpcc_pred_id_a":-0.61783576,"mpcc_pred_iq_a":-0.125129521,"mpcc_state":1,"mpcc_theta_e":0.421085835,"mpcc_theta_mech":0.551163077,"sam_rpm":-29.9075775,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197951496,"thr_a_norm":0.0197951496,"thr_a_v":0.579180598,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.22649,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.02359605,"cg_iw_a":0.78155756,"cg_theta_rad":0.554531872,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0442871004,"mpcc_du":50.145607,"mpcc_dv":48.7280121,"mpcc_dw":51.2719879,"mpcc_enc_sign":1,"mpcc_id_a":2.44595909,"mpcc_iq_a":-1.49409986,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.922327161,"mpcc_pred_id_a":0.216130838,"mpcc_pred_iq_a":-2.69416094,"mpcc_state":1,"mpcc_theta_e":0.447390556,"mpcc_theta_mech":0.556424022,"sam_rpm":3.08120036,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197951496,"thr_a_norm":0.0197951496,"thr_a_v":0.579180598,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.236866,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-0.371207237,"cg_iw_a":-2.19043636,"cg_theta_rad":0.557498336,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0710396096,"mpcc_du":49.336441,"mpcc_dv":50.663559,"mpcc_dw":50.2344322,"mpcc_enc_sign":1,"mpcc_id_a":4.08096409,"mpcc_iq_a":-1.06448925,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.23538256,"mpcc_pred_id_a":0.899462104,"mpcc_pred_iq_a":0.760894537,"mpcc_state":1,"mpcc_theta_e":0.425637722,"mpcc_theta_mech":0.552073479,"sam_rpm":2.33827996,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185362697,"thr_a_norm":0.0185362697,"thr_a_v":0.574145079,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.246906,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-2.18339872,"cg_iw_a":0.781557798,"cg_theta_rad":0.554058135,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.00157167204,"mpcc_du":49.6325188,"mpcc_dv":49.3926811,"mpcc_dw":51.2350883,"mpcc_enc_sign":1,"mpcc_id_a":0.778850436,"mpcc_iq_a":-0.959837794,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.08611727,"mpcc_pred_id_a":0.074125886,"mpcc_pred_iq_a":-2.72239017,"mpcc_state":1,"mpcc_theta_e":0.437011719,"mpcc_theta_mech":0.55434823,"sam_rpm":-4.63716841,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188384056,"thr_a_norm":0.0185362697,"thr_a_v":0.575353622,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.269978,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-4.35802889,"cg_iw_a":3.02867556,"cg_theta_rad":0.556473613,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0110107278,"mpcc_du":49.7162704,"mpcc_dv":50.0094109,"mpcc_dw":50.2837296,"mpcc_enc_sign":1,"mpcc_id_a":-0.483717203,"mpcc_iq_a":-2.45024538,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.8589668,"mpcc_pred_id_a":-0.594326079,"mpcc_pred_iq_a":-1.59241426,"mpcc_state":1,"mpcc_theta_e":0.439366341,"mpcc_theta_mech":0.554819167,"sam_rpm":6.84775114,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188384056,"thr_a_norm":0.0188384056,"thr_a_v":0.575353622,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.276478,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.6978507,"cg_theta_rad":0.556613803,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0223970637,"mpcc_du":50.0412827,"mpcc_dv":48.7972679,"mpcc_dw":51.2027321,"mpcc_enc_sign":1,"mpcc_id_a":2.06050301,"mpcc_iq_a":-0.284311473,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.37095475,"mpcc_pred_id_a":0.320953101,"mpcc_pred_iq_a":-0.186486617,"mpcc_state":1,"mpcc_theta_e":0.445750713,"mpcc_theta_mech":0.556096017,"sam_rpm":5.5447979,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0103410333,"thr_a_norm":0.0103410333,"thr_a_v":0.541364133,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459839791,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.282978,"values":{"cg_iu_a":1.03940296,"cg_iv_a":0.426157475,"cg_iw_a":-1.46556044,"cg_theta_rad":0.556306839,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0157442149,"mpcc_du":50.2648659,"mpcc_dv":48.7374878,"mpcc_dw":51.2625122,"mpcc_enc_sign":1,"mpcc_id_a":1.09528089,"mpcc_iq_a":0.232807085,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.95945263,"mpcc_pred_id_a":-0.249456391,"mpcc_pred_iq_a":-1.68807101,"mpcc_state":1,"mpcc_theta_e":0.436103344,"mpcc_theta_mech":0.554166615,"sam_rpm":-10.3753853,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0103410333,"thr_a_norm":0.0103410333,"thr_a_v":0.541364133,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459839791,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.290119,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.83578777,"cg_iw_a":-0.378244877,"cg_theta_rad":0.556369185,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.000921472965,"mpcc_du":50.4492111,"mpcc_dv":48.6501198,"mpcc_dw":51.3498802,"mpcc_enc_sign":1,"mpcc_id_a":0.0506053902,"mpcc_iq_a":-0.804756582,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.95094895,"mpcc_pred_id_a":-0.616667986,"mpcc_pred_iq_a":0.241985545,"mpcc_state":1,"mpcc_theta_e":0.444941044,"mpcc_theta_mech":0.555934131,"sam_rpm":-4.90766716,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282799155,"thr_a_norm":0.0282799155,"thr_a_v":0.613119662,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491714358,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.299885,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.6759851,"cg_iw_a":0.709069967,"cg_theta_rad":0.555319011,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0123831062,"mpcc_du":50.3702278,"mpcc_dv":48.3783836,"mpcc_dw":51.6216164,"mpcc_enc_sign":1,"mpcc_id_a":2.12479711,"mpcc_iq_a":-2.21008945,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.0117664,"mpcc_pred_id_a":0.159640789,"mpcc_pred_iq_a":-2.34448934,"mpcc_state":1,"mpcc_theta_e":0.429026127,"mpcc_theta_mech":0.552751124,"sam_rpm":-26.1257534,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023735404,"thr_a_norm":0.023735404,"thr_a_v":0.594941616,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475097239,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.311817,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.25588632,"cg_iw_a":1.21648335,"cg_theta_rad":0.555397093,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0109905563,"mpcc_du":49.5161324,"mpcc_dv":49.9285851,"mpcc_dw":50.8327484,"mpcc_enc_sign":1,"mpcc_id_a":1.9714992,"mpcc_iq_a":-1.14711976,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.818102777,"mpcc_pred_id_a":0.110044479,"mpcc_pred_iq_a":-3.03384733,"mpcc_state":1,"mpcc_theta_e":0.436887741,"mpcc_theta_mech":0.553165913,"sam_rpm":-2.5083499,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023735404,"thr_a_norm":0.023735404,"thr_a_v":0.594941616,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475097239,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.321949,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.298719406,"cg_iw_a":-0.378244877,"cg_theta_rad":0.552768469,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.071980238,"mpcc_du":50.0552292,"mpcc_dv":48.6738663,"mpcc_dw":51.3261337,"mpcc_enc_sign":1,"mpcc_id_a":2.66620088,"mpcc_iq_a":-0.532784939,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.44446385,"mpcc_pred_id_a":0.497410178,"mpcc_pred_iq_a":-2.77332354,"mpcc_state":1,"mpcc_theta_e":0.447613239,"mpcc_theta_mech":0.556468546,"sam_rpm":3.89574766,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280785114,"thr_a_norm":0.0280785114,"thr_a_v":0.612314045,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483254731,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.331867,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.02359605,"cg_iw_a":0.129168749,"cg_theta_rad":0.554686904,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0432449952,"mpcc_du":49.3916664,"mpcc_dv":49.8599586,"mpcc_dw":50.6083336,"mpcc_enc_sign":1,"mpcc_id_a":3.42049098,"mpcc_iq_a":0.0392950252,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.66046858,"mpcc_pred_id_a":0.78716898,"mpcc_pred_iq_a":-2.85536814,"mpcc_state":1,"mpcc_theta_e":0.445927143,"mpcc_theta_mech":0.556131363,"sam_rpm":10.3963585,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025951013,"thr_a_norm":0.0280785114,"thr_a_v":0.603804052,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498260498,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.344929,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.16857147,"cg_iw_a":0.854045391,"cg_theta_rad":0.551146388,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.000519388181,"mpcc_du":49.6394081,"mpcc_dv":49.8426666,"mpcc_dw":50.3605919,"mpcc_enc_sign":1,"mpcc_id_a":-0.306345135,"mpcc_iq_a":-1.05360281,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.43617678,"mpcc_pred_id_a":-0.722093105,"mpcc_pred_iq_a":-1.86335778,"mpcc_state":1,"mpcc_theta_e":0.438105106,"mpcc_theta_mech":0.554566979,"sam_rpm":9.65423775,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025951013,"thr_a_norm":0.025951013,"thr_a_v":0.603804052,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498260498,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.368549,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.153744221,"cg_iw_a":-0.595707893,"cg_theta_rad":0.554532528,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0167661496,"mpcc_du":49.990242,"mpcc_dv":48.8425293,"mpcc_dw":51.1574707,"mpcc_enc_sign":1,"mpcc_id_a":2.31654596,"mpcc_iq_a":-1.77600825,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.62327278,"mpcc_pred_id_a":0.0555580817,"mpcc_pred_iq_a":-7.43843222,"mpcc_state":1,"mpcc_theta_e":0.438751698,"mpcc_theta_mech":0.554696262,"sam_rpm":-1.99353182,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188635886,"thr_a_norm":0.0188635886,"thr_a_v":0.575454354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459940493,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.37505,"values":{"cg_iu_a":3.93890953,"cg_iv_a":-1.38603449,"cg_iw_a":-0.015806675,"cg_theta_rad":0.553325653,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0325712785,"mpcc_du":49.8970795,"mpcc_dv":48.8528137,"mpcc_dw":51.1471863,"mpcc_enc_sign":1,"mpcc_id_a":3.09767437,"mpcc_iq_a":-0.630195856,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.175430804,"mpcc_pred_id_a":0.506559968,"mpcc_pred_iq_a":-1.29592955,"mpcc_state":1,"mpcc_theta_e":0.44264698,"mpcc_theta_mech":0.555475354,"sam_rpm":0.0526122153,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10583885,"thr_a_norm":0.0188635886,"thr_a_v":0.923355401,"thr_b":0.047616154,"thr_b_norm":0,"thr_b_v":0.690464616,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.38155,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.09608364,"cg_iw_a":-1.46555996,"cg_theta_rad":0.557016373,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0301533397,"mpcc_du":50.7086372,"mpcc_dv":47.8972664,"mpcc_dw":52.1027336,"mpcc_enc_sign":1,"mpcc_id_a":3.01641464,"mpcc_iq_a":-0.0859134272,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.3676891,"mpcc_pred_id_a":0.282024235,"mpcc_pred_iq_a":0.240744919,"mpcc_state":1,"mpcc_theta_e":0.428748131,"mpcc_theta_mech":0.552695513,"sam_rpm":-20.9524479,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10583885,"thr_a_norm":0.10583885,"thr_a_v":0.923355401,"thr_b":0.047616154,"thr_b_norm":0.047616154,"thr_b_v":0.690464616,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.389118,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.09608364,"cg_iw_a":-1.75551081,"cg_theta_rad":0.557150364,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0429992788,"mpcc_du":49.5807266,"mpcc_dv":49.1685486,"mpcc_dw":50.8314514,"mpcc_enc_sign":1,"mpcc_id_a":3.36209178,"mpcc_iq_a":0.250195444,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.13175249,"mpcc_pred_id_a":0.768118083,"mpcc_pred_iq_a":-1.03380501,"mpcc_state":1,"mpcc_theta_e":0.446718216,"mpcc_theta_mech":0.556289554,"sam_rpm":9.07483673,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021268025,"thr_a_norm":0.021268025,"thr_a_v":0.5850721,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468349725,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.399281,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.89344811,"cg_iw_a":0.274143934,"cg_theta_rad":0.557244837,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0294082686,"mpcc_du":49.4326286,"mpcc_dv":49.2620087,"mpcc_dw":50.7379913,"mpcc_enc_sign":1,"mpcc_id_a":2.80656052,"mpcc_iq_a":-0.548169851,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.97254658,"mpcc_pred_id_a":0.904750168,"mpcc_pred_iq_a":-0.581223905,"mpcc_state":1,"mpcc_theta_e":0.430708885,"mpcc_theta_mech":0.553087711,"sam_rpm":-9.72108269,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0230430365,"thr_a_norm":0.021268025,"thr_a_v":0.592172146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484715015,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.409504,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.26292419,"cg_theta_rad":0.557085574,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0335738175,"mpcc_du":49.5324593,"mpcc_dv":49.3137207,"mpcc_dw":50.6862793,"mpcc_enc_sign":1,"mpcc_id_a":2.51851559,"mpcc_iq_a":-1.52207971,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.14389729,"mpcc_pred_id_a":0.424802184,"mpcc_pred_iq_a":-0.464080304,"mpcc_state":1,"mpcc_theta_e":0.430984974,"mpcc_theta_mech":0.553142905,"sam_rpm":-6.68858719,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0230430365,"thr_a_norm":0.0230430365,"thr_a_v":0.592172146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484715015,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.419361,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.588670254,"cg_iw_a":-1.68302298,"cg_theta_rad":0.559664011,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0581193678,"mpcc_du":50.343853,"mpcc_dv":48.4236412,"mpcc_dw":51.5763588,"mpcc_enc_sign":1,"mpcc_id_a":1.17611706,"mpcc_iq_a":-0.290879518,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.82489824,"mpcc_pred_id_a":0.309941828,"mpcc_pred_iq_a":-2.42775297,"mpcc_state":1,"mpcc_theta_e":0.454657555,"mpcc_theta_mech":0.557877421,"sam_rpm":-0.304750115,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234458596,"thr_a_norm":0.0234458596,"thr_a_v":0.593783438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458228409,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.42931,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.153744221,"cg_iw_a":-2.84282541,"cg_theta_rad":0.557473242,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0144165363,"mpcc_du":49.4598618,"mpcc_dv":50.1726837,"mpcc_dw":50.5401382,"mpcc_enc_sign":1,"mpcc_id_a":2.27657914,"mpcc_iq_a":-0.327919513,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.30070114,"mpcc_pred_id_a":0.53295362,"mpcc_pred_iq_a":-2.63399553,"mpcc_state":1,"mpcc_theta_e":0.440307617,"mpcc_theta_mech":0.555007458,"sam_rpm":7.69706631,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234458596,"thr_a_norm":0.0234458596,"thr_a_v":0.593783438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458228409,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.439533,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.09608364,"cg_iw_a":0.0566806793,"cg_theta_rad":0.55322808,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0180081669,"mpcc_du":49.4720345,"mpcc_dv":50.5279655,"mpcc_dw":50.3699722,"mpcc_enc_sign":1,"mpcc_id_a":1.66408575,"mpcc_iq_a":-0.950132191,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.17325974,"mpcc_pred_id_a":0.163744867,"mpcc_pred_iq_a":-2.0670855,"mpcc_state":1,"mpcc_theta_e":0.433451653,"mpcc_theta_mech":0.553636253,"sam_rpm":2.18311954,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0122419298,"thr_a_norm":0.0122419298,"thr_a_v":0.548967719,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44513616,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.449726,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.588670254,"cg_iw_a":-1.75551033,"cg_theta_rad":0.55563575,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0149955107,"mpcc_du":50.2288246,"mpcc_dv":48.5675659,"mpcc_dw":51.4324341,"mpcc_enc_sign":1,"mpcc_id_a":2.09322715,"mpcc_iq_a":-1.40927768,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.2079029,"mpcc_pred_id_a":0.17233777,"mpcc_pred_iq_a":-1.14274597,"mpcc_state":1,"mpcc_theta_e":0.427564144,"mpcc_theta_mech":0.552458704,"sam_rpm":-22.7465153,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023105979,"thr_a_norm":0.0122419298,"thr_a_v":0.592423916,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487988085,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.472706,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-0.806133032,"cg_iw_a":0.346631765,"cg_theta_rad":0.553068876,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0255438071,"mpcc_du":49.5514565,"mpcc_dv":49.5960541,"mpcc_dw":50.4485435,"mpcc_enc_sign":1,"mpcc_id_a":0.396412879,"mpcc_iq_a":-1.06971169,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.62955856,"mpcc_pred_id_a":-0.128620669,"mpcc_pred_iq_a":-4.87152481,"mpcc_state":1,"mpcc_theta_e":0.449625015,"mpcc_theta_mech":0.556870878,"sam_rpm":7.17724466,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023105979,"thr_a_norm":0.023105979,"thr_a_v":0.592423916,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487988085,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.479267,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.806133032,"cg_iw_a":-1.4655602,"cg_theta_rad":0.555957139,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.00729326624,"mpcc_du":49.6016579,"mpcc_dv":49.4093094,"mpcc_dw":50.5906906,"mpcc_enc_sign":1,"mpcc_id_a":0.9811306,"mpcc_iq_a":-1.02601767,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.3794241,"mpcc_pred_id_a":-0.232475877,"mpcc_pred_iq_a":-4.21803808,"mpcc_state":1,"mpcc_theta_e":0.449225903,"mpcc_theta_mech":0.554356575,"sam_rpm":10.6294146,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234332681,"thr_a_norm":0.0234332681,"thr_a_v":0.593733072,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476356149,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.485798,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.45852208,"cg_iw_a":-1.17560935,"cg_theta_rad":0.553804696,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0190226287,"mpcc_du":49.8009033,"mpcc_dv":49.1372299,"mpcc_dw":50.8627701,"mpcc_enc_sign":1,"mpcc_id_a":2.54561877,"mpcc_iq_a":-1.11846364,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.02644348,"mpcc_pred_id_a":0.172043085,"mpcc_pred_iq_a":-0.768000901,"mpcc_state":1,"mpcc_theta_e":0.445547104,"mpcc_theta_mech":0.556055367,"sam_rpm":8.59956646,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234332681,"thr_a_norm":0.0234332681,"thr_a_v":0.593733072,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476356149,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.492298,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.02359605,"cg_iw_a":-1.17560935,"cg_theta_rad":0.55798769,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0830257758,"mpcc_du":49.1974411,"mpcc_dv":50.8025589,"mpcc_dw":50.1702652,"mpcc_enc_sign":1,"mpcc_id_a":1.72425997,"mpcc_iq_a":-1.5186795,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.8701773,"mpcc_pred_id_a":0.538488507,"mpcc_pred_iq_a":-5.80286217,"mpcc_state":1,"mpcc_theta_e":0.428220272,"mpcc_theta_mech":0.552589953,"sam_rpm":19.1358166,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0966491252,"thr_a_norm":0.0966491252,"thr_a_v":0.886596501,"thr_b":0.0410826206,"thr_b_norm":0.0410826206,"thr_b_v":0.664330482,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.50069,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.951108456,"cg_iw_a":-0.740683079,"cg_theta_rad":0.554841697,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.000571001321,"mpcc_du":50.4525528,"mpcc_dv":48.4701805,"mpcc_dw":51.5298195,"mpcc_enc_sign":1,"mpcc_id_a":0.280968696,"mpcc_iq_a":-0.491516918,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.3454599,"mpcc_pred_id_a":-0.354255706,"mpcc_pred_iq_a":-0.910908103,"mpcc_state":1,"mpcc_theta_e":0.427611351,"mpcc_theta_mech":0.552468181,"sam_rpm":-20.1463699,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023609519,"thr_a_norm":0.0966491252,"thr_a_v":0.594438076,"thr_b":0,"thr_b_norm":0.0410826206,"thr_b_v":0.473737687,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.510914,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.02359605,"cg_iw_a":-1.39307213,"cg_theta_rad":0.554203629,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0449595712,"mpcc_du":49.5534706,"mpcc_dv":49.9856415,"mpcc_dw":50.4465294,"mpcc_enc_sign":1,"mpcc_id_a":2.64576244,"mpcc_iq_a":-0.915536463,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.2480841,"mpcc_pred_id_a":0.0117114456,"mpcc_pred_iq_a":-3.55175257,"mpcc_state":1,"mpcc_theta_e":0.45447731,"mpcc_theta_mech":0.55784142,"sam_rpm":20.9618587,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023609519,"thr_a_norm":0.023609519,"thr_a_v":0.594438076,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473737687,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.520924,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.82096052,"cg_iw_a":0.564094782,"cg_theta_rad":0.55695039,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.084526144,"mpcc_du":50.3997688,"mpcc_dv":48.4148674,"mpcc_dw":51.5851326,"mpcc_enc_sign":1,"mpcc_id_a":2.29377604,"mpcc_iq_a":1.04045522,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.284127772,"mpcc_pred_id_a":0.238571331,"mpcc_pred_iq_a":-1.10056484,"mpcc_state":1,"mpcc_theta_e":0.446665287,"mpcc_theta_mech":0.556278944,"sam_rpm":0.944736004,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0171892792,"thr_a_norm":0.0171892792,"thr_a_v":0.568757117,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454905003,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.53307,"values":{"cg_iu_a":4.44632339,"cg_iv_a":-0.951108456,"cg_iw_a":0.564094543,"cg_theta_rad":0.55322814,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0274208095,"mpcc_du":49.6863976,"mpcc_dv":49.2250595,"mpcc_dw":50.7749405,"mpcc_enc_sign":1,"mpcc_id_a":2.65787244,"mpcc_iq_a":-1.38920975,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.296415836,"mpcc_pred_id_a":0.35496369,"mpcc_pred_iq_a":-3.40793443,"mpcc_state":1,"mpcc_theta_e":0.439291,"mpcc_theta_mech":0.554804087,"sam_rpm":1.06258559,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276001245,"thr_a_norm":0.0171892792,"thr_a_v":0.610400498,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497555465,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.543079,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.6759851,"cg_iw_a":-0.958146334,"cg_theta_rad":0.555823982,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.00519587565,"mpcc_du":49.5631638,"mpcc_dv":50.1253471,"mpcc_dw":50.4368362,"mpcc_enc_sign":1,"mpcc_id_a":0.410623997,"mpcc_iq_a":-1.86864638,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.1766872,"mpcc_pred_id_a":0.0330660976,"mpcc_pred_iq_a":-3.26490927,"mpcc_state":1,"mpcc_theta_e":0.451221466,"mpcc_theta_mech":0.55719018,"sam_rpm":17.7544994,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276001245,"thr_a_norm":0.0276001245,"thr_a_v":0.610400498,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497555465,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.553333,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-3.63315201,"cg_iw_a":-1.39307261,"cg_theta_rad":0.553522944,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0102261379,"mpcc_du":49.7810516,"mpcc_dv":49.0347023,"mpcc_dw":50.9652977,"mpcc_enc_sign":1,"mpcc_id_a":1.98212242,"mpcc_iq_a":-0.781612813,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.72236538,"mpcc_pred_id_a":0.372944981,"mpcc_pred_iq_a":-0.651888311,"mpcc_state":1,"mpcc_theta_e":0.436480999,"mpcc_theta_mech":0.554242074,"sam_rpm":-5.19916773,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149233192,"thr_a_norm":0.0149233192,"thr_a_v":0.559693277,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456818491,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.576099,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.60349751,"cg_iw_a":0.201656342,"cg_theta_rad":0.555439413,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0496023037,"mpcc_du":50.7909164,"mpcc_dv":47.738739,"mpcc_dw":52.261261,"mpcc_enc_sign":1,"mpcc_id_a":2.59646726,"mpcc_iq_a":0.362162948,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.52822495,"mpcc_pred_id_a":0.470144689,"mpcc_pred_iq_a":0.728809893,"mpcc_state":1,"mpcc_theta_e":0.436988831,"mpcc_theta_mech":0.554343641,"sam_rpm":-11.7965088,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149233192,"thr_a_norm":0.0149233192,"thr_a_v":0.559693277,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456818491,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.582661,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.38603449,"cg_iw_a":-0.595707893,"cg_theta_rad":0.555156887,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.00487565761,"mpcc_du":49.6390266,"mpcc_dv":49.4368896,"mpcc_dw":50.5631104,"mpcc_enc_sign":1,"mpcc_id_a":1.3094821,"mpcc_iq_a":-2.67513943,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.55398655,"mpcc_pred_id_a":-0.227415264,"mpcc_pred_iq_a":-2.05676961,"mpcc_state":1,"mpcc_theta_e":0.450798512,"mpcc_theta_mech":0.55710566,"sam_rpm":14.4661226,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263034999,"thr_a_norm":0.0263034999,"thr_a_v":0.605214,"thr_b":0.000672921538,"thr_b_norm":0.000672921538,"thr_b_v":0.502691686,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.589161,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.31354666,"cg_iw_a":-1.32058477,"cg_theta_rad":0.555135071,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.00287462794,"mpcc_du":50.6186409,"mpcc_dv":48.1578102,"mpcc_dw":51.8421898,"mpcc_enc_sign":1,"mpcc_id_a":0.791140258,"mpcc_iq_a":-0.592558086,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.15058327,"mpcc_pred_id_a":-0.0737567991,"mpcc_pred_iq_a":0.81343466,"mpcc_state":1,"mpcc_theta_e":0.433746815,"mpcc_theta_mech":0.553735971,"sam_rpm":-13.7959652,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263034999,"thr_a_norm":0.0263034999,"thr_a_v":0.605214,"thr_b":0.000672921538,"thr_b_norm":0.000672921538,"thr_b_v":0.502691686,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.595692,"values":{"cg_iu_a":5.82358837,"cg_iv_a":-1.45852208,"cg_iw_a":-4.36506653,"cg_theta_rad":0.556195974,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0184603017,"mpcc_du":50.5712128,"mpcc_dv":48.1530914,"mpcc_dw":51.8469086,"mpcc_enc_sign":1,"mpcc_id_a":2.30107307,"mpcc_iq_a":-0.0869189501,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.9128647,"mpcc_pred_id_a":0.0614862889,"mpcc_pred_iq_a":-0.282457769,"mpcc_state":1,"mpcc_theta_e":0.431262493,"mpcc_theta_mech":0.557031155,"sam_rpm":-19.2335644,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0153765082,"thr_a_norm":0.0153765082,"thr_a_v":0.561506033,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467795819,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.604115,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.82096052,"cg_iw_a":1.07150841,"cg_theta_rad":0.555239379,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.00154412759,"mpcc_du":49.6024551,"mpcc_dv":49.6206398,"mpcc_dw":50.3975449,"mpcc_enc_sign":1,"mpcc_id_a":-0.399917156,"mpcc_iq_a":-1.56691825,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.42585421,"mpcc_pred_id_a":-0.404716611,"mpcc_pred_iq_a":-2.92088223,"mpcc_state":1,"mpcc_theta_e":0.445632458,"mpcc_theta_mech":0.556072414,"sam_rpm":6.66981983,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160940737,"thr_a_norm":0.0153765082,"thr_a_v":0.564376295,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.614063,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.588670254,"cg_iw_a":-1.82799816,"cg_theta_rad":0.552199841,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0194726437,"mpcc_du":49.2912178,"mpcc_dv":50.7087822,"mpcc_dw":50.160881,"mpcc_enc_sign":1,"mpcc_id_a":2.18422937,"mpcc_iq_a":-0.691341102,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.3668046,"mpcc_pred_id_a":0.189665481,"mpcc_pred_iq_a":-2.80852389,"mpcc_state":1,"mpcc_theta_e":0.43654871,"mpcc_theta_mech":0.554255664,"sam_rpm":3.71134901,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160940737,"thr_a_norm":0.0160940737,"thr_a_v":0.564376295,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.625507,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.806133032,"cg_iw_a":-4.51004219,"cg_theta_rad":0.556946099,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.00867829286,"mpcc_du":50.2299156,"mpcc_dv":48.776104,"mpcc_dw":51.223896,"mpcc_enc_sign":1,"mpcc_id_a":1.44332457,"mpcc_iq_a":-3.39301372,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.482181519,"mpcc_pred_id_a":-0.235509515,"mpcc_pred_iq_a":-2.95675516,"mpcc_state":1,"mpcc_theta_e":0.451494694,"mpcc_theta_mech":0.557244837,"sam_rpm":1.06975865,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280785114,"thr_a_norm":0.0280785114,"thr_a_v":0.612314045,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490505815,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.636524,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.958146572,"cg_theta_rad":0.554761112,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0325919949,"mpcc_du":49.5828552,"mpcc_dv":49.3446617,"mpcc_dw":50.6553383,"mpcc_enc_sign":1,"mpcc_id_a":2.56222177,"mpcc_iq_a":-0.743124425,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.97285414,"mpcc_pred_id_a":0.3177993,"mpcc_pred_iq_a":-2.83841491,"mpcc_state":1,"mpcc_theta_e":0.441352367,"mpcc_theta_mech":0.555216372,"sam_rpm":-10.4654369,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022098884,"thr_a_norm":0.0280785114,"thr_a_v":0.588395536,"thr_b":0.00155413151,"thr_b_norm":0,"thr_b_v":0.506216526,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.646687,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-4.35802889,"cg_iw_a":1.94136047,"cg_theta_rad":0.553467274,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.00480787177,"mpcc_du":49.9256172,"mpcc_dv":49.2536469,"mpcc_dw":50.7463531,"mpcc_enc_sign":1,"mpcc_id_a":0.601971507,"mpcc_iq_a":-2.65293765,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.572791755,"mpcc_pred_id_a":-0.4638834,"mpcc_pred_iq_a":-4.14223003,"mpcc_state":1,"mpcc_theta_e":0.448032379,"mpcc_theta_mech":0.55655241,"sam_rpm":0.986308217,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022098884,"thr_a_norm":0.022098884,"thr_a_v":0.588395536,"thr_b":0.00155413151,"thr_b_norm":0.00155413151,"thr_b_v":0.506216526,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.657246,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.6759851,"cg_iw_a":0.709069967,"cg_theta_rad":0.555894852,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.00769417826,"mpcc_du":50.0357895,"mpcc_dv":48.8638382,"mpcc_dw":51.1361618,"mpcc_enc_sign":1,"mpcc_id_a":1.37041128,"mpcc_iq_a":-0.0460900478,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.7114611,"mpcc_pred_id_a":0.0314372219,"mpcc_pred_iq_a":0.296592563,"mpcc_state":1,"mpcc_theta_e":0.444857121,"mpcc_theta_mech":0.555917323,"sam_rpm":0.398657322,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263286829,"thr_a_norm":0.0263286829,"thr_a_v":0.605314732,"thr_b":0.000333026052,"thr_b_norm":0.000333026052,"thr_b_v":0.501332104,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.680103,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.74847269,"cg_iw_a":0.274143696,"cg_theta_rad":0.551970184,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.00568252616,"mpcc_du":48.9519806,"mpcc_dv":51.0480194,"mpcc_dw":49.5106506,"mpcc_enc_sign":1,"mpcc_id_a":0.672810376,"mpcc_iq_a":-2.35486794,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.19959736,"mpcc_pred_id_a":-0.563072205,"mpcc_pred_iq_a":-6.48975945,"mpcc_state":1,"mpcc_theta_e":0.444099903,"mpcc_theta_mech":0.555765867,"sam_rpm":6.19515991,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263286829,"thr_a_norm":0.0263286829,"thr_a_v":0.605314732,"thr_b":0.000333026052,"thr_b_norm":0.000333026052,"thr_b_v":0.501332104,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.686665,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.443694592,"cg_iw_a":-0.015806675,"cg_theta_rad":0.55257684,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0364794396,"mpcc_du":49.3653069,"mpcc_dv":49.5789528,"mpcc_dw":50.6346931,"mpcc_enc_sign":1,"mpcc_id_a":3.59932137,"mpcc_iq_a":-0.0599444918,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.0327363,"mpcc_pred_id_a":0.965989232,"mpcc_pred_iq_a":-3.73111606,"mpcc_state":1,"mpcc_theta_e":0.43694973,"mpcc_theta_mech":0.554335892,"sam_rpm":-6.46897411,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243522525,"thr_a_norm":0.0243522525,"thr_a_v":0.59740901,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477010757,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.693134,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.48038769,"cg_theta_rad":0.557468414,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.015521368,"mpcc_du":49.4981995,"mpcc_dv":50.2159119,"mpcc_dw":50.5018005,"mpcc_enc_sign":1,"mpcc_id_a":2.48229408,"mpcc_iq_a":-0.738364279,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.64050484,"mpcc_pred_id_a":0.287811756,"mpcc_pred_iq_a":-4.65338182,"mpcc_state":1,"mpcc_theta_e":0.436661243,"mpcc_theta_mech":0.554278195,"sam_rpm":-8.14261246,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243522525,"thr_a_norm":0.0243522525,"thr_a_v":0.59740901,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477010757,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.699696,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.31354666,"cg_iw_a":0.564094543,"cg_theta_rad":0.557612419,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0261461157,"mpcc_du":50.1123314,"mpcc_dv":48.7865677,"mpcc_dw":51.2134323,"mpcc_enc_sign":1,"mpcc_id_a":2.02265882,"mpcc_iq_a":-0.867789507,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.59564447,"mpcc_pred_id_a":-0.00236356258,"mpcc_pred_iq_a":-2.27339435,"mpcc_state":1,"mpcc_theta_e":0.445168972,"mpcc_theta_mech":0.556516349,"sam_rpm":-2.19077945,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260643214,"thr_a_norm":0.0260643214,"thr_a_v":0.604257286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484412879,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.710102,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.09608364,"cg_iw_a":-0.305757523,"cg_theta_rad":0.553053558,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.027885681,"mpcc_du":49.7187958,"mpcc_dv":50.1826706,"mpcc_dw":50.2812042,"mpcc_enc_sign":1,"mpcc_id_a":-0.785788774,"mpcc_iq_a":-1.75318539,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.17188489,"mpcc_pred_id_a":-0.845062971,"mpcc_pred_iq_a":-1.79562259,"mpcc_state":1,"mpcc_theta_e":0.43415308,"mpcc_theta_mech":0.553776503,"sam_rpm":-0.0329155996,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105423436,"thr_a_norm":0.0260643214,"thr_a_v":0.921693742,"thr_b":0.0460425615,"thr_b_norm":0,"thr_b_v":0.684170246,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.719898,"values":{"cg_iu_a":4.44632339,"cg_iv_a":-1.38603449,"cg_iw_a":0.926532984,"cg_theta_rad":0.554718792,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.044347316,"mpcc_du":50.3399277,"mpcc_dv":48.4639664,"mpcc_dw":51.5360336,"mpcc_enc_sign":1,"mpcc_id_a":0.698461235,"mpcc_iq_a":-2.41346574,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.5939903,"mpcc_pred_id_a":-0.0153137427,"mpcc_pred_iq_a":0.344954312,"mpcc_state":1,"mpcc_theta_e":0.418662071,"mpcc_theta_mech":0.550678372,"sam_rpm":-29.3411522,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105423436,"thr_a_norm":0.105423436,"thr_a_v":0.921693742,"thr_b":0.0460425615,"thr_b_norm":0.0460425615,"thr_b_v":0.684170246,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.730122,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.60349751,"cg_iw_a":-1.39307213,"cg_theta_rad":0.556588829,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0268977415,"mpcc_du":49.987072,"mpcc_dv":48.8186722,"mpcc_dw":51.1813278,"mpcc_enc_sign":1,"mpcc_id_a":2.79392147,"mpcc_iq_a":-0.39819023,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.05053902,"mpcc_pred_id_a":0.346206695,"mpcc_pred_iq_a":0.729514897,"mpcc_state":1,"mpcc_theta_e":0.428693771,"mpcc_theta_mech":0.552684665,"sam_rpm":-13.715064,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182467401,"thr_a_norm":0.0182467401,"thr_a_v":0.57298696,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453041911,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.740101,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.371207237,"cg_iw_a":-1.68302298,"cg_theta_rad":0.552903414,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0716991499,"mpcc_du":49.5836105,"mpcc_dv":50.4163895,"mpcc_dw":50.2380028,"mpcc_enc_sign":1,"mpcc_id_a":1.89340222,"mpcc_iq_a":-2.89738274,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.49070024,"mpcc_pred_id_a":-0.574672699,"mpcc_pred_iq_a":-2.83469558,"mpcc_state":1,"mpcc_theta_e":0.423042774,"mpcc_theta_mech":0.551554501,"sam_rpm":-12.2544565,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182467401,"thr_a_norm":0.0182467401,"thr_a_v":0.57298696,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453041911,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.750111,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.09608364,"cg_iw_a":-2.40789938,"cg_theta_rad":0.55627197,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0049474258,"mpcc_du":50.3062782,"mpcc_dv":48.5375023,"mpcc_dw":51.4624977,"mpcc_enc_sign":1,"mpcc_id_a":1.3177352,"mpcc_iq_a":-2.3698771,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.3863554,"mpcc_pred_id_a":0.0251113009,"mpcc_pred_iq_a":-2.35047865,"mpcc_state":1,"mpcc_theta_e":0.43845892,"mpcc_theta_mech":0.55463773,"sam_rpm":-12.8140821,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021544978,"thr_a_norm":0.021544978,"thr_a_v":0.586179912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472176731,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.760456,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.38603449,"cg_iw_a":0.709070206,"cg_theta_rad":0.556588829,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0461562201,"mpcc_du":49.9132042,"mpcc_dv":48.9806328,"mpcc_dw":51.0193672,"mpcc_enc_sign":1,"mpcc_id_a":2.39989638,"mpcc_iq_a":-1.58458638,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.72755527,"mpcc_pred_id_a":0.22663033,"mpcc_pred_iq_a":-4.25816298,"mpcc_state":1,"mpcc_theta_e":0.4536376,"mpcc_theta_mech":0.557673395,"sam_rpm":3.09479499,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178061277,"thr_a_norm":0.021544978,"thr_a_v":0.571224511,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.445186526,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.784779,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.60349751,"cg_iw_a":-0.740683079,"cg_theta_rad":0.557449222,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.00267521152,"mpcc_du":51.7637596,"mpcc_dv":46.6245117,"mpcc_dw":53.3754883,"mpcc_enc_sign":1,"mpcc_id_a":0.22873199,"mpcc_iq_a":-1.66158187,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.4765167,"mpcc_pred_id_a":0.101527639,"mpcc_pred_iq_a":2.89462614,"mpcc_state":1,"mpcc_theta_e":0.425661564,"mpcc_theta_mech":0.552078187,"sam_rpm":-31.7362919,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178061277,"thr_a_norm":0.0178061277,"thr_a_v":0.571224511,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.445186526,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.791218,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-1.16857147,"cg_iw_a":-0.450732946,"cg_theta_rad":0.55196178,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0296108909,"mpcc_du":50.7237282,"mpcc_dv":47.9450569,"mpcc_dw":52.0549431,"mpcc_enc_sign":1,"mpcc_id_a":2.19913292,"mpcc_iq_a":-0.829697132,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.23347,"mpcc_pred_id_a":0.228060186,"mpcc_pred_iq_a":-1.05665278,"mpcc_state":1,"mpcc_theta_e":0.433786869,"mpcc_theta_mech":0.553703249,"sam_rpm":-16.9883404,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203112811,"thr_a_norm":0.0203112811,"thr_a_v":0.581245124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467040509,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.797749,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.10312176,"cg_theta_rad":0.555752158,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0261586457,"mpcc_du":50.3282585,"mpcc_dv":48.2994766,"mpcc_dw":49.8620682,"mpcc_enc_sign":1,"mpcc_id_a":2.94118071,"mpcc_iq_a":-0.29987359,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.6655345,"mpcc_pred_id_a":0.613749862,"mpcc_pred_iq_a":-0.534923792,"mpcc_state":1,"mpcc_theta_e":0.449708462,"mpcc_theta_mech":0.556887627,"sam_rpm":-15.9705229,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203112811,"thr_a_norm":0.0203112811,"thr_a_v":0.581245124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467040509,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.804249,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.661157608,"cg_iw_a":-4.79999256,"cg_theta_rad":0.556592584,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0322054178,"mpcc_du":49.5577126,"mpcc_dv":50.2266464,"mpcc_dw":50.4422874,"mpcc_enc_sign":1,"mpcc_id_a":2.35751724,"mpcc_iq_a":-1.01041102,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.5881968,"mpcc_pred_id_a":0.102988794,"mpcc_pred_iq_a":-4.46741056,"mpcc_state":1,"mpcc_theta_e":0.455463886,"mpcc_theta_mech":0.558038652,"sam_rpm":15.5091858,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0158800632,"thr_a_norm":0.0158800632,"thr_a_v":0.563520253,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473133445,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.813313,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-0.806133032,"cg_iw_a":-1.24809694,"cg_theta_rad":0.556801438,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0152084483,"mpcc_du":50.3710327,"mpcc_dv":48.6648216,"mpcc_dw":51.3351784,"mpcc_enc_sign":1,"mpcc_id_a":0.461381108,"mpcc_iq_a":-1.28093052,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.01006842,"mpcc_pred_id_a":-0.354986936,"mpcc_pred_iq_a":-1.59437239,"mpcc_state":1,"mpcc_theta_e":0.444040775,"mpcc_theta_mech":0.555754066,"sam_rpm":-0.441930652,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206511766,"thr_a_norm":0.0158800632,"thr_a_v":0.582604706,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467191577,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.823292,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.226231575,"cg_iw_a":-2.48038769,"cg_theta_rad":0.557150126,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0303748157,"mpcc_du":49.5306892,"mpcc_dv":49.6639366,"mpcc_dw":50.4693108,"mpcc_enc_sign":1,"mpcc_id_a":2.22759223,"mpcc_iq_a":-1.11358607,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.5763135,"mpcc_pred_id_a":0.0250789598,"mpcc_pred_iq_a":-0.88480258,"mpcc_state":1,"mpcc_theta_e":0.431589127,"mpcc_theta_mech":0.553263783,"sam_rpm":-5.50950241,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206511766,"thr_a_norm":0.0206511766,"thr_a_v":0.582604706,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467191577,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.833454,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.516182423,"cg_iw_a":-1.46555996,"cg_theta_rad":0.555023611,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0648385137,"mpcc_du":50.5146027,"mpcc_dv":47.813282,"mpcc_dw":52.186718,"mpcc_enc_sign":1,"mpcc_id_a":4.6479969,"mpcc_iq_a":-0.0344830006,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.2266026,"mpcc_pred_id_a":1.24100852,"mpcc_pred_iq_a":0.395336479,"mpcc_state":1,"mpcc_theta_e":0.435415268,"mpcc_theta_mech":0.554028928,"sam_rpm":-17.1648884,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260895044,"thr_a_norm":0.0260895044,"thr_a_v":0.604358017,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493929952,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.843494,"values":{"cg_iu_a":3.64895868,"cg_iv_a":0.208694458,"cg_iw_a":-1.03063393,"cg_theta_rad":0.55061996,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.00339840469,"mpcc_du":50.7476463,"mpcc_dv":47.9149208,"mpcc_dw":52.0850792,"mpcc_enc_sign":1,"mpcc_id_a":1.11775553,"mpcc_iq_a":-1.28205991,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.5111427,"mpcc_pred_id_a":0.0708488226,"mpcc_pred_iq_a":0.110446192,"mpcc_state":1,"mpcc_theta_e":0.424827099,"mpcc_theta_mech":0.551911354,"sam_rpm":-26.7015324,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260895044,"thr_a_norm":0.0260895044,"thr_a_v":0.604358017,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493929952,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.853687,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.16857147,"cg_iw_a":-1.53804779,"cg_theta_rad":0.556316018,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0250347164,"mpcc_du":49.5851593,"mpcc_dv":49.9324608,"mpcc_dw":50.4148407,"mpcc_enc_sign":1,"mpcc_id_a":-0.331502974,"mpcc_iq_a":-2.14877343,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.784935,"mpcc_pred_id_a":-0.864268422,"mpcc_pred_iq_a":-0.000721969991,"mpcc_state":1,"mpcc_theta_e":0.43480444,"mpcc_theta_mech":0.553446472,"sam_rpm":-4.99657345,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0429835171,"thr_a_norm":0.0429835171,"thr_a_v":0.671934068,"thr_b":0.00535592437,"thr_b_norm":0.00535592437,"thr_b_v":0.521423697,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.863667,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.38603449,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556832075,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0341248959,"mpcc_du":50.3548393,"mpcc_dv":48.5635643,"mpcc_dw":51.4364357,"mpcc_enc_sign":1,"mpcc_id_a":0.85649699,"mpcc_iq_a":-0.45029512,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.06515336,"mpcc_pred_id_a":-0.0204002224,"mpcc_pred_iq_a":-1.91819918,"mpcc_state":1,"mpcc_theta_e":0.444966793,"mpcc_theta_mech":0.555939257,"sam_rpm":-2.23454571,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200595111,"thr_a_norm":0.0429835171,"thr_a_v":0.580238044,"thr_b":0,"thr_b_norm":0.00535592437,"thr_b_v":0.446546137,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.886707,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.806133032,"cg_iw_a":0.0566809177,"cg_theta_rad":0.554959714,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.00443355972,"mpcc_du":50.7233315,"mpcc_dv":48.233696,"mpcc_dw":51.766304,"mpcc_enc_sign":1,"mpcc_id_a":0.369767964,"mpcc_iq_a":-0.632793784,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.01800776,"mpcc_pred_id_a":-0.298294306,"mpcc_pred_iq_a":1.74745262,"mpcc_state":1,"mpcc_theta_e":0.440957069,"mpcc_theta_mech":0.555137336,"sam_rpm":-2.54213643,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200595111,"thr_a_norm":0.0200595111,"thr_a_v":0.580238044,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446546137,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.893238,"values":{"cg_iu_a":2.77910662,"cg_iv_a":0.136206627,"cg_iw_a":-2.91531324,"cg_theta_rad":0.553812206,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0196011458,"mpcc_du":49.7607384,"mpcc_dv":49.1774216,"mpcc_dw":50.8225784,"mpcc_enc_sign":1,"mpcc_id_a":2.71215558,"mpcc_iq_a":-1.61151397,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.05758667,"mpcc_pred_id_a":0.293186098,"mpcc_pred_iq_a":-1.34701657,"mpcc_state":1,"mpcc_theta_e":0.444429874,"mpcc_theta_mech":0.55583185,"sam_rpm":6.48581934,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228667855,"thr_a_norm":0.0228667855,"thr_a_v":0.591467142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478773177,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.89983,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.82096052,"cg_iw_a":0.636582375,"cg_theta_rad":0.555120766,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0521834083,"mpcc_du":49.4424782,"mpcc_dv":50.3742218,"mpcc_dw":50.5575218,"mpcc_enc_sign":1,"mpcc_id_a":4.53995895,"mpcc_iq_a":0.230355829,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.4659704,"mpcc_pred_id_a":0.861138344,"mpcc_pred_iq_a":-3.27261996,"mpcc_state":1,"mpcc_theta_e":0.439074993,"mpcc_theta_mech":0.554760873,"sam_rpm":1.15170944,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228667855,"thr_a_norm":0.0228667855,"thr_a_v":0.591467142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478773177,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.906269,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.951108456,"cg_iw_a":0.274144173,"cg_theta_rad":0.555295169,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0219913442,"mpcc_du":49.2756729,"mpcc_dv":50.7243271,"mpcc_dw":50.018528,"mpcc_enc_sign":1,"mpcc_id_a":2.45525956,"mpcc_iq_a":0.0326950215,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.39625549,"mpcc_pred_id_a":-0.0681520328,"mpcc_pred_iq_a":-4.6319623,"mpcc_state":1,"mpcc_theta_e":0.447629452,"mpcc_theta_mech":0.556471825,"sam_rpm":11.8870277,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178942531,"thr_a_norm":0.0178942531,"thr_a_v":0.571577013,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458731949,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.914265,"values":{"cg_iu_a":2.41666842,"cg_iv_a":0.136206627,"cg_iw_a":0.926532745,"cg_theta_rad":0.557165205,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0227874499,"mpcc_du":50.3924332,"mpcc_dv":48.5018654,"mpcc_dw":51.4981346,"mpcc_enc_sign":1,"mpcc_id_a":1.90625012,"mpcc_iq_a":0.0890709981,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.45959473,"mpcc_pred_id_a":-0.0639968812,"mpcc_pred_iq_a":-1.32436442,"mpcc_state":1,"mpcc_theta_e":0.434314251,"mpcc_theta_mech":0.553808749,"sam_rpm":-12.6031113,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192286521,"thr_a_norm":0.0178942531,"thr_a_v":0.576914608,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454804301,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.924061,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-3.63315201,"cg_iw_a":2.37628603,"cg_theta_rad":0.556394458,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.00447418122,"mpcc_du":50.1292572,"mpcc_dv":48.7412071,"mpcc_dw":51.2587929,"mpcc_enc_sign":1,"mpcc_id_a":1.09116018,"mpcc_iq_a":-1.50723898,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.7690535,"mpcc_pred_id_a":0.0708661973,"mpcc_pred_iq_a":-1.98200548,"mpcc_state":1,"mpcc_theta_e":0.429075241,"mpcc_theta_mech":0.552760959,"sam_rpm":-19.9461689,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192286521,"thr_a_norm":0.0192286521,"thr_a_v":0.576914608,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454804301,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.934284,"values":{"cg_iu_a":0.459501266,"cg_iv_a":0.353669643,"cg_iw_a":-2.91531324,"cg_theta_rad":0.552572727,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0152359316,"mpcc_du":49.8392181,"mpcc_dv":49.2582703,"mpcc_dw":50.7417297,"mpcc_enc_sign":1,"mpcc_id_a":0.0658673123,"mpcc_iq_a":-0.585438073,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.73475313,"mpcc_pred_id_a":-0.246918932,"mpcc_pred_iq_a":-2.23596597,"mpcc_state":1,"mpcc_theta_e":0.451145172,"mpcc_theta_mech":0.557174921,"sam_rpm":8.26481819,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026001364,"thr_a_norm":0.026001364,"thr_a_v":0.604005456,"thr_b":0.00128977001,"thr_b_norm":0.00128977001,"thr_b_v":0.50515908,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.946674,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.588670254,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556840658,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.0292244591,"mpcc_du":50.4890289,"mpcc_dv":48.2276688,"mpcc_dw":51.7723312,"mpcc_enc_sign":1,"mpcc_id_a":1.9986937,"mpcc_iq_a":-1.43307889,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.91746998,"mpcc_pred_id_a":0.193652943,"mpcc_pred_iq_a":-2.25219154,"mpcc_state":1,"mpcc_theta_e":0.435434818,"mpcc_theta_mech":0.554032922,"sam_rpm":-12.2913418,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234206915,"thr_a_norm":0.026001364,"thr_a_v":0.593682766,"thr_b":0,"thr_b_norm":0.00128977001,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.956715,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.806133032,"cg_iw_a":-1.90048623,"cg_theta_rad":0.557006121,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5002,"hz_app_loop":359,"hz_tim_isr":10002,"hz_vsense":359,"mpcc_cost":0.077469334,"mpcc_du":49.9927902,"mpcc_dv":49.036602,"mpcc_dw":50.963398,"mpcc_enc_sign":1,"mpcc_id_a":0.711566687,"mpcc_iq_a":-0.251105487,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.52431774,"mpcc_pred_id_a":-0.186611637,"mpcc_pred_iq_a":-3.44237876,"mpcc_state":1,"mpcc_theta_e":0.455822468,"mpcc_theta_mech":0.558110416,"sam_rpm":12.5779819,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234206915,"thr_a_norm":0.0234206915,"thr_a_v":0.593682766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.967457,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.31354666,"cg_iw_a":-0.015806675,"cg_theta_rad":0.55297178,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914.17188,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0187484827,"mpcc_du":49.6973839,"mpcc_dv":49.2320824,"mpcc_dw":50.7679176,"mpcc_enc_sign":1,"mpcc_id_a":2.64231086,"mpcc_iq_a":-0.748110414,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.88156843,"mpcc_pred_id_a":0.124696843,"mpcc_pred_iq_a":-0.901359916,"mpcc_state":1,"mpcc_theta_e":0.445838928,"mpcc_theta_mech":0.55611366,"sam_rpm":10.247776,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022124052,"thr_a_norm":0.022124052,"thr_a_v":0.588496208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481995881,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.990528,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.38603449,"cg_iw_a":0.0566811562,"cg_theta_rad":0.557788134,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.000683497463,"mpcc_du":49.0786247,"mpcc_dv":50.9213753,"mpcc_dw":49.5993423,"mpcc_enc_sign":1,"mpcc_id_a":0.0460214391,"mpcc_iq_a":-0.296072423,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.86921024,"mpcc_pred_id_a":-0.651283741,"mpcc_pred_iq_a":-4.72171259,"mpcc_state":1,"mpcc_theta_e":0.447284222,"mpcc_theta_mech":0.556402802,"sam_rpm":13.4967861,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022124052,"thr_a_norm":0.022124052,"thr_a_v":0.588496208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481995881,"vdc_v":55.2955055}} +{"type":"telemetry","t":55.997028,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-2.83578777,"cg_iw_a":1.28897142,"cg_theta_rad":0.552044153,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0118331397,"mpcc_du":49.8112564,"mpcc_dv":49.5455246,"mpcc_dw":50.4544754,"mpcc_enc_sign":1,"mpcc_id_a":-1.07369173,"mpcc_iq_a":-2.86611795,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.62273145,"mpcc_pred_id_a":-0.845106661,"mpcc_pred_iq_a":-3.19671082,"mpcc_state":1,"mpcc_theta_e":0.437597275,"mpcc_theta_mech":0.554465413,"sam_rpm":-6.32775354,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210791826,"thr_a_norm":0.0210791826,"thr_a_v":0.58431673,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.00359,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-1.96593571,"cg_iw_a":-0.233269691,"cg_theta_rad":0.553248882,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0100428462,"mpcc_du":49.6933708,"mpcc_dv":49.4720039,"mpcc_dw":50.5279961,"mpcc_enc_sign":1,"mpcc_id_a":-0.155389026,"mpcc_iq_a":-0.384996891,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.1417315,"mpcc_pred_id_a":-0.32070002,"mpcc_pred_iq_a":-3.08886886,"mpcc_state":1,"mpcc_theta_e":0.44284296,"mpcc_theta_mech":0.555514514,"sam_rpm":2.94743419,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210791826,"thr_a_norm":0.0210791826,"thr_a_v":0.58431673,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.01009,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.516182423,"cg_iw_a":-2.11794901,"cg_theta_rad":0.55774641,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.020425139,"mpcc_du":50.8916359,"mpcc_dv":47.6958885,"mpcc_dw":52.3041115,"mpcc_enc_sign":1,"mpcc_id_a":1.63032448,"mpcc_iq_a":-0.635869741,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.4243822,"mpcc_pred_id_a":0.342592329,"mpcc_pred_iq_a":0.48301816,"mpcc_state":1,"mpcc_theta_e":0.454999447,"mpcc_theta_mech":0.557945848,"sam_rpm":-17.6559353,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463717103,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.020466,"values":{"cg_iu_a":0.966915131,"cg_iv_a":0.0637187958,"cg_iw_a":-0.740683079,"cg_theta_rad":0.554662168,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0388378724,"mpcc_du":50.5446434,"mpcc_dv":48.4544334,"mpcc_dw":51.5455666,"mpcc_enc_sign":1,"mpcc_id_a":0.0376989506,"mpcc_iq_a":-1.3143934,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.30075657,"mpcc_pred_id_a":-0.237761155,"mpcc_pred_iq_a":-1.83357811,"mpcc_state":1,"mpcc_theta_e":0.4489851,"mpcc_theta_mech":0.556742966,"sam_rpm":3.41829991,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193923116,"thr_a_norm":0.0193923116,"thr_a_v":0.577569246,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.030476,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.45852208,"cg_iw_a":0.854045153,"cg_theta_rad":0.552829385,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0576169863,"mpcc_du":49.9928322,"mpcc_dv":48.7968178,"mpcc_dw":51.2031822,"mpcc_enc_sign":1,"mpcc_id_a":2.98072791,"mpcc_iq_a":0.296082318,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.66407943,"mpcc_pred_id_a":0.568470597,"mpcc_pred_iq_a":-1.30431259,"mpcc_state":1,"mpcc_theta_e":0.445865154,"mpcc_theta_mech":0.556118906,"sam_rpm":5.15918636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193923116,"thr_a_norm":0.0193923116,"thr_a_v":0.577569246,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.040791,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-0.371207237,"cg_iw_a":-1.61053514,"cg_theta_rad":0.556975961,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0116604371,"mpcc_du":49.8124619,"mpcc_dv":49.3835449,"mpcc_dw":50.6164551,"mpcc_enc_sign":1,"mpcc_id_a":0.642810762,"mpcc_iq_a":0.121468522,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.94535351,"mpcc_pred_id_a":-0.400900096,"mpcc_pred_iq_a":-4.53701019,"mpcc_state":1,"mpcc_theta_e":0.434392452,"mpcc_theta_mech":0.553824425,"sam_rpm":-12.3750019,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.021620512,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487283111,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.050678,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.96593571,"cg_iw_a":0.20165658,"cg_theta_rad":0.552138031,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00936100911,"mpcc_du":49.8726311,"mpcc_dv":49.1271782,"mpcc_dw":50.8728218,"mpcc_enc_sign":1,"mpcc_id_a":1.88201153,"mpcc_iq_a":-1.35160184,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.2423592,"mpcc_pred_id_a":-0.00731318025,"mpcc_pred_iq_a":-3.793571,"mpcc_state":1,"mpcc_theta_e":0.424592495,"mpcc_theta_mech":0.551864445,"sam_rpm":-21.7407932,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02000916,"thr_a_norm":0.021620512,"thr_a_v":0.58003664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485772491,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.060688,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.16857147,"cg_iw_a":-1.03063393,"cg_theta_rad":0.554169357,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00692209695,"mpcc_du":50.172924,"mpcc_dv":48.7359467,"mpcc_dw":51.2640533,"mpcc_enc_sign":1,"mpcc_id_a":0.617448092,"mpcc_iq_a":-1.63144839,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.99916911,"mpcc_pred_id_a":0.0595049001,"mpcc_pred_iq_a":-1.76575243,"mpcc_state":1,"mpcc_theta_e":0.4427495,"mpcc_theta_mech":0.555495858,"sam_rpm":-2.27286553,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02000916,"thr_a_norm":0.02000916,"thr_a_v":0.58003664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485772491,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.070972,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-2.25588632,"cg_iw_a":1.94136024,"cg_theta_rad":0.555775046,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00757613359,"mpcc_du":49.7107811,"mpcc_dv":49.3940659,"mpcc_dw":50.6059341,"mpcc_enc_sign":1,"mpcc_id_a":0.307655722,"mpcc_iq_a":-1.07742071,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.5679379,"mpcc_pred_id_a":-0.381532252,"mpcc_pred_iq_a":-4.30881071,"mpcc_state":1,"mpcc_theta_e":0.4545331,"mpcc_theta_mech":0.555472255,"sam_rpm":19.8000736,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0287331194,"thr_a_norm":0.0287331194,"thr_a_v":0.614932477,"thr_b":0.00243534148,"thr_b_norm":0.00243534148,"thr_b_v":0.509741366,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.093891,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.443694592,"cg_iw_a":0.346631527,"cg_theta_rad":0.55360347,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0066087367,"mpcc_du":49.8175507,"mpcc_dv":49.407711,"mpcc_dw":50.592289,"mpcc_enc_sign":1,"mpcc_id_a":0.238618776,"mpcc_iq_a":-0.570935071,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.0221622,"mpcc_pred_id_a":-0.582628787,"mpcc_pred_iq_a":-3.77997017,"mpcc_state":1,"mpcc_theta_e":0.441029072,"mpcc_theta_mech":0.555151761,"sam_rpm":-4.88023424,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0287331194,"thr_a_norm":0.0287331194,"thr_a_v":0.614932477,"thr_b":0.00243534148,"thr_b_norm":0.00243534148,"thr_b_v":0.509741366,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.100452,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.82096052,"cg_iw_a":0.274143934,"cg_theta_rad":0.554052413,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00835242402,"mpcc_du":49.2640457,"mpcc_dv":50.7359543,"mpcc_dw":49.8426399,"mpcc_enc_sign":1,"mpcc_id_a":-0.558270156,"mpcc_iq_a":0.456242114,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.36377001,"mpcc_pred_id_a":-0.608862996,"mpcc_pred_iq_a":-4.75239754,"mpcc_state":1,"mpcc_theta_e":0.445044041,"mpcc_theta_mech":0.555954754,"sam_rpm":10.3798628,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184103847,"thr_a_norm":0.0184103847,"thr_a_v":0.573641539,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.445337594,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.106922,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.226231575,"cg_iw_a":-0.305757523,"cg_theta_rad":0.553916693,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00480275461,"mpcc_du":50.7191162,"mpcc_dv":48.0197449,"mpcc_dw":51.9802551,"mpcc_enc_sign":1,"mpcc_id_a":0.712450564,"mpcc_iq_a":-1.98084807,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.99032974,"mpcc_pred_id_a":-0.0201338883,"mpcc_pred_iq_a":1.64417613,"mpcc_state":1,"mpcc_theta_e":0.430650711,"mpcc_theta_mech":0.553076088,"sam_rpm":-15.6509905,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184103847,"thr_a_norm":0.0184103847,"thr_a_v":0.573641539,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.445337594,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.113514,"values":{"cg_iu_a":4.8087616,"cg_iv_a":-0.588670254,"cg_iw_a":-4.22009134,"cg_theta_rad":0.557494402,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0413275398,"mpcc_du":50.0189934,"mpcc_dv":49.0060272,"mpcc_dw":50.9939728,"mpcc_enc_sign":1,"mpcc_id_a":1.0891571,"mpcc_iq_a":-0.801215589,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.97575998,"mpcc_pred_id_a":-0.184436068,"mpcc_pred_iq_a":-3.29184914,"mpcc_state":1,"mpcc_theta_e":0.450500488,"mpcc_theta_mech":0.557045996,"sam_rpm":5.31508732,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273483545,"thr_a_norm":0.0273483545,"thr_a_v":0.609393418,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493275344,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.121449,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.226231575,"cg_iw_a":-2.33541203,"cg_theta_rad":0.555755436,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0114615466,"mpcc_du":50.3912544,"mpcc_dv":48.5425262,"mpcc_dw":51.4574738,"mpcc_enc_sign":1,"mpcc_id_a":1.90665925,"mpcc_iq_a":-1.28998697,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.7714415,"mpcc_pred_id_a":-0.265569776,"mpcc_pred_iq_a":-2.13625312,"mpcc_state":1,"mpcc_theta_e":0.432258606,"mpcc_theta_mech":0.553397655,"sam_rpm":-16.9398842,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273483545,"thr_a_norm":0.0273483545,"thr_a_v":0.609393418,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493275344,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.131672,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.226231575,"cg_iw_a":-1.61053562,"cg_theta_rad":0.553787053,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0142915789,"mpcc_du":51.2197762,"mpcc_dv":47.451683,"mpcc_dw":52.548317,"mpcc_enc_sign":1,"mpcc_id_a":0.740546286,"mpcc_iq_a":0.486161709,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.414920121,"mpcc_pred_id_a":-0.194641575,"mpcc_pred_iq_a":0.379529744,"mpcc_state":1,"mpcc_theta_e":0.444540024,"mpcc_theta_mech":0.555853903,"sam_rpm":-33.5612755,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224891305,"thr_a_norm":0.0224891305,"thr_a_v":0.589956522,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475550473,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.142109,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.806133032,"cg_iw_a":-1.32058454,"cg_theta_rad":0.552208066,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0282372329,"mpcc_du":49.5659599,"mpcc_dv":49.8685341,"mpcc_dw":50.4340401,"mpcc_enc_sign":1,"mpcc_id_a":0.223721236,"mpcc_iq_a":-0.42800355,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.458462,"mpcc_pred_id_a":-0.0633095577,"mpcc_pred_iq_a":-5.03756952,"mpcc_state":1,"mpcc_theta_e":0.44791317,"mpcc_theta_mech":0.556528509,"sam_rpm":6.49542427,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0224891305,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.152088,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-2.25588632,"cg_iw_a":0.781557322,"cg_theta_rad":0.557742119,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00567994127,"mpcc_du":49.6533699,"mpcc_dv":49.3000031,"mpcc_dw":50.6999969,"mpcc_enc_sign":1,"mpcc_id_a":1.44764471,"mpcc_iq_a":-0.899214387,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.9285996,"mpcc_pred_id_a":0.19787921,"mpcc_pred_iq_a":-2.00033808,"mpcc_state":1,"mpcc_theta_e":0.435134411,"mpcc_theta_mech":0.553972781,"sam_rpm":-6.78196669,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.162281,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.153744221,"cg_iw_a":0.201656342,"cg_theta_rad":0.552369416,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.039385885,"mpcc_du":49.2294235,"mpcc_dv":50.7705765,"mpcc_dw":50.1113052,"mpcc_enc_sign":1,"mpcc_id_a":2.74754262,"mpcc_iq_a":0.625651538,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.5854702,"mpcc_pred_id_a":0.276853621,"mpcc_pred_iq_a":-3.69400024,"mpcc_state":1,"mpcc_theta_e":0.451519489,"mpcc_theta_mech":0.557249784,"sam_rpm":22.0377502,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228416175,"thr_a_norm":0.0228416175,"thr_a_v":0.59136647,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475902975,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.172291,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-0.371207237,"cg_iw_a":0.491607189,"cg_theta_rad":0.551676631,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0135078905,"mpcc_du":49.6494293,"mpcc_dv":49.4928246,"mpcc_dw":50.5071754,"mpcc_enc_sign":1,"mpcc_id_a":-0.277185887,"mpcc_iq_a":-2.42452312,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.1511583,"mpcc_pred_id_a":-0.270718157,"mpcc_pred_iq_a":-3.30251622,"mpcc_state":1,"mpcc_theta_e":0.45736599,"mpcc_theta_mech":0.558419108,"sam_rpm":18.6336021,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228416175,"thr_a_norm":0.0228416175,"thr_a_v":0.59136647,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475902975,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.195637,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-2.47334933,"cg_iw_a":0.854045153,"cg_theta_rad":0.553006113,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0285044052,"mpcc_du":49.6470757,"mpcc_dv":49.8640633,"mpcc_dw":50.3529243,"mpcc_enc_sign":1,"mpcc_id_a":1.22436976,"mpcc_iq_a":-1.6713357,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.0485735,"mpcc_pred_id_a":-0.542702436,"mpcc_pred_iq_a":-4.03797245,"mpcc_state":1,"mpcc_theta_e":0.457575321,"mpcc_theta_mech":0.55846101,"sam_rpm":20.4388294,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178061277,"thr_a_norm":0.0178061277,"thr_a_v":0.571224511,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44236666,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.202168,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.298719406,"cg_iw_a":-0.740683556,"cg_theta_rad":0.552926183,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00170376501,"mpcc_du":49.6463699,"mpcc_dv":50.0053368,"mpcc_dw":50.3536301,"mpcc_enc_sign":1,"mpcc_id_a":0.264802873,"mpcc_iq_a":-1.87789178,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0509910025,"mpcc_pred_id_a":-0.517279506,"mpcc_pred_iq_a":-3.63480282,"mpcc_state":1,"mpcc_theta_e":0.43997097,"mpcc_theta_mech":0.554940104,"sam_rpm":-0.383600712,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292240679,"thr_a_norm":0.0178061277,"thr_a_v":0.616896272,"thr_b":0.00393338501,"thr_b_norm":0,"thr_b_v":0.51573354,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.208698,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-2.25588632,"cg_iw_a":-0.23326993,"cg_theta_rad":0.557269812,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.000672056805,"mpcc_du":51.4313126,"mpcc_dv":47.3093529,"mpcc_dw":52.6906471,"mpcc_enc_sign":1,"mpcc_id_a":0.503600538,"mpcc_iq_a":-1.41489351,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-22.107748,"mpcc_pred_id_a":-0.547054112,"mpcc_pred_iq_a":1.34774113,"mpcc_state":1,"mpcc_theta_e":0.422426224,"mpcc_theta_mech":0.551431119,"sam_rpm":-32.865078,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292240679,"thr_a_norm":0.0292240679,"thr_a_v":0.616896272,"thr_b":0.00393338501,"thr_b_norm":0.00393338501,"thr_b_v":0.51573354,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.215168,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.443694592,"cg_iw_a":-2.33541203,"cg_theta_rad":0.558266163,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00474332646,"mpcc_du":49.5565567,"mpcc_dv":49.4953995,"mpcc_dw":50.5046005,"mpcc_enc_sign":1,"mpcc_id_a":1.33719552,"mpcc_iq_a":-1.99948037,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.07642365,"mpcc_pred_id_a":-0.0330852568,"mpcc_pred_iq_a":-4.79716015,"mpcc_state":1,"mpcc_theta_e":0.434173107,"mpcc_theta_mech":0.553780496,"sam_rpm":-12.3763447,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0168871582,"thr_a_norm":0.0168871582,"thr_a_v":0.567548633,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439496428,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.223164,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.661157608,"cg_iw_a":0.346631765,"cg_theta_rad":0.556881547,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0129305357,"mpcc_du":50.4240875,"mpcc_dv":48.2735367,"mpcc_dw":51.7264633,"mpcc_enc_sign":1,"mpcc_id_a":2.22780204,"mpcc_iq_a":-1.11316657,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.6505041,"mpcc_pred_id_a":0.279993445,"mpcc_pred_iq_a":-0.778194845,"mpcc_state":1,"mpcc_theta_e":0.431400776,"mpcc_theta_mech":0.553226054,"sam_rpm":-18.8236618,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0168871582,"thr_a_norm":0.0168871582,"thr_a_v":0.567548633,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439496428,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.233356,"values":{"cg_iu_a":2.34418058,"cg_iv_a":0.426157475,"cg_iw_a":-2.77033806,"cg_theta_rad":0.560284257,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0419230275,"mpcc_du":49.4401283,"mpcc_dv":50.3455353,"mpcc_dw":50.5455627,"mpcc_enc_sign":1,"mpcc_id_a":3.31757927,"mpcc_iq_a":-0.658521533,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.14874506,"mpcc_pred_id_a":0.751723528,"mpcc_pred_iq_a":-0.437550694,"mpcc_state":1,"mpcc_theta_e":0.434500694,"mpcc_theta_mech":0.552237451,"sam_rpm":4.81957197,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.0067280829,"thr_b_norm":0.0067280829,"thr_b_v":0.526912332,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.243641,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.516182423,"cg_iw_a":0.201656342,"cg_theta_rad":0.554814875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0265847668,"mpcc_du":49.6214294,"mpcc_dv":49.3829041,"mpcc_dw":50.6170959,"mpcc_enc_sign":1,"mpcc_id_a":1.7206341,"mpcc_iq_a":-2.54839277,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.85876703,"mpcc_pred_id_a":0.0810066611,"mpcc_pred_iq_a":-1.02926981,"mpcc_state":1,"mpcc_theta_e":0.434886932,"mpcc_theta_mech":0.553923309,"sam_rpm":-3.60438538,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278770924,"thr_a_norm":0.0296772718,"thr_a_v":0.611508369,"thr_b":0,"thr_b_norm":0.0067280829,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.253681,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.24105906,"cg_iw_a":-0.958146334,"cg_theta_rad":0.554403245,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0635148361,"mpcc_du":49.3248291,"mpcc_dv":50.6751709,"mpcc_dw":50.3543015,"mpcc_enc_sign":1,"mpcc_id_a":3.72790623,"mpcc_iq_a":0.989317358,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.544116,"mpcc_pred_id_a":0.574254811,"mpcc_pred_iq_a":-3.72160196,"mpcc_state":1,"mpcc_theta_e":0.450947285,"mpcc_theta_mech":0.557135403,"sam_rpm":19.0164604,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278770924,"thr_a_norm":0.0278770924,"thr_a_v":0.611508369,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.26366,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-0.588670254,"cg_iw_a":-1.46555996,"cg_theta_rad":0.553445399,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0218256544,"mpcc_du":50.3833351,"mpcc_dv":48.2610207,"mpcc_dw":51.7389793,"mpcc_enc_sign":1,"mpcc_id_a":2.32968187,"mpcc_iq_a":-0.893242717,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.0256062,"mpcc_pred_id_a":0.356450379,"mpcc_pred_iq_a":-1.65245605,"mpcc_state":1,"mpcc_theta_e":0.434907436,"mpcc_theta_mech":0.553927362,"sam_rpm":-16.5836258,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189391226,"thr_a_norm":0.0189391226,"thr_a_v":0.57575649,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475449771,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.273457,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.371207237,"cg_iw_a":-2.26292419,"cg_theta_rad":0.555138648,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0374230035,"mpcc_du":49.5614243,"mpcc_dv":49.266304,"mpcc_dw":50.733696,"mpcc_enc_sign":1,"mpcc_id_a":2.90850329,"mpcc_iq_a":0.145723313,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.31163931,"mpcc_pred_id_a":0.42293781,"mpcc_pred_iq_a":-2.51515889,"mpcc_state":1,"mpcc_theta_e":0.445631981,"mpcc_theta_mech":0.556072354,"sam_rpm":13.910306,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189391226,"thr_a_norm":0.0189391226,"thr_a_v":0.57575649,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475449771,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.296894,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.951108456,"cg_iw_a":1.28897119,"cg_theta_rad":0.55262202,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00680330256,"mpcc_du":49.6127205,"mpcc_dv":50.3321953,"mpcc_dw":51.6441422,"mpcc_enc_sign":1,"mpcc_id_a":0.929391325,"mpcc_iq_a":-0.296575099,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.1981833,"mpcc_pred_id_a":-0.332619071,"mpcc_pred_iq_a":-4.19364071,"mpcc_state":1,"mpcc_theta_e":0.442148685,"mpcc_theta_mech":0.555375695,"sam_rpm":4.12580919,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220359415,"thr_a_norm":0.0220359415,"thr_a_v":0.588143766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463918507,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.303394,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-2.47334933,"cg_iw_a":-0.595708132,"cg_theta_rad":0.557608724,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00736203138,"mpcc_du":50.1571503,"mpcc_dv":49.0225258,"mpcc_dw":50.9774742,"mpcc_enc_sign":1,"mpcc_id_a":-1.70561039,"mpcc_iq_a":-1.32740772,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.0115242,"mpcc_pred_id_a":-0.750816107,"mpcc_pred_iq_a":-2.96568894,"mpcc_state":1,"mpcc_theta_e":0.433507442,"mpcc_theta_mech":0.553647399,"sam_rpm":-15.1101227,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021419093,"thr_a_norm":0.0220359415,"thr_a_v":0.585676372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476305783,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.309895,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.74847269,"cg_iw_a":0.564094543,"cg_theta_rad":0.556313634,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0499724001,"mpcc_du":49.5312119,"mpcc_dv":49.507515,"mpcc_dw":50.492485,"mpcc_enc_sign":1,"mpcc_id_a":1.70575857,"mpcc_iq_a":1.51199448,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.57174301,"mpcc_pred_id_a":0.0335385986,"mpcc_pred_iq_a":-4.43607521,"mpcc_state":1,"mpcc_theta_e":0.44231081,"mpcc_theta_mech":0.55540812,"sam_rpm":-2.52271414,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021419093,"thr_a_norm":0.021419093,"thr_a_v":0.585676372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476305783,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.316425,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.588670254,"cg_iw_a":-1.10312128,"cg_theta_rad":0.553483009,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00793961342,"mpcc_du":49.5715218,"mpcc_dv":49.6293983,"mpcc_dw":50.4284782,"mpcc_enc_sign":1,"mpcc_id_a":0.524347425,"mpcc_iq_a":0.0362214707,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.49012113,"mpcc_pred_id_a":-0.294212431,"mpcc_pred_iq_a":-3.65352917,"mpcc_state":1,"mpcc_theta_e":0.437945366,"mpcc_theta_mech":0.554534972,"sam_rpm":-2.44132209,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216834545,"thr_a_norm":0.0216834545,"thr_a_v":0.586733818,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465731293,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.325672,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.298719406,"cg_iw_a":-2.19043684,"cg_theta_rad":0.555591345,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0397095196,"mpcc_du":49.4656258,"mpcc_dv":49.5535622,"mpcc_dw":50.5343742,"mpcc_enc_sign":1,"mpcc_id_a":2.99020433,"mpcc_iq_a":-0.353049904,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.60939789,"mpcc_pred_id_a":0.394439936,"mpcc_pred_iq_a":-4.06562662,"mpcc_state":1,"mpcc_theta_e":0.444347858,"mpcc_theta_mech":0.555815518,"sam_rpm":2.94277811,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216834545,"thr_a_norm":0.0216834545,"thr_a_v":0.586733818,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465731293,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.336842,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.62536287,"cg_theta_rad":0.553994775,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0352266207,"mpcc_du":50.2905464,"mpcc_dv":48.5279503,"mpcc_dw":51.4720497,"mpcc_enc_sign":1,"mpcc_id_a":1.76240206,"mpcc_iq_a":-1.91127062,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.137069434,"mpcc_pred_id_a":0.186261848,"mpcc_pred_iq_a":-2.71399164,"mpcc_state":1,"mpcc_theta_e":0.448307991,"mpcc_theta_mech":0.556607544,"sam_rpm":0.413800478,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285065323,"thr_a_norm":0.0285065323,"thr_a_v":0.614026129,"thr_b":0.00115129352,"thr_b_norm":0.00115129352,"thr_b_v":0.504605174,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.347034,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.16857147,"cg_iw_a":-1.03063393,"cg_theta_rad":0.556559622,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.040061377,"mpcc_du":50.0758514,"mpcc_dv":48.7168694,"mpcc_dw":51.2831306,"mpcc_enc_sign":1,"mpcc_id_a":2.56217909,"mpcc_iq_a":-0.234713301,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.22465467,"mpcc_pred_id_a":0.241997793,"mpcc_pred_iq_a":-2.76229787,"mpcc_state":1,"mpcc_theta_e":0.441635609,"mpcc_theta_mech":0.555272996,"sam_rpm":-7.60759974,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0382249951,"thr_a_norm":0.0285065323,"thr_a_v":0.652899981,"thr_b":0.00894369185,"thr_b_norm":0.00115129352,"thr_b_v":0.535774767,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.357014,"values":{"cg_iu_a":1.54681635,"cg_iv_a":0.933570862,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556591094,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0412412025,"mpcc_du":49.4620171,"mpcc_dv":49.5663261,"mpcc_dw":50.5379829,"mpcc_enc_sign":1,"mpcc_id_a":2.32776713,"mpcc_iq_a":-0.577056885,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.1493492,"mpcc_pred_id_a":0.391363382,"mpcc_pred_iq_a":-3.31073713,"mpcc_state":1,"mpcc_theta_e":0.455705643,"mpcc_theta_mech":0.558087051,"sam_rpm":15.0941,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0382249951,"thr_a_norm":0.0382249951,"thr_a_v":0.652899981,"thr_b":0.00894369185,"thr_b_norm":0.00894369185,"thr_b_v":0.535774767,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.367451,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.733645439,"cg_iw_a":1.5064342,"cg_theta_rad":0.556851268,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0579425655,"mpcc_du":49.9179955,"mpcc_dv":48.9113045,"mpcc_dw":51.0886955,"mpcc_enc_sign":1,"mpcc_id_a":1.48632729,"mpcc_iq_a":-0.479554087,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.93336022,"mpcc_pred_id_a":0.425165057,"mpcc_pred_iq_a":-3.4904573,"mpcc_state":1,"mpcc_theta_e":0.448508263,"mpcc_theta_mech":0.556647599,"sam_rpm":4.45141077,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263412744,"thr_a_norm":0.0263412744,"thr_a_v":0.605365098,"thr_b":0.00179331005,"thr_b_norm":0.00179331005,"thr_b_v":0.50717324,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.37743,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.443694592,"cg_iw_a":-2.11794901,"cg_theta_rad":0.555979073,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0491602346,"mpcc_du":50.3964996,"mpcc_dv":48.2190056,"mpcc_dw":51.7809944,"mpcc_enc_sign":1,"mpcc_id_a":3.27790308,"mpcc_iq_a":-0.239102498,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.69343424,"mpcc_pred_id_a":0.602766335,"mpcc_pred_iq_a":-1.26338041,"mpcc_state":1,"mpcc_theta_e":0.438704491,"mpcc_theta_mech":0.554686844,"sam_rpm":-11.2200851,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263412744,"thr_a_norm":0.0263412744,"thr_a_v":0.605365098,"thr_b":0.00179331005,"thr_b_norm":0.00179331005,"thr_b_v":0.50717324,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.400715,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-0.951108456,"cg_iw_a":1.143996,"cg_theta_rad":0.556618333,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0296197776,"mpcc_du":50.0884514,"mpcc_dv":49.0283661,"mpcc_dw":50.9716339,"mpcc_enc_sign":1,"mpcc_id_a":0.956192672,"mpcc_iq_a":0.427483022,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.82397556,"mpcc_pred_id_a":-0.342603743,"mpcc_pred_iq_a":-1.22190547,"mpcc_state":1,"mpcc_theta_e":0.447620392,"mpcc_theta_mech":0.556469977,"sam_rpm":6.4942317,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022929728,"thr_a_norm":0.022929728,"thr_a_v":0.591718912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488139123,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.407246,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.516182423,"cg_iw_a":-1.75551057,"cg_theta_rad":0.559605002,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0450004749,"mpcc_du":50.2907639,"mpcc_dv":48.2202988,"mpcc_dw":51.7797012,"mpcc_enc_sign":1,"mpcc_id_a":4.11957693,"mpcc_iq_a":0.256499648,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.908226,"mpcc_pred_id_a":0.853750229,"mpcc_pred_iq_a":-1.08850658,"mpcc_state":1,"mpcc_theta_e":0.424158573,"mpcc_theta_mech":0.551777661,"sam_rpm":-26.8852119,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205756426,"thr_a_norm":0.022929728,"thr_a_v":0.58230257,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466738373,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.413746,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-1.31354666,"cg_iw_a":-1.32058477,"cg_theta_rad":0.555515349,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0358348154,"mpcc_du":49.5271912,"mpcc_dv":50.2358894,"mpcc_dw":50.4728088,"mpcc_enc_sign":1,"mpcc_id_a":2.73899937,"mpcc_iq_a":-0.37939927,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.52161646,"mpcc_pred_id_a":0.25845769,"mpcc_pred_iq_a":-4.78106689,"mpcc_state":1,"mpcc_theta_e":0.446709633,"mpcc_theta_mech":0.556287885,"sam_rpm":8.13743114,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205756426,"thr_a_norm":0.0205756426,"thr_a_v":0.58230257,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466738373,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.420277,"values":{"cg_iu_a":3.72144651,"cg_iv_a":-1.02359605,"cg_iw_a":-0.378245115,"cg_theta_rad":0.557667434,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00552160013,"mpcc_du":50.4595108,"mpcc_dv":48.3871727,"mpcc_dw":51.6128273,"mpcc_enc_sign":1,"mpcc_id_a":1.26338172,"mpcc_iq_a":-0.777298212,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.17344713,"mpcc_pred_id_a":-0.0161443315,"mpcc_pred_iq_a":1.91913724,"mpcc_state":1,"mpcc_theta_e":0.441219807,"mpcc_theta_mech":0.555189908,"sam_rpm":1.48630857,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277008563,"thr_a_norm":0.0277008563,"thr_a_v":0.610803425,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494886726,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.430256,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.806133032,"cg_iw_a":-0.668195963,"cg_theta_rad":0.557175219,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0224182401,"mpcc_du":49.4693375,"mpcc_dv":50.5306625,"mpcc_dw":50.455864,"mpcc_enc_sign":1,"mpcc_id_a":2.88436246,"mpcc_iq_a":-0.0425200388,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.254336089,"mpcc_pred_id_a":0.44713226,"mpcc_pred_iq_a":-2.77708626,"mpcc_state":1,"mpcc_theta_e":0.4345994,"mpcc_theta_mech":0.55386579,"sam_rpm":0.0181892421,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0304955393,"thr_a_norm":0.0277008563,"thr_a_v":0.621982157,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.440083,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.16857147,"cg_iw_a":0.636582375,"cg_theta_rad":0.55425334,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0422490016,"mpcc_du":49.9088821,"mpcc_dv":49.0276794,"mpcc_dw":50.9723206,"mpcc_enc_sign":1,"mpcc_id_a":2.40559959,"mpcc_iq_a":-0.402631462,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.69832253,"mpcc_pred_id_a":0.140024558,"mpcc_pred_iq_a":-2.60021567,"mpcc_state":1,"mpcc_theta_e":0.445676327,"mpcc_theta_mech":0.556081176,"sam_rpm":4.08370829,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0304955393,"thr_a_norm":0.0304955393,"thr_a_v":0.621982157,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.450275,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.74847269,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.556711197,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0563909039,"mpcc_du":50.5948524,"mpcc_dv":48.394104,"mpcc_dw":51.605896,"mpcc_enc_sign":1,"mpcc_id_a":0.33649236,"mpcc_iq_a":-0.856768906,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.085958,"mpcc_pred_id_a":-0.296696991,"mpcc_pred_iq_a":-0.922439635,"mpcc_state":1,"mpcc_theta_e":0.452091217,"mpcc_theta_mech":0.557364166,"sam_rpm":9.76690483,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460393697,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.460438,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.878620625,"cg_iw_a":-0.378245354,"cg_theta_rad":0.555439413,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0269068871,"mpcc_du":50.2776146,"mpcc_dv":48.6497841,"mpcc_dw":51.3502159,"mpcc_enc_sign":1,"mpcc_id_a":1.13205218,"mpcc_iq_a":-0.715763927,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.24619818,"mpcc_pred_id_a":-0.143694773,"mpcc_pred_iq_a":-2.86639333,"mpcc_state":1,"mpcc_theta_e":0.441552162,"mpcc_theta_mech":0.555256307,"sam_rpm":-7.44696283,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460393697,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.470631,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.588670254,"cg_iw_a":-1.68302298,"cg_theta_rad":0.557180166,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0420672894,"mpcc_du":49.8110313,"mpcc_dv":49.264576,"mpcc_dw":50.735424,"mpcc_enc_sign":1,"mpcc_id_a":0.220542893,"mpcc_iq_a":-0.937085688,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.54790521,"mpcc_pred_id_a":-0.219062179,"mpcc_pred_iq_a":-4.60724401,"mpcc_state":1,"mpcc_theta_e":0.447715282,"mpcc_theta_mech":0.556488991,"sam_rpm":5.34651852,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.104919896,"thr_a_norm":0.104919896,"thr_a_v":0.919679582,"thr_b":0.0463069379,"thr_b_norm":0.0463069379,"thr_b_v":0.685227752,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.480854,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.298719406,"cg_iw_a":-2.55287504,"cg_theta_rad":0.554996133,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00368976919,"mpcc_du":49.3990707,"mpcc_dv":50.6009293,"mpcc_dw":50.1185265,"mpcc_enc_sign":1,"mpcc_id_a":0.54977715,"mpcc_iq_a":-0.762584686,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.81391668,"mpcc_pred_id_a":-0.357418954,"mpcc_pred_iq_a":-2.60694456,"mpcc_state":1,"mpcc_theta_e":0.439371109,"mpcc_theta_mech":0.55482018,"sam_rpm":8.08193207,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222877115,"thr_a_norm":0.104919896,"thr_a_v":0.589150846,"thr_b":0,"thr_b_norm":0.0463069379,"thr_b_v":0.477614999,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.503864,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.31354666,"cg_iw_a":-0.523220539,"cg_theta_rad":0.557384014,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0224432778,"mpcc_du":50.5846672,"mpcc_dv":48.0972824,"mpcc_dw":51.9027176,"mpcc_enc_sign":1,"mpcc_id_a":2.90952587,"mpcc_iq_a":-0.336618036,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.55543327,"mpcc_pred_id_a":0.357030272,"mpcc_pred_iq_a":2.31104851,"mpcc_state":1,"mpcc_theta_e":0.43641901,"mpcc_theta_mech":0.554229736,"sam_rpm":-7.01691866,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222877115,"thr_a_norm":0.0222877115,"thr_a_v":0.589150846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477614999,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.510395,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.878620625,"cg_iw_a":0.201656342,"cg_theta_rad":0.553357184,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0508862883,"mpcc_du":49.7439804,"mpcc_dv":49.1103058,"mpcc_dw":50.8896942,"mpcc_enc_sign":1,"mpcc_id_a":3.71819973,"mpcc_iq_a":-0.00396836083,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.640655696,"mpcc_pred_id_a":0.509218454,"mpcc_pred_iq_a":-2.56376147,"mpcc_state":1,"mpcc_theta_e":0.444239616,"mpcc_theta_mech":0.555793881,"sam_rpm":-0.926546693,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022728309,"thr_a_norm":0.022728309,"thr_a_v":0.590913236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491865426,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.516895,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-2.69081235,"cg_iw_a":0.346631765,"cg_theta_rad":0.555750906,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0283550639,"mpcc_du":50.8555489,"mpcc_dv":47.6937027,"mpcc_dw":52.3062973,"mpcc_enc_sign":1,"mpcc_id_a":3.09171319,"mpcc_iq_a":0.442671686,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.8690224,"mpcc_pred_id_a":0.446173221,"mpcc_pred_iq_a":1.15033674,"mpcc_state":1,"mpcc_theta_e":0.425009727,"mpcc_theta_mech":0.551947832,"sam_rpm":-26.7430801,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022728309,"thr_a_norm":0.022728309,"thr_a_v":0.590913236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491865426,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.523426,"values":{"cg_iu_a":4.88124943,"cg_iv_a":-1.60349751,"cg_iw_a":-1.24809694,"cg_theta_rad":0.555592,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0269259363,"mpcc_du":49.5429382,"mpcc_dv":49.7363091,"mpcc_dw":50.4570618,"mpcc_enc_sign":1,"mpcc_id_a":2.47554302,"mpcc_iq_a":-0.760692,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.05377316,"mpcc_pred_id_a":0.0564281829,"mpcc_pred_iq_a":-4.20539904,"mpcc_state":1,"mpcc_theta_e":0.445668221,"mpcc_theta_mech":0.556079566,"sam_rpm":4.43993139,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0128713697,"thr_a_norm":0.0128713697,"thr_a_v":0.551485479,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.442819834,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.531666,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.81317091,"cg_theta_rad":0.55670774,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0305157248,"mpcc_du":49.5932808,"mpcc_dv":49.2574081,"mpcc_dw":50.7425919,"mpcc_enc_sign":1,"mpcc_id_a":2.30983686,"mpcc_iq_a":-0.273456514,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.83375406,"mpcc_pred_id_a":0.629598081,"mpcc_pred_iq_a":-1.68610406,"mpcc_state":1,"mpcc_theta_e":0.449504852,"mpcc_theta_mech":0.556846917,"sam_rpm":11.4390259,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211673081,"thr_a_norm":0.0128713697,"thr_a_v":0.584669232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467896521,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.541645,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.878620625,"cg_iw_a":-1.61053562,"cg_theta_rad":0.554542661,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0266487803,"mpcc_du":49.4786072,"mpcc_dv":50.0306091,"mpcc_dw":50.5213928,"mpcc_enc_sign":1,"mpcc_id_a":2.78339171,"mpcc_iq_a":-0.958029151,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.99934578,"mpcc_pred_id_a":0.470999718,"mpcc_pred_iq_a":-3.19505715,"mpcc_state":1,"mpcc_theta_e":0.44686842,"mpcc_theta_mech":0.556319594,"sam_rpm":12.9411707,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211673081,"thr_a_norm":0.0211673081,"thr_a_v":0.584669232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467896521,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.551655,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.11091113,"cg_iw_a":-1.61053514,"cg_theta_rad":0.556351542,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.029170651,"mpcc_du":50.5814972,"mpcc_dv":48.2067566,"mpcc_dw":51.7932434,"mpcc_enc_sign":1,"mpcc_id_a":0.777175784,"mpcc_iq_a":-1.11431813,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.87472475,"mpcc_pred_id_a":0.179421738,"mpcc_pred_iq_a":-0.102895543,"mpcc_state":1,"mpcc_theta_e":0.44982338,"mpcc_theta_mech":0.556910574,"sam_rpm":3.56999779,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474492997,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.564014,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.24105906,"cg_iw_a":0.854045391,"cg_theta_rad":0.553516746,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0127360681,"mpcc_du":49.5327301,"mpcc_dv":49.7955742,"mpcc_dw":50.4672699,"mpcc_enc_sign":1,"mpcc_id_a":1.97170997,"mpcc_iq_a":-1.31031799,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.23417759,"mpcc_pred_id_a":0.0752363726,"mpcc_pred_iq_a":-3.31962705,"mpcc_state":1,"mpcc_theta_e":0.44205904,"mpcc_theta_mech":0.555357754,"sam_rpm":7.7043128,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204245895,"thr_a_norm":0.0264671594,"thr_a_v":0.581698358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450725555,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.574024,"values":{"cg_iu_a":-0.337862968,"cg_iv_a":-0.298719406,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.556356966,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0147256879,"mpcc_du":50.0005074,"mpcc_dv":49.014595,"mpcc_dw":50.985405,"mpcc_enc_sign":1,"mpcc_id_a":0.666633666,"mpcc_iq_a":0.3388367,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.770600438,"mpcc_pred_id_a":-0.184081987,"mpcc_pred_iq_a":-1.20090187,"mpcc_state":1,"mpcc_theta_e":0.438835621,"mpcc_theta_mech":0.55471307,"sam_rpm":0.0641265884,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204245895,"thr_a_norm":0.0204245895,"thr_a_v":0.581698358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450725555,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.584248,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.60349751,"cg_iw_a":-3.06028843,"cg_theta_rad":0.553087652,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0252648648,"mpcc_du":50.1584892,"mpcc_dv":48.4298592,"mpcc_dw":51.5701408,"mpcc_enc_sign":1,"mpcc_id_a":3.03367209,"mpcc_iq_a":-1.61681736,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.7056093,"mpcc_pred_id_a":0.731883347,"mpcc_pred_iq_a":-0.470536351,"mpcc_state":1,"mpcc_theta_e":0.42993927,"mpcc_theta_mech":0.552933753,"sam_rpm":-17.8684559,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200595111,"thr_a_norm":0.0200595111,"thr_a_v":0.580238044,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450675219,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.607349,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.31354666,"cg_iw_a":-1.17560935,"cg_theta_rad":0.553240061,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0151427602,"mpcc_du":50.7269211,"mpcc_dv":47.8812523,"mpcc_dw":52.1187477,"mpcc_enc_sign":1,"mpcc_id_a":2.32350636,"mpcc_iq_a":-1.25165737,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.4919167,"mpcc_pred_id_a":0.409451604,"mpcc_pred_iq_a":0.333409607,"mpcc_state":1,"mpcc_theta_e":0.432191372,"mpcc_theta_mech":0.553384185,"sam_rpm":-18.5747223,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200595111,"thr_a_norm":0.0200595111,"thr_a_v":0.580238044,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450675219,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.613789,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.661157608,"cg_iw_a":-0.305757523,"cg_theta_rad":0.555847764,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0102978311,"mpcc_du":49.2969322,"mpcc_dv":50.7030678,"mpcc_dw":50.0014,"mpcc_enc_sign":1,"mpcc_id_a":1.33288348,"mpcc_iq_a":-1.29408264,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.4008999,"mpcc_pred_id_a":-0.230928317,"mpcc_pred_iq_a":-5.36266661,"mpcc_state":1,"mpcc_theta_e":0.452067852,"mpcc_theta_mech":0.557359517,"sam_rpm":15.3037138,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0153513402,"thr_a_norm":0.0153513402,"thr_a_v":0.561405361,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455811381,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.620319,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.45852208,"cg_iw_a":0.491606951,"cg_theta_rad":0.55412668,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00132262381,"mpcc_du":50.7968903,"mpcc_dv":48.2019386,"mpcc_dw":51.7980614,"mpcc_enc_sign":1,"mpcc_id_a":0.435930878,"mpcc_iq_a":0.676868796,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.26443815,"mpcc_pred_id_a":-0.580271304,"mpcc_pred_iq_a":-0.817180455,"mpcc_state":1,"mpcc_theta_e":0.451320171,"mpcc_theta_mech":0.557209909,"sam_rpm":-12.9993982,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0153513402,"thr_a_norm":0.0153513402,"thr_a_v":0.561405361,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455811381,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.627033,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.878620625,"cg_iw_a":-1.17560959,"cg_theta_rad":0.555180788,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0215070378,"mpcc_du":49.5780029,"mpcc_dv":50.0371246,"mpcc_dw":50.4219971,"mpcc_enc_sign":1,"mpcc_id_a":2.02556062,"mpcc_iq_a":-0.353336066,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.869801819,"mpcc_pred_id_a":-0.0818606541,"mpcc_pred_iq_a":-4.90922356,"mpcc_state":1,"mpcc_theta_e":0.442541599,"mpcc_theta_mech":0.555454195,"sam_rpm":1.03385556,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256111175,"thr_a_norm":0.0256111175,"thr_a_v":0.60244447,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496498048,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.636921,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.31354666,"cg_iw_a":0.419119358,"cg_theta_rad":0.556333303,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0233698152,"mpcc_du":49.0342102,"mpcc_dv":50.9657898,"mpcc_dw":49.9928436,"mpcc_enc_sign":1,"mpcc_id_a":2.54265666,"mpcc_iq_a":-0.429691404,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.23491883,"mpcc_pred_id_a":0.564419985,"mpcc_pred_iq_a":-2.29239488,"mpcc_state":1,"mpcc_theta_e":0.431723595,"mpcc_theta_mech":0.55249238,"sam_rpm":19.9311562,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020865187,"thr_a_norm":0.0256111175,"thr_a_v":0.583460748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.64687,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.806133032,"cg_iw_a":-1.17560935,"cg_theta_rad":0.556951463,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0765090436,"mpcc_du":49.3726883,"mpcc_dv":49.2322807,"mpcc_dw":50.7677193,"mpcc_enc_sign":1,"mpcc_id_a":5.25681162,"mpcc_iq_a":-0.803107798,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.95665526,"mpcc_pred_id_a":1.24629021,"mpcc_pred_iq_a":1.0564816,"mpcc_state":1,"mpcc_theta_e":0.439651012,"mpcc_theta_mech":0.554876149,"sam_rpm":-9.22271156,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020865187,"thr_a_norm":0.020865187,"thr_a_v":0.583460748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.657215,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.588670254,"cg_iw_a":-1.97297382,"cg_theta_rad":0.557095766,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0384389684,"mpcc_du":50.2609138,"mpcc_dv":48.5898895,"mpcc_dw":51.4101105,"mpcc_enc_sign":1,"mpcc_id_a":1.66789448,"mpcc_iq_a":0.422104657,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.97319174,"mpcc_pred_id_a":0.153676406,"mpcc_pred_iq_a":-2.20409417,"mpcc_state":1,"mpcc_theta_e":0.43989563,"mpcc_theta_mech":0.554925025,"sam_rpm":-8.89765263,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220359415,"thr_a_norm":0.0220359415,"thr_a_v":0.588143766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.666859,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.38603449,"cg_iw_a":-1.90048599,"cg_theta_rad":0.555711687,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00416380726,"mpcc_du":49.6026344,"mpcc_dv":49.6684494,"mpcc_dw":50.3973656,"mpcc_enc_sign":1,"mpcc_id_a":0.838734269,"mpcc_iq_a":-1.17330778,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.13264142,"mpcc_pred_id_a":-0.369101286,"mpcc_pred_iq_a":-2.29661489,"mpcc_state":1,"mpcc_theta_e":0.437537193,"mpcc_theta_mech":0.554453373,"sam_rpm":-2.11312413,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220359415,"thr_a_norm":0.0220359415,"thr_a_v":0.588143766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.677235,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.951108456,"cg_iw_a":-0.81317091,"cg_theta_rad":0.554041445,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0458068289,"mpcc_du":49.1506195,"mpcc_dv":50.8493805,"mpcc_dw":50.147789,"mpcc_enc_sign":1,"mpcc_id_a":3.68301201,"mpcc_iq_a":-0.0233892705,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.01116204,"mpcc_pred_id_a":0.654874146,"mpcc_pred_iq_a":-3.52040601,"mpcc_state":1,"mpcc_theta_e":0.428990841,"mpcc_theta_mech":0.552744091,"sam_rpm":-5.70347166,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0337182432,"thr_a_norm":0.0337182432,"thr_a_v":0.634872973,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478672475,"vdc_v":54.6292953}} +{"type":"telemetry","t":56.687458,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-2.90827537,"cg_iw_a":3.10116291,"cg_theta_rad":0.556232095,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00265320996,"mpcc_du":49.9685249,"mpcc_dv":49.0481796,"mpcc_dw":50.9518204,"mpcc_enc_sign":1,"mpcc_id_a":1.0052017,"mpcc_iq_a":-0.647302806,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.38058233,"mpcc_pred_id_a":-0.159625188,"mpcc_pred_iq_a":-0.969008148,"mpcc_state":1,"mpcc_theta_e":0.435065269,"mpcc_theta_mech":0.553959012,"sam_rpm":-7.52014256,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0268951803,"thr_a_norm":0.0337182432,"thr_a_v":0.607580721,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.710438,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.6759851,"cg_iw_a":0.346631765,"cg_theta_rad":0.553703249,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00894830748,"mpcc_du":48.8200226,"mpcc_dv":51.1799774,"mpcc_dw":49.3830795,"mpcc_enc_sign":1,"mpcc_id_a":1.80092144,"mpcc_iq_a":-1.32851434,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.0894032,"mpcc_pred_id_a":-0.412324965,"mpcc_pred_iq_a":-6.75922155,"mpcc_state":1,"mpcc_theta_e":0.449306011,"mpcc_theta_mech":0.556807101,"sam_rpm":14.4070053,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0268951803,"thr_a_norm":0.0268951803,"thr_a_v":0.607580721,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.716938,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.24105906,"cg_iw_a":-1.03063393,"cg_theta_rad":0.553527892,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0353521556,"mpcc_du":50.8031082,"mpcc_dv":47.8306923,"mpcc_dw":52.1693077,"mpcc_enc_sign":1,"mpcc_id_a":3.28826451,"mpcc_iq_a":0.140573561,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.8572998,"mpcc_pred_id_a":0.363970995,"mpcc_pred_iq_a":1.50778091,"mpcc_state":1,"mpcc_theta_e":0.434144974,"mpcc_theta_mech":0.553774893,"sam_rpm":-14.8694525,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274616629,"thr_a_norm":0.0274616629,"thr_a_v":0.609846652,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49735406,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.72353,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.588670254,"cg_iw_a":-2.11794901,"cg_theta_rad":0.554938614,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0114822444,"mpcc_du":49.5755463,"mpcc_dv":49.2613106,"mpcc_dw":50.7386894,"mpcc_enc_sign":1,"mpcc_id_a":1.95666969,"mpcc_iq_a":-0.493654519,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.24894047,"mpcc_pred_id_a":0.62094593,"mpcc_pred_iq_a":-2.86349726,"mpcc_state":1,"mpcc_theta_e":0.436937332,"mpcc_theta_mech":0.554333389,"sam_rpm":-6.80227089,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274616629,"thr_a_norm":0.0274616629,"thr_a_v":0.609846652,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49735406,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.730366,"values":{"cg_iu_a":-0.265375137,"cg_iv_a":-1.82096052,"cg_iw_a":-0.015806675,"cg_theta_rad":0.554472685,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0182727892,"mpcc_du":50.3791809,"mpcc_dv":48.4892044,"mpcc_dw":51.5107956,"mpcc_enc_sign":1,"mpcc_id_a":2.32374144,"mpcc_iq_a":-1.57969093,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.36074209,"mpcc_pred_id_a":0.210547701,"mpcc_pred_iq_a":1.36318839,"mpcc_state":1,"mpcc_theta_e":0.449005604,"mpcc_theta_mech":0.556747019,"sam_rpm":9.91330814,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188132375,"thr_a_norm":0.0188132375,"thr_a_v":0.57525295,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447956055,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.740437,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.371207237,"cg_iw_a":-2.55287504,"cg_theta_rad":0.557612419,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.000927678368,"mpcc_du":49.9373055,"mpcc_dv":49.1802902,"mpcc_dw":50.8197098,"mpcc_enc_sign":1,"mpcc_id_a":0.00323766866,"mpcc_iq_a":-2.62821269,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.9972706,"mpcc_pred_id_a":-0.130280852,"mpcc_pred_iq_a":-1.82019961,"mpcc_state":1,"mpcc_theta_e":0.435586929,"mpcc_theta_mech":0.55406332,"sam_rpm":-14.0656128,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026479736,"thr_a_norm":0.026479736,"thr_a_v":0.605918944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.750446,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.31354666,"cg_iw_a":-0.81317091,"cg_theta_rad":0.555117905,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0194937568,"mpcc_du":49.68367,"mpcc_dv":50.2759323,"mpcc_dw":50.31633,"mpcc_enc_sign":1,"mpcc_id_a":-0.717184246,"mpcc_iq_a":-2.02052426,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.70728064,"mpcc_pred_id_a":-0.55234319,"mpcc_pred_iq_a":-6.48921537,"mpcc_state":1,"mpcc_theta_e":0.454207897,"mpcc_theta_mech":0.557787478,"sam_rpm":9.92510033,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026479736,"thr_a_norm":0.026479736,"thr_a_v":0.605918944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.760639,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.371207237,"cg_iw_a":-1.03063393,"cg_theta_rad":0.555958927,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0357148796,"mpcc_du":49.5011063,"mpcc_dv":50.0895348,"mpcc_dw":50.4988937,"mpcc_enc_sign":1,"mpcc_id_a":3.64681363,"mpcc_iq_a":-0.141372353,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.70632505,"mpcc_pred_id_a":0.458071947,"mpcc_pred_iq_a":-2.20436215,"mpcc_state":1,"mpcc_theta_e":0.440468788,"mpcc_theta_mech":0.555039644,"sam_rpm":8.94967937,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203112811,"thr_a_norm":0.0203112811,"thr_a_v":0.581245124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466536969,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.770863,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.951108456,"cg_iw_a":-0.958146095,"cg_theta_rad":0.555333316,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0242925268,"mpcc_du":49.5748711,"mpcc_dv":49.3973846,"mpcc_dw":50.6026154,"mpcc_enc_sign":1,"mpcc_id_a":2.50701547,"mpcc_iq_a":-0.508765399,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.16263664,"mpcc_pred_id_a":0.308529764,"mpcc_pred_iq_a":0.650076926,"mpcc_state":1,"mpcc_theta_e":0.43294096,"mpcc_theta_mech":0.553534091,"sam_rpm":0.105996005,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206511766,"thr_a_norm":0.0203112811,"thr_a_v":0.582604706,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.780628,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.24105906,"cg_iw_a":-0.885658741,"cg_theta_rad":0.554074526,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0232652668,"mpcc_du":49.5453949,"mpcc_dv":50.1627312,"mpcc_dw":50.4546051,"mpcc_enc_sign":1,"mpcc_id_a":1.52324498,"mpcc_iq_a":-2.93896103,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.74768305,"mpcc_pred_id_a":0.177312121,"mpcc_pred_iq_a":-1.58810842,"mpcc_state":1,"mpcc_theta_e":0.442069054,"mpcc_theta_mech":0.555359721,"sam_rpm":9.51615334,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206511766,"thr_a_norm":0.0206511766,"thr_a_v":0.582604706,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.790852,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-2.0384233,"cg_iw_a":-1.17560935,"cg_theta_rad":0.556391776,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0132782953,"mpcc_du":49.6239166,"mpcc_dv":50.3760834,"mpcc_dw":50.333416,"mpcc_enc_sign":1,"mpcc_id_a":0.548968196,"mpcc_iq_a":0.253183007,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.69421339,"mpcc_pred_id_a":-0.360410184,"mpcc_pred_iq_a":-3.86608052,"mpcc_state":1,"mpcc_theta_e":0.443936825,"mpcc_theta_mech":0.555733263,"sam_rpm":9.25608635,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176047087,"thr_a_norm":0.0176047087,"thr_a_v":0.570418835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43506524,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.813831,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":-0.516182423,"cg_iw_a":-1.39307213,"cg_theta_rad":0.557184875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0228987392,"mpcc_du":49.9053841,"mpcc_dv":49.1942673,"mpcc_dw":50.8057327,"mpcc_enc_sign":1,"mpcc_id_a":0.693250775,"mpcc_iq_a":-1.12076676,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.7506566,"mpcc_pred_id_a":-0.0690731555,"mpcc_pred_iq_a":-1.1424582,"mpcc_state":1,"mpcc_theta_e":0.45022583,"mpcc_theta_mech":0.556991041,"sam_rpm":3.98996639,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176047087,"thr_a_norm":0.0176047087,"thr_a_v":0.570418835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43506524,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.820362,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.153744221,"cg_iw_a":0.854045391,"cg_theta_rad":0.556911886,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00239146291,"mpcc_du":51.1382408,"mpcc_dv":47.8037682,"mpcc_dw":52.1962318,"mpcc_enc_sign":1,"mpcc_id_a":-0.793027818,"mpcc_iq_a":-2.11868858,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.1084156,"mpcc_pred_id_a":-0.596540749,"mpcc_pred_iq_a":0.295640439,"mpcc_state":1,"mpcc_theta_e":0.433176517,"mpcc_theta_mech":0.553581238,"sam_rpm":-18.8377972,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0207644701,"thr_a_norm":0.0207644701,"thr_a_v":0.58305788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.826893,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.38603449,"cg_iw_a":0.419119358,"cg_theta_rad":0.556040883,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00562707148,"mpcc_du":49.5504036,"mpcc_dv":50.4495964,"mpcc_dw":50.2856255,"mpcc_enc_sign":1,"mpcc_id_a":0.478611916,"mpcc_iq_a":-1.06409931,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.2584743,"mpcc_pred_id_a":-0.20472087,"mpcc_pred_iq_a":-3.88474822,"mpcc_state":1,"mpcc_theta_e":0.450821877,"mpcc_theta_mech":0.55711025,"sam_rpm":14.8786945,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0207644701,"thr_a_norm":0.0207644701,"thr_a_v":0.58305788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.833393,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.02359605,"cg_iw_a":0.274143696,"cg_theta_rad":0.560270905,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0259000827,"mpcc_du":49.8682327,"mpcc_dv":49.0350037,"mpcc_dw":50.9649963,"mpcc_enc_sign":1,"mpcc_id_a":2.1934135,"mpcc_iq_a":0.16448544,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.34990644,"mpcc_pred_id_a":0.354124099,"mpcc_pred_iq_a":-1.13967586,"mpcc_state":1,"mpcc_theta_e":0.444761753,"mpcc_theta_mech":0.555898309,"sam_rpm":3.36841249,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0249061584,"thr_a_norm":0.0249061584,"thr_a_v":0.599624634,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.841206,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.153744221,"cg_iw_a":-1.75551033,"cg_theta_rad":0.555422306,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.000513859151,"mpcc_du":49.5636215,"mpcc_dv":49.5347595,"mpcc_dw":50.4652405,"mpcc_enc_sign":1,"mpcc_id_a":0.342475235,"mpcc_iq_a":-1.21532977,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.57318258,"mpcc_pred_id_a":-0.126295239,"mpcc_pred_iq_a":-4.14194441,"mpcc_state":1,"mpcc_theta_e":0.434113503,"mpcc_theta_mech":0.553768575,"sam_rpm":-12.24475,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282673389,"thr_a_norm":0.0249061584,"thr_a_v":0.613069355,"thr_b":0.00166742504,"thr_b_norm":0,"thr_b_v":0.5066697,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.85323,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-2.90827537,"cg_iw_a":0.41911912,"cg_theta_rad":0.556439042,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0298074968,"mpcc_du":49.9713364,"mpcc_dv":48.8755341,"mpcc_dw":51.1244659,"mpcc_enc_sign":1,"mpcc_id_a":3.00313044,"mpcc_iq_a":0.0271091051,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.88891745,"mpcc_pred_id_a":0.292926311,"mpcc_pred_iq_a":1.1016854,"mpcc_state":1,"mpcc_theta_e":0.439171791,"mpcc_theta_mech":0.554780304,"sam_rpm":8.81467915,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282673389,"thr_a_norm":0.0282673389,"thr_a_v":0.613069355,"thr_b":0.00166742504,"thr_b_norm":0.00166742504,"thr_b_v":0.5066697,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.863422,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.11091113,"cg_iw_a":1.28897119,"cg_theta_rad":0.556113362,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0145499492,"mpcc_du":49.7559814,"mpcc_dv":49.4070206,"mpcc_dw":50.5929794,"mpcc_enc_sign":1,"mpcc_id_a":1.15963531,"mpcc_iq_a":-1.66392255,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.73796773,"mpcc_pred_id_a":-0.288464934,"mpcc_pred_iq_a":-3.79820561,"mpcc_state":1,"mpcc_theta_e":0.446329594,"mpcc_theta_mech":0.556211829,"sam_rpm":5.25715446,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025749594,"thr_a_norm":0.025749594,"thr_a_v":0.602998376,"thr_b":0.000584796071,"thr_b_norm":0.000584796071,"thr_b_v":0.502339184,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.873737,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-2.11091113,"cg_iw_a":1.57892203,"cg_theta_rad":0.556717098,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0229104813,"mpcc_du":50.1378746,"mpcc_dv":48.8812599,"mpcc_dw":51.1187401,"mpcc_enc_sign":1,"mpcc_id_a":0.894595265,"mpcc_iq_a":-1.03489494,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.20229101,"mpcc_pred_id_a":-0.094508335,"mpcc_pred_iq_a":-1.8705982,"mpcc_state":1,"mpcc_theta_e":0.447038174,"mpcc_theta_mech":0.556353509,"sam_rpm":6.04249048,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151499212,"thr_a_norm":0.025749594,"thr_a_v":0.560599685,"thr_b":0,"thr_b_norm":0.000584796071,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.883411,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.31354666,"cg_iw_a":-1.39307237,"cg_theta_rad":0.556432128,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0237592198,"mpcc_du":49.642601,"mpcc_dv":49.6953812,"mpcc_dw":50.357399,"mpcc_enc_sign":1,"mpcc_id_a":0.905712903,"mpcc_iq_a":-0.0147442697,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.25056171,"mpcc_pred_id_a":-0.517305315,"mpcc_pred_iq_a":-2.91904569,"mpcc_state":1,"mpcc_theta_e":0.450052261,"mpcc_theta_mech":0.556956351,"sam_rpm":12.5602121,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151499212,"thr_a_norm":0.0151499212,"thr_a_v":0.560599685,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.893604,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-2.0384233,"cg_iw_a":-0.305757284,"cg_theta_rad":0.556811333,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0448517762,"mpcc_du":50.4551544,"mpcc_dv":48.4890289,"mpcc_dw":51.5109711,"mpcc_enc_sign":1,"mpcc_id_a":0.302522242,"mpcc_iq_a":-0.931222618,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.725833952,"mpcc_pred_id_a":-0.0510453396,"mpcc_pred_iq_a":-1.94589972,"mpcc_state":1,"mpcc_theta_e":0.449306011,"mpcc_theta_mech":0.556807101,"sam_rpm":2.52420855,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276504904,"thr_a_norm":0.0276504904,"thr_a_v":0.610601962,"thr_b":0.00152894855,"thr_b_norm":0.00152894855,"thr_b_v":0.506115794,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.916828,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.53100967,"cg_iw_a":-1.61053538,"cg_theta_rad":0.557627738,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0240470003,"mpcc_du":50.7050018,"mpcc_dv":47.9561958,"mpcc_dw":49.9126167,"mpcc_enc_sign":1,"mpcc_id_a":2.8500917,"mpcc_iq_a":-0.638570368,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.45883179,"mpcc_pred_id_a":0.470299631,"mpcc_pred_iq_a":1.65601659,"mpcc_state":1,"mpcc_theta_e":0.43845892,"mpcc_theta_mech":0.55463773,"sam_rpm":-9.40939903,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276504904,"thr_a_norm":0.0276504904,"thr_a_v":0.610601962,"thr_b":0.00152894855,"thr_b_norm":0.00152894855,"thr_b_v":0.506115794,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.923389,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.11091113,"cg_iw_a":-0.160782099,"cg_theta_rad":0.555018187,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0209855381,"mpcc_du":49.5209274,"mpcc_dv":49.3715286,"mpcc_dw":50.6284714,"mpcc_enc_sign":1,"mpcc_id_a":4.10475302,"mpcc_iq_a":-1.21987629,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.72641516,"mpcc_pred_id_a":1.06675577,"mpcc_pred_iq_a":-0.992402196,"mpcc_state":1,"mpcc_theta_e":0.4468503,"mpcc_theta_mech":0.556316018,"sam_rpm":11.6767883,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0255230069,"thr_a_norm":0.0255230069,"thr_a_v":0.602092028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487232774,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.92989,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.878620625,"cg_iw_a":-1.39307261,"cg_theta_rad":0.557085752,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.000271842844,"mpcc_du":49.67836,"mpcc_dv":49.4055328,"mpcc_dw":50.5944672,"mpcc_enc_sign":1,"mpcc_id_a":-0.0495063849,"mpcc_iq_a":-2.48332334,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.9166613,"mpcc_pred_id_a":0.0155860027,"mpcc_pred_iq_a":-0.965693891,"mpcc_state":1,"mpcc_theta_e":0.451693058,"mpcc_theta_mech":0.557284534,"sam_rpm":17.8425598,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0255230069,"thr_a_norm":0.0255230069,"thr_a_v":0.602092028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487232774,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.93639,"values":{"cg_iu_a":2.77910662,"cg_iv_a":0.498644829,"cg_iw_a":-3.27775145,"cg_theta_rad":0.552062929,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0424510613,"mpcc_du":49.9485283,"mpcc_dv":48.7556152,"mpcc_dw":51.2443848,"mpcc_enc_sign":1,"mpcc_id_a":3.69468594,"mpcc_iq_a":-0.720703542,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.45572591,"mpcc_pred_id_a":0.82215929,"mpcc_pred_iq_a":-1.53341544,"mpcc_state":1,"mpcc_theta_e":0.440856457,"mpcc_theta_mech":0.55511719,"sam_rpm":-3.58731365,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245285034,"thr_a_norm":0.0245285034,"thr_a_v":0.598114014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482197315,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.944782,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.661157608,"cg_iw_a":0.0566806793,"cg_theta_rad":0.553594708,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0133892475,"mpcc_du":50.0293236,"mpcc_dv":49.0088425,"mpcc_dw":50.9911575,"mpcc_enc_sign":1,"mpcc_id_a":1.81325948,"mpcc_iq_a":-0.284752756,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.32682753,"mpcc_pred_id_a":-0.162980035,"mpcc_pred_iq_a":-2.27321553,"mpcc_state":1,"mpcc_theta_e":0.435215473,"mpcc_theta_mech":0.553989053,"sam_rpm":-9.46337414,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0929983854,"thr_a_norm":0.0245285034,"thr_a_v":0.871993542,"thr_b":0.0379354507,"thr_b_norm":0,"thr_b_v":0.651741803,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.954609,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.733645439,"cg_iw_a":-2.11794901,"cg_theta_rad":0.554027557,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5009,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0451082997,"mpcc_du":50.1165924,"mpcc_dv":48.860321,"mpcc_dw":51.139679,"mpcc_enc_sign":1,"mpcc_id_a":1.67414701,"mpcc_iq_a":-0.757003188,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.73205185,"mpcc_pred_id_a":-0.0261825863,"mpcc_pred_iq_a":-2.68511534,"mpcc_state":1,"mpcc_theta_e":0.449651241,"mpcc_theta_mech":0.556876183,"sam_rpm":4.8830452,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0929983854,"thr_a_norm":0.0929983854,"thr_a_v":0.871993542,"thr_b":0.0379354507,"thr_b_norm":0.0379354507,"thr_b_v":0.651741803,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.965443,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-2.61832476,"cg_iw_a":0.0566811562,"cg_theta_rad":0.554650128,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.18555,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0314107686,"mpcc_du":49.5388832,"mpcc_dv":49.6566658,"mpcc_dw":50.4611168,"mpcc_enc_sign":1,"mpcc_id_a":2.53560376,"mpcc_iq_a":-1.82438314,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.390033841,"mpcc_pred_id_a":0.0301949102,"mpcc_pred_iq_a":-1.40873837,"mpcc_state":1,"mpcc_theta_e":0.436336517,"mpcc_theta_mech":0.554213226,"sam_rpm":-2.77862597,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253467709,"thr_a_norm":0.0253467709,"thr_a_v":0.601387084,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.976612,"values":{"cg_iu_a":2.63413143,"cg_iv_a":1.51347208,"cg_iw_a":-4.14760351,"cg_theta_rad":0.553359389,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0181730948,"mpcc_du":49.728981,"mpcc_dv":49.2391586,"mpcc_dw":50.7608414,"mpcc_enc_sign":1,"mpcc_id_a":2.03514886,"mpcc_iq_a":-2.37958241,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.38407171,"mpcc_pred_id_a":0.12932758,"mpcc_pred_iq_a":-1.41055787,"mpcc_state":1,"mpcc_theta_e":0.437466145,"mpcc_theta_mech":0.554439127,"sam_rpm":-3.61067867,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253467709,"thr_a_norm":0.0253467709,"thr_a_v":0.601387084,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":56.986073,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.588670254,"cg_iw_a":-0.523220539,"cg_theta_rad":0.557031155,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0333488025,"mpcc_du":50.4474449,"mpcc_dv":48.3271828,"mpcc_dw":51.6728172,"mpcc_enc_sign":1,"mpcc_id_a":2.05050683,"mpcc_iq_a":-0.119561493,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.0563326,"mpcc_pred_id_a":0.168455437,"mpcc_pred_iq_a":-1.9145174,"mpcc_state":1,"mpcc_theta_e":0.435889721,"mpcc_theta_mech":0.554123878,"sam_rpm":-14.4499865,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196440816,"thr_a_norm":0.0196440816,"thr_a_v":0.578576326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466234833,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.01128,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.516182423,"cg_iw_a":-2.33541203,"cg_theta_rad":0.554580808,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.042944219,"mpcc_du":49.5912743,"mpcc_dv":49.5763168,"mpcc_dw":50.4236832,"mpcc_enc_sign":1,"mpcc_id_a":0.868975937,"mpcc_iq_a":-0.0931997225,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.68422556,"mpcc_pred_id_a":-0.28568992,"mpcc_pred_iq_a":-4.15435696,"mpcc_state":1,"mpcc_theta_e":0.453605652,"mpcc_theta_mech":0.557667017,"sam_rpm":11.639596,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272602439,"thr_a_norm":0.0196440816,"thr_a_v":0.609040976,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49911651,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.01775,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.96593571,"cg_iw_a":0.78155756,"cg_theta_rad":0.557602704,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00688383821,"mpcc_du":50.8798752,"mpcc_dv":48.1808128,"mpcc_dw":51.8191872,"mpcc_enc_sign":1,"mpcc_id_a":-1.07900202,"mpcc_iq_a":-1.33900476,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.32521486,"mpcc_pred_id_a":-0.789731562,"mpcc_pred_iq_a":0.36109373,"mpcc_state":1,"mpcc_theta_e":0.437332153,"mpcc_theta_mech":0.554412365,"sam_rpm":-8.83353424,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272602439,"thr_a_norm":0.0272602439,"thr_a_v":0.609040976,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49911651,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.024311,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.24105906,"cg_iw_a":-1.10312152,"cg_theta_rad":0.553350329,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00824871473,"mpcc_du":50.4980927,"mpcc_dv":48.3433723,"mpcc_dw":51.6566277,"mpcc_enc_sign":1,"mpcc_id_a":1.81553125,"mpcc_iq_a":-0.269889086,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.4005489,"mpcc_pred_id_a":-0.139261335,"mpcc_pred_iq_a":0.110646598,"mpcc_state":1,"mpcc_theta_e":0.427023411,"mpcc_theta_mech":0.552350581,"sam_rpm":-20.3386326,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.043059051,"thr_a_norm":0.043059051,"thr_a_v":0.672236204,"thr_b":0.00914511085,"thr_b_norm":0.00914511085,"thr_b_v":0.536580443,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.030811,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.661157608,"cg_iw_a":0.709069729,"cg_theta_rad":0.557548404,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0177265704,"mpcc_du":49.8596954,"mpcc_dv":49.3967628,"mpcc_dw":50.6032372,"mpcc_enc_sign":1,"mpcc_id_a":-0.255203903,"mpcc_iq_a":-0.755071938,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.87490177,"mpcc_pred_id_a":-0.530714393,"mpcc_pred_iq_a":-2.94822907,"mpcc_state":1,"mpcc_theta_e":0.44801569,"mpcc_theta_mech":0.556549072,"sam_rpm":7.82569361,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.043059051,"thr_a_norm":0.043059051,"thr_a_v":0.672236204,"thr_b":0.00914511085,"thr_b_norm":0.00914511085,"thr_b_v":0.536580443,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.040791,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.31354666,"cg_iw_a":-1.32058477,"cg_theta_rad":0.556760967,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0172096938,"mpcc_du":49.8648148,"mpcc_dv":49.0765076,"mpcc_dw":50.9234924,"mpcc_enc_sign":1,"mpcc_id_a":2.39164758,"mpcc_iq_a":0.294009894,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.8768539,"mpcc_pred_id_a":0.201346442,"mpcc_pred_iq_a":-3.46758485,"mpcc_state":1,"mpcc_theta_e":0.427726746,"mpcc_theta_mech":0.552491248,"sam_rpm":-21.422514,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.106871143,"thr_a_norm":0.106871143,"thr_a_v":0.927484572,"thr_b":0.0531048328,"thr_b_norm":0.0531048328,"thr_b_v":0.712419331,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.050861,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.661157608,"cg_iw_a":0.419119358,"cg_theta_rad":0.55279541,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00270633353,"mpcc_du":50.1901627,"mpcc_dv":49.0274429,"mpcc_dw":50.9725571,"mpcc_enc_sign":1,"mpcc_id_a":-0.846842825,"mpcc_iq_a":-2.46848774,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.46333408,"mpcc_pred_id_a":-0.486720413,"mpcc_pred_iq_a":-3.92195129,"mpcc_state":1,"mpcc_theta_e":0.451295376,"mpcc_theta_mech":0.557204962,"sam_rpm":4.48685932,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185488611,"thr_a_norm":0.0185488611,"thr_a_v":0.574195445,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457624167,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.06081,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.31354666,"cg_iw_a":-4.94496775,"cg_theta_rad":0.556927025,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0107299471,"mpcc_du":49.7590294,"mpcc_dv":49.1522217,"mpcc_dw":50.8477783,"mpcc_enc_sign":1,"mpcc_id_a":2.00961399,"mpcc_iq_a":-1.23193479,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.18412066,"mpcc_pred_id_a":0.500215709,"mpcc_pred_iq_a":-0.279657841,"mpcc_state":1,"mpcc_theta_e":0.444941044,"mpcc_theta_mech":0.555934131,"sam_rpm":8.60716152,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185488611,"thr_a_norm":0.0185488611,"thr_a_v":0.574195445,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457624167,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.071095,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.54583716,"cg_iw_a":-1.61053538,"cg_theta_rad":0.554287493,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00297473813,"mpcc_du":49.6855698,"mpcc_dv":50.2822838,"mpcc_dw":50.3144302,"mpcc_enc_sign":1,"mpcc_id_a":-0.512606263,"mpcc_iq_a":-1.28172481,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.6244602,"mpcc_pred_id_a":-0.47304219,"mpcc_pred_iq_a":-2.94983983,"mpcc_state":1,"mpcc_theta_e":0.450821877,"mpcc_theta_mech":0.55711025,"sam_rpm":15.3570433,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195056051,"thr_a_norm":0.0195056051,"thr_a_v":0.57802242,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469306499,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.083424,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.53100967,"cg_iw_a":-1.24809694,"cg_theta_rad":0.55547303,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0588147156,"mpcc_du":49.9836807,"mpcc_dv":48.8209152,"mpcc_dw":51.1790848,"mpcc_enc_sign":1,"mpcc_id_a":3.06578875,"mpcc_iq_a":0.285788059,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.56086349,"mpcc_pred_id_a":0.58089143,"mpcc_pred_iq_a":-0.357602566,"mpcc_state":1,"mpcc_theta_e":0.45134449,"mpcc_theta_mech":0.557214797,"sam_rpm":11.6489592,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170759857,"thr_a_norm":0.0195056051,"thr_a_v":0.568303943,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448610663,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.09322,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.806133032,"cg_iw_a":0.12916851,"cg_theta_rad":0.557721913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.021708278,"mpcc_du":49.7784805,"mpcc_dv":49.2812004,"mpcc_dw":50.7187996,"mpcc_enc_sign":1,"mpcc_id_a":2.46944904,"mpcc_iq_a":-1.27733994,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.43719673,"mpcc_pred_id_a":0.1073348,"mpcc_pred_iq_a":-1.4376663,"mpcc_state":1,"mpcc_theta_e":0.448709488,"mpcc_theta_mech":0.556687772,"sam_rpm":11.6860495,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170759857,"thr_a_norm":0.0170759857,"thr_a_v":0.568303943,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448610663,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.116444,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.53100967,"cg_iw_a":0.346631527,"cg_theta_rad":0.556751788,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0260227658,"mpcc_du":49.4698257,"mpcc_dv":48.4207497,"mpcc_dw":51.5792503,"mpcc_enc_sign":1,"mpcc_id_a":1.17642236,"mpcc_iq_a":-0.289642155,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.0763311,"mpcc_pred_id_a":-0.136558697,"mpcc_pred_iq_a":-4.79322672,"mpcc_state":1,"mpcc_theta_e":0.453605652,"mpcc_theta_mech":0.557667017,"sam_rpm":16.7013912,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226401836,"thr_a_norm":0.0226401836,"thr_a_v":0.590560734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477463931,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.122974,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.661157608,"cg_iw_a":-4.14760399,"cg_theta_rad":0.559458017,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0725915805,"mpcc_du":49.5854607,"mpcc_dv":47.8974075,"mpcc_dw":52.1025925,"mpcc_enc_sign":1,"mpcc_id_a":3.73930144,"mpcc_iq_a":-0.316145658,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.66162205,"mpcc_pred_id_a":0.960664451,"mpcc_pred_iq_a":-3.25850058,"mpcc_state":1,"mpcc_theta_e":0.450426102,"mpcc_theta_mech":0.556119382,"sam_rpm":7.49415874,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269706994,"thr_a_norm":0.0226401836,"thr_a_v":0.607882798,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.129475,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.6759851,"cg_iw_a":-1.39307237,"cg_theta_rad":0.556291282,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00560020935,"mpcc_du":51.1596413,"mpcc_dv":47.5473022,"mpcc_dw":52.4526978,"mpcc_enc_sign":1,"mpcc_id_a":-0.0139567209,"mpcc_iq_a":-0.956485748,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.0155106,"mpcc_pred_id_a":-0.159223467,"mpcc_pred_iq_a":1.1488682,"mpcc_state":1,"mpcc_theta_e":0.431107521,"mpcc_theta_mech":0.553167403,"sam_rpm":-20.7799091,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269706994,"thr_a_norm":0.0269706994,"thr_a_v":0.607882798,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.136066,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.298719406,"cg_iw_a":-1.10312176,"cg_theta_rad":0.55710566,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0594547801,"mpcc_du":49.5798721,"mpcc_dv":49.9716339,"mpcc_dw":50.4201279,"mpcc_enc_sign":1,"mpcc_id_a":1.52186811,"mpcc_iq_a":0.754121959,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.04096603,"mpcc_pred_id_a":-0.132442385,"mpcc_pred_iq_a":-4.25581932,"mpcc_state":1,"mpcc_theta_e":0.45219183,"mpcc_theta_mech":0.557384253,"sam_rpm":13.7928944,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195181966,"thr_a_norm":0.0195181966,"thr_a_v":0.578072786,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468400061,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.146015,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.38603449,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556378663,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00682203425,"mpcc_du":50.1905746,"mpcc_dv":48.8505363,"mpcc_dw":51.1494637,"mpcc_enc_sign":1,"mpcc_id_a":0.396492422,"mpcc_iq_a":-2.08634305,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.158061206,"mpcc_pred_id_a":-0.258215338,"mpcc_pred_iq_a":-2.30237222,"mpcc_state":1,"mpcc_theta_e":0.445528507,"mpcc_theta_mech":0.556051612,"sam_rpm":-0.00619862974,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195181966,"thr_a_norm":0.0195181966,"thr_a_v":0.578072786,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468400061,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.156208,"values":{"cg_iu_a":1.11189032,"cg_iv_a":0.498644829,"cg_iw_a":-1.61053514,"cg_theta_rad":0.556956649,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0239237435,"mpcc_du":49.9209862,"mpcc_dv":49.1504745,"mpcc_dw":50.8495255,"mpcc_enc_sign":1,"mpcc_id_a":0.272735238,"mpcc_iq_a":-3.47802234,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.1861563,"mpcc_pred_id_a":-0.295179695,"mpcc_pred_iq_a":-3.61687732,"mpcc_state":1,"mpcc_theta_e":0.428031921,"mpcc_theta_mech":0.552552283,"sam_rpm":-22.7881012,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151750892,"thr_a_norm":0.0151750892,"thr_a_v":0.560700357,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468500763,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.166218,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.53100967,"cg_iw_a":0.926532745,"cg_theta_rad":0.557095766,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0521154553,"mpcc_du":49.3277206,"mpcc_dv":50.6722794,"mpcc_dw":50.1117668,"mpcc_enc_sign":1,"mpcc_id_a":2.21509171,"mpcc_iq_a":-0.808493435,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.8394289,"mpcc_pred_id_a":-0.000752484251,"mpcc_pred_iq_a":-6.29680061,"mpcc_state":1,"mpcc_theta_e":0.458393574,"mpcc_theta_mech":0.558624625,"sam_rpm":20.8143902,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0251579285,"thr_a_norm":0.0151750892,"thr_a_v":0.600631714,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480787337,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.176105,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-2.40086174,"cg_iw_a":0.419119358,"cg_theta_rad":0.554612696,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0336853787,"mpcc_du":50.4167671,"mpcc_dv":49.4620399,"mpcc_dw":50.5379601,"mpcc_enc_sign":1,"mpcc_id_a":1.71511531,"mpcc_iq_a":-1.84223127,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.839717507,"mpcc_pred_id_a":0.0299572796,"mpcc_pred_iq_a":-2.50100279,"mpcc_state":1,"mpcc_theta_e":0.448363304,"mpcc_theta_mech":0.557448566,"sam_rpm":-0.337625265,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0251579285,"thr_a_norm":0.0251579285,"thr_a_v":0.600631714,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480787337,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.186176,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.31354666,"cg_iw_a":0.78155756,"cg_theta_rad":0.554051042,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0504043885,"mpcc_du":50.4646835,"mpcc_dv":48.658268,"mpcc_dw":51.341732,"mpcc_enc_sign":1,"mpcc_id_a":0.754013777,"mpcc_iq_a":-0.826792419,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.35522056,"mpcc_pred_id_a":-0.393477708,"mpcc_pred_iq_a":-2.37126017,"mpcc_state":1,"mpcc_theta_e":0.451991081,"mpcc_theta_mech":0.557344139,"sam_rpm":4.61677742,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201853961,"thr_a_norm":0.0201853961,"thr_a_v":0.580741584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454351097,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.195972,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.24105906,"cg_iw_a":0.564094782,"cg_theta_rad":0.556946695,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00590208918,"mpcc_du":49.7151031,"mpcc_dv":49.3934555,"mpcc_dw":50.6065445,"mpcc_enc_sign":1,"mpcc_id_a":0.556600213,"mpcc_iq_a":-0.757619023,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.16280031,"mpcc_pred_id_a":-0.0653115585,"mpcc_pred_iq_a":-0.934250891,"mpcc_state":1,"mpcc_theta_e":0.43039465,"mpcc_theta_mech":0.553024828,"sam_rpm":-6.6309948,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201853961,"thr_a_norm":0.0201853961,"thr_a_v":0.580741584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454351097,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.21944,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.96593571,"cg_iw_a":1.50643444,"cg_theta_rad":0.552539527,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00594194233,"mpcc_du":49.6351471,"mpcc_dv":50.0476494,"mpcc_dw":50.3648529,"mpcc_enc_sign":1,"mpcc_id_a":0.704640806,"mpcc_iq_a":-0.603747308,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.51408803,"mpcc_pred_id_a":-0.180725977,"mpcc_pred_iq_a":-4.84583378,"mpcc_state":1,"mpcc_theta_e":0.438955784,"mpcc_theta_mech":0.554737091,"sam_rpm":-2.80192757,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0251579285,"thr_a_norm":0.0251579285,"thr_a_v":0.600631714,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497454762,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.225971,"values":{"cg_iu_a":3.64895868,"cg_iv_a":0.0637187958,"cg_iw_a":-1.53804779,"cg_theta_rad":0.557508469,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00337005337,"mpcc_du":51.2147903,"mpcc_dv":47.6508598,"mpcc_dw":50.2643929,"mpcc_enc_sign":1,"mpcc_id_a":-0.140826568,"mpcc_iq_a":-1.77040994,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.2525959,"mpcc_pred_id_a":-0.39369899,"mpcc_pred_iq_a":-0.814325511,"mpcc_state":1,"mpcc_theta_e":0.42667532,"mpcc_theta_mech":0.556866229,"sam_rpm":-29.4492435,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0308857709,"thr_a_norm":0.0251579285,"thr_a_v":0.623543084,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487031341,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.232471,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.16857147,"cg_iw_a":0.12916851,"cg_theta_rad":0.554414928,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00251745083,"mpcc_du":50.3519402,"mpcc_dv":48.6373405,"mpcc_dw":51.3626595,"mpcc_enc_sign":1,"mpcc_id_a":0.797694623,"mpcc_iq_a":-1.09972286,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.1502647,"mpcc_pred_id_a":-0.0990226939,"mpcc_pred_iq_a":-1.71207058,"mpcc_state":1,"mpcc_theta_e":0.431288719,"mpcc_theta_mech":0.553203642,"sam_rpm":-16.5274448,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0308857709,"thr_a_norm":0.0308857709,"thr_a_v":0.623543084,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487031341,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.239002,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.443694592,"cg_iw_a":-0.523220539,"cg_theta_rad":0.552239656,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0145510985,"mpcc_du":50.7704086,"mpcc_dv":47.7983665,"mpcc_dw":52.2016335,"mpcc_enc_sign":1,"mpcc_id_a":2.40308785,"mpcc_iq_a":-1.07881105,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.4581661,"mpcc_pred_id_a":0.597471774,"mpcc_pred_iq_a":0.458273649,"mpcc_state":1,"mpcc_theta_e":0.423503876,"mpcc_theta_mech":0.551646709,"sam_rpm":-29.0473328,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258125365,"thr_a_norm":0.0258125365,"thr_a_v":0.603250146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493980289,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.249439,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.45852208,"cg_iw_a":-1.17560935,"cg_theta_rad":0.557931304,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0363525376,"mpcc_du":50.6384392,"mpcc_dv":48.2395439,"mpcc_dw":51.7604561,"mpcc_enc_sign":1,"mpcc_id_a":1.48864174,"mpcc_iq_a":-0.471264809,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.88400698,"mpcc_pred_id_a":0.0836436898,"mpcc_pred_iq_a":-1.69719684,"mpcc_state":1,"mpcc_theta_e":0.44363451,"mpcc_theta_mech":0.555672824,"sam_rpm":-10.0989714,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288841873,"thr_a_norm":0.0258125365,"thr_a_v":0.615536749,"thr_b":0.000282675028,"thr_b_norm":0,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.259602,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-0.951108456,"cg_iw_a":-2.69785023,"cg_theta_rad":0.556931019,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00492575066,"mpcc_du":50.4096222,"mpcc_dv":48.6752472,"mpcc_dw":51.3247528,"mpcc_enc_sign":1,"mpcc_id_a":0.684648097,"mpcc_iq_a":-2.64682221,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.993636727,"mpcc_pred_id_a":-0.280919075,"mpcc_pred_iq_a":-1.46429944,"mpcc_state":1,"mpcc_theta_e":0.448329449,"mpcc_theta_mech":0.556611836,"sam_rpm":1.65884221,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288841873,"thr_a_norm":0.0288841873,"thr_a_v":0.615536749,"thr_b":0.000282675028,"thr_b_norm":0.000282675028,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.269825,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.298719406,"cg_iw_a":0.636582375,"cg_theta_rad":0.554375887,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0164917298,"mpcc_du":49.7791061,"mpcc_dv":49.1574669,"mpcc_dw":50.8425331,"mpcc_enc_sign":1,"mpcc_id_a":2.33507848,"mpcc_iq_a":-1.56288409,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.39367962,"mpcc_pred_id_a":0.36882329,"mpcc_pred_iq_a":-3.75063443,"mpcc_state":1,"mpcc_theta_e":0.441790581,"mpcc_theta_mech":0.55530405,"sam_rpm":-7.26428747,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0143820047,"thr_a_norm":0.0143820047,"thr_a_v":0.557528019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.435921252,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.279621,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.60349751,"cg_iw_a":0.346631527,"cg_theta_rad":0.554242253,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0211180802,"mpcc_du":49.7041931,"mpcc_dv":49.2955933,"mpcc_dw":50.7044067,"mpcc_enc_sign":1,"mpcc_id_a":0.171834067,"mpcc_iq_a":-2.10398722,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.81176543,"mpcc_pred_id_a":0.221563876,"mpcc_pred_iq_a":-0.749088466,"mpcc_state":1,"mpcc_theta_e":0.433328152,"mpcc_theta_mech":0.553611517,"sam_rpm":-7.96672916,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0143820047,"thr_a_norm":0.0143820047,"thr_a_v":0.557528019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.435921252,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.289845,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.951108456,"cg_iw_a":1.07150841,"cg_theta_rad":0.55467689,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0248467885,"mpcc_du":50.1499252,"mpcc_dv":48.9322281,"mpcc_dw":51.0677719,"mpcc_enc_sign":1,"mpcc_id_a":1.53376412,"mpcc_iq_a":-1.71341062,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.843849242,"mpcc_pred_id_a":-0.119926214,"mpcc_pred_iq_a":-3.23253751,"mpcc_state":1,"mpcc_theta_e":0.450422287,"mpcc_theta_mech":0.55703038,"sam_rpm":1.59052885,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0159933567,"thr_a_norm":0.0159933567,"thr_a_v":0.563973427,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454048991,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.299976,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.516182423,"cg_iw_a":-1.97297382,"cg_theta_rad":0.556290865,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0288903117,"mpcc_du":50.9552612,"mpcc_dv":47.7776299,"mpcc_dw":52.2223701,"mpcc_enc_sign":1,"mpcc_id_a":0.310579062,"mpcc_iq_a":-0.928566635,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.30600357,"mpcc_pred_id_a":0.271046549,"mpcc_pred_iq_a":0.00716520427,"mpcc_state":1,"mpcc_theta_e":0.44064188,"mpcc_theta_mech":0.555074275,"sam_rpm":-10.4965401,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0169626921,"thr_a_norm":0.0159933567,"thr_a_v":0.567850769,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44161135,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.322834,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-2.0384233,"cg_iw_a":1.36145902,"cg_theta_rad":0.557708979,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00882246159,"mpcc_du":48.5904274,"mpcc_dv":51.4095726,"mpcc_dw":49.0532074,"mpcc_enc_sign":1,"mpcc_id_a":1.2192719,"mpcc_iq_a":-0.546770215,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.7607269,"mpcc_pred_id_a":-0.42518124,"mpcc_pred_iq_a":-6.24695444,"mpcc_state":1,"mpcc_theta_e":0.435321808,"mpcc_theta_mech":0.554010272,"sam_rpm":27.2813263,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0169626921,"thr_a_norm":0.0169626921,"thr_a_v":0.567850769,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44161135,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.329304,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.806133032,"cg_iw_a":-1.53804755,"cg_theta_rad":0.553920269,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0106108962,"mpcc_du":49.5378113,"mpcc_dv":49.9659004,"mpcc_dw":50.4621887,"mpcc_enc_sign":1,"mpcc_id_a":1.94402063,"mpcc_iq_a":-1.37394714,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.86570764,"mpcc_pred_id_a":0.254321337,"mpcc_pred_iq_a":-5.08533907,"mpcc_state":1,"mpcc_theta_e":0.440256596,"mpcc_theta_mech":0.554997265,"sam_rpm":-4.49580717,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220359415,"thr_a_norm":0.0220359415,"thr_a_v":0.588143766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471673131,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.335835,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.661157608,"cg_iw_a":-1.82799864,"cg_theta_rad":0.553645074,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00635317294,"mpcc_du":49.586544,"mpcc_dv":50.0447083,"mpcc_dw":50.413456,"mpcc_enc_sign":1,"mpcc_id_a":1.42956769,"mpcc_iq_a":-1.27343881,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.44492066,"mpcc_pred_id_a":0.0122468611,"mpcc_pred_iq_a":-4.9487381,"mpcc_state":1,"mpcc_theta_e":0.441764355,"mpcc_theta_mech":0.554042697,"sam_rpm":-2.8332212,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220359415,"thr_a_norm":0.0220359415,"thr_a_v":0.588143766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471673131,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.342396,"values":{"cg_iu_a":2.5616436,"cg_iv_a":0.281181812,"cg_iw_a":-2.84282541,"cg_theta_rad":0.554362893,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00066731195,"mpcc_du":50.5330238,"mpcc_dv":48.5188599,"mpcc_dw":51.4811401,"mpcc_enc_sign":1,"mpcc_id_a":1.05675066,"mpcc_iq_a":-2.04326844,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.81755543,"mpcc_pred_id_a":-0.44167909,"mpcc_pred_iq_a":0.310740829,"mpcc_state":1,"mpcc_theta_e":0.447558403,"mpcc_theta_mech":0.556457639,"sam_rpm":-7.4982543,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259761959,"thr_a_norm":0.0259761959,"thr_a_v":0.603904784,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.350605,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.733645439,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.554556072,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0129522085,"mpcc_du":50.4534492,"mpcc_dv":48.369648,"mpcc_dw":51.630352,"mpcc_enc_sign":1,"mpcc_id_a":1.71470523,"mpcc_iq_a":-1.17857468,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.618968189,"mpcc_pred_id_a":0.164142415,"mpcc_pred_iq_a":0.671256602,"mpcc_state":1,"mpcc_theta_e":0.442538738,"mpcc_theta_mech":0.555453658,"sam_rpm":-0.275981247,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278770924,"thr_a_norm":0.0259761959,"thr_a_v":0.611508369,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496044844,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.360615,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.443694592,"cg_iw_a":-0.523220539,"cg_theta_rad":0.556120932,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0155574139,"mpcc_du":50.0989113,"mpcc_dv":48.8418159,"mpcc_dw":51.1581841,"mpcc_enc_sign":1,"mpcc_id_a":0.544507921,"mpcc_iq_a":-0.766355991,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.337694615,"mpcc_pred_id_a":0.0510563999,"mpcc_pred_iq_a":-1.93199229,"mpcc_state":1,"mpcc_theta_e":0.44626379,"mpcc_theta_mech":0.556233823,"sam_rpm":-0.53834945,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278770924,"thr_a_norm":0.0278770924,"thr_a_v":0.611508369,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496044844,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.372211,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.45852208,"cg_iw_a":0.636582136,"cg_theta_rad":0.556607842,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0201171972,"mpcc_du":49.548027,"mpcc_dv":49.7283401,"mpcc_dw":50.451973,"mpcc_enc_sign":1,"mpcc_id_a":0.814568639,"mpcc_iq_a":-1.54526043,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.2791853,"mpcc_pred_id_a":-0.0444662645,"mpcc_pred_iq_a":-5.01890707,"mpcc_state":1,"mpcc_theta_e":0.44637394,"mpcc_theta_mech":0.55622071,"sam_rpm":7.04338551,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170759857,"thr_a_norm":0.0170759857,"thr_a_v":0.568303943,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446747541,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.381977,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-2.76329994,"cg_iw_a":-0.668195724,"cg_theta_rad":0.553287446,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.12843889,"mpcc_du":49.4577789,"mpcc_dv":49.3084679,"mpcc_dw":50.6915321,"mpcc_enc_sign":1,"mpcc_id_a":4.26105976,"mpcc_iq_a":2.2705102,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.38987875,"mpcc_pred_id_a":0.805049419,"mpcc_pred_iq_a":-2.39284205,"mpcc_state":1,"mpcc_theta_e":0.449402332,"mpcc_theta_mech":0.556826353,"sam_rpm":12.0560703,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170759857,"thr_a_norm":0.0170759857,"thr_a_v":0.568303943,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446747541,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.3922,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.516182423,"cg_iw_a":-0.595707893,"cg_theta_rad":0.555357218,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0261875503,"mpcc_du":50.0937157,"mpcc_dv":49.0235748,"mpcc_dw":50.9764252,"mpcc_enc_sign":1,"mpcc_id_a":0.706769705,"mpcc_iq_a":-1.41383135,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.11599827,"mpcc_pred_id_a":-0.401163131,"mpcc_pred_iq_a":-2.04665041,"mpcc_state":1,"mpcc_theta_e":0.455705643,"mpcc_theta_mech":0.558087051,"sam_rpm":12.3423529,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0340581238,"thr_a_norm":0.0340581238,"thr_a_v":0.636232495,"thr_b":0.0050034225,"thr_b_norm":0.0050034225,"thr_b_v":0.52001369,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.402424,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.24105906,"cg_iw_a":0.346631765,"cg_theta_rad":0.554383457,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0382629298,"mpcc_du":49.4939728,"mpcc_dv":49.5286789,"mpcc_dw":50.5060272,"mpcc_enc_sign":1,"mpcc_id_a":2.41499281,"mpcc_iq_a":-1.22271252,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.33291435,"mpcc_pred_id_a":0.196428806,"mpcc_pred_iq_a":-3.93100023,"mpcc_state":1,"mpcc_theta_e":0.454715252,"mpcc_theta_mech":0.557888925,"sam_rpm":12.8041706,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262657404,"thr_a_norm":0.0340581238,"thr_a_v":0.605062962,"thr_b":0,"thr_b_norm":0.0050034225,"thr_b_v":0.490455478,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.425404,"values":{"cg_iu_a":1.47432899,"cg_iv_a":0.0637187958,"cg_iw_a":-1.53804779,"cg_theta_rad":0.554522812,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.075345099,"mpcc_du":49.4268036,"mpcc_dv":50.5731964,"mpcc_dw":50.3508377,"mpcc_enc_sign":1,"mpcc_id_a":2.39765978,"mpcc_iq_a":-0.447491974,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.9284286,"mpcc_pred_id_a":0.228662506,"mpcc_pred_iq_a":-5.60773993,"mpcc_state":1,"mpcc_theta_e":0.444839954,"mpcc_theta_mech":0.555913925,"sam_rpm":25.9245338,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262657404,"thr_a_norm":0.0262657404,"thr_a_v":0.605062962,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490455478,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.431934,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.45852208,"cg_iw_a":-1.24809718,"cg_theta_rad":0.556156158,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0144385481,"mpcc_du":49.9689598,"mpcc_dv":48.8566437,"mpcc_dw":51.1433563,"mpcc_enc_sign":1,"mpcc_id_a":1.27397525,"mpcc_iq_a":-0.923626661,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.559378862,"mpcc_pred_id_a":0.269467562,"mpcc_pred_iq_a":-1.80761385,"mpcc_state":1,"mpcc_theta_e":0.442667007,"mpcc_theta_mech":0.555479348,"sam_rpm":-0.493035853,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0135133862,"thr_a_norm":0.0135133862,"thr_a_v":0.554053545,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.438465,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.89344811,"cg_iw_a":-0.305757284,"cg_theta_rad":0.556711197,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0285686217,"mpcc_du":49.9891891,"mpcc_dv":48.9163933,"mpcc_dw":51.0836067,"mpcc_enc_sign":1,"mpcc_id_a":-0.179906175,"mpcc_iq_a":-1.25720608,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.233509034,"mpcc_pred_id_a":0.0517286323,"mpcc_pred_iq_a":-1.36447847,"mpcc_state":1,"mpcc_theta_e":0.45179224,"mpcc_theta_mech":0.557304382,"sam_rpm":0.412142485,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0135133862,"thr_a_norm":0.0135133862,"thr_a_v":0.554053545,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.444996,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-0.733645439,"cg_iw_a":-1.53804779,"cg_theta_rad":0.556588411,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.000985905994,"mpcc_du":50.0227051,"mpcc_dv":49.0050926,"mpcc_dw":50.9949074,"mpcc_enc_sign":1,"mpcc_id_a":0.534296215,"mpcc_iq_a":-1.12928915,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.98859483,"mpcc_pred_id_a":-0.339280158,"mpcc_pred_iq_a":-2.65207458,"mpcc_state":1,"mpcc_theta_e":0.443155289,"mpcc_theta_mech":0.55557698,"sam_rpm":-13.5751896,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194930136,"thr_a_norm":0.0194930136,"thr_a_v":0.577972054,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477161825,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.454975,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-2.40086174,"cg_iw_a":0.854045391,"cg_theta_rad":0.558993697,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0190902539,"mpcc_du":49.1318092,"mpcc_dv":50.8681908,"mpcc_dw":49.9605865,"mpcc_enc_sign":1,"mpcc_id_a":2.69151568,"mpcc_iq_a":-0.311971575,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.7707624,"mpcc_pred_id_a":0.100011192,"mpcc_pred_iq_a":-3.74223351,"mpcc_state":1,"mpcc_theta_e":0.447315693,"mpcc_theta_mech":0.556409061,"sam_rpm":15.8722076,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024742499,"thr_a_norm":0.0194930136,"thr_a_v":0.598969996,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497907996,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.464771,"values":{"cg_iu_a":3.06905746,"cg_iv_a":0.136206627,"cg_iw_a":0.491607189,"cg_theta_rad":0.555630207,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0201571174,"mpcc_du":49.4889755,"mpcc_dv":50.5110245,"mpcc_dw":50.3356361,"mpcc_enc_sign":1,"mpcc_id_a":0.853327394,"mpcc_iq_a":-1.31636691,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.61524391,"mpcc_pred_id_a":-0.0663682818,"mpcc_pred_iq_a":-1.86003721,"mpcc_state":1,"mpcc_theta_e":0.435918331,"mpcc_theta_mech":0.554129541,"sam_rpm":2.08083653,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024742499,"thr_a_norm":0.024742499,"thr_a_v":0.598969996,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497907996,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.474964,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.53100967,"cg_iw_a":0.926532745,"cg_theta_rad":0.55711031,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0495584048,"mpcc_du":49.5280113,"mpcc_dv":49.5151863,"mpcc_dw":50.4848137,"mpcc_enc_sign":1,"mpcc_id_a":2.02305007,"mpcc_iq_a":-0.36743769,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.4603672,"mpcc_pred_id_a":-0.0324553959,"mpcc_pred_iq_a":-4.04039383,"mpcc_state":1,"mpcc_theta_e":0.449507713,"mpcc_theta_mech":0.556847453,"sam_rpm":11.0528469,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458228409,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.485035,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-1.53100967,"cg_iw_a":1.79638481,"cg_theta_rad":0.556790531,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0480916686,"mpcc_du":49.7103271,"mpcc_dv":49.2869339,"mpcc_dw":50.7130661,"mpcc_enc_sign":1,"mpcc_id_a":0.972336054,"mpcc_iq_a":-0.377655774,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.63827515,"mpcc_pred_id_a":-0.013336163,"mpcc_pred_iq_a":-3.95407772,"mpcc_state":1,"mpcc_theta_e":0.454705238,"mpcc_theta_mech":0.557886958,"sam_rpm":9.01733303,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458228409,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.494984,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-1.24105906,"cg_iw_a":1.07150817,"cg_theta_rad":0.556517065,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0527536459,"mpcc_du":50.0520096,"mpcc_dv":48.7106895,"mpcc_dw":51.2893105,"mpcc_enc_sign":1,"mpcc_id_a":2.19125342,"mpcc_iq_a":-0.347186536,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.879273057,"mpcc_pred_id_a":0.377212048,"mpcc_pred_iq_a":-2.1146245,"mpcc_state":1,"mpcc_theta_e":0.445919991,"mpcc_theta_mech":0.556129873,"sam_rpm":3.17221308,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02680704,"thr_a_norm":0.02680704,"thr_a_v":0.60722816,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490757585,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.505177,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.516182423,"cg_iw_a":-0.16078186,"cg_theta_rad":0.550033748,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0173220485,"mpcc_du":49.8337402,"mpcc_dv":49.0680199,"mpcc_dw":50.9319801,"mpcc_enc_sign":1,"mpcc_id_a":1.33446765,"mpcc_iq_a":-0.120813772,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.27065289,"mpcc_pred_id_a":0.0761565417,"mpcc_pred_iq_a":-1.85984898,"mpcc_state":1,"mpcc_theta_e":0.444234371,"mpcc_theta_mech":0.555792749,"sam_rpm":1.38772178,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.02680704,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452890843,"vdc_v":54.6292953}} +{"type":"telemetry","t":57.528217,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.24105906,"cg_iw_a":0.41911912,"cg_theta_rad":0.553661823,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00209543412,"mpcc_du":51.1771889,"mpcc_dv":47.4761124,"mpcc_dw":52.5238876,"mpcc_enc_sign":1,"mpcc_id_a":0.404974967,"mpcc_iq_a":-0.916858375,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.9252167,"mpcc_pred_id_a":-0.153728664,"mpcc_pred_iq_a":2.2042284,"mpcc_state":1,"mpcc_theta_e":0.428695202,"mpcc_theta_mech":0.552684963,"sam_rpm":-20.9983273,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452890843,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.534748,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.516182423,"cg_iw_a":-1.03063393,"cg_theta_rad":0.555307448,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0435909405,"mpcc_du":50.1486511,"mpcc_dv":48.7298241,"mpcc_dw":51.2701759,"mpcc_enc_sign":1,"mpcc_id_a":3.56744742,"mpcc_iq_a":-1.33494925,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.73350525,"mpcc_pred_id_a":0.560510039,"mpcc_pred_iq_a":-4.01935196,"mpcc_state":1,"mpcc_theta_e":0.447154045,"mpcc_theta_mech":0.555756032,"sam_rpm":4.32438469,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0323712528,"thr_a_norm":0.0323712528,"thr_a_v":0.629485011,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495944142,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.541218,"values":{"cg_iu_a":1.98174238,"cg_iv_a":0.643620491,"cg_iw_a":-2.62536287,"cg_theta_rad":0.556911707,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0239676572,"mpcc_du":49.7156296,"mpcc_dv":50.1073875,"mpcc_dw":50.2843704,"mpcc_enc_sign":1,"mpcc_id_a":-1.37520158,"mpcc_iq_a":-1.56087351,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.04593992,"mpcc_pred_id_a":-1.01613033,"mpcc_pred_iq_a":-5.39103985,"mpcc_state":1,"mpcc_theta_e":0.452017784,"mpcc_theta_mech":0.557349503,"sam_rpm":11.3405714,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0323712528,"thr_a_norm":0.0323712528,"thr_a_v":0.629485011,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495944142,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.54781,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.371207237,"cg_iw_a":0.491606712,"cg_theta_rad":0.553938746,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0150009273,"mpcc_du":50.1554222,"mpcc_dv":48.8606873,"mpcc_dw":51.1393127,"mpcc_enc_sign":1,"mpcc_id_a":-0.32208997,"mpcc_iq_a":-1.70182002,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.288846,"mpcc_pred_id_a":-0.256340712,"mpcc_pred_iq_a":-0.424737573,"mpcc_state":1,"mpcc_theta_e":0.455560684,"mpcc_theta_mech":0.558058083,"sam_rpm":15.6495934,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278267413,"thr_a_norm":0.0278267413,"thr_a_v":0.611306965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497454762,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.557606,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-2.0384233,"cg_iw_a":-0.740683317,"cg_theta_rad":0.55583638,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0107135661,"mpcc_du":49.6384201,"mpcc_dv":49.9089851,"mpcc_dw":50.3615799,"mpcc_enc_sign":1,"mpcc_id_a":0.561788917,"mpcc_iq_a":-0.396778822,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.62782288,"mpcc_pred_id_a":-0.619654238,"mpcc_pred_iq_a":0.340914756,"mpcc_state":1,"mpcc_theta_e":0.437355518,"mpcc_theta_mech":0.554417014,"sam_rpm":5.13921404,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202483386,"thr_a_norm":0.0278267413,"thr_a_v":0.580993354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461652547,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.567768,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-2.47334933,"cg_iw_a":-0.305757284,"cg_theta_rad":0.554917336,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0236821305,"mpcc_du":49.8393784,"mpcc_dv":49.1093826,"mpcc_dw":50.8906174,"mpcc_enc_sign":1,"mpcc_id_a":1.73131227,"mpcc_iq_a":-1.63204241,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.16383266,"mpcc_pred_id_a":0.155709893,"mpcc_pred_iq_a":-1.75609171,"mpcc_state":1,"mpcc_theta_e":0.45401144,"mpcc_theta_mech":0.557748199,"sam_rpm":14.3391094,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202483386,"thr_a_norm":0.0202483386,"thr_a_v":0.580993354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461652547,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.577808,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.24105906,"cg_iw_a":-3.42272687,"cg_theta_rad":0.558344364,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.092746146,"mpcc_du":49.3660736,"mpcc_dv":50.3350868,"mpcc_dw":50.6339264,"mpcc_enc_sign":1,"mpcc_id_a":5.34060907,"mpcc_iq_a":-1.19722736,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.8192549,"mpcc_pred_id_a":1.1419673,"mpcc_pred_iq_a":-4.11662054,"mpcc_state":1,"mpcc_theta_e":0.460613728,"mpcc_theta_mech":0.55906868,"sam_rpm":21.6662998,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192034841,"thr_a_norm":0.0192034841,"thr_a_v":0.576813936,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482146949,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.590015,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.47334933,"cg_iw_a":1.65140939,"cg_theta_rad":0.555552959,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.03817771,"mpcc_du":49.4472427,"mpcc_dv":49.5488625,"mpcc_dw":50.5527573,"mpcc_enc_sign":1,"mpcc_id_a":2.75284767,"mpcc_iq_a":-0.020861607,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.02962637,"mpcc_pred_id_a":0.39749369,"mpcc_pred_iq_a":-4.05914497,"mpcc_state":1,"mpcc_theta_e":0.448905468,"mpcc_theta_mech":0.556727052,"sam_rpm":2.28830481,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261146724,"thr_a_norm":0.0192034841,"thr_a_v":0.60445869,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492721438,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.600025,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.38603449,"cg_iw_a":-1.17560935,"cg_theta_rad":0.556351066,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0287575703,"mpcc_du":50.0313225,"mpcc_dv":48.6652756,"mpcc_dw":51.3347244,"mpcc_enc_sign":1,"mpcc_id_a":2.90192485,"mpcc_iq_a":-1.38161302,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.18219614,"mpcc_pred_id_a":0.559590161,"mpcc_pred_iq_a":-0.736833215,"mpcc_state":1,"mpcc_theta_e":0.445611477,"mpcc_theta_mech":0.556068182,"sam_rpm":3.32535243,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261146724,"thr_a_norm":0.0261146724,"thr_a_v":0.60445869,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492721438,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.623219,"values":{"cg_iu_a":1.47432899,"cg_iv_a":0.281181812,"cg_iw_a":-1.75551081,"cg_theta_rad":0.555828035,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0289120171,"mpcc_du":49.5279846,"mpcc_dv":50.1355057,"mpcc_dw":50.4720154,"mpcc_enc_sign":1,"mpcc_id_a":2.98964429,"mpcc_iq_a":-0.35776189,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.37111568,"mpcc_pred_id_a":0.22584556,"mpcc_pred_iq_a":-4.00432301,"mpcc_state":1,"mpcc_theta_e":0.445923805,"mpcc_theta_mech":0.556130707,"sam_rpm":4.73808146,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172018856,"thr_a_norm":0.0172018856,"thr_a_v":0.568807542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.432597816,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.629749,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.60349751,"cg_iw_a":-1.17560911,"cg_theta_rad":0.556502283,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0432207026,"mpcc_du":49.7971458,"mpcc_dv":49.0252304,"mpcc_dw":50.9747696,"mpcc_enc_sign":1,"mpcc_id_a":3.04513049,"mpcc_iq_a":-0.587687075,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.31954145,"mpcc_pred_id_a":0.481323183,"mpcc_pred_iq_a":-1.23214138,"mpcc_state":1,"mpcc_theta_e":0.451295376,"mpcc_theta_mech":0.557204962,"sam_rpm":11.121047,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172018856,"thr_a_norm":0.0172018856,"thr_a_v":0.568807542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.432597816,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.63625,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.16857147,"cg_iw_a":-1.75551081,"cg_theta_rad":0.556313694,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0266340896,"mpcc_du":50.1240883,"mpcc_dv":48.7203903,"mpcc_dw":51.2796097,"mpcc_enc_sign":1,"mpcc_id_a":1.57930434,"mpcc_iq_a":-1.28113472,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.21976376,"mpcc_pred_id_a":0.210177973,"mpcc_pred_iq_a":-0.246620774,"mpcc_state":1,"mpcc_theta_e":0.455228806,"mpcc_theta_mech":0.557991683,"sam_rpm":14.0967617,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245536715,"thr_a_norm":0.0245536715,"thr_a_v":0.598214686,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470817119,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.64278,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-2.11091113,"cg_iw_a":-0.523220301,"cg_theta_rad":0.557389438,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0122380629,"mpcc_du":50.5855675,"mpcc_dv":48.3012505,"mpcc_dw":51.6987495,"mpcc_enc_sign":1,"mpcc_id_a":0.989165425,"mpcc_iq_a":-1.01827371,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.89748454,"mpcc_pred_id_a":-0.212208956,"mpcc_pred_iq_a":-0.110865392,"mpcc_state":1,"mpcc_theta_e":0.441365242,"mpcc_theta_mech":0.555218995,"sam_rpm":-5.42103338,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0361478627,"thr_a_norm":0.0245536715,"thr_a_v":0.644591451,"thr_b":0.000345617533,"thr_b_norm":0,"thr_b_v":0.50138247,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.650623,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.661157608,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556314051,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0274531879,"mpcc_du":50.044426,"mpcc_dv":49.1800232,"mpcc_dw":50.8199768,"mpcc_enc_sign":1,"mpcc_id_a":2.38710785,"mpcc_iq_a":-1.28150833,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.45373511,"mpcc_pred_id_a":0.143516436,"mpcc_pred_iq_a":-4.99256086,"mpcc_state":1,"mpcc_theta_e":0.447832108,"mpcc_theta_mech":0.556512296,"sam_rpm":13.7978039,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0361478627,"thr_a_norm":0.0361478627,"thr_a_v":0.644591451,"thr_b":0.000345617533,"thr_b_norm":0.000345617533,"thr_b_v":0.50138247,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.660755,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.733645439,"cg_iw_a":0.491607189,"cg_theta_rad":0.554889083,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0106472597,"mpcc_du":50.5446587,"mpcc_dv":48.6387978,"mpcc_dw":51.3612022,"mpcc_enc_sign":1,"mpcc_id_a":-1.4611485,"mpcc_iq_a":-2.54832578,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.6996422,"mpcc_pred_id_a":-0.931670547,"mpcc_pred_iq_a":-1.97144365,"mpcc_state":1,"mpcc_theta_e":0.430149078,"mpcc_theta_mech":0.552975714,"sam_rpm":-22.6880646,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023257032,"thr_a_norm":0.023257032,"thr_a_v":0.593028128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450826287,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.672993,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.17560959,"cg_theta_rad":0.556155145,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0273035634,"mpcc_du":49.5874481,"mpcc_dv":49.4256477,"mpcc_dw":50.5743523,"mpcc_enc_sign":1,"mpcc_id_a":2.47018147,"mpcc_iq_a":-0.777926505,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.48082733,"mpcc_pred_id_a":0.154429838,"mpcc_pred_iq_a":-2.96442533,"mpcc_state":1,"mpcc_theta_e":0.452637672,"mpcc_theta_mech":0.557473421,"sam_rpm":8.13876057,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186621547,"thr_a_norm":0.023257032,"thr_a_v":0.574648619,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460997939,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.684742,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.89344811,"cg_iw_a":-1.39307237,"cg_theta_rad":0.55204767,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0116733015,"mpcc_du":49.6650009,"mpcc_dv":49.4127045,"mpcc_dw":50.5872955,"mpcc_enc_sign":1,"mpcc_id_a":0.789113283,"mpcc_iq_a":-0.951418281,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.16593885,"mpcc_pred_id_a":-0.163396537,"mpcc_pred_iq_a":-1.03814352,"mpcc_state":1,"mpcc_theta_e":0.426272392,"mpcc_theta_mech":0.552200377,"sam_rpm":-9.65698147,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186621547,"thr_a_norm":0.0186621547,"thr_a_v":0.574648619,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460997939,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.694813,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.16857147,"cg_iw_a":-0.378244877,"cg_theta_rad":0.55460608,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0298587065,"mpcc_du":49.5192795,"mpcc_dv":49.3469963,"mpcc_dw":50.6530037,"mpcc_enc_sign":1,"mpcc_id_a":2.21563339,"mpcc_iq_a":1.41212547,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.46194482,"mpcc_pred_id_a":0.480347842,"mpcc_pred_iq_a":-1.0702554,"mpcc_state":1,"mpcc_theta_e":0.440574646,"mpcc_theta_mech":0.555060863,"sam_rpm":5.69928169,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245536715,"thr_a_norm":0.0245536715,"thr_a_v":0.598214686,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472831309,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.705219,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.53100967,"cg_iw_a":0.419119358,"cg_theta_rad":0.557334244,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0241789911,"mpcc_du":50.0348663,"mpcc_dv":48.9557419,"mpcc_dw":51.0442581,"mpcc_enc_sign":1,"mpcc_id_a":1.32120037,"mpcc_iq_a":-2.46288133,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.17970037,"mpcc_pred_id_a":-0.00306543335,"mpcc_pred_iq_a":-3.31641102,"mpcc_state":1,"mpcc_theta_e":0.456574917,"mpcc_theta_mech":0.558260858,"sam_rpm":8.2427578,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0187880397,"thr_a_norm":0.0245536715,"thr_a_v":0.575152159,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.729389,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-2.25588632,"cg_iw_a":-0.378245115,"cg_theta_rad":0.557244778,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0856094211,"mpcc_du":49.4777298,"mpcc_dv":50.5222702,"mpcc_dw":50.5134506,"mpcc_enc_sign":1,"mpcc_id_a":3.15066814,"mpcc_iq_a":0.276353836,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.5631018,"mpcc_pred_id_a":0.563658655,"mpcc_pred_iq_a":-5.86063862,"mpcc_state":1,"mpcc_theta_e":0.45625782,"mpcc_theta_mech":0.558197498,"sam_rpm":16.6740856,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0187880397,"thr_a_norm":0.0187880397,"thr_a_v":0.575152159,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.735889,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-0.878620625,"cg_iw_a":0.781557798,"cg_theta_rad":0.554410279,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0118815182,"mpcc_du":49.584549,"mpcc_dv":49.3901138,"mpcc_dw":50.6098862,"mpcc_enc_sign":1,"mpcc_id_a":2.14879513,"mpcc_iq_a":-1.94933891,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.24659872,"mpcc_pred_id_a":0.2150805,"mpcc_pred_iq_a":-2.04596424,"mpcc_state":1,"mpcc_theta_e":0.445567131,"mpcc_theta_mech":0.556059361,"sam_rpm":7.73395491,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024742499,"thr_a_norm":0.024742499,"thr_a_v":0.598969996,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.742451,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.96593571,"cg_iw_a":1.43394661,"cg_theta_rad":0.55463773,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0264266655,"mpcc_du":50.1406555,"mpcc_dv":48.5859299,"mpcc_dw":51.4140701,"mpcc_enc_sign":1,"mpcc_id_a":3.24505806,"mpcc_iq_a":-1.33300364,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.88029647,"mpcc_pred_id_a":0.542263329,"mpcc_pred_iq_a":0.0832425058,"mpcc_state":1,"mpcc_theta_e":0.438660145,"mpcc_theta_mech":0.554677904,"sam_rpm":-4.86360312,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024742499,"thr_a_norm":0.024742499,"thr_a_v":0.598969996,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.750019,"values":{"cg_iu_a":1.25686598,"cg_iv_a":0.208694458,"cg_iw_a":-1.46556044,"cg_theta_rad":0.557185113,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0162093136,"mpcc_du":48.8750076,"mpcc_dv":49.3892593,"mpcc_dw":50.6107407,"mpcc_enc_sign":1,"mpcc_id_a":2.56228805,"mpcc_iq_a":-1.4303726,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.73774672,"mpcc_pred_id_a":0.096017994,"mpcc_pred_iq_a":-6.17105293,"mpcc_state":1,"mpcc_theta_e":0.424862862,"mpcc_theta_mech":0.551918447,"sam_rpm":10.278388,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0157289952,"thr_a_norm":0.0157289952,"thr_a_v":0.562915981,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466688037,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.76009,"values":{"cg_iu_a":3.79393435,"cg_iv_a":-0.661157608,"cg_iw_a":0.419119358,"cg_theta_rad":0.557006538,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00162031688,"mpcc_du":50.2951088,"mpcc_dv":48.6708527,"mpcc_dw":50.0754776,"mpcc_enc_sign":1,"mpcc_id_a":0.801176846,"mpcc_iq_a":-0.224724695,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.89289856,"mpcc_pred_id_a":-0.330807447,"mpcc_pred_iq_a":0.984437823,"mpcc_state":1,"mpcc_theta_e":0.42987299,"mpcc_theta_mech":0.554889023,"sam_rpm":-8.24264908,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0157289952,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477363229,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.769978,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.951108456,"cg_iw_a":-1.10312176,"cg_theta_rad":0.556604683,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0311668217,"mpcc_du":50.0294838,"mpcc_dv":48.6781998,"mpcc_dw":51.3218002,"mpcc_enc_sign":1,"mpcc_id_a":3.12365484,"mpcc_iq_a":-0.395709515,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.83757973,"mpcc_pred_id_a":0.524309278,"mpcc_pred_iq_a":-1.73367405,"mpcc_state":1,"mpcc_theta_e":0.438051224,"mpcc_theta_mech":0.555356979,"sam_rpm":-10.6167641,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477363229,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.780994,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.31354666,"cg_iw_a":0.274143696,"cg_theta_rad":0.556692779,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0423394181,"mpcc_du":49.9443512,"mpcc_dv":48.4436455,"mpcc_dw":51.5563545,"mpcc_enc_sign":1,"mpcc_id_a":-0.127523676,"mpcc_iq_a":-1.83550954,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.862499,"mpcc_pred_id_a":-0.472570568,"mpcc_pred_iq_a":-5.43337631,"mpcc_state":1,"mpcc_theta_e":0.445921898,"mpcc_theta_mech":0.55613029,"sam_rpm":5.20003366,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225772411,"thr_a_norm":0.0225772411,"thr_a_v":0.590308964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482600152,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.792377,"values":{"cg_iu_a":1.11189032,"cg_iv_a":0.353669643,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556313157,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0594221912,"mpcc_du":50.2093239,"mpcc_dv":48.6144867,"mpcc_dw":51.3855133,"mpcc_enc_sign":1,"mpcc_id_a":2.77845621,"mpcc_iq_a":0.197680727,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.9853313,"mpcc_pred_id_a":0.367832154,"mpcc_pred_iq_a":-1.21316874,"mpcc_state":1,"mpcc_theta_e":0.449422836,"mpcc_theta_mech":0.556830525,"sam_rpm":3.06422472,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0147596598,"thr_a_norm":0.0225772411,"thr_a_v":0.559038639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.802418,"values":{"cg_iu_a":0.676964283,"cg_iv_a":2.89073801,"cg_iw_a":-5.59735727,"cg_theta_rad":0.553543806,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0210010726,"mpcc_du":49.6784554,"mpcc_dv":49.2290916,"mpcc_dw":50.7709084,"mpcc_enc_sign":1,"mpcc_id_a":1.23029077,"mpcc_iq_a":-1.20294511,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.09773827,"mpcc_pred_id_a":0.286453068,"mpcc_pred_iq_a":-0.601449609,"mpcc_state":1,"mpcc_theta_e":0.429207325,"mpcc_theta_mech":0.55376631,"sam_rpm":-12.3686123,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0147596598,"thr_a_norm":0.0147596598,"thr_a_v":0.559038639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.825611,"values":{"cg_iu_a":-1.57015324,"cg_iv_a":-1.53100967,"cg_iw_a":3.10116291,"cg_theta_rad":0.553285718,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00634218752,"mpcc_du":48.7701378,"mpcc_dv":51.2298622,"mpcc_dw":49.3986816,"mpcc_enc_sign":1,"mpcc_id_a":1.57575834,"mpcc_iq_a":-2.29203701,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.0457077,"mpcc_pred_id_a":-0.2364209,"mpcc_pred_iq_a":-7.77140284,"mpcc_state":1,"mpcc_theta_e":0.45059824,"mpcc_theta_mech":0.557065547,"sam_rpm":12.9851379,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224891305,"thr_a_norm":0.0224891305,"thr_a_v":0.589956522,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.832111,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.516182423,"cg_iw_a":-1.39307237,"cg_theta_rad":0.555195928,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0146088935,"mpcc_du":49.4898491,"mpcc_dv":50.0461426,"mpcc_dw":50.5101509,"mpcc_enc_sign":1,"mpcc_id_a":2.33153391,"mpcc_iq_a":-1.06210923,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.86273909,"mpcc_pred_id_a":0.429580182,"mpcc_pred_iq_a":-3.24680781,"mpcc_state":1,"mpcc_theta_e":0.445374012,"mpcc_theta_mech":0.556020677,"sam_rpm":6.52601671,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224891305,"thr_a_norm":0.0224891305,"thr_a_v":0.589956522,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.838642,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.878620625,"cg_iw_a":-1.17560959,"cg_theta_rad":0.557095766,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00175584387,"mpcc_du":50.0516739,"mpcc_dv":49.1909142,"mpcc_dw":50.8090858,"mpcc_enc_sign":1,"mpcc_id_a":0.293079346,"mpcc_iq_a":-1.80337536,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.36008859,"mpcc_pred_id_a":-0.620913565,"mpcc_pred_iq_a":-2.03985763,"mpcc_state":1,"mpcc_theta_e":0.444060802,"mpcc_theta_mech":0.555758059,"sam_rpm":2.19213724,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0408434421,"thr_a_norm":0.0408434421,"thr_a_v":0.663373768,"thr_b":0.0140672922,"thr_b_norm":0.0140672922,"thr_b_v":0.556269169,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.845142,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.951108456,"cg_iw_a":-0.16078186,"cg_theta_rad":0.552101374,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0111676008,"mpcc_du":49.6924362,"mpcc_dv":49.2847786,"mpcc_dw":50.7152214,"mpcc_enc_sign":1,"mpcc_id_a":1.99444962,"mpcc_iq_a":-2.10574269,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.19892168,"mpcc_pred_id_a":0.263509542,"mpcc_pred_iq_a":-2.74061298,"mpcc_state":1,"mpcc_theta_e":0.444975376,"mpcc_theta_mech":0.555940986,"sam_rpm":3.38293433,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022300303,"thr_a_norm":0.0408434421,"thr_a_v":0.589201212,"thr_b":0,"thr_b_norm":0.0140672922,"thr_b_v":0.477766067,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.852802,"values":{"cg_iu_a":6.04105186,"cg_iv_a":-0.951108456,"cg_iw_a":-0.305757523,"cg_theta_rad":0.554861307,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00783752743,"mpcc_du":49.7474213,"mpcc_dv":49.4445801,"mpcc_dw":50.5554199,"mpcc_enc_sign":1,"mpcc_id_a":1.45186031,"mpcc_iq_a":-1.56372821,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.392510265,"mpcc_pred_id_a":-0.35594818,"mpcc_pred_iq_a":-3.59093952,"mpcc_state":1,"mpcc_theta_e":0.442665577,"mpcc_theta_mech":0.55547905,"sam_rpm":-0.486838609,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022300303,"thr_a_norm":0.022300303,"thr_a_v":0.589201212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477766067,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.863178,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.16857147,"cg_iw_a":0.346631527,"cg_theta_rad":0.554217458,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.017978929,"mpcc_du":49.5713654,"mpcc_dv":50.0035744,"mpcc_dw":50.4286346,"mpcc_enc_sign":1,"mpcc_id_a":1.24576032,"mpcc_iq_a":-0.472190827,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.74327135,"mpcc_pred_id_a":-0.0799018592,"mpcc_pred_iq_a":-1.10094106,"mpcc_state":1,"mpcc_theta_e":0.428231239,"mpcc_theta_mech":0.55274564,"sam_rpm":-5.41961145,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0119901597,"thr_a_norm":0.0119901597,"thr_a_v":0.547960639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.437734038,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.873158,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-2.69081235,"cg_iw_a":-0.595708132,"cg_theta_rad":0.55614382,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0188945271,"mpcc_du":50.1273613,"mpcc_dv":49.2976723,"mpcc_dw":50.7023277,"mpcc_enc_sign":1,"mpcc_id_a":-1.9843415,"mpcc_iq_a":-2.47362137,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.07928228,"mpcc_pred_id_a":-1.14851165,"mpcc_pred_iq_a":-3.22071123,"mpcc_state":1,"mpcc_theta_e":0.453413486,"mpcc_theta_mech":0.557628572,"sam_rpm":9.32479954,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0119901597,"thr_a_norm":0.0119901597,"thr_a_v":0.547960639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.437734038,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.883289,"values":{"cg_iu_a":4.44632339,"cg_iv_a":-1.02359605,"cg_iw_a":-3.42272735,"cg_theta_rad":0.55547303,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0168059897,"mpcc_du":49.6189957,"mpcc_dv":49.4524994,"mpcc_dw":50.5475006,"mpcc_enc_sign":1,"mpcc_id_a":1.91979694,"mpcc_iq_a":-1.59488726,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.43261909,"mpcc_pred_id_a":-0.0154880639,"mpcc_pred_iq_a":-5.98021603,"mpcc_state":1,"mpcc_theta_e":0.440646172,"mpcc_theta_mech":0.555075109,"sam_rpm":-9.54968166,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182970911,"thr_a_norm":0.0182970911,"thr_a_v":0.573188365,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462609321,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.89336,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.45852208,"cg_iw_a":0.129168749,"cg_theta_rad":0.557413876,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0317510702,"mpcc_du":49.4981117,"mpcc_dv":49.4205437,"mpcc_dw":50.5794563,"mpcc_enc_sign":1,"mpcc_id_a":3.12169957,"mpcc_iq_a":-0.41084975,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.40295315,"mpcc_pred_id_a":0.415889829,"mpcc_pred_iq_a":-1.6549809,"mpcc_state":1,"mpcc_theta_e":0.442899704,"mpcc_theta_mech":0.555525899,"sam_rpm":9.29354668,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0315152109,"thr_a_norm":0.0182970911,"thr_a_v":0.626060843,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471270293,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.90337,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-2.32837415,"cg_iw_a":1.94136024,"cg_theta_rad":0.552592158,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0120639112,"mpcc_du":50.4486771,"mpcc_dv":48.4145851,"mpcc_dw":51.5854149,"mpcc_enc_sign":1,"mpcc_id_a":1.13313663,"mpcc_iq_a":-0.714046001,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.10922527,"mpcc_pred_id_a":-0.0267049428,"mpcc_pred_iq_a":-0.846993089,"mpcc_state":1,"mpcc_theta_e":0.440035343,"mpcc_theta_mech":0.554952979,"sam_rpm":-9.12715912,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0315152109,"thr_a_norm":0.0315152109,"thr_a_v":0.626060843,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471270293,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.926838,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.24105906,"cg_iw_a":0.491606951,"cg_theta_rad":0.556018651,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00330384728,"mpcc_du":49.0250587,"mpcc_dv":50.9749413,"mpcc_dw":49.5531158,"mpcc_enc_sign":1,"mpcc_id_a":1.06155872,"mpcc_iq_a":-1.5282321,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.33229923,"mpcc_pred_id_a":-0.581555784,"mpcc_pred_iq_a":-6.60850382,"mpcc_state":1,"mpcc_theta_e":0.448578358,"mpcc_theta_mech":0.556661606,"sam_rpm":10.0214825,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288841873,"thr_a_norm":0.0288841873,"thr_a_v":0.615536749,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493224978,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.933308,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-2.11091113,"cg_iw_a":0.999020815,"cg_theta_rad":0.555492103,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0134449573,"mpcc_du":50.4204407,"mpcc_dv":48.2689476,"mpcc_dw":51.7310524,"mpcc_enc_sign":1,"mpcc_id_a":2.22388434,"mpcc_iq_a":-2.65656352,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.37358809,"mpcc_pred_id_a":0.453769833,"mpcc_pred_iq_a":0.471706629,"mpcc_state":1,"mpcc_theta_e":0.438592434,"mpcc_theta_mech":0.554664373,"sam_rpm":-8.0286541,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288841873,"thr_a_norm":0.0288841873,"thr_a_v":0.615536749,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493224978,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.939808,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.24105906,"cg_iw_a":-1.32058454,"cg_theta_rad":0.553571701,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0140685868,"mpcc_du":50.0949669,"mpcc_dv":48.7884369,"mpcc_dw":51.2115631,"mpcc_enc_sign":1,"mpcc_id_a":2.37149048,"mpcc_iq_a":-1.83555031,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.87527275,"mpcc_pred_id_a":0.103963174,"mpcc_pred_iq_a":-2.29496145,"mpcc_state":1,"mpcc_theta_e":0.434892654,"mpcc_theta_mech":0.553924441,"sam_rpm":-13.7209101,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243522525,"thr_a_norm":0.0243522525,"thr_a_v":0.59740901,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476758987,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.946339,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.24105906,"cg_iw_a":-1.61053538,"cg_theta_rad":0.556472719,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0224340092,"mpcc_du":49.2179947,"mpcc_dv":50.7820053,"mpcc_dw":50.0624313,"mpcc_enc_sign":1,"mpcc_id_a":2.95968509,"mpcc_iq_a":-1.09443653,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.61810875,"mpcc_pred_id_a":0.229401693,"mpcc_pred_iq_a":-4.57632875,"mpcc_state":1,"mpcc_theta_e":0.44845295,"mpcc_theta_mech":0.556636512,"sam_rpm":12.1108446,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10269168,"thr_a_norm":0.0243522525,"thr_a_v":0.910766721,"thr_b":0.0467601269,"thr_b_norm":0,"thr_b_v":0.687040508,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.954151,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.878620625,"cg_iw_a":-1.61053562,"cg_theta_rad":0.555681527,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":5000,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.000237225831,"mpcc_du":49.8245201,"mpcc_dv":49.4477539,"mpcc_dw":50.5522461,"mpcc_enc_sign":1,"mpcc_id_a":-0.243299052,"mpcc_iq_a":-1.91888738,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.33366299,"mpcc_pred_id_a":-0.627045393,"mpcc_pred_iq_a":-2.40540409,"mpcc_state":1,"mpcc_theta_e":0.443955421,"mpcc_theta_mech":0.555737019,"sam_rpm":3.37216496,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10269168,"thr_a_norm":0.10269168,"thr_a_v":0.910766721,"thr_b":0.0467601269,"thr_b_norm":0.0467601269,"thr_b_v":0.687040508,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.964954,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.661157608,"cg_iw_a":-0.160782337,"cg_theta_rad":0.55562216,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0207021255,"mpcc_du":49.936058,"mpcc_dv":49.0250397,"mpcc_dw":50.9749603,"mpcc_enc_sign":1,"mpcc_id_a":1.59390032,"mpcc_iq_a":-0.756425858,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.66361785,"mpcc_pred_id_a":0.100280255,"mpcc_pred_iq_a":-1.3476125,"mpcc_state":1,"mpcc_theta_e":0.445405006,"mpcc_theta_mech":0.556026876,"sam_rpm":7.07011271,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0153765082,"thr_a_norm":0.0153765082,"thr_a_v":0.561506033,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466134131,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.974934,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.443694592,"cg_iw_a":-4.0026288,"cg_theta_rad":0.556768239,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0113022197,"mpcc_du":49.8213539,"mpcc_dv":49.1815414,"mpcc_dw":50.8184586,"mpcc_enc_sign":1,"mpcc_id_a":0.665030062,"mpcc_iq_a":-1.55084336,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.69977999,"mpcc_pred_id_a":0.0132349357,"mpcc_pred_iq_a":-1.33589113,"mpcc_state":1,"mpcc_theta_e":0.435203075,"mpcc_theta_mech":0.55398649,"sam_rpm":-12.5849018,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0153765082,"thr_a_norm":0.0153765082,"thr_a_v":0.561506033,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466134131,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.985218,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.38603449,"cg_iw_a":1.07150841,"cg_theta_rad":0.558167517,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.00100595446,"mpcc_du":49.0329552,"mpcc_dv":50.9670448,"mpcc_dw":49.5830727,"mpcc_enc_sign":1,"mpcc_id_a":-0.468764424,"mpcc_iq_a":-2.14512491,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":19.3400497,"mpcc_pred_id_a":-0.523957372,"mpcc_pred_iq_a":-4.38729095,"mpcc_state":1,"mpcc_theta_e":0.459860325,"mpcc_theta_mech":0.55891794,"sam_rpm":28.4960537,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170004517,"thr_a_norm":0.0170004517,"thr_a_v":0.568001807,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43707943,"vdc_v":55.2955055}} +{"type":"telemetry","t":57.995167,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.443694592,"cg_iw_a":0.201656342,"cg_theta_rad":0.558375001,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0375741795,"mpcc_du":49.6528397,"mpcc_dv":49.6400223,"mpcc_dw":50.3278694,"mpcc_enc_sign":1,"mpcc_id_a":-0.178103536,"mpcc_iq_a":-2.86373496,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.58799839,"mpcc_pred_id_a":-0.575395107,"mpcc_pred_iq_a":-1.90690446,"mpcc_state":1,"mpcc_theta_e":0.432797432,"mpcc_theta_mech":0.553505421,"sam_rpm":-8.46547318,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209658891,"thr_a_norm":0.0170004517,"thr_a_v":0.583863556,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463112861,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.005146,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.82096052,"cg_iw_a":0.709070206,"cg_theta_rad":0.552538991,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0199669115,"mpcc_du":50.3152046,"mpcc_dv":48.3708191,"mpcc_dw":51.6291809,"mpcc_enc_sign":1,"mpcc_id_a":2.08440495,"mpcc_iq_a":-1.25658286,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.3738594,"mpcc_pred_id_a":0.424586564,"mpcc_pred_iq_a":0.0946265757,"mpcc_state":1,"mpcc_theta_e":0.423535347,"mpcc_theta_mech":0.551653028,"sam_rpm":-25.7967434,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209658891,"thr_a_norm":0.0209658891,"thr_a_v":0.583863556,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463112861,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.028553,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.226231575,"cg_iw_a":1.21648359,"cg_theta_rad":0.552360654,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0120606683,"mpcc_du":50.5816994,"mpcc_dv":48.2517242,"mpcc_dw":51.7482758,"mpcc_enc_sign":1,"mpcc_id_a":2.16002631,"mpcc_iq_a":-1.08443558,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.9430275,"mpcc_pred_id_a":-0.210964978,"mpcc_pred_iq_a":-6.16634464,"mpcc_state":1,"mpcc_theta_e":0.449649334,"mpcc_theta_mech":0.556875825,"sam_rpm":-11.4467316,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202105641,"thr_a_norm":0.0202105641,"thr_a_v":0.580842257,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464824885,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.035145,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.53100967,"cg_iw_a":-0.523220539,"cg_theta_rad":0.556442022,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0531450287,"mpcc_du":49.6996002,"mpcc_dv":49.2363853,"mpcc_dw":50.7636147,"mpcc_enc_sign":1,"mpcc_id_a":1.28083515,"mpcc_iq_a":-0.571601212,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.98274088,"mpcc_pred_id_a":0.333304524,"mpcc_pred_iq_a":-3.90411353,"mpcc_state":1,"mpcc_theta_e":0.452490807,"mpcc_theta_mech":0.557444036,"sam_rpm":10.0161514,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202105641,"thr_a_norm":0.0202105641,"thr_a_v":0.580842257,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464824885,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.041676,"values":{"cg_iu_a":2.41666842,"cg_iv_a":0.281181812,"cg_iw_a":-2.69785023,"cg_theta_rad":0.555803239,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.00477461144,"mpcc_du":51.1718369,"mpcc_dv":47.5665817,"mpcc_dw":52.4334183,"mpcc_enc_sign":1,"mpcc_id_a":-0.0264749918,"mpcc_iq_a":-0.812158942,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.8033009,"mpcc_pred_id_a":-0.173247457,"mpcc_pred_iq_a":1.30170882,"mpcc_state":1,"mpcc_theta_e":0.430034161,"mpcc_theta_mech":0.552952707,"sam_rpm":-21.7175102,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0279652029,"thr_a_norm":0.0279652029,"thr_a_v":0.611860812,"thr_b":0.00208285451,"thr_b_norm":0.00208285451,"thr_b_v":0.508331418,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.048359,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.02359605,"cg_iw_a":-1.4655602,"cg_theta_rad":0.557185113,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.00206888607,"mpcc_du":50.8164635,"mpcc_dv":48.076683,"mpcc_dw":51.923317,"mpcc_enc_sign":1,"mpcc_id_a":0.245461598,"mpcc_iq_a":-1.07856822,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.14350605,"mpcc_pred_id_a":-0.320502847,"mpcc_pred_iq_a":0.707799613,"mpcc_state":1,"mpcc_theta_e":0.434820175,"mpcc_theta_mech":0.553909957,"sam_rpm":-13.1899958,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0187125206,"thr_a_norm":0.0187125206,"thr_a_v":0.574850082,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.058338,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.371207237,"cg_iw_a":0.346631765,"cg_theta_rad":0.556203008,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":4.72023794e-06,"mpcc_du":49.7314529,"mpcc_dv":49.4452324,"mpcc_dw":50.5547676,"mpcc_enc_sign":1,"mpcc_id_a":-0.0218040515,"mpcc_iq_a":-0.956339061,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.1675715,"mpcc_pred_id_a":-0.390728831,"mpcc_pred_iq_a":-2.03148198,"mpcc_state":1,"mpcc_theta_e":0.439312458,"mpcc_theta_mech":0.554808378,"sam_rpm":-0.954784751,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0187125206,"thr_a_norm":0.0187125206,"thr_a_v":0.574850082,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.068562,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.588670254,"cg_iw_a":-0.233269691,"cg_theta_rad":0.55632937,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.00354811596,"mpcc_du":49.7702217,"mpcc_dv":49.4839516,"mpcc_dw":50.5160484,"mpcc_enc_sign":1,"mpcc_id_a":-0.270852745,"mpcc_iq_a":-0.469606757,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.84891748,"mpcc_pred_id_a":-0.636600018,"mpcc_pred_iq_a":-3.79353666,"mpcc_state":1,"mpcc_theta_e":0.434664726,"mpcc_theta_mech":0.553878903,"sam_rpm":-7.51448154,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283680409,"thr_a_norm":0.0283680409,"thr_a_v":0.613472164,"thr_b":0.00456282496,"thr_b_norm":0.00456282496,"thr_b_v":0.5182513,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.079762,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.02359605,"cg_iw_a":-1.39307237,"cg_theta_rad":0.556208968,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0016774477,"mpcc_du":50.028965,"mpcc_dv":49.108387,"mpcc_dw":50.891613,"mpcc_enc_sign":1,"mpcc_id_a":-0.327258766,"mpcc_iq_a":-1.92545784,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.31830597,"mpcc_pred_id_a":-0.372208357,"mpcc_pred_iq_a":-1.9301939,"mpcc_state":1,"mpcc_theta_e":0.444227219,"mpcc_theta_mech":0.555791318,"sam_rpm":2.40245557,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0304955393,"thr_a_norm":0.0283680409,"thr_a_v":0.621982157,"thr_b":0,"thr_b_norm":0.00456282496,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.09087,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.878620625,"cg_iw_a":-2.04546165,"cg_theta_rad":0.556427419,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.00748265767,"mpcc_du":49.29216,"mpcc_dv":50.70784,"mpcc_dw":50.1474228,"mpcc_enc_sign":1,"mpcc_id_a":1.66086459,"mpcc_iq_a":-0.955751836,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.81751633,"mpcc_pred_id_a":0.220094487,"mpcc_pred_iq_a":-4.21311903,"mpcc_state":1,"mpcc_theta_e":0.436831951,"mpcc_theta_mech":0.554312348,"sam_rpm":12.5224428,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0304955393,"thr_a_norm":0.0304955393,"thr_a_v":0.621982157,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.100971,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.89344811,"cg_iw_a":1.36145902,"cg_theta_rad":0.556188464,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.00241853669,"mpcc_du":51.1452789,"mpcc_dv":47.6575394,"mpcc_dw":52.3424606,"mpcc_enc_sign":1,"mpcc_id_a":0.00612386269,"mpcc_iq_a":-1.60994661,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.2809105,"mpcc_pred_id_a":-0.389504611,"mpcc_pred_iq_a":0.236111134,"mpcc_state":1,"mpcc_theta_e":0.430176735,"mpcc_theta_mech":0.552981257,"sam_rpm":-23.2152596,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244529694,"thr_a_norm":0.0244529694,"thr_a_v":0.597811878,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.112965,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.45852208,"cg_iw_a":0.709069967,"cg_theta_rad":0.554398537,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0109853009,"mpcc_du":49.4919357,"mpcc_dv":49.4678497,"mpcc_dw":50.5321503,"mpcc_enc_sign":1,"mpcc_id_a":2.07765222,"mpcc_iq_a":-0.399418831,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.22535229,"mpcc_pred_id_a":0.259670764,"mpcc_pred_iq_a":-3.70696783,"mpcc_state":1,"mpcc_theta_e":0.431566238,"mpcc_theta_mech":0.553259134,"sam_rpm":-15.3689547,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205127001,"thr_a_norm":0.0244529694,"thr_a_v":0.5820508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.136189,"values":{"cg_iu_a":3.43149567,"cg_iv_a":0.788595676,"cg_iw_a":-0.378245354,"cg_theta_rad":0.555784762,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0382298902,"mpcc_du":50.988781,"mpcc_dv":47.6855965,"mpcc_dw":52.3144035,"mpcc_enc_sign":1,"mpcc_id_a":2.0743928,"mpcc_iq_a":-0.416014016,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.95779896,"mpcc_pred_id_a":0.154177919,"mpcc_pred_iq_a":0.581030428,"mpcc_state":1,"mpcc_theta_e":0.439559937,"mpcc_theta_mech":0.55485791,"sam_rpm":-11.284338,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205127001,"thr_a_norm":0.0205127001,"thr_a_v":0.5820508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.142689,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-2.0384233,"cg_iw_a":-0.885658979,"cg_theta_rad":0.555639982,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.00827455241,"mpcc_du":50.292572,"mpcc_dv":49.239399,"mpcc_dw":50.760601,"mpcc_enc_sign":1,"mpcc_id_a":-0.693077922,"mpcc_iq_a":-0.499406338,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.42819643,"mpcc_pred_id_a":-0.589782894,"mpcc_pred_iq_a":0.349137187,"mpcc_state":1,"mpcc_theta_e":0.44534111,"mpcc_theta_mech":0.555247366,"sam_rpm":6.72977448,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193041861,"thr_a_norm":0.0193041861,"thr_a_v":0.577216744,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462055355,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.14922,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.96593571,"cg_iw_a":0.564094543,"cg_theta_rad":0.558043361,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0188599974,"mpcc_du":50.4180565,"mpcc_dv":48.539772,"mpcc_dw":51.460228,"mpcc_enc_sign":1,"mpcc_id_a":0.691692591,"mpcc_iq_a":-0.460332602,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.60809755,"mpcc_pred_id_a":-0.237667248,"mpcc_pred_iq_a":-1.59308684,"mpcc_state":1,"mpcc_theta_e":0.440460682,"mpcc_theta_mech":0.55750823,"sam_rpm":-7.71941233,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193041861,"thr_a_norm":0.0193041861,"thr_a_v":0.577216744,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462055355,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.156178,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.45852208,"cg_iw_a":-0.595708132,"cg_theta_rad":0.557547808,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0249162409,"mpcc_du":49.5266914,"mpcc_dv":49.8028984,"mpcc_dw":50.9971848,"mpcc_enc_sign":1,"mpcc_id_a":2.29711175,"mpcc_iq_a":-0.630100548,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.41384459,"mpcc_pred_id_a":0.146252364,"mpcc_pred_iq_a":-4.32010269,"mpcc_state":1,"mpcc_theta_e":0.446064949,"mpcc_theta_mech":0.55609405,"sam_rpm":3.69930553,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10109292,"thr_a_norm":0.10109292,"thr_a_v":0.904371679,"thr_b":0.0399496406,"thr_b_norm":0.0399496406,"thr_b_v":0.659798563,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.166615,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.53100967,"cg_iw_a":-2.19043684,"cg_theta_rad":0.553373635,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.00659690285,"mpcc_du":49.7884445,"mpcc_dv":49.2113037,"mpcc_dw":50.7886963,"mpcc_enc_sign":1,"mpcc_id_a":0.577361286,"mpcc_iq_a":-1.55982864,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.6549986,"mpcc_pred_id_a":0.0696171224,"mpcc_pred_iq_a":0.0835361779,"mpcc_state":1,"mpcc_theta_e":0.437957287,"mpcc_theta_mech":0.554537356,"sam_rpm":0.610426426,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218093395,"thr_a_norm":0.10109292,"thr_a_v":0.587237358,"thr_b":0,"thr_b_norm":0.0399496406,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.17757,"values":{"cg_iu_a":3.72144651,"cg_iv_a":0.933570862,"cg_iw_a":-4.65501738,"cg_theta_rad":0.555973232,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0197295751,"mpcc_du":49.705368,"mpcc_dv":49.2957611,"mpcc_dw":50.7042389,"mpcc_enc_sign":1,"mpcc_id_a":2.53784943,"mpcc_iq_a":-1.98218095,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.51267147,"mpcc_pred_id_a":0.130813822,"mpcc_pred_iq_a":-5.35733652,"mpcc_state":1,"mpcc_theta_e":0.441595554,"mpcc_theta_mech":0.555265009,"sam_rpm":-10.2550774,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218093395,"thr_a_norm":0.0218093395,"thr_a_v":0.587237358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.18697,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.878620625,"cg_iw_a":-0.523220539,"cg_theta_rad":0.559616089,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0180794392,"mpcc_du":49.4213104,"mpcc_dv":49.5690117,"mpcc_dw":50.5786896,"mpcc_enc_sign":1,"mpcc_id_a":2.677315,"mpcc_iq_a":-0.47378394,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.2296925,"mpcc_pred_id_a":0.455335528,"mpcc_pred_iq_a":2.11589813,"mpcc_state":1,"mpcc_theta_e":0.42553091,"mpcc_theta_mech":0.556698024,"sam_rpm":-20.1843185,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025220871,"thr_a_norm":0.025220871,"thr_a_v":0.600883484,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495490968,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.198963,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-0.226231575,"cg_iw_a":-3.20526409,"cg_theta_rad":0.552816093,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0965249911,"mpcc_du":51.0027199,"mpcc_dv":47.7216835,"mpcc_dw":52.2783165,"mpcc_enc_sign":1,"mpcc_id_a":1.84031487,"mpcc_iq_a":-0.746554971,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.07339144,"mpcc_pred_id_a":0.208712384,"mpcc_pred_iq_a":0.631343007,"mpcc_state":1,"mpcc_theta_e":0.450694084,"mpcc_theta_mech":0.557084739,"sam_rpm":8.60449696,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.107362092,"thr_a_norm":0.025220871,"thr_a_v":0.929448366,"thr_b":0.0421652496,"thr_b_norm":0,"thr_b_v":0.668660998,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.208942,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.371207237,"cg_iw_a":-2.26292467,"cg_theta_rad":0.557095766,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0148107065,"mpcc_du":49.8570862,"mpcc_dv":48.9223289,"mpcc_dw":51.0776711,"mpcc_enc_sign":1,"mpcc_id_a":2.43220711,"mpcc_iq_a":-0.156597584,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.23259115,"mpcc_pred_id_a":0.490236312,"mpcc_pred_iq_a":0.193216324,"mpcc_state":1,"mpcc_theta_e":0.434993744,"mpcc_theta_mech":0.553944707,"sam_rpm":-3.91564989,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.107362092,"thr_a_norm":0.107362092,"thr_a_v":0.929448366,"thr_b":0.0421652496,"thr_b_norm":0.0421652496,"thr_b_v":0.668660998,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.23238,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.588670254,"cg_iw_a":-1.24809694,"cg_theta_rad":0.551562011,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0135268616,"mpcc_du":49.4862556,"mpcc_dv":49.8049889,"mpcc_dw":50.5137444,"mpcc_enc_sign":1,"mpcc_id_a":1.97952616,"mpcc_iq_a":-0.273493826,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.68398285,"mpcc_pred_id_a":0.277046442,"mpcc_pred_iq_a":-3.04971147,"mpcc_state":1,"mpcc_theta_e":0.436992168,"mpcc_theta_mech":0.554344356,"sam_rpm":9.63476276,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162073672,"thr_a_norm":0.0162073672,"thr_a_v":0.564829469,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460796505,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.23888,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-2.25588632,"cg_iw_a":-0.740683317,"cg_theta_rad":0.557349384,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0344707072,"mpcc_du":50.0481873,"mpcc_dv":48.6958427,"mpcc_dw":51.3041573,"mpcc_enc_sign":1,"mpcc_id_a":-0.341592371,"mpcc_iq_a":-2.43282294,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.9648447,"mpcc_pred_id_a":0.41755116,"mpcc_pred_iq_a":0.117888749,"mpcc_state":1,"mpcc_theta_e":0.449505806,"mpcc_theta_mech":0.556847095,"sam_rpm":-3.60168457,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162073672,"thr_a_norm":0.0162073672,"thr_a_v":0.564829469,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460796505,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.24538,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-2.18339872,"cg_iw_a":-2.33541226,"cg_theta_rad":0.557389379,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0367324725,"mpcc_du":50.3110352,"mpcc_dv":48.2551537,"mpcc_dw":51.7448463,"mpcc_enc_sign":1,"mpcc_id_a":3.66929126,"mpcc_iq_a":0.121706098,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.8891134,"mpcc_pred_id_a":0.573724568,"mpcc_pred_iq_a":-0.276457936,"mpcc_state":1,"mpcc_theta_e":0.428781509,"mpcc_theta_mech":0.555913925,"sam_rpm":-19.2564621,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183978081,"thr_a_norm":0.0183978081,"thr_a_v":0.573591232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471673131,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.251972,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.951108456,"cg_iw_a":0.346631527,"cg_theta_rad":0.555433393,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.00479148328,"mpcc_du":49.4249763,"mpcc_dv":50.5750237,"mpcc_dw":50.0351295,"mpcc_enc_sign":1,"mpcc_id_a":0.0576296784,"mpcc_iq_a":-0.949541807,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.46132112,"mpcc_pred_id_a":-0.738300622,"mpcc_pred_iq_a":-6.48249102,"mpcc_state":1,"mpcc_theta_e":0.44349432,"mpcc_theta_mech":0.55564481,"sam_rpm":1.91105092,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184985101,"thr_a_norm":0.0183978081,"thr_a_v":0.57399404,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461350411,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.259968,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.31354666,"cg_iw_a":0.12916851,"cg_theta_rad":0.555810988,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.00338166882,"mpcc_du":48.7475967,"mpcc_dv":51.2524033,"mpcc_dw":49.1598091,"mpcc_enc_sign":1,"mpcc_id_a":0.017277211,"mpcc_iq_a":-1.02523017,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.07534981,"mpcc_pred_id_a":-0.861183763,"mpcc_pred_iq_a":-8.28381729,"mpcc_state":1,"mpcc_theta_e":0.447821617,"mpcc_theta_mech":0.55651027,"sam_rpm":9.81920147,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184985101,"thr_a_norm":0.0184985101,"thr_a_v":0.57399404,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461350411,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.269947,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.09608364,"cg_iw_a":-0.523220539,"cg_theta_rad":0.553972781,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0521314852,"mpcc_du":50.2754745,"mpcc_dv":48.6086121,"mpcc_dw":51.3913879,"mpcc_enc_sign":1,"mpcc_id_a":1.16687155,"mpcc_iq_a":-0.140210897,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.67405033,"mpcc_pred_id_a":0.0663315281,"mpcc_pred_iq_a":-1.59871364,"mpcc_state":1,"mpcc_theta_e":0.449481964,"mpcc_theta_mech":0.556842268,"sam_rpm":5.21311903,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204497576,"thr_a_norm":0.0204497576,"thr_a_v":0.58179903,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456516385,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.279774,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.733645439,"cg_iw_a":-2.19043684,"cg_theta_rad":0.554798663,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.00487406366,"mpcc_du":50.1664391,"mpcc_dv":48.7374611,"mpcc_dw":51.2625389,"mpcc_enc_sign":1,"mpcc_id_a":0.890918553,"mpcc_iq_a":-1.23887885,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.54832053,"mpcc_pred_id_a":0.00639714161,"mpcc_pred_iq_a":0.842440307,"mpcc_state":1,"mpcc_theta_e":0.434104443,"mpcc_theta_mech":0.553766847,"sam_rpm":-5.70364571,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204497576,"thr_a_norm":0.0204497576,"thr_a_v":0.58179903,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456516385,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.289967,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.11091113,"cg_iw_a":-2.91531372,"cg_theta_rad":0.552521646,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0178534724,"mpcc_du":50.2006683,"mpcc_dv":48.8252373,"mpcc_dw":51.1747627,"mpcc_enc_sign":1,"mpcc_id_a":0.572752476,"mpcc_iq_a":-1.20254815,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.10511303,"mpcc_pred_id_a":-0.205915555,"mpcc_pred_iq_a":-2.30133438,"mpcc_state":1,"mpcc_theta_e":0.450723171,"mpcc_theta_mech":0.557090521,"sam_rpm":1.02086926,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193293691,"thr_a_norm":0.0193293691,"thr_a_v":0.577317476,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462710023,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.300129,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-2.18339872,"cg_iw_a":1.21648359,"cg_theta_rad":0.556950927,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0258430149,"mpcc_du":49.8684921,"mpcc_dv":49.3518639,"mpcc_dw":50.6481361,"mpcc_enc_sign":1,"mpcc_id_a":0.312507927,"mpcc_iq_a":-2.23908973,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.69635916,"mpcc_pred_id_a":-0.399501771,"mpcc_pred_iq_a":-4.34195757,"mpcc_state":1,"mpcc_theta_e":0.450820446,"mpcc_theta_mech":0.557110012,"sam_rpm":12.0423546,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199965686,"thr_a_norm":0.0193293691,"thr_a_v":0.579986274,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487585247,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.310139,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-0.298719406,"cg_iw_a":0.12916851,"cg_theta_rad":0.557478487,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0197440814,"mpcc_du":49.6686401,"mpcc_dv":49.7197113,"mpcc_dw":50.3313599,"mpcc_enc_sign":1,"mpcc_id_a":-0.896072507,"mpcc_iq_a":-0.587958276,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.3657465,"mpcc_pred_id_a":-0.707299829,"mpcc_pred_iq_a":-4.48207998,"mpcc_state":1,"mpcc_theta_e":0.445422649,"mpcc_theta_mech":0.556030452,"sam_rpm":4.51526451,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199965686,"thr_a_norm":0.0199965686,"thr_a_v":0.579986274,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487585247,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.333546,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.24105906,"cg_iw_a":-0.160782099,"cg_theta_rad":0.55789119,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0130007798,"mpcc_du":51.1904297,"mpcc_dv":47.5511246,"mpcc_dw":52.4488754,"mpcc_enc_sign":1,"mpcc_id_a":0.457964927,"mpcc_iq_a":-0.622394323,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.7882442,"mpcc_pred_id_a":-0.172315404,"mpcc_pred_iq_a":0.986669481,"mpcc_state":1,"mpcc_theta_e":0.433296204,"mpcc_theta_mech":0.553605199,"sam_rpm":-18.9886703,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023735404,"thr_a_norm":0.023735404,"thr_a_v":0.594941616,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475399435,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.340107,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.45852208,"cg_iw_a":0.201656103,"cg_theta_rad":0.555120766,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.00189730211,"mpcc_du":50.0519485,"mpcc_dv":48.8956795,"mpcc_dw":51.1043205,"mpcc_enc_sign":1,"mpcc_id_a":0.856027186,"mpcc_iq_a":-2.48443246,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.706495702,"mpcc_pred_id_a":0.0104165962,"mpcc_pred_iq_a":-0.977097332,"mpcc_state":1,"mpcc_theta_e":0.442156792,"mpcc_theta_mech":0.555377245,"sam_rpm":1.37583816,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023735404,"thr_a_norm":0.023735404,"thr_a_v":0.594941616,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475399435,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.346577,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.89344811,"cg_iw_a":0.419119358,"cg_theta_rad":0.554079771,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0201731138,"mpcc_du":50.3703804,"mpcc_dv":48.3330383,"mpcc_dw":51.6669617,"mpcc_enc_sign":1,"mpcc_id_a":2.45638657,"mpcc_iq_a":-0.966547489,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.54854965,"mpcc_pred_id_a":0.448763311,"mpcc_pred_iq_a":-0.149673387,"mpcc_state":1,"mpcc_theta_e":0.439878464,"mpcc_theta_mech":0.554921567,"sam_rpm":-6.76042938,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234332681,"thr_a_norm":0.0234332681,"thr_a_v":0.593733072,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473888755,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.353107,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.09608364,"cg_iw_a":-0.233269691,"cg_theta_rad":0.55756712,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0312281977,"mpcc_du":50.0500679,"mpcc_dv":48.8360329,"mpcc_dw":51.1639671,"mpcc_enc_sign":1,"mpcc_id_a":2.6756649,"mpcc_iq_a":-0.683406472,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.1083746,"mpcc_pred_id_a":0.260327369,"mpcc_pred_iq_a":0.156875119,"mpcc_state":1,"mpcc_theta_e":0.449879169,"mpcc_theta_mech":0.55692178,"sam_rpm":12.200985,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0234332681,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467695117,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.36092,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.516182423,"cg_iw_a":-2.55287504,"cg_theta_rad":0.556778252,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.00279173232,"mpcc_du":49.7495422,"mpcc_dv":49.106205,"mpcc_dw":50.893795,"mpcc_enc_sign":1,"mpcc_id_a":0.311889738,"mpcc_iq_a":-2.2391758,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.81320953,"mpcc_pred_id_a":0.418953717,"mpcc_pred_iq_a":-1.36848652,"mpcc_state":1,"mpcc_theta_e":0.451096535,"mpcc_theta_mech":0.557165205,"sam_rpm":12.0604687,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467695117,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.371143,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.806133032,"cg_iw_a":-0.958146572,"cg_theta_rad":0.555536389,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0114921415,"mpcc_du":50.0817566,"mpcc_dv":49.1638451,"mpcc_dw":50.8361549,"mpcc_enc_sign":1,"mpcc_id_a":0.319687843,"mpcc_iq_a":-1.07391202,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.02502203,"mpcc_pred_id_a":-0.800767779,"mpcc_pred_iq_a":-3.48913145,"mpcc_state":1,"mpcc_theta_e":0.443347454,"mpcc_theta_mech":0.555615366,"sam_rpm":-3.06744933,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181208551,"thr_a_norm":0.0181208551,"thr_a_v":0.57248342,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447301447,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.381092,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.31354666,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556781471,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0268694106,"mpcc_du":50.0638542,"mpcc_dv":48.7896614,"mpcc_dw":51.2103386,"mpcc_enc_sign":1,"mpcc_id_a":1.99781466,"mpcc_iq_a":-1.08815742,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.06211662,"mpcc_pred_id_a":0.207877994,"mpcc_pred_iq_a":-2.72185707,"mpcc_state":1,"mpcc_theta_e":0.445316315,"mpcc_theta_mech":0.556946039,"sam_rpm":-2.78953004,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181208551,"thr_a_norm":0.0181208551,"thr_a_v":0.57248342,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447301447,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.391376,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.31354666,"cg_iw_a":-1.46555996,"cg_theta_rad":0.555435419,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.00479620462,"mpcc_du":50.3430595,"mpcc_dv":48.598484,"mpcc_dw":51.401516,"mpcc_enc_sign":1,"mpcc_id_a":0.133433908,"mpcc_iq_a":-1.30695975,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.97427845,"mpcc_pred_id_a":-0.221274823,"mpcc_pred_iq_a":-1.97293937,"mpcc_state":1,"mpcc_theta_e":0.439603806,"mpcc_theta_mech":0.554866672,"sam_rpm":-10.4831791,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.107752338,"thr_a_norm":0.107752338,"thr_a_v":0.931009352,"thr_b":0.0409189761,"thr_b_norm":0.0409189761,"thr_b_v":0.663675904,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.4016,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.878620625,"cg_iw_a":-1.75551081,"cg_theta_rad":0.556951225,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0331250019,"mpcc_du":49.6604691,"mpcc_dv":50.3395309,"mpcc_dw":50.2783127,"mpcc_enc_sign":1,"mpcc_id_a":-0.000402006088,"mpcc_iq_a":-3.79094625,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.32744598,"mpcc_pred_id_a":-0.766303003,"mpcc_pred_iq_a":-2.6496253,"mpcc_state":1,"mpcc_theta_e":0.441444874,"mpcc_theta_mech":0.555234909,"sam_rpm":5.16134787,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0127706528,"thr_a_norm":0.107752338,"thr_a_v":0.551082611,"thr_b":0,"thr_b_norm":0.0409189761,"thr_b_v":0.439496428,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.411366,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.89344811,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.552817822,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0461040251,"mpcc_du":48.7924919,"mpcc_dv":51.2075081,"mpcc_dw":49.4366646,"mpcc_enc_sign":1,"mpcc_id_a":1.54270422,"mpcc_iq_a":-2.41776109,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.275166035,"mpcc_pred_id_a":-0.0867978111,"mpcc_pred_iq_a":-5.50398016,"mpcc_state":1,"mpcc_theta_e":0.434200764,"mpcc_theta_mech":0.553786039,"sam_rpm":-1.64164019,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0127706528,"thr_a_norm":0.0127706528,"thr_a_v":0.551082611,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439496428,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.434772,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-2.61832476,"cg_iw_a":1.94136047,"cg_theta_rad":0.555066824,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.022188738,"mpcc_du":49.9181023,"mpcc_dv":48.9003258,"mpcc_dw":51.0996742,"mpcc_enc_sign":1,"mpcc_id_a":2.59779859,"mpcc_iq_a":-0.161567569,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.629636526,"mpcc_pred_id_a":0.372973293,"mpcc_pred_iq_a":-0.41526559,"mpcc_state":1,"mpcc_theta_e":0.442607403,"mpcc_theta_mech":0.555467367,"sam_rpm":1.03696656,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0301808268,"thr_a_norm":0.0301808268,"thr_a_v":0.620723307,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468651831,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.441303,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.31354666,"cg_iw_a":-1.03063393,"cg_theta_rad":0.557791948,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0295115374,"mpcc_du":50.4523888,"mpcc_dv":48.5096321,"mpcc_dw":51.4903679,"mpcc_enc_sign":1,"mpcc_id_a":1.13454127,"mpcc_iq_a":0.294001549,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.47054434,"mpcc_pred_id_a":-0.197290763,"mpcc_pred_iq_a":1.16376913,"mpcc_state":1,"mpcc_theta_e":0.449058533,"mpcc_theta_mech":0.556757629,"sam_rpm":8.57928944,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0301808268,"thr_a_norm":0.0301808268,"thr_a_v":0.620723307,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468651831,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.447803,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.68302298,"cg_theta_rad":0.553186476,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0202934407,"mpcc_du":50.0704956,"mpcc_dv":48.772438,"mpcc_dw":51.0249519,"mpcc_enc_sign":1,"mpcc_id_a":2.63313413,"mpcc_iq_a":0.430462539,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0505908914,"mpcc_pred_id_a":0.0645167083,"mpcc_pred_iq_a":-0.0630261377,"mpcc_state":1,"mpcc_theta_e":0.439851761,"mpcc_theta_mech":0.554916263,"sam_rpm":-7.44599342,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283176899,"thr_a_norm":0.0283176899,"thr_a_v":0.61327076,"thr_b":0.000521853566,"thr_b_norm":0.000521853566,"thr_b_v":0.502087414,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.454334,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.6759851,"cg_iw_a":-0.813171148,"cg_theta_rad":0.555755436,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0171177145,"mpcc_du":50.3327713,"mpcc_dv":48.3758736,"mpcc_dw":51.6241264,"mpcc_enc_sign":1,"mpcc_id_a":2.49936962,"mpcc_iq_a":-1.38810873,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.30811977,"mpcc_pred_id_a":0.427498192,"mpcc_pred_iq_a":-0.815843821,"mpcc_state":1,"mpcc_theta_e":0.435134411,"mpcc_theta_mech":0.553972781,"sam_rpm":-12.4115086,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020613417,"thr_a_norm":0.0283176899,"thr_a_v":0.582453668,"thr_b":0,"thr_b_norm":0.000521853566,"thr_b_v":0.470766753,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.461903,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-0.153744221,"cg_iw_a":0.274144173,"cg_theta_rad":0.552912951,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0309978202,"mpcc_du":50.5446701,"mpcc_dv":48.5458794,"mpcc_dw":51.4541206,"mpcc_enc_sign":1,"mpcc_id_a":-2.58996797,"mpcc_iq_a":-1.57698774,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.3049407,"mpcc_pred_id_a":-0.608420789,"mpcc_pred_iq_a":0.449271441,"mpcc_state":1,"mpcc_theta_e":0.451394558,"mpcc_theta_mech":0.55722487,"sam_rpm":11.1584768,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020613417,"thr_a_norm":0.020613417,"thr_a_v":0.582453668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470766753,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.471943,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.661157608,"cg_iw_a":-3.13277674,"cg_theta_rad":0.560490847,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0392963178,"mpcc_du":49.4992256,"mpcc_dv":50.3528557,"mpcc_dw":50.5007744,"mpcc_enc_sign":1,"mpcc_id_a":2.19502354,"mpcc_iq_a":0.14138329,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.3633575,"mpcc_pred_id_a":0.361207277,"mpcc_pred_iq_a":-2.75361204,"mpcc_state":1,"mpcc_theta_e":0.455290318,"mpcc_theta_mech":0.558003962,"sam_rpm":24.0838947,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0314648598,"thr_a_norm":0.0314648598,"thr_a_v":0.625859439,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476758987,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.481892,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.74847269,"cg_iw_a":-0.523220539,"cg_theta_rad":0.558227241,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0440931134,"mpcc_du":49.8524246,"mpcc_dv":48.8510742,"mpcc_dw":51.1489258,"mpcc_enc_sign":1,"mpcc_id_a":2.61921549,"mpcc_iq_a":-1.6334672,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.03992987,"mpcc_pred_id_a":0.662020385,"mpcc_pred_iq_a":-3.36163378,"mpcc_state":1,"mpcc_theta_e":0.450273514,"mpcc_theta_mech":0.557000577,"sam_rpm":4.00617981,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0314648598,"thr_a_norm":0.0314648598,"thr_a_v":0.625859439,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476758987,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.494312,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.96593571,"cg_iw_a":0.78155756,"cg_theta_rad":0.556433499,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0235313196,"mpcc_du":50.58358,"mpcc_dv":48.3497162,"mpcc_dw":51.6502838,"mpcc_enc_sign":1,"mpcc_id_a":0.446234554,"mpcc_iq_a":-1.2862854,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.2389307,"mpcc_pred_id_a":-0.27087456,"mpcc_pred_iq_a":0.201194853,"mpcc_state":1,"mpcc_theta_e":0.455840588,"mpcc_theta_mech":0.558113992,"sam_rpm":8.59023952,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0164843202,"thr_a_norm":0.0164843202,"thr_a_v":0.565937281,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470917821,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.504566,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.18339872,"cg_iw_a":1.07150841,"cg_theta_rad":0.556767166,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.00205724384,"mpcc_du":48.7552719,"mpcc_dv":51.2447281,"mpcc_dw":49.2943192,"mpcc_enc_sign":1,"mpcc_id_a":0.603632629,"mpcc_iq_a":-0.97956723,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.3251781,"mpcc_pred_id_a":-0.509654641,"mpcc_pred_iq_a":-4.21489096,"mpcc_state":1,"mpcc_theta_e":0.445652962,"mpcc_theta_mech":0.556076467,"sam_rpm":21.1608238,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176047087,"thr_a_norm":0.0176047087,"thr_a_v":0.570418835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.437129796,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.514301,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.09608364,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.553488076,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0175149366,"mpcc_du":48.9938812,"mpcc_dv":51.0061188,"mpcc_dw":49.6035156,"mpcc_enc_sign":1,"mpcc_id_a":-0.433982968,"mpcc_iq_a":-2.80449367,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.9661522,"mpcc_pred_id_a":-0.497670412,"mpcc_pred_iq_a":-3.55621314,"mpcc_state":1,"mpcc_theta_e":0.447370529,"mpcc_theta_mech":0.556420028,"sam_rpm":18.1488285,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176047087,"thr_a_norm":0.0176047087,"thr_a_v":0.570418835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.437129796,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.537556,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.53100967,"cg_iw_a":0.926532745,"cg_theta_rad":0.556009769,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.00240102503,"mpcc_du":49.313652,"mpcc_dv":50.686348,"mpcc_dw":49.9351273,"mpcc_enc_sign":1,"mpcc_id_a":0.788806438,"mpcc_iq_a":-1.76566768,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.14877558,"mpcc_pred_id_a":-0.567446411,"mpcc_pred_iq_a":-4.45050001,"mpcc_state":1,"mpcc_theta_e":0.446834564,"mpcc_theta_mech":0.556312799,"sam_rpm":10.1236792,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238738805,"thr_a_norm":0.0238738805,"thr_a_v":0.595495522,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473586619,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.544056,"values":{"cg_iu_a":2.99656963,"cg_iv_a":0.136206627,"cg_iw_a":-1.24809694,"cg_theta_rad":0.553072393,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.00721975882,"mpcc_du":49.3235054,"mpcc_dv":50.6764946,"mpcc_dw":49.8985214,"mpcc_enc_sign":1,"mpcc_id_a":0.0872468129,"mpcc_iq_a":-0.874588907,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.76647377,"mpcc_pred_id_a":-0.743208945,"mpcc_pred_iq_a":-5.55906296,"mpcc_state":1,"mpcc_theta_e":0.450699329,"mpcc_theta_mech":0.557085752,"sam_rpm":12.5653877,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197447985,"thr_a_norm":0.0238738805,"thr_a_v":0.578979194,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473687351,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.550648,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.02359605,"cg_iw_a":-0.595708132,"cg_theta_rad":0.55437094,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0163678061,"mpcc_du":49.4555626,"mpcc_dv":49.3721581,"mpcc_dw":50.6278419,"mpcc_enc_sign":1,"mpcc_id_a":1.58429968,"mpcc_iq_a":-1.27495193,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.46418285,"mpcc_pred_id_a":0.512052894,"mpcc_pred_iq_a":-2.41766143,"mpcc_state":1,"mpcc_theta_e":0.451320171,"mpcc_theta_mech":0.557209909,"sam_rpm":12.8393841,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197447985,"thr_a_norm":0.0197447985,"thr_a_v":0.578979194,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473687351,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.557148,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.661157608,"cg_iw_a":-1.61053562,"cg_theta_rad":0.556848347,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.00196289178,"mpcc_du":49.911129,"mpcc_dv":49.1311188,"mpcc_dw":50.8688812,"mpcc_enc_sign":1,"mpcc_id_a":0.656205535,"mpcc_iq_a":-2.06380224,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.23967171,"mpcc_pred_id_a":-0.311996132,"mpcc_pred_iq_a":-3.15233898,"mpcc_state":1,"mpcc_theta_e":0.440989971,"mpcc_theta_mech":0.555143893,"sam_rpm":-4.70598459,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254348814,"thr_a_norm":0.0254348814,"thr_a_v":0.601739526,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499267578,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.565144,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.588670254,"cg_iw_a":-1.61053514,"cg_theta_rad":0.55666697,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0027411629,"mpcc_du":50.3733673,"mpcc_dv":48.5374146,"mpcc_dw":51.4625854,"mpcc_enc_sign":1,"mpcc_id_a":0.624263108,"mpcc_iq_a":-1.41906929,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.4439564,"mpcc_pred_id_a":-0.203019828,"mpcc_pred_iq_a":-0.450364709,"mpcc_state":1,"mpcc_theta_e":0.454999447,"mpcc_theta_mech":0.557945848,"sam_rpm":-5.70074415,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254348814,"thr_a_norm":0.0254348814,"thr_a_v":0.601739526,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499267578,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.575214,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.96593571,"cg_iw_a":1.28897142,"cg_theta_rad":0.555561185,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0678017586,"mpcc_du":50.2197762,"mpcc_dv":48.4779053,"mpcc_dw":51.5220947,"mpcc_enc_sign":1,"mpcc_id_a":1.48118269,"mpcc_iq_a":0.687760592,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.1837045,"mpcc_pred_id_a":0.42644307,"mpcc_pred_iq_a":-1.10077226,"mpcc_state":1,"mpcc_theta_e":0.446172714,"mpcc_theta_mech":0.556180477,"sam_rpm":3.39964795,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275875479,"thr_a_norm":0.0275875479,"thr_a_v":0.610350192,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490254045,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.585346,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.588670254,"cg_iw_a":-0.305757046,"cg_theta_rad":0.554552317,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.00988727249,"mpcc_du":50.0535049,"mpcc_dv":48.5970345,"mpcc_dw":51.4029655,"mpcc_enc_sign":1,"mpcc_id_a":1.52690327,"mpcc_iq_a":-2.27528477,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.74315453,"mpcc_pred_id_a":0.546718359,"mpcc_pred_iq_a":-0.561935008,"mpcc_state":1,"mpcc_theta_e":0.43545723,"mpcc_theta_mech":0.555340588,"sam_rpm":-11.3267345,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243648291,"thr_a_norm":0.0275875479,"thr_a_v":0.597459316,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479024947,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.595325,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.96593571,"cg_iw_a":0.346631527,"cg_theta_rad":0.557493448,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.000120536213,"mpcc_du":49.6331482,"mpcc_dv":50.3668518,"mpcc_dw":50.2431374,"mpcc_enc_sign":1,"mpcc_id_a":-0.218939215,"mpcc_iq_a":-1.18939137,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.44410658,"mpcc_pred_id_a":-0.856894851,"mpcc_pred_iq_a":-2.89831924,"mpcc_state":1,"mpcc_theta_e":0.445137024,"mpcc_theta_mech":0.555973291,"sam_rpm":11.1656647,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243648291,"thr_a_norm":0.0243648291,"thr_a_v":0.597459316,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479024947,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.605549,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.31354666,"cg_iw_a":-0.378244877,"cg_theta_rad":0.551906765,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0296962336,"mpcc_du":49.5879898,"mpcc_dv":50.0431099,"mpcc_dw":50.4120102,"mpcc_enc_sign":1,"mpcc_id_a":0.823419631,"mpcc_iq_a":-1.84045458,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.55525398,"mpcc_pred_id_a":-0.229114428,"mpcc_pred_iq_a":-5.3177743,"mpcc_state":1,"mpcc_theta_e":0.447765827,"mpcc_theta_mech":0.556499124,"sam_rpm":16.2880459,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0404406041,"thr_a_norm":0.0404406041,"thr_a_v":0.661762416,"thr_b":0.0110711753,"thr_b_norm":0.0110711753,"thr_b_v":0.544284701,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.615101,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.02359605,"cg_iw_a":0.274143934,"cg_theta_rad":0.555267632,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.103674509,"mpcc_du":49.2925224,"mpcc_dv":48.9371109,"mpcc_dw":51.0628891,"mpcc_enc_sign":1,"mpcc_id_a":5.21054411,"mpcc_iq_a":0.21738939,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.39132786,"mpcc_pred_id_a":1.32908416,"mpcc_pred_iq_a":-2.38332677,"mpcc_state":1,"mpcc_theta_e":0.452416897,"mpcc_theta_mech":0.557429254,"sam_rpm":13.9647036,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0404406041,"thr_a_norm":0.0404406041,"thr_a_v":0.661762416,"thr_b":0.0110711753,"thr_b_norm":0.0110711753,"thr_b_v":0.544284701,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.638599,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.371207237,"cg_iw_a":-1.03063393,"cg_theta_rad":0.556711197,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0108278105,"mpcc_du":50.7976265,"mpcc_dv":47.886795,"mpcc_dw":52.113205,"mpcc_enc_sign":1,"mpcc_id_a":1.97146499,"mpcc_iq_a":-0.63110894,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.92010403,"mpcc_pred_id_a":0.0689550191,"mpcc_pred_iq_a":1.75546026,"mpcc_state":1,"mpcc_theta_e":0.433396339,"mpcc_theta_mech":0.553625166,"sam_rpm":-14.6913052,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180956721,"thr_a_norm":0.0180956721,"thr_a_v":0.572382689,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455005705,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.6451,"values":{"cg_iu_a":3.72144651,"cg_iv_a":-2.90827537,"cg_iw_a":1.72389722,"cg_theta_rad":0.55643183,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0429781638,"mpcc_du":50.1637115,"mpcc_dv":48.5658188,"mpcc_dw":51.4341812,"mpcc_enc_sign":1,"mpcc_id_a":3.08247018,"mpcc_iq_a":-0.507317305,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.33070326,"mpcc_pred_id_a":0.538120925,"mpcc_pred_iq_a":0.252044827,"mpcc_state":1,"mpcc_theta_e":0.44965744,"mpcc_theta_mech":0.556877375,"sam_rpm":8.19932461,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245536715,"thr_a_norm":0.0180956721,"thr_a_v":0.598214686,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479830623,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.651569,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.806133032,"cg_iw_a":-2.11794925,"cg_theta_rad":0.554553688,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.00603626668,"mpcc_du":50.5876694,"mpcc_dv":48.164978,"mpcc_dw":51.835022,"mpcc_enc_sign":1,"mpcc_id_a":1.38139021,"mpcc_iq_a":-1.04534471,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.85741615,"mpcc_pred_id_a":0.0315933302,"mpcc_pred_iq_a":2.05296803,"mpcc_state":1,"mpcc_theta_e":0.431021214,"mpcc_theta_mech":0.553150117,"sam_rpm":-12.2685862,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245536715,"thr_a_norm":0.0245536715,"thr_a_v":0.598214686,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479830623,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.658161,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.443694592,"cg_iw_a":-1.61053562,"cg_theta_rad":0.553224623,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.00696123345,"mpcc_du":49.4742889,"mpcc_dv":50.5257111,"mpcc_dw":50.0592461,"mpcc_enc_sign":1,"mpcc_id_a":0.894067168,"mpcc_iq_a":0.136507034,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.28330719,"mpcc_pred_id_a":-0.650001585,"mpcc_pred_iq_a":-5.25870275,"mpcc_state":1,"mpcc_theta_e":0.442598343,"mpcc_theta_mech":0.555465579,"sam_rpm":1.02247405,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225646496,"thr_a_norm":0.0225646496,"thr_a_v":0.590258598,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.66634,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.18339872,"cg_iw_a":-0.81317091,"cg_theta_rad":0.551421165,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0144958552,"mpcc_du":49.520668,"mpcc_dv":50.4600563,"mpcc_dw":50.479332,"mpcc_enc_sign":1,"mpcc_id_a":2.35058331,"mpcc_iq_a":-2.01990843,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.4522104,"mpcc_pred_id_a":0.237774789,"mpcc_pred_iq_a":-1.67987716,"mpcc_state":1,"mpcc_theta_e":0.451767921,"mpcc_theta_mech":0.557299495,"sam_rpm":4.78684807,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225646496,"thr_a_norm":0.0225646496,"thr_a_v":0.590258598,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.67754,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.878620625,"cg_iw_a":-1.53804779,"cg_theta_rad":0.553006113,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.00474576931,"mpcc_du":49.4663162,"mpcc_dv":49.7641296,"mpcc_dw":50.5336838,"mpcc_enc_sign":1,"mpcc_id_a":1.37065446,"mpcc_iq_a":-0.0381804593,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.9913671,"mpcc_pred_id_a":0.458862066,"mpcc_pred_iq_a":-1.19453812,"mpcc_state":1,"mpcc_theta_e":0.43908596,"mpcc_theta_mech":0.554763138,"sam_rpm":5.109478,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48980087,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.68874,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-1.38603449,"cg_iw_a":-1.97297382,"cg_theta_rad":0.555559754,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.00664067082,"mpcc_du":49.5554886,"mpcc_dv":49.5446091,"mpcc_dw":50.4553909,"mpcc_enc_sign":1,"mpcc_id_a":1.48122358,"mpcc_iq_a":-3.01767373,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.31474638,"mpcc_pred_id_a":-0.115830526,"mpcc_pred_iq_a":-3.59361768,"mpcc_state":1,"mpcc_theta_e":0.44412899,"mpcc_theta_mech":0.555771708,"sam_rpm":-6.6589098,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0108445883,"thr_a_norm":0.0108445883,"thr_a_v":0.543378353,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.434612036,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.698627,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.16857147,"cg_iw_a":-0.015806675,"cg_theta_rad":0.553293467,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0549774095,"mpcc_du":49.8535576,"mpcc_dv":49.0261917,"mpcc_dw":50.9738083,"mpcc_enc_sign":1,"mpcc_id_a":4.50140858,"mpcc_iq_a":-0.403316289,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.55479288,"mpcc_pred_id_a":0.277501285,"mpcc_pred_iq_a":-2.3014338,"mpcc_state":1,"mpcc_theta_e":0.449905396,"mpcc_theta_mech":0.556927025,"sam_rpm":10.0463886,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0108445883,"thr_a_norm":0.0108445883,"thr_a_v":0.543378353,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.434612036,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.708942,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.38603449,"cg_iw_a":-0.958146095,"cg_theta_rad":0.553330898,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0245090351,"mpcc_du":50.5392418,"mpcc_dv":48.1254768,"mpcc_dw":51.8745232,"mpcc_enc_sign":1,"mpcc_id_a":2.00632453,"mpcc_iq_a":0.830901325,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.0613422,"mpcc_pred_id_a":0.281930596,"mpcc_pred_iq_a":-0.685406923,"mpcc_state":1,"mpcc_theta_e":0.431866169,"mpcc_theta_mech":0.553319156,"sam_rpm":-21.8171406,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202231556,"thr_a_norm":0.0202231556,"thr_a_v":0.580892622,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449617773,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.719135,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.661157608,"cg_iw_a":-0.378245354,"cg_theta_rad":0.554180205,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.00733237527,"mpcc_du":49.6221886,"mpcc_dv":50.3150444,"mpcc_dw":50.3778114,"mpcc_enc_sign":1,"mpcc_id_a":0.0669241995,"mpcc_iq_a":-2.11232567,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.71602821,"mpcc_pred_id_a":-0.422560483,"mpcc_pred_iq_a":-1.80452585,"mpcc_state":1,"mpcc_theta_e":0.443531513,"mpcc_theta_mech":0.555652201,"sam_rpm":11.2212152,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295891464,"thr_a_norm":0.0202231556,"thr_a_v":0.618356586,"thr_b":0.0052048564,"thr_b_norm":0,"thr_b_v":0.520819426,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.742359,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.6759851,"cg_iw_a":0.0566809177,"cg_theta_rad":0.555767179,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.00218667788,"mpcc_du":50.5425072,"mpcc_dv":48.6375618,"mpcc_dw":51.3624382,"mpcc_enc_sign":1,"mpcc_id_a":-0.409068733,"mpcc_iq_a":-2.07469201,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.50947762,"mpcc_pred_id_a":-1.05060601,"mpcc_pred_iq_a":-6.7836585,"mpcc_state":1,"mpcc_theta_e":0.448980808,"mpcc_theta_mech":0.556742072,"sam_rpm":-3.30412936,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295891464,"thr_a_norm":0.0295891464,"thr_a_v":0.618356586,"thr_b":0.0052048564,"thr_b_norm":0.0052048564,"thr_b_v":0.520819426,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.748859,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.96593571,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556166351,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.00041180235,"mpcc_du":50.9460258,"mpcc_dv":48.0047226,"mpcc_dw":51.9952774,"mpcc_enc_sign":1,"mpcc_id_a":-0.123244032,"mpcc_iq_a":-2.0583992,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.8493195,"mpcc_pred_id_a":-0.707508624,"mpcc_pred_iq_a":-0.698530197,"mpcc_state":1,"mpcc_theta_e":0.431764126,"mpcc_theta_mech":0.553298771,"sam_rpm":-21.543766,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.104932487,"thr_a_norm":0.104932487,"thr_a_v":0.919729948,"thr_b":0.0477672219,"thr_b_norm":0.0477672219,"thr_b_v":0.691068888,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.755421,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-2.25588632,"cg_iw_a":-1.53804779,"cg_theta_rad":0.554244816,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.00118237268,"mpcc_du":50.4654579,"mpcc_dv":48.4070396,"mpcc_dw":51.5929604,"mpcc_enc_sign":1,"mpcc_id_a":0.658781528,"mpcc_iq_a":-2.42459702,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.81633854,"mpcc_pred_id_a":-0.148384303,"mpcc_pred_iq_a":-1.22123659,"mpcc_state":1,"mpcc_theta_e":0.435064793,"mpcc_theta_mech":0.553958833,"sam_rpm":-14.3976488,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.104932487,"thr_a_norm":0.104932487,"thr_a_v":0.919729948,"thr_b":0.0477672219,"thr_b_norm":0.0477672219,"thr_b_v":0.691068888,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.762196,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.371207237,"cg_iw_a":-0.450732708,"cg_theta_rad":0.554942966,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0103630275,"mpcc_du":49.546711,"mpcc_dv":49.6281662,"mpcc_dw":50.453289,"mpcc_enc_sign":1,"mpcc_id_a":0.889405012,"mpcc_iq_a":0.652952611,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.44462681,"mpcc_pred_id_a":-0.108420245,"mpcc_pred_iq_a":-4.59938145,"mpcc_state":1,"mpcc_theta_e":0.43440485,"mpcc_theta_mech":0.553826869,"sam_rpm":-11.8760386,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.772327,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.69785023,"cg_theta_rad":0.556995749,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.00802869909,"mpcc_du":50.5739937,"mpcc_dv":48.094696,"mpcc_dw":51.905304,"mpcc_enc_sign":1,"mpcc_id_a":1.60778761,"mpcc_iq_a":-1.24520159,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.1460371,"mpcc_pred_id_a":0.289550543,"mpcc_pred_iq_a":-0.916205287,"mpcc_state":1,"mpcc_theta_e":0.432680607,"mpcc_theta_mech":0.553482056,"sam_rpm":-21.1662807,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020487532,"thr_a_norm":0.020487532,"thr_a_v":0.581950128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459789425,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.782307,"values":{"cg_iu_a":2.34418058,"cg_iv_a":0.861083508,"cg_iw_a":0.201656342,"cg_theta_rad":0.556262195,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.00298526627,"mpcc_du":49.4774399,"mpcc_dv":50.5225601,"mpcc_dw":50.3445091,"mpcc_enc_sign":1,"mpcc_id_a":1.07285345,"mpcc_iq_a":-0.501750529,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.09842873,"mpcc_pred_id_a":0.0467910171,"mpcc_pred_iq_a":-3.22855115,"mpcc_state":1,"mpcc_theta_e":0.440888405,"mpcc_theta_mech":0.555123568,"sam_rpm":7.50131416,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020487532,"thr_a_norm":0.020487532,"thr_a_v":0.581950128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459789425,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.792561,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.09608364,"cg_iw_a":-0.160782337,"cg_theta_rad":0.552855849,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0123729799,"mpcc_du":50.3184624,"mpcc_dv":48.5317497,"mpcc_dw":51.4682503,"mpcc_enc_sign":1,"mpcc_id_a":2.10446954,"mpcc_iq_a":-1.71837461,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.80597734,"mpcc_pred_id_a":0.0459680445,"mpcc_pred_iq_a":0.469378233,"mpcc_state":1,"mpcc_theta_e":0.43725872,"mpcc_theta_mech":0.556072831,"sam_rpm":-7.88950777,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454451799,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.80254,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.33541203,"cg_theta_rad":0.553148925,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.041083701,"mpcc_du":50.0015106,"mpcc_dv":48.974102,"mpcc_dw":51.025898,"mpcc_enc_sign":1,"mpcc_id_a":0.994597256,"mpcc_iq_a":-0.663481534,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.70133972,"mpcc_pred_id_a":0.0199785344,"mpcc_pred_iq_a":-2.32499313,"mpcc_state":1,"mpcc_theta_e":0.451245308,"mpcc_theta_mech":0.557195008,"sam_rpm":9.76239777,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253593475,"thr_a_norm":0.0232444406,"thr_a_v":0.60143739,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483456165,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.812336,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.153744221,"cg_iw_a":-2.98780107,"cg_theta_rad":0.556052804,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0527505837,"mpcc_du":50.0309181,"mpcc_dv":48.9673195,"mpcc_dw":51.0326805,"mpcc_enc_sign":1,"mpcc_id_a":0.989173949,"mpcc_iq_a":-0.0100697605,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.75521374,"mpcc_pred_id_a":-0.0850870758,"mpcc_pred_iq_a":-2.20010734,"mpcc_state":1,"mpcc_theta_e":0.451544285,"mpcc_theta_mech":0.557254791,"sam_rpm":9.67053509,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253593475,"thr_a_norm":0.0253593475,"thr_a_v":0.60143739,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483456165,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.82262,"values":{"cg_iu_a":2.34418058,"cg_iv_a":0.281181812,"cg_iw_a":-1.39307213,"cg_theta_rad":0.552890122,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0126079842,"mpcc_du":50.6203613,"mpcc_dv":48.347271,"mpcc_dw":51.652729,"mpcc_enc_sign":1,"mpcc_id_a":0.960313678,"mpcc_iq_a":-1.54569387,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.8272066,"mpcc_pred_id_a":-0.15375948,"mpcc_pred_iq_a":-5.75193596,"mpcc_state":1,"mpcc_theta_e":0.460122108,"mpcc_theta_mech":0.558970332,"sam_rpm":0.37687853,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453142613,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.845539,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.60349751,"cg_iw_a":-0.378245354,"cg_theta_rad":0.55823946,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.022126155,"mpcc_du":48.6816635,"mpcc_dv":51.3183365,"mpcc_dw":49.1191826,"mpcc_enc_sign":1,"mpcc_id_a":0.202251345,"mpcc_iq_a":-3.48283195,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.2940121,"mpcc_pred_id_a":-0.762293518,"mpcc_pred_iq_a":-5.94066477,"mpcc_state":1,"mpcc_theta_e":0.448282719,"mpcc_theta_mech":0.556602478,"sam_rpm":15.1289501,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453142613,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.852039,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.443694592,"cg_iw_a":-0.59570837,"cg_theta_rad":0.556831002,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.00165568711,"mpcc_du":50.1133995,"mpcc_dv":48.8380394,"mpcc_dw":51.1619606,"mpcc_enc_sign":1,"mpcc_id_a":0.673262179,"mpcc_iq_a":-1.1869539,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.72391462,"mpcc_pred_id_a":-0.130852625,"mpcc_pred_iq_a":-1.70948732,"mpcc_state":1,"mpcc_theta_e":0.436432362,"mpcc_theta_mech":0.554232419,"sam_rpm":-10.2297192,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026353851,"thr_a_norm":0.026353851,"thr_a_v":0.605415404,"thr_b":0.00227168202,"thr_b_norm":0.00227168202,"thr_b_v":0.509086728,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.85857,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.661157608,"cg_iw_a":-2.48038769,"cg_theta_rad":0.554692864,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0197155289,"mpcc_du":49.3418007,"mpcc_dv":50.6581993,"mpcc_dw":50.0173874,"mpcc_enc_sign":1,"mpcc_id_a":2.80417085,"mpcc_iq_a":-1.77371013,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.3954449,"mpcc_pred_id_a":0.432529211,"mpcc_pred_iq_a":0.15030928,"mpcc_state":1,"mpcc_theta_e":0.426036358,"mpcc_theta_mech":0.55215323,"sam_rpm":0.100480884,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026353851,"thr_a_norm":0.026353851,"thr_a_v":0.605415404,"thr_b":0.00227168202,"thr_b_norm":0.00227168202,"thr_b_v":0.509086728,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.865559,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.878620625,"cg_iw_a":-4.43755436,"cg_theta_rad":0.554531932,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.00473484816,"mpcc_du":49.6140823,"mpcc_dv":49.8564873,"mpcc_dw":50.3859177,"mpcc_enc_sign":1,"mpcc_id_a":-0.73496598,"mpcc_iq_a":-2.98000932,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.07364631,"mpcc_pred_id_a":-0.933078229,"mpcc_pred_iq_a":-3.08360791,"mpcc_state":1,"mpcc_theta_e":0.44004488,"mpcc_theta_mech":0.554954886,"sam_rpm":5.94604015,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181963891,"thr_a_norm":0.0181963891,"thr_a_v":0.572785556,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.875538,"values":{"cg_iu_a":1.18437815,"cg_iv_a":0.353669643,"cg_iw_a":-2.04546118,"cg_theta_rad":0.553654552,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.125570327,"mpcc_du":50.2312622,"mpcc_dv":48.5592308,"mpcc_dw":51.4407692,"mpcc_enc_sign":1,"mpcc_id_a":2.71618891,"mpcc_iq_a":-0.105265968,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.85695696,"mpcc_pred_id_a":0.300578535,"mpcc_pred_iq_a":-2.50754499,"mpcc_state":1,"mpcc_theta_e":0.452217102,"mpcc_theta_mech":0.557389379,"sam_rpm":1.61138177,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0431723446,"thr_a_norm":0.0181963891,"thr_a_v":0.672689378,"thr_b":0.0112977773,"thr_b_norm":0,"thr_b_v":0.545191109,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.885517,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-1.09608364,"cg_iw_a":-2.48038769,"cg_theta_rad":0.555931151,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0582549125,"mpcc_du":49.5965996,"mpcc_dv":49.3442688,"mpcc_dw":50.6557312,"mpcc_enc_sign":1,"mpcc_id_a":2.66611099,"mpcc_iq_a":-0.533235013,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.7572881,"mpcc_pred_id_a":0.192371503,"mpcc_pred_iq_a":-4.80404663,"mpcc_state":1,"mpcc_theta_e":0.44778204,"mpcc_theta_mech":0.556502283,"sam_rpm":3.83138275,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0431723446,"thr_a_norm":0.0431723446,"thr_a_v":0.672689378,"thr_b":0.0112977773,"thr_b_norm":0.0112977773,"thr_b_v":0.545191109,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.89571,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.6759851,"cg_iw_a":-2.1904366,"cg_theta_rad":0.556866586,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0192630999,"mpcc_du":49.7661247,"mpcc_dv":49.2865334,"mpcc_dw":50.7134666,"mpcc_enc_sign":1,"mpcc_id_a":0.975907207,"mpcc_iq_a":-0.368329078,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.51583385,"mpcc_pred_id_a":-0.210591525,"mpcc_pred_iq_a":-1.87961912,"mpcc_state":1,"mpcc_theta_e":0.445130825,"mpcc_theta_mech":0.55597204,"sam_rpm":9.40543747,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0159933567,"thr_a_norm":0.0159933567,"thr_a_v":0.563973427,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454401463,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.905781,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.6759851,"cg_iw_a":-2.1904366,"cg_theta_rad":0.552838802,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0675257593,"mpcc_du":49.8763733,"mpcc_dv":48.9421349,"mpcc_dw":51.0578651,"mpcc_enc_sign":1,"mpcc_id_a":2.38506889,"mpcc_iq_a":-2.69190407,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.97066164,"mpcc_pred_id_a":0.184162185,"mpcc_pred_iq_a":1.10303926,"mpcc_state":1,"mpcc_theta_e":0.427527428,"mpcc_theta_mech":0.552451372,"sam_rpm":-12.3477697,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0159933567,"thr_a_norm":0.0159933567,"thr_a_v":0.563973427,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454401463,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.915943,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.09608364,"cg_iw_a":0.854045391,"cg_theta_rad":0.556976259,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0183860529,"mpcc_du":50.5723724,"mpcc_dv":48.1093788,"mpcc_dw":51.8906212,"mpcc_enc_sign":1,"mpcc_id_a":2.24880147,"mpcc_iq_a":-1.41100347,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.9455948,"mpcc_pred_id_a":0.140188649,"mpcc_pred_iq_a":-1.16744256,"mpcc_state":1,"mpcc_theta_e":0.435450077,"mpcc_theta_mech":0.554035902,"sam_rpm":-16.2153091,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186495781,"thr_a_norm":0.0186495781,"thr_a_v":0.574598312,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460141927,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.926136,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.661157608,"cg_iw_a":0.201656342,"cg_theta_rad":0.556721807,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.00605947943,"mpcc_du":50.1933441,"mpcc_dv":48.9415779,"mpcc_dw":51.0584221,"mpcc_enc_sign":1,"mpcc_id_a":-0.0830911249,"mpcc_iq_a":-1.25215685,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.62526464,"mpcc_pred_id_a":-0.71049732,"mpcc_pred_iq_a":-2.81014299,"mpcc_state":1,"mpcc_theta_e":0.441143036,"mpcc_theta_mech":0.55517453,"sam_rpm":-6.85195398,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203112811,"thr_a_norm":0.0186495781,"thr_a_v":0.581245124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459940493,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.949146,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.16857147,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556021214,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0029836446,"mpcc_du":49.2294579,"mpcc_dv":50.7705421,"mpcc_dw":49.8101654,"mpcc_enc_sign":1,"mpcc_id_a":0.215965942,"mpcc_iq_a":-1.30008304,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.7327323,"mpcc_pred_id_a":-0.664836526,"mpcc_pred_iq_a":-5.24240589,"mpcc_state":1,"mpcc_theta_e":0.440276623,"mpcc_theta_mech":0.555001259,"sam_rpm":1.31361675,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203112811,"thr_a_norm":0.0203112811,"thr_a_v":0.581245124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459940493,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.955647,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.298719406,"cg_iw_a":-0.740683556,"cg_theta_rad":0.555294275,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.000739641138,"mpcc_du":50.3473053,"mpcc_dv":48.4933205,"mpcc_dw":51.5066795,"mpcc_enc_sign":1,"mpcc_id_a":0.298424691,"mpcc_iq_a":-1.65590763,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.54469776,"mpcc_pred_id_a":-0.0761507004,"mpcc_pred_iq_a":-1.49277282,"mpcc_state":1,"mpcc_theta_e":0.445724964,"mpcc_theta_mech":0.556090951,"sam_rpm":-14.3610134,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272980034,"thr_a_norm":0.0272980034,"thr_a_v":0.609192014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493728518,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.962177,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.371207237,"cg_iw_a":-2.6253624,"cg_theta_rad":0.553657711,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4998,"hz_app_loop":366,"hz_tim_isr":9994,"hz_vsense":366,"mpcc_cost":0.0121947099,"mpcc_du":49.6237068,"mpcc_dv":50.0107155,"mpcc_dw":50.3762932,"mpcc_enc_sign":1,"mpcc_id_a":-0.556219578,"mpcc_iq_a":-1.21403468,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.34374142,"mpcc_pred_id_a":-0.558743536,"mpcc_pred_iq_a":-4.65706682,"mpcc_state":1,"mpcc_theta_e":0.448021412,"mpcc_theta_mech":0.556550205,"sam_rpm":8.47696209,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272980034,"thr_a_norm":0.0272980034,"thr_a_v":0.609192014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493728518,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.969532,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.96593571,"cg_iw_a":0.201656342,"cg_theta_rad":0.560324907,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.00379765942,"mpcc_du":49.4546852,"mpcc_dv":50.5453148,"mpcc_dw":50.1530457,"mpcc_enc_sign":1,"mpcc_id_a":0.165532127,"mpcc_iq_a":-1.37765634,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.2077904,"mpcc_pred_id_a":-0.436808944,"mpcc_pred_iq_a":-4.45945787,"mpcc_state":1,"mpcc_theta_e":0.450998306,"mpcc_theta_mech":0.555014312,"sam_rpm":15.1935253,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262909085,"thr_a_norm":0.0262909085,"thr_a_v":0.605163634,"thr_b":0.00157929957,"thr_b_norm":0.00157929957,"thr_b_v":0.506317198,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.979939,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.153744221,"cg_iw_a":-0.595707893,"cg_theta_rad":0.555570126,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0508792102,"mpcc_du":49.555706,"mpcc_dv":49.7885246,"mpcc_dw":50.444294,"mpcc_enc_sign":1,"mpcc_id_a":2.45547342,"mpcc_iq_a":-0.0042891507,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":22.6055145,"mpcc_pred_id_a":-0.095037058,"mpcc_pred_iq_a":-4.75107002,"mpcc_state":1,"mpcc_theta_e":0.462691784,"mpcc_theta_mech":0.559484243,"sam_rpm":8.14253712,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0139665753,"thr_a_norm":0.0262909085,"thr_a_v":0.555866301,"thr_b":0,"thr_b_norm":0.00157929957,"thr_b_v":0.449668139,"vdc_v":55.2955055}} +{"type":"telemetry","t":58.991718,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.153744221,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.553724945,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.130084604,"mpcc_du":49.4858551,"mpcc_dv":50.3763771,"mpcc_dw":50.5141449,"mpcc_enc_sign":1,"mpcc_id_a":3.21076584,"mpcc_iq_a":0.689203799,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.4010715,"mpcc_pred_id_a":0.484807611,"mpcc_pred_iq_a":-4.95541525,"mpcc_state":1,"mpcc_theta_e":0.464588165,"mpcc_theta_mech":0.559863567,"sam_rpm":28.5426769,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0139665753,"thr_a_norm":0.0139665753,"thr_a_v":0.555866301,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449668139,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.001789,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.951108456,"cg_iw_a":0.346631527,"cg_theta_rad":0.556043267,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0583227389,"mpcc_du":49.591217,"mpcc_dv":49.5499306,"mpcc_dw":50.4500694,"mpcc_enc_sign":1,"mpcc_id_a":2.16856313,"mpcc_iq_a":-0.558931828,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.56952,"mpcc_pred_id_a":0.395486474,"mpcc_pred_iq_a":0.412313849,"mpcc_state":1,"mpcc_theta_e":0.44208622,"mpcc_theta_mech":0.558942974,"sam_rpm":-11.4427814,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0161947757,"thr_a_norm":0.0161947757,"thr_a_v":0.564779103,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461853951,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.01189,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.74847269,"cg_iw_a":0.419119358,"cg_theta_rad":0.554283261,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0249036867,"mpcc_du":48.7811432,"mpcc_dv":51.2188568,"mpcc_dw":49.6154976,"mpcc_enc_sign":1,"mpcc_id_a":3.05083108,"mpcc_iq_a":-0.0492159575,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.98909473,"mpcc_pred_id_a":0.383998036,"mpcc_pred_iq_a":-3.78414989,"mpcc_state":1,"mpcc_theta_e":0.441670895,"mpcc_theta_mech":0.555280089,"sam_rpm":13.7310505,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280785114,"thr_a_norm":0.0161947757,"thr_a_v":0.612314045,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488995194,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.021931,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.53100967,"cg_iw_a":0.78155756,"cg_theta_rad":0.555436552,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0404926948,"mpcc_du":49.5802002,"mpcc_dv":49.9753456,"mpcc_dw":50.4197998,"mpcc_enc_sign":1,"mpcc_id_a":2.87170839,"mpcc_iq_a":0.0951142833,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.2009239,"mpcc_pred_id_a":0.510086715,"mpcc_pred_iq_a":-0.632701457,"mpcc_state":1,"mpcc_theta_e":0.436955929,"mpcc_theta_mech":0.556474388,"sam_rpm":-15.0284147,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280785114,"thr_a_norm":0.0280785114,"thr_a_v":0.612314045,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488995194,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.044971,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.90827537,"cg_iw_a":-1.4655602,"cg_theta_rad":0.556514502,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0601972528,"mpcc_du":49.5499992,"mpcc_dv":50.1919594,"mpcc_dw":50.4500008,"mpcc_enc_sign":1,"mpcc_id_a":2.65925384,"mpcc_iq_a":0.100547276,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.9772434,"mpcc_pred_id_a":0.0677926987,"mpcc_pred_iq_a":-4.09544611,"mpcc_state":1,"mpcc_theta_e":0.455267429,"mpcc_theta_mech":0.557999432,"sam_rpm":18.7983913,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234710425,"thr_a_norm":0.0234710425,"thr_a_v":0.59388417,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469004363,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.051594,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.371207237,"cg_iw_a":-1.82799816,"cg_theta_rad":0.555430233,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0251980461,"mpcc_du":49.6153374,"mpcc_dv":50.2690392,"mpcc_dw":50.3846626,"mpcc_enc_sign":1,"mpcc_id_a":1.92927074,"mpcc_iq_a":-0.225457549,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.50754786,"mpcc_pred_id_a":-0.29300651,"mpcc_pred_iq_a":-5.09465981,"mpcc_state":1,"mpcc_theta_e":0.447642326,"mpcc_theta_mech":0.556474388,"sam_rpm":5.08954668,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234710425,"thr_a_norm":0.0234710425,"thr_a_v":0.59388417,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469004363,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.058094,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.60349751,"cg_iw_a":0.709070206,"cg_theta_rad":0.555500925,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.00391961774,"mpcc_du":51.4318504,"mpcc_dv":47.287529,"mpcc_dw":52.712471,"mpcc_enc_sign":1,"mpcc_id_a":1.25209153,"mpcc_iq_a":-0.981699228,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.9267588,"mpcc_pred_id_a":-0.31312269,"mpcc_pred_iq_a":3.8555305,"mpcc_state":1,"mpcc_theta_e":0.428563118,"mpcc_theta_mech":0.552658558,"sam_rpm":-21.1361313,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0272728354,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480737001,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.064594,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.806133032,"cg_iw_a":-2.62536263,"cg_theta_rad":0.557502687,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0197761431,"mpcc_du":49.3101311,"mpcc_dv":50.6898689,"mpcc_dw":49.907692,"mpcc_enc_sign":1,"mpcc_id_a":0.0745389089,"mpcc_iq_a":0.433020353,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.83135271,"mpcc_pred_id_a":-0.46905905,"mpcc_pred_iq_a":-5.64370728,"mpcc_state":1,"mpcc_theta_e":0.44803381,"mpcc_theta_mech":0.556552708,"sam_rpm":9.90134048,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222499371,"thr_a_norm":0.0272728354,"thr_a_v":0.588999748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476406515,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.072926,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.45852208,"cg_iw_a":-1.24809718,"cg_theta_rad":0.556911111,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.000573040277,"mpcc_du":48.4451256,"mpcc_dv":51.5548744,"mpcc_dw":48.8601379,"mpcc_enc_sign":1,"mpcc_id_a":0.0773366615,"mpcc_iq_a":-1.38399935,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.9735031,"mpcc_pred_id_a":-0.532839537,"mpcc_pred_iq_a":-6.47178602,"mpcc_state":1,"mpcc_theta_e":0.454404831,"mpcc_theta_mech":0.557826877,"sam_rpm":26.1785412,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222499371,"thr_a_norm":0.0222499371,"thr_a_v":0.588999748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476406515,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.083088,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.371207237,"cg_iw_a":-0.81317091,"cg_theta_rad":0.558165491,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0574351624,"mpcc_du":50.1173744,"mpcc_dv":48.5450058,"mpcc_dw":51.4549942,"mpcc_enc_sign":1,"mpcc_id_a":4.50208855,"mpcc_iq_a":-1.20415235,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.8745441,"mpcc_pred_id_a":0.716355205,"mpcc_pred_iq_a":-2.56327486,"mpcc_state":1,"mpcc_theta_e":0.433695316,"mpcc_theta_mech":0.553685009,"sam_rpm":-15.3673277,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201350451,"thr_a_norm":0.0201350451,"thr_a_v":0.58054018,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447100043,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.092884,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.733645439,"cg_iw_a":-2.26292419,"cg_theta_rad":0.55742389,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0206089914,"mpcc_du":49.601429,"mpcc_dv":49.4349136,"mpcc_dw":50.5650864,"mpcc_enc_sign":1,"mpcc_id_a":2.6302824,"mpcc_iq_a":-1.7773931,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.75134706,"mpcc_pred_id_a":0.133891717,"mpcc_pred_iq_a":-2.40046048,"mpcc_state":1,"mpcc_theta_e":0.450022697,"mpcc_theta_mech":0.55695045,"sam_rpm":10.0346651,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201350451,"thr_a_norm":0.0201350451,"thr_a_v":0.58054018,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447100043,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.103107,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-2.61832476,"cg_iw_a":-0.305757523,"cg_theta_rad":0.55246079,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0100918496,"mpcc_du":49.8467903,"mpcc_dv":49.0741501,"mpcc_dw":50.9258499,"mpcc_enc_sign":1,"mpcc_id_a":1.66150177,"mpcc_iq_a":-2.13139653,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.926196456,"mpcc_pred_id_a":0.221492082,"mpcc_pred_iq_a":-2.48616958,"mpcc_state":1,"mpcc_theta_e":0.444588661,"mpcc_theta_mech":0.555863678,"sam_rpm":2.11962247,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184229761,"thr_a_norm":0.0184229761,"thr_a_v":0.573691905,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447553217,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.113209,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.24105906,"cg_iw_a":2.23131108,"cg_theta_rad":0.554520309,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.000886795111,"mpcc_du":49.6247063,"mpcc_dv":50.3752937,"mpcc_dw":51.1428108,"mpcc_enc_sign":1,"mpcc_id_a":0.448958308,"mpcc_iq_a":-1.13677001,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.23526764,"mpcc_pred_id_a":-0.464245468,"mpcc_pred_iq_a":-4.0887084,"mpcc_state":1,"mpcc_theta_e":0.444833279,"mpcc_theta_mech":0.552869201,"sam_rpm":4.95247221,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021746397,"thr_a_norm":0.0184229761,"thr_a_v":0.586985588,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471673131,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.123096,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.371207237,"cg_iw_a":1.79638505,"cg_theta_rad":0.552950919,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0132669117,"mpcc_du":49.579216,"mpcc_dv":49.638279,"mpcc_dw":50.420784,"mpcc_enc_sign":1,"mpcc_id_a":0.164194912,"mpcc_iq_a":-1.95915449,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.5272741,"mpcc_pred_id_a":-0.183125436,"mpcc_pred_iq_a":-3.83614302,"mpcc_state":1,"mpcc_theta_e":0.430556774,"mpcc_theta_mech":0.553057253,"sam_rpm":-17.345438,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021746397,"thr_a_norm":0.021746397,"thr_a_v":0.586985588,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471673131,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.146137,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.878620625,"cg_iw_a":-1.97297382,"cg_theta_rad":0.556379557,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0200815946,"mpcc_du":49.9137878,"mpcc_dv":49.1590614,"mpcc_dw":50.8409386,"mpcc_enc_sign":1,"mpcc_id_a":1.66693389,"mpcc_iq_a":-0.60283798,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.64362669,"mpcc_pred_id_a":-0.0365496241,"mpcc_pred_iq_a":-2.46063137,"mpcc_state":1,"mpcc_theta_e":0.443894386,"mpcc_theta_mech":0.5557248,"sam_rpm":1.37197733,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260895044,"thr_a_norm":0.0260895044,"thr_a_v":0.604358017,"thr_b":0.00118906796,"thr_b_norm":0.00118906796,"thr_b_v":0.504756272,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.152637,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-3.70563984,"cg_iw_a":3.10116291,"cg_theta_rad":0.558870614,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0136371087,"mpcc_du":49.2660332,"mpcc_dv":47.4798927,"mpcc_dw":52.5201073,"mpcc_enc_sign":1,"mpcc_id_a":2.13754606,"mpcc_iq_a":-1.96166766,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.54123592,"mpcc_pred_id_a":0.11035037,"mpcc_pred_iq_a":-5.78908491,"mpcc_state":1,"mpcc_theta_e":0.451319695,"mpcc_theta_mech":0.557209849,"sam_rpm":12.7914724,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260895044,"thr_a_norm":0.0260895044,"thr_a_v":0.604358017,"thr_b":0.00118906796,"thr_b_norm":0.00118906796,"thr_b_v":0.504756272,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.159138,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.31354666,"cg_iw_a":0.0566806793,"cg_theta_rad":0.554819167,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0430076569,"mpcc_du":49.9839211,"mpcc_dv":48.8953362,"mpcc_dw":51.1046638,"mpcc_enc_sign":1,"mpcc_id_a":2.33755422,"mpcc_iq_a":0.466253191,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.23962235,"mpcc_pred_id_a":0.29288128,"mpcc_pred_iq_a":-1.26133192,"mpcc_state":1,"mpcc_theta_e":0.444961071,"mpcc_theta_mech":0.555938125,"sam_rpm":3.64709783,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0300549269,"thr_a_norm":0.0300549269,"thr_a_v":0.620219707,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475600839,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.165699,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.733645439,"cg_iw_a":-1.61053514,"cg_theta_rad":0.554881632,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.00410187291,"mpcc_du":50.4875183,"mpcc_dv":48.4192352,"mpcc_dw":51.5807648,"mpcc_enc_sign":1,"mpcc_id_a":0.524562001,"mpcc_iq_a":-0.474571973,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.239766791,"mpcc_pred_id_a":-0.0706015229,"mpcc_pred_iq_a":1.58195019,"mpcc_state":1,"mpcc_theta_e":0.441104412,"mpcc_theta_mech":0.555166841,"sam_rpm":-0.400112808,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297402143,"thr_a_norm":0.0300549269,"thr_a_v":0.618960857,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.173725,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.878620625,"cg_iw_a":-0.378245354,"cg_theta_rad":0.553626716,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0046090167,"mpcc_du":49.4156914,"mpcc_dv":50.5843086,"mpcc_dw":50.0564346,"mpcc_enc_sign":1,"mpcc_id_a":0.840536416,"mpcc_iq_a":-2.78551435,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.5096893,"mpcc_pred_id_a":-0.437763453,"mpcc_pred_iq_a":-5.05359983,"mpcc_state":1,"mpcc_theta_e":0.456216335,"mpcc_theta_mech":0.558189154,"sam_rpm":20.7036152,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297402143,"thr_a_norm":0.0297402143,"thr_a_v":0.618960857,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.184101,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.53100967,"cg_iw_a":-1.17560959,"cg_theta_rad":0.553701699,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0217893999,"mpcc_du":50.3295212,"mpcc_dv":48.5207024,"mpcc_dw":51.4792976,"mpcc_enc_sign":1,"mpcc_id_a":0.584097743,"mpcc_iq_a":-0.178675517,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.16187489,"mpcc_pred_id_a":0.108239591,"mpcc_pred_iq_a":-0.40791285,"mpcc_state":1,"mpcc_theta_e":0.441045284,"mpcc_theta_mech":0.555154979,"sam_rpm":-0.689691186,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243018866,"thr_a_norm":0.0243018866,"thr_a_v":0.597207546,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487887353,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.193897,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.60349751,"cg_iw_a":-1.39307213,"cg_theta_rad":0.556674004,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0661718026,"mpcc_du":49.6000404,"mpcc_dv":49.5326347,"mpcc_dw":50.4673653,"mpcc_enc_sign":1,"mpcc_id_a":1.80772269,"mpcc_iq_a":-0.318013549,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.89997816,"mpcc_pred_id_a":-0.147661209,"mpcc_pred_iq_a":-5.07765532,"mpcc_state":1,"mpcc_theta_e":0.453586102,"mpcc_theta_mech":0.557663143,"sam_rpm":10.3715487,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243018866,"thr_a_norm":0.0243018866,"thr_a_v":0.597207546,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487887353,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.204121,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.31354666,"cg_iw_a":0.564094543,"cg_theta_rad":0.556312799,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0270317998,"mpcc_du":49.5382004,"mpcc_dv":49.4063644,"mpcc_dw":50.5936356,"mpcc_enc_sign":1,"mpcc_id_a":2.94250917,"mpcc_iq_a":-0.788358271,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.5511508,"mpcc_pred_id_a":0.317261279,"mpcc_pred_iq_a":-2.61175799,"mpcc_state":1,"mpcc_theta_e":0.442689419,"mpcc_theta_mech":0.555483758,"sam_rpm":4.06063843,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261524469,"thr_a_norm":0.0261524469,"thr_a_v":0.604609787,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497756898,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.214283,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-0.661157608,"cg_iw_a":-1.32058477,"cg_theta_rad":0.55722487,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0342722684,"mpcc_du":49.9716339,"mpcc_dv":48.6834335,"mpcc_dw":51.3165665,"mpcc_enc_sign":1,"mpcc_id_a":3.06267738,"mpcc_iq_a":-0.193991095,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.44234252,"mpcc_pred_id_a":0.765744209,"mpcc_pred_iq_a":0.231083006,"mpcc_state":1,"mpcc_theta_e":0.441764355,"mpcc_theta_mech":0.555298805,"sam_rpm":4.25954247,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024062708,"thr_a_norm":0.0261524469,"thr_a_v":0.596250832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462055355,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.224293,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.60349751,"cg_iw_a":-1.03063393,"cg_theta_rad":0.555318892,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0254938137,"mpcc_du":50.1464005,"mpcc_dv":48.6846733,"mpcc_dw":51.3153267,"mpcc_enc_sign":1,"mpcc_id_a":3.03973603,"mpcc_iq_a":-0.406793922,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.364124238,"mpcc_pred_id_a":0.51515013,"mpcc_pred_iq_a":-3.35642695,"mpcc_state":1,"mpcc_theta_e":0.439344883,"mpcc_theta_mech":0.554814875,"sam_rpm":-11.9454508,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024062708,"thr_a_norm":0.024062708,"thr_a_v":0.596250832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462055355,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.247486,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.24105906,"cg_iw_a":-1.24809694,"cg_theta_rad":0.55641669,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0368338004,"mpcc_du":49.0079384,"mpcc_dv":50.9920616,"mpcc_dw":49.7451744,"mpcc_enc_sign":1,"mpcc_id_a":2.0364275,"mpcc_iq_a":-0.68125695,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.6908646,"mpcc_pred_id_a":-0.116074696,"mpcc_pred_iq_a":-6.1970892,"mpcc_state":1,"mpcc_theta_e":0.461595058,"mpcc_theta_mech":0.559264898,"sam_rpm":26.0745525,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.021620512,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484614313,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.254017,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-2.25588632,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.555993617,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0407375507,"mpcc_du":49.6491394,"mpcc_dv":49.2299919,"mpcc_dw":50.7700081,"mpcc_enc_sign":1,"mpcc_id_a":2.71691728,"mpcc_iq_a":-0.0844067857,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.7490598,"mpcc_pred_id_a":0.355290025,"mpcc_pred_iq_a":-3.09203815,"mpcc_state":1,"mpcc_theta_e":0.444538593,"mpcc_theta_mech":0.555853605,"sam_rpm":2.85187888,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.021620512,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484614313,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.260578,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.443694592,"cg_iw_a":-1.17560959,"cg_theta_rad":0.553346038,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.00195176445,"mpcc_du":50.4593773,"mpcc_dv":48.4167175,"mpcc_dw":51.5832825,"mpcc_enc_sign":1,"mpcc_id_a":0.86746192,"mpcc_iq_a":-0.947845221,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.3761902,"mpcc_pred_id_a":-0.167621985,"mpcc_pred_iq_a":-0.380388886,"mpcc_state":1,"mpcc_theta_e":0.43151474,"mpcc_theta_mech":0.553248882,"sam_rpm":-15.620059,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206260085,"thr_a_norm":0.0206260085,"thr_a_v":0.582504034,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460595101,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.267048,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.951108456,"cg_iw_a":-1.75551081,"cg_theta_rad":0.555694818,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0764761716,"mpcc_du":50.1662369,"mpcc_dv":48.3712769,"mpcc_dw":51.6287231,"mpcc_enc_sign":1,"mpcc_id_a":4.56105423,"mpcc_iq_a":-0.602926075,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.7505641,"mpcc_pred_id_a":0.98371017,"mpcc_pred_iq_a":-0.282787174,"mpcc_state":1,"mpcc_theta_e":0.446795464,"mpcc_theta_mech":0.556304991,"sam_rpm":3.6385653,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023458451,"thr_a_norm":0.0206260085,"thr_a_v":0.593833804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461048275,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.274891,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.806133032,"cg_iw_a":-1.17560959,"cg_theta_rad":0.555236697,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.00581929041,"mpcc_du":49.5002403,"mpcc_dv":50.4997597,"mpcc_dw":50.2265167,"mpcc_enc_sign":1,"mpcc_id_a":0.657545567,"mpcc_iq_a":-1.19573212,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.50479889,"mpcc_pred_id_a":-0.376149535,"mpcc_pred_iq_a":-4.68242311,"mpcc_state":1,"mpcc_theta_e":0.449624538,"mpcc_theta_mech":0.556870818,"sam_rpm":12.4472208,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023458451,"thr_a_norm":0.023458451,"thr_a_v":0.593833804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461048275,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.285114,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-0.371207237,"cg_iw_a":0.564094543,"cg_theta_rad":0.555413783,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.00631452212,"mpcc_du":50.5209694,"mpcc_dv":48.441864,"mpcc_dw":51.558136,"mpcc_enc_sign":1,"mpcc_id_a":0.425948769,"mpcc_iq_a":-2.37419295,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.15162611,"mpcc_pred_id_a":-0.37217629,"mpcc_pred_iq_a":-2.42227125,"mpcc_state":1,"mpcc_theta_e":0.44264698,"mpcc_theta_mech":0.555475354,"sam_rpm":-9.07174969,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235088021,"thr_a_norm":0.0235088021,"thr_a_v":0.594035208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.29491,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.45852208,"cg_iw_a":0.636582136,"cg_theta_rad":0.552831113,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0297078583,"mpcc_du":50.2119789,"mpcc_dv":48.7270966,"mpcc_dw":51.2729034,"mpcc_enc_sign":1,"mpcc_id_a":-0.185820252,"mpcc_iq_a":-2.06804681,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.778883,"mpcc_pred_id_a":-0.265803367,"mpcc_pred_iq_a":-0.624746203,"mpcc_state":1,"mpcc_theta_e":0.421714783,"mpcc_theta_mech":0.551288843,"sam_rpm":-25.861578,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235088021,"thr_a_norm":0.0235088021,"thr_a_v":0.594035208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.307301,"values":{"cg_iu_a":1.18437815,"cg_iv_a":0.208694458,"cg_iw_a":-2.40789962,"cg_theta_rad":0.553498805,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.00846164767,"mpcc_du":50.1517143,"mpcc_dv":48.975647,"mpcc_dw":51.024353,"mpcc_enc_sign":1,"mpcc_id_a":-1.47574198,"mpcc_iq_a":-0.149935573,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.99415541,"mpcc_pred_id_a":-0.758704543,"mpcc_pred_iq_a":-1.43818438,"mpcc_state":1,"mpcc_theta_e":0.428257465,"mpcc_theta_mech":0.552597404,"sam_rpm":-8.80595684,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0307850689,"thr_a_norm":0.0307850689,"thr_a_v":0.623140275,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482751191,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.317799,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.24105906,"cg_iw_a":-1.17560935,"cg_theta_rad":0.551618099,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.00410208898,"mpcc_du":49.95718,"mpcc_dv":48.9873734,"mpcc_dw":51.0126266,"mpcc_enc_sign":1,"mpcc_id_a":3.37010169,"mpcc_iq_a":-0.406552076,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.00750971,"mpcc_pred_id_a":0.913105547,"mpcc_pred_iq_a":-2.61919761,"mpcc_state":1,"mpcc_theta_e":0.447629452,"mpcc_theta_mech":0.556471825,"sam_rpm":-0.0452171303,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172018856,"thr_a_norm":0.0307850689,"thr_a_v":0.568807542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.432849586,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.327808,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.951108456,"cg_iw_a":0.709070206,"cg_theta_rad":0.551209688,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.00108683389,"mpcc_du":50.3103447,"mpcc_dv":48.6187363,"mpcc_dw":51.3812637,"mpcc_enc_sign":1,"mpcc_id_a":0.476592898,"mpcc_iq_a":-1.78571641,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.42118168,"mpcc_pred_id_a":-0.235868752,"mpcc_pred_iq_a":-1.0770601,"mpcc_state":1,"mpcc_theta_e":0.434753895,"mpcc_theta_mech":0.553896666,"sam_rpm":-13.3871737,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172018856,"thr_a_norm":0.0172018856,"thr_a_v":0.568807542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.432849586,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.35091,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.02359605,"cg_iw_a":-0.595708132,"cg_theta_rad":0.555599332,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.00650755223,"mpcc_du":51.3547173,"mpcc_dv":47.1247978,"mpcc_dw":52.8752022,"mpcc_enc_sign":1,"mpcc_id_a":1.02969182,"mpcc_iq_a":-0.422069848,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.6548681,"mpcc_pred_id_a":0.206336454,"mpcc_pred_iq_a":3.37312937,"mpcc_state":1,"mpcc_theta_e":0.430281162,"mpcc_theta_mech":0.553002179,"sam_rpm":-21.4984283,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467241913,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.357471,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.90827537,"cg_iw_a":1.72389722,"cg_theta_rad":0.558946967,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0136507144,"mpcc_du":49.0932236,"mpcc_dv":50.9067764,"mpcc_dw":49.6457062,"mpcc_enc_sign":1,"mpcc_id_a":1.80492473,"mpcc_iq_a":-1.51388133,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.1080112,"mpcc_pred_id_a":0.284501642,"mpcc_pred_iq_a":-1.6162926,"mpcc_state":1,"mpcc_theta_e":0.42997694,"mpcc_theta_mech":0.552941322,"sam_rpm":21.3099174,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467241913,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.364002,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.53100967,"cg_iw_a":-0.378244877,"cg_theta_rad":0.55551827,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.00817315839,"mpcc_du":50.2453804,"mpcc_dv":48.815609,"mpcc_dw":51.184391,"mpcc_enc_sign":1,"mpcc_id_a":-0.0299397577,"mpcc_iq_a":-1.4653163,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.666661799,"mpcc_pred_id_a":-0.478392988,"mpcc_pred_iq_a":-1.57012665,"mpcc_state":1,"mpcc_theta_e":0.445557117,"mpcc_theta_mech":0.556057334,"sam_rpm":1.72769797,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256992429,"thr_a_norm":0.0256992429,"thr_a_v":0.602796972,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4895491,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.370472,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.878620625,"cg_iw_a":-0.81317091,"cg_theta_rad":0.553818345,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0279312991,"mpcc_du":49.4675179,"mpcc_dv":49.5202599,"mpcc_dw":50.5324821,"mpcc_enc_sign":1,"mpcc_id_a":2.05385494,"mpcc_iq_a":-1.46606374,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.5302382,"mpcc_pred_id_a":0.318946183,"mpcc_pred_iq_a":-2.75183463,"mpcc_state":1,"mpcc_theta_e":0.454948425,"mpcc_theta_mech":0.557935596,"sam_rpm":19.4224815,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261776149,"thr_a_norm":0.0256992429,"thr_a_v":0.60471046,"thr_b":0.000131607056,"thr_b_norm":0,"thr_b_v":0.500526428,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.380451,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.298719406,"cg_iw_a":-2.40789986,"cg_theta_rad":0.557718158,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0457299128,"mpcc_du":49.4131622,"mpcc_dv":49.3886528,"mpcc_dw":50.6113472,"mpcc_enc_sign":1,"mpcc_id_a":3.40956831,"mpcc_iq_a":0.177664861,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.4624844,"mpcc_pred_id_a":0.620403886,"mpcc_pred_iq_a":-0.989256084,"mpcc_state":1,"mpcc_theta_e":0.447736263,"mpcc_theta_mech":0.556493163,"sam_rpm":16.5598621,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261776149,"thr_a_norm":0.0261776149,"thr_a_v":0.60471046,"thr_b":0.000131607056,"thr_b_norm":0.000131607056,"thr_b_v":0.500526428,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.390736,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.516182423,"cg_iw_a":-1.17560911,"cg_theta_rad":0.553036451,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0209741816,"mpcc_du":50.0159492,"mpcc_dv":48.8897514,"mpcc_dw":51.1102486,"mpcc_enc_sign":1,"mpcc_id_a":1.44219983,"mpcc_iq_a":-2.23087692,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.401124,"mpcc_pred_id_a":0.0359071754,"mpcc_pred_iq_a":-3.3014636,"mpcc_state":1,"mpcc_theta_e":0.451967716,"mpcc_theta_mech":0.557339489,"sam_rpm":4.12040186,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.106971845,"thr_a_norm":0.106971845,"thr_a_v":0.92788738,"thr_b":0.0527775288,"thr_b_norm":0.0527775288,"thr_b_v":0.711110115,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.401112,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.09608364,"cg_iw_a":-0.740683556,"cg_theta_rad":0.55667305,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0174129363,"mpcc_du":50.0338669,"mpcc_dv":48.7386169,"mpcc_dw":51.2613831,"mpcc_enc_sign":1,"mpcc_id_a":2.07722449,"mpcc_iq_a":-2.0998292,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.42352557,"mpcc_pred_id_a":0.332892239,"mpcc_pred_iq_a":-3.10388398,"mpcc_state":1,"mpcc_theta_e":0.445293427,"mpcc_theta_mech":0.556004584,"sam_rpm":-4.8631134,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0139791816,"thr_a_norm":0.106971845,"thr_a_v":0.555916727,"thr_b":0,"thr_b_norm":0.0527775288,"thr_b_v":0.433604956,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.410725,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.806133032,"cg_iw_a":-0.958146334,"cg_theta_rad":0.554534197,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.019003598,"mpcc_du":49.4125786,"mpcc_dv":50.5874214,"mpcc_dw":50.1727676,"mpcc_enc_sign":1,"mpcc_id_a":0.732718587,"mpcc_iq_a":0.626472831,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.6253176,"mpcc_pred_id_a":-0.324393272,"mpcc_pred_iq_a":-3.77430463,"mpcc_state":1,"mpcc_theta_e":0.450301647,"mpcc_theta_mech":0.55700624,"sam_rpm":17.2292175,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0139791816,"thr_a_norm":0.0139791816,"thr_a_v":0.555916727,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.433604956,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.422077,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.661157608,"cg_iw_a":-2.48038769,"cg_theta_rad":0.557125211,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0767285749,"mpcc_du":50.2259865,"mpcc_dv":48.2842979,"mpcc_dw":51.7157021,"mpcc_enc_sign":1,"mpcc_id_a":4.23662663,"mpcc_iq_a":-0.782594919,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.8672055,"mpcc_pred_id_a":0.964998484,"mpcc_pred_iq_a":-1.63192761,"mpcc_state":1,"mpcc_theta_e":0.449021339,"mpcc_theta_mech":0.556750178,"sam_rpm":-1.96444464,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295136124,"thr_a_norm":0.0295136124,"thr_a_v":0.61805445,"thr_b":0.00390821695,"thr_b_norm":0.00390821695,"thr_b_v":0.515632868,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.433552,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.69081235,"cg_iw_a":1.57892203,"cg_theta_rad":0.555873275,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0199177731,"mpcc_du":50.5631256,"mpcc_dv":48.1839027,"mpcc_dw":51.8160973,"mpcc_enc_sign":1,"mpcc_id_a":1.00634968,"mpcc_iq_a":-1.31235778,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.845751464,"mpcc_pred_id_a":0.140758306,"mpcc_pred_iq_a":-0.29896757,"mpcc_state":1,"mpcc_theta_e":0.446429253,"mpcc_theta_mech":0.558186889,"sam_rpm":-0.793115199,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254600644,"thr_a_norm":0.0295136124,"thr_a_v":0.601840258,"thr_b":0,"thr_b_norm":0.00390821695,"thr_b_v":0.486074626,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.456715,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.661157608,"cg_iw_a":-1.61053562,"cg_theta_rad":0.552251875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.000214482992,"mpcc_du":49.5643654,"mpcc_dv":50.1263084,"mpcc_dw":52.1576843,"mpcc_enc_sign":1,"mpcc_id_a":0.220971808,"mpcc_iq_a":-2.60908794,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.60523176,"mpcc_pred_id_a":-0.106577307,"mpcc_pred_iq_a":-4.42036772,"mpcc_state":1,"mpcc_theta_e":0.448011398,"mpcc_theta_mech":0.556548178,"sam_rpm":6.52774143,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254600644,"thr_a_norm":0.0254600644,"thr_a_v":0.601840258,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486074626,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.463245,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.16857147,"cg_iw_a":-0.305757046,"cg_theta_rad":0.555327713,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.00365527975,"mpcc_du":50.138092,"mpcc_dv":48.7030525,"mpcc_dw":51.2969475,"mpcc_enc_sign":1,"mpcc_id_a":1.18397415,"mpcc_iq_a":-1.64669287,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.0986423,"mpcc_pred_id_a":0.0824133977,"mpcc_pred_iq_a":-2.34287,"mpcc_state":1,"mpcc_theta_e":0.43162632,"mpcc_theta_mech":0.553271174,"sam_rpm":-17.9753017,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285946429,"thr_a_norm":0.0285946429,"thr_a_v":0.614378572,"thr_b":0.000547036529,"thr_b_norm":0.000547036529,"thr_b_v":0.502188146,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.469746,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.24105906,"cg_iw_a":0.274143934,"cg_theta_rad":0.555742979,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0066813617,"mpcc_du":50.148613,"mpcc_dv":48.9107704,"mpcc_dw":51.0892296,"mpcc_enc_sign":1,"mpcc_id_a":-0.100913905,"mpcc_iq_a":-1.61644936,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.213052407,"mpcc_pred_id_a":-0.405953348,"mpcc_pred_iq_a":-2.11550403,"mpcc_state":1,"mpcc_theta_e":0.444833279,"mpcc_theta_mech":0.555912614,"sam_rpm":0.777761877,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285946429,"thr_a_norm":0.0285946429,"thr_a_v":0.614378572,"thr_b":0.000547036529,"thr_b_norm":0.000547036529,"thr_b_v":0.502188146,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.476276,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.09608364,"cg_iw_a":0.564094543,"cg_theta_rad":0.55521816,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.00139322749,"mpcc_du":49.9831581,"mpcc_dv":49.0121422,"mpcc_dw":50.9878578,"mpcc_enc_sign":1,"mpcc_id_a":0.522776008,"mpcc_iq_a":-2.00252962,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.690435052,"mpcc_pred_id_a":-0.134253278,"mpcc_pred_iq_a":-2.05499268,"mpcc_state":1,"mpcc_theta_e":0.442150593,"mpcc_theta_mech":0.555375993,"sam_rpm":-0.991739333,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021796748,"thr_a_norm":0.021796748,"thr_a_v":0.587186992,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.484303,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.24105906,"cg_iw_a":-0.305757284,"cg_theta_rad":0.557031035,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0187474843,"mpcc_du":50.7654419,"mpcc_dv":47.7963066,"mpcc_dw":52.2036934,"mpcc_enc_sign":1,"mpcc_id_a":2.69166183,"mpcc_iq_a":-0.617400289,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.7297821,"mpcc_pred_id_a":0.307827532,"mpcc_pred_iq_a":0.449194223,"mpcc_state":1,"mpcc_theta_e":0.425284863,"mpcc_theta_mech":0.556370854,"sam_rpm":-26.4310303,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237857699,"thr_a_norm":0.021796748,"thr_a_v":0.59514308,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476003677,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.494312,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.77033806,"cg_theta_rad":0.556935966,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.053856045,"mpcc_du":49.5792503,"mpcc_dv":50.1353188,"mpcc_dw":50.4207497,"mpcc_enc_sign":1,"mpcc_id_a":1.07266128,"mpcc_iq_a":-0.00321685686,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.28457117,"mpcc_pred_id_a":-0.189441621,"mpcc_pred_iq_a":-6.27037811,"mpcc_state":1,"mpcc_theta_e":0.450773239,"mpcc_theta_mech":0.557100594,"sam_rpm":7.73653793,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237857699,"thr_a_norm":0.0237857699,"thr_a_v":0.59514308,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476003677,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.504536,"values":{"cg_iu_a":4.15637207,"cg_iv_a":-0.878620625,"cg_iw_a":-0.160782337,"cg_theta_rad":0.55597508,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0143284192,"mpcc_du":49.8176308,"mpcc_dv":49.0972023,"mpcc_dw":50.9027977,"mpcc_enc_sign":1,"mpcc_id_a":1.87086618,"mpcc_iq_a":0.0279899593,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.25073767,"mpcc_pred_id_a":0.0686214492,"mpcc_pred_iq_a":0.494135946,"mpcc_state":1,"mpcc_theta_e":0.426377296,"mpcc_theta_mech":0.552221417,"sam_rpm":-10.1377153,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253845304,"thr_a_norm":0.0253845304,"thr_a_v":0.601538122,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493224978,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.514301,"values":{"cg_iu_a":0.894427299,"cg_iv_a":0.281181812,"cg_iw_a":-2.26292419,"cg_theta_rad":0.553499818,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0255581047,"mpcc_du":49.6521378,"mpcc_dv":50.2260361,"mpcc_dw":51.4716377,"mpcc_enc_sign":1,"mpcc_id_a":0.13867031,"mpcc_iq_a":-0.434842378,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.63219833,"mpcc_pred_id_a":-0.490315259,"mpcc_pred_iq_a":-4.5589323,"mpcc_state":1,"mpcc_theta_e":0.45156908,"mpcc_theta_mech":0.557259738,"sam_rpm":13.9975586,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253845304,"thr_a_norm":0.0253845304,"thr_a_v":0.601538122,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493224978,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.524433,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.02359605,"cg_iw_a":-0.23326993,"cg_theta_rad":0.551843464,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0332569294,"mpcc_du":50.1568031,"mpcc_dv":48.7231293,"mpcc_dw":51.2768707,"mpcc_enc_sign":1,"mpcc_id_a":2.51027465,"mpcc_iq_a":-1.19246447,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.04072547,"mpcc_pred_id_a":0.160732761,"mpcc_pred_iq_a":-2.82645559,"mpcc_state":1,"mpcc_theta_e":0.444937706,"mpcc_theta_mech":0.555933416,"sam_rpm":-4.51137114,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020613417,"thr_a_norm":0.020613417,"thr_a_v":0.582453668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468752533,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.534748,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":-0.951108456,"cg_iw_a":2.15882301,"cg_theta_rad":0.554201007,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0117267119,"mpcc_du":50.8969612,"mpcc_dv":47.9955292,"mpcc_dw":52.0044708,"mpcc_enc_sign":1,"mpcc_id_a":0.481289148,"mpcc_iq_a":-0.912658453,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.1525688,"mpcc_pred_id_a":-0.363376886,"mpcc_pred_iq_a":-0.887392938,"mpcc_state":1,"mpcc_theta_e":0.436392784,"mpcc_theta_mech":0.554224432,"sam_rpm":-17.8999271,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163332522,"thr_a_norm":0.020613417,"thr_a_v":0.565333009,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476910055,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.557911,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.661157608,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556945384,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0211524647,"mpcc_du":50.5584831,"mpcc_dv":48.6918488,"mpcc_dw":51.3081512,"mpcc_enc_sign":1,"mpcc_id_a":-0.139869094,"mpcc_iq_a":-1.18232155,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.08333492,"mpcc_pred_id_a":-0.968240201,"mpcc_pred_iq_a":-4.59205723,"mpcc_state":1,"mpcc_theta_e":0.44883585,"mpcc_theta_mech":0.556713045,"sam_rpm":-0.929286897,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163332522,"thr_a_norm":0.0163332522,"thr_a_v":0.565333009,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476910055,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.564381,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-3.19822598,"cg_iw_a":-1.10312152,"cg_theta_rad":0.554088175,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0159527753,"mpcc_du":50.1838913,"mpcc_dv":48.69767,"mpcc_dw":51.30233,"mpcc_enc_sign":1,"mpcc_id_a":1.87391865,"mpcc_iq_a":-0.498512,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.28146362,"mpcc_pred_id_a":0.141166061,"mpcc_pred_iq_a":-2.34300327,"mpcc_state":1,"mpcc_theta_e":0.435663223,"mpcc_theta_mech":0.554078519,"sam_rpm":-13.4221325,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.021620512,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484261811,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.570972,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.89344811,"cg_iw_a":-0.378245115,"cg_theta_rad":0.552880645,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.00817693118,"mpcc_du":50.8366699,"mpcc_dv":47.9992867,"mpcc_dw":52.0007133,"mpcc_enc_sign":1,"mpcc_id_a":1.80044246,"mpcc_iq_a":-1.00247133,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.4234381,"mpcc_pred_id_a":-0.181568831,"mpcc_pred_iq_a":0.222060159,"mpcc_state":1,"mpcc_theta_e":0.428695679,"mpcc_theta_mech":0.552685022,"sam_rpm":-23.2319527,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.021620512,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484261811,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.577473,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.661157608,"cg_iw_a":-1.10312176,"cg_theta_rad":0.556233883,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.00244595506,"mpcc_du":49.6366119,"mpcc_dv":50.2495766,"mpcc_dw":50.3633881,"mpcc_enc_sign":1,"mpcc_id_a":0.0840096548,"mpcc_iq_a":-0.219931051,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.59724468,"mpcc_pred_id_a":-0.318169534,"mpcc_pred_iq_a":-4.46989393,"mpcc_state":1,"mpcc_theta_e":0.439177513,"mpcc_theta_mech":0.554781377,"sam_rpm":-1.68746209,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167109221,"thr_a_norm":0.0167109221,"thr_a_v":0.566843688,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470464617,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.585896,"values":{"cg_iu_a":0.676964283,"cg_iv_a":0.353669643,"cg_iw_a":-1.17560959,"cg_theta_rad":0.553803802,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0069881659,"mpcc_du":49.5952454,"mpcc_dv":50.2652779,"mpcc_dw":50.4047546,"mpcc_enc_sign":1,"mpcc_id_a":0.611125708,"mpcc_iq_a":-1.12617052,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.07813311,"mpcc_pred_id_a":-0.0943908691,"mpcc_pred_iq_a":-4.24476242,"mpcc_state":1,"mpcc_theta_e":0.449026585,"mpcc_theta_mech":0.556751251,"sam_rpm":10.3871355,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0117509812,"thr_a_norm":0.0167109221,"thr_a_v":0.547003925,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470917821,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.596088,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.24105906,"cg_iw_a":-1.68302298,"cg_theta_rad":0.555061996,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0399206802,"mpcc_du":49.7863998,"mpcc_dv":49.2342911,"mpcc_dw":50.7657089,"mpcc_enc_sign":1,"mpcc_id_a":2.18347287,"mpcc_iq_a":-1.87543499,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.1851573,"mpcc_pred_id_a":0.103150927,"mpcc_pred_iq_a":-6.44904995,"mpcc_state":1,"mpcc_theta_e":0.446311474,"mpcc_theta_mech":0.556208193,"sam_rpm":-5.42869616,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0117509812,"thr_a_norm":0.0117509812,"thr_a_v":0.547003925,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470917821,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.606281,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.588670254,"cg_iw_a":-1.17560911,"cg_theta_rad":0.555973232,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0208971202,"mpcc_du":49.7791061,"mpcc_dv":49.2465782,"mpcc_dw":50.7534218,"mpcc_enc_sign":1,"mpcc_id_a":2.4073422,"mpcc_iq_a":1.13528156,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.17653775,"mpcc_pred_id_a":0.038711518,"mpcc_pred_iq_a":-0.178599656,"mpcc_state":1,"mpcc_theta_e":0.441311836,"mpcc_theta_mech":0.555208325,"sam_rpm":3.35169244,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225772411,"thr_a_norm":0.0225772411,"thr_a_v":0.590308964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483808637,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.616291,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.16857147,"cg_iw_a":-1.61053514,"cg_theta_rad":0.551393211,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.13855122,"mpcc_du":49.9692612,"mpcc_dv":48.7888412,"mpcc_dw":51.2111588,"mpcc_enc_sign":1,"mpcc_id_a":3.84877801,"mpcc_iq_a":1.58955002,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.96303892,"mpcc_pred_id_a":0.660334766,"mpcc_pred_iq_a":-2.16997933,"mpcc_state":1,"mpcc_theta_e":0.44842577,"mpcc_theta_mech":0.556631088,"sam_rpm":7.71419477,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225772411,"thr_a_norm":0.0225772411,"thr_a_v":0.590308964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483808637,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.62627,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.02359605,"cg_iw_a":0.41911912,"cg_theta_rad":0.558360219,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0189584494,"mpcc_du":49.7354507,"mpcc_dv":49.5357208,"mpcc_dw":50.4642792,"mpcc_enc_sign":1,"mpcc_id_a":-0.416786075,"mpcc_iq_a":-2.15582705,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0545349829,"mpcc_pred_id_a":-0.692836165,"mpcc_pred_iq_a":-0.716198802,"mpcc_state":1,"mpcc_theta_e":0.43569088,"mpcc_theta_mech":0.554084122,"sam_rpm":-0.907055497,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0460929275,"thr_a_norm":0.0460929275,"thr_a_v":0.68437171,"thr_b":0.0149359107,"thr_b_norm":0.0149359107,"thr_b_v":0.559743643,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.636707,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.878620625,"cg_iw_a":0.926532745,"cg_theta_rad":0.556608438,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0108039081,"mpcc_du":50.4961929,"mpcc_dv":48.3127861,"mpcc_dw":51.6872139,"mpcc_enc_sign":1,"mpcc_id_a":1.89215875,"mpcc_iq_a":-3.04174805,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.3540592,"mpcc_pred_id_a":0.0310415793,"mpcc_pred_iq_a":-1.3612442,"mpcc_state":1,"mpcc_theta_e":0.434390068,"mpcc_theta_mech":0.553823948,"sam_rpm":-17.5522385,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228290111,"thr_a_norm":0.0460929275,"thr_a_v":0.591316044,"thr_b":0,"thr_b_norm":0.0149359107,"thr_b_v":0.492217898,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.659718,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.09608364,"cg_iw_a":-1.8279984,"cg_theta_rad":0.552580178,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0298559815,"mpcc_du":49.5081367,"mpcc_dv":49.3527336,"mpcc_dw":50.6472664,"mpcc_enc_sign":1,"mpcc_id_a":2.59576035,"mpcc_iq_a":-1.34856498,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.77383709,"mpcc_pred_id_a":0.571008682,"mpcc_pred_iq_a":-2.98718047,"mpcc_state":1,"mpcc_theta_e":0.451917648,"mpcc_theta_mech":0.557329476,"sam_rpm":10.3989353,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228290111,"thr_a_norm":0.0228290111,"thr_a_v":0.591316044,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492217898,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.666248,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.371207237,"cg_iw_a":0.0566811562,"cg_theta_rad":0.55722487,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0118023762,"mpcc_du":49.5179787,"mpcc_dv":50.1093864,"mpcc_dw":50.4820213,"mpcc_enc_sign":1,"mpcc_id_a":1.76327443,"mpcc_iq_a":-1.40553081,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.50440025,"mpcc_pred_id_a":0.269457281,"mpcc_pred_iq_a":-3.39382195,"mpcc_state":1,"mpcc_theta_e":0.45022583,"mpcc_theta_mech":0.556991041,"sam_rpm":12.6582966,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0153009742,"thr_a_norm":0.0153009742,"thr_a_v":0.561203897,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449970245,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.672749,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.951108456,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.55619216,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0208397843,"mpcc_du":50.5071754,"mpcc_dv":48.151722,"mpcc_dw":51.848278,"mpcc_enc_sign":1,"mpcc_id_a":2.7823782,"mpcc_iq_a":-1.29518402,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.52709484,"mpcc_pred_id_a":0.391420841,"mpcc_pred_iq_a":0.676193297,"mpcc_state":1,"mpcc_theta_e":0.436988831,"mpcc_theta_mech":0.554343641,"sam_rpm":-9.63541412,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0153009742,"thr_a_norm":0.0153009742,"thr_a_v":0.561203897,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449970245,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.67931,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.24105906,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.55361557,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0100541729,"mpcc_du":49.8590622,"mpcc_dv":49.066124,"mpcc_dw":50.933876,"mpcc_enc_sign":1,"mpcc_id_a":1.07493579,"mpcc_iq_a":-1.16477692,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.72771931,"mpcc_pred_id_a":0.150484055,"mpcc_pred_iq_a":-0.946481943,"mpcc_state":1,"mpcc_theta_e":0.44960165,"mpcc_theta_mech":0.556866229,"sam_rpm":9.91832447,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156786442,"thr_a_norm":0.0156786442,"thr_a_v":0.562714577,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.687275,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.45852208,"cg_iw_a":-0.305757284,"cg_theta_rad":0.55230993,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0487489142,"mpcc_du":50.2717133,"mpcc_dv":48.0999031,"mpcc_dw":51.9000969,"mpcc_enc_sign":1,"mpcc_id_a":4.30087423,"mpcc_iq_a":0.11739631,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.0324898,"mpcc_pred_id_a":1.1061486,"mpcc_pred_iq_a":-0.024015408,"mpcc_state":1,"mpcc_theta_e":0.426824093,"mpcc_theta_mech":0.552310705,"sam_rpm":-22.486372,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0156786442,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467040509,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.696949,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.09608364,"cg_iw_a":-1.03063393,"cg_theta_rad":0.551857471,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0640176162,"mpcc_du":49.9958534,"mpcc_dv":48.7468452,"mpcc_dw":51.2531548,"mpcc_enc_sign":1,"mpcc_id_a":1.86194408,"mpcc_iq_a":0.64570272,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.314364105,"mpcc_pred_id_a":-0.0513367951,"mpcc_pred_iq_a":-1.00777686,"mpcc_state":1,"mpcc_theta_e":0.445593357,"mpcc_theta_mech":0.55763346,"sam_rpm":-3.35857964,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467040509,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.707142,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.443694592,"cg_iw_a":-0.885658741,"cg_theta_rad":0.555026948,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0667214468,"mpcc_du":50.026123,"mpcc_dv":48.8033447,"mpcc_dw":51.1966553,"mpcc_enc_sign":1,"mpcc_id_a":1.69413233,"mpcc_iq_a":0.104766235,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.6217308,"mpcc_pred_id_a":0.299973696,"mpcc_pred_iq_a":-3.21721482,"mpcc_state":1,"mpcc_theta_e":0.456670761,"mpcc_theta_mech":0.55828011,"sam_rpm":12.5095768,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185740441,"thr_a_norm":0.0185740441,"thr_a_v":0.574296176,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.719685,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.443694592,"cg_iw_a":0.636582136,"cg_theta_rad":0.555211842,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.00229604892,"mpcc_du":49.9652176,"mpcc_dv":49.1330414,"mpcc_dw":50.8669586,"mpcc_enc_sign":1,"mpcc_id_a":1.18567383,"mpcc_iq_a":-0.788673162,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.79210317,"mpcc_pred_id_a":-0.380088866,"mpcc_pred_iq_a":0.359348267,"mpcc_state":1,"mpcc_theta_e":0.433897972,"mpcc_theta_mech":0.553725541,"sam_rpm":-3.26548886,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0127832443,"thr_a_norm":0.0185740441,"thr_a_v":0.551132977,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.436676592,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.729481,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-0.733645439,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556072831,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0294465311,"mpcc_du":49.2754211,"mpcc_dv":50.7245789,"mpcc_dw":50.3058586,"mpcc_enc_sign":1,"mpcc_id_a":3.229671,"mpcc_iq_a":-0.687642038,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.97402382,"mpcc_pred_id_a":0.591286778,"mpcc_pred_iq_a":-2.74165559,"mpcc_state":1,"mpcc_theta_e":0.441206455,"mpcc_theta_mech":0.555187166,"sam_rpm":6.73708057,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0127832443,"thr_a_norm":0.0127832443,"thr_a_v":0.551132977,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.436676592,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.739704,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.951108456,"cg_iw_a":-0.16078186,"cg_theta_rad":0.554165184,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0377202816,"mpcc_du":49.6145401,"mpcc_dv":49.323864,"mpcc_dw":50.676136,"mpcc_enc_sign":1,"mpcc_id_a":2.79344296,"mpcc_iq_a":-1.10526502,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0124765951,"mpcc_pred_id_a":0.197098702,"mpcc_pred_iq_a":-4.46281195,"mpcc_state":1,"mpcc_theta_e":0.4478302,"mpcc_theta_mech":0.556511939,"sam_rpm":0.38847807,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183978081,"thr_a_norm":0.0183978081,"thr_a_v":0.573591232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469407201,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.762897,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.82096052,"cg_iw_a":-0.813171387,"cg_theta_rad":0.556192577,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0357874557,"mpcc_du":49.9331779,"mpcc_dv":49.2160225,"mpcc_dw":50.7839775,"mpcc_enc_sign":1,"mpcc_id_a":0.664918602,"mpcc_iq_a":-0.683574617,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.25289392,"mpcc_pred_id_a":-0.369080961,"mpcc_pred_iq_a":-1.08812547,"mpcc_state":1,"mpcc_theta_e":0.445044041,"mpcc_theta_mech":0.555954754,"sam_rpm":-1.88588107,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183978081,"thr_a_norm":0.0183978081,"thr_a_v":0.573591232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469407201,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.769398,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.226231575,"cg_iw_a":-0.16078186,"cg_theta_rad":0.55732429,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0308056008,"mpcc_du":49.7713165,"mpcc_dv":49.039402,"mpcc_dw":50.960598,"mpcc_enc_sign":1,"mpcc_id_a":3.06395292,"mpcc_iq_a":-1.37943184,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.35835075,"mpcc_pred_id_a":0.537528515,"mpcc_pred_iq_a":-1.39075267,"mpcc_state":1,"mpcc_theta_e":0.449153423,"mpcc_theta_mech":0.556776583,"sam_rpm":8.18370056,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00981231034,"thr_b_norm":0.00981231034,"thr_b_v":0.539249241,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.775898,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.89344811,"cg_iw_a":0.854045391,"cg_theta_rad":0.55566591,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0276455563,"mpcc_du":49.1014671,"mpcc_dv":50.8985329,"mpcc_dw":49.9117393,"mpcc_enc_sign":1,"mpcc_id_a":2.76835656,"mpcc_iq_a":0.337005287,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.040823,"mpcc_pred_id_a":0.105113417,"mpcc_pred_iq_a":-4.06327868,"mpcc_state":1,"mpcc_theta_e":0.451320171,"mpcc_theta_mech":0.557209909,"sam_rpm":18.7105923,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00981231034,"thr_b_norm":0.00981231034,"thr_b_v":0.539249241,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.782459,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.53100967,"cg_iw_a":1.07150841,"cg_theta_rad":0.556946814,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0254676957,"mpcc_du":49.836544,"mpcc_dv":48.9985504,"mpcc_dw":51.0014496,"mpcc_enc_sign":1,"mpcc_id_a":2.60964751,"mpcc_iq_a":-1.99065363,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.15011072,"mpcc_pred_id_a":0.404732555,"mpcc_pred_iq_a":-2.63797545,"mpcc_state":1,"mpcc_theta_e":0.44745636,"mpcc_theta_mech":0.556437194,"sam_rpm":3.87555385,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190146565,"thr_a_norm":0.0190146565,"thr_a_v":0.576058626,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456516385,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.790455,"values":{"cg_iu_a":3.93890953,"cg_iv_a":-1.02359605,"cg_iw_a":1.28897142,"cg_theta_rad":0.55776161,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0292057842,"mpcc_du":49.5225754,"mpcc_dv":50.2981339,"mpcc_dw":50.4774246,"mpcc_enc_sign":1,"mpcc_id_a":0.330721617,"mpcc_iq_a":-1.43327701,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.0958538,"mpcc_pred_id_a":-0.359475225,"mpcc_pred_iq_a":3.07809663,"mpcc_state":1,"mpcc_theta_e":0.426846027,"mpcc_theta_mech":0.552315116,"sam_rpm":-11.5035028,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295765549,"thr_a_norm":0.0190146565,"thr_a_v":0.61830622,"thr_b":0.0048020035,"thr_b_norm":0,"thr_b_v":0.519208014,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.800251,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.733645439,"cg_iw_a":-0.595707893,"cg_theta_rad":0.55619216,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0451436006,"mpcc_du":50.8918266,"mpcc_dv":47.7385979,"mpcc_dw":52.2614021,"mpcc_enc_sign":1,"mpcc_id_a":2.14157319,"mpcc_iq_a":-0.78724736,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.89480042,"mpcc_pred_id_a":0.399447441,"mpcc_pred_iq_a":0.450544536,"mpcc_state":1,"mpcc_theta_e":0.445897102,"mpcc_theta_mech":0.556125343,"sam_rpm":-5.29630661,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295765549,"thr_a_norm":0.0295765549,"thr_a_v":0.61830622,"thr_b":0.0048020035,"thr_b_norm":0.0048020035,"thr_b_v":0.519208014,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.810444,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":-0.371207237,"cg_iw_a":1.28897142,"cg_theta_rad":0.553574204,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0267944317,"mpcc_du":50.6155319,"mpcc_dv":48.1865425,"mpcc_dw":51.8134575,"mpcc_enc_sign":1,"mpcc_id_a":1.2857275,"mpcc_iq_a":-0.560510218,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.55509496,"mpcc_pred_id_a":0.136888191,"mpcc_pred_iq_a":-0.304102719,"mpcc_state":1,"mpcc_theta_e":0.443848133,"mpcc_theta_mech":0.555715501,"sam_rpm":-4.8803091,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0320942998,"thr_a_norm":0.0320942998,"thr_a_v":0.628377199,"thr_b":0.0057335794,"thr_b_norm":0.0057335794,"thr_b_v":0.522934318,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.820393,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.806133032,"cg_iw_a":-0.740683317,"cg_theta_rad":0.559188008,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0264242161,"mpcc_du":49.5799255,"mpcc_dv":50.3078842,"mpcc_dw":50.4974976,"mpcc_enc_sign":1,"mpcc_id_a":1.10926294,"mpcc_iq_a":0.0700014979,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.9817162,"mpcc_pred_id_a":-0.0116129089,"mpcc_pred_iq_a":-3.32641649,"mpcc_state":1,"mpcc_theta_e":0.452686787,"mpcc_theta_mech":0.557483256,"sam_rpm":18.6359978,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0320942998,"thr_a_norm":0.0320942998,"thr_a_v":0.628377199,"thr_b":0.0057335794,"thr_b_norm":0.0057335794,"thr_b_v":0.522934318,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.830463,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.31354666,"cg_iw_a":0.78155756,"cg_theta_rad":0.553378046,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.024660226,"mpcc_du":49.7895393,"mpcc_dv":49.3128204,"mpcc_dw":50.6871796,"mpcc_enc_sign":1,"mpcc_id_a":0.23871541,"mpcc_iq_a":-1.22694898,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.4756546,"mpcc_pred_id_a":-0.173657849,"mpcc_pred_iq_a":-4.14239693,"mpcc_state":1,"mpcc_theta_e":0.450820446,"mpcc_theta_mech":0.557110012,"sam_rpm":5.4946413,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210288316,"thr_a_norm":0.0210288316,"thr_a_v":0.584115326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462407857,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.840626,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.09608364,"cg_iw_a":0.564094543,"cg_theta_rad":0.554283261,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0367659442,"mpcc_du":49.1806107,"mpcc_dv":50.8193893,"mpcc_dw":49.7190666,"mpcc_enc_sign":1,"mpcc_id_a":-1.46600676,"mpcc_iq_a":-2.1750536,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.91329956,"mpcc_pred_id_a":-0.67625159,"mpcc_pred_iq_a":-2.98749757,"mpcc_state":1,"mpcc_theta_e":0.435979366,"mpcc_theta_mech":0.552882433,"sam_rpm":6.19317865,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259006619,"thr_a_norm":0.0210288316,"thr_a_v":0.603602648,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453948259,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.86388,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.806133032,"cg_iw_a":0.201656103,"cg_theta_rad":0.555971384,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.00109659461,"mpcc_du":51.2375679,"mpcc_dv":47.4946976,"mpcc_dw":52.5053024,"mpcc_enc_sign":1,"mpcc_id_a":-0.658088982,"mpcc_iq_a":-0.798782349,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.346489,"mpcc_pred_id_a":-0.360497236,"mpcc_pred_iq_a":3.22637248,"mpcc_state":1,"mpcc_theta_e":0.429816246,"mpcc_theta_mech":0.552909136,"sam_rpm":-20.1225872,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259006619,"thr_a_norm":0.0259006619,"thr_a_v":0.603602648,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453948259,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.87038,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.588670254,"cg_iw_a":-0.740683079,"cg_theta_rad":0.554542601,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0348291844,"mpcc_du":49.9377975,"mpcc_dv":48.9810257,"mpcc_dw":51.0189743,"mpcc_enc_sign":1,"mpcc_id_a":2.13377166,"mpcc_iq_a":0.382437289,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.757029831,"mpcc_pred_id_a":0.103026606,"mpcc_pred_iq_a":-1.91355312,"mpcc_state":1,"mpcc_theta_e":0.442671776,"mpcc_theta_mech":0.555480242,"sam_rpm":0.222036108,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481844842,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.876942,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.733645439,"cg_iw_a":1.57892203,"cg_theta_rad":0.555290639,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.00967661757,"mpcc_du":50.2468071,"mpcc_dv":48.4421463,"mpcc_dw":51.5578537,"mpcc_enc_sign":1,"mpcc_id_a":1.78231215,"mpcc_iq_a":-0.867233574,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.33235455,"mpcc_pred_id_a":0.472667694,"mpcc_pred_iq_a":-0.920627534,"mpcc_state":1,"mpcc_theta_e":0.433786869,"mpcc_theta_mech":0.553703249,"sam_rpm":-14.0903921,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481844842,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.883472,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.31354666,"cg_iw_a":0.78155756,"cg_theta_rad":0.556112766,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0369313024,"mpcc_du":49.499958,"mpcc_dv":48.5466652,"mpcc_dw":51.4533348,"mpcc_enc_sign":1,"mpcc_id_a":3.43952346,"mpcc_iq_a":-0.763940573,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.02878046,"mpcc_pred_id_a":0.508906662,"mpcc_pred_iq_a":-2.16222143,"mpcc_state":1,"mpcc_theta_e":0.447388649,"mpcc_theta_mech":0.556423604,"sam_rpm":8.85506535,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0437766016,"thr_a_norm":0.0437766016,"thr_a_v":0.675106406,"thr_b":0.0128461868,"thr_b_norm":0.0128461868,"thr_b_v":0.551384747,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.891438,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.16857147,"cg_iw_a":-1.24809694,"cg_theta_rad":0.553231955,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0365187488,"mpcc_du":50.6977692,"mpcc_dv":48.2209778,"mpcc_dw":51.7790222,"mpcc_enc_sign":1,"mpcc_id_a":0.37785539,"mpcc_iq_a":-0.273329467,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.92294788,"mpcc_pred_id_a":-0.116088122,"mpcc_pred_iq_a":2.24252486,"mpcc_state":1,"mpcc_theta_e":0.454629421,"mpcc_theta_mech":0.557871819,"sam_rpm":15.8142214,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0132364482,"thr_a_norm":0.0437766016,"thr_a_v":0.552945793,"thr_b":0,"thr_b_norm":0.0128461868,"thr_b_v":0.450725555,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.902241,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.733645439,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556726754,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0156036727,"mpcc_du":49.4970665,"mpcc_dv":49.9798813,"mpcc_dw":50.5029335,"mpcc_enc_sign":1,"mpcc_id_a":2.49183393,"mpcc_iq_a":-0.378189892,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.77500737,"mpcc_pred_id_a":0.353208572,"mpcc_pred_iq_a":-2.15931392,"mpcc_state":1,"mpcc_theta_e":0.43847847,"mpcc_theta_mech":0.554641604,"sam_rpm":2.29928851,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0132364482,"thr_a_norm":0.0132364482,"thr_a_v":0.552945793,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450725555,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.911671,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.226231575,"cg_iw_a":-0.0882940292,"cg_theta_rad":0.557185113,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0357358046,"mpcc_du":49.9246407,"mpcc_dv":48.685997,"mpcc_dw":51.314003,"mpcc_enc_sign":1,"mpcc_id_a":3.64526153,"mpcc_iq_a":-0.980018377,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.22364998,"mpcc_pred_id_a":0.822249472,"mpcc_pred_iq_a":-0.447640985,"mpcc_state":1,"mpcc_theta_e":0.430812836,"mpcc_theta_mech":0.553108513,"sam_rpm":-15.0196209,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259887725,"thr_a_norm":0.0259887725,"thr_a_v":0.60395509,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496749818,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.923847,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.6759851,"cg_iw_a":0.781557798,"cg_theta_rad":0.555492759,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0176277496,"mpcc_du":49.7158966,"mpcc_dv":49.2260513,"mpcc_dw":50.7739487,"mpcc_enc_sign":1,"mpcc_id_a":2.53786969,"mpcc_iq_a":-0.964629114,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.3778131,"mpcc_pred_id_a":0.20796448,"mpcc_pred_iq_a":-2.89617491,"mpcc_state":1,"mpcc_theta_e":0.441879749,"mpcc_theta_mech":0.555321872,"sam_rpm":-5.48359919,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0971274823,"thr_a_norm":0.0259887725,"thr_a_v":0.888509929,"thr_b":0.0421023071,"thr_b_norm":0,"thr_b_v":0.668409228,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.933857,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.733645439,"cg_iw_a":-1.90048599,"cg_theta_rad":0.552749634,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0233779587,"mpcc_du":49.8644524,"mpcc_dv":49.1327095,"mpcc_dw":50.8672905,"mpcc_enc_sign":1,"mpcc_id_a":2.70210457,"mpcc_iq_a":-1.46438551,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.37584662,"mpcc_pred_id_a":0.0127612026,"mpcc_pred_iq_a":-3.63687539,"mpcc_state":1,"mpcc_theta_e":0.443464756,"mpcc_theta_mech":0.55563885,"sam_rpm":-5.7016468,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0971274823,"thr_a_norm":0.0971274823,"thr_a_v":0.888509929,"thr_b":0.0421023071,"thr_b_norm":0.0421023071,"thr_b_v":0.668409228,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.943775,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.733645439,"cg_iw_a":-1.10312176,"cg_theta_rad":0.557463765,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0429628082,"mpcc_du":50.2010574,"mpcc_dv":48.25457,"mpcc_dw":51.74543,"mpcc_enc_sign":1,"mpcc_id_a":1.82330203,"mpcc_iq_a":0.0716200918,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.68194246,"mpcc_pred_id_a":1.04094291,"mpcc_pred_iq_a":-0.897051394,"mpcc_state":1,"mpcc_theta_e":0.439792633,"mpcc_theta_mech":0.554904401,"sam_rpm":-24.9666481,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228919685,"thr_a_norm":0.0228919685,"thr_a_v":0.591567874,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.966877,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.16857147,"cg_iw_a":-1.46555996,"cg_theta_rad":0.557721913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":5010,"hz_app_loop":363,"hz_tim_isr":10020,"hz_vsense":363,"mpcc_cost":0.0226746704,"mpcc_du":50.53479,"mpcc_dv":48.0388451,"mpcc_dw":51.9611549,"mpcc_enc_sign":1,"mpcc_id_a":2.90587211,"mpcc_iq_a":-1.20083904,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.0094862,"mpcc_pred_id_a":0.553811491,"mpcc_pred_iq_a":-0.162035078,"mpcc_state":1,"mpcc_theta_e":0.433107853,"mpcc_theta_mech":0.553567529,"sam_rpm":-17.9542217,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228919685,"thr_a_norm":0.0228919685,"thr_a_v":0.591567874,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.973408,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.226231575,"cg_iw_a":-1.68302298,"cg_theta_rad":0.555096865,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900.10059,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0200033896,"mpcc_du":50.3273735,"mpcc_dv":48.4265633,"mpcc_dw":51.5734367,"mpcc_enc_sign":1,"mpcc_id_a":2.54266047,"mpcc_iq_a":-0.429669529,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.1639605,"mpcc_pred_id_a":0.258206934,"mpcc_pred_iq_a":-1.07812619,"mpcc_state":1,"mpcc_theta_e":0.44734621,"mpcc_theta_mech":0.5564152,"sam_rpm":-16.5329762,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103535131,"thr_a_norm":0.103535131,"thr_a_v":0.914140522,"thr_b":0.0485854745,"thr_b_norm":0.0485854745,"thr_b_v":0.694341898,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.979877,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":-1.16857147,"cg_iw_a":-0.958146095,"cg_theta_rad":0.556607008,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.00791114662,"mpcc_du":49.9529266,"mpcc_dv":49.0414391,"mpcc_dw":50.9585609,"mpcc_enc_sign":1,"mpcc_id_a":1.02528381,"mpcc_iq_a":-0.432667434,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.70099401,"mpcc_pred_id_a":-0.0931019336,"mpcc_pred_iq_a":-0.493121982,"mpcc_state":1,"mpcc_theta_e":0.44059515,"mpcc_theta_mech":0.555064976,"sam_rpm":-10.789588,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103535131,"thr_a_norm":0.103535131,"thr_a_v":0.914140522,"thr_b":0.0485854745,"thr_b_norm":0.0485854745,"thr_b_v":0.694341898,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.986439,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.24105906,"cg_iw_a":0.854045153,"cg_theta_rad":0.557741523,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0308174714,"mpcc_du":49.8175507,"mpcc_dv":49.1555138,"mpcc_dw":50.8444862,"mpcc_enc_sign":1,"mpcc_id_a":2.69228148,"mpcc_iq_a":-0.808467925,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.17341805,"mpcc_pred_id_a":0.260301441,"mpcc_pred_iq_a":-4.28936386,"mpcc_state":1,"mpcc_theta_e":0.442620754,"mpcc_theta_mech":0.555470109,"sam_rpm":6.89250898,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0136644542,"thr_a_norm":0.0136644542,"thr_a_v":0.554657817,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444733351,"vdc_v":55.2955055}} +{"type":"telemetry","t":59.995502,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-2.32837415,"cg_iw_a":1.07150817,"cg_theta_rad":0.556806386,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0671286285,"mpcc_du":49.9478302,"mpcc_dv":48.9412308,"mpcc_dw":51.0587692,"mpcc_enc_sign":1,"mpcc_id_a":2.83633995,"mpcc_iq_a":-0.00861990359,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.39950183,"mpcc_pred_id_a":0.219471574,"mpcc_pred_iq_a":-3.53447247,"mpcc_state":1,"mpcc_theta_e":0.446791649,"mpcc_theta_mech":0.556304276,"sam_rpm":0.604584754,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214065015,"thr_a_norm":0.0136644542,"thr_a_v":0.585626006,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480988771,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.005238,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.878620625,"cg_iw_a":-1.61053538,"cg_theta_rad":0.55617851,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0106521454,"mpcc_du":50.6463623,"mpcc_dv":48.1209755,"mpcc_dw":51.8790245,"mpcc_enc_sign":1,"mpcc_id_a":2.05892634,"mpcc_iq_a":-0.609893858,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.4441109,"mpcc_pred_id_a":0.0171663072,"mpcc_pred_iq_a":0.224531129,"mpcc_state":1,"mpcc_theta_e":0.426747799,"mpcc_theta_mech":0.552295506,"sam_rpm":-24.0507412,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214065015,"thr_a_norm":0.0214065015,"thr_a_v":0.585626006,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480988771,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.015278,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.516182423,"cg_iw_a":-2.55287504,"cg_theta_rad":0.555322886,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0510018356,"mpcc_du":49.7927132,"mpcc_dv":49.2616005,"mpcc_dw":50.7383995,"mpcc_enc_sign":1,"mpcc_id_a":1.18240571,"mpcc_iq_a":0.220952183,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.74953794,"mpcc_pred_id_a":-0.0141767031,"mpcc_pred_iq_a":-2.97991109,"mpcc_state":1,"mpcc_theta_e":0.452340603,"mpcc_theta_mech":0.557414055,"sam_rpm":10.7838764,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296017379,"thr_a_norm":0.0296017379,"thr_a_v":0.618406951,"thr_b":0.00390821695,"thr_b_norm":0.00390821695,"thr_b_v":0.515632868,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.027668,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.09608364,"cg_iw_a":0.636582375,"cg_theta_rad":0.557986259,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0395595878,"mpcc_du":49.5743256,"mpcc_dv":50.0002327,"mpcc_dw":50.4256744,"mpcc_enc_sign":1,"mpcc_id_a":2.17807984,"mpcc_iq_a":-1.53830457,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.4450636,"mpcc_pred_id_a":0.0059232451,"mpcc_pred_iq_a":-4.33445835,"mpcc_state":1,"mpcc_theta_e":0.458862305,"mpcc_theta_mech":0.558718383,"sam_rpm":21.2491627,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0230430365,"thr_a_norm":0.0296017379,"thr_a_v":0.592172146,"thr_b":0,"thr_b_norm":0.00390821695,"thr_b_v":0.479830623,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.037617,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.878620625,"cg_iw_a":-1.39307261,"cg_theta_rad":0.554232419,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.00339959911,"mpcc_du":50.3638115,"mpcc_dv":48.7273254,"mpcc_dw":51.2726746,"mpcc_enc_sign":1,"mpcc_id_a":1.16994452,"mpcc_iq_a":-0.569084466,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.5508709,"mpcc_pred_id_a":-0.481061071,"mpcc_pred_iq_a":-2.11834979,"mpcc_state":1,"mpcc_theta_e":0.438225269,"mpcc_theta_mech":0.55459094,"sam_rpm":-15.9040947,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0230430365,"thr_a_norm":0.0230430365,"thr_a_v":0.592172146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479830623,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.061024,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.951108456,"cg_iw_a":-2.55287504,"cg_theta_rad":0.558477938,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0169274081,"mpcc_du":49.5833206,"mpcc_dv":49.5143471,"mpcc_dw":50.4856529,"mpcc_enc_sign":1,"mpcc_id_a":1.8241688,"mpcc_iq_a":-1.11240244,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.0549965,"mpcc_pred_id_a":0.0223948024,"mpcc_pred_iq_a":-1.48375642,"mpcc_state":1,"mpcc_theta_e":0.451419353,"mpcc_theta_mech":0.557229817,"sam_rpm":18.5737534,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201224536,"thr_a_norm":0.0201224536,"thr_a_v":0.580489814,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448107123,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.067616,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.516182423,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556302845,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0245991629,"mpcc_du":49.536377,"mpcc_dv":49.6500969,"mpcc_dw":50.463623,"mpcc_enc_sign":1,"mpcc_id_a":2.50268459,"mpcc_iq_a":-0.0189543907,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.467616588,"mpcc_pred_id_a":0.161327332,"mpcc_pred_iq_a":-3.53138447,"mpcc_state":1,"mpcc_theta_e":0.440655708,"mpcc_theta_mech":0.555077016,"sam_rpm":0.324481457,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201224536,"thr_a_norm":0.0201224536,"thr_a_v":0.580489814,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448107123,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.074116,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-2.69081235,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.554641187,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.006154601,"mpcc_du":50.6056557,"mpcc_dv":48.3281784,"mpcc_dw":51.6718216,"mpcc_enc_sign":1,"mpcc_id_a":0.189022362,"mpcc_iq_a":-0.502867997,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.83318591,"mpcc_pred_id_a":-0.0283668842,"mpcc_pred_iq_a":2.49059653,"mpcc_state":1,"mpcc_theta_e":0.444830418,"mpcc_theta_mech":0.555912018,"sam_rpm":5.90926075,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209658891,"thr_a_norm":0.0209658891,"thr_a_v":0.583863556,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.080616,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.878620625,"cg_iw_a":-0.015806675,"cg_theta_rad":0.553235888,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0597371496,"mpcc_du":50.8428612,"mpcc_dv":47.6483116,"mpcc_dw":52.3516884,"mpcc_enc_sign":1,"mpcc_id_a":4.03904247,"mpcc_iq_a":0.198404938,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.96417141,"mpcc_pred_id_a":0.845307648,"mpcc_pred_iq_a":2.15408993,"mpcc_state":1,"mpcc_theta_e":0.436488628,"mpcc_theta_mech":0.554243684,"sam_rpm":-9.88733196,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0142561197,"thr_a_norm":0.0209658891,"thr_a_v":0.557024479,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457523465,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.088154,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.38603449,"cg_iw_a":0.636582375,"cg_theta_rad":0.554501712,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0096313348,"mpcc_du":51.1551094,"mpcc_dv":47.6830788,"mpcc_dw":52.3169212,"mpcc_enc_sign":1,"mpcc_id_a":1.70953774,"mpcc_iq_a":-2.24856281,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.0902767,"mpcc_pred_id_a":-0.32761097,"mpcc_pred_iq_a":1.7003684,"mpcc_state":1,"mpcc_theta_e":0.428413391,"mpcc_theta_mech":0.552628577,"sam_rpm":-22.5019379,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0142561197,"thr_a_norm":0.0142561197,"thr_a_v":0.557024479,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457523465,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.098499,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.32837415,"cg_iw_a":1.28897119,"cg_theta_rad":0.556711078,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0048093684,"mpcc_du":50.551487,"mpcc_dv":48.3271217,"mpcc_dw":51.6728783,"mpcc_enc_sign":1,"mpcc_id_a":0.240883529,"mpcc_iq_a":-1.29569757,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.4703178,"mpcc_pred_id_a":-0.144282654,"mpcc_pred_iq_a":-0.678674459,"mpcc_state":1,"mpcc_theta_e":0.421078682,"mpcc_theta_mech":0.551161647,"sam_rpm":-29.9009743,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192664266,"thr_a_norm":0.0192664266,"thr_a_v":0.577065706,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.108479,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.09608364,"cg_iw_a":0.12916851,"cg_theta_rad":0.555433095,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0308510996,"mpcc_du":50.9889183,"mpcc_dv":47.5893211,"mpcc_dw":52.4106789,"mpcc_enc_sign":1,"mpcc_id_a":2.87064552,"mpcc_iq_a":0.123089105,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.1848621,"mpcc_pred_id_a":0.373955429,"mpcc_pred_iq_a":0.952254832,"mpcc_state":1,"mpcc_theta_e":0.427212715,"mpcc_theta_mech":0.55238843,"sam_rpm":-24.8733063,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192664266,"thr_a_norm":0.0192664266,"thr_a_v":0.577065706,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.118641,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.878620625,"cg_iw_a":0.854045391,"cg_theta_rad":0.555023015,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0418690629,"mpcc_du":49.4346542,"mpcc_dv":50.0307541,"mpcc_dw":50.5653458,"mpcc_enc_sign":1,"mpcc_id_a":3.25364232,"mpcc_iq_a":0.0191967543,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.85703611,"mpcc_pred_id_a":0.836566985,"mpcc_pred_iq_a":-3.46770072,"mpcc_state":1,"mpcc_theta_e":0.448112011,"mpcc_theta_mech":0.556568325,"sam_rpm":9.4765749,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178816617,"thr_a_norm":0.0178816617,"thr_a_v":0.571526647,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457624167,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.128864,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.806133032,"cg_iw_a":-1.8279984,"cg_theta_rad":0.553714454,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.00969303306,"mpcc_du":49.8765106,"mpcc_dv":48.8785133,"mpcc_dw":51.1214867,"mpcc_enc_sign":1,"mpcc_id_a":1.68910396,"mpcc_iq_a":-0.89360106,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.57593632,"mpcc_pred_id_a":0.595175803,"mpcc_pred_iq_a":0.173827037,"mpcc_state":1,"mpcc_theta_e":0.444920063,"mpcc_theta_mech":0.555929959,"sam_rpm":6.40311718,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174284726,"thr_a_norm":0.0178816617,"thr_a_v":0.569713891,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456163883,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.138844,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.02359605,"cg_iw_a":0.491606951,"cg_theta_rad":0.556821644,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0195625219,"mpcc_du":49.9175682,"mpcc_dv":49.058403,"mpcc_dw":50.941597,"mpcc_enc_sign":1,"mpcc_id_a":1.89706433,"mpcc_iq_a":-1.30405641,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.08716631,"mpcc_pred_id_a":-0.000520141271,"mpcc_pred_iq_a":-4.24732924,"mpcc_state":1,"mpcc_theta_e":0.439656258,"mpcc_theta_mech":0.554697692,"sam_rpm":-8.85037708,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174284726,"thr_a_norm":0.0174284726,"thr_a_v":0.569713891,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456163883,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.162067,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.733645439,"cg_iw_a":-1.39307213,"cg_theta_rad":0.55667156,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0105950553,"mpcc_du":49.1568909,"mpcc_dv":50.8431091,"mpcc_dw":49.998642,"mpcc_enc_sign":1,"mpcc_id_a":1.74976516,"mpcc_iq_a":-1.92284644,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.3864307,"mpcc_pred_id_a":0.194102839,"mpcc_pred_iq_a":-5.3009553,"mpcc_state":1,"mpcc_theta_e":0.454899788,"mpcc_theta_mech":0.55792588,"sam_rpm":19.7186184,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258628875,"thr_a_norm":0.0258628875,"thr_a_v":0.60345155,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487383813,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.168598,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-2.0384233,"cg_iw_a":-0.160782099,"cg_theta_rad":0.556946397,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.00175704854,"mpcc_du":51.004406,"mpcc_dv":47.8409271,"mpcc_dw":52.1590729,"mpcc_enc_sign":1,"mpcc_id_a":0.814685106,"mpcc_iq_a":-0.369194925,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.5201902,"mpcc_pred_id_a":-0.406476945,"mpcc_pred_iq_a":2.69561052,"mpcc_state":1,"mpcc_theta_e":0.430034161,"mpcc_theta_mech":0.552952707,"sam_rpm":-16.3005733,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258628875,"thr_a_norm":0.0258628875,"thr_a_v":0.60345155,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487383813,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.175129,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.443694592,"cg_iw_a":-1.17560959,"cg_theta_rad":0.556046903,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.040232271,"mpcc_du":49.5448761,"mpcc_dv":50.279129,"mpcc_dw":50.4551239,"mpcc_enc_sign":1,"mpcc_id_a":3.55136418,"mpcc_iq_a":-0.00249650609,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.43328238,"mpcc_pred_id_a":0.169144481,"mpcc_pred_iq_a":-5.55670595,"mpcc_state":1,"mpcc_theta_e":0.440088272,"mpcc_theta_mech":0.554963589,"sam_rpm":-4.07919025,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280785114,"thr_a_norm":0.0280785114,"thr_a_v":0.612314045,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484261811,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.181629,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.951108456,"cg_iw_a":-1.53804779,"cg_theta_rad":0.557479084,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.00329771475,"mpcc_du":50.7484169,"mpcc_dv":48.0487099,"mpcc_dw":51.9512901,"mpcc_enc_sign":1,"mpcc_id_a":1.12208045,"mpcc_iq_a":-1.43418634,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.4781666,"mpcc_pred_id_a":-0.0676425025,"mpcc_pred_iq_a":1.12423658,"mpcc_state":1,"mpcc_theta_e":0.431798935,"mpcc_theta_mech":0.553305686,"sam_rpm":-15.9575644,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137022138,"thr_a_norm":0.0280785114,"thr_a_v":0.554808855,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450070977,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.189442,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.951108456,"cg_iw_a":-1.61053514,"cg_theta_rad":0.555396736,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.00556962844,"mpcc_du":50.0049744,"mpcc_dv":49.249054,"mpcc_dw":50.750946,"mpcc_enc_sign":1,"mpcc_id_a":-0.593050301,"mpcc_iq_a":-1.15032101,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.96219635,"mpcc_pred_id_a":-0.77089572,"mpcc_pred_iq_a":-3.71811771,"mpcc_state":1,"mpcc_theta_e":0.438982487,"mpcc_theta_mech":0.554742455,"sam_rpm":-7.345788,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137022138,"thr_a_norm":0.0137022138,"thr_a_v":0.554808855,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450070977,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.199665,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.878620625,"cg_iw_a":-0.885658741,"cg_theta_rad":0.555362582,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0018103919,"mpcc_du":49.574501,"mpcc_dv":50.425499,"mpcc_dw":50.340229,"mpcc_enc_sign":1,"mpcc_id_a":0.834606051,"mpcc_iq_a":-0.666948736,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.71521759,"mpcc_pred_id_a":-0.263934106,"mpcc_pred_iq_a":-2.84214616,"mpcc_state":1,"mpcc_theta_e":0.440856457,"mpcc_theta_mech":0.55511719,"sam_rpm":8.53266811,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022552073,"thr_a_norm":0.022552073,"thr_a_v":0.590208292,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474795133,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.209614,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.74847269,"cg_iw_a":0.78155756,"cg_theta_rad":0.556950629,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.00608318811,"mpcc_du":49.9506836,"mpcc_dv":49.1793022,"mpcc_dw":50.8206978,"mpcc_enc_sign":1,"mpcc_id_a":0.191225186,"mpcc_iq_a":-2.32062554,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.9390552,"mpcc_pred_id_a":-0.402291447,"mpcc_pred_iq_a":-3.0001111,"mpcc_state":1,"mpcc_theta_e":0.451395035,"mpcc_theta_mech":0.557070434,"sam_rpm":5.92654705,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022552073,"thr_a_norm":0.022552073,"thr_a_v":0.590208292,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474795133,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.219624,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.53100967,"cg_iw_a":0.274143696,"cg_theta_rad":0.556750894,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0117725022,"mpcc_du":50.8558846,"mpcc_dv":47.9985085,"mpcc_dw":50.3904762,"mpcc_enc_sign":1,"mpcc_id_a":0.19997327,"mpcc_iq_a":-1.30263889,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.92149401,"mpcc_pred_id_a":-0.347025484,"mpcc_pred_iq_a":-1.36047959,"mpcc_state":1,"mpcc_theta_e":0.45256567,"mpcc_theta_mech":0.557459056,"sam_rpm":-17.8885326,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184859186,"thr_a_norm":0.0184859186,"thr_a_v":0.573943675,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458077341,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.229816,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.878620625,"cg_iw_a":-2.04546165,"cg_theta_rad":0.556270719,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0125995036,"mpcc_du":50.4451218,"mpcc_dv":48.4236984,"mpcc_dw":51.5763016,"mpcc_enc_sign":1,"mpcc_id_a":1.12378716,"mpcc_iq_a":-1.07652104,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.57327557,"mpcc_pred_id_a":-0.114925019,"mpcc_pred_iq_a":-2.23017454,"mpcc_state":1,"mpcc_theta_e":0.438083172,"mpcc_theta_mech":0.554562509,"sam_rpm":-14.4390478,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174914151,"thr_a_norm":0.0184859186,"thr_a_v":0.569965661,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452437609,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.239796,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.371207237,"cg_iw_a":-0.160782099,"cg_theta_rad":0.556671858,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.148688808,"mpcc_du":49.996769,"mpcc_dv":48.4963379,"mpcc_dw":51.5036621,"mpcc_enc_sign":1,"mpcc_id_a":5.40792894,"mpcc_iq_a":2.01137471,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.70596766,"mpcc_pred_id_a":1.21399236,"mpcc_pred_iq_a":-0.544986665,"mpcc_state":1,"mpcc_theta_e":0.44597578,"mpcc_theta_mech":0.556141078,"sam_rpm":3.61680698,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174914151,"thr_a_norm":0.0174914151,"thr_a_v":0.569965661,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452437609,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.263264,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.733645439,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556618333,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.00166572013,"mpcc_du":51.0291405,"mpcc_dv":47.8902397,"mpcc_dw":52.1097603,"mpcc_enc_sign":1,"mpcc_id_a":0.540291429,"mpcc_iq_a":-0.615755141,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.07876158,"mpcc_pred_id_a":-0.541068137,"mpcc_pred_iq_a":2.69466686,"mpcc_state":1,"mpcc_theta_e":0.434977055,"mpcc_theta_mech":0.553941369,"sam_rpm":-10.3020115,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257118344,"thr_a_norm":0.0257118344,"thr_a_v":0.602847338,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48552072,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.269794,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.516182423,"cg_iw_a":-3.93014097,"cg_theta_rad":0.551876307,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0291923732,"mpcc_du":50.3703537,"mpcc_dv":48.2136841,"mpcc_dw":51.7863159,"mpcc_enc_sign":1,"mpcc_id_a":2.80901861,"mpcc_iq_a":0.327403516,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.9743328,"mpcc_pred_id_a":0.620290101,"mpcc_pred_iq_a":-0.490048826,"mpcc_state":1,"mpcc_theta_e":0.430100918,"mpcc_theta_mech":0.552966058,"sam_rpm":-17.4928684,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257118344,"thr_a_norm":0.0257118344,"thr_a_v":0.602847338,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48552072,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.276264,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.6759851,"cg_iw_a":1.21648383,"cg_theta_rad":0.555399656,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0124638276,"mpcc_du":49.6733437,"mpcc_dv":49.4087906,"mpcc_dw":50.5912094,"mpcc_enc_sign":1,"mpcc_id_a":1.09060061,"mpcc_iq_a":-0.799249649,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.18625498,"mpcc_pred_id_a":-0.055999741,"mpcc_pred_iq_a":-2.34507942,"mpcc_state":1,"mpcc_theta_e":0.448696613,"mpcc_theta_mech":0.556685269,"sam_rpm":9.46536064,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236724615,"thr_a_norm":0.0236724615,"thr_a_v":0.594689846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472730607,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.282795,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.443694592,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556504548,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.00396217359,"mpcc_du":50.2134743,"mpcc_dv":48.6602783,"mpcc_dw":51.3397217,"mpcc_enc_sign":1,"mpcc_id_a":0.733506203,"mpcc_iq_a":-1.55058968,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.94132745,"mpcc_pred_id_a":0.178602353,"mpcc_pred_iq_a":-0.148076698,"mpcc_state":1,"mpcc_theta_e":0.444833279,"mpcc_theta_mech":0.555912614,"sam_rpm":2.76067352,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288841873,"thr_a_norm":0.0236724615,"thr_a_v":0.615536749,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493124276,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.292469,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-2.54583716,"cg_iw_a":1.143996,"cg_theta_rad":0.556310117,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0199402291,"mpcc_du":50.2300911,"mpcc_dv":48.6828384,"mpcc_dw":51.3171616,"mpcc_enc_sign":1,"mpcc_id_a":0.955236018,"mpcc_iq_a":-0.581879556,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.2818203,"mpcc_pred_id_a":0.00749312155,"mpcc_pred_iq_a":-3.17818737,"mpcc_state":1,"mpcc_theta_e":0.438286781,"mpcc_theta_mech":0.554603279,"sam_rpm":-12.4033375,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288841873,"thr_a_norm":0.0288841873,"thr_a_v":0.615536749,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493124276,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.302814,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.60349751,"cg_iw_a":0.346631527,"cg_theta_rad":0.558020473,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0257809144,"mpcc_du":50.5091553,"mpcc_dv":48.3545227,"mpcc_dw":51.6454773,"mpcc_enc_sign":1,"mpcc_id_a":1.10768747,"mpcc_iq_a":-1.59809828,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.08818305,"mpcc_pred_id_a":0.101858646,"mpcc_pred_iq_a":-1.00461853,"mpcc_state":1,"mpcc_theta_e":0.449227333,"mpcc_theta_mech":0.556791425,"sam_rpm":2.41527271,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025951013,"thr_a_norm":0.025951013,"thr_a_v":0.603804052,"thr_b":0.00277523696,"thr_b_norm":0.00277523696,"thr_b_v":0.511100948,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.314014,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-2.32837415,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.555605412,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0222810339,"mpcc_du":50.0518494,"mpcc_dv":49.1045952,"mpcc_dw":50.8954048,"mpcc_enc_sign":1,"mpcc_id_a":0.666580856,"mpcc_iq_a":-0.175359175,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.196776167,"mpcc_pred_id_a":-0.39414373,"mpcc_pred_iq_a":-2.88304305,"mpcc_state":1,"mpcc_theta_e":0.44642067,"mpcc_theta_mech":0.556230068,"sam_rpm":-0.543676555,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180956721,"thr_a_norm":0.025951013,"thr_a_v":0.572382689,"thr_b":0,"thr_b_norm":0.00277523696,"thr_b_v":0.463263899,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.325062,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.74847269,"cg_iw_a":-0.233269691,"cg_theta_rad":0.553797066,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0189639088,"mpcc_du":49.7760429,"mpcc_dv":49.074379,"mpcc_dw":50.925621,"mpcc_enc_sign":1,"mpcc_id_a":2.73073602,"mpcc_iq_a":-0.723067462,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.8146795,"mpcc_pred_id_a":0.311753184,"mpcc_pred_iq_a":-1.49272585,"mpcc_state":1,"mpcc_theta_e":0.439043045,"mpcc_theta_mech":0.554754496,"sam_rpm":-5.88869619,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180956721,"thr_a_norm":0.0180956721,"thr_a_v":0.572382689,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463263899,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.335224,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.16857147,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.552969873,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0550812408,"mpcc_du":49.892868,"mpcc_dv":49.3576889,"mpcc_dw":50.6423111,"mpcc_enc_sign":1,"mpcc_id_a":-0.191440403,"mpcc_iq_a":-3.44984889,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.2127895,"mpcc_pred_id_a":-0.777306378,"mpcc_pred_iq_a":-2.22651339,"mpcc_state":1,"mpcc_theta_e":0.427742481,"mpcc_theta_mech":0.552494407,"sam_rpm":-19.4230652,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020688951,"thr_a_norm":0.020688951,"thr_a_v":0.582755804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458631247,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.345417,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.6759851,"cg_iw_a":-1.53804755,"cg_theta_rad":0.55639255,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0124488948,"mpcc_du":49.6415367,"mpcc_dv":50.3053093,"mpcc_dw":50.3584633,"mpcc_enc_sign":1,"mpcc_id_a":0.419526815,"mpcc_iq_a":-1.50599289,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.7247734,"mpcc_pred_id_a":-0.437000513,"mpcc_pred_iq_a":-4.38510132,"mpcc_state":1,"mpcc_theta_e":0.455626011,"mpcc_theta_mech":0.558071077,"sam_rpm":17.4959335,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0408434421,"thr_a_norm":0.020688951,"thr_a_v":0.663373768,"thr_b":0.0127832443,"thr_b_norm":0,"thr_b_v":0.551132977,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.368671,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.74847269,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.555153251,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0339306369,"mpcc_du":50.4373856,"mpcc_dv":48.488903,"mpcc_dw":51.511097,"mpcc_enc_sign":1,"mpcc_id_a":2.12176156,"mpcc_iq_a":-0.996657908,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.09481001,"mpcc_pred_id_a":-0.267145991,"mpcc_pred_iq_a":-2.22803593,"mpcc_state":1,"mpcc_theta_e":0.4408741,"mpcc_theta_mech":0.555120766,"sam_rpm":-6.90658808,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0408434421,"thr_a_norm":0.0408434421,"thr_a_v":0.663373768,"thr_b":0.0127832443,"thr_b_norm":0.0127832443,"thr_b_v":0.551132977,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.375202,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.0384233,"cg_iw_a":0.854045153,"cg_theta_rad":0.558089733,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.00901930034,"mpcc_du":49.6670914,"mpcc_dv":49.5084572,"mpcc_dw":50.4915428,"mpcc_enc_sign":1,"mpcc_id_a":-0.0259881355,"mpcc_iq_a":-1.6097486,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.87729073,"mpcc_pred_id_a":-0.398003429,"mpcc_pred_iq_a":-3.49220777,"mpcc_state":1,"mpcc_theta_e":0.45012331,"mpcc_theta_mech":0.556970537,"sam_rpm":9.08960342,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270084739,"thr_a_norm":0.0270084739,"thr_a_v":0.608033895,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489448398,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.381733,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.74847269,"cg_iw_a":0.854045391,"cg_theta_rad":0.557185292,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0266064163,"mpcc_du":50.2007828,"mpcc_dv":48.6880493,"mpcc_dw":51.3119507,"mpcc_enc_sign":1,"mpcc_id_a":2.32584572,"mpcc_iq_a":-1.07450807,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.37122679,"mpcc_pred_id_a":0.116705127,"mpcc_pred_iq_a":0.331292063,"mpcc_state":1,"mpcc_theta_e":0.450698376,"mpcc_theta_mech":0.557085574,"sam_rpm":11.6964083,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270084739,"thr_a_norm":0.0270084739,"thr_a_v":0.608033895,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489448398,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.388203,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.02359605,"cg_iw_a":-0.23326993,"cg_theta_rad":0.55501765,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0244296398,"mpcc_du":48.5912514,"mpcc_dv":51.4087486,"mpcc_dw":49.0524216,"mpcc_enc_sign":1,"mpcc_id_a":-0.246209159,"mpcc_iq_a":-0.387145907,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":20.9967804,"mpcc_pred_id_a":-0.637913823,"mpcc_pred_iq_a":-6.97961235,"mpcc_state":1,"mpcc_theta_e":0.46182251,"mpcc_theta_mech":0.559310436,"sam_rpm":31.144701,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277889669,"thr_a_norm":0.0277889669,"thr_a_v":0.611155868,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491764724,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.396229,"values":{"cg_iu_a":0.749452114,"cg_iv_a":0.353669643,"cg_iw_a":-1.10312176,"cg_theta_rad":0.553429127,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0247419588,"mpcc_du":49.5151482,"mpcc_dv":49.8529434,"mpcc_dw":50.4848518,"mpcc_enc_sign":1,"mpcc_id_a":1.00394738,"mpcc_iq_a":-1.16027915,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.5151813,"mpcc_pred_id_a":-0.543716908,"mpcc_pred_iq_a":-1.961954,"mpcc_state":1,"mpcc_theta_e":0.438891411,"mpcc_theta_mech":0.554724157,"sam_rpm":17.435997,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0143820047,"thr_a_norm":0.0277889669,"thr_a_v":0.557528019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43531701,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.406025,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.09608364,"cg_iw_a":-1.53804779,"cg_theta_rad":0.556960762,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0704213977,"mpcc_du":49.7111855,"mpcc_dv":49.3249779,"mpcc_dw":50.6750221,"mpcc_enc_sign":1,"mpcc_id_a":1.33290315,"mpcc_iq_a":-0.137000844,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.4611254,"mpcc_pred_id_a":-0.0638847277,"mpcc_pred_iq_a":-2.79478288,"mpcc_state":1,"mpcc_theta_e":0.456371307,"mpcc_theta_mech":0.558220208,"sam_rpm":20.8493671,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0143820047,"thr_a_norm":0.0143820047,"thr_a_v":0.557528019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43531701,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.416218,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.89344811,"cg_iw_a":0.129168749,"cg_theta_rad":0.556618869,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0249592662,"mpcc_du":50.0815659,"mpcc_dv":48.802906,"mpcc_dw":51.197094,"mpcc_enc_sign":1,"mpcc_id_a":1.31666565,"mpcc_iq_a":-3.09051394,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.84331417,"mpcc_pred_id_a":-0.0264674947,"mpcc_pred_iq_a":-0.884077907,"mpcc_state":1,"mpcc_theta_e":0.431774616,"mpcc_theta_mech":0.553300798,"sam_rpm":-14.4195595,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232192725,"thr_a_norm":0.0232192725,"thr_a_v":0.59287709,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497907996,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.426228,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.54583716,"cg_iw_a":0.274143934,"cg_theta_rad":0.557423532,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.00495206565,"mpcc_du":49.9125748,"mpcc_dv":49.1846275,"mpcc_dw":50.8153725,"mpcc_enc_sign":1,"mpcc_id_a":0.119710051,"mpcc_iq_a":-0.144080758,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.45539415,"mpcc_pred_id_a":-0.421768963,"mpcc_pred_iq_a":-1.65125287,"mpcc_state":1,"mpcc_theta_e":0.438406944,"mpcc_theta_mech":0.554627299,"sam_rpm":-1.63996148,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232192725,"thr_a_norm":0.0232192725,"thr_a_v":0.59287709,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497907996,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.436451,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.298719406,"cg_iw_a":-2.11794901,"cg_theta_rad":0.555712819,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0470710024,"mpcc_du":50.6811943,"mpcc_dv":48.2642479,"mpcc_dw":51.7357521,"mpcc_enc_sign":1,"mpcc_id_a":0.070161812,"mpcc_iq_a":-2.03811026,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.5412273,"mpcc_pred_id_a":-0.340083778,"mpcc_pred_iq_a":-1.91286039,"mpcc_state":1,"mpcc_theta_e":0.459571838,"mpcc_theta_mech":0.558860242,"sam_rpm":0.498342454,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257370025,"thr_a_norm":0.0257370025,"thr_a_v":0.60294801,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491714358,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.446461,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.878620625,"cg_iw_a":-1.97297382,"cg_theta_rad":0.553924441,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0110662263,"mpcc_du":49.6345825,"mpcc_dv":49.4665718,"mpcc_dw":50.5334282,"mpcc_enc_sign":1,"mpcc_id_a":0.466654032,"mpcc_iq_a":-1.12962103,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.46822548,"mpcc_pred_id_a":-0.297125012,"mpcc_pred_iq_a":-2.28744626,"mpcc_state":1,"mpcc_theta_e":0.429217815,"mpcc_theta_mech":0.552789509,"sam_rpm":-14.2077484,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256488919,"thr_a_norm":0.0257370025,"thr_a_v":0.602595568,"thr_b":0.00218357146,"thr_b_norm":0,"thr_b_v":0.508734286,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.468678,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.74847269,"cg_iw_a":1.21648359,"cg_theta_rad":0.554690897,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0428569056,"mpcc_du":49.8891373,"mpcc_dv":49.0774231,"mpcc_dw":50.9225769,"mpcc_enc_sign":1,"mpcc_id_a":2.28179002,"mpcc_iq_a":-0.99851644,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.189858645,"mpcc_pred_id_a":0.0229703467,"mpcc_pred_iq_a":-4.13943195,"mpcc_state":1,"mpcc_theta_e":0.447740555,"mpcc_theta_mech":0.556494057,"sam_rpm":0.436638385,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256488919,"thr_a_norm":0.0256488919,"thr_a_v":0.602595568,"thr_b":0.00218357146,"thr_b_norm":0.00218357146,"thr_b_v":0.508734286,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.475239,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-2.98076296,"cg_iw_a":0.636582375,"cg_theta_rad":0.556746542,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0453158394,"mpcc_du":49.3427544,"mpcc_dv":50.6572456,"mpcc_dw":50.260376,"mpcc_enc_sign":1,"mpcc_id_a":2.55888438,"mpcc_iq_a":0.905081391,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.48248672,"mpcc_pred_id_a":0.234402403,"mpcc_pred_iq_a":-4.77725792,"mpcc_state":1,"mpcc_theta_e":0.45062542,"mpcc_theta_mech":0.557070971,"sam_rpm":13.8216629,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226905346,"thr_a_norm":0.0226905346,"thr_a_v":0.590762138,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477363229,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.481739,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.298719406,"cg_iw_a":-1.97297382,"cg_theta_rad":0.556055367,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0126565909,"mpcc_du":50.1489906,"mpcc_dv":48.8368034,"mpcc_dw":51.1631966,"mpcc_enc_sign":1,"mpcc_id_a":0.631834149,"mpcc_iq_a":-0.247334465,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.908768833,"mpcc_pred_id_a":-0.225808978,"mpcc_pred_iq_a":-1.09096682,"mpcc_state":1,"mpcc_theta_e":0.44083786,"mpcc_theta_mech":0.555113494,"sam_rpm":-0.926615596,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226905346,"thr_a_norm":0.0226905346,"thr_a_v":0.590762138,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477363229,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.488239,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.38603449,"cg_iw_a":-1.39307213,"cg_theta_rad":0.55719018,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0181109328,"mpcc_du":49.5545731,"mpcc_dv":49.2636795,"mpcc_dw":50.7363205,"mpcc_enc_sign":1,"mpcc_id_a":2.59802508,"mpcc_iq_a":-2.50860429,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.5840416,"mpcc_pred_id_a":0.538093746,"mpcc_pred_iq_a":-2.10620022,"mpcc_state":1,"mpcc_theta_e":0.450847149,"mpcc_theta_mech":0.557115376,"sam_rpm":11.4914885,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021796748,"thr_a_norm":0.021796748,"thr_a_v":0.587186992,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474442661,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.497425,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.16857147,"cg_iw_a":-1.17560935,"cg_theta_rad":0.557085276,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0151113588,"mpcc_du":50.21912,"mpcc_dv":48.7913475,"mpcc_dw":51.2086525,"mpcc_enc_sign":1,"mpcc_id_a":0.201292053,"mpcc_iq_a":-0.647126079,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.75323641,"mpcc_pred_id_a":-0.42229858,"mpcc_pred_iq_a":-1.89742994,"mpcc_state":1,"mpcc_theta_e":0.443498135,"mpcc_theta_mech":0.555645525,"sam_rpm":-2.45332646,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248306245,"thr_a_norm":0.021796748,"thr_a_v":0.599322498,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49508813,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.507252,"values":{"cg_iu_a":4.08388519,"cg_iv_a":-1.02359605,"cg_iw_a":0.274143934,"cg_theta_rad":0.553252757,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.000251280057,"mpcc_du":49.6339035,"mpcc_dv":49.8890648,"mpcc_dw":50.3660965,"mpcc_enc_sign":1,"mpcc_id_a":0.0635179281,"mpcc_iq_a":-1.45838892,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.180821076,"mpcc_pred_id_a":-0.626284778,"mpcc_pred_iq_a":-3.61091709,"mpcc_state":1,"mpcc_theta_e":0.438693523,"mpcc_theta_mech":0.554684579,"sam_rpm":-1.53858376,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248306245,"thr_a_norm":0.0248306245,"thr_a_v":0.599322498,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49508813,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.517414,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.47334933,"cg_iw_a":0.491606951,"cg_theta_rad":0.557329595,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0268352162,"mpcc_du":50.2395592,"mpcc_dv":48.6049347,"mpcc_dw":51.3950653,"mpcc_enc_sign":1,"mpcc_id_a":1.21638501,"mpcc_iq_a":-0.194914445,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.14903021,"mpcc_pred_id_a":0.0556328073,"mpcc_pred_iq_a":-1.46121609,"mpcc_state":1,"mpcc_theta_e":0.437561035,"mpcc_theta_mech":0.554458141,"sam_rpm":-4.40948963,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221114755,"thr_a_norm":0.0221114755,"thr_a_v":0.588445902,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482600152,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.527454,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.31354666,"cg_iw_a":-2.26292467,"cg_theta_rad":0.557374418,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0917559713,"mpcc_du":50.196907,"mpcc_dv":48.2044525,"mpcc_dw":51.7955475,"mpcc_enc_sign":1,"mpcc_id_a":3.74278784,"mpcc_iq_a":0.214238003,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.27371824,"mpcc_pred_id_a":1.30754185,"mpcc_pred_iq_a":-1.01403093,"mpcc_state":1,"mpcc_theta_e":0.444744587,"mpcc_theta_mech":0.555894792,"sam_rpm":-0.302231908,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221114755,"thr_a_norm":0.0221114755,"thr_a_v":0.588445902,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482600152,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.537647,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.516182423,"cg_iw_a":-1.17560911,"cg_theta_rad":0.557364345,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0438425094,"mpcc_du":50.0042915,"mpcc_dv":49.0658073,"mpcc_dw":50.9341927,"mpcc_enc_sign":1,"mpcc_id_a":2.14638162,"mpcc_iq_a":0.229767472,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.16493845,"mpcc_pred_id_a":0.4141424,"mpcc_pred_iq_a":-1.35768652,"mpcc_state":1,"mpcc_theta_e":0.446478367,"mpcc_theta_mech":0.556241632,"sam_rpm":1.32337987,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.042404443,"thr_a_norm":0.042404443,"thr_a_v":0.669617772,"thr_b":0.0147848576,"thr_b_norm":0.0147848576,"thr_b_v":0.559139431,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.54781,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-1.82096052,"cg_iw_a":-1.39307213,"cg_theta_rad":0.558085084,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0118518975,"mpcc_du":49.9951973,"mpcc_dv":49.0302925,"mpcc_dw":50.9697075,"mpcc_enc_sign":1,"mpcc_id_a":1.19343984,"mpcc_iq_a":-1.28093815,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.1757231,"mpcc_pred_id_a":-0.179745093,"mpcc_pred_iq_a":-1.286533,"mpcc_state":1,"mpcc_theta_e":0.430784225,"mpcc_theta_mech":0.553102791,"sam_rpm":-16.8636303,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181963891,"thr_a_norm":0.042404443,"thr_a_v":0.572785556,"thr_b":0,"thr_b_norm":0.0147848576,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.57085,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.6759851,"cg_iw_a":0.201656103,"cg_theta_rad":0.555595815,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0123542417,"mpcc_du":50.2876701,"mpcc_dv":48.7756042,"mpcc_dw":51.2243958,"mpcc_enc_sign":1,"mpcc_id_a":0.927562833,"mpcc_iq_a":-0.807322443,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.529384434,"mpcc_pred_id_a":-0.414423913,"mpcc_pred_iq_a":-1.15326846,"mpcc_state":1,"mpcc_theta_e":0.443884373,"mpcc_theta_mech":0.555722773,"sam_rpm":-0.664612055,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181963891,"thr_a_norm":0.0181963891,"thr_a_v":0.572785556,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.577381,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.38603449,"cg_iw_a":0.999020576,"cg_theta_rad":0.553385913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0101763224,"mpcc_du":50.4031715,"mpcc_dv":48.5964737,"mpcc_dw":51.4035263,"mpcc_enc_sign":1,"mpcc_id_a":0.583875716,"mpcc_iq_a":-1.34689283,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.54363489,"mpcc_pred_id_a":-0.228098497,"mpcc_pred_iq_a":0.473035514,"mpcc_state":1,"mpcc_theta_e":0.450301647,"mpcc_theta_mech":0.55700624,"sam_rpm":8.69432354,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156031102,"thr_a_norm":0.0156031102,"thr_a_v":0.562412441,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453041911,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.583912,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.226231575,"cg_iw_a":-0.668195724,"cg_theta_rad":0.55229032,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0458817631,"mpcc_du":50.6272926,"mpcc_dv":47.8434868,"mpcc_dw":52.1565132,"mpcc_enc_sign":1,"mpcc_id_a":3.82702255,"mpcc_iq_a":-0.252300471,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.6605792,"mpcc_pred_id_a":0.778360128,"mpcc_pred_iq_a":1.41088068,"mpcc_state":1,"mpcc_theta_e":0.435334206,"mpcc_theta_mech":0.554012775,"sam_rpm":-11.2660322,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156031102,"thr_a_norm":0.0156031102,"thr_a_v":0.562412441,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453041911,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.590382,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.661157608,"cg_iw_a":0.346631527,"cg_theta_rad":0.556139052,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0335543826,"mpcc_du":49.6347771,"mpcc_dv":49.9919472,"mpcc_dw":50.3652229,"mpcc_enc_sign":1,"mpcc_id_a":0.600715399,"mpcc_iq_a":-1.13175786,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.9516163,"mpcc_pred_id_a":-0.531371415,"mpcc_pred_iq_a":-3.81330252,"mpcc_state":1,"mpcc_theta_e":0.458247662,"mpcc_theta_mech":0.558595419,"sam_rpm":23.1520538,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022224769,"thr_a_norm":0.022224769,"thr_a_v":0.588899076,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.598408,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-2.47334933,"cg_iw_a":1.21648335,"cg_theta_rad":0.5550493,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0368550345,"mpcc_du":49.5097618,"mpcc_dv":49.6005402,"mpcc_dw":50.4902382,"mpcc_enc_sign":1,"mpcc_id_a":2.07437515,"mpcc_iq_a":0.0711171329,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.67198467,"mpcc_pred_id_a":0.0521966815,"mpcc_pred_iq_a":-3.03212333,"mpcc_state":1,"mpcc_theta_e":0.45017004,"mpcc_theta_mech":0.556979954,"sam_rpm":11.9130468,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258880705,"thr_a_norm":0.022224769,"thr_a_v":0.603552282,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496296614,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.608204,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.02359605,"cg_iw_a":-0.160782099,"cg_theta_rad":0.556935847,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0126965828,"mpcc_du":49.5486832,"mpcc_dv":49.3505135,"mpcc_dw":50.6494865,"mpcc_enc_sign":1,"mpcc_id_a":2.20688605,"mpcc_iq_a":-0.471668124,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.76751494,"mpcc_pred_id_a":0.238388032,"mpcc_pred_iq_a":-2.42583275,"mpcc_state":1,"mpcc_theta_e":0.43592453,"mpcc_theta_mech":0.554130793,"sam_rpm":-4.56353521,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258880705,"thr_a_norm":0.0258880705,"thr_a_v":0.603552282,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496296614,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.618427,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.733645439,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556935966,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.00786309689,"mpcc_du":48.9311409,"mpcc_dv":51.0688591,"mpcc_dw":49.8438225,"mpcc_enc_sign":1,"mpcc_id_a":1.44200885,"mpcc_iq_a":-0.399208158,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.7224159,"mpcc_pred_id_a":0.322166622,"mpcc_pred_iq_a":-2.99429154,"mpcc_state":1,"mpcc_theta_e":0.441453934,"mpcc_theta_mech":0.555236697,"sam_rpm":15.0933161,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252586454,"thr_a_norm":0.0252586454,"thr_a_v":0.601034582,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476557553,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.630848,"values":{"cg_iu_a":1.32935333,"cg_iv_a":0.0637187958,"cg_iw_a":-1.39307213,"cg_theta_rad":0.5548805,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0388301685,"mpcc_du":49.7614594,"mpcc_dv":49.1213226,"mpcc_dw":50.8786774,"mpcc_enc_sign":1,"mpcc_id_a":2.45479035,"mpcc_iq_a":-0.46205315,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.7162385,"mpcc_pred_id_a":0.0904913992,"mpcc_pred_iq_a":-4.49727964,"mpcc_state":1,"mpcc_theta_e":0.441769123,"mpcc_theta_mech":0.555299699,"sam_rpm":-6.62166929,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238487124,"thr_a_norm":0.0252586454,"thr_a_v":0.59539485,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469054729,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.640827,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":0.208694458,"cg_iw_a":-0.233269691,"cg_theta_rad":0.554662168,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.00426026434,"mpcc_du":49.0795517,"mpcc_dv":50.9204483,"mpcc_dw":49.9063072,"mpcc_enc_sign":1,"mpcc_id_a":0.176356897,"mpcc_iq_a":-2.32180262,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":20.0624752,"mpcc_pred_id_a":-0.0943999588,"mpcc_pred_iq_a":-4.39814234,"mpcc_state":1,"mpcc_theta_e":0.457800388,"mpcc_theta_mech":0.558505952,"sam_rpm":31.1798668,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238487124,"thr_a_norm":0.0238487124,"thr_a_v":0.59539485,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469054729,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.65102,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.53100967,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556402147,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0266710147,"mpcc_du":49.9988785,"mpcc_dv":49.033493,"mpcc_dw":50.966507,"mpcc_enc_sign":1,"mpcc_id_a":0.589690864,"mpcc_iq_a":-0.836907506,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.70334458,"mpcc_pred_id_a":-0.420491993,"mpcc_pred_iq_a":-2.83985734,"mpcc_state":1,"mpcc_theta_e":0.448826313,"mpcc_theta_mech":0.556711197,"sam_rpm":4.51636887,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0119523853,"thr_a_norm":0.0119523853,"thr_a_v":0.547809541,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456415653,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.674061,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.31354666,"cg_iw_a":-1.17560959,"cg_theta_rad":0.555132985,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0189327523,"mpcc_du":48.8453865,"mpcc_dv":51.1546135,"mpcc_dw":49.5252647,"mpcc_enc_sign":1,"mpcc_id_a":2.39289522,"mpcc_iq_a":-2.44289136,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.79118109,"mpcc_pred_id_a":-0.211272761,"mpcc_pred_iq_a":-6.29213619,"mpcc_state":1,"mpcc_theta_e":0.447235107,"mpcc_theta_mech":0.556392908,"sam_rpm":10.1919603,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0119523853,"thr_a_norm":0.0119523853,"thr_a_v":0.547809541,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456415653,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.680531,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-2.40086174,"cg_iw_a":-0.16078186,"cg_theta_rad":0.555869281,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.00679234695,"mpcc_du":48.8911629,"mpcc_dv":51.1088371,"mpcc_dw":49.5877151,"mpcc_enc_sign":1,"mpcc_id_a":1.2086668,"mpcc_iq_a":-2.39015007,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.3170891,"mpcc_pred_id_a":-0.191273868,"mpcc_pred_iq_a":-5.62881041,"mpcc_state":1,"mpcc_theta_e":0.449228287,"mpcc_theta_mech":0.556791604,"sam_rpm":14.2615662,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269706994,"thr_a_norm":0.0269706994,"thr_a_v":0.607882798,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.687061,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.951108456,"cg_iw_a":-1.82799816,"cg_theta_rad":0.556438327,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0152853383,"mpcc_du":49.4971962,"mpcc_dv":49.4043922,"mpcc_dw":50.5956078,"mpcc_enc_sign":1,"mpcc_id_a":1.12729883,"mpcc_iq_a":-0.723227262,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.43914986,"mpcc_pred_id_a":0.320227951,"mpcc_pred_iq_a":-2.99807501,"mpcc_state":1,"mpcc_theta_e":0.448158741,"mpcc_theta_mech":0.556577623,"sam_rpm":6.77694607,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269706994,"thr_a_norm":0.0269706994,"thr_a_v":0.607882798,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.693653,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-2.32837415,"cg_iw_a":-3.71267796,"cg_theta_rad":0.555090964,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0144552235,"mpcc_du":49.8125839,"mpcc_dv":49.0691643,"mpcc_dw":50.9308357,"mpcc_enc_sign":1,"mpcc_id_a":2.29289317,"mpcc_iq_a":-0.451299161,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.70539,"mpcc_pred_id_a":0.192050427,"mpcc_pred_iq_a":-3.18481636,"mpcc_state":1,"mpcc_theta_e":0.431099892,"mpcc_theta_mech":0.553165913,"sam_rpm":-16.4669094,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0155275762,"thr_a_norm":0.0155275762,"thr_a_v":0.562110305,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.703602,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.951108456,"cg_iw_a":-1.53804755,"cg_theta_rad":0.553323865,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0270099733,"mpcc_du":49.588028,"mpcc_dv":50.0712471,"mpcc_dw":50.411972,"mpcc_enc_sign":1,"mpcc_id_a":2.97202969,"mpcc_iq_a":0.423012346,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.6193523,"mpcc_pred_id_a":-0.163873047,"mpcc_pred_iq_a":-2.68733716,"mpcc_state":1,"mpcc_theta_e":0.45179224,"mpcc_theta_mech":0.557304323,"sam_rpm":20.1153889,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242389441,"thr_a_norm":0.0155275762,"thr_a_v":0.596955776,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483355463,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.713612,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.733645439,"cg_iw_a":-1.97297382,"cg_theta_rad":0.554752171,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0259493757,"mpcc_du":49.5116234,"mpcc_dv":50.0804825,"mpcc_dw":50.4883766,"mpcc_enc_sign":1,"mpcc_id_a":2.04030943,"mpcc_iq_a":-1.51035917,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.88270426,"mpcc_pred_id_a":0.210977763,"mpcc_pred_iq_a":-0.362848848,"mpcc_state":1,"mpcc_theta_e":0.439721107,"mpcc_theta_mech":0.554890096,"sam_rpm":7.11450338,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242389441,"thr_a_norm":0.0242389441,"thr_a_v":0.596955776,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483355463,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.725788,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.09608364,"cg_iw_a":-0.595707893,"cg_theta_rad":0.55601126,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0112765357,"mpcc_du":49.6624413,"mpcc_dv":50.2525101,"mpcc_dw":50.3375587,"mpcc_enc_sign":1,"mpcc_id_a":0.0530500524,"mpcc_iq_a":-0.949808717,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.9157548,"mpcc_pred_id_a":-0.648747683,"mpcc_pred_iq_a":-4.99156952,"mpcc_state":1,"mpcc_theta_e":0.448316574,"mpcc_theta_mech":0.556609213,"sam_rpm":7.57587004,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259132534,"thr_a_norm":0.0259132534,"thr_a_v":0.603653014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496246278,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.735828,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.24105906,"cg_iw_a":-0.958146334,"cg_theta_rad":0.5525859,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0324150808,"mpcc_du":49.4352226,"mpcc_dv":50.2023888,"mpcc_dw":50.5647774,"mpcc_enc_sign":1,"mpcc_id_a":3.13383031,"mpcc_iq_a":-0.0666162446,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.2060261,"mpcc_pred_id_a":0.647126138,"mpcc_pred_iq_a":-1.86619925,"mpcc_state":1,"mpcc_theta_e":0.449408531,"mpcc_theta_mech":0.556827605,"sam_rpm":18.3486214,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227409005,"thr_a_norm":0.0259132534,"thr_a_v":0.590963602,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482751191,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.745655,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-2.0384233,"cg_iw_a":0.129168749,"cg_theta_rad":0.556552708,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0819517747,"mpcc_du":50.0469627,"mpcc_dv":48.3761101,"mpcc_dw":51.6238899,"mpcc_enc_sign":1,"mpcc_id_a":4.49241781,"mpcc_iq_a":-0.227640495,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.47398901,"mpcc_pred_id_a":1.23281133,"mpcc_pred_iq_a":-1.9530127,"mpcc_state":1,"mpcc_theta_e":0.442982674,"mpcc_theta_mech":0.555542409,"sam_rpm":-6.56507635,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227409005,"thr_a_norm":0.0227409005,"thr_a_v":0.590963602,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482751191,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.769032,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-2.61832476,"cg_iw_a":0.419119358,"cg_theta_rad":0.552508712,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0112148551,"mpcc_du":49.5147514,"mpcc_dv":50.4852486,"mpcc_dw":50.4632149,"mpcc_enc_sign":1,"mpcc_id_a":2.08715439,"mpcc_iq_a":-2.2456727,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.65921235,"mpcc_pred_id_a":0.209562019,"mpcc_pred_iq_a":-4.72518444,"mpcc_state":1,"mpcc_theta_e":0.445921898,"mpcc_theta_mech":0.55613029,"sam_rpm":4.99994755,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215197951,"thr_a_norm":0.0215197951,"thr_a_v":0.58607918,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482902259,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.775623,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.951108456,"cg_iw_a":-1.53804779,"cg_theta_rad":0.555359721,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0823858306,"mpcc_du":50.3117943,"mpcc_dv":48.1550484,"mpcc_dw":51.8449516,"mpcc_enc_sign":1,"mpcc_id_a":4.53243113,"mpcc_iq_a":-0.842461169,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.46012211,"mpcc_pred_id_a":1.10178852,"mpcc_pred_iq_a":0.587324739,"mpcc_state":1,"mpcc_theta_e":0.451096535,"mpcc_theta_mech":0.557165205,"sam_rpm":7.70886469,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215197951,"thr_a_norm":0.0215197951,"thr_a_v":0.58607918,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482902259,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.782093,"values":{"cg_iu_a":2.41666842,"cg_iv_a":0.0637187958,"cg_iw_a":-1.75551033,"cg_theta_rad":0.553384185,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.00878947694,"mpcc_du":50.8041267,"mpcc_dv":48.1408272,"mpcc_dw":51.8591728,"mpcc_enc_sign":1,"mpcc_id_a":-0.359763831,"mpcc_iq_a":-2.95742059,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.9806652,"mpcc_pred_id_a":-0.653347135,"mpcc_pred_iq_a":-0.750373781,"mpcc_state":1,"mpcc_theta_e":0.425978184,"mpcc_theta_mech":0.552141547,"sam_rpm":-27.0130081,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282799155,"thr_a_norm":0.0282799155,"thr_a_v":0.613119662,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493376046,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.788593,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.74847269,"cg_iw_a":0.709069729,"cg_theta_rad":0.557848215,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0241545811,"mpcc_du":49.4736938,"mpcc_dv":49.3716202,"mpcc_dw":50.6283798,"mpcc_enc_sign":1,"mpcc_id_a":2.89670444,"mpcc_iq_a":-0.195168272,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.76574278,"mpcc_pred_id_a":0.538283587,"mpcc_pred_iq_a":-3.37837076,"mpcc_state":1,"mpcc_theta_e":0.437446117,"mpcc_theta_mech":0.554435134,"sam_rpm":-7.16733027,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0425806791,"thr_a_norm":0.0282799155,"thr_a_v":0.670322716,"thr_b":0.00497825444,"thr_b_norm":0,"thr_b_v":0.519913018,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.796528,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-2.47334933,"cg_iw_a":1.94136024,"cg_theta_rad":0.552692771,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.05267765,"mpcc_du":49.8245888,"mpcc_dv":49.0735168,"mpcc_dw":50.9264832,"mpcc_enc_sign":1,"mpcc_id_a":2.93026447,"mpcc_iq_a":-0.159286097,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.93688726,"mpcc_pred_id_a":0.373408467,"mpcc_pred_iq_a":-1.97707248,"mpcc_state":1,"mpcc_theta_e":0.451070786,"mpcc_theta_mech":0.557160079,"sam_rpm":9.57368183,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0425806791,"thr_a_norm":0.0425806791,"thr_a_v":0.670322716,"thr_b":0.00497825444,"thr_b_norm":0.00497825444,"thr_b_v":0.519913018,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.80666,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":-1.38603449,"cg_iw_a":1.43394661,"cg_theta_rad":0.556156993,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0249332376,"mpcc_du":50.4968643,"mpcc_dv":48.42099,"mpcc_dw":51.57901,"mpcc_enc_sign":1,"mpcc_id_a":1.07087886,"mpcc_iq_a":-1.01320398,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.63920593,"mpcc_pred_id_a":-0.198598474,"mpcc_pred_iq_a":-2.20505333,"mpcc_state":1,"mpcc_theta_e":0.443049908,"mpcc_theta_mech":0.55555588,"sam_rpm":-8.11382103,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233703256,"thr_a_norm":0.0233703256,"thr_a_v":0.593481302,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.816822,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.806133032,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.556291282,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0429122373,"mpcc_du":50.3896523,"mpcc_dv":48.5870552,"mpcc_dw":51.4129448,"mpcc_enc_sign":1,"mpcc_id_a":0.0401219055,"mpcc_iq_a":-1.31432164,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.26254845,"mpcc_pred_id_a":-0.233675897,"mpcc_pred_iq_a":-3.0891788,"mpcc_state":1,"mpcc_theta_e":0.447141647,"mpcc_theta_mech":0.556374252,"sam_rpm":-0.205795735,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233703256,"thr_a_norm":0.0233703256,"thr_a_v":0.593481302,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.827045,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.09608364,"cg_iw_a":-0.81317091,"cg_theta_rad":0.555346429,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.00133768772,"mpcc_du":49.5829086,"mpcc_dv":50.2570763,"mpcc_dw":50.4170914,"mpcc_enc_sign":1,"mpcc_id_a":0.569454193,"mpcc_iq_a":-0.546287417,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.84596729,"mpcc_pred_id_a":-0.0799635798,"mpcc_pred_iq_a":-2.705127,"mpcc_state":1,"mpcc_theta_e":0.446224213,"mpcc_theta_mech":0.556190729,"sam_rpm":8.94924736,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225017071,"thr_a_norm":0.0225017071,"thr_a_v":0.590006828,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472932041,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.837025,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.24105906,"cg_iw_a":0.491606951,"cg_theta_rad":0.55703038,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0120890848,"mpcc_du":50.5847168,"mpcc_dv":48.1821136,"mpcc_dw":51.8178864,"mpcc_enc_sign":1,"mpcc_id_a":1.67372215,"mpcc_iq_a":-0.583726346,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.3386412,"mpcc_pred_id_a":0.113132335,"mpcc_pred_iq_a":-1.26926982,"mpcc_state":1,"mpcc_theta_e":0.432452679,"mpcc_theta_mech":0.553436458,"sam_rpm":-21.6200638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023206681,"thr_a_norm":0.0225017071,"thr_a_v":0.592826724,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494332761,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.847004,"values":{"cg_iu_a":3.43149567,"cg_iv_a":0.426157475,"cg_iw_a":-3.85765314,"cg_theta_rad":0.556807578,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0168707967,"mpcc_du":50.43713,"mpcc_dv":48.2722893,"mpcc_dw":51.7277107,"mpcc_enc_sign":1,"mpcc_id_a":2.56470633,"mpcc_iq_a":-1.5939064,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.4936199,"mpcc_pred_id_a":0.328160435,"mpcc_pred_iq_a":-0.357106775,"mpcc_state":1,"mpcc_theta_e":0.432356834,"mpcc_theta_mech":0.555354774,"sam_rpm":-18.3211651,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023206681,"thr_a_norm":0.023206681,"thr_a_v":0.592826724,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494332761,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.871449,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.516182423,"cg_iw_a":-1.39307213,"cg_theta_rad":0.555381298,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.021526821,"mpcc_du":49.4894447,"mpcc_dv":49.5312386,"mpcc_dw":50.5105553,"mpcc_enc_sign":1,"mpcc_id_a":1.9080919,"mpcc_iq_a":-1.10560822,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.21651649,"mpcc_pred_id_a":0.202208459,"mpcc_pred_iq_a":-2.88455558,"mpcc_state":1,"mpcc_theta_e":0.451022148,"mpcc_theta_mech":0.557150364,"sam_rpm":12.9156857,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025749594,"thr_a_norm":0.025749594,"thr_a_v":0.602998376,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494030654,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.87801,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.45852208,"cg_iw_a":-1.17560935,"cg_theta_rad":0.553378046,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.00300144078,"mpcc_du":50.0555229,"mpcc_dv":49.0756874,"mpcc_dw":50.9243126,"mpcc_enc_sign":1,"mpcc_id_a":0.140414342,"mpcc_iq_a":-1.4519347,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0932287648,"mpcc_pred_id_a":-0.555622876,"mpcc_pred_iq_a":-1.94333589,"mpcc_state":1,"mpcc_theta_e":0.443173885,"mpcc_theta_mech":0.555580735,"sam_rpm":0.179735258,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.025749594,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.88451,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.878620625,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556741834,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0190584902,"mpcc_du":50.150753,"mpcc_dv":48.8977394,"mpcc_dw":51.1022606,"mpcc_enc_sign":1,"mpcc_id_a":0.792141736,"mpcc_iq_a":-0.749840498,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.89504004,"mpcc_pred_id_a":-0.457765728,"mpcc_pred_iq_a":-5.4684782,"mpcc_state":1,"mpcc_theta_e":0.44989872,"mpcc_theta_mech":0.556925654,"sam_rpm":8.37823772,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.89098,"values":{"cg_iu_a":-0.845276594,"cg_iv_a":-2.0384233,"cg_iw_a":-1.39307237,"cg_theta_rad":0.557185113,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0211926345,"mpcc_du":49.5416336,"mpcc_dv":49.2657585,"mpcc_dw":50.7342415,"mpcc_enc_sign":1,"mpcc_id_a":2.45088339,"mpcc_iq_a":-0.980417728,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.30025434,"mpcc_pred_id_a":0.336995751,"mpcc_pred_iq_a":-5.03515768,"mpcc_state":1,"mpcc_theta_e":0.445531368,"mpcc_theta_mech":0.556052208,"sam_rpm":14.6364765,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0236472934,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.899982,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.02359605,"cg_iw_a":-0.595708132,"cg_theta_rad":0.555096567,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.00372423162,"mpcc_du":49.6022263,"mpcc_dv":49.9089851,"mpcc_dw":50.3977737,"mpcc_enc_sign":1,"mpcc_id_a":-0.00717039872,"mpcc_iq_a":-2.77266359,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.32567406,"mpcc_pred_id_a":-0.37389645,"mpcc_pred_iq_a":-2.89557028,"mpcc_state":1,"mpcc_theta_e":0.443936825,"mpcc_theta_mech":0.555733263,"sam_rpm":5.96453428,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0236472934,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.910023,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.516182423,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556471765,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0373160094,"mpcc_du":50.0759277,"mpcc_dv":49.0050583,"mpcc_dw":50.9949417,"mpcc_enc_sign":1,"mpcc_id_a":0.476197451,"mpcc_iq_a":-1.06518197,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.38619471,"mpcc_pred_id_a":-0.356717765,"mpcc_pred_iq_a":-3.11388445,"mpcc_state":1,"mpcc_theta_e":0.453089714,"mpcc_theta_mech":0.557563841,"sam_rpm":7.4604969,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0453376025,"thr_a_norm":0.0453376025,"thr_a_v":0.68135041,"thr_b":0.0157793611,"thr_b_norm":0.0157793611,"thr_b_v":0.563117445,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.920246,"values":{"cg_iu_a":3.35900831,"cg_iv_a":0.281181812,"cg_iw_a":-3.64019012,"cg_theta_rad":0.554956317,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0281332433,"mpcc_du":50.6050568,"mpcc_dv":48.2800217,"mpcc_dw":51.7199783,"mpcc_enc_sign":1,"mpcc_id_a":0.124900408,"mpcc_iq_a":-1.8167665,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.3636198,"mpcc_pred_id_a":-0.249558941,"mpcc_pred_iq_a":-2.87667155,"mpcc_state":1,"mpcc_theta_e":0.444778919,"mpcc_theta_mech":0.555901706,"sam_rpm":-8.28695297,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0132993907,"thr_a_norm":0.0453376025,"thr_a_v":0.553197563,"thr_b":0,"thr_b_norm":0.0157793611,"thr_b_v":0.457926273,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.931355,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.733645439,"cg_iw_a":-1.75551081,"cg_theta_rad":0.553148389,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0165917948,"mpcc_du":50.0784264,"mpcc_dv":48.7401123,"mpcc_dw":49.776947,"mpcc_enc_sign":1,"mpcc_id_a":2.2527647,"mpcc_iq_a":-0.0114865806,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.98958492,"mpcc_pred_id_a":0.120056033,"mpcc_pred_iq_a":1.91194487,"mpcc_state":1,"mpcc_theta_e":0.428105354,"mpcc_theta_mech":0.553680956,"sam_rpm":-8.29587936,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0132993907,"thr_a_norm":0.0132993907,"thr_a_v":0.553197563,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457926273,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.942585,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.443694592,"cg_iw_a":-2.04546165,"cg_theta_rad":0.556950927,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0238761418,"mpcc_du":49.9618568,"mpcc_dv":48.7919388,"mpcc_dw":51.2080612,"mpcc_enc_sign":1,"mpcc_id_a":2.8517766,"mpcc_iq_a":-1.14712048,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.1368876,"mpcc_pred_id_a":0.351745367,"mpcc_pred_iq_a":-3.38320637,"mpcc_state":1,"mpcc_theta_e":0.43825388,"mpcc_theta_mech":0.554596722,"sam_rpm":-15.4021463,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0272728354,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477111459,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.952595,"values":{"cg_iu_a":0.604476929,"cg_iv_a":0.788595676,"cg_iw_a":-3.20526409,"cg_theta_rad":0.549745381,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":4999,"hz_app_loop":363,"hz_tim_isr":9998,"hz_vsense":363,"mpcc_cost":0.0238820557,"mpcc_du":50.2067413,"mpcc_dv":48.7876892,"mpcc_dw":51.2123108,"mpcc_enc_sign":1,"mpcc_id_a":0.59877342,"mpcc_iq_a":-2.14567184,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.73219824,"mpcc_pred_id_a":-0.320374757,"mpcc_pred_iq_a":-2.95074344,"mpcc_state":1,"mpcc_theta_e":0.451120377,"mpcc_theta_mech":0.557170033,"sam_rpm":5.01988888,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105259791,"thr_a_norm":0.0272728354,"thr_a_v":0.921039164,"thr_b":0.0491268039,"thr_b_norm":0,"thr_b_v":0.696507215,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.976215,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.02359605,"cg_iw_a":-3.27775192,"cg_theta_rad":0.55557847,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0112148542,"mpcc_du":50.032753,"mpcc_dv":48.9480171,"mpcc_dw":51.0519829,"mpcc_enc_sign":1,"mpcc_id_a":1.9951539,"mpcc_iq_a":-1.94891334,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.0656085,"mpcc_pred_id_a":-0.170963302,"mpcc_pred_iq_a":-1.28270721,"mpcc_state":1,"mpcc_theta_e":0.438790798,"mpcc_theta_mech":0.55470407,"sam_rpm":-6.55737305,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105259791,"thr_a_norm":0.105259791,"thr_a_v":0.921039164,"thr_b":0.0491268039,"thr_b_norm":0.0491268039,"thr_b_v":0.696507215,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.982746,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.09608364,"cg_iw_a":-1.32058477,"cg_theta_rad":0.555951893,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0102117788,"mpcc_du":49.6896973,"mpcc_dv":49.1972466,"mpcc_dw":50.8027534,"mpcc_enc_sign":1,"mpcc_id_a":2.01072931,"mpcc_iq_a":-1.06410372,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.95415401,"mpcc_pred_id_a":0.207153499,"mpcc_pred_iq_a":-3.50418782,"mpcc_state":1,"mpcc_theta_e":0.433315277,"mpcc_theta_mech":0.553609014,"sam_rpm":-13.7932148,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288841873,"thr_a_norm":0.0288841873,"thr_a_v":0.615536749,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.989246,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.96593571,"cg_iw_a":-0.378244877,"cg_theta_rad":0.553036451,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0135222496,"mpcc_du":49.4892426,"mpcc_dv":49.8878441,"mpcc_dw":50.5107574,"mpcc_enc_sign":1,"mpcc_id_a":2.28600383,"mpcc_iq_a":-2.16156149,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.2905817,"mpcc_pred_id_a":0.258145958,"mpcc_pred_iq_a":-3.32359791,"mpcc_state":1,"mpcc_theta_e":0.445044041,"mpcc_theta_mech":0.555954754,"sam_rpm":9.68878841,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288841873,"thr_a_norm":0.0288841873,"thr_a_v":0.615536749,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":60.995991,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.806133032,"cg_iw_a":-0.305757284,"cg_theta_rad":0.555580676,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.00152654876,"mpcc_du":50.5410805,"mpcc_dv":48.3064613,"mpcc_dw":51.6935387,"mpcc_enc_sign":1,"mpcc_id_a":0.742616594,"mpcc_iq_a":-1.90665627,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.0514908,"mpcc_pred_id_a":-0.211461946,"mpcc_pred_iq_a":-1.21388996,"mpcc_state":1,"mpcc_theta_e":0.433156967,"mpcc_theta_mech":0.553577304,"sam_rpm":-17.5658779,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026353851,"thr_a_norm":0.026353851,"thr_a_v":0.605415404,"thr_b":0.00189402699,"thr_b_norm":0.00189402699,"thr_b_v":0.507576108,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.008381,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-2.47334933,"cg_iw_a":0.41911912,"cg_theta_rad":0.553594708,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0371008739,"mpcc_du":49.8584785,"mpcc_dv":49.0729713,"mpcc_dw":50.9270287,"mpcc_enc_sign":1,"mpcc_id_a":0.941757083,"mpcc_iq_a":0.0660818145,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.80345035,"mpcc_pred_id_a":0.184300855,"mpcc_pred_iq_a":-1.06568539,"mpcc_state":1,"mpcc_theta_e":0.444256783,"mpcc_theta_mech":0.555797279,"sam_rpm":-1.41790187,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022073701,"thr_a_norm":0.026353851,"thr_a_v":0.588294804,"thr_b":0,"thr_b_norm":0.00189402699,"thr_b_v":0.471673131,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.018421,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.951108456,"cg_iw_a":0.0566806793,"cg_theta_rad":0.553829491,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0655646324,"mpcc_du":49.5877228,"mpcc_dv":49.4328957,"mpcc_dw":50.5671043,"mpcc_enc_sign":1,"mpcc_id_a":2.46564674,"mpcc_iq_a":-0.124708138,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.59526539,"mpcc_pred_id_a":0.0619884804,"mpcc_pred_iq_a":-4.08164167,"mpcc_state":1,"mpcc_theta_e":0.452838898,"mpcc_theta_mech":0.557513714,"sam_rpm":11.0749092,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022073701,"thr_a_norm":0.022073701,"thr_a_v":0.588294804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471673131,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.028584,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.298719406,"cg_iw_a":-0.81317091,"cg_theta_rad":0.554467857,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0456679575,"mpcc_du":49.824852,"mpcc_dv":49.4101105,"mpcc_dw":50.5898895,"mpcc_enc_sign":1,"mpcc_id_a":-0.196941838,"mpcc_iq_a":-0.458221734,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.98444366,"mpcc_pred_id_a":-0.625423253,"mpcc_pred_iq_a":-3.19182944,"mpcc_state":1,"mpcc_theta_e":0.455219269,"mpcc_theta_mech":0.557989776,"sam_rpm":15.6317949,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0300800949,"thr_a_norm":0.0300800949,"thr_a_v":0.62032038,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.038441,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.806133032,"cg_iw_a":-1.75551057,"cg_theta_rad":0.556390047,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.00123488135,"mpcc_du":48.5871696,"mpcc_dv":51.4128304,"mpcc_dw":49.0249825,"mpcc_enc_sign":1,"mpcc_id_a":0.360512584,"mpcc_iq_a":-1.80000436,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.4860859,"mpcc_pred_id_a":-0.718226254,"mpcc_pred_iq_a":-5.39416027,"mpcc_state":1,"mpcc_theta_e":0.452959538,"mpcc_theta_mech":0.557537854,"sam_rpm":25.2717857,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0300800949,"thr_a_norm":0.0300800949,"thr_a_v":0.62032038,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.048725,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-2.32837415,"cg_iw_a":-1.32058454,"cg_theta_rad":0.556955934,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.00507938676,"mpcc_du":50.8647728,"mpcc_dv":47.5177078,"mpcc_dw":52.4822922,"mpcc_enc_sign":1,"mpcc_id_a":1.41961873,"mpcc_iq_a":-0.615980148,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.9702723,"mpcc_pred_id_a":-0.0288061555,"mpcc_pred_iq_a":-3.63762617,"mpcc_state":1,"mpcc_theta_e":0.439063549,"mpcc_theta_mech":0.553666651,"sam_rpm":-5.89797878,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252838284,"thr_a_norm":0.0252838284,"thr_a_v":0.601135314,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484463245,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.058979,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.661157608,"cg_iw_a":-1.97297382,"cg_theta_rad":0.556727052,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0500393771,"mpcc_du":50.8425598,"mpcc_dv":47.5977554,"mpcc_dw":52.4022446,"mpcc_enc_sign":1,"mpcc_id_a":2.87303567,"mpcc_iq_a":-0.420135051,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.92504883,"mpcc_pred_id_a":0.754479766,"mpcc_pred_iq_a":0.927515507,"mpcc_state":1,"mpcc_theta_e":0.439085007,"mpcc_theta_mech":0.554762959,"sam_rpm":-10.0263243,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173151791,"thr_a_norm":0.0252838284,"thr_a_v":0.569260716,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440956742,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.081806,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-0.443694592,"cg_iw_a":0.201656342,"cg_theta_rad":0.55660814,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0362461768,"mpcc_du":49.9015083,"mpcc_dv":49.0834808,"mpcc_dw":50.9165192,"mpcc_enc_sign":1,"mpcc_id_a":1.51075459,"mpcc_iq_a":-1.42615676,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.02630854,"mpcc_pred_id_a":0.0548980609,"mpcc_pred_iq_a":-3.33611441,"mpcc_state":1,"mpcc_theta_e":0.451693058,"mpcc_theta_mech":0.557284534,"sam_rpm":8.66209507,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173151791,"thr_a_norm":0.0173151791,"thr_a_v":0.569260716,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440956742,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.088367,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.09608364,"cg_iw_a":0.346631527,"cg_theta_rad":0.552319348,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0229670741,"mpcc_du":50.7716637,"mpcc_dv":48.0272903,"mpcc_dw":51.9727097,"mpcc_enc_sign":1,"mpcc_id_a":2.15366602,"mpcc_iq_a":-1.09701276,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.8639698,"mpcc_pred_id_a":0.346746892,"mpcc_pred_iq_a":-2.54932475,"mpcc_state":1,"mpcc_theta_e":0.455480576,"mpcc_theta_mech":0.55804199,"sam_rpm":-17.100872,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0161821842,"thr_a_norm":0.0161821842,"thr_a_v":0.564728737,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469155431,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.094807,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.516182423,"cg_iw_a":0.709069967,"cg_theta_rad":0.555990636,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.00974630751,"mpcc_du":50.8769112,"mpcc_dv":47.9961586,"mpcc_dw":52.0038414,"mpcc_enc_sign":1,"mpcc_id_a":0.453673005,"mpcc_iq_a":-1.13489664,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.61700487,"mpcc_pred_id_a":-0.279354334,"mpcc_pred_iq_a":0.948924601,"mpcc_state":1,"mpcc_theta_e":0.440682411,"mpcc_theta_mech":0.555082381,"sam_rpm":-6.10835028,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0161821842,"thr_a_norm":0.0161821842,"thr_a_v":0.564728737,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469155431,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.101398,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.31354666,"cg_iw_a":0.346631527,"cg_theta_rad":0.556251466,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0259744544,"mpcc_du":50.3476067,"mpcc_dv":48.3851051,"mpcc_dw":51.6148949,"mpcc_enc_sign":1,"mpcc_id_a":2.36156464,"mpcc_iq_a":-0.309161931,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.6674128,"mpcc_pred_id_a":0.318166524,"mpcc_pred_iq_a":-1.74195075,"mpcc_state":1,"mpcc_theta_e":0.435311794,"mpcc_theta_mech":0.555997968,"sam_rpm":-15.4617109,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262909085,"thr_a_norm":0.0262909085,"thr_a_v":0.605163634,"thr_b":0.000421151519,"thr_b_norm":0.000421151519,"thr_b_v":0.501684606,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.109394,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-1.09608364,"cg_iw_a":-2.55287504,"cg_theta_rad":0.553125799,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.00891151279,"mpcc_du":49.6043587,"mpcc_dv":49.8848534,"mpcc_dw":50.3956413,"mpcc_enc_sign":1,"mpcc_id_a":0.401859403,"mpcc_iq_a":-1.21604407,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.9663668,"mpcc_pred_id_a":-0.286099315,"mpcc_pred_iq_a":-2.70082498,"mpcc_state":1,"mpcc_theta_e":0.453959942,"mpcc_theta_mech":0.557737947,"sam_rpm":17.9715061,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.106707484,"thr_a_norm":0.0262909085,"thr_a_v":0.926829934,"thr_b":0.0527775288,"thr_b_norm":0.000421151519,"thr_b_v":0.711110115,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.119404,"values":{"cg_iu_a":2.27169323,"cg_iv_a":0.57113266,"cg_iw_a":-2.84282589,"cg_theta_rad":0.553282738,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0716066957,"mpcc_du":49.5427132,"mpcc_dv":49.3803253,"mpcc_dw":50.6196747,"mpcc_enc_sign":1,"mpcc_id_a":3.30496645,"mpcc_iq_a":0.454414099,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.15221977,"mpcc_pred_id_a":0.384486824,"mpcc_pred_iq_a":-2.66573262,"mpcc_state":1,"mpcc_theta_e":0.449559212,"mpcc_theta_mech":0.556857765,"sam_rpm":13.6373997,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.106707484,"thr_a_norm":0.106707484,"thr_a_v":0.926829934,"thr_b":0.0527775288,"thr_b_norm":0.0527775288,"thr_b_v":0.711110115,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.129597,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.443694592,"cg_iw_a":-1.24809694,"cg_theta_rad":0.553388596,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.032964386,"mpcc_du":49.3411636,"mpcc_dv":50.6588364,"mpcc_dw":50.1622162,"mpcc_enc_sign":1,"mpcc_id_a":0.289426357,"mpcc_iq_a":-2.16677523,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.48923159,"mpcc_pred_id_a":0.0340111181,"mpcc_pred_iq_a":-1.87883198,"mpcc_state":1,"mpcc_theta_e":0.439784527,"mpcc_theta_mech":0.554902852,"sam_rpm":6.89899921,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238738805,"thr_a_norm":0.0238738805,"thr_a_v":0.595495522,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470716387,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.139637,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.38603449,"cg_iw_a":1.07150841,"cg_theta_rad":0.555059433,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.00622899877,"mpcc_du":50.7146339,"mpcc_dv":47.9791641,"mpcc_dw":52.0208359,"mpcc_enc_sign":1,"mpcc_id_a":1.07742858,"mpcc_iq_a":-0.491849333,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.8831034,"mpcc_pred_id_a":0.185655162,"mpcc_pred_iq_a":0.13502042,"mpcc_state":1,"mpcc_theta_e":0.431679249,"mpcc_theta_mech":0.553281784,"sam_rpm":-19.9612675,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238738805,"thr_a_norm":0.0238738805,"thr_a_v":0.595495522,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470716387,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.149982,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.951108456,"cg_iw_a":0.564094543,"cg_theta_rad":0.553723752,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0337232053,"mpcc_du":49.9570961,"mpcc_dv":48.9455986,"mpcc_dw":51.0544014,"mpcc_enc_sign":1,"mpcc_id_a":2.27042747,"mpcc_iq_a":-0.854956269,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.585182607,"mpcc_pred_id_a":0.256729901,"mpcc_pred_iq_a":-2.88945532,"mpcc_state":1,"mpcc_theta_e":0.448180199,"mpcc_theta_mech":0.556791604,"sam_rpm":1.02970064,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0303444713,"thr_a_norm":0.0303444713,"thr_a_v":0.621377885,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470061809,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.160206,"values":{"cg_iu_a":2.27169323,"cg_iv_a":0.498644829,"cg_iw_a":-2.55287504,"cg_theta_rad":0.555629909,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0067731915,"mpcc_du":50.0003967,"mpcc_dv":49.0780296,"mpcc_dw":50.9219704,"mpcc_enc_sign":1,"mpcc_id_a":0.57696712,"mpcc_iq_a":-2.36457682,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.66304183,"mpcc_pred_id_a":-0.249340937,"mpcc_pred_iq_a":-2.91519904,"mpcc_state":1,"mpcc_theta_e":0.44934988,"mpcc_theta_mech":0.556815922,"sam_rpm":4.29799938,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263664424,"thr_a_norm":0.0303444713,"thr_a_v":0.60546577,"thr_b":5.7220459e-06,"thr_b_norm":0,"thr_b_v":0.500022888,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.184193,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.02359605,"cg_iw_a":-1.32058454,"cg_theta_rad":0.555829287,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.015281179,"mpcc_du":50.6749878,"mpcc_dv":48.3566666,"mpcc_dw":51.6433334,"mpcc_enc_sign":1,"mpcc_id_a":0.0597249866,"mpcc_iq_a":0.0688440353,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.35458517,"mpcc_pred_id_a":-0.447506368,"mpcc_pred_iq_a":0.687806129,"mpcc_state":1,"mpcc_theta_e":0.441568851,"mpcc_theta_mech":0.555259705,"sam_rpm":-3.16096997,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263664424,"thr_a_norm":0.0263664424,"thr_a_v":0.60546577,"thr_b":5.7220459e-06,"thr_b_norm":5.7220459e-06,"thr_b_v":0.500022888,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.190723,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.588670254,"cg_iw_a":0.201656103,"cg_theta_rad":0.556032062,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.00609974749,"mpcc_du":49.6012726,"mpcc_dv":49.8300667,"mpcc_dw":50.3987274,"mpcc_enc_sign":1,"mpcc_id_a":0.687493205,"mpcc_iq_a":-1.6303966,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.92459631,"mpcc_pred_id_a":-0.180503517,"mpcc_pred_iq_a":-3.67907143,"mpcc_state":1,"mpcc_theta_e":0.45097208,"mpcc_theta_mech":0.557140291,"sam_rpm":10.4075975,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241760015,"thr_a_norm":0.0241760015,"thr_a_v":0.596704006,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477262527,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.197254,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.298719406,"cg_iw_a":-2.04546118,"cg_theta_rad":0.557795346,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0257194284,"mpcc_du":49.5031013,"mpcc_dv":50.3706322,"mpcc_dw":50.4968987,"mpcc_enc_sign":1,"mpcc_id_a":2.07412195,"mpcc_iq_a":0.0781514421,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.01475573,"mpcc_pred_id_a":0.502295375,"mpcc_pred_iq_a":-4.61197424,"mpcc_state":1,"mpcc_theta_e":0.446778774,"mpcc_theta_mech":0.556301713,"sam_rpm":6.97503805,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241760015,"thr_a_norm":0.0241760015,"thr_a_v":0.596704006,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477262527,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.203785,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.661157608,"cg_iw_a":-0.160782337,"cg_theta_rad":0.555477977,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.00693865446,"mpcc_du":50.0830307,"mpcc_dv":49.0258598,"mpcc_dw":50.9741402,"mpcc_enc_sign":1,"mpcc_id_a":0.655545354,"mpcc_iq_a":-0.0276293475,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.34112167,"mpcc_pred_id_a":-0.368764132,"mpcc_pred_iq_a":-0.550925255,"mpcc_state":1,"mpcc_theta_e":0.441559792,"mpcc_theta_mech":0.555976689,"sam_rpm":1.66810715,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022929728,"thr_a_norm":0.022929728,"thr_a_v":0.591718912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49483636,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.213001,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.74847269,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.557264745,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0190640595,"mpcc_du":50.5567818,"mpcc_dv":48.005722,"mpcc_dw":51.994278,"mpcc_enc_sign":1,"mpcc_id_a":2.76050973,"mpcc_iq_a":-0.466209888,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.1266813,"mpcc_pred_id_a":0.511974514,"mpcc_pred_iq_a":0.682876766,"mpcc_state":1,"mpcc_theta_e":0.425755978,"mpcc_theta_mech":0.552097082,"sam_rpm":-22.9813309,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226275921,"thr_a_norm":0.022929728,"thr_a_v":0.590510368,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486276031,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.22298,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.661157608,"cg_iw_a":-1.17560959,"cg_theta_rad":0.558180869,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0802926868,"mpcc_du":50.0830612,"mpcc_dv":48.7098846,"mpcc_dw":51.2901154,"mpcc_enc_sign":1,"mpcc_id_a":1.74687362,"mpcc_iq_a":1.06908512,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.35070777,"mpcc_pred_id_a":0.347896338,"mpcc_pred_iq_a":-1.79621387,"mpcc_state":1,"mpcc_theta_e":0.447711945,"mpcc_theta_mech":0.556488335,"sam_rpm":5.1983633,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226275921,"thr_a_norm":0.0226275921,"thr_a_v":0.590510368,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486276031,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.233173,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.951108456,"cg_iw_a":-1.10312176,"cg_theta_rad":0.552960336,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0290789027,"mpcc_du":49.5351906,"mpcc_dv":50.4648094,"mpcc_dw":50.1473656,"mpcc_enc_sign":1,"mpcc_id_a":-1.40511978,"mpcc_iq_a":-1.88104475,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.30058289,"mpcc_pred_id_a":-0.720293045,"mpcc_pred_iq_a":-2.3841691,"mpcc_state":1,"mpcc_theta_e":0.434447765,"mpcc_theta_mech":0.553835452,"sam_rpm":0.525182724,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194804221,"thr_a_norm":0.0194804221,"thr_a_v":0.577921689,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467241913,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.242878,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.516182423,"cg_iw_a":-1.90048599,"cg_theta_rad":0.55719012,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0363784134,"mpcc_du":50.3621521,"mpcc_dv":48.3911095,"mpcc_dw":51.6088905,"mpcc_enc_sign":1,"mpcc_id_a":3.55351377,"mpcc_iq_a":-0.500900745,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.43483257,"mpcc_pred_id_a":0.816295624,"mpcc_pred_iq_a":-1.65393269,"mpcc_state":1,"mpcc_theta_e":0.437067509,"mpcc_theta_mech":0.554565191,"sam_rpm":-26.4786701,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194804221,"thr_a_norm":0.0194804221,"thr_a_v":0.577921689,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467241913,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.25301,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.02359605,"cg_iw_a":-1.53804755,"cg_theta_rad":0.557901561,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0202311054,"mpcc_du":49.4446068,"mpcc_dv":49.9064407,"mpcc_dw":50.5553932,"mpcc_enc_sign":1,"mpcc_id_a":2.82158136,"mpcc_iq_a":-0.686081529,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.0721483,"mpcc_pred_id_a":0.618057132,"mpcc_pred_iq_a":-0.0115710441,"mpcc_state":1,"mpcc_theta_e":0.428426266,"mpcc_theta_mech":0.55263114,"sam_rpm":-7.49285936,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0413092226,"thr_a_norm":0.0413092226,"thr_a_v":0.66523689,"thr_b":0.0139791816,"thr_b_norm":0.0139791816,"thr_b_v":0.555916727,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.263386,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.60349751,"cg_iw_a":-0.16078186,"cg_theta_rad":0.554385483,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0317140594,"mpcc_du":49.6887894,"mpcc_dv":49.2387161,"mpcc_dw":50.7612839,"mpcc_enc_sign":1,"mpcc_id_a":2.18286061,"mpcc_iq_a":-0.871609509,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.36942577,"mpcc_pred_id_a":0.262294978,"mpcc_pred_iq_a":-2.76153493,"mpcc_state":1,"mpcc_theta_e":0.452915668,"mpcc_theta_mech":0.557529032,"sam_rpm":9.33243465,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208777785,"thr_a_norm":0.0413092226,"thr_a_v":0.583511114,"thr_b":0,"thr_b_norm":0.0139791816,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.286427,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.45852208,"cg_iw_a":0.0566809177,"cg_theta_rad":0.553055584,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0229075588,"mpcc_du":49.624958,"mpcc_dv":50.0333214,"mpcc_dw":50.375042,"mpcc_enc_sign":1,"mpcc_id_a":0.493110746,"mpcc_iq_a":-0.700203121,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.68037701,"mpcc_pred_id_a":-0.446205556,"mpcc_pred_iq_a":-4.31970835,"mpcc_state":1,"mpcc_theta_e":0.452089787,"mpcc_theta_mech":0.557363868,"sam_rpm":13.3860884,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208777785,"thr_a_norm":0.0208777785,"thr_a_v":0.583511114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.292896,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.45852208,"cg_iw_a":-0.0882940292,"cg_theta_rad":0.555168569,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0251893438,"mpcc_du":50.175602,"mpcc_dv":48.6526184,"mpcc_dw":51.3473816,"mpcc_enc_sign":1,"mpcc_id_a":2.66536522,"mpcc_iq_a":-1.03582001,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.37710595,"mpcc_pred_id_a":0.282530218,"mpcc_pred_iq_a":0.196398795,"mpcc_state":1,"mpcc_theta_e":0.445326805,"mpcc_theta_mech":0.55601126,"sam_rpm":5.57600355,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020437181,"thr_a_norm":0.020437181,"thr_a_v":0.581748724,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451732635,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.299427,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.02359605,"cg_iw_a":-0.450732708,"cg_theta_rad":0.558221877,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.00435208948,"mpcc_du":49.974369,"mpcc_dv":49.1016083,"mpcc_dw":50.8983917,"mpcc_enc_sign":1,"mpcc_id_a":0.543679178,"mpcc_iq_a":-1.27476466,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.769549251,"mpcc_pred_id_a":-0.202832937,"mpcc_pred_iq_a":-1.92556715,"mpcc_state":1,"mpcc_theta_e":0.444934368,"mpcc_theta_mech":0.55593282,"sam_rpm":1.39703453,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020437181,"thr_a_norm":0.020437181,"thr_a_v":0.581748724,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451732635,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.305958,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-0.806133032,"cg_iw_a":0.781557798,"cg_theta_rad":0.557487786,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0421160161,"mpcc_du":50.2309189,"mpcc_dv":48.545002,"mpcc_dw":51.454998,"mpcc_enc_sign":1,"mpcc_id_a":1.93236959,"mpcc_iq_a":0.284532428,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.30707979,"mpcc_pred_id_a":0.411328644,"mpcc_pred_iq_a":-0.0128917405,"mpcc_state":1,"mpcc_theta_e":0.44719553,"mpcc_theta_mech":0.55638504,"sam_rpm":5.58046436,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180956721,"thr_a_norm":0.0180956721,"thr_a_v":0.572382689,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.314167,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.82096052,"cg_iw_a":-0.595707893,"cg_theta_rad":0.557334244,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.00322299125,"mpcc_du":49.9645119,"mpcc_dv":49.1821785,"mpcc_dw":50.8178215,"mpcc_enc_sign":1,"mpcc_id_a":-0.11196208,"mpcc_iq_a":-0.962624133,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.64197826,"mpcc_pred_id_a":-0.441814899,"mpcc_pred_iq_a":-0.938088894,"mpcc_state":1,"mpcc_theta_e":0.446325302,"mpcc_theta_mech":0.556210935,"sam_rpm":6.68231106,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292240679,"thr_a_norm":0.0180956721,"thr_a_v":0.616896272,"thr_b":0.00369420648,"thr_b_norm":0,"thr_b_v":0.514776826,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.324177,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-0.153744221,"cg_iw_a":-3.13277626,"cg_theta_rad":0.553507864,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.043028973,"mpcc_du":50.5213699,"mpcc_dv":48.0015297,"mpcc_dw":51.9984703,"mpcc_enc_sign":1,"mpcc_id_a":3.54043055,"mpcc_iq_a":-0.361932755,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.74665976,"mpcc_pred_id_a":0.797056079,"mpcc_pred_iq_a":0.256979316,"mpcc_state":1,"mpcc_theta_e":0.438611031,"mpcc_theta_mech":0.554668128,"sam_rpm":-11.7091141,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292240679,"thr_a_norm":0.0292240679,"thr_a_v":0.616896272,"thr_b":0.00369420648,"thr_b_norm":0.00369420648,"thr_b_v":0.514776826,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.336597,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.878620625,"cg_iw_a":-1.46555996,"cg_theta_rad":0.557583153,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0129213268,"mpcc_du":50.5028801,"mpcc_dv":48.3680115,"mpcc_dw":51.6319885,"mpcc_enc_sign":1,"mpcc_id_a":0.918715894,"mpcc_iq_a":-0.65906322,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.95829868,"mpcc_pred_id_a":-0.0682336465,"mpcc_pred_iq_a":-1.36655605,"mpcc_state":1,"mpcc_theta_e":0.439802647,"mpcc_theta_mech":0.554906487,"sam_rpm":-12.0691099,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210288316,"thr_a_norm":0.0210288316,"thr_a_v":0.584115326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462710023,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.346821,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.53100967,"cg_iw_a":0.491606712,"cg_theta_rad":0.554377139,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0654260963,"mpcc_du":49.8208618,"mpcc_dv":49.0610809,"mpcc_dw":50.9389191,"mpcc_enc_sign":1,"mpcc_id_a":3.64792514,"mpcc_iq_a":0.868692458,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.88111782,"mpcc_pred_id_a":0.367159128,"mpcc_pred_iq_a":-1.36861742,"mpcc_state":1,"mpcc_theta_e":0.44271946,"mpcc_theta_mech":0.555489838,"sam_rpm":5.80832243,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176047087,"thr_a_norm":0.0210288316,"thr_a_v":0.570418835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.434158862,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.358601,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-2.32837415,"cg_iw_a":0.129168749,"cg_theta_rad":0.553645074,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0185884684,"mpcc_du":49.5127945,"mpcc_dv":49.916996,"mpcc_dw":50.4872055,"mpcc_enc_sign":1,"mpcc_id_a":2.67055655,"mpcc_iq_a":-0.510505497,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.92755961,"mpcc_pred_id_a":0.261197299,"mpcc_pred_iq_a":-2.16615653,"mpcc_state":1,"mpcc_theta_e":0.439263821,"mpcc_theta_mech":0.554798722,"sam_rpm":6.19950581,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176047087,"thr_a_norm":0.0176047087,"thr_a_v":0.570418835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.434158862,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.381916,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.516182423,"cg_iw_a":0.12916851,"cg_theta_rad":0.55304414,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0668845251,"mpcc_du":51.049366,"mpcc_dv":47.1427536,"mpcc_dw":52.8572464,"mpcc_enc_sign":1,"mpcc_id_a":5.15624809,"mpcc_iq_a":-0.444876224,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.3535557,"mpcc_pred_id_a":1.19112206,"mpcc_pred_iq_a":3.8608799,"mpcc_state":1,"mpcc_theta_e":0.424839497,"mpcc_theta_mech":0.551913857,"sam_rpm":-27.7369804,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257118344,"thr_a_norm":0.0257118344,"thr_a_v":0.602847338,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485218614,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.388416,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.733645439,"cg_iw_a":-0.378244877,"cg_theta_rad":0.554005861,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0646910742,"mpcc_du":50.7622795,"mpcc_dv":47.4808998,"mpcc_dw":52.5191002,"mpcc_enc_sign":1,"mpcc_id_a":5.05556488,"mpcc_iq_a":-0.652188241,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.0568218,"mpcc_pred_id_a":1.18420303,"mpcc_pred_iq_a":2.1551373,"mpcc_state":1,"mpcc_theta_e":0.420591354,"mpcc_theta_mech":0.551064193,"sam_rpm":-30.1701641,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273861289,"thr_a_norm":0.0257118344,"thr_a_v":0.609544516,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485671788,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.394978,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.16857147,"cg_iw_a":0.12916851,"cg_theta_rad":0.554715633,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0027305847,"mpcc_du":50.6293221,"mpcc_dv":48.2845154,"mpcc_dw":51.7154846,"mpcc_enc_sign":1,"mpcc_id_a":1.37591052,"mpcc_iq_a":-1.71840155,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.844792604,"mpcc_pred_id_a":-0.357236385,"mpcc_pred_iq_a":-1.82157671,"mpcc_state":1,"mpcc_theta_e":0.445137024,"mpcc_theta_mech":0.555973291,"sam_rpm":-26.1749687,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273861289,"thr_a_norm":0.0273861289,"thr_a_v":0.609544516,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485671788,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.401569,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.6759851,"cg_iw_a":-1.10312152,"cg_theta_rad":0.556112587,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.046354983,"mpcc_du":50.5952911,"mpcc_dv":47.9866829,"mpcc_dw":52.0133171,"mpcc_enc_sign":1,"mpcc_id_a":0.412811488,"mpcc_iq_a":-1.21236992,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.0569954,"mpcc_pred_id_a":0.542336762,"mpcc_pred_iq_a":-0.462395668,"mpcc_state":1,"mpcc_theta_e":0.44494009,"mpcc_theta_mech":0.555933952,"sam_rpm":-20.7258797,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0128713697,"thr_a_norm":0.0128713697,"thr_a_v":0.551485479,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444280148,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.411793,"values":{"cg_iu_a":-0.772789001,"cg_iv_a":-0.0087685585,"cg_iw_a":0.78155756,"cg_theta_rad":0.551083267,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.00845483411,"mpcc_du":49.4246483,"mpcc_dv":50.5753517,"mpcc_dw":50.1383667,"mpcc_enc_sign":1,"mpcc_id_a":1.59579325,"mpcc_iq_a":-0.752424181,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.20309162,"mpcc_pred_id_a":-0.237460479,"mpcc_pred_iq_a":-2.00568724,"mpcc_state":1,"mpcc_theta_e":0.442895889,"mpcc_theta_mech":0.555525124,"sam_rpm":12.6146097,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186999291,"thr_a_norm":0.0128713697,"thr_a_v":0.574799716,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463918507,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.421772,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-0.153744221,"cg_iw_a":-0.378245354,"cg_theta_rad":0.558150709,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0738359466,"mpcc_du":50.0500069,"mpcc_dv":48.6495934,"mpcc_dw":51.3504066,"mpcc_enc_sign":1,"mpcc_id_a":2.50254202,"mpcc_iq_a":-0.0327553749,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.54823172,"mpcc_pred_id_a":0.623132229,"mpcc_pred_iq_a":-2.18008161,"mpcc_state":1,"mpcc_theta_e":0.44617033,"mpcc_theta_mech":0.556179941,"sam_rpm":4.64128113,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186999291,"thr_a_norm":0.0186999291,"thr_a_v":0.574799716,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463918507,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.431965,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.09608364,"cg_iw_a":-1.61053562,"cg_theta_rad":0.551463544,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0160996541,"mpcc_du":49.5222511,"mpcc_dv":49.6668282,"mpcc_dw":50.4777489,"mpcc_enc_sign":1,"mpcc_id_a":2.19109249,"mpcc_iq_a":-1.19234776,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.64764786,"mpcc_pred_id_a":0.0805672184,"mpcc_pred_iq_a":-3.03896642,"mpcc_state":1,"mpcc_theta_e":0.432837009,"mpcc_theta_mech":0.553513348,"sam_rpm":-9.76885414,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284183919,"thr_a_norm":0.0284183919,"thr_a_v":0.613673568,"thr_b":0.0014282465,"thr_b_norm":0.0014282465,"thr_b_v":0.505712986,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.441761,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.53100967,"cg_iw_a":-1.53804779,"cg_theta_rad":0.557573259,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0377978906,"mpcc_du":50.3126183,"mpcc_dv":48.1975746,"mpcc_dw":51.8024254,"mpcc_enc_sign":1,"mpcc_id_a":2.91952157,"mpcc_iq_a":0.0400050245,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.0294123,"mpcc_pred_id_a":0.763642967,"mpcc_pred_iq_a":-1.94195604,"mpcc_state":1,"mpcc_theta_e":0.432337284,"mpcc_theta_mech":0.555434644,"sam_rpm":-20.7743168,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284183919,"thr_a_norm":0.0284183919,"thr_a_v":0.613673568,"thr_b":0.0014282465,"thr_b_norm":0.0014282465,"thr_b_v":0.505712986,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.451893,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.38603449,"cg_iw_a":-0.015806675,"cg_theta_rad":0.557025611,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0359606855,"mpcc_du":49.4265518,"mpcc_dv":50.5220757,"mpcc_dw":50.5734482,"mpcc_enc_sign":1,"mpcc_id_a":3.46752,"mpcc_iq_a":-2.05096102,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.76770449,"mpcc_pred_id_a":0.779318571,"mpcc_pred_iq_a":-5.56265116,"mpcc_state":1,"mpcc_theta_e":0.441511631,"mpcc_theta_mech":0.555248201,"sam_rpm":12.6292906,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285568833,"thr_a_norm":0.0285568833,"thr_a_v":0.614227533,"thr_b":0.0014282465,"thr_b_norm":0.0014282465,"thr_b_v":0.505712986,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.462147,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.60349751,"cg_iw_a":-0.885658741,"cg_theta_rad":0.558194518,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0208825953,"mpcc_du":49.9879227,"mpcc_dv":48.794632,"mpcc_dw":51.205368,"mpcc_enc_sign":1,"mpcc_id_a":0.949977994,"mpcc_iq_a":-0.590424716,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.53201962,"mpcc_pred_id_a":0.319820285,"mpcc_pred_iq_a":-1.38367879,"mpcc_state":1,"mpcc_theta_e":0.447257042,"mpcc_theta_mech":0.556397319,"sam_rpm":4.09123993,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100790799,"thr_a_norm":0.0285568833,"thr_a_v":0.903163195,"thr_b":0.0384893566,"thr_b_norm":0.0014282465,"thr_b_v":0.653957427,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.485218,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.04546165,"cg_theta_rad":0.558100879,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0483524725,"mpcc_du":49.7314606,"mpcc_dv":49.1916199,"mpcc_dw":50.8083801,"mpcc_enc_sign":1,"mpcc_id_a":2.40022779,"mpcc_iq_a":-0.920015693,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.996495426,"mpcc_pred_id_a":0.0722218305,"mpcc_pred_iq_a":-4.64071655,"mpcc_state":1,"mpcc_theta_e":0.449112415,"mpcc_theta_mech":0.556768358,"sam_rpm":2.0820775,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100790799,"thr_a_norm":0.100790799,"thr_a_v":0.903163195,"thr_b":0.0384893566,"thr_b_norm":0.0384893566,"thr_b_v":0.653957427,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.491718,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.82096052,"cg_iw_a":1.36145926,"cg_theta_rad":0.556990623,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.000391172915,"mpcc_du":49.5267868,"mpcc_dv":49.6534767,"mpcc_dw":50.4732132,"mpcc_enc_sign":1,"mpcc_id_a":0.112019181,"mpcc_iq_a":-1.52701867,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.39168501,"mpcc_pred_id_a":-0.0583727099,"mpcc_pred_iq_a":-3.72689319,"mpcc_state":1,"mpcc_theta_e":0.438265324,"mpcc_theta_mech":0.554598987,"sam_rpm":-5.48181295,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021419093,"thr_a_norm":0.021419093,"thr_a_v":0.585676372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481039107,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.498219,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.09608364,"cg_iw_a":-0.378245354,"cg_theta_rad":0.557254732,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0166990608,"mpcc_du":49.639595,"mpcc_dv":49.2349854,"mpcc_dw":50.7650146,"mpcc_enc_sign":1,"mpcc_id_a":0.151694492,"mpcc_iq_a":-0.94119215,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.10281181,"mpcc_pred_id_a":0.198368192,"mpcc_pred_iq_a":-3.33149481,"mpcc_state":1,"mpcc_theta_e":0.432208538,"mpcc_theta_mech":0.553387642,"sam_rpm":-12.7648478,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021419093,"thr_a_norm":0.021419093,"thr_a_v":0.585676372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481039107,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.504749,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-2.0384233,"cg_iw_a":0.129168749,"cg_theta_rad":0.558259964,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0221593212,"mpcc_du":49.9085808,"mpcc_dv":48.9203682,"mpcc_dw":51.0796318,"mpcc_enc_sign":1,"mpcc_id_a":2.58731747,"mpcc_iq_a":-1.19978631,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.91995239,"mpcc_pred_id_a":0.203442007,"mpcc_pred_iq_a":-2.35418081,"mpcc_state":1,"mpcc_theta_e":0.450303078,"mpcc_theta_mech":0.557006538,"sam_rpm":-3.84514689,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174914151,"thr_a_norm":0.0174914151,"thr_a_v":0.569965661,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453243315,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.514729,"values":{"cg_iu_a":2.48915625,"cg_iv_a":0.643620491,"cg_iw_a":-3.13277674,"cg_theta_rad":0.551269591,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0209267288,"mpcc_du":49.1563759,"mpcc_dv":50.8436241,"mpcc_dw":49.8561478,"mpcc_enc_sign":1,"mpcc_id_a":0.237874389,"mpcc_iq_a":-0.932836831,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.41282368,"mpcc_pred_id_a":-0.225746229,"mpcc_pred_iq_a":0.360264271,"mpcc_state":1,"mpcc_theta_e":0.429178715,"mpcc_theta_mech":0.552781701,"sam_rpm":-8.64099693,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291611254,"thr_a_norm":0.0174914151,"thr_a_v":0.616644502,"thr_b":0.00234721601,"thr_b_norm":0,"thr_b_v":0.509388864,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.524616,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.60349751,"cg_iw_a":-1.53804779,"cg_theta_rad":0.558438182,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0441728979,"mpcc_du":50.0697403,"mpcc_dv":48.606987,"mpcc_dw":51.393013,"mpcc_enc_sign":1,"mpcc_id_a":2.3395195,"mpcc_iq_a":-2.10352302,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.1199379,"mpcc_pred_id_a":0.41246745,"mpcc_pred_iq_a":-0.350178361,"mpcc_state":1,"mpcc_theta_e":0.422749519,"mpcc_theta_mech":0.55149579,"sam_rpm":-26.3875828,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291611254,"thr_a_norm":0.0291611254,"thr_a_v":0.616644502,"thr_b":0.00234721601,"thr_b_norm":0.00234721601,"thr_b_v":0.509388864,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.534779,"values":{"cg_iu_a":-0.265375137,"cg_iv_a":-1.82096052,"cg_iw_a":-0.378244877,"cg_theta_rad":0.557663143,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0115583967,"mpcc_du":49.4407043,"mpcc_dv":49.3852348,"mpcc_dw":50.6147652,"mpcc_enc_sign":1,"mpcc_id_a":2.08977079,"mpcc_iq_a":-1.06507397,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.49354362,"mpcc_pred_id_a":0.531240642,"mpcc_pred_iq_a":-0.541247845,"mpcc_state":1,"mpcc_theta_e":0.437386513,"mpcc_theta_mech":0.554423213,"sam_rpm":5.55804777,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.104252681,"thr_a_norm":0.104252681,"thr_a_v":0.917010725,"thr_b":0.045753032,"thr_b_norm":0.045753032,"thr_b_v":0.683012128,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.547169,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.6759851,"cg_iw_a":-0.378245115,"cg_theta_rad":0.55627197,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0303572547,"mpcc_du":50.5751648,"mpcc_dv":48.2096825,"mpcc_dw":51.7903175,"mpcc_enc_sign":1,"mpcc_id_a":2.32230473,"mpcc_iq_a":-1.41991103,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.68005991,"mpcc_pred_id_a":0.0135725914,"mpcc_pred_iq_a":-1.29684842,"mpcc_state":1,"mpcc_theta_e":0.442443848,"mpcc_theta_mech":0.555434644,"sam_rpm":-7.63417912,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209155381,"thr_a_norm":0.104252681,"thr_a_v":0.583662152,"thr_b":0,"thr_b_norm":0.045753032,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.556995,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.16857147,"cg_iw_a":-1.10312176,"cg_theta_rad":0.553924441,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0115752267,"mpcc_du":50.1035728,"mpcc_dv":48.8632317,"mpcc_dw":51.1367683,"mpcc_enc_sign":1,"mpcc_id_a":2.02475572,"mpcc_iq_a":-0.862885535,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.69002509,"mpcc_pred_id_a":-0.0998106971,"mpcc_pred_iq_a":0.541412354,"mpcc_state":1,"mpcc_theta_e":0.442745686,"mpcc_theta_mech":0.555495024,"sam_rpm":4.72888422,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209155381,"thr_a_norm":0.0209155381,"thr_a_v":0.583662152,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.567158,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.878620625,"cg_iw_a":-0.450732708,"cg_theta_rad":0.553649902,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.00328066223,"mpcc_du":49.8442955,"mpcc_dv":49.2162514,"mpcc_dw":50.7837486,"mpcc_enc_sign":1,"mpcc_id_a":1.14497888,"mpcc_iq_a":-4.35756874,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.71089983,"mpcc_pred_id_a":-0.182460234,"mpcc_pred_iq_a":-4.10842228,"mpcc_state":1,"mpcc_theta_e":0.449327946,"mpcc_theta_mech":0.556811512,"sam_rpm":3.16181016,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0135007948,"thr_a_norm":0.0135007948,"thr_a_v":0.554003179,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464220643,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.590199,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.661157608,"cg_iw_a":-1.97297382,"cg_theta_rad":0.554705977,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.001318758,"mpcc_du":50.5771751,"mpcc_dv":48.2960625,"mpcc_dw":51.7039375,"mpcc_enc_sign":1,"mpcc_id_a":0.553797305,"mpcc_iq_a":-3.16184521,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.94980907,"mpcc_pred_id_a":-0.19692257,"mpcc_pred_iq_a":-1.14383733,"mpcc_state":1,"mpcc_theta_e":0.435801506,"mpcc_theta_mech":0.554106176,"sam_rpm":-14.4252567,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0135007948,"thr_a_norm":0.0135007948,"thr_a_v":0.554003179,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464220643,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.59676,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.661157608,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.555694044,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.000598083192,"mpcc_du":49.7147255,"mpcc_dv":50.0260544,"mpcc_dw":50.2852745,"mpcc_enc_sign":1,"mpcc_id_a":-0.35823822,"mpcc_iq_a":-2.79714251,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.23113155,"mpcc_pred_id_a":-0.92327702,"mpcc_pred_iq_a":-3.15193653,"mpcc_state":1,"mpcc_theta_e":0.450127602,"mpcc_theta_mech":0.556971431,"sam_rpm":12.2852583,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0136392713,"thr_a_norm":0.0136392713,"thr_a_v":0.554557085,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.435719818,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.60323,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.806133032,"cg_iw_a":0.129168749,"cg_theta_rad":0.552890182,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.00277557038,"mpcc_du":49.4939919,"mpcc_dv":50.5060081,"mpcc_dw":50.1984711,"mpcc_enc_sign":1,"mpcc_id_a":0.346476108,"mpcc_iq_a":-1.00150347,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.1418018,"mpcc_pred_id_a":-0.361395687,"mpcc_pred_iq_a":-2.99428511,"mpcc_state":1,"mpcc_theta_e":0.452465057,"mpcc_theta_mech":0.55743891,"sam_rpm":19.1365471,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227031261,"thr_a_norm":0.0136392713,"thr_a_v":0.590812504,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482549787,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.613544,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-1.24105906,"cg_iw_a":0.346631765,"cg_theta_rad":0.555700541,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0187708158,"mpcc_du":49.5103073,"mpcc_dv":50.2139282,"mpcc_dw":50.4896927,"mpcc_enc_sign":1,"mpcc_id_a":2.41772342,"mpcc_iq_a":-0.543450594,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.08229971,"mpcc_pred_id_a":0.378452241,"mpcc_pred_iq_a":-2.84732795,"mpcc_state":1,"mpcc_theta_e":0.444139004,"mpcc_theta_mech":0.555773675,"sam_rpm":11.1845417,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227031261,"thr_a_norm":0.0227031261,"thr_a_v":0.590812504,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482549787,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.623768,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.298719406,"cg_iw_a":-0.305757523,"cg_theta_rad":0.553854167,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.00170645653,"mpcc_du":50.6589241,"mpcc_dv":48.1477547,"mpcc_dw":51.8522453,"mpcc_enc_sign":1,"mpcc_id_a":0.702799916,"mpcc_iq_a":-1.47376299,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.5651999,"mpcc_pred_id_a":-0.052106645,"mpcc_pred_iq_a":-0.743215084,"mpcc_state":1,"mpcc_theta_e":0.43351984,"mpcc_theta_mech":0.553649902,"sam_rpm":-20.3439293,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274742395,"thr_a_norm":0.0274742395,"thr_a_v":0.609896958,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486074626,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.633961,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.443694592,"cg_iw_a":-0.378245354,"cg_theta_rad":0.55556941,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0296525899,"mpcc_du":49.9853249,"mpcc_dv":48.5994492,"mpcc_dw":51.4005508,"mpcc_enc_sign":1,"mpcc_id_a":3.20805454,"mpcc_iq_a":-1.2365489,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.563261,"mpcc_pred_id_a":0.864855051,"mpcc_pred_iq_a":-0.365400732,"mpcc_state":1,"mpcc_theta_e":0.429986477,"mpcc_theta_mech":0.55294323,"sam_rpm":-17.0411148,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0150617957,"thr_a_norm":0.0274742395,"thr_a_v":0.560247183,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.644184,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.53100967,"cg_iw_a":-2.62536287,"cg_theta_rad":0.554060698,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0219809897,"mpcc_du":50.2384186,"mpcc_dv":48.4368401,"mpcc_dw":51.5631599,"mpcc_enc_sign":1,"mpcc_id_a":2.88847327,"mpcc_iq_a":-2.09226656,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.18303537,"mpcc_pred_id_a":0.438489676,"mpcc_pred_iq_a":0.564722776,"mpcc_state":1,"mpcc_theta_e":0.439177513,"mpcc_theta_mech":0.554781377,"sam_rpm":-5.78742695,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0150617957,"thr_a_norm":0.0150617957,"thr_a_v":0.560247183,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.654163,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.74847269,"cg_iw_a":1.36145878,"cg_theta_rad":0.557289779,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0235675331,"mpcc_du":49.8116074,"mpcc_dv":49.1651039,"mpcc_dw":50.8348961,"mpcc_enc_sign":1,"mpcc_id_a":1.18442023,"mpcc_iq_a":-0.938181937,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.24251294,"mpcc_pred_id_a":-0.0240005087,"mpcc_pred_iq_a":-3.32559013,"mpcc_state":1,"mpcc_theta_e":0.449225903,"mpcc_theta_mech":0.556791067,"sam_rpm":3.58719587,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218219161,"thr_a_norm":0.0218219161,"thr_a_v":0.587287664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479780257,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.664173,"values":{"cg_iu_a":3.79393435,"cg_iv_a":-0.153744221,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.557549,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0546577387,"mpcc_du":49.5524025,"mpcc_dv":49.8925285,"mpcc_dw":50.4475975,"mpcc_enc_sign":1,"mpcc_id_a":2.27548385,"mpcc_iq_a":-1.01280558,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.84704399,"mpcc_pred_id_a":-0.11981605,"mpcc_pred_iq_a":-6.35891581,"mpcc_state":1,"mpcc_theta_e":0.45401144,"mpcc_theta_mech":0.557748199,"sam_rpm":8.0229435,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218219161,"thr_a_norm":0.0218219161,"thr_a_v":0.587287664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479780257,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.688618,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.38603449,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556411266,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.00452492805,"mpcc_du":49.8085556,"mpcc_dv":49.382782,"mpcc_dw":50.617218,"mpcc_enc_sign":1,"mpcc_id_a":0.741224885,"mpcc_iq_a":-1.03724885,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.13771033,"mpcc_pred_id_a":-0.522292018,"mpcc_pred_iq_a":-3.29285479,"mpcc_state":1,"mpcc_theta_e":0.439134598,"mpcc_theta_mech":0.554772854,"sam_rpm":-3.26309752,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0395593941,"thr_a_norm":0.0395593941,"thr_a_v":0.658237576,"thr_b":0.00642594695,"thr_b_norm":0.00642594695,"thr_b_v":0.525703788,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.695087,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.24105906,"cg_iw_a":-0.523220301,"cg_theta_rad":0.553935826,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0303154569,"mpcc_du":49.5021057,"mpcc_dv":50.3937798,"mpcc_dw":50.4978943,"mpcc_enc_sign":1,"mpcc_id_a":2.61924005,"mpcc_iq_a":-0.462144703,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.93986177,"mpcc_pred_id_a":0.270633757,"mpcc_pred_iq_a":-4.66648531,"mpcc_state":1,"mpcc_theta_e":0.447025776,"mpcc_theta_mech":0.556351066,"sam_rpm":8.90686893,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479327083,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.701649,"values":{"cg_iu_a":3.72144651,"cg_iv_a":-3.63315201,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.556851268,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0179449432,"mpcc_du":49.6058998,"mpcc_dv":49.5885429,"mpcc_dw":50.4114571,"mpcc_enc_sign":1,"mpcc_id_a":0.141364217,"mpcc_iq_a":-0.433974117,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.15380538,"mpcc_pred_id_a":-0.512780607,"mpcc_pred_iq_a":-4.3361063,"mpcc_state":1,"mpcc_theta_e":0.445367813,"mpcc_theta_mech":0.554480612,"sam_rpm":2.07615089,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479327083,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.708179,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-2.18339872,"cg_iw_a":0.564094543,"cg_theta_rad":0.556208551,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0063893036,"mpcc_du":49.5948105,"mpcc_dv":49.4830742,"mpcc_dw":50.5169258,"mpcc_enc_sign":1,"mpcc_id_a":1.3094002,"mpcc_iq_a":-3.18230224,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.44490623,"mpcc_pred_id_a":-0.166941568,"mpcc_pred_iq_a":-1.53109765,"mpcc_state":1,"mpcc_theta_e":0.449306011,"mpcc_theta_mech":0.556807101,"sam_rpm":12.5941133,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253971219,"thr_a_norm":0.0253971219,"thr_a_v":0.601588488,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493426412,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.717548,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.733645439,"cg_iw_a":-0.740683556,"cg_theta_rad":0.557165205,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0297578666,"mpcc_du":48.9128075,"mpcc_dv":51.0871925,"mpcc_dw":49.8052559,"mpcc_enc_sign":1,"mpcc_id_a":3.17016959,"mpcc_iq_a":0.0150037669,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.56710815,"mpcc_pred_id_a":0.399397701,"mpcc_pred_iq_a":-5.6155467,"mpcc_state":1,"mpcc_theta_e":0.447443485,"mpcc_theta_mech":0.556434631,"sam_rpm":11.9533672,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.043864727,"thr_a_norm":0.0253971219,"thr_a_v":0.675458908,"thr_b":0.0103536248,"thr_b_norm":0,"thr_b_v":0.541414499,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.729511,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-2.11091113,"cg_iw_a":2.95618773,"cg_theta_rad":0.555914342,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0272255167,"mpcc_du":49.5025673,"mpcc_dv":49.8692627,"mpcc_dw":50.4974327,"mpcc_enc_sign":1,"mpcc_id_a":2.67638206,"mpcc_iq_a":-1.00701284,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.475635916,"mpcc_pred_id_a":0.280362427,"mpcc_pred_iq_a":-5.26101065,"mpcc_state":1,"mpcc_theta_e":0.434541225,"mpcc_theta_mech":0.553854167,"sam_rpm":0.0578246452,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.043864727,"thr_a_norm":0.043864727,"thr_a_v":0.675458908,"thr_b":0.0103536248,"thr_b_norm":0.0103536248,"thr_b_v":0.541414499,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.739552,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.371207237,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556212664,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.027874263,"mpcc_du":50.2132072,"mpcc_dv":48.4040489,"mpcc_dw":51.5959511,"mpcc_enc_sign":1,"mpcc_id_a":2.85291624,"mpcc_iq_a":-0.625829935,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.5577421,"mpcc_pred_id_a":0.617064476,"mpcc_pred_iq_a":-2.10680413,"mpcc_state":1,"mpcc_theta_e":0.433990955,"mpcc_theta_mech":0.553744078,"sam_rpm":-18.1558838,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0144197792,"thr_a_norm":0.0144197792,"thr_a_v":0.557679117,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441661686,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.749805,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.6759851,"cg_iw_a":-1.4655602,"cg_theta_rad":0.557234824,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0429245532,"mpcc_du":49.884655,"mpcc_dv":49.0102806,"mpcc_dw":50.9897194,"mpcc_enc_sign":1,"mpcc_id_a":1.33830369,"mpcc_iq_a":-0.785075486,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.4260757,"mpcc_pred_id_a":0.215354711,"mpcc_pred_iq_a":-3.52174687,"mpcc_state":1,"mpcc_theta_e":0.452142715,"mpcc_theta_mech":0.557374418,"sam_rpm":4.33879185,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022124052,"thr_a_norm":0.0144197792,"thr_a_v":0.588496208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481240541,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.761951,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.516182423,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.552173376,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.068329148,"mpcc_du":50.224968,"mpcc_dv":48.6021729,"mpcc_dw":51.3978271,"mpcc_enc_sign":1,"mpcc_id_a":2.48263264,"mpcc_iq_a":-0.916675985,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.92247808,"mpcc_pred_id_a":0.252578735,"mpcc_pred_iq_a":-1.51076639,"mpcc_state":1,"mpcc_theta_e":0.450275898,"mpcc_theta_mech":0.557001114,"sam_rpm":3.25256443,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022124052,"thr_a_norm":0.022124052,"thr_a_v":0.588496208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481240541,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.772175,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.53100967,"cg_iw_a":-1.32058477,"cg_theta_rad":0.558260858,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0377367325,"mpcc_du":50.1285973,"mpcc_dv":48.8496475,"mpcc_dw":51.1503525,"mpcc_enc_sign":1,"mpcc_id_a":0.66664201,"mpcc_iq_a":-0.175126508,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.4307704,"mpcc_pred_id_a":-0.112372302,"mpcc_pred_iq_a":-3.17223787,"mpcc_state":1,"mpcc_theta_e":0.446071625,"mpcc_theta_mech":0.556160271,"sam_rpm":-3.26273298,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103295952,"thr_a_norm":0.103295952,"thr_a_v":0.913183808,"thr_b":0.0497436523,"thr_b_norm":0.0497436523,"thr_b_v":0.698974609,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.796589,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-1.45852208,"cg_iw_a":-1.61053538,"cg_theta_rad":0.557429314,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0576082245,"mpcc_du":48.3133545,"mpcc_dv":51.6866455,"mpcc_dw":49.1398659,"mpcc_enc_sign":1,"mpcc_id_a":4.62265539,"mpcc_iq_a":-0.565208018,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.377943,"mpcc_pred_id_a":0.634139419,"mpcc_pred_iq_a":-8.13892555,"mpcc_state":1,"mpcc_theta_e":0.423661232,"mpcc_theta_mech":0.551678181,"sam_rpm":17.5724449,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0191405416,"thr_a_norm":0.103295952,"thr_a_v":0.576562166,"thr_b":0,"thr_b_norm":0.0497436523,"thr_b_v":0.471572429,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.803089,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.516182423,"cg_iw_a":0.12916851,"cg_theta_rad":0.553946912,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.000267357391,"mpcc_du":50.6617966,"mpcc_dv":48.1128578,"mpcc_dw":51.8871422,"mpcc_enc_sign":1,"mpcc_id_a":0.293708503,"mpcc_iq_a":-1.50992954,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.9281149,"mpcc_pred_id_a":-0.0791222304,"mpcc_pred_iq_a":-0.563014627,"mpcc_state":1,"mpcc_theta_e":0.428409576,"mpcc_theta_mech":0.552627802,"sam_rpm":-23.957056,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0191405416,"thr_a_norm":0.0191405416,"thr_a_v":0.576562166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471572429,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.809589,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.661157608,"cg_iw_a":1.07150841,"cg_theta_rad":0.558386624,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.00153689575,"mpcc_du":49.544014,"mpcc_dv":50.183506,"mpcc_dw":50.455986,"mpcc_enc_sign":1,"mpcc_id_a":0.521728396,"mpcc_iq_a":-2.00280285,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.91864347,"mpcc_pred_id_a":0.0321557038,"mpcc_pred_iq_a":-3.516711,"mpcc_state":1,"mpcc_theta_e":0.442673683,"mpcc_theta_mech":0.555480659,"sam_rpm":4.92015982,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024390012,"thr_a_norm":0.024390012,"thr_a_v":0.597560048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483154029,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.816151,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.45852208,"cg_iw_a":-1.03063393,"cg_theta_rad":0.555371463,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.011863336,"mpcc_du":49.6371117,"mpcc_dv":50.3405952,"mpcc_dw":50.3628883,"mpcc_enc_sign":1,"mpcc_id_a":1.05948961,"mpcc_iq_a":-0.361361295,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.57866836,"mpcc_pred_id_a":-0.431970209,"mpcc_pred_iq_a":-4.73122692,"mpcc_state":1,"mpcc_theta_e":0.444746971,"mpcc_theta_mech":0.555895269,"sam_rpm":4.82471943,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024390012,"thr_a_norm":0.024390012,"thr_a_v":0.597560048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483154029,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.82494,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.443694592,"cg_iw_a":-2.19043684,"cg_theta_rad":0.557468474,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0435451008,"mpcc_du":50.4041061,"mpcc_dv":48.4580765,"mpcc_dw":51.5419235,"mpcc_enc_sign":1,"mpcc_id_a":2.29789639,"mpcc_iq_a":-0.627232492,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.70324206,"mpcc_pred_id_a":0.0139050931,"mpcc_pred_iq_a":-1.58942521,"mpcc_state":1,"mpcc_theta_e":0.444816589,"mpcc_theta_mech":0.555909216,"sam_rpm":-2.66496849,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0148100257,"thr_a_norm":0.0148100257,"thr_a_v":0.559240103,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450876623,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.835194,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.38603449,"cg_iw_a":0.636582375,"cg_theta_rad":0.557016134,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.113485679,"mpcc_du":50.259079,"mpcc_dv":48.3040047,"mpcc_dw":51.6959953,"mpcc_enc_sign":1,"mpcc_id_a":4.05200672,"mpcc_iq_a":0.00811728742,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.07277668,"mpcc_pred_id_a":0.904252052,"mpcc_pred_iq_a":-2.07675815,"mpcc_state":1,"mpcc_theta_e":0.447807312,"mpcc_theta_mech":0.556507409,"sam_rpm":-0.0584707297,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0489505529,"thr_a_norm":0.0148100257,"thr_a_v":0.695802212,"thr_b":0.021746397,"thr_b_norm":0,"thr_b_v":0.586985588,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.845173,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.38603449,"cg_iw_a":-1.46555996,"cg_theta_rad":0.554299712,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0450253487,"mpcc_du":50.6011276,"mpcc_dv":48.2253799,"mpcc_dw":51.7746201,"mpcc_enc_sign":1,"mpcc_id_a":0.58072412,"mpcc_iq_a":-2.00328135,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.2732172,"mpcc_pred_id_a":0.0371924564,"mpcc_pred_iq_a":-1.74236965,"mpcc_state":1,"mpcc_theta_e":0.454891682,"mpcc_theta_mech":0.557924271,"sam_rpm":4.79167747,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0489505529,"thr_a_norm":0.0489505529,"thr_a_v":0.695802212,"thr_b":0.021746397,"thr_b_norm":0.021746397,"thr_b_v":0.586985588,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.855457,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.02359605,"cg_iw_a":0.564094782,"cg_theta_rad":0.556370854,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0278182421,"mpcc_du":50.0356522,"mpcc_dv":48.7437477,"mpcc_dw":51.2562523,"mpcc_enc_sign":1,"mpcc_id_a":2.75390673,"mpcc_iq_a":-0.832187533,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.6150436,"mpcc_pred_id_a":0.200041786,"mpcc_pred_iq_a":-0.0342138,"mpcc_state":1,"mpcc_theta_e":0.426186085,"mpcc_theta_mech":0.552183151,"sam_rpm":-19.256279,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023584336,"thr_a_norm":0.023584336,"thr_a_v":0.594337344,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472780973,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.865223,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.733645439,"cg_iw_a":0.564094543,"cg_theta_rad":0.556271672,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0202704202,"mpcc_du":50.092598,"mpcc_dv":48.5823288,"mpcc_dw":51.4176712,"mpcc_enc_sign":1,"mpcc_id_a":2.76483774,"mpcc_iq_a":-0.985414088,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.4821615,"mpcc_pred_id_a":0.436185032,"mpcc_pred_iq_a":-0.719981015,"mpcc_state":1,"mpcc_theta_e":0.429417133,"mpcc_theta_mech":0.552829385,"sam_rpm":-18.4759235,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023584336,"thr_a_norm":0.023584336,"thr_a_v":0.594337344,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472780973,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.875355,"values":{"cg_iu_a":2.48915625,"cg_iv_a":0.498644829,"cg_iw_a":-1.24809694,"cg_theta_rad":0.555589139,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0671058819,"mpcc_du":49.7052116,"mpcc_dv":48.8374939,"mpcc_dw":51.1625061,"mpcc_enc_sign":1,"mpcc_id_a":5.12548685,"mpcc_iq_a":-0.216129974,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.6556375,"mpcc_pred_id_a":1.09344518,"mpcc_pred_iq_a":-0.559554219,"mpcc_state":1,"mpcc_theta_e":0.436502457,"mpcc_theta_mech":0.554246426,"sam_rpm":-4.82320356,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024012357,"thr_a_norm":0.024012357,"thr_a_v":0.596049428,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.898762,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.516182423,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556792617,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.00019011226,"mpcc_du":50.6015472,"mpcc_dv":48.4620781,"mpcc_dw":50.0051918,"mpcc_enc_sign":1,"mpcc_id_a":-0.268656492,"mpcc_iq_a":-0.978407681,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.04944658,"mpcc_pred_id_a":-0.69456929,"mpcc_pred_iq_a":0.48380217,"mpcc_state":1,"mpcc_theta_e":0.435875893,"mpcc_theta_mech":0.554121137,"sam_rpm":-10.586112,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0108194053,"thr_a_norm":0.024012357,"thr_a_v":0.543277621,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.424843222,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.905293,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.38603449,"cg_iw_a":-2.77033758,"cg_theta_rad":0.556417823,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.00917955115,"mpcc_du":49.7197189,"mpcc_dv":49.3024788,"mpcc_dw":50.6975212,"mpcc_enc_sign":1,"mpcc_id_a":0.690176189,"mpcc_iq_a":-0.97085619,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.82177091,"mpcc_pred_id_a":-0.0282531008,"mpcc_pred_iq_a":-3.75418735,"mpcc_state":1,"mpcc_theta_e":0.44246769,"mpcc_theta_mech":0.555439413,"sam_rpm":-2.59527016,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0108194053,"thr_a_norm":0.0108194053,"thr_a_v":0.543277621,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.424843222,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.911884,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.60349751,"cg_iw_a":-1.0306344,"cg_theta_rad":0.555312753,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0297729447,"mpcc_du":50.8006821,"mpcc_dv":48.1094017,"mpcc_dw":51.8905983,"mpcc_enc_sign":1,"mpcc_id_a":0.298661143,"mpcc_iq_a":-0.784053683,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.18571901,"mpcc_pred_id_a":-0.360598803,"mpcc_pred_iq_a":-1.25028491,"mpcc_state":1,"mpcc_theta_e":0.44052124,"mpcc_theta_mech":0.555050194,"sam_rpm":-9.5488987,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.918385,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.443694592,"cg_iw_a":-0.885658741,"cg_theta_rad":0.554958344,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0129292887,"mpcc_du":50.1575317,"mpcc_dv":48.7343102,"mpcc_dw":50.0556602,"mpcc_enc_sign":1,"mpcc_id_a":1.03886461,"mpcc_iq_a":-0.574329376,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.59799385,"mpcc_pred_id_a":-0.0112513676,"mpcc_pred_iq_a":-1.92616868,"mpcc_state":1,"mpcc_theta_e":0.437884331,"mpcc_theta_mech":0.557553053,"sam_rpm":-7.55411053,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.926136,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.89344811,"cg_iw_a":-0.305757523,"cg_theta_rad":0.555478454,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.041717682,"mpcc_du":50.955864,"mpcc_dv":47.7176857,"mpcc_dw":52.2823143,"mpcc_enc_sign":1,"mpcc_id_a":2.36088371,"mpcc_iq_a":-0.314318597,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.2489748,"mpcc_pred_id_a":0.0338455401,"mpcc_pred_iq_a":0.400450826,"mpcc_state":1,"mpcc_theta_e":0.437495708,"mpcc_theta_mech":0.554445088,"sam_rpm":-12.5782728,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192664266,"thr_a_norm":0.0192664266,"thr_a_v":0.577065706,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464724183,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.936176,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.443694592,"cg_iw_a":-1.17560935,"cg_theta_rad":0.556015909,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.00294301286,"mpcc_du":49.7744293,"mpcc_dv":49.0529518,"mpcc_dw":50.9470482,"mpcc_enc_sign":1,"mpcc_id_a":1.07345581,"mpcc_iq_a":-1.37105954,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.45321274,"mpcc_pred_id_a":-0.0940985233,"mpcc_pred_iq_a":-2.86442971,"mpcc_state":1,"mpcc_theta_e":0.432022095,"mpcc_theta_mech":0.553350329,"sam_rpm":-9.24432945,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021494627,"thr_a_norm":0.0192664266,"thr_a_v":0.585978508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467846185,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.946125,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.443694592,"cg_iw_a":-0.378245354,"cg_theta_rad":0.557155192,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.152584136,"mpcc_du":50.5787468,"mpcc_dv":48.2414093,"mpcc_dw":51.7585907,"mpcc_enc_sign":1,"mpcc_id_a":1.93598127,"mpcc_iq_a":0.25881955,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.07139015,"mpcc_pred_id_a":0.0746433064,"mpcc_pred_iq_a":-1.59893966,"mpcc_state":1,"mpcc_theta_e":0.460489273,"mpcc_theta_mech":0.559043765,"sam_rpm":14.1415319,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021494627,"thr_a_norm":0.021494627,"thr_a_v":0.585978508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467846185,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.956318,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-0.153744221,"cg_iw_a":-0.523220062,"cg_theta_rad":0.552204728,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5007,"hz_app_loop":367,"hz_tim_isr":10012,"hz_vsense":367,"mpcc_cost":0.0764127076,"mpcc_du":49.8163338,"mpcc_dv":48.6808777,"mpcc_dw":51.3191223,"mpcc_enc_sign":1,"mpcc_id_a":4.74300003,"mpcc_iq_a":0.31039983,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.20537543,"mpcc_pred_id_a":1.10407448,"mpcc_pred_iq_a":-1.72093594,"mpcc_state":1,"mpcc_theta_e":0.441152096,"mpcc_theta_mech":0.555176377,"sam_rpm":-5.23313522,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0998340696,"thr_a_norm":0.0998340696,"thr_a_v":0.899336278,"thr_b":0.0427443236,"thr_b_norm":0.0427443236,"thr_b_v":0.670977294,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.966908,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.951108456,"cg_iw_a":-0.233269691,"cg_theta_rad":0.555495858,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9893,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0298581701,"mpcc_du":50.1217308,"mpcc_dv":48.7190514,"mpcc_dw":51.2809486,"mpcc_enc_sign":1,"mpcc_id_a":2.41926003,"mpcc_iq_a":-0.026854407,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.48020244,"mpcc_pred_id_a":0.0940915644,"mpcc_pred_iq_a":-1.14210761,"mpcc_state":1,"mpcc_theta_e":0.441054821,"mpcc_theta_mech":0.555156887,"sam_rpm":-3.10120368,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0998340696,"thr_a_norm":0.0998340696,"thr_a_v":0.899336278,"thr_b":0.0427443236,"thr_b_norm":0.0427443236,"thr_b_v":0.670977294,"vdc_v":55.2955055}} +{"type":"telemetry","t":61.977375,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.60349751,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556111693,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0175620578,"mpcc_du":49.4934502,"mpcc_dv":50.3887138,"mpcc_dw":50.5065498,"mpcc_enc_sign":1,"mpcc_id_a":1.33822131,"mpcc_iq_a":-1.13116217,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.41191053,"mpcc_pred_id_a":0.293258369,"mpcc_pred_iq_a":-6.03653336,"mpcc_state":1,"mpcc_theta_e":0.43830061,"mpcc_theta_mech":0.55460608,"sam_rpm":5.19055271,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.044192031,"thr_a_norm":0.044192031,"thr_a_v":0.676768124,"thr_b":0.00914511085,"thr_b_norm":0.00914511085,"thr_b_v":0.536580443,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.000599,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.951108456,"cg_iw_a":-1.75551081,"cg_theta_rad":0.555296898,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00377753028,"mpcc_du":49.5830345,"mpcc_dv":50.3690338,"mpcc_dw":50.4169655,"mpcc_enc_sign":1,"mpcc_id_a":0.96830368,"mpcc_iq_a":-0.725375056,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.55181074,"mpcc_pred_id_a":-0.13974075,"mpcc_pred_iq_a":0.574371099,"mpcc_state":1,"mpcc_theta_e":0.437302589,"mpcc_theta_mech":0.554406464,"sam_rpm":3.8459816,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182593316,"thr_a_norm":0.044192031,"thr_a_v":0.573037326,"thr_b":0,"thr_b_norm":0.00914511085,"thr_b_v":0.452840477,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.00713,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.806133032,"cg_iw_a":-0.23326993,"cg_theta_rad":0.553307831,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0141258417,"mpcc_du":50.0513077,"mpcc_dv":48.7832718,"mpcc_dw":51.2167282,"mpcc_enc_sign":1,"mpcc_id_a":2.37055373,"mpcc_iq_a":-1.83676016,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.80264616,"mpcc_pred_id_a":0.0875446871,"mpcc_pred_iq_a":-2.21941614,"mpcc_state":1,"mpcc_theta_e":0.43540287,"mpcc_theta_mech":0.554026484,"sam_rpm":-11.5717487,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182593316,"thr_a_norm":0.0182593316,"thr_a_v":0.573037326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452840477,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.013599,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.90827537,"cg_iw_a":-1.8279984,"cg_theta_rad":0.554353237,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0016213248,"mpcc_du":49.5486565,"mpcc_dv":49.7693253,"mpcc_dw":50.4513435,"mpcc_enc_sign":1,"mpcc_id_a":-0.0106390975,"mpcc_iq_a":-1.83039808,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.2428532,"mpcc_pred_id_a":-0.599210799,"mpcc_pred_iq_a":-2.77025485,"mpcc_state":1,"mpcc_theta_e":0.427653313,"mpcc_theta_mech":0.552476585,"sam_rpm":-4.17257261,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233451575,"thr_a_norm":0.0233451575,"thr_a_v":0.59338063,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462810725,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.02013,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.806133032,"cg_iw_a":-1.90048623,"cg_theta_rad":0.556956649,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00128556602,"mpcc_du":50.8838997,"mpcc_dv":47.6705322,"mpcc_dw":52.3294678,"mpcc_enc_sign":1,"mpcc_id_a":0.548266351,"mpcc_iq_a":-0.608665109,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-22.0307331,"mpcc_pred_id_a":0.0725850761,"mpcc_pred_iq_a":0.081844911,"mpcc_state":1,"mpcc_theta_e":0.421950817,"mpcc_theta_mech":0.55133611,"sam_rpm":-32.8039742,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205882341,"thr_a_norm":0.0233451575,"thr_a_v":0.582352936,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462055355,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.03014,"values":{"cg_iu_a":-0.555325985,"cg_iv_a":-1.16857147,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556976259,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0665990487,"mpcc_du":49.4752426,"mpcc_dv":50.065731,"mpcc_dw":50.5247574,"mpcc_enc_sign":1,"mpcc_id_a":3.49174142,"mpcc_iq_a":-2.00944686,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.68848038,"mpcc_pred_id_a":0.345548779,"mpcc_pred_iq_a":-2.61172485,"mpcc_state":1,"mpcc_theta_e":0.429581165,"mpcc_theta_mech":0.552862108,"sam_rpm":-12.4668255,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205882341,"thr_a_norm":0.0205882341,"thr_a_v":0.582352936,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462055355,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.040363,"values":{"cg_iu_a":0.966915131,"cg_iv_a":1.29600906,"cg_iw_a":-3.49521446,"cg_theta_rad":0.55689621,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0339707807,"mpcc_du":49.5910301,"mpcc_dv":49.7226295,"mpcc_dw":50.4089699,"mpcc_enc_sign":1,"mpcc_id_a":0.666601956,"mpcc_iq_a":-2.35663295,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.144276053,"mpcc_pred_id_a":-0.456166506,"mpcc_pred_iq_a":-5.32577038,"mpcc_state":1,"mpcc_theta_e":0.446735382,"mpcc_theta_mech":0.556293011,"sam_rpm":17.8257427,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0272728354,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482449085,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.050343,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.588670254,"cg_iw_a":-2.48038721,"cg_theta_rad":0.557160318,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.000612180273,"mpcc_du":50.5763893,"mpcc_dv":48.2499084,"mpcc_dw":51.7500916,"mpcc_enc_sign":1,"mpcc_id_a":0.494405329,"mpcc_iq_a":-0.545254767,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.6699028,"mpcc_pred_id_a":-0.222635016,"mpcc_pred_iq_a":1.27526653,"mpcc_state":1,"mpcc_theta_e":0.430919647,"mpcc_theta_mech":0.553129852,"sam_rpm":-13.835083,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0272728354,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482449085,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.060566,"values":{"cg_iu_a":1.47432899,"cg_iv_a":2.09337378,"cg_iw_a":-3.56770277,"cg_theta_rad":0.554130793,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0483782589,"mpcc_du":50.3084183,"mpcc_dv":48.4579849,"mpcc_dw":51.5420151,"mpcc_enc_sign":1,"mpcc_id_a":2.25288129,"mpcc_iq_a":-0.548455238,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.14469337,"mpcc_pred_id_a":0.104517691,"mpcc_pred_iq_a":-2.98696828,"mpcc_state":1,"mpcc_theta_e":0.445295334,"mpcc_theta_mech":0.556005001,"sam_rpm":-9.53163433,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025951013,"thr_a_norm":0.025951013,"thr_a_v":0.603804052,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499317914,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.070789,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.24105906,"cg_iw_a":-1.39307237,"cg_theta_rad":0.557414055,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00666728523,"mpcc_du":49.8987389,"mpcc_dv":49.181488,"mpcc_dw":50.818512,"mpcc_enc_sign":1,"mpcc_id_a":0.381488353,"mpcc_iq_a":-3.17719507,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.8144207,"mpcc_pred_id_a":-0.382781178,"mpcc_pred_iq_a":-3.33002424,"mpcc_state":1,"mpcc_theta_e":0.437548637,"mpcc_theta_mech":0.554455638,"sam_rpm":-11.4433508,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244781524,"thr_a_norm":0.025951013,"thr_a_v":0.59791261,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486779571,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.080921,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.226231575,"cg_iw_a":-2.33541203,"cg_theta_rad":0.557617188,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00569989672,"mpcc_du":49.7531738,"mpcc_dv":49.3620682,"mpcc_dw":50.6379318,"mpcc_enc_sign":1,"mpcc_id_a":-0.619713664,"mpcc_iq_a":0.157684371,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.34182322,"mpcc_pred_id_a":-0.397977769,"mpcc_pred_iq_a":-1.43768239,"mpcc_state":1,"mpcc_theta_e":0.440308094,"mpcc_theta_mech":0.555007517,"sam_rpm":2.46162796,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244781524,"thr_a_norm":0.0244781524,"thr_a_v":0.59791261,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486779571,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.104176,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.153744221,"cg_iw_a":-1.03063393,"cg_theta_rad":0.556338072,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.015440532,"mpcc_du":50.7761574,"mpcc_dv":47.9365425,"mpcc_dw":52.0634575,"mpcc_enc_sign":1,"mpcc_id_a":2.44816899,"mpcc_iq_a":-0.810374558,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.4588871,"mpcc_pred_id_a":-0.0315281749,"mpcc_pred_iq_a":2.10916972,"mpcc_state":1,"mpcc_theta_e":0.435093403,"mpcc_theta_mech":0.553964615,"sam_rpm":-11.3481779,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023080796,"thr_a_norm":0.023080796,"thr_a_v":0.592323184,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486175328,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.110737,"values":{"cg_iu_a":-0.627813578,"cg_iv_a":-1.09608364,"cg_iw_a":1.72389722,"cg_theta_rad":0.552277982,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00303676119,"mpcc_du":49.2030869,"mpcc_dv":50.7969131,"mpcc_dw":49.8074112,"mpcc_enc_sign":1,"mpcc_id_a":0.201262742,"mpcc_iq_a":-0.647135198,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.51532125,"mpcc_pred_id_a":-0.559981227,"mpcc_pred_iq_a":-6.06167698,"mpcc_state":1,"mpcc_theta_e":0.443543434,"mpcc_theta_mech":0.555654585,"sam_rpm":6.42054033,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023080796,"thr_a_norm":0.023080796,"thr_a_v":0.592323184,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486175328,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.117207,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.60349751,"cg_iw_a":0.564094543,"cg_theta_rad":0.559252262,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00337839336,"mpcc_du":49.4209709,"mpcc_dv":50.5790291,"mpcc_dw":50.0643234,"mpcc_enc_sign":1,"mpcc_id_a":1.03026211,"mpcc_iq_a":-2.61704803,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.84945905,"mpcc_pred_id_a":-0.494815797,"mpcc_pred_iq_a":-6.12354946,"mpcc_state":1,"mpcc_theta_e":0.443841457,"mpcc_theta_mech":0.55571419,"sam_rpm":2.15446615,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218470991,"thr_a_norm":0.0218470991,"thr_a_v":0.587388396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463263899,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.124043,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.951108456,"cg_iw_a":0.78155756,"cg_theta_rad":0.557558298,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0107823359,"mpcc_du":50.0408249,"mpcc_dv":49.0390358,"mpcc_dw":50.9609642,"mpcc_enc_sign":1,"mpcc_id_a":-0.553920805,"mpcc_iq_a":-2.31904006,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.25212,"mpcc_pred_id_a":-0.405070782,"mpcc_pred_iq_a":-2.72245479,"mpcc_state":1,"mpcc_theta_e":0.428399563,"mpcc_theta_mech":0.552625835,"sam_rpm":-20.5823956,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282673389,"thr_a_norm":0.0218470991,"thr_a_v":0.613069355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498260498,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.13512,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-0.443694592,"cg_iw_a":-1.24809718,"cg_theta_rad":0.555470943,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00905005541,"mpcc_du":48.9521523,"mpcc_dv":51.0478477,"mpcc_dw":49.8105011,"mpcc_enc_sign":1,"mpcc_id_a":1.52472496,"mpcc_iq_a":-1.25244415,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.516058,"mpcc_pred_id_a":0.564042509,"mpcc_pred_iq_a":-0.0482746586,"mpcc_state":1,"mpcc_theta_e":0.43244648,"mpcc_theta_mech":0.553435206,"sam_rpm":-21.9123249,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282673389,"thr_a_norm":0.0282673389,"thr_a_v":0.613069355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498260498,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.145344,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.806133032,"cg_iw_a":-0.813171387,"cg_theta_rad":0.557309389,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0167065542,"mpcc_du":49.4865112,"mpcc_dv":50.3090057,"mpcc_dw":50.5134888,"mpcc_enc_sign":1,"mpcc_id_a":2.52822042,"mpcc_iq_a":-0.813377261,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.36582422,"mpcc_pred_id_a":0.354436129,"mpcc_pred_iq_a":-2.35261321,"mpcc_state":1,"mpcc_theta_e":0.439204693,"mpcc_theta_mech":0.554786861,"sam_rpm":6.0218606,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163962096,"thr_a_norm":0.0163962096,"thr_a_v":0.565584838,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469608605,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.155567,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.53100967,"cg_iw_a":0.926532745,"cg_theta_rad":0.555438161,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0386126302,"mpcc_du":49.700367,"mpcc_dv":49.4286232,"mpcc_dw":50.5713768,"mpcc_enc_sign":1,"mpcc_id_a":0.535394609,"mpcc_iq_a":-0.114739545,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.81261587,"mpcc_pred_id_a":-0.338073015,"mpcc_pred_iq_a":-2.98820925,"mpcc_state":1,"mpcc_theta_e":0.450101852,"mpcc_theta_mech":0.556966305,"sam_rpm":13.2277107,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021419093,"thr_a_norm":0.0163962096,"thr_a_v":0.585676372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.167408,"values":{"cg_iu_a":-0.482838154,"cg_iv_a":-0.661157608,"cg_iw_a":-2.69785023,"cg_theta_rad":0.555492759,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0198531356,"mpcc_du":50.2189598,"mpcc_dv":48.6716652,"mpcc_dw":51.3283348,"mpcc_enc_sign":1,"mpcc_id_a":1.75607216,"mpcc_iq_a":-1.76215851,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.21781135,"mpcc_pred_id_a":-0.0122181876,"mpcc_pred_iq_a":-2.79477954,"mpcc_state":1,"mpcc_theta_e":0.445714951,"mpcc_theta_mech":0.556088924,"sam_rpm":-4.64620781,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021419093,"thr_a_norm":0.021419093,"thr_a_v":0.585676372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.177448,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.02359605,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.555519938,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00171753671,"mpcc_du":50.5920219,"mpcc_dv":48.3299141,"mpcc_dw":51.6700859,"mpcc_enc_sign":1,"mpcc_id_a":-0.319209278,"mpcc_iq_a":-2.2930994,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.816946,"mpcc_pred_id_a":-0.405961424,"mpcc_pred_iq_a":-2.76487517,"mpcc_state":1,"mpcc_theta_e":0.435049534,"mpcc_theta_mech":0.553955853,"sam_rpm":-20.7202225,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178690702,"thr_a_norm":0.0178690702,"thr_a_v":0.571476281,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450121313,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.200733,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.09608364,"cg_iw_a":-1.61053562,"cg_theta_rad":0.554798722,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0486593693,"mpcc_du":50.459362,"mpcc_dv":48.2105446,"mpcc_dw":51.7894554,"mpcc_enc_sign":1,"mpcc_id_a":2.61030936,"mpcc_iq_a":-0.299327224,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.64510822,"mpcc_pred_id_a":0.375704259,"mpcc_pred_iq_a":-0.908257008,"mpcc_state":1,"mpcc_theta_e":0.440024853,"mpcc_theta_mech":0.554950893,"sam_rpm":-5.97474289,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0362485647,"thr_a_norm":0.0178690702,"thr_a_v":0.644994259,"thr_b":0.00139047205,"thr_b_norm":0,"thr_b_v":0.505561888,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.207294,"values":{"cg_iu_a":-0.555325985,"cg_iv_a":-1.74847269,"cg_iw_a":-0.668195724,"cg_theta_rad":0.557055473,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00317348051,"mpcc_du":50.8019066,"mpcc_dv":47.9691429,"mpcc_dw":52.0308571,"mpcc_enc_sign":1,"mpcc_id_a":0.957476258,"mpcc_iq_a":-0.933357596,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.5388336,"mpcc_pred_id_a":-0.269056767,"mpcc_pred_iq_a":0.689522982,"mpcc_state":1,"mpcc_theta_e":0.424397469,"mpcc_theta_mech":0.551825404,"sam_rpm":-26.7127361,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0362485647,"thr_a_norm":0.0362485647,"thr_a_v":0.644994259,"thr_b":0.00139047205,"thr_b_norm":0.00139047205,"thr_b_v":0.505561888,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.213795,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.878620625,"cg_iw_a":-0.305757523,"cg_theta_rad":0.554235101,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0186992474,"mpcc_du":49.6669426,"mpcc_dv":50.0190239,"mpcc_dw":50.3330574,"mpcc_enc_sign":1,"mpcc_id_a":0.12568891,"mpcc_iq_a":-1.30772734,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.333453327,"mpcc_pred_id_a":-0.640216947,"mpcc_pred_iq_a":-4.11223602,"mpcc_state":1,"mpcc_theta_e":0.44552803,"mpcc_theta_mech":0.556051493,"sam_rpm":17.3553181,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0141428262,"thr_a_norm":0.0141428262,"thr_a_v":0.556571305,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450675219,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.220325,"values":{"cg_iu_a":3.72144651,"cg_iv_a":-2.47334933,"cg_iw_a":-1.24809718,"cg_theta_rad":0.557538629,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.000189407205,"mpcc_du":49.3197746,"mpcc_dv":50.6802254,"mpcc_dw":50.080925,"mpcc_enc_sign":1,"mpcc_id_a":0.272568792,"mpcc_iq_a":-1.00490212,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.24219656,"mpcc_pred_id_a":-0.139758229,"mpcc_pred_iq_a":-4.99413157,"mpcc_state":1,"mpcc_theta_e":0.442941189,"mpcc_theta_mech":0.555534124,"sam_rpm":3.8136065,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0141428262,"thr_a_norm":0.0141428262,"thr_a_v":0.556571305,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450675219,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.228535,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.53100967,"cg_iw_a":-1.8279984,"cg_theta_rad":0.556114256,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00169828197,"mpcc_du":49.7368927,"mpcc_dv":49.4936447,"mpcc_dw":50.5063553,"mpcc_enc_sign":1,"mpcc_id_a":0.060318891,"mpcc_iq_a":-1.45852482,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.31070805,"mpcc_pred_id_a":-0.557971478,"mpcc_pred_iq_a":-4.2283926,"mpcc_state":1,"mpcc_theta_e":0.440886974,"mpcc_theta_mech":0.55512327,"sam_rpm":-5.05455303,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275749564,"thr_a_norm":0.0275749564,"thr_a_v":0.610299826,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493476748,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.238911,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.09608364,"cg_iw_a":-1.90048599,"cg_theta_rad":0.555120468,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0184495673,"mpcc_du":49.5072632,"mpcc_dv":49.931057,"mpcc_dw":50.4927368,"mpcc_enc_sign":1,"mpcc_id_a":1.82514966,"mpcc_iq_a":-1.80952883,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.87326014,"mpcc_pred_id_a":0.17418921,"mpcc_pred_iq_a":-1.41064715,"mpcc_state":1,"mpcc_theta_e":0.433786869,"mpcc_theta_mech":0.553703249,"sam_rpm":2.80760765,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208777785,"thr_a_norm":0.0275749564,"thr_a_v":0.583511114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456214249,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.249714,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.16857147,"cg_iw_a":-1.32058477,"cg_theta_rad":0.554601789,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0293390527,"mpcc_du":50.6456947,"mpcc_dv":48.0679207,"mpcc_dw":51.9320793,"mpcc_enc_sign":1,"mpcc_id_a":2.35867906,"mpcc_iq_a":-1.34332573,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.75943089,"mpcc_pred_id_a":0.307779253,"mpcc_pred_iq_a":-0.386491984,"mpcc_state":1,"mpcc_theta_e":0.442043781,"mpcc_theta_mech":0.555354714,"sam_rpm":-6.52767801,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208777785,"thr_a_norm":0.0208777785,"thr_a_v":0.583511114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456214249,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.261127,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.60349751,"cg_iw_a":-0.740683079,"cg_theta_rad":0.556593359,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00552744558,"mpcc_du":49.6235008,"mpcc_dv":49.5875587,"mpcc_dw":50.4124413,"mpcc_enc_sign":1,"mpcc_id_a":0.733252764,"mpcc_iq_a":-2.20755005,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.80911446,"mpcc_pred_id_a":-0.370284736,"mpcc_pred_iq_a":-4.59791136,"mpcc_state":1,"mpcc_theta_e":0.449305534,"mpcc_theta_mech":0.556806982,"sam_rpm":4.01911831,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182719231,"thr_a_norm":0.0182719231,"thr_a_v":0.573087692,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440352499,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.27132,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.733645439,"cg_iw_a":0.0566811562,"cg_theta_rad":0.554779351,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0673364401,"mpcc_du":50.1304703,"mpcc_dv":48.4821968,"mpcc_dw":51.5178032,"mpcc_enc_sign":1,"mpcc_id_a":3.62333655,"mpcc_iq_a":0.132055998,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0458292998,"mpcc_pred_id_a":0.80047822,"mpcc_pred_iq_a":-0.844922125,"mpcc_state":1,"mpcc_theta_e":0.444752693,"mpcc_theta_mech":0.555896461,"sam_rpm":1.2196275,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209155381,"thr_a_norm":0.0182719231,"thr_a_v":0.583662152,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.28133,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.74847269,"cg_iw_a":0.999020576,"cg_theta_rad":0.553330421,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00615904387,"mpcc_du":49.6589851,"mpcc_dv":50.2508469,"mpcc_dw":50.3410149,"mpcc_enc_sign":1,"mpcc_id_a":-0.69980669,"mpcc_iq_a":-0.86940974,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.7056675,"mpcc_pred_id_a":-0.592969239,"mpcc_pred_iq_a":-1.5088042,"mpcc_state":1,"mpcc_theta_e":0.437657833,"mpcc_theta_mech":0.554477513,"sam_rpm":5.82448483,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209155381,"thr_a_norm":0.0209155381,"thr_a_v":0.583662152,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.304585,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.89344811,"cg_iw_a":1.36145902,"cg_theta_rad":0.556990445,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":3.90485511e-05,"mpcc_du":49.2661095,"mpcc_dv":50.7338905,"mpcc_dw":49.85429,"mpcc_enc_sign":1,"mpcc_id_a":0.123551562,"mpcc_iq_a":-1.81685889,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.71968412,"mpcc_pred_id_a":-0.599776387,"mpcc_pred_iq_a":-5.65782595,"mpcc_state":1,"mpcc_theta_e":0.445521355,"mpcc_theta_mech":0.556050181,"sam_rpm":7.93878937,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170508027,"thr_a_norm":0.0170508027,"thr_a_v":0.568203211,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446848273,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.311024,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.31354666,"cg_iw_a":0.491606712,"cg_theta_rad":0.556925952,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0322086699,"mpcc_du":49.6206856,"mpcc_dv":49.3818398,"mpcc_dw":50.6181602,"mpcc_enc_sign":1,"mpcc_id_a":2.59059,"mpcc_iq_a":-0.695560575,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.98160744,"mpcc_pred_id_a":0.195057064,"mpcc_pred_iq_a":-1.83561611,"mpcc_state":1,"mpcc_theta_e":0.452190399,"mpcc_theta_mech":0.557384014,"sam_rpm":14.9114037,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170508027,"thr_a_norm":0.0170508027,"thr_a_v":0.568203211,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446848273,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.317554,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.45852208,"cg_iw_a":0.709069967,"cg_theta_rad":0.553355038,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0519341156,"mpcc_du":50.1182213,"mpcc_dv":48.5714417,"mpcc_dw":51.4285583,"mpcc_enc_sign":1,"mpcc_id_a":3.79496789,"mpcc_iq_a":1.44641805,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.7341366,"mpcc_pred_id_a":0.506501913,"mpcc_pred_iq_a":-1.81570971,"mpcc_state":1,"mpcc_theta_e":0.428248882,"mpcc_theta_mech":0.552595675,"sam_rpm":-20.6844845,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027663067,"thr_a_norm":0.027663067,"thr_a_v":0.610652268,"thr_b":0.00366903841,"thr_b_norm":0.00366903841,"thr_b_v":0.514676154,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.324146,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.38603449,"cg_iw_a":0.201656342,"cg_theta_rad":0.55538255,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00136409933,"mpcc_du":50.331749,"mpcc_dv":48.6049118,"mpcc_dw":51.3950882,"mpcc_enc_sign":1,"mpcc_id_a":0.289086431,"mpcc_iq_a":-2.16682053,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0511923097,"mpcc_pred_id_a":-0.140850246,"mpcc_pred_iq_a":0.967257977,"mpcc_state":1,"mpcc_theta_e":0.439941406,"mpcc_theta_mech":0.554934204,"sam_rpm":-0.0550031289,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211295485,"thr_a_norm":0.027663067,"thr_a_v":0.584518194,"thr_b":0,"thr_b_norm":0.00366903841,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.331898,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-2.40086174,"cg_iw_a":1.94136047,"cg_theta_rad":0.55667156,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0294246469,"mpcc_du":49.8088684,"mpcc_dv":49.2019958,"mpcc_dw":50.7980042,"mpcc_enc_sign":1,"mpcc_id_a":1.23956466,"mpcc_iq_a":0.0147946645,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.61087036,"mpcc_pred_id_a":0.0985158607,"mpcc_pred_iq_a":-1.75755584,"mpcc_state":1,"mpcc_theta_e":0.446069241,"mpcc_theta_mech":0.556159794,"sam_rpm":9.6920414,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211295485,"thr_a_norm":0.0211295485,"thr_a_v":0.584518194,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.342121,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.298719406,"cg_iw_a":-2.33541203,"cg_theta_rad":0.558143437,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0153995743,"mpcc_du":49.6397858,"mpcc_dv":49.5596275,"mpcc_dw":50.4403725,"mpcc_enc_sign":1,"mpcc_id_a":0.0397446491,"mpcc_iq_a":-2.04312301,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.42897844,"mpcc_pred_id_a":-0.402072191,"mpcc_pred_iq_a":-1.87232995,"mpcc_state":1,"mpcc_theta_e":0.433579445,"mpcc_theta_mech":0.553661823,"sam_rpm":-6.83360004,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0152254552,"thr_a_norm":0.0152254552,"thr_a_v":0.560901821,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458178043,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.352131,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.516182423,"cg_iw_a":-2.11794901,"cg_theta_rad":0.558120072,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.051447574,"mpcc_du":50.448307,"mpcc_dv":48.1795654,"mpcc_dw":51.8204346,"mpcc_enc_sign":1,"mpcc_id_a":2.71729803,"mpcc_iq_a":-0.0710994005,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.32437992,"mpcc_pred_id_a":0.542225361,"mpcc_pred_iq_a":-1.566571,"mpcc_state":1,"mpcc_theta_e":0.439640999,"mpcc_theta_mech":0.554874122,"sam_rpm":-11.4884109,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0152254552,"thr_a_norm":0.0152254552,"thr_a_v":0.560901821,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458178043,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.36208,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.951108456,"cg_iw_a":0.12916851,"cg_theta_rad":0.552240252,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0413542427,"mpcc_du":49.5382156,"mpcc_dv":50.1522026,"mpcc_dw":50.4617844,"mpcc_enc_sign":1,"mpcc_id_a":0.42676273,"mpcc_iq_a":-2.59034204,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.87393618,"mpcc_pred_id_a":0.0773901716,"mpcc_pred_iq_a":-2.53277564,"mpcc_state":1,"mpcc_theta_e":0.43302536,"mpcc_theta_mech":0.553550959,"sam_rpm":-8.39182377,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170004517,"thr_a_norm":0.0170004517,"thr_a_v":0.568001807,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439194292,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.372517,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.24105906,"cg_iw_a":-1.17560935,"cg_theta_rad":0.55712539,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.004877456,"mpcc_du":49.2594223,"mpcc_dv":50.7405777,"mpcc_dw":49.9006157,"mpcc_enc_sign":1,"mpcc_id_a":1.41028488,"mpcc_iq_a":-1.47131991,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.0208826,"mpcc_pred_id_a":-0.461618364,"mpcc_pred_iq_a":-5.12029409,"mpcc_state":1,"mpcc_theta_e":0.439322948,"mpcc_theta_mech":0.554810464,"sam_rpm":17.5067329,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192538351,"thr_a_norm":0.0170004517,"thr_a_v":0.57701534,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454804301,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.382526,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.16857147,"cg_iw_a":-1.03063393,"cg_theta_rad":0.557006419,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0427539311,"mpcc_du":49.4754829,"mpcc_dv":50.1439018,"mpcc_dw":50.5245171,"mpcc_enc_sign":1,"mpcc_id_a":2.84785533,"mpcc_iq_a":-0.14571625,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.41400576,"mpcc_pred_id_a":0.469848782,"mpcc_pred_iq_a":-4.51295948,"mpcc_state":1,"mpcc_theta_e":0.444174767,"mpcc_theta_mech":0.555780888,"sam_rpm":8.11901093,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192538351,"thr_a_norm":0.0192538351,"thr_a_v":0.57701534,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454804301,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.405964,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.588670254,"cg_iw_a":-1.75551033,"cg_theta_rad":0.554205179,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0251091011,"mpcc_du":49.5357437,"mpcc_dv":50.2486,"mpcc_dw":50.4642563,"mpcc_enc_sign":1,"mpcc_id_a":2.09568262,"mpcc_iq_a":-0.217703685,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.82185364,"mpcc_pred_id_a":0.144333765,"mpcc_pred_iq_a":-3.58575583,"mpcc_state":1,"mpcc_theta_e":0.450003624,"mpcc_theta_mech":0.556946635,"sam_rpm":13.1748581,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184103847,"thr_a_norm":0.0184103847,"thr_a_v":0.573641539,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446344733,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.412464,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.516182423,"cg_iw_a":-2.11794925,"cg_theta_rad":0.557165205,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0710624456,"mpcc_du":49.7530212,"mpcc_dv":49.1386986,"mpcc_dw":50.8613014,"mpcc_enc_sign":1,"mpcc_id_a":1.49017537,"mpcc_iq_a":0.0199178066,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.93423939,"mpcc_pred_id_a":0.296270251,"mpcc_pred_iq_a":-2.83000612,"mpcc_state":1,"mpcc_theta_e":0.455683231,"mpcc_theta_mech":0.558082521,"sam_rpm":15.0323782,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184103847,"thr_a_norm":0.0184103847,"thr_a_v":0.573641539,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446344733,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.418934,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.733645439,"cg_iw_a":-0.523220062,"cg_theta_rad":0.555320919,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0147916162,"mpcc_du":49.7718811,"mpcc_dv":49.2617302,"mpcc_dw":50.7382698,"mpcc_enc_sign":1,"mpcc_id_a":0.472113103,"mpcc_iq_a":-0.917438745,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.220016,"mpcc_pred_id_a":-0.205466181,"mpcc_pred_iq_a":-3.17886305,"mpcc_state":1,"mpcc_theta_e":0.44642067,"mpcc_theta_mech":0.556230068,"sam_rpm":3.44565344,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248054415,"thr_a_norm":0.0248054415,"thr_a_v":0.599221766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488491654,"vdc_v":54.6292953}} +{"type":"telemetry","t":62.425495,"values":{"cg_iu_a":3.79393435,"cg_iv_a":-0.878620625,"cg_iw_a":-2.91531372,"cg_theta_rad":0.554179072,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0126898522,"mpcc_du":50.3689156,"mpcc_dv":48.6261406,"mpcc_dw":51.3738594,"mpcc_enc_sign":1,"mpcc_id_a":0.683794558,"mpcc_iq_a":-0.975361407,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.02391434,"mpcc_pred_id_a":-0.371806026,"mpcc_pred_iq_a":-2.79488921,"mpcc_state":1,"mpcc_theta_e":0.449025631,"mpcc_theta_mech":0.556751072,"sam_rpm":-7.01958752,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026479736,"thr_a_norm":0.0248054415,"thr_a_v":0.605918944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480938405,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.433613,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.6759851,"cg_iw_a":-0.813171148,"cg_theta_rad":0.559498072,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0136603517,"mpcc_du":49.5507889,"mpcc_dv":49.9622574,"mpcc_dw":50.4492111,"mpcc_enc_sign":1,"mpcc_id_a":2.26199794,"mpcc_iq_a":-1.20836353,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.13255429,"mpcc_pred_id_a":-0.00214855443,"mpcc_pred_iq_a":-3.74375939,"mpcc_state":1,"mpcc_theta_e":0.44324255,"mpcc_theta_mech":0.555594444,"sam_rpm":2.65114999,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026479736,"thr_a_norm":0.026479736,"thr_a_v":0.605918944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480938405,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.443714,"values":{"cg_iu_a":3.8664217,"cg_iv_a":-1.6759851,"cg_iw_a":-0.450732708,"cg_theta_rad":0.554207623,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.108702049,"mpcc_du":49.9702682,"mpcc_dv":48.6794128,"mpcc_dw":51.3205872,"mpcc_enc_sign":1,"mpcc_id_a":3.85662246,"mpcc_iq_a":1.45308816,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.24712181,"mpcc_pred_id_a":0.80116725,"mpcc_pred_iq_a":-1.41955364,"mpcc_state":1,"mpcc_theta_e":0.446325302,"mpcc_theta_mech":0.556210935,"sam_rpm":4.45351458,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0154772252,"thr_a_norm":0.0154772252,"thr_a_v":0.561908901,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466385901,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.453785,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-2.11091113,"cg_iw_a":0.636582136,"cg_theta_rad":0.557384253,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0309437588,"mpcc_du":49.9133263,"mpcc_dv":49.157753,"mpcc_dw":50.842247,"mpcc_enc_sign":1,"mpcc_id_a":0.744861305,"mpcc_iq_a":-0.680856228,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.78906536,"mpcc_pred_id_a":-0.182764113,"mpcc_pred_iq_a":-2.71891546,"mpcc_state":1,"mpcc_theta_e":0.450200558,"mpcc_theta_mech":0.556986034,"sam_rpm":8.44514942,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0154772252,"thr_a_norm":0.0154772252,"thr_a_v":0.561908901,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466385901,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.463947,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.09608364,"cg_iw_a":-0.160782337,"cg_theta_rad":0.555001259,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00797971338,"mpcc_du":49.5908623,"mpcc_dv":49.675087,"mpcc_dw":50.5001678,"mpcc_enc_sign":1,"mpcc_id_a":0.840090752,"mpcc_iq_a":-0.660026789,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.38993478,"mpcc_pred_id_a":-0.219050735,"mpcc_pred_iq_a":-1.92694497,"mpcc_state":1,"mpcc_theta_e":0.432590008,"mpcc_theta_mech":0.553503811,"sam_rpm":-2.93950033,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0342469662,"thr_a_norm":0.0342469662,"thr_a_v":0.636987865,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490354747,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.474018,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.733645439,"cg_iw_a":0.274143934,"cg_theta_rad":0.556792617,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.107724167,"mpcc_du":49.9033089,"mpcc_dv":48.8050461,"mpcc_dw":51.5806351,"mpcc_enc_sign":1,"mpcc_id_a":2.76356411,"mpcc_iq_a":1.63440239,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.4551563,"mpcc_pred_id_a":0.672493756,"mpcc_pred_iq_a":-0.117764205,"mpcc_state":1,"mpcc_theta_e":0.454949379,"mpcc_theta_mech":0.557935834,"sam_rpm":18.7580566,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204119831,"thr_a_norm":0.0342469662,"thr_a_v":0.581647933,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472730607,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.483936,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.96593571,"cg_iw_a":1.50643444,"cg_theta_rad":0.55514276,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0554267392,"mpcc_du":50.1404915,"mpcc_dv":48.5664902,"mpcc_dw":51.4335098,"mpcc_enc_sign":1,"mpcc_id_a":2.5647099,"mpcc_iq_a":0.251377195,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.09988117,"mpcc_pred_id_a":0.516923547,"mpcc_pred_iq_a":-2.75211167,"mpcc_state":1,"mpcc_theta_e":0.45062542,"mpcc_theta_mech":0.557070971,"sam_rpm":1.98124349,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204119831,"thr_a_norm":0.0204119831,"thr_a_v":0.581647933,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472730607,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.507313,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.0384233,"cg_iw_a":1.36145902,"cg_theta_rad":0.554517388,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.012264098,"mpcc_du":49.6012421,"mpcc_dv":49.6022644,"mpcc_dw":50.3987579,"mpcc_enc_sign":1,"mpcc_id_a":0.196562484,"mpcc_iq_a":-0.648578346,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.92215538,"mpcc_pred_id_a":-0.360299796,"mpcc_pred_iq_a":-2.53660321,"mpcc_state":1,"mpcc_theta_e":0.450798512,"mpcc_theta_mech":0.55710566,"sam_rpm":13.3759212,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217212141,"thr_a_norm":0.0217212141,"thr_a_v":0.586884856,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.513844,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.53100967,"cg_iw_a":-3.35023928,"cg_theta_rad":0.553476393,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0186445117,"mpcc_du":49.8334999,"mpcc_dv":49.1392746,"mpcc_dw":50.8607254,"mpcc_enc_sign":1,"mpcc_id_a":2.47459221,"mpcc_iq_a":-0.763779402,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.58534431,"mpcc_pred_id_a":0.116707824,"mpcc_pred_iq_a":-0.475270808,"mpcc_state":1,"mpcc_theta_e":0.446915627,"mpcc_theta_mech":0.556329012,"sam_rpm":13.4216356,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0318047702,"thr_a_norm":0.0217212141,"thr_a_v":0.627219081,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479125679,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.520405,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.951108456,"cg_iw_a":-0.81317091,"cg_theta_rad":0.555532694,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0172228534,"mpcc_du":50.056488,"mpcc_dv":48.756897,"mpcc_dw":51.243103,"mpcc_enc_sign":1,"mpcc_id_a":2.40133429,"mpcc_iq_a":-0.737784266,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.3538027,"mpcc_pred_id_a":0.276570737,"mpcc_pred_iq_a":-2.52551198,"mpcc_state":1,"mpcc_theta_e":0.433391571,"mpcc_theta_mech":0.553624272,"sam_rpm":-15.2542562,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0318047702,"thr_a_norm":0.0318047702,"thr_a_v":0.627219081,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479125679,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.528675,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.371207237,"cg_iw_a":-0.740683079,"cg_theta_rad":0.555924833,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00276613561,"mpcc_du":50.1111488,"mpcc_dv":48.8829231,"mpcc_dw":51.1170769,"mpcc_enc_sign":1,"mpcc_id_a":0.656031787,"mpcc_iq_a":-1.55467105,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.27596378,"mpcc_pred_id_a":-0.131972268,"mpcc_pred_iq_a":-1.73888266,"mpcc_state":1,"mpcc_theta_e":0.440998077,"mpcc_theta_mech":0.555145562,"sam_rpm":-3.19457865,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0108571798,"thr_a_norm":0.0108571798,"thr_a_v":0.543428719,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.424792856,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.538929,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.89344811,"cg_iw_a":0.781557798,"cg_theta_rad":0.556076467,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0580192804,"mpcc_du":50.5696869,"mpcc_dv":48.0301018,"mpcc_dw":51.9698982,"mpcc_enc_sign":1,"mpcc_id_a":2.39532471,"mpcc_iq_a":-0.248547912,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.60128021,"mpcc_pred_id_a":0.546659887,"mpcc_pred_iq_a":-2.01820707,"mpcc_state":1,"mpcc_theta_e":0.441689491,"mpcc_theta_mech":0.555283785,"sam_rpm":-12.2719517,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0108571798,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452185839,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.548756,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.878620625,"cg_iw_a":-1.39307261,"cg_theta_rad":0.555904031,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0303512365,"mpcc_du":49.4858704,"mpcc_dv":50.3177185,"mpcc_dw":50.5141296,"mpcc_enc_sign":1,"mpcc_id_a":2.27842426,"mpcc_iq_a":0.148726031,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.1891785,"mpcc_pred_id_a":0.528006136,"mpcc_pred_iq_a":-1.92685354,"mpcc_state":1,"mpcc_theta_e":0.454575062,"mpcc_theta_mech":0.557860911,"sam_rpm":24.8879242,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452185839,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.558735,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-2.47334933,"cg_iw_a":-0.885658979,"cg_theta_rad":0.557095408,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0386813283,"mpcc_du":49.756752,"mpcc_dv":49.2595787,"mpcc_dw":50.7404213,"mpcc_enc_sign":1,"mpcc_id_a":0.93646419,"mpcc_iq_a":-0.45100975,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.1179285,"mpcc_pred_id_a":0.131076634,"mpcc_pred_iq_a":-1.80784154,"mpcc_state":1,"mpcc_theta_e":0.452736378,"mpcc_theta_mech":0.55749321,"sam_rpm":18.765007,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201602131,"thr_a_norm":0.0201602131,"thr_a_v":0.580640852,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459134787,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.571125,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-2.32837415,"cg_iw_a":1.65140986,"cg_theta_rad":0.554473102,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0328320526,"mpcc_du":50.7031021,"mpcc_dv":48.0309448,"mpcc_dw":51.9690552,"mpcc_enc_sign":1,"mpcc_id_a":2.43908072,"mpcc_iq_a":-1.34201276,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.08465362,"mpcc_pred_id_a":0.234786615,"mpcc_pred_iq_a":-0.0201060921,"mpcc_state":1,"mpcc_theta_e":0.444299698,"mpcc_theta_mech":0.555805862,"sam_rpm":-3.34261489,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.028468743,"thr_a_norm":0.0201602131,"thr_a_v":0.613874972,"thr_b":0.00436140597,"thr_b_norm":0,"thr_b_v":0.517445624,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.581074,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.09608364,"cg_iw_a":-0.015806675,"cg_theta_rad":0.553323865,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0139069119,"mpcc_du":50.4790115,"mpcc_dv":48.3319931,"mpcc_dw":51.6680069,"mpcc_enc_sign":1,"mpcc_id_a":0.854508221,"mpcc_iq_a":-1.97614098,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.1550889,"mpcc_pred_id_a":0.123429023,"mpcc_pred_iq_a":-1.91855848,"mpcc_state":1,"mpcc_theta_e":0.443144798,"mpcc_theta_mech":0.555574834,"sam_rpm":-6.83601618,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.028468743,"thr_a_norm":0.028468743,"thr_a_v":0.613874972,"thr_b":0.00436140597,"thr_b_norm":0.00436140597,"thr_b_v":0.517445624,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.591267,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.53100967,"cg_iw_a":0.419119358,"cg_theta_rad":0.552407265,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00306501822,"mpcc_du":50.2343788,"mpcc_dv":48.4728203,"mpcc_dw":51.5271797,"mpcc_enc_sign":1,"mpcc_id_a":0.454070568,"mpcc_iq_a":-0.62524116,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.67792201,"mpcc_pred_id_a":-0.494602352,"mpcc_pred_iq_a":-2.1046896,"mpcc_state":1,"mpcc_theta_e":0.439538956,"mpcc_theta_mech":0.554853678,"sam_rpm":-19.8822098,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282043964,"thr_a_norm":0.0282043964,"thr_a_v":0.612817585,"thr_b":0.0012268275,"thr_b_norm":0.0012268275,"thr_b_v":0.50490731,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.614124,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.45852208,"cg_iw_a":0.41911912,"cg_theta_rad":0.55703038,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0346406326,"mpcc_du":51.0065041,"mpcc_dv":47.6888924,"mpcc_dw":52.3111076,"mpcc_enc_sign":1,"mpcc_id_a":3.03812981,"mpcc_iq_a":0.119014665,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.42499065,"mpcc_pred_id_a":0.105220459,"mpcc_pred_iq_a":2.25107741,"mpcc_state":1,"mpcc_theta_e":0.433857441,"mpcc_theta_mech":0.553717434,"sam_rpm":-12.2805071,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282043964,"thr_a_norm":0.0282043964,"thr_a_v":0.612817585,"thr_b":0.0012268275,"thr_b_norm":0.0012268275,"thr_b_v":0.50490731,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.620655,"values":{"cg_iu_a":0.676964283,"cg_iv_a":0.0637187958,"cg_iw_a":-0.740683079,"cg_theta_rad":0.553826869,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0038429182,"mpcc_du":49.5750275,"mpcc_dv":49.6639633,"mpcc_dw":50.4249725,"mpcc_enc_sign":1,"mpcc_id_a":0.543982148,"mpcc_iq_a":-1.93105245,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.95453358,"mpcc_pred_id_a":-0.139184579,"mpcc_pred_iq_a":-3.34651351,"mpcc_state":1,"mpcc_theta_e":0.449723721,"mpcc_theta_mech":0.556890666,"sam_rpm":10.5788126,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.029274419,"thr_a_norm":0.029274419,"thr_a_v":0.617097676,"thr_b":0.00816318393,"thr_b_norm":0.00816318393,"thr_b_v":0.532652736,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.627186,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.951108456,"cg_iw_a":0.346631527,"cg_theta_rad":0.552312791,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0142925447,"mpcc_du":49.9835205,"mpcc_dv":48.7886543,"mpcc_dw":51.2113457,"mpcc_enc_sign":1,"mpcc_id_a":2.15784907,"mpcc_iq_a":-0.741472542,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.1307116,"mpcc_pred_id_a":0.379876852,"mpcc_pred_iq_a":-1.47761273,"mpcc_state":1,"mpcc_theta_e":0.424604416,"mpcc_theta_mech":0.55186677,"sam_rpm":-21.8131752,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.029274419,"thr_a_norm":0.029274419,"thr_a_v":0.617097676,"thr_b":0.00816318393,"thr_b_norm":0.00816318393,"thr_b_v":0.532652736,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.6357,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.588670254,"cg_iw_a":-0.595707893,"cg_theta_rad":0.55916822,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.000691202586,"mpcc_du":49.3784065,"mpcc_dv":50.6215935,"mpcc_dw":49.9284248,"mpcc_enc_sign":1,"mpcc_id_a":0.624886334,"mpcc_iq_a":-0.966147661,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.72015524,"mpcc_pred_id_a":-0.759254754,"mpcc_pred_iq_a":-4.7690239,"mpcc_state":1,"mpcc_theta_e":0.423807144,"mpcc_theta_mech":0.551707327,"sam_rpm":2.75254273,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271595269,"thr_a_norm":0.0271595269,"thr_a_v":0.608638108,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492620736,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.645802,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.16857147,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556329906,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.120097324,"mpcc_du":49.9665527,"mpcc_dv":48.8113632,"mpcc_dw":51.1886368,"mpcc_enc_sign":1,"mpcc_id_a":2.89067793,"mpcc_iq_a":1.45235407,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.370341569,"mpcc_pred_id_a":0.394549519,"mpcc_pred_iq_a":-3.16326475,"mpcc_state":1,"mpcc_theta_e":0.445875168,"mpcc_theta_mech":0.556120932,"sam_rpm":2.89911652,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021494627,"thr_a_norm":0.021494627,"thr_a_v":0.585978508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476708621,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.655689,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-2.90827537,"cg_iw_a":1.36145902,"cg_theta_rad":0.556667924,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0298749674,"mpcc_du":49.711956,"mpcc_dv":49.220932,"mpcc_dw":50.779068,"mpcc_enc_sign":1,"mpcc_id_a":1.40301728,"mpcc_iq_a":-0.484344214,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.88381433,"mpcc_pred_id_a":0.124536134,"mpcc_pred_iq_a":-2.71438813,"mpcc_state":1,"mpcc_theta_e":0.448187828,"mpcc_theta_mech":0.556142092,"sam_rpm":8.36177063,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021494627,"thr_a_norm":0.021494627,"thr_a_v":0.585978508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476708621,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.665913,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.09608364,"cg_iw_a":0.419119358,"cg_theta_rad":0.555200398,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00795786642,"mpcc_du":50.5105095,"mpcc_dv":48.3733444,"mpcc_dw":51.6266556,"mpcc_enc_sign":1,"mpcc_id_a":0.173942879,"mpcc_iq_a":-2.10381389,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.28691196,"mpcc_pred_id_a":-0.324168712,"mpcc_pred_iq_a":0.939639807,"mpcc_state":1,"mpcc_theta_e":0.43232584,"mpcc_theta_mech":0.553411067,"sam_rpm":-13.4474325,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0157919377,"thr_a_norm":0.0157919377,"thr_a_v":0.563167751,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460544735,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.676105,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.31354666,"cg_iw_a":0.12916851,"cg_theta_rad":0.556787431,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0912995636,"mpcc_du":49.459198,"mpcc_dv":50.2349472,"mpcc_dw":50.540802,"mpcc_enc_sign":1,"mpcc_id_a":3.00009394,"mpcc_iq_a":0.633882046,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.6955996,"mpcc_pred_id_a":0.482804328,"mpcc_pred_iq_a":-4.37836123,"mpcc_state":1,"mpcc_theta_e":0.454804897,"mpcc_theta_mech":0.557906926,"sam_rpm":21.81567,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228290111,"thr_a_norm":0.0157919377,"thr_a_v":0.591316044,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497404426,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.686176,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.96593571,"cg_iw_a":-0.885658741,"cg_theta_rad":0.55460602,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0323400162,"mpcc_du":49.6790161,"mpcc_dv":49.2158966,"mpcc_dw":50.7841034,"mpcc_enc_sign":1,"mpcc_id_a":2.4369514,"mpcc_iq_a":-0.843508542,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.32834578,"mpcc_pred_id_a":0.213889614,"mpcc_pred_iq_a":-2.23448753,"mpcc_state":1,"mpcc_theta_e":0.448658466,"mpcc_theta_mech":0.55667758,"sam_rpm":10.5668726,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228290111,"thr_a_norm":0.0228290111,"thr_a_v":0.591316044,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497404426,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.709248,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-2.47334933,"cg_iw_a":1.8688724,"cg_theta_rad":0.55706048,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0308842734,"mpcc_du":49.4940796,"mpcc_dv":49.9354897,"mpcc_dw":50.5059204,"mpcc_enc_sign":1,"mpcc_id_a":2.39483809,"mpcc_iq_a":-1.43150735,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.04332542,"mpcc_pred_id_a":0.306423366,"mpcc_pred_iq_a":-5.48682833,"mpcc_state":1,"mpcc_theta_e":0.450101852,"mpcc_theta_mech":0.556966305,"sam_rpm":6.34189367,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285191089,"thr_a_norm":0.0285191089,"thr_a_v":0.614076436,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498159766,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.715778,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.24105906,"cg_iw_a":-0.45073247,"cg_theta_rad":0.557031214,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00194622157,"mpcc_du":49.9115334,"mpcc_dv":49.2022591,"mpcc_dw":50.7977409,"mpcc_enc_sign":1,"mpcc_id_a":0.104909383,"mpcc_iq_a":-1.01847255,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.23940182,"mpcc_pred_id_a":-0.358338684,"mpcc_pred_iq_a":-1.12789631,"mpcc_state":1,"mpcc_theta_e":0.443727493,"mpcc_theta_mech":0.555691421,"sam_rpm":4.88023233,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285191089,"thr_a_norm":0.0285191089,"thr_a_v":0.614076436,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498159766,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.722248,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.153744221,"cg_iw_a":-2.77033806,"cg_theta_rad":0.557574034,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0194419082,"mpcc_du":49.2602196,"mpcc_dv":50.7397804,"mpcc_dw":50.0645065,"mpcc_enc_sign":1,"mpcc_id_a":2.15395904,"mpcc_iq_a":-0.428750634,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.35191393,"mpcc_pred_id_a":0.0344551131,"mpcc_pred_iq_a":-5.40612841,"mpcc_state":1,"mpcc_theta_e":0.448726654,"mpcc_theta_mech":0.556691289,"sam_rpm":10.6801777,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0329125673,"thr_a_norm":0.0329125673,"thr_a_v":0.631650269,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460695803,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.728809,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.878620625,"cg_iw_a":-1.24809694,"cg_theta_rad":0.557339311,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00505467039,"mpcc_du":49.575428,"mpcc_dv":49.7022858,"mpcc_dw":50.424572,"mpcc_enc_sign":1,"mpcc_id_a":0.814241946,"mpcc_iq_a":-1.03841603,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.53257084,"mpcc_pred_id_a":-0.18137224,"mpcc_pred_iq_a":-2.43734646,"mpcc_state":1,"mpcc_theta_e":0.449176311,"mpcc_theta_mech":0.556781173,"sam_rpm":10.7956896,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.04502289,"thr_a_norm":0.0329125673,"thr_a_v":0.68009156,"thr_b":0.0128210038,"thr_b_norm":0,"thr_b_v":0.551284015,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.736713,"values":{"cg_iu_a":1.69179153,"cg_iv_a":0.0637187958,"cg_iw_a":-3.20526409,"cg_theta_rad":0.556349933,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0391432382,"mpcc_du":50.2147751,"mpcc_dv":48.3662453,"mpcc_dw":51.6337547,"mpcc_enc_sign":1,"mpcc_id_a":3.18205523,"mpcc_iq_a":-0.106492884,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.65544367,"mpcc_pred_id_a":0.833227038,"mpcc_pred_iq_a":-0.207475737,"mpcc_state":1,"mpcc_theta_e":0.440196037,"mpcc_theta_mech":0.554985106,"sam_rpm":-5.42236185,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.04502289,"thr_a_norm":0.04502289,"thr_a_v":0.68009156,"thr_b":0.0128210038,"thr_b_norm":0.0128210038,"thr_b_v":0.551284015,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.746876,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.60349751,"cg_iw_a":-1.46555996,"cg_theta_rad":0.555951893,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.038562052,"mpcc_du":50.1085587,"mpcc_dv":48.8388748,"mpcc_dw":51.1611252,"mpcc_enc_sign":1,"mpcc_id_a":1.30714357,"mpcc_iq_a":-0.852126598,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.654720783,"mpcc_pred_id_a":0.0164344162,"mpcc_pred_iq_a":-3.17759991,"mpcc_state":1,"mpcc_theta_e":0.445826054,"mpcc_theta_mech":0.556111097,"sam_rpm":0.443266243,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0164843202,"thr_a_norm":0.0164843202,"thr_a_v":0.565937281,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468953997,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.756916,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.588670254,"cg_iw_a":-1.68302298,"cg_theta_rad":0.555559754,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.106417499,"mpcc_du":49.6743011,"mpcc_dv":49.302269,"mpcc_dw":50.697731,"mpcc_enc_sign":1,"mpcc_id_a":3.06031632,"mpcc_iq_a":0.939877033,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.97449446,"mpcc_pred_id_a":0.208778962,"mpcc_pred_iq_a":-4.21339989,"mpcc_state":1,"mpcc_theta_e":0.451220036,"mpcc_theta_mech":0.557189941,"sam_rpm":8.57311821,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0164843202,"thr_a_norm":0.0164843202,"thr_a_v":0.565937281,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468953997,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.767109,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.878620625,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.556312799,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0166946352,"mpcc_du":49.5390167,"mpcc_dv":50.3102951,"mpcc_dw":50.4609833,"mpcc_enc_sign":1,"mpcc_id_a":2.49115849,"mpcc_iq_a":0.115496449,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.89281273,"mpcc_pred_id_a":0.246759117,"mpcc_pred_iq_a":-1.40888131,"mpcc_state":1,"mpcc_theta_e":0.444680691,"mpcc_theta_mech":0.555882096,"sam_rpm":14.5382462,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025246039,"thr_a_norm":0.025246039,"thr_a_v":0.600984156,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497253358,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.778309,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.661157608,"cg_iw_a":-2.19043684,"cg_theta_rad":0.557364583,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0175336171,"mpcc_du":49.6514435,"mpcc_dv":50.1330757,"mpcc_dw":50.3485565,"mpcc_enc_sign":1,"mpcc_id_a":0.611044645,"mpcc_iq_a":-1.1262145,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.98086464,"mpcc_pred_id_a":-0.488205224,"mpcc_pred_iq_a":-6.16542721,"mpcc_state":1,"mpcc_theta_e":0.449098587,"mpcc_theta_mech":0.556765676,"sam_rpm":3.22174072,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260895044,"thr_a_norm":0.025246039,"thr_a_v":0.604358017,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491714358,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.789295,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.31354666,"cg_iw_a":-1.24809694,"cg_theta_rad":0.554724455,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0220300835,"mpcc_du":50.014492,"mpcc_dv":48.6523361,"mpcc_dw":51.3476639,"mpcc_enc_sign":1,"mpcc_id_a":2.68351054,"mpcc_iq_a":-0.108189747,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.98917437,"mpcc_pred_id_a":0.580746949,"mpcc_pred_iq_a":1.73434126,"mpcc_state":1,"mpcc_theta_e":0.425232887,"mpcc_theta_mech":0.551992476,"sam_rpm":-10.8679419,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260895044,"thr_a_norm":0.0260895044,"thr_a_v":0.604358017,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491714358,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.81255,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.443694592,"cg_iw_a":1.143996,"cg_theta_rad":0.553949177,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0168328304,"mpcc_du":51.5317497,"mpcc_dv":46.9540901,"mpcc_dw":53.0459099,"mpcc_enc_sign":1,"mpcc_id_a":1.91935122,"mpcc_iq_a":-0.0489195362,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.922349,"mpcc_pred_id_a":0.0589103922,"mpcc_pred_iq_a":4.64779568,"mpcc_state":1,"mpcc_theta_e":0.430975914,"mpcc_theta_mech":0.553141057,"sam_rpm":-17.5957832,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0313893259,"thr_a_norm":0.0313893259,"thr_a_v":0.625557303,"thr_b":0.00108835101,"thr_b_norm":0.00108835101,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.81905,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.53100967,"cg_iw_a":-1.97297382,"cg_theta_rad":0.555769742,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0322407633,"mpcc_du":49.8266106,"mpcc_dv":49.0583153,"mpcc_dw":50.9416847,"mpcc_enc_sign":1,"mpcc_id_a":2.04976749,"mpcc_iq_a":-1.31232548,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.3812604,"mpcc_pred_id_a":0.268588156,"mpcc_pred_iq_a":-2.44708467,"mpcc_state":1,"mpcc_theta_e":0.450500488,"mpcc_theta_mech":0.557045996,"sam_rpm":9.95941257,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0313893259,"thr_a_norm":0.0313893259,"thr_a_v":0.625557303,"thr_b":0.00108835101,"thr_b_norm":0.00108835101,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.825581,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.09608364,"cg_iw_a":0.491606712,"cg_theta_rad":0.554980397,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.000919131911,"mpcc_du":50.6434441,"mpcc_dv":48.2620239,"mpcc_dw":51.7379761,"mpcc_enc_sign":1,"mpcc_id_a":0.409837693,"mpcc_iq_a":-1.42640305,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.043478,"mpcc_pred_id_a":-0.446970314,"mpcc_pred_iq_a":0.0925732478,"mpcc_state":1,"mpcc_theta_e":0.429787636,"mpcc_theta_mech":0.552903414,"sam_rpm":-18.3017998,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297528058,"thr_a_norm":0.0297528058,"thr_a_v":0.619011223,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460242629,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.83205,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.24105906,"cg_iw_a":0.201656103,"cg_theta_rad":0.55613029,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00825563446,"mpcc_du":49.8657417,"mpcc_dv":49.2622032,"mpcc_dw":50.7377968,"mpcc_enc_sign":1,"mpcc_id_a":1.08353782,"mpcc_iq_a":-0.145385936,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.69607449,"mpcc_pred_id_a":-0.339714915,"mpcc_pred_iq_a":0.177216679,"mpcc_state":1,"mpcc_theta_e":0.448537827,"mpcc_theta_mech":0.55665344,"sam_rpm":13.9215498,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0144071877,"thr_a_norm":0.0297528058,"thr_a_v":0.557628751,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.445690066,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.839893,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.595707893,"cg_theta_rad":0.55641669,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0363109633,"mpcc_du":49.5441437,"mpcc_dv":48.8353653,"mpcc_dw":51.1646347,"mpcc_enc_sign":1,"mpcc_id_a":2.68545389,"mpcc_iq_a":0.32621944,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.9655533,"mpcc_pred_id_a":0.169458121,"mpcc_pred_iq_a":-2.65691471,"mpcc_state":1,"mpcc_theta_e":0.453085899,"mpcc_theta_mech":0.554654002,"sam_rpm":19.1306152,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0144071877,"thr_a_norm":0.0144071877,"thr_a_v":0.557628751,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.445690066,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.850117,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.588670254,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556151509,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00412228657,"mpcc_du":49.6663818,"mpcc_dv":50.1499176,"mpcc_dw":50.3336182,"mpcc_enc_sign":1,"mpcc_id_a":-0.763474464,"mpcc_iq_a":-0.652494133,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.73636723,"mpcc_pred_id_a":-0.555984855,"mpcc_pred_iq_a":-3.38687205,"mpcc_state":1,"mpcc_theta_e":0.442708492,"mpcc_theta_mech":0.555487633,"sam_rpm":7.3774209,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0171892792,"thr_a_norm":0.0171892792,"thr_a_v":0.568757117,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457624167,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.860096,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-2.0384233,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.557309508,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.000527187891,"mpcc_du":50.7396278,"mpcc_dv":48.0926781,"mpcc_dw":51.9073219,"mpcc_enc_sign":1,"mpcc_id_a":0.0299093071,"mpcc_iq_a":-1.38947821,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.0770512,"mpcc_pred_id_a":-0.185776979,"mpcc_pred_iq_a":-0.018050896,"mpcc_state":1,"mpcc_theta_e":0.428447247,"mpcc_theta_mech":0.552635372,"sam_rpm":-23.3267002,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0171892792,"thr_a_norm":0.0171892792,"thr_a_v":0.568757117,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457624167,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.870258,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-1.24105906,"cg_iw_a":0.201656103,"cg_theta_rad":0.554958344,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0241537038,"mpcc_du":49.5833969,"mpcc_dv":49.9904175,"mpcc_dw":50.4166031,"mpcc_enc_sign":1,"mpcc_id_a":1.3762151,"mpcc_iq_a":-0.536079228,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.85848987,"mpcc_pred_id_a":-0.0779709443,"mpcc_pred_iq_a":-0.706234992,"mpcc_state":1,"mpcc_theta_e":0.430908203,"mpcc_theta_mech":0.553127587,"sam_rpm":-4.08501577,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193041861,"thr_a_norm":0.0193041861,"thr_a_v":0.577216744,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477665365,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.881458,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.661157608,"cg_iw_a":-1.90048599,"cg_theta_rad":0.552616715,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0274747796,"mpcc_du":50.0113106,"mpcc_dv":48.9750786,"mpcc_dw":51.0249214,"mpcc_enc_sign":1,"mpcc_id_a":0.869730353,"mpcc_iq_a":-0.0858747736,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.07621682,"mpcc_pred_id_a":0.0112712029,"mpcc_pred_iq_a":-2.29617286,"mpcc_state":1,"mpcc_theta_e":0.445179939,"mpcc_theta_mech":0.555981934,"sam_rpm":1.71939623,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283176899,"thr_a_norm":0.0193041861,"thr_a_v":0.61327076,"thr_b":0.000975042582,"thr_b_norm":0,"thr_b_v":0.50390017,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.892567,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.298719406,"cg_iw_a":-2.40789986,"cg_theta_rad":0.553819835,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0224767029,"mpcc_du":49.4686775,"mpcc_dv":49.6972351,"mpcc_dw":50.5313225,"mpcc_enc_sign":1,"mpcc_id_a":2.93195653,"mpcc_iq_a":-0.638535678,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.53493023,"mpcc_pred_id_a":0.344192237,"mpcc_pred_iq_a":-1.99020362,"mpcc_state":1,"mpcc_theta_e":0.4408741,"mpcc_theta_mech":0.555120766,"sam_rpm":6.78637362,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283176899,"thr_a_norm":0.0283176899,"thr_a_v":0.61327076,"thr_b":0.000975042582,"thr_b_norm":0.000975042582,"thr_b_v":0.50390017,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.915913,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.806133032,"cg_iw_a":-1.97297359,"cg_theta_rad":0.553949177,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.000425341073,"mpcc_du":50.8428726,"mpcc_dv":48.036911,"mpcc_dw":51.963089,"mpcc_enc_sign":1,"mpcc_id_a":0.36728844,"mpcc_iq_a":-0.634236157,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.95550537,"mpcc_pred_id_a":-0.506391883,"mpcc_pred_iq_a":2.41851997,"mpcc_state":1,"mpcc_theta_e":0.444870949,"mpcc_theta_mech":0.555920064,"sam_rpm":-12.8963594,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205756426,"thr_a_norm":0.0205756426,"thr_a_v":0.58230257,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.922443,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.47334933,"cg_iw_a":0.201656103,"cg_theta_rad":0.556284904,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00148475694,"mpcc_du":50.8545494,"mpcc_dv":47.9417953,"mpcc_dw":52.0582047,"mpcc_enc_sign":1,"mpcc_id_a":-0.333059847,"mpcc_iq_a":-1.4985652,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.7150993,"mpcc_pred_id_a":-0.205109045,"mpcc_pred_iq_a":0.34746781,"mpcc_state":1,"mpcc_theta_e":0.425044537,"mpcc_theta_mech":0.551954865,"sam_rpm":-26.7228374,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023257032,"thr_a_norm":0.0205756426,"thr_a_v":0.593028128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454401463,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.928974,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.878620625,"cg_iw_a":-0.958146572,"cg_theta_rad":0.55558002,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0046365913,"mpcc_du":50.4266357,"mpcc_dv":48.6668091,"mpcc_dw":51.3331909,"mpcc_enc_sign":1,"mpcc_id_a":-1.11798692,"mpcc_iq_a":-0.77729404,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.0120506,"mpcc_pred_id_a":-0.719234824,"mpcc_pred_iq_a":-3.90205979,"mpcc_state":1,"mpcc_theta_e":0.423060417,"mpcc_theta_mech":0.551557958,"sam_rpm":-30.8807297,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023257032,"thr_a_norm":0.023257032,"thr_a_v":0.593028128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454401463,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.935474,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.38603449,"cg_iw_a":1.14399576,"cg_theta_rad":0.556632161,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0147679597,"mpcc_du":49.548584,"mpcc_dv":50.451416,"mpcc_dw":50.3765335,"mpcc_enc_sign":1,"mpcc_id_a":1.91667259,"mpcc_iq_a":-1.25316191,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.8691406,"mpcc_pred_id_a":-0.0402677469,"mpcc_pred_iq_a":-3.69805789,"mpcc_state":1,"mpcc_theta_e":0.45256567,"mpcc_theta_mech":0.557459056,"sam_rpm":17.4341183,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257118344,"thr_a_norm":0.0257118344,"thr_a_v":0.602847338,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480636299,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.945301,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.153744221,"cg_iw_a":-1.17560911,"cg_theta_rad":0.556276798,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0229891371,"mpcc_du":50.6423225,"mpcc_dv":48.0868263,"mpcc_dw":51.9131737,"mpcc_enc_sign":1,"mpcc_id_a":1.78660202,"mpcc_iq_a":-2.04429221,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.98753977,"mpcc_pred_id_a":0.238073543,"mpcc_pred_iq_a":-1.93043256,"mpcc_state":1,"mpcc_theta_e":0.441823006,"mpcc_theta_mech":0.555310488,"sam_rpm":-11.3228083,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257118344,"thr_a_norm":0.0257118344,"thr_a_v":0.602847338,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480636299,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.95528,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.371207237,"cg_iw_a":1.65140939,"cg_theta_rad":0.55744338,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0443563797,"mpcc_du":49.4836426,"mpcc_dv":50.3361778,"mpcc_dw":50.5163574,"mpcc_enc_sign":1,"mpcc_id_a":3.26208735,"mpcc_iq_a":-0.629448473,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.22532558,"mpcc_pred_id_a":0.58599031,"mpcc_pred_iq_a":-5.34589672,"mpcc_state":1,"mpcc_theta_e":0.446566105,"mpcc_theta_mech":0.556259155,"sam_rpm":7.47891665,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254348814,"thr_a_norm":0.0254348814,"thr_a_v":0.601739526,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496699452,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.965992,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.81317091,"cg_theta_rad":0.552692771,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.118908592,"mpcc_du":50.2825241,"mpcc_dv":48.4693069,"mpcc_dw":51.5306931,"mpcc_enc_sign":1,"mpcc_id_a":1.93309164,"mpcc_iq_a":1.95370841,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.53447759,"mpcc_pred_id_a":0.309630513,"mpcc_pred_iq_a":-1.71810758,"mpcc_state":1,"mpcc_theta_e":0.448624134,"mpcc_theta_mech":0.555637419,"sam_rpm":3.56567287,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0254348814,"thr_a_v":0.618709087,"thr_b":0.00765964389,"thr_b_norm":0,"thr_b_v":0.530638576,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.978199,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.74847269,"cg_iw_a":-0.595707893,"cg_theta_rad":0.555322647,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.00976262987,"mpcc_du":49.7112579,"mpcc_dv":49.7467384,"mpcc_dw":50.2887421,"mpcc_enc_sign":1,"mpcc_id_a":-0.953455031,"mpcc_iq_a":-2.04463077,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.75402904,"mpcc_pred_id_a":-0.905143678,"mpcc_pred_iq_a":-4.44494152,"mpcc_state":1,"mpcc_theta_e":0.447237015,"mpcc_theta_mech":0.556393325,"sam_rpm":9.2980938,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00765964389,"thr_b_norm":0.00765964389,"thr_b_v":0.530638576,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.988239,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-2.61832476,"cg_iw_a":1.72389746,"cg_theta_rad":0.556577623,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.00122737081,"mpcc_du":50.1965218,"mpcc_dv":48.7159958,"mpcc_dw":51.2840042,"mpcc_enc_sign":1,"mpcc_id_a":0.679684699,"mpcc_iq_a":-0.825323403,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.80662036,"mpcc_pred_id_a":0.0721611306,"mpcc_pred_iq_a":1.32769799,"mpcc_state":1,"mpcc_theta_e":0.440944672,"mpcc_theta_mech":0.555134892,"sam_rpm":2.21415734,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151876807,"thr_a_norm":0.0151876807,"thr_a_v":0.560750723,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454401463,"vdc_v":55.2955055}} +{"type":"telemetry","t":62.998432,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.60349751,"cg_iw_a":0.274144173,"cg_theta_rad":0.55459708,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.00634290557,"mpcc_du":49.8815842,"mpcc_dv":49.0835304,"mpcc_dw":50.9164696,"mpcc_enc_sign":1,"mpcc_id_a":1.18115234,"mpcc_iq_a":-0.26970607,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.93536448,"mpcc_pred_id_a":-0.0078929672,"mpcc_pred_iq_a":-1.67081976,"mpcc_state":1,"mpcc_theta_e":0.436693668,"mpcc_theta_mech":0.554284632,"sam_rpm":-4.9136939,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182467401,"thr_a_norm":0.0151876807,"thr_a_v":0.57298696,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454351097,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.021473,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.371207237,"cg_iw_a":-2.19043636,"cg_theta_rad":0.55673784,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0100496197,"mpcc_du":51.495388,"mpcc_dv":46.9716263,"mpcc_dw":53.0283737,"mpcc_enc_sign":1,"mpcc_id_a":1.99217868,"mpcc_iq_a":-0.755613685,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.7425423,"mpcc_pred_id_a":0.115641303,"mpcc_pred_iq_a":3.75272751,"mpcc_state":1,"mpcc_theta_e":0.423397541,"mpcc_theta_mech":0.551625431,"sam_rpm":-31.2821617,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182467401,"thr_a_norm":0.0182467401,"thr_a_v":0.57298696,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454351097,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.028004,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.31354666,"cg_iw_a":0.0566806793,"cg_theta_rad":0.5556795,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.00838044751,"mpcc_du":50.4710388,"mpcc_dv":48.3004417,"mpcc_dw":51.6995583,"mpcc_enc_sign":1,"mpcc_id_a":1.59330547,"mpcc_iq_a":-2.58343959,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.24304581,"mpcc_pred_id_a":0.109213568,"mpcc_pred_iq_a":-0.703198314,"mpcc_state":1,"mpcc_theta_e":0.451992512,"mpcc_theta_mech":0.557344377,"sam_rpm":12.6927156,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0144701302,"thr_a_norm":0.0144701302,"thr_a_v":0.557880521,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453041911,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.034626,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.806133032,"cg_iw_a":-1.68302321,"cg_theta_rad":0.556355059,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0143537987,"mpcc_du":50.5978737,"mpcc_dv":48.0134621,"mpcc_dw":51.9865379,"mpcc_enc_sign":1,"mpcc_id_a":2.17315769,"mpcc_iq_a":-0.540791869,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.12388039,"mpcc_pred_id_a":0.483426422,"mpcc_pred_iq_a":1.03444982,"mpcc_state":1,"mpcc_theta_e":0.433730125,"mpcc_theta_mech":0.553691983,"sam_rpm":-13.3384714,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0144701302,"thr_a_norm":0.0144701302,"thr_a_v":0.557880521,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453041911,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.041065,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.45852208,"cg_iw_a":-1.4655602,"cg_theta_rad":0.554671228,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0239519309,"mpcc_du":49.3459702,"mpcc_dv":50.6540298,"mpcc_dw":50.2465248,"mpcc_enc_sign":1,"mpcc_id_a":2.70495939,"mpcc_iq_a":-1.623564,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.38221169,"mpcc_pred_id_a":0.248557225,"mpcc_pred_iq_a":-6.39240694,"mpcc_state":1,"mpcc_theta_e":0.448878765,"mpcc_theta_mech":0.553642571,"sam_rpm":8.09085274,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184481591,"thr_a_norm":0.0184481591,"thr_a_v":0.573792636,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455509245,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.049458,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.09608364,"cg_iw_a":0.274143696,"cg_theta_rad":0.555576921,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0450255908,"mpcc_du":50.3570595,"mpcc_dv":48.3638535,"mpcc_dw":51.6361465,"mpcc_enc_sign":1,"mpcc_id_a":3.27769399,"mpcc_iq_a":0.256137431,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.813933671,"mpcc_pred_id_a":0.42991212,"mpcc_pred_iq_a":0.515483797,"mpcc_state":1,"mpcc_theta_e":0.442944527,"mpcc_theta_mech":0.55553484,"sam_rpm":-1.19077361,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186873376,"thr_a_norm":0.0184481591,"thr_a_v":0.574749351,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468853265,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.059498,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-0.516182423,"cg_iw_a":0.78155756,"cg_theta_rad":0.556990147,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0217359085,"mpcc_du":49.8394661,"mpcc_dv":49.6119118,"mpcc_dw":50.3880882,"mpcc_enc_sign":1,"mpcc_id_a":-0.955638885,"mpcc_iq_a":-3.06409097,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.80250859,"mpcc_pred_id_a":-0.700854361,"mpcc_pred_iq_a":-3.08073473,"mpcc_state":1,"mpcc_theta_e":0.445978642,"mpcc_theta_mech":0.556141615,"sam_rpm":12.9570255,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186873376,"thr_a_norm":0.0186873376,"thr_a_v":0.574749351,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468853265,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.069691,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.38603449,"cg_iw_a":0.491607189,"cg_theta_rad":0.55425477,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.033305034,"mpcc_du":49.5555191,"mpcc_dv":50.0816994,"mpcc_dw":50.4444809,"mpcc_enc_sign":1,"mpcc_id_a":2.03847265,"mpcc_iq_a":-1.86469471,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.95109189,"mpcc_pred_id_a":-0.00781295355,"mpcc_pred_iq_a":-2.27419972,"mpcc_state":1,"mpcc_theta_e":0.434639454,"mpcc_theta_mech":0.553873837,"sam_rpm":-5.1092906,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0251830965,"thr_a_norm":0.0251830965,"thr_a_v":0.600732386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.079487,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.16857147,"cg_iw_a":-1.17560911,"cg_theta_rad":0.556846559,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.00812334102,"mpcc_du":50.2791176,"mpcc_dv":48.4160042,"mpcc_dw":51.5839958,"mpcc_enc_sign":1,"mpcc_id_a":1.71695256,"mpcc_iq_a":-1.01068294,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.4841442,"mpcc_pred_id_a":0.393617898,"mpcc_pred_iq_a":-0.784726501,"mpcc_state":1,"mpcc_theta_e":0.428858757,"mpcc_theta_mech":0.552717686,"sam_rpm":-21.3395119,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0251830965,"thr_a_norm":0.0251830965,"thr_a_v":0.600732386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.089893,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.98780107,"cg_theta_rad":0.55613035,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.000738967385,"mpcc_du":50.9122658,"mpcc_dv":48.0837555,"mpcc_dw":51.9162445,"mpcc_enc_sign":1,"mpcc_id_a":0.364562929,"mpcc_iq_a":-1.86778283,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.8609028,"mpcc_pred_id_a":-0.684730828,"mpcc_pred_iq_a":-0.40043816,"mpcc_state":1,"mpcc_theta_e":0.431223869,"mpcc_theta_mech":0.553190649,"sam_rpm":-22.9085674,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.0264545679,"thr_a_v":0.605818272,"thr_b":0.00354315341,"thr_b_norm":0.00354315341,"thr_b_v":0.514172614,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.100483,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.371207237,"cg_iw_a":-2.77033806,"cg_theta_rad":0.557602704,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0546692424,"mpcc_du":50.0705376,"mpcc_dv":48.6360741,"mpcc_dw":51.3639259,"mpcc_enc_sign":1,"mpcc_id_a":3.39813328,"mpcc_iq_a":0.3269144,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.543645084,"mpcc_pred_id_a":0.727260232,"mpcc_pred_iq_a":-1.00140691,"mpcc_state":1,"mpcc_theta_e":0.44635582,"mpcc_theta_mech":0.556217074,"sam_rpm":0.387354285,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02252689,"thr_a_norm":0.0264545679,"thr_a_v":0.59010756,"thr_b":0,"thr_b_norm":0.00354315341,"thr_b_v":0.486225694,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.12447,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.09608364,"cg_iw_a":-1.24809694,"cg_theta_rad":0.556270361,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0486304387,"mpcc_du":50.1013412,"mpcc_dv":48.9736977,"mpcc_dw":51.0263023,"mpcc_enc_sign":1,"mpcc_id_a":-0.0622439086,"mpcc_iq_a":-1.17577481,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.48787999,"mpcc_pred_id_a":-0.251615882,"mpcc_pred_iq_a":-4.00534248,"mpcc_state":1,"mpcc_theta_e":0.453804016,"mpcc_theta_mech":0.557706714,"sam_rpm":6.33880568,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02252689,"thr_a_norm":0.02252689,"thr_a_v":0.59010756,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486225694,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.131001,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.588670254,"cg_iw_a":-0.233269691,"cg_theta_rad":0.5533005,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0158947725,"mpcc_du":49.8730583,"mpcc_dv":49.0530319,"mpcc_dw":50.9469681,"mpcc_enc_sign":1,"mpcc_id_a":1.22352016,"mpcc_iq_a":-0.858879387,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.43850994,"mpcc_pred_id_a":0.19097136,"mpcc_pred_iq_a":-2.08724236,"mpcc_state":1,"mpcc_theta_e":0.44603014,"mpcc_theta_mech":0.556151927,"sam_rpm":4.317626,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176047087,"thr_a_norm":0.0176047087,"thr_a_v":0.570418835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43758297,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.137531,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.02359605,"cg_iw_a":-1.10312176,"cg_theta_rad":0.55619359,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.000475878798,"mpcc_du":49.2926559,"mpcc_dv":50.7073441,"mpcc_dw":49.8789253,"mpcc_enc_sign":1,"mpcc_id_a":0.0259299297,"mpcc_iq_a":-1.67890012,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.67919588,"mpcc_pred_id_a":-0.618922889,"mpcc_pred_iq_a":-6.057096,"mpcc_state":1,"mpcc_theta_e":0.447229385,"mpcc_theta_mech":0.556391776,"sam_rpm":7.57289028,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176047087,"thr_a_norm":0.0176047087,"thr_a_v":0.570418835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43758297,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.144062,"values":{"cg_iu_a":1.61930418,"cg_iv_a":0.208694458,"cg_iw_a":-3.20526409,"cg_theta_rad":0.553964376,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0361161791,"mpcc_du":50.6026115,"mpcc_dv":48.1894951,"mpcc_dw":51.8105049,"mpcc_enc_sign":1,"mpcc_id_a":2.07540846,"mpcc_iq_a":-1.09279644,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.30743265,"mpcc_pred_id_a":0.191689298,"mpcc_pred_iq_a":0.96816802,"mpcc_state":1,"mpcc_theta_e":0.450697899,"mpcc_theta_mech":0.55934,"sam_rpm":9.07617092,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021419093,"thr_a_norm":0.021419093,"thr_a_v":0.585676372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479780257,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.153461,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-3.05325079,"cg_iw_a":0.419119358,"cg_theta_rad":0.5566324,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0325382687,"mpcc_du":50.3907013,"mpcc_dv":48.4604301,"mpcc_dw":51.5395699,"mpcc_enc_sign":1,"mpcc_id_a":1.45246565,"mpcc_iq_a":-0.547525704,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.14544392,"mpcc_pred_id_a":0.117227778,"mpcc_pred_iq_a":-1.98750544,"mpcc_state":1,"mpcc_theta_e":0.444090366,"mpcc_theta_mech":0.557070315,"sam_rpm":-5.7379446,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023836121,"thr_a_norm":0.021419093,"thr_a_v":0.595344484,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480384529,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.163288,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.516182423,"cg_iw_a":-1.32058477,"cg_theta_rad":0.558366716,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.132373586,"mpcc_du":50.3771019,"mpcc_dv":48.4727287,"mpcc_dw":51.5272713,"mpcc_enc_sign":1,"mpcc_id_a":1.7591027,"mpcc_iq_a":0.922170281,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.12201464,"mpcc_pred_id_a":0.157173514,"mpcc_pred_iq_a":-3.36239576,"mpcc_state":1,"mpcc_theta_e":0.449052334,"mpcc_theta_mech":0.556756377,"sam_rpm":0.693288445,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023836121,"thr_a_norm":0.023836121,"thr_a_v":0.595344484,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480384529,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.173695,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-2.18339872,"cg_iw_a":-2.19043684,"cg_theta_rad":0.554101944,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.013154218,"mpcc_du":50.3113441,"mpcc_dv":48.7965202,"mpcc_dw":51.2034798,"mpcc_enc_sign":1,"mpcc_id_a":0.14157331,"mpcc_iq_a":-1.45182204,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.20150232,"mpcc_pred_id_a":-0.437609345,"mpcc_pred_iq_a":-2.08549976,"mpcc_state":1,"mpcc_theta_e":0.44237566,"mpcc_theta_mech":0.555421054,"sam_rpm":-0.242189437,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173277706,"thr_a_norm":0.0173277706,"thr_a_v":0.569311082,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448661,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.183643,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.226231575,"cg_iw_a":-0.81317091,"cg_theta_rad":0.554716766,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0508181527,"mpcc_du":49.8921013,"mpcc_dv":49.1122017,"mpcc_dw":50.8877983,"mpcc_enc_sign":1,"mpcc_id_a":1.47899222,"mpcc_iq_a":0.17623727,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.64925098,"mpcc_pred_id_a":0.0501792803,"mpcc_pred_iq_a":-1.90709972,"mpcc_state":1,"mpcc_theta_e":0.447790623,"mpcc_theta_mech":0.556504011,"sam_rpm":9.54168797,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173277706,"thr_a_norm":0.0173277706,"thr_a_v":0.569311082,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448661,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.194904,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.661157608,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556672454,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.00442249235,"mpcc_du":49.7844849,"mpcc_dv":49.1616821,"mpcc_dw":50.8383179,"mpcc_enc_sign":1,"mpcc_id_a":1.3294493,"mpcc_iq_a":-0.981886566,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.46043491,"mpcc_pred_id_a":0.138475165,"mpcc_pred_iq_a":-2.87082291,"mpcc_state":1,"mpcc_theta_e":0.434664726,"mpcc_theta_mech":0.553878903,"sam_rpm":-12.4831524,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248558074,"thr_a_norm":0.0248558074,"thr_a_v":0.59942323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480283797,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.219288,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.298719406,"cg_iw_a":-2.55287504,"cg_theta_rad":0.556230068,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0133068776,"mpcc_du":50.0306282,"mpcc_dv":49.0794754,"mpcc_dw":50.9205246,"mpcc_enc_sign":1,"mpcc_id_a":0.583755851,"mpcc_iq_a":-0.179789275,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.73514211,"mpcc_pred_id_a":-0.312182277,"mpcc_pred_iq_a":-2.3599689,"mpcc_state":1,"mpcc_theta_e":0.442952633,"mpcc_theta_mech":0.555536449,"sam_rpm":-2.35197568,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202357471,"thr_a_norm":0.0202357471,"thr_a_v":0.580942988,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450121313,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.225819,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.516182423,"cg_iw_a":-1.61053562,"cg_theta_rad":0.557334483,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0167208649,"mpcc_du":49.9321747,"mpcc_dv":49.1399193,"mpcc_dw":50.8600807,"mpcc_enc_sign":1,"mpcc_id_a":0.639767826,"mpcc_iq_a":-1.7099793,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.3584709,"mpcc_pred_id_a":-0.0834827349,"mpcc_pred_iq_a":-0.739057183,"mpcc_state":1,"mpcc_theta_e":0.457556248,"mpcc_theta_mech":0.558457196,"sam_rpm":22.3844738,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202357471,"thr_a_norm":0.0202357471,"thr_a_v":0.580942988,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450121313,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.232349,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.298719406,"cg_iw_a":-0.450732708,"cg_theta_rad":0.555059969,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0173014589,"mpcc_du":50.174942,"mpcc_dv":48.8851776,"mpcc_dw":51.1148224,"mpcc_enc_sign":1,"mpcc_id_a":0.917508066,"mpcc_iq_a":-0.152610362,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.52860796,"mpcc_pred_id_a":-0.274608672,"mpcc_pred_iq_a":-1.77545917,"mpcc_state":1,"mpcc_theta_e":0.442726612,"mpcc_theta_mech":0.555491209,"sam_rpm":-2.25526786,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0105424523,"thr_a_norm":0.0105424523,"thr_a_v":0.542169809,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.435518414,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.23885,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.60349751,"cg_iw_a":-1.24809694,"cg_theta_rad":0.557334423,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0127437375,"mpcc_du":49.5018539,"mpcc_dv":50.4981461,"mpcc_dw":50.1829987,"mpcc_enc_sign":1,"mpcc_id_a":1.3592453,"mpcc_iq_a":-1.07398188,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.0027285,"mpcc_pred_id_a":-0.282300085,"mpcc_pred_iq_a":-4.69281578,"mpcc_state":1,"mpcc_theta_e":0.451918602,"mpcc_theta_mech":0.557329595,"sam_rpm":14.6206102,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025296405,"thr_a_norm":0.0105424523,"thr_a_v":0.60118562,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483254731,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.247242,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.82096052,"cg_iw_a":-0.958146095,"cg_theta_rad":0.554121137,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0140989665,"mpcc_du":50.605648,"mpcc_dv":48.225872,"mpcc_dw":51.774128,"mpcc_enc_sign":1,"mpcc_id_a":1.93223786,"mpcc_iq_a":-0.198427647,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.9698391,"mpcc_pred_id_a":0.0254179481,"mpcc_pred_iq_a":0.355823755,"mpcc_state":1,"mpcc_theta_e":0.433642864,"mpcc_theta_mech":0.553674459,"sam_rpm":-13.2940769,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025296405,"thr_a_norm":0.025296405,"thr_a_v":0.60118562,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483254731,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.257465,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-2.47334933,"cg_iw_a":-0.160782099,"cg_theta_rad":0.557160318,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0435339361,"mpcc_du":50.4588699,"mpcc_dv":48.7013397,"mpcc_dw":51.2986603,"mpcc_enc_sign":1,"mpcc_id_a":-1.11547732,"mpcc_iq_a":-1.14969432,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.4431763,"mpcc_pred_id_a":-0.860732615,"mpcc_pred_iq_a":0.793276966,"mpcc_state":1,"mpcc_theta_e":0.416278362,"mpcc_theta_mech":0.550201595,"sam_rpm":-29.4435539,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233451575,"thr_a_norm":0.0233451575,"thr_a_v":0.59338063,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457271695,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.269672,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-2.61832476,"cg_iw_a":0.201656342,"cg_theta_rad":0.551821113,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.049626559,"mpcc_du":50.2267799,"mpcc_dv":48.5637589,"mpcc_dw":51.4362411,"mpcc_enc_sign":1,"mpcc_id_a":2.09704399,"mpcc_iq_a":0.312719584,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.51013803,"mpcc_pred_id_a":0.433898866,"mpcc_pred_iq_a":-1.62095737,"mpcc_state":1,"mpcc_theta_e":0.439851284,"mpcc_theta_mech":0.554916143,"sam_rpm":-2.91025925,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226905346,"thr_a_norm":0.0233451575,"thr_a_v":0.590762138,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480283797,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.281666,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.878620625,"cg_iw_a":-0.233269691,"cg_theta_rad":0.555011272,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0141287716,"mpcc_du":51.0772552,"mpcc_dv":47.6603394,"mpcc_dw":52.3396606,"mpcc_enc_sign":1,"mpcc_id_a":1.21299994,"mpcc_iq_a":-1.06276858,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.327816,"mpcc_pred_id_a":-0.101401128,"mpcc_pred_iq_a":-0.606269777,"mpcc_state":1,"mpcc_theta_e":0.432626247,"mpcc_theta_mech":0.553471208,"sam_rpm":-23.9454422,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226905346,"thr_a_norm":0.0226905346,"thr_a_v":0.590762138,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480283797,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.292896,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.38603449,"cg_iw_a":-1.75551081,"cg_theta_rad":0.553906798,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.00999346189,"mpcc_du":49.5130844,"mpcc_dv":50.4869156,"mpcc_dw":50.2685547,"mpcc_enc_sign":1,"mpcc_id_a":0.747907758,"mpcc_iq_a":0.350498319,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.96063495,"mpcc_pred_id_a":-0.0885887593,"mpcc_pred_iq_a":-0.164884463,"mpcc_state":1,"mpcc_theta_e":0.43272686,"mpcc_theta_mech":0.553491294,"sam_rpm":2.02991819,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00787365437,"thr_b_norm":0.00787365437,"thr_b_v":0.531494617,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.304218,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-0.806133032,"cg_iw_a":-2.62536263,"cg_theta_rad":0.553553283,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0157874431,"mpcc_du":50.2011032,"mpcc_dv":48.5631027,"mpcc_dw":51.4368973,"mpcc_enc_sign":1,"mpcc_id_a":2.49123049,"mpcc_iq_a":0.113929659,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.5432138,"mpcc_pred_id_a":0.438931197,"mpcc_pred_iq_a":1.01196671,"mpcc_state":1,"mpcc_theta_e":0.445309639,"mpcc_theta_mech":0.556007802,"sam_rpm":-9.58890629,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0108445883,"thr_a_norm":0.0108445883,"thr_a_v":0.543378353,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.433504254,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.327259,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.226231575,"cg_iw_a":-1.97297382,"cg_theta_rad":0.556881011,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0342606083,"mpcc_du":50.1176147,"mpcc_dv":48.8092957,"mpcc_dw":51.1907043,"mpcc_enc_sign":1,"mpcc_id_a":1.14844334,"mpcc_iq_a":-1.01315725,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.96985197,"mpcc_pred_id_a":0.215421706,"mpcc_pred_iq_a":-2.5163312,"mpcc_state":1,"mpcc_theta_e":0.448858738,"mpcc_theta_mech":0.556717634,"sam_rpm":4.14453506,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0108445883,"thr_a_norm":0.0108445883,"thr_a_v":0.543378353,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.433504254,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.33382,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.89344811,"cg_iw_a":-0.595708132,"cg_theta_rad":0.556351542,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.000193486223,"mpcc_du":49.987606,"mpcc_dv":49.1451683,"mpcc_dw":50.8548317,"mpcc_enc_sign":1,"mpcc_id_a":0.259584039,"mpcc_iq_a":-1.87862027,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.44705617,"mpcc_pred_id_a":-0.282741159,"mpcc_pred_iq_a":-1.43728173,"mpcc_state":1,"mpcc_theta_e":0.4427495,"mpcc_theta_mech":0.555495858,"sam_rpm":1.88354015,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184859186,"thr_a_norm":0.0184859186,"thr_a_v":0.573943675,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.340321,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.31354666,"cg_iw_a":-1.61053562,"cg_theta_rad":0.555883586,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0275645908,"mpcc_du":50.1542931,"mpcc_dv":48.8767853,"mpcc_dw":51.1232147,"mpcc_enc_sign":1,"mpcc_id_a":1.22706628,"mpcc_iq_a":0.168836311,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.40837574,"mpcc_pred_id_a":-0.187057644,"mpcc_pred_iq_a":-2.74040341,"mpcc_state":1,"mpcc_theta_e":0.438329697,"mpcc_theta_mech":0.554611862,"sam_rpm":-7.61648417,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184859186,"thr_a_norm":0.0184859186,"thr_a_v":0.573943675,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.346821,"values":{"cg_iu_a":1.11189032,"cg_iv_a":0.208694458,"cg_iw_a":-2.26292467,"cg_theta_rad":0.553806722,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.00128051196,"mpcc_du":50.9506493,"mpcc_dv":47.8365135,"mpcc_dw":52.1634865,"mpcc_enc_sign":1,"mpcc_id_a":0.602526069,"mpcc_iq_a":-1.18790996,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.0729313,"mpcc_pred_id_a":-0.180029273,"mpcc_pred_iq_a":0.966668904,"mpcc_state":1,"mpcc_theta_e":0.425814152,"mpcc_theta_mech":0.552108765,"sam_rpm":-25.5640926,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211043656,"thr_a_norm":0.0211043656,"thr_a_v":0.584417462,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473586619,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.355457,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.24105906,"cg_iw_a":0.491606951,"cg_theta_rad":0.556631148,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.00371426111,"mpcc_du":49.7799263,"mpcc_dv":49.426239,"mpcc_dw":50.573761,"mpcc_enc_sign":1,"mpcc_id_a":0.702839136,"mpcc_iq_a":-1.7730844,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.80502319,"mpcc_pred_id_a":-0.445431769,"mpcc_pred_iq_a":-2.10211587,"mpcc_state":1,"mpcc_theta_e":0.448251724,"mpcc_theta_mech":0.556596279,"sam_rpm":10.4065199,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192034841,"thr_a_norm":0.0211043656,"thr_a_v":0.576813936,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.36739,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.53100967,"cg_iw_a":-0.81317091,"cg_theta_rad":0.553448737,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0515733771,"mpcc_du":49.3385048,"mpcc_dv":49.17099,"mpcc_dw":50.82901,"mpcc_enc_sign":1,"mpcc_id_a":4.48735809,"mpcc_iq_a":1.7179805,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.15232074,"mpcc_pred_id_a":1.13195789,"mpcc_pred_iq_a":-1.62347054,"mpcc_state":1,"mpcc_theta_e":0.431068897,"mpcc_theta_mech":0.551895082,"sam_rpm":1.08589864,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192034841,"thr_a_norm":0.0192034841,"thr_a_v":0.576813936,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.37746,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.74847269,"cg_iw_a":0.854045391,"cg_theta_rad":0.554403961,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0175049733,"mpcc_du":50.2806129,"mpcc_dv":48.5277939,"mpcc_dw":51.4722061,"mpcc_enc_sign":1,"mpcc_id_a":2.47285748,"mpcc_iq_a":-0.769377589,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.92540753,"mpcc_pred_id_a":0.634751797,"mpcc_pred_iq_a":-1.57355058,"mpcc_state":1,"mpcc_theta_e":0.449178696,"mpcc_theta_mech":0.556212902,"sam_rpm":-6.16969776,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0305458903,"thr_a_norm":0.0305458903,"thr_a_v":0.622183561,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464623481,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.387653,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-0.226231575,"cg_iw_a":-3.06028891,"cg_theta_rad":0.556513131,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0392231122,"mpcc_du":50.8081131,"mpcc_dv":48.1326561,"mpcc_dw":51.8673439,"mpcc_enc_sign":1,"mpcc_id_a":-1.00225437,"mpcc_iq_a":-2.16078544,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-24.9637165,"mpcc_pred_id_a":-0.766991317,"mpcc_pred_iq_a":0.413497627,"mpcc_state":1,"mpcc_theta_e":0.414185524,"mpcc_theta_mech":0.549782991,"sam_rpm":-38.7670403,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248432159,"thr_a_norm":0.0305458903,"thr_a_v":0.599372864,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495490968,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.397694,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.733645439,"cg_iw_a":-0.885658979,"cg_theta_rad":0.557682633,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0444647186,"mpcc_du":49.512085,"mpcc_dv":49.4953194,"mpcc_dw":50.5046806,"mpcc_enc_sign":1,"mpcc_id_a":2.38741016,"mpcc_iq_a":-0.781667709,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.20400143,"mpcc_pred_id_a":0.192161754,"mpcc_pred_iq_a":-3.61574697,"mpcc_state":1,"mpcc_theta_e":0.451718807,"mpcc_theta_mech":0.55728972,"sam_rpm":13.5627708,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248432159,"thr_a_norm":0.0248432159,"thr_a_v":0.599372864,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495490968,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.407856,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.02359605,"cg_iw_a":0.854045391,"cg_theta_rad":0.55192554,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.00890468899,"mpcc_du":50.0059776,"mpcc_dv":49.004509,"mpcc_dw":50.995491,"mpcc_enc_sign":1,"mpcc_id_a":0.23429361,"mpcc_iq_a":-2.31667352,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.11509991,"mpcc_pred_id_a":-0.177303776,"mpcc_pred_iq_a":-1.9849714,"mpcc_state":1,"mpcc_theta_e":0.432820797,"mpcc_theta_mech":0.55351007,"sam_rpm":-15.1202183,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020487532,"thr_a_norm":0.020487532,"thr_a_v":0.581950128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455358177,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.430927,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.18339872,"cg_iw_a":0.999020576,"cg_theta_rad":0.555277467,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.00879572611,"mpcc_du":48.4255447,"mpcc_dv":51.5744553,"mpcc_dw":48.6271935,"mpcc_enc_sign":1,"mpcc_id_a":-1.86737442,"mpcc_iq_a":-1.87413168,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.9948826,"mpcc_pred_id_a":-1.22949159,"mpcc_pred_iq_a":-7.41864061,"mpcc_state":1,"mpcc_theta_e":0.458393574,"mpcc_theta_mech":0.558624625,"sam_rpm":25.5751457,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020487532,"thr_a_norm":0.020487532,"thr_a_v":0.581950128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455358177,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.437397,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.661157608,"cg_iw_a":-0.958146572,"cg_theta_rad":0.558975816,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.00692189345,"mpcc_du":49.8623314,"mpcc_dv":49.0364037,"mpcc_dw":50.9635963,"mpcc_enc_sign":1,"mpcc_id_a":0.985376358,"mpcc_iq_a":-0.516489506,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.98291302,"mpcc_pred_id_a":-0.0923947021,"mpcc_pred_iq_a":-2.82166314,"mpcc_state":1,"mpcc_theta_e":0.448812008,"mpcc_theta_mech":0.556708336,"sam_rpm":3.51893258,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0305458903,"thr_a_norm":0.0305458903,"thr_a_v":0.622183561,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.443897,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.588670254,"cg_iw_a":-1.53804731,"cg_theta_rad":0.554660916,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.00766164251,"mpcc_du":49.6389084,"mpcc_dv":49.4717789,"mpcc_dw":50.5282211,"mpcc_enc_sign":1,"mpcc_id_a":1.31330276,"mpcc_iq_a":-1.35309756,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.03649521,"mpcc_pred_id_a":-0.0799701065,"mpcc_pred_iq_a":-4.56480742,"mpcc_state":1,"mpcc_theta_e":0.439592361,"mpcc_theta_mech":0.554864407,"sam_rpm":-6.00790405,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0305458903,"thr_a_norm":0.0305458903,"thr_a_v":0.622183561,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.450459,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.733645439,"cg_iw_a":-2.11794901,"cg_theta_rad":0.552852154,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0190188289,"mpcc_du":50.7938423,"mpcc_dv":47.8871346,"mpcc_dw":52.1128654,"mpcc_enc_sign":1,"mpcc_id_a":-0.421175271,"mpcc_iq_a":-0.768236279,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.37516499,"mpcc_pred_id_a":-0.553607225,"mpcc_pred_iq_a":0.284635514,"mpcc_state":1,"mpcc_theta_e":0.446774006,"mpcc_theta_mech":0.5563007,"sam_rpm":-26.9039364,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194930136,"thr_a_norm":0.0194930136,"thr_a_v":0.577972054,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475802243,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.460682,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.226231575,"cg_iw_a":0.564094543,"cg_theta_rad":0.556551516,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.00604833988,"mpcc_du":50.3109245,"mpcc_dv":48.8385277,"mpcc_dw":51.1614723,"mpcc_enc_sign":1,"mpcc_id_a":-0.660591483,"mpcc_iq_a":-3.1130836,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.33488655,"mpcc_pred_id_a":-0.449807584,"mpcc_pred_iq_a":-4.0159812,"mpcc_state":1,"mpcc_theta_e":0.446828842,"mpcc_theta_mech":0.556311667,"sam_rpm":-6.04524422,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0311879069,"thr_a_norm":0.0194930136,"thr_a_v":0.624751627,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484614313,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.470661,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.878620625,"cg_iw_a":-1.61053562,"cg_theta_rad":0.55680728,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0858696848,"mpcc_du":50.1118774,"mpcc_dv":48.5253792,"mpcc_dw":51.4746208,"mpcc_enc_sign":1,"mpcc_id_a":4.81177711,"mpcc_iq_a":-0.580695033,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.68119287,"mpcc_pred_id_a":0.936971664,"mpcc_pred_iq_a":-2.16530204,"mpcc_state":1,"mpcc_theta_e":0.44617939,"mpcc_theta_mech":0.556181788,"sam_rpm":-3.70253396,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0311879069,"thr_a_norm":0.0311879069,"thr_a_v":0.624751627,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484614313,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.480854,"values":{"cg_iu_a":-0.555325985,"cg_iv_a":-1.45852208,"cg_iw_a":-0.813171148,"cg_theta_rad":0.55215323,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0618268661,"mpcc_du":50.0036964,"mpcc_dv":48.6818695,"mpcc_dw":51.3181305,"mpcc_enc_sign":1,"mpcc_id_a":3.95086336,"mpcc_iq_a":-0.872299194,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.56376207,"mpcc_pred_id_a":0.898948967,"mpcc_pred_iq_a":-2.86528492,"mpcc_state":1,"mpcc_theta_e":0.447905064,"mpcc_theta_mech":0.556526899,"sam_rpm":-4.38513994,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.021620512,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.490894,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.31354666,"cg_iw_a":-1.10312152,"cg_theta_rad":0.557668447,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0223626625,"mpcc_du":49.6175575,"mpcc_dv":50.3824425,"mpcc_dw":50.3810081,"mpcc_enc_sign":1,"mpcc_id_a":0.108345419,"mpcc_iq_a":-1.89130998,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.58809841,"mpcc_pred_id_a":-0.196002901,"mpcc_pred_iq_a":-2.81908965,"mpcc_state":1,"mpcc_theta_e":0.434493542,"mpcc_theta_mech":0.553844631,"sam_rpm":-4.66020775,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.021620512,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.501118,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.60349751,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556632161,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0579749607,"mpcc_du":50.0351868,"mpcc_dv":48.8283958,"mpcc_dw":51.1716042,"mpcc_enc_sign":1,"mpcc_id_a":2.77851915,"mpcc_iq_a":-0.972070873,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.49153113,"mpcc_pred_id_a":0.4173401,"mpcc_pred_iq_a":-3.05724335,"mpcc_state":1,"mpcc_theta_e":0.451917648,"mpcc_theta_mech":0.557618499,"sam_rpm":4.43257236,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219855756,"thr_a_norm":0.0219855756,"thr_a_v":0.587942302,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479478151,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.511311,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.443694592,"cg_iw_a":-1.82799864,"cg_theta_rad":0.553229988,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.00361631112,"mpcc_du":50.026165,"mpcc_dv":49.1365051,"mpcc_dw":50.8634949,"mpcc_enc_sign":1,"mpcc_id_a":-0.00483325729,"mpcc_iq_a":-1.97470331,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.5983706,"mpcc_pred_id_a":-0.486711591,"mpcc_pred_iq_a":-3.05781436,"mpcc_state":1,"mpcc_theta_e":0.431746483,"mpcc_theta_mech":0.553295195,"sam_rpm":-17.1861496,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0219855756,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458228409,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.534718,"values":{"cg_iu_a":2.12671757,"cg_iv_a":0.57113266,"cg_iw_a":1.07150817,"cg_theta_rad":0.555103421,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.00615048222,"mpcc_du":50.1646271,"mpcc_dv":48.693367,"mpcc_dw":51.306633,"mpcc_enc_sign":1,"mpcc_id_a":1.50953472,"mpcc_iq_a":-1.77847219,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.904609621,"mpcc_pred_id_a":0.307558864,"mpcc_pred_iq_a":-0.569731474,"mpcc_state":1,"mpcc_theta_e":0.443576813,"mpcc_theta_mech":0.555661321,"sam_rpm":-1.43538606,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458228409,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.541218,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.806133032,"cg_iw_a":-2.1904366,"cg_theta_rad":0.556708395,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.00425886502,"mpcc_du":50.5172844,"mpcc_dv":49.6673698,"mpcc_dw":50.4014931,"mpcc_enc_sign":1,"mpcc_id_a":1.07759488,"mpcc_iq_a":-1.00605822,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.26975441,"mpcc_pred_id_a":-0.192398638,"mpcc_pred_iq_a":-0.0488297045,"mpcc_state":1,"mpcc_theta_e":0.436398029,"mpcc_theta_mech":0.554225504,"sam_rpm":-9.40197754,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.104756251,"thr_a_norm":0.104756251,"thr_a_v":0.919025004,"thr_b":0.0482959449,"thr_b_norm":0.0482959449,"thr_b_v":0.69318378,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.547688,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-1.16857147,"cg_iw_a":0.999020576,"cg_theta_rad":0.555086911,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.039431382,"mpcc_du":50.0341988,"mpcc_dv":48.8494148,"mpcc_dw":51.1505852,"mpcc_enc_sign":1,"mpcc_id_a":2.70297837,"mpcc_iq_a":-0.454067439,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.51596498,"mpcc_pred_id_a":0.340084523,"mpcc_pred_iq_a":-1.76420164,"mpcc_state":1,"mpcc_theta_e":0.446406364,"mpcc_theta_mech":0.556227207,"sam_rpm":2.53002167,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.104756251,"thr_a_norm":0.104756251,"thr_a_v":0.919025004,"thr_b":0.0482959449,"thr_b_norm":0.0482959449,"thr_b_v":0.69318378,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.554249,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-2.11091113,"cg_iw_a":0.491606951,"cg_theta_rad":0.558693349,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0141350422,"mpcc_du":49.784687,"mpcc_dv":49.2393379,"mpcc_dw":50.7606621,"mpcc_enc_sign":1,"mpcc_id_a":0.842241108,"mpcc_iq_a":-0.313580543,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.243804,"mpcc_pred_id_a":0.100742102,"mpcc_pred_iq_a":0.309464425,"mpcc_state":1,"mpcc_theta_e":0.454226971,"mpcc_theta_mech":0.557791293,"sam_rpm":20.6855469,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0143820047,"thr_a_norm":0.0143820047,"thr_a_v":0.557528019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441057444,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.562641,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-2.32837415,"cg_iw_a":0.274143696,"cg_theta_rad":0.556033134,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0469123907,"mpcc_du":49.0281181,"mpcc_dv":50.9718819,"mpcc_dw":49.7658768,"mpcc_enc_sign":1,"mpcc_id_a":2.57554007,"mpcc_iq_a":0.100319751,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.9772425,"mpcc_pred_id_a":0.0900986567,"mpcc_pred_iq_a":-6.84882879,"mpcc_state":1,"mpcc_theta_e":0.453136921,"mpcc_theta_mech":0.557573259,"sam_rpm":16.5439167,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156031102,"thr_a_norm":0.0143820047,"thr_a_v":0.562412441,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450272381,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.574268,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.03063393,"cg_theta_rad":0.556661308,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0103116194,"mpcc_du":50.6519012,"mpcc_dv":48.0029984,"mpcc_dw":51.9970016,"mpcc_enc_sign":1,"mpcc_id_a":1.81631529,"mpcc_iq_a":-0.264561146,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.8007183,"mpcc_pred_id_a":0.356905401,"mpcc_pred_iq_a":0.992247522,"mpcc_state":1,"mpcc_theta_e":0.424089432,"mpcc_theta_mech":0.551763773,"sam_rpm":-29.0803776,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156031102,"thr_a_norm":0.0156031102,"thr_a_v":0.562412441,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450272381,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.584461,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.89344811,"cg_iw_a":1.07150817,"cg_theta_rad":0.55442673,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.227531016,"mpcc_du":49.4213867,"mpcc_dv":49.5982132,"mpcc_dw":50.5786133,"mpcc_enc_sign":1,"mpcc_id_a":4.45350361,"mpcc_iq_a":3.01889396,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.9253531,"mpcc_pred_id_a":0.897039831,"mpcc_pred_iq_a":-3.59597611,"mpcc_state":1,"mpcc_theta_e":0.463458538,"mpcc_theta_mech":0.559637606,"sam_rpm":24.3046703,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194552541,"thr_a_norm":0.0194552541,"thr_a_v":0.577821016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466839105,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.594837,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-0.878620625,"cg_iw_a":-2.48038769,"cg_theta_rad":0.555914938,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0218964554,"mpcc_du":50.1458092,"mpcc_dv":48.8058891,"mpcc_dw":51.1941109,"mpcc_enc_sign":1,"mpcc_id_a":0.90341717,"mpcc_iq_a":-0.520132899,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.55329418,"mpcc_pred_id_a":0.0695028603,"mpcc_pred_iq_a":-0.267347842,"mpcc_state":1,"mpcc_theta_e":0.445919991,"mpcc_theta_mech":0.557869554,"sam_rpm":9.57346249,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196440816,"thr_a_norm":0.0194552541,"thr_a_v":0.578576326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467745453,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.604664,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.89344811,"cg_iw_a":-1.61053514,"cg_theta_rad":0.553812206,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0396353938,"mpcc_du":50.1465302,"mpcc_dv":48.7518501,"mpcc_dw":51.2481499,"mpcc_enc_sign":1,"mpcc_id_a":1.15331817,"mpcc_iq_a":-0.501674533,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.676177561,"mpcc_pred_id_a":0.270761788,"mpcc_pred_iq_a":-2.68541932,"mpcc_state":1,"mpcc_theta_e":0.446810722,"mpcc_theta_mech":0.556308091,"sam_rpm":0.037315838,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196440816,"thr_a_norm":0.0196440816,"thr_a_v":0.578576326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467745453,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.614643,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.31354666,"cg_iw_a":-0.378244877,"cg_theta_rad":0.552779973,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.013219174,"mpcc_du":49.8227959,"mpcc_dv":49.2086983,"mpcc_dw":50.7913017,"mpcc_enc_sign":1,"mpcc_id_a":0.981838763,"mpcc_iq_a":-1.73833203,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.48581219,"mpcc_pred_id_a":-0.00764373504,"mpcc_pred_iq_a":-1.3590672,"mpcc_state":1,"mpcc_theta_e":0.431869984,"mpcc_theta_mech":0.553319931,"sam_rpm":-11.0872011,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218219161,"thr_a_norm":0.0218219161,"thr_a_v":0.587287664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.637836,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.16857147,"cg_iw_a":-2.6978507,"cg_theta_rad":0.553279221,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.00128520187,"mpcc_du":50.2090797,"mpcc_dv":49.2110214,"mpcc_dw":50.7889786,"mpcc_enc_sign":1,"mpcc_id_a":0.355829954,"mpcc_iq_a":-2.01616669,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.07198572,"mpcc_pred_id_a":-1.03382444,"mpcc_pred_iq_a":-0.872733295,"mpcc_state":1,"mpcc_theta_e":0.44219923,"mpcc_theta_mech":0.555385768,"sam_rpm":1.57810271,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218219161,"thr_a_norm":0.0218219161,"thr_a_v":0.587287664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.644398,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.38603449,"cg_iw_a":-1.17560911,"cg_theta_rad":0.555708408,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.047942467,"mpcc_du":49.400589,"mpcc_dv":50.599411,"mpcc_dw":50.2204704,"mpcc_enc_sign":1,"mpcc_id_a":3.12310863,"mpcc_iq_a":0.0769758373,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.54909039,"mpcc_pred_id_a":0.283752531,"mpcc_pred_iq_a":-5.74041414,"mpcc_state":1,"mpcc_theta_e":0.449723721,"mpcc_theta_mech":0.556890666,"sam_rpm":9.73993492,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0251075774,"thr_a_norm":0.0251075774,"thr_a_v":0.60043031,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485319316,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.650928,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.298719406,"cg_iw_a":-2.33541203,"cg_theta_rad":0.554343998,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.00460336776,"mpcc_du":51.1064796,"mpcc_dv":47.3913002,"mpcc_dw":52.6086998,"mpcc_enc_sign":1,"mpcc_id_a":1.06886649,"mpcc_iq_a":-0.332602918,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-27.8675289,"mpcc_pred_id_a":0.341264397,"mpcc_pred_iq_a":-0.113783129,"mpcc_state":1,"mpcc_theta_e":0.417724609,"mpcc_theta_mech":0.550490797,"sam_rpm":-41.1690369,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0251075774,"thr_a_norm":0.0251075774,"thr_a_v":0.60043031,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485319316,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.657429,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.516182423,"cg_iw_a":0.999020576,"cg_theta_rad":0.557463408,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0312370509,"mpcc_du":50.2691116,"mpcc_dv":48.7837868,"mpcc_dw":51.2162132,"mpcc_enc_sign":1,"mpcc_id_a":1.81837845,"mpcc_iq_a":-2.27997828,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.93526697,"mpcc_pred_id_a":-0.048584938,"mpcc_pred_iq_a":-1.87814784,"mpcc_state":1,"mpcc_theta_e":0.454030991,"mpcc_theta_mech":0.557752132,"sam_rpm":11.7652645,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177683681,"thr_a_norm":0.0177683681,"thr_a_v":0.571073472,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.667866,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.371207237,"cg_iw_a":-0.958146095,"cg_theta_rad":0.556751728,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.01244538,"mpcc_du":50.39505,"mpcc_dv":48.6290779,"mpcc_dw":51.3709221,"mpcc_enc_sign":1,"mpcc_id_a":0.615465581,"mpcc_iq_a":-1.12380469,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.61720979,"mpcc_pred_id_a":-0.144727513,"mpcc_pred_iq_a":-1.29748392,"mpcc_state":1,"mpcc_theta_e":0.445168972,"mpcc_theta_mech":0.556837142,"sam_rpm":-2.3553853,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0152128637,"thr_a_norm":0.0177683681,"thr_a_v":0.560851455,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463968873,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.677692,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.24105906,"cg_iw_a":-1.39307237,"cg_theta_rad":0.557429254,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.00524164829,"mpcc_du":50.7386513,"mpcc_dv":47.949192,"mpcc_dw":52.050808,"mpcc_enc_sign":1,"mpcc_id_a":1.44703186,"mpcc_iq_a":-0.380599231,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.490941,"mpcc_pred_id_a":0.304138154,"mpcc_pred_iq_a":1.81164658,"mpcc_state":1,"mpcc_theta_e":0.428571701,"mpcc_theta_mech":0.552660227,"sam_rpm":-19.6943359,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0152128637,"thr_a_norm":0.0152128637,"thr_a_v":0.560851455,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463968873,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.687824,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.588670254,"cg_iw_a":-1.53804731,"cg_theta_rad":0.55555588,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0178923253,"mpcc_du":50.0731544,"mpcc_dv":48.868454,"mpcc_dw":51.131546,"mpcc_enc_sign":1,"mpcc_id_a":2.140872,"mpcc_iq_a":-1.29367542,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.19836903,"mpcc_pred_id_a":0.201788172,"mpcc_pred_iq_a":-2.33035111,"mpcc_state":1,"mpcc_theta_e":0.444633961,"mpcc_theta_mech":0.555872679,"sam_rpm":-3.94898462,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190524161,"thr_a_norm":0.0190524161,"thr_a_v":0.576209664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467997223,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.697681,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.09608364,"cg_iw_a":-0.595707893,"cg_theta_rad":0.560112357,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0164581742,"mpcc_du":49.6735802,"mpcc_dv":49.3530884,"mpcc_dw":50.6469116,"mpcc_enc_sign":1,"mpcc_id_a":2.41182709,"mpcc_iq_a":-1.56636751,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.922899961,"mpcc_pred_id_a":0.208530053,"mpcc_pred_iq_a":-3.02065277,"mpcc_state":1,"mpcc_theta_e":0.446064949,"mpcc_theta_mech":0.5561589,"sam_rpm":1.69264746,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190524161,"thr_a_norm":0.0190524161,"thr_a_v":0.576209664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467997223,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.707996,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.806133032,"cg_iw_a":0.999020338,"cg_theta_rad":0.555230439,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.00235270569,"mpcc_du":49.7673035,"mpcc_dv":49.3019524,"mpcc_dw":50.6980476,"mpcc_enc_sign":1,"mpcc_id_a":0.097886242,"mpcc_iq_a":-0.363949955,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.26707113,"mpcc_pred_id_a":-0.0631730705,"mpcc_pred_iq_a":-0.217979178,"mpcc_state":1,"mpcc_theta_e":0.434639454,"mpcc_theta_mech":0.553873837,"sam_rpm":-3.09193492,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190272331,"thr_a_norm":0.0190272331,"thr_a_v":0.576108932,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454753935,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.718281,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-3.3432014,"cg_iw_a":-1.03063393,"cg_theta_rad":0.554964364,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0491018891,"mpcc_du":50.4504089,"mpcc_dv":48.5110283,"mpcc_dw":51.4889717,"mpcc_enc_sign":1,"mpcc_id_a":0.288963735,"mpcc_iq_a":-1.44227588,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.61602688,"mpcc_pred_id_a":-0.0749720261,"mpcc_pred_iq_a":-2.07351542,"mpcc_state":1,"mpcc_theta_e":0.455887318,"mpcc_theta_mech":0.55812335,"sam_rpm":8.23067951,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0127832443,"thr_a_norm":0.0190272331,"thr_a_v":0.551132977,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43707943,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.741047,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.0384233,"cg_iw_a":-1.53804803,"cg_theta_rad":0.552153289,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0120489411,"mpcc_du":51.16782,"mpcc_dv":47.1974792,"mpcc_dw":52.8025208,"mpcc_enc_sign":1,"mpcc_id_a":2.13521385,"mpcc_iq_a":-0.0832463428,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.4305401,"mpcc_pred_id_a":0.597366869,"mpcc_pred_iq_a":2.75175881,"mpcc_state":1,"mpcc_theta_e":0.422311783,"mpcc_theta_mech":0.551408291,"sam_rpm":-30.652504,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0127832443,"thr_a_norm":0.0127832443,"thr_a_v":0.551132977,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43707943,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.747608,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.24105906,"cg_iw_a":0.129168749,"cg_theta_rad":0.557373941,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0129577024,"mpcc_du":49.7749939,"mpcc_dv":49.3360214,"mpcc_dw":50.6639786,"mpcc_enc_sign":1,"mpcc_id_a":0.699720144,"mpcc_iq_a":-1.26765621,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.6283636,"mpcc_pred_id_a":-0.164277792,"mpcc_pred_iq_a":-1.47331953,"mpcc_state":1,"mpcc_theta_e":0.453509331,"mpcc_theta_mech":0.557647824,"sam_rpm":17.4020214,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023861289,"thr_a_norm":0.023861289,"thr_a_v":0.595445156,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477262527,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.754078,"values":{"cg_iu_a":1.32935333,"cg_iv_a":0.136206627,"cg_iw_a":-1.46555996,"cg_theta_rad":0.554523289,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.019553395,"mpcc_du":50.5147247,"mpcc_dv":48.1680412,"mpcc_dw":51.8319588,"mpcc_enc_sign":1,"mpcc_id_a":2.78085947,"mpcc_iq_a":-1.64505887,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.50037,"mpcc_pred_id_a":0.37596339,"mpcc_pred_iq_a":0.027567178,"mpcc_state":1,"mpcc_theta_e":0.431649208,"mpcc_theta_mech":0.553275764,"sam_rpm":-17.5010509,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023861289,"thr_a_norm":0.023861289,"thr_a_v":0.595445156,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477262527,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.7607,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.53100967,"cg_iw_a":0.346631527,"cg_theta_rad":0.556513131,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.00214151852,"mpcc_du":49.6963921,"mpcc_dv":49.567688,"mpcc_dw":50.432312,"mpcc_enc_sign":1,"mpcc_id_a":0.213711426,"mpcc_iq_a":-0.791415989,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.25235116,"mpcc_pred_id_a":-0.501861274,"mpcc_pred_iq_a":-2.97220063,"mpcc_state":1,"mpcc_theta_e":0.442463398,"mpcc_theta_mech":0.555438578,"sam_rpm":1.41996121,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.045325011,"thr_a_norm":0.045325011,"thr_a_v":0.681300044,"thr_b":0.0163962096,"thr_b_norm":0.0163962096,"thr_b_v":0.565584838,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.770863,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.38603449,"cg_iw_a":-1.32058477,"cg_theta_rad":0.55571419,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0760456249,"mpcc_du":49.4760132,"mpcc_dv":49.4881363,"mpcc_dw":50.5239868,"mpcc_enc_sign":1,"mpcc_id_a":2.80115771,"mpcc_iq_a":-0.765209556,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.3086615,"mpcc_pred_id_a":0.494482249,"mpcc_pred_iq_a":-4.14385033,"mpcc_state":1,"mpcc_theta_e":0.456570148,"mpcc_theta_mech":0.558259964,"sam_rpm":18.8000889,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023836121,"thr_a_norm":0.045325011,"thr_a_v":0.595344484,"thr_b":0,"thr_b_norm":0.0163962096,"thr_b_v":0.480636299,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.780842,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.61053514,"cg_theta_rad":0.552835405,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0333175547,"mpcc_du":49.9636536,"mpcc_dv":49.095192,"mpcc_dw":50.904808,"mpcc_enc_sign":1,"mpcc_id_a":1.90435481,"mpcc_iq_a":-0.444130152,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.556953609,"mpcc_pred_id_a":0.0121074878,"mpcc_pred_iq_a":-3.087744,"mpcc_state":1,"mpcc_theta_e":0.446938992,"mpcc_theta_mech":0.556333721,"sam_rpm":1.02443337,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023836121,"thr_a_norm":0.023836121,"thr_a_v":0.595344484,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480636299,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.791279,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.38603449,"cg_iw_a":0.709070206,"cg_theta_rad":0.553447127,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0180755034,"mpcc_du":49.3089752,"mpcc_dv":50.6910248,"mpcc_dw":50.1334114,"mpcc_enc_sign":1,"mpcc_id_a":2.68186998,"mpcc_iq_a":-0.143205971,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.24440956,"mpcc_pred_id_a":0.294502944,"mpcc_pred_iq_a":-3.18252611,"mpcc_state":1,"mpcc_theta_e":0.438285351,"mpcc_theta_mech":0.554602981,"sam_rpm":7.3950572,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205882341,"thr_a_norm":0.0205882341,"thr_a_v":0.582352936,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457573801,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.801044,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.16857147,"cg_iw_a":-0.378244877,"cg_theta_rad":0.553873897,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0218921918,"mpcc_du":50.788166,"mpcc_dv":47.9310379,"mpcc_dw":52.0689621,"mpcc_enc_sign":1,"mpcc_id_a":0.676415741,"mpcc_iq_a":-0.322733164,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.00654697,"mpcc_pred_id_a":-0.335742742,"mpcc_pred_iq_a":-3.3018415,"mpcc_state":1,"mpcc_theta_e":0.450600147,"mpcc_theta_mech":0.556275606,"sam_rpm":-16.1576157,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205882341,"thr_a_norm":0.0205882341,"thr_a_v":0.582352936,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457573801,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.811237,"values":{"cg_iu_a":3.1415453,"cg_iv_a":0.643620491,"cg_iw_a":-1.75551081,"cg_theta_rad":0.557693362,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0354583561,"mpcc_du":49.5894547,"mpcc_dv":49.6980247,"mpcc_dw":50.4105453,"mpcc_enc_sign":1,"mpcc_id_a":1.66044784,"mpcc_iq_a":-0.620479763,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.1665249,"mpcc_pred_id_a":0.00137933996,"mpcc_pred_iq_a":-2.54899669,"mpcc_state":1,"mpcc_theta_e":0.454498291,"mpcc_theta_mech":0.557845533,"sam_rpm":21.5554161,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289471298,"thr_a_norm":0.0289471298,"thr_a_v":0.615788519,"thr_b":0.00159189105,"thr_b_norm":0.00159189105,"thr_b_v":0.506367564,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.8214,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.38603449,"cg_iw_a":0.564094543,"cg_theta_rad":0.554037154,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0204879642,"mpcc_du":50.3954735,"mpcc_dv":48.8023834,"mpcc_dw":51.1976166,"mpcc_enc_sign":1,"mpcc_id_a":0.406902194,"mpcc_iq_a":-1.86946046,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.19769812,"mpcc_pred_id_a":-0.477318555,"mpcc_pred_iq_a":-2.02939415,"mpcc_state":1,"mpcc_theta_e":0.453212738,"mpcc_theta_mech":0.557588458,"sam_rpm":6.90941429,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024893567,"thr_a_norm":0.0289471298,"thr_a_v":0.599574268,"thr_b":0,"thr_b_norm":0.00159189105,"thr_b_v":0.482146949,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.844685,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.74847269,"cg_iw_a":1.28897142,"cg_theta_rad":0.55738914,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0328709707,"mpcc_du":49.4451714,"mpcc_dv":50.5548286,"mpcc_dw":50.1515579,"mpcc_enc_sign":1,"mpcc_id_a":2.17440939,"mpcc_iq_a":-0.721632719,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.55896139,"mpcc_pred_id_a":-0.103288397,"mpcc_pred_iq_a":-6.54698944,"mpcc_state":1,"mpcc_theta_e":0.450448036,"mpcc_theta_mech":0.557035565,"sam_rpm":8.55967999,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024893567,"thr_a_norm":0.024893567,"thr_a_v":0.599574268,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482146949,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.851154,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-2.11091113,"cg_iw_a":1.57892203,"cg_theta_rad":0.55268842,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.001470302,"mpcc_du":50.8313217,"mpcc_dv":47.9824104,"mpcc_dw":52.0175896,"mpcc_enc_sign":1,"mpcc_id_a":0.380080849,"mpcc_iq_a":-0.626653671,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.5258064,"mpcc_pred_id_a":-0.111833967,"mpcc_pred_iq_a":-0.866313696,"mpcc_state":1,"mpcc_theta_e":0.424580574,"mpcc_theta_mech":0.551862001,"sam_rpm":-30.3763962,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199965686,"thr_a_norm":0.0199965686,"thr_a_v":0.579986274,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.857716,"values":{"cg_iu_a":2.5616436,"cg_iv_a":0.136206627,"cg_iw_a":-2.69785023,"cg_theta_rad":0.555226147,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.00630670646,"mpcc_du":50.3554077,"mpcc_dv":48.4532318,"mpcc_dw":51.5467682,"mpcc_enc_sign":1,"mpcc_id_a":1.53784204,"mpcc_iq_a":-0.880002022,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.1471395,"mpcc_pred_id_a":0.26515761,"mpcc_pred_iq_a":-0.950785637,"mpcc_state":1,"mpcc_theta_e":0.427433014,"mpcc_theta_mech":0.552432537,"sam_rpm":-23.1122913,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199965686,"thr_a_norm":0.0199965686,"thr_a_v":0.579986274,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.864216,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.298719406,"cg_iw_a":-2.62536287,"cg_theta_rad":0.552872956,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.000741317519,"mpcc_du":49.6260147,"mpcc_dv":50.1960716,"mpcc_dw":50.3739853,"mpcc_enc_sign":1,"mpcc_id_a":-0.364633888,"mpcc_iq_a":-2.00078011,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.07253146,"mpcc_pred_id_a":-0.166128635,"mpcc_pred_iq_a":-4.55126238,"mpcc_state":1,"mpcc_theta_e":0.444928646,"mpcc_theta_mech":0.555931687,"sam_rpm":4.87065792,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292870253,"thr_a_norm":0.0292870253,"thr_a_v":0.617148101,"thr_b":0.000647738576,"thr_b_norm":0.000647738576,"thr_b_v":0.502590954,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.874622,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.38603449,"cg_iw_a":-0.378244877,"cg_theta_rad":0.553577304,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0457320623,"mpcc_du":49.602459,"mpcc_dv":50.2660141,"mpcc_dw":50.397541,"mpcc_enc_sign":1,"mpcc_id_a":1.11791158,"mpcc_iq_a":-0.737654328,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.2212734,"mpcc_pred_id_a":0.0112747801,"mpcc_pred_iq_a":-4.58171654,"mpcc_state":1,"mpcc_theta_e":0.461009979,"mpcc_theta_mech":0.559147894,"sam_rpm":23.0855789,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185362697,"thr_a_norm":0.0292870253,"thr_a_v":0.574145079,"thr_b":0,"thr_b_norm":0.000647738576,"thr_b_v":0.461904317,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.886433,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.69081235,"cg_iw_a":1.65140939,"cg_theta_rad":0.556192636,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":1.69543018e-05,"mpcc_du":49.6332741,"mpcc_dv":50.3667259,"mpcc_dw":50.3384132,"mpcc_enc_sign":1,"mpcc_id_a":-0.0359989516,"mpcc_iq_a":-0.811792552,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.77417564,"mpcc_pred_id_a":-0.290475667,"mpcc_pred_iq_a":-2.892308,"mpcc_state":1,"mpcc_theta_e":0.434090137,"mpcc_theta_mech":0.553763926,"sam_rpm":7.90082455,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185362697,"thr_a_norm":0.0185362697,"thr_a_v":0.574145079,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461904317,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.896412,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.371207237,"cg_iw_a":-1.32058477,"cg_theta_rad":0.555317163,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0326149575,"mpcc_du":49.4795074,"mpcc_dv":49.4657478,"mpcc_dw":50.5342522,"mpcc_enc_sign":1,"mpcc_id_a":2.4550879,"mpcc_iq_a":0.0437279269,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.49966335,"mpcc_pred_id_a":0.457427949,"mpcc_pred_iq_a":-3.50247908,"mpcc_state":1,"mpcc_theta_e":0.443135738,"mpcc_theta_mech":0.555573106,"sam_rpm":2.66491961,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206511766,"thr_a_norm":0.0206511766,"thr_a_v":0.582604706,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461652547,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.906635,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-0.443694592,"cg_iw_a":0.12916851,"cg_theta_rad":0.554283738,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.00784237962,"mpcc_du":49.9621544,"mpcc_dv":49.431282,"mpcc_dw":50.568718,"mpcc_enc_sign":1,"mpcc_id_a":-1.61238909,"mpcc_iq_a":-3.77053285,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.38629413,"mpcc_pred_id_a":-0.976309121,"mpcc_pred_iq_a":-4.35620737,"mpcc_state":1,"mpcc_theta_e":0.44545269,"mpcc_theta_mech":0.556036472,"sam_rpm":-2.57378101,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265175104,"thr_a_norm":0.0206511766,"thr_a_v":0.606070042,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473687351,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.918842,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.588670254,"cg_iw_a":-0.233269691,"cg_theta_rad":0.555734634,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0338550732,"mpcc_du":50.6601982,"mpcc_dv":48.2405968,"mpcc_dw":51.7594032,"mpcc_enc_sign":1,"mpcc_id_a":0.288308591,"mpcc_iq_a":-0.787919283,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.02316213,"mpcc_pred_id_a":0.032664407,"mpcc_pred_iq_a":0.0963753164,"mpcc_state":1,"mpcc_theta_e":0.453692436,"mpcc_theta_mech":0.557684362,"sam_rpm":5.76023245,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265175104,"thr_a_norm":0.0265175104,"thr_a_v":0.606070042,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473687351,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.942219,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.951108456,"cg_iw_a":-1.75551081,"cg_theta_rad":0.552202582,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0125026656,"mpcc_du":50.5911751,"mpcc_dv":48.3619385,"mpcc_dw":51.6380615,"mpcc_enc_sign":1,"mpcc_id_a":0.209197164,"mpcc_iq_a":-1.15466368,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.1395531,"mpcc_pred_id_a":-0.252234995,"mpcc_pred_iq_a":-2.19871902,"mpcc_state":1,"mpcc_theta_e":0.43569088,"mpcc_theta_mech":0.554084063,"sam_rpm":-14.700573,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023105979,"thr_a_norm":0.023105979,"thr_a_v":0.592423916,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49181506,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.94878,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.443694592,"cg_iw_a":-0.958146572,"cg_theta_rad":0.557384014,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0291330181,"mpcc_du":50.6987953,"mpcc_dv":48.0025177,"mpcc_dw":51.9974823,"mpcc_enc_sign":1,"mpcc_id_a":0.894327641,"mpcc_iq_a":-0.370420188,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.89296198,"mpcc_pred_id_a":0.383373857,"mpcc_pred_iq_a":-0.36799562,"mpcc_state":1,"mpcc_theta_e":0.440127373,"mpcc_theta_mech":0.554971397,"sam_rpm":-9.31481266,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177305937,"thr_a_norm":0.023105979,"thr_a_v":0.570922375,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.95528,"values":{"cg_iu_a":3.79393435,"cg_iv_a":-0.153744221,"cg_iw_a":-3.64019012,"cg_theta_rad":0.556676388,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0263406783,"mpcc_du":49.4442177,"mpcc_dv":49.4928856,"mpcc_dw":50.5557823,"mpcc_enc_sign":1,"mpcc_id_a":2.82953286,"mpcc_iq_a":-0.850039959,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.90327835,"mpcc_pred_id_a":0.588573873,"mpcc_pred_iq_a":-6.04135942,"mpcc_state":1,"mpcc_theta_e":0.435359955,"mpcc_theta_mech":0.554017901,"sam_rpm":-14.5819168,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177305937,"thr_a_norm":0.0177305937,"thr_a_v":0.570922375,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.961811,"values":{"cg_iu_a":5.02622414,"cg_iv_a":-0.298719406,"cg_iw_a":-4.72750473,"cg_theta_rad":0.556409001,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5005,"hz_app_loop":363,"hz_tim_isr":10009,"hz_vsense":363,"mpcc_cost":0.0294259172,"mpcc_du":51.0497398,"mpcc_dv":47.3360481,"mpcc_dw":52.6639519,"mpcc_enc_sign":1,"mpcc_id_a":3.32597518,"mpcc_iq_a":-1.15352607,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.40341,"mpcc_pred_id_a":0.805650115,"mpcc_pred_iq_a":2.4688375,"mpcc_state":1,"mpcc_theta_e":0.430252075,"mpcc_theta_mech":0.552996337,"sam_rpm":-19.2863407,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285317004,"thr_a_norm":0.0285317004,"thr_a_v":0.614126801,"thr_b":0.000672921538,"thr_b_norm":0.000672921538,"thr_b_v":0.502691686,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.972675,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.16857147,"cg_iw_a":-0.305757523,"cg_theta_rad":0.553916693,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0255876202,"mpcc_du":50.3756828,"mpcc_dv":48.3588371,"mpcc_dw":51.6411629,"mpcc_enc_sign":1,"mpcc_id_a":2.49233341,"mpcc_iq_a":-1.40070248,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.91791439,"mpcc_pred_id_a":0.471663654,"mpcc_pred_iq_a":-1.42774618,"mpcc_state":1,"mpcc_theta_e":0.440180302,"mpcc_theta_mech":0.554982007,"sam_rpm":-8.25984859,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024087891,"thr_a_norm":0.0285317004,"thr_a_v":0.596351564,"thr_b":0,"thr_b_norm":0.000672921538,"thr_b_v":0.474593699,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.984425,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.82096052,"cg_iw_a":1.50643444,"cg_theta_rad":0.554682314,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0512021519,"mpcc_du":49.2787704,"mpcc_dv":50.7212296,"mpcc_dw":50.0648727,"mpcc_enc_sign":1,"mpcc_id_a":2.28285742,"mpcc_iq_a":-1.68835473,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.7215054,"mpcc_pred_id_a":0.128850713,"mpcc_pred_iq_a":-3.41713762,"mpcc_state":1,"mpcc_theta_e":0.430414677,"mpcc_theta_mech":0.553028822,"sam_rpm":-7.22423744,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024087891,"thr_a_norm":0.024087891,"thr_a_v":0.596351564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474593699,"vdc_v":55.2955055}} +{"type":"telemetry","t":63.994617,"values":{"cg_iu_a":5.24368763,"cg_iv_a":-0.153744221,"cg_iw_a":-0.378244877,"cg_theta_rad":0.555870116,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0662986189,"mpcc_du":49.7132072,"mpcc_dv":49.3161774,"mpcc_dw":50.6838226,"mpcc_enc_sign":1,"mpcc_id_a":2.09010887,"mpcc_iq_a":0.43283084,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.01047897,"mpcc_pred_id_a":0.172386646,"mpcc_pred_iq_a":-3.12408161,"mpcc_state":1,"mpcc_theta_e":0.451518536,"mpcc_theta_mech":0.557249665,"sam_rpm":11.3797359,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253971219,"thr_a_norm":0.0253971219,"thr_a_v":0.601588488,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496195912,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.004814,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.806133032,"cg_iw_a":-0.160782099,"cg_theta_rad":0.553235888,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0965825021,"mpcc_du":50.3197517,"mpcc_dv":48.1046486,"mpcc_dw":51.8953514,"mpcc_enc_sign":1,"mpcc_id_a":5.16037893,"mpcc_iq_a":-0.157416508,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.9789257,"mpcc_pred_id_a":1.25392663,"mpcc_pred_iq_a":-0.760393083,"mpcc_state":1,"mpcc_theta_e":0.439823627,"mpcc_theta_mech":0.55491066,"sam_rpm":-8.1368618,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214316845,"thr_a_norm":0.0253971219,"thr_a_v":0.585726738,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469105065,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.014824,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-2.18339872,"cg_iw_a":0.12916851,"cg_theta_rad":0.551653922,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.00273447204,"mpcc_du":49.2763023,"mpcc_dv":50.7236977,"mpcc_dw":49.8423767,"mpcc_enc_sign":1,"mpcc_id_a":-0.504184306,"mpcc_iq_a":-1.285061,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.92466974,"mpcc_pred_id_a":-0.497788608,"mpcc_pred_iq_a":-4.29966545,"mpcc_state":1,"mpcc_theta_e":0.444259644,"mpcc_theta_mech":0.555797875,"sam_rpm":6.92295885,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214316845,"thr_a_norm":0.0214316845,"thr_a_v":0.585726738,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469105065,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.024803,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.443694592,"cg_iw_a":-0.45073247,"cg_theta_rad":0.555525005,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0231512245,"mpcc_du":50.3134308,"mpcc_dv":48.3091698,"mpcc_dw":51.6908302,"mpcc_enc_sign":1,"mpcc_id_a":2.32818604,"mpcc_iq_a":-0.373285651,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.4378471,"mpcc_pred_id_a":0.673767865,"mpcc_pred_iq_a":-2.08783007,"mpcc_state":1,"mpcc_theta_e":0.430253506,"mpcc_theta_mech":0.552996635,"sam_rpm":-21.0644588,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247928649,"thr_a_norm":0.0247928649,"thr_a_v":0.59917146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499922156,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.047813,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.74847269,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556886375,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.00724119926,"mpcc_du":51.0689011,"mpcc_dv":47.7104607,"mpcc_dw":52.2895393,"mpcc_enc_sign":1,"mpcc_id_a":1.4238112,"mpcc_iq_a":-1.47627604,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.1966877,"mpcc_pred_id_a":-0.128497258,"mpcc_pred_iq_a":2.82765794,"mpcc_state":1,"mpcc_theta_e":0.429522514,"mpcc_theta_mech":0.552850425,"sam_rpm":-18.7549191,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247928649,"thr_a_norm":0.0247928649,"thr_a_v":0.59917146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499922156,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.054375,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.16857147,"cg_iw_a":0.0566811562,"cg_theta_rad":0.55746901,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0272893459,"mpcc_du":49.6079254,"mpcc_dv":49.6327171,"mpcc_dw":50.3920746,"mpcc_enc_sign":1,"mpcc_id_a":1.48882067,"mpcc_iq_a":-1.13839912,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.50105762,"mpcc_pred_id_a":-0.182173431,"mpcc_pred_iq_a":-4.04528475,"mpcc_state":1,"mpcc_theta_e":0.452662468,"mpcc_theta_mech":0.557478368,"sam_rpm":11.7567482,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461149007,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.060875,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.45852208,"cg_iw_a":-0.958146334,"cg_theta_rad":0.555196822,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0131306229,"mpcc_du":49.5323524,"mpcc_dv":49.7323265,"mpcc_dw":50.4676476,"mpcc_enc_sign":1,"mpcc_id_a":0.789872527,"mpcc_iq_a":-1.40838051,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.8975096,"mpcc_pred_id_a":0.301539779,"mpcc_pred_iq_a":-2.32672167,"mpcc_state":1,"mpcc_theta_e":0.455993652,"mpcc_theta_mech":0.553720713,"sam_rpm":20.9239254,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461149007,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.067406,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":-1.74847269,"cg_iw_a":1.79638481,"cg_theta_rad":0.557070374,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0193200521,"mpcc_du":50.4972382,"mpcc_dv":48.3628464,"mpcc_dw":51.6371536,"mpcc_enc_sign":1,"mpcc_id_a":0.485841841,"mpcc_iq_a":-0.552898884,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.04194462,"mpcc_pred_id_a":0.246059775,"mpcc_pred_iq_a":0.387991667,"mpcc_state":1,"mpcc_theta_e":0.44651556,"mpcc_theta_mech":0.556249022,"sam_rpm":2.21057391,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0272728354,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479528487,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.077446,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.661157608,"cg_iw_a":-0.233269691,"cg_theta_rad":0.553964317,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0950660333,"mpcc_du":49.6645088,"mpcc_dv":49.2154465,"mpcc_dw":50.7845535,"mpcc_enc_sign":1,"mpcc_id_a":2.9464426,"mpcc_iq_a":0.194901317,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.446661,"mpcc_pred_id_a":0.710527956,"mpcc_pred_iq_a":-2.81137109,"mpcc_state":1,"mpcc_theta_e":0.454577446,"mpcc_theta_mech":0.557861447,"sam_rpm":17.9745884,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217086226,"thr_a_norm":0.0272728354,"thr_a_v":0.58683449,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.087456,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.25588632,"cg_iw_a":0.926532984,"cg_theta_rad":0.556950867,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0208938774,"mpcc_du":49.6375008,"mpcc_dv":50.0911751,"mpcc_dw":50.3624992,"mpcc_enc_sign":1,"mpcc_id_a":0.0453117751,"mpcc_iq_a":-1.67848897,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0181178097,"mpcc_pred_id_a":-0.224232644,"mpcc_pred_iq_a":-1.67246628,"mpcc_state":1,"mpcc_theta_e":0.435683727,"mpcc_theta_mech":0.554082692,"sam_rpm":-2.23570943,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217086226,"thr_a_norm":0.0217086226,"thr_a_v":0.58683449,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.097618,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.16857147,"cg_iw_a":0.346631527,"cg_theta_rad":0.556641996,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.029848991,"mpcc_du":49.9595566,"mpcc_dv":49.2736206,"mpcc_dw":50.7263794,"mpcc_enc_sign":1,"mpcc_id_a":1.45084858,"mpcc_iq_a":-1.76510918,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.42895365,"mpcc_pred_id_a":-0.014554129,"mpcc_pred_iq_a":-1.73314142,"mpcc_state":1,"mpcc_theta_e":0.429636002,"mpcc_theta_mech":0.552873135,"sam_rpm":-21.7596779,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236346871,"thr_a_norm":0.0236346871,"thr_a_v":0.594538748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480837703,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.107414,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.733645439,"cg_iw_a":0.999020576,"cg_theta_rad":0.55669862,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0135533754,"mpcc_du":50.3955879,"mpcc_dv":48.6430321,"mpcc_dw":51.3569679,"mpcc_enc_sign":1,"mpcc_id_a":-1.0110364,"mpcc_iq_a":-3.30727601,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.7470465,"mpcc_pred_id_a":-0.317822218,"mpcc_pred_iq_a":-2.43004394,"mpcc_state":1,"mpcc_theta_e":0.42993927,"mpcc_theta_mech":0.552933812,"sam_rpm":-23.3644066,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236346871,"thr_a_norm":0.0236346871,"thr_a_v":0.594538748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480837703,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.117851,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.02359605,"cg_iw_a":-2.1904366,"cg_theta_rad":0.555914938,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.014066834,"mpcc_du":49.9805069,"mpcc_dv":49.1267853,"mpcc_dw":50.8732147,"mpcc_enc_sign":1,"mpcc_id_a":0.254836738,"mpcc_iq_a":-1.58673084,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.11408377,"mpcc_pred_id_a":-0.240307748,"mpcc_pred_iq_a":-0.711778641,"mpcc_state":1,"mpcc_theta_e":0.430994034,"mpcc_theta_mech":0.553144753,"sam_rpm":-12.5125179,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277260244,"thr_a_norm":0.0277260244,"thr_a_v":0.610904098,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486578166,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.128197,"values":{"cg_iu_a":0.459501266,"cg_iv_a":0.136206627,"cg_iw_a":-2.40789986,"cg_theta_rad":0.558246315,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0847091749,"mpcc_du":50.0572166,"mpcc_dv":48.8408775,"mpcc_dw":51.1591225,"mpcc_enc_sign":1,"mpcc_id_a":1.98841417,"mpcc_iq_a":1.22921026,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.49569225,"mpcc_pred_id_a":0.317447364,"mpcc_pred_iq_a":-1.75590825,"mpcc_state":1,"mpcc_theta_e":0.449458122,"mpcc_theta_mech":0.556837559,"sam_rpm":8.08877087,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0383131206,"thr_a_norm":0.0277260244,"thr_a_v":0.653252482,"thr_b":0.00879262388,"thr_b_norm":0,"thr_b_v":0.535170496,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.151024,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.38603449,"cg_iw_a":-1.32058477,"cg_theta_rad":0.557214975,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.00138060946,"mpcc_du":49.0390396,"mpcc_dv":50.9609604,"mpcc_dw":49.7069855,"mpcc_enc_sign":1,"mpcc_id_a":0.20797722,"mpcc_iq_a":-1.30138493,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.32219601,"mpcc_pred_id_a":-0.116602682,"mpcc_pred_iq_a":-5.31796932,"mpcc_state":1,"mpcc_theta_e":0.446418285,"mpcc_theta_mech":0.556229591,"sam_rpm":8.49073124,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0383131206,"thr_a_norm":0.0383131206,"thr_a_v":0.653252482,"thr_b":0.00879262388,"thr_b_norm":0.00879262388,"thr_b_v":0.535170496,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.157585,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-2.25588632,"cg_iw_a":0.274143934,"cg_theta_rad":0.552360654,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.000674235751,"mpcc_du":50.4856758,"mpcc_dv":48.4815521,"mpcc_dw":51.5184479,"mpcc_enc_sign":1,"mpcc_id_a":0.516399205,"mpcc_iq_a":-0.324139595,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.1666508,"mpcc_pred_id_a":-0.22146304,"mpcc_pred_iq_a":-0.182334065,"mpcc_state":1,"mpcc_theta_e":0.42953968,"mpcc_theta_mech":0.552853882,"sam_rpm":-18.6378975,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467745453,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.164116,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-3.3432014,"cg_iw_a":0.274144173,"cg_theta_rad":0.556302309,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0125393532,"mpcc_du":51.1068306,"mpcc_dv":47.6684799,"mpcc_dw":52.3315201,"mpcc_enc_sign":1,"mpcc_id_a":0.417170525,"mpcc_iq_a":-1.06178856,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.6423798,"mpcc_pred_id_a":-0.133962229,"mpcc_pred_iq_a":-1.38248718,"mpcc_state":1,"mpcc_theta_e":0.430148602,"mpcc_theta_mech":0.552975595,"sam_rpm":-28.4399643,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467745453,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.171013,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.02359605,"cg_iw_a":-1.53804755,"cg_theta_rad":0.556631565,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.00138664793,"mpcc_du":50.5389557,"mpcc_dv":48.4177399,"mpcc_dw":51.5822601,"mpcc_enc_sign":1,"mpcc_id_a":0.639237285,"mpcc_iq_a":-1.6230346,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.6716204,"mpcc_pred_id_a":-0.27415064,"mpcc_pred_iq_a":-1.1391263,"mpcc_state":1,"mpcc_theta_e":0.429359436,"mpcc_theta_mech":0.552817822,"sam_rpm":-20.6600075,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219729841,"thr_a_norm":0.0219729841,"thr_a_v":0.587891936,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.181206,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.153744221,"cg_iw_a":-1.97297335,"cg_theta_rad":0.556858063,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0021910728,"mpcc_du":50.2247238,"mpcc_dv":48.7379837,"mpcc_dw":51.2620163,"mpcc_enc_sign":1,"mpcc_id_a":0.515777707,"mpcc_iq_a":-1.19757175,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.6041403,"mpcc_pred_id_a":-0.049188666,"mpcc_pred_iq_a":-1.80688143,"mpcc_state":1,"mpcc_theta_e":0.428693771,"mpcc_theta_mech":0.552684665,"sam_rpm":-21.4251575,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246417969,"thr_a_norm":0.0219729841,"thr_a_v":0.598567188,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489700168,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.191032,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.31354666,"cg_iw_a":0.346631527,"cg_theta_rad":0.555512249,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0342462547,"mpcc_du":49.4699364,"mpcc_dv":49.6237411,"mpcc_dw":50.5300636,"mpcc_enc_sign":1,"mpcc_id_a":2.71615434,"mpcc_iq_a":-0.917778015,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.66307092,"mpcc_pred_id_a":0.470800579,"mpcc_pred_iq_a":-0.765883982,"mpcc_state":1,"mpcc_theta_e":0.429636002,"mpcc_theta_mech":0.552873075,"sam_rpm":-6.1431632,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246417969,"thr_a_norm":0.0246417969,"thr_a_v":0.598567188,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489700168,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.201439,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.733645439,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556609273,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0147103686,"mpcc_du":49.9943047,"mpcc_dv":49.0962753,"mpcc_dw":50.9037247,"mpcc_enc_sign":1,"mpcc_id_a":0.0545713156,"mpcc_iq_a":-0.949722528,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.178871676,"mpcc_pred_id_a":-0.182577908,"mpcc_pred_iq_a":-3.10424876,"mpcc_state":1,"mpcc_theta_e":0.446714878,"mpcc_theta_mech":0.556288898,"sam_rpm":-0.0907273069,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186369866,"thr_a_norm":0.0186369866,"thr_a_v":0.574547946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.211235,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.951108456,"cg_iw_a":-2.11794901,"cg_theta_rad":0.556105435,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0340562724,"mpcc_du":50.7218704,"mpcc_dv":47.9424858,"mpcc_dw":52.0575142,"mpcc_enc_sign":1,"mpcc_id_a":0.46399495,"mpcc_iq_a":-1.27998602,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.15770531,"mpcc_pred_id_a":0.397004753,"mpcc_pred_iq_a":-2.08705854,"mpcc_state":1,"mpcc_theta_e":0.441999435,"mpcc_theta_mech":0.555345833,"sam_rpm":-12.8211374,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186369866,"thr_a_norm":0.0186369866,"thr_a_v":0.574547946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.221245,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.74847269,"cg_iw_a":-1.61053562,"cg_theta_rad":0.553912222,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.00229457999,"mpcc_du":49.7391586,"mpcc_dv":49.4003525,"mpcc_dw":50.5996475,"mpcc_enc_sign":1,"mpcc_id_a":0.320955157,"mpcc_iq_a":-1.43549562,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.01764917,"mpcc_pred_id_a":-0.347453296,"mpcc_pred_iq_a":-3.12282491,"mpcc_state":1,"mpcc_theta_e":0.433654785,"mpcc_theta_mech":0.553676903,"sam_rpm":-11.6912985,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203616321,"thr_a_norm":0.0203616321,"thr_a_v":0.581446528,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.231651,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.53100967,"cg_iw_a":0.709069729,"cg_theta_rad":0.556750953,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0480902977,"mpcc_du":50.1815758,"mpcc_dv":48.4378586,"mpcc_dw":51.5621414,"mpcc_enc_sign":1,"mpcc_id_a":3.17723584,"mpcc_iq_a":-0.642842233,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.67544353,"mpcc_pred_id_a":0.854377091,"mpcc_pred_iq_a":-0.627626061,"mpcc_state":1,"mpcc_theta_e":0.448753834,"mpcc_theta_mech":0.556696653,"sam_rpm":2.46368146,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197825581,"thr_a_norm":0.0203616321,"thr_a_v":0.579130232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470565349,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.255821,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.45852208,"cg_iw_a":-1.24809718,"cg_theta_rad":0.555894017,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0143728564,"mpcc_du":49.5952415,"mpcc_dv":50.4047585,"mpcc_dw":50.3688736,"mpcc_enc_sign":1,"mpcc_id_a":0.621827066,"mpcc_iq_a":-0.764915347,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.9773979,"mpcc_pred_id_a":-0.20334962,"mpcc_pred_iq_a":-3.60133862,"mpcc_state":1,"mpcc_theta_e":0.454306602,"mpcc_theta_mech":0.557807267,"sam_rpm":19.5273075,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197825581,"thr_a_norm":0.0197825581,"thr_a_v":0.579130232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470565349,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.262352,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-2.32837415,"cg_iw_a":-0.160782099,"cg_theta_rad":0.55580759,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0183958486,"mpcc_du":49.7744522,"mpcc_dv":49.0806847,"mpcc_dw":50.9193153,"mpcc_enc_sign":1,"mpcc_id_a":2.12633491,"mpcc_iq_a":-2.52077222,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.451408982,"mpcc_pred_id_a":0.350483119,"mpcc_pred_iq_a":-0.49696821,"mpcc_state":1,"mpcc_theta_e":0.439322948,"mpcc_theta_mech":0.554810524,"sam_rpm":0.0822952613,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225646496,"thr_a_norm":0.0225646496,"thr_a_v":0.590258598,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485420018,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.268883,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.09608364,"cg_iw_a":0.129168987,"cg_theta_rad":0.555832446,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0217004959,"mpcc_du":50.0869637,"mpcc_dv":48.6762466,"mpcc_dw":51.3237534,"mpcc_enc_sign":1,"mpcc_id_a":2.54959226,"mpcc_iq_a":-0.601694643,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.896737039,"mpcc_pred_id_a":0.403804719,"mpcc_pred_iq_a":0.0605785139,"mpcc_state":1,"mpcc_theta_e":0.442550659,"mpcc_theta_mech":0.555456042,"sam_rpm":1.27809834,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225646496,"thr_a_norm":0.0225646496,"thr_a_v":0.590258598,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485420018,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.275414,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.74847269,"cg_iw_a":-1.10312176,"cg_theta_rad":0.5560202,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0178145003,"mpcc_du":50.3285599,"mpcc_dv":48.3823853,"mpcc_dw":51.6176147,"mpcc_enc_sign":1,"mpcc_id_a":2.57924533,"mpcc_iq_a":-2.05885315,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.36598051,"mpcc_pred_id_a":0.449268103,"mpcc_pred_iq_a":0.697714865,"mpcc_state":1,"mpcc_theta_e":0.444637775,"mpcc_theta_mech":0.555873454,"sam_rpm":2.17264462,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265175104,"thr_a_norm":0.0265175104,"thr_a_v":0.606070042,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479075313,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.28463,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.53100967,"cg_iw_a":-1.10312176,"cg_theta_rad":0.553545296,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0131235104,"mpcc_du":49.5742645,"mpcc_dv":49.4271317,"mpcc_dw":50.5728683,"mpcc_enc_sign":1,"mpcc_id_a":2.21225762,"mpcc_iq_a":-1.65024257,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.43705082,"mpcc_pred_id_a":0.160032898,"mpcc_pred_iq_a":-2.70377231,"mpcc_state":1,"mpcc_theta_e":0.443982601,"mpcc_theta_mech":0.555742443,"sam_rpm":3.84457517,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0984870791,"thr_a_norm":0.0265175104,"thr_a_v":0.893948317,"thr_b":0.0401258916,"thr_b_norm":0,"thr_b_v":0.660503566,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.296654,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.38603449,"cg_iw_a":0.564094543,"cg_theta_rad":0.553068697,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0208031368,"mpcc_du":49.8177071,"mpcc_dv":49.0928612,"mpcc_dw":50.9071388,"mpcc_enc_sign":1,"mpcc_id_a":2.88444018,"mpcc_iq_a":-0.0368630067,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.197790295,"mpcc_pred_id_a":0.20478861,"mpcc_pred_iq_a":0.445804954,"mpcc_state":1,"mpcc_theta_e":0.432638168,"mpcc_theta_mech":0.553473532,"sam_rpm":-0.226555258,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0984870791,"thr_a_norm":0.0984870791,"thr_a_v":0.893948317,"thr_b":0.0401258916,"thr_b_norm":0.0401258916,"thr_b_v":0.660503566,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.306419,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-2.61832476,"cg_iw_a":0.999020576,"cg_theta_rad":0.553711057,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0104444679,"mpcc_du":49.5995026,"mpcc_dv":49.2590714,"mpcc_dw":50.7409286,"mpcc_enc_sign":1,"mpcc_id_a":1.04819202,"mpcc_iq_a":-0.723262548,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.47840405,"mpcc_pred_id_a":-0.0100671425,"mpcc_pred_iq_a":-2.28955221,"mpcc_state":1,"mpcc_theta_e":0.44216156,"mpcc_theta_mech":0.555378199,"sam_rpm":8.6945467,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.021620512,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.316643,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.53100967,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556826353,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0299508274,"mpcc_du":50.0457077,"mpcc_dv":48.8853722,"mpcc_dw":51.1146278,"mpcc_enc_sign":1,"mpcc_id_a":1.05664313,"mpcc_iq_a":-2.18779755,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.09230757,"mpcc_pred_id_a":0.0539440252,"mpcc_pred_iq_a":-3.17360401,"mpcc_state":1,"mpcc_theta_e":0.454106808,"mpcc_theta_mech":0.557767272,"sam_rpm":8.68096638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193167776,"thr_a_norm":0.021620512,"thr_a_v":0.57726711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459285885,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.326591,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.6759851,"cg_iw_a":-0.595708132,"cg_theta_rad":0.555204988,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0112307044,"mpcc_du":50.1924706,"mpcc_dv":48.7710915,"mpcc_dw":51.2289085,"mpcc_enc_sign":1,"mpcc_id_a":1.07267392,"mpcc_iq_a":-0.502134204,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.92383409,"mpcc_pred_id_a":-0.196736544,"mpcc_pred_iq_a":-1.43969488,"mpcc_state":1,"mpcc_theta_e":0.441246033,"mpcc_theta_mech":0.555195093,"sam_rpm":-4.8717618,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193167776,"thr_a_norm":0.0193167776,"thr_a_v":0.57726711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459285885,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.350029,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.89344811,"cg_iw_a":0.564094543,"cg_theta_rad":0.551408947,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0095930472,"mpcc_du":49.6270905,"mpcc_dv":50.2541885,"mpcc_dw":50.3729095,"mpcc_enc_sign":1,"mpcc_id_a":0.349918664,"mpcc_iq_a":-1.00030589,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.61687374,"mpcc_pred_id_a":-0.383261442,"mpcc_pred_iq_a":-4.58117962,"mpcc_state":1,"mpcc_theta_e":0.449025631,"mpcc_theta_mech":0.556751072,"sam_rpm":9.7941246,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198203325,"thr_a_norm":0.0198203325,"thr_a_v":0.57928133,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.35659,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.806133032,"cg_iw_a":0.926532984,"cg_theta_rad":0.554501712,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.00285029155,"mpcc_du":50.1723175,"mpcc_dv":48.9038582,"mpcc_dw":51.0961418,"mpcc_enc_sign":1,"mpcc_id_a":0.00260086358,"mpcc_iq_a":-2.40804982,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.51328963,"mpcc_pred_id_a":-0.348579079,"mpcc_pred_iq_a":-2.1414876,"mpcc_state":1,"mpcc_theta_e":0.445226192,"mpcc_theta_mech":0.555991113,"sam_rpm":1.22571075,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198203325,"thr_a_norm":0.0198203325,"thr_a_v":0.57928133,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.36306,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.16857147,"cg_iw_a":0.346631765,"cg_theta_rad":0.555718243,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0358100571,"mpcc_du":49.4117317,"mpcc_dv":49.701458,"mpcc_dw":50.5882683,"mpcc_enc_sign":1,"mpcc_id_a":3.10733008,"mpcc_iq_a":-0.296010911,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.9611568,"mpcc_pred_id_a":0.783607781,"mpcc_pred_iq_a":-1.91951072,"mpcc_state":1,"mpcc_theta_e":0.452442169,"mpcc_theta_mech":0.55743438,"sam_rpm":16.04422,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0272728354,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.369621,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.24105906,"cg_iw_a":0.346631765,"cg_theta_rad":0.553129315,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.00916481018,"mpcc_du":50.5421791,"mpcc_dv":48.3551979,"mpcc_dw":51.6448021,"mpcc_enc_sign":1,"mpcc_id_a":1.5683049,"mpcc_iq_a":-0.812061429,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.0409536,"mpcc_pred_id_a":0.120890185,"mpcc_pred_iq_a":-0.5874542,"mpcc_state":1,"mpcc_theta_e":0.432673931,"mpcc_theta_mech":0.553480685,"sam_rpm":-17.8532066,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0357827842,"thr_a_norm":0.0272728354,"thr_a_v":0.643131137,"thr_b":0.000421151519,"thr_b_norm":0,"thr_b_v":0.501684606,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.379631,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.38603449,"cg_iw_a":0.926533222,"cg_theta_rad":0.551845729,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0128531139,"mpcc_du":49.5696449,"mpcc_dv":50.4303551,"mpcc_dw":50.3847427,"mpcc_enc_sign":1,"mpcc_id_a":0.927484751,"mpcc_iq_a":-0.30248493,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.036521,"mpcc_pred_id_a":-0.060202457,"mpcc_pred_iq_a":-3.13568878,"mpcc_state":1,"mpcc_theta_e":0.448513985,"mpcc_theta_mech":0.556648672,"sam_rpm":17.2903843,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0357827842,"thr_a_norm":0.0357827842,"thr_a_v":0.643131137,"thr_b":0.000421151519,"thr_b_norm":0.000421151519,"thr_b_v":0.501684606,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.38961,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.6759851,"cg_iw_a":0.999020815,"cg_theta_rad":0.554650187,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0709180012,"mpcc_du":49.4306297,"mpcc_dv":50.5693703,"mpcc_dw":50.1390686,"mpcc_enc_sign":1,"mpcc_id_a":-0.726792037,"mpcc_iq_a":-2.84080338,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.355717719,"mpcc_pred_id_a":-0.286498427,"mpcc_pred_iq_a":-2.17690969,"mpcc_state":1,"mpcc_theta_e":0.432901859,"mpcc_theta_mech":0.553526282,"sam_rpm":-3.76694298,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216330886,"thr_a_norm":0.0216330886,"thr_a_v":0.586532354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459739089,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.399712,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.53100967,"cg_iw_a":-0.378245115,"cg_theta_rad":0.559848666,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0293707792,"mpcc_du":50.1052284,"mpcc_dv":49.0202179,"mpcc_dw":51.1084557,"mpcc_enc_sign":1,"mpcc_id_a":0.341661543,"mpcc_iq_a":-1.51041257,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.74744081,"mpcc_pred_id_a":-0.395446628,"mpcc_pred_iq_a":-2.89008999,"mpcc_state":1,"mpcc_theta_e":0.451891422,"mpcc_theta_mech":0.557920337,"sam_rpm":8.7858572,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160688907,"thr_a_norm":0.0216330886,"thr_a_v":0.564275563,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463263899,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.40963,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.6759851,"cg_iw_a":-1.4655602,"cg_theta_rad":0.554488957,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.138634712,"mpcc_du":50.4604301,"mpcc_dv":48.226368,"mpcc_dw":51.773632,"mpcc_enc_sign":1,"mpcc_id_a":3.36627531,"mpcc_iq_a":1.27197123,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.35736513,"mpcc_pred_id_a":0.504134893,"mpcc_pred_iq_a":-2.3270371,"mpcc_state":1,"mpcc_theta_e":0.445673466,"mpcc_theta_mech":0.556080639,"sam_rpm":-4.47114086,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160688907,"thr_a_norm":0.0160688907,"thr_a_v":0.564275563,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463263899,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.41964,"values":{"cg_iu_a":0.894427299,"cg_iv_a":0.136206627,"cg_iw_a":-1.03063393,"cg_theta_rad":0.556101263,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0431927629,"mpcc_du":49.7970123,"mpcc_dv":49.3669739,"mpcc_dw":50.6330261,"mpcc_enc_sign":1,"mpcc_id_a":-0.0637541786,"mpcc_iq_a":-1.0317198,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.36391509,"mpcc_pred_id_a":-0.333562434,"mpcc_pred_iq_a":-5.86184931,"mpcc_state":1,"mpcc_theta_e":0.445466518,"mpcc_theta_mech":0.556039214,"sam_rpm":-0.0767791346,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0111593008,"thr_a_norm":0.0111593008,"thr_a_v":0.544637203,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.422023356,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.429619,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.443694592,"cg_iw_a":2.01384783,"cg_theta_rad":0.554251909,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0335895419,"mpcc_du":50.8840408,"mpcc_dv":47.5865135,"mpcc_dw":52.4134865,"mpcc_enc_sign":1,"mpcc_id_a":3.38000417,"mpcc_iq_a":0.518890083,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.5232477,"mpcc_pred_id_a":0.727236927,"mpcc_pred_iq_a":3.04570603,"mpcc_state":1,"mpcc_theta_e":0.432337284,"mpcc_theta_mech":0.553413332,"sam_rpm":-16.6778755,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0111593008,"thr_a_norm":0.0111593008,"thr_a_v":0.544637203,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.422023356,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.453026,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.733645439,"cg_iw_a":0.781557798,"cg_theta_rad":0.553453863,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.00350824115,"mpcc_du":51.5921974,"mpcc_dv":47.30299,"mpcc_dw":52.69701,"mpcc_enc_sign":1,"mpcc_id_a":-0.621641397,"mpcc_iq_a":-2.15992117,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.967392,"mpcc_pred_id_a":-0.953619361,"mpcc_pred_iq_a":-7.63968372,"mpcc_state":1,"mpcc_theta_e":0.453286171,"mpcc_theta_mech":0.557603121,"sam_rpm":15.6908102,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210288316,"thr_a_norm":0.0210288316,"thr_a_v":0.584115326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460041195,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.459526,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-1.38603449,"cg_iw_a":-1.97297382,"cg_theta_rad":0.556553602,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.00510367053,"mpcc_du":49.7138481,"mpcc_dv":49.5129852,"mpcc_dw":50.4870148,"mpcc_enc_sign":1,"mpcc_id_a":0.0213473886,"mpcc_iq_a":-1.02515352,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.300105482,"mpcc_pred_id_a":-0.377051264,"mpcc_pred_iq_a":-3.54493117,"mpcc_state":1,"mpcc_theta_e":0.443851471,"mpcc_theta_mech":0.555716217,"sam_rpm":0.610422373,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184481591,"thr_a_norm":0.0210288316,"thr_a_v":0.573792636,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456617087,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.466057,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.733645439,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556121945,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.00131880201,"mpcc_du":50.7768745,"mpcc_dv":47.9998932,"mpcc_dw":52.0001068,"mpcc_enc_sign":1,"mpcc_id_a":0.664186597,"mpcc_iq_a":-2.06124759,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.39132261,"mpcc_pred_id_a":0.0844398364,"mpcc_pred_iq_a":1.17853379,"mpcc_state":1,"mpcc_theta_e":0.437120438,"mpcc_theta_mech":0.554369986,"sam_rpm":-9.2130537,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184481591,"thr_a_norm":0.0184481591,"thr_a_v":0.573792636,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456617087,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.472618,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.38603449,"cg_iw_a":-3.78516531,"cg_theta_rad":0.555633366,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.00434506871,"mpcc_du":49.8297806,"mpcc_dv":49.4985199,"mpcc_dw":50.5014801,"mpcc_enc_sign":1,"mpcc_id_a":0.505379796,"mpcc_iq_a":-1.35116994,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.50427151,"mpcc_pred_id_a":-0.678380013,"mpcc_pred_iq_a":-2.87953115,"mpcc_state":1,"mpcc_theta_e":0.44661808,"mpcc_theta_mech":0.556269526,"sam_rpm":5.05818748,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271721184,"thr_a_norm":0.0271721184,"thr_a_v":0.608688474,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.483025,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-0.806133032,"cg_iw_a":-0.668195963,"cg_theta_rad":0.55706048,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0346128009,"mpcc_du":50.0797386,"mpcc_dv":48.7558632,"mpcc_dw":51.2441368,"mpcc_enc_sign":1,"mpcc_id_a":2.64409184,"mpcc_iq_a":-0.741790891,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.49875283,"mpcc_pred_id_a":0.395823985,"mpcc_pred_iq_a":-2.20204687,"mpcc_state":1,"mpcc_theta_e":0.443448067,"mpcc_theta_mech":0.556877255,"sam_rpm":-3.08963871,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0141680092,"thr_a_norm":0.0271721184,"thr_a_v":0.556672037,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.494011,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.588670254,"cg_iw_a":-2.91531324,"cg_theta_rad":0.551821351,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0292957481,"mpcc_du":49.6146851,"mpcc_dv":49.5673904,"mpcc_dw":50.4326096,"mpcc_enc_sign":1,"mpcc_id_a":0.12919654,"mpcc_iq_a":-1.45297563,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.76115513,"mpcc_pred_id_a":-0.274247408,"mpcc_pred_iq_a":-5.00164986,"mpcc_state":1,"mpcc_theta_e":0.450897217,"mpcc_theta_mech":0.55712539,"sam_rpm":9.52256298,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0141680092,"thr_a_norm":0.0141680092,"thr_a_v":0.556672037,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.505241,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.371207237,"cg_iw_a":-2.48038721,"cg_theta_rad":0.556966305,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0289491862,"mpcc_du":51.1193657,"mpcc_dv":47.2473183,"mpcc_dw":52.7526817,"mpcc_enc_sign":1,"mpcc_id_a":3.04955935,"mpcc_iq_a":-0.258138955,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.2440443,"mpcc_pred_id_a":0.753433108,"mpcc_pred_iq_a":2.35436988,"mpcc_state":1,"mpcc_theta_e":0.458612919,"mpcc_theta_mech":0.558668494,"sam_rpm":-21.0740299,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237479955,"thr_a_norm":0.0237479955,"thr_a_v":0.594991982,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465781659,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.515312,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.371207237,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556747556,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.008532729,"mpcc_du":50.1349487,"mpcc_dv":48.9786949,"mpcc_dw":50.5381851,"mpcc_enc_sign":1,"mpcc_id_a":0.143459633,"mpcc_iq_a":-1.59723735,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.63701391,"mpcc_pred_id_a":-0.439435124,"mpcc_pred_iq_a":-1.0324868,"mpcc_state":1,"mpcc_theta_e":0.448560715,"mpcc_theta_mech":0.557748199,"sam_rpm":9.79295826,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022803843,"thr_a_norm":0.0237479955,"thr_a_v":0.591215372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48526895,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.525414,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.09608364,"cg_iw_a":0.0566806793,"cg_theta_rad":0.5555951,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0019379732,"mpcc_du":50.1987,"mpcc_dv":48.7399254,"mpcc_dw":51.2600746,"mpcc_enc_sign":1,"mpcc_id_a":0.132918939,"mpcc_iq_a":-1.96152472,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.39607656,"mpcc_pred_id_a":-0.0721368417,"mpcc_pred_iq_a":-1.10528815,"mpcc_state":1,"mpcc_theta_e":0.446510792,"mpcc_theta_mech":0.556248069,"sam_rpm":0.555501878,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022803843,"thr_a_norm":0.022803843,"thr_a_v":0.591215372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48526895,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.535637,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.878620625,"cg_iw_a":-1.03063393,"cg_theta_rad":0.554787993,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0250359569,"mpcc_du":49.9037132,"mpcc_dv":48.965004,"mpcc_dw":51.034996,"mpcc_enc_sign":1,"mpcc_id_a":1.56140792,"mpcc_iq_a":-2.04591036,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.80461121,"mpcc_pred_id_a":0.224894807,"mpcc_pred_iq_a":-0.643136084,"mpcc_state":1,"mpcc_theta_e":0.429625034,"mpcc_theta_mech":0.552870929,"sam_rpm":-14.541398,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167612731,"thr_a_norm":0.0167612731,"thr_a_v":0.567045093,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479780257,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.56002,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.951108456,"cg_iw_a":-1.61053514,"cg_theta_rad":0.553313494,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0112619074,"mpcc_du":49.5942993,"mpcc_dv":49.6443062,"mpcc_dw":50.4057007,"mpcc_enc_sign":1,"mpcc_id_a":0.824250221,"mpcc_iq_a":-1.18352771,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.27622414,"mpcc_pred_id_a":-0.285243124,"mpcc_pred_iq_a":-3.56156063,"mpcc_state":1,"mpcc_theta_e":0.449828148,"mpcc_theta_mech":0.556911528,"sam_rpm":9.25660992,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200972706,"thr_a_norm":0.0167612731,"thr_a_v":0.580389082,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454200029,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.566551,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-1.24105906,"cg_iw_a":-0.16078186,"cg_theta_rad":0.554547548,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.00250265584,"mpcc_du":50.597496,"mpcc_dv":48.3930359,"mpcc_dw":51.6069641,"mpcc_enc_sign":1,"mpcc_id_a":-0.280189037,"mpcc_iq_a":-1.70921838,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.8080263,"mpcc_pred_id_a":-0.464044034,"mpcc_pred_iq_a":-2.89072943,"mpcc_state":1,"mpcc_theta_e":0.430994034,"mpcc_theta_mech":0.553144753,"sam_rpm":-23.310276,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200972706,"thr_a_norm":0.0200972706,"thr_a_v":0.580389082,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454200029,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.573051,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.951108456,"cg_iw_a":-0.523220539,"cg_theta_rad":0.556150854,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.000367314671,"mpcc_du":49.7037697,"mpcc_dv":49.3836327,"mpcc_dw":50.6163673,"mpcc_enc_sign":1,"mpcc_id_a":0.0377517305,"mpcc_iq_a":-1.82343757,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.03917789,"mpcc_pred_id_a":-0.0525505207,"mpcc_pred_iq_a":-1.72591507,"mpcc_state":1,"mpcc_theta_e":0.446812153,"mpcc_theta_mech":0.556308389,"sam_rpm":8.79015732,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0303696543,"thr_a_norm":0.0303696543,"thr_a_v":0.621478617,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478622139,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.58065,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.82096052,"cg_iw_a":0.129168987,"cg_theta_rad":0.557622373,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0460673608,"mpcc_du":49.6334877,"mpcc_dv":50.2797775,"mpcc_dw":50.3665123,"mpcc_enc_sign":1,"mpcc_id_a":1.65689313,"mpcc_iq_a":-0.629910588,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.4550123,"mpcc_pred_id_a":-0.302766562,"mpcc_pred_iq_a":-4.23606157,"mpcc_state":1,"mpcc_theta_e":0.460184097,"mpcc_theta_mech":0.556212664,"sam_rpm":23.9360657,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236724615,"thr_a_norm":0.0303696543,"thr_a_v":0.594689846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467040509,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.590599,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.661157608,"cg_iw_a":-2.19043684,"cg_theta_rad":0.555620372,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0323466398,"mpcc_du":50.3602219,"mpcc_dv":48.6142769,"mpcc_dw":51.3857231,"mpcc_enc_sign":1,"mpcc_id_a":1.53356218,"mpcc_iq_a":-1.05136073,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.15716791,"mpcc_pred_id_a":-0.14949809,"mpcc_pred_iq_a":-3.27677321,"mpcc_state":1,"mpcc_theta_e":0.444969177,"mpcc_theta_mech":0.555939794,"sam_rpm":-7.44466448,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236724615,"thr_a_norm":0.0236724615,"thr_a_v":0.594689846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467040509,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.600609,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.18339872,"cg_iw_a":-0.450732708,"cg_theta_rad":0.552930057,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.00973873865,"mpcc_du":50.0221291,"mpcc_dv":48.8912506,"mpcc_dw":51.1087494,"mpcc_enc_sign":1,"mpcc_id_a":1.58718646,"mpcc_iq_a":-2.94273567,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.06023216,"mpcc_pred_id_a":0.179872215,"mpcc_pred_iq_a":-2.92640805,"mpcc_state":1,"mpcc_theta_e":0.448701382,"mpcc_theta_mech":0.556686223,"sam_rpm":1.9706955,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023685053,"thr_a_norm":0.023685053,"thr_a_v":0.594740212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.610649,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.45852208,"cg_iw_a":-0.885658503,"cg_theta_rad":0.553985178,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.00211140746,"mpcc_du":50.3099861,"mpcc_dv":48.5344658,"mpcc_dw":51.4655342,"mpcc_enc_sign":1,"mpcc_id_a":0.808690131,"mpcc_iq_a":-1.24562156,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.59307098,"mpcc_pred_id_a":0.0263280589,"mpcc_pred_iq_a":-0.382044911,"mpcc_state":1,"mpcc_theta_e":0.433191299,"mpcc_theta_mech":0.553584218,"sam_rpm":-13.8557758,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023685053,"thr_a_norm":0.023685053,"thr_a_v":0.594740212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.620781,"values":{"cg_iu_a":3.93890953,"cg_iv_a":-0.588670254,"cg_iw_a":-3.35023928,"cg_theta_rad":0.554134965,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0326733515,"mpcc_du":49.7001839,"mpcc_dv":49.1195412,"mpcc_dw":50.8804588,"mpcc_enc_sign":1,"mpcc_id_a":3.09669828,"mpcc_iq_a":-0.958661795,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.13961887,"mpcc_pred_id_a":0.407315552,"mpcc_pred_iq_a":-0.330397904,"mpcc_state":1,"mpcc_theta_e":0.430945396,"mpcc_theta_mech":0.553134978,"sam_rpm":-8.87402153,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450524151,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.631004,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.89344811,"cg_iw_a":-0.45073247,"cg_theta_rad":0.55710566,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0172705036,"mpcc_du":49.4088821,"mpcc_dv":50.5911179,"mpcc_dw":50.2391853,"mpcc_enc_sign":1,"mpcc_id_a":0.519046426,"mpcc_iq_a":-0.835327625,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.100217514,"mpcc_pred_id_a":-0.0715737864,"mpcc_pred_iq_a":-2.6676681,"mpcc_state":1,"mpcc_theta_e":0.433547497,"mpcc_theta_mech":0.553655386,"sam_rpm":-2.12917328,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0150240362,"thr_a_norm":0.0232444406,"thr_a_v":0.560096145,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.654015,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.38603449,"cg_iw_a":0.274143696,"cg_theta_rad":0.555755436,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0194184333,"mpcc_du":48.8554535,"mpcc_dv":51.1445465,"mpcc_dw":49.6045227,"mpcc_enc_sign":1,"mpcc_id_a":2.2527473,"mpcc_iq_a":-0.0144846486,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.0887289,"mpcc_pred_id_a":0.124208242,"mpcc_pred_iq_a":-6.20745802,"mpcc_state":1,"mpcc_theta_e":0.429436207,"mpcc_theta_mech":0.5528332,"sam_rpm":14.9755592,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0150240362,"thr_a_norm":0.0150240362,"thr_a_v":0.560096145,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.660545,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-2.11091113,"cg_iw_a":-0.45073247,"cg_theta_rad":0.557702363,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0123947421,"mpcc_du":49.2361183,"mpcc_dv":50.7638817,"mpcc_dw":50.0652733,"mpcc_enc_sign":1,"mpcc_id_a":1.75986898,"mpcc_iq_a":-2.06735063,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.8286209,"mpcc_pred_id_a":0.00922927074,"mpcc_pred_iq_a":-5.83902454,"mpcc_state":1,"mpcc_theta_e":0.454826355,"mpcc_theta_mech":0.557911217,"sam_rpm":17.8610249,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022124052,"thr_a_norm":0.022124052,"thr_a_v":0.588496208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482549787,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.667076,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.45852208,"cg_iw_a":0.926532984,"cg_theta_rad":0.555673659,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.000122752943,"mpcc_du":49.6287422,"mpcc_dv":50.1075325,"mpcc_dw":50.3712578,"mpcc_enc_sign":1,"mpcc_id_a":1.97619343,"mpcc_iq_a":-0.790668488,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.09963312,"mpcc_pred_id_a":-0.4814291,"mpcc_pred_iq_a":-3.58627939,"mpcc_state":1,"mpcc_theta_e":0.443994999,"mpcc_theta_mech":0.555744946,"sam_rpm":-0.487952352,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022124052,"thr_a_norm":0.022124052,"thr_a_v":0.588496208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482549787,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.673576,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.16857147,"cg_iw_a":0.419119358,"cg_theta_rad":0.553505421,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0264294017,"mpcc_du":49.538681,"mpcc_dv":50.461319,"mpcc_dw":50.4358139,"mpcc_enc_sign":1,"mpcc_id_a":0.195864856,"mpcc_iq_a":-1.06758928,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.74499893,"mpcc_pred_id_a":0.0796471685,"mpcc_pred_iq_a":-4.64841604,"mpcc_state":1,"mpcc_theta_e":0.43628931,"mpcc_theta_mech":0.554203808,"sam_rpm":14.4772015,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024440363,"thr_a_norm":0.024440363,"thr_a_v":0.597761452,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492671102,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.681999,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.24105906,"cg_iw_a":0.41911912,"cg_theta_rad":0.552548051,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0172379315,"mpcc_du":50.096035,"mpcc_dv":48.7314835,"mpcc_dw":51.2685165,"mpcc_enc_sign":1,"mpcc_id_a":2.23073125,"mpcc_iq_a":-0.242371723,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.9255352,"mpcc_pred_id_a":0.0672535002,"mpcc_pred_iq_a":-2.26246119,"mpcc_state":1,"mpcc_theta_e":0.432776451,"mpcc_theta_mech":0.553501189,"sam_rpm":-15.1349239,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173277706,"thr_a_norm":0.024440363,"thr_a_v":0.569311082,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447502851,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.691978,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.16857147,"cg_iw_a":-1.39307237,"cg_theta_rad":0.557906687,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0335736647,"mpcc_du":49.4129448,"mpcc_dv":50.5870552,"mpcc_dw":50.021965,"mpcc_enc_sign":1,"mpcc_id_a":-0.375268161,"mpcc_iq_a":-1.63086414,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.8028679,"mpcc_pred_id_a":-0.595008254,"mpcc_pred_iq_a":-5.96656704,"mpcc_state":1,"mpcc_theta_e":0.459542274,"mpcc_theta_mech":0.558854401,"sam_rpm":25.5156555,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173277706,"thr_a_norm":0.0173277706,"thr_a_v":0.569311082,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447502851,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.702202,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-2.18339872,"cg_iw_a":0.346631527,"cg_theta_rad":0.554082632,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.00080697902,"mpcc_du":49.5600281,"mpcc_dv":50.0321922,"mpcc_dw":50.4399719,"mpcc_enc_sign":1,"mpcc_id_a":0.30723387,"mpcc_iq_a":-1.801018,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.33184052,"mpcc_pred_id_a":-0.0339171253,"mpcc_pred_iq_a":-5.46742392,"mpcc_state":1,"mpcc_theta_e":0.436206818,"mpcc_theta_mech":0.552871227,"sam_rpm":-9.95122814,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216330886,"thr_a_norm":0.0216330886,"thr_a_v":0.586532354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458027005,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.711906,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.371207237,"cg_iw_a":-1.75551033,"cg_theta_rad":0.555637836,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0455497354,"mpcc_du":50.6349945,"mpcc_dv":48.1076012,"mpcc_dw":51.8923988,"mpcc_enc_sign":1,"mpcc_id_a":2.53273702,"mpcc_iq_a":-0.97802645,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.201775566,"mpcc_pred_id_a":0.469673067,"mpcc_pred_iq_a":-3.3893044,"mpcc_state":1,"mpcc_theta_e":0.4499259,"mpcc_theta_mech":0.556931138,"sam_rpm":-15.9500818,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216330886,"thr_a_norm":0.0216330886,"thr_a_v":0.586532354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458027005,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.722191,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.661157608,"cg_iw_a":0.709069729,"cg_theta_rad":0.555940986,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.00753624504,"mpcc_du":50.4275703,"mpcc_dv":48.7436638,"mpcc_dw":51.2563362,"mpcc_enc_sign":1,"mpcc_id_a":1.01985419,"mpcc_iq_a":-5.01667023,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.95991421,"mpcc_pred_id_a":-0.747857034,"mpcc_pred_iq_a":-3.6855886,"mpcc_state":1,"mpcc_theta_e":0.442327499,"mpcc_theta_mech":0.555411458,"sam_rpm":-12.1895742,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0342847407,"thr_a_norm":0.0342847407,"thr_a_v":0.637138963,"thr_b":0.00444953144,"thr_b_norm":0.00444953144,"thr_b_v":0.517798126,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.732414,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.09608364,"cg_iw_a":1.28897119,"cg_theta_rad":0.556707203,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0351475254,"mpcc_du":50.4573135,"mpcc_dv":48.4194794,"mpcc_dw":51.5805206,"mpcc_enc_sign":1,"mpcc_id_a":1.80721819,"mpcc_iq_a":-1.98256683,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.61205745,"mpcc_pred_id_a":0.0928185731,"mpcc_pred_iq_a":-2.56847501,"mpcc_state":1,"mpcc_theta_e":0.449503422,"mpcc_theta_mech":0.556846559,"sam_rpm":-1.17001176,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259132534,"thr_a_norm":0.0342847407,"thr_a_v":0.603653014,"thr_b":0,"thr_b_norm":0.00444953144,"thr_b_v":0.49005264,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.756645,"values":{"cg_iu_a":4.2288599,"cg_iv_a":-0.951108456,"cg_iw_a":-3.27775145,"cg_theta_rad":0.556504607,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.00135198608,"mpcc_du":50.2529945,"mpcc_dv":48.8524704,"mpcc_dw":51.1475296,"mpcc_enc_sign":1,"mpcc_id_a":0.0699498877,"mpcc_iq_a":-2.25711823,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.88225794,"mpcc_pred_id_a":-0.585399926,"mpcc_pred_iq_a":-7.51690435,"mpcc_state":1,"mpcc_theta_e":0.447328568,"mpcc_theta_mech":0.556411624,"sam_rpm":3.31050992,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259132534,"thr_a_norm":0.0259132534,"thr_a_v":0.603653014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49005264,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.763145,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.153744221,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556830883,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0528276563,"mpcc_du":49.4488983,"mpcc_dv":49.696331,"mpcc_dw":50.5511017,"mpcc_enc_sign":1,"mpcc_id_a":3.10514617,"mpcc_iq_a":0.878256083,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.24825191,"mpcc_pred_id_a":0.650160015,"mpcc_pred_iq_a":-2.85014248,"mpcc_state":1,"mpcc_theta_e":0.448757172,"mpcc_theta_mech":0.554123998,"sam_rpm":10.376524,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198706836,"thr_a_norm":0.0259132534,"thr_a_v":0.579482734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470766753,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.769646,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.96593571,"cg_iw_a":-0.305757523,"cg_theta_rad":0.554047108,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.045336023,"mpcc_du":50.3576393,"mpcc_dv":48.2376213,"mpcc_dw":51.7623787,"mpcc_enc_sign":1,"mpcc_id_a":3.87195587,"mpcc_iq_a":0.190421164,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.02995968,"mpcc_pred_id_a":0.789372623,"mpcc_pred_iq_a":0.227587134,"mpcc_state":1,"mpcc_theta_e":0.434789181,"mpcc_theta_mech":0.556692839,"sam_rpm":-12.0805931,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198706836,"thr_a_norm":0.0198706836,"thr_a_v":0.579482734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470766753,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.776146,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.09608364,"cg_iw_a":0.201656342,"cg_theta_rad":0.558791935,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.00979627389,"mpcc_du":50.724102,"mpcc_dv":48.0506897,"mpcc_dw":51.9493103,"mpcc_enc_sign":1,"mpcc_id_a":1.85223544,"mpcc_iq_a":-2.60938644,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.22264481,"mpcc_pred_id_a":0.0804824233,"mpcc_pred_iq_a":0.628520787,"mpcc_state":1,"mpcc_theta_e":0.434840679,"mpcc_theta_mech":0.55391407,"sam_rpm":-13.6725664,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192664266,"thr_a_norm":0.0192664266,"thr_a_v":0.577065706,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459688723,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.782768,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.16857147,"cg_iw_a":0.78155756,"cg_theta_rad":0.557165205,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.00413217116,"mpcc_du":50.1055756,"mpcc_dv":48.9708557,"mpcc_dw":51.0291443,"mpcc_enc_sign":1,"mpcc_id_a":0.430922657,"mpcc_iq_a":-2.01116395,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.0359354,"mpcc_pred_id_a":-0.249453634,"mpcc_pred_iq_a":-1.79953599,"mpcc_state":1,"mpcc_theta_e":0.446343899,"mpcc_theta_mech":0.55621469,"sam_rpm":3.64667821,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192664266,"thr_a_norm":0.0192664266,"thr_a_v":0.577065706,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459688723,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.795006,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.60349751,"cg_iw_a":-0.740683079,"cg_theta_rad":0.552530706,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":6.29205097e-05,"mpcc_du":49.0157776,"mpcc_dv":50.9842224,"mpcc_dw":49.5955467,"mpcc_enc_sign":1,"mpcc_id_a":0.156731993,"mpcc_iq_a":-0.57742548,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.55156326,"mpcc_pred_id_a":-0.377991885,"mpcc_pred_iq_a":-4.76302958,"mpcc_state":1,"mpcc_theta_e":0.438381672,"mpcc_theta_mech":0.554622293,"sam_rpm":11.1535082,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00899404287,"thr_a_norm":0.00899404287,"thr_a_v":0.535976171,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.431842506,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.805626,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.53100967,"cg_iw_a":0.0566806793,"cg_theta_rad":0.553358912,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0385731235,"mpcc_du":49.6317329,"mpcc_dv":49.4106064,"mpcc_dw":50.5893936,"mpcc_enc_sign":1,"mpcc_id_a":1.31303048,"mpcc_iq_a":0.155655935,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.33718157,"mpcc_pred_id_a":0.0762065127,"mpcc_pred_iq_a":-2.97143292,"mpcc_state":1,"mpcc_theta_e":0.447403431,"mpcc_theta_mech":0.556426644,"sam_rpm":11.0202703,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185111016,"thr_a_norm":0.00899404287,"thr_a_v":0.574044406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450624853,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.815636,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.878620625,"cg_iw_a":-0.015806675,"cg_theta_rad":0.55751878,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0095497733,"mpcc_du":50.0901375,"mpcc_dv":48.5761185,"mpcc_dw":51.4238815,"mpcc_enc_sign":1,"mpcc_id_a":2.75291634,"mpcc_iq_a":-0.00749721006,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.06091404,"mpcc_pred_id_a":1.14892387,"mpcc_pred_iq_a":-0.0651962012,"mpcc_state":1,"mpcc_theta_e":0.444050789,"mpcc_theta_mech":0.555756032,"sam_rpm":-4.56828833,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185111016,"thr_a_norm":0.0185111016,"thr_a_v":0.574044406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450624853,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.825615,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.806133032,"cg_iw_a":-1.8279984,"cg_theta_rad":0.556425095,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0895207524,"mpcc_du":49.7622871,"mpcc_dv":49.2854195,"mpcc_dw":50.7145805,"mpcc_enc_sign":1,"mpcc_id_a":0.101205811,"mpcc_iq_a":-0.303675413,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.6389837,"mpcc_pred_id_a":-0.0313671678,"mpcc_pred_iq_a":-3.47687459,"mpcc_state":1,"mpcc_theta_e":0.453409195,"mpcc_theta_mech":0.557627738,"sam_rpm":19.6903095,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243270695,"thr_a_norm":0.0243270695,"thr_a_v":0.597308278,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485117882,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.836967,"values":{"cg_iu_a":0.387013912,"cg_iv_a":1.94839811,"cg_iw_a":-2.33541203,"cg_theta_rad":0.556708634,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.00471259514,"mpcc_du":50.0549698,"mpcc_dv":48.7696266,"mpcc_dw":51.2303734,"mpcc_enc_sign":1,"mpcc_id_a":3.0005157,"mpcc_iq_a":0.544727981,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.49344349,"mpcc_pred_id_a":0.223083913,"mpcc_pred_iq_a":1.01218975,"mpcc_state":1,"mpcc_theta_e":0.4363451,"mpcc_theta_mech":0.554214895,"sam_rpm":-7.14829874,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278770924,"thr_a_norm":0.0243270695,"thr_a_v":0.611508369,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487081707,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.859215,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.806133032,"cg_iw_a":-1.10312176,"cg_theta_rad":0.556310117,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.00637635402,"mpcc_du":50.1661148,"mpcc_dv":49.0255241,"mpcc_dw":50.9744759,"mpcc_enc_sign":1,"mpcc_id_a":-0.278023988,"mpcc_iq_a":-1.48531699,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.91754043,"mpcc_pred_id_a":-0.662772119,"mpcc_pred_iq_a":-2.6749692,"mpcc_state":1,"mpcc_theta_e":0.449631214,"mpcc_theta_mech":0.556872129,"sam_rpm":-2.26761174,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278770924,"thr_a_norm":0.0278770924,"thr_a_v":0.611508369,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487081707,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.865776,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.31354666,"cg_iw_a":0.12916851,"cg_theta_rad":0.556132257,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.00795919728,"mpcc_du":49.831562,"mpcc_dv":49.2567139,"mpcc_dw":50.7432861,"mpcc_enc_sign":1,"mpcc_id_a":-0.14041768,"mpcc_iq_a":-0.530377805,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.78214836,"mpcc_pred_id_a":-0.336899638,"mpcc_pred_iq_a":-4.3717351,"mpcc_state":1,"mpcc_theta_e":0.436660767,"mpcc_theta_mech":0.554278076,"sam_rpm":-11.4509306,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025296405,"thr_a_norm":0.025296405,"thr_a_v":0.60118562,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48526895,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.872276,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.24105906,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.557150185,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0362328067,"mpcc_du":50.2790298,"mpcc_dv":48.463047,"mpcc_dw":51.536953,"mpcc_enc_sign":1,"mpcc_id_a":2.48761296,"mpcc_iq_a":-0.405025482,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.91777611,"mpcc_pred_id_a":0.365472674,"mpcc_pred_iq_a":0.525396287,"mpcc_state":1,"mpcc_theta_e":0.449256897,"mpcc_theta_mech":0.556797266,"sam_rpm":7.43082619,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025296405,"thr_a_norm":0.025296405,"thr_a_v":0.60118562,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48526895,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.878777,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.60349751,"cg_iw_a":-0.305757046,"cg_theta_rad":0.553430796,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0260907952,"mpcc_du":49.4671936,"mpcc_dv":49.5378685,"mpcc_dw":50.5328064,"mpcc_enc_sign":1,"mpcc_id_a":2.59760785,"mpcc_iq_a":-0.164603576,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.69408607,"mpcc_pred_id_a":0.311499178,"mpcc_pred_iq_a":-2.15766764,"mpcc_state":1,"mpcc_theta_e":0.443776131,"mpcc_theta_mech":0.555701137,"sam_rpm":12.5347443,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0993179083,"thr_a_norm":0.0993179083,"thr_a_v":0.897271633,"thr_b":0.0430968255,"thr_b_norm":0.0430968255,"thr_b_v":0.672387302,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.888634,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.878620625,"cg_iw_a":-1.53804779,"cg_theta_rad":0.556927085,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.000933361589,"mpcc_du":50.6408577,"mpcc_dv":48.3758888,"mpcc_dw":51.6241112,"mpcc_enc_sign":1,"mpcc_id_a":0.0709922984,"mpcc_iq_a":-2.33174777,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.6545076,"mpcc_pred_id_a":-0.56388694,"mpcc_pred_iq_a":-1.47184753,"mpcc_state":1,"mpcc_theta_e":0.431357384,"mpcc_theta_mech":0.553217411,"sam_rpm":-20.850771,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210288316,"thr_a_norm":0.0993179083,"thr_a_v":0.584115326,"thr_b":0,"thr_b_norm":0.0430968255,"thr_b_v":0.456415653,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.898796,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.878620625,"cg_iw_a":-1.82799864,"cg_theta_rad":0.557588935,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0312563106,"mpcc_du":49.6972008,"mpcc_dv":49.2715721,"mpcc_dw":50.7284279,"mpcc_enc_sign":1,"mpcc_id_a":2.06687045,"mpcc_iq_a":-0.943792999,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.72051978,"mpcc_pred_id_a":0.242935941,"mpcc_pred_iq_a":-3.28005457,"mpcc_state":1,"mpcc_theta_e":0.448561668,"mpcc_theta_mech":0.556658268,"sam_rpm":6.7916975,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210288316,"thr_a_norm":0.0210288316,"thr_a_v":0.584115326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456415653,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.908775,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.16857147,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556880653,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0264509227,"mpcc_du":50.267086,"mpcc_dv":48.5483742,"mpcc_dw":51.4516258,"mpcc_enc_sign":1,"mpcc_id_a":2.59608841,"mpcc_iq_a":-1.1806879,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.06221151,"mpcc_pred_id_a":0.29737246,"mpcc_pred_iq_a":-1.56275713,"mpcc_state":1,"mpcc_theta_e":0.442934036,"mpcc_theta_mech":0.555532694,"sam_rpm":-5.95397663,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218345076,"thr_a_norm":0.0218345076,"thr_a_v":0.58733803,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463112861,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.918785,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.806133032,"cg_iw_a":0.0566811562,"cg_theta_rad":0.556846917,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0166539792,"mpcc_du":49.5430756,"mpcc_dv":49.984993,"mpcc_dw":50.4569244,"mpcc_enc_sign":1,"mpcc_id_a":1.53723693,"mpcc_iq_a":-0.0355528928,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.22432709,"mpcc_pred_id_a":0.119285323,"mpcc_pred_iq_a":-2.48881197,"mpcc_state":1,"mpcc_theta_e":0.446568489,"mpcc_theta_mech":0.556259632,"sam_rpm":13.1322508,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218345076,"thr_a_norm":0.0218345076,"thr_a_v":0.58733803,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463112861,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.928978,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.661157608,"cg_iw_a":-1.53804779,"cg_theta_rad":0.553656101,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.018318167,"mpcc_du":50.0512924,"mpcc_dv":48.7115936,"mpcc_dw":51.2884064,"mpcc_enc_sign":1,"mpcc_id_a":2.69277263,"mpcc_iq_a":-2.17387271,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.95395279,"mpcc_pred_id_a":0.468439877,"mpcc_pred_iq_a":-2.23049331,"mpcc_state":1,"mpcc_theta_e":0.436103344,"mpcc_theta_mech":0.554166615,"sam_rpm":-13.7511463,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0325726718,"thr_a_norm":0.0325726718,"thr_a_v":0.630290687,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.939171,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.16857147,"cg_iw_a":-0.81317091,"cg_theta_rad":0.557065666,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0054726759,"mpcc_du":49.7048798,"mpcc_dv":49.2351646,"mpcc_dw":50.7648354,"mpcc_enc_sign":1,"mpcc_id_a":1.28643072,"mpcc_iq_a":-0.558894277,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.67969561,"mpcc_pred_id_a":0.195469335,"mpcc_pred_iq_a":-0.0478751473,"mpcc_state":1,"mpcc_theta_e":0.442591667,"mpcc_theta_mech":0.555464208,"sam_rpm":9.31046581,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260895044,"thr_a_norm":0.0325726718,"thr_a_v":0.604358017,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.962242,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.82096052,"cg_iw_a":0.854045391,"cg_theta_rad":0.554681122,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0213227849,"mpcc_du":49.5573425,"mpcc_dv":47.8413162,"mpcc_dw":52.1586838,"mpcc_enc_sign":1,"mpcc_id_a":2.66005921,"mpcc_iq_a":-1.55055726,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.8036027,"mpcc_pred_id_a":0.142014951,"mpcc_pred_iq_a":-4.99207878,"mpcc_state":1,"mpcc_theta_e":0.447432518,"mpcc_theta_mech":0.556432426,"sam_rpm":6.83766937,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260895044,"thr_a_norm":0.0260895044,"thr_a_v":0.604358017,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.968712,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.951108456,"cg_iw_a":0.564094543,"cg_theta_rad":0.5532493,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5002,"hz_app_loop":357,"hz_tim_isr":10004,"hz_vsense":357,"mpcc_cost":0.0212130863,"mpcc_du":50.0716438,"mpcc_dv":48.7206841,"mpcc_dw":51.2793159,"mpcc_enc_sign":1,"mpcc_id_a":2.46973157,"mpcc_iq_a":-0.593832672,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.64603806,"mpcc_pred_id_a":0.378493428,"mpcc_pred_iq_a":-2.35073161,"mpcc_state":1,"mpcc_theta_e":0.444614887,"mpcc_theta_mech":0.555868864,"sam_rpm":-12.9646215,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199839771,"thr_a_norm":0.0199839771,"thr_a_v":0.579935908,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479176015,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.975243,"values":{"cg_iu_a":2.5616436,"cg_iv_a":0.57113266,"cg_iw_a":-3.13277626,"cg_theta_rad":0.556377649,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9915.08496,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.00406914949,"mpcc_du":49.6299019,"mpcc_dv":49.4777794,"mpcc_dw":50.5222206,"mpcc_enc_sign":1,"mpcc_id_a":0.736124039,"mpcc_iq_a":-1.04087508,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.54906118,"mpcc_pred_id_a":-0.120161265,"mpcc_pred_iq_a":-2.929914,"mpcc_state":1,"mpcc_theta_e":0.444043636,"mpcc_theta_mech":0.555754662,"sam_rpm":2.28941584,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199839771,"thr_a_norm":0.0199839771,"thr_a_v":0.579935908,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479176015,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.981773,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.298719406,"cg_iw_a":-0.81317091,"cg_theta_rad":0.555998802,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0156591572,"mpcc_du":51.0109253,"mpcc_dv":47.4223785,"mpcc_dw":52.5776215,"mpcc_enc_sign":1,"mpcc_id_a":2.49955964,"mpcc_iq_a":-1.57296622,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-25.1683292,"mpcc_pred_id_a":0.460382998,"mpcc_pred_iq_a":-0.1129691,"mpcc_state":1,"mpcc_theta_e":0.420886517,"mpcc_theta_mech":0.551123202,"sam_rpm":-37.6587639,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182970911,"thr_a_norm":0.0182970911,"thr_a_v":0.573188365,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460997939,"vdc_v":55.2955055}} +{"type":"telemetry","t":64.990776,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.878620625,"cg_iw_a":-1.39307261,"cg_theta_rad":0.557010233,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.00819028821,"mpcc_du":49.26408,"mpcc_dv":50.73592,"mpcc_dw":49.8987732,"mpcc_enc_sign":1,"mpcc_id_a":-0.582662702,"mpcc_iq_a":-1.94384897,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.8337994,"mpcc_pred_id_a":-0.479221642,"mpcc_pred_iq_a":-3.0427978,"mpcc_state":1,"mpcc_theta_e":0.446844578,"mpcc_theta_mech":0.556314826,"sam_rpm":14.3667879,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292870253,"thr_a_norm":0.0182970911,"thr_a_v":0.617148101,"thr_b":0.00193180144,"thr_b_norm":0,"thr_b_v":0.507727206,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.000999,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.371207237,"cg_iw_a":-0.740683317,"cg_theta_rad":0.554740429,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0478771329,"mpcc_du":50.6796951,"mpcc_dv":47.8581848,"mpcc_dw":52.1418152,"mpcc_enc_sign":1,"mpcc_id_a":0.72778964,"mpcc_iq_a":-0.57851696,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.7445421,"mpcc_pred_id_a":0.522600949,"mpcc_pred_iq_a":-1.49895346,"mpcc_state":1,"mpcc_theta_e":0.44735384,"mpcc_theta_mech":0.55641669,"sam_rpm":-21.3600445,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292870253,"thr_a_norm":0.0292870253,"thr_a_v":0.617148101,"thr_b":0.00193180144,"thr_b_norm":0.00193180144,"thr_b_v":0.507727206,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.011192,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.53100967,"cg_iw_a":-1.68302321,"cg_theta_rad":0.557509124,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.00842697918,"mpcc_du":50.1648293,"mpcc_dv":48.7881584,"mpcc_dw":51.2118416,"mpcc_enc_sign":1,"mpcc_id_a":1.54111016,"mpcc_iq_a":-2.21423101,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.842606902,"mpcc_pred_id_a":-0.135831445,"mpcc_pred_iq_a":-1.81687343,"mpcc_state":1,"mpcc_theta_e":0.445018768,"mpcc_theta_mech":0.555949628,"sam_rpm":-0.495891184,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262531489,"thr_a_norm":0.0262531489,"thr_a_v":0.605012596,"thr_b":0.000597387552,"thr_b_norm":0.000597387552,"thr_b_v":0.50238955,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.02108,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.96593571,"cg_iw_a":0.78155756,"cg_theta_rad":0.553452194,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0876433998,"mpcc_du":50.1812363,"mpcc_dv":48.4182358,"mpcc_dw":51.5817642,"mpcc_enc_sign":1,"mpcc_id_a":3.4513576,"mpcc_iq_a":0.751855791,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.19748306,"mpcc_pred_id_a":0.792064905,"mpcc_pred_iq_a":-1.06215751,"mpcc_state":1,"mpcc_theta_e":0.450746536,"mpcc_theta_mech":0.55709523,"sam_rpm":1.3041774,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262531489,"thr_a_norm":0.0262531489,"thr_a_v":0.605012596,"thr_b":0.000597387552,"thr_b_norm":0.000597387552,"thr_b_v":0.50238955,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.031181,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.588670254,"cg_iw_a":-1.61053514,"cg_theta_rad":0.557642102,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0111481575,"mpcc_du":49.5847931,"mpcc_dv":49.9342422,"mpcc_dw":50.4152069,"mpcc_enc_sign":1,"mpcc_id_a":1.19534743,"mpcc_iq_a":-1.94487762,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.234509751,"mpcc_pred_id_a":-0.112080164,"mpcc_pred_iq_a":-2.78922105,"mpcc_state":1,"mpcc_theta_e":0.439489841,"mpcc_theta_mech":0.554843903,"sam_rpm":-1.37798488,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137651563,"thr_a_norm":0.0137651563,"thr_a_v":0.555060625,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451631933,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.041557,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.38603449,"cg_iw_a":-0.81317091,"cg_theta_rad":0.55666703,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.055540055,"mpcc_du":50.465004,"mpcc_dv":48.3030052,"mpcc_dw":51.6969948,"mpcc_enc_sign":1,"mpcc_id_a":0.380795449,"mpcc_iq_a":-0.169838384,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.81678629,"mpcc_pred_id_a":0.358910263,"mpcc_pred_iq_a":1.28016829,"mpcc_state":1,"mpcc_theta_e":0.442165375,"mpcc_theta_mech":0.555378973,"sam_rpm":11.9161749,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022224769,"thr_a_norm":0.0137651563,"thr_a_v":0.588899076,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49005264,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.064445,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.588670254,"cg_iw_a":-0.233269691,"cg_theta_rad":0.557229877,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0102691082,"mpcc_du":49.5937614,"mpcc_dv":49.6070518,"mpcc_dw":50.4062386,"mpcc_enc_sign":1,"mpcc_id_a":2.69388556,"mpcc_iq_a":-0.428448528,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.09183598,"mpcc_pred_id_a":-0.24155724,"mpcc_pred_iq_a":-2.35149384,"mpcc_state":1,"mpcc_theta_e":0.443897724,"mpcc_theta_mech":0.555725455,"sam_rpm":12.1720667,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022224769,"thr_a_norm":0.022224769,"thr_a_v":0.588899076,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49005264,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.070946,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.226231575,"cg_iw_a":-2.84282589,"cg_theta_rad":0.552216411,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0362278521,"mpcc_du":49.7584038,"mpcc_dv":49.218399,"mpcc_dw":50.781601,"mpcc_enc_sign":1,"mpcc_id_a":1.04699957,"mpcc_iq_a":-0.221948981,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.99202967,"mpcc_pred_id_a":0.177965194,"mpcc_pred_iq_a":-3.33036184,"mpcc_state":1,"mpcc_theta_e":0.449627399,"mpcc_theta_mech":0.556871414,"sam_rpm":6.3176856,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297905654,"thr_a_norm":0.0297905654,"thr_a_v":0.619162261,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456113547,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.077446,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-2.98076296,"cg_iw_a":2.01384783,"cg_theta_rad":0.556846559,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.00778445881,"mpcc_du":49.7270813,"mpcc_dv":49.5346298,"mpcc_dw":50.4653702,"mpcc_enc_sign":1,"mpcc_id_a":0.254205823,"mpcc_iq_a":-1.37063217,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.927284,"mpcc_pred_id_a":-0.541549265,"mpcc_pred_iq_a":-3.86602378,"mpcc_state":1,"mpcc_theta_e":0.447211266,"mpcc_theta_mech":0.556388199,"sam_rpm":4.59923363,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297905654,"thr_a_norm":0.0297905654,"thr_a_v":0.619162261,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456113547,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.084587,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.31354666,"cg_iw_a":0.709069729,"cg_theta_rad":0.5528332,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.00663172361,"mpcc_du":50.1940002,"mpcc_dv":48.7789574,"mpcc_dw":51.2210426,"mpcc_enc_sign":1,"mpcc_id_a":0.601004422,"mpcc_iq_a":-0.828820348,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.50944328,"mpcc_pred_id_a":-0.0939631537,"mpcc_pred_iq_a":-2.59709144,"mpcc_state":1,"mpcc_theta_e":0.444989204,"mpcc_theta_mech":0.555943787,"sam_rpm":-12.4544277,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.104605153,"thr_a_norm":0.104605153,"thr_a_v":0.918420613,"thr_b":0.0484092385,"thr_b_norm":0.0484092385,"thr_b_v":0.693636954,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.094658,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-2.11091113,"cg_iw_a":0.636582136,"cg_theta_rad":0.557105482,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0424004383,"mpcc_du":49.9771118,"mpcc_dv":48.8320732,"mpcc_dw":51.1679268,"mpcc_enc_sign":1,"mpcc_id_a":2.43856239,"mpcc_iq_a":-1.87969625,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.3126078,"mpcc_pred_id_a":0.385668516,"mpcc_pred_iq_a":-0.481213123,"mpcc_state":1,"mpcc_theta_e":0.424868584,"mpcc_theta_mech":0.551919639,"sam_rpm":-21.9352894,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170508027,"thr_a_norm":0.104605153,"thr_a_v":0.568203211,"thr_b":0,"thr_b_norm":0.0484092385,"thr_b_v":0.44261843,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.105553,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.516182423,"cg_iw_a":-0.81317091,"cg_theta_rad":0.555315435,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0304809995,"mpcc_du":50.8202744,"mpcc_dv":47.9451942,"mpcc_dw":52.0548058,"mpcc_enc_sign":1,"mpcc_id_a":0.39444378,"mpcc_iq_a":-0.921438038,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.47169495,"mpcc_pred_id_a":0.0840934515,"mpcc_pred_iq_a":-1.20478785,"mpcc_state":1,"mpcc_theta_e":0.440152645,"mpcc_theta_mech":0.554976463,"sam_rpm":-11.8453217,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170508027,"thr_a_norm":0.0170508027,"thr_a_v":0.568203211,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44261843,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.116997,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.806133032,"cg_iw_a":-1.68302321,"cg_theta_rad":0.554505348,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0226877276,"mpcc_du":49.5286102,"mpcc_dv":49.7969246,"mpcc_dw":50.4713898,"mpcc_enc_sign":1,"mpcc_id_a":2.58285069,"mpcc_iq_a":-1.04005599,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.24378872,"mpcc_pred_id_a":0.164711028,"mpcc_pred_iq_a":-4.35626316,"mpcc_state":1,"mpcc_theta_e":0.444432735,"mpcc_theta_mech":0.555832446,"sam_rpm":1.77876878,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0187502801,"thr_a_norm":0.0187502801,"thr_a_v":0.575001121,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460544735,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.127159,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.31354666,"cg_iw_a":-2.69785023,"cg_theta_rad":0.552035749,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.00115279458,"mpcc_du":49.5742302,"mpcc_dv":50.4257698,"mpcc_dw":50.3682556,"mpcc_enc_sign":1,"mpcc_id_a":0.63069123,"mpcc_iq_a":-0.757623136,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.27868462,"mpcc_pred_id_a":-0.162038386,"mpcc_pred_iq_a":-2.02356791,"mpcc_state":1,"mpcc_theta_e":0.442662716,"mpcc_theta_mech":0.555478454,"sam_rpm":11.9282522,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0997710973,"thr_a_norm":0.0187502801,"thr_a_v":0.899084389,"thr_b":0.0474273264,"thr_b_norm":0,"thr_b_v":0.689709306,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.136986,"values":{"cg_iu_a":1.90925455,"cg_iv_a":1.15103388,"cg_iw_a":-3.06028843,"cg_theta_rad":0.555193305,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0330692008,"mpcc_du":49.9874001,"mpcc_dv":49.1449127,"mpcc_dw":50.8550873,"mpcc_enc_sign":1,"mpcc_id_a":0.778474927,"mpcc_iq_a":-1.11341095,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.1378026,"mpcc_pred_id_a":-0.17970261,"mpcc_pred_iq_a":-3.21561646,"mpcc_state":1,"mpcc_theta_e":0.448657036,"mpcc_theta_mech":0.557588458,"sam_rpm":7.4782567,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0997710973,"thr_a_norm":0.0997710973,"thr_a_v":0.899084389,"thr_b":0.0474273264,"thr_b_norm":0.0474273264,"thr_b_v":0.689709306,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.147148,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.733645439,"cg_iw_a":-1.03063393,"cg_theta_rad":0.557269573,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0145542892,"mpcc_du":48.9800606,"mpcc_dv":51.0199394,"mpcc_dw":49.6285744,"mpcc_enc_sign":1,"mpcc_id_a":0.323472917,"mpcc_iq_a":-0.563208461,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.09294987,"mpcc_pred_id_a":-0.307742536,"mpcc_pred_iq_a":-2.32560015,"mpcc_state":1,"mpcc_theta_e":0.43847847,"mpcc_theta_mech":0.554641604,"sam_rpm":11.8230133,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0267440975,"thr_a_norm":0.0267440975,"thr_a_v":0.60697639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49483636,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.170586,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-1.82096052,"cg_iw_a":-0.305757523,"cg_theta_rad":0.555535555,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.00292529562,"mpcc_du":52.0479355,"mpcc_dv":46.5870895,"mpcc_dw":53.4129105,"mpcc_enc_sign":1,"mpcc_id_a":-0.156740889,"mpcc_iq_a":-2.48795414,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":20.6350441,"mpcc_pred_id_a":-0.885899663,"mpcc_pred_iq_a":-8.63729477,"mpcc_state":1,"mpcc_theta_e":0.461236,"mpcc_theta_mech":0.559193134,"sam_rpm":-33.6258392,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0267440975,"thr_a_norm":0.0267440975,"thr_a_v":0.60697639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49483636,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.177147,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.806133032,"cg_iw_a":-0.813171148,"cg_theta_rad":0.555579782,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.00768855354,"mpcc_du":49.6361008,"mpcc_dv":49.8835945,"mpcc_dw":50.3638992,"mpcc_enc_sign":1,"mpcc_id_a":0.104623809,"mpcc_iq_a":-1.018502,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.896682382,"mpcc_pred_id_a":-0.462544918,"mpcc_pred_iq_a":-4.82540131,"mpcc_state":1,"mpcc_theta_e":0.444007874,"mpcc_theta_mech":0.556199253,"sam_rpm":1.11311209,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202231556,"thr_a_norm":0.0202231556,"thr_a_v":0.580892622,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452890843,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.183678,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-1.60349751,"cg_iw_a":0.709070206,"cg_theta_rad":0.554443121,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0480596311,"mpcc_du":49.2325401,"mpcc_dv":50.7674599,"mpcc_dw":50.0512543,"mpcc_enc_sign":1,"mpcc_id_a":2.90492868,"mpcc_iq_a":-0.374221355,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.43983936,"mpcc_pred_id_a":0.190258846,"mpcc_pred_iq_a":-7.29066944,"mpcc_state":1,"mpcc_theta_e":0.449353218,"mpcc_theta_mech":0.556816518,"sam_rpm":8.51050568,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202231556,"thr_a_norm":0.0202231556,"thr_a_v":0.580892622,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452890843,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.190178,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.16857147,"cg_iw_a":-1.75551033,"cg_theta_rad":0.554045796,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.00427838601,"mpcc_du":50.3561325,"mpcc_dv":48.5549316,"mpcc_dw":51.4450684,"mpcc_enc_sign":1,"mpcc_id_a":1.2590456,"mpcc_iq_a":-1.13362229,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.23611403,"mpcc_pred_id_a":-0.0399195552,"mpcc_pred_iq_a":-0.480312496,"mpcc_state":1,"mpcc_theta_e":0.434584618,"mpcc_theta_mech":0.55386287,"sam_rpm":-10.9653263,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022224769,"thr_a_norm":0.022224769,"thr_a_v":0.588899076,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.199181,"values":{"cg_iu_a":0.821939945,"cg_iv_a":0.0637187958,"cg_iw_a":-2.84282589,"cg_theta_rad":0.557185173,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0587362684,"mpcc_du":50.2868805,"mpcc_dv":48.574234,"mpcc_dw":51.425766,"mpcc_enc_sign":1,"mpcc_id_a":1.43260682,"mpcc_iq_a":0.759145916,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.73811841,"mpcc_pred_id_a":0.180374697,"mpcc_pred_iq_a":-1.69550729,"mpcc_state":1,"mpcc_theta_e":0.444531918,"mpcc_theta_mech":0.555852294,"sam_rpm":-1.62589729,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0333154052,"thr_a_norm":0.022224769,"thr_a_v":0.633261621,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466083795,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.21035,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.24105906,"cg_iw_a":-1.24809718,"cg_theta_rad":0.556072414,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0299098063,"mpcc_du":49.6209145,"mpcc_dv":49.2143784,"mpcc_dw":50.7856216,"mpcc_enc_sign":1,"mpcc_id_a":2.9395659,"mpcc_iq_a":0.280110687,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.86788607,"mpcc_pred_id_a":0.513104975,"mpcc_pred_iq_a":1.14644527,"mpcc_state":1,"mpcc_theta_e":0.425626278,"mpcc_theta_mech":0.552071154,"sam_rpm":-6.87117004,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0333154052,"thr_a_norm":0.0333154052,"thr_a_v":0.633261621,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466083795,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.22039,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-3.3432014,"cg_iw_a":-3.64018965,"cg_theta_rad":0.555914998,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0119763231,"mpcc_du":50.733242,"mpcc_dv":47.9935608,"mpcc_dw":52.0064392,"mpcc_enc_sign":1,"mpcc_id_a":1.90403235,"mpcc_iq_a":-2.98086643,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.9180727,"mpcc_pred_id_a":0.201824307,"mpcc_pred_iq_a":-0.814517379,"mpcc_state":1,"mpcc_theta_e":0.442244053,"mpcc_theta_mech":0.555394769,"sam_rpm":-9.98933983,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289093554,"thr_a_norm":0.0289093554,"thr_a_v":0.615637422,"thr_b":0.00214579701,"thr_b_norm":0.00214579701,"thr_b_v":0.508583188,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.232567,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.878620625,"cg_iw_a":-0.015806675,"cg_theta_rad":0.557843983,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0091433404,"mpcc_du":49.9469643,"mpcc_dv":49.3218269,"mpcc_dw":50.6781731,"mpcc_enc_sign":1,"mpcc_id_a":-0.032511279,"mpcc_iq_a":-2.2633028,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.70171547,"mpcc_pred_id_a":-0.557060719,"mpcc_pred_iq_a":-3.07625771,"mpcc_state":1,"mpcc_theta_e":0.455724239,"mpcc_theta_mech":0.558090806,"sam_rpm":10.4517059,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176047087,"thr_a_norm":0.0289093554,"thr_a_v":0.570418835,"thr_b":0,"thr_b_norm":0.00214579701,"thr_b_v":0.436021954,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.242485,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.806133032,"cg_iw_a":-1.8279984,"cg_theta_rad":0.556870997,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0404109284,"mpcc_du":50.9356613,"mpcc_dv":47.612072,"mpcc_dw":52.387928,"mpcc_enc_sign":1,"mpcc_id_a":0.649028301,"mpcc_iq_a":-1.04979813,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.13988709,"mpcc_pred_id_a":-0.300259024,"mpcc_pred_iq_a":-4.34466791,"mpcc_state":1,"mpcc_theta_e":0.447533131,"mpcc_theta_mech":0.556452513,"sam_rpm":-24.7053261,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176047087,"thr_a_norm":0.0176047087,"thr_a_v":0.570418835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.436021954,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.2658,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.806133032,"cg_iw_a":-1.97297335,"cg_theta_rad":0.554009914,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.00070501992,"mpcc_du":50.9925957,"mpcc_dv":47.9302979,"mpcc_dw":52.0697021,"mpcc_enc_sign":1,"mpcc_id_a":-0.323721915,"mpcc_iq_a":-2.14995933,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.3375521,"mpcc_pred_id_a":-0.570383608,"mpcc_pred_iq_a":0.548103333,"mpcc_state":1,"mpcc_theta_e":0.431184292,"mpcc_theta_mech":0.553182781,"sam_rpm":-20.3075981,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0304955393,"thr_a_norm":0.0304955393,"thr_a_v":0.621982157,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.272331,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.74847269,"cg_iw_a":1.14399576,"cg_theta_rad":0.554027557,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.00775135774,"mpcc_du":50.8507271,"mpcc_dv":47.859066,"mpcc_dw":52.140934,"mpcc_enc_sign":1,"mpcc_id_a":0.205578536,"mpcc_iq_a":-1.73650157,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-24.4943371,"mpcc_pred_id_a":-0.0735526755,"mpcc_pred_iq_a":-0.0215087514,"mpcc_state":1,"mpcc_theta_e":0.419094086,"mpcc_theta_mech":0.55076474,"sam_rpm":-36.8899307,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0304955393,"thr_a_norm":0.0304955393,"thr_a_v":0.621982157,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.278831,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.82096052,"cg_iw_a":0.564094543,"cg_theta_rad":0.55740422,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0296158381,"mpcc_du":49.4751778,"mpcc_dv":50.0431709,"mpcc_dw":50.5248222,"mpcc_enc_sign":1,"mpcc_id_a":3.0368948,"mpcc_iq_a":-0.427488476,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.12176275,"mpcc_pred_id_a":0.544926107,"mpcc_pred_iq_a":-3.70778012,"mpcc_state":1,"mpcc_theta_e":0.446156025,"mpcc_theta_mech":0.556177139,"sam_rpm":5.6767478,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262909085,"thr_a_norm":0.0262909085,"thr_a_v":0.605163634,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498512268,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.285362,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.443694592,"cg_iw_a":-2.40789986,"cg_theta_rad":0.556072831,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0293979011,"mpcc_du":49.1970673,"mpcc_dv":50.8029327,"mpcc_dw":49.9003143,"mpcc_enc_sign":1,"mpcc_id_a":3.24591684,"mpcc_iq_a":-0.275686115,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.8858128,"mpcc_pred_id_a":0.66397649,"mpcc_pred_iq_a":-2.16823912,"mpcc_state":1,"mpcc_theta_e":0.426623821,"mpcc_theta_mech":0.55227071,"sam_rpm":16.1605701,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174914151,"thr_a_norm":0.0262909085,"thr_a_v":0.569965661,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454401463,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.293114,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.6759851,"cg_iw_a":0.201656103,"cg_theta_rad":0.556153715,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0214140322,"mpcc_du":49.9101639,"mpcc_dv":49.0177574,"mpcc_dw":50.9822426,"mpcc_enc_sign":1,"mpcc_id_a":2.02087259,"mpcc_iq_a":-0.871940732,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.54858637,"mpcc_pred_id_a":0.233373627,"mpcc_pred_iq_a":-1.27832186,"mpcc_state":1,"mpcc_theta_e":0.447222233,"mpcc_theta_mech":0.556390345,"sam_rpm":7.00238705,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174914151,"thr_a_norm":0.0174914151,"thr_a_v":0.569965661,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454401463,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.303154,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.16857147,"cg_iw_a":-1.75551081,"cg_theta_rad":0.556409001,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0329687186,"mpcc_du":50.4870949,"mpcc_dv":48.243927,"mpcc_dw":51.756073,"mpcc_enc_sign":1,"mpcc_id_a":2.40869403,"mpcc_iq_a":-0.383685499,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.44102621,"mpcc_pred_id_a":0.329363227,"mpcc_pred_iq_a":-0.518508434,"mpcc_state":1,"mpcc_theta_e":0.437805653,"mpcc_theta_mech":0.554507077,"sam_rpm":-8.34263706,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190020651,"thr_a_norm":0.0190020651,"thr_a_v":0.57600826,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471169591,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.312981,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.24105906,"cg_iw_a":-0.958146334,"cg_theta_rad":0.554233789,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0143600786,"mpcc_du":49.5524216,"mpcc_dv":49.8522644,"mpcc_dw":50.4475784,"mpcc_enc_sign":1,"mpcc_id_a":2.04145384,"mpcc_iq_a":-0.666043222,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.1640015,"mpcc_pred_id_a":0.0585586242,"mpcc_pred_iq_a":-2.40030336,"mpcc_state":1,"mpcc_theta_e":0.454133511,"mpcc_theta_mech":0.557772577,"sam_rpm":25.9524574,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190020651,"thr_a_norm":0.0190020651,"thr_a_v":0.57600826,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471169591,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.323143,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.02359605,"cg_iw_a":0.274143934,"cg_theta_rad":0.55710566,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0385393016,"mpcc_du":49.8196831,"mpcc_dv":49.1575737,"mpcc_dw":50.8424263,"mpcc_enc_sign":1,"mpcc_id_a":1.37444615,"mpcc_iq_a":-0.891107798,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.62654686,"mpcc_pred_id_a":0.00286746048,"mpcc_pred_iq_a":0.58309263,"mpcc_state":1,"mpcc_theta_e":0.423814297,"mpcc_theta_mech":0.551708758,"sam_rpm":-16.5563526,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185992122,"thr_a_norm":0.0185992122,"thr_a_v":0.574396849,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466385901,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.333549,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.6759851,"cg_iw_a":-0.160782099,"cg_theta_rad":0.555470109,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.00176982034,"mpcc_du":49.5933456,"mpcc_dv":50.3220558,"mpcc_dw":50.4066544,"mpcc_enc_sign":1,"mpcc_id_a":0.113278098,"mpcc_iq_a":-0.654632688,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.7629967,"mpcc_pred_id_a":-0.183440089,"mpcc_pred_iq_a":-0.90941453,"mpcc_state":1,"mpcc_theta_e":0.450500488,"mpcc_theta_mech":0.557046056,"sam_rpm":23.9666405,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0328370333,"thr_a_norm":0.0185992122,"thr_a_v":0.631348133,"thr_b":0.00759670138,"thr_b_norm":0,"thr_b_v":0.530386806,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.343407,"values":{"cg_iu_a":1.90925455,"cg_iv_a":1.22352171,"cg_iw_a":-4.07511616,"cg_theta_rad":0.559036732,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0193536915,"mpcc_du":50.1434402,"mpcc_dv":48.7269707,"mpcc_dw":51.2730293,"mpcc_enc_sign":1,"mpcc_id_a":1.9967804,"mpcc_iq_a":-1.59603059,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.35075045,"mpcc_pred_id_a":0.122772507,"mpcc_pred_iq_a":-2.28403902,"mpcc_state":1,"mpcc_theta_e":0.444685459,"mpcc_theta_mech":0.55588305,"sam_rpm":-3.12058496,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0328370333,"thr_a_norm":0.0328370333,"thr_a_v":0.631348133,"thr_b":0.00759670138,"thr_b_norm":0.00759670138,"thr_b_v":0.530386806,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.366783,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.60349751,"cg_iw_a":-1.68302298,"cg_theta_rad":0.552151024,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0105046285,"mpcc_du":51.5564651,"mpcc_dv":47.1264267,"mpcc_dw":52.8735733,"mpcc_enc_sign":1,"mpcc_id_a":0.322559327,"mpcc_iq_a":-0.0508411042,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.171587,"mpcc_pred_id_a":-0.453603595,"mpcc_pred_iq_a":3.10874462,"mpcc_state":1,"mpcc_theta_e":0.428448677,"mpcc_theta_mech":0.55263561,"sam_rpm":-22.3805618,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220359415,"thr_a_norm":0.0220359415,"thr_a_v":0.588143766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464824885,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.373314,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-0.951108456,"cg_iw_a":-2.62536287,"cg_theta_rad":0.554980457,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.00162533217,"mpcc_du":49.6787872,"mpcc_dv":49.4953766,"mpcc_dw":50.5046234,"mpcc_enc_sign":1,"mpcc_id_a":0.035030283,"mpcc_iq_a":-1.6787349,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.608618021,"mpcc_pred_id_a":-0.395828247,"mpcc_pred_iq_a":-3.84989548,"mpcc_state":1,"mpcc_theta_e":0.441808701,"mpcc_theta_mech":0.555307627,"sam_rpm":-0.959774077,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220359415,"thr_a_norm":0.0220359415,"thr_a_v":0.588143766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464824885,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.379784,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-1.31354666,"cg_iw_a":1.07150841,"cg_theta_rad":0.553626716,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0473029353,"mpcc_du":50.4585037,"mpcc_dv":47.9992256,"mpcc_dw":52.0007744,"mpcc_enc_sign":1,"mpcc_id_a":4.10262442,"mpcc_iq_a":-0.738794208,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.5806046,"mpcc_pred_id_a":0.760256052,"mpcc_pred_iq_a":-0.215701416,"mpcc_state":1,"mpcc_theta_e":0.453682423,"mpcc_theta_mech":0.557682395,"sam_rpm":-18.2568359,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248809755,"thr_a_norm":0.0248809755,"thr_a_v":0.599523902,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.386345,"values":{"cg_iu_a":-0.555325985,"cg_iv_a":-0.371207237,"cg_iw_a":0.926533222,"cg_theta_rad":0.554449201,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0188023485,"mpcc_du":50.5931129,"mpcc_dv":48.1053238,"mpcc_dw":51.8946762,"mpcc_enc_sign":1,"mpcc_id_a":2.35292768,"mpcc_iq_a":-1.85928595,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.2175113,"mpcc_pred_id_a":0.248252228,"mpcc_pred_iq_a":1.40710926,"mpcc_state":1,"mpcc_theta_e":0.444940567,"mpcc_theta_mech":0.555934012,"sam_rpm":2.73924112,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166983306,"thr_a_norm":0.0248809755,"thr_a_v":0.566793323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.393974,"values":{"cg_iu_a":1.61930418,"cg_iv_a":0.0637187958,"cg_iw_a":-2.33541203,"cg_theta_rad":0.556882083,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0309181996,"mpcc_du":49.8934212,"mpcc_dv":48.9958534,"mpcc_dw":51.0041466,"mpcc_enc_sign":1,"mpcc_id_a":2.80463958,"mpcc_iq_a":-1.41588581,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.289669,"mpcc_pred_id_a":0.296105653,"mpcc_pred_iq_a":-0.1844116,"mpcc_state":1,"mpcc_theta_e":0.455482006,"mpcc_theta_mech":0.558042347,"sam_rpm":18.4342289,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166983306,"thr_a_norm":0.0166983306,"thr_a_v":0.566793323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.405174,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.6759851,"cg_iw_a":-2.11794901,"cg_theta_rad":0.556568325,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0076703513,"mpcc_du":50.0377083,"mpcc_dv":49.1676292,"mpcc_dw":50.8323708,"mpcc_enc_sign":1,"mpcc_id_a":1.08742499,"mpcc_iq_a":-2.32283759,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.86523962,"mpcc_pred_id_a":-0.535740197,"mpcc_pred_iq_a":-4.03398895,"mpcc_state":1,"mpcc_theta_e":0.445207119,"mpcc_theta_mech":0.555987298,"sam_rpm":-3.13926601,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173907131,"thr_a_norm":0.0173907131,"thr_a_v":0.569562852,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456667423,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.416374,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.371207237,"cg_iw_a":0.129168749,"cg_theta_rad":0.555718899,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0150291165,"mpcc_du":49.5747566,"mpcc_dv":50.1763268,"mpcc_dw":50.4252434,"mpcc_enc_sign":1,"mpcc_id_a":2.07572007,"mpcc_iq_a":-2.45444489,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.05898356,"mpcc_pred_id_a":0.0686617941,"mpcc_pred_iq_a":-4.91357899,"mpcc_state":1,"mpcc_theta_e":0.440468788,"mpcc_theta_mech":0.555039644,"sam_rpm":-5.98038673,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242767185,"thr_a_norm":0.0173907131,"thr_a_v":0.597106874,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479880989,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.426567,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.661157608,"cg_iw_a":-3.56770229,"cg_theta_rad":0.556444108,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.00272903452,"mpcc_du":50.7140579,"mpcc_dv":48.1462517,"mpcc_dw":51.8537483,"mpcc_enc_sign":1,"mpcc_id_a":0.929359496,"mpcc_iq_a":-1.67230368,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.77584743,"mpcc_pred_id_a":-0.175307602,"mpcc_pred_iq_a":1.09379756,"mpcc_state":1,"mpcc_theta_e":0.434361935,"mpcc_theta_mech":0.553818345,"sam_rpm":-13.8009777,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242767185,"thr_a_norm":0.0242767185,"thr_a_v":0.597106874,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479880989,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.436974,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.24105906,"cg_iw_a":0.274143934,"cg_theta_rad":0.555185616,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0275547113,"mpcc_du":48.970417,"mpcc_dv":51.029583,"mpcc_dw":49.7993698,"mpcc_enc_sign":1,"mpcc_id_a":2.90296388,"mpcc_iq_a":-0.389169186,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.4013577,"mpcc_pred_id_a":0.304566324,"mpcc_pred_iq_a":-4.01899815,"mpcc_state":1,"mpcc_theta_e":0.454500675,"mpcc_theta_mech":0.55784601,"sam_rpm":25.7394161,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0159555972,"thr_a_norm":0.0159555972,"thr_a_v":0.563822389,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466688037,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.446739,"values":{"cg_iu_a":2.41666842,"cg_iv_a":0.136206627,"cg_iw_a":-2.55287504,"cg_theta_rad":0.551594377,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0178593472,"mpcc_du":50.380394,"mpcc_dv":48.4515228,"mpcc_dw":51.5484772,"mpcc_enc_sign":1,"mpcc_id_a":2.29302573,"mpcc_iq_a":-1.4854784,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.95911312,"mpcc_pred_id_a":0.196510732,"mpcc_pred_iq_a":-1.93502986,"mpcc_state":1,"mpcc_theta_e":0.438044071,"mpcc_theta_mech":0.554554701,"sam_rpm":-13.3590117,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0159555972,"thr_a_norm":0.0159555972,"thr_a_v":0.563822389,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466688037,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.470177,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.74847269,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.557055712,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0168710109,"mpcc_du":50.7010994,"mpcc_dv":48.0920219,"mpcc_dw":51.9079781,"mpcc_enc_sign":1,"mpcc_id_a":2.01631951,"mpcc_iq_a":-1.22092903,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.45306158,"mpcc_pred_id_a":0.113647304,"mpcc_pred_iq_a":0.199669942,"mpcc_state":1,"mpcc_theta_e":0.439473629,"mpcc_theta_mech":0.554840684,"sam_rpm":-9.11338806,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.041800186,"thr_a_norm":0.041800186,"thr_a_v":0.667200744,"thr_b":0.0117761493,"thr_b_norm":0.0117761493,"thr_b_v":0.547104597,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.476707,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.878620625,"cg_iw_a":0.854045391,"cg_theta_rad":0.554407358,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.00503340503,"mpcc_du":50.9805336,"mpcc_dv":47.9315567,"mpcc_dw":52.0684433,"mpcc_enc_sign":1,"mpcc_id_a":0.155626699,"mpcc_iq_a":-1.45038283,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.4100132,"mpcc_pred_id_a":-0.439286202,"mpcc_pred_iq_a":-0.787477076,"mpcc_state":1,"mpcc_theta_e":0.432691097,"mpcc_theta_mech":0.553484142,"sam_rpm":-20.9221687,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00697985291,"thr_a_norm":0.041800186,"thr_a_v":0.527919412,"thr_b":0,"thr_b_norm":0.0117761493,"thr_b_v":0.430684388,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.483208,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.24105906,"cg_iw_a":-1.03063416,"cg_theta_rad":0.55329442,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.00436527561,"mpcc_du":50.3030243,"mpcc_dv":48.8604088,"mpcc_dw":51.1395912,"mpcc_enc_sign":1,"mpcc_id_a":-0.960638404,"mpcc_iq_a":-3.48727083,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.0461655,"mpcc_pred_id_a":-0.451975286,"mpcc_pred_iq_a":-4.21133184,"mpcc_state":1,"mpcc_theta_e":0.457066536,"mpcc_theta_mech":0.558359206,"sam_rpm":4.12171793,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00697985291,"thr_a_norm":0.00697985291,"thr_a_v":0.527919412,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.430684388,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.489738,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-1.09608364,"cg_iw_a":-1.82799816,"cg_theta_rad":0.554361999,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0741403848,"mpcc_du":49.9882507,"mpcc_dv":48.6149368,"mpcc_dw":51.3850632,"mpcc_enc_sign":1,"mpcc_id_a":4.35029459,"mpcc_iq_a":0.49099201,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.56669176,"mpcc_pred_id_a":1.05146933,"mpcc_pred_iq_a":-0.999377131,"mpcc_state":1,"mpcc_theta_e":0.442327499,"mpcc_theta_mech":0.555411458,"sam_rpm":-1.96376431,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174662322,"thr_a_norm":0.0174662322,"thr_a_v":0.569864929,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446344733,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.497734,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-2.11091113,"cg_iw_a":-0.45073247,"cg_theta_rad":0.556510866,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0303471908,"mpcc_du":50.0930939,"mpcc_dv":48.6005363,"mpcc_dw":51.3994637,"mpcc_enc_sign":1,"mpcc_id_a":3.35042048,"mpcc_iq_a":-0.5962075,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.10964203,"mpcc_pred_id_a":0.711375833,"mpcc_pred_iq_a":-0.271011025,"mpcc_state":1,"mpcc_theta_e":0.43856144,"mpcc_theta_mech":0.554658175,"sam_rpm":-6.48705626,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174662322,"thr_a_norm":0.0174662322,"thr_a_v":0.569864929,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446344733,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.507957,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.6759851,"cg_iw_a":-2.26292419,"cg_theta_rad":0.556178093,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0214027539,"mpcc_du":50.5187111,"mpcc_dv":48.1894073,"mpcc_dw":51.8105927,"mpcc_enc_sign":1,"mpcc_id_a":2.26190662,"mpcc_iq_a":0.339984089,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.6026621,"mpcc_pred_id_a":0.278477639,"mpcc_pred_iq_a":-0.0344271585,"mpcc_state":1,"mpcc_theta_e":0.433990955,"mpcc_theta_mech":0.553744137,"sam_rpm":-16.482048,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237479955,"thr_a_norm":0.0237479955,"thr_a_v":0.594991982,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464220643,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.518181,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-3.27071381,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556298673,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0652057678,"mpcc_du":49.373436,"mpcc_dv":50.626564,"mpcc_dw":50.2011795,"mpcc_enc_sign":1,"mpcc_id_a":1.33584702,"mpcc_iq_a":-3.74362278,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.63878417,"mpcc_pred_id_a":0.0931639224,"mpcc_pred_iq_a":-3.13481331,"mpcc_state":1,"mpcc_theta_e":0.431498051,"mpcc_theta_mech":0.553245485,"sam_rpm":-1.32917857,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0237479955,"thr_a_v":0.618709087,"thr_b":0.00603571534,"thr_b_norm":0,"thr_b_v":0.524142861,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.530174,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-2.25588632,"cg_iw_a":-0.523220301,"cg_theta_rad":0.55334866,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0179093182,"mpcc_du":50.5533371,"mpcc_dv":48.42873,"mpcc_dw":51.57127,"mpcc_enc_sign":1,"mpcc_id_a":-0.0066289762,"mpcc_iq_a":-2.55260968,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.11363268,"mpcc_pred_id_a":-0.981340468,"mpcc_pred_iq_a":-6.32223749,"mpcc_state":1,"mpcc_theta_e":0.453288555,"mpcc_theta_mech":0.555492818,"sam_rpm":-4.83705902,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00603571534,"thr_b_norm":0.00603571534,"thr_b_v":0.524142861,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.540367,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.951108456,"cg_iw_a":-1.61053514,"cg_theta_rad":0.555994689,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0178753845,"mpcc_du":49.2345314,"mpcc_dv":50.7654686,"mpcc_dw":50.2439499,"mpcc_enc_sign":1,"mpcc_id_a":2.58610892,"mpcc_iq_a":-0.00942281354,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.05190372,"mpcc_pred_id_a":0.531748354,"mpcc_pred_iq_a":-2.03100705,"mpcc_state":1,"mpcc_theta_e":0.439651489,"mpcc_theta_mech":0.554876208,"sam_rpm":11.2531185,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275623649,"thr_a_norm":0.0275623649,"thr_a_v":0.61024946,"thr_b":9.3832612e-05,"thr_b_norm":9.3832612e-05,"thr_b_v":0.50037533,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.550682,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.588670254,"cg_iw_a":0.274144173,"cg_theta_rad":0.557433784,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.009307025,"mpcc_du":50.0335617,"mpcc_dv":49.1313858,"mpcc_dw":51.2200279,"mpcc_enc_sign":1,"mpcc_id_a":-0.0393634439,"mpcc_iq_a":-1.97431684,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.36733818,"mpcc_pred_id_a":-0.609235406,"mpcc_pred_iq_a":-2.19369078,"mpcc_state":1,"mpcc_theta_e":0.449234009,"mpcc_theta_mech":0.556618333,"sam_rpm":8.9557457,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023936823,"thr_a_norm":0.0275623649,"thr_a_v":0.595747292,"thr_b":0,"thr_b_norm":9.3832612e-05,"thr_b_v":0.482600152,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.573784,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.96593571,"cg_iw_a":0.926532745,"cg_theta_rad":0.552844465,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0947721973,"mpcc_du":50.3996849,"mpcc_dv":48.0359383,"mpcc_dw":51.9640617,"mpcc_enc_sign":1,"mpcc_id_a":4.44038582,"mpcc_iq_a":-0.691596866,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.32098365,"mpcc_pred_id_a":1.06486368,"mpcc_pred_iq_a":0.066258952,"mpcc_state":1,"mpcc_theta_e":0.448318481,"mpcc_theta_mech":0.556609571,"sam_rpm":4.40619659,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023936823,"thr_a_norm":0.023936823,"thr_a_v":0.595747292,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482600152,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.580345,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.17560959,"cg_theta_rad":0.557908118,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0109523525,"mpcc_du":50.2661552,"mpcc_dv":48.6749382,"mpcc_dw":51.3250618,"mpcc_enc_sign":1,"mpcc_id_a":0.522104263,"mpcc_iq_a":-0.477274537,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.21832609,"mpcc_pred_id_a":-0.235916823,"mpcc_pred_iq_a":0.0764734894,"mpcc_state":1,"mpcc_theta_e":0.446268559,"mpcc_theta_mech":0.55619961,"sam_rpm":3.29900932,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023206681,"thr_a_norm":0.023206681,"thr_a_v":0.592826724,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497051924,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.586815,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-3.12573838,"cg_iw_a":1.57892203,"cg_theta_rad":0.553553283,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.00152452558,"mpcc_du":50.9217567,"mpcc_dv":47.7810287,"mpcc_dw":52.2189713,"mpcc_enc_sign":1,"mpcc_id_a":0.710930645,"mpcc_iq_a":-0.59632808,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.4772882,"mpcc_pred_id_a":-0.198142678,"mpcc_pred_iq_a":1.54557502,"mpcc_state":1,"mpcc_theta_e":0.428473473,"mpcc_theta_mech":0.557264745,"sam_rpm":-22.0435181,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023206681,"thr_a_norm":0.023206681,"thr_a_v":0.592826724,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497051924,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.593315,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.661157608,"cg_iw_a":-2.55287504,"cg_theta_rad":0.556069314,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0480333045,"mpcc_du":50.571476,"mpcc_dv":48.0699463,"mpcc_dw":51.9300537,"mpcc_enc_sign":1,"mpcc_id_a":2.05202103,"mpcc_iq_a":0.366399884,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.79865098,"mpcc_pred_id_a":0.101943046,"mpcc_pred_iq_a":-6.28928852,"mpcc_state":1,"mpcc_theta_e":0.447191715,"mpcc_theta_mech":0.556384265,"sam_rpm":4.71090698,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0140798837,"thr_a_norm":0.0140798837,"thr_a_v":0.556319535,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443424135,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.603569,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.661157608,"cg_iw_a":-2.04546165,"cg_theta_rad":0.557115614,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0335670635,"mpcc_du":50.3974915,"mpcc_dv":48.2205162,"mpcc_dw":51.7794838,"mpcc_enc_sign":1,"mpcc_id_a":2.80393815,"mpcc_iq_a":-1.2478224,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.715456,"mpcc_pred_id_a":0.34506619,"mpcc_pred_iq_a":0.356122047,"mpcc_state":1,"mpcc_theta_e":0.420032978,"mpcc_theta_mech":0.550952554,"sam_rpm":-30.9299622,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201728046,"thr_a_norm":0.0140798837,"thr_a_v":0.580691218,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461501479,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.615349,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.91531324,"cg_theta_rad":0.556068182,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.018431304,"mpcc_du":50.2183456,"mpcc_dv":48.4715195,"mpcc_dw":51.5284805,"mpcc_enc_sign":1,"mpcc_id_a":2.22626519,"mpcc_iq_a":-0.591000497,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.8930588,"mpcc_pred_id_a":0.313584834,"mpcc_pred_iq_a":0.446331322,"mpcc_state":1,"mpcc_theta_e":0.425532341,"mpcc_theta_mech":0.552052379,"sam_rpm":-22.2723923,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201728046,"thr_a_norm":0.0201728046,"thr_a_v":0.580691218,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461501479,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.625572,"values":{"cg_iu_a":-1.1352272,"cg_iv_a":-1.02359605,"cg_iw_a":2.15882325,"cg_theta_rad":0.555674314,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.00835410692,"mpcc_du":50.1542892,"mpcc_dv":48.8356247,"mpcc_dw":51.1643753,"mpcc_enc_sign":1,"mpcc_id_a":0.906490982,"mpcc_iq_a":-2.91326642,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.0932126,"mpcc_pred_id_a":-0.210462242,"mpcc_pred_iq_a":-1.47270286,"mpcc_state":1,"mpcc_theta_e":0.436984062,"mpcc_theta_mech":0.554342687,"sam_rpm":-10.4587631,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278141499,"thr_a_norm":0.0278141499,"thr_a_v":0.611256599,"thr_b":0.000647738576,"thr_b_norm":0.000647738576,"thr_b_v":0.502590954,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.635643,"values":{"cg_iu_a":-0.990252018,"cg_iv_a":-0.588670254,"cg_iw_a":-1.75551081,"cg_theta_rad":0.556951642,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0225869194,"mpcc_du":49.8967705,"mpcc_dv":48.8962097,"mpcc_dw":51.1037903,"mpcc_enc_sign":1,"mpcc_id_a":2.57456446,"mpcc_iq_a":0.122835509,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.55617905,"mpcc_pred_id_a":0.481912404,"mpcc_pred_iq_a":-0.0245215055,"mpcc_state":1,"mpcc_theta_e":0.444393158,"mpcc_theta_mech":0.555824578,"sam_rpm":1.49835241,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296394974,"thr_a_norm":0.0278141499,"thr_a_v":0.61855799,"thr_b":0.00392080843,"thr_b_norm":0.000647738576,"thr_b_v":0.515683234,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.6455,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.298719406,"cg_iw_a":0.0566809177,"cg_theta_rad":0.554965436,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0330080539,"mpcc_du":50.287384,"mpcc_dv":48.6163521,"mpcc_dw":51.3836479,"mpcc_enc_sign":1,"mpcc_id_a":0.0179105997,"mpcc_iq_a":-1.60985863,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.352088,"mpcc_pred_id_a":-0.0926189572,"mpcc_pred_iq_a":0.963162541,"mpcc_state":1,"mpcc_theta_e":0.422855377,"mpcc_theta_mech":0.55151701,"sam_rpm":-23.6725712,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296394974,"thr_a_norm":0.0296394974,"thr_a_v":0.61855799,"thr_b":0.00392080843,"thr_b_norm":0.00392080843,"thr_b_v":0.515683234,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.671135,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.371207237,"cg_iw_a":-1.24809694,"cg_theta_rad":0.556241691,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0109152626,"mpcc_du":48.5139961,"mpcc_dv":51.4860039,"mpcc_dw":49.1319199,"mpcc_enc_sign":1,"mpcc_id_a":1.91701674,"mpcc_iq_a":-1.25263548,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.8104534,"mpcc_pred_id_a":-0.0788363889,"mpcc_pred_iq_a":-7.75004101,"mpcc_state":1,"mpcc_theta_e":0.452291012,"mpcc_theta_mech":0.557404101,"sam_rpm":17.1753445,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020437181,"thr_a_norm":0.020437181,"thr_a_v":0.581748724,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451682299,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.677666,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.74847269,"cg_iw_a":-2.84282541,"cg_theta_rad":0.557787776,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0332517177,"mpcc_du":50.1298294,"mpcc_dv":48.6866455,"mpcc_dw":51.3133545,"mpcc_enc_sign":1,"mpcc_id_a":2.36892366,"mpcc_iq_a":-0.481096178,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.24181151,"mpcc_pred_id_a":0.368755192,"mpcc_pred_iq_a":-0.493173897,"mpcc_state":1,"mpcc_theta_e":0.446917057,"mpcc_theta_mech":0.55632937,"sam_rpm":5.35823202,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226401836,"thr_a_norm":0.020437181,"thr_a_v":0.590560734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.684166,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-2.54583716,"cg_iw_a":0.419119596,"cg_theta_rad":0.553325593,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.00713816099,"mpcc_du":49.9288521,"mpcc_dv":49.0567627,"mpcc_dw":50.9432373,"mpcc_enc_sign":1,"mpcc_id_a":1.4472543,"mpcc_iq_a":-1.76805747,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.396534,"mpcc_pred_id_a":-0.0761138126,"mpcc_pred_iq_a":-2.77027082,"mpcc_state":1,"mpcc_theta_e":0.431670666,"mpcc_theta_mech":0.553988159,"sam_rpm":-16.3161335,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226401836,"thr_a_norm":0.0226401836,"thr_a_v":0.590560734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.690971,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.02359605,"cg_iw_a":-0.668195486,"cg_theta_rad":0.55518806,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0057355403,"mpcc_du":50.6366997,"mpcc_dv":48.5354233,"mpcc_dw":51.4645767,"mpcc_enc_sign":1,"mpcc_id_a":0.328825116,"mpcc_iq_a":-1.62987936,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.388833821,"mpcc_pred_id_a":-0.812820792,"mpcc_pred_iq_a":-0.0478808694,"mpcc_state":1,"mpcc_theta_e":0.45368433,"mpcc_theta_mech":0.557682812,"sam_rpm":0.920844853,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254600644,"thr_a_norm":0.0254600644,"thr_a_v":0.601840258,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484261811,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.701164,"values":{"cg_iu_a":0.24203825,"cg_iv_a":0.208694458,"cg_iw_a":-2.11794901,"cg_theta_rad":0.556976616,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0706344917,"mpcc_du":50.7933159,"mpcc_dv":47.980278,"mpcc_dw":52.019722,"mpcc_enc_sign":1,"mpcc_id_a":2.81560612,"mpcc_iq_a":-0.895089746,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.00513020623,"mpcc_pred_id_a":0.276954114,"mpcc_pred_iq_a":-0.500203133,"mpcc_state":1,"mpcc_theta_e":0.451320171,"mpcc_theta_mech":0.557209909,"sam_rpm":1.16577232,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182341486,"thr_a_norm":0.0254600644,"thr_a_v":0.572936594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456415653,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.710747,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.53100967,"cg_iw_a":-1.17560959,"cg_theta_rad":0.554677784,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0387865603,"mpcc_du":50.2632446,"mpcc_dv":49.5370979,"mpcc_dw":50.4629021,"mpcc_enc_sign":1,"mpcc_id_a":0.800551653,"mpcc_iq_a":0.269405603,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.47263885,"mpcc_pred_id_a":-0.1697056,"mpcc_pred_iq_a":-0.82910651,"mpcc_state":1,"mpcc_theta_e":0.448637009,"mpcc_theta_mech":0.556673288,"sam_rpm":6.68281651,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182341486,"thr_a_norm":0.0182341486,"thr_a_v":0.572936594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456415653,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.721123,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.226231575,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.554682612,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.000730325351,"mpcc_du":50.5082855,"mpcc_dv":48.4710846,"mpcc_dw":51.5289154,"mpcc_enc_sign":1,"mpcc_id_a":0.488067359,"mpcc_iq_a":-1.56883562,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.658465147,"mpcc_pred_id_a":-0.247857288,"mpcc_pred_iq_a":1.04513645,"mpcc_state":1,"mpcc_theta_e":0.441719532,"mpcc_theta_mech":0.555289805,"sam_rpm":-1.20356166,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179949552,"thr_a_norm":0.0179949552,"thr_a_v":0.571979821,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.731133,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.38603449,"cg_iw_a":-0.378244877,"cg_theta_rad":0.555048406,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0436890125,"mpcc_du":50.139534,"mpcc_dv":48.8869858,"mpcc_dw":51.1130142,"mpcc_enc_sign":1,"mpcc_id_a":0.139481217,"mpcc_iq_a":-0.434582949,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.06277132,"mpcc_pred_id_a":-0.125016436,"mpcc_pred_iq_a":-1.84714842,"mpcc_state":1,"mpcc_theta_e":0.449703693,"mpcc_theta_mech":0.556886673,"sam_rpm":9.8966856,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179949552,"thr_a_norm":0.0179949552,"thr_a_v":0.571979821,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.741325,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.298719406,"cg_iw_a":-2.33541203,"cg_theta_rad":0.553143919,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.000651653274,"mpcc_du":49.2723808,"mpcc_dv":50.7276192,"mpcc_dw":50.0813637,"mpcc_enc_sign":1,"mpcc_id_a":0.495381862,"mpcc_iq_a":-1.05639648,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.58836842,"mpcc_pred_id_a":-0.343040079,"mpcc_pred_iq_a":0.362916321,"mpcc_state":1,"mpcc_theta_e":0.435005188,"mpcc_theta_mech":0.553946912,"sam_rpm":13.9235125,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0457907915,"thr_a_norm":0.0457907915,"thr_a_v":0.683163166,"thr_b":0.0191657096,"thr_b_norm":0.0191657096,"thr_b_v":0.576662838,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.751457,"values":{"cg_iu_a":3.79393435,"cg_iv_a":-0.298719406,"cg_iw_a":-0.523220062,"cg_theta_rad":0.555143654,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.00791637972,"mpcc_du":50.315361,"mpcc_dv":48.4862862,"mpcc_dw":51.5137138,"mpcc_enc_sign":1,"mpcc_id_a":-0.86477226,"mpcc_iq_a":-1.39288855,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.825889111,"mpcc_pred_id_a":-0.756961346,"mpcc_pred_iq_a":-4.80987787,"mpcc_state":1,"mpcc_theta_e":0.437685013,"mpcc_theta_mech":0.55195713,"sam_rpm":-0.653692126,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196692646,"thr_a_norm":0.0457907915,"thr_a_v":0.578677058,"thr_b":0,"thr_b_norm":0.0191657096,"thr_b_v":0.463868171,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.774345,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.153744221,"cg_iw_a":-0.958146095,"cg_theta_rad":0.558892787,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0284559522,"mpcc_du":51.0914764,"mpcc_dv":47.6600075,"mpcc_dw":52.3399925,"mpcc_enc_sign":1,"mpcc_id_a":0.681892395,"mpcc_iq_a":0.183637917,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.06139755,"mpcc_pred_id_a":-0.0746499524,"mpcc_pred_iq_a":-0.160220742,"mpcc_state":1,"mpcc_theta_e":0.454626083,"mpcc_theta_mech":0.557871103,"sam_rpm":-21.854084,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196692646,"thr_a_norm":0.0196692646,"thr_a_v":0.578677058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463868171,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.780907,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.89344811,"cg_iw_a":0.564094782,"cg_theta_rad":0.556408405,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0062296926,"mpcc_du":51.3503342,"mpcc_dv":47.4745598,"mpcc_dw":52.5254402,"mpcc_enc_sign":1,"mpcc_id_a":-0.81628567,"mpcc_iq_a":-0.451044768,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.9110184,"mpcc_pred_id_a":-0.529141307,"mpcc_pred_iq_a":1.4217155,"mpcc_state":1,"mpcc_theta_e":0.428162575,"mpcc_theta_mech":0.552578449,"sam_rpm":-26.2186775,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0132616162,"thr_a_norm":0.0132616162,"thr_a_v":0.553046465,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457372397,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.787437,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.82096052,"cg_iw_a":1.21648383,"cg_theta_rad":0.553741515,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0103702182,"mpcc_du":51.0690956,"mpcc_dv":47.4705238,"mpcc_dw":52.5294762,"mpcc_enc_sign":1,"mpcc_id_a":1.74258101,"mpcc_iq_a":-0.780180097,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.9927616,"mpcc_pred_id_a":0.247487769,"mpcc_pred_iq_a":0.318069905,"mpcc_state":1,"mpcc_theta_e":0.423080444,"mpcc_theta_mech":0.551562011,"sam_rpm":-31.8723259,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0132616162,"thr_a_norm":0.0132616162,"thr_a_v":0.553046465,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457372397,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.793938,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.38603449,"cg_iw_a":0.709070206,"cg_theta_rad":0.557195067,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0181099009,"mpcc_du":49.6321678,"mpcc_dv":49.4025764,"mpcc_dw":50.5974236,"mpcc_enc_sign":1,"mpcc_id_a":1.13125908,"mpcc_iq_a":-0.876852512,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.9267569,"mpcc_pred_id_a":0.0944929644,"mpcc_pred_iq_a":-0.831989586,"mpcc_state":1,"mpcc_theta_e":0.45614481,"mpcc_theta_mech":0.558174849,"sam_rpm":22.7956123,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0152758062,"thr_a_norm":0.0152758062,"thr_a_v":0.561103225,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457271695,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.802147,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.09608364,"cg_iw_a":0.201656342,"cg_theta_rad":0.557742178,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0381718203,"mpcc_du":49.3572922,"mpcc_dv":49.3540382,"mpcc_dw":50.6459618,"mpcc_enc_sign":1,"mpcc_id_a":3.71633124,"mpcc_iq_a":-0.515814066,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.82689691,"mpcc_pred_id_a":1.1311518,"mpcc_pred_iq_a":-1.90851951,"mpcc_state":1,"mpcc_theta_e":0.444969177,"mpcc_theta_mech":0.555939794,"sam_rpm":5.25005865,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0123678297,"thr_a_norm":0.0152758062,"thr_a_v":0.549471319,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.435870886,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.811913,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.45852208,"cg_iw_a":-1.17560935,"cg_theta_rad":0.557031155,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0355772376,"mpcc_du":50.0647697,"mpcc_dv":48.732975,"mpcc_dw":51.267025,"mpcc_enc_sign":1,"mpcc_id_a":2.83492088,"mpcc_iq_a":-0.510174274,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.37403798,"mpcc_pred_id_a":0.491613895,"mpcc_pred_iq_a":-1.82898045,"mpcc_state":1,"mpcc_theta_e":0.444118977,"mpcc_theta_mech":0.555769742,"sam_rpm":-3.30768204,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0123678297,"thr_a_norm":0.0123678297,"thr_a_v":0.549471319,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.435870886,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.821983,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.443694592,"cg_iw_a":-2.26292467,"cg_theta_rad":0.555874467,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.00222240807,"mpcc_du":50.1336784,"mpcc_dv":48.7003822,"mpcc_dw":51.2996178,"mpcc_enc_sign":1,"mpcc_id_a":0.83872813,"mpcc_iq_a":-1.17331219,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.20850992,"mpcc_pred_id_a":0.244828522,"mpcc_pred_iq_a":-1.23583078,"mpcc_state":1,"mpcc_theta_e":0.437542439,"mpcc_theta_mech":0.554454446,"sam_rpm":-9.99110413,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156282932,"thr_a_norm":0.0156282932,"thr_a_v":0.562513173,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461149007,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.834312,"values":{"cg_iu_a":3.79393435,"cg_iv_a":-2.11091113,"cg_iw_a":0.854045153,"cg_theta_rad":0.556116223,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.00840421207,"mpcc_du":50.6041031,"mpcc_dv":48.4470482,"mpcc_dw":51.5529518,"mpcc_enc_sign":1,"mpcc_id_a":-0.0340482704,"mpcc_iq_a":-0.811876655,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.4579554,"mpcc_pred_id_a":-0.543706,"mpcc_pred_iq_a":-2.00433517,"mpcc_state":1,"mpcc_theta_e":0.439360619,"mpcc_theta_mech":0.554818034,"sam_rpm":-15.7955132,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209281296,"thr_a_norm":0.0156282932,"thr_a_v":0.583712518,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462508589,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.846245,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.661157608,"cg_iw_a":-0.378245354,"cg_theta_rad":0.554579616,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0382169783,"mpcc_du":50.0528946,"mpcc_dv":49.0354729,"mpcc_dw":50.9645271,"mpcc_enc_sign":1,"mpcc_id_a":1.75304794,"mpcc_iq_a":-1.76516712,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.93890142,"mpcc_pred_id_a":0.241260111,"mpcc_pred_iq_a":-3.17045617,"mpcc_state":1,"mpcc_theta_e":0.447429657,"mpcc_theta_mech":0.55643183,"sam_rpm":3.26898217,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209281296,"thr_a_norm":0.0209281296,"thr_a_v":0.583712518,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462508589,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.855644,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.740683556,"cg_theta_rad":0.556866229,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0315415263,"mpcc_du":49.1739693,"mpcc_dv":50.8260307,"mpcc_dw":50.1382179,"mpcc_enc_sign":1,"mpcc_id_a":3.14576507,"mpcc_iq_a":-0.69674027,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.32637596,"mpcc_pred_id_a":0.5440256,"mpcc_pred_iq_a":-2.01837468,"mpcc_state":1,"mpcc_theta_e":0.441908836,"mpcc_theta_mech":0.555327713,"sam_rpm":12.0687399,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022224769,"thr_a_norm":0.022224769,"thr_a_v":0.588899076,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485369653,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.879967,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.733645439,"cg_iw_a":-2.19043684,"cg_theta_rad":0.55703038,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0300240815,"mpcc_du":51.0971298,"mpcc_dv":47.3874779,"mpcc_dw":52.6125221,"mpcc_enc_sign":1,"mpcc_id_a":3.16145086,"mpcc_iq_a":-0.296407312,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.2548094,"mpcc_pred_id_a":0.510677218,"mpcc_pred_iq_a":2.43246603,"mpcc_state":1,"mpcc_theta_e":0.430613995,"mpcc_theta_mech":0.553068697,"sam_rpm":-20.8928108,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026756689,"thr_a_norm":0.022224769,"thr_a_v":0.607026756,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.886467,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.16857147,"cg_iw_a":-1.24809694,"cg_theta_rad":0.553890407,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.000435361871,"mpcc_du":50.0107002,"mpcc_dv":49.0625992,"mpcc_dw":50.4788399,"mpcc_enc_sign":1,"mpcc_id_a":-0.409382224,"mpcc_iq_a":-1.79055214,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.54621363,"mpcc_pred_id_a":-0.208366781,"mpcc_pred_iq_a":-2.50588584,"mpcc_state":1,"mpcc_theta_e":0.437067509,"mpcc_theta_mech":0.55537653,"sam_rpm":-8.52392197,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026756689,"thr_a_norm":0.026756689,"thr_a_v":0.607026756,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.892998,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.878620625,"cg_iw_a":-0.015806675,"cg_theta_rad":0.557796359,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.00342962472,"mpcc_du":50.9280281,"mpcc_dv":47.9844093,"mpcc_dw":52.0155907,"mpcc_enc_sign":1,"mpcc_id_a":-0.3382653,"mpcc_iq_a":-0.623126626,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.1756601,"mpcc_pred_id_a":-0.438002318,"mpcc_pred_iq_a":0.249610901,"mpcc_state":1,"mpcc_theta_e":0.429711819,"mpcc_theta_mech":0.552888274,"sam_rpm":-20.8593655,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235213935,"thr_a_norm":0.0235213935,"thr_a_v":0.594085574,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479629219,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.899529,"values":{"cg_iu_a":3.72144651,"cg_iv_a":-2.0384233,"cg_iw_a":-0.23326993,"cg_theta_rad":0.557070255,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.00741206435,"mpcc_du":50.0137291,"mpcc_dv":48.9913673,"mpcc_dw":51.0086327,"mpcc_enc_sign":1,"mpcc_id_a":1.68552947,"mpcc_iq_a":-2.26661539,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.09016466,"mpcc_pred_id_a":-0.0473348722,"mpcc_pred_iq_a":-2.29248214,"mpcc_state":1,"mpcc_theta_e":0.439047813,"mpcc_theta_mech":0.554755509,"sam_rpm":-7.97854233,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220233351,"thr_a_norm":0.0235213935,"thr_a_v":0.58809334,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490656883,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.909172,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.516182423,"cg_iw_a":0.201656103,"cg_theta_rad":0.556722224,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0119481198,"mpcc_du":49.1880417,"mpcc_dv":50.8119583,"mpcc_dw":49.7174988,"mpcc_enc_sign":1,"mpcc_id_a":2.16890526,"mpcc_iq_a":-0.0521304458,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.796031,"mpcc_pred_id_a":-0.53260839,"mpcc_pred_iq_a":-3.84108686,"mpcc_state":1,"mpcc_theta_e":0.443162918,"mpcc_theta_mech":0.55557847,"sam_rpm":11.2709703,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220233351,"thr_a_norm":0.0220233351,"thr_a_v":0.58809334,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490656883,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.919151,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.153744221,"cg_iw_a":-1.82799816,"cg_theta_rad":0.55450058,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0286572929,"mpcc_du":50.9323997,"mpcc_dv":47.5874939,"mpcc_dw":52.4125061,"mpcc_enc_sign":1,"mpcc_id_a":2.90224314,"mpcc_iq_a":-1.03015018,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.5241871,"mpcc_pred_id_a":0.515461624,"mpcc_pred_iq_a":3.37943602,"mpcc_state":1,"mpcc_theta_e":0.424028873,"mpcc_theta_mech":0.551751733,"sam_rpm":-25.8179646,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257621855,"thr_a_norm":0.0257621855,"thr_a_v":0.603048742,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481945544,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.929161,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.38603449,"cg_iw_a":0.0566811562,"cg_theta_rad":0.557304561,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0143684102,"mpcc_du":50.7310181,"mpcc_dv":47.9928818,"mpcc_dw":52.0071182,"mpcc_enc_sign":1,"mpcc_id_a":0.44200927,"mpcc_iq_a":-1.20203245,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.1449738,"mpcc_pred_id_a":0.00348349684,"mpcc_pred_iq_a":1.56621468,"mpcc_state":1,"mpcc_theta_e":0.442906857,"mpcc_theta_mech":0.555527329,"sam_rpm":-29.8418045,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257621855,"thr_a_norm":0.0257621855,"thr_a_v":0.603048742,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481945544,"vdc_v":54.6292953}} +{"type":"telemetry","t":65.939323,"values":{"cg_iu_a":1.47432899,"cg_iv_a":0.208694458,"cg_iw_a":-1.68302345,"cg_theta_rad":0.55169642,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0164234061,"mpcc_du":50.0955124,"mpcc_dv":48.5826149,"mpcc_dw":51.4173851,"mpcc_enc_sign":1,"mpcc_id_a":2.40090775,"mpcc_iq_a":-1.60481739,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.0907917,"mpcc_pred_id_a":0.638821483,"mpcc_pred_iq_a":-1.63655138,"mpcc_state":1,"mpcc_theta_e":0.430547237,"mpcc_theta_mech":0.553055346,"sam_rpm":-21.2391415,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023030445,"thr_a_norm":0.023030445,"thr_a_v":0.59212178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491110057,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.949547,"values":{"cg_iu_a":3.1415453,"cg_iv_a":2.74576283,"cg_iw_a":-5.88730812,"cg_theta_rad":0.55600208,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0555248447,"mpcc_du":50.0683289,"mpcc_dv":48.9421082,"mpcc_dw":51.0578918,"mpcc_enc_sign":1,"mpcc_id_a":1.14985549,"mpcc_iq_a":-0.509561002,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.1105299,"mpcc_pred_id_a":-0.00806467794,"mpcc_pred_iq_a":-2.25313854,"mpcc_state":1,"mpcc_theta_e":0.453659058,"mpcc_theta_mech":0.557677686,"sam_rpm":12.3557835,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0144197792,"thr_a_norm":0.023030445,"thr_a_v":0.557679117,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443826973,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.959373,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.74847269,"cg_iw_a":0.346631527,"cg_theta_rad":0.55703038,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5000,"hz_app_loop":364,"hz_tim_isr":10001,"hz_vsense":364,"mpcc_cost":0.0636930093,"mpcc_du":50.5793037,"mpcc_dv":48.2533913,"mpcc_dw":51.7466087,"mpcc_enc_sign":1,"mpcc_id_a":2.03793931,"mpcc_iq_a":0.00905209873,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.77767897,"mpcc_pred_id_a":0.0395266414,"mpcc_pred_iq_a":-2.12580609,"mpcc_state":1,"mpcc_theta_e":0.449225903,"mpcc_theta_mech":0.556791067,"sam_rpm":-7.92353392,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0144197792,"thr_a_norm":0.0144197792,"thr_a_v":0.557679117,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443826973,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.98336,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-2.11091113,"cg_iw_a":-0.740683317,"cg_theta_rad":0.55340898,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0686977208,"mpcc_du":50.0377655,"mpcc_dv":49.055809,"mpcc_dw":50.944191,"mpcc_enc_sign":1,"mpcc_id_a":1.43813348,"mpcc_iq_a":-0.41295144,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.60284662,"mpcc_pred_id_a":-0.220319122,"mpcc_pred_iq_a":-4.15469408,"mpcc_state":1,"mpcc_theta_e":0.450997353,"mpcc_theta_mech":0.557145357,"sam_rpm":5.16412783,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193545371,"thr_a_norm":0.0193545371,"thr_a_v":0.577418149,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466889441,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.989861,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.0087685585,"cg_iw_a":-3.20526409,"cg_theta_rad":0.555951953,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0159036946,"mpcc_du":50.1119881,"mpcc_dv":48.7324066,"mpcc_dw":51.2675934,"mpcc_enc_sign":1,"mpcc_id_a":1.97032106,"mpcc_iq_a":-2.8332994,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.36581087,"mpcc_pred_id_a":0.263951689,"mpcc_pred_iq_a":-2.53066421,"mpcc_state":1,"mpcc_theta_e":0.444135189,"mpcc_theta_mech":0.55577296,"sam_rpm":-11.799736,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193545371,"thr_a_norm":0.0193545371,"thr_a_v":0.577418149,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466889441,"vdc_v":55.2955055}} +{"type":"telemetry","t":65.996391,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.60349751,"cg_iw_a":-0.595707893,"cg_theta_rad":0.557657897,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.000954469782,"mpcc_du":49.3606644,"mpcc_dv":50.6393356,"mpcc_dw":50.0306091,"mpcc_enc_sign":1,"mpcc_id_a":0.213512599,"mpcc_iq_a":-3.55430532,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.2290649,"mpcc_pred_id_a":-0.324116111,"mpcc_pred_iq_a":-3.75384736,"mpcc_state":1,"mpcc_theta_e":0.458393574,"mpcc_theta_mech":0.558624625,"sam_rpm":25.3358479,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021544978,"thr_a_norm":0.021544978,"thr_a_v":0.586179912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472176731,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.002922,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.588670254,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.555413008,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0202095415,"mpcc_du":49.6622162,"mpcc_dv":49.3128128,"mpcc_dw":50.6871872,"mpcc_enc_sign":1,"mpcc_id_a":2.26456833,"mpcc_iq_a":-0.182818443,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.66239417,"mpcc_pred_id_a":0.238315478,"mpcc_pred_iq_a":-2.94410443,"mpcc_state":1,"mpcc_theta_e":0.440030098,"mpcc_theta_mech":0.554951906,"sam_rpm":-2.8719449,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210917741,"thr_a_norm":0.021544978,"thr_a_v":0.584367096,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466184497,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.011925,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.31354666,"cg_iw_a":-1.75551081,"cg_theta_rad":0.558843136,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0768825337,"mpcc_du":49.8906174,"mpcc_dv":49.0400314,"mpcc_dw":50.9599686,"mpcc_enc_sign":1,"mpcc_id_a":1.93539679,"mpcc_iq_a":0.793590367,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.620916307,"mpcc_pred_id_a":0.287841111,"mpcc_pred_iq_a":-3.99910498,"mpcc_state":1,"mpcc_theta_e":0.44723177,"mpcc_theta_mech":0.556392252,"sam_rpm":0.0316300318,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210917741,"thr_a_norm":0.0210917741,"thr_a_v":0.584367096,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466184497,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.023125,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-2.11091113,"cg_iw_a":-0.958146334,"cg_theta_rad":0.552878678,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0141450092,"mpcc_du":49.3619003,"mpcc_dv":50.6380997,"mpcc_dw":50.1269417,"mpcc_enc_sign":1,"mpcc_id_a":1.11820674,"mpcc_iq_a":-1.59075558,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.83922672,"mpcc_pred_id_a":-0.0195654426,"mpcc_pred_iq_a":-2.2752924,"mpcc_state":1,"mpcc_theta_e":0.442629814,"mpcc_theta_mech":0.55376941,"sam_rpm":9.96376133,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160562992,"thr_a_norm":0.0160562992,"thr_a_v":0.564225197,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456919193,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.033257,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.878620625,"cg_iw_a":0.346631765,"cg_theta_rad":0.556990623,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0880311057,"mpcc_du":50.2879257,"mpcc_dv":48.4692039,"mpcc_dw":51.5307961,"mpcc_enc_sign":1,"mpcc_id_a":2.01802444,"mpcc_iq_a":0.275262952,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.75525475,"mpcc_pred_id_a":0.30530718,"mpcc_pred_iq_a":-4.14983034,"mpcc_state":1,"mpcc_theta_e":0.454958916,"mpcc_theta_mech":0.556636989,"sam_rpm":7.15399027,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0314648598,"thr_a_norm":0.0160562992,"thr_a_v":0.625859439,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.043114,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-2.76329994,"cg_iw_a":0.926532745,"cg_theta_rad":0.556374252,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0776457638,"mpcc_du":50.4712448,"mpcc_dv":48.4071732,"mpcc_dw":51.5928268,"mpcc_enc_sign":1,"mpcc_id_a":1.73032105,"mpcc_iq_a":0.186691985,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.96272326,"mpcc_pred_id_a":0.093465589,"mpcc_pred_iq_a":-2.06687951,"mpcc_state":1,"mpcc_theta_e":0.452740669,"mpcc_theta_mech":0.557494044,"sam_rpm":-0.282687455,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0314648598,"thr_a_norm":0.0314648598,"thr_a_v":0.625859439,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.05352,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-0.516182423,"cg_iw_a":-2.19043684,"cg_theta_rad":0.555479348,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.00266899238,"mpcc_du":48.8054771,"mpcc_dv":51.1945229,"mpcc_dw":49.4243202,"mpcc_enc_sign":1,"mpcc_id_a":0.484819829,"mpcc_iq_a":-1.21043575,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.4279051,"mpcc_pred_id_a":-0.140567213,"mpcc_pred_iq_a":-5.5859437,"mpcc_state":1,"mpcc_theta_e":0.454404831,"mpcc_theta_mech":0.557826877,"sam_rpm":23.0946789,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021419093,"thr_a_norm":0.021419093,"thr_a_v":0.585676372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489498734,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.078758,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.298719406,"cg_iw_a":-0.81317091,"cg_theta_rad":0.554718792,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.00110823056,"mpcc_du":49.3984451,"mpcc_dv":50.6015549,"mpcc_dw":49.929081,"mpcc_enc_sign":1,"mpcc_id_a":0.13306208,"mpcc_iq_a":-1.96151507,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.95744228,"mpcc_pred_id_a":-0.65778631,"mpcc_pred_iq_a":-4.48474598,"mpcc_state":1,"mpcc_theta_e":0.446437836,"mpcc_theta_mech":0.556233466,"sam_rpm":8.45393276,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023861289,"thr_a_norm":0.021419093,"thr_a_v":0.595445156,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468349725,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.085228,"values":{"cg_iu_a":1.54681635,"cg_iv_a":0.208694458,"cg_iw_a":-2.48038769,"cg_theta_rad":0.55575943,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0170049984,"mpcc_du":50.2273178,"mpcc_dv":48.4585381,"mpcc_dw":51.5414619,"mpcc_enc_sign":1,"mpcc_id_a":2.38409996,"mpcc_iq_a":-1.62968194,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.33284163,"mpcc_pred_id_a":0.712322056,"mpcc_pred_iq_a":-0.59834969,"mpcc_state":1,"mpcc_theta_e":0.440939903,"mpcc_theta_mech":0.555133879,"sam_rpm":-5.00902319,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023861289,"thr_a_norm":0.023861289,"thr_a_v":0.595445156,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468349725,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.09182,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.6759851,"cg_iw_a":-0.813171148,"cg_theta_rad":0.554641187,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.00338659156,"mpcc_du":51.3823395,"mpcc_dv":47.2010498,"mpcc_dw":52.7989502,"mpcc_enc_sign":1,"mpcc_id_a":1.13691378,"mpcc_iq_a":-0.178738296,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-27.4893589,"mpcc_pred_id_a":-0.0637259185,"mpcc_pred_iq_a":1.66996217,"mpcc_state":1,"mpcc_theta_e":0.416971684,"mpcc_theta_mech":0.550340295,"sam_rpm":-41.1382408,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149233192,"thr_a_norm":0.0149233192,"thr_a_v":0.559693277,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.098289,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.588670254,"cg_iw_a":-1.03063393,"cg_theta_rad":0.555240273,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.00873561762,"mpcc_du":49.4548569,"mpcc_dv":50.5451431,"mpcc_dw":50.1345444,"mpcc_enc_sign":1,"mpcc_id_a":1.36290503,"mpcc_iq_a":-1.06933367,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.38995457,"mpcc_pred_id_a":-0.302987665,"mpcc_pred_iq_a":-4.79287863,"mpcc_state":1,"mpcc_theta_e":0.448503494,"mpcc_theta_mech":0.556646585,"sam_rpm":10.7085752,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149233192,"thr_a_norm":0.0149233192,"thr_a_v":0.559693277,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.105919,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.60349751,"cg_iw_a":-1.46555996,"cg_theta_rad":0.557748556,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0178230312,"mpcc_du":49.5446396,"mpcc_dv":49.4022369,"mpcc_dw":50.5977631,"mpcc_enc_sign":1,"mpcc_id_a":2.03676081,"mpcc_iq_a":0.527423143,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.0604229,"mpcc_pred_id_a":0.377441615,"mpcc_pred_iq_a":-2.7108295,"mpcc_state":1,"mpcc_theta_e":0.43911314,"mpcc_theta_mech":0.554768562,"sam_rpm":4.88950586,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226653665,"thr_a_norm":0.0226653665,"thr_a_v":0.590661466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482801557,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.118309,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.588670254,"cg_iw_a":-2.19043636,"cg_theta_rad":0.553612351,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.00853841193,"mpcc_du":49.733242,"mpcc_dv":49.4245491,"mpcc_dw":50.5754509,"mpcc_enc_sign":1,"mpcc_id_a":0.807646096,"mpcc_iq_a":-1.54888999,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.40928173,"mpcc_pred_id_a":-0.14851658,"mpcc_pred_iq_a":-2.39655495,"mpcc_state":1,"mpcc_theta_e":0.450848579,"mpcc_theta_mech":0.557115614,"sam_rpm":11.0310774,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180956721,"thr_a_norm":0.0226653665,"thr_a_v":0.572382689,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459688723,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.130119,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-2.76329994,"cg_iw_a":0.491606712,"cg_theta_rad":0.555692017,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.00850793812,"mpcc_du":49.8827591,"mpcc_dv":49.0186539,"mpcc_dw":50.9813461,"mpcc_enc_sign":1,"mpcc_id_a":1.41725004,"mpcc_iq_a":-0.621410728,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.37402606,"mpcc_pred_id_a":0.246721849,"mpcc_pred_iq_a":-2.08060074,"mpcc_state":1,"mpcc_theta_e":0.442892075,"mpcc_theta_mech":0.55552429,"sam_rpm":-5.44142532,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180956721,"thr_a_norm":0.0180956721,"thr_a_v":0.572382689,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459688723,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.140404,"values":{"cg_iu_a":0.676964283,"cg_iv_a":0.861083508,"cg_iw_a":-1.53804779,"cg_theta_rad":0.556101263,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.00808383804,"mpcc_du":49.5396729,"mpcc_dv":49.8051987,"mpcc_dw":50.4603271,"mpcc_enc_sign":1,"mpcc_id_a":0.227721319,"mpcc_iq_a":-1.95378923,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.05060101,"mpcc_pred_id_a":-0.338659674,"mpcc_pred_iq_a":-0.513180435,"mpcc_state":1,"mpcc_theta_e":0.440703869,"mpcc_theta_mech":0.559025645,"sam_rpm":-12.8463097,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237479955,"thr_a_norm":0.0237479955,"thr_a_v":0.594991982,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.150505,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-0.878620625,"cg_iw_a":0.636582375,"cg_theta_rad":0.555336118,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0159459244,"mpcc_du":49.497612,"mpcc_dv":50.1754608,"mpcc_dw":50.502388,"mpcc_enc_sign":1,"mpcc_id_a":2.40767121,"mpcc_iq_a":0.109911576,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.51226044,"mpcc_pred_id_a":0.469991535,"mpcc_pred_iq_a":-1.24327946,"mpcc_state":1,"mpcc_theta_e":0.444259644,"mpcc_theta_mech":0.555797875,"sam_rpm":13.9163628,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294758528,"thr_a_norm":0.0237479955,"thr_a_v":0.617903411,"thr_b":0.00481459498,"thr_b_norm":0,"thr_b_v":0.51925838,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.160301,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.02359605,"cg_iw_a":-1.61053538,"cg_theta_rad":0.56014061,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0332261249,"mpcc_du":49.8929977,"mpcc_dv":48.8083725,"mpcc_dw":51.1916275,"mpcc_enc_sign":1,"mpcc_id_a":3.02602196,"mpcc_iq_a":-0.279251248,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0303490479,"mpcc_pred_id_a":0.833669245,"mpcc_pred_iq_a":-1.2263974,"mpcc_state":1,"mpcc_theta_e":0.444934368,"mpcc_theta_mech":0.55593282,"sam_rpm":-0.70868659,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294758528,"thr_a_norm":0.0294758528,"thr_a_v":0.617903411,"thr_b":0.00481459498,"thr_b_norm":0.00481459498,"thr_b_v":0.51925838,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.183525,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.661157608,"cg_iw_a":-0.160782337,"cg_theta_rad":0.557458639,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0071126651,"mpcc_du":49.5397606,"mpcc_dv":50.4602394,"mpcc_dw":50.3720169,"mpcc_enc_sign":1,"mpcc_id_a":1.16321206,"mpcc_iq_a":-0.648428977,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.66453314,"mpcc_pred_id_a":0.124677911,"mpcc_pred_iq_a":-4.04835701,"mpcc_state":1,"mpcc_theta_e":0.448706627,"mpcc_theta_mech":0.556687236,"sam_rpm":9.6370945,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0367772877,"thr_a_norm":0.0367772877,"thr_a_v":0.647109151,"thr_b":0.00538109243,"thr_b_norm":0.00538109243,"thr_b_v":0.52152437,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.190056,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.53100967,"cg_iw_a":-0.885658741,"cg_theta_rad":0.55478245,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.00522512151,"mpcc_du":49.9583206,"mpcc_dv":49.2101097,"mpcc_dw":50.7898903,"mpcc_enc_sign":1,"mpcc_id_a":-0.35912481,"mpcc_iq_a":-0.983180583,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0504520908,"mpcc_pred_id_a":-0.381061107,"mpcc_pred_iq_a":-2.44349575,"mpcc_state":1,"mpcc_theta_e":0.443076134,"mpcc_theta_mech":0.555561185,"sam_rpm":-0.156723529,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0367772877,"thr_a_norm":0.0367772877,"thr_a_v":0.647109151,"thr_b":0.00538109243,"thr_b_norm":0.00538109243,"thr_b_v":0.52152437,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.196587,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.951108456,"cg_iw_a":-0.015806675,"cg_theta_rad":0.55506295,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.00178733259,"mpcc_du":49.6819878,"mpcc_dv":49.864727,"mpcc_dw":50.3180122,"mpcc_enc_sign":1,"mpcc_id_a":-0.404051006,"mpcc_iq_a":-0.915454626,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.17339373,"mpcc_pred_id_a":-0.626681507,"mpcc_pred_iq_a":-4.18097782,"mpcc_state":1,"mpcc_theta_e":0.440212727,"mpcc_theta_mech":0.554988503,"sam_rpm":-2.0582521,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0304325968,"thr_a_norm":0.0304325968,"thr_a_v":0.621730387,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471119225,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.203148,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.443694592,"cg_iw_a":0.12916851,"cg_theta_rad":0.552390516,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.00237081572,"mpcc_du":50.073513,"mpcc_dv":50.3370819,"mpcc_dw":50.3241501,"mpcc_enc_sign":1,"mpcc_id_a":0.373870581,"mpcc_iq_a":-1.14065158,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.47830248,"mpcc_pred_id_a":-0.251908213,"mpcc_pred_iq_a":-2.6287539,"mpcc_state":1,"mpcc_theta_e":0.43751812,"mpcc_theta_mech":0.554449558,"sam_rpm":-8.33401108,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204245895,"thr_a_norm":0.0304325968,"thr_a_v":0.581698358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.211327,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.60349751,"cg_iw_a":-1.68302298,"cg_theta_rad":0.554279625,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0270747263,"mpcc_du":50.0313988,"mpcc_dv":49.0066299,"mpcc_dw":50.9933701,"mpcc_enc_sign":1,"mpcc_id_a":0.631270528,"mpcc_iq_a":-0.757140517,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.63794947,"mpcc_pred_id_a":0.0240751356,"mpcc_pred_iq_a":-4.40806103,"mpcc_state":1,"mpcc_theta_e":0.441897869,"mpcc_theta_mech":0.555325449,"sam_rpm":-7.42786884,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204245895,"thr_a_norm":0.0204245895,"thr_a_v":0.581698358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.22155,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.89344811,"cg_iw_a":-1.03063393,"cg_theta_rad":0.553645074,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0347534753,"mpcc_du":51.0832253,"mpcc_dv":47.6467361,"mpcc_dw":52.3532639,"mpcc_enc_sign":1,"mpcc_id_a":2.25317693,"mpcc_iq_a":-0.547240138,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.95835781,"mpcc_pred_id_a":0.202691868,"mpcc_pred_iq_a":0.545889437,"mpcc_state":1,"mpcc_theta_e":0.439921379,"mpcc_theta_mech":0.554930151,"sam_rpm":-14.2855864,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447301447,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.233635,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-2.54583716,"cg_iw_a":-0.305757284,"cg_theta_rad":0.554326952,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0610393696,"mpcc_du":49.6658821,"mpcc_dv":49.4917908,"mpcc_dw":50.5082092,"mpcc_enc_sign":1,"mpcc_id_a":0.692020953,"mpcc_iq_a":0.0364978611,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.6868515,"mpcc_pred_id_a":-0.0590572581,"mpcc_pred_iq_a":-2.78697586,"mpcc_state":1,"mpcc_theta_e":0.458252907,"mpcc_theta_mech":0.558596492,"sam_rpm":22.0280361,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.018951714,"thr_a_norm":0.0296898633,"thr_a_v":0.575806856,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460091561,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.243431,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.02359605,"cg_iw_a":-1.32058454,"cg_theta_rad":0.555202127,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0400513075,"mpcc_du":49.8410721,"mpcc_dv":47.8577423,"mpcc_dw":52.1422577,"mpcc_enc_sign":1,"mpcc_id_a":0.230889797,"mpcc_iq_a":-0.574104309,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.13386965,"mpcc_pred_id_a":-0.229063302,"mpcc_pred_iq_a":-3.48875761,"mpcc_state":1,"mpcc_theta_e":0.454528809,"mpcc_theta_mech":0.55746907,"sam_rpm":11.2979546,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.018951714,"thr_a_norm":0.018951714,"thr_a_v":0.575806856,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460091561,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.255699,"values":{"cg_iu_a":3.93890953,"cg_iv_a":-2.32837415,"cg_iw_a":-1.39307237,"cg_theta_rad":0.557324529,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0100278454,"mpcc_du":49.7580261,"mpcc_dv":49.1778336,"mpcc_dw":50.8221664,"mpcc_enc_sign":1,"mpcc_id_a":1.59135544,"mpcc_iq_a":-1.92727041,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.00580382,"mpcc_pred_id_a":0.307124764,"mpcc_pred_iq_a":-2.87927604,"mpcc_state":1,"mpcc_theta_e":0.450446606,"mpcc_theta_mech":0.557035267,"sam_rpm":2.83759236,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021293208,"thr_a_norm":0.021293208,"thr_a_v":0.585172832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467241913,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.265923,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.60349751,"cg_iw_a":0.854045391,"cg_theta_rad":0.557499051,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.00571390474,"mpcc_du":50.084877,"mpcc_dv":49.2932625,"mpcc_dw":50.7067375,"mpcc_enc_sign":1,"mpcc_id_a":-0.667896032,"mpcc_iq_a":-3.11152458,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.52785778,"mpcc_pred_id_a":-0.742000461,"mpcc_pred_iq_a":-2.48428702,"mpcc_state":1,"mpcc_theta_e":0.449175835,"mpcc_theta_mech":0.556781054,"sam_rpm":-0.321277708,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0125944167,"thr_a_norm":0.021293208,"thr_a_v":0.550377667,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443826973,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.288902,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.16857147,"cg_iw_a":-0.668195724,"cg_theta_rad":0.554199576,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0156782251,"mpcc_du":49.6144753,"mpcc_dv":50.3855247,"mpcc_dw":50.3752708,"mpcc_enc_sign":1,"mpcc_id_a":2.46489263,"mpcc_iq_a":-1.62675309,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.38250148,"mpcc_pred_id_a":-0.11042358,"mpcc_pred_iq_a":-5.77226305,"mpcc_state":1,"mpcc_theta_e":0.442554474,"mpcc_theta_mech":0.555456817,"sam_rpm":-2.5215435,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0125944167,"thr_a_norm":0.0125944167,"thr_a_v":0.550377667,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443826973,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.295433,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.31354666,"cg_iw_a":-1.39307261,"cg_theta_rad":0.55294323,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0169330612,"mpcc_du":49.6767998,"mpcc_dv":49.7015305,"mpcc_dw":50.3232002,"mpcc_enc_sign":1,"mpcc_id_a":0.725196302,"mpcc_iq_a":-0.388720214,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.59800434,"mpcc_pred_id_a":-0.609074354,"mpcc_pred_iq_a":-4.04521656,"mpcc_state":1,"mpcc_theta_e":0.446106434,"mpcc_theta_mech":0.556167185,"sam_rpm":4.18231058,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285191089,"thr_a_norm":0.0285191089,"thr_a_v":0.614076436,"thr_b":0.00229686499,"thr_b_norm":0.00229686499,"thr_b_v":0.50918746,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.301964,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.02359605,"cg_iw_a":-0.595708132,"cg_theta_rad":0.552818,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.00114674203,"mpcc_du":49.984024,"mpcc_dv":49.3914719,"mpcc_dw":50.6085281,"mpcc_enc_sign":1,"mpcc_id_a":-0.672242641,"mpcc_iq_a":-2.31712794,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.27541125,"mpcc_pred_id_a":-0.873650789,"mpcc_pred_iq_a":-2.43249893,"mpcc_state":1,"mpcc_theta_e":0.443471909,"mpcc_theta_mech":0.55564028,"sam_rpm":1.85747766,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285191089,"thr_a_norm":0.0285191089,"thr_a_v":0.614076436,"thr_b":0.00229686499,"thr_b_norm":0.00229686499,"thr_b_v":0.50918746,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.308495,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.74847269,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556472421,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.00457674032,"mpcc_du":50.6021156,"mpcc_dv":48.1295776,"mpcc_dw":51.8704224,"mpcc_enc_sign":1,"mpcc_id_a":1.29805708,"mpcc_iq_a":-1.05307078,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.2734175,"mpcc_pred_id_a":0.204132289,"mpcc_pred_iq_a":0.438448578,"mpcc_state":1,"mpcc_theta_e":0.431012154,"mpcc_theta_mech":0.553148389,"sam_rpm":-16.6730099,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0161947757,"thr_a_norm":0.0161947757,"thr_a_v":0.564779103,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.316704,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.298719406,"cg_iw_a":-1.10312176,"cg_theta_rad":0.556601346,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.00955663715,"mpcc_du":49.7725983,"mpcc_dv":49.1816406,"mpcc_dw":50.8183594,"mpcc_enc_sign":1,"mpcc_id_a":1.49148393,"mpcc_iq_a":-2.86191559,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.63092661,"mpcc_pred_id_a":0.14772746,"mpcc_pred_iq_a":-2.90671039,"mpcc_state":1,"mpcc_theta_e":0.436537266,"mpcc_theta_mech":0.55425334,"sam_rpm":-8.71335697,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022980094,"thr_a_norm":0.0161947757,"thr_a_v":0.591920376,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482549787,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.326622,"values":{"cg_iu_a":0.387013912,"cg_iv_a":0.281181812,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556708395,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0213724803,"mpcc_du":49.6009979,"mpcc_dv":48.3723602,"mpcc_dw":51.6276398,"mpcc_enc_sign":1,"mpcc_id_a":0.843365312,"mpcc_iq_a":-0.310544342,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.34623432,"mpcc_pred_id_a":-0.253460348,"mpcc_pred_iq_a":-3.95141387,"mpcc_state":1,"mpcc_theta_e":0.450624466,"mpcc_theta_mech":0.554587424,"sam_rpm":13.0193806,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022980094,"thr_a_norm":0.022980094,"thr_a_v":0.591920376,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482549787,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.336693,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.74847269,"cg_iw_a":-0.305757523,"cg_theta_rad":0.557602644,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.173738465,"mpcc_du":50.4091873,"mpcc_dv":47.9733086,"mpcc_dw":52.0266914,"mpcc_enc_sign":1,"mpcc_id_a":4.94557476,"mpcc_iq_a":2.55734253,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.51594925,"mpcc_pred_id_a":1.26288283,"mpcc_pred_iq_a":-0.178884238,"mpcc_state":1,"mpcc_theta_e":0.445921898,"mpcc_theta_mech":0.55613029,"sam_rpm":-3.41623855,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.102666497,"thr_a_norm":0.102666497,"thr_a_v":0.910665989,"thr_b":0.0450858325,"thr_b_norm":0.0450858325,"thr_b_v":0.68034333,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.346703,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.6759851,"cg_iw_a":-0.885658503,"cg_theta_rad":0.555792749,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.117658012,"mpcc_du":49.4213028,"mpcc_dv":49.3615646,"mpcc_dw":50.6384354,"mpcc_enc_sign":1,"mpcc_id_a":3.74601936,"mpcc_iq_a":0.147300795,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.648428,"mpcc_pred_id_a":0.788948476,"mpcc_pred_iq_a":-2.72280216,"mpcc_state":1,"mpcc_theta_e":0.462620735,"mpcc_theta_mech":0.559470057,"sam_rpm":26.5197945,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.102666497,"thr_a_norm":0.102666497,"thr_a_v":0.910665989,"thr_b":0.0450858325,"thr_b_norm":0.0450858325,"thr_b_v":0.68034333,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.356712,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556991279,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0178965889,"mpcc_du":49.5617332,"mpcc_dv":50.3738861,"mpcc_dw":50.4382668,"mpcc_enc_sign":1,"mpcc_id_a":1.52587807,"mpcc_iq_a":-1.06248236,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.6334238,"mpcc_pred_id_a":0.00527318008,"mpcc_pred_iq_a":-3.83714795,"mpcc_state":1,"mpcc_theta_e":0.452239513,"mpcc_theta_mech":0.557393789,"sam_rpm":18.1092796,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247173309,"thr_a_norm":0.0247173309,"thr_a_v":0.598869324,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481995881,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.366905,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-0.951108456,"cg_iw_a":0.854045391,"cg_theta_rad":0.555475354,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.00772068417,"mpcc_du":50.4072189,"mpcc_dv":48.4799538,"mpcc_dw":51.5200462,"mpcc_enc_sign":1,"mpcc_id_a":1.49886036,"mpcc_iq_a":-4.02837038,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.5692997,"mpcc_pred_id_a":-0.0952510461,"mpcc_pred_iq_a":-2.30536532,"mpcc_state":1,"mpcc_theta_e":0.439042091,"mpcc_theta_mech":0.554754317,"sam_rpm":-13.0105705,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262405574,"thr_a_norm":0.0247173309,"thr_a_v":0.60496223,"thr_b":0.001491189,"thr_b_norm":0,"thr_b_v":0.505964756,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.389946,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.733645439,"cg_iw_a":0.0566811562,"cg_theta_rad":0.559066057,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.00855747145,"mpcc_du":50.6815453,"mpcc_dv":48.0678902,"mpcc_dw":51.9321098,"mpcc_enc_sign":1,"mpcc_id_a":1.73226345,"mpcc_iq_a":-1.66904008,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.1433115,"mpcc_pred_id_a":0.110419057,"mpcc_pred_iq_a":0.749863803,"mpcc_state":1,"mpcc_theta_e":0.431703568,"mpcc_theta_mech":0.553286612,"sam_rpm":-18.4750023,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262405574,"thr_a_norm":0.0262405574,"thr_a_v":0.60496223,"thr_b":0.001491189,"thr_b_norm":0.001491189,"thr_b_v":0.505964756,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.396477,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.226231575,"cg_iw_a":-0.523220539,"cg_theta_rad":0.557205021,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.00958329532,"mpcc_du":49.7954636,"mpcc_dv":49.1506462,"mpcc_dw":50.8493538,"mpcc_enc_sign":1,"mpcc_id_a":1.87614441,"mpcc_iq_a":-2.18686771,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.68105364,"mpcc_pred_id_a":0.243867591,"mpcc_pred_iq_a":-0.764949262,"mpcc_state":1,"mpcc_theta_e":0.444442272,"mpcc_theta_mech":0.555834353,"sam_rpm":5.19769049,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022098884,"thr_a_norm":0.022098884,"thr_a_v":0.588395536,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473385215,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.402977,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.878620625,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556827247,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0577409081,"mpcc_du":49.8542595,"mpcc_dv":48.8446503,"mpcc_dw":51.1553497,"mpcc_enc_sign":1,"mpcc_id_a":3.68678999,"mpcc_iq_a":0.93251574,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.35562372,"mpcc_pred_id_a":0.865901232,"mpcc_pred_iq_a":-0.00296642282,"mpcc_state":1,"mpcc_theta_e":0.445923805,"mpcc_theta_mech":0.556130707,"sam_rpm":6.38160467,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022098884,"thr_a_norm":0.022098884,"thr_a_v":0.588395536,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473385215,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.409508,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.516182423,"cg_iw_a":-0.378244877,"cg_theta_rad":0.5553931,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0169824045,"mpcc_du":50.0075302,"mpcc_dv":48.9706917,"mpcc_dw":51.0293083,"mpcc_enc_sign":1,"mpcc_id_a":2.6664052,"mpcc_iq_a":-0.531761467,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.11102962,"mpcc_pred_id_a":0.0454400592,"mpcc_pred_iq_a":-1.07059371,"mpcc_state":1,"mpcc_theta_e":0.447229385,"mpcc_theta_mech":0.556391835,"sam_rpm":6.96645641,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019807741,"thr_a_norm":0.019807741,"thr_a_v":0.579230964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479125679,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.419518,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.38603449,"cg_iw_a":-0.015806675,"cg_theta_rad":0.557075143,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0138589963,"mpcc_du":49.8567047,"mpcc_dv":49.0885887,"mpcc_dw":50.9114113,"mpcc_enc_sign":1,"mpcc_id_a":1.88120222,"mpcc_iq_a":-1.83051515,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.14750218,"mpcc_pred_id_a":0.246104881,"mpcc_pred_iq_a":-2.37343645,"mpcc_state":1,"mpcc_theta_e":0.448823929,"mpcc_theta_mech":0.55671066,"sam_rpm":4.25322533,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023483634,"thr_a_norm":0.019807741,"thr_a_v":0.593934536,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466889441,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.431328,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.89344811,"cg_iw_a":-0.45073247,"cg_theta_rad":0.554540396,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.000421048549,"mpcc_du":49.6164742,"mpcc_dv":49.6228142,"mpcc_dw":50.3835258,"mpcc_enc_sign":1,"mpcc_id_a":0.0393732376,"mpcc_iq_a":-0.660244405,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.657188594,"mpcc_pred_id_a":-0.452997714,"mpcc_pred_iq_a":-1.6511749,"mpcc_state":1,"mpcc_theta_e":0.436006546,"mpcc_theta_mech":0.554147243,"sam_rpm":0.592181265,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023483634,"thr_a_norm":0.023483634,"thr_a_v":0.593934536,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466889441,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.441277,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.09608364,"cg_iw_a":-4.43755436,"cg_theta_rad":0.554855704,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.00288702687,"mpcc_du":49.7596283,"mpcc_dv":49.3866577,"mpcc_dw":50.6133423,"mpcc_enc_sign":1,"mpcc_id_a":0.388196439,"mpcc_iq_a":-1.79423761,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.72971916,"mpcc_pred_id_a":-0.366968244,"mpcc_pred_iq_a":-2.33901787,"mpcc_state":1,"mpcc_theta_e":0.437555313,"mpcc_theta_mech":0.554457009,"sam_rpm":-5.29273415,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0298031569,"thr_a_norm":0.0298031569,"thr_a_v":0.619212627,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458379477,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.451683,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.16857147,"cg_iw_a":-0.0882940292,"cg_theta_rad":0.553735316,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.022219779,"mpcc_du":49.790123,"mpcc_dv":49.1888924,"mpcc_dw":50.8111076,"mpcc_enc_sign":1,"mpcc_id_a":2.19702268,"mpcc_iq_a":-0.30858013,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.09570837,"mpcc_pred_id_a":0.0210923459,"mpcc_pred_iq_a":0.781057119,"mpcc_state":1,"mpcc_theta_e":0.428325176,"mpcc_theta_mech":0.552610934,"sam_rpm":-7.34916115,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023332566,"thr_a_norm":0.0298031569,"thr_a_v":0.593330264,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.461601,"values":{"cg_iu_a":4.51881123,"cg_iv_a":-1.38603449,"cg_iw_a":-3.13277674,"cg_theta_rad":0.556345224,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0693680122,"mpcc_du":49.3626289,"mpcc_dv":50.6373711,"mpcc_dw":50.2016754,"mpcc_enc_sign":1,"mpcc_id_a":1.95740771,"mpcc_iq_a":-0.84159565,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.4082546,"mpcc_pred_id_a":0.0595776066,"mpcc_pred_iq_a":-6.03583574,"mpcc_state":1,"mpcc_theta_e":0.447358131,"mpcc_theta_mech":0.556417525,"sam_rpm":28.2021141,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023332566,"thr_a_norm":0.023332566,"thr_a_v":0.593330264,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.484703,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-1.60349751,"cg_iw_a":-0.523220062,"cg_theta_rad":0.557374001,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0110654356,"mpcc_du":50.228138,"mpcc_dv":48.9579163,"mpcc_dw":51.0420837,"mpcc_enc_sign":1,"mpcc_id_a":0.0738891065,"mpcc_iq_a":-1.23899615,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.28908873,"mpcc_pred_id_a":-0.664345682,"mpcc_pred_iq_a":-0.958727598,"mpcc_state":1,"mpcc_theta_e":0.449098587,"mpcc_theta_mech":0.556765676,"sam_rpm":8.35762787,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0305458903,"thr_a_norm":0.0305458903,"thr_a_v":0.622183561,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463968873,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.491264,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.951108456,"cg_iw_a":-1.61053514,"cg_theta_rad":0.557613313,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.00313121662,"mpcc_du":50.7381592,"mpcc_dv":48.0207558,"mpcc_dw":51.9792442,"mpcc_enc_sign":1,"mpcc_id_a":0.256937087,"mpcc_iq_a":-0.713156521,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.7188578,"mpcc_pred_id_a":0.0103090024,"mpcc_pred_iq_a":0.462137818,"mpcc_state":1,"mpcc_theta_e":0.432123661,"mpcc_theta_mech":0.553370655,"sam_rpm":-16.9912262,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180956721,"thr_a_norm":0.0305458903,"thr_a_v":0.572382689,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459890157,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.497734,"values":{"cg_iu_a":1.40184116,"cg_iv_a":1.36849689,"cg_iw_a":-3.49521446,"cg_theta_rad":0.552202582,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0175964441,"mpcc_du":49.8027649,"mpcc_dv":49.1014748,"mpcc_dw":50.8985252,"mpcc_enc_sign":1,"mpcc_id_a":2.43199468,"mpcc_iq_a":-0.159864575,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.29147291,"mpcc_pred_id_a":0.254377961,"mpcc_pred_iq_a":-1.85408187,"mpcc_state":1,"mpcc_theta_e":0.436336994,"mpcc_theta_mech":0.554213285,"sam_rpm":-6.58195543,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180956721,"thr_a_norm":0.0180956721,"thr_a_v":0.572382689,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459890157,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.504448,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.74847269,"cg_iw_a":-1.61053514,"cg_theta_rad":0.557597697,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.00216157944,"mpcc_du":50.0813179,"mpcc_dv":48.9710579,"mpcc_dw":51.0289421,"mpcc_enc_sign":1,"mpcc_id_a":0.706318796,"mpcc_iq_a":-2.42790985,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.95539093,"mpcc_pred_id_a":-0.155841067,"mpcc_pred_iq_a":1.04670429,"mpcc_state":1,"mpcc_theta_e":0.449857235,"mpcc_theta_mech":0.556917369,"sam_rpm":12.718236,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194426626,"thr_a_norm":0.0194426626,"thr_a_v":0.57777065,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.514305,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.02359605,"cg_iw_a":0.129168749,"cg_theta_rad":0.552572727,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0446697176,"mpcc_du":49.6393509,"mpcc_dv":49.8489799,"mpcc_dw":50.3606491,"mpcc_enc_sign":1,"mpcc_id_a":0.169841871,"mpcc_iq_a":-1.015064,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.2047758,"mpcc_pred_id_a":-0.409844935,"mpcc_pred_iq_a":-3.9855566,"mpcc_state":1,"mpcc_theta_e":0.461984158,"mpcc_theta_mech":0.559342742,"sam_rpm":23.6256886,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194426626,"thr_a_norm":0.0194426626,"thr_a_v":0.57777065,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.524467,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.24105906,"cg_iw_a":0.564094782,"cg_theta_rad":0.553347707,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0379208066,"mpcc_du":49.5669327,"mpcc_dv":49.6967506,"mpcc_dw":50.4330673,"mpcc_enc_sign":1,"mpcc_id_a":0.25574708,"mpcc_iq_a":-1.07617569,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.15643978,"mpcc_pred_id_a":-0.0560936369,"mpcc_pred_iq_a":-0.766967535,"mpcc_state":1,"mpcc_theta_e":0.425273418,"mpcc_theta_mech":0.552000642,"sam_rpm":-13.1741257,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105675206,"thr_a_norm":0.105675206,"thr_a_v":0.922700822,"thr_b":0.0492275059,"thr_b_norm":0.0492275059,"thr_b_v":0.696910024,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.534691,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.878620625,"cg_iw_a":-2.6978507,"cg_theta_rad":0.557533264,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0628093034,"mpcc_du":50.5324669,"mpcc_dv":48.2842026,"mpcc_dw":51.7157974,"mpcc_enc_sign":1,"mpcc_id_a":1.63190818,"mpcc_iq_a":-0.173076585,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.92137337,"mpcc_pred_id_a":0.251462579,"mpcc_pred_iq_a":-2.07771397,"mpcc_state":1,"mpcc_theta_e":0.446212769,"mpcc_theta_mech":0.556188464,"sam_rpm":-4.57072878,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227031261,"thr_a_norm":0.105675206,"thr_a_v":0.590812504,"thr_b":0,"thr_b_norm":0.0492275059,"thr_b_v":0.485420018,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.544701,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.09608364,"cg_iw_a":-1.24809694,"cg_theta_rad":0.553064764,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.000136469185,"mpcc_du":49.1432838,"mpcc_dv":50.8567162,"mpcc_dw":49.8190727,"mpcc_enc_sign":1,"mpcc_id_a":0.208071291,"mpcc_iq_a":-1.81020725,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.76688433,"mpcc_pred_id_a":0.208095878,"mpcc_pred_iq_a":-3.37790966,"mpcc_state":1,"mpcc_theta_e":0.444928646,"mpcc_theta_mech":0.555931687,"sam_rpm":10.2008572,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227031261,"thr_a_norm":0.0227031261,"thr_a_v":0.590812504,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485420018,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.555077,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.45852208,"cg_iw_a":-0.160782099,"cg_theta_rad":0.556472421,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.00216523185,"mpcc_du":49.9157677,"mpcc_dv":49.122139,"mpcc_dw":50.877861,"mpcc_enc_sign":1,"mpcc_id_a":0.924053371,"mpcc_iq_a":-1.16458619,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.96137142,"mpcc_pred_id_a":-0.130171478,"mpcc_pred_iq_a":-2.75319171,"mpcc_state":1,"mpcc_theta_e":0.435883045,"mpcc_theta_mech":0.554122508,"sam_rpm":-11.6248388,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026227966,"thr_a_norm":0.026227966,"thr_a_v":0.604911864,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498915076,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.564903,"values":{"cg_iu_a":3.72144651,"cg_iv_a":-1.16857147,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556921422,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0241303798,"mpcc_du":50.0840454,"mpcc_dv":48.6383247,"mpcc_dw":51.3616753,"mpcc_enc_sign":1,"mpcc_id_a":2.34275079,"mpcc_iq_a":-2.37665582,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.175660402,"mpcc_pred_id_a":0.609196067,"mpcc_pred_iq_a":-2.47695303,"mpcc_state":1,"mpcc_theta_e":0.448450089,"mpcc_theta_mech":0.556635976,"sam_rpm":0.0646212995,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026227966,"thr_a_norm":0.026227966,"thr_a_v":0.604911864,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498915076,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.58831,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.226231575,"cg_iw_a":-1.24809742,"cg_theta_rad":0.555832446,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.00346168014,"mpcc_du":49.5918159,"mpcc_dv":49.5513,"mpcc_dw":50.4487,"mpcc_enc_sign":1,"mpcc_id_a":0.408838451,"mpcc_iq_a":-1.57459879,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.69791603,"mpcc_pred_id_a":-0.227746874,"mpcc_pred_iq_a":-5.41385889,"mpcc_state":1,"mpcc_theta_e":0.439058304,"mpcc_theta_mech":0.554757595,"sam_rpm":-8.36841297,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178061277,"thr_a_norm":0.0178061277,"thr_a_v":0.571224511,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448711365,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.594841,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.878620625,"cg_iw_a":-0.885658741,"cg_theta_rad":0.557692647,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0100750597,"mpcc_du":49.558239,"mpcc_dv":49.6104774,"mpcc_dw":50.441761,"mpcc_enc_sign":1,"mpcc_id_a":0.567483008,"mpcc_iq_a":-0.548334777,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.42357874,"mpcc_pred_id_a":-0.0761999488,"mpcc_pred_iq_a":-2.47912192,"mpcc_state":1,"mpcc_theta_e":0.449825764,"mpcc_theta_mech":0.556911111,"sam_rpm":10.8834505,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221114755,"thr_a_norm":0.0178061277,"thr_a_v":0.588445902,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485369653,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.601402,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.588670254,"cg_iw_a":-1.68302298,"cg_theta_rad":0.555696785,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.000922669133,"mpcc_du":50.3767815,"mpcc_dv":48.5306282,"mpcc_dw":51.4693718,"mpcc_enc_sign":1,"mpcc_id_a":1.92479575,"mpcc_iq_a":-1.24064922,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.25886595,"mpcc_pred_id_a":-0.200097546,"mpcc_pred_iq_a":-2.63072252,"mpcc_state":1,"mpcc_theta_e":0.446051121,"mpcc_theta_mech":0.556156099,"sam_rpm":-24.6523247,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221114755,"thr_a_norm":0.0221114755,"thr_a_v":0.588445902,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485369653,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.607872,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.661157608,"cg_iw_a":-0.233269691,"cg_theta_rad":0.557254672,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0148900077,"mpcc_du":49.9152565,"mpcc_dv":49.0294151,"mpcc_dw":50.9705849,"mpcc_enc_sign":1,"mpcc_id_a":1.7142024,"mpcc_iq_a":-1.84308076,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.6002903,"mpcc_pred_id_a":0.196518987,"mpcc_pred_iq_a":-1.6643436,"mpcc_state":1,"mpcc_theta_e":0.448858738,"mpcc_theta_mech":0.556717634,"sam_rpm":8.89221859,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291359574,"thr_a_norm":0.0291359574,"thr_a_v":0.616543829,"thr_b":0.00199474394,"thr_b_norm":0.00199474394,"thr_b_v":0.507978976,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.615471,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.38603449,"cg_iw_a":-1.10312176,"cg_theta_rad":0.555580735,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0436301827,"mpcc_du":50.6724548,"mpcc_dv":47.8360748,"mpcc_dw":52.1639252,"mpcc_enc_sign":1,"mpcc_id_a":4.01322317,"mpcc_iq_a":-0.874593794,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.3893375,"mpcc_pred_id_a":0.801349759,"mpcc_pred_iq_a":0.376238465,"mpcc_state":1,"mpcc_theta_e":0.431223869,"mpcc_theta_mech":0.553190649,"sam_rpm":-19.8178596,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291359574,"thr_a_norm":0.0291359574,"thr_a_v":0.616543829,"thr_b":0.00199474394,"thr_b_norm":0.00199474394,"thr_b_v":0.507978976,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.627892,"values":{"cg_iu_a":1.54681635,"cg_iv_a":0.498644829,"cg_iw_a":-2.04546118,"cg_theta_rad":0.552021742,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0104050152,"mpcc_du":49.5643768,"mpcc_dv":49.8180656,"mpcc_dw":50.4356232,"mpcc_enc_sign":1,"mpcc_id_a":1.70737445,"mpcc_iq_a":-2.2015729,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.58687091,"mpcc_pred_id_a":0.0460486747,"mpcc_pred_iq_a":-1.23313057,"mpcc_state":1,"mpcc_theta_e":0.445301533,"mpcc_theta_mech":0.556006193,"sam_rpm":4.7526927,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227409005,"thr_a_norm":0.0227409005,"thr_a_v":0.590963602,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486024261,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.637901,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-1.09608364,"cg_iw_a":-2.26292467,"cg_theta_rad":0.555300415,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0672256351,"mpcc_du":49.7924004,"mpcc_dv":48.9550056,"mpcc_dw":51.0449944,"mpcc_enc_sign":1,"mpcc_id_a":2.23571181,"mpcc_iq_a":-0.431470335,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.63175201,"mpcc_pred_id_a":0.720339596,"mpcc_pred_iq_a":-3.33513856,"mpcc_state":1,"mpcc_theta_e":0.4527421,"mpcc_theta_mech":0.557494342,"sam_rpm":8.14437771,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0314145088,"thr_a_norm":0.0314145088,"thr_a_v":0.625658035,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470464617,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.647728,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.45852208,"cg_iw_a":0.491606951,"cg_theta_rad":0.557538986,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0340874493,"mpcc_du":50.2926216,"mpcc_dv":48.2958527,"mpcc_dw":51.7041473,"mpcc_enc_sign":1,"mpcc_id_a":3.20795751,"mpcc_iq_a":-0.900369108,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.83366442,"mpcc_pred_id_a":0.807814598,"mpcc_pred_iq_a":-0.688912153,"mpcc_state":1,"mpcc_theta_e":0.438885689,"mpcc_theta_mech":0.554723024,"sam_rpm":-8.62292576,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0314145088,"thr_a_norm":0.0314145088,"thr_a_v":0.625658035,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470464617,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.658043,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-0.588670254,"cg_iw_a":-0.378244877,"cg_theta_rad":0.553923309,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0107973106,"mpcc_du":49.6928139,"mpcc_dv":49.3605156,"mpcc_dw":50.6394844,"mpcc_enc_sign":1,"mpcc_id_a":1.61371744,"mpcc_iq_a":-0.524047613,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.0600481,"mpcc_pred_id_a":-0.0361922942,"mpcc_pred_iq_a":-5.16471767,"mpcc_state":1,"mpcc_theta_e":0.454452038,"mpcc_theta_mech":0.557836294,"sam_rpm":-5.89487076,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262531489,"thr_a_norm":0.0262531489,"thr_a_v":0.605012596,"thr_b":0.00210803747,"thr_b_norm":0.00210803747,"thr_b_v":0.50843215,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.668175,"values":{"cg_iu_a":1.03940296,"cg_iv_a":1.22352171,"cg_iw_a":-4.00262833,"cg_theta_rad":0.553429127,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0619947575,"mpcc_du":50.1550484,"mpcc_dv":48.6907272,"mpcc_dw":51.3092728,"mpcc_enc_sign":1,"mpcc_id_a":1.58425033,"mpcc_iq_a":-0.10893447,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0122075295,"mpcc_pred_id_a":0.277711719,"mpcc_pred_iq_a":-2.95945549,"mpcc_state":1,"mpcc_theta_e":0.449301243,"mpcc_theta_mech":0.556806147,"sam_rpm":0.828704417,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200972706,"thr_a_norm":0.0262531489,"thr_a_v":0.580389082,"thr_b":0,"thr_b_norm":0.00210803747,"thr_b_v":0.456818491,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.691307,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-2.0384233,"cg_iw_a":-1.10312176,"cg_theta_rad":0.552741766,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0358890705,"mpcc_du":50.419117,"mpcc_dv":48.2877426,"mpcc_dw":51.7122574,"mpcc_enc_sign":1,"mpcc_id_a":2.37231088,"mpcc_iq_a":-0.464105129,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.36480093,"mpcc_pred_id_a":0.409995228,"mpcc_pred_iq_a":-1.48221374,"mpcc_state":1,"mpcc_theta_e":0.439749718,"mpcc_theta_mech":0.554895818,"sam_rpm":-10.2275076,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200972706,"thr_a_norm":0.0200972706,"thr_a_v":0.580389082,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456818491,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.697838,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.24105906,"cg_iw_a":0.709070206,"cg_theta_rad":0.556153238,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.017059397,"mpcc_du":48.9620819,"mpcc_dv":51.0379181,"mpcc_dw":49.6395187,"mpcc_enc_sign":1,"mpcc_id_a":2.01367474,"mpcc_iq_a":-2.04685903,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.56508636,"mpcc_pred_id_a":-0.113818958,"mpcc_pred_iq_a":-7.83511257,"mpcc_state":1,"mpcc_theta_e":0.453217983,"mpcc_theta_mech":0.557589471,"sam_rpm":14.3868637,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00753375888,"thr_b_norm":0.00753375888,"thr_b_v":0.530135036,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.704338,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.806133032,"cg_iw_a":-0.740683556,"cg_theta_rad":0.555978,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0298841391,"mpcc_du":50.7381439,"mpcc_dv":47.9814644,"mpcc_dw":52.0185356,"mpcc_enc_sign":1,"mpcc_id_a":2.00198865,"mpcc_iq_a":-0.0672402158,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.771876276,"mpcc_pred_id_a":0.327242523,"mpcc_pred_iq_a":1.97674489,"mpcc_state":1,"mpcc_theta_e":0.443991661,"mpcc_theta_mech":0.555744231,"sam_rpm":-0.54257679,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00753375888,"thr_b_norm":0.00753375888,"thr_b_v":0.530135036,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.710899,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.661157608,"cg_iw_a":-2.11794901,"cg_theta_rad":0.556490064,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.017381683,"mpcc_du":50.1467285,"mpcc_dv":48.7447205,"mpcc_dw":51.2552795,"mpcc_enc_sign":1,"mpcc_id_a":1.91405237,"mpcc_iq_a":-1.75888574,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.89661407,"mpcc_pred_id_a":0.207018018,"mpcc_pred_iq_a":-0.177492455,"mpcc_state":1,"mpcc_theta_e":0.450798035,"mpcc_theta_mech":0.557105482,"sam_rpm":10.7132149,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.102062255,"thr_a_norm":0.102062255,"thr_a_v":0.908249021,"thr_b":0.045325011,"thr_b_norm":0.045325011,"thr_b_v":0.681300044,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.721184,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.38603449,"cg_iw_a":-0.958146334,"cg_theta_rad":0.557663143,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0296272803,"mpcc_du":50.1774826,"mpcc_dv":49.0233078,"mpcc_dw":50.9766922,"mpcc_enc_sign":1,"mpcc_id_a":0.0855297372,"mpcc_iq_a":-0.874758482,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.96528721,"mpcc_pred_id_a":-0.658648551,"mpcc_pred_iq_a":-3.22963262,"mpcc_state":1,"mpcc_theta_e":0.452662468,"mpcc_theta_mech":0.557478368,"sam_rpm":2.18162918,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220233351,"thr_a_norm":0.102062255,"thr_a_v":0.58809334,"thr_b":0,"thr_b_norm":0.045325011,"thr_b_v":0.486678869,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.731071,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.09608364,"cg_iw_a":-1.53804779,"cg_theta_rad":0.555200398,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0764488503,"mpcc_du":50.5018272,"mpcc_dv":48.0484657,"mpcc_dw":51.9515343,"mpcc_enc_sign":1,"mpcc_id_a":4.14639282,"mpcc_iq_a":-0.617752314,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.57435036,"mpcc_pred_id_a":0.702973604,"mpcc_pred_iq_a":-1.27111053,"mpcc_state":1,"mpcc_theta_e":0.442625523,"mpcc_theta_mech":0.555471003,"sam_rpm":-8.95325947,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220233351,"thr_a_norm":0.0220233351,"thr_a_v":0.58809334,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486678869,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.742302,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.45852208,"cg_iw_a":0.346631765,"cg_theta_rad":0.554152846,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.00359996897,"mpcc_du":49.4616318,"mpcc_dv":50.0090523,"mpcc_dw":50.5383682,"mpcc_enc_sign":1,"mpcc_id_a":0.606458664,"mpcc_iq_a":-0.824837804,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.02724886,"mpcc_pred_id_a":-0.18496865,"mpcc_pred_iq_a":-2.98113894,"mpcc_state":1,"mpcc_theta_e":0.428646088,"mpcc_theta_mech":0.552675128,"sam_rpm":8.23617744,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023836121,"thr_a_norm":0.023836121,"thr_a_v":0.595344484,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480636299,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.753502,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.38603449,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.557702363,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.024268128,"mpcc_du":50.1356392,"mpcc_dv":48.6711693,"mpcc_dw":51.3288307,"mpcc_enc_sign":1,"mpcc_id_a":1.64380455,"mpcc_iq_a":-0.314037263,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.53244495,"mpcc_pred_id_a":0.225851655,"mpcc_pred_iq_a":-1.86853957,"mpcc_state":1,"mpcc_theta_e":0.4440341,"mpcc_theta_mech":0.555752754,"sam_rpm":-5.5205965,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213561505,"thr_a_norm":0.023836121,"thr_a_v":0.585424602,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.763451,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.153744221,"cg_iw_a":-2.40789938,"cg_theta_rad":0.553869367,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.00076590816,"mpcc_du":49.5476036,"mpcc_dv":50.2072601,"mpcc_dw":50.4523964,"mpcc_enc_sign":1,"mpcc_id_a":0.281487674,"mpcc_iq_a":-1.15008569,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.43715858,"mpcc_pred_id_a":0.0405243114,"mpcc_pred_iq_a":-2.41953039,"mpcc_state":1,"mpcc_theta_e":0.445343494,"mpcc_theta_mech":0.555425227,"sam_rpm":12.7979374,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213561505,"thr_a_norm":0.0213561505,"thr_a_v":0.585424602,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.773705,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.84282589,"cg_theta_rad":0.55354774,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.00961221755,"mpcc_du":50.3031769,"mpcc_dv":48.9462814,"mpcc_dw":51.0537186,"mpcc_enc_sign":1,"mpcc_id_a":-0.434371412,"mpcc_iq_a":-1.78465462,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.64886332,"mpcc_pred_id_a":-0.856926858,"mpcc_pred_iq_a":-1.48853505,"mpcc_state":1,"mpcc_theta_e":0.451046467,"mpcc_theta_mech":0.557155192,"sam_rpm":7.04473686,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181963891,"thr_a_norm":0.0181963891,"thr_a_v":0.572785556,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457976639,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.796684,"values":{"cg_iu_a":2.34418058,"cg_iv_a":0.426157475,"cg_iw_a":-1.68302345,"cg_theta_rad":0.557095289,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0119004585,"mpcc_du":50.2104225,"mpcc_dv":48.8574448,"mpcc_dw":51.1425552,"mpcc_enc_sign":1,"mpcc_id_a":0.382628053,"mpcc_iq_a":-1.4339416,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.88729334,"mpcc_pred_id_a":-0.337542117,"mpcc_pred_iq_a":-1.17540395,"mpcc_state":1,"mpcc_theta_e":0.448812485,"mpcc_theta_mech":0.556708395,"sam_rpm":6.72048712,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181963891,"thr_a_norm":0.0181963891,"thr_a_v":0.572785556,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457976639,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.803246,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.02359605,"cg_iw_a":0.346631765,"cg_theta_rad":0.557503164,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.00130514428,"mpcc_du":49.4390335,"mpcc_dv":50.5609665,"mpcc_dw":50.084774,"mpcc_enc_sign":1,"mpcc_id_a":0.0121434946,"mpcc_iq_a":-1.53437138,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.34208393,"mpcc_pred_id_a":-0.481915683,"mpcc_pred_iq_a":-4.91583204,"mpcc_state":1,"mpcc_theta_e":0.449005604,"mpcc_theta_mech":0.556747019,"sam_rpm":10.6587992,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210917741,"thr_a_norm":0.0210917741,"thr_a_v":0.584367096,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.809715,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.38603449,"cg_iw_a":-1.32058477,"cg_theta_rad":0.553820848,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0271873344,"mpcc_du":50.9372673,"mpcc_dv":48.0200348,"mpcc_dw":51.9799652,"mpcc_enc_sign":1,"mpcc_id_a":0.16745013,"mpcc_iq_a":-1.37742448,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.75847793,"mpcc_pred_id_a":-0.337348342,"mpcc_pred_iq_a":1.02139735,"mpcc_state":1,"mpcc_theta_e":0.449605942,"mpcc_theta_mech":0.556867063,"sam_rpm":5.57391262,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210917741,"thr_a_norm":0.0210917741,"thr_a_v":0.584367096,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.816277,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.82096052,"cg_iw_a":1.36145926,"cg_theta_rad":0.555451334,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.000158695751,"mpcc_du":49.7002983,"mpcc_dv":49.8232002,"mpcc_dw":50.2997017,"mpcc_enc_sign":1,"mpcc_id_a":0.251675606,"mpcc_iq_a":-3.18839335,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.49025917,"mpcc_pred_id_a":-0.69025898,"mpcc_pred_iq_a":-3.1988852,"mpcc_state":1,"mpcc_theta_e":0.452116966,"mpcc_theta_mech":0.557369292,"sam_rpm":14.0758085,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023735404,"thr_a_norm":0.023735404,"thr_a_v":0.594941616,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471270293,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.825249,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-1.96593571,"cg_iw_a":-0.885658741,"cg_theta_rad":0.557900667,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.00351395016,"mpcc_du":49.5691643,"mpcc_dv":50.2714882,"mpcc_dw":50.4308357,"mpcc_enc_sign":1,"mpcc_id_a":1.16741467,"mpcc_iq_a":-0.640831947,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.62056828,"mpcc_pred_id_a":0.152267486,"mpcc_pred_iq_a":-2.48827481,"mpcc_state":1,"mpcc_theta_e":0.442187309,"mpcc_theta_mech":0.555383384,"sam_rpm":5.83083534,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269329399,"thr_a_norm":0.023735404,"thr_a_v":0.60773176,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486678869,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.836266,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.661157608,"cg_iw_a":-3.56770229,"cg_theta_rad":0.553964317,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0256491192,"mpcc_du":49.6171341,"mpcc_dv":49.3461838,"mpcc_dw":50.6538162,"mpcc_enc_sign":1,"mpcc_id_a":3.02948737,"mpcc_iq_a":-1.10332334,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.16973972,"mpcc_pred_id_a":0.381000698,"mpcc_pred_iq_a":-1.95147693,"mpcc_state":1,"mpcc_theta_e":0.428489685,"mpcc_theta_mech":0.552643895,"sam_rpm":-9.42391491,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269329399,"thr_a_norm":0.0269329399,"thr_a_v":0.60773176,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486678869,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.846489,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.53100967,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556776643,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0338812061,"mpcc_du":48.4332275,"mpcc_dv":46.1897888,"mpcc_dw":53.8102112,"mpcc_enc_sign":1,"mpcc_id_a":2.18602347,"mpcc_iq_a":-0.378723323,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":22.8708477,"mpcc_pred_id_a":0.559757411,"mpcc_pred_iq_a":-6.28503752,"mpcc_state":1,"mpcc_theta_e":0.460329056,"mpcc_theta_mech":0.559011698,"sam_rpm":34.8762741,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0379732102,"thr_a_norm":0.0379732102,"thr_a_v":0.651892841,"thr_b":0.0069924444,"thr_b_norm":0.0069924444,"thr_b_v":0.527969778,"vdc_v":54.6292953}} +{"type":"telemetry","t":66.858879,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.951108456,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556503057,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0446681455,"mpcc_du":50.3399582,"mpcc_dv":48.4613304,"mpcc_dw":51.5386696,"mpcc_enc_sign":1,"mpcc_id_a":2.67442107,"mpcc_iq_a":-0.688258708,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.10123348,"mpcc_pred_id_a":0.512417912,"mpcc_pred_iq_a":-0.832825422,"mpcc_state":1,"mpcc_theta_e":0.451693058,"mpcc_theta_mech":0.557284534,"sam_rpm":2.36304688,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263916254,"thr_a_norm":0.0379732102,"thr_a_v":0.605566502,"thr_b":0.002951473,"thr_b_norm":0.0069924444,"thr_b_v":0.511805892,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.868828,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.96593571,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556886792,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0494599938,"mpcc_du":49.4959831,"mpcc_dv":49.8268623,"mpcc_dw":50.5040169,"mpcc_enc_sign":1,"mpcc_id_a":2.08971262,"mpcc_iq_a":-0.731242657,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.57831669,"mpcc_pred_id_a":0.46313104,"mpcc_pred_iq_a":-5.36943531,"mpcc_state":1,"mpcc_theta_e":0.452118874,"mpcc_theta_mech":0.557369709,"sam_rpm":9.49752426,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263916254,"thr_a_norm":0.0263916254,"thr_a_v":0.605566502,"thr_b":0.002951473,"thr_b_norm":0.002951473,"thr_b_v":0.511805892,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.892082,"values":{"cg_iu_a":0.894427299,"cg_iv_a":0.498644829,"cg_iw_a":-2.48038721,"cg_theta_rad":0.557334244,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0415958576,"mpcc_du":49.7648125,"mpcc_dv":49.2775612,"mpcc_dw":50.7224388,"mpcc_enc_sign":1,"mpcc_id_a":1.47584915,"mpcc_iq_a":-0.332186788,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.124622561,"mpcc_pred_id_a":0.157128677,"mpcc_pred_iq_a":-2.96841717,"mpcc_state":1,"mpcc_theta_e":0.447315216,"mpcc_theta_mech":0.556409001,"sam_rpm":13.3192024,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022728309,"thr_a_norm":0.022728309,"thr_a_v":0.590913236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483758271,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.898582,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.516182423,"cg_iw_a":0.12916851,"cg_theta_rad":0.557682097,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.00998812076,"mpcc_du":49.7371864,"mpcc_dv":49.3338852,"mpcc_dw":50.6661148,"mpcc_enc_sign":1,"mpcc_id_a":1.74383295,"mpcc_iq_a":-1.77427137,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.1333809,"mpcc_pred_id_a":-0.00528731663,"mpcc_pred_iq_a":-1.10648608,"mpcc_state":1,"mpcc_theta_e":0.452636719,"mpcc_theta_mech":0.557473302,"sam_rpm":15.0823383,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022728309,"thr_a_norm":0.022728309,"thr_a_v":0.590913236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483758271,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.905113,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.02359605,"cg_iw_a":0.564094782,"cg_theta_rad":0.553964317,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.00863644574,"mpcc_du":50.9784889,"mpcc_dv":47.6969032,"mpcc_dw":52.3030968,"mpcc_enc_sign":1,"mpcc_id_a":0.738732338,"mpcc_iq_a":-0.530051529,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.47495389,"mpcc_pred_id_a":-0.16509375,"mpcc_pred_iq_a":0.548930943,"mpcc_state":1,"mpcc_theta_e":0.441755295,"mpcc_theta_mech":0.555296957,"sam_rpm":-25.9129543,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212050676,"thr_a_norm":0.0212050676,"thr_a_v":0.584820271,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478622139,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.911674,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.806133032,"cg_iw_a":0.201656103,"cg_theta_rad":0.556986213,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0364929996,"mpcc_du":50.0936584,"mpcc_dv":48.6508179,"mpcc_dw":51.3491821,"mpcc_enc_sign":1,"mpcc_id_a":3.19648337,"mpcc_iq_a":-0.473451167,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.94173765,"mpcc_pred_id_a":0.661816359,"mpcc_pred_iq_a":-0.124888018,"mpcc_state":1,"mpcc_theta_e":0.452416897,"mpcc_theta_mech":0.557429314,"sam_rpm":7.88940763,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0212050676,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.921684,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.806133032,"cg_iw_a":-1.68302321,"cg_theta_rad":0.558189154,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0625368729,"mpcc_du":49.8926353,"mpcc_dv":48.9006386,"mpcc_dw":51.0993614,"mpcc_enc_sign":1,"mpcc_id_a":3.19228792,"mpcc_iq_a":-0.273423165,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.318231136,"mpcc_pred_id_a":0.593297005,"mpcc_pred_iq_a":-3.16702414,"mpcc_state":1,"mpcc_theta_e":0.447229385,"mpcc_theta_mech":0.556391776,"sam_rpm":0.459267765,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.931847,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.96593571,"cg_iw_a":0.854045391,"cg_theta_rad":0.554050744,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0923013762,"mpcc_du":49.2615166,"mpcc_dv":49.478054,"mpcc_dw":50.7384834,"mpcc_enc_sign":1,"mpcc_id_a":5.62602186,"mpcc_iq_a":1.32317913,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.79062843,"mpcc_pred_id_a":1.59756315,"mpcc_pred_iq_a":-0.239838481,"mpcc_state":1,"mpcc_theta_e":0.442152977,"mpcc_theta_mech":0.55537653,"sam_rpm":11.973712,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024868384,"thr_a_norm":0.024868384,"thr_a_v":0.599473536,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477514297,"vdc_v":54.6292953}} +{"type":"telemetry","t":66.943291,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.24105906,"cg_iw_a":0.346631527,"cg_theta_rad":0.557851732,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0214583986,"mpcc_du":50.1845474,"mpcc_dv":48.6825485,"mpcc_dw":51.3174515,"mpcc_enc_sign":1,"mpcc_id_a":1.11784291,"mpcc_iq_a":-0.934932828,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.14472151,"mpcc_pred_id_a":0.128342107,"mpcc_pred_iq_a":-1.45140541,"mpcc_state":1,"mpcc_theta_e":0.445611477,"mpcc_theta_mech":0.556068242,"sam_rpm":-2.63592029,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246417969,"thr_a_norm":0.024868384,"thr_a_v":0.598567188,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49332568,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.954247,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.53100967,"cg_iw_a":-0.233269691,"cg_theta_rad":0.557005346,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0220106095,"mpcc_du":49.2604332,"mpcc_dv":50.7395668,"mpcc_dw":50.3371811,"mpcc_enc_sign":1,"mpcc_id_a":2.69521236,"mpcc_iq_a":-0.278231502,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.66663098,"mpcc_pred_id_a":0.815137923,"mpcc_pred_iq_a":-2.20121384,"mpcc_state":1,"mpcc_theta_e":0.434788704,"mpcc_theta_mech":0.553903699,"sam_rpm":8.03655052,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246417969,"thr_a_norm":0.0246417969,"thr_a_v":0.598567188,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49332568,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.963432,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-2.11091113,"cg_iw_a":2.01384807,"cg_theta_rad":0.556532264,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5001,"hz_app_loop":362,"hz_tim_isr":10002,"hz_vsense":362,"mpcc_cost":0.0019012501,"mpcc_du":49.4865417,"mpcc_dv":50.5134583,"mpcc_dw":50.2554207,"mpcc_enc_sign":1,"mpcc_id_a":0.11171639,"mpcc_iq_a":-0.654901087,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.6046076,"mpcc_pred_id_a":-0.103432573,"mpcc_pred_iq_a":-1.85300004,"mpcc_state":1,"mpcc_theta_e":0.452885628,"mpcc_theta_mech":0.557523012,"sam_rpm":22.781744,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.021620512,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496498048,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.975273,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-1.02359605,"cg_iw_a":1.143996,"cg_theta_rad":0.556050479,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0294329748,"mpcc_du":49.5390663,"mpcc_dv":50.4609337,"mpcc_dw":50.2021713,"mpcc_enc_sign":1,"mpcc_id_a":-0.131361723,"mpcc_iq_a":-2.5668819,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.347100586,"mpcc_pred_id_a":-0.435750276,"mpcc_pred_iq_a":-3.11783409,"mpcc_state":1,"mpcc_theta_e":0.4368186,"mpcc_theta_mech":0.554309607,"sam_rpm":-2.19585896,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.021620512,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496498048,"vdc_v":55.2955055}} +{"type":"telemetry","t":66.99688,"values":{"cg_iu_a":1.25686598,"cg_iv_a":0.136206627,"cg_iw_a":-2.98780107,"cg_theta_rad":0.553974211,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0168377999,"mpcc_du":49.623024,"mpcc_dv":50.376976,"mpcc_dw":50.2256355,"mpcc_enc_sign":1,"mpcc_id_a":-0.341105014,"mpcc_iq_a":-0.76030308,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.32656288,"mpcc_pred_id_a":-0.627506256,"mpcc_pred_iq_a":-5.00126934,"mpcc_state":1,"mpcc_theta_e":0.451220512,"mpcc_theta_mech":0.557190001,"sam_rpm":12.1115732,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.102024496,"thr_a_norm":0.102024496,"thr_a_v":0.908097982,"thr_b":0.0446326435,"thr_b_norm":0.0446326435,"thr_b_v":0.678530574,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.00341,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.153744221,"cg_iw_a":-0.523220301,"cg_theta_rad":0.554665267,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0118228216,"mpcc_du":48.3318367,"mpcc_dv":51.6681633,"mpcc_dw":48.8491592,"mpcc_enc_sign":1,"mpcc_id_a":0.479766428,"mpcc_iq_a":-1.3604753,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":25.6062317,"mpcc_pred_id_a":-0.300481468,"mpcc_pred_iq_a":-6.88868904,"mpcc_state":1,"mpcc_theta_e":0.465508938,"mpcc_theta_mech":0.560047686,"sam_rpm":38.0990944,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260769129,"thr_a_norm":0.102024496,"thr_a_v":0.604307652,"thr_b":0,"thr_b_norm":0.0446326435,"thr_b_v":0.49005264,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.009911,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.371207237,"cg_iw_a":-0.305757046,"cg_theta_rad":0.555912614,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00239186455,"mpcc_du":51.2298355,"mpcc_dv":47.508625,"mpcc_dw":52.491375,"mpcc_enc_sign":1,"mpcc_id_a":0.116261229,"mpcc_iq_a":-1.38127434,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.3373356,"mpcc_pred_id_a":-0.22014226,"mpcc_pred_iq_a":-0.0198006295,"mpcc_state":1,"mpcc_theta_e":0.426254272,"mpcc_theta_mech":0.552196741,"sam_rpm":-30.8433723,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260769129,"thr_a_norm":0.0260769129,"thr_a_v":0.604307652,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49005264,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.018486,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.588670254,"cg_iw_a":-2.84282541,"cg_theta_rad":0.554517925,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00149418565,"mpcc_du":50.0914612,"mpcc_dv":49.1466255,"mpcc_dw":50.8533745,"mpcc_enc_sign":1,"mpcc_id_a":-0.550030947,"mpcc_iq_a":-1.216851,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.398355633,"mpcc_pred_id_a":-0.617683172,"mpcc_pred_iq_a":-1.34445918,"mpcc_state":1,"mpcc_theta_e":0.442929745,"mpcc_theta_mech":0.555531859,"sam_rpm":0.294345528,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021746397,"thr_a_norm":0.021746397,"thr_a_v":0.586985588,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472378135,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.028893,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.09608364,"cg_iw_a":-2.19043684,"cg_theta_rad":0.552660227,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0678455457,"mpcc_du":49.5666351,"mpcc_dv":50.3686562,"mpcc_dw":50.4333649,"mpcc_enc_sign":1,"mpcc_id_a":1.18079066,"mpcc_iq_a":-0.975265801,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-24.0828304,"mpcc_pred_id_a":0.227617562,"mpcc_pred_iq_a":-4.20857143,"mpcc_state":1,"mpcc_theta_e":0.416326046,"mpcc_theta_mech":0.550211132,"sam_rpm":-25.9397221,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0392320901,"thr_a_norm":0.021746397,"thr_a_v":0.65692836,"thr_b":0.0130853653,"thr_b_norm":0,"thr_b_v":0.552341461,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.038689,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.878620625,"cg_iw_a":0.274143696,"cg_theta_rad":0.557772338,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0293644033,"mpcc_du":49.7480087,"mpcc_dv":49.2942734,"mpcc_dw":50.7057266,"mpcc_enc_sign":1,"mpcc_id_a":2.09130931,"mpcc_iq_a":-1.41212201,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.40271568,"mpcc_pred_id_a":0.160523325,"mpcc_pred_iq_a":-1.00405979,"mpcc_state":1,"mpcc_theta_e":0.428923607,"mpcc_theta_mech":0.55273068,"sam_rpm":-13.4312572,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0392320901,"thr_a_norm":0.0392320901,"thr_a_v":0.65692836,"thr_b":0.0130853653,"thr_b_norm":0.0130853653,"thr_b_v":0.552341461,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.048912,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.16857147,"cg_iw_a":-2.84282589,"cg_theta_rad":0.557199895,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0160632953,"mpcc_du":50.0890541,"mpcc_dv":49.0870972,"mpcc_dw":50.9129028,"mpcc_enc_sign":1,"mpcc_id_a":0.747557878,"mpcc_iq_a":-0.677894354,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.16159105,"mpcc_pred_id_a":-0.310007274,"mpcc_pred_iq_a":-2.03214502,"mpcc_state":1,"mpcc_theta_e":0.446231365,"mpcc_theta_mech":0.55619216,"sam_rpm":3.48721814,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289471298,"thr_a_norm":0.0289471298,"thr_a_v":0.615788519,"thr_b":0.000282675028,"thr_b_norm":0.000282675028,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.059074,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.24105906,"cg_iw_a":0.781557798,"cg_theta_rad":0.557015657,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0218675546,"mpcc_du":49.6697578,"mpcc_dv":49.2750473,"mpcc_dw":50.7249527,"mpcc_enc_sign":1,"mpcc_id_a":2.21141267,"mpcc_iq_a":-1.80998456,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.92805481,"mpcc_pred_id_a":0.542274475,"mpcc_pred_iq_a":-2.28688216,"mpcc_state":1,"mpcc_theta_e":0.450848579,"mpcc_theta_mech":0.557115614,"sam_rpm":12.7237387,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289471298,"thr_a_norm":0.0289471298,"thr_a_v":0.615788519,"thr_b":0.000282675028,"thr_b_norm":0.000282675028,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.069298,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-2.83578777,"cg_iw_a":1.14399624,"cg_theta_rad":0.555262446,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00171156437,"mpcc_du":49.7026863,"mpcc_dv":49.3048477,"mpcc_dw":50.6951523,"mpcc_enc_sign":1,"mpcc_id_a":0.644154549,"mpcc_iq_a":-0.391261578,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.32462811,"mpcc_pred_id_a":0.165042177,"mpcc_pred_iq_a":-1.15782619,"mpcc_state":1,"mpcc_theta_e":0.439980984,"mpcc_theta_mech":0.554942071,"sam_rpm":1.45230961,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479729921,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.079247,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.878620625,"cg_iw_a":0.0566806793,"cg_theta_rad":0.557189941,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0500708483,"mpcc_du":50.5532188,"mpcc_dv":48.3609047,"mpcc_dw":51.6390953,"mpcc_enc_sign":1,"mpcc_id_a":1.78060365,"mpcc_iq_a":0.633287907,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.49338102,"mpcc_pred_id_a":0.0367119275,"mpcc_pred_iq_a":0.834740698,"mpcc_state":1,"mpcc_theta_e":0.448904514,"mpcc_theta_mech":0.556726813,"sam_rpm":6.18947172,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245410949,"thr_a_norm":0.0256614834,"thr_a_v":0.59816438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.102257,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.443694592,"cg_iw_a":-0.59570837,"cg_theta_rad":0.553565264,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00523145497,"mpcc_du":49.8228264,"mpcc_dv":49.3538055,"mpcc_dw":50.6461945,"mpcc_enc_sign":1,"mpcc_id_a":0.481871754,"mpcc_iq_a":-1.06262708,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.96906805,"mpcc_pred_id_a":-0.185857937,"mpcc_pred_iq_a":-2.00709963,"mpcc_state":1,"mpcc_theta_e":0.44775629,"mpcc_theta_mech":0.556497216,"sam_rpm":6.91706419,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245410949,"thr_a_norm":0.0245410949,"thr_a_v":0.59816438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.108849,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-2.40086174,"cg_iw_a":1.72389746,"cg_theta_rad":0.555953622,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0106202196,"mpcc_du":50.4648209,"mpcc_dv":48.6256905,"mpcc_dw":51.3743095,"mpcc_enc_sign":1,"mpcc_id_a":0.546345174,"mpcc_iq_a":-0.765047252,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.82193768,"mpcc_pred_id_a":-0.288542867,"mpcc_pred_iq_a":0.0355246514,"mpcc_state":1,"mpcc_theta_e":0.443864346,"mpcc_theta_mech":0.55571878,"sam_rpm":1.9005146,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021595329,"thr_a_norm":0.021595329,"thr_a_v":0.586381316,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.115318,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.47334933,"cg_iw_a":1.28897119,"cg_theta_rad":0.556073487,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00588658266,"mpcc_du":48.5645943,"mpcc_dv":51.4354057,"mpcc_dw":48.9938393,"mpcc_enc_sign":1,"mpcc_id_a":0.226671264,"mpcc_iq_a":-2.39102554,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.6161327,"mpcc_pred_id_a":-0.378085673,"mpcc_pred_iq_a":-9.27360439,"mpcc_state":1,"mpcc_theta_e":0.456216335,"mpcc_theta_mech":0.558189154,"sam_rpm":19.1938438,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021595329,"thr_a_norm":0.021595329,"thr_a_v":0.586381316,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.122063,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.09608364,"cg_iw_a":-2.11794901,"cg_theta_rad":0.554516733,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0312587507,"mpcc_du":49.0199661,"mpcc_dv":50.9800339,"mpcc_dw":49.739563,"mpcc_enc_sign":1,"mpcc_id_a":2.64648771,"mpcc_iq_a":-0.913438141,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.7241955,"mpcc_pred_id_a":0.190564215,"mpcc_pred_iq_a":-6.51919031,"mpcc_state":1,"mpcc_theta_e":0.45368433,"mpcc_theta_mech":0.557682812,"sam_rpm":17.6433411,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022174418,"thr_a_norm":0.022174418,"thr_a_v":0.588697672,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483456165,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.132225,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.516182423,"cg_iw_a":-1.32058477,"cg_theta_rad":0.556299806,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.029728476,"mpcc_du":49.5332298,"mpcc_dv":50.0678101,"mpcc_dw":50.4667702,"mpcc_enc_sign":1,"mpcc_id_a":2.98097777,"mpcc_iq_a":-0.173408389,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.74429512,"mpcc_pred_id_a":0.433511347,"mpcc_pred_iq_a":-2.28681493,"mpcc_state":1,"mpcc_theta_e":0.432561874,"mpcc_theta_mech":0.553458333,"sam_rpm":10.4724731,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261902064,"thr_a_norm":0.0261902064,"thr_a_v":0.604760826,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499519348,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.142235,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.806133032,"cg_iw_a":-1.39307237,"cg_theta_rad":0.556234419,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0308248047,"mpcc_du":50.557251,"mpcc_dv":48.290123,"mpcc_dw":51.709877,"mpcc_enc_sign":1,"mpcc_id_a":1.01508653,"mpcc_iq_a":-0.281706303,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.615798,"mpcc_pred_id_a":0.0653935373,"mpcc_pred_iq_a":-3.180264,"mpcc_state":1,"mpcc_theta_e":0.434200764,"mpcc_theta_mech":0.553786039,"sam_rpm":-21.2399502,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261902064,"thr_a_norm":0.0261902064,"thr_a_v":0.604760826,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499519348,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.152458,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.6759851,"cg_iw_a":-1.61053538,"cg_theta_rad":0.553511143,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00482821278,"mpcc_du":49.5877304,"mpcc_dv":49.5156479,"mpcc_dw":50.4843521,"mpcc_enc_sign":1,"mpcc_id_a":0.96281153,"mpcc_iq_a":-0.732649148,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.60854149,"mpcc_pred_id_a":-0.0255318135,"mpcc_pred_iq_a":-1.33294988,"mpcc_state":1,"mpcc_theta_e":0.44483614,"mpcc_theta_mech":0.55591315,"sam_rpm":10.5570583,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0373186022,"thr_a_norm":0.0373186022,"thr_a_v":0.649274409,"thr_b":0.00929617882,"thr_b_norm":0.00929617882,"thr_b_v":0.537184715,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.162651,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.0812563896,"cg_iw_a":0.201656342,"cg_theta_rad":0.556272984,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0856204107,"mpcc_du":50.3914413,"mpcc_dv":48.3514519,"mpcc_dw":51.6485481,"mpcc_enc_sign":1,"mpcc_id_a":3.09037733,"mpcc_iq_a":-0.665058672,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.35539532,"mpcc_pred_id_a":0.559424579,"mpcc_pred_iq_a":-0.626495361,"mpcc_state":1,"mpcc_theta_e":0.453914642,"mpcc_theta_mech":0.557728887,"sam_rpm":11.3719234,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0373186022,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0.00929617882,"thr_b_v":0.441258878,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.17263,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.31354666,"cg_iw_a":0.12916851,"cg_theta_rad":0.556409001,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0116820103,"mpcc_du":49.5668755,"mpcc_dv":49.3552399,"mpcc_dw":50.6447601,"mpcc_enc_sign":1,"mpcc_id_a":1.90937471,"mpcc_iq_a":-0.937359989,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.70799303,"mpcc_pred_id_a":0.493105441,"mpcc_pred_iq_a":0.479783714,"mpcc_state":1,"mpcc_theta_e":0.438595295,"mpcc_theta_mech":0.554664969,"sam_rpm":6.52469254,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441258878,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.182854,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-1.45852208,"cg_iw_a":1.28897119,"cg_theta_rad":0.553972781,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00143380265,"mpcc_du":49.8121376,"mpcc_dv":49.4076843,"mpcc_dw":50.5923157,"mpcc_enc_sign":1,"mpcc_id_a":0.486518353,"mpcc_iq_a":-2.07828593,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.31245279,"mpcc_pred_id_a":-0.374431551,"mpcc_pred_iq_a":-4.58088779,"mpcc_state":1,"mpcc_theta_e":0.442363739,"mpcc_theta_mech":0.55541867,"sam_rpm":-7.06898594,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280785114,"thr_a_norm":0.0280785114,"thr_a_v":0.612314045,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486326396,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.20565,"values":{"cg_iu_a":-0.70030117,"cg_iv_a":-1.24105906,"cg_iw_a":-0.23326993,"cg_theta_rad":0.557050467,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00410471996,"mpcc_du":48.9747963,"mpcc_dv":51.0252037,"mpcc_dw":49.5154457,"mpcc_enc_sign":1,"mpcc_id_a":1.20955908,"mpcc_iq_a":-1.88305056,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.76136017,"mpcc_pred_id_a":-0.367536396,"mpcc_pred_iq_a":-6.67192602,"mpcc_state":1,"mpcc_theta_e":0.450897217,"mpcc_theta_mech":0.55712533,"sam_rpm":13.2691936,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280785114,"thr_a_norm":0.0280785114,"thr_a_v":0.612314045,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486326396,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.212212,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.31354666,"cg_iw_a":-1.03063393,"cg_theta_rad":0.554594398,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0322928317,"mpcc_du":49.5599022,"mpcc_dv":50.3680496,"mpcc_dw":50.4400978,"mpcc_enc_sign":1,"mpcc_id_a":1.77783024,"mpcc_iq_a":0.107355572,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.1076126,"mpcc_pred_id_a":0.282171011,"mpcc_pred_iq_a":-2.51764727,"mpcc_state":1,"mpcc_theta_e":0.458363056,"mpcc_theta_mech":0.558618546,"sam_rpm":25.1449871,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167109221,"thr_a_norm":0.0167109221,"thr_a_v":0.566843688,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467644751,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.218742,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.733645439,"cg_iw_a":-2.04546118,"cg_theta_rad":0.556123197,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.000566665083,"mpcc_du":50.2118263,"mpcc_dv":48.9615402,"mpcc_dw":51.0384598,"mpcc_enc_sign":1,"mpcc_id_a":2.74104881,"mpcc_iq_a":-1.5485673,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.27791667,"mpcc_pred_id_a":-0.466122836,"mpcc_pred_iq_a":-0.926977456,"mpcc_state":1,"mpcc_theta_e":0.449029446,"mpcc_theta_mech":0.556751788,"sam_rpm":3.30528212,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167109221,"thr_a_norm":0.0167109221,"thr_a_v":0.566843688,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467644751,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.225304,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.74847269,"cg_iw_a":1.14399576,"cg_theta_rad":0.557349563,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0049962583,"mpcc_du":49.6136856,"mpcc_dv":49.8371735,"mpcc_dw":50.3863144,"mpcc_enc_sign":1,"mpcc_id_a":1.28882658,"mpcc_iq_a":-0.553346872,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.74093401,"mpcc_pred_id_a":-0.281167805,"mpcc_pred_iq_a":-3.65943813,"mpcc_state":1,"mpcc_theta_e":0.438283443,"mpcc_theta_mech":0.554602623,"sam_rpm":-3.02805066,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455458879,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.235435,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.806133032,"cg_iw_a":-1.75551057,"cg_theta_rad":0.556083083,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0191188455,"mpcc_du":50.1045952,"mpcc_dv":48.9579582,"mpcc_dw":51.0420418,"mpcc_enc_sign":1,"mpcc_id_a":0.455206066,"mpcc_iq_a":-1.2831378,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.54078269,"mpcc_pred_id_a":-0.145621985,"mpcc_pred_iq_a":-1.83564305,"mpcc_state":1,"mpcc_theta_e":0.448857307,"mpcc_theta_mech":0.556717396,"sam_rpm":6.73561001,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228416175,"thr_a_norm":0.0192160606,"thr_a_v":0.59136647,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472680271,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.245415,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-4.57549191,"cg_iw_a":1.50643444,"cg_theta_rad":0.556482196,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0195029024,"mpcc_du":49.5725899,"mpcc_dv":49.5498619,"mpcc_dw":50.4501381,"mpcc_enc_sign":1,"mpcc_id_a":1.41710985,"mpcc_iq_a":-1.28728783,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.10134602,"mpcc_pred_id_a":-0.0132671734,"mpcc_pred_iq_a":-2.89435029,"mpcc_state":1,"mpcc_theta_e":0.451494217,"mpcc_theta_mech":0.557244778,"sam_rpm":14.9507494,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228416175,"thr_a_norm":0.0228416175,"thr_a_v":0.59136647,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472680271,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.255669,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.16857147,"cg_iw_a":0.999020576,"cg_theta_rad":0.551318944,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00114950479,"mpcc_du":50.4685173,"mpcc_dv":48.6295242,"mpcc_dw":51.3704758,"mpcc_enc_sign":1,"mpcc_id_a":-0.382333696,"mpcc_iq_a":-2.07978487,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.2462063,"mpcc_pred_id_a":-0.50362134,"mpcc_pred_iq_a":-2.60778832,"mpcc_state":1,"mpcc_theta_e":0.436110497,"mpcc_theta_mech":0.554167986,"sam_rpm":-15.7768688,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270965844,"thr_a_norm":0.0270965844,"thr_a_v":0.608386338,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490254045,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.265465,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.878620625,"cg_iw_a":0.346631527,"cg_theta_rad":0.55423677,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0144500425,"mpcc_du":49.9669228,"mpcc_dv":49.1183434,"mpcc_dw":50.8816566,"mpcc_enc_sign":1,"mpcc_id_a":-0.248910949,"mpcc_iq_a":-1.77521193,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.60129547,"mpcc_pred_id_a":-0.105812639,"mpcc_pred_iq_a":-3.80540872,"mpcc_state":1,"mpcc_theta_e":0.440618515,"mpcc_theta_mech":0.555069625,"sam_rpm":-3.8474946,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270965844,"thr_a_norm":0.0270965844,"thr_a_v":0.608386338,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490254045,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.275658,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.45852208,"cg_iw_a":-1.53804755,"cg_theta_rad":0.55756247,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0108041456,"mpcc_du":49.6676064,"mpcc_dv":49.430912,"mpcc_dw":50.569088,"mpcc_enc_sign":1,"mpcc_id_a":1.50881815,"mpcc_iq_a":-1.27156222,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.63379389,"mpcc_pred_id_a":0.0517928489,"mpcc_pred_iq_a":-3.67843294,"mpcc_state":1,"mpcc_theta_e":0.445050716,"mpcc_theta_mech":0.555956066,"sam_rpm":0.463876754,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0267189294,"thr_a_norm":0.0267189294,"thr_a_v":0.606875718,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.285851,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.02359605,"cg_iw_a":-1.4655602,"cg_theta_rad":0.553494275,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0154072987,"mpcc_du":49.646801,"mpcc_dv":49.5794563,"mpcc_dw":50.4205437,"mpcc_enc_sign":1,"mpcc_id_a":0.579454303,"mpcc_iq_a":-1.19933331,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.71015596,"mpcc_pred_id_a":-0.193455547,"mpcc_pred_iq_a":-2.31099892,"mpcc_state":1,"mpcc_theta_e":0.445142746,"mpcc_theta_mech":0.555974483,"sam_rpm":9.76392174,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289345384,"thr_a_norm":0.0267189294,"thr_a_v":0.615738153,"thr_b":0.00121423602,"thr_b_norm":0,"thr_b_v":0.504856944,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.309074,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.371207237,"cg_iw_a":-2.26292419,"cg_theta_rad":0.55577296,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0177737828,"mpcc_du":50.1200142,"mpcc_dv":49.1388016,"mpcc_dw":50.8611984,"mpcc_enc_sign":1,"mpcc_id_a":0.169432729,"mpcc_iq_a":-0.868745804,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.66961479,"mpcc_pred_id_a":-0.592260718,"mpcc_pred_iq_a":-1.62492597,"mpcc_state":1,"mpcc_theta_e":0.452188492,"mpcc_theta_mech":0.557383657,"sam_rpm":10.6286068,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289345384,"thr_a_norm":0.0289345384,"thr_a_v":0.615738153,"thr_b":0.00121423602,"thr_b_norm":0.00121423602,"thr_b_v":0.504856944,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.315605,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.60349751,"cg_iw_a":0.419119358,"cg_theta_rad":0.55652982,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0145085966,"mpcc_du":50.5591087,"mpcc_dv":48.2535362,"mpcc_dw":51.7464638,"mpcc_enc_sign":1,"mpcc_id_a":2.38456297,"mpcc_iq_a":-0.944816232,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.0250149,"mpcc_pred_id_a":0.0968166888,"mpcc_pred_iq_a":-1.05225062,"mpcc_state":1,"mpcc_theta_e":0.427800655,"mpcc_theta_mech":0.55250603,"sam_rpm":-23.8281307,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0345113277,"thr_a_norm":0.0345113277,"thr_a_v":0.638045311,"thr_b":0.000886932015,"thr_b_norm":0.000886932015,"thr_b_v":0.503547728,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.322075,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.153744221,"cg_iw_a":-0.740683079,"cg_theta_rad":0.55433172,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0123191504,"mpcc_du":50.1335907,"mpcc_dv":48.9300995,"mpcc_dw":51.0699005,"mpcc_enc_sign":1,"mpcc_id_a":0.524424791,"mpcc_iq_a":0.0350824893,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.08904386,"mpcc_pred_id_a":-0.144169092,"mpcc_pred_iq_a":-1.67077422,"mpcc_state":1,"mpcc_theta_e":0.440117359,"mpcc_theta_mech":0.55496943,"sam_rpm":-4.48756838,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0345113277,"thr_a_norm":0.0345113277,"thr_a_v":0.638045311,"thr_b":0.000886932015,"thr_b_norm":0.000886932015,"thr_b_v":0.503547728,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.328636,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.38603449,"cg_iw_a":0.636582375,"cg_theta_rad":0.556511939,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00061412208,"mpcc_du":50.0746117,"mpcc_dv":48.8955917,"mpcc_dw":51.1044083,"mpcc_enc_sign":1,"mpcc_id_a":0.487845838,"mpcc_iq_a":-1.42040265,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.12919903,"mpcc_pred_id_a":0.0536783449,"mpcc_pred_iq_a":-2.36267471,"mpcc_state":1,"mpcc_theta_e":0.433539391,"mpcc_theta_mech":0.553653836,"sam_rpm":-13.6971254,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.0264545679,"thr_a_v":0.605818272,"thr_b":0.00290112197,"thr_b_norm":0.00290112197,"thr_b_v":0.511604488,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.336662,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-0.661157608,"cg_iw_a":0.491606712,"cg_theta_rad":0.554759979,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0279637463,"mpcc_du":51.0418091,"mpcc_dv":47.5828514,"mpcc_dw":52.4171486,"mpcc_enc_sign":1,"mpcc_id_a":2.42040706,"mpcc_iq_a":-1.04306352,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.55544138,"mpcc_pred_id_a":0.39524895,"mpcc_pred_iq_a":2.28451014,"mpcc_state":1,"mpcc_theta_e":0.440201759,"mpcc_theta_mech":0.558368802,"sam_rpm":-5.62630129,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024440363,"thr_a_norm":0.0264545679,"thr_a_v":0.597761452,"thr_b":0,"thr_b_norm":0.00290112197,"thr_b_v":0.490606517,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.346642,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.82096052,"cg_iw_a":-0.305757523,"cg_theta_rad":0.550952971,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00119811238,"mpcc_du":50.8708,"mpcc_dv":47.9260979,"mpcc_dw":52.0739021,"mpcc_enc_sign":1,"mpcc_id_a":0.268059999,"mpcc_iq_a":-1.7311132,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.1322937,"mpcc_pred_id_a":-0.138057455,"mpcc_pred_iq_a":-0.995292425,"mpcc_state":1,"mpcc_theta_e":0.431099892,"mpcc_theta_mech":0.553165913,"sam_rpm":-24.478035,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024440363,"thr_a_norm":0.024440363,"thr_a_v":0.597761452,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490606517,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.357018,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.09608364,"cg_iw_a":-1.24809694,"cg_theta_rad":0.553665042,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.000687586609,"mpcc_du":50.3234138,"mpcc_dv":48.8029137,"mpcc_dw":51.1970863,"mpcc_enc_sign":1,"mpcc_id_a":-0.094486922,"mpcc_iq_a":-0.964496136,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.32992077,"mpcc_pred_id_a":-0.596093297,"mpcc_pred_iq_a":-0.396189719,"mpcc_state":1,"mpcc_theta_e":0.428189754,"mpcc_theta_mech":0.552583873,"sam_rpm":-12.1939659,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100186542,"thr_a_norm":0.100186542,"thr_a_v":0.900746167,"thr_b":0.0419008881,"thr_b_norm":0.0419008881,"thr_b_v":0.667603552,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.367271,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.661157608,"cg_iw_a":-2.26292467,"cg_theta_rad":0.555973291,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00355232437,"mpcc_du":50.0856476,"mpcc_dv":48.9412117,"mpcc_dw":50.39711,"mpcc_enc_sign":1,"mpcc_id_a":1.18314576,"mpcc_iq_a":-2.81947303,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.26726341,"mpcc_pred_id_a":-0.21066694,"mpcc_pred_iq_a":-3.57673073,"mpcc_state":1,"mpcc_theta_e":0.440154076,"mpcc_theta_mech":0.554976761,"sam_rpm":-9.97201729,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100186542,"thr_a_norm":0.100186542,"thr_a_v":0.900746167,"thr_b":0.0419008881,"thr_b_norm":0.0419008881,"thr_b_v":0.667603552,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.377251,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.09608364,"cg_iw_a":-1.24809718,"cg_theta_rad":0.55697608,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0688376874,"mpcc_du":49.8795853,"mpcc_dv":48.9040527,"mpcc_dw":51.0959473,"mpcc_enc_sign":1,"mpcc_id_a":3.13387609,"mpcc_iq_a":-0.0644270182,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.90297556,"mpcc_pred_id_a":0.573572457,"mpcc_pred_iq_a":-1.66257727,"mpcc_state":1,"mpcc_theta_e":0.448709965,"mpcc_theta_mech":0.556687891,"sam_rpm":11.0314093,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105209425,"thr_a_norm":0.105209425,"thr_a_v":0.9208377,"thr_b":0.0515438318,"thr_b_norm":0.0515438318,"thr_b_v":0.706175327,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.387474,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.806133032,"cg_iw_a":-1.61053538,"cg_theta_rad":0.555433095,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0168250781,"mpcc_du":50.3398094,"mpcc_dv":48.7571678,"mpcc_dw":51.2428322,"mpcc_enc_sign":1,"mpcc_id_a":0.046306517,"mpcc_iq_a":-1.31411839,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.25026083,"mpcc_pred_id_a":-0.556470275,"mpcc_pred_iq_a":-3.30277181,"mpcc_state":1,"mpcc_theta_e":0.442435741,"mpcc_theta_mech":0.555433095,"sam_rpm":-7.3760848,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210036635,"thr_a_norm":0.105209425,"thr_a_v":0.584014654,"thr_b":0,"thr_b_norm":0.0515438318,"thr_b_v":0.469558269,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.410637,"values":{"cg_iu_a":2.27169323,"cg_iv_a":0.208694458,"cg_iw_a":-0.523220539,"cg_theta_rad":0.555808961,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0309172552,"mpcc_du":50.659153,"mpcc_dv":48.0018425,"mpcc_dw":51.9981575,"mpcc_enc_sign":1,"mpcc_id_a":2.87033606,"mpcc_iq_a":0.130103946,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.5045853,"mpcc_pred_id_a":0.202653378,"mpcc_pred_iq_a":-1.90086031,"mpcc_state":1,"mpcc_theta_e":0.424768925,"mpcc_theta_mech":0.551899672,"sam_rpm":-31.4562435,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210036635,"thr_a_norm":0.0210036635,"thr_a_v":0.584014654,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469558269,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.417259,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.661157608,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556611538,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0161414538,"mpcc_du":49.9781647,"mpcc_dv":49.2298889,"mpcc_dw":50.7701111,"mpcc_enc_sign":1,"mpcc_id_a":-0.994125426,"mpcc_iq_a":-1.6063602,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.50047255,"mpcc_pred_id_a":-0.592295825,"mpcc_pred_iq_a":-2.53491354,"mpcc_state":1,"mpcc_theta_e":0.451893806,"mpcc_theta_mech":0.557324708,"sam_rpm":10.2801714,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172899961,"thr_a_norm":0.0172899961,"thr_a_v":0.569159985,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449517012,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.423729,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.02359605,"cg_iw_a":-1.03063416,"cg_theta_rad":0.553831875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0295293033,"mpcc_du":49.8209038,"mpcc_dv":49.0532875,"mpcc_dw":50.9467125,"mpcc_enc_sign":1,"mpcc_id_a":2.75038147,"mpcc_iq_a":-0.504150748,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.51485109,"mpcc_pred_id_a":0.741189778,"mpcc_pred_iq_a":-0.808048069,"mpcc_state":1,"mpcc_theta_e":0.446239948,"mpcc_theta_mech":0.556193948,"sam_rpm":-6.5071702,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172899961,"thr_a_norm":0.0172899961,"thr_a_v":0.569159985,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449517012,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.43026,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-2.40086174,"cg_iw_a":1.07150817,"cg_theta_rad":0.553763211,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00524987048,"mpcc_du":50.0745316,"mpcc_dv":48.963028,"mpcc_dw":51.036972,"mpcc_enc_sign":1,"mpcc_id_a":1.40030813,"mpcc_iq_a":-0.829435349,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.66019821,"mpcc_pred_id_a":-0.408569008,"mpcc_pred_iq_a":-1.78137243,"mpcc_state":1,"mpcc_theta_e":0.434225559,"mpcc_theta_mech":0.553791046,"sam_rpm":-10.1656733,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0157415867,"thr_a_norm":0.0157415867,"thr_a_v":0.562966347,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460091561,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.440453,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.60349751,"cg_iw_a":0.564094782,"cg_theta_rad":0.557508945,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0367161147,"mpcc_du":50.2579308,"mpcc_dv":49.2413101,"mpcc_dw":50.7586899,"mpcc_enc_sign":1,"mpcc_id_a":2.54749036,"mpcc_iq_a":-1.11419427,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.43343639,"mpcc_pred_id_a":0.0234853067,"mpcc_pred_iq_a":-2.86173439,"mpcc_state":1,"mpcc_theta_e":0.443870544,"mpcc_theta_mech":0.555720031,"sam_rpm":-6.42812777,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0401888341,"thr_a_norm":0.0157415867,"thr_a_v":0.660755336,"thr_b":0.00742045045,"thr_b_norm":0,"thr_b_v":0.529681802,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.452232,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.69785023,"cg_theta_rad":0.557150126,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0310689174,"mpcc_du":50.4887009,"mpcc_dv":48.2717094,"mpcc_dw":51.7282906,"mpcc_enc_sign":1,"mpcc_id_a":2.38075972,"mpcc_iq_a":-1.12723053,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.32153749,"mpcc_pred_id_a":0.159764662,"mpcc_pred_iq_a":-1.9085716,"mpcc_state":1,"mpcc_theta_e":0.44374609,"mpcc_theta_mech":0.555695176,"sam_rpm":-10.5972662,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0401888341,"thr_a_norm":0.0401888341,"thr_a_v":0.660755336,"thr_b":0.00742045045,"thr_b_norm":0.00742045045,"thr_b_v":0.529681802,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.462303,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-2.11091113,"cg_iw_a":0.926532984,"cg_theta_rad":0.555931151,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0430659503,"mpcc_du":50.1940079,"mpcc_dv":48.9447136,"mpcc_dw":51.0552864,"mpcc_enc_sign":1,"mpcc_id_a":0.0564395711,"mpcc_iq_a":-0.440707415,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.51347458,"mpcc_pred_id_a":-0.533961236,"mpcc_pred_iq_a":-3.15032649,"mpcc_state":1,"mpcc_theta_e":0.44872427,"mpcc_theta_mech":0.556690753,"sam_rpm":3.10793996,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204497576,"thr_a_norm":0.0204497576,"thr_a_v":0.58179903,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457976639,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.472435,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.53100967,"cg_iw_a":0.491606712,"cg_theta_rad":0.554195285,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0501853488,"mpcc_du":50.1705399,"mpcc_dv":48.6467438,"mpcc_dw":51.3532562,"mpcc_enc_sign":1,"mpcc_id_a":3.06522465,"mpcc_iq_a":-0.879854798,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.96026373,"mpcc_pred_id_a":0.317729145,"mpcc_pred_iq_a":-1.04663801,"mpcc_state":1,"mpcc_theta_e":0.452265739,"mpcc_theta_mech":0.557399035,"sam_rpm":7.96118927,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0305207074,"thr_a_norm":0.0204497576,"thr_a_v":0.622082829,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.482414,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.516182423,"cg_iw_a":-0.16078186,"cg_theta_rad":0.557284534,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0814108327,"mpcc_du":50.0903854,"mpcc_dv":48.891037,"mpcc_dw":51.108963,"mpcc_enc_sign":1,"mpcc_id_a":1.15613925,"mpcc_iq_a":0.00356253935,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.69257331,"mpcc_pred_id_a":-0.148979664,"mpcc_pred_iq_a":-3.5716939,"mpcc_state":1,"mpcc_theta_e":0.450177193,"mpcc_theta_mech":0.556981385,"sam_rpm":6.50295496,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0305207074,"thr_a_norm":0.0305207074,"thr_a_v":0.622082829,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.505669,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.153744221,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556321204,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0400426388,"mpcc_du":51.3056297,"mpcc_dv":46.9698524,"mpcc_dw":53.0301476,"mpcc_enc_sign":1,"mpcc_id_a":3.97629595,"mpcc_iq_a":-0.411786944,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.1513767,"mpcc_pred_id_a":0.647491992,"mpcc_pred_iq_a":3.87515831,"mpcc_state":1,"mpcc_theta_e":0.423742771,"mpcc_theta_mech":0.551694512,"sam_rpm":-27.0654297,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189894736,"thr_a_norm":0.0189894736,"thr_a_v":0.575957894,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471270293,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.512169,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.74847269,"cg_iw_a":-1.39307237,"cg_theta_rad":0.55376482,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0240798946,"mpcc_du":49.5517159,"mpcc_dv":49.9874382,"mpcc_dw":50.4482841,"mpcc_enc_sign":1,"mpcc_id_a":1.45384908,"mpcc_iq_a":-0.0396530293,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.38147473,"mpcc_pred_id_a":0.035805814,"mpcc_pred_iq_a":-4.83460951,"mpcc_state":1,"mpcc_theta_e":0.44495821,"mpcc_theta_mech":0.555937529,"sam_rpm":3.47527695,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189894736,"thr_a_norm":0.0189894736,"thr_a_v":0.575957894,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471270293,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.5187,"values":{"cg_iu_a":-0.555325985,"cg_iv_a":-1.24105906,"cg_iw_a":-1.24809718,"cg_theta_rad":0.556966722,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00300091645,"mpcc_du":49.4617729,"mpcc_dv":50.5382271,"mpcc_dw":50.1168518,"mpcc_enc_sign":1,"mpcc_id_a":-0.0115068313,"mpcc_iq_a":-1.1007812,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.27089274,"mpcc_pred_id_a":-0.419309169,"mpcc_pred_iq_a":-6.78568459,"mpcc_state":1,"mpcc_theta_e":0.441045284,"mpcc_theta_mech":0.555154979,"sam_rpm":-2.448596,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0290855914,"thr_a_norm":0.0290855914,"thr_a_v":0.616342366,"thr_b":9.3832612e-05,"thr_b_norm":9.3832612e-05,"thr_b_v":0.50037533,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.525291,"values":{"cg_iu_a":1.61930418,"cg_iv_a":0.643620491,"cg_iw_a":-3.64019012,"cg_theta_rad":0.557572722,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0384558402,"mpcc_du":49.9248543,"mpcc_dv":48.799778,"mpcc_dw":51.200222,"mpcc_enc_sign":1,"mpcc_id_a":3.2255466,"mpcc_iq_a":-0.706735492,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.90202761,"mpcc_pred_id_a":0.712242305,"mpcc_pred_iq_a":-0.528427839,"mpcc_state":1,"mpcc_theta_e":0.447122097,"mpcc_theta_mech":0.556370318,"sam_rpm":7.55025625,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023685053,"thr_a_norm":0.0290855914,"thr_a_v":0.594740212,"thr_b":0,"thr_b_norm":9.3832612e-05,"thr_b_v":0.469709307,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.53466,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.60349751,"cg_iw_a":-0.740683079,"cg_theta_rad":0.556778014,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00489098486,"mpcc_du":50.3307228,"mpcc_dv":48.6258545,"mpcc_dw":51.3741455,"mpcc_enc_sign":1,"mpcc_id_a":1.24280798,"mpcc_iq_a":-3.0327599,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.43197346,"mpcc_pred_id_a":-0.156218201,"mpcc_pred_iq_a":-3.04634094,"mpcc_state":1,"mpcc_theta_e":0.440209389,"mpcc_theta_mech":0.554987788,"sam_rpm":-10.2012157,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023685053,"thr_a_norm":0.023685053,"thr_a_v":0.594740212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469709307,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.544853,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.733645439,"cg_iw_a":0.491607189,"cg_theta_rad":0.552461326,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.050499469,"mpcc_du":50.1261406,"mpcc_dv":48.4989891,"mpcc_dw":51.5010109,"mpcc_enc_sign":1,"mpcc_id_a":4.0786891,"mpcc_iq_a":-1.26317871,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.09460831,"mpcc_pred_id_a":0.82581085,"mpcc_pred_iq_a":-2.54107976,"mpcc_state":1,"mpcc_theta_e":0.438950539,"mpcc_theta_mech":0.554736018,"sam_rpm":-11.9981623,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208777785,"thr_a_norm":0.0208777785,"thr_a_v":0.583511114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.554863,"values":{"cg_iu_a":2.77910662,"cg_iv_a":0.643620491,"cg_iw_a":-3.56770277,"cg_theta_rad":0.553887546,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00881873257,"mpcc_du":49.6478958,"mpcc_dv":49.3150063,"mpcc_dw":50.6849937,"mpcc_enc_sign":1,"mpcc_id_a":1.38439107,"mpcc_iq_a":-0.170902833,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.24467659,"mpcc_pred_id_a":0.115414508,"mpcc_pred_iq_a":-0.538467705,"mpcc_state":1,"mpcc_theta_e":0.430604458,"mpcc_theta_mech":0.55306679,"sam_rpm":-7.50966024,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208777785,"thr_a_norm":0.0208777785,"thr_a_v":0.583511114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.564934,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.02359605,"cg_iw_a":-2.04546142,"cg_theta_rad":0.556077003,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.000698411255,"mpcc_du":49.3408852,"mpcc_dv":50.6591148,"mpcc_dw":49.9911194,"mpcc_enc_sign":1,"mpcc_id_a":0.139370978,"mpcc_iq_a":-0.943095744,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.2718105,"mpcc_pred_id_a":-0.510697663,"mpcc_pred_iq_a":-2.85661507,"mpcc_state":1,"mpcc_theta_e":0.445288658,"mpcc_theta_mech":0.55600363,"sam_rpm":14.532589,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021595329,"thr_a_norm":0.021595329,"thr_a_v":0.586381316,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477312863,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.575218,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.45852208,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.558556914,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0157055873,"mpcc_du":50.0197487,"mpcc_dv":48.7255363,"mpcc_dw":51.2744637,"mpcc_enc_sign":1,"mpcc_id_a":2.50640202,"mpcc_iq_a":-1.0298233,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.1325388,"mpcc_pred_id_a":0.445132315,"mpcc_pred_iq_a":-0.486475945,"mpcc_state":1,"mpcc_theta_e":0.437699795,"mpcc_theta_mech":0.554485857,"sam_rpm":-7.0774436,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210288316,"thr_a_norm":0.021595329,"thr_a_v":0.584115326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461300045,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.585136,"values":{"cg_iu_a":4.15637207,"cg_iv_a":-1.31354666,"cg_iw_a":1.36145878,"cg_theta_rad":0.553444803,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0232393555,"mpcc_du":50.214386,"mpcc_dv":48.6530609,"mpcc_dw":51.3469391,"mpcc_enc_sign":1,"mpcc_id_a":2.63166428,"mpcc_iq_a":-0.600883007,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.49459171,"mpcc_pred_id_a":0.460426211,"mpcc_pred_iq_a":-2.26834726,"mpcc_state":1,"mpcc_theta_e":0.444816589,"mpcc_theta_mech":0.555909216,"sam_rpm":-10.4723434,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210288316,"thr_a_norm":0.0210288316,"thr_a_v":0.584115326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461300045,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.608482,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-2.69081235,"cg_iw_a":2.23131108,"cg_theta_rad":0.554975033,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00249689491,"mpcc_du":50.9972305,"mpcc_dv":47.7338066,"mpcc_dw":52.2661934,"mpcc_enc_sign":1,"mpcc_id_a":0.999213636,"mpcc_iq_a":-1.00841546,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.2387886,"mpcc_pred_id_a":-0.0652689859,"mpcc_pred_iq_a":2.3445375,"mpcc_state":1,"mpcc_theta_e":0.431449413,"mpcc_theta_mech":0.553235829,"sam_rpm":-16.8370266,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270336419,"thr_a_norm":0.0270336419,"thr_a_v":0.608134568,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489498734,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.614983,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.298719406,"cg_iw_a":-2.04546118,"cg_theta_rad":0.556419969,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00695548253,"mpcc_du":50.6112175,"mpcc_dv":48.1970749,"mpcc_dw":51.8029251,"mpcc_enc_sign":1,"mpcc_id_a":0.935801268,"mpcc_iq_a":-0.797758341,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.2247791,"mpcc_pred_id_a":-0.00486270059,"mpcc_pred_iq_a":-1.00829709,"mpcc_state":1,"mpcc_theta_e":0.433619022,"mpcc_theta_mech":0.553669751,"sam_rpm":-18.1163235,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270336419,"thr_a_norm":0.0270336419,"thr_a_v":0.608134568,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489498734,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.621483,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.38603449,"cg_iw_a":0.201656342,"cg_theta_rad":0.558357656,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.000770205457,"mpcc_du":49.6094131,"mpcc_dv":49.9132538,"mpcc_dw":50.3905869,"mpcc_enc_sign":1,"mpcc_id_a":0.360715866,"mpcc_iq_a":-2.30815578,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.79540539,"mpcc_pred_id_a":-0.287392467,"mpcc_pred_iq_a":-2.85032964,"mpcc_state":1,"mpcc_theta_e":0.450301647,"mpcc_theta_mech":0.55700624,"sam_rpm":14.9925308,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210162401,"thr_a_norm":0.0210162401,"thr_a_v":0.58406496,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.628014,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.25588632,"cg_iw_a":1.43394637,"cg_theta_rad":0.554044127,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0306926351,"mpcc_du":49.1993217,"mpcc_dv":50.8006783,"mpcc_dw":50.0482979,"mpcc_enc_sign":1,"mpcc_id_a":2.66641402,"mpcc_iq_a":-0.531718314,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.55340385,"mpcc_pred_id_a":1.12067425,"mpcc_pred_iq_a":-1.95354211,"mpcc_state":1,"mpcc_theta_e":0.447213173,"mpcc_theta_mech":0.556388557,"sam_rpm":11.6722975,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210288316,"thr_a_norm":0.0210162401,"thr_a_v":0.584115326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462710023,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.63546,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.6759851,"cg_iw_a":-1.32058477,"cg_theta_rad":0.552031159,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0214245226,"mpcc_du":49.8498154,"mpcc_dv":49.1206779,"mpcc_dw":50.8793221,"mpcc_enc_sign":1,"mpcc_id_a":2.22644877,"mpcc_iq_a":0.266239613,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.52030563,"mpcc_pred_id_a":-0.047059495,"mpcc_pred_iq_a":-3.51077604,"mpcc_state":1,"mpcc_theta_e":0.433003902,"mpcc_theta_mech":0.553546727,"sam_rpm":-14.1044455,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210288316,"thr_a_norm":0.0210288316,"thr_a_v":0.584115326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462710023,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.645653,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-2.0384233,"cg_iw_a":-0.305757284,"cg_theta_rad":0.55576396,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0364730805,"mpcc_du":50.180912,"mpcc_dv":48.928524,"mpcc_dw":51.071476,"mpcc_enc_sign":1,"mpcc_id_a":0.900608182,"mpcc_iq_a":-0.524981618,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.40024471,"mpcc_pred_id_a":-0.542782068,"mpcc_pred_iq_a":-2.21214676,"mpcc_state":1,"mpcc_theta_e":0.451295376,"mpcc_theta_mech":0.557205021,"sam_rpm":6.60092068,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179949552,"thr_a_norm":0.0179949552,"thr_a_v":0.571979821,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.655632,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.60349751,"cg_iw_a":-0.740683079,"cg_theta_rad":0.556309342,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0656610876,"mpcc_du":49.5545235,"mpcc_dv":50.4336014,"mpcc_dw":50.4454765,"mpcc_enc_sign":1,"mpcc_id_a":1.87933302,"mpcc_iq_a":-2.38538432,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.74474454,"mpcc_pred_id_a":0.0772860944,"mpcc_pred_iq_a":-0.821461499,"mpcc_state":1,"mpcc_theta_e":0.432877064,"mpcc_theta_mech":0.553521335,"sam_rpm":0.161140263,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179949552,"thr_a_norm":0.0179949552,"thr_a_v":0.571979821,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.665855,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.806133032,"cg_iw_a":-2.33541203,"cg_theta_rad":0.5571751,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0465589464,"mpcc_du":49.5796967,"mpcc_dv":49.8219795,"mpcc_dw":50.4203033,"mpcc_enc_sign":1,"mpcc_id_a":1.3231672,"mpcc_iq_a":0.00704114558,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.8438673,"mpcc_pred_id_a":-0.179717749,"mpcc_pred_iq_a":-3.06796956,"mpcc_state":1,"mpcc_theta_e":0.456829071,"mpcc_theta_mech":0.55831176,"sam_rpm":21.4670639,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192664266,"thr_a_norm":0.0192664266,"thr_a_v":0.577065706,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458429813,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.676201,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.16857147,"cg_iw_a":0.491607189,"cg_theta_rad":0.556391716,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0259952415,"mpcc_du":49.6577072,"mpcc_dv":50.1119728,"mpcc_dw":50.3422928,"mpcc_enc_sign":1,"mpcc_id_a":0.024360761,"mpcc_iq_a":-1.67892373,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.943221688,"mpcc_pred_id_a":-0.605915248,"mpcc_pred_iq_a":-7.47555685,"mpcc_state":1,"mpcc_theta_e":0.448163986,"mpcc_theta_mech":0.556578755,"sam_rpm":2.12698722,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192664266,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461551815,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.686241,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.516182423,"cg_iw_a":-2.11794901,"cg_theta_rad":0.556708395,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.014438306,"mpcc_du":49.4380302,"mpcc_dv":50.5619698,"mpcc_dw":50.334465,"mpcc_enc_sign":1,"mpcc_id_a":0.449593663,"mpcc_iq_a":-2.00707269,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.74445891,"mpcc_pred_id_a":0.12323267,"mpcc_pred_iq_a":-2.70907998,"mpcc_state":1,"mpcc_theta_e":0.437050819,"mpcc_theta_mech":0.554356098,"sam_rpm":4.789011,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461551815,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.709679,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-2.0384233,"cg_iw_a":2.23131084,"cg_theta_rad":0.557668388,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0114850532,"mpcc_du":50.9220505,"mpcc_dv":47.6949539,"mpcc_dw":52.3050461,"mpcc_enc_sign":1,"mpcc_id_a":2.12020969,"mpcc_iq_a":-0.825894117,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.8210878,"mpcc_pred_id_a":0.231616884,"mpcc_pred_iq_a":2.67193103,"mpcc_state":1,"mpcc_theta_e":0.42844677,"mpcc_theta_mech":0.552635312,"sam_rpm":-19.2117596,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0128965378,"thr_a_norm":0.0128965378,"thr_a_v":0.551586151,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451279461,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.716179,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.24105906,"cg_iw_a":0.129168749,"cg_theta_rad":0.554670572,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0150575936,"mpcc_du":50.5611954,"mpcc_dv":48.1170616,"mpcc_dw":51.8829384,"mpcc_enc_sign":1,"mpcc_id_a":2.27855444,"mpcc_iq_a":-2.04907274,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.1676102,"mpcc_pred_id_a":0.302364141,"mpcc_pred_iq_a":-0.0665477961,"mpcc_state":1,"mpcc_theta_e":0.428639412,"mpcc_theta_mech":0.552673817,"sam_rpm":-21.3635464,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0128965378,"thr_a_norm":0.0128965378,"thr_a_v":0.551586151,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451279461,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.72271,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.45852208,"cg_iw_a":0.274143934,"cg_theta_rad":0.554513752,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00785518158,"mpcc_du":49.5995255,"mpcc_dv":49.4601898,"mpcc_dw":50.5398102,"mpcc_enc_sign":1,"mpcc_id_a":1.73335505,"mpcc_iq_a":-0.800468385,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.09433985,"mpcc_pred_id_a":-0.00878699962,"mpcc_pred_iq_a":-3.70496321,"mpcc_state":1,"mpcc_theta_e":0.434753895,"mpcc_theta_mech":0.553896666,"sam_rpm":-9.3955555,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0081128329,"thr_a_norm":0.0081128329,"thr_a_v":0.532451332,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.430432618,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.729271,"values":{"cg_iu_a":-0.410350561,"cg_iv_a":-2.25588632,"cg_iw_a":0.926532745,"cg_theta_rad":0.557910323,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0463092215,"mpcc_du":48.5122223,"mpcc_dv":51.4877777,"mpcc_dw":49.3010979,"mpcc_enc_sign":1,"mpcc_id_a":3.22832394,"mpcc_iq_a":-1.0569644,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":25.8538704,"mpcc_pred_id_a":0.329241484,"mpcc_pred_iq_a":-6.22063637,"mpcc_state":1,"mpcc_theta_e":0.465999126,"mpcc_theta_mech":0.560145736,"sam_rpm":38.3762627,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179571956,"thr_a_norm":0.0081128329,"thr_a_v":0.571828783,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452336907,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.736839,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-2.0384233,"cg_iw_a":-2.33541203,"cg_theta_rad":0.552829385,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.000733072346,"mpcc_du":49.6725769,"mpcc_dv":49.8627052,"mpcc_dw":50.3274231,"mpcc_enc_sign":1,"mpcc_id_a":-0.534841001,"mpcc_iq_a":-1.22360349,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.4646273,"mpcc_pred_id_a":-0.7690956,"mpcc_pred_iq_a":-6.0631671,"mpcc_state":1,"mpcc_theta_e":0.430481434,"mpcc_theta_mech":0.553042233,"sam_rpm":-17.2844009,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179571956,"thr_a_norm":0.0179571956,"thr_a_v":0.571828783,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452336907,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.747032,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.02359605,"cg_iw_a":-2.26292443,"cg_theta_rad":0.555219948,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00561570376,"mpcc_du":49.9396935,"mpcc_dv":49.2816887,"mpcc_dw":50.7183113,"mpcc_enc_sign":1,"mpcc_id_a":0.166249678,"mpcc_iq_a":-1.88627946,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.338841587,"mpcc_pred_id_a":-0.487575322,"mpcc_pred_iq_a":-3.69213557,"mpcc_state":1,"mpcc_theta_e":0.448002338,"mpcc_theta_mech":0.55654639,"sam_rpm":0.272798032,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023584336,"thr_a_norm":0.023584336,"thr_a_v":0.594337344,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475701541,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.757011,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.6759851,"cg_iw_a":0.636582136,"cg_theta_rad":0.556628168,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0205500498,"mpcc_du":48.9816628,"mpcc_dv":51.0183372,"mpcc_dw":49.8919525,"mpcc_enc_sign":1,"mpcc_id_a":2.76593137,"mpcc_iq_a":-0.648942232,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.85477924,"mpcc_pred_id_a":0.565994918,"mpcc_pred_iq_a":-4.09916735,"mpcc_state":1,"mpcc_theta_e":0.439635277,"mpcc_theta_mech":0.55487299,"sam_rpm":9.52093887,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023584336,"thr_a_norm":0.023584336,"thr_a_v":0.594337344,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475701541,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.767235,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.806133032,"cg_iw_a":0.0566809177,"cg_theta_rad":0.556632161,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0776965097,"mpcc_du":49.8339996,"mpcc_dv":49.0519524,"mpcc_dw":50.9480476,"mpcc_enc_sign":1,"mpcc_id_a":2.89751363,"mpcc_iq_a":-0.894165635,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.4547863,"mpcc_pred_id_a":0.394967407,"mpcc_pred_iq_a":-3.90296316,"mpcc_state":1,"mpcc_theta_e":0.453086853,"mpcc_theta_mech":0.557135344,"sam_rpm":9.56121159,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.0067280829,"thr_b_norm":0.0067280829,"thr_b_v":0.526912332,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.777245,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.443694592,"cg_iw_a":-0.813171387,"cg_theta_rad":0.558240294,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0530127212,"mpcc_du":50.0143776,"mpcc_dv":48.8589249,"mpcc_dw":51.1410751,"mpcc_enc_sign":1,"mpcc_id_a":2.21565676,"mpcc_iq_a":-0.13468647,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.25390911,"mpcc_pred_id_a":0.315164208,"mpcc_pred_iq_a":-1.51232207,"mpcc_state":1,"mpcc_theta_e":0.449329376,"mpcc_theta_mech":0.55681181,"sam_rpm":9.50376987,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245159119,"thr_a_norm":0.0296772718,"thr_a_v":0.598063648,"thr_b":0,"thr_b_norm":0.0067280829,"thr_b_v":0.471421361,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.790245,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.16857147,"cg_iw_a":0.636582375,"cg_theta_rad":0.554712296,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0205625668,"mpcc_du":49.705883,"mpcc_dv":49.4840355,"mpcc_dw":50.5159645,"mpcc_enc_sign":1,"mpcc_id_a":0.610145509,"mpcc_iq_a":-0.621905267,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.5964651,"mpcc_pred_id_a":-0.317970991,"mpcc_pred_iq_a":-2.38903737,"mpcc_state":1,"mpcc_theta_e":0.456954002,"mpcc_theta_mech":0.558336735,"sam_rpm":15.6709547,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245159119,"thr_a_norm":0.0245159119,"thr_a_v":0.598063648,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471421361,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.813805,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.806133032,"cg_iw_a":-0.23326993,"cg_theta_rad":0.55673784,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00718922634,"mpcc_du":48.6282959,"mpcc_dv":51.3717041,"mpcc_dw":49.1697121,"mpcc_enc_sign":1,"mpcc_id_a":1.45675242,"mpcc_iq_a":-2.78644729,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.2975245,"mpcc_pred_id_a":-0.189785734,"mpcc_pred_iq_a":-0.207654715,"mpcc_state":1,"mpcc_theta_e":0.431783199,"mpcc_theta_mech":0.553302526,"sam_rpm":22.4898586,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195559561,"thr_a_norm":0.0195559561,"thr_a_v":0.578223825,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470968157,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.820396,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.24105906,"cg_iw_a":0.636582136,"cg_theta_rad":0.555591345,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0134277521,"mpcc_du":49.9480782,"mpcc_dv":48.9114571,"mpcc_dw":51.0885429,"mpcc_enc_sign":1,"mpcc_id_a":2.07778883,"mpcc_iq_a":-0.398707449,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.2014732,"mpcc_pred_id_a":0.182720095,"mpcc_pred_iq_a":-2.90279031,"mpcc_state":1,"mpcc_theta_e":0.431223869,"mpcc_theta_mech":0.553190649,"sam_rpm":-16.9044704,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0986255407,"thr_a_norm":0.0195559561,"thr_a_v":0.894502163,"thr_b":0.0386404246,"thr_b_norm":0,"thr_b_v":0.654561698,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.826866,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.951108456,"cg_iw_a":-0.81317091,"cg_theta_rad":0.553427458,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0193880461,"mpcc_du":49.6187057,"mpcc_dv":49.3643494,"mpcc_dw":50.6356506,"mpcc_enc_sign":1,"mpcc_id_a":2.47876024,"mpcc_iq_a":-0.241544873,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.432588339,"mpcc_pred_id_a":0.120654665,"mpcc_pred_iq_a":-2.32056284,"mpcc_state":1,"mpcc_theta_e":0.441627026,"mpcc_theta_mech":0.555271327,"sam_rpm":0.108838119,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0986255407,"thr_a_norm":0.0986255407,"thr_a_v":0.894502163,"thr_b":0.0386404246,"thr_b_norm":0.0386404246,"thr_b_v":0.654561698,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.833427,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.96593571,"cg_iw_a":-1.97297382,"cg_theta_rad":0.555354476,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0412141606,"mpcc_du":50.3583946,"mpcc_dv":48.2649841,"mpcc_dw":51.7350159,"mpcc_enc_sign":1,"mpcc_id_a":3.34874773,"mpcc_iq_a":-0.0970854461,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.18424785,"mpcc_pred_id_a":0.606130958,"mpcc_pred_iq_a":0.943515182,"mpcc_state":1,"mpcc_theta_e":0.441551208,"mpcc_theta_mech":0.555256188,"sam_rpm":-1.73371017,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165220946,"thr_a_norm":0.0165220946,"thr_a_v":0.566088378,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473083079,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.842644,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.588670254,"cg_iw_a":1.5064342,"cg_theta_rad":0.557706654,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0493695922,"mpcc_du":50.6545143,"mpcc_dv":48.3374405,"mpcc_dw":51.6625595,"mpcc_enc_sign":1,"mpcc_id_a":0.463574618,"mpcc_iq_a":-0.263702244,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.724473,"mpcc_pred_id_a":-0.412025392,"mpcc_pred_iq_a":-1.93964541,"mpcc_state":1,"mpcc_theta_e":0.446285248,"mpcc_theta_mech":0.556202948,"sam_rpm":-4.7018342,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165220946,"thr_a_norm":0.0165220946,"thr_a_v":0.566088378,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473083079,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.852989,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.16857147,"cg_iw_a":0.0566811562,"cg_theta_rad":0.555247307,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0248754956,"mpcc_du":49.604805,"mpcc_dv":49.3893738,"mpcc_dw":50.6106262,"mpcc_enc_sign":1,"mpcc_id_a":0.91920805,"mpcc_iq_a":0.353998572,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.24741507,"mpcc_pred_id_a":0.189216852,"mpcc_pred_iq_a":-2.13039064,"mpcc_state":1,"mpcc_theta_e":0.445477009,"mpcc_theta_mech":0.5560413,"sam_rpm":8.9630928,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0135007948,"thr_a_norm":0.0135007948,"thr_a_v":0.554003179,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484211475,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.86306,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-2.32837415,"cg_iw_a":1.57892203,"cg_theta_rad":0.556486666,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.000572537305,"mpcc_du":50.2356071,"mpcc_dv":48.7282181,"mpcc_dw":51.2717819,"mpcc_enc_sign":1,"mpcc_id_a":-0.00493832584,"mpcc_iq_a":-1.24525332,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.11008739,"mpcc_pred_id_a":-0.105424508,"mpcc_pred_iq_a":-2.64532256,"mpcc_state":1,"mpcc_theta_e":0.445370674,"mpcc_theta_mech":0.556020021,"sam_rpm":5.20640278,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296646804,"thr_a_norm":0.0135007948,"thr_a_v":0.618658721,"thr_b":0.00754635036,"thr_b_norm":0,"thr_b_v":0.530185401,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.873039,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.02359605,"cg_iw_a":-1.39307237,"cg_theta_rad":0.556388557,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0174200889,"mpcc_du":49.5610046,"mpcc_dv":50.1295166,"mpcc_dw":50.4389954,"mpcc_enc_sign":1,"mpcc_id_a":2.24005914,"mpcc_iq_a":-0.408300012,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.76541948,"mpcc_pred_id_a":-0.0286887344,"mpcc_pred_iq_a":-3.14848876,"mpcc_state":1,"mpcc_theta_e":0.442388535,"mpcc_theta_mech":0.555423617,"sam_rpm":8.23507595,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296646804,"thr_a_norm":0.0296646804,"thr_a_v":0.618658721,"thr_b":0.00754635036,"thr_b_norm":0.00754635036,"thr_b_v":0.530185401,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.883415,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-2.40086174,"cg_iw_a":1.28897142,"cg_theta_rad":0.556511939,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0242487472,"mpcc_du":51.1936913,"mpcc_dv":47.4715157,"mpcc_dw":52.5284843,"mpcc_enc_sign":1,"mpcc_id_a":0.645853639,"mpcc_iq_a":-0.388450474,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.8937063,"mpcc_pred_id_a":0.042623017,"mpcc_pred_iq_a":0.799947262,"mpcc_state":1,"mpcc_theta_e":0.435622692,"mpcc_theta_mech":0.554070473,"sam_rpm":-18.4024849,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020563066,"thr_a_norm":0.020563066,"thr_a_v":0.582252264,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466385901,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.894188,"values":{"cg_iu_a":1.11189032,"cg_iv_a":0.353669643,"cg_iw_a":-3.49521518,"cg_theta_rad":0.556474388,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0163726714,"mpcc_du":49.6811333,"mpcc_dv":49.5224915,"mpcc_dw":50.4775085,"mpcc_enc_sign":1,"mpcc_id_a":0.481611818,"mpcc_iq_a":-1.57082927,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.52154982,"mpcc_pred_id_a":-0.329045564,"mpcc_pred_iq_a":-5.67781591,"mpcc_state":1,"mpcc_theta_e":0.445831776,"mpcc_theta_mech":0.556112289,"sam_rpm":-1.74631739,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020563066,"thr_a_norm":0.020563066,"thr_a_v":0.582252264,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466385901,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.916618,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.02359605,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.552850187,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.000172192144,"mpcc_du":49.5333252,"mpcc_dv":50.4666748,"mpcc_dw":49.978878,"mpcc_enc_sign":1,"mpcc_id_a":-0.203090444,"mpcc_iq_a":-2.49647546,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.02575111,"mpcc_pred_id_a":-0.967611134,"mpcc_pred_iq_a":-5.30532408,"mpcc_state":1,"mpcc_theta_e":0.446329594,"mpcc_theta_mech":0.556211829,"sam_rpm":6.93086863,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0236472934,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457473099,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.92318,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.09608364,"cg_iw_a":-1.61053562,"cg_theta_rad":0.553043604,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.0162527207,"mpcc_du":50.2644005,"mpcc_dv":48.5709267,"mpcc_dw":51.4290733,"mpcc_enc_sign":1,"mpcc_id_a":2.30985761,"mpcc_iq_a":-1.62361956,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.47405148,"mpcc_pred_id_a":0.235964984,"mpcc_pred_iq_a":-1.96170354,"mpcc_state":1,"mpcc_theta_e":0.435312271,"mpcc_theta_mech":0.554008365,"sam_rpm":-12.08955,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294758528,"thr_a_norm":0.0236472934,"thr_a_v":0.617903411,"thr_b":0.00466354191,"thr_b_norm":0,"thr_b_v":0.518654168,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.92968,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.951108456,"cg_iw_a":-1.03063393,"cg_theta_rad":0.557070374,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.020172067,"mpcc_du":50.2716942,"mpcc_dv":48.5141602,"mpcc_dw":51.4858398,"mpcc_enc_sign":1,"mpcc_id_a":2.55114293,"mpcc_iq_a":-0.0623534024,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.7830286,"mpcc_pred_id_a":0.329437464,"mpcc_pred_iq_a":-1.13049793,"mpcc_state":1,"mpcc_theta_e":0.430708885,"mpcc_theta_mech":0.553087711,"sam_rpm":-17.3540001,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294758528,"thr_a_norm":0.0294758528,"thr_a_v":0.617903411,"thr_b":0.00466354191,"thr_b_norm":0.00466354191,"thr_b_v":0.518654168,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.937889,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.74847269,"cg_iw_a":0.854045391,"cg_theta_rad":0.554919183,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00949647184,"mpcc_du":50.1880875,"mpcc_dv":48.7043343,"mpcc_dw":51.2956657,"mpcc_enc_sign":1,"mpcc_id_a":1.92816675,"mpcc_iq_a":-1.07021368,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.13627815,"mpcc_pred_id_a":0.123693608,"mpcc_pred_iq_a":-0.587328494,"mpcc_state":1,"mpcc_theta_e":0.432569981,"mpcc_theta_mech":0.553459942,"sam_rpm":-12.6423044,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202231556,"thr_a_norm":0.0202231556,"thr_a_v":0.580892622,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453041911,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.948174,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.951108456,"cg_iw_a":-0.305757523,"cg_theta_rad":0.556816816,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00670392625,"mpcc_du":50.6242294,"mpcc_dv":48.185318,"mpcc_dw":51.814682,"mpcc_enc_sign":1,"mpcc_id_a":3.04084635,"mpcc_iq_a":-2.09921408,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.3180799,"mpcc_pred_id_a":0.129378974,"mpcc_pred_iq_a":-1.92296338,"mpcc_state":1,"mpcc_theta_e":0.446087837,"mpcc_theta_mech":0.55616349,"sam_rpm":-18.3608284,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.018020153,"thr_a_norm":0.0202231556,"thr_a_v":0.572080612,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444682986,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.958214,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.45852208,"cg_iw_a":-2.04546165,"cg_theta_rad":0.556633174,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5006,"hz_app_loop":362,"hz_tim_isr":10012,"hz_vsense":362,"mpcc_cost":0.00682800449,"mpcc_du":48.8214455,"mpcc_dv":51.1785545,"mpcc_dw":49.2900658,"mpcc_enc_sign":1,"mpcc_id_a":-0.105080217,"mpcc_iq_a":-0.454515666,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.67422628,"mpcc_pred_id_a":-0.456279993,"mpcc_pred_iq_a":-4.53382921,"mpcc_state":1,"mpcc_theta_e":0.436795712,"mpcc_theta_mech":0.554305077,"sam_rpm":7.1299901,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.018020153,"thr_a_norm":0.018020153,"thr_a_v":0.572080612,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444682986,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.971184,"values":{"cg_iu_a":1.61930418,"cg_iv_a":0.426157475,"cg_iw_a":-1.03063416,"cg_theta_rad":0.555954754,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907.09277,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0513244122,"mpcc_du":49.6449165,"mpcc_dv":49.217083,"mpcc_dw":50.782917,"mpcc_enc_sign":1,"mpcc_id_a":2.38230872,"mpcc_iq_a":-0.12777935,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.00229025,"mpcc_pred_id_a":0.578311622,"mpcc_pred_iq_a":-2.43218541,"mpcc_state":1,"mpcc_theta_e":0.451643944,"mpcc_theta_mech":0.557274699,"sam_rpm":12.1304741,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206511766,"thr_a_norm":0.0206511766,"thr_a_v":0.582604706,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466637671,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.981407,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.951108456,"cg_iw_a":-1.24809694,"cg_theta_rad":0.553433657,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0200606771,"mpcc_du":50.0454063,"mpcc_dv":48.7235107,"mpcc_dw":51.2764893,"mpcc_enc_sign":1,"mpcc_id_a":0.480093986,"mpcc_iq_a":-0.401972502,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.25320148,"mpcc_pred_id_a":0.352502882,"mpcc_pred_iq_a":-1.64813197,"mpcc_state":1,"mpcc_theta_e":0.433148861,"mpcc_theta_mech":0.553575695,"sam_rpm":-15.9142418,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294758528,"thr_a_norm":0.0206511766,"thr_a_v":0.617903411,"thr_b":0.00604829192,"thr_b_norm":0,"thr_b_v":0.524193168,"vdc_v":55.2955055}} +{"type":"telemetry","t":67.991417,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.74847269,"cg_iw_a":0.419119358,"cg_theta_rad":0.557673812,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.00994265825,"mpcc_du":48.8269005,"mpcc_dv":51.1730995,"mpcc_dw":49.5524902,"mpcc_enc_sign":1,"mpcc_id_a":0.850591481,"mpcc_iq_a":-2.93007565,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":20.1585617,"mpcc_pred_id_a":-0.0778350681,"mpcc_pred_iq_a":-3.53145361,"mpcc_state":1,"mpcc_theta_e":0.456116199,"mpcc_theta_mech":0.558169186,"sam_rpm":28.5773163,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294758528,"thr_a_norm":0.0294758528,"thr_a_v":0.617903411,"thr_b":0.00604829192,"thr_b_norm":0.00604829192,"thr_b_v":0.524193168,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.014824,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.806133032,"cg_iw_a":-0.523220301,"cg_theta_rad":0.554002762,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0194218867,"mpcc_du":50.3375778,"mpcc_dv":48.4780884,"mpcc_dw":51.5219116,"mpcc_enc_sign":1,"mpcc_id_a":1.94484985,"mpcc_iq_a":-0.345142812,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.4053955,"mpcc_pred_id_a":0.00468484638,"mpcc_pred_iq_a":-1.8261236,"mpcc_state":1,"mpcc_theta_e":0.434838772,"mpcc_theta_mech":0.553913653,"sam_rpm":-15.5403252,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0147974342,"thr_a_norm":0.0147974342,"thr_a_v":0.559189737,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443122,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.021355,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.878620625,"cg_iw_a":0.709069967,"cg_theta_rad":0.557209849,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0168279223,"mpcc_du":49.5135956,"mpcc_dv":49.4784355,"mpcc_dw":50.5215645,"mpcc_enc_sign":1,"mpcc_id_a":1.98326635,"mpcc_iq_a":-0.950355291,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.1505971,"mpcc_pred_id_a":0.0933168083,"mpcc_pred_iq_a":-2.26184916,"mpcc_state":1,"mpcc_theta_e":0.448706627,"mpcc_theta_mech":0.556687236,"sam_rpm":10.8887873,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0147974342,"thr_a_norm":0.0147974342,"thr_a_v":0.559189737,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443122,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.027885,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.38603449,"cg_iw_a":0.854045391,"cg_theta_rad":0.554773927,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0107598212,"mpcc_du":50.8700371,"mpcc_dv":47.8440971,"mpcc_dw":52.1559029,"mpcc_enc_sign":1,"mpcc_id_a":0.291821212,"mpcc_iq_a":-1.29484308,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.505862534,"mpcc_pred_id_a":-0.548141599,"mpcc_pred_iq_a":-5.17010832,"mpcc_state":1,"mpcc_theta_e":0.446115971,"mpcc_theta_mech":0.555240273,"sam_rpm":-22.3699512,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0306969434,"thr_a_norm":0.0306969434,"thr_a_v":0.622787774,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.034447,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.806133032,"cg_iw_a":-1.75551057,"cg_theta_rad":0.556871355,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0215316303,"mpcc_du":49.5099907,"mpcc_dv":50.3197365,"mpcc_dw":50.4900093,"mpcc_enc_sign":1,"mpcc_id_a":1.95207131,"mpcc_iq_a":-0.511535347,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.82792044,"mpcc_pred_id_a":0.500757933,"mpcc_pred_iq_a":-3.57940674,"mpcc_state":1,"mpcc_theta_e":0.446086407,"mpcc_theta_mech":0.556163192,"sam_rpm":14.8249245,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265301019,"thr_a_norm":0.0306969434,"thr_a_v":0.606120408,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476910055,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.044182,"values":{"cg_iu_a":4.08388519,"cg_iv_a":-1.24105906,"cg_iw_a":-2.84282613,"cg_theta_rad":0.5555709,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0377273075,"mpcc_du":49.4322319,"mpcc_dv":49.505127,"mpcc_dw":50.5677681,"mpcc_enc_sign":1,"mpcc_id_a":3.87077355,"mpcc_iq_a":-0.863651693,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.4426651,"mpcc_pred_id_a":0.598895788,"mpcc_pred_iq_a":-1.32841277,"mpcc_state":1,"mpcc_theta_e":0.4440341,"mpcc_theta_mech":0.555752754,"sam_rpm":7.58563375,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265301019,"thr_a_norm":0.0265301019,"thr_a_v":0.606120408,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476910055,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.055595,"values":{"cg_iu_a":-0.772789001,"cg_iv_a":-1.38603449,"cg_iw_a":-0.958146095,"cg_theta_rad":0.555758059,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0277661849,"mpcc_du":49.4075241,"mpcc_dv":50.5924759,"mpcc_dw":50.331131,"mpcc_enc_sign":1,"mpcc_id_a":3.20057964,"mpcc_iq_a":-2.75854778,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.7126579,"mpcc_pred_id_a":0.390177786,"mpcc_pred_iq_a":-3.00142288,"mpcc_state":1,"mpcc_theta_e":0.451892853,"mpcc_theta_mech":0.557324529,"sam_rpm":18.4056168,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243648291,"thr_a_norm":0.0243648291,"thr_a_v":0.597459316,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485772491,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.066673,"values":{"cg_iu_a":1.69179153,"cg_iv_a":0.426157475,"cg_iw_a":-3.49521494,"cg_theta_rad":0.556552708,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0219781063,"mpcc_du":50.1092339,"mpcc_dv":48.8261108,"mpcc_dw":51.1738892,"mpcc_enc_sign":1,"mpcc_id_a":2.64483166,"mpcc_iq_a":-0.739149094,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.38354975,"mpcc_pred_id_a":0.161732554,"mpcc_pred_iq_a":-0.452655852,"mpcc_state":1,"mpcc_theta_e":0.442449093,"mpcc_theta_mech":0.555435717,"sam_rpm":0.501374483,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0152002722,"thr_a_norm":0.0152002722,"thr_a_v":0.560801089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.445538998,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.076408,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.82096052,"cg_iw_a":-0.885658741,"cg_theta_rad":0.554112911,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0109709948,"mpcc_du":49.7774429,"mpcc_dv":49.2649689,"mpcc_dw":50.7350311,"mpcc_enc_sign":1,"mpcc_id_a":1.64126408,"mpcc_iq_a":-1.99414492,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.81233406,"mpcc_pred_id_a":0.112251699,"mpcc_pred_iq_a":-0.959172904,"mpcc_state":1,"mpcc_theta_e":0.449007034,"mpcc_theta_mech":0.556747317,"sam_rpm":11.0181913,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0152002722,"thr_a_norm":0.0152002722,"thr_a_v":0.560801089,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.445538998,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.086723,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.24105906,"cg_iw_a":-0.595708132,"cg_theta_rad":0.554123938,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.00214627525,"mpcc_du":50.1146698,"mpcc_dv":48.6419601,"mpcc_dw":51.3580399,"mpcc_enc_sign":1,"mpcc_id_a":-0.00535611808,"mpcc_iq_a":-2.11907768,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.42154312,"mpcc_pred_id_a":-0.515770197,"mpcc_pred_iq_a":-1.50550628,"mpcc_state":1,"mpcc_theta_e":0.438268185,"mpcc_theta_mech":0.554599524,"sam_rpm":-21.177206,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023055613,"thr_a_norm":0.023055613,"thr_a_v":0.592222452,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481844842,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.096825,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-1.45852208,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556079566,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0392041393,"mpcc_du":49.5223236,"mpcc_dv":49.9601593,"mpcc_dw":50.6058693,"mpcc_enc_sign":1,"mpcc_id_a":2.57476473,"mpcc_iq_a":0.11856313,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.98914003,"mpcc_pred_id_a":0.318805039,"mpcc_pred_iq_a":-2.54135156,"mpcc_state":1,"mpcc_theta_e":0.446052551,"mpcc_theta_mech":0.556156456,"sam_rpm":17.7782688,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0452368855,"thr_a_norm":0.023055613,"thr_a_v":0.680947542,"thr_b":0.0143945962,"thr_b_norm":0,"thr_b_v":0.557578385,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.119835,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.60349751,"cg_iw_a":0.12916851,"cg_theta_rad":0.557389319,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.00552479923,"mpcc_du":49.6098099,"mpcc_dv":50.3432884,"mpcc_dw":50.3901901,"mpcc_enc_sign":1,"mpcc_id_a":0.596893311,"mpcc_iq_a":-1.99852324,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.78873158,"mpcc_pred_id_a":-0.200569913,"mpcc_pred_iq_a":-5.96101236,"mpcc_state":1,"mpcc_theta_e":0.446810722,"mpcc_theta_mech":0.556308091,"sam_rpm":4.02475071,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0452368855,"thr_a_norm":0.0452368855,"thr_a_v":0.680947542,"thr_b":0.0143945962,"thr_b_norm":0.0143945962,"thr_b_v":0.557578385,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.126335,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.02359605,"cg_iw_a":-1.39307237,"cg_theta_rad":0.553940952,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.00471298257,"mpcc_du":50.6126976,"mpcc_dv":48.2036285,"mpcc_dw":51.7963715,"mpcc_enc_sign":1,"mpcc_id_a":0.852557123,"mpcc_iq_a":-0.96127373,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.28190851,"mpcc_pred_id_a":-0.0114521272,"mpcc_pred_iq_a":-0.704004765,"mpcc_state":1,"mpcc_theta_e":0.447128773,"mpcc_theta_mech":0.556371689,"sam_rpm":-18.7987499,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0279652029,"thr_a_norm":0.0279652029,"thr_a_v":0.611860812,"thr_b":0.000836566091,"thr_b_norm":0.000836566091,"thr_b_v":0.503346264,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.132866,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-2.0384233,"cg_iw_a":1.79638505,"cg_theta_rad":0.55297935,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.00693610869,"mpcc_du":49.5659523,"mpcc_dv":49.7402115,"mpcc_dw":50.4340477,"mpcc_enc_sign":1,"mpcc_id_a":1.55503511,"mpcc_iq_a":-2.35708213,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.977432013,"mpcc_pred_id_a":-0.0104711885,"mpcc_pred_iq_a":-4.52478123,"mpcc_state":1,"mpcc_theta_e":0.443939686,"mpcc_theta_mech":0.55573386,"sam_rpm":1.43072844,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0279652029,"thr_a_norm":0.0279652029,"thr_a_v":0.611860812,"thr_b":0.000836566091,"thr_b_norm":0.000836566091,"thr_b_v":0.503346264,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.139397,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.25588632,"cg_iw_a":0.926532984,"cg_theta_rad":0.555319071,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.00163386122,"mpcc_du":50.1881523,"mpcc_dv":48.5352249,"mpcc_dw":51.4647751,"mpcc_enc_sign":1,"mpcc_id_a":0.705201864,"mpcc_iq_a":-0.603091896,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.02444434,"mpcc_pred_id_a":0.556731105,"mpcc_pred_iq_a":1.18223071,"mpcc_state":1,"mpcc_theta_e":0.438025951,"mpcc_theta_mech":0.556528509,"sam_rpm":-3.51259232,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259384215,"thr_a_norm":0.0259384215,"thr_a_v":0.603753686,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498663306,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.14782,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.878620625,"cg_iw_a":-1.03063393,"cg_theta_rad":0.553926289,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0169373639,"mpcc_du":50.463726,"mpcc_dv":48.5994339,"mpcc_dw":51.4005661,"mpcc_enc_sign":1,"mpcc_id_a":0.0947501585,"mpcc_iq_a":-0.873807847,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.75661933,"mpcc_pred_id_a":-0.331819683,"mpcc_pred_iq_a":-1.02609503,"mpcc_state":1,"mpcc_theta_e":0.442116261,"mpcc_theta_mech":0.555369139,"sam_rpm":-1.73505592,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0158800632,"thr_a_norm":0.0259384215,"thr_a_v":0.563520253,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474694431,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.157799,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-0.951108456,"cg_iw_a":-2.40789986,"cg_theta_rad":0.552031159,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0109072514,"mpcc_du":49.9463158,"mpcc_dv":49.0259171,"mpcc_dw":50.9740829,"mpcc_enc_sign":1,"mpcc_id_a":2.03792214,"mpcc_iq_a":0.0123152109,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.93190336,"mpcc_pred_id_a":0.201878697,"mpcc_pred_iq_a":2.05628252,"mpcc_state":1,"mpcc_theta_e":0.442043781,"mpcc_theta_mech":0.555354714,"sam_rpm":10.2702246,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0158800632,"thr_a_norm":0.0158800632,"thr_a_v":0.563520253,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474694431,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.167809,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.11091113,"cg_iw_a":0.781557798,"cg_theta_rad":0.556906939,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.00689340755,"mpcc_du":50.4217911,"mpcc_dv":48.8080673,"mpcc_dw":51.1919327,"mpcc_enc_sign":1,"mpcc_id_a":-0.986626685,"mpcc_iq_a":-2.63150287,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.71562338,"mpcc_pred_id_a":-0.659483075,"mpcc_pred_iq_a":-2.64953232,"mpcc_state":1,"mpcc_theta_e":0.444938183,"mpcc_theta_mech":0.555933535,"sam_rpm":-3.4659462,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0279526263,"thr_a_norm":0.0279526263,"thr_a_v":0.611810505,"thr_b":0.00068551302,"thr_b_norm":0.00068551302,"thr_b_v":0.502742052,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.177757,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-2.11091113,"cg_iw_a":-2.26292419,"cg_theta_rad":0.55676657,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0276991539,"mpcc_du":50.4989929,"mpcc_dv":48.5520325,"mpcc_dw":51.4479675,"mpcc_enc_sign":1,"mpcc_id_a":0.697047591,"mpcc_iq_a":-1.1184094,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.129167825,"mpcc_pred_id_a":-0.273148388,"mpcc_pred_iq_a":-1.48499548,"mpcc_state":1,"mpcc_theta_e":0.446834564,"mpcc_theta_mech":0.556312799,"sam_rpm":0.797673702,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0279526263,"thr_a_norm":0.0279526263,"thr_a_v":0.611810505,"thr_b":0.00068551302,"thr_b_norm":0.00068551302,"thr_b_v":0.502742052,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.188011,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.60349751,"cg_iw_a":-1.61053514,"cg_theta_rad":0.557498455,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0174093433,"mpcc_du":50.5241432,"mpcc_dv":48.4016304,"mpcc_dw":51.5983696,"mpcc_enc_sign":1,"mpcc_id_a":0.33347559,"mpcc_iq_a":-1.87358296,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.25854671,"mpcc_pred_id_a":-0.0692107379,"mpcc_pred_iq_a":-1.46089292,"mpcc_state":1,"mpcc_theta_e":0.447841644,"mpcc_theta_mech":0.556514263,"sam_rpm":-1.00579858,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472176731,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.198204,"values":{"cg_iu_a":1.03940296,"cg_iv_a":0.716107845,"cg_iw_a":-1.75551081,"cg_theta_rad":0.556867063,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.00609110203,"mpcc_du":49.5612755,"mpcc_dv":49.4241257,"mpcc_dw":50.5758743,"mpcc_enc_sign":1,"mpcc_id_a":1.19535279,"mpcc_iq_a":-0.924212337,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.32220769,"mpcc_pred_id_a":0.177361548,"mpcc_pred_iq_a":-0.619615138,"mpcc_state":1,"mpcc_theta_e":0.437485695,"mpcc_theta_mech":0.554443061,"sam_rpm":1.14309037,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185488611,"thr_a_norm":0.0264671594,"thr_a_v":0.574195445,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454401463,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.221214,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.82096052,"cg_iw_a":0.419119358,"cg_theta_rad":0.553104758,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0199303199,"mpcc_du":49.3366623,"mpcc_dv":50.6633377,"mpcc_dw":49.9526024,"mpcc_enc_sign":1,"mpcc_id_a":0.307928532,"mpcc_iq_a":-1.07734275,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.8715916,"mpcc_pred_id_a":-0.517965734,"mpcc_pred_iq_a":-6.13930368,"mpcc_state":1,"mpcc_theta_e":0.4542799,"mpcc_theta_mech":0.557801902,"sam_rpm":16.3457279,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185488611,"thr_a_norm":0.0185488611,"thr_a_v":0.574195445,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454401463,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.227745,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.878620625,"cg_iw_a":0.12916851,"cg_theta_rad":0.552837133,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0222409572,"mpcc_du":49.7447205,"mpcc_dv":49.0833931,"mpcc_dw":50.708744,"mpcc_enc_sign":1,"mpcc_id_a":2.84361243,"mpcc_iq_a":-2.18017077,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.18465829,"mpcc_pred_id_a":0.414810896,"mpcc_pred_iq_a":-3.05593681,"mpcc_state":1,"mpcc_theta_e":0.443441868,"mpcc_theta_mech":0.555656374,"sam_rpm":-1.49192619,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.234276,"values":{"cg_iu_a":2.5616436,"cg_iv_a":0.933570862,"cg_iw_a":-3.49521446,"cg_theta_rad":0.55671227,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0186668374,"mpcc_du":49.7298012,"mpcc_dv":49.1525841,"mpcc_dw":50.8474159,"mpcc_enc_sign":1,"mpcc_id_a":2.71083593,"mpcc_iq_a":-0.933369458,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.28419065,"mpcc_pred_id_a":0.275807381,"mpcc_pred_iq_a":-2.87762284,"mpcc_state":1,"mpcc_theta_e":0.435381889,"mpcc_theta_mech":0.554022253,"sam_rpm":-11.276125,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.241142,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.878620625,"cg_iw_a":-0.740683556,"cg_theta_rad":0.554470718,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.00363319064,"mpcc_du":50.0266914,"mpcc_dv":48.883007,"mpcc_dw":51.116993,"mpcc_enc_sign":1,"mpcc_id_a":1.15202069,"mpcc_iq_a":-1.87342358,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.53879261,"mpcc_pred_id_a":0.00682460889,"mpcc_pred_iq_a":-1.34887862,"mpcc_state":1,"mpcc_theta_e":0.43710804,"mpcc_theta_mech":0.554367542,"sam_rpm":-7.27476263,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0286198258,"thr_a_norm":0.0286198258,"thr_a_v":0.614479303,"thr_b":0.0038075,"thr_b_norm":0.0038075,"thr_b_v":0.51523,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.24868,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.298719406,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556392908,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.00260198372,"mpcc_du":49.4301491,"mpcc_dv":50.5698509,"mpcc_dw":50.1651497,"mpcc_enc_sign":1,"mpcc_id_a":0.403960735,"mpcc_iq_a":-1.06688416,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.288620532,"mpcc_pred_id_a":-0.35750699,"mpcc_pred_iq_a":-6.08260775,"mpcc_state":1,"mpcc_theta_e":0.442559719,"mpcc_theta_mech":0.55545789,"sam_rpm":0.0483515523,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0286198258,"thr_a_norm":0.0286198258,"thr_a_v":0.614479303,"thr_b":0.0038075,"thr_b_norm":0.0038075,"thr_b_v":0.51523,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.258781,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-2.54583716,"cg_iw_a":-0.45073247,"cg_theta_rad":0.555454195,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0220649466,"mpcc_du":50.3220367,"mpcc_dv":48.32127,"mpcc_dw":51.67873,"mpcc_enc_sign":1,"mpcc_id_a":2.34596801,"mpcc_iq_a":-1.20059347,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.40555882,"mpcc_pred_id_a":0.527424872,"mpcc_pred_iq_a":-0.190713227,"mpcc_state":1,"mpcc_theta_e":0.442794323,"mpcc_theta_mech":0.555504799,"sam_rpm":-3.53218126,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179823637,"thr_a_norm":0.0179823637,"thr_a_v":0.571929455,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460041195,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.268974,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-1.82096052,"cg_iw_a":-1.68302298,"cg_theta_rad":0.555711031,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0214226134,"mpcc_du":49.9281197,"mpcc_dv":49.2166824,"mpcc_dw":50.7833176,"mpcc_enc_sign":1,"mpcc_id_a":0.0771943778,"mpcc_iq_a":-1.23879457,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.48353791,"mpcc_pred_id_a":-0.488898396,"mpcc_pred_iq_a":-4.65096569,"mpcc_state":1,"mpcc_theta_e":0.446430683,"mpcc_theta_mech":0.556232095,"sam_rpm":-2.14731836,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.0179823637,"thr_a_v":0.605818272,"thr_b":0.00365644693,"thr_b_norm":0,"thr_b_v":0.514625788,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.278984,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.60349751,"cg_iw_a":-0.595707893,"cg_theta_rad":0.555733144,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.00781534985,"mpcc_du":50.0265999,"mpcc_dv":48.9988899,"mpcc_dw":51.0011101,"mpcc_enc_sign":1,"mpcc_id_a":1.4809041,"mpcc_iq_a":-1.49487138,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.89795852,"mpcc_pred_id_a":-0.277409613,"mpcc_pred_iq_a":-3.6536727,"mpcc_state":1,"mpcc_theta_e":0.447231293,"mpcc_theta_mech":0.556392193,"sam_rpm":-4.25568962,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.0264545679,"thr_a_v":0.605818272,"thr_b":0.00365644693,"thr_b_norm":0.00365644693,"thr_b_v":0.514625788,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.289207,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-3.27071381,"cg_iw_a":2.08633566,"cg_theta_rad":0.556542158,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0355533622,"mpcc_du":49.361824,"mpcc_dv":50.0413818,"mpcc_dw":50.638176,"mpcc_enc_sign":1,"mpcc_id_a":3.71023107,"mpcc_iq_a":-0.314079344,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.47082329,"mpcc_pred_id_a":0.990877032,"mpcc_pred_iq_a":-0.44882822,"mpcc_state":1,"mpcc_theta_e":0.42953968,"mpcc_theta_mech":0.552853882,"sam_rpm":1.82503486,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022073701,"thr_a_norm":0.022073701,"thr_a_v":0.588294804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471270293,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.301537,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.16857147,"cg_iw_a":0.636582375,"cg_theta_rad":0.553828001,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.00940523203,"mpcc_du":50.084095,"mpcc_dv":48.8519478,"mpcc_dw":51.1480522,"mpcc_enc_sign":1,"mpcc_id_a":1.38464463,"mpcc_iq_a":-3.53805566,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.94003725,"mpcc_pred_id_a":-0.0955249965,"mpcc_pred_iq_a":-4.66775942,"mpcc_state":1,"mpcc_theta_e":0.447439194,"mpcc_theta_mech":0.556433797,"sam_rpm":-5.25788355,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228290111,"thr_a_norm":0.022073701,"thr_a_v":0.591316044,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49508813,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.324333,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.60349751,"cg_iw_a":0.346631527,"cg_theta_rad":0.556747019,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0269054156,"mpcc_du":50.0713005,"mpcc_dv":48.9657135,"mpcc_dw":51.0342865,"mpcc_enc_sign":1,"mpcc_id_a":0.570481837,"mpcc_iq_a":-0.545214117,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.57940376,"mpcc_pred_id_a":-0.233041495,"mpcc_pred_iq_a":-3.12536716,"mpcc_state":1,"mpcc_theta_e":0.444341183,"mpcc_theta_mech":0.555814147,"sam_rpm":-1.17941964,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228290111,"thr_a_norm":0.0228290111,"thr_a_v":0.591316044,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49508813,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.330864,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.09608364,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556141078,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0289410278,"mpcc_du":50.6581535,"mpcc_dv":47.9935226,"mpcc_dw":52.0064774,"mpcc_enc_sign":1,"mpcc_id_a":2.94604635,"mpcc_iq_a":-0.247547925,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.8787508,"mpcc_pred_id_a":0.342450857,"mpcc_pred_iq_a":0.241834715,"mpcc_state":1,"mpcc_theta_e":0.431932926,"mpcc_theta_mech":0.553332508,"sam_rpm":-17.1232834,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149736851,"thr_a_norm":0.0149736851,"thr_a_v":0.559894741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464321345,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.337364,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.02359605,"cg_iw_a":0.201656103,"cg_theta_rad":0.554068923,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0323744081,"mpcc_du":50.0888824,"mpcc_dv":48.8271599,"mpcc_dw":51.1728401,"mpcc_enc_sign":1,"mpcc_id_a":2.19590521,"mpcc_iq_a":0.671226561,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.09781647,"mpcc_pred_id_a":0.127529576,"mpcc_pred_iq_a":-0.230345026,"mpcc_state":1,"mpcc_theta_e":0.442734241,"mpcc_theta_mech":0.555492759,"sam_rpm":3.89475822,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149736851,"thr_a_norm":0.0149736851,"thr_a_v":0.559894741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464321345,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.343895,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.60349751,"cg_iw_a":-0.885658741,"cg_theta_rad":0.555630147,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0170344412,"mpcc_du":49.5559082,"mpcc_dv":49.7231674,"mpcc_dw":50.4440918,"mpcc_enc_sign":1,"mpcc_id_a":2.18197918,"mpcc_iq_a":-1.37275016,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.54331589,"mpcc_pred_id_a":-0.0446490347,"mpcc_pred_iq_a":-3.19224787,"mpcc_state":1,"mpcc_theta_e":0.449262619,"mpcc_theta_mech":0.556798458,"sam_rpm":10.1819239,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466637671,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.352379,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.09608364,"cg_iw_a":0.491606712,"cg_theta_rad":0.55733943,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.00869338028,"mpcc_du":50.6003075,"mpcc_dv":48.3158379,"mpcc_dw":51.6841621,"mpcc_enc_sign":1,"mpcc_id_a":1.79484463,"mpcc_iq_a":-0.490374207,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.2515078,"mpcc_pred_id_a":-0.336986274,"mpcc_pred_iq_a":-0.770524323,"mpcc_state":1,"mpcc_theta_e":0.427023411,"mpcc_theta_mech":0.552350581,"sam_rpm":-23.0077152,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210791826,"thr_a_norm":0.0264671594,"thr_a_v":0.58431673,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474039823,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.362389,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.32837415,"cg_iw_a":-2.77033806,"cg_theta_rad":0.558619678,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0129755829,"mpcc_du":49.603157,"mpcc_dv":49.4012642,"mpcc_dw":50.5987358,"mpcc_enc_sign":1,"mpcc_id_a":0.967823267,"mpcc_iq_a":-0.209158301,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.37452888,"mpcc_pred_id_a":0.0565048829,"mpcc_pred_iq_a":0.402254134,"mpcc_state":1,"mpcc_theta_e":0.42997694,"mpcc_theta_mech":0.552941322,"sam_rpm":-4.85560036,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210791826,"thr_a_norm":0.0210791826,"thr_a_v":0.58431673,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474039823,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.372673,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.31354666,"cg_iw_a":-0.450732708,"cg_theta_rad":0.558399975,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0210160781,"mpcc_du":49.7423515,"mpcc_dv":49.0681,"mpcc_dw":50.9319,"mpcc_enc_sign":1,"mpcc_id_a":1.04776978,"mpcc_iq_a":-0.218283638,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.03444386,"mpcc_pred_id_a":0.531247556,"mpcc_pred_iq_a":-1.54135954,"mpcc_state":1,"mpcc_theta_e":0.446127892,"mpcc_theta_mech":0.556927621,"sam_rpm":7.15954494,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0239116549,"thr_a_norm":0.0239116549,"thr_a_v":0.59564662,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475500137,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.382378,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.951108456,"cg_iw_a":-0.378244877,"cg_theta_rad":0.553946197,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.020595232,"mpcc_du":49.5314941,"mpcc_dv":50.0921021,"mpcc_dw":50.4685059,"mpcc_enc_sign":1,"mpcc_id_a":3.02919769,"mpcc_iq_a":-1.46252906,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.73312521,"mpcc_pred_id_a":0.0626225024,"mpcc_pred_iq_a":-0.517757475,"mpcc_state":1,"mpcc_theta_e":0.432758331,"mpcc_theta_mech":0.553497553,"sam_rpm":5.07788467,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0239116549,"thr_a_norm":0.0239116549,"thr_a_v":0.59564662,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475500137,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.392632,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.09608364,"cg_iw_a":0.419119358,"cg_theta_rad":0.554554701,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0124382349,"mpcc_du":49.4519348,"mpcc_dv":49.8077431,"mpcc_dw":50.5480652,"mpcc_enc_sign":1,"mpcc_id_a":1.99444818,"mpcc_iq_a":-0.926659286,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.81221533,"mpcc_pred_id_a":0.583383977,"mpcc_pred_iq_a":-0.119399823,"mpcc_state":1,"mpcc_theta_e":0.436792374,"mpcc_theta_mech":0.554304361,"sam_rpm":-1.28536737,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213309675,"thr_a_norm":0.0213309675,"thr_a_v":0.58532387,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466990143,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.403008,"values":{"cg_iu_a":0.24203825,"cg_iv_a":0.208694458,"cg_iw_a":-0.450732708,"cg_theta_rad":0.553011477,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0012347321,"mpcc_du":48.9762497,"mpcc_dv":51.0237503,"mpcc_dw":49.6142845,"mpcc_enc_sign":1,"mpcc_id_a":0.686467588,"mpcc_iq_a":-0.973481894,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.458662,"mpcc_pred_id_a":-0.309574455,"mpcc_pred_iq_a":-3.89668298,"mpcc_state":1,"mpcc_theta_e":0.446282387,"mpcc_theta_mech":0.556202412,"sam_rpm":20.0496597,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0152506232,"thr_a_norm":0.0213309675,"thr_a_v":0.561002493,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449869543,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.425835,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.45852208,"cg_iw_a":-1.61053514,"cg_theta_rad":0.552523255,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.00103389972,"mpcc_du":51.3976021,"mpcc_dv":47.4416351,"mpcc_dw":52.5583649,"mpcc_enc_sign":1,"mpcc_id_a":-0.493801504,"mpcc_iq_a":-1.65682387,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.7869072,"mpcc_pred_id_a":-0.561677694,"mpcc_pred_iq_a":2.18592048,"mpcc_state":1,"mpcc_theta_e":0.430119991,"mpcc_theta_mech":0.552969933,"sam_rpm":-20.3749084,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0152506232,"thr_a_norm":0.0152506232,"thr_a_v":0.561002493,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449869543,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.432335,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.16857147,"cg_iw_a":0.274143934,"cg_theta_rad":0.558507264,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0133623937,"mpcc_du":49.5456848,"mpcc_dv":49.7015991,"mpcc_dw":50.4543152,"mpcc_enc_sign":1,"mpcc_id_a":1.63267303,"mpcc_iq_a":-0.165707216,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.21387661,"mpcc_pred_id_a":0.102683939,"mpcc_pred_iq_a":-3.36034369,"mpcc_state":1,"mpcc_theta_e":0.441698074,"mpcc_theta_mech":0.555285513,"sam_rpm":1.59496403,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024868384,"thr_a_norm":0.024868384,"thr_a_v":0.599473536,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477111459,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.438896,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.38603449,"cg_iw_a":0.926533222,"cg_theta_rad":0.555756032,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.00174804172,"mpcc_du":50.4863319,"mpcc_dv":48.4641685,"mpcc_dw":51.5358315,"mpcc_enc_sign":1,"mpcc_id_a":0.456030995,"mpcc_iq_a":-1.64346826,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.47461581,"mpcc_pred_id_a":-0.149663419,"mpcc_pred_iq_a":-0.089664042,"mpcc_state":1,"mpcc_theta_e":0.439441204,"mpcc_theta_mech":0.554834127,"sam_rpm":-4.99521637,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024868384,"thr_a_norm":0.024868384,"thr_a_v":0.599473536,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477111459,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.445366,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.74847269,"cg_iw_a":1.36145878,"cg_theta_rad":0.554544032,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0117568821,"mpcc_du":49.5685539,"mpcc_dv":49.9937592,"mpcc_dw":50.4314461,"mpcc_enc_sign":1,"mpcc_id_a":1.70427823,"mpcc_iq_a":-0.00737109547,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.30963731,"mpcc_pred_id_a":0.10382764,"mpcc_pred_iq_a":-4.40333033,"mpcc_state":1,"mpcc_theta_e":0.437591076,"mpcc_theta_mech":0.554464102,"sam_rpm":-4.32856703,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024314478,"thr_a_norm":0.024314478,"thr_a_v":0.597257912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.453392,"values":{"cg_iu_a":0.387013912,"cg_iv_a":0.498644829,"cg_iw_a":-0.45073247,"cg_theta_rad":0.556751549,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0136084426,"mpcc_du":50.3588829,"mpcc_dv":48.4126434,"mpcc_dw":51.5873566,"mpcc_enc_sign":1,"mpcc_id_a":2.32959151,"mpcc_iq_a":-0.364411622,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.7574425,"mpcc_pred_id_a":0.327271461,"mpcc_pred_iq_a":-0.639829874,"mpcc_state":1,"mpcc_theta_e":0.4264431,"mpcc_theta_mech":0.55223453,"sam_rpm":-22.3823967,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163584203,"thr_a_norm":0.024314478,"thr_a_v":0.565433681,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473334849,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.46563,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.31354666,"cg_iw_a":0.926532745,"cg_theta_rad":0.558064342,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0282897446,"mpcc_du":49.9981003,"mpcc_dv":48.8635826,"mpcc_dw":51.1364174,"mpcc_enc_sign":1,"mpcc_id_a":2.92054963,"mpcc_iq_a":-1.67760408,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.9338268,"mpcc_pred_id_a":0.418199241,"mpcc_pred_iq_a":-2.77426243,"mpcc_state":1,"mpcc_theta_e":0.447979927,"mpcc_theta_mech":0.55654186,"sam_rpm":-2.80063939,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163584203,"thr_a_norm":0.0163584203,"thr_a_v":0.565433681,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473334849,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.475822,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.24105906,"cg_iw_a":0.491606951,"cg_theta_rad":0.554034591,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0599147864,"mpcc_du":50.1848412,"mpcc_dv":48.7133369,"mpcc_dw":51.2866631,"mpcc_enc_sign":1,"mpcc_id_a":2.52865076,"mpcc_iq_a":-0.988543093,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.62129128,"mpcc_pred_id_a":0.103285946,"mpcc_pred_iq_a":-2.86108661,"mpcc_state":1,"mpcc_theta_e":0.451319695,"mpcc_theta_mech":0.557209849,"sam_rpm":3.02346349,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0272728354,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.485985,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.38603449,"cg_iw_a":0.564094543,"cg_theta_rad":0.55274415,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0220448747,"mpcc_du":49.9402809,"mpcc_dv":49.2582207,"mpcc_dw":50.7417793,"mpcc_enc_sign":1,"mpcc_id_a":0.470895678,"mpcc_iq_a":-2.00524831,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.66682911,"mpcc_pred_id_a":-0.187884793,"mpcc_pred_iq_a":-3.13981819,"mpcc_state":1,"mpcc_theta_e":0.426424503,"mpcc_theta_mech":0.552230835,"sam_rpm":-7.73142433,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262531489,"thr_a_norm":0.0272728354,"thr_a_v":0.605012596,"thr_b":0.000735864043,"thr_b_norm":0,"thr_b_v":0.502943456,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.495964,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.661157608,"cg_iw_a":-0.523220539,"cg_theta_rad":0.555971086,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0214175656,"mpcc_du":48.9510422,"mpcc_dv":51.0489578,"mpcc_dw":49.7719193,"mpcc_enc_sign":1,"mpcc_id_a":2.92017198,"mpcc_iq_a":-0.49290055,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.69967842,"mpcc_pred_id_a":0.378539205,"mpcc_pred_iq_a":-4.99070644,"mpcc_state":1,"mpcc_theta_e":0.440478325,"mpcc_theta_mech":0.555041611,"sam_rpm":8.26624393,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262531489,"thr_a_norm":0.0262531489,"thr_a_v":0.605012596,"thr_b":0.000735864043,"thr_b_norm":0.000735864043,"thr_b_v":0.502943456,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.506157,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.733645439,"cg_iw_a":0.78155756,"cg_theta_rad":0.5569309,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0132968882,"mpcc_du":49.4619179,"mpcc_dv":50.5380821,"mpcc_dw":50.3011971,"mpcc_enc_sign":1,"mpcc_id_a":2.11939955,"mpcc_iq_a":-1.0016712,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.02625751,"mpcc_pred_id_a":0.192683607,"mpcc_pred_iq_a":-3.71174955,"mpcc_state":1,"mpcc_theta_e":0.443238258,"mpcc_theta_mech":0.55559355,"sam_rpm":12.585125,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173025876,"thr_a_norm":0.0173025876,"thr_a_v":0.569210351,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.437885106,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.529228,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.226231575,"cg_iw_a":-0.378245354,"cg_theta_rad":0.557389021,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0265001711,"mpcc_du":49.7901192,"mpcc_dv":48.9317398,"mpcc_dw":51.0682602,"mpcc_enc_sign":1,"mpcc_id_a":2.78765464,"mpcc_iq_a":-0.439925998,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.584931374,"mpcc_pred_id_a":0.841596246,"mpcc_pred_iq_a":-1.15229702,"mpcc_state":1,"mpcc_theta_e":0.443648338,"mpcc_theta_mech":0.555675626,"sam_rpm":1.12273335,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173025876,"thr_a_norm":0.0173025876,"thr_a_v":0.569210351,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.437885106,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.535728,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.09608364,"cg_iw_a":-0.160782337,"cg_theta_rad":0.55636853,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0364093967,"mpcc_du":49.5817757,"mpcc_dv":49.2792053,"mpcc_dw":50.7207947,"mpcc_enc_sign":1,"mpcc_id_a":3.03778267,"mpcc_iq_a":-0.42113322,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.15867567,"mpcc_pred_id_a":0.611668587,"mpcc_pred_iq_a":-2.98464847,"mpcc_state":1,"mpcc_theta_e":0.444063663,"mpcc_theta_mech":0.555758655,"sam_rpm":2.00993156,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022325471,"thr_a_norm":0.022325471,"thr_a_v":0.589301884,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.542259,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.31354666,"cg_iw_a":-0.523220539,"cg_theta_rad":0.552246332,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0393833742,"mpcc_du":49.7541389,"mpcc_dv":49.0878868,"mpcc_dw":50.9121132,"mpcc_enc_sign":1,"mpcc_id_a":3.55239129,"mpcc_iq_a":-0.508800685,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.74644566,"mpcc_pred_id_a":0.486796856,"mpcc_pred_iq_a":-3.28712893,"mpcc_state":1,"mpcc_theta_e":0.439291,"mpcc_theta_mech":0.554804087,"sam_rpm":-8.20013905,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022325471,"thr_a_norm":0.022325471,"thr_a_v":0.589301884,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.548973,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.015806675,"cg_theta_rad":0.552425206,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0322346464,"mpcc_du":48.7784348,"mpcc_dv":51.2215652,"mpcc_dw":49.5356369,"mpcc_enc_sign":1,"mpcc_id_a":3.02056503,"mpcc_iq_a":0.311486155,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-26.8405094,"mpcc_pred_id_a":0.519733846,"mpcc_pred_iq_a":-7.34926653,"mpcc_state":1,"mpcc_theta_e":0.417952538,"mpcc_theta_mech":0.550536394,"sam_rpm":8.26629066,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026756689,"thr_a_norm":0.026756689,"thr_a_v":0.607026756,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493627816,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.559166,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.298719406,"cg_iw_a":-0.305757523,"cg_theta_rad":0.556391776,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.00238746032,"mpcc_du":50.1110954,"mpcc_dv":48.9145241,"mpcc_dw":51.0854759,"mpcc_enc_sign":1,"mpcc_id_a":0.968265295,"mpcc_iq_a":-0.725426316,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.92027879,"mpcc_pred_id_a":-0.157090545,"mpcc_pred_iq_a":-0.373652279,"mpcc_state":1,"mpcc_theta_e":0.437355518,"mpcc_theta_mech":0.554417014,"sam_rpm":-4.90898085,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0155023932,"thr_a_norm":0.026756689,"thr_a_v":0.562009573,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454602867,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.568748,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.24105906,"cg_iw_a":-1.24809718,"cg_theta_rad":0.554443061,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0615815893,"mpcc_du":50.3303833,"mpcc_dv":48.5681419,"mpcc_dw":51.4318581,"mpcc_enc_sign":1,"mpcc_id_a":1.81733942,"mpcc_iq_a":1.22297156,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.75782514,"mpcc_pred_id_a":0.130442321,"mpcc_pred_iq_a":0.301812738,"mpcc_state":1,"mpcc_theta_e":0.446071625,"mpcc_theta_mech":0.556160271,"sam_rpm":7.13474607,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0155023932,"thr_a_norm":0.0155023932,"thr_a_v":0.562009573,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454602867,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.579002,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-0.516182423,"cg_iw_a":-2.84282589,"cg_theta_rad":0.556153655,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0105788363,"mpcc_du":48.7802467,"mpcc_dv":51.2197533,"mpcc_dw":49.4410286,"mpcc_enc_sign":1,"mpcc_id_a":1.75380468,"mpcc_iq_a":-0.585992634,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.07476187,"mpcc_pred_id_a":0.102204092,"mpcc_pred_iq_a":-5.00785446,"mpcc_state":1,"mpcc_theta_e":0.438083649,"mpcc_theta_mech":0.554562688,"sam_rpm":8.31159878,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244277716,"thr_a_norm":0.0244277716,"thr_a_v":0.597711086,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491664022,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.59008,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.74847269,"cg_iw_a":-0.740683556,"cg_theta_rad":0.556188405,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0371800177,"mpcc_du":49.9090118,"mpcc_dv":49.2295609,"mpcc_dw":50.7704391,"mpcc_enc_sign":1,"mpcc_id_a":2.05224919,"mpcc_iq_a":-1.30844092,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.37546253,"mpcc_pred_id_a":0.248956412,"mpcc_pred_iq_a":-3.71698213,"mpcc_state":1,"mpcc_theta_e":0.448606491,"mpcc_theta_mech":0.556667209,"sam_rpm":6.44272661,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244277716,"thr_a_norm":0.0244277716,"thr_a_v":0.597711086,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491664022,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.599388,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.09608364,"cg_iw_a":-2.33541203,"cg_theta_rad":0.556523323,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0477730557,"mpcc_du":50.4142532,"mpcc_dv":48.6193924,"mpcc_dw":51.3806076,"mpcc_enc_sign":1,"mpcc_id_a":1.34084225,"mpcc_iq_a":-0.780731976,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.153149083,"mpcc_pred_id_a":-0.199370012,"mpcc_pred_iq_a":-2.39754009,"mpcc_state":1,"mpcc_theta_e":0.448900223,"mpcc_theta_mech":0.556725919,"sam_rpm":1.48206317,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211547166,"thr_a_norm":0.0211547166,"thr_a_v":0.584618866,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472680271,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.609306,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.82096052,"cg_iw_a":0.274144173,"cg_theta_rad":0.557070434,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0654116124,"mpcc_du":49.9546623,"mpcc_dv":48.915184,"mpcc_dw":51.084816,"mpcc_enc_sign":1,"mpcc_id_a":2.68442631,"mpcc_iq_a":0.333963901,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.5660696,"mpcc_pred_id_a":0.450016707,"mpcc_pred_iq_a":-2.26261115,"mpcc_state":1,"mpcc_theta_e":0.449975491,"mpcc_theta_mech":0.556940973,"sam_rpm":5.84199047,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211547166,"thr_a_norm":0.0211547166,"thr_a_v":0.584618866,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472680271,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.632622,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.45852208,"cg_iw_a":0.419119358,"cg_theta_rad":0.557508945,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.037368726,"mpcc_du":49.5497169,"mpcc_dv":49.6893883,"mpcc_dw":50.4502831,"mpcc_enc_sign":1,"mpcc_id_a":1.9025259,"mpcc_iq_a":-0.451900393,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.81609106,"mpcc_pred_id_a":0.0524527095,"mpcc_pred_iq_a":-3.77345848,"mpcc_state":1,"mpcc_theta_e":0.451021194,"mpcc_theta_mech":0.557150185,"sam_rpm":12.6443691,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0159933567,"thr_a_norm":0.0159933567,"thr_a_v":0.563973427,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457322031,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.639091,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.0384233,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.558010399,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.00996117666,"mpcc_du":49.8550644,"mpcc_dv":49.4311142,"mpcc_dw":50.5688858,"mpcc_enc_sign":1,"mpcc_id_a":0.390035897,"mpcc_iq_a":-0.923312485,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.98494494,"mpcc_pred_id_a":-0.629712164,"mpcc_pred_iq_a":-3.49402094,"mpcc_state":1,"mpcc_theta_e":0.444931507,"mpcc_theta_mech":0.555932224,"sam_rpm":1.61481678,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228919685,"thr_a_norm":0.0228919685,"thr_a_v":0.591567874,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480988771,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.645653,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.09608364,"cg_iw_a":0.491606951,"cg_theta_rad":0.555890083,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.00628787884,"mpcc_du":49.9585724,"mpcc_dv":49.1935196,"mpcc_dw":50.8064804,"mpcc_enc_sign":1,"mpcc_id_a":-0.134046659,"mpcc_iq_a":-0.673597932,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.02534819,"mpcc_pred_id_a":-0.400260061,"mpcc_pred_iq_a":-1.06124055,"mpcc_state":1,"mpcc_theta_e":0.44588232,"mpcc_theta_mech":0.556122363,"sam_rpm":7.43107033,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228919685,"thr_a_norm":0.0228919685,"thr_a_v":0.591567874,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480988771,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.652214,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.298719406,"cg_iw_a":-2.69785023,"cg_theta_rad":0.555552959,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0400732532,"mpcc_du":48.9126053,"mpcc_dv":51.0873947,"mpcc_dw":49.7513618,"mpcc_enc_sign":1,"mpcc_id_a":2.61320329,"mpcc_iq_a":-0.272912472,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.8957911,"mpcc_pred_id_a":0.510907054,"mpcc_pred_iq_a":-0.617648602,"mpcc_state":1,"mpcc_theta_e":0.429911137,"mpcc_theta_mech":0.55292815,"sam_rpm":23.6509247,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261902064,"thr_a_norm":0.0261902064,"thr_a_v":0.604760826,"thr_b":0.00229686499,"thr_b_norm":0.00229686499,"thr_b_v":0.50918746,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.663261,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.31354666,"cg_iw_a":-0.958146572,"cg_theta_rad":0.556851327,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.00156345824,"mpcc_du":49.665226,"mpcc_dv":49.4810486,"mpcc_dw":50.5189514,"mpcc_enc_sign":1,"mpcc_id_a":1.10592461,"mpcc_iq_a":0.973009288,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.5073843,"mpcc_pred_id_a":0.128918171,"mpcc_pred_iq_a":-2.00013614,"mpcc_state":1,"mpcc_theta_e":0.426393509,"mpcc_theta_mech":0.552224576,"sam_rpm":-2.75514698,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199713856,"thr_a_norm":0.0261902064,"thr_a_v":0.579885542,"thr_b":0,"thr_b_norm":0.00229686499,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.67437,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.661157608,"cg_iw_a":-0.59570837,"cg_theta_rad":0.5541116,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0196286496,"mpcc_du":48.7912865,"mpcc_dv":51.2087135,"mpcc_dw":49.4546661,"mpcc_enc_sign":1,"mpcc_id_a":2.49671006,"mpcc_iq_a":-0.877609074,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.54198766,"mpcc_pred_id_a":0.0993345976,"mpcc_pred_iq_a":-5.85449648,"mpcc_state":1,"mpcc_theta_e":0.434584618,"mpcc_theta_mech":0.55386281,"sam_rpm":2.8161695,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199713856,"thr_a_norm":0.0199713856,"thr_a_v":0.579885542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.684288,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-0.733645439,"cg_iw_a":0.564094543,"cg_theta_rad":0.555744946,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0380937941,"mpcc_du":49.6635704,"mpcc_dv":49.7348595,"mpcc_dw":50.3364296,"mpcc_enc_sign":1,"mpcc_id_a":-0.14144285,"mpcc_iq_a":-1.77036071,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.70041275,"mpcc_pred_id_a":-0.114374816,"mpcc_pred_iq_a":-0.907042146,"mpcc_state":1,"mpcc_theta_e":0.427023411,"mpcc_theta_mech":0.553387642,"sam_rpm":-11.5542088,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276253074,"thr_a_norm":0.0276253074,"thr_a_v":0.61050123,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498461902,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.694206,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.02359605,"cg_iw_a":-1.24809718,"cg_theta_rad":0.556232631,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.00165056519,"mpcc_du":49.8041306,"mpcc_dv":49.339859,"mpcc_dw":50.660141,"mpcc_enc_sign":1,"mpcc_id_a":0.797822058,"mpcc_iq_a":-1.09963036,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.56958675,"mpcc_pred_id_a":-0.256774753,"mpcc_pred_iq_a":0.344209701,"mpcc_state":1,"mpcc_theta_e":0.431172848,"mpcc_theta_mech":0.553180516,"sam_rpm":-13.5032473,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276253074,"thr_a_norm":0.0276253074,"thr_a_v":0.61050123,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498461902,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.704613,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.661157608,"cg_iw_a":-1.03063393,"cg_theta_rad":0.555991948,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0316903554,"mpcc_du":49.6353645,"mpcc_dv":49.4285889,"mpcc_dw":50.5714111,"mpcc_enc_sign":1,"mpcc_id_a":2.03629041,"mpcc_iq_a":-0.501946449,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.476969242,"mpcc_pred_id_a":0.110909268,"mpcc_pred_iq_a":-4.44051313,"mpcc_state":1,"mpcc_theta_e":0.444560051,"mpcc_theta_mech":0.554796457,"sam_rpm":-0.155480251,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258628875,"thr_a_norm":0.0258628875,"thr_a_v":0.60345155,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490606517,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.727989,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.74847269,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556291282,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0300943684,"mpcc_du":50.3224792,"mpcc_dv":48.6253548,"mpcc_dw":51.3746452,"mpcc_enc_sign":1,"mpcc_id_a":2.19787455,"mpcc_iq_a":-1.00585353,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.57561803,"mpcc_pred_id_a":0.0179054383,"mpcc_pred_iq_a":-0.441665798,"mpcc_state":1,"mpcc_theta_e":0.448192596,"mpcc_theta_mech":0.556584477,"sam_rpm":6.08160496,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217338055,"thr_a_norm":0.0258628875,"thr_a_v":0.586935222,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473385215,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.73452,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.16857147,"cg_iw_a":0.419119358,"cg_theta_rad":0.556817472,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0669093579,"mpcc_du":49.5951653,"mpcc_dv":49.1018105,"mpcc_dw":50.8981895,"mpcc_enc_sign":1,"mpcc_id_a":4.5527997,"mpcc_iq_a":0.0436369479,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.24177265,"mpcc_pred_id_a":1.01356387,"mpcc_pred_iq_a":-0.936381519,"mpcc_state":1,"mpcc_theta_e":0.448358059,"mpcc_theta_mech":0.556617498,"sam_rpm":9.25412655,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217338055,"thr_a_norm":0.0217338055,"thr_a_v":0.586935222,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473385215,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.741051,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.53100967,"cg_iw_a":-1.03063393,"cg_theta_rad":0.557682335,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0437510684,"mpcc_du":49.7411919,"mpcc_dv":48.9749298,"mpcc_dw":51.0250702,"mpcc_enc_sign":1,"mpcc_id_a":3.59484124,"mpcc_iq_a":-0.609961092,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.20635462,"mpcc_pred_id_a":0.712726831,"mpcc_pred_iq_a":-1.7555927,"mpcc_state":1,"mpcc_theta_e":0.448312283,"mpcc_theta_mech":0.556608379,"sam_rpm":1.42023945,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253845304,"thr_a_norm":0.0253845304,"thr_a_v":0.601538122,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488693088,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.747551,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.53100967,"cg_iw_a":-1.82799816,"cg_theta_rad":0.557165146,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0205640253,"mpcc_du":50.7938576,"mpcc_dv":48.0711784,"mpcc_dw":51.9288216,"mpcc_enc_sign":1,"mpcc_id_a":0.760433078,"mpcc_iq_a":-1.98697436,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.268225789,"mpcc_pred_id_a":-0.0923527181,"mpcc_pred_iq_a":0.132973298,"mpcc_state":1,"mpcc_theta_e":0.448507309,"mpcc_theta_mech":0.55664736,"sam_rpm":1.76144576,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253845304,"thr_a_norm":0.0253845304,"thr_a_v":0.601538122,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488693088,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.75634,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.878620625,"cg_iw_a":-1.75551057,"cg_theta_rad":0.554148674,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.00298610399,"mpcc_du":50.4432259,"mpcc_dv":48.4193459,"mpcc_dw":51.5806541,"mpcc_enc_sign":1,"mpcc_id_a":0.830009997,"mpcc_iq_a":-0.510654271,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.4935017,"mpcc_pred_id_a":-0.0565000474,"mpcc_pred_iq_a":0.32434535,"mpcc_state":1,"mpcc_theta_e":0.426558018,"mpcc_theta_mech":0.552257538,"sam_rpm":-21.310257,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283932239,"thr_a_norm":0.0283932239,"thr_a_v":0.613572896,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499468982,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.767784,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.0384233,"cg_iw_a":-0.305757284,"cg_theta_rad":0.552092314,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0132562285,"mpcc_du":50.0352936,"mpcc_dv":48.7078476,"mpcc_dw":51.2921524,"mpcc_enc_sign":1,"mpcc_id_a":2.28748107,"mpcc_iq_a":0.0657899827,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.70515251,"mpcc_pred_id_a":0.424517065,"mpcc_pred_iq_a":1.13256788,"mpcc_state":1,"mpcc_theta_e":0.427611828,"mpcc_theta_mech":0.55246824,"sam_rpm":-8.7342329,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222373605,"thr_a_norm":0.0222373605,"thr_a_v":0.588949442,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472378135,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.777763,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.298719406,"cg_iw_a":-1.24809694,"cg_theta_rad":0.555108547,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0274056643,"mpcc_du":50.5139885,"mpcc_dv":48.4726563,"mpcc_dw":51.5273438,"mpcc_enc_sign":1,"mpcc_id_a":0.260998487,"mpcc_iq_a":-0.860364676,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.50518155,"mpcc_pred_id_a":-0.290556818,"mpcc_pred_iq_a":-1.64934838,"mpcc_state":1,"mpcc_theta_e":0.442813396,"mpcc_theta_mech":0.555508554,"sam_rpm":-3.56278181,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222373605,"thr_a_norm":0.0222373605,"thr_a_v":0.588949442,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472378135,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.787895,"values":{"cg_iu_a":1.61930418,"cg_iv_a":0.353669643,"cg_iw_a":-1.97297382,"cg_theta_rad":0.551656485,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0955302715,"mpcc_du":49.9889069,"mpcc_dv":49.1068993,"mpcc_dw":50.8931007,"mpcc_enc_sign":1,"mpcc_id_a":0.713871956,"mpcc_iq_a":0.91378516,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.65551472,"mpcc_pred_id_a":-0.182337314,"mpcc_pred_iq_a":-2.77443099,"mpcc_state":1,"mpcc_theta_e":0.452911377,"mpcc_theta_mech":0.557528198,"sam_rpm":13.6393261,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212302655,"thr_a_norm":0.0212302655,"thr_a_v":0.584921062,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.797966,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.38603449,"cg_iw_a":1.65140986,"cg_theta_rad":0.555952609,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0100798188,"mpcc_du":49.6977768,"mpcc_dv":49.1999168,"mpcc_dw":50.8000832,"mpcc_enc_sign":1,"mpcc_id_a":1.15585005,"mpcc_iq_a":0.026102677,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.751412034,"mpcc_pred_id_a":0.292972654,"mpcc_pred_iq_a":-1.73733282,"mpcc_state":1,"mpcc_theta_e":0.430679321,"mpcc_theta_mech":0.55308181,"sam_rpm":-2.48085833,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0229675025,"thr_a_norm":0.0212302655,"thr_a_v":0.59187001,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492016494,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.807945,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.38603449,"cg_iw_a":-0.305757046,"cg_theta_rad":0.557549,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0159534179,"mpcc_du":49.866787,"mpcc_dv":49.2529335,"mpcc_dw":50.7470665,"mpcc_enc_sign":1,"mpcc_id_a":1.34196031,"mpcc_iq_a":-2.09635925,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.22491932,"mpcc_pred_id_a":-0.221604779,"mpcc_pred_iq_a":-2.66931462,"mpcc_state":1,"mpcc_theta_e":0.455012321,"mpcc_theta_mech":0.557948411,"sam_rpm":12.4663792,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0229675025,"thr_a_norm":0.0229675025,"thr_a_v":0.59187001,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492016494,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.831413,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.0087685585,"cg_iw_a":-1.0306344,"cg_theta_rad":0.555603325,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0133565525,"mpcc_du":48.5656509,"mpcc_dv":51.4343491,"mpcc_dw":51.9874992,"mpcc_enc_sign":1,"mpcc_id_a":-1.31602931,"mpcc_iq_a":-2.93868756,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.3141041,"mpcc_pred_id_a":-1.2004261,"mpcc_pred_iq_a":-6.4752841,"mpcc_state":1,"mpcc_theta_e":0.451196194,"mpcc_theta_mech":0.557185113,"sam_rpm":19.8597488,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176173002,"thr_a_norm":0.0176173002,"thr_a_v":0.570469201,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438237578,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.837914,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.588670254,"cg_iw_a":-1.3205843,"cg_theta_rad":0.554593563,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.00112439354,"mpcc_du":49.9612007,"mpcc_dv":49.0224419,"mpcc_dw":50.9775581,"mpcc_enc_sign":1,"mpcc_id_a":0.372932494,"mpcc_iq_a":-3.76119924,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.93670464,"mpcc_pred_id_a":0.143159285,"mpcc_pred_iq_a":-0.30594185,"mpcc_state":1,"mpcc_theta_e":0.453086853,"mpcc_theta_mech":0.557563305,"sam_rpm":14.928236,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274994224,"thr_a_norm":0.0176173002,"thr_a_v":0.60999769,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491865426,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.844414,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.31354666,"cg_iw_a":-1.90048599,"cg_theta_rad":0.555436254,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.009113268,"mpcc_du":49.2066231,"mpcc_dv":50.7933769,"mpcc_dw":49.8636093,"mpcc_enc_sign":1,"mpcc_id_a":1.89024651,"mpcc_iq_a":-1.31391954,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.77504253,"mpcc_pred_id_a":-0.257074773,"mpcc_pred_iq_a":-5.80938578,"mpcc_state":1,"mpcc_theta_e":0.44486475,"mpcc_theta_mech":0.555918872,"sam_rpm":6.52895498,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274994224,"thr_a_norm":0.0274994224,"thr_a_v":0.60999769,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491865426,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.851189,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.38603449,"cg_iw_a":-1.10312176,"cg_theta_rad":0.556557477,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0168236699,"mpcc_du":49.1411247,"mpcc_dv":50.8588753,"mpcc_dw":49.7045898,"mpcc_enc_sign":1,"mpcc_id_a":0.593409181,"mpcc_iq_a":0.193838224,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.0784321,"mpcc_pred_id_a":-0.251075417,"mpcc_pred_iq_a":1.23313975,"mpcc_state":1,"mpcc_theta_e":0.427829742,"mpcc_theta_mech":0.552511871,"sam_rpm":12.3613825,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194426626,"thr_a_norm":0.0194426626,"thr_a_v":0.57777065,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.860954,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.60349751,"cg_iw_a":-1.10312152,"cg_theta_rad":0.556269109,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.011463441,"mpcc_du":51.2366219,"mpcc_dv":47.1600533,"mpcc_dw":52.8399467,"mpcc_enc_sign":1,"mpcc_id_a":1.53764427,"mpcc_iq_a":-0.00335433753,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.5751572,"mpcc_pred_id_a":0.551270783,"mpcc_pred_iq_a":2.17225099,"mpcc_state":1,"mpcc_theta_e":0.425626278,"mpcc_theta_mech":0.552071154,"sam_rpm":-29.4334755,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194426626,"thr_a_norm":0.0194426626,"thr_a_v":0.57777065,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.870995,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.24105906,"cg_iw_a":-0.160782099,"cg_theta_rad":0.554042637,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.00238736649,"mpcc_du":50.1946983,"mpcc_dv":48.76577,"mpcc_dw":51.23423,"mpcc_enc_sign":1,"mpcc_id_a":0.961673081,"mpcc_iq_a":-1.08669758,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.6084938,"mpcc_pred_id_a":-0.102396697,"mpcc_pred_iq_a":-1.27179396,"mpcc_state":1,"mpcc_theta_e":0.433786869,"mpcc_theta_mech":0.553703249,"sam_rpm":-13.7612028,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.028468743,"thr_a_norm":0.028468743,"thr_a_v":0.613874972,"thr_b":0.003681615,"thr_b_norm":0.003681615,"thr_b_v":0.51472646,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.881401,"values":{"cg_iu_a":1.90925455,"cg_iv_a":0.353669643,"cg_iw_a":-3.35023928,"cg_theta_rad":0.55238843,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.00665730471,"mpcc_du":50.3630714,"mpcc_dv":48.6713181,"mpcc_dw":51.3286819,"mpcc_enc_sign":1,"mpcc_id_a":0.586473584,"mpcc_iq_a":-2.93956161,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.5035954,"mpcc_pred_id_a":-0.480563909,"mpcc_pred_iq_a":-2.30077934,"mpcc_state":1,"mpcc_theta_e":0.432382107,"mpcc_theta_mech":0.553422332,"sam_rpm":-19.8096867,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283680409,"thr_a_norm":0.028468743,"thr_a_v":0.613472164,"thr_b":0.00390821695,"thr_b_norm":0.003681615,"thr_b_v":0.515632868,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.891563,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.226231575,"cg_iw_a":-2.40789986,"cg_theta_rad":0.552436173,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0340439416,"mpcc_du":49.9908257,"mpcc_dv":49.1187744,"mpcc_dw":50.8812256,"mpcc_enc_sign":1,"mpcc_id_a":0.333515614,"mpcc_iq_a":-1.36526442,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.60952568,"mpcc_pred_id_a":-0.356499672,"mpcc_pred_iq_a":-3.44833088,"mpcc_state":1,"mpcc_theta_e":0.450250149,"mpcc_theta_mech":0.556995928,"sam_rpm":8.72448063,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283680409,"thr_a_norm":0.0283680409,"thr_a_v":0.613472164,"thr_b":0.00390821695,"thr_b_norm":0.00390821695,"thr_b_v":0.515632868,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.902763,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.806133032,"cg_iw_a":-2.1904366,"cg_theta_rad":0.557100594,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0170327816,"mpcc_du":50.0861244,"mpcc_dv":48.5886345,"mpcc_dw":51.4113655,"mpcc_enc_sign":1,"mpcc_id_a":2.45232368,"mpcc_iq_a":-0.456417054,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.96104765,"mpcc_pred_id_a":0.649895132,"mpcc_pred_iq_a":-0.673252344,"mpcc_state":1,"mpcc_theta_e":0.447033882,"mpcc_theta_mech":0.556352675,"sam_rpm":-9.70758629,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160688907,"thr_a_norm":0.0160688907,"thr_a_v":0.564275563,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.913963,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.82096052,"cg_iw_a":0.129168987,"cg_theta_rad":0.556996286,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0241088495,"mpcc_du":50.1228218,"mpcc_dv":48.7887421,"mpcc_dw":51.2112579,"mpcc_enc_sign":1,"mpcc_id_a":1.54559302,"mpcc_iq_a":-0.689498961,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.04146779,"mpcc_pred_id_a":0.166985318,"mpcc_pred_iq_a":-2.14895201,"mpcc_state":1,"mpcc_theta_e":0.446743965,"mpcc_theta_mech":0.55629468,"sam_rpm":-1.1874088,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201602131,"thr_a_norm":0.0160688907,"thr_a_v":0.580640852,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457674503,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.936974,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.09608364,"cg_iw_a":-0.958146572,"cg_theta_rad":0.554840684,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0131313121,"mpcc_du":51.1263313,"mpcc_dv":47.5040054,"mpcc_dw":52.4959946,"mpcc_enc_sign":1,"mpcc_id_a":1.9376595,"mpcc_iq_a":-0.703376293,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.0800886,"mpcc_pred_id_a":0.179217204,"mpcc_pred_iq_a":1.49786997,"mpcc_state":1,"mpcc_theta_e":0.431488514,"mpcc_theta_mech":0.553243637,"sam_rpm":-22.0801563,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201602131,"thr_a_norm":0.0201602131,"thr_a_v":0.580640852,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457674503,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.943474,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.26292467,"cg_theta_rad":0.554814875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.002056706,"mpcc_du":49.9848251,"mpcc_dv":49.08498,"mpcc_dw":50.91502,"mpcc_enc_sign":1,"mpcc_id_a":0.690245152,"mpcc_iq_a":-0.970807135,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.25402725,"mpcc_pred_id_a":-0.180719942,"mpcc_pred_iq_a":-0.864734054,"mpcc_state":1,"mpcc_theta_e":0.442396641,"mpcc_theta_mech":0.555425227,"sam_rpm":1.64165783,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026353851,"thr_a_norm":0.026353851,"thr_a_v":0.605415404,"thr_b":0.00190661848,"thr_b_norm":0.00190661848,"thr_b_v":0.507626474,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.950035,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.371207237,"cg_iw_a":-2.26292419,"cg_theta_rad":0.557880998,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0366565175,"mpcc_du":50.0057831,"mpcc_dv":48.854351,"mpcc_dw":51.145649,"mpcc_enc_sign":1,"mpcc_id_a":2.91653275,"mpcc_iq_a":-0.513997018,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.96277761,"mpcc_pred_id_a":0.42607671,"mpcc_pred_iq_a":-0.530402362,"mpcc_state":1,"mpcc_theta_e":0.447707176,"mpcc_theta_mech":0.556487322,"sam_rpm":7.88684177,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026353851,"thr_a_norm":0.026353851,"thr_a_v":0.605415404,"thr_b":0.00190661848,"thr_b_norm":0.00190661848,"thr_b_v":0.507626474,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.956566,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-2.32837415,"cg_iw_a":1.57892203,"cg_theta_rad":0.558325171,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0100105191,"mpcc_du":49.7290154,"mpcc_dv":49.302803,"mpcc_dw":50.697197,"mpcc_enc_sign":1,"mpcc_id_a":1.96662855,"mpcc_iq_a":-2.32850957,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.99690151,"mpcc_pred_id_a":0.133394778,"mpcc_pred_iq_a":-1.39150572,"mpcc_state":1,"mpcc_theta_e":0.446341515,"mpcc_theta_mech":0.556214213,"sam_rpm":7.07823944,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176550597,"thr_a_norm":0.0176550597,"thr_a_v":0.570620239,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443474501,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.964775,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.806133032,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.556052744,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5011,"hz_app_loop":358,"hz_tim_isr":10020,"hz_vsense":358,"mpcc_cost":0.0137745701,"mpcc_du":49.5811348,"mpcc_dv":50.2354469,"mpcc_dw":50.4188652,"mpcc_enc_sign":1,"mpcc_id_a":1.83916104,"mpcc_iq_a":-2.06535649,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.3396387,"mpcc_pred_id_a":0.0728069469,"mpcc_pred_iq_a":-3.28503633,"mpcc_state":1,"mpcc_theta_e":0.456867218,"mpcc_theta_mech":0.55831939,"sam_rpm":21.5418568,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022325471,"thr_a_norm":0.0176550597,"thr_a_v":0.589301884,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487887353,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.975365,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.516182423,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556990504,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9894,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0303998571,"mpcc_du":50.7817078,"mpcc_dv":48.3697166,"mpcc_dw":51.6302834,"mpcc_enc_sign":1,"mpcc_id_a":1.02550662,"mpcc_iq_a":-0.35057193,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.87516594,"mpcc_pred_id_a":-0.720364988,"mpcc_pred_iq_a":-1.11154068,"mpcc_state":1,"mpcc_theta_e":0.448681355,"mpcc_theta_mech":0.556682169,"sam_rpm":-6.31772518,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022325471,"thr_a_norm":0.022325471,"thr_a_v":0.589301884,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487887353,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.985313,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.6759851,"cg_iw_a":2.23131108,"cg_theta_rad":0.554454446,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0264042467,"mpcc_du":50.1866989,"mpcc_dv":48.7315559,"mpcc_dw":51.2684441,"mpcc_enc_sign":1,"mpcc_id_a":2.60810518,"mpcc_iq_a":-0.817632794,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.836181879,"mpcc_pred_id_a":0.274045557,"mpcc_pred_iq_a":-1.03330028,"mpcc_state":1,"mpcc_theta_e":0.443538666,"mpcc_theta_mech":0.555653632,"sam_rpm":-0.970590949,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453192949,"vdc_v":55.2955055}} +{"type":"telemetry","t":68.995354,"values":{"cg_iu_a":3.06905746,"cg_iv_a":0.933570862,"cg_iw_a":-4.00262833,"cg_theta_rad":0.557309449,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.01833882,"mpcc_du":50.4390755,"mpcc_dv":48.4064445,"mpcc_dw":51.5935555,"mpcc_enc_sign":1,"mpcc_id_a":0.685626149,"mpcc_iq_a":-1.54184842,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.3635979,"mpcc_pred_id_a":0.120206401,"mpcc_pred_iq_a":-0.0927548185,"mpcc_state":1,"mpcc_theta_e":0.42188406,"mpcc_theta_mech":0.551322699,"sam_rpm":-29.556036,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453192949,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.005547,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.38603449,"cg_iw_a":-0.958146095,"cg_theta_rad":0.556311667,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0167667326,"mpcc_du":49.8462753,"mpcc_dv":49.1283951,"mpcc_dw":50.8716049,"mpcc_enc_sign":1,"mpcc_id_a":1.96748638,"mpcc_iq_a":-1.50362229,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.73830462,"mpcc_pred_id_a":0.23415269,"mpcc_pred_iq_a":-0.917294621,"mpcc_state":1,"mpcc_theta_e":0.432713985,"mpcc_theta_mech":0.553488672,"sam_rpm":-9.59720516,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186243951,"thr_a_norm":0.0186243951,"thr_a_v":0.574497581,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453797221,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.015526,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.45852208,"cg_iw_a":-1.10312152,"cg_theta_rad":0.556822062,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.017304061,"mpcc_du":50.0331726,"mpcc_dv":49.0985909,"mpcc_dw":50.9014091,"mpcc_enc_sign":1,"mpcc_id_a":0.659782767,"mpcc_iq_a":-1.85094786,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.42530966,"mpcc_pred_id_a":-0.214314431,"mpcc_pred_iq_a":-3.26460195,"mpcc_state":1,"mpcc_theta_e":0.451917648,"mpcc_theta_mech":0.557329476,"sam_rpm":5.20282316,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222499371,"thr_a_norm":0.0186243951,"thr_a_v":0.588999748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472428501,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.038567,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.806133032,"cg_iw_a":0.926532984,"cg_theta_rad":0.55615741,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00300448225,"mpcc_du":49.2655754,"mpcc_dv":50.7344246,"mpcc_dw":49.8126183,"mpcc_enc_sign":1,"mpcc_id_a":0.43437916,"mpcc_iq_a":-0.993636906,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.05219936,"mpcc_pred_id_a":-0.496158242,"mpcc_pred_iq_a":-5.72789383,"mpcc_state":1,"mpcc_theta_e":0.448028088,"mpcc_theta_mech":0.556551516,"sam_rpm":8.66161537,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222499371,"thr_a_norm":0.0222499371,"thr_a_v":0.588999748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472428501,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.045097,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.16857147,"cg_iw_a":-2.40789986,"cg_theta_rad":0.55763799,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0231619738,"mpcc_du":51.1976128,"mpcc_dv":47.4538231,"mpcc_dw":52.5461769,"mpcc_enc_sign":1,"mpcc_id_a":1.5389812,"mpcc_iq_a":-0.532056153,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.83204651,"mpcc_pred_id_a":0.332539529,"mpcc_pred_iq_a":2.2402854,"mpcc_state":1,"mpcc_theta_e":0.438352585,"mpcc_theta_mech":0.554616451,"sam_rpm":-11.8618135,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162577182,"thr_a_norm":0.0162577182,"thr_a_v":0.565030873,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463414967,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.051628,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.02359605,"cg_iw_a":-0.595708132,"cg_theta_rad":0.555917323,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00604098151,"mpcc_du":49.6253128,"mpcc_dv":50.3746872,"mpcc_dw":50.3366508,"mpcc_enc_sign":1,"mpcc_id_a":0.181062028,"mpcc_iq_a":-1.01312292,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.3356533,"mpcc_pred_id_a":-0.17410621,"mpcc_pred_iq_a":-3.44201374,"mpcc_state":1,"mpcc_theta_e":0.44085598,"mpcc_theta_mech":0.555117071,"sam_rpm":15.4275827,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162577182,"thr_a_norm":0.0162577182,"thr_a_v":0.565030873,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463414967,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.058342,"values":{"cg_iu_a":4.08388519,"cg_iv_a":-2.18339872,"cg_iw_a":-1.90048647,"cg_theta_rad":0.556936741,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00273238006,"mpcc_du":49.1753006,"mpcc_dv":50.8246994,"mpcc_dw":49.6594391,"mpcc_enc_sign":1,"mpcc_id_a":-0.306617498,"mpcc_iq_a":-1.84740102,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.7035389,"mpcc_pred_id_a":-0.542061448,"mpcc_pred_iq_a":-5.34050798,"mpcc_state":1,"mpcc_theta_e":0.452519894,"mpcc_theta_mech":0.557449937,"sam_rpm":19.2823505,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288967639,"thr_a_norm":0.0288967639,"thr_a_v":0.615587056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495239198,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.068535,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.69081235,"cg_iw_a":1.36145902,"cg_theta_rad":0.555601776,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00344609516,"mpcc_du":49.5698853,"mpcc_dv":50.4301147,"mpcc_dw":50.1768608,"mpcc_enc_sign":1,"mpcc_id_a":-0.187441871,"mpcc_iq_a":-2.13205576,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.27746105,"mpcc_pred_id_a":-0.424866855,"mpcc_pred_iq_a":-3.22375655,"mpcc_state":1,"mpcc_theta_e":0.445438385,"mpcc_theta_mech":0.556033552,"sam_rpm":8.24515915,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024087891,"thr_a_norm":0.0288967639,"thr_a_v":0.596351564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473888755,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.078575,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.24105906,"cg_iw_a":-0.958146334,"cg_theta_rad":0.556631386,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0115108788,"mpcc_du":50.0374184,"mpcc_dv":48.9810448,"mpcc_dw":51.0189552,"mpcc_enc_sign":1,"mpcc_id_a":2.03385544,"mpcc_iq_a":-2.68850899,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.9124608,"mpcc_pred_id_a":0.11547491,"mpcc_pred_iq_a":-1.61781061,"mpcc_state":1,"mpcc_theta_e":0.447261333,"mpcc_theta_mech":0.556398153,"sam_rpm":4.81102324,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024087891,"thr_a_norm":0.024087891,"thr_a_v":0.596351564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473888755,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.088554,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.661157608,"cg_iw_a":-0.668195724,"cg_theta_rad":0.557249784,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00671090465,"mpcc_du":49.9200401,"mpcc_dv":49.0372009,"mpcc_dw":50.9627991,"mpcc_enc_sign":1,"mpcc_id_a":0.945070148,"mpcc_iq_a":-0.432686388,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.3097696,"mpcc_pred_id_a":0.192886889,"mpcc_pred_iq_a":-3.5499711,"mpcc_state":1,"mpcc_theta_e":0.433259964,"mpcc_theta_mech":0.553597927,"sam_rpm":-16.7457142,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024264127,"thr_a_norm":0.024264127,"thr_a_v":0.597056508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475449771,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.098534,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.24105906,"cg_iw_a":0.129168749,"cg_theta_rad":0.555818915,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0262040496,"mpcc_du":49.4324532,"mpcc_dv":49.7061615,"mpcc_dw":50.5675468,"mpcc_enc_sign":1,"mpcc_id_a":3.1588788,"mpcc_iq_a":-1.51637781,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.4710865,"mpcc_pred_id_a":0.674558401,"mpcc_pred_iq_a":-2.52966952,"mpcc_state":1,"mpcc_theta_e":0.448709488,"mpcc_theta_mech":0.556687772,"sam_rpm":9.51285362,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024264127,"thr_a_norm":0.024264127,"thr_a_v":0.597056508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475449771,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.108727,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.02359605,"cg_iw_a":-1.53804755,"cg_theta_rad":0.55680126,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0032963776,"mpcc_du":50.5282364,"mpcc_dv":48.4413834,"mpcc_dw":51.5586166,"mpcc_enc_sign":1,"mpcc_id_a":0.943041801,"mpcc_iq_a":-0.437089413,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.43474412,"mpcc_pred_id_a":-0.310580254,"mpcc_pred_iq_a":1.30294442,"mpcc_state":1,"mpcc_theta_e":0.437923908,"mpcc_theta_mech":0.55453068,"sam_rpm":-5.80256891,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280785114,"thr_a_norm":0.0280785114,"thr_a_v":0.612314045,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486981004,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.119164,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.09608364,"cg_iw_a":0.0566806793,"cg_theta_rad":0.554681122,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0194953363,"mpcc_du":50.2859459,"mpcc_dv":48.6757126,"mpcc_dw":51.3242874,"mpcc_enc_sign":1,"mpcc_id_a":0.177164078,"mpcc_iq_a":-1.3762089,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.52070713,"mpcc_pred_id_a":-0.105024539,"mpcc_pred_iq_a":-2.82795262,"mpcc_state":1,"mpcc_theta_e":0.442550659,"mpcc_theta_mech":0.555456042,"sam_rpm":-5.45763779,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283176899,"thr_a_norm":0.0280785114,"thr_a_v":0.61327076,"thr_b":0.000761047006,"thr_b_norm":0,"thr_b_v":0.503044188,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.141991,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.02359605,"cg_iw_a":0.0566809177,"cg_theta_rad":0.557977796,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.017986143,"mpcc_du":49.5954933,"mpcc_dv":50.4045067,"mpcc_dw":50.3656883,"mpcc_enc_sign":1,"mpcc_id_a":2.12988758,"mpcc_iq_a":-0.644139528,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.52165508,"mpcc_pred_id_a":-0.137564078,"mpcc_pred_iq_a":-4.68892097,"mpcc_state":1,"mpcc_theta_e":0.446568489,"mpcc_theta_mech":0.556259632,"sam_rpm":6.29984045,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283176899,"thr_a_norm":0.0283176899,"thr_a_v":0.61327076,"thr_b":0.000761047006,"thr_b_norm":0.000761047006,"thr_b_v":0.503044188,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.148521,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.951108456,"cg_iw_a":-5.95979548,"cg_theta_rad":0.556841969,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00972558185,"mpcc_du":50.1678352,"mpcc_dv":48.8501015,"mpcc_dw":51.1498985,"mpcc_enc_sign":1,"mpcc_id_a":0.461695939,"mpcc_iq_a":-0.772440672,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.25628853,"mpcc_pred_id_a":-0.160390347,"mpcc_pred_iq_a":-0.156690091,"mpcc_state":1,"mpcc_theta_e":0.445436001,"mpcc_theta_mech":0.556033134,"sam_rpm":6.93075466,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178187191,"thr_a_norm":0.0178187191,"thr_a_v":0.571274877,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444330513,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.154991,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-1.74847269,"cg_iw_a":-1.75551081,"cg_theta_rad":0.554525912,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00545429345,"mpcc_du":50.190136,"mpcc_dv":48.8366928,"mpcc_dw":51.1633072,"mpcc_enc_sign":1,"mpcc_id_a":-0.13984102,"mpcc_iq_a":-1.03926969,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.97470188,"mpcc_pred_id_a":-0.265603006,"mpcc_pred_iq_a":-2.08152604,"mpcc_state":1,"mpcc_theta_e":0.438381672,"mpcc_theta_mech":0.554622293,"sam_rpm":-7.18067217,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178187191,"thr_a_norm":0.0178187191,"thr_a_v":0.571274877,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444330513,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.161522,"values":{"cg_iu_a":-0.337862968,"cg_iv_a":0.208694458,"cg_iw_a":0.12916851,"cg_theta_rad":0.552572727,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.013950781,"mpcc_du":49.2037773,"mpcc_dv":50.7962227,"mpcc_dw":49.9262772,"mpcc_enc_sign":1,"mpcc_id_a":1.482669,"mpcc_iq_a":-1.64783597,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.1850567,"mpcc_pred_id_a":-0.0675451756,"mpcc_pred_iq_a":-5.51786661,"mpcc_state":1,"mpcc_theta_e":0.452887058,"mpcc_theta_mech":0.55752331,"sam_rpm":20.0821438,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188509971,"thr_a_norm":0.0188509971,"thr_a_v":0.575403988,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.169548,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.806133032,"cg_iw_a":-0.160782099,"cg_theta_rad":0.55637151,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0374050587,"mpcc_du":50.4542847,"mpcc_dv":48.2442322,"mpcc_dw":51.7557678,"mpcc_enc_sign":1,"mpcc_id_a":3.05594921,"mpcc_iq_a":-0.73083955,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.06333542,"mpcc_pred_id_a":0.654893279,"mpcc_pred_iq_a":2.50367188,"mpcc_state":1,"mpcc_theta_e":0.45082283,"mpcc_theta_mech":0.557110488,"sam_rpm":11.9321241,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278645009,"thr_a_norm":0.0188509971,"thr_a_v":0.611458004,"thr_b":0.00145341456,"thr_b_norm":0,"thr_b_v":0.505813658,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.179588,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-2.0384233,"cg_iw_a":0.491606951,"cg_theta_rad":0.55737412,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0635910705,"mpcc_du":50.5109711,"mpcc_dv":48.4816017,"mpcc_dw":51.5183983,"mpcc_enc_sign":1,"mpcc_id_a":0.883362651,"mpcc_iq_a":-0.891171277,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.36837149,"mpcc_pred_id_a":-0.105586745,"mpcc_pred_iq_a":-1.62148619,"mpcc_state":1,"mpcc_theta_e":0.45318985,"mpcc_theta_mech":0.557583928,"sam_rpm":8.41315651,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278645009,"thr_a_norm":0.0278645009,"thr_a_v":0.611458004,"thr_b":0.00145341456,"thr_b_norm":0.00145341456,"thr_b_v":0.505813658,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.189934,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.16857147,"cg_iw_a":-1.82799816,"cg_theta_rad":0.552631915,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0458040796,"mpcc_du":49.7302895,"mpcc_dv":49.2686882,"mpcc_dw":50.7313118,"mpcc_enc_sign":1,"mpcc_id_a":2.67886424,"mpcc_iq_a":-0.464945763,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.59943962,"mpcc_pred_id_a":0.253377706,"mpcc_pred_iq_a":0.824415267,"mpcc_state":1,"mpcc_theta_e":0.422230721,"mpcc_theta_mech":0.551392078,"sam_rpm":-14.2350588,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0138155073,"thr_a_norm":0.0138155073,"thr_a_v":0.555262029,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448157459,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.199577,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.38603449,"cg_iw_a":0.274144173,"cg_theta_rad":0.557787418,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.174194276,"mpcc_du":49.693943,"mpcc_dv":48.8865089,"mpcc_dw":51.1134911,"mpcc_enc_sign":1,"mpcc_id_a":5.52810383,"mpcc_iq_a":2.09173775,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.48828566,"mpcc_pred_id_a":1.2277025,"mpcc_pred_iq_a":-2.72845435,"mpcc_state":1,"mpcc_theta_e":0.44627285,"mpcc_theta_mech":0.556200504,"sam_rpm":3.58631206,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0138155073,"thr_a_norm":0.0138155073,"thr_a_v":0.555262029,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448157459,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.20974,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.89344811,"cg_iw_a":-0.378245115,"cg_theta_rad":0.55770725,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0315217972,"mpcc_du":49.5236931,"mpcc_dv":49.5625648,"mpcc_dw":50.4763069,"mpcc_enc_sign":1,"mpcc_id_a":2.56852746,"mpcc_iq_a":-2.07220888,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.04626751,"mpcc_pred_id_a":0.208560526,"mpcc_pred_iq_a":-5.70567417,"mpcc_state":1,"mpcc_theta_e":0.449826717,"mpcc_theta_mech":0.55691123,"sam_rpm":2.2478888,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0994941592,"thr_a_norm":0.0994941592,"thr_a_v":0.897976637,"thr_b":0.0420645326,"thr_b_norm":0.0420645326,"thr_b_v":0.668258131,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.220116,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.516182423,"cg_iw_a":-1.10312176,"cg_theta_rad":0.557219923,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00201536901,"mpcc_du":49.6028595,"mpcc_dv":49.770607,"mpcc_dw":50.3971405,"mpcc_enc_sign":1,"mpcc_id_a":0.56008184,"mpcc_iq_a":0.110824727,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.93468046,"mpcc_pred_id_a":-0.195501924,"mpcc_pred_iq_a":-0.89277184,"mpcc_state":1,"mpcc_theta_e":0.440085888,"mpcc_theta_mech":0.554963112,"sam_rpm":8.79738045,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166353881,"thr_a_norm":0.0994941592,"thr_a_v":0.566541553,"thr_b":0,"thr_b_norm":0.0420645326,"thr_b_v":0.473788053,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.242973,"values":{"cg_iu_a":0.387013912,"cg_iv_a":0.136206627,"cg_iw_a":-0.59570837,"cg_theta_rad":0.5553146,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00419525523,"mpcc_du":49.2906227,"mpcc_dv":50.7093773,"mpcc_dw":50.0939941,"mpcc_enc_sign":1,"mpcc_id_a":1.20461786,"mpcc_iq_a":-1.22865295,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.90907669,"mpcc_pred_id_a":0.103107378,"mpcc_pred_iq_a":-4.45004368,"mpcc_state":1,"mpcc_theta_e":0.450322628,"mpcc_theta_mech":0.557010412,"sam_rpm":12.148303,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166353881,"thr_a_norm":0.0166353881,"thr_a_v":0.566541553,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473788053,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.249504,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.82096052,"cg_iw_a":-1.03063393,"cg_theta_rad":0.557383955,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.000626371941,"mpcc_du":50.0289764,"mpcc_dv":49.0374374,"mpcc_dw":50.9625626,"mpcc_enc_sign":1,"mpcc_id_a":0.36448136,"mpcc_iq_a":-1.50506878,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.33593273,"mpcc_pred_id_a":-0.231064528,"mpcc_pred_iq_a":-2.44892573,"mpcc_state":1,"mpcc_theta_e":0.436756611,"mpcc_theta_mech":0.554297268,"sam_rpm":-9.72957611,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0207015276,"thr_a_norm":0.0207015276,"thr_a_v":0.58280611,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467695117,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.256004,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.951108456,"cg_iw_a":0.201656342,"cg_theta_rad":0.556747556,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0183684658,"mpcc_du":50.6200142,"mpcc_dv":48.1743584,"mpcc_dw":51.8256416,"mpcc_enc_sign":1,"mpcc_id_a":2.40049219,"mpcc_iq_a":-2.99050522,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.7921619,"mpcc_pred_id_a":0.0163582861,"mpcc_pred_iq_a":-0.344848007,"mpcc_state":1,"mpcc_theta_e":0.431677341,"mpcc_theta_mech":0.553281426,"sam_rpm":-19.1908817,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0207015276,"thr_a_norm":0.0207015276,"thr_a_v":0.58280611,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467695117,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.262535,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.6759851,"cg_iw_a":0.636582136,"cg_theta_rad":0.557309687,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0154055525,"mpcc_du":49.5957413,"mpcc_dv":50.4042587,"mpcc_dw":50.3560104,"mpcc_enc_sign":1,"mpcc_id_a":0.533293962,"mpcc_iq_a":-0.621825337,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.87586832,"mpcc_pred_id_a":-0.166144729,"mpcc_pred_iq_a":-5.6836729,"mpcc_state":1,"mpcc_theta_e":0.446285248,"mpcc_theta_mech":0.556203008,"sam_rpm":4.2911787,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023080796,"thr_a_norm":0.023080796,"thr_a_v":0.592323184,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490656883,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.270714,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.97297382,"cg_theta_rad":0.557468474,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00625130022,"mpcc_du":51.6066208,"mpcc_dv":46.975132,"mpcc_dw":53.024868,"mpcc_enc_sign":1,"mpcc_id_a":0.938932717,"mpcc_iq_a":-0.794070363,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.826952,"mpcc_pred_id_a":0.0408736989,"mpcc_pred_iq_a":3.48277187,"mpcc_state":1,"mpcc_theta_e":0.429684639,"mpcc_theta_mech":0.55288285,"sam_rpm":-24.4167423,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.023080796,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443776608,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.280724,"values":{"cg_iu_a":-0.917764187,"cg_iv_a":-0.733645439,"cg_iw_a":-2.62536287,"cg_theta_rad":0.556153715,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0507706106,"mpcc_du":50.0115929,"mpcc_dv":48.9827385,"mpcc_dw":51.0172615,"mpcc_enc_sign":1,"mpcc_id_a":2.1264112,"mpcc_iq_a":-0.655524373,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.9008162,"mpcc_pred_id_a":0.177157715,"mpcc_pred_iq_a":-3.08243823,"mpcc_state":1,"mpcc_theta_e":0.451918125,"mpcc_theta_mech":0.557329535,"sam_rpm":4.67918348,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443776608,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.290916,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.02359605,"cg_iw_a":-0.378244877,"cg_theta_rad":0.558802545,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0194658898,"mpcc_du":49.4672966,"mpcc_dv":49.603405,"mpcc_dw":50.5327034,"mpcc_enc_sign":1,"mpcc_id_a":1.51098919,"mpcc_iq_a":-1.10880637,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.21174872,"mpcc_pred_id_a":0.58272475,"mpcc_pred_iq_a":-0.517508149,"mpcc_state":1,"mpcc_theta_e":0.432933331,"mpcc_theta_mech":0.553532541,"sam_rpm":-3.2626133,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291233659,"thr_a_norm":0.0291233659,"thr_a_v":0.616493464,"thr_b":0.00244791806,"thr_b_norm":0.00244791806,"thr_b_v":0.509791672,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.303337,"values":{"cg_iu_a":2.1992054,"cg_iv_a":0.136206627,"cg_iw_a":-2.33541203,"cg_theta_rad":0.557269692,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00224052696,"mpcc_du":49.6023064,"mpcc_dv":49.2413635,"mpcc_dw":50.7586365,"mpcc_enc_sign":1,"mpcc_id_a":0.697384775,"mpcc_iq_a":-0.451662838,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.2982569,"mpcc_pred_id_a":-0.0021316472,"mpcc_pred_iq_a":1.29037344,"mpcc_state":1,"mpcc_theta_e":0.427978039,"mpcc_theta_mech":0.552541554,"sam_rpm":-17.106411,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026001364,"thr_a_norm":0.0291233659,"thr_a_v":0.604005456,"thr_b":0.00108835101,"thr_b_norm":0.00244791806,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.313133,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.588670254,"cg_iw_a":0.0566811562,"cg_theta_rad":0.556221545,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0136597268,"mpcc_du":49.2398682,"mpcc_dv":50.7601318,"mpcc_dw":50.0678024,"mpcc_enc_sign":1,"mpcc_id_a":2.10691595,"mpcc_iq_a":-0.358937353,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.4563179,"mpcc_pred_id_a":0.206848234,"mpcc_pred_iq_a":-3.41032934,"mpcc_state":1,"mpcc_theta_e":0.448413849,"mpcc_theta_mech":0.556628644,"sam_rpm":17.4170475,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026001364,"thr_a_norm":0.026001364,"thr_a_v":0.604005456,"thr_b":0.00108835101,"thr_b_norm":0.00108835101,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.323418,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.878620625,"cg_iw_a":-2.26292467,"cg_theta_rad":0.555879653,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0416370593,"mpcc_du":50.03339,"mpcc_dv":49.0475731,"mpcc_dw":51.0346413,"mpcc_enc_sign":1,"mpcc_id_a":1.09904003,"mpcc_iq_a":-0.946623266,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.99310517,"mpcc_pred_id_a":-0.187961847,"mpcc_pred_iq_a":-3.09375286,"mpcc_state":1,"mpcc_theta_e":0.451245785,"mpcc_theta_mech":0.557135403,"sam_rpm":7.60171843,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216960311,"thr_a_norm":0.0216960311,"thr_a_v":0.586784124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.346336,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-0.951108456,"cg_iw_a":0.854045391,"cg_theta_rad":0.554482937,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.012471131,"mpcc_du":48.8752174,"mpcc_dv":51.1247826,"mpcc_dw":49.5164871,"mpcc_enc_sign":1,"mpcc_id_a":2.18476582,"mpcc_iq_a":-1.36831081,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.70031834,"mpcc_pred_id_a":-0.138163,"mpcc_pred_iq_a":-6.54897356,"mpcc_state":1,"mpcc_theta_e":0.447229385,"mpcc_theta_mech":0.556391776,"sam_rpm":11.9580154,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216960311,"thr_a_norm":0.0216960311,"thr_a_v":0.586784124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.352898,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.878620625,"cg_iw_a":0.346631527,"cg_theta_rad":0.554077148,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00416844198,"mpcc_du":49.5995026,"mpcc_dv":49.6687737,"mpcc_dw":50.4004974,"mpcc_enc_sign":1,"mpcc_id_a":0.644160867,"mpcc_iq_a":-0.391251147,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0957400054,"mpcc_pred_id_a":-0.229669839,"mpcc_pred_iq_a":-3.26664352,"mpcc_state":1,"mpcc_theta_e":0.439964771,"mpcc_theta_mech":0.554938912,"sam_rpm":-0.920675039,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236346871,"thr_a_norm":0.0236346871,"thr_a_v":0.594538748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4895491,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.359367,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.82096052,"cg_iw_a":0.491607189,"cg_theta_rad":0.556394041,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00343411788,"mpcc_du":51.0171852,"mpcc_dv":51.5694199,"mpcc_dw":49.0359917,"mpcc_enc_sign":1,"mpcc_id_a":1.14540982,"mpcc_iq_a":-0.694187582,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.7940426,"mpcc_pred_id_a":0.298509508,"mpcc_pred_iq_a":1.93069029,"mpcc_state":1,"mpcc_theta_e":0.422605038,"mpcc_theta_mech":0.551466942,"sam_rpm":-29.8821621,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236346871,"thr_a_norm":0.0236346871,"thr_a_v":0.594538748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4895491,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.365898,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.733645439,"cg_iw_a":-1.24809694,"cg_theta_rad":0.558458805,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0311743394,"mpcc_du":49.5380936,"mpcc_dv":49.7569046,"mpcc_dw":50.4619064,"mpcc_enc_sign":1,"mpcc_id_a":2.75586009,"mpcc_iq_a":-0.690462768,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.6191711,"mpcc_pred_id_a":0.180708081,"mpcc_pred_iq_a":-1.67913878,"mpcc_state":1,"mpcc_theta_e":0.454673767,"mpcc_theta_mech":0.55788064,"sam_rpm":20.4241829,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182970911,"thr_a_norm":0.0182970911,"thr_a_v":0.573188365,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463767439,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.373772,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.89344811,"cg_iw_a":-0.885658503,"cg_theta_rad":0.558150649,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0164035875,"mpcc_du":49.3361397,"mpcc_dv":50.6638603,"mpcc_dw":50.1202316,"mpcc_enc_sign":1,"mpcc_id_a":0.785993159,"mpcc_iq_a":-0.0948886946,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.26816893,"mpcc_pred_id_a":0.0691839531,"mpcc_pred_iq_a":-5.54362202,"mpcc_state":1,"mpcc_theta_e":0.44830513,"mpcc_theta_mech":0.556606948,"sam_rpm":9.2605381,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206260085,"thr_a_norm":0.0182970911,"thr_a_v":0.582504034,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456768155,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.383751,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.24105906,"cg_iw_a":-1.39307237,"cg_theta_rad":0.556308389,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0330139063,"mpcc_du":50.3243217,"mpcc_dv":48.4777489,"mpcc_dw":51.5222511,"mpcc_enc_sign":1,"mpcc_id_a":2.13116741,"mpcc_iq_a":-1.14593673,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.53558207,"mpcc_pred_id_a":0.25818637,"mpcc_pred_iq_a":-2.41723108,"mpcc_state":1,"mpcc_theta_e":0.443124771,"mpcc_theta_mech":0.5555709,"sam_rpm":-7.3817687,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206260085,"thr_a_norm":0.0206260085,"thr_a_v":0.582504034,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456768155,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.396141,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.878620625,"cg_iw_a":-2.04546165,"cg_theta_rad":0.554654479,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00870072376,"mpcc_du":49.5191727,"mpcc_dv":49.8216934,"mpcc_dw":50.4808273,"mpcc_enc_sign":1,"mpcc_id_a":1.2520597,"mpcc_iq_a":-0.116895601,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.72070336,"mpcc_pred_id_a":0.0310603231,"mpcc_pred_iq_a":-3.76195884,"mpcc_state":1,"mpcc_theta_e":0.435801506,"mpcc_theta_mech":0.554106176,"sam_rpm":-2.41998553,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176802427,"thr_a_norm":0.0176802427,"thr_a_v":0.570720971,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450977325,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.406364,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.53100967,"cg_iw_a":-0.450732708,"cg_theta_rad":0.554758728,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.017448172,"mpcc_du":49.5334282,"mpcc_dv":50.2837715,"mpcc_dw":50.4665718,"mpcc_enc_sign":1,"mpcc_id_a":2.10040689,"mpcc_iq_a":-0.69993329,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.10477829,"mpcc_pred_id_a":0.0429308936,"mpcc_pred_iq_a":-0.95177561,"mpcc_state":1,"mpcc_theta_e":0.437174797,"mpcc_theta_mech":0.554380894,"sam_rpm":6.53578854,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193041861,"thr_a_norm":0.0176802427,"thr_a_v":0.577216744,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467040509,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.418114,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.153744221,"cg_iw_a":-2.6253624,"cg_theta_rad":0.555704534,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00605233014,"mpcc_du":49.845787,"mpcc_dv":49.0403328,"mpcc_dw":50.9596672,"mpcc_enc_sign":1,"mpcc_id_a":1.34050298,"mpcc_iq_a":-3.10917807,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.05062127,"mpcc_pred_id_a":0.208554715,"mpcc_pred_iq_a":-3.12203765,"mpcc_state":1,"mpcc_theta_e":0.450200558,"mpcc_theta_mech":0.556986034,"sam_rpm":2.95354724,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193041861,"thr_a_norm":0.0193041861,"thr_a_v":0.577216744,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467040509,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.427299,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.82096052,"cg_iw_a":-0.885658741,"cg_theta_rad":0.552330256,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0468912646,"mpcc_du":49.4621468,"mpcc_dv":50.5378532,"mpcc_dw":50.5304718,"mpcc_enc_sign":1,"mpcc_id_a":4.00414181,"mpcc_iq_a":-1.42431378,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.04421329,"mpcc_pred_id_a":0.56539458,"mpcc_pred_iq_a":-2.06651855,"mpcc_state":1,"mpcc_theta_e":0.441347599,"mpcc_theta_mech":0.555215478,"sam_rpm":7.75647354,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197196156,"thr_a_norm":0.0197196156,"thr_a_v":0.578878462,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470363915,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.451683,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.878620625,"cg_iw_a":-1.39307261,"cg_theta_rad":0.557145119,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0207719058,"mpcc_du":49.5278206,"mpcc_dv":49.6582527,"mpcc_dw":50.4721794,"mpcc_enc_sign":1,"mpcc_id_a":2.22217155,"mpcc_iq_a":-0.788826406,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.25641823,"mpcc_pred_id_a":0.0454111584,"mpcc_pred_iq_a":-3.18179202,"mpcc_state":1,"mpcc_theta_e":0.449529171,"mpcc_theta_mech":0.556851745,"sam_rpm":8.23706722,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0414602906,"thr_a_norm":0.0197196156,"thr_a_v":0.665841162,"thr_b":0.0132616162,"thr_b_norm":0,"thr_b_v":0.553046465,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.458183,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.298719406,"cg_iw_a":-0.595707893,"cg_theta_rad":0.555404127,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0246683247,"mpcc_du":50.1560669,"mpcc_dv":48.4673958,"mpcc_dw":51.6333809,"mpcc_enc_sign":1,"mpcc_id_a":2.34501696,"mpcc_iq_a":-0.697230339,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.79843926,"mpcc_pred_id_a":0.68039,"mpcc_pred_iq_a":0.560964346,"mpcc_state":1,"mpcc_theta_e":0.44525528,"mpcc_theta_mech":0.556321859,"sam_rpm":4.30373192,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0414602906,"thr_a_norm":0.0414602906,"thr_a_v":0.665841162,"thr_b":0.0132616162,"thr_b_norm":0.0132616162,"thr_b_v":0.553046465,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.464714,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.516182423,"cg_iw_a":-1.75551081,"cg_theta_rad":0.554870725,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0435988754,"mpcc_du":49.6397591,"mpcc_dv":49.1926804,"mpcc_dw":50.8073196,"mpcc_enc_sign":1,"mpcc_id_a":3.06191278,"mpcc_iq_a":-0.205709293,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.47996497,"mpcc_pred_id_a":0.477805465,"mpcc_pred_iq_a":-2.6975503,"mpcc_state":1,"mpcc_theta_e":0.445590973,"mpcc_theta_mech":0.556064129,"sam_rpm":3.86054969,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0153890997,"thr_a_norm":0.0153890997,"thr_a_v":0.561556399,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446344733,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.471306,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.60349751,"cg_iw_a":0.564094543,"cg_theta_rad":0.557643414,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00503088627,"mpcc_du":49.711647,"mpcc_dv":49.4516716,"mpcc_dw":50.5483284,"mpcc_enc_sign":1,"mpcc_id_a":1.41305685,"mpcc_iq_a":-1.96230841,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.85538578,"mpcc_pred_id_a":-0.336316079,"mpcc_pred_iq_a":-2.3819406,"mpcc_state":1,"mpcc_theta_e":0.445881367,"mpcc_theta_mech":0.556122184,"sam_rpm":13.4405737,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297905654,"thr_a_norm":0.0153890997,"thr_a_v":0.619162261,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.481346,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.24105906,"cg_iw_a":-1.10312152,"cg_theta_rad":0.555625737,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0200785492,"mpcc_du":49.2314339,"mpcc_dv":50.7685661,"mpcc_dw":50.0040207,"mpcc_enc_sign":1,"mpcc_id_a":2.27318835,"mpcc_iq_a":-0.35065493,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.7809849,"mpcc_pred_id_a":0.00180641213,"mpcc_pred_iq_a":-3.66622615,"mpcc_state":1,"mpcc_theta_e":0.450301647,"mpcc_theta_mech":0.55700624,"sam_rpm":21.0095615,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297905654,"thr_a_norm":0.0297905654,"thr_a_v":0.619162261,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.491539,"values":{"cg_iu_a":2.63413143,"cg_iv_a":0.0637187958,"cg_iw_a":-2.98780107,"cg_theta_rad":0.555792689,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0269293915,"mpcc_du":50.1507454,"mpcc_dv":48.692276,"mpcc_dw":51.307724,"mpcc_enc_sign":1,"mpcc_id_a":2.39056969,"mpcc_iq_a":0.785558581,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.28645229,"mpcc_pred_id_a":0.183002025,"mpcc_pred_iq_a":-0.175220221,"mpcc_state":1,"mpcc_theta_e":0.435073376,"mpcc_theta_mech":0.553960562,"sam_rpm":-5.79094124,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0249816924,"thr_a_norm":0.0249816924,"thr_a_v":0.59992677,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485067546,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.501122,"values":{"cg_iu_a":2.12671757,"cg_iv_a":1.22352171,"cg_iw_a":-3.35023928,"cg_theta_rad":0.554207623,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00154397148,"mpcc_du":49.768528,"mpcc_dv":49.4058037,"mpcc_dw":50.3549919,"mpcc_enc_sign":1,"mpcc_id_a":-0.234855399,"mpcc_iq_a":-1.41095185,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.50575918,"mpcc_pred_id_a":-0.427080303,"mpcc_pred_iq_a":-1.24667907,"mpcc_state":1,"mpcc_theta_e":0.438924789,"mpcc_theta_mech":0.554730833,"sam_rpm":0.342792183,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0249816924,"thr_a_norm":0.0249816924,"thr_a_v":0.59992677,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485067546,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.511345,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.733645439,"cg_iw_a":-0.523220539,"cg_theta_rad":0.556249738,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00964800175,"mpcc_du":49.5091133,"mpcc_dv":50.4627304,"mpcc_dw":50.4908867,"mpcc_enc_sign":1,"mpcc_id_a":1.95411062,"mpcc_iq_a":-0.503689051,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.63470268,"mpcc_pred_id_a":0.387266874,"mpcc_pred_iq_a":-2.15421128,"mpcc_state":1,"mpcc_theta_e":0.442069054,"mpcc_theta_mech":0.555359721,"sam_rpm":11.5651722,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205127001,"thr_a_norm":0.0205127001,"thr_a_v":0.5820508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462861091,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.521629,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.733645439,"cg_iw_a":-0.523220539,"cg_theta_rad":0.554152727,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0277732685,"mpcc_du":49.1674881,"mpcc_dv":50.8325119,"mpcc_dw":50.4848366,"mpcc_enc_sign":1,"mpcc_id_a":2.77893305,"mpcc_iq_a":-0.267203629,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.52477479,"mpcc_pred_id_a":0.606915057,"mpcc_pred_iq_a":-2.62763524,"mpcc_state":1,"mpcc_theta_e":0.433491707,"mpcc_theta_mech":0.551981866,"sam_rpm":2.36607504,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211169571,"thr_a_norm":0.0205127001,"thr_a_v":0.584467828,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473334849,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.531334,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.588670254,"cg_iw_a":0.78155756,"cg_theta_rad":0.551381946,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0387014933,"mpcc_du":50.7299995,"mpcc_dv":47.8270912,"mpcc_dw":52.1729088,"mpcc_enc_sign":1,"mpcc_id_a":2.14591193,"mpcc_iq_a":-0.775342584,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.8676281,"mpcc_pred_id_a":0.429444909,"mpcc_pred_iq_a":-0.915014148,"mpcc_state":1,"mpcc_theta_e":0.440343857,"mpcc_theta_mech":0.55501467,"sam_rpm":-14.3484211,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211169571,"thr_a_norm":0.0211169571,"thr_a_v":0.584467828,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473334849,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.554741,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.82096052,"cg_iw_a":-1.24809694,"cg_theta_rad":0.55407995,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0130357593,"mpcc_du":48.9836731,"mpcc_dv":51.0163269,"mpcc_dw":49.6770706,"mpcc_enc_sign":1,"mpcc_id_a":1.83123374,"mpcc_iq_a":-1.76428771,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.8660841,"mpcc_pred_id_a":-0.292521,"mpcc_pred_iq_a":-7.33808088,"mpcc_state":1,"mpcc_theta_e":0.450423241,"mpcc_theta_mech":0.557030559,"sam_rpm":12.4831181,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203616321,"thr_a_norm":0.0203616321,"thr_a_v":0.581446528,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469105065,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.561302,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.45852208,"cg_iw_a":-1.4655602,"cg_theta_rad":0.553966999,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0158682112,"mpcc_du":49.1063728,"mpcc_dv":50.8936272,"mpcc_dw":49.6937904,"mpcc_enc_sign":1,"mpcc_id_a":1.18566811,"mpcc_iq_a":-0.436696082,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.0578976,"mpcc_pred_id_a":-0.635664642,"mpcc_pred_iq_a":-4.73562717,"mpcc_state":1,"mpcc_theta_e":0.455657482,"mpcc_theta_mech":0.558077395,"sam_rpm":23.5674362,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203616321,"thr_a_norm":0.0203616321,"thr_a_v":0.581446528,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469105065,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.567772,"values":{"cg_iu_a":4.08388519,"cg_iv_a":-1.82096052,"cg_iw_a":-2.26292467,"cg_theta_rad":0.555110335,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0735576674,"mpcc_du":49.4188347,"mpcc_dv":49.2611542,"mpcc_dw":50.7388458,"mpcc_enc_sign":1,"mpcc_id_a":4.37350368,"mpcc_iq_a":-0.304422528,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.82096148,"mpcc_pred_id_a":1.00444961,"mpcc_pred_iq_a":-2.88144255,"mpcc_state":1,"mpcc_theta_e":0.441706657,"mpcc_theta_mech":0.555287242,"sam_rpm":8.54135323,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216330886,"thr_a_norm":0.0216330886,"thr_a_v":0.586532354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457170963,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.574333,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.60349751,"cg_iw_a":-2.33541226,"cg_theta_rad":0.555993617,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.013762326,"mpcc_du":50.9331436,"mpcc_dv":47.5806656,"mpcc_dw":52.4193344,"mpcc_enc_sign":1,"mpcc_id_a":2.34478664,"mpcc_iq_a":-0.503458381,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.0755749,"mpcc_pred_id_a":0.244633913,"mpcc_pred_iq_a":1.94871974,"mpcc_state":1,"mpcc_theta_e":0.42420578,"mpcc_theta_mech":0.551787078,"sam_rpm":-26.9769726,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201224536,"thr_a_norm":0.0216330886,"thr_a_v":0.580489814,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447100043,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.582359,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.371207237,"cg_iw_a":-0.378244877,"cg_theta_rad":0.553484738,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00200120592,"mpcc_du":49.7919121,"mpcc_dv":49.2075996,"mpcc_dw":50.7924004,"mpcc_enc_sign":1,"mpcc_id_a":0.351005673,"mpcc_iq_a":-1.36087263,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.06242704,"mpcc_pred_id_a":-0.0920441002,"mpcc_pred_iq_a":-3.88534689,"mpcc_state":1,"mpcc_theta_e":0.437418938,"mpcc_theta_mech":0.55442971,"sam_rpm":-10.9542351,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201224536,"thr_a_norm":0.0201224536,"thr_a_v":0.580489814,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447100043,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.592644,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-2.11091113,"cg_iw_a":0.346631527,"cg_theta_rad":0.552044988,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0889032632,"mpcc_du":50.026638,"mpcc_dv":49.1111794,"mpcc_dw":50.8888206,"mpcc_enc_sign":1,"mpcc_id_a":3.56482244,"mpcc_iq_a":0.342072725,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.16994381,"mpcc_pred_id_a":0.652285993,"mpcc_pred_iq_a":-2.11939859,"mpcc_state":1,"mpcc_theta_e":0.445727348,"mpcc_theta_mech":0.556091428,"sam_rpm":0.893419683,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173907131,"thr_a_norm":0.0173907131,"thr_a_v":0.569562852,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456063181,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.602501,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.31354666,"cg_iw_a":-0.305757046,"cg_theta_rad":0.555993617,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0724868625,"mpcc_du":49.8608093,"mpcc_dv":48.906105,"mpcc_dw":51.093895,"mpcc_enc_sign":1,"mpcc_id_a":3.3277204,"mpcc_iq_a":1.20330918,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.290411443,"mpcc_pred_id_a":0.578893244,"mpcc_pred_iq_a":-1.73780835,"mpcc_state":1,"mpcc_theta_e":0.443611622,"mpcc_theta_mech":0.555668235,"sam_rpm":1.46943212,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173907131,"thr_a_norm":0.0173907131,"thr_a_v":0.569562852,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456063181,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.612724,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.09608364,"cg_iw_a":-0.378244877,"cg_theta_rad":0.555609465,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0514033549,"mpcc_du":50.0996628,"mpcc_dv":48.7138367,"mpcc_dw":51.2861633,"mpcc_enc_sign":1,"mpcc_id_a":1.50853586,"mpcc_iq_a":-0.766750157,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.170254529,"mpcc_pred_id_a":0.326927871,"mpcc_pred_iq_a":-3.05516696,"mpcc_state":1,"mpcc_theta_e":0.44791317,"mpcc_theta_mech":0.556528509,"sam_rpm":1.31122708,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248809755,"thr_a_norm":0.0248809755,"thr_a_v":0.599523902,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489599437,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.622917,"values":{"cg_iu_a":0.894427299,"cg_iv_a":0.208694458,"cg_iw_a":-3.35023975,"cg_theta_rad":0.55641818,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.017238887,"mpcc_du":49.5703049,"mpcc_dv":50.2782936,"mpcc_dw":50.4296951,"mpcc_enc_sign":1,"mpcc_id_a":1.9643389,"mpcc_iq_a":-1.82461822,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.72350597,"mpcc_pred_id_a":-0.202072799,"mpcc_pred_iq_a":-6.05678415,"mpcc_state":1,"mpcc_theta_e":0.449005127,"mpcc_theta_mech":0.5567469,"sam_rpm":4.41645622,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177305937,"thr_a_norm":0.0248809755,"thr_a_v":0.570922375,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448358893,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.632744,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.733645439,"cg_iw_a":-2.40789986,"cg_theta_rad":0.556594551,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0315513834,"mpcc_du":49.9980659,"mpcc_dv":48.5053825,"mpcc_dw":51.4946175,"mpcc_enc_sign":1,"mpcc_id_a":1.37034762,"mpcc_iq_a":-0.0479445308,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.703415632,"mpcc_pred_id_a":-0.0717454404,"mpcc_pred_iq_a":-2.1643188,"mpcc_state":1,"mpcc_theta_e":0.446210384,"mpcc_theta_mech":0.556187987,"sam_rpm":1.30123389,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177305937,"thr_a_norm":0.0177305937,"thr_a_v":0.570922375,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448358893,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.65612,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.371207237,"cg_iw_a":-3.49521494,"cg_theta_rad":0.554156899,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0191642195,"mpcc_du":49.8348122,"mpcc_dv":49.041256,"mpcc_dw":50.958744,"mpcc_enc_sign":1,"mpcc_id_a":2.52858734,"mpcc_iq_a":-1.83409548,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.88618088,"mpcc_pred_id_a":-0.039955724,"mpcc_pred_iq_a":-2.54592013,"mpcc_state":1,"mpcc_theta_e":0.440172195,"mpcc_theta_mech":0.554980397,"sam_rpm":-0.201013342,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149107426,"thr_a_norm":0.0149107426,"thr_a_v":0.559642971,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457070261,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.662682,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.878620625,"cg_iw_a":-1.10312176,"cg_theta_rad":0.555022955,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00272401655,"mpcc_du":50.6711617,"mpcc_dv":48.1476479,"mpcc_dw":51.8523521,"mpcc_enc_sign":1,"mpcc_id_a":2.24117708,"mpcc_iq_a":0.0873353705,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.8339548,"mpcc_pred_id_a":-0.340194613,"mpcc_pred_iq_a":-0.115387566,"mpcc_state":1,"mpcc_theta_e":0.448413372,"mpcc_theta_mech":0.556628585,"sam_rpm":-22.2625866,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149107426,"thr_a_norm":0.0149107426,"thr_a_v":0.559642971,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457070261,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.669182,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.02359605,"cg_iw_a":-0.668195486,"cg_theta_rad":0.553368509,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00858869404,"mpcc_du":50.427845,"mpcc_dv":48.2719727,"mpcc_dw":51.7280273,"mpcc_enc_sign":1,"mpcc_id_a":2.39320397,"mpcc_iq_a":-2.9095037,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.90876198,"mpcc_pred_id_a":0.23546207,"mpcc_pred_iq_a":-0.795060754,"mpcc_state":1,"mpcc_theta_e":0.453835487,"mpcc_theta_mech":0.557713032,"sam_rpm":-12.9484015,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170130432,"thr_a_norm":0.0170130432,"thr_a_v":0.568052173,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438287944,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.675713,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.74847269,"cg_iw_a":0.201656342,"cg_theta_rad":0.557095885,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0414315499,"mpcc_du":50.2810287,"mpcc_dv":48.2994881,"mpcc_dw":51.7005119,"mpcc_enc_sign":1,"mpcc_id_a":3.26553583,"mpcc_iq_a":-0.0971782506,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.01658964,"mpcc_pred_id_a":0.656910479,"mpcc_pred_iq_a":0.0512833744,"mpcc_state":1,"mpcc_theta_e":0.439478874,"mpcc_theta_mech":0.554841697,"sam_rpm":-5.60945797,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192286521,"thr_a_norm":0.0170130432,"thr_a_v":0.576914608,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456264615,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.683739,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.951108456,"cg_iw_a":-0.450732708,"cg_theta_rad":0.55342406,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.000724909711,"mpcc_du":49.6233978,"mpcc_dv":49.5613861,"mpcc_dw":50.4386139,"mpcc_enc_sign":1,"mpcc_id_a":-0.106228426,"mpcc_iq_a":-2.12540984,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.65434027,"mpcc_pred_id_a":-0.446878016,"mpcc_pred_iq_a":-3.07854652,"mpcc_state":1,"mpcc_theta_e":0.446488857,"mpcc_theta_mech":0.556243718,"sam_rpm":6.8791604,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192286521,"thr_a_norm":0.0192286521,"thr_a_v":0.576914608,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456264615,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.694145,"values":{"cg_iu_a":4.2288599,"cg_iv_a":-1.96593571,"cg_iw_a":2.8112123,"cg_theta_rad":0.55689615,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00139091164,"mpcc_du":49.5709038,"mpcc_dv":49.8278465,"mpcc_dw":50.4290962,"mpcc_enc_sign":1,"mpcc_id_a":2.50622511,"mpcc_iq_a":-0.512644053,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.13149214,"mpcc_pred_id_a":-0.273992985,"mpcc_pred_iq_a":-2.42908216,"mpcc_state":1,"mpcc_theta_e":0.434488297,"mpcc_theta_mech":0.553843617,"sam_rpm":5.49400568,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291107744,"thr_a_norm":0.0291107744,"thr_a_v":0.616443098,"thr_b":0.00300182402,"thr_b_norm":0.00300182402,"thr_b_v":0.512007296,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.703911,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.53100967,"cg_iw_a":0.346631527,"cg_theta_rad":0.556391776,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0177168567,"mpcc_du":49.9358482,"mpcc_dv":48.8135338,"mpcc_dw":51.1864662,"mpcc_enc_sign":1,"mpcc_id_a":2.06103325,"mpcc_iq_a":-2.1565609,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.92114854,"mpcc_pred_id_a":0.425631166,"mpcc_pred_iq_a":0.171134099,"mpcc_state":1,"mpcc_theta_e":0.436123848,"mpcc_theta_mech":0.554170668,"sam_rpm":-5.37617779,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291107744,"thr_a_norm":0.0291107744,"thr_a_v":0.616443098,"thr_b":0.00300182402,"thr_b_norm":0.00300182402,"thr_b_v":0.512007296,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.714134,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.54583716,"cg_iw_a":2.01384807,"cg_theta_rad":0.556772351,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00121904851,"mpcc_du":50.5990791,"mpcc_dv":48.1535378,"mpcc_dw":51.8464622,"mpcc_enc_sign":1,"mpcc_id_a":0.648446858,"mpcc_iq_a":-2.27948451,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.3315716,"mpcc_pred_id_a":-0.0342920199,"mpcc_pred_iq_a":-0.756775141,"mpcc_state":1,"mpcc_theta_e":0.43397522,"mpcc_theta_mech":0.553740919,"sam_rpm":-19.0370274,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024087891,"thr_a_norm":0.024087891,"thr_a_v":0.596351564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471723467,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.724358,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.60349751,"cg_iw_a":-0.015806675,"cg_theta_rad":0.555825412,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00809955876,"mpcc_du":49.7559204,"mpcc_dv":49.270504,"mpcc_dw":50.729496,"mpcc_enc_sign":1,"mpcc_id_a":1.39735281,"mpcc_iq_a":-3.32331228,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.9051863,"mpcc_pred_id_a":-0.138813004,"mpcc_pred_iq_a":-4.56542397,"mpcc_state":1,"mpcc_theta_e":0.451196194,"mpcc_theta_mech":0.557185113,"sam_rpm":3.16687179,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020865187,"thr_a_norm":0.024087891,"thr_a_v":0.583460748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462911427,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.734306,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.89344811,"cg_iw_a":-1.10312152,"cg_theta_rad":0.556134462,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0479072966,"mpcc_du":49.9213638,"mpcc_dv":49.1080513,"mpcc_dw":50.8919487,"mpcc_enc_sign":1,"mpcc_id_a":1.85561478,"mpcc_iq_a":-0.382224083,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.19681168,"mpcc_pred_id_a":-0.196500391,"mpcc_pred_iq_a":-2.98118448,"mpcc_state":1,"mpcc_theta_e":0.450798035,"mpcc_theta_mech":0.557105482,"sam_rpm":7.36451578,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020865187,"thr_a_norm":0.020865187,"thr_a_v":0.583460748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462911427,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.75753,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.02359605,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556069255,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00450129993,"mpcc_du":51.2330856,"mpcc_dv":47.460968,"mpcc_dw":52.539032,"mpcc_enc_sign":1,"mpcc_id_a":0.0172634386,"mpcc_iq_a":-1.75431478,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.7990532,"mpcc_pred_id_a":-0.395592451,"mpcc_pred_iq_a":0.297245115,"mpcc_state":1,"mpcc_theta_e":0.431536198,"mpcc_theta_mech":0.558028579,"sam_rpm":-24.4412231,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022325471,"thr_a_norm":0.022325471,"thr_a_v":0.589301884,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494886726,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.764061,"values":{"cg_iu_a":2.34418058,"cg_iv_a":0.57113266,"cg_iw_a":-0.450732708,"cg_theta_rad":0.559412837,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0219888426,"mpcc_du":50.0344963,"mpcc_dv":48.691143,"mpcc_dw":51.308857,"mpcc_enc_sign":1,"mpcc_id_a":2.96352434,"mpcc_iq_a":-0.902885914,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.72013664,"mpcc_pred_id_a":0.328217864,"mpcc_pred_iq_a":-1.35271811,"mpcc_state":1,"mpcc_theta_e":0.43255949,"mpcc_theta_mech":0.553457797,"sam_rpm":-14.8838873,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022325471,"thr_a_norm":0.022325471,"thr_a_v":0.589301884,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494886726,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.770653,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.31354666,"cg_iw_a":-0.305757523,"cg_theta_rad":0.553792119,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0011664296,"mpcc_du":49.5636215,"mpcc_dv":49.5091553,"mpcc_dw":50.4908447,"mpcc_enc_sign":1,"mpcc_id_a":0.321349829,"mpcc_iq_a":-0.564422548,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.76921141,"mpcc_pred_id_a":-0.178329363,"mpcc_pred_iq_a":-2.13024116,"mpcc_state":1,"mpcc_theta_e":0.442244053,"mpcc_theta_mech":0.555394709,"sam_rpm":2.07411933,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021494627,"thr_a_norm":0.021494627,"thr_a_v":0.585978508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467493683,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.777122,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.951108456,"cg_iw_a":0.419119596,"cg_theta_rad":0.55574894,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00695536379,"mpcc_du":49.3773842,"mpcc_dv":50.6226158,"mpcc_dw":49.9683838,"mpcc_enc_sign":1,"mpcc_id_a":-0.167000473,"mpcc_iq_a":-2.05531192,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.97362232,"mpcc_pred_id_a":-0.812486649,"mpcc_pred_iq_a":-6.04433918,"mpcc_state":1,"mpcc_theta_e":0.453036785,"mpcc_theta_mech":0.557553291,"sam_rpm":15.0472546,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185111016,"thr_a_norm":0.021494627,"thr_a_v":0.574044406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450272381,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.787102,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.806133032,"cg_iw_a":-1.97297359,"cg_theta_rad":0.557006538,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0165415667,"mpcc_du":50.0792656,"mpcc_dv":48.8252335,"mpcc_dw":51.1747665,"mpcc_enc_sign":1,"mpcc_id_a":0.443867892,"mpcc_iq_a":-1.64679503,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.51297581,"mpcc_pred_id_a":-0.0532970019,"mpcc_pred_iq_a":-3.06966496,"mpcc_state":1,"mpcc_theta_e":0.446834564,"mpcc_theta_mech":0.556312799,"sam_rpm":-1.61460686,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185111016,"thr_a_norm":0.0185111016,"thr_a_v":0.574044406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450272381,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.797325,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.16857147,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556552112,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.010113541,"mpcc_du":49.323864,"mpcc_dv":50.676136,"mpcc_dw":50.2111626,"mpcc_enc_sign":1,"mpcc_id_a":1.83483171,"mpcc_iq_a":-0.586307108,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.0559978,"mpcc_pred_id_a":-0.0160235893,"mpcc_pred_iq_a":-1.78258801,"mpcc_state":1,"mpcc_theta_e":0.442148685,"mpcc_theta_mech":0.555375695,"sam_rpm":14.2862396,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165850371,"thr_a_norm":0.0165850371,"thr_a_v":0.566340148,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479024947,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.807732,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.60349751,"cg_iw_a":0.201656342,"cg_theta_rad":0.554670513,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0337917805,"mpcc_du":50.0036392,"mpcc_dv":48.993557,"mpcc_dw":51.006443,"mpcc_enc_sign":1,"mpcc_id_a":-0.221299335,"mpcc_iq_a":-2.14428997,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.0309496,"mpcc_pred_id_a":-0.439364076,"mpcc_pred_iq_a":-0.586028755,"mpcc_state":1,"mpcc_theta_e":0.422282696,"mpcc_theta_mech":0.55140245,"sam_rpm":-20.8027172,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176928341,"thr_a_norm":0.0165850371,"thr_a_v":0.570771337,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466486603,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.817528,"values":{"cg_iu_a":2.70661926,"cg_iv_a":1.00605869,"cg_iw_a":-3.35023928,"cg_theta_rad":0.552446187,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0543671772,"mpcc_du":50.5786629,"mpcc_dv":48.0722275,"mpcc_dw":51.9277725,"mpcc_enc_sign":1,"mpcc_id_a":2.63374376,"mpcc_iq_a":-0.0829400569,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.10886192,"mpcc_pred_id_a":0.284746975,"mpcc_pred_iq_a":-1.04521549,"mpcc_state":1,"mpcc_theta_e":0.441471577,"mpcc_theta_mech":0.555240273,"sam_rpm":-9.79523087,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176928341,"thr_a_norm":0.0176928341,"thr_a_v":0.570771337,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466486603,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.82769,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.733645439,"cg_iw_a":-0.378244877,"cg_theta_rad":0.556460202,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0364848301,"mpcc_du":49.8839378,"mpcc_dv":49.0089874,"mpcc_dw":50.9910126,"mpcc_enc_sign":1,"mpcc_id_a":1.82217097,"mpcc_iq_a":-1.11567211,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.55581379,"mpcc_pred_id_a":0.0977518111,"mpcc_pred_iq_a":-2.69635677,"mpcc_state":1,"mpcc_theta_e":0.453212738,"mpcc_theta_mech":0.557588458,"sam_rpm":8.63075924,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.021620512,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486678869,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.8377,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.89344811,"cg_iw_a":0.564094782,"cg_theta_rad":0.555566549,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0351813063,"mpcc_du":49.7954407,"mpcc_dv":49.5521278,"mpcc_dw":50.4478722,"mpcc_enc_sign":1,"mpcc_id_a":-0.703754425,"mpcc_iq_a":-1.79554868,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.795023,"mpcc_pred_id_a":-0.91218096,"mpcc_pred_iq_a":-3.99441123,"mpcc_state":1,"mpcc_theta_e":0.461572647,"mpcc_theta_mech":0.559260428,"sam_rpm":19.7507057,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.021620512,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486678869,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.860924,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.298719406,"cg_iw_a":-0.595707893,"cg_theta_rad":0.555270433,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0236866884,"mpcc_du":49.796875,"mpcc_dv":49.4835091,"mpcc_dw":50.5164909,"mpcc_enc_sign":1,"mpcc_id_a":-0.308439791,"mpcc_iq_a":-1.19440448,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.12954569,"mpcc_pred_id_a":-0.724963605,"mpcc_pred_iq_a":-3.84880209,"mpcc_state":1,"mpcc_theta_e":0.450204372,"mpcc_theta_mech":0.556986809,"sam_rpm":9.8965435,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185236931,"thr_a_norm":0.0185236931,"thr_a_v":0.574094772,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457674503,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.867485,"values":{"cg_iu_a":3.79393435,"cg_iv_a":-1.09608364,"cg_iw_a":0.346631765,"cg_theta_rad":0.556880772,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00942670554,"mpcc_du":49.8542099,"mpcc_dv":49.2784004,"mpcc_dw":50.7215996,"mpcc_enc_sign":1,"mpcc_id_a":0.272826642,"mpcc_iq_a":-1.80655026,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.969532,"mpcc_pred_id_a":-0.26679647,"mpcc_pred_iq_a":-1.27258945,"mpcc_state":1,"mpcc_theta_e":0.455281258,"mpcc_theta_mech":0.558002174,"sam_rpm":18.4436741,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183096826,"thr_a_norm":0.0185236931,"thr_a_v":0.57323873,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456969559,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.873955,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.09608364,"cg_iw_a":2.95618749,"cg_theta_rad":0.55303055,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.037797641,"mpcc_du":50.5849228,"mpcc_dv":48.0130882,"mpcc_dw":51.9869118,"mpcc_enc_sign":1,"mpcc_id_a":3.665905,"mpcc_iq_a":-0.763840437,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.6584682,"mpcc_pred_id_a":0.501000524,"mpcc_pred_iq_a":-0.125217482,"mpcc_state":1,"mpcc_theta_e":0.431965828,"mpcc_theta_mech":0.553339064,"sam_rpm":-18.6021996,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183096826,"thr_a_norm":0.0183096826,"thr_a_v":0.57323873,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456969559,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.880516,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.371207237,"cg_iw_a":0.854045153,"cg_theta_rad":0.556196392,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00229952857,"mpcc_du":50.2590027,"mpcc_dv":48.6617088,"mpcc_dw":51.3382912,"mpcc_enc_sign":1,"mpcc_id_a":0.571537852,"mpcc_iq_a":-1.56197166,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.36654019,"mpcc_pred_id_a":0.0198548436,"mpcc_pred_iq_a":-0.461318433,"mpcc_state":1,"mpcc_theta_e":0.441688061,"mpcc_theta_mech":0.555283546,"sam_rpm":-2.17370892,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024415195,"thr_a_norm":0.024415195,"thr_a_v":0.59766078,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483556867,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.890465,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.96593571,"cg_iw_a":-0.523220539,"cg_theta_rad":0.556055725,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00249689003,"mpcc_du":50.0740547,"mpcc_dv":48.7592812,"mpcc_dw":51.2407188,"mpcc_enc_sign":1,"mpcc_id_a":0.935893297,"mpcc_iq_a":-0.797650337,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.11050558,"mpcc_pred_id_a":0.191609129,"mpcc_pred_iq_a":-0.144564047,"mpcc_state":1,"mpcc_theta_e":0.433503628,"mpcc_theta_mech":0.553646624,"sam_rpm":-9.99204159,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0301934034,"thr_a_norm":0.024415195,"thr_a_v":0.620773613,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.900322,"values":{"cg_iu_a":2.48915625,"cg_iv_a":0.353669643,"cg_iw_a":-0.523220062,"cg_theta_rad":0.556475103,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0289138649,"mpcc_du":49.5982628,"mpcc_dv":49.9230766,"mpcc_dw":50.4017372,"mpcc_enc_sign":1,"mpcc_id_a":0.086421065,"mpcc_iq_a":-0.874670863,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.02534819,"mpcc_pred_id_a":-0.350750774,"mpcc_pred_iq_a":-4.87952089,"mpcc_state":1,"mpcc_theta_e":0.451643467,"mpcc_theta_mech":0.55727458,"sam_rpm":11.5060844,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0301934034,"thr_a_norm":0.0301934034,"thr_a_v":0.620773613,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.910667,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.09608364,"cg_iw_a":-0.595707893,"cg_theta_rad":0.558332801,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0214204099,"mpcc_du":49.7388268,"mpcc_dv":49.0501251,"mpcc_dw":50.9498749,"mpcc_enc_sign":1,"mpcc_id_a":2.4500587,"mpcc_iq_a":-1.83456826,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.85891771,"mpcc_pred_id_a":0.393167853,"mpcc_pred_iq_a":-1.09796596,"mpcc_state":1,"mpcc_theta_e":0.437515736,"mpcc_theta_mech":0.554449081,"sam_rpm":-13.9905224,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285694748,"thr_a_norm":0.0285694748,"thr_a_v":0.614277899,"thr_b":0.00068551302,"thr_b_norm":0.00068551302,"thr_b_v":0.502742052,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.920494,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.878620625,"cg_iw_a":-1.68302298,"cg_theta_rad":0.554074526,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0419004448,"mpcc_du":49.9650345,"mpcc_dv":49.0697479,"mpcc_dw":50.9302521,"mpcc_enc_sign":1,"mpcc_id_a":2.15565157,"mpcc_iq_a":-0.420157701,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.630210578,"mpcc_pred_id_a":-0.263432324,"mpcc_pred_iq_a":-2.98024845,"mpcc_state":1,"mpcc_theta_e":0.444738865,"mpcc_theta_mech":0.555893719,"sam_rpm":2.42409492,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285694748,"thr_a_norm":0.0285694748,"thr_a_v":0.614277899,"thr_b":0.00068551302,"thr_b_norm":0.00068551302,"thr_b_v":0.502742052,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.930473,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.6759851,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.557509422,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0288700014,"mpcc_du":49.7935562,"mpcc_dv":49.2037697,"mpcc_dw":50.7962303,"mpcc_enc_sign":1,"mpcc_id_a":2.16267562,"mpcc_iq_a":-1.07914245,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.867074072,"mpcc_pred_id_a":-0.0262602847,"mpcc_pred_iq_a":-3.70018721,"mpcc_state":1,"mpcc_theta_e":0.447200298,"mpcc_theta_mech":0.556385934,"sam_rpm":1.29586673,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215197951,"thr_a_norm":0.0215197951,"thr_a_v":0.58607918,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.940697,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.24105906,"cg_iw_a":0.854045153,"cg_theta_rad":0.555136621,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0162192844,"mpcc_du":49.349472,"mpcc_dv":50.650528,"mpcc_dw":50.2482033,"mpcc_enc_sign":1,"mpcc_id_a":2.44245315,"mpcc_iq_a":0.200576603,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.42138648,"mpcc_pred_id_a":0.235465571,"mpcc_pred_iq_a":-3.85797024,"mpcc_state":1,"mpcc_theta_e":0.438083649,"mpcc_theta_mech":0.554562688,"sam_rpm":4.87252617,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178816617,"thr_a_norm":0.0215197951,"thr_a_v":0.571526647,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459688723,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.963707,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.371207237,"cg_iw_a":-0.81317091,"cg_theta_rad":0.555015266,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0122924875,"mpcc_du":49.527626,"mpcc_dv":50.472374,"mpcc_dw":50.0415001,"mpcc_enc_sign":1,"mpcc_id_a":0.0228063539,"mpcc_iq_a":-1.38961279,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.479805,"mpcc_pred_id_a":-0.750600696,"mpcc_pred_iq_a":-1.42625225,"mpcc_state":1,"mpcc_theta_e":0.433558941,"mpcc_theta_mech":0.553657711,"sam_rpm":8.30158329,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178816617,"thr_a_norm":0.0178816617,"thr_a_v":0.571526647,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459688723,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.970268,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.733645439,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.55751878,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0055742925,"mpcc_du":49.5621071,"mpcc_dv":49.4631844,"mpcc_dw":50.5368156,"mpcc_enc_sign":1,"mpcc_id_a":1.14936471,"mpcc_iq_a":-1.67103338,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.2490959,"mpcc_pred_id_a":0.132579982,"mpcc_pred_iq_a":-1.56823623,"mpcc_state":1,"mpcc_theta_e":0.452488899,"mpcc_theta_mech":0.557443678,"sam_rpm":15.1018372,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00920805335,"thr_b_norm":0.00920805335,"thr_b_v":0.536832213,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.976768,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.24105906,"cg_iw_a":-1.75551057,"cg_theta_rad":0.554234207,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9907,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0139076328,"mpcc_du":50.4917984,"mpcc_dv":48.1520195,"mpcc_dw":51.8479805,"mpcc_enc_sign":1,"mpcc_id_a":1.99591792,"mpcc_iq_a":-0.399126559,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.7049284,"mpcc_pred_id_a":0.34148702,"mpcc_pred_iq_a":-1.01018107,"mpcc_state":1,"mpcc_theta_e":0.427564144,"mpcc_theta_mech":0.552458704,"sam_rpm":-23.2797394,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00920805335,"thr_b_norm":0.00920805335,"thr_b_v":0.536832213,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.984062,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-2.25588632,"cg_iw_a":-0.885658979,"cg_theta_rad":0.555834591,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0469817705,"mpcc_du":50.1852417,"mpcc_dv":48.4456635,"mpcc_dw":51.5543365,"mpcc_enc_sign":1,"mpcc_id_a":3.23981857,"mpcc_iq_a":-0.339931607,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.62611127,"mpcc_pred_id_a":0.68076247,"mpcc_pred_iq_a":0.208941713,"mpcc_state":1,"mpcc_theta_e":0.446434498,"mpcc_theta_mech":0.55623281,"sam_rpm":4.3469677,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105133906,"thr_a_norm":0.105133906,"thr_a_v":0.920535624,"thr_b":0.046684593,"thr_b_norm":0.046684593,"thr_b_v":0.686738372,"vdc_v":55.2955055}} +{"type":"telemetry","t":69.994286,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.45852208,"cg_iw_a":0.564094782,"cg_theta_rad":0.556801021,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0590247735,"mpcc_du":50.2857208,"mpcc_dv":48.5370102,"mpcc_dw":51.4629898,"mpcc_enc_sign":1,"mpcc_id_a":2.2287643,"mpcc_iq_a":0.246105433,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.05541968,"mpcc_pred_id_a":0.0915537551,"mpcc_pred_iq_a":-1.64719379,"mpcc_state":1,"mpcc_theta_e":0.442042351,"mpcc_theta_mech":0.555354416,"sam_rpm":-1.13284624,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0171640962,"thr_a_norm":0.105133906,"thr_a_v":0.568656385,"thr_b":0,"thr_b_norm":0.046684593,"thr_b_v":0.449919909,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.006279,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-1.02359605,"cg_iw_a":-0.450732946,"cg_theta_rad":0.55308181,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0259867143,"mpcc_du":49.5423584,"mpcc_dv":50.4078789,"mpcc_dw":50.4576416,"mpcc_enc_sign":1,"mpcc_id_a":3.14985561,"mpcc_iq_a":0.72488898,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.04587603,"mpcc_pred_id_a":0.535508215,"mpcc_pred_iq_a":0.692310989,"mpcc_state":1,"mpcc_theta_e":0.429636002,"mpcc_theta_mech":0.553966105,"sam_rpm":7.05254269,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0171640962,"thr_a_norm":0.0171640962,"thr_a_v":0.568656385,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449919909,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.016258,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-2.47334933,"cg_iw_a":0.854045391,"cg_theta_rad":0.559329748,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.066485472,"mpcc_du":49.4454765,"mpcc_dv":49.4471893,"mpcc_dw":50.5545235,"mpcc_enc_sign":1,"mpcc_id_a":2.63551998,"mpcc_iq_a":-0.771692991,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.61934757,"mpcc_pred_id_a":0.514458835,"mpcc_pred_iq_a":-4.26769114,"mpcc_state":1,"mpcc_theta_e":0.454775333,"mpcc_theta_mech":0.557900965,"sam_rpm":14.8094368,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262657404,"thr_a_norm":0.0262657404,"thr_a_v":0.605062962,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493778884,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.026543,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.96593571,"cg_iw_a":0.274144173,"cg_theta_rad":0.556901097,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0671058968,"mpcc_du":50.0376091,"mpcc_dv":48.7537918,"mpcc_dw":51.2462082,"mpcc_enc_sign":1,"mpcc_id_a":2.67195201,"mpcc_iq_a":1.00497711,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.737212241,"mpcc_pred_id_a":0.320895523,"mpcc_pred_iq_a":-1.86275387,"mpcc_state":1,"mpcc_theta_e":0.443730354,"mpcc_theta_mech":0.555692017,"sam_rpm":-0.384798795,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248432159,"thr_a_norm":0.0262657404,"thr_a_v":0.599372864,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496296614,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.036491,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.02359605,"cg_iw_a":-2.26292443,"cg_theta_rad":0.553748012,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0478154086,"mpcc_du":49.9933968,"mpcc_dv":48.9048843,"mpcc_dw":51.0951157,"mpcc_enc_sign":1,"mpcc_id_a":0.871783316,"mpcc_iq_a":0.423091978,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.05919456,"mpcc_pred_id_a":0.0756067187,"mpcc_pred_iq_a":-2.30757904,"mpcc_state":1,"mpcc_theta_e":0.445370674,"mpcc_theta_mech":0.556020021,"sam_rpm":3.06896925,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248432159,"thr_a_norm":0.0248432159,"thr_a_v":0.599372864,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496296614,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.059532,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.02359605,"cg_iw_a":0.636582136,"cg_theta_rad":0.553543746,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0138617288,"mpcc_du":49.8332558,"mpcc_dv":49.233963,"mpcc_dw":50.766037,"mpcc_enc_sign":1,"mpcc_id_a":0.589584708,"mpcc_iq_a":-0.83698231,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.76417732,"mpcc_pred_id_a":-0.330048054,"mpcc_pred_iq_a":-2.05084324,"mpcc_state":1,"mpcc_theta_e":0.448953152,"mpcc_theta_mech":0.556736529,"sam_rpm":8.37408161,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214316845,"thr_a_norm":0.0214316845,"thr_a_v":0.585726738,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.066063,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.516182423,"cg_iw_a":-1.53804779,"cg_theta_rad":0.558584213,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.000296396465,"mpcc_du":49.7114906,"mpcc_dv":49.3151855,"mpcc_dw":50.6848145,"mpcc_enc_sign":1,"mpcc_id_a":0.299950004,"mpcc_iq_a":-1.44003117,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.41756058,"mpcc_pred_id_a":-0.238437533,"mpcc_pred_iq_a":-0.00164716807,"mpcc_state":1,"mpcc_theta_e":0.448264122,"mpcc_theta_mech":0.556598783,"sam_rpm":14.0028305,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214316845,"thr_a_norm":0.0214316845,"thr_a_v":0.585726738,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.072533,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.60349751,"cg_iw_a":0.564094543,"cg_theta_rad":0.55527395,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.00156552298,"mpcc_du":49.5511742,"mpcc_dv":49.7499123,"mpcc_dw":50.4488258,"mpcc_enc_sign":1,"mpcc_id_a":-0.0621534921,"mpcc_iq_a":-2.84790015,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.28950024,"mpcc_pred_id_a":-0.246773139,"mpcc_pred_iq_a":-3.61565518,"mpcc_state":1,"mpcc_theta_e":0.450619698,"mpcc_theta_mech":0.557069898,"sam_rpm":13.0852032,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248432159,"thr_a_norm":0.0248432159,"thr_a_v":0.599372864,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492620736,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.079124,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-2.32837415,"cg_iw_a":-1.17560959,"cg_theta_rad":0.556551814,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0290699862,"mpcc_du":49.5046082,"mpcc_dv":49.5066605,"mpcc_dw":50.4953918,"mpcc_enc_sign":1,"mpcc_id_a":0.78594321,"mpcc_iq_a":-0.0953016803,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.04575634,"mpcc_pred_id_a":0.0282616355,"mpcc_pred_iq_a":-3.66617537,"mpcc_state":1,"mpcc_theta_e":0.448830605,"mpcc_theta_mech":0.556712031,"sam_rpm":7.77261305,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216079205,"thr_a_norm":0.0248432159,"thr_a_v":0.586431682,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.089104,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.53100967,"cg_iw_a":-0.958146572,"cg_theta_rad":0.557908416,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.00326358899,"mpcc_du":50.6687508,"mpcc_dv":48.1387711,"mpcc_dw":51.4514465,"mpcc_enc_sign":1,"mpcc_id_a":1.05065691,"mpcc_iq_a":-3.7766726,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.41071033,"mpcc_pred_id_a":-0.174296275,"mpcc_pred_iq_a":-1.67571521,"mpcc_state":1,"mpcc_theta_e":0.440817356,"mpcc_theta_mech":0.559695303,"sam_rpm":-10.9161539,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216079205,"thr_a_norm":0.0216079205,"thr_a_v":0.586431682,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.099297,"values":{"cg_iu_a":0.387013912,"cg_iv_a":0.861083508,"cg_iw_a":0.419119358,"cg_theta_rad":0.554276943,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.00516873132,"mpcc_du":50.5669327,"mpcc_dv":48.3683319,"mpcc_dw":51.6316681,"mpcc_enc_sign":1,"mpcc_id_a":-0.107060067,"mpcc_iq_a":-1.47231543,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.34963799,"mpcc_pred_id_a":-0.373115093,"mpcc_pred_iq_a":0.107275747,"mpcc_state":1,"mpcc_theta_e":0.441259384,"mpcc_theta_mech":0.555197835,"sam_rpm":-2.90498281,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450322747,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.109459,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.45852208,"cg_iw_a":0.346631765,"cg_theta_rad":0.55667156,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0226620678,"mpcc_du":49.9401932,"mpcc_dv":48.79356,"mpcc_dw":51.20644,"mpcc_enc_sign":1,"mpcc_id_a":2.40535045,"mpcc_iq_a":-0.906538367,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.349848479,"mpcc_pred_id_a":0.519554555,"mpcc_pred_iq_a":-1.29955184,"mpcc_state":1,"mpcc_theta_e":0.44350338,"mpcc_theta_mech":0.555646598,"sam_rpm":0.128185377,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0312886238,"thr_a_norm":0.0192160606,"thr_a_v":0.625154495,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49584344,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.119286,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.53100967,"cg_iw_a":-1.61053562,"cg_theta_rad":0.556333303,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0411822312,"mpcc_du":51.0883217,"mpcc_dv":47.1975479,"mpcc_dw":52.8024521,"mpcc_enc_sign":1,"mpcc_id_a":3.32124949,"mpcc_iq_a":0.248288438,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.5458794,"mpcc_pred_id_a":0.785304189,"mpcc_pred_iq_a":1.28860462,"mpcc_state":1,"mpcc_theta_e":0.424580097,"mpcc_theta_mech":0.551861942,"sam_rpm":-30.1348343,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0312886238,"thr_a_norm":0.0312886238,"thr_a_v":0.625154495,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49584344,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.131676,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.153744221,"cg_iw_a":-0.595707893,"cg_theta_rad":0.557349205,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.00832143798,"mpcc_du":50.3175278,"mpcc_dv":48.5619812,"mpcc_dw":51.4380188,"mpcc_enc_sign":1,"mpcc_id_a":0.461552292,"mpcc_iq_a":0.253894985,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.9218016,"mpcc_pred_id_a":-0.213002592,"mpcc_pred_iq_a":-2.32550216,"mpcc_state":1,"mpcc_theta_e":0.428031921,"mpcc_theta_mech":0.552552283,"sam_rpm":-22.7187195,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0127832443,"thr_a_norm":0.0127832443,"thr_a_v":0.551132977,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446495771,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.141869,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.89344811,"cg_iw_a":-0.305757284,"cg_theta_rad":0.553002059,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0153124686,"mpcc_du":49.7929077,"mpcc_dv":49.056694,"mpcc_dw":50.943306,"mpcc_enc_sign":1,"mpcc_id_a":1.14067078,"mpcc_iq_a":-1.3720032,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.588083744,"mpcc_pred_id_a":0.327682137,"mpcc_pred_iq_a":-2.84898806,"mpcc_state":1,"mpcc_theta_e":0.443841457,"mpcc_theta_mech":0.55571425,"sam_rpm":1.70660746,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162829012,"thr_a_norm":0.0127832443,"thr_a_v":0.565131605,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473888755,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.165092,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.25588632,"cg_iw_a":0.12916851,"cg_theta_rad":0.554745853,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.00972583145,"mpcc_du":52.1825981,"mpcc_dv":46.2613335,"mpcc_dw":53.7386665,"mpcc_enc_sign":1,"mpcc_id_a":0.225336969,"mpcc_iq_a":-1.88303518,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.9612064,"mpcc_pred_id_a":-0.541595638,"mpcc_pred_iq_a":-6.35837984,"mpcc_state":1,"mpcc_theta_e":0.460957527,"mpcc_theta_mech":0.559137404,"sam_rpm":-46.1238556,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162829012,"thr_a_norm":0.0162829012,"thr_a_v":0.565131605,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473888755,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.171593,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-2.54583716,"cg_iw_a":0.564094782,"cg_theta_rad":0.556019485,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0165268891,"mpcc_du":49.5346718,"mpcc_dv":49.9101944,"mpcc_dw":50.4653282,"mpcc_enc_sign":1,"mpcc_id_a":1.10859895,"mpcc_iq_a":0.0798299983,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.7923553,"mpcc_pred_id_a":0.0894480199,"mpcc_pred_iq_a":-4.09712982,"mpcc_state":1,"mpcc_theta_e":0.443823814,"mpcc_theta_mech":0.555710673,"sam_rpm":2.36600065,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199839771,"thr_a_norm":0.0199839771,"thr_a_v":0.579935908,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481089473,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.178154,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.74847269,"cg_iw_a":0.274143696,"cg_theta_rad":0.553020954,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.00304683554,"mpcc_du":50.8364143,"mpcc_dv":47.8850555,"mpcc_dw":52.1149445,"mpcc_enc_sign":1,"mpcc_id_a":0.160338983,"mpcc_iq_a":-1.08624923,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.64010668,"mpcc_pred_id_a":0.0259856805,"mpcc_pred_iq_a":1.79828441,"mpcc_state":1,"mpcc_theta_e":0.436432362,"mpcc_theta_mech":0.554232419,"sam_rpm":-9.42261696,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199839771,"thr_a_norm":0.0199839771,"thr_a_v":0.579935908,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481089473,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.184654,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.16857147,"cg_iw_a":-0.668195724,"cg_theta_rad":0.554481745,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.00345347542,"mpcc_du":50.011837,"mpcc_dv":48.9544144,"mpcc_dw":51.0455856,"mpcc_enc_sign":1,"mpcc_id_a":0.279932052,"mpcc_iq_a":-2.38537645,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.20683384,"mpcc_pred_id_a":-0.106812589,"mpcc_pred_iq_a":-2.17551589,"mpcc_state":1,"mpcc_theta_e":0.433915615,"mpcc_theta_mech":0.553728998,"sam_rpm":-12.5365686,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0122545213,"thr_a_norm":0.0122545213,"thr_a_v":0.549018085,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446395069,"vdc_v":54.6292953}} +{"type":"telemetry","t":70.195213,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-0.153744221,"cg_iw_a":-1.03063393,"cg_theta_rad":0.557671428,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0303211119,"mpcc_du":50.2165337,"mpcc_dv":49.3140488,"mpcc_dw":50.6859512,"mpcc_enc_sign":1,"mpcc_id_a":1.57934463,"mpcc_iq_a":-2.28956747,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.53284633,"mpcc_pred_id_a":0.195332423,"mpcc_pred_iq_a":-3.55834794,"mpcc_state":1,"mpcc_theta_e":0.449032784,"mpcc_theta_mech":0.556637406,"sam_rpm":-1.5537262,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160059482,"thr_a_norm":0.0122545213,"thr_a_v":0.564023793,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455005705,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.207115,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.806133032,"cg_iw_a":-0.160782337,"cg_theta_rad":0.554498613,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.12341591,"mpcc_du":49.7590904,"mpcc_dv":49.1107635,"mpcc_dw":51.449894,"mpcc_enc_sign":1,"mpcc_id_a":2.58572173,"mpcc_iq_a":-0.0457209311,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.27285147,"mpcc_pred_id_a":0.408611059,"mpcc_pred_iq_a":-4.46478748,"mpcc_state":1,"mpcc_theta_e":0.453688145,"mpcc_theta_mech":0.557683527,"sam_rpm":12.7336674,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160059482,"thr_a_norm":0.0160059482,"thr_a_v":0.564023793,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455005705,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.217064,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.951108456,"cg_iw_a":0.564094543,"cg_theta_rad":0.553230524,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0635803118,"mpcc_du":49.512989,"mpcc_dv":49.139679,"mpcc_dw":50.860321,"mpcc_enc_sign":1,"mpcc_id_a":4.17082357,"mpcc_iq_a":1.13607955,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.05119681,"mpcc_pred_id_a":1.00626814,"mpcc_pred_iq_a":-0.769147754,"mpcc_state":1,"mpcc_theta_e":0.44111824,"mpcc_theta_mech":0.555169523,"sam_rpm":5.23366642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00807507336,"thr_b_norm":0.00807507336,"thr_b_v":0.532300293,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.227287,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.516182423,"cg_iw_a":-1.68302298,"cg_theta_rad":0.55560708,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0239150543,"mpcc_du":50.2774506,"mpcc_dv":48.8176384,"mpcc_dw":51.1823616,"mpcc_enc_sign":1,"mpcc_id_a":-0.711521089,"mpcc_iq_a":-1.37158728,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.38595784,"mpcc_pred_id_a":-0.471018761,"mpcc_pred_iq_a":-3.00158238,"mpcc_state":1,"mpcc_theta_e":0.447527885,"mpcc_theta_mech":0.556451499,"sam_rpm":-1.57755661,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245033205,"thr_a_norm":0.0296772718,"thr_a_v":0.598013282,"thr_b":0,"thr_b_norm":0.00807507336,"thr_b_v":0.473586619,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.237297,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.84282589,"cg_theta_rad":0.556200504,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0144453384,"mpcc_du":49.4886475,"mpcc_dv":50.0512314,"mpcc_dw":50.5113525,"mpcc_enc_sign":1,"mpcc_id_a":0.803308129,"mpcc_iq_a":-0.331520379,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.97460079,"mpcc_pred_id_a":0.348014355,"mpcc_pred_iq_a":-0.455935985,"mpcc_state":1,"mpcc_theta_e":0.434887409,"mpcc_theta_mech":0.553923368,"sam_rpm":7.99170256,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245033205,"thr_a_norm":0.0245033205,"thr_a_v":0.598013282,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473586619,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.24749,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.31354666,"cg_iw_a":0.346631527,"cg_theta_rad":0.553125799,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.00674474845,"mpcc_du":50.4988632,"mpcc_dv":48.6278267,"mpcc_dw":51.3721733,"mpcc_enc_sign":1,"mpcc_id_a":-1.04312456,"mpcc_iq_a":-2.92861915,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.64336014,"mpcc_pred_id_a":-0.712963939,"mpcc_pred_iq_a":-2.97526836,"mpcc_state":1,"mpcc_theta_e":0.443517208,"mpcc_theta_mech":0.55564934,"sam_rpm":-7.90082121,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280407369,"thr_a_norm":0.0280407369,"thr_a_v":0.612162948,"thr_b":0.0038075,"thr_b_norm":0.0038075,"thr_b_v":0.51523,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.270927,"values":{"cg_iu_a":3.93890953,"cg_iv_a":-0.516182423,"cg_iw_a":-1.68302298,"cg_theta_rad":0.555624306,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.00499416236,"mpcc_du":50.2128067,"mpcc_dv":49.1402473,"mpcc_dw":50.8597527,"mpcc_enc_sign":1,"mpcc_id_a":-0.219912305,"mpcc_iq_a":-1.18921185,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.89496732,"mpcc_pred_id_a":-1.1040417,"mpcc_pred_iq_a":-2.40656424,"mpcc_state":1,"mpcc_theta_e":0.445955276,"mpcc_theta_mech":0.556136966,"sam_rpm":-1.8945663,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215575695,"thr_a_norm":0.0280407369,"thr_a_v":0.586230278,"thr_b":0,"thr_b_norm":0.0038075,"thr_b_v":0.476104379,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.277428,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.02359605,"cg_iw_a":0.0566809177,"cg_theta_rad":0.556363463,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0410591736,"mpcc_du":49.5069046,"mpcc_dv":50.1677818,"mpcc_dw":50.4930954,"mpcc_enc_sign":1,"mpcc_id_a":1.36879671,"mpcc_iq_a":-0.72143203,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.9338789,"mpcc_pred_id_a":0.306688011,"mpcc_pred_iq_a":-3.82828498,"mpcc_state":1,"mpcc_theta_e":0.460632801,"mpcc_theta_mech":0.559072435,"sam_rpm":24.4355049,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215575695,"thr_a_norm":0.0215575695,"thr_a_v":0.586230278,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476104379,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.283958,"values":{"cg_iu_a":-0.337862968,"cg_iv_a":0.933570862,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556289911,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.00746175693,"mpcc_du":49.7531776,"mpcc_dv":49.176857,"mpcc_dw":50.823143,"mpcc_enc_sign":1,"mpcc_id_a":0.478307426,"mpcc_iq_a":-1.2130239,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":21.3503265,"mpcc_pred_id_a":-0.583922446,"mpcc_pred_iq_a":-6.89326572,"mpcc_state":1,"mpcc_theta_e":0.459779263,"mpcc_theta_mech":0.558901787,"sam_rpm":25.1271744,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225898325,"thr_a_norm":0.0225898325,"thr_a_v":0.59035933,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480585933,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.290489,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.516182423,"cg_iw_a":-0.668195724,"cg_theta_rad":0.552819669,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.000444744597,"mpcc_du":49.6400452,"mpcc_dv":49.9613991,"mpcc_dw":50.3599548,"mpcc_enc_sign":1,"mpcc_id_a":-0.112709343,"mpcc_iq_a":-1.98113751,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.9090395,"mpcc_pred_id_a":-0.549012661,"mpcc_pred_iq_a":-4.40580845,"mpcc_state":1,"mpcc_theta_e":0.444122791,"mpcc_theta_mech":0.555770457,"sam_rpm":2.53955698,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225898325,"thr_a_norm":0.0225898325,"thr_a_v":0.59035933,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480585933,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.298668,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-3.05325079,"cg_iw_a":0.854045391,"cg_theta_rad":0.554444253,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0014336434,"mpcc_du":49.8289337,"mpcc_dv":49.0964394,"mpcc_dw":50.9035606,"mpcc_enc_sign":1,"mpcc_id_a":0.695872664,"mpcc_iq_a":-0.453989059,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.8587141,"mpcc_pred_id_a":0.042736128,"mpcc_pred_iq_a":-2.65806913,"mpcc_state":1,"mpcc_theta_e":0.431317329,"mpcc_theta_mech":0.553209364,"sam_rpm":-14.9663219,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204119831,"thr_a_norm":0.0204119831,"thr_a_v":0.581647933,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.308891,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.16857147,"cg_iw_a":0.274144173,"cg_theta_rad":0.560867965,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0447323173,"mpcc_du":50.2738571,"mpcc_dv":48.625206,"mpcc_dw":51.374794,"mpcc_enc_sign":1,"mpcc_id_a":2.2727263,"mpcc_iq_a":-1.51635373,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.390692592,"mpcc_pred_id_a":-0.00608357415,"mpcc_pred_iq_a":-3.05864167,"mpcc_state":1,"mpcc_theta_e":0.451568604,"mpcc_theta_mech":0.557259679,"sam_rpm":0.0395928286,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225394815,"thr_a_norm":0.0204119831,"thr_a_v":0.590157926,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469507903,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.318474,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.48038769,"cg_theta_rad":0.557937384,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.00304306927,"mpcc_du":50.0883827,"mpcc_dv":48.9276924,"mpcc_dw":51.0723076,"mpcc_enc_sign":1,"mpcc_id_a":0.40299052,"mpcc_iq_a":-1.42835259,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.45869255,"mpcc_pred_id_a":-0.342845261,"mpcc_pred_iq_a":-0.870539129,"mpcc_state":1,"mpcc_theta_e":0.434584618,"mpcc_theta_mech":0.55386281,"sam_rpm":-8.18533325,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225394815,"thr_a_norm":0.0225394815,"thr_a_v":0.590157926,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469507903,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.328697,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.588670254,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556354642,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.00866144337,"mpcc_du":50.1167603,"mpcc_dv":48.8176994,"mpcc_dw":51.1823006,"mpcc_enc_sign":1,"mpcc_id_a":0.628864944,"mpcc_iq_a":-1.26732361,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.31161809,"mpcc_pred_id_a":-0.155540124,"mpcc_pred_iq_a":-1.98288715,"mpcc_state":1,"mpcc_theta_e":0.44355917,"mpcc_theta_mech":0.555657744,"sam_rpm":-2.02989674,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019681856,"thr_a_norm":0.019681856,"thr_a_v":0.578727424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.338707,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.89344811,"cg_iw_a":-0.813171148,"cg_theta_rad":0.557214856,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0315703675,"mpcc_du":50.4991875,"mpcc_dv":48.4036903,"mpcc_dw":51.5963097,"mpcc_enc_sign":1,"mpcc_id_a":1.41017187,"mpcc_iq_a":-1.64438379,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.51537156,"mpcc_pred_id_a":-0.175533339,"mpcc_pred_iq_a":-2.20392442,"mpcc_state":1,"mpcc_theta_e":0.446219444,"mpcc_theta_mech":0.556189775,"sam_rpm":-2.38142323,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019681856,"thr_a_norm":0.019681856,"thr_a_v":0.578727424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.348869,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-2.0384233,"cg_iw_a":0.0566811562,"cg_theta_rad":0.557155311,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0158847719,"mpcc_du":49.3990326,"mpcc_dv":50.6009674,"mpcc_dw":50.3192482,"mpcc_enc_sign":1,"mpcc_id_a":0.824967146,"mpcc_iq_a":-1.02991605,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.62651777,"mpcc_pred_id_a":0.212562248,"mpcc_pred_iq_a":-1.03806031,"mpcc_state":1,"mpcc_theta_e":0.43880558,"mpcc_theta_mech":0.55470705,"sam_rpm":10.0279732,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178690702,"thr_a_norm":0.0178690702,"thr_a_v":0.571476281,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.445740432,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.372124,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.951108456,"cg_iw_a":-0.305757523,"cg_theta_rad":0.558267415,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0505931787,"mpcc_du":49.5419579,"mpcc_dv":50.3070679,"mpcc_dw":50.4580421,"mpcc_enc_sign":1,"mpcc_id_a":2.71729803,"mpcc_iq_a":-0.0710968971,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.09930229,"mpcc_pred_id_a":0.215018153,"mpcc_pred_iq_a":0.814284623,"mpcc_state":1,"mpcc_theta_e":0.439640045,"mpcc_theta_mech":0.554873943,"sam_rpm":8.65001106,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0110208243,"thr_a_norm":0.0178690702,"thr_a_v":0.544083297,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.433604956,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.378685,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.443694592,"cg_iw_a":-2.26292467,"cg_theta_rad":0.552890122,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0089415554,"mpcc_du":50.1462059,"mpcc_dv":48.7081146,"mpcc_dw":51.2918854,"mpcc_enc_sign":1,"mpcc_id_a":1.69917548,"mpcc_iq_a":-1.38828194,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.94051313,"mpcc_pred_id_a":0.0416699909,"mpcc_pred_iq_a":-2.17906404,"mpcc_state":1,"mpcc_theta_e":0.436384678,"mpcc_theta_mech":0.554222882,"sam_rpm":-11.7803764,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0110208243,"thr_a_norm":0.0110208243,"thr_a_v":0.544083297,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.433604956,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.385185,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.661157608,"cg_iw_a":-2.33541203,"cg_theta_rad":0.556458771,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0155435372,"mpcc_du":49.3423386,"mpcc_dv":50.6576614,"mpcc_dw":50.1783829,"mpcc_enc_sign":1,"mpcc_id_a":0.60811621,"mpcc_iq_a":0.0377800167,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.38584757,"mpcc_pred_id_a":-0.0683738515,"mpcc_pred_iq_a":-5.69266129,"mpcc_state":1,"mpcc_theta_e":0.447160244,"mpcc_theta_mech":0.556377947,"sam_rpm":7.93420792,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0155275762,"thr_a_norm":0.0155275762,"thr_a_v":0.562110305,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.391685,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.74847269,"cg_iw_a":0.346631527,"cg_theta_rad":0.556716919,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.00880607404,"mpcc_du":49.7268982,"mpcc_dv":49.229908,"mpcc_dw":50.770092,"mpcc_enc_sign":1,"mpcc_id_a":1.41891241,"mpcc_iq_a":-0.100895554,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.05589581,"mpcc_pred_id_a":0.0686327815,"mpcc_pred_iq_a":-3.35350776,"mpcc_state":1,"mpcc_theta_e":0.434870243,"mpcc_theta_mech":0.553919971,"sam_rpm":-11.3894739,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0155275762,"thr_a_norm":0.0155275762,"thr_a_v":0.562110305,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.399651,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.298719406,"cg_iw_a":-0.305757523,"cg_theta_rad":0.554012597,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.00663703261,"mpcc_du":49.6105614,"mpcc_dv":50.2414703,"mpcc_dw":50.3894386,"mpcc_enc_sign":1,"mpcc_id_a":1.55954897,"mpcc_iq_a":-1.17678547,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.3407154,"mpcc_pred_id_a":-0.383158356,"mpcc_pred_iq_a":-4.8507452,"mpcc_state":1,"mpcc_theta_e":0.432662964,"mpcc_theta_mech":0.553478479,"sam_rpm":-0.47135219,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297402143,"thr_a_norm":0.0297402143,"thr_a_v":0.618960857,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451128393,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.409874,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-2.0384233,"cg_iw_a":-1.17560935,"cg_theta_rad":0.556355059,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.00369646167,"mpcc_du":49.8305321,"mpcc_dv":49.1090279,"mpcc_dw":50.8909721,"mpcc_enc_sign":1,"mpcc_id_a":0.367011607,"mpcc_iq_a":-0.994161606,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.45974302,"mpcc_pred_id_a":-0.104446962,"mpcc_pred_iq_a":-0.000437951618,"mpcc_state":1,"mpcc_theta_e":0.431885719,"mpcc_theta_mech":0.55332303,"sam_rpm":-3.45332932,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0314019173,"thr_a_norm":0.0297402143,"thr_a_v":0.625607669,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481190175,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.419884,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.60349751,"cg_iw_a":0.709070206,"cg_theta_rad":0.556074381,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0339472704,"mpcc_du":50.1945114,"mpcc_dv":48.4474564,"mpcc_dw":51.5525436,"mpcc_enc_sign":1,"mpcc_id_a":2.15706062,"mpcc_iq_a":-1.61996436,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.2334709,"mpcc_pred_id_a":0.38767314,"mpcc_pred_iq_a":1.35909951,"mpcc_state":1,"mpcc_theta_e":0.426747322,"mpcc_theta_mech":0.552295387,"sam_rpm":-18.7569714,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0314019173,"thr_a_norm":0.0314019173,"thr_a_v":0.625607669,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481190175,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.43026,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.89344811,"cg_iw_a":-0.378245115,"cg_theta_rad":0.558309257,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.044239331,"mpcc_du":49.8886871,"mpcc_dv":48.8868523,"mpcc_dw":51.1131477,"mpcc_enc_sign":1,"mpcc_id_a":3.46783328,"mpcc_iq_a":-0.030520739,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.327792197,"mpcc_pred_id_a":0.409170717,"mpcc_pred_iq_a":-1.59360969,"mpcc_state":1,"mpcc_theta_e":0.446156025,"mpcc_theta_mech":0.556177139,"sam_rpm":0.0182189662,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023936823,"thr_a_norm":0.023936823,"thr_a_v":0.595747292,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482096612,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.440269,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.226231575,"cg_iw_a":-0.450732708,"cg_theta_rad":0.552764952,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0343168341,"mpcc_du":49.8727303,"mpcc_dv":49.037014,"mpcc_dw":50.962986,"mpcc_enc_sign":1,"mpcc_id_a":1.85359478,"mpcc_iq_a":-0.885474145,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.532207906,"mpcc_pred_id_a":0.122544572,"mpcc_pred_iq_a":-3.62627697,"mpcc_state":1,"mpcc_theta_e":0.447632313,"mpcc_theta_mech":0.556472421,"sam_rpm":1.07911146,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023936823,"thr_a_norm":0.023936823,"thr_a_v":0.595747292,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482096612,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.450493,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-3.77812743,"cg_iw_a":-1.75551081,"cg_theta_rad":0.557583332,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0087180268,"mpcc_du":50.3177605,"mpcc_dv":48.7656403,"mpcc_dw":51.2343597,"mpcc_enc_sign":1,"mpcc_id_a":0.66513294,"mpcc_iq_a":-1.84903204,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.03817701,"mpcc_pred_id_a":-0.381274253,"mpcc_pred_iq_a":-3.56206489,"mpcc_state":1,"mpcc_theta_e":0.449025631,"mpcc_theta_mech":0.556751072,"sam_rpm":-7.82038116,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193293691,"thr_a_norm":0.0193293691,"thr_a_v":0.577317476,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457473099,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.473717,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.16857147,"cg_iw_a":-2.19043684,"cg_theta_rad":0.555632234,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.00229834346,"mpcc_du":52.0647278,"mpcc_dv":46.4256668,"mpcc_dw":53.5743332,"mpcc_enc_sign":1,"mpcc_id_a":0.439600497,"mpcc_iq_a":-1.20291543,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-23.2194729,"mpcc_pred_id_a":-0.437701821,"mpcc_pred_iq_a":4.14466906,"mpcc_state":1,"mpcc_theta_e":0.422758102,"mpcc_theta_mech":0.551497519,"sam_rpm":-34.2091942,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197951496,"thr_a_norm":0.0193293691,"thr_a_v":0.579180598,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476406515,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.480247,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.878620625,"cg_iw_a":-1.24809694,"cg_theta_rad":0.559509754,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0155559396,"mpcc_du":49.5297508,"mpcc_dv":50.4702492,"mpcc_dw":50.1946526,"mpcc_enc_sign":1,"mpcc_id_a":2.05676532,"mpcc_iq_a":-1.13647628,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.7733669,"mpcc_pred_id_a":0.197803304,"mpcc_pred_iq_a":0.387008667,"mpcc_state":1,"mpcc_theta_e":0.435236454,"mpcc_theta_mech":0.558482111,"sam_rpm":-15.463769,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197951496,"thr_a_norm":0.0197951496,"thr_a_v":0.579180598,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476406515,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.486748,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.45852208,"cg_iw_a":0.564094782,"cg_theta_rad":0.555674911,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0108634839,"mpcc_du":49.684227,"mpcc_dv":49.7720222,"mpcc_dw":50.315773,"mpcc_enc_sign":1,"mpcc_id_a":-0.774462223,"mpcc_iq_a":-0.00456928462,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.786726,"mpcc_pred_id_a":-0.650087178,"mpcc_pred_iq_a":-1.64852142,"mpcc_state":1,"mpcc_theta_e":0.435332298,"mpcc_theta_mech":0.554012418,"sam_rpm":7.32096577,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265426785,"thr_a_norm":0.0265426785,"thr_a_v":0.606170714,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483355463,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.493279,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.16857147,"cg_iw_a":-1.39307213,"cg_theta_rad":0.555784106,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.00853064284,"mpcc_du":49.6343384,"mpcc_dv":49.5022888,"mpcc_dw":50.4977112,"mpcc_enc_sign":1,"mpcc_id_a":0.710508585,"mpcc_iq_a":-0.754273355,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.60932064,"mpcc_pred_id_a":-0.184141845,"mpcc_pred_iq_a":-2.55272675,"mpcc_state":1,"mpcc_theta_e":0.447460175,"mpcc_theta_mech":0.556437969,"sam_rpm":8.06290627,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282043964,"thr_a_norm":0.0265426785,"thr_a_v":0.612817585,"thr_b":0.000496685505,"thr_b_norm":0,"thr_b_v":0.501986742,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.503258,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.24105906,"cg_iw_a":-0.45073247,"cg_theta_rad":0.55543381,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.129928008,"mpcc_du":50.0971642,"mpcc_dv":48.6518135,"mpcc_dw":51.3481865,"mpcc_enc_sign":1,"mpcc_id_a":3.57844663,"mpcc_iq_a":0.149124503,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.551301,"mpcc_pred_id_a":0.640794277,"mpcc_pred_iq_a":-1.62165022,"mpcc_state":1,"mpcc_theta_e":0.459260464,"mpcc_theta_mech":0.558798015,"sam_rpm":17.501112,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282043964,"thr_a_norm":0.0282043964,"thr_a_v":0.612817585,"thr_b":0.000496685505,"thr_b_norm":0.000496685505,"thr_b_v":0.501986742,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.513664,"values":{"cg_iu_a":2.1992054,"cg_iv_a":0.208694458,"cg_iw_a":0.201656342,"cg_theta_rad":0.551466942,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0615518615,"mpcc_du":49.7454796,"mpcc_dv":48.9069939,"mpcc_dw":51.0930061,"mpcc_enc_sign":1,"mpcc_id_a":4.95569897,"mpcc_iq_a":1.57623053,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.79833126,"mpcc_pred_id_a":0.896597266,"mpcc_pred_iq_a":1.09668195,"mpcc_state":1,"mpcc_theta_e":0.424568653,"mpcc_theta_mech":0.551859677,"sam_rpm":-12.4959917,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253467709,"thr_a_norm":0.0253467709,"thr_a_v":0.601387084,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492721438,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.52346,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.38603449,"cg_iw_a":-1.03063393,"cg_theta_rad":0.553799093,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.00243415288,"mpcc_du":49.7684669,"mpcc_dv":49.1546249,"mpcc_dw":50.8453751,"mpcc_enc_sign":1,"mpcc_id_a":0.0212289076,"mpcc_iq_a":-1.67896628,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.19026852,"mpcc_pred_id_a":-0.400554329,"mpcc_pred_iq_a":-1.97987568,"mpcc_state":1,"mpcc_theta_e":0.450947285,"mpcc_theta_mech":0.557135403,"sam_rpm":7.92869139,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253467709,"thr_a_norm":0.0253467709,"thr_a_v":0.601387084,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492721438,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.533684,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.443694592,"cg_iw_a":0.564094543,"cg_theta_rad":0.553135276,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0290329866,"mpcc_du":50.1332016,"mpcc_dv":48.6669426,"mpcc_dw":51.3330574,"mpcc_enc_sign":1,"mpcc_id_a":2.21046519,"mpcc_iq_a":-1.14720726,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.920288742,"mpcc_pred_id_a":0.353829712,"mpcc_pred_iq_a":-1.57310688,"mpcc_state":1,"mpcc_theta_e":0.44674015,"mpcc_theta_mech":0.556293905,"sam_rpm":1.77422452,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181208551,"thr_a_norm":0.0181208551,"thr_a_v":0.57248342,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459638387,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.543877,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.661157608,"cg_iw_a":-0.305757523,"cg_theta_rad":0.557389498,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0197011121,"mpcc_du":49.8643188,"mpcc_dv":49.3150177,"mpcc_dw":50.6849823,"mpcc_enc_sign":1,"mpcc_id_a":0.905496776,"mpcc_iq_a":-1.17907226,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.2170763,"mpcc_pred_id_a":-0.348133713,"mpcc_pred_iq_a":-2.87018704,"mpcc_state":1,"mpcc_theta_e":0.45171833,"mpcc_theta_mech":0.557289541,"sam_rpm":9.82491684,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194048882,"thr_a_norm":0.0181208551,"thr_a_v":0.577619553,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473737687,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.553856,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.60349751,"cg_iw_a":0.999020576,"cg_theta_rad":0.55622834,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.011484717,"mpcc_du":49.9479828,"mpcc_dv":48.794384,"mpcc_dw":51.205616,"mpcc_enc_sign":1,"mpcc_id_a":0.435615689,"mpcc_iq_a":-1.64899719,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.87807941,"mpcc_pred_id_a":-0.404218912,"mpcc_pred_iq_a":-2.69725466,"mpcc_state":1,"mpcc_theta_e":0.451842308,"mpcc_theta_mech":0.557314396,"sam_rpm":8.85896492,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194048882,"thr_a_norm":0.0194048882,"thr_a_v":0.577619553,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473737687,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.576866,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.0087685585,"cg_iw_a":-3.06028891,"cg_theta_rad":0.553850174,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.00258179056,"mpcc_du":49.596508,"mpcc_dv":50.055542,"mpcc_dw":50.403492,"mpcc_enc_sign":1,"mpcc_id_a":1.01581287,"mpcc_iq_a":-0.794540524,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.60599637,"mpcc_pred_id_a":-0.0570369326,"mpcc_pred_iq_a":-4.05792904,"mpcc_state":1,"mpcc_theta_e":0.437848568,"mpcc_theta_mech":0.5545156,"sam_rpm":-4.6257329,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025019452,"thr_a_norm":0.025019452,"thr_a_v":0.600077808,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485772491,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.583397,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.89344811,"cg_iw_a":0.709070206,"cg_theta_rad":0.556358159,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0270245057,"mpcc_du":49.4344826,"mpcc_dv":50.5655174,"mpcc_dw":50.3178749,"mpcc_enc_sign":1,"mpcc_id_a":2.71830916,"mpcc_iq_a":-0.768466115,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.1000805,"mpcc_pred_id_a":0.365448594,"mpcc_pred_iq_a":-3.40821314,"mpcc_state":1,"mpcc_theta_e":0.455705643,"mpcc_theta_mech":0.558087051,"sam_rpm":21.005497,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025019452,"thr_a_norm":0.025019452,"thr_a_v":0.600077808,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485772491,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.589897,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.226231575,"cg_iw_a":-0.160782337,"cg_theta_rad":0.552375317,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0110835629,"mpcc_du":50.0959854,"mpcc_dv":48.7802086,"mpcc_dw":51.2197914,"mpcc_enc_sign":1,"mpcc_id_a":1.94541311,"mpcc_iq_a":-0.860467017,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.39670706,"mpcc_pred_id_a":0.250279337,"mpcc_pred_iq_a":-0.777888179,"mpcc_state":1,"mpcc_theta_e":0.438022614,"mpcc_theta_mech":0.554550469,"sam_rpm":-5.27719116,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276756734,"thr_a_norm":0.0276756734,"thr_a_v":0.610702693,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489246964,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.596672,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-1.38603449,"cg_iw_a":0.709070206,"cg_theta_rad":0.552728415,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.00562451361,"mpcc_du":50.4829216,"mpcc_dv":48.4642944,"mpcc_dw":51.5357056,"mpcc_enc_sign":1,"mpcc_id_a":0.207991928,"mpcc_iq_a":-1.81021643,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.24735117,"mpcc_pred_id_a":-0.112279862,"mpcc_pred_iq_a":0.097626254,"mpcc_state":1,"mpcc_theta_e":0.444972515,"mpcc_theta_mech":0.55594039,"sam_rpm":2.29509711,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021494627,"thr_a_norm":0.021494627,"thr_a_v":0.585978508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470766753,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.606468,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-2.11091113,"cg_iw_a":-0.595708132,"cg_theta_rad":0.557987332,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.00323740835,"mpcc_du":50.2131615,"mpcc_dv":48.6409645,"mpcc_dw":51.3590355,"mpcc_enc_sign":1,"mpcc_id_a":0.723830462,"mpcc_iq_a":-1.76461911,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.70879459,"mpcc_pred_id_a":0.0757596344,"mpcc_pred_iq_a":0.439535886,"mpcc_state":1,"mpcc_theta_e":0.436384678,"mpcc_theta_mech":0.554222882,"sam_rpm":-6.28423405,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021494627,"thr_a_norm":0.021494627,"thr_a_v":0.585978508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470766753,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.616661,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.53100967,"cg_iw_a":0.709069967,"cg_theta_rad":0.556149542,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0104372809,"mpcc_du":49.6161461,"mpcc_dv":50.3525658,"mpcc_dw":50.3838539,"mpcc_enc_sign":1,"mpcc_id_a":0.216835529,"mpcc_iq_a":-0.280337065,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.11779261,"mpcc_pred_id_a":-0.30653879,"mpcc_pred_iq_a":-0.698937654,"mpcc_state":1,"mpcc_theta_e":0.433451653,"mpcc_theta_mech":0.553636253,"sam_rpm":3.29616976,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0125566572,"thr_a_norm":0.0125566572,"thr_a_v":0.550226629,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.626884,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.16857147,"cg_iw_a":0.346631527,"cg_theta_rad":0.553967237,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.000975536299,"mpcc_du":50.0516853,"mpcc_dv":49.0836906,"mpcc_dw":50.9163094,"mpcc_enc_sign":1,"mpcc_id_a":0.0925941393,"mpcc_iq_a":-1.23773885,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.05530405,"mpcc_pred_id_a":-0.520706773,"mpcc_pred_iq_a":-1.77014744,"mpcc_state":1,"mpcc_theta_e":0.433994293,"mpcc_theta_mech":0.553744733,"sam_rpm":-11.6664352,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0169501007,"thr_a_norm":0.0125566572,"thr_a_v":0.567800403,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439546794,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.636681,"values":{"cg_iu_a":2.77910662,"cg_iv_a":0.281181812,"cg_iw_a":-3.06028843,"cg_theta_rad":0.555525839,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0144864554,"mpcc_du":49.764595,"mpcc_dv":49.284977,"mpcc_dw":50.715023,"mpcc_enc_sign":1,"mpcc_id_a":1.4408133,"mpcc_iq_a":-0.403501838,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.95411229,"mpcc_pred_id_a":-0.0719605163,"mpcc_pred_iq_a":-1.64673424,"mpcc_state":1,"mpcc_theta_e":0.444432735,"mpcc_theta_mech":0.556190729,"sam_rpm":6.64827108,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0169501007,"thr_a_norm":0.0169501007,"thr_a_v":0.567800403,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439546794,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.646904,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-2.25588632,"cg_iw_a":1.28897119,"cg_theta_rad":0.554968715,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.038589377,"mpcc_du":50.3850174,"mpcc_dv":48.2477264,"mpcc_dw":51.7522736,"mpcc_enc_sign":1,"mpcc_id_a":3.25323248,"mpcc_iq_a":0.0551096499,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.73095989,"mpcc_pred_id_a":0.635294676,"mpcc_pred_iq_a":-0.22974281,"mpcc_state":1,"mpcc_theta_e":0.437073708,"mpcc_theta_mech":0.554360688,"sam_rpm":-11.5650473,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272476524,"thr_a_norm":0.0272476524,"thr_a_v":0.60899061,"thr_b":0.00068551302,"thr_b_norm":0.00068551302,"thr_b_v":0.502742052,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.656883,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.02359605,"cg_iw_a":0.491606951,"cg_theta_rad":0.555513024,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0500304624,"mpcc_du":50.4196129,"mpcc_dv":48.4599152,"mpcc_dw":51.5400848,"mpcc_enc_sign":1,"mpcc_id_a":1.01082933,"mpcc_iq_a":-0.296619684,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.143893495,"mpcc_pred_id_a":0.137802869,"mpcc_pred_iq_a":-1.69633913,"mpcc_state":1,"mpcc_theta_e":0.448923111,"mpcc_theta_mech":0.556730509,"sam_rpm":0.792820871,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272476524,"thr_a_norm":0.0272476524,"thr_a_v":0.60899061,"thr_b":0.00068551302,"thr_b_norm":0.00068551302,"thr_b_v":0.502742052,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.680077,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.878620625,"cg_iw_a":0.274143696,"cg_theta_rad":0.55642873,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0473918021,"mpcc_du":50.1950645,"mpcc_dv":48.6403122,"mpcc_dw":51.3596878,"mpcc_enc_sign":1,"mpcc_id_a":3.07148552,"mpcc_iq_a":-0.857742846,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.805462003,"mpcc_pred_id_a":0.445765436,"mpcc_pred_iq_a":-1.81247699,"mpcc_state":1,"mpcc_theta_e":0.445059299,"mpcc_theta_mech":0.555957735,"sam_rpm":-0.0219116807,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248558074,"thr_a_norm":0.0248558074,"thr_a_v":0.59942323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469155431,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.686638,"values":{"cg_iu_a":-0.70030117,"cg_iv_a":-0.878620625,"cg_iw_a":1.57892179,"cg_theta_rad":0.555251777,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0769041404,"mpcc_du":50.6366005,"mpcc_dv":47.6263847,"mpcc_dw":52.3736153,"mpcc_enc_sign":1,"mpcc_id_a":5.5440917,"mpcc_iq_a":-0.116763197,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.0592537,"mpcc_pred_id_a":1.39733255,"mpcc_pred_iq_a":2.20311427,"mpcc_state":1,"mpcc_theta_e":0.425144196,"mpcc_theta_mech":0.551974773,"sam_rpm":-24.1322117,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021419093,"thr_a_norm":0.0248558074,"thr_a_v":0.585676372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479125679,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.693138,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-3.19822598,"cg_iw_a":-1.17560959,"cg_theta_rad":0.553807199,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0347671025,"mpcc_du":49.6573257,"mpcc_dv":49.2286606,"mpcc_dw":50.7713394,"mpcc_enc_sign":1,"mpcc_id_a":1.59737062,"mpcc_iq_a":0.266093701,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.80571121,"mpcc_pred_id_a":0.515085816,"mpcc_pred_iq_a":-3.60938478,"mpcc_state":1,"mpcc_theta_e":0.442741871,"mpcc_theta_mech":0.555494308,"sam_rpm":-1.05079544,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021419093,"thr_a_norm":0.021419093,"thr_a_v":0.585676372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479125679,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.700127,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.53100967,"cg_iw_a":-1.03063393,"cg_theta_rad":0.554274917,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0322419591,"mpcc_du":49.839035,"mpcc_dv":49.0756416,"mpcc_dw":50.9243584,"mpcc_enc_sign":1,"mpcc_id_a":2.75450945,"mpcc_iq_a":-1.18697441,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.16782284,"mpcc_pred_id_a":0.351094127,"mpcc_pred_iq_a":-1.44028854,"mpcc_state":1,"mpcc_theta_e":0.450102329,"mpcc_theta_mech":0.556966424,"sam_rpm":11.4349594,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.0132616162,"thr_b_norm":0.0132616162,"thr_b_v":0.553046465,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.707542,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-1.09608364,"cg_iw_a":-2.33541203,"cg_theta_rad":0.554715633,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0347806066,"mpcc_du":50.1195412,"mpcc_dv":48.9381256,"mpcc_dw":51.0618744,"mpcc_enc_sign":1,"mpcc_id_a":0.978226662,"mpcc_iq_a":0.138191879,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.6336422,"mpcc_pred_id_a":-0.144113794,"mpcc_pred_iq_a":-1.47342074,"mpcc_state":1,"mpcc_theta_e":0.447801113,"mpcc_theta_mech":0.556506097,"sam_rpm":6.15485525,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.0132616162,"thr_b_norm":0.0132616162,"thr_b_v":0.553046465,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.717674,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.226231575,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.552434742,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0196028985,"mpcc_du":49.6162605,"mpcc_dv":49.9494095,"mpcc_dw":50.3837395,"mpcc_enc_sign":1,"mpcc_id_a":0.0230992287,"mpcc_iq_a":-1.38960803,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.40837693,"mpcc_pred_id_a":-0.159016997,"mpcc_pred_iq_a":-2.87742138,"mpcc_state":1,"mpcc_theta_e":0.433348179,"mpcc_theta_mech":0.55361551,"sam_rpm":0.791033626,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236598849,"thr_a_norm":0.0236598849,"thr_a_v":0.59463954,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461098641,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.728233,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.31354666,"cg_iw_a":-1.39307261,"cg_theta_rad":0.55192554,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0201910995,"mpcc_du":50.5101013,"mpcc_dv":48.5210152,"mpcc_dw":51.4789848,"mpcc_enc_sign":1,"mpcc_id_a":1.44002664,"mpcc_iq_a":-1.41934192,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.7774539,"mpcc_pred_id_a":-0.22733672,"mpcc_pred_iq_a":-2.08613086,"mpcc_state":1,"mpcc_theta_e":0.442745209,"mpcc_theta_mech":0.555494964,"sam_rpm":-6.84342241,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0115747303,"thr_a_norm":0.0236598849,"thr_a_v":0.546298921,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.428116262,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.740074,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.6759851,"cg_iw_a":-0.595708132,"cg_theta_rad":0.554361701,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0745089352,"mpcc_du":49.8088074,"mpcc_dv":49.0746384,"mpcc_dw":50.9253616,"mpcc_enc_sign":1,"mpcc_id_a":1.16433489,"mpcc_iq_a":1.02274919,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.16705656,"mpcc_pred_id_a":0.0308352672,"mpcc_pred_iq_a":-0.566131473,"mpcc_state":1,"mpcc_theta_e":0.449358463,"mpcc_theta_mech":0.556817591,"sam_rpm":9.55131531,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0115747303,"thr_a_norm":0.0115747303,"thr_a_v":0.546298921,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.428116262,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.750267,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.82096052,"cg_iw_a":1.28897142,"cg_theta_rad":0.554983854,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0261123981,"mpcc_du":50.5068512,"mpcc_dv":48.186367,"mpcc_dw":51.813633,"mpcc_enc_sign":1,"mpcc_id_a":2.54897785,"mpcc_iq_a":-0.604292452,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.10802794,"mpcc_pred_id_a":0.610614598,"mpcc_pred_iq_a":0.537219763,"mpcc_state":1,"mpcc_theta_e":0.44356966,"mpcc_theta_mech":0.55565989,"sam_rpm":-5.117939,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276253074,"thr_a_norm":0.0276253074,"thr_a_v":0.61050123,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495490968,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.760551,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.226231575,"cg_iw_a":0.926532745,"cg_theta_rad":0.557319403,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0026459787,"mpcc_du":50.025547,"mpcc_dv":48.9722939,"mpcc_dw":51.0277061,"mpcc_enc_sign":1,"mpcc_id_a":1.01596451,"mpcc_iq_a":-0.79434675,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.504967988,"mpcc_pred_id_a":-0.227879807,"mpcc_pred_iq_a":-1.43715918,"mpcc_state":1,"mpcc_theta_e":0.437657833,"mpcc_theta_mech":0.554477513,"sam_rpm":-9.78346157,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0130476058,"thr_a_norm":0.0276253074,"thr_a_v":0.552190423,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460695803,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.783653,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-0.516182423,"cg_iw_a":0.709069967,"cg_theta_rad":0.556791484,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.00706124632,"mpcc_du":50.7807159,"mpcc_dv":48.1224022,"mpcc_dw":51.8775978,"mpcc_enc_sign":1,"mpcc_id_a":0.933138967,"mpcc_iq_a":-1.97169292,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0162906926,"mpcc_pred_id_a":-0.105315559,"mpcc_pred_iq_a":1.08609593,"mpcc_state":1,"mpcc_theta_e":0.445580482,"mpcc_theta_mech":0.556061983,"sam_rpm":0.568111241,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0130476058,"thr_a_norm":0.0130476058,"thr_a_v":0.552190423,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460695803,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.790184,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.878620625,"cg_iw_a":-1.97297382,"cg_theta_rad":0.556529343,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0953607485,"mpcc_du":50.7497139,"mpcc_dv":48.0159836,"mpcc_dw":51.9840164,"mpcc_enc_sign":1,"mpcc_id_a":3.0967381,"mpcc_iq_a":-0.15711014,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.49434233,"mpcc_pred_id_a":0.337135732,"mpcc_pred_iq_a":1.1127497,"mpcc_state":1,"mpcc_theta_e":0.454285145,"mpcc_theta_mech":0.557802975,"sam_rpm":12.9458494,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0145834237,"thr_a_norm":0.0145834237,"thr_a_v":0.558333695,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451883703,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.796715,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.38603449,"cg_iw_a":0.854045153,"cg_theta_rad":0.556074977,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0364078097,"mpcc_du":49.6107407,"mpcc_dv":50.3012238,"mpcc_dw":50.3892593,"mpcc_enc_sign":1,"mpcc_id_a":0.40176037,"mpcc_iq_a":-0.710686028,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":19.8932896,"mpcc_pred_id_a":-0.12537013,"mpcc_pred_iq_a":-3.24898815,"mpcc_state":1,"mpcc_theta_e":0.463188171,"mpcc_theta_mech":0.559583545,"sam_rpm":30.0879383,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0145834237,"thr_a_norm":0.0145834237,"thr_a_v":0.558333695,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451883703,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.803459,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.878620625,"cg_iw_a":-0.523220539,"cg_theta_rad":0.555949628,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0319876708,"mpcc_du":49.9343224,"mpcc_dv":48.8083229,"mpcc_dw":50.4807205,"mpcc_enc_sign":1,"mpcc_id_a":2.7173152,"mpcc_iq_a":-0.0704399049,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.86171436,"mpcc_pred_id_a":0.639825404,"mpcc_pred_iq_a":-2.1927104,"mpcc_state":1,"mpcc_theta_e":0.439398289,"mpcc_theta_mech":0.55604136,"sam_rpm":-6.9843545,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218219161,"thr_a_norm":0.0218219161,"thr_a_v":0.587287664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479226381,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.813652,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.16857147,"cg_iw_a":-0.81317091,"cg_theta_rad":0.555428386,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0583016761,"mpcc_du":49.612854,"mpcc_dv":49.4167862,"mpcc_dw":50.5832138,"mpcc_enc_sign":1,"mpcc_id_a":2.79468179,"mpcc_iq_a":-0.605826974,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.77512741,"mpcc_pred_id_a":0.0876971558,"mpcc_pred_iq_a":-4.44785023,"mpcc_state":1,"mpcc_theta_e":0.451295376,"mpcc_theta_mech":0.557205021,"sam_rpm":8.46160889,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221114755,"thr_a_norm":0.0218219161,"thr_a_v":0.588445902,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.823204,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-2.0384233,"cg_iw_a":0.636582136,"cg_theta_rad":0.556321204,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0133823603,"mpcc_du":50.7411385,"mpcc_dv":47.9874268,"mpcc_dw":52.0125732,"mpcc_enc_sign":1,"mpcc_id_a":1.7437551,"mpcc_iq_a":-3.1981132,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.2469864,"mpcc_pred_id_a":0.0783040375,"mpcc_pred_iq_a":0.208910227,"mpcc_state":1,"mpcc_theta_e":0.432696819,"mpcc_theta_mech":0.553485274,"sam_rpm":-19.0675316,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221114755,"thr_a_norm":0.0221114755,"thr_a_v":0.588445902,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.833427,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.16857147,"cg_iw_a":-1.68302298,"cg_theta_rad":0.554367125,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0259042513,"mpcc_du":50.3817825,"mpcc_dv":48.5602913,"mpcc_dw":51.4397087,"mpcc_enc_sign":1,"mpcc_id_a":0.726567149,"mpcc_iq_a":-0.38615194,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.52317095,"mpcc_pred_id_a":-0.105331399,"mpcc_pred_iq_a":-2.3087945,"mpcc_state":1,"mpcc_theta_e":0.442568302,"mpcc_theta_mech":0.555459619,"sam_rpm":-7.90859747,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275120139,"thr_a_norm":0.0275120139,"thr_a_v":0.610048056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.843437,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.733645439,"cg_iw_a":-1.68302298,"cg_theta_rad":0.554909527,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0323641635,"mpcc_du":49.3455582,"mpcc_dv":50.6544418,"mpcc_dw":50.0740395,"mpcc_enc_sign":1,"mpcc_id_a":1.8059535,"mpcc_iq_a":-1.67185271,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.81893969,"mpcc_pred_id_a":-0.0802422762,"mpcc_pred_iq_a":-1.90061402,"mpcc_state":1,"mpcc_theta_e":0.437498569,"mpcc_theta_mech":0.554445624,"sam_rpm":6.70094967,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275120139,"thr_a_norm":0.0275120139,"thr_a_v":0.610048056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.855827,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-2.32837415,"cg_iw_a":-0.160782099,"cg_theta_rad":0.554012656,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.014066238,"mpcc_du":50.2397957,"mpcc_dv":48.7197113,"mpcc_dw":51.2802887,"mpcc_enc_sign":1,"mpcc_id_a":2.25542235,"mpcc_iq_a":-2.23129869,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.38169098,"mpcc_pred_id_a":0.00490254862,"mpcc_pred_iq_a":-2.01052547,"mpcc_state":1,"mpcc_theta_e":0.445308208,"mpcc_theta_mech":0.556007564,"sam_rpm":-5.50474215,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172648281,"thr_a_norm":0.0172648281,"thr_a_v":0.569059312,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440654606,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.879051,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.02359605,"cg_iw_a":-0.668195486,"cg_theta_rad":0.555839539,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.00857575983,"mpcc_du":49.6079903,"mpcc_dv":50.34552,"mpcc_dw":50.3920097,"mpcc_enc_sign":1,"mpcc_id_a":0.0565338694,"mpcc_iq_a":-0.94960773,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.77270937,"mpcc_pred_id_a":-0.132381991,"mpcc_pred_iq_a":-5.38706541,"mpcc_state":1,"mpcc_theta_e":0.444648266,"mpcc_theta_mech":0.553788602,"sam_rpm":4.29184103,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452085137,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.885612,"values":{"cg_iu_a":2.5616436,"cg_iv_a":0.643620491,"cg_iw_a":-1.17560959,"cg_theta_rad":0.554692864,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0222686119,"mpcc_du":50.0439949,"mpcc_dv":48.7604294,"mpcc_dw":51.2395706,"mpcc_enc_sign":1,"mpcc_id_a":2.9845283,"mpcc_iq_a":-0.686457038,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.42693233,"mpcc_pred_id_a":0.46248278,"mpcc_pred_iq_a":-0.541169882,"mpcc_state":1,"mpcc_theta_e":0.433878899,"mpcc_theta_mech":0.553721666,"sam_rpm":-10.1930246,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452085137,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.892143,"values":{"cg_iu_a":3.72144651,"cg_iv_a":-1.60349751,"cg_iw_a":-2.11794901,"cg_theta_rad":0.552933812,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.00137925497,"mpcc_du":49.9972687,"mpcc_dv":48.9670525,"mpcc_dw":51.0329475,"mpcc_enc_sign":1,"mpcc_id_a":0.396366507,"mpcc_iq_a":-1.57778442,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.85236311,"mpcc_pred_id_a":0.162050799,"mpcc_pred_iq_a":-0.0955952406,"mpcc_state":1,"mpcc_theta_e":0.44697094,"mpcc_theta_mech":0.556340098,"sam_rpm":8.36144352,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232192725,"thr_a_norm":0.0232192725,"thr_a_v":0.59287709,"thr_b":0.00229686499,"thr_b_norm":0.00229686499,"thr_b_v":0.50918746,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.898857,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-2.0384233,"cg_iw_a":-1.75551081,"cg_theta_rad":0.553165913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0173298642,"mpcc_du":50.0461922,"mpcc_dv":48.9607849,"mpcc_dw":51.0392151,"mpcc_enc_sign":1,"mpcc_id_a":1.64427352,"mpcc_iq_a":-0.311572552,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.696274877,"mpcc_pred_id_a":0.0230653454,"mpcc_pred_iq_a":-1.18237758,"mpcc_state":1,"mpcc_theta_e":0.442534924,"mpcc_theta_mech":0.555452883,"sam_rpm":1.52092493,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441913456,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.90844,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.588670254,"cg_iw_a":-2.04546118,"cg_theta_rad":0.556033611,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0353858769,"mpcc_du":49.7696457,"mpcc_dv":49.1228943,"mpcc_dw":50.8771057,"mpcc_enc_sign":1,"mpcc_id_a":2.76460767,"mpcc_iq_a":-0.148863941,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.26982141,"mpcc_pred_id_a":0.474713176,"mpcc_pred_iq_a":-2.05502415,"mpcc_state":1,"mpcc_theta_e":0.442911148,"mpcc_theta_mech":0.555528164,"sam_rpm":3.1595006,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441913456,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.918663,"values":{"cg_iu_a":2.85159445,"cg_iv_a":0.208694458,"cg_iw_a":-3.06028891,"cg_theta_rad":0.555201352,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0750393867,"mpcc_du":50.6741409,"mpcc_dv":48.3003693,"mpcc_dw":51.6996307,"mpcc_enc_sign":1,"mpcc_id_a":0.634387791,"mpcc_iq_a":0.254962087,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.50685084,"mpcc_pred_id_a":-0.0982329398,"mpcc_pred_iq_a":-1.11597419,"mpcc_state":1,"mpcc_theta_e":0.451643944,"mpcc_theta_mech":0.557274699,"sam_rpm":3.27256942,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0147848576,"thr_a_norm":0.0147848576,"thr_a_v":0.559139431,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440906376,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.929039,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.16857147,"cg_iw_a":-1.32058477,"cg_theta_rad":0.556407928,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0188382044,"mpcc_du":50.4982567,"mpcc_dv":48.4547958,"mpcc_dw":51.5452042,"mpcc_enc_sign":1,"mpcc_id_a":1.86958003,"mpcc_iq_a":-1.52918267,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.86055279,"mpcc_pred_id_a":-0.046179302,"mpcc_pred_iq_a":-1.86649573,"mpcc_state":1,"mpcc_theta_e":0.442285061,"mpcc_theta_mech":0.555402935,"sam_rpm":-8.5880661,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0395971537,"thr_a_norm":0.0147848576,"thr_a_v":0.658388615,"thr_b":0.00812542439,"thr_b_norm":0,"thr_b_v":0.532501698,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.939018,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.96593571,"cg_iw_a":0.491606712,"cg_theta_rad":0.55553335,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0336194895,"mpcc_du":49.9788895,"mpcc_dv":48.8391418,"mpcc_dw":51.1608582,"mpcc_enc_sign":1,"mpcc_id_a":3.06273484,"mpcc_iq_a":-0.1930812,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0957294628,"mpcc_pred_id_a":0.536613047,"mpcc_pred_iq_a":-0.687366545,"mpcc_state":1,"mpcc_theta_e":0.441467285,"mpcc_theta_mech":0.555239379,"sam_rpm":0.990406394,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0395971537,"thr_a_norm":0.0395971537,"thr_a_v":0.658388615,"thr_b":0.00812542439,"thr_b_norm":0.00812542439,"thr_b_v":0.532501698,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.949211,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.74847269,"cg_iw_a":1.14399576,"cg_theta_rad":0.555160582,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0185104664,"mpcc_du":50.7627754,"mpcc_dv":47.8927422,"mpcc_dw":52.1072578,"mpcc_enc_sign":1,"mpcc_id_a":2.57859206,"mpcc_iq_a":-0.346961468,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.4907389,"mpcc_pred_id_a":0.391995847,"mpcc_pred_iq_a":0.738197803,"mpcc_state":1,"mpcc_theta_e":0.429121494,"mpcc_theta_mech":0.552770257,"sam_rpm":-21.9381161,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186369866,"thr_a_norm":0.0186369866,"thr_a_v":0.574547946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454905003,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.959251,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.45852208,"cg_iw_a":0.564094782,"cg_theta_rad":0.554606795,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0312531292,"mpcc_du":50.0593643,"mpcc_dv":48.9145241,"mpcc_dw":51.0854759,"mpcc_enc_sign":1,"mpcc_id_a":0.605612159,"mpcc_iq_a":-0.470735848,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.560025036,"mpcc_pred_id_a":0.0732097998,"mpcc_pred_iq_a":-2.62727952,"mpcc_state":1,"mpcc_theta_e":0.446148872,"mpcc_theta_mech":0.556175709,"sam_rpm":1.86490786,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186369866,"thr_a_norm":0.0186369866,"thr_a_v":0.574547946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454905003,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.982689,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.661157608,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.555381715,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":4997,"hz_app_loop":371,"hz_tim_isr":9994,"hz_vsense":371,"mpcc_cost":0.0221778154,"mpcc_du":50.0456619,"mpcc_dv":49.225296,"mpcc_dw":50.774704,"mpcc_enc_sign":1,"mpcc_id_a":-0.0194234047,"mpcc_iq_a":-1.10066998,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.87579727,"mpcc_pred_id_a":-0.648361623,"mpcc_pred_iq_a":-3.33247614,"mpcc_state":1,"mpcc_theta_e":0.448237419,"mpcc_theta_mech":0.556593359,"sam_rpm":4.89077902,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023533985,"thr_a_norm":0.023533985,"thr_a_v":0.59413594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474190891,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.98922,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.82096052,"cg_iw_a":-0.81317091,"cg_theta_rad":0.55289197,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0159652065,"mpcc_du":49.5720253,"mpcc_dv":49.8977318,"mpcc_dw":50.4279747,"mpcc_enc_sign":1,"mpcc_id_a":1.54927301,"mpcc_iq_a":-0.172369316,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.468735486,"mpcc_pred_id_a":-0.0289574526,"mpcc_pred_iq_a":-4.47491455,"mpcc_state":1,"mpcc_theta_e":0.441578388,"mpcc_theta_mech":0.555261612,"sam_rpm":-0.490581065,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273987204,"thr_a_norm":0.0273987204,"thr_a_v":0.609594882,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4983612,"vdc_v":55.2955055}} +{"type":"telemetry","t":70.99572,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.878620625,"cg_iw_a":-1.61053562,"cg_theta_rad":0.556631863,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0443144515,"mpcc_du":49.6912422,"mpcc_dv":49.2705421,"mpcc_dw":50.7294579,"mpcc_enc_sign":1,"mpcc_id_a":2.3668313,"mpcc_iq_a":-0.491286248,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.47216797,"mpcc_pred_id_a":0.25762552,"mpcc_pred_iq_a":-2.89453578,"mpcc_state":1,"mpcc_theta_e":0.451220512,"mpcc_theta_mech":0.557190001,"sam_rpm":10.4607439,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273987204,"thr_a_norm":0.0273987204,"thr_a_v":0.609594882,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4983612,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.003014,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-2.32837415,"cg_iw_a":-0.595708132,"cg_theta_rad":0.554720163,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.00102483889,"mpcc_du":49.5296783,"mpcc_dv":50.4703217,"mpcc_dw":50.3348618,"mpcc_enc_sign":1,"mpcc_id_a":0.0560174398,"mpcc_iq_a":-1.96779513,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.13435531,"mpcc_pred_id_a":-0.212057427,"mpcc_pred_iq_a":-2.18653226,"mpcc_state":1,"mpcc_theta_e":0.443181515,"mpcc_theta_mech":0.555582225,"sam_rpm":19.9499207,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105687797,"thr_a_norm":0.105687797,"thr_a_v":0.922751188,"thr_b":0.0489253849,"thr_b_norm":0.0489253849,"thr_b_v":0.69570154,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.013268,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.878620625,"cg_iw_a":-2.11794901,"cg_theta_rad":0.554752409,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0180243924,"mpcc_du":50.2350693,"mpcc_dv":48.7329216,"mpcc_dw":51.2670784,"mpcc_enc_sign":1,"mpcc_id_a":0.012743379,"mpcc_iq_a":0.137598798,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.08413815,"mpcc_pred_id_a":-0.461797535,"mpcc_pred_iq_a":-3.83429813,"mpcc_state":1,"mpcc_theta_e":0.446418762,"mpcc_theta_mech":0.556229651,"sam_rpm":-0.150310114,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166353881,"thr_a_norm":0.105687797,"thr_a_v":0.566541553,"thr_b":0,"thr_b_norm":0.0489253849,"thr_b_v":0.471522063,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.023216,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.951108456,"cg_iw_a":-1.53804779,"cg_theta_rad":0.555456042,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0329383798,"mpcc_du":49.783268,"mpcc_dv":49.1341209,"mpcc_dw":50.8658791,"mpcc_enc_sign":1,"mpcc_id_a":2.60420036,"mpcc_iq_a":-0.82998538,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.30785179,"mpcc_pred_id_a":0.317091137,"mpcc_pred_iq_a":-2.89077091,"mpcc_state":1,"mpcc_theta_e":0.448278427,"mpcc_theta_mech":0.55580312,"sam_rpm":3.2020843,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166353881,"thr_a_norm":0.0166353881,"thr_a_v":0.566541553,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471522063,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.03347,"values":{"cg_iu_a":3.79393435,"cg_iv_a":-3.3432014,"cg_iw_a":0.274143934,"cg_theta_rad":0.557453632,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0374746174,"mpcc_du":49.9834061,"mpcc_dv":49.0555534,"mpcc_dw":50.9444466,"mpcc_enc_sign":1,"mpcc_id_a":1.90835595,"mpcc_iq_a":-1.7650646,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.86911011,"mpcc_pred_id_a":-0.0481182076,"mpcc_pred_iq_a":-3.52923417,"mpcc_state":1,"mpcc_theta_e":0.454030991,"mpcc_theta_mech":0.557752132,"sam_rpm":8.06868458,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165724456,"thr_a_norm":0.0165724456,"thr_a_v":0.566289783,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477463931,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.044853,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-2.47334933,"cg_iw_a":1.65140986,"cg_theta_rad":0.557668447,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0197483674,"mpcc_du":49.9857254,"mpcc_dv":48.8304787,"mpcc_dw":51.1695213,"mpcc_enc_sign":1,"mpcc_id_a":2.58405423,"mpcc_iq_a":-0.85829556,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.0886669,"mpcc_pred_id_a":0.377503037,"mpcc_pred_iq_a":-0.795593321,"mpcc_state":1,"mpcc_theta_e":0.429986477,"mpcc_theta_mech":0.55294323,"sam_rpm":-16.5349674,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022073701,"thr_a_norm":0.0165724456,"thr_a_v":0.588294804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473133445,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.05584,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.806133032,"cg_iw_a":-2.33541226,"cg_theta_rad":0.553637803,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.016207492,"mpcc_du":49.5553818,"mpcc_dv":49.5371513,"mpcc_dw":50.4628487,"mpcc_enc_sign":1,"mpcc_id_a":1.05371487,"mpcc_iq_a":-0.875360548,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.6447382,"mpcc_pred_id_a":0.00403545843,"mpcc_pred_iq_a":-2.53020501,"mpcc_state":1,"mpcc_theta_e":0.449355602,"mpcc_theta_mech":0.556817055,"sam_rpm":13.411006,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022073701,"thr_a_norm":0.022073701,"thr_a_v":0.588294804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473133445,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.065819,"values":{"cg_iu_a":4.51881123,"cg_iv_a":-2.61832476,"cg_iw_a":1.57892179,"cg_theta_rad":0.556413472,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0461121015,"mpcc_du":49.7616081,"mpcc_dv":49.0508347,"mpcc_dw":50.9491653,"mpcc_enc_sign":1,"mpcc_id_a":3.36043358,"mpcc_iq_a":-0.939068675,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.81361198,"mpcc_pred_id_a":0.604979753,"mpcc_pred_iq_a":-0.882551253,"mpcc_state":1,"mpcc_theta_e":0.454583168,"mpcc_theta_mech":0.55786252,"sam_rpm":15.6401129,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00872968137,"thr_a_norm":0.00872968137,"thr_a_v":0.534918725,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.445287228,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.08886,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.588670254,"cg_iw_a":-2.19043636,"cg_theta_rad":0.556697249,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.00534717645,"mpcc_du":50.2180595,"mpcc_dv":48.7840309,"mpcc_dw":51.2159691,"mpcc_enc_sign":1,"mpcc_id_a":1.27859044,"mpcc_iq_a":-1.42802811,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.00985909,"mpcc_pred_id_a":-0.253497183,"mpcc_pred_iq_a":-1.51941454,"mpcc_state":1,"mpcc_theta_e":0.438956261,"mpcc_theta_mech":0.55473721,"sam_rpm":-7.24781752,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00872968137,"thr_a_norm":0.00872968137,"thr_a_v":0.534918725,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.445287228,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.095421,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.02359605,"cg_iw_a":-0.160782099,"cg_theta_rad":0.554215848,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0139854187,"mpcc_du":50.5109825,"mpcc_dv":48.4309883,"mpcc_dw":51.5690117,"mpcc_enc_sign":1,"mpcc_id_a":-0.348351747,"mpcc_iq_a":-2.36991382,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.77650452,"mpcc_pred_id_a":-0.330980599,"mpcc_pred_iq_a":1.745363,"mpcc_state":1,"mpcc_theta_e":0.432460785,"mpcc_theta_mech":0.553438067,"sam_rpm":-9.93152523,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201979876,"thr_a_norm":0.0201979876,"thr_a_v":0.58079195,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460444033,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.101921,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.16857147,"cg_iw_a":-0.740683079,"cg_theta_rad":0.555437446,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.00917666685,"mpcc_du":50.2766113,"mpcc_dv":48.6316071,"mpcc_dw":51.3683929,"mpcc_enc_sign":1,"mpcc_id_a":1.21813142,"mpcc_iq_a":-1.21525645,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.17895412,"mpcc_pred_id_a":-0.0904723257,"mpcc_pred_iq_a":-1.62872708,"mpcc_state":1,"mpcc_theta_e":0.439263821,"mpcc_theta_mech":0.554798722,"sam_rpm":-7.71178293,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201979876,"thr_a_norm":0.0201979876,"thr_a_v":0.58079195,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460444033,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.108391,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.60349751,"cg_iw_a":0.854045391,"cg_theta_rad":0.556090891,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0367391817,"mpcc_du":51.7967949,"mpcc_dv":46.5625801,"mpcc_dw":53.4374199,"mpcc_enc_sign":1,"mpcc_id_a":2.50275636,"mpcc_iq_a":-0.000245530246,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.9308186,"mpcc_pred_id_a":0.335479617,"mpcc_pred_iq_a":5.00015068,"mpcc_state":1,"mpcc_theta_e":0.433180332,"mpcc_theta_mech":0.553581953,"sam_rpm":-18.3538284,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0231940895,"thr_a_norm":0.0231940895,"thr_a_v":0.592776358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493929952,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.117668,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.588670254,"cg_iw_a":-2.04546118,"cg_theta_rad":0.552209795,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.000432004599,"mpcc_du":49.9250412,"mpcc_dv":49.1023369,"mpcc_dw":50.8976631,"mpcc_enc_sign":1,"mpcc_id_a":0.358280241,"mpcc_iq_a":-0.847888768,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.6738949,"mpcc_pred_id_a":-0.147786379,"mpcc_pred_iq_a":-3.53968358,"mpcc_state":1,"mpcc_theta_e":0.426529884,"mpcc_theta_mech":0.552251875,"sam_rpm":-22.6367626,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0231940895,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.128654,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.53100967,"cg_iw_a":-1.17560959,"cg_theta_rad":0.555862427,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0594578944,"mpcc_du":49.456234,"mpcc_dv":49.2265244,"mpcc_dw":50.7734756,"mpcc_enc_sign":1,"mpcc_id_a":4.3275404,"mpcc_iq_a":-0.936582685,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.0829163,"mpcc_pred_id_a":1.19667816,"mpcc_pred_iq_a":-1.29946017,"mpcc_state":1,"mpcc_theta_e":0.452636719,"mpcc_theta_mech":0.557473302,"sam_rpm":15.1392174,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0236472934,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.138664,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.298719406,"cg_iw_a":-1.53804779,"cg_theta_rad":0.55643183,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0109349107,"mpcc_du":50.2318649,"mpcc_dv":48.9905815,"mpcc_dw":51.0094185,"mpcc_enc_sign":1,"mpcc_id_a":-0.864281595,"mpcc_iq_a":-1.53064334,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.752022862,"mpcc_pred_id_a":-0.627331555,"mpcc_pred_iq_a":-1.992957,"mpcc_state":1,"mpcc_theta_e":0.445474625,"mpcc_theta_mech":0.556040823,"sam_rpm":2.14838886,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0386907756,"thr_a_norm":0.0386907756,"thr_a_v":0.654763103,"thr_b":0.0103536248,"thr_b_norm":0.0103536248,"thr_b_v":0.541414499,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.148674,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.733645439,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556164563,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0116788847,"mpcc_du":49.4531441,"mpcc_dv":49.4950447,"mpcc_dw":50.5468559,"mpcc_enc_sign":1,"mpcc_id_a":2.1225872,"mpcc_iq_a":-0.994898081,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.770313799,"mpcc_pred_id_a":0.51997906,"mpcc_pred_iq_a":-1.83301425,"mpcc_state":1,"mpcc_theta_e":0.44004488,"mpcc_theta_mech":0.554209232,"sam_rpm":-0.126701474,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0386907756,"thr_a_norm":0.0386907756,"thr_a_v":0.654763103,"thr_b":0.0103536248,"thr_b_norm":0.0103536248,"thr_b_v":0.541414499,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.158836,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.226231575,"cg_iw_a":-1.46555996,"cg_theta_rad":0.557418764,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0374260359,"mpcc_du":49.3364449,"mpcc_dv":50.6635551,"mpcc_dw":50.1580009,"mpcc_enc_sign":1,"mpcc_id_a":2.87402749,"mpcc_iq_a":-1.27517569,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.6427326,"mpcc_pred_id_a":0.0961211547,"mpcc_pred_iq_a":-4.40093803,"mpcc_state":1,"mpcc_theta_e":0.458828926,"mpcc_theta_mech":0.558711708,"sam_rpm":25.6950302,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180327296,"thr_a_norm":0.0180327296,"thr_a_v":0.572130919,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449970245,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.169029,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.89344811,"cg_iw_a":1.5064342,"cg_theta_rad":0.555923522,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.021136729,"mpcc_du":49.6244125,"mpcc_dv":49.6224556,"mpcc_dw":50.3775444,"mpcc_enc_sign":1,"mpcc_id_a":0.19727087,"mpcc_iq_a":-1.3734709,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.24245071,"mpcc_pred_id_a":-0.425988644,"mpcc_pred_iq_a":-2.09102511,"mpcc_state":1,"mpcc_theta_e":0.427926064,"mpcc_theta_mech":0.552531123,"sam_rpm":-14.6518259,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0293122083,"thr_a_norm":0.0180327296,"thr_a_v":0.617248833,"thr_b":0.00390821695,"thr_b_norm":0,"thr_b_v":0.515632868,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.192253,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.60349751,"cg_iw_a":-0.740683079,"cg_theta_rad":0.557016134,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0295298807,"mpcc_du":48.9117165,"mpcc_dv":51.0882835,"mpcc_dw":49.5660248,"mpcc_enc_sign":1,"mpcc_id_a":2.78390956,"mpcc_iq_a":-0.463035673,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.1984072,"mpcc_pred_id_a":-0.0404881835,"mpcc_pred_iq_a":-6.40179968,"mpcc_state":1,"mpcc_theta_e":0.451943874,"mpcc_theta_mech":0.557334721,"sam_rpm":16.5108624,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0293122083,"thr_a_norm":0.0293122083,"thr_a_v":0.617248833,"thr_b":0.00390821695,"thr_b_norm":0.00390821695,"thr_b_v":0.515632868,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.198784,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.16857147,"cg_iw_a":-0.668195724,"cg_theta_rad":0.557095766,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.051917538,"mpcc_du":49.7906532,"mpcc_dv":49.1764984,"mpcc_dw":50.8235016,"mpcc_enc_sign":1,"mpcc_id_a":3.09728193,"mpcc_iq_a":-0.14599736,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.50921774,"mpcc_pred_id_a":0.310823917,"mpcc_pred_iq_a":-1.65439475,"mpcc_state":1,"mpcc_theta_e":0.450696945,"mpcc_theta_mech":0.557085335,"sam_rpm":11.7437677,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022552073,"thr_a_norm":0.022552073,"thr_a_v":0.590208292,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473284513,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.205284,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.24105906,"cg_iw_a":-1.97297359,"cg_theta_rad":0.553519309,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0121192597,"mpcc_du":49.0770645,"mpcc_dv":50.9229355,"mpcc_dw":49.7026711,"mpcc_enc_sign":1,"mpcc_id_a":1.89968479,"mpcc_iq_a":-0.956845462,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.02029896,"mpcc_pred_id_a":-0.207610011,"mpcc_pred_iq_a":-5.82065392,"mpcc_state":1,"mpcc_theta_e":0.448826313,"mpcc_theta_mech":0.556711197,"sam_rpm":12.9393721,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022552073,"thr_a_norm":0.022552073,"thr_a_v":0.590208292,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473284513,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.211815,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.60349751,"cg_iw_a":-0.450732708,"cg_theta_rad":0.555840075,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0456056818,"mpcc_du":49.1947784,"mpcc_dv":50.8052216,"mpcc_dw":50.0667686,"mpcc_enc_sign":1,"mpcc_id_a":0.478442132,"mpcc_iq_a":-1.63708436,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.66656828,"mpcc_pred_id_a":0.438559264,"mpcc_pred_iq_a":-6.51853609,"mpcc_state":1,"mpcc_theta_e":0.425778389,"mpcc_theta_mech":0.552101612,"sam_rpm":3.32440376,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0290855914,"thr_a_norm":0.0290855914,"thr_a_v":0.616342366,"thr_b":0.00125201046,"thr_b_norm":0.00125201046,"thr_b_v":0.505008042,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.220207,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.588670254,"cg_iw_a":-0.015806675,"cg_theta_rad":0.554461062,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0244552009,"mpcc_du":49.5479012,"mpcc_dv":50.1122131,"mpcc_dw":50.4520988,"mpcc_enc_sign":1,"mpcc_id_a":2.70533442,"mpcc_iq_a":0.0658148825,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.37625241,"mpcc_pred_id_a":0.239964291,"mpcc_pred_iq_a":-3.89621305,"mpcc_state":1,"mpcc_theta_e":0.442431927,"mpcc_theta_mech":0.55543232,"sam_rpm":1.27746069,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0290855914,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0.00125201046,"thr_b_v":0.446596503,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.230034,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.96593571,"cg_iw_a":-1.10312176,"cg_theta_rad":0.555804431,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.073052749,"mpcc_du":50.4132996,"mpcc_dv":48.1688919,"mpcc_dw":51.8311081,"mpcc_enc_sign":1,"mpcc_id_a":4.64796972,"mpcc_iq_a":-0.0379980244,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.95504856,"mpcc_pred_id_a":0.83980751,"mpcc_pred_iq_a":-0.602540076,"mpcc_state":1,"mpcc_theta_e":0.436171532,"mpcc_theta_mech":0.554180205,"sam_rpm":-12.4206619,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446596503,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.240257,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.153744221,"cg_iw_a":-3.64019012,"cg_theta_rad":0.552452981,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0270427018,"mpcc_du":50.2152023,"mpcc_dv":48.4695473,"mpcc_dw":51.5304527,"mpcc_enc_sign":1,"mpcc_id_a":3.07957029,"mpcc_iq_a":-1.34420466,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.44697666,"mpcc_pred_id_a":0.692244112,"mpcc_pred_iq_a":-1.45313084,"mpcc_state":1,"mpcc_theta_e":0.43768549,"mpcc_theta_mech":0.554482996,"sam_rpm":-11.5153599,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258628875,"thr_a_norm":0.0258628875,"thr_a_v":0.60345155,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49080795,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.250023,"values":{"cg_iu_a":4.37383556,"cg_iv_a":-1.16857147,"cg_iw_a":0.636582375,"cg_theta_rad":0.556886733,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0259131622,"mpcc_du":49.4826431,"mpcc_dv":50.2874489,"mpcc_dw":50.5173569,"mpcc_enc_sign":1,"mpcc_id_a":2.35386372,"mpcc_iq_a":-0.848725855,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.03153896,"mpcc_pred_id_a":0.558374405,"mpcc_pred_iq_a":-4.80798483,"mpcc_state":1,"mpcc_theta_e":0.448212624,"mpcc_theta_mech":0.556588411,"sam_rpm":8.44019127,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258628875,"thr_a_norm":0.0258628875,"thr_a_v":0.60345155,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49080795,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.260368,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.588670254,"cg_iw_a":-1.75551033,"cg_theta_rad":0.555873215,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.014969103,"mpcc_du":49.4770699,"mpcc_dv":49.5781403,"mpcc_dw":50.617794,"mpcc_enc_sign":1,"mpcc_id_a":2.40666246,"mpcc_iq_a":0.130142033,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.74818254,"mpcc_pred_id_a":0.380941063,"mpcc_pred_iq_a":-1.18855906,"mpcc_state":1,"mpcc_theta_e":0.435855389,"mpcc_theta_mech":0.553917706,"sam_rpm":2.71667981,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214316845,"thr_a_norm":0.0214316845,"thr_a_v":0.585726738,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.270409,"values":{"cg_iu_a":0.531989098,"cg_iv_a":0.208694458,"cg_iw_a":-1.24809718,"cg_theta_rad":0.557289481,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0168841109,"mpcc_du":49.1753197,"mpcc_dv":50.8246803,"mpcc_dw":51.1377335,"mpcc_enc_sign":1,"mpcc_id_a":2.57567239,"mpcc_iq_a":-1.55846059,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.27449512,"mpcc_pred_id_a":0.551698327,"mpcc_pred_iq_a":-4.2278614,"mpcc_state":1,"mpcc_theta_e":0.448028088,"mpcc_theta_mech":0.553399801,"sam_rpm":12.7898693,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026353851,"thr_a_norm":0.0214316845,"thr_a_v":0.605415404,"thr_b":0.00269970298,"thr_b_norm":0,"thr_b_v":0.510798812,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.292503,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.951108456,"cg_iw_a":0.419119358,"cg_theta_rad":0.553777397,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.00113020174,"mpcc_du":49.0642967,"mpcc_dv":50.9357033,"mpcc_dw":49.5734062,"mpcc_enc_sign":1,"mpcc_id_a":-0.18367894,"mpcc_iq_a":-1.6231122,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.68371534,"mpcc_pred_id_a":-0.553005219,"mpcc_pred_iq_a":-5.75881863,"mpcc_state":1,"mpcc_theta_e":0.444416046,"mpcc_theta_mech":0.555829167,"sam_rpm":7.7770772,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026353851,"thr_a_norm":0.026353851,"thr_a_v":0.605415404,"thr_b":0.00269970298,"thr_b_norm":0.00269970298,"thr_b_v":0.510798812,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.298973,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.74847269,"cg_iw_a":-0.885658741,"cg_theta_rad":0.554386735,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0186718702,"mpcc_du":49.829361,"mpcc_dv":49.0760345,"mpcc_dw":50.9239655,"mpcc_enc_sign":1,"mpcc_id_a":2.73278546,"mpcc_iq_a":-1.39904952,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.91410065,"mpcc_pred_id_a":0.406177431,"mpcc_pred_iq_a":0.661221921,"mpcc_state":1,"mpcc_theta_e":0.447107315,"mpcc_theta_mech":0.556367397,"sam_rpm":11.0810871,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234458596,"thr_a_norm":0.0234458596,"thr_a_v":0.593783438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459789425,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.305473,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.878620625,"cg_iw_a":-2.19043684,"cg_theta_rad":0.556827128,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0330237672,"mpcc_du":49.913662,"mpcc_dv":49.021759,"mpcc_dw":50.978241,"mpcc_enc_sign":1,"mpcc_id_a":3.09421849,"mpcc_iq_a":-0.646951437,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.91800928,"mpcc_pred_id_a":0.264918923,"mpcc_pred_iq_a":-0.647227585,"mpcc_state":1,"mpcc_theta_e":0.448059082,"mpcc_theta_mech":0.556557775,"sam_rpm":8.61518669,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234458596,"thr_a_norm":0.0234458596,"thr_a_v":0.593783438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459789425,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.312004,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.806133032,"cg_iw_a":-1.8279984,"cg_theta_rad":0.554715633,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.025631696,"mpcc_du":49.526619,"mpcc_dv":49.8065262,"mpcc_dw":50.473381,"mpcc_enc_sign":1,"mpcc_id_a":2.21626902,"mpcc_iq_a":-0.80526042,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.968502,"mpcc_pred_id_a":0.27995652,"mpcc_pred_iq_a":-1.54406703,"mpcc_state":1,"mpcc_theta_e":0.456934452,"mpcc_theta_mech":0.558332801,"sam_rpm":24.1028938,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0316914469,"thr_a_norm":0.0316914469,"thr_a_v":0.626765788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490354747,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.32122,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.153744221,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556196392,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0024839777,"mpcc_du":50.0482979,"mpcc_dv":49.1109695,"mpcc_dw":50.8890305,"mpcc_enc_sign":1,"mpcc_id_a":0.366516769,"mpcc_iq_a":-2.81594038,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.05217707,"mpcc_pred_id_a":-0.353947431,"mpcc_pred_iq_a":-3.04017758,"mpcc_state":1,"mpcc_theta_e":0.446616173,"mpcc_theta_mech":0.556269109,"sam_rpm":2.1314888,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247173309,"thr_a_norm":0.0316914469,"thr_a_v":0.598869324,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493174642,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.331261,"values":{"cg_iu_a":4.2288599,"cg_iv_a":-1.38603449,"cg_iw_a":0.781557798,"cg_theta_rad":0.556189358,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0329599865,"mpcc_du":50.3287163,"mpcc_dv":48.780983,"mpcc_dw":51.219017,"mpcc_enc_sign":1,"mpcc_id_a":0.173752889,"mpcc_iq_a":-0.867892087,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.685527682,"mpcc_pred_id_a":-0.407682866,"mpcc_pred_iq_a":-2.31061316,"mpcc_state":1,"mpcc_theta_e":0.447213173,"mpcc_theta_mech":0.556388557,"sam_rpm":2.63361239,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247173309,"thr_a_norm":0.0247173309,"thr_a_v":0.598869324,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493174642,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.341423,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.6759851,"cg_iw_a":0.491606951,"cg_theta_rad":0.554615736,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0517375432,"mpcc_du":50.7574501,"mpcc_dv":47.9189873,"mpcc_dw":52.0810127,"mpcc_enc_sign":1,"mpcc_id_a":1.7038933,"mpcc_iq_a":-0.523965836,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.89258718,"mpcc_pred_id_a":0.385561734,"mpcc_pred_iq_a":-0.504644692,"mpcc_state":1,"mpcc_theta_e":0.441967487,"mpcc_theta_mech":0.555339396,"sam_rpm":-5.55988169,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294632614,"thr_a_norm":0.0294632614,"thr_a_v":0.617853045,"thr_b":0.00550697744,"thr_b_norm":0.00550697744,"thr_b_v":0.52202791,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.351402,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-2.76329994,"cg_iw_a":-1.24809694,"cg_theta_rad":0.555153251,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0909607783,"mpcc_du":50.1687737,"mpcc_dv":48.6356354,"mpcc_dw":51.3643646,"mpcc_enc_sign":1,"mpcc_id_a":3.1854322,"mpcc_iq_a":0.370164424,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.29533148,"mpcc_pred_id_a":0.448816985,"mpcc_pred_iq_a":-1.80319178,"mpcc_state":1,"mpcc_theta_e":0.450398445,"mpcc_theta_mech":0.557025611,"sam_rpm":6.00246906,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294632614,"thr_a_norm":0.0294632614,"thr_a_v":0.617853045,"thr_b":0.00550697744,"thr_b_norm":0.00550697744,"thr_b_v":0.52202791,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.362877,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.89344811,"cg_iw_a":0.78155756,"cg_theta_rad":0.554657876,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0646495819,"mpcc_du":49.5367775,"mpcc_dv":50.0566597,"mpcc_dw":50.4632225,"mpcc_enc_sign":1,"mpcc_id_a":2.85560894,"mpcc_iq_a":1.49818873,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.03492451,"mpcc_pred_id_a":0.207090676,"mpcc_pred_iq_a":-3.52538776,"mpcc_state":1,"mpcc_theta_e":0.45401144,"mpcc_theta_mech":0.557748199,"sam_rpm":12.8163643,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185866356,"thr_a_norm":0.0185866356,"thr_a_v":0.574346542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469759673,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.374138,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556950569,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0595689677,"mpcc_du":49.7569504,"mpcc_dv":49.2471237,"mpcc_dw":50.7528763,"mpcc_enc_sign":1,"mpcc_id_a":2.1042428,"mpcc_iq_a":-0.374290854,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.83505726,"mpcc_pred_id_a":0.130345196,"mpcc_pred_iq_a":-3.1686213,"mpcc_state":1,"mpcc_theta_e":0.455705643,"mpcc_theta_mech":0.558087051,"sam_rpm":14.0136013,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274616629,"thr_a_norm":0.0274616629,"thr_a_v":0.609846652,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496296614,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.396843,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.806133032,"cg_iw_a":-1.39307237,"cg_theta_rad":0.556167722,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0129134776,"mpcc_du":49.3423729,"mpcc_dv":50.6576271,"mpcc_dw":50.0886383,"mpcc_enc_sign":1,"mpcc_id_a":1.51610804,"mpcc_iq_a":-1.42046428,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.99877405,"mpcc_pred_id_a":-0.149074346,"mpcc_pred_iq_a":-6.45186043,"mpcc_state":1,"mpcc_theta_e":0.447931767,"mpcc_theta_mech":0.556532264,"sam_rpm":8.61186504,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274616629,"thr_a_norm":0.0274616629,"thr_a_v":0.609846652,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496296614,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.403374,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.74847269,"cg_iw_a":1.28897142,"cg_theta_rad":0.555082917,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0355208926,"mpcc_du":50.4834595,"mpcc_dv":48.1540871,"mpcc_dw":51.8459129,"mpcc_enc_sign":1,"mpcc_id_a":2.80341172,"mpcc_iq_a":-0.564052999,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.80082798,"mpcc_pred_id_a":0.562529385,"mpcc_pred_iq_a":-1.16835737,"mpcc_state":1,"mpcc_theta_e":0.436371326,"mpcc_theta_mech":0.55422014,"sam_rpm":-13.7034092,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451027691,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.409904,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.516182423,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556857347,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.021608077,"mpcc_du":49.9634819,"mpcc_dv":49.0018921,"mpcc_dw":50.9981079,"mpcc_enc_sign":1,"mpcc_id_a":2.62780952,"mpcc_iq_a":-1.11490273,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.50727844,"mpcc_pred_id_a":0.123747163,"mpcc_pred_iq_a":-0.515772939,"mpcc_state":1,"mpcc_theta_e":0.446675301,"mpcc_theta_mech":0.556280971,"sam_rpm":8.26999378,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451027691,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.416435,"values":{"cg_iu_a":4.5912981,"cg_iv_a":-0.878620625,"cg_iw_a":-3.71267748,"cg_theta_rad":0.556866765,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.00391203724,"mpcc_du":50.1732674,"mpcc_dv":48.7552261,"mpcc_dw":51.2447739,"mpcc_enc_sign":1,"mpcc_id_a":1.09533453,"mpcc_iq_a":-0.792749584,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.47982287,"mpcc_pred_id_a":0.0375935659,"mpcc_pred_iq_a":0.838701189,"mpcc_state":1,"mpcc_theta_e":0.4427495,"mpcc_theta_mech":0.555495858,"sam_rpm":3.34171581,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.102452502,"thr_a_norm":0.102452502,"thr_a_v":0.909810007,"thr_b":0.0462439954,"thr_b_norm":0.0462439954,"thr_b_v":0.684975982,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.424797,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.153744221,"cg_iw_a":-0.885658741,"cg_theta_rad":0.552251875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0380451083,"mpcc_du":50.5203285,"mpcc_dv":48.4544067,"mpcc_dw":51.5455933,"mpcc_enc_sign":1,"mpcc_id_a":1.3061347,"mpcc_iq_a":0.814454973,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.1836586,"mpcc_pred_id_a":-0.0751658902,"mpcc_pred_iq_a":-3.13863993,"mpcc_state":1,"mpcc_theta_e":0.44992733,"mpcc_theta_mech":0.556931376,"sam_rpm":-8.81825924,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166857392,"thr_a_norm":0.102452502,"thr_a_v":0.566742957,"thr_b":0,"thr_b_norm":0.0462439954,"thr_b_v":0.481089473,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.43499,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-2.61832476,"cg_iw_a":-0.81317091,"cg_theta_rad":0.555814743,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0114633767,"mpcc_du":50.1104774,"mpcc_dv":48.8139458,"mpcc_dw":51.1860542,"mpcc_enc_sign":1,"mpcc_id_a":0.464851677,"mpcc_iq_a":-1.13036394,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.97620463,"mpcc_pred_id_a":0.0139995599,"mpcc_pred_iq_a":1.79495502,"mpcc_state":1,"mpcc_theta_e":0.430812836,"mpcc_theta_mech":0.553108513,"sam_rpm":-5.67760468,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166857392,"thr_a_norm":0.0166857392,"thr_a_v":0.566742957,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481089473,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.445,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-2.25588632,"cg_iw_a":-0.595708132,"cg_theta_rad":0.558184803,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.00990013126,"mpcc_du":50.7199402,"mpcc_dv":48.029705,"mpcc_dw":51.970295,"mpcc_enc_sign":1,"mpcc_id_a":0.745795965,"mpcc_iq_a":-0.67983228,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.26095486,"mpcc_pred_id_a":0.124549791,"mpcc_pred_iq_a":-0.942060351,"mpcc_state":1,"mpcc_theta_e":0.44882679,"mpcc_theta_mech":0.556711257,"sam_rpm":-20.1608658,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023685053,"thr_a_norm":0.023685053,"thr_a_v":0.594740212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465882361,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.455009,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.02359605,"cg_iw_a":0.926532984,"cg_theta_rad":0.554630816,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.00630530575,"mpcc_du":50.2729912,"mpcc_dv":48.4659882,"mpcc_dw":51.5340118,"mpcc_enc_sign":1,"mpcc_id_a":0.742995262,"mpcc_iq_a":-0.524059296,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.9374361,"mpcc_pred_id_a":0.426242113,"mpcc_pred_iq_a":-1.35230148,"mpcc_state":1,"mpcc_theta_e":0.433667183,"mpcc_theta_mech":0.553679347,"sam_rpm":-14.9639654,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023685053,"thr_a_norm":0.023685053,"thr_a_v":0.594740212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465882361,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.465294,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.226231575,"cg_iw_a":-0.740683556,"cg_theta_rad":0.555877507,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0586649738,"mpcc_du":50.3489532,"mpcc_dv":48.6886673,"mpcc_dw":51.3113327,"mpcc_enc_sign":1,"mpcc_id_a":3.05044746,"mpcc_iq_a":-0.0690037608,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.464342415,"mpcc_pred_id_a":0.337692946,"mpcc_pred_iq_a":-2.57177353,"mpcc_state":1,"mpcc_theta_e":0.44815731,"mpcc_theta_mech":0.556711197,"sam_rpm":0.938711047,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219226331,"thr_a_norm":0.0219226331,"thr_a_v":0.587690532,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.475426,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.588670254,"cg_iw_a":2.01384807,"cg_theta_rad":0.556587994,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0117079876,"mpcc_du":49.606514,"mpcc_dv":50.1381264,"mpcc_dw":50.393486,"mpcc_enc_sign":1,"mpcc_id_a":0.957073271,"mpcc_iq_a":-1.24482274,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.80399323,"mpcc_pred_id_a":-0.076162219,"mpcc_pred_iq_a":-5.44733047,"mpcc_state":1,"mpcc_theta_e":0.448006153,"mpcc_theta_mech":0.555082381,"sam_rpm":3.98410201,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291107744,"thr_a_norm":0.0219226331,"thr_a_v":0.616443098,"thr_b":0.00136530399,"thr_b_norm":0,"thr_b_v":0.505461216,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.497459,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-1.09608364,"cg_iw_a":-1.75551081,"cg_theta_rad":0.554475784,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0191182811,"mpcc_du":49.1084862,"mpcc_dv":48.8883781,"mpcc_dw":51.1116219,"mpcc_enc_sign":1,"mpcc_id_a":2.66537309,"mpcc_iq_a":-1.03579974,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.03803635,"mpcc_pred_id_a":0.177226126,"mpcc_pred_iq_a":-3.83143377,"mpcc_state":1,"mpcc_theta_e":0.445319176,"mpcc_theta_mech":0.556009769,"sam_rpm":12.3760757,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291107744,"thr_a_norm":0.0291107744,"thr_a_v":0.616443098,"thr_b":0.00136530399,"thr_b_norm":0.00136530399,"thr_b_v":0.505461216,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.50396,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-0.371207237,"cg_iw_a":-0.378244877,"cg_theta_rad":0.55689621,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.00115660159,"mpcc_du":50.0016289,"mpcc_dv":49.1260605,"mpcc_dw":50.8739395,"mpcc_enc_sign":1,"mpcc_id_a":0.408239782,"mpcc_iq_a":-1.72215068,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.70423794,"mpcc_pred_id_a":-0.300848126,"mpcc_pred_iq_a":-0.888856649,"mpcc_state":1,"mpcc_theta_e":0.446520805,"mpcc_theta_mech":0.556250095,"sam_rpm":6.94573212,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0127706528,"thr_a_norm":0.0127706528,"thr_a_v":0.551082611,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4398489,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.51049,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.153744221,"cg_iw_a":-0.233269691,"cg_theta_rad":0.554801881,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.00469068019,"mpcc_du":49.6145248,"mpcc_dv":49.5041389,"mpcc_dw":50.4958611,"mpcc_enc_sign":1,"mpcc_id_a":1.36973381,"mpcc_iq_a":-3.0371263,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.0767555,"mpcc_pred_id_a":-0.103119999,"mpcc_pred_iq_a":-1.43829679,"mpcc_state":1,"mpcc_theta_e":0.453384876,"mpcc_theta_mech":0.55762291,"sam_rpm":19.3454609,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0127706528,"thr_a_norm":0.0127706528,"thr_a_v":0.551082611,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4398489,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.516991,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.74847269,"cg_iw_a":0.78155756,"cg_theta_rad":0.557150126,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.00143548497,"mpcc_du":50.6334686,"mpcc_dv":48.352623,"mpcc_dw":51.647377,"mpcc_enc_sign":1,"mpcc_id_a":-0.502589345,"mpcc_iq_a":-2.07852697,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.3017654,"mpcc_pred_id_a":-0.359166712,"mpcc_pred_iq_a":-0.253448248,"mpcc_state":1,"mpcc_theta_e":0.45381403,"mpcc_theta_mech":0.557708681,"sam_rpm":-7.36593151,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151750892,"thr_a_norm":0.0151750892,"thr_a_v":0.560700357,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.526237,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-0.661157608,"cg_iw_a":0.491606712,"cg_theta_rad":0.55719018,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.00310791377,"mpcc_du":49.8670197,"mpcc_dv":49.1990395,"mpcc_dw":50.8009605,"mpcc_enc_sign":1,"mpcc_id_a":1.11213303,"mpcc_iq_a":-0.931205988,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.39259052,"mpcc_pred_id_a":-0.204102889,"mpcc_pred_iq_a":-2.10391974,"mpcc_state":1,"mpcc_theta_e":0.437301159,"mpcc_theta_mech":0.554406106,"sam_rpm":-7.36283827,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151750892,"thr_a_norm":0.0151750892,"thr_a_v":0.560700357,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.536461,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.733645439,"cg_iw_a":-0.59570837,"cg_theta_rad":0.557488739,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0125847105,"mpcc_du":48.8701286,"mpcc_dv":51.1298714,"mpcc_dw":49.2917633,"mpcc_enc_sign":1,"mpcc_id_a":-1.54121399,"mpcc_iq_a":-2.59813786,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.7173672,"mpcc_pred_id_a":-0.833439291,"mpcc_pred_iq_a":-4.68519115,"mpcc_state":1,"mpcc_theta_e":0.447443485,"mpcc_theta_mech":0.552747548,"sam_rpm":20.3994923,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218470991,"thr_a_norm":0.0218470991,"thr_a_v":0.587388396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469558269,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.54641,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.588670254,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556397617,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.00825843401,"mpcc_du":49.5251846,"mpcc_dv":50.3720703,"mpcc_dw":50.4748154,"mpcc_enc_sign":1,"mpcc_id_a":1.35012913,"mpcc_iq_a":-1.93924534,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.4850235,"mpcc_pred_id_a":0.289563954,"mpcc_pred_iq_a":-2.52619624,"mpcc_state":1,"mpcc_theta_e":0.445706844,"mpcc_theta_mech":0.556087315,"sam_rpm":9.66262054,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0404909551,"thr_a_norm":0.0218470991,"thr_a_v":0.66196382,"thr_b":0.0120279193,"thr_b_norm":0,"thr_b_v":0.548111677,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.556206,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.806133032,"cg_iw_a":-1.03063416,"cg_theta_rad":0.552560389,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.026114827,"mpcc_du":49.8284836,"mpcc_dv":48.9919815,"mpcc_dw":51.0080185,"mpcc_enc_sign":1,"mpcc_id_a":2.64336705,"mpcc_iq_a":0.303002149,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.33225632,"mpcc_pred_id_a":0.469954252,"mpcc_pred_iq_a":-2.41396594,"mpcc_state":1,"mpcc_theta_e":0.433420181,"mpcc_theta_mech":0.553629994,"sam_rpm":-10.4688463,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0404909551,"thr_a_norm":0.0404909551,"thr_a_v":0.66196382,"thr_b":0.0120279193,"thr_b_norm":0.0120279193,"thr_b_v":0.548111677,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.566673,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.74847269,"cg_iw_a":-0.16078186,"cg_theta_rad":0.55696094,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0198536739,"mpcc_du":50.3817482,"mpcc_dv":48.5440063,"mpcc_dw":51.4559937,"mpcc_enc_sign":1,"mpcc_id_a":1.86376095,"mpcc_iq_a":-1.53626966,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.394615203,"mpcc_pred_id_a":0.0304953679,"mpcc_pred_iq_a":-1.08337164,"mpcc_state":1,"mpcc_theta_e":0.446081638,"mpcc_theta_mech":0.556162238,"sam_rpm":-0.041770529,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021242857,"thr_a_norm":0.021242857,"thr_a_v":0.584971428,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.576653,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.951108456,"cg_iw_a":-1.46555996,"cg_theta_rad":0.553369045,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.069762364,"mpcc_du":50.2380562,"mpcc_dv":48.6294441,"mpcc_dw":51.3705559,"mpcc_enc_sign":1,"mpcc_id_a":2.54227448,"mpcc_iq_a":-0.631900489,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.37512302,"mpcc_pred_id_a":0.336777657,"mpcc_pred_iq_a":-1.58920693,"mpcc_state":1,"mpcc_theta_e":0.454414845,"mpcc_theta_mech":0.557828903,"sam_rpm":10.5171537,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021242857,"thr_a_norm":0.021242857,"thr_a_v":0.584971428,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.599846,"values":{"cg_iu_a":4.5912981,"cg_iv_a":-1.6759851,"cg_iw_a":-2.91531301,"cg_theta_rad":0.553962886,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0120346937,"mpcc_du":49.2331352,"mpcc_dv":50.7668648,"mpcc_dw":50.0460854,"mpcc_enc_sign":1,"mpcc_id_a":2.07345176,"mpcc_iq_a":-1.59825301,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.86292076,"mpcc_pred_id_a":0.148821846,"mpcc_pred_iq_a":-5.06180811,"mpcc_state":1,"mpcc_theta_e":0.448932648,"mpcc_theta_mech":0.556732416,"sam_rpm":13.9702606,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.0067280829,"thr_b_norm":0.0067280829,"thr_b_v":0.526912332,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.606377,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.733645439,"cg_iw_a":-2.55287504,"cg_theta_rad":0.556193948,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0227570571,"mpcc_du":49.5256157,"mpcc_dv":48.3193245,"mpcc_dw":51.6806755,"mpcc_enc_sign":1,"mpcc_id_a":2.45973825,"mpcc_iq_a":-1.13030231,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.33044291,"mpcc_pred_id_a":0.400864035,"mpcc_pred_iq_a":-4.47067738,"mpcc_state":1,"mpcc_theta_e":0.447705746,"mpcc_theta_mech":0.556487024,"sam_rpm":11.1236687,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281792134,"thr_a_norm":0.0296772718,"thr_a_v":0.612716854,"thr_b":0,"thr_b_norm":0.0067280829,"thr_b_v":0.492016494,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.612907,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.443694592,"cg_iw_a":-2.40789986,"cg_theta_rad":0.557095766,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.000961796555,"mpcc_du":51.0380936,"mpcc_dv":47.7632637,"mpcc_dw":52.2367363,"mpcc_enc_sign":1,"mpcc_id_a":0.316807836,"mpcc_iq_a":-0.414491951,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.4547768,"mpcc_pred_id_a":-0.261952192,"mpcc_pred_iq_a":0.677174985,"mpcc_state":1,"mpcc_theta_e":0.424892426,"mpcc_theta_mech":0.551924407,"sam_rpm":-28.8741951,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281792134,"thr_a_norm":0.0281792134,"thr_a_v":0.612716854,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492016494,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.619438,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.02359605,"cg_iw_a":-1.75551057,"cg_theta_rad":0.555703223,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0243647192,"mpcc_du":49.51231,"mpcc_dv":49.4745903,"mpcc_dw":50.5254097,"mpcc_enc_sign":1,"mpcc_id_a":3.11211967,"mpcc_iq_a":-0.240484819,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.67177916,"mpcc_pred_id_a":0.306601405,"mpcc_pred_iq_a":-3.13402939,"mpcc_state":1,"mpcc_theta_e":0.434587002,"mpcc_theta_mech":0.553863347,"sam_rpm":-9.61725616,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0362359732,"thr_a_norm":0.0362359732,"thr_a_v":0.644943893,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477514297,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.627373,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.226231575,"cg_iw_a":0.709070206,"cg_theta_rad":0.557821691,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.00737579074,"mpcc_du":50.267498,"mpcc_dv":48.8587112,"mpcc_dw":51.1412888,"mpcc_enc_sign":1,"mpcc_id_a":0.981410444,"mpcc_iq_a":-4.22215557,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.41262054,"mpcc_pred_id_a":-0.363631636,"mpcc_pred_iq_a":-0.535197437,"mpcc_state":1,"mpcc_theta_e":0.445982456,"mpcc_theta_mech":0.556142449,"sam_rpm":5.08154058,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0362359732,"thr_a_norm":0.0362359732,"thr_a_v":0.644943893,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477514297,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.637627,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.09608364,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556323528,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0728382245,"mpcc_du":50.1633949,"mpcc_dv":48.6635094,"mpcc_dw":51.3364906,"mpcc_enc_sign":1,"mpcc_id_a":2.82515001,"mpcc_iq_a":0.137291014,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.86143005,"mpcc_pred_id_a":0.472400308,"mpcc_pred_iq_a":-2.76596332,"mpcc_state":1,"mpcc_theta_e":0.44630909,"mpcc_theta_mech":0.556207776,"sam_rpm":-1.84897387,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184103847,"thr_a_norm":0.0184103847,"thr_a_v":0.573641539,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444733351,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.647636,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.74847269,"cg_iw_a":-1.17560959,"cg_theta_rad":0.550689995,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0111968182,"mpcc_du":50.8019485,"mpcc_dv":48.0182648,"mpcc_dw":51.9817352,"mpcc_enc_sign":1,"mpcc_id_a":0.626637816,"mpcc_iq_a":-1.32753766,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-23.311245,"mpcc_pred_id_a":-0.160029426,"mpcc_pred_iq_a":0.161451459,"mpcc_state":1,"mpcc_theta_e":0.418325901,"mpcc_theta_mech":0.550611138,"sam_rpm":-36.2049751,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194678307,"thr_a_norm":0.0184103847,"thr_a_v":0.577871323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465832025,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.657524,"values":{"cg_iu_a":0.169550896,"cg_iv_a":0.0637187958,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556410968,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.03320935,"mpcc_du":50.2289925,"mpcc_dv":48.7324181,"mpcc_dw":51.2675819,"mpcc_enc_sign":1,"mpcc_id_a":1.18989336,"mpcc_iq_a":-0.425048411,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.56752539,"mpcc_pred_id_a":0.0516825989,"mpcc_pred_iq_a":-1.49072611,"mpcc_state":1,"mpcc_theta_e":0.445851326,"mpcc_theta_mech":0.557334244,"sam_rpm":4.15706301,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194678307,"thr_a_norm":0.0194678307,"thr_a_v":0.577871323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465832025,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.667625,"values":{"cg_iu_a":2.63413143,"cg_iv_a":0.861083508,"cg_iw_a":-3.49521494,"cg_theta_rad":0.553249359,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0709906816,"mpcc_du":50.9202118,"mpcc_dv":47.8027725,"mpcc_dw":52.1972275,"mpcc_enc_sign":1,"mpcc_id_a":2.51495671,"mpcc_iq_a":0.341364354,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.93780088,"mpcc_pred_id_a":0.389907449,"mpcc_pred_iq_a":0.114613831,"mpcc_state":1,"mpcc_theta_e":0.442381859,"mpcc_theta_mech":0.555422306,"sam_rpm":-7.41031408,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0998466611,"thr_a_norm":0.0998466611,"thr_a_v":0.899386644,"thr_b":0.0437514186,"thr_b_norm":0.0437514186,"thr_b_v":0.675005674,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.677544,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.443694592,"cg_iw_a":0.274143696,"cg_theta_rad":0.554741442,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.06036162,"mpcc_du":50.7255287,"mpcc_dv":48.03862,"mpcc_dw":51.96138,"mpcc_enc_sign":1,"mpcc_id_a":2.00756574,"mpcc_iq_a":-0.733561099,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.2989049,"mpcc_pred_id_a":0.447793096,"mpcc_pred_iq_a":-0.252839744,"mpcc_state":1,"mpcc_theta_e":0.450295448,"mpcc_theta_mech":0.557004988,"sam_rpm":3.04496932,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0998466611,"thr_a_norm":0.0998466611,"thr_a_v":0.899386644,"thr_b":0.0437514186,"thr_b_norm":0.0437514186,"thr_b_v":0.675005674,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.700798,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.298719406,"cg_iw_a":-2.33541203,"cg_theta_rad":0.558087111,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0423909426,"mpcc_du":50.3093109,"mpcc_dv":48.5166893,"mpcc_dw":51.4833107,"mpcc_enc_sign":1,"mpcc_id_a":2.71462107,"mpcc_iq_a":-0.596509159,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0500129573,"mpcc_pred_id_a":0.430278361,"mpcc_pred_iq_a":-0.990519524,"mpcc_state":1,"mpcc_theta_e":0.445631981,"mpcc_theta_mech":0.556072354,"sam_rpm":0.757043242,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022174418,"thr_a_norm":0.022174418,"thr_a_v":0.588697672,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474392295,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.707329,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.02359605,"cg_iw_a":-1.90048623,"cg_theta_rad":0.555451334,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0205243025,"mpcc_du":49.5681763,"mpcc_dv":50.062458,"mpcc_dw":50.4318237,"mpcc_enc_sign":1,"mpcc_id_a":2.39968729,"mpcc_iq_a":-0.921424448,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.81314421,"mpcc_pred_id_a":0.108536571,"mpcc_pred_iq_a":-3.74607706,"mpcc_state":1,"mpcc_theta_e":0.449699402,"mpcc_theta_mech":0.556885779,"sam_rpm":9.71494579,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.022174418,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484765351,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.71386,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.661157608,"cg_iw_a":-1.46555996,"cg_theta_rad":0.555670321,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.00727831805,"mpcc_du":49.814518,"mpcc_dv":49.6007004,"mpcc_dw":50.3992996,"mpcc_enc_sign":1,"mpcc_id_a":-1.5409565,"mpcc_iq_a":-1.44073677,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.22574222,"mpcc_pred_id_a":-0.924474776,"mpcc_pred_iq_a":-3.49217486,"mpcc_state":1,"mpcc_theta_e":0.443939686,"mpcc_theta_mech":0.55573386,"sam_rpm":1.4133445,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.0167864412,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484765351,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.72036,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.516182423,"cg_iw_a":-2.26292419,"cg_theta_rad":0.556896746,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0613117516,"mpcc_du":49.6941948,"mpcc_dv":49.0931854,"mpcc_dw":50.9068146,"mpcc_enc_sign":1,"mpcc_id_a":3.3845284,"mpcc_iq_a":-0.731654525,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.8410835,"mpcc_pred_id_a":0.730696619,"mpcc_pred_iq_a":-1.1855737,"mpcc_state":1,"mpcc_theta_e":0.458250523,"mpcc_theta_mech":0.558596015,"sam_rpm":21.1502495,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198203325,"thr_a_norm":0.0198203325,"thr_a_v":0.57928133,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462710023,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.728386,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.806133032,"cg_iw_a":-1.68302321,"cg_theta_rad":0.554232419,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0298411418,"mpcc_du":49.9953423,"mpcc_dv":48.7565155,"mpcc_dw":51.2434845,"mpcc_enc_sign":1,"mpcc_id_a":2.85604835,"mpcc_iq_a":-0.805951536,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.64742112,"mpcc_pred_id_a":0.511192322,"mpcc_pred_iq_a":-2.04503846,"mpcc_state":1,"mpcc_theta_e":0.446478844,"mpcc_theta_mech":0.556241691,"sam_rpm":-5.52899408,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198203325,"thr_a_norm":0.0198203325,"thr_a_v":0.57928133,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462710023,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.739586,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-2.11091113,"cg_iw_a":1.143996,"cg_theta_rad":0.551298797,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0207351949,"mpcc_du":49.4271927,"mpcc_dv":50.5728073,"mpcc_dw":50.2708588,"mpcc_enc_sign":1,"mpcc_id_a":2.27821922,"mpcc_iq_a":-1.34513748,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.93191624,"mpcc_pred_id_a":0.0916568711,"mpcc_pred_iq_a":-1.46340656,"mpcc_state":1,"mpcc_theta_e":0.439844608,"mpcc_theta_mech":0.554914832,"sam_rpm":12.6482096,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.043587774,"thr_a_norm":0.043587774,"thr_a_v":0.674351096,"thr_b":0.00674067438,"thr_b_norm":0.00674067438,"thr_b_v":0.526962698,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.750816,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-2.25588632,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.554706335,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0170203224,"mpcc_du":50.1661682,"mpcc_dv":48.8068008,"mpcc_dw":51.1931992,"mpcc_enc_sign":1,"mpcc_id_a":0.28288424,"mpcc_iq_a":-1.14974308,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.48775196,"mpcc_pred_id_a":-0.0609671324,"mpcc_pred_iq_a":-4.14528275,"mpcc_state":1,"mpcc_theta_e":0.44412899,"mpcc_theta_mech":0.555771708,"sam_rpm":-8.94097519,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206511766,"thr_a_norm":0.0206511766,"thr_a_v":0.582604706,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.760765,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-2.18339872,"cg_iw_a":1.28897142,"cg_theta_rad":0.553593218,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.00507190172,"mpcc_du":50.5679665,"mpcc_dv":48.540062,"mpcc_dw":51.459938,"mpcc_enc_sign":1,"mpcc_id_a":-1.24906337,"mpcc_iq_a":-1.7233566,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.25259972,"mpcc_pred_id_a":-0.747524559,"mpcc_pred_iq_a":-0.383002907,"mpcc_state":1,"mpcc_theta_e":0.433155537,"mpcc_theta_mech":0.553577065,"sam_rpm":-14.7143869,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206511766,"thr_a_norm":0.0206511766,"thr_a_v":0.582604706,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.771019,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.661157608,"cg_iw_a":-2.19043684,"cg_theta_rad":0.554973423,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0227966253,"mpcc_du":49.9203873,"mpcc_dv":49.0651703,"mpcc_dw":50.9348297,"mpcc_enc_sign":1,"mpcc_id_a":0.85891825,"mpcc_iq_a":-1.76580143,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.87749815,"mpcc_pred_id_a":0.107621029,"mpcc_pred_iq_a":-2.98780346,"mpcc_state":1,"mpcc_theta_e":0.454404831,"mpcc_theta_mech":0.557826877,"sam_rpm":9.04032135,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264167935,"thr_a_norm":0.0264167935,"thr_a_v":0.605667174,"thr_b":0.00108835101,"thr_b_norm":0.00108835101,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.781212,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.806133032,"cg_iw_a":-1.03063416,"cg_theta_rad":0.554839611,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0272865202,"mpcc_du":49.7391205,"mpcc_dv":49.3485527,"mpcc_dw":50.6514473,"mpcc_enc_sign":1,"mpcc_id_a":1.27580047,"mpcc_iq_a":0.0885225758,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.85386562,"mpcc_pred_id_a":-0.0455349907,"mpcc_pred_iq_a":-1.20442367,"mpcc_state":1,"mpcc_theta_e":0.447467327,"mpcc_theta_mech":0.5564394,"sam_rpm":14.840642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0979331583,"thr_a_norm":0.0264167935,"thr_a_v":0.891732633,"thr_b":0.0402140021,"thr_b_norm":0.00108835101,"thr_b_v":0.660856009,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.804222,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-2.69081235,"cg_iw_a":0.129168749,"cg_theta_rad":0.556667268,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0508989915,"mpcc_du":50.1431885,"mpcc_dv":48.5663109,"mpcc_dw":51.4336891,"mpcc_enc_sign":1,"mpcc_id_a":3.9299624,"mpcc_iq_a":-1.0764221,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.05879855,"mpcc_pred_id_a":0.705321014,"mpcc_pred_iq_a":-1.0415715,"mpcc_state":1,"mpcc_theta_e":0.443861485,"mpcc_theta_mech":0.555718243,"sam_rpm":-0.915838003,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0979331583,"thr_a_norm":0.0979331583,"thr_a_v":0.891732633,"thr_b":0.0402140021,"thr_b_norm":0.0402140021,"thr_b_v":0.660856009,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.810753,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.89344811,"cg_iw_a":1.21648383,"cg_theta_rad":0.557175159,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.016842816,"mpcc_du":50.0721626,"mpcc_dv":48.7560349,"mpcc_dw":51.2439651,"mpcc_enc_sign":1,"mpcc_id_a":2.28468275,"mpcc_iq_a":-1.4982785,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.630713761,"mpcc_pred_id_a":0.224314779,"mpcc_pred_iq_a":0.496065855,"mpcc_state":1,"mpcc_theta_e":0.443636417,"mpcc_theta_mech":0.555673242,"sam_rpm":1.26438832,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0331013948,"thr_a_norm":0.0331013948,"thr_a_v":0.632405579,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483002961,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.817253,"values":{"cg_iu_a":4.30134773,"cg_iv_a":-0.733645439,"cg_iw_a":-3.56770229,"cg_theta_rad":0.554776013,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0262049139,"mpcc_du":49.5068817,"mpcc_dv":49.6558647,"mpcc_dw":50.4931183,"mpcc_enc_sign":1,"mpcc_id_a":2.29979706,"mpcc_iq_a":-0.115871772,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.45228052,"mpcc_pred_id_a":0.19035697,"mpcc_pred_iq_a":-3.53662682,"mpcc_state":1,"mpcc_theta_e":0.443848133,"mpcc_theta_mech":0.555715501,"sam_rpm":3.46280861,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0331013948,"thr_a_norm":0.0331013948,"thr_a_v":0.632405579,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483002961,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.823784,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.24105906,"cg_iw_a":-1.53804755,"cg_theta_rad":0.554949284,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0233039521,"mpcc_du":50.5030746,"mpcc_dv":48.2578812,"mpcc_dw":51.7421188,"mpcc_enc_sign":1,"mpcc_id_a":0.348045886,"mpcc_iq_a":-1.00095892,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.6600256,"mpcc_pred_id_a":0.205655292,"mpcc_pred_iq_a":0.0929552093,"mpcc_state":1,"mpcc_theta_e":0.450897217,"mpcc_theta_mech":0.55712533,"sam_rpm":-8.25184441,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0142435282,"thr_a_norm":0.0142435282,"thr_a_v":0.556974113,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.832176,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.588670254,"cg_iw_a":-0.015806675,"cg_theta_rad":0.558120131,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0174517799,"mpcc_du":50.7552757,"mpcc_dv":47.9696655,"mpcc_dw":52.0303345,"mpcc_enc_sign":1,"mpcc_id_a":2.60459828,"mpcc_iq_a":-0.641114652,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.0733271,"mpcc_pred_id_a":0.102381103,"mpcc_pred_iq_a":1.40478933,"mpcc_state":1,"mpcc_theta_e":0.431231022,"mpcc_theta_mech":0.553192139,"sam_rpm":-16.8412762,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167990327,"thr_a_norm":0.0142435282,"thr_a_v":0.567196131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.427411318,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.841972,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.40789986,"cg_theta_rad":0.55732429,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0240646452,"mpcc_du":49.5612984,"mpcc_dv":50.4285316,"mpcc_dw":50.4387016,"mpcc_enc_sign":1,"mpcc_id_a":2.56383204,"mpcc_iq_a":-1.41552162,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.8192935,"mpcc_pred_id_a":0.148970366,"mpcc_pred_iq_a":-4.84486532,"mpcc_state":1,"mpcc_theta_e":0.448660851,"mpcc_theta_mech":0.556678116,"sam_rpm":11.0715332,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167990327,"thr_a_norm":0.0167990327,"thr_a_v":0.567196131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.427411318,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.851982,"values":{"cg_iu_a":1.03940296,"cg_iv_a":0.0637187958,"cg_iw_a":-2.40789938,"cg_theta_rad":0.554294229,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0349804163,"mpcc_du":49.563633,"mpcc_dv":49.8848953,"mpcc_dw":50.436367,"mpcc_enc_sign":1,"mpcc_id_a":0.710153878,"mpcc_iq_a":-1.98167264,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.5737468,"mpcc_pred_id_a":-0.0583472401,"mpcc_pred_iq_a":-0.953132868,"mpcc_state":1,"mpcc_theta_e":0.431809902,"mpcc_theta_mech":0.553307891,"sam_rpm":-4.03168344,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235465765,"thr_a_norm":0.0235465765,"thr_a_v":0.594186306,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465882361,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.864159,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-2.61832476,"cg_iw_a":0.0566811562,"cg_theta_rad":0.556172013,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0236783605,"mpcc_du":50.3819275,"mpcc_dv":48.4586182,"mpcc_dw":51.5413818,"mpcc_enc_sign":1,"mpcc_id_a":1.30902863,"mpcc_iq_a":-0.849228024,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.33666515,"mpcc_pred_id_a":0.170603961,"mpcc_pred_iq_a":-2.57351685,"mpcc_state":1,"mpcc_theta_e":0.443610191,"mpcc_theta_mech":0.555667937,"sam_rpm":-10.8850632,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188761801,"thr_a_norm":0.0235465765,"thr_a_v":0.57550472,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.874077,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.02359605,"cg_iw_a":0.346631765,"cg_theta_rad":0.555154979,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.00796951633,"mpcc_du":50.0031395,"mpcc_dv":48.7332458,"mpcc_dw":51.2667542,"mpcc_enc_sign":1,"mpcc_id_a":0.830110312,"mpcc_iq_a":-1.5369674,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.87804544,"mpcc_pred_id_a":0.180960819,"mpcc_pred_iq_a":-2.82689905,"mpcc_state":1,"mpcc_theta_e":0.43628931,"mpcc_theta_mech":0.552365065,"sam_rpm":-2.95505214,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188761801,"thr_a_norm":0.0188761801,"thr_a_v":0.57550472,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.884422,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.24105906,"cg_iw_a":0.709069967,"cg_theta_rad":0.555751562,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0162658785,"mpcc_du":50.7496796,"mpcc_dv":48.1386185,"mpcc_dw":51.8613815,"mpcc_enc_sign":1,"mpcc_id_a":0.576194048,"mpcc_iq_a":-1.56026006,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.7360487,"mpcc_pred_id_a":-0.188635677,"mpcc_pred_iq_a":-1.79937756,"mpcc_state":1,"mpcc_theta_e":0.438705444,"mpcc_theta_mech":0.554687023,"sam_rpm":-13.4643707,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222373605,"thr_a_norm":0.0222373605,"thr_a_v":0.588949442,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474895835,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.907402,"values":{"cg_iu_a":3.06905746,"cg_iv_a":0.0637187958,"cg_iw_a":-0.668195724,"cg_theta_rad":0.555302262,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0347184315,"mpcc_du":50.4147797,"mpcc_dv":48.4040947,"mpcc_dw":51.5959053,"mpcc_enc_sign":1,"mpcc_id_a":1.78760827,"mpcc_iq_a":-0.0149210012,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.53699863,"mpcc_pred_id_a":0.268170714,"mpcc_pred_iq_a":0.164368555,"mpcc_state":1,"mpcc_theta_e":0.445836544,"mpcc_theta_mech":0.556667984,"sam_rpm":2.18979239,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222373605,"thr_a_norm":0.0222373605,"thr_a_v":0.588949442,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474895835,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.913902,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-2.18339872,"cg_iw_a":-0.16078186,"cg_theta_rad":0.553058982,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.00261902995,"mpcc_du":49.8553772,"mpcc_dv":49.154541,"mpcc_dw":50.845459,"mpcc_enc_sign":1,"mpcc_id_a":0.930649281,"mpcc_iq_a":-2.33193636,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.98014915,"mpcc_pred_id_a":-0.0117007708,"mpcc_pred_iq_a":-2.30913782,"mpcc_state":1,"mpcc_theta_e":0.4408741,"mpcc_theta_mech":0.555120766,"sam_rpm":-3.28225923,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200721025,"thr_a_norm":0.0200721025,"thr_a_v":0.58028841,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44589147,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.920464,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.45852208,"cg_iw_a":1.50643444,"cg_theta_rad":0.555033684,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.00129606342,"mpcc_du":50.8089409,"mpcc_dv":47.9932022,"mpcc_dw":52.0067978,"mpcc_enc_sign":1,"mpcc_id_a":0.705004096,"mpcc_iq_a":-0.960142672,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.147213,"mpcc_pred_id_a":-0.163253501,"mpcc_pred_iq_a":0.474133909,"mpcc_state":1,"mpcc_theta_e":0.427110195,"mpcc_theta_mech":0.552367926,"sam_rpm":-24.2894249,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200721025,"thr_a_norm":0.0200721025,"thr_a_v":0.58028841,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44589147,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.926994,"values":{"cg_iu_a":3.79393435,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.740683556,"cg_theta_rad":0.556335449,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0150649557,"mpcc_du":50.3834343,"mpcc_dv":48.4510536,"mpcc_dw":51.5489464,"mpcc_enc_sign":1,"mpcc_id_a":2.38801742,"mpcc_iq_a":-1.1117723,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.04108906,"mpcc_pred_id_a":0.160880938,"mpcc_pred_iq_a":0.129175216,"mpcc_state":1,"mpcc_theta_e":0.437263012,"mpcc_theta_mech":0.554398537,"sam_rpm":-7.77085733,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021293208,"thr_a_norm":0.021293208,"thr_a_v":0.585172832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476708621,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.9356,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.82096052,"cg_iw_a":1.21648359,"cg_theta_rad":0.558954835,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0479897149,"mpcc_du":49.7253265,"mpcc_dv":49.2930183,"mpcc_dw":50.7069817,"mpcc_enc_sign":1,"mpcc_id_a":2.41875076,"mpcc_iq_a":-0.0564401858,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.00378704,"mpcc_pred_id_a":0.150032327,"mpcc_pred_iq_a":-2.10326004,"mpcc_state":1,"mpcc_theta_e":0.453285217,"mpcc_theta_mech":0.557603002,"sam_rpm":14.4494896,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.021293208,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469457537,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.94561,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.378244877,"cg_theta_rad":0.554068923,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0185690001,"mpcc_du":49.0579414,"mpcc_dv":50.9420586,"mpcc_dw":49.6236115,"mpcc_enc_sign":1,"mpcc_id_a":0.424862713,"mpcc_iq_a":-1.20819938,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.71879411,"mpcc_pred_id_a":-0.4409419,"mpcc_pred_iq_a":-4.00463533,"mpcc_state":1,"mpcc_theta_e":0.434982777,"mpcc_theta_mech":0.553942502,"sam_rpm":2.14692855,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469457537,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.955803,"values":{"cg_iu_a":2.1992054,"cg_iv_a":0.933570862,"cg_iw_a":-3.13277626,"cg_theta_rad":0.554071784,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0346734263,"mpcc_du":50.1162224,"mpcc_dv":48.7010002,"mpcc_dw":51.2989998,"mpcc_enc_sign":1,"mpcc_id_a":2.2969451,"mpcc_iq_a":-0.430200815,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.5086403,"mpcc_pred_id_a":0.15916197,"mpcc_pred_iq_a":1.46534336,"mpcc_state":1,"mpcc_theta_e":0.421906471,"mpcc_theta_mech":0.551327229,"sam_rpm":-20.4293327,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0107816458,"thr_a_norm":0.0107816458,"thr_a_v":0.543126583,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.427159548,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.965416,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.661157608,"cg_iw_a":-0.160782337,"cg_theta_rad":0.554455698,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0553344451,"mpcc_du":49.5107498,"mpcc_dv":49.1902084,"mpcc_dw":50.8097916,"mpcc_enc_sign":1,"mpcc_id_a":4.58897066,"mpcc_iq_a":-0.346744388,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.214797378,"mpcc_pred_id_a":0.980742037,"mpcc_pred_iq_a":-1.69283962,"mpcc_state":1,"mpcc_theta_e":0.43891573,"mpcc_theta_mech":0.554729044,"sam_rpm":-0.118560523,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0107816458,"thr_a_norm":0.0107816458,"thr_a_v":0.543126583,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.427159548,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.975578,"values":{"cg_iu_a":2.48915625,"cg_iv_a":0.136206627,"cg_iw_a":-2.62536287,"cg_theta_rad":0.553152084,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5038,"hz_app_loop":365,"hz_tim_isr":10077,"hz_vsense":365,"mpcc_cost":0.0237068217,"mpcc_du":50.0941048,"mpcc_dv":48.8670959,"mpcc_dw":51.1329041,"mpcc_enc_sign":1,"mpcc_id_a":2.07263875,"mpcc_iq_a":-0.424667329,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.51381123,"mpcc_pred_id_a":0.033200901,"mpcc_pred_iq_a":-1.87818158,"mpcc_state":1,"mpcc_theta_e":0.443733215,"mpcc_theta_mech":0.555692554,"sam_rpm":-2.45768356,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217086226,"thr_a_norm":0.0217086226,"thr_a_v":0.58683449,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473888755,"vdc_v":55.2955055}} +{"type":"telemetry","t":71.986534,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.25588632,"cg_iw_a":1.43394637,"cg_theta_rad":0.553165913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00828425307,"mpcc_du":51.095623,"mpcc_dv":47.569458,"mpcc_dw":52.430542,"mpcc_enc_sign":1,"mpcc_id_a":0.703693688,"mpcc_iq_a":-1.47333646,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.8021517,"mpcc_pred_id_a":0.1149363,"mpcc_pred_iq_a":0.0235755313,"mpcc_state":1,"mpcc_theta_e":0.432913303,"mpcc_theta_mech":0.553528547,"sam_rpm":-22.0334835,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237857699,"thr_a_norm":0.0217086226,"thr_a_v":0.59514308,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.009514,"values":{"cg_iu_a":1.25686598,"cg_iv_a":0.353669643,"cg_iw_a":-2.26292419,"cg_theta_rad":0.556827843,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00204828801,"mpcc_du":49.7399979,"mpcc_dv":49.4614296,"mpcc_dw":50.5385704,"mpcc_enc_sign":1,"mpcc_id_a":0.691182971,"mpcc_iq_a":-1.47924685,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.248152584,"mpcc_pred_id_a":-0.307715893,"mpcc_pred_iq_a":-3.16211104,"mpcc_state":1,"mpcc_theta_e":0.441387653,"mpcc_theta_mech":0.555223465,"sam_rpm":-0.410479099,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237857699,"thr_a_norm":0.0237857699,"thr_a_v":0.59514308,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.016045,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.09608364,"cg_iw_a":0.346631527,"cg_theta_rad":0.555923641,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.000641031191,"mpcc_du":48.4074631,"mpcc_dv":51.5925369,"mpcc_dw":48.8745804,"mpcc_enc_sign":1,"mpcc_id_a":0.29047814,"mpcc_iq_a":-2.02045655,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.1988726,"mpcc_pred_id_a":-0.360840887,"mpcc_pred_iq_a":-1.90727961,"mpcc_state":1,"mpcc_theta_e":0.433259964,"mpcc_theta_mech":0.553597927,"sam_rpm":38.5335426,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100526437,"thr_a_norm":0.100526437,"thr_a_v":0.902105749,"thr_b":0.047213316,"thr_b_norm":0.047213316,"thr_b_v":0.688853264,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.022545,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-2.0384233,"cg_iw_a":0.274143934,"cg_theta_rad":0.552983165,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00829161238,"mpcc_du":49.5568771,"mpcc_dv":49.6186066,"mpcc_dw":50.4431229,"mpcc_enc_sign":1,"mpcc_id_a":1.76276505,"mpcc_iq_a":-2.11002779,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.25612831,"mpcc_pred_id_a":0.00811507739,"mpcc_pred_iq_a":-4.68608332,"mpcc_state":1,"mpcc_theta_e":0.436171532,"mpcc_theta_mech":0.554180205,"sam_rpm":-9.34247017,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100526437,"thr_a_norm":0.100526437,"thr_a_v":0.902105749,"thr_b":0.047213316,"thr_b_norm":0.047213316,"thr_b_v":0.688853264,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.031792,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.74847269,"cg_iw_a":0.491606712,"cg_theta_rad":0.557748914,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0325619951,"mpcc_du":49.5383987,"mpcc_dv":50.4616013,"mpcc_dw":50.2288208,"mpcc_enc_sign":1,"mpcc_id_a":-0.481863856,"mpcc_iq_a":-1.43326712,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.34378147,"mpcc_pred_id_a":-0.265225202,"mpcc_pred_iq_a":-0.419659466,"mpcc_state":1,"mpcc_theta_e":0.436693668,"mpcc_theta_mech":0.554284632,"sam_rpm":6.24152136,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181460381,"thr_a_norm":0.0181460381,"thr_a_v":0.572584152,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459336251,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.041985,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.09608364,"cg_iw_a":-0.668195724,"cg_theta_rad":0.553165913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0192939974,"mpcc_du":50.3542862,"mpcc_dv":48.3952942,"mpcc_dw":51.6047058,"mpcc_enc_sign":1,"mpcc_id_a":1.36986399,"mpcc_iq_a":-2.078233,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.84026194,"mpcc_pred_id_a":0.380006075,"mpcc_pred_iq_a":-3.12045002,"mpcc_state":1,"mpcc_theta_e":0.441644192,"mpcc_theta_mech":0.555274725,"sam_rpm":-10.7240133,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170382112,"thr_a_norm":0.0170382112,"thr_a_v":0.568152845,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441510648,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.053795,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.226231575,"cg_iw_a":-0.595707893,"cg_theta_rad":0.554712296,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00387158454,"mpcc_du":49.8544044,"mpcc_dv":49.1858482,"mpcc_dw":50.8141518,"mpcc_enc_sign":1,"mpcc_id_a":0.475117207,"mpcc_iq_a":-1.27589917,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.1726017,"mpcc_pred_id_a":-0.143310368,"mpcc_pred_iq_a":-0.994755745,"mpcc_state":1,"mpcc_theta_e":0.433296204,"mpcc_theta_mech":0.553605199,"sam_rpm":-6.59972095,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170382112,"thr_a_norm":0.0170382112,"thr_a_v":0.568152845,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441510648,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.063164,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.806133032,"cg_iw_a":-0.378245115,"cg_theta_rad":0.554216146,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0955416784,"mpcc_du":50.0217705,"mpcc_dv":48.9179268,"mpcc_dw":51.0820732,"mpcc_enc_sign":1,"mpcc_id_a":1.24188757,"mpcc_iq_a":1.16841567,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.65259314,"mpcc_pred_id_a":0.0174976885,"mpcc_pred_iq_a":-2.26453853,"mpcc_state":1,"mpcc_theta_e":0.453487396,"mpcc_theta_mech":0.557643414,"sam_rpm":11.3976831,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151876807,"thr_a_norm":0.0151876807,"thr_a_v":0.560750723,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446395069,"vdc_v":54.6292953}} +{"type":"telemetry","t":72.073631,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.443694592,"cg_iw_a":-1.82799864,"cg_theta_rad":0.557180226,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0165800694,"mpcc_du":49.7859116,"mpcc_dv":49.2395058,"mpcc_dw":50.7604942,"mpcc_enc_sign":1,"mpcc_id_a":1.29836893,"mpcc_iq_a":-0.197226062,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.43368506,"mpcc_pred_id_a":-0.00464107143,"mpcc_pred_iq_a":-2.07561135,"mpcc_state":1,"mpcc_theta_e":0.444877148,"mpcc_theta_mech":0.555921316,"sam_rpm":4.10059118,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194678307,"thr_a_norm":0.0151876807,"thr_a_v":0.577871323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469759673,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.084618,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.733645439,"cg_iw_a":-2.77033806,"cg_theta_rad":0.55561012,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00967849605,"mpcc_du":50.2233086,"mpcc_dv":48.6482735,"mpcc_dw":51.3517265,"mpcc_enc_sign":1,"mpcc_id_a":1.31340992,"mpcc_iq_a":-0.327483267,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.88935041,"mpcc_pred_id_a":0.0510979071,"mpcc_pred_iq_a":-1.36547601,"mpcc_state":1,"mpcc_theta_e":0.433998108,"mpcc_theta_mech":0.553745568,"sam_rpm":-12.0213537,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194678307,"thr_a_norm":0.0194678307,"thr_a_v":0.577871323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469759673,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.10778,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-2.11091113,"cg_iw_a":1.65140986,"cg_theta_rad":0.557145059,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0102823824,"mpcc_du":49.7653008,"mpcc_dv":49.3723831,"mpcc_dw":50.6276169,"mpcc_enc_sign":1,"mpcc_id_a":-0.52816999,"mpcc_iq_a":-0.484164834,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.74664545,"mpcc_pred_id_a":-0.349220902,"mpcc_pred_iq_a":-1.45758653,"mpcc_state":1,"mpcc_theta_e":0.449427605,"mpcc_theta_mech":0.556831479,"sam_rpm":11.1406565,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236724615,"thr_a_norm":0.0236724615,"thr_a_v":0.594689846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467544049,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.114311,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-2.11091113,"cg_iw_a":-0.813171148,"cg_theta_rad":0.556400239,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0309543721,"mpcc_du":48.563652,"mpcc_dv":51.436348,"mpcc_dw":49.4149513,"mpcc_enc_sign":1,"mpcc_id_a":3.26326346,"mpcc_iq_a":-1.30158484,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.530694,"mpcc_pred_id_a":0.521493435,"mpcc_pred_iq_a":-7.77439308,"mpcc_state":1,"mpcc_theta_e":0.452217102,"mpcc_theta_mech":0.557389379,"sam_rpm":17.0430145,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184229761,"thr_a_norm":0.0236724615,"thr_a_v":0.573691905,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448006392,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.120842,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-0.226231575,"cg_iw_a":-0.813171387,"cg_theta_rad":0.557681799,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00748761417,"mpcc_du":50.2523384,"mpcc_dv":48.8785095,"mpcc_dw":51.1214905,"mpcc_enc_sign":1,"mpcc_id_a":-0.250240207,"mpcc_iq_a":-0.756731451,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.80688453,"mpcc_pred_id_a":-0.565013349,"mpcc_pred_iq_a":-1.38242626,"mpcc_state":1,"mpcc_theta_e":0.441449165,"mpcc_theta_mech":0.555235744,"sam_rpm":-2.28822827,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184229761,"thr_a_norm":0.0184229761,"thr_a_v":0.573691905,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448006392,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.127342,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.31354666,"cg_iw_a":-0.958146572,"cg_theta_rad":0.555983722,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00138035836,"mpcc_du":51.3348541,"mpcc_dv":51.3384171,"mpcc_dw":49.194706,"mpcc_enc_sign":1,"mpcc_id_a":0.73201102,"mpcc_iq_a":-0.375730008,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.0362225,"mpcc_pred_id_a":-0.416799009,"mpcc_pred_iq_a":4.68780327,"mpcc_state":1,"mpcc_theta_e":0.428277969,"mpcc_theta_mech":0.557259738,"sam_rpm":-16.4702053,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237857699,"thr_a_norm":0.0237857699,"thr_a_v":0.59514308,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476809323,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.136986,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.53100967,"cg_iw_a":1.07150841,"cg_theta_rad":0.557110131,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0161717869,"mpcc_du":49.2014503,"mpcc_dv":50.7985497,"mpcc_dw":49.9664116,"mpcc_enc_sign":1,"mpcc_id_a":2.53971457,"mpcc_iq_a":-1.13180661,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.8908205,"mpcc_pred_id_a":0.0274339374,"mpcc_pred_iq_a":-2.94823313,"mpcc_state":1,"mpcc_theta_e":0.450794697,"mpcc_theta_mech":0.557104886,"sam_rpm":20.0145378,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237857699,"thr_a_norm":0.0237857699,"thr_a_v":0.59514308,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476809323,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.147392,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.45852208,"cg_iw_a":0.926532984,"cg_theta_rad":0.555902302,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0403394476,"mpcc_du":49.5820427,"mpcc_dv":49.7585373,"mpcc_dw":50.4179573,"mpcc_enc_sign":1,"mpcc_id_a":3.10337901,"mpcc_iq_a":-0.798466146,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.3217154,"mpcc_pred_id_a":-0.0914382935,"mpcc_pred_iq_a":-3.15863705,"mpcc_state":1,"mpcc_theta_e":0.450298786,"mpcc_theta_mech":0.557005703,"sam_rpm":21.3402252,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213309675,"thr_a_norm":0.0213309675,"thr_a_v":0.58532387,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467141211,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.157585,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.588670254,"cg_iw_a":-1.03063393,"cg_theta_rad":0.556936562,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0933156535,"mpcc_du":49.7429352,"mpcc_dv":49.1131783,"mpcc_dw":50.8868217,"mpcc_enc_sign":1,"mpcc_id_a":2.11182356,"mpcc_iq_a":0.130822837,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.490346,"mpcc_pred_id_a":0.494423926,"mpcc_pred_iq_a":-2.81807971,"mpcc_state":1,"mpcc_theta_e":0.457585812,"mpcc_theta_mech":0.558463097,"sam_rpm":17.6134357,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0305710584,"thr_a_norm":0.0213309675,"thr_a_v":0.622284234,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474543363,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.167168,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.6759851,"cg_iw_a":-1.32058454,"cg_theta_rad":0.555870175,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.108436756,"mpcc_du":49.4387817,"mpcc_dv":50.1416855,"mpcc_dw":50.5612183,"mpcc_enc_sign":1,"mpcc_id_a":4.24449921,"mpcc_iq_a":-0.482727706,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.9815311,"mpcc_pred_id_a":0.711372912,"mpcc_pred_iq_a":-4.46497536,"mpcc_state":1,"mpcc_theta_e":0.464247704,"mpcc_theta_mech":0.559795439,"sam_rpm":26.2312508,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0305710584,"thr_a_norm":0.0305710584,"thr_a_v":0.622284234,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474543363,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.177391,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.09608364,"cg_iw_a":-1.61053562,"cg_theta_rad":0.556861103,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0971957073,"mpcc_du":50.1296234,"mpcc_dv":48.8903465,"mpcc_dw":51.1096535,"mpcc_enc_sign":1,"mpcc_id_a":0.947961509,"mpcc_iq_a":0.56743288,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.71420097,"mpcc_pred_id_a":-0.205015332,"mpcc_pred_iq_a":-3.99847507,"mpcc_state":1,"mpcc_theta_e":0.452487469,"mpcc_theta_mech":0.55744338,"sam_rpm":3.45838213,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0471881479,"thr_a_norm":0.0471881479,"thr_a_v":0.688752592,"thr_b":0.0182341486,"thr_b_norm":0.0182341486,"thr_b_v":0.572936594,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.189751,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-0.878620625,"cg_iw_a":0.201656342,"cg_theta_rad":0.556910634,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0581016354,"mpcc_du":50.5052032,"mpcc_dv":48.2209549,"mpcc_dw":51.7790451,"mpcc_enc_sign":1,"mpcc_id_a":2.85204625,"mpcc_iq_a":-1.31804681,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.75827217,"mpcc_pred_id_a":0.351492286,"mpcc_pred_iq_a":-2.14322257,"mpcc_state":1,"mpcc_theta_e":0.447518349,"mpcc_theta_mech":0.556449592,"sam_rpm":-4.40271997,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217589736,"thr_a_norm":0.0471881479,"thr_a_v":0.587035894,"thr_b":0,"thr_b_norm":0.0182341486,"thr_b_v":0.473334849,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.212883,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-1.45852208,"cg_iw_a":-1.90048623,"cg_theta_rad":0.557145178,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00726004643,"mpcc_du":48.3866653,"mpcc_dv":51.6133347,"mpcc_dw":48.7722816,"mpcc_enc_sign":1,"mpcc_id_a":-0.372299254,"mpcc_iq_a":-1.63154447,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.8583164,"mpcc_pred_id_a":-0.665785491,"mpcc_pred_iq_a":-8.54896545,"mpcc_state":1,"mpcc_theta_e":0.457722187,"mpcc_theta_mech":0.558490336,"sam_rpm":24.9329071,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217589736,"thr_a_norm":0.0217589736,"thr_a_v":0.587035894,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473334849,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.219444,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.733645439,"cg_iw_a":0.854045153,"cg_theta_rad":0.554501712,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0225483086,"mpcc_du":50.6042519,"mpcc_dv":48.0556908,"mpcc_dw":51.9443092,"mpcc_enc_sign":1,"mpcc_id_a":2.81247759,"mpcc_iq_a":-1.05588996,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.5082531,"mpcc_pred_id_a":0.374862671,"mpcc_pred_iq_a":-0.654303312,"mpcc_state":1,"mpcc_theta_e":0.430215359,"mpcc_theta_mech":0.552988946,"sam_rpm":-21.3198528,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0159933567,"thr_a_norm":0.0159933567,"thr_a_v":0.563973427,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454401463,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.225914,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.443694592,"cg_iw_a":-0.740683556,"cg_theta_rad":0.554068983,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0367151238,"mpcc_du":49.5347366,"mpcc_dv":49.8471298,"mpcc_dw":50.4652634,"mpcc_enc_sign":1,"mpcc_id_a":2.9197917,"mpcc_iq_a":0.00487940898,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.42644906,"mpcc_pred_id_a":0.200496405,"mpcc_pred_iq_a":-4.06094027,"mpcc_state":1,"mpcc_theta_e":0.444367886,"mpcc_theta_mech":0.555819511,"sam_rpm":3.10895824,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0159933567,"thr_a_norm":0.0159933567,"thr_a_v":0.563973427,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454401463,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.232475,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-0.298719406,"cg_iw_a":-2.19043684,"cg_theta_rad":0.551805854,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0330430828,"mpcc_du":49.5900764,"mpcc_dv":49.1599007,"mpcc_dw":50.8400993,"mpcc_enc_sign":1,"mpcc_id_a":3.40740824,"mpcc_iq_a":0.215154335,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.33634186,"mpcc_pred_id_a":0.882340133,"mpcc_pred_iq_a":-2.19458413,"mpcc_state":1,"mpcc_theta_e":0.436737537,"mpcc_theta_mech":0.553541481,"sam_rpm":-7.15088797,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204245895,"thr_a_norm":0.0204245895,"thr_a_v":0.581698358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.240807,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.661157608,"cg_iw_a":0.636582375,"cg_theta_rad":0.556995749,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.000584734778,"mpcc_du":49.5859833,"mpcc_dv":49.70998,"mpcc_dw":50.4140167,"mpcc_enc_sign":1,"mpcc_id_a":0.320233911,"mpcc_iq_a":-2.23799777,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.95225859,"mpcc_pred_id_a":-0.208715364,"mpcc_pred_iq_a":-2.47390318,"mpcc_state":1,"mpcc_theta_e":0.447369099,"mpcc_theta_mech":0.55641973,"sam_rpm":8.34688091,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183978081,"thr_a_norm":0.0204245895,"thr_a_v":0.573591232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472982377,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.250755,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.31354666,"cg_iw_a":0.491606712,"cg_theta_rad":0.558305562,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0275344588,"mpcc_du":49.9936867,"mpcc_dv":48.9243088,"mpcc_dw":51.0756912,"mpcc_enc_sign":1,"mpcc_id_a":1.16453719,"mpcc_iq_a":-1.8125217,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.530923307,"mpcc_pred_id_a":0.208580241,"mpcc_pred_iq_a":-3.76435184,"mpcc_state":1,"mpcc_theta_e":0.449803352,"mpcc_theta_mech":0.556906581,"sam_rpm":1.70448339,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183978081,"thr_a_norm":0.0183978081,"thr_a_v":0.573591232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472982377,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.260979,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.661157608,"cg_iw_a":0.564094543,"cg_theta_rad":0.553451717,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0041170218,"mpcc_du":49.7362785,"mpcc_dv":49.386837,"mpcc_dw":50.613163,"mpcc_enc_sign":1,"mpcc_id_a":0.307651252,"mpcc_iq_a":-0.929540753,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.23807335,"mpcc_pred_id_a":-0.176219776,"mpcc_pred_iq_a":-2.06495547,"mpcc_state":1,"mpcc_theta_e":0.443793297,"mpcc_theta_mech":0.555704594,"sam_rpm":5.24978447,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289597064,"thr_a_norm":0.0289597064,"thr_a_v":0.615838826,"thr_b":0.00193180144,"thr_b_norm":0.00193180144,"thr_b_v":0.507727206,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.273216,"values":{"cg_iu_a":1.03940296,"cg_iv_a":0.0637187958,"cg_iw_a":-1.39307261,"cg_theta_rad":0.555782259,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0656438172,"mpcc_du":49.8891945,"mpcc_dv":48.9976921,"mpcc_dw":51.0023079,"mpcc_enc_sign":1,"mpcc_id_a":3.16409135,"mpcc_iq_a":-1.00271177,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.79675603,"mpcc_pred_id_a":0.344230741,"mpcc_pred_iq_a":-3.61332512,"mpcc_state":1,"mpcc_theta_e":0.447273254,"mpcc_theta_mech":0.556400597,"sam_rpm":5.06958151,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210414231,"thr_a_norm":0.0289597064,"thr_a_v":0.584165692,"thr_b":0,"thr_b_norm":0.00193180144,"thr_b_v":0.458127707,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.284966,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.298719406,"cg_iw_a":-0.450732708,"cg_theta_rad":0.555784166,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0226645414,"mpcc_du":50.2238846,"mpcc_dv":48.7566071,"mpcc_dw":51.2433929,"mpcc_enc_sign":1,"mpcc_id_a":1.39003229,"mpcc_iq_a":-1.35296834,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.20013142,"mpcc_pred_id_a":-0.0747055858,"mpcc_pred_iq_a":-3.30356216,"mpcc_state":1,"mpcc_theta_e":0.444540024,"mpcc_theta_mech":0.555853903,"sam_rpm":-6.11342144,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210414231,"thr_a_norm":0.0210414231,"thr_a_v":0.584165692,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458127707,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.308159,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.55287504,"cg_theta_rad":0.55412674,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0157251284,"mpcc_du":50.5761452,"mpcc_dv":48.1649017,"mpcc_dw":51.8350983,"mpcc_enc_sign":1,"mpcc_id_a":2.50648379,"mpcc_iq_a":-1.5418129,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.11367226,"mpcc_pred_id_a":0.284992665,"mpcc_pred_iq_a":1.53333664,"mpcc_state":1,"mpcc_theta_e":0.438838959,"mpcc_theta_mech":0.554713726,"sam_rpm":-6.19099379,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196063071,"thr_a_norm":0.0196063071,"thr_a_v":0.578425229,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478622139,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.31472,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.38603449,"cg_iw_a":-1.32058477,"cg_theta_rad":0.552196741,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00584491389,"mpcc_du":49.733139,"mpcc_dv":49.387989,"mpcc_dw":50.612011,"mpcc_enc_sign":1,"mpcc_id_a":0.365655094,"mpcc_iq_a":-1.14331162,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.82479191,"mpcc_pred_id_a":-0.15201579,"mpcc_pred_iq_a":-3.06782103,"mpcc_state":1,"mpcc_theta_e":0.441930294,"mpcc_theta_mech":0.555332005,"sam_rpm":2.7476151,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220359415,"thr_a_norm":0.0196063071,"thr_a_v":0.588143766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464371711,"vdc_v":54.6292953}} +{"type":"telemetry","t":72.321251,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.74847269,"cg_iw_a":-3.49521494,"cg_theta_rad":0.552755296,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.000602937478,"mpcc_du":50.800209,"mpcc_dv":47.9861259,"mpcc_dw":52.0138741,"mpcc_enc_sign":1,"mpcc_id_a":-0.0958164185,"mpcc_iq_a":-0.964365005,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.1309786,"mpcc_pred_id_a":-0.0283964332,"mpcc_pred_iq_a":0.322747588,"mpcc_state":1,"mpcc_theta_e":0.429568291,"mpcc_theta_mech":0.552859604,"sam_rpm":-21.0490303,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220359415,"thr_a_norm":0.0220359415,"thr_a_v":0.588143766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464371711,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.327751,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.31354666,"cg_iw_a":-1.61053562,"cg_theta_rad":0.55361551,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00131037552,"mpcc_du":50.6111526,"mpcc_dv":48.4395409,"mpcc_dw":51.5604591,"mpcc_enc_sign":1,"mpcc_id_a":-0.614004016,"mpcc_iq_a":-0.360462308,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.7643156,"mpcc_pred_id_a":-0.63101846,"mpcc_pred_iq_a":-1.06124151,"mpcc_state":1,"mpcc_theta_e":0.425695896,"mpcc_theta_mech":0.552085102,"sam_rpm":-23.8986721,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242767185,"thr_a_norm":0.0242767185,"thr_a_v":0.597106874,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476406515,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.335381,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.02359605,"cg_iw_a":0.201656103,"cg_theta_rad":0.555638671,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.018863216,"mpcc_du":50.3133316,"mpcc_dv":48.6490059,"mpcc_dw":51.3509941,"mpcc_enc_sign":1,"mpcc_id_a":1.73868394,"mpcc_iq_a":-0.45220843,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.62999356,"mpcc_pred_id_a":-0.0736702904,"mpcc_pred_iq_a":0.00279873936,"mpcc_state":1,"mpcc_theta_e":0.444210529,"mpcc_theta_mech":0.55578804,"sam_rpm":2.43212676,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242767185,"thr_a_norm":0.0242767185,"thr_a_v":0.597106874,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476406515,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.345787,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-2.98076296,"cg_iw_a":0.201656342,"cg_theta_rad":0.55595535,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0164651684,"mpcc_du":49.6159363,"mpcc_dv":50.3413086,"mpcc_dw":50.3840637,"mpcc_enc_sign":1,"mpcc_id_a":2.52935815,"mpcc_iq_a":0.603571177,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.93936539,"mpcc_pred_id_a":0.318239629,"mpcc_pred_iq_a":1.65301037,"mpcc_state":1,"mpcc_theta_e":0.425783157,"mpcc_theta_mech":0.552102566,"sam_rpm":-1.81812799,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105712965,"thr_a_norm":0.105712965,"thr_a_v":0.922851861,"thr_b":0.0514934808,"thr_b_norm":0.0514934808,"thr_b_v":0.705973923,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.35598,"values":{"cg_iu_a":2.48915625,"cg_iv_a":0.643620491,"cg_iw_a":-1.97297382,"cg_theta_rad":0.55507803,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00900321826,"mpcc_du":50.4844704,"mpcc_dv":48.6478233,"mpcc_dw":51.3521767,"mpcc_enc_sign":1,"mpcc_id_a":-1.24293351,"mpcc_iq_a":-2.74061298,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.40311337,"mpcc_pred_id_a":-0.723381042,"mpcc_pred_iq_a":-1.15909839,"mpcc_state":1,"mpcc_theta_e":0.433947086,"mpcc_theta_mech":0.553735316,"sam_rpm":-15.0217018,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0187376887,"thr_a_norm":0.105712965,"thr_a_v":0.574950755,"thr_b":0,"thr_b_norm":0.0514934808,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.365746,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.226231575,"cg_iw_a":0.999020576,"cg_theta_rad":0.556975722,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0413305275,"mpcc_du":50.4621506,"mpcc_dv":48.1959114,"mpcc_dw":51.8040886,"mpcc_enc_sign":1,"mpcc_id_a":3.47736621,"mpcc_iq_a":0.374824136,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.165658,"mpcc_pred_id_a":0.497927904,"mpcc_pred_iq_a":0.0741115138,"mpcc_state":1,"mpcc_theta_e":0.434442997,"mpcc_theta_mech":0.553834558,"sam_rpm":-14.1795359,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0187376887,"thr_a_norm":0.0187376887,"thr_a_v":0.574950755,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.37606,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.82096052,"cg_iw_a":1.28897142,"cg_theta_rad":0.556846917,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0486166738,"mpcc_du":49.8310928,"mpcc_dv":48.7338333,"mpcc_dw":51.2661667,"mpcc_enc_sign":1,"mpcc_id_a":4.17535162,"mpcc_iq_a":1.16613042,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.96232247,"mpcc_pred_id_a":1.04315078,"mpcc_pred_iq_a":1.07071638,"mpcc_state":1,"mpcc_theta_e":0.445133686,"mpcc_theta_mech":0.555972636,"sam_rpm":-2.38303709,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214442611,"thr_a_norm":0.0214442611,"thr_a_v":0.585777044,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.388145,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.443694592,"cg_iw_a":0.0566811562,"cg_theta_rad":0.551855206,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0342654213,"mpcc_du":50.537487,"mpcc_dv":48.138607,"mpcc_dw":51.861393,"mpcc_enc_sign":1,"mpcc_id_a":2.31503105,"mpcc_iq_a":-1.77798259,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.98180914,"mpcc_pred_id_a":0.361324877,"mpcc_pred_iq_a":-1.76123023,"mpcc_state":1,"mpcc_theta_e":0.439604282,"mpcc_theta_mech":0.554866731,"sam_rpm":-8.0685091,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179446042,"thr_a_norm":0.0214442611,"thr_a_v":0.571778417,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459638387,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.414268,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.588670254,"cg_iw_a":-2.26292419,"cg_theta_rad":0.555485308,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00851975754,"mpcc_du":49.8839874,"mpcc_dv":48.7613258,"mpcc_dw":51.2386742,"mpcc_enc_sign":1,"mpcc_id_a":-0.183387369,"mpcc_iq_a":-1.11376584,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0538075902,"mpcc_pred_id_a":-0.702437758,"mpcc_pred_iq_a":-3.552351,"mpcc_state":1,"mpcc_theta_e":0.445575714,"mpcc_theta_mech":0.556061029,"sam_rpm":0.976593316,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179446042,"thr_a_norm":0.0179446042,"thr_a_v":0.571778417,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459638387,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.42083,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.443694592,"cg_iw_a":-0.668195963,"cg_theta_rad":0.554809451,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00631861389,"mpcc_du":50.7393036,"mpcc_dv":47.986618,"mpcc_dw":52.013382,"mpcc_enc_sign":1,"mpcc_id_a":1.21815443,"mpcc_iq_a":-0.183531955,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.1560526,"mpcc_pred_id_a":0.0451688915,"mpcc_pred_iq_a":0.304904819,"mpcc_state":1,"mpcc_theta_e":0.428210258,"mpcc_theta_mech":0.552587926,"sam_rpm":-22.4504948,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0157793611,"thr_a_norm":0.0179446042,"thr_a_v":0.563117445,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467795819,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.42733,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.09608364,"cg_iw_a":-0.305757523,"cg_theta_rad":0.553534746,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0290730391,"mpcc_du":49.5899391,"mpcc_dv":50.4100609,"mpcc_dw":50.2571144,"mpcc_enc_sign":1,"mpcc_id_a":1.4202888,"mpcc_iq_a":0.391733617,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.36320853,"mpcc_pred_id_a":-0.478133649,"mpcc_pred_iq_a":-5.59506369,"mpcc_state":1,"mpcc_theta_e":0.446504116,"mpcc_theta_mech":0.556246758,"sam_rpm":4.71085024,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0157793611,"thr_a_norm":0.0157793611,"thr_a_v":0.563117445,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467795819,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.433891,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.74847269,"cg_iw_a":1.07150841,"cg_theta_rad":0.556152225,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.000121820143,"mpcc_du":50.7991791,"mpcc_dv":47.9477577,"mpcc_dw":52.0522423,"mpcc_enc_sign":1,"mpcc_id_a":0.0461891778,"mpcc_iq_a":-1.53372407,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.1533432,"mpcc_pred_id_a":-0.0733026862,"mpcc_pred_iq_a":-0.663398504,"mpcc_state":1,"mpcc_theta_e":0.426813126,"mpcc_theta_mech":0.5523085,"sam_rpm":-26.6411686,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0994689763,"thr_a_norm":0.0994689763,"thr_a_v":0.897875905,"thr_b":0.0449599475,"thr_b_norm":0.0449599475,"thr_b_v":0.67983979,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.445335,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.82096052,"cg_iw_a":-1.53804779,"cg_theta_rad":0.557603598,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0258776285,"mpcc_du":50.6255417,"mpcc_dv":48.4007416,"mpcc_dw":51.5992584,"mpcc_enc_sign":1,"mpcc_id_a":-0.281138003,"mpcc_iq_a":-0.974894524,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.49479842,"mpcc_pred_id_a":-0.384227991,"mpcc_pred_iq_a":-1.55511475,"mpcc_state":1,"mpcc_theta_e":0.448655605,"mpcc_theta_mech":0.556677043,"sam_rpm":-3.39035606,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02567406,"thr_a_norm":0.0994689763,"thr_a_v":0.60269624,"thr_b":0,"thr_b_norm":0.0449599475,"thr_b_v":0.477816403,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.454979,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.38603449,"cg_iw_a":0.12916851,"cg_theta_rad":0.554656327,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0228165612,"mpcc_du":49.4955139,"mpcc_dv":50.316761,"mpcc_dw":50.65765,"mpcc_enc_sign":1,"mpcc_id_a":3.0153904,"mpcc_iq_a":-0.116444424,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.29900742,"mpcc_pred_id_a":0.500819981,"mpcc_pred_iq_a":-2.92807198,"mpcc_state":1,"mpcc_theta_e":0.438871384,"mpcc_theta_mech":0.554720163,"sam_rpm":2.74515033,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02567406,"thr_a_norm":0.02567406,"thr_a_v":0.60269624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477816403,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.465172,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.53100967,"cg_iw_a":1.14399576,"cg_theta_rad":0.556586385,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.014499302,"mpcc_du":49.8379211,"mpcc_dv":49.2882156,"mpcc_dw":50.7117844,"mpcc_enc_sign":1,"mpcc_id_a":1.34766018,"mpcc_iq_a":-2.09269977,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.08863783,"mpcc_pred_id_a":-0.255175024,"mpcc_pred_iq_a":-3.08538461,"mpcc_state":1,"mpcc_theta_e":0.452291012,"mpcc_theta_mech":0.557404101,"sam_rpm":9.94331837,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023332566,"thr_a_norm":0.023332566,"thr_a_v":0.593330264,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473234147,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.475151,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.24105906,"cg_iw_a":-1.4655602,"cg_theta_rad":0.557229877,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0313714035,"mpcc_du":51.4065514,"mpcc_dv":47.3502312,"mpcc_dw":52.6497688,"mpcc_enc_sign":1,"mpcc_id_a":0.116634458,"mpcc_iq_a":-1.67202449,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.01106167,"mpcc_pred_id_a":-0.208444595,"mpcc_pred_iq_a":0.393566251,"mpcc_state":1,"mpcc_theta_e":0.442895889,"mpcc_theta_mech":0.555525064,"sam_rpm":-12.038228,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023332566,"thr_a_norm":0.023332566,"thr_a_v":0.593330264,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473234147,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.485252,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.806133032,"cg_iw_a":-0.958146572,"cg_theta_rad":0.555729866,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0485716164,"mpcc_du":50.1395645,"mpcc_dv":48.6861115,"mpcc_dw":51.3138885,"mpcc_enc_sign":1,"mpcc_id_a":2.54947424,"mpcc_iq_a":-0.111355774,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.14500666,"mpcc_pred_id_a":0.35542053,"mpcc_pred_iq_a":-0.953580499,"mpcc_state":1,"mpcc_theta_e":0.449922562,"mpcc_theta_mech":0.556930423,"sam_rpm":6.17669249,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277763754,"thr_a_norm":0.0277763754,"thr_a_v":0.611105502,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485218614,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.495537,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.661157608,"cg_iw_a":-1.10312176,"cg_theta_rad":0.55580318,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0175100621,"mpcc_du":49.4340401,"mpcc_dv":50.5659599,"mpcc_dw":50.3808403,"mpcc_enc_sign":1,"mpcc_id_a":2.54022813,"mpcc_iq_a":-0.443822771,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.74888611,"mpcc_pred_id_a":0.37426576,"mpcc_pred_iq_a":-2.35044265,"mpcc_state":1,"mpcc_theta_e":0.437283993,"mpcc_theta_mech":0.554402709,"sam_rpm":6.6708169,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023458451,"thr_a_norm":0.0277763754,"thr_a_v":0.593833804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458631247,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.518578,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.153744221,"cg_iw_a":-4.22009134,"cg_theta_rad":0.551365137,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00770931318,"mpcc_du":48.4375076,"mpcc_dv":51.5624924,"mpcc_dw":48.9902878,"mpcc_enc_sign":1,"mpcc_id_a":1.75400519,"mpcc_iq_a":-1.91897953,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.5114946,"mpcc_pred_id_a":-0.161152408,"mpcc_pred_iq_a":-7.47927904,"mpcc_state":1,"mpcc_theta_e":0.452692509,"mpcc_theta_mech":0.557484388,"sam_rpm":20.6196861,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023458451,"thr_a_norm":0.023458451,"thr_a_v":0.593833804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458631247,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.525108,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.6759851,"cg_iw_a":0.564094782,"cg_theta_rad":0.556314826,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0146724014,"mpcc_du":49.9234428,"mpcc_dv":49.1957092,"mpcc_dw":50.8042908,"mpcc_enc_sign":1,"mpcc_id_a":0.547557592,"mpcc_iq_a":-1.42220747,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.75402308,"mpcc_pred_id_a":0.17740564,"mpcc_pred_iq_a":-3.34037113,"mpcc_state":1,"mpcc_theta_e":0.450222969,"mpcc_theta_mech":0.55521816,"sam_rpm":7.9717083,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156157017,"thr_a_norm":0.0156157017,"thr_a_v":0.562462807,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456768155,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.531639,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.16857147,"cg_iw_a":0.564094543,"cg_theta_rad":0.555020988,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00542308204,"mpcc_du":50.5313492,"mpcc_dv":48.499012,"mpcc_dw":51.500988,"mpcc_enc_sign":1,"mpcc_id_a":0.622517288,"mpcc_iq_a":-1.27045357,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.55740738,"mpcc_pred_id_a":-0.424359381,"mpcc_pred_iq_a":-1.51381052,"mpcc_state":1,"mpcc_theta_e":0.448561668,"mpcc_theta_mech":0.556658268,"sam_rpm":-16.3888531,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156157017,"thr_a_norm":0.0156157017,"thr_a_v":0.562462807,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456768155,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.539085,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.806133032,"cg_iw_a":-2.6978507,"cg_theta_rad":0.557070434,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0142400581,"mpcc_du":49.3397484,"mpcc_dv":50.6602516,"mpcc_dw":50.0116692,"mpcc_enc_sign":1,"mpcc_id_a":1.02847123,"mpcc_iq_a":-1.09498954,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.06903648,"mpcc_pred_id_a":-0.257062733,"mpcc_pred_iq_a":-6.72820902,"mpcc_state":1,"mpcc_theta_e":0.449025631,"mpcc_theta_mech":0.556751072,"sam_rpm":7.83305073,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0140295327,"thr_a_norm":0.0140295327,"thr_a_v":0.556118131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.436928362,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.550316,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.661157608,"cg_iw_a":0.419119358,"cg_theta_rad":0.553482473,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00541839376,"mpcc_du":49.9404755,"mpcc_dv":49.0020409,"mpcc_dw":50.9979591,"mpcc_enc_sign":1,"mpcc_id_a":1.4276793,"mpcc_iq_a":0.268136472,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.988959014,"mpcc_pred_id_a":0.0698577315,"mpcc_pred_iq_a":1.22713745,"mpcc_state":1,"mpcc_theta_e":0.431851387,"mpcc_theta_mech":0.554333091,"sam_rpm":1.60626924,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0103410333,"thr_a_norm":0.0103410333,"thr_a_v":0.541364133,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.45596242,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.560143,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.74847269,"cg_iw_a":-2.26292419,"cg_theta_rad":0.553833604,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0252671149,"mpcc_du":49.9165154,"mpcc_dv":48.9931564,"mpcc_dw":51.0068436,"mpcc_enc_sign":1,"mpcc_id_a":2.77902246,"mpcc_iq_a":-0.79013443,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.68624473,"mpcc_pred_id_a":0.223952726,"mpcc_pred_iq_a":-1.96697974,"mpcc_state":1,"mpcc_theta_e":0.438457489,"mpcc_theta_mech":0.554637432,"sam_rpm":-3.16208434,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0103410333,"thr_a_norm":0.0103410333,"thr_a_v":0.541364133,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.45596242,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.570488,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.588670254,"cg_iw_a":-2.04546118,"cg_theta_rad":0.553550005,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0183949061,"mpcc_du":49.9790192,"mpcc_dv":48.8104553,"mpcc_dw":51.1895447,"mpcc_enc_sign":1,"mpcc_id_a":1.53760946,"mpcc_iq_a":-0.0108930543,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.564902604,"mpcc_pred_id_a":-0.0138026187,"mpcc_pred_iq_a":-1.53925204,"mpcc_state":1,"mpcc_theta_e":0.430529118,"mpcc_theta_mech":0.552151859,"sam_rpm":-0.530370533,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0412588567,"thr_a_norm":0.0412588567,"thr_a_v":0.665035427,"thr_b":0.0143820047,"thr_b_norm":0.0143820047,"thr_b_v":0.557528019,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.580559,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.226231575,"cg_iw_a":-0.378245354,"cg_theta_rad":0.554022312,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0215711836,"mpcc_du":49.5256844,"mpcc_dv":49.7001801,"mpcc_dw":50.4743156,"mpcc_enc_sign":1,"mpcc_id_a":1.27436733,"mpcc_iq_a":-0.415414333,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.8545692,"mpcc_pred_id_a":0.168166757,"mpcc_pred_iq_a":-3.68685579,"mpcc_state":1,"mpcc_theta_e":0.4433918,"mpcc_theta_mech":0.555624306,"sam_rpm":6.70032024,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0412588567,"thr_a_norm":0.0412588567,"thr_a_v":0.665035427,"thr_b":0.0143820047,"thr_b_norm":0.0143820047,"thr_b_v":0.557528019,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.590965,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.24105906,"cg_iw_a":-0.813171148,"cg_theta_rad":0.557582676,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.012321379,"mpcc_du":49.5714455,"mpcc_dv":50.081974,"mpcc_dw":50.4285545,"mpcc_enc_sign":1,"mpcc_id_a":0.605877578,"mpcc_iq_a":-0.825264752,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.4477241,"mpcc_pred_id_a":-0.08399681,"mpcc_pred_iq_a":-1.93100381,"mpcc_state":1,"mpcc_theta_e":0.429350376,"mpcc_theta_mech":0.552815974,"sam_rpm":-5.97737026,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.102137789,"thr_a_norm":0.102137789,"thr_a_v":0.908551157,"thr_b":0.0459670424,"thr_b_norm":0.0459670424,"thr_b_v":0.68386817,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.613945,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.298719406,"cg_iw_a":-0.305757523,"cg_theta_rad":0.554136395,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00707688835,"mpcc_du":51.1263275,"mpcc_dv":47.5198174,"mpcc_dw":52.4801826,"mpcc_enc_sign":1,"mpcc_id_a":1.68068242,"mpcc_iq_a":-1.96103764,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.0457106,"mpcc_pred_id_a":-0.00335210515,"mpcc_pred_iq_a":1.85998642,"mpcc_state":1,"mpcc_theta_e":0.429075241,"mpcc_theta_mech":0.552760959,"sam_rpm":-21.2458973,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281036794,"thr_a_norm":0.102137789,"thr_a_v":0.612414718,"thr_b":0,"thr_b_norm":0.0459670424,"thr_b_v":0.497152656,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.620476,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.53100967,"cg_iw_a":0.201656342,"cg_theta_rad":0.557548046,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0144529976,"mpcc_du":50.0238495,"mpcc_dv":48.8855705,"mpcc_dw":51.1144295,"mpcc_enc_sign":1,"mpcc_id_a":2.32375169,"mpcc_iq_a":-2.08443928,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.38412905,"mpcc_pred_id_a":0.215642899,"mpcc_pred_iq_a":-0.49548316,"mpcc_state":1,"mpcc_theta_e":0.447122097,"mpcc_theta_mech":0.556370318,"sam_rpm":6.51506662,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281036794,"thr_a_norm":0.0281036794,"thr_a_v":0.612414718,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497152656,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.627037,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-2.25588632,"cg_iw_a":-3.13277626,"cg_theta_rad":0.552561462,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00608652644,"mpcc_du":49.5503464,"mpcc_dv":49.600296,"mpcc_dw":50.4496536,"mpcc_enc_sign":1,"mpcc_id_a":1.35827327,"mpcc_iq_a":0.108095199,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.99061644,"mpcc_pred_id_a":-0.011342396,"mpcc_pred_iq_a":-2.70761442,"mpcc_state":1,"mpcc_theta_e":0.437747955,"mpcc_theta_mech":0.554495513,"sam_rpm":-3.92237878,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259384215,"thr_a_norm":0.0259384215,"thr_a_v":0.603753686,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499317914,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.633537,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-1.09608364,"cg_iw_a":-1.61053562,"cg_theta_rad":0.552333176,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00218919758,"mpcc_du":48.6652069,"mpcc_dv":51.3347931,"mpcc_dw":48.9641304,"mpcc_enc_sign":1,"mpcc_id_a":-0.331703246,"mpcc_iq_a":-0.904502511,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.9216518,"mpcc_pred_id_a":-0.993475795,"mpcc_pred_iq_a":-6.65832424,"mpcc_state":1,"mpcc_theta_e":0.452416897,"mpcc_theta_mech":0.557429254,"sam_rpm":19.8400497,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259384215,"thr_a_norm":0.0259384215,"thr_a_v":0.603753686,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499317914,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.641747,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.443694592,"cg_iw_a":-0.885658741,"cg_theta_rad":0.557841718,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00895528123,"mpcc_du":50.280838,"mpcc_dv":48.7988777,"mpcc_dw":51.2011223,"mpcc_enc_sign":1,"mpcc_id_a":1.31765127,"mpcc_iq_a":-2.16399765,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.5870657,"mpcc_pred_id_a":0.362398058,"mpcc_pred_iq_a":0.513774514,"mpcc_state":1,"mpcc_theta_e":0.449257374,"mpcc_theta_mech":0.556797385,"sam_rpm":8.9079113,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0157793611,"thr_a_norm":0.0157793611,"thr_a_v":0.563117445,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.65197,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-0.661157608,"cg_iw_a":0.491606712,"cg_theta_rad":0.555104852,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0259225462,"mpcc_du":50.7778244,"mpcc_dv":47.8072662,"mpcc_dw":52.1927338,"mpcc_enc_sign":1,"mpcc_id_a":2.39732575,"mpcc_iq_a":-0.750706732,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.62493801,"mpcc_pred_id_a":0.587747157,"mpcc_pred_iq_a":0.696591556,"mpcc_state":1,"mpcc_theta_e":0.438777447,"mpcc_theta_mech":0.554701447,"sam_rpm":-12.7593775,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259887725,"thr_a_norm":0.0157793611,"thr_a_v":0.60395509,"thr_b":0.000395968556,"thr_b_norm":0,"thr_b_v":0.501583874,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.663963,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.661157608,"cg_iw_a":-0.813171387,"cg_theta_rad":0.556751609,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00677358918,"mpcc_du":49.6700363,"mpcc_dv":50.3083038,"mpcc_dw":50.3299637,"mpcc_enc_sign":1,"mpcc_id_a":0.787511349,"mpcc_iq_a":-1.25911832,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.55002069,"mpcc_pred_id_a":-0.514434874,"mpcc_pred_iq_a":-5.28484249,"mpcc_state":1,"mpcc_theta_e":0.450101852,"mpcc_theta_mech":0.556966245,"sam_rpm":4.40364313,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259887725,"thr_a_norm":0.0259887725,"thr_a_v":0.60395509,"thr_b":0.000395968556,"thr_b_norm":0.000395968556,"thr_b_v":0.501583874,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.674187,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.31354666,"cg_iw_a":-0.233269691,"cg_theta_rad":0.557809055,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0927464664,"mpcc_du":49.6336212,"mpcc_dv":50.1230927,"mpcc_dw":50.3663788,"mpcc_enc_sign":1,"mpcc_id_a":0.133927703,"mpcc_iq_a":-2.39930248,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.67500544,"mpcc_pred_id_a":-0.335492224,"mpcc_pred_iq_a":-0.481440246,"mpcc_state":1,"mpcc_theta_e":0.42527914,"mpcc_theta_mech":0.552001774,"sam_rpm":-11.4059315,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0117006153,"thr_a_norm":0.0117006153,"thr_a_v":0.546802461,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491664022,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.685326,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.516182423,"cg_iw_a":-1.82799816,"cg_theta_rad":0.554376483,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00748248119,"mpcc_du":50.1504593,"mpcc_dv":48.6373138,"mpcc_dw":51.3626862,"mpcc_enc_sign":1,"mpcc_id_a":0.68015337,"mpcc_iq_a":-0.314779907,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.37094617,"mpcc_pred_id_a":0.309074998,"mpcc_pred_iq_a":-0.238591209,"mpcc_state":1,"mpcc_theta_e":0.438874722,"mpcc_theta_mech":0.554720819,"sam_rpm":-3.87143493,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162829012,"thr_a_norm":0.0117006153,"thr_a_v":0.565131605,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.696342,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.806133032,"cg_iw_a":-2.26292443,"cg_theta_rad":0.557627738,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0503109768,"mpcc_du":49.668045,"mpcc_dv":49.2597847,"mpcc_dw":50.7402153,"mpcc_enc_sign":1,"mpcc_id_a":2.80651212,"mpcc_iq_a":-0.745331407,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.573446274,"mpcc_pred_id_a":0.289112598,"mpcc_pred_iq_a":-0.6792413,"mpcc_state":1,"mpcc_theta_e":0.449480534,"mpcc_theta_mech":0.556842029,"sam_rpm":1.18123126,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162829012,"thr_a_norm":0.0162829012,"thr_a_v":0.565131605,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.719719,"values":{"cg_iu_a":2.1992054,"cg_iv_a":1.36849689,"cg_iw_a":-3.56770229,"cg_theta_rad":0.556312799,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0153995715,"mpcc_du":49.7740479,"mpcc_dv":49.3502884,"mpcc_dw":50.6497116,"mpcc_enc_sign":1,"mpcc_id_a":0.207211375,"mpcc_iq_a":-1.4476887,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.2108021,"mpcc_pred_id_a":-0.236348331,"mpcc_pred_iq_a":-2.16658688,"mpcc_state":1,"mpcc_theta_e":0.454673767,"mpcc_theta_mech":0.55788064,"sam_rpm":16.0353279,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200846791,"thr_a_norm":0.0200846791,"thr_a_v":0.580338717,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454250395,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.72628,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.24105906,"cg_iw_a":0.274143934,"cg_theta_rad":0.554200947,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0043226704,"mpcc_du":50.9365082,"mpcc_dv":47.8620796,"mpcc_dw":52.1379204,"mpcc_enc_sign":1,"mpcc_id_a":1.08617353,"mpcc_iq_a":-0.99679029,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.2978191,"mpcc_pred_id_a":-0.239930138,"mpcc_pred_iq_a":-0.00693271589,"mpcc_state":1,"mpcc_theta_e":0.42783165,"mpcc_theta_mech":0.552512228,"sam_rpm":-25.4492798,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022199586,"thr_a_norm":0.0200846791,"thr_a_v":0.588798344,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482751191,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.732811,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.24105906,"cg_iw_a":-1.75551081,"cg_theta_rad":0.559279978,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0151442308,"mpcc_du":50.3629227,"mpcc_dv":48.6388588,"mpcc_dw":51.3611412,"mpcc_enc_sign":1,"mpcc_id_a":0.180007353,"mpcc_iq_a":-3.12222505,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.13756084,"mpcc_pred_id_a":-0.348432481,"mpcc_pred_iq_a":-0.454886109,"mpcc_state":1,"mpcc_theta_e":0.433312416,"mpcc_theta_mech":0.553608358,"sam_rpm":-14.3826609,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022199586,"thr_a_norm":0.022199586,"thr_a_v":0.588798344,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482751191,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.739372,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-2.0384233,"cg_iw_a":-1.97297382,"cg_theta_rad":0.554638863,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00628601387,"mpcc_du":48.6508827,"mpcc_dv":51.3491173,"mpcc_dw":49.3227577,"mpcc_enc_sign":1,"mpcc_id_a":1.12687075,"mpcc_iq_a":0.322153747,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.0802765,"mpcc_pred_id_a":-0.0882079527,"mpcc_pred_iq_a":3.32477951,"mpcc_state":1,"mpcc_theta_e":0.424161911,"mpcc_theta_mech":0.557508945,"sam_rpm":11.5522356,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0132867992,"thr_a_norm":0.0132867992,"thr_a_v":0.553147197,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452286541,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.747185,"values":{"cg_iu_a":1.18437815,"cg_iv_a":2.09337378,"cg_iw_a":-4.87248039,"cg_theta_rad":0.554372489,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0164611358,"mpcc_du":49.9685631,"mpcc_dv":49.0943718,"mpcc_dw":50.9056282,"mpcc_enc_sign":1,"mpcc_id_a":-0.230105653,"mpcc_iq_a":-0.534978449,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.31153202,"mpcc_pred_id_a":-0.208788246,"mpcc_pred_iq_a":-0.947811782,"mpcc_state":1,"mpcc_theta_e":0.448411942,"mpcc_theta_mech":0.556628346,"sam_rpm":11.1732988,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0132867992,"thr_a_norm":0.0132867992,"thr_a_v":0.553147197,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452286541,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.757408,"values":{"cg_iu_a":-0.265375137,"cg_iv_a":-0.878620625,"cg_iw_a":1.14399576,"cg_theta_rad":0.554500401,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0288374629,"mpcc_du":49.8993607,"mpcc_dv":49.080883,"mpcc_dw":50.919117,"mpcc_enc_sign":1,"mpcc_id_a":0.291032523,"mpcc_iq_a":-1.95030427,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.05157781,"mpcc_pred_id_a":0.0694890171,"mpcc_pred_iq_a":-4.49145126,"mpcc_state":1,"mpcc_theta_e":0.451021194,"mpcc_theta_mech":0.557150185,"sam_rpm":3.69725418,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.043059051,"thr_a_norm":0.043059051,"thr_a_v":0.672236204,"thr_b":0.0093087703,"thr_b_norm":0.0093087703,"thr_b_v":0.537235081,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.76754,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.31354666,"cg_iw_a":0.12916851,"cg_theta_rad":0.552378058,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0316553824,"mpcc_du":51.1141701,"mpcc_dv":47.6450653,"mpcc_dw":52.3549347,"mpcc_enc_sign":1,"mpcc_id_a":2.26517916,"mpcc_iq_a":-0.175088003,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.01208687,"mpcc_pred_id_a":-0.108832665,"mpcc_pred_iq_a":1.70064557,"mpcc_state":1,"mpcc_theta_e":0.436616898,"mpcc_theta_mech":0.554269314,"sam_rpm":-12.3453341,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204245895,"thr_a_norm":0.043059051,"thr_a_v":0.581698358,"thr_b":0,"thr_b_norm":0.0093087703,"thr_b_v":0.448358893,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.77758,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.45852208,"cg_iw_a":0.129168749,"cg_theta_rad":0.556792617,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.038431339,"mpcc_du":49.78965,"mpcc_dv":49.0369148,"mpcc_dw":50.9630852,"mpcc_enc_sign":1,"mpcc_id_a":3.0032146,"mpcc_iq_a":0.0151559636,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.389266431,"mpcc_pred_id_a":0.449729592,"mpcc_pred_iq_a":-1.75583208,"mpcc_state":1,"mpcc_theta_e":0.443151951,"mpcc_theta_mech":0.555576265,"sam_rpm":1.36637568,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204245895,"thr_a_norm":0.0204245895,"thr_a_v":0.581698358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448358893,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.787529,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.09608364,"cg_iw_a":0.419119358,"cg_theta_rad":0.554487169,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0303268079,"mpcc_du":50.0143242,"mpcc_dv":48.8621445,"mpcc_dw":51.1378555,"mpcc_enc_sign":1,"mpcc_id_a":2.60847688,"mpcc_iq_a":-0.816446304,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.37724352,"mpcc_pred_id_a":0.289733559,"mpcc_pred_iq_a":-2.48092413,"mpcc_state":1,"mpcc_theta_e":0.443083763,"mpcc_theta_mech":0.555562675,"sam_rpm":-4.24644518,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264042169,"thr_a_norm":0.0264042169,"thr_a_v":0.605616868,"thr_b":0.000433743,"thr_b_norm":0.000433743,"thr_b_v":0.501734972,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.797569,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.661157608,"cg_iw_a":0.419119358,"cg_theta_rad":0.558505952,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00202760613,"mpcc_du":48.3983536,"mpcc_dv":51.6016464,"mpcc_dw":49.0395851,"mpcc_enc_sign":1,"mpcc_id_a":0.86907959,"mpcc_iq_a":-0.0922280326,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":21.6395607,"mpcc_pred_id_a":0.0366477408,"mpcc_pred_iq_a":-3.59825969,"mpcc_state":1,"mpcc_theta_e":0.452487469,"mpcc_theta_mech":0.55744338,"sam_rpm":31.1783428,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264042169,"thr_a_norm":0.0264042169,"thr_a_v":0.605616868,"thr_b":0.000433743,"thr_b_norm":0.000433743,"thr_b_v":0.501734972,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.820976,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.16857147,"cg_iw_a":-0.015806675,"cg_theta_rad":0.553133368,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00737694604,"mpcc_du":49.9563293,"mpcc_dv":49.2995872,"mpcc_dw":50.7004128,"mpcc_enc_sign":1,"mpcc_id_a":1.24709225,"mpcc_iq_a":-2.97041011,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.82849741,"mpcc_pred_id_a":-0.587587059,"mpcc_pred_iq_a":-2.46647596,"mpcc_state":1,"mpcc_theta_e":0.450798512,"mpcc_theta_mech":0.55710566,"sam_rpm":12.5685968,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156786442,"thr_a_norm":0.0156786442,"thr_a_v":0.562714577,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468047589,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.827477,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.31354666,"cg_iw_a":0.709070206,"cg_theta_rad":0.555540144,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":3.33321768e-05,"mpcc_du":49.9022636,"mpcc_dv":49.225769,"mpcc_dw":50.774231,"mpcc_enc_sign":1,"mpcc_id_a":0.114535868,"mpcc_iq_a":-1.01743495,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.13325644,"mpcc_pred_id_a":-0.248628527,"mpcc_pred_iq_a":-2.39388347,"mpcc_state":1,"mpcc_theta_e":0.434270859,"mpcc_theta_mech":0.553800106,"sam_rpm":-9.64728451,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227031261,"thr_a_norm":0.0156786442,"thr_a_v":0.590812504,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479377449,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.834038,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-3.12573838,"cg_iw_a":-1.3205843,"cg_theta_rad":0.555576265,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.068275027,"mpcc_du":50.1774597,"mpcc_dv":48.5787659,"mpcc_dw":51.4212341,"mpcc_enc_sign":1,"mpcc_id_a":3.30464721,"mpcc_iq_a":0.456729025,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.38780737,"mpcc_pred_id_a":0.607255995,"mpcc_pred_iq_a":-0.12902151,"mpcc_state":1,"mpcc_theta_e":0.448858738,"mpcc_theta_mech":0.556717634,"sam_rpm":6.88698769,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227031261,"thr_a_norm":0.0227031261,"thr_a_v":0.590812504,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479377449,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.840538,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.02359605,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556791127,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00504105492,"mpcc_du":49.6764946,"mpcc_dv":49.5064468,"mpcc_dw":51.4721527,"mpcc_enc_sign":1,"mpcc_id_a":0.0984757021,"mpcc_iq_a":-2.1820128,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.85938835,"mpcc_pred_id_a":-0.260977238,"mpcc_pred_iq_a":-3.30689335,"mpcc_state":1,"mpcc_theta_e":0.450848579,"mpcc_theta_mech":0.557711959,"sam_rpm":9.71283054,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265930444,"thr_a_norm":0.0265930444,"thr_a_v":0.606372178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484513581,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.850731,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.16857147,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.556552708,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0130409757,"mpcc_du":49.3458672,"mpcc_dv":50.6541328,"mpcc_dw":50.1943665,"mpcc_enc_sign":1,"mpcc_id_a":2.25414896,"mpcc_iq_a":-1.56614327,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.54190135,"mpcc_pred_id_a":0.251846492,"mpcc_pred_iq_a":-4.70739126,"mpcc_state":1,"mpcc_theta_e":0.440201283,"mpcc_theta_mech":0.554986179,"sam_rpm":4.01693726,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283050984,"thr_a_norm":0.0265930444,"thr_a_v":0.613220394,"thr_b":0.000710681081,"thr_b_norm":0,"thr_b_v":0.502842724,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.860558,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.53100967,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556109667,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0730443373,"mpcc_du":50.7474022,"mpcc_dv":47.9342422,"mpcc_dw":52.0657578,"mpcc_enc_sign":1,"mpcc_id_a":3.06219435,"mpcc_iq_a":0.322026312,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.7176695,"mpcc_pred_id_a":0.429048359,"mpcc_pred_iq_a":-1.34707451,"mpcc_state":1,"mpcc_theta_e":0.439517498,"mpcc_theta_mech":0.554849386,"sam_rpm":-15.2516222,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283050984,"thr_a_norm":0.0283050984,"thr_a_v":0.613220394,"thr_b":0.000710681081,"thr_b_norm":0.000710681081,"thr_b_v":0.502842724,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.870781,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.878620625,"cg_iw_a":-1.97297382,"cg_theta_rad":0.553163528,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0315266363,"mpcc_du":50.3032684,"mpcc_dv":48.6352882,"mpcc_dw":51.3647118,"mpcc_enc_sign":1,"mpcc_id_a":1.35452068,"mpcc_iq_a":-1.42807615,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.61952353,"mpcc_pred_id_a":0.0277996827,"mpcc_pred_iq_a":-3.81452179,"mpcc_state":1,"mpcc_theta_e":0.444201469,"mpcc_theta_mech":0.555786192,"sam_rpm":-9.04132557,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469306499,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.88076,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.09608364,"cg_iw_a":-0.958146572,"cg_theta_rad":0.553285301,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0211586524,"mpcc_du":50.9730034,"mpcc_dv":47.5458717,"mpcc_dw":52.4541283,"mpcc_enc_sign":1,"mpcc_id_a":2.31642389,"mpcc_iq_a":-0.554913282,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-27.5617256,"mpcc_pred_id_a":0.345724553,"mpcc_pred_iq_a":1.67456031,"mpcc_state":1,"mpcc_theta_e":0.413473606,"mpcc_theta_mech":0.549640656,"sam_rpm":-42.4188919,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469306499,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.89196,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.53100967,"cg_iw_a":-0.885658741,"cg_theta_rad":0.557349503,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00179120584,"mpcc_du":49.8765297,"mpcc_dv":49.1750641,"mpcc_dw":50.8249359,"mpcc_enc_sign":1,"mpcc_id_a":0.738135338,"mpcc_iq_a":-1.03944981,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.83211827,"mpcc_pred_id_a":-0.125647798,"mpcc_pred_iq_a":-2.90809631,"mpcc_state":1,"mpcc_theta_e":0.442110062,"mpcc_theta_mech":0.555367947,"sam_rpm":-3.89361763,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021872282,"thr_a_norm":0.021872282,"thr_a_v":0.587489128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.901329,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.82096052,"cg_iw_a":0.78155756,"cg_theta_rad":0.556283593,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0361933187,"mpcc_du":50.614109,"mpcc_dv":48.4533195,"mpcc_dw":51.5466805,"mpcc_enc_sign":1,"mpcc_id_a":0.274234951,"mpcc_iq_a":0.013340123,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.65505075,"mpcc_pred_id_a":-0.538128138,"mpcc_pred_iq_a":-1.02300346,"mpcc_state":1,"mpcc_theta_e":0.443049908,"mpcc_theta_mech":0.557588696,"sam_rpm":-3.11584187,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192538351,"thr_a_norm":0.021872282,"thr_a_v":0.57701534,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459940493,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.92437,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.226231575,"cg_iw_a":-2.40789986,"cg_theta_rad":0.559263229,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0272147711,"mpcc_du":50.8186111,"mpcc_dv":47.9541435,"mpcc_dw":52.0458565,"mpcc_enc_sign":1,"mpcc_id_a":2.93240738,"mpcc_iq_a":-0.113171235,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.06830883,"mpcc_pred_id_a":0.0313962363,"mpcc_pred_iq_a":1.73836553,"mpcc_state":1,"mpcc_theta_e":0.435339451,"mpcc_theta_mech":0.554013848,"sam_rpm":-11.7685585,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192538351,"thr_a_norm":0.0192538351,"thr_a_v":0.57701534,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459940493,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.93087,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.96593571,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.556558728,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0416144393,"mpcc_du":49.5430908,"mpcc_dv":49.8129616,"mpcc_dw":50.4569092,"mpcc_enc_sign":1,"mpcc_id_a":2.83154273,"mpcc_iq_a":-0.528600454,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.50796747,"mpcc_pred_id_a":0.0950192735,"mpcc_pred_iq_a":-4.06760502,"mpcc_state":1,"mpcc_theta_e":0.450622559,"mpcc_theta_mech":0.557070434,"sam_rpm":9.81579113,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178942531,"thr_a_norm":0.0178942531,"thr_a_v":0.571577013,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454149693,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.937431,"values":{"cg_iu_a":1.47432899,"cg_iv_a":2.81825018,"cg_iw_a":-4.94496775,"cg_theta_rad":0.553813279,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00650609611,"mpcc_du":49.9870224,"mpcc_dv":48.8907433,"mpcc_dw":51.1092567,"mpcc_enc_sign":1,"mpcc_id_a":-0.554615259,"mpcc_iq_a":-2.81715584,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.68838596,"mpcc_pred_id_a":-0.568104804,"mpcc_pred_iq_a":-3.34674358,"mpcc_state":1,"mpcc_theta_e":0.430969238,"mpcc_theta_mech":0.553139746,"sam_rpm":12.1352444,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178942531,"thr_a_norm":0.0178942531,"thr_a_v":0.571577013,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454149693,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.943932,"values":{"cg_iu_a":1.54681635,"cg_iv_a":0.353669643,"cg_iw_a":-0.450732708,"cg_theta_rad":0.557686329,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.00111401896,"mpcc_du":49.4032745,"mpcc_dv":50.5967255,"mpcc_dw":50.0177231,"mpcc_enc_sign":1,"mpcc_id_a":0.589392483,"mpcc_iq_a":-1.85282731,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.11163116,"mpcc_pred_id_a":-0.519286513,"mpcc_pred_iq_a":-5.93313837,"mpcc_state":1,"mpcc_theta_e":0.444857121,"mpcc_theta_mech":0.555917323,"sam_rpm":4.25837326,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0399496406,"thr_a_norm":0.0399496406,"thr_a_v":0.659798563,"thr_b":0.0109201223,"thr_b_norm":0.0109201223,"thr_b_v":0.543680489,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.953911,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.16857147,"cg_iw_a":0.0566811562,"cg_theta_rad":0.557763517,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0403211825,"mpcc_du":49.794281,"mpcc_dv":49.3320045,"mpcc_dw":50.6679955,"mpcc_enc_sign":1,"mpcc_id_a":1.86319113,"mpcc_iq_a":-1.70490909,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.72330999,"mpcc_pred_id_a":-0.252378821,"mpcc_pred_iq_a":-0.073921904,"mpcc_state":1,"mpcc_theta_e":0.432135105,"mpcc_theta_mech":0.55337292,"sam_rpm":-13.6052208,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194426626,"thr_a_norm":0.0399496406,"thr_a_v":0.57777065,"thr_b":0,"thr_b_norm":0.0109201223,"thr_b_v":0.469256133,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.963707,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.371207237,"cg_iw_a":-1.24809694,"cg_theta_rad":0.552006602,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0161034055,"mpcc_du":50.1204987,"mpcc_dv":48.785305,"mpcc_dw":51.214695,"mpcc_enc_sign":1,"mpcc_id_a":2.51487851,"mpcc_iq_a":-1.182724,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.38341105,"mpcc_pred_id_a":0.117895916,"mpcc_pred_iq_a":0.479677379,"mpcc_state":1,"mpcc_theta_e":0.44106102,"mpcc_theta_mech":0.555158079,"sam_rpm":2.23098564,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194426626,"thr_a_norm":0.0194426626,"thr_a_v":0.57777065,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469256133,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.9739,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.24105906,"cg_iw_a":1.36145902,"cg_theta_rad":0.553190649,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":361,"hz_tim_isr":10018,"hz_vsense":361,"mpcc_cost":0.0487878025,"mpcc_du":49.8726234,"mpcc_dv":49.2151031,"mpcc_dw":50.7848969,"mpcc_enc_sign":1,"mpcc_id_a":0.806835473,"mpcc_iq_a":-0.386048198,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.26803589,"mpcc_pred_id_a":-0.190253779,"mpcc_pred_iq_a":-4.3479476,"mpcc_state":1,"mpcc_theta_e":0.450820446,"mpcc_theta_mech":0.557110012,"sam_rpm":4.12638664,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193041861,"thr_a_norm":0.0193041861,"thr_a_v":0.577216744,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462508589,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.984489,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.153744221,"cg_iw_a":0.709069967,"cg_theta_rad":0.554750204,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0666360781,"mpcc_du":49.512394,"mpcc_dv":49.4281693,"mpcc_dw":50.5718307,"mpcc_enc_sign":1,"mpcc_id_a":3.38405108,"mpcc_iq_a":-0.0601033419,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.25591373,"mpcc_pred_id_a":0.344083458,"mpcc_pred_iq_a":-2.9351809,"mpcc_state":1,"mpcc_theta_e":0.452983856,"mpcc_theta_mech":0.557542682,"sam_rpm":14.8815346,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193041861,"thr_a_norm":0.0193041861,"thr_a_v":0.577216744,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462508589,"vdc_v":55.2955055}} +{"type":"telemetry","t":72.994713,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.53100967,"cg_iw_a":0.12916851,"cg_theta_rad":0.555038095,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00807226915,"mpcc_du":50.4037819,"mpcc_dv":48.4073448,"mpcc_dw":51.5508881,"mpcc_enc_sign":1,"mpcc_id_a":0.707732677,"mpcc_iq_a":-0.600120008,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.96998596,"mpcc_pred_id_a":0.0632078573,"mpcc_pred_iq_a":-1.45243704,"mpcc_state":1,"mpcc_theta_e":0.433819294,"mpcc_theta_mech":0.553709745,"sam_rpm":-15.231226,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0268699974,"thr_a_norm":0.0268699974,"thr_a_v":0.60747999,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473133445,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.020134,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.53100967,"cg_iw_a":-1.32058454,"cg_theta_rad":0.554122567,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0161666963,"mpcc_du":49.5986671,"mpcc_dv":50.1211472,"mpcc_dw":50.4013329,"mpcc_enc_sign":1,"mpcc_id_a":1.83900917,"mpcc_iq_a":-0.749765575,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.0489988,"mpcc_pred_id_a":-0.202870458,"mpcc_pred_iq_a":-3.09372902,"mpcc_state":1,"mpcc_theta_e":0.452439308,"mpcc_theta_mech":0.557433784,"sam_rpm":14.7995462,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210288316,"thr_a_norm":0.0268699974,"thr_a_v":0.584115326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466536969,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.026665,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.443694592,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556668222,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0221095905,"mpcc_du":49.8494911,"mpcc_dv":49.2245903,"mpcc_dw":50.7754097,"mpcc_enc_sign":1,"mpcc_id_a":2.7166307,"mpcc_iq_a":-0.587288201,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.875508785,"mpcc_pred_id_a":-0.125731379,"mpcc_pred_iq_a":-1.82576609,"mpcc_state":1,"mpcc_theta_e":0.442236423,"mpcc_theta_mech":0.555393159,"sam_rpm":0.620412171,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210288316,"thr_a_norm":0.0210288316,"thr_a_v":0.584115326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466536969,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.033195,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.33541203,"cg_theta_rad":0.55650717,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00584919471,"mpcc_du":50.8306541,"mpcc_dv":48.0197296,"mpcc_dw":51.9802704,"mpcc_enc_sign":1,"mpcc_id_a":0.811682463,"mpcc_iq_a":-2.20320106,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.32081795,"mpcc_pred_id_a":-0.244751379,"mpcc_pred_iq_a":-1.35874641,"mpcc_state":1,"mpcc_theta_e":0.451594353,"mpcc_theta_mech":0.557264745,"sam_rpm":12.7485218,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261524469,"thr_a_norm":0.0261524469,"thr_a_v":0.604609787,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49735406,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.039757,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.96593571,"cg_iw_a":0.709069967,"cg_theta_rad":0.555802464,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.000186941019,"mpcc_du":49.619976,"mpcc_dv":50.380024,"mpcc_dw":50.283165,"mpcc_enc_sign":1,"mpcc_id_a":-0.0589260533,"mpcc_iq_a":-2.0502646,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.0410229,"mpcc_pred_id_a":-0.476938218,"mpcc_pred_iq_a":-5.56024551,"mpcc_state":1,"mpcc_theta_e":0.441045284,"mpcc_theta_mech":0.555154979,"sam_rpm":-1.92357206,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261524469,"thr_a_norm":0.0261524469,"thr_a_v":0.604609787,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49735406,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.048546,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.661157608,"cg_iw_a":0.201656342,"cg_theta_rad":0.556458771,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00709121255,"mpcc_du":49.2749405,"mpcc_dv":50.7250595,"mpcc_dw":50.1389923,"mpcc_enc_sign":1,"mpcc_id_a":1.66639841,"mpcc_iq_a":-0.60431695,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.45944977,"mpcc_pred_id_a":0.266003311,"mpcc_pred_iq_a":-3.28011179,"mpcc_state":1,"mpcc_theta_e":0.44478178,"mpcc_theta_mech":0.555902302,"sam_rpm":11.1487942,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024339661,"thr_a_norm":0.024339661,"thr_a_v":0.597358644,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482298017,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.057945,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.82096052,"cg_iw_a":1.50643444,"cg_theta_rad":0.555189908,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0175125543,"mpcc_du":50.351162,"mpcc_dv":48.7594643,"mpcc_dw":51.2405357,"mpcc_enc_sign":1,"mpcc_id_a":0.328001171,"mpcc_iq_a":-1.21931577,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.161138356,"mpcc_pred_id_a":-0.478054583,"mpcc_pred_iq_a":-1.84631729,"mpcc_state":1,"mpcc_theta_e":0.446062088,"mpcc_theta_mech":0.556158364,"sam_rpm":1.13835001,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217212141,"thr_a_norm":0.024339661,"thr_a_v":0.586884856,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475399435,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.069908,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-2.0384233,"cg_iw_a":-0.450732946,"cg_theta_rad":0.554123938,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0117430426,"mpcc_du":49.6093788,"mpcc_dv":49.6363754,"mpcc_dw":50.3906212,"mpcc_enc_sign":1,"mpcc_id_a":0.0738099515,"mpcc_iq_a":-1.60293579,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.93181324,"mpcc_pred_id_a":-0.363160849,"mpcc_pred_iq_a":0.0321150757,"mpcc_state":1,"mpcc_theta_e":0.439942837,"mpcc_theta_mech":0.554934442,"sam_rpm":6.93402004,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217212141,"thr_a_norm":0.0217212141,"thr_a_v":0.586884856,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475399435,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.080009,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.24105906,"cg_iw_a":0.0566809177,"cg_theta_rad":0.556390345,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0510522835,"mpcc_du":50.3966331,"mpcc_dv":48.6075478,"mpcc_dw":51.3924522,"mpcc_enc_sign":1,"mpcc_id_a":0.714185894,"mpcc_iq_a":-0.243556336,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.07276583,"mpcc_pred_id_a":-0.226697415,"mpcc_pred_iq_a":-2.85454726,"mpcc_state":1,"mpcc_theta_e":0.445232868,"mpcc_theta_mech":0.555992484,"sam_rpm":-3.29405332,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254474729,"thr_a_norm":0.0254474729,"thr_a_v":0.601789892,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498059064,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.090111,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.45852208,"cg_iw_a":-0.378244877,"cg_theta_rad":0.553873837,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0169833731,"mpcc_du":49.8050919,"mpcc_dv":49.4791794,"mpcc_dw":50.5208206,"mpcc_enc_sign":1,"mpcc_id_a":-0.426180393,"mpcc_iq_a":-1.78662848,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.808393657,"mpcc_pred_id_a":-0.658030748,"mpcc_pred_iq_a":-4.5118432,"mpcc_state":1,"mpcc_theta_e":0.446459293,"mpcc_theta_mech":0.556237757,"sam_rpm":6.80522585,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278015584,"thr_a_norm":0.0254474729,"thr_a_v":0.611206234,"thr_b":0.000295266509,"thr_b_norm":0,"thr_b_v":0.501181066,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.100212,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.951108456,"cg_iw_a":-0.378244877,"cg_theta_rad":0.556179464,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0687929019,"mpcc_du":49.5146484,"mpcc_dv":50.1269073,"mpcc_dw":50.4853516,"mpcc_enc_sign":1,"mpcc_id_a":3.0325377,"mpcc_iq_a":-0.457374901,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.8705864,"mpcc_pred_id_a":0.323772252,"mpcc_pred_iq_a":-5.35008574,"mpcc_state":1,"mpcc_theta_e":0.456004143,"mpcc_theta_mech":0.558146715,"sam_rpm":15.1493692,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278015584,"thr_a_norm":0.0278015584,"thr_a_v":0.611206234,"thr_b":0.000295266509,"thr_b_norm":0.000295266509,"thr_b_v":0.501181066,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.123528,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.298719406,"cg_iw_a":-0.740683556,"cg_theta_rad":0.555669904,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0471769907,"mpcc_du":49.5018959,"mpcc_dv":49.6749687,"mpcc_dw":50.4981041,"mpcc_enc_sign":1,"mpcc_id_a":2.71134377,"mpcc_iq_a":-1.27677429,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.64957333,"mpcc_pred_id_a":0.254959196,"mpcc_pred_iq_a":-4.2963872,"mpcc_state":1,"mpcc_theta_e":0.45541954,"mpcc_theta_mech":0.55802983,"sam_rpm":15.1823626,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186243951,"thr_a_norm":0.0186243951,"thr_a_v":0.574497581,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449013472,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.130089,"values":{"cg_iu_a":5.38866234,"cg_iv_a":-0.951108456,"cg_iw_a":-4.43755388,"cg_theta_rad":0.550923645,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00217270874,"mpcc_du":51.0240784,"mpcc_dv":47.6409988,"mpcc_dw":52.3590012,"mpcc_enc_sign":1,"mpcc_id_a":0.916430295,"mpcc_iq_a":-0.496846318,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-23.2955933,"mpcc_pred_id_a":-0.117635936,"mpcc_pred_iq_a":0.712633491,"mpcc_state":1,"mpcc_theta_e":0.420329571,"mpcc_theta_mech":0.551011801,"sam_rpm":-35.0742989,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0298283249,"thr_a_norm":0.0186243951,"thr_a_v":0.6193133,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461048275,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.136559,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.16857147,"cg_iw_a":-1.90048599,"cg_theta_rad":0.555196822,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0278117359,"mpcc_du":49.3079643,"mpcc_dv":50.6920357,"mpcc_dw":50.019371,"mpcc_enc_sign":1,"mpcc_id_a":1.07260776,"mpcc_iq_a":-0.0111927688,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.1676941,"mpcc_pred_id_a":-0.256586164,"mpcc_pred_iq_a":-4.36856461,"mpcc_state":1,"mpcc_theta_e":0.458209038,"mpcc_theta_mech":0.55858773,"sam_rpm":23.9543152,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0298283249,"thr_a_norm":0.0298283249,"thr_a_v":0.6193133,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461048275,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.147331,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.443694592,"cg_iw_a":0.0566806793,"cg_theta_rad":0.559017062,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0199010186,"mpcc_du":49.7909966,"mpcc_dv":49.0617943,"mpcc_dw":50.9382057,"mpcc_enc_sign":1,"mpcc_id_a":2.09110761,"mpcc_iq_a":-1.2286818,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.595040619,"mpcc_pred_id_a":0.393613935,"mpcc_pred_iq_a":-3.1707406,"mpcc_state":1,"mpcc_theta_e":0.446529865,"mpcc_theta_mech":0.556251884,"sam_rpm":-1.50490499,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205127001,"thr_a_norm":0.0205127001,"thr_a_v":0.5820508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463465333,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.157555,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.10312176,"cg_theta_rad":0.556611538,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0654365048,"mpcc_du":49.635334,"mpcc_dv":49.6481247,"mpcc_dw":50.364666,"mpcc_enc_sign":1,"mpcc_id_a":0.171994373,"mpcc_iq_a":-0.361073494,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.2414608,"mpcc_pred_id_a":-0.567615926,"mpcc_pred_iq_a":-3.61945295,"mpcc_state":1,"mpcc_theta_e":0.460453987,"mpcc_theta_mech":0.559036732,"sam_rpm":24.6020088,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021746397,"thr_a_norm":0.0205127001,"thr_a_v":0.586985588,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469105065,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.167534,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.82096052,"cg_iw_a":-1.10312176,"cg_theta_rad":0.553132951,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0115048047,"mpcc_du":49.8714485,"mpcc_dv":49.3155708,"mpcc_dw":50.6844292,"mpcc_enc_sign":1,"mpcc_id_a":-0.24703896,"mpcc_iq_a":-2.14147735,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.0632658,"mpcc_pred_id_a":-0.486070454,"mpcc_pred_iq_a":-1.52081287,"mpcc_state":1,"mpcc_theta_e":0.434294224,"mpcc_theta_mech":0.553804755,"sam_rpm":-7.55820799,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021746397,"thr_a_norm":0.021746397,"thr_a_v":0.586985588,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469105065,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.177544,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.298719406,"cg_iw_a":-1.53804779,"cg_theta_rad":0.556469023,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0387681089,"mpcc_du":50.2930069,"mpcc_dv":48.3491745,"mpcc_dw":51.6508255,"mpcc_enc_sign":1,"mpcc_id_a":2.74039888,"mpcc_iq_a":0.15569213,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.38932037,"mpcc_pred_id_a":0.628549814,"mpcc_pred_iq_a":-0.467560381,"mpcc_state":1,"mpcc_theta_e":0.437238216,"mpcc_theta_mech":0.554393589,"sam_rpm":-6.87719822,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026756689,"thr_a_norm":0.026756689,"thr_a_v":0.607026756,"thr_b":0.000345617533,"thr_b_norm":0.000345617533,"thr_b_v":0.50138247,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.187431,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.371207237,"cg_iw_a":-2.55287504,"cg_theta_rad":0.55661726,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0369642824,"mpcc_du":50.3134575,"mpcc_dv":48.4921494,"mpcc_dw":51.6254387,"mpcc_enc_sign":1,"mpcc_id_a":2.45000076,"mpcc_iq_a":-0.982621372,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.876547277,"mpcc_pred_id_a":0.285244316,"mpcc_pred_iq_a":-1.4348824,"mpcc_state":1,"mpcc_theta_e":0.446430683,"mpcc_theta_mech":0.557120204,"sam_rpm":-0.695567548,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026756689,"thr_a_norm":0.026756689,"thr_a_v":0.607026756,"thr_b":0.000345617533,"thr_b_norm":0.000345617533,"thr_b_v":0.50138247,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.197716,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.38603449,"cg_iw_a":-1.46555996,"cg_theta_rad":0.554254413,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0498348773,"mpcc_du":49.7274704,"mpcc_dv":48.9857521,"mpcc_dw":51.0142479,"mpcc_enc_sign":1,"mpcc_id_a":4.27439022,"mpcc_iq_a":-2.55289054,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.943012,"mpcc_pred_id_a":0.748184264,"mpcc_pred_iq_a":-1.50562847,"mpcc_state":1,"mpcc_theta_e":0.438174248,"mpcc_theta_mech":0.554580808,"sam_rpm":-5.25250816,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254474729,"thr_a_norm":0.0254474729,"thr_a_v":0.601789892,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498915076,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.207726,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.74847269,"cg_iw_a":-1.10312176,"cg_theta_rad":0.55613029,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0284340046,"mpcc_du":50.2669449,"mpcc_dv":48.8040466,"mpcc_dw":51.1959534,"mpcc_enc_sign":1,"mpcc_id_a":-0.470724851,"mpcc_iq_a":-1.29769087,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.5644321,"mpcc_pred_id_a":-0.595955193,"mpcc_pred_iq_a":-0.674836099,"mpcc_state":1,"mpcc_theta_e":0.418351173,"mpcc_theta_mech":0.550616145,"sam_rpm":-29.973917,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248809755,"thr_a_norm":0.0254474729,"thr_a_v":0.599523902,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479729921,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.230919,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.45852208,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556631923,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.01712575,"mpcc_du":50.5089188,"mpcc_dv":48.4290543,"mpcc_dw":51.5709457,"mpcc_enc_sign":1,"mpcc_id_a":1.19167542,"mpcc_iq_a":-0.928949058,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.83332825,"mpcc_pred_id_a":-0.229179293,"mpcc_pred_iq_a":-1.00026441,"mpcc_state":1,"mpcc_theta_e":0.441454411,"mpcc_theta_mech":0.555236757,"sam_rpm":-5.22266245,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248809755,"thr_a_norm":0.0248809755,"thr_a_v":0.599523902,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479729921,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.237419,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.371207237,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556687772,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00180075807,"mpcc_du":49.7957993,"mpcc_dv":49.2507668,"mpcc_dw":50.7492332,"mpcc_enc_sign":1,"mpcc_id_a":0.776868343,"mpcc_iq_a":-0.961442769,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.33658195,"mpcc_pred_id_a":-0.117123261,"mpcc_pred_iq_a":-1.97375929,"mpcc_state":1,"mpcc_theta_e":0.439074993,"mpcc_theta_mech":0.554760873,"sam_rpm":-2.49220061,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023861289,"thr_a_norm":0.023861289,"thr_a_v":0.595445156,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472227067,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.24395,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.03063393,"cg_theta_rad":0.558278203,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00671580993,"mpcc_du":50.7813721,"mpcc_dv":48.2000427,"mpcc_dw":51.7999573,"mpcc_enc_sign":1,"mpcc_id_a":-0.368402749,"mpcc_iq_a":-0.8397246,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.92559683,"mpcc_pred_id_a":-0.499206454,"mpcc_pred_iq_a":1.34084749,"mpcc_state":1,"mpcc_theta_e":0.440236092,"mpcc_theta_mech":0.55723983,"sam_rpm":-2.53952289,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023861289,"thr_a_norm":0.023861289,"thr_a_v":0.595445156,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472227067,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.250542,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.733645439,"cg_iw_a":-2.40789986,"cg_theta_rad":0.554798722,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0140362941,"mpcc_du":49.8730583,"mpcc_dv":49.0380478,"mpcc_dw":50.9619522,"mpcc_enc_sign":1,"mpcc_id_a":1.06047678,"mpcc_iq_a":0.153161481,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.39859033,"mpcc_pred_id_a":0.077672191,"mpcc_pred_iq_a":-2.28534031,"mpcc_state":1,"mpcc_theta_e":0.439666748,"mpcc_theta_mech":0.554879308,"sam_rpm":-5.01333094,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257621855,"thr_a_norm":0.0257621855,"thr_a_v":0.603048742,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487081707,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.258934,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.806133032,"cg_iw_a":0.201656103,"cg_theta_rad":0.557160079,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0190016199,"mpcc_du":49.5520439,"mpcc_dv":49.3430672,"mpcc_dw":50.6569328,"mpcc_enc_sign":1,"mpcc_id_a":2.55049324,"mpcc_iq_a":-0.0848653689,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.346010149,"mpcc_pred_id_a":0.37127459,"mpcc_pred_iq_a":-2.14323759,"mpcc_state":1,"mpcc_theta_e":0.439534187,"mpcc_theta_mech":0.554852784,"sam_rpm":-1.25538695,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02567406,"thr_a_norm":0.0257621855,"thr_a_v":0.60269624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.268913,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.733645439,"cg_iw_a":-2.33541203,"cg_theta_rad":0.553923309,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0301339626,"mpcc_du":49.1095734,"mpcc_dv":50.8904266,"mpcc_dw":50.0676537,"mpcc_enc_sign":1,"mpcc_id_a":3.36204481,"mpcc_iq_a":0.771636844,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.5028992,"mpcc_pred_id_a":0.549498975,"mpcc_pred_iq_a":-2.91606283,"mpcc_state":1,"mpcc_theta_e":0.443057537,"mpcc_theta_mech":0.55555743,"sam_rpm":15.2200737,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02567406,"thr_a_norm":0.02567406,"thr_a_v":0.60269624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.278831,"values":{"cg_iu_a":0.387013912,"cg_iv_a":0.208694458,"cg_iw_a":-0.59570837,"cg_theta_rad":0.555361986,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0409684256,"mpcc_du":49.9347534,"mpcc_dv":48.9675217,"mpcc_dw":51.027401,"mpcc_enc_sign":1,"mpcc_id_a":1.4861995,"mpcc_iq_a":-0.47891134,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.39359713,"mpcc_pred_id_a":0.233941615,"mpcc_pred_iq_a":-2.64026308,"mpcc_state":1,"mpcc_theta_e":0.448775291,"mpcc_theta_mech":0.556701005,"sam_rpm":6.17043924,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295010358,"thr_a_norm":0.0295010358,"thr_a_v":0.618004143,"thr_b":0.000786215067,"thr_b_norm":0.000786215067,"thr_b_v":0.50314486,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.288719,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.806133032,"cg_iw_a":-1.4655602,"cg_theta_rad":0.554272115,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.048466634,"mpcc_du":49.4852867,"mpcc_dv":49.4447708,"mpcc_dw":50.5552292,"mpcc_enc_sign":1,"mpcc_id_a":2.49850607,"mpcc_iq_a":-0.549031913,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.05703735,"mpcc_pred_id_a":0.558855772,"mpcc_pred_iq_a":0.402475536,"mpcc_state":1,"mpcc_theta_e":0.449029446,"mpcc_theta_mech":0.556751788,"sam_rpm":1.9635036,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295010358,"thr_a_norm":0.0295010358,"thr_a_v":0.618004143,"thr_b":0.000786215067,"thr_b_norm":0.000786215067,"thr_b_v":0.50314486,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.299095,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-2.40086174,"cg_iw_a":0.346631527,"cg_theta_rad":0.556196392,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0131479092,"mpcc_du":50.0133934,"mpcc_dv":48.7016144,"mpcc_dw":51.2983856,"mpcc_enc_sign":1,"mpcc_id_a":2.14960027,"mpcc_iq_a":-1.11097479,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.9146948,"mpcc_pred_id_a":0.493524343,"mpcc_pred_iq_a":-1.48211539,"mpcc_state":1,"mpcc_theta_e":0.426790714,"mpcc_theta_mech":0.552304089,"sam_rpm":-20.3892307,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217212141,"thr_a_norm":0.0217212141,"thr_a_v":0.586884856,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.311516,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.55287504,"cg_theta_rad":0.55559057,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0838608667,"mpcc_du":49.3684845,"mpcc_dv":49.1502953,"mpcc_dw":50.8497047,"mpcc_enc_sign":1,"mpcc_id_a":5.75431824,"mpcc_iq_a":1.18926728,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.14776993,"mpcc_pred_id_a":1.38906062,"mpcc_pred_iq_a":-0.0605608672,"mpcc_state":1,"mpcc_theta_e":0.429549694,"mpcc_theta_mech":0.552855849,"sam_rpm":-4.03658772,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209532976,"thr_a_norm":0.0217212141,"thr_a_v":0.58381319,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464119941,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.335442,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.24105906,"cg_iw_a":-1.4655602,"cg_theta_rad":0.555036187,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0236366596,"mpcc_du":50.8036919,"mpcc_dv":47.9069557,"mpcc_dw":52.0930443,"mpcc_enc_sign":1,"mpcc_id_a":1.84632468,"mpcc_iq_a":0.294829994,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.14905453,"mpcc_pred_id_a":0.194896281,"mpcc_pred_iq_a":2.26566648,"mpcc_state":1,"mpcc_theta_e":0.438164234,"mpcc_theta_mech":0.554578781,"sam_rpm":-6.05443668,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209532976,"thr_a_norm":0.0209532976,"thr_a_v":0.58381319,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464119941,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.341972,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.951108456,"cg_iw_a":0.564094543,"cg_theta_rad":0.553923368,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00304063037,"mpcc_du":50.1219826,"mpcc_dv":48.9490509,"mpcc_dw":51.0509491,"mpcc_enc_sign":1,"mpcc_id_a":0.212002873,"mpcc_iq_a":-1.1541518,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.4266253,"mpcc_pred_id_a":-0.362829477,"mpcc_pred_iq_a":-3.61825919,"mpcc_state":1,"mpcc_theta_e":0.433260441,"mpcc_theta_mech":0.553597987,"sam_rpm":-16.8760185,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165346712,"thr_a_norm":0.0165346712,"thr_a_v":0.566138685,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476507217,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.348473,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.6759851,"cg_iw_a":-0.885658503,"cg_theta_rad":0.556431293,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0331323743,"mpcc_du":49.7279091,"mpcc_dv":49.0399437,"mpcc_dw":51.7245178,"mpcc_enc_sign":1,"mpcc_id_a":3.40727115,"mpcc_iq_a":-0.321269423,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.09145927,"mpcc_pred_id_a":0.673737049,"mpcc_pred_iq_a":-0.300593823,"mpcc_state":1,"mpcc_theta_e":0.444744587,"mpcc_theta_mech":0.555535614,"sam_rpm":5.43052483,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165346712,"thr_a_norm":0.0165346712,"thr_a_v":0.566138685,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476507217,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.355003,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-2.11091113,"cg_iw_a":-2.11794877,"cg_theta_rad":0.557269692,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0575908944,"mpcc_du":49.5420418,"mpcc_dv":49.323616,"mpcc_dw":50.676384,"mpcc_enc_sign":1,"mpcc_id_a":3.44532776,"mpcc_iq_a":0.779019713,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.888572335,"mpcc_pred_id_a":0.485249609,"mpcc_pred_iq_a":-3.01724005,"mpcc_state":1,"mpcc_theta_e":0.442869186,"mpcc_theta_mech":0.55551976,"sam_rpm":1.41217661,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217338055,"thr_a_norm":0.0217338055,"thr_a_v":0.586935222,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464573115,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.364464,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.24105906,"cg_iw_a":1.14399624,"cg_theta_rad":0.556751788,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0184631795,"mpcc_du":50.2137985,"mpcc_dv":48.8649979,"mpcc_dw":51.1350021,"mpcc_enc_sign":1,"mpcc_id_a":-0.0507538579,"mpcc_iq_a":-1.17632675,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.32015657,"mpcc_pred_id_a":-0.370477438,"mpcc_pred_iq_a":-2.91003156,"mpcc_state":1,"mpcc_theta_e":0.4440341,"mpcc_theta_mech":0.555752754,"sam_rpm":-2.94773555,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295136124,"thr_a_norm":0.0217338055,"thr_a_v":0.61805445,"thr_b":0.00432364643,"thr_b_norm":0,"thr_b_v":0.517294586,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.374504,"values":{"cg_iu_a":1.90925455,"cg_iv_a":0.0637187958,"cg_iw_a":-1.82799816,"cg_theta_rad":0.555021048,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0160135683,"mpcc_du":49.540966,"mpcc_dv":49.634964,"mpcc_dw":50.459034,"mpcc_enc_sign":1,"mpcc_id_a":1.964849,"mpcc_iq_a":-2.98904896,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.42186463,"mpcc_pred_id_a":0.120096013,"mpcc_pred_iq_a":-5.95089865,"mpcc_state":1,"mpcc_theta_e":0.449826717,"mpcc_theta_mech":0.55691129,"sam_rpm":2.74967194,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295136124,"thr_a_norm":0.0295136124,"thr_a_v":0.61805445,"thr_b":0.00432364643,"thr_b_norm":0.00432364643,"thr_b_v":0.517294586,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.384727,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.516182423,"cg_iw_a":0.201656342,"cg_theta_rad":0.554575503,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0053440854,"mpcc_du":50.5899925,"mpcc_dv":48.6396828,"mpcc_dw":51.3603172,"mpcc_enc_sign":1,"mpcc_id_a":-0.742513061,"mpcc_iq_a":-3.11986852,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.38137293,"mpcc_pred_id_a":-0.882208824,"mpcc_pred_iq_a":-2.938483,"mpcc_state":1,"mpcc_theta_e":0.446337223,"mpcc_theta_mech":0.556213319,"sam_rpm":-6.04889917,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00754635036,"thr_b_norm":0.00754635036,"thr_b_v":0.530185401,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.394676,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.74847269,"cg_iw_a":-0.958146572,"cg_theta_rad":0.557788134,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0325906128,"mpcc_du":50.596302,"mpcc_dv":48.0380783,"mpcc_dw":51.9619217,"mpcc_enc_sign":1,"mpcc_id_a":3.11632729,"mpcc_iq_a":-0.746333838,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.3440304,"mpcc_pred_id_a":0.511699915,"mpcc_pred_iq_a":-1.08004844,"mpcc_state":1,"mpcc_theta_e":0.433535576,"mpcc_theta_mech":0.553653002,"sam_rpm":-19.8799438,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00754635036,"thr_b_norm":0.00754635036,"thr_b_v":0.530185401,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.4049,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.371207237,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556472421,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00882081874,"mpcc_du":49.5776825,"mpcc_dv":49.8990211,"mpcc_dw":50.4223175,"mpcc_enc_sign":1,"mpcc_id_a":1.87828016,"mpcc_iq_a":-3.35310125,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.05851555,"mpcc_pred_id_a":-0.011863579,"mpcc_pred_iq_a":-2.80507731,"mpcc_state":1,"mpcc_theta_e":0.44627285,"mpcc_theta_mech":0.556200504,"sam_rpm":6.92118645,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0329377353,"thr_a_norm":0.0329377353,"thr_a_v":0.631750941,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480636299,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.415306,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.45852208,"cg_iw_a":1.57892203,"cg_theta_rad":0.557429373,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0375172012,"mpcc_du":49.4655037,"mpcc_dv":50.5344963,"mpcc_dw":50.5283127,"mpcc_enc_sign":1,"mpcc_id_a":3.80104113,"mpcc_iq_a":0.527099729,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.18045521,"mpcc_pred_id_a":0.669360638,"mpcc_pred_iq_a":-1.9706558,"mpcc_state":1,"mpcc_theta_e":0.440216064,"mpcc_theta_mech":0.554989159,"sam_rpm":10.9877548,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294758528,"thr_a_norm":0.0329377353,"thr_a_v":0.617903411,"thr_b":0.00633783638,"thr_b_norm":0,"thr_b_v":0.525351346,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.438286,"values":{"cg_iu_a":1.32935333,"cg_iv_a":1.22352171,"cg_iw_a":-2.55287504,"cg_theta_rad":0.555865228,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0226095077,"mpcc_du":49.9809723,"mpcc_dv":48.9612045,"mpcc_dw":51.0387955,"mpcc_enc_sign":1,"mpcc_id_a":2.28753471,"mpcc_iq_a":-0.477718532,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.78141475,"mpcc_pred_id_a":0.093210645,"mpcc_pred_iq_a":-1.97323763,"mpcc_state":1,"mpcc_theta_e":0.442635536,"mpcc_theta_mech":0.55547303,"sam_rpm":-2.5019238,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294758528,"thr_a_norm":0.0294758528,"thr_a_v":0.617903411,"thr_b":0.00633783638,"thr_b_norm":0.00633783638,"thr_b_v":0.525351346,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.444817,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.24105906,"cg_iw_a":0.564094782,"cg_theta_rad":0.5546875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0090363007,"mpcc_du":49.3691902,"mpcc_dv":50.6308098,"mpcc_dw":50.2127419,"mpcc_enc_sign":1,"mpcc_id_a":1.79215527,"mpcc_iq_a":-1.68663526,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.83884954,"mpcc_pred_id_a":0.113850519,"mpcc_pred_iq_a":-5.55535793,"mpcc_state":1,"mpcc_theta_e":0.445715427,"mpcc_theta_mech":0.556088984,"sam_rpm":6.93973589,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186747462,"thr_a_norm":0.0186747462,"thr_a_v":0.574698985,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455257475,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.451378,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-1.53100967,"cg_iw_a":-1.75551081,"cg_theta_rad":0.555474639,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0314198248,"mpcc_du":49.4747047,"mpcc_dv":49.9321136,"mpcc_dw":50.5252953,"mpcc_enc_sign":1,"mpcc_id_a":3.47993612,"mpcc_iq_a":-0.666911602,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.911496282,"mpcc_pred_id_a":0.505609155,"mpcc_pred_iq_a":-3.47904634,"mpcc_state":1,"mpcc_theta_e":0.441187859,"mpcc_theta_mech":0.55518347,"sam_rpm":0.853494585,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186747462,"thr_a_norm":0.0186747462,"thr_a_v":0.574698985,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455257475,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.458153,"values":{"cg_iu_a":3.06905746,"cg_iv_a":0.281181812,"cg_iw_a":0.274143934,"cg_theta_rad":0.556811333,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0187180396,"mpcc_du":50.0210876,"mpcc_dv":48.8393097,"mpcc_dw":51.1606903,"mpcc_enc_sign":1,"mpcc_id_a":2.4432404,"mpcc_iq_a":-1.498541,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.6113739,"mpcc_pred_id_a":0.322282761,"mpcc_pred_iq_a":0.796823621,"mpcc_state":1,"mpcc_theta_e":0.449207306,"mpcc_theta_mech":0.556787372,"sam_rpm":14.3363943,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0127832443,"thr_a_norm":0.0127832443,"thr_a_v":0.551132977,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439899296,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.468163,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.588670254,"cg_iw_a":-2.33541203,"cg_theta_rad":0.552795053,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0032658407,"mpcc_du":49.5696869,"mpcc_dv":50.0097198,"mpcc_dw":50.4303131,"mpcc_enc_sign":1,"mpcc_id_a":0.286491841,"mpcc_iq_a":-2.38459778,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.6638794,"mpcc_pred_id_a":-0.612015307,"mpcc_pred_iq_a":-2.20889902,"mpcc_state":1,"mpcc_theta_e":0.431165218,"mpcc_theta_mech":0.555360913,"sam_rpm":-4.6335268,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221366435,"thr_a_norm":0.0127832443,"thr_a_v":0.588546574,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473234147,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.477928,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.371207237,"cg_iw_a":-0.885658741,"cg_theta_rad":0.557229757,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0683845356,"mpcc_du":50.0161018,"mpcc_dv":48.6382141,"mpcc_dw":51.3617859,"mpcc_enc_sign":1,"mpcc_id_a":3.78984594,"mpcc_iq_a":0.154687807,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.58429241,"mpcc_pred_id_a":0.732224286,"mpcc_pred_iq_a":-2.50012708,"mpcc_state":1,"mpcc_theta_e":0.442260265,"mpcc_theta_mech":0.555397928,"sam_rpm":-6.48972797,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221366435,"thr_a_norm":0.0221366435,"thr_a_v":0.588546574,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473234147,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.488121,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.96593571,"cg_iw_a":0.274144173,"cg_theta_rad":0.557189882,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0385343693,"mpcc_du":49.944294,"mpcc_dv":49.2520714,"mpcc_dw":50.7479286,"mpcc_enc_sign":1,"mpcc_id_a":0.0161674786,"mpcc_iq_a":-1.02524829,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.442706496,"mpcc_pred_id_a":-0.488743067,"mpcc_pred_iq_a":-3.28051877,"mpcc_state":1,"mpcc_theta_e":0.448904037,"mpcc_theta_mech":0.556726694,"sam_rpm":13.1356516,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183978081,"thr_a_norm":0.0183978081,"thr_a_v":0.573591232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470464617,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.498131,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.951108456,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556927025,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00822909176,"mpcc_du":49.5381699,"mpcc_dv":49.7829933,"mpcc_dw":50.4618301,"mpcc_enc_sign":1,"mpcc_id_a":1.08296907,"mpcc_iq_a":-2.53435802,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.182674557,"mpcc_pred_id_a":-0.0234814119,"mpcc_pred_iq_a":-3.21729875,"mpcc_state":1,"mpcc_theta_e":0.437235832,"mpcc_theta_mech":0.554393113,"sam_rpm":0.386506885,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183978081,"thr_a_norm":0.0183978081,"thr_a_v":0.573591232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470464617,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.509087,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.02359605,"cg_iw_a":-1.68302298,"cg_theta_rad":0.555431724,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0127716735,"mpcc_du":50.3143845,"mpcc_dv":48.6915169,"mpcc_dw":51.3084831,"mpcc_enc_sign":1,"mpcc_id_a":0.595324755,"mpcc_iq_a":-1.85092986,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.10390329,"mpcc_pred_id_a":-0.335859656,"mpcc_pred_iq_a":-3.61196733,"mpcc_state":1,"mpcc_theta_e":0.441653728,"mpcc_theta_mech":0.555276632,"sam_rpm":-10.2618322,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224513561,"thr_a_norm":0.0224513561,"thr_a_v":0.589805424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467644751,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.533501,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-1.74847269,"cg_iw_a":1.72389746,"cg_theta_rad":0.557155311,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.000698734249,"mpcc_du":48.8967209,"mpcc_dv":51.1032791,"mpcc_dw":49.4811707,"mpcc_enc_sign":1,"mpcc_id_a":0.191980675,"mpcc_iq_a":-1.8119843,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.4997215,"mpcc_pred_id_a":-0.452821791,"mpcc_pred_iq_a":-6.20626736,"mpcc_state":1,"mpcc_theta_e":0.453813076,"mpcc_theta_mech":0.557708561,"sam_rpm":18.3458309,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170256346,"thr_a_norm":0.0170256346,"thr_a_v":0.568102539,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440704972,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.540031,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.661157608,"cg_iw_a":-1.03063393,"cg_theta_rad":0.553245723,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.000379399542,"mpcc_du":49.4649811,"mpcc_dv":50.5350189,"mpcc_dw":50.0708542,"mpcc_enc_sign":1,"mpcc_id_a":-0.154425383,"mpcc_iq_a":-1.26058972,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.7384892,"mpcc_pred_id_a":-0.7141186,"mpcc_pred_iq_a":-5.45537901,"mpcc_state":1,"mpcc_theta_e":0.43155241,"mpcc_theta_mech":0.553256392,"sam_rpm":2.04417014,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170256346,"thr_a_norm":0.0170256346,"thr_a_v":0.568102539,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440704972,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.546562,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.516182423,"cg_iw_a":-0.16078186,"cg_theta_rad":0.553201914,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00147532334,"mpcc_du":50.3443565,"mpcc_dv":48.7858963,"mpcc_dw":51.2141037,"mpcc_enc_sign":1,"mpcc_id_a":-0.237625048,"mpcc_iq_a":-3.22513938,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.07649112,"mpcc_pred_id_a":-0.559199452,"mpcc_pred_iq_a":-1.3484658,"mpcc_state":1,"mpcc_theta_e":0.4485116,"mpcc_theta_mech":0.556648195,"sam_rpm":5.44914579,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.108230725,"thr_a_norm":0.108230725,"thr_a_v":0.9329229,"thr_b":0.045954451,"thr_b_norm":0.045954451,"thr_b_v":0.683817804,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.553093,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-2.98076296,"cg_iw_a":0.999020576,"cg_theta_rad":0.55882448,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.000315627258,"mpcc_du":49.6729279,"mpcc_dv":49.4870338,"mpcc_dw":50.5129662,"mpcc_enc_sign":1,"mpcc_id_a":0.353899658,"mpcc_iq_a":-1.36012292,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.05133438,"mpcc_pred_id_a":-0.32484597,"mpcc_pred_iq_a":-4.37058163,"mpcc_state":1,"mpcc_theta_e":0.435291767,"mpcc_theta_mech":0.554004252,"sam_rpm":-12.6322441,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237857699,"thr_a_norm":0.108230725,"thr_a_v":0.59514308,"thr_b":0,"thr_b_norm":0.045954451,"thr_b_v":0.473385215,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.562889,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.878620625,"cg_iw_a":-0.160782337,"cg_theta_rad":0.552111089,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0226565637,"mpcc_du":50.2325592,"mpcc_dv":48.5666695,"mpcc_dw":51.4333305,"mpcc_enc_sign":1,"mpcc_id_a":0.720803738,"mpcc_iq_a":-1.10324812,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.42844009,"mpcc_pred_id_a":0.114141755,"mpcc_pred_iq_a":2.10951114,"mpcc_state":1,"mpcc_theta_e":0.425449371,"mpcc_theta_mech":0.552035749,"sam_rpm":-15.7692776,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237857699,"thr_a_norm":0.0237857699,"thr_a_v":0.59514308,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473385215,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.573112,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.661157608,"cg_iw_a":-1.61053562,"cg_theta_rad":0.555220902,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0119541725,"mpcc_du":49.4537125,"mpcc_dv":49.7112846,"mpcc_dw":50.5462875,"mpcc_enc_sign":1,"mpcc_id_a":2.07495832,"mpcc_iq_a":-0.925875902,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.51121902,"mpcc_pred_id_a":0.478463262,"mpcc_pred_iq_a":-1.01244235,"mpcc_state":1,"mpcc_theta_e":0.439909935,"mpcc_theta_mech":0.554927886,"sam_rpm":5.92047501,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261650234,"thr_a_norm":0.0261650234,"thr_a_v":0.604660094,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.583092,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.82096052,"cg_iw_a":-0.885658741,"cg_theta_rad":0.557468414,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0143218599,"mpcc_du":49.8392372,"mpcc_dv":49.3086548,"mpcc_dw":50.6913452,"mpcc_enc_sign":1,"mpcc_id_a":0.372542202,"mpcc_iq_a":-1.28915584,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.26327872,"mpcc_pred_id_a":-0.389826924,"mpcc_pred_iq_a":-3.73912215,"mpcc_state":1,"mpcc_theta_e":0.448233604,"mpcc_theta_mech":0.556592643,"sam_rpm":3.12064433,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188132375,"thr_a_norm":0.0261650234,"thr_a_v":0.57525295,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451178759,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.593102,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-3.70563984,"cg_iw_a":1.79638481,"cg_theta_rad":0.553961754,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0471991375,"mpcc_du":50.1519737,"mpcc_dv":48.6332893,"mpcc_dw":51.3667107,"mpcc_enc_sign":1,"mpcc_id_a":3.08666182,"mpcc_iq_a":0.0193918757,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.96653366,"mpcc_pred_id_a":0.410712004,"mpcc_pred_iq_a":-1.69028974,"mpcc_state":1,"mpcc_theta_e":0.443958759,"mpcc_theta_mech":0.555737674,"sam_rpm":-4.58802938,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188132375,"thr_a_norm":0.0188132375,"thr_a_v":0.57525295,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451178759,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.603294,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.661157608,"cg_iw_a":-1.53804779,"cg_theta_rad":0.554170847,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.226955175,"mpcc_du":48.9444237,"mpcc_dv":51.0555763,"mpcc_dw":50.0071335,"mpcc_enc_sign":1,"mpcc_id_a":5.5355258,"mpcc_iq_a":1.21311927,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":27.6865311,"mpcc_pred_id_a":0.940447748,"mpcc_pred_iq_a":-6.11150455,"mpcc_state":1,"mpcc_theta_e":0.473353386,"mpcc_theta_mech":0.5616166,"sam_rpm":43.0162201,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176047087,"thr_a_norm":0.0176047087,"thr_a_v":0.570418835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438237578,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.613304,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.24105906,"cg_iw_a":-0.160782099,"cg_theta_rad":0.556080639,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0833974332,"mpcc_du":49.3275986,"mpcc_dv":49.9787331,"mpcc_dw":50.6724014,"mpcc_enc_sign":1,"mpcc_id_a":5.30376673,"mpcc_iq_a":0.111044623,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.00813913,"mpcc_pred_id_a":1.40518701,"mpcc_pred_iq_a":-2.84908724,"mpcc_state":1,"mpcc_theta_e":0.446325302,"mpcc_theta_mech":0.556210935,"sam_rpm":10.7619448,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176047087,"thr_a_norm":0.0176047087,"thr_a_v":0.570418835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438237578,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.636528,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.60349751,"cg_iw_a":-0.885658741,"cg_theta_rad":0.55643183,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0409046039,"mpcc_du":49.535923,"mpcc_dv":50.4378929,"mpcc_dw":50.464077,"mpcc_enc_sign":1,"mpcc_id_a":2.56066084,"mpcc_iq_a":-0.925756037,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.2043839,"mpcc_pred_id_a":0.264386803,"mpcc_pred_iq_a":-4.83369875,"mpcc_state":1,"mpcc_theta_e":0.456210136,"mpcc_theta_mech":0.558187962,"sam_rpm":18.2784786,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149736851,"thr_a_norm":0.0149736851,"thr_a_v":0.559894741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462508589,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.643028,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.661157608,"cg_iw_a":-1.68302298,"cg_theta_rad":0.554721236,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0135673201,"mpcc_du":49.5814705,"mpcc_dv":50.4185295,"mpcc_dw":50.2565155,"mpcc_enc_sign":1,"mpcc_id_a":0.781936228,"mpcc_iq_a":-1.41280222,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":19.3387413,"mpcc_pred_id_a":-0.440221399,"mpcc_pred_iq_a":-2.89417672,"mpcc_state":1,"mpcc_theta_e":0.461619854,"mpcc_theta_mech":0.55641824,"sam_rpm":28.977272,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250320435,"thr_a_norm":0.0149736851,"thr_a_v":0.600128174,"thr_b":6.86645508e-05,"thr_b_norm":0,"thr_b_v":0.500274658,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.649559,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.16857147,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.555471599,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0177118815,"mpcc_du":49.7238808,"mpcc_dv":49.2391396,"mpcc_dw":50.7608604,"mpcc_enc_sign":1,"mpcc_id_a":2.4633286,"mpcc_iq_a":-0.619857192,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.0833168,"mpcc_pred_id_a":0.28459847,"mpcc_pred_iq_a":0.177296191,"mpcc_state":1,"mpcc_theta_e":0.447170258,"mpcc_theta_mech":0.556379974,"sam_rpm":13.371706,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250320435,"thr_a_norm":0.0250320435,"thr_a_v":0.600128174,"thr_b":6.86645508e-05,"thr_b_norm":6.86645508e-05,"thr_b_v":0.500274658,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.656059,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.806133032,"cg_iw_a":-1.4655602,"cg_theta_rad":0.557110488,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.000128020358,"mpcc_du":49.0274162,"mpcc_dv":50.9725838,"mpcc_dw":50.707386,"mpcc_enc_sign":1,"mpcc_id_a":0.207881629,"mpcc_iq_a":-1.30140018,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.46593475,"mpcc_pred_id_a":-0.40106082,"mpcc_pred_iq_a":-5.89698124,"mpcc_state":1,"mpcc_theta_e":0.446491718,"mpcc_theta_mech":0.552789509,"sam_rpm":10.3678007,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282799155,"thr_a_norm":0.0282799155,"thr_a_v":0.613119662,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49508813,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.664299,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.6759851,"cg_iw_a":0.854045153,"cg_theta_rad":0.556767344,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0370910838,"mpcc_du":49.6999359,"mpcc_dv":49.1834068,"mpcc_dw":50.8165932,"mpcc_enc_sign":1,"mpcc_id_a":2.53889513,"mpcc_iq_a":0.0251997113,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.2089901,"mpcc_pred_id_a":0.613846183,"mpcc_pred_iq_a":-0.734085619,"mpcc_state":1,"mpcc_theta_e":0.453083992,"mpcc_theta_mech":0.557562709,"sam_rpm":15.1829138,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282799155,"thr_a_norm":0.0282799155,"thr_a_v":0.613119662,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49508813,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.674583,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-2.18339872,"cg_iw_a":1.14399576,"cg_theta_rad":0.556696713,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0444607437,"mpcc_du":49.4186058,"mpcc_dv":50.5813942,"mpcc_dw":50.4262581,"mpcc_enc_sign":1,"mpcc_id_a":3.19027305,"mpcc_iq_a":-0.574657261,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.83829546,"mpcc_pred_id_a":0.664898813,"mpcc_pred_iq_a":-0.849781096,"mpcc_state":1,"mpcc_theta_e":0.427338123,"mpcc_theta_mech":0.552413583,"sam_rpm":3.35314655,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0239745975,"thr_a_norm":0.0239745975,"thr_a_v":0.59589839,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482096612,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.684715,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.443694592,"cg_iw_a":-0.740683556,"cg_theta_rad":0.556950629,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00720808888,"mpcc_du":49.5671501,"mpcc_dv":49.2708817,"mpcc_dw":50.7291183,"mpcc_enc_sign":1,"mpcc_id_a":0.816528261,"mpcc_iq_a":-0.881922364,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.82872069,"mpcc_pred_id_a":-0.0484746285,"mpcc_pred_iq_a":-0.836754084,"mpcc_state":1,"mpcc_theta_e":0.43446064,"mpcc_theta_mech":0.554377973,"sam_rpm":2.53978825,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194300711,"thr_a_norm":0.0239745975,"thr_a_v":0.577720284,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458178043,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.694481,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.31354666,"cg_iw_a":0.346631527,"cg_theta_rad":0.556688666,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0435488857,"mpcc_du":49.7569084,"mpcc_dv":48.9231453,"mpcc_dw":51.0768547,"mpcc_enc_sign":1,"mpcc_id_a":3.80147219,"mpcc_iq_a":0.0355555527,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.05471754,"mpcc_pred_id_a":0.850318015,"mpcc_pred_iq_a":-2.05937934,"mpcc_state":1,"mpcc_theta_e":0.43558836,"mpcc_theta_mech":0.554063618,"sam_rpm":-8.40118122,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194300711,"thr_a_norm":0.0194300711,"thr_a_v":0.577720284,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458178043,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.704826,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.53100967,"cg_iw_a":-1.53804779,"cg_theta_rad":0.554427981,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0159520656,"mpcc_du":50.0501595,"mpcc_dv":49.0330048,"mpcc_dw":50.5305634,"mpcc_enc_sign":1,"mpcc_id_a":0.757709742,"mpcc_iq_a":-0.823406577,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.872625351,"mpcc_pred_id_a":-0.232477248,"mpcc_pred_iq_a":-2.36376381,"mpcc_state":1,"mpcc_theta_e":0.447511673,"mpcc_theta_mech":0.55693537,"sam_rpm":1.69383645,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273609459,"thr_a_norm":0.0273609459,"thr_a_v":0.609443784,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49257037,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.714561,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.45852208,"cg_iw_a":-2.98780155,"cg_theta_rad":0.556448817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0230738819,"mpcc_du":49.4622498,"mpcc_dv":49.4425507,"mpcc_dw":50.5574493,"mpcc_enc_sign":1,"mpcc_id_a":2.93219614,"mpcc_iq_a":-0.118518151,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.95345569,"mpcc_pred_id_a":0.444331616,"mpcc_pred_iq_a":0.470304817,"mpcc_state":1,"mpcc_theta_e":0.437162876,"mpcc_theta_mech":0.55437845,"sam_rpm":5.06876659,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273609459,"thr_a_norm":0.0273609459,"thr_a_v":0.609443784,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49257037,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.737724,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.951108456,"cg_iw_a":-1.61053514,"cg_theta_rad":0.554556072,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00108373782,"mpcc_du":50.4502373,"mpcc_dv":48.5964317,"mpcc_dw":51.4035683,"mpcc_enc_sign":1,"mpcc_id_a":0.575431406,"mpcc_iq_a":-1.56054151,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.85426116,"mpcc_pred_id_a":-0.532945931,"mpcc_pred_iq_a":0.672172785,"mpcc_state":1,"mpcc_theta_e":0.439194202,"mpcc_theta_mech":0.554784715,"sam_rpm":-4.34743166,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0131105483,"thr_a_norm":0.0131105483,"thr_a_v":0.552442193,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458027005,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.744225,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.53100967,"cg_iw_a":-0.958146572,"cg_theta_rad":0.55309695,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.014179511,"mpcc_du":49.5762329,"mpcc_dv":49.6610069,"mpcc_dw":50.7039528,"mpcc_enc_sign":1,"mpcc_id_a":1.88182282,"mpcc_iq_a":-0.656924665,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.81638038,"mpcc_pred_id_a":-0.177540168,"mpcc_pred_iq_a":-3.43209815,"mpcc_state":1,"mpcc_theta_e":0.443091869,"mpcc_theta_mech":0.554952621,"sam_rpm":2.54349566,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022401005,"thr_a_norm":0.0131105483,"thr_a_v":0.58960402,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487434179,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.750755,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.951108456,"cg_iw_a":-0.450732708,"cg_theta_rad":0.552120209,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0108106919,"mpcc_du":49.7900581,"mpcc_dv":49.1707916,"mpcc_dw":50.8292084,"mpcc_enc_sign":1,"mpcc_id_a":1.77928519,"mpcc_iq_a":-1.54393446,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.44271183,"mpcc_pred_id_a":0.12677142,"mpcc_pred_iq_a":-1.40077007,"mpcc_state":1,"mpcc_theta_e":0.446746349,"mpcc_theta_mech":0.556295156,"sam_rpm":7.77409506,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022401005,"thr_a_norm":0.022401005,"thr_a_v":0.58960402,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487434179,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.75753,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.516182423,"cg_iw_a":-0.305757523,"cg_theta_rad":0.550743222,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00425630296,"mpcc_du":49.7638168,"mpcc_dv":49.3268242,"mpcc_dw":50.6731758,"mpcc_enc_sign":1,"mpcc_id_a":2.85917473,"mpcc_iq_a":-0.794788957,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.69112873,"mpcc_pred_id_a":-0.129941732,"mpcc_pred_iq_a":-1.85155451,"mpcc_state":1,"mpcc_theta_e":0.442572594,"mpcc_theta_mech":0.555460393,"sam_rpm":8.54236794,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259636045,"thr_a_norm":0.0259636045,"thr_a_v":0.603854418,"thr_b":0.000547036529,"thr_b_norm":0.000547036529,"thr_b_v":0.502188146,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.7687,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.951108456,"cg_iw_a":-1.39307213,"cg_theta_rad":0.555555224,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0306004938,"mpcc_du":50.0301437,"mpcc_dv":49.0328293,"mpcc_dw":50.9671707,"mpcc_enc_sign":1,"mpcc_id_a":0.706781745,"mpcc_iq_a":-0.757766724,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.4574666,"mpcc_pred_id_a":-0.158702657,"mpcc_pred_iq_a":-2.59653449,"mpcc_state":1,"mpcc_theta_e":0.452389717,"mpcc_theta_mech":0.55742383,"sam_rpm":6.70847607,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244277716,"thr_a_norm":0.0259636045,"thr_a_v":0.597711086,"thr_b":0,"thr_b_norm":0.000547036529,"thr_b_v":0.489649802,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.779686,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.24105906,"cg_iw_a":-1.32058454,"cg_theta_rad":0.555713713,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0401820652,"mpcc_du":50.0255661,"mpcc_dv":48.8764381,"mpcc_dw":51.1235619,"mpcc_enc_sign":1,"mpcc_id_a":2.6781795,"mpcc_iq_a":-0.673484564,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.45389295,"mpcc_pred_id_a":0.266195387,"mpcc_pred_iq_a":-3.12506723,"mpcc_state":1,"mpcc_theta_e":0.446172714,"mpcc_theta_mech":0.556180477,"sam_rpm":-3.59509945,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244277716,"thr_a_norm":0.0244277716,"thr_a_v":0.597711086,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489649802,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.790092,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.09608364,"cg_iw_a":-3.06028843,"cg_theta_rad":0.555916727,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0361293964,"mpcc_du":50.1164246,"mpcc_dv":48.7938385,"mpcc_dw":51.2061615,"mpcc_enc_sign":1,"mpcc_id_a":2.43888545,"mpcc_iq_a":-0.837899506,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.0899756,"mpcc_pred_id_a":0.101454146,"mpcc_pred_iq_a":-2.53907681,"mpcc_state":1,"mpcc_theta_e":0.446357727,"mpcc_theta_mech":0.556217492,"sam_rpm":-1.34045279,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201098621,"thr_a_norm":0.0201098621,"thr_a_v":0.580439448,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.802269,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.82096052,"cg_iw_a":-3.20526457,"cg_theta_rad":0.553854167,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0598196127,"mpcc_du":50.5055389,"mpcc_dv":48.3163795,"mpcc_dw":51.6836205,"mpcc_enc_sign":1,"mpcc_id_a":0.894396961,"mpcc_iq_a":0.134329364,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.26241541,"mpcc_pred_id_a":0.0740055889,"mpcc_pred_iq_a":-1.38862324,"mpcc_state":1,"mpcc_theta_e":0.44503355,"mpcc_theta_mech":0.555952609,"sam_rpm":-1.10586488,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285820514,"thr_a_norm":0.0201098621,"thr_a_v":0.614328206,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494181722,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.813011,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.53100967,"cg_iw_a":-1.39307213,"cg_theta_rad":0.553165913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0574666634,"mpcc_du":50.2523117,"mpcc_dv":48.5535202,"mpcc_dw":51.4464798,"mpcc_enc_sign":1,"mpcc_id_a":1.24433744,"mpcc_iq_a":-0.646692395,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.01203346,"mpcc_pred_id_a":0.209486246,"mpcc_pred_iq_a":-4.0109601,"mpcc_state":1,"mpcc_theta_e":0.452340603,"mpcc_theta_mech":0.557414055,"sam_rpm":7.14471579,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285820514,"thr_a_norm":0.0285820514,"thr_a_v":0.614328206,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494181722,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.837486,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.153744221,"cg_iw_a":-3.56770229,"cg_theta_rad":0.554028928,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0171117559,"mpcc_du":50.8393631,"mpcc_dv":47.9454155,"mpcc_dw":52.0545845,"mpcc_enc_sign":1,"mpcc_id_a":0.587086499,"mpcc_iq_a":-0.685376346,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.05874443,"mpcc_pred_id_a":-0.174507037,"mpcc_pred_iq_a":0.200510129,"mpcc_state":1,"mpcc_theta_e":0.436885834,"mpcc_theta_mech":0.554323077,"sam_rpm":-11.0107975,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210791826,"thr_a_norm":0.0210791826,"thr_a_v":0.58431673,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470565349,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.844048,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.516182423,"cg_iw_a":-0.450732708,"cg_theta_rad":0.554253042,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.101877607,"mpcc_du":49.7315407,"mpcc_dv":48.9366379,"mpcc_dw":51.0633621,"mpcc_enc_sign":1,"mpcc_id_a":4.55239916,"mpcc_iq_a":1.19387317,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.41361046,"mpcc_pred_id_a":0.91244483,"mpcc_pred_iq_a":-0.689401686,"mpcc_state":1,"mpcc_theta_e":0.451121807,"mpcc_theta_mech":0.557170272,"sam_rpm":12.7663765,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195056051,"thr_a_norm":0.0210791826,"thr_a_v":0.57802242,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470464617,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.850517,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.733645439,"cg_iw_a":-2.11794901,"cg_theta_rad":0.5568313,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00844798237,"mpcc_du":49.822834,"mpcc_dv":49.1953583,"mpcc_dw":50.8046417,"mpcc_enc_sign":1,"mpcc_id_a":1.82319379,"mpcc_iq_a":-1.29777992,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.0931816,"mpcc_pred_id_a":-0.108873963,"mpcc_pred_iq_a":-3.45548797,"mpcc_state":1,"mpcc_theta_e":0.43234539,"mpcc_theta_mech":0.553415,"sam_rpm":-15.6165476,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195056051,"thr_a_norm":0.0195056051,"thr_a_v":0.57802242,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470464617,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.85891,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-0.878620625,"cg_iw_a":0.854045391,"cg_theta_rad":0.557234883,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00668583764,"mpcc_du":49.5951004,"mpcc_dv":49.4388237,"mpcc_dw":50.5611763,"mpcc_enc_sign":1,"mpcc_id_a":1.21662021,"mpcc_iq_a":-1.37200904,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.70248222,"mpcc_pred_id_a":0.155103773,"mpcc_pred_iq_a":-2.10284424,"mpcc_state":1,"mpcc_theta_e":0.44931078,"mpcc_theta_mech":0.556808114,"sam_rpm":9.75765896,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459285885,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.868919,"values":{"cg_iu_a":4.08388519,"cg_iv_a":-2.69081235,"cg_iw_a":-1.39307284,"cg_theta_rad":0.556229234,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.132673919,"mpcc_du":50.3734703,"mpcc_dv":48.2794571,"mpcc_dw":51.7205429,"mpcc_enc_sign":1,"mpcc_id_a":3.60480905,"mpcc_iq_a":0.382456899,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.01073456,"mpcc_pred_id_a":0.821334958,"mpcc_pred_iq_a":-0.615551829,"mpcc_state":1,"mpcc_theta_e":0.455480576,"mpcc_theta_mech":0.55804199,"sam_rpm":12.5867548,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0145330727,"thr_a_norm":0.0145330727,"thr_a_v":0.558132291,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44438085,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.880669,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.89344811,"cg_iw_a":0.781557798,"cg_theta_rad":0.556726813,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0730759203,"mpcc_du":49.9700851,"mpcc_dv":48.8879128,"mpcc_dw":51.1120872,"mpcc_enc_sign":1,"mpcc_id_a":3.02497458,"mpcc_iq_a":-0.29037568,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.18686914,"mpcc_pred_id_a":0.44161734,"mpcc_pred_iq_a":-0.67469728,"mpcc_state":1,"mpcc_theta_e":0.448611259,"mpcc_theta_mech":0.556668162,"sam_rpm":-5.3607502,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0145330727,"thr_a_norm":0.0145330727,"thr_a_v":0.558132291,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44438085,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.891075,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.16857147,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556612134,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0243720338,"mpcc_du":49.1565857,"mpcc_dv":50.8434143,"mpcc_dw":50.0275955,"mpcc_enc_sign":1,"mpcc_id_a":3.12230515,"mpcc_iq_a":0.104610667,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.40408325,"mpcc_pred_id_a":0.462040424,"mpcc_pred_iq_a":-2.73052883,"mpcc_state":1,"mpcc_theta_e":0.4408741,"mpcc_theta_mech":0.553192139,"sam_rpm":13.7583961,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238990635,"thr_a_norm":0.0238990635,"thr_a_v":0.595596254,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.901299,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-2.54583716,"cg_iw_a":0.0566809177,"cg_theta_rad":0.555115104,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00913770031,"mpcc_du":49.913311,"mpcc_dv":49.1332092,"mpcc_dw":50.8667908,"mpcc_enc_sign":1,"mpcc_id_a":1.5595783,"mpcc_iq_a":-1.17674673,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.9168396,"mpcc_pred_id_a":-0.00730441092,"mpcc_pred_iq_a":-1.78916049,"mpcc_state":1,"mpcc_theta_e":0.432638168,"mpcc_theta_mech":0.553473532,"sam_rpm":-13.4203033,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176047087,"thr_a_norm":0.0238990635,"thr_a_v":0.570418835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438237578,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.911034,"values":{"cg_iu_a":2.05423021,"cg_iv_a":0.208694458,"cg_iw_a":-1.68302345,"cg_theta_rad":0.556528568,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0550859086,"mpcc_du":50.1244736,"mpcc_dv":48.8558388,"mpcc_dw":51.1441612,"mpcc_enc_sign":1,"mpcc_id_a":2.55001879,"mpcc_iq_a":-0.0980936587,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.01929498,"mpcc_pred_id_a":0.107879221,"mpcc_pred_iq_a":-3.24635625,"mpcc_state":1,"mpcc_theta_e":0.444721222,"mpcc_theta_mech":0.555890143,"sam_rpm":-3.59562397,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176047087,"thr_a_norm":0.0176047087,"thr_a_v":0.570418835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438237578,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.921379,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.878620625,"cg_iw_a":-2.26292467,"cg_theta_rad":0.556618512,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0166705977,"mpcc_du":49.9428368,"mpcc_dv":49.0169029,"mpcc_dw":50.9830971,"mpcc_enc_sign":1,"mpcc_id_a":2.20352006,"mpcc_iq_a":0.541738629,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.734993815,"mpcc_pred_id_a":0.240184918,"mpcc_pred_iq_a":0.386001766,"mpcc_state":1,"mpcc_theta_e":0.439027309,"mpcc_theta_mech":0.554751337,"sam_rpm":1.5574429,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10508354,"thr_a_norm":0.10508354,"thr_a_v":0.92033416,"thr_b":0.0472384989,"thr_b_norm":0.0472384989,"thr_b_v":0.688953996,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.944298,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.38603449,"cg_iw_a":0.346631527,"cg_theta_rad":0.552785277,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0129532553,"mpcc_du":51.4441757,"mpcc_dv":47.1861496,"mpcc_dw":52.8138504,"mpcc_enc_sign":1,"mpcc_id_a":1.48678958,"mpcc_iq_a":-0.816318035,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.6451101,"mpcc_pred_id_a":0.00990119949,"mpcc_pred_iq_a":2.14101505,"mpcc_state":1,"mpcc_theta_e":0.430423737,"mpcc_theta_mech":0.55303067,"sam_rpm":-23.7046623,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10508354,"thr_a_norm":0.10508354,"thr_a_v":0.92033416,"thr_b":0.0472384989,"thr_b_norm":0.0472384989,"thr_b_v":0.688953996,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.950798,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.443694592,"cg_iw_a":-0.305757523,"cg_theta_rad":0.552541137,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0558409914,"mpcc_du":49.4788513,"mpcc_dv":49.883007,"mpcc_dw":50.5211487,"mpcc_enc_sign":1,"mpcc_id_a":2.48176169,"mpcc_iq_a":0.239842162,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.6483202,"mpcc_pred_id_a":0.57518816,"mpcc_pred_iq_a":-4.01679707,"mpcc_state":1,"mpcc_theta_e":0.452814579,"mpcc_theta_mech":0.557508826,"sam_rpm":13.3277082,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182089806,"thr_a_norm":0.0182089806,"thr_a_v":0.572835922,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447905689,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.95739,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.951108456,"cg_iw_a":-0.233269691,"cg_theta_rad":0.555629134,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.018916728,"mpcc_du":50.0323334,"mpcc_dv":49.1414223,"mpcc_dw":50.8585777,"mpcc_enc_sign":1,"mpcc_id_a":0.474146813,"mpcc_iq_a":-0.408970565,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.48003387,"mpcc_pred_id_a":-0.42730993,"mpcc_pred_iq_a":-1.74974918,"mpcc_state":1,"mpcc_theta_e":0.447815895,"mpcc_theta_mech":0.556509078,"sam_rpm":7.05192566,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182089806,"thr_a_norm":0.0182089806,"thr_a_v":0.572835922,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447905689,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.96386,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.45852208,"cg_iw_a":1.143996,"cg_theta_rad":0.556493402,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0289696846,"mpcc_du":49.3704758,"mpcc_dv":50.6295242,"mpcc_dw":50.0788918,"mpcc_enc_sign":1,"mpcc_id_a":0.929417908,"mpcc_iq_a":-0.296491802,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.41632557,"mpcc_pred_id_a":0.0857237577,"mpcc_pred_iq_a":3.36110067,"mpcc_state":1,"mpcc_theta_e":0.44205904,"mpcc_theta_mech":0.555357754,"sam_rpm":14.2247505,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0377466232,"thr_a_norm":0.0377466232,"thr_a_v":0.650986493,"thr_b":0.00572098792,"thr_b_norm":0.00572098792,"thr_b_v":0.522883952,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.971489,"values":{"cg_iu_a":4.73627377,"cg_iv_a":-1.60349751,"cg_iw_a":0.78155756,"cg_theta_rad":0.554943204,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9904.0957,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0112443017,"mpcc_du":50.8910255,"mpcc_dv":47.7948151,"mpcc_dw":52.2051849,"mpcc_enc_sign":1,"mpcc_id_a":1.30162179,"mpcc_iq_a":-0.174472556,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.3533115,"mpcc_pred_id_a":0.128691062,"mpcc_pred_iq_a":0.0222864319,"mpcc_state":1,"mpcc_theta_e":0.42737484,"mpcc_theta_mech":0.552420855,"sam_rpm":-25.4334354,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0377466232,"thr_a_norm":0.0377466232,"thr_a_v":0.650986493,"thr_b":0.00572098792,"thr_b_norm":0.00572098792,"thr_b_v":0.522883952,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.982506,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.806133032,"cg_iw_a":-1.4655602,"cg_theta_rad":0.557773113,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.050870467,"mpcc_du":50.3031883,"mpcc_dv":48.7956657,"mpcc_dw":51.2043343,"mpcc_enc_sign":1,"mpcc_id_a":0.85425514,"mpcc_iq_a":-0.454533756,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.40877679,"mpcc_pred_id_a":-0.201260254,"mpcc_pred_iq_a":-3.55535674,"mpcc_state":1,"mpcc_theta_e":0.449922085,"mpcc_theta_mech":0.556930304,"sam_rpm":-1.93117368,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195811391,"thr_a_norm":0.0195811391,"thr_a_v":0.578324556,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":73.992821,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.733645439,"cg_iw_a":-1.61053514,"cg_theta_rad":0.559077203,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00506774709,"mpcc_du":50.7900314,"mpcc_dv":48.0799255,"mpcc_dw":51.9200745,"mpcc_enc_sign":1,"mpcc_id_a":1.41567028,"mpcc_iq_a":-1.84144473,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.1254444,"mpcc_pred_id_a":-0.039912574,"mpcc_pred_iq_a":-0.24859944,"mpcc_state":1,"mpcc_theta_e":0.429806232,"mpcc_theta_mech":0.552907169,"sam_rpm":-21.521841,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262783319,"thr_a_norm":0.0195811391,"thr_a_v":0.605113328,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486477464,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.003685,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.733645439,"cg_iw_a":-2.04546165,"cg_theta_rad":0.556192577,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0687712505,"mpcc_du":50.1291771,"mpcc_dv":48.6538887,"mpcc_dw":51.3461113,"mpcc_enc_sign":1,"mpcc_id_a":2.89767408,"mpcc_iq_a":0.285607636,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.31184089,"mpcc_pred_id_a":0.703993917,"mpcc_pred_iq_a":-1.63035238,"mpcc_state":1,"mpcc_theta_e":0.447237015,"mpcc_theta_mech":0.556393325,"sam_rpm":2.83473778,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262783319,"thr_a_norm":0.0262783319,"thr_a_v":0.605113328,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486477464,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.01284,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.951108456,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556910574,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.000902654894,"mpcc_du":49.5356407,"mpcc_dv":50.4643593,"mpcc_dw":50.1696167,"mpcc_enc_sign":1,"mpcc_id_a":0.317194521,"mpcc_iq_a":-1.87640786,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.4589615,"mpcc_pred_id_a":-0.368129134,"mpcc_pred_iq_a":-2.19085097,"mpcc_state":1,"mpcc_theta_e":0.456524849,"mpcc_theta_mech":0.558250844,"sam_rpm":26.5243969,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271217674,"thr_a_norm":0.0271217674,"thr_a_v":0.60848707,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492016494,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.025078,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.588670254,"cg_iw_a":-1.17560911,"cg_theta_rad":0.557065547,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00922769774,"mpcc_du":49.6571121,"mpcc_dv":50.3428879,"mpcc_dw":50.2202301,"mpcc_enc_sign":1,"mpcc_id_a":-0.127827823,"mpcc_iq_a":-0.817364037,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.0838261,"mpcc_pred_id_a":-0.58589232,"mpcc_pred_iq_a":-2.46873045,"mpcc_state":1,"mpcc_theta_e":0.452041149,"mpcc_theta_mech":0.557354152,"sam_rpm":23.2048302,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.107626453,"thr_a_norm":0.0271217674,"thr_a_v":0.930505812,"thr_b":0.042857632,"thr_b_norm":0,"thr_b_v":0.671430528,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.048119,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.298719406,"cg_iw_a":1.07150841,"cg_theta_rad":0.55493784,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00167791673,"mpcc_du":49.7484131,"mpcc_dv":49.534832,"mpcc_dw":50.465168,"mpcc_enc_sign":1,"mpcc_id_a":0.0234321747,"mpcc_iq_a":-1.02510798,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.678540051,"mpcc_pred_id_a":-0.33834511,"mpcc_pred_iq_a":-3.50720525,"mpcc_state":1,"mpcc_theta_e":0.44181776,"mpcc_theta_mech":0.555309474,"sam_rpm":7.30408955,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.107626453,"thr_a_norm":0.107626453,"thr_a_v":0.930505812,"thr_b":0.042857632,"thr_b_norm":0.042857632,"thr_b_v":0.671430528,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.054649,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.806133032,"cg_iw_a":-0.160782099,"cg_theta_rad":0.555815399,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0170593597,"mpcc_du":49.0734444,"mpcc_dv":50.9265556,"mpcc_dw":49.6939545,"mpcc_enc_sign":1,"mpcc_id_a":0.848109007,"mpcc_iq_a":0.198572427,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.01573944,"mpcc_pred_id_a":-0.161906824,"mpcc_pred_iq_a":-6.06423903,"mpcc_state":1,"mpcc_theta_e":0.450622082,"mpcc_theta_mech":0.557070374,"sam_rpm":13.103899,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025951013,"thr_a_norm":0.025951013,"thr_a_v":0.603804052,"thr_b":0.00108835101,"thr_b_norm":0.00108835101,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.06115,"values":{"cg_iu_a":4.15637207,"cg_iv_a":-1.89344811,"cg_iw_a":-2.26292396,"cg_theta_rad":0.556830943,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0116760284,"mpcc_du":50.1413002,"mpcc_dv":48.8343582,"mpcc_dw":51.1656418,"mpcc_enc_sign":1,"mpcc_id_a":1.15613532,"mpcc_iq_a":0.00466238568,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.82864618,"mpcc_pred_id_a":0.172713801,"mpcc_pred_iq_a":-0.821090877,"mpcc_state":1,"mpcc_theta_e":0.449225903,"mpcc_theta_mech":0.556791067,"sam_rpm":2.32458329,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025951013,"thr_a_norm":0.025951013,"thr_a_v":0.603804052,"thr_b":0.00108835101,"thr_b_norm":0.00108835101,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.06768,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.89344811,"cg_iw_a":0.274143934,"cg_theta_rad":0.558345318,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0445760414,"mpcc_du":49.5357513,"mpcc_dv":50.203598,"mpcc_dw":50.4642487,"mpcc_enc_sign":1,"mpcc_id_a":3.22006369,"mpcc_iq_a":0.458388031,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.97463703,"mpcc_pred_id_a":0.369343102,"mpcc_pred_iq_a":-4.03426027,"mpcc_state":1,"mpcc_theta_e":0.446403027,"mpcc_theta_mech":0.556226552,"sam_rpm":7.20606184,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225394815,"thr_a_norm":0.0225394815,"thr_a_v":0.590157926,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475449771,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.077049,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.806133032,"cg_iw_a":-1.75551057,"cg_theta_rad":0.556533873,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.019886639,"mpcc_du":49.6226044,"mpcc_dv":50.3773956,"mpcc_dw":50.2342682,"mpcc_enc_sign":1,"mpcc_id_a":-0.111884303,"mpcc_iq_a":-0.452888757,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.246604,"mpcc_pred_id_a":-0.449782848,"mpcc_pred_iq_a":-4.24287653,"mpcc_state":1,"mpcc_theta_e":0.45179224,"mpcc_theta_mech":0.557304382,"sam_rpm":16.1373768,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.01975739,"thr_a_norm":0.0225394815,"thr_a_v":0.57902956,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474291593,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.087975,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.24105906,"cg_iw_a":-1.68302321,"cg_theta_rad":0.556855977,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0930508152,"mpcc_du":50.0532761,"mpcc_dv":48.5703888,"mpcc_dw":51.4296112,"mpcc_enc_sign":1,"mpcc_id_a":4.02993441,"mpcc_iq_a":0.298830956,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.18755031,"mpcc_pred_id_a":1.03698599,"mpcc_pred_iq_a":-1.27353954,"mpcc_state":1,"mpcc_theta_e":0.447411537,"mpcc_theta_mech":0.556428194,"sam_rpm":4.69550085,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.01975739,"thr_a_norm":0.01975739,"thr_a_v":0.57902956,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474291593,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.098289,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.74847269,"cg_iw_a":-0.160782099,"cg_theta_rad":0.553885996,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0339919552,"mpcc_du":49.630867,"mpcc_dv":49.2692909,"mpcc_dw":50.7307091,"mpcc_enc_sign":1,"mpcc_id_a":2.64401269,"mpcc_iq_a":-0.245591059,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.04438877,"mpcc_pred_id_a":0.452976227,"mpcc_pred_iq_a":-1.15552497,"mpcc_state":1,"mpcc_theta_e":0.448339462,"mpcc_theta_mech":0.556613803,"sam_rpm":13.40168,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0426813811,"thr_a_norm":0.0426813811,"thr_a_v":0.670725524,"thr_b":0.00601053238,"thr_b_norm":0.00601053238,"thr_b_v":0.52404213,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.108238,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.806133032,"cg_iw_a":0.636582136,"cg_theta_rad":0.554085493,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00513453642,"mpcc_du":49.7148666,"mpcc_dv":49.0807915,"mpcc_dw":50.9192085,"mpcc_enc_sign":1,"mpcc_id_a":5.91268826,"mpcc_iq_a":-0.835931957,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0376120955,"mpcc_pred_id_a":0.669920862,"mpcc_pred_iq_a":-0.762560248,"mpcc_state":1,"mpcc_theta_e":0.449166298,"mpcc_theta_mech":0.556779146,"sam_rpm":-0.0437295362,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0426813811,"thr_a_norm":0.0426813811,"thr_a_v":0.670725524,"thr_b":0.00601053238,"thr_b_norm":0.00601053238,"thr_b_v":0.52404213,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.118492,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.588670254,"cg_iw_a":-1.68302298,"cg_theta_rad":0.560851097,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.014230228,"mpcc_du":50.5261993,"mpcc_dv":48.1850777,"mpcc_dw":51.8149223,"mpcc_enc_sign":1,"mpcc_id_a":2.35269165,"mpcc_iq_a":-1.69942045,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.68187237,"mpcc_pred_id_a":0.440747947,"mpcc_pred_iq_a":0.399452388,"mpcc_state":1,"mpcc_theta_e":0.438405514,"mpcc_theta_mech":0.554627001,"sam_rpm":-10.2364216,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0301304609,"thr_a_norm":0.0301304609,"thr_a_v":0.620521843,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463112861,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.128685,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.878620625,"cg_iw_a":-0.378245354,"cg_theta_rad":0.552912891,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0176048838,"mpcc_du":48.9885292,"mpcc_dv":51.0114708,"mpcc_dw":49.7309685,"mpcc_enc_sign":1,"mpcc_id_a":1.97914565,"mpcc_iq_a":-0.276233792,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.88774872,"mpcc_pred_id_a":0.185706019,"mpcc_pred_iq_a":-2.71810889,"mpcc_state":1,"mpcc_theta_e":0.438376427,"mpcc_theta_mech":0.551619053,"sam_rpm":10.3264332,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262783319,"thr_a_norm":0.0301304609,"thr_a_v":0.605113328,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.151695,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.153744221,"cg_iw_a":-1.82799816,"cg_theta_rad":0.553332508,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0216247067,"mpcc_du":50.7085648,"mpcc_dv":48.0727806,"mpcc_dw":50.0468903,"mpcc_enc_sign":1,"mpcc_id_a":2.49743176,"mpcc_iq_a":0.51466912,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.7188282,"mpcc_pred_id_a":0.110468544,"mpcc_pred_iq_a":0.720586598,"mpcc_state":1,"mpcc_theta_e":0.430860519,"mpcc_theta_mech":0.55311799,"sam_rpm":-19.14995,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262783319,"thr_a_norm":0.0262783319,"thr_a_v":0.605113328,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.158195,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-2.76329994,"cg_iw_a":1.79638481,"cg_theta_rad":0.554374218,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0106946118,"mpcc_du":50.6467094,"mpcc_dv":47.9356956,"mpcc_dw":52.0643044,"mpcc_enc_sign":1,"mpcc_id_a":1.89893603,"mpcc_iq_a":-0.261142641,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.3327141,"mpcc_pred_id_a":0.489007086,"mpcc_pred_iq_a":0.578550518,"mpcc_state":1,"mpcc_theta_e":0.42666769,"mpcc_theta_mech":0.552279472,"sam_rpm":-22.7254257,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024818033,"thr_a_norm":0.024818033,"thr_a_v":0.599272132,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485822856,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.164726,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.45852208,"cg_iw_a":-2.91531348,"cg_theta_rad":0.557190001,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0123241711,"mpcc_du":49.4734459,"mpcc_dv":50.5265541,"mpcc_dw":50.1744537,"mpcc_enc_sign":1,"mpcc_id_a":0.954136312,"mpcc_iq_a":-0.06675677,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.0468206,"mpcc_pred_id_a":-0.140995741,"mpcc_pred_iq_a":-2.71847463,"mpcc_state":1,"mpcc_theta_e":0.432008743,"mpcc_theta_mech":0.553347707,"sam_rpm":17.8958168,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024818033,"thr_a_norm":0.024818033,"thr_a_v":0.599272132,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485822856,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.171288,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.516182423,"cg_iw_a":-1.68302298,"cg_theta_rad":0.557686925,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0431966074,"mpcc_du":50.0904503,"mpcc_dv":48.8744087,"mpcc_dw":51.1255913,"mpcc_enc_sign":1,"mpcc_id_a":1.98948717,"mpcc_iq_a":-1.10330892,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.98371887,"mpcc_pred_id_a":0.0413336083,"mpcc_pred_iq_a":-1.78817713,"mpcc_state":1,"mpcc_theta_e":0.452916145,"mpcc_theta_mech":0.557529151,"sam_rpm":11.7586613,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296143293,"thr_a_norm":0.0296143293,"thr_a_v":0.618457317,"thr_b":0.00645112991,"thr_b_norm":0.00645112991,"thr_b_v":0.52580452,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.18145,"values":{"cg_iu_a":3.57647133,"cg_iv_a":0.426157475,"cg_iw_a":-4.0026288,"cg_theta_rad":0.553106725,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.036976777,"mpcc_du":50.4070587,"mpcc_dv":48.3693924,"mpcc_dw":51.6306076,"mpcc_enc_sign":1,"mpcc_id_a":2.43942547,"mpcc_iq_a":-0.836325884,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.02454758,"mpcc_pred_id_a":0.250352353,"mpcc_pred_iq_a":-1.5599668,"mpcc_state":1,"mpcc_theta_e":0.445712566,"mpcc_theta_mech":0.556088448,"sam_rpm":-5.6922102,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022300303,"thr_a_norm":0.022300303,"thr_a_v":0.589201212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482247651,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.19146,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.02359605,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.555120051,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.036871504,"mpcc_du":49.8036346,"mpcc_dv":48.8767166,"mpcc_dw":51.1232834,"mpcc_enc_sign":1,"mpcc_id_a":3.48963284,"mpcc_iq_a":-0.326433718,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.9142265,"mpcc_pred_id_a":0.691610396,"mpcc_pred_iq_a":-2.61886477,"mpcc_state":1,"mpcc_theta_e":0.448113441,"mpcc_theta_mech":0.556568563,"sam_rpm":3.93804169,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022300303,"thr_a_norm":0.022300303,"thr_a_v":0.589201212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482247651,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.201469,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.74847269,"cg_iw_a":-2.33541203,"cg_theta_rad":0.556876481,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0615857765,"mpcc_du":50.0542755,"mpcc_dv":49.0543861,"mpcc_dw":50.9456139,"mpcc_enc_sign":1,"mpcc_id_a":0.888938665,"mpcc_iq_a":-0.383172333,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.76728916,"mpcc_pred_id_a":-0.373576611,"mpcc_pred_iq_a":-2.75130582,"mpcc_state":1,"mpcc_theta_e":0.45442915,"mpcc_theta_mech":0.557831705,"sam_rpm":13.1640024,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025296405,"thr_a_norm":0.025296405,"thr_a_v":0.60118562,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.211693,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.53100967,"cg_iw_a":-1.03063393,"cg_theta_rad":0.556290865,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.000893205695,"mpcc_du":49.5434341,"mpcc_dv":49.6901169,"mpcc_dw":50.4565659,"mpcc_enc_sign":1,"mpcc_id_a":0.357075274,"mpcc_iq_a":-0.488843799,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.66329622,"mpcc_pred_id_a":-0.0521665961,"mpcc_pred_iq_a":-2.30144453,"mpcc_state":1,"mpcc_theta_e":0.442440987,"mpcc_theta_mech":0.555434108,"sam_rpm":2.87721133,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0347127467,"thr_a_norm":0.025296405,"thr_a_v":0.638850987,"thr_b":0.00675326586,"thr_b_norm":0,"thr_b_v":0.527013063,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.221672,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.24105906,"cg_iw_a":0.274143934,"cg_theta_rad":0.553221881,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0101437904,"mpcc_du":49.8862076,"mpcc_dv":49.1779709,"mpcc_dw":50.8220291,"mpcc_enc_sign":1,"mpcc_id_a":0.11668317,"mpcc_iq_a":-1.81731284,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.5738337,"mpcc_pred_id_a":-0.267865062,"mpcc_pred_iq_a":-3.28596663,"mpcc_state":1,"mpcc_theta_e":0.449301243,"mpcc_theta_mech":0.556806147,"sam_rpm":3.86455178,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0347127467,"thr_a_norm":0.0347127467,"thr_a_v":0.638850987,"thr_b":0.00675326586,"thr_b_norm":0.00675326586,"thr_b_v":0.527013063,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.231743,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.733645439,"cg_iw_a":-0.523220539,"cg_theta_rad":0.556975961,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0743371397,"mpcc_du":50.3420105,"mpcc_dv":48.8061943,"mpcc_dw":51.1938057,"mpcc_enc_sign":1,"mpcc_id_a":0.488390118,"mpcc_iq_a":-0.0449134558,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.222736984,"mpcc_pred_id_a":-0.275352925,"mpcc_pred_iq_a":-1.56086969,"mpcc_state":1,"mpcc_theta_e":0.448858738,"mpcc_theta_mech":0.558236897,"sam_rpm":-0.850229442,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0267063379,"thr_a_norm":0.0267063379,"thr_a_v":0.606825352,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489599437,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.255119,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.74847269,"cg_iw_a":0.709069729,"cg_theta_rad":0.556111693,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0135545935,"mpcc_du":49.6091042,"mpcc_dv":49.7479858,"mpcc_dw":50.3908958,"mpcc_enc_sign":1,"mpcc_id_a":1.33379591,"mpcc_iq_a":-1.79846728,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.83572435,"mpcc_pred_id_a":-0.308714211,"mpcc_pred_iq_a":-4.57232332,"mpcc_state":1,"mpcc_theta_e":0.448518753,"mpcc_theta_mech":0.556649625,"sam_rpm":7.36865234,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0267063379,"thr_a_norm":0.0267063379,"thr_a_v":0.606825352,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489599437,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.261589,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-3.12573838,"cg_iw_a":-0.450732708,"cg_theta_rad":0.55583328,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0128105748,"mpcc_du":49.6447639,"mpcc_dv":50.0818672,"mpcc_dw":50.3552361,"mpcc_enc_sign":1,"mpcc_id_a":1.02273846,"mpcc_iq_a":-0.438650429,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.50407219,"mpcc_pred_id_a":-0.375383139,"mpcc_pred_iq_a":-4.40067053,"mpcc_state":1,"mpcc_theta_e":0.446437836,"mpcc_theta_mech":0.556233466,"sam_rpm":4.87973547,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0974547863,"thr_a_norm":0.0974547863,"thr_a_v":0.889819145,"thr_b":0.0384390056,"thr_b_norm":0.0384390056,"thr_b_v":0.653756022,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.26812,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-2.61832476,"cg_iw_a":0.0566811562,"cg_theta_rad":0.557489157,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00162269187,"mpcc_du":49.4199219,"mpcc_dv":50.5800781,"mpcc_dw":49.9848251,"mpcc_enc_sign":1,"mpcc_id_a":-0.655104995,"mpcc_iq_a":-1.30645216,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.6508694,"mpcc_pred_id_a":-0.433503032,"mpcc_pred_iq_a":-2.02411366,"mpcc_state":1,"mpcc_theta_e":0.432008743,"mpcc_theta_mech":0.553347707,"sam_rpm":15.6583023,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0974547863,"thr_a_norm":0.0974547863,"thr_a_v":0.889819145,"thr_b":0.0384390056,"thr_b_norm":0.0384390056,"thr_b_v":0.653756022,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.274681,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.733645439,"cg_iw_a":-2.11794901,"cg_theta_rad":0.554980457,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0122054173,"mpcc_du":50.0692253,"mpcc_dv":48.692646,"mpcc_dw":51.307354,"mpcc_enc_sign":1,"mpcc_id_a":0.640856028,"mpcc_iq_a":-0.396641165,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.06296921,"mpcc_pred_id_a":-0.253300548,"mpcc_pred_iq_a":-4.90889597,"mpcc_state":1,"mpcc_theta_e":0.448353767,"mpcc_theta_mech":0.556616664,"sam_rpm":6.41656542,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02403754,"thr_a_norm":0.02403754,"thr_a_v":0.59615016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488390952,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.282829,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.588670254,"cg_iw_a":-0.16078186,"cg_theta_rad":0.555725455,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00311367027,"mpcc_du":50.6903,"mpcc_dv":48.0937881,"mpcc_dw":51.9062119,"mpcc_enc_sign":1,"mpcc_id_a":1.11600387,"mpcc_iq_a":-0.406189173,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.9018631,"mpcc_pred_id_a":-0.130180746,"mpcc_pred_iq_a":-0.118107192,"mpcc_state":1,"mpcc_theta_e":0.423030376,"mpcc_theta_mech":0.551551998,"sam_rpm":-28.5854225,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195559561,"thr_a_norm":0.02403754,"thr_a_v":0.578223825,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478017837,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.294853,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.74847269,"cg_iw_a":-1.17560959,"cg_theta_rad":0.556736767,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.039397113,"mpcc_du":50.3264351,"mpcc_dv":48.4741249,"mpcc_dw":51.5258751,"mpcc_enc_sign":1,"mpcc_id_a":2.65934968,"mpcc_iq_a":0.639529824,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.17627811,"mpcc_pred_id_a":0.243866727,"mpcc_pred_iq_a":-0.60738802,"mpcc_state":1,"mpcc_theta_e":0.444040775,"mpcc_theta_mech":0.555754066,"sam_rpm":-6.57422447,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195559561,"thr_a_norm":0.0195559561,"thr_a_v":0.578223825,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478017837,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.305077,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.878620625,"cg_iw_a":-1.53804779,"cg_theta_rad":0.553912282,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.034948498,"mpcc_du":50.5898438,"mpcc_dv":48.2614975,"mpcc_dw":51.7385025,"mpcc_enc_sign":1,"mpcc_id_a":1.21518183,"mpcc_iq_a":-0.20227997,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.60884905,"mpcc_pred_id_a":-0.0834537521,"mpcc_pred_iq_a":-0.79161793,"mpcc_state":1,"mpcc_theta_e":0.443619251,"mpcc_theta_mech":0.555669725,"sam_rpm":-4.95085573,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246543884,"thr_a_norm":0.0246543884,"thr_a_v":0.598617554,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.315239,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.733645439,"cg_iw_a":0.419119358,"cg_theta_rad":0.553374171,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0419632569,"mpcc_du":49.9930725,"mpcc_dv":48.5905075,"mpcc_dw":51.4094925,"mpcc_enc_sign":1,"mpcc_id_a":4.09639215,"mpcc_iq_a":0.501191914,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.52965248,"mpcc_pred_id_a":0.879402876,"mpcc_pred_iq_a":2.30412698,"mpcc_state":1,"mpcc_theta_e":0.434864521,"mpcc_theta_mech":0.553918839,"sam_rpm":-3.63612509,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151750892,"thr_a_norm":0.0246543884,"thr_a_v":0.560700357,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471320659,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.325218,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.31354666,"cg_iw_a":-0.885658741,"cg_theta_rad":0.55646354,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0136862453,"mpcc_du":49.5287132,"mpcc_dv":49.3992958,"mpcc_dw":50.6007042,"mpcc_enc_sign":1,"mpcc_id_a":0.954278111,"mpcc_iq_a":-1.96154892,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.0806632,"mpcc_pred_id_a":0.280165225,"mpcc_pred_iq_a":-1.66157913,"mpcc_state":1,"mpcc_theta_e":0.434831619,"mpcc_theta_mech":0.553912222,"sam_rpm":-6.04649878,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151750892,"thr_a_norm":0.0151750892,"thr_a_v":0.560700357,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471320659,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.335411,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.74847269,"cg_iw_a":0.564094543,"cg_theta_rad":0.557100117,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.021261394,"mpcc_du":49.8231544,"mpcc_dv":49.4249535,"mpcc_dw":50.5750465,"mpcc_enc_sign":1,"mpcc_id_a":0.595210254,"mpcc_iq_a":-1.49119246,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.647048175,"mpcc_pred_id_a":-0.625703514,"mpcc_pred_iq_a":-5.21616936,"mpcc_state":1,"mpcc_theta_e":0.449820518,"mpcc_theta_mech":0.556909978,"sam_rpm":1.09346938,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026756689,"thr_a_norm":0.026756689,"thr_a_v":0.607026756,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.358269,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-1.02359605,"cg_iw_a":0.781557798,"cg_theta_rad":0.553958595,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0237839986,"mpcc_du":49.5259819,"mpcc_dv":49.9541855,"mpcc_dw":50.4740181,"mpcc_enc_sign":1,"mpcc_id_a":2.71859598,"mpcc_iq_a":-0.578123808,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.38042784,"mpcc_pred_id_a":0.127307057,"mpcc_pred_iq_a":-5.26982403,"mpcc_state":1,"mpcc_theta_e":0.438864231,"mpcc_theta_mech":0.554718792,"sam_rpm":-5.43558264,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026756689,"thr_a_norm":0.026756689,"thr_a_v":0.607026756,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.36483,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.31354666,"cg_iw_a":-1.24809694,"cg_theta_rad":0.554407001,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00392098306,"mpcc_du":49.6888199,"mpcc_dv":49.8347549,"mpcc_dw":50.3111801,"mpcc_enc_sign":1,"mpcc_id_a":-0.455499053,"mpcc_iq_a":-2.14798093,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.83500576,"mpcc_pred_id_a":-0.782087326,"mpcc_pred_iq_a":-3.33612275,"mpcc_state":1,"mpcc_theta_e":0.453680515,"mpcc_theta_mech":0.557682037,"sam_rpm":14.8364468,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252586454,"thr_a_norm":0.0252586454,"thr_a_v":0.601034582,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.3713,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.45852208,"cg_iw_a":1.07150817,"cg_theta_rad":0.557045817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00208095135,"mpcc_du":50.0932198,"mpcc_dv":48.8466454,"mpcc_dw":51.1533546,"mpcc_enc_sign":1,"mpcc_id_a":0.392620474,"mpcc_iq_a":-0.922216415,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.445044577,"mpcc_pred_id_a":0.0449219942,"mpcc_pred_iq_a":-0.273293257,"mpcc_state":1,"mpcc_theta_e":0.442130566,"mpcc_theta_mech":0.555372,"sam_rpm":0.488104463,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252586454,"thr_a_norm":0.0252586454,"thr_a_v":0.601034582,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.38015,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.516182423,"cg_iw_a":-0.305757523,"cg_theta_rad":0.554922521,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0160312559,"mpcc_du":50.2588387,"mpcc_dv":48.9071846,"mpcc_dw":51.0928154,"mpcc_enc_sign":1,"mpcc_id_a":-0.708850682,"mpcc_iq_a":-0.862051845,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.31484079,"mpcc_pred_id_a":-0.581237793,"mpcc_pred_iq_a":-0.655103743,"mpcc_state":1,"mpcc_theta_e":0.448104382,"mpcc_theta_mech":0.556566834,"sam_rpm":8.53675842,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022426188,"thr_a_norm":0.022426188,"thr_a_v":0.589704752,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49156329,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.389854,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.951108456,"cg_iw_a":0.709070206,"cg_theta_rad":0.553614736,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.013488018,"mpcc_du":50.0524979,"mpcc_dv":48.7758598,"mpcc_dw":51.2241402,"mpcc_enc_sign":1,"mpcc_id_a":0.833276927,"mpcc_iq_a":-0.668608487,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.04273343,"mpcc_pred_id_a":-0.444475085,"mpcc_pred_iq_a":-3.09341335,"mpcc_state":1,"mpcc_theta_e":0.442846775,"mpcc_theta_mech":0.55551523,"sam_rpm":-4.92491674,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0376584977,"thr_a_norm":0.0376584977,"thr_a_v":0.650633991,"thr_b":0.00713092089,"thr_b_norm":0.00713092089,"thr_b_v":0.528523684,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.400841,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.38603449,"cg_iw_a":-0.595707893,"cg_theta_rad":0.555474639,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0136426724,"mpcc_du":50.0488091,"mpcc_dv":49.1556778,"mpcc_dw":50.8443222,"mpcc_enc_sign":1,"mpcc_id_a":-0.327250808,"mpcc_iq_a":-0.906122863,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.864105225,"mpcc_pred_id_a":-0.634865105,"mpcc_pred_iq_a":-2.8267405,"mpcc_state":1,"mpcc_theta_e":0.447498798,"mpcc_theta_mech":0.556445718,"sam_rpm":1.40759754,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0376584977,"thr_a_norm":0.0376584977,"thr_a_v":0.650633991,"thr_b":0.00713092089,"thr_b_norm":0.00713092089,"thr_b_v":0.528523684,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.412224,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.55287504,"cg_theta_rad":0.557716608,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0648649782,"mpcc_du":49.913868,"mpcc_dv":48.7329025,"mpcc_dw":51.2670975,"mpcc_enc_sign":1,"mpcc_id_a":3.25928307,"mpcc_iq_a":-0.643811822,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.77101898,"mpcc_pred_id_a":0.848167241,"mpcc_pred_iq_a":-1.68258965,"mpcc_state":1,"mpcc_theta_e":0.450971127,"mpcc_theta_mech":0.557140112,"sam_rpm":9.25845623,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256866515,"thr_a_norm":0.0256866515,"thr_a_v":0.602746606,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485420018,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.422447,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.733645439,"cg_iw_a":0.419119358,"cg_theta_rad":0.552846193,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.000895327947,"mpcc_du":49.5553284,"mpcc_dv":49.6065865,"mpcc_dw":50.4446716,"mpcc_enc_sign":1,"mpcc_id_a":0.585423768,"mpcc_iq_a":-0.174281612,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.73089814,"mpcc_pred_id_a":-0.124143071,"mpcc_pred_iq_a":0.417776585,"mpcc_state":1,"mpcc_theta_e":0.433531284,"mpcc_theta_mech":0.553652167,"sam_rpm":-3.41760182,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177431852,"thr_a_norm":0.0256866515,"thr_a_v":0.570972741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454653233,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.432487,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.53100967,"cg_iw_a":-1.90048599,"cg_theta_rad":0.55438602,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0446621366,"mpcc_du":49.5181732,"mpcc_dv":50.0319939,"mpcc_dw":50.4818268,"mpcc_enc_sign":1,"mpcc_id_a":2.78382874,"mpcc_iq_a":-0.463520199,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.12505627,"mpcc_pred_id_a":0.166296721,"mpcc_pred_iq_a":-4.49536991,"mpcc_state":1,"mpcc_theta_e":0.45211792,"mpcc_theta_mech":0.557369471,"sam_rpm":12.0953188,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177431852,"thr_a_norm":0.0177431852,"thr_a_v":0.570972741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454653233,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.455864,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.806133032,"cg_iw_a":-1.61053538,"cg_theta_rad":0.55584228,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0258595273,"mpcc_du":49.5403595,"mpcc_dv":50.3381653,"mpcc_dw":50.4596405,"mpcc_enc_sign":1,"mpcc_id_a":2.51814222,"mpcc_iq_a":-1.34361815,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.07353139,"mpcc_pred_id_a":0.0534085296,"mpcc_pred_iq_a":-6.22047853,"mpcc_state":1,"mpcc_theta_e":0.447567463,"mpcc_theta_mech":0.556459427,"sam_rpm":3.08289957,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280659199,"thr_a_norm":0.0280659199,"thr_a_v":0.61226368,"thr_b":0.00310254097,"thr_b_norm":0.00310254097,"thr_b_v":0.512410164,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.462425,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.11091113,"cg_iw_a":-0.45073247,"cg_theta_rad":0.557489157,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00989235844,"mpcc_du":49.621418,"mpcc_dv":50.378582,"mpcc_dw":50.25737,"mpcc_enc_sign":1,"mpcc_id_a":-0.887381971,"mpcc_iq_a":-2.03073716,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.94489,"mpcc_pred_id_a":-0.725372314,"mpcc_pred_iq_a":-4.58407879,"mpcc_state":1,"mpcc_theta_e":0.455781937,"mpcc_theta_mech":0.55810231,"sam_rpm":18.5024433,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280659199,"thr_a_norm":0.0280659199,"thr_a_v":0.61226368,"thr_b":0.00310254097,"thr_b_norm":0.00310254097,"thr_b_v":0.512410164,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.468895,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.878620625,"cg_iw_a":-1.53804779,"cg_theta_rad":0.551920772,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00202838145,"mpcc_du":49.6291046,"mpcc_dv":49.9742203,"mpcc_dw":50.3708954,"mpcc_enc_sign":1,"mpcc_id_a":-0.690004885,"mpcc_iq_a":-2.31190062,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.2544765,"mpcc_pred_id_a":-0.525558829,"mpcc_pred_iq_a":-1.52836597,"mpcc_state":1,"mpcc_theta_e":0.451146126,"mpcc_theta_mech":0.557175159,"sam_rpm":17.5333977,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0302815288,"thr_a_norm":0.0302815288,"thr_a_v":0.621126115,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.475487,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.09608364,"cg_iw_a":-1.03063393,"cg_theta_rad":0.557299554,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.010353487,"mpcc_du":49.5744324,"mpcc_dv":50.1389351,"mpcc_dw":50.4255676,"mpcc_enc_sign":1,"mpcc_id_a":1.88083124,"mpcc_iq_a":-1.8308965,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.56540775,"mpcc_pred_id_a":-0.13250117,"mpcc_pred_iq_a":-3.75539756,"mpcc_state":1,"mpcc_theta_e":0.449026585,"mpcc_theta_mech":0.556751251,"sam_rpm":10.9281387,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216582716,"thr_a_norm":0.0216582716,"thr_a_v":0.586633086,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467090875,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.485466,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.878620625,"cg_iw_a":1.14399576,"cg_theta_rad":0.55308181,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00104311586,"mpcc_du":50.3295975,"mpcc_dv":48.6729126,"mpcc_dw":51.3270874,"mpcc_enc_sign":1,"mpcc_id_a":0.342223674,"mpcc_iq_a":-2.3810041,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.22090721,"mpcc_pred_id_a":-0.297875226,"mpcc_pred_iq_a":-1.62655044,"mpcc_state":1,"mpcc_theta_e":0.442771912,"mpcc_theta_mech":0.555500269,"sam_rpm":-5.17587042,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216582716,"thr_a_norm":0.0216582716,"thr_a_v":0.586633086,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467090875,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.495628,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-3.19822598,"cg_iw_a":-1.32058477,"cg_theta_rad":0.55418992,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.057370875,"mpcc_du":50.2855988,"mpcc_dv":48.3026505,"mpcc_dw":51.6973495,"mpcc_enc_sign":1,"mpcc_id_a":4.30245686,"mpcc_iq_a":-0.450870425,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.70693207,"mpcc_pred_id_a":0.760941148,"mpcc_pred_iq_a":-0.597973108,"mpcc_state":1,"mpcc_theta_e":0.440570354,"mpcc_theta_mech":0.555059969,"sam_rpm":-9.01784897,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210791826,"thr_a_norm":0.0210791826,"thr_a_v":0.58431673,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458530545,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.505699,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.298719406,"cg_iw_a":-2.62536287,"cg_theta_rad":0.555622876,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0377313569,"mpcc_du":49.5163498,"mpcc_dv":49.5795135,"mpcc_dw":50.4836502,"mpcc_enc_sign":1,"mpcc_id_a":1.56806028,"mpcc_iq_a":-1.1383456,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.96373367,"mpcc_pred_id_a":0.124545746,"mpcc_pred_iq_a":-4.38247156,"mpcc_state":1,"mpcc_theta_e":0.456406593,"mpcc_theta_mech":0.558227241,"sam_rpm":13.6309347,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.04527466,"thr_a_norm":0.0210791826,"thr_a_v":0.68109864,"thr_b":0.0168368071,"thr_b_norm":0,"thr_b_v":0.567347229,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.515648,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.443694592,"cg_iw_a":-0.59570837,"cg_theta_rad":0.555184245,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0277934801,"mpcc_du":49.4792976,"mpcc_dv":49.9305267,"mpcc_dw":50.5207024,"mpcc_enc_sign":1,"mpcc_id_a":2.67541146,"mpcc_iq_a":-1.18327236,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.424119,"mpcc_pred_id_a":0.320002198,"mpcc_pred_iq_a":-3.76715302,"mpcc_state":1,"mpcc_theta_e":0.446418285,"mpcc_theta_mech":0.556229591,"sam_rpm":11.0013256,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.04527466,"thr_a_norm":0.04527466,"thr_a_v":0.68109864,"thr_b":0.0168368071,"thr_b_norm":0.0168368071,"thr_b_v":0.567347229,"vdc_v":54.6292953}} +{"type":"telemetry","t":74.526024,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.806133032,"cg_iw_a":-0.813171148,"cg_theta_rad":0.556587994,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0396789685,"mpcc_du":49.7611351,"mpcc_dv":49.3371696,"mpcc_dw":50.6628304,"mpcc_enc_sign":1,"mpcc_id_a":1.18580043,"mpcc_iq_a":-1.59587371,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.42828465,"mpcc_pred_id_a":-0.221364439,"mpcc_pred_iq_a":-4.64913225,"mpcc_state":1,"mpcc_theta_e":0.452588558,"mpcc_theta_mech":0.557463646,"sam_rpm":9.37363434,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225772411,"thr_a_norm":0.0225772411,"thr_a_v":0.590308964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479981691,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.537865,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-2.0384233,"cg_iw_a":-0.450732946,"cg_theta_rad":0.554035902,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0327216946,"mpcc_du":49.4267502,"mpcc_dv":50.1140671,"mpcc_dw":50.5732498,"mpcc_enc_sign":1,"mpcc_id_a":3.48639989,"mpcc_iq_a":-0.834587514,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.86968231,"mpcc_pred_id_a":0.78952378,"mpcc_pred_iq_a":-2.68166256,"mpcc_state":1,"mpcc_theta_e":0.447834969,"mpcc_theta_mech":0.555076063,"sam_rpm":11.4337034,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225772411,"thr_a_norm":0.0225772411,"thr_a_v":0.590308964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479981691,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.561028,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.806133032,"cg_iw_a":0.0566809177,"cg_theta_rad":0.554608762,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0754049271,"mpcc_du":50.7840233,"mpcc_dv":47.7540283,"mpcc_dw":52.2459717,"mpcc_enc_sign":1,"mpcc_id_a":3.63477492,"mpcc_iq_a":0.00380076142,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.45031929,"mpcc_pred_id_a":0.661672592,"mpcc_pred_iq_a":0.0414929204,"mpcc_state":1,"mpcc_theta_e":0.440276623,"mpcc_theta_mech":0.555001259,"sam_rpm":-10.3749256,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0251830965,"thr_a_norm":0.0251830965,"thr_a_v":0.600732386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.567589,"values":{"cg_iu_a":4.66378593,"cg_iv_a":-1.45852208,"cg_iw_a":-3.20526385,"cg_theta_rad":0.555583835,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.000467768958,"mpcc_du":49.6003342,"mpcc_dv":49.9260025,"mpcc_dw":50.3996658,"mpcc_enc_sign":1,"mpcc_id_a":2.1243341,"mpcc_iq_a":-1.65833998,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.641787052,"mpcc_pred_id_a":-0.250666559,"mpcc_pred_iq_a":-4.46163034,"mpcc_state":1,"mpcc_theta_e":0.438285828,"mpcc_theta_mech":0.55460304,"sam_rpm":-1.35695124,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265175104,"thr_a_norm":0.0251830965,"thr_a_v":0.606070042,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474694431,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.57415,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-2.47334933,"cg_iw_a":0.854045153,"cg_theta_rad":0.557996571,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0111467522,"mpcc_du":50.5100746,"mpcc_dv":48.3280106,"mpcc_dw":51.6719894,"mpcc_enc_sign":1,"mpcc_id_a":0.660535753,"mpcc_iq_a":-1.19408286,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.81553936,"mpcc_pred_id_a":0.135238439,"mpcc_pred_iq_a":1.01829982,"mpcc_state":1,"mpcc_theta_e":0.447122097,"mpcc_theta_mech":0.556370318,"sam_rpm":4.75244808,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265175104,"thr_a_norm":0.0265175104,"thr_a_v":0.606070042,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474694431,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.58062,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.661157608,"cg_iw_a":-1.53804779,"cg_theta_rad":0.551952481,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0280642696,"mpcc_du":49.9554253,"mpcc_dv":48.8071938,"mpcc_dw":51.1928062,"mpcc_enc_sign":1,"mpcc_id_a":2.7753129,"mpcc_iq_a":-0.803067088,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.307203621,"mpcc_pred_id_a":0.526437163,"mpcc_pred_iq_a":-1.1296562,"mpcc_state":1,"mpcc_theta_e":0.443114281,"mpcc_theta_mech":0.555568814,"sam_rpm":0.854897738,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165598541,"thr_a_norm":0.0165598541,"thr_a_v":0.566239417,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484060407,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.588554,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.16857147,"cg_iw_a":0.78155756,"cg_theta_rad":0.551578164,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0261744875,"mpcc_du":49.5080185,"mpcc_dv":49.654644,"mpcc_dw":50.4919815,"mpcc_enc_sign":1,"mpcc_id_a":1.0474565,"mpcc_iq_a":-0.219782278,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.67770672,"mpcc_pred_id_a":0.189108506,"mpcc_pred_iq_a":-3.93332934,"mpcc_state":1,"mpcc_theta_e":0.447558403,"mpcc_theta_mech":0.556457639,"sam_rpm":7.37364244,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165598541,"thr_a_norm":0.0165598541,"thr_a_v":0.566239417,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484060407,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.598991,"values":{"cg_iu_a":-0.772789001,"cg_iv_a":-1.60349751,"cg_iw_a":-1.46555996,"cg_theta_rad":0.553834498,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.000368282024,"mpcc_du":49.4574814,"mpcc_dv":50.5425186,"mpcc_dw":50.1012535,"mpcc_enc_sign":1,"mpcc_id_a":0.33904767,"mpcc_iq_a":-0.709243059,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.61985636,"mpcc_pred_id_a":-0.458803833,"mpcc_pred_iq_a":-3.24102402,"mpcc_state":1,"mpcc_theta_e":0.433882236,"mpcc_theta_mech":0.553722382,"sam_rpm":9.08119488,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0384390056,"thr_a_norm":0.0384390056,"thr_a_v":0.653756022,"thr_b":0.0113607198,"thr_b_norm":0.0113607198,"thr_b_v":0.545442879,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.608849,"values":{"cg_iu_a":4.2288599,"cg_iv_a":-0.806133032,"cg_iw_a":-3.42272687,"cg_theta_rad":0.554184496,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0182549898,"mpcc_du":49.6705475,"mpcc_dv":49.2971725,"mpcc_dw":50.7028275,"mpcc_enc_sign":1,"mpcc_id_a":2.29943299,"mpcc_iq_a":-0.621575475,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.72276354,"mpcc_pred_id_a":0.242688775,"mpcc_pred_iq_a":-1.74633551,"mpcc_state":1,"mpcc_theta_e":0.442355633,"mpcc_theta_mech":0.555417001,"sam_rpm":4.87773895,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0384390056,"thr_a_norm":0.0384390056,"thr_a_v":0.653756022,"thr_b":0.0113607198,"thr_b_norm":0.0113607198,"thr_b_v":0.545442879,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.619041,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.33541203,"cg_theta_rad":0.557150126,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0219331756,"mpcc_du":49.3058319,"mpcc_dv":50.6941681,"mpcc_dw":50.220993,"mpcc_enc_sign":1,"mpcc_id_a":2.34956002,"mpcc_iq_a":-0.681764066,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.78298378,"mpcc_pred_id_a":0.350929111,"mpcc_pred_iq_a":-1.24537778,"mpcc_state":1,"mpcc_theta_e":0.438666344,"mpcc_theta_mech":0.554679155,"sam_rpm":12.0333071,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0950125903,"thr_a_norm":0.0950125903,"thr_a_v":0.880050361,"thr_b":0.0356317163,"thr_b_norm":0.0356317163,"thr_b_v":0.642526865,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.629356,"values":{"cg_iu_a":1.25686598,"cg_iv_a":0.498644829,"cg_iw_a":0.346631765,"cg_theta_rad":0.55235064,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0117520103,"mpcc_du":50.1594353,"mpcc_dv":48.9769135,"mpcc_dw":51.193264,"mpcc_enc_sign":1,"mpcc_id_a":0.689637363,"mpcc_iq_a":-2.13724256,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.655480385,"mpcc_pred_id_a":-0.458996177,"mpcc_pred_iq_a":-3.02533817,"mpcc_state":1,"mpcc_theta_e":0.447668076,"mpcc_theta_mech":0.556588054,"sam_rpm":1.63377082,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271469504,"thr_a_norm":0.0950125903,"thr_a_v":0.608587801,"thr_b":0,"thr_b_norm":0.0356317163,"thr_b_v":0.496246278,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.639244,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.371207237,"cg_iw_a":-1.75551081,"cg_theta_rad":0.555954814,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0213468093,"mpcc_du":49.4380341,"mpcc_dv":50.5619659,"mpcc_dw":50.057663,"mpcc_enc_sign":1,"mpcc_id_a":0.352157235,"mpcc_iq_a":-0.49239853,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.9490585,"mpcc_pred_id_a":-0.611990154,"mpcc_pred_iq_a":-5.04374933,"mpcc_state":1,"mpcc_theta_e":0.452465057,"mpcc_theta_mech":0.55743897,"sam_rpm":17.3818188,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271469504,"thr_a_norm":0.0271469504,"thr_a_v":0.608587801,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496246278,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.662285,"values":{"cg_iu_a":1.54681635,"cg_iv_a":0.0637187958,"cg_iw_a":-1.61053514,"cg_theta_rad":0.552407324,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00167614315,"mpcc_du":48.8022499,"mpcc_dv":51.1977501,"mpcc_dw":49.2469063,"mpcc_enc_sign":1,"mpcc_id_a":-0.120352805,"mpcc_iq_a":-1.98068786,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.6011467,"mpcc_pred_id_a":-0.711786568,"mpcc_pred_iq_a":-6.22759867,"mpcc_state":1,"mpcc_theta_e":0.447981358,"mpcc_theta_mech":0.556542158,"sam_rpm":13.6357269,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0334664732,"thr_a_norm":0.0334664732,"thr_a_v":0.633865893,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.668816,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.298719406,"cg_iw_a":-0.523220539,"cg_theta_rad":0.555038154,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0266664792,"mpcc_du":49.9547272,"mpcc_dv":49.1572723,"mpcc_dw":50.8427277,"mpcc_enc_sign":1,"mpcc_id_a":3.02456427,"mpcc_iq_a":-0.786889017,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.11325884,"mpcc_pred_id_a":0.454759598,"mpcc_pred_iq_a":-3.94024634,"mpcc_state":1,"mpcc_theta_e":0.444439888,"mpcc_theta_mech":0.555833936,"sam_rpm":3.76487565,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0304074138,"thr_a_norm":0.0334664732,"thr_a_v":0.621629655,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467493683,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.675285,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.443694592,"cg_iw_a":-2.26292443,"cg_theta_rad":0.557429314,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00845962204,"mpcc_du":50.240406,"mpcc_dv":48.8515205,"mpcc_dw":51.1484795,"mpcc_enc_sign":1,"mpcc_id_a":0.308711737,"mpcc_iq_a":-0.420556575,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.61752665,"mpcc_pred_id_a":-0.368733674,"mpcc_pred_iq_a":-0.425993323,"mpcc_state":1,"mpcc_theta_e":0.444282532,"mpcc_theta_mech":0.555802464,"sam_rpm":2.13110757,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0304074138,"thr_a_norm":0.0304074138,"thr_a_v":0.621629655,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467493683,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.683922,"values":{"cg_iu_a":2.41666842,"cg_iv_a":1.07854605,"cg_iw_a":-3.49521446,"cg_theta_rad":0.559018075,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0209864192,"mpcc_du":49.912899,"mpcc_dv":49.1346626,"mpcc_dw":50.8653374,"mpcc_enc_sign":1,"mpcc_id_a":2.43397617,"mpcc_iq_a":-0.670988798,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.69213057,"mpcc_pred_id_a":0.0423740037,"mpcc_pred_iq_a":-1.29167295,"mpcc_state":1,"mpcc_theta_e":0.4371562,"mpcc_theta_mech":0.554377139,"sam_rpm":-5.41280508,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248432159,"thr_a_norm":0.0248432159,"thr_a_v":0.599372864,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492217898,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.693932,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-3.3432014,"cg_iw_a":-0.160782099,"cg_theta_rad":0.557693303,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00460889656,"mpcc_du":49.8754807,"mpcc_dv":48.9783058,"mpcc_dw":51.0216942,"mpcc_enc_sign":1,"mpcc_id_a":1.07788169,"mpcc_iq_a":-0.490855515,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.55651999,"mpcc_pred_id_a":0.376602918,"mpcc_pred_iq_a":-1.7697022,"mpcc_state":1,"mpcc_theta_e":0.430757046,"mpcc_theta_mech":0.553097367,"sam_rpm":-15.7695503,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291737169,"thr_a_norm":0.0248432159,"thr_a_v":0.616694868,"thr_b":0.00565804541,"thr_b_norm":0,"thr_b_v":0.522632182,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.703819,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.733645439,"cg_iw_a":-0.015806675,"cg_theta_rad":0.553787589,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0696367398,"mpcc_du":50.1484795,"mpcc_dv":48.6824799,"mpcc_dw":51.3175201,"mpcc_enc_sign":1,"mpcc_id_a":2.8363297,"mpcc_iq_a":-0.0115250833,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.55471778,"mpcc_pred_id_a":0.387314081,"mpcc_pred_iq_a":-2.85478401,"mpcc_state":1,"mpcc_theta_e":0.447815895,"mpcc_theta_mech":0.556509078,"sam_rpm":-1.55356932,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291737169,"thr_a_norm":0.0291737169,"thr_a_v":0.616694868,"thr_b":0.00565804541,"thr_b_norm":0.00565804541,"thr_b_v":0.522632182,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.714165,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-0.733645439,"cg_iw_a":-2.55287504,"cg_theta_rad":0.554898739,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0264803022,"mpcc_du":49.9426537,"mpcc_dv":49.0261688,"mpcc_dw":50.9738312,"mpcc_enc_sign":1,"mpcc_id_a":1.2507621,"mpcc_iq_a":-1.99458194,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.76927519,"mpcc_pred_id_a":0.119726591,"mpcc_pred_iq_a":-2.69321656,"mpcc_state":1,"mpcc_theta_e":0.455286503,"mpcc_theta_mech":0.558003187,"sam_rpm":10.4762049,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216079205,"thr_a_norm":0.0216079205,"thr_a_v":0.586431682,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.724022,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.371207237,"cg_iw_a":-1.61053514,"cg_theta_rad":0.556371152,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0358137153,"mpcc_du":50.554615,"mpcc_dv":48.432869,"mpcc_dw":51.567131,"mpcc_enc_sign":1,"mpcc_id_a":0.797790349,"mpcc_iq_a":-0.236465827,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.28660631,"mpcc_pred_id_a":-0.294852614,"mpcc_pred_iq_a":-1.72896695,"mpcc_state":1,"mpcc_theta_e":0.44455862,"mpcc_theta_mech":0.555857599,"sam_rpm":-5.87068939,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216079205,"thr_a_norm":0.0216079205,"thr_a_v":0.586431682,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.734215,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.371207237,"cg_iw_a":-0.378244877,"cg_theta_rad":0.556153238,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0478547104,"mpcc_du":50.2771263,"mpcc_dv":48.536602,"mpcc_dw":51.463398,"mpcc_enc_sign":1,"mpcc_id_a":2.4949398,"mpcc_iq_a":-1.05729079,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.421058536,"mpcc_pred_id_a":0.313276321,"mpcc_pred_iq_a":-2.1883893,"mpcc_state":1,"mpcc_theta_e":0.448683739,"mpcc_theta_mech":0.556682706,"sam_rpm":0.103087805,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0229675025,"thr_a_norm":0.0229675025,"thr_a_v":0.59187001,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485168248,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.757713,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-2.61832476,"cg_iw_a":1.07150841,"cg_theta_rad":0.554645658,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0913488194,"mpcc_du":49.537796,"mpcc_dv":49.4196739,"mpcc_dw":50.5803261,"mpcc_enc_sign":1,"mpcc_id_a":2.47089243,"mpcc_iq_a":1.02914608,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.2858419,"mpcc_pred_id_a":0.313598573,"mpcc_pred_iq_a":-2.97102213,"mpcc_state":1,"mpcc_theta_e":0.456469536,"mpcc_theta_mech":0.558239818,"sam_rpm":17.7178726,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021293208,"thr_a_norm":0.0229675025,"thr_a_v":0.585172832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.764183,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.24105906,"cg_iw_a":-2.48038745,"cg_theta_rad":0.55736953,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0437883362,"mpcc_du":49.779747,"mpcc_dv":49.1946907,"mpcc_dw":50.8053093,"mpcc_enc_sign":1,"mpcc_id_a":1.50950384,"mpcc_iq_a":0.902117193,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.39660501,"mpcc_pred_id_a":0.149670333,"mpcc_pred_iq_a":-1.38377357,"mpcc_state":1,"mpcc_theta_e":0.449947834,"mpcc_theta_mech":0.556935489,"sam_rpm":11.3062029,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021293208,"thr_a_norm":0.021293208,"thr_a_v":0.585172832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.770683,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.45852208,"cg_iw_a":0.781557798,"cg_theta_rad":0.55642134,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0199080799,"mpcc_du":50.2697983,"mpcc_dv":48.5409546,"mpcc_dw":51.4590454,"mpcc_enc_sign":1,"mpcc_id_a":2.27667761,"mpcc_iq_a":-0.327234417,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.18718481,"mpcc_pred_id_a":0.177262411,"mpcc_pred_iq_a":-0.0514293611,"mpcc_state":1,"mpcc_theta_e":0.440006733,"mpcc_theta_mech":0.554947257,"sam_rpm":-4.2865262,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470112145,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.777214,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-0.153744221,"cg_iw_a":-0.015806675,"cg_theta_rad":0.553616345,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00226702541,"mpcc_du":50.8417702,"mpcc_dv":48.0024605,"mpcc_dw":51.9975395,"mpcc_enc_sign":1,"mpcc_id_a":0.379168153,"mpcc_iq_a":-0.627206326,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.8414497,"mpcc_pred_id_a":-0.379577637,"mpcc_pred_iq_a":-0.767289162,"mpcc_state":1,"mpcc_theta_e":0.426036358,"mpcc_theta_mech":0.55215323,"sam_rpm":-27.9291496,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470112145,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.78521,"values":{"cg_iu_a":2.34418058,"cg_iv_a":0.0637187958,"cg_iw_a":-1.61053514,"cg_theta_rad":0.554522872,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0262942892,"mpcc_du":49.8775482,"mpcc_dv":48.9429779,"mpcc_dw":51.0570221,"mpcc_enc_sign":1,"mpcc_id_a":3.05466795,"mpcc_iq_a":-1.05538726,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.07607937,"mpcc_pred_id_a":0.366118908,"mpcc_pred_iq_a":-2.38690495,"mpcc_state":1,"mpcc_theta_e":0.43770647,"mpcc_theta_mech":0.554487169,"sam_rpm":-7.3061018,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101395071,"thr_a_norm":0.101395071,"thr_a_v":0.905580282,"thr_b":0.0392572731,"thr_b_norm":0.0392572731,"thr_b_v":0.657029092,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.795036,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-3.12573838,"cg_iw_a":0.491606951,"cg_theta_rad":0.557508469,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0150220497,"mpcc_du":49.6246948,"mpcc_dv":50.064579,"mpcc_dw":50.3753052,"mpcc_enc_sign":1,"mpcc_id_a":0.499936491,"mpcc_iq_a":-1.56509364,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.85003686,"mpcc_pred_id_a":-0.398118973,"mpcc_pred_iq_a":-2.0739069,"mpcc_state":1,"mpcc_theta_e":0.434144974,"mpcc_theta_mech":0.553774953,"sam_rpm":-2.87599945,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101395071,"thr_a_norm":0.101395071,"thr_a_v":0.905580282,"thr_b":0.0392572731,"thr_b_norm":0.0392572731,"thr_b_v":0.657029092,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.805229,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-2.0384233,"cg_iw_a":0.129168749,"cg_theta_rad":0.556232691,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0422645472,"mpcc_du":49.4785156,"mpcc_dv":49.7506714,"mpcc_dw":50.5214844,"mpcc_enc_sign":1,"mpcc_id_a":2.89769936,"mpcc_iq_a":0.285352081,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.21591377,"mpcc_pred_id_a":0.426807046,"mpcc_pred_iq_a":-2.15380669,"mpcc_state":1,"mpcc_theta_e":0.44732523,"mpcc_theta_mech":0.556410968,"sam_rpm":14.8912716,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0938292593,"thr_a_norm":0.0938292593,"thr_a_v":0.875317037,"thr_b":0.0419638306,"thr_b_norm":0.0419638306,"thr_b_v":0.667855322,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.815544,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.878620625,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.554047048,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00521259615,"mpcc_du":50.7631035,"mpcc_dv":48.1580696,"mpcc_dw":51.8419304,"mpcc_enc_sign":1,"mpcc_id_a":0.435909122,"mpcc_iq_a":-2.81171894,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0991671681,"mpcc_pred_id_a":-0.25659287,"mpcc_pred_iq_a":-2.26036286,"mpcc_state":1,"mpcc_theta_e":0.451619148,"mpcc_theta_mech":0.557269752,"sam_rpm":-14.9704332,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192790031,"thr_a_norm":0.0938292593,"thr_a_v":0.577116013,"thr_b":0,"thr_b_norm":0.0419638306,"thr_b_v":0.457875937,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.825401,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.31354666,"cg_iw_a":-1.46555996,"cg_theta_rad":0.555075169,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0129461819,"mpcc_du":49.3247452,"mpcc_dv":50.6752548,"mpcc_dw":50.1441002,"mpcc_enc_sign":1,"mpcc_id_a":1.51188517,"mpcc_iq_a":-1.62107182,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.2150383,"mpcc_pred_id_a":0.116204999,"mpcc_pred_iq_a":-4.8696003,"mpcc_state":1,"mpcc_theta_e":0.435012341,"mpcc_theta_mech":0.553948343,"sam_rpm":-4.02488279,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192790031,"thr_a_norm":0.0192790031,"thr_a_v":0.577116013,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457875937,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.836479,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.45852208,"cg_iw_a":0.201656103,"cg_theta_rad":0.553045988,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0177150406,"mpcc_du":49.7691612,"mpcc_dv":49.1248779,"mpcc_dw":50.8751221,"mpcc_enc_sign":1,"mpcc_id_a":1.44701815,"mpcc_iq_a":-0.380650967,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.76219511,"mpcc_pred_id_a":0.234687284,"mpcc_pred_iq_a":1.31340516,"mpcc_state":1,"mpcc_theta_e":0.428607464,"mpcc_theta_mech":0.552667379,"sam_rpm":-6.4842124,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209658891,"thr_a_norm":0.0209658891,"thr_a_v":0.583863556,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469105065,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.860832,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.371207237,"cg_iw_a":-0.378244877,"cg_theta_rad":0.55838567,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00404225104,"mpcc_du":49.4173317,"mpcc_dv":50.5826683,"mpcc_dw":49.976593,"mpcc_enc_sign":1,"mpcc_id_a":0.46452716,"mpcc_iq_a":-1.13049734,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.244978,"mpcc_pred_id_a":-0.529809415,"mpcc_pred_iq_a":-1.04327238,"mpcc_state":1,"mpcc_theta_e":0.431099892,"mpcc_theta_mech":0.553165913,"sam_rpm":-16.2694988,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0375452042,"thr_a_norm":0.0209658891,"thr_a_v":0.650180817,"thr_b":0.00507895648,"thr_b_norm":0,"thr_b_v":0.520315826,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.867332,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.96593571,"cg_iw_a":1.36145878,"cg_theta_rad":0.553645909,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00173552928,"mpcc_du":50.3034515,"mpcc_dv":48.7473068,"mpcc_dw":51.2526932,"mpcc_enc_sign":1,"mpcc_id_a":0.749319911,"mpcc_iq_a":-1.54300988,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.65805626,"mpcc_pred_id_a":-0.33324483,"mpcc_pred_iq_a":-2.00682974,"mpcc_state":1,"mpcc_theta_e":0.43460989,"mpcc_theta_mech":0.553867877,"sam_rpm":-13.1957541,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0375452042,"thr_a_norm":0.0375452042,"thr_a_v":0.650180817,"thr_b":0.00507895648,"thr_b_norm":0.00507895648,"thr_b_v":0.520315826,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.873894,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.951108456,"cg_iw_a":0.201656342,"cg_theta_rad":0.554495573,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00967264455,"mpcc_du":50.0825691,"mpcc_dv":48.883812,"mpcc_dw":51.116188,"mpcc_enc_sign":1,"mpcc_id_a":0.77436775,"mpcc_iq_a":0.0598608926,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.72183228,"mpcc_pred_id_a":-0.02922225,"mpcc_pred_iq_a":-2.50625968,"mpcc_state":1,"mpcc_theta_e":0.435159206,"mpcc_theta_mech":0.553977787,"sam_rpm":-13.1067066,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185488611,"thr_a_norm":0.0185488611,"thr_a_v":0.574195445,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456113547,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.880669,"values":{"cg_iu_a":0.169550896,"cg_iv_a":0.136206627,"cg_iw_a":-0.305757523,"cg_theta_rad":0.555917799,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00259827194,"mpcc_du":50.2004356,"mpcc_dv":48.8068275,"mpcc_dw":51.1931725,"mpcc_enc_sign":1,"mpcc_id_a":0.931024551,"mpcc_iq_a":-1.46529615,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.97685242,"mpcc_pred_id_a":-0.162146658,"mpcc_pred_iq_a":1.39631259,"mpcc_state":1,"mpcc_theta_e":0.4485116,"mpcc_theta_mech":0.556648195,"sam_rpm":11.4300671,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170759857,"thr_a_norm":0.0185488611,"thr_a_v":0.568303943,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449819207,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.890678,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.733645439,"cg_iw_a":0.129168749,"cg_theta_rad":0.557443678,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0110183554,"mpcc_du":49.62397,"mpcc_dv":49.4348373,"mpcc_dw":50.5651627,"mpcc_enc_sign":1,"mpcc_id_a":1.95445657,"mpcc_iq_a":0.0139504122,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.94800234,"mpcc_pred_id_a":0.038891498,"mpcc_pred_iq_a":0.593017936,"mpcc_state":1,"mpcc_theta_e":0.437718391,"mpcc_theta_mech":0.554489553,"sam_rpm":4.84638596,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170759857,"thr_a_norm":0.0170759857,"thr_a_v":0.568303943,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449819207,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.900841,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.661157608,"cg_iw_a":1.07150841,"cg_theta_rad":0.556568563,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00777682383,"mpcc_du":50.3747864,"mpcc_dv":48.3778114,"mpcc_dw":51.6221886,"mpcc_enc_sign":1,"mpcc_id_a":1.53968155,"mpcc_iq_a":-1.39487743,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.8814373,"mpcc_pred_id_a":0.225276515,"mpcc_pred_iq_a":0.386952043,"mpcc_state":1,"mpcc_theta_e":0.431185722,"mpcc_theta_mech":0.553183019,"sam_rpm":-15.2340746,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023206681,"thr_a_norm":0.023206681,"thr_a_v":0.592826724,"thr_b":0.000446334481,"thr_b_norm":0.000446334481,"thr_b_v":0.501785338,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.913017,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.09608364,"cg_iw_a":-1.46555996,"cg_theta_rad":0.553508818,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0754997358,"mpcc_du":50.4819336,"mpcc_dv":48.1155167,"mpcc_dw":51.8844833,"mpcc_enc_sign":1,"mpcc_id_a":3.08603811,"mpcc_iq_a":-0.485142112,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.30668163,"mpcc_pred_id_a":0.642823517,"mpcc_pred_iq_a":-1.49641347,"mpcc_state":1,"mpcc_theta_e":0.44246769,"mpcc_theta_mech":0.555439413,"sam_rpm":-3.64750051,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0207644701,"thr_a_norm":0.023206681,"thr_a_v":0.58305788,"thr_b":0,"thr_b_norm":0.000446334481,"thr_b_v":0.476205081,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.925163,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.74847269,"cg_iw_a":-0.740683556,"cg_theta_rad":0.557748199,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00314654945,"mpcc_du":49.4935493,"mpcc_dv":49.3955994,"mpcc_dw":50.6044006,"mpcc_enc_sign":1,"mpcc_id_a":0.383639872,"mpcc_iq_a":-1.2858969,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.88981485,"mpcc_pred_id_a":-0.0391627103,"mpcc_pred_iq_a":-1.08227968,"mpcc_state":1,"mpcc_theta_e":0.439614296,"mpcc_theta_mech":0.554868758,"sam_rpm":-2.44829917,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0207644701,"thr_a_norm":0.0207644701,"thr_a_v":0.58305788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476205081,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.934929,"values":{"cg_iu_a":-0.70030117,"cg_iv_a":-1.82096052,"cg_iw_a":2.52126169,"cg_theta_rad":0.555030823,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0221122801,"mpcc_du":50.0302391,"mpcc_dv":49.0456085,"mpcc_dw":51.4389229,"mpcc_enc_sign":1,"mpcc_id_a":0.0580206439,"mpcc_iq_a":-2.2574563,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.41704988,"mpcc_pred_id_a":-0.282966495,"mpcc_pred_iq_a":-4.20503616,"mpcc_state":1,"mpcc_theta_e":0.452613354,"mpcc_theta_mech":0.557085574,"sam_rpm":4.22408628,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219226331,"thr_a_norm":0.0219226331,"thr_a_v":0.587690532,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482046247,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.94503,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":-0.0812563896,"cg_iw_a":-3.35023928,"cg_theta_rad":0.555745065,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0180458985,"mpcc_du":49.5950813,"mpcc_dv":49.5101204,"mpcc_dw":50.4898796,"mpcc_enc_sign":1,"mpcc_id_a":1.39411271,"mpcc_iq_a":-1.5043534,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.04976916,"mpcc_pred_id_a":0.0860909671,"mpcc_pred_iq_a":-1.82869518,"mpcc_state":1,"mpcc_theta_e":0.449449539,"mpcc_theta_mech":0.55683583,"sam_rpm":7.81416035,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024692148,"thr_a_norm":0.0219226331,"thr_a_v":0.598768592,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482449085,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.968254,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-1.60349751,"cg_iw_a":-0.595707893,"cg_theta_rad":0.554655552,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.000441667682,"mpcc_du":49.0720291,"mpcc_dv":50.9279709,"mpcc_dw":49.6751938,"mpcc_enc_sign":1,"mpcc_id_a":0.24763608,"mpcc_iq_a":-1.88023245,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.13152504,"mpcc_pred_id_a":-0.333696902,"mpcc_pred_iq_a":-5.75051165,"mpcc_state":1,"mpcc_theta_e":0.449106693,"mpcc_theta_mech":0.556767225,"sam_rpm":11.5968494,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024692148,"thr_a_norm":0.024692148,"thr_a_v":0.598768592,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482449085,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.974754,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.588670254,"cg_iw_a":-2.26292419,"cg_theta_rad":0.555399597,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.025805112,"mpcc_du":49.906929,"mpcc_dv":49.0866432,"mpcc_dw":50.9133568,"mpcc_enc_sign":1,"mpcc_id_a":2.84615517,"mpcc_iq_a":-1.16099739,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.266648054,"mpcc_pred_id_a":0.11157497,"mpcc_pred_iq_a":-2.36048579,"mpcc_state":1,"mpcc_theta_e":0.443124771,"mpcc_theta_mech":0.5555709,"sam_rpm":-0.270050347,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272980034,"thr_a_norm":0.0272980034,"thr_a_v":0.609192014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486477464,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.981316,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.588670254,"cg_iw_a":0.999020815,"cg_theta_rad":0.554890096,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00499354908,"mpcc_du":50.0582047,"mpcc_dv":49.1096039,"mpcc_dw":50.8903961,"mpcc_enc_sign":1,"mpcc_id_a":-0.580603004,"mpcc_iq_a":-1.29486537,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.91657543,"mpcc_pred_id_a":-0.503358781,"mpcc_pred_iq_a":-3.27395773,"mpcc_state":1,"mpcc_theta_e":0.438831806,"mpcc_theta_mech":0.554712296,"sam_rpm":-7.13614082,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272980034,"thr_a_norm":0.0272980034,"thr_a_v":0.609192014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486477464,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.987816,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.516182423,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556971133,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0276962146,"mpcc_du":50.0587692,"mpcc_dv":48.9311142,"mpcc_dw":51.0688858,"mpcc_enc_sign":1,"mpcc_id_a":1.55896473,"mpcc_iq_a":-0.327441305,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.53172207,"mpcc_pred_id_a":-0.0396369025,"mpcc_pred_iq_a":-1.21276522,"mpcc_state":1,"mpcc_theta_e":0.448362827,"mpcc_theta_mech":0.556618512,"sam_rpm":7.16358471,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252586454,"thr_a_norm":0.0252586454,"thr_a_v":0.601034582,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475600839,"vdc_v":55.2955055}} +{"type":"telemetry","t":74.996635,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-2.69081235,"cg_iw_a":1.65140939,"cg_theta_rad":0.55703038,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0252686683,"mpcc_du":50.136261,"mpcc_dv":48.8384933,"mpcc_dw":51.1615067,"mpcc_enc_sign":1,"mpcc_id_a":2.12715364,"mpcc_iq_a":-1.1533705,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.16555572,"mpcc_pred_id_a":-0.0123405997,"mpcc_pred_iq_a":-1.80407917,"mpcc_state":1,"mpcc_theta_e":0.446616173,"mpcc_theta_mech":0.556269109,"sam_rpm":2.40291643,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186495781,"thr_a_norm":0.0252586454,"thr_a_v":0.574598312,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465781659,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.006401,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.588670254,"cg_iw_a":0.0566811562,"cg_theta_rad":0.555559039,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0225471873,"mpcc_du":50.6639709,"mpcc_dv":48.1287766,"mpcc_dw":51.8712234,"mpcc_enc_sign":1,"mpcc_id_a":1.18056738,"mpcc_iq_a":-0.272255093,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.96017838,"mpcc_pred_id_a":0.0185419731,"mpcc_pred_iq_a":0.0706928745,"mpcc_state":1,"mpcc_theta_e":0.43885231,"mpcc_theta_mech":0.554716408,"sam_rpm":-8.0140934,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186495781,"thr_a_norm":0.0186495781,"thr_a_v":0.574598312,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465781659,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.016624,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.298719406,"cg_iw_a":-0.595707893,"cg_theta_rad":0.557587564,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0292827636,"mpcc_du":50.2504883,"mpcc_dv":48.4033051,"mpcc_dw":51.5966949,"mpcc_enc_sign":1,"mpcc_id_a":2.20142341,"mpcc_iq_a":-2.01261139,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.38709164,"mpcc_pred_id_a":0.636783659,"mpcc_pred_iq_a":-2.50958538,"mpcc_state":1,"mpcc_theta_e":0.442960262,"mpcc_theta_mech":0.555537939,"sam_rpm":-5.54006577,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0145708323,"thr_a_norm":0.0145708323,"thr_a_v":0.558283329,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456969559,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.026634,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.661157608,"cg_iw_a":-0.59570837,"cg_theta_rad":0.554367125,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00268419017,"mpcc_du":49.8954659,"mpcc_dv":48.9920692,"mpcc_dw":51.0079308,"mpcc_enc_sign":1,"mpcc_id_a":0.916551948,"mpcc_iq_a":-1.01550019,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.77346325,"mpcc_pred_id_a":0.189000875,"mpcc_pred_iq_a":-2.02788258,"mpcc_state":1,"mpcc_theta_e":0.430775642,"mpcc_theta_mech":0.553101063,"sam_rpm":-15.4263649,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0145708323,"thr_a_norm":0.0145708323,"thr_a_v":0.558283329,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456969559,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.036644,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.806133032,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556570053,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0220804717,"mpcc_du":49.6626358,"mpcc_dv":49.3618088,"mpcc_dw":50.6381912,"mpcc_enc_sign":1,"mpcc_id_a":2.45465422,"mpcc_iq_a":-0.462776512,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.948094428,"mpcc_pred_id_a":0.0571380816,"mpcc_pred_iq_a":-2.59690857,"mpcc_state":1,"mpcc_theta_e":0.442063808,"mpcc_theta_mech":0.555358648,"sam_rpm":1.27556896,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238738805,"thr_a_norm":0.0238738805,"thr_a_v":0.595495522,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477967471,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.046776,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.96593571,"cg_iw_a":1.07150841,"cg_theta_rad":0.555956542,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0552790947,"mpcc_du":49.4590759,"mpcc_dv":49.7254677,"mpcc_dw":50.5409241,"mpcc_enc_sign":1,"mpcc_id_a":3.68146682,"mpcc_iq_a":-0.898857474,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.03442144,"mpcc_pred_id_a":0.522223294,"mpcc_pred_iq_a":-1.3458674,"mpcc_state":1,"mpcc_theta_e":0.42942524,"mpcc_theta_mech":0.552830994,"sam_rpm":-11.6879625,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269455314,"thr_a_norm":0.0238738805,"thr_a_v":0.607782125,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495541304,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.069847,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.11091113,"cg_iw_a":-1.53804779,"cg_theta_rad":0.555456877,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0325215533,"mpcc_du":49.5031662,"mpcc_dv":49.9292221,"mpcc_dw":50.4968338,"mpcc_enc_sign":1,"mpcc_id_a":2.63327789,"mpcc_iq_a":-0.0966064706,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.75469685,"mpcc_pred_id_a":0.375107348,"mpcc_pred_iq_a":-4.25473833,"mpcc_state":1,"mpcc_theta_e":0.446660995,"mpcc_theta_mech":0.55627811,"sam_rpm":4.08323336,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269455314,"thr_a_norm":0.0269455314,"thr_a_v":0.607782125,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495541304,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.076347,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.31354666,"cg_iw_a":0.636582375,"cg_theta_rad":0.557229877,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0436344184,"mpcc_du":49.6281853,"mpcc_dv":49.4442024,"mpcc_dw":50.5557976,"mpcc_enc_sign":1,"mpcc_id_a":2.12442827,"mpcc_iq_a":-0.661922455,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.0422621,"mpcc_pred_id_a":0.0759946033,"mpcc_pred_iq_a":-3.000669,"mpcc_state":1,"mpcc_theta_e":0.454928398,"mpcc_theta_mech":0.557931602,"sam_rpm":15.7926903,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236976445,"thr_a_norm":0.0236976445,"thr_a_v":0.594790578,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469810039,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.082939,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.18339872,"cg_iw_a":0.854045391,"cg_theta_rad":0.552572727,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0567312129,"mpcc_du":50.2377396,"mpcc_dv":48.5329628,"mpcc_dw":51.4670372,"mpcc_enc_sign":1,"mpcc_id_a":3.16359305,"mpcc_iq_a":-0.515762925,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.5141563,"mpcc_pred_id_a":0.525120378,"mpcc_pred_iq_a":1.03806937,"mpcc_state":1,"mpcc_theta_e":0.4542799,"mpcc_theta_mech":0.557801902,"sam_rpm":16.7807121,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236976445,"thr_a_norm":0.0236976445,"thr_a_v":0.594790578,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469810039,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.089409,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.45852208,"cg_iw_a":0.926532984,"cg_theta_rad":0.554292917,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00116594241,"mpcc_du":49.8311882,"mpcc_dv":49.3439064,"mpcc_dw":50.6560936,"mpcc_enc_sign":1,"mpcc_id_a":-0.681046665,"mpcc_iq_a":-1.66417813,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.27589464,"mpcc_pred_id_a":-0.40778771,"mpcc_pred_iq_a":-1.59147584,"mpcc_state":1,"mpcc_theta_e":0.442451477,"mpcc_theta_mech":0.555436254,"sam_rpm":3.08366585,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276756734,"thr_a_norm":0.0276756734,"thr_a_v":0.610702693,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484412879,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.097374,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.951108456,"cg_iw_a":0.201656342,"cg_theta_rad":0.556871891,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0224480797,"mpcc_du":49.5611267,"mpcc_dv":50.2702332,"mpcc_dw":50.4388733,"mpcc_enc_sign":1,"mpcc_id_a":2.15428877,"mpcc_iq_a":-0.427090734,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.42226219,"mpcc_pred_id_a":0.0695802346,"mpcc_pred_iq_a":-4.10889769,"mpcc_state":1,"mpcc_theta_e":0.447956085,"mpcc_theta_mech":0.556537151,"sam_rpm":9.34519577,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0276756734,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.106987,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-1.45852208,"cg_iw_a":-1.39307237,"cg_theta_rad":0.555088222,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0568054467,"mpcc_du":50.4028778,"mpcc_dv":47.9913368,"mpcc_dw":52.0086632,"mpcc_enc_sign":1,"mpcc_id_a":4.74586058,"mpcc_iq_a":-0.114467204,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.2671089,"mpcc_pred_id_a":1.01505816,"mpcc_pred_iq_a":0.59888351,"mpcc_state":1,"mpcc_theta_e":0.423390865,"mpcc_theta_mech":0.55162406,"sam_rpm":-28.9084892,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.11721,"values":{"cg_iu_a":2.85159445,"cg_iv_a":1.58595991,"cg_iw_a":-4.43755436,"cg_theta_rad":0.552690864,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0246053096,"mpcc_du":50.586174,"mpcc_dv":47.9838295,"mpcc_dw":52.0161705,"mpcc_enc_sign":1,"mpcc_id_a":2.41160059,"mpcc_iq_a":-0.889777839,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.8008947,"mpcc_pred_id_a":0.59850347,"mpcc_pred_iq_a":-0.931786299,"mpcc_state":1,"mpcc_theta_e":0.436544418,"mpcc_theta_mech":0.55425483,"sam_rpm":-17.6470833,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0412714481,"thr_a_norm":0.0412714481,"thr_a_v":0.665085793,"thr_b":0.0129846632,"thr_b_norm":0.0129846632,"thr_b_v":0.551938653,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.129662,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.806133032,"cg_iw_a":-0.378245115,"cg_theta_rad":0.554839611,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0246266853,"mpcc_du":49.3257751,"mpcc_dv":50.6742249,"mpcc_dw":50.231369,"mpcc_enc_sign":1,"mpcc_id_a":2.92723155,"mpcc_iq_a":0.411464006,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.958346248,"mpcc_pred_id_a":0.400504559,"mpcc_pred_iq_a":-2.43199587,"mpcc_state":1,"mpcc_theta_e":0.430043697,"mpcc_theta_mech":0.552954674,"sam_rpm":0.285561621,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217589736,"thr_a_norm":0.0412714481,"thr_a_v":0.587035894,"thr_b":0,"thr_b_norm":0.0129846632,"thr_b_v":0.477363229,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.139641,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.38603449,"cg_iw_a":-1.61053514,"cg_theta_rad":0.556178927,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.022416098,"mpcc_du":50.3818817,"mpcc_dv":48.2303619,"mpcc_dw":51.7696381,"mpcc_enc_sign":1,"mpcc_id_a":2.96171975,"mpcc_iq_a":-1.42508304,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.63595343,"mpcc_pred_id_a":0.656706631,"mpcc_pred_iq_a":0.0175602622,"mpcc_state":1,"mpcc_theta_e":0.436971188,"mpcc_theta_mech":0.554340124,"sam_rpm":-12.0659018,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217589736,"thr_a_norm":0.0217589736,"thr_a_v":0.587035894,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477363229,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.149681,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.806133032,"cg_iw_a":-1.75551081,"cg_theta_rad":0.555621922,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.000669100729,"mpcc_du":49.8685837,"mpcc_dv":49.298275,"mpcc_dw":50.701725,"mpcc_enc_sign":1,"mpcc_id_a":-0.394755095,"mpcc_iq_a":-1.56822658,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.915991127,"mpcc_pred_id_a":-0.482555419,"mpcc_pred_iq_a":-2.68669915,"mpcc_state":1,"mpcc_theta_e":0.44233942,"mpcc_theta_mech":0.555413842,"sam_rpm":-2.42842269,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0267189294,"thr_a_norm":0.0267189294,"thr_a_v":0.606875718,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.172661,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.733645439,"cg_iw_a":-0.668195724,"cg_theta_rad":0.555179954,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00956845749,"mpcc_du":47.6965904,"mpcc_dv":52.3034096,"mpcc_dw":47.808876,"mpcc_enc_sign":1,"mpcc_id_a":-0.86247015,"mpcc_iq_a":-1.29559612,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":25.2057037,"mpcc_pred_id_a":-1.2421416,"mpcc_pred_iq_a":-9.82564068,"mpcc_state":1,"mpcc_theta_e":0.463078499,"mpcc_theta_mech":0.55956161,"sam_rpm":37.140461,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0267189294,"thr_a_norm":0.0267189294,"thr_a_v":0.606875718,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.179161,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-2.61832476,"cg_iw_a":2.44877386,"cg_theta_rad":0.556876183,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0126331141,"mpcc_du":49.6317177,"mpcc_dv":49.4527092,"mpcc_dw":50.5472908,"mpcc_enc_sign":1,"mpcc_id_a":0.175644159,"mpcc_iq_a":-0.867511272,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.28918409,"mpcc_pred_id_a":-0.0513598509,"mpcc_pred_iq_a":-3.62169743,"mpcc_state":1,"mpcc_theta_e":0.44503355,"mpcc_theta_mech":0.555952609,"sam_rpm":3.65740752,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149233192,"thr_a_norm":0.0149233192,"thr_a_v":0.559693277,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456566721,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.185692,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.53100967,"cg_iw_a":0.709069729,"cg_theta_rad":0.557508945,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0241553579,"mpcc_du":49.3799553,"mpcc_dv":49.0407639,"mpcc_dw":50.9592361,"mpcc_enc_sign":1,"mpcc_id_a":2.2131741,"mpcc_iq_a":-0.638277709,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.88565063,"mpcc_pred_id_a":-0.0783362836,"mpcc_pred_iq_a":-6.33366919,"mpcc_state":1,"mpcc_theta_e":0.446830273,"mpcc_theta_mech":0.556311965,"sam_rpm":5.5256114,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149233192,"thr_a_norm":0.0149233192,"thr_a_v":0.559693277,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456566721,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.192223,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.81317091,"cg_theta_rad":0.555266857,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00454905815,"mpcc_du":50.9664574,"mpcc_dv":47.8211136,"mpcc_dw":52.1788864,"mpcc_enc_sign":1,"mpcc_id_a":-0.830515802,"mpcc_iq_a":-0.808585286,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.58337021,"mpcc_pred_id_a":-0.228138342,"mpcc_pred_iq_a":2.2878952,"mpcc_state":1,"mpcc_theta_e":0.436913013,"mpcc_theta_mech":0.554328501,"sam_rpm":-9.71120071,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024994269,"thr_a_norm":0.024994269,"thr_a_v":0.599977076,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486225694,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.202202,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.661157608,"cg_iw_a":-0.740683556,"cg_theta_rad":0.55565989,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0227508321,"mpcc_du":50.5597382,"mpcc_dv":48.1419792,"mpcc_dw":51.8580208,"mpcc_enc_sign":1,"mpcc_id_a":2.22948551,"mpcc_iq_a":-1.78767562,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.36861897,"mpcc_pred_id_a":0.254002303,"mpcc_pred_iq_a":-1.40663481,"mpcc_state":1,"mpcc_theta_e":0.44080162,"mpcc_theta_mech":0.555106282,"sam_rpm":-10.6933594,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022426188,"thr_a_norm":0.024994269,"thr_a_v":0.589704752,"thr_b":0.000849157572,"thr_b_norm":0,"thr_b_v":0.50339663,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.212212,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.371207237,"cg_iw_a":-2.04546118,"cg_theta_rad":0.555996954,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0305059869,"mpcc_du":50.2290421,"mpcc_dv":48.3649559,"mpcc_dw":51.6350441,"mpcc_enc_sign":1,"mpcc_id_a":3.28270674,"mpcc_iq_a":0.6592893,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.12677574,"mpcc_pred_id_a":0.655245006,"mpcc_pred_iq_a":0.369295925,"mpcc_state":1,"mpcc_theta_e":0.431223869,"mpcc_theta_mech":0.553190649,"sam_rpm":-14.8190765,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022426188,"thr_a_norm":0.022426188,"thr_a_v":0.589704752,"thr_b":0.000849157572,"thr_b_norm":0.000849157572,"thr_b_v":0.50339663,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.222221,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-3.05325079,"cg_iw_a":0.346631527,"cg_theta_rad":0.55695051,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0564001165,"mpcc_du":50.9138031,"mpcc_dv":47.6803322,"mpcc_dw":52.3196678,"mpcc_enc_sign":1,"mpcc_id_a":3.3136096,"mpcc_iq_a":-0.160198614,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.4273424,"mpcc_pred_id_a":0.371691406,"mpcc_pred_iq_a":-0.135229021,"mpcc_state":1,"mpcc_theta_e":0.437760353,"mpcc_theta_mech":0.554497957,"sam_rpm":-16.5052948,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221869946,"thr_a_norm":0.0221869946,"thr_a_v":0.588747978,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479578853,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.232018,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.76329994,"cg_iw_a":1.57892179,"cg_theta_rad":0.557463765,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.052032616,"mpcc_du":50.2010689,"mpcc_dv":48.3216667,"mpcc_dw":51.6783333,"mpcc_enc_sign":1,"mpcc_id_a":3.9214313,"mpcc_iq_a":0.0648228675,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.61397743,"mpcc_pred_id_a":0.872723222,"mpcc_pred_iq_a":0.119658016,"mpcc_state":1,"mpcc_theta_e":0.449354649,"mpcc_theta_mech":0.556816876,"sam_rpm":-5.83405972,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221869946,"thr_a_norm":0.0221869946,"thr_a_v":0.588747978,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479578853,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.242393,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.806133032,"cg_iw_a":-2.33541203,"cg_theta_rad":0.55660814,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.028584253,"mpcc_du":50.0345459,"mpcc_dv":48.741909,"mpcc_dw":51.258091,"mpcc_enc_sign":1,"mpcc_id_a":3.06953835,"mpcc_iq_a":0.704018414,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.76760435,"mpcc_pred_id_a":0.296015322,"mpcc_pred_iq_a":-0.691574991,"mpcc_state":1,"mpcc_theta_e":0.433878899,"mpcc_theta_mech":0.553721726,"sam_rpm":-10.7408457,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024566263,"thr_a_norm":0.024566263,"thr_a_v":0.598265052,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482398719,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.252647,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.878620625,"cg_iw_a":0.854045153,"cg_theta_rad":0.556181014,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0109892059,"mpcc_du":50.2503166,"mpcc_dv":48.5841713,"mpcc_dw":51.4158287,"mpcc_enc_sign":1,"mpcc_id_a":0.401034057,"mpcc_iq_a":-1.0679878,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.266091228,"mpcc_pred_id_a":-0.384839654,"mpcc_pred_iq_a":-3.87102604,"mpcc_state":1,"mpcc_theta_e":0.445301533,"mpcc_theta_mech":0.555173814,"sam_rpm":-8.4353323,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022426188,"thr_a_norm":0.024566263,"thr_a_v":0.589704752,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497907996,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.274864,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.0087685585,"cg_iw_a":-4.36506701,"cg_theta_rad":0.558263898,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0159807261,"mpcc_du":51.5564079,"mpcc_dv":47.0280037,"mpcc_dw":52.9719963,"mpcc_enc_sign":1,"mpcc_id_a":0.89895159,"mpcc_iq_a":0.514482796,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.3108339,"mpcc_pred_id_a":-0.192263767,"mpcc_pred_iq_a":3.61965775,"mpcc_state":1,"mpcc_theta_e":0.427821636,"mpcc_theta_mech":0.552510202,"sam_rpm":-22.3950844,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022426188,"thr_a_norm":0.022426188,"thr_a_v":0.589704752,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497907996,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.281303,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-1.38603449,"cg_iw_a":1.36145926,"cg_theta_rad":0.556034565,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0206764676,"mpcc_du":49.1207275,"mpcc_dv":50.8792725,"mpcc_dw":49.7971344,"mpcc_enc_sign":1,"mpcc_id_a":0.484446436,"mpcc_iq_a":-1.42156565,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.27807426,"mpcc_pred_id_a":-0.316747814,"mpcc_pred_iq_a":-5.40031052,"mpcc_state":1,"mpcc_theta_e":0.435931683,"mpcc_theta_mech":0.554132223,"sam_rpm":27.2364826,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137777478,"thr_a_norm":0.0137777478,"thr_a_v":0.555110991,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.432698548,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.287895,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.74847269,"cg_iw_a":-0.958146095,"cg_theta_rad":0.556069255,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.000644777843,"mpcc_du":49.9968529,"mpcc_dv":48.9785576,"mpcc_dw":51.0214424,"mpcc_enc_sign":1,"mpcc_id_a":0.488436103,"mpcc_iq_a":-1.5687207,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.604450583,"mpcc_pred_id_a":-0.0361356996,"mpcc_pred_iq_a":-0.6199857,"mpcc_state":1,"mpcc_theta_e":0.441484451,"mpcc_theta_mech":0.555242836,"sam_rpm":0.188457012,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137777478,"thr_a_norm":0.0137777478,"thr_a_v":0.555110991,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.432698548,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.294365,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.45852208,"cg_iw_a":0.564094782,"cg_theta_rad":0.557025611,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0374449119,"mpcc_du":49.8518257,"mpcc_dv":48.4782448,"mpcc_dw":51.5217552,"mpcc_enc_sign":1,"mpcc_id_a":3.17705703,"mpcc_iq_a":-0.643724024,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.78608751,"mpcc_pred_id_a":0.631967902,"mpcc_pred_iq_a":-0.541096509,"mpcc_state":1,"mpcc_theta_e":0.449031353,"mpcc_theta_mech":0.556752205,"sam_rpm":10.0871706,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027411297,"thr_a_norm":0.027411297,"thr_a_v":0.609645188,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489649802,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.305992,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-2.18339872,"cg_iw_a":0.999020576,"cg_theta_rad":0.556273818,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0203997735,"mpcc_du":50.3037262,"mpcc_dv":48.3434868,"mpcc_dw":51.6565132,"mpcc_enc_sign":1,"mpcc_id_a":2.8294971,"mpcc_iq_a":0.939265668,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.35972881,"mpcc_pred_id_a":0.50127548,"mpcc_pred_iq_a":2.73448563,"mpcc_state":1,"mpcc_theta_e":0.420686722,"mpcc_theta_mech":0.551083267,"sam_rpm":-14.6771202,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226275921,"thr_a_norm":0.027411297,"thr_a_v":0.590510368,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.316002,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.09608364,"cg_iw_a":-1.10312176,"cg_theta_rad":0.555923641,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00351704354,"mpcc_du":49.5981216,"mpcc_dv":50.3819695,"mpcc_dw":50.4018784,"mpcc_enc_sign":1,"mpcc_id_a":0.976990759,"mpcc_iq_a":0.14667514,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.91469002,"mpcc_pred_id_a":-0.0951297581,"mpcc_pred_iq_a":-2.79636741,"mpcc_state":1,"mpcc_theta_e":0.439123631,"mpcc_theta_mech":0.554770648,"sam_rpm":5.78053331,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226275921,"thr_a_norm":0.0226275921,"thr_a_v":0.590510368,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.326042,"values":{"cg_iu_a":-0.410350561,"cg_iv_a":-0.806133032,"cg_iw_a":1.21648359,"cg_theta_rad":0.553967297,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0289092157,"mpcc_du":49.6265297,"mpcc_dv":50.294075,"mpcc_dw":50.3734703,"mpcc_enc_sign":1,"mpcc_id_a":0.989225209,"mpcc_iq_a":-5.27166685e-06,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.995683491,"mpcc_pred_id_a":0.018668456,"mpcc_pred_iq_a":-1.46231461,"mpcc_state":1,"mpcc_theta_e":0.447916985,"mpcc_theta_mech":0.556529343,"sam_rpm":22.1412354,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0267189294,"thr_a_norm":0.0267189294,"thr_a_v":0.606875718,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481844842,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.336021,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.588670254,"cg_iw_a":-1.39307213,"cg_theta_rad":0.556926489,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0302784778,"mpcc_du":49.4622879,"mpcc_dv":49.8779831,"mpcc_dw":50.5377121,"mpcc_enc_sign":1,"mpcc_id_a":3.04311061,"mpcc_iq_a":-0.380728215,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.72292769,"mpcc_pred_id_a":0.394362509,"mpcc_pred_iq_a":-1.24315619,"mpcc_state":1,"mpcc_theta_e":0.430774689,"mpcc_theta_mech":0.553100824,"sam_rpm":-3.62723112,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0267189294,"thr_a_norm":0.0267189294,"thr_a_v":0.606875718,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481844842,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.346214,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.60349751,"cg_iw_a":0.854045391,"cg_theta_rad":0.554242074,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0761430264,"mpcc_du":50.1950417,"mpcc_dv":48.4347153,"mpcc_dw":51.5652847,"mpcc_enc_sign":1,"mpcc_id_a":3.50376344,"mpcc_iq_a":0.0577674732,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.95623255,"mpcc_pred_id_a":0.693127871,"mpcc_pred_iq_a":-2.77368736,"mpcc_state":1,"mpcc_theta_e":0.442508698,"mpcc_theta_mech":0.555447638,"sam_rpm":-8.29395103,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167612731,"thr_a_norm":0.0167612731,"thr_a_v":0.567045093,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479075313,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.356407,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.6759851,"cg_iw_a":-1.39307237,"cg_theta_rad":0.557741761,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0247185994,"mpcc_du":49.5508728,"mpcc_dv":49.9963684,"mpcc_dw":50.4491272,"mpcc_enc_sign":1,"mpcc_id_a":1.68401837,"mpcc_iq_a":-2.21948934,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.55879021,"mpcc_pred_id_a":-0.00585774938,"mpcc_pred_iq_a":-5.18081665,"mpcc_state":1,"mpcc_theta_e":0.45586729,"mpcc_theta_mech":0.556514502,"sam_rpm":15.5783653,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253215879,"thr_a_norm":0.0167612731,"thr_a_v":0.601286352,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484060407,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.379204,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.878620625,"cg_iw_a":0.491606712,"cg_theta_rad":0.554019511,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00471238792,"mpcc_du":48.5536156,"mpcc_dv":51.4463844,"mpcc_dw":49.0756836,"mpcc_enc_sign":1,"mpcc_id_a":1.03960204,"mpcc_iq_a":-0.735556066,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.1433353,"mpcc_pred_id_a":-0.388953686,"mpcc_pred_iq_a":-6.38345623,"mpcc_state":1,"mpcc_theta_e":0.453938007,"mpcc_theta_mech":0.557733476,"sam_rpm":23.0700722,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253215879,"thr_a_norm":0.0253215879,"thr_a_v":0.601286352,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484060407,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.385765,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-3.70563984,"cg_iw_a":2.66623688,"cg_theta_rad":0.556564093,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0274147484,"mpcc_du":51.1652946,"mpcc_dv":47.3238983,"mpcc_dw":52.6761017,"mpcc_enc_sign":1,"mpcc_id_a":3.20550466,"mpcc_iq_a":-1.24314392,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.4512997,"mpcc_pred_id_a":0.379725099,"mpcc_pred_iq_a":2.64157224,"mpcc_state":1,"mpcc_theta_e":0.432043076,"mpcc_theta_mech":0.553354561,"sam_rpm":-18.168766,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252586454,"thr_a_norm":0.0252586454,"thr_a_v":0.601034582,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484261811,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.392265,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.16857147,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.55727458,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0178786125,"mpcc_du":50.1579514,"mpcc_dv":48.624939,"mpcc_dw":51.375061,"mpcc_enc_sign":1,"mpcc_id_a":0.905824959,"mpcc_iq_a":-0.00380488276,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.34777212,"mpcc_pred_id_a":0.354386091,"mpcc_pred_iq_a":-1.49724483,"mpcc_state":1,"mpcc_theta_e":0.43797493,"mpcc_theta_mech":0.554540932,"sam_rpm":-7.41686678,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252586454,"thr_a_norm":0.0252586454,"thr_a_v":0.601034582,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484261811,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.398796,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.951108456,"cg_iw_a":-1.90048599,"cg_theta_rad":0.553380728,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0208896231,"mpcc_du":50.4430923,"mpcc_dv":48.2052574,"mpcc_dw":51.7947426,"mpcc_enc_sign":1,"mpcc_id_a":2.62671804,"mpcc_iq_a":-0.417549968,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.312274,"mpcc_pred_id_a":0.37392956,"mpcc_pred_iq_a":-0.738943338,"mpcc_state":1,"mpcc_theta_e":0.430024624,"mpcc_theta_mech":0.552950859,"sam_rpm":-19.8367481,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233703256,"thr_a_norm":0.0233703256,"thr_a_v":0.593481302,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467090875,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.408806,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.38603449,"cg_iw_a":0.564094543,"cg_theta_rad":0.556527913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00514061237,"mpcc_du":50.3897285,"mpcc_dv":48.3684196,"mpcc_dw":51.6315804,"mpcc_enc_sign":1,"mpcc_id_a":1.41590464,"mpcc_iq_a":-1.48386097,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.20678806,"mpcc_pred_id_a":0.168256983,"mpcc_pred_iq_a":-0.367064476,"mpcc_state":1,"mpcc_theta_e":0.434864521,"mpcc_theta_mech":0.553918839,"sam_rpm":-12.7293921,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190398246,"thr_a_norm":0.0233703256,"thr_a_v":0.576159298,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464270979,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.418846,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.740683556,"cg_theta_rad":0.554690897,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0674724355,"mpcc_du":50.4274788,"mpcc_dv":48.2852325,"mpcc_dw":51.7147675,"mpcc_enc_sign":1,"mpcc_id_a":3.10534072,"mpcc_iq_a":-0.790802777,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.18778896,"mpcc_pred_id_a":0.409397513,"mpcc_pred_iq_a":-1.99890089,"mpcc_state":1,"mpcc_theta_e":0.4478302,"mpcc_theta_mech":0.556511939,"sam_rpm":-2.60908937,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190398246,"thr_a_norm":0.0190398246,"thr_a_v":0.576159298,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464270979,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.430199,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.806133032,"cg_iw_a":-4.43755436,"cg_theta_rad":0.556433499,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00016795547,"mpcc_du":48.7289734,"mpcc_dv":51.2710266,"mpcc_dw":49.1947479,"mpcc_enc_sign":1,"mpcc_id_a":-0.24445267,"mpcc_iq_a":-1.40932083,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.3000174,"mpcc_pred_id_a":-0.657869518,"mpcc_pred_iq_a":-6.55306959,"mpcc_state":1,"mpcc_theta_e":0.445730686,"mpcc_theta_mech":0.556092024,"sam_rpm":14.5348463,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022929728,"thr_a_norm":0.022929728,"thr_a_v":0.591718912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487081707,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.441368,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.226231575,"cg_iw_a":-0.813171387,"cg_theta_rad":0.553186476,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0148533992,"mpcc_du":49.6149254,"mpcc_dv":49.3419456,"mpcc_dw":50.6580544,"mpcc_enc_sign":1,"mpcc_id_a":2.3607409,"mpcc_iq_a":-1.33969915,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.67899394,"mpcc_pred_id_a":0.102975011,"mpcc_pred_iq_a":-1.90169334,"mpcc_state":1,"mpcc_theta_e":0.440506935,"mpcc_theta_mech":0.555047333,"sam_rpm":4.55148983,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205504745,"thr_a_norm":0.022929728,"thr_a_v":0.582201898,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.451164,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.16857147,"cg_iw_a":0.201656342,"cg_theta_rad":0.55555588,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0174455885,"mpcc_du":50.3917427,"mpcc_dv":48.6220207,"mpcc_dw":51.3779793,"mpcc_enc_sign":1,"mpcc_id_a":0.357114345,"mpcc_iq_a":-0.997759581,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.2303071,"mpcc_pred_id_a":-0.4355838,"mpcc_pred_iq_a":-2.16534019,"mpcc_state":1,"mpcc_theta_e":0.441823006,"mpcc_theta_mech":0.555310488,"sam_rpm":-5.86923504,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205504745,"thr_a_norm":0.0205504745,"thr_a_v":0.582201898,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.474663,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.31354666,"cg_iw_a":-1.82799864,"cg_theta_rad":0.55412668,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.087480925,"mpcc_du":49.0133705,"mpcc_dv":50.9866295,"mpcc_dw":50.252758,"mpcc_enc_sign":1,"mpcc_id_a":5.8812294,"mpcc_iq_a":-0.872766912,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.38259792,"mpcc_pred_id_a":1.26089573,"mpcc_pred_iq_a":-4.88964939,"mpcc_state":1,"mpcc_theta_e":0.448158264,"mpcc_theta_mech":0.556577563,"sam_rpm":13.2325096,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208400041,"thr_a_norm":0.0208400041,"thr_a_v":0.583360016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451078057,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.481163,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.09608364,"cg_iw_a":-1.75551081,"cg_theta_rad":0.554250181,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0268659666,"mpcc_du":49.2000504,"mpcc_dv":50.7999496,"mpcc_dw":50.1530113,"mpcc_enc_sign":1,"mpcc_id_a":2.61088324,"mpcc_iq_a":-0.985815883,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.6582222,"mpcc_pred_id_a":0.307840556,"mpcc_pred_iq_a":-5.37827349,"mpcc_state":1,"mpcc_theta_e":0.452589989,"mpcc_theta_mech":0.557463884,"sam_rpm":17.1197891,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208400041,"thr_a_norm":0.0208400041,"thr_a_v":0.583360016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451078057,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.487663,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.153744221,"cg_iw_a":-3.13277626,"cg_theta_rad":0.553007603,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00179017824,"mpcc_du":49.5963402,"mpcc_dv":50.2547455,"mpcc_dw":50.4036598,"mpcc_enc_sign":1,"mpcc_id_a":0.34209314,"mpcc_iq_a":-1.36314046,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.72072244,"mpcc_pred_id_a":-0.248141125,"mpcc_pred_iq_a":-4.69650316,"mpcc_state":1,"mpcc_theta_e":0.443962574,"mpcc_theta_mech":0.555738389,"sam_rpm":3.52426815,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0466342419,"thr_a_norm":0.0466342419,"thr_a_v":0.686536968,"thr_b":0.0125314742,"thr_b_norm":0.0125314742,"thr_b_v":0.550125897,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.494164,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.588670254,"cg_iw_a":0.129168987,"cg_theta_rad":0.554467857,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0326078981,"mpcc_du":49.5499306,"mpcc_dv":48.3907814,"mpcc_dw":51.6092186,"mpcc_enc_sign":1,"mpcc_id_a":2.82571912,"mpcc_iq_a":0.125034958,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.5510006,"mpcc_pred_id_a":0.232688233,"mpcc_pred_iq_a":-0.946603715,"mpcc_state":1,"mpcc_theta_e":0.450646877,"mpcc_theta_mech":0.557075322,"sam_rpm":15.3870764,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167360902,"thr_a_norm":0.0466342419,"thr_a_v":0.566944361,"thr_b":0,"thr_b_norm":0.0125314742,"thr_b_v":0.476708621,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.50219,"values":{"cg_iu_a":3.93890953,"cg_iv_a":-1.38603449,"cg_iw_a":0.491607189,"cg_theta_rad":0.556357503,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0234419331,"mpcc_du":49.5959892,"mpcc_dv":50.2726898,"mpcc_dw":50.4040108,"mpcc_enc_sign":1,"mpcc_id_a":0.905769527,"mpcc_iq_a":-0.0107177263,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.22639751,"mpcc_pred_id_a":-0.0885561705,"mpcc_pred_iq_a":-5.18184042,"mpcc_state":1,"mpcc_theta_e":0.445606709,"mpcc_theta_mech":0.557737589,"sam_rpm":5.30449438,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167360902,"thr_a_norm":0.0167360902,"thr_a_v":0.566944361,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476708621,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.512169,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.24105906,"cg_iw_a":-2.11794901,"cg_theta_rad":0.554847062,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00541671319,"mpcc_du":49.7859955,"mpcc_dv":49.3359909,"mpcc_dw":50.6640091,"mpcc_enc_sign":1,"mpcc_id_a":0.863515437,"mpcc_iq_a":-0.436684996,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.9598155,"mpcc_pred_id_a":-0.21773532,"mpcc_pred_iq_a":-0.963115454,"mpcc_state":1,"mpcc_theta_e":0.429141521,"mpcc_theta_mech":0.552774251,"sam_rpm":-9.11946106,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0157289952,"thr_a_norm":0.0157289952,"thr_a_v":0.562915981,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462508589,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.522026,"values":{"cg_iu_a":3.93890953,"cg_iv_a":-2.25588632,"cg_iw_a":-1.68302321,"cg_theta_rad":0.555769801,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0123471292,"mpcc_du":49.6582642,"mpcc_dv":50.288166,"mpcc_dw":50.3417358,"mpcc_enc_sign":1,"mpcc_id_a":0.365766883,"mpcc_iq_a":-0.994620264,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.9074383,"mpcc_pred_id_a":-0.179462895,"mpcc_pred_iq_a":-0.314354599,"mpcc_state":1,"mpcc_theta_e":0.433137417,"mpcc_theta_mech":0.55357337,"sam_rpm":5.24730635,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0157289952,"thr_a_norm":0.0157289952,"thr_a_v":0.562915981,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462508589,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.532402,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.02359605,"cg_iw_a":-1.32058454,"cg_theta_rad":0.555464208,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0237559844,"mpcc_du":49.9684753,"mpcc_dv":48.9617729,"mpcc_dw":51.0382271,"mpcc_enc_sign":1,"mpcc_id_a":1.59469974,"mpcc_iq_a":-1.41962695,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.50287366,"mpcc_pred_id_a":0.122112356,"mpcc_pred_iq_a":-2.59750295,"mpcc_state":1,"mpcc_theta_e":0.451369286,"mpcc_theta_mech":0.557219803,"sam_rpm":5.23042631,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204119831,"thr_a_norm":0.0204119831,"thr_a_v":0.581647933,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475197971,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.542442,"values":{"cg_iu_a":1.47432899,"cg_iv_a":0.0637187958,"cg_iw_a":-2.55287504,"cg_theta_rad":0.551582992,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0550606474,"mpcc_du":51.1572838,"mpcc_dv":47.2556038,"mpcc_dw":52.7443962,"mpcc_enc_sign":1,"mpcc_id_a":2.66949201,"mpcc_iq_a":0.0115339579,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.9131002,"mpcc_pred_id_a":0.592774093,"mpcc_pred_iq_a":0.893068552,"mpcc_state":1,"mpcc_theta_e":0.434430122,"mpcc_theta_mech":0.558262527,"sam_rpm":-19.1981468,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282421559,"thr_a_norm":0.0204119831,"thr_a_v":0.612968624,"thr_b":0.000798806548,"thr_b_norm":0,"thr_b_v":0.503195226,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.552391,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.226231575,"cg_iw_a":-1.10312176,"cg_theta_rad":0.557026207,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0232345648,"mpcc_du":50.0027542,"mpcc_dv":48.7954865,"mpcc_dw":51.2045135,"mpcc_enc_sign":1,"mpcc_id_a":2.51172161,"mpcc_iq_a":-2.0460701,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.33777738,"mpcc_pred_id_a":0.332467616,"mpcc_pred_iq_a":0.44118607,"mpcc_state":1,"mpcc_theta_e":0.43689537,"mpcc_theta_mech":0.554324985,"sam_rpm":-4.63613605,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282421559,"thr_a_norm":0.0282421559,"thr_a_v":0.612968624,"thr_b":0.000798806548,"thr_b_norm":0.000798806548,"thr_b_v":0.503195226,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.575798,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.226231575,"cg_iw_a":-4.07511616,"cg_theta_rad":0.555157781,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00917615648,"mpcc_du":49.6334801,"mpcc_dv":50.1538963,"mpcc_dw":51.3732681,"mpcc_enc_sign":1,"mpcc_id_a":0.165520221,"mpcc_iq_a":-0.722697079,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.29999971,"mpcc_pred_id_a":-0.404505551,"mpcc_pred_iq_a":-5.89103651,"mpcc_state":1,"mpcc_theta_e":0.443297863,"mpcc_theta_mech":0.555605471,"sam_rpm":-2.14316988,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023584336,"thr_a_norm":0.023584336,"thr_a_v":0.594337344,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480434865,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.582298,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.82096052,"cg_iw_a":0.636582375,"cg_theta_rad":0.55709517,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0106085818,"mpcc_du":49.9884262,"mpcc_dv":49.1843758,"mpcc_dw":50.8156242,"mpcc_enc_sign":1,"mpcc_id_a":-1.18520021,"mpcc_iq_a":-0.678359449,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.78411388,"mpcc_pred_id_a":-0.484805733,"mpcc_pred_iq_a":-0.268112123,"mpcc_state":1,"mpcc_theta_e":0.449429989,"mpcc_theta_mech":0.556831956,"sam_rpm":13.2284164,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023584336,"thr_a_norm":0.023584336,"thr_a_v":0.594337344,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480434865,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.58889,"values":{"cg_iu_a":2.63413143,"cg_iv_a":0.136206627,"cg_iw_a":-0.16078186,"cg_theta_rad":0.557150245,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00690846238,"mpcc_du":49.7598915,"mpcc_dv":49.5032692,"mpcc_dw":50.4967308,"mpcc_enc_sign":1,"mpcc_id_a":0.418271363,"mpcc_iq_a":-1.35873735,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.70062351,"mpcc_pred_id_a":-0.511604905,"mpcc_pred_iq_a":-2.89887524,"mpcc_state":1,"mpcc_theta_e":0.449308872,"mpcc_theta_mech":0.556807697,"sam_rpm":8.62417507,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209658891,"thr_a_norm":0.0209658891,"thr_a_v":0.583863556,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.59539,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.661157608,"cg_iw_a":-0.885658741,"cg_theta_rad":0.555792809,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0226596016,"mpcc_du":49.5815735,"mpcc_dv":49.9344826,"mpcc_dw":50.4184265,"mpcc_enc_sign":1,"mpcc_id_a":1.74697101,"mpcc_iq_a":-0.60606122,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.4137435,"mpcc_pred_id_a":-0.0728278011,"mpcc_pred_iq_a":-3.99910212,"mpcc_state":1,"mpcc_theta_e":0.449548721,"mpcc_theta_mech":0.556855619,"sam_rpm":9.61852932,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0426939726,"thr_a_norm":0.0209658891,"thr_a_v":0.67077589,"thr_b":0.00651407242,"thr_b_norm":0,"thr_b_v":0.52605629,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.603355,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.09608364,"cg_iw_a":-1.03063416,"cg_theta_rad":0.557254791,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0139293242,"mpcc_du":50.3168373,"mpcc_dv":48.4860344,"mpcc_dw":51.5139656,"mpcc_enc_sign":1,"mpcc_id_a":2.26608014,"mpcc_iq_a":-1.71080732,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.69982982,"mpcc_pred_id_a":0.361473918,"mpcc_pred_iq_a":-0.132599086,"mpcc_state":1,"mpcc_theta_e":0.44028616,"mpcc_theta_mech":0.555003166,"sam_rpm":-3.84540033,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0426939726,"thr_a_norm":0.0426939726,"thr_a_v":0.67077589,"thr_b":0.00651407242,"thr_b_norm":0.00651407242,"thr_b_v":0.52605629,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.613609,"values":{"cg_iu_a":2.77910662,"cg_iv_a":0.0637187958,"cg_iw_a":-1.17560935,"cg_theta_rad":0.557905495,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0434683077,"mpcc_du":49.7818794,"mpcc_dv":49.597908,"mpcc_dw":50.402092,"mpcc_enc_sign":1,"mpcc_id_a":-0.962144375,"mpcc_iq_a":-3.00843501,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.22301769,"mpcc_pred_id_a":-0.787084877,"mpcc_pred_iq_a":-1.55180204,"mpcc_state":1,"mpcc_theta_e":0.432373524,"mpcc_theta_mech":0.553420663,"sam_rpm":-8.38686943,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200972706,"thr_a_norm":0.0200972706,"thr_a_v":0.580389082,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462710023,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.623589,"values":{"cg_iu_a":5.02622414,"cg_iv_a":-1.6759851,"cg_iw_a":1.14399576,"cg_theta_rad":0.556005657,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0174859408,"mpcc_du":50.0640564,"mpcc_dv":48.7320633,"mpcc_dw":51.2679367,"mpcc_enc_sign":1,"mpcc_id_a":2.5573175,"mpcc_iq_a":-0.567964733,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.5991354,"mpcc_pred_id_a":0.473834842,"mpcc_pred_iq_a":-0.40407005,"mpcc_state":1,"mpcc_theta_e":0.429341316,"mpcc_theta_mech":0.552814186,"sam_rpm":-15.7545252,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200972706,"thr_a_norm":0.0200972706,"thr_a_v":0.580389082,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462710023,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.633842,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.878620625,"cg_iw_a":0.419119358,"cg_theta_rad":0.552399933,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.012831958,"mpcc_du":50.0725479,"mpcc_dv":49.2367973,"mpcc_dw":50.7632027,"mpcc_enc_sign":1,"mpcc_id_a":1.8912065,"mpcc_iq_a":-1.47196138,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.66296363,"mpcc_pred_id_a":0.218213573,"mpcc_pred_iq_a":-3.69862938,"mpcc_state":1,"mpcc_theta_e":0.451991558,"mpcc_theta_mech":0.557344258,"sam_rpm":8.32907391,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0147219002,"thr_a_norm":0.0147219002,"thr_a_v":0.558887601,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456063181,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.643944,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.09608364,"cg_iw_a":-0.595708132,"cg_theta_rad":0.556200504,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00865785964,"mpcc_du":49.6402435,"mpcc_dv":50.2748413,"mpcc_dw":50.3597565,"mpcc_enc_sign":1,"mpcc_id_a":-0.00619290769,"mpcc_iq_a":-1.60994637,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.87022734,"mpcc_pred_id_a":-0.19441542,"mpcc_pred_iq_a":-1.34568334,"mpcc_state":1,"mpcc_theta_e":0.43782711,"mpcc_theta_mech":0.554511368,"sam_rpm":8.70973492,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219478011,"thr_a_norm":0.0147219002,"thr_a_v":0.587791204,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475902975,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.653984,"values":{"cg_iu_a":3.06905746,"cg_iv_a":1.65844774,"cg_iw_a":-4.72750521,"cg_theta_rad":0.556649029,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00929353852,"mpcc_du":49.9032593,"mpcc_dv":49.1686821,"mpcc_dw":50.8313179,"mpcc_enc_sign":1,"mpcc_id_a":0.385907531,"mpcc_iq_a":-0.26183781,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.02667427,"mpcc_pred_id_a":-0.224153101,"mpcc_pred_iq_a":-0.225819319,"mpcc_state":1,"mpcc_theta_e":0.424539566,"mpcc_theta_mech":0.551853836,"sam_rpm":-14.761528,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219478011,"thr_a_norm":0.0219478011,"thr_a_v":0.587791204,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475902975,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.677391,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.878620625,"cg_iw_a":-0.015806675,"cg_theta_rad":0.55609715,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0501711331,"mpcc_du":50.1784821,"mpcc_dv":48.4968987,"mpcc_dw":51.5031013,"mpcc_enc_sign":1,"mpcc_id_a":3.89785314,"mpcc_iq_a":0.376092434,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.34172368,"mpcc_pred_id_a":0.851645589,"mpcc_pred_iq_a":1.32979178,"mpcc_state":1,"mpcc_theta_e":0.443681717,"mpcc_theta_mech":0.555682302,"sam_rpm":3.38629842,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0321068913,"thr_a_norm":0.0321068913,"thr_a_v":0.628427565,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469961077,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.683922,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.806133032,"cg_iw_a":-0.813171148,"cg_theta_rad":0.555923641,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00770427985,"mpcc_du":51.3342247,"mpcc_dv":47.4362259,"mpcc_dw":52.5637741,"mpcc_enc_sign":1,"mpcc_id_a":0.586692572,"mpcc_iq_a":-0.169961497,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.4844265,"mpcc_pred_id_a":-0.28630507,"mpcc_pred_iq_a":1.47192085,"mpcc_state":1,"mpcc_theta_e":0.426159859,"mpcc_theta_mech":0.552177906,"sam_rpm":-26.7823696,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0321068913,"thr_a_norm":0.0321068913,"thr_a_v":0.628427565,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469961077,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.690453,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.45852208,"cg_iw_a":0.854045153,"cg_theta_rad":0.556792319,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0436597764,"mpcc_du":49.4857521,"mpcc_dv":49.9060783,"mpcc_dw":51.5129089,"mpcc_enc_sign":1,"mpcc_id_a":3.39648414,"mpcc_iq_a":-1.18321204,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.93863702,"mpcc_pred_id_a":0.649511516,"mpcc_pred_iq_a":-4.67307997,"mpcc_state":1,"mpcc_theta_e":0.441268444,"mpcc_theta_mech":0.555199564,"sam_rpm":8.20475674,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0251075774,"thr_a_norm":0.0251075774,"thr_a_v":0.60043031,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482247651,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.696953,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.16857147,"cg_iw_a":-1.82799816,"cg_theta_rad":0.554017901,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0219074823,"mpcc_du":49.5294418,"mpcc_dv":50.4705582,"mpcc_dw":50.35075,"mpcc_enc_sign":1,"mpcc_id_a":0.788500369,"mpcc_iq_a":0.41624254,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.06297779,"mpcc_pred_id_a":0.203749388,"mpcc_pred_iq_a":-4.8544836,"mpcc_state":1,"mpcc_theta_e":0.445761681,"mpcc_theta_mech":0.556098282,"sam_rpm":7.4935112,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024062708,"thr_a_norm":0.0251075774,"thr_a_v":0.596250832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459386617,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.704765,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.160782337,"cg_theta_rad":0.555957139,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.024652008,"mpcc_du":50.0527992,"mpcc_dv":48.9114876,"mpcc_dw":51.0885124,"mpcc_enc_sign":1,"mpcc_id_a":1.98527658,"mpcc_iq_a":1.10982752,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.26317453,"mpcc_pred_id_a":0.227390647,"mpcc_pred_iq_a":-1.09349883,"mpcc_state":1,"mpcc_theta_e":0.436811924,"mpcc_theta_mech":0.555331469,"sam_rpm":-6.64606142,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024062708,"thr_a_norm":0.024062708,"thr_a_v":0.596250832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459386617,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.713982,"values":{"cg_iu_a":4.73627377,"cg_iv_a":-0.516182423,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556456745,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0207753386,"mpcc_du":49.5307083,"mpcc_dv":49.473423,"mpcc_dw":50.526577,"mpcc_enc_sign":1,"mpcc_id_a":3.94343925,"mpcc_iq_a":-0.215349138,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.39647293,"mpcc_pred_id_a":1.19131315,"mpcc_pred_iq_a":-0.805228829,"mpcc_state":1,"mpcc_theta_e":0.447077274,"mpcc_theta_mech":0.556361377,"sam_rpm":9.37054729,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0397985876,"thr_a_norm":0.0397985876,"thr_a_v":0.65919435,"thr_b":0.0078484714,"thr_b_norm":0.0078484714,"thr_b_v":0.531393886,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.724937,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.6759851,"cg_iw_a":1.143996,"cg_theta_rad":0.555319071,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0215592235,"mpcc_du":50.0618401,"mpcc_dv":48.8237572,"mpcc_dw":51.1762428,"mpcc_enc_sign":1,"mpcc_id_a":2.05177331,"mpcc_iq_a":-0.975830376,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.54395771,"mpcc_pred_id_a":0.167405695,"mpcc_pred_iq_a":0.992460549,"mpcc_state":1,"mpcc_theta_e":0.427308083,"mpcc_theta_mech":0.552407503,"sam_rpm":-12.0113678,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0397985876,"thr_a_norm":0.0397985876,"thr_a_v":0.65919435,"thr_b":0.0078484714,"thr_b_norm":0.0078484714,"thr_b_v":0.531393886,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.735161,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.16857147,"cg_iw_a":-1.75551081,"cg_theta_rad":0.556717634,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0350128673,"mpcc_du":50.5485802,"mpcc_dv":47.8961639,"mpcc_dw":52.1038361,"mpcc_enc_sign":1,"mpcc_id_a":3.70896459,"mpcc_iq_a":-0.643195748,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-22.0961342,"mpcc_pred_id_a":0.812456369,"mpcc_pred_iq_a":-0.0919865891,"mpcc_state":1,"mpcc_theta_e":0.419919491,"mpcc_theta_mech":0.550929785,"sam_rpm":-33.8182945,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217338055,"thr_a_norm":0.0217338055,"thr_a_v":0.586935222,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.745354,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.09608364,"cg_iw_a":0.201656342,"cg_theta_rad":0.555616677,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00753936591,"mpcc_du":50.537468,"mpcc_dv":48.5524101,"mpcc_dw":51.4475899,"mpcc_enc_sign":1,"mpcc_id_a":-0.252614707,"mpcc_iq_a":-1.7746886,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.22848988,"mpcc_pred_id_a":-0.546824038,"mpcc_pred_iq_a":-1.71331286,"mpcc_state":1,"mpcc_theta_e":0.442705154,"mpcc_theta_mech":0.557030559,"sam_rpm":-6.07916832,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019681856,"thr_a_norm":0.0217338055,"thr_a_v":0.578727424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460997939,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.755394,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.24105906,"cg_iw_a":-1.97297359,"cg_theta_rad":0.556591451,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0478864983,"mpcc_du":50.2822304,"mpcc_dv":48.5809059,"mpcc_dw":51.4190941,"mpcc_enc_sign":1,"mpcc_id_a":2.51050997,"mpcc_iq_a":-1.19196892,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.56968451,"mpcc_pred_id_a":0.149412245,"mpcc_pred_iq_a":-2.98957515,"mpcc_state":1,"mpcc_theta_e":0.444740295,"mpcc_theta_mech":0.555894017,"sam_rpm":-3.71579647,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019681856,"thr_a_norm":0.019681856,"thr_a_v":0.578727424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460997939,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.778648,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-2.11091113,"cg_iw_a":0.854045153,"cg_theta_rad":0.55542767,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0527321994,"mpcc_du":51.2643471,"mpcc_dv":46.9701347,"mpcc_dw":53.0298653,"mpcc_enc_sign":1,"mpcc_id_a":3.40329862,"mpcc_iq_a":1.12603509,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.9962425,"mpcc_pred_id_a":0.995517552,"mpcc_pred_iq_a":2.45704699,"mpcc_state":1,"mpcc_theta_e":0.425871372,"mpcc_theta_mech":0.552120149,"sam_rpm":-29.4756622,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0161066502,"thr_a_norm":0.0161066502,"thr_a_v":0.564426601,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459285885,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.785118,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-3.41568899,"cg_iw_a":2.37628603,"cg_theta_rad":0.558457196,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0139526706,"mpcc_du":50.2758331,"mpcc_dv":48.8081169,"mpcc_dw":51.1918831,"mpcc_enc_sign":1,"mpcc_id_a":0.666220248,"mpcc_iq_a":-1.34132636,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.46022081,"mpcc_pred_id_a":-0.26734817,"mpcc_pred_iq_a":-0.134520799,"mpcc_state":1,"mpcc_theta_e":0.451146126,"mpcc_theta_mech":0.554117024,"sam_rpm":12.0313978,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0161066502,"thr_a_norm":0.0161066502,"thr_a_v":0.564426601,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459285885,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.792137,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.74847269,"cg_iw_a":-0.958146572,"cg_theta_rad":0.556946099,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0136458809,"mpcc_du":50.1777077,"mpcc_dv":49.051899,"mpcc_dw":50.948101,"mpcc_enc_sign":1,"mpcc_id_a":-0.865055084,"mpcc_iq_a":-1.01906002,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.37404251,"mpcc_pred_id_a":-0.570671082,"mpcc_pred_iq_a":-1.44211221,"mpcc_state":1,"mpcc_theta_e":0.448312759,"mpcc_theta_mech":0.556608438,"sam_rpm":6.65816593,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.04502289,"thr_a_norm":0.04502289,"thr_a_v":0.68009156,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.798149,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.661157608,"cg_iw_a":0.274143696,"cg_theta_rad":0.556291282,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00151254702,"mpcc_du":49.6578331,"mpcc_dv":50.2225952,"mpcc_dw":50.3421669,"mpcc_enc_sign":1,"mpcc_id_a":1.53154361,"mpcc_iq_a":-1.75955462,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.89412332,"mpcc_pred_id_a":-0.385989249,"mpcc_pred_iq_a":-3.80076194,"mpcc_state":1,"mpcc_theta_e":0.431135654,"mpcc_theta_mech":0.553173065,"sam_rpm":3.87297606,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216960311,"thr_a_norm":0.04502289,"thr_a_v":0.586784124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468097955,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.808189,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-0.878620625,"cg_iw_a":-0.885658741,"cg_theta_rad":0.553307891,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0144110229,"mpcc_du":50.3739395,"mpcc_dv":48.4125366,"mpcc_dw":51.5874634,"mpcc_enc_sign":1,"mpcc_id_a":2.04468608,"mpcc_iq_a":-0.466569841,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.6434393,"mpcc_pred_id_a":0.22454074,"mpcc_pred_iq_a":1.21166241,"mpcc_state":1,"mpcc_theta_e":0.427223206,"mpcc_theta_mech":0.552390516,"sam_rpm":-18.7363529,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216960311,"thr_a_norm":0.0216960311,"thr_a_v":0.586784124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468097955,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.818352,"values":{"cg_iu_a":2.70661926,"cg_iv_a":0.716107845,"cg_iw_a":-0.450732708,"cg_theta_rad":0.558020532,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0190927219,"mpcc_du":49.948101,"mpcc_dv":48.973793,"mpcc_dw":51.026207,"mpcc_enc_sign":1,"mpcc_id_a":1.93646574,"mpcc_iq_a":1.17978656,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.88639998,"mpcc_pred_id_a":0.169322744,"mpcc_pred_iq_a":-0.934454381,"mpcc_state":1,"mpcc_theta_e":0.436103821,"mpcc_theta_mech":0.554166675,"sam_rpm":-6.58455896,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022048533,"thr_a_norm":0.022048533,"thr_a_v":0.588194132,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467191577,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.828362,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-1.02359605,"cg_iw_a":0.854045153,"cg_theta_rad":0.556172967,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0511979833,"mpcc_du":49.6915092,"mpcc_dv":49.384449,"mpcc_dw":50.615551,"mpcc_enc_sign":1,"mpcc_id_a":2.15198231,"mpcc_iq_a":-0.438564092,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.08638906,"mpcc_pred_id_a":-0.00991254766,"mpcc_pred_iq_a":-3.94425035,"mpcc_state":1,"mpcc_theta_e":0.45328474,"mpcc_theta_mech":0.557602823,"sam_rpm":9.75266933,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0418379456,"thr_a_norm":0.022048533,"thr_a_v":0.667351782,"thr_b":0.0123678297,"thr_b_norm":0,"thr_b_v":0.549471319,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.838371,"values":{"cg_iu_a":-0.337862968,"cg_iv_a":-1.60349751,"cg_iw_a":1.94136047,"cg_theta_rad":0.552836597,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0293221418,"mpcc_du":49.5095062,"mpcc_dv":50.4904938,"mpcc_dw":50.3768463,"mpcc_enc_sign":1,"mpcc_id_a":1.8467381,"mpcc_iq_a":-2.10219979,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.59708714,"mpcc_pred_id_a":0.275070399,"mpcc_pred_iq_a":-1.90273738,"mpcc_state":1,"mpcc_theta_e":0.435890198,"mpcc_theta_mech":0.554123938,"sam_rpm":4.88984299,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0418379456,"thr_a_norm":0.0418379456,"thr_a_v":0.667351782,"thr_b":0.0123678297,"thr_b_norm":0.0123678297,"thr_b_v":0.549471319,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.848625,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-1.89344811,"cg_iw_a":-1.90048599,"cg_theta_rad":0.555962384,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00858462043,"mpcc_du":50.574276,"mpcc_dv":48.3542633,"mpcc_dw":51.6457367,"mpcc_enc_sign":1,"mpcc_id_a":-0.0439471155,"mpcc_iq_a":-2.84823942,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.58160686,"mpcc_pred_id_a":-0.0547473282,"mpcc_pred_iq_a":-2.74683166,"mpcc_state":1,"mpcc_theta_e":0.444227219,"mpcc_theta_mech":0.555791318,"sam_rpm":-9.07993793,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0104291588,"thr_a_norm":0.0104291588,"thr_a_v":0.541716635,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.423936844,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.858177,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-0.153744221,"cg_iw_a":-2.40789938,"cg_theta_rad":0.554022312,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.014489796,"mpcc_du":49.2147141,"mpcc_dv":50.7852859,"mpcc_dw":50.1592445,"mpcc_enc_sign":1,"mpcc_id_a":2.37292123,"mpcc_iq_a":-1.8050065,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.5503502,"mpcc_pred_id_a":0.59249866,"mpcc_pred_iq_a":-3.13941145,"mpcc_state":1,"mpcc_theta_e":0.453875065,"mpcc_theta_mech":0.5577209,"sam_rpm":25.2315502,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0104291588,"thr_a_norm":0.0104291588,"thr_a_v":0.541716635,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.423936844,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.881584,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.6759851,"cg_iw_a":1.5064342,"cg_theta_rad":0.554008603,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00392198516,"mpcc_du":48.4838333,"mpcc_dv":51.5161667,"mpcc_dw":48.7069626,"mpcc_enc_sign":1,"mpcc_id_a":-0.894992173,"mpcc_iq_a":-1.74767005,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.6829271,"mpcc_pred_id_a":-0.929216325,"mpcc_pred_iq_a":-7.39529657,"mpcc_state":1,"mpcc_theta_e":0.448881626,"mpcc_theta_mech":0.556722224,"sam_rpm":15.0894918,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250572115,"thr_a_norm":0.0250572115,"thr_a_v":0.600228846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482449085,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.888115,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.60349751,"cg_iw_a":1.50643444,"cg_theta_rad":0.556921184,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0743257403,"mpcc_du":49.5200195,"mpcc_dv":50.038372,"mpcc_dw":50.4799805,"mpcc_enc_sign":1,"mpcc_id_a":2.97167945,"mpcc_iq_a":2.10339236,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.48371315,"mpcc_pred_id_a":0.541063607,"mpcc_pred_iq_a":-3.56323147,"mpcc_state":1,"mpcc_theta_e":0.448950768,"mpcc_theta_mech":0.556736112,"sam_rpm":9.49441719,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0124433488,"thr_a_norm":0.0250572115,"thr_a_v":0.549773395,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449617773,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.894646,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.6759851,"cg_iw_a":0.854045153,"cg_theta_rad":0.555556774,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0014132068,"mpcc_du":49.4840622,"mpcc_dv":50.5159378,"mpcc_dw":50.1978111,"mpcc_enc_sign":1,"mpcc_id_a":0.750969589,"mpcc_iq_a":-1.18328893,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.629530311,"mpcc_pred_id_a":-0.0877272561,"mpcc_pred_iq_a":-5.08690977,"mpcc_state":1,"mpcc_theta_e":0.441236973,"mpcc_theta_mech":0.555193305,"sam_rpm":-0.175120816,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0124433488,"thr_a_norm":0.0124433488,"thr_a_v":0.549773395,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449617773,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.901237,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.6759851,"cg_iw_a":-1.10312152,"cg_theta_rad":0.555813074,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0252611302,"mpcc_du":50.145813,"mpcc_dv":48.7772331,"mpcc_dw":51.2227669,"mpcc_enc_sign":1,"mpcc_id_a":0.652450144,"mpcc_iq_a":-0.540367723,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.629695237,"mpcc_pred_id_a":0.231217608,"mpcc_pred_iq_a":-1.81186283,"mpcc_state":1,"mpcc_theta_e":0.447067261,"mpcc_theta_mech":0.55635941,"sam_rpm":1.47117591,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243270695,"thr_a_norm":0.0243270695,"thr_a_v":0.597308278,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485873193,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.910179,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.09608364,"cg_iw_a":-1.90048599,"cg_theta_rad":0.555928767,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0170625634,"mpcc_du":50.3236694,"mpcc_dv":48.7684822,"mpcc_dw":51.2315178,"mpcc_enc_sign":1,"mpcc_id_a":0.956519663,"mpcc_iq_a":-1.80924511,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.941884,"mpcc_pred_id_a":-0.449029952,"mpcc_pred_iq_a":0.0231525321,"mpcc_state":1,"mpcc_theta_e":0.426507473,"mpcc_theta_mech":0.552247405,"sam_rpm":-17.7886162,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243270695,"thr_a_norm":0.0243270695,"thr_a_v":0.597308278,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485873193,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.921593,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":0.353669643,"cg_iw_a":-1.82799864,"cg_theta_rad":0.556433201,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0235934034,"mpcc_du":50.0967751,"mpcc_dv":49.0734596,"mpcc_dw":50.9265404,"mpcc_enc_sign":1,"mpcc_id_a":2.77137065,"mpcc_iq_a":-0.336708039,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.12094307,"mpcc_pred_id_a":0.302356511,"mpcc_pred_iq_a":-5.05053329,"mpcc_state":1,"mpcc_theta_e":0.458535671,"mpcc_theta_mech":0.558653057,"sam_rpm":-4.64186859,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270084739,"thr_a_norm":0.0270084739,"thr_a_v":0.608033895,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.931572,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.09608364,"cg_iw_a":-1.46555996,"cg_theta_rad":0.553760111,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0379462242,"mpcc_du":49.6270103,"mpcc_dv":50.3729897,"mpcc_dw":50.0066299,"mpcc_enc_sign":1,"mpcc_id_a":-2.18485928,"mpcc_iq_a":-2.16129208,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.21502018,"mpcc_pred_id_a":-1.11744666,"mpcc_pred_iq_a":-1.70328796,"mpcc_state":1,"mpcc_theta_e":0.43772459,"mpcc_theta_mech":0.554490864,"sam_rpm":4.8228755,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166983306,"thr_a_norm":0.0270084739,"thr_a_v":0.566793323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472378135,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.941551,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-0.516182423,"cg_iw_a":0.201656342,"cg_theta_rad":0.553384185,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0262172539,"mpcc_du":50.8376045,"mpcc_dv":48.0034409,"mpcc_dw":51.9965591,"mpcc_enc_sign":1,"mpcc_id_a":2.35345507,"mpcc_iq_a":-1.85861826,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.58864975,"mpcc_pred_id_a":0.103888415,"mpcc_pred_iq_a":-0.220575839,"mpcc_state":1,"mpcc_theta_e":0.444656849,"mpcc_theta_mech":0.555877268,"sam_rpm":-6.29274178,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166983306,"thr_a_norm":0.0166983306,"thr_a_v":0.566793323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472378135,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.951958,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.443694592,"cg_iw_a":-1.90048599,"cg_theta_rad":0.554894388,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00591143128,"mpcc_du":49.5738297,"mpcc_dv":49.7007484,"mpcc_dw":50.4261703,"mpcc_enc_sign":1,"mpcc_id_a":1.02936292,"mpcc_iq_a":-0.4228715,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.00567507138,"mpcc_pred_id_a":-0.0586451516,"mpcc_pred_iq_a":-0.841232836,"mpcc_state":1,"mpcc_theta_e":0.431059837,"mpcc_theta_mech":0.553157866,"sam_rpm":-0.451641351,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201098621,"thr_a_norm":0.0201098621,"thr_a_v":0.580439448,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454905003,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.964165,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.806133032,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.554923534,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.0794790238,"mpcc_du":50.1882324,"mpcc_dv":48.8380547,"mpcc_dw":51.1619453,"mpcc_enc_sign":1,"mpcc_id_a":1.1346935,"mpcc_iq_a":-0.872403562,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.28749824,"mpcc_pred_id_a":-0.0142056784,"mpcc_pred_iq_a":-4.06176615,"mpcc_state":1,"mpcc_theta_e":0.452218056,"mpcc_theta_mech":0.557389498,"sam_rpm":5.90297365,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0201098621,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450222015,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.986992,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.878620625,"cg_iw_a":-0.450732946,"cg_theta_rad":0.556391776,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5008,"hz_app_loop":360,"hz_tim_isr":10016,"hz_vsense":360,"mpcc_cost":0.00752868736,"mpcc_du":50.6024475,"mpcc_dv":48.3706512,"mpcc_dw":51.6293488,"mpcc_enc_sign":1,"mpcc_id_a":1.23621655,"mpcc_iq_a":-1.50939047,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.271218598,"mpcc_pred_id_a":-0.116110198,"mpcc_pred_iq_a":0.813341916,"mpcc_state":1,"mpcc_theta_e":0.443470478,"mpcc_theta_mech":0.555639982,"sam_rpm":0.153192848,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450222015,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.993492,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.16857147,"cg_iw_a":-1.53804779,"cg_theta_rad":0.558676064,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.00997264497,"mpcc_du":49.9859886,"mpcc_dv":49.2089119,"mpcc_dw":50.7910881,"mpcc_enc_sign":1,"mpcc_id_a":1.91760075,"mpcc_iq_a":-0.920414388,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.0237856,"mpcc_pred_id_a":-0.381622493,"mpcc_pred_iq_a":-2.99035859,"mpcc_state":1,"mpcc_theta_e":0.429739475,"mpcc_theta_mech":0.553087711,"sam_rpm":-18.7761097,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256111175,"thr_a_norm":0.0256111175,"thr_a_v":0.60244447,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":75.999992,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.02359605,"cg_iw_a":0.0566809177,"cg_theta_rad":0.554991841,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.00255440129,"mpcc_du":49.5813065,"mpcc_dv":49.9512444,"mpcc_dw":50.4186935,"mpcc_enc_sign":1,"mpcc_id_a":0.613977969,"mpcc_iq_a":-1.12461817,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.38480091,"mpcc_pred_id_a":-0.13718237,"mpcc_pred_iq_a":-3.29790974,"mpcc_state":1,"mpcc_theta_e":0.446492195,"mpcc_theta_mech":0.556244314,"sam_rpm":20.0606556,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256111175,"thr_a_norm":0.0256111175,"thr_a_v":0.60244447,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.006554,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.82096052,"cg_iw_a":0.129168987,"cg_theta_rad":0.55679673,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0141097708,"mpcc_du":49.6900024,"mpcc_dv":49.3458405,"mpcc_dw":50.6541595,"mpcc_enc_sign":1,"mpcc_id_a":0.990104258,"mpcc_iq_a":0.507483125,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.814334989,"mpcc_pred_id_a":-0.0362887383,"mpcc_pred_iq_a":-2.56066298,"mpcc_state":1,"mpcc_theta_e":0.443035603,"mpcc_theta_mech":0.555553019,"sam_rpm":5.62348032,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265175104,"thr_a_norm":0.0265175104,"thr_a_v":0.606070042,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477111459,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.015373,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.6759851,"cg_iw_a":-0.595708132,"cg_theta_rad":0.554953992,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.00544522703,"mpcc_du":49.4396553,"mpcc_dv":50.5603447,"mpcc_dw":50.2342834,"mpcc_enc_sign":1,"mpcc_id_a":1.46709716,"mpcc_iq_a":-0.685411274,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.05704665,"mpcc_pred_id_a":0.125298664,"mpcc_pred_iq_a":-4.1199851,"mpcc_state":1,"mpcc_theta_e":0.439565182,"mpcc_theta_mech":0.554858983,"sam_rpm":1.97324574,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222121775,"thr_a_norm":0.0265175104,"thr_a_v":0.58884871,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492117196,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.025597,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.74847269,"cg_iw_a":0.709069729,"cg_theta_rad":0.558940709,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.00989154447,"mpcc_du":50.2028999,"mpcc_dv":48.6684341,"mpcc_dw":51.3315659,"mpcc_enc_sign":1,"mpcc_id_a":1.20283186,"mpcc_iq_a":-0.914457262,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.4071722,"mpcc_pred_id_a":0.264639586,"mpcc_pred_iq_a":0.757155836,"mpcc_state":1,"mpcc_theta_e":0.429350376,"mpcc_theta_mech":0.552815974,"sam_rpm":-14.3315287,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222121775,"thr_a_norm":0.0222121775,"thr_a_v":0.58884871,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492117196,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.03582,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.24105906,"cg_iw_a":1.50643444,"cg_theta_rad":0.557691813,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0663735569,"mpcc_du":49.9090424,"mpcc_dv":48.7712479,"mpcc_dw":51.2287521,"mpcc_enc_sign":1,"mpcc_id_a":3.78628612,"mpcc_iq_a":-0.874865472,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.733954012,"mpcc_pred_id_a":1.01675904,"mpcc_pred_iq_a":-2.93895698,"mpcc_state":1,"mpcc_theta_e":0.44523859,"mpcc_theta_mech":0.555993617,"sam_rpm":0.00806365535,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468551129,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.045555,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.09608364,"cg_iw_a":-0.885658741,"cg_theta_rad":0.551891506,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0119711794,"mpcc_du":49.1116791,"mpcc_dv":50.8883209,"mpcc_dw":49.7177505,"mpcc_enc_sign":1,"mpcc_id_a":0.35014075,"mpcc_iq_a":-1.14815795,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.1022205,"mpcc_pred_id_a":-0.297734112,"mpcc_pred_iq_a":-5.1469655,"mpcc_state":1,"mpcc_theta_e":0.458252907,"mpcc_theta_mech":0.555506349,"sam_rpm":25.6457176,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468551129,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.055779,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.89344811,"cg_iw_a":1.143996,"cg_theta_rad":0.554641187,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0454875045,"mpcc_du":49.7451935,"mpcc_dv":49.2753296,"mpcc_dw":50.7246704,"mpcc_enc_sign":1,"mpcc_id_a":1.78771424,"mpcc_iq_a":-2.24471569,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.45499325,"mpcc_pred_id_a":0.0653174743,"mpcc_pred_iq_a":-0.446676224,"mpcc_state":1,"mpcc_theta_e":0.430707932,"mpcc_theta_mech":0.553087533,"sam_rpm":-12.0873327,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026479736,"thr_a_norm":0.026479736,"thr_a_v":0.605918944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470968157,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.065971,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.16857147,"cg_iw_a":2.01384807,"cg_theta_rad":0.55719018,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0147048905,"mpcc_du":50.1919594,"mpcc_dv":48.5777588,"mpcc_dw":51.4222412,"mpcc_enc_sign":1,"mpcc_id_a":2.362885,"mpcc_iq_a":-1.68521845,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.6574984,"mpcc_pred_id_a":0.399700463,"mpcc_pred_iq_a":-1.5402652,"mpcc_state":1,"mpcc_theta_e":0.432382107,"mpcc_theta_mech":0.553422332,"sam_rpm":-18.5002708,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023810938,"thr_a_norm":0.026479736,"thr_a_v":0.595243752,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476456851,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.088982,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-0.661157608,"cg_iw_a":0.636582375,"cg_theta_rad":0.556752801,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.00261742016,"mpcc_du":48.0823402,"mpcc_dv":51.9176598,"mpcc_dw":48.4327736,"mpcc_enc_sign":1,"mpcc_id_a":-0.556564748,"mpcc_iq_a":-2.51805282,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.8792038,"mpcc_pred_id_a":-0.444767863,"mpcc_pred_iq_a":-8.85164165,"mpcc_state":1,"mpcc_theta_e":0.454133511,"mpcc_theta_mech":0.557772577,"sam_rpm":21.5049171,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023810938,"thr_a_norm":0.023810938,"thr_a_v":0.595243752,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476456851,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.095482,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.806133032,"cg_iw_a":-0.523220539,"cg_theta_rad":0.553317308,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0153781194,"mpcc_du":50.4171371,"mpcc_dv":48.4199371,"mpcc_dw":51.5800629,"mpcc_enc_sign":1,"mpcc_id_a":2.47818589,"mpcc_iq_a":-1.60642934,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.65205956,"mpcc_pred_id_a":0.278451294,"mpcc_pred_iq_a":-0.225457668,"mpcc_state":1,"mpcc_theta_e":0.434331417,"mpcc_theta_mech":0.553812206,"sam_rpm":-12.7121754,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160814822,"thr_a_norm":0.0160814822,"thr_a_v":0.564325929,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469961077,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.102013,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.588670254,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556316495,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0124245482,"mpcc_du":49.7125511,"mpcc_dv":49.351059,"mpcc_dw":50.648941,"mpcc_enc_sign":1,"mpcc_id_a":0.317922682,"mpcc_iq_a":-0.566360056,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.25401497,"mpcc_pred_id_a":0.123638056,"mpcc_pred_iq_a":-1.93547952,"mpcc_state":1,"mpcc_theta_e":0.448305607,"mpcc_theta_mech":0.556607008,"sam_rpm":9.73917961,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160814822,"thr_a_norm":0.0160814822,"thr_a_v":0.564325929,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469961077,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.108727,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.588670254,"cg_iw_a":-1.39307213,"cg_theta_rad":0.55627501,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.00838216208,"mpcc_du":49.1357384,"mpcc_dv":50.8642616,"mpcc_dw":49.7479057,"mpcc_enc_sign":1,"mpcc_id_a":0.326719314,"mpcc_iq_a":-0.711896181,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.8966303,"mpcc_pred_id_a":-0.173473135,"mpcc_pred_iq_a":-5.64433432,"mpcc_state":1,"mpcc_theta_e":0.451270103,"mpcc_theta_mech":0.557199955,"sam_rpm":15.795414,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.102817565,"thr_a_norm":0.102817565,"thr_a_v":0.911270261,"thr_b":0.0448466539,"thr_b_norm":0.0448466539,"thr_b_v":0.679386616,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.11898,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.226231575,"cg_iw_a":-2.62536287,"cg_theta_rad":0.553055227,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0142575856,"mpcc_du":50.3533859,"mpcc_dv":48.7537689,"mpcc_dw":51.2462311,"mpcc_enc_sign":1,"mpcc_id_a":0.270670891,"mpcc_iq_a":-1.51422894,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.80641675,"mpcc_pred_id_a":-0.295747846,"mpcc_pred_iq_a":-2.46559143,"mpcc_state":1,"mpcc_theta_e":0.443645,"mpcc_theta_mech":0.555674911,"sam_rpm":-3.22428727,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243270695,"thr_a_norm":0.102817565,"thr_a_v":0.597308278,"thr_b":0,"thr_b_norm":0.0448466539,"thr_b_v":0.483355463,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.128868,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.96593571,"cg_iw_a":0.636582375,"cg_theta_rad":0.558703482,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0205471814,"mpcc_du":50.0070877,"mpcc_dv":48.9728584,"mpcc_dw":51.0271416,"mpcc_enc_sign":1,"mpcc_id_a":2.09677625,"mpcc_iq_a":-1.21553957,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.65907097,"mpcc_pred_id_a":0.202302858,"mpcc_pred_iq_a":-4.0879674,"mpcc_state":1,"mpcc_theta_e":0.441897869,"mpcc_theta_mech":0.555325449,"sam_rpm":-11.4833097,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243270695,"thr_a_norm":0.0243270695,"thr_a_v":0.597308278,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483355463,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.138969,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.951108456,"cg_iw_a":0.78155756,"cg_theta_rad":0.552998364,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0128966141,"mpcc_du":49.4864426,"mpcc_dv":50.5135574,"mpcc_dw":50.4057655,"mpcc_enc_sign":1,"mpcc_id_a":1.98221672,"mpcc_iq_a":-0.253257632,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.32044077,"mpcc_pred_id_a":0.594616473,"mpcc_pred_iq_a":0.00549918832,"mpcc_state":1,"mpcc_theta_e":0.426776409,"mpcc_theta_mech":0.552301168,"sam_rpm":3.50532699,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137651563,"thr_a_norm":0.0137651563,"thr_a_v":0.555060625,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444682986,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.14901,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.09608364,"cg_iw_a":-1.03063393,"cg_theta_rad":0.554943264,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0325270519,"mpcc_du":49.3439026,"mpcc_dv":50.6560974,"mpcc_dw":50.0274696,"mpcc_enc_sign":1,"mpcc_id_a":2.7928102,"mpcc_iq_a":-0.930215061,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.65490174,"mpcc_pred_id_a":0.558303654,"mpcc_pred_iq_a":-2.7984221,"mpcc_state":1,"mpcc_theta_e":0.436892509,"mpcc_theta_mech":0.552509069,"sam_rpm":2.0319941,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137651563,"thr_a_norm":0.0137651563,"thr_a_v":0.555060625,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444682986,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.159019,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.45852208,"cg_iw_a":-1.75551057,"cg_theta_rad":0.556935847,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.00786529109,"mpcc_du":49.5400696,"mpcc_dv":50.4599304,"mpcc_dw":50.4083443,"mpcc_enc_sign":1,"mpcc_id_a":0.632119358,"mpcc_iq_a":-0.246604592,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.911499083,"mpcc_pred_id_a":-0.18656522,"mpcc_pred_iq_a":1.17361677,"mpcc_state":1,"mpcc_theta_e":0.439682961,"mpcc_theta_mech":0.554882467,"sam_rpm":14.358223,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211924911,"thr_a_norm":0.0211924911,"thr_a_v":0.584769964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476557553,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.169365,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.661157608,"cg_iw_a":-0.378245354,"cg_theta_rad":0.555792689,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0184882861,"mpcc_du":50.3611107,"mpcc_dv":48.7767982,"mpcc_dw":51.2232018,"mpcc_enc_sign":1,"mpcc_id_a":1.5557152,"mpcc_iq_a":-1.34113741,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.77288008,"mpcc_pred_id_a":-0.311038494,"mpcc_pred_iq_a":-2.46536851,"mpcc_state":1,"mpcc_theta_e":0.44543314,"mpcc_theta_mech":0.556032538,"sam_rpm":-4.52036858,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0307598859,"thr_a_norm":0.0211924911,"thr_a_v":0.623039544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470313579,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.192375,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.6759851,"cg_iw_a":0.999020815,"cg_theta_rad":0.556192577,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0338872783,"mpcc_du":49.7895088,"mpcc_dv":49.4392509,"mpcc_dw":50.5607491,"mpcc_enc_sign":1,"mpcc_id_a":2.35812473,"mpcc_iq_a":-0.334389389,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.99563432,"mpcc_pred_id_a":-0.233462051,"mpcc_pred_iq_a":-3.64056587,"mpcc_state":1,"mpcc_theta_e":0.446002007,"mpcc_theta_mech":0.556146324,"sam_rpm":2.94705415,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0307598859,"thr_a_norm":0.0307598859,"thr_a_v":0.623039544,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470313579,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.198906,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.76329994,"cg_iw_a":1.65140963,"cg_theta_rad":0.554937243,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0112578664,"mpcc_du":49.6981659,"mpcc_dv":50.2216454,"mpcc_dw":50.3018341,"mpcc_enc_sign":1,"mpcc_id_a":0.518798292,"mpcc_iq_a":-0.932121456,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.5271101,"mpcc_pred_id_a":-0.456833988,"mpcc_pred_iq_a":-4.15580463,"mpcc_state":1,"mpcc_theta_e":0.436668396,"mpcc_theta_mech":0.554279625,"sam_rpm":12.6554041,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0207141191,"thr_a_norm":0.0207141191,"thr_a_v":0.582856476,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468097955,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.205437,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.38603449,"cg_iw_a":-0.740683079,"cg_theta_rad":0.553235888,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0277699716,"mpcc_du":50.4135284,"mpcc_dv":48.2564011,"mpcc_dw":51.7435989,"mpcc_enc_sign":1,"mpcc_id_a":2.96801662,"mpcc_iq_a":-0.561030626,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.46341538,"mpcc_pred_id_a":0.515724659,"mpcc_pred_iq_a":-2.01978588,"mpcc_state":1,"mpcc_theta_e":0.440265179,"mpcc_theta_mech":0.554998934,"sam_rpm":-24.8474846,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0207141191,"thr_a_norm":0.0207141191,"thr_a_v":0.582856476,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468097955,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.212151,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.24105906,"cg_iw_a":-0.595708132,"cg_theta_rad":0.553680956,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0134268915,"mpcc_du":49.2941055,"mpcc_dv":50.7058945,"mpcc_dw":49.9525375,"mpcc_enc_sign":1,"mpcc_id_a":0.341645658,"mpcc_iq_a":-0.347993702,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.7848854,"mpcc_pred_id_a":-0.0425695069,"mpcc_pred_iq_a":-5.07257748,"mpcc_state":1,"mpcc_theta_e":0.453061104,"mpcc_theta_mech":0.557558119,"sam_rpm":15.850872,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0331895053,"thr_a_norm":0.0331895053,"thr_a_v":0.632758021,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484211475,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.222374,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.443694592,"cg_iw_a":-0.305757523,"cg_theta_rad":0.558304071,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0240507387,"mpcc_du":49.7166672,"mpcc_dv":49.6042442,"mpcc_dw":50.3957558,"mpcc_enc_sign":1,"mpcc_id_a":1.86551404,"mpcc_iq_a":-2.3491056,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.68389273,"mpcc_pred_id_a":-0.310736269,"mpcc_pred_iq_a":-5.3870306,"mpcc_state":1,"mpcc_theta_e":0.453883171,"mpcc_theta_mech":0.557722509,"sam_rpm":7.28867435,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227031261,"thr_a_norm":0.0331895053,"thr_a_v":0.590812504,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483355463,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.23214,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.60349751,"cg_iw_a":-1.46555996,"cg_theta_rad":0.557513237,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0164908711,"mpcc_du":49.3800583,"mpcc_dv":50.6199417,"mpcc_dw":50.0478783,"mpcc_enc_sign":1,"mpcc_id_a":1.67695379,"mpcc_iq_a":-1.7645669,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.73694038,"mpcc_pred_id_a":0.0310504679,"mpcc_pred_iq_a":-2.26081014,"mpcc_state":1,"mpcc_theta_e":0.443264484,"mpcc_theta_mech":0.555598795,"sam_rpm":11.9369583,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227031261,"thr_a_norm":0.0227031261,"thr_a_v":0.590812504,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483355463,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.242363,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.806133032,"cg_iw_a":-1.03063416,"cg_theta_rad":0.552561402,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0230729971,"mpcc_du":49.6826363,"mpcc_dv":49.2634354,"mpcc_dw":50.7365646,"mpcc_enc_sign":1,"mpcc_id_a":3.0113647,"mpcc_iq_a":-1.15186799,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.74118805,"mpcc_pred_id_a":0.599128485,"mpcc_pred_iq_a":-1.1531508,"mpcc_state":1,"mpcc_theta_e":0.444561481,"mpcc_theta_mech":0.555593014,"sam_rpm":4.8662467,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284813493,"thr_a_norm":0.0284813493,"thr_a_v":0.613925397,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.252159,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.38603449,"cg_iw_a":-1.17560911,"cg_theta_rad":0.557349563,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0708355457,"mpcc_du":49.3609848,"mpcc_dv":49.6259308,"mpcc_dw":50.6390152,"mpcc_enc_sign":1,"mpcc_id_a":5.25322294,"mpcc_iq_a":1.14717746,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.42346144,"mpcc_pred_id_a":1.31460071,"mpcc_pred_iq_a":-0.256245643,"mpcc_state":1,"mpcc_theta_e":0.428584099,"mpcc_theta_mech":0.55266273,"sam_rpm":-6.53147125,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284813493,"thr_a_norm":0.0284813493,"thr_a_v":0.613925397,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.262352,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.298719406,"cg_iw_a":-0.305757523,"cg_theta_rad":0.558370054,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0330540128,"mpcc_du":49.8866806,"mpcc_dv":49.3273697,"mpcc_dw":50.6726303,"mpcc_enc_sign":1,"mpcc_id_a":0.178945348,"mpcc_iq_a":-0.719490528,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.21401024,"mpcc_pred_id_a":-0.395910591,"mpcc_pred_iq_a":0.518051803,"mpcc_state":1,"mpcc_theta_e":0.42468071,"mpcc_theta_mech":0.551882088,"sam_rpm":-14.7431612,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210288316,"thr_a_norm":0.0210288316,"thr_a_v":0.584115326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459386617,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.272545,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.733645439,"cg_iw_a":-1.46555996,"cg_theta_rad":0.558463097,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0206727348,"mpcc_du":49.6090393,"mpcc_dv":50.3909607,"mpcc_dw":50.3417473,"mpcc_enc_sign":1,"mpcc_id_a":0.525046706,"mpcc_iq_a":-0.831569254,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.10288715,"mpcc_pred_id_a":-0.134298921,"mpcc_pred_iq_a":-2.41344023,"mpcc_state":1,"mpcc_theta_e":0.426348209,"mpcc_theta_mech":0.552215576,"sam_rpm":-8.91510391,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273987204,"thr_a_norm":0.0210288316,"thr_a_v":0.609594882,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.295586,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.82096052,"cg_iw_a":0.564094543,"cg_theta_rad":0.555971026,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.00254516047,"mpcc_du":49.1195564,"mpcc_dv":50.8804436,"mpcc_dw":51.6113167,"mpcc_enc_sign":1,"mpcc_id_a":-0.340886801,"mpcc_iq_a":-1.78053164,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.06478882,"mpcc_pred_id_a":-0.570259452,"mpcc_pred_iq_a":-5.55162001,"mpcc_state":1,"mpcc_theta_e":0.445425034,"mpcc_theta_mech":0.556030929,"sam_rpm":6.85875797,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273987204,"thr_a_norm":0.0273987204,"thr_a_v":0.609594882,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.302055,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.31354666,"cg_iw_a":0.12916851,"cg_theta_rad":0.554148614,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.00949766114,"mpcc_du":49.6989822,"mpcc_dv":49.4046135,"mpcc_dw":50.5953865,"mpcc_enc_sign":1,"mpcc_id_a":1.6954397,"mpcc_iq_a":-0.881521106,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.09721756,"mpcc_pred_id_a":0.134560615,"mpcc_pred_iq_a":-3.78216195,"mpcc_state":1,"mpcc_theta_e":0.437781811,"mpcc_theta_mech":0.554502249,"sam_rpm":-7.83031797,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0154772252,"thr_a_norm":0.0154772252,"thr_a_v":0.561908901,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463968873,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.308647,"values":{"cg_iu_a":0.459501266,"cg_iv_a":0.208694458,"cg_iw_a":-3.06028891,"cg_theta_rad":0.554517329,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0792356655,"mpcc_du":49.6600151,"mpcc_dv":50.0819054,"mpcc_dw":53.2582245,"mpcc_enc_sign":1,"mpcc_id_a":0.51388067,"mpcc_iq_a":0.175084159,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.25070906,"mpcc_pred_id_a":-0.286340505,"mpcc_pred_iq_a":-3.33156252,"mpcc_state":1,"mpcc_theta_e":0.448826313,"mpcc_theta_mech":0.556711197,"sam_rpm":32.1517982,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0154772252,"thr_a_norm":0.0154772252,"thr_a_v":0.561908901,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463968873,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.315453,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-2.18339872,"cg_iw_a":0.636582375,"cg_theta_rad":0.557155252,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0245150439,"mpcc_du":49.8186798,"mpcc_dv":49.0415344,"mpcc_dw":50.9584656,"mpcc_enc_sign":1,"mpcc_id_a":2.62110257,"mpcc_iq_a":-0.451461166,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.859635293,"mpcc_pred_id_a":0.62233144,"mpcc_pred_iq_a":-1.41967988,"mpcc_state":1,"mpcc_theta_e":0.442948341,"mpcc_theta_mech":0.555535555,"sam_rpm":1.28655469,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0309865028,"thr_a_norm":0.0309865028,"thr_a_v":0.623946011,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488592356,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.325523,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":0.716107845,"cg_iw_a":-0.668195724,"cg_theta_rad":0.558150709,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0447666533,"mpcc_du":50.2797699,"mpcc_dv":48.764904,"mpcc_dw":51.235096,"mpcc_enc_sign":1,"mpcc_id_a":1.23759687,"mpcc_iq_a":-1.15700006,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.04560328,"mpcc_pred_id_a":-0.0701644719,"mpcc_pred_iq_a":-2.96503878,"mpcc_state":1,"mpcc_theta_e":0.453311443,"mpcc_theta_mech":0.557608187,"sam_rpm":5.51316595,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0152758062,"thr_a_norm":0.0309865028,"thr_a_v":0.561103225,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457271695,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.335503,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.733645439,"cg_iw_a":-0.885658741,"cg_theta_rad":0.558183491,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.103659771,"mpcc_du":50.3416939,"mpcc_dv":48.737011,"mpcc_dw":51.262989,"mpcc_enc_sign":1,"mpcc_id_a":0.837057173,"mpcc_iq_a":1.50564539,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.58791757,"mpcc_pred_id_a":-0.305635601,"mpcc_pred_iq_a":-2.02409601,"mpcc_state":1,"mpcc_theta_e":0.451022625,"mpcc_theta_mech":0.557702005,"sam_rpm":7.11543036,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0152758062,"thr_a_norm":0.0152758062,"thr_a_v":0.561103225,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457271695,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.345665,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.02359605,"cg_iw_a":-1.90048623,"cg_theta_rad":0.555675685,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0439475849,"mpcc_du":50.6219978,"mpcc_dv":48.1653786,"mpcc_dw":51.8346214,"mpcc_enc_sign":1,"mpcc_id_a":-0.40858683,"mpcc_iq_a":-0.402317017,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.1753161,"mpcc_pred_id_a":-0.583702564,"mpcc_pred_iq_a":-3.72693086,"mpcc_state":1,"mpcc_theta_e":0.450054169,"mpcc_theta_mech":0.556956708,"sam_rpm":-10.1868486,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176047087,"thr_a_norm":0.0176047087,"thr_a_v":0.570418835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441409916,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.355553,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.45852208,"cg_iw_a":1.143996,"cg_theta_rad":0.556369245,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0347598903,"mpcc_du":50.8283119,"mpcc_dv":47.9594612,"mpcc_dw":52.0405388,"mpcc_enc_sign":1,"mpcc_id_a":2.15429616,"mpcc_iq_a":-1.43521833,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.75895023,"mpcc_pred_id_a":0.156492233,"mpcc_pred_iq_a":-1.02196205,"mpcc_state":1,"mpcc_theta_e":0.443249702,"mpcc_theta_mech":0.555595815,"sam_rpm":-9.49345589,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176047087,"thr_a_norm":0.0176047087,"thr_a_v":0.570418835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441409916,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.365959,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.96593571,"cg_iw_a":1.21648359,"cg_theta_rad":0.552601576,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.00897454377,"mpcc_du":50.4215813,"mpcc_dv":48.5524178,"mpcc_dw":51.4475822,"mpcc_enc_sign":1,"mpcc_id_a":1.18189371,"mpcc_iq_a":-1.29159927,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.29128265,"mpcc_pred_id_a":-0.124884844,"mpcc_pred_iq_a":-1.88390565,"mpcc_state":1,"mpcc_theta_e":0.439760685,"mpcc_theta_mech":0.554898024,"sam_rpm":-11.0492725,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248432159,"thr_a_norm":0.0248432159,"thr_a_v":0.599372864,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493527114,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.376213,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.443694592,"cg_iw_a":-1.97297382,"cg_theta_rad":0.554379284,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.142785728,"mpcc_du":49.8432579,"mpcc_dv":48.9730835,"mpcc_dw":51.0269165,"mpcc_enc_sign":1,"mpcc_id_a":2.90723419,"mpcc_iq_a":2.58938193,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.4851532,"mpcc_pred_id_a":0.728685856,"mpcc_pred_iq_a":-0.612582505,"mpcc_state":1,"mpcc_theta_e":0.454775333,"mpcc_theta_mech":0.557900965,"sam_rpm":20.4835224,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294129103,"thr_a_norm":0.0248432159,"thr_a_v":0.617651641,"thr_b":0.00431105494,"thr_b_norm":0,"thr_b_v":0.51724422,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.398979,"values":{"cg_iu_a":1.76427937,"cg_iv_a":0.426157475,"cg_iw_a":-2.40789986,"cg_theta_rad":0.553148448,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0059963814,"mpcc_du":51.3344994,"mpcc_dv":47.4242287,"mpcc_dw":52.5757713,"mpcc_enc_sign":1,"mpcc_id_a":0.328696579,"mpcc_iq_a":-0.560175955,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.4376087,"mpcc_pred_id_a":-0.12384142,"mpcc_pred_iq_a":2.10661912,"mpcc_state":1,"mpcc_theta_e":0.429178715,"mpcc_theta_mech":0.552781701,"sam_rpm":-21.4105186,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294129103,"thr_a_norm":0.0294129103,"thr_a_v":0.617651641,"thr_b":0.00431105494,"thr_b_norm":0.00431105494,"thr_b_v":0.51724422,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.405449,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.45852208,"cg_iw_a":-0.305757284,"cg_theta_rad":0.556195974,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.00308519113,"mpcc_du":50.6913376,"mpcc_dv":48.2502899,"mpcc_dw":51.7497101,"mpcc_enc_sign":1,"mpcc_id_a":0.896297634,"mpcc_iq_a":-1.74712503,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.68571615,"mpcc_pred_id_a":-0.1542027,"mpcc_pred_iq_a":1.18939042,"mpcc_state":1,"mpcc_theta_e":0.433124542,"mpcc_theta_mech":0.553570807,"sam_rpm":-11.6745491,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022929728,"thr_a_norm":0.022929728,"thr_a_v":0.591718912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485420018,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.412041,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-3.19822598,"cg_iw_a":1.79638481,"cg_theta_rad":0.555354774,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.000562925183,"mpcc_du":49.3224525,"mpcc_dv":50.6775475,"mpcc_dw":49.9421043,"mpcc_enc_sign":1,"mpcc_id_a":0.420206159,"mpcc_iq_a":-2.08169651,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.40009975,"mpcc_pred_id_a":-0.0729247779,"mpcc_pred_iq_a":-1.80865836,"mpcc_state":1,"mpcc_theta_e":0.434149742,"mpcc_theta_mech":0.553775907,"sam_rpm":-12.0938578,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022929728,"thr_a_norm":0.022929728,"thr_a_v":0.591718912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485420018,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.418541,"values":{"cg_iu_a":2.12671757,"cg_iv_a":0.0637187958,"cg_iw_a":-2.19043636,"cg_theta_rad":0.556269109,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0285187606,"mpcc_du":49.0340309,"mpcc_dv":50.9659691,"mpcc_dw":49.6985588,"mpcc_enc_sign":1,"mpcc_id_a":2.11470079,"mpcc_iq_a":-0.516387343,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.8997107,"mpcc_pred_id_a":0.036077477,"mpcc_pred_iq_a":-5.93391752,"mpcc_state":1,"mpcc_theta_e":0.454502106,"mpcc_theta_mech":0.557846308,"sam_rpm":20.8368263,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0301556438,"thr_a_norm":0.0301556438,"thr_a_v":0.620622575,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462256789,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.426933,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.74847269,"cg_iw_a":-1.68302298,"cg_theta_rad":0.555943787,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0379857607,"mpcc_du":49.6666489,"mpcc_dv":50.2063179,"mpcc_dw":50.3333511,"mpcc_enc_sign":1,"mpcc_id_a":0.847790897,"mpcc_iq_a":0.199926108,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.20545197,"mpcc_pred_id_a":-0.381534874,"mpcc_pred_iq_a":-5.32699585,"mpcc_state":1,"mpcc_theta_e":0.449025631,"mpcc_theta_mech":0.553038239,"sam_rpm":8.2501812,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200721025,"thr_a_norm":0.0301556438,"thr_a_v":0.58028841,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464422047,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.438744,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.02359605,"cg_iw_a":0.0566809177,"cg_theta_rad":0.557668388,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0430645533,"mpcc_du":50.366539,"mpcc_dv":48.6232224,"mpcc_dw":51.3767776,"mpcc_enc_sign":1,"mpcc_id_a":1.8710494,"mpcc_iq_a":-0.00989169721,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.11126828,"mpcc_pred_id_a":0.0271090791,"mpcc_pred_iq_a":-2.10442162,"mpcc_state":1,"mpcc_theta_e":0.446623802,"mpcc_theta_mech":0.556270719,"sam_rpm":-4.13547516,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200721025,"thr_a_norm":0.0200721025,"thr_a_v":0.58028841,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464422047,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.448967,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.09608364,"cg_iw_a":-1.46555996,"cg_theta_rad":0.551517963,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0250094328,"mpcc_du":50.024498,"mpcc_dv":49.053421,"mpcc_dw":50.946579,"mpcc_enc_sign":1,"mpcc_id_a":1.41670251,"mpcc_iq_a":-1.84065044,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.10053539,"mpcc_pred_id_a":-0.157597274,"mpcc_pred_iq_a":-0.618594468,"mpcc_state":1,"mpcc_theta_e":0.429245472,"mpcc_theta_mech":0.552794993,"sam_rpm":-15.3217411,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021419093,"thr_a_norm":0.021419093,"thr_a_v":0.585676372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477413595,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.461143,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.516182423,"cg_iw_a":-1.39307213,"cg_theta_rad":0.554056823,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0165650453,"mpcc_du":48.5555801,"mpcc_dv":51.4444199,"mpcc_dw":49.2705956,"mpcc_enc_sign":1,"mpcc_id_a":2.55209565,"mpcc_iq_a":2.93716264,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.83618879,"mpcc_pred_id_a":0.3298572,"mpcc_pred_iq_a":3.76880312,"mpcc_state":1,"mpcc_theta_e":0.42556715,"mpcc_theta_mech":0.552059352,"sam_rpm":19.5007229,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0332902223,"thr_a_norm":0.021419093,"thr_a_v":0.633160889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493728518,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.471153,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.951108456,"cg_iw_a":-2.48038721,"cg_theta_rad":0.555878043,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0250150226,"mpcc_du":49.0742111,"mpcc_dv":50.9257889,"mpcc_dw":50.0022697,"mpcc_enc_sign":1,"mpcc_id_a":3.12093854,"mpcc_iq_a":-0.416590393,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.7930489,"mpcc_pred_id_a":0.652457356,"mpcc_pred_iq_a":-2.25152373,"mpcc_state":1,"mpcc_theta_e":0.444738865,"mpcc_theta_mech":0.555893719,"sam_rpm":18.7561989,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0332902223,"thr_a_norm":0.0332902223,"thr_a_v":0.633160889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493728518,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.49456,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.24105906,"cg_iw_a":-2.11794949,"cg_theta_rad":0.555517018,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.00248780474,"mpcc_du":50.4435425,"mpcc_dv":48.6459084,"mpcc_dw":51.3540916,"mpcc_enc_sign":1,"mpcc_id_a":0.940930307,"mpcc_iq_a":0.0769633949,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.2146349,"mpcc_pred_id_a":-0.425352782,"mpcc_pred_iq_a":0.166220292,"mpcc_state":1,"mpcc_theta_e":0.432697296,"mpcc_theta_mech":0.553485334,"sam_rpm":-13.459403,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204245895,"thr_a_norm":0.0204245895,"thr_a_v":0.581698358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449617773,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.501183,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.878620625,"cg_iw_a":-1.46555996,"cg_theta_rad":0.553706348,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0910937786,"mpcc_du":49.1163292,"mpcc_dv":50.8836708,"mpcc_dw":49.9571381,"mpcc_enc_sign":1,"mpcc_id_a":1.76346099,"mpcc_iq_a":1.04149699,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.837883,"mpcc_pred_id_a":0.388220191,"mpcc_pred_iq_a":-5.84603357,"mpcc_state":1,"mpcc_theta_e":0.463429928,"mpcc_theta_mech":0.559631944,"sam_rpm":28.9142742,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204245895,"thr_a_norm":0.0204245895,"thr_a_v":0.581698358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449617773,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.507622,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.6759851,"cg_iw_a":-1.4655602,"cg_theta_rad":0.555822134,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.000772288186,"mpcc_du":49.7555122,"mpcc_dv":49.5743828,"mpcc_dw":50.4256172,"mpcc_enc_sign":1,"mpcc_id_a":-0.0454281755,"mpcc_iq_a":-1.68565583,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.216040909,"mpcc_pred_id_a":-0.646440983,"mpcc_pred_iq_a":-2.56856585,"mpcc_state":1,"mpcc_theta_e":0.440050602,"mpcc_theta_mech":0.554956019,"sam_rpm":-0.84082526,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294884443,"thr_a_norm":0.0294884443,"thr_a_v":0.617953777,"thr_b":0.00280041993,"thr_b_norm":0.00280041993,"thr_b_v":0.51120168,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.514153,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.443694592,"cg_iw_a":-1.10312176,"cg_theta_rad":0.556447148,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.00141766004,"mpcc_du":49.0189133,"mpcc_dv":50.9810867,"mpcc_dw":49.4163399,"mpcc_enc_sign":1,"mpcc_id_a":-0.368600875,"mpcc_iq_a":-1.4902215,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.55042839,"mpcc_pred_id_a":-0.858772039,"mpcc_pred_iq_a":-6.59484053,"mpcc_state":1,"mpcc_theta_e":0.448826313,"mpcc_theta_mech":0.556711197,"sam_rpm":12.0681133,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294884443,"thr_a_norm":0.0294884443,"thr_a_v":0.617953777,"thr_b":0.00280041993,"thr_b_norm":0.00280041993,"thr_b_v":0.51120168,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.522118,"values":{"cg_iu_a":2.63413143,"cg_iv_a":1.22352171,"cg_iw_a":-3.85765314,"cg_theta_rad":0.557015657,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.00068294158,"mpcc_du":51.1750946,"mpcc_dv":47.6138687,"mpcc_dw":52.3861313,"mpcc_enc_sign":1,"mpcc_id_a":0.438158005,"mpcc_iq_a":-1.64832342,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.19481659,"mpcc_pred_id_a":-0.419602722,"mpcc_pred_iq_a":-5.93296432,"mpcc_state":1,"mpcc_theta_e":0.450300217,"mpcc_theta_mech":0.557005942,"sam_rpm":-23.0699787,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193041861,"thr_a_norm":0.0193041861,"thr_a_v":0.577216744,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.53231,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.588670254,"cg_iw_a":0.274144173,"cg_theta_rad":0.555169582,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0216995012,"mpcc_du":49.5497322,"mpcc_dv":49.3518677,"mpcc_dw":50.6481323,"mpcc_enc_sign":1,"mpcc_id_a":2.93266082,"mpcc_iq_a":-0.106408916,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.52284217,"mpcc_pred_id_a":0.517365396,"mpcc_pred_iq_a":-1.71457958,"mpcc_state":1,"mpcc_theta_e":0.433033466,"mpcc_theta_mech":0.553552628,"sam_rpm":-5.30888367,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261776149,"thr_a_norm":0.0193041861,"thr_a_v":0.60471046,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48980087,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.544456,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.60349751,"cg_iw_a":0.854045391,"cg_theta_rad":0.556886852,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.000949192909,"mpcc_du":49.769207,"mpcc_dv":49.5785408,"mpcc_dw":50.4214592,"mpcc_enc_sign":1,"mpcc_id_a":0.478846431,"mpcc_iq_a":-1.78511357,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.768755,"mpcc_pred_id_a":-0.100968748,"mpcc_pred_iq_a":0.0312877186,"mpcc_state":1,"mpcc_theta_e":0.433491707,"mpcc_theta_mech":0.55364424,"sam_rpm":-12.364275,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261776149,"thr_a_norm":0.0261776149,"thr_a_v":0.60471046,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48980087,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.554741,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.16857147,"cg_iw_a":-0.305757523,"cg_theta_rad":0.555500388,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0189031567,"mpcc_du":50.8349457,"mpcc_dv":47.8995628,"mpcc_dw":52.1004372,"mpcc_enc_sign":1,"mpcc_id_a":0.292178988,"mpcc_iq_a":-1.80352163,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.62128258,"mpcc_pred_id_a":0.138512492,"mpcc_pred_iq_a":-0.817431569,"mpcc_state":1,"mpcc_theta_e":0.444560051,"mpcc_theta_mech":0.555857897,"sam_rpm":-9.2314415,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0310997963,"thr_a_norm":0.0310997963,"thr_a_v":0.624399185,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.566917,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-0.371207237,"cg_iw_a":-2.91531324,"cg_theta_rad":0.555620611,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0449432917,"mpcc_du":49.6045723,"mpcc_dv":50.0060768,"mpcc_dw":50.3954277,"mpcc_enc_sign":1,"mpcc_id_a":1.67537212,"mpcc_iq_a":-2.3242631,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.77964544,"mpcc_pred_id_a":-0.253817052,"mpcc_pred_iq_a":-2.56510711,"mpcc_state":1,"mpcc_theta_e":0.428152561,"mpcc_theta_mech":0.552576423,"sam_rpm":-12.3645496,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265049189,"thr_a_norm":0.0265049189,"thr_a_v":0.606019676,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.578667,"values":{"cg_iu_a":3.06905746,"cg_iv_a":0.643620491,"cg_iw_a":-0.958146572,"cg_theta_rad":0.556787491,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0249733757,"mpcc_du":50.1274071,"mpcc_dv":48.8671265,"mpcc_dw":51.1328735,"mpcc_enc_sign":1,"mpcc_id_a":1.8426615,"mpcc_iq_a":-0.740743816,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.136216208,"mpcc_pred_id_a":-0.0286032353,"mpcc_pred_iq_a":-2.18298364,"mpcc_state":1,"mpcc_theta_e":0.447538376,"mpcc_theta_mech":0.556453586,"sam_rpm":-0.665943325,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265049189,"thr_a_norm":0.0265049189,"thr_a_v":0.606019676,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.602959,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.60349751,"cg_iw_a":-0.885658741,"cg_theta_rad":0.557309747,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0590440631,"mpcc_du":49.8802414,"mpcc_dv":49.0881958,"mpcc_dw":50.9118042,"mpcc_enc_sign":1,"mpcc_id_a":2.58585262,"mpcc_iq_a":-0.0376041681,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.21705818,"mpcc_pred_id_a":0.178665087,"mpcc_pred_iq_a":-2.71231318,"mpcc_state":1,"mpcc_theta_e":0.450549126,"mpcc_theta_mech":0.557055712,"sam_rpm":7.44610453,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.104101613,"thr_a_norm":0.104101613,"thr_a_v":0.916406453,"thr_b":0.046181038,"thr_b_norm":0.046181038,"thr_b_v":0.684724152,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.609459,"values":{"cg_iu_a":-0.555325985,"cg_iv_a":-0.0812563896,"cg_iw_a":0.636582375,"cg_theta_rad":0.55752331,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.00117899932,"mpcc_du":51.0970573,"mpcc_dv":47.5576172,"mpcc_dw":52.4423828,"mpcc_enc_sign":1,"mpcc_id_a":3.44611192,"mpcc_iq_a":-0.925230801,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.5530405,"mpcc_pred_id_a":0.0512722656,"mpcc_pred_iq_a":2.58593941,"mpcc_state":1,"mpcc_theta_e":0.452241898,"mpcc_theta_mech":0.557394326,"sam_rpm":-18.3873272,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201602131,"thr_a_norm":0.0201602131,"thr_a_v":0.580640852,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465076655,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.61599,"values":{"cg_iu_a":4.5912981,"cg_iv_a":-0.443694592,"cg_iw_a":1.21648359,"cg_theta_rad":0.556229293,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.043461781,"mpcc_du":48.646843,"mpcc_dv":51.353157,"mpcc_dw":49.3441124,"mpcc_enc_sign":1,"mpcc_id_a":0.837798059,"mpcc_iq_a":-0.325264841,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":25.4817276,"mpcc_pred_id_a":-0.0486338064,"mpcc_pred_iq_a":-6.33621597,"mpcc_state":1,"mpcc_theta_e":0.468136311,"mpcc_theta_mech":0.560573161,"sam_rpm":38.0166702,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201602131,"thr_a_norm":0.0201602131,"thr_a_v":0.580640852,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465076655,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.62252,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.443694592,"cg_iw_a":-0.740683556,"cg_theta_rad":0.558184385,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0188737679,"mpcc_du":50.235157,"mpcc_dv":48.5721664,"mpcc_dw":51.4278336,"mpcc_enc_sign":1,"mpcc_id_a":1.21857762,"mpcc_iq_a":-1.5236665,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.48985147,"mpcc_pred_id_a":0.364805877,"mpcc_pred_iq_a":0.536984324,"mpcc_state":1,"mpcc_theta_e":0.45510149,"mpcc_theta_mech":0.557966232,"sam_rpm":8.63692188,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027612716,"thr_a_norm":0.027612716,"thr_a_v":0.610450864,"thr_b":5.7220459e-06,"thr_b_norm":5.7220459e-06,"thr_b_v":0.500022888,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.63195,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.661157608,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.556139052,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0211770777,"mpcc_du":49.6436157,"mpcc_dv":49.1586342,"mpcc_dw":50.8413658,"mpcc_enc_sign":1,"mpcc_id_a":2.91039109,"mpcc_iq_a":-0.329052955,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.78994894,"mpcc_pred_id_a":0.523617268,"mpcc_pred_iq_a":1.25893593,"mpcc_state":1,"mpcc_theta_e":0.433819294,"mpcc_theta_mech":0.553709745,"sam_rpm":-16.3068638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0349267572,"thr_a_norm":0.027612716,"thr_a_v":0.639707029,"thr_b":0.00431105494,"thr_b_norm":5.7220459e-06,"thr_b_v":0.51724422,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.64193,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.09608364,"cg_iw_a":-1.24809742,"cg_theta_rad":0.554922521,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.00319868256,"mpcc_du":49.6740456,"mpcc_dv":49.3642387,"mpcc_dw":50.6357613,"mpcc_enc_sign":1,"mpcc_id_a":0.678380847,"mpcc_iq_a":-0.318581849,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.56004,"mpcc_pred_id_a":0.107882969,"mpcc_pred_iq_a":-0.990183592,"mpcc_state":1,"mpcc_theta_e":0.444471836,"mpcc_theta_mech":0.555840313,"sam_rpm":6.20753145,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0349267572,"thr_a_norm":0.0349267572,"thr_a_v":0.639707029,"thr_b":0.00431105494,"thr_b_norm":0.00431105494,"thr_b_v":0.51724422,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.652336,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.298719406,"cg_iw_a":-2.48038721,"cg_theta_rad":0.553590894,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0136078242,"mpcc_du":50.2051964,"mpcc_dv":49.0260048,"mpcc_dw":50.9739952,"mpcc_enc_sign":1,"mpcc_id_a":0.322525829,"mpcc_iq_a":-1.72901905,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.166411132,"mpcc_pred_id_a":-0.0930322632,"mpcc_pred_iq_a":-2.39628816,"mpcc_state":1,"mpcc_theta_e":0.44782877,"mpcc_theta_mech":0.5565117,"sam_rpm":0.264398545,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242389441,"thr_a_norm":0.0242389441,"thr_a_v":0.596955776,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.662346,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.09608364,"cg_iw_a":0.201656342,"cg_theta_rad":0.558358192,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0276170187,"mpcc_du":49.575634,"mpcc_dv":49.3140945,"mpcc_dw":50.6859055,"mpcc_enc_sign":1,"mpcc_id_a":2.7452929,"mpcc_iq_a":0.548861504,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.14259291,"mpcc_pred_id_a":0.422053367,"mpcc_pred_iq_a":0.618793249,"mpcc_state":1,"mpcc_theta_e":0.426877499,"mpcc_theta_mech":0.552321434,"sam_rpm":-9.31590748,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242389441,"thr_a_norm":0.0242389441,"thr_a_v":0.596955776,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.672569,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.16857147,"cg_iw_a":0.201656342,"cg_theta_rad":0.557668447,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0244156066,"mpcc_du":49.186718,"mpcc_dv":50.813282,"mpcc_dw":50.1256104,"mpcc_enc_sign":1,"mpcc_id_a":2.89927983,"mpcc_iq_a":-0.152195454,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.2216139,"mpcc_pred_id_a":0.486563146,"mpcc_pred_iq_a":2.06535149,"mpcc_state":1,"mpcc_theta_e":0.422617912,"mpcc_theta_mech":0.551469505,"sam_rpm":0.934903741,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193797201,"thr_a_norm":0.0193797201,"thr_a_v":0.57751888,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466889441,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.683159,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-3.3432014,"cg_iw_a":0.564094782,"cg_theta_rad":0.554203808,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0095920926,"mpcc_du":49.8112717,"mpcc_dv":49.6343651,"mpcc_dw":50.3656349,"mpcc_enc_sign":1,"mpcc_id_a":-1.01193273,"mpcc_iq_a":-3.13315654,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.07695603,"mpcc_pred_id_a":-1.02967846,"mpcc_pred_iq_a":-5.75194359,"mpcc_state":1,"mpcc_theta_e":0.452415943,"mpcc_theta_mech":0.557429135,"sam_rpm":5.25030756,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0193797201,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478622139,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.705772,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.74847269,"cg_iw_a":1.72389722,"cg_theta_rad":0.554134965,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0121974032,"mpcc_du":49.6036148,"mpcc_dv":50.2655258,"mpcc_dw":50.3963852,"mpcc_enc_sign":1,"mpcc_id_a":2.09523106,"mpcc_iq_a":-0.715277255,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.4742918,"mpcc_pred_id_a":-0.129581764,"mpcc_pred_iq_a":-3.29503536,"mpcc_state":1,"mpcc_theta_e":0.444489002,"mpcc_theta_mech":0.555843711,"sam_rpm":7.41392326,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478622139,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.712242,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.02359605,"cg_iw_a":-0.740683317,"cg_theta_rad":0.557692587,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0192584265,"mpcc_du":49.5386467,"mpcc_dv":49.7889404,"mpcc_dw":50.4613533,"mpcc_enc_sign":1,"mpcc_id_a":1.16073322,"mpcc_iq_a":-0.652856052,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.3761787,"mpcc_pred_id_a":0.132177681,"mpcc_pred_iq_a":-2.53790021,"mpcc_state":1,"mpcc_theta_e":0.452516556,"mpcc_theta_mech":0.557449222,"sam_rpm":17.3058987,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0169249177,"thr_a_norm":0.0169249177,"thr_a_v":0.567699671,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450423449,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.718773,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.516182423,"cg_iw_a":-0.523220539,"cg_theta_rad":0.557429254,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.00600568531,"mpcc_du":49.1687851,"mpcc_dv":50.8312149,"mpcc_dw":49.8359261,"mpcc_enc_sign":1,"mpcc_id_a":1.10867691,"mpcc_iq_a":0.0787394121,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.8374362,"mpcc_pred_id_a":-0.283313096,"mpcc_pred_iq_a":-5.12637615,"mpcc_state":1,"mpcc_theta_e":0.444807529,"mpcc_theta_mech":0.555907428,"sam_rpm":7.90677786,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0169249177,"thr_a_norm":0.0169249177,"thr_a_v":0.567699671,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450423449,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.725304,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.371207237,"cg_iw_a":-0.015806675,"cg_theta_rad":0.551906765,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0228697658,"mpcc_du":49.4082184,"mpcc_dv":50.5917816,"mpcc_dw":50.192791,"mpcc_enc_sign":1,"mpcc_id_a":2.09541631,"mpcc_iq_a":-0.220252723,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.3470583,"mpcc_pred_id_a":-0.0765324011,"mpcc_pred_iq_a":-4.34489012,"mpcc_state":1,"mpcc_theta_e":0.451220036,"mpcc_theta_mech":0.557189941,"sam_rpm":15.1123276,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0268699974,"thr_a_norm":0.0268699974,"thr_a_v":0.60747999,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.735527,"values":{"cg_iu_a":1.90925455,"cg_iv_a":0.136206627,"cg_iw_a":-2.98780107,"cg_theta_rad":0.555872202,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0364124402,"mpcc_du":50.3851433,"mpcc_dv":48.5802231,"mpcc_dw":51.4197769,"mpcc_enc_sign":1,"mpcc_id_a":1.17819464,"mpcc_iq_a":-0.282346964,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.72192895,"mpcc_pred_id_a":-0.0432654098,"mpcc_pred_iq_a":-1.86497188,"mpcc_state":1,"mpcc_theta_e":0.447409153,"mpcc_theta_mech":0.556427717,"sam_rpm":-2.2372725,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02655527,"thr_a_norm":0.0268699974,"thr_a_v":0.60622108,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485621423,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.745506,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.951108456,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556911707,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0280296002,"mpcc_du":49.4733124,"mpcc_dv":50.5266876,"mpcc_dw":50.5093231,"mpcc_enc_sign":1,"mpcc_id_a":3.30083609,"mpcc_iq_a":0.48350358,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.78361988,"mpcc_pred_id_a":0.706061065,"mpcc_pred_iq_a":-1.89058673,"mpcc_state":1,"mpcc_theta_e":0.440752029,"mpcc_theta_mech":0.555096328,"sam_rpm":10.2549467,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02655527,"thr_a_norm":0.02655527,"thr_a_v":0.60622108,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485621423,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.75573,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.24105906,"cg_iw_a":0.564094782,"cg_theta_rad":0.555993378,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.000742781267,"mpcc_du":50.4322968,"mpcc_dv":48.585659,"mpcc_dw":51.414341,"mpcc_enc_sign":1,"mpcc_id_a":0.244636983,"mpcc_iq_a":-1.58833539,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.34879589,"mpcc_pred_id_a":-0.324325293,"mpcc_pred_iq_a":-1.2502805,"mpcc_state":1,"mpcc_theta_e":0.437418938,"mpcc_theta_mech":0.55442971,"sam_rpm":-11.4776211,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170382112,"thr_a_norm":0.0170382112,"thr_a_v":0.568152845,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443524837,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.76812,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.16857147,"cg_iw_a":-1.10312176,"cg_theta_rad":0.553517401,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0652009472,"mpcc_du":49.8782043,"mpcc_dv":48.8769264,"mpcc_dw":51.1230736,"mpcc_enc_sign":1,"mpcc_id_a":2.11685658,"mpcc_iq_a":1.17009199,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.21735382,"mpcc_pred_id_a":0.679371417,"mpcc_pred_iq_a":-0.303565949,"mpcc_state":1,"mpcc_theta_e":0.447630882,"mpcc_theta_mech":0.556472063,"sam_rpm":13.2088718,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182593316,"thr_a_norm":0.0170382112,"thr_a_v":0.573037326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.777916,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-1.09608364,"cg_iw_a":-2.26292467,"cg_theta_rad":0.556827188,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0326313488,"mpcc_du":49.8826752,"mpcc_dv":49.1062431,"mpcc_dw":50.8937569,"mpcc_enc_sign":1,"mpcc_id_a":0.67728132,"mpcc_iq_a":-1.84461677,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.05086958,"mpcc_pred_id_a":0.141849533,"mpcc_pred_iq_a":-3.51426196,"mpcc_state":1,"mpcc_theta_e":0.442447662,"mpcc_theta_mech":0.555435479,"sam_rpm":-1.4536041,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182593316,"thr_a_norm":0.0182593316,"thr_a_v":0.573037326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.801201,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.53100967,"cg_iw_a":-3.35023975,"cg_theta_rad":0.554446042,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.00225395313,"mpcc_du":48.6861954,"mpcc_dv":51.3138046,"mpcc_dw":49.1704597,"mpcc_enc_sign":1,"mpcc_id_a":0.882364631,"mpcc_iq_a":-1.39709377,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.0436573,"mpcc_pred_id_a":-0.434510589,"mpcc_pred_iq_a":-6.84553909,"mpcc_state":1,"mpcc_theta_e":0.449577808,"mpcc_theta_mech":0.55686152,"sam_rpm":12.2480879,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024566263,"thr_a_norm":0.024566263,"thr_a_v":0.598265052,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474694431,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.807732,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.153744221,"cg_iw_a":0.0566806793,"cg_theta_rad":0.553387702,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0141954422,"mpcc_du":50.4842949,"mpcc_dv":48.2313805,"mpcc_dw":50.8467102,"mpcc_enc_sign":1,"mpcc_id_a":2.37434101,"mpcc_iq_a":-1.31544507,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.3443708,"mpcc_pred_id_a":0.383602619,"mpcc_pred_iq_a":-0.570880771,"mpcc_state":1,"mpcc_theta_e":0.430262566,"mpcc_theta_mech":0.552998424,"sam_rpm":-19.908144,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024566263,"thr_a_norm":0.024566263,"thr_a_v":0.598265052,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474694431,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.814323,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.03063393,"cg_theta_rad":0.553610027,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.00544607546,"mpcc_du":48.8549728,"mpcc_dv":51.1450272,"mpcc_dw":49.3879395,"mpcc_enc_sign":1,"mpcc_id_a":0.38844803,"mpcc_iq_a":-0.417400986,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.9345627,"mpcc_pred_id_a":-0.355683178,"mpcc_pred_iq_a":-5.63574123,"mpcc_state":1,"mpcc_theta_e":0.453189373,"mpcc_theta_mech":0.557583749,"sam_rpm":19.9071312,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265175104,"thr_a_norm":0.0265175104,"thr_a_v":0.606070042,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474543363,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.820763,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.74847269,"cg_iw_a":-1.82799864,"cg_theta_rad":0.555790722,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.00103768322,"mpcc_du":50.5285797,"mpcc_dv":48.4486809,"mpcc_dw":51.5513191,"mpcc_enc_sign":1,"mpcc_id_a":-0.663879991,"mpcc_iq_a":-1.95103014,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.98114634,"mpcc_pred_id_a":-0.249741897,"mpcc_pred_iq_a":-0.519536674,"mpcc_state":1,"mpcc_theta_e":0.445697308,"mpcc_theta_mech":0.556085348,"sam_rpm":-11.9619532,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0329125673,"thr_a_norm":0.0265175104,"thr_a_v":0.631650269,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470162511,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.828758,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-2.25588632,"cg_iw_a":0.854045153,"cg_theta_rad":0.555238485,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.00177811785,"mpcc_du":50.5306587,"mpcc_dv":48.5800743,"mpcc_dw":51.4199257,"mpcc_enc_sign":1,"mpcc_id_a":0.417683244,"mpcc_iq_a":-1.21070015,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.88030624,"mpcc_pred_id_a":-0.513888896,"mpcc_pred_iq_a":0.357254326,"mpcc_state":1,"mpcc_theta_e":0.440918922,"mpcc_theta_mech":0.555129707,"sam_rpm":-2.91829109,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0329125673,"thr_a_norm":0.0329125673,"thr_a_v":0.631650269,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470162511,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.839104,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.24105906,"cg_iw_a":0.0566809177,"cg_theta_rad":0.552567005,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0614969209,"mpcc_du":50.1985664,"mpcc_dv":48.7661362,"mpcc_dw":51.2338638,"mpcc_enc_sign":1,"mpcc_id_a":1.2498765,"mpcc_iq_a":-0.138300017,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.48005247,"mpcc_pred_id_a":0.180064559,"mpcc_pred_iq_a":-1.29437864,"mpcc_state":1,"mpcc_theta_e":0.452911377,"mpcc_theta_mech":0.557528198,"sam_rpm":12.7510014,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245410949,"thr_a_norm":0.0245410949,"thr_a_v":0.59816438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492217898,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.84893,"values":{"cg_iu_a":2.99656963,"cg_iv_a":0.136206627,"cg_iw_a":-0.378244877,"cg_theta_rad":0.553281426,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0398741551,"mpcc_du":48.8586922,"mpcc_dv":51.1413078,"mpcc_dw":49.8087959,"mpcc_enc_sign":1,"mpcc_id_a":3.95468569,"mpcc_iq_a":-0.35810113,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.4092445,"mpcc_pred_id_a":0.827226758,"mpcc_pred_iq_a":-3.19257379,"mpcc_state":1,"mpcc_theta_e":0.446622372,"mpcc_theta_mech":0.556270361,"sam_rpm":18.5690136,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245410949,"thr_a_norm":0.0245410949,"thr_a_v":0.59816438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492217898,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.859215,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.951108456,"cg_iw_a":-0.958146095,"cg_theta_rad":0.558118522,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.000835627376,"mpcc_du":50.2157249,"mpcc_dv":49.0838242,"mpcc_dw":50.4172058,"mpcc_enc_sign":1,"mpcc_id_a":-0.575956345,"mpcc_iq_a":-2.96453166,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.35325503,"mpcc_pred_id_a":-0.80903399,"mpcc_pred_iq_a":-3.0582304,"mpcc_state":1,"mpcc_theta_e":0.442678452,"mpcc_theta_mech":0.556080639,"sam_rpm":-4.98412228,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284058005,"thr_a_norm":0.0284058005,"thr_a_v":0.613623202,"thr_b":0.00189402699,"thr_b_norm":0.00189402699,"thr_b_v":0.507576108,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.869499,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-0.951108456,"cg_iw_a":-2.69785023,"cg_theta_rad":0.556284904,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0237120055,"mpcc_du":49.7385674,"mpcc_dv":49.1849899,"mpcc_dw":50.8150101,"mpcc_enc_sign":1,"mpcc_id_a":2.38235712,"mpcc_iq_a":-1.9823333,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.24320841,"mpcc_pred_id_a":0.324283212,"mpcc_pred_iq_a":-0.441341043,"mpcc_state":1,"mpcc_theta_e":0.435890198,"mpcc_theta_mech":0.554123938,"sam_rpm":-2.75794506,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160437077,"thr_a_norm":0.0284058005,"thr_a_v":0.564174831,"thr_b":0,"thr_b_norm":0.00189402699,"thr_b_v":0.457019925,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.879143,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.16857147,"cg_iw_a":-0.958146095,"cg_theta_rad":0.556910634,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0285304077,"mpcc_du":49.658699,"mpcc_dv":50.1313248,"mpcc_dw":50.341301,"mpcc_enc_sign":1,"mpcc_id_a":-0.0535363704,"mpcc_iq_a":-1.39742577,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.39762211,"mpcc_pred_id_a":-0.458066612,"mpcc_pred_iq_a":-2.13448834,"mpcc_state":1,"mpcc_theta_e":0.428534985,"mpcc_theta_mech":0.552652955,"sam_rpm":-10.1530418,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160437077,"thr_a_norm":0.0160437077,"thr_a_v":0.564174831,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457019925,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.90258,"values":{"cg_iu_a":-0.555325985,"cg_iv_a":-1.82096052,"cg_iw_a":1.57892227,"cg_theta_rad":0.556667387,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.00270160474,"mpcc_du":49.7367897,"mpcc_dv":48.9534187,"mpcc_dw":51.0465813,"mpcc_enc_sign":1,"mpcc_id_a":0.218848735,"mpcc_iq_a":-1.44597518,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.95907331,"mpcc_pred_id_a":-0.243485585,"mpcc_pred_iq_a":-2.54343081,"mpcc_state":1,"mpcc_theta_e":0.446630478,"mpcc_theta_mech":0.55627197,"sam_rpm":5.8255229,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252838284,"thr_a_norm":0.0252838284,"thr_a_v":0.601135314,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482046247,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.909081,"values":{"cg_iu_a":-0.555325985,"cg_iv_a":-1.38603449,"cg_iw_a":1.94136047,"cg_theta_rad":0.555914402,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.00109919487,"mpcc_du":49.9605141,"mpcc_dv":49.0259323,"mpcc_dw":50.9740677,"mpcc_enc_sign":1,"mpcc_id_a":0.512470305,"mpcc_iq_a":-1.34849656,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.774849653,"mpcc_pred_id_a":0.107078895,"mpcc_pred_iq_a":-1.2919991,"mpcc_state":1,"mpcc_theta_e":0.441365242,"mpcc_theta_mech":0.555218995,"sam_rpm":-1.31708384,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252838284,"thr_a_norm":0.0252838284,"thr_a_v":0.601135314,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482046247,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.915581,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.298719406,"cg_iw_a":-0.523220539,"cg_theta_rad":0.557035565,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0252900943,"mpcc_du":49.5865173,"mpcc_dv":50.4134827,"mpcc_dw":50.3704453,"mpcc_enc_sign":1,"mpcc_id_a":0.890087962,"mpcc_iq_a":-0.380495071,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.99903202,"mpcc_pred_id_a":-0.113487288,"mpcc_pred_iq_a":-4.77872562,"mpcc_state":1,"mpcc_theta_e":0.451419353,"mpcc_theta_mech":0.553853273,"sam_rpm":13.8989096,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.0067280829,"thr_b_norm":0.0067280829,"thr_b_v":0.526912332,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.922112,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.11091113,"cg_iw_a":0.926532984,"cg_theta_rad":0.553647399,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0219531097,"mpcc_du":49.4992447,"mpcc_dv":49.729538,"mpcc_dw":50.5007553,"mpcc_enc_sign":1,"mpcc_id_a":1.98872566,"mpcc_iq_a":-0.433544487,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.32688236,"mpcc_pred_id_a":0.32873264,"mpcc_pred_iq_a":-4.18062115,"mpcc_state":1,"mpcc_theta_e":0.444839001,"mpcc_theta_mech":0.555913746,"sam_rpm":2.10491991,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0127958357,"thr_a_norm":0.0296772718,"thr_a_v":0.551183343,"thr_b":0,"thr_b_norm":0.0067280829,"thr_b_v":0.44412908,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.929893,"values":{"cg_iu_a":2.85159445,"cg_iv_a":0.426157475,"cg_iw_a":-3.27775192,"cg_theta_rad":0.554609537,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.00868146215,"mpcc_du":49.9326668,"mpcc_dv":49.0261765,"mpcc_dw":50.9738235,"mpcc_enc_sign":1,"mpcc_id_a":1.69174302,"mpcc_iq_a":-2.26198149,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.1464653,"mpcc_pred_id_a":0.141660929,"mpcc_pred_iq_a":-2.22038031,"mpcc_state":1,"mpcc_theta_e":0.436303616,"mpcc_theta_mech":0.55420661,"sam_rpm":-9.34871387,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0127958357,"thr_a_norm":0.0127958357,"thr_a_v":0.551183343,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44412908,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.940086,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-3.12573838,"cg_iw_a":-0.23326993,"cg_theta_rad":0.555655301,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.032743115,"mpcc_du":49.9910049,"mpcc_dv":48.9337387,"mpcc_dw":51.0662613,"mpcc_enc_sign":1,"mpcc_id_a":0.557088375,"mpcc_iq_a":-0.403351903,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.74819613,"mpcc_pred_id_a":0.32972607,"mpcc_pred_iq_a":-2.08966613,"mpcc_state":1,"mpcc_theta_e":0.449104786,"mpcc_theta_mech":0.556766868,"sam_rpm":6.16452122,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0379983932,"thr_a_norm":0.0379983932,"thr_a_v":0.651993573,"thr_b":0.00787365437,"thr_b_norm":0.00787365437,"thr_b_v":0.531494617,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.949913,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.82096052,"cg_iw_a":1.50643444,"cg_theta_rad":0.55643183,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0444329195,"mpcc_du":51.143261,"mpcc_dv":50.1885452,"mpcc_dw":50.5261612,"mpcc_enc_sign":1,"mpcc_id_a":3.26324272,"mpcc_iq_a":0.422617227,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.06025505,"mpcc_pred_id_a":0.834349215,"mpcc_pred_iq_a":3.35745645,"mpcc_state":1,"mpcc_theta_e":0.436213017,"mpcc_theta_mech":0.55418855,"sam_rpm":-13.5387506,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0379983932,"thr_a_norm":0.0379983932,"thr_a_v":0.651993573,"thr_b":0.00787365437,"thr_b_norm":0.00787365437,"thr_b_v":0.531494617,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.960258,"values":{"cg_iu_a":2.05423021,"cg_iv_a":0.136206627,"cg_iw_a":-2.19043684,"cg_theta_rad":0.554642498,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.00136834197,"mpcc_du":49.6561317,"mpcc_dv":49.5598526,"mpcc_dw":50.4401474,"mpcc_enc_sign":1,"mpcc_id_a":0.352490753,"mpcc_iq_a":-0.850311875,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.27310038,"mpcc_pred_id_a":-0.234073967,"mpcc_pred_iq_a":-1.90332067,"mpcc_state":1,"mpcc_theta_e":0.433348179,"mpcc_theta_mech":0.55361551,"sam_rpm":-3.38813353,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0169123262,"thr_a_norm":0.0169123262,"thr_a_v":0.567649305,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.434612036,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.970299,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-2.18339872,"cg_iw_a":-0.16078186,"cg_theta_rad":0.552606463,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0323389582,"mpcc_du":50.9041023,"mpcc_dv":48.1731949,"mpcc_dw":51.8268051,"mpcc_enc_sign":1,"mpcc_id_a":-0.297538251,"mpcc_iq_a":-0.179263249,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.90802431,"mpcc_pred_id_a":-0.55523628,"mpcc_pred_iq_a":-0.996360242,"mpcc_state":1,"mpcc_theta_e":0.439845562,"mpcc_theta_mech":0.554915071,"sam_rpm":-10.6749325,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0169123262,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481190175,"vdc_v":55.2955055}} +{"type":"telemetry","t":76.980278,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.298719406,"cg_iw_a":-1.53804779,"cg_theta_rad":0.554836392,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":365,"hz_tim_isr":10008,"hz_vsense":365,"mpcc_cost":0.0766119137,"mpcc_du":50.1299515,"mpcc_dv":48.8002663,"mpcc_dw":51.1997337,"mpcc_enc_sign":1,"mpcc_id_a":1.29639101,"mpcc_iq_a":-4.54568481,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.57757378,"mpcc_pred_id_a":0.162669629,"mpcc_pred_iq_a":0.419691861,"mpcc_state":1,"mpcc_theta_e":0.428808689,"mpcc_theta_mech":0.555996358,"sam_rpm":-14.0127869,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481190175,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.004143,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-2.69081235,"cg_iw_a":-0.015806675,"cg_theta_rad":0.554854512,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.00811161194,"mpcc_du":49.6632385,"mpcc_dv":50.3367615,"mpcc_dw":50.3144341,"mpcc_enc_sign":1,"mpcc_id_a":0.701219618,"mpcc_iq_a":-2.13347054,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.41540837,"mpcc_pred_id_a":-0.314558834,"mpcc_pred_iq_a":-3.24146533,"mpcc_state":1,"mpcc_theta_e":0.442244053,"mpcc_theta_mech":0.555394709,"sam_rpm":2.90316582,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209155381,"thr_a_norm":0.0209155381,"thr_a_v":0.583662152,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.010704,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.806133032,"cg_iw_a":-3.20526433,"cg_theta_rad":0.555983782,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0211185105,"mpcc_du":49.7745285,"mpcc_dv":49.1416969,"mpcc_dw":50.8583031,"mpcc_enc_sign":1,"mpcc_id_a":2.66181993,"mpcc_iq_a":-1.04489744,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.5749054,"mpcc_pred_id_a":0.541251481,"mpcc_pred_iq_a":-0.197066292,"mpcc_state":1,"mpcc_theta_e":0.44873476,"mpcc_theta_mech":0.556692839,"sam_rpm":12.5037336,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0209155381,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453041911,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.017204,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.443694592,"cg_iw_a":-0.668195724,"cg_theta_rad":0.5543437,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0233696885,"mpcc_du":49.5762711,"mpcc_dv":49.4445305,"mpcc_dw":50.5554695,"mpcc_enc_sign":1,"mpcc_id_a":2.73513055,"mpcc_iq_a":-0.891964316,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.11764002,"mpcc_pred_id_a":0.392200083,"mpcc_pred_iq_a":-1.79171813,"mpcc_state":1,"mpcc_theta_e":0.447965622,"mpcc_theta_mech":0.556538999,"sam_rpm":10.3637075,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453041911,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.023918,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.53100967,"cg_iw_a":0.491607189,"cg_theta_rad":0.554611444,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0122356564,"mpcc_du":50.3630409,"mpcc_dv":48.5856056,"mpcc_dw":51.4143944,"mpcc_enc_sign":1,"mpcc_id_a":1.89762676,"mpcc_iq_a":-0.270492166,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.8973522,"mpcc_pred_id_a":0.0163214151,"mpcc_pred_iq_a":-1.31064057,"mpcc_state":1,"mpcc_theta_e":0.431592941,"mpcc_theta_mech":0.553264499,"sam_rpm":-16.2647171,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466688037,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.034203,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-3.56066442,"cg_iw_a":-2.04546118,"cg_theta_rad":0.55275315,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0816298127,"mpcc_du":50.3715363,"mpcc_dv":48.4906197,"mpcc_dw":51.5093803,"mpcc_enc_sign":1,"mpcc_id_a":2.2517612,"mpcc_iq_a":-0.068210803,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.53092766,"mpcc_pred_id_a":0.395107687,"mpcc_pred_iq_a":-1.33816528,"mpcc_state":1,"mpcc_theta_e":0.453289509,"mpcc_theta_mech":0.557603836,"sam_rpm":8.18117714,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194300711,"thr_a_norm":0.0240501165,"thr_a_v":0.577720284,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464925587,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.044273,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.661157608,"cg_iw_a":-0.378245354,"cg_theta_rad":0.554688632,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0299466811,"mpcc_du":51.3805771,"mpcc_dv":47.5903168,"mpcc_dw":52.4096832,"mpcc_enc_sign":1,"mpcc_id_a":1.71109438,"mpcc_iq_a":-0.847009778,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.53375101,"mpcc_pred_id_a":-0.548193157,"mpcc_pred_iq_a":1.98197818,"mpcc_state":1,"mpcc_theta_e":0.461776257,"mpcc_theta_mech":0.559301198,"sam_rpm":-7.67215681,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194300711,"thr_a_norm":0.0194300711,"thr_a_v":0.577720284,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464925587,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.054558,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-2.25588632,"cg_iw_a":0.999020338,"cg_theta_rad":0.554606855,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0278745368,"mpcc_du":50.1099625,"mpcc_dv":49.1293259,"mpcc_dw":50.8706741,"mpcc_enc_sign":1,"mpcc_id_a":-1.43525445,"mpcc_iq_a":-1.96071172,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.83816671,"mpcc_pred_id_a":-0.621849656,"mpcc_pred_iq_a":0.25988248,"mpcc_state":1,"mpcc_theta_e":0.431846142,"mpcc_theta_mech":0.553315163,"sam_rpm":-8.91283989,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022300303,"thr_a_norm":0.022300303,"thr_a_v":0.589201212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.065483,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.18339872,"cg_iw_a":1.36145878,"cg_theta_rad":0.55570966,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0514153913,"mpcc_du":50.1204147,"mpcc_dv":48.8468094,"mpcc_dw":51.1531906,"mpcc_enc_sign":1,"mpcc_id_a":2.70557833,"mpcc_iq_a":0.0548894443,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.07413745,"mpcc_pred_id_a":0.22254838,"mpcc_pred_iq_a":-1.20425737,"mpcc_state":1,"mpcc_theta_e":0.446470261,"mpcc_theta_mech":0.556239963,"sam_rpm":6.21894979,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022300303,"thr_a_norm":0.022300303,"thr_a_v":0.589201212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.074883,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.16857147,"cg_iw_a":-0.450732708,"cg_theta_rad":0.554457009,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0247764643,"mpcc_du":50.8942451,"mpcc_dv":47.7265739,"mpcc_dw":52.2734261,"mpcc_enc_sign":1,"mpcc_id_a":2.80128646,"mpcc_iq_a":-0.0290840287,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.6600933,"mpcc_pred_id_a":0.365402609,"mpcc_pred_iq_a":0.454442382,"mpcc_state":1,"mpcc_theta_e":0.427146912,"mpcc_theta_mech":0.552375317,"sam_rpm":-26.7546597,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0164717287,"thr_a_norm":0.0164717287,"thr_a_v":0.565886915,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473485917,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.08709,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.588670254,"cg_iw_a":-2.11794901,"cg_theta_rad":0.556005657,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0012539766,"mpcc_du":49.8285751,"mpcc_dv":49.3908119,"mpcc_dw":50.6091881,"mpcc_enc_sign":1,"mpcc_id_a":0.281167567,"mpcc_iq_a":-2.3138113,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.78952169,"mpcc_pred_id_a":-0.367854178,"mpcc_pred_iq_a":-3.21968412,"mpcc_state":1,"mpcc_theta_e":0.448604107,"mpcc_theta_mech":0.556666732,"sam_rpm":3.57803798,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021595329,"thr_a_norm":0.0164717287,"thr_a_v":0.586381316,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473435581,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.109917,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.443694592,"cg_iw_a":-0.523220539,"cg_theta_rad":0.556950927,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0138419,"mpcc_du":51.2201958,"mpcc_dv":47.3091545,"mpcc_dw":52.6908455,"mpcc_enc_sign":1,"mpcc_id_a":2.34521866,"mpcc_iq_a":-0.50144124,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.3840656,"mpcc_pred_id_a":0.295703232,"mpcc_pred_iq_a":2.37798905,"mpcc_state":1,"mpcc_theta_e":0.423345566,"mpcc_theta_mech":0.551615,"sam_rpm":-30.6825352,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021595329,"thr_a_norm":0.021595329,"thr_a_v":0.586381316,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473435581,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.116447,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.806133032,"cg_iw_a":-1.61053514,"cg_theta_rad":0.554542065,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0132094538,"mpcc_du":49.9763107,"mpcc_dv":49.0985336,"mpcc_dw":50.9014664,"mpcc_enc_sign":1,"mpcc_id_a":1.15745294,"mpcc_iq_a":-1.15954304,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.08577633,"mpcc_pred_id_a":-0.0857152566,"mpcc_pred_iq_a":-1.12525821,"mpcc_state":1,"mpcc_theta_e":0.450425625,"mpcc_theta_mech":0.557031035,"sam_rpm":10.9743214,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0147722512,"thr_a_norm":0.0147722512,"thr_a_v":0.559089005,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462961793,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.123009,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.31354666,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.552878678,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.00287702982,"mpcc_du":50.9106903,"mpcc_dv":47.875988,"mpcc_dw":52.124012,"mpcc_enc_sign":1,"mpcc_id_a":1.06973088,"mpcc_iq_a":-1.21337426,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.3023949,"mpcc_pred_id_a":-0.159799799,"mpcc_pred_iq_a":-0.278766036,"mpcc_state":1,"mpcc_theta_e":0.424192905,"mpcc_theta_mech":0.551784515,"sam_rpm":-30.4944954,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0147722512,"thr_a_norm":0.0147722512,"thr_a_v":0.559089005,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462961793,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.129509,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-0.806133032,"cg_iw_a":0.926532984,"cg_theta_rad":0.553190649,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0126213236,"mpcc_du":48.911129,"mpcc_dv":51.088871,"mpcc_dw":49.5172997,"mpcc_enc_sign":1,"mpcc_id_a":2.03124785,"mpcc_iq_a":-0.319021255,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.4010201,"mpcc_pred_id_a":-0.0369816832,"mpcc_pred_iq_a":1.95869565,"mpcc_state":1,"mpcc_theta_e":0.425624847,"mpcc_theta_mech":0.552070916,"sam_rpm":11.5603151,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101395071,"thr_a_norm":0.101395071,"thr_a_v":0.905580282,"thr_b":0.0406420231,"thr_b_norm":0.0406420231,"thr_b_v":0.662568092,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.137718,"values":{"cg_iu_a":1.03940296,"cg_iv_a":0.498644829,"cg_iw_a":-1.03063416,"cg_theta_rad":0.557070673,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.00774139306,"mpcc_du":50.6515999,"mpcc_dv":48.314888,"mpcc_dw":51.685112,"mpcc_enc_sign":1,"mpcc_id_a":0.89621824,"mpcc_iq_a":-1.03348982,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.46319056,"mpcc_pred_id_a":-0.208205521,"mpcc_pred_iq_a":-2.75314927,"mpcc_state":1,"mpcc_theta_e":0.450622559,"mpcc_theta_mech":0.557070434,"sam_rpm":-15.4485435,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0144449472,"thr_a_norm":0.101395071,"thr_a_v":0.557779789,"thr_b":0,"thr_b_norm":0.0406420231,"thr_b_v":0.441712052,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.147697,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.298719406,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.558266699,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.00164928904,"mpcc_du":49.472084,"mpcc_dv":50.527916,"mpcc_dw":50.0866241,"mpcc_enc_sign":1,"mpcc_id_a":0.571099699,"mpcc_iq_a":-0.54456687,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.39305115,"mpcc_pred_id_a":-0.41969794,"mpcc_pred_iq_a":-3.33716226,"mpcc_state":1,"mpcc_theta_e":0.443207264,"mpcc_theta_mech":0.555587351,"sam_rpm":11.4194231,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0144449472,"thr_a_norm":0.0144449472,"thr_a_v":0.557779789,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441712052,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.15789,"values":{"cg_iu_a":2.85159445,"cg_iv_a":0.861083508,"cg_iw_a":-0.740683556,"cg_theta_rad":0.556037724,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0445979983,"mpcc_du":49.3593102,"mpcc_dv":50.6406898,"mpcc_dw":50.3754921,"mpcc_enc_sign":1,"mpcc_id_a":3.88108897,"mpcc_iq_a":-0.518838406,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.2362795,"mpcc_pred_id_a":0.704400063,"mpcc_pred_iq_a":-3.86486435,"mpcc_state":1,"mpcc_theta_e":0.449135303,"mpcc_theta_mech":0.556773007,"sam_rpm":15.5622559,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257621855,"thr_a_norm":0.0257621855,"thr_a_v":0.603048742,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.16909,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.16857147,"cg_iw_a":-0.885658741,"cg_theta_rad":0.555939734,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0092917271,"mpcc_du":50.5277634,"mpcc_dv":48.0932808,"mpcc_dw":51.9067192,"mpcc_enc_sign":1,"mpcc_id_a":1.91964304,"mpcc_iq_a":-0.0356752686,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.2355213,"mpcc_pred_id_a":0.494245976,"mpcc_pred_iq_a":1.65338635,"mpcc_state":1,"mpcc_theta_e":0.42407608,"mpcc_theta_mech":0.551761091,"sam_rpm":-20.0980244,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248432159,"thr_a_norm":0.0257621855,"thr_a_v":0.599372864,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494534194,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.180199,"values":{"cg_iu_a":2.5616436,"cg_iv_a":0.426157475,"cg_iw_a":-2.98780107,"cg_theta_rad":0.551674306,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.019772578,"mpcc_du":50.0206032,"mpcc_dv":48.8336754,"mpcc_dw":51.1663246,"mpcc_enc_sign":1,"mpcc_id_a":2.76604676,"mpcc_iq_a":-0.119171113,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.426897883,"mpcc_pred_id_a":0.274518907,"mpcc_pred_iq_a":-2.51321912,"mpcc_state":1,"mpcc_theta_e":0.432173729,"mpcc_theta_mech":0.551442325,"sam_rpm":0.164466932,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248432159,"thr_a_norm":0.0248432159,"thr_a_v":0.599372864,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494534194,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.190331,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-2.11091113,"cg_iw_a":0.709069967,"cg_theta_rad":0.557110488,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.00490586041,"mpcc_du":50.2529678,"mpcc_dv":48.8558693,"mpcc_dw":51.1441307,"mpcc_enc_sign":1,"mpcc_id_a":0.446276665,"mpcc_iq_a":-2.81009197,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.81228888,"mpcc_pred_id_a":-0.47024712,"mpcc_pred_iq_a":-2.9910934,"mpcc_state":1,"mpcc_theta_e":0.447930813,"mpcc_theta_mech":0.556532085,"sam_rpm":-1.04941463,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217715651,"thr_a_norm":0.0217715651,"thr_a_v":0.58708626,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.21331,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.38603449,"cg_iw_a":0.129168749,"cg_theta_rad":0.555378199,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0174900629,"mpcc_du":50.016758,"mpcc_dv":49.1893463,"mpcc_dw":50.8106537,"mpcc_enc_sign":1,"mpcc_id_a":-0.546060026,"mpcc_iq_a":-0.846773267,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.81634998,"mpcc_pred_id_a":-0.507639706,"mpcc_pred_iq_a":-1.34621131,"mpcc_state":1,"mpcc_theta_e":0.452980518,"mpcc_theta_mech":0.557542026,"sam_rpm":13.4525995,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217715651,"thr_a_norm":0.0217715651,"thr_a_v":0.58708626,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.219872,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.878620625,"cg_iw_a":-1.68302298,"cg_theta_rad":0.55635941,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.000778832939,"mpcc_du":50.3647156,"mpcc_dv":48.7805748,"mpcc_dw":51.2194252,"mpcc_enc_sign":1,"mpcc_id_a":0.488926828,"mpcc_iq_a":-1.56856787,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.48657823,"mpcc_pred_id_a":-0.556987107,"mpcc_pred_iq_a":-0.333472937,"mpcc_state":1,"mpcc_theta_e":0.441171646,"mpcc_theta_mech":0.555180252,"sam_rpm":-2.27699876,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0319054723,"thr_a_norm":0.0319054723,"thr_a_v":0.627621889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479427785,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.226341,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-2.25588632,"cg_iw_a":0.201656103,"cg_theta_rad":0.557825804,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0159881637,"mpcc_du":49.7272491,"mpcc_dv":50.2727509,"mpcc_dw":50.2119179,"mpcc_enc_sign":1,"mpcc_id_a":-1.95313323,"mpcc_iq_a":-3.14440155,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.04713726,"mpcc_pred_id_a":-0.947967887,"mpcc_pred_iq_a":-3.63174367,"mpcc_state":1,"mpcc_theta_e":0.444737911,"mpcc_theta_mech":0.555893481,"sam_rpm":6.81362486,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0319054723,"thr_a_norm":0.0319054723,"thr_a_v":0.627621889,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479427785,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.232903,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-0.516182423,"cg_iw_a":-2.98780107,"cg_theta_rad":0.555323601,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0192726031,"mpcc_du":48.2660065,"mpcc_dv":51.7339935,"mpcc_dw":48.8935356,"mpcc_enc_sign":1,"mpcc_id_a":2.67423463,"mpcc_iq_a":-1.35252607,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.1926041,"mpcc_pred_id_a":0.155825555,"mpcc_pred_iq_a":-7.55701971,"mpcc_state":1,"mpcc_theta_e":0.455636978,"mpcc_theta_mech":0.551466942,"sam_rpm":24.878912,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456969559,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.241295,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.0384233,"cg_iw_a":0.854045153,"cg_theta_rad":0.55622834,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.00320343929,"mpcc_du":49.9806328,"mpcc_dv":49.0902176,"mpcc_dw":50.9097824,"mpcc_enc_sign":1,"mpcc_id_a":0.0497726165,"mpcc_iq_a":-1.96796298,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.64732242,"mpcc_pred_id_a":-0.152927965,"mpcc_pred_iq_a":-1.86245978,"mpcc_state":1,"mpcc_theta_e":0.446354866,"mpcc_theta_mech":0.556216896,"sam_rpm":4.71509981,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274616629,"thr_a_norm":0.0208274126,"thr_a_v":0.609846652,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496246278,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.251305,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.02359605,"cg_iw_a":0.709070206,"cg_theta_rad":0.555059969,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0294838641,"mpcc_du":49.5564194,"mpcc_dv":50.232769,"mpcc_dw":50.4435806,"mpcc_enc_sign":1,"mpcc_id_a":3.2335968,"mpcc_iq_a":-1.18626916,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.77435172,"mpcc_pred_id_a":0.0953067839,"mpcc_pred_iq_a":-3.57755017,"mpcc_state":1,"mpcc_theta_e":0.437954426,"mpcc_theta_mech":0.55453676,"sam_rpm":-4.44683933,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274616629,"thr_a_norm":0.0274616629,"thr_a_v":0.609846652,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496246278,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.262657,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.53100967,"cg_iw_a":-0.378245115,"cg_theta_rad":0.556022823,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0212516077,"mpcc_du":49.7592812,"mpcc_dv":48.9702911,"mpcc_dw":51.0297089,"mpcc_enc_sign":1,"mpcc_id_a":2.91005254,"mpcc_iq_a":-0.332032382,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.98397398,"mpcc_pred_id_a":0.735224366,"mpcc_pred_iq_a":-0.338588119,"mpcc_state":1,"mpcc_theta_e":0.434843063,"mpcc_theta_mech":0.553914547,"sam_rpm":-4.45500994,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0191279501,"thr_a_norm":0.0191279501,"thr_a_v":0.5765118,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461853951,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.273888,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-1.74847269,"cg_iw_a":1.86887264,"cg_theta_rad":0.557224929,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.00180041441,"mpcc_du":49.9384651,"mpcc_dv":49.2489357,"mpcc_dw":50.7510643,"mpcc_enc_sign":1,"mpcc_id_a":0.839864433,"mpcc_iq_a":-4.01497936,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.14246035,"mpcc_pred_id_a":-0.467025965,"mpcc_pred_iq_a":-5.07454348,"mpcc_state":1,"mpcc_theta_e":0.445860386,"mpcc_theta_mech":0.556117952,"sam_rpm":-6.07463455,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0111467093,"thr_a_norm":0.0191279501,"thr_a_v":0.544586837,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446344733,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.283714,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.09608364,"cg_iw_a":0.274143696,"cg_theta_rad":0.555838287,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0190380681,"mpcc_du":49.5485229,"mpcc_dv":49.4379578,"mpcc_dw":50.5620422,"mpcc_enc_sign":1,"mpcc_id_a":1.34569716,"mpcc_iq_a":-0.266667962,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.5710783,"mpcc_pred_id_a":0.333382875,"mpcc_pred_iq_a":-2.49995708,"mpcc_state":1,"mpcc_theta_e":0.445226192,"mpcc_theta_mech":0.555991113,"sam_rpm":7.93813848,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0111467093,"thr_a_norm":0.0111467093,"thr_a_v":0.544586837,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446344733,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.29409,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.516182423,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556673288,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.00386573537,"mpcc_du":50.2846031,"mpcc_dv":48.4922142,"mpcc_dw":51.5077858,"mpcc_enc_sign":1,"mpcc_id_a":0.679231107,"mpcc_iq_a":-1.33478487,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.57356215,"mpcc_pred_id_a":0.432066023,"mpcc_pred_iq_a":-0.515741587,"mpcc_state":1,"mpcc_theta_e":0.441422462,"mpcc_theta_mech":0.556960523,"sam_rpm":-5.50990915,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202609301,"thr_a_norm":0.0202609301,"thr_a_v":0.58104372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457825571,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.316917,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-2.25588632,"cg_iw_a":0.999020338,"cg_theta_rad":0.557234883,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0223567002,"mpcc_du":49.9852371,"mpcc_dv":49.2230415,"mpcc_dw":50.7769585,"mpcc_enc_sign":1,"mpcc_id_a":0.245558619,"mpcc_iq_a":-0.717154026,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.23456693,"mpcc_pred_id_a":-0.491445601,"mpcc_pred_iq_a":-3.12671518,"mpcc_state":1,"mpcc_theta_e":0.44803381,"mpcc_theta_mech":0.556552708,"sam_rpm":4.00265598,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202609301,"thr_a_norm":0.0202609301,"thr_a_v":0.58104372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457825571,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.323418,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.6759851,"cg_iw_a":1.36145926,"cg_theta_rad":0.557364047,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0159877725,"mpcc_du":49.3899345,"mpcc_dv":50.6100655,"mpcc_dw":50.1755447,"mpcc_enc_sign":1,"mpcc_id_a":2.27159476,"mpcc_iq_a":-0.851849437,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.77673626,"mpcc_pred_id_a":0.0125597799,"mpcc_pred_iq_a":-4.96886539,"mpcc_state":1,"mpcc_theta_e":0.446812153,"mpcc_theta_mech":0.556308389,"sam_rpm":8.10375595,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222877115,"thr_a_norm":0.0222877115,"thr_a_v":0.589150846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487081707,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.329948,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.24105906,"cg_iw_a":0.41911912,"cg_theta_rad":0.556318283,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0554388948,"mpcc_du":49.779541,"mpcc_dv":49.1767197,"mpcc_dw":50.8232803,"mpcc_enc_sign":1,"mpcc_id_a":3.19483066,"mpcc_iq_a":0.242030427,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0730649307,"mpcc_pred_id_a":0.295589119,"mpcc_pred_iq_a":-3.24122882,"mpcc_state":1,"mpcc_theta_e":0.445249557,"mpcc_theta_mech":0.555995822,"sam_rpm":0.261658549,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222877115,"thr_a_norm":0.0222877115,"thr_a_v":0.589150846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487081707,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.336479,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.733645439,"cg_iw_a":-1.61053514,"cg_theta_rad":0.552856147,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0237165969,"mpcc_du":49.506485,"mpcc_dv":50.1242638,"mpcc_dw":50.493515,"mpcc_enc_sign":1,"mpcc_id_a":2.24328279,"mpcc_iq_a":-1.07870197,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.09092808,"mpcc_pred_id_a":0.456134856,"mpcc_pred_iq_a":-4.52009392,"mpcc_state":1,"mpcc_theta_e":0.449850082,"mpcc_theta_mech":0.556915939,"sam_rpm":9.38077736,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0298912674,"thr_a_norm":0.0298912674,"thr_a_v":0.61956507,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465731293,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.344505,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.806133032,"cg_iw_a":-2.11794925,"cg_theta_rad":0.554699719,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.00352978706,"mpcc_du":50.4891205,"mpcc_dv":48.4944954,"mpcc_dw":51.5055046,"mpcc_enc_sign":1,"mpcc_id_a":1.04103613,"mpcc_iq_a":-0.570383608,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.46721935,"mpcc_pred_id_a":-0.32081452,"mpcc_pred_iq_a":-0.0818260461,"mpcc_state":1,"mpcc_theta_e":0.434090137,"mpcc_theta_mech":0.553763926,"sam_rpm":-12.8416271,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0112474263,"thr_a_norm":0.0298912674,"thr_a_v":0.544989705,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.433453888,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.354546,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-1.74847269,"cg_iw_a":-3.64019012,"cg_theta_rad":0.556236148,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0175220501,"mpcc_du":49.0671158,"mpcc_dv":50.9328842,"mpcc_dw":49.4938583,"mpcc_enc_sign":1,"mpcc_id_a":-0.876093984,"mpcc_iq_a":-1.24923301,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.36850309,"mpcc_pred_id_a":-0.772802889,"mpcc_pred_iq_a":-3.78406644,"mpcc_state":1,"mpcc_theta_e":0.436789513,"mpcc_theta_mech":0.554303825,"sam_rpm":5.29085016,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0112474263,"thr_a_norm":0.0112474263,"thr_a_v":0.544989705,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.433453888,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.364891,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":-0.878620625,"cg_iw_a":0.926532745,"cg_theta_rad":0.555212855,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0221276097,"mpcc_du":49.6933174,"mpcc_dv":49.4153442,"mpcc_dw":50.5846558,"mpcc_enc_sign":1,"mpcc_id_a":1.02073765,"mpcc_iq_a":-1.60653389,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.63069725,"mpcc_pred_id_a":0.0436954834,"mpcc_pred_iq_a":-3.965271,"mpcc_state":1,"mpcc_theta_e":0.451395035,"mpcc_theta_mech":0.557224929,"sam_rpm":9.00829411,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282421559,"thr_a_norm":0.0282421559,"thr_a_v":0.612968624,"thr_b":0.000320449471,"thr_b_norm":0.000320449471,"thr_b_v":0.501281798,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.376854,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-4.28554106,"cg_iw_a":1.50643444,"cg_theta_rad":0.553755522,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0204528328,"mpcc_du":49.7680664,"mpcc_dv":49.3518715,"mpcc_dw":51.4794769,"mpcc_enc_sign":1,"mpcc_id_a":1.97757483,"mpcc_iq_a":-1.46208394,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.3893435,"mpcc_pred_id_a":-0.0570124425,"mpcc_pred_iq_a":-3.95828271,"mpcc_state":1,"mpcc_theta_e":0.450023651,"mpcc_theta_mech":0.556950629,"sam_rpm":2.02473855,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0406546146,"thr_a_norm":0.0282421559,"thr_a_v":0.662618458,"thr_b":0.0111215413,"thr_b_norm":0.000320449471,"thr_b_v":0.544486165,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.386864,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.226231575,"cg_iw_a":-2.6978507,"cg_theta_rad":0.558457792,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0270924773,"mpcc_du":49.880455,"mpcc_dv":48.9715881,"mpcc_dw":51.0284119,"mpcc_enc_sign":1,"mpcc_id_a":3.08876967,"mpcc_iq_a":-0.467434615,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.44131184,"mpcc_pred_id_a":0.456560105,"mpcc_pred_iq_a":-1.00887918,"mpcc_state":1,"mpcc_theta_e":0.436732292,"mpcc_theta_mech":0.554292381,"sam_rpm":-2.53852797,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0406546146,"thr_a_norm":0.0406546146,"thr_a_v":0.662618458,"thr_b":0.0111215413,"thr_b_norm":0.0111215413,"thr_b_v":0.544486165,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.397057,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.16857147,"cg_iw_a":-0.378244877,"cg_theta_rad":0.553283155,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0330810547,"mpcc_du":50.1011467,"mpcc_dv":49.0916061,"mpcc_dw":50.9083939,"mpcc_enc_sign":1,"mpcc_id_a":0.370747477,"mpcc_iq_a":-1.28967309,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0253065042,"mpcc_pred_id_a":-0.54693073,"mpcc_pred_iq_a":-4.36575937,"mpcc_state":1,"mpcc_theta_e":0.449625492,"mpcc_theta_mech":0.556870997,"sam_rpm":0.654989481,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027612716,"thr_a_norm":0.027612716,"thr_a_v":0.610450864,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497152656,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.420311,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.806133032,"cg_iw_a":-2.33541226,"cg_theta_rad":0.557429075,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0274792537,"mpcc_du":50.420784,"mpcc_dv":48.5691948,"mpcc_dw":51.4308052,"mpcc_enc_sign":1,"mpcc_id_a":2.25473094,"mpcc_iq_a":-1.22186971,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.961061,"mpcc_pred_id_a":0.0860690102,"mpcc_pred_iq_a":-5.31414652,"mpcc_state":1,"mpcc_theta_e":0.449223042,"mpcc_theta_mech":0.55398649,"sam_rpm":-1.46228504,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027612716,"thr_a_norm":0.027612716,"thr_a_v":0.610450864,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497152656,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.426811,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.878620625,"cg_iw_a":-1.61053562,"cg_theta_rad":0.555671811,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.00502069481,"mpcc_du":49.8952026,"mpcc_dv":49.0642662,"mpcc_dw":50.9357338,"mpcc_enc_sign":1,"mpcc_id_a":1.04653203,"mpcc_iq_a":-1.23343909,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.224236861,"mpcc_pred_id_a":0.117953047,"mpcc_pred_iq_a":-1.64024293,"mpcc_state":1,"mpcc_theta_e":0.443154812,"mpcc_theta_mech":0.555576921,"sam_rpm":0.170529634,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0913996249,"thr_a_norm":0.0913996249,"thr_a_v":0.8655985,"thr_b":0.0370668322,"thr_b_norm":0.0370668322,"thr_b_v":0.648267329,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.433372,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.6759851,"cg_iw_a":-1.32058454,"cg_theta_rad":0.553593218,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0438265279,"mpcc_du":50.9776192,"mpcc_dv":47.4214935,"mpcc_dw":52.5785065,"mpcc_enc_sign":1,"mpcc_id_a":1.4858613,"mpcc_iq_a":-0.490121424,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.2731457,"mpcc_pred_id_a":0.707692325,"mpcc_pred_iq_a":1.46487594,"mpcc_state":1,"mpcc_theta_e":0.449480534,"mpcc_theta_mech":0.556842029,"sam_rpm":-26.8885288,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0913996249,"thr_a_norm":0.0913996249,"thr_a_v":0.8655985,"thr_b":0.0370668322,"thr_b_norm":0.0370668322,"thr_b_v":0.648267329,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.439903,"values":{"cg_iu_a":1.54681635,"cg_iv_a":0.0637187958,"cg_iw_a":-0.885658741,"cg_theta_rad":0.555971086,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0257219858,"mpcc_du":49.4963989,"mpcc_dv":50.0407677,"mpcc_dw":50.5036011,"mpcc_enc_sign":1,"mpcc_id_a":2.55744767,"mpcc_iq_a":-0.759391785,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.85402966,"mpcc_pred_id_a":0.45582968,"mpcc_pred_iq_a":-3.82319689,"mpcc_state":1,"mpcc_theta_e":0.447707176,"mpcc_theta_mech":0.556487322,"sam_rpm":8.71797562,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219478011,"thr_a_norm":0.0219478011,"thr_a_v":0.587791204,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472932041,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.450096,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.16857147,"cg_iw_a":-1.17560911,"cg_theta_rad":0.556432843,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0503559671,"mpcc_du":49.7143402,"mpcc_dv":49.5008507,"mpcc_dw":50.4991493,"mpcc_enc_sign":1,"mpcc_id_a":0.39709568,"mpcc_iq_a":-0.563114762,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.82354498,"mpcc_pred_id_a":-0.332809001,"mpcc_pred_iq_a":-4.41305399,"mpcc_state":1,"mpcc_theta_e":0.455947399,"mpcc_theta_mech":0.55813539,"sam_rpm":12.4284964,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218470991,"thr_a_norm":0.0219478011,"thr_a_v":0.587388396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.459892,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-2.40086174,"cg_iw_a":-1.82799816,"cg_theta_rad":0.556076467,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.022254169,"mpcc_du":49.5658569,"mpcc_dv":50.3454742,"mpcc_dw":50.4341431,"mpcc_enc_sign":1,"mpcc_id_a":2.18928385,"mpcc_iq_a":-0.359396696,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.2171946,"mpcc_pred_id_a":0.123919994,"mpcc_pred_iq_a":-2.59030652,"mpcc_state":1,"mpcc_theta_e":0.451494694,"mpcc_theta_mech":0.557244837,"sam_rpm":19.1804714,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218470991,"thr_a_norm":0.0218470991,"thr_a_v":0.587388396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.470085,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.6759851,"cg_iw_a":-0.958146334,"cg_theta_rad":0.556587994,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.00114438648,"mpcc_du":50.0544205,"mpcc_dv":49.2533455,"mpcc_dw":50.7466545,"mpcc_enc_sign":1,"mpcc_id_a":-0.579646111,"mpcc_iq_a":-0.787366986,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.27555537,"mpcc_pred_id_a":-0.68178463,"mpcc_pred_iq_a":-1.48491013,"mpcc_state":1,"mpcc_theta_e":0.436013699,"mpcc_theta_mech":0.554148674,"sam_rpm":-5.73875332,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197447985,"thr_a_norm":0.0197447985,"thr_a_v":0.578979194,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475651205,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.480278,"values":{"cg_iu_a":2.85159445,"cg_iv_a":0.643620491,"cg_iw_a":-3.49521494,"cg_theta_rad":0.554002762,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0223067533,"mpcc_du":50.1910324,"mpcc_dv":48.9186707,"mpcc_dw":51.0813293,"mpcc_enc_sign":1,"mpcc_id_a":0.348644018,"mpcc_iq_a":-1.508816,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.27556229,"mpcc_pred_id_a":-0.288502097,"mpcc_pred_iq_a":-2.79828596,"mpcc_state":1,"mpcc_theta_e":0.447266102,"mpcc_theta_mech":0.556399167,"sam_rpm":3.19482064,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197447985,"thr_a_norm":0.0197447985,"thr_a_v":0.578979194,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475651205,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.490288,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-0.878620625,"cg_iw_a":-1.03063393,"cg_theta_rad":0.557190001,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0951216221,"mpcc_du":50.0684052,"mpcc_dv":48.8523483,"mpcc_dw":51.1476517,"mpcc_enc_sign":1,"mpcc_id_a":2.46571183,"mpcc_iq_a":-0.123416074,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.01186752,"mpcc_pred_id_a":0.332063198,"mpcc_pred_iq_a":-3.29353404,"mpcc_state":1,"mpcc_theta_e":0.452314854,"mpcc_theta_mech":0.557408929,"sam_rpm":8.15051556,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0969890207,"thr_a_norm":0.0969890207,"thr_a_v":0.887956083,"thr_b":0.0416617095,"thr_b_norm":0.0416617095,"thr_b_v":0.666646838,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.500481,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-2.0384233,"cg_iw_a":0.41911912,"cg_theta_rad":0.556132257,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.00973852258,"mpcc_du":50.5301857,"mpcc_dv":48.4976196,"mpcc_dw":51.5023804,"mpcc_enc_sign":1,"mpcc_id_a":0.495183229,"mpcc_iq_a":-1.41786134,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.36346006,"mpcc_pred_id_a":-0.437551737,"mpcc_pred_iq_a":1.99616647,"mpcc_state":1,"mpcc_theta_e":0.428369045,"mpcc_theta_mech":0.552619696,"sam_rpm":-11.193903,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024213776,"thr_a_norm":0.0969890207,"thr_a_v":0.596855104,"thr_b":0,"thr_b_norm":0.0416617095,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.523705,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.733645439,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556792319,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0149080185,"mpcc_du":50.9494057,"mpcc_dv":47.8726616,"mpcc_dw":52.1273384,"mpcc_enc_sign":1,"mpcc_id_a":2.3256588,"mpcc_iq_a":-1.76405823,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.9713535,"mpcc_pred_id_a":-0.150144428,"mpcc_pred_iq_a":-0.160203785,"mpcc_state":1,"mpcc_theta_e":0.433603287,"mpcc_theta_mech":0.553666532,"sam_rpm":-20.3315735,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024213776,"thr_a_norm":0.024213776,"thr_a_v":0.596855104,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.530235,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-1.45852208,"cg_iw_a":1.28897119,"cg_theta_rad":0.554896653,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.000297649502,"mpcc_du":50.112339,"mpcc_dv":48.9389648,"mpcc_dw":51.0610352,"mpcc_enc_sign":1,"mpcc_id_a":0.196947336,"mpcc_iq_a":-2.02902055,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.90570927,"mpcc_pred_id_a":-0.175737336,"mpcc_pred_iq_a":-1.74316168,"mpcc_state":1,"mpcc_theta_e":0.438273907,"mpcc_theta_mech":0.554600716,"sam_rpm":-7.32651615,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156157017,"thr_a_norm":0.0156157017,"thr_a_v":0.562462807,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460041195,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.536736,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.82096052,"cg_iw_a":-1.90048599,"cg_theta_rad":0.555392265,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0323501416,"mpcc_du":49.3991966,"mpcc_dv":50.6008034,"mpcc_dw":50.0770912,"mpcc_enc_sign":1,"mpcc_id_a":1.22974193,"mpcc_iq_a":0.148095608,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.4369268,"mpcc_pred_id_a":-0.306331992,"mpcc_pred_iq_a":-4.84280109,"mpcc_state":1,"mpcc_theta_e":0.455213547,"mpcc_theta_mech":0.557988584,"sam_rpm":18.6003971,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156157017,"thr_a_norm":0.0156157017,"thr_a_v":0.562462807,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460041195,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.543266,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.806133032,"cg_iw_a":-2.7703383,"cg_theta_rad":0.553102672,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0114521831,"mpcc_du":50.435688,"mpcc_dv":48.3239784,"mpcc_dw":51.6760216,"mpcc_enc_sign":1,"mpcc_id_a":0.358546108,"mpcc_iq_a":-1.14556098,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.9906311,"mpcc_pred_id_a":-0.223228514,"mpcc_pred_iq_a":-1.61259115,"mpcc_state":1,"mpcc_theta_e":0.45092392,"mpcc_theta_mech":0.557130694,"sam_rpm":-12.7192936,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167990327,"thr_a_norm":0.0167990327,"thr_a_v":0.567196131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.432094276,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.551262,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.226231575,"cg_iw_a":-2.62536287,"cg_theta_rad":0.555754066,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0177503265,"mpcc_du":50.3896294,"mpcc_dv":48.3117752,"mpcc_dw":51.6882248,"mpcc_enc_sign":1,"mpcc_id_a":2.10652733,"mpcc_iq_a":-1.20205331,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.997159,"mpcc_pred_id_a":0.462548822,"mpcc_pred_iq_a":-2.23507977,"mpcc_state":1,"mpcc_theta_e":0.433842659,"mpcc_theta_mech":0.556767464,"sam_rpm":-18.9041119,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025749594,"thr_a_norm":0.0167990327,"thr_a_v":0.602998376,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49282214,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.563255,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.878620625,"cg_iw_a":-2.48038721,"cg_theta_rad":0.554597855,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0511634052,"mpcc_du":50.6377525,"mpcc_dv":47.6220741,"mpcc_dw":52.3779259,"mpcc_enc_sign":1,"mpcc_id_a":3.77969384,"mpcc_iq_a":-0.167676449,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.2806101,"mpcc_pred_id_a":1.34772551,"mpcc_pred_iq_a":1.34134901,"mpcc_state":1,"mpcc_theta_e":0.431072235,"mpcc_theta_mech":0.553160369,"sam_rpm":-14.358758,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025749594,"thr_a_norm":0.025749594,"thr_a_v":0.602998376,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49282214,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.573662,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.16857147,"cg_iw_a":-0.668195724,"cg_theta_rad":0.554030478,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0305730402,"mpcc_du":49.958252,"mpcc_dv":48.7389755,"mpcc_dw":51.2610245,"mpcc_enc_sign":1,"mpcc_id_a":2.42901921,"mpcc_iq_a":-0.490500987,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.89834118,"mpcc_pred_id_a":0.599269569,"mpcc_pred_iq_a":1.5221622,"mpcc_state":1,"mpcc_theta_e":0.422290325,"mpcc_theta_mech":0.551403999,"sam_rpm":-15.9536438,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0267818719,"thr_a_norm":0.0267818719,"thr_a_v":0.607127488,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483254731,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.583916,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.0384233,"cg_iw_a":-0.595708132,"cg_theta_rad":0.557309389,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0377335697,"mpcc_du":49.9046097,"mpcc_dv":49.1929703,"mpcc_dw":50.8070297,"mpcc_enc_sign":1,"mpcc_id_a":2.31897259,"mpcc_iq_a":-1.58668327,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.94012117,"mpcc_pred_id_a":-0.181297556,"mpcc_pred_iq_a":-4.36804342,"mpcc_state":1,"mpcc_theta_e":0.452017784,"mpcc_theta_mech":0.557349503,"sam_rpm":3.27418041,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192286521,"thr_a_norm":0.0267818719,"thr_a_v":0.576914608,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451178759,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.594658,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.60349751,"cg_iw_a":-1.53804779,"cg_theta_rad":0.553792536,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0519277491,"mpcc_du":49.8503952,"mpcc_dv":48.9440384,"mpcc_dw":51.0559616,"mpcc_enc_sign":1,"mpcc_id_a":2.8715241,"mpcc_iq_a":-0.430345476,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.76816964,"mpcc_pred_id_a":0.463475019,"mpcc_pred_iq_a":-3.72286057,"mpcc_state":1,"mpcc_theta_e":0.442639828,"mpcc_theta_mech":0.555473924,"sam_rpm":-3.47756529,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192286521,"thr_a_norm":0.0192286521,"thr_a_v":0.576914608,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451178759,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.604088,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.38603449,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.557493865,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0673421919,"mpcc_du":49.2958679,"mpcc_dv":50.7041321,"mpcc_dw":50.455761,"mpcc_enc_sign":1,"mpcc_id_a":5.10983706,"mpcc_iq_a":-0.627259672,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.4813261,"mpcc_pred_id_a":0.997926772,"mpcc_pred_iq_a":-1.17770898,"mpcc_state":1,"mpcc_theta_e":0.445582867,"mpcc_theta_mech":0.55606252,"sam_rpm":17.3037376,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0148855597,"thr_a_norm":0.0148855597,"thr_a_v":0.559542239,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478017837,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.627495,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.09608364,"cg_iw_a":1.21648383,"cg_theta_rad":0.557469368,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0212544315,"mpcc_du":50.3509216,"mpcc_dv":48.5071449,"mpcc_dw":50.7747307,"mpcc_enc_sign":1,"mpcc_id_a":1.85685194,"mpcc_iq_a":-0.878623486,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.76104498,"mpcc_pred_id_a":0.0385842286,"mpcc_pred_iq_a":-1.03613627,"mpcc_state":1,"mpcc_theta_e":0.443939686,"mpcc_theta_mech":0.55573386,"sam_rpm":-3.72575116,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025825128,"thr_a_norm":0.0148855597,"thr_a_v":0.603300512,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4953399,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.634026,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.09608364,"cg_iw_a":-1.90048599,"cg_theta_rad":0.554532468,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0167695843,"mpcc_du":49.7054672,"mpcc_dv":49.3438644,"mpcc_dw":50.6561356,"mpcc_enc_sign":1,"mpcc_id_a":0.795231819,"mpcc_iq_a":-5.10936975,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.70441723,"mpcc_pred_id_a":-0.181714833,"mpcc_pred_iq_a":-2.59561586,"mpcc_state":1,"mpcc_theta_e":0.446623802,"mpcc_theta_mech":0.556270719,"sam_rpm":5.49223185,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025825128,"thr_a_norm":0.025825128,"thr_a_v":0.603300512,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4953399,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.640587,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.74847269,"cg_iw_a":-0.523220301,"cg_theta_rad":0.557672203,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.00209532306,"mpcc_du":50.3289375,"mpcc_dv":48.5744133,"mpcc_dw":51.4255867,"mpcc_enc_sign":1,"mpcc_id_a":0.851092279,"mpcc_iq_a":-1.31781316,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.54090738,"mpcc_pred_id_a":-0.186313018,"mpcc_pred_iq_a":-0.267486781,"mpcc_state":1,"mpcc_theta_e":0.437615395,"mpcc_theta_mech":0.554468989,"sam_rpm":-7.16780186,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197322071,"thr_a_norm":0.0197322071,"thr_a_v":0.578928828,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467544049,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.648918,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.951108456,"cg_iw_a":-1.32058477,"cg_theta_rad":0.555878043,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.00231394451,"mpcc_du":49.1687088,"mpcc_dv":50.8312912,"mpcc_dw":49.8721466,"mpcc_enc_sign":1,"mpcc_id_a":0.161869243,"mpcc_iq_a":-1.23218203,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.45897913,"mpcc_pred_id_a":-0.286647648,"mpcc_pred_iq_a":-6.8263073,"mpcc_state":1,"mpcc_theta_e":0.445438385,"mpcc_theta_mech":0.556033552,"sam_rpm":4.96017075,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250320435,"thr_a_norm":0.0197322071,"thr_a_v":0.600128174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493577451,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.658897,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-2.83578777,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.556801319,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0239346977,"mpcc_du":50.2649269,"mpcc_dv":48.5667801,"mpcc_dw":51.4332199,"mpcc_enc_sign":1,"mpcc_id_a":2.1305337,"mpcc_iq_a":-1.65469682,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.06034756,"mpcc_pred_id_a":0.109698966,"mpcc_pred_iq_a":-2.26354146,"mpcc_state":1,"mpcc_theta_e":0.442948341,"mpcc_theta_mech":0.555535614,"sam_rpm":-4.97063303,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250320435,"thr_a_norm":0.0250320435,"thr_a_v":0.600128174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493577451,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.668846,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.733645439,"cg_iw_a":-0.015806675,"cg_theta_rad":0.552066326,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0045201024,"mpcc_du":49.5008545,"mpcc_dv":49.6685486,"mpcc_dw":50.4991455,"mpcc_enc_sign":1,"mpcc_id_a":1.32277834,"mpcc_iq_a":-0.481888384,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.43621016,"mpcc_pred_id_a":0.138002545,"mpcc_pred_iq_a":-1.2012943,"mpcc_state":1,"mpcc_theta_e":0.441555977,"mpcc_theta_mech":0.554879367,"sam_rpm":7.74457455,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197322071,"thr_a_norm":0.0197322071,"thr_a_v":0.578928828,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.678825,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.25588632,"cg_iw_a":-1.03063393,"cg_theta_rad":0.553046048,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0535223447,"mpcc_du":49.9373055,"mpcc_dv":49.0780525,"mpcc_dw":50.9219475,"mpcc_enc_sign":1,"mpcc_id_a":1.84542274,"mpcc_iq_a":-0.234874427,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.831840813,"mpcc_pred_id_a":-0.112674072,"mpcc_pred_iq_a":-4.38196993,"mpcc_state":1,"mpcc_theta_e":0.44930315,"mpcc_theta_mech":0.556806505,"sam_rpm":-0.756396234,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197322071,"thr_a_norm":0.0197322071,"thr_a_v":0.578928828,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.68911,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.53100967,"cg_iw_a":-1.17560959,"cg_theta_rad":0.557145059,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.00587059325,"mpcc_du":49.5989342,"mpcc_dv":49.7973518,"mpcc_dw":50.4010658,"mpcc_enc_sign":1,"mpcc_id_a":0.243148401,"mpcc_iq_a":-0.569020748,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.2457782,"mpcc_pred_id_a":-0.264517963,"mpcc_pred_iq_a":-0.564345419,"mpcc_state":1,"mpcc_theta_e":0.433082104,"mpcc_theta_mech":0.553562343,"sam_rpm":1.55373681,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019807741,"thr_a_norm":0.019807741,"thr_a_v":0.579230964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481039107,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.701439,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.09608364,"cg_iw_a":-1.10312176,"cg_theta_rad":0.556083262,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.029797161,"mpcc_du":49.9878349,"mpcc_dv":48.8026886,"mpcc_dw":51.1973114,"mpcc_enc_sign":1,"mpcc_id_a":2.86795783,"mpcc_iq_a":-1.45298493,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.92905045,"mpcc_pred_id_a":0.423535883,"mpcc_pred_iq_a":-2.75425625,"mpcc_state":1,"mpcc_theta_e":0.444161892,"mpcc_theta_mech":0.555778325,"sam_rpm":-4.55130482,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020563066,"thr_a_norm":0.020563066,"thr_a_v":0.582252264,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468097955,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.72448,"values":{"cg_iu_a":1.18437815,"cg_iv_a":0.353669643,"cg_iw_a":-1.53804779,"cg_theta_rad":0.553807795,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0010111013,"mpcc_du":49.994606,"mpcc_dv":49.1753273,"mpcc_dw":50.8246727,"mpcc_enc_sign":1,"mpcc_id_a":-0.100661799,"mpcc_iq_a":-2.41385794,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.7919931,"mpcc_pred_id_a":-0.488357276,"mpcc_pred_iq_a":-0.448159546,"mpcc_state":1,"mpcc_theta_e":0.454003811,"mpcc_theta_mech":0.557746708,"sam_rpm":16.5987644,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020563066,"thr_a_norm":0.020563066,"thr_a_v":0.582252264,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468097955,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.73101,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.38603449,"cg_iw_a":0.709070206,"cg_theta_rad":0.555357754,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.038306307,"mpcc_du":50.9871521,"mpcc_dv":47.356781,"mpcc_dw":52.643219,"mpcc_enc_sign":1,"mpcc_id_a":3.80055451,"mpcc_iq_a":-1.15200114,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.9614487,"mpcc_pred_id_a":0.753445089,"mpcc_pred_iq_a":2.27537584,"mpcc_state":1,"mpcc_theta_e":0.422141552,"mpcc_theta_mech":0.551374197,"sam_rpm":-31.8052692,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.045979619,"thr_a_norm":0.045979619,"thr_a_v":0.683918476,"thr_b":0.0129846632,"thr_b_norm":0.0129846632,"thr_b_v":0.551938653,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.737541,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.443694592,"cg_iw_a":-0.740683556,"cg_theta_rad":0.555277467,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.00396041013,"mpcc_du":50.5037422,"mpcc_dv":48.421875,"mpcc_dw":51.578125,"mpcc_enc_sign":1,"mpcc_id_a":0.290235192,"mpcc_iq_a":-1.1479094,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.45325756,"mpcc_pred_id_a":-0.266831964,"mpcc_pred_iq_a":-0.345781296,"mpcc_state":1,"mpcc_theta_e":0.437730312,"mpcc_theta_mech":0.554491997,"sam_rpm":-7.71982098,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.045979619,"thr_a_norm":0.045979619,"thr_a_v":0.683918476,"thr_b":0.0129846632,"thr_b_norm":0.0129846632,"thr_b_v":0.551938653,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.744041,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.74847269,"cg_iw_a":0.854045391,"cg_theta_rad":0.558144987,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0053139315,"mpcc_du":49.6352158,"mpcc_dv":50.2152977,"mpcc_dw":50.3647842,"mpcc_enc_sign":1,"mpcc_id_a":0.643060029,"mpcc_iq_a":-0.393057853,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.4629724,"mpcc_pred_id_a":-0.398382068,"mpcc_pred_iq_a":-4.14219761,"mpcc_state":1,"mpcc_theta_e":0.442771912,"mpcc_theta_mech":0.555500269,"sam_rpm":3.30426168,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02567406,"thr_a_norm":0.02567406,"thr_a_v":0.60269624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477766067,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.752281,"values":{"cg_iu_a":5.02622414,"cg_iv_a":-0.806133032,"cg_iw_a":-4.22009087,"cg_theta_rad":0.55551523,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.00283756549,"mpcc_du":49.6602936,"mpcc_dv":49.4331741,"mpcc_dw":50.5668259,"mpcc_enc_sign":1,"mpcc_id_a":0.885675848,"mpcc_iq_a":-0.73166728,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.90546846,"mpcc_pred_id_a":-0.193890616,"mpcc_pred_iq_a":-3.46140647,"mpcc_state":1,"mpcc_theta_e":0.436261177,"mpcc_theta_mech":0.554198146,"sam_rpm":-7.71129656,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273609459,"thr_a_norm":0.02567406,"thr_a_v":0.609443784,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.764458,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.31354666,"cg_iw_a":0.0566806793,"cg_theta_rad":0.556930721,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.00214801403,"mpcc_du":49.7463913,"mpcc_dv":49.4488602,"mpcc_dw":50.5511398,"mpcc_enc_sign":1,"mpcc_id_a":0.0246113483,"mpcc_iq_a":-1.67892003,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.147913933,"mpcc_pred_id_a":-0.406321377,"mpcc_pred_iq_a":-3.85521579,"mpcc_state":1,"mpcc_theta_e":0.448014736,"mpcc_theta_mech":0.556548893,"sam_rpm":-0.208865061,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273609459,"thr_a_norm":0.0273609459,"thr_a_v":0.609443784,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.774681,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.588670254,"cg_iw_a":-2.11794901,"cg_theta_rad":0.554027915,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.00678650104,"mpcc_du":49.6560707,"mpcc_dv":50.2933159,"mpcc_dw":50.3439293,"mpcc_enc_sign":1,"mpcc_id_a":-0.266155005,"mpcc_iq_a":-2.4257586,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.47679996,"mpcc_pred_id_a":-0.515254617,"mpcc_pred_iq_a":-6.21197748,"mpcc_state":1,"mpcc_theta_e":0.45281744,"mpcc_theta_mech":0.557509422,"sam_rpm":8.04519939,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0994186252,"thr_a_norm":0.0994186252,"thr_a_v":0.897674501,"thr_b":0.0422156155,"thr_b_norm":0.0422156155,"thr_b_v":0.668862462,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.784843,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.661157608,"cg_iw_a":-1.10312176,"cg_theta_rad":0.556846559,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0193944052,"mpcc_du":49.4649048,"mpcc_dv":50.5350952,"mpcc_dw":50.250309,"mpcc_enc_sign":1,"mpcc_id_a":0.943268716,"mpcc_iq_a":-1.10271084,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.6030941,"mpcc_pred_id_a":-0.127597257,"mpcc_pred_iq_a":-6.15116739,"mpcc_state":1,"mpcc_theta_e":0.450598717,"mpcc_theta_mech":0.557065666,"sam_rpm":10.9437904,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216834545,"thr_a_norm":0.0994186252,"thr_a_v":0.586733818,"thr_b":0,"thr_b_norm":0.0422156155,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.794701,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.02359605,"cg_iw_a":-0.523220301,"cg_theta_rad":0.554181635,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0252271853,"mpcc_du":49.4004059,"mpcc_dv":50.5995941,"mpcc_dw":50.4655571,"mpcc_enc_sign":1,"mpcc_id_a":3.07314134,"mpcc_iq_a":0.19769159,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.27219152,"mpcc_pred_id_a":0.672608614,"mpcc_pred_iq_a":-2.43335462,"mpcc_state":1,"mpcc_theta_e":0.432969093,"mpcc_theta_mech":0.553539753,"sam_rpm":2.18797183,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216834545,"thr_a_norm":0.0216834545,"thr_a_v":0.586733818,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.805016,"values":{"cg_iu_a":1.11189032,"cg_iv_a":0.353669643,"cg_iw_a":0.926533222,"cg_theta_rad":0.5565117,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.00409534713,"mpcc_du":50.1083984,"mpcc_dv":49.0720177,"mpcc_dw":50.9279823,"mpcc_enc_sign":1,"mpcc_id_a":0.144388482,"mpcc_iq_a":-1.45154476,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.09442902,"mpcc_pred_id_a":-0.679013908,"mpcc_pred_iq_a":-3.83033729,"mpcc_state":1,"mpcc_theta_e":0.440436363,"mpcc_theta_mech":0.555033147,"sam_rpm":-10.1186762,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024490729,"thr_a_norm":0.024490729,"thr_a_v":0.597962916,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479780257,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.828056,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.878620625,"cg_iw_a":-1.32058477,"cg_theta_rad":0.556474388,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0613491684,"mpcc_du":50.7045097,"mpcc_dv":48.1251488,"mpcc_dw":51.8748512,"mpcc_enc_sign":1,"mpcc_id_a":1.20250309,"mpcc_iq_a":-0.0772902891,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.6608953,"mpcc_pred_id_a":0.0222857408,"mpcc_pred_iq_a":-1.92853129,"mpcc_state":1,"mpcc_theta_e":0.45984602,"mpcc_theta_mech":0.558915079,"sam_rpm":-7.18337345,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024490729,"thr_a_norm":0.024490729,"thr_a_v":0.597962916,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479780257,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.834587,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.24105906,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.555775642,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0160498787,"mpcc_du":50.4952774,"mpcc_dv":48.1662979,"mpcc_dw":51.8337021,"mpcc_enc_sign":1,"mpcc_id_a":2.53368616,"mpcc_iq_a":-1.14187777,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.5465145,"mpcc_pred_id_a":0.365687281,"mpcc_pred_iq_a":-1.51330912,"mpcc_state":1,"mpcc_theta_e":0.424880028,"mpcc_theta_mech":0.551921964,"sam_rpm":-29.2359238,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0230933875,"thr_a_norm":0.0230933875,"thr_a_v":0.59237355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.841118,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.02359605,"cg_iw_a":-0.958146334,"cg_theta_rad":0.557294488,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0143686468,"mpcc_du":49.5294685,"mpcc_dv":49.3721848,"mpcc_dw":50.6278152,"mpcc_enc_sign":1,"mpcc_id_a":2.35113645,"mpcc_iq_a":-1.86155021,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.91876411,"mpcc_pred_id_a":0.462759435,"mpcc_pred_iq_a":-2.70993495,"mpcc_state":1,"mpcc_theta_e":0.445903301,"mpcc_theta_mech":0.556126595,"sam_rpm":4.25626945,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0230933875,"thr_a_norm":0.0230933875,"thr_a_v":0.59237355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.847649,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.661157608,"cg_iw_a":-1.61053562,"cg_theta_rad":0.554213226,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0298846774,"mpcc_du":50.0373001,"mpcc_dv":48.7135773,"mpcc_dw":51.2864227,"mpcc_enc_sign":1,"mpcc_id_a":2.76607442,"mpcc_iq_a":-0.648332894,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.26942301,"mpcc_pred_id_a":0.426489621,"mpcc_pred_iq_a":-2.46554899,"mpcc_state":1,"mpcc_theta_e":0.439414978,"mpcc_theta_mech":0.554828882,"sam_rpm":-8.98279095,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196063071,"thr_a_norm":0.0196063071,"thr_a_v":0.578425229,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480283797,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.855888,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.11091113,"cg_iw_a":0.999020815,"cg_theta_rad":0.556870818,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0203279816,"mpcc_du":50.4898071,"mpcc_dv":48.3261337,"mpcc_dw":51.6738663,"mpcc_enc_sign":1,"mpcc_id_a":2.39759493,"mpcc_iq_a":-0.225598454,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.099947,"mpcc_pred_id_a":0.0141602149,"mpcc_pred_iq_a":-1.03593218,"mpcc_state":1,"mpcc_theta_e":0.432113171,"mpcc_theta_mech":0.553368509,"sam_rpm":-17.9433517,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248432159,"thr_a_norm":0.0196063071,"thr_a_v":0.599372864,"thr_b":0.00030785799,"thr_b_norm":0,"thr_b_v":0.501231432,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.865868,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.82096052,"cg_iw_a":0.78155756,"cg_theta_rad":0.554535508,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0406566598,"mpcc_du":50.4223595,"mpcc_dv":48.364975,"mpcc_dw":51.635025,"mpcc_enc_sign":1,"mpcc_id_a":1.8600415,"mpcc_iq_a":-1.54077101,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.756290972,"mpcc_pred_id_a":0.320845366,"mpcc_pred_iq_a":-2.04175973,"mpcc_state":1,"mpcc_theta_e":0.448499203,"mpcc_theta_mech":0.556645751,"sam_rpm":-0.110145412,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248432159,"thr_a_norm":0.0248432159,"thr_a_v":0.599372864,"thr_b":0.00030785799,"thr_b_norm":0.00030785799,"thr_b_v":0.501231432,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.87603,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.516182423,"cg_iw_a":-1.24809694,"cg_theta_rad":0.556143045,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0315582231,"mpcc_du":49.9021568,"mpcc_dv":49.078743,"mpcc_dw":50.921257,"mpcc_enc_sign":1,"mpcc_id_a":0.903095126,"mpcc_iq_a":-1.23003078,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.68296528,"mpcc_pred_id_a":-0.0307327826,"mpcc_pred_iq_a":0.606119514,"mpcc_state":1,"mpcc_theta_e":0.424240589,"mpcc_theta_mech":0.551794052,"sam_rpm":-14.5619354,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213309675,"thr_a_norm":0.0213309675,"thr_a_v":0.58532387,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466285199,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.885857,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.733645439,"cg_iw_a":-2.26292419,"cg_theta_rad":0.553239405,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.050056763,"mpcc_du":49.4499626,"mpcc_dv":50.5500374,"mpcc_dw":50.4162025,"mpcc_enc_sign":1,"mpcc_id_a":3.25333476,"mpcc_iq_a":0.55107528,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.09321594,"mpcc_pred_id_a":0.423612177,"mpcc_pred_iq_a":-0.966748059,"mpcc_state":1,"mpcc_theta_e":0.441122055,"mpcc_theta_mech":0.555170298,"sam_rpm":20.3708,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213309675,"thr_a_norm":0.0213309675,"thr_a_v":0.58532387,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466285199,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.896049,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.878620625,"cg_iw_a":-0.160782337,"cg_theta_rad":0.553689063,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.070969902,"mpcc_du":50.132576,"mpcc_dv":48.8029022,"mpcc_dw":51.1970978,"mpcc_enc_sign":1,"mpcc_id_a":2.16840267,"mpcc_iq_a":-0.0699831396,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.72917891,"mpcc_pred_id_a":0.127142385,"mpcc_pred_iq_a":-2.87045717,"mpcc_state":1,"mpcc_theta_e":0.451395035,"mpcc_theta_mech":0.557224929,"sam_rpm":4.86771488,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246669799,"thr_a_norm":0.0246669799,"thr_a_v":0.59866792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477715701,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.906242,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.74847269,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556827784,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0193093289,"mpcc_du":49.5065117,"mpcc_dv":48.9812508,"mpcc_dw":51.0187492,"mpcc_enc_sign":1,"mpcc_id_a":2.30877614,"mpcc_iq_a":-1.27862442,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.042377,"mpcc_pred_id_a":0.160426185,"mpcc_pred_iq_a":-4.69136858,"mpcc_state":1,"mpcc_theta_e":0.443834305,"mpcc_theta_mech":0.555712819,"sam_rpm":-1.50148618,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0246669799,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456365317,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.929436,"values":{"cg_iu_a":2.70661926,"cg_iv_a":0.281181812,"cg_iw_a":-2.98780107,"cg_theta_rad":0.55345434,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0132756811,"mpcc_du":49.1958733,"mpcc_dv":50.8041267,"mpcc_dw":49.7733765,"mpcc_enc_sign":1,"mpcc_id_a":0.723150074,"mpcc_iq_a":-1.61489749,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.3189945,"mpcc_pred_id_a":-0.515818,"mpcc_pred_iq_a":-5.7947011,"mpcc_state":1,"mpcc_theta_e":0.42899847,"mpcc_theta_mech":0.55274564,"sam_rpm":10.0346565,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456365317,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.935997,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.74847269,"cg_iw_a":1.43394661,"cg_theta_rad":0.558006644,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0102697769,"mpcc_du":50.0149117,"mpcc_dv":49.0492058,"mpcc_dw":50.9507942,"mpcc_enc_sign":1,"mpcc_id_a":1.99276114,"mpcc_iq_a":-2.10734057,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.22333241,"mpcc_pred_id_a":-0.180734292,"mpcc_pred_iq_a":-0.268958539,"mpcc_state":1,"mpcc_theta_e":0.445776939,"mpcc_theta_mech":0.556101263,"sam_rpm":5.71827936,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209281296,"thr_a_norm":0.0209281296,"thr_a_v":0.583712518,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458178043,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.942528,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.02359605,"cg_iw_a":-0.668195724,"cg_theta_rad":0.555555165,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.00593852438,"mpcc_du":49.721241,"mpcc_dv":50.1843681,"mpcc_dw":50.278759,"mpcc_enc_sign":1,"mpcc_id_a":-1.50522149,"mpcc_iq_a":-3.17251539,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.69679689,"mpcc_pred_id_a":-0.886063576,"mpcc_pred_iq_a":-4.10143805,"mpcc_state":1,"mpcc_theta_e":0.450003624,"mpcc_theta_mech":0.556946635,"sam_rpm":11.1875334,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209281296,"thr_a_norm":0.0209281296,"thr_a_v":0.583712518,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458178043,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.948997,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.226231575,"cg_iw_a":-0.813171387,"cg_theta_rad":0.556708634,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0511031784,"mpcc_du":50.1492691,"mpcc_dv":48.3296127,"mpcc_dw":51.6703873,"mpcc_enc_sign":1,"mpcc_id_a":4.30473185,"mpcc_iq_a":-0.95144707,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.37069368,"mpcc_pred_id_a":1.13752735,"mpcc_pred_iq_a":-0.357329935,"mpcc_state":1,"mpcc_theta_e":0.438581467,"mpcc_theta_mech":0.554662168,"sam_rpm":-7.99022341,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211421251,"thr_a_norm":0.0211421251,"thr_a_v":0.584568501,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.957054,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.226231575,"cg_iw_a":-2.48038769,"cg_theta_rad":0.552309155,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.0115815606,"mpcc_du":49.5633125,"mpcc_dv":50.2591133,"mpcc_dw":50.4366875,"mpcc_enc_sign":1,"mpcc_id_a":1.18130589,"mpcc_iq_a":-0.942100346,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.2417402,"mpcc_pred_id_a":-0.0556627922,"mpcc_pred_iq_a":-3.27252316,"mpcc_state":1,"mpcc_theta_e":0.441019535,"mpcc_theta_mech":0.555149794,"sam_rpm":16.7793808,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0211421251,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457070261,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.967003,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.588670254,"cg_iw_a":-2.40789938,"cg_theta_rad":0.553945363,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.00216195127,"mpcc_du":49.51297,"mpcc_dv":50.4006844,"mpcc_dw":50.48703,"mpcc_enc_sign":1,"mpcc_id_a":0.347317129,"mpcc_iq_a":-0.852438211,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.751746058,"mpcc_pred_id_a":-0.18408902,"mpcc_pred_iq_a":-0.340187639,"mpcc_state":1,"mpcc_theta_e":0.439424992,"mpcc_theta_mech":0.554830909,"sam_rpm":14.1796131,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457070261,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.977074,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.82096052,"cg_iw_a":1.21648359,"cg_theta_rad":0.557165146,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912.08789,"hz_adc_isr":5009,"hz_app_loop":366,"hz_tim_isr":10018,"hz_vsense":366,"mpcc_cost":0.00556434505,"mpcc_du":50.5138359,"mpcc_dv":48.4261894,"mpcc_dw":51.5738106,"mpcc_enc_sign":1,"mpcc_id_a":-0.342906177,"mpcc_iq_a":-2.28967547,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.73959875,"mpcc_pred_id_a":-0.315368235,"mpcc_pred_iq_a":-1.33116102,"mpcc_state":1,"mpcc_theta_e":0.445391178,"mpcc_theta_mech":0.556024194,"sam_rpm":-4.22674465,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198580921,"thr_a_norm":0.0198580921,"thr_a_v":0.579432368,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472277433,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.987724,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-1.53100967,"cg_iw_a":-1.90048599,"cg_theta_rad":0.554314077,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0417022333,"mpcc_du":50.4057922,"mpcc_dv":48.5312157,"mpcc_dw":51.4687843,"mpcc_enc_sign":1,"mpcc_id_a":1.54961514,"mpcc_iq_a":-0.169266239,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.94756603,"mpcc_pred_id_a":-0.255000263,"mpcc_pred_iq_a":-2.6812067,"mpcc_state":1,"mpcc_theta_e":0.439575672,"mpcc_theta_mech":0.554861069,"sam_rpm":-9.55961227,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198580921,"thr_a_norm":0.0198580921,"thr_a_v":0.579432368,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472277433,"vdc_v":55.2955055}} +{"type":"telemetry","t":77.997856,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-2.69081235,"cg_iw_a":-0.23326993,"cg_theta_rad":0.554914236,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0188724417,"mpcc_du":50.5010948,"mpcc_dv":48.0712929,"mpcc_dw":51.9287071,"mpcc_enc_sign":1,"mpcc_id_a":2.35499549,"mpcc_iq_a":0.237831563,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.618391,"mpcc_pred_id_a":0.40349108,"mpcc_pred_iq_a":1.41312444,"mpcc_state":1,"mpcc_theta_e":0.419245243,"mpcc_theta_mech":0.550794959,"sam_rpm":-31.5414772,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0290226489,"thr_a_norm":0.0290226489,"thr_a_v":0.616090596,"thr_b":0.00189402699,"thr_b_norm":0.00189402699,"thr_b_v":0.507576108,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.008171,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.45852208,"cg_iw_a":0.129168749,"cg_theta_rad":0.555675983,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.00329657877,"mpcc_du":50.1141968,"mpcc_dv":48.86483,"mpcc_dw":51.13517,"mpcc_enc_sign":1,"mpcc_id_a":-0.0253854599,"mpcc_iq_a":-0.956250727,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.11854124,"mpcc_pred_id_a":-0.270437241,"mpcc_pred_iq_a":-0.312296391,"mpcc_state":1,"mpcc_theta_e":0.443057537,"mpcc_theta_mech":0.55555743,"sam_rpm":-12.3933849,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.0290226489,"thr_a_v":0.592927456,"thr_b":0,"thr_b_norm":0.00189402699,"thr_b_v":0.499066144,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.033226,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.38603449,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556747556,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0125285825,"mpcc_du":48.4125938,"mpcc_dv":51.5874062,"mpcc_dw":49.0774498,"mpcc_enc_sign":1,"mpcc_id_a":2.23421454,"mpcc_iq_a":-1.59445238,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.3790483,"mpcc_pred_id_a":0.0656248704,"mpcc_pred_iq_a":-6.866539,"mpcc_state":1,"mpcc_theta_e":0.452815533,"mpcc_theta_mech":0.557509005,"sam_rpm":20.9629021,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.023231864,"thr_a_v":0.592927456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499066144,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.039818,"values":{"cg_iu_a":1.98174238,"cg_iv_a":1.07854605,"cg_iw_a":-0.668195486,"cg_theta_rad":0.553729653,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0558762327,"mpcc_du":49.9672318,"mpcc_dv":49.0810394,"mpcc_dw":50.9189606,"mpcc_enc_sign":1,"mpcc_id_a":0.628272057,"mpcc_iq_a":-0.256247848,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.73575211,"mpcc_pred_id_a":-0.189903721,"mpcc_pred_iq_a":-2.41970611,"mpcc_state":1,"mpcc_theta_e":0.454984665,"mpcc_theta_mech":0.557942867,"sam_rpm":14.1369228,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156786442,"thr_a_norm":0.0156786442,"thr_a_v":0.562714577,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465832025,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.046288,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.45852208,"cg_iw_a":-0.740683317,"cg_theta_rad":0.5548805,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0206341166,"mpcc_du":49.492321,"mpcc_dv":49.6003265,"mpcc_dw":50.507679,"mpcc_enc_sign":1,"mpcc_id_a":2.43134809,"mpcc_iq_a":-0.680449605,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.06078577,"mpcc_pred_id_a":0.225050032,"mpcc_pred_iq_a":-4.48121929,"mpcc_state":1,"mpcc_theta_e":0.441045284,"mpcc_theta_mech":0.555154979,"sam_rpm":-4.78755093,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156786442,"thr_a_norm":0.0156786442,"thr_a_v":0.562714577,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465832025,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.052849,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-1.82096052,"cg_iw_a":-1.53804779,"cg_theta_rad":0.552863598,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0048741377,"mpcc_du":50.4650993,"mpcc_dv":48.7991257,"mpcc_dw":51.2008743,"mpcc_enc_sign":1,"mpcc_id_a":-0.942225456,"mpcc_iq_a":-1.67845964,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.65411186,"mpcc_pred_id_a":-1.0593226,"mpcc_pred_iq_a":-1.49698603,"mpcc_state":1,"mpcc_theta_e":0.448934078,"mpcc_theta_mech":0.556732714,"sam_rpm":-4.42818975,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257621855,"thr_a_norm":0.0257621855,"thr_a_v":0.603048742,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484211475,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.062828,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.661157608,"cg_iw_a":-0.740683556,"cg_theta_rad":0.553951442,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0151983034,"mpcc_du":49.8989029,"mpcc_dv":49.0723381,"mpcc_dw":50.3194733,"mpcc_enc_sign":1,"mpcc_id_a":2.44679618,"mpcc_iq_a":-0.286341369,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.2368832,"mpcc_pred_id_a":-0.0618063696,"mpcc_pred_iq_a":-1.89885235,"mpcc_state":1,"mpcc_theta_e":0.428998947,"mpcc_theta_mech":0.5527457,"sam_rpm":-16.5339508,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0401636511,"thr_a_norm":0.0257621855,"thr_a_v":0.660654604,"thr_b":0.00555732846,"thr_b_norm":0,"thr_b_v":0.522229314,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.072838,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.878620625,"cg_iw_a":-0.740683556,"cg_theta_rad":0.554600716,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0443039387,"mpcc_du":49.4474907,"mpcc_dv":49.6316109,"mpcc_dw":50.5525093,"mpcc_enc_sign":1,"mpcc_id_a":3.38066363,"mpcc_iq_a":-0.553809702,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.24407959,"mpcc_pred_id_a":0.472028106,"mpcc_pred_iq_a":-3.52936625,"mpcc_state":1,"mpcc_theta_e":0.448428154,"mpcc_theta_mech":0.556631565,"sam_rpm":8.13621521,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0401636511,"thr_a_norm":0.0401636511,"thr_a_v":0.660654604,"thr_b":0.00555732846,"thr_b_norm":0.00555732846,"thr_b_v":0.522229314,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.083031,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.60349751,"cg_iw_a":-0.523220062,"cg_theta_rad":0.555746913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0235067494,"mpcc_du":50.3384132,"mpcc_dv":48.6636848,"mpcc_dw":51.3363152,"mpcc_enc_sign":1,"mpcc_id_a":0.393113047,"mpcc_iq_a":-0.413010448,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.20268846,"mpcc_pred_id_a":-0.265846103,"mpcc_pred_iq_a":-1.50078773,"mpcc_state":1,"mpcc_theta_e":0.441954136,"mpcc_theta_mech":0.555336714,"sam_rpm":-2.07711601,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197825581,"thr_a_norm":0.0197825581,"thr_a_v":0.579130232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.093285,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.31354666,"cg_iw_a":-2.40789986,"cg_theta_rad":0.555860579,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0300665554,"mpcc_du":49.657341,"mpcc_dv":49.3598099,"mpcc_dw":50.6401901,"mpcc_enc_sign":1,"mpcc_id_a":3.00027704,"mpcc_iq_a":-0.505972743,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.91003561,"mpcc_pred_id_a":0.186646536,"mpcc_pred_iq_a":-1.59851396,"mpcc_state":1,"mpcc_theta_e":0.447147846,"mpcc_theta_mech":0.556375444,"sam_rpm":8.85726643,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197825581,"thr_a_norm":0.0197825581,"thr_a_v":0.579130232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.103264,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.60349751,"cg_iw_a":0.201656342,"cg_theta_rad":0.554425776,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0593745261,"mpcc_du":49.3395424,"mpcc_dv":49.4115295,"mpcc_dw":50.6604576,"mpcc_enc_sign":1,"mpcc_id_a":4.81038666,"mpcc_iq_a":-0.59210372,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.54198265,"mpcc_pred_id_a":1.18451846,"mpcc_pred_iq_a":-0.444057494,"mpcc_state":1,"mpcc_theta_e":0.448550701,"mpcc_theta_mech":0.556656063,"sam_rpm":13.1006823,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0161821842,"thr_a_norm":0.0161821842,"thr_a_v":0.564728737,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476607919,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.113396,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.24105906,"cg_iw_a":0.0566809177,"cg_theta_rad":0.557627916,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0109989047,"mpcc_du":50.1614685,"mpcc_dv":48.9426956,"mpcc_dw":51.0573044,"mpcc_enc_sign":1,"mpcc_id_a":0.457698524,"mpcc_iq_a":-1.282251,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.88378668,"mpcc_pred_id_a":-0.39745903,"mpcc_pred_iq_a":-1.64286196,"mpcc_state":1,"mpcc_theta_e":0.446914196,"mpcc_theta_mech":0.556328714,"sam_rpm":3.73041606,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0159178227,"thr_a_norm":0.0161821842,"thr_a_v":0.563671291,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468651831,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.136497,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.16857147,"cg_iw_a":1.72389722,"cg_theta_rad":0.5567168,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.000429315842,"mpcc_du":50.6665611,"mpcc_dv":48.246479,"mpcc_dw":51.753521,"mpcc_enc_sign":1,"mpcc_id_a":0.395794392,"mpcc_iq_a":-1.28220797,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.3232088,"mpcc_pred_id_a":-0.310007989,"mpcc_pred_iq_a":0.235882893,"mpcc_state":1,"mpcc_theta_e":0.430148602,"mpcc_theta_mech":0.552975595,"sam_rpm":-17.936985,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0159178227,"thr_a_norm":0.0159178227,"thr_a_v":0.563671291,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468651831,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.142967,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.24105906,"cg_iw_a":-0.160782099,"cg_theta_rad":0.556394875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.00958126411,"mpcc_du":49.2051048,"mpcc_dv":50.7948952,"mpcc_dw":49.9401703,"mpcc_enc_sign":1,"mpcc_id_a":1.88252127,"mpcc_iq_a":-2.33549857,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.5889883,"mpcc_pred_id_a":-0.0409430899,"mpcc_pred_iq_a":-6.59762096,"mpcc_state":1,"mpcc_theta_e":0.446622372,"mpcc_theta_mech":0.556270361,"sam_rpm":8.38606834,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269077569,"thr_a_norm":0.0269077569,"thr_a_v":0.607631028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494685292,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.149498,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.951108456,"cg_iw_a":-0.595707893,"cg_theta_rad":0.557254791,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.000690126151,"mpcc_du":50.7144547,"mpcc_dv":48.1637726,"mpcc_dw":51.8362274,"mpcc_enc_sign":1,"mpcc_id_a":1.14876854,"mpcc_iq_a":-1.51913452,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.88117886,"mpcc_pred_id_a":-0.241865873,"mpcc_pred_iq_a":1.21775329,"mpcc_state":1,"mpcc_theta_e":0.446115971,"mpcc_theta_mech":0.556169152,"sam_rpm":-12.9994678,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269077569,"thr_a_norm":0.0269077569,"thr_a_v":0.607631028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494685292,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.156029,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.951108456,"cg_iw_a":-0.305757523,"cg_theta_rad":0.556115746,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.00290294527,"mpcc_du":49.8427124,"mpcc_dv":49.2863846,"mpcc_dw":50.7136154,"mpcc_enc_sign":1,"mpcc_id_a":0.394446611,"mpcc_iq_a":-1.43073571,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.97082043,"mpcc_pred_id_a":-0.331202745,"mpcc_pred_iq_a":-3.36521721,"mpcc_state":1,"mpcc_theta_e":0.440561295,"mpcc_theta_mech":0.555058181,"sam_rpm":-4.80447006,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288841873,"thr_a_norm":0.0288841873,"thr_a_v":0.615536749,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490002275,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.166039,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.371207237,"cg_iw_a":-2.11794901,"cg_theta_rad":0.555456042,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.064150162,"mpcc_du":49.5087738,"mpcc_dv":49.9108162,"mpcc_dw":50.4912262,"mpcc_enc_sign":1,"mpcc_id_a":2.50453591,"mpcc_iq_a":-3.43003416,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.38480926,"mpcc_pred_id_a":0.225185767,"mpcc_pred_iq_a":-0.993182838,"mpcc_state":1,"mpcc_theta_e":0.437294483,"mpcc_theta_mech":0.554404795,"sam_rpm":0.300612777,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0134504437,"thr_a_norm":0.0288841873,"thr_a_v":0.553801775,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459487319,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.175682,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.16857147,"cg_iw_a":-1.75551081,"cg_theta_rad":0.556597888,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0325693823,"mpcc_du":50.1283493,"mpcc_dv":48.9658279,"mpcc_dw":51.0341721,"mpcc_enc_sign":1,"mpcc_id_a":1.1535064,"mpcc_iq_a":-0.501241684,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.511432469,"mpcc_pred_id_a":-0.418702066,"mpcc_pred_iq_a":-2.92230368,"mpcc_state":1,"mpcc_theta_e":0.446435452,"mpcc_theta_mech":0.556232989,"sam_rpm":-0.162460715,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0134504437,"thr_a_norm":0.0134504437,"thr_a_v":0.553801775,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459487319,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.186028,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.24105906,"cg_iw_a":-0.813171148,"cg_theta_rad":0.555481374,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0635742843,"mpcc_du":49.1759491,"mpcc_dv":50.8240509,"mpcc_dw":50.0875206,"mpcc_enc_sign":1,"mpcc_id_a":4.14287806,"mpcc_iq_a":-1.97939527,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.314143598,"mpcc_pred_id_a":0.39548254,"mpcc_pred_iq_a":-4.34891748,"mpcc_state":1,"mpcc_theta_e":0.437486172,"mpcc_theta_mech":0.554443121,"sam_rpm":-2.52167249,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019077599,"thr_a_norm":0.019077599,"thr_a_v":0.576310396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466083795,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.196037,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.09608364,"cg_iw_a":-0.958146572,"cg_theta_rad":0.553156137,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0271673072,"mpcc_du":49.6464882,"mpcc_dv":49.7757607,"mpcc_dw":50.3535118,"mpcc_enc_sign":1,"mpcc_id_a":-1.20118117,"mpcc_iq_a":-3.68261051,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.92472172,"mpcc_pred_id_a":-0.630306304,"mpcc_pred_iq_a":-4.18739843,"mpcc_state":1,"mpcc_theta_e":0.434200764,"mpcc_theta_mech":0.553786099,"sam_rpm":-11.3266897,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019077599,"thr_a_norm":0.019077599,"thr_a_v":0.576310396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466083795,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.20623,"values":{"cg_iu_a":0.459501266,"cg_iv_a":0.426157475,"cg_iw_a":-2.04546118,"cg_theta_rad":0.555794597,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.00918392092,"mpcc_du":49.734005,"mpcc_dv":49.8519554,"mpcc_dw":50.265995,"mpcc_enc_sign":1,"mpcc_id_a":-1.0116421,"mpcc_iq_a":-2.48146486,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.10336161,"mpcc_pred_id_a":-1.08243358,"mpcc_pred_iq_a":-5.68181372,"mpcc_state":1,"mpcc_theta_e":0.450422287,"mpcc_theta_mech":0.55703038,"sam_rpm":4.5902338,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0377717912,"thr_a_norm":0.0377717912,"thr_a_v":0.651087165,"thr_b":0.00574615598,"thr_b_norm":0.00574615598,"thr_b_v":0.522984624,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.216454,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.09608364,"cg_iw_a":0.201656342,"cg_theta_rad":0.556747019,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0268135574,"mpcc_du":49.7894669,"mpcc_dv":48.9413223,"mpcc_dw":51.0586777,"mpcc_enc_sign":1,"mpcc_id_a":3.12241411,"mpcc_iq_a":0.101300903,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.64383411,"mpcc_pred_id_a":0.672453523,"mpcc_pred_iq_a":1.7114495,"mpcc_state":1,"mpcc_theta_e":0.441934109,"mpcc_theta_mech":0.55533272,"sam_rpm":10.4824715,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292618424,"thr_a_norm":0.0377717912,"thr_a_v":0.617047369,"thr_b":0.00635042787,"thr_b_norm":0.00574615598,"thr_b_v":0.525401711,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.239494,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.806133032,"cg_iw_a":-1.61053538,"cg_theta_rad":0.555632889,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0114439167,"mpcc_du":50.8410263,"mpcc_dv":47.8328552,"mpcc_dw":52.1671448,"mpcc_enc_sign":1,"mpcc_id_a":2.08743358,"mpcc_iq_a":-0.89739579,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.5787907,"mpcc_pred_id_a":0.0741938874,"mpcc_pred_iq_a":1.05358195,"mpcc_state":1,"mpcc_theta_e":0.426225662,"mpcc_theta_mech":0.552191019,"sam_rpm":-26.9007015,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292618424,"thr_a_norm":0.0292618424,"thr_a_v":0.617047369,"thr_b":0.00635042787,"thr_b_norm":0.00635042787,"thr_b_v":0.525401711,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.245964,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.54583716,"cg_iw_a":1.36145902,"cg_theta_rad":0.55613333,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.01508589,"mpcc_du":49.7975464,"mpcc_dv":49.4133339,"mpcc_dw":50.5866661,"mpcc_enc_sign":1,"mpcc_id_a":2.08003783,"mpcc_iq_a":-1.0839591,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.67909718,"mpcc_pred_id_a":0.361653239,"mpcc_pred_iq_a":-0.184737504,"mpcc_state":1,"mpcc_theta_e":0.446444511,"mpcc_theta_mech":0.556234777,"sam_rpm":-1.68366301,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243774205,"thr_a_norm":0.0243774205,"thr_a_v":0.597509682,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.252556,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-1.02359605,"cg_iw_a":0.781557798,"cg_theta_rad":0.554482937,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.00534957275,"mpcc_du":50.1000595,"mpcc_dv":48.9501953,"mpcc_dw":51.0498047,"mpcc_enc_sign":1,"mpcc_id_a":-0.0876331329,"mpcc_iq_a":-0.899580836,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.62989807,"mpcc_pred_id_a":-0.272118241,"mpcc_pred_iq_a":-1.32288074,"mpcc_state":1,"mpcc_theta_e":0.447145939,"mpcc_theta_mech":0.556375146,"sam_rpm":-8.97209644,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243774205,"thr_a_norm":0.0243774205,"thr_a_v":0.597509682,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.259026,"values":{"cg_iu_a":-0.772789001,"cg_iv_a":-0.878620625,"cg_iw_a":-2.11794901,"cg_theta_rad":0.556141615,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0115077002,"mpcc_du":50.1051369,"mpcc_dv":48.8926239,"mpcc_dw":51.1073761,"mpcc_enc_sign":1,"mpcc_id_a":0.495874286,"mpcc_iq_a":-1.20594919,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.765092134,"mpcc_pred_id_a":0.0058708312,"mpcc_pred_iq_a":-1.78587043,"mpcc_state":1,"mpcc_theta_e":0.44525528,"mpcc_theta_mech":0.555996954,"sam_rpm":1.78864312,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024742499,"thr_a_norm":0.024742499,"thr_a_v":0.598969996,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489750504,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.269188,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.02359605,"cg_iw_a":-1.17560935,"cg_theta_rad":0.55375433,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0286155771,"mpcc_du":49.062458,"mpcc_dv":50.937542,"mpcc_dw":49.7490158,"mpcc_enc_sign":1,"mpcc_id_a":0.592860818,"mpcc_iq_a":-0.680387616,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.78559422,"mpcc_pred_id_a":-0.0754077658,"mpcc_pred_iq_a":0.986209512,"mpcc_state":1,"mpcc_theta_e":0.42843008,"mpcc_theta_mech":0.552631974,"sam_rpm":8.38712215,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263790339,"thr_a_norm":0.024742499,"thr_a_v":0.605516136,"thr_b":0.00290112197,"thr_b_norm":0,"thr_b_v":0.511604488,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.279015,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-2.61832476,"cg_iw_a":-0.523220539,"cg_theta_rad":0.554866672,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.00850200746,"mpcc_du":49.8142014,"mpcc_dv":49.2607574,"mpcc_dw":50.7392426,"mpcc_enc_sign":1,"mpcc_id_a":0.56975013,"mpcc_iq_a":-1.05390882,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.929125845,"mpcc_pred_id_a":-0.180837989,"mpcc_pred_iq_a":-3.32080102,"mpcc_state":1,"mpcc_theta_e":0.44356966,"mpcc_theta_mech":0.55565989,"sam_rpm":-1.64528668,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263790339,"thr_a_norm":0.0263790339,"thr_a_v":0.605516136,"thr_b":0.00290112197,"thr_b_norm":0.00290112197,"thr_b_v":0.511604488,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.289452,"values":{"cg_iu_a":2.34418058,"cg_iv_a":0.716107845,"cg_iw_a":-3.06028843,"cg_theta_rad":0.55830729,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0343362205,"mpcc_du":50.19664,"mpcc_dv":48.6152039,"mpcc_dw":51.3847961,"mpcc_enc_sign":1,"mpcc_id_a":1.61591077,"mpcc_iq_a":-1.0464772,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.30050516,"mpcc_pred_id_a":0.280555069,"mpcc_pred_iq_a":-3.43348002,"mpcc_state":1,"mpcc_theta_e":0.446015358,"mpcc_theta_mech":0.556148946,"sam_rpm":-7.30107737,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266559869,"thr_a_norm":0.0266559869,"thr_a_v":0.606623948,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.299431,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-1.82096052,"cg_iw_a":1.65140963,"cg_theta_rad":0.559755862,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.000802078925,"mpcc_du":50.2261086,"mpcc_dv":48.798439,"mpcc_dw":51.201561,"mpcc_enc_sign":1,"mpcc_id_a":-0.163252935,"mpcc_iq_a":-0.750647962,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.688973963,"mpcc_pred_id_a":-0.313441634,"mpcc_pred_iq_a":1.80135286,"mpcc_state":1,"mpcc_theta_e":0.436693668,"mpcc_theta_mech":0.554284632,"sam_rpm":1.02554071,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266559869,"thr_a_norm":0.0266559869,"thr_a_v":0.606623948,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.309654,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.38603449,"cg_iw_a":0.564094543,"cg_theta_rad":0.55631876,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0639803186,"mpcc_du":51.0737762,"mpcc_dv":47.6829224,"mpcc_dw":52.3170776,"mpcc_enc_sign":1,"mpcc_id_a":0.823112011,"mpcc_iq_a":-0.681083322,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.30032444,"mpcc_pred_id_a":-0.170424819,"mpcc_pred_iq_a":-4.72276831,"mpcc_state":1,"mpcc_theta_e":0.457909107,"mpcc_theta_mech":0.558527768,"sam_rpm":-11.0952044,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261524469,"thr_a_norm":0.0261524469,"thr_a_v":0.604609787,"thr_b":0.000748455524,"thr_b_norm":0.000748455524,"thr_b_v":0.502993822,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.319695,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.40789986,"cg_theta_rad":0.551735342,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0133508937,"mpcc_du":49.6528206,"mpcc_dv":50.2489586,"mpcc_dw":50.3471794,"mpcc_enc_sign":1,"mpcc_id_a":-0.235643134,"mpcc_iq_a":-1.04367054,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.8929996,"mpcc_pred_id_a":-0.510429919,"mpcc_pred_iq_a":-3.54306293,"mpcc_state":1,"mpcc_theta_e":0.450251102,"mpcc_theta_mech":0.556996167,"sam_rpm":17.951313,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0161821842,"thr_a_norm":0.0261524469,"thr_a_v":0.564728737,"thr_b":0,"thr_b_norm":0.000748455524,"thr_b_v":0.471874535,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.342644,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.45852208,"cg_iw_a":1.143996,"cg_theta_rad":0.556174815,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.00109551335,"mpcc_du":51.1197891,"mpcc_dv":47.6392021,"mpcc_dw":52.3607979,"mpcc_enc_sign":1,"mpcc_id_a":0.488853544,"mpcc_iq_a":-1.4200561,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.4586353,"mpcc_pred_id_a":-0.135074303,"mpcc_pred_iq_a":1.76993597,"mpcc_state":1,"mpcc_theta_e":0.432829857,"mpcc_theta_mech":0.553511858,"sam_rpm":-18.6068573,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0161821842,"thr_a_norm":0.0161821842,"thr_a_v":0.564728737,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471874535,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.349205,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.45852208,"cg_iw_a":0.346631765,"cg_theta_rad":0.556845546,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0144196376,"mpcc_du":49.5879974,"mpcc_dv":49.7287064,"mpcc_dw":50.4120026,"mpcc_enc_sign":1,"mpcc_id_a":0.596196592,"mpcc_iq_a":0.185087413,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0349178948,"mpcc_pred_id_a":-0.206640601,"mpcc_pred_iq_a":-4.03547287,"mpcc_state":1,"mpcc_theta_e":0.442541599,"mpcc_theta_mech":0.555454195,"sam_rpm":-0.299321562,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224513561,"thr_a_norm":0.0224513561,"thr_a_v":0.589805424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476154745,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.355705,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.516182423,"cg_iw_a":-1.03063393,"cg_theta_rad":0.556871891,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.00334401708,"mpcc_du":50.3049927,"mpcc_dv":48.6348648,"mpcc_dw":51.3651352,"mpcc_enc_sign":1,"mpcc_id_a":0.54263109,"mpcc_iq_a":-1.48644519,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.8876772,"mpcc_pred_id_a":-0.213287115,"mpcc_pred_iq_a":-0.806184471,"mpcc_state":1,"mpcc_theta_e":0.429112911,"mpcc_theta_mech":0.552768528,"sam_rpm":-18.1967564,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224513561,"thr_a_norm":0.0224513561,"thr_a_v":0.589805424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476154745,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.362572,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.38603449,"cg_iw_a":-1.75551057,"cg_theta_rad":0.556711257,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0489023961,"mpcc_du":49.1055145,"mpcc_dv":50.8944855,"mpcc_dw":50.02565,"mpcc_enc_sign":1,"mpcc_id_a":3.55119896,"mpcc_iq_a":-0.0343305878,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.8871069,"mpcc_pred_id_a":0.430111587,"mpcc_pred_iq_a":-6.19431877,"mpcc_state":1,"mpcc_theta_e":0.449052334,"mpcc_theta_mech":0.556756377,"sam_rpm":11.6840477,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206385851,"thr_a_norm":0.0206385851,"thr_a_v":0.58255434,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459839791,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.372673,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.24105906,"cg_iw_a":-1.53804755,"cg_theta_rad":0.557145596,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0208864883,"mpcc_du":49.6353951,"mpcc_dv":49.9504852,"mpcc_dw":50.3646049,"mpcc_enc_sign":1,"mpcc_id_a":1.12273383,"mpcc_iq_a":-0.566223323,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.3304453,"mpcc_pred_id_a":-0.367647022,"mpcc_pred_iq_a":-0.692113876,"mpcc_state":1,"mpcc_theta_e":0.437046528,"mpcc_theta_mech":0.554355264,"sam_rpm":5.27831984,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0322579443,"thr_a_norm":0.0322579443,"thr_a_v":0.629031777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491966128,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.382622,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.661157608,"cg_iw_a":-1.03063393,"cg_theta_rad":0.553245485,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0198218543,"mpcc_du":50.5157013,"mpcc_dv":48.127182,"mpcc_dw":51.872818,"mpcc_enc_sign":1,"mpcc_id_a":2.70727825,"mpcc_iq_a":-0.427684814,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.42295027,"mpcc_pred_id_a":0.456696123,"mpcc_pred_iq_a":2.02832413,"mpcc_state":1,"mpcc_theta_e":0.436653614,"mpcc_theta_mech":0.554276645,"sam_rpm":-7.25806475,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0322579443,"thr_a_norm":0.0322579443,"thr_a_v":0.629031777,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491966128,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.393852,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.38603449,"cg_iw_a":-1.10312176,"cg_theta_rad":0.557309687,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0082016103,"mpcc_du":49.9763298,"mpcc_dv":49.0430527,"mpcc_dw":50.9569473,"mpcc_enc_sign":1,"mpcc_id_a":-1.11626709,"mpcc_iq_a":-2.05963039,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.24747705,"mpcc_pred_id_a":-0.741055191,"mpcc_pred_iq_a":-3.10206699,"mpcc_state":1,"mpcc_theta_e":0.445243835,"mpcc_theta_mech":0.55621326,"sam_rpm":-2.7983017,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0139791816,"thr_a_norm":0.0139791816,"thr_a_v":0.555916727,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43884182,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.405174,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.951108456,"cg_iw_a":-1.46555996,"cg_theta_rad":0.554262698,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0504373871,"mpcc_du":49.4154816,"mpcc_dv":50.5845184,"mpcc_dw":50.1601028,"mpcc_enc_sign":1,"mpcc_id_a":3.12728262,"mpcc_iq_a":-0.365935355,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.932237744,"mpcc_pred_id_a":0.483552068,"mpcc_pred_iq_a":-2.23958802,"mpcc_state":1,"mpcc_theta_e":0.428524971,"mpcc_theta_mech":0.55126822,"sam_rpm":-0.509776413,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02428931,"thr_a_norm":0.02428931,"thr_a_v":0.59715724,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.415031,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-2.32837415,"cg_iw_a":2.52126145,"cg_theta_rad":0.55589813,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0190789197,"mpcc_du":49.702034,"mpcc_dv":49.298008,"mpcc_dw":50.701992,"mpcc_enc_sign":1,"mpcc_id_a":1.08549261,"mpcc_iq_a":-0.997531772,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.14692688,"mpcc_pred_id_a":0.0904857442,"mpcc_pred_iq_a":-0.192875922,"mpcc_state":1,"mpcc_theta_e":0.428514481,"mpcc_theta_mech":0.552648783,"sam_rpm":-10.2814093,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02428931,"thr_a_norm":0.02428931,"thr_a_v":0.59715724,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.438469,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.16857147,"cg_iw_a":-0.740683556,"cg_theta_rad":0.555725396,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.04804774,"mpcc_du":50.8918762,"mpcc_dv":47.6767006,"mpcc_dw":52.3232994,"mpcc_enc_sign":1,"mpcc_id_a":3.03838062,"mpcc_iq_a":-0.41679585,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.89230585,"mpcc_pred_id_a":0.589472771,"mpcc_pred_iq_a":1.59736776,"mpcc_state":1,"mpcc_theta_e":0.442636013,"mpcc_theta_mech":0.555473149,"sam_rpm":-6.13384056,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248558074,"thr_a_norm":0.0248558074,"thr_a_v":0.59942323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472277433,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.445152,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.661157608,"cg_iw_a":-1.97297382,"cg_theta_rad":0.555712283,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0107377032,"mpcc_du":50.1146164,"mpcc_dv":48.7722778,"mpcc_dw":51.2277222,"mpcc_enc_sign":1,"mpcc_id_a":0.869979203,"mpcc_iq_a":-0.0833159834,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.714125454,"mpcc_pred_id_a":0.137930751,"mpcc_pred_iq_a":-0.00354205631,"mpcc_state":1,"mpcc_theta_e":0.442238331,"mpcc_theta_mech":0.555393577,"sam_rpm":1.24014592,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238487124,"thr_a_norm":0.0248558074,"thr_a_v":0.59539485,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472730607,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.451469,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.31354666,"cg_iw_a":-0.885658741,"cg_theta_rad":0.553086042,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0383523218,"mpcc_du":50.6349373,"mpcc_dv":47.6988831,"mpcc_dw":52.3011169,"mpcc_enc_sign":1,"mpcc_id_a":3.82911825,"mpcc_iq_a":-0.218198687,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.1729832,"mpcc_pred_id_a":0.971325159,"mpcc_pred_iq_a":1.18047714,"mpcc_state":1,"mpcc_theta_e":0.426425934,"mpcc_theta_mech":0.552231133,"sam_rpm":-24.2308464,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238487124,"thr_a_norm":0.0238487124,"thr_a_v":0.59539485,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472730607,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.458,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.02359605,"cg_iw_a":0.0566809177,"cg_theta_rad":0.555971444,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0258018766,"mpcc_du":49.8673248,"mpcc_dv":48.9717674,"mpcc_dw":51.0282326,"mpcc_enc_sign":1,"mpcc_id_a":3.07999802,"mpcc_iq_a":0.656749666,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.46251774,"mpcc_pred_id_a":0.351340532,"mpcc_pred_iq_a":-0.568422973,"mpcc_state":1,"mpcc_theta_e":0.449251652,"mpcc_theta_mech":0.556796253,"sam_rpm":15.0089951,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174158812,"thr_a_norm":0.0174158812,"thr_a_v":0.569663525,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.442316294,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.465996,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.60349751,"cg_iw_a":0.636582375,"cg_theta_rad":0.557808042,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0185201261,"mpcc_du":49.586895,"mpcc_dv":49.3011208,"mpcc_dw":50.6988792,"mpcc_enc_sign":1,"mpcc_id_a":2.3472898,"mpcc_iq_a":-0.689539015,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.634810209,"mpcc_pred_id_a":0.419454843,"mpcc_pred_iq_a":-2.84931731,"mpcc_state":1,"mpcc_theta_e":0.441977024,"mpcc_theta_mech":0.555341303,"sam_rpm":-1.26568568,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174158812,"thr_a_norm":0.0174158812,"thr_a_v":0.569663525,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.442316294,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.476219,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-2.76329994,"cg_iw_a":0.491606712,"cg_theta_rad":0.555923641,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0147057883,"mpcc_du":50.1908798,"mpcc_dv":48.6272278,"mpcc_dw":51.3727722,"mpcc_enc_sign":1,"mpcc_id_a":2.13961387,"mpcc_iq_a":-0.611056209,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.74654341,"mpcc_pred_id_a":0.125722811,"mpcc_pred_iq_a":1.24098325,"mpcc_state":1,"mpcc_theta_e":0.431071281,"mpcc_theta_mech":0.553160131,"sam_rpm":-11.0732384,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451279461,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.486412,"values":{"cg_iu_a":0.676964283,"cg_iv_a":1.15103388,"cg_iw_a":-1.82799816,"cg_theta_rad":0.555091977,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0481032096,"mpcc_du":50.1355476,"mpcc_dv":48.4034843,"mpcc_dw":51.5965157,"mpcc_enc_sign":1,"mpcc_id_a":4.1595993,"mpcc_iq_a":-0.239450112,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.68112135,"mpcc_pred_id_a":0.920338213,"mpcc_pred_iq_a":0.411761194,"mpcc_state":1,"mpcc_theta_e":0.439339638,"mpcc_theta_mech":0.554813802,"sam_rpm":-6.00405598,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0208274126,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439899296,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.496391,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.443694592,"cg_iw_a":-2.40789986,"cg_theta_rad":0.55361557,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0718902573,"mpcc_du":49.4045334,"mpcc_dv":50.2771416,"mpcc_dw":50.5954666,"mpcc_enc_sign":1,"mpcc_id_a":4.48411036,"mpcc_iq_a":0.398675203,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.25914383,"mpcc_pred_id_a":0.923678756,"mpcc_pred_iq_a":-3.52352142,"mpcc_state":1,"mpcc_theta_e":0.449078083,"mpcc_theta_mech":0.556761563,"sam_rpm":13.219924,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439899296,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.506401,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.878620625,"cg_iw_a":0.201656342,"cg_theta_rad":0.554641247,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0285068974,"mpcc_du":49.5834579,"mpcc_dv":49.955616,"mpcc_dw":50.4165421,"mpcc_enc_sign":1,"mpcc_id_a":0.580524266,"mpcc_iq_a":-2.88008928,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.26593971,"mpcc_pred_id_a":-0.338735968,"mpcc_pred_iq_a":-2.64122272,"mpcc_state":1,"mpcc_theta_e":0.430748463,"mpcc_theta_mech":0.553095579,"sam_rpm":-5.24963856,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024113059,"thr_a_norm":0.024113059,"thr_a_v":0.596452236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472227067,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.516289,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-1.31354666,"cg_iw_a":-2.19043684,"cg_theta_rad":0.555210233,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.000329839502,"mpcc_du":49.7464905,"mpcc_dv":49.4040489,"mpcc_dw":50.5959511,"mpcc_enc_sign":1,"mpcc_id_a":0.198648334,"mpcc_iq_a":-1.51946568,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.0364418,"mpcc_pred_id_a":-0.561574757,"mpcc_pred_iq_a":-3.51322794,"mpcc_state":1,"mpcc_theta_e":0.43613863,"mpcc_theta_mech":0.554173648,"sam_rpm":-9.41534424,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024113059,"thr_a_norm":0.024113059,"thr_a_v":0.596452236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472227067,"vdc_v":54.6292953}} +{"type":"telemetry","t":78.539665,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.31354666,"cg_iw_a":0.78155756,"cg_theta_rad":0.557060361,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.00182518794,"mpcc_du":51.0230751,"mpcc_dv":47.8773041,"mpcc_dw":52.1226959,"mpcc_enc_sign":1,"mpcc_id_a":-0.684483349,"mpcc_iq_a":-2.76661348,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.3516655,"mpcc_pred_id_a":-0.754815102,"mpcc_pred_iq_a":-1.77116203,"mpcc_state":1,"mpcc_theta_e":0.430300236,"mpcc_theta_mech":0.553005993,"sam_rpm":-25.5884953,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0287079364,"thr_a_norm":0.0287079364,"thr_a_v":0.614831746,"thr_b":0.00277523696,"thr_b_norm":0.00277523696,"thr_b_v":0.511100948,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.546135,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.951108456,"cg_iw_a":0.201656342,"cg_theta_rad":0.557790518,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.00746217044,"mpcc_du":49.8407669,"mpcc_dv":49.1052246,"mpcc_dw":50.8947754,"mpcc_enc_sign":1,"mpcc_id_a":1.51161981,"mpcc_iq_a":-1.2682302,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.10696435,"mpcc_pred_id_a":-0.0169375613,"mpcc_pred_iq_a":-1.69626677,"mpcc_state":1,"mpcc_theta_e":0.442844391,"mpcc_theta_mech":0.555514753,"sam_rpm":1.47483194,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024339661,"thr_a_norm":0.0287079364,"thr_a_v":0.597358644,"thr_b":0,"thr_b_norm":0.00277523696,"thr_b_v":0.486175328,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.552696,"values":{"cg_iu_a":3.93890953,"cg_iv_a":-1.38603449,"cg_iw_a":0.636582375,"cg_theta_rad":0.553199828,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.00457538059,"mpcc_du":49.8220444,"mpcc_dv":49.1315498,"mpcc_dw":50.8684502,"mpcc_enc_sign":1,"mpcc_id_a":1.34249496,"mpcc_iq_a":-1.12608683,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.13017178,"mpcc_pred_id_a":-0.030753633,"mpcc_pred_iq_a":-2.57881927,"mpcc_state":1,"mpcc_theta_e":0.434514046,"mpcc_theta_mech":0.553848743,"sam_rpm":-9.48358154,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024339661,"thr_a_norm":0.024339661,"thr_a_v":0.597358644,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486175328,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.559196,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.60349751,"cg_iw_a":0.419119358,"cg_theta_rad":0.555157721,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.034707278,"mpcc_du":50.1513863,"mpcc_dv":48.5739212,"mpcc_dw":51.4260788,"mpcc_enc_sign":1,"mpcc_id_a":1.68092704,"mpcc_iq_a":-0.230091855,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.23235083,"mpcc_pred_id_a":0.317652702,"mpcc_pred_iq_a":-2.84499741,"mpcc_state":1,"mpcc_theta_e":0.439058304,"mpcc_theta_mech":0.554757595,"sam_rpm":-9.99363518,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0409693271,"thr_a_norm":0.0409693271,"thr_a_v":0.663877308,"thr_b":0.00832684338,"thr_b_norm":0.00832684338,"thr_b_v":0.533307374,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.566826,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.226231575,"cg_iw_a":0.564094782,"cg_theta_rad":0.556751788,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0525562428,"mpcc_du":50.2011604,"mpcc_dv":48.3970795,"mpcc_dw":51.6029205,"mpcc_enc_sign":1,"mpcc_id_a":2.77583551,"mpcc_iq_a":-0.297664225,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.35099816,"mpcc_pred_id_a":0.695170701,"mpcc_pred_iq_a":-1.27507377,"mpcc_state":1,"mpcc_theta_e":0.444458961,"mpcc_theta_mech":0.555837691,"sam_rpm":-1.38358772,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0409693271,"thr_a_norm":0.0409693271,"thr_a_v":0.663877308,"thr_b":0.00832684338,"thr_b_norm":0.00832684338,"thr_b_v":0.533307374,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.577019,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-1.02359605,"cg_iw_a":-2.48038745,"cg_theta_rad":0.555875301,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0223902222,"mpcc_du":49.6870575,"mpcc_dv":49.2735214,"mpcc_dw":50.7264786,"mpcc_enc_sign":1,"mpcc_id_a":2.00905776,"mpcc_iq_a":-2.60223818,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.28350139,"mpcc_pred_id_a":0.0166648515,"mpcc_pred_iq_a":-1.29609823,"mpcc_state":1,"mpcc_theta_e":0.438659191,"mpcc_theta_mech":0.554677784,"sam_rpm":-13.2613831,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228290111,"thr_a_norm":0.0228290111,"thr_a_v":0.591316044,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498713672,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.587425,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.661157608,"cg_iw_a":-0.378245354,"cg_theta_rad":0.555872679,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0243992172,"mpcc_du":50.2075653,"mpcc_dv":48.6687584,"mpcc_dw":51.3312416,"mpcc_enc_sign":1,"mpcc_id_a":2.22707677,"mpcc_iq_a":-1.28228319,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.2445507,"mpcc_pred_id_a":0.0952947512,"mpcc_pred_iq_a":-2.60691261,"mpcc_state":1,"mpcc_theta_e":0.442481995,"mpcc_theta_mech":0.555442333,"sam_rpm":-7.50380516,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261650234,"thr_a_norm":0.0228290111,"thr_a_v":0.604660094,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492469668,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.597191,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.53100967,"cg_iw_a":-2.48038769,"cg_theta_rad":0.555395246,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.00805659033,"mpcc_du":49.0335464,"mpcc_dv":50.9664536,"mpcc_dw":49.8202782,"mpcc_enc_sign":1,"mpcc_id_a":1.76261592,"mpcc_iq_a":-0.23618412,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.7179155,"mpcc_pred_id_a":0.0731899664,"mpcc_pred_iq_a":-3.34513235,"mpcc_state":1,"mpcc_theta_e":0.446520805,"mpcc_theta_mech":0.556250095,"sam_rpm":18.910614,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261650234,"thr_a_norm":0.0261650234,"thr_a_v":0.604660094,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492469668,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.607201,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.74847269,"cg_iw_a":-1.24809694,"cg_theta_rad":0.555595815,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0277494211,"mpcc_du":49.8305473,"mpcc_dv":48.6922264,"mpcc_dw":51.3077736,"mpcc_enc_sign":1,"mpcc_id_a":0.0974014029,"mpcc_iq_a":-1.01921797,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.21739483,"mpcc_pred_id_a":-0.258454412,"mpcc_pred_iq_a":-3.42562628,"mpcc_state":1,"mpcc_theta_e":0.451096535,"mpcc_theta_mech":0.557165205,"sam_rpm":8.79164886,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278770924,"thr_a_norm":0.0278770924,"thr_a_v":0.611508369,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490757585,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.61721,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.226231575,"cg_iw_a":-1.61053562,"cg_theta_rad":0.55619359,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.119495176,"mpcc_du":49.9278984,"mpcc_dv":48.888916,"mpcc_dw":51.111084,"mpcc_enc_sign":1,"mpcc_id_a":3.8571434,"mpcc_iq_a":0.931309283,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.7430712,"mpcc_pred_id_a":0.494231045,"mpcc_pred_iq_a":-3.22925401,"mpcc_state":1,"mpcc_theta_e":0.449605942,"mpcc_theta_mech":0.556867063,"sam_rpm":3.77329683,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278770924,"thr_a_norm":0.0278770924,"thr_a_v":0.611508369,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490757585,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.640617,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.516182423,"cg_iw_a":0.12916851,"cg_theta_rad":0.554199576,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.00154487963,"mpcc_du":48.4553299,"mpcc_dv":51.5446701,"mpcc_dw":48.7768898,"mpcc_enc_sign":1,"mpcc_id_a":0.0837113559,"mpcc_iq_a":-1.09303951,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.1147013,"mpcc_pred_id_a":-0.573341548,"mpcc_pred_iq_a":5.42735195,"mpcc_state":1,"mpcc_theta_e":0.430252552,"mpcc_theta_mech":0.552996397,"sam_rpm":16.6388378,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0457404405,"thr_a_norm":0.0457404405,"thr_a_v":0.682961762,"thr_b":0.0177431852,"thr_b_norm":0.0177431852,"thr_b_v":0.570972741,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.647179,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-2.11091113,"cg_iw_a":-0.378245115,"cg_theta_rad":0.556901097,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0279630441,"mpcc_du":50.2341042,"mpcc_dv":48.7713356,"mpcc_dw":51.2286644,"mpcc_enc_sign":1,"mpcc_id_a":0.648125887,"mpcc_iq_a":-1.70682883,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.27766895,"mpcc_pred_id_a":-0.0851004794,"mpcc_pred_iq_a":-1.72378147,"mpcc_state":1,"mpcc_theta_e":0.452663898,"mpcc_theta_mech":0.557478726,"sam_rpm":10.4299297,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023987174,"thr_a_norm":0.0457404405,"thr_a_v":0.595948696,"thr_b":0,"thr_b_norm":0.0177431852,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.65374,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.96593571,"cg_iw_a":-0.523220539,"cg_theta_rad":0.555890083,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.00272601028,"mpcc_du":50.5018845,"mpcc_dv":48.5342369,"mpcc_dw":51.4657631,"mpcc_enc_sign":1,"mpcc_id_a":0.101285763,"mpcc_iq_a":-1.38245296,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.43435478,"mpcc_pred_id_a":-0.482515633,"mpcc_pred_iq_a":-0.999355495,"mpcc_state":1,"mpcc_theta_e":0.437091351,"mpcc_theta_mech":0.554364145,"sam_rpm":-9.51977158,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023987174,"thr_a_norm":0.023987174,"thr_a_v":0.595948696,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.660606,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.89344811,"cg_iw_a":0.999020815,"cg_theta_rad":0.557513714,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.00944828242,"mpcc_du":50.0740662,"mpcc_dv":48.9077492,"mpcc_dw":51.0922508,"mpcc_enc_sign":1,"mpcc_id_a":1.94205725,"mpcc_iq_a":-2.54827166,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.68624377,"mpcc_pred_id_a":-0.0403859578,"mpcc_pred_iq_a":-0.408701062,"mpcc_state":1,"mpcc_theta_e":0.446196079,"mpcc_theta_mech":0.556185126,"sam_rpm":5.645154,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258503109,"thr_a_norm":0.0258503109,"thr_a_v":0.603401244,"thr_b":0.000282675028,"thr_b_norm":0.000282675028,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.670433,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.733645439,"cg_iw_a":-1.24809742,"cg_theta_rad":0.557827175,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0602944829,"mpcc_du":50.6422462,"mpcc_dv":48.1402168,"mpcc_dw":51.8597832,"mpcc_enc_sign":1,"mpcc_id_a":1.22932863,"mpcc_iq_a":-1.0100584,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.07802069,"mpcc_pred_id_a":0.178649187,"mpcc_pred_iq_a":-1.73822951,"mpcc_state":1,"mpcc_theta_e":0.451419353,"mpcc_theta_mech":0.557229817,"sam_rpm":-0.503134131,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258503109,"thr_a_norm":0.0258503109,"thr_a_v":0.603401244,"thr_b":0.000282675028,"thr_b_norm":0.000282675028,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.680382,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.298719406,"cg_iw_a":-4.07511616,"cg_theta_rad":0.558015049,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0152635435,"mpcc_du":49.7840004,"mpcc_dv":49.0736542,"mpcc_dw":50.9263458,"mpcc_enc_sign":1,"mpcc_id_a":2.42356801,"mpcc_iq_a":-1.03569746,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.879152179,"mpcc_pred_id_a":0.281636536,"mpcc_pred_iq_a":-0.257008761,"mpcc_state":1,"mpcc_theta_e":0.437160492,"mpcc_theta_mech":0.554377973,"sam_rpm":-1.47547114,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296269208,"thr_a_norm":0.0296269208,"thr_a_v":0.618507683,"thr_b":0.00465095043,"thr_b_norm":0.00465095043,"thr_b_v":0.518603802,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.690605,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.09608364,"cg_iw_a":-1.53804779,"cg_theta_rad":0.557901025,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.00838407222,"mpcc_du":49.8913689,"mpcc_dv":49.2681046,"mpcc_dw":50.7318954,"mpcc_enc_sign":1,"mpcc_id_a":0.0478014201,"mpcc_iq_a":-1.16915393,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.73791456,"mpcc_pred_id_a":-0.589966774,"mpcc_pred_iq_a":-0.511193693,"mpcc_state":1,"mpcc_theta_e":0.431106091,"mpcc_theta_mech":0.553167164,"sam_rpm":-7.90013218,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248558074,"thr_a_norm":0.0296269208,"thr_a_v":0.59942323,"thr_b":0,"thr_b_norm":0.00465095043,"thr_b_v":0.479931325,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.700768,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.443694592,"cg_iw_a":-2.04546165,"cg_theta_rad":0.557110488,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0575210713,"mpcc_du":49.6120758,"mpcc_dv":49.3479729,"mpcc_dw":50.6520271,"mpcc_enc_sign":1,"mpcc_id_a":2.19229341,"mpcc_iq_a":-1.01796067,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.21705437,"mpcc_pred_id_a":0.159983814,"mpcc_pred_iq_a":-4.2354784,"mpcc_state":1,"mpcc_theta_e":0.453708172,"mpcc_theta_mech":0.557687521,"sam_rpm":12.2422142,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248558074,"thr_a_norm":0.0248558074,"thr_a_v":0.59942323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479931325,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.71093,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.16857147,"cg_iw_a":0.78155756,"cg_theta_rad":0.556930721,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0169535633,"mpcc_du":49.8630028,"mpcc_dv":49.0174332,"mpcc_dw":50.9825668,"mpcc_enc_sign":1,"mpcc_id_a":1.91650784,"mpcc_iq_a":-1.09095466,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.84665728,"mpcc_pred_id_a":0.175306961,"mpcc_pred_iq_a":-3.0006125,"mpcc_state":1,"mpcc_theta_e":0.443359375,"mpcc_theta_mech":0.555617809,"sam_rpm":-4.61591721,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212806165,"thr_a_norm":0.0212806165,"thr_a_v":0.585122466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463767439,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.720818,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.6759851,"cg_iw_a":0.129168749,"cg_theta_rad":0.555968702,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.00140503712,"mpcc_du":50.2291222,"mpcc_dv":48.6418953,"mpcc_dw":51.3581047,"mpcc_enc_sign":1,"mpcc_id_a":0.73362422,"mpcc_iq_a":-1.40008497,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.30098152,"mpcc_pred_id_a":-0.120485313,"mpcc_pred_iq_a":-0.82514286,"mpcc_state":1,"mpcc_theta_e":0.436619282,"mpcc_theta_mech":0.554269791,"sam_rpm":-9.91663551,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212806165,"thr_a_norm":0.0212806165,"thr_a_v":0.585122466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463767439,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.744164,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-3.12573838,"cg_iw_a":2.37628627,"cg_theta_rad":0.555775106,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0172418505,"mpcc_du":50.9473228,"mpcc_dv":47.5709229,"mpcc_dw":52.4290771,"mpcc_enc_sign":1,"mpcc_id_a":2.54237437,"mpcc_iq_a":-0.431358397,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.511034,"mpcc_pred_id_a":0.321364731,"mpcc_pred_iq_a":2.74584103,"mpcc_state":1,"mpcc_theta_e":0.432379246,"mpcc_theta_mech":0.553421736,"sam_rpm":-17.4050121,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021670863,"thr_a_norm":0.021670863,"thr_a_v":0.586683452,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.750694,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.74847269,"cg_iw_a":0.564094543,"cg_theta_rad":0.554337204,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0204791836,"mpcc_du":49.5228577,"mpcc_dv":49.8297615,"mpcc_dw":50.4771423,"mpcc_enc_sign":1,"mpcc_id_a":1.61436272,"mpcc_iq_a":-0.549086571,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.9003496,"mpcc_pred_id_a":0.0505380444,"mpcc_pred_iq_a":-2.6190033,"mpcc_state":1,"mpcc_theta_e":0.453279018,"mpcc_theta_mech":0.55760169,"sam_rpm":16.2708874,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021469444,"thr_a_norm":0.021670863,"thr_a_v":0.585877776,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476507217,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.757195,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.371207237,"cg_iw_a":1.50643444,"cg_theta_rad":0.554130793,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0792879313,"mpcc_du":48.4969635,"mpcc_dv":51.5030365,"mpcc_dw":49.2760963,"mpcc_enc_sign":1,"mpcc_id_a":3.13391256,"mpcc_iq_a":0.550175667,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.6035748,"mpcc_pred_id_a":0.186133683,"mpcc_pred_iq_a":-8.12210464,"mpcc_state":1,"mpcc_theta_e":0.461196899,"mpcc_theta_mech":0.559185266,"sam_rpm":28.037468,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021469444,"thr_a_norm":0.021469444,"thr_a_v":0.585877776,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476507217,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.764153,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-2.0384233,"cg_iw_a":0.781557322,"cg_theta_rad":0.557429373,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0233132094,"mpcc_du":49.5601654,"mpcc_dv":50.4398346,"mpcc_dw":50.3754196,"mpcc_enc_sign":1,"mpcc_id_a":1.5104332,"mpcc_iq_a":-0.763005912,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.410108328,"mpcc_pred_id_a":-0.202991247,"mpcc_pred_iq_a":-6.81579638,"mpcc_state":1,"mpcc_theta_e":0.445432663,"mpcc_theta_mech":0.556032479,"sam_rpm":0.992790043,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0303696543,"thr_a_norm":0.0303696543,"thr_a_v":0.621478617,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482801557,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.772026,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.661157608,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.556831896,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.013861564,"mpcc_du":49.6525002,"mpcc_dv":49.3371811,"mpcc_dw":50.6628189,"mpcc_enc_sign":1,"mpcc_id_a":1.5037756,"mpcc_iq_a":-1.27752161,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.97513866,"mpcc_pred_id_a":0.0765328556,"mpcc_pred_iq_a":-2.44684505,"mpcc_state":1,"mpcc_theta_e":0.449007034,"mpcc_theta_mech":0.556747317,"sam_rpm":8.85219479,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0303696543,"thr_a_norm":0.0303696543,"thr_a_v":0.621478617,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482801557,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.782036,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.02359605,"cg_iw_a":0.564094782,"cg_theta_rad":0.555014849,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0336649977,"mpcc_du":49.4832268,"mpcc_dv":50.5167732,"mpcc_dw":50.4644547,"mpcc_enc_sign":1,"mpcc_id_a":2.71990848,"mpcc_iq_a":-1.08708644,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.69987488,"mpcc_pred_id_a":0.402658254,"mpcc_pred_iq_a":-1.41282403,"mpcc_state":1,"mpcc_theta_e":0.438800812,"mpcc_theta_mech":0.554706097,"sam_rpm":4.66655684,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173529387,"thr_a_norm":0.0173529387,"thr_a_v":0.569411755,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447905689,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.792198,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.661157608,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556687772,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0408342555,"mpcc_du":49.77948,"mpcc_dv":49.1366081,"mpcc_dw":50.8633919,"mpcc_enc_sign":1,"mpcc_id_a":2.90390992,"mpcc_iq_a":-2.20428419,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.32429981,"mpcc_pred_id_a":0.344989449,"mpcc_pred_iq_a":-4.08633423,"mpcc_state":1,"mpcc_theta_e":0.45401144,"mpcc_theta_mech":0.557748199,"sam_rpm":6.75806522,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019883275,"thr_a_norm":0.0173529387,"thr_a_v":0.5795331,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474090159,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.802422,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.09608364,"cg_iw_a":-0.160782337,"cg_theta_rad":0.558034301,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0288525093,"mpcc_du":49.170311,"mpcc_dv":50.829689,"mpcc_dw":50.2536926,"mpcc_enc_sign":1,"mpcc_id_a":3.39718509,"mpcc_iq_a":-0.148930848,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.32105923,"mpcc_pred_id_a":0.960042894,"mpcc_pred_iq_a":-4.30276299,"mpcc_state":1,"mpcc_theta_e":0.436555862,"mpcc_theta_mech":0.554257095,"sam_rpm":3.11789536,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019883275,"thr_a_norm":0.019883275,"thr_a_v":0.5795331,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474090159,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.812767,"values":{"cg_iu_a":2.48915625,"cg_iv_a":0.0637187958,"cg_iw_a":-3.35023928,"cg_theta_rad":0.556394875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.024719106,"mpcc_du":49.7354698,"mpcc_dv":49.2998276,"mpcc_dw":50.7001724,"mpcc_enc_sign":1,"mpcc_id_a":1.11225796,"mpcc_iq_a":-1.7997843,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.44741249,"mpcc_pred_id_a":-0.059925735,"mpcc_pred_iq_a":-0.501465499,"mpcc_state":1,"mpcc_theta_e":0.432561874,"mpcc_theta_mech":0.553458273,"sam_rpm":-8.4817667,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212302655,"thr_a_norm":0.0212302655,"thr_a_v":0.584921062,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456163883,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.822655,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.588670254,"cg_iw_a":-1.75551033,"cg_theta_rad":0.555057585,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0267185103,"mpcc_du":49.5490608,"mpcc_dv":49.3938255,"mpcc_dw":50.6061745,"mpcc_enc_sign":1,"mpcc_id_a":2.89319563,"mpcc_iq_a":-1.23106718,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.55469501,"mpcc_pred_id_a":0.216600552,"mpcc_pred_iq_a":-4.25954914,"mpcc_state":1,"mpcc_theta_e":0.443532944,"mpcc_theta_mech":0.555652499,"sam_rpm":-2.93197799,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212302655,"thr_a_norm":0.0212302655,"thr_a_v":0.584921062,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456163883,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.846031,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.60349751,"cg_iw_a":-0.885658741,"cg_theta_rad":0.557474196,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0208478328,"mpcc_du":50.5672913,"mpcc_dv":48.0488853,"mpcc_dw":51.9511147,"mpcc_enc_sign":1,"mpcc_id_a":2.7714479,"mpcc_iq_a":-1.14686799,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.33566761,"mpcc_pred_id_a":0.366233855,"mpcc_pred_iq_a":0.801821768,"mpcc_state":1,"mpcc_theta_e":0.435586929,"mpcc_theta_mech":0.55406332,"sam_rpm":-11.5243559,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0970141888,"thr_a_norm":0.0970141888,"thr_a_v":0.888056755,"thr_b":0.0409063846,"thr_b_norm":0.0409063846,"thr_b_v":0.663625538,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.852531,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.516182423,"cg_iw_a":-0.668195724,"cg_theta_rad":0.552447259,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0099600628,"mpcc_du":49.7817574,"mpcc_dv":49.1806984,"mpcc_dw":50.8193016,"mpcc_enc_sign":1,"mpcc_id_a":1.06160271,"mpcc_iq_a":-0.355105639,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.46188259,"mpcc_pred_id_a":-0.0619948022,"mpcc_pred_iq_a":-2.9205966,"mpcc_state":1,"mpcc_theta_e":0.438848495,"mpcc_theta_mech":0.554715633,"sam_rpm":-5.34800291,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176928341,"thr_a_norm":0.0176928341,"thr_a_v":0.570771337,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451783001,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.859093,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.31354666,"cg_iw_a":-0.885658741,"cg_theta_rad":0.554551244,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0209759716,"mpcc_du":50.0383949,"mpcc_dv":48.7975731,"mpcc_dw":51.2024269,"mpcc_enc_sign":1,"mpcc_id_a":2.41777492,"mpcc_iq_a":-0.543221176,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.7758162,"mpcc_pred_id_a":0.186331183,"mpcc_pred_iq_a":-0.00453067524,"mpcc_state":1,"mpcc_theta_e":0.444044113,"mpcc_theta_mech":0.555754781,"sam_rpm":4.14915848,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176928341,"thr_a_norm":0.0176928341,"thr_a_v":0.570771337,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451783001,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.867668,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.733645439,"cg_iw_a":-2.26292419,"cg_theta_rad":0.557781458,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.08912348,"mpcc_du":50.0308342,"mpcc_dv":48.315094,"mpcc_dw":51.684906,"mpcc_enc_sign":1,"mpcc_id_a":4.94906855,"mpcc_iq_a":-0.816827416,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.3479538,"mpcc_pred_id_a":1.53864801,"mpcc_pred_iq_a":0.874280691,"mpcc_state":1,"mpcc_theta_e":0.45204258,"mpcc_theta_mech":0.557354391,"sam_rpm":13.2395191,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263034999,"thr_a_norm":0.0263034999,"thr_a_v":0.605214,"thr_b":0.000282675028,"thr_b_norm":0.000282675028,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.8778,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.82096052,"cg_iw_a":0.926533222,"cg_theta_rad":0.555372,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.00783103425,"mpcc_du":50.6165733,"mpcc_dv":48.3448486,"mpcc_dw":51.6551514,"mpcc_enc_sign":1,"mpcc_id_a":0.472616732,"mpcc_iq_a":-2.58989644,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.56741583,"mpcc_pred_id_a":-0.344608426,"mpcc_pred_iq_a":-1.10612166,"mpcc_state":1,"mpcc_theta_e":0.447525978,"mpcc_theta_mech":0.556451142,"sam_rpm":-1.41597819,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165220946,"thr_a_norm":0.0263034999,"thr_a_v":0.566088378,"thr_b":0,"thr_b_norm":0.000282675028,"thr_b_v":0.474744767,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.88784,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.298719406,"cg_iw_a":-2.40789986,"cg_theta_rad":0.557428598,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0363194086,"mpcc_du":48.8146439,"mpcc_dv":51.1853561,"mpcc_dw":49.5546379,"mpcc_enc_sign":1,"mpcc_id_a":2.32529616,"mpcc_iq_a":0.0756639019,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.601757,"mpcc_pred_id_a":0.0320568793,"mpcc_pred_iq_a":-5.33993673,"mpcc_state":1,"mpcc_theta_e":0.456137657,"mpcc_theta_mech":0.558173418,"sam_rpm":28.7690716,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165220946,"thr_a_norm":0.0165220946,"thr_a_v":0.566088378,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474744767,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.898979,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.91531324,"cg_theta_rad":0.553053558,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0305788107,"mpcc_du":49.5513382,"mpcc_dv":49.2981415,"mpcc_dw":50.7018585,"mpcc_enc_sign":1,"mpcc_id_a":2.40536952,"mpcc_iq_a":0.152179122,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.44986868,"mpcc_pred_id_a":0.507537186,"mpcc_pred_iq_a":0.554409564,"mpcc_state":1,"mpcc_theta_e":0.426696301,"mpcc_theta_mech":0.552285135,"sam_rpm":-11.5241575,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189768821,"thr_a_norm":0.0189768821,"thr_a_v":0.575907528,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466083795,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.910301,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-0.153744221,"cg_iw_a":-1.17560911,"cg_theta_rad":0.553522944,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0474307872,"mpcc_du":51.355526,"mpcc_dv":47.2213554,"mpcc_dw":52.7786446,"mpcc_enc_sign":1,"mpcc_id_a":2.14272666,"mpcc_iq_a":-0.954781353,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.1028891,"mpcc_pred_id_a":0.0770646632,"mpcc_pred_iq_a":-5.69512033,"mpcc_state":1,"mpcc_theta_e":0.456604004,"mpcc_theta_mech":0.554663718,"sam_rpm":23.4309235,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176298916,"thr_a_norm":0.0189768821,"thr_a_v":0.570519567,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453545451,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.920433,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.806133032,"cg_iw_a":-2.11794925,"cg_theta_rad":0.5566836,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0425330885,"mpcc_du":50.0945129,"mpcc_dv":48.9829674,"mpcc_dw":51.0170326,"mpcc_enc_sign":1,"mpcc_id_a":0.950303018,"mpcc_iq_a":-1.24999881,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.35195208,"mpcc_pred_id_a":-0.332615674,"mpcc_pred_iq_a":-3.12469506,"mpcc_state":1,"mpcc_theta_e":0.453433514,"mpcc_theta_mech":0.557632625,"sam_rpm":9.17707729,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176298916,"thr_a_norm":0.0176298916,"thr_a_v":0.570519567,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453545451,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.930962,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.40086174,"cg_iw_a":1.28897142,"cg_theta_rad":0.554536104,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0115494505,"mpcc_du":50.2973938,"mpcc_dv":48.7008934,"mpcc_dw":51.2991066,"mpcc_enc_sign":1,"mpcc_id_a":1.68255901,"mpcc_iq_a":-3.08046365,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.381624818,"mpcc_pred_id_a":-0.279999554,"mpcc_pred_iq_a":-2.54607224,"mpcc_state":1,"mpcc_theta_e":0.448358059,"mpcc_theta_mech":0.556617498,"sam_rpm":-0.121090315,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0287708789,"thr_a_norm":0.0287708789,"thr_a_v":0.615083516,"thr_b":0.00350537896,"thr_b_norm":0.00350537896,"thr_b_v":0.514021516,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.955009,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.24105906,"cg_iw_a":-1.17560911,"cg_theta_rad":0.553521693,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0210470129,"mpcc_du":50.7938347,"mpcc_dv":48.2639427,"mpcc_dw":51.7360573,"mpcc_enc_sign":1,"mpcc_id_a":-0.265330762,"mpcc_iq_a":-3.30126405,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.17284536,"mpcc_pred_id_a":-0.803937435,"mpcc_pred_iq_a":1.03906596,"mpcc_state":1,"mpcc_theta_e":0.4459095,"mpcc_theta_mech":0.556127846,"sam_rpm":-17.6162891,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0287708789,"thr_a_norm":0.0287708789,"thr_a_v":0.615083516,"thr_b":0.00350537896,"thr_b_norm":0.00350537896,"thr_b_v":0.514021516,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.96151,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-1.02359605,"cg_iw_a":-0.523220539,"cg_theta_rad":0.556672454,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.00177251699,"mpcc_du":49.5827293,"mpcc_dv":49.5622787,"mpcc_dw":50.4377213,"mpcc_enc_sign":1,"mpcc_id_a":-0.329084575,"mpcc_iq_a":-2.21094394,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.6946335,"mpcc_pred_id_a":-0.191726848,"mpcc_pred_iq_a":-1.4459343,"mpcc_state":1,"mpcc_theta_e":0.455441952,"mpcc_theta_mech":0.558034301,"sam_rpm":20.2151814,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261272639,"thr_a_norm":0.0287708789,"thr_a_v":0.604509056,"thr_b":0,"thr_b_norm":0.00350537896,"thr_b_v":0.494785994,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.968071,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.516182423,"cg_iw_a":-1.39307213,"cg_theta_rad":0.55297178,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0161156934,"mpcc_du":50.624424,"mpcc_dv":48.2008972,"mpcc_dw":51.7991028,"mpcc_enc_sign":1,"mpcc_id_a":0.51269573,"mpcc_iq_a":-1.49703395,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.60185766,"mpcc_pred_id_a":-0.532745004,"mpcc_pred_iq_a":-4.34482145,"mpcc_state":1,"mpcc_theta_e":0.449179649,"mpcc_theta_mech":0.556781828,"sam_rpm":-11.9947758,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261272639,"thr_a_norm":0.0261272639,"thr_a_v":0.604509056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494785994,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.974571,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.89344811,"cg_iw_a":0.274143934,"cg_theta_rad":0.556548178,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0414324515,"mpcc_du":49.714283,"mpcc_dv":49.1284065,"mpcc_dw":50.8715935,"mpcc_enc_sign":1,"mpcc_id_a":3.00781655,"mpcc_iq_a":-0.66666919,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.20960426,"mpcc_pred_id_a":0.541813374,"mpcc_pred_iq_a":-1.20820606,"mpcc_state":1,"mpcc_theta_e":0.452512264,"mpcc_theta_mech":0.557448328,"sam_rpm":14.1096573,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0139791816,"thr_a_norm":0.0139791816,"thr_a_v":0.555916727,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.432899952,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.981804,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.16857147,"cg_iw_a":-1.90048599,"cg_theta_rad":0.557145357,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.09863,"hz_adc_isr":5003,"hz_app_loop":359,"hz_tim_isr":10007,"hz_vsense":359,"mpcc_cost":0.0147626624,"mpcc_du":49.604023,"mpcc_dv":50.2390404,"mpcc_dw":50.395977,"mpcc_enc_sign":1,"mpcc_id_a":0.599219978,"mpcc_iq_a":-0.982272744,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.76235676,"mpcc_pred_id_a":-0.0922759399,"mpcc_pred_iq_a":-0.582077444,"mpcc_state":1,"mpcc_theta_e":0.450151443,"mpcc_theta_mech":0.556976199,"sam_rpm":20.127224,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0139791816,"thr_a_norm":0.0139791816,"thr_a_v":0.555916727,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.432899952,"vdc_v":55.2955055}} +{"type":"telemetry","t":78.992851,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-1.53100967,"cg_iw_a":-1.61053562,"cg_theta_rad":0.555923104,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.00311771268,"mpcc_du":49.5166817,"mpcc_dv":50.4833183,"mpcc_dw":50.2226906,"mpcc_enc_sign":1,"mpcc_id_a":0.171911448,"mpcc_iq_a":-1.23082101,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.967899799,"mpcc_pred_id_a":-0.467116177,"mpcc_pred_iq_a":-4.38117552,"mpcc_state":1,"mpcc_theta_e":0.437283993,"mpcc_theta_mech":0.554402709,"sam_rpm":-3.45495939,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182467401,"thr_a_norm":0.0182467401,"thr_a_v":0.57298696,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457573801,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.003166,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.74847269,"cg_iw_a":1.07150841,"cg_theta_rad":0.55616349,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0676357448,"mpcc_du":50.5351143,"mpcc_dv":48.366436,"mpcc_dw":51.633564,"mpcc_enc_sign":1,"mpcc_id_a":1.55733407,"mpcc_iq_a":-0.335111171,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.70859909,"mpcc_pred_id_a":-0.109266125,"mpcc_pred_iq_a":0.20483312,"mpcc_state":1,"mpcc_theta_e":0.467175007,"mpcc_theta_mech":0.560380876,"sam_rpm":14.0227776,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283050984,"thr_a_norm":0.0182467401,"thr_a_v":0.613220394,"thr_b":0.000471502542,"thr_b_norm":0,"thr_b_v":0.50188601,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.012688,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.31354666,"cg_iw_a":-0.958146572,"cg_theta_rad":0.553902745,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0249144305,"mpcc_du":49.4785652,"mpcc_dv":49.4496002,"mpcc_dw":50.5503998,"mpcc_enc_sign":1,"mpcc_id_a":2.59618568,"mpcc_iq_a":-1.87566698,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.3468246,"mpcc_pred_id_a":0.403693259,"mpcc_pred_iq_a":-4.1561594,"mpcc_state":1,"mpcc_theta_e":0.429664135,"mpcc_theta_mech":0.551960766,"sam_rpm":-6.60117388,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283050984,"thr_a_norm":0.0283050984,"thr_a_v":0.613220394,"thr_b":0.000471502542,"thr_b_norm":0.000471502542,"thr_b_v":0.50188601,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.022972,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.443694592,"cg_iw_a":-2.04546165,"cg_theta_rad":0.55673784,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0263381694,"mpcc_du":49.981041,"mpcc_dv":48.8585854,"mpcc_dw":51.1414146,"mpcc_enc_sign":1,"mpcc_id_a":2.14596844,"mpcc_iq_a":-0.261764526,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.65797257,"mpcc_pred_id_a":0.202143177,"mpcc_pred_iq_a":-1.76862657,"mpcc_state":1,"mpcc_theta_e":0.438273907,"mpcc_theta_mech":0.554600716,"sam_rpm":-2.83874774,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180830956,"thr_a_norm":0.0180830956,"thr_a_v":0.572332382,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451984406,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.032982,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.59570837,"cg_theta_rad":0.556570053,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.00273582269,"mpcc_du":49.7578812,"mpcc_dv":49.1661949,"mpcc_dw":50.8338051,"mpcc_enc_sign":1,"mpcc_id_a":0.892672598,"mpcc_iq_a":0.1453477,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.367832899,"mpcc_pred_id_a":0.127257019,"mpcc_pred_iq_a":0.72260344,"mpcc_state":1,"mpcc_theta_e":0.432702541,"mpcc_theta_mech":0.553486466,"sam_rpm":-1.37678754,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180830956,"thr_a_norm":0.0180830956,"thr_a_v":0.572332382,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451984406,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.056175,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.878620625,"cg_iw_a":-0.015806675,"cg_theta_rad":0.555832446,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.00119689642,"mpcc_du":50.6290855,"mpcc_dv":48.4067612,"mpcc_dw":51.5932388,"mpcc_enc_sign":1,"mpcc_id_a":-0.662480354,"mpcc_iq_a":-1.81118345,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.99188042,"mpcc_pred_id_a":-0.582990944,"mpcc_pred_iq_a":0.140190437,"mpcc_state":1,"mpcc_theta_e":0.438686371,"mpcc_theta_mech":0.554683208,"sam_rpm":-7.99185419,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0302437693,"thr_a_norm":0.0302437693,"thr_a_v":0.620975077,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466486603,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.062706,"values":{"cg_iu_a":-0.265375137,"cg_iv_a":-1.45852208,"cg_iw_a":1.72389722,"cg_theta_rad":0.556494832,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.00993337668,"mpcc_du":49.5652161,"mpcc_dv":50.4347839,"mpcc_dw":50.4111214,"mpcc_enc_sign":1,"mpcc_id_a":1.92924905,"mpcc_iq_a":-1.23371255,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.35955858,"mpcc_pred_id_a":0.0351793431,"mpcc_pred_iq_a":-4.64738512,"mpcc_state":1,"mpcc_theta_e":0.442451477,"mpcc_theta_mech":0.555436254,"sam_rpm":3.07611322,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214065015,"thr_a_norm":0.0302437693,"thr_a_v":0.585626006,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478773177,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.069298,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-5.08290529,"cg_iw_a":2.37628603,"cg_theta_rad":0.557329297,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0647430718,"mpcc_du":50.4433556,"mpcc_dv":48.5442924,"mpcc_dw":51.4557076,"mpcc_enc_sign":1,"mpcc_id_a":0.653035164,"mpcc_iq_a":1.12991357,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.05782175,"mpcc_pred_id_a":-0.165964082,"mpcc_pred_iq_a":0.200343624,"mpcc_state":1,"mpcc_theta_e":0.449605942,"mpcc_theta_mech":0.556867063,"sam_rpm":8.92250919,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214065015,"thr_a_norm":0.0214065015,"thr_a_v":0.585626006,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478773177,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.075768,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.443694592,"cg_iw_a":-0.450732708,"cg_theta_rad":0.554482937,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0137507105,"mpcc_du":50.721962,"mpcc_dv":48.0373993,"mpcc_dw":51.9626007,"mpcc_enc_sign":1,"mpcc_id_a":1.07682896,"mpcc_iq_a":-0.493160576,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.2281418,"mpcc_pred_id_a":0.142298743,"mpcc_pred_iq_a":-0.259592354,"mpcc_state":1,"mpcc_theta_e":0.432896614,"mpcc_theta_mech":0.553525209,"sam_rpm":-16.2913895,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192286521,"thr_a_norm":0.0192286521,"thr_a_v":0.576914608,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448761702,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.083794,"values":{"cg_iu_a":2.27169323,"cg_iv_a":0.861083508,"cg_iw_a":-3.13277674,"cg_theta_rad":0.555858731,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0149060292,"mpcc_du":47.6707153,"mpcc_dv":47.5467682,"mpcc_dw":52.4532318,"mpcc_enc_sign":1,"mpcc_id_a":-0.710088789,"mpcc_iq_a":-2.02302861,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.2728081,"mpcc_pred_id_a":-1.03833747,"mpcc_pred_iq_a":-8.24139214,"mpcc_state":1,"mpcc_theta_e":0.450698376,"mpcc_theta_mech":0.550014675,"sam_rpm":25.2756653,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192286521,"thr_a_norm":0.0192286521,"thr_a_v":0.576914608,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448761702,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.093987,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-2.0384233,"cg_iw_a":1.143996,"cg_theta_rad":0.554602623,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0516646095,"mpcc_du":49.5244637,"mpcc_dv":49.3484154,"mpcc_dw":50.6515846,"mpcc_enc_sign":1,"mpcc_id_a":3.14895844,"mpcc_iq_a":0.295197278,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.1641941,"mpcc_pred_id_a":0.689406753,"mpcc_pred_iq_a":-1.39976525,"mpcc_state":1,"mpcc_theta_e":0.450275421,"mpcc_theta_mech":0.557000995,"sam_rpm":15.4703436,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204119831,"thr_a_norm":0.0204119831,"thr_a_v":0.581647933,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466889441,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.104179,"values":{"cg_iu_a":3.93890953,"cg_iv_a":-1.96593571,"cg_iw_a":-1.97297382,"cg_theta_rad":0.556751311,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.00453937706,"mpcc_du":49.6136627,"mpcc_dv":49.6987762,"mpcc_dw":50.3863373,"mpcc_enc_sign":1,"mpcc_id_a":0.247439668,"mpcc_iq_a":-1.07811606,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.76432705,"mpcc_pred_id_a":-0.306601673,"mpcc_pred_iq_a":-2.50065422,"mpcc_state":1,"mpcc_theta_e":0.432985783,"mpcc_theta_mech":0.553543091,"sam_rpm":3.57376003,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00876745582,"thr_a_norm":0.0204119831,"thr_a_v":0.535069823,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.425346762,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.113823,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-3.19822598,"cg_iw_a":2.52126169,"cg_theta_rad":0.55313164,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0187093802,"mpcc_du":50.4143257,"mpcc_dv":49.0428619,"mpcc_dw":50.9571381,"mpcc_enc_sign":1,"mpcc_id_a":1.05026686,"mpcc_iq_a":-0.862892151,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.23991776,"mpcc_pred_id_a":0.115273684,"mpcc_pred_iq_a":-1.91348231,"mpcc_state":1,"mpcc_theta_e":0.453285217,"mpcc_theta_mech":0.557603002,"sam_rpm":-10.7426205,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00876745582,"thr_a_norm":0.00876745582,"thr_a_v":0.535069823,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.425346762,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.124107,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.11091113,"cg_iw_a":1.28897119,"cg_theta_rad":0.556583524,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0219588578,"mpcc_du":48.9072227,"mpcc_dv":51.0927773,"mpcc_dw":49.5991287,"mpcc_enc_sign":1,"mpcc_id_a":2.53068137,"mpcc_iq_a":-0.805688143,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.78286505,"mpcc_pred_id_a":0.00440490572,"mpcc_pred_iq_a":-5.28793621,"mpcc_state":1,"mpcc_theta_e":0.436164856,"mpcc_theta_mech":0.554178894,"sam_rpm":23.6268787,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024113059,"thr_a_norm":0.024113059,"thr_a_v":0.596452236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468047589,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.133995,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.661157608,"cg_iw_a":0.41911912,"cg_theta_rad":0.554861307,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0054295538,"mpcc_du":49.5937424,"mpcc_dv":49.9898949,"mpcc_dw":50.4062576,"mpcc_enc_sign":1,"mpcc_id_a":1.47208524,"mpcc_iq_a":-2.51475954,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.26249456,"mpcc_pred_id_a":-0.126559451,"mpcc_pred_iq_a":-1.6255827,"mpcc_state":1,"mpcc_theta_e":0.448339462,"mpcc_theta_mech":0.556613803,"sam_rpm":9.48793793,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024113059,"thr_a_norm":0.024113059,"thr_a_v":0.596452236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468047589,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.156181,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.443694592,"cg_iw_a":-0.668195724,"cg_theta_rad":0.555187166,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0379811898,"mpcc_du":49.5378952,"mpcc_dv":49.7277298,"mpcc_dw":50.4621048,"mpcc_enc_sign":1,"mpcc_id_a":1.78060639,"mpcc_iq_a":0.633280277,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.42912722,"mpcc_pred_id_a":0.137141392,"mpcc_pred_iq_a":-3.26350284,"mpcc_state":1,"mpcc_theta_e":0.448908806,"mpcc_theta_mech":0.555850804,"sam_rpm":9.72992992,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0267944485,"thr_a_norm":0.0267944485,"thr_a_v":0.607177794,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492469668,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.162743,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.298719406,"cg_iw_a":-0.668195724,"cg_theta_rad":0.552829385,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0191573314,"mpcc_du":50.4346542,"mpcc_dv":48.4726105,"mpcc_dw":51.5273895,"mpcc_enc_sign":1,"mpcc_id_a":1.44232202,"mpcc_iq_a":0.106761158,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.49975896,"mpcc_pred_id_a":-0.0308634005,"mpcc_pred_iq_a":1.00491738,"mpcc_state":1,"mpcc_theta_e":0.443650246,"mpcc_theta_mech":0.555675924,"sam_rpm":2.11310244,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282673389,"thr_a_norm":0.0267944485,"thr_a_v":0.613069355,"thr_b":0.00256122649,"thr_b_norm":0,"thr_b_v":0.510244906,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.169212,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-3.27071381,"cg_iw_a":1.36145926,"cg_theta_rad":0.554909527,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.00817186013,"mpcc_du":49.7879868,"mpcc_dv":49.163456,"mpcc_dw":50.836544,"mpcc_enc_sign":1,"mpcc_id_a":1.80780113,"mpcc_iq_a":-1.66985476,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.95789528,"mpcc_pred_id_a":0.192358196,"mpcc_pred_iq_a":-2.96658707,"mpcc_state":1,"mpcc_theta_e":0.436392784,"mpcc_theta_mech":0.554224432,"sam_rpm":-8.90324211,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282673389,"thr_a_norm":0.0282673389,"thr_a_v":0.613069355,"thr_b":0.00256122649,"thr_b_norm":0.00256122649,"thr_b_v":0.510244906,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.175774,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":0.281181812,"cg_iw_a":-0.813171148,"cg_theta_rad":0.554792166,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0180973653,"mpcc_du":49.7477112,"mpcc_dv":49.3662605,"mpcc_dw":50.6337395,"mpcc_enc_sign":1,"mpcc_id_a":1.72233951,"mpcc_iq_a":-0.823903024,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.82718945,"mpcc_pred_id_a":-0.162740573,"mpcc_pred_iq_a":-1.95505512,"mpcc_state":1,"mpcc_theta_e":0.448316574,"mpcc_theta_mech":0.556609273,"sam_rpm":10.3625307,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197951496,"thr_a_norm":0.0197951496,"thr_a_v":0.579180598,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483909339,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.184837,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.60349751,"cg_iw_a":-1.68302298,"cg_theta_rad":0.55512166,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.00662505487,"mpcc_du":50.3641243,"mpcc_dv":48.8208122,"mpcc_dw":51.1791878,"mpcc_enc_sign":1,"mpcc_id_a":-1.28947091,"mpcc_iq_a":-1.93157339,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.08114219,"mpcc_pred_id_a":-0.673425794,"mpcc_pred_iq_a":-1.49821866,"mpcc_state":1,"mpcc_theta_e":0.442635536,"mpcc_theta_mech":0.55547303,"sam_rpm":-2.40774441,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197951496,"thr_a_norm":0.0197951496,"thr_a_v":0.579180598,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483909339,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.194969,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.806133032,"cg_iw_a":-0.813171148,"cg_theta_rad":0.553927064,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0910217315,"mpcc_du":49.7448807,"mpcc_dv":49.2042618,"mpcc_dw":50.7957382,"mpcc_enc_sign":1,"mpcc_id_a":2.88897872,"mpcc_iq_a":0.413982183,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.08645248,"mpcc_pred_id_a":0.311942667,"mpcc_pred_iq_a":-3.42237139,"mpcc_state":1,"mpcc_theta_e":0.452839375,"mpcc_theta_mech":0.557513833,"sam_rpm":10.648138,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.0264545679,"thr_a_v":0.605818272,"thr_b":0.00308994949,"thr_b_norm":0.00308994949,"thr_b_v":0.512359798,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.205162,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.82096052,"cg_iw_a":-0.16078186,"cg_theta_rad":0.556191206,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0247896165,"mpcc_du":49.3182716,"mpcc_dv":50.6817284,"mpcc_dw":50.2452698,"mpcc_enc_sign":1,"mpcc_id_a":0.294490159,"mpcc_iq_a":-0.635997713,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.11439037,"mpcc_pred_id_a":0.368838221,"mpcc_pred_iq_a":-2.68577027,"mpcc_state":1,"mpcc_theta_e":0.428198338,"mpcc_theta_mech":0.552585542,"sam_rpm":2.38994527,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02428931,"thr_a_norm":0.0264545679,"thr_a_v":0.59715724,"thr_b":0,"thr_b_norm":0.00308994949,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.215019,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.6759851,"cg_iw_a":-0.958146334,"cg_theta_rad":0.557095349,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0140844313,"mpcc_du":49.4883461,"mpcc_dv":49.6525764,"mpcc_dw":50.5116539,"mpcc_enc_sign":1,"mpcc_id_a":2.37137437,"mpcc_iq_a":0.0520505458,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.81175256,"mpcc_pred_id_a":0.332450807,"mpcc_pred_iq_a":-0.899631977,"mpcc_state":1,"mpcc_theta_e":0.436789513,"mpcc_theta_mech":0.554303825,"sam_rpm":2.29665971,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02428931,"thr_a_norm":0.02428931,"thr_a_v":0.59715724,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.225304,"values":{"cg_iu_a":2.92408228,"cg_iv_a":0.353669643,"cg_iw_a":-3.27775192,"cg_theta_rad":0.553049624,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.000431027438,"mpcc_du":49.6524544,"mpcc_dv":50.3256035,"mpcc_dw":50.9395523,"mpcc_enc_sign":1,"mpcc_id_a":0.14254941,"mpcc_iq_a":-0.43358624,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.10543776,"mpcc_pred_id_a":-0.355637044,"mpcc_pred_iq_a":-2.21898079,"mpcc_state":1,"mpcc_theta_e":0.442635536,"mpcc_theta_mech":0.553352058,"sam_rpm":10.2445936,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220233351,"thr_a_norm":0.0220233351,"thr_a_v":0.58809334,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480787337,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.235161,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.60349751,"cg_iw_a":-1.53804779,"cg_theta_rad":0.556956649,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0890337825,"mpcc_du":50.3502655,"mpcc_dv":48.5450859,"mpcc_dw":51.4549141,"mpcc_enc_sign":1,"mpcc_id_a":1.5194757,"mpcc_iq_a":0.758930862,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.96585655,"mpcc_pred_id_a":0.15232265,"mpcc_pred_iq_a":-2.83228993,"mpcc_state":1,"mpcc_theta_e":0.449029446,"mpcc_theta_mech":0.556751788,"sam_rpm":-2.30584979,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220233351,"thr_a_norm":0.0220233351,"thr_a_v":0.58809334,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480787337,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.258171,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.45852208,"cg_iw_a":-0.595708132,"cg_theta_rad":0.554085493,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0188606549,"mpcc_du":49.5766563,"mpcc_dv":50.4233437,"mpcc_dw":50.3806953,"mpcc_enc_sign":1,"mpcc_id_a":0.940777302,"mpcc_iq_a":-0.441942364,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.840570331,"mpcc_pred_id_a":-0.104305759,"mpcc_pred_iq_a":-6.25656986,"mpcc_state":1,"mpcc_theta_e":0.443076134,"mpcc_theta_mech":0.555561185,"sam_rpm":1.09823084,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166857392,"thr_a_norm":0.0166857392,"thr_a_v":0.566742957,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4895491,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.264732,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.31354666,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556432843,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0157689806,"mpcc_du":49.9934273,"mpcc_dv":48.8821449,"mpcc_dw":51.1178551,"mpcc_enc_sign":1,"mpcc_id_a":2.36354756,"mpcc_iq_a":-0.293617606,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.428587,"mpcc_pred_id_a":0.193170741,"mpcc_pred_iq_a":-2.85524583,"mpcc_state":1,"mpcc_theta_e":0.428732395,"mpcc_theta_mech":0.552692413,"sam_rpm":-19.9545898,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218596905,"thr_a_norm":0.0166857392,"thr_a_v":0.587438762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476859689,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.271263,"values":{"cg_iu_a":1.90925455,"cg_iv_a":0.0637187958,"cg_iw_a":-0.595707893,"cg_theta_rad":0.553957403,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0166094974,"mpcc_du":49.9997787,"mpcc_dv":49.4065514,"mpcc_dw":50.5934486,"mpcc_enc_sign":1,"mpcc_id_a":-2.29630947,"mpcc_iq_a":-2.00628901,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.5173645,"mpcc_pred_id_a":-1.07756984,"mpcc_pred_iq_a":-3.15751672,"mpcc_state":1,"mpcc_theta_e":0.445477009,"mpcc_theta_mech":0.55604136,"sam_rpm":3.95844293,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218596905,"thr_a_norm":0.0218596905,"thr_a_v":0.587438762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476859689,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.277763,"values":{"cg_iu_a":4.51881123,"cg_iv_a":-2.0384233,"cg_iw_a":-2.48038793,"cg_theta_rad":0.555914938,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0224631168,"mpcc_du":50.240509,"mpcc_dv":48.4543419,"mpcc_dw":51.5456581,"mpcc_enc_sign":1,"mpcc_id_a":0.383692145,"mpcc_iq_a":-0.70838058,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.33530426,"mpcc_pred_id_a":0.496908098,"mpcc_pred_iq_a":-0.225681856,"mpcc_state":1,"mpcc_theta_e":0.45179224,"mpcc_theta_mech":0.557304382,"sam_rpm":-9.25531578,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186495781,"thr_a_norm":0.0186495781,"thr_a_v":0.574598312,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461702883,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.285789,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-2.76329994,"cg_iw_a":0.999020576,"cg_theta_rad":0.556751549,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.00847119652,"mpcc_du":49.7502441,"mpcc_dv":49.3568687,"mpcc_dw":50.6431313,"mpcc_enc_sign":1,"mpcc_id_a":2.21037912,"mpcc_iq_a":-1.66769266,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.3500109,"mpcc_pred_id_a":-0.181795165,"mpcc_pred_iq_a":-1.37378681,"mpcc_state":1,"mpcc_theta_e":0.451419353,"mpcc_theta_mech":0.557229757,"sam_rpm":18.7210407,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186495781,"thr_a_norm":0.0186495781,"thr_a_v":0.574598312,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461702883,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.295982,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-2.18339872,"cg_iw_a":0.78155756,"cg_theta_rad":0.555237591,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.015958203,"mpcc_du":49.4747124,"mpcc_dv":50.1806374,"mpcc_dw":50.5252876,"mpcc_enc_sign":1,"mpcc_id_a":2.52175117,"mpcc_iq_a":1.48758709,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.0760431,"mpcc_pred_id_a":0.542575955,"mpcc_pred_iq_a":-3.24156046,"mpcc_state":1,"mpcc_theta_e":0.421763897,"mpcc_theta_mech":0.551298738,"sam_rpm":-15.8137455,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228416175,"thr_a_norm":0.0228416175,"thr_a_v":0.59136647,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472227067,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.306206,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.96593571,"cg_iw_a":0.0566811562,"cg_theta_rad":0.556232095,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.000738258299,"mpcc_du":49.5594559,"mpcc_dv":49.6604576,"mpcc_dw":50.4405441,"mpcc_enc_sign":1,"mpcc_id_a":0.538515687,"mpcc_iq_a":-0.617308676,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.63853157,"mpcc_pred_id_a":-0.171247989,"mpcc_pred_iq_a":-2.7731421,"mpcc_state":1,"mpcc_theta_e":0.437857151,"mpcc_theta_mech":0.554517329,"sam_rpm":-3.74193025,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195811391,"thr_a_norm":0.0228416175,"thr_a_v":0.578324556,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468953997,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.316002,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.153744221,"cg_iw_a":0.419119358,"cg_theta_rad":0.556514502,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0643425584,"mpcc_du":50.1039085,"mpcc_dv":48.4846535,"mpcc_dw":51.5153465,"mpcc_enc_sign":1,"mpcc_id_a":4.38545179,"mpcc_iq_a":0.0680307895,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.31143904,"mpcc_pred_id_a":0.883655429,"mpcc_pred_iq_a":-1.00630391,"mpcc_state":1,"mpcc_theta_e":0.439926624,"mpcc_theta_mech":0.554931283,"sam_rpm":-7.47616768,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195811391,"thr_a_norm":0.0195811391,"thr_a_v":0.578324556,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468953997,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.326286,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.733645439,"cg_iw_a":-1.68302298,"cg_theta_rad":0.554900885,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0230985545,"mpcc_du":49.606472,"mpcc_dv":49.8228111,"mpcc_dw":51.4649773,"mpcc_enc_sign":1,"mpcc_id_a":0.940235972,"mpcc_iq_a":-2.56412411,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.1607618,"mpcc_pred_id_a":-0.352847487,"mpcc_pred_iq_a":-5.20551252,"mpcc_state":1,"mpcc_theta_e":0.46048069,"mpcc_theta_mech":0.556317925,"sam_rpm":17.1687374,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226150155,"thr_a_norm":0.0226150155,"thr_a_v":0.590460062,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487736315,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.336174,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.31354666,"cg_iw_a":-2.84282541,"cg_theta_rad":0.557085574,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0358841531,"mpcc_du":51.2176018,"mpcc_dv":47.0918884,"mpcc_dw":52.9081116,"mpcc_enc_sign":1,"mpcc_id_a":2.89856458,"mpcc_iq_a":-0.165259734,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.7619972,"mpcc_pred_id_a":0.644696355,"mpcc_pred_iq_a":1.35606205,"mpcc_state":1,"mpcc_theta_e":0.4271245,"mpcc_theta_mech":0.552370787,"sam_rpm":-29.0619164,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226150155,"thr_a_norm":0.0226150155,"thr_a_v":0.590460062,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487736315,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.359245,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.226231575,"cg_iw_a":-0.813171387,"cg_theta_rad":0.552468181,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.000133976675,"mpcc_du":48.8578758,"mpcc_dv":51.1421242,"mpcc_dw":49.2945938,"mpcc_enc_sign":1,"mpcc_id_a":-0.178797677,"mpcc_iq_a":-2.42012787,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.72580338,"mpcc_pred_id_a":-0.863877177,"mpcc_pred_iq_a":-7.23415661,"mpcc_state":1,"mpcc_theta_e":0.451220036,"mpcc_theta_mech":0.557189941,"sam_rpm":13.6123934,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451984406,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.365746,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.84282589,"cg_theta_rad":0.557702363,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.012339998,"mpcc_du":49.4960213,"mpcc_dv":50.3192215,"mpcc_dw":50.5039787,"mpcc_enc_sign":1,"mpcc_id_a":0.605288565,"mpcc_iq_a":-0.471151859,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.69232273,"mpcc_pred_id_a":0.355369776,"mpcc_pred_iq_a":-4.6979084,"mpcc_state":1,"mpcc_theta_e":0.446835995,"mpcc_theta_mech":0.553323448,"sam_rpm":6.86486816,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0290730149,"thr_a_norm":0.0208274126,"thr_a_v":0.616292059,"thr_b":0.00577133894,"thr_b_norm":0,"thr_b_v":0.523085356,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.372215,"values":{"cg_iu_a":4.44632339,"cg_iv_a":0.426157475,"cg_iw_a":0.201656342,"cg_theta_rad":0.556986213,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.00463802973,"mpcc_du":49.3224983,"mpcc_dv":50.6775017,"mpcc_dw":50.1854134,"mpcc_enc_sign":1,"mpcc_id_a":1.22470844,"mpcc_iq_a":-1.51874304,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.485198,"mpcc_pred_id_a":0.0688246638,"mpcc_pred_iq_a":-3.9834578,"mpcc_state":1,"mpcc_theta_e":0.451071262,"mpcc_theta_mech":0.557160199,"sam_rpm":16.6839008,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0290730149,"thr_a_norm":0.0290730149,"thr_a_v":0.616292059,"thr_b":0.00577133894,"thr_b_norm":0.00577133894,"thr_b_v":0.523085356,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.378746,"values":{"cg_iu_a":2.92408228,"cg_iv_a":0.136206627,"cg_iw_a":-1.82799816,"cg_theta_rad":0.553694367,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.00265459367,"mpcc_du":49.627079,"mpcc_dv":50.3337173,"mpcc_dw":50.372921,"mpcc_enc_sign":1,"mpcc_id_a":0.980042398,"mpcc_iq_a":-1.3809315,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.348642528,"mpcc_pred_id_a":-0.377955377,"mpcc_pred_iq_a":-4.29042864,"mpcc_state":1,"mpcc_theta_e":0.439328194,"mpcc_theta_mech":0.554811597,"sam_rpm":-1.20397294,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.0264545679,"thr_a_v":0.605818272,"thr_b":0.00390821695,"thr_b_norm":0.00390821695,"thr_b_v":0.515632868,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.387016,"values":{"cg_iu_a":2.63413143,"cg_iv_a":0.208694458,"cg_iw_a":0.129168749,"cg_theta_rad":0.557035863,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.000294161262,"mpcc_du":50.7290955,"mpcc_dv":48.1624947,"mpcc_dw":51.8375053,"mpcc_enc_sign":1,"mpcc_id_a":0.341367006,"mpcc_iq_a":-0.704989493,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.8627195,"mpcc_pred_id_a":-0.429125518,"mpcc_pred_iq_a":1.26738715,"mpcc_state":1,"mpcc_theta_e":0.430594921,"mpcc_theta_mech":0.553064883,"sam_rpm":-16.4816399,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.0264545679,"thr_a_v":0.605818272,"thr_b":0.00390821695,"thr_b_norm":0.00390821695,"thr_b_v":0.515632868,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.396965,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.31354666,"cg_iw_a":0.78155756,"cg_theta_rad":0.558066964,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0234677307,"mpcc_du":49.7617607,"mpcc_dv":49.0617065,"mpcc_dw":50.9382935,"mpcc_enc_sign":1,"mpcc_id_a":2.07314348,"mpcc_iq_a":1.48988485,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.42370844,"mpcc_pred_id_a":0.193959072,"mpcc_pred_iq_a":2.31894755,"mpcc_state":1,"mpcc_theta_e":0.432909966,"mpcc_theta_mech":0.553527892,"sam_rpm":-4.24851847,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256866515,"thr_a_norm":0.0256866515,"thr_a_v":0.602746606,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.407158,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.60349751,"cg_iw_a":0.201656342,"cg_theta_rad":0.55297178,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0728018433,"mpcc_du":49.5492172,"mpcc_dv":50.102459,"mpcc_dw":50.4507828,"mpcc_enc_sign":1,"mpcc_id_a":1.76337183,"mpcc_iq_a":-2.31272578,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.37134409,"mpcc_pred_id_a":-0.0543674752,"mpcc_pred_iq_a":-0.871619403,"mpcc_state":1,"mpcc_theta_e":0.426130772,"mpcc_theta_mech":0.552172065,"sam_rpm":-8.66144848,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0168619752,"thr_a_norm":0.0256866515,"thr_a_v":0.567447901,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.435468048,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.417076,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.53100967,"cg_iw_a":0.709069729,"cg_theta_rad":0.556711435,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0252790526,"mpcc_du":49.4315491,"mpcc_dv":49.8178864,"mpcc_dw":50.5684509,"mpcc_enc_sign":1,"mpcc_id_a":3.06491876,"mpcc_iq_a":-0.154589191,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.2969456,"mpcc_pred_id_a":0.53167522,"mpcc_pred_iq_a":-2.24739981,"mpcc_state":1,"mpcc_theta_e":0.428904057,"mpcc_theta_mech":0.552726686,"sam_rpm":-6.68730545,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0168619752,"thr_a_norm":0.0168619752,"thr_a_v":0.567447901,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.435468048,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.427208,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.89344811,"cg_iw_a":-0.378245115,"cg_theta_rad":0.556536615,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0167367663,"mpcc_du":49.9215508,"mpcc_dv":48.8776398,"mpcc_dw":51.1223602,"mpcc_enc_sign":1,"mpcc_id_a":2.58621144,"mpcc_iq_a":-2.55926299,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.34439611,"mpcc_pred_id_a":0.361784041,"mpcc_pred_iq_a":-2.79105973,"mpcc_state":1,"mpcc_theta_e":0.441258907,"mpcc_theta_mech":0.555197656,"sam_rpm":-8.69092941,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198706836,"thr_a_norm":0.0198706836,"thr_a_v":0.579482734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471924901,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.437157,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.661157608,"cg_iw_a":-1.24809694,"cg_theta_rad":0.558648288,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0503191724,"mpcc_du":49.5293503,"mpcc_dv":49.6827774,"mpcc_dw":50.4706497,"mpcc_enc_sign":1,"mpcc_id_a":2.96261382,"mpcc_iq_a":1.08864331,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.67191124,"mpcc_pred_id_a":0.42451787,"mpcc_pred_iq_a":-0.633322835,"mpcc_state":1,"mpcc_theta_e":0.447771549,"mpcc_theta_mech":0.556500256,"sam_rpm":16.2860699,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198706836,"thr_a_norm":0.0198706836,"thr_a_v":0.579482734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471924901,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.460167,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.31354666,"cg_iw_a":0.12916851,"cg_theta_rad":0.553854167,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0481091179,"mpcc_du":48.5590363,"mpcc_dv":51.4409637,"mpcc_dw":49.3686295,"mpcc_enc_sign":1,"mpcc_id_a":1.33659792,"mpcc_iq_a":-0.0943710655,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.1190758,"mpcc_pred_id_a":0.357521921,"mpcc_pred_iq_a":-8.74798965,"mpcc_state":1,"mpcc_theta_e":0.424435616,"mpcc_theta_mech":0.551833034,"sam_rpm":10.1134233,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211673081,"thr_a_norm":0.0211673081,"thr_a_v":0.584669232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472378135,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.466728,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.951108456,"cg_iw_a":-0.595707893,"cg_theta_rad":0.557389319,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0134662306,"mpcc_du":50.1935844,"mpcc_dv":48.9524574,"mpcc_dw":51.0475426,"mpcc_enc_sign":1,"mpcc_id_a":-0.965198576,"mpcc_iq_a":-1.38838279,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.86027145,"mpcc_pred_id_a":-0.565089881,"mpcc_pred_iq_a":-0.711668432,"mpcc_state":1,"mpcc_theta_e":0.449902058,"mpcc_theta_mech":0.55692631,"sam_rpm":10.7670565,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194678307,"thr_a_norm":0.0211673081,"thr_a_v":0.577871323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462911427,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.473228,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.82096052,"cg_iw_a":-0.450732708,"cg_theta_rad":0.557050705,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.00603585271,"mpcc_du":49.516861,"mpcc_dv":50.483139,"mpcc_dw":50.2639694,"mpcc_enc_sign":1,"mpcc_id_a":1.03111184,"mpcc_iq_a":-1.09250331,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.45433235,"mpcc_pred_id_a":-0.319098681,"mpcc_pred_iq_a":-4.81169653,"mpcc_state":1,"mpcc_theta_e":0.446611404,"mpcc_theta_mech":0.556268156,"sam_rpm":7.79128742,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194678307,"thr_a_norm":0.0194678307,"thr_a_v":0.577871323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462911427,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.480186,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.24105906,"cg_iw_a":0.274143934,"cg_theta_rad":0.554615021,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.00385040184,"mpcc_du":49.8213387,"mpcc_dv":49.4007835,"mpcc_dw":50.5992165,"mpcc_enc_sign":1,"mpcc_id_a":-0.121012092,"mpcc_iq_a":-2.71121335,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.88814831,"mpcc_pred_id_a":-0.584730685,"mpcc_pred_iq_a":-3.11297274,"mpcc_state":1,"mpcc_theta_e":0.437635899,"mpcc_theta_mech":0.554473102,"sam_rpm":-6.29986811,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.043663308,"thr_a_norm":0.043663308,"thr_a_v":0.674653232,"thr_b":0.00954794884,"thr_b_norm":0.00954794884,"thr_b_v":0.538191795,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.490196,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.298719406,"cg_iw_a":-2.62536287,"cg_theta_rad":0.553719342,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0589414462,"mpcc_du":49.618866,"mpcc_dv":50.3684616,"mpcc_dw":50.381134,"mpcc_enc_sign":1,"mpcc_id_a":-0.438063711,"mpcc_iq_a":-2.74264812,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.63613594,"mpcc_pred_id_a":-0.267116696,"mpcc_pred_iq_a":-1.6543839,"mpcc_state":1,"mpcc_theta_e":0.431610107,"mpcc_theta_mech":0.553267956,"sam_rpm":-4.72671032,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202986896,"thr_a_norm":0.043663308,"thr_a_v":0.581194758,"thr_b":0,"thr_b_norm":0.00954794884,"thr_b_v":0.464472413,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.501183,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.6759851,"cg_iw_a":-0.160782099,"cg_theta_rad":0.557150126,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0603586845,"mpcc_du":49.6286812,"mpcc_dv":49.3147621,"mpcc_dw":50.6852379,"mpcc_enc_sign":1,"mpcc_id_a":3.11500978,"mpcc_iq_a":0.737822175,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.56428194,"mpcc_pred_id_a":0.323481858,"mpcc_pred_iq_a":-3.38989043,"mpcc_state":1,"mpcc_theta_e":0.447429657,"mpcc_theta_mech":0.55643183,"sam_rpm":2.25968933,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202986896,"thr_a_norm":0.0202986896,"thr_a_v":0.581194758,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464472413,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.512383,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.588670254,"cg_iw_a":0.129168987,"cg_theta_rad":0.556648195,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0481516644,"mpcc_du":49.4016724,"mpcc_dv":50.0241394,"mpcc_dw":50.5983276,"mpcc_enc_sign":1,"mpcc_id_a":4.10301113,"mpcc_iq_a":-1.5526017,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.423521787,"mpcc_pred_id_a":0.890472353,"mpcc_pred_iq_a":-2.73826718,"mpcc_state":1,"mpcc_theta_e":0.439074993,"mpcc_theta_mech":0.554760873,"sam_rpm":-2.16606355,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02252689,"thr_a_norm":0.02252689,"thr_a_v":0.59010756,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480787337,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.522758,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.226231575,"cg_iw_a":-2.62536287,"cg_theta_rad":0.554018319,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.00238286308,"mpcc_du":50.1035881,"mpcc_dv":48.87957,"mpcc_dw":51.12043,"mpcc_enc_sign":1,"mpcc_id_a":0.653402865,"mpcc_iq_a":-2.57369304,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.99520421,"mpcc_pred_id_a":-0.162186682,"mpcc_pred_iq_a":-2.99841809,"mpcc_state":1,"mpcc_theta_e":0.442141533,"mpcc_theta_mech":0.555374265,"sam_rpm":-5.93760395,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0992549658,"thr_a_norm":0.02252689,"thr_a_v":0.897019863,"thr_b":0.0435751826,"thr_b_norm":0,"thr_b_v":0.67430073,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.534569,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.733645439,"cg_iw_a":-1.46555996,"cg_theta_rad":0.55352056,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.00374037819,"mpcc_du":49.6369247,"mpcc_dv":50.3394012,"mpcc_dw":50.3630753,"mpcc_enc_sign":1,"mpcc_id_a":0.570511401,"mpcc_iq_a":-1.05349696,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.73786473,"mpcc_pred_id_a":-0.442969739,"mpcc_pred_iq_a":-4.47523117,"mpcc_state":1,"mpcc_theta_e":0.442847252,"mpcc_theta_mech":0.555515349,"sam_rpm":5.26028442,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0992549658,"thr_a_norm":0.0992549658,"thr_a_v":0.897019863,"thr_b":0.0435751826,"thr_b_norm":0.0435751826,"thr_b_v":0.67430073,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.557884,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.806133032,"cg_iw_a":-0.450732946,"cg_theta_rad":0.55752337,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0320362374,"mpcc_du":50.2384872,"mpcc_dv":48.7405205,"mpcc_dw":51.2594795,"mpcc_enc_sign":1,"mpcc_id_a":1.6627593,"mpcc_iq_a":-1.27548313,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.99686718,"mpcc_pred_id_a":-0.174036548,"mpcc_pred_iq_a":-0.985782146,"mpcc_state":1,"mpcc_theta_e":0.45526886,"mpcc_theta_mech":0.55799973,"sam_rpm":11.6664457,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252712369,"thr_a_norm":0.0252712369,"thr_a_v":0.601084948,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472680271,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.564445,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.371207237,"cg_iw_a":-1.03063416,"cg_theta_rad":0.556431234,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0157369431,"mpcc_du":50.5180397,"mpcc_dv":48.175972,"mpcc_dw":51.824028,"mpcc_enc_sign":1,"mpcc_id_a":2.24365044,"mpcc_iq_a":-1.58114672,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.11201811,"mpcc_pred_id_a":0.415452957,"mpcc_pred_iq_a":2.29738808,"mpcc_state":1,"mpcc_theta_e":0.446872711,"mpcc_theta_mech":0.556320429,"sam_rpm":6.43639994,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022174418,"thr_a_norm":0.0252712369,"thr_a_v":0.588697672,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483859003,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.570976,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.516182423,"cg_iw_a":-0.740683556,"cg_theta_rad":0.552669764,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":6.36503682e-05,"mpcc_du":49.0913048,"mpcc_dv":50.9086952,"mpcc_dw":49.6753044,"mpcc_enc_sign":1,"mpcc_id_a":0.143756762,"mpcc_iq_a":-0.942437172,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.70068359,"mpcc_pred_id_a":-0.503769219,"mpcc_pred_iq_a":-6.35907173,"mpcc_state":1,"mpcc_theta_e":0.440636635,"mpcc_theta_mech":0.555073261,"sam_rpm":1.69029248,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022174418,"thr_a_norm":0.022174418,"thr_a_v":0.588697672,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483859003,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.577782,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.661157608,"cg_iw_a":-2.26292419,"cg_theta_rad":0.553247571,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0249657128,"mpcc_du":48.9191246,"mpcc_dv":51.0808754,"mpcc_dw":49.7147064,"mpcc_enc_sign":1,"mpcc_id_a":2.53274107,"mpcc_iq_a":-0.484727442,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.5198784,"mpcc_pred_id_a":0.136777312,"mpcc_pred_iq_a":-5.99793386,"mpcc_state":1,"mpcc_theta_e":0.453410149,"mpcc_theta_mech":0.557627916,"sam_rpm":18.0118656,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0929102749,"thr_a_norm":0.0929102749,"thr_a_v":0.871641099,"thr_b":0.0414099395,"thr_b_norm":0.0414099395,"thr_b_v":0.665639758,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.587975,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.951108456,"cg_iw_a":-0.015806675,"cg_theta_rad":0.558081448,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0306240879,"mpcc_du":50.7976913,"mpcc_dv":48.0670738,"mpcc_dw":51.9329262,"mpcc_enc_sign":1,"mpcc_id_a":1.93577671,"mpcc_iq_a":-2.55304599,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.05141592,"mpcc_pred_id_a":-0.144662946,"mpcc_pred_iq_a":-1.83663368,"mpcc_state":1,"mpcc_theta_e":0.448658466,"mpcc_theta_mech":0.55667758,"sam_rpm":-5.02824783,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193923116,"thr_a_norm":0.0929102749,"thr_a_v":0.577569246,"thr_b":0,"thr_b_norm":0.0414099395,"thr_b_v":0.466688037,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.59774,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.443694592,"cg_iw_a":-0.233269691,"cg_theta_rad":0.552031159,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0337474756,"mpcc_du":49.4560928,"mpcc_dv":49.8180008,"mpcc_dw":50.5439072,"mpcc_enc_sign":1,"mpcc_id_a":3.04400873,"mpcc_iq_a":-0.373479009,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.32649612,"mpcc_pred_id_a":0.559217751,"mpcc_pred_iq_a":-1.25704169,"mpcc_state":1,"mpcc_theta_e":0.428392887,"mpcc_theta_mech":0.552624524,"sam_rpm":-7.2850132,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193923116,"thr_a_norm":0.0193923116,"thr_a_v":0.577569246,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466688037,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.609184,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.0384233,"cg_iw_a":-0.23326993,"cg_theta_rad":0.55359,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.000796114677,"mpcc_du":49.4339485,"mpcc_dv":50.5660515,"mpcc_dw":50.156826,"mpcc_enc_sign":1,"mpcc_id_a":0.286273271,"mpcc_iq_a":-1.14890385,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.88336563,"mpcc_pred_id_a":-0.255519956,"mpcc_pred_iq_a":-3.71830463,"mpcc_state":1,"mpcc_theta_e":0.441180229,"mpcc_theta_mech":0.555181921,"sam_rpm":11.8998442,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188132375,"thr_a_norm":0.0188132375,"thr_a_v":0.57525295,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450020611,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.620354,"values":{"cg_iu_a":-0.265375137,"cg_iv_a":-1.38603449,"cg_iw_a":-1.39307261,"cg_theta_rad":0.555357218,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.04679057,"mpcc_du":49.4818039,"mpcc_dv":50.9723854,"mpcc_dw":49.8434677,"mpcc_enc_sign":1,"mpcc_id_a":2.21877527,"mpcc_iq_a":-1.3124454,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.35998535,"mpcc_pred_id_a":0.236314446,"mpcc_pred_iq_a":-0.660404801,"mpcc_state":1,"mpcc_theta_e":0.421857834,"mpcc_theta_mech":0.551317513,"sam_rpm":-13.8868876,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210162401,"thr_a_norm":0.0188132375,"thr_a_v":0.58406496,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473284513,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.630363,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.60349751,"cg_iw_a":-0.16078186,"cg_theta_rad":0.551963091,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0305512361,"mpcc_du":50.3395805,"mpcc_dv":48.6446152,"mpcc_dw":51.3553848,"mpcc_enc_sign":1,"mpcc_id_a":0.136143982,"mpcc_iq_a":-0.943566918,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.57276154,"mpcc_pred_id_a":-0.19016178,"mpcc_pred_iq_a":-1.30645287,"mpcc_state":1,"mpcc_theta_e":0.448709488,"mpcc_theta_mech":0.556687772,"sam_rpm":5.47082424,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210162401,"thr_a_norm":0.0210162401,"thr_a_v":0.58406496,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473284513,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.641747,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.31354666,"cg_iw_a":-0.740683556,"cg_theta_rad":0.557219982,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0443888642,"mpcc_du":49.815918,"mpcc_dv":49.0390968,"mpcc_dw":50.9609032,"mpcc_enc_sign":1,"mpcc_id_a":3.14409637,"mpcc_iq_a":-0.218221486,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.54489088,"mpcc_pred_id_a":0.489798099,"mpcc_pred_iq_a":-1.94013608,"mpcc_state":1,"mpcc_theta_e":0.451643944,"mpcc_theta_mech":0.557274699,"sam_rpm":4.98989916,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202231556,"thr_a_norm":0.0202231556,"thr_a_v":0.580892622,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.665001,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.53100967,"cg_iw_a":-2.26292467,"cg_theta_rad":0.557095289,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.00963682868,"mpcc_du":51.7476425,"mpcc_dv":47.1196632,"mpcc_dw":52.8803368,"mpcc_enc_sign":1,"mpcc_id_a":-1.43230498,"mpcc_iq_a":-1.48179591,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.4306965,"mpcc_pred_id_a":-0.921995699,"mpcc_pred_iq_a":-7.57416439,"mpcc_state":1,"mpcc_theta_e":0.458862305,"mpcc_theta_mech":0.558718383,"sam_rpm":-19.9116344,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202231556,"thr_a_norm":0.0202231556,"thr_a_v":0.580892622,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.671532,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.516182423,"cg_iw_a":0.491607189,"cg_theta_rad":0.554720163,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0323909149,"mpcc_du":50.3217659,"mpcc_dv":48.3037529,"mpcc_dw":51.6962471,"mpcc_enc_sign":1,"mpcc_id_a":3.55413342,"mpcc_iq_a":-1.01543331,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.94519579,"mpcc_pred_id_a":0.679412365,"mpcc_pred_iq_a":1.44158077,"mpcc_state":1,"mpcc_theta_e":0.438586712,"mpcc_theta_mech":0.554663301,"sam_rpm":-2.99300766,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0400377661,"thr_a_norm":0.0400377661,"thr_a_v":0.660151064,"thr_b":0.0117509812,"thr_b_norm":0.0117509812,"thr_b_v":0.547003925,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.677971,"values":{"cg_iu_a":0.966915131,"cg_iv_a":0.426157475,"cg_iw_a":-1.39307261,"cg_theta_rad":0.552441299,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.086293824,"mpcc_du":49.3517418,"mpcc_dv":50.2422752,"mpcc_dw":50.6482582,"mpcc_enc_sign":1,"mpcc_id_a":5.70877361,"mpcc_iq_a":-0.178557083,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.8476007,"mpcc_pred_id_a":1.05754411,"mpcc_pred_iq_a":-3.10972023,"mpcc_state":1,"mpcc_theta_e":0.438848495,"mpcc_theta_mech":0.554715633,"sam_rpm":16.6193962,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0400377661,"thr_a_norm":0.0400377661,"thr_a_v":0.660151064,"thr_b":0.0117509812,"thr_b_norm":0.0117509812,"thr_b_v":0.547003925,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.684532,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.45852208,"cg_iw_a":0.346631765,"cg_theta_rad":0.556593359,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.013852058,"mpcc_du":49.565258,"mpcc_dv":50.2432213,"mpcc_dw":50.434742,"mpcc_enc_sign":1,"mpcc_id_a":2.19155884,"mpcc_iq_a":-1.01954103,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.5352755,"mpcc_pred_id_a":-0.00514702499,"mpcc_pred_iq_a":-1.74572325,"mpcc_state":1,"mpcc_theta_e":0.45442915,"mpcc_theta_mech":0.557831705,"sam_rpm":21.1796989,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189139396,"thr_a_norm":0.0189139396,"thr_a_v":0.575655758,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450926989,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.693169,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.951108456,"cg_iw_a":-2.40789986,"cg_theta_rad":0.556151807,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0211664401,"mpcc_du":51.0893211,"mpcc_dv":47.3173981,"mpcc_dw":52.6826019,"mpcc_enc_sign":1,"mpcc_id_a":2.5985868,"mpcc_iq_a":-1.51994562,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.4307814,"mpcc_pred_id_a":0.639494777,"mpcc_pred_iq_a":2.32188272,"mpcc_state":1,"mpcc_theta_e":0.433141232,"mpcc_theta_mech":0.553574204,"sam_rpm":-15.5546932,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246543884,"thr_a_norm":0.0189139396,"thr_a_v":0.598617554,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473334849,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.702568,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-2.54583716,"cg_iw_a":0.0566809177,"cg_theta_rad":0.554117024,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0104185343,"mpcc_du":50.0845833,"mpcc_dv":48.8053131,"mpcc_dw":51.1946869,"mpcc_enc_sign":1,"mpcc_id_a":1.87405539,"mpcc_iq_a":-0.497998178,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.653513968,"mpcc_pred_id_a":0.129059374,"mpcc_pred_iq_a":1.73000836,"mpcc_state":1,"mpcc_theta_e":0.435389042,"mpcc_theta_mech":0.554023683,"sam_rpm":-1.68314147,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246543884,"thr_a_norm":0.0246543884,"thr_a_v":0.598617554,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473334849,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.712761,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-2.76329994,"cg_iw_a":1.72389698,"cg_theta_rad":0.55622834,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.012413241,"mpcc_du":48.8768845,"mpcc_dv":51.1231155,"mpcc_dw":49.6455345,"mpcc_enc_sign":1,"mpcc_id_a":2.21706319,"mpcc_iq_a":-0.109113775,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.41267157,"mpcc_pred_id_a":0.224516094,"mpcc_pred_iq_a":-4.97062445,"mpcc_state":1,"mpcc_theta_e":0.437791348,"mpcc_theta_mech":0.554504216,"sam_rpm":7.88140678,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0937411338,"thr_a_norm":0.0937411338,"thr_a_v":0.874964535,"thr_b":0.0384012312,"thr_b_norm":0.0384012312,"thr_b_v":0.653604925,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.72274,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-2.11091113,"cg_iw_a":-0.45073247,"cg_theta_rad":0.55497539,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0242656395,"mpcc_du":50.0881767,"mpcc_dv":49.0077515,"mpcc_dw":50.9922485,"mpcc_enc_sign":1,"mpcc_id_a":0.225168958,"mpcc_iq_a":-6.02707052,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.11732626,"mpcc_pred_id_a":-0.383864492,"mpcc_pred_iq_a":-3.09058499,"mpcc_state":1,"mpcc_theta_e":0.441534519,"mpcc_theta_mech":0.55525279,"sam_rpm":-6.19956636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0937411338,"thr_a_norm":0.0937411338,"thr_a_v":0.874964535,"thr_b":0.0384012312,"thr_b_norm":0.0384012312,"thr_b_v":0.653604925,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.732964,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.60349751,"cg_iw_a":-1.24809694,"cg_theta_rad":0.55753392,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0264559407,"mpcc_du":50.1142921,"mpcc_dv":48.8475266,"mpcc_dw":51.1524734,"mpcc_enc_sign":1,"mpcc_id_a":1.03447855,"mpcc_iq_a":-1.24356556,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.66331768,"mpcc_pred_id_a":0.0309301671,"mpcc_pred_iq_a":-0.483520716,"mpcc_state":1,"mpcc_theta_e":0.452887058,"mpcc_theta_mech":0.55752331,"sam_rpm":16.2269344,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022476539,"thr_a_norm":0.022476539,"thr_a_v":0.589906156,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476910055,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.743156,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.878620625,"cg_iw_a":-0.233269691,"cg_theta_rad":0.555562615,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0246151965,"mpcc_du":49.5002861,"mpcc_dv":49.8438797,"mpcc_dw":50.4997139,"mpcc_enc_sign":1,"mpcc_id_a":2.76139784,"mpcc_iq_a":-0.667971671,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.77524519,"mpcc_pred_id_a":0.349785358,"mpcc_pred_iq_a":-3.15337324,"mpcc_state":1,"mpcc_theta_e":0.446520805,"mpcc_theta_mech":0.556250095,"sam_rpm":7.28577518,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263286829,"thr_a_norm":0.022476539,"thr_a_v":0.605314732,"thr_b":0.000144198537,"thr_b_norm":0,"thr_b_v":0.500576794,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.766167,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.16857147,"cg_iw_a":-0.81317091,"cg_theta_rad":0.554088235,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.00201008213,"mpcc_du":50.3041153,"mpcc_dv":48.6730728,"mpcc_dw":51.3269272,"mpcc_enc_sign":1,"mpcc_id_a":0.891585469,"mpcc_iq_a":-0.882944524,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.49365187,"mpcc_pred_id_a":-0.144439578,"mpcc_pred_iq_a":0.430416733,"mpcc_state":1,"mpcc_theta_e":0.443920135,"mpcc_theta_mech":0.555729985,"sam_rpm":-5.76116419,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263286829,"thr_a_norm":0.0263286829,"thr_a_v":0.605314732,"thr_b":0.000144198537,"thr_b_norm":0.000144198537,"thr_b_v":0.500576794,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.772758,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.60349751,"cg_iw_a":-1.39307213,"cg_theta_rad":0.560479224,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.00783708878,"mpcc_du":50.2390251,"mpcc_dv":48.7127609,"mpcc_dw":51.2872391,"mpcc_enc_sign":1,"mpcc_id_a":1.65332997,"mpcc_iq_a":-2.49273682,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0634914637,"mpcc_pred_id_a":0.0505544171,"mpcc_pred_iq_a":0.107003853,"mpcc_state":1,"mpcc_theta_e":0.442607403,"mpcc_theta_mech":0.555467367,"sam_rpm":-0.0454869941,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022677958,"thr_a_norm":0.022677958,"thr_a_v":0.590711832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486779571,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.779228,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.226231575,"cg_iw_a":-2.19043684,"cg_theta_rad":0.551498294,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0121088726,"mpcc_du":49.8543091,"mpcc_dv":49.1984901,"mpcc_dw":50.8015099,"mpcc_enc_sign":1,"mpcc_id_a":1.02439475,"mpcc_iq_a":0.0832329392,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.0341969,"mpcc_pred_id_a":-0.0568025149,"mpcc_pred_iq_a":-2.92296672,"mpcc_state":1,"mpcc_theta_e":0.433994293,"mpcc_theta_mech":0.553744733,"sam_rpm":-3.57060552,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022677958,"thr_a_norm":0.022677958,"thr_a_v":0.590711832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486779571,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.785759,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.09608364,"cg_iw_a":0.78155756,"cg_theta_rad":0.555498898,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.00202153577,"mpcc_du":51.1748009,"mpcc_dv":47.507103,"mpcc_dw":52.492897,"mpcc_enc_sign":1,"mpcc_id_a":0.0214892738,"mpcc_iq_a":-1.60981488,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-23.675724,"mpcc_pred_id_a":-0.194870621,"mpcc_pred_iq_a":1.00214624,"mpcc_state":1,"mpcc_theta_e":0.420632362,"mpcc_theta_mech":0.551072359,"sam_rpm":-35.1762238,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025069803,"thr_a_norm":0.025069803,"thr_a_v":0.600279212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481290877,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.795738,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.806133032,"cg_iw_a":-0.23326993,"cg_theta_rad":0.553214729,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0219657421,"mpcc_du":50.3544922,"mpcc_dv":48.451252,"mpcc_dw":51.548748,"mpcc_enc_sign":1,"mpcc_id_a":2.21597457,"mpcc_iq_a":-0.129350752,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.71816349,"mpcc_pred_id_a":0.173384547,"mpcc_pred_iq_a":-3.12594342,"mpcc_state":1,"mpcc_theta_e":0.446921349,"mpcc_theta_mech":0.556330204,"sam_rpm":-6.14986563,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.025069803,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488642722,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.805687,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.733645439,"cg_iw_a":-1.82799816,"cg_theta_rad":0.557140112,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0302726496,"mpcc_du":50.9115334,"mpcc_dv":47.6751404,"mpcc_dw":52.3248596,"mpcc_enc_sign":1,"mpcc_id_a":2.87688017,"mpcc_iq_a":-0.920835257,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.5424023,"mpcc_pred_id_a":0.519134879,"mpcc_pred_iq_a":0.320708424,"mpcc_state":1,"mpcc_theta_e":0.436151505,"mpcc_theta_mech":0.554176211,"sam_rpm":-18.9590492,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.021620512,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488642722,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.818077,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.878620625,"cg_iw_a":-1.24809694,"cg_theta_rad":0.555842817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0268928371,"mpcc_du":49.5659485,"mpcc_dv":49.8871994,"mpcc_dw":50.4340515,"mpcc_enc_sign":1,"mpcc_id_a":1.08270156,"mpcc_iq_a":-0.151488051,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.8173895,"mpcc_pred_id_a":0.0226515457,"mpcc_pred_iq_a":-1.80789995,"mpcc_state":1,"mpcc_theta_e":0.449929714,"mpcc_theta_mech":0.556931853,"sam_rpm":23.1985054,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176047087,"thr_a_norm":0.0176047087,"thr_a_v":0.570418835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.436676592,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.828178,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.16857147,"cg_iw_a":-0.233269691,"cg_theta_rad":0.557205021,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0508743338,"mpcc_du":50.7264824,"mpcc_dv":48.1488495,"mpcc_dw":51.8511505,"mpcc_enc_sign":1,"mpcc_id_a":0.659432471,"mpcc_iq_a":-0.688868523,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.93951714,"mpcc_pred_id_a":-0.0314323567,"mpcc_pred_iq_a":-3.3479383,"mpcc_state":1,"mpcc_theta_e":0.453038692,"mpcc_theta_mech":0.557553649,"sam_rpm":3.59583092,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202609301,"thr_a_norm":0.0176047087,"thr_a_v":0.58104372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.838188,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.0384233,"cg_iw_a":0.709069967,"cg_theta_rad":0.556871295,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.120980583,"mpcc_du":50.4176064,"mpcc_dv":48.3547516,"mpcc_dw":51.6452484,"mpcc_enc_sign":1,"mpcc_id_a":2.02003527,"mpcc_iq_a":1.31193483,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.17997885,"mpcc_pred_id_a":0.326587439,"mpcc_pred_iq_a":-2.72290468,"mpcc_state":1,"mpcc_theta_e":0.445830822,"mpcc_theta_mech":0.556112051,"sam_rpm":-4.16607332,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202609301,"thr_a_norm":0.0202609301,"thr_a_v":0.58104372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.861351,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.443694592,"cg_iw_a":-0.740683556,"cg_theta_rad":0.557987332,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.00769979274,"mpcc_du":48.7582817,"mpcc_dv":51.2417183,"mpcc_dw":49.3473206,"mpcc_enc_sign":1,"mpcc_id_a":1.15146852,"mpcc_iq_a":-0.850139737,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.9404964,"mpcc_pred_id_a":-0.160643056,"mpcc_pred_iq_a":1.38900125,"mpcc_state":1,"mpcc_theta_e":0.432741642,"mpcc_theta_mech":0.553494275,"sam_rpm":21.3617611,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198958516,"thr_a_norm":0.0198958516,"thr_a_v":0.579583406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483103693,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.867882,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.668195724,"cg_theta_rad":0.557006001,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0131796533,"mpcc_du":49.6323471,"mpcc_dv":49.2629509,"mpcc_dw":50.7370491,"mpcc_enc_sign":1,"mpcc_id_a":1.78454781,"mpcc_iq_a":-1.03050017,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.84086466,"mpcc_pred_id_a":0.217196345,"mpcc_pred_iq_a":-4.44906187,"mpcc_state":1,"mpcc_theta_e":0.444332123,"mpcc_theta_mech":0.555812359,"sam_rpm":4.28835344,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198958516,"thr_a_norm":0.0198958516,"thr_a_v":0.579583406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483103693,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.874413,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.298719406,"cg_iw_a":-0.740683556,"cg_theta_rad":0.555148363,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0302869175,"mpcc_du":49.8686104,"mpcc_dv":48.9875107,"mpcc_dw":51.0124893,"mpcc_enc_sign":1,"mpcc_id_a":3.09461522,"mpcc_iq_a":-0.645051062,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.33006668,"mpcc_pred_id_a":0.300128311,"mpcc_pred_iq_a":0.129346669,"mpcc_state":1,"mpcc_theta_e":0.447444916,"mpcc_theta_mech":0.556434929,"sam_rpm":10.9384775,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022929728,"thr_a_norm":0.022929728,"thr_a_v":0.591718912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492771804,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.880943,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.951108456,"cg_iw_a":0.419119358,"cg_theta_rad":0.556394517,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.00916514639,"mpcc_du":50.2555237,"mpcc_dv":48.5647774,"mpcc_dw":51.4352226,"mpcc_enc_sign":1,"mpcc_id_a":1.27921724,"mpcc_iq_a":-0.916352928,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.54075623,"mpcc_pred_id_a":0.0667670742,"mpcc_pred_iq_a":-1.56976938,"mpcc_state":1,"mpcc_theta_e":0.43696928,"mpcc_theta_mech":0.554339767,"sam_rpm":-11.1589003,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026001364,"thr_a_norm":0.022929728,"thr_a_v":0.604005456,"thr_b":0.00125201046,"thr_b_norm":0,"thr_b_v":0.505008042,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.888573,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.733645439,"cg_iw_a":-1.90048599,"cg_theta_rad":0.555277467,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.000408736116,"mpcc_du":50.4572487,"mpcc_dv":48.4323273,"mpcc_dw":51.5676727,"mpcc_enc_sign":1,"mpcc_id_a":0.231556639,"mpcc_iq_a":-0.934425056,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.58981895,"mpcc_pred_id_a":-0.195623517,"mpcc_pred_iq_a":0.878722727,"mpcc_state":1,"mpcc_theta_e":0.435945511,"mpcc_theta_mech":0.554135025,"sam_rpm":-7.22280693,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026001364,"thr_a_norm":0.026001364,"thr_a_v":0.604005456,"thr_b":0.00125201046,"thr_b_norm":0.00125201046,"thr_b_v":0.505008042,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.898949,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.6759851,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.55369693,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0240398515,"mpcc_du":50.3785477,"mpcc_dv":48.5806084,"mpcc_dw":51.4193916,"mpcc_enc_sign":1,"mpcc_id_a":1.02216184,"mpcc_iq_a":-1.14426541,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.0895414,"mpcc_pred_id_a":-0.407197118,"mpcc_pred_iq_a":2.26432753,"mpcc_state":1,"mpcc_theta_e":0.423084259,"mpcc_theta_mech":0.553931534,"sam_rpm":-15.9341097,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0936781913,"thr_a_norm":0.0936781913,"thr_a_v":0.874712765,"thr_b":0.0420519561,"thr_b_norm":0.0420519561,"thr_b_v":0.668207824,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.908928,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.24105906,"cg_iw_a":-1.03063416,"cg_theta_rad":0.556162238,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0364037082,"mpcc_du":49.4855042,"mpcc_dv":50.1144905,"mpcc_dw":50.5144958,"mpcc_enc_sign":1,"mpcc_id_a":2.59948587,"mpcc_iq_a":-0.131663293,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.60716724,"mpcc_pred_id_a":0.370327115,"mpcc_pred_iq_a":-0.495058894,"mpcc_state":1,"mpcc_theta_e":0.431099892,"mpcc_theta_mech":0.553165913,"sam_rpm":-4.78734493,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0936781913,"thr_a_norm":0.0936781913,"thr_a_v":0.874712765,"thr_b":0.0420519561,"thr_b_norm":0.0420519561,"thr_b_v":0.668207824,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.921318,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.31354666,"cg_iw_a":-1.68302298,"cg_theta_rad":0.555200458,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0430210829,"mpcc_du":50.0074043,"mpcc_dv":48.8170662,"mpcc_dw":51.1829338,"mpcc_enc_sign":1,"mpcc_id_a":3.75380564,"mpcc_iq_a":-1.61754799,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.272996813,"mpcc_pred_id_a":0.395097703,"mpcc_pred_iq_a":-2.24866271,"mpcc_state":1,"mpcc_theta_e":0.448826313,"mpcc_theta_mech":0.556711197,"sam_rpm":-0.732642055,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167738646,"thr_a_norm":0.0167738646,"thr_a_v":0.567095459,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488592356,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.932518,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.371207237,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556638539,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0119151324,"mpcc_du":49.5846405,"mpcc_dv":49.6981926,"mpcc_dw":50.4153595,"mpcc_enc_sign":1,"mpcc_id_a":0.439513087,"mpcc_iq_a":-0.84086442,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.44640112,"mpcc_pred_id_a":-0.252283663,"mpcc_pred_iq_a":-0.640038252,"mpcc_state":1,"mpcc_theta_e":0.428998947,"mpcc_theta_mech":0.5527457,"sam_rpm":-3.09526229,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217086226,"thr_a_norm":0.0217086226,"thr_a_v":0.58683449,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495742738,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.943535,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.371207237,"cg_iw_a":-2.48038721,"cg_theta_rad":0.554583907,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.00951690786,"mpcc_du":49.8854485,"mpcc_dv":48.8853378,"mpcc_dw":51.1146622,"mpcc_enc_sign":1,"mpcc_id_a":1.79268444,"mpcc_iq_a":-0.498213381,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.68295431,"mpcc_pred_id_a":0.359869242,"mpcc_pred_iq_a":0.672707319,"mpcc_state":1,"mpcc_theta_e":0.431393623,"mpcc_theta_mech":0.553224623,"sam_rpm":-6.10697746,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217086226,"thr_a_norm":0.0217086226,"thr_a_v":0.58683449,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495742738,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.966942,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.153744221,"cg_iw_a":-0.23326993,"cg_theta_rad":0.557389438,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.00663712621,"mpcc_du":49.1844406,"mpcc_dv":50.8155594,"mpcc_dw":49.7004929,"mpcc_enc_sign":1,"mpcc_id_a":-0.47598809,"mpcc_iq_a":-1.20644474,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.19324112,"mpcc_pred_id_a":-0.800910413,"mpcc_pred_iq_a":-6.39531088,"mpcc_state":1,"mpcc_theta_e":0.450698376,"mpcc_theta_mech":0.557085633,"sam_rpm":12.2575922,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261650234,"thr_a_norm":0.0261650234,"thr_a_v":0.604660094,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492721438,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.973442,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.53100967,"cg_iw_a":-0.015806675,"cg_theta_rad":0.55540657,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.00332881301,"mpcc_du":50.1174469,"mpcc_dv":48.8372307,"mpcc_dw":51.1627693,"mpcc_enc_sign":1,"mpcc_id_a":-0.21684958,"mpcc_iq_a":-2.4953177,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.5830946,"mpcc_pred_id_a":0.0481630713,"mpcc_pred_iq_a":-0.437677085,"mpcc_state":1,"mpcc_theta_e":0.451842308,"mpcc_theta_mech":0.557314396,"sam_rpm":11.8364363,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023282215,"thr_a_norm":0.023282215,"thr_a_v":0.59312886,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467795819,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.980034,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.16857147,"cg_iw_a":1.14399624,"cg_theta_rad":0.556398153,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5003,"hz_app_loop":358,"hz_tim_isr":10006,"hz_vsense":358,"mpcc_cost":0.0174138509,"mpcc_du":49.9364548,"mpcc_dv":49.0811386,"mpcc_dw":51.5622063,"mpcc_enc_sign":1,"mpcc_id_a":0.65999794,"mpcc_iq_a":-0.688326836,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.9221478,"mpcc_pred_id_a":-0.0127468752,"mpcc_pred_iq_a":-1.27926695,"mpcc_state":1,"mpcc_theta_e":0.452217579,"mpcc_theta_mech":0.557389438,"sam_rpm":9.96959019,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023282215,"thr_a_norm":0.023282215,"thr_a_v":0.59312886,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467795819,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.987175,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.60349751,"cg_iw_a":-0.740683079,"cg_theta_rad":0.552709639,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0220132302,"mpcc_du":50.3515472,"mpcc_dv":48.2753716,"mpcc_dw":51.7246284,"mpcc_enc_sign":1,"mpcc_id_a":1.44289052,"mpcc_iq_a":-0.410010755,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.65016365,"mpcc_pred_id_a":0.155631512,"mpcc_pred_iq_a":-1.4422611,"mpcc_state":1,"mpcc_theta_e":0.439236641,"mpcc_theta_mech":0.554793239,"sam_rpm":10.0355339,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199965686,"thr_a_norm":0.0199965686,"thr_a_v":0.579986274,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":79.997215,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.733645439,"cg_iw_a":-1.39307213,"cg_theta_rad":0.55605793,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0326128453,"mpcc_du":51.1645775,"mpcc_dv":47.7126503,"mpcc_dw":52.2873497,"mpcc_enc_sign":1,"mpcc_id_a":1.1439302,"mpcc_iq_a":-1.17288578,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":20.2152767,"mpcc_pred_id_a":0.0451355577,"mpcc_pred_iq_a":-4.7256875,"mpcc_state":1,"mpcc_theta_e":0.462020874,"mpcc_theta_mech":0.559350133,"sam_rpm":-10.2997742,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226275921,"thr_a_norm":0.0199965686,"thr_a_v":0.590510368,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488491654,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.007164,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.31354666,"cg_iw_a":0.926532745,"cg_theta_rad":0.557828903,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0143444501,"mpcc_du":49.5032425,"mpcc_dv":50.4967575,"mpcc_dw":50.4486351,"mpcc_enc_sign":1,"mpcc_id_a":1.14948201,"mpcc_iq_a":-2.02647471,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.22763157,"mpcc_pred_id_a":0.359857202,"mpcc_pred_iq_a":-2.12264442,"mpcc_state":1,"mpcc_theta_e":0.444556236,"mpcc_theta_mech":0.555857182,"sam_rpm":8.61253548,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226275921,"thr_a_norm":0.0226275921,"thr_a_v":0.590510368,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488491654,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.017296,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.516182423,"cg_iw_a":-0.740683079,"cg_theta_rad":0.554205,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0400732048,"mpcc_du":49.0517426,"mpcc_dv":50.9482574,"mpcc_dw":49.6947708,"mpcc_enc_sign":1,"mpcc_id_a":0.194730654,"mpcc_iq_a":-2.02923465,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.97170734,"mpcc_pred_id_a":-0.241106391,"mpcc_pred_iq_a":-2.80424905,"mpcc_state":1,"mpcc_theta_e":0.439366341,"mpcc_theta_mech":0.554819167,"sam_rpm":6.18259096,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188132375,"thr_a_norm":0.0188132375,"thr_a_v":0.57525295,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458832651,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.027214,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.443694592,"cg_iw_a":-1.17560959,"cg_theta_rad":0.556429148,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0445019007,"mpcc_du":50.0853233,"mpcc_dv":49.0435944,"mpcc_dw":51.5169449,"mpcc_enc_sign":1,"mpcc_id_a":0.582706571,"mpcc_iq_a":-0.183161601,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.831602991,"mpcc_pred_id_a":-0.447915167,"mpcc_pred_iq_a":-3.46495032,"mpcc_state":1,"mpcc_theta_e":0.44873476,"mpcc_theta_mech":0.555731297,"sam_rpm":1.98966777,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188132375,"thr_a_norm":0.0188132375,"thr_a_v":0.57525295,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458832651,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.037529,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.60349751,"cg_iw_a":0.491607189,"cg_theta_rad":0.551562786,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0178686641,"mpcc_du":50.0569153,"mpcc_dv":49.1128998,"mpcc_dw":50.8871002,"mpcc_enc_sign":1,"mpcc_id_a":0.243192926,"mpcc_iq_a":-1.88081241,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.33397365,"mpcc_pred_id_a":-0.512536585,"mpcc_pred_iq_a":-3.35536313,"mpcc_state":1,"mpcc_theta_e":0.451469421,"mpcc_theta_mech":0.55723983,"sam_rpm":5.54648542,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0421778411,"thr_a_norm":0.0421778411,"thr_a_v":0.668711364,"thr_b":0.0114488304,"thr_b_norm":0.0114488304,"thr_b_v":0.545795321,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.047539,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.951108456,"cg_iw_a":-1.97297382,"cg_theta_rad":0.556263983,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0364502035,"mpcc_du":50.2112617,"mpcc_dv":48.5515556,"mpcc_dw":51.4484444,"mpcc_enc_sign":1,"mpcc_id_a":2.50260353,"mpcc_iq_a":-0.0276550967,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.373826116,"mpcc_pred_id_a":0.391759723,"mpcc_pred_iq_a":-0.272541016,"mpcc_state":1,"mpcc_theta_e":0.444132328,"mpcc_theta_mech":0.555772364,"sam_rpm":1.01022899,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0421778411,"thr_a_norm":0.0421778411,"thr_a_v":0.668711364,"thr_b":0.0114488304,"thr_b_norm":0.0114488304,"thr_b_v":0.545795321,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.070732,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.16857147,"cg_iw_a":0.419119358,"cg_theta_rad":0.557284534,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0427226275,"mpcc_du":51.5054893,"mpcc_dv":47.4337807,"mpcc_dw":52.5662193,"mpcc_enc_sign":1,"mpcc_id_a":-2.6203444,"mpcc_iq_a":-1.02828836,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.57300949,"mpcc_pred_id_a":-0.832949042,"mpcc_pred_iq_a":1.12828064,"mpcc_state":1,"mpcc_theta_e":0.440088272,"mpcc_theta_mech":0.554963589,"sam_rpm":-13.3679876,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0967246592,"thr_a_norm":0.0967246592,"thr_a_v":0.886898637,"thr_b":0.0409567356,"thr_b_norm":0.0409567356,"thr_b_v":0.663826942,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.077263,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":1.00605869,"cg_iw_a":-1.82799864,"cg_theta_rad":0.555873275,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.000677781063,"mpcc_du":50.0125008,"mpcc_dv":49.0334702,"mpcc_dw":50.9665298,"mpcc_enc_sign":1,"mpcc_id_a":0.24857229,"mpcc_iq_a":-1.58772433,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.28805065,"mpcc_pred_id_a":-0.311259925,"mpcc_pred_iq_a":-2.52943301,"mpcc_state":1,"mpcc_theta_e":0.434940815,"mpcc_theta_mech":0.553934097,"sam_rpm":-14.0190353,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0104417503,"thr_a_norm":0.0967246592,"thr_a_v":0.541767001,"thr_b":0,"thr_b_norm":0.0409567356,"thr_b_v":0.427209914,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.083824,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.733645439,"cg_iw_a":-0.668195724,"cg_theta_rad":0.558353484,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0281157959,"mpcc_du":50.0040436,"mpcc_dv":48.8045044,"mpcc_dw":51.1954956,"mpcc_enc_sign":1,"mpcc_id_a":2.59336734,"mpcc_iq_a":-1.18665278,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.981561303,"mpcc_pred_id_a":0.390125036,"mpcc_pred_iq_a":-2.13411736,"mpcc_state":1,"mpcc_theta_e":0.445232868,"mpcc_theta_mech":0.555992484,"sam_rpm":-1.56382477,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0104417503,"thr_a_norm":0.0104417503,"thr_a_v":0.541767001,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.427209914,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.090324,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.878620625,"cg_iw_a":-0.450732708,"cg_theta_rad":0.553430796,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0163081642,"mpcc_du":48.6038322,"mpcc_dv":51.3961678,"mpcc_dw":49.2823334,"mpcc_enc_sign":1,"mpcc_id_a":2.05901289,"mpcc_iq_a":-0.294910043,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.1782761,"mpcc_pred_id_a":0.017685663,"mpcc_pred_iq_a":-6.7401824,"mpcc_state":1,"mpcc_theta_e":0.450896263,"mpcc_theta_mech":0.557125151,"sam_rpm":18.0898838,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024415195,"thr_a_norm":0.024415195,"thr_a_v":0.59766078,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479880989,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.098045,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-2.0384233,"cg_iw_a":-0.813171148,"cg_theta_rad":0.554471552,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0238752831,"mpcc_du":49.4899712,"mpcc_dv":49.9782295,"mpcc_dw":50.5100288,"mpcc_enc_sign":1,"mpcc_id_a":2.30716133,"mpcc_iq_a":-0.778147459,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.29555893,"mpcc_pred_id_a":0.401508868,"mpcc_pred_iq_a":-4.22279692,"mpcc_state":1,"mpcc_theta_e":0.447584629,"mpcc_theta_mech":0.556462884,"sam_rpm":6.54457426,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024415195,"thr_a_norm":0.024415195,"thr_a_v":0.59766078,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479880989,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.108116,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.16857147,"cg_iw_a":1.28897142,"cg_theta_rad":0.556469262,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0073021953,"mpcc_du":49.2090874,"mpcc_dv":50.7909126,"mpcc_dw":50.1587982,"mpcc_enc_sign":1,"mpcc_id_a":1.53499413,"mpcc_iq_a":0.489295036,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.52726412,"mpcc_pred_id_a":0.511438608,"mpcc_pred_iq_a":-0.753253579,"mpcc_state":1,"mpcc_theta_e":0.4363451,"mpcc_theta_mech":0.554214895,"sam_rpm":-4.8408432,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209658891,"thr_a_norm":0.0209658891,"thr_a_v":0.583863556,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462659657,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.118309,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-1.02359605,"cg_iw_a":-1.8279984,"cg_theta_rad":0.556172013,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0106753875,"mpcc_du":49.8723717,"mpcc_dv":49.2088242,"mpcc_dw":50.7911758,"mpcc_enc_sign":1,"mpcc_id_a":0.684286654,"mpcc_iq_a":-2.79416966,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.21866322,"mpcc_pred_id_a":-0.191910535,"mpcc_pred_iq_a":-3.2761054,"mpcc_state":1,"mpcc_theta_e":0.452362537,"mpcc_theta_mech":0.557085574,"sam_rpm":10.1315384,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0231689215,"thr_a_norm":0.0209658891,"thr_a_v":0.592675686,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495037764,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.128319,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.6759851,"cg_iw_a":-0.233269453,"cg_theta_rad":0.552180111,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0494960733,"mpcc_du":49.8921852,"mpcc_dv":48.9783936,"mpcc_dw":51.0216064,"mpcc_enc_sign":1,"mpcc_id_a":2.48713946,"mpcc_iq_a":-0.407924175,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.86038589,"mpcc_pred_id_a":0.320600539,"mpcc_pred_iq_a":-2.15788913,"mpcc_state":1,"mpcc_theta_e":0.450422287,"mpcc_theta_mech":0.55703038,"sam_rpm":7.85933638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0231689215,"thr_a_norm":0.0231689215,"thr_a_v":0.592675686,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495037764,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.138512,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.806133032,"cg_iw_a":-0.305757284,"cg_theta_rad":0.554017901,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0121571803,"mpcc_du":50.1304626,"mpcc_dv":48.6174622,"mpcc_dw":51.3825378,"mpcc_enc_sign":1,"mpcc_id_a":2.17479038,"mpcc_iq_a":0.356203169,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.7660465,"mpcc_pred_id_a":0.301855683,"mpcc_pred_iq_a":-0.780684829,"mpcc_state":1,"mpcc_theta_e":0.423098564,"mpcc_theta_mech":0.551565647,"sam_rpm":-26.1141663,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022728309,"thr_a_norm":0.022728309,"thr_a_v":0.590913236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.148125,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-1.31354666,"cg_iw_a":1.21648359,"cg_theta_rad":0.55422008,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0108149303,"mpcc_du":50.1342926,"mpcc_dv":48.6337929,"mpcc_dw":51.3662071,"mpcc_enc_sign":1,"mpcc_id_a":1.5995506,"mpcc_iq_a":-0.223083198,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.8282785,"mpcc_pred_id_a":0.357515037,"mpcc_pred_iq_a":-1.66547465,"mpcc_state":1,"mpcc_theta_e":0.430252552,"mpcc_theta_mech":0.552996397,"sam_rpm":-19.7255535,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022728309,"thr_a_norm":0.022728309,"thr_a_v":0.590913236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.171562,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.226231575,"cg_iw_a":-2.40789986,"cg_theta_rad":0.553114295,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0290511698,"mpcc_du":49.5573425,"mpcc_dv":49.8950386,"mpcc_dw":50.4426575,"mpcc_enc_sign":1,"mpcc_id_a":2.74774456,"mpcc_iq_a":-0.536345065,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.07525063,"mpcc_pred_id_a":-0.0941356942,"mpcc_pred_iq_a":-2.70580888,"mpcc_state":1,"mpcc_theta_e":0.451220036,"mpcc_theta_mech":0.557189941,"sam_rpm":13.3895569,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022199586,"thr_a_norm":0.022199586,"thr_a_v":0.588798344,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477766067,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.178062,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-2.61832476,"cg_iw_a":1.72389746,"cg_theta_rad":0.554976046,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0131126782,"mpcc_du":50.4546967,"mpcc_dv":48.3108368,"mpcc_dw":51.6891632,"mpcc_enc_sign":1,"mpcc_id_a":2.24442959,"mpcc_iq_a":-0.905330122,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.78319407,"mpcc_pred_id_a":0.198782519,"mpcc_pred_iq_a":0.916443884,"mpcc_state":1,"mpcc_theta_e":0.436988831,"mpcc_theta_mech":0.554343641,"sam_rpm":-9.09776783,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202483386,"thr_a_norm":0.022199586,"thr_a_v":0.580993354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458832651,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.184563,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.878620625,"cg_iw_a":0.564094543,"cg_theta_rad":0.555361748,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.00662748236,"mpcc_du":49.6524124,"mpcc_dv":50.2153168,"mpcc_dw":50.3475876,"mpcc_enc_sign":1,"mpcc_id_a":0.22677204,"mpcc_iq_a":-1.59098423,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.30568886,"mpcc_pred_id_a":-0.459171802,"mpcc_pred_iq_a":-5.19203091,"mpcc_state":1,"mpcc_theta_e":0.448657036,"mpcc_theta_mech":0.556677282,"sam_rpm":6.33641815,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202483386,"thr_a_norm":0.0202483386,"thr_a_v":0.580993354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458832651,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.191093,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.226231575,"cg_iw_a":-0.450732708,"cg_theta_rad":0.554232419,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0195821822,"mpcc_du":49.8664284,"mpcc_dv":49.0138817,"mpcc_dw":50.9861183,"mpcc_enc_sign":1,"mpcc_id_a":2.79667735,"mpcc_iq_a":-0.918523848,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.52555943,"mpcc_pred_id_a":0.298354775,"mpcc_pred_iq_a":-2.22724056,"mpcc_state":1,"mpcc_theta_e":0.432709217,"mpcc_theta_mech":0.553487718,"sam_rpm":-13.0311899,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194552541,"thr_a_norm":0.0194552541,"thr_a_v":0.577821016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466436267,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.19912,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.02359605,"cg_iw_a":-1.39307237,"cg_theta_rad":0.556717098,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0254807435,"mpcc_du":49.3329849,"mpcc_dv":50.6670151,"mpcc_dw":50.1072655,"mpcc_enc_sign":1,"mpcc_id_a":1.2436372,"mpcc_iq_a":0.520002604,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.82913208,"mpcc_pred_id_a":-0.0376787335,"mpcc_pred_iq_a":-4.94215679,"mpcc_state":1,"mpcc_theta_e":0.449225903,"mpcc_theta_mech":0.556791067,"sam_rpm":12.7945566,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194552541,"thr_a_norm":0.0194552541,"thr_a_v":0.577821016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466436267,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.209312,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.588670254,"cg_iw_a":-1.90048599,"cg_theta_rad":0.553049624,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.020021271,"mpcc_du":49.7171402,"mpcc_dv":49.1503487,"mpcc_dw":50.8496513,"mpcc_enc_sign":1,"mpcc_id_a":2.26711178,"mpcc_iq_a":-0.147973716,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.1960964,"mpcc_pred_id_a":0.331147015,"mpcc_pred_iq_a":-0.551516473,"mpcc_state":1,"mpcc_theta_e":0.4246521,"mpcc_theta_mech":0.551876307,"sam_rpm":-15.9018917,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285317004,"thr_a_norm":0.0285317004,"thr_a_v":0.614126801,"thr_b":0.000345617533,"thr_b_norm":0.000345617533,"thr_b_v":0.50138247,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.219566,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.733645439,"cg_iw_a":-0.233269691,"cg_theta_rad":0.554210484,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0208895225,"mpcc_du":49.7543831,"mpcc_dv":49.2607765,"mpcc_dw":50.7392235,"mpcc_enc_sign":1,"mpcc_id_a":1.69752622,"mpcc_iq_a":-2.05581117,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.92040253,"mpcc_pred_id_a":-0.00329173333,"mpcc_pred_iq_a":-6.10574102,"mpcc_state":1,"mpcc_theta_e":0.444576263,"mpcc_theta_mech":0.555861175,"sam_rpm":-8.34261131,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288841873,"thr_a_norm":0.0285317004,"thr_a_v":0.615536749,"thr_b":0,"thr_b_norm":0.000345617533,"thr_b_v":0.497807235,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.229546,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.31354666,"cg_iw_a":0.78155756,"cg_theta_rad":0.554655313,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.00430053892,"mpcc_du":50.0721741,"mpcc_dv":49.0064087,"mpcc_dw":50.9935913,"mpcc_enc_sign":1,"mpcc_id_a":-0.185306922,"mpcc_iq_a":-2.13224244,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.8046875,"mpcc_pred_id_a":-0.34352383,"mpcc_pred_iq_a":-3.61924052,"mpcc_state":1,"mpcc_theta_e":0.444437027,"mpcc_theta_mech":0.55583328,"sam_rpm":-5.71166706,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288841873,"thr_a_norm":0.0288841873,"thr_a_v":0.615536749,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497807235,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.239769,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.16857147,"cg_iw_a":0.201656342,"cg_theta_rad":0.55598253,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0532959737,"mpcc_du":49.3668671,"mpcc_dv":49.3874397,"mpcc_dw":50.6331329,"mpcc_enc_sign":1,"mpcc_id_a":4.1276474,"mpcc_iq_a":-0.263130039,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.11797762,"mpcc_pred_id_a":0.853283763,"mpcc_pred_iq_a":-0.677340806,"mpcc_state":1,"mpcc_theta_e":0.426718712,"mpcc_theta_mech":0.552289665,"sam_rpm":-10.8952274,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203490406,"thr_a_norm":0.0203490406,"thr_a_v":0.581396163,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.249535,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.31354666,"cg_iw_a":1.36145878,"cg_theta_rad":0.556547344,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0214624647,"mpcc_du":49.9685631,"mpcc_dv":49.4732933,"mpcc_dw":50.5267067,"mpcc_enc_sign":1,"mpcc_id_a":-2.20716023,"mpcc_iq_a":-1.62470186,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.78080726,"mpcc_pred_id_a":-1.16068745,"mpcc_pred_iq_a":-3.69615459,"mpcc_state":1,"mpcc_theta_e":0.450222492,"mpcc_theta_mech":0.556990445,"sam_rpm":5.57446671,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203490406,"thr_a_norm":0.0203490406,"thr_a_v":0.581396163,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.272911,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.02359605,"cg_iw_a":-1.53804755,"cg_theta_rad":0.558192551,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0193545576,"mpcc_du":50.246994,"mpcc_dv":48.7737312,"mpcc_dw":51.2262688,"mpcc_enc_sign":1,"mpcc_id_a":1.98113,"mpcc_iq_a":-1.45726287,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.85897249,"mpcc_pred_id_a":-0.136817038,"mpcc_pred_iq_a":-1.41075909,"mpcc_state":1,"mpcc_theta_e":0.447587967,"mpcc_theta_mech":0.55646348,"sam_rpm":2.16209555,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0308983773,"thr_a_norm":0.0308983773,"thr_a_v":0.623593509,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460947573,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.279472,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.90827537,"cg_iw_a":1.79638505,"cg_theta_rad":0.556171477,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0273250211,"mpcc_du":49.0974236,"mpcc_dv":50.9025764,"mpcc_dw":49.8831711,"mpcc_enc_sign":1,"mpcc_id_a":2.48087311,"mpcc_iq_a":-0.92142731,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.0435829,"mpcc_pred_id_a":0.136297658,"mpcc_pred_iq_a":-6.14330244,"mpcc_state":1,"mpcc_theta_e":0.452190399,"mpcc_theta_mech":0.557384014,"sam_rpm":16.4688225,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186495781,"thr_a_norm":0.0186495781,"thr_a_v":0.574598312,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458933353,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.286003,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.31354666,"cg_iw_a":0.926532745,"cg_theta_rad":0.554202259,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.00571397925,"mpcc_du":50.3872414,"mpcc_dv":48.8321304,"mpcc_dw":51.2413673,"mpcc_enc_sign":1,"mpcc_id_a":-1.06685281,"mpcc_iq_a":-1.61949587,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.09716702,"mpcc_pred_id_a":-0.704706967,"mpcc_pred_iq_a":-0.496019334,"mpcc_state":1,"mpcc_theta_e":0.445235729,"mpcc_theta_mech":0.555993021,"sam_rpm":3.02195358,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186495781,"thr_a_norm":0.0186495781,"thr_a_v":0.574598312,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458933353,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.292717,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.09608364,"cg_iw_a":0.346631527,"cg_theta_rad":0.556241632,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0161772147,"mpcc_du":50.1801338,"mpcc_dv":48.6641655,"mpcc_dw":51.3358345,"mpcc_enc_sign":1,"mpcc_id_a":2.52894545,"mpcc_iq_a":-0.288939565,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.65291452,"mpcc_pred_id_a":0.284447968,"mpcc_pred_iq_a":-0.165730894,"mpcc_state":1,"mpcc_theta_e":0.433151722,"mpcc_theta_mech":0.553576231,"sam_rpm":-11.9711304,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0407049656,"thr_a_norm":0.0407049656,"thr_a_v":0.662819862,"thr_b":0.0107564628,"thr_b_norm":0.0107564628,"thr_b_v":0.543025851,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.30294,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.733645439,"cg_iw_a":-0.378244877,"cg_theta_rad":0.558248103,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0287230574,"mpcc_du":50.4539185,"mpcc_dv":48.2456818,"mpcc_dw":51.7543182,"mpcc_enc_sign":1,"mpcc_id_a":1.63336051,"mpcc_iq_a":-0.158787861,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.13774586,"mpcc_pred_id_a":0.326534688,"mpcc_pred_iq_a":-1.77408147,"mpcc_state":1,"mpcc_theta_e":0.437460899,"mpcc_theta_mech":0.554438114,"sam_rpm":-24.2156677,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194048882,"thr_a_norm":0.0407049656,"thr_a_v":0.577619553,"thr_b":0,"thr_b_norm":0.0107564628,"thr_b_v":0.470112145,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.312889,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.806133032,"cg_iw_a":-0.740683317,"cg_theta_rad":0.556233466,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0308237635,"mpcc_du":50.1825027,"mpcc_dv":48.9748116,"mpcc_dw":51.1910934,"mpcc_enc_sign":1,"mpcc_id_a":-0.181083277,"mpcc_iq_a":-0.604673326,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.20768952,"mpcc_pred_id_a":-0.519285381,"mpcc_pred_iq_a":-3.85548091,"mpcc_state":1,"mpcc_theta_e":0.445359707,"mpcc_theta_mech":0.556017876,"sam_rpm":-4.29132748,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194048882,"thr_a_norm":0.0194048882,"thr_a_v":0.577619553,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470112145,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.32296,"values":{"cg_iu_a":-0.265375137,"cg_iv_a":-1.38603449,"cg_iw_a":1.65140963,"cg_theta_rad":0.5553931,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0170923918,"mpcc_du":49.9762421,"mpcc_dv":49.2731628,"mpcc_dw":50.7268372,"mpcc_enc_sign":1,"mpcc_id_a":0.237511665,"mpcc_iq_a":-0.57139653,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.96810389,"mpcc_pred_id_a":-0.605180442,"mpcc_pred_iq_a":-2.35590029,"mpcc_state":1,"mpcc_theta_e":0.442967415,"mpcc_theta_mech":0.55553937,"sam_rpm":1.72556639,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233199745,"thr_a_norm":0.0233199745,"thr_a_v":0.593279898,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467544049,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.334129,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.09608364,"cg_iw_a":-1.61053562,"cg_theta_rad":0.556835592,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0294454042,"mpcc_du":50.2272873,"mpcc_dv":48.6103401,"mpcc_dw":51.3896599,"mpcc_enc_sign":1,"mpcc_id_a":2.24568653,"mpcc_iq_a":-1.07368886,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.9131338,"mpcc_pred_id_a":0.301996082,"mpcc_pred_iq_a":-1.74332094,"mpcc_state":1,"mpcc_theta_e":0.447616577,"mpcc_theta_mech":0.556469262,"sam_rpm":-1.16099572,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233199745,"thr_a_norm":0.0233199745,"thr_a_v":0.593279898,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467544049,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.345299,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.588670254,"cg_iw_a":-1.90048599,"cg_theta_rad":0.55695045,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0334182605,"mpcc_du":49.9817963,"mpcc_dv":48.935791,"mpcc_dw":51.064209,"mpcc_enc_sign":1,"mpcc_id_a":2.34031248,"mpcc_iq_a":-1.21158099,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.27908444,"mpcc_pred_id_a":0.252117574,"mpcc_pred_iq_a":-3.1364634,"mpcc_state":1,"mpcc_theta_e":0.44748354,"mpcc_theta_mech":0.556442618,"sam_rpm":0.875531673,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238235295,"thr_a_norm":0.0238235295,"thr_a_v":0.595294118,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481593013,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.355553,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.0087685585,"cg_iw_a":0.274144173,"cg_theta_rad":0.55714041,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.00245404965,"mpcc_du":49.5979347,"mpcc_dv":49.5928078,"mpcc_dw":50.4071922,"mpcc_enc_sign":1,"mpcc_id_a":-0.288759887,"mpcc_iq_a":-0.831455946,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.8018379,"mpcc_pred_id_a":-0.11040847,"mpcc_pred_iq_a":-0.949118137,"mpcc_state":1,"mpcc_theta_e":0.444764614,"mpcc_theta_mech":0.555898845,"sam_rpm":9.54564953,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0984996557,"thr_a_norm":0.0238235295,"thr_a_v":0.893998623,"thr_b":0.0425680876,"thr_b_norm":0,"thr_b_v":0.67027235,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.378563,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.661157608,"cg_iw_a":-0.523220539,"cg_theta_rad":0.55583638,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.00106983818,"mpcc_du":51.1132278,"mpcc_dv":47.8525124,"mpcc_dw":52.1474876,"mpcc_enc_sign":1,"mpcc_id_a":-0.451029778,"mpcc_iq_a":-1.7236166,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.4820089,"mpcc_pred_id_a":-0.642089069,"mpcc_pred_iq_a":0.62598902,"mpcc_state":1,"mpcc_theta_e":0.433403969,"mpcc_theta_mech":0.553626716,"sam_rpm":-18.5925274,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0984996557,"thr_a_norm":0.0984996557,"thr_a_v":0.893998623,"thr_b":0.0425680876,"thr_b_norm":0.0425680876,"thr_b_v":0.67027235,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.385094,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.443694592,"cg_iw_a":-2.77033806,"cg_theta_rad":0.55356282,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0271319021,"mpcc_du":49.9557991,"mpcc_dv":49.157383,"mpcc_dw":50.842617,"mpcc_enc_sign":1,"mpcc_id_a":0.739468813,"mpcc_iq_a":0.487798989,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.62768817,"mpcc_pred_id_a":-0.231046706,"mpcc_pred_iq_a":-3.24121785,"mpcc_state":1,"mpcc_theta_e":0.442327499,"mpcc_theta_mech":0.555411458,"sam_rpm":-4.0252862,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246417969,"thr_a_norm":0.0246417969,"thr_a_v":0.598567188,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48854202,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.391594,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.733645439,"cg_iw_a":-1.82799816,"cg_theta_rad":0.553824425,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.00999158621,"mpcc_du":49.5659256,"mpcc_dv":49.671627,"mpcc_dw":50.4340744,"mpcc_enc_sign":1,"mpcc_id_a":1.99700844,"mpcc_iq_a":-1.75339365,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.2305174,"mpcc_pred_id_a":-0.0430859625,"mpcc_pred_iq_a":-1.23883009,"mpcc_state":1,"mpcc_theta_e":0.451096535,"mpcc_theta_mech":0.557165205,"sam_rpm":16.2042713,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246417969,"thr_a_norm":0.0246417969,"thr_a_v":0.598567188,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48854202,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.398125,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.38603449,"cg_iw_a":-1.10312176,"cg_theta_rad":0.556554019,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.00559137296,"mpcc_du":51.2292557,"mpcc_dv":47.4546471,"mpcc_dw":49.757412,"mpcc_enc_sign":1,"mpcc_id_a":0.650461018,"mpcc_iq_a":-0.380685121,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.7530346,"mpcc_pred_id_a":-0.176286116,"mpcc_pred_iq_a":0.548067033,"mpcc_state":1,"mpcc_theta_e":0.423642159,"mpcc_theta_mech":0.557603598,"sam_rpm":-32.2056427,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0161821842,"thr_a_norm":0.0161821842,"thr_a_v":0.564728737,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476305783,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.406609,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.226231575,"cg_iw_a":0.491607189,"cg_theta_rad":0.554769695,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.000745593279,"mpcc_du":50.4599915,"mpcc_dv":48.0831833,"mpcc_dw":51.9168167,"mpcc_enc_sign":1,"mpcc_id_a":0.29919529,"mpcc_iq_a":-1.65576851,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.93377304,"mpcc_pred_id_a":-0.274688691,"mpcc_pred_iq_a":-4.73885059,"mpcc_state":1,"mpcc_theta_e":0.433420181,"mpcc_theta_mech":0.553629994,"sam_rpm":-22.6161728,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149359107,"thr_a_norm":0.0161821842,"thr_a_v":0.559743643,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457070261,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.418541,"values":{"cg_iu_a":2.48915625,"cg_iv_a":0.136206627,"cg_iw_a":-2.62536287,"cg_theta_rad":0.552886248,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.013369875,"mpcc_du":49.9792404,"mpcc_dv":48.7902412,"mpcc_dw":51.2097588,"mpcc_enc_sign":1,"mpcc_id_a":2.47762537,"mpcc_iq_a":0.197415709,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.37599659,"mpcc_pred_id_a":0.393489331,"mpcc_pred_iq_a":0.527274609,"mpcc_state":1,"mpcc_theta_e":0.436880589,"mpcc_theta_mech":0.554322064,"sam_rpm":-4.66042328,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149359107,"thr_a_norm":0.0149359107,"thr_a_v":0.559743643,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457070261,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.428154,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.371207237,"cg_iw_a":-2.77033806,"cg_theta_rad":0.555555224,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0160227101,"mpcc_du":50.2043381,"mpcc_dv":48.7345581,"mpcc_dw":51.2654419,"mpcc_enc_sign":1,"mpcc_id_a":1.40096891,"mpcc_iq_a":-2.51421189,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.65847254,"mpcc_pred_id_a":-0.0951825902,"mpcc_pred_iq_a":-3.7061882,"mpcc_state":1,"mpcc_theta_e":0.443434715,"mpcc_theta_mech":0.556311667,"sam_rpm":-5.89561415,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180579126,"thr_a_norm":0.0180579126,"thr_a_v":0.57223165,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.438896,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.153744221,"cg_iw_a":-0.595707893,"cg_theta_rad":0.555562735,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0583292171,"mpcc_du":49.7247086,"mpcc_dv":49.0257874,"mpcc_dw":50.9742126,"mpcc_enc_sign":1,"mpcc_id_a":2.80116701,"mpcc_iq_a":-1.25709224,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.16701007,"mpcc_pred_id_a":0.635043681,"mpcc_pred_iq_a":-4.19181061,"mpcc_state":1,"mpcc_theta_e":0.450423241,"mpcc_theta_mech":0.557030559,"sam_rpm":4.29170179,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0279274434,"thr_a_norm":0.0180579126,"thr_a_v":0.611709774,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49987182,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.448906,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.226231575,"cg_iw_a":-2.11794901,"cg_theta_rad":0.557469308,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0317155384,"mpcc_du":49.806324,"mpcc_dv":49.2269859,"mpcc_dw":50.7730141,"mpcc_enc_sign":1,"mpcc_id_a":0.651170254,"mpcc_iq_a":-0.541909277,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.68153453,"mpcc_pred_id_a":-0.112980567,"mpcc_pred_iq_a":-3.2268219,"mpcc_state":1,"mpcc_theta_e":0.449432373,"mpcc_theta_mech":0.556832373,"sam_rpm":6.6980629,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0279274434,"thr_a_norm":0.0279274434,"thr_a_v":0.611709774,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49987182,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.459099,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.45852208,"cg_iw_a":0.0566809177,"cg_theta_rad":0.556352675,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0165985022,"mpcc_du":50.1068382,"mpcc_dv":48.9343033,"mpcc_dw":51.0656967,"mpcc_enc_sign":1,"mpcc_id_a":1.17693686,"mpcc_iq_a":-1.95607376,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.930102706,"mpcc_pred_id_a":-0.209429011,"mpcc_pred_iq_a":-3.03757954,"mpcc_state":1,"mpcc_theta_e":0.448928833,"mpcc_theta_mech":0.556731701,"sam_rpm":1.6055702,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021066606,"thr_a_norm":0.021066606,"thr_a_v":0.584266424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.482109,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.31354666,"cg_iw_a":0.564094543,"cg_theta_rad":0.5546875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0178994928,"mpcc_du":51.5326424,"mpcc_dv":47.1759911,"mpcc_dw":52.8240089,"mpcc_enc_sign":1,"mpcc_id_a":0.851581097,"mpcc_iq_a":-1.31749737,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.5897245,"mpcc_pred_id_a":-0.28238523,"mpcc_pred_iq_a":2.23647785,"mpcc_state":1,"mpcc_theta_e":0.437244415,"mpcc_theta_mech":0.554394782,"sam_rpm":-14.6636906,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021066606,"thr_a_norm":0.021066606,"thr_a_v":0.584266424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.48867,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-2.25588632,"cg_iw_a":0.926532745,"cg_theta_rad":0.556471288,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0369265936,"mpcc_du":49.4618797,"mpcc_dv":50.5381203,"mpcc_dw":50.4041023,"mpcc_enc_sign":1,"mpcc_id_a":3.69070101,"mpcc_iq_a":-1.91544068,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.40079355,"mpcc_pred_id_a":0.338435829,"mpcc_pred_iq_a":-5.03059244,"mpcc_state":1,"mpcc_theta_e":0.449503422,"mpcc_theta_mech":0.556846559,"sam_rpm":11.3516045,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273231864,"thr_a_norm":0.0273231864,"thr_a_v":0.609292746,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.49514,"values":{"cg_iu_a":1.25686598,"cg_iv_a":1.44098473,"cg_iw_a":-2.6978507,"cg_theta_rad":0.553279698,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0240153372,"mpcc_du":49.4912567,"mpcc_dv":49.2757988,"mpcc_dw":50.7242012,"mpcc_enc_sign":1,"mpcc_id_a":3.00245285,"mpcc_iq_a":-0.49289763,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.10934639,"mpcc_pred_id_a":0.708820999,"mpcc_pred_iq_a":-1.23839772,"mpcc_state":1,"mpcc_theta_e":0.442791462,"mpcc_theta_mech":0.555504203,"sam_rpm":4.21911049,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273231864,"thr_a_norm":0.0273231864,"thr_a_v":0.609292746,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.501701,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-2.0384233,"cg_iw_a":-0.740683556,"cg_theta_rad":0.556399643,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0376353636,"mpcc_du":50.1345139,"mpcc_dv":48.523365,"mpcc_dw":51.476635,"mpcc_enc_sign":1,"mpcc_id_a":3.19948912,"mpcc_iq_a":-0.930013478,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.60774183,"mpcc_pred_id_a":0.65961796,"mpcc_pred_iq_a":0.0993614793,"mpcc_state":1,"mpcc_theta_e":0.448138714,"mpcc_theta_mech":0.556573689,"sam_rpm":5.75163984,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02567406,"thr_a_norm":0.02567406,"thr_a_v":0.60269624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484614313,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.509911,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.53100967,"cg_iw_a":0.491606712,"cg_theta_rad":0.556576967,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.000378803612,"mpcc_du":50.9745789,"mpcc_dv":47.9712791,"mpcc_dw":52.0287209,"mpcc_enc_sign":1,"mpcc_id_a":0.379013211,"mpcc_iq_a":-0.627299964,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.3610077,"mpcc_pred_id_a":-0.574877381,"mpcc_pred_iq_a":-6.41003704,"mpcc_state":1,"mpcc_theta_e":0.42628336,"mpcc_theta_mech":0.552202582,"sam_rpm":-7.68017292,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022476539,"thr_a_norm":0.02567406,"thr_a_v":0.589906156,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476507217,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.519737,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.45852208,"cg_iw_a":-0.523220301,"cg_theta_rad":0.55551827,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0809509084,"mpcc_du":49.8173294,"mpcc_dv":49.1801224,"mpcc_dw":50.8198776,"mpcc_enc_sign":1,"mpcc_id_a":1.9363308,"mpcc_iq_a":1.43523598,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.32457638,"mpcc_pred_id_a":-0.00739171775,"mpcc_pred_iq_a":-2.14555049,"mpcc_state":1,"mpcc_theta_e":0.45346117,"mpcc_theta_mech":0.557638168,"sam_rpm":12.9120512,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022476539,"thr_a_norm":0.022476539,"thr_a_v":0.589906156,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476507217,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.530022,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.16857147,"cg_iw_a":-2.26292419,"cg_theta_rad":0.556690753,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0068335305,"mpcc_du":49.7918854,"mpcc_dv":49.4118233,"mpcc_dw":50.5881767,"mpcc_enc_sign":1,"mpcc_id_a":0.209778607,"mpcc_iq_a":-1.81001008,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.55607843,"mpcc_pred_id_a":-0.47765854,"mpcc_pred_iq_a":-3.65700245,"mpcc_state":1,"mpcc_theta_e":0.443985462,"mpcc_theta_mech":0.555743039,"sam_rpm":3.90139246,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0154016912,"thr_a_norm":0.0154016912,"thr_a_v":0.561606765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455257475,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.539726,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.951108456,"cg_iw_a":-4.00262833,"cg_theta_rad":0.556233823,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.00304405345,"mpcc_du":49.1558151,"mpcc_dv":50.8441849,"mpcc_dw":49.7942734,"mpcc_enc_sign":1,"mpcc_id_a":-0.00793771353,"mpcc_iq_a":-1.75438178,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.7287693,"mpcc_pred_id_a":-0.308495432,"mpcc_pred_iq_a":-3.80785108,"mpcc_state":1,"mpcc_theta_e":0.445900917,"mpcc_theta_mech":0.556126118,"sam_rpm":14.4560909,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0154016912,"thr_a_norm":0.0154016912,"thr_a_v":0.561606765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455257475,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.549919,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.09608364,"cg_iw_a":0.491606712,"cg_theta_rad":0.553319097,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0477824621,"mpcc_du":50.2955399,"mpcc_dv":48.4989967,"mpcc_dw":51.5010033,"mpcc_enc_sign":1,"mpcc_id_a":2.34475017,"mpcc_iq_a":-0.698127091,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.87101221,"mpcc_pred_id_a":0.410208851,"mpcc_pred_iq_a":-2.51688933,"mpcc_state":1,"mpcc_theta_e":0.445637703,"mpcc_theta_mech":0.556073487,"sam_rpm":-5.13563204,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174662322,"thr_a_norm":0.0174662322,"thr_a_v":0.569864929,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446344733,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.560234,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-2.18339872,"cg_iw_a":-0.015806675,"cg_theta_rad":0.558951557,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0197639111,"mpcc_du":49.6818123,"mpcc_dv":49.3722649,"mpcc_dw":50.6191597,"mpcc_enc_sign":1,"mpcc_id_a":1.58512306,"mpcc_iq_a":-1.27392805,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.36636305,"mpcc_pred_id_a":0.0361150056,"mpcc_pred_iq_a":-4.06621504,"mpcc_state":1,"mpcc_theta_e":0.450674057,"mpcc_theta_mech":0.555800498,"sam_rpm":3.39228463,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156157017,"thr_a_norm":0.0174662322,"thr_a_v":0.562462807,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459789425,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.583092,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.806133032,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.554819167,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0142573193,"mpcc_du":50.0592194,"mpcc_dv":49.0179901,"mpcc_dw":51.4212227,"mpcc_enc_sign":1,"mpcc_id_a":0.632577658,"mpcc_iq_a":-0.756048858,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.91210365,"mpcc_pred_id_a":-0.30603081,"mpcc_pred_iq_a":-3.56890345,"mpcc_state":1,"mpcc_theta_e":0.440170288,"mpcc_theta_mech":0.55497998,"sam_rpm":-8.26456738,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156157017,"thr_a_norm":0.0156157017,"thr_a_v":0.562462807,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459789425,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.589714,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.81317091,"cg_theta_rad":0.553182304,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0252638832,"mpcc_du":49.9588203,"mpcc_dv":49.160511,"mpcc_dw":50.839489,"mpcc_enc_sign":1,"mpcc_id_a":-0.516662538,"mpcc_iq_a":-0.629370332,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.76389503,"mpcc_pred_id_a":-0.288903475,"mpcc_pred_iq_a":-2.86560893,"mpcc_state":1,"mpcc_theta_e":0.448212147,"mpcc_theta_mech":0.556588352,"sam_rpm":3.94154644,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228164196,"thr_a_norm":0.0228164196,"thr_a_v":0.591265678,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498310834,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.596184,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.443694592,"cg_iw_a":-1.53804779,"cg_theta_rad":0.555097938,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":3.96728647e-05,"mpcc_du":49.3247757,"mpcc_dv":50.6752243,"mpcc_dw":50.0188713,"mpcc_enc_sign":1,"mpcc_id_a":0.0766907558,"mpcc_iq_a":-1.96709788,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.82248211,"mpcc_pred_id_a":-0.294607133,"mpcc_pred_iq_a":-4.39991665,"mpcc_state":1,"mpcc_theta_e":0.432673931,"mpcc_theta_mech":0.553480685,"sam_rpm":15.7961693,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228164196,"thr_a_norm":0.0228164196,"thr_a_v":0.591265678,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498310834,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.602928,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-2.98076296,"cg_iw_a":2.30379868,"cg_theta_rad":0.556791425,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.00078356656,"mpcc_du":49.6482544,"mpcc_dv":50.0910225,"mpcc_dw":50.3517456,"mpcc_enc_sign":1,"mpcc_id_a":0.0977400616,"mpcc_iq_a":-1.52799904,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.71654177,"mpcc_pred_id_a":-0.499762923,"mpcc_pred_iq_a":-3.57357121,"mpcc_state":1,"mpcc_theta_e":0.447613239,"mpcc_theta_mech":0.556468546,"sam_rpm":8.1773634,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170256346,"thr_a_norm":0.0170256346,"thr_a_v":0.568102539,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440956742,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.614128,"values":{"cg_iu_a":1.69179153,"cg_iv_a":0.136206627,"cg_iw_a":-1.82799816,"cg_theta_rad":0.557667851,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0159615744,"mpcc_du":49.9759712,"mpcc_dv":49.1564102,"mpcc_dw":50.8435898,"mpcc_enc_sign":1,"mpcc_id_a":0.456294447,"mpcc_iq_a":-1.2827512,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0559621006,"mpcc_pred_id_a":-0.373743474,"mpcc_pred_iq_a":-3.69810128,"mpcc_state":1,"mpcc_theta_e":0.448009014,"mpcc_theta_mech":0.556547761,"sam_rpm":-0.0715398639,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021242857,"thr_a_norm":0.0170256346,"thr_a_v":0.584971428,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.625114,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.878620625,"cg_iw_a":-1.39307261,"cg_theta_rad":0.557254791,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0262996946,"mpcc_du":50.4149857,"mpcc_dv":48.0969849,"mpcc_dw":51.9030151,"mpcc_enc_sign":1,"mpcc_id_a":2.54247642,"mpcc_iq_a":-0.95242089,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.42251348,"mpcc_pred_id_a":0.679904938,"mpcc_pred_iq_a":-0.041926194,"mpcc_state":1,"mpcc_theta_e":0.437073708,"mpcc_theta_mech":0.554360688,"sam_rpm":-8.35120296,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021242857,"thr_a_norm":0.021242857,"thr_a_v":0.584971428,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.635277,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.226231575,"cg_iw_a":-2.04546165,"cg_theta_rad":0.555107653,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.00787007064,"mpcc_du":49.8852577,"mpcc_dv":49.2899895,"mpcc_dw":50.7100105,"mpcc_enc_sign":1,"mpcc_id_a":0.71965158,"mpcc_iq_a":-2.57175064,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.08220208,"mpcc_pred_id_a":-0.566540182,"mpcc_pred_iq_a":-2.35337138,"mpcc_state":1,"mpcc_theta_e":0.448826313,"mpcc_theta_mech":0.556711197,"sam_rpm":1.96201015,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024767682,"thr_a_norm":0.024767682,"thr_a_v":0.599070728,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485218614,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.645531,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.16857147,"cg_iw_a":-1.90048599,"cg_theta_rad":0.560008705,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.00205167057,"mpcc_du":50.1475182,"mpcc_dv":48.8511429,"mpcc_dw":51.1488571,"mpcc_enc_sign":1,"mpcc_id_a":-0.0771399587,"mpcc_iq_a":-2.27063394,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.80058622,"mpcc_pred_id_a":-0.401197791,"mpcc_pred_iq_a":-1.2868154,"mpcc_state":1,"mpcc_theta_e":0.438595295,"mpcc_theta_mech":0.554664969,"sam_rpm":-8.18181133,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024767682,"thr_a_norm":0.024767682,"thr_a_v":0.599070728,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485218614,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.655724,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.24105906,"cg_iw_a":-1.17560959,"cg_theta_rad":0.554685712,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0475457348,"mpcc_du":50.0865135,"mpcc_dv":48.7204323,"mpcc_dw":51.2795677,"mpcc_enc_sign":1,"mpcc_id_a":2.47780156,"mpcc_iq_a":-0.251188964,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.96490538,"mpcc_pred_id_a":0.241304561,"mpcc_pred_iq_a":-1.36584592,"mpcc_state":1,"mpcc_theta_e":0.445518494,"mpcc_theta_mech":0.556049585,"sam_rpm":4.57991409,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.108784616,"thr_a_norm":0.108784616,"thr_a_v":0.935138464,"thr_b":0.04388991,"thr_b_norm":0.04388991,"thr_b_v":0.67555964,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.678917,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.31354666,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.556168318,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.00592932291,"mpcc_du":49.8063812,"mpcc_dv":49.3877373,"mpcc_dw":51.631916,"mpcc_enc_sign":1,"mpcc_id_a":0.548697591,"mpcc_iq_a":-1.27261269,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.2655015,"mpcc_pred_id_a":-0.466123194,"mpcc_pred_iq_a":-3.16613555,"mpcc_state":1,"mpcc_theta_e":0.440994263,"mpcc_theta_mech":0.555144727,"sam_rpm":2.39913344,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217589736,"thr_a_norm":0.108784616,"thr_a_v":0.587035894,"thr_b":0,"thr_b_norm":0.04388991,"thr_b_v":0.473989457,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.685448,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.10312176,"cg_theta_rad":0.55890286,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.00125005364,"mpcc_du":49.8372078,"mpcc_dv":49.3426895,"mpcc_dw":50.6573105,"mpcc_enc_sign":1,"mpcc_id_a":0.675331533,"mpcc_iq_a":-1.18577778,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.19449615,"mpcc_pred_id_a":-0.394775361,"mpcc_pred_iq_a":-3.7604692,"mpcc_state":1,"mpcc_theta_e":0.434688091,"mpcc_theta_mech":0.553883493,"sam_rpm":-12.2258196,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217589736,"thr_a_norm":0.0217589736,"thr_a_v":0.587035894,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473989457,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.691917,"values":{"cg_iu_a":-0.627813578,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.84282589,"cg_theta_rad":0.55663383,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0458904803,"mpcc_du":49.5601845,"mpcc_dv":49.5680733,"mpcc_dw":50.4398155,"mpcc_enc_sign":1,"mpcc_id_a":2.08528495,"mpcc_iq_a":-0.065219827,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.868018866,"mpcc_pred_id_a":0.00383948744,"mpcc_pred_iq_a":-5.13294888,"mpcc_state":1,"mpcc_theta_e":0.437963486,"mpcc_theta_mech":0.554538608,"sam_rpm":2.02326727,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190020651,"thr_a_norm":0.0190020651,"thr_a_v":0.57600826,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473485917,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.698509,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.226231575,"cg_iw_a":-0.160782337,"cg_theta_rad":0.556861162,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0711562485,"mpcc_du":50.147522,"mpcc_dv":48.3657303,"mpcc_dw":51.6342697,"mpcc_enc_sign":1,"mpcc_id_a":5.05276108,"mpcc_iq_a":-1.4108423,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.3455987,"mpcc_pred_id_a":1.19938254,"mpcc_pred_iq_a":-1.06932509,"mpcc_state":1,"mpcc_theta_e":0.441396236,"mpcc_theta_mech":0.555225194,"sam_rpm":-6.01812124,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190020651,"thr_a_norm":0.0190020651,"thr_a_v":0.57600826,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473485917,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.706413,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.24105906,"cg_iw_a":-1.32058454,"cg_theta_rad":0.554542065,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0180662163,"mpcc_du":49.5513077,"mpcc_dv":50.2605438,"mpcc_dw":50.4486923,"mpcc_enc_sign":1,"mpcc_id_a":1.8409642,"mpcc_iq_a":-0.744952321,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.20322609,"mpcc_pred_id_a":0.207340837,"mpcc_pred_iq_a":-3.9890008,"mpcc_state":1,"mpcc_theta_e":0.44982338,"mpcc_theta_mech":0.556910634,"sam_rpm":12.0008326,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278645009,"thr_a_norm":0.0278645009,"thr_a_v":0.611458004,"thr_b":0.00113870203,"thr_b_norm":0.00113870203,"thr_b_v":0.504554808,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.716728,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.226231575,"cg_iw_a":-1.4655602,"cg_theta_rad":0.557030618,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.00180721737,"mpcc_du":50.5832939,"mpcc_dv":50.5433922,"mpcc_dw":50.1072845,"mpcc_enc_sign":1,"mpcc_id_a":0.656796992,"mpcc_iq_a":-1.4043076,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.40080738,"mpcc_pred_id_a":-0.242632642,"mpcc_pred_iq_a":0.684461713,"mpcc_state":1,"mpcc_theta_e":0.431954384,"mpcc_theta_mech":0.553336799,"sam_rpm":-13.0326166,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0278645009,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0.00113870203,"thr_b_v":0.440050364,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.728691,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.661157608,"cg_iw_a":-1.4655602,"cg_theta_rad":0.556462467,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0316329226,"mpcc_du":49.9509125,"mpcc_dv":48.7848091,"mpcc_dw":51.2151909,"mpcc_enc_sign":1,"mpcc_id_a":2.83901024,"mpcc_iq_a":0.436684549,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.6263247,"mpcc_pred_id_a":0.507517755,"mpcc_pred_iq_a":1.14494216,"mpcc_state":1,"mpcc_theta_e":0.418416023,"mpcc_theta_mech":0.550629139,"sam_rpm":-21.2127991,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440050364,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.738914,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-2.69081235,"cg_iw_a":-1.46555996,"cg_theta_rad":0.553325593,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0287006348,"mpcc_du":50.0562439,"mpcc_dv":48.9724197,"mpcc_dw":51.0275803,"mpcc_enc_sign":1,"mpcc_id_a":1.92685473,"mpcc_iq_a":-0.732457221,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.30544424,"mpcc_pred_id_a":-0.0479842871,"mpcc_pred_iq_a":-3.03181219,"mpcc_state":1,"mpcc_theta_e":0.446538448,"mpcc_theta_mech":0.556253612,"sam_rpm":-1.89998794,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188006312,"thr_a_norm":0.0188006312,"thr_a_v":0.575202525,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474543363,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.749107,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.60349751,"cg_iw_a":0.999020576,"cg_theta_rad":0.556075931,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.116679594,"mpcc_du":50.7020416,"mpcc_dv":47.882534,"mpcc_dw":52.117466,"mpcc_enc_sign":1,"mpcc_id_a":3.53552818,"mpcc_iq_a":1.27850103,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.01652646,"mpcc_pred_id_a":0.693282187,"mpcc_pred_iq_a":0.108018458,"mpcc_state":1,"mpcc_theta_e":0.447513103,"mpcc_theta_mech":0.556448519,"sam_rpm":-2.24218965,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183978081,"thr_a_norm":0.0188006312,"thr_a_v":0.573591232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473687351,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.760094,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.661157608,"cg_iw_a":-2.19043684,"cg_theta_rad":0.556551516,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.013850606,"mpcc_du":50.5405807,"mpcc_dv":48.5088387,"mpcc_dw":51.4911613,"mpcc_enc_sign":1,"mpcc_id_a":2.68588638,"mpcc_iq_a":-1.55943513,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.04616046,"mpcc_pred_id_a":-0.406994641,"mpcc_pred_iq_a":-1.64738703,"mpcc_state":1,"mpcc_theta_e":0.45442915,"mpcc_theta_mech":0.557831705,"sam_rpm":-2.88600135,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183978081,"thr_a_norm":0.0183978081,"thr_a_v":0.573591232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473687351,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.782341,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.153744221,"cg_iw_a":-0.595707893,"cg_theta_rad":0.554262817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0663616806,"mpcc_du":50.5044823,"mpcc_dv":48.1395645,"mpcc_dw":51.8604355,"mpcc_enc_sign":1,"mpcc_id_a":3.14762402,"mpcc_iq_a":0.309101611,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.387890905,"mpcc_pred_id_a":0.620849371,"mpcc_pred_iq_a":0.312534899,"mpcc_state":1,"mpcc_theta_e":0.445858955,"mpcc_theta_mech":0.556117713,"sam_rpm":0.429218978,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288967639,"thr_a_norm":0.0288967639,"thr_a_v":0.615587056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495490968,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.788811,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.298719406,"cg_iw_a":-0.740683556,"cg_theta_rad":0.556633174,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.00568559021,"mpcc_du":50.1932831,"mpcc_dv":48.7322617,"mpcc_dw":51.2677383,"mpcc_enc_sign":1,"mpcc_id_a":1.41647816,"mpcc_iq_a":-0.969126821,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.69477749,"mpcc_pred_id_a":-0.0601660497,"mpcc_pred_iq_a":-0.85524708,"mpcc_state":1,"mpcc_theta_e":0.430900097,"mpcc_theta_mech":0.553125918,"sam_rpm":-14.9094439,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288967639,"thr_a_norm":0.0288967639,"thr_a_v":0.615587056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495490968,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.795403,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.661157608,"cg_iw_a":0.346631527,"cg_theta_rad":0.556469977,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0201292597,"mpcc_du":50.1151505,"mpcc_dv":48.8407898,"mpcc_dw":51.1592102,"mpcc_enc_sign":1,"mpcc_id_a":2.71783423,"mpcc_iq_a":-1.76497769,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.41948748,"mpcc_pred_id_a":0.0733462572,"mpcc_pred_iq_a":0.143441752,"mpcc_state":1,"mpcc_theta_e":0.447716713,"mpcc_theta_mech":0.556489289,"sam_rpm":9.25330067,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219603926,"thr_a_norm":0.0219603926,"thr_a_v":0.58784157,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.801903,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.96593571,"cg_iw_a":-0.233269691,"cg_theta_rad":0.55260694,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0432867631,"mpcc_du":49.7270432,"mpcc_dv":49.0519485,"mpcc_dw":50.9480515,"mpcc_enc_sign":1,"mpcc_id_a":3.82619905,"mpcc_iq_a":-0.264496565,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.82295275,"mpcc_pred_id_a":0.657177985,"mpcc_pred_iq_a":-2.48134017,"mpcc_state":1,"mpcc_theta_e":0.438521385,"mpcc_theta_mech":0.554650187,"sam_rpm":-5.90895557,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235088021,"thr_a_norm":0.0219603926,"thr_a_v":0.594035208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468047589,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.809868,"values":{"cg_iu_a":1.18437815,"cg_iv_a":0.0637187958,"cg_iw_a":-1.24809694,"cg_theta_rad":0.552912891,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0178913679,"mpcc_du":50.1124802,"mpcc_dv":48.7457428,"mpcc_dw":51.2542572,"mpcc_enc_sign":1,"mpcc_id_a":1.42576683,"mpcc_iq_a":-1.27769291,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.394618,"mpcc_pred_id_a":0.106151365,"mpcc_pred_iq_a":-1.50621188,"mpcc_state":1,"mpcc_theta_e":0.44474411,"mpcc_theta_mech":0.555894732,"sam_rpm":-17.3430939,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235088021,"thr_a_norm":0.0235088021,"thr_a_v":0.594035208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468047589,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.822289,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.60349751,"cg_iw_a":-0.958146095,"cg_theta_rad":0.555605412,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.00293705473,"mpcc_du":49.8820763,"mpcc_dv":49.0203972,"mpcc_dw":50.9796028,"mpcc_enc_sign":1,"mpcc_id_a":0.752094626,"mpcc_iq_a":-0.159476906,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.33275223,"mpcc_pred_id_a":0.041099675,"mpcc_pred_iq_a":0.301146448,"mpcc_state":1,"mpcc_theta_e":0.433866978,"mpcc_theta_mech":0.553719282,"sam_rpm":2.51219296,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0148981512,"thr_a_norm":0.0148981512,"thr_a_v":0.559592605,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448560297,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.832512,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.38603449,"cg_iw_a":-0.523220062,"cg_theta_rad":0.559499145,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0344257765,"mpcc_du":50.2607994,"mpcc_dv":48.6398239,"mpcc_dw":51.3601761,"mpcc_enc_sign":1,"mpcc_id_a":2.32031369,"mpcc_iq_a":-1.42316198,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.55724287,"mpcc_pred_id_a":-0.0347888768,"mpcc_pred_iq_a":-3.93679166,"mpcc_state":1,"mpcc_theta_e":0.443844318,"mpcc_theta_mech":0.556474388,"sam_rpm":-11.0945835,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023332566,"thr_a_norm":0.0148981512,"thr_a_v":0.593330264,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.842094,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.226231575,"cg_iw_a":-2.6978507,"cg_theta_rad":0.554140389,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0114033138,"mpcc_du":49.562439,"mpcc_dv":50.2011681,"mpcc_dw":50.437561,"mpcc_enc_sign":1,"mpcc_id_a":0.960207164,"mpcc_iq_a":-1.4463408,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.33895588,"mpcc_pred_id_a":0.0297525339,"mpcc_pred_iq_a":-2.68137646,"mpcc_state":1,"mpcc_theta_e":0.428466797,"mpcc_theta_mech":0.552639306,"sam_rpm":-2.71126437,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023332566,"thr_a_norm":0.023332566,"thr_a_v":0.593330264,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.853508,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.74847269,"cg_iw_a":-0.740683556,"cg_theta_rad":0.557622433,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0316735134,"mpcc_du":49.783577,"mpcc_dv":49.0542717,"mpcc_dw":50.9457283,"mpcc_enc_sign":1,"mpcc_id_a":0.43925029,"mpcc_iq_a":-0.483198613,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.64211988,"mpcc_pred_id_a":0.432296813,"mpcc_pred_iq_a":-0.928566277,"mpcc_state":1,"mpcc_theta_e":0.44503355,"mpcc_theta_mech":0.555952609,"sam_rpm":9.78432751,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0223380625,"thr_a_norm":0.0223380625,"thr_a_v":0.58935225,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479830623,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.862602,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.40086174,"cg_iw_a":1.07150841,"cg_theta_rad":0.555395246,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0110756932,"mpcc_du":50.757019,"mpcc_dv":48.0160637,"mpcc_dw":51.9839363,"mpcc_enc_sign":1,"mpcc_id_a":0.651998997,"mpcc_iq_a":-0.540911973,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.63526464,"mpcc_pred_id_a":-0.128943294,"mpcc_pred_iq_a":-0.732132614,"mpcc_state":1,"mpcc_theta_e":0.447901726,"mpcc_theta_mech":0.556526244,"sam_rpm":-19.7127495,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0223380625,"thr_a_norm":0.0223380625,"thr_a_v":0.58935225,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479830623,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.885704,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-2.11091113,"cg_iw_a":1.07150817,"cg_theta_rad":0.55654794,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.00324521749,"mpcc_du":50.6890945,"mpcc_dv":47.9365921,"mpcc_dw":52.0634079,"mpcc_enc_sign":1,"mpcc_id_a":3.40108609,"mpcc_iq_a":-0.848383546,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.0346546,"mpcc_pred_id_a":0.190565974,"mpcc_pred_iq_a":1.65896142,"mpcc_state":1,"mpcc_theta_e":0.450027943,"mpcc_theta_mech":0.556951463,"sam_rpm":-14.32201,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212050676,"thr_a_norm":0.0212050676,"thr_a_v":0.584820271,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480132759,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.892265,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.516182423,"cg_iw_a":0.781557798,"cg_theta_rad":0.554989159,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.014987669,"mpcc_du":51.9356346,"mpcc_dv":46.308403,"mpcc_dw":53.691597,"mpcc_enc_sign":1,"mpcc_id_a":1.95359695,"mpcc_iq_a":0.0596149638,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-31.6051674,"mpcc_pred_id_a":0.000194844775,"mpcc_pred_iq_a":3.32376432,"mpcc_state":1,"mpcc_theta_e":0.414350033,"mpcc_theta_mech":0.549815953,"sam_rpm":-46.2246704,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0114740133,"thr_a_norm":0.0212050676,"thr_a_v":0.545896053,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.434259564,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.898766,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.53100967,"cg_iw_a":0.564094543,"cg_theta_rad":0.55746901,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0122598363,"mpcc_du":50.5667686,"mpcc_dv":48.1319695,"mpcc_dw":51.8680305,"mpcc_enc_sign":1,"mpcc_id_a":1.61889935,"mpcc_iq_a":-1.55000234,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.44002497,"mpcc_pred_id_a":0.261466086,"mpcc_pred_iq_a":0.859196365,"mpcc_state":1,"mpcc_theta_e":0.442546844,"mpcc_theta_mech":0.555455267,"sam_rpm":-1.72046828,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0114740133,"thr_a_norm":0.0114740133,"thr_a_v":0.545896053,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.434259564,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.905296,"values":{"cg_iu_a":0.676964283,"cg_iv_a":0.136206627,"cg_iw_a":-2.84282589,"cg_theta_rad":0.557945848,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.00589958997,"mpcc_du":50.4093285,"mpcc_dv":48.3436737,"mpcc_dw":51.6563263,"mpcc_enc_sign":1,"mpcc_id_a":1.25150323,"mpcc_iq_a":-1.65111589,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.677517891,"mpcc_pred_id_a":0.20398955,"mpcc_pred_iq_a":0.662286878,"mpcc_state":1,"mpcc_theta_e":0.441242218,"mpcc_theta_mech":0.555194378,"sam_rpm":-0.970387459,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224639475,"thr_a_norm":0.0224639475,"thr_a_v":0.58985579,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475802243,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.913078,"values":{"cg_iu_a":1.47432899,"cg_iv_a":0.0637187958,"cg_iw_a":-1.53804779,"cg_theta_rad":0.556514502,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0363370776,"mpcc_du":49.9836693,"mpcc_dv":48.9623795,"mpcc_dw":51.0376205,"mpcc_enc_sign":1,"mpcc_id_a":0.953067422,"mpcc_iq_a":-0.0805925727,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.58691895,"mpcc_pred_id_a":0.0365109816,"mpcc_pred_iq_a":-3.07831073,"mpcc_state":1,"mpcc_theta_e":0.446517467,"mpcc_theta_mech":0.55624938,"sam_rpm":-0.420554578,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224639475,"thr_a_norm":0.0224639475,"thr_a_v":0.58985579,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475802243,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.923393,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.951108456,"cg_iw_a":0.491607189,"cg_theta_rad":0.555928767,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0284244213,"mpcc_du":49.3470802,"mpcc_dv":49.7620659,"mpcc_dw":50.6529198,"mpcc_enc_sign":1,"mpcc_id_a":3.35697722,"mpcc_iq_a":0.311388493,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.47701216,"mpcc_pred_id_a":1.02085352,"mpcc_pred_iq_a":1.56831515,"mpcc_state":1,"mpcc_theta_e":0.42850399,"mpcc_theta_mech":0.552646756,"sam_rpm":-7.4496026,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211673081,"thr_a_norm":0.0211673081,"thr_a_v":0.584669232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473687351,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.933891,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.02359605,"cg_iw_a":-1.75551057,"cg_theta_rad":0.558175564,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0157363899,"mpcc_du":49.9209213,"mpcc_dv":49.1689186,"mpcc_dw":50.8310814,"mpcc_enc_sign":1,"mpcc_id_a":1.67781889,"mpcc_iq_a":-2.57678318,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.3430512,"mpcc_pred_id_a":-0.312060416,"mpcc_pred_iq_a":-3.97360492,"mpcc_state":1,"mpcc_theta_e":0.451594353,"mpcc_theta_mech":0.557264745,"sam_rpm":3.65128517,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0984493047,"thr_a_norm":0.0211673081,"thr_a_v":0.893797219,"thr_b":0.0419764221,"thr_b_norm":0,"thr_b_v":0.667905688,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.943474,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.38603449,"cg_iw_a":-1.32058477,"cg_theta_rad":0.557050824,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0047252709,"mpcc_du":49.84589,"mpcc_dv":49.1323662,"mpcc_dw":50.7776909,"mpcc_enc_sign":1,"mpcc_id_a":1.22355759,"mpcc_iq_a":-1.20979297,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.12716532,"mpcc_pred_id_a":-0.0266422443,"mpcc_pred_iq_a":-2.22713304,"mpcc_state":1,"mpcc_theta_e":0.434788704,"mpcc_theta_mech":0.553903699,"sam_rpm":-11.9188547,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0984493047,"thr_a_norm":0.0984493047,"thr_a_v":0.893797219,"thr_b":0.0419764221,"thr_b_norm":0.0419764221,"thr_b_v":0.667905688,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.953728,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.82096052,"cg_iw_a":0.346631527,"cg_theta_rad":0.55607599,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.00663141953,"mpcc_du":48.8227196,"mpcc_dv":51.1772804,"mpcc_dw":49.4894028,"mpcc_enc_sign":1,"mpcc_id_a":0.563827515,"mpcc_iq_a":-0.55209285,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":20.9442101,"mpcc_pred_id_a":-0.16127117,"mpcc_pred_iq_a":-4.02826977,"mpcc_state":1,"mpcc_theta_e":0.456469536,"mpcc_theta_mech":0.558239818,"sam_rpm":31.7608166,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218470991,"thr_a_norm":0.0218470991,"thr_a_v":0.587388396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469054729,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.963737,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.806133032,"cg_iw_a":-2.26292443,"cg_theta_rad":0.553966761,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0246859603,"mpcc_du":50.7606354,"mpcc_dv":47.8318787,"mpcc_dw":52.1681213,"mpcc_enc_sign":1,"mpcc_id_a":2.82207751,"mpcc_iq_a":-1.20941901,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.1874838,"mpcc_pred_id_a":0.37632525,"mpcc_pred_iq_a":-0.150249511,"mpcc_state":1,"mpcc_theta_e":0.433467865,"mpcc_theta_mech":0.553639472,"sam_rpm":-19.5963097,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218470991,"thr_a_norm":0.0218470991,"thr_a_v":0.587388396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469054729,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.988091,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.588670254,"cg_iw_a":-1.82799816,"cg_theta_rad":0.552213252,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901.09961,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10006,"hz_vsense":368,"mpcc_cost":0.0583432391,"mpcc_du":49.4679604,"mpcc_dv":49.3407173,"mpcc_dw":50.6592827,"mpcc_enc_sign":1,"mpcc_id_a":3.96853065,"mpcc_iq_a":0.0111316536,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.565557539,"mpcc_pred_id_a":0.800018907,"mpcc_pred_iq_a":-3.45648146,"mpcc_state":1,"mpcc_theta_e":0.445450783,"mpcc_theta_mech":0.556036115,"sam_rpm":1.41731298,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200846791,"thr_a_norm":0.0200846791,"thr_a_v":0.580338717,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453192949,"vdc_v":55.2955055}} +{"type":"telemetry","t":80.994591,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.74847269,"cg_iw_a":0.12916851,"cg_theta_rad":0.556361318,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.00257731369,"mpcc_du":50.1003494,"mpcc_dv":48.9556046,"mpcc_dw":51.0443954,"mpcc_enc_sign":1,"mpcc_id_a":0.448050201,"mpcc_iq_a":-1.13712823,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.20761728,"mpcc_pred_id_a":-0.207690045,"mpcc_pred_iq_a":-2.05930018,"mpcc_state":1,"mpcc_theta_e":0.445631981,"mpcc_theta_mech":0.556072354,"sam_rpm":-6.76209307,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182970911,"thr_a_norm":0.0182970911,"thr_a_v":0.573188365,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461702883,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.001152,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.24105906,"cg_iw_a":0.129168749,"cg_theta_rad":0.557865739,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.052048292,"mpcc_du":49.7122345,"mpcc_dv":49.1621552,"mpcc_dw":50.8378448,"mpcc_enc_sign":1,"mpcc_id_a":3.39637566,"mpcc_iq_a":0.344694883,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.85098612,"mpcc_pred_id_a":0.423111767,"mpcc_pred_iq_a":-3.17459321,"mpcc_state":1,"mpcc_theta_e":0.441122055,"mpcc_theta_mech":0.555170298,"sam_rpm":-2.73817205,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182970911,"thr_a_norm":0.0182970911,"thr_a_v":0.573188365,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461702883,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.007683,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.16857147,"cg_iw_a":-0.668195724,"cg_theta_rad":0.553152025,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.00224111788,"mpcc_du":49.5592804,"mpcc_dv":49.7626266,"mpcc_dw":50.4407196,"mpcc_enc_sign":1,"mpcc_id_a":0.756474972,"mpcc_iq_a":-1.68998742,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.75093603,"mpcc_pred_id_a":-0.131066769,"mpcc_pred_iq_a":-5.27270555,"mpcc_state":1,"mpcc_theta_e":0.438002586,"mpcc_theta_mech":0.554546416,"sam_rpm":-6.92922544,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0171892792,"thr_a_norm":0.0171892792,"thr_a_v":0.568757117,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456566721,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.017662,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.588670254,"cg_iw_a":-2.55287504,"cg_theta_rad":0.555931687,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0438540541,"mpcc_du":50.0470657,"mpcc_dv":49.1019745,"mpcc_dw":50.8980255,"mpcc_enc_sign":1,"mpcc_id_a":0.513929248,"mpcc_iq_a":0.17494154,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.49312687,"mpcc_pred_id_a":-0.446460664,"mpcc_pred_iq_a":-2.07004285,"mpcc_state":1,"mpcc_theta_e":0.449103832,"mpcc_theta_mech":0.556766689,"sam_rpm":9.63538647,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0121789873,"thr_a_norm":0.0171892792,"thr_a_v":0.548715949,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.436878026,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.027489,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-0.951108456,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556432843,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.108777538,"mpcc_du":50.6087379,"mpcc_dv":48.0519638,"mpcc_dw":51.9480362,"mpcc_enc_sign":1,"mpcc_id_a":3.5763371,"mpcc_iq_a":0.193210661,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.200737,"mpcc_pred_id_a":0.51332736,"mpcc_pred_iq_a":-1.8247323,"mpcc_state":1,"mpcc_theta_e":0.446937084,"mpcc_theta_mech":0.556333303,"sam_rpm":-5.40934944,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0121789873,"thr_a_norm":0.0121789873,"thr_a_v":0.548715949,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.436878026,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.037865,"values":{"cg_iu_a":2.27169323,"cg_iv_a":0.208694458,"cg_iw_a":-2.48038769,"cg_theta_rad":0.554162383,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0494939201,"mpcc_du":49.8360023,"mpcc_dv":49.0727844,"mpcc_dw":50.9272156,"mpcc_enc_sign":1,"mpcc_id_a":0.880473495,"mpcc_iq_a":-0.232738748,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.20033574,"mpcc_pred_id_a":0.262772381,"mpcc_pred_iq_a":-3.59253097,"mpcc_state":1,"mpcc_theta_e":0.4478302,"mpcc_theta_mech":0.555989563,"sam_rpm":4.61181211,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00925841928,"thr_a_norm":0.00925841928,"thr_a_v":0.537033677,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.430634022,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.047691,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.60349751,"cg_iw_a":-0.305757523,"cg_theta_rad":0.554498613,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0391905755,"mpcc_du":49.967617,"mpcc_dv":48.8924789,"mpcc_dw":51.1075211,"mpcc_enc_sign":1,"mpcc_id_a":1.54423678,"mpcc_iq_a":-0.692531109,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.28520322,"mpcc_pred_id_a":0.283169001,"mpcc_pred_iq_a":-2.73891997,"mpcc_state":1,"mpcc_theta_e":0.448706627,"mpcc_theta_mech":0.556687236,"sam_rpm":4.08588552,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00925841928,"thr_a_norm":0.00925841928,"thr_a_v":0.537033677,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.430634022,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.057854,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.09608364,"cg_iw_a":-0.59570837,"cg_theta_rad":0.554123998,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.00618856773,"mpcc_du":50.3029823,"mpcc_dv":48.6661148,"mpcc_dw":51.3338852,"mpcc_enc_sign":1,"mpcc_id_a":1.57334471,"mpcc_iq_a":-1.98817611,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.09239411,"mpcc_pred_id_a":-0.154406965,"mpcc_pred_iq_a":-0.342571527,"mpcc_state":1,"mpcc_theta_e":0.44121027,"mpcc_theta_mech":0.555188,"sam_rpm":-3.37653637,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0406420231,"thr_a_norm":0.0406420231,"thr_a_v":0.662568092,"thr_b":0.0113229454,"thr_b_norm":0.0113229454,"thr_b_v":0.545291781,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.068108,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.09608364,"cg_iw_a":0.12916851,"cg_theta_rad":0.555501819,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0213895999,"mpcc_du":50.1649055,"mpcc_dv":48.6893311,"mpcc_dw":51.3106689,"mpcc_enc_sign":1,"mpcc_id_a":2.62759876,"mpcc_iq_a":-1.61994708,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.19908667,"mpcc_pred_id_a":0.360254943,"mpcc_pred_iq_a":0.139711604,"mpcc_state":1,"mpcc_theta_e":0.445119858,"mpcc_theta_mech":0.555969894,"sam_rpm":6.59608269,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210288316,"thr_a_norm":0.0406420231,"thr_a_v":0.584115326,"thr_b":0,"thr_b_norm":0.0113229454,"thr_b_v":0.460393697,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.091118,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.82096052,"cg_iw_a":2.52126169,"cg_theta_rad":0.555603445,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0375459231,"mpcc_du":49.5750122,"mpcc_dv":49.6392784,"mpcc_dw":51.2212029,"mpcc_enc_sign":1,"mpcc_id_a":1.38427496,"mpcc_iq_a":0.315670609,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.83244348,"mpcc_pred_id_a":-0.0696947053,"mpcc_pred_iq_a":-4.36056566,"mpcc_state":1,"mpcc_theta_e":0.446914196,"mpcc_theta_mech":0.556328714,"sam_rpm":4.53024721,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210288316,"thr_a_norm":0.0210288316,"thr_a_v":0.584115326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460393697,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.097618,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.89344811,"cg_iw_a":0.999020815,"cg_theta_rad":0.558694243,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0057788319,"mpcc_du":49.8066025,"mpcc_dv":49.3658867,"mpcc_dw":50.6341133,"mpcc_enc_sign":1,"mpcc_id_a":-0.83551544,"mpcc_iq_a":-1.96204591,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.02915502,"mpcc_pred_id_a":-0.360870898,"mpcc_pred_iq_a":-3.25735402,"mpcc_state":1,"mpcc_theta_e":0.448112011,"mpcc_theta_mech":0.556568325,"sam_rpm":4.77793837,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181334466,"thr_a_norm":0.0181334466,"thr_a_v":0.572533786,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457875937,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.104179,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.588670254,"cg_iw_a":-0.81317091,"cg_theta_rad":0.55547303,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.000850375625,"mpcc_du":48.9821968,"mpcc_dv":51.0178032,"mpcc_dw":49.7280579,"mpcc_enc_sign":1,"mpcc_id_a":0.577559769,"mpcc_iq_a":-1.70844626,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.82412243,"mpcc_pred_id_a":0.110885523,"mpcc_pred_iq_a":-6.52650452,"mpcc_state":1,"mpcc_theta_e":0.445108414,"mpcc_theta_mech":0.555967569,"sam_rpm":8.3140955,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181334466,"thr_a_norm":0.0181334466,"thr_a_v":0.572533786,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457875937,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.11068,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.31354666,"cg_iw_a":-0.450732708,"cg_theta_rad":0.557965219,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0427586623,"mpcc_du":49.2506218,"mpcc_dv":50.7493782,"mpcc_dw":50.1123161,"mpcc_enc_sign":1,"mpcc_id_a":2.90923691,"mpcc_iq_a":0.130261675,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.70917511,"mpcc_pred_id_a":0.320676625,"mpcc_pred_iq_a":-5.35814047,"mpcc_state":1,"mpcc_theta_e":0.450947285,"mpcc_theta_mech":0.554493129,"sam_rpm":14.3706722,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210917741,"thr_a_norm":0.0210917741,"thr_a_v":0.584367096,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466234833,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.120506,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.09608364,"cg_iw_a":0.274143696,"cg_theta_rad":0.553245723,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0114953164,"mpcc_du":50.3497238,"mpcc_dv":48.5928001,"mpcc_dw":51.4071999,"mpcc_enc_sign":1,"mpcc_id_a":-1.72659135,"mpcc_iq_a":-1.54901969,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.3009853,"mpcc_pred_id_a":-0.227633566,"mpcc_pred_iq_a":-1.96734643,"mpcc_state":1,"mpcc_theta_e":0.432774544,"mpcc_theta_mech":0.553500831,"sam_rpm":-26.2683697,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0425680876,"thr_a_norm":0.0210917741,"thr_a_v":0.67027235,"thr_b":0.0181460381,"thr_b_norm":0,"thr_b_v":0.572584152,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.130455,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.09608364,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556473613,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0304126199,"mpcc_du":50.1877708,"mpcc_dv":48.3944473,"mpcc_dw":51.6055527,"mpcc_enc_sign":1,"mpcc_id_a":2.52845812,"mpcc_iq_a":-0.293173134,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.57388401,"mpcc_pred_id_a":0.832019746,"mpcc_pred_iq_a":-1.73247266,"mpcc_state":1,"mpcc_theta_e":0.434825897,"mpcc_theta_mech":0.55391109,"sam_rpm":-13.6270771,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0425680876,"thr_a_norm":0.0425680876,"thr_a_v":0.67027235,"thr_b":0.0181460381,"thr_b_norm":0.0181460381,"thr_b_v":0.572584152,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.140739,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.31354666,"cg_iw_a":-0.523220539,"cg_theta_rad":0.555872679,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0389406122,"mpcc_du":49.8906708,"mpcc_dv":48.7609863,"mpcc_dw":51.2390137,"mpcc_enc_sign":1,"mpcc_id_a":3.41342568,"mpcc_iq_a":-0.987165689,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.41127682,"mpcc_pred_id_a":0.879480898,"mpcc_pred_iq_a":-0.0502453893,"mpcc_state":1,"mpcc_theta_e":0.448328018,"mpcc_theta_mech":0.556611538,"sam_rpm":9.54693031,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197447985,"thr_a_norm":0.0197447985,"thr_a_v":0.578979194,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472932041,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.150719,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.53100967,"cg_iw_a":-1.17560959,"cg_theta_rad":0.553427458,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0248076189,"mpcc_du":50.0342102,"mpcc_dv":48.6978416,"mpcc_dw":51.3021584,"mpcc_enc_sign":1,"mpcc_id_a":2.81833291,"mpcc_iq_a":-0.69930625,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.78841782,"mpcc_pred_id_a":0.483503371,"mpcc_pred_iq_a":-2.45998049,"mpcc_state":1,"mpcc_theta_e":0.433115959,"mpcc_theta_mech":0.553569138,"sam_rpm":-15.1082115,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197447985,"thr_a_norm":0.0197447985,"thr_a_v":0.578979194,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472932041,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.160667,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.153744221,"cg_iw_a":-0.523220539,"cg_theta_rad":0.551415145,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.113436632,"mpcc_du":49.7567635,"mpcc_dv":48.9503593,"mpcc_dw":51.0496407,"mpcc_enc_sign":1,"mpcc_id_a":4.20144653,"mpcc_iq_a":0.813053608,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.09388542,"mpcc_pred_id_a":0.805681169,"mpcc_pred_iq_a":-2.62668586,"mpcc_state":1,"mpcc_theta_e":0.449231625,"mpcc_theta_mech":0.5567922,"sam_rpm":7.30120611,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263286829,"thr_a_norm":0.0263286829,"thr_a_v":0.605314732,"thr_b":0.000282675028,"thr_b_norm":0.000282675028,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.170891,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.6759851,"cg_iw_a":0.41911912,"cg_theta_rad":0.551763415,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.042289637,"mpcc_du":49.9441528,"mpcc_dv":49.0127068,"mpcc_dw":50.9872932,"mpcc_enc_sign":1,"mpcc_id_a":0.921271205,"mpcc_iq_a":-0.814494669,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.18634987,"mpcc_pred_id_a":0.0608308055,"mpcc_pred_iq_a":-2.53945637,"mpcc_state":1,"mpcc_theta_e":0.45164299,"mpcc_theta_mech":0.55727452,"sam_rpm":10.7172117,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194426626,"thr_a_norm":0.0263286829,"thr_a_v":0.57777065,"thr_b":0,"thr_b_norm":0.000282675028,"thr_b_v":0.463163197,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.193901,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.878620625,"cg_iw_a":-0.378245354,"cg_theta_rad":0.553160131,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.00057440513,"mpcc_du":49.8250999,"mpcc_dv":49.5060272,"mpcc_dw":50.4939728,"mpcc_enc_sign":1,"mpcc_id_a":-0.374025226,"mpcc_iq_a":-1.99904573,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.68336201,"mpcc_pred_id_a":-0.708872497,"mpcc_pred_iq_a":-3.12901378,"mpcc_state":1,"mpcc_theta_e":0.449624538,"mpcc_theta_mech":0.556870818,"sam_rpm":9.89286041,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194426626,"thr_a_norm":0.0194426626,"thr_a_v":0.57777065,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463163197,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.200432,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.878620625,"cg_iw_a":-0.233269691,"cg_theta_rad":0.553658545,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0184746198,"mpcc_du":49.5955086,"mpcc_dv":49.5918427,"mpcc_dw":50.4081573,"mpcc_enc_sign":1,"mpcc_id_a":2.25263286,"mpcc_iq_a":-0.0269556511,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.0421319,"mpcc_pred_id_a":0.16175656,"mpcc_pred_iq_a":-3.82309246,"mpcc_state":1,"mpcc_theta_e":0.434972286,"mpcc_theta_mech":0.553940356,"sam_rpm":10.9397974,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.023231864,"thr_a_v":0.592927456,"thr_b":0.00253604352,"thr_b_norm":0.00253604352,"thr_b_v":0.510144174,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.206963,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.661157608,"cg_iw_a":-0.668195724,"cg_theta_rad":0.551876247,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.00912808906,"mpcc_du":49.4637489,"mpcc_dv":50.5362511,"mpcc_dw":49.8535843,"mpcc_enc_sign":1,"mpcc_id_a":-0.997404277,"mpcc_iq_a":-3.95928454,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.322299,"mpcc_pred_id_a":-0.968897998,"mpcc_pred_iq_a":-3.17366076,"mpcc_state":1,"mpcc_theta_e":0.431382179,"mpcc_theta_mech":0.553222358,"sam_rpm":5.91827869,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.023231864,"thr_a_v":0.592927456,"thr_b":0.00253604352,"thr_b_norm":0.00253604352,"thr_b_v":0.510144174,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.213799,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.16857147,"cg_iw_a":0.564094543,"cg_theta_rad":0.558668494,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0100776898,"mpcc_du":49.1922493,"mpcc_dv":50.8077507,"mpcc_dw":49.904068,"mpcc_enc_sign":1,"mpcc_id_a":1.57100534,"mpcc_iq_a":-0.468186975,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.15959835,"mpcc_pred_id_a":-0.208574027,"mpcc_pred_iq_a":-5.73059702,"mpcc_state":1,"mpcc_theta_e":0.445930481,"mpcc_theta_mech":0.556132019,"sam_rpm":7.13660526,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0446829945,"thr_a_norm":0.0446829945,"thr_a_v":0.678731978,"thr_b":0.0131860822,"thr_b_norm":0.0131860822,"thr_b_v":0.552744329,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.223686,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-2.32837415,"cg_iw_a":-2.33541226,"cg_theta_rad":0.555793405,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0645410568,"mpcc_du":49.4898796,"mpcc_dv":49.9940262,"mpcc_dw":50.5101204,"mpcc_enc_sign":1,"mpcc_id_a":3.02051091,"mpcc_iq_a":-0.943805695,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.69581413,"mpcc_pred_id_a":0.305486292,"mpcc_pred_iq_a":-1.00697112,"mpcc_state":1,"mpcc_theta_e":0.423454285,"mpcc_theta_mech":0.551636755,"sam_rpm":-13.7438917,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0446829945,"thr_a_norm":0.0446829945,"thr_a_v":0.678731978,"thr_b":0.0131860822,"thr_b_norm":0.0131860822,"thr_b_v":0.552744329,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.233665,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.806133032,"cg_iw_a":-1.32058454,"cg_theta_rad":0.553803802,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.031275779,"mpcc_du":50.0228806,"mpcc_dv":48.7344322,"mpcc_dw":51.2655678,"mpcc_enc_sign":1,"mpcc_id_a":3.2045238,"mpcc_iq_a":-0.912514389,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.685745,"mpcc_pred_id_a":0.509185731,"mpcc_pred_iq_a":-1.13300276,"mpcc_state":1,"mpcc_theta_e":0.442673683,"mpcc_theta_mech":0.555480659,"sam_rpm":-2.81521273,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101785302,"thr_a_norm":0.101785302,"thr_a_v":0.907141209,"thr_b":0.0470119119,"thr_b_norm":0.0470119119,"thr_b_v":0.688047647,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.243828,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.38603449,"cg_iw_a":-1.32058477,"cg_theta_rad":0.556831002,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0265125837,"mpcc_du":50.3663025,"mpcc_dv":48.633358,"mpcc_dw":51.366642,"mpcc_enc_sign":1,"mpcc_id_a":1.15102661,"mpcc_iq_a":-1.51742435,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.02235413,"mpcc_pred_id_a":-0.271719366,"mpcc_pred_iq_a":-3.34259367,"mpcc_state":1,"mpcc_theta_e":0.444628716,"mpcc_theta_mech":0.555871665,"sam_rpm":-6.8998332,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172899961,"thr_a_norm":0.101785302,"thr_a_v":0.569159985,"thr_b":0,"thr_b_norm":0.0470119119,"thr_b_v":0.448358893,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.254082,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.09608364,"cg_iw_a":-0.813171148,"cg_theta_rad":0.557751775,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0178437307,"mpcc_du":49.6250114,"mpcc_dv":49.8806496,"mpcc_dw":50.3749886,"mpcc_enc_sign":1,"mpcc_id_a":0.0696486235,"mpcc_iq_a":-0.948735952,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.10069764,"mpcc_pred_id_a":-0.411673009,"mpcc_pred_iq_a":-0.0377493463,"mpcc_state":1,"mpcc_theta_e":0.430831432,"mpcc_theta_mech":0.551955998,"sam_rpm":0.529439151,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172899961,"thr_a_norm":0.0172899961,"thr_a_v":0.569159985,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448358893,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.26519,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.31354666,"cg_iw_a":-0.885658741,"cg_theta_rad":0.557668447,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0743173659,"mpcc_du":49.9144135,"mpcc_dv":48.9518356,"mpcc_dw":51.0481644,"mpcc_enc_sign":1,"mpcc_id_a":3.47500634,"mpcc_iq_a":0.979848862,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.559069037,"mpcc_pred_id_a":0.394958675,"mpcc_pred_iq_a":-2.31293035,"mpcc_state":1,"mpcc_theta_e":0.448427677,"mpcc_theta_mech":0.556631446,"sam_rpm":1.05494785,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210540146,"thr_a_norm":0.0210540146,"thr_a_v":0.584216058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473485917,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.289604,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.82096052,"cg_iw_a":0.491607189,"cg_theta_rad":0.553991973,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0146703953,"mpcc_du":50.075901,"mpcc_dv":48.9935799,"mpcc_dw":51.0064201,"mpcc_enc_sign":1,"mpcc_id_a":1.00017869,"mpcc_iq_a":-0.655037403,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.870533764,"mpcc_pred_id_a":-0.254823297,"mpcc_pred_iq_a":-2.1391418,"mpcc_state":1,"mpcc_theta_e":0.442779064,"mpcc_theta_mech":0.555501759,"sam_rpm":-1.08767915,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02567406,"thr_a_norm":0.0210540146,"thr_a_v":0.60269624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478622139,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.296104,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.878620625,"cg_iw_a":0.346631527,"cg_theta_rad":0.55405128,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0051433607,"mpcc_du":49.8715935,"mpcc_dv":49.2196007,"mpcc_dw":50.7803993,"mpcc_enc_sign":1,"mpcc_id_a":0.775361419,"mpcc_iq_a":-0.452942729,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.73095268,"mpcc_pred_id_a":-0.160139948,"mpcc_pred_iq_a":-1.85853839,"mpcc_state":1,"mpcc_theta_e":0.439894199,"mpcc_theta_mech":0.554002821,"sam_rpm":-1.29111159,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02567406,"thr_a_norm":0.02567406,"thr_a_v":0.60269624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478622139,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.302727,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.951108456,"cg_iw_a":-2.19043684,"cg_theta_rad":0.555568814,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.00375941768,"mpcc_du":49.078701,"mpcc_dv":50.921299,"mpcc_dw":49.3792152,"mpcc_enc_sign":1,"mpcc_id_a":-1.2258749,"mpcc_iq_a":-1.50394046,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.0400124,"mpcc_pred_id_a":-0.996854126,"mpcc_pred_iq_a":-0.0964080989,"mpcc_state":1,"mpcc_theta_e":0.43239069,"mpcc_theta_mech":0.55342406,"sam_rpm":17.8969765,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186999291,"thr_a_norm":0.0186999291,"thr_a_v":0.574799716,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465026289,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.309471,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.11091113,"cg_iw_a":-0.523220301,"cg_theta_rad":0.556488991,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0393214934,"mpcc_du":49.476963,"mpcc_dv":49.3776131,"mpcc_dw":50.6223869,"mpcc_enc_sign":1,"mpcc_id_a":3.44331551,"mpcc_iq_a":0.284990668,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.94656742,"mpcc_pred_id_a":0.666019797,"mpcc_pred_iq_a":-3.4226253,"mpcc_state":1,"mpcc_theta_e":0.438482761,"mpcc_theta_mech":0.554642439,"sam_rpm":3.47428346,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025548175,"thr_a_norm":0.0186999291,"thr_a_v":0.6021927,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495390266,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.319298,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.371207237,"cg_iw_a":-1.61053514,"cg_theta_rad":0.551088154,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0150854997,"mpcc_du":49.5068893,"mpcc_dv":50.4931107,"mpcc_dw":50.4203186,"mpcc_enc_sign":1,"mpcc_id_a":1.99765372,"mpcc_iq_a":-0.390345931,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-23.1512718,"mpcc_pred_id_a":0.588314116,"mpcc_pred_iq_a":-1.79107201,"mpcc_state":1,"mpcc_theta_e":0.423166752,"mpcc_theta_mech":0.551579297,"sam_rpm":3.02113557,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025548175,"thr_a_norm":0.025548175,"thr_a_v":0.6021927,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495390266,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.328758,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-1.82096052,"cg_iw_a":1.57892227,"cg_theta_rad":0.55376941,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.000657657161,"mpcc_du":49.6280556,"mpcc_dv":49.7872543,"mpcc_dw":50.3719444,"mpcc_enc_sign":1,"mpcc_id_a":0.40805915,"mpcc_iq_a":-1.06532335,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.60204649,"mpcc_pred_id_a":-0.405122012,"mpcc_pred_iq_a":-1.68632591,"mpcc_state":1,"mpcc_theta_e":0.438715458,"mpcc_theta_mech":0.55468899,"sam_rpm":6.44030476,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10092926,"thr_a_norm":0.10092926,"thr_a_v":0.903717041,"thr_b":0.0431723446,"thr_b_norm":0.0431723446,"thr_b_v":0.672689378,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.339684,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.74847269,"cg_iw_a":-1.39307261,"cg_theta_rad":0.559379756,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.018429704,"mpcc_du":49.542614,"mpcc_dv":50.4407806,"mpcc_dw":50.457386,"mpcc_enc_sign":1,"mpcc_id_a":2.21766567,"mpcc_iq_a":-0.622492969,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.98675728,"mpcc_pred_id_a":0.231702641,"mpcc_pred_iq_a":-4.35654449,"mpcc_state":1,"mpcc_theta_e":0.439705372,"mpcc_theta_mech":0.554886997,"sam_rpm":8.40427113,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10092926,"thr_a_norm":0.10092926,"thr_a_v":0.903717041,"thr_b":0.0431723446,"thr_b_norm":0.0431723446,"thr_b_v":0.672689378,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.349663,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.951108456,"cg_iw_a":-2.48038721,"cg_theta_rad":0.557145119,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0194540378,"mpcc_du":49.9569588,"mpcc_dv":49.1603279,"mpcc_dw":50.8396721,"mpcc_enc_sign":1,"mpcc_id_a":0.121010669,"mpcc_iq_a":-1.30816853,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.32702303,"mpcc_pred_id_a":-0.30821541,"mpcc_pred_iq_a":-3.10219073,"mpcc_state":1,"mpcc_theta_e":0.449104786,"mpcc_theta_mech":0.556766868,"sam_rpm":5.67060089,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0141050667,"thr_a_norm":0.0141050667,"thr_a_v":0.556420267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447402149,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.362053,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.588670254,"cg_iw_a":-2.55287504,"cg_theta_rad":0.553382456,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0215900522,"mpcc_du":50.231041,"mpcc_dv":48.450573,"mpcc_dw":51.549427,"mpcc_enc_sign":1,"mpcc_id_a":2.92206287,"mpcc_iq_a":-0.481565207,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.37908804,"mpcc_pred_id_a":0.546189189,"mpcc_pred_iq_a":1.73077202,"mpcc_state":1,"mpcc_theta_e":0.436597824,"mpcc_theta_mech":0.55546844,"sam_rpm":-3.11815405,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025875479,"thr_a_norm":0.025875479,"thr_a_v":0.603501916,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486477464,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.37307,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-2.0384233,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.555996954,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.00428171968,"mpcc_du":49.4791718,"mpcc_dv":50.5208282,"mpcc_dw":50.2757416,"mpcc_enc_sign":1,"mpcc_id_a":1.20417333,"mpcc_iq_a":-0.563172519,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.09739685,"mpcc_pred_id_a":-0.103795633,"mpcc_pred_iq_a":-1.71386325,"mpcc_state":1,"mpcc_theta_e":0.440518856,"mpcc_theta_mech":0.555049717,"sam_rpm":12.8753128,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025875479,"thr_a_norm":0.025875479,"thr_a_v":0.603501916,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486477464,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.395439,"values":{"cg_iu_a":0.966915131,"cg_iv_a":0.57113266,"cg_iw_a":-1.53804779,"cg_theta_rad":0.553543806,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0151706627,"mpcc_du":49.8837662,"mpcc_dv":49.5053329,"mpcc_dw":50.4946671,"mpcc_enc_sign":1,"mpcc_id_a":0.496925324,"mpcc_iq_a":-1.20551658,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.464324206,"mpcc_pred_id_a":-0.660741091,"mpcc_pred_iq_a":-4.00562191,"mpcc_state":1,"mpcc_theta_e":0.444383621,"mpcc_theta_mech":0.555822611,"sam_rpm":1.59731138,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292618424,"thr_a_norm":0.0292618424,"thr_a_v":0.617047369,"thr_b":0.00390821695,"thr_b_norm":0.00390821695,"thr_b_v":0.515632868,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.40197,"values":{"cg_iu_a":-0.337862968,"cg_iv_a":-0.0812563896,"cg_iw_a":-4.36506701,"cg_theta_rad":0.555198729,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.00813969411,"mpcc_du":50.8871841,"mpcc_dv":47.8877792,"mpcc_dw":52.1122208,"mpcc_enc_sign":1,"mpcc_id_a":1.56537867,"mpcc_iq_a":-0.295260459,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.72754,"mpcc_pred_id_a":-0.115053929,"mpcc_pred_iq_a":0.902852416,"mpcc_state":1,"mpcc_theta_e":0.427763462,"mpcc_theta_mech":0.552498639,"sam_rpm":-22.0627327,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292618424,"thr_a_norm":0.0292618424,"thr_a_v":0.617047369,"thr_b":0.00390821695,"thr_b_norm":0.00390821695,"thr_b_v":0.515632868,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.408501,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-2.18339872,"cg_iw_a":-2.26292467,"cg_theta_rad":0.554865539,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0103525613,"mpcc_du":49.767952,"mpcc_dv":49.4237404,"mpcc_dw":50.5762596,"mpcc_enc_sign":1,"mpcc_id_a":-0.405140072,"mpcc_iq_a":-2.36086893,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.5839796,"mpcc_pred_id_a":-0.291850507,"mpcc_pred_iq_a":-2.31462264,"mpcc_state":1,"mpcc_theta_e":0.456467628,"mpcc_theta_mech":0.55823946,"sam_rpm":19.5911999,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250320435,"thr_a_norm":0.0250320435,"thr_a_v":0.600128174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482952625,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.415428,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.38603449,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556480765,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.00707926787,"mpcc_du":50.336731,"mpcc_dv":48.5070724,"mpcc_dw":51.4929276,"mpcc_enc_sign":1,"mpcc_id_a":0.944449961,"mpcc_iq_a":-0.434038341,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.67823601,"mpcc_pred_id_a":0.0808754861,"mpcc_pred_iq_a":-0.712706268,"mpcc_state":1,"mpcc_theta_e":0.434690952,"mpcc_theta_mech":0.553884089,"sam_rpm":-11.2512074,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0103536248,"thr_a_norm":0.0103536248,"thr_a_v":0.541414499,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.409233242,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.426262,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.89344811,"cg_iw_a":-1.46555996,"cg_theta_rad":0.55703038,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.00160027517,"mpcc_du":49.7283859,"mpcc_dv":49.1776505,"mpcc_dw":50.8223495,"mpcc_enc_sign":1,"mpcc_id_a":0.799910843,"mpcc_iq_a":-0.229190186,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.73535919,"mpcc_pred_id_a":-0.240003392,"mpcc_pred_iq_a":-0.72142309,"mpcc_state":1,"mpcc_theta_e":0.435451031,"mpcc_theta_mech":0.555277467,"sam_rpm":-8.92098808,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0103536248,"thr_a_norm":0.0103536248,"thr_a_v":0.541414499,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.409233242,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.435661,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-2.0384233,"cg_iw_a":1.72389722,"cg_theta_rad":0.554263055,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0108763929,"mpcc_du":49.5619087,"mpcc_dv":50.1130371,"mpcc_dw":50.4380913,"mpcc_enc_sign":1,"mpcc_id_a":1.95061541,"mpcc_iq_a":-1.01879632,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.3626709,"mpcc_pred_id_a":0.11603795,"mpcc_pred_iq_a":-2.91718459,"mpcc_state":1,"mpcc_theta_e":0.445127487,"mpcc_theta_mech":0.555971444,"sam_rpm":9.82514095,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185992122,"thr_a_norm":0.0185992122,"thr_a_v":0.574396849,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466637671,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.445671,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.226231575,"cg_iw_a":-0.523220539,"cg_theta_rad":0.555911481,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0605055988,"mpcc_du":50.2312279,"mpcc_dv":48.710289,"mpcc_dw":51.289711,"mpcc_enc_sign":1,"mpcc_id_a":1.35451686,"mpcc_iq_a":-0.419460237,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.22926486,"mpcc_pred_id_a":0.103722923,"mpcc_pred_iq_a":-2.96404171,"mpcc_state":1,"mpcc_theta_e":0.451320171,"mpcc_theta_mech":0.557209909,"sam_rpm":2.76407886,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185992122,"thr_a_norm":0.0185992122,"thr_a_v":0.574396849,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466637671,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.455742,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.443694592,"cg_iw_a":-2.19043684,"cg_theta_rad":0.556245983,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0833988637,"mpcc_du":49.969059,"mpcc_dv":48.9105721,"mpcc_dw":51.0894279,"mpcc_enc_sign":1,"mpcc_id_a":2.74615097,"mpcc_iq_a":0.63173157,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.14459467,"mpcc_pred_id_a":0.355683208,"mpcc_pred_iq_a":-1.99970841,"mpcc_state":1,"mpcc_theta_e":0.449306011,"mpcc_theta_mech":0.556807101,"sam_rpm":9.49772358,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0146589577,"thr_a_norm":0.0146589577,"thr_a_v":0.558635831,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460393697,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.466057,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.0384233,"cg_iw_a":0.201656103,"cg_theta_rad":0.556377947,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0116161034,"mpcc_du":49.9803391,"mpcc_dv":48.9690323,"mpcc_dw":51.0309677,"mpcc_enc_sign":1,"mpcc_id_a":1.64992142,"mpcc_iq_a":-1.4797591,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.93800795,"mpcc_pred_id_a":0.0691045001,"mpcc_pred_iq_a":-1.67298603,"mpcc_state":1,"mpcc_theta_e":0.445811749,"mpcc_theta_mech":0.555912614,"sam_rpm":2.723773,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02290456,"thr_a_norm":0.0146589577,"thr_a_v":0.59161824,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.475853,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.885658741,"cg_theta_rad":0.557229817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0146960877,"mpcc_du":50.7206841,"mpcc_dv":47.9297562,"mpcc_dw":52.0702438,"mpcc_enc_sign":1,"mpcc_id_a":2.41903186,"mpcc_iq_a":-0.0427202359,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.4345942,"mpcc_pred_id_a":0.13068819,"mpcc_pred_iq_a":-3.91044235,"mpcc_state":1,"mpcc_theta_e":0.447613239,"mpcc_theta_mech":0.556468546,"sam_rpm":19.2987041,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02290456,"thr_a_norm":0.02290456,"thr_a_v":0.59161824,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.499321,"values":{"cg_iu_a":3.79393435,"cg_iv_a":-0.298719406,"cg_iw_a":0.636582136,"cg_theta_rad":0.554685414,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.00934851915,"mpcc_du":51.4756088,"mpcc_dv":46.9249039,"mpcc_dw":53.0750961,"mpcc_enc_sign":1,"mpcc_id_a":1.77185857,"mpcc_iq_a":-1.06836712,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.3086281,"mpcc_pred_id_a":0.257788569,"mpcc_pred_iq_a":2.57881308,"mpcc_state":1,"mpcc_theta_e":0.422911167,"mpcc_theta_mech":0.551528156,"sam_rpm":-31.9727821,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0464328229,"thr_a_norm":0.0464328229,"thr_a_v":0.685731292,"thr_b":0.0139791816,"thr_b_norm":0.0139791816,"thr_b_v":0.555916727,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.505791,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.443694592,"cg_iw_a":-0.813171387,"cg_theta_rad":0.555574059,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0764446408,"mpcc_du":50.2329025,"mpcc_dv":48.7338638,"mpcc_dw":51.2661362,"mpcc_enc_sign":1,"mpcc_id_a":1.66643322,"mpcc_iq_a":1.57212174,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.02382445,"mpcc_pred_id_a":-0.0779906958,"mpcc_pred_iq_a":-1.03842652,"mpcc_state":1,"mpcc_theta_e":0.447558403,"mpcc_theta_mech":0.556457639,"sam_rpm":5.07696486,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215197951,"thr_a_norm":0.0464328229,"thr_a_v":0.58607918,"thr_b":0,"thr_b_norm":0.0139791816,"thr_b_v":0.480334163,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.512291,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.661157608,"cg_iw_a":-0.015806675,"cg_theta_rad":0.557443678,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.00483831298,"mpcc_du":50.7231598,"mpcc_dv":47.7841454,"mpcc_dw":52.2158546,"mpcc_enc_sign":1,"mpcc_id_a":0.271657497,"mpcc_iq_a":-1.66050875,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.36798954,"mpcc_pred_id_a":-0.291528314,"mpcc_pred_iq_a":-4.71166754,"mpcc_state":1,"mpcc_theta_e":0.450027466,"mpcc_theta_mech":0.556951404,"sam_rpm":-17.1608372,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215197951,"thr_a_norm":0.0215197951,"thr_a_v":0.58607918,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480334163,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.520683,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-0.951108456,"cg_iw_a":1.143996,"cg_theta_rad":0.554094911,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":6.74036983e-06,"mpcc_du":50.4673233,"mpcc_dv":48.5321503,"mpcc_dw":51.4678497,"mpcc_enc_sign":1,"mpcc_id_a":-0.0152827539,"mpcc_iq_a":-2.11902952,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.38788068,"mpcc_pred_id_a":-0.261322141,"mpcc_pred_iq_a":0.995523989,"mpcc_state":1,"mpcc_theta_e":0.442952633,"mpcc_theta_mech":0.555536449,"sam_rpm":2.2617209,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295891464,"thr_a_norm":0.0295891464,"thr_a_v":0.618356586,"thr_b":0.00431105494,"thr_b_norm":0.00431105494,"thr_b_v":0.51724422,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.530846,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.02359605,"cg_iw_a":-0.160782337,"cg_theta_rad":0.556871593,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0564814471,"mpcc_du":50.2350197,"mpcc_dv":48.5633125,"mpcc_dw":51.1783371,"mpcc_enc_sign":1,"mpcc_id_a":3.42263436,"mpcc_iq_a":-1.13684177,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.491119891,"mpcc_pred_id_a":0.450523496,"mpcc_pred_iq_a":-2.20125413,"mpcc_state":1,"mpcc_theta_e":0.449820995,"mpcc_theta_mech":0.556910098,"sam_rpm":-0.224920481,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193041861,"thr_a_norm":0.0295891464,"thr_a_v":0.577216744,"thr_b":0,"thr_b_norm":0.00431105494,"thr_b_v":0.475399435,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.540459,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-2.25588632,"cg_iw_a":1.143996,"cg_theta_rad":0.556926429,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0818485394,"mpcc_du":49.9941483,"mpcc_dv":48.8108406,"mpcc_dw":51.1891594,"mpcc_enc_sign":1,"mpcc_id_a":3.00389123,"mpcc_iq_a":0.525795519,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.44405317,"mpcc_pred_id_a":0.510091782,"mpcc_pred_iq_a":-1.89482713,"mpcc_state":1,"mpcc_theta_e":0.442651272,"mpcc_theta_mech":0.555476129,"sam_rpm":-1.94830096,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193041861,"thr_a_norm":0.0193041861,"thr_a_v":0.577216744,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475399435,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.550682,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.82096052,"cg_iw_a":-1.32058477,"cg_theta_rad":0.556996107,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.00913961325,"mpcc_du":49.8586807,"mpcc_dv":49.0458336,"mpcc_dw":50.9541664,"mpcc_enc_sign":1,"mpcc_id_a":1.82593691,"mpcc_iq_a":-1.45538342,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.93483019,"mpcc_pred_id_a":0.23192364,"mpcc_pred_iq_a":-2.75701189,"mpcc_state":1,"mpcc_theta_e":0.439570904,"mpcc_theta_mech":0.554860115,"sam_rpm":-7.86521864,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198706836,"thr_a_norm":0.0198706836,"thr_a_v":0.579482734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.560661,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.661157608,"cg_iw_a":-0.885658741,"cg_theta_rad":0.55409652,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0194394253,"mpcc_du":50.4890862,"mpcc_dv":48.0770454,"mpcc_dw":51.9229546,"mpcc_enc_sign":1,"mpcc_id_a":2.31676769,"mpcc_iq_a":-1.09363317,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.2965364,"mpcc_pred_id_a":0.60557127,"mpcc_pred_iq_a":1.99117029,"mpcc_state":1,"mpcc_theta_e":0.426289558,"mpcc_theta_mech":0.552203834,"sam_rpm":-19.6353683,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198706836,"thr_a_norm":0.0198706836,"thr_a_v":0.579482734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.571159,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.89344811,"cg_iw_a":-1.68302298,"cg_theta_rad":0.555872679,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0273389705,"mpcc_du":50.3044624,"mpcc_dv":48.6674576,"mpcc_dw":51.3325424,"mpcc_enc_sign":1,"mpcc_id_a":0.685970366,"mpcc_iq_a":-0.973832369,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.16147256,"mpcc_pred_id_a":-0.219528988,"mpcc_pred_iq_a":-2.56099105,"mpcc_state":1,"mpcc_theta_e":0.446793079,"mpcc_theta_mech":0.556304574,"sam_rpm":-2.60764599,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454804301,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.593895,"values":{"cg_iu_a":4.08388519,"cg_iv_a":-2.40086174,"cg_iw_a":-1.68302345,"cg_theta_rad":0.55934,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0113855284,"mpcc_du":50.1315193,"mpcc_dv":48.778965,"mpcc_dw":51.221035,"mpcc_enc_sign":1,"mpcc_id_a":2.12672877,"mpcc_iq_a":-1.15415347,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.29306364,"mpcc_pred_id_a":-0.145102292,"mpcc_pred_iq_a":0.38599956,"mpcc_state":1,"mpcc_theta_e":0.446984291,"mpcc_theta_mech":0.556342781,"sam_rpm":-0.413643599,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0483588874,"thr_a_norm":0.0192160606,"thr_a_v":0.69343555,"thr_b":0.0182089806,"thr_b_norm":0,"thr_b_v":0.572835922,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.600426,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.951108456,"cg_iw_a":-1.10312176,"cg_theta_rad":0.557668447,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0123402365,"mpcc_du":50.3787727,"mpcc_dv":48.2837143,"mpcc_dw":50.0114136,"mpcc_enc_sign":1,"mpcc_id_a":2.08252811,"mpcc_iq_a":-0.908721685,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.5467367,"mpcc_pred_id_a":0.467143834,"mpcc_pred_iq_a":-1.10827947,"mpcc_state":1,"mpcc_theta_e":0.431657791,"mpcc_theta_mech":0.556761861,"sam_rpm":-19.76408,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0483588874,"thr_a_norm":0.0483588874,"thr_a_v":0.69343555,"thr_b":0.0182089806,"thr_b_norm":0.0182089806,"thr_b_v":0.572835922,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.606926,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.878620625,"cg_iw_a":-1.61053562,"cg_theta_rad":0.554598987,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0267375689,"mpcc_du":49.5945396,"mpcc_dv":49.8177109,"mpcc_dw":50.4054604,"mpcc_enc_sign":1,"mpcc_id_a":1.49923646,"mpcc_iq_a":-0.618173838,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.884665012,"mpcc_pred_id_a":-0.24055396,"mpcc_pred_iq_a":-5.36358023,"mpcc_state":1,"mpcc_theta_e":0.445232868,"mpcc_theta_mech":0.555992484,"sam_rpm":1.75805593,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02567406,"thr_a_norm":0.02567406,"thr_a_v":0.60269624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478672475,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.613457,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.16857147,"cg_iw_a":-0.668195724,"cg_theta_rad":0.557568669,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.000792161271,"mpcc_du":50.8207359,"mpcc_dv":48.075386,"mpcc_dw":51.924614,"mpcc_enc_sign":1,"mpcc_id_a":0.155331165,"mpcc_iq_a":-1.81441808,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.9502153,"mpcc_pred_id_a":-0.463768542,"mpcc_pred_iq_a":-0.149043813,"mpcc_state":1,"mpcc_theta_e":0.42801857,"mpcc_theta_mech":0.552549601,"sam_rpm":-23.7287331,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02567406,"thr_a_norm":0.02567406,"thr_a_v":0.60269624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478672475,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.621361,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-1.09608364,"cg_iw_a":0.854045391,"cg_theta_rad":0.556457639,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0316928662,"mpcc_du":50.8906555,"mpcc_dv":47.6439705,"mpcc_dw":52.3560295,"mpcc_enc_sign":1,"mpcc_id_a":3.28737092,"mpcc_iq_a":0.160120323,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.5929966,"mpcc_pred_id_a":0.340359926,"mpcc_pred_iq_a":2.28762817,"mpcc_state":1,"mpcc_theta_e":0.428199768,"mpcc_theta_mech":0.5525859,"sam_rpm":-18.6260777,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215197951,"thr_a_norm":0.0215197951,"thr_a_v":0.58607918,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481844842,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.631462,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.54583716,"cg_iw_a":-0.378245115,"cg_theta_rad":0.557990134,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.00599087635,"mpcc_du":49.8388786,"mpcc_dv":49.2400093,"mpcc_dw":50.7599907,"mpcc_enc_sign":1,"mpcc_id_a":0.879671335,"mpcc_iq_a":-0.738875508,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.22155142,"mpcc_pred_id_a":-0.21331352,"mpcc_pred_iq_a":-2.13327289,"mpcc_state":1,"mpcc_theta_e":0.44442749,"mpcc_theta_mech":0.555831373,"sam_rpm":0.854296267,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0175417662,"thr_a_norm":0.0215197951,"thr_a_v":0.570167065,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454451799,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.643211,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.733645439,"cg_iw_a":-1.53804779,"cg_theta_rad":0.55619067,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0193732344,"mpcc_du":50.3637657,"mpcc_dv":48.5534096,"mpcc_dw":51.4465904,"mpcc_enc_sign":1,"mpcc_id_a":2.10790682,"mpcc_iq_a":-2.06902719,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.895154,"mpcc_pred_id_a":-0.215746671,"mpcc_pred_iq_a":0.434254229,"mpcc_state":1,"mpcc_theta_e":0.43057394,"mpcc_theta_mech":0.55306071,"sam_rpm":-13.510376,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0175417662,"thr_a_norm":0.0175417662,"thr_a_v":0.570167065,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454451799,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.653526,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.733645439,"cg_iw_a":-1.39307213,"cg_theta_rad":0.556072116,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.00282583595,"mpcc_du":48.9637451,"mpcc_dv":51.0362549,"mpcc_dw":49.6998253,"mpcc_enc_sign":1,"mpcc_id_a":1.04412973,"mpcc_iq_a":-0.564700782,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.46137238,"mpcc_pred_id_a":0.0170370918,"mpcc_pred_iq_a":1.03008747,"mpcc_state":1,"mpcc_theta_e":0.428639412,"mpcc_theta_mech":0.555384517,"sam_rpm":-13.5129013,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190398246,"thr_a_norm":0.0190398246,"thr_a_v":0.576159298,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466637671,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.663719,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.443694592,"cg_iw_a":-1.61053562,"cg_theta_rad":0.554685712,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.00631986419,"mpcc_du":50.3881378,"mpcc_dv":48.6679459,"mpcc_dw":51.3320541,"mpcc_enc_sign":1,"mpcc_id_a":-0.629783154,"mpcc_iq_a":-2.24337053,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.88424015,"mpcc_pred_id_a":-0.479543537,"mpcc_pred_iq_a":-3.31452036,"mpcc_state":1,"mpcc_theta_e":0.440553188,"mpcc_theta_mech":0.555056572,"sam_rpm":-11.6486187,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275120139,"thr_a_norm":0.0190398246,"thr_a_v":0.610048056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494735658,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.673424,"values":{"cg_iu_a":-0.555325985,"cg_iv_a":-0.806133032,"cg_iw_a":-0.813171148,"cg_theta_rad":0.556126118,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0101010278,"mpcc_du":48.8281403,"mpcc_dv":51.1718597,"mpcc_dw":49.4396858,"mpcc_enc_sign":1,"mpcc_id_a":0.68428731,"mpcc_iq_a":-0.471270353,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.6168633,"mpcc_pred_id_a":-0.274480492,"mpcc_pred_iq_a":-4.96177006,"mpcc_state":1,"mpcc_theta_e":0.456358433,"mpcc_theta_mech":0.558217585,"sam_rpm":28.1953793,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275120139,"thr_a_norm":0.0275120139,"thr_a_v":0.610048056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494735658,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.698051,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.31354666,"cg_iw_a":-0.958146572,"cg_theta_rad":0.556412399,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.00739180064,"mpcc_du":49.53302,"mpcc_dv":50.46698,"mpcc_dw":50.2070732,"mpcc_enc_sign":1,"mpcc_id_a":-0.0539927967,"mpcc_iq_a":-0.666833341,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.56419468,"mpcc_pred_id_a":-0.510075688,"mpcc_pred_iq_a":-4.59681559,"mpcc_state":1,"mpcc_theta_e":0.45097208,"mpcc_theta_mech":0.557140291,"sam_rpm":11.0387239,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0306717753,"thr_a_norm":0.0306717753,"thr_a_v":0.622687101,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476054013,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.704643,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.371207237,"cg_iw_a":-0.523220062,"cg_theta_rad":0.55732429,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0206486341,"mpcc_du":50.2342873,"mpcc_dv":48.6758194,"mpcc_dw":51.3241806,"mpcc_enc_sign":1,"mpcc_id_a":1.76148462,"mpcc_iq_a":-0.741705835,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.216804087,"mpcc_pred_id_a":0.0140323192,"mpcc_pred_iq_a":-0.842057467,"mpcc_state":1,"mpcc_theta_e":0.444471836,"mpcc_theta_mech":0.555840313,"sam_rpm":0.865278363,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025951013,"thr_a_norm":0.0306717753,"thr_a_v":0.603804052,"thr_b":0.000219717622,"thr_b_norm":0,"thr_b_v":0.50087887,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.711113,"values":{"cg_iu_a":0.966915131,"cg_iv_a":1.7309351,"cg_iw_a":-2.69785023,"cg_theta_rad":0.554117024,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0262711756,"mpcc_du":49.3283691,"mpcc_dv":50.6716309,"mpcc_dw":50.2734795,"mpcc_enc_sign":1,"mpcc_id_a":2.38684177,"mpcc_iq_a":-0.599132836,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.77212143,"mpcc_pred_id_a":0.328380615,"mpcc_pred_iq_a":-3.89746761,"mpcc_state":1,"mpcc_theta_e":0.4357934,"mpcc_theta_mech":0.554104567,"sam_rpm":22.0107479,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025951013,"thr_a_norm":0.025951013,"thr_a_v":0.603804052,"thr_b":0.000219717622,"thr_b_norm":0.000219717622,"thr_b_v":0.50087887,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.717705,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-2.54583716,"cg_iw_a":0.564094782,"cg_theta_rad":0.556523323,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.000889575633,"mpcc_du":49.3116302,"mpcc_dv":50.6883698,"mpcc_dw":49.951992,"mpcc_enc_sign":1,"mpcc_id_a":0.181714326,"mpcc_iq_a":-1.74196422,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.38220787,"mpcc_pred_id_a":-0.458011657,"mpcc_pred_iq_a":-5.30467653,"mpcc_state":1,"mpcc_theta_e":0.432826042,"mpcc_theta_mech":0.553511143,"sam_rpm":12.1899223,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263412744,"thr_a_norm":0.0263412744,"thr_a_v":0.605365098,"thr_b":0.00108835101,"thr_b_norm":0.00108835101,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.727654,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.878620625,"cg_iw_a":-2.11794901,"cg_theta_rad":0.553712785,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0382850431,"mpcc_du":50.1535072,"mpcc_dv":48.7903214,"mpcc_dw":51.2096786,"mpcc_enc_sign":1,"mpcc_id_a":2.09462714,"mpcc_iq_a":-0.717044413,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.54435825,"mpcc_pred_id_a":0.0327908956,"mpcc_pred_iq_a":-2.93767834,"mpcc_state":1,"mpcc_theta_e":0.445332527,"mpcc_theta_mech":0.556012392,"sam_rpm":-2.70874619,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263412744,"thr_a_norm":0.0263412744,"thr_a_v":0.605365098,"thr_b":0.00108835101,"thr_b_norm":0.00108835101,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.737877,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.951108456,"cg_iw_a":-1.61053514,"cg_theta_rad":0.554594398,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0652884021,"mpcc_du":49.4437981,"mpcc_dv":49.4834557,"mpcc_dw":50.5562019,"mpcc_enc_sign":1,"mpcc_id_a":3.64587522,"mpcc_iq_a":-0.163801849,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.72648609,"mpcc_pred_id_a":0.517950654,"mpcc_pred_iq_a":-4.68962479,"mpcc_state":1,"mpcc_theta_e":0.446619987,"mpcc_theta_mech":0.556269884,"sam_rpm":3.1269598,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0347127467,"thr_a_norm":0.0347127467,"thr_a_v":0.638850987,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497202992,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.747948,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.516182423,"cg_iw_a":-0.740683556,"cg_theta_rad":0.557334244,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0384302512,"mpcc_du":49.9086189,"mpcc_dv":49.0387154,"mpcc_dw":50.9612846,"mpcc_enc_sign":1,"mpcc_id_a":1.23517656,"mpcc_iq_a":-0.499221146,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.9039607,"mpcc_pred_id_a":0.0785597637,"mpcc_pred_iq_a":-3.0870769,"mpcc_state":1,"mpcc_theta_e":0.45002079,"mpcc_theta_mech":0.556950033,"sam_rpm":4.8023138,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297150314,"thr_a_norm":0.0347127467,"thr_a_v":0.618860126,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466134131,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.758018,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.226231575,"cg_iw_a":0.274144173,"cg_theta_rad":0.556231856,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0552594662,"mpcc_du":49.8380165,"mpcc_dv":49.2842636,"mpcc_dw":50.7157364,"mpcc_enc_sign":1,"mpcc_id_a":1.34289551,"mpcc_iq_a":-0.280435681,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.75810003,"mpcc_pred_id_a":-0.263311118,"mpcc_pred_iq_a":-3.69363427,"mpcc_state":1,"mpcc_theta_e":0.455467701,"mpcc_theta_mech":0.558039486,"sam_rpm":10.8610573,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297150314,"thr_a_norm":0.0297150314,"thr_a_v":0.618860126,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466134131,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.768425,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.226231575,"cg_iw_a":-0.378245354,"cg_theta_rad":0.55710566,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.022905577,"mpcc_du":50.0091324,"mpcc_dv":48.8684731,"mpcc_dw":51.1315269,"mpcc_enc_sign":1,"mpcc_id_a":3.54054976,"mpcc_iq_a":-0.581758976,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.446512699,"mpcc_pred_id_a":0.249220654,"mpcc_pred_iq_a":-2.26067257,"mpcc_state":1,"mpcc_theta_e":0.450422764,"mpcc_theta_mech":0.557030439,"sam_rpm":0.0701972917,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170885772,"thr_a_norm":0.0170885772,"thr_a_v":0.568354309,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447150379,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.778282,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.226231575,"cg_iw_a":-2.55287504,"cg_theta_rad":0.554984391,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.114153102,"mpcc_du":49.405304,"mpcc_dv":48.8713531,"mpcc_dw":51.1286469,"mpcc_enc_sign":1,"mpcc_id_a":4.07805538,"mpcc_iq_a":1.77664459,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.9814744,"mpcc_pred_id_a":0.749159813,"mpcc_pred_iq_a":-3.02332854,"mpcc_state":1,"mpcc_theta_e":0.44262886,"mpcc_theta_mech":0.555471659,"sam_rpm":13.1007042,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170885772,"thr_a_norm":0.0170885772,"thr_a_v":0.568354309,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447150379,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.801567,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.516182423,"cg_iw_a":-0.595707893,"cg_theta_rad":0.555416226,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.037829604,"mpcc_du":49.7459068,"mpcc_dv":49.151741,"mpcc_dw":50.848259,"mpcc_enc_sign":1,"mpcc_id_a":3.18145728,"mpcc_iq_a":-0.123061985,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.2484715,"mpcc_pred_id_a":0.4100824,"mpcc_pred_iq_a":-1.58203983,"mpcc_state":1,"mpcc_theta_e":0.445403576,"mpcc_theta_mech":0.556026638,"sam_rpm":4.86674261,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443122,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.808067,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.09608364,"cg_iw_a":-2.40789938,"cg_theta_rad":0.556670725,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0197039414,"mpcc_du":49.4472542,"mpcc_dv":50.5527458,"mpcc_dw":50.2162323,"mpcc_enc_sign":1,"mpcc_id_a":1.67048049,"mpcc_iq_a":-1.42268014,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.0775843,"mpcc_pred_id_a":-0.0610404909,"mpcc_pred_iq_a":-4.2893858,"mpcc_state":1,"mpcc_theta_e":0.456800461,"mpcc_theta_mech":0.558305979,"sam_rpm":22.758894,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023382917,"thr_a_norm":0.0200217366,"thr_a_v":0.593531668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468047589,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.81469,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-2.18339872,"cg_iw_a":-0.885658741,"cg_theta_rad":0.558477938,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0462927669,"mpcc_du":49.5791969,"mpcc_dv":49.3400841,"mpcc_dw":50.6599159,"mpcc_enc_sign":1,"mpcc_id_a":3.44625044,"mpcc_iq_a":-0.924714863,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.62225342,"mpcc_pred_id_a":0.466894448,"mpcc_pred_iq_a":-2.073452,"mpcc_state":1,"mpcc_theta_e":0.452092171,"mpcc_theta_mech":0.557364345,"sam_rpm":14.6658449,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023382917,"thr_a_norm":0.023382917,"thr_a_v":0.593531668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468047589,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.82122,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.82096052,"cg_iw_a":0.78155756,"cg_theta_rad":0.558723927,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0459821261,"mpcc_du":50.6172218,"mpcc_dv":47.7626228,"mpcc_dw":52.2373772,"mpcc_enc_sign":1,"mpcc_id_a":4.28385687,"mpcc_iq_a":-2.02046704,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.8218117,"mpcc_pred_id_a":1.14669764,"mpcc_pred_iq_a":1.35988057,"mpcc_state":1,"mpcc_theta_e":0.432730675,"mpcc_theta_mech":0.55349201,"sam_rpm":-16.0081902,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025195688,"thr_a_norm":0.025195688,"thr_a_v":0.600782752,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494735658,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.829247,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.516182423,"cg_iw_a":-0.305757523,"cg_theta_rad":0.557770073,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.00143316307,"mpcc_du":50.7298813,"mpcc_dv":48.1325264,"mpcc_dw":51.8674736,"mpcc_enc_sign":1,"mpcc_id_a":0.470191717,"mpcc_iq_a":-1.78741264,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.84037876,"mpcc_pred_id_a":-0.0995005444,"mpcc_pred_iq_a":0.491645753,"mpcc_state":1,"mpcc_theta_e":0.438336849,"mpcc_theta_mech":0.554613292,"sam_rpm":-9.80542278,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025195688,"thr_a_norm":0.025195688,"thr_a_v":0.600782752,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494735658,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.839653,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.298719406,"cg_iw_a":0.274143934,"cg_theta_rad":0.554021001,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0200507864,"mpcc_du":50.6320724,"mpcc_dv":48.39114,"mpcc_dw":51.60886,"mpcc_enc_sign":1,"mpcc_id_a":1.51540351,"mpcc_iq_a":-1.42121589,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.13901806,"mpcc_pred_id_a":0.113192841,"mpcc_pred_iq_a":-4.32356501,"mpcc_state":1,"mpcc_theta_e":0.448427677,"mpcc_theta_mech":0.556631446,"sam_rpm":-9.07715321,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00769741833,"thr_b_norm":0.00769741833,"thr_b_v":0.530789673,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.849632,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.443694592,"cg_iw_a":0.0566809177,"cg_theta_rad":0.555464208,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.070026733,"mpcc_du":49.8890152,"mpcc_dv":49.3724403,"mpcc_dw":50.6275597,"mpcc_enc_sign":1,"mpcc_id_a":1.97384202,"mpcc_iq_a":0.863943875,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.72360468,"mpcc_pred_id_a":0.530633211,"mpcc_pred_iq_a":-1.94688272,"mpcc_state":1,"mpcc_theta_e":0.44982481,"mpcc_theta_mech":0.556910872,"sam_rpm":9.17213726,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021293208,"thr_a_norm":0.0296772718,"thr_a_v":0.585172832,"thr_b":0,"thr_b_norm":0.00769741833,"thr_b_v":0.461048275,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.85955,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.813171387,"cg_theta_rad":0.553803205,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0265939981,"mpcc_du":48.955349,"mpcc_dv":51.044651,"mpcc_dw":49.8261337,"mpcc_enc_sign":1,"mpcc_id_a":3.13446689,"mpcc_iq_a":-0.0211489685,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.910209358,"mpcc_pred_id_a":0.518023014,"mpcc_pred_iq_a":2.14595699,"mpcc_state":1,"mpcc_theta_e":0.434901714,"mpcc_theta_mech":0.555771708,"sam_rpm":0.563378036,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021293208,"thr_a_norm":0.021293208,"thr_a_v":0.585172832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461048275,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.869652,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.02359605,"cg_iw_a":-2.40789986,"cg_theta_rad":0.559926808,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0209951382,"mpcc_du":50.5879936,"mpcc_dv":48.0739861,"mpcc_dw":51.9260139,"mpcc_enc_sign":1,"mpcc_id_a":2.84048271,"mpcc_iq_a":0.492787331,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.4815311,"mpcc_pred_id_a":0.34624815,"mpcc_pred_iq_a":-3.17224622,"mpcc_state":1,"mpcc_theta_e":0.449510574,"mpcc_theta_mech":0.55684799,"sam_rpm":-15.9710178,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288841873,"thr_a_norm":0.0288841873,"thr_a_v":0.615536749,"thr_b":0.000823989511,"thr_b_norm":0.000823989511,"thr_b_v":0.503295958,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.879417,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.45852208,"cg_iw_a":0.201656103,"cg_theta_rad":0.553370655,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0300427638,"mpcc_du":49.5694618,"mpcc_dv":49.2773705,"mpcc_dw":50.7226295,"mpcc_enc_sign":1,"mpcc_id_a":2.37089801,"mpcc_iq_a":-1.67392659,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.1744576,"mpcc_pred_id_a":0.533466816,"mpcc_pred_iq_a":-2.35009432,"mpcc_state":1,"mpcc_theta_e":0.427611351,"mpcc_theta_mech":0.552468181,"sam_rpm":-18.6169491,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288841873,"thr_a_norm":0.0288841873,"thr_a_v":0.615536749,"thr_b":0.000823989511,"thr_b_norm":0.000823989511,"thr_b_v":0.503295958,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.902885,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556394935,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.00361034577,"mpcc_du":50.0077705,"mpcc_dv":49.3564453,"mpcc_dw":50.6435547,"mpcc_enc_sign":1,"mpcc_id_a":-0.711747766,"mpcc_iq_a":-2.02244568,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.68571472,"mpcc_pred_id_a":-0.92794919,"mpcc_pred_iq_a":-1.68186665,"mpcc_state":1,"mpcc_theta_e":0.451518536,"mpcc_theta_mech":0.557249665,"sam_rpm":11.8494816,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184985101,"thr_a_norm":0.0184985101,"thr_a_v":0.57399404,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457221329,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.909386,"values":{"cg_iu_a":2.48915625,"cg_iv_a":0.498644829,"cg_iw_a":-2.98780107,"cg_theta_rad":0.556697309,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.000132943242,"mpcc_du":49.4116249,"mpcc_dv":50.5883751,"mpcc_dw":49.9754906,"mpcc_enc_sign":1,"mpcc_id_a":0.00679147197,"mpcc_iq_a":-1.8989104,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.5380857,"mpcc_pred_id_a":-0.649308026,"mpcc_pred_iq_a":-5.42582798,"mpcc_state":1,"mpcc_theta_e":0.444070339,"mpcc_theta_mech":0.555760026,"sam_rpm":4.50166321,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217715651,"thr_a_norm":0.0184985101,"thr_a_v":0.58708626,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473737687,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.915886,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.371207237,"cg_iw_a":-2.19043636,"cg_theta_rad":0.552802801,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.097621955,"mpcc_du":49.3728333,"mpcc_dv":49.996666,"mpcc_dw":50.6271667,"mpcc_enc_sign":1,"mpcc_id_a":4.23750496,"mpcc_iq_a":0.889837027,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.77954268,"mpcc_pred_id_a":1.09703147,"mpcc_pred_iq_a":-5.28259277,"mpcc_state":1,"mpcc_theta_e":0.448904514,"mpcc_theta_mech":0.556726813,"sam_rpm":6.1039772,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217715651,"thr_a_norm":0.0217715651,"thr_a_v":0.58708626,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473737687,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.922722,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.16857147,"cg_iw_a":-1.75551081,"cg_theta_rad":0.55125761,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0147947734,"mpcc_du":49.5631409,"mpcc_dv":50.4368591,"mpcc_dw":50.3004036,"mpcc_enc_sign":1,"mpcc_id_a":0.883875012,"mpcc_iq_a":-0.233353749,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.67484951,"mpcc_pred_id_a":-0.225862414,"mpcc_pred_iq_a":-4.40310955,"mpcc_state":1,"mpcc_theta_e":0.432786465,"mpcc_theta_mech":0.553503215,"sam_rpm":11.1444778,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202231556,"thr_a_norm":0.0202231556,"thr_a_v":0.580892622,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450725555,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.932823,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.89344811,"cg_iw_a":0.781557798,"cg_theta_rad":0.55668813,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0326520577,"mpcc_du":50.1706467,"mpcc_dv":48.4501419,"mpcc_dw":51.5498581,"mpcc_enc_sign":1,"mpcc_id_a":3.45859623,"mpcc_iq_a":0.556936979,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.18535233,"mpcc_pred_id_a":0.670244038,"mpcc_pred_iq_a":2.47679067,"mpcc_state":1,"mpcc_theta_e":0.423548222,"mpcc_theta_mech":0.551655531,"sam_rpm":-14.5066757,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023735404,"thr_a_norm":0.0202231556,"thr_a_v":0.594941616,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473485917,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.942833,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.0812563896,"cg_iw_a":-3.20526409,"cg_theta_rad":0.554017901,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.00309698004,"mpcc_du":50.5887146,"mpcc_dv":48.3619957,"mpcc_dw":51.6380043,"mpcc_enc_sign":1,"mpcc_id_a":0.42189616,"mpcc_iq_a":-1.71885598,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.84552479,"mpcc_pred_id_a":-0.252387702,"mpcc_pred_iq_a":-1.42551923,"mpcc_state":1,"mpcc_theta_e":0.438583374,"mpcc_theta_mech":0.554662585,"sam_rpm":-13.3761425,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023735404,"thr_a_norm":0.023735404,"thr_a_v":0.594941616,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473485917,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.952843,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.82096052,"cg_iw_a":0.201656342,"cg_theta_rad":0.559190452,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0204215534,"mpcc_du":50.0560722,"mpcc_dv":48.9054604,"mpcc_dw":51.0945396,"mpcc_enc_sign":1,"mpcc_id_a":0.767261624,"mpcc_iq_a":-0.298333645,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.0307436,"mpcc_pred_id_a":-0.154735386,"mpcc_pred_iq_a":1.85521054,"mpcc_state":1,"mpcc_theta_e":0.426641941,"mpcc_theta_mech":0.552274346,"sam_rpm":-12.6405525,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0223884135,"thr_a_norm":0.0223884135,"thr_a_v":0.589553654,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486578166,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.962852,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.45852208,"cg_iw_a":-0.015806675,"cg_theta_rad":0.557254553,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0293342341,"mpcc_du":50.4101524,"mpcc_dv":48.2683716,"mpcc_dw":51.7316284,"mpcc_enc_sign":1,"mpcc_id_a":3.35042262,"mpcc_iq_a":-2.13021708,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.34617996,"mpcc_pred_id_a":0.481462866,"mpcc_pred_iq_a":-1.31954134,"mpcc_state":1,"mpcc_theta_e":0.440531731,"mpcc_theta_mech":0.555052221,"sam_rpm":-12.6270571,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0223884135,"thr_a_norm":0.0223884135,"thr_a_v":0.589553654,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486578166,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.973076,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.588670254,"cg_iw_a":-1.53804731,"cg_theta_rad":0.555074036,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0166159999,"mpcc_du":50.4144173,"mpcc_dv":48.5376205,"mpcc_dw":51.4623795,"mpcc_enc_sign":1,"mpcc_id_a":1.47158194,"mpcc_iq_a":-1.34842372,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.4283607,"mpcc_pred_id_a":-0.18333669,"mpcc_pred_iq_a":-1.73286283,"mpcc_state":1,"mpcc_theta_e":0.445942879,"mpcc_theta_mech":0.556134462,"sam_rpm":-4.9514761,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026756689,"thr_a_norm":0.026756689,"thr_a_v":0.607026756,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49080795,"vdc_v":55.2955055}} +{"type":"telemetry","t":81.983208,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-2.11091113,"cg_iw_a":0.636582136,"cg_theta_rad":0.556711435,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10002,"hz_vsense":360,"mpcc_cost":0.0211916938,"mpcc_du":50.7036667,"mpcc_dv":48.1535645,"mpcc_dw":51.8464355,"mpcc_enc_sign":1,"mpcc_id_a":1.05171072,"mpcc_iq_a":-1.53502584,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.03281021,"mpcc_pred_id_a":-0.0480087809,"mpcc_pred_iq_a":-4.39837265,"mpcc_state":1,"mpcc_theta_e":0.45500803,"mpcc_theta_mech":0.557947516,"sam_rpm":-6.9246726,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0353799462,"thr_a_norm":0.026756689,"thr_a_v":0.641519785,"thr_b":0.001491189,"thr_b_norm":0,"thr_b_v":0.505964756,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.00518,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.878620625,"cg_iw_a":-0.59570837,"cg_theta_rad":0.555715084,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.00627351087,"mpcc_du":50.1396904,"mpcc_dv":48.643837,"mpcc_dw":51.356163,"mpcc_enc_sign":1,"mpcc_id_a":1.56068599,"mpcc_iq_a":-1.68892491,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.65242577,"mpcc_pred_id_a":0.38620013,"mpcc_pred_iq_a":-1.07353437,"mpcc_state":1,"mpcc_theta_e":0.434597015,"mpcc_theta_mech":0.553865314,"sam_rpm":-11.6797686,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0353799462,"thr_a_norm":0.0353799462,"thr_a_v":0.641519785,"thr_b":0.001491189,"thr_b_norm":0.001491189,"thr_b_v":0.505964756,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.011559,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.878620625,"cg_iw_a":0.12916851,"cg_theta_rad":0.555934012,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.00377284945,"mpcc_du":49.9072647,"mpcc_dv":49.1743279,"mpcc_dw":50.8256721,"mpcc_enc_sign":1,"mpcc_id_a":0.388641685,"mpcc_iq_a":-2.15697956,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.48964024,"mpcc_pred_id_a":-0.297456324,"mpcc_pred_iq_a":-2.81719661,"mpcc_state":1,"mpcc_theta_e":0.432460785,"mpcc_theta_mech":0.553438067,"sam_rpm":-12.9655361,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188006312,"thr_a_norm":0.0188006312,"thr_a_v":0.575202525,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470666051,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.018089,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.82096052,"cg_iw_a":0.709070206,"cg_theta_rad":0.556469262,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.00621054834,"mpcc_du":50.3088951,"mpcc_dv":48.696228,"mpcc_dw":51.303772,"mpcc_enc_sign":1,"mpcc_id_a":0.0241785925,"mpcc_iq_a":-1.53422904,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.68671966,"mpcc_pred_id_a":-0.278458089,"mpcc_pred_iq_a":-1.8468858,"mpcc_state":1,"mpcc_theta_e":0.441161633,"mpcc_theta_mech":0.555178225,"sam_rpm":-5.10299444,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188006312,"thr_a_norm":0.0188006312,"thr_a_v":0.575202525,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470666051,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.02462,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.371207237,"cg_iw_a":-1.46555996,"cg_theta_rad":0.551489055,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.00495513622,"mpcc_du":49.8029175,"mpcc_dv":49.1526375,"mpcc_dw":50.8473625,"mpcc_enc_sign":1,"mpcc_id_a":0.725900888,"mpcc_iq_a":-1.40410495,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.07080436,"mpcc_pred_id_a":-0.455745995,"mpcc_pred_iq_a":-3.08145738,"mpcc_state":1,"mpcc_theta_e":0.442127705,"mpcc_theta_mech":0.55576396,"sam_rpm":-3.15520406,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020613417,"thr_a_norm":0.020613417,"thr_a_v":0.582453668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476003677,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.03466,"values":{"cg_iu_a":4.01139736,"cg_iv_a":-0.516182423,"cg_iw_a":-3.49521494,"cg_theta_rad":0.552129865,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.00944002252,"mpcc_du":48.7960625,"mpcc_dv":51.2039375,"mpcc_dw":49.3284187,"mpcc_enc_sign":1,"mpcc_id_a":0.677861333,"mpcc_iq_a":-0.826821685,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.3695574,"mpcc_pred_id_a":-0.387833506,"mpcc_pred_iq_a":-3.30683541,"mpcc_state":1,"mpcc_theta_e":0.443151951,"mpcc_theta_mech":0.555576265,"sam_rpm":17.0244637,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027612716,"thr_a_norm":0.020613417,"thr_a_v":0.610450864,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496296614,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.04464,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.09608364,"cg_iw_a":-1.75551081,"cg_theta_rad":0.557453454,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0616688579,"mpcc_du":49.9355583,"mpcc_dv":48.7411613,"mpcc_dw":51.2588387,"mpcc_enc_sign":1,"mpcc_id_a":4.19157696,"mpcc_iq_a":-1.2017709,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.30760765,"mpcc_pred_id_a":0.803992271,"mpcc_pred_iq_a":-3.57652378,"mpcc_state":1,"mpcc_theta_e":0.444060802,"mpcc_theta_mech":0.555758059,"sam_rpm":-7.67381001,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027612716,"thr_a_norm":0.027612716,"thr_a_v":0.610450864,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496296614,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.054832,"values":{"cg_iu_a":0.314526081,"cg_iv_a":1.22352171,"cg_iw_a":0.346632004,"cg_theta_rad":0.553068697,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0359605476,"mpcc_du":50.2233696,"mpcc_dv":48.7711334,"mpcc_dw":51.2288666,"mpcc_enc_sign":1,"mpcc_id_a":0.0184064675,"mpcc_iq_a":-1.0252105,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.97479534,"mpcc_pred_id_a":-0.16582185,"mpcc_pred_iq_a":-3.42341948,"mpcc_state":1,"mpcc_theta_e":0.446720123,"mpcc_theta_mech":0.556289911,"sam_rpm":-1.64571214,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101118088,"thr_a_norm":0.101118088,"thr_a_v":0.904472351,"thr_b":0.0429331511,"thr_b_norm":0.0429331511,"thr_b_v":0.671732605,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.064598,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.588670254,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556916475,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0463860743,"mpcc_du":50.4078255,"mpcc_dv":48.5069351,"mpcc_dw":51.4930649,"mpcc_enc_sign":1,"mpcc_id_a":2.00191903,"mpcc_iq_a":-0.0692831054,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.311279774,"mpcc_pred_id_a":-0.00153724151,"mpcc_pred_iq_a":-0.935958087,"mpcc_state":1,"mpcc_theta_e":0.445012093,"mpcc_theta_mech":0.555948377,"sam_rpm":0.899830341,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101118088,"thr_a_norm":0.101118088,"thr_a_v":0.904472351,"thr_b":0.0429331511,"thr_b_norm":0.0429331511,"thr_b_v":0.671732605,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.077019,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.60349751,"cg_iw_a":-1.32058477,"cg_theta_rad":0.557150126,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0335163102,"mpcc_du":49.8064919,"mpcc_dv":48.9545479,"mpcc_dw":51.0454521,"mpcc_enc_sign":1,"mpcc_id_a":3.5156076,"mpcc_iq_a":-0.59164387,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.378023207,"mpcc_pred_id_a":0.718585074,"mpcc_pred_iq_a":-0.81391865,"mpcc_state":1,"mpcc_theta_e":0.441307068,"mpcc_theta_mech":0.555207312,"sam_rpm":-0.105978161,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172018856,"thr_a_norm":0.0172018856,"thr_a_v":0.568807542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.428368032,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.087425,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.24105906,"cg_iw_a":-0.23326993,"cg_theta_rad":0.557299554,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.00668766582,"mpcc_du":49.845787,"mpcc_dv":49.0989609,"mpcc_dw":50.9010391,"mpcc_enc_sign":1,"mpcc_id_a":1.5025121,"mpcc_iq_a":-0.0897533223,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.68350506,"mpcc_pred_id_a":0.174165651,"mpcc_pred_iq_a":-2.11091614,"mpcc_state":1,"mpcc_theta_e":0.43239069,"mpcc_theta_mech":0.55342406,"sam_rpm":-12.0330286,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481744081,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.110435,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.153744221,"cg_iw_a":-4.58252954,"cg_theta_rad":0.55697608,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.00117366202,"mpcc_du":51.0050049,"mpcc_dv":47.7733421,"mpcc_dw":52.2266579,"mpcc_enc_sign":1,"mpcc_id_a":0.0283184797,"mpcc_iq_a":-1.24494112,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-26.5523052,"mpcc_pred_id_a":-0.40472731,"mpcc_pred_iq_a":-0.627226472,"mpcc_state":1,"mpcc_theta_e":0.418662071,"mpcc_theta_mech":0.550678372,"sam_rpm":-39.7133942,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481744081,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.116936,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.661157608,"cg_iw_a":0.41911912,"cg_theta_rad":0.557488084,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0132940551,"mpcc_du":50.3620148,"mpcc_dv":48.3438873,"mpcc_dw":51.6561127,"mpcc_enc_sign":1,"mpcc_id_a":2.26908827,"mpcc_iq_a":-0.679156721,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.54908752,"mpcc_pred_id_a":0.397622794,"mpcc_pred_iq_a":0.427853584,"mpcc_state":1,"mpcc_theta_e":0.4343853,"mpcc_theta_mech":0.553822935,"sam_rpm":-12.244729,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197951496,"thr_a_norm":0.0197951496,"thr_a_v":0.579180598,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480988771,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.123497,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.6759851,"cg_iw_a":-1.24809694,"cg_theta_rad":0.554982007,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0118817873,"mpcc_du":48.725975,"mpcc_dv":51.274025,"mpcc_dw":49.4228859,"mpcc_enc_sign":1,"mpcc_id_a":2.14181185,"mpcc_iq_a":-1.45378339,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.2497778,"mpcc_pred_id_a":-0.0211698562,"mpcc_pred_iq_a":-6.37772512,"mpcc_state":1,"mpcc_theta_e":0.451892376,"mpcc_theta_mech":0.55732435,"sam_rpm":17.6374855,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197951496,"thr_a_norm":0.0197951496,"thr_a_v":0.579180598,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480988771,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.130058,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-2.47334933,"cg_iw_a":-0.668195963,"cg_theta_rad":0.556273818,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.00736068469,"mpcc_du":50.7054787,"mpcc_dv":47.9009018,"mpcc_dw":52.0990982,"mpcc_enc_sign":1,"mpcc_id_a":1.61480618,"mpcc_iq_a":-1.23608613,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.0356674,"mpcc_pred_id_a":0.322473437,"mpcc_pred_iq_a":0.948653877,"mpcc_state":1,"mpcc_theta_e":0.427023411,"mpcc_theta_mech":0.552350581,"sam_rpm":-24.3284912,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219729841,"thr_a_norm":0.0219729841,"thr_a_v":0.587891936,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484010041,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.138206,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.6759851,"cg_iw_a":0.636582136,"cg_theta_rad":0.552449286,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0103771482,"mpcc_du":49.3029404,"mpcc_dv":50.6970596,"mpcc_dw":51.8898048,"mpcc_enc_sign":1,"mpcc_id_a":1.31169605,"mpcc_iq_a":-0.33428216,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.89613938,"mpcc_pred_id_a":0.288725048,"mpcc_pred_iq_a":3.06989074,"mpcc_state":1,"mpcc_theta_e":0.43917799,"mpcc_theta_mech":0.554781497,"sam_rpm":-5.59360218,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023458451,"thr_a_norm":0.0219729841,"thr_a_v":0.593833804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461602181,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.148033,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-1.24105906,"cg_iw_a":0.854045153,"cg_theta_rad":0.556105435,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0372664146,"mpcc_du":49.5789719,"mpcc_dv":49.0523796,"mpcc_dw":50.9476204,"mpcc_enc_sign":1,"mpcc_id_a":2.65269828,"mpcc_iq_a":-0.895242214,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.908337,"mpcc_pred_id_a":1.05945158,"mpcc_pred_iq_a":-2.89295983,"mpcc_state":1,"mpcc_theta_e":0.446816921,"mpcc_theta_mech":0.556309342,"sam_rpm":3.91945124,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023458451,"thr_a_norm":0.023458451,"thr_a_v":0.593833804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461602181,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.158318,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.6759851,"cg_iw_a":1.143996,"cg_theta_rad":0.555732429,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0471865386,"mpcc_du":49.5160828,"mpcc_dv":49.8694954,"mpcc_dw":50.4839172,"mpcc_enc_sign":1,"mpcc_id_a":2.65190029,"mpcc_iq_a":-0.410130769,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.4707518,"mpcc_pred_id_a":0.231736898,"mpcc_pred_iq_a":-3.09515953,"mpcc_state":1,"mpcc_theta_e":0.45586729,"mpcc_theta_mech":0.558119357,"sam_rpm":19.3120747,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0152128637,"thr_a_norm":0.0152128637,"thr_a_v":0.560851455,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.168022,"values":{"cg_iu_a":1.69179153,"cg_iv_a":1.36849689,"cg_iw_a":-1.39307213,"cg_theta_rad":0.557588637,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0295419544,"mpcc_du":49.8130455,"mpcc_dv":48.9679794,"mpcc_dw":51.0320206,"mpcc_enc_sign":1,"mpcc_id_a":2.96549654,"mpcc_iq_a":-0.896387637,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.68135357,"mpcc_pred_id_a":0.503853023,"mpcc_pred_iq_a":0.0160501637,"mpcc_state":1,"mpcc_theta_e":0.43036747,"mpcc_theta_mech":0.553019404,"sam_rpm":-11.6430502,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0152128637,"thr_a_norm":0.0152128637,"thr_a_v":0.560851455,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.178215,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-2.18339872,"cg_iw_a":-1.97297406,"cg_theta_rad":0.556340098,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.000955553434,"mpcc_du":49.5936584,"mpcc_dv":49.8862457,"mpcc_dw":50.4063416,"mpcc_enc_sign":1,"mpcc_id_a":0.322560012,"mpcc_iq_a":-1.22076654,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.8717928,"mpcc_pred_id_a":-0.261723757,"mpcc_pred_iq_a":-1.49759698,"mpcc_state":1,"mpcc_theta_e":0.450521946,"mpcc_theta_mech":0.557050288,"sam_rpm":15.8585396,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210162401,"thr_a_norm":0.0210162401,"thr_a_v":0.58406496,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473737687,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.188438,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.09608364,"cg_iw_a":-2.40789986,"cg_theta_rad":0.555675924,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.00580649776,"mpcc_du":49.6890068,"mpcc_dv":49.3109436,"mpcc_dw":50.6890564,"mpcc_enc_sign":1,"mpcc_id_a":1.32264757,"mpcc_iq_a":-0.991029799,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.28211665,"mpcc_pred_id_a":0.0982139707,"mpcc_pred_iq_a":-2.72075224,"mpcc_state":1,"mpcc_theta_e":0.441559792,"mpcc_theta_mech":0.555257916,"sam_rpm":-2.79982042,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0354554802,"thr_a_norm":0.0210162401,"thr_a_v":0.641821921,"thr_b":0.00711832941,"thr_b_norm":0,"thr_b_v":0.528473318,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.211449,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.02359605,"cg_iw_a":-1.32058454,"cg_theta_rad":0.55719012,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0329293497,"mpcc_du":49.5192146,"mpcc_dv":49.4256439,"mpcc_dw":50.5743561,"mpcc_enc_sign":1,"mpcc_id_a":2.10724044,"mpcc_iq_a":-0.357028335,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.05778933,"mpcc_pred_id_a":0.333248556,"mpcc_pred_iq_a":-3.48165441,"mpcc_state":1,"mpcc_theta_e":0.447507858,"mpcc_theta_mech":0.556447446,"sam_rpm":6.27522469,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0354554802,"thr_a_norm":0.0354554802,"thr_a_v":0.641821921,"thr_b":0.00711832941,"thr_b_norm":0.00711832941,"thr_b_v":0.528473318,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.217949,"values":{"cg_iu_a":4.5912981,"cg_iv_a":-1.82096052,"cg_iw_a":-1.4655602,"cg_theta_rad":0.556975722,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.00246405811,"mpcc_du":49.5697327,"mpcc_dv":49.7195206,"mpcc_dw":50.4302673,"mpcc_enc_sign":1,"mpcc_id_a":0.42975378,"mpcc_iq_a":-1.50310659,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.77992678,"mpcc_pred_id_a":-0.188380703,"mpcc_pred_iq_a":-2.51186657,"mpcc_state":1,"mpcc_theta_e":0.448828697,"mpcc_theta_mech":0.556711674,"sam_rpm":11.5357409,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264419764,"thr_a_norm":0.0264419764,"thr_a_v":0.605767906,"thr_b":0.00256122649,"thr_b_norm":0.00256122649,"thr_b_v":0.510244906,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.22448,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.74847269,"cg_iw_a":-1.39307261,"cg_theta_rad":0.555780947,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0243552253,"mpcc_du":50.1422844,"mpcc_dv":48.555172,"mpcc_dw":51.444828,"mpcc_enc_sign":1,"mpcc_id_a":2.58692646,"mpcc_iq_a":-0.518683493,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.50598788,"mpcc_pred_id_a":0.521891832,"mpcc_pred_iq_a":-0.339884877,"mpcc_state":1,"mpcc_theta_e":0.43969965,"mpcc_theta_mech":0.554885805,"sam_rpm":-3.66279364,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264419764,"thr_a_norm":0.0264419764,"thr_a_v":0.605767906,"thr_b":0.00256122649,"thr_b_norm":0.00256122649,"thr_b_v":0.510244906,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.231194,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.31354666,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556508482,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0166704375,"mpcc_du":51.3421555,"mpcc_dv":47.2069283,"mpcc_dw":52.7930717,"mpcc_enc_sign":1,"mpcc_id_a":2.30167627,"mpcc_iq_a":-0.0691248029,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.1525517,"mpcc_pred_id_a":0.0170443747,"mpcc_pred_iq_a":2.44000196,"mpcc_state":1,"mpcc_theta_e":0.423530579,"mpcc_theta_mech":0.551652074,"sam_rpm":-29.8805656,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0272728354,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479176015,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.241386,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.53100967,"cg_iw_a":0.709069729,"cg_theta_rad":0.554320455,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.00887094438,"mpcc_du":49.6008987,"mpcc_dv":49.2909813,"mpcc_dw":50.7090187,"mpcc_enc_sign":1,"mpcc_id_a":1.88213444,"mpcc_iq_a":0.369113326,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.11262512,"mpcc_pred_id_a":0.397282422,"mpcc_pred_iq_a":1.31159079,"mpcc_state":1,"mpcc_theta_e":0.438967228,"mpcc_theta_mech":0.554739356,"sam_rpm":8.87335682,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193293691,"thr_a_norm":0.0272728354,"thr_a_v":0.577317476,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457573801,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.251244,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.443694592,"cg_iw_a":-1.46555996,"cg_theta_rad":0.55641973,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0105949575,"mpcc_du":49.8178482,"mpcc_dv":49.1150894,"mpcc_dw":50.8849106,"mpcc_enc_sign":1,"mpcc_id_a":0.71859175,"mpcc_iq_a":-0.230232507,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.81916904,"mpcc_pred_id_a":0.0677357614,"mpcc_pred_iq_a":-0.0469514318,"mpcc_state":1,"mpcc_theta_e":0.426634789,"mpcc_theta_mech":0.552272916,"sam_rpm":-14.4970636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193293691,"thr_a_norm":0.0193293691,"thr_a_v":0.577317476,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457573801,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.260612,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":0.0637187958,"cg_iw_a":-1.82799816,"cg_theta_rad":0.554169357,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0572734959,"mpcc_du":49.7901764,"mpcc_dv":49.0250816,"mpcc_dw":50.9749184,"mpcc_enc_sign":1,"mpcc_id_a":3.62610126,"mpcc_iq_a":-1.04869282,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.05113268,"mpcc_pred_id_a":0.538751125,"mpcc_pred_iq_a":-3.53307176,"mpcc_state":1,"mpcc_theta_e":0.449701309,"mpcc_theta_mech":0.556886196,"sam_rpm":1.96132946,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213309675,"thr_a_norm":0.0213309675,"thr_a_v":0.58532387,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471270293,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.271599,"values":{"cg_iu_a":-0.555325985,"cg_iv_a":-1.74847269,"cg_iw_a":-1.10312176,"cg_theta_rad":0.553998709,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.00121831615,"mpcc_du":49.6628036,"mpcc_dv":49.4797592,"mpcc_dw":50.5202408,"mpcc_enc_sign":1,"mpcc_id_a":2.57187986,"mpcc_iq_a":0.170012802,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.87200022,"mpcc_pred_id_a":0.342239887,"mpcc_pred_iq_a":-0.969832778,"mpcc_state":1,"mpcc_theta_e":0.426059723,"mpcc_theta_mech":0.552157819,"sam_rpm":-7.25641823,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213309675,"thr_a_norm":0.0213309675,"thr_a_v":0.58532387,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471270293,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.281792,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.588670254,"cg_iw_a":-2.6253624,"cg_theta_rad":0.55712527,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0303379614,"mpcc_du":49.4514961,"mpcc_dv":50.5485039,"mpcc_dw":50.3339653,"mpcc_enc_sign":1,"mpcc_id_a":2.41228604,"mpcc_iq_a":-0.887918115,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.09222603,"mpcc_pred_id_a":0.101813562,"mpcc_pred_iq_a":-0.800338447,"mpcc_state":1,"mpcc_theta_e":0.435773373,"mpcc_theta_mech":0.553148448,"sam_rpm":7.60791206,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184985101,"thr_a_norm":0.0184985101,"thr_a_v":0.57399404,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466134131,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.292259,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.83578777,"cg_iw_a":1.72389746,"cg_theta_rad":0.557224929,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.00899799448,"mpcc_du":49.558567,"mpcc_dv":49.810051,"mpcc_dw":50.441433,"mpcc_enc_sign":1,"mpcc_id_a":0.558654487,"mpcc_iq_a":-1.26827335,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.23283768,"mpcc_pred_id_a":-0.233506307,"mpcc_pred_iq_a":-0.724711001,"mpcc_state":1,"mpcc_theta_e":0.433156967,"mpcc_theta_mech":0.553577304,"sam_rpm":3.13152075,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180956721,"thr_a_norm":0.0184985101,"thr_a_v":0.572382689,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455811381,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.316368,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.878620625,"cg_iw_a":-1.17560959,"cg_theta_rad":0.557638824,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.000768202008,"mpcc_du":50.7160378,"mpcc_dv":48.211937,"mpcc_dw":51.788063,"mpcc_enc_sign":1,"mpcc_id_a":0.133202776,"mpcc_iq_a":-0.287997782,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.42099857,"mpcc_pred_id_a":-0.477882326,"mpcc_pred_iq_a":1.1003598,"mpcc_state":1,"mpcc_theta_e":0.434392452,"mpcc_theta_mech":0.553824425,"sam_rpm":-14.0914946,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180956721,"thr_a_norm":0.0180956721,"thr_a_v":0.572382689,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455811381,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.322838,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.951108456,"cg_iw_a":-0.740683079,"cg_theta_rad":0.557070971,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0275923163,"mpcc_du":50.2355232,"mpcc_dv":48.5148048,"mpcc_dw":51.4851952,"mpcc_enc_sign":1,"mpcc_id_a":2.80693698,"mpcc_iq_a":-0.743730783,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.38653231,"mpcc_pred_id_a":0.412151635,"mpcc_pred_iq_a":1.42205334,"mpcc_state":1,"mpcc_theta_e":0.448910236,"mpcc_theta_mech":0.556727946,"sam_rpm":9.34029388,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276001245,"thr_a_norm":0.0276001245,"thr_a_v":0.610400498,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499166846,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.329369,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.60349751,"cg_iw_a":-1.97297406,"cg_theta_rad":0.554697156,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0151713835,"mpcc_du":50.863678,"mpcc_dv":47.5165672,"mpcc_dw":52.4834328,"mpcc_enc_sign":1,"mpcc_id_a":0.45129624,"mpcc_iq_a":-0.778562427,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.9909229,"mpcc_pred_id_a":-0.396637976,"mpcc_pred_iq_a":-3.68077016,"mpcc_state":1,"mpcc_theta_e":0.458846092,"mpcc_theta_mech":0.558715165,"sam_rpm":-20.5155506,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276001245,"thr_a_norm":0.0276001245,"thr_a_v":0.610400498,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499166846,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.336723,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.516182423,"cg_iw_a":-2.33541203,"cg_theta_rad":0.55709517,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.00999711826,"mpcc_du":50.162529,"mpcc_dv":48.7416725,"mpcc_dw":51.2583275,"mpcc_enc_sign":1,"mpcc_id_a":1.85095,"mpcc_iq_a":-2.40747452,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.737179577,"mpcc_pred_id_a":-0.10408216,"mpcc_pred_iq_a":-1.27328932,"mpcc_state":1,"mpcc_theta_e":0.444720745,"mpcc_theta_mech":0.555890083,"sam_rpm":1.53757095,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192538351,"thr_a_norm":0.0192538351,"thr_a_v":0.57701534,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.347008,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.516182423,"cg_iw_a":0.0566811562,"cg_theta_rad":0.553240061,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0528129824,"mpcc_du":49.7355003,"mpcc_dv":49.2063141,"mpcc_dw":50.7936859,"mpcc_enc_sign":1,"mpcc_id_a":3.02445102,"mpcc_iq_a":-0.295781374,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.61545467,"mpcc_pred_id_a":0.0994624645,"mpcc_pred_iq_a":-3.07798719,"mpcc_state":1,"mpcc_theta_e":0.450398445,"mpcc_theta_mech":0.557025611,"sam_rpm":6.81242609,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160059482,"thr_a_norm":0.0192538351,"thr_a_v":0.564023793,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453293681,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.356804,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.82096052,"cg_iw_a":-1.10312176,"cg_theta_rad":0.554538548,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.00730241789,"mpcc_du":49.5447807,"mpcc_dv":50.0745964,"mpcc_dw":50.4552193,"mpcc_enc_sign":1,"mpcc_id_a":0.780363142,"mpcc_iq_a":-1.46932781,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.09755099,"mpcc_pred_id_a":-0.195969641,"mpcc_pred_iq_a":-2.50362754,"mpcc_state":1,"mpcc_theta_e":0.437470436,"mpcc_theta_mech":0.554439962,"sam_rpm":0.275225252,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160059482,"thr_a_norm":0.0160059482,"thr_a_v":0.564023793,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453293681,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.367027,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-2.0384233,"cg_iw_a":1.28897119,"cg_theta_rad":0.556471825,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0226463173,"mpcc_du":49.3838577,"mpcc_dv":49.6840439,"mpcc_dw":50.6161423,"mpcc_enc_sign":1,"mpcc_id_a":2.93320847,"mpcc_iq_a":-1.14503217,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.559081495,"mpcc_pred_id_a":0.652371407,"mpcc_pred_iq_a":-3.60679483,"mpcc_state":1,"mpcc_theta_e":0.439973831,"mpcc_theta_mech":0.554940641,"sam_rpm":-0.398536682,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277512074,"thr_a_norm":0.0277512074,"thr_a_v":0.611004829,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498159766,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.377007,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.806133032,"cg_iw_a":0.41911912,"cg_theta_rad":0.55384469,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.00992707629,"mpcc_du":50.1708221,"mpcc_dv":48.8093719,"mpcc_dw":51.1906281,"mpcc_enc_sign":1,"mpcc_id_a":0.0694070011,"mpcc_iq_a":-1.09404099,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.96198082,"mpcc_pred_id_a":-0.35959366,"mpcc_pred_iq_a":-2.59055352,"mpcc_state":1,"mpcc_theta_e":0.443333149,"mpcc_theta_mech":0.555612504,"sam_rpm":-6.28241634,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277512074,"thr_a_norm":0.0277512074,"thr_a_v":0.611004829,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498159766,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.387108,"values":{"cg_iu_a":0.894427299,"cg_iv_a":0.353669643,"cg_iw_a":-1.24809694,"cg_theta_rad":0.558050931,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0209198818,"mpcc_du":49.8309135,"mpcc_dv":49.1804314,"mpcc_dw":50.8195686,"mpcc_enc_sign":1,"mpcc_id_a":1.04766095,"mpcc_iq_a":-0.218805701,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.25335217,"mpcc_pred_id_a":-0.229769424,"mpcc_pred_iq_a":-1.21120036,"mpcc_state":1,"mpcc_theta_e":0.446626186,"mpcc_theta_mech":0.556271136,"sam_rpm":10.8669252,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265049189,"thr_a_norm":0.0265049189,"thr_a_v":0.606019676,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.410423,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.02359605,"cg_iw_a":1.50643444,"cg_theta_rad":0.555169463,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0225295164,"mpcc_du":50.7152596,"mpcc_dv":48.2813072,"mpcc_dw":51.7186928,"mpcc_enc_sign":1,"mpcc_id_a":-0.141690478,"mpcc_iq_a":-1.18210471,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.89770412,"mpcc_pred_id_a":-0.627614856,"mpcc_pred_iq_a":-1.71704149,"mpcc_state":1,"mpcc_theta_e":0.450376511,"mpcc_theta_mech":0.55702126,"sam_rpm":-8.22327328,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0150743872,"thr_a_norm":0.0265049189,"thr_a_v":0.560297549,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462055355,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.416924,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.516182423,"cg_iw_a":0.854045153,"cg_theta_rad":0.557349026,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.014238501,"mpcc_du":50.6594734,"mpcc_dv":47.9068489,"mpcc_dw":52.0931511,"mpcc_enc_sign":1,"mpcc_id_a":1.78030097,"mpcc_iq_a":0.527795017,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.1772881,"mpcc_pred_id_a":0.338140696,"mpcc_pred_iq_a":0.118979931,"mpcc_state":1,"mpcc_theta_e":0.427023411,"mpcc_theta_mech":0.552350581,"sam_rpm":-25.740099,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0150743872,"thr_a_norm":0.0150743872,"thr_a_v":0.560297549,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462055355,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.423485,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.588670254,"cg_iw_a":0.274144173,"cg_theta_rad":0.553433657,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.00523683522,"mpcc_du":50.1263695,"mpcc_dv":48.7058983,"mpcc_dw":51.2941017,"mpcc_enc_sign":1,"mpcc_id_a":0.241969377,"mpcc_iq_a":0.814469516,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.3380127,"mpcc_pred_id_a":0.0560483225,"mpcc_pred_iq_a":-1.35865593,"mpcc_state":1,"mpcc_theta_e":0.430966854,"mpcc_theta_mech":0.553139329,"sam_rpm":-17.5256004,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0391187966,"thr_a_norm":0.0391187966,"thr_a_v":0.656475186,"thr_b":0.0110963583,"thr_b_norm":0.0110963583,"thr_b_v":0.544385433,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.430016,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.09608364,"cg_iw_a":-1.53804779,"cg_theta_rad":0.557005942,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.00501857465,"mpcc_du":50.0349617,"mpcc_dv":48.988945,"mpcc_dw":51.011055,"mpcc_enc_sign":1,"mpcc_id_a":-0.0112002855,"mpcc_iq_a":-1.24521279,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.6357708,"mpcc_pred_id_a":-0.230638862,"mpcc_pred_iq_a":0.330575019,"mpcc_state":1,"mpcc_theta_e":0.450399399,"mpcc_theta_mech":0.55702579,"sam_rpm":14.251626,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0391187966,"thr_a_norm":0.0391187966,"thr_a_v":0.656475186,"thr_b":0.0110963583,"thr_b_norm":0.0110963583,"thr_b_v":0.544385433,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.438011,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.298719406,"cg_iw_a":0.0566811562,"cg_theta_rad":0.555371463,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0411671028,"mpcc_du":50.4299927,"mpcc_dv":48.2710876,"mpcc_dw":51.7289124,"mpcc_enc_sign":1,"mpcc_id_a":0.194150925,"mpcc_iq_a":0.514820516,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.19895124,"mpcc_pred_id_a":-0.379095495,"mpcc_pred_iq_a":-0.315247685,"mpcc_state":1,"mpcc_theta_e":0.447820663,"mpcc_theta_mech":0.556510091,"sam_rpm":-15.2608957,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258503109,"thr_a_norm":0.0258503109,"thr_a_v":0.603401244,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496296614,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.448418,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.45852208,"cg_iw_a":-0.523220062,"cg_theta_rad":0.554104567,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.029059194,"mpcc_du":50.0579033,"mpcc_dv":48.9140434,"mpcc_dw":51.0859566,"mpcc_enc_sign":1,"mpcc_id_a":2.21069527,"mpcc_iq_a":-1.81086063,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.17890501,"mpcc_pred_id_a":-0.0335255824,"mpcc_pred_iq_a":-2.92386556,"mpcc_state":1,"mpcc_theta_e":0.451244831,"mpcc_theta_mech":0.557194889,"sam_rpm":3.62303329,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0267440975,"thr_a_norm":0.0258503109,"thr_a_v":0.60697639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489750504,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.460228,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.226231575,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556682944,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0127401222,"mpcc_du":49.5518456,"mpcc_dv":50.4481544,"mpcc_dw":50.3174934,"mpcc_enc_sign":1,"mpcc_id_a":1.72112238,"mpcc_iq_a":-1.48754454,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.05580139,"mpcc_pred_id_a":-0.24974744,"mpcc_pred_iq_a":-4.72044849,"mpcc_state":1,"mpcc_theta_e":0.454084873,"mpcc_theta_mech":0.557762921,"sam_rpm":13.0564899,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0267440975,"thr_a_norm":0.0267440975,"thr_a_v":0.60697639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489750504,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.470421,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.33541203,"cg_theta_rad":0.557707667,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0523590371,"mpcc_du":49.8798256,"mpcc_dv":48.9073753,"mpcc_dw":51.0926247,"mpcc_enc_sign":1,"mpcc_id_a":2.94334102,"mpcc_iq_a":0.237180769,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.66186738,"mpcc_pred_id_a":0.467815071,"mpcc_pred_iq_a":-2.90233827,"mpcc_state":1,"mpcc_theta_e":0.440220833,"mpcc_theta_mech":0.55595243,"sam_rpm":-4.17825508,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00967383385,"thr_a_norm":0.00967383385,"thr_a_v":0.538695335,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443424135,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.480644,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.951108456,"cg_iw_a":0.201656342,"cg_theta_rad":0.555226088,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0772650093,"mpcc_du":49.7367821,"mpcc_dv":49.0355225,"mpcc_dw":50.9644775,"mpcc_enc_sign":1,"mpcc_id_a":3.04515672,"mpcc_iq_a":1.61208701,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.75365722,"mpcc_pred_id_a":0.577099204,"mpcc_pred_iq_a":-2.11792636,"mpcc_state":1,"mpcc_theta_e":0.445153713,"mpcc_theta_mech":0.555976629,"sam_rpm":3.43947649,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184103847,"thr_a_norm":0.00967383385,"thr_a_v":0.573641539,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446747541,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.49279,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.45852208,"cg_iw_a":-1.68302321,"cg_theta_rad":0.556205809,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0151611576,"mpcc_du":49.6178398,"mpcc_dv":50.2298775,"mpcc_dw":50.3821602,"mpcc_enc_sign":1,"mpcc_id_a":0.515255809,"mpcc_iq_a":-0.398250073,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.8800621,"mpcc_pred_id_a":-0.425331593,"mpcc_pred_iq_a":-1.62184739,"mpcc_state":1,"mpcc_theta_e":0.420097351,"mpcc_theta_mech":0.550965428,"sam_rpm":-6.88142681,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184103847,"thr_a_norm":0.0184103847,"thr_a_v":0.573641539,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446747541,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.516197,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":0.353669643,"cg_iw_a":-1.17560959,"cg_theta_rad":0.556866765,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0214721914,"mpcc_du":48.6010132,"mpcc_dv":51.3989868,"mpcc_dw":49.3724594,"mpcc_enc_sign":1,"mpcc_id_a":2.78470731,"mpcc_iq_a":0.69840467,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.0308933,"mpcc_pred_id_a":0.242459968,"mpcc_pred_iq_a":-4.93888617,"mpcc_state":1,"mpcc_theta_e":0.452438831,"mpcc_theta_mech":0.557433724,"sam_rpm":19.4249706,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170130432,"thr_a_norm":0.0170130432,"thr_a_v":0.568052173,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451128393,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.522728,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.09608364,"cg_iw_a":-1.32058477,"cg_theta_rad":0.557503998,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0131506901,"mpcc_du":50.0264091,"mpcc_dv":48.9872284,"mpcc_dw":51.0127716,"mpcc_enc_sign":1,"mpcc_id_a":1.19173408,"mpcc_iq_a":-0.419859618,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.25863218,"mpcc_pred_id_a":-0.124769077,"mpcc_pred_iq_a":-2.22506404,"mpcc_state":1,"mpcc_theta_e":0.441493988,"mpcc_theta_mech":0.556540787,"sam_rpm":-4.45133543,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0279022604,"thr_a_norm":0.0170130432,"thr_a_v":0.611609042,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498059064,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.529289,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.96593571,"cg_iw_a":0.709069729,"cg_theta_rad":0.556717396,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0136868516,"mpcc_du":49.5082016,"mpcc_dv":49.9021111,"mpcc_dw":51.9445572,"mpcc_enc_sign":1,"mpcc_id_a":1.79883909,"mpcc_iq_a":-0.159809723,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.86239767,"mpcc_pred_id_a":0.364304155,"mpcc_pred_iq_a":-2.60104275,"mpcc_state":1,"mpcc_theta_e":0.446032047,"mpcc_theta_mech":0.554198146,"sam_rpm":8.43113518,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0279022604,"thr_a_norm":0.0279022604,"thr_a_v":0.611609042,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498059064,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.53582,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.45852208,"cg_iw_a":0.346631765,"cg_theta_rad":0.555832803,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.00674905814,"mpcc_du":50.6173439,"mpcc_dv":48.1513939,"mpcc_dw":51.8486061,"mpcc_enc_sign":1,"mpcc_id_a":1.61107039,"mpcc_iq_a":-1.05391395,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.2944469,"mpcc_pred_id_a":-0.0871158093,"mpcc_pred_iq_a":-3.59880185,"mpcc_state":1,"mpcc_theta_e":0.450624466,"mpcc_theta_mech":0.557070792,"sam_rpm":-15.1535521,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237228274,"thr_a_norm":0.0237228274,"thr_a_v":0.59489131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475500137,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.543419,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.53100967,"cg_iw_a":0.709069729,"cg_theta_rad":0.557801902,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0172570962,"mpcc_du":50.0825424,"mpcc_dv":48.7707405,"mpcc_dw":51.2292595,"mpcc_enc_sign":1,"mpcc_id_a":2.36302185,"mpcc_iq_a":-0.297818661,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.0045509,"mpcc_pred_id_a":0.0958862975,"mpcc_pred_iq_a":-2.68634939,"mpcc_state":1,"mpcc_theta_e":0.430510044,"mpcc_theta_mech":0.553047895,"sam_rpm":-19.2162952,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237228274,"thr_a_norm":0.0237228274,"thr_a_v":0.59489131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475500137,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.553612,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.298719406,"cg_iw_a":-2.26292419,"cg_theta_rad":0.554705203,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0178587511,"mpcc_du":50.2352791,"mpcc_dv":48.9193611,"mpcc_dw":51.0806389,"mpcc_enc_sign":1,"mpcc_id_a":-0.589613438,"mpcc_iq_a":-1.94175208,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.70811617,"mpcc_pred_id_a":-0.580690384,"mpcc_pred_iq_a":-6.35049009,"mpcc_state":1,"mpcc_theta_e":0.450422287,"mpcc_theta_mech":0.55703038,"sam_rpm":7.15591478,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0223758221,"thr_a_norm":0.0223758221,"thr_a_v":0.589503288,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486729234,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.564018,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.951108456,"cg_iw_a":-1.03063393,"cg_theta_rad":0.557279587,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0111274682,"mpcc_du":49.5776749,"mpcc_dv":49.4019852,"mpcc_dw":50.5980148,"mpcc_enc_sign":1,"mpcc_id_a":1.23061025,"mpcc_iq_a":-0.332888514,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.345307201,"mpcc_pred_id_a":0.229327589,"mpcc_pred_iq_a":-1.24045205,"mpcc_state":1,"mpcc_theta_e":0.432303905,"mpcc_theta_mech":0.553406656,"sam_rpm":-4.59105921,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0125062913,"thr_a_norm":0.0223758221,"thr_a_v":0.550025165,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446042538,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.576012,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.588670254,"cg_iw_a":-2.6253624,"cg_theta_rad":0.557229817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0204878971,"mpcc_du":50.1334572,"mpcc_dv":48.8724976,"mpcc_dw":51.1275024,"mpcc_enc_sign":1,"mpcc_id_a":1.80936539,"mpcc_iq_a":-0.809696078,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.30099845,"mpcc_pred_id_a":-0.1945948,"mpcc_pred_iq_a":-2.48584461,"mpcc_state":1,"mpcc_theta_e":0.443939686,"mpcc_theta_mech":0.55573386,"sam_rpm":-4.67127275,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0125062913,"thr_a_norm":0.0125062913,"thr_a_v":0.550025165,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446042538,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.586205,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.74847269,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556430161,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.00118243298,"mpcc_du":51.1006126,"mpcc_dv":47.7267838,"mpcc_dw":52.2732162,"mpcc_enc_sign":1,"mpcc_id_a":0.588393748,"mpcc_iq_a":-2.72357655,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.444993,"mpcc_pred_id_a":-0.337581873,"mpcc_pred_iq_a":0.563239515,"mpcc_state":1,"mpcc_theta_e":0.439712048,"mpcc_theta_mech":0.554888308,"sam_rpm":-15.2304373,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0930739194,"thr_a_norm":0.0930739194,"thr_a_v":0.872295678,"thr_b":0.0419764221,"thr_b_norm":0.0419764221,"thr_b_v":0.667905688,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.596397,"values":{"cg_iu_a":-0.482838154,"cg_iv_a":-1.24105906,"cg_iw_a":1.72389722,"cg_theta_rad":0.556946218,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0493042395,"mpcc_du":49.958271,"mpcc_dv":48.9728355,"mpcc_dw":51.0271645,"mpcc_enc_sign":1,"mpcc_id_a":3.06071138,"mpcc_iq_a":-0.222868755,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.58657694,"mpcc_pred_id_a":0.140946701,"mpcc_pred_iq_a":-1.4900893,"mpcc_state":1,"mpcc_theta_e":0.451196194,"mpcc_theta_mech":0.557185113,"sam_rpm":8.07270813,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226275921,"thr_a_norm":0.0930739194,"thr_a_v":0.590510368,"thr_b":0.00768482685,"thr_b_norm":0.0419764221,"thr_b_v":0.530739307,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.619438,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.298719406,"cg_iw_a":-0.740683556,"cg_theta_rad":0.555981934,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0239952076,"mpcc_du":49.6108742,"mpcc_dv":50.0617561,"mpcc_dw":50.3891258,"mpcc_enc_sign":1,"mpcc_id_a":2.26413298,"mpcc_iq_a":-1.52915525,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.3231354,"mpcc_pred_id_a":-0.25976795,"mpcc_pred_iq_a":-3.22857022,"mpcc_state":1,"mpcc_theta_e":0.457211971,"mpcc_theta_mech":0.558388352,"sam_rpm":20.7754288,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226275921,"thr_a_norm":0.0226275921,"thr_a_v":0.590510368,"thr_b":0.00768482685,"thr_b_norm":0.00768482685,"thr_b_v":0.530739307,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.625999,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.31354666,"cg_iw_a":0.12916851,"cg_theta_rad":0.556102276,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.00253300811,"mpcc_du":50.2680626,"mpcc_dv":48.4735565,"mpcc_dw":51.5264435,"mpcc_enc_sign":1,"mpcc_id_a":0.788109183,"mpcc_iq_a":-0.0753190219,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.1842413,"mpcc_pred_id_a":0.282241374,"mpcc_pred_iq_a":0.197501436,"mpcc_state":1,"mpcc_theta_e":0.423441887,"mpcc_theta_mech":0.551634252,"sam_rpm":-21.9558392,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262531489,"thr_a_norm":0.0262531489,"thr_a_v":0.605012596,"thr_b":0.00110094249,"thr_b_norm":0.00110094249,"thr_b_v":0.50440377,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.632469,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.16857147,"cg_iw_a":-1.68302298,"cg_theta_rad":0.55842495,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.000160222451,"mpcc_du":50.2131119,"mpcc_dv":48.7619553,"mpcc_dw":51.2380447,"mpcc_enc_sign":1,"mpcc_id_a":0.103465401,"mpcc_iq_a":-2.18178177,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.15115404,"mpcc_pred_id_a":-0.160575747,"mpcc_pred_iq_a":0.951494634,"mpcc_state":1,"mpcc_theta_e":0.448561668,"mpcc_theta_mech":0.556658268,"sam_rpm":10.472436,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262531489,"thr_a_norm":0.0262531489,"thr_a_v":0.605012596,"thr_b":0.00110094249,"thr_b_norm":0.00110094249,"thr_b_v":0.50440377,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.638969,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.516182423,"cg_iw_a":-2.7703383,"cg_theta_rad":0.557801902,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0355971158,"mpcc_du":49.4419289,"mpcc_dv":49.3210983,"mpcc_dw":50.6789017,"mpcc_enc_sign":1,"mpcc_id_a":3.29702806,"mpcc_iq_a":-1.05851543,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.03445554,"mpcc_pred_id_a":0.375071794,"mpcc_pred_iq_a":-0.620283782,"mpcc_state":1,"mpcc_theta_e":0.445179939,"mpcc_theta_mech":0.555981934,"sam_rpm":6.66570568,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173025876,"thr_a_norm":0.0173025876,"thr_a_v":0.569210351,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441560984,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.646996,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.298719406,"cg_iw_a":-1.90048599,"cg_theta_rad":0.555631876,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0880277902,"mpcc_du":49.3681374,"mpcc_dv":49.5642548,"mpcc_dw":51.8768005,"mpcc_enc_sign":1,"mpcc_id_a":3.78693962,"mpcc_iq_a":1.933954,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.7549191,"mpcc_pred_id_a":0.940986574,"mpcc_pred_iq_a":-1.80561841,"mpcc_state":1,"mpcc_theta_e":0.452091217,"mpcc_theta_mech":0.554502249,"sam_rpm":15.795989,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242011845,"thr_a_norm":0.0173025876,"thr_a_v":0.596804738,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472932041,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.656914,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.806133032,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.554184496,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.010855264,"mpcc_du":49.5753441,"mpcc_dv":50.0026093,"mpcc_dw":50.4989662,"mpcc_enc_sign":1,"mpcc_id_a":0.33081916,"mpcc_iq_a":0.312845737,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.418183833,"mpcc_pred_id_a":-0.416542083,"mpcc_pred_iq_a":-1.37077129,"mpcc_state":1,"mpcc_theta_e":0.431742668,"mpcc_theta_mech":0.553456008,"sam_rpm":-2.33476543,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242011845,"thr_a_norm":0.0242011845,"thr_a_v":0.596804738,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472932041,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.666985,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-2.83578777,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.551581562,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0220716745,"mpcc_du":49.4307861,"mpcc_dv":49.7899475,"mpcc_dw":50.5692139,"mpcc_enc_sign":1,"mpcc_id_a":2.41940737,"mpcc_iq_a":-0.00301910285,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.96494746,"mpcc_pred_id_a":0.598576009,"mpcc_pred_iq_a":0.302859992,"mpcc_state":1,"mpcc_theta_e":0.431202888,"mpcc_theta_mech":0.553186476,"sam_rpm":1.73540616,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277260244,"thr_a_norm":0.0277260244,"thr_a_v":0.610904098,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494785994,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.676903,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.38603449,"cg_iw_a":-1.75551081,"cg_theta_rad":0.553347707,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0183240492,"mpcc_du":49.462204,"mpcc_dv":50.0127182,"mpcc_dw":50.537796,"mpcc_enc_sign":1,"mpcc_id_a":2.70584321,"mpcc_iq_a":-0.436671197,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.42833304,"mpcc_pred_id_a":0.470092565,"mpcc_pred_iq_a":-2.12448406,"mpcc_state":1,"mpcc_theta_e":0.439973831,"mpcc_theta_mech":0.554940641,"sam_rpm":4.93390751,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277260244,"thr_a_norm":0.0277260244,"thr_a_v":0.610904098,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494785994,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.687096,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.951108456,"cg_iw_a":0.419119358,"cg_theta_rad":0.555378973,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0206523575,"mpcc_du":49.6348991,"mpcc_dv":49.2056847,"mpcc_dw":50.7943153,"mpcc_enc_sign":1,"mpcc_id_a":2.47902513,"mpcc_iq_a":-0.749266803,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.0786104,"mpcc_pred_id_a":0.35836032,"mpcc_pred_iq_a":1.23759568,"mpcc_state":1,"mpcc_theta_e":0.441056252,"mpcc_theta_mech":0.555157185,"sam_rpm":3.43008208,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025145337,"thr_a_norm":0.025145337,"thr_a_v":0.600581348,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49181506,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.697227,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.951108456,"cg_iw_a":-0.740683079,"cg_theta_rad":0.55738914,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0439820848,"mpcc_du":50.3751984,"mpcc_dv":48.506897,"mpcc_dw":51.493103,"mpcc_enc_sign":1,"mpcc_id_a":1.80691087,"mpcc_iq_a":-0.815158904,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.53405023,"mpcc_pred_id_a":-0.103120357,"mpcc_pred_iq_a":-2.41336393,"mpcc_state":1,"mpcc_theta_e":0.446960926,"mpcc_theta_mech":0.556338072,"sam_rpm":-2.96138239,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285191089,"thr_a_norm":0.025145337,"thr_a_v":0.614076436,"thr_b":0.000647738576,"thr_b_norm":0,"thr_b_v":0.502590954,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.72039,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.38603449,"cg_iw_a":0.12916851,"cg_theta_rad":0.555229664,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0536711439,"mpcc_du":49.2623444,"mpcc_dv":50.7376556,"mpcc_dw":50.4403458,"mpcc_enc_sign":1,"mpcc_id_a":4.32739973,"mpcc_iq_a":-0.205455378,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.76890469,"mpcc_pred_id_a":0.92597425,"mpcc_pred_iq_a":-4.78684235,"mpcc_state":1,"mpcc_theta_e":0.434739113,"mpcc_theta_mech":0.553893745,"sam_rpm":9.7004776,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285191089,"thr_a_norm":0.0285191089,"thr_a_v":0.614076436,"thr_b":0.000647738576,"thr_b_norm":0.000647738576,"thr_b_v":0.502590954,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.726952,"values":{"cg_iu_a":1.18437815,"cg_iv_a":0.353669643,"cg_iw_a":-1.53804779,"cg_theta_rad":0.555734694,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.00728497189,"mpcc_du":50.5977592,"mpcc_dv":47.9852753,"mpcc_dw":52.0147247,"mpcc_enc_sign":1,"mpcc_id_a":1.56515825,"mpcc_iq_a":-1.16931474,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.5968342,"mpcc_pred_id_a":0.247924343,"mpcc_pred_iq_a":1.40385997,"mpcc_state":1,"mpcc_theta_e":0.427881241,"mpcc_theta_mech":0.555878043,"sam_rpm":-19.3092251,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234081,"thr_a_norm":0.0234081,"thr_a_v":0.5936324,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469507903,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.733482,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.516182423,"cg_iw_a":-1.82799864,"cg_theta_rad":0.558054805,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0114885354,"mpcc_du":50.7391281,"mpcc_dv":48.0376053,"mpcc_dw":51.9623947,"mpcc_enc_sign":1,"mpcc_id_a":1.72934949,"mpcc_iq_a":-0.295290649,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.45987844,"mpcc_pred_id_a":-0.0940646902,"mpcc_pred_iq_a":1.60087597,"mpcc_state":1,"mpcc_theta_e":0.437036514,"mpcc_theta_mech":0.554353237,"sam_rpm":-9.77648258,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234081,"thr_a_norm":0.0234081,"thr_a_v":0.5936324,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469507903,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.741203,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.89344811,"cg_iw_a":0.636582136,"cg_theta_rad":0.555492759,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0208862275,"mpcc_du":50.0653267,"mpcc_dv":48.663208,"mpcc_dw":51.336792,"mpcc_enc_sign":1,"mpcc_id_a":2.5267911,"mpcc_iq_a":-0.817806363,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.755044401,"mpcc_pred_id_a":0.464318424,"mpcc_pred_iq_a":-1.29448128,"mpcc_state":1,"mpcc_theta_e":0.440957069,"mpcc_theta_mech":0.555137336,"sam_rpm":-6.8570466,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176173002,"thr_a_norm":0.0176173002,"thr_a_v":0.570469201,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438438982,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.751396,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.82096052,"cg_iw_a":-0.523220539,"cg_theta_rad":0.553300023,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0169072933,"mpcc_du":49.513134,"mpcc_dv":50.1908112,"mpcc_dw":50.486866,"mpcc_enc_sign":1,"mpcc_id_a":2.59819937,"mpcc_iq_a":-0.154989421,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.29101467,"mpcc_pred_id_a":0.239554837,"mpcc_pred_iq_a":-1.35645747,"mpcc_state":1,"mpcc_theta_e":0.440075397,"mpcc_theta_mech":0.554961026,"sam_rpm":9.29908943,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0176173002,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467846185,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.760948,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-1.60349751,"cg_iw_a":0.346631527,"cg_theta_rad":0.556271613,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0579279102,"mpcc_du":49.8145256,"mpcc_dv":48.6919022,"mpcc_dw":51.3080978,"mpcc_enc_sign":1,"mpcc_id_a":4.2692194,"mpcc_iq_a":-1.35793829,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.77342129,"mpcc_pred_id_a":1.14408064,"mpcc_pred_iq_a":0.548523664,"mpcc_state":1,"mpcc_theta_e":0.430613995,"mpcc_theta_mech":0.553068697,"sam_rpm":-13.4211578,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467846185,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.771141,"values":{"cg_iu_a":0.676964283,"cg_iv_a":0.136206627,"cg_iw_a":-1.97297382,"cg_theta_rad":0.556947112,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0227268822,"mpcc_du":50.2117348,"mpcc_dv":48.6872368,"mpcc_dw":51.3127632,"mpcc_enc_sign":1,"mpcc_id_a":2.06041646,"mpcc_iq_a":-1.80408096,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.23760366,"mpcc_pred_id_a":-0.000952591712,"mpcc_pred_iq_a":-3.72194648,"mpcc_state":1,"mpcc_theta_e":0.442043781,"mpcc_theta_mech":0.555354714,"sam_rpm":-10.2234974,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272980034,"thr_a_norm":0.0272980034,"thr_a_v":0.609192014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.781181,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.516182423,"cg_iw_a":-0.378244877,"cg_theta_rad":0.553923368,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.00374893891,"mpcc_du":49.8789787,"mpcc_dv":49.1319275,"mpcc_dw":50.8680725,"mpcc_enc_sign":1,"mpcc_id_a":1.18253326,"mpcc_iq_a":-0.263585359,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.8297081,"mpcc_pred_id_a":-0.0769693255,"mpcc_pred_iq_a":-0.417957813,"mpcc_state":1,"mpcc_theta_e":0.43151474,"mpcc_theta_mech":0.553248882,"sam_rpm":-5.70283604,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272980034,"thr_a_norm":0.0272980034,"thr_a_v":0.609192014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.791405,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-2.54583716,"cg_iw_a":0.201656342,"cg_theta_rad":0.554595947,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.103596427,"mpcc_du":50.0017929,"mpcc_dv":48.7746124,"mpcc_dw":51.2253876,"mpcc_enc_sign":1,"mpcc_id_a":3.71808457,"mpcc_iq_a":-0.0295572542,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.89351892,"mpcc_pred_id_a":0.550122857,"mpcc_pred_iq_a":-2.46316862,"mpcc_state":1,"mpcc_theta_e":0.451121807,"mpcc_theta_mech":0.557170272,"sam_rpm":8.98614311,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0328999758,"thr_a_norm":0.0328999758,"thr_a_v":0.631599903,"thr_b":0.00894369185,"thr_b_norm":0.00894369185,"thr_b_v":0.535774767,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.801353,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.733645439,"cg_iw_a":0.491607189,"cg_theta_rad":0.552886307,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0102456994,"mpcc_du":49.4558487,"mpcc_dv":50.5441513,"mpcc_dw":50.3008347,"mpcc_enc_sign":1,"mpcc_id_a":0.882869482,"mpcc_iq_a":-0.223477766,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.73368454,"mpcc_pred_id_a":0.041326385,"mpcc_pred_iq_a":-1.00211787,"mpcc_state":1,"mpcc_theta_e":0.429929733,"mpcc_theta_mech":0.552931905,"sam_rpm":7.11697245,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0328999758,"thr_a_norm":0.0328999758,"thr_a_v":0.631599903,"thr_b":0.00894369185,"thr_b_norm":0.00894369185,"thr_b_v":0.535774767,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.824699,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.443694592,"cg_iw_a":-3.35023975,"cg_theta_rad":0.557478487,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.00507430173,"mpcc_du":49.556385,"mpcc_dv":49.6572304,"mpcc_dw":50.443615,"mpcc_enc_sign":1,"mpcc_id_a":0.493527353,"mpcc_iq_a":-0.699909568,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.37434196,"mpcc_pred_id_a":-0.141073033,"mpcc_pred_iq_a":-1.99081481,"mpcc_state":1,"mpcc_theta_e":0.451494694,"mpcc_theta_mech":0.557244837,"sam_rpm":12.4446764,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103912786,"thr_a_norm":0.103912786,"thr_a_v":0.915651143,"thr_b":0.043789193,"thr_b_norm":0.043789193,"thr_b_v":0.675156772,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.83123,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.89344811,"cg_iw_a":0.999020815,"cg_theta_rad":0.554384708,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0134032192,"mpcc_du":49.422123,"mpcc_dv":50.577877,"mpcc_dw":50.3615417,"mpcc_enc_sign":1,"mpcc_id_a":2.31544137,"mpcc_iq_a":-1.43107569,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.68019676,"mpcc_pred_id_a":0.292324066,"mpcc_pred_iq_a":-3.26241446,"mpcc_state":1,"mpcc_theta_e":0.447258472,"mpcc_theta_mech":0.556397617,"sam_rpm":13.8015146,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173781216,"thr_a_norm":0.103912786,"thr_a_v":0.569512486,"thr_b":0,"thr_b_norm":0.043789193,"thr_b_v":0.450826287,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.838188,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-2.25588632,"cg_iw_a":0.999020338,"cg_theta_rad":0.557349563,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0163540635,"mpcc_du":49.5997086,"mpcc_dv":49.3984146,"mpcc_dw":50.6015854,"mpcc_enc_sign":1,"mpcc_id_a":2.17907143,"mpcc_iq_a":-0.707430303,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.67962646,"mpcc_pred_id_a":0.117275283,"mpcc_pred_iq_a":-2.41792607,"mpcc_state":1,"mpcc_theta_e":0.443923473,"mpcc_theta_mech":0.555730581,"sam_rpm":3.94950509,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173781216,"thr_a_norm":0.0173781216,"thr_a_v":0.569512486,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450826287,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.844292,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-1.38603449,"cg_iw_a":-1.46555996,"cg_theta_rad":0.555859447,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0407332182,"mpcc_du":48.4223099,"mpcc_dv":51.5776901,"mpcc_dw":49.1014137,"mpcc_enc_sign":1,"mpcc_id_a":2.2957437,"mpcc_iq_a":-0.811213255,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":19.7079525,"mpcc_pred_id_a":-0.0535786226,"mpcc_pred_iq_a":-8.40672493,"mpcc_state":1,"mpcc_theta_e":0.461951733,"mpcc_theta_mech":0.552869201,"sam_rpm":29.2942657,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250068605,"thr_a_norm":0.0250068605,"thr_a_v":0.600027442,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485218614,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.852196,"values":{"cg_iu_a":2.12671757,"cg_iv_a":0.861083508,"cg_iw_a":-2.98780107,"cg_theta_rad":0.554674685,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0231143683,"mpcc_du":49.3915176,"mpcc_dv":50.6084824,"mpcc_dw":50.1043205,"mpcc_enc_sign":1,"mpcc_id_a":1.43123674,"mpcc_iq_a":0.248448327,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.74145079,"mpcc_pred_id_a":-0.336899728,"mpcc_pred_iq_a":-5.47687054,"mpcc_state":1,"mpcc_theta_e":0.445624352,"mpcc_theta_mech":0.556070805,"sam_rpm":8.39204884,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250068605,"thr_a_norm":0.0250068605,"thr_a_v":0.600027442,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485218614,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.862389,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.371207237,"cg_iw_a":0.0566811562,"cg_theta_rad":0.556480944,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.079178147,"mpcc_du":49.5664597,"mpcc_dv":49.0746841,"mpcc_dw":50.9253159,"mpcc_enc_sign":1,"mpcc_id_a":3.69979095,"mpcc_iq_a":0.779710174,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.4518919,"mpcc_pred_id_a":1.04642403,"mpcc_pred_iq_a":-2.91965914,"mpcc_state":1,"mpcc_theta_e":0.448158741,"mpcc_theta_mech":0.556577623,"sam_rpm":3.75358248,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213813186,"thr_a_norm":0.0213813186,"thr_a_v":0.585525274,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468097955,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.872795,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.53100967,"cg_iw_a":0.926533222,"cg_theta_rad":0.556233466,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0262638219,"mpcc_du":49.4947548,"mpcc_dv":50.5052452,"mpcc_dw":50.4910622,"mpcc_enc_sign":1,"mpcc_id_a":2.36209345,"mpcc_iq_a":-0.825544536,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.10564327,"mpcc_pred_id_a":0.391492397,"mpcc_pred_iq_a":-0.613406837,"mpcc_state":1,"mpcc_theta_e":0.438381672,"mpcc_theta_mech":0.554622293,"sam_rpm":8.97172356,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0105298609,"thr_a_norm":0.0213813186,"thr_a_v":0.542119443,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.434007794,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.882561,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.60349751,"cg_iw_a":-1.39307261,"cg_theta_rad":0.551761389,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0157630835,"mpcc_du":49.5124474,"mpcc_dv":50.0814667,"mpcc_dw":50.4875526,"mpcc_enc_sign":1,"mpcc_id_a":2.2143507,"mpcc_iq_a":-1.7394259,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.48305845,"mpcc_pred_id_a":0.266224563,"mpcc_pred_iq_a":-2.33417463,"mpcc_state":1,"mpcc_theta_e":0.436514378,"mpcc_theta_mech":0.55424875,"sam_rpm":1.44367516,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0105298609,"thr_a_norm":0.0105298609,"thr_a_v":0.542119443,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.434007794,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.892784,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-4.28554106,"cg_iw_a":2.81121206,"cg_theta_rad":0.55654639,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0407473333,"mpcc_du":49.5690575,"mpcc_dv":49.2718582,"mpcc_dw":50.7281418,"mpcc_enc_sign":1,"mpcc_id_a":3.35347295,"mpcc_iq_a":1.30534995,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.99815822,"mpcc_pred_id_a":0.527855396,"mpcc_pred_iq_a":-1.66042781,"mpcc_state":1,"mpcc_theta_e":0.43573904,"mpcc_theta_mech":0.554921269,"sam_rpm":-2.34124804,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02567406,"thr_a_norm":0.02567406,"thr_a_v":0.60269624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478773177,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.902702,"values":{"cg_iu_a":1.32935333,"cg_iv_a":0.861083508,"cg_iw_a":-2.19043684,"cg_theta_rad":0.555473268,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0405765958,"mpcc_du":50.1598015,"mpcc_dv":48.7734032,"mpcc_dw":51.2265968,"mpcc_enc_sign":1,"mpcc_id_a":1.62630725,"mpcc_iq_a":-1.19216347,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.99847364,"mpcc_pred_id_a":0.0807664841,"mpcc_pred_iq_a":-4.62622213,"mpcc_state":1,"mpcc_theta_e":0.4467206,"mpcc_theta_mech":0.556209028,"sam_rpm":-8.22676563,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02567406,"thr_a_norm":0.02567406,"thr_a_v":0.60269624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478773177,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.925987,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.661157608,"cg_iw_a":-0.378245354,"cg_theta_rad":0.553789616,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0113910446,"mpcc_du":49.0042534,"mpcc_dv":50.9957466,"mpcc_dw":49.7310219,"mpcc_enc_sign":1,"mpcc_id_a":2.07346511,"mpcc_iq_a":-0.420613557,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.81413674,"mpcc_pred_id_a":0.0643553883,"mpcc_pred_iq_a":-5.56302738,"mpcc_state":1,"mpcc_theta_e":0.441777706,"mpcc_theta_mech":0.555301487,"sam_rpm":2.17754626,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258628875,"thr_a_norm":0.0258628875,"thr_a_v":0.60345155,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48526895,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.932487,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-2.18339872,"cg_iw_a":1.28897142,"cg_theta_rad":0.553640246,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0130093945,"mpcc_du":48.827282,"mpcc_dv":51.172718,"mpcc_dw":49.4054565,"mpcc_enc_sign":1,"mpcc_id_a":2.24416208,"mpcc_iq_a":-1.0768714,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.2044811,"mpcc_pred_id_a":-0.301621526,"mpcc_pred_iq_a":-6.2652154,"mpcc_state":1,"mpcc_theta_e":0.449034214,"mpcc_theta_mech":0.556752801,"sam_rpm":13.9703026,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0366765857,"thr_a_norm":0.0366765857,"thr_a_v":0.646706343,"thr_b":0.00551956892,"thr_b_norm":0.00551956892,"thr_b_v":0.522078276,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.939049,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.951108456,"cg_iw_a":-0.595707893,"cg_theta_rad":0.552730381,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0100151123,"mpcc_du":49.8677063,"mpcc_dv":49.3725052,"mpcc_dw":50.6274948,"mpcc_enc_sign":1,"mpcc_id_a":-0.311854005,"mpcc_iq_a":-0.542256415,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.76651978,"mpcc_pred_id_a":-0.61093998,"mpcc_pred_iq_a":-2.18932462,"mpcc_state":1,"mpcc_theta_e":0.445243835,"mpcc_theta_mech":0.55568701,"sam_rpm":5.86475468,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0366765857,"thr_a_norm":0.0366765857,"thr_a_v":0.646706343,"thr_b":0.00551956892,"thr_b_norm":0.00551956892,"thr_b_v":0.522078276,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.94558,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.31354666,"cg_iw_a":-0.233269691,"cg_theta_rad":0.555456817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.00279071415,"mpcc_du":49.6728897,"mpcc_dv":50.2831268,"mpcc_dw":50.3271103,"mpcc_enc_sign":1,"mpcc_id_a":-0.04635676,"mpcc_iq_a":-0.15854007,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.01145458,"mpcc_pred_id_a":-0.578267872,"mpcc_pred_iq_a":-2.80728793,"mpcc_state":1,"mpcc_theta_e":0.433802128,"mpcc_theta_mech":0.553706348,"sam_rpm":9.6530304,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.018951714,"thr_a_norm":0.018951714,"thr_a_v":0.575806856,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462307125,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.955559,"values":{"cg_iu_a":-1.06273961,"cg_iv_a":0.281181812,"cg_iw_a":0.781557798,"cg_theta_rad":0.554993153,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.023067398,"mpcc_du":49.9389076,"mpcc_dv":49.2277145,"mpcc_dw":50.7722855,"mpcc_enc_sign":1,"mpcc_id_a":0.567985833,"mpcc_iq_a":-0.547813892,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.36121368,"mpcc_pred_id_a":-0.362235129,"mpcc_pred_iq_a":-3.15133667,"mpcc_state":1,"mpcc_theta_e":0.448908329,"mpcc_theta_mech":0.556727588,"sam_rpm":10.442112,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0128084272,"thr_a_norm":0.018951714,"thr_a_v":0.551233709,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446344733,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.9674,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-2.25588632,"cg_iw_a":0.41911912,"cg_theta_rad":0.554730833,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.0284381807,"mpcc_du":48.9589958,"mpcc_dv":51.0410042,"mpcc_dw":49.5880051,"mpcc_enc_sign":1,"mpcc_id_a":1.63046968,"mpcc_iq_a":-1.37839639,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.28922033,"mpcc_pred_id_a":0.0995495394,"mpcc_pred_iq_a":-0.253536224,"mpcc_state":1,"mpcc_theta_e":0.425802708,"mpcc_theta_mech":0.55372709,"sam_rpm":15.586422,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0128084272,"thr_a_norm":0.0128084272,"thr_a_v":0.551233709,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446344733,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.977562,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.16857147,"cg_iw_a":2.15882325,"cg_theta_rad":0.55607903,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5003,"hz_app_loop":365,"hz_tim_isr":10006,"hz_vsense":365,"mpcc_cost":0.02757065,"mpcc_du":49.8735695,"mpcc_dv":48.9030609,"mpcc_dw":51.0969391,"mpcc_enc_sign":1,"mpcc_id_a":3.02752352,"mpcc_iq_a":0.660197914,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.51118183,"mpcc_pred_id_a":0.4123182,"mpcc_pred_iq_a":1.32278824,"mpcc_state":1,"mpcc_theta_e":0.423279762,"mpcc_theta_mech":0.551601827,"sam_rpm":-13.917429,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194426626,"thr_a_norm":0.0194426626,"thr_a_v":0.57777065,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469105065,"vdc_v":55.2955055}} +{"type":"telemetry","t":82.988426,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.443694592,"cg_iw_a":-1.24809718,"cg_theta_rad":0.556613445,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0185131487,"mpcc_du":49.1856918,"mpcc_dv":50.8143082,"mpcc_dw":50.0324059,"mpcc_enc_sign":1,"mpcc_id_a":2.24083114,"mpcc_iq_a":-0.404041678,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.6942606,"mpcc_pred_id_a":0.18088223,"mpcc_pred_iq_a":-1.61511195,"mpcc_state":1,"mpcc_theta_e":0.440487862,"mpcc_theta_mech":0.555043459,"sam_rpm":13.2360449,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278141499,"thr_a_norm":0.0194426626,"thr_a_v":0.611256599,"thr_b":0.00100022554,"thr_b_norm":0,"thr_b_v":0.504000902,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.000359,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.516182423,"cg_iw_a":-1.24809694,"cg_theta_rad":0.555444777,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0228117798,"mpcc_du":48.5716019,"mpcc_dv":51.4283981,"mpcc_dw":49.3728981,"mpcc_enc_sign":1,"mpcc_id_a":2.36837173,"mpcc_iq_a":-0.984699667,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.6977625,"mpcc_pred_id_a":0.410278499,"mpcc_pred_iq_a":-4.07241392,"mpcc_state":1,"mpcc_theta_e":0.444582939,"mpcc_theta_mech":0.555862486,"sam_rpm":17.2332439,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278141499,"thr_a_norm":0.0278141499,"thr_a_v":0.611256599,"thr_b":0.00100022554,"thr_b_norm":0.00100022554,"thr_b_v":0.504000902,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.023582,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.24105906,"cg_iw_a":0.346631765,"cg_theta_rad":0.556537986,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0121608824,"mpcc_du":48.5524979,"mpcc_dv":51.4475021,"mpcc_dw":49.0095749,"mpcc_enc_sign":1,"mpcc_id_a":-0.251098305,"mpcc_iq_a":-0.897747636,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.1453133,"mpcc_pred_id_a":-0.62894851,"mpcc_pred_iq_a":-7.73118734,"mpcc_state":1,"mpcc_theta_e":0.455628872,"mpcc_theta_mech":0.558071733,"sam_rpm":24.0079308,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025069803,"thr_a_norm":0.025069803,"thr_a_v":0.600279212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480938405,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.030083,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.878620625,"cg_iw_a":-1.39307261,"cg_theta_rad":0.556399167,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00132216001,"mpcc_du":49.5661621,"mpcc_dv":50.4338379,"mpcc_dw":50.2798691,"mpcc_enc_sign":1,"mpcc_id_a":0.333446264,"mpcc_iq_a":-1.57999706,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.98035812,"mpcc_pred_id_a":-0.38453126,"mpcc_pred_iq_a":-3.96437693,"mpcc_state":1,"mpcc_theta_e":0.433990955,"mpcc_theta_mech":0.553744078,"sam_rpm":9.16157913,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105926976,"thr_a_norm":0.025069803,"thr_a_v":0.923707902,"thr_b":0.0501716584,"thr_b_norm":0,"thr_b_v":0.700686634,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.036766,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.806133032,"cg_iw_a":-3.71267748,"cg_theta_rad":0.552465677,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0242888462,"mpcc_du":49.9621468,"mpcc_dv":48.3835716,"mpcc_dw":51.6164284,"mpcc_enc_sign":1,"mpcc_id_a":1.55085611,"mpcc_iq_a":0.843506634,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.85732532,"mpcc_pred_id_a":-0.0399714932,"mpcc_pred_iq_a":-0.329737008,"mpcc_state":1,"mpcc_theta_e":0.443124771,"mpcc_theta_mech":0.554843962,"sam_rpm":5.35594559,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105926976,"thr_a_norm":0.105926976,"thr_a_v":0.923707902,"thr_b":0.0501716584,"thr_b_norm":0.0501716584,"thr_b_v":0.700686634,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.043144,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-2.32837415,"cg_iw_a":0.274143934,"cg_theta_rad":0.557025969,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0184808616,"mpcc_du":50.0474625,"mpcc_dv":48.8118401,"mpcc_dw":51.1881599,"mpcc_enc_sign":1,"mpcc_id_a":2.3900218,"mpcc_iq_a":-1.78230166,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.60236406,"mpcc_pred_id_a":0.247557148,"mpcc_pred_iq_a":-1.22149861,"mpcc_state":1,"mpcc_theta_e":0.444341183,"mpcc_theta_mech":0.555814147,"sam_rpm":2.82433176,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225017071,"thr_a_norm":0.0225017071,"thr_a_v":0.590006828,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474241227,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.050774,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.02359605,"cg_iw_a":-1.32058454,"cg_theta_rad":0.5556795,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0034061661,"mpcc_du":50.4951744,"mpcc_dv":48.4842873,"mpcc_dw":51.5157127,"mpcc_enc_sign":1,"mpcc_id_a":-0.171152979,"mpcc_iq_a":-1.25842762,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.77667761,"mpcc_pred_id_a":-0.368658453,"mpcc_pred_iq_a":1.70644414,"mpcc_state":1,"mpcc_theta_e":0.444833279,"mpcc_theta_mech":0.555912614,"sam_rpm":7.33250999,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225017071,"thr_a_norm":0.0225017071,"thr_a_v":0.590006828,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474241227,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.06118,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.661157608,"cg_iw_a":-1.97297382,"cg_theta_rad":0.553365529,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.000738810282,"mpcc_du":50.4125786,"mpcc_dv":48.4550819,"mpcc_dw":51.5449181,"mpcc_enc_sign":1,"mpcc_id_a":0.51676029,"mpcc_iq_a":-1.19714808,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.620615,"mpcc_pred_id_a":-0.19404158,"mpcc_pred_iq_a":-1.87224686,"mpcc_state":1,"mpcc_theta_e":0.427873135,"mpcc_theta_mech":0.552520573,"sam_rpm":-23.2453518,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224513561,"thr_a_norm":0.0224513561,"thr_a_v":0.589805424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469961077,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.071281,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.443694592,"cg_iw_a":-1.17560959,"cg_theta_rad":0.556657076,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0416585207,"mpcc_du":49.5218201,"mpcc_dv":49.2573318,"mpcc_dw":50.7426682,"mpcc_enc_sign":1,"mpcc_id_a":3.6097188,"mpcc_iq_a":-0.239353612,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.40411472,"mpcc_pred_id_a":0.678630948,"mpcc_pred_iq_a":-1.22098482,"mpcc_state":1,"mpcc_theta_e":0.446636677,"mpcc_theta_mech":0.556273282,"sam_rpm":9.99947739,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224513561,"thr_a_norm":0.0224513561,"thr_a_v":0.589805424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469961077,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.081352,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-2.18339872,"cg_iw_a":1.43394661,"cg_theta_rad":0.553626716,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0331751928,"mpcc_du":50.0293121,"mpcc_dv":48.7695923,"mpcc_dw":51.2304077,"mpcc_enc_sign":1,"mpcc_id_a":3.26373935,"mpcc_iq_a":-0.620825768,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.33430672,"mpcc_pred_id_a":0.385082513,"mpcc_pred_iq_a":-0.107856631,"mpcc_state":1,"mpcc_theta_e":0.443923473,"mpcc_theta_mech":0.555730581,"sam_rpm":3.56186223,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234710425,"thr_a_norm":0.0234710425,"thr_a_v":0.59388417,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468953997,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.091545,"values":{"cg_iu_a":-0.337862968,"cg_iv_a":-1.45852208,"cg_iw_a":1.79638505,"cg_theta_rad":0.557453334,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00756542943,"mpcc_du":50.9760323,"mpcc_dv":47.7323608,"mpcc_dw":52.2676392,"mpcc_enc_sign":1,"mpcc_id_a":0.725808263,"mpcc_iq_a":-2.27391815,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.0386333,"mpcc_pred_id_a":0.057039775,"mpcc_pred_iq_a":-0.405699492,"mpcc_state":1,"mpcc_theta_e":0.436616898,"mpcc_theta_mech":0.554269254,"sam_rpm":-16.3678017,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022098884,"thr_a_norm":0.0234710425,"thr_a_v":0.588395536,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.101616,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.02359605,"cg_iw_a":0.201656103,"cg_theta_rad":0.557264745,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00512214145,"mpcc_du":49.7746239,"mpcc_dv":50.1533394,"mpcc_dw":50.2253761,"mpcc_enc_sign":1,"mpcc_id_a":-1.30857921,"mpcc_iq_a":-1.51212656,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.3193502,"mpcc_pred_id_a":-1.06306052,"mpcc_pred_iq_a":1.51600206,"mpcc_state":1,"mpcc_theta_e":0.43196106,"mpcc_theta_mech":0.55333817,"sam_rpm":-6.69362307,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022098884,"thr_a_norm":0.022098884,"thr_a_v":0.588395536,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.126122,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-0.516182423,"cg_iw_a":-3.13277626,"cg_theta_rad":0.557190061,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.012995556,"mpcc_du":50.5435944,"mpcc_dv":48.336956,"mpcc_dw":51.663044,"mpcc_enc_sign":1,"mpcc_id_a":2.2241559,"mpcc_iq_a":-1.98746085,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.4054384,"mpcc_pred_id_a":-0.1696264,"mpcc_pred_iq_a":-0.513378561,"mpcc_state":1,"mpcc_theta_e":0.431594372,"mpcc_theta_mech":0.553264797,"sam_rpm":-17.1015453,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02000916,"thr_a_norm":0.02000916,"thr_a_v":0.58003664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486225694,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.132317,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-0.588670254,"cg_iw_a":-2.69785023,"cg_theta_rad":0.555195928,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.000412122899,"mpcc_du":51.0658112,"mpcc_dv":47.8438377,"mpcc_dw":52.1561623,"mpcc_enc_sign":1,"mpcc_id_a":0.0875501558,"mpcc_iq_a":-0.728775799,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.0658021,"mpcc_pred_id_a":-0.489610642,"mpcc_pred_iq_a":2.88906026,"mpcc_state":1,"mpcc_theta_e":0.435807228,"mpcc_theta_mech":0.554107368,"sam_rpm":-10.9199305,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0135133862,"thr_a_norm":0.02000916,"thr_a_v":0.554053545,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465328425,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.138817,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.09608364,"cg_iw_a":-1.53804779,"cg_theta_rad":0.557179928,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0133105274,"mpcc_du":48.9661102,"mpcc_dv":51.0338898,"mpcc_dw":49.6769676,"mpcc_enc_sign":1,"mpcc_id_a":2.24627995,"mpcc_iq_a":-1.07244658,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.24726152,"mpcc_pred_id_a":-0.0158238616,"mpcc_pred_iq_a":-6.26026869,"mpcc_state":1,"mpcc_theta_e":0.447063446,"mpcc_theta_mech":0.556358635,"sam_rpm":10.2237425,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0135133862,"thr_a_norm":0.0135133862,"thr_a_v":0.554053545,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465328425,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.146355,"values":{"cg_iu_a":-0.482838154,"cg_iv_a":-1.89344811,"cg_iw_a":2.37628627,"cg_theta_rad":0.55308944,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00947816297,"mpcc_du":49.2939415,"mpcc_dv":50.7060585,"mpcc_dw":50.0599709,"mpcc_enc_sign":1,"mpcc_id_a":1.08170259,"mpcc_iq_a":-1.31262147,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.2165642,"mpcc_pred_id_a":-0.0626174062,"mpcc_pred_iq_a":-4.9142971,"mpcc_state":1,"mpcc_theta_e":0.452615261,"mpcc_theta_mech":0.55746901,"sam_rpm":18.3111286,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019077599,"thr_a_norm":0.019077599,"thr_a_v":0.576310396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.156334,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-2.25588632,"cg_iw_a":-0.668195486,"cg_theta_rad":0.55948025,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0147520984,"mpcc_du":50.2945938,"mpcc_dv":48.5733223,"mpcc_dw":51.4266777,"mpcc_enc_sign":1,"mpcc_id_a":2.39488339,"mpcc_iq_a":-1.77576363,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.21597672,"mpcc_pred_id_a":0.060744524,"mpcc_pred_iq_a":-0.0894307569,"mpcc_state":1,"mpcc_theta_e":0.441608429,"mpcc_theta_mech":0.555267632,"sam_rpm":-2.30509067,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202735066,"thr_a_norm":0.019077599,"thr_a_v":0.581094027,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456113547,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.168175,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-0.226231575,"cg_iw_a":0.12916851,"cg_theta_rad":0.554396093,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0692033544,"mpcc_du":49.4864883,"mpcc_dv":49.3768234,"mpcc_dw":50.6231766,"mpcc_enc_sign":1,"mpcc_id_a":3.67414069,"mpcc_iq_a":0.561733484,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.2162385,"mpcc_pred_id_a":0.483014762,"mpcc_pred_iq_a":-2.52154446,"mpcc_state":1,"mpcc_theta_e":0.447608471,"mpcc_theta_mech":0.556467593,"sam_rpm":14.1730881,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202735066,"thr_a_norm":0.0202735066,"thr_a_v":0.581094027,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456113547,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.178581,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.31354666,"cg_iw_a":-1.24809694,"cg_theta_rad":0.55848068,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.055794917,"mpcc_du":50.3082657,"mpcc_dv":48.4892654,"mpcc_dw":51.5107346,"mpcc_enc_sign":1,"mpcc_id_a":1.62845421,"mpcc_iq_a":-0.684485912,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0242617205,"mpcc_pred_id_a":0.273623884,"mpcc_pred_iq_a":-2.23545456,"mpcc_state":1,"mpcc_theta_e":0.447611809,"mpcc_theta_mech":0.556468248,"sam_rpm":1.60679579,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269329399,"thr_a_norm":0.0269329399,"thr_a_v":0.60773176,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485369653,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.188683,"values":{"cg_iu_a":1.76427937,"cg_iv_a":0.281181812,"cg_iw_a":-1.75551081,"cg_theta_rad":0.55746901,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0116859302,"mpcc_du":49.7120132,"mpcc_dv":49.3397255,"mpcc_dw":50.6602745,"mpcc_enc_sign":1,"mpcc_id_a":1.19945335,"mpcc_iq_a":-0.573156595,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.0117712,"mpcc_pred_id_a":-0.0566452071,"mpcc_pred_iq_a":-0.892566323,"mpcc_state":1,"mpcc_theta_e":0.448826313,"mpcc_theta_mech":0.556711197,"sam_rpm":14.2277346,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208022445,"thr_a_norm":0.0269329399,"thr_a_v":0.583208978,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.198357,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.09608364,"cg_iw_a":-1.46555996,"cg_theta_rad":0.557843864,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0200511944,"mpcc_du":50.0651131,"mpcc_dv":48.8877487,"mpcc_dw":51.1122513,"mpcc_enc_sign":1,"mpcc_id_a":1.36045706,"mpcc_iq_a":-0.399774194,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.6048274,"mpcc_pred_id_a":-0.0549327508,"mpcc_pred_iq_a":-3.18494058,"mpcc_state":1,"mpcc_theta_e":0.4368186,"mpcc_theta_mech":0.554309607,"sam_rpm":-8.66225147,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208022445,"thr_a_norm":0.0208022445,"thr_a_v":0.583208978,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.208855,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.74847269,"cg_iw_a":-1.17560911,"cg_theta_rad":0.556101978,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0529470183,"mpcc_du":49.4678917,"mpcc_dv":50.5321083,"mpcc_dw":50.2375412,"mpcc_enc_sign":1,"mpcc_id_a":0.320732296,"mpcc_iq_a":-4.9296093,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.8745699,"mpcc_pred_id_a":-0.256263256,"mpcc_pred_iq_a":-6.45246887,"mpcc_state":1,"mpcc_theta_e":0.429456234,"mpcc_theta_mech":0.552837133,"sam_rpm":-14.0072327,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027663067,"thr_a_norm":0.027663067,"thr_a_v":0.610652268,"thr_b":0.000924691558,"thr_b_norm":0.000924691558,"thr_b_v":0.503698766,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.231773,"values":{"cg_iu_a":0.604476929,"cg_iv_a":0.716107845,"cg_iw_a":-1.32058477,"cg_theta_rad":0.556551814,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.008859233,"mpcc_du":50.9179192,"mpcc_dv":47.7471046,"mpcc_dw":52.2528954,"mpcc_enc_sign":1,"mpcc_id_a":1.7924217,"mpcc_iq_a":-1.3399601,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.4916468,"mpcc_pred_id_a":0.100288294,"mpcc_pred_iq_a":2.07338691,"mpcc_state":1,"mpcc_theta_e":0.455676556,"mpcc_theta_mech":0.55808121,"sam_rpm":-13.090106,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027663067,"thr_a_norm":0.027663067,"thr_a_v":0.610652268,"thr_b":0.000924691558,"thr_b_norm":0.000924691558,"thr_b_v":0.503698766,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.238335,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-2.54583716,"cg_iw_a":-2.11794901,"cg_theta_rad":0.556169689,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.018249603,"mpcc_du":49.5279808,"mpcc_dv":50.4501381,"mpcc_dw":50.4720192,"mpcc_enc_sign":1,"mpcc_id_a":1.41967213,"mpcc_iq_a":0.393962622,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.2063241,"mpcc_pred_id_a":0.18454279,"mpcc_pred_iq_a":-4.26552439,"mpcc_state":1,"mpcc_theta_e":0.444934368,"mpcc_theta_mech":0.55593282,"sam_rpm":7.25720835,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0417624116,"thr_a_norm":0.0417624116,"thr_a_v":0.667049646,"thr_b":0.0162073672,"thr_b_norm":0.0162073672,"thr_b_v":0.564829469,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.244835,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.733645439,"cg_iw_a":-0.233269691,"cg_theta_rad":0.55376482,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0351071022,"mpcc_du":49.5651512,"mpcc_dv":49.9790802,"mpcc_dw":50.4348488,"mpcc_enc_sign":1,"mpcc_id_a":3.09771895,"mpcc_iq_a":0.807343721,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.6873646,"mpcc_pred_id_a":0.708890498,"mpcc_pred_iq_a":-1.16647637,"mpcc_state":1,"mpcc_theta_e":0.425050259,"mpcc_theta_mech":0.551955998,"sam_rpm":1.03661978,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0417624116,"thr_a_norm":0.0417624116,"thr_a_v":0.667049646,"thr_b":0.0162073672,"thr_b_norm":0.0162073672,"thr_b_v":0.564829469,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.251549,"values":{"cg_iu_a":2.48915625,"cg_iv_a":0.0637187958,"cg_iw_a":-2.55287504,"cg_theta_rad":0.55574441,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00693133427,"mpcc_du":50.1923141,"mpcc_dv":48.7421646,"mpcc_dw":51.2578354,"mpcc_enc_sign":1,"mpcc_id_a":0.88274473,"mpcc_iq_a":-0.735200882,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.23319042,"mpcc_pred_id_a":-0.00949977711,"mpcc_pred_iq_a":-0.457691848,"mpcc_state":1,"mpcc_theta_e":0.444443226,"mpcc_theta_mech":0.555834591,"sam_rpm":-1.44761395,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253467709,"thr_a_norm":0.0253467709,"thr_a_v":0.601387084,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490505815,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.261955,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.82096052,"cg_iw_a":-0.233269691,"cg_theta_rad":0.55649066,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0260747783,"mpcc_du":50.4470673,"mpcc_dv":48.3022385,"mpcc_dw":51.6977615,"mpcc_enc_sign":1,"mpcc_id_a":2.66914558,"mpcc_iq_a":-1.53486288,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.26834631,"mpcc_pred_id_a":0.308685094,"mpcc_pred_iq_a":-0.49475053,"mpcc_state":1,"mpcc_theta_e":0.441542625,"mpcc_theta_mech":0.555254459,"sam_rpm":-4.34659958,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020613417,"thr_a_norm":0.0253467709,"thr_a_v":0.582453668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472680271,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.271538,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.588670254,"cg_iw_a":0.346632004,"cg_theta_rad":0.556361318,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0212082881,"mpcc_du":50.3998795,"mpcc_dv":49.7346039,"mpcc_dw":50.4132347,"mpcc_enc_sign":1,"mpcc_id_a":1.41522527,"mpcc_iq_a":-1.79379749,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.68199944,"mpcc_pred_id_a":-0.128814816,"mpcc_pred_iq_a":-0.726213336,"mpcc_state":1,"mpcc_theta_e":0.449654579,"mpcc_theta_mech":0.556876838,"sam_rpm":7.09006882,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020613417,"thr_a_norm":0.020613417,"thr_a_v":0.582453668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472680271,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.281731,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-2.61832476,"cg_iw_a":0.346631527,"cg_theta_rad":0.552127182,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.098700799,"mpcc_du":49.7910843,"mpcc_dv":49.0464058,"mpcc_dw":50.9535942,"mpcc_enc_sign":1,"mpcc_id_a":3.49801898,"mpcc_iq_a":0.684423685,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.65521765,"mpcc_pred_id_a":0.526287258,"mpcc_pred_iq_a":-3.57425261,"mpcc_state":1,"mpcc_theta_e":0.450227261,"mpcc_theta_mech":0.556991398,"sam_rpm":4.53439236,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205504745,"thr_a_norm":0.0205504745,"thr_a_v":0.582201898,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.291771,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.806133032,"cg_iw_a":-1.32058454,"cg_theta_rad":0.55429709,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0424354635,"mpcc_du":49.5175018,"mpcc_dv":49.4419975,"mpcc_dw":50.5580025,"mpcc_enc_sign":1,"mpcc_id_a":1.91564965,"mpcc_iq_a":-0.58805573,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.71401155,"mpcc_pred_id_a":0.297906846,"mpcc_pred_iq_a":-5.92034149,"mpcc_state":1,"mpcc_theta_e":0.446613312,"mpcc_theta_mech":0.556268573,"sam_rpm":-2.30600715,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205504745,"thr_a_norm":0.0205504745,"thr_a_v":0.582201898,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.30175,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.516182423,"cg_iw_a":-1.46555996,"cg_theta_rad":0.555893004,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00464820536,"mpcc_du":49.6021118,"mpcc_dv":49.7453384,"mpcc_dw":50.3978882,"mpcc_enc_sign":1,"mpcc_id_a":0.774065018,"mpcc_iq_a":-0.455154747,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.23000383,"mpcc_pred_id_a":-0.368551642,"mpcc_pred_iq_a":-2.16061378,"mpcc_state":1,"mpcc_theta_e":0.4427495,"mpcc_theta_mech":0.555495858,"sam_rpm":8.16206932,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.046609059,"thr_a_norm":0.046609059,"thr_a_v":0.686436236,"thr_b":0.0111467093,"thr_b_norm":0.0111467093,"thr_b_v":0.544586837,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.312157,"values":{"cg_iu_a":0.966915131,"cg_iv_a":0.136206627,"cg_iw_a":-0.305757523,"cg_theta_rad":0.555388689,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0279081184,"mpcc_du":49.8032837,"mpcc_dv":48.9076233,"mpcc_dw":51.0923767,"mpcc_enc_sign":1,"mpcc_id_a":3.24595308,"mpcc_iq_a":0.593008339,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.876168966,"mpcc_pred_id_a":0.63100934,"mpcc_pred_iq_a":2.39479542,"mpcc_state":1,"mpcc_theta_e":0.428218365,"mpcc_theta_mech":0.552589595,"sam_rpm":-1.70639813,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0249187499,"thr_a_norm":0.046609059,"thr_a_v":0.599675,"thr_b":0,"thr_b_norm":0.0111467093,"thr_b_v":0.476708621,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.335197,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.89344811,"cg_iw_a":-0.740683317,"cg_theta_rad":0.556895673,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0406162813,"mpcc_du":49.5057716,"mpcc_dv":49.4207344,"mpcc_dw":50.5792656,"mpcc_enc_sign":1,"mpcc_id_a":2.9922471,"mpcc_iq_a":0.146304607,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.44904661,"mpcc_pred_id_a":0.236844823,"mpcc_pred_iq_a":-2.44620156,"mpcc_state":1,"mpcc_theta_e":0.447616577,"mpcc_theta_mech":0.556469262,"sam_rpm":13.7325048,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0249187499,"thr_a_norm":0.0249187499,"thr_a_v":0.599675,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476708621,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.341728,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.89344811,"cg_iw_a":-1.46555996,"cg_theta_rad":0.555784762,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00536117842,"mpcc_du":49.5967522,"mpcc_dv":50.1675529,"mpcc_dw":50.4032478,"mpcc_enc_sign":1,"mpcc_id_a":1.41685927,"mpcc_iq_a":-0.62230128,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.53847337,"mpcc_pred_id_a":-0.258794397,"mpcc_pred_iq_a":-3.20779705,"mpcc_state":1,"mpcc_theta_e":0.443520546,"mpcc_theta_mech":0.555650055,"sam_rpm":4.28577137,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022174418,"thr_a_norm":0.022174418,"thr_a_v":0.588697672,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482398719,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.348198,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.31354666,"cg_iw_a":-1.53804779,"cg_theta_rad":0.55565083,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00189415785,"mpcc_du":49.6216965,"mpcc_dv":49.5777969,"mpcc_dw":50.4222031,"mpcc_enc_sign":1,"mpcc_id_a":-0.126617715,"mpcc_iq_a":-1.69280827,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.96810782,"mpcc_pred_id_a":-0.506406069,"mpcc_pred_iq_a":-3.33229899,"mpcc_state":1,"mpcc_theta_e":0.4387393,"mpcc_theta_mech":0.554693758,"sam_rpm":5.41214561,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022174418,"thr_a_norm":0.022174418,"thr_a_v":0.588697672,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482398719,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.35479,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.09608364,"cg_iw_a":-2.55287504,"cg_theta_rad":0.554822326,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0153557472,"mpcc_du":49.5444298,"mpcc_dv":49.6978416,"mpcc_dw":50.4555702,"mpcc_enc_sign":1,"mpcc_id_a":1.66834927,"mpcc_iq_a":-0.0919487178,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.99709952,"mpcc_pred_id_a":-0.123849042,"mpcc_pred_iq_a":-3.40977621,"mpcc_state":1,"mpcc_theta_e":0.44284296,"mpcc_theta_mech":0.555514514,"sam_rpm":2.69897795,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265049189,"thr_a_norm":0.0265049189,"thr_a_v":0.606019676,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479629219,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.362968,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.806133032,"cg_iw_a":0.41911912,"cg_theta_rad":0.555366278,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0358212404,"mpcc_du":50.0453644,"mpcc_dv":48.7611771,"mpcc_dw":51.2388229,"mpcc_enc_sign":1,"mpcc_id_a":1.39159012,"mpcc_iq_a":-3.95840502,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.5456028,"mpcc_pred_id_a":0.199186906,"mpcc_pred_iq_a":-0.303887039,"mpcc_state":1,"mpcc_theta_e":0.43299675,"mpcc_theta_mech":0.553545296,"sam_rpm":-10.0413275,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273231864,"thr_a_norm":0.0265049189,"thr_a_v":0.609292746,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485772491,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.374962,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.09608364,"cg_iw_a":-1.17560959,"cg_theta_rad":0.55540365,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00334531092,"mpcc_du":49.5916901,"mpcc_dv":49.6320839,"mpcc_dw":50.4083099,"mpcc_enc_sign":1,"mpcc_id_a":0.369080663,"mpcc_iq_a":-0.125169218,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.91024017,"mpcc_pred_id_a":-0.43533358,"mpcc_pred_iq_a":-1.60991311,"mpcc_state":1,"mpcc_theta_e":0.44505024,"mpcc_theta_mech":0.555956006,"sam_rpm":8.66216183,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273231864,"thr_a_norm":0.0273231864,"thr_a_v":0.609292746,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485772491,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.385155,"values":{"cg_iu_a":-0.337862968,"cg_iv_a":-1.09608364,"cg_iw_a":1.43394661,"cg_theta_rad":0.553949177,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0157194175,"mpcc_du":50.1448174,"mpcc_dv":48.9924164,"mpcc_dw":51.0075836,"mpcc_enc_sign":1,"mpcc_id_a":0.566808879,"mpcc_iq_a":-1.71204305,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.92982125,"mpcc_pred_id_a":-0.585042655,"mpcc_pred_iq_a":-3.0460825,"mpcc_state":1,"mpcc_theta_e":0.451394558,"mpcc_theta_mech":0.55722487,"sam_rpm":3.0011971,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241508335,"thr_a_norm":0.0241508335,"thr_a_v":0.596603334,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.395439,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.45852208,"cg_iw_a":-0.668195486,"cg_theta_rad":0.557562888,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00437245378,"mpcc_du":49.3163452,"mpcc_dv":48.2316513,"mpcc_dw":51.7683487,"mpcc_enc_sign":1,"mpcc_id_a":1.1684171,"mpcc_iq_a":-0.126687214,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.90685534,"mpcc_pred_id_a":0.0151639972,"mpcc_pred_iq_a":-4.54457378,"mpcc_state":1,"mpcc_theta_e":0.437900066,"mpcc_theta_mech":0.551724553,"sam_rpm":3.98504281,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282169729,"thr_a_norm":0.0241508335,"thr_a_v":0.612867892,"thr_b":0.00132752955,"thr_b_norm":0,"thr_b_v":0.505310118,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.407372,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.733645439,"cg_iw_a":-1.39307237,"cg_theta_rad":0.556138158,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0363415293,"mpcc_du":50.0518456,"mpcc_dv":48.6782494,"mpcc_dw":51.3217506,"mpcc_enc_sign":1,"mpcc_id_a":2.5982914,"mpcc_iq_a":0.348835111,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.48703659,"mpcc_pred_id_a":0.412321091,"mpcc_pred_iq_a":-2.28819966,"mpcc_state":1,"mpcc_theta_e":0.442120075,"mpcc_theta_mech":0.555369914,"sam_rpm":2.64916682,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282169729,"thr_a_norm":0.0282169729,"thr_a_v":0.612867892,"thr_b":0.00132752955,"thr_b_norm":0.00132752955,"thr_b_v":0.505310118,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.429558,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.24105906,"cg_iw_a":-2.04546165,"cg_theta_rad":0.554902136,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0303598996,"mpcc_du":49.0961723,"mpcc_dv":50.9038277,"mpcc_dw":49.9477386,"mpcc_enc_sign":1,"mpcc_id_a":3.16635752,"mpcc_iq_a":-0.498510033,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.89072895,"mpcc_pred_id_a":0.0393735096,"mpcc_pred_iq_a":-5.26228523,"mpcc_state":1,"mpcc_theta_e":0.448828697,"mpcc_theta_mech":0.556711674,"sam_rpm":14.2945499,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0321068913,"thr_a_norm":0.0321068913,"thr_a_v":0.628427565,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475449771,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.436089,"values":{"cg_iu_a":1.03940296,"cg_iv_a":0.498644829,"cg_iw_a":-2.98780107,"cg_theta_rad":0.556671321,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.000193799991,"mpcc_du":50.5398941,"mpcc_dv":48.3491936,"mpcc_dw":51.6508064,"mpcc_enc_sign":1,"mpcc_id_a":0.258635253,"mpcc_iq_a":-2.38777971,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.848579109,"mpcc_pred_id_a":-0.24887532,"mpcc_pred_iq_a":-0.59947294,"mpcc_state":1,"mpcc_theta_e":0.442839146,"mpcc_theta_mech":0.55551374,"sam_rpm":-28.5892639,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173277706,"thr_a_norm":0.0321068913,"thr_a_v":0.569311082,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448207825,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.44268,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.806133032,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.556474388,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0207583774,"mpcc_du":50.2968826,"mpcc_dv":48.6386642,"mpcc_dw":51.3613358,"mpcc_enc_sign":1,"mpcc_id_a":1.6624136,"mpcc_iq_a":0.939716816,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.60148907,"mpcc_pred_id_a":-0.343488961,"mpcc_pred_iq_a":-1.3959707,"mpcc_state":1,"mpcc_theta_e":0.43480444,"mpcc_theta_mech":0.553906798,"sam_rpm":-14.5285187,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173277706,"thr_a_norm":0.0173277706,"thr_a_v":0.569311082,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448207825,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.44915,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.661157608,"cg_iw_a":0.564094543,"cg_theta_rad":0.558081806,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0273959227,"mpcc_du":49.5320969,"mpcc_dv":49.3895226,"mpcc_dw":50.6104774,"mpcc_enc_sign":1,"mpcc_id_a":2.55577612,"mpcc_iq_a":-0.764998317,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.10199642,"mpcc_pred_id_a":0.181654006,"mpcc_pred_iq_a":-2.07372212,"mpcc_state":1,"mpcc_theta_e":0.44990015,"mpcc_theta_mech":0.556925952,"sam_rpm":12.2795744,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185362697,"thr_a_norm":0.0185362697,"thr_a_v":0.574145079,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.457726,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.516182423,"cg_iw_a":0.201656103,"cg_theta_rad":0.55763799,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.020009391,"mpcc_du":50.3560982,"mpcc_dv":48.5400314,"mpcc_dw":51.4599686,"mpcc_enc_sign":1,"mpcc_id_a":2.81496835,"mpcc_iq_a":-0.712729156,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.60016358,"mpcc_pred_id_a":-0.235717446,"mpcc_pred_iq_a":1.22701991,"mpcc_state":1,"mpcc_theta_e":0.43788147,"mpcc_theta_mech":0.554522216,"sam_rpm":-2.95808172,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185362697,"thr_a_norm":0.0185362697,"thr_a_v":0.574145079,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.467949,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.878620625,"cg_iw_a":-1.39307261,"cg_theta_rad":0.55623436,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0250387508,"mpcc_du":49.5483971,"mpcc_dv":49.2095604,"mpcc_dw":50.7904396,"mpcc_enc_sign":1,"mpcc_id_a":3.03801274,"mpcc_iq_a":-0.41946882,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.0448685,"mpcc_pred_id_a":0.512503326,"mpcc_pred_iq_a":-2.05660796,"mpcc_state":1,"mpcc_theta_e":0.443515778,"mpcc_theta_mech":0.555649102,"sam_rpm":21.7421837,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.102037072,"thr_a_norm":0.102037072,"thr_a_v":0.908148289,"thr_b":0.0450606495,"thr_b_norm":0.0450606495,"thr_b_v":0.680242598,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.478355,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.661157608,"cg_iw_a":-2.40789986,"cg_theta_rad":0.555637777,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0300893765,"mpcc_du":49.5293541,"mpcc_dv":49.5425568,"mpcc_dw":50.4706459,"mpcc_enc_sign":1,"mpcc_id_a":2.81047297,"mpcc_iq_a":-1.40427077,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.22798777,"mpcc_pred_id_a":-0.0391118228,"mpcc_pred_iq_a":-3.70095086,"mpcc_state":1,"mpcc_theta_e":0.451344967,"mpcc_theta_mech":0.555966377,"sam_rpm":9.16112614,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271595269,"thr_a_norm":0.102037072,"thr_a_v":0.608638108,"thr_b":0,"thr_b_norm":0.0450606495,"thr_b_v":0.493023574,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.487938,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.74847269,"cg_iw_a":-0.450732708,"cg_theta_rad":0.559061468,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0243858974,"mpcc_du":50.6847992,"mpcc_dv":49.1936188,"mpcc_dw":50.8063812,"mpcc_enc_sign":1,"mpcc_id_a":1.2643044,"mpcc_iq_a":-0.263564944,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.58593082,"mpcc_pred_id_a":0.0741945505,"mpcc_pred_iq_a":-0.70135498,"mpcc_state":1,"mpcc_theta_e":0.437582493,"mpcc_theta_mech":0.554462373,"sam_rpm":-13.8076344,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271595269,"thr_a_norm":0.0271595269,"thr_a_v":0.608638108,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493023574,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.498344,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.450732708,"cg_theta_rad":0.557329237,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00281109195,"mpcc_du":50.2071342,"mpcc_dv":48.8670807,"mpcc_dw":51.1329193,"mpcc_enc_sign":1,"mpcc_id_a":0.910838723,"mpcc_iq_a":-3.35577202,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.4014889,"mpcc_pred_id_a":-0.400466532,"mpcc_pred_iq_a":-3.0070374,"mpcc_state":1,"mpcc_theta_e":0.446913719,"mpcc_theta_mech":0.556328654,"sam_rpm":-1.94158745,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0140043497,"thr_a_norm":0.0140043497,"thr_a_v":0.556017399,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444682986,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.508232,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.82096052,"cg_iw_a":0.854045391,"cg_theta_rad":0.556536555,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0437863655,"mpcc_du":50.7655487,"mpcc_dv":48.1221809,"mpcc_dw":51.8778191,"mpcc_enc_sign":1,"mpcc_id_a":2.26924396,"mpcc_iq_a":-1.52156031,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.64768696,"mpcc_pred_id_a":-0.0184744298,"mpcc_pred_iq_a":-5.55426741,"mpcc_state":1,"mpcc_theta_e":0.453861237,"mpcc_theta_mech":0.557718158,"sam_rpm":-8.08012104,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0140043497,"thr_a_norm":0.0140043497,"thr_a_v":0.556017399,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444682986,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.531578,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.298719406,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556032538,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0449553095,"mpcc_du":50.2033119,"mpcc_dv":48.5480843,"mpcc_dw":51.4519157,"mpcc_enc_sign":1,"mpcc_id_a":3.31577229,"mpcc_iq_a":0.308959693,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.63668823,"mpcc_pred_id_a":0.420412183,"mpcc_pred_iq_a":-2.95711255,"mpcc_state":1,"mpcc_theta_e":0.44982338,"mpcc_theta_mech":0.556910634,"sam_rpm":-4.22423458,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228290111,"thr_a_norm":0.0228290111,"thr_a_v":0.591316044,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497303694,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.538078,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-1.24105906,"cg_iw_a":0.201656342,"cg_theta_rad":0.557110488,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0194289237,"mpcc_du":49.4701195,"mpcc_dv":50.5298805,"mpcc_dw":50.43433,"mpcc_enc_sign":1,"mpcc_id_a":2.16392946,"mpcc_iq_a":-0.576610863,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.16188431,"mpcc_pred_id_a":0.493913352,"mpcc_pred_iq_a":-4.09516478,"mpcc_state":1,"mpcc_theta_e":0.450247288,"mpcc_theta_mech":0.556995332,"sam_rpm":13.2966223,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0228290111,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470867455,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.54464,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.38603449,"cg_iw_a":0.346631527,"cg_theta_rad":0.557229817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0366863757,"mpcc_du":49.5168114,"mpcc_dv":49.3130341,"mpcc_dw":50.6869659,"mpcc_enc_sign":1,"mpcc_id_a":3.103616,"mpcc_iq_a":-0.797544122,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.35759068,"mpcc_pred_id_a":0.632655025,"mpcc_pred_iq_a":-2.18683648,"mpcc_state":1,"mpcc_theta_e":0.450001717,"mpcc_theta_mech":0.556946218,"sam_rpm":11.2674818,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470867455,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.551109,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.16857147,"cg_iw_a":-1.03063393,"cg_theta_rad":0.555102825,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00226058788,"mpcc_du":49.9590912,"mpcc_dv":49.0855942,"mpcc_dw":50.9144058,"mpcc_enc_sign":1,"mpcc_id_a":0.21748808,"mpcc_iq_a":-2.10068822,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.48100853,"mpcc_pred_id_a":-0.115418755,"mpcc_pred_iq_a":-0.733530402,"mpcc_state":1,"mpcc_theta_e":0.451295376,"mpcc_theta_mech":0.557205021,"sam_rpm":12.8448086,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235465765,"thr_a_norm":0.0235465765,"thr_a_v":0.594186306,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467493683,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.559166,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.31354666,"cg_iw_a":-0.885658741,"cg_theta_rad":0.55708611,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0261963997,"mpcc_du":50.9691467,"mpcc_dv":47.5641327,"mpcc_dw":52.4358673,"mpcc_enc_sign":1,"mpcc_id_a":2.82893753,"mpcc_iq_a":-0.320101917,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.5910721,"mpcc_pred_id_a":0.387304842,"mpcc_pred_iq_a":1.03491795,"mpcc_state":1,"mpcc_theta_e":0.42800045,"mpcc_theta_mech":0.552546024,"sam_rpm":-24.0144024,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235465765,"thr_a_norm":0.0235465765,"thr_a_v":0.594186306,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467493683,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.569359,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.16857147,"cg_iw_a":-1.39307237,"cg_theta_rad":0.556950629,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0203530472,"mpcc_du":49.463562,"mpcc_dv":50.092186,"mpcc_dw":50.536438,"mpcc_enc_sign":1,"mpcc_id_a":2.71773386,"mpcc_iq_a":-0.0518306047,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.7573123,"mpcc_pred_id_a":0.580506086,"mpcc_pred_iq_a":-1.20437872,"mpcc_state":1,"mpcc_theta_e":0.43255043,"mpcc_theta_mech":0.553456008,"sam_rpm":2.18634844,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0287331194,"thr_a_norm":0.0287331194,"thr_a_v":0.614932477,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49987182,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.579552,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.878620625,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.556509018,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0243220329,"mpcc_du":49.9660797,"mpcc_dv":49.0459213,"mpcc_dw":50.9540787,"mpcc_enc_sign":1,"mpcc_id_a":0.105424181,"mpcc_iq_a":-0.509486556,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.673849583,"mpcc_pred_id_a":-0.0670789629,"mpcc_pred_iq_a":-2.61213326,"mpcc_state":1,"mpcc_theta_e":0.445136547,"mpcc_theta_mech":0.555973232,"sam_rpm":-0.397094667,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105108723,"thr_a_norm":0.0287331194,"thr_a_v":0.920434892,"thr_b":0.0485351235,"thr_b_norm":0,"thr_b_v":0.694140494,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.591331,"values":{"cg_iu_a":1.32935333,"cg_iv_a":0.0637187958,"cg_iw_a":-0.378244877,"cg_theta_rad":0.556697845,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00746272271,"mpcc_du":49.6228638,"mpcc_dv":49.5570869,"mpcc_dw":50.4429131,"mpcc_enc_sign":1,"mpcc_id_a":0.273786575,"mpcc_iq_a":-2.82329226,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.22397256,"mpcc_pred_id_a":-0.382171184,"mpcc_pred_iq_a":-5.71221304,"mpcc_state":1,"mpcc_theta_e":0.449902534,"mpcc_theta_mech":0.556926429,"sam_rpm":3.04132557,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105108723,"thr_a_norm":0.105108723,"thr_a_v":0.920434892,"thr_b":0.0485351235,"thr_b_norm":0.0485351235,"thr_b_v":0.694140494,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.602531,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.443694592,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556112587,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.03090588,"mpcc_du":50.0836792,"mpcc_dv":48.7600441,"mpcc_dw":51.2399559,"mpcc_enc_sign":1,"mpcc_id_a":1.63198614,"mpcc_iq_a":-0.172340378,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.56406021,"mpcc_pred_id_a":0.29098928,"mpcc_pred_iq_a":-2.64432335,"mpcc_state":1,"mpcc_theta_e":0.445761681,"mpcc_theta_mech":0.556098282,"sam_rpm":-5.35793543,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195433646,"thr_a_norm":0.0195433646,"thr_a_v":0.578173459,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472176731,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.613945,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.951108456,"cg_iw_a":-1.61053514,"cg_theta_rad":0.556831479,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0275007021,"mpcc_du":49.8724136,"mpcc_dv":49.1371498,"mpcc_dw":50.8628502,"mpcc_enc_sign":1,"mpcc_id_a":1.93686056,"mpcc_iq_a":-1.38402247,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.99797153,"mpcc_pred_id_a":-0.0520222783,"mpcc_pred_iq_a":-5.17887831,"mpcc_state":1,"mpcc_theta_e":0.445448875,"mpcc_theta_mech":0.556035697,"sam_rpm":-6.95337391,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0249061584,"thr_a_norm":0.0249061584,"thr_a_v":0.599624634,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475852609,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.636955,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.226231575,"cg_iw_a":-2.6978507,"cg_theta_rad":0.554882765,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00749554951,"mpcc_du":48.9596748,"mpcc_dv":51.0403252,"mpcc_dw":49.5694618,"mpcc_enc_sign":1,"mpcc_id_a":1.57116318,"mpcc_iq_a":-2.55267239,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.7083082,"mpcc_pred_id_a":-0.00661084102,"mpcc_pred_iq_a":-8.19684982,"mpcc_state":1,"mpcc_theta_e":0.428133965,"mpcc_theta_mech":0.552572727,"sam_rpm":10.3611526,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0249061584,"thr_a_norm":0.0249061584,"thr_a_v":0.599624634,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475852609,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.643517,"values":{"cg_iu_a":2.27169323,"cg_iv_a":0.0637187958,"cg_iw_a":-2.33541203,"cg_theta_rad":0.555282652,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0150138028,"mpcc_du":49.4015656,"mpcc_dv":50.5984344,"mpcc_dw":50.0658493,"mpcc_enc_sign":1,"mpcc_id_a":0.533073604,"mpcc_iq_a":-0.622014225,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.90234661,"mpcc_pred_id_a":-0.401974618,"mpcc_pred_iq_a":-7.09374952,"mpcc_state":1,"mpcc_theta_e":0.446639538,"mpcc_theta_mech":0.556273818,"sam_rpm":2.61873579,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166731477,"thr_a_norm":0.0166731477,"thr_a_v":0.566692591,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.650047,"values":{"cg_iu_a":1.47432899,"cg_iv_a":0.281181812,"cg_iw_a":-1.75551081,"cg_theta_rad":0.557125568,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00157157797,"mpcc_du":50.8313408,"mpcc_dv":47.9168472,"mpcc_dw":52.0831528,"mpcc_enc_sign":1,"mpcc_id_a":0.176533163,"mpcc_iq_a":-0.720086157,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.803772,"mpcc_pred_id_a":-0.0630975589,"mpcc_pred_iq_a":-0.0601070076,"mpcc_state":1,"mpcc_theta_e":0.428031921,"mpcc_theta_mech":0.552552283,"sam_rpm":-24.9220867,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166731477,"thr_a_norm":0.0166731477,"thr_a_v":0.566692591,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.656548,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.74847269,"cg_iw_a":0.564094543,"cg_theta_rad":0.55609256,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.000747259357,"mpcc_du":49.4799118,"mpcc_dv":50.5200882,"mpcc_dw":50.1192703,"mpcc_enc_sign":1,"mpcc_id_a":-0.546663523,"mpcc_iq_a":-0.709679067,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.31867778,"mpcc_pred_id_a":-0.570098579,"mpcc_pred_iq_a":-4.52044296,"mpcc_state":1,"mpcc_theta_e":0.439344883,"mpcc_theta_mech":0.554814875,"sam_rpm":1.23522341,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0144827217,"thr_a_norm":0.0144827217,"thr_a_v":0.557930887,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44412908,"vdc_v":54.6292953}} +{"type":"telemetry","t":83.666435,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.298719406,"cg_iw_a":-1.32058477,"cg_theta_rad":0.552785754,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0103933038,"mpcc_du":49.8947372,"mpcc_dv":49.1969452,"mpcc_dw":50.8030548,"mpcc_enc_sign":1,"mpcc_id_a":1.76129663,"mpcc_iq_a":-1.75693655,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.81726539,"mpcc_pred_id_a":-0.273450553,"mpcc_pred_iq_a":-2.21075845,"mpcc_state":1,"mpcc_theta_e":0.442745686,"mpcc_theta_mech":0.555495024,"sam_rpm":3.59847546,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020865187,"thr_a_norm":0.0144827217,"thr_a_v":0.583460748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460494399,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.678337,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-0.516182423,"cg_iw_a":-3.42272711,"cg_theta_rad":0.558418095,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0823311731,"mpcc_du":50.7779198,"mpcc_dv":47.9389648,"mpcc_dw":52.0610352,"mpcc_enc_sign":1,"mpcc_id_a":2.32462358,"mpcc_iq_a":0.0940871611,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.10094953,"mpcc_pred_id_a":0.00743131572,"mpcc_pred_iq_a":-6.52707529,"mpcc_state":1,"mpcc_theta_e":0.448213577,"mpcc_theta_mech":0.55658859,"sam_rpm":-11.0655727,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020865187,"thr_a_norm":0.020865187,"thr_a_v":0.583460748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460494399,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.688469,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.951108456,"cg_iw_a":-1.17560911,"cg_theta_rad":0.552301168,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00582933612,"mpcc_du":49.4938469,"mpcc_dv":50.5061531,"mpcc_dw":50.1919708,"mpcc_enc_sign":1,"mpcc_id_a":0.142502904,"mpcc_iq_a":-2.61514115,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.43803835,"mpcc_pred_id_a":-0.342642099,"mpcc_pred_iq_a":-4.01918888,"mpcc_state":1,"mpcc_theta_e":0.446102142,"mpcc_theta_mech":0.554112852,"sam_rpm":6.72460461,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0326733887,"thr_a_norm":0.0326733887,"thr_a_v":0.630693555,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491613656,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.698814,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.60349751,"cg_iw_a":0.636582375,"cg_theta_rad":0.556108654,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0186560266,"mpcc_du":50.0161743,"mpcc_dv":48.687355,"mpcc_dw":51.312645,"mpcc_enc_sign":1,"mpcc_id_a":2.39358544,"mpcc_iq_a":-1.26936829,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.95692444,"mpcc_pred_id_a":0.596933722,"mpcc_pred_iq_a":-1.79941928,"mpcc_state":1,"mpcc_theta_e":0.442753315,"mpcc_theta_mech":0.555496573,"sam_rpm":-6.91350031,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261146724,"thr_a_norm":0.0326733887,"thr_a_v":0.60445869,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.708733,"values":{"cg_iu_a":3.1415453,"cg_iv_a":0.136206627,"cg_iw_a":-0.233269691,"cg_theta_rad":0.555197656,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0122315725,"mpcc_du":49.846344,"mpcc_dv":49.0113602,"mpcc_dw":50.9886398,"mpcc_enc_sign":1,"mpcc_id_a":2.01596022,"mpcc_iq_a":1.19368887,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.52028799,"mpcc_pred_id_a":0.258390993,"mpcc_pred_iq_a":-1.45315039,"mpcc_state":1,"mpcc_theta_e":0.432838917,"mpcc_theta_mech":0.553513706,"sam_rpm":-8.74160385,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261146724,"thr_a_norm":0.0261146724,"thr_a_v":0.60445869,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.718742,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.878620625,"cg_iw_a":-2.48038769,"cg_theta_rad":0.555890083,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.03393941,"mpcc_du":49.7565918,"mpcc_dv":49.5554008,"mpcc_dw":50.4445992,"mpcc_enc_sign":1,"mpcc_id_a":-0.269320667,"mpcc_iq_a":-0.609119236,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.94303942,"mpcc_pred_id_a":-0.70914495,"mpcc_pred_iq_a":-4.08427668,"mpcc_state":1,"mpcc_theta_e":0.453212738,"mpcc_theta_mech":0.557588458,"sam_rpm":10.697053,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220611095,"thr_a_norm":0.0220611095,"thr_a_v":0.588244438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473083079,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.741753,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.661157608,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556986213,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00506433146,"mpcc_du":51.8032112,"mpcc_dv":46.9353142,"mpcc_dw":49.4914894,"mpcc_enc_sign":1,"mpcc_id_a":0.0404001512,"mpcc_iq_a":-1.02457952,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.8214378,"mpcc_pred_id_a":-0.666969657,"mpcc_pred_iq_a":2.41886997,"mpcc_state":1,"mpcc_theta_e":0.425261497,"mpcc_theta_mech":0.551998198,"sam_rpm":-30.5674038,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220611095,"thr_a_norm":0.0220611095,"thr_a_v":0.588244438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473083079,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.748253,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.6759851,"cg_iw_a":-1.17560935,"cg_theta_rad":0.556308389,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0370597653,"mpcc_du":50.8623314,"mpcc_dv":50.6012688,"mpcc_dw":50.2272377,"mpcc_enc_sign":1,"mpcc_id_a":1.40007055,"mpcc_iq_a":1.06102514,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.7252636,"mpcc_pred_id_a":0.149110377,"mpcc_pred_iq_a":1.13557494,"mpcc_state":1,"mpcc_theta_e":0.435396194,"mpcc_theta_mech":0.556786537,"sam_rpm":-12.4908209,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195056051,"thr_a_norm":0.0195056051,"thr_a_v":0.57802242,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479226381,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.754784,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.89344811,"cg_iw_a":0.636582136,"cg_theta_rad":0.555022955,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.000606763817,"mpcc_du":50.3829231,"mpcc_dv":48.4647141,"mpcc_dw":51.5352859,"mpcc_enc_sign":1,"mpcc_id_a":4.05200386,"mpcc_iq_a":0.00937716477,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.6532421,"mpcc_pred_id_a":0.0384886861,"mpcc_pred_iq_a":-0.888306975,"mpcc_state":1,"mpcc_theta_e":0.447496414,"mpcc_theta_mech":0.556445181,"sam_rpm":-18.9167118,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195056051,"thr_a_norm":0.0195056051,"thr_a_v":0.57802242,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479226381,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.761528,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.90827537,"cg_iw_a":-1.97297382,"cg_theta_rad":0.55482018,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.015802335,"mpcc_du":49.5031929,"mpcc_dv":49.5831985,"mpcc_dw":50.4968071,"mpcc_enc_sign":1,"mpcc_id_a":1.99535215,"mpcc_iq_a":-1.75527835,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.7953043,"mpcc_pred_id_a":0.293090403,"mpcc_pred_iq_a":-2.31046963,"mpcc_state":1,"mpcc_theta_e":0.452040672,"mpcc_theta_mech":0.557354093,"sam_rpm":16.4266109,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0470496714,"thr_a_norm":0.0470496714,"thr_a_v":0.688198686,"thr_b":0.0148729682,"thr_b_norm":0.0148729682,"thr_b_v":0.559491873,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.771812,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-2.11091113,"cg_iw_a":-2.48038769,"cg_theta_rad":0.557065308,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0729743689,"mpcc_du":49.9807167,"mpcc_dv":48.4089508,"mpcc_dw":51.5910492,"mpcc_enc_sign":1,"mpcc_id_a":5.21093035,"mpcc_iq_a":0.763385057,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.19452667,"mpcc_pred_id_a":1.39313674,"mpcc_pred_iq_a":0.802838266,"mpcc_state":1,"mpcc_theta_e":0.44534111,"mpcc_theta_mech":0.556014121,"sam_rpm":-9.64873219,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0115621537,"thr_a_norm":0.0470496714,"thr_a_v":0.546248615,"thr_b":0,"thr_b_norm":0.0148729682,"thr_b_v":0.420764506,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.781761,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.298719406,"cg_iw_a":-1.90048599,"cg_theta_rad":0.552225769,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0527984165,"mpcc_du":49.8563576,"mpcc_dv":49.2034149,"mpcc_dw":50.7965851,"mpcc_enc_sign":1,"mpcc_id_a":0.472639322,"mpcc_iq_a":-0.410711855,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.32125139,"mpcc_pred_id_a":-0.170725703,"mpcc_pred_iq_a":-3.73257422,"mpcc_state":1,"mpcc_theta_e":0.451494217,"mpcc_theta_mech":0.557244778,"sam_rpm":9.11907959,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0115621537,"thr_a_norm":0.0115621537,"thr_a_v":0.546248615,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.420764506,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.79174,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.16857147,"cg_iw_a":-1.39307261,"cg_theta_rad":0.555666149,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0334730931,"mpcc_du":50.6965599,"mpcc_dv":47.969841,"mpcc_dw":52.030159,"mpcc_enc_sign":1,"mpcc_id_a":2.24770594,"mpcc_iq_a":-1.60162473,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.3131905,"mpcc_pred_id_a":0.0893087387,"mpcc_pred_iq_a":2.13510919,"mpcc_state":1,"mpcc_theta_e":0.422181606,"mpcc_theta_mech":0.551382244,"sam_rpm":-27.5036297,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176047087,"thr_a_norm":0.0176047087,"thr_a_v":0.570418835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.428670168,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.801506,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.38603449,"cg_iw_a":-0.523220062,"cg_theta_rad":0.556736529,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0305170435,"mpcc_du":50.1146469,"mpcc_dv":49.0250969,"mpcc_dw":50.9749031,"mpcc_enc_sign":1,"mpcc_id_a":0.404268175,"mpcc_iq_a":-1.72308731,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.59082973,"mpcc_pred_id_a":-0.488598973,"mpcc_pred_iq_a":-4.85811329,"mpcc_state":1,"mpcc_theta_e":0.448826313,"mpcc_theta_mech":0.556711197,"sam_rpm":-1.47890484,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176047087,"thr_a_norm":0.0176047087,"thr_a_v":0.570418835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.428670168,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.81292,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.90827537,"cg_iw_a":0.491606951,"cg_theta_rad":0.555018187,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0399154164,"mpcc_du":49.9277802,"mpcc_dv":49.0060997,"mpcc_dw":50.9939003,"mpcc_enc_sign":1,"mpcc_id_a":2.50776315,"mpcc_iq_a":-0.699163973,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.59177876,"mpcc_pred_id_a":0.230818063,"mpcc_pred_iq_a":-2.75949621,"mpcc_state":1,"mpcc_theta_e":0.451245785,"mpcc_theta_mech":0.557195067,"sam_rpm":3.95649767,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024062708,"thr_a_norm":0.024062708,"thr_a_v":0.596250832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467795819,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.837364,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.31354666,"cg_iw_a":-1.90048599,"cg_theta_rad":0.557135403,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0163315348,"mpcc_du":50.3829918,"mpcc_dv":48.5475502,"mpcc_dw":51.4524498,"mpcc_enc_sign":1,"mpcc_id_a":1.47705436,"mpcc_iq_a":-0.32678619,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.18227243,"mpcc_pred_id_a":-0.0629331544,"mpcc_pred_iq_a":-0.331605464,"mpcc_state":1,"mpcc_theta_e":0.443657398,"mpcc_theta_mech":0.555677414,"sam_rpm":-3.0992341,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195937157,"thr_a_norm":0.0195937157,"thr_a_v":0.578374863,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475399435,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.843864,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.96593571,"cg_iw_a":-2.62536287,"cg_theta_rad":0.553444862,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00398965599,"mpcc_du":49.651577,"mpcc_dv":49.7587509,"mpcc_dw":50.348423,"mpcc_enc_sign":1,"mpcc_id_a":-0.271052212,"mpcc_iq_a":-1.62908351,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.62614536,"mpcc_pred_id_a":-0.537515283,"mpcc_pred_iq_a":-4.04264498,"mpcc_state":1,"mpcc_theta_e":0.446830273,"mpcc_theta_mech":0.556311965,"sam_rpm":5.72470236,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195937157,"thr_a_norm":0.0195937157,"thr_a_v":0.578374863,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475399435,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.850426,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.60349751,"cg_iw_a":-1.82799816,"cg_theta_rad":0.557349086,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00980591495,"mpcc_du":49.5455246,"mpcc_dv":49.6000023,"mpcc_dw":50.4544754,"mpcc_enc_sign":1,"mpcc_id_a":0.885599494,"mpcc_iq_a":-1.5459851,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.7533712,"mpcc_pred_id_a":0.0801619217,"mpcc_pred_iq_a":-2.01489949,"mpcc_state":1,"mpcc_theta_e":0.454427242,"mpcc_theta_mech":0.557831407,"sam_rpm":19.4886055,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022652775,"thr_a_norm":0.022652775,"thr_a_v":0.5906111,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478622139,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.856926,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.516182423,"cg_iw_a":-2.48038721,"cg_theta_rad":0.556248486,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0523747802,"mpcc_du":51.1015091,"mpcc_dv":47.3102951,"mpcc_dw":52.6897049,"mpcc_enc_sign":1,"mpcc_id_a":0.591757119,"mpcc_iq_a":-0.33095625,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.60958385,"mpcc_pred_id_a":0.651180267,"mpcc_pred_iq_a":1.37061954,"mpcc_state":1,"mpcc_theta_e":0.454176426,"mpcc_theta_mech":0.557781219,"sam_rpm":-22.1931324,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0153009742,"thr_a_norm":0.022652775,"thr_a_v":0.561203897,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461954653,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.864738,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.6759851,"cg_iw_a":-1.68302321,"cg_theta_rad":0.556168675,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0339741334,"mpcc_du":50.1218376,"mpcc_dv":48.8286934,"mpcc_dw":51.1713066,"mpcc_enc_sign":1,"mpcc_id_a":1.49695301,"mpcc_iq_a":-0.623682916,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.29747581,"mpcc_pred_id_a":0.0389031693,"mpcc_pred_iq_a":-1.56684387,"mpcc_state":1,"mpcc_theta_e":0.448910236,"mpcc_theta_mech":0.556727946,"sam_rpm":7.03745699,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0153009742,"thr_a_norm":0.0153009742,"thr_a_v":0.561203897,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461954653,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.876122,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.298719406,"cg_iw_a":-2.33541203,"cg_theta_rad":0.555454493,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0430237614,"mpcc_du":49.9302063,"mpcc_dv":48.8851204,"mpcc_dw":51.1148796,"mpcc_enc_sign":1,"mpcc_id_a":3.11078286,"mpcc_iq_a":-0.257201225,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.84281349,"mpcc_pred_id_a":0.404348642,"mpcc_pred_iq_a":-4.0739975,"mpcc_state":1,"mpcc_theta_e":0.439959526,"mpcc_theta_mech":0.55493784,"sam_rpm":-13.0300312,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167990327,"thr_a_norm":0.0167990327,"thr_a_v":0.567196131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.424037546,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.887413,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.16857147,"cg_iw_a":0.564094543,"cg_theta_rad":0.553923309,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0247410312,"mpcc_du":49.8490753,"mpcc_dv":48.8092575,"mpcc_dw":51.1907425,"mpcc_enc_sign":1,"mpcc_id_a":3.1429286,"mpcc_iq_a":0.35366708,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.95596421,"mpcc_pred_id_a":0.843256414,"mpcc_pred_iq_a":-1.24858844,"mpcc_state":1,"mpcc_theta_e":0.431690216,"mpcc_theta_mech":0.553219199,"sam_rpm":-3.67933869,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277008563,"thr_a_norm":0.0167990327,"thr_a_v":0.610803425,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497907996,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.897331,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":-1.02359605,"cg_iw_a":-1.8279984,"cg_theta_rad":0.557548761,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0279078595,"mpcc_du":49.3808899,"mpcc_dv":50.6191101,"mpcc_dw":50.2270737,"mpcc_enc_sign":1,"mpcc_id_a":0.869632244,"mpcc_iq_a":-1.96953213,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.55824161,"mpcc_pred_id_a":0.018608164,"mpcc_pred_iq_a":-2.45190024,"mpcc_state":1,"mpcc_theta_e":0.435478687,"mpcc_theta_mech":0.554041684,"sam_rpm":2.40410948,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277008563,"thr_a_norm":0.0277008563,"thr_a_v":0.610803425,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497907996,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.907433,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.226231575,"cg_iw_a":-0.958146572,"cg_theta_rad":0.555814743,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0356243849,"mpcc_du":49.5699043,"mpcc_dv":49.5196953,"mpcc_dw":50.4803047,"mpcc_enc_sign":1,"mpcc_id_a":0.278871536,"mpcc_iq_a":-1.72940433,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.59808922,"mpcc_pred_id_a":-0.204138383,"mpcc_pred_iq_a":-1.64456522,"mpcc_state":1,"mpcc_theta_e":0.424851418,"mpcc_theta_mech":0.551916182,"sam_rpm":-16.4274139,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0373815596,"thr_a_norm":0.0373815596,"thr_a_v":0.649526238,"thr_b":0.00523003936,"thr_b_norm":0.00523003936,"thr_b_v":0.520920157,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.91732,"values":{"cg_iu_a":5.02622414,"cg_iv_a":-0.733645439,"cg_iw_a":-0.378244877,"cg_theta_rad":0.555313945,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0235247836,"mpcc_du":49.305397,"mpcc_dv":50.694603,"mpcc_dw":50.2743721,"mpcc_enc_sign":1,"mpcc_id_a":2.21857119,"mpcc_iq_a":-0.61925751,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.8709116,"mpcc_pred_id_a":0.290980101,"mpcc_pred_iq_a":-1.42814183,"mpcc_state":1,"mpcc_theta_e":0.438246727,"mpcc_theta_mech":0.554595292,"sam_rpm":8.72724628,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0373815596,"thr_a_norm":0.0373815596,"thr_a_v":0.649526238,"thr_b":0.00523003936,"thr_b_norm":0.00523003936,"thr_b_v":0.520920157,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.940727,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.89344811,"cg_iw_a":-0.740683317,"cg_theta_rad":0.556910634,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0261065774,"mpcc_du":50.565464,"mpcc_dv":51.0030098,"mpcc_dw":49.9263382,"mpcc_enc_sign":1,"mpcc_id_a":3.12610698,"mpcc_iq_a":-0.375847012,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.6881113,"mpcc_pred_id_a":0.437642604,"mpcc_pred_iq_a":0.854887486,"mpcc_state":1,"mpcc_theta_e":0.431694984,"mpcc_theta_mech":0.553284943,"sam_rpm":-17.4789715,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022224769,"thr_a_norm":0.022224769,"thr_a_v":0.588899076,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487232774,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.947258,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.588670254,"cg_iw_a":-0.305757046,"cg_theta_rad":0.555092216,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.000139860378,"mpcc_du":49.5935059,"mpcc_dv":50.0488396,"mpcc_dw":50.4064941,"mpcc_enc_sign":1,"mpcc_id_a":0.2320292,"mpcc_iq_a":-2.09913182,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.98882437,"mpcc_pred_id_a":-0.389082283,"mpcc_pred_iq_a":-3.84401464,"mpcc_state":1,"mpcc_theta_e":0.444370747,"mpcc_theta_mech":0.555820107,"sam_rpm":5.64547777,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024490729,"thr_a_norm":0.024490729,"thr_a_v":0.597962916,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479226381,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.953789,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.806133032,"cg_iw_a":-0.668195963,"cg_theta_rad":0.557443976,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.026338499,"mpcc_du":50.0189209,"mpcc_dv":48.7625008,"mpcc_dw":51.2374992,"mpcc_enc_sign":1,"mpcc_id_a":1.77309287,"mpcc_iq_a":-0.383913547,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.98930264,"mpcc_pred_id_a":0.304620087,"mpcc_pred_iq_a":0.0636197403,"mpcc_state":1,"mpcc_theta_e":0.448316574,"mpcc_theta_mech":0.556609273,"sam_rpm":10.7868395,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024490729,"thr_a_norm":0.024490729,"thr_a_v":0.597962916,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479226381,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.960258,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.16857147,"cg_iw_a":0.491607189,"cg_theta_rad":0.555760026,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0181798711,"mpcc_du":50.3055916,"mpcc_dv":48.3201981,"mpcc_dw":51.6798019,"mpcc_enc_sign":1,"mpcc_id_a":2.43775368,"mpcc_iq_a":-0.841186404,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.73163986,"mpcc_pred_id_a":0.285807103,"mpcc_pred_iq_a":-2.66870332,"mpcc_state":1,"mpcc_theta_e":0.447705746,"mpcc_theta_mech":0.556487024,"sam_rpm":-12.4431057,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178690702,"thr_a_norm":0.0178690702,"thr_a_v":0.571476281,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451581597,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.970329,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.298719406,"cg_iw_a":-0.958146572,"cg_theta_rad":0.552507639,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0216673892,"mpcc_du":49.3902512,"mpcc_dv":49.4866524,"mpcc_dw":50.6097488,"mpcc_enc_sign":1,"mpcc_id_a":2.56118107,"mpcc_iq_a":-0.746703446,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.16251016,"mpcc_pred_id_a":0.536092997,"mpcc_pred_iq_a":-2.74332118,"mpcc_state":1,"mpcc_theta_e":0.4427495,"mpcc_theta_mech":0.555495858,"sam_rpm":5.42476702,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177054256,"thr_a_norm":0.0178690702,"thr_a_v":0.570821702,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440302134,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.98214,"values":{"cg_iu_a":4.30134773,"cg_iv_a":-0.298719406,"cg_iw_a":-1.75551081,"cg_theta_rad":0.558499217,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9917,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0172149874,"mpcc_du":50.0089073,"mpcc_dv":49.0438957,"mpcc_dw":50.9561043,"mpcc_enc_sign":1,"mpcc_id_a":0.274917573,"mpcc_iq_a":-1.65997207,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.18617356,"mpcc_pred_id_a":-0.462959558,"mpcc_pred_iq_a":-4.11226845,"mpcc_state":1,"mpcc_theta_e":0.44806385,"mpcc_theta_mech":0.556558728,"sam_rpm":-1.36000001,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177054256,"thr_a_norm":0.0177054256,"thr_a_v":0.570821702,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440302134,"vdc_v":55.2955055}} +{"type":"telemetry","t":83.993156,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.443694592,"cg_iw_a":0.12916851,"cg_theta_rad":0.560162246,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0603588372,"mpcc_du":50.0213051,"mpcc_dv":48.7810631,"mpcc_dw":51.2189369,"mpcc_enc_sign":1,"mpcc_id_a":1.87103117,"mpcc_iq_a":-0.0128974309,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.561106861,"mpcc_pred_id_a":0.245488495,"mpcc_pred_iq_a":-2.92205667,"mpcc_state":1,"mpcc_theta_e":0.448230267,"mpcc_theta_mech":0.556591988,"sam_rpm":1.98246324,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263286829,"thr_a_norm":0.0263286829,"thr_a_v":0.605314732,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49936828,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.003136,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.45852208,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.556692839,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.019604126,"mpcc_du":50.319294,"mpcc_dv":48.5013504,"mpcc_dw":51.4986496,"mpcc_enc_sign":1,"mpcc_id_a":1.74415565,"mpcc_iq_a":-1.46046984,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.51652336,"mpcc_pred_id_a":-0.0931886435,"mpcc_pred_iq_a":-2.22650957,"mpcc_state":1,"mpcc_theta_e":0.43845892,"mpcc_theta_mech":0.55463773,"sam_rpm":-8.35357952,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214442611,"thr_a_norm":0.0263286829,"thr_a_v":0.585777044,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467695117,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.013115,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-3.12573838,"cg_iw_a":0.274143934,"cg_theta_rad":0.555911541,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00141142611,"mpcc_du":50.1712379,"mpcc_dv":48.8977509,"mpcc_dw":51.1022491,"mpcc_enc_sign":1,"mpcc_id_a":-0.317317247,"mpcc_iq_a":-2.94514704,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.43959713,"mpcc_pred_id_a":-0.574409187,"mpcc_pred_iq_a":-1.74787092,"mpcc_state":1,"mpcc_theta_e":0.439840794,"mpcc_theta_mech":0.554914057,"sam_rpm":-4.62004519,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214442611,"thr_a_norm":0.0214442611,"thr_a_v":0.585777044,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467695117,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.023308,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.47334933,"cg_iw_a":-0.378245115,"cg_theta_rad":0.558543682,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0111811664,"mpcc_du":49.3098335,"mpcc_dv":50.6901665,"mpcc_dw":50.0851059,"mpcc_enc_sign":1,"mpcc_id_a":1.00142372,"mpcc_iq_a":-2.47958565,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.7414045,"mpcc_pred_id_a":-0.294666767,"mpcc_pred_iq_a":-2.61667466,"mpcc_state":1,"mpcc_theta_e":0.450823307,"mpcc_theta_mech":0.557110608,"sam_rpm":17.7877674,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0111593008,"thr_a_norm":0.0111593008,"thr_a_v":0.544637203,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.41995877,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.046318,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.38603449,"cg_iw_a":0.78155756,"cg_theta_rad":0.554382205,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0124215828,"mpcc_du":48.7061234,"mpcc_dv":51.2938766,"mpcc_dw":49.2980576,"mpcc_enc_sign":1,"mpcc_id_a":0.314683825,"mpcc_iq_a":-1.22282052,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.8317738,"mpcc_pred_id_a":-0.520907879,"mpcc_pred_iq_a":-7.43748522,"mpcc_state":1,"mpcc_theta_e":0.456968307,"mpcc_theta_mech":0.558339536,"sam_rpm":23.5509014,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0111593008,"thr_a_norm":0.0111593008,"thr_a_v":0.544637203,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.41995877,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.052879,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.661157608,"cg_iw_a":0.0566806793,"cg_theta_rad":0.557702959,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00233856263,"mpcc_du":49.6849098,"mpcc_dv":49.394783,"mpcc_dw":50.605217,"mpcc_enc_sign":1,"mpcc_id_a":0.281782568,"mpcc_iq_a":-1.65882063,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.664482772,"mpcc_pred_id_a":-0.328926742,"mpcc_pred_iq_a":-3.78479314,"mpcc_state":1,"mpcc_theta_e":0.443926811,"mpcc_theta_mech":0.555882037,"sam_rpm":-1.14941609,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199210346,"thr_a_norm":0.0199210346,"thr_a_v":0.579684138,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471622765,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.059349,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-0.588670254,"cg_iw_a":0.419119358,"cg_theta_rad":0.553053319,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00441469066,"mpcc_du":49.5122261,"mpcc_dv":49.4706116,"mpcc_dw":50.5293884,"mpcc_enc_sign":1,"mpcc_id_a":0.65087074,"mpcc_iq_a":-1.55683875,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.29539824,"mpcc_pred_id_a":0.0334215276,"mpcc_pred_iq_a":-3.52711296,"mpcc_state":1,"mpcc_theta_e":0.444315434,"mpcc_theta_mech":0.555809021,"sam_rpm":3.49189496,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199210346,"thr_a_norm":0.0199210346,"thr_a_v":0.579684138,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471622765,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.06591,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.89344811,"cg_iw_a":-0.81317091,"cg_theta_rad":0.557244837,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.100306839,"mpcc_du":49.5928917,"mpcc_dv":49.1357155,"mpcc_dw":50.8642845,"mpcc_enc_sign":1,"mpcc_id_a":3.42101336,"mpcc_iq_a":2.72947764,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.91354632,"mpcc_pred_id_a":0.750038862,"mpcc_pred_iq_a":-2.13137126,"mpcc_state":1,"mpcc_theta_e":0.445930481,"mpcc_theta_mech":0.556132019,"sam_rpm":4.43454027,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271217674,"thr_a_norm":0.0271217674,"thr_a_v":0.60848707,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487837017,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.07412,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.09608364,"cg_iw_a":-0.233269691,"cg_theta_rad":0.554517388,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00993462373,"mpcc_du":50.4214439,"mpcc_dv":48.4207268,"mpcc_dw":51.5792732,"mpcc_enc_sign":1,"mpcc_id_a":1.07430637,"mpcc_iq_a":-0.498631895,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.2283988,"mpcc_pred_id_a":-0.0298596695,"mpcc_pred_iq_a":-0.00122643146,"mpcc_state":1,"mpcc_theta_e":0.437983513,"mpcc_theta_mech":0.554542661,"sam_rpm":-5.84546041,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280281454,"thr_a_norm":0.0271217674,"thr_a_v":0.612112582,"thr_b":0.000547036529,"thr_b_norm":0,"thr_b_v":0.502188146,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.084099,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.951108456,"cg_iw_a":-1.61053562,"cg_theta_rad":0.553239465,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0389919095,"mpcc_du":50.3684196,"mpcc_dv":48.5142326,"mpcc_dw":51.4857674,"mpcc_enc_sign":1,"mpcc_id_a":1.40642202,"mpcc_iq_a":0.0298682284,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.743490577,"mpcc_pred_id_a":-0.0644253939,"mpcc_pred_iq_a":-1.07319725,"mpcc_state":1,"mpcc_theta_e":0.444570541,"mpcc_theta_mech":0.555859983,"sam_rpm":-0.163534224,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280281454,"thr_a_norm":0.0280281454,"thr_a_v":0.612112582,"thr_b":0.000547036529,"thr_b_norm":0.000547036529,"thr_b_v":0.502188146,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.093925,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.516182423,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.554226875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.081250526,"mpcc_du":50.0571251,"mpcc_dv":48.9225082,"mpcc_dw":51.0774918,"mpcc_enc_sign":1,"mpcc_id_a":1.01144469,"mpcc_iq_a":0.731599212,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.4174891,"mpcc_pred_id_a":0.0505111851,"mpcc_pred_iq_a":-1.33552206,"mpcc_state":1,"mpcc_theta_e":0.439095974,"mpcc_theta_mech":0.554765105,"sam_rpm":-2.99813485,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0131735057,"thr_a_norm":0.0131735057,"thr_a_v":0.552694023,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449970245,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.104118,"values":{"cg_iu_a":2.5616436,"cg_iv_a":0.353669643,"cg_iw_a":-0.885658741,"cg_theta_rad":0.551768601,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0255144518,"mpcc_du":49.6307335,"mpcc_dv":49.8832283,"mpcc_dw":50.3692665,"mpcc_enc_sign":1,"mpcc_id_a":0.446798742,"mpcc_iq_a":-1.94043839,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.30767727,"mpcc_pred_id_a":-0.507644355,"mpcc_pred_iq_a":-5.99389315,"mpcc_state":1,"mpcc_theta_e":0.456795216,"mpcc_theta_mech":0.558304965,"sam_rpm":11.0477896,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0131735057,"thr_a_norm":0.0131735057,"thr_a_v":0.552694023,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449970245,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.114311,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-0.951108456,"cg_iw_a":-0.015806675,"cg_theta_rad":0.554666102,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0795227215,"mpcc_du":50.2038116,"mpcc_dv":48.6706924,"mpcc_dw":51.3293076,"mpcc_enc_sign":1,"mpcc_id_a":2.82534361,"mpcc_iq_a":0.133246765,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.99684,"mpcc_pred_id_a":0.132189572,"mpcc_pred_iq_a":-2.40296626,"mpcc_state":1,"mpcc_theta_e":0.447740555,"mpcc_theta_mech":0.556494057,"sam_rpm":2.77865624,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173403472,"thr_a_norm":0.0173403472,"thr_a_v":0.569361389,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.124504,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.60349751,"cg_iw_a":-1.24809694,"cg_theta_rad":0.555296898,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0379941761,"mpcc_du":49.5571823,"mpcc_dv":49.8752403,"mpcc_dw":50.4428177,"mpcc_enc_sign":1,"mpcc_id_a":1.23491383,"mpcc_iq_a":-0.499870688,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.64643669,"mpcc_pred_id_a":-0.070218198,"mpcc_pred_iq_a":-5.12477779,"mpcc_state":1,"mpcc_theta_e":0.450546741,"mpcc_theta_mech":0.557055295,"sam_rpm":9.16361809,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289219469,"thr_a_norm":0.0173403472,"thr_a_v":0.615687788,"thr_b":0.00241015851,"thr_b_norm":0,"thr_b_v":0.509640634,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.148674,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.878620625,"cg_iw_a":-0.160782337,"cg_theta_rad":0.557622433,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00530829467,"mpcc_du":48.4847031,"mpcc_dv":51.5152969,"mpcc_dw":48.9184074,"mpcc_enc_sign":1,"mpcc_id_a":0.406223595,"mpcc_iq_a":-0.708144307,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.6612911,"mpcc_pred_id_a":-0.600661933,"mpcc_pred_iq_a":-7.13804913,"mpcc_state":1,"mpcc_theta_e":0.456896782,"mpcc_theta_mech":0.558325231,"sam_rpm":24.3507252,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289219469,"thr_a_norm":0.0289219469,"thr_a_v":0.615687788,"thr_b":0.00241015851,"thr_b_norm":0.00241015851,"thr_b_v":0.509640634,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.155144,"values":{"cg_iu_a":0.749452114,"cg_iv_a":2.02088594,"cg_iw_a":-4.07511616,"cg_theta_rad":0.557269692,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00846589822,"mpcc_du":49.9872932,"mpcc_dv":49.2040901,"mpcc_dw":50.7959099,"mpcc_enc_sign":1,"mpcc_id_a":-0.0341645218,"mpcc_iq_a":-0.955977321,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.422349,"mpcc_pred_id_a":-0.489875197,"mpcc_pred_iq_a":-0.465529859,"mpcc_state":1,"mpcc_theta_e":0.452239513,"mpcc_theta_mech":0.557393849,"sam_rpm":15.5418892,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198706836,"thr_a_norm":0.0289219469,"thr_a_v":0.579482734,"thr_b":0,"thr_b_norm":0.00241015851,"thr_b_v":0.475751907,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.161705,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.806133032,"cg_iw_a":0.491606951,"cg_theta_rad":0.556068122,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0228422713,"mpcc_du":49.9229813,"mpcc_dv":48.9833717,"mpcc_dw":51.0166283,"mpcc_enc_sign":1,"mpcc_id_a":2.53149152,"mpcc_iq_a":-0.981245399,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.40397644,"mpcc_pred_id_a":0.284673512,"mpcc_pred_iq_a":-0.462122589,"mpcc_state":1,"mpcc_theta_e":0.448435307,"mpcc_theta_mech":0.556632936,"sam_rpm":9.71098137,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198706836,"thr_a_norm":0.0198706836,"thr_a_v":0.579482734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475751907,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.168175,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.588670254,"cg_iw_a":-1.10312128,"cg_theta_rad":0.554714859,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.000726926723,"mpcc_du":50.1944046,"mpcc_dv":48.9710426,"mpcc_dw":51.0289574,"mpcc_enc_sign":1,"mpcc_id_a":0.524638772,"mpcc_iq_a":-1.34380913,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.82822704,"mpcc_pred_id_a":-0.61655587,"mpcc_pred_iq_a":-2.38775778,"mpcc_state":1,"mpcc_theta_e":0.43232584,"mpcc_theta_mech":0.553411067,"sam_rpm":-13.1882505,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022803843,"thr_a_norm":0.022803843,"thr_a_v":0.591215372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488995194,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.17791,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.443694592,"cg_iw_a":-0.523220539,"cg_theta_rad":0.55660814,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0352877416,"mpcc_du":49.2852821,"mpcc_dv":50.7147179,"mpcc_dw":50.2791214,"mpcc_enc_sign":1,"mpcc_id_a":2.86258292,"mpcc_iq_a":0.194467634,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.1135311,"mpcc_pred_id_a":0.533045411,"mpcc_pred_iq_a":-2.87994337,"mpcc_state":1,"mpcc_theta_e":0.452712536,"mpcc_theta_mech":0.557488382,"sam_rpm":25.0031223,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165346712,"thr_a_norm":0.022803843,"thr_a_v":0.566138685,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478017837,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.188103,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.878620625,"cg_iw_a":-1.39307261,"cg_theta_rad":0.553680956,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0517430156,"mpcc_du":49.7489433,"mpcc_dv":49.0828743,"mpcc_dw":50.9171257,"mpcc_enc_sign":1,"mpcc_id_a":2.63284492,"mpcc_iq_a":-0.107763268,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.12239265,"mpcc_pred_id_a":0.499507964,"mpcc_pred_iq_a":-2.5099926,"mpcc_state":1,"mpcc_theta_e":0.45089817,"mpcc_theta_mech":0.557125568,"sam_rpm":8.1736002,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165346712,"thr_a_norm":0.0165346712,"thr_a_v":0.566138685,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478017837,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.19854,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.443694592,"cg_iw_a":-0.740683556,"cg_theta_rad":0.55732435,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0289626848,"mpcc_du":48.8800926,"mpcc_dv":51.1199074,"mpcc_dw":49.8552055,"mpcc_enc_sign":1,"mpcc_id_a":3.32513738,"mpcc_iq_a":0.189227954,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.6643324,"mpcc_pred_id_a":0.72527498,"mpcc_pred_iq_a":-2.66079926,"mpcc_state":1,"mpcc_theta_e":0.442351818,"mpcc_theta_mech":0.555416286,"sam_rpm":16.4017429,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192412436,"thr_a_norm":0.0192412436,"thr_a_v":0.576964974,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459386617,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.208305,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-2.0384233,"cg_iw_a":1.8688724,"cg_theta_rad":0.558275342,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0336505473,"mpcc_du":50.6430511,"mpcc_dv":47.9492912,"mpcc_dw":50.5321617,"mpcc_enc_sign":1,"mpcc_id_a":3.29441404,"mpcc_iq_a":-0.881953478,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.8844967,"mpcc_pred_id_a":0.504141629,"mpcc_pred_iq_a":-0.117889866,"mpcc_state":1,"mpcc_theta_e":0.435443878,"mpcc_theta_mech":0.55403465,"sam_rpm":-16.168663,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192412436,"thr_a_norm":0.0192412436,"thr_a_v":0.576964974,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459386617,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.218468,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.04546165,"cg_theta_rad":0.554862142,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0272195693,"mpcc_du":50.7561569,"mpcc_dv":48.0762749,"mpcc_dw":51.9237251,"mpcc_enc_sign":1,"mpcc_id_a":0.766767204,"mpcc_iq_a":-0.814978898,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.4280415,"mpcc_pred_id_a":-0.210796967,"mpcc_pred_iq_a":-2.58694196,"mpcc_state":1,"mpcc_theta_e":0.43645525,"mpcc_theta_mech":0.554236948,"sam_rpm":-19.4280491,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021595329,"thr_a_norm":0.021595329,"thr_a_v":0.586381316,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474190891,"vdc_v":54.6292953}} +{"type":"telemetry","t":84.228905,"values":{"cg_iu_a":1.54681635,"cg_iv_a":0.716107845,"cg_iw_a":-2.77033806,"cg_theta_rad":0.555657923,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00200000522,"mpcc_du":50.6434059,"mpcc_dv":47.9515572,"mpcc_dw":52.0484428,"mpcc_enc_sign":1,"mpcc_id_a":0.779955387,"mpcc_iq_a":-1.46954429,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.04760122,"mpcc_pred_id_a":0.064900957,"mpcc_pred_iq_a":3.44645429,"mpcc_state":1,"mpcc_theta_e":0.437747955,"mpcc_theta_mech":0.554495513,"sam_rpm":-4.86644983,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.021595329,"thr_a_v":0.605818272,"thr_b":0.00286336243,"thr_b_norm":0,"thr_b_v":0.51145345,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.251732,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-2.32837415,"cg_iw_a":-0.668195724,"cg_theta_rad":0.554869592,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00856246334,"mpcc_du":49.8256569,"mpcc_dv":49.1925774,"mpcc_dw":50.8074226,"mpcc_enc_sign":1,"mpcc_id_a":1.80482745,"mpcc_iq_a":-1.82979894,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.61322808,"mpcc_pred_id_a":-0.0325621665,"mpcc_pred_iq_a":-1.80024302,"mpcc_state":1,"mpcc_theta_e":0.444954872,"mpcc_theta_mech":0.555936933,"sam_rpm":3.51769972,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.0264545679,"thr_a_v":0.605818272,"thr_b":0.00286336243,"thr_b_norm":0.00286336243,"thr_b_v":0.51145345,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.258263,"values":{"cg_iu_a":-0.555325985,"cg_iv_a":-1.45852208,"cg_iw_a":-1.46555996,"cg_theta_rad":0.554492593,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0269155186,"mpcc_du":50.2581444,"mpcc_dv":48.4761276,"mpcc_dw":51.5238724,"mpcc_enc_sign":1,"mpcc_id_a":2.49082184,"mpcc_iq_a":-0.384798557,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.76169086,"mpcc_pred_id_a":0.488997638,"mpcc_pred_iq_a":-0.58615309,"mpcc_state":1,"mpcc_theta_e":0.441131115,"mpcc_theta_mech":0.555172145,"sam_rpm":-5.30118465,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0223380625,"thr_a_norm":0.0223380625,"thr_a_v":0.58935225,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480132759,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.264793,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.31354666,"cg_iw_a":0.0566811562,"cg_theta_rad":0.557503164,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00212453608,"mpcc_du":51.0867004,"mpcc_dv":47.3547249,"mpcc_dw":52.6452751,"mpcc_enc_sign":1,"mpcc_id_a":0.826569736,"mpcc_iq_a":-1.23382962,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-25.3116322,"mpcc_pred_id_a":0.342650652,"mpcc_pred_iq_a":0.905859649,"mpcc_state":1,"mpcc_theta_e":0.41876936,"mpcc_theta_mech":0.55069977,"sam_rpm":-37.5436363,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0223380625,"thr_a_norm":0.0223380625,"thr_a_v":0.58935225,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480132759,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.271263,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-1.45852208,"cg_iw_a":1.36145902,"cg_theta_rad":0.55215323,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0407194495,"mpcc_du":49.3462944,"mpcc_dv":50.6537056,"mpcc_dw":50.4751053,"mpcc_enc_sign":1,"mpcc_id_a":3.92170334,"mpcc_iq_a":-1.60268843,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.58058834,"mpcc_pred_id_a":0.937999785,"mpcc_pred_iq_a":-5.48239565,"mpcc_state":1,"mpcc_theta_e":0.429559708,"mpcc_theta_mech":0.552857876,"sam_rpm":7.67591333,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022728309,"thr_a_norm":0.022728309,"thr_a_v":0.590913236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486477464,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.279503,"values":{"cg_iu_a":-0.70030117,"cg_iv_a":-0.661157608,"cg_iw_a":1.36145878,"cg_theta_rad":0.554273665,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.05977723,"mpcc_du":50.4294624,"mpcc_dv":47.8269157,"mpcc_dw":52.1730843,"mpcc_enc_sign":1,"mpcc_id_a":4.87668419,"mpcc_iq_a":-2.12048888,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.45440578,"mpcc_pred_id_a":1.44699192,"mpcc_pred_iq_a":1.26984489,"mpcc_state":1,"mpcc_theta_e":0.434536934,"mpcc_theta_mech":0.553853273,"sam_rpm":-14.040904,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234081,"thr_a_norm":0.022728309,"thr_a_v":0.5936324,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466083795,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.289482,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-2.11091113,"cg_iw_a":-1.8279984,"cg_theta_rad":0.557429135,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0429865718,"mpcc_du":50.2762299,"mpcc_dv":48.6524391,"mpcc_dw":51.3475609,"mpcc_enc_sign":1,"mpcc_id_a":0.780921876,"mpcc_iq_a":-0.605961204,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.85266697,"mpcc_pred_id_a":-0.0739433244,"mpcc_pred_iq_a":-2.13056135,"mpcc_state":1,"mpcc_theta_e":0.450798035,"mpcc_theta_mech":0.557105482,"sam_rpm":3.68200946,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234081,"thr_a_norm":0.0234081,"thr_a_v":0.5936324,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466083795,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.299736,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.153744221,"cg_iw_a":-1.4655602,"cg_theta_rad":0.558316231,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0243553631,"mpcc_du":50.2207108,"mpcc_dv":48.7190781,"mpcc_dw":51.2809219,"mpcc_enc_sign":1,"mpcc_id_a":0.0337615758,"mpcc_iq_a":-0.88004595,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.8700581,"mpcc_pred_id_a":-0.277954727,"mpcc_pred_iq_a":0.553984284,"mpcc_state":1,"mpcc_theta_e":0.416633129,"mpcc_theta_mech":0.554071724,"sam_rpm":-25.9016266,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0402140021,"thr_a_norm":0.0402140021,"thr_a_v":0.660856009,"thr_b":0.00860379636,"thr_b_norm":0.00860379636,"thr_b_v":0.534415185,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.309471,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-0.806133032,"cg_iw_a":0.781557798,"cg_theta_rad":0.556448817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0308125075,"mpcc_du":49.9388809,"mpcc_dv":49.1676102,"mpcc_dw":50.8323898,"mpcc_enc_sign":1,"mpcc_id_a":0.402363271,"mpcc_iq_a":-0.559363008,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.542214155,"mpcc_pred_id_a":-0.299293667,"mpcc_pred_iq_a":-3.59494901,"mpcc_state":1,"mpcc_theta_e":0.446561813,"mpcc_theta_mech":0.556258261,"sam_rpm":2.07574415,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0402140021,"thr_a_norm":0.0402140021,"thr_a_v":0.660856009,"thr_b":0.00860379636,"thr_b_norm":0.00860379636,"thr_b_v":0.534415185,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.319939,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-3.41568899,"cg_iw_a":-0.668195963,"cg_theta_rad":0.554575443,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00144547049,"mpcc_du":50.323925,"mpcc_dv":48.6759148,"mpcc_dw":51.3240852,"mpcc_enc_sign":1,"mpcc_id_a":0.731691003,"mpcc_iq_a":-0.890581846,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.38797402,"mpcc_pred_id_a":-0.352833658,"mpcc_pred_iq_a":0.650307178,"mpcc_state":1,"mpcc_theta_e":0.436110497,"mpcc_theta_mech":0.554167986,"sam_rpm":-5.94558048,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10092926,"thr_a_norm":0.10092926,"thr_a_v":0.903717041,"thr_b":0.0420645326,"thr_b_norm":0.0420645326,"thr_b_v":0.668258131,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.330101,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.31354666,"cg_iw_a":0.491606712,"cg_theta_rad":0.557110012,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0439240336,"mpcc_du":49.8065605,"mpcc_dv":49.1815529,"mpcc_dw":50.8184471,"mpcc_enc_sign":1,"mpcc_id_a":0.266012281,"mpcc_iq_a":-1.58489549,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.70558643,"mpcc_pred_id_a":-0.120198622,"mpcc_pred_iq_a":0.547317445,"mpcc_state":1,"mpcc_theta_e":0.423946857,"mpcc_theta_mech":0.551735282,"sam_rpm":-14.9472933,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188132375,"thr_a_norm":0.10092926,"thr_a_v":0.57525295,"thr_b":0,"thr_b_norm":0.0420645326,"thr_b_v":0.452890843,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.352989,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.516182423,"cg_iw_a":-2.04546118,"cg_theta_rad":0.556577921,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0147442957,"mpcc_du":48.752346,"mpcc_dv":51.247654,"mpcc_dw":49.5324287,"mpcc_enc_sign":1,"mpcc_id_a":2.3443985,"mpcc_iq_a":-1.20365524,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.58454895,"mpcc_pred_id_a":0.248966306,"mpcc_pred_iq_a":-6.46286392,"mpcc_state":1,"mpcc_theta_e":0.444099903,"mpcc_theta_mech":0.555765867,"sam_rpm":7.39036179,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188132375,"thr_a_norm":0.0188132375,"thr_a_v":0.57525295,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452890843,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.35955,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.82096052,"cg_iw_a":-0.740683079,"cg_theta_rad":0.556033552,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0372303426,"mpcc_du":48.9759254,"mpcc_dv":51.0240746,"mpcc_dw":49.7055206,"mpcc_enc_sign":1,"mpcc_id_a":3.14667988,"mpcc_iq_a":0.318569452,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.810860276,"mpcc_pred_id_a":0.0502704233,"mpcc_pred_iq_a":-7.92948914,"mpcc_state":1,"mpcc_theta_e":0.44285059,"mpcc_theta_mech":0.555516005,"sam_rpm":0.704254687,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226401836,"thr_a_norm":0.0226401836,"thr_a_v":0.590560734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477212161,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.366112,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.16857147,"cg_iw_a":-1.32058477,"cg_theta_rad":0.552094579,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0375031196,"mpcc_du":49.6922798,"mpcc_dv":48.8837891,"mpcc_dw":51.1162109,"mpcc_enc_sign":1,"mpcc_id_a":3.64011002,"mpcc_iq_a":-1.18315268,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.86394262,"mpcc_pred_id_a":1.16690898,"mpcc_pred_iq_a":-0.303707778,"mpcc_state":1,"mpcc_theta_e":0.446919918,"mpcc_theta_mech":0.556329906,"sam_rpm":8.83580303,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226401836,"thr_a_norm":0.0226401836,"thr_a_v":0.590560734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477212161,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.37307,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.951108456,"cg_iw_a":-1.90048599,"cg_theta_rad":0.555398464,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00943347253,"mpcc_du":49.7137222,"mpcc_dv":49.3165703,"mpcc_dw":50.6834297,"mpcc_enc_sign":1,"mpcc_id_a":0.569238961,"mpcc_iq_a":-0.54651165,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.89126253,"mpcc_pred_id_a":-0.0742130056,"mpcc_pred_iq_a":-1.92530942,"mpcc_state":1,"mpcc_theta_e":0.44661808,"mpcc_theta_mech":0.556269526,"sam_rpm":7.00632572,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295136124,"thr_a_norm":0.0295136124,"thr_a_v":0.61805445,"thr_b":0.00287593901,"thr_b_norm":0.00287593901,"thr_b_v":0.511503756,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.38311,"values":{"cg_iu_a":4.01139736,"cg_iv_a":-1.38603449,"cg_iw_a":-2.62536287,"cg_theta_rad":0.554264426,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0134828249,"mpcc_du":50.829792,"mpcc_dv":47.9357681,"mpcc_dw":52.0642319,"mpcc_enc_sign":1,"mpcc_id_a":0.523944736,"mpcc_iq_a":-0.984092355,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.81482983,"mpcc_pred_id_a":-0.0924947113,"mpcc_pred_iq_a":0.745470643,"mpcc_state":1,"mpcc_theta_e":0.441836357,"mpcc_theta_mech":0.55531317,"sam_rpm":-6.99352646,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0975051373,"thr_a_norm":0.0295136124,"thr_a_v":0.890020549,"thr_b":0.0376710892,"thr_b_norm":0.00287593901,"thr_b_v":0.650684357,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.392906,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.588670254,"cg_iw_a":-1.46555996,"cg_theta_rad":0.555896044,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0255258568,"mpcc_du":49.3529167,"mpcc_dv":50.6470833,"mpcc_dw":50.2483368,"mpcc_enc_sign":1,"mpcc_id_a":1.08555984,"mpcc_iq_a":-0.129426301,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.7791276,"mpcc_pred_id_a":0.119407073,"mpcc_pred_iq_a":-1.67205727,"mpcc_state":1,"mpcc_theta_e":0.433822632,"mpcc_theta_mech":0.553710461,"sam_rpm":6.26540899,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0975051373,"thr_a_norm":0.0975051373,"thr_a_v":0.890020549,"thr_b":0.0376710892,"thr_b_norm":0.0376710892,"thr_b_v":0.650684357,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.403374,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.661157608,"cg_iw_a":-0.958146572,"cg_theta_rad":0.553791106,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0304326657,"mpcc_du":49.976696,"mpcc_dv":48.822155,"mpcc_dw":51.177845,"mpcc_enc_sign":1,"mpcc_id_a":0.533449888,"mpcc_iq_a":-1.78642261,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.33582973,"mpcc_pred_id_a":0.398481846,"mpcc_pred_iq_a":-3.76794815,"mpcc_state":1,"mpcc_theta_e":0.449629784,"mpcc_theta_mech":0.556871891,"sam_rpm":-5.09985018,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462961793,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.413048,"values":{"cg_iu_a":0.676964283,"cg_iv_a":0.136206627,"cg_iw_a":-1.61053562,"cg_theta_rad":0.556724131,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0109063545,"mpcc_du":49.8070946,"mpcc_dv":49.255497,"mpcc_dw":50.744503,"mpcc_enc_sign":1,"mpcc_id_a":0.335769504,"mpcc_iq_a":-0.857052445,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.6956415,"mpcc_pred_id_a":-0.129314169,"mpcc_pred_iq_a":-3.52649689,"mpcc_state":1,"mpcc_theta_e":0.452934742,"mpcc_theta_mech":0.557532907,"sam_rpm":15.3070574,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462961793,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.423302,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-0.516182423,"cg_iw_a":-3.06028891,"cg_theta_rad":0.553381443,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0158428438,"mpcc_du":49.946579,"mpcc_dv":48.9949112,"mpcc_dw":51.0050888,"mpcc_enc_sign":1,"mpcc_id_a":2.18829465,"mpcc_iq_a":-2.3778038,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.06564808,"mpcc_pred_id_a":0.0762896314,"mpcc_pred_iq_a":-4.15796232,"mpcc_state":1,"mpcc_theta_e":0.443216324,"mpcc_theta_mech":0.555589139,"sam_rpm":-7.42588758,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447100043,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.433708,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.74847269,"cg_iw_a":0.78155756,"cg_theta_rad":0.555355608,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0285953991,"mpcc_du":49.6931458,"mpcc_dv":49.3011551,"mpcc_dw":50.6988449,"mpcc_enc_sign":1,"mpcc_id_a":2.0960691,"mpcc_iq_a":-1.22019815,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.38941097,"mpcc_pred_id_a":0.108471677,"mpcc_pred_iq_a":-1.21721828,"mpcc_state":1,"mpcc_theta_e":0.442477703,"mpcc_theta_mech":0.555441439,"sam_rpm":-2.30817437,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288841873,"thr_a_norm":0.0296898633,"thr_a_v":0.615536749,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498159766,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.456932,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.38603449,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556581974,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00275216112,"mpcc_du":49.8113327,"mpcc_dv":49.2738266,"mpcc_dw":50.7261734,"mpcc_enc_sign":1,"mpcc_id_a":0.99096328,"mpcc_iq_a":-1.01652408,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.9092083,"mpcc_pred_id_a":-0.171130404,"mpcc_pred_iq_a":-2.64033675,"mpcc_state":1,"mpcc_theta_e":0.439598083,"mpcc_theta_mech":0.554865539,"sam_rpm":-5.99711657,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288841873,"thr_a_norm":0.0288841873,"thr_a_v":0.615536749,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498159766,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.463463,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.60349751,"cg_iw_a":-1.97297382,"cg_theta_rad":0.553289533,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00713746669,"mpcc_du":50.0934029,"mpcc_dv":49.2049141,"mpcc_dw":50.7950859,"mpcc_enc_sign":1,"mpcc_id_a":-1.29270291,"mpcc_iq_a":-1.92941189,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.19021308,"mpcc_pred_id_a":-0.85172683,"mpcc_pred_iq_a":-3.0899539,"mpcc_state":1,"mpcc_theta_e":0.444309711,"mpcc_theta_mech":0.555807829,"sam_rpm":-1.26298749,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0450102985,"thr_a_norm":0.0450102985,"thr_a_v":0.680041194,"thr_b":0.0123804063,"thr_b_norm":0.0123804063,"thr_b_v":0.549521625,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.469963,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.77033806,"cg_theta_rad":0.553125799,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0262000468,"mpcc_du":51.0746765,"mpcc_dv":47.2333412,"mpcc_dw":52.7666588,"mpcc_enc_sign":1,"mpcc_id_a":3.13447618,"mpcc_iq_a":0.0197373871,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-24.1179142,"mpcc_pred_id_a":0.787057042,"mpcc_pred_iq_a":1.54020691,"mpcc_state":1,"mpcc_theta_e":0.421857834,"mpcc_theta_mech":0.551317513,"sam_rpm":-36.1141891,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0450102985,"thr_a_norm":0.0450102985,"thr_a_v":0.680041194,"thr_b":0.0123804063,"thr_b_norm":0.0123804063,"thr_b_v":0.549521625,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.476494,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.951108456,"cg_iw_a":-1.53804779,"cg_theta_rad":0.556488335,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0148661165,"mpcc_du":50.0069275,"mpcc_dv":48.9650345,"mpcc_dw":51.0349655,"mpcc_enc_sign":1,"mpcc_id_a":1.99747729,"mpcc_iq_a":-2.25769305,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.23814726,"mpcc_pred_id_a":0.0632015467,"mpcc_pred_iq_a":-1.66979098,"mpcc_state":1,"mpcc_theta_e":0.448683739,"mpcc_theta_mech":0.556682646,"sam_rpm":6.96804953,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195056051,"thr_a_norm":0.0195056051,"thr_a_v":0.57802242,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474341929,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.486504,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.588670254,"cg_iw_a":-0.523220062,"cg_theta_rad":0.553917408,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00890296884,"mpcc_du":49.8261375,"mpcc_dv":49.6481705,"mpcc_dw":50.3749352,"mpcc_enc_sign":1,"mpcc_id_a":0.23677294,"mpcc_iq_a":-1.8066771,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.40365553,"mpcc_pred_id_a":-0.422518522,"mpcc_pred_iq_a":-1.81770563,"mpcc_state":1,"mpcc_theta_e":0.429058075,"mpcc_theta_mech":0.552757502,"sam_rpm":-11.0818005,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186873376,"thr_a_norm":0.0195056051,"thr_a_v":0.574749351,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465731293,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.498253,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.24105906,"cg_iw_a":0.0566809177,"cg_theta_rad":0.551554501,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00104477513,"mpcc_du":49.591732,"mpcc_dv":49.7445374,"mpcc_dw":50.408268,"mpcc_enc_sign":1,"mpcc_id_a":0.585488975,"mpcc_iq_a":-0.174062461,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.155295163,"mpcc_pred_id_a":-0.345131874,"mpcc_pred_iq_a":-1.68882716,"mpcc_state":1,"mpcc_theta_e":0.433156967,"mpcc_theta_mech":0.553577304,"sam_rpm":-0.970743477,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186873376,"thr_a_norm":0.0186873376,"thr_a_v":0.574749351,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465731293,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.508507,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.0384233,"cg_iw_a":-2.40790009,"cg_theta_rad":0.556075931,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0219285823,"mpcc_du":50.0283165,"mpcc_dv":48.8366356,"mpcc_dw":51.1633644,"mpcc_enc_sign":1,"mpcc_id_a":2.1406517,"mpcc_iq_a":-1.29403985,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.76139057,"mpcc_pred_id_a":0.266912162,"mpcc_pred_iq_a":-2.39592719,"mpcc_state":1,"mpcc_theta_e":0.444804192,"mpcc_theta_mech":0.555906773,"sam_rpm":-2.4927032,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0153387487,"thr_a_norm":0.0153387487,"thr_a_v":0.561354995,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461451113,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.51873,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.31354666,"cg_iw_a":-1.17560959,"cg_theta_rad":0.554090917,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00900786184,"mpcc_du":50.5112343,"mpcc_dv":48.3908844,"mpcc_dw":51.6091156,"mpcc_enc_sign":1,"mpcc_id_a":0.275608718,"mpcc_iq_a":-0.494542331,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.99899769,"mpcc_pred_id_a":-0.0793999881,"mpcc_pred_iq_a":-0.386837661,"mpcc_state":1,"mpcc_theta_e":0.438482761,"mpcc_theta_mech":0.554642498,"sam_rpm":-8.89437675,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0153387487,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453041911,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.528587,"values":{"cg_iu_a":1.32935333,"cg_iv_a":0.281181812,"cg_iw_a":-1.61053514,"cg_theta_rad":0.553445399,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0183538869,"mpcc_du":50.3912315,"mpcc_dv":48.5185394,"mpcc_dw":51.4814606,"mpcc_enc_sign":1,"mpcc_id_a":0.489161879,"mpcc_iq_a":-1.05929089,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.00330448,"mpcc_pred_id_a":-0.134640887,"mpcc_pred_iq_a":-2.53644252,"mpcc_state":1,"mpcc_theta_e":0.440885067,"mpcc_theta_mech":0.555122972,"sam_rpm":-9.97629166,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453041911,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.55172,"values":{"cg_iu_a":3.93890953,"cg_iv_a":1.36849689,"cg_iw_a":1.79638505,"cg_theta_rad":0.556607008,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00952721853,"mpcc_du":50.4454193,"mpcc_dv":50.5046577,"mpcc_dw":50.4152184,"mpcc_enc_sign":1,"mpcc_id_a":1.37931728,"mpcc_iq_a":0.33667323,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.5801249,"mpcc_pred_id_a":-0.118096486,"mpcc_pred_iq_a":-0.374441803,"mpcc_state":1,"mpcc_theta_e":0.431715012,"mpcc_theta_mech":0.555261612,"sam_rpm":-17.4024258,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0255230069,"thr_a_norm":0.0255230069,"thr_a_v":0.602092028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.55822,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-2.40086174,"cg_iw_a":-0.305757046,"cg_theta_rad":0.556514502,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00172079029,"mpcc_du":51.1672096,"mpcc_dv":47.6448174,"mpcc_dw":52.3551826,"mpcc_enc_sign":1,"mpcc_id_a":-0.808619559,"mpcc_iq_a":-1.83462715,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.0517159,"mpcc_pred_id_a":-0.627738476,"mpcc_pred_iq_a":1.00170302,"mpcc_state":1,"mpcc_theta_e":0.427396297,"mpcc_theta_mech":0.552425206,"sam_rpm":-25.2180996,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0255230069,"thr_a_norm":0.0255230069,"thr_a_v":0.602092028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.564781,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.371207237,"cg_iw_a":-2.33541203,"cg_theta_rad":0.555917323,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00123833481,"mpcc_du":50.1977158,"mpcc_dv":48.7849159,"mpcc_dw":51.2150841,"mpcc_enc_sign":1,"mpcc_id_a":0.652446091,"mpcc_iq_a":-0.894894063,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.13763142,"mpcc_pred_id_a":-0.329657406,"mpcc_pred_iq_a":-1.42485249,"mpcc_state":1,"mpcc_theta_e":0.431495667,"mpcc_theta_mech":0.553245068,"sam_rpm":-13.6282902,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0287583023,"thr_a_norm":0.0287583023,"thr_a_v":0.615033209,"thr_b":0.00272488594,"thr_b_norm":0.00272488594,"thr_b_v":0.510899544,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.571281,"values":{"cg_iu_a":3.93890953,"cg_iv_a":-1.96593571,"cg_iw_a":1.28897142,"cg_theta_rad":0.557841718,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.000889922492,"mpcc_du":50.1423149,"mpcc_dv":48.5765076,"mpcc_dw":51.4234924,"mpcc_enc_sign":1,"mpcc_id_a":0.455614179,"mpcc_iq_a":-1.27641332,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.74688005,"mpcc_pred_id_a":0.269560337,"mpcc_pred_iq_a":-0.994706631,"mpcc_state":1,"mpcc_theta_e":0.448539257,"mpcc_theta_mech":0.556653798,"sam_rpm":-11.4017334,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.107034788,"thr_a_norm":0.0287583023,"thr_a_v":0.92813915,"thr_b":0.0360597372,"thr_b_norm":0.00272488594,"thr_b_v":0.644238949,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.579491,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.371207237,"cg_iw_a":-2.98780107,"cg_theta_rad":0.554471493,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00821481459,"mpcc_du":49.4760246,"mpcc_dv":50.5239754,"mpcc_dw":50.3312035,"mpcc_enc_sign":1,"mpcc_id_a":1.08389747,"mpcc_iq_a":-0.142680183,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.28357363,"mpcc_pred_id_a":-0.100990623,"mpcc_pred_iq_a":-4.14561987,"mpcc_state":1,"mpcc_theta_e":0.446041107,"mpcc_theta_mech":0.556154132,"sam_rpm":8.33006668,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.107034788,"thr_a_norm":0.107034788,"thr_a_v":0.92813915,"thr_b":0.0360597372,"thr_b_norm":0.0360597372,"thr_b_v":0.644238949,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.589867,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.661157608,"cg_iw_a":-2.26292443,"cg_theta_rad":0.554476738,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0302259289,"mpcc_du":50.4476967,"mpcc_dv":48.4783173,"mpcc_dw":51.5216827,"mpcc_enc_sign":1,"mpcc_id_a":0.913793385,"mpcc_iq_a":-0.665871561,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.10402763,"mpcc_pred_id_a":-0.344397932,"mpcc_pred_iq_a":-2.52201843,"mpcc_state":1,"mpcc_theta_e":0.4472332,"mpcc_theta_mech":0.55639255,"sam_rpm":-13.2308493,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0306969434,"thr_a_norm":0.0306969434,"thr_a_v":0.622787774,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464371711,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.599998,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.588670254,"cg_iw_a":-1.97297335,"cg_theta_rad":0.557389438,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0212824959,"mpcc_du":49.9404449,"mpcc_dv":48.8622971,"mpcc_dw":51.1377029,"mpcc_enc_sign":1,"mpcc_id_a":2.90803909,"mpcc_iq_a":-1.19558144,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.6765556,"mpcc_pred_id_a":0.253532737,"mpcc_pred_iq_a":-2.57112765,"mpcc_state":1,"mpcc_theta_e":0.43129921,"mpcc_theta_mech":0.553205788,"sam_rpm":-18.530674,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0306969434,"thr_a_norm":0.0306969434,"thr_a_v":0.622787774,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464371711,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.610252,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.951108456,"cg_iw_a":-0.81317091,"cg_theta_rad":0.55619359,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0651107728,"mpcc_du":50.0489578,"mpcc_dv":48.916729,"mpcc_dw":51.083271,"mpcc_enc_sign":1,"mpcc_id_a":2.18846226,"mpcc_iq_a":-1.68167114,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.77366734,"mpcc_pred_id_a":-0.020225225,"mpcc_pred_iq_a":-3.75428486,"mpcc_state":1,"mpcc_theta_e":0.458265781,"mpcc_theta_mech":0.558599055,"sam_rpm":14.4770975,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224513561,"thr_a_norm":0.0224513561,"thr_a_v":0.589805424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.620506,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.298719406,"cg_iw_a":-0.305757523,"cg_theta_rad":0.557424009,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0180287454,"mpcc_du":48.8444061,"mpcc_dv":51.1555939,"mpcc_dw":49.5114937,"mpcc_enc_sign":1,"mpcc_id_a":1.16485023,"mpcc_iq_a":-2.16889644,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.6069784,"mpcc_pred_id_a":-0.275502473,"mpcc_pred_iq_a":-3.68704629,"mpcc_state":1,"mpcc_theta_e":0.4427495,"mpcc_theta_mech":0.555495858,"sam_rpm":16.9547081,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0293877274,"thr_a_norm":0.0224513561,"thr_a_v":0.61755091,"thr_b":0.00127717853,"thr_b_norm":0,"thr_b_v":0.505108714,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.630486,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.16857147,"cg_iw_a":-1.61053514,"cg_theta_rad":0.553838015,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0101728551,"mpcc_du":50.3565941,"mpcc_dv":48.6721687,"mpcc_dw":51.3278313,"mpcc_enc_sign":1,"mpcc_id_a":1.72556889,"mpcc_iq_a":-2.05675983,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.70104599,"mpcc_pred_id_a":-0.505461156,"mpcc_pred_iq_a":-3.19889545,"mpcc_state":1,"mpcc_theta_e":0.44438076,"mpcc_theta_mech":0.555822074,"sam_rpm":-8.01411247,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0293877274,"thr_a_norm":0.0293877274,"thr_a_v":0.61755091,"thr_b":0.00127717853,"thr_b_norm":0.00127717853,"thr_b_v":0.505108714,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.65374,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.443694592,"cg_iw_a":-1.32058477,"cg_theta_rad":0.554677784,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00867703743,"mpcc_du":50.7973404,"mpcc_dv":47.9981461,"mpcc_dw":52.0018539,"mpcc_enc_sign":1,"mpcc_id_a":0.895266354,"mpcc_iq_a":-0.368145555,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.22661972,"mpcc_pred_id_a":-0.14934966,"mpcc_pred_iq_a":1.5479455,"mpcc_state":1,"mpcc_theta_e":0.437585354,"mpcc_theta_mech":0.554463029,"sam_rpm":-8.92082882,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183852166,"thr_a_norm":0.0183852166,"thr_a_v":0.573540866,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.66024,"values":{"cg_iu_a":2.92408228,"cg_iv_a":0.426157475,"cg_iw_a":-1.32058477,"cg_theta_rad":0.551459312,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0288666673,"mpcc_du":48.7716599,"mpcc_dv":51.2283401,"mpcc_dw":49.4967308,"mpcc_enc_sign":1,"mpcc_id_a":2.81047964,"mpcc_iq_a":-0.238511324,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.7210026,"mpcc_pred_id_a":0.0139132468,"mpcc_pred_iq_a":-6.82157135,"mpcc_state":1,"mpcc_theta_e":0.450298786,"mpcc_theta_mech":0.557005644,"sam_rpm":15.2670631,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183852166,"thr_a_norm":0.0183852166,"thr_a_v":0.573540866,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.66674,"values":{"cg_iu_a":-0.337862968,"cg_iv_a":-1.16857147,"cg_iw_a":0.419119358,"cg_theta_rad":0.554322004,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0090183327,"mpcc_du":50.3293495,"mpcc_dv":48.5882263,"mpcc_dw":51.4117737,"mpcc_enc_sign":1,"mpcc_id_a":-0.315303743,"mpcc_iq_a":-2.15121007,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.5526419,"mpcc_pred_id_a":-0.256677389,"mpcc_pred_iq_a":-0.826218069,"mpcc_state":1,"mpcc_theta_e":0.427269936,"mpcc_theta_mech":0.552399874,"sam_rpm":-20.8123283,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270965844,"thr_a_norm":0.0270965844,"thr_a_v":0.608386338,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.673454,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.24105906,"cg_iw_a":-1.24809718,"cg_theta_rad":0.557866871,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0097644804,"mpcc_du":50.3922348,"mpcc_dv":48.364296,"mpcc_dw":51.635704,"mpcc_enc_sign":1,"mpcc_id_a":2.34920359,"mpcc_iq_a":-0.861540079,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.6417065,"mpcc_pred_id_a":0.0093856398,"mpcc_pred_iq_a":-4.67284727,"mpcc_state":1,"mpcc_theta_e":0.453661919,"mpcc_theta_mech":0.557678282,"sam_rpm":-7.6162672,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02428931,"thr_a_norm":0.02428931,"thr_a_v":0.59715724,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476305783,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.68325,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.951108456,"cg_iw_a":-0.740683079,"cg_theta_rad":0.55560106,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0357157439,"mpcc_du":50.465786,"mpcc_dv":48.4444351,"mpcc_dw":51.5555649,"mpcc_enc_sign":1,"mpcc_id_a":0.349410892,"mpcc_iq_a":-1.50863874,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.6166923,"mpcc_pred_id_a":-0.200034946,"mpcc_pred_iq_a":-2.94355011,"mpcc_state":1,"mpcc_theta_e":0.446757793,"mpcc_theta_mech":0.556297481,"sam_rpm":-4.01168585,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02428931,"thr_a_norm":0.02428931,"thr_a_v":0.59715724,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476305783,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.693443,"values":{"cg_iu_a":4.44632339,"cg_iv_a":-1.74847269,"cg_iw_a":0.346631527,"cg_theta_rad":0.556986213,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0427703299,"mpcc_du":48.9531326,"mpcc_dv":51.0468674,"mpcc_dw":49.9385986,"mpcc_enc_sign":1,"mpcc_id_a":3.94475698,"mpcc_iq_a":-0.189685136,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.8038282,"mpcc_pred_id_a":0.605510056,"mpcc_pred_iq_a":-2.01935434,"mpcc_state":1,"mpcc_theta_e":0.440570354,"mpcc_theta_mech":0.555059969,"sam_rpm":16.7649441,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0369409472,"thr_a_norm":0.0369409472,"thr_a_v":0.647763789,"thr_b":0.00281299651,"thr_b_norm":0.00281299651,"thr_b_v":0.511251986,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.703697,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.588670254,"cg_iw_a":-1.97297335,"cg_theta_rad":0.55611378,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.024361847,"mpcc_du":50.0000267,"mpcc_dv":49.0415497,"mpcc_dw":50.9584503,"mpcc_enc_sign":1,"mpcc_id_a":1.74755049,"mpcc_iq_a":-2.42855668,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.73071575,"mpcc_pred_id_a":-0.239281699,"mpcc_pred_iq_a":-3.70220518,"mpcc_state":1,"mpcc_theta_e":0.452963352,"mpcc_theta_mech":0.557538569,"sam_rpm":5.90917921,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02428931,"thr_a_norm":0.0369409472,"thr_a_v":0.59715724,"thr_b":0,"thr_b_norm":0.00281299651,"thr_b_v":0.479780257,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.714653,"values":{"cg_iu_a":3.8664217,"cg_iv_a":-1.24105906,"cg_iw_a":-2.62536263,"cg_theta_rad":0.554064989,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0779392123,"mpcc_du":49.8337479,"mpcc_dv":48.8305435,"mpcc_dw":51.1694565,"mpcc_enc_sign":1,"mpcc_id_a":3.05131745,"mpcc_iq_a":-0.554668903,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.41009045,"mpcc_pred_id_a":0.715060294,"mpcc_pred_iq_a":-5.84093428,"mpcc_state":1,"mpcc_theta_e":0.440463543,"mpcc_theta_mech":0.555038631,"sam_rpm":-11.1586905,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02428931,"thr_a_norm":0.02428931,"thr_a_v":0.59715724,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479780257,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.725853,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.60349751,"cg_iw_a":0.854045391,"cg_theta_rad":0.557444036,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0114716077,"mpcc_du":50.0545883,"mpcc_dv":48.9494553,"mpcc_dw":51.0505447,"mpcc_enc_sign":1,"mpcc_id_a":0.581411719,"mpcc_iq_a":-0.690196812,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.13385797,"mpcc_pred_id_a":-0.173910543,"mpcc_pred_iq_a":-2.39229393,"mpcc_state":1,"mpcc_theta_e":0.445136547,"mpcc_theta_mech":0.555973232,"sam_rpm":-3.49634361,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024113059,"thr_a_norm":0.024113059,"thr_a_v":0.596452236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474190891,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.736137,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.16857147,"cg_iw_a":-1.82799864,"cg_theta_rad":0.5555529,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0204213969,"mpcc_du":49.5274353,"mpcc_dv":49.4991112,"mpcc_dw":50.5008888,"mpcc_enc_sign":1,"mpcc_id_a":2.76577544,"mpcc_iq_a":-0.125309244,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.81320572,"mpcc_pred_id_a":0.26650852,"mpcc_pred_iq_a":-0.557634115,"mpcc_state":1,"mpcc_theta_e":0.434392929,"mpcc_theta_mech":0.553824484,"sam_rpm":2.24204779,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0389425457,"thr_a_norm":0.024113059,"thr_a_v":0.655770183,"thr_b":0.0133749098,"thr_b_norm":0,"thr_b_v":0.553499639,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.75927,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.53100967,"cg_iw_a":-0.885658741,"cg_theta_rad":0.559289992,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0164238941,"mpcc_du":50.2940331,"mpcc_dv":48.6131516,"mpcc_dw":51.3868484,"mpcc_enc_sign":1,"mpcc_id_a":1.04943097,"mpcc_iq_a":-0.721463621,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.78447008,"mpcc_pred_id_a":-0.0693475977,"mpcc_pred_iq_a":-1.96265423,"mpcc_state":1,"mpcc_theta_e":0.440446377,"mpcc_theta_mech":0.555035174,"sam_rpm":-7.71390724,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0389425457,"thr_a_norm":0.0389425457,"thr_a_v":0.655770183,"thr_b":0.0133749098,"thr_b_norm":0.0133749098,"thr_b_v":0.553499639,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.7658,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.82096052,"cg_iw_a":-1.03063393,"cg_theta_rad":0.556193113,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0296036936,"mpcc_du":50.8094063,"mpcc_dv":48.0780373,"mpcc_dw":51.9219627,"mpcc_enc_sign":1,"mpcc_id_a":0.632859349,"mpcc_iq_a":-0.908851206,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.73496437,"mpcc_pred_id_a":-0.42599526,"mpcc_pred_iq_a":-4.40674686,"mpcc_state":1,"mpcc_theta_e":0.453212738,"mpcc_theta_mech":0.557588458,"sam_rpm":12.3690605,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026051715,"thr_a_norm":0.026051715,"thr_a_v":0.60420686,"thr_b":0.00108835101,"thr_b_norm":0.00108835101,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.772362,"values":{"cg_iu_a":4.5912981,"cg_iv_a":-1.60349751,"cg_iw_a":0.78155756,"cg_theta_rad":0.556072414,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0237032603,"mpcc_du":49.5039902,"mpcc_dv":49.5991554,"mpcc_dw":50.4960098,"mpcc_enc_sign":1,"mpcc_id_a":2.45481753,"mpcc_iq_a":0.0569161363,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.37742376,"mpcc_pred_id_a":0.134015009,"mpcc_pred_iq_a":-1.83857191,"mpcc_state":1,"mpcc_theta_e":0.437763691,"mpcc_theta_mech":0.554498613,"sam_rpm":6.41591263,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026051715,"thr_a_norm":0.026051715,"thr_a_v":0.60420686,"thr_b":0.00108835101,"thr_b_norm":0.00108835101,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.778893,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.371207237,"cg_iw_a":0.0566811562,"cg_theta_rad":0.554314733,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0163645484,"mpcc_du":50.1946831,"mpcc_dv":48.6821861,"mpcc_dw":51.3178139,"mpcc_enc_sign":1,"mpcc_id_a":1.3371979,"mpcc_iq_a":-0.620938301,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.90508318,"mpcc_pred_id_a":0.143804163,"mpcc_pred_iq_a":-2.10214543,"mpcc_state":1,"mpcc_theta_e":0.437485695,"mpcc_theta_mech":0.554443061,"sam_rpm":-8.34919548,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0117887408,"thr_a_norm":0.0117887408,"thr_a_v":0.547154963,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446596503,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.786888,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.6759851,"cg_iw_a":0.999020815,"cg_theta_rad":0.552791417,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00114015269,"mpcc_du":50.3853302,"mpcc_dv":48.5985184,"mpcc_dw":51.4014816,"mpcc_enc_sign":1,"mpcc_id_a":0.0964240879,"mpcc_iq_a":-1.23744643,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.530673,"mpcc_pred_id_a":-0.442202687,"mpcc_pred_iq_a":-2.54684806,"mpcc_state":1,"mpcc_theta_e":0.43089962,"mpcc_theta_mech":0.553125799,"sam_rpm":-19.9455051,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253341794,"thr_a_norm":0.0117887408,"thr_a_v":0.601336718,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.796867,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.806133032,"cg_iw_a":-1.61053538,"cg_theta_rad":0.552548051,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0131314974,"mpcc_du":50.2760239,"mpcc_dv":48.6702232,"mpcc_dw":51.3297768,"mpcc_enc_sign":1,"mpcc_id_a":2.11124659,"mpcc_iq_a":-1.86929584,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.82738352,"mpcc_pred_id_a":-0.159692332,"mpcc_pred_iq_a":-2.21684718,"mpcc_state":1,"mpcc_theta_e":0.440326691,"mpcc_theta_mech":0.555011272,"sam_rpm":-9.03228283,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253341794,"thr_a_norm":0.0253341794,"thr_a_v":0.601336718,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.80706,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.668195724,"cg_theta_rad":0.554840684,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0185000561,"mpcc_du":49.8869438,"mpcc_dv":49.0974884,"mpcc_dw":50.9025116,"mpcc_enc_sign":1,"mpcc_id_a":1.23018885,"mpcc_iq_a":-1.66705728,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.37018871,"mpcc_pred_id_a":-0.00919283461,"mpcc_pred_iq_a":-2.65167856,"mpcc_state":1,"mpcc_theta_e":0.454089165,"mpcc_theta_mech":0.557763755,"sam_rpm":9.69351578,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0191657096,"thr_a_norm":0.0191657096,"thr_a_v":0.576662838,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.817039,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-2.76329994,"cg_iw_a":-0.378245354,"cg_theta_rad":0.55711025,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0163118932,"mpcc_du":50.0882263,"mpcc_dv":48.7505264,"mpcc_dw":51.2494736,"mpcc_enc_sign":1,"mpcc_id_a":2.07013249,"mpcc_iq_a":-1.95079958,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.93325853,"mpcc_pred_id_a":0.15054749,"mpcc_pred_iq_a":-2.67217851,"mpcc_state":1,"mpcc_theta_e":0.443118095,"mpcc_theta_mech":0.55556953,"sam_rpm":-4.46926689,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0191657096,"thr_a_norm":0.0191657096,"thr_a_v":0.576662838,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.82708,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.443694592,"cg_iw_a":-5.52486944,"cg_theta_rad":0.555042922,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0351194963,"mpcc_du":49.3753128,"mpcc_dv":50.6246872,"mpcc_dw":50.0909576,"mpcc_enc_sign":1,"mpcc_id_a":0.428341925,"mpcc_iq_a":-1.71726108,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.78587008,"mpcc_pred_id_a":-0.450359255,"mpcc_pred_iq_a":-1.50199831,"mpcc_state":1,"mpcc_theta_e":0.434831619,"mpcc_theta_mech":0.553912222,"sam_rpm":5.29630041,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0143820047,"thr_a_norm":0.0143820047,"thr_a_v":0.557528019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.433453888,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.837242,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.0087685585,"cg_iw_a":-3.13277674,"cg_theta_rad":0.557175159,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.000756185211,"mpcc_du":49.3917351,"mpcc_dv":50.6082649,"mpcc_dw":50.151886,"mpcc_enc_sign":1,"mpcc_id_a":0.457314968,"mpcc_iq_a":-1.7907505,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.44225311,"mpcc_pred_id_a":-0.261918813,"mpcc_pred_iq_a":-4.97310066,"mpcc_state":1,"mpcc_theta_e":0.445534229,"mpcc_theta_mech":0.556052804,"sam_rpm":9.83859539,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215575695,"thr_a_norm":0.0143820047,"thr_a_v":0.586230278,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480132759,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.860313,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.74847269,"cg_iw_a":1.5064342,"cg_theta_rad":0.557593644,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00270777801,"mpcc_du":49.3085518,"mpcc_dv":50.6914482,"mpcc_dw":49.9494743,"mpcc_enc_sign":1,"mpcc_id_a":-0.0367668644,"mpcc_iq_a":-1.68586707,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.54462886,"mpcc_pred_id_a":-0.494868368,"mpcc_pred_iq_a":-3.25562286,"mpcc_state":1,"mpcc_theta_e":0.434912682,"mpcc_theta_mech":0.553928494,"sam_rpm":14.9385729,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215575695,"thr_a_norm":0.0215575695,"thr_a_v":0.586230278,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480132759,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.866783,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-2.25588632,"cg_iw_a":0.274144173,"cg_theta_rad":0.554996133,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0301784649,"mpcc_du":50.0231361,"mpcc_dv":48.7030792,"mpcc_dw":51.2969208,"mpcc_enc_sign":1,"mpcc_id_a":2.88427305,"mpcc_iq_a":-0.0481907278,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.21713543,"mpcc_pred_id_a":0.497859091,"mpcc_pred_iq_a":-1.9660821,"mpcc_state":1,"mpcc_theta_e":0.436565399,"mpcc_theta_mech":0.554259002,"sam_rpm":-10.9102364,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201098621,"thr_a_norm":0.0201098621,"thr_a_v":0.580439448,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457624167,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.873344,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.661157608,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556826293,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0360393412,"mpcc_du":49.891964,"mpcc_dv":48.9755096,"mpcc_dw":51.0244904,"mpcc_enc_sign":1,"mpcc_id_a":0.186184376,"mpcc_iq_a":-1.88441634,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.22489834,"mpcc_pred_id_a":-0.602760732,"mpcc_pred_iq_a":-3.29857373,"mpcc_state":1,"mpcc_theta_e":0.437428951,"mpcc_theta_mech":0.554431736,"sam_rpm":-5.94817829,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201098621,"thr_a_norm":0.0201098621,"thr_a_v":0.580439448,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457624167,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.881096,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.96593571,"cg_iw_a":-0.450732708,"cg_theta_rad":0.555774391,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0139958812,"mpcc_du":50.0813484,"mpcc_dv":48.6810875,"mpcc_dw":51.3189125,"mpcc_enc_sign":1,"mpcc_id_a":2.25845313,"mpcc_iq_a":-1.04656804,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.10171032,"mpcc_pred_id_a":0.282554328,"mpcc_pred_iq_a":-1.26972342,"mpcc_state":1,"mpcc_theta_e":0.435574055,"mpcc_theta_mech":0.554060698,"sam_rpm":-9.0389595,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195559561,"thr_a_norm":0.0195559561,"thr_a_v":0.578223825,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483204395,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.890495,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.371207237,"cg_iw_a":0.781557798,"cg_theta_rad":0.556842268,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00370152947,"mpcc_du":49.56464,"mpcc_dv":50.1501999,"mpcc_dw":50.43536,"mpcc_enc_sign":1,"mpcc_id_a":1.00717854,"mpcc_iq_a":-1.31172156,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.07562685,"mpcc_pred_id_a":-0.472689062,"mpcc_pred_iq_a":-0.916161597,"mpcc_state":1,"mpcc_theta_e":0.445797443,"mpcc_theta_mech":0.557567537,"sam_rpm":15.4219313,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167486817,"thr_a_norm":0.0195559561,"thr_a_v":0.566994727,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477665365,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.902275,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.31354666,"cg_iw_a":-1.32058477,"cg_theta_rad":0.552764952,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.029291328,"mpcc_du":50.2930298,"mpcc_dv":48.3091202,"mpcc_dw":51.6908798,"mpcc_enc_sign":1,"mpcc_id_a":2.3799727,"mpcc_iq_a":-0.772489071,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.9010944,"mpcc_pred_id_a":0.368707299,"mpcc_pred_iq_a":1.62076426,"mpcc_state":1,"mpcc_theta_e":0.416006088,"mpcc_theta_mech":0.550147116,"sam_rpm":-24.2856598,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167486817,"thr_a_norm":0.0167486817,"thr_a_v":0.566994727,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477665365,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.912468,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.31354666,"cg_iw_a":0.564094543,"cg_theta_rad":0.555408955,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0236964859,"mpcc_du":50.3650551,"mpcc_dv":48.6235695,"mpcc_dw":51.3764305,"mpcc_enc_sign":1,"mpcc_id_a":1.88775945,"mpcc_iq_a":-2.48454618,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.34655872,"mpcc_pred_id_a":-0.364581823,"mpcc_pred_iq_a":-2.57177305,"mpcc_state":1,"mpcc_theta_e":0.44900322,"mpcc_theta_mech":0.556746542,"sam_rpm":1.58301151,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022803843,"thr_a_norm":0.022803843,"thr_a_v":0.591215372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.922783,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.6759851,"cg_iw_a":-0.305757284,"cg_theta_rad":0.555197656,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0209384486,"mpcc_du":48.7422676,"mpcc_dv":51.2577324,"mpcc_dw":49.4086456,"mpcc_enc_sign":1,"mpcc_id_a":2.6135664,"mpcc_iq_a":-1.66136956,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.745121,"mpcc_pred_id_a":0.397249341,"mpcc_pred_iq_a":-0.27113983,"mpcc_state":1,"mpcc_theta_e":0.432008743,"mpcc_theta_mech":0.554596364,"sam_rpm":-13.8085909,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202860981,"thr_a_norm":0.022803843,"thr_a_v":0.581144392,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463566035,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.932854,"values":{"cg_iu_a":2.85159445,"cg_iv_a":0.353669643,"cg_iw_a":-0.160782337,"cg_theta_rad":0.553891957,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00381653267,"mpcc_du":50.2076111,"mpcc_dv":48.7157707,"mpcc_dw":51.2842293,"mpcc_enc_sign":1,"mpcc_id_a":0.308247596,"mpcc_iq_a":-2.09358311,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.67774773,"mpcc_pred_id_a":-0.183443755,"mpcc_pred_iq_a":-1.18631065,"mpcc_state":1,"mpcc_theta_e":0.447820663,"mpcc_theta_mech":0.556510091,"sam_rpm":1.12172389,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202860981,"thr_a_norm":0.0202860981,"thr_a_v":0.581144392,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463566035,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.943047,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-0.516182423,"cg_iw_a":0.491607189,"cg_theta_rad":0.558558643,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0641175956,"mpcc_du":49.77565,"mpcc_dv":49.1322594,"mpcc_dw":50.8677406,"mpcc_enc_sign":1,"mpcc_id_a":1.72679543,"mpcc_iq_a":-0.309876591,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.32281983,"mpcc_pred_id_a":0.153609201,"mpcc_pred_iq_a":-5.04677486,"mpcc_state":1,"mpcc_theta_e":0.445477009,"mpcc_theta_mech":0.55604136,"sam_rpm":-0.058725968,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183726251,"thr_a_norm":0.0183726251,"thr_a_v":0.5734905,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.966087,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.16857147,"cg_iw_a":0.0566811562,"cg_theta_rad":0.556478083,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0533531085,"mpcc_du":48.4241791,"mpcc_dv":51.5758209,"mpcc_dw":49.3587532,"mpcc_enc_sign":1,"mpcc_id_a":4.61960602,"mpcc_iq_a":-1.49574935,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.0972576,"mpcc_pred_id_a":0.709540248,"mpcc_pred_iq_a":-6.949718,"mpcc_state":1,"mpcc_theta_e":0.452318192,"mpcc_theta_mech":0.557409585,"sam_rpm":18.960186,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183726251,"thr_a_norm":0.0183726251,"thr_a_v":0.5734905,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.972649,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.153744221,"cg_iw_a":-0.378244877,"cg_theta_rad":0.556554019,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00605619047,"mpcc_du":49.4339867,"mpcc_dv":49.7974434,"mpcc_dw":50.5660133,"mpcc_enc_sign":1,"mpcc_id_a":1.11768448,"mpcc_iq_a":-2.45886135,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.27990961,"mpcc_pred_id_a":0.198434547,"mpcc_pred_iq_a":-5.50009537,"mpcc_state":1,"mpcc_theta_e":0.437531471,"mpcc_theta_mech":0.554452181,"sam_rpm":14.2634525,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0413721651,"thr_a_norm":0.0413721651,"thr_a_v":0.66548866,"thr_b":0.00885556638,"thr_b_norm":0.00885556638,"thr_b_v":0.535422266,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.979149,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.0087685585,"cg_iw_a":-1.97297382,"cg_theta_rad":0.555504858,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.0432867147,"mpcc_du":50.2683105,"mpcc_dv":48.2812576,"mpcc_dw":51.7187424,"mpcc_enc_sign":1,"mpcc_id_a":3.29979801,"mpcc_iq_a":-0.544571579,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0274236407,"mpcc_pred_id_a":0.773969531,"mpcc_pred_iq_a":0.444330692,"mpcc_state":1,"mpcc_theta_e":0.443721771,"mpcc_theta_mech":0.555690289,"sam_rpm":0.495853275,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0413721651,"thr_a_norm":0.0413721651,"thr_a_v":0.66548866,"thr_b":0.00885556638,"thr_b_norm":0.00885556638,"thr_b_v":0.535422266,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.98568,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-0.588670254,"cg_iw_a":1.50643444,"cg_theta_rad":0.557085931,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.09082,"hz_adc_isr":5004,"hz_app_loop":364,"hz_tim_isr":10008,"hz_vsense":364,"mpcc_cost":0.00521627394,"mpcc_du":49.6044769,"mpcc_dv":49.4967766,"mpcc_dw":50.5032234,"mpcc_enc_sign":1,"mpcc_id_a":0.583044946,"mpcc_iq_a":0.332080692,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.107264429,"mpcc_pred_id_a":-0.230819225,"mpcc_pred_iq_a":-2.25809646,"mpcc_state":1,"mpcc_theta_e":0.438269138,"mpcc_theta_mech":0.554599702,"sam_rpm":-0.688706338,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188509971,"thr_a_norm":0.0188509971,"thr_a_v":0.575403988,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453243315,"vdc_v":55.2955055}} +{"type":"telemetry","t":84.99688,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.878620625,"cg_iw_a":-0.523220539,"cg_theta_rad":0.55786711,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0286708176,"mpcc_du":50.3248901,"mpcc_dv":48.6175995,"mpcc_dw":51.3824005,"mpcc_enc_sign":1,"mpcc_id_a":0.405310899,"mpcc_iq_a":-0.0479905568,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.7958312,"mpcc_pred_id_a":-0.23826237,"mpcc_pred_iq_a":-2.56287098,"mpcc_state":1,"mpcc_theta_e":0.441026688,"mpcc_theta_mech":0.555151284,"sam_rpm":-9.4811306,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216330886,"thr_a_norm":0.0188509971,"thr_a_v":0.586532354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462508589,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.006889,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.806133032,"cg_iw_a":-0.233269691,"cg_theta_rad":0.554730713,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.00222736853,"mpcc_du":50.2431641,"mpcc_dv":48.6565552,"mpcc_dw":51.3434448,"mpcc_enc_sign":1,"mpcc_id_a":0.780848801,"mpcc_iq_a":-0.958212733,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.42938137,"mpcc_pred_id_a":-0.142788991,"mpcc_pred_iq_a":0.362403005,"mpcc_state":1,"mpcc_theta_e":0.43492794,"mpcc_theta_mech":0.553931534,"sam_rpm":-9.08951187,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216330886,"thr_a_norm":0.0216330886,"thr_a_v":0.586532354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462508589,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.016869,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-1.31354666,"cg_iw_a":-2.26292467,"cg_theta_rad":0.557110429,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.00317179831,"mpcc_du":49.8488922,"mpcc_dv":49.1816406,"mpcc_dw":50.8183594,"mpcc_enc_sign":1,"mpcc_id_a":-0.471161634,"mpcc_iq_a":-2.87979984,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.04995298,"mpcc_pred_id_a":-0.939742088,"mpcc_pred_iq_a":-4.33092928,"mpcc_state":1,"mpcc_theta_e":0.447707176,"mpcc_theta_mech":0.556238115,"sam_rpm":7.4025526,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0321068913,"thr_a_norm":0.0321068913,"thr_a_v":0.628427565,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.027885,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.661157608,"cg_iw_a":-1.10312176,"cg_theta_rad":0.55643183,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.00668702135,"mpcc_du":49.8526611,"mpcc_dv":48.930687,"mpcc_dw":51.069313,"mpcc_enc_sign":1,"mpcc_id_a":1.63083494,"mpcc_iq_a":-1.0230639,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.1020994,"mpcc_pred_id_a":0.263970971,"mpcc_pred_iq_a":-3.03910255,"mpcc_state":1,"mpcc_theta_e":0.431592941,"mpcc_theta_mech":0.553264499,"sam_rpm":-17.7631245,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0321068913,"thr_a_norm":0.0321068913,"thr_a_v":0.628427565,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.037224,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.24105906,"cg_iw_a":-1.61053514,"cg_theta_rad":0.557070374,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0219963286,"mpcc_du":49.5761299,"mpcc_dv":49.9411278,"mpcc_dw":50.4238701,"mpcc_enc_sign":1,"mpcc_id_a":1.27044046,"mpcc_iq_a":-1.08622789,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.7246714,"mpcc_pred_id_a":-0.258699685,"mpcc_pred_iq_a":-3.02988935,"mpcc_state":1,"mpcc_theta_e":0.456829071,"mpcc_theta_mech":0.55831176,"sam_rpm":21.3058453,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024818033,"thr_a_norm":0.024818033,"thr_a_v":0.599272132,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491915792,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.062675,"values":{"cg_iu_a":-0.627813578,"cg_iv_a":-0.661157608,"cg_iw_a":-1.97297382,"cg_theta_rad":0.556678116,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.000839059358,"mpcc_du":51.1204185,"mpcc_dv":47.4817314,"mpcc_dw":48.7655449,"mpcc_enc_sign":1,"mpcc_id_a":0.51244992,"mpcc_iq_a":-1.19899952,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.8313904,"mpcc_pred_id_a":-0.0558941364,"mpcc_pred_iq_a":2.70195508,"mpcc_state":1,"mpcc_theta_e":0.431470871,"mpcc_theta_mech":0.553240061,"sam_rpm":-17.8728466,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105121315,"thr_a_norm":0.024818033,"thr_a_v":0.920485258,"thr_b":0.0467223525,"thr_b_norm":0,"thr_b_v":0.68688941,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.069237,"values":{"cg_iu_a":-0.555325985,"cg_iv_a":-1.24105906,"cg_iw_a":1.79638505,"cg_theta_rad":0.557030618,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0111962166,"mpcc_du":50.1238823,"mpcc_dv":48.8474388,"mpcc_dw":51.1525612,"mpcc_enc_sign":1,"mpcc_id_a":0.525278986,"mpcc_iq_a":-0.473778278,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.18823099,"mpcc_pred_id_a":-0.260388196,"mpcc_pred_iq_a":-2.34805489,"mpcc_state":1,"mpcc_theta_e":0.439592361,"mpcc_theta_mech":0.554864407,"sam_rpm":-7.21827888,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105121315,"thr_a_norm":0.105121315,"thr_a_v":0.920485258,"thr_b":0.0467223525,"thr_b_norm":0.0467223525,"thr_b_v":0.68688941,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.075768,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-2.98076296,"cg_iw_a":-1.4655602,"cg_theta_rad":0.552753508,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.00585690467,"mpcc_du":49.9208069,"mpcc_dv":49.1637192,"mpcc_dw":50.8362808,"mpcc_enc_sign":1,"mpcc_id_a":0.456846535,"mpcc_iq_a":-0.623215675,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.46859789,"mpcc_pred_id_a":-0.527064443,"mpcc_pred_iq_a":-3.70793319,"mpcc_state":1,"mpcc_theta_e":0.435091972,"mpcc_theta_mech":0.553964317,"sam_rpm":-11.2196512,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195685476,"thr_a_norm":0.0195685476,"thr_a_v":0.57827419,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467342645,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.082268,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.733645439,"cg_iw_a":-1.39307213,"cg_theta_rad":0.556429148,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":3.65455926e-05,"mpcc_du":49.3727684,"mpcc_dv":50.6272316,"mpcc_dw":50.0738068,"mpcc_enc_sign":1,"mpcc_id_a":0.114884317,"mpcc_iq_a":-1.67214561,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.32002854,"mpcc_pred_id_a":-0.483244658,"mpcc_pred_iq_a":-5.54272032,"mpcc_state":1,"mpcc_theta_e":0.443942547,"mpcc_theta_mech":0.555734456,"sam_rpm":4.04435539,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195685476,"thr_a_norm":0.0195685476,"thr_a_v":0.57827419,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467342645,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.090477,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.16857147,"cg_iw_a":0.636582375,"cg_theta_rad":0.558561623,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0211445764,"mpcc_du":49.1104927,"mpcc_dv":50.8895073,"mpcc_dw":49.7622528,"mpcc_enc_sign":1,"mpcc_id_a":0.112038322,"mpcc_iq_a":0.508188367,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.57917118,"mpcc_pred_id_a":-0.5518139,"mpcc_pred_iq_a":-6.04224014,"mpcc_state":1,"mpcc_theta_e":0.450474262,"mpcc_theta_mech":0.557040811,"sam_rpm":13.865571,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234332681,"thr_a_norm":0.0234332681,"thr_a_v":0.593733072,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.100456,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.24105906,"cg_iw_a":-0.378244877,"cg_theta_rad":0.555441737,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0410982706,"mpcc_du":49.564209,"mpcc_dv":48.176281,"mpcc_dw":51.823719,"mpcc_enc_sign":1,"mpcc_id_a":0.258449018,"mpcc_iq_a":-1.00862586,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.6978369,"mpcc_pred_id_a":-0.386910647,"mpcc_pred_iq_a":-4.32473612,"mpcc_state":1,"mpcc_theta_e":0.456965923,"mpcc_theta_mech":0.558339059,"sam_rpm":16.94491,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291359574,"thr_a_norm":0.0234332681,"thr_a_v":0.616543829,"thr_b":0.00189402699,"thr_b_norm":0,"thr_b_v":0.507576108,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.110466,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.951108456,"cg_iw_a":0.564094543,"cg_theta_rad":0.557324231,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0279731788,"mpcc_du":49.5484543,"mpcc_dv":49.5091209,"mpcc_dw":50.4908791,"mpcc_enc_sign":1,"mpcc_id_a":2.27529049,"mpcc_iq_a":-2.17283559,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.8891144,"mpcc_pred_id_a":-0.108712569,"mpcc_pred_iq_a":-3.23523593,"mpcc_state":1,"mpcc_theta_e":0.452786446,"mpcc_theta_mech":0.557503164,"sam_rpm":18.5782166,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291359574,"thr_a_norm":0.0291359574,"thr_a_v":0.616543829,"thr_b":0.00189402699,"thr_b_norm":0.00189402699,"thr_b_v":0.507576108,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.120659,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.53100967,"cg_iw_a":-1.10312176,"cg_theta_rad":0.55610913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.028422039,"mpcc_du":50.3912735,"mpcc_dv":48.345768,"mpcc_dw":51.654232,"mpcc_enc_sign":1,"mpcc_id_a":2.66635942,"mpcc_iq_a":-1.53969812,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.43585777,"mpcc_pred_id_a":0.190780118,"mpcc_pred_iq_a":-1.67786729,"mpcc_state":1,"mpcc_theta_e":0.443355083,"mpcc_theta_mech":0.555616915,"sam_rpm":-7.89009571,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242389441,"thr_a_norm":0.0242389441,"thr_a_v":0.596955776,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482600152,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.130455,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.226231575,"cg_iw_a":-1.97297382,"cg_theta_rad":0.554732025,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0183856338,"mpcc_du":49.8353271,"mpcc_dv":49.2843971,"mpcc_dw":50.7156029,"mpcc_enc_sign":1,"mpcc_id_a":0.655606389,"mpcc_iq_a":-0.536533952,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.27635002,"mpcc_pred_id_a":-0.32391724,"mpcc_pred_iq_a":-3.63549781,"mpcc_state":1,"mpcc_theta_e":0.441205502,"mpcc_theta_mech":0.555187047,"sam_rpm":0.13658461,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242389441,"thr_a_norm":0.0242389441,"thr_a_v":0.596955776,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482600152,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.140678,"values":{"cg_iu_a":1.03940296,"cg_iv_a":0.498644829,"cg_iw_a":-3.06028843,"cg_theta_rad":0.557379127,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0045470288,"mpcc_du":50.3977737,"mpcc_dv":48.4154968,"mpcc_dw":51.5845032,"mpcc_enc_sign":1,"mpcc_id_a":0.552076101,"mpcc_iq_a":-0.246213004,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.76902866,"mpcc_pred_id_a":-0.0666121766,"mpcc_pred_iq_a":1.94199693,"mpcc_state":1,"mpcc_theta_e":0.426225185,"mpcc_theta_mech":0.552190959,"sam_rpm":-15.3967905,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260643214,"thr_a_norm":0.0260643214,"thr_a_v":0.604257286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.164238,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.6759851,"cg_iw_a":-1.32058454,"cg_theta_rad":0.556687891,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.000332563533,"mpcc_du":48.7967834,"mpcc_dv":51.2032166,"mpcc_dw":49.2703552,"mpcc_enc_sign":1,"mpcc_id_a":-0.255250394,"mpcc_iq_a":-2.570436,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.0620804,"mpcc_pred_id_a":-0.76396358,"mpcc_pred_iq_a":-7.47441769,"mpcc_state":1,"mpcc_theta_e":0.452563763,"mpcc_theta_mech":0.557458639,"sam_rpm":17.2854996,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266937464,"thr_a_norm":0.0260643214,"thr_a_v":0.606774986,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.170616,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.588670254,"cg_iw_a":-0.958146095,"cg_theta_rad":0.555296898,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0177128799,"mpcc_du":49.8796997,"mpcc_dv":48.9976616,"mpcc_dw":51.0023384,"mpcc_enc_sign":1,"mpcc_id_a":0.882051885,"mpcc_iq_a":-0.226683363,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.22630094,"mpcc_pred_id_a":-0.182002798,"mpcc_pred_iq_a":-3.43544912,"mpcc_state":1,"mpcc_theta_e":0.440958977,"mpcc_theta_mech":0.555137694,"sam_rpm":-0.148099929,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266937464,"thr_a_norm":0.0266937464,"thr_a_v":0.606774986,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.177116,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-2.54583716,"cg_iw_a":-0.015806675,"cg_theta_rad":0.554622233,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.00459349155,"mpcc_du":50.5267181,"mpcc_dv":48.2131805,"mpcc_dw":51.7868195,"mpcc_enc_sign":1,"mpcc_id_a":1.34550691,"mpcc_iq_a":-0.602722049,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.2440014,"mpcc_pred_id_a":-0.00473619206,"mpcc_pred_iq_a":-0.837845445,"mpcc_state":1,"mpcc_theta_e":0.423905373,"mpcc_theta_mech":0.551726997,"sam_rpm":-28.9547024,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296646804,"thr_a_norm":0.0296646804,"thr_a_v":0.618658721,"thr_b":0.0135637373,"thr_b_norm":0.0135637373,"thr_b_v":0.554254949,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.184685,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.02359605,"cg_iw_a":-0.450732946,"cg_theta_rad":0.556756318,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0575875342,"mpcc_du":49.9853439,"mpcc_dv":48.914978,"mpcc_dw":51.085022,"mpcc_enc_sign":1,"mpcc_id_a":2.55223203,"mpcc_iq_a":0.408083081,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.483577281,"mpcc_pred_id_a":0.143527091,"mpcc_pred_iq_a":-2.51871181,"mpcc_state":1,"mpcc_theta_e":0.445879936,"mpcc_theta_mech":0.556121945,"sam_rpm":1.28423858,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149233192,"thr_a_norm":0.0296646804,"thr_a_v":0.559693277,"thr_b":0,"thr_b_norm":0.0135637373,"thr_b_v":0.457271695,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.194695,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.89344811,"cg_iw_a":-0.668195486,"cg_theta_rad":0.555574656,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0419635512,"mpcc_du":50.6673088,"mpcc_dv":49.8924484,"mpcc_dw":50.5864372,"mpcc_enc_sign":1,"mpcc_id_a":3.6958003,"mpcc_iq_a":-0.186635002,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.5360355,"mpcc_pred_id_a":0.781731248,"mpcc_pred_iq_a":1.11488295,"mpcc_state":1,"mpcc_theta_e":0.434109211,"mpcc_theta_mech":0.5537678,"sam_rpm":-15.886816,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149233192,"thr_a_norm":0.0149233192,"thr_a_v":0.559693277,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457271695,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.206078,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.588670254,"cg_iw_a":-2.19043636,"cg_theta_rad":0.555527329,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0191168878,"mpcc_du":50.5748215,"mpcc_dv":48.192749,"mpcc_dw":51.807251,"mpcc_enc_sign":1,"mpcc_id_a":0.895005822,"mpcc_iq_a":-0.368778557,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.88734007,"mpcc_pred_id_a":0.0357201323,"mpcc_pred_iq_a":0.0406839624,"mpcc_state":1,"mpcc_theta_e":0.438292503,"mpcc_theta_mech":0.554604411,"sam_rpm":-6.54244328,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0279022604,"thr_a_norm":0.0279022604,"thr_a_v":0.611609042,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497303694,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.216118,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.31354666,"cg_iw_a":-0.958146572,"cg_theta_rad":0.555841386,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0757863596,"mpcc_du":50.5871391,"mpcc_dv":48.3555908,"mpcc_dw":51.6444092,"mpcc_enc_sign":1,"mpcc_id_a":0.727882743,"mpcc_iq_a":0.118934348,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.831766784,"mpcc_pred_id_a":-0.360642701,"mpcc_pred_iq_a":-1.53616822,"mpcc_state":1,"mpcc_theta_e":0.448134422,"mpcc_theta_mech":0.556572795,"sam_rpm":2.88098168,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105108723,"thr_a_norm":0.0279022604,"thr_a_v":0.920434892,"thr_b":0.0485603064,"thr_b_norm":0,"thr_b_v":0.694241226,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.225853,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.09608364,"cg_iw_a":-1.68302298,"cg_theta_rad":0.554067552,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.00590557419,"mpcc_du":50.3014908,"mpcc_dv":49.4238205,"mpcc_dw":50.5761795,"mpcc_enc_sign":1,"mpcc_id_a":1.49915266,"mpcc_iq_a":-0.962419927,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.5811472,"mpcc_pred_id_a":0.0628394336,"mpcc_pred_iq_a":-0.236270741,"mpcc_state":1,"mpcc_theta_e":0.431594372,"mpcc_theta_mech":0.553264797,"sam_rpm":-16.8753605,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105108723,"thr_a_norm":0.105108723,"thr_a_v":0.920434892,"thr_b":0.0485603064,"thr_b_norm":0.0485603064,"thr_b_v":0.694241226,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.236259,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.45852208,"cg_iw_a":-1.17560935,"cg_theta_rad":0.554584801,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0330366977,"mpcc_du":50.454586,"mpcc_dv":48.4023705,"mpcc_dw":51.5976295,"mpcc_enc_sign":1,"mpcc_id_a":1.97757852,"mpcc_iq_a":-0.793038964,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.22831154,"mpcc_pred_id_a":-0.23353906,"mpcc_pred_iq_a":-2.04301763,"mpcc_state":1,"mpcc_theta_e":0.442252159,"mpcc_theta_mech":0.555396378,"sam_rpm":-8.72008038,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021368742,"thr_a_norm":0.021368742,"thr_a_v":0.585474968,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470867455,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.246239,"values":{"cg_iu_a":1.18437815,"cg_iv_a":1.15103388,"cg_iw_a":-2.33541203,"cg_theta_rad":0.555927575,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0189458728,"mpcc_du":49.0894051,"mpcc_dv":50.9105949,"mpcc_dw":50.0951843,"mpcc_enc_sign":1,"mpcc_id_a":2.66436958,"mpcc_iq_a":-0.54186815,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.1149235,"mpcc_pred_id_a":0.441966742,"mpcc_pred_iq_a":-2.76972985,"mpcc_state":1,"mpcc_theta_e":0.451021194,"mpcc_theta_mech":0.557150185,"sam_rpm":24.2304935,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021368742,"thr_a_norm":0.021368742,"thr_a_v":0.585474968,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470867455,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.269524,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.226231575,"cg_iw_a":-1.0306344,"cg_theta_rad":0.556174338,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0012556474,"mpcc_du":49.4550323,"mpcc_dv":50.5449677,"mpcc_dw":50.1053352,"mpcc_enc_sign":1,"mpcc_id_a":0.6126706,"mpcc_iq_a":-0.973939896,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.13657379,"mpcc_pred_id_a":-0.559241831,"mpcc_pred_iq_a":-2.04269695,"mpcc_state":1,"mpcc_theta_e":0.436399937,"mpcc_theta_mech":0.554225862,"sam_rpm":-11.7491064,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022980094,"thr_a_norm":0.022980094,"thr_a_v":0.591920376,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48980087,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.275993,"values":{"cg_iu_a":-0.70030117,"cg_iv_a":1.07854605,"cg_iw_a":-1.03063416,"cg_theta_rad":0.552350581,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.00100587937,"mpcc_du":49.2179947,"mpcc_dv":50.7820053,"mpcc_dw":49.9258728,"mpcc_enc_sign":1,"mpcc_id_a":0.581505895,"mpcc_iq_a":-1.19833982,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.26670837,"mpcc_pred_id_a":-0.322795302,"mpcc_pred_iq_a":-5.8843255,"mpcc_state":1,"mpcc_theta_e":0.443431377,"mpcc_theta_mech":0.555632234,"sam_rpm":4.37581682,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.022980094,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456818491,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.282524,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.951108456,"cg_iw_a":-2.19043684,"cg_theta_rad":0.554383457,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.000272801786,"mpcc_du":49.5094757,"mpcc_dv":50.4905243,"mpcc_dw":50.1738777,"mpcc_enc_sign":1,"mpcc_id_a":0.140559763,"mpcc_iq_a":-2.10630774,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.38827562,"mpcc_pred_id_a":-0.566443622,"mpcc_pred_iq_a":-4.12985468,"mpcc_state":1,"mpcc_theta_e":0.448184013,"mpcc_theta_mech":0.556582749,"sam_rpm":10.4271555,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456818491,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.289085,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-2.83578777,"cg_iw_a":2.08633566,"cg_theta_rad":0.555164158,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.00708534056,"mpcc_du":49.6564903,"mpcc_dv":49.4236832,"mpcc_dw":50.5763168,"mpcc_enc_sign":1,"mpcc_id_a":0.986777186,"mpcc_iq_a":-1.02058828,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.2202611,"mpcc_pred_id_a":-0.156492293,"mpcc_pred_iq_a":-3.04600811,"mpcc_state":1,"mpcc_theta_e":0.443707943,"mpcc_theta_mech":0.555687487,"sam_rpm":2.05769134,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182719231,"thr_a_norm":0.0182719231,"thr_a_v":0.573087692,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451128393,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.299431,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.153744221,"cg_iw_a":-0.450732708,"cg_theta_rad":0.557269633,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0228697676,"mpcc_du":49.96035,"mpcc_dv":48.7290001,"mpcc_dw":51.2709999,"mpcc_enc_sign":1,"mpcc_id_a":3.00787163,"mpcc_iq_a":-0.458670735,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.14523482,"mpcc_pred_id_a":0.523756266,"mpcc_pred_iq_a":0.980591059,"mpcc_state":1,"mpcc_theta_e":0.431402206,"mpcc_theta_mech":0.553226352,"sam_rpm":-4.99718046,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262657404,"thr_a_norm":0.0182719231,"thr_a_v":0.605062962,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496649116,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.309441,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-0.878620625,"cg_iw_a":0.854045153,"cg_theta_rad":0.551980674,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0105748288,"mpcc_du":50.4367943,"mpcc_dv":48.5049515,"mpcc_dw":51.4950485,"mpcc_enc_sign":1,"mpcc_id_a":0.239621192,"mpcc_iq_a":-1.07988071,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.15012884,"mpcc_pred_id_a":-0.314392895,"mpcc_pred_iq_a":-1.46326196,"mpcc_state":1,"mpcc_theta_e":0.4402318,"mpcc_theta_mech":0.554992259,"sam_rpm":-7.54768038,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262657404,"thr_a_norm":0.0262657404,"thr_a_v":0.605062962,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496649116,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.319695,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.298719406,"cg_iw_a":-1.24809694,"cg_theta_rad":0.55423969,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0406220518,"mpcc_du":50.087822,"mpcc_dv":48.8213577,"mpcc_dw":51.1786423,"mpcc_enc_sign":1,"mpcc_id_a":2.50567031,"mpcc_iq_a":-1.20210934,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.23219025,"mpcc_pred_id_a":0.0462749936,"mpcc_pred_iq_a":-2.6185441,"mpcc_state":1,"mpcc_theta_e":0.448783398,"mpcc_theta_mech":0.557145417,"sam_rpm":2.63198543,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280785114,"thr_a_norm":0.0280785114,"thr_a_v":0.612314045,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484563947,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.32946,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-1.16857147,"cg_iw_a":-2.48038721,"cg_theta_rad":0.552772522,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0573023781,"mpcc_du":50.4958496,"mpcc_dv":48.3895874,"mpcc_dw":51.6104126,"mpcc_enc_sign":1,"mpcc_id_a":2.17931581,"mpcc_iq_a":-0.209915653,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.72686338,"mpcc_pred_id_a":-0.0841070786,"mpcc_pred_iq_a":-0.0685031563,"mpcc_state":1,"mpcc_theta_e":0.449254036,"mpcc_theta_mech":0.55679673,"sam_rpm":7.36443186,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280785114,"thr_a_norm":0.0280785114,"thr_a_v":0.612314045,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484563947,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.339653,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.61832476,"cg_iw_a":1.28897142,"cg_theta_rad":0.555116236,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0137966918,"mpcc_du":49.4996109,"mpcc_dv":49.8017578,"mpcc_dw":50.5003891,"mpcc_enc_sign":1,"mpcc_id_a":1.05997288,"mpcc_iq_a":0.156610861,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.24058032,"mpcc_pred_id_a":0.181389078,"mpcc_pred_iq_a":-0.732411623,"mpcc_state":1,"mpcc_theta_e":0.436413288,"mpcc_theta_mech":0.554228544,"sam_rpm":3.4578979,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105964735,"thr_a_norm":0.105964735,"thr_a_v":0.923858941,"thr_b":0.0503856689,"thr_b_norm":0.0503856689,"thr_b_v":0.701542675,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.349815,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.38603449,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556711197,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.00667598844,"mpcc_du":50.3583946,"mpcc_dv":48.7541351,"mpcc_dw":51.2458649,"mpcc_enc_sign":1,"mpcc_id_a":-0.122278742,"mpcc_iq_a":-2.34593296,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.71299076,"mpcc_pred_id_a":-0.631330073,"mpcc_pred_iq_a":-3.16977406,"mpcc_state":1,"mpcc_theta_e":0.442684174,"mpcc_theta_mech":0.555482745,"sam_rpm":-6.88901663,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204245895,"thr_a_norm":0.105964735,"thr_a_v":0.581698358,"thr_b":0,"thr_b_norm":0.0503856689,"thr_b_v":0.453394383,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.372978,"values":{"cg_iu_a":4.37383556,"cg_iv_a":-1.16857147,"cg_iw_a":-3.20526409,"cg_theta_rad":0.555656433,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0173384454,"mpcc_du":51.1655579,"mpcc_dv":47.4383125,"mpcc_dw":52.5616875,"mpcc_enc_sign":1,"mpcc_id_a":0.734864175,"mpcc_iq_a":-0.887965381,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.1053314,"mpcc_pred_id_a":0.127268746,"mpcc_pred_iq_a":1.01085067,"mpcc_state":1,"mpcc_theta_e":0.432542324,"mpcc_theta_mech":0.553454399,"sam_rpm":-18.3141956,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204245895,"thr_a_norm":0.0204245895,"thr_a_v":0.581698358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453394383,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.379478,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.02359605,"cg_iw_a":0.781557798,"cg_theta_rad":0.554298341,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0204223804,"mpcc_du":49.8707962,"mpcc_dv":49.028614,"mpcc_dw":50.971386,"mpcc_enc_sign":1,"mpcc_id_a":2.4806149,"mpcc_iq_a":-0.221688583,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.3631258,"mpcc_pred_id_a":0.1842729,"mpcc_pred_iq_a":-2.83602715,"mpcc_state":1,"mpcc_theta_e":0.433619499,"mpcc_theta_mech":0.55366981,"sam_rpm":-12.2001953,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02567406,"thr_a_norm":0.02567406,"thr_a_v":0.60269624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482046247,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.38604,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.298719406,"cg_iw_a":-1.17560959,"cg_theta_rad":0.556132734,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.117344327,"mpcc_du":49.665081,"mpcc_dv":48.7021904,"mpcc_dw":51.2978096,"mpcc_enc_sign":1,"mpcc_id_a":6.66626501,"mpcc_iq_a":-0.491568446,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.6996098,"mpcc_pred_id_a":1.61192322,"mpcc_pred_iq_a":-2.86287355,"mpcc_state":1,"mpcc_theta_e":0.43248415,"mpcc_theta_mech":0.553442717,"sam_rpm":-15.5278273,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02567406,"thr_a_norm":0.02567406,"thr_a_v":0.60269624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482046247,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.39254,"values":{"cg_iu_a":4.15637207,"cg_iv_a":0.208694458,"cg_iw_a":-4.36506653,"cg_theta_rad":0.557189941,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0482744239,"mpcc_du":49.497673,"mpcc_dv":49.9337692,"mpcc_dw":50.502327,"mpcc_enc_sign":1,"mpcc_id_a":2.44518256,"mpcc_iq_a":-0.510462165,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":19.1573372,"mpcc_pred_id_a":0.26855284,"mpcc_pred_iq_a":-2.10923982,"mpcc_state":1,"mpcc_theta_e":0.461527348,"mpcc_theta_mech":0.559251368,"sam_rpm":29.136261,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190020651,"thr_a_norm":0.0190020651,"thr_a_v":0.57600826,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469658971,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.400749,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-2.0384233,"cg_iw_a":-0.160782337,"cg_theta_rad":0.555950165,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0261317734,"mpcc_du":49.454319,"mpcc_dv":49.7531815,"mpcc_dw":50.6228523,"mpcc_enc_sign":1,"mpcc_id_a":2.56121254,"mpcc_iq_a":-0.245032728,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.55210829,"mpcc_pred_id_a":0.471716046,"mpcc_pred_iq_a":-2.7806704,"mpcc_state":1,"mpcc_theta_e":0.445663929,"mpcc_theta_mech":0.556078672,"sam_rpm":8.31340122,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024138242,"thr_a_norm":0.0190020651,"thr_a_v":0.596552968,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481290877,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.410667,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.16857147,"cg_iw_a":-1.03063416,"cg_theta_rad":0.556871355,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0277194623,"mpcc_du":49.6190643,"mpcc_dv":49.036232,"mpcc_dw":50.963768,"mpcc_enc_sign":1,"mpcc_id_a":2.70107698,"mpcc_iq_a":0.597232699,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.26249266,"mpcc_pred_id_a":0.793050706,"mpcc_pred_iq_a":-2.45653439,"mpcc_state":1,"mpcc_theta_e":0.434190273,"mpcc_theta_mech":0.553783953,"sam_rpm":-9.76502609,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024138242,"thr_a_norm":0.024138242,"thr_a_v":0.596552968,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481290877,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.423027,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.371207237,"cg_iw_a":-2.98780107,"cg_theta_rad":0.551010191,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0494531877,"mpcc_du":50.6767387,"mpcc_dv":47.7863159,"mpcc_dw":52.2136841,"mpcc_enc_sign":1,"mpcc_id_a":2.9720211,"mpcc_iq_a":-0.539414883,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.25172853,"mpcc_pred_id_a":0.52914238,"mpcc_pred_iq_a":0.371661007,"mpcc_state":1,"mpcc_theta_e":0.432987213,"mpcc_theta_mech":0.553543389,"sam_rpm":-9.40356445,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209281296,"thr_a_norm":0.0209281296,"thr_a_v":0.583712518,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458178043,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.432823,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-2.32837415,"cg_iw_a":-0.813171148,"cg_theta_rad":0.557229817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0321467146,"mpcc_du":49.6698914,"mpcc_dv":49.1495857,"mpcc_dw":50.8504143,"mpcc_enc_sign":1,"mpcc_id_a":1.86914694,"mpcc_iq_a":-1.88213766,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.219280243,"mpcc_pred_id_a":0.215109661,"mpcc_pred_iq_a":0.963704765,"mpcc_state":1,"mpcc_theta_e":0.436013699,"mpcc_theta_mech":0.554148614,"sam_rpm":-1.7766974,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209281296,"thr_a_norm":0.0209281296,"thr_a_v":0.583712518,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458178043,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.443016,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.951108456,"cg_iw_a":-0.59570837,"cg_theta_rad":0.556200504,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0518370904,"mpcc_du":49.6490135,"mpcc_dv":49.1684113,"mpcc_dw":50.8315887,"mpcc_enc_sign":1,"mpcc_id_a":2.6010747,"mpcc_iq_a":-0.0952440873,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.7525463,"mpcc_pred_id_a":0.199126333,"mpcc_pred_iq_a":-0.112128243,"mpcc_state":1,"mpcc_theta_e":0.417094231,"mpcc_theta_mech":0.550364733,"sam_rpm":-25.7371864,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209281296,"thr_a_norm":0.0209281296,"thr_a_v":0.583712518,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460796505,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.453087,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.298719406,"cg_iw_a":-0.233269691,"cg_theta_rad":0.555972636,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.00844579749,"mpcc_du":49.4931984,"mpcc_dv":49.6512451,"mpcc_dw":50.5068016,"mpcc_enc_sign":1,"mpcc_id_a":0.906482935,"mpcc_iq_a":-0.514771342,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.4321814,"mpcc_pred_id_a":0.0784465969,"mpcc_pred_iq_a":-1.83185136,"mpcc_state":1,"mpcc_theta_e":0.439995289,"mpcc_theta_mech":0.554944932,"sam_rpm":8.89425278,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173277706,"thr_a_norm":0.0209281296,"thr_a_v":0.569311082,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448207825,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.47625,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.878620625,"cg_iw_a":-1.82799864,"cg_theta_rad":0.555113137,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.00203741668,"mpcc_du":50.6495781,"mpcc_dv":48.1651917,"mpcc_dw":51.8348083,"mpcc_enc_sign":1,"mpcc_id_a":0.845640719,"mpcc_iq_a":-2.04076886,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.7191458,"mpcc_pred_id_a":-0.349494904,"mpcc_pred_iq_a":-0.177701592,"mpcc_state":1,"mpcc_theta_e":0.42993927,"mpcc_theta_mech":0.552933812,"sam_rpm":-17.6285801,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173277706,"thr_a_norm":0.0173277706,"thr_a_v":0.569311082,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448207825,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.482811,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.153744221,"cg_iw_a":-0.81317091,"cg_theta_rad":0.554221809,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.041167099,"mpcc_du":50.0957336,"mpcc_dv":48.7756081,"mpcc_dw":51.2243919,"mpcc_enc_sign":1,"mpcc_id_a":3.53898025,"mpcc_iq_a":0.14905794,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.7574482,"mpcc_pred_id_a":0.713671625,"mpcc_pred_iq_a":-0.356818348,"mpcc_state":1,"mpcc_theta_e":0.43808651,"mpcc_theta_mech":0.554563224,"sam_rpm":-15.968751,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0164465606,"thr_a_norm":0.0164465606,"thr_a_v":0.565786242,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473939121,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.48925,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.02359605,"cg_iw_a":0.346631765,"cg_theta_rad":0.55662632,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0160331987,"mpcc_du":50.303791,"mpcc_dv":48.5802956,"mpcc_dw":51.4197044,"mpcc_enc_sign":1,"mpcc_id_a":2.3745954,"mpcc_iq_a":-0.452270389,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.89043522,"mpcc_pred_id_a":-0.325491637,"mpcc_pred_iq_a":-0.426099926,"mpcc_state":1,"mpcc_theta_e":0.434763432,"mpcc_theta_mech":0.553898573,"sam_rpm":-10.1751404,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0164465606,"thr_a_norm":0.0164465606,"thr_a_v":0.565786242,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473939121,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.496208,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-2.47334933,"cg_iw_a":0.709069967,"cg_theta_rad":0.557170033,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.055518616,"mpcc_du":49.4235687,"mpcc_dv":50.2302094,"mpcc_dw":50.5764313,"mpcc_enc_sign":1,"mpcc_id_a":4.60752821,"mpcc_iq_a":-1.17337263,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.03394532,"mpcc_pred_id_a":0.525070786,"mpcc_pred_iq_a":-4.57560921,"mpcc_state":1,"mpcc_theta_e":0.445114136,"mpcc_theta_mech":0.555968702,"sam_rpm":4.12393999,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0409693271,"thr_a_norm":0.0409693271,"thr_a_v":0.663877308,"thr_b":0.00792400539,"thr_b_norm":0.00792400539,"thr_b_v":0.531696022,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.506218,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.0087685585,"cg_iw_a":-1.39307261,"cg_theta_rad":0.554008543,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0235480368,"mpcc_du":49.8431244,"mpcc_dv":49.0906334,"mpcc_dw":50.9716415,"mpcc_enc_sign":1,"mpcc_id_a":1.03686786,"mpcc_iq_a":-0.0691221878,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.267017841,"mpcc_pred_id_a":-0.16990158,"mpcc_pred_iq_a":-2.51007462,"mpcc_state":1,"mpcc_theta_e":0.441670418,"mpcc_theta_mech":0.55528003,"sam_rpm":1.00158536,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0409693271,"thr_a_norm":0.0409693271,"thr_a_v":0.663877308,"thr_b":0.00792400539,"thr_b_norm":0.00792400539,"thr_b_v":0.531696022,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.516197,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.588670254,"cg_iw_a":-1.61053514,"cg_theta_rad":0.556986213,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.00581308035,"mpcc_du":49.7890472,"mpcc_dv":49.2484665,"mpcc_dw":50.7515335,"mpcc_enc_sign":1,"mpcc_id_a":0.105982408,"mpcc_iq_a":-0.509370744,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.84053516,"mpcc_pred_id_a":-0.337576747,"mpcc_pred_iq_a":-0.805002987,"mpcc_state":1,"mpcc_theta_e":0.444040775,"mpcc_theta_mech":0.555754066,"sam_rpm":9.62174988,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0371423662,"thr_a_norm":0.0371423662,"thr_a_v":0.648569465,"thr_b":0.00455023348,"thr_b_norm":0.00455023348,"thr_b_v":0.518200934,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.526451,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.371207237,"cg_iw_a":-0.595707893,"cg_theta_rad":0.552988946,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0165953785,"mpcc_du":50.1452675,"mpcc_dv":48.6013184,"mpcc_dw":51.3986816,"mpcc_enc_sign":1,"mpcc_id_a":2.5361805,"mpcc_iq_a":-0.788206637,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.7829647,"mpcc_pred_id_a":0.175198421,"mpcc_pred_iq_a":-1.87905908,"mpcc_state":1,"mpcc_theta_e":0.429264545,"mpcc_theta_mech":0.552798808,"sam_rpm":-19.0556908,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261398554,"thr_a_norm":0.0371423662,"thr_a_v":0.604559422,"thr_b":5.7220459e-06,"thr_b_norm":0.00455023348,"thr_b_v":0.500022888,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.536461,"values":{"cg_iu_a":1.90925455,"cg_iv_a":0.0637187958,"cg_iw_a":1.79638505,"cg_theta_rad":0.55710566,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0316466615,"mpcc_du":49.7276344,"mpcc_dv":49.1466522,"mpcc_dw":50.8533478,"mpcc_enc_sign":1,"mpcc_id_a":1.10134149,"mpcc_iq_a":-1.49981558,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.68816471,"mpcc_pred_id_a":0.0643823519,"mpcc_pred_iq_a":-0.163563505,"mpcc_state":1,"mpcc_theta_e":0.422303677,"mpcc_theta_mech":0.551406622,"sam_rpm":-15.3647308,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261398554,"thr_a_norm":0.0261398554,"thr_a_v":0.604559422,"thr_b":5.7220459e-06,"thr_b_norm":5.7220459e-06,"thr_b_v":0.500022888,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.547661,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.45852208,"cg_iw_a":-0.668195486,"cg_theta_rad":0.554287612,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0325660482,"mpcc_du":50.2017975,"mpcc_dv":48.9127045,"mpcc_dw":51.0872955,"mpcc_enc_sign":1,"mpcc_id_a":1.46051884,"mpcc_iq_a":-2.0662868,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.979846,"mpcc_pred_id_a":-0.0260365363,"mpcc_pred_iq_a":-3.03475356,"mpcc_state":1,"mpcc_theta_e":0.438147545,"mpcc_theta_mech":0.554575443,"sam_rpm":-12.0073528,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196189135,"thr_a_norm":0.0196189135,"thr_a_v":0.578475654,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456768155,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.571953,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.60349751,"cg_iw_a":0.78155756,"cg_theta_rad":0.557174921,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0101225646,"mpcc_du":50.7710266,"mpcc_dv":47.9451523,"mpcc_dw":52.0548477,"mpcc_enc_sign":1,"mpcc_id_a":1.28751934,"mpcc_iq_a":-0.0368438102,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.67236328,"mpcc_pred_id_a":0.0180139821,"mpcc_pred_iq_a":1.67157221,"mpcc_state":1,"mpcc_theta_e":0.43255949,"mpcc_theta_mech":0.553457797,"sam_rpm":-12.590332,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269077569,"thr_a_norm":0.0196189135,"thr_a_v":0.607631028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483657569,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.578514,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.516182423,"cg_iw_a":-0.740683556,"cg_theta_rad":0.553129315,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0163415428,"mpcc_du":49.5252075,"mpcc_dv":50.4747925,"mpcc_dw":50.2896919,"mpcc_enc_sign":1,"mpcc_id_a":0.950347781,"mpcc_iq_a":-0.589829385,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.1334877,"mpcc_pred_id_a":-0.219125748,"mpcc_pred_iq_a":-5.75739288,"mpcc_state":1,"mpcc_theta_e":0.446630478,"mpcc_theta_mech":0.55627197,"sam_rpm":5.95076323,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269077569,"thr_a_norm":0.0269077569,"thr_a_v":0.607631028,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483657569,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.585014,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.516182423,"cg_iw_a":0.129168749,"cg_theta_rad":0.555250823,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.000958400313,"mpcc_du":49.5850639,"mpcc_dv":50.4149361,"mpcc_dw":50.1880569,"mpcc_enc_sign":1,"mpcc_id_a":0.239157721,"mpcc_iq_a":-0.570709527,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.915317714,"mpcc_pred_id_a":-0.697341859,"mpcc_pred_iq_a":-5.02586555,"mpcc_state":1,"mpcc_theta_e":0.440084934,"mpcc_theta_mech":0.554962933,"sam_rpm":-2.07941151,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180956721,"thr_a_norm":0.0180956721,"thr_a_v":0.572382689,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454753935,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.591545,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.24105906,"cg_iw_a":-2.62536263,"cg_theta_rad":0.556622863,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0105148796,"mpcc_du":50.0561676,"mpcc_dv":48.7850914,"mpcc_dw":51.2149086,"mpcc_enc_sign":1,"mpcc_id_a":2.04491162,"mpcc_iq_a":-1.66413772,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.0549047,"mpcc_pred_id_a":0.277914017,"mpcc_pred_iq_a":-0.635588765,"mpcc_state":1,"mpcc_theta_e":0.444266796,"mpcc_theta_mech":0.555799246,"sam_rpm":-3.54256582,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180956721,"thr_a_norm":0.0180956721,"thr_a_v":0.572382689,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454753935,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.599998,"values":{"cg_iu_a":-0.410350561,"cg_iv_a":-0.806133032,"cg_iw_a":1.21648359,"cg_theta_rad":0.556708634,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0102509102,"mpcc_du":49.7986374,"mpcc_dv":49.2199364,"mpcc_dw":50.7800636,"mpcc_enc_sign":1,"mpcc_id_a":1.2282784,"mpcc_iq_a":-0.34139201,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.23054123,"mpcc_pred_id_a":-0.0489380695,"mpcc_pred_iq_a":-3.08940387,"mpcc_state":1,"mpcc_theta_e":0.439220428,"mpcc_theta_mech":0.55479002,"sam_rpm":-6.67248344,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292870253,"thr_a_norm":0.0292870253,"thr_a_v":0.617148101,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499519348,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.610222,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.24105906,"cg_iw_a":0.129168749,"cg_theta_rad":0.557865739,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0272366423,"mpcc_du":49.4140778,"mpcc_dv":49.4623795,"mpcc_dw":50.5859222,"mpcc_enc_sign":1,"mpcc_id_a":3.1537292,"mpcc_iq_a":-1.35865939,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.71307135,"mpcc_pred_id_a":0.654385209,"mpcc_pred_iq_a":-2.67554784,"mpcc_state":1,"mpcc_theta_e":0.444536209,"mpcc_theta_mech":0.555853188,"sam_rpm":5.94687939,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296646804,"thr_a_norm":0.0292870253,"thr_a_v":0.618658721,"thr_b":0.00713092089,"thr_b_norm":0,"thr_b_v":0.528523684,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.620232,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.951108456,"cg_iw_a":-0.378244877,"cg_theta_rad":0.55703038,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.055986017,"mpcc_du":49.3875008,"mpcc_dv":50.6124992,"mpcc_dw":50.3019562,"mpcc_enc_sign":1,"mpcc_id_a":2.36323428,"mpcc_iq_a":-1.32501733,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":20.3087482,"mpcc_pred_id_a":0.24371624,"mpcc_pred_iq_a":-5.10601282,"mpcc_state":1,"mpcc_theta_e":0.466149807,"mpcc_theta_mech":0.560175836,"sam_rpm":30.646656,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296646804,"thr_a_norm":0.0296646804,"thr_a_v":0.618658721,"thr_b":0.00713092089,"thr_b_norm":0.00713092089,"thr_b_v":0.528523684,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.630211,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.02359605,"cg_iw_a":0.491606951,"cg_theta_rad":0.554602981,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0526436418,"mpcc_du":49.9055214,"mpcc_dv":48.8526878,"mpcc_dw":51.1473122,"mpcc_enc_sign":1,"mpcc_id_a":2.34952569,"mpcc_iq_a":-1.3743999,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.0896702,"mpcc_pred_id_a":0.451495647,"mpcc_pred_iq_a":1.34868693,"mpcc_state":1,"mpcc_theta_e":0.422961235,"mpcc_theta_mech":0.551538169,"sam_rpm":-17.3925056,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260895044,"thr_a_norm":0.0260895044,"thr_a_v":0.604358017,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496548384,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.642418,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-3.05325079,"cg_iw_a":2.08633566,"cg_theta_rad":0.556153715,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0305186007,"mpcc_du":49.8438454,"mpcc_dv":49.1888504,"mpcc_dw":50.8111496,"mpcc_enc_sign":1,"mpcc_id_a":2.08719492,"mpcc_iq_a":-1.2353164,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.512590647,"mpcc_pred_id_a":0.0674705952,"mpcc_pred_iq_a":-4.3138442,"mpcc_state":1,"mpcc_theta_e":0.449705601,"mpcc_theta_mech":0.556887031,"sam_rpm":-0.547244787,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236346871,"thr_a_norm":0.0260895044,"thr_a_v":0.594538748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482247651,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.652336,"values":{"cg_iu_a":2.5616436,"cg_iv_a":0.716107845,"cg_iw_a":-3.27775145,"cg_theta_rad":0.554749191,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0138751948,"mpcc_du":49.4234924,"mpcc_dv":49.4888954,"mpcc_dw":50.5765076,"mpcc_enc_sign":1,"mpcc_id_a":1.79379678,"mpcc_iq_a":-0.494193584,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.58624125,"mpcc_pred_id_a":0.179152995,"mpcc_pred_iq_a":-1.50397706,"mpcc_state":1,"mpcc_theta_e":0.429152012,"mpcc_theta_mech":0.552482903,"sam_rpm":-9.33974648,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236346871,"thr_a_norm":0.0236346871,"thr_a_v":0.594538748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482247651,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.675652,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.443694592,"cg_iw_a":-1.10312176,"cg_theta_rad":0.554272413,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0292992014,"mpcc_du":50.7555008,"mpcc_dv":47.9848328,"mpcc_dw":52.0151672,"mpcc_enc_sign":1,"mpcc_id_a":2.04702711,"mpcc_iq_a":-1.15392458,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.91966617,"mpcc_pred_id_a":0.125857249,"mpcc_pred_iq_a":0.525627971,"mpcc_state":1,"mpcc_theta_e":0.443739891,"mpcc_theta_mech":0.555693865,"sam_rpm":-2.42568731,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186495781,"thr_a_norm":0.0186495781,"thr_a_v":0.574598312,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459990859,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.682152,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.09608364,"cg_iw_a":-0.595707893,"cg_theta_rad":0.555970967,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.00611870596,"mpcc_du":50.2122307,"mpcc_dv":48.6614494,"mpcc_dw":51.3385506,"mpcc_enc_sign":1,"mpcc_id_a":0.428858757,"mpcc_iq_a":-1.35543287,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.919442713,"mpcc_pred_id_a":0.0272320975,"mpcc_pred_iq_a":-0.907140791,"mpcc_state":1,"mpcc_theta_e":0.441507339,"mpcc_theta_mech":0.555247366,"sam_rpm":-0.831584871,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186495781,"thr_a_norm":0.0186495781,"thr_a_v":0.574598312,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459990859,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.688713,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.226231575,"cg_iw_a":0.346631765,"cg_theta_rad":0.557801902,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0231746864,"mpcc_du":49.7282677,"mpcc_dv":49.1407013,"mpcc_dw":50.8592987,"mpcc_enc_sign":1,"mpcc_id_a":1.18673301,"mpcc_iq_a":-0.433793843,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.8741636,"mpcc_pred_id_a":0.33359009,"mpcc_pred_iq_a":-0.800858438,"mpcc_state":1,"mpcc_theta_e":0.453210831,"mpcc_theta_mech":0.5575881,"sam_rpm":16.5104065,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0964476913,"thr_a_norm":0.0964476913,"thr_a_v":0.885790765,"thr_b":0.0429583341,"thr_b_norm":0.0429583341,"thr_b_v":0.671833336,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.695213,"values":{"cg_iu_a":0.894427299,"cg_iv_a":0.0637187958,"cg_iw_a":-0.958146095,"cg_theta_rad":0.556543827,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0120652588,"mpcc_du":50.2410736,"mpcc_dv":48.6947098,"mpcc_dw":51.3052902,"mpcc_enc_sign":1,"mpcc_id_a":0.488880992,"mpcc_iq_a":-1.20880115,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.24690962,"mpcc_pred_id_a":-0.0495538488,"mpcc_pred_iq_a":0.260317981,"mpcc_state":1,"mpcc_theta_e":0.451047421,"mpcc_theta_mech":0.557469308,"sam_rpm":11.2218075,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025548175,"thr_a_norm":0.0964476913,"thr_a_v":0.6021927,"thr_b":0,"thr_b_norm":0.0429583341,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.704216,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.806133032,"cg_iw_a":-0.595708132,"cg_theta_rad":0.553516746,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0151848439,"mpcc_du":49.4118652,"mpcc_dv":50.5881348,"mpcc_dw":50.2530746,"mpcc_enc_sign":1,"mpcc_id_a":2.20410109,"mpcc_iq_a":-0.48451522,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.63924885,"mpcc_pred_id_a":0.0450661741,"mpcc_pred_iq_a":-5.20717382,"mpcc_state":1,"mpcc_theta_e":0.442647934,"mpcc_theta_mech":0.555475533,"sam_rpm":3.12579966,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025548175,"thr_a_norm":0.025548175,"thr_a_v":0.6021927,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.713432,"values":{"cg_iu_a":-0.410350561,"cg_iv_a":-2.76329994,"cg_iw_a":-0.160782337,"cg_theta_rad":0.557070434,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.000524636533,"mpcc_du":49.617218,"mpcc_dv":49.9254799,"mpcc_dw":50.382782,"mpcc_enc_sign":1,"mpcc_id_a":0.36891377,"mpcc_iq_a":-3.25324965,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.331048,"mpcc_pred_id_a":-0.386555254,"mpcc_pred_iq_a":-2.11466122,"mpcc_state":1,"mpcc_theta_e":0.456166267,"mpcc_theta_mech":0.55817914,"sam_rpm":21.7766151,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275120139,"thr_a_norm":0.0275120139,"thr_a_v":0.610048056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492217898,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.723412,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.661157608,"cg_iw_a":-1.97297382,"cg_theta_rad":0.556766272,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0154943466,"mpcc_du":50.1159096,"mpcc_dv":48.6820221,"mpcc_dw":51.3179779,"mpcc_enc_sign":1,"mpcc_id_a":2.48952079,"mpcc_iq_a":-1.23776472,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.1320591,"mpcc_pred_id_a":0.276264101,"mpcc_pred_iq_a":-1.72804761,"mpcc_state":1,"mpcc_theta_e":0.432748795,"mpcc_theta_mech":0.553495646,"sam_rpm":-15.9645672,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275120139,"thr_a_norm":0.0275120139,"thr_a_v":0.610048056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492217898,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.733604,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.371207237,"cg_iw_a":-0.16078186,"cg_theta_rad":0.551855206,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.00829926599,"mpcc_du":50.6908531,"mpcc_dv":48.3641891,"mpcc_dw":51.6358109,"mpcc_enc_sign":1,"mpcc_id_a":-0.0706983283,"mpcc_iq_a":-1.39666259,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.44306087,"mpcc_pred_id_a":-0.73103708,"mpcc_pred_iq_a":-1.04571247,"mpcc_state":1,"mpcc_theta_e":0.440819263,"mpcc_theta_mech":0.555109739,"sam_rpm":-8.06618404,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174914151,"thr_a_norm":0.0174914151,"thr_a_v":0.569965661,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454753935,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.743614,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.16857147,"cg_iw_a":-1.10312176,"cg_theta_rad":0.556870878,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0470990129,"mpcc_du":49.612587,"mpcc_dv":50.3313789,"mpcc_dw":50.387413,"mpcc_enc_sign":1,"mpcc_id_a":-0.0171413925,"mpcc_iq_a":-2.33942723,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.465959728,"mpcc_pred_id_a":-0.343532205,"mpcc_pred_iq_a":-1.36769879,"mpcc_state":1,"mpcc_theta_e":0.433403969,"mpcc_theta_mech":0.553626716,"sam_rpm":-1.87555945,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256992429,"thr_a_norm":0.0174914151,"thr_a_v":0.602796972,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486578166,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.753441,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.6759851,"cg_iw_a":0.854045153,"cg_theta_rad":0.555823982,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.013014718,"mpcc_du":50.0743713,"mpcc_dv":48.6541748,"mpcc_dw":51.3458252,"mpcc_enc_sign":1,"mpcc_id_a":2.28008437,"mpcc_iq_a":-0.302585632,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.4368029,"mpcc_pred_id_a":0.360987723,"mpcc_pred_iq_a":-0.668054581,"mpcc_state":1,"mpcc_theta_e":0.429188251,"mpcc_theta_mech":0.552783608,"sam_rpm":-16.399992,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256992429,"thr_a_norm":0.0256992429,"thr_a_v":0.602796972,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486578166,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.776817,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":0.716107845,"cg_iw_a":-0.668195724,"cg_theta_rad":0.553845108,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0244931765,"mpcc_du":49.4776611,"mpcc_dv":49.6396103,"mpcc_dw":50.5223389,"mpcc_enc_sign":1,"mpcc_id_a":2.5070827,"mpcc_iq_a":-0.701599538,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.4692774,"mpcc_pred_id_a":0.21674481,"mpcc_pred_iq_a":-2.02957201,"mpcc_state":1,"mpcc_theta_e":0.452217102,"mpcc_theta_mech":0.557389319,"sam_rpm":15.5796309,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273231864,"thr_a_norm":0.0273231864,"thr_a_v":0.609292746,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481844842,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.783379,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.226231575,"cg_iw_a":-0.450732708,"cg_theta_rad":0.555336058,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0121218711,"mpcc_du":49.4579506,"mpcc_dv":48.0841408,"mpcc_dw":51.9158592,"mpcc_enc_sign":1,"mpcc_id_a":2.05789065,"mpcc_iq_a":-1.46039355,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.9860973,"mpcc_pred_id_a":0.269508511,"mpcc_pred_iq_a":-1.31833708,"mpcc_state":1,"mpcc_theta_e":0.452190399,"mpcc_theta_mech":0.557384014,"sam_rpm":17.4239216,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271595269,"thr_a_norm":0.0273231864,"thr_a_v":0.608638108,"thr_b":0.000207141042,"thr_b_norm":0,"thr_b_v":0.500828564,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.789879,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.24105906,"cg_iw_a":0.346631765,"cg_theta_rad":0.556771934,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0216321778,"mpcc_du":49.320488,"mpcc_dv":50.679512,"mpcc_dw":50.2402,"mpcc_enc_sign":1,"mpcc_id_a":2.87211943,"mpcc_iq_a":-0.426353663,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.876566887,"mpcc_pred_id_a":0.291953385,"mpcc_pred_iq_a":-5.49433708,"mpcc_state":1,"mpcc_theta_e":0.441249847,"mpcc_theta_mech":0.555195928,"sam_rpm":-0.0250163246,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271595269,"thr_a_norm":0.0271595269,"thr_a_v":0.608638108,"thr_b":0.000207141042,"thr_b_norm":0.000207141042,"thr_b_v":0.500828564,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.798424,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.45852208,"cg_iw_a":0.926532984,"cg_theta_rad":0.554543912,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0109533183,"mpcc_du":50.0032616,"mpcc_dv":48.6954765,"mpcc_dw":51.3045235,"mpcc_enc_sign":1,"mpcc_id_a":1.60768306,"mpcc_iq_a":0.138851508,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.3831568,"mpcc_pred_id_a":0.559828699,"mpcc_pred_iq_a":-1.97320545,"mpcc_state":1,"mpcc_theta_e":0.432011127,"mpcc_theta_mech":0.553348184,"sam_rpm":-17.064682,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0272728354,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474543363,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.808769,"values":{"cg_iu_a":0.749452114,"cg_iv_a":0.426157475,"cg_iw_a":-1.97297382,"cg_theta_rad":0.55296427,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0183661375,"mpcc_du":50.1007538,"mpcc_dv":48.9141808,"mpcc_dw":51.0858192,"mpcc_enc_sign":1,"mpcc_id_a":1.86105418,"mpcc_iq_a":-1.53954756,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.28132725,"mpcc_pred_id_a":-0.277524471,"mpcc_pred_iq_a":-4.30483627,"mpcc_state":1,"mpcc_theta_e":0.447841644,"mpcc_theta_mech":0.556514263,"sam_rpm":-7.30144882,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0343099087,"thr_a_norm":0.0272728354,"thr_a_v":0.637239635,"thr_b":0.000735864043,"thr_b_norm":0,"thr_b_v":0.502943456,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.81881,"values":{"cg_iu_a":2.70661926,"cg_iv_a":0.208694458,"cg_iw_a":-0.885658741,"cg_theta_rad":0.554205179,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0162792392,"mpcc_du":50.0516205,"mpcc_dv":48.7797966,"mpcc_dw":51.2202034,"mpcc_enc_sign":1,"mpcc_id_a":0.582369089,"mpcc_iq_a":-1.91982472,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.17546988,"mpcc_pred_id_a":0.199651733,"mpcc_pred_iq_a":0.46606493,"mpcc_state":1,"mpcc_theta_e":0.429787636,"mpcc_theta_mech":0.552903414,"sam_rpm":-11.7372179,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0343099087,"thr_a_norm":0.0343099087,"thr_a_v":0.637239635,"thr_b":0.000735864043,"thr_b_norm":0.000735864043,"thr_b_v":0.502943456,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.828789,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.45852208,"cg_iw_a":-1.61053538,"cg_theta_rad":0.556668997,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0160736144,"mpcc_du":51.0079231,"mpcc_dv":47.9563103,"mpcc_dw":52.0436897,"mpcc_enc_sign":1,"mpcc_id_a":3.02843046,"mpcc_iq_a":0.222366616,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.818957806,"mpcc_pred_id_a":-0.613978863,"mpcc_pred_iq_a":-0.688808322,"mpcc_state":1,"mpcc_theta_e":0.447416306,"mpcc_theta_mech":0.556429148,"sam_rpm":-17.4582062,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.838676,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.878620625,"cg_iw_a":-0.378245354,"cg_theta_rad":0.552548051,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0224064775,"mpcc_du":49.5024452,"mpcc_dv":50.4975548,"mpcc_dw":50.2138519,"mpcc_enc_sign":1,"mpcc_id_a":0.251275241,"mpcc_iq_a":-1.07722855,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.30340028,"mpcc_pred_id_a":-0.180734903,"mpcc_pred_iq_a":-0.506967127,"mpcc_state":1,"mpcc_theta_e":0.42942667,"mpcc_theta_mech":0.552831233,"sam_rpm":3.77715302,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.848991,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-1.02359605,"cg_iw_a":0.781557798,"cg_theta_rad":0.554192781,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0439213216,"mpcc_du":50.6880646,"mpcc_dv":47.7831726,"mpcc_dw":52.2168274,"mpcc_enc_sign":1,"mpcc_id_a":3.78099632,"mpcc_iq_a":-1.21465516,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.18512154,"mpcc_pred_id_a":0.845582485,"mpcc_pred_iq_a":1.09661102,"mpcc_state":1,"mpcc_theta_e":0.438669205,"mpcc_theta_mech":0.554679751,"sam_rpm":-9.00885201,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280659199,"thr_a_norm":0.0280659199,"thr_a_v":0.61226368,"thr_b":0.00300182402,"thr_b_norm":0.00300182402,"thr_b_v":0.512007296,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.859001,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.45852208,"cg_iw_a":-0.668195724,"cg_theta_rad":0.555322468,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0365930796,"mpcc_du":50.0336456,"mpcc_dv":48.8123169,"mpcc_dw":51.1876831,"mpcc_enc_sign":1,"mpcc_id_a":0.309426695,"mpcc_iq_a":-1.07691336,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.2556963,"mpcc_pred_id_a":-0.263599396,"mpcc_pred_iq_a":-3.8001852,"mpcc_state":1,"mpcc_theta_e":0.452888966,"mpcc_theta_mech":0.556607306,"sam_rpm":8.54413795,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237228274,"thr_a_norm":0.0280659199,"thr_a_v":0.59489131,"thr_b":0,"thr_b_norm":0.00300182402,"thr_b_v":0.481844842,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.882256,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.588670254,"cg_iw_a":0.129168987,"cg_theta_rad":0.556489706,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0109858578,"mpcc_du":49.5089417,"mpcc_dv":50.4910583,"mpcc_dw":50.2970963,"mpcc_enc_sign":1,"mpcc_id_a":0.479165435,"mpcc_iq_a":-1.06385016,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.24693727,"mpcc_pred_id_a":-0.278278142,"mpcc_pred_iq_a":-5.80384874,"mpcc_state":1,"mpcc_theta_e":0.450301647,"mpcc_theta_mech":0.55700624,"sam_rpm":8.0890131,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237228274,"thr_a_norm":0.0237228274,"thr_a_v":0.59489131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481844842,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.888756,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.951108456,"cg_iw_a":-0.668195724,"cg_theta_rad":0.554706335,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0008830484,"mpcc_du":50.3743134,"mpcc_dv":48.4762039,"mpcc_dw":51.5237961,"mpcc_enc_sign":1,"mpcc_id_a":0.593517363,"mpcc_iq_a":-0.834198236,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.95983219,"mpcc_pred_id_a":-0.168997124,"mpcc_pred_iq_a":-2.52189684,"mpcc_state":1,"mpcc_theta_e":0.444246769,"mpcc_theta_mech":0.555795312,"sam_rpm":7.82139492,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024163425,"thr_a_norm":0.024163425,"thr_a_v":0.5966537,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470212847,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.895256,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.588670254,"cg_iw_a":0.274144173,"cg_theta_rad":0.553217351,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0150451679,"mpcc_du":49.5818901,"mpcc_dv":50.0469475,"mpcc_dw":50.4181099,"mpcc_enc_sign":1,"mpcc_id_a":1.23206556,"mpcc_iq_a":-1.00671816,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.78538036,"mpcc_pred_id_a":-0.213944912,"mpcc_pred_iq_a":-4.47219849,"mpcc_state":1,"mpcc_theta_e":0.448705196,"mpcc_theta_mech":0.556686997,"sam_rpm":8.65322685,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024163425,"thr_a_norm":0.024163425,"thr_a_v":0.5966537,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470212847,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.901817,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-2.0384233,"cg_iw_a":1.28897119,"cg_theta_rad":0.553195715,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.00304653007,"mpcc_du":50.1892624,"mpcc_dv":48.7033157,"mpcc_dw":51.2966843,"mpcc_enc_sign":1,"mpcc_id_a":0.822498143,"mpcc_iq_a":-0.00280238083,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.0638161,"mpcc_pred_id_a":-0.0976167023,"mpcc_pred_iq_a":-1.94739175,"mpcc_state":1,"mpcc_theta_e":0.428052902,"mpcc_theta_mech":0.552556515,"sam_rpm":-21.3749142,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0125566572,"thr_a_norm":0.0125566572,"thr_a_v":0.550226629,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455257475,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.912224,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.09608364,"cg_iw_a":-2.04546165,"cg_theta_rad":0.552867293,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.041567184,"mpcc_du":49.8858948,"mpcc_dv":49.3364105,"mpcc_dw":50.6635895,"mpcc_enc_sign":1,"mpcc_id_a":0.0907635316,"mpcc_iq_a":-1.01983058,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.00415134,"mpcc_pred_id_a":-0.531490386,"mpcc_pred_iq_a":-3.70757246,"mpcc_state":1,"mpcc_theta_e":0.457607269,"mpcc_theta_mech":0.558467388,"sam_rpm":13.8669291,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0357702076,"thr_a_norm":0.0125566572,"thr_a_v":0.643080831,"thr_b":0.00592240691,"thr_b_norm":0,"thr_b_v":0.523689628,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.922203,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.878620625,"cg_iw_a":0.999020815,"cg_theta_rad":0.556758285,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0233876389,"mpcc_du":49.5037918,"mpcc_dv":49.4657478,"mpcc_dw":50.5342522,"mpcc_enc_sign":1,"mpcc_id_a":2.58612585,"mpcc_iq_a":-0.000743854966,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.06077552,"mpcc_pred_id_a":0.19398427,"mpcc_pred_iq_a":-3.1317153,"mpcc_state":1,"mpcc_theta_e":0.436295509,"mpcc_theta_mech":0.554205,"sam_rpm":-2.16899371,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0357702076,"thr_a_norm":0.0357702076,"thr_a_v":0.643080831,"thr_b":0.00592240691,"thr_b_norm":0.00592240691,"thr_b_v":0.523689628,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.932426,"values":{"cg_iu_a":4.44632339,"cg_iv_a":-1.09608364,"cg_iw_a":0.12916851,"cg_theta_rad":0.551890552,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0148899537,"mpcc_du":49.5813026,"mpcc_dv":49.5693207,"mpcc_dw":50.4306793,"mpcc_enc_sign":1,"mpcc_id_a":0.57212925,"mpcc_iq_a":-0.0344202593,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.89990687,"mpcc_pred_id_a":-0.314375758,"mpcc_pred_iq_a":-3.34584713,"mpcc_state":1,"mpcc_theta_e":0.441440582,"mpcc_theta_mech":0.555234015,"sam_rpm":3.54758596,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233199745,"thr_a_norm":0.0233199745,"thr_a_v":0.593279898,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.942406,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.53100967,"cg_iw_a":-1.53804779,"cg_theta_rad":0.555662692,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0490485094,"mpcc_du":50.0458527,"mpcc_dv":48.5785255,"mpcc_dw":51.4214745,"mpcc_enc_sign":1,"mpcc_id_a":3.99159408,"mpcc_iq_a":0.25862366,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.164221436,"mpcc_pred_id_a":0.632071376,"mpcc_pred_iq_a":0.69863224,"mpcc_state":1,"mpcc_theta_e":0.438581467,"mpcc_theta_mech":0.554662168,"sam_rpm":0.392413229,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233199745,"thr_a_norm":0.0233199745,"thr_a_v":0.593279898,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.952599,"values":{"cg_iu_a":0.169550896,"cg_iv_a":0.643620491,"cg_iw_a":-0.813171387,"cg_theta_rad":0.558103442,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0727077201,"mpcc_du":50.2860451,"mpcc_dv":48.2659149,"mpcc_dw":51.7340851,"mpcc_enc_sign":1,"mpcc_id_a":3.36115623,"mpcc_iq_a":0.262462705,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.05176544,"mpcc_pred_id_a":0.646900415,"mpcc_pred_iq_a":-1.94217122,"mpcc_state":1,"mpcc_theta_e":0.443068981,"mpcc_theta_mech":0.555559754,"sam_rpm":-8.41271305,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214820355,"thr_a_norm":0.0214820355,"thr_a_v":0.585928142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.963005,"values":{"cg_iu_a":2.63413143,"cg_iv_a":0.0637187958,"cg_iw_a":-2.69785023,"cg_theta_rad":0.556668997,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.00249156752,"mpcc_du":50.6832733,"mpcc_dv":48.2272987,"mpcc_dw":51.7727013,"mpcc_enc_sign":1,"mpcc_id_a":0.69259125,"mpcc_iq_a":-0.814522743,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.6123362,"mpcc_pred_id_a":-0.680725157,"mpcc_pred_iq_a":0.584192097,"mpcc_state":1,"mpcc_theta_e":0.4252038,"mpcc_theta_mech":0.551986694,"sam_rpm":-22.2308502,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026001364,"thr_a_norm":0.0214820355,"thr_a_v":0.604005456,"thr_b":0.000484094024,"thr_b_norm":0,"thr_b_v":0.501936376,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.985863,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-2.54583716,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.552914798,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0210805219,"mpcc_du":49.5475388,"mpcc_dv":49.4317245,"mpcc_dw":50.5682755,"mpcc_enc_sign":1,"mpcc_id_a":2.65779757,"mpcc_iq_a":-0.879987955,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.27438176,"mpcc_pred_id_a":-0.0377905443,"mpcc_pred_iq_a":-3.6472559,"mpcc_state":1,"mpcc_theta_e":0.441071987,"mpcc_theta_mech":0.555160284,"sam_rpm":-2.47241855,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026001364,"thr_a_norm":0.026001364,"thr_a_v":0.604005456,"thr_b":0.000484094024,"thr_b_norm":0.000484094024,"thr_b_v":0.501936376,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.992332,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.6759851,"cg_iw_a":0.491606951,"cg_theta_rad":0.557105303,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.17383,"hz_adc_isr":5006,"hz_app_loop":358,"hz_tim_isr":10012,"hz_vsense":358,"mpcc_cost":0.0230737031,"mpcc_du":50.1901779,"mpcc_dv":48.654213,"mpcc_dw":51.345787,"mpcc_enc_sign":1,"mpcc_id_a":1.28653765,"mpcc_iq_a":0.462732822,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.14650059,"mpcc_pred_id_a":-0.0534848496,"mpcc_pred_iq_a":-1.00548816,"mpcc_state":1,"mpcc_theta_e":0.439985275,"mpcc_theta_mech":0.554942966,"sam_rpm":-4.71299362,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0343854427,"thr_a_norm":0.0343854427,"thr_a_v":0.637541771,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499519348,"vdc_v":55.2955055}} +{"type":"telemetry","t":85.998833,"values":{"cg_iu_a":3.06905746,"cg_iv_a":0.208694458,"cg_iw_a":-3.27775192,"cg_theta_rad":0.556419373,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0245443024,"mpcc_du":50.7324753,"mpcc_dv":47.8554726,"mpcc_dw":52.1445274,"mpcc_enc_sign":1,"mpcc_id_a":2.54408693,"mpcc_iq_a":0.456115723,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.3343315,"mpcc_pred_id_a":0.117326379,"mpcc_pred_iq_a":0.174428225,"mpcc_state":1,"mpcc_theta_e":0.427030563,"mpcc_theta_mech":0.552352011,"sam_rpm":-24.3644295,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0343854427,"thr_a_norm":0.0343854427,"thr_a_v":0.637541771,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499519348,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.005424,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.951108456,"cg_iw_a":0.854045391,"cg_theta_rad":0.553387642,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0174357221,"mpcc_du":49.3801079,"mpcc_dv":50.6198921,"mpcc_dw":50.3224792,"mpcc_enc_sign":1,"mpcc_id_a":2.23865056,"mpcc_iq_a":-0.41595307,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.09651089,"mpcc_pred_id_a":0.169575766,"mpcc_pred_iq_a":-5.0297513,"mpcc_state":1,"mpcc_theta_e":0.445806026,"mpcc_theta_mech":0.556107104,"sam_rpm":6.84020758,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238235295,"thr_a_norm":0.0238235295,"thr_a_v":0.595294118,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480132759,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.014091,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.226231575,"cg_iw_a":-4.14760399,"cg_theta_rad":0.557150126,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0108812088,"mpcc_du":50.0656662,"mpcc_dv":48.6684647,"mpcc_dw":51.3315353,"mpcc_enc_sign":1,"mpcc_id_a":1.96767604,"mpcc_iq_a":-0.118081525,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.0097113,"mpcc_pred_id_a":0.207776412,"mpcc_pred_iq_a":-0.271103561,"mpcc_state":1,"mpcc_theta_e":0.431410789,"mpcc_theta_mech":0.55322808,"sam_rpm":-18.5669823,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186621547,"thr_a_norm":0.0238235295,"thr_a_v":0.574648619,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461350411,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.02401,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.878620625,"cg_iw_a":-4.07511616,"cg_theta_rad":0.557239711,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0837063864,"mpcc_du":49.9842644,"mpcc_dv":48.9713898,"mpcc_dw":51.0286102,"mpcc_enc_sign":1,"mpcc_id_a":1.04258811,"mpcc_iq_a":0.426734269,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.63448048,"mpcc_pred_id_a":-0.0944123268,"mpcc_pred_iq_a":-2.56023121,"mpcc_state":1,"mpcc_theta_e":0.454442024,"mpcc_theta_mech":0.557834327,"sam_rpm":13.2982101,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186621547,"thr_a_norm":0.0186621547,"thr_a_v":0.574648619,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461350411,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.034233,"values":{"cg_iu_a":3.93890953,"cg_iv_a":-0.588670254,"cg_iw_a":1.43394637,"cg_theta_rad":0.555576921,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.011977233,"mpcc_du":49.9729347,"mpcc_dv":48.905407,"mpcc_dw":51.094593,"mpcc_enc_sign":1,"mpcc_id_a":1.02305079,"mpcc_iq_a":-0.785199046,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.57263756,"mpcc_pred_id_a":0.0409709513,"mpcc_pred_iq_a":0.0723852217,"mpcc_state":1,"mpcc_theta_e":0.428685188,"mpcc_theta_mech":0.552682936,"sam_rpm":-14.7358942,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0473014414,"thr_a_norm":0.0473014414,"thr_a_v":0.689205766,"thr_b":0.00798694789,"thr_b_norm":0.00798694789,"thr_b_v":0.531947792,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.043999,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.516182423,"cg_iw_a":-0.81317091,"cg_theta_rad":0.555333316,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.00457186019,"mpcc_du":50.2960663,"mpcc_dv":48.6637459,"mpcc_dw":51.3362541,"mpcc_enc_sign":1,"mpcc_id_a":0.0384556837,"mpcc_iq_a":-2.04314756,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.632678,"mpcc_pred_id_a":-0.393255949,"mpcc_pred_iq_a":-3.80107141,"mpcc_state":1,"mpcc_theta_e":0.4342103,"mpcc_theta_mech":0.553788006,"sam_rpm":-16.4702892,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0473014414,"thr_a_norm":0.0473014414,"thr_a_v":0.689205766,"thr_b":0.00798694789,"thr_b_norm":0.00798694789,"thr_b_v":0.531947792,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.054375,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.806133032,"cg_iw_a":-1.75551033,"cg_theta_rad":0.556661308,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0836698115,"mpcc_du":50.1407738,"mpcc_dv":48.8511505,"mpcc_dw":51.1488495,"mpcc_enc_sign":1,"mpcc_id_a":1.0883261,"mpcc_iq_a":0.3604123,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.83228922,"mpcc_pred_id_a":-0.294261426,"mpcc_pred_iq_a":-2.90565872,"mpcc_state":1,"mpcc_theta_e":0.451594353,"mpcc_theta_mech":0.557264745,"sam_rpm":7.98352575,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105423436,"thr_a_norm":0.105423436,"thr_a_v":0.921693742,"thr_b":0.046609059,"thr_b_norm":0.046609059,"thr_b_v":0.686436236,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.064354,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.371207237,"cg_iw_a":-1.8279984,"cg_theta_rad":0.554904342,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0819161832,"mpcc_du":49.7830086,"mpcc_dv":49.1318092,"mpcc_dw":50.8681908,"mpcc_enc_sign":1,"mpcc_id_a":2.60196066,"mpcc_iq_a":0.320319772,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.90398407,"mpcc_pred_id_a":0.112927675,"mpcc_pred_iq_a":-2.51394176,"mpcc_state":1,"mpcc_theta_e":0.453086853,"mpcc_theta_mech":0.556618333,"sam_rpm":15.0066614,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105423436,"thr_a_norm":0.105423436,"thr_a_v":0.921693742,"thr_b":0.046609059,"thr_b_norm":0.046609059,"thr_b_v":0.686436236,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.087791,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.24105906,"cg_iw_a":-1.03063393,"cg_theta_rad":0.557234824,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.00681650545,"mpcc_du":50.3893204,"mpcc_dv":48.567337,"mpcc_dw":51.432663,"mpcc_enc_sign":1,"mpcc_id_a":-0.028697025,"mpcc_iq_a":-0.956157088,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.80535746,"mpcc_pred_id_a":-0.320653975,"mpcc_pred_iq_a":1.01346195,"mpcc_state":1,"mpcc_theta_e":0.446520805,"mpcc_theta_mech":0.556250095,"sam_rpm":7.45860815,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101155862,"thr_a_norm":0.101155862,"thr_a_v":0.904623449,"thr_b":0.0421526581,"thr_b_norm":0.0421526581,"thr_b_v":0.668610632,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.094383,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.951108456,"cg_iw_a":-0.885658741,"cg_theta_rad":0.55746907,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0210441016,"mpcc_du":49.6660614,"mpcc_dv":49.3770943,"mpcc_dw":50.6229057,"mpcc_enc_sign":1,"mpcc_id_a":1.81836617,"mpcc_iq_a":-1.12186241,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.250412,"mpcc_pred_id_a":-0.117198251,"mpcc_pred_iq_a":-0.887982965,"mpcc_state":1,"mpcc_theta_e":0.456613541,"mpcc_theta_mech":0.558268607,"sam_rpm":22.7739792,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190272331,"thr_a_norm":0.101155862,"thr_a_v":0.576108932,"thr_b":0,"thr_b_norm":0.0421526581,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.100914,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.82096052,"cg_iw_a":0.926532984,"cg_theta_rad":0.55556798,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0172645766,"mpcc_du":49.559269,"mpcc_dv":49.8766747,"mpcc_dw":50.440731,"mpcc_enc_sign":1,"mpcc_id_a":1.23959029,"mpcc_iq_a":0.0124516292,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.38509846,"mpcc_pred_id_a":-0.130085245,"mpcc_pred_iq_a":-3.19308877,"mpcc_state":1,"mpcc_theta_e":0.447959423,"mpcc_theta_mech":0.556537807,"sam_rpm":9.37466431,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190272331,"thr_a_norm":0.0190272331,"thr_a_v":0.576108932,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.107353,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.878620625,"cg_iw_a":-1.17560959,"cg_theta_rad":0.554456472,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0623207502,"mpcc_du":49.5743027,"mpcc_dv":49.1349945,"mpcc_dw":50.8650055,"mpcc_enc_sign":1,"mpcc_id_a":3.7106595,"mpcc_iq_a":-0.555145979,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.7587576,"mpcc_pred_id_a":0.888890803,"mpcc_pred_iq_a":-1.34256732,"mpcc_state":1,"mpcc_theta_e":0.455560684,"mpcc_theta_mech":0.558058083,"sam_rpm":18.4339371,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0152128637,"thr_a_norm":0.0152128637,"thr_a_v":0.560851455,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451833367,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.115288,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.806133032,"cg_iw_a":-1.61053538,"cg_theta_rad":0.554681182,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.00474974466,"mpcc_du":49.4485245,"mpcc_dv":50.5514755,"mpcc_dw":49.9637756,"mpcc_enc_sign":1,"mpcc_id_a":-0.723011851,"mpcc_iq_a":-1.22675276,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.34018278,"mpcc_pred_id_a":-0.917379379,"mpcc_pred_iq_a":-5.39806938,"mpcc_state":1,"mpcc_theta_e":0.44791317,"mpcc_theta_mech":0.556528568,"sam_rpm":9.35358524,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0152128637,"thr_a_norm":0.0152128637,"thr_a_v":0.560851455,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451833367,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.125572,"values":{"cg_iu_a":3.8664217,"cg_iv_a":-0.226231575,"cg_iw_a":-0.16078186,"cg_theta_rad":0.557389379,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0377528518,"mpcc_du":50.3626518,"mpcc_dv":48.4568748,"mpcc_dw":51.5431252,"mpcc_enc_sign":1,"mpcc_id_a":2.24041343,"mpcc_iq_a":0.105117366,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.47578669,"mpcc_pred_id_a":0.165934131,"mpcc_pred_iq_a":-2.03555846,"mpcc_state":1,"mpcc_theta_e":0.440477848,"mpcc_theta_mech":0.555041492,"sam_rpm":-11.353157,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0107438713,"thr_a_norm":0.0107438713,"thr_a_v":0.542975485,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.436676592,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.135796,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-3.99559045,"cg_iw_a":2.30379891,"cg_theta_rad":0.559239388,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0522878654,"mpcc_du":49.4765625,"mpcc_dv":50.5234375,"mpcc_dw":50.4534302,"mpcc_enc_sign":1,"mpcc_id_a":2.2945919,"mpcc_iq_a":0.515804052,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.0163746,"mpcc_pred_id_a":0.382741988,"mpcc_pred_iq_a":-3.96332932,"mpcc_state":1,"mpcc_theta_e":0.453434944,"mpcc_theta_mech":0.557632923,"sam_rpm":20.8805103,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0112222433,"thr_a_norm":0.0107438713,"thr_a_v":0.544888973,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.428670168,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.145622,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.09608364,"cg_iw_a":-0.378245354,"cg_theta_rad":0.552167118,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.106310919,"mpcc_du":49.4803772,"mpcc_dv":49.9845009,"mpcc_dw":50.5196228,"mpcc_enc_sign":1,"mpcc_id_a":2.68515968,"mpcc_iq_a":-0.36262995,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":19.116312,"mpcc_pred_id_a":0.411156803,"mpcc_pred_iq_a":-4.43369007,"mpcc_state":1,"mpcc_theta_e":0.466158867,"mpcc_theta_mech":0.560177684,"sam_rpm":30.00807,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0112222433,"thr_a_norm":0.0112222433,"thr_a_v":0.544888973,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.428670168,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.155754,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.6759851,"cg_iw_a":0.564094782,"cg_theta_rad":0.555873215,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0486630201,"mpcc_du":49.5125427,"mpcc_dv":49.5238113,"mpcc_dw":50.4874573,"mpcc_enc_sign":1,"mpcc_id_a":2.9319191,"mpcc_iq_a":-0.142006814,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.90039873,"mpcc_pred_id_a":0.073972255,"mpcc_pred_iq_a":-4.8107872,"mpcc_state":1,"mpcc_theta_e":0.439435959,"mpcc_theta_mech":0.554833114,"sam_rpm":7.89423037,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023131147,"thr_a_norm":0.023131147,"thr_a_v":0.592524588,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493577451,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.168114,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.53100967,"cg_iw_a":0.201656342,"cg_theta_rad":0.553028762,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.00676367385,"mpcc_du":49.9203186,"mpcc_dv":48.6486816,"mpcc_dw":51.3513184,"mpcc_enc_sign":1,"mpcc_id_a":1.41584396,"mpcc_iq_a":0.40750581,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.3084197,"mpcc_pred_id_a":0.396500349,"mpcc_pred_iq_a":-0.950771749,"mpcc_state":1,"mpcc_theta_e":0.435381889,"mpcc_theta_mech":0.554022253,"sam_rpm":-13.4710693,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197070241,"thr_a_norm":0.023131147,"thr_a_v":0.578828096,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472780973,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.191216,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.588670254,"cg_iw_a":-2.33541203,"cg_theta_rad":0.554021895,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.10697487,"mpcc_du":49.5967598,"mpcc_dv":49.4017906,"mpcc_dw":50.5982094,"mpcc_enc_sign":1,"mpcc_id_a":2.78769588,"mpcc_iq_a":0.686378598,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.2318668,"mpcc_pred_id_a":0.10897094,"mpcc_pred_iq_a":-3.60020256,"mpcc_state":1,"mpcc_theta_e":0.456755161,"mpcc_theta_mech":0.558296919,"sam_rpm":17.8442154,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197070241,"thr_a_norm":0.0197070241,"thr_a_v":0.578828096,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472780973,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.197716,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.60349751,"cg_iw_a":0.78155756,"cg_theta_rad":0.556827128,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0702797771,"mpcc_du":49.3828621,"mpcc_dv":49.2820053,"mpcc_dw":50.7179947,"mpcc_enc_sign":1,"mpcc_id_a":4.56715775,"mpcc_iq_a":-1.26466727,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.25961208,"mpcc_pred_id_a":1.08422923,"mpcc_pred_iq_a":-3.76082563,"mpcc_state":1,"mpcc_theta_e":0.448560715,"mpcc_theta_mech":0.55665803,"sam_rpm":7.10971546,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0475280285,"thr_a_norm":0.0475280285,"thr_a_v":0.690112114,"thr_b":0.0137399882,"thr_b_norm":0.0137399882,"thr_b_v":0.554959953,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.204247,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.951108456,"cg_iw_a":-0.450732708,"cg_theta_rad":0.554213226,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0323021226,"mpcc_du":49.9287758,"mpcc_dv":48.8466187,"mpcc_dw":51.1533813,"mpcc_enc_sign":1,"mpcc_id_a":3.39803123,"mpcc_iq_a":-0.666134477,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.6255796,"mpcc_pred_id_a":0.415952206,"mpcc_pred_iq_a":-1.4789505,"mpcc_state":1,"mpcc_theta_e":0.438930988,"mpcc_theta_mech":0.554732084,"sam_rpm":-5.80833912,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0475280285,"thr_a_norm":0.0475280285,"thr_a_v":0.690112114,"thr_b":0.0137399882,"thr_b_norm":0.0137399882,"thr_b_v":0.554959953,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.210777,"values":{"cg_iu_a":-0.627813578,"cg_iv_a":-0.951108456,"cg_iw_a":0.636582375,"cg_theta_rad":0.55555588,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.00129958219,"mpcc_du":50.377327,"mpcc_dv":48.6141396,"mpcc_dw":51.3858604,"mpcc_enc_sign":1,"mpcc_id_a":0.346485883,"mpcc_iq_a":-1.21419239,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.7037754,"mpcc_pred_id_a":-0.470565617,"mpcc_pred_iq_a":-2.00865602,"mpcc_state":1,"mpcc_theta_e":0.430870533,"mpcc_theta_mech":0.553120017,"sam_rpm":-17.4554234,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212302655,"thr_a_norm":0.0212302655,"thr_a_v":0.584921062,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457473099,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.218712,"values":{"cg_iu_a":2.70661926,"cg_iv_a":0.426157475,"cg_iw_a":-0.450732708,"cg_theta_rad":0.557304382,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.00956230145,"mpcc_du":49.8945198,"mpcc_dv":49.2805023,"mpcc_dw":50.7194977,"mpcc_enc_sign":1,"mpcc_id_a":0.00396528654,"mpcc_iq_a":-1.38979435,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.68969464,"mpcc_pred_id_a":-0.502384007,"mpcc_pred_iq_a":-2.77863002,"mpcc_state":1,"mpcc_theta_e":0.447116375,"mpcc_theta_mech":0.556369185,"sam_rpm":5.90862894,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0212302655,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466234833,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.228416,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-2.0384233,"cg_iw_a":-0.523220539,"cg_theta_rad":0.555418015,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0560803972,"mpcc_du":50.1533661,"mpcc_dv":48.7602806,"mpcc_dw":51.2397194,"mpcc_enc_sign":1,"mpcc_id_a":2.25555658,"mpcc_iq_a":-0.722827315,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.85857677,"mpcc_pred_id_a":0.124765456,"mpcc_pred_iq_a":-2.16370749,"mpcc_state":1,"mpcc_theta_e":0.453688145,"mpcc_theta_mech":0.557683527,"sam_rpm":8.03809261,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466234833,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.238609,"values":{"cg_iu_a":2.1992054,"cg_iv_a":0.208694458,"cg_iw_a":-2.40789986,"cg_theta_rad":0.558850884,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0153691433,"mpcc_du":49.7631264,"mpcc_dv":49.3901978,"mpcc_dw":50.6098022,"mpcc_enc_sign":1,"mpcc_id_a":0.481485754,"mpcc_iq_a":-1.71859801,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.73332882,"mpcc_pred_id_a":-0.284880668,"mpcc_pred_iq_a":-4.28057003,"mpcc_state":1,"mpcc_theta_e":0.452465057,"mpcc_theta_mech":0.55743897,"sam_rpm":5.65460825,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024390012,"thr_a_norm":0.024390012,"thr_a_v":0.597560048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483002961,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.248589,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.951108456,"cg_iw_a":-1.68302298,"cg_theta_rad":0.554594815,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0562908798,"mpcc_du":50.2873497,"mpcc_dv":48.341011,"mpcc_dw":51.658989,"mpcc_enc_sign":1,"mpcc_id_a":2.5860548,"mpcc_iq_a":-0.0192065369,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.5976758,"mpcc_pred_id_a":0.651914418,"mpcc_pred_iq_a":-1.82123387,"mpcc_state":1,"mpcc_theta_e":0.443434715,"mpcc_theta_mech":0.555632889,"sam_rpm":-6.01069403,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024390012,"thr_a_norm":0.024390012,"thr_a_v":0.597560048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483002961,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.259148,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.951108456,"cg_iw_a":-0.668195724,"cg_theta_rad":0.554044187,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0111402078,"mpcc_du":49.4742622,"mpcc_dv":49.8221741,"mpcc_dw":50.5257378,"mpcc_enc_sign":1,"mpcc_id_a":2.06680536,"mpcc_iq_a":-1.28532505,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.12991428,"mpcc_pred_id_a":0.364138246,"mpcc_pred_iq_a":-4.1123414,"mpcc_state":1,"mpcc_theta_e":0.437382698,"mpcc_theta_mech":0.554422438,"sam_rpm":-7.49320889,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0313012153,"thr_a_norm":0.0313012153,"thr_a_v":0.625204861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465983063,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.269005,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.02359605,"cg_iw_a":-1.97297359,"cg_theta_rad":0.552753568,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.000934978714,"mpcc_du":50.4087181,"mpcc_dv":48.3387108,"mpcc_dw":51.6612892,"mpcc_enc_sign":1,"mpcc_id_a":0.464318693,"mpcc_iq_a":-1.64114618,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.407917,"mpcc_pred_id_a":0.050413873,"mpcc_pred_iq_a":-1.11691773,"mpcc_state":1,"mpcc_theta_e":0.434394836,"mpcc_theta_mech":0.553824842,"sam_rpm":-15.7303104,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248432159,"thr_a_norm":0.0313012153,"thr_a_v":0.599372864,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496246278,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.292046,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.46555996,"cg_theta_rad":0.551852703,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.00277412217,"mpcc_du":51.27351,"mpcc_dv":47.503273,"mpcc_dw":52.496727,"mpcc_enc_sign":1,"mpcc_id_a":-0.21338366,"mpcc_iq_a":-1.55669808,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.7671452,"mpcc_pred_id_a":-0.627726793,"mpcc_pred_iq_a":2.03500009,"mpcc_state":1,"mpcc_theta_e":0.433005333,"mpcc_theta_mech":0.553547025,"sam_rpm":-15.6187239,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248432159,"thr_a_norm":0.0248432159,"thr_a_v":0.599372864,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496246278,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.298515,"values":{"cg_iu_a":2.48915625,"cg_iv_a":0.933570862,"cg_iw_a":-3.42272711,"cg_theta_rad":0.556793571,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.00830476359,"mpcc_du":50.1540031,"mpcc_dv":48.7543793,"mpcc_dw":51.2456207,"mpcc_enc_sign":1,"mpcc_id_a":1.5001266,"mpcc_iq_a":-1.6319592,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.42074299,"mpcc_pred_id_a":-0.159283474,"mpcc_pred_iq_a":-1.56661546,"mpcc_state":1,"mpcc_theta_e":0.442241669,"mpcc_theta_mech":0.555394232,"sam_rpm":-3.53362083,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194048882,"thr_a_norm":0.0194048882,"thr_a_v":0.577619553,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473536283,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.305107,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-3.70563984,"cg_iw_a":2.73872471,"cg_theta_rad":0.553829491,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0232081581,"mpcc_du":49.7473564,"mpcc_dv":49.1036606,"mpcc_dw":50.8963394,"mpcc_enc_sign":1,"mpcc_id_a":2.81282282,"mpcc_iq_a":-0.7211501,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.79344666,"mpcc_pred_id_a":0.133666784,"mpcc_pred_iq_a":-3.85430384,"mpcc_state":1,"mpcc_theta_e":0.4408741,"mpcc_theta_mech":0.555120766,"sam_rpm":-3.1309762,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194048882,"thr_a_norm":0.0194048882,"thr_a_v":0.577619553,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473536283,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.311577,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.0087685585,"cg_iw_a":-1.10312176,"cg_theta_rad":0.553224623,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0186363384,"mpcc_du":48.8731613,"mpcc_dv":51.1268387,"mpcc_dw":49.5581207,"mpcc_enc_sign":1,"mpcc_id_a":2.30427766,"mpcc_iq_a":-0.786645174,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.5499029,"mpcc_pred_id_a":-0.177826852,"mpcc_pred_iq_a":-6.39889383,"mpcc_state":1,"mpcc_theta_e":0.451270103,"mpcc_theta_mech":0.557199895,"sam_rpm":16.8170872,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0303318799,"thr_a_norm":0.0303318799,"thr_a_v":0.621327519,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468651831,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.321587,"values":{"cg_iu_a":3.35900831,"cg_iv_a":0.426157475,"cg_iw_a":-1.32058477,"cg_theta_rad":0.554504156,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0302774403,"mpcc_du":49.5272217,"mpcc_dv":49.3531418,"mpcc_dw":50.6468582,"mpcc_enc_sign":1,"mpcc_id_a":2.34037161,"mpcc_iq_a":-0.523598552,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.15776563,"mpcc_pred_id_a":0.255369037,"mpcc_pred_iq_a":-2.51775074,"mpcc_state":1,"mpcc_theta_e":0.432803154,"mpcc_theta_mech":0.553506553,"sam_rpm":-1.65937221,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266685635,"thr_a_norm":0.0303318799,"thr_a_v":0.606674254,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478722841,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.331596,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.60349751,"cg_iw_a":-0.595708132,"cg_theta_rad":0.556831777,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0099796271,"mpcc_du":50.5775375,"mpcc_dv":48.1042786,"mpcc_dw":51.8957214,"mpcc_enc_sign":1,"mpcc_id_a":3.77492166,"mpcc_iq_a":-1.5179075,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.62487984,"mpcc_pred_id_a":0.172872901,"mpcc_pred_iq_a":-1.1674509,"mpcc_state":1,"mpcc_theta_e":0.451941967,"mpcc_theta_mech":0.557334304,"sam_rpm":-14.2250729,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266685635,"thr_a_norm":0.0266685635,"thr_a_v":0.606674254,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478722841,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.341576,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.443694592,"cg_iw_a":-1.61053562,"cg_theta_rad":0.554921567,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0385613628,"mpcc_du":50.5658073,"mpcc_dv":48.0990181,"mpcc_dw":51.9009819,"mpcc_enc_sign":1,"mpcc_id_a":2.28656316,"mpcc_iq_a":-0.987537503,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.1497097,"mpcc_pred_id_a":0.266917139,"mpcc_pred_iq_a":-1.84747887,"mpcc_state":1,"mpcc_theta_e":0.442934036,"mpcc_theta_mech":0.555532694,"sam_rpm":-11.7057543,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0304955393,"thr_a_norm":0.0304955393,"thr_a_v":0.621982157,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451430529,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.351616,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.0812563896,"cg_iw_a":-3.13277626,"cg_theta_rad":0.553307891,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0181267578,"mpcc_du":49.8717651,"mpcc_dv":48.8178101,"mpcc_dw":51.1821899,"mpcc_enc_sign":1,"mpcc_id_a":2.58612537,"mpcc_iq_a":-1.10276294,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.01864433,"mpcc_pred_id_a":0.480767876,"mpcc_pred_iq_a":-0.659750044,"mpcc_state":1,"mpcc_theta_e":0.436660767,"mpcc_theta_mech":0.554278076,"sam_rpm":-14.8526449,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0304955393,"thr_a_norm":0.0304955393,"thr_a_v":0.621982157,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451430529,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.363976,"values":{"cg_iu_a":2.12671757,"cg_iv_a":1.00605869,"cg_iw_a":-2.26292467,"cg_theta_rad":0.553433657,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0139707252,"mpcc_du":50.8728638,"mpcc_dv":47.828701,"mpcc_dw":52.171299,"mpcc_enc_sign":1,"mpcc_id_a":0.519117653,"mpcc_iq_a":-1.85577834,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.88884211,"mpcc_pred_id_a":-0.120233461,"mpcc_pred_iq_a":0.449294955,"mpcc_state":1,"mpcc_theta_e":0.437768936,"mpcc_theta_mech":0.554499745,"sam_rpm":-6.05952501,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0223380625,"thr_a_norm":0.0223380625,"thr_a_v":0.58935225,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479981691,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.387352,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.89344811,"cg_iw_a":0.419119358,"cg_theta_rad":0.553165913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.00102315843,"mpcc_du":49.5846939,"mpcc_dv":50.3831139,"mpcc_dw":50.4153061,"mpcc_enc_sign":1,"mpcc_id_a":0.355498612,"mpcc_iq_a":-0.998336375,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.34926891,"mpcc_pred_id_a":-0.247669861,"mpcc_pred_iq_a":-4.34324932,"mpcc_state":1,"mpcc_theta_e":0.443441868,"mpcc_theta_mech":0.55563432,"sam_rpm":3.36970615,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202231556,"thr_a_norm":0.0202231556,"thr_a_v":0.580892622,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449768841,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.393913,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.74847269,"cg_iw_a":0.564094543,"cg_theta_rad":0.555717349,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0138533423,"mpcc_du":50.9358101,"mpcc_dv":47.7097664,"mpcc_dw":52.2902336,"mpcc_enc_sign":1,"mpcc_id_a":2.15525246,"mpcc_iq_a":-1.62236917,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.1843052,"mpcc_pred_id_a":-0.0959057584,"mpcc_pred_iq_a":1.83089733,"mpcc_state":1,"mpcc_theta_e":0.427862644,"mpcc_theta_mech":0.552518487,"sam_rpm":-23.0364609,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202231556,"thr_a_norm":0.0202231556,"thr_a_v":0.580892622,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449768841,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.400475,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.02359605,"cg_iw_a":-0.160782099,"cg_theta_rad":0.555541635,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0188839957,"mpcc_du":49.52425,"mpcc_dv":50.47575,"mpcc_dw":50.4671555,"mpcc_enc_sign":1,"mpcc_id_a":2.30548811,"mpcc_iq_a":-0.78309083,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.47365761,"mpcc_pred_id_a":0.0701380447,"mpcc_pred_iq_a":-3.82047939,"mpcc_state":1,"mpcc_theta_e":0.449728012,"mpcc_theta_mech":0.556891561,"sam_rpm":13.5202885,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167990327,"thr_a_norm":0.0167990327,"thr_a_v":0.567196131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.425346762,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.406944,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.02359605,"cg_iw_a":-0.885658503,"cg_theta_rad":0.553674638,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0209790245,"mpcc_du":50.3809052,"mpcc_dv":48.8712654,"mpcc_dw":51.1287346,"mpcc_enc_sign":1,"mpcc_id_a":-2.23999858,"mpcc_iq_a":-1.70478404,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.74523878,"mpcc_pred_id_a":-1.12574983,"mpcc_pred_iq_a":-0.917692482,"mpcc_state":1,"mpcc_theta_e":0.435580254,"mpcc_theta_mech":0.554061949,"sam_rpm":7.80502367,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0155905336,"thr_a_norm":0.0167990327,"thr_a_v":0.562362134,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.414574,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.371207237,"cg_iw_a":-0.233269691,"cg_theta_rad":0.552941322,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.00517424615,"mpcc_du":50.7240829,"mpcc_dv":47.9346313,"mpcc_dw":52.0653687,"mpcc_enc_sign":1,"mpcc_id_a":0.793360174,"mpcc_iq_a":-1.10285401,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.36061668,"mpcc_pred_id_a":0.0346319377,"mpcc_pred_iq_a":0.841433465,"mpcc_state":1,"mpcc_theta_e":0.435224533,"mpcc_theta_mech":0.553990781,"sam_rpm":-12.1168909,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0155905336,"thr_a_norm":0.0155905336,"thr_a_v":0.562362134,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.424828,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.82096052,"cg_iw_a":-0.740683079,"cg_theta_rad":0.5527457,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0429416597,"mpcc_du":50.0186424,"mpcc_dv":48.7882614,"mpcc_dw":51.2117386,"mpcc_enc_sign":1,"mpcc_id_a":1.15065253,"mpcc_iq_a":-0.507758677,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.08529949,"mpcc_pred_id_a":0.22798726,"mpcc_pred_iq_a":-2.50795865,"mpcc_state":1,"mpcc_theta_e":0.452092171,"mpcc_theta_mech":0.557364345,"sam_rpm":4.99140453,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0299542099,"thr_a_norm":0.0299542099,"thr_a_v":0.61981684,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460796505,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.434776,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.24105906,"cg_iw_a":-1.61053538,"cg_theta_rad":0.558631063,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0821443349,"mpcc_du":50.2337379,"mpcc_dv":48.6181488,"mpcc_dw":51.3818512,"mpcc_enc_sign":1,"mpcc_id_a":1.47992158,"mpcc_iq_a":0.168254972,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.01105452,"mpcc_pred_id_a":0.085533224,"mpcc_pred_iq_a":-2.55167723,"mpcc_state":1,"mpcc_theta_e":0.453186035,"mpcc_theta_mech":0.557583153,"sam_rpm":5.15135384,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0299542099,"thr_a_norm":0.0299542099,"thr_a_v":0.61981684,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460796505,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.444969,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.951108456,"cg_iw_a":-0.885658741,"cg_theta_rad":0.555317342,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0186058544,"mpcc_du":50.1841469,"mpcc_dv":48.7986565,"mpcc_dw":51.2013435,"mpcc_enc_sign":1,"mpcc_id_a":0.388026029,"mpcc_iq_a":-0.92415899,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.651185811,"mpcc_pred_id_a":-0.272760659,"mpcc_pred_iq_a":-2.34459686,"mpcc_state":1,"mpcc_theta_e":0.447107315,"mpcc_theta_mech":0.556367397,"sam_rpm":-1.09553587,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209658891,"thr_a_norm":0.0209658891,"thr_a_v":0.583863556,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464119941,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.45507,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.74847269,"cg_iw_a":-0.305757284,"cg_theta_rad":0.553347707,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.00886846334,"mpcc_du":50.2335739,"mpcc_dv":48.7666435,"mpcc_dw":51.2333565,"mpcc_enc_sign":1,"mpcc_id_a":1.20314622,"mpcc_iq_a":-2.24276638,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.05509603,"mpcc_pred_id_a":-0.0366250798,"mpcc_pred_iq_a":-4.51299286,"mpcc_state":1,"mpcc_theta_e":0.446888447,"mpcc_theta_mech":0.556323588,"sam_rpm":-1.15686405,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022300303,"thr_a_norm":0.0209658891,"thr_a_v":0.589201212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481945544,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.46508,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.09608364,"cg_iw_a":-1.39307261,"cg_theta_rad":0.551477194,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.00231525372,"mpcc_du":49.0727882,"mpcc_dv":50.9272118,"mpcc_dw":50.0548668,"mpcc_enc_sign":1,"mpcc_id_a":0.584068954,"mpcc_iq_a":-0.178769648,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.33115101,"mpcc_pred_id_a":-0.252610654,"mpcc_pred_iq_a":-0.396994978,"mpcc_state":1,"mpcc_theta_e":0.441206455,"mpcc_theta_mech":0.555187225,"sam_rpm":30.3491249,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022300303,"thr_a_norm":0.022300303,"thr_a_v":0.589201212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481945544,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.487572,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-3.27071381,"cg_iw_a":2.59374952,"cg_theta_rad":0.554791093,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0282236021,"mpcc_du":50.1136284,"mpcc_dv":48.8618202,"mpcc_dw":51.1381798,"mpcc_enc_sign":1,"mpcc_id_a":0.869956315,"mpcc_iq_a":-1.25368762,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.16873312,"mpcc_pred_id_a":-0.270220518,"mpcc_pred_iq_a":-4.44742012,"mpcc_state":1,"mpcc_theta_e":0.45092392,"mpcc_theta_mech":0.557130694,"sam_rpm":6.97036409,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273609459,"thr_a_norm":0.0273609459,"thr_a_v":0.609443784,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498663306,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.494102,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.74847269,"cg_iw_a":-0.378244877,"cg_theta_rad":0.553596437,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0115577187,"mpcc_du":50.2309799,"mpcc_dv":48.604187,"mpcc_dw":51.395813,"mpcc_enc_sign":1,"mpcc_id_a":2.06206107,"mpcc_iq_a":-2.66693687,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.62102365,"mpcc_pred_id_a":-0.0456108823,"mpcc_pred_iq_a":-1.1348151,"mpcc_state":1,"mpcc_theta_e":0.436728001,"mpcc_theta_mech":0.554291546,"sam_rpm":-9.74896812,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273609459,"thr_a_norm":0.0273609459,"thr_a_v":0.609443784,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498663306,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.500664,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.53100967,"cg_iw_a":0.999020576,"cg_theta_rad":0.554783463,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0130546177,"mpcc_du":49.2923698,"mpcc_dv":50.7076302,"mpcc_dw":49.9387283,"mpcc_enc_sign":1,"mpcc_id_a":1.0102644,"mpcc_iq_a":-0.298538476,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.78387547,"mpcc_pred_id_a":-0.590940952,"mpcc_pred_iq_a":-5.06419182,"mpcc_state":1,"mpcc_theta_e":0.450821877,"mpcc_theta_mech":0.55711031,"sam_rpm":14.0615721,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101823077,"thr_a_norm":0.101823077,"thr_a_v":0.907292306,"thr_b":0.0430464596,"thr_b_norm":0.0430464596,"thr_b_v":0.672185838,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.507164,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-1.53100967,"cg_iw_a":-1.90048599,"cg_theta_rad":0.553849161,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0077813617,"mpcc_du":49.9818497,"mpcc_dv":48.9797745,"mpcc_dw":51.0202255,"mpcc_enc_sign":1,"mpcc_id_a":0.355337739,"mpcc_iq_a":-0.998393655,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.792181551,"mpcc_pred_id_a":-0.144844234,"mpcc_pred_iq_a":-1.64059687,"mpcc_state":1,"mpcc_theta_e":0.443603039,"mpcc_theta_mech":0.555666506,"sam_rpm":1.59067678,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211169571,"thr_a_norm":0.101823077,"thr_a_v":0.584467828,"thr_b":0,"thr_b_norm":0.0430464596,"thr_b_v":0.466839105,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.515984,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.951108456,"cg_iw_a":0.201656342,"cg_theta_rad":0.555771053,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.00334161427,"mpcc_du":50.0571709,"mpcc_dv":48.8910103,"mpcc_dw":51.1089897,"mpcc_enc_sign":1,"mpcc_id_a":1.14844322,"mpcc_iq_a":-0.336497575,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.5652332,"mpcc_pred_id_a":-0.0823731571,"mpcc_pred_iq_a":-1.46703839,"mpcc_state":1,"mpcc_theta_e":0.428800106,"mpcc_theta_mech":0.552705944,"sam_rpm":-17.0814724,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211169571,"thr_a_norm":0.0211169571,"thr_a_v":0.584467828,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466839105,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.527428,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.09608364,"cg_iw_a":-1.24809694,"cg_theta_rad":0.552601576,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0324758403,"mpcc_du":49.651844,"mpcc_dv":49.3441544,"mpcc_dw":50.6558456,"mpcc_enc_sign":1,"mpcc_id_a":2.43011594,"mpcc_iq_a":-0.186257824,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.757732272,"mpcc_pred_id_a":0.15081735,"mpcc_pred_iq_a":-3.90158391,"mpcc_state":1,"mpcc_theta_e":0.447193623,"mpcc_theta_mech":0.555504203,"sam_rpm":-1.58934653,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259006619,"thr_a_norm":0.0259006619,"thr_a_v":0.603602648,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491865426,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.538719,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.588670254,"cg_iw_a":0.129168987,"cg_theta_rad":0.556331038,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.00620018039,"mpcc_du":50.252037,"mpcc_dv":48.6762466,"mpcc_dw":51.3237534,"mpcc_enc_sign":1,"mpcc_id_a":1.45945942,"mpcc_iq_a":-2.0670352,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.42900324,"mpcc_pred_id_a":-0.0853803679,"mpcc_pred_iq_a":-0.98189652,"mpcc_state":1,"mpcc_theta_e":0.447518349,"mpcc_theta_mech":0.556449592,"sam_rpm":-10.303565,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266559869,"thr_a_norm":0.0259006619,"thr_a_v":0.606623948,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493476748,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.548576,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.31354666,"cg_iw_a":-2.84282589,"cg_theta_rad":0.552837133,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0172445923,"mpcc_du":50.5323944,"mpcc_dv":48.3970909,"mpcc_dw":51.6029091,"mpcc_enc_sign":1,"mpcc_id_a":0.106216654,"mpcc_iq_a":-1.01833701,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.73761606,"mpcc_pred_id_a":-0.261320233,"mpcc_pred_iq_a":-1.75131309,"mpcc_state":1,"mpcc_theta_e":0.442443848,"mpcc_theta_mech":0.555434644,"sam_rpm":-8.34536934,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266559869,"thr_a_norm":0.0266559869,"thr_a_v":0.606623948,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493476748,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.558708,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.153744221,"cg_iw_a":-2.04546165,"cg_theta_rad":0.556617498,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0409856476,"mpcc_du":49.9560204,"mpcc_dv":48.9359093,"mpcc_dw":51.0640907,"mpcc_enc_sign":1,"mpcc_id_a":2.34635973,"mpcc_iq_a":-0.196247503,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.28047872,"mpcc_pred_id_a":0.180977017,"mpcc_pred_iq_a":-2.24664164,"mpcc_state":1,"mpcc_theta_e":0.448728085,"mpcc_theta_mech":0.556691527,"sam_rpm":3.32604575,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475399435,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.568779,"values":{"cg_iu_a":-0.990252018,"cg_iv_a":-0.588670254,"cg_iw_a":1.57892227,"cg_theta_rad":0.555782855,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":5.11132494e-05,"mpcc_du":50.5992432,"mpcc_dv":48.3884506,"mpcc_dw":51.6115494,"mpcc_enc_sign":1,"mpcc_id_a":-0.1265876,"mpcc_iq_a":-1.18381715,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.44480109,"mpcc_pred_id_a":-0.549441993,"mpcc_pred_iq_a":1.32439578,"mpcc_state":1,"mpcc_theta_e":0.437609673,"mpcc_theta_mech":0.556627333,"sam_rpm":-5.21600485,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475399435,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.592094,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.60349751,"cg_iw_a":-1.17560911,"cg_theta_rad":0.552884459,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0062269019,"mpcc_du":49.6334038,"mpcc_dv":50.1895943,"mpcc_dw":50.3665962,"mpcc_enc_sign":1,"mpcc_id_a":0.147567153,"mpcc_iq_a":-1.08805788,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.3183074,"mpcc_pred_id_a":-0.504413664,"mpcc_pred_iq_a":-4.76072645,"mpcc_state":1,"mpcc_theta_e":0.448180199,"mpcc_theta_mech":0.556581974,"sam_rpm":6.54915428,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289597064,"thr_a_norm":0.0289597064,"thr_a_v":0.615838826,"thr_b":0.00288853049,"thr_b_norm":0.00288853049,"thr_b_v":0.511554122,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.598656,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.443694592,"cg_iw_a":-0.958146572,"cg_theta_rad":0.555752754,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.022150645,"mpcc_du":50.5356445,"mpcc_dv":48.1701431,"mpcc_dw":51.8298569,"mpcc_enc_sign":1,"mpcc_id_a":2.27691483,"mpcc_iq_a":-0.325579941,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.62174439,"mpcc_pred_id_a":0.310539395,"mpcc_pred_iq_a":1.01420927,"mpcc_state":1,"mpcc_theta_e":0.439280033,"mpcc_theta_mech":0.554801881,"sam_rpm":-4.98054647,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026001364,"thr_a_norm":0.0289597064,"thr_a_v":0.604005456,"thr_b":0.000471502542,"thr_b_norm":0.00288853049,"thr_b_v":0.50188601,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.605125,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.02359605,"cg_iw_a":0.0566809177,"cg_theta_rad":0.557522774,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0866795406,"mpcc_du":50.3387833,"mpcc_dv":48.1569176,"mpcc_dw":51.8430824,"mpcc_enc_sign":1,"mpcc_id_a":4.52903557,"mpcc_iq_a":1.38137341,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.2021085,"mpcc_pred_id_a":1.01256335,"mpcc_pred_iq_a":1.25753593,"mpcc_state":1,"mpcc_theta_e":0.441661835,"mpcc_theta_mech":0.555278242,"sam_rpm":-1.56816816,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026001364,"thr_a_norm":0.026001364,"thr_a_v":0.604005456,"thr_b":0.000471502542,"thr_b_norm":0.000471502542,"thr_b_v":0.50188601,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.611687,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.588670254,"cg_iw_a":-0.885658741,"cg_theta_rad":0.553462863,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0407768898,"mpcc_du":49.3754616,"mpcc_dv":49.3666039,"mpcc_dw":50.6333961,"mpcc_enc_sign":1,"mpcc_id_a":3.68066978,"mpcc_iq_a":-0.589080155,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.92930341,"mpcc_pred_id_a":0.878406048,"mpcc_pred_iq_a":-2.95268631,"mpcc_state":1,"mpcc_theta_e":0.444348335,"mpcc_theta_mech":0.555815578,"sam_rpm":2.66711378,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202105641,"thr_a_norm":0.0202105641,"thr_a_v":0.580842257,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463817805,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.619743,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.09608364,"cg_iw_a":-1.68302298,"cg_theta_rad":0.557080686,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0267601311,"mpcc_du":49.5153961,"mpcc_dv":49.8650818,"mpcc_dw":50.4846039,"mpcc_enc_sign":1,"mpcc_id_a":2.71479344,"mpcc_iq_a":-0.59572351,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.58465958,"mpcc_pred_id_a":0.114752822,"mpcc_pred_iq_a":-4.12445164,"mpcc_state":1,"mpcc_theta_e":0.445342541,"mpcc_theta_mech":0.556014419,"sam_rpm":3.70894074,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202105641,"thr_a_norm":0.0202105641,"thr_a_v":0.580842257,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463817805,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.629814,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.38603449,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556577384,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0301997047,"mpcc_du":50.7171516,"mpcc_dv":47.8208809,"mpcc_dw":52.1791191,"mpcc_enc_sign":1,"mpcc_id_a":1.82413197,"mpcc_iq_a":-0.437269121,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.37164688,"mpcc_pred_id_a":0.569978297,"mpcc_pred_iq_a":-0.000536806299,"mpcc_state":1,"mpcc_theta_e":0.439657211,"mpcc_theta_mech":0.554877341,"sam_rpm":-11.9949207,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278645009,"thr_a_norm":0.0278645009,"thr_a_v":0.611458004,"thr_b":0.00198215246,"thr_b_norm":0.00198215246,"thr_b_v":0.50792861,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.639977,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.885658741,"cg_theta_rad":0.554040015,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0218689013,"mpcc_du":50.8524704,"mpcc_dv":48.2734566,"mpcc_dw":51.7265434,"mpcc_enc_sign":1,"mpcc_id_a":-0.738444448,"mpcc_iq_a":-2.10123777,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.09198523,"mpcc_pred_id_a":-0.841170192,"mpcc_pred_iq_a":-2.03008461,"mpcc_state":1,"mpcc_theta_e":0.446838856,"mpcc_theta_mech":0.556313694,"sam_rpm":-5.28652382,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167990327,"thr_a_norm":0.0278645009,"thr_a_v":0.567196131,"thr_b":0,"thr_b_norm":0.00198215246,"thr_b_v":0.429375112,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.649956,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.60349751,"cg_iw_a":-1.39307213,"cg_theta_rad":0.555155993,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0228380002,"mpcc_du":51.1022339,"mpcc_dv":47.6114197,"mpcc_dw":52.3885803,"mpcc_enc_sign":1,"mpcc_id_a":1.02890491,"mpcc_iq_a":-0.423984468,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.0185814,"mpcc_pred_id_a":-0.108061895,"mpcc_pred_iq_a":-0.715382278,"mpcc_state":1,"mpcc_theta_e":0.432141304,"mpcc_theta_mech":0.553374171,"sam_rpm":-24.8781872,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167990327,"thr_a_norm":0.0167990327,"thr_a_v":0.567196131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.429375112,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.659782,"values":{"cg_iu_a":3.8664217,"cg_iv_a":-0.878620625,"cg_iw_a":0.12916851,"cg_theta_rad":0.557945848,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0975642502,"mpcc_du":49.538723,"mpcc_dv":49.4840965,"mpcc_dw":50.5159035,"mpcc_enc_sign":1,"mpcc_id_a":2.85507059,"mpcc_iq_a":0.315031528,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.7026463,"mpcc_pred_id_a":0.188942164,"mpcc_pred_iq_a":-3.35855532,"mpcc_state":1,"mpcc_theta_e":0.461139202,"mpcc_theta_mech":0.559173763,"sam_rpm":22.8616352,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022199586,"thr_a_norm":0.022199586,"thr_a_v":0.588798344,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479377449,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.669762,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.18339872,"cg_iw_a":0.854045391,"cg_theta_rad":0.55533278,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0049386844,"mpcc_du":50.1243324,"mpcc_dv":49.0348511,"mpcc_dw":50.9651489,"mpcc_enc_sign":1,"mpcc_id_a":-1.38088179,"mpcc_iq_a":-0.275164545,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.91107547,"mpcc_pred_id_a":-0.627521694,"mpcc_pred_iq_a":0.182544678,"mpcc_state":1,"mpcc_theta_e":0.436316967,"mpcc_theta_mech":0.554209292,"sam_rpm":-3.83841038,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022199586,"thr_a_norm":0.022199586,"thr_a_v":0.588798344,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479377449,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.693169,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.0384233,"cg_iw_a":-0.595708132,"cg_theta_rad":0.556209028,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0026983188,"mpcc_du":51.1355629,"mpcc_dv":47.6988029,"mpcc_dw":52.3011971,"mpcc_enc_sign":1,"mpcc_id_a":-0.65170449,"mpcc_iq_a":-1.30815172,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.521801,"mpcc_pred_id_a":-0.400814593,"mpcc_pred_iq_a":3.23478031,"mpcc_state":1,"mpcc_theta_e":0.429407597,"mpcc_theta_mech":0.552827418,"sam_rpm":-16.6863785,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137903392,"thr_a_norm":0.0137903392,"thr_a_v":0.555161357,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.433453888,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.700157,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.878620625,"cg_iw_a":-0.233269691,"cg_theta_rad":0.552449286,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0119253974,"mpcc_du":49.6167221,"mpcc_dv":50.3262978,"mpcc_dw":50.3832779,"mpcc_enc_sign":1,"mpcc_id_a":0.501034796,"mpcc_iq_a":-0.192063645,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.2774496,"mpcc_pred_id_a":-0.179289192,"mpcc_pred_iq_a":-2.18259382,"mpcc_state":1,"mpcc_theta_e":0.439134121,"mpcc_theta_mech":0.554772735,"sam_rpm":22.418232,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0321572423,"thr_a_norm":0.0137903392,"thr_a_v":0.628628969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.7062,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.588670254,"cg_iw_a":0.201656342,"cg_theta_rad":0.560373127,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0333944894,"mpcc_du":49.4855957,"mpcc_dv":50.022686,"mpcc_dw":50.5144043,"mpcc_enc_sign":1,"mpcc_id_a":2.23516273,"mpcc_iq_a":-0.434305787,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.4742794,"mpcc_pred_id_a":0.482204318,"mpcc_pred_iq_a":-3.13372231,"mpcc_state":1,"mpcc_theta_e":0.454010487,"mpcc_theta_mech":0.55774802,"sam_rpm":18.8533535,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0321572423,"thr_a_norm":0.0321572423,"thr_a_v":0.628628969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.712761,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.6759851,"cg_iw_a":1.57892227,"cg_theta_rad":0.557065606,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.00500619644,"mpcc_du":49.5666199,"mpcc_dv":49.675396,"mpcc_dw":50.4333801,"mpcc_enc_sign":1,"mpcc_id_a":0.774885595,"mpcc_iq_a":-0.453756213,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.269219309,"mpcc_pred_id_a":-0.122694299,"mpcc_pred_iq_a":-3.49754596,"mpcc_state":1,"mpcc_theta_e":0.440943718,"mpcc_theta_mech":0.555134654,"sam_rpm":-0.0582716763,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024339661,"thr_a_norm":0.024339661,"thr_a_v":0.597358644,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.720757,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.516182423,"cg_iw_a":-2.69785023,"cg_theta_rad":0.556399882,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0420042984,"mpcc_du":50.4586029,"mpcc_dv":48.267704,"mpcc_dw":51.732296,"mpcc_enc_sign":1,"mpcc_id_a":2.60889435,"mpcc_iq_a":0.719344378,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.29956269,"mpcc_pred_id_a":0.295095831,"mpcc_pred_iq_a":0.683497906,"mpcc_state":1,"mpcc_theta_e":0.439871788,"mpcc_theta_mech":0.554920256,"sam_rpm":-2.91932487,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024339661,"thr_a_norm":0.024339661,"thr_a_v":0.597358644,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.73098,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-2.76329994,"cg_iw_a":2.01384783,"cg_theta_rad":0.556990385,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0189470202,"mpcc_du":49.4616127,"mpcc_dv":50.5383873,"mpcc_dw":50.1511192,"mpcc_enc_sign":1,"mpcc_id_a":0.422149986,"mpcc_iq_a":-1.57108235,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.06798363,"mpcc_pred_id_a":-0.397541642,"mpcc_pred_iq_a":-4.22299194,"mpcc_state":1,"mpcc_theta_e":0.430594921,"mpcc_theta_mech":0.553064942,"sam_rpm":-9.09587002,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238990635,"thr_a_norm":0.0238990635,"thr_a_v":0.595596254,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475902975,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.741173,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.45852208,"cg_iw_a":-0.885658503,"cg_theta_rad":0.556631625,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0459316634,"mpcc_du":50.105217,"mpcc_dv":48.9421883,"mpcc_dw":51.0578117,"mpcc_enc_sign":1,"mpcc_id_a":0.487707764,"mpcc_iq_a":-1.20927501,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.832891345,"mpcc_pred_id_a":-0.202029154,"mpcc_pred_iq_a":-4.30696154,"mpcc_state":1,"mpcc_theta_e":0.452017784,"mpcc_theta_mech":0.557349503,"sam_rpm":2.37119985,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281666219,"thr_a_norm":0.0238990635,"thr_a_v":0.612666488,"thr_b":0.000370800495,"thr_b_norm":0,"thr_b_v":0.501483202,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.753166,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-1.53100967,"cg_iw_a":0.419119358,"cg_theta_rad":0.555935681,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0837726444,"mpcc_du":50.0310707,"mpcc_dv":48.5796814,"mpcc_dw":51.4203186,"mpcc_enc_sign":1,"mpcc_id_a":4.64255714,"mpcc_iq_a":-0.611513972,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.3247658,"mpcc_pred_id_a":0.970013142,"mpcc_pred_iq_a":-4.07221746,"mpcc_state":1,"mpcc_theta_e":0.450027943,"mpcc_theta_mech":0.556951463,"sam_rpm":0.342752039,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281666219,"thr_a_norm":0.0281666219,"thr_a_v":0.612666488,"thr_b":0.000370800495,"thr_b_norm":0.000370800495,"thr_b_v":0.501483202,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.76339,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.226231575,"cg_iw_a":-2.19043684,"cg_theta_rad":0.555674255,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0286226533,"mpcc_du":50.064621,"mpcc_dv":48.7701035,"mpcc_dw":51.2298965,"mpcc_enc_sign":1,"mpcc_id_a":2.09682751,"mpcc_iq_a":-0.20638448,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.84544647,"mpcc_pred_id_a":0.287927955,"mpcc_pred_iq_a":-0.803591609,"mpcc_state":1,"mpcc_theta_e":0.44460392,"mpcc_theta_mech":0.555866718,"sam_rpm":3.34837103,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212176591,"thr_a_norm":0.0212176591,"thr_a_v":0.584870636,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.775536,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.588670254,"cg_iw_a":-2.26292419,"cg_theta_rad":0.555629492,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.00472932961,"mpcc_du":48.6994171,"mpcc_dv":51.3005829,"mpcc_dw":49.4026031,"mpcc_enc_sign":1,"mpcc_id_a":1.30747104,"mpcc_iq_a":-0.350443363,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.4921007,"mpcc_pred_id_a":-0.0372513309,"mpcc_pred_iq_a":-4.21478367,"mpcc_state":1,"mpcc_theta_e":0.451518536,"mpcc_theta_mech":0.557249665,"sam_rpm":20.4084282,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211169571,"thr_a_norm":0.0212176591,"thr_a_v":0.584467828,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.799736,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.733645439,"cg_iw_a":-1.68302321,"cg_theta_rad":0.55551368,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0157068577,"mpcc_du":50.5040779,"mpcc_dv":48.1572762,"mpcc_dw":51.8427238,"mpcc_enc_sign":1,"mpcc_id_a":2.45436215,"mpcc_iq_a":-1.82880712,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.09452152,"mpcc_pred_id_a":0.331312656,"mpcc_pred_iq_a":0.520635426,"mpcc_state":1,"mpcc_theta_e":0.435166359,"mpcc_theta_mech":0.553979158,"sam_rpm":-14.3360577,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211169571,"thr_a_norm":0.0211169571,"thr_a_v":0.584467828,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.806297,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.661157608,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.553631485,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0142770847,"mpcc_du":50.0378494,"mpcc_dv":48.7927895,"mpcc_dw":51.2072105,"mpcc_enc_sign":1,"mpcc_id_a":2.01743579,"mpcc_iq_a":-0.879863679,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.9068193,"mpcc_pred_id_a":0.086864233,"mpcc_pred_iq_a":-4.43260098,"mpcc_state":1,"mpcc_theta_e":0.451146126,"mpcc_theta_mech":0.557175159,"sam_rpm":15.7361288,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199839771,"thr_a_norm":0.0199839771,"thr_a_v":0.579935908,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.812828,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.53100967,"cg_iw_a":0.709070206,"cg_theta_rad":0.556785762,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0625265911,"mpcc_du":49.1929626,"mpcc_dv":50.8070374,"mpcc_dw":50.2131844,"mpcc_enc_sign":1,"mpcc_id_a":2.97061968,"mpcc_iq_a":0.953409433,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.631067455,"mpcc_pred_id_a":0.546625316,"mpcc_pred_iq_a":-7.71523428,"mpcc_state":1,"mpcc_theta_e":0.444633961,"mpcc_theta_mech":0.555872679,"sam_rpm":1.49765444,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199839771,"thr_a_norm":0.0199839771,"thr_a_v":0.579935908,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.819389,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-2.32837415,"cg_iw_a":-0.523220301,"cg_theta_rad":0.556493759,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0414777324,"mpcc_du":51.2967834,"mpcc_dv":47.0013351,"mpcc_dw":52.9986649,"mpcc_enc_sign":1,"mpcc_id_a":3.94764328,"mpcc_iq_a":-1.70874596,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-26.0763779,"mpcc_pred_id_a":0.43865785,"mpcc_pred_iq_a":2.22769427,"mpcc_state":1,"mpcc_theta_e":0.419176579,"mpcc_theta_mech":0.55078125,"sam_rpm":-38.7169418,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459839791,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.828575,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.89344811,"cg_iw_a":0.999020815,"cg_theta_rad":0.552983165,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.00532422401,"mpcc_du":49.5682411,"mpcc_dv":49.5837288,"mpcc_dw":50.4317589,"mpcc_enc_sign":1,"mpcc_id_a":0.580892742,"mpcc_iq_a":-0.534108222,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.6441898,"mpcc_pred_id_a":-0.338212162,"mpcc_pred_iq_a":-3.66422844,"mpcc_state":1,"mpcc_theta_e":0.425050259,"mpcc_theta_mech":0.551955998,"sam_rpm":-20.1645947,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260643214,"thr_a_norm":0.0240501165,"thr_a_v":0.604257286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489095896,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.838615,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-2.98076296,"cg_iw_a":0.78155756,"cg_theta_rad":0.555038095,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0361852944,"mpcc_du":50.5887451,"mpcc_dv":48.4234772,"mpcc_dw":51.5765228,"mpcc_enc_sign":1,"mpcc_id_a":0.748469412,"mpcc_iq_a":-0.676887751,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.18149781,"mpcc_pred_id_a":-0.468622029,"mpcc_pred_iq_a":-1.72985923,"mpcc_state":1,"mpcc_theta_e":0.444885731,"mpcc_theta_mech":0.555923104,"sam_rpm":-3.33845544,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260643214,"thr_a_norm":0.0260643214,"thr_a_v":0.604257286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489095896,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.848442,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.89344811,"cg_iw_a":-0.305757284,"cg_theta_rad":0.556856692,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0607265681,"mpcc_du":50.3424606,"mpcc_dv":48.6431961,"mpcc_dw":51.3568039,"mpcc_enc_sign":1,"mpcc_id_a":2.69158673,"mpcc_iq_a":-0.311356843,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.12207007,"mpcc_pred_id_a":0.255037338,"mpcc_pred_iq_a":-1.55585575,"mpcc_state":1,"mpcc_theta_e":0.454511642,"mpcc_theta_mech":0.557848215,"sam_rpm":-2.34220886,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0314019173,"thr_a_norm":0.0314019173,"thr_a_v":0.625607669,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470565349,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.85833,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.53100967,"cg_iw_a":-0.885658741,"cg_theta_rad":0.555259705,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0246876068,"mpcc_du":50.2885628,"mpcc_dv":48.6795845,"mpcc_dw":51.3204155,"mpcc_enc_sign":1,"mpcc_id_a":0.534761071,"mpcc_iq_a":-0.620564103,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.90352201,"mpcc_pred_id_a":-0.193761423,"mpcc_pred_iq_a":-2.43959403,"mpcc_state":1,"mpcc_theta_e":0.443923473,"mpcc_theta_mech":0.555730581,"sam_rpm":-5.31611204,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0314019173,"thr_a_norm":0.0314019173,"thr_a_v":0.625607669,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470565349,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.868797,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.89344811,"cg_iw_a":0.636582136,"cg_theta_rad":0.554324389,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0194661953,"mpcc_du":50.485981,"mpcc_dv":48.8403358,"mpcc_dw":51.1596642,"mpcc_enc_sign":1,"mpcc_id_a":-1.30669248,"mpcc_iq_a":-1.78305757,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.2847681,"mpcc_pred_id_a":-1.12968504,"mpcc_pred_iq_a":-3.49197054,"mpcc_state":1,"mpcc_theta_e":0.445714951,"mpcc_theta_mech":0.557185113,"sam_rpm":-5.87035513,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105662614,"thr_a_norm":0.105662614,"thr_a_v":0.922650456,"thr_b":0.0490134954,"thr_b_norm":0.0490134954,"thr_b_v":0.696053982,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.878746,"values":{"cg_iu_a":2.34418058,"cg_iv_a":0.0637187958,"cg_iw_a":-1.03063393,"cg_theta_rad":0.556748152,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.00505724922,"mpcc_du":49.9915123,"mpcc_dv":49.0132103,"mpcc_dw":50.9867897,"mpcc_enc_sign":1,"mpcc_id_a":1.39941037,"mpcc_iq_a":-0.830949247,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.01325345,"mpcc_pred_id_a":-0.114777923,"mpcc_pred_iq_a":-0.160801947,"mpcc_state":1,"mpcc_theta_e":0.435307026,"mpcc_theta_mech":0.554007292,"sam_rpm":-3.05846977,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0143820047,"thr_a_norm":0.105662614,"thr_a_v":0.557528019,"thr_b":0,"thr_b_norm":0.0490134954,"thr_b_v":0.43934536,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.901756,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.53100967,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556827188,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.00810576044,"mpcc_du":50.461937,"mpcc_dv":48.3220673,"mpcc_dw":51.6779327,"mpcc_enc_sign":1,"mpcc_id_a":1.75140333,"mpcc_iq_a":-1.74644279,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.00838661,"mpcc_pred_id_a":0.040019989,"mpcc_pred_iq_a":0.158416063,"mpcc_state":1,"mpcc_theta_e":0.44836092,"mpcc_theta_mech":0.556618094,"sam_rpm":-12.1478243,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0143820047,"thr_a_norm":0.0143820047,"thr_a_v":0.557528019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43934536,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.908318,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.53100967,"cg_iw_a":-1.82799864,"cg_theta_rad":0.555837691,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0151157593,"mpcc_du":49.3973503,"mpcc_dv":50.6026497,"mpcc_dw":50.3635139,"mpcc_enc_sign":1,"mpcc_id_a":1.98103774,"mpcc_iq_a":-0.954992294,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.16260433,"mpcc_pred_id_a":0.350950509,"mpcc_pred_iq_a":-4.44468307,"mpcc_state":1,"mpcc_theta_e":0.45104599,"mpcc_theta_mech":0.557155073,"sam_rpm":13.5322628,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024440363,"thr_a_norm":0.024440363,"thr_a_v":0.597761452,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494080991,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.914818,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.806133032,"cg_iw_a":-2.1904366,"cg_theta_rad":0.554511368,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.00835193973,"mpcc_du":50.4852829,"mpcc_dv":48.6760178,"mpcc_dw":51.3239822,"mpcc_enc_sign":1,"mpcc_id_a":-1.06771898,"mpcc_iq_a":-1.10760689,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.66309547,"mpcc_pred_id_a":-0.84792155,"mpcc_pred_iq_a":-1.15134466,"mpcc_state":1,"mpcc_theta_e":0.447820663,"mpcc_theta_mech":0.556510091,"sam_rpm":-6.18331432,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024440363,"thr_a_norm":0.024440363,"thr_a_v":0.597761452,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494080991,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.921349,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-2.40086174,"cg_iw_a":-0.378244877,"cg_theta_rad":0.553779066,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0174314324,"mpcc_du":51.4271889,"mpcc_dv":47.0673904,"mpcc_dw":52.9326096,"mpcc_enc_sign":1,"mpcc_id_a":0.508090913,"mpcc_iq_a":-1.64643455,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.8872128,"mpcc_pred_id_a":0.117856421,"mpcc_pred_iq_a":2.57367301,"mpcc_state":1,"mpcc_theta_e":0.458537102,"mpcc_theta_mech":0.558653295,"sam_rpm":-30.7965755,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297024399,"thr_a_norm":0.0297024399,"thr_a_v":0.61880976,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.931358,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.74847269,"cg_iw_a":-1.10312176,"cg_theta_rad":0.554193974,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.00183668465,"mpcc_du":49.5261002,"mpcc_dv":50.455822,"mpcc_dw":50.4738998,"mpcc_enc_sign":1,"mpcc_id_a":0.82039243,"mpcc_iq_a":-0.525966465,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.8701792,"mpcc_pred_id_a":0.340151489,"mpcc_pred_iq_a":-1.24709439,"mpcc_state":1,"mpcc_theta_e":0.445113182,"mpcc_theta_mech":0.555968583,"sam_rpm":14.993988,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0305836499,"thr_a_norm":0.0297024399,"thr_a_v":0.622334599,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498713672,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.941368,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-2.25588632,"cg_iw_a":0.274143934,"cg_theta_rad":0.55623436,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0433547422,"mpcc_du":50.15662,"mpcc_dv":48.6700363,"mpcc_dw":51.3299637,"mpcc_enc_sign":1,"mpcc_id_a":2.31528807,"mpcc_iq_a":-0.929914355,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.67601728,"mpcc_pred_id_a":0.323161453,"mpcc_pred_iq_a":-1.78456295,"mpcc_state":1,"mpcc_theta_e":0.450696945,"mpcc_theta_mech":0.557085335,"sam_rpm":4.53798389,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0305836499,"thr_a_norm":0.0305836499,"thr_a_v":0.622334599,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498713672,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.951408,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.443694592,"cg_iw_a":-1.39307213,"cg_theta_rad":0.554108799,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0828795582,"mpcc_du":50.1299362,"mpcc_dv":48.5423813,"mpcc_dw":51.4576187,"mpcc_enc_sign":1,"mpcc_id_a":2.92401171,"mpcc_iq_a":0.498649806,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.48849821,"mpcc_pred_id_a":0.747443378,"mpcc_pred_iq_a":-1.46471643,"mpcc_state":1,"mpcc_theta_e":0.449624538,"mpcc_theta_mech":0.556870818,"sam_rpm":4.51126862,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021268025,"thr_a_norm":0.021268025,"thr_a_v":0.5850721,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.961205,"values":{"cg_iu_a":-0.410350561,"cg_iv_a":-0.516182423,"cg_iw_a":0.926532984,"cg_theta_rad":0.555576921,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0165868178,"mpcc_du":49.4228477,"mpcc_dv":49.4427567,"mpcc_dw":50.5771523,"mpcc_enc_sign":1,"mpcc_id_a":2.05742526,"mpcc_iq_a":-0.618044615,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.40711355,"mpcc_pred_id_a":0.513471365,"mpcc_pred_iq_a":-1.86995423,"mpcc_state":1,"mpcc_theta_e":0.429198742,"mpcc_theta_mech":0.552785695,"sam_rpm":-11.1468029,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021268025,"thr_a_norm":0.021268025,"thr_a_v":0.5850721,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.971581,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.6978507,"cg_theta_rad":0.555894852,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.0233930461,"mpcc_du":50.3734741,"mpcc_dv":48.5307388,"mpcc_dw":51.4692612,"mpcc_enc_sign":1,"mpcc_id_a":0.81944859,"mpcc_iq_a":-0.52743572,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.680520236,"mpcc_pred_id_a":-0.129716828,"mpcc_pred_iq_a":-0.684819996,"mpcc_state":1,"mpcc_theta_e":0.446905136,"mpcc_theta_mech":0.557349563,"sam_rpm":1.44251895,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024390012,"thr_a_norm":0.024390012,"thr_a_v":0.597560048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483355463,"vdc_v":55.2955055}} +{"type":"telemetry","t":86.98156,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-2.11091113,"cg_iw_a":1.14399576,"cg_theta_rad":0.553330839,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9895.10547,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10014,"hz_vsense":359,"mpcc_cost":0.00674013281,"mpcc_du":49.6083412,"mpcc_dv":48.740284,"mpcc_dw":51.259716,"mpcc_enc_sign":1,"mpcc_id_a":1.48125219,"mpcc_iq_a":-0.307197869,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.75952053,"mpcc_pred_id_a":0.0756077543,"mpcc_pred_iq_a":-1.52363598,"mpcc_state":1,"mpcc_theta_e":0.430414677,"mpcc_theta_mech":0.553028822,"sam_rpm":-7.51982737,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212302655,"thr_a_norm":0.024390012,"thr_a_v":0.584921062,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461702883,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.005211,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.60349751,"cg_iw_a":-1.10312176,"cg_theta_rad":0.553596437,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0555031709,"mpcc_du":50.1025162,"mpcc_dv":48.6957893,"mpcc_dw":51.3042107,"mpcc_enc_sign":1,"mpcc_id_a":2.68068171,"mpcc_iq_a":-0.163951471,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.387036622,"mpcc_pred_id_a":0.227727488,"mpcc_pred_iq_a":-3.31047177,"mpcc_state":1,"mpcc_theta_e":0.446022511,"mpcc_theta_mech":0.556150436,"sam_rpm":-2.73361444,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212302655,"thr_a_norm":0.0212302655,"thr_a_v":0.584921062,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461702883,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.011711,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-0.806133032,"cg_iw_a":0.41911912,"cg_theta_rad":0.553174794,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0106981052,"mpcc_du":48.9633026,"mpcc_dv":51.0366974,"mpcc_dw":49.7701302,"mpcc_enc_sign":1,"mpcc_id_a":2.06642437,"mpcc_iq_a":-2.11045814,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.26205349,"mpcc_pred_id_a":0.0893658996,"mpcc_pred_iq_a":-6.32364225,"mpcc_state":1,"mpcc_theta_e":0.450423717,"mpcc_theta_mech":0.557030618,"sam_rpm":13.1828184,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284183919,"thr_a_norm":0.0284183919,"thr_a_v":0.613673568,"thr_b":0.00390821695,"thr_b_norm":0.00390821695,"thr_b_v":0.515632868,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.018242,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.02359605,"cg_iw_a":-1.03063416,"cg_theta_rad":0.55635035,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0496172532,"mpcc_du":49.2160301,"mpcc_dv":50.7839699,"mpcc_dw":50.2750549,"mpcc_enc_sign":1,"mpcc_id_a":3.74775076,"mpcc_iq_a":-0.477902621,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.5430927,"mpcc_pred_id_a":0.667015195,"mpcc_pred_iq_a":-4.36986446,"mpcc_state":1,"mpcc_theta_e":0.455006123,"mpcc_theta_mech":0.557947099,"sam_rpm":21.5090637,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284183919,"thr_a_norm":0.0284183919,"thr_a_v":0.613673568,"thr_b":0.00390821695,"thr_b_norm":0.00390821695,"thr_b_v":0.515632868,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.024773,"values":{"cg_iu_a":5.02622414,"cg_iv_a":-0.878620625,"cg_iw_a":-4.14760351,"cg_theta_rad":0.556678355,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.00514391484,"mpcc_du":50.367569,"mpcc_dv":48.425724,"mpcc_dw":51.574276,"mpcc_enc_sign":1,"mpcc_id_a":1.36508799,"mpcc_iq_a":-1.72701156,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.10030079,"mpcc_pred_id_a":0.10023021,"mpcc_pred_iq_a":-0.782058477,"mpcc_state":1,"mpcc_theta_e":0.451419353,"mpcc_theta_mech":0.557229817,"sam_rpm":-11.5700655,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451329827,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.032951,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.02359605,"cg_iw_a":0.491606951,"cg_theta_rad":0.554235697,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0197621249,"mpcc_du":49.501915,"mpcc_dv":50.498085,"mpcc_dw":50.4610939,"mpcc_enc_sign":1,"mpcc_id_a":2.78202891,"mpcc_iq_a":-2.1297636,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.6580267,"mpcc_pred_id_a":0.292816997,"mpcc_pred_iq_a":-4.22439623,"mpcc_state":1,"mpcc_theta_e":0.450073719,"mpcc_theta_mech":0.556960702,"sam_rpm":12.6891146,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245914459,"thr_a_norm":0.0232444406,"thr_a_v":0.598365784,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.042931,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.951108456,"cg_iw_a":0.346631527,"cg_theta_rad":0.553961694,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.050210461,"mpcc_du":50.0555992,"mpcc_dv":48.7659874,"mpcc_dw":51.2340126,"mpcc_enc_sign":1,"mpcc_id_a":2.41503692,"mpcc_iq_a":-0.555267692,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.87987447,"mpcc_pred_id_a":0.32806325,"mpcc_pred_iq_a":-1.72075522,"mpcc_state":1,"mpcc_theta_e":0.449029446,"mpcc_theta_mech":0.556751788,"sam_rpm":7.08626652,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245914459,"thr_a_norm":0.0245914459,"thr_a_v":0.598365784,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.05294,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.24105906,"cg_iw_a":0.129168749,"cg_theta_rad":0.555713475,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.116484515,"mpcc_du":50.0785294,"mpcc_dv":48.6745796,"mpcc_dw":52.3756561,"mpcc_enc_sign":1,"mpcc_id_a":2.5668571,"mpcc_iq_a":0.769213438,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.29672027,"mpcc_pred_id_a":0.521079361,"mpcc_pred_iq_a":-3.1922977,"mpcc_state":1,"mpcc_theta_e":0.447229385,"mpcc_theta_mech":0.556391776,"sam_rpm":3.92728043,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0456397384,"thr_a_norm":0.0456397384,"thr_a_v":0.682558954,"thr_b":0.0156408846,"thr_b_norm":0.0156408846,"thr_b_v":0.562563539,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.065178,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.09608364,"cg_iw_a":-1.97297382,"cg_theta_rad":0.557080746,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0395780355,"mpcc_du":49.5145798,"mpcc_dv":50.2419968,"mpcc_dw":50.4854202,"mpcc_enc_sign":1,"mpcc_id_a":2.77442265,"mpcc_iq_a":-0.310557067,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.79080534,"mpcc_pred_id_a":0.428582639,"mpcc_pred_iq_a":-4.29961205,"mpcc_state":1,"mpcc_theta_e":0.449104786,"mpcc_theta_mech":0.556766868,"sam_rpm":12.3843212,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220233351,"thr_a_norm":0.0456397384,"thr_a_v":0.58809334,"thr_b":0,"thr_b_norm":0.0156408846,"thr_b_v":0.483355463,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.075157,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.298719406,"cg_iw_a":-1.32058477,"cg_theta_rad":0.558437705,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0495361499,"mpcc_du":49.9441376,"mpcc_dv":48.780014,"mpcc_dw":51.219986,"mpcc_enc_sign":1,"mpcc_id_a":2.88376904,"mpcc_iq_a":-0.0723201707,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.1309979,"mpcc_pred_id_a":0.681443214,"mpcc_pred_iq_a":-1.63120568,"mpcc_state":1,"mpcc_theta_e":0.444931984,"mpcc_theta_mech":0.555932283,"sam_rpm":2.63104272,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220233351,"thr_a_norm":0.0220233351,"thr_a_v":0.58809334,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483355463,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.08535,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.588670254,"cg_iw_a":0.346631527,"cg_theta_rad":0.557694077,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.019161474,"mpcc_du":49.9241371,"mpcc_dv":49.2677307,"mpcc_dw":50.7322693,"mpcc_enc_sign":1,"mpcc_id_a":-0.887028694,"mpcc_iq_a":-2.49038243,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.55420971,"mpcc_pred_id_a":-0.592643321,"mpcc_pred_iq_a":-1.24233806,"mpcc_state":1,"mpcc_theta_e":0.43385458,"mpcc_theta_mech":0.553716838,"sam_rpm":-8.33037853,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244781524,"thr_a_norm":0.0244781524,"thr_a_v":0.59791261,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473032743,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.108147,"values":{"cg_iu_a":0.821939945,"cg_iv_a":0.353669643,"cg_iw_a":-1.17560959,"cg_theta_rad":0.556817234,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0089348983,"mpcc_du":49.7081642,"mpcc_dv":50.2384605,"mpcc_dw":50.2918358,"mpcc_enc_sign":1,"mpcc_id_a":-0.142333657,"mpcc_iq_a":-1.18202734,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.20008945,"mpcc_pred_id_a":-0.755297542,"mpcc_pred_iq_a":-3.95951486,"mpcc_state":1,"mpcc_theta_e":0.450920582,"mpcc_theta_mech":0.557130039,"sam_rpm":14.418561,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244781524,"thr_a_norm":0.0244781524,"thr_a_v":0.59791261,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473032743,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.114708,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.951108456,"cg_iw_a":-0.233269691,"cg_theta_rad":0.559619308,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.065070726,"mpcc_du":50.0409546,"mpcc_dv":48.6784248,"mpcc_dw":51.3215752,"mpcc_enc_sign":1,"mpcc_id_a":3.90755796,"mpcc_iq_a":0.756785095,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.4013896,"mpcc_pred_id_a":0.837963998,"mpcc_pred_iq_a":-0.81576854,"mpcc_state":1,"mpcc_theta_e":0.439570904,"mpcc_theta_mech":0.557557821,"sam_rpm":-7.90542459,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024893567,"thr_a_norm":0.024893567,"thr_a_v":0.599574268,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.121208,"values":{"cg_iu_a":2.92408228,"cg_iv_a":0.208694458,"cg_iw_a":-1.39307237,"cg_theta_rad":0.556514263,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0474510752,"mpcc_du":49.6646385,"mpcc_dv":49.3026962,"mpcc_dw":50.6973038,"mpcc_enc_sign":1,"mpcc_id_a":3.79091787,"mpcc_iq_a":0.125713363,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.5853577,"mpcc_pred_id_a":0.659433782,"mpcc_pred_iq_a":0.797686398,"mpcc_state":1,"mpcc_theta_e":0.449904442,"mpcc_theta_mech":0.556926787,"sam_rpm":9.04400063,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024893567,"thr_a_norm":0.024893567,"thr_a_v":0.599574268,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.127769,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-2.25588632,"cg_iw_a":1.36145902,"cg_theta_rad":0.556358635,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0173001867,"mpcc_du":49.8313751,"mpcc_dv":49.2461739,"mpcc_dw":50.7538261,"mpcc_enc_sign":1,"mpcc_id_a":1.16776121,"mpcc_iq_a":-0.132597446,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.06141663,"mpcc_pred_id_a":-0.185477123,"mpcc_pred_iq_a":-2.4847033,"mpcc_state":1,"mpcc_theta_e":0.442959785,"mpcc_theta_mech":0.554685712,"sam_rpm":1.67108774,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250572115,"thr_a_norm":0.0250572115,"thr_a_v":0.600228846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.135765,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.733645439,"cg_iw_a":-2.11794901,"cg_theta_rad":0.555035174,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.00604059361,"mpcc_du":49.5971489,"mpcc_dv":49.7462044,"mpcc_dw":50.4028511,"mpcc_enc_sign":1,"mpcc_id_a":0.345083535,"mpcc_iq_a":-0.853344798,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.634459019,"mpcc_pred_id_a":-0.266250074,"mpcc_pred_iq_a":-4.17851257,"mpcc_state":1,"mpcc_theta_e":0.442043781,"mpcc_theta_mech":0.555354714,"sam_rpm":0.862554073,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258503109,"thr_a_norm":0.0250572115,"thr_a_v":0.603401244,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494987428,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.147972,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.6759851,"cg_iw_a":0.491606951,"cg_theta_rad":0.551247597,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0295909531,"mpcc_du":49.5252228,"mpcc_dv":49.9665871,"mpcc_dw":50.4747772,"mpcc_enc_sign":1,"mpcc_id_a":0.814035416,"mpcc_iq_a":-0.535752594,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.611805,"mpcc_pred_id_a":0.133900791,"mpcc_pred_iq_a":-2.88390589,"mpcc_state":1,"mpcc_theta_e":0.457087994,"mpcc_theta_mech":0.558363497,"sam_rpm":22.6628761,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258503109,"thr_a_norm":0.0258503109,"thr_a_v":0.603401244,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494987428,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.158165,"values":{"cg_iu_a":2.70661926,"cg_iv_a":0.426157475,"cg_iw_a":0.564094782,"cg_theta_rad":0.555501997,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0196361691,"mpcc_du":48.9814186,"mpcc_dv":51.0185814,"mpcc_dw":49.7227821,"mpcc_enc_sign":1,"mpcc_id_a":0.479875892,"mpcc_iq_a":-1.42311502,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.28111935,"mpcc_pred_id_a":-0.117232144,"mpcc_pred_iq_a":-3.44936919,"mpcc_state":1,"mpcc_theta_e":0.439145088,"mpcc_theta_mech":0.55477494,"sam_rpm":7.55067015,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0298031569,"thr_a_norm":0.0298031569,"thr_a_v":0.619212627,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454401463,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.168205,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.02359605,"cg_iw_a":0.274143934,"cg_theta_rad":0.556792319,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0331897624,"mpcc_du":50.2614937,"mpcc_dv":48.8225098,"mpcc_dw":51.1774902,"mpcc_enc_sign":1,"mpcc_id_a":-0.85008961,"mpcc_iq_a":-0.655142188,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.78597319,"mpcc_pred_id_a":-0.600025773,"mpcc_pred_iq_a":-2.08628273,"mpcc_state":1,"mpcc_theta_e":0.447558403,"mpcc_theta_mech":0.556457639,"sam_rpm":3.84755206,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020563066,"thr_a_norm":0.0298031569,"thr_a_v":0.582252264,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462558955,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.179955,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-1.38603449,"cg_iw_a":-2.04546118,"cg_theta_rad":0.554739475,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0379987732,"mpcc_du":50.8047981,"mpcc_dv":47.916481,"mpcc_dw":52.083519,"mpcc_enc_sign":1,"mpcc_id_a":1.65518534,"mpcc_iq_a":-0.459064186,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.88772798,"mpcc_pred_id_a":0.00554926042,"mpcc_pred_iq_a":0.229173154,"mpcc_state":1,"mpcc_theta_e":0.444342136,"mpcc_theta_mech":0.555814326,"sam_rpm":-5.08955622,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020563066,"thr_a_norm":0.020563066,"thr_a_v":0.582252264,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462558955,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.203331,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.226231575,"cg_iw_a":-1.39307261,"cg_theta_rad":0.557429314,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.000161878052,"mpcc_du":50.6791077,"mpcc_dv":48.2212296,"mpcc_dw":51.7787704,"mpcc_enc_sign":1,"mpcc_id_a":0.252126157,"mpcc_iq_a":-2.02559972,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.6480284,"mpcc_pred_id_a":-0.511006832,"mpcc_pred_iq_a":-7.59320498,"mpcc_state":1,"mpcc_theta_e":0.452217102,"mpcc_theta_mech":0.557389319,"sam_rpm":-3.21357775,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196944475,"thr_a_norm":0.0196944475,"thr_a_v":0.57877779,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479024947,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.209892,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.03063393,"cg_theta_rad":0.555691421,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0233294759,"mpcc_du":48.9530563,"mpcc_dv":51.0469437,"mpcc_dw":49.6271896,"mpcc_enc_sign":1,"mpcc_id_a":1.10156465,"mpcc_iq_a":-0.443857521,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.4189186,"mpcc_pred_id_a":-0.237532631,"mpcc_pred_iq_a":-6.2324481,"mpcc_state":1,"mpcc_theta_e":0.456999779,"mpcc_theta_mech":0.558345854,"sam_rpm":22.9094982,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208903551,"thr_a_norm":0.0196944475,"thr_a_v":0.58356142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.216454,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.45852208,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.554420412,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.00258486927,"mpcc_du":49.8900681,"mpcc_dv":49.388031,"mpcc_dw":50.611969,"mpcc_enc_sign":1,"mpcc_id_a":-0.233799681,"mpcc_iq_a":-2.93815279,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.00318909,"mpcc_pred_id_a":-0.778283298,"mpcc_pred_iq_a":-3.39452219,"mpcc_state":1,"mpcc_theta_e":0.4398036,"mpcc_theta_mech":0.554906607,"sam_rpm":-4.89726925,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208903551,"thr_a_norm":0.0208903551,"thr_a_v":0.58356142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.223015,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.96593571,"cg_iw_a":-0.378244877,"cg_theta_rad":0.557349503,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0332042091,"mpcc_du":49.4808578,"mpcc_dv":50.060379,"mpcc_dw":50.5191422,"mpcc_enc_sign":1,"mpcc_id_a":2.3671124,"mpcc_iq_a":-0.489929676,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.46211147,"mpcc_pred_id_a":0.345747679,"mpcc_pred_iq_a":-4.0100894,"mpcc_state":1,"mpcc_theta_e":0.450647354,"mpcc_theta_mech":0.557075381,"sam_rpm":12.7923584,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163962096,"thr_a_norm":0.0163962096,"thr_a_v":0.565584838,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457573801,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.233269,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.371207237,"cg_iw_a":-1.90048599,"cg_theta_rad":0.558680475,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.023012802,"mpcc_du":49.9796906,"mpcc_dv":49.0688744,"mpcc_dw":50.9311256,"mpcc_enc_sign":1,"mpcc_id_a":0.658253014,"mpcc_iq_a":-1.19534278,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.534440815,"mpcc_pred_id_a":-0.235742122,"mpcc_pred_iq_a":-3.71854806,"mpcc_state":1,"mpcc_theta_e":0.446108818,"mpcc_theta_mech":0.556167722,"sam_rpm":0.996052384,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192412436,"thr_a_norm":0.0163962096,"thr_a_v":0.576964974,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463666737,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.245171,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.45852208,"cg_iw_a":-0.305757046,"cg_theta_rad":0.554039776,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0619695075,"mpcc_du":50.3632507,"mpcc_dv":48.5522232,"mpcc_dw":51.4477768,"mpcc_enc_sign":1,"mpcc_id_a":1.23962605,"mpcc_iq_a":0.00816266984,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.20309877,"mpcc_pred_id_a":-0.0897866189,"mpcc_pred_iq_a":-0.707725167,"mpcc_state":1,"mpcc_theta_e":0.451419353,"mpcc_theta_mech":0.557229817,"sam_rpm":10.7059507,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192412436,"thr_a_norm":0.0192412436,"thr_a_v":0.576964974,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463666737,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.255211,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.733645439,"cg_iw_a":-0.16078186,"cg_theta_rad":0.553470612,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0108110812,"mpcc_du":50.1461754,"mpcc_dv":48.9096031,"mpcc_dw":51.0903969,"mpcc_enc_sign":1,"mpcc_id_a":0.863902986,"mpcc_iq_a":-0.951090217,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.6925926,"mpcc_pred_id_a":-0.274292082,"mpcc_pred_iq_a":-2.05868721,"mpcc_state":1,"mpcc_theta_e":0.435263157,"mpcc_theta_mech":0.556307316,"sam_rpm":-16.8899326,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0324341953,"thr_a_norm":0.0324341953,"thr_a_v":0.629736781,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49962005,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.26577,"values":{"cg_iu_a":3.93890953,"cg_iv_a":-1.53100967,"cg_iw_a":0.201656103,"cg_theta_rad":0.552289665,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0481171198,"mpcc_du":49.9668007,"mpcc_dv":48.5445404,"mpcc_dw":51.4554596,"mpcc_enc_sign":1,"mpcc_id_a":3.9904213,"mpcc_iq_a":0.276129901,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.29162645,"mpcc_pred_id_a":0.937450886,"mpcc_pred_iq_a":-0.635008156,"mpcc_state":1,"mpcc_theta_e":0.434195042,"mpcc_theta_mech":0.553784966,"sam_rpm":-9.35101223,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224513561,"thr_a_norm":0.0324341953,"thr_a_v":0.589805424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467443347,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.276756,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.38603449,"cg_iw_a":-1.39307213,"cg_theta_rad":0.552548051,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.000367611618,"mpcc_du":49.6503906,"mpcc_dv":50.3468132,"mpcc_dw":50.3496094,"mpcc_enc_sign":1,"mpcc_id_a":0.110234387,"mpcc_iq_a":-2.32654691,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.40074205,"mpcc_pred_id_a":-0.58634299,"mpcc_pred_iq_a":-5.25510263,"mpcc_state":1,"mpcc_theta_e":0.450323582,"mpcc_theta_mech":0.554374814,"sam_rpm":5.80823135,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224513561,"thr_a_norm":0.0224513561,"thr_a_v":0.589805424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467443347,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.287926,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.153744221,"cg_iw_a":-3.13277626,"cg_theta_rad":0.55555898,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0302578006,"mpcc_du":50.202179,"mpcc_dv":48.4157982,"mpcc_dw":51.5842018,"mpcc_enc_sign":1,"mpcc_id_a":2.49973655,"mpcc_iq_a":-0.543402493,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.54778433,"mpcc_pred_id_a":0.737580717,"mpcc_pred_iq_a":1.04600334,"mpcc_state":1,"mpcc_theta_e":0.446776867,"mpcc_theta_mech":0.556301296,"sam_rpm":7.47000647,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181082636,"thr_a_norm":0.0181082636,"thr_a_v":0.572433054,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451984406,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.311028,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.371207237,"cg_iw_a":-0.16078186,"cg_theta_rad":0.553017437,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0380936638,"mpcc_du":51.1612434,"mpcc_dv":47.3271866,"mpcc_dw":52.6728134,"mpcc_enc_sign":1,"mpcc_id_a":3.11347008,"mpcc_iq_a":-0.222319931,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.8648758,"mpcc_pred_id_a":0.338120639,"mpcc_pred_iq_a":0.881808102,"mpcc_state":1,"mpcc_theta_e":0.428751469,"mpcc_theta_mech":0.552696228,"sam_rpm":-26.4220314,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0131105483,"thr_a_norm":0.0181082636,"thr_a_v":0.552442193,"thr_b":0.00120164454,"thr_b_norm":0,"thr_b_v":0.504806578,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.317619,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.24105906,"cg_iw_a":-1.10312176,"cg_theta_rad":0.553696096,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.00565034244,"mpcc_du":49.5809364,"mpcc_dv":49.5118675,"mpcc_dw":50.4881325,"mpcc_enc_sign":1,"mpcc_id_a":0.543773174,"mpcc_iq_a":-0.766877532,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.68480158,"mpcc_pred_id_a":-0.069130674,"mpcc_pred_iq_a":-2.34369612,"mpcc_state":1,"mpcc_theta_e":0.447222233,"mpcc_theta_mech":0.556390345,"sam_rpm":8.08265877,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0131105483,"thr_a_norm":0.0131105483,"thr_a_v":0.552442193,"thr_b":0.00120164454,"thr_b_norm":0.00120164454,"thr_b_v":0.504806578,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.324059,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.82096052,"cg_iw_a":-1.03063393,"cg_theta_rad":0.554144621,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0313038342,"mpcc_du":49.541687,"mpcc_dv":50.4240265,"mpcc_dw":50.458313,"mpcc_enc_sign":1,"mpcc_id_a":2.97811794,"mpcc_iq_a":0.823263705,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0749428496,"mpcc_pred_id_a":0.178086832,"mpcc_pred_iq_a":-4.50207043,"mpcc_state":1,"mpcc_theta_e":0.439809322,"mpcc_theta_mech":0.554907799,"sam_rpm":-0.568162262,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277637988,"thr_a_norm":0.0277637988,"thr_a_v":0.611055195,"thr_b":8.1256032e-05,"thr_b_norm":8.1256032e-05,"thr_b_v":0.500325024,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.331139,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.89344811,"cg_iw_a":-0.378245115,"cg_theta_rad":0.556711674,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0285894219,"mpcc_du":49.5509872,"mpcc_dv":49.0992775,"mpcc_dw":50.9007225,"mpcc_enc_sign":1,"mpcc_id_a":3.24157619,"mpcc_iq_a":-0.322741836,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.42991209,"mpcc_pred_id_a":0.945497632,"mpcc_pred_iq_a":-0.824820876,"mpcc_state":1,"mpcc_theta_e":0.441130161,"mpcc_theta_mech":0.555171967,"sam_rpm":2.75157809,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0277637988,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":8.1256032e-05,"thr_b_v":0.472378135,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.340752,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.951108456,"cg_iw_a":0.0566811562,"cg_theta_rad":0.557668447,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0227556378,"mpcc_du":50.4624977,"mpcc_dv":48.1591454,"mpcc_dw":51.8408546,"mpcc_enc_sign":1,"mpcc_id_a":2.64874935,"mpcc_iq_a":-1.41621304,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.2028599,"mpcc_pred_id_a":0.341284037,"mpcc_pred_iq_a":-0.14953503,"mpcc_state":1,"mpcc_theta_e":0.422630787,"mpcc_theta_mech":0.551472068,"sam_rpm":-28.3876762,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472378135,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.350945,"values":{"cg_iu_a":0.894427299,"cg_iv_a":1.00605869,"cg_iw_a":-1.90048599,"cg_theta_rad":0.553856134,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0328692794,"mpcc_du":50.5573845,"mpcc_dv":48.3877373,"mpcc_dw":51.6122627,"mpcc_enc_sign":1,"mpcc_id_a":0.611008704,"mpcc_iq_a":-1.12623405,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.46789467,"mpcc_pred_id_a":-0.231577128,"mpcc_pred_iq_a":-1.82703364,"mpcc_state":1,"mpcc_theta_e":0.449130535,"mpcc_theta_mech":0.556771994,"sam_rpm":-1.49507976,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0308480114,"thr_a_norm":0.0308480114,"thr_a_v":0.623392045,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476456851,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.360924,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.89344811,"cg_iw_a":-0.813171148,"cg_theta_rad":0.556590199,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0417827182,"mpcc_du":50.3299904,"mpcc_dv":48.3864212,"mpcc_dw":51.6135788,"mpcc_enc_sign":1,"mpcc_id_a":2.38049293,"mpcc_iq_a":-1.12779367,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.99845552,"mpcc_pred_id_a":0.476469308,"mpcc_pred_iq_a":-2.75487852,"mpcc_state":1,"mpcc_theta_e":0.443982601,"mpcc_theta_mech":0.555742443,"sam_rpm":-8.17372131,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0308480114,"thr_a_norm":0.0308480114,"thr_a_v":0.623392045,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476456851,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.373314,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.31354666,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556647658,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0546833165,"mpcc_du":49.7550545,"mpcc_dv":49.2084465,"mpcc_dw":50.7915535,"mpcc_enc_sign":1,"mpcc_id_a":2.81530595,"mpcc_iq_a":0.268010825,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.14011359,"mpcc_pred_id_a":0.17138508,"mpcc_pred_iq_a":-3.36766529,"mpcc_state":1,"mpcc_theta_e":0.451220036,"mpcc_theta_mech":0.557189882,"sam_rpm":3.44419289,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0239116549,"thr_a_norm":0.0239116549,"thr_a_v":0.59564662,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472327769,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.383446,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.733645439,"cg_iw_a":0.0566811562,"cg_theta_rad":0.555891871,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.00874320697,"mpcc_du":50.1014137,"mpcc_dv":48.7041588,"mpcc_dw":51.2958412,"mpcc_enc_sign":1,"mpcc_id_a":1.82277274,"mpcc_iq_a":-0.442900896,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.5008173,"mpcc_pred_id_a":0.225747406,"mpcc_pred_iq_a":0.046491839,"mpcc_state":1,"mpcc_theta_e":0.442745686,"mpcc_theta_mech":0.555495024,"sam_rpm":-12.4192381,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0328999758,"thr_a_norm":0.0328999758,"thr_a_v":0.631599903,"thr_b":0.00128977001,"thr_b_norm":0.00128977001,"thr_b_v":0.50515908,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.406456,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.02359605,"cg_iw_a":-0.233269691,"cg_theta_rad":0.560791969,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0284517594,"mpcc_du":50.9199333,"mpcc_dv":47.5552063,"mpcc_dw":52.4447937,"mpcc_enc_sign":1,"mpcc_id_a":2.7625556,"mpcc_iq_a":0.381649911,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.97345543,"mpcc_pred_id_a":0.607279956,"mpcc_pred_iq_a":3.44008446,"mpcc_state":1,"mpcc_theta_e":0.435176849,"mpcc_theta_mech":0.553981304,"sam_rpm":-10.0471172,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0328999758,"thr_a_norm":0.0328999758,"thr_a_v":0.631599903,"thr_b":0.00128977001,"thr_b_norm":0.00128977001,"thr_b_v":0.50515908,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.413048,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.24105906,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.555998087,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.00262590684,"mpcc_du":50.2595978,"mpcc_dv":48.5654526,"mpcc_dw":51.4345474,"mpcc_enc_sign":1,"mpcc_id_a":0.706223786,"mpcc_iq_a":-0.601894915,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.36933041,"mpcc_pred_id_a":0.12489298,"mpcc_pred_iq_a":-0.0794154853,"mpcc_state":1,"mpcc_theta_e":0.436329842,"mpcc_theta_mech":0.554211855,"sam_rpm":-8.00210667,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0365129262,"thr_a_norm":0.0365129262,"thr_a_v":0.646051705,"thr_b":0.00803729892,"thr_b_norm":0.00803729892,"thr_b_v":0.532149196,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.419487,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.74847269,"cg_iw_a":0.636582375,"cg_theta_rad":0.556631923,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.00758766942,"mpcc_du":48.896492,"mpcc_dv":51.103508,"mpcc_dw":49.655468,"mpcc_enc_sign":1,"mpcc_id_a":1.68560052,"mpcc_iq_a":-0.900192261,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.839757,"mpcc_pred_id_a":0.0986370146,"mpcc_pred_iq_a":-5.42272711,"mpcc_state":1,"mpcc_theta_e":0.448826313,"mpcc_theta_mech":0.556711197,"sam_rpm":15.3531103,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0365129262,"thr_a_norm":0.0365129262,"thr_a_v":0.646051705,"thr_b":0.00803729892,"thr_b_norm":0.00803729892,"thr_b_v":0.532149196,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.426048,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.951108456,"cg_iw_a":-1.82799816,"cg_theta_rad":0.557095408,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.00155670336,"mpcc_du":50.2437973,"mpcc_dv":48.8169365,"mpcc_dw":50.1539574,"mpcc_enc_sign":1,"mpcc_id_a":0.37683931,"mpcc_iq_a":-1.64954734,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.85382318,"mpcc_pred_id_a":-0.431954652,"mpcc_pred_iq_a":-2.18750429,"mpcc_state":1,"mpcc_theta_e":0.436887741,"mpcc_theta_mech":0.556747556,"sam_rpm":-9.92349148,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247173309,"thr_a_norm":0.0247173309,"thr_a_v":0.598869324,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482600152,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.434319,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.96593571,"cg_iw_a":1.36145878,"cg_theta_rad":0.554795384,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0328581147,"mpcc_du":49.4082603,"mpcc_dv":49.4510994,"mpcc_dw":50.5917397,"mpcc_enc_sign":1,"mpcc_id_a":3.43275666,"mpcc_iq_a":-0.0640100837,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.1644392,"mpcc_pred_id_a":0.727087617,"mpcc_pred_iq_a":-3.0916605,"mpcc_state":1,"mpcc_theta_e":0.433913708,"mpcc_theta_mech":0.5537287,"sam_rpm":-4.85146761,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0150869787,"thr_a_norm":0.0247173309,"thr_a_v":0.560347915,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456163883,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.444328,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.298719406,"cg_iw_a":0.491606712,"cg_theta_rad":0.553778052,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0161071848,"mpcc_du":49.8426285,"mpcc_dv":49.0896683,"mpcc_dw":50.9103317,"mpcc_enc_sign":1,"mpcc_id_a":2.49247575,"mpcc_iq_a":-0.889563739,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.116504528,"mpcc_pred_id_a":0.201321095,"mpcc_pred_iq_a":-0.83582896,"mpcc_state":1,"mpcc_theta_e":0.439376831,"mpcc_theta_mech":0.554821312,"sam_rpm":0.399646878,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0150869787,"thr_a_norm":0.0150869787,"thr_a_v":0.560347915,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456163883,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.454552,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.153744221,"cg_iw_a":-0.378244877,"cg_theta_rad":0.556211829,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0106796902,"mpcc_du":50.6296501,"mpcc_dv":47.9568138,"mpcc_dw":52.0431862,"mpcc_enc_sign":1,"mpcc_id_a":2.05366755,"mpcc_iq_a":-1.49214542,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.3802023,"mpcc_pred_id_a":0.42095384,"mpcc_pred_iq_a":-0.136736751,"mpcc_state":1,"mpcc_theta_e":0.430823326,"mpcc_theta_mech":0.55311054,"sam_rpm":-21.7583065,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0375326127,"thr_a_norm":0.0375326127,"thr_a_v":0.650130451,"thr_b":0.00918288529,"thr_b_norm":0.00918288529,"thr_b_v":0.536731541,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.4645,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.661157608,"cg_iw_a":0.201656342,"cg_theta_rad":0.55470854,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.00553525565,"mpcc_du":50.3747711,"mpcc_dv":48.562603,"mpcc_dw":51.437397,"mpcc_enc_sign":1,"mpcc_id_a":0.933249295,"mpcc_iq_a":-0.800742149,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.29699183,"mpcc_pred_id_a":-0.235231206,"mpcc_pred_iq_a":-1.05691934,"mpcc_state":1,"mpcc_theta_e":0.436811924,"mpcc_theta_mech":0.554308295,"sam_rpm":-11.1155567,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0375326127,"thr_a_norm":0.0375326127,"thr_a_v":0.650130451,"thr_b":0.00918288529,"thr_b_norm":0.00918288529,"thr_b_v":0.536731541,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.474724,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.31354666,"cg_iw_a":0.926533222,"cg_theta_rad":0.556711674,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.079027243,"mpcc_du":50.0724258,"mpcc_dv":49.002552,"mpcc_dw":50.997448,"mpcc_enc_sign":1,"mpcc_id_a":2.74193048,"mpcc_iq_a":0.125868037,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.11778114,"mpcc_pred_id_a":0.390782207,"mpcc_pred_iq_a":-0.89028281,"mpcc_state":1,"mpcc_theta_e":0.44811821,"mpcc_theta_mech":0.558363497,"sam_rpm":-1.62688363,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184103847,"thr_a_norm":0.0184103847,"thr_a_v":0.573641539,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443474501,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.484825,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.951108456,"cg_iw_a":0.419119358,"cg_theta_rad":0.553047836,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0492737964,"mpcc_du":49.4411697,"mpcc_dv":48.8662262,"mpcc_dw":51.1337738,"mpcc_enc_sign":1,"mpcc_id_a":3.68423843,"mpcc_iq_a":-1.26146424,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.49547434,"mpcc_pred_id_a":0.537072837,"mpcc_pred_iq_a":-4.71524715,"mpcc_state":1,"mpcc_theta_e":0.449427605,"mpcc_theta_mech":0.555674255,"sam_rpm":3.55600953,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201853961,"thr_a_norm":0.0184103847,"thr_a_v":0.580741584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.508049,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.951108456,"cg_iw_a":0.129168749,"cg_theta_rad":0.556156158,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.000124827697,"mpcc_du":50.3788757,"mpcc_dv":48.6047478,"mpcc_dw":51.3952522,"mpcc_enc_sign":1,"mpcc_id_a":0.172216684,"mpcc_iq_a":-0.721130669,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.90698099,"mpcc_pred_id_a":-0.430335939,"mpcc_pred_iq_a":-0.0251825303,"mpcc_state":1,"mpcc_theta_e":0.43402195,"mpcc_theta_mech":0.553750277,"sam_rpm":-12.5162468,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201853961,"thr_a_norm":0.0201853961,"thr_a_v":0.580741584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.514549,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.661157608,"cg_iw_a":-0.885658741,"cg_theta_rad":0.554303825,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.00453494815,"mpcc_du":50.3639603,"mpcc_dv":48.5674477,"mpcc_dw":51.4325523,"mpcc_enc_sign":1,"mpcc_id_a":0.708246708,"mpcc_iq_a":-1.11135113,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.99765778,"mpcc_pred_id_a":-0.229215205,"mpcc_pred_iq_a":-1.55305517,"mpcc_state":1,"mpcc_theta_e":0.436789513,"mpcc_theta_mech":0.554303825,"sam_rpm":-11.8503256,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270840079,"thr_a_norm":0.0270840079,"thr_a_v":0.608336031,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.521111,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.878620625,"cg_iw_a":-1.24809694,"cg_theta_rad":0.554242015,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0243107155,"mpcc_du":50.0762138,"mpcc_dv":48.8375931,"mpcc_dw":51.1624069,"mpcc_enc_sign":1,"mpcc_id_a":2.19830608,"mpcc_iq_a":-1.00491023,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.48646927,"mpcc_pred_id_a":0.0561043508,"mpcc_pred_iq_a":-0.588759601,"mpcc_state":1,"mpcc_theta_e":0.447763443,"mpcc_theta_mech":0.556498587,"sam_rpm":8.62299538,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270840079,"thr_a_norm":0.0270840079,"thr_a_v":0.608336031,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.527641,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.0087685585,"cg_iw_a":0.346631527,"cg_theta_rad":0.55184108,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.00661121542,"mpcc_du":49.8922081,"mpcc_dv":49.0572357,"mpcc_dw":50.9427643,"mpcc_enc_sign":1,"mpcc_id_a":1.5931071,"mpcc_iq_a":-2.12681556,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.85310316,"mpcc_pred_id_a":0.0232581049,"mpcc_pred_iq_a":-3.29185057,"mpcc_state":1,"mpcc_theta_e":0.437532902,"mpcc_theta_mech":0.554452479,"sam_rpm":-8.64504623,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257370025,"thr_a_norm":0.0257370025,"thr_a_v":0.60294801,"thr_b":0.000282675028,"thr_b_norm":0.000282675028,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.536308,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.885658741,"cg_theta_rad":0.55452168,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.120361097,"mpcc_du":49.9585724,"mpcc_dv":48.7136421,"mpcc_dw":51.2863579,"mpcc_enc_sign":1,"mpcc_id_a":4.29747486,"mpcc_iq_a":2.34580469,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.52508545,"mpcc_pred_id_a":0.789787352,"mpcc_pred_iq_a":-0.221733883,"mpcc_state":1,"mpcc_theta_e":0.449424744,"mpcc_theta_mech":0.557629287,"sam_rpm":8.60707855,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0257370025,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0.000282675028,"thr_b_v":0.44891277,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.54818,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.371207237,"cg_iw_a":-1.90048599,"cg_theta_rad":0.557229817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0023196449,"mpcc_du":49.2429924,"mpcc_dv":50.7570076,"mpcc_dw":49.9328804,"mpcc_enc_sign":1,"mpcc_id_a":0.371400386,"mpcc_iq_a":-1.14145827,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.47308588,"mpcc_pred_id_a":-0.294184566,"mpcc_pred_iq_a":-4.95865583,"mpcc_state":1,"mpcc_theta_e":0.439682961,"mpcc_theta_mech":0.554882467,"sam_rpm":2.12485433,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44891277,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.558098,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.60349751,"cg_iw_a":-0.958146095,"cg_theta_rad":0.558027148,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.00180602889,"mpcc_du":49.5869141,"mpcc_dv":49.2548904,"mpcc_dw":50.7451096,"mpcc_enc_sign":1,"mpcc_id_a":0.762417436,"mpcc_iq_a":-0.309742987,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.75462055,"mpcc_pred_id_a":-0.307912737,"mpcc_pred_iq_a":-0.728133321,"mpcc_state":1,"mpcc_theta_e":0.442554474,"mpcc_theta_mech":0.555456817,"sam_rpm":8.8090477,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178061277,"thr_a_norm":0.0178061277,"thr_a_v":0.571224511,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444078743,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.568382,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.96593571,"cg_iw_a":1.07150817,"cg_theta_rad":0.55678165,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.00959602743,"mpcc_du":49.5790977,"mpcc_dv":49.7510719,"mpcc_dw":50.4209023,"mpcc_enc_sign":1,"mpcc_id_a":0.672675014,"mpcc_iq_a":-0.831046522,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.84611893,"mpcc_pred_id_a":-0.280647337,"mpcc_pred_iq_a":-2.64746523,"mpcc_state":1,"mpcc_theta_e":0.449408531,"mpcc_theta_mech":0.556827605,"sam_rpm":13.3237247,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.043210119,"thr_a_norm":0.0178061277,"thr_a_v":0.672840476,"thr_b":0.00914511085,"thr_b_norm":0,"thr_b_v":0.536580443,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.5783,"values":{"cg_iu_a":2.12671757,"cg_iv_a":1.58595991,"cg_iw_a":-3.71267748,"cg_theta_rad":0.556440532,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0878905579,"mpcc_du":50.6974907,"mpcc_dv":47.9507828,"mpcc_dw":52.0492172,"mpcc_enc_sign":1,"mpcc_id_a":2.67810702,"mpcc_iq_a":0.877162635,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.2116537,"mpcc_pred_id_a":0.341026157,"mpcc_pred_iq_a":-2.13623643,"mpcc_state":1,"mpcc_theta_e":0.437501431,"mpcc_theta_mech":0.55444622,"sam_rpm":-16.6927109,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.043210119,"thr_a_norm":0.043210119,"thr_a_v":0.672840476,"thr_b":0.00914511085,"thr_b_norm":0.00914511085,"thr_b_v":0.536580443,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.588554,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-2.54583716,"cg_iw_a":1.43394685,"cg_theta_rad":0.556658268,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.00447382685,"mpcc_du":49.5420265,"mpcc_dv":50.0622101,"mpcc_dw":50.4579735,"mpcc_enc_sign":1,"mpcc_id_a":1.32353902,"mpcc_iq_a":-0.479794979,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.66268015,"mpcc_pred_id_a":0.0426431447,"mpcc_pred_iq_a":-2.08519435,"mpcc_state":1,"mpcc_theta_e":0.439973831,"mpcc_theta_mech":0.554940641,"sam_rpm":7.20343065,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185362697,"thr_a_norm":0.0185362697,"thr_a_v":0.574145079,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457372397,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.611931,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.661157608,"cg_iw_a":-2.26292467,"cg_theta_rad":0.558380306,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0124015957,"mpcc_du":48.5732651,"mpcc_dv":51.4267349,"mpcc_dw":49.1440544,"mpcc_enc_sign":1,"mpcc_id_a":1.34628713,"mpcc_iq_a":0.604563773,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.74038458,"mpcc_pred_id_a":-0.361643404,"mpcc_pred_iq_a":-7.6869607,"mpcc_state":1,"mpcc_theta_e":0.421551704,"mpcc_theta_mech":0.551256239,"sam_rpm":10.5559883,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202860981,"thr_a_norm":0.0185362697,"thr_a_v":0.581144392,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452840477,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.618462,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.661157608,"cg_iw_a":-0.160782099,"cg_theta_rad":0.557001114,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0224921145,"mpcc_du":50.6049194,"mpcc_dv":48.0745583,"mpcc_dw":51.9254417,"mpcc_enc_sign":1,"mpcc_id_a":2.43180943,"mpcc_iq_a":-1.18891501,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.53670764,"mpcc_pred_id_a":0.317540348,"mpcc_pred_iq_a":0.905531824,"mpcc_state":1,"mpcc_theta_e":0.440769196,"mpcc_theta_mech":0.555099726,"sam_rpm":-3.50201464,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202860981,"thr_a_norm":0.0202860981,"thr_a_v":0.581144392,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452840477,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.625023,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-1.02359605,"cg_iw_a":0.854045153,"cg_theta_rad":0.554156899,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0115431454,"mpcc_du":49.9586143,"mpcc_dv":49.1178551,"mpcc_dw":50.8821449,"mpcc_enc_sign":1,"mpcc_id_a":0.476284951,"mpcc_iq_a":0.105605587,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.29645777,"mpcc_pred_id_a":-0.271699816,"mpcc_pred_iq_a":-3.15074563,"mpcc_state":1,"mpcc_theta_e":0.436386108,"mpcc_theta_mech":0.55422312,"sam_rpm":-9.5907259,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0413092226,"thr_a_norm":0.0413092226,"thr_a_v":0.66523689,"thr_b":0.0135763288,"thr_b_norm":0.0135763288,"thr_b_v":0.554305315,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.631493,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.878620625,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556488335,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0148210116,"mpcc_du":50.3454132,"mpcc_dv":48.5352669,"mpcc_dw":51.4647331,"mpcc_enc_sign":1,"mpcc_id_a":1.21292555,"mpcc_iq_a":-0.713252842,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.95765412,"mpcc_pred_id_a":0.0876467377,"mpcc_pred_iq_a":0.174750045,"mpcc_state":1,"mpcc_theta_e":0.445133686,"mpcc_theta_mech":0.555972636,"sam_rpm":3.07518959,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0413092226,"thr_a_norm":0.0413092226,"thr_a_v":0.66523689,"thr_b":0.0135763288,"thr_b_norm":0.0135763288,"thr_b_v":0.554305315,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.639488,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.74847269,"cg_iw_a":0.12916851,"cg_theta_rad":0.555411458,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0263512041,"mpcc_du":49.6342239,"mpcc_dv":49.3718834,"mpcc_dw":51.2029839,"mpcc_enc_sign":1,"mpcc_id_a":1.35888481,"mpcc_iq_a":0.100114688,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.628166437,"mpcc_pred_id_a":0.0139754303,"mpcc_pred_iq_a":-3.93628144,"mpcc_state":1,"mpcc_theta_e":0.443622112,"mpcc_theta_mech":0.554265559,"sam_rpm":-0.743222177,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218470991,"thr_a_norm":0.0218470991,"thr_a_v":0.587388396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463566035,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.649742,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-2.40086174,"cg_iw_a":1.14399576,"cg_theta_rad":0.556846499,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.00307749212,"mpcc_du":49.7172966,"mpcc_dv":49.5666389,"mpcc_dw":50.4333611,"mpcc_enc_sign":1,"mpcc_id_a":-0.606975138,"mpcc_iq_a":-2.8159399,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.81032634,"mpcc_pred_id_a":-0.683105707,"mpcc_pred_iq_a":-4.79116917,"mpcc_state":1,"mpcc_theta_e":0.449527264,"mpcc_theta_mech":0.556851327,"sam_rpm":3.95830035,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245033205,"thr_a_norm":0.0218470991,"thr_a_v":0.598013282,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477766067,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.659294,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.0087685585,"cg_iw_a":-1.24809742,"cg_theta_rad":0.557110131,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0174887255,"mpcc_du":50.3293533,"mpcc_dv":48.4697952,"mpcc_dw":51.5302048,"mpcc_enc_sign":1,"mpcc_id_a":2.61725903,"mpcc_iq_a":-1.8195765,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.14426899,"mpcc_pred_id_a":0.0955815688,"mpcc_pred_iq_a":-1.39550924,"mpcc_state":1,"mpcc_theta_e":0.437286854,"mpcc_theta_mech":0.554403245,"sam_rpm":-12.4900589,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245033205,"thr_a_norm":0.0245033205,"thr_a_v":0.598013282,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477766067,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.669548,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.89344811,"cg_iw_a":1.5064342,"cg_theta_rad":0.555595815,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0305926017,"mpcc_du":49.1324272,"mpcc_dv":50.8675728,"mpcc_dw":50.2060509,"mpcc_enc_sign":1,"mpcc_id_a":3.22304583,"mpcc_iq_a":-2.22490263,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.0954685,"mpcc_pred_id_a":0.745823503,"mpcc_pred_iq_a":-3.50015306,"mpcc_state":1,"mpcc_theta_e":0.444259644,"mpcc_theta_mech":0.555797875,"sam_rpm":15.1146908,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297150314,"thr_a_norm":0.0297150314,"thr_a_v":0.618860126,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453998625,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.679527,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.02359605,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.554030836,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0102988565,"mpcc_du":49.9911995,"mpcc_dv":48.7921257,"mpcc_dw":51.2078743,"mpcc_enc_sign":1,"mpcc_id_a":1.75466478,"mpcc_iq_a":-0.583412111,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.14725971,"mpcc_pred_id_a":0.25228706,"mpcc_pred_iq_a":-1.71454966,"mpcc_state":1,"mpcc_theta_e":0.436612606,"mpcc_theta_mech":0.55426842,"sam_rpm":-9.95241451,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297150314,"thr_a_norm":0.0297150314,"thr_a_v":0.618860126,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453998625,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.68972,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.16857147,"cg_iw_a":0.201656342,"cg_theta_rad":0.555346429,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0114722084,"mpcc_du":49.5600662,"mpcc_dv":50.2366486,"mpcc_dw":50.4399338,"mpcc_enc_sign":1,"mpcc_id_a":1.17183447,"mpcc_iq_a":-1.65535378,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.71134686,"mpcc_pred_id_a":-0.130978718,"mpcc_pred_iq_a":-2.11476088,"mpcc_state":1,"mpcc_theta_e":0.438979149,"mpcc_theta_mech":0.55474174,"sam_rpm":4.31985855,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0306465924,"thr_a_norm":0.0306465924,"thr_a_v":0.62258637,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.712944,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.82096052,"cg_iw_a":-1.61053562,"cg_theta_rad":0.551951289,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0290447865,"mpcc_du":50.63937,"mpcc_dv":47.9241066,"mpcc_dw":52.0758934,"mpcc_enc_sign":1,"mpcc_id_a":2.1092124,"mpcc_iq_a":-0.853588402,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.94396663,"mpcc_pred_id_a":0.552616417,"mpcc_pred_iq_a":0.51853174,"mpcc_state":1,"mpcc_theta_e":0.441542625,"mpcc_theta_mech":0.555254459,"sam_rpm":-5.59179735,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185740441,"thr_a_norm":0.0306465924,"thr_a_v":0.574296176,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454955339,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.719414,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.951108456,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556193948,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0109108314,"mpcc_du":49.7136536,"mpcc_dv":50.00951,"mpcc_dw":50.2863464,"mpcc_enc_sign":1,"mpcc_id_a":-1.83819532,"mpcc_iq_a":-2.92208052,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.196776435,"mpcc_pred_id_a":-1.07059658,"mpcc_pred_iq_a":-4.50664043,"mpcc_state":1,"mpcc_theta_e":0.442372322,"mpcc_theta_mech":0.555420399,"sam_rpm":0.0394600667,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185740441,"thr_a_norm":0.0185740441,"thr_a_v":0.574296176,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454955339,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.726006,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.45852208,"cg_iw_a":0.274143934,"cg_theta_rad":0.557542503,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.00551585667,"mpcc_du":50.6691628,"mpcc_dv":48.2581024,"mpcc_dw":51.7418976,"mpcc_enc_sign":1,"mpcc_id_a":0.466289222,"mpcc_iq_a":-0.769676626,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.20236349,"mpcc_pred_id_a":-0.393829316,"mpcc_pred_iq_a":1.02369249,"mpcc_state":1,"mpcc_theta_e":0.439478874,"mpcc_theta_mech":0.554841697,"sam_rpm":-4.66985178,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0312004983,"thr_a_norm":0.0312004983,"thr_a_v":0.624801993,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475751907,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.732536,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.878620625,"cg_iw_a":-3.42272711,"cg_theta_rad":0.557319462,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.00697333831,"mpcc_du":50.2821732,"mpcc_dv":48.5525284,"mpcc_dw":51.4474716,"mpcc_enc_sign":1,"mpcc_id_a":0.897435188,"mpcc_iq_a":-3.57289219,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.965213001,"mpcc_pred_id_a":0.0702360272,"mpcc_pred_iq_a":0.484704137,"mpcc_state":1,"mpcc_theta_e":0.443650246,"mpcc_theta_mech":0.555675924,"sam_rpm":1.0646106,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0312004983,"thr_a_norm":0.0312004983,"thr_a_v":0.624801993,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475751907,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.740532,"values":{"cg_iu_a":2.34418058,"cg_iv_a":0.643620491,"cg_iw_a":-3.64019012,"cg_theta_rad":0.55491364,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0439696275,"mpcc_du":49.5933685,"mpcc_dv":49.3577309,"mpcc_dw":50.6422691,"mpcc_enc_sign":1,"mpcc_id_a":3.17014623,"mpcc_iq_a":0.0193512794,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.19369984,"mpcc_pred_id_a":0.154640898,"mpcc_pred_iq_a":-2.85402203,"mpcc_state":1,"mpcc_theta_e":0.446072102,"mpcc_theta_mech":0.556160331,"sam_rpm":4.91700172,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283806324,"thr_a_norm":0.0283806324,"thr_a_v":0.61352253,"thr_b":0.00110094249,"thr_b_norm":0.00110094249,"thr_b_v":0.50440377,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.750755,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.298719406,"cg_iw_a":-2.04546118,"cg_theta_rad":0.556434274,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.00383292465,"mpcc_du":49.5937614,"mpcc_dv":50.3373375,"mpcc_dw":50.4062386,"mpcc_enc_sign":1,"mpcc_id_a":1.01485038,"mpcc_iq_a":-0.282556146,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.18712246,"mpcc_pred_id_a":-0.280253738,"mpcc_pred_iq_a":-2.46228814,"mpcc_state":1,"mpcc_theta_e":0.43503809,"mpcc_theta_mech":0.553953528,"sam_rpm":0.950309038,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167990327,"thr_a_norm":0.0283806324,"thr_a_v":0.567196131,"thr_b":0,"thr_b_norm":0.00110094249,"thr_b_v":0.424541086,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.76049,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-0.226231575,"cg_iw_a":0.201656342,"cg_theta_rad":0.554751456,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.00965857692,"mpcc_du":49.5375061,"mpcc_dv":50.3761063,"mpcc_dw":50.4624939,"mpcc_enc_sign":1,"mpcc_id_a":0.941716135,"mpcc_iq_a":0.0666629225,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.9700098,"mpcc_pred_id_a":0.059673883,"mpcc_pred_iq_a":-3.41997218,"mpcc_state":1,"mpcc_theta_e":0.443639755,"mpcc_theta_mech":0.555673838,"sam_rpm":9.39234734,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167990327,"thr_a_norm":0.0167990327,"thr_a_v":0.567196131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.424541086,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.771904,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.6759851,"cg_iw_a":-1.17560935,"cg_theta_rad":0.556771457,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0153171504,"mpcc_du":49.4727097,"mpcc_dv":49.8709145,"mpcc_dw":50.5272903,"mpcc_enc_sign":1,"mpcc_id_a":2.45960641,"mpcc_iq_a":-0.435690045,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.20409012,"mpcc_pred_id_a":0.29405582,"mpcc_pred_iq_a":-2.39620948,"mpcc_state":1,"mpcc_theta_e":0.431040287,"mpcc_theta_mech":0.553153992,"sam_rpm":-2.04570937,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0161947757,"thr_a_norm":0.0161947757,"thr_a_v":0.564779103,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457372397,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.783195,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.10312176,"cg_theta_rad":0.555780292,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0601469949,"mpcc_du":49.6714134,"mpcc_dv":48.6454964,"mpcc_dw":51.3545036,"mpcc_enc_sign":1,"mpcc_id_a":3.20236182,"mpcc_iq_a":-1.59293842,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.44303989,"mpcc_pred_id_a":0.531054139,"mpcc_pred_iq_a":-4.50867653,"mpcc_state":1,"mpcc_theta_e":0.451021194,"mpcc_theta_mech":0.555334151,"sam_rpm":5.85583544,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172899961,"thr_a_norm":0.0161947757,"thr_a_v":0.569159985,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450070977,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.793297,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.89344811,"cg_iw_a":1.143996,"cg_theta_rad":0.556652009,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0101058185,"mpcc_du":50.2057266,"mpcc_dv":48.7703018,"mpcc_dw":51.2296982,"mpcc_enc_sign":1,"mpcc_id_a":0.150168747,"mpcc_iq_a":-1.30514288,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.0508928,"mpcc_pred_id_a":-0.451608181,"mpcc_pred_iq_a":-0.16460292,"mpcc_state":1,"mpcc_theta_e":0.426790714,"mpcc_theta_mech":0.552304029,"sam_rpm":-17.9062481,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172899961,"thr_a_norm":0.0172899961,"thr_a_v":0.569159985,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450070977,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.816521,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-0.806133032,"cg_iw_a":0.709069967,"cg_theta_rad":0.558051407,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.00407454837,"mpcc_du":51.1793175,"mpcc_dv":47.3778191,"mpcc_dw":52.6221809,"mpcc_enc_sign":1,"mpcc_id_a":0.523797154,"mpcc_iq_a":0.0434593484,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.2619305,"mpcc_pred_id_a":-0.111667335,"mpcc_pred_iq_a":1.88950908,"mpcc_state":1,"mpcc_theta_e":0.424134731,"mpcc_theta_mech":0.551772833,"sam_rpm":-28.6854095,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190146565,"thr_a_norm":0.0190146565,"thr_a_v":0.576058626,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459487319,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.823021,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.878620625,"cg_iw_a":-1.53804779,"cg_theta_rad":0.55558598,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.00564935571,"mpcc_du":50.1234627,"mpcc_dv":48.8556786,"mpcc_dw":51.1443214,"mpcc_enc_sign":1,"mpcc_id_a":0.222177714,"mpcc_iq_a":-1.44546747,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.802151382,"mpcc_pred_id_a":-0.284976035,"mpcc_pred_iq_a":-1.50719261,"mpcc_state":1,"mpcc_theta_e":0.444327831,"mpcc_theta_mech":0.555811524,"sam_rpm":1.03912926,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190146565,"thr_a_norm":0.0190146565,"thr_a_v":0.576058626,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459487319,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.829582,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-1.6759851,"cg_iw_a":0.491606951,"cg_theta_rad":0.552355468,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0498456545,"mpcc_du":49.4191589,"mpcc_dv":50.0896378,"mpcc_dw":50.5808411,"mpcc_enc_sign":1,"mpcc_id_a":4.05187941,"mpcc_iq_a":0.0331211016,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.29239678,"mpcc_pred_id_a":0.648939848,"mpcc_pred_iq_a":-4.25164318,"mpcc_state":1,"mpcc_theta_e":0.441636562,"mpcc_theta_mech":0.555273235,"sam_rpm":1.34190929,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228164196,"thr_a_norm":0.0228164196,"thr_a_v":0.591265678,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496749818,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.836143,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.878620625,"cg_iw_a":-0.233269691,"cg_theta_rad":0.555497944,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0366359353,"mpcc_du":49.4859962,"mpcc_dv":49.7308159,"mpcc_dw":50.5140038,"mpcc_enc_sign":1,"mpcc_id_a":2.50262547,"mpcc_iq_a":-0.0255894344,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0533722974,"mpcc_pred_id_a":0.236164197,"mpcc_pred_iq_a":-4.83029318,"mpcc_state":1,"mpcc_theta_e":0.443306923,"mpcc_theta_mech":0.553967535,"sam_rpm":0.117599405,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.018951714,"thr_a_norm":0.0228164196,"thr_a_v":0.575806856,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464170277,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.844109,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.60349751,"cg_iw_a":0.491607189,"cg_theta_rad":0.55555594,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0181858689,"mpcc_du":49.4939651,"mpcc_dv":49.6076202,"mpcc_dw":50.5060349,"mpcc_enc_sign":1,"mpcc_id_a":1.83521724,"mpcc_iq_a":-1.25613415,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.15264797,"mpcc_pred_id_a":0.186894834,"mpcc_pred_iq_a":-3.03367567,"mpcc_state":1,"mpcc_theta_e":0.450947285,"mpcc_theta_mech":0.557135344,"sam_rpm":12.3576117,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.018951714,"thr_a_norm":0.018951714,"thr_a_v":0.575806856,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464170277,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.854301,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.16857147,"cg_iw_a":0.636582375,"cg_theta_rad":0.556697309,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0280967783,"mpcc_du":49.7664795,"mpcc_dv":49.1676559,"mpcc_dw":50.8323441,"mpcc_enc_sign":1,"mpcc_id_a":2.02552676,"mpcc_iq_a":-0.682402194,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.73400116,"mpcc_pred_id_a":0.00104658084,"mpcc_pred_iq_a":0.640444338,"mpcc_state":1,"mpcc_theta_e":0.424927235,"mpcc_theta_mech":0.551931381,"sam_rpm":-10.8137083,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247928649,"thr_a_norm":0.0247928649,"thr_a_v":0.59917146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492268264,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.864311,"values":{"cg_iu_a":4.66378593,"cg_iv_a":-1.24105906,"cg_iw_a":-3.42272687,"cg_theta_rad":0.554163754,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.00371230021,"mpcc_du":50.561779,"mpcc_dv":48.2521667,"mpcc_dw":51.7478333,"mpcc_enc_sign":1,"mpcc_id_a":0.552928865,"mpcc_iq_a":-1.78048992,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.72678566,"mpcc_pred_id_a":-0.0863030776,"mpcc_pred_iq_a":-1.17852128,"mpcc_state":1,"mpcc_theta_e":0.438707829,"mpcc_theta_mech":0.556870818,"sam_rpm":-13.2648754,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247928649,"thr_a_norm":0.0247928649,"thr_a_v":0.59917146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492268264,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.87429,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-0.516182423,"cg_iw_a":-0.305757046,"cg_theta_rad":0.551944315,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0200383347,"mpcc_du":49.7060432,"mpcc_dv":49.230011,"mpcc_dw":50.769989,"mpcc_enc_sign":1,"mpcc_id_a":2.48992229,"mpcc_iq_a":-0.896686316,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.14469957,"mpcc_pred_id_a":0.141163245,"mpcc_pred_iq_a":-3.23409867,"mpcc_state":1,"mpcc_theta_e":0.442235947,"mpcc_theta_mech":0.5553931,"sam_rpm":-4.0526762,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0157793611,"thr_a_norm":0.0157793611,"thr_a_v":0.563117445,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465580195,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.884544,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.82096052,"cg_iw_a":1.21648359,"cg_theta_rad":0.554148793,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.00527722342,"mpcc_du":49.0098724,"mpcc_dv":50.9901276,"mpcc_dw":49.7837372,"mpcc_enc_sign":1,"mpcc_id_a":0.410487235,"mpcc_iq_a":-0.553428829,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.935295284,"mpcc_pred_id_a":0.0178124122,"mpcc_pred_iq_a":-4.66873455,"mpcc_state":1,"mpcc_theta_e":0.43196106,"mpcc_theta_mech":0.55333817,"sam_rpm":1.09698963,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022401005,"thr_a_norm":0.0157793611,"thr_a_v":0.58960402,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486225694,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.894463,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.02359605,"cg_iw_a":-1.46555996,"cg_theta_rad":0.560934365,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0731357783,"mpcc_du":50.179863,"mpcc_dv":48.6738205,"mpcc_dw":51.3261795,"mpcc_enc_sign":1,"mpcc_id_a":2.84117317,"mpcc_iq_a":-0.677147686,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.22953486,"mpcc_pred_id_a":0.172253966,"mpcc_pred_iq_a":-2.83246183,"mpcc_state":1,"mpcc_theta_e":0.4520154,"mpcc_theta_mech":0.557349026,"sam_rpm":4.26134968,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022401005,"thr_a_norm":0.022401005,"thr_a_v":0.58960402,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486225694,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.917717,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.516182423,"cg_iw_a":-1.32058477,"cg_theta_rad":0.555890083,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0417726338,"mpcc_du":50.5131721,"mpcc_dv":47.97966,"mpcc_dw":52.02034,"mpcc_enc_sign":1,"mpcc_id_a":3.3764751,"mpcc_iq_a":-0.349694759,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.9168158,"mpcc_pred_id_a":0.596521616,"mpcc_pred_iq_a":-0.869638026,"mpcc_state":1,"mpcc_theta_e":0.430774689,"mpcc_theta_mech":0.553100824,"sam_rpm":-18.9829044,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021268025,"thr_a_norm":0.021268025,"thr_a_v":0.5850721,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466033429,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.924248,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.516182423,"cg_iw_a":-2.04546118,"cg_theta_rad":0.559769452,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0137658548,"mpcc_du":50.4375,"mpcc_dv":48.2374153,"mpcc_dw":50.4515572,"mpcc_enc_sign":1,"mpcc_id_a":0.573327005,"mpcc_iq_a":-1.05196738,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.06270123,"mpcc_pred_id_a":0.328445464,"mpcc_pred_iq_a":-0.877440989,"mpcc_state":1,"mpcc_theta_e":0.440172672,"mpcc_theta_mech":0.558088183,"sam_rpm":-8.0187645,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137148052,"thr_a_norm":0.021268025,"thr_a_v":0.554859221,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.436676592,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.930779,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.951108456,"cg_iw_a":-0.958146095,"cg_theta_rad":0.555244744,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.00854170602,"mpcc_du":49.8862038,"mpcc_dv":49.1955109,"mpcc_dw":50.8044891,"mpcc_enc_sign":1,"mpcc_id_a":0.855066121,"mpcc_iq_a":-0.959042668,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.31179261,"mpcc_pred_id_a":-0.360080272,"mpcc_pred_iq_a":-2.05849195,"mpcc_state":1,"mpcc_theta_e":0.444515705,"mpcc_theta_mech":0.555849016,"sam_rpm":3.61875916,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137148052,"thr_a_norm":0.0137148052,"thr_a_v":0.554859221,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.436676592,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.937309,"values":{"cg_iu_a":2.34418058,"cg_iv_a":0.861083508,"cg_iw_a":-1.75551081,"cg_theta_rad":0.552914798,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.00102555112,"mpcc_du":49.5922775,"mpcc_dv":49.5438881,"mpcc_dw":50.4561119,"mpcc_enc_sign":1,"mpcc_id_a":0.156935185,"mpcc_iq_a":-0.577370286,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.64865279,"mpcc_pred_id_a":-0.336375892,"mpcc_pred_iq_a":-3.29485893,"mpcc_state":1,"mpcc_theta_e":0.438029766,"mpcc_theta_mech":0.55455184,"sam_rpm":-4.61962414,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212302655,"thr_a_norm":0.0212302655,"thr_a_v":0.584921062,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458228409,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.948326,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.661157608,"cg_iw_a":0.419119358,"cg_theta_rad":0.555234909,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.00831717812,"mpcc_du":50.2530937,"mpcc_dv":48.6008987,"mpcc_dw":51.3991013,"mpcc_enc_sign":1,"mpcc_id_a":0.531400621,"mpcc_iq_a":-1.63905966,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.43034077,"mpcc_pred_id_a":0.00641599856,"mpcc_pred_iq_a":-1.70911419,"mpcc_state":1,"mpcc_theta_e":0.444347858,"mpcc_theta_mech":0.555815518,"sam_rpm":-3.62022853,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212302655,"thr_a_norm":0.0212302655,"thr_a_v":0.584921062,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458228409,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.959496,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.951108456,"cg_iw_a":-1.61053514,"cg_theta_rad":0.551106215,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0102016991,"mpcc_du":50.2133064,"mpcc_dv":48.538372,"mpcc_dw":51.461628,"mpcc_enc_sign":1,"mpcc_id_a":2.0168407,"mpcc_iq_a":-0.17732653,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.26859379,"mpcc_pred_id_a":0.180806369,"mpcc_pred_iq_a":0.804130077,"mpcc_state":1,"mpcc_theta_e":0.426906586,"mpcc_theta_mech":0.552327275,"sam_rpm":-12.659256,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241004825,"thr_a_norm":0.0241004825,"thr_a_v":0.59640193,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472932041,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.969933,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.38603449,"cg_iw_a":0.0566811562,"cg_theta_rad":0.556841373,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0235152207,"mpcc_du":49.5426674,"mpcc_dv":49.9765739,"mpcc_dw":50.4573326,"mpcc_enc_sign":1,"mpcc_id_a":2.64065838,"mpcc_iq_a":0.325764447,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.11986303,"mpcc_pred_id_a":-0.00578856468,"mpcc_pred_iq_a":-1.40429759,"mpcc_state":1,"mpcc_theta_e":0.424804688,"mpcc_theta_mech":0.551906824,"sam_rpm":-8.39690971,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10369879,"thr_a_norm":0.0241004825,"thr_a_v":0.91479516,"thr_b":0.0500835329,"thr_b_norm":0,"thr_b_v":0.700334132,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.979881,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.60349751,"cg_iw_a":-0.378245115,"cg_theta_rad":0.556852341,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.056177374,"mpcc_du":49.5230789,"mpcc_dv":49.6945724,"mpcc_dw":50.4769211,"mpcc_enc_sign":1,"mpcc_id_a":1.5595566,"mpcc_iq_a":-0.32461077,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.51489305,"mpcc_pred_id_a":0.203486875,"mpcc_pred_iq_a":-3.20849299,"mpcc_state":1,"mpcc_theta_e":0.446547508,"mpcc_theta_mech":0.5562554,"sam_rpm":19.7409916,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10369879,"thr_a_norm":0.10369879,"thr_a_v":0.91479516,"thr_b":0.0500835329,"thr_b_norm":0.0500835329,"thr_b_v":0.700334132,"vdc_v":55.2955055}} +{"type":"telemetry","t":87.989922,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.588670254,"cg_iw_a":-1.53804779,"cg_theta_rad":0.554634631,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.09375,"hz_adc_isr":4996,"hz_app_loop":369,"hz_tim_isr":9992,"hz_vsense":369,"mpcc_cost":0.0236611143,"mpcc_du":50.1951256,"mpcc_dv":48.3739624,"mpcc_dw":51.6260376,"mpcc_enc_sign":1,"mpcc_id_a":3.07599521,"mpcc_iq_a":-1.1768496,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.8501463,"mpcc_pred_id_a":0.708401978,"mpcc_pred_iq_a":-1.55216312,"mpcc_state":1,"mpcc_theta_e":0.430225372,"mpcc_theta_mech":0.552990973,"sam_rpm":-22.9881859,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0161821842,"thr_a_norm":0.0161821842,"thr_a_v":0.564728737,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.000389,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.24105906,"cg_iw_a":0.0566809177,"cg_theta_rad":0.552962303,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0287700798,"mpcc_du":49.3856163,"mpcc_dv":50.6143837,"mpcc_dw":50.0576935,"mpcc_enc_sign":1,"mpcc_id_a":1.95091379,"mpcc_iq_a":-2.0330503,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.66884995,"mpcc_pred_id_a":0.0834452212,"mpcc_pred_iq_a":-2.30194759,"mpcc_state":1,"mpcc_theta_e":0.443068981,"mpcc_theta_mech":0.555559754,"sam_rpm":16.5055885,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0161821842,"thr_a_norm":0.0161821842,"thr_a_v":0.564728737,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.024925,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.53100967,"cg_iw_a":-1.39307261,"cg_theta_rad":0.557528436,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.00364427385,"mpcc_du":51.2434273,"mpcc_dv":47.6129646,"mpcc_dw":52.3870354,"mpcc_enc_sign":1,"mpcc_id_a":-1.11703873,"mpcc_iq_a":-1.78448236,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.92311096,"mpcc_pred_id_a":-0.671378076,"mpcc_pred_iq_a":2.24261141,"mpcc_state":1,"mpcc_theta_e":0.432909966,"mpcc_theta_mech":0.553527892,"sam_rpm":-14.9104881,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0187250972,"thr_a_norm":0.0187250972,"thr_a_v":0.574900389,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460444033,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.031425,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.02359605,"cg_iw_a":0.201656342,"cg_theta_rad":0.557085574,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.016438093,"mpcc_du":49.5389938,"mpcc_dv":49.4246101,"mpcc_dw":50.5753899,"mpcc_enc_sign":1,"mpcc_id_a":2.33883238,"mpcc_iq_a":-0.86900115,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.5542927,"mpcc_pred_id_a":0.267630875,"mpcc_pred_iq_a":-0.234711766,"mpcc_state":1,"mpcc_theta_e":0.4245224,"mpcc_theta_mech":0.551850379,"sam_rpm":10.4586487,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297024399,"thr_a_norm":0.0297024399,"thr_a_v":0.61880976,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448006392,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.037987,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.951108456,"cg_iw_a":-0.595707893,"cg_theta_rad":0.557045996,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0047842199,"mpcc_du":49.5175591,"mpcc_dv":50.4824409,"mpcc_dw":50.3447647,"mpcc_enc_sign":1,"mpcc_id_a":1.23335111,"mpcc_iq_a":-1.66471899,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.2819252,"mpcc_pred_id_a":-0.137391731,"mpcc_pred_iq_a":-3.44452691,"mpcc_state":1,"mpcc_theta_e":0.452190876,"mpcc_theta_mech":0.557384074,"sam_rpm":16.3992195,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297024399,"thr_a_norm":0.0297024399,"thr_a_v":0.61880976,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448006392,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.044487,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.02359605,"cg_iw_a":-1.03063416,"cg_theta_rad":0.556717098,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0220411662,"mpcc_du":49.9340286,"mpcc_dv":48.705719,"mpcc_dw":50.4462051,"mpcc_enc_sign":1,"mpcc_id_a":2.94835734,"mpcc_iq_a":-1.28253543,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.99960804,"mpcc_pred_id_a":0.584884942,"mpcc_pred_iq_a":-3.20601892,"mpcc_state":1,"mpcc_theta_e":0.437610149,"mpcc_theta_mech":0.554467916,"sam_rpm":-26.235302,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0303444713,"thr_a_norm":0.0303444713,"thr_a_v":0.621377885,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.053612,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.371207237,"cg_iw_a":-1.53804731,"cg_theta_rad":0.554247618,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.000568981457,"mpcc_du":49.4881325,"mpcc_dv":50.5118675,"mpcc_dw":50.3803177,"mpcc_enc_sign":1,"mpcc_id_a":0.248520061,"mpcc_iq_a":-1.88011587,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.169342,"mpcc_pred_id_a":-0.496928424,"mpcc_pred_iq_a":-1.57480741,"mpcc_state":1,"mpcc_theta_e":0.448636532,"mpcc_theta_mech":0.556673229,"sam_rpm":22.2398796,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210036635,"thr_a_norm":0.0303444713,"thr_a_v":0.584014654,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469105065,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.063713,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.298719406,"cg_iw_a":-2.55287504,"cg_theta_rad":0.556320012,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0337256044,"mpcc_du":49.5199089,"mpcc_dv":49.6396751,"mpcc_dw":50.4800911,"mpcc_enc_sign":1,"mpcc_id_a":2.2958734,"mpcc_iq_a":-1.30165052,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.37836456,"mpcc_pred_id_a":-0.0320637897,"mpcc_pred_iq_a":-3.63667989,"mpcc_state":1,"mpcc_theta_e":0.453835487,"mpcc_theta_mech":0.557712972,"sam_rpm":15.149189,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210036635,"thr_a_norm":0.0210036635,"thr_a_v":0.584014654,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469105065,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.073906,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-3.05325079,"cg_iw_a":0.491607189,"cg_theta_rad":0.55621469,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.00868935604,"mpcc_du":49.7536354,"mpcc_dv":49.1564064,"mpcc_dw":50.8435936,"mpcc_enc_sign":1,"mpcc_id_a":1.85011899,"mpcc_iq_a":-1.23408055,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.34267998,"mpcc_pred_id_a":0.0573949143,"mpcc_pred_iq_a":-1.67736065,"mpcc_state":1,"mpcc_theta_e":0.438979149,"mpcc_theta_mech":0.554768443,"sam_rpm":-4.63598776,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173655301,"thr_a_norm":0.0173655301,"thr_a_v":0.569462121,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450121313,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.083794,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.40086174,"cg_iw_a":1.07150841,"cg_theta_rad":0.557005942,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0144312698,"mpcc_du":50.5480537,"mpcc_dv":48.7621231,"mpcc_dw":51.2378769,"mpcc_enc_sign":1,"mpcc_id_a":0.17847839,"mpcc_iq_a":-1.37603903,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.14638042,"mpcc_pred_id_a":-0.232871845,"mpcc_pred_iq_a":-1.74984252,"mpcc_state":1,"mpcc_theta_e":0.441595554,"mpcc_theta_mech":0.557439148,"sam_rpm":-9.92377949,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173655301,"thr_a_norm":0.0173655301,"thr_a_v":0.569462121,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450121313,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.093895,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.951108456,"cg_iw_a":-1.68302298,"cg_theta_rad":0.558120072,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.102416016,"mpcc_du":49.6028328,"mpcc_dv":49.0324135,"mpcc_dw":50.9675865,"mpcc_enc_sign":1,"mpcc_id_a":4.33887434,"mpcc_iq_a":0.0917653963,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.36893034,"mpcc_pred_id_a":0.905752718,"mpcc_pred_iq_a":-2.9619,"mpcc_state":1,"mpcc_theta_e":0.45029974,"mpcc_theta_mech":0.556315362,"sam_rpm":9.52335167,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0377340317,"thr_a_norm":0.0377340317,"thr_a_v":0.650936127,"thr_b":0.0103788078,"thr_b_norm":0.0103788078,"thr_b_v":0.541515231,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.103905,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.84282589,"cg_theta_rad":0.552190959,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0147815989,"mpcc_du":49.437645,"mpcc_dv":50.562355,"mpcc_dw":50.0613365,"mpcc_enc_sign":1,"mpcc_id_a":-0.82093364,"mpcc_iq_a":-3.41128612,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.9502602,"mpcc_pred_id_a":-0.801484227,"mpcc_pred_iq_a":-1.82932806,"mpcc_state":1,"mpcc_theta_e":0.45141983,"mpcc_theta_mech":0.557229877,"sam_rpm":23.2122574,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0377340317,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0.0103788078,"thr_b_v":0.468953997,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.126915,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.661157608,"cg_iw_a":0.12916851,"cg_theta_rad":0.554485857,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.00311602047,"mpcc_du":50.5853806,"mpcc_dv":48.2669716,"mpcc_dw":51.7330284,"mpcc_enc_sign":1,"mpcc_id_a":0.901614964,"mpcc_iq_a":-1.38474882,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.78173161,"mpcc_pred_id_a":-0.28966403,"mpcc_pred_iq_a":-0.266884595,"mpcc_state":1,"mpcc_theta_e":0.435738087,"mpcc_theta_mech":0.55409354,"sam_rpm":-13.1790333,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468953997,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.133476,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-1.53100967,"cg_iw_a":-2.11794901,"cg_theta_rad":0.5574736,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0235777888,"mpcc_du":50.4581757,"mpcc_dv":48.2926674,"mpcc_dw":51.7073326,"mpcc_enc_sign":1,"mpcc_id_a":2.15632343,"mpcc_iq_a":-0.923663676,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.78103244,"mpcc_pred_id_a":0.124267139,"mpcc_pred_iq_a":0.206688106,"mpcc_state":1,"mpcc_theta_e":0.442127705,"mpcc_theta_mech":0.555371463,"sam_rpm":-1.67960966,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182970911,"thr_a_norm":0.0182970911,"thr_a_v":0.573188365,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465731293,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.139946,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.09608364,"cg_iw_a":-1.75551081,"cg_theta_rad":0.551072359,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.00180895149,"mpcc_du":50.8133926,"mpcc_dv":47.9621658,"mpcc_dw":52.0378342,"mpcc_enc_sign":1,"mpcc_id_a":0.148201779,"mpcc_iq_a":-1.45116043,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.95539284,"mpcc_pred_id_a":-0.0756615028,"mpcc_pred_iq_a":1.36376262,"mpcc_state":1,"mpcc_theta_e":0.43780899,"mpcc_theta_mech":0.554507673,"sam_rpm":-8.96833324,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182970911,"thr_a_norm":0.0182970911,"thr_a_v":0.573188365,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465731293,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.146477,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-2.32837415,"cg_iw_a":1.28897119,"cg_theta_rad":0.554414451,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0186159667,"mpcc_du":50.0526543,"mpcc_dv":48.9620972,"mpcc_dw":51.0379028,"mpcc_enc_sign":1,"mpcc_id_a":1.56208682,"mpcc_iq_a":-0.312207669,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.79688835,"mpcc_pred_id_a":-0.243386477,"mpcc_pred_iq_a":-2.89596224,"mpcc_state":1,"mpcc_theta_e":0.438601017,"mpcc_theta_mech":0.554666102,"sam_rpm":-8.52385712,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189265311,"thr_a_norm":0.0189265311,"thr_a_v":0.575706124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456415653,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.156487,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.806133032,"cg_iw_a":-0.23326993,"cg_theta_rad":0.556801438,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0201208424,"mpcc_du":50.2258263,"mpcc_dv":48.2554436,"mpcc_dw":51.7445564,"mpcc_enc_sign":1,"mpcc_id_a":2.70387435,"mpcc_iq_a":-1.64231443,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.8532534,"mpcc_pred_id_a":0.839893878,"mpcc_pred_iq_a":-0.721806526,"mpcc_state":1,"mpcc_theta_e":0.427787304,"mpcc_theta_mech":0.552503347,"sam_rpm":-23.0812588,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0369912982,"thr_a_norm":0.0189265311,"thr_a_v":0.647965193,"thr_b":0.00472648442,"thr_b_norm":0,"thr_b_v":0.518905938,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.166466,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.516182423,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556201875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0318213329,"mpcc_du":49.9976501,"mpcc_dv":48.8898544,"mpcc_dw":51.1101456,"mpcc_enc_sign":1,"mpcc_id_a":2.75158167,"mpcc_iq_a":-1.02184486,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.3705864,"mpcc_pred_id_a":0.0762598589,"mpcc_pred_iq_a":-3.52404594,"mpcc_state":1,"mpcc_theta_e":0.442625046,"mpcc_theta_mech":0.555470943,"sam_rpm":-7.96907902,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0369912982,"thr_a_norm":0.0369912982,"thr_a_v":0.647965193,"thr_b":0.00472648442,"thr_b_norm":0.00472648442,"thr_b_v":0.518905938,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.176506,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.588670254,"cg_iw_a":-2.62536287,"cg_theta_rad":0.556593716,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.00222388678,"mpcc_du":48.462822,"mpcc_dv":51.537178,"mpcc_dw":49.2295647,"mpcc_enc_sign":1,"mpcc_id_a":0.895893335,"mpcc_iq_a":-0.532987773,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":30.1551628,"mpcc_pred_id_a":0.115903027,"mpcc_pred_iq_a":-1.73245752,"mpcc_state":1,"mpcc_theta_e":0.460208416,"mpcc_theta_mech":0.558987617,"sam_rpm":44.0204048,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0119272172,"thr_a_norm":0.0119272172,"thr_a_v":0.547708869,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448560297,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.186485,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.6759851,"cg_iw_a":0.274143934,"cg_theta_rad":0.559207559,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0156630352,"mpcc_du":50.2729073,"mpcc_dv":50.6567879,"mpcc_dw":50.1237144,"mpcc_enc_sign":1,"mpcc_id_a":2.28899765,"mpcc_iq_a":-1.491678,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.74379897,"mpcc_pred_id_a":-0.1365785,"mpcc_pred_iq_a":-1.22666645,"mpcc_state":1,"mpcc_theta_e":0.440750122,"mpcc_theta_mech":0.555095971,"sam_rpm":-6.10290051,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0119272172,"thr_a_norm":0.0119272172,"thr_a_v":0.547708869,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448560297,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.19677,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-3.99559045,"cg_iw_a":3.68106437,"cg_theta_rad":0.557349503,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0258548688,"mpcc_du":49.482151,"mpcc_dv":49.2899895,"mpcc_dw":50.7100105,"mpcc_enc_sign":1,"mpcc_id_a":2.50570345,"mpcc_iq_a":-1.54308081,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.75554085,"mpcc_pred_id_a":0.403992772,"mpcc_pred_iq_a":-3.17697048,"mpcc_state":1,"mpcc_theta_e":0.439344883,"mpcc_theta_mech":0.552456677,"sam_rpm":9.25881195,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02290456,"thr_a_norm":0.02290456,"thr_a_v":0.59161824,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482549787,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.206871,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-2.54583716,"cg_iw_a":1.79638505,"cg_theta_rad":0.555087745,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0208114404,"mpcc_du":50.501255,"mpcc_dv":48.5258369,"mpcc_dw":51.4741631,"mpcc_enc_sign":1,"mpcc_id_a":-0.604847193,"mpcc_iq_a":-0.631184042,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.6660767,"mpcc_pred_id_a":-0.527072191,"mpcc_pred_iq_a":-4.53528357,"mpcc_state":1,"mpcc_theta_e":0.455665112,"mpcc_theta_mech":0.558078945,"sam_rpm":4.95251942,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227031261,"thr_a_norm":0.02290456,"thr_a_v":0.590812504,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.229881,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.38603449,"cg_iw_a":-0.16078186,"cg_theta_rad":0.556527913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0164443366,"mpcc_du":49.2016754,"mpcc_dv":50.7983246,"mpcc_dw":49.7287788,"mpcc_enc_sign":1,"mpcc_id_a":0.00277972524,"mpcc_iq_a":-2.26353455,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.45240116,"mpcc_pred_id_a":-0.722974241,"mpcc_pred_iq_a":-4.29282904,"mpcc_state":1,"mpcc_theta_e":0.440132618,"mpcc_theta_mech":0.55497247,"sam_rpm":4.30916786,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227031261,"thr_a_norm":0.0227031261,"thr_a_v":0.590812504,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.236473,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.443694592,"cg_iw_a":-1.75551081,"cg_theta_rad":0.553748071,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.00201280462,"mpcc_du":49.6750565,"mpcc_dv":49.7938881,"mpcc_dw":50.3249435,"mpcc_enc_sign":1,"mpcc_id_a":-0.895794749,"mpcc_iq_a":-1.47142112,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.40146446,"mpcc_pred_id_a":-0.82273376,"mpcc_pred_iq_a":-5.46894455,"mpcc_state":1,"mpcc_theta_e":0.43465519,"mpcc_theta_mech":0.553876996,"sam_rpm":-13.3601055,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228542089,"thr_a_norm":0.0228542089,"thr_a_v":0.591416836,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486074626,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.242943,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.878620625,"cg_iw_a":-0.378245354,"cg_theta_rad":0.554291487,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0276362598,"mpcc_du":49.4813728,"mpcc_dv":50.5186272,"mpcc_dw":50.3900299,"mpcc_enc_sign":1,"mpcc_id_a":2.35705924,"mpcc_iq_a":-0.341819167,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.03660488,"mpcc_pred_id_a":0.153574362,"mpcc_pred_iq_a":-4.33939219,"mpcc_state":1,"mpcc_theta_e":0.449153423,"mpcc_theta_mech":0.556776643,"sam_rpm":13.5532417,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228542089,"thr_a_norm":0.0228542089,"thr_a_v":0.591416836,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486074626,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.249657,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.6759851,"cg_iw_a":-1.61053538,"cg_theta_rad":0.556340158,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0073848553,"mpcc_du":50.8078575,"mpcc_dv":47.9790459,"mpcc_dw":52.0209541,"mpcc_enc_sign":1,"mpcc_id_a":0.793621838,"mpcc_iq_a":-0.74827379,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.09546804,"mpcc_pred_id_a":-0.289654821,"mpcc_pred_iq_a":-1.87646365,"mpcc_state":1,"mpcc_theta_e":0.447922707,"mpcc_theta_mech":0.556530416,"sam_rpm":-27.833868,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160814822,"thr_a_norm":0.0160814822,"thr_a_v":0.564325929,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466637671,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.25988,"values":{"cg_iu_a":3.43149567,"cg_iv_a":0.208694458,"cg_iw_a":-5.52486944,"cg_theta_rad":0.556886375,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0447091684,"mpcc_du":49.6804657,"mpcc_dv":49.2164993,"mpcc_dw":50.7835007,"mpcc_enc_sign":1,"mpcc_id_a":2.32097697,"mpcc_iq_a":-1.60768437,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.50577307,"mpcc_pred_id_a":0.23095201,"mpcc_pred_iq_a":0.659712136,"mpcc_state":1,"mpcc_theta_e":0.42843008,"mpcc_theta_mech":0.552631974,"sam_rpm":-8.22247791,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294255018,"thr_a_norm":0.0294255018,"thr_a_v":0.617702007,"thr_b":0.004008919,"thr_b_norm":0.004008919,"thr_b_v":0.516035676,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.269859,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.09608364,"cg_iw_a":-1.61053562,"cg_theta_rad":0.555857182,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0158531778,"mpcc_du":50.6015968,"mpcc_dv":48.2114067,"mpcc_dw":51.7885933,"mpcc_enc_sign":1,"mpcc_id_a":1.09683919,"mpcc_iq_a":-1.29999971,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.85562706,"mpcc_pred_id_a":-0.0336339064,"mpcc_pred_iq_a":-1.43679261,"mpcc_state":1,"mpcc_theta_e":0.441028118,"mpcc_theta_mech":0.555151522,"sam_rpm":-11.5545816,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294255018,"thr_a_norm":0.0294255018,"thr_a_v":0.617702007,"thr_b":0.004008919,"thr_b_norm":0.004008919,"thr_b_v":0.516035676,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.28109,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.806133032,"cg_iw_a":-0.160782099,"cg_theta_rad":0.554925919,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0385253094,"mpcc_du":50.0172005,"mpcc_dv":48.783432,"mpcc_dw":51.216568,"mpcc_enc_sign":1,"mpcc_id_a":3.29052663,"mpcc_iq_a":-1.57713354,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.876390696,"mpcc_pred_id_a":0.341525763,"mpcc_pred_iq_a":-2.53902221,"mpcc_state":1,"mpcc_theta_e":0.448060513,"mpcc_theta_mech":0.556558013,"sam_rpm":-1.16284859,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0358709097,"thr_a_norm":0.0358709097,"thr_a_v":0.643483639,"thr_b":0.00895628333,"thr_b_norm":0.00895628333,"thr_b_v":0.535825133,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.292259,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-2.32837415,"cg_iw_a":-0.958146334,"cg_theta_rad":0.557224929,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.00460258545,"mpcc_du":49.9479065,"mpcc_dv":49.2569809,"mpcc_dw":50.7430191,"mpcc_enc_sign":1,"mpcc_id_a":-0.487869561,"mpcc_iq_a":-2.87701654,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.07932854,"mpcc_pred_id_a":-0.679282129,"mpcc_pred_iq_a":-3.54952765,"mpcc_state":1,"mpcc_theta_e":0.453511715,"mpcc_theta_mech":0.557648242,"sam_rpm":6.09010744,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0129720718,"thr_a_norm":0.0129720718,"thr_a_v":0.551888287,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441510648,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.302208,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.09608364,"cg_iw_a":0.274143696,"cg_theta_rad":0.555610955,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.059712939,"mpcc_du":49.4252663,"mpcc_dv":49.7569351,"mpcc_dw":51.2901039,"mpcc_enc_sign":1,"mpcc_id_a":3.39479351,"mpcc_iq_a":-0.19602178,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.96887159,"mpcc_pred_id_a":0.617776871,"mpcc_pred_iq_a":-4.60630894,"mpcc_state":1,"mpcc_theta_e":0.450422287,"mpcc_theta_mech":0.554590166,"sam_rpm":7.42135239,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0129720718,"thr_a_norm":0.0129720718,"thr_a_v":0.551888287,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441510648,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.325462,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.0087685585,"cg_iw_a":-3.20526409,"cg_theta_rad":0.556329012,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0260907691,"mpcc_du":50.3036766,"mpcc_dv":48.5123253,"mpcc_dw":51.4876747,"mpcc_enc_sign":1,"mpcc_id_a":1.76390862,"mpcc_iq_a":-0.226327553,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.93874741,"mpcc_pred_id_a":0.0934259444,"mpcc_pred_iq_a":-1.38462973,"mpcc_state":1,"mpcc_theta_e":0.440930843,"mpcc_theta_mech":0.555132091,"sam_rpm":-6.9852891,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250572115,"thr_a_norm":0.0250572115,"thr_a_v":0.600228846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475500137,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.332024,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.951108456,"cg_iw_a":-1.32058477,"cg_theta_rad":0.556172013,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.00681928871,"mpcc_du":49.564167,"mpcc_dv":49.8753624,"mpcc_dw":50.435833,"mpcc_enc_sign":1,"mpcc_id_a":0.194920659,"mpcc_iq_a":-1.81167042,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.25220871,"mpcc_pred_id_a":-0.197213203,"mpcc_pred_iq_a":-3.92193413,"mpcc_state":1,"mpcc_theta_e":0.452190399,"mpcc_theta_mech":0.557383955,"sam_rpm":12.4270086,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0404028296,"thr_a_norm":0.0250572115,"thr_a_v":0.661611319,"thr_b":0.00978712738,"thr_b_norm":0,"thr_b_v":0.53914851,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.338554,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.89344811,"cg_iw_a":0.636582136,"cg_theta_rad":0.553610027,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.014109618,"mpcc_du":50.38517,"mpcc_dv":48.375206,"mpcc_dw":51.624794,"mpcc_enc_sign":1,"mpcc_id_a":2.35225558,"mpcc_iq_a":-1.01539159,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.9577541,"mpcc_pred_id_a":-0.038557265,"mpcc_pred_iq_a":-0.986468911,"mpcc_state":1,"mpcc_theta_e":0.425426006,"mpcc_theta_mech":0.552031159,"sam_rpm":-23.8991718,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0404028296,"thr_a_norm":0.0404028296,"thr_a_v":0.661611319,"thr_b":0.00978712738,"thr_b_norm":0.00978712738,"thr_b_v":0.53914851,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.345055,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.91531324,"cg_theta_rad":0.556492031,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0271595847,"mpcc_du":50.2482872,"mpcc_dv":48.6771927,"mpcc_dw":51.3228073,"mpcc_enc_sign":1,"mpcc_id_a":2.78627205,"mpcc_iq_a":-0.949619472,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.768292248,"mpcc_pred_id_a":0.213697955,"mpcc_pred_iq_a":-1.22731578,"mpcc_state":1,"mpcc_theta_e":0.44384861,"mpcc_theta_mech":0.55571568,"sam_rpm":-16.6855221,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.018951714,"thr_a_norm":0.018951714,"thr_a_v":0.575806856,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.352684,"values":{"cg_iu_a":6.18602753,"cg_iv_a":-1.24105906,"cg_iw_a":-4.94496822,"cg_theta_rad":0.556886673,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0426701754,"mpcc_du":49.4131622,"mpcc_dv":50.5868378,"mpcc_dw":50.4095078,"mpcc_enc_sign":1,"mpcc_id_a":2.9925766,"mpcc_iq_a":0.139401317,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.71958208,"mpcc_pred_id_a":0.293958366,"mpcc_pred_iq_a":-5.00755358,"mpcc_state":1,"mpcc_theta_e":0.449923515,"mpcc_theta_mech":0.556930661,"sam_rpm":11.2619276,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.018951714,"thr_a_norm":0.018951714,"thr_a_v":0.575806856,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.362877,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.588670254,"cg_iw_a":-2.26292419,"cg_theta_rad":0.555514514,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.00716527412,"mpcc_du":49.9999466,"mpcc_dv":49.1922188,"mpcc_dw":50.8077812,"mpcc_enc_sign":1,"mpcc_id_a":-0.517353892,"mpcc_iq_a":-2.15912938,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.12901211,"mpcc_pred_id_a":-0.860719442,"mpcc_pred_iq_a":-4.68342829,"mpcc_state":1,"mpcc_theta_e":0.443644524,"mpcc_theta_mech":0.555674851,"sam_rpm":-5.68542337,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.021620512,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.3731,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.298719406,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556260884,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0334395096,"mpcc_du":49.7836227,"mpcc_dv":49.0563431,"mpcc_dw":50.9436569,"mpcc_enc_sign":1,"mpcc_id_a":2.30860424,"mpcc_iq_a":-1.44207931,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.55885363,"mpcc_pred_id_a":0.276712,"mpcc_pred_iq_a":-3.00169683,"mpcc_state":1,"mpcc_theta_e":0.452017784,"mpcc_theta_mech":0.557349443,"sam_rpm":7.22120953,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205504745,"thr_a_norm":0.021620512,"thr_a_v":0.582201898,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.38308,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-2.11091113,"cg_iw_a":-0.233269453,"cg_theta_rad":0.556448817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0704013631,"mpcc_du":49.0019493,"mpcc_dv":50.9980507,"mpcc_dw":49.7278748,"mpcc_enc_sign":1,"mpcc_id_a":0.888432264,"mpcc_iq_a":0.261097133,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":23.1312046,"mpcc_pred_id_a":-0.297740757,"mpcc_pred_iq_a":-5.60061693,"mpcc_state":1,"mpcc_theta_e":0.46508503,"mpcc_theta_mech":0.559962928,"sam_rpm":36.1645317,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205504745,"thr_a_norm":0.0205504745,"thr_a_v":0.582201898,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.39312,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.53100967,"cg_iw_a":-0.015806675,"cg_theta_rad":0.55711025,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0135421501,"mpcc_du":49.7601318,"mpcc_dv":49.4454956,"mpcc_dw":50.5545044,"mpcc_enc_sign":1,"mpcc_id_a":-0.0760249496,"mpcc_iq_a":-1.39638293,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.42013073,"mpcc_pred_id_a":-0.67976284,"mpcc_pred_iq_a":-5.59770775,"mpcc_state":1,"mpcc_theta_e":0.444633484,"mpcc_theta_mech":0.555872619,"sam_rpm":-5.0388236,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023458451,"thr_a_norm":0.023458451,"thr_a_v":0.593833804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461350411,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.405235,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.806133032,"cg_iw_a":-2.11794925,"cg_theta_rad":0.55821538,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.000556995743,"mpcc_du":50.1805649,"mpcc_dv":48.6931,"mpcc_dw":51.3069,"mpcc_enc_sign":1,"mpcc_id_a":0.0850555226,"mpcc_iq_a":-0.219528705,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.66866541,"mpcc_pred_id_a":-0.0951534808,"mpcc_pred_iq_a":-0.156528309,"mpcc_state":1,"mpcc_theta_e":0.434417725,"mpcc_theta_mech":0.555085778,"sam_rpm":-10.1921959,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.023458451,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466385901,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.428276,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.6759851,"cg_iw_a":2.4487741,"cg_theta_rad":0.553708076,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.000160936746,"mpcc_du":50.6950417,"mpcc_dv":48.0988579,"mpcc_dw":51.9011421,"mpcc_enc_sign":1,"mpcc_id_a":-0.210904747,"mpcc_iq_a":-0.682169139,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.99987221,"mpcc_pred_id_a":-0.169434473,"mpcc_pred_iq_a":2.42023873,"mpcc_state":1,"mpcc_theta_e":0.436205864,"mpcc_theta_mech":0.554187059,"sam_rpm":-8.0301609,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466385901,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.434807,"values":{"cg_iu_a":1.98174238,"cg_iv_a":1.58595991,"cg_iw_a":-0.595707893,"cg_theta_rad":0.552740097,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0078931693,"mpcc_du":50.0758324,"mpcc_dv":48.7511292,"mpcc_dw":51.2488708,"mpcc_enc_sign":1,"mpcc_id_a":1.05450857,"mpcc_iq_a":-0.714021564,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.0850964,"mpcc_pred_id_a":0.0613496564,"mpcc_pred_iq_a":-3.31596327,"mpcc_state":1,"mpcc_theta_e":0.433372021,"mpcc_theta_mech":0.553620279,"sam_rpm":-18.1730499,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222625285,"thr_a_norm":0.0222625285,"thr_a_v":0.589050114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479125679,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.441368,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.951108456,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.554581344,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0119755249,"mpcc_du":50.9249916,"mpcc_dv":47.532917,"mpcc_dw":52.467083,"mpcc_enc_sign":1,"mpcc_id_a":1.92490745,"mpcc_iq_a":0.331273884,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.0649662,"mpcc_pred_id_a":0.313877046,"mpcc_pred_iq_a":1.60863304,"mpcc_state":1,"mpcc_theta_e":0.422961235,"mpcc_theta_mech":0.551538169,"sam_rpm":-28.5460148,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222625285,"thr_a_norm":0.0222625285,"thr_a_v":0.589050114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479125679,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.447838,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.46555996,"cg_theta_rad":0.553087711,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0191553347,"mpcc_du":49.8217583,"mpcc_dv":49.0809898,"mpcc_dw":50.9190102,"mpcc_enc_sign":1,"mpcc_id_a":2.38409805,"mpcc_iq_a":-0.609959364,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.10362124,"mpcc_pred_id_a":0.0799985006,"mpcc_pred_iq_a":-2.24916911,"mpcc_state":1,"mpcc_theta_e":0.440331936,"mpcc_theta_mech":0.555012345,"sam_rpm":-3.24732351,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101004794,"thr_a_norm":0.101004794,"thr_a_v":0.904019177,"thr_b":0.0402014107,"thr_b_norm":0.0402014107,"thr_b_v":0.660805643,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.456474,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.733645439,"cg_iw_a":-1.75551081,"cg_theta_rad":0.554275632,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0483746566,"mpcc_du":49.3514709,"mpcc_dv":50.0536766,"mpcc_dw":50.6485291,"mpcc_enc_sign":1,"mpcc_id_a":4.37620783,"mpcc_iq_a":-1.31236386,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.439402044,"mpcc_pred_id_a":0.961638451,"mpcc_pred_iq_a":-3.68576622,"mpcc_state":1,"mpcc_theta_e":0.439344883,"mpcc_theta_mech":0.552690148,"sam_rpm":-1.73243344,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257747769,"thr_a_norm":0.101004794,"thr_a_v":0.603099108,"thr_b":0,"thr_b_norm":0.0402014107,"thr_b_v":0.486074626,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.466423,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.443694592,"cg_iw_a":0.564094782,"cg_theta_rad":0.555917323,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0419013947,"mpcc_du":50.3306847,"mpcc_dv":48.6566391,"mpcc_dw":51.3433609,"mpcc_enc_sign":1,"mpcc_id_a":2.11023068,"mpcc_iq_a":-0.723000228,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.83086014,"mpcc_pred_id_a":-0.524477482,"mpcc_pred_iq_a":-3.49027228,"mpcc_state":1,"mpcc_theta_e":0.448635578,"mpcc_theta_mech":0.55667299,"sam_rpm":-4.66678333,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257747769,"thr_a_norm":0.0257747769,"thr_a_v":0.603099108,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486074626,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.476463,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.153744221,"cg_iw_a":-0.450732708,"cg_theta_rad":0.558225513,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0349061564,"mpcc_du":49.8500633,"mpcc_dv":49.0131721,"mpcc_dw":50.9868279,"mpcc_enc_sign":1,"mpcc_id_a":2.14018345,"mpcc_iq_a":-0.791017354,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.640718281,"mpcc_pred_id_a":0.0963083282,"mpcc_pred_iq_a":-3.20404792,"mpcc_state":1,"mpcc_theta_e":0.447658062,"mpcc_theta_mech":0.556477487,"sam_rpm":1.46427107,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264042169,"thr_a_norm":0.0264042169,"thr_a_v":0.605616868,"thr_b":0.00147859752,"thr_b_norm":0.00147859752,"thr_b_v":0.50591439,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.486259,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.38603449,"cg_iw_a":1.36145926,"cg_theta_rad":0.556233823,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0371333845,"mpcc_du":51.1051826,"mpcc_dv":47.3896828,"mpcc_dw":52.6103172,"mpcc_enc_sign":1,"mpcc_id_a":3.09681511,"mpcc_iq_a":-0.958283842,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.3672047,"mpcc_pred_id_a":0.285013199,"mpcc_pred_iq_a":0.0862888843,"mpcc_state":1,"mpcc_theta_e":0.430823326,"mpcc_theta_mech":0.55311054,"sam_rpm":-25.2187748,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264042169,"thr_a_norm":0.0264042169,"thr_a_v":0.605616868,"thr_b":0.00147859752,"thr_b_norm":0.00147859752,"thr_b_v":0.50591439,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.496727,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.806133032,"cg_iw_a":-1.75551057,"cg_theta_rad":0.557269573,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.025276484,"mpcc_du":50.1417389,"mpcc_dv":48.7007637,"mpcc_dw":51.2992363,"mpcc_enc_sign":1,"mpcc_id_a":2.29022074,"mpcc_iq_a":-1.65120316,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.3936432,"mpcc_pred_id_a":0.104803436,"mpcc_pred_iq_a":-2.13980794,"mpcc_state":1,"mpcc_theta_e":0.447304726,"mpcc_theta_mech":0.557907641,"sam_rpm":0.0373079702,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218345076,"thr_a_norm":0.0218345076,"thr_a_v":0.58733803,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464975953,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.506828,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.298719406,"cg_iw_a":-2.33541203,"cg_theta_rad":0.554042637,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0125945136,"mpcc_du":49.4877968,"mpcc_dv":49.9208336,"mpcc_dw":50.5122032,"mpcc_enc_sign":1,"mpcc_id_a":1.31497812,"mpcc_iq_a":-1.8616668,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.26524448,"mpcc_pred_id_a":0.192542806,"mpcc_pred_iq_a":-1.69636667,"mpcc_state":1,"mpcc_theta_e":0.439161301,"mpcc_theta_mech":0.554778218,"sam_rpm":3.74237823,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0286198258,"thr_a_norm":0.0218345076,"thr_a_v":0.614479303,"thr_b":0.00164224207,"thr_b_norm":0,"thr_b_v":0.506568968,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.5299,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":-0.371207237,"cg_iw_a":-0.885658503,"cg_theta_rad":0.55353719,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0184555519,"mpcc_du":50.2363968,"mpcc_dv":48.4102783,"mpcc_dw":51.5897217,"mpcc_enc_sign":1,"mpcc_id_a":2.47297144,"mpcc_iq_a":-0.580192268,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.3589277,"mpcc_pred_id_a":0.285060197,"mpcc_pred_iq_a":-1.56457865,"mpcc_state":1,"mpcc_theta_e":0.431099892,"mpcc_theta_mech":0.553165913,"sam_rpm":-18.3880024,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0286198258,"thr_a_norm":0.0286198258,"thr_a_v":0.614479303,"thr_b":0.00164224207,"thr_b_norm":0.00164224207,"thr_b_v":0.506568968,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.53643,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.516182423,"cg_iw_a":-1.53804779,"cg_theta_rad":0.552548051,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.00640535355,"mpcc_du":49.6462784,"mpcc_dv":49.3398857,"mpcc_dw":50.6601143,"mpcc_enc_sign":1,"mpcc_id_a":0.674508691,"mpcc_iq_a":-1.18624592,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.53787136,"mpcc_pred_id_a":0.00790883601,"mpcc_pred_iq_a":-1.53576982,"mpcc_state":1,"mpcc_theta_e":0.435381889,"mpcc_theta_mech":0.554022312,"sam_rpm":-2.46415234,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281288624,"thr_a_norm":0.0281288624,"thr_a_v":0.61251545,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.543175,"values":{"cg_iu_a":3.64895868,"cg_iv_a":0.716107845,"cg_iw_a":-4.36506653,"cg_theta_rad":0.556177616,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.009949008,"mpcc_du":49.7891541,"mpcc_dv":49.4759521,"mpcc_dw":50.5240479,"mpcc_enc_sign":1,"mpcc_id_a":-1.9061054,"mpcc_iq_a":-2.56661916,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.897675753,"mpcc_pred_id_a":-0.916596413,"mpcc_pred_iq_a":-3.42916393,"mpcc_state":1,"mpcc_theta_e":0.441121101,"mpcc_theta_mech":0.555170119,"sam_rpm":-1.93473268,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281288624,"thr_a_norm":0.0281288624,"thr_a_v":0.61251545,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.549461,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-2.54583716,"cg_iw_a":-0.740683317,"cg_theta_rad":0.556131721,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0213966426,"mpcc_du":50.1400261,"mpcc_dv":48.6832047,"mpcc_dw":51.3167953,"mpcc_enc_sign":1,"mpcc_id_a":2.12456012,"mpcc_iq_a":-1.1581409,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.77365255,"mpcc_pred_id_a":0.14025268,"mpcc_pred_iq_a":0.0365289859,"mpcc_state":1,"mpcc_theta_e":0.448860168,"mpcc_theta_mech":0.557105124,"sam_rpm":9.0125494,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0231437385,"thr_a_norm":0.0231437385,"thr_a_v":0.592574954,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.559715,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.951108456,"cg_iw_a":0.12916851,"cg_theta_rad":0.55280447,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.00326534756,"mpcc_du":49.9983139,"mpcc_dv":48.8980598,"mpcc_dw":51.1019402,"mpcc_enc_sign":1,"mpcc_id_a":1.11682916,"mpcc_iq_a":0.455897897,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.239668623,"mpcc_pred_id_a":0.0173384957,"mpcc_pred_iq_a":1.36518943,"mpcc_state":1,"mpcc_theta_e":0.433595181,"mpcc_theta_mech":0.553664982,"sam_rpm":-0.742027998,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218470991,"thr_a_norm":0.0231437385,"thr_a_v":0.587388396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465882361,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.569725,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-0.443694592,"cg_iw_a":-0.450732708,"cg_theta_rad":0.557354093,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0210905243,"mpcc_du":50.3816223,"mpcc_dv":48.233448,"mpcc_dw":51.766552,"mpcc_enc_sign":1,"mpcc_id_a":2.51868439,"mpcc_iq_a":-0.65873754,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.05206108,"mpcc_pred_id_a":0.490718991,"mpcc_pred_iq_a":-0.581608653,"mpcc_state":1,"mpcc_theta_e":0.435160637,"mpcc_theta_mech":0.553978026,"sam_rpm":-13.9493361,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218470991,"thr_a_norm":0.0218470991,"thr_a_v":0.587388396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465882361,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.581047,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.661157608,"cg_iw_a":-1.24809694,"cg_theta_rad":0.556099236,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.000926295645,"mpcc_du":49.9988594,"mpcc_dv":49.0340118,"mpcc_dw":50.9659882,"mpcc_enc_sign":1,"mpcc_id_a":0.126615912,"mpcc_iq_a":-1.16192567,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.02873039,"mpcc_pred_id_a":-0.267961025,"mpcc_pred_iq_a":-0.598306179,"mpcc_state":1,"mpcc_theta_e":0.435005188,"mpcc_theta_mech":0.553946912,"sam_rpm":-5.15507221,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236346871,"thr_a_norm":0.0236346871,"thr_a_v":0.594538748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480535567,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.592278,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.6759851,"cg_iw_a":1.143996,"cg_theta_rad":0.556668162,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0265770834,"mpcc_du":50.0569992,"mpcc_dv":48.7805099,"mpcc_dw":51.2194901,"mpcc_enc_sign":1,"mpcc_id_a":2.73890448,"mpcc_iq_a":-2.05530858,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0984822288,"mpcc_pred_id_a":0.221624315,"mpcc_pred_iq_a":-2.39563274,"mpcc_state":1,"mpcc_theta_e":0.448160172,"mpcc_theta_mech":0.556577921,"sam_rpm":0.364412159,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173529387,"thr_a_norm":0.0236346871,"thr_a_v":0.569411755,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453293681,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.602043,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-3.12573838,"cg_iw_a":1.8688724,"cg_theta_rad":0.556731701,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0171591677,"mpcc_du":50.273838,"mpcc_dv":48.6008034,"mpcc_dw":51.3991966,"mpcc_enc_sign":1,"mpcc_id_a":0.830390573,"mpcc_iq_a":-1.17922771,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.92778802,"mpcc_pred_id_a":0.0245443396,"mpcc_pred_iq_a":-2.08155441,"mpcc_state":1,"mpcc_theta_e":0.444630623,"mpcc_theta_mech":0.555872083,"sam_rpm":-4.15215921,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173529387,"thr_a_norm":0.0173529387,"thr_a_v":0.569411755,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453293681,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.612389,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.516182423,"cg_iw_a":0.201656342,"cg_theta_rad":0.555580616,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0905164182,"mpcc_du":50.1185379,"mpcc_dv":48.7123032,"mpcc_dw":51.2876968,"mpcc_enc_sign":1,"mpcc_id_a":3.95985699,"mpcc_iq_a":0.661605835,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.00661123032,"mpcc_pred_id_a":0.733041465,"mpcc_pred_iq_a":-0.825855255,"mpcc_state":1,"mpcc_theta_e":0.446256638,"mpcc_theta_mech":0.556197286,"sam_rpm":-7.21509838,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453646153,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.635307,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.661157608,"cg_iw_a":-0.813171387,"cg_theta_rad":0.555509984,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0359013379,"mpcc_du":49.4726181,"mpcc_dv":49.6568184,"mpcc_dw":50.5273819,"mpcc_enc_sign":1,"mpcc_id_a":2.95164251,"mpcc_iq_a":-0.446052104,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.57409811,"mpcc_pred_id_a":0.266946822,"mpcc_pred_iq_a":-3.17075562,"mpcc_state":1,"mpcc_theta_e":0.450250149,"mpcc_theta_mech":0.556995988,"sam_rpm":10.0271711,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453646153,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.641808,"values":{"cg_iu_a":-0.70030117,"cg_iv_a":-1.60349751,"cg_iw_a":2.30379868,"cg_theta_rad":0.556509733,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.00304576964,"mpcc_du":49.9814301,"mpcc_dv":48.9404335,"mpcc_dw":51.0595665,"mpcc_enc_sign":1,"mpcc_id_a":1.02955103,"mpcc_iq_a":-0.422413021,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.55441475,"mpcc_pred_id_a":-0.120310165,"mpcc_pred_iq_a":-1.97742832,"mpcc_state":1,"mpcc_theta_e":0.430614471,"mpcc_theta_mech":0.553068817,"sam_rpm":-14.267252,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022602424,"thr_a_norm":0.022602424,"thr_a_v":0.590409696,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478118539,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.648308,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.588670254,"cg_iw_a":-2.11794901,"cg_theta_rad":0.556156158,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0175863449,"mpcc_du":49.5590515,"mpcc_dv":49.3759422,"mpcc_dw":50.6240578,"mpcc_enc_sign":1,"mpcc_id_a":2.42991042,"mpcc_iq_a":-1.86117256,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.84516287,"mpcc_pred_id_a":0.177325368,"mpcc_pred_iq_a":-2.31915379,"mpcc_state":1,"mpcc_theta_e":0.448419094,"mpcc_theta_mech":0.556629777,"sam_rpm":10.3490086,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022602424,"thr_a_norm":0.022602424,"thr_a_v":0.590409696,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478118539,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.654839,"values":{"cg_iu_a":1.03940296,"cg_iv_a":0.0637187958,"cg_iw_a":-2.69785023,"cg_theta_rad":0.552695096,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.00645115878,"mpcc_du":49.8102226,"mpcc_dv":49.442543,"mpcc_dw":50.557457,"mpcc_enc_sign":1,"mpcc_id_a":1.41638434,"mpcc_iq_a":-2.45056701,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.7488012,"mpcc_pred_id_a":-0.251815259,"mpcc_pred_iq_a":-5.86856413,"mpcc_state":1,"mpcc_theta_e":0.451818943,"mpcc_theta_mech":0.557309687,"sam_rpm":19.400568,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0230933875,"thr_a_norm":0.0230933875,"thr_a_v":0.59237355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49584344,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.663048,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.24105906,"cg_iw_a":-0.23326993,"cg_theta_rad":0.556906641,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.00474678492,"mpcc_du":50.0265236,"mpcc_dv":49.0245934,"mpcc_dw":50.9754066,"mpcc_enc_sign":1,"mpcc_id_a":0.797699392,"mpcc_iq_a":-0.935259521,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.24742389,"mpcc_pred_id_a":-0.281765521,"mpcc_pred_iq_a":-2.29846406,"mpcc_state":1,"mpcc_theta_e":0.444942951,"mpcc_theta_mech":0.556246221,"sam_rpm":-4.75827456,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173655301,"thr_a_norm":0.0230933875,"thr_a_v":0.569462121,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447351813,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.672966,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.40789986,"cg_theta_rad":0.557722449,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0457319692,"mpcc_du":50.1327934,"mpcc_dv":48.7037926,"mpcc_dw":51.2962074,"mpcc_enc_sign":1,"mpcc_id_a":0.959855914,"mpcc_iq_a":-0.736517131,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.83609295,"mpcc_pred_id_a":-0.160972223,"mpcc_pred_iq_a":-1.04825401,"mpcc_state":1,"mpcc_theta_e":0.448859692,"mpcc_theta_mech":0.559134066,"sam_rpm":-1.34899223,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173655301,"thr_a_norm":0.0173655301,"thr_a_v":0.569462121,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447351813,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.68322,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.02359605,"cg_iw_a":0.274144173,"cg_theta_rad":0.558445573,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0519834608,"mpcc_du":50.3518181,"mpcc_dv":48.3472214,"mpcc_dw":51.6527786,"mpcc_enc_sign":1,"mpcc_id_a":2.49185181,"mpcc_iq_a":-1.06454825,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.753976464,"mpcc_pred_id_a":0.512331605,"mpcc_pred_iq_a":-1.58974946,"mpcc_state":1,"mpcc_theta_e":0.451594353,"mpcc_theta_mech":0.557264745,"sam_rpm":1.88633215,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202860981,"thr_a_norm":0.0202860981,"thr_a_v":0.581144392,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457422733,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.695488,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.09608364,"cg_iw_a":-0.305757523,"cg_theta_rad":0.554648161,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.00329257455,"mpcc_du":50.0122452,"mpcc_dv":48.6854668,"mpcc_dw":51.3145332,"mpcc_enc_sign":1,"mpcc_id_a":-0.593126774,"mpcc_iq_a":-4.20412683,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.06812954,"mpcc_pred_id_a":-0.0921851471,"mpcc_pred_iq_a":-3.89116669,"mpcc_state":1,"mpcc_theta_e":0.440689087,"mpcc_theta_mech":0.555083752,"sam_rpm":-7.736413,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0407553166,"thr_a_norm":0.0202860981,"thr_a_v":0.663021266,"thr_b":0.0133749098,"thr_b_norm":0,"thr_b_v":0.553499639,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.705254,"values":{"cg_iu_a":1.54681635,"cg_iv_a":0.353669643,"cg_iw_a":-1.90048599,"cg_theta_rad":0.553546965,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0808293521,"mpcc_du":50.2345085,"mpcc_dv":48.483139,"mpcc_dw":51.516861,"mpcc_enc_sign":1,"mpcc_id_a":3.08672142,"mpcc_iq_a":-0.00263887946,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.48168945,"mpcc_pred_id_a":0.367307931,"mpcc_pred_iq_a":-1.05146503,"mpcc_state":1,"mpcc_theta_e":0.451096058,"mpcc_theta_mech":0.557165146,"sam_rpm":7.91851425,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0407553166,"thr_a_norm":0.0407553166,"thr_a_v":0.663021266,"thr_b":0.0133749098,"thr_b_norm":0.0133749098,"thr_b_v":0.553499639,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.715477,"values":{"cg_iu_a":1.25686598,"cg_iv_a":0.0637187958,"cg_iw_a":-2.91531324,"cg_theta_rad":0.552321434,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0119040189,"mpcc_du":49.5933189,"mpcc_dv":49.8520012,"mpcc_dw":50.4066811,"mpcc_enc_sign":1,"mpcc_id_a":0.725615561,"mpcc_iq_a":-0.387937099,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.27176356,"mpcc_pred_id_a":-0.401284546,"mpcc_pred_iq_a":-3.85190177,"mpcc_state":1,"mpcc_theta_e":0.445026875,"mpcc_theta_mech":0.555951297,"sam_rpm":5.14314318,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218219161,"thr_a_norm":0.0218219161,"thr_a_v":0.587287664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482801557,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.739128,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-0.516182423,"cg_iw_a":-2.84282589,"cg_theta_rad":0.556289554,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0299176257,"mpcc_du":50.1090622,"mpcc_dv":48.682251,"mpcc_dw":51.317749,"mpcc_enc_sign":1,"mpcc_id_a":1.99960911,"mpcc_iq_a":-0.579877377,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0480076484,"mpcc_pred_id_a":0.237212718,"mpcc_pred_iq_a":-1.49328411,"mpcc_state":1,"mpcc_theta_e":0.445742607,"mpcc_theta_mech":0.556094468,"sam_rpm":0.462043643,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0231940895,"thr_a_norm":0.0218219161,"thr_a_v":0.592776358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489700168,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.745598,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.53100967,"cg_iw_a":-1.24809694,"cg_theta_rad":0.554154158,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.00880239904,"mpcc_du":49.5500145,"mpcc_dv":49.6911392,"mpcc_dw":50.4499855,"mpcc_enc_sign":1,"mpcc_id_a":1.00788534,"mpcc_iq_a":-0.804572999,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.63865757,"mpcc_pred_id_a":-0.180471465,"mpcc_pred_iq_a":-2.97518206,"mpcc_state":1,"mpcc_theta_e":0.442002773,"mpcc_theta_mech":0.555346429,"sam_rpm":8.54599953,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0231940895,"thr_a_norm":0.0231940895,"thr_a_v":0.592776358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489700168,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.752129,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.09608364,"cg_iw_a":-2.40789986,"cg_theta_rad":0.557972014,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0164844338,"mpcc_du":50.0749817,"mpcc_dv":48.6373291,"mpcc_dw":51.3626709,"mpcc_enc_sign":1,"mpcc_id_a":0.952105582,"mpcc_iq_a":-0.586987734,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.198176458,"mpcc_pred_id_a":-0.0437454842,"mpcc_pred_iq_a":-1.44330382,"mpcc_state":1,"mpcc_theta_e":0.443643093,"mpcc_theta_mech":0.555674493,"sam_rpm":1.08770096,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0392446816,"thr_a_norm":0.0392446816,"thr_a_v":0.656978726,"thr_b":0.0140169412,"thr_b_norm":0.0140169412,"thr_b_v":0.556067765,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.758659,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.588670254,"cg_iw_a":-2.04546118,"cg_theta_rad":0.55694133,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.00618070038,"mpcc_du":50.2307167,"mpcc_dv":48.6919136,"mpcc_dw":51.3080864,"mpcc_enc_sign":1,"mpcc_id_a":0.853300691,"mpcc_iq_a":-0.456323028,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.6297283,"mpcc_pred_id_a":-0.240188152,"mpcc_pred_iq_a":-5.30111265,"mpcc_state":1,"mpcc_theta_e":0.452017784,"mpcc_theta_mech":0.552082777,"sam_rpm":4.94253302,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0392446816,"thr_a_norm":0.0392446816,"thr_a_v":0.656978726,"thr_b":0.0140169412,"thr_b_norm":0.0140169412,"thr_b_v":0.556067765,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.768456,"values":{"cg_iu_a":-1.28020263,"cg_iv_a":-0.806133032,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.55712539,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0448642075,"mpcc_du":50.2232246,"mpcc_dv":48.6189842,"mpcc_dw":51.3810158,"mpcc_enc_sign":1,"mpcc_id_a":2.23782611,"mpcc_iq_a":-1.58937931,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.238369375,"mpcc_pred_id_a":0.173934206,"mpcc_pred_iq_a":-2.95760608,"mpcc_state":1,"mpcc_theta_e":0.450546741,"mpcc_theta_mech":0.557055235,"sam_rpm":1.20162666,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278770924,"thr_a_norm":0.0278770924,"thr_a_v":0.611508369,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491512954,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.778831,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.82096052,"cg_iw_a":-0.16078186,"cg_theta_rad":0.554044127,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":4.52580607e-05,"mpcc_du":50.2321434,"mpcc_dv":48.6654816,"mpcc_dw":51.3345184,"mpcc_enc_sign":1,"mpcc_id_a":-0.134019405,"mpcc_iq_a":-2.05772567,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.10524082,"mpcc_pred_id_a":-0.13068223,"mpcc_pred_iq_a":-1.67001605,"mpcc_state":1,"mpcc_theta_e":0.436999798,"mpcc_theta_mech":0.554345906,"sam_rpm":-11.2997179,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0154394507,"thr_a_norm":0.0278770924,"thr_a_v":0.561757803,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458832651,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.788811,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.02359605,"cg_iw_a":0.0566809177,"cg_theta_rad":0.556132257,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0427128002,"mpcc_du":49.5353584,"mpcc_dv":47.8912277,"mpcc_dw":52.1087723,"mpcc_enc_sign":1,"mpcc_id_a":2.33187771,"mpcc_iq_a":-1.22773647,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.6357708,"mpcc_pred_id_a":-0.0339727364,"mpcc_pred_iq_a":-4.76164913,"mpcc_state":1,"mpcc_theta_e":0.454399109,"mpcc_theta_mech":0.55633539,"sam_rpm":12.1235247,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0154394507,"thr_a_norm":0.0154394507,"thr_a_v":0.561757803,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458832651,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.798912,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.661157608,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556712747,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0417982005,"mpcc_du":50.2321434,"mpcc_dv":48.4362221,"mpcc_dw":51.5637779,"mpcc_enc_sign":1,"mpcc_id_a":2.80952144,"mpcc_iq_a":-0.249548227,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.45447206,"mpcc_pred_id_a":0.568289459,"mpcc_pred_iq_a":-1.16449976,"mpcc_state":1,"mpcc_theta_e":0.454226494,"mpcc_theta_mech":0.557791233,"sam_rpm":-4.58679724,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190146565,"thr_a_norm":0.0190146565,"thr_a_v":0.576058626,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460997939,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.808891,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.661157608,"cg_iw_a":-1.53804731,"cg_theta_rad":0.554861248,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0502410382,"mpcc_du":50.8410263,"mpcc_dv":48.0545692,"mpcc_dw":51.9454308,"mpcc_enc_sign":1,"mpcc_id_a":2.74818134,"mpcc_iq_a":-1.20155287,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.71535969,"mpcc_pred_id_a":0.151321605,"mpcc_pred_iq_a":-4.3785634,"mpcc_state":1,"mpcc_theta_e":0.455400944,"mpcc_theta_mech":0.557279587,"sam_rpm":-14.6722603,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190146565,"thr_a_norm":0.0190146565,"thr_a_v":0.576058626,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460997939,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.818932,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.661157608,"cg_iw_a":-0.378245354,"cg_theta_rad":0.556511879,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0036273466,"mpcc_du":50.7372894,"mpcc_dv":48.3635292,"mpcc_dw":51.6364708,"mpcc_enc_sign":1,"mpcc_id_a":-0.642897725,"mpcc_iq_a":-2.38120079,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.54080772,"mpcc_pred_id_a":-0.859970748,"mpcc_pred_iq_a":-1.39986014,"mpcc_state":1,"mpcc_theta_e":0.451096058,"mpcc_theta_mech":0.557165146,"sam_rpm":-9.54607105,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0393453836,"thr_a_norm":0.0393453836,"thr_a_v":0.657381535,"thr_b":0.0154016912,"thr_b_norm":0.0154016912,"thr_b_v":0.561606765,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.842247,"values":{"cg_iu_a":2.1992054,"cg_iv_a":0.861083508,"cg_iw_a":-3.06028891,"cg_theta_rad":0.552969873,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.00125238975,"mpcc_du":49.0363808,"mpcc_dv":50.9636192,"mpcc_dw":49.6446304,"mpcc_enc_sign":1,"mpcc_id_a":-0.392807752,"mpcc_iq_a":-2.36295199,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.2210255,"mpcc_pred_id_a":-0.532302618,"mpcc_pred_iq_a":-5.40303326,"mpcc_state":1,"mpcc_theta_e":0.451246262,"mpcc_theta_mech":0.557195127,"sam_rpm":16.1241779,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0112600029,"thr_a_norm":0.0393453836,"thr_a_v":0.545040011,"thr_b":0,"thr_b_norm":0.0154016912,"thr_b_v":0.422778666,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.848778,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.153744221,"cg_iw_a":1.86887264,"cg_theta_rad":0.552477717,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.00336450245,"mpcc_du":50.3198357,"mpcc_dv":48.7786331,"mpcc_dw":51.2213669,"mpcc_enc_sign":1,"mpcc_id_a":-1.11163044,"mpcc_iq_a":-0.911635697,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.2409868,"mpcc_pred_id_a":-0.649550259,"mpcc_pred_iq_a":-1.96914518,"mpcc_state":1,"mpcc_theta_e":0.432000637,"mpcc_theta_mech":0.553346038,"sam_rpm":-16.9041367,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0112600029,"thr_a_norm":0.0112600029,"thr_a_v":0.545040011,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.422778666,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.855309,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.76329994,"cg_iw_a":0.12916851,"cg_theta_rad":0.556851327,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0116565898,"mpcc_du":49.6140251,"mpcc_dv":49.5240631,"mpcc_dw":50.4759369,"mpcc_enc_sign":1,"mpcc_id_a":0.449331641,"mpcc_iq_a":-2.08664179,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.2669849,"mpcc_pred_id_a":-0.225786552,"mpcc_pred_iq_a":-1.42594779,"mpcc_state":1,"mpcc_theta_e":0.460220337,"mpcc_theta_mech":0.558990002,"sam_rpm":27.9859276,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238487124,"thr_a_norm":0.0238487124,"thr_a_v":0.59539485,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469256133,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.861809,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.6759851,"cg_iw_a":2.08633566,"cg_theta_rad":0.556391776,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0254966822,"mpcc_du":48.7245865,"mpcc_dv":51.2754135,"mpcc_dw":49.435154,"mpcc_enc_sign":1,"mpcc_id_a":2.41587782,"mpcc_iq_a":-0.551598132,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.32341433,"mpcc_pred_id_a":0.0240650065,"mpcc_pred_iq_a":-8.47672749,"mpcc_state":1,"mpcc_theta_e":0.447510242,"mpcc_theta_mech":0.556447923,"sam_rpm":9.34531784,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238487124,"thr_a_norm":0.0238487124,"thr_a_v":0.59539485,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469256133,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.869438,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.588670254,"cg_iw_a":-1.68302298,"cg_theta_rad":0.553898573,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0146075133,"mpcc_du":50.7294579,"mpcc_dv":47.9719086,"mpcc_dw":52.0280914,"mpcc_enc_sign":1,"mpcc_id_a":2.33568573,"mpcc_iq_a":-0.877423346,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.0354443,"mpcc_pred_id_a":0.0449270383,"mpcc_pred_iq_a":-0.388081968,"mpcc_state":1,"mpcc_theta_e":0.428125858,"mpcc_theta_mech":0.552571058,"sam_rpm":-25.3591576,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216330886,"thr_a_norm":0.0216330886,"thr_a_v":0.586532354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466688037,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.879692,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.82096052,"cg_iw_a":-1.32058477,"cg_theta_rad":0.557602882,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.00236255932,"mpcc_du":49.8521194,"mpcc_dv":49.1904602,"mpcc_dw":50.8095398,"mpcc_enc_sign":1,"mpcc_id_a":0.737880111,"mpcc_iq_a":-2.0575211,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.4890604,"mpcc_pred_id_a":-0.144591957,"mpcc_pred_iq_a":-3.88169837,"mpcc_state":1,"mpcc_theta_e":0.441836357,"mpcc_theta_mech":0.55531317,"sam_rpm":-7.28019714,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023131147,"thr_a_norm":0.0216330886,"thr_a_v":0.592524588,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494685292,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.889427,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.298719406,"cg_iw_a":-2.48038721,"cg_theta_rad":0.551862419,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0207833368,"mpcc_du":49.9443932,"mpcc_dv":48.9395676,"mpcc_dw":51.0604324,"mpcc_enc_sign":1,"mpcc_id_a":1.86894619,"mpcc_iq_a":-0.852595031,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.85816336,"mpcc_pred_id_a":0.135675833,"mpcc_pred_iq_a":0.779660881,"mpcc_state":1,"mpcc_theta_e":0.42996788,"mpcc_theta_mech":0.552939534,"sam_rpm":-10.9156008,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023131147,"thr_a_norm":0.023131147,"thr_a_v":0.592524588,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494685292,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.899773,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.89344811,"cg_iw_a":-0.45073247,"cg_theta_rad":0.557205021,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0024517423,"mpcc_du":49.539093,"mpcc_dv":50.359211,"mpcc_dw":50.460907,"mpcc_enc_sign":1,"mpcc_id_a":0.808485866,"mpcc_iq_a":0.142543659,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.59259605,"mpcc_pred_id_a":0.140247151,"mpcc_pred_iq_a":-2.80807233,"mpcc_state":1,"mpcc_theta_e":0.426776409,"mpcc_theta_mech":0.552301168,"sam_rpm":-3.77349305,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210162401,"thr_a_norm":0.0210162401,"thr_a_v":0.58406496,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473737687,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.912041,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.661157608,"cg_iw_a":-1.39307261,"cg_theta_rad":0.554356098,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0780797526,"mpcc_du":49.3342056,"mpcc_dv":49.2770042,"mpcc_dw":50.7229958,"mpcc_enc_sign":1,"mpcc_id_a":5.47981644,"mpcc_iq_a":3.7031827,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.748740792,"mpcc_pred_id_a":1.20684326,"mpcc_pred_iq_a":1.7445122,"mpcc_state":1,"mpcc_theta_e":0.431012154,"mpcc_theta_mech":0.553148389,"sam_rpm":-2.31332302,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0159933567,"thr_a_norm":0.0210162401,"thr_a_v":0.563973427,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456214249,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.937065,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.661157608,"cg_iw_a":-2.40789986,"cg_theta_rad":0.552434742,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.00662978878,"mpcc_du":51.2107849,"mpcc_dv":47.5007553,"mpcc_dw":52.4992447,"mpcc_enc_sign":1,"mpcc_id_a":0.820490658,"mpcc_iq_a":-0.878237188,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.6081228,"mpcc_pred_id_a":-0.310190946,"mpcc_pred_iq_a":1.22867775,"mpcc_state":1,"mpcc_theta_e":0.429958344,"mpcc_theta_mech":0.552937567,"sam_rpm":-22.5839787,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0159933567,"thr_a_norm":0.0159933567,"thr_a_v":0.563973427,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456214249,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.943596,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.24105906,"cg_iw_a":0.129168749,"cg_theta_rad":0.555673599,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0115077524,"mpcc_du":49.3126869,"mpcc_dv":50.6873131,"mpcc_dw":50.1242065,"mpcc_enc_sign":1,"mpcc_id_a":1.47199833,"mpcc_iq_a":-0.842697561,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.96944332,"mpcc_pred_id_a":-0.0713240951,"mpcc_pred_iq_a":-5.48811531,"mpcc_state":1,"mpcc_theta_e":0.448254585,"mpcc_theta_mech":0.556596816,"sam_rpm":10.2069302,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450977325,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.950157,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.89344811,"cg_iw_a":0.0566809177,"cg_theta_rad":0.557443619,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0132285282,"mpcc_du":50.4132919,"mpcc_dv":48.3774757,"mpcc_dw":51.6225243,"mpcc_enc_sign":1,"mpcc_id_a":1.76189351,"mpcc_iq_a":-0.740733981,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.45787764,"mpcc_pred_id_a":0.158402041,"mpcc_pred_iq_a":1.6768899,"mpcc_state":1,"mpcc_theta_e":0.443920135,"mpcc_theta_mech":0.555729985,"sam_rpm":4.08753204,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450977325,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.956871,"values":{"cg_iu_a":0.749452114,"cg_iv_a":2.09337378,"cg_iw_a":-2.84282589,"cg_theta_rad":0.552855968,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.00862388592,"mpcc_du":49.6441765,"mpcc_dv":50.3177147,"mpcc_dw":50.3558235,"mpcc_enc_sign":1,"mpcc_id_a":0.618927002,"mpcc_iq_a":0.407323122,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.52737117,"mpcc_pred_id_a":-0.470622957,"mpcc_pred_iq_a":-5.21844769,"mpcc_state":1,"mpcc_theta_e":0.439155579,"mpcc_theta_mech":0.554777026,"sam_rpm":-4.48025513,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025825128,"thr_a_norm":0.025825128,"thr_a_v":0.603300512,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498159766,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.967064,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.53100967,"cg_iw_a":0.346631765,"cg_theta_rad":0.556572974,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0600592829,"mpcc_du":49.8989105,"mpcc_dv":49.0764694,"mpcc_dw":50.9235306,"mpcc_enc_sign":1,"mpcc_id_a":2.42320657,"mpcc_iq_a":-0.708896935,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.94746995,"mpcc_pred_id_a":0.149881557,"mpcc_pred_iq_a":-4.05632067,"mpcc_state":1,"mpcc_theta_e":0.452764988,"mpcc_theta_mech":0.557498932,"sam_rpm":4.8499794,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174284726,"thr_a_norm":0.025825128,"thr_a_v":0.569713891,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450826287,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.978813,"values":{"cg_iu_a":2.1992054,"cg_iv_a":0.643620491,"cg_iw_a":-2.84282589,"cg_theta_rad":0.553651333,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0270655248,"mpcc_du":49.4282265,"mpcc_dv":49.560791,"mpcc_dw":50.731102,"mpcc_enc_sign":1,"mpcc_id_a":3.20415878,"mpcc_iq_a":0.149828076,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.52685094,"mpcc_pred_id_a":0.58107692,"mpcc_pred_iq_a":-1.14840233,"mpcc_state":1,"mpcc_theta_e":0.428923607,"mpcc_theta_mech":0.55273062,"sam_rpm":-5.80079222,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174284726,"thr_a_norm":0.0174284726,"thr_a_v":0.569713891,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450826287,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.989006,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.09608364,"cg_iw_a":0.709069729,"cg_theta_rad":0.557990193,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.19434,"hz_adc_isr":5018,"hz_app_loop":364,"hz_tim_isr":10034,"hz_vsense":364,"mpcc_cost":0.0702895299,"mpcc_du":50.1218719,"mpcc_dv":48.6125832,"mpcc_dw":51.3874168,"mpcc_enc_sign":1,"mpcc_id_a":3.72653413,"mpcc_iq_a":-0.666992009,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.79410625,"mpcc_pred_id_a":0.47713843,"mpcc_pred_iq_a":-2.67176795,"mpcc_state":1,"mpcc_theta_e":0.446753502,"mpcc_theta_mech":0.556296587,"sam_rpm":-1.69334817,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024339661,"thr_a_norm":0.024339661,"thr_a_v":0.597358644,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":88.99987,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.298719406,"cg_iw_a":-1.32058477,"cg_theta_rad":0.554270446,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0201098844,"mpcc_du":50.2308464,"mpcc_dv":48.5585403,"mpcc_dw":51.4414597,"mpcc_enc_sign":1,"mpcc_id_a":2.34671926,"mpcc_iq_a":-2.9265399,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.8545609,"mpcc_pred_id_a":0.14549464,"mpcc_pred_iq_a":-1.51335096,"mpcc_state":1,"mpcc_theta_e":0.433539391,"mpcc_theta_mech":0.553653836,"sam_rpm":-16.8536892,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256992429,"thr_a_norm":0.024339661,"thr_a_v":0.602796972,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.00985,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-2.83578777,"cg_iw_a":1.86887264,"cg_theta_rad":0.556514263,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00769857876,"mpcc_du":48.8609276,"mpcc_dv":51.1390724,"mpcc_dw":49.5184784,"mpcc_enc_sign":1,"mpcc_id_a":0.107332401,"mpcc_iq_a":-2.83559942,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.3417969,"mpcc_pred_id_a":-0.249571964,"mpcc_pred_iq_a":-5.74235439,"mpcc_state":1,"mpcc_theta_e":0.449728012,"mpcc_theta_mech":0.556891561,"sam_rpm":14.1983261,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256992429,"thr_a_norm":0.0256992429,"thr_a_v":0.602796972,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.019859,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.443694592,"cg_iw_a":-0.740683556,"cg_theta_rad":0.55342406,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0535112359,"mpcc_du":50.4900665,"mpcc_dv":48.1653442,"mpcc_dw":51.8346558,"mpcc_enc_sign":1,"mpcc_id_a":2.53843689,"mpcc_iq_a":0.0544198528,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.66518044,"mpcc_pred_id_a":0.399630606,"mpcc_pred_iq_a":-0.284161687,"mpcc_state":1,"mpcc_theta_e":0.441574097,"mpcc_theta_mech":0.555260718,"sam_rpm":-3.02004313,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256992429,"thr_a_norm":0.0256992429,"thr_a_v":0.602796972,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48879379,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.044243,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.661157608,"cg_iw_a":-3.42272758,"cg_theta_rad":0.556236386,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00601064693,"mpcc_du":49.6672287,"mpcc_dv":49.7744751,"mpcc_dw":50.3327713,"mpcc_enc_sign":1,"mpcc_id_a":-0.321295857,"mpcc_iq_a":-1.9264617,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.13882685,"mpcc_pred_id_a":-0.803086102,"mpcc_pred_iq_a":-5.33585978,"mpcc_state":1,"mpcc_theta_e":0.441131115,"mpcc_theta_mech":0.555172145,"sam_rpm":1.11098218,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208400041,"thr_a_norm":0.0256992429,"thr_a_v":0.583360016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450675219,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.050774,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.298719406,"cg_iw_a":-0.16078186,"cg_theta_rad":0.554022253,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00063811877,"mpcc_du":49.694603,"mpcc_dv":49.1202583,"mpcc_dw":50.8797417,"mpcc_enc_sign":1,"mpcc_id_a":0.26310724,"mpcc_iq_a":-0.859722137,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.032239195,"mpcc_pred_id_a":0.406358689,"mpcc_pred_iq_a":-1.31109536,"mpcc_state":1,"mpcc_theta_e":0.4403615,"mpcc_theta_mech":0.555018187,"sam_rpm":-0.596322536,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208400041,"thr_a_norm":0.0208400041,"thr_a_v":0.583360016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450675219,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.057304,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-0.443694592,"cg_iw_a":0.636582136,"cg_theta_rad":0.555233121,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00346808392,"mpcc_du":49.564579,"mpcc_dv":49.9722214,"mpcc_dw":50.435421,"mpcc_enc_sign":1,"mpcc_id_a":0.816440105,"mpcc_iq_a":-1.03668869,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.26195765,"mpcc_pred_id_a":-0.150466576,"mpcc_pred_iq_a":-2.8033917,"mpcc_state":1,"mpcc_theta_e":0.447057724,"mpcc_theta_mech":0.556357503,"sam_rpm":10.2502375,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105209425,"thr_a_norm":0.105209425,"thr_a_v":0.9208377,"thr_b":0.0496177673,"thr_b_norm":0.0496177673,"thr_b_v":0.698471069,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.065239,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.6759851,"cg_iw_a":0.636582136,"cg_theta_rad":0.55389899,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0116627598,"mpcc_du":49.5384445,"mpcc_dv":50.0542526,"mpcc_dw":50.4615555,"mpcc_enc_sign":1,"mpcc_id_a":2.08927989,"mpcc_iq_a":-1.7368114,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.88066268,"mpcc_pred_id_a":0.0515692793,"mpcc_pred_iq_a":-4.13783455,"mpcc_state":1,"mpcc_theta_e":0.446051121,"mpcc_theta_mech":0.556156158,"sam_rpm":5.21541929,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216330886,"thr_a_norm":0.105209425,"thr_a_v":0.586532354,"thr_b":0,"thr_b_norm":0.0496177673,"thr_b_v":0.463314265,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.076836,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-3.19822598,"cg_iw_a":2.59374905,"cg_theta_rad":0.557150126,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00255284482,"mpcc_du":49.9928627,"mpcc_dv":49.241806,"mpcc_dw":50.758194,"mpcc_enc_sign":1,"mpcc_id_a":-0.77365458,"mpcc_iq_a":-3.19658208,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.47475314,"mpcc_pred_id_a":-0.725429535,"mpcc_pred_iq_a":-1.81825638,"mpcc_state":1,"mpcc_theta_e":0.444776058,"mpcc_theta_mech":0.55590117,"sam_rpm":5.27697802,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216330886,"thr_a_norm":0.0216330886,"thr_a_v":0.586532354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463314265,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.087059,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-3.27071381,"cg_iw_a":2.30379868,"cg_theta_rad":0.553457797,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0265765879,"mpcc_du":49.6424599,"mpcc_dv":49.2549286,"mpcc_dw":50.7450714,"mpcc_enc_sign":1,"mpcc_id_a":3.01574922,"mpcc_iq_a":-0.106748372,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.20294666,"mpcc_pred_id_a":0.317651421,"mpcc_pred_iq_a":-2.74216509,"mpcc_state":1,"mpcc_theta_e":0.435656071,"mpcc_theta_mech":0.554077148,"sam_rpm":-6.845644,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204119831,"thr_a_norm":0.0204119831,"thr_a_v":0.581647933,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.097252,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.951108456,"cg_iw_a":0.346631527,"cg_theta_rad":0.557533324,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0579945557,"mpcc_du":49.4642105,"mpcc_dv":49.9462166,"mpcc_dw":50.5357895,"mpcc_enc_sign":1,"mpcc_id_a":3.50411129,"mpcc_iq_a":0.568532407,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.41890001,"mpcc_pred_id_a":0.421619773,"mpcc_pred_iq_a":-5.73361588,"mpcc_state":1,"mpcc_theta_e":0.442043781,"mpcc_theta_mech":0.555354714,"sam_rpm":-3.70432162,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259636045,"thr_a_norm":0.0204119831,"thr_a_v":0.603854418,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498764038,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.109245,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.02359605,"cg_iw_a":-0.23326993,"cg_theta_rad":0.557673395,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.033038035,"mpcc_du":50.4867783,"mpcc_dv":48.9769287,"mpcc_dw":51.0230713,"mpcc_enc_sign":1,"mpcc_id_a":3.06574297,"mpcc_iq_a":-0.688601792,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.63204002,"mpcc_pred_id_a":0.432636946,"mpcc_pred_iq_a":0.0321822576,"mpcc_state":1,"mpcc_theta_e":0.43702364,"mpcc_theta_mech":0.554350674,"sam_rpm":-9.42069149,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259636045,"thr_a_norm":0.0259636045,"thr_a_v":0.603854418,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498764038,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.119225,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.45852208,"cg_iw_a":-2.40789986,"cg_theta_rad":0.558223128,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0120416684,"mpcc_du":50.4662399,"mpcc_dv":48.3071404,"mpcc_dw":51.6928596,"mpcc_enc_sign":1,"mpcc_id_a":1.02432466,"mpcc_iq_a":0.0840911567,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.4010067,"mpcc_pred_id_a":0.0331036039,"mpcc_pred_iq_a":-0.331332177,"mpcc_state":1,"mpcc_theta_e":0.43315649,"mpcc_theta_mech":0.553577244,"sam_rpm":-13.4258375,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194048882,"thr_a_norm":0.0194048882,"thr_a_v":0.577619553,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470666051,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.142418,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.0812563896,"cg_iw_a":0.926532984,"cg_theta_rad":0.553918481,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0978100672,"mpcc_du":49.1863556,"mpcc_dv":50.8136444,"mpcc_dw":50.4247284,"mpcc_enc_sign":1,"mpcc_id_a":5.91879654,"mpcc_iq_a":0.340665162,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.1533279,"mpcc_pred_id_a":1.35533249,"mpcc_pred_iq_a":-0.10730736,"mpcc_state":1,"mpcc_theta_e":0.427937031,"mpcc_theta_mech":0.552533329,"sam_rpm":11.4516249,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261272639,"thr_a_norm":0.0194048882,"thr_a_v":0.604509056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49508813,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.148949,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.6759851,"cg_iw_a":-1.24809718,"cg_theta_rad":0.553148389,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00295869727,"mpcc_du":51.450386,"mpcc_dv":47.0885925,"mpcc_dw":52.9114075,"mpcc_enc_sign":1,"mpcc_id_a":1.08366179,"mpcc_iq_a":-0.999520242,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.1822815,"mpcc_pred_id_a":0.0377925523,"mpcc_pred_iq_a":5.27889872,"mpcc_state":1,"mpcc_theta_e":0.430347919,"mpcc_theta_mech":0.553015471,"sam_rpm":-15.3225222,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261272639,"thr_a_norm":0.0261272639,"thr_a_v":0.604509056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49508813,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.155479,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.09608364,"cg_iw_a":-0.740683556,"cg_theta_rad":0.556961417,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0248358231,"mpcc_du":49.7690964,"mpcc_dv":49.1873741,"mpcc_dw":50.8126259,"mpcc_enc_sign":1,"mpcc_id_a":1.51389563,"mpcc_iq_a":0.259609014,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.01824379,"mpcc_pred_id_a":-0.00692016073,"mpcc_pred_iq_a":-2.76968861,"mpcc_state":1,"mpcc_theta_e":0.442559719,"mpcc_theta_mech":0.55545789,"sam_rpm":-1.09711528,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.1073495,"thr_a_norm":0.1073495,"thr_a_v":0.929398,"thr_b":0.0394461006,"thr_b_norm":0.0394461006,"thr_b_v":0.657784402,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.162254,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.371207237,"cg_iw_a":-1.24809694,"cg_theta_rad":0.554279566,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00164716307,"mpcc_du":49.1015129,"mpcc_dv":50.8984871,"mpcc_dw":49.6802902,"mpcc_enc_sign":1,"mpcc_id_a":-0.475628108,"mpcc_iq_a":-2.22681594,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.45823622,"mpcc_pred_id_a":-0.599630058,"mpcc_pred_iq_a":-6.28652811,"mpcc_state":1,"mpcc_theta_e":0.446239948,"mpcc_theta_mech":0.556193948,"sam_rpm":6.96875477,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179194212,"thr_a_norm":0.1073495,"thr_a_v":0.571677685,"thr_b":0,"thr_b_norm":0.0394461006,"thr_b_v":0.445337594,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.172203,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.806133032,"cg_iw_a":-0.450732946,"cg_theta_rad":0.555894852,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0351732485,"mpcc_du":49.5029297,"mpcc_dv":49.8588943,"mpcc_dw":50.4970703,"mpcc_enc_sign":1,"mpcc_id_a":1.89082885,"mpcc_iq_a":-0.314515203,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.1292105,"mpcc_pred_id_a":0.228992432,"mpcc_pred_iq_a":-2.58924031,"mpcc_state":1,"mpcc_theta_e":0.454832554,"mpcc_theta_mech":0.557912409,"sam_rpm":20.6869431,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179194212,"thr_a_norm":0.0179194212,"thr_a_v":0.571677685,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.445337594,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.182396,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.6759851,"cg_iw_a":-0.160782099,"cg_theta_rad":0.553527892,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0437497199,"mpcc_du":50.5044556,"mpcc_dv":47.9805603,"mpcc_dw":52.0194397,"mpcc_enc_sign":1,"mpcc_id_a":3.13429284,"mpcc_iq_a":0.467740834,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.05205703,"mpcc_pred_id_a":0.782044709,"mpcc_pred_iq_a":-0.191051945,"mpcc_state":1,"mpcc_theta_e":0.441361427,"mpcc_theta_mech":0.55521816,"sam_rpm":-17.4574509,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0329125673,"thr_a_norm":0.0329125673,"thr_a_v":0.631650269,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.192406,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-1.6759851,"cg_iw_a":-2.77033806,"cg_theta_rad":0.554958344,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0173168629,"mpcc_du":49.5635719,"mpcc_dv":49.2282257,"mpcc_dw":50.7717743,"mpcc_enc_sign":1,"mpcc_id_a":2.63130474,"mpcc_iq_a":0.441506445,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.01866376,"mpcc_pred_id_a":0.651811957,"mpcc_pred_iq_a":0.361841828,"mpcc_state":1,"mpcc_theta_e":0.435656071,"mpcc_theta_mech":0.554077148,"sam_rpm":0.915672362,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0329125673,"thr_a_norm":0.0329125673,"thr_a_v":0.631650269,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.202629,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.733645439,"cg_iw_a":0.201656103,"cg_theta_rad":0.552422941,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0576011352,"mpcc_du":50.2619476,"mpcc_dv":48.499218,"mpcc_dw":51.500782,"mpcc_enc_sign":1,"mpcc_id_a":2.96802521,"mpcc_iq_a":0.450252056,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.482486337,"mpcc_pred_id_a":0.401650429,"mpcc_pred_iq_a":-0.15265651,"mpcc_state":1,"mpcc_theta_e":0.442620754,"mpcc_theta_mech":0.555470109,"sam_rpm":2.34025884,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0112096518,"thr_a_norm":0.0112096518,"thr_a_v":0.544838607,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.424591452,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.212822,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.39307261,"cg_theta_rad":0.553307891,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.011841326,"mpcc_du":49.6555748,"mpcc_dv":49.313179,"mpcc_dw":50.686821,"mpcc_enc_sign":1,"mpcc_id_a":2.16746759,"mpcc_iq_a":0.468175411,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.70714808,"mpcc_pred_id_a":0.186282843,"mpcc_pred_iq_a":0.72175014,"mpcc_state":1,"mpcc_theta_e":0.438012123,"mpcc_theta_mech":0.554548323,"sam_rpm":2.87957311,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228164196,"thr_a_norm":0.0112096518,"thr_a_v":0.591265678,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494282424,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.222801,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-0.951108456,"cg_iw_a":1.07150841,"cg_theta_rad":0.553360641,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.123327263,"mpcc_du":50.272068,"mpcc_dv":48.3071823,"mpcc_dw":51.6928177,"mpcc_enc_sign":1,"mpcc_id_a":4.43295002,"mpcc_iq_a":-0.0484477393,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.49591696,"mpcc_pred_id_a":0.888917089,"mpcc_pred_iq_a":-1.7217679,"mpcc_state":1,"mpcc_theta_e":0.450695992,"mpcc_theta_mech":0.557085097,"sam_rpm":3.58487868,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228164196,"thr_a_norm":0.0228164196,"thr_a_v":0.591265678,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494282424,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.245811,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.951108456,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556766689,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00530671934,"mpcc_du":48.7013664,"mpcc_dv":51.2986336,"mpcc_dw":49.2752571,"mpcc_enc_sign":1,"mpcc_id_a":0.8370502,"mpcc_iq_a":-0.663878679,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0514753684,"mpcc_pred_id_a":-0.304849058,"mpcc_pred_iq_a":-6.95754719,"mpcc_state":1,"mpcc_theta_e":0.43718338,"mpcc_theta_mech":0.554382563,"sam_rpm":-0.819808006,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023030445,"thr_a_norm":0.023030445,"thr_a_v":0.59212178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498260498,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.252373,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.60349751,"cg_iw_a":0.999020576,"cg_theta_rad":0.556032538,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0041418192,"mpcc_du":50.2627754,"mpcc_dv":48.6306496,"mpcc_dw":51.3693504,"mpcc_enc_sign":1,"mpcc_id_a":-0.069247812,"mpcc_iq_a":-2.19415641,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.12187672,"mpcc_pred_id_a":-0.0558838584,"mpcc_pred_iq_a":0.64928472,"mpcc_state":1,"mpcc_theta_e":0.451196194,"mpcc_theta_mech":0.557185113,"sam_rpm":12.6481657,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023030445,"thr_a_norm":0.023030445,"thr_a_v":0.59212178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498260498,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.258934,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.588670254,"cg_iw_a":-1.17560911,"cg_theta_rad":0.554148614,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0225005411,"mpcc_du":49.4845886,"mpcc_dv":50.5154114,"mpcc_dw":50.2446175,"mpcc_enc_sign":1,"mpcc_id_a":1.75131309,"mpcc_iq_a":-0.0942761749,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.68187666,"mpcc_pred_id_a":-0.340317518,"mpcc_pred_iq_a":-4.95818949,"mpcc_state":1,"mpcc_theta_e":0.448026657,"mpcc_theta_mech":0.556551218,"sam_rpm":9.5952673,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244529694,"thr_a_norm":0.0244529694,"thr_a_v":0.597811878,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.265404,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.878620625,"cg_iw_a":-0.885658741,"cg_theta_rad":0.552202582,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0303406678,"mpcc_du":50.50597,"mpcc_dv":48.0239105,"mpcc_dw":51.9760895,"mpcc_enc_sign":1,"mpcc_id_a":3.44732046,"mpcc_iq_a":-0.180404887,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.2522812,"mpcc_pred_id_a":0.558974504,"mpcc_pred_iq_a":0.53255558,"mpcc_state":1,"mpcc_theta_e":0.42579031,"mpcc_theta_mech":0.552103937,"sam_rpm":-23.1464939,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0993430912,"thr_a_norm":0.0244529694,"thr_a_v":0.897372365,"thr_b":0.0437514186,"thr_b_norm":0,"thr_b_v":0.675005674,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.273247,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.24105906,"cg_iw_a":-0.378245354,"cg_theta_rad":0.55703038,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0340423174,"mpcc_du":50.3384933,"mpcc_dv":48.3681221,"mpcc_dw":51.6318779,"mpcc_enc_sign":1,"mpcc_id_a":3.31445169,"mpcc_iq_a":-0.674085319,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.08945775,"mpcc_pred_id_a":0.306028515,"mpcc_pred_iq_a":0.298446447,"mpcc_state":1,"mpcc_theta_e":0.439194202,"mpcc_theta_mech":0.554784775,"sam_rpm":-4.23219633,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0993430912,"thr_a_norm":0.0993430912,"thr_a_v":0.897372365,"thr_b":0.0437514186,"thr_b_norm":0.0437514186,"thr_b_v":0.675005674,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.28344,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.951108456,"cg_iw_a":-1.39307213,"cg_theta_rad":0.555315673,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.040378049,"mpcc_du":49.4796638,"mpcc_dv":50.5203362,"mpcc_dw":50.5112228,"mpcc_enc_sign":1,"mpcc_id_a":2.8846755,"mpcc_iq_a":0.000611954601,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.2625923,"mpcc_pred_id_a":0.472040296,"mpcc_pred_iq_a":0.551832259,"mpcc_state":1,"mpcc_theta_e":0.41964674,"mpcc_theta_mech":0.550875306,"sam_rpm":-18.26124,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213813186,"thr_a_norm":0.0213813186,"thr_a_v":0.585525274,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470363915,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.293419,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.588670254,"cg_iw_a":-1.53804731,"cg_theta_rad":0.55428189,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0342083126,"mpcc_du":49.4864807,"mpcc_dv":50.5135193,"mpcc_dw":50.2949333,"mpcc_enc_sign":1,"mpcc_id_a":1.7839967,"mpcc_iq_a":-1.89112997,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.69322348,"mpcc_pred_id_a":-0.144323647,"mpcc_pred_iq_a":-2.13814378,"mpcc_state":1,"mpcc_theta_e":0.425601959,"mpcc_theta_mech":0.552066326,"sam_rpm":1.60249519,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213813186,"thr_a_norm":0.0213813186,"thr_a_v":0.585525274,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470363915,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.303398,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.733645439,"cg_iw_a":-0.885658503,"cg_theta_rad":0.555119872,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0224416684,"mpcc_du":50.5707855,"mpcc_dv":48.4905624,"mpcc_dw":51.5094376,"mpcc_enc_sign":1,"mpcc_id_a":-0.226994216,"mpcc_iq_a":-0.536306083,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.594456017,"mpcc_pred_id_a":-0.598129511,"mpcc_pred_iq_a":-0.375840962,"mpcc_state":1,"mpcc_theta_e":0.442603111,"mpcc_theta_mech":0.555466533,"sam_rpm":0.937722325,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244026035,"thr_a_norm":0.0244026035,"thr_a_v":0.597610414,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481844842,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.313805,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.60349751,"cg_iw_a":1.07150841,"cg_theta_rad":0.552190959,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0535136946,"mpcc_du":49.5202179,"mpcc_dv":49.626545,"mpcc_dw":50.4797821,"mpcc_enc_sign":1,"mpcc_id_a":2.18573546,"mpcc_iq_a":-0.380382776,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.6846685,"mpcc_pred_id_a":0.119110689,"mpcc_pred_iq_a":-3.25576663,"mpcc_state":1,"mpcc_theta_e":0.461088181,"mpcc_theta_mech":0.55916357,"sam_rpm":20.6723194,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224639475,"thr_a_norm":0.0244026035,"thr_a_v":0.58985579,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479729921,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.324821,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.588670254,"cg_iw_a":1.5064342,"cg_theta_rad":0.555961728,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00479992479,"mpcc_du":50.1027985,"mpcc_dv":48.7821045,"mpcc_dw":51.2178955,"mpcc_enc_sign":1,"mpcc_id_a":0.983516991,"mpcc_iq_a":0.520134449,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.57186413,"mpcc_pred_id_a":-0.0133328028,"mpcc_pred_iq_a":0.375823736,"mpcc_state":1,"mpcc_theta_e":0.430215359,"mpcc_theta_mech":0.552988946,"sam_rpm":-6.45661402,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224639475,"thr_a_norm":0.0224639475,"thr_a_v":0.58985579,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479729921,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.347221,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-1.24105906,"cg_iw_a":1.07150817,"cg_theta_rad":0.554878473,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0235192291,"mpcc_du":50.8053207,"mpcc_dv":48.0154533,"mpcc_dw":51.9845467,"mpcc_enc_sign":1,"mpcc_id_a":0.892250538,"mpcc_iq_a":-1.39080107,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.20743942,"mpcc_pred_id_a":-0.127125993,"mpcc_pred_iq_a":-0.2132269,"mpcc_state":1,"mpcc_theta_e":0.442485809,"mpcc_theta_mech":0.555443108,"sam_rpm":-4.48458004,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218345076,"thr_a_norm":0.0218345076,"thr_a_v":0.58733803,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.353813,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.878620625,"cg_iw_a":-0.233269691,"cg_theta_rad":0.554798722,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00269493484,"mpcc_du":50.87397,"mpcc_dv":47.9411774,"mpcc_dw":52.0588226,"mpcc_enc_sign":1,"mpcc_id_a":-0.301707625,"mpcc_iq_a":-0.547966659,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.662323,"mpcc_pred_id_a":-0.314403206,"mpcc_pred_iq_a":-0.303455502,"mpcc_state":1,"mpcc_theta_e":0.426630974,"mpcc_theta_mech":0.552272141,"sam_rpm":-26.2898312,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218345076,"thr_a_norm":0.0218345076,"thr_a_v":0.58733803,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.360283,"values":{"cg_iu_a":3.8664217,"cg_iv_a":-1.02359605,"cg_iw_a":-0.305757284,"cg_theta_rad":0.558179557,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0183747802,"mpcc_du":49.9015999,"mpcc_dv":48.9126701,"mpcc_dw":51.0873299,"mpcc_enc_sign":1,"mpcc_id_a":2.6879952,"mpcc_iq_a":-1.66817677,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.84131932,"mpcc_pred_id_a":0.330814779,"mpcc_pred_iq_a":-1.20156729,"mpcc_state":1,"mpcc_theta_e":0.437380314,"mpcc_theta_mech":0.554422021,"sam_rpm":-5.73065233,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0272728354,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476406515,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.366783,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.89344811,"cg_iw_a":0.781557798,"cg_theta_rad":0.553732574,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0239205267,"mpcc_du":50.7092247,"mpcc_dv":47.9333687,"mpcc_dw":52.0666313,"mpcc_enc_sign":1,"mpcc_id_a":2.80775309,"mpcc_iq_a":-1.58352721,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.17852306,"mpcc_pred_id_a":0.285055816,"mpcc_pred_iq_a":0.358315438,"mpcc_state":1,"mpcc_theta_e":0.436803341,"mpcc_theta_mech":0.554306626,"sam_rpm":-11.6227503,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024264127,"thr_a_norm":0.0272728354,"thr_a_v":0.597056508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468953997,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.374626,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-3.48817682,"cg_iw_a":1.21648359,"cg_theta_rad":0.556462109,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0339791588,"mpcc_du":49.7188034,"mpcc_dv":49.11409,"mpcc_dw":50.88591,"mpcc_enc_sign":1,"mpcc_id_a":3.09924889,"mpcc_iq_a":-1.30651963,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.95255423,"mpcc_pred_id_a":0.451961488,"mpcc_pred_iq_a":-1.61203039,"mpcc_state":1,"mpcc_theta_e":0.44995594,"mpcc_theta_mech":0.556937099,"sam_rpm":10.5829477,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024264127,"thr_a_norm":0.024264127,"thr_a_v":0.597056508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468953997,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.384819,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-0.371207237,"cg_iw_a":-3.13277626,"cg_theta_rad":0.556366861,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0285752043,"mpcc_du":49.0441055,"mpcc_dv":50.9558945,"mpcc_dw":50.1222496,"mpcc_enc_sign":1,"mpcc_id_a":2.63483453,"mpcc_iq_a":-0.0336418785,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.026226,"mpcc_pred_id_a":0.878017902,"mpcc_pred_iq_a":2.7824707,"mpcc_state":1,"mpcc_theta_e":0.422758102,"mpcc_theta_mech":0.551497519,"sam_rpm":-15.8388624,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105385676,"thr_a_norm":0.105385676,"thr_a_v":0.921542704,"thr_b":0.0494163334,"thr_b_norm":0.0494163334,"thr_b_v":0.697665334,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.394798,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.02359605,"cg_iw_a":-2.55287504,"cg_theta_rad":0.553692102,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0357449614,"mpcc_du":50.157383,"mpcc_dv":48.4541664,"mpcc_dw":51.5458336,"mpcc_enc_sign":1,"mpcc_id_a":3.66006804,"mpcc_iq_a":-0.269819856,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.74476099,"mpcc_pred_id_a":0.724098146,"mpcc_pred_iq_a":-0.128393218,"mpcc_state":1,"mpcc_theta_e":0.436089039,"mpcc_theta_mech":0.554163754,"sam_rpm":-10.7946968,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105385676,"thr_a_norm":0.105385676,"thr_a_v":0.921542704,"thr_b":0.0494163334,"thr_b_norm":0.0494163334,"thr_b_v":0.697665334,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.407005,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.661157608,"cg_iw_a":-1.75551081,"cg_theta_rad":0.552996397,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.058917921,"mpcc_du":49.883709,"mpcc_dv":49.0009308,"mpcc_dw":50.9990692,"mpcc_enc_sign":1,"mpcc_id_a":2.83956575,"mpcc_iq_a":-0.68385601,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.34281254,"mpcc_pred_id_a":0.262434363,"mpcc_pred_iq_a":-2.46939683,"mpcc_state":1,"mpcc_theta_e":0.454377174,"mpcc_theta_mech":0.557821333,"sam_rpm":11.346776,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219226331,"thr_a_norm":0.0219226331,"thr_a_v":0.587690532,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477766067,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.418388,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.443694592,"cg_iw_a":-0.305757523,"cg_theta_rad":0.554554701,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00906631257,"mpcc_du":50.0989799,"mpcc_dv":48.8846092,"mpcc_dw":51.1153908,"mpcc_enc_sign":1,"mpcc_id_a":0.0966733769,"mpcc_iq_a":-1.52806687,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.872553706,"mpcc_pred_id_a":-0.147322401,"mpcc_pred_iq_a":-2.67664933,"mpcc_state":1,"mpcc_theta_e":0.448311329,"mpcc_theta_mech":0.55660814,"sam_rpm":-1.43689787,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.01975739,"thr_a_norm":0.01975739,"thr_a_v":0.57902956,"thr_b":0.000395968556,"thr_b_norm":0.000395968556,"thr_b_v":0.501583874,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.429405,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.0087685585,"cg_iw_a":-3.56770277,"cg_theta_rad":0.551466942,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0234352667,"mpcc_du":50.2517395,"mpcc_dv":48.3048935,"mpcc_dw":51.6951065,"mpcc_enc_sign":1,"mpcc_id_a":2.92426205,"mpcc_iq_a":-0.468025059,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.51921558,"mpcc_pred_id_a":0.660374045,"mpcc_pred_iq_a":1.12841046,"mpcc_state":1,"mpcc_theta_e":0.431965828,"mpcc_theta_mech":0.553339064,"sam_rpm":-6.32574224,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.01975739,"thr_a_norm":0.01975739,"thr_a_v":0.57902956,"thr_b":0.000395968556,"thr_b_norm":0.000395968556,"thr_b_v":0.501583874,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.452812,"values":{"cg_iu_a":5.46115017,"cg_iv_a":-0.298719406,"cg_iw_a":-5.16243076,"cg_theta_rad":0.553191841,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00493954634,"mpcc_du":49.6066742,"mpcc_dv":50.3933258,"mpcc_dw":50.266304,"mpcc_enc_sign":1,"mpcc_id_a":0.206222758,"mpcc_iq_a":-1.30166411,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.43349886,"mpcc_pred_id_a":-0.553552449,"mpcc_pred_iq_a":-4.9926734,"mpcc_state":1,"mpcc_theta_e":0.447766304,"mpcc_theta_mech":0.556499183,"sam_rpm":8.17881298,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0272728354,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477766067,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.459343,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.733645439,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556792319,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0237442981,"mpcc_du":49.530529,"mpcc_dv":49.6069946,"mpcc_dw":50.469471,"mpcc_enc_sign":1,"mpcc_id_a":2.20326757,"mpcc_iq_a":0.542764127,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.27075577,"mpcc_pred_id_a":0.0515566878,"mpcc_pred_iq_a":-3.97554016,"mpcc_state":1,"mpcc_theta_e":0.438561916,"mpcc_theta_mech":0.554658294,"sam_rpm":-5.23704767,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0272728354,"thr_a_v":0.618709087,"thr_b":0.00995078683,"thr_b_norm":0,"thr_b_v":0.539803147,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.465935,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-2.61832476,"cg_iw_a":0.78155756,"cg_theta_rad":0.555654526,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00289799133,"mpcc_du":50.1857147,"mpcc_dv":48.9329834,"mpcc_dw":51.0670166,"mpcc_enc_sign":1,"mpcc_id_a":-0.104736567,"mpcc_iq_a":-2.12548399,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.80634737,"mpcc_pred_id_a":-0.417173475,"mpcc_pred_iq_a":-0.995074809,"mpcc_state":1,"mpcc_theta_e":0.445786953,"mpcc_theta_mech":0.556103289,"sam_rpm":-15.2490358,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00995078683,"thr_b_norm":0.00995078683,"thr_b_v":0.539803147,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.472404,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":-2.0384233,"cg_iw_a":-1.103122,"cg_theta_rad":0.556792617,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00273528975,"mpcc_du":50.6640053,"mpcc_dv":48.119606,"mpcc_dw":51.880394,"mpcc_enc_sign":1,"mpcc_id_a":1.03082931,"mpcc_iq_a":-1.80629563,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.8903008,"mpcc_pred_id_a":-0.090564236,"mpcc_pred_iq_a":0.393289655,"mpcc_state":1,"mpcc_theta_e":0.431495667,"mpcc_theta_mech":0.553245068,"sam_rpm":-16.0456142,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022224769,"thr_a_norm":0.022224769,"thr_a_v":0.588899076,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.4804,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.74847269,"cg_iw_a":-1.90048599,"cg_theta_rad":0.55238539,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0077274926,"mpcc_du":50.422802,"mpcc_dv":48.4908409,"mpcc_dw":51.5091591,"mpcc_enc_sign":1,"mpcc_id_a":-0.45208621,"mpcc_iq_a":-0.846548378,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.97738123,"mpcc_pred_id_a":-0.212363079,"mpcc_pred_iq_a":-0.254853189,"mpcc_state":1,"mpcc_theta_e":0.440558434,"mpcc_theta_mech":0.555057585,"sam_rpm":-3.98057222,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022224769,"thr_a_norm":0.022224769,"thr_a_v":0.588899076,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.4916,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.806133032,"cg_iw_a":0.274143934,"cg_theta_rad":0.554777086,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00942912884,"mpcc_du":49.8371925,"mpcc_dv":49.2450294,"mpcc_dw":50.7549706,"mpcc_enc_sign":1,"mpcc_id_a":0.358051836,"mpcc_iq_a":-1.65372705,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.631803095,"mpcc_pred_id_a":-0.297527581,"mpcc_pred_iq_a":-4.10948181,"mpcc_state":1,"mpcc_theta_e":0.448262691,"mpcc_theta_mech":0.556598485,"sam_rpm":-1.03730094,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277008563,"thr_a_norm":0.0277008563,"thr_a_v":0.610803425,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492217898,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.500999,"values":{"cg_iu_a":0.459501266,"cg_iv_a":1.00605869,"cg_iw_a":-1.46555996,"cg_theta_rad":0.555344701,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0303891264,"mpcc_du":50.6074181,"mpcc_dv":47.8722458,"mpcc_dw":52.1277542,"mpcc_enc_sign":1,"mpcc_id_a":3.1757555,"mpcc_iq_a":-0.434636176,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.5985756,"mpcc_pred_id_a":0.542055845,"mpcc_pred_iq_a":-0.785230219,"mpcc_state":1,"mpcc_theta_e":0.428686619,"mpcc_theta_mech":0.552683234,"sam_rpm":-26.3458557,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209532976,"thr_a_norm":0.0277008563,"thr_a_v":0.58381319,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466788739,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.51281,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.31354666,"cg_iw_a":0.346631527,"cg_theta_rad":0.557085335,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0156211276,"mpcc_du":50.0471992,"mpcc_dv":48.7414894,"mpcc_dw":51.2585106,"mpcc_enc_sign":1,"mpcc_id_a":2.48379683,"mpcc_iq_a":-1.57810056,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.0426044,"mpcc_pred_id_a":0.164879054,"mpcc_pred_iq_a":-4.22374487,"mpcc_state":1,"mpcc_theta_e":0.453382015,"mpcc_theta_mech":0.557622313,"sam_rpm":-3.82203817,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209532976,"thr_a_norm":0.0209532976,"thr_a_v":0.58381319,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466788739,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.523033,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.516182423,"cg_iw_a":0.12916851,"cg_theta_rad":0.557349503,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0221128762,"mpcc_du":49.9754906,"mpcc_dv":48.9693031,"mpcc_dw":51.0306969,"mpcc_enc_sign":1,"mpcc_id_a":0.807147503,"mpcc_iq_a":-1.54914975,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.18474531,"mpcc_pred_id_a":-0.0585431457,"mpcc_pred_iq_a":-2.96960449,"mpcc_state":1,"mpcc_theta_e":0.451170444,"mpcc_theta_mech":0.557179987,"sam_rpm":5.28473997,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0251830965,"thr_a_norm":0.0251830965,"thr_a_v":0.600732386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488642722,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.533379,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.806133032,"cg_iw_a":-1.10312152,"cg_theta_rad":0.555833936,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0218563639,"mpcc_du":49.8605461,"mpcc_dv":49.2024078,"mpcc_dw":50.7975922,"mpcc_enc_sign":1,"mpcc_id_a":1.23043418,"mpcc_iq_a":-1.00871134,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.81355906,"mpcc_pred_id_a":-0.333291352,"mpcc_pred_iq_a":-3.07541561,"mpcc_state":1,"mpcc_theta_e":0.450324059,"mpcc_theta_mech":0.55701071,"sam_rpm":5.76575518,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193545371,"thr_a_norm":0.0251830965,"thr_a_v":0.577418149,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464824885,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.556419,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.16857147,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556081176,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0298822001,"mpcc_du":49.5413666,"mpcc_dv":50.0585594,"mpcc_dw":50.4586334,"mpcc_enc_sign":1,"mpcc_id_a":2.43209291,"mpcc_iq_a":-0.857415795,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.4820452,"mpcc_pred_id_a":-0.00662643416,"mpcc_pred_iq_a":-3.6756444,"mpcc_state":1,"mpcc_theta_e":0.454370975,"mpcc_theta_mech":0.557820141,"sam_rpm":15.9339275,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193545371,"thr_a_norm":0.0193545371,"thr_a_v":0.577418149,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464824885,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.56295,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.24105906,"cg_iw_a":0.636582136,"cg_theta_rad":0.554840684,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0197742656,"mpcc_du":49.5440674,"mpcc_dv":49.2107201,"mpcc_dw":50.7892799,"mpcc_enc_sign":1,"mpcc_id_a":2.467381,"mpcc_iq_a":-0.083649911,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.86017513,"mpcc_pred_id_a":0.655109525,"mpcc_pred_iq_a":-2.87885141,"mpcc_state":1,"mpcc_theta_e":0.436192989,"mpcc_theta_mech":0.554184496,"sam_rpm":-7.32652044,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245033205,"thr_a_norm":0.0245033205,"thr_a_v":0.598013282,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474694431,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.56945,"values":{"cg_iu_a":4.88124943,"cg_iv_a":-0.951108456,"cg_iw_a":0.274144173,"cg_theta_rad":0.554581344,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00652680499,"mpcc_du":49.5084381,"mpcc_dv":49.4378929,"mpcc_dw":50.5621071,"mpcc_enc_sign":1,"mpcc_id_a":-0.0378049798,"mpcc_iq_a":-0.302693069,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.41484094,"mpcc_pred_id_a":-0.245814338,"mpcc_pred_iq_a":1.94964671,"mpcc_state":1,"mpcc_theta_e":0.448502064,"mpcc_theta_mech":0.556646347,"sam_rpm":-2.21883774,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245033205,"thr_a_norm":0.0245033205,"thr_a_v":0.598013282,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474694431,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.575981,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.38603449,"cg_iw_a":-1.46555996,"cg_theta_rad":0.557135105,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00987316854,"mpcc_du":50.3408241,"mpcc_dv":48.5031967,"mpcc_dw":51.4968033,"mpcc_enc_sign":1,"mpcc_id_a":1.52884781,"mpcc_iq_a":-1.40674329,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.92795086,"mpcc_pred_id_a":-0.0432106145,"mpcc_pred_iq_a":-1.23605788,"mpcc_state":1,"mpcc_theta_e":0.438919544,"mpcc_theta_mech":0.554729819,"sam_rpm":-8.39429951,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250572115,"thr_a_norm":0.0250572115,"thr_a_v":0.600228846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476910055,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.586235,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.09608364,"cg_iw_a":0.636582375,"cg_theta_rad":0.556030929,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0490880311,"mpcc_du":49.4755898,"mpcc_dv":49.9789429,"mpcc_dw":50.5244102,"mpcc_enc_sign":1,"mpcc_id_a":3.08672261,"mpcc_iq_a":-0.000185207333,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.94850254,"mpcc_pred_id_a":0.440067291,"mpcc_pred_iq_a":-3.80237556,"mpcc_state":1,"mpcc_theta_e":0.45030117,"mpcc_theta_mech":0.55700618,"sam_rpm":11.9381952,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295639783,"thr_a_norm":0.0250572115,"thr_a_v":0.618255913,"thr_b":0.00471389294,"thr_b_norm":0,"thr_b_v":0.518855572,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.596214,"values":{"cg_iu_a":1.32935333,"cg_iv_a":0.136206627,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556668699,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0086989766,"mpcc_du":50.0502815,"mpcc_dv":48.7800293,"mpcc_dw":51.2199707,"mpcc_enc_sign":1,"mpcc_id_a":1.84135771,"mpcc_iq_a":-1.08371246,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.57903004,"mpcc_pred_id_a":0.0640088543,"mpcc_pred_iq_a":-0.388630033,"mpcc_state":1,"mpcc_theta_e":0.435765743,"mpcc_theta_mech":0.554099083,"sam_rpm":-7.65964174,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295639783,"thr_a_norm":0.0295639783,"thr_a_v":0.618255913,"thr_b":0.00471389294,"thr_b_norm":0.00471389294,"thr_b_v":0.518855572,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.606438,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-2.90827537,"cg_iw_a":1.57892203,"cg_theta_rad":0.558050931,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0628887415,"mpcc_du":49.4634895,"mpcc_dv":49.8964958,"mpcc_dw":50.5365105,"mpcc_enc_sign":1,"mpcc_id_a":3.36966324,"mpcc_iq_a":-0.708467782,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.861928701,"mpcc_pred_id_a":0.314788938,"mpcc_pred_iq_a":0.460922599,"mpcc_state":1,"mpcc_theta_e":0.42899847,"mpcc_theta_mech":0.55274564,"sam_rpm":-3.61448169,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0161318332,"thr_a_norm":0.0161318332,"thr_a_v":0.564527333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463817805,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.616203,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.60349751,"cg_iw_a":0.201656342,"cg_theta_rad":0.560151994,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0155215161,"mpcc_du":49.7681656,"mpcc_dv":48.9829445,"mpcc_dw":51.0170555,"mpcc_enc_sign":1,"mpcc_id_a":2.47591615,"mpcc_iq_a":-0.759477198,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.37464809,"mpcc_pred_id_a":0.461493939,"mpcc_pred_iq_a":-0.606214285,"mpcc_state":1,"mpcc_theta_e":0.445177555,"mpcc_theta_mech":0.555981398,"sam_rpm":-1.85146058,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0161318332,"thr_a_norm":0.0161318332,"thr_a_v":0.564527333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463817805,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.626579,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.16857147,"cg_iw_a":-1.39307213,"cg_theta_rad":0.555754066,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0315670967,"mpcc_du":49.8388824,"mpcc_dv":48.9954643,"mpcc_dw":51.0045357,"mpcc_enc_sign":1,"mpcc_id_a":2.77768207,"mpcc_iq_a":-1.47259915,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.430147856,"mpcc_pred_id_a":0.353082716,"mpcc_pred_iq_a":-3.14292002,"mpcc_state":1,"mpcc_theta_e":0.448826313,"mpcc_theta_mech":0.556711197,"sam_rpm":0.719551384,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020487532,"thr_a_norm":0.020487532,"thr_a_v":0.581950128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455358177,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.63662,"values":{"cg_iu_a":4.08388519,"cg_iv_a":-0.661157608,"cg_iw_a":-3.42272758,"cg_theta_rad":0.556061983,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0175152067,"mpcc_du":50.931694,"mpcc_dv":47.8587265,"mpcc_dw":52.1412735,"mpcc_enc_sign":1,"mpcc_id_a":0.690027416,"mpcc_iq_a":-1.47978616,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.42478704,"mpcc_pred_id_a":-0.270945519,"mpcc_pred_iq_a":-0.326189876,"mpcc_state":1,"mpcc_theta_e":0.442168713,"mpcc_theta_mech":0.555379629,"sam_rpm":-10.4175158,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0323334783,"thr_a_norm":0.020487532,"thr_a_v":0.629333913,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.659843,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.74847269,"cg_iw_a":-0.958146334,"cg_theta_rad":0.555393159,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0126220118,"mpcc_du":50.227253,"mpcc_dv":48.5516891,"mpcc_dw":51.4483109,"mpcc_enc_sign":1,"mpcc_id_a":2.16271925,"mpcc_iq_a":-1.58412218,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.6221509,"mpcc_pred_id_a":0.0386827588,"mpcc_pred_iq_a":-5.09238148,"mpcc_state":1,"mpcc_theta_e":0.445281029,"mpcc_theta_mech":0.55600208,"sam_rpm":6.37254953,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0323334783,"thr_a_norm":0.0323334783,"thr_a_v":0.629333913,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.666313,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.45852208,"cg_iw_a":-1.68302321,"cg_theta_rad":0.556547761,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0548208617,"mpcc_du":49.9087944,"mpcc_dv":48.7052574,"mpcc_dw":51.2947426,"mpcc_enc_sign":1,"mpcc_id_a":4.63722038,"mpcc_iq_a":-2.29177999,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.60067129,"mpcc_pred_id_a":0.798770487,"mpcc_pred_iq_a":-1.49702084,"mpcc_state":1,"mpcc_theta_e":0.435519218,"mpcc_theta_mech":0.55404979,"sam_rpm":-10.3323355,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100979626,"thr_a_norm":0.100979626,"thr_a_v":0.903918505,"thr_b":0.0449599475,"thr_b_norm":0.0449599475,"thr_b_v":0.67983979,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.672874,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.31354666,"cg_iw_a":-2.04546142,"cg_theta_rad":0.555291712,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0264152139,"mpcc_du":50.3537292,"mpcc_dv":48.6400909,"mpcc_dw":51.3599091,"mpcc_enc_sign":1,"mpcc_id_a":0.869605482,"mpcc_iq_a":-0.0871304572,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.04169178,"mpcc_pred_id_a":-0.235621989,"mpcc_pred_iq_a":0.115106314,"mpcc_state":1,"mpcc_theta_e":0.446623802,"mpcc_theta_mech":0.556270719,"sam_rpm":6.50584841,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100979626,"thr_a_norm":0.100979626,"thr_a_v":0.903918505,"thr_b":0.0449599475,"thr_b_norm":0.0449599475,"thr_b_v":0.67983979,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.679405,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.733645439,"cg_iw_a":-0.378244877,"cg_theta_rad":0.556195974,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0173767973,"mpcc_du":50.9305382,"mpcc_dv":47.7982292,"mpcc_dw":52.2017708,"mpcc_enc_sign":1,"mpcc_id_a":2.3216083,"mpcc_iq_a":0.151202142,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.7182178,"mpcc_pred_id_a":-0.085209392,"mpcc_pred_iq_a":0.364607275,"mpcc_state":1,"mpcc_theta_e":0.423629284,"mpcc_theta_mech":0.551671803,"sam_rpm":-29.241663,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020613417,"thr_a_norm":0.020613417,"thr_a_v":0.582453668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472277433,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.687584,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-1.82096052,"cg_iw_a":1.72389746,"cg_theta_rad":0.555122614,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0237922799,"mpcc_du":50.5347023,"mpcc_dv":48.2673645,"mpcc_dw":51.7326355,"mpcc_enc_sign":1,"mpcc_id_a":1.89569008,"mpcc_iq_a":-0.283747017,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.18242073,"mpcc_pred_id_a":0.188512474,"mpcc_pred_iq_a":-0.179695621,"mpcc_state":1,"mpcc_theta_e":0.438581467,"mpcc_theta_mech":0.554662168,"sam_rpm":-8.5668602,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0130601972,"thr_a_norm":0.020613417,"thr_a_v":0.552240789,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.69738,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.951108456,"cg_iw_a":0.12916851,"cg_theta_rad":0.552985013,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00617830362,"mpcc_du":50.0279999,"mpcc_dv":48.8749275,"mpcc_dw":51.1250725,"mpcc_enc_sign":1,"mpcc_id_a":0.767295063,"mpcc_iq_a":-0.298247665,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.0237522,"mpcc_pred_id_a":0.0493823551,"mpcc_pred_iq_a":-0.290546119,"mpcc_state":1,"mpcc_theta_e":0.426529884,"mpcc_theta_mech":0.552251875,"sam_rpm":-18.2976723,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0130601972,"thr_a_norm":0.0130601972,"thr_a_v":0.552240789,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.70739,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.60349751,"cg_iw_a":0.999020576,"cg_theta_rad":0.555793405,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0952792689,"mpcc_du":49.9524193,"mpcc_dv":48.8027992,"mpcc_dw":51.1972008,"mpcc_enc_sign":1,"mpcc_id_a":2.80700111,"mpcc_iq_a":1.44629681,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.802695096,"mpcc_pred_id_a":0.567759395,"mpcc_pred_iq_a":-2.7956202,"mpcc_state":1,"mpcc_theta_e":0.445717812,"mpcc_theta_mech":0.556089461,"sam_rpm":-0.44019869,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022325471,"thr_a_norm":0.022325471,"thr_a_v":0.589301884,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490707248,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.7174,"values":{"cg_iu_a":-0.917764187,"cg_iv_a":-1.45852208,"cg_iw_a":2.37628627,"cg_theta_rad":0.558181167,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0289847609,"mpcc_du":49.5791893,"mpcc_dv":49.9668961,"mpcc_dw":50.4208107,"mpcc_enc_sign":1,"mpcc_id_a":0.532697082,"mpcc_iq_a":-0.622336686,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.59857893,"mpcc_pred_id_a":-0.141253233,"mpcc_pred_iq_a":-5.59599257,"mpcc_state":1,"mpcc_theta_e":0.447244644,"mpcc_theta_mech":0.556394875,"sam_rpm":5.56615639,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022325471,"thr_a_norm":0.022325471,"thr_a_v":0.589301884,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490707248,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.727592,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.53100967,"cg_iw_a":0.491606712,"cg_theta_rad":0.552705705,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0119719058,"mpcc_du":50.1700172,"mpcc_dv":48.7413139,"mpcc_dw":51.2586861,"mpcc_enc_sign":1,"mpcc_id_a":0.568417966,"mpcc_iq_a":-1.05462801,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.945805192,"mpcc_pred_id_a":-0.00133135845,"mpcc_pred_iq_a":-1.70497811,"mpcc_state":1,"mpcc_theta_e":0.444833279,"mpcc_theta_mech":0.555912614,"sam_rpm":-1.4568218,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214065015,"thr_a_norm":0.0214065015,"thr_a_v":0.585626006,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.737694,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.740683556,"cg_theta_rad":0.555711091,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0544405431,"mpcc_du":49.7627182,"mpcc_dv":48.9445496,"mpcc_dw":51.0554504,"mpcc_enc_sign":1,"mpcc_id_a":2.51664376,"mpcc_iq_a":0.328695029,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.54241562,"mpcc_pred_id_a":0.691874027,"mpcc_pred_iq_a":-1.10753489,"mpcc_state":1,"mpcc_theta_e":0.447417736,"mpcc_theta_mech":0.556429505,"sam_rpm":11.5924683,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0115117729,"thr_a_norm":0.0214065015,"thr_a_v":0.546047091,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441963822,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.760643,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.24105906,"cg_iw_a":0.781557798,"cg_theta_rad":0.556284428,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0251900628,"mpcc_du":49.4474678,"mpcc_dv":50.5525322,"mpcc_dw":50.2606735,"mpcc_enc_sign":1,"mpcc_id_a":2.33980274,"mpcc_iq_a":0.974456191,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.71062946,"mpcc_pred_id_a":-0.119696997,"mpcc_pred_iq_a":-4.17675018,"mpcc_state":1,"mpcc_theta_e":0.445358753,"mpcc_theta_mech":0.556017637,"sam_rpm":6.85038471,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0115117729,"thr_a_norm":0.0115117729,"thr_a_v":0.546047091,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441963822,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.767143,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-0.443694592,"cg_iw_a":-2.84282589,"cg_theta_rad":0.554676652,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0126599986,"mpcc_du":50.0755119,"mpcc_dv":49.1330109,"mpcc_dw":50.8669891,"mpcc_enc_sign":1,"mpcc_id_a":-1.47225535,"mpcc_iq_a":-1.28590798,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.78876138,"mpcc_pred_id_a":-0.708346844,"mpcc_pred_iq_a":-1.91996431,"mpcc_state":1,"mpcc_theta_e":0.446423531,"mpcc_theta_mech":0.556230605,"sam_rpm":4.83332348,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218219161,"thr_a_norm":0.0218219161,"thr_a_v":0.587287664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.773674,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.6759851,"cg_iw_a":1.07150817,"cg_theta_rad":0.556851327,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0130202435,"mpcc_du":49.5582542,"mpcc_dv":50.4417458,"mpcc_dw":50.3053246,"mpcc_enc_sign":1,"mpcc_id_a":0.821686745,"mpcc_iq_a":-1.18530893,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.33863735,"mpcc_pred_id_a":-0.244739607,"mpcc_pred_iq_a":-4.8460083,"mpcc_state":1,"mpcc_theta_e":0.451992512,"mpcc_theta_mech":0.557344377,"sam_rpm":14.0524721,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218219161,"thr_a_norm":0.0218219161,"thr_a_v":0.587287664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.780388,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.298719406,"cg_iw_a":-2.84282589,"cg_theta_rad":0.55518806,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00318595767,"mpcc_du":49.5826149,"mpcc_dv":50.4173851,"mpcc_dw":50.1750259,"mpcc_enc_sign":1,"mpcc_id_a":-0.555390358,"mpcc_iq_a":-1.72453368,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.35607958,"mpcc_pred_id_a":-0.682911873,"mpcc_pred_iq_a":-5.61835241,"mpcc_state":1,"mpcc_theta_e":0.445557117,"mpcc_theta_mech":0.556057334,"sam_rpm":5.08468294,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280785114,"thr_a_norm":0.0280785114,"thr_a_v":0.612314045,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493476748,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.790581,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.806133032,"cg_iw_a":-0.595708132,"cg_theta_rad":0.556323051,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0158765204,"mpcc_du":50.0705681,"mpcc_dv":49.1226387,"mpcc_dw":50.8773613,"mpcc_enc_sign":1,"mpcc_id_a":-0.161988944,"mpcc_iq_a":-2.05571318,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.00939107,"mpcc_pred_id_a":-0.642227769,"mpcc_pred_iq_a":-4.10234737,"mpcc_state":1,"mpcc_theta_e":0.450598717,"mpcc_theta_mech":0.557065666,"sam_rpm":1.85386717,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291737169,"thr_a_norm":0.0280785114,"thr_a_v":0.616694868,"thr_b":0.00385786593,"thr_b_norm":0,"thr_b_v":0.515431464,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.800591,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-0.153744221,"cg_iw_a":-0.305757046,"cg_theta_rad":0.555592895,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.046126917,"mpcc_du":51.4154854,"mpcc_dv":47.2326584,"mpcc_dw":52.7673416,"mpcc_enc_sign":1,"mpcc_id_a":0.47681281,"mpcc_iq_a":-0.405859202,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.16905499,"mpcc_pred_id_a":-0.0664268509,"mpcc_pred_iq_a":1.28362274,"mpcc_state":1,"mpcc_theta_e":0.441272259,"mpcc_theta_mech":0.555200398,"sam_rpm":-12.4365273,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291737169,"thr_a_norm":0.0291737169,"thr_a_v":0.616694868,"thr_b":0.00385786593,"thr_b_norm":0.00385786593,"thr_b_v":0.515431464,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.810692,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.661157608,"cg_iw_a":-0.59570837,"cg_theta_rad":0.556370854,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0216615647,"mpcc_du":49.5161209,"mpcc_dv":49.8276405,"mpcc_dw":50.4838791,"mpcc_enc_sign":1,"mpcc_id_a":1.73889196,"mpcc_iq_a":0.0875262693,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.9947803,"mpcc_pred_id_a":0.0458761603,"mpcc_pred_iq_a":-0.253721923,"mpcc_state":1,"mpcc_theta_e":0.426620007,"mpcc_theta_mech":0.552269876,"sam_rpm":-5.91199541,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259132534,"thr_a_norm":0.0259132534,"thr_a_v":0.603653014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489398032,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.82061,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.89344811,"cg_iw_a":0.0566806793,"cg_theta_rad":0.556990147,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0360212699,"mpcc_du":49.4787102,"mpcc_dv":49.2536774,"mpcc_dw":50.7463226,"mpcc_enc_sign":1,"mpcc_id_a":3.16739178,"mpcc_iq_a":-0.803557336,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.62839317,"mpcc_pred_id_a":0.708654165,"mpcc_pred_iq_a":-0.648938537,"mpcc_state":1,"mpcc_theta_e":0.429996014,"mpcc_theta_mech":0.552945137,"sam_rpm":-9.8468647,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259132534,"thr_a_norm":0.0259132534,"thr_a_v":0.603653014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489398032,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.830803,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.226231575,"cg_iw_a":-1.0306344,"cg_theta_rad":0.5570454,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0289390758,"mpcc_du":49.4257317,"mpcc_dv":49.4033012,"mpcc_dw":50.5966988,"mpcc_enc_sign":1,"mpcc_id_a":3.32238078,"mpcc_iq_a":0.232660919,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.14909983,"mpcc_pred_id_a":0.529328465,"mpcc_pred_iq_a":-0.908837378,"mpcc_state":1,"mpcc_theta_e":0.429284573,"mpcc_theta_mech":0.552802801,"sam_rpm":-6.52452374,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205127001,"thr_a_norm":0.0205127001,"thr_a_v":0.5820508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463717103,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.841179,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.6759851,"cg_iw_a":-0.885658503,"cg_theta_rad":0.556127548,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0389345177,"mpcc_du":49.8609505,"mpcc_dv":48.7510262,"mpcc_dw":51.2489738,"mpcc_enc_sign":1,"mpcc_id_a":3.7607801,"mpcc_iq_a":0.887340248,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.9303875,"mpcc_pred_id_a":0.757972002,"mpcc_pred_iq_a":1.16158402,"mpcc_state":1,"mpcc_theta_e":0.421298981,"mpcc_theta_mech":0.551205754,"sam_rpm":-17.8639832,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228290111,"thr_a_norm":0.0205127001,"thr_a_v":0.591316044,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495239198,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.864006,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.226231575,"cg_iw_a":-1.68302298,"cg_theta_rad":0.555214703,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0139456009,"mpcc_du":51.1364403,"mpcc_dv":47.339489,"mpcc_dw":52.660511,"mpcc_enc_sign":1,"mpcc_id_a":2.34578395,"mpcc_iq_a":-1.03025424,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.7709532,"mpcc_pred_id_a":0.334932566,"mpcc_pred_iq_a":3.19482231,"mpcc_state":1,"mpcc_theta_e":0.431753159,"mpcc_theta_mech":0.553296566,"sam_rpm":-19.2045345,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228290111,"thr_a_norm":0.0228290111,"thr_a_v":0.591316044,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495239198,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.870537,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.588670254,"cg_iw_a":-1.17560935,"cg_theta_rad":0.553763926,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00352145452,"mpcc_du":49.113205,"mpcc_dv":50.886795,"mpcc_dw":49.4217262,"mpcc_enc_sign":1,"mpcc_id_a":-1.18158269,"mpcc_iq_a":-2.49229121,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.29315376,"mpcc_pred_id_a":-1.38480139,"mpcc_pred_iq_a":-6.71243954,"mpcc_state":1,"mpcc_theta_e":0.451619625,"mpcc_theta_mech":0.557269812,"sam_rpm":13.3776617,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023533985,"thr_a_norm":0.023533985,"thr_a_v":0.59413594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475953311,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.877037,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.74847269,"cg_iw_a":1.72389746,"cg_theta_rad":0.552064061,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0121870171,"mpcc_du":49.3476982,"mpcc_dv":50.6523018,"mpcc_dw":50.2906075,"mpcc_enc_sign":1,"mpcc_id_a":1.2756089,"mpcc_iq_a":0.0912411064,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.73156643,"mpcc_pred_id_a":0.35167405,"mpcc_pred_iq_a":-4.70800161,"mpcc_state":1,"mpcc_theta_e":0.445336342,"mpcc_theta_mech":0.556013227,"sam_rpm":8.05038357,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023533985,"thr_a_norm":0.023533985,"thr_a_v":0.59413594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475953311,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.883568,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.733645439,"cg_iw_a":0.0566811562,"cg_theta_rad":0.55664736,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0074930531,"mpcc_du":49.6674881,"mpcc_dv":49.6231918,"mpcc_dw":50.3768082,"mpcc_enc_sign":1,"mpcc_id_a":0.178783417,"mpcc_iq_a":-0.357760578,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.39152741,"mpcc_pred_id_a":-0.682806373,"mpcc_pred_iq_a":-4.12576199,"mpcc_state":1,"mpcc_theta_e":0.441565514,"mpcc_theta_mech":0.555258989,"sam_rpm":-2.55981088,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250446349,"thr_a_norm":0.0250446349,"thr_a_v":0.60017854,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485973924,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.893761,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.60349751,"cg_iw_a":-1.10312176,"cg_theta_rad":0.556731701,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.000638975762,"mpcc_du":49.618557,"mpcc_dv":49.5730896,"mpcc_dw":50.4269104,"mpcc_enc_sign":1,"mpcc_id_a":0.247616783,"mpcc_iq_a":-2.24320197,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.13179541,"mpcc_pred_id_a":-0.406342477,"mpcc_pred_iq_a":-4.02146387,"mpcc_state":1,"mpcc_theta_e":0.442537308,"mpcc_theta_mech":0.55545342,"sam_rpm":-4.05899572,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205756426,"thr_a_norm":0.0250446349,"thr_a_v":0.58230257,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460242629,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.903557,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.443694592,"cg_iw_a":-2.91531372,"cg_theta_rad":0.556661904,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.029430978,"mpcc_du":49.7968712,"mpcc_dv":49.2535515,"mpcc_dw":50.7464485,"mpcc_enc_sign":1,"mpcc_id_a":0.951946735,"mpcc_iq_a":-1.24874747,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.50013638,"mpcc_pred_id_a":-0.123576216,"mpcc_pred_iq_a":-4.19982767,"mpcc_state":1,"mpcc_theta_e":0.45211792,"mpcc_theta_mech":0.557369471,"sam_rpm":5.64948654,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205756426,"thr_a_norm":0.0205756426,"thr_a_v":0.58230257,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460242629,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.913841,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.153744221,"cg_iw_a":0.709069967,"cg_theta_rad":0.557429135,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00228361972,"mpcc_du":49.5662308,"mpcc_dv":50.0929642,"mpcc_dw":50.4337692,"mpcc_enc_sign":1,"mpcc_id_a":0.660930157,"mpcc_iq_a":-0.529962063,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.04689741,"mpcc_pred_id_a":-0.136173606,"mpcc_pred_iq_a":-3.27076697,"mpcc_state":1,"mpcc_theta_e":0.431221962,"mpcc_theta_mech":0.553190291,"sam_rpm":-6.12326097,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245914459,"thr_a_norm":0.0245914459,"thr_a_v":0.598365784,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.923576,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.24105906,"cg_iw_a":-1.17560911,"cg_theta_rad":0.553647399,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0513082519,"mpcc_du":49.9221535,"mpcc_dv":49.041481,"mpcc_dw":50.958519,"mpcc_enc_sign":1,"mpcc_id_a":1.01303625,"mpcc_iq_a":-0.955354452,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.45646191,"mpcc_pred_id_a":0.0572898984,"mpcc_pred_iq_a":-3.62387037,"mpcc_state":1,"mpcc_theta_e":0.453888416,"mpcc_theta_mech":0.557723641,"sam_rpm":9.00089073,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245914459,"thr_a_norm":0.0245914459,"thr_a_v":0.598365784,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.933769,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-0.226231575,"cg_iw_a":-1.0306344,"cg_theta_rad":0.557264686,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00735366531,"mpcc_du":49.498455,"mpcc_dv":49.779007,"mpcc_dw":50.501545,"mpcc_enc_sign":1,"mpcc_id_a":1.40505123,"mpcc_iq_a":-0.478411794,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.77200127,"mpcc_pred_id_a":0.144974709,"mpcc_pred_iq_a":-2.0873127,"mpcc_state":1,"mpcc_theta_e":0.443962574,"mpcc_theta_mech":0.555738449,"sam_rpm":8.71134281,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269706994,"thr_a_norm":0.0269706994,"thr_a_v":0.607882798,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483707935,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.943993,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.24105906,"cg_iw_a":0.129168749,"cg_theta_rad":0.555837691,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.0268403701,"mpcc_du":49.9407806,"mpcc_dv":48.6585808,"mpcc_dw":51.3414192,"mpcc_enc_sign":1,"mpcc_id_a":3.03857636,"mpcc_iq_a":0.107008398,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.376500756,"mpcc_pred_id_a":0.717393339,"mpcc_pred_iq_a":0.733816862,"mpcc_state":1,"mpcc_theta_e":0.43780899,"mpcc_theta_mech":0.554507673,"sam_rpm":-0.592725515,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0239745975,"thr_a_norm":0.0269706994,"thr_a_v":0.59589839,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.967003,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.226231575,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556946397,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00010728943,"mpcc_du":51.1091766,"mpcc_dv":47.6129494,"mpcc_dw":52.3870506,"mpcc_enc_sign":1,"mpcc_id_a":0.0824062154,"mpcc_iq_a":-1.09313869,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.3417606,"mpcc_pred_id_a":-0.366571426,"mpcc_pred_iq_a":2.10968757,"mpcc_state":1,"mpcc_theta_e":0.431446552,"mpcc_theta_mech":0.553235233,"sam_rpm":-19.9194851,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0239745975,"thr_a_norm":0.0239745975,"thr_a_v":0.59589839,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.973534,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.90827537,"cg_iw_a":-2.77033806,"cg_theta_rad":0.551796436,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00106119295,"mpcc_du":49.2341614,"mpcc_dv":50.7658386,"mpcc_dw":49.595726,"mpcc_enc_sign":1,"mpcc_id_a":-0.586308956,"mpcc_iq_a":-1.80174851,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.94097376,"mpcc_pred_id_a":-1.360654,"mpcc_pred_iq_a":-6.49771452,"mpcc_state":1,"mpcc_theta_e":0.442695618,"mpcc_theta_mech":0.55548507,"sam_rpm":3.64813638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212176591,"thr_a_norm":0.0212176591,"thr_a_v":0.584870636,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478974611,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.980034,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.45852208,"cg_iw_a":-0.813171148,"cg_theta_rad":0.557588458,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00968565699,"mpcc_du":49.5736046,"mpcc_dv":50.4263954,"mpcc_dw":51.3558693,"mpcc_enc_sign":1,"mpcc_id_a":0.437858671,"mpcc_iq_a":-0.484460026,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.18711519,"mpcc_pred_id_a":-0.511854887,"mpcc_pred_iq_a":-5.02928257,"mpcc_state":1,"mpcc_theta_e":0.447909832,"mpcc_theta_mech":0.553422332,"sam_rpm":7.22059727,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212176591,"thr_a_norm":0.0212176591,"thr_a_v":0.584870636,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478974611,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.986565,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.96593571,"cg_iw_a":1.43394661,"cg_theta_rad":0.557209909,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5006,"hz_app_loop":363,"hz_tim_isr":10010,"hz_vsense":363,"mpcc_cost":0.00834955554,"mpcc_du":48.9948807,"mpcc_dv":51.0051193,"mpcc_dw":49.610466,"mpcc_enc_sign":1,"mpcc_id_a":-0.456752419,"mpcc_iq_a":-0.983443081,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.2099209,"mpcc_pred_id_a":-0.48423931,"mpcc_pred_iq_a":-4.99602032,"mpcc_state":1,"mpcc_theta_e":0.457464695,"mpcc_theta_mech":0.558438838,"sam_rpm":26.6438103,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0969260782,"thr_a_norm":0.0969260782,"thr_a_v":0.887704313,"thr_b":0.042530328,"thr_b_norm":0.042530328,"thr_b_v":0.670121312,"vdc_v":55.2955055}} +{"type":"telemetry","t":89.994957,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.89344811,"cg_iw_a":-0.958146334,"cg_theta_rad":0.556114852,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0154429097,"mpcc_du":51.5232468,"mpcc_dv":46.9041672,"mpcc_dw":53.0958328,"mpcc_enc_sign":1,"mpcc_id_a":2.16614318,"mpcc_iq_a":-0.362202734,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-26.9078712,"mpcc_pred_id_a":-0.0106767192,"mpcc_pred_iq_a":1.78212059,"mpcc_state":1,"mpcc_theta_e":0.417920589,"mpcc_theta_mech":0.550530076,"sam_rpm":-39.3680954,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180956721,"thr_a_norm":0.0969260782,"thr_a_v":0.572382689,"thr_b":0,"thr_b_norm":0.042530328,"thr_b_v":0.460897237,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.006004,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.45852208,"cg_iw_a":-2.55287504,"cg_theta_rad":0.554745913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0531859808,"mpcc_du":49.4379768,"mpcc_dv":49.7527122,"mpcc_dw":50.5620232,"mpcc_enc_sign":1,"mpcc_id_a":2.63055754,"mpcc_iq_a":-1.80029702,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.61606932,"mpcc_pred_id_a":0.543594658,"mpcc_pred_iq_a":-1.45814013,"mpcc_state":1,"mpcc_theta_e":0.42993927,"mpcc_theta_mech":0.552933812,"sam_rpm":-10.9103909,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180956721,"thr_a_norm":0.0180956721,"thr_a_v":0.572382689,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460897237,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.017448,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.806133032,"cg_iw_a":-1.97297382,"cg_theta_rad":0.556072831,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0349243768,"mpcc_du":49.3389893,"mpcc_dv":50.6610107,"mpcc_dw":50.4573822,"mpcc_enc_sign":1,"mpcc_id_a":3.69384432,"mpcc_iq_a":-0.222004041,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.75221157,"mpcc_pred_id_a":0.80588907,"mpcc_pred_iq_a":-2.73879385,"mpcc_state":1,"mpcc_theta_e":0.443681717,"mpcc_theta_mech":0.555682302,"sam_rpm":13.4500771,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470212847,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.02755,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.516182423,"cg_iw_a":0.0566811562,"cg_theta_rad":0.557125449,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.064430587,"mpcc_du":50.4223709,"mpcc_dv":48.5724411,"mpcc_dw":51.4275589,"mpcc_enc_sign":1,"mpcc_id_a":0.963748515,"mpcc_iq_a":-0.22719565,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.47764134,"mpcc_pred_id_a":-0.285563499,"mpcc_pred_iq_a":-2.91326141,"mpcc_state":1,"mpcc_theta_e":0.448652744,"mpcc_theta_mech":0.556676507,"sam_rpm":-0.744127452,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105058372,"thr_a_norm":0.0264671594,"thr_a_v":0.920233488,"thr_b":0.0479056984,"thr_b_norm":0,"thr_b_v":0.691622794,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.037346,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":-1.02359605,"cg_iw_a":1.07150817,"cg_theta_rad":0.557810962,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0409695134,"mpcc_du":50.1704483,"mpcc_dv":48.8648148,"mpcc_dw":51.1351852,"mpcc_enc_sign":1,"mpcc_id_a":1.02552354,"mpcc_iq_a":0.0679243878,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.81826901,"mpcc_pred_id_a":-0.26305595,"mpcc_pred_iq_a":-1.78674495,"mpcc_state":1,"mpcc_theta_e":0.448929787,"mpcc_theta_mech":0.556866825,"sam_rpm":5.15754557,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105058372,"thr_a_norm":0.105058372,"thr_a_v":0.920233488,"thr_b":0.0479056984,"thr_b_norm":0.0479056984,"thr_b_v":0.691622794,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.047569,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.661157608,"cg_iw_a":-0.523220539,"cg_theta_rad":0.554348171,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0239442158,"mpcc_du":49.5767365,"mpcc_dv":49.3910294,"mpcc_dw":50.6089706,"mpcc_enc_sign":1,"mpcc_id_a":2.02678537,"mpcc_iq_a":0.147847727,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.55483627,"mpcc_pred_id_a":0.251960099,"mpcc_pred_iq_a":-0.636734247,"mpcc_state":1,"mpcc_theta_e":0.446465969,"mpcc_theta_mech":0.55655694,"sam_rpm":15.5692358,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257118344,"thr_a_norm":0.0257118344,"thr_a_v":0.602847338,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486880273,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.07058,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.443694592,"cg_iw_a":-0.305757523,"cg_theta_rad":0.555369973,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0267993715,"mpcc_du":50.9402618,"mpcc_dv":47.7645111,"mpcc_dw":52.2354889,"mpcc_enc_sign":1,"mpcc_id_a":0.493140668,"mpcc_iq_a":-0.546398818,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.2255726,"mpcc_pred_id_a":-0.0326361619,"mpcc_pred_iq_a":-1.40426874,"mpcc_state":1,"mpcc_theta_e":0.433236599,"mpcc_theta_mech":0.553593278,"sam_rpm":-22.7198162,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257118344,"thr_a_norm":0.0257118344,"thr_a_v":0.602847338,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486880273,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.07711,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-2.76329994,"cg_iw_a":-0.305757523,"cg_theta_rad":0.552671492,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0320850052,"mpcc_du":50.5656624,"mpcc_dv":48.1128235,"mpcc_dw":51.8871765,"mpcc_enc_sign":1,"mpcc_id_a":2.9401598,"mpcc_iq_a":-0.797075033,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.21057105,"mpcc_pred_id_a":0.41249454,"mpcc_pred_iq_a":2.01481581,"mpcc_state":1,"mpcc_theta_e":0.445652962,"mpcc_theta_mech":0.556076467,"sam_rpm":3.4412539,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222499371,"thr_a_norm":0.0222499371,"thr_a_v":0.588999748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.083672,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.588670254,"cg_iw_a":-1.75551033,"cg_theta_rad":0.557334602,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.000852620462,"mpcc_du":50.0523834,"mpcc_dv":48.6936417,"mpcc_dw":51.3063583,"mpcc_enc_sign":1,"mpcc_id_a":0.582534194,"mpcc_iq_a":-1.19784021,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.09164774,"mpcc_pred_id_a":-0.480502933,"mpcc_pred_iq_a":-5.39736223,"mpcc_state":1,"mpcc_theta_e":0.442573071,"mpcc_theta_mech":0.552430391,"sam_rpm":-1.50699806,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222499371,"thr_a_norm":0.0222499371,"thr_a_v":0.588999748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.090172,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.878620625,"cg_iw_a":-0.378244877,"cg_theta_rad":0.554707348,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0139789972,"mpcc_du":51.136364,"mpcc_dv":47.4324379,"mpcc_dw":52.5675621,"mpcc_enc_sign":1,"mpcc_id_a":2.29454875,"mpcc_iq_a":-0.442804128,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.9987679,"mpcc_pred_id_a":0.200805277,"mpcc_pred_iq_a":4.06656694,"mpcc_state":1,"mpcc_theta_e":0.427396297,"mpcc_theta_mech":0.552425206,"sam_rpm":-21.756773,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196063071,"thr_a_norm":0.0196063071,"thr_a_v":0.578425229,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479578853,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.100365,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.38603449,"cg_iw_a":0.926533222,"cg_theta_rad":0.553467274,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.00379955489,"mpcc_du":49.510025,"mpcc_dv":49.5422668,"mpcc_dw":50.489975,"mpcc_enc_sign":1,"mpcc_id_a":0.909717381,"mpcc_iq_a":-1.02162743,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.56430864,"mpcc_pred_id_a":0.119146235,"mpcc_pred_iq_a":-4.40417814,"mpcc_state":1,"mpcc_theta_e":0.437485695,"mpcc_theta_mech":0.554443061,"sam_rpm":-7.30264235,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274742395,"thr_a_norm":0.0196063071,"thr_a_v":0.609896958,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488894492,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.110191,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.89344811,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556697249,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0105784815,"mpcc_du":49.5542984,"mpcc_dv":49.7494431,"mpcc_dw":50.4457016,"mpcc_enc_sign":1,"mpcc_id_a":2.04589438,"mpcc_iq_a":-1.15593183,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.79680538,"mpcc_pred_id_a":-0.0127106225,"mpcc_pred_iq_a":-1.4548502,"mpcc_state":1,"mpcc_theta_e":0.444720745,"mpcc_theta_mech":0.555890083,"sam_rpm":8.8057251,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274742395,"thr_a_norm":0.0274742395,"thr_a_v":0.609896958,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488894492,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.120384,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-3.27071381,"cg_iw_a":0.564094782,"cg_theta_rad":0.553551733,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0550744906,"mpcc_du":50.1681938,"mpcc_dv":48.6760178,"mpcc_dw":51.3239822,"mpcc_enc_sign":1,"mpcc_id_a":2.55175376,"mpcc_iq_a":0.924993694,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.1308552,"mpcc_pred_id_a":0.219626233,"mpcc_pred_iq_a":-1.05753458,"mpcc_state":1,"mpcc_theta_e":0.442832947,"mpcc_theta_mech":0.555512488,"sam_rpm":-0.653373659,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0345113277,"thr_a_norm":0.0345113277,"thr_a_v":0.638045311,"thr_b":0.00828906894,"thr_b_norm":0.00828906894,"thr_b_v":0.533156276,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.130302,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.53100967,"cg_iw_a":0.854045391,"cg_theta_rad":0.551738739,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0191747863,"mpcc_du":51.0055962,"mpcc_dv":47.6034012,"mpcc_dw":51.0648422,"mpcc_enc_sign":1,"mpcc_id_a":2.18202806,"mpcc_iq_a":-1.03945553,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.7788925,"mpcc_pred_id_a":0.175151095,"mpcc_pred_iq_a":-0.366604328,"mpcc_state":1,"mpcc_theta_e":0.428931713,"mpcc_theta_mech":0.558223665,"sam_rpm":-26.9427586,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0345113277,"thr_a_norm":0.0345113277,"thr_a_v":0.638045311,"thr_b":0.00828906894,"thr_b_norm":0.00828906894,"thr_b_v":0.533156276,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.140373,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-2.32837415,"cg_iw_a":1.86887288,"cg_theta_rad":0.557349503,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0498708487,"mpcc_du":49.404644,"mpcc_dv":49.8347359,"mpcc_dw":50.595356,"mpcc_enc_sign":1,"mpcc_id_a":1.21793664,"mpcc_iq_a":-0.576752782,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.71370363,"mpcc_pred_id_a":0.863397717,"mpcc_pred_iq_a":-2.7448647,"mpcc_state":1,"mpcc_theta_e":0.438065529,"mpcc_theta_mech":0.554558992,"sam_rpm":11.0886679,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023735404,"thr_a_norm":0.023735404,"thr_a_v":0.594941616,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471169591,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.150597,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.16857147,"cg_iw_a":-0.305757523,"cg_theta_rad":0.555815339,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.000725381426,"mpcc_du":50.6847343,"mpcc_dv":48.2025871,"mpcc_dw":51.7974129,"mpcc_enc_sign":1,"mpcc_id_a":0.1261435,"mpcc_iq_a":-0.65227586,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.3549662,"mpcc_pred_id_a":-0.396752805,"mpcc_pred_iq_a":0.509302676,"mpcc_state":1,"mpcc_theta_e":0.430812836,"mpcc_theta_mech":0.553108513,"sam_rpm":-16.494072,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0146463662,"thr_a_norm":0.023735404,"thr_a_v":0.558585465,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449768841,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.173637,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-2.11091113,"cg_iw_a":1.07150817,"cg_theta_rad":0.553264499,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.000111075831,"mpcc_du":50.7507629,"mpcc_dv":48.2289162,"mpcc_dw":51.7710838,"mpcc_enc_sign":1,"mpcc_id_a":-0.133587554,"mpcc_iq_a":-1.54882252,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.7865324,"mpcc_pred_id_a":-0.561901867,"mpcc_pred_iq_a":1.1085664,"mpcc_state":1,"mpcc_theta_e":0.435305119,"mpcc_theta_mech":0.554006934,"sam_rpm":-10.4697809,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0146463662,"thr_a_norm":0.0146463662,"thr_a_v":0.558585465,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449768841,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.180138,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-3.85061502,"cg_iw_a":2.44877386,"cg_theta_rad":0.553878903,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.000889091927,"mpcc_du":48.5543556,"mpcc_dv":51.4456444,"mpcc_dw":48.992527,"mpcc_enc_sign":1,"mpcc_id_a":-0.115549847,"mpcc_iq_a":-2.63425517,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.94670963,"mpcc_pred_id_a":-0.633184731,"mpcc_pred_iq_a":-8.74087811,"mpcc_state":1,"mpcc_theta_e":0.449025631,"mpcc_theta_mech":0.556751072,"sam_rpm":11.0014343,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173277706,"thr_a_norm":0.0173277706,"thr_a_v":0.569311082,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444682986,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.186668,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.24105906,"cg_iw_a":-1.39307237,"cg_theta_rad":0.553422332,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0118300524,"mpcc_du":50.4893456,"mpcc_dv":48.3856201,"mpcc_dw":51.6143799,"mpcc_enc_sign":1,"mpcc_id_a":1.5375073,"mpcc_iq_a":-0.0208033081,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.5327282,"mpcc_pred_id_a":-0.0820624307,"mpcc_pred_iq_a":0.70044297,"mpcc_state":1,"mpcc_theta_e":0.436974525,"mpcc_theta_mech":0.55434078,"sam_rpm":-7.21116352,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173277706,"thr_a_norm":0.0173277706,"thr_a_v":0.569311082,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444682986,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.193169,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.661157608,"cg_iw_a":0.12916851,"cg_theta_rad":0.55692631,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0141324941,"mpcc_du":49.5506516,"mpcc_dv":49.4851189,"mpcc_dw":50.5148811,"mpcc_enc_sign":1,"mpcc_id_a":2.27806401,"mpcc_iq_a":-0.834395051,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.6920954,"mpcc_pred_id_a":0.0735571161,"mpcc_pred_iq_a":-3.09355545,"mpcc_state":1,"mpcc_theta_e":0.439139366,"mpcc_theta_mech":0.554773748,"sam_rpm":-2.56897807,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023685053,"thr_a_norm":0.023685053,"thr_a_v":0.594740212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.201561,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.24105906,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.556609213,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0170412455,"mpcc_du":49.7760887,"mpcc_dv":49.3354797,"mpcc_dw":50.6645203,"mpcc_enc_sign":1,"mpcc_id_a":1.34366989,"mpcc_iq_a":-0.276702046,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.3889942,"mpcc_pred_id_a":-0.23300299,"mpcc_pred_iq_a":-0.234989926,"mpcc_state":1,"mpcc_theta_e":0.452688217,"mpcc_theta_mech":0.557483554,"sam_rpm":18.5046291,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188887715,"thr_a_norm":0.023685053,"thr_a_v":0.575555086,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463263899,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.211571,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-2.11091113,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.555275798,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0230348464,"mpcc_du":49.7744827,"mpcc_dv":49.1239243,"mpcc_dw":50.8760757,"mpcc_enc_sign":1,"mpcc_id_a":1.00761974,"mpcc_iq_a":-1.46377027,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.79684496,"mpcc_pred_id_a":0.242087737,"mpcc_pred_iq_a":-2.43270445,"mpcc_state":1,"mpcc_theta_e":0.453212738,"mpcc_theta_mech":0.557588458,"sam_rpm":12.3464146,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188887715,"thr_a_norm":0.0188887715,"thr_a_v":0.575555086,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463263899,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.221581,"values":{"cg_iu_a":1.32935333,"cg_iv_a":1.15103388,"cg_iw_a":-3.49521446,"cg_theta_rad":0.553266227,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0139218625,"mpcc_du":50.1524696,"mpcc_dv":48.9890175,"mpcc_dw":51.0109825,"mpcc_enc_sign":1,"mpcc_id_a":-1.46908784,"mpcc_iq_a":-0.659053028,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.98007345,"mpcc_pred_id_a":-0.794213593,"mpcc_pred_iq_a":1.4574312,"mpcc_state":1,"mpcc_theta_e":0.428241253,"mpcc_theta_mech":0.552594125,"sam_rpm":-6.17731524,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0102277398,"thr_a_norm":0.0102277398,"thr_a_v":0.540910959,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453847557,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.23156,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.878620625,"cg_iw_a":-1.75551081,"cg_theta_rad":0.554285824,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.149881631,"mpcc_du":50.8695107,"mpcc_dv":47.5379562,"mpcc_dw":52.4620438,"mpcc_enc_sign":1,"mpcc_id_a":3.99812913,"mpcc_iq_a":1.76195097,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.66650248,"mpcc_pred_id_a":0.767151892,"mpcc_pred_iq_a":0.566113353,"mpcc_state":1,"mpcc_theta_e":0.444611549,"mpcc_theta_mech":0.555868208,"sam_rpm":-5.85868645,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0102277398,"thr_a_norm":0.0102277398,"thr_a_v":0.540910959,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453847557,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.241722,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.443694592,"cg_iw_a":-1.17560959,"cg_theta_rad":0.55404979,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0609319694,"mpcc_du":50.1503677,"mpcc_dv":48.7527771,"mpcc_dw":51.2472229,"mpcc_enc_sign":1,"mpcc_id_a":1.78756297,"mpcc_iq_a":-0.0196159035,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.158787414,"mpcc_pred_id_a":-0.0695732683,"mpcc_pred_iq_a":-2.99354339,"mpcc_state":1,"mpcc_theta_e":0.448462963,"mpcc_theta_mech":0.556638479,"sam_rpm":0.577186048,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178313106,"thr_a_norm":0.0178313106,"thr_a_v":0.571325243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452991545,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.251793,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-2.47334933,"cg_iw_a":1.21648335,"cg_theta_rad":0.556471825,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0363129526,"mpcc_du":50.6026344,"mpcc_dv":48.018486,"mpcc_dw":51.981514,"mpcc_enc_sign":1,"mpcc_id_a":2.02717543,"mpcc_iq_a":-0.857185781,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.95604992,"mpcc_pred_id_a":0.338586092,"mpcc_pred_iq_a":-1.49272907,"mpcc_state":1,"mpcc_theta_e":0.439932346,"mpcc_theta_mech":0.554932415,"sam_rpm":-12.5055122,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023836121,"thr_a_norm":0.0178313106,"thr_a_v":0.595344484,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479830623,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.274803,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.371207237,"cg_iw_a":-2.48038721,"cg_theta_rad":0.551892579,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0139744105,"mpcc_du":49.3682442,"mpcc_dv":50.6317558,"mpcc_dw":50.1066704,"mpcc_enc_sign":1,"mpcc_id_a":1.8568002,"mpcc_iq_a":-1.54467535,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.97216225,"mpcc_pred_id_a":-0.3498362,"mpcc_pred_iq_a":-5.23718739,"mpcc_state":1,"mpcc_theta_e":0.450600147,"mpcc_theta_mech":0.557065904,"sam_rpm":14.6700363,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023836121,"thr_a_norm":0.023836121,"thr_a_v":0.595344484,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479830623,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.281303,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.371207237,"cg_iw_a":-2.69785023,"cg_theta_rad":0.558997631,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.00377355469,"mpcc_du":50.6590576,"mpcc_dv":47.9995193,"mpcc_dw":52.0004807,"mpcc_enc_sign":1,"mpcc_id_a":1.20350242,"mpcc_iq_a":-1.42813921,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.3146486,"mpcc_pred_id_a":0.186202675,"mpcc_pred_iq_a":1.21555471,"mpcc_state":1,"mpcc_theta_e":0.433148861,"mpcc_theta_mech":0.553575695,"sam_rpm":-15.7585125,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192664266,"thr_a_norm":0.0192664266,"thr_a_v":0.577065706,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.287834,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.6759851,"cg_iw_a":-1.32058454,"cg_theta_rad":0.55732429,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.00906057935,"mpcc_du":49.7680931,"mpcc_dv":49.2495575,"mpcc_dw":50.7504425,"mpcc_enc_sign":1,"mpcc_id_a":1.89243674,"mpcc_iq_a":-1.81889808,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.22947143,"mpcc_pred_id_a":-0.138495073,"mpcc_pred_iq_a":-2.49207354,"mpcc_state":1,"mpcc_theta_e":0.442667007,"mpcc_theta_mech":0.555479348,"sam_rpm":-0.899145484,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192664266,"thr_a_norm":0.0192664266,"thr_a_v":0.577065706,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.294395,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.951108456,"cg_iw_a":-0.378244877,"cg_theta_rad":0.556886375,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.00791719835,"mpcc_du":50.8047676,"mpcc_dv":47.8184853,"mpcc_dw":52.1815147,"mpcc_enc_sign":1,"mpcc_id_a":1.41964197,"mpcc_iq_a":-1.83838439,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.4541569,"mpcc_pred_id_a":0.0846344009,"mpcc_pred_iq_a":1.24251628,"mpcc_state":1,"mpcc_theta_e":0.427647591,"mpcc_theta_mech":0.552475452,"sam_rpm":-23.1453266,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0111593008,"thr_a_norm":0.0111593008,"thr_a_v":0.544637203,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.424541086,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.302574,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.588670254,"cg_iw_a":-0.523220062,"cg_theta_rad":0.55647099,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0236140378,"mpcc_du":50.1647873,"mpcc_dv":48.4181404,"mpcc_dw":51.5818596,"mpcc_enc_sign":1,"mpcc_id_a":3.02281213,"mpcc_iq_a":-0.594990849,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.4545975,"mpcc_pred_id_a":0.659926176,"mpcc_pred_iq_a":-1.00684857,"mpcc_state":1,"mpcc_theta_e":0.428741932,"mpcc_theta_mech":0.552694261,"sam_rpm":-18.5193958,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0456649065,"thr_a_norm":0.0111593008,"thr_a_v":0.682659626,"thr_b":0.0146211833,"thr_b_norm":0,"thr_b_v":0.558484733,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.312584,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.60349751,"cg_iw_a":0.564094543,"cg_theta_rad":0.554207683,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.00265167211,"mpcc_du":49.4867439,"mpcc_dv":50.5132561,"mpcc_dw":50.0099068,"mpcc_enc_sign":1,"mpcc_id_a":-0.654201567,"mpcc_iq_a":-0.428209811,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.8190974,"mpcc_pred_id_a":-0.913329363,"mpcc_pred_iq_a":-5.10292435,"mpcc_state":1,"mpcc_theta_e":0.438720226,"mpcc_theta_mech":0.554690003,"sam_rpm":1.29032171,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0456649065,"thr_a_norm":0.0456649065,"thr_a_v":0.682659626,"thr_b":0.0146211833,"thr_b_norm":0.0146211833,"thr_b_v":0.558484733,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.322533,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.298719406,"cg_iw_a":-2.19043684,"cg_theta_rad":0.554308295,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.116377242,"mpcc_du":50.2046318,"mpcc_dv":48.5971718,"mpcc_dw":51.4028282,"mpcc_enc_sign":1,"mpcc_id_a":2.63458419,"mpcc_iq_a":1.56817412,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.60912943,"mpcc_pred_id_a":0.301573515,"mpcc_pred_iq_a":-1.72616684,"mpcc_state":1,"mpcc_theta_e":0.44937849,"mpcc_theta_mech":0.556821644,"sam_rpm":5.31386328,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198706836,"thr_a_norm":0.0198706836,"thr_a_v":0.579482734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469155431,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.332573,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.226231575,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.557428718,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0424497314,"mpcc_du":49.1789436,"mpcc_dv":50.8210564,"mpcc_dw":50.1920319,"mpcc_enc_sign":1,"mpcc_id_a":4.02147913,"mpcc_iq_a":1.25787377,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.8157835,"mpcc_pred_id_a":0.551655889,"mpcc_pred_iq_a":2.45201159,"mpcc_state":1,"mpcc_theta_e":0.426258087,"mpcc_theta_mech":0.552197576,"sam_rpm":3.55796051,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198706836,"thr_a_norm":0.0198706836,"thr_a_v":0.579482734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469155431,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.342979,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.806133032,"cg_iw_a":0.129168749,"cg_theta_rad":0.55864954,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.00421736436,"mpcc_du":49.4925537,"mpcc_dv":49.7244759,"mpcc_dw":50.5074463,"mpcc_enc_sign":1,"mpcc_id_a":1.10789096,"mpcc_iq_a":0.0891175717,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.97190475,"mpcc_pred_id_a":0.249089897,"mpcc_pred_iq_a":0.31702733,"mpcc_state":1,"mpcc_theta_e":0.435443401,"mpcc_theta_mech":0.554034591,"sam_rpm":7.46043253,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0187376887,"thr_a_norm":0.0187376887,"thr_a_v":0.574950755,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466486603,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.352959,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.588670254,"cg_iw_a":-0.523220062,"cg_theta_rad":0.553804696,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0370886698,"mpcc_du":49.7840385,"mpcc_dv":49.2028847,"mpcc_dw":50.7971153,"mpcc_enc_sign":1,"mpcc_id_a":1.16657639,"mpcc_iq_a":-0.470021039,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.3322411,"mpcc_pred_id_a":-0.123987064,"mpcc_pred_iq_a":0.304823667,"mpcc_state":1,"mpcc_theta_e":0.419523716,"mpcc_theta_mech":0.550850689,"sam_rpm":-20.2498055,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269455314,"thr_a_norm":0.0187376887,"thr_a_v":0.607782125,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490959018,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.375938,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-0.516182423,"cg_iw_a":-0.305757523,"cg_theta_rad":0.556391776,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.00632056361,"mpcc_du":48.5177727,"mpcc_dv":51.4822273,"mpcc_dw":48.9441795,"mpcc_enc_sign":1,"mpcc_id_a":0.529690981,"mpcc_iq_a":-1.13145649,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.79962111,"mpcc_pred_id_a":-0.697913051,"mpcc_pred_iq_a":-9.82544231,"mpcc_state":1,"mpcc_theta_e":0.447229385,"mpcc_theta_mech":0.556391776,"sam_rpm":8.56993103,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269455314,"thr_a_norm":0.0269455314,"thr_a_v":0.607782125,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490959018,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.3825,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.24105906,"cg_iw_a":-1.90048599,"cg_theta_rad":0.555752754,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.00963537861,"mpcc_du":49.5283012,"mpcc_dv":49.8603821,"mpcc_dw":50.4716988,"mpcc_enc_sign":1,"mpcc_id_a":0.624735713,"mpcc_iq_a":-0.762541592,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.94440079,"mpcc_pred_id_a":0.0210551769,"mpcc_pred_iq_a":-2.83608842,"mpcc_state":1,"mpcc_theta_e":0.450498104,"mpcc_theta_mech":0.557045519,"sam_rpm":13.2713203,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0239745975,"thr_a_norm":0.0239745975,"thr_a_v":0.59589839,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492217898,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.389,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.09608364,"cg_iw_a":0.564094543,"cg_theta_rad":0.556032896,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.000505613221,"mpcc_du":49.3740349,"mpcc_dv":50.6259651,"mpcc_dw":50.0580597,"mpcc_enc_sign":1,"mpcc_id_a":0.0106603336,"mpcc_iq_a":-0.880628824,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.21935368,"mpcc_pred_id_a":-0.412419975,"mpcc_pred_iq_a":-3.59613562,"mpcc_state":1,"mpcc_theta_e":0.442873001,"mpcc_theta_mech":0.555520475,"sam_rpm":7.98826838,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0239745975,"thr_a_norm":0.0239745975,"thr_a_v":0.59589839,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492217898,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.395775,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.371207237,"cg_iw_a":-2.04546165,"cg_theta_rad":0.555296898,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0505035147,"mpcc_du":50.054554,"mpcc_dv":48.4499664,"mpcc_dw":51.5500336,"mpcc_enc_sign":1,"mpcc_id_a":4.46755934,"mpcc_iq_a":-1.27785313,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.686573,"mpcc_pred_id_a":0.975979507,"mpcc_pred_iq_a":-1.41742408,"mpcc_state":1,"mpcc_theta_e":0.433191299,"mpcc_theta_mech":0.553584218,"sam_rpm":-15.6802673,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211798996,"thr_a_norm":0.0211798996,"thr_a_v":0.584719598,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.406151,"values":{"cg_iu_a":3.79393435,"cg_iv_a":-1.09608364,"cg_iw_a":-2.6978507,"cg_theta_rad":0.558709681,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0209156796,"mpcc_du":49.7751694,"mpcc_dv":49.5010529,"mpcc_dw":50.4989471,"mpcc_enc_sign":1,"mpcc_id_a":-1.22287512,"mpcc_iq_a":-0.751620293,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.85684776,"mpcc_pred_id_a":-0.71225816,"mpcc_pred_iq_a":-3.00020504,"mpcc_state":1,"mpcc_theta_e":0.451171398,"mpcc_theta_mech":0.55611366,"sam_rpm":10.5081015,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024138242,"thr_a_norm":0.024138242,"thr_a_v":0.596552968,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477564633,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.41613,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.733645439,"cg_iw_a":0.12916851,"cg_theta_rad":0.554125309,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.00793673657,"mpcc_du":49.9546585,"mpcc_dv":49.0463028,"mpcc_dw":50.9536972,"mpcc_enc_sign":1,"mpcc_id_a":0.634786367,"mpcc_iq_a":-0.239656091,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.31399679,"mpcc_pred_id_a":-0.202973261,"mpcc_pred_iq_a":0.830612659,"mpcc_state":1,"mpcc_theta_e":0.428713799,"mpcc_theta_mech":0.552688658,"sam_rpm":-9.02147007,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024138242,"thr_a_norm":0.024138242,"thr_a_v":0.596552968,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477564633,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.426353,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.11091113,"cg_iw_a":0.926532984,"cg_theta_rad":0.555435419,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0470098406,"mpcc_du":49.7019844,"mpcc_dv":49.186512,"mpcc_dw":50.813488,"mpcc_enc_sign":1,"mpcc_id_a":1.60256875,"mpcc_iq_a":-1.08922768,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.38297176,"mpcc_pred_id_a":0.197406709,"mpcc_pred_iq_a":0.980467916,"mpcc_state":1,"mpcc_theta_e":0.425426006,"mpcc_theta_mech":0.552031159,"sam_rpm":-13.4285002,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180075616,"thr_a_norm":0.0180075616,"thr_a_v":0.572030246,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.436729,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-1.45852208,"cg_iw_a":0.274143934,"cg_theta_rad":0.555822611,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0111235399,"mpcc_du":49.8096581,"mpcc_dv":49.0863113,"mpcc_dw":50.9136887,"mpcc_enc_sign":1,"mpcc_id_a":1.30916882,"mpcc_iq_a":0.185350776,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0107111847,"mpcc_pred_id_a":0.155834302,"mpcc_pred_iq_a":2.35223961,"mpcc_state":1,"mpcc_theta_e":0.431163788,"mpcc_theta_mech":0.553178668,"sam_rpm":-0.940962136,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234206915,"thr_a_norm":0.0180075616,"thr_a_v":0.593682766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474694431,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.4468,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.04546118,"cg_theta_rad":0.553471863,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0149217546,"mpcc_du":49.891407,"mpcc_dv":49.0011902,"mpcc_dw":50.9988098,"mpcc_enc_sign":1,"mpcc_id_a":2.1694293,"mpcc_iq_a":-0.555560172,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.381795138,"mpcc_pred_id_a":0.189550653,"mpcc_pred_iq_a":-1.03369594,"mpcc_state":1,"mpcc_theta_e":0.440531731,"mpcc_theta_mech":0.555052221,"sam_rpm":-0.657666206,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234206915,"thr_a_norm":0.0234206915,"thr_a_v":0.593682766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474694431,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.456779,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.82096052,"cg_iw_a":0.999020576,"cg_theta_rad":0.554800868,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.00983267371,"mpcc_du":49.5564919,"mpcc_dv":49.5150299,"mpcc_dw":50.4849701,"mpcc_enc_sign":1,"mpcc_id_a":1.09928119,"mpcc_iq_a":-0.270896822,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.34712017,"mpcc_pred_id_a":-0.181121036,"mpcc_pred_iq_a":-0.183220893,"mpcc_state":1,"mpcc_theta_e":0.431164265,"mpcc_theta_mech":0.553178728,"sam_rpm":-2.90881896,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257621855,"thr_a_norm":0.0257621855,"thr_a_v":0.603048742,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486175328,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.47982,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.733645439,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556462169,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.00309722894,"mpcc_du":48.4462547,"mpcc_dv":51.5537453,"mpcc_dw":49.0698204,"mpcc_enc_sign":1,"mpcc_id_a":0.930306911,"mpcc_iq_a":-1.46575189,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.8603888,"mpcc_pred_id_a":-0.163583636,"mpcc_pred_iq_a":-7.05027819,"mpcc_state":1,"mpcc_theta_e":0.449001312,"mpcc_theta_mech":0.556746185,"sam_rpm":15.0888262,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257621855,"thr_a_norm":0.0257621855,"thr_a_v":0.603048742,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486175328,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.48629,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.153744221,"cg_iw_a":-1.61053514,"cg_theta_rad":0.559136033,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.00564959086,"mpcc_du":51.2153893,"mpcc_dv":47.4303589,"mpcc_dw":52.5696411,"mpcc_enc_sign":1,"mpcc_id_a":0.766670167,"mpcc_iq_a":-0.299850285,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.7109919,"mpcc_pred_id_a":-0.118192181,"mpcc_pred_iq_a":2.20304799,"mpcc_state":1,"mpcc_theta_e":0.428619385,"mpcc_theta_mech":0.552669764,"sam_rpm":-23.1178093,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0147848576,"thr_a_norm":0.0147848576,"thr_a_v":0.559139431,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441057444,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.492821,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.661157608,"cg_iw_a":-0.59570837,"cg_theta_rad":0.557832837,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.00111334119,"mpcc_du":49.2673836,"mpcc_dv":50.7326164,"mpcc_dw":50.0367699,"mpcc_enc_sign":1,"mpcc_id_a":0.304746658,"mpcc_iq_a":-1.43902373,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.68995047,"mpcc_pred_id_a":-0.0470634587,"mpcc_pred_iq_a":-4.26253939,"mpcc_state":1,"mpcc_theta_e":0.444931984,"mpcc_theta_mech":0.555932283,"sam_rpm":8.7276392,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0147848576,"thr_a_norm":0.0147848576,"thr_a_v":0.559139431,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441057444,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.499596,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.32837415,"cg_iw_a":-0.305757284,"cg_theta_rad":0.556916475,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0231768582,"mpcc_du":49.7456245,"mpcc_dv":49.0924263,"mpcc_dw":50.9075737,"mpcc_enc_sign":1,"mpcc_id_a":1.1705451,"mpcc_iq_a":-1.14632523,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.18778229,"mpcc_pred_id_a":0.345195323,"mpcc_pred_iq_a":-3.12467408,"mpcc_state":1,"mpcc_theta_e":0.439070225,"mpcc_theta_mech":0.554759979,"sam_rpm":-6.78688145,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220359415,"thr_a_norm":0.0220359415,"thr_a_v":0.588143766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469155431,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.509789,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.226231575,"cg_iw_a":-1.0306344,"cg_theta_rad":0.555391133,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.00302987476,"mpcc_du":49.5904655,"mpcc_dv":49.5870895,"mpcc_dw":50.4129105,"mpcc_enc_sign":1,"mpcc_id_a":0.476232499,"mpcc_iq_a":0.105841778,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.549755454,"mpcc_pred_id_a":-0.322836131,"mpcc_pred_iq_a":-2.25844336,"mpcc_state":1,"mpcc_theta_e":0.435890198,"mpcc_theta_mech":0.554123998,"sam_rpm":-0.101019979,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0154142827,"thr_a_norm":0.0220359415,"thr_a_v":0.561657131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.519737,"values":{"cg_iu_a":2.27169323,"cg_iv_a":0.353669643,"cg_iw_a":-1.61053514,"cg_theta_rad":0.556315362,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0147286281,"mpcc_du":50.54673,"mpcc_dv":48.1240425,"mpcc_dw":51.8759575,"mpcc_enc_sign":1,"mpcc_id_a":1.88607383,"mpcc_iq_a":-2.89290738,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.0877123,"mpcc_pred_id_a":0.252009571,"mpcc_pred_iq_a":0.0419384055,"mpcc_state":1,"mpcc_theta_e":0.432030678,"mpcc_theta_mech":0.553352058,"sam_rpm":-18.7680225,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0154142827,"thr_a_norm":0.0154142827,"thr_a_v":0.561657131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.531181,"values":{"cg_iu_a":1.76427937,"cg_iv_a":0.498644829,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556975961,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0812751129,"mpcc_du":49.8494148,"mpcc_dv":48.7535057,"mpcc_dw":51.2464943,"mpcc_enc_sign":1,"mpcc_id_a":4.54076385,"mpcc_iq_a":-1.48760068,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.90954578,"mpcc_pred_id_a":0.896857977,"mpcc_pred_iq_a":-4.06054401,"mpcc_state":1,"mpcc_theta_e":0.449209213,"mpcc_theta_mech":0.556787729,"sam_rpm":-2.27444983,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205127001,"thr_a_norm":0.0205127001,"thr_a_v":0.5820508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.542137,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.516182423,"cg_iw_a":-0.305757523,"cg_theta_rad":0.555684686,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0587658584,"mpcc_du":49.3948784,"mpcc_dv":49.1220169,"mpcc_dw":50.8779831,"mpcc_enc_sign":1,"mpcc_id_a":4.82856369,"mpcc_iq_a":-0.687147796,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.16751218,"mpcc_pred_id_a":1.27726746,"mpcc_pred_iq_a":-1.93891728,"mpcc_state":1,"mpcc_theta_e":0.438286781,"mpcc_theta_mech":0.554603279,"sam_rpm":-4.05567789,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022476539,"thr_a_norm":0.0205127001,"thr_a_v":0.589906156,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.551964,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.24105906,"cg_iw_a":-1.03063416,"cg_theta_rad":0.559546411,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0164651386,"mpcc_du":49.6845665,"mpcc_dv":49.3200874,"mpcc_dw":50.6799126,"mpcc_enc_sign":1,"mpcc_id_a":1.96603,"mpcc_iq_a":-0.142892301,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.75128269,"mpcc_pred_id_a":-0.114626877,"mpcc_pred_iq_a":-0.910924613,"mpcc_state":1,"mpcc_theta_e":0.44402504,"mpcc_theta_mech":0.555750906,"sam_rpm":9.1491785,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022476539,"thr_a_norm":0.022476539,"thr_a_v":0.589906156,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.575371,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.45852208,"cg_iw_a":-0.813171148,"cg_theta_rad":0.553356409,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.00257237232,"mpcc_du":49.4163628,"mpcc_dv":50.5836372,"mpcc_dw":50.060955,"mpcc_enc_sign":1,"mpcc_id_a":0.173207387,"mpcc_iq_a":-2.54000592,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.53339052,"mpcc_pred_id_a":-0.688620031,"mpcc_pred_iq_a":-4.30087805,"mpcc_state":1,"mpcc_theta_e":0.448231697,"mpcc_theta_mech":0.556592286,"sam_rpm":10.407649,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209532976,"thr_a_norm":0.0209532976,"thr_a_v":0.58381319,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465882361,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.581902,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.516182423,"cg_iw_a":-5.23491859,"cg_theta_rad":0.55709058,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0220192317,"mpcc_du":50.3326836,"mpcc_dv":48.6949234,"mpcc_dw":51.3050766,"mpcc_enc_sign":1,"mpcc_id_a":0.829663575,"mpcc_iq_a":-0.67308712,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.35731936,"mpcc_pred_id_a":-0.45766294,"mpcc_pred_iq_a":-0.287191957,"mpcc_state":1,"mpcc_theta_e":0.448233128,"mpcc_theta_mech":0.556592584,"sam_rpm":7.25634098,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209532976,"thr_a_norm":0.0209532976,"thr_a_v":0.58381319,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465882361,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.588402,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.16857147,"cg_iw_a":0.419119358,"cg_theta_rad":0.55508095,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.00141760462,"mpcc_du":50.5708466,"mpcc_dv":48.2925224,"mpcc_dw":51.7074776,"mpcc_enc_sign":1,"mpcc_id_a":0.559200883,"mpcc_iq_a":-0.755701482,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.5345249,"mpcc_pred_id_a":-0.444469869,"mpcc_pred_iq_a":-1.39534879,"mpcc_state":1,"mpcc_theta_e":0.426957607,"mpcc_theta_mech":0.552337468,"sam_rpm":-25.9504108,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0418631285,"thr_a_norm":0.0418631285,"thr_a_v":0.667452514,"thr_b":0.0139791816,"thr_b_norm":0.0139791816,"thr_b_v":0.555916727,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.594933,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.951108456,"cg_iw_a":-1.75551081,"cg_theta_rad":0.552712202,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0195960514,"mpcc_du":49.8845367,"mpcc_dv":49.0106621,"mpcc_dw":50.9893379,"mpcc_enc_sign":1,"mpcc_id_a":2.52539778,"mpcc_iq_a":-0.31846121,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.51299,"mpcc_pred_id_a":-0.211721137,"mpcc_pred_iq_a":-5.39132214,"mpcc_state":1,"mpcc_theta_e":0.444833279,"mpcc_theta_mech":0.555912614,"sam_rpm":8.84904194,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221869946,"thr_a_norm":0.0418631285,"thr_a_v":0.588747978,"thr_b":0,"thr_b_norm":0.0139791816,"thr_b_v":0.476406515,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.602776,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.806133032,"cg_iw_a":-0.450732946,"cg_theta_rad":0.555059969,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0204468779,"mpcc_du":49.9188385,"mpcc_dv":48.7803879,"mpcc_dw":51.2196121,"mpcc_enc_sign":1,"mpcc_id_a":2.85203743,"mpcc_iq_a":-1.14647174,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.16098499,"mpcc_pred_id_a":0.538949728,"mpcc_pred_iq_a":-0.34695515,"mpcc_state":1,"mpcc_theta_e":0.438026428,"mpcc_theta_mech":0.554551184,"sam_rpm":-3.53180289,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221869946,"thr_a_norm":0.0221869946,"thr_a_v":0.588747978,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476406515,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.612755,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.45852208,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.555463612,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0282061789,"mpcc_du":49.521347,"mpcc_dv":49.227253,"mpcc_dw":50.772747,"mpcc_enc_sign":1,"mpcc_id_a":3.35893226,"mpcc_iq_a":0.289540023,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0514897853,"mpcc_pred_id_a":0.606912136,"mpcc_pred_iq_a":-0.052577652,"mpcc_state":1,"mpcc_theta_e":0.435010433,"mpcc_theta_mech":0.553948045,"sam_rpm":-0.647624433,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023458451,"thr_a_norm":0.023458451,"thr_a_v":0.593833804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463616401,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.622673,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.443694592,"cg_iw_a":-0.160782337,"cg_theta_rad":0.557826757,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0654456541,"mpcc_du":49.6675606,"mpcc_dv":49.1576347,"mpcc_dw":50.8423653,"mpcc_enc_sign":1,"mpcc_id_a":3.00323653,"mpcc_iq_a":-0.00989778992,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.00944185,"mpcc_pred_id_a":0.40547967,"mpcc_pred_iq_a":-3.69807196,"mpcc_state":1,"mpcc_theta_e":0.451494217,"mpcc_theta_mech":0.556160271,"sam_rpm":4.73106623,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023458451,"thr_a_norm":0.023458451,"thr_a_v":0.593833804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463616401,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.632774,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.38603449,"cg_iw_a":-0.16078186,"cg_theta_rad":0.557781458,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0561270975,"mpcc_du":49.9810715,"mpcc_dv":48.9812584,"mpcc_dw":51.0187416,"mpcc_enc_sign":1,"mpcc_id_a":1.14829862,"mpcc_iq_a":-0.513060033,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.93507051,"mpcc_pred_id_a":-0.0452859662,"mpcc_pred_iq_a":-2.88869476,"mpcc_state":1,"mpcc_theta_e":0.45670414,"mpcc_theta_mech":0.558286726,"sam_rpm":10.7940693,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184607506,"thr_a_norm":0.0184607506,"thr_a_v":0.573843002,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454451799,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.642784,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.661157608,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.552992702,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0176974125,"mpcc_du":50.5949593,"mpcc_dv":48.1473694,"mpcc_dw":51.8526306,"mpcc_enc_sign":1,"mpcc_id_a":2.22944117,"mpcc_iq_a":-1.62695324,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.0780573,"mpcc_pred_id_a":0.0382058211,"mpcc_pred_iq_a":-2.10162711,"mpcc_state":1,"mpcc_theta_e":0.433495998,"mpcc_theta_mech":0.553645074,"sam_rpm":-20.9427967,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0249816924,"thr_a_norm":0.0184607506,"thr_a_v":0.59992677,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487031341,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.652641,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.951108456,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556289554,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0429113843,"mpcc_du":49.5429459,"mpcc_dv":49.4597473,"mpcc_dw":50.5402527,"mpcc_enc_sign":1,"mpcc_id_a":2.90613842,"mpcc_iq_a":-0.364707351,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.74467444,"mpcc_pred_id_a":0.54286319,"mpcc_pred_iq_a":-1.45591915,"mpcc_state":1,"mpcc_theta_e":0.446078777,"mpcc_theta_mech":0.556548893,"sam_rpm":6.79326725,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0249816924,"thr_a_norm":0.0249816924,"thr_a_v":0.59992677,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487031341,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.662743,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.661157608,"cg_iw_a":-1.82799864,"cg_theta_rad":0.556368887,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0913554281,"mpcc_du":50.8587799,"mpcc_dv":47.7140274,"mpcc_dw":52.2859726,"mpcc_enc_sign":1,"mpcc_id_a":3.1444993,"mpcc_iq_a":-0.212338075,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.34464347,"mpcc_pred_id_a":0.579449832,"mpcc_pred_iq_a":0.260723829,"mpcc_state":1,"mpcc_theta_e":0.449772835,"mpcc_theta_mech":0.556900442,"sam_rpm":-0.759219468,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00733233988,"thr_b_norm":0.00733233988,"thr_b_v":0.52932936,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.684776,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-3.05325079,"cg_iw_a":2.37628651,"cg_theta_rad":0.553516746,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0514872745,"mpcc_du":50.1352234,"mpcc_dv":48.6193008,"mpcc_dw":51.3806992,"mpcc_enc_sign":1,"mpcc_id_a":1.80040777,"mpcc_iq_a":0.865234375,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.56166768,"mpcc_pred_id_a":0.355057001,"mpcc_pred_iq_a":-1.64997435,"mpcc_state":1,"mpcc_theta_e":0.442268372,"mpcc_theta_mech":0.555399597,"sam_rpm":-3.42889762,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00733233988,"thr_b_norm":0.00733233988,"thr_b_v":0.52932936,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.691277,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.53100967,"cg_iw_a":-0.523220539,"cg_theta_rad":0.553722382,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.00669400673,"mpcc_du":49.2920074,"mpcc_dv":50.7079926,"mpcc_dw":50.043602,"mpcc_enc_sign":1,"mpcc_id_a":1.61441886,"mpcc_iq_a":-1.55466843,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.27702665,"mpcc_pred_id_a":-0.17589891,"mpcc_pred_iq_a":-5.66241121,"mpcc_state":1,"mpcc_theta_e":0.44543314,"mpcc_theta_mech":0.556032538,"sam_rpm":5.77626371,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162703097,"thr_a_norm":0.0162703097,"thr_a_v":0.565081239,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474744767,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.697807,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.806133032,"cg_iw_a":-0.160782099,"cg_theta_rad":0.555617809,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.00363959442,"mpcc_du":49.9757843,"mpcc_dv":48.9582253,"mpcc_dw":51.0417747,"mpcc_enc_sign":1,"mpcc_id_a":0.917690575,"mpcc_iq_a":-0.660490096,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.5832119,"mpcc_pred_id_a":-0.0383122377,"mpcc_pred_iq_a":-2.17371321,"mpcc_state":1,"mpcc_theta_e":0.441356659,"mpcc_theta_mech":0.555217266,"sam_rpm":-10.6914196,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162703097,"thr_a_norm":0.0162703097,"thr_a_v":0.565081239,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474744767,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.705772,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.74847269,"cg_iw_a":0.564094543,"cg_theta_rad":0.553561509,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0220167469,"mpcc_du":49.511364,"mpcc_dv":50.488636,"mpcc_dw":50.1986351,"mpcc_enc_sign":1,"mpcc_id_a":-0.200272202,"mpcc_iq_a":0.194981381,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.4759502,"mpcc_pred_id_a":-0.480967462,"mpcc_pred_iq_a":-4.3252697,"mpcc_state":1,"mpcc_theta_e":0.452615261,"mpcc_theta_mech":0.55746901,"sam_rpm":15.5285959,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023131147,"thr_a_norm":0.023131147,"thr_a_v":0.592524588,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493678182,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.715752,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-2.47334933,"cg_iw_a":1.57892203,"cg_theta_rad":0.556193948,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0177234113,"mpcc_du":50.4628677,"mpcc_dv":48.2199745,"mpcc_dw":51.7800255,"mpcc_enc_sign":1,"mpcc_id_a":2.37502527,"mpcc_iq_a":-0.450007856,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.3497686,"mpcc_pred_id_a":0.385515064,"mpcc_pred_iq_a":-0.195172638,"mpcc_state":1,"mpcc_theta_e":0.433810711,"mpcc_theta_mech":0.553708076,"sam_rpm":-15.6564484,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182467401,"thr_a_norm":0.023131147,"thr_a_v":0.57298696,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453344017,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.725578,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.298719406,"cg_iw_a":-0.958146572,"cg_theta_rad":0.557349503,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0254679415,"mpcc_du":50.1114616,"mpcc_dv":49.118721,"mpcc_dw":50.881279,"mpcc_enc_sign":1,"mpcc_id_a":-0.0791135505,"mpcc_iq_a":-0.886835217,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.23538947,"mpcc_pred_id_a":-0.608795583,"mpcc_pred_iq_a":-2.96530485,"mpcc_state":1,"mpcc_theta_e":0.450025082,"mpcc_theta_mech":0.556950927,"sam_rpm":5.00265741,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182467401,"thr_a_norm":0.0182467401,"thr_a_v":0.57298696,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453344017,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.735985,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.16857147,"cg_iw_a":1.79638505,"cg_theta_rad":0.557150364,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.00227972143,"mpcc_du":50.7383156,"mpcc_dv":48.2403793,"mpcc_dw":51.7596207,"mpcc_enc_sign":1,"mpcc_id_a":-0.952374935,"mpcc_iq_a":-2.41523838,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.08832693,"mpcc_pred_id_a":-0.340142667,"mpcc_pred_iq_a":0.437155724,"mpcc_state":1,"mpcc_theta_e":0.440952778,"mpcc_theta_mech":0.555136502,"sam_rpm":-6.6301651,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219100416,"thr_a_norm":0.0219100416,"thr_a_v":0.587640166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.745537,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.53100967,"cg_iw_a":0.854045391,"cg_theta_rad":0.555662274,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0386068001,"mpcc_du":49.6199303,"mpcc_dv":49.2349548,"mpcc_dw":50.7650452,"mpcc_enc_sign":1,"mpcc_id_a":2.69060421,"mpcc_iq_a":-0.319736302,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.60203266,"mpcc_pred_id_a":0.580468833,"mpcc_pred_iq_a":-1.709975,"mpcc_state":1,"mpcc_theta_e":0.450201035,"mpcc_theta_mech":0.556986153,"sam_rpm":12.3239193,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219100416,"thr_a_norm":0.0219100416,"thr_a_v":0.587640166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.75576,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.878620625,"cg_iw_a":-1.32058477,"cg_theta_rad":0.554038584,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0509592928,"mpcc_du":49.7822685,"mpcc_dv":49.3228607,"mpcc_dw":50.6771393,"mpcc_enc_sign":1,"mpcc_id_a":1.25670576,"mpcc_iq_a":0.887013137,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.46990347,"mpcc_pred_id_a":-0.18687214,"mpcc_pred_iq_a":-2.44477677,"mpcc_state":1,"mpcc_theta_e":0.447266102,"mpcc_theta_mech":0.556399167,"sam_rpm":9.696908,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00724421442,"thr_b_norm":0.00724421442,"thr_b_v":0.528976858,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.765953,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.733645439,"cg_iw_a":-1.68302298,"cg_theta_rad":0.557234824,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.00700071547,"mpcc_du":49.5222244,"mpcc_dv":50.4777756,"mpcc_dw":50.2050591,"mpcc_enc_sign":1,"mpcc_id_a":0.79372704,"mpcc_iq_a":-1.91279924,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.31436062,"mpcc_pred_id_a":-0.412405074,"mpcc_pred_iq_a":-5.9665637,"mpcc_state":1,"mpcc_theta_e":0.45007658,"mpcc_theta_mech":0.556961238,"sam_rpm":8.50318241,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232948065,"thr_a_norm":0.0296772718,"thr_a_v":0.593179226,"thr_b":0,"thr_b_norm":0.00724421442,"thr_b_v":0.456516385,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.788963,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.38603449,"cg_iw_a":-1.10312176,"cg_theta_rad":0.55369693,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0135880644,"mpcc_du":51.0630913,"mpcc_dv":47.4408112,"mpcc_dw":52.5591888,"mpcc_enc_sign":1,"mpcc_id_a":2.32402778,"mpcc_iq_a":-1.60327125,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.1757355,"mpcc_pred_id_a":0.358640164,"mpcc_pred_iq_a":2.25608826,"mpcc_state":1,"mpcc_theta_e":0.426529884,"mpcc_theta_mech":0.552251875,"sam_rpm":-23.0864353,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232948065,"thr_a_norm":0.0232948065,"thr_a_v":0.593179226,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456516385,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.795433,"values":{"cg_iu_a":-0.265375137,"cg_iv_a":-0.443694592,"cg_iw_a":-2.11794901,"cg_theta_rad":0.556510091,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0445290208,"mpcc_du":49.5169373,"mpcc_dv":49.2393036,"mpcc_dw":50.7606964,"mpcc_enc_sign":1,"mpcc_id_a":3.38396978,"mpcc_iq_a":0.492364824,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.25898123,"mpcc_pred_id_a":0.853170574,"mpcc_pred_iq_a":-2.95342088,"mpcc_state":1,"mpcc_theta_e":0.440180302,"mpcc_theta_mech":0.554982007,"sam_rpm":-3.39554,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173151791,"thr_a_norm":0.0173151791,"thr_a_v":0.569260716,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439899296,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.802025,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.45852208,"cg_iw_a":-0.595708132,"cg_theta_rad":0.556310117,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0118846167,"mpcc_du":50.2901344,"mpcc_dv":48.4039154,"mpcc_dw":51.5960846,"mpcc_enc_sign":1,"mpcc_id_a":1.3358494,"mpcc_iq_a":-0.104433119,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.8314695,"mpcc_pred_id_a":0.487219483,"mpcc_pred_iq_a":-1.34845614,"mpcc_state":1,"mpcc_theta_e":0.431965828,"mpcc_theta_mech":0.553339064,"sam_rpm":-17.6087704,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173151791,"thr_a_norm":0.0173151791,"thr_a_v":0.569260716,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439899296,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.808525,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.806133032,"cg_iw_a":-0.885658503,"cg_theta_rad":0.556270719,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0027813476,"mpcc_du":50.6707306,"mpcc_dv":47.9815178,"mpcc_dw":52.0184822,"mpcc_enc_sign":1,"mpcc_id_a":0.27186656,"mpcc_iq_a":-2.60427642,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.8480549,"mpcc_pred_id_a":0.315586835,"mpcc_pred_iq_a":-0.202352628,"mpcc_state":1,"mpcc_theta_e":0.428487301,"mpcc_theta_mech":0.552643359,"sam_rpm":-23.389967,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450322747,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.816643,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.38603449,"cg_iw_a":-0.015806675,"cg_theta_rad":0.555546105,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0298290346,"mpcc_du":50.41539,"mpcc_dv":48.3690491,"mpcc_dw":51.6309509,"mpcc_enc_sign":1,"mpcc_id_a":2.64646816,"mpcc_iq_a":-0.217542112,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.54842663,"mpcc_pred_id_a":0.265183747,"mpcc_pred_iq_a":-0.569843292,"mpcc_state":1,"mpcc_theta_e":0.437736034,"mpcc_theta_mech":0.554493129,"sam_rpm":-9.69560528,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022728309,"thr_a_norm":0.0192160606,"thr_a_v":0.590913236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496749818,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.826836,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.53100967,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556510091,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0068401508,"mpcc_du":48.7595215,"mpcc_dv":51.2404785,"mpcc_dw":49.2641029,"mpcc_enc_sign":1,"mpcc_id_a":0.562741935,"mpcc_iq_a":-0.406957418,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":20.8273888,"mpcc_pred_id_a":-0.515659928,"mpcc_pred_iq_a":-4.4065032,"mpcc_state":1,"mpcc_theta_e":0.434949398,"mpcc_theta_mech":0.553935766,"sam_rpm":31.1532917,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022728309,"thr_a_norm":0.022728309,"thr_a_v":0.590913236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496749818,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.83712,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.96593571,"cg_iw_a":0.999020576,"cg_theta_rad":0.554517329,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0444975123,"mpcc_du":49.4504585,"mpcc_dv":50.4630928,"mpcc_dw":50.5495415,"mpcc_enc_sign":1,"mpcc_id_a":4.19425344,"mpcc_iq_a":0.344788641,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.47741699,"mpcc_pred_id_a":0.855683684,"mpcc_pred_iq_a":-1.79032373,"mpcc_state":1,"mpcc_theta_e":0.43949461,"mpcc_theta_mech":0.554844856,"sam_rpm":9.60988426,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174662322,"thr_a_norm":0.0174662322,"thr_a_v":0.569864929,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449970245,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.846947,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.60349751,"cg_iw_a":-0.885658741,"cg_theta_rad":0.555865288,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0625010133,"mpcc_du":49.9100914,"mpcc_dv":49.0259819,"mpcc_dw":50.9740181,"mpcc_enc_sign":1,"mpcc_id_a":2.75650573,"mpcc_iq_a":-0.687880218,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.28222847,"mpcc_pred_id_a":0.285506636,"mpcc_pred_iq_a":-3.07477117,"mpcc_state":1,"mpcc_theta_e":0.453736782,"mpcc_theta_mech":0.557693303,"sam_rpm":8.46338558,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174662322,"thr_a_norm":0.0174662322,"thr_a_v":0.569864929,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449970245,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.857109,"values":{"cg_iu_a":1.69179153,"cg_iv_a":0.136206627,"cg_iw_a":-1.39307213,"cg_theta_rad":0.557214916,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.00242624898,"mpcc_du":51.053936,"mpcc_dv":47.6408043,"mpcc_dw":52.3591957,"mpcc_enc_sign":1,"mpcc_id_a":0.883039653,"mpcc_iq_a":-1.09039104,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.1744938,"mpcc_pred_id_a":0.0263140965,"mpcc_pred_iq_a":1.49051809,"mpcc_state":1,"mpcc_theta_e":0.429456234,"mpcc_theta_mech":0.552837133,"sam_rpm":-22.4333591,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0432227105,"thr_a_norm":0.0432227105,"thr_a_v":0.672890842,"thr_b":0.00915770233,"thr_b_norm":0.00915770233,"thr_b_v":0.536630809,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.867546,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.38603449,"cg_iw_a":-1.17560911,"cg_theta_rad":0.555915654,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0198031012,"mpcc_du":49.5424881,"mpcc_dv":49.4957314,"mpcc_dw":50.5042686,"mpcc_enc_sign":1,"mpcc_id_a":2.04076266,"mpcc_iq_a":-1.34699667,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.25416756,"mpcc_pred_id_a":0.0845103189,"mpcc_pred_iq_a":-1.27127135,"mpcc_state":1,"mpcc_theta_e":0.430432796,"mpcc_theta_mech":0.553032517,"sam_rpm":-5.35288811,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0432227105,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0.00915770233,"thr_b_v":0.451178759,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.890526,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-0.951108456,"cg_iw_a":0.854045391,"cg_theta_rad":0.55659318,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0020738719,"mpcc_du":50.8104439,"mpcc_dv":48.163353,"mpcc_dw":51.836647,"mpcc_enc_sign":1,"mpcc_id_a":-0.223863691,"mpcc_iq_a":-1.04626048,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.71391511,"mpcc_pred_id_a":-0.539254248,"mpcc_pred_iq_a":1.82493865,"mpcc_state":1,"mpcc_theta_e":0.438978672,"mpcc_theta_mech":0.554741681,"sam_rpm":-4.17355251,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451178759,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.897057,"values":{"cg_iu_a":3.8664217,"cg_iv_a":-2.0384233,"cg_iw_a":-0.81317091,"cg_theta_rad":0.553834498,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.00715157948,"mpcc_du":49.3444366,"mpcc_dv":50.6555634,"mpcc_dw":50.117363,"mpcc_enc_sign":1,"mpcc_id_a":1.61233759,"mpcc_iq_a":-0.888167143,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.70458305,"mpcc_pred_id_a":-0.0777677447,"mpcc_pred_iq_a":-5.37333202,"mpcc_state":1,"mpcc_theta_e":0.437454224,"mpcc_theta_mech":0.554436803,"sam_rpm":-3.91543579,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201224536,"thr_a_norm":0.0201224536,"thr_a_v":0.580489814,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.903618,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.16857147,"cg_iw_a":0.12916851,"cg_theta_rad":0.555513024,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0161648728,"mpcc_du":49.5998535,"mpcc_dv":50.3762779,"mpcc_dw":50.4001465,"mpcc_enc_sign":1,"mpcc_id_a":2.43787289,"mpcc_iq_a":-1.8507309,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.85144639,"mpcc_pred_id_a":-0.141568214,"mpcc_pred_iq_a":-3.67038465,"mpcc_state":1,"mpcc_theta_e":0.44412899,"mpcc_theta_mech":0.555771708,"sam_rpm":4.83802128,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201224536,"thr_a_norm":0.0201224536,"thr_a_v":0.580489814,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.910118,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.951108456,"cg_iw_a":-0.378244877,"cg_theta_rad":0.55373323,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0261868574,"mpcc_du":50.4616394,"mpcc_dv":48.3240585,"mpcc_dw":51.6759415,"mpcc_enc_sign":1,"mpcc_id_a":2.32960939,"mpcc_iq_a":0.504452169,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.5572367,"mpcc_pred_id_a":0.0973594934,"mpcc_pred_iq_a":-1.68683255,"mpcc_state":1,"mpcc_theta_e":0.428592205,"mpcc_theta_mech":0.552664399,"sam_rpm":-23.0347557,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0169123262,"thr_a_norm":0.0169123262,"thr_a_v":0.567649305,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.432648182,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.918327,"values":{"cg_iu_a":1.76427937,"cg_iv_a":0.281181812,"cg_iw_a":-2.91531324,"cg_theta_rad":0.555475354,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.043800313,"mpcc_du":49.6166878,"mpcc_dv":50.3833122,"mpcc_dw":50.3013573,"mpcc_enc_sign":1,"mpcc_id_a":1.56027973,"mpcc_iq_a":-0.990628004,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.526202261,"mpcc_pred_id_a":0.225181386,"mpcc_pred_iq_a":-5.32546997,"mpcc_state":1,"mpcc_theta_e":0.45443821,"mpcc_theta_mech":0.557833552,"sam_rpm":17.6250038,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0169123262,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448610663,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.930321,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.588670254,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556940675,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0631281957,"mpcc_du":49.4106483,"mpcc_dv":50.5893517,"mpcc_dw":50.2711143,"mpcc_enc_sign":1,"mpcc_id_a":2.49789524,"mpcc_iq_a":-0.733638287,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.5977573,"mpcc_pred_id_a":0.1243992,"mpcc_pred_iq_a":-5.71380472,"mpcc_state":1,"mpcc_theta_e":0.465019703,"mpcc_theta_mech":0.559949815,"sam_rpm":25.0172005,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448610663,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.940544,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-2.32837415,"cg_iw_a":0.709069967,"cg_theta_rad":0.556583881,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0346157327,"mpcc_du":50.0084152,"mpcc_dv":48.8458061,"mpcc_dw":51.1541939,"mpcc_enc_sign":1,"mpcc_id_a":2.19222379,"mpcc_iq_a":-2.17833018,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.27186179,"mpcc_pred_id_a":0.292981148,"mpcc_pred_iq_a":-3.56215882,"mpcc_state":1,"mpcc_theta_e":0.452591419,"mpcc_theta_mech":0.557464182,"sam_rpm":4.11298561,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0161066502,"thr_a_norm":0.0161066502,"thr_a_v":0.564426601,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460393697,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.950737,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.16857147,"cg_iw_a":-1.03063393,"cg_theta_rad":0.553896666,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0130606825,"mpcc_du":49.6004868,"mpcc_dv":49.8271065,"mpcc_dw":50.3885078,"mpcc_enc_sign":1,"mpcc_id_a":0.440515101,"mpcc_iq_a":-1.86182654,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.03406096,"mpcc_pred_id_a":-0.404850602,"mpcc_pred_iq_a":-2.30415511,"mpcc_state":1,"mpcc_theta_e":0.4351964,"mpcc_theta_mech":0.553985178,"sam_rpm":-4.62357521,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0159555972,"thr_a_norm":0.0161066502,"thr_a_v":0.563822389,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476003677,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.960533,"values":{"cg_iu_a":2.77910662,"cg_iv_a":1.22352171,"cg_iw_a":-4.00262833,"cg_theta_rad":0.554412782,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0040282337,"mpcc_du":50.5515213,"mpcc_dv":48.306118,"mpcc_dw":51.693882,"mpcc_enc_sign":1,"mpcc_id_a":1.24764955,"mpcc_iq_a":-1.30174077,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.9122696,"mpcc_pred_id_a":-0.159804285,"mpcc_pred_iq_a":1.1241287,"mpcc_state":1,"mpcc_theta_e":0.453410149,"mpcc_theta_mech":0.557627916,"sam_rpm":-7.65700436,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0159555972,"thr_a_norm":0.0159555972,"thr_a_v":0.563822389,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476003677,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.970909,"values":{"cg_iu_a":3.72144651,"cg_iv_a":-1.02359605,"cg_iw_a":0.926532984,"cg_theta_rad":0.558238983,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0264053252,"mpcc_du":49.8840523,"mpcc_dv":48.9353676,"mpcc_dw":51.0646324,"mpcc_enc_sign":1,"mpcc_id_a":2.83677649,"mpcc_iq_a":-1.68445098,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.4111402,"mpcc_pred_id_a":0.438530684,"mpcc_pred_iq_a":-2.31513405,"mpcc_state":1,"mpcc_theta_e":0.448164463,"mpcc_theta_mech":0.556578815,"sam_rpm":1.831671,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026605621,"thr_a_norm":0.026605621,"thr_a_v":0.606422484,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487837017,"vdc_v":55.2955055}} +{"type":"telemetry","t":90.99395,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.09608364,"cg_iw_a":0.564094543,"cg_theta_rad":0.557229817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.0372278504,"mpcc_du":48.8059158,"mpcc_dv":51.1940842,"mpcc_dw":49.7408485,"mpcc_enc_sign":1,"mpcc_id_a":3.35704637,"mpcc_iq_a":-0.287102818,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.4803715,"mpcc_pred_id_a":0.544991434,"mpcc_pred_iq_a":-6.30499601,"mpcc_state":1,"mpcc_theta_e":0.455106258,"mpcc_theta_mech":0.557967186,"sam_rpm":17.7680054,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026605621,"thr_a_norm":0.026605621,"thr_a_v":0.606422484,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487837017,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.000481,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.53100967,"cg_iw_a":1.21648359,"cg_theta_rad":0.557668447,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9903.29004,"hz_adc_isr":4996,"hz_app_loop":362,"hz_tim_isr":9992,"hz_vsense":362,"mpcc_cost":0.00725217257,"mpcc_du":50.2345886,"mpcc_dv":48.6000099,"mpcc_dw":51.3999901,"mpcc_enc_sign":1,"mpcc_id_a":1.12307072,"mpcc_iq_a":-1.8909204,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.89263058,"mpcc_pred_id_a":0.250909418,"mpcc_pred_iq_a":1.32683671,"mpcc_state":1,"mpcc_theta_e":0.452488899,"mpcc_theta_mech":0.557443678,"sam_rpm":14.9040709,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263790339,"thr_a_norm":0.0263790339,"thr_a_v":0.605516136,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498159766,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.006981,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.31354666,"cg_iw_a":-2.04546142,"cg_theta_rad":0.554482937,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.00571284676,"mpcc_du":50.1575203,"mpcc_dv":48.7205849,"mpcc_dw":51.2794151,"mpcc_enc_sign":1,"mpcc_id_a":1.14482474,"mpcc_iq_a":-1.52210879,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.44562578,"mpcc_pred_id_a":0.0450998768,"mpcc_pred_iq_a":0.722668231,"mpcc_state":1,"mpcc_theta_e":0.448709488,"mpcc_theta_mech":0.556687772,"sam_rpm":9.51713276,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263790339,"thr_a_norm":0.0263790339,"thr_a_v":0.605516136,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498159766,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.013542,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-1.02359605,"cg_iw_a":-2.26292419,"cg_theta_rad":0.556831896,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.025562102,"mpcc_du":50.2989693,"mpcc_dv":48.2861824,"mpcc_dw":51.7138176,"mpcc_enc_sign":1,"mpcc_id_a":2.9094007,"mpcc_iq_a":-0.337696046,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.84355211,"mpcc_pred_id_a":0.658146203,"mpcc_pred_iq_a":0.494293004,"mpcc_state":1,"mpcc_theta_e":0.436789513,"mpcc_theta_mech":0.554303825,"sam_rpm":-8.68381119,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190020651,"thr_a_norm":0.0190020651,"thr_a_v":0.57600826,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467241913,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.022148,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.09608364,"cg_iw_a":-1.32058477,"cg_theta_rad":0.55752337,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0146555761,"mpcc_du":50.2752075,"mpcc_dv":48.5551758,"mpcc_dw":51.4448242,"mpcc_enc_sign":1,"mpcc_id_a":1.38244581,"mpcc_iq_a":0.32358703,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.722572744,"mpcc_pred_id_a":0.06435626,"mpcc_pred_iq_a":0.585992575,"mpcc_state":1,"mpcc_theta_e":0.441191673,"mpcc_theta_mech":0.555184245,"sam_rpm":-1.50855744,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0231814981,"thr_a_norm":0.0190020651,"thr_a_v":0.592725992,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496800154,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.032127,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-0.371207237,"cg_iw_a":0.274144173,"cg_theta_rad":0.552054644,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0304815788,"mpcc_du":49.6311798,"mpcc_dv":49.2928085,"mpcc_dw":50.7071915,"mpcc_enc_sign":1,"mpcc_id_a":2.69381261,"mpcc_iq_a":0.207314,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.50162935,"mpcc_pred_id_a":0.175798759,"mpcc_pred_iq_a":-1.64715171,"mpcc_state":1,"mpcc_theta_e":0.44597578,"mpcc_theta_mech":0.556141078,"sam_rpm":5.93078661,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0231814981,"thr_a_norm":0.0231814981,"thr_a_v":0.592725992,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496800154,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.042503,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-0.153744221,"cg_iw_a":-0.740683079,"cg_theta_rad":0.55415827,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0868033618,"mpcc_du":50.4988708,"mpcc_dv":48.2376175,"mpcc_dw":51.7623825,"mpcc_enc_sign":1,"mpcc_id_a":3.15661097,"mpcc_iq_a":-0.344144285,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.24119806,"mpcc_pred_id_a":0.215307027,"mpcc_pred_iq_a":-2.68887186,"mpcc_state":1,"mpcc_theta_e":0.445724964,"mpcc_theta_mech":0.556090891,"sam_rpm":-6.42632341,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026051715,"thr_a_norm":0.026051715,"thr_a_v":0.60420686,"thr_b":0.000836566091,"thr_b_norm":0.000836566091,"thr_b_v":0.503346264,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.052299,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.878620625,"cg_iw_a":-1.46555996,"cg_theta_rad":0.55390197,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.12301977,"mpcc_du":50.3245239,"mpcc_dv":48.1562271,"mpcc_dw":51.8437729,"mpcc_enc_sign":1,"mpcc_id_a":4.62949991,"mpcc_iq_a":1.2243197,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.88524592,"mpcc_pred_id_a":0.92888999,"mpcc_pred_iq_a":-0.621907771,"mpcc_state":1,"mpcc_theta_e":0.445858002,"mpcc_theta_mech":0.556117475,"sam_rpm":-2.10435343,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026051715,"thr_a_norm":0.026051715,"thr_a_v":0.60420686,"thr_b":0.000836566091,"thr_b_norm":0.000836566091,"thr_b_v":0.503346264,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.062492,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-2.0384233,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556270719,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0837544203,"mpcc_du":49.9661903,"mpcc_dv":48.7741051,"mpcc_dw":51.2258949,"mpcc_enc_sign":1,"mpcc_id_a":2.09826899,"mpcc_iq_a":1.45428634,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.31272364,"mpcc_pred_id_a":0.454408377,"mpcc_pred_iq_a":-0.908813715,"mpcc_state":1,"mpcc_theta_e":0.449977398,"mpcc_theta_mech":0.55694139,"sam_rpm":10.8594446,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0978198498,"thr_a_norm":0.0978198498,"thr_a_v":0.891279399,"thr_b":0.0376333296,"thr_b_norm":0.0376333296,"thr_b_v":0.650533319,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.072746,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.74847269,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.552808285,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0251822267,"mpcc_du":50.3936691,"mpcc_dv":48.5083885,"mpcc_dw":51.4916115,"mpcc_enc_sign":1,"mpcc_id_a":0.572219729,"mpcc_iq_a":-0.0328817368,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.62892866,"mpcc_pred_id_a":-0.277756214,"mpcc_pred_iq_a":-1.77736676,"mpcc_state":1,"mpcc_theta_e":0.438751698,"mpcc_theta_mech":0.554696262,"sam_rpm":-8.95726967,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0125440657,"thr_a_norm":0.0978198498,"thr_a_v":0.550176263,"thr_b":0,"thr_b_norm":0.0376333296,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.09594,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-3.48817682,"cg_iw_a":1.43394661,"cg_theta_rad":0.553290904,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0481187478,"mpcc_du":49.5611839,"mpcc_dv":50.2211266,"mpcc_dw":50.4388161,"mpcc_enc_sign":1,"mpcc_id_a":3.03971148,"mpcc_iq_a":0.0674584284,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.67875338,"mpcc_pred_id_a":0.00659356499,"mpcc_pred_iq_a":-4.56773043,"mpcc_state":1,"mpcc_theta_e":0.450822353,"mpcc_theta_mech":0.557110369,"sam_rpm":9.99280167,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0125440657,"thr_a_norm":0.0125440657,"thr_a_v":0.550176263,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.10244,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.02359605,"cg_iw_a":0.491606951,"cg_theta_rad":0.553876996,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0160198398,"mpcc_du":48.9608765,"mpcc_dv":51.0391235,"mpcc_dw":49.6221046,"mpcc_enc_sign":1,"mpcc_id_a":1.18261409,"mpcc_iq_a":0.219833955,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.8141556,"mpcc_pred_id_a":-0.238875046,"mpcc_pred_iq_a":-5.42785406,"mpcc_state":1,"mpcc_theta_e":0.453286171,"mpcc_theta_mech":0.557603121,"sam_rpm":18.8051434,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181460381,"thr_a_norm":0.0181460381,"thr_a_v":0.572584152,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456818491,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.108971,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.96593571,"cg_iw_a":-1.61053514,"cg_theta_rad":0.556830883,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.000687555061,"mpcc_du":48.5356789,"mpcc_dv":51.4643211,"mpcc_dw":48.9512024,"mpcc_enc_sign":1,"mpcc_id_a":0.338421911,"mpcc_iq_a":-1.51114178,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.3345718,"mpcc_pred_id_a":-0.696051538,"mpcc_pred_iq_a":-6.81566715,"mpcc_state":1,"mpcc_theta_e":0.454035759,"mpcc_theta_mech":0.557753026,"sam_rpm":22.6718998,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181460381,"thr_a_norm":0.0181460381,"thr_a_v":0.572584152,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456818491,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.115532,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.02359605,"cg_iw_a":-0.450732708,"cg_theta_rad":0.554278195,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.00100692094,"mpcc_du":49.5439758,"mpcc_dv":49.7596054,"mpcc_dw":50.4560242,"mpcc_enc_sign":1,"mpcc_id_a":0.173651725,"mpcc_iq_a":-2.031147,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.65358877,"mpcc_pred_id_a":-0.31447348,"mpcc_pred_iq_a":-1.18427694,"mpcc_state":1,"mpcc_theta_e":0.449748993,"mpcc_theta_mech":0.556895733,"sam_rpm":11.8326559,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258628875,"thr_a_norm":0.0258628875,"thr_a_v":0.60345155,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484463245,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.123528,"values":{"cg_iu_a":1.18437815,"cg_iv_a":0.353669643,"cg_iw_a":-3.13277626,"cg_theta_rad":0.554822326,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0121276667,"mpcc_du":50.0959053,"mpcc_dv":48.7777061,"mpcc_dw":51.2222939,"mpcc_enc_sign":1,"mpcc_id_a":2.03755331,"mpcc_iq_a":-1.6731391,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.74908543,"mpcc_pred_id_a":0.250943929,"mpcc_pred_iq_a":0.696623087,"mpcc_state":1,"mpcc_theta_e":0.448676586,"mpcc_theta_mech":0.556333303,"sam_rpm":10.1808949,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178313106,"thr_a_norm":0.0258628875,"thr_a_v":0.571325243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451128393,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.133415,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.53100967,"cg_iw_a":-0.305757523,"cg_theta_rad":0.556152225,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.00860642735,"mpcc_du":50.1706924,"mpcc_dv":48.5849075,"mpcc_dw":51.4150925,"mpcc_enc_sign":1,"mpcc_id_a":1.82613981,"mpcc_iq_a":-1.61349046,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.53803587,"mpcc_pred_id_a":0.393431813,"mpcc_pred_iq_a":-1.02164555,"mpcc_state":1,"mpcc_theta_e":0.44701767,"mpcc_theta_mech":0.556349456,"sam_rpm":-10.8358173,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178313106,"thr_a_norm":0.0178313106,"thr_a_v":0.571325243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451128393,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.143517,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.09608364,"cg_iw_a":0.201656342,"cg_theta_rad":0.555531025,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0259403475,"mpcc_du":49.4742928,"mpcc_dv":49.8766747,"mpcc_dw":50.5257072,"mpcc_enc_sign":1,"mpcc_id_a":2.72591257,"mpcc_iq_a":-0.741044223,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.80852437,"mpcc_pred_id_a":0.445920527,"mpcc_pred_iq_a":-1.60151696,"mpcc_state":1,"mpcc_theta_e":0.445631981,"mpcc_theta_mech":0.556072354,"sam_rpm":5.5661931,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224891305,"thr_a_norm":0.0224891305,"thr_a_v":0.589956522,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473737687,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.153496,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.02359605,"cg_iw_a":-1.24809718,"cg_theta_rad":0.556072414,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0102184061,"mpcc_du":49.5503502,"mpcc_dv":50.1930542,"mpcc_dw":51.0396881,"mpcc_enc_sign":1,"mpcc_id_a":1.94286978,"mpcc_iq_a":-2.04073906,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.91987801,"mpcc_pred_id_a":0.122379474,"mpcc_pred_iq_a":-4.26379919,"mpcc_state":1,"mpcc_theta_e":0.447018147,"mpcc_theta_mech":0.556349516,"sam_rpm":7.5396719,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224891305,"thr_a_norm":0.0224891305,"thr_a_v":0.589956522,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473737687,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.163628,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-2.61832476,"cg_iw_a":0.346631527,"cg_theta_rad":0.55385828,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0084983455,"mpcc_du":50.1816101,"mpcc_dv":48.6931038,"mpcc_dw":51.3068962,"mpcc_enc_sign":1,"mpcc_id_a":1.62859571,"mpcc_iq_a":-1.69646382,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.12748885,"mpcc_pred_id_a":0.160879359,"mpcc_pred_iq_a":-0.825356424,"mpcc_state":1,"mpcc_theta_e":0.443750858,"mpcc_theta_mech":0.55569613,"sam_rpm":-2.10252142,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0161318332,"thr_a_norm":0.0161318332,"thr_a_v":0.564527333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468097955,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.17382,"values":{"cg_iu_a":2.05423021,"cg_iv_a":0.136206627,"cg_iw_a":-2.6253624,"cg_theta_rad":0.556797385,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.030259179,"mpcc_du":49.3444405,"mpcc_dv":50.6555595,"mpcc_dw":50.1172523,"mpcc_enc_sign":1,"mpcc_id_a":1.55646217,"mpcc_iq_a":-2.76964211,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.7893152,"mpcc_pred_id_a":0.0542708114,"mpcc_pred_iq_a":-4.17669725,"mpcc_state":1,"mpcc_theta_e":0.425885677,"mpcc_theta_mech":0.55212301,"sam_rpm":-1.80844176,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0121663958,"thr_a_norm":0.0161318332,"thr_a_v":0.548665583,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.436928362,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.19677,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.371207237,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556467593,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0186095312,"mpcc_du":50.5891304,"mpcc_dv":48.2045135,"mpcc_dw":51.7954865,"mpcc_enc_sign":1,"mpcc_id_a":2.69921398,"mpcc_iq_a":-0.966465056,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.70479774,"mpcc_pred_id_a":-0.131838217,"mpcc_pred_iq_a":-5.67023993,"mpcc_state":1,"mpcc_theta_e":0.447616577,"mpcc_theta_mech":0.556469262,"sam_rpm":-14.1273479,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0121663958,"thr_a_norm":0.0121663958,"thr_a_v":0.548665583,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.436928362,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.20327,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.516182423,"cg_iw_a":-2.40789986,"cg_theta_rad":0.556760967,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0537355952,"mpcc_du":49.5671082,"mpcc_dv":50.3108292,"mpcc_dw":50.4328918,"mpcc_enc_sign":1,"mpcc_id_a":3.42741895,"mpcc_iq_a":-0.62526387,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.10027432,"mpcc_pred_id_a":0.0816565007,"mpcc_pred_iq_a":-6.15953398,"mpcc_state":1,"mpcc_theta_e":0.449103355,"mpcc_theta_mech":0.55676657,"sam_rpm":4.8510108,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0279148519,"thr_a_norm":0.0279148519,"thr_a_v":0.611659408,"thr_b":0.000849157572,"thr_b_norm":0.000849157572,"thr_b_v":0.50339663,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.209801,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.588670254,"cg_iw_a":-0.668195724,"cg_theta_rad":0.555834591,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.016879756,"mpcc_du":49.7775307,"mpcc_dv":49.0614433,"mpcc_dw":50.9385567,"mpcc_enc_sign":1,"mpcc_id_a":2.36917758,"mpcc_iq_a":-0.982759118,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.51297975,"mpcc_pred_id_a":0.455664933,"mpcc_pred_iq_a":-2.49746132,"mpcc_state":1,"mpcc_theta_e":0.443763733,"mpcc_theta_mech":0.555698693,"sam_rpm":-6.1224308,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0279148519,"thr_a_norm":0.0279148519,"thr_a_v":0.611659408,"thr_b":0.000849157572,"thr_b_norm":0.000849157572,"thr_b_v":0.50339663,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.216484,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.16857147,"cg_iw_a":2.73872471,"cg_theta_rad":0.555794597,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.010151105,"mpcc_du":49.3724442,"mpcc_dv":50.6275558,"mpcc_dw":50.1345978,"mpcc_enc_sign":1,"mpcc_id_a":1.67421854,"mpcc_iq_a":-1.26040411,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.49518895,"mpcc_pred_id_a":-0.116564058,"mpcc_pred_iq_a":-6.02404499,"mpcc_state":1,"mpcc_theta_e":0.446231365,"mpcc_theta_mech":0.55619216,"sam_rpm":4.86897898,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025951013,"thr_a_norm":0.025951013,"thr_a_v":0.603804052,"thr_b":0.000975042582,"thr_b_norm":0.000975042582,"thr_b_v":0.50390017,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.226738,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.24105906,"cg_iw_a":-1.53804755,"cg_theta_rad":0.553978026,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.00903238822,"mpcc_du":49.9757309,"mpcc_dv":49.1734962,"mpcc_dw":50.8265038,"mpcc_enc_sign":1,"mpcc_id_a":1.36152184,"mpcc_iq_a":-2.08370781,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.903719723,"mpcc_pred_id_a":-0.444611281,"mpcc_pred_iq_a":-3.57626319,"mpcc_state":1,"mpcc_theta_e":0.445652962,"mpcc_theta_mech":0.555894852,"sam_rpm":-1.55454528,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217212141,"thr_a_norm":0.025951013,"thr_a_v":0.586884856,"thr_b":0,"thr_b_norm":0.000975042582,"thr_b_v":0.474744767,"vdc_v":55.2955055}} +{"type":"console","t":91.232665,"sequence":20,"text":"> var list"} +{"type":"telemetry","t":91.236504,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.733645439,"cg_iw_a":-1.39307213,"cg_theta_rad":0.556391776,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0592534505,"mpcc_du":49.5553436,"mpcc_dv":49.6326981,"mpcc_dw":50.4446564,"mpcc_enc_sign":1,"mpcc_id_a":-1.00741398,"mpcc_iq_a":-0.810656309,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.18530464,"mpcc_pred_id_a":-0.0324685611,"mpcc_pred_iq_a":-4.53536129,"mpcc_state":1,"mpcc_theta_e":0.449306011,"mpcc_theta_mech":0.556807101,"sam_rpm":14.176795,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217212141,"thr_a_norm":0.0217212141,"thr_a_v":0.586884856,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474744767,"vdc_v":55.2955055}} +{"type":"command","t":91.241206,"source":"ui","text":"var list","sent":true} +{"type":"console","t":91.241208,"sequence":21,"text":"(sent)"} +{"type":"telemetry","t":91.246696,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.298719406,"cg_iw_a":-4.2925787,"cg_theta_rad":0.554056764,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0352462567,"mpcc_du":49.5181541,"mpcc_dv":50.4818459,"mpcc_dw":50.3526764,"mpcc_enc_sign":1,"mpcc_id_a":2.29150677,"mpcc_iq_a":-0.650188923,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.99706459,"mpcc_pred_id_a":0.013452542,"mpcc_pred_iq_a":-5.53668737,"mpcc_state":1,"mpcc_theta_e":0.454820633,"mpcc_theta_mech":0.557910025,"sam_rpm":12.9639645,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.1052472,"thr_a_norm":0.1052472,"thr_a_v":0.920988798,"thr_b":0.0488498509,"thr_b_norm":0.0488498509,"thr_b_v":0.695399404,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.259087,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.31354666,"cg_iw_a":0.274143934,"cg_theta_rad":0.556249738,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0251739454,"mpcc_du":50.097393,"mpcc_dv":48.9285736,"mpcc_dw":51.0714264,"mpcc_enc_sign":1,"mpcc_id_a":2.05922627,"mpcc_iq_a":-0.790881097,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.57425809,"mpcc_pred_id_a":-0.0590477586,"mpcc_pred_iq_a":-2.40939856,"mpcc_state":1,"mpcc_theta_e":0.444506168,"mpcc_theta_mech":0.555847108,"sam_rpm":-1.23405123,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218345076,"thr_a_norm":0.1052472,"thr_a_v":0.58733803,"thr_b":0,"thr_b_norm":0.0488498509,"thr_b_v":0.467241913,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.268913,"values":{"cg_iu_a":1.40184116,"cg_iv_a":0.426157475,"cg_iw_a":-2.33541203,"cg_theta_rad":0.552591622,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0323480554,"mpcc_du":49.4546776,"mpcc_dv":49.6916809,"mpcc_dw":50.5453224,"mpcc_enc_sign":1,"mpcc_id_a":3.00267601,"mpcc_iq_a":0.0588573962,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.977253377,"mpcc_pred_id_a":0.46686247,"mpcc_pred_iq_a":0.123787865,"mpcc_state":1,"mpcc_theta_e":0.428599358,"mpcc_theta_mech":0.55266577,"sam_rpm":-2.55284905,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218345076,"thr_a_norm":0.0218345076,"thr_a_v":0.58733803,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467241913,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.297234,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.24105906,"cg_iw_a":0.0566809177,"cg_theta_rad":0.553182542,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0228671618,"mpcc_du":49.5128136,"mpcc_dv":50.4871864,"mpcc_dw":50.4454994,"mpcc_enc_sign":1,"mpcc_id_a":2.81234741,"mpcc_iq_a":-0.215373993,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.46413755,"mpcc_pred_id_a":0.314298421,"mpcc_pred_iq_a":-4.39780045,"mpcc_state":1,"mpcc_theta_e":0.442069054,"mpcc_theta_mech":0.555359721,"sam_rpm":3.08893752,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163458437,"thr_a_norm":0.0163458437,"thr_a_v":0.565383375,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471270293,"vdc_v":55.2955055}} +{"type":"console","t":91.300515,"sequence":22,"text":"[SHELL] IdVar = 0.0000"} +{"type":"console","t":91.300516,"sequence":23,"text":"[SHELL] IqVar = 10.0000"} +{"type":"console","t":91.300518,"sequence":24,"text":"[SHELL] ThrottleEnable = 1.0000"} +{"type":"console","t":91.300518,"sequence":25,"text":"[SHELL] SpdVar = 0.0000"} +{"type":"telemetry","t":91.303734,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.733645439,"cg_iw_a":-1.46555996,"cg_theta_rad":0.557767749,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.00259867706,"mpcc_du":50.9067612,"mpcc_dv":47.9665489,"mpcc_dw":52.0334511,"mpcc_enc_sign":1,"mpcc_id_a":0.499714792,"mpcc_iq_a":-1.05435371,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.603034,"mpcc_pred_id_a":-0.438680321,"mpcc_pred_iq_a":0.121678852,"mpcc_state":1,"mpcc_theta_e":0.43089962,"mpcc_theta_mech":0.553125799,"sam_rpm":-19.993433,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217212141,"thr_a_norm":0.0217212141,"thr_a_v":0.586884856,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472529203,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.310265,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.298719406,"cg_iw_a":-0.595707893,"cg_theta_rad":0.554443061,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0239176508,"mpcc_du":50.0333061,"mpcc_dv":49.3887062,"mpcc_dw":50.6112938,"mpcc_enc_sign":1,"mpcc_id_a":-2.09809923,"mpcc_iq_a":-0.247426644,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.96604943,"mpcc_pred_id_a":-1.19034743,"mpcc_pred_iq_a":-2.38298678,"mpcc_state":1,"mpcc_theta_e":0.444683552,"mpcc_theta_mech":0.554836392,"sam_rpm":4.38916969,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217212141,"thr_a_norm":0.0217212141,"thr_a_v":0.586884856,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472529203,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.316765,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-0.588670254,"cg_iw_a":-2.69785023,"cg_theta_rad":0.554535508,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.00642630365,"mpcc_du":49.512661,"mpcc_dv":50.487339,"mpcc_dw":50.2962494,"mpcc_enc_sign":1,"mpcc_id_a":1.59163749,"mpcc_iq_a":-1.92703736,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.2310419,"mpcc_pred_id_a":-0.117771231,"mpcc_pred_iq_a":-3.63789916,"mpcc_state":1,"mpcc_theta_e":0.450300217,"mpcc_theta_mech":0.557005942,"sam_rpm":14.5450449,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206637681,"thr_a_norm":0.0206637681,"thr_a_v":0.582655072,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464875251,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.323265,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.31354666,"cg_iw_a":-0.595707893,"cg_theta_rad":0.5537678,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.110950045,"mpcc_du":49.5012131,"mpcc_dv":49.9546585,"mpcc_dw":50.4987869,"mpcc_enc_sign":1,"mpcc_id_a":2.17420912,"mpcc_iq_a":1.73243856,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.9799776,"mpcc_pred_id_a":0.381195605,"mpcc_pred_iq_a":-3.65879202,"mpcc_state":1,"mpcc_theta_e":0.45789957,"mpcc_theta_mech":0.558525801,"sam_rpm":21.8894787,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182719231,"thr_a_norm":0.0206637681,"thr_a_v":0.573087692,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458027005,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.333092,"values":{"cg_iu_a":3.72144651,"cg_iv_a":-0.951108456,"cg_iw_a":-2.77033806,"cg_theta_rad":0.553009748,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.051469937,"mpcc_du":50.2417145,"mpcc_dv":48.5065346,"mpcc_dw":51.4934654,"mpcc_enc_sign":1,"mpcc_id_a":2.96723294,"mpcc_iq_a":-0.0647789314,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.17208457,"mpcc_pred_id_a":0.411720365,"mpcc_pred_iq_a":-1.14817977,"mpcc_state":1,"mpcc_theta_e":0.444607258,"mpcc_theta_mech":0.555867374,"sam_rpm":-1.50062692,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182719231,"thr_a_norm":0.0182719231,"thr_a_v":0.573087692,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458027005,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.343285,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-2.40086174,"cg_iw_a":0.636582375,"cg_theta_rad":0.556258261,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0164502896,"mpcc_du":49.4984093,"mpcc_dv":50.0855904,"mpcc_dw":50.5015907,"mpcc_enc_sign":1,"mpcc_id_a":2.56306386,"mpcc_iq_a":-0.224844843,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.878379345,"mpcc_pred_id_a":0.284736812,"mpcc_pred_iq_a":-2.52851105,"mpcc_state":1,"mpcc_theta_e":0.437784672,"mpcc_theta_mech":0.554502845,"sam_rpm":0.794339538,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0267440975,"thr_a_norm":0.0267440975,"thr_a_v":0.60697639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490455478,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.353111,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.371207237,"cg_iw_a":-2.33541203,"cg_theta_rad":0.556212664,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.058607664,"mpcc_du":50.6768646,"mpcc_dv":48.065052,"mpcc_dw":51.934948,"mpcc_enc_sign":1,"mpcc_id_a":2.69280124,"mpcc_iq_a":0.22006169,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.02634048,"mpcc_pred_id_a":0.0683318526,"mpcc_pred_iq_a":-1.26845491,"mpcc_state":1,"mpcc_theta_e":0.438812256,"mpcc_theta_mech":0.554708362,"sam_rpm":-12.7534676,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0267440975,"thr_a_norm":0.0267440975,"thr_a_v":0.60697639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490455478,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.363274,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.31354666,"cg_iw_a":-1.61053562,"cg_theta_rad":0.556511939,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.00374580501,"mpcc_du":51.004734,"mpcc_dv":47.9183731,"mpcc_dw":52.0816269,"mpcc_enc_sign":1,"mpcc_id_a":0.0639382154,"mpcc_iq_a":-1.96755373,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.27984166,"mpcc_pred_id_a":-0.531365097,"mpcc_pred_iq_a":1.76187098,"mpcc_state":1,"mpcc_theta_e":0.439156055,"mpcc_theta_mech":0.554777086,"sam_rpm":-3.00716734,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023735404,"thr_a_norm":0.023735404,"thr_a_v":0.594941616,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472982377,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.373375,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":-0.951108456,"cg_iw_a":-2.04546118,"cg_theta_rad":0.554269791,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0823528692,"mpcc_du":50.8274612,"mpcc_dv":47.4503441,"mpcc_dw":50.4431877,"mpcc_enc_sign":1,"mpcc_id_a":4.58709049,"mpcc_iq_a":0.180166334,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.1022253,"mpcc_pred_id_a":1.24451423,"mpcc_pred_iq_a":0.207310855,"mpcc_state":1,"mpcc_theta_e":0.435040951,"mpcc_theta_mech":0.557025313,"sam_rpm":-20.8311729,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.023735404,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449819207,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.396416,"values":{"cg_iu_a":4.88124943,"cg_iv_a":-1.96593571,"cg_iw_a":0.854045391,"cg_theta_rad":0.55862391,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.00144346128,"mpcc_du":48.896553,"mpcc_dv":51.103447,"mpcc_dw":49.4838219,"mpcc_enc_sign":1,"mpcc_id_a":0.389312416,"mpcc_iq_a":-0.92361778,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.31781244,"mpcc_pred_id_a":-0.380379826,"mpcc_pred_iq_a":-6.67398691,"mpcc_state":1,"mpcc_theta_e":0.445714951,"mpcc_theta_mech":0.556088924,"sam_rpm":10.2289295,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449819207,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.402977,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.588670254,"cg_iw_a":0.781557798,"cg_theta_rad":0.556065619,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0144471778,"mpcc_du":50.1220741,"mpcc_dv":48.7502403,"mpcc_dw":51.2497597,"mpcc_enc_sign":1,"mpcc_id_a":1.4429971,"mpcc_iq_a":-0.395621061,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.82589531,"mpcc_pred_id_a":0.145961449,"mpcc_pred_iq_a":-1.64085078,"mpcc_state":1,"mpcc_theta_e":0.438967228,"mpcc_theta_mech":0.554739356,"sam_rpm":-6.61856747,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.021620512,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.409477,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.443694592,"cg_iw_a":-1.32058477,"cg_theta_rad":0.557065904,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.00322106131,"mpcc_du":50.8614883,"mpcc_dv":47.8172836,"mpcc_dw":52.1827164,"mpcc_enc_sign":1,"mpcc_id_a":1.12569761,"mpcc_iq_a":-0.914761961,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.9908295,"mpcc_pred_id_a":-0.020664284,"mpcc_pred_iq_a":0.071238786,"mpcc_state":1,"mpcc_theta_e":0.422605038,"mpcc_theta_mech":0.551466942,"sam_rpm":-31.5021915,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.021620512,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.415977,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.226231575,"cg_iw_a":-1.53804779,"cg_theta_rad":0.556811571,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0268659443,"mpcc_du":49.9387093,"mpcc_dv":48.8937073,"mpcc_dw":51.1062927,"mpcc_enc_sign":1,"mpcc_id_a":3.17816925,"mpcc_iq_a":-1.64473319,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.701166332,"mpcc_pred_id_a":0.394535005,"mpcc_pred_iq_a":-1.30643499,"mpcc_state":1,"mpcc_theta_e":0.443601131,"mpcc_theta_mech":0.555666149,"sam_rpm":0.917738736,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02428931,"thr_a_norm":0.02428931,"thr_a_v":0.59715724,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477111459,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.424492,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.878620625,"cg_iw_a":0.564094543,"cg_theta_rad":0.55428189,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.00235843635,"mpcc_du":50.1711807,"mpcc_dv":50.1245651,"mpcc_dw":50.4103737,"mpcc_enc_sign":1,"mpcc_id_a":0.294841766,"mpcc_iq_a":-2.01982427,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.7020035,"mpcc_pred_id_a":-0.0593169071,"mpcc_pred_iq_a":-1.95271194,"mpcc_state":1,"mpcc_theta_e":0.431099892,"mpcc_theta_mech":0.556304574,"sam_rpm":-17.5614033,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0321194828,"thr_a_norm":0.02428931,"thr_a_v":0.628477931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479226381,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.434532,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-2.54583716,"cg_iw_a":1.43394685,"cg_theta_rad":0.554807246,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0498607233,"mpcc_du":49.4539719,"mpcc_dv":50.4528122,"mpcc_dw":50.5460281,"mpcc_enc_sign":1,"mpcc_id_a":4.45785093,"mpcc_iq_a":-0.283352166,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.26766467,"mpcc_pred_id_a":0.692417443,"mpcc_pred_iq_a":-2.64535069,"mpcc_state":1,"mpcc_theta_e":0.438515663,"mpcc_theta_mech":0.554649055,"sam_rpm":4.43963718,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0321194828,"thr_a_norm":0.0321194828,"thr_a_v":0.628477931,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479226381,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.444786,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.02359605,"cg_iw_a":-1.03063416,"cg_theta_rad":0.551742196,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.03012315,"mpcc_du":50.094593,"mpcc_dv":48.5789146,"mpcc_dw":51.4210854,"mpcc_enc_sign":1,"mpcc_id_a":3.39541411,"mpcc_iq_a":-2.52436805,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.31189775,"mpcc_pred_id_a":0.663909256,"mpcc_pred_iq_a":-1.56645954,"mpcc_state":1,"mpcc_theta_e":0.451220036,"mpcc_theta_mech":0.557189941,"sam_rpm":-3.42927051,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0157793611,"thr_a_norm":0.0157793611,"thr_a_v":0.563117445,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.454704,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.951108456,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556870997,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0252951309,"mpcc_du":49.4306946,"mpcc_dv":50.5693054,"mpcc_dw":50.395771,"mpcc_enc_sign":1,"mpcc_id_a":2.82843804,"mpcc_iq_a":-0.853675485,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.19756782,"mpcc_pred_id_a":0.326541871,"mpcc_pred_iq_a":-3.0573957,"mpcc_state":1,"mpcc_theta_e":0.436645031,"mpcc_theta_mech":0.554274917,"sam_rpm":0.719072402,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0157793611,"thr_a_norm":0.0157793611,"thr_a_v":0.563117445,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.464653,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.31354666,"cg_iw_a":0.346631527,"cg_theta_rad":0.552969933,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.00174246205,"mpcc_du":50.5534592,"mpcc_dv":48.407444,"mpcc_dw":51.592556,"mpcc_enc_sign":1,"mpcc_id_a":0.136537448,"mpcc_iq_a":-1.81592906,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.1767168,"mpcc_pred_id_a":-0.488029629,"mpcc_pred_iq_a":-1.3071537,"mpcc_state":1,"mpcc_theta_e":0.438372135,"mpcc_theta_mech":0.554620326,"sam_rpm":-12.1014509,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0414980501,"thr_a_norm":0.0414980501,"thr_a_v":0.6659922,"thr_b":0.0127077103,"thr_b_norm":0.0127077103,"thr_b_v":0.550830841,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.475121,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.951108456,"cg_iw_a":0.491606951,"cg_theta_rad":0.554825604,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0317081511,"mpcc_du":49.9021568,"mpcc_dv":48.906559,"mpcc_dw":51.093441,"mpcc_enc_sign":1,"mpcc_id_a":2.22453165,"mpcc_iq_a":-0.782146215,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.83597362,"mpcc_pred_id_a":0.268094808,"mpcc_pred_iq_a":-2.20855284,"mpcc_state":1,"mpcc_theta_e":0.44652462,"mpcc_theta_mech":0.55625087,"sam_rpm":3.20668983,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182970911,"thr_a_norm":0.0414980501,"thr_a_v":0.573188365,"thr_b":0,"thr_b_norm":0.0127077103,"thr_b_v":0.458178043,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.499199,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-2.0384233,"cg_iw_a":-0.450732946,"cg_theta_rad":0.55664736,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0150944218,"mpcc_du":49.3502274,"mpcc_dv":50.6497726,"mpcc_dw":50.1941795,"mpcc_enc_sign":1,"mpcc_id_a":0.363333762,"mpcc_iq_a":-0.636509895,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.88566685,"mpcc_pred_id_a":-0.0883144364,"mpcc_pred_iq_a":-5.5393014,"mpcc_state":1,"mpcc_theta_e":0.451095104,"mpcc_theta_mech":0.557164907,"sam_rpm":13.082469,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182970911,"thr_a_norm":0.0182970911,"thr_a_v":0.573188365,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458178043,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.505821,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.516182423,"cg_iw_a":-0.233269691,"cg_theta_rad":0.554059207,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.00339849386,"mpcc_du":50.2881279,"mpcc_dv":48.8234329,"mpcc_dw":51.1765671,"mpcc_enc_sign":1,"mpcc_id_a":-0.728604317,"mpcc_iq_a":-1.08581471,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.753492296,"mpcc_pred_id_a":-0.652338684,"mpcc_pred_iq_a":-0.222476989,"mpcc_state":1,"mpcc_theta_e":0.442959785,"mpcc_theta_mech":0.555537879,"sam_rpm":0.878507435,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0223128796,"thr_a_norm":0.0223128796,"thr_a_v":0.589251518,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488894492,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.512291,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.02359605,"cg_iw_a":0.129168749,"cg_theta_rad":0.556106985,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.00744867045,"mpcc_du":49.8786011,"mpcc_dv":49.1942101,"mpcc_dw":50.8057899,"mpcc_enc_sign":1,"mpcc_id_a":1.33205688,"mpcc_iq_a":-2.8140676,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.1223731,"mpcc_pred_id_a":-0.301807851,"mpcc_pred_iq_a":-1.28632867,"mpcc_state":1,"mpcc_theta_e":0.446527958,"mpcc_theta_mech":0.556251466,"sam_rpm":-9.83944511,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0223128796,"thr_a_norm":0.0223128796,"thr_a_v":0.589251518,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488894492,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.518791,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.588670254,"cg_iw_a":-0.740683556,"cg_theta_rad":0.554565132,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0077403984,"mpcc_du":49.5539703,"mpcc_dv":50.222805,"mpcc_dw":50.4460297,"mpcc_enc_sign":1,"mpcc_id_a":-0.0253679082,"mpcc_iq_a":-0.44706589,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.00641918,"mpcc_pred_id_a":0.0471246876,"mpcc_pred_iq_a":-4.46023178,"mpcc_state":1,"mpcc_theta_e":0.445012569,"mpcc_theta_mech":0.555948436,"sam_rpm":4.57283449,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0328622162,"thr_a_norm":0.0328622162,"thr_a_v":0.631448865,"thr_b":0.000169366598,"thr_b_norm":0.000169366598,"thr_b_v":0.500677466,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.528191,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.806133032,"cg_iw_a":0.274143934,"cg_theta_rad":0.555565715,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0331072472,"mpcc_du":49.5827484,"mpcc_dv":49.2718506,"mpcc_dw":50.7281494,"mpcc_enc_sign":1,"mpcc_id_a":2.91913748,"mpcc_iq_a":0.0619966723,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.74960899,"mpcc_pred_id_a":0.5066908,"mpcc_pred_iq_a":-0.604841828,"mpcc_state":1,"mpcc_theta_e":0.424804211,"mpcc_theta_mech":0.551906765,"sam_rpm":-16.8762836,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197447985,"thr_a_norm":0.0328622162,"thr_a_v":0.578979194,"thr_b":0,"thr_b_norm":0.000169366598,"thr_b_v":0.482247651,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.537865,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.24105906,"cg_iw_a":0.999020338,"cg_theta_rad":0.556200504,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0235932916,"mpcc_du":50.3766975,"mpcc_dv":48.3452988,"mpcc_dw":51.6547012,"mpcc_enc_sign":1,"mpcc_id_a":3.0587852,"mpcc_iq_a":-0.511887431,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.9329815,"mpcc_pred_id_a":0.339283794,"mpcc_pred_iq_a":-1.37260234,"mpcc_state":1,"mpcc_theta_e":0.426460266,"mpcc_theta_mech":0.552237928,"sam_rpm":-26.3939438,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197447985,"thr_a_norm":0.0197447985,"thr_a_v":0.578979194,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482247651,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.548058,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-2.40086174,"cg_iw_a":1.36145878,"cg_theta_rad":0.553649902,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.00235884287,"mpcc_du":49.8731308,"mpcc_dv":49.3301086,"mpcc_dw":50.6698914,"mpcc_enc_sign":1,"mpcc_id_a":0.525760293,"mpcc_iq_a":-4.62208366,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.30735779,"mpcc_pred_id_a":-0.35054642,"mpcc_pred_iq_a":-3.42952251,"mpcc_state":1,"mpcc_theta_e":0.451345444,"mpcc_theta_mech":0.557214975,"sam_rpm":6.09282494,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.018951714,"thr_a_norm":0.018951714,"thr_a_v":0.575806856,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468047589,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.558128,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-3.41568899,"cg_iw_a":2.81121206,"cg_theta_rad":0.552804708,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0131468298,"mpcc_du":49.7817307,"mpcc_dv":49.2426338,"mpcc_dw":50.7573662,"mpcc_enc_sign":1,"mpcc_id_a":0.842155039,"mpcc_iq_a":-0.657390893,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.39735365,"mpcc_pred_id_a":0.01207327,"mpcc_pred_iq_a":0.309433043,"mpcc_state":1,"mpcc_theta_e":0.429456234,"mpcc_theta_mech":0.552837133,"sam_rpm":-7.98173475,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.018951714,"thr_a_norm":0.018951714,"thr_a_v":0.575806856,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468047589,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.569298,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.17560959,"cg_theta_rad":0.556870997,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0348416232,"mpcc_du":50.1335793,"mpcc_dv":48.7164078,"mpcc_dw":51.2835922,"mpcc_enc_sign":1,"mpcc_id_a":1.0769769,"mpcc_iq_a":1.1547507,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.22186804,"mpcc_pred_id_a":0.28843686,"mpcc_pred_iq_a":-1.25189328,"mpcc_state":1,"mpcc_theta_e":0.45528841,"mpcc_theta_mech":0.558003604,"sam_rpm":7.3241539,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202986896,"thr_a_norm":0.0202986896,"thr_a_v":0.581194758,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464522749,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.580315,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-2.0384233,"cg_iw_a":0.636582136,"cg_theta_rad":0.554022312,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0314619094,"mpcc_du":49.5586014,"mpcc_dv":47.5519333,"mpcc_dw":52.4480667,"mpcc_enc_sign":1,"mpcc_id_a":0.0752795413,"mpcc_iq_a":-2.18293595,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.3499851,"mpcc_pred_id_a":-0.631252766,"mpcc_pred_iq_a":-6.07440567,"mpcc_state":1,"mpcc_theta_e":0.461476803,"mpcc_theta_mech":0.559241235,"sam_rpm":23.7339001,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479729921,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.603325,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.443694592,"cg_iw_a":-0.740683556,"cg_theta_rad":0.556296468,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.00921838265,"mpcc_du":50.6287842,"mpcc_dv":48.3408585,"mpcc_dw":51.6591415,"mpcc_enc_sign":1,"mpcc_id_a":-0.210533917,"mpcc_iq_a":-1.84293878,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.12140012,"mpcc_pred_id_a":-0.338301569,"mpcc_pred_iq_a":-2.71132493,"mpcc_state":1,"mpcc_theta_e":0.445683956,"mpcc_theta_mech":0.556082666,"sam_rpm":-16.650692,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479729921,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.609825,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.60349751,"cg_iw_a":0.274144173,"cg_theta_rad":0.556667387,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.000214512009,"mpcc_du":49.632679,"mpcc_dv":50.0286179,"mpcc_dw":50.367321,"mpcc_enc_sign":1,"mpcc_id_a":-0.126254007,"mpcc_iq_a":-1.18385279,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.36939216,"mpcc_pred_id_a":-0.417202145,"mpcc_pred_iq_a":-4.02234125,"mpcc_state":1,"mpcc_theta_e":0.437327862,"mpcc_theta_mech":0.55441153,"sam_rpm":-4.22269678,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0207141191,"thr_a_norm":0.0207141191,"thr_a_v":0.582856476,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.616356,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.16857147,"cg_iw_a":0.274143696,"cg_theta_rad":0.557562709,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.000808120996,"mpcc_du":49.6088066,"mpcc_dv":50.3911934,"mpcc_dw":50.312603,"mpcc_enc_sign":1,"mpcc_id_a":0.536572278,"mpcc_iq_a":-1.27777243,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.4469299,"mpcc_pred_id_a":-0.407227039,"mpcc_pred_iq_a":-2.44359779,"mpcc_state":1,"mpcc_theta_e":0.450502872,"mpcc_theta_mech":0.557046473,"sam_rpm":15.9893026,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0207141191,"thr_a_norm":0.0207141191,"thr_a_v":0.582856476,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.622948,"values":{"cg_iu_a":2.34418058,"cg_iv_a":0.498644829,"cg_iw_a":0.854045153,"cg_theta_rad":0.555197835,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0175424367,"mpcc_du":49.7185974,"mpcc_dv":49.2745171,"mpcc_dw":50.7254829,"mpcc_enc_sign":1,"mpcc_id_a":2.446275,"mpcc_iq_a":-0.816073895,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.34706116,"mpcc_pred_id_a":0.130828589,"mpcc_pred_iq_a":-3.46963382,"mpcc_state":1,"mpcc_theta_e":0.437422276,"mpcc_theta_mech":0.554430366,"sam_rpm":-8.26972866,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0330258608,"thr_a_norm":0.0330258608,"thr_a_v":0.632103443,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471169591,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.632805,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.516182423,"cg_iw_a":-2.11794925,"cg_theta_rad":0.560086012,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0351849087,"mpcc_du":50.1589279,"mpcc_dv":49.0114861,"mpcc_dw":50.9885139,"mpcc_enc_sign":1,"mpcc_id_a":-0.0791135505,"mpcc_iq_a":-0.886835217,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.715546072,"mpcc_pred_id_a":-0.543068826,"mpcc_pred_iq_a":-3.01290584,"mpcc_state":1,"mpcc_theta_e":0.450025082,"mpcc_theta_mech":0.556950927,"sam_rpm":6.42220736,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281414539,"thr_a_norm":0.0330258608,"thr_a_v":0.612565815,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495893806,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.642693,"values":{"cg_iu_a":-0.482838154,"cg_iv_a":-0.806133032,"cg_iw_a":-0.160782099,"cg_theta_rad":0.554498613,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0924202055,"mpcc_du":49.4005241,"mpcc_dv":49.5378342,"mpcc_dw":50.5994759,"mpcc_enc_sign":1,"mpcc_id_a":0.977144778,"mpcc_iq_a":-0.873914242,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.312974,"mpcc_pred_id_a":0.0756759867,"mpcc_pred_iq_a":-0.0560483746,"mpcc_state":1,"mpcc_theta_e":0.441493988,"mpcc_theta_mech":0.56017971,"sam_rpm":1.77060783,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281414539,"thr_a_norm":0.0281414539,"thr_a_v":0.612565815,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495893806,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.652641,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.661157608,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.556059837,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.07693021,"mpcc_du":50.4662857,"mpcc_dv":48.2134666,"mpcc_dw":51.7865334,"mpcc_enc_sign":1,"mpcc_id_a":2.19012523,"mpcc_iq_a":1.19531059,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.64662361,"mpcc_pred_id_a":0.411620378,"mpcc_pred_iq_a":-2.24037957,"mpcc_state":1,"mpcc_theta_e":0.439036846,"mpcc_theta_mech":0.554753304,"sam_rpm":-13.7412739,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250446349,"thr_a_norm":0.0250446349,"thr_a_v":0.60017854,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492771804,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.662529,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.31354666,"cg_iw_a":0.999020576,"cg_theta_rad":0.555795848,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0337568708,"mpcc_du":50.3875313,"mpcc_dv":48.4357376,"mpcc_dw":51.5642624,"mpcc_enc_sign":1,"mpcc_id_a":1.17677081,"mpcc_iq_a":-0.78896904,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.56905174,"mpcc_pred_id_a":0.0180919506,"mpcc_pred_iq_a":-1.87505746,"mpcc_state":1,"mpcc_theta_e":0.445279121,"mpcc_theta_mech":0.556001723,"sam_rpm":-3.16242051,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250446349,"thr_a_norm":0.0250446349,"thr_a_v":0.60017854,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492771804,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.672783,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.588670254,"cg_iw_a":-1.90048599,"cg_theta_rad":0.55333817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0426900983,"mpcc_du":49.6695213,"mpcc_dv":49.2940025,"mpcc_dw":50.7059975,"mpcc_enc_sign":1,"mpcc_id_a":2.2704792,"mpcc_iq_a":-0.854818702,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.943111956,"mpcc_pred_id_a":0.340875119,"mpcc_pred_iq_a":-2.23867798,"mpcc_state":1,"mpcc_theta_e":0.44811964,"mpcc_theta_mech":0.556569815,"sam_rpm":8.62726593,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218596905,"thr_a_norm":0.0218596905,"thr_a_v":0.587438762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472881675,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.682854,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.0812563896,"cg_iw_a":1.21648335,"cg_theta_rad":0.555871665,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0142968558,"mpcc_du":49.5942802,"mpcc_dv":49.153183,"mpcc_dw":50.846817,"mpcc_enc_sign":1,"mpcc_id_a":0.681931973,"mpcc_iq_a":-1.1819942,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.54087353,"mpcc_pred_id_a":-0.14563711,"mpcc_pred_iq_a":-3.53196406,"mpcc_state":1,"mpcc_theta_e":0.429112911,"mpcc_theta_mech":0.55198878,"sam_rpm":-10.4871321,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023533985,"thr_a_norm":0.0218596905,"thr_a_v":0.59413594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474492997,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.706169,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-0.661157608,"cg_iw_a":-2.98780107,"cg_theta_rad":0.555626392,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0352178328,"mpcc_du":50.2748718,"mpcc_dv":48.2987175,"mpcc_dw":51.7012825,"mpcc_enc_sign":1,"mpcc_id_a":3.24371171,"mpcc_iq_a":-0.823865473,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.60128689,"mpcc_pred_id_a":0.571401,"mpcc_pred_iq_a":-0.923111975,"mpcc_state":1,"mpcc_theta_e":0.438659191,"mpcc_theta_mech":0.554677784,"sam_rpm":-9.71128273,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023533985,"thr_a_norm":0.023533985,"thr_a_v":0.59413594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474492997,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.712456,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.89344811,"cg_iw_a":1.21648383,"cg_theta_rad":0.555952609,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0194379948,"mpcc_du":49.8261833,"mpcc_dv":47.7458649,"mpcc_dw":52.2541351,"mpcc_enc_sign":1,"mpcc_id_a":2.27764511,"mpcc_iq_a":-0.835537672,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.268507,"mpcc_pred_id_a":-0.0499127842,"mpcc_pred_iq_a":-3.47523117,"mpcc_state":1,"mpcc_theta_e":0.439640999,"mpcc_theta_mech":0.554874122,"sam_rpm":-7.8266387,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0129594803,"thr_a_norm":0.0129594803,"thr_a_v":0.551837921,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460343331,"vdc_v":54.6292953}} +{"type":"telemetry","t":91.718987,"values":{"cg_iu_a":2.12671757,"cg_iv_a":0.57113266,"cg_iw_a":-2.69785023,"cg_theta_rad":0.554523289,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0374341011,"mpcc_du":49.4687042,"mpcc_dv":49.6422119,"mpcc_dw":50.5312958,"mpcc_enc_sign":1,"mpcc_id_a":2.7764101,"mpcc_iq_a":-0.292256683,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.5426358,"mpcc_pred_id_a":0.16056858,"mpcc_pred_iq_a":-2.59279418,"mpcc_state":1,"mpcc_theta_e":0.442511082,"mpcc_theta_mech":0.555448115,"sam_rpm":13.9737864,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0129594803,"thr_a_norm":0.0129594803,"thr_a_v":0.551837921,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460343331,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.725456,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.951108456,"cg_iw_a":-2.91531372,"cg_theta_rad":0.559028804,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0246003419,"mpcc_du":50.3238831,"mpcc_dv":48.5841522,"mpcc_dw":51.4158478,"mpcc_enc_sign":1,"mpcc_id_a":1.34688735,"mpcc_iq_a":-0.260589838,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.42428923,"mpcc_pred_id_a":-0.232741266,"mpcc_pred_iq_a":-1.54547977,"mpcc_state":1,"mpcc_theta_e":0.440711498,"mpcc_theta_mech":0.555088222,"sam_rpm":-5.82815456,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247047395,"thr_a_norm":0.0247047395,"thr_a_v":0.598818958,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.733696,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.31354666,"cg_iw_a":-0.16078186,"cg_theta_rad":0.55547303,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0532495677,"mpcc_du":50.7460594,"mpcc_dv":48.0468369,"mpcc_dw":51.9531631,"mpcc_enc_sign":1,"mpcc_id_a":1.31505001,"mpcc_iq_a":0.673312128,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.66834545,"mpcc_pred_id_a":-0.153798983,"mpcc_pred_iq_a":-2.05538607,"mpcc_state":1,"mpcc_theta_e":0.447313786,"mpcc_theta_mech":0.556408703,"sam_rpm":-16.5083733,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0321068913,"thr_a_norm":0.0247047395,"thr_a_v":0.628427565,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.743889,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-3.3432014,"cg_iw_a":0.491606951,"cg_theta_rad":0.556687772,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0314975791,"mpcc_du":49.5745468,"mpcc_dv":49.6677742,"mpcc_dw":50.4254532,"mpcc_enc_sign":1,"mpcc_id_a":1.25020635,"mpcc_iq_a":-0.135285124,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.44255161,"mpcc_pred_id_a":-0.216759369,"mpcc_pred_iq_a":-3.2757535,"mpcc_state":1,"mpcc_theta_e":0.450499535,"mpcc_theta_mech":0.557045817,"sam_rpm":13.0909672,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0321068913,"thr_a_norm":0.0321068913,"thr_a_v":0.628427565,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.754082,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.02359605,"cg_iw_a":-1.39307237,"cg_theta_rad":0.552810371,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0339381471,"mpcc_du":50.0942764,"mpcc_dv":48.4870796,"mpcc_dw":51.5129204,"mpcc_enc_sign":1,"mpcc_id_a":2.94703436,"mpcc_iq_a":-1.10896361,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.1820755,"mpcc_pred_id_a":0.735529721,"mpcc_pred_iq_a":1.23256874,"mpcc_state":1,"mpcc_theta_e":0.427706242,"mpcc_theta_mech":0.552487135,"sam_rpm":-17.0044079,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0126573592,"thr_a_norm":0.0126573592,"thr_a_v":0.550629437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453545451,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.763878,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.371207237,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556115746,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0510509945,"mpcc_du":48.9932137,"mpcc_dv":51.0067863,"mpcc_dw":49.9733162,"mpcc_enc_sign":1,"mpcc_id_a":2.95658255,"mpcc_iq_a":0.0411116928,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.9161758,"mpcc_pred_id_a":0.56176281,"mpcc_pred_iq_a":-5.11042833,"mpcc_state":1,"mpcc_theta_e":0.457675457,"mpcc_theta_mech":0.558480978,"sam_rpm":26.5675583,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0126573592,"thr_a_norm":0.0126573592,"thr_a_v":0.550629437,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453545451,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.774162,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.298719406,"cg_iw_a":-1.10312176,"cg_theta_rad":0.553978086,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0195855778,"mpcc_du":50.1594658,"mpcc_dv":48.7252159,"mpcc_dw":51.2747841,"mpcc_enc_sign":1,"mpcc_id_a":1.8005079,"mpcc_iq_a":-1.83404958,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.3363744,"mpcc_pred_id_a":0.033444237,"mpcc_pred_iq_a":-2.70758295,"mpcc_state":1,"mpcc_theta_e":0.447312832,"mpcc_theta_mech":0.556761026,"sam_rpm":-2.10987496,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266685635,"thr_a_norm":0.0266685635,"thr_a_v":0.606674254,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475751907,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.784294,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.24105906,"cg_iw_a":-0.450732708,"cg_theta_rad":0.555633664,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0323759802,"mpcc_du":49.4657898,"mpcc_dv":49.4051399,"mpcc_dw":50.5948601,"mpcc_enc_sign":1,"mpcc_id_a":2.60797143,"mpcc_iq_a":-0.818059385,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.753023982,"mpcc_pred_id_a":0.552065611,"mpcc_pred_iq_a":-4.49802732,"mpcc_state":1,"mpcc_theta_e":0.443702221,"mpcc_theta_mech":0.554998994,"sam_rpm":-0.413179278,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183474422,"thr_a_norm":0.0266685635,"thr_a_v":0.573389769,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459537655,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.80706,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.371207237,"cg_iw_a":0.0566811562,"cg_theta_rad":0.557304382,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.00983143505,"mpcc_du":50.8386269,"mpcc_dv":47.9019432,"mpcc_dw":52.0980568,"mpcc_enc_sign":1,"mpcc_id_a":1.90252972,"mpcc_iq_a":-0.779708385,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.3341846,"mpcc_pred_id_a":0.00694929296,"mpcc_pred_iq_a":1.08395255,"mpcc_state":1,"mpcc_theta_e":0.431647301,"mpcc_theta_mech":0.553275347,"sam_rpm":-18.6786613,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183474422,"thr_a_norm":0.0183474422,"thr_a_v":0.573389769,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459537655,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.813622,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.806133032,"cg_iw_a":-1.17560935,"cg_theta_rad":0.554106176,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0210593827,"mpcc_du":50.669796,"mpcc_dv":48.3070221,"mpcc_dw":51.6929779,"mpcc_enc_sign":1,"mpcc_id_a":0.738758385,"mpcc_iq_a":-0.53001529,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.12878752,"mpcc_pred_id_a":-0.399919748,"mpcc_pred_iq_a":-0.28212747,"mpcc_state":1,"mpcc_theta_e":0.441706181,"mpcc_theta_mech":0.555287182,"sam_rpm":-3.94451761,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200721025,"thr_a_norm":0.0200721025,"thr_a_v":0.58028841,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.820152,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.17560911,"cg_theta_rad":0.558120072,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0159684885,"mpcc_du":50.0843697,"mpcc_dv":48.7864075,"mpcc_dw":51.2135925,"mpcc_enc_sign":1,"mpcc_id_a":1.32251227,"mpcc_iq_a":-0.482618123,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.82769978,"mpcc_pred_id_a":0.0810747817,"mpcc_pred_iq_a":-1.71928525,"mpcc_state":1,"mpcc_theta_e":0.442107677,"mpcc_theta_mech":0.55536747,"sam_rpm":-2.51588845,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200721025,"thr_a_norm":0.0200721025,"thr_a_v":0.58028841,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.827141,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.371207237,"cg_iw_a":-1.39307213,"cg_theta_rad":0.552791417,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0716622397,"mpcc_du":49.0289383,"mpcc_dv":50.9710617,"mpcc_dw":50.1468582,"mpcc_enc_sign":1,"mpcc_id_a":5.0710206,"mpcc_iq_a":0.414189547,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.1031399,"mpcc_pred_id_a":1.16073549,"mpcc_pred_iq_a":0.426825315,"mpcc_state":1,"mpcc_theta_e":0.426130772,"mpcc_theta_mech":0.552172065,"sam_rpm":14.7701912,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181837976,"thr_a_norm":0.0181837976,"thr_a_v":0.57273519,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466486603,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.834923,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.31354666,"cg_iw_a":-1.75551081,"cg_theta_rad":0.555197656,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0141914878,"mpcc_du":49.23032,"mpcc_dv":50.76968,"mpcc_dw":49.9116516,"mpcc_enc_sign":1,"mpcc_id_a":1.33530557,"mpcc_iq_a":-0.790164173,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.3130159,"mpcc_pred_id_a":-0.238044843,"mpcc_pred_iq_a":-4.73656654,"mpcc_state":1,"mpcc_theta_e":0.455949306,"mpcc_theta_mech":0.558135748,"sam_rpm":21.205225,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0181837976,"thr_a_v":0.618709087,"thr_b":0.00653925538,"thr_b_norm":0,"thr_b_v":0.526157022,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.844902,"values":{"cg_iu_a":-1.64264083,"cg_iv_a":-0.443694592,"cg_iw_a":2.08633542,"cg_theta_rad":0.557825804,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.00509880902,"mpcc_du":50.1467323,"mpcc_dv":48.7043953,"mpcc_dw":51.2956047,"mpcc_enc_sign":1,"mpcc_id_a":1.20429397,"mpcc_iq_a":-1.07262385,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.28800416,"mpcc_pred_id_a":0.229741395,"mpcc_pred_iq_a":-0.570614576,"mpcc_state":1,"mpcc_theta_e":0.440780163,"mpcc_theta_mech":0.555101931,"sam_rpm":-3.7465477,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00653925538,"thr_b_norm":0.00653925538,"thr_b_v":0.526157022,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.857292,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.806133032,"cg_iw_a":0.0566809177,"cg_theta_rad":0.554666042,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.100569129,"mpcc_du":50.7048111,"mpcc_dv":47.8561554,"mpcc_dw":52.1438446,"mpcc_enc_sign":1,"mpcc_id_a":3.5402813,"mpcc_iq_a":0.114050418,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.04188967,"mpcc_pred_id_a":0.662836611,"mpcc_pred_iq_a":0.598245382,"mpcc_state":1,"mpcc_theta_e":0.447976589,"mpcc_theta_mech":0.556541204,"sam_rpm":4.052279,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248558074,"thr_a_norm":0.0248558074,"thr_a_v":0.59942323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480485231,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.867271,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.6759851,"cg_iw_a":-0.885658503,"cg_theta_rad":0.555758059,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0179923214,"mpcc_du":49.7180977,"mpcc_dv":49.328064,"mpcc_dw":50.671936,"mpcc_enc_sign":1,"mpcc_id_a":0.246887207,"mpcc_iq_a":-0.567408621,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.29138803,"mpcc_pred_id_a":-0.134643644,"mpcc_pred_iq_a":0.0635283887,"mpcc_state":1,"mpcc_theta_e":0.426502228,"mpcc_theta_mech":0.552246332,"sam_rpm":-10.7658663,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237731785,"thr_a_norm":0.0248558074,"thr_a_v":0.595092714,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470666051,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.877098,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.951108456,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556751728,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.00798573438,"mpcc_du":49.6090393,"mpcc_dv":50.2429886,"mpcc_dw":50.3909607,"mpcc_enc_sign":1,"mpcc_id_a":0.927426815,"mpcc_iq_a":-1.31562901,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.05033326,"mpcc_pred_id_a":-0.218954518,"mpcc_pred_iq_a":-3.21336937,"mpcc_state":1,"mpcc_theta_e":0.442990303,"mpcc_theta_mech":0.555543959,"sam_rpm":16.9195499,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237731785,"thr_a_norm":0.0237731785,"thr_a_v":0.595092714,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470666051,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.887474,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-1.24105906,"cg_iw_a":1.43394661,"cg_theta_rad":0.553501606,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.016218083,"mpcc_du":50.5167694,"mpcc_dv":48.4812317,"mpcc_dw":51.5187683,"mpcc_enc_sign":1,"mpcc_id_a":0.38590765,"mpcc_iq_a":-1.94166589,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.46054888,"mpcc_pred_id_a":-0.33720094,"mpcc_pred_iq_a":-2.82476926,"mpcc_state":1,"mpcc_theta_e":0.445156574,"mpcc_theta_mech":0.555977225,"sam_rpm":-7.63841772,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020865187,"thr_a_norm":0.020865187,"thr_a_v":0.583460748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459285885,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.910301,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.878620625,"cg_iw_a":-3.13277626,"cg_theta_rad":0.554801881,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0269645806,"mpcc_du":50.4295425,"mpcc_dv":48.718811,"mpcc_dw":51.281189,"mpcc_enc_sign":1,"mpcc_id_a":-0.252775699,"mpcc_iq_a":-1.26537848,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.13769579,"mpcc_pred_id_a":-0.717432857,"mpcc_pred_iq_a":-3.61635661,"mpcc_state":1,"mpcc_theta_e":0.443395138,"mpcc_theta_mech":0.555624902,"sam_rpm":-6.77440119,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020865187,"thr_a_norm":0.020865187,"thr_a_v":0.583460748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459285885,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.916862,"values":{"cg_iu_a":5.09871197,"cg_iv_a":-0.806133032,"cg_iw_a":-2.26292467,"cg_theta_rad":0.553972781,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.00824630074,"mpcc_du":50.6646843,"mpcc_dv":47.9071007,"mpcc_dw":52.0928993,"mpcc_enc_sign":1,"mpcc_id_a":1.80800915,"mpcc_iq_a":-1.51019621,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.3524361,"mpcc_pred_id_a":0.389141053,"mpcc_pred_iq_a":-0.875807106,"mpcc_state":1,"mpcc_theta_e":0.427937031,"mpcc_theta_mech":0.552533329,"sam_rpm":-27.6136627,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022073701,"thr_a_norm":0.022073701,"thr_a_v":0.588294804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475902975,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.923332,"values":{"cg_iu_a":1.32935333,"cg_iv_a":0.643620491,"cg_iw_a":-1.97297382,"cg_theta_rad":0.557582557,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0145176947,"mpcc_du":50.1981659,"mpcc_dv":48.4928551,"mpcc_dw":51.5071449,"mpcc_enc_sign":1,"mpcc_id_a":1.82730532,"mpcc_iq_a":-0.423812717,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.7362452,"mpcc_pred_id_a":0.390082061,"mpcc_pred_iq_a":-2.00617361,"mpcc_state":1,"mpcc_theta_e":0.432286739,"mpcc_theta_mech":0.553403258,"sam_rpm":-17.4812508,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022073701,"thr_a_norm":0.022073701,"thr_a_v":0.588294804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475902975,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.929863,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.878620625,"cg_iw_a":-2.04546165,"cg_theta_rad":0.557443976,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0120589025,"mpcc_du":49.9623413,"mpcc_dv":48.9162674,"mpcc_dw":51.0837326,"mpcc_enc_sign":1,"mpcc_id_a":1.93727446,"mpcc_iq_a":-0.704436004,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.9161463,"mpcc_pred_id_a":0.132881984,"mpcc_pred_iq_a":-3.43618965,"mpcc_state":1,"mpcc_theta_e":0.432035446,"mpcc_theta_mech":0.553353012,"sam_rpm":-17.7406063,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0158171207,"thr_a_norm":0.0158171207,"thr_a_v":0.563268483,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464321345,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.937859,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.298719406,"cg_iw_a":-2.33541203,"cg_theta_rad":0.556582749,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0160488412,"mpcc_du":49.8702698,"mpcc_dv":48.9899979,"mpcc_dw":51.0100021,"mpcc_enc_sign":1,"mpcc_id_a":1.09767795,"mpcc_iq_a":-1.60499001,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.7342014,"mpcc_pred_id_a":0.440981209,"mpcc_pred_iq_a":-0.599168181,"mpcc_state":1,"mpcc_theta_e":0.455477238,"mpcc_theta_mech":0.558041394,"sam_rpm":18.1011009,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0339574218,"thr_a_norm":0.0158171207,"thr_a_v":0.635829687,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489347667,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.947899,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.951108456,"cg_iw_a":-2.62536263,"cg_theta_rad":0.554823458,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0374177024,"mpcc_du":51.3291626,"mpcc_dv":47.2172394,"mpcc_dw":52.7827606,"mpcc_enc_sign":1,"mpcc_id_a":2.32721329,"mpcc_iq_a":-0.379303724,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.7145176,"mpcc_pred_id_a":0.251125574,"mpcc_pred_iq_a":0.866919041,"mpcc_state":1,"mpcc_theta_e":0.432838917,"mpcc_theta_mech":0.553513706,"sam_rpm":-23.7276878,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0339574218,"thr_a_norm":0.0339574218,"thr_a_v":0.635829687,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489347667,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.958092,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-0.733645439,"cg_iw_a":-0.16078186,"cg_theta_rad":0.553566873,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.0253313761,"mpcc_du":50.4004402,"mpcc_dv":48.5074081,"mpcc_dw":51.4925919,"mpcc_enc_sign":1,"mpcc_id_a":1.09647167,"mpcc_iq_a":-0.282053411,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.77878261,"mpcc_pred_id_a":0.00798219908,"mpcc_pred_iq_a":-1.28675342,"mpcc_state":1,"mpcc_theta_e":0.441326141,"mpcc_theta_mech":0.555211186,"sam_rpm":-5.02746677,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0255355984,"thr_a_norm":0.0255355984,"thr_a_v":0.602142394,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499267578,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.967918,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.89344811,"cg_iw_a":0.709069967,"cg_theta_rad":0.554644823,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.000499546004,"mpcc_du":50.1965675,"mpcc_dv":48.9933624,"mpcc_dw":51.0066376,"mpcc_enc_sign":1,"mpcc_id_a":-0.00246502296,"mpcc_iq_a":-1.6099565,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.79283285,"mpcc_pred_id_a":-0.618047535,"mpcc_pred_iq_a":-1.87071228,"mpcc_state":1,"mpcc_theta_e":0.435511589,"mpcc_theta_mech":0.55404824,"sam_rpm":-10.9179134,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0255355984,"thr_a_norm":0.0255355984,"thr_a_v":0.602142394,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499267578,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.978081,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.298719406,"cg_iw_a":-1.10312176,"cg_theta_rad":0.557388783,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.040368136,"mpcc_du":50.2071304,"mpcc_dv":48.834919,"mpcc_dw":51.165081,"mpcc_enc_sign":1,"mpcc_id_a":1.17222106,"mpcc_iq_a":-0.795713067,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.17138505,"mpcc_pred_id_a":-0.141630381,"mpcc_pred_iq_a":-2.78557992,"mpcc_state":1,"mpcc_theta_e":0.451021194,"mpcc_theta_mech":0.557150126,"sam_rpm":3.59685016,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283932239,"thr_a_norm":0.0283932239,"thr_a_v":0.613572896,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499972522,"vdc_v":55.2955055}} +{"type":"telemetry","t":91.988457,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.588670254,"cg_iw_a":-1.68302298,"cg_theta_rad":0.55584079,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.10156,"hz_adc_isr":5005,"hz_app_loop":361,"hz_tim_isr":10008,"hz_vsense":361,"mpcc_cost":0.00162316684,"mpcc_du":50.0987396,"mpcc_dv":48.871315,"mpcc_dw":51.128685,"mpcc_enc_sign":1,"mpcc_id_a":0.275515795,"mpcc_iq_a":-0.494594097,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.339489192,"mpcc_pred_id_a":-0.0586027727,"mpcc_pred_iq_a":0.121189646,"mpcc_state":1,"mpcc_theta_e":0.438670635,"mpcc_theta_mech":0.554680049,"sam_rpm":0.260658234,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261650234,"thr_a_norm":0.0283932239,"thr_a_v":0.604660094,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498965442,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.012077,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.661157608,"cg_iw_a":-0.523220062,"cg_theta_rad":0.558075845,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.00475695962,"mpcc_du":51.6445122,"mpcc_dv":46.957653,"mpcc_dw":53.042347,"mpcc_enc_sign":1,"mpcc_id_a":0.406096011,"mpcc_iq_a":-0.0408174656,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.3806038,"mpcc_pred_id_a":-0.239753082,"mpcc_pred_iq_a":3.13535213,"mpcc_state":1,"mpcc_theta_e":0.423346519,"mpcc_theta_mech":0.551615238,"sam_rpm":-31.4600277,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261650234,"thr_a_norm":0.0261650234,"thr_a_v":0.604660094,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498965442,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.018639,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.951108456,"cg_iw_a":0.78155756,"cg_theta_rad":0.552606463,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0902030542,"mpcc_du":49.4386292,"mpcc_dv":49.4782257,"mpcc_dw":50.5613708,"mpcc_enc_sign":1,"mpcc_id_a":3.55966496,"mpcc_iq_a":0.439604282,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.0421343,"mpcc_pred_id_a":0.610984921,"mpcc_pred_iq_a":-2.29576778,"mpcc_state":1,"mpcc_theta_e":0.458943367,"mpcc_theta_mech":0.558734596,"sam_rpm":23.2360001,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0371675342,"thr_a_norm":0.0371675342,"thr_a_v":0.648670137,"thr_b":0.0067280829,"thr_b_norm":0.0067280829,"thr_b_v":0.526912332,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.025139,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.16857147,"cg_iw_a":-0.81317091,"cg_theta_rad":0.553566158,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0108836628,"mpcc_du":50.1961212,"mpcc_dv":48.635704,"mpcc_dw":51.364296,"mpcc_enc_sign":1,"mpcc_id_a":1.37132561,"mpcc_iq_a":-0.548465967,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.16105497,"mpcc_pred_id_a":0.168047711,"mpcc_pred_iq_a":-0.161807805,"mpcc_state":1,"mpcc_theta_e":0.439924717,"mpcc_theta_mech":0.554930866,"sam_rpm":-1.75674176,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0371675342,"thr_a_norm":0.0371675342,"thr_a_v":0.648670137,"thr_b":0.0067280829,"thr_b_norm":0.0067280829,"thr_b_v":0.526912332,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.031639,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.16857147,"cg_iw_a":0.274144173,"cg_theta_rad":0.556827188,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.024343418,"mpcc_du":51.021286,"mpcc_dv":47.630188,"mpcc_dw":52.369812,"mpcc_enc_sign":1,"mpcc_id_a":1.71400511,"mpcc_iq_a":1.24434936,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.821517,"mpcc_pred_id_a":0.0859781727,"mpcc_pred_iq_a":2.47046757,"mpcc_state":1,"mpcc_theta_e":0.429911137,"mpcc_theta_mech":0.55292815,"sam_rpm":-17.2682076,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0251075774,"thr_a_norm":0.0251075774,"thr_a_v":0.60043031,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.039848,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.82096052,"cg_iw_a":-0.16078186,"cg_theta_rad":0.555797875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0104276696,"mpcc_du":49.6329002,"mpcc_dv":50.2154465,"mpcc_dw":50.3670998,"mpcc_enc_sign":1,"mpcc_id_a":0.100731425,"mpcc_iq_a":-1.01889431,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.79658961,"mpcc_pred_id_a":-0.382607728,"mpcc_pred_iq_a":-5.19622326,"mpcc_state":1,"mpcc_theta_e":0.44782877,"mpcc_theta_mech":0.5565117,"sam_rpm":5.95284128,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217086226,"thr_a_norm":0.0251075774,"thr_a_v":0.58683449,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475751907,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.048882,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.878620625,"cg_iw_a":-0.450732708,"cg_theta_rad":0.555355608,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0299030114,"mpcc_du":49.9967079,"mpcc_dv":48.891922,"mpcc_dw":51.108078,"mpcc_enc_sign":1,"mpcc_id_a":2.06941009,"mpcc_iq_a":-0.938211262,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0563093424,"mpcc_pred_id_a":0.169967964,"mpcc_pred_iq_a":-2.57593846,"mpcc_state":1,"mpcc_theta_e":0.44586277,"mpcc_theta_mech":0.556118488,"sam_rpm":0.859174848,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217086226,"thr_a_norm":0.0217086226,"thr_a_v":0.58683449,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475751907,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.060265,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.6759851,"cg_iw_a":-1.03063416,"cg_theta_rad":0.553881943,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0550334007,"mpcc_du":50.1408234,"mpcc_dv":48.5429726,"mpcc_dw":51.4570274,"mpcc_enc_sign":1,"mpcc_id_a":2.69244647,"mpcc_iq_a":-0.303832084,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.60405529,"mpcc_pred_id_a":0.625621378,"mpcc_pred_iq_a":-1.97429323,"mpcc_state":1,"mpcc_theta_e":0.444292068,"mpcc_theta_mech":0.555804372,"sam_rpm":-1.2397871,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100375369,"thr_a_norm":0.100375369,"thr_a_v":0.901501477,"thr_b":0.0472762585,"thr_b_norm":0.0472762585,"thr_b_v":0.689105034,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.070061,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.53100967,"cg_iw_a":-0.523220539,"cg_theta_rad":0.557025433,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0827357024,"mpcc_du":49.6489029,"mpcc_dv":49.2930069,"mpcc_dw":50.7069931,"mpcc_enc_sign":1,"mpcc_id_a":3.02285814,"mpcc_iq_a":-0.311636776,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.29314232,"mpcc_pred_id_a":0.319664329,"mpcc_pred_iq_a":-3.55319929,"mpcc_state":1,"mpcc_theta_e":0.455642223,"mpcc_theta_mech":0.558074355,"sam_rpm":15.3129816,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100375369,"thr_a_norm":0.100375369,"thr_a_v":0.901501477,"thr_b":0.0472762585,"thr_b_norm":0.0472762585,"thr_b_v":0.689105034,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.080254,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.516182423,"cg_iw_a":-0.595707893,"cg_theta_rad":0.557309389,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0359759852,"mpcc_du":49.4465828,"mpcc_dv":49.5913506,"mpcc_dw":50.5534172,"mpcc_enc_sign":1,"mpcc_id_a":3.28989744,"mpcc_iq_a":0.094972752,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.88708401,"mpcc_pred_id_a":0.656293154,"mpcc_pred_iq_a":-1.03659415,"mpcc_state":1,"mpcc_theta_e":0.448009014,"mpcc_theta_mech":0.556547761,"sam_rpm":14.6037188,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183852166,"thr_a_norm":0.0183852166,"thr_a_v":0.573540866,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473586619,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.090569,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.45852208,"cg_iw_a":0.564094782,"cg_theta_rad":0.552819729,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0170141514,"mpcc_du":50.6987228,"mpcc_dv":48.1468925,"mpcc_dw":50.9311943,"mpcc_enc_sign":1,"mpcc_id_a":1.82987142,"mpcc_iq_a":-1.96167791,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.44426632,"mpcc_pred_id_a":-0.0128459064,"mpcc_pred_iq_a":-1.17751741,"mpcc_state":1,"mpcc_theta_e":0.438016891,"mpcc_theta_mech":0.558139384,"sam_rpm":-11.3294258,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260643214,"thr_a_norm":0.0183852166,"thr_a_v":0.604257286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466436267,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.11367,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.226231575,"cg_iw_a":-1.46555996,"cg_theta_rad":0.557868838,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.00361270993,"mpcc_du":49.6828117,"mpcc_dv":50.3171883,"mpcc_dw":50.275959,"mpcc_enc_sign":1,"mpcc_id_a":0.599594891,"mpcc_iq_a":-0.316535085,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.6159344,"mpcc_pred_id_a":-0.446547121,"mpcc_pred_iq_a":-0.311705023,"mpcc_state":1,"mpcc_theta_e":0.42996788,"mpcc_theta_mech":0.552939534,"sam_rpm":2.71786737,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260643214,"thr_a_norm":0.0260643214,"thr_a_v":0.604257286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466436267,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.120232,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.733645439,"cg_iw_a":-3.35023975,"cg_theta_rad":0.555754662,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0180399176,"mpcc_du":49.6866188,"mpcc_dv":49.4128952,"mpcc_dw":50.5871048,"mpcc_enc_sign":1,"mpcc_id_a":1.86868703,"mpcc_iq_a":-0.517777979,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.79073548,"mpcc_pred_id_a":0.0467139967,"mpcc_pred_iq_a":-2.38672662,"mpcc_state":1,"mpcc_theta_e":0.445958614,"mpcc_theta_mech":0.556137681,"sam_rpm":5.83073854,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173781216,"thr_a_norm":0.0173781216,"thr_a_v":0.569512486,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453948259,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.126732,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.806133032,"cg_iw_a":-0.23326993,"cg_theta_rad":0.552359164,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0165373869,"mpcc_du":50.1766129,"mpcc_dv":49.1004677,"mpcc_dw":50.8995323,"mpcc_enc_sign":1,"mpcc_id_a":-0.711902797,"mpcc_iq_a":-1.23323274,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.80750132,"mpcc_pred_id_a":-0.609443486,"mpcc_pred_iq_a":-4.28916121,"mpcc_state":1,"mpcc_theta_e":0.438881397,"mpcc_theta_mech":0.55472219,"sam_rpm":-2.52918386,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173781216,"thr_a_norm":0.0173781216,"thr_a_v":0.569512486,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453948259,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.133263,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.16857147,"cg_iw_a":0.564094543,"cg_theta_rad":0.553623557,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.00553860748,"mpcc_du":51.1397247,"mpcc_dv":47.4730988,"mpcc_dw":52.5269012,"mpcc_enc_sign":1,"mpcc_id_a":1.35623693,"mpcc_iq_a":-0.753672183,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.4366598,"mpcc_pred_id_a":0.194414929,"mpcc_pred_iq_a":2.46420431,"mpcc_state":1,"mpcc_theta_e":0.428834915,"mpcc_theta_mech":0.552712858,"sam_rpm":-21.7970886,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0372178853,"thr_a_norm":0.0372178853,"thr_a_v":0.648871541,"thr_b":0.0078484714,"thr_b_norm":0.0078484714,"thr_b_v":0.531393886,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.141411,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.733645439,"cg_iw_a":0.346631527,"cg_theta_rad":0.554749191,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0641137958,"mpcc_du":49.7718124,"mpcc_dv":48.9042168,"mpcc_dw":51.0957832,"mpcc_enc_sign":1,"mpcc_id_a":3.71944022,"mpcc_iq_a":0.507025063,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.04054248,"mpcc_pred_id_a":0.905568242,"mpcc_pred_iq_a":-1.67247593,"mpcc_state":1,"mpcc_theta_e":0.443739891,"mpcc_theta_mech":0.555693865,"sam_rpm":1.91759253,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.0372178853,"thr_a_v":0.592927456,"thr_b":0,"thr_b_norm":0.0078484714,"thr_b_v":0.4978576,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.151451,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.89344811,"cg_iw_a":1.07150817,"cg_theta_rad":0.559471071,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0340680256,"mpcc_du":50.1989708,"mpcc_dv":48.8579521,"mpcc_dw":51.1420479,"mpcc_enc_sign":1,"mpcc_id_a":0.0730237886,"mpcc_iq_a":0.942540944,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.050421413,"mpcc_pred_id_a":-0.332460612,"mpcc_pred_iq_a":-1.18858874,"mpcc_state":1,"mpcc_theta_e":0.442791462,"mpcc_theta_mech":0.555504203,"sam_rpm":0.343762755,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.023231864,"thr_a_v":0.592927456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4978576,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.161674,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.226231575,"cg_iw_a":-0.305757523,"cg_theta_rad":0.555159748,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0209776107,"mpcc_du":50.3175392,"mpcc_dv":48.3033066,"mpcc_dw":51.6966934,"mpcc_enc_sign":1,"mpcc_id_a":2.89365101,"mpcc_iq_a":-0.519955337,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.1891708,"mpcc_pred_id_a":0.500024021,"mpcc_pred_iq_a":-1.32246232,"mpcc_state":1,"mpcc_theta_e":0.423636913,"mpcc_theta_mech":0.551673293,"sam_rpm":-27.924015,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274994224,"thr_a_norm":0.0274994224,"thr_a_v":0.60999769,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493124276,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.17144,"values":{"cg_iu_a":-0.70030117,"cg_iv_a":-1.82096052,"cg_iw_a":-0.595707893,"cg_theta_rad":0.554546416,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.040563941,"mpcc_du":50.1436653,"mpcc_dv":48.7934761,"mpcc_dw":51.2065239,"mpcc_enc_sign":1,"mpcc_id_a":2.35495877,"mpcc_iq_a":-0.845682383,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.822713673,"mpcc_pred_id_a":-0.0448131338,"mpcc_pred_iq_a":-2.69037557,"mpcc_state":1,"mpcc_theta_e":0.446919918,"mpcc_theta_mech":0.556329906,"sam_rpm":-0.367077053,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274994224,"thr_a_norm":0.0274994224,"thr_a_v":0.60999769,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493124276,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.181664,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.76329994,"cg_iw_a":1.57892179,"cg_theta_rad":0.552960336,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0161617044,"mpcc_du":49.9681892,"mpcc_dv":49.0637589,"mpcc_dw":50.9362411,"mpcc_enc_sign":1,"mpcc_id_a":1.11742234,"mpcc_iq_a":-2.66971183,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.0005379,"mpcc_pred_id_a":-0.252952486,"mpcc_pred_iq_a":-2.95500016,"mpcc_state":1,"mpcc_theta_e":0.429028511,"mpcc_theta_mech":0.552751601,"sam_rpm":-20.7449532,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186999291,"thr_a_norm":0.0186999291,"thr_a_v":0.574799716,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463566035,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.191856,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.733645439,"cg_iw_a":-0.523220539,"cg_theta_rad":0.556473315,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0220908392,"mpcc_du":49.5534782,"mpcc_dv":50.3532524,"mpcc_dw":50.4465218,"mpcc_enc_sign":1,"mpcc_id_a":1.91153741,"mpcc_iq_a":-0.932941735,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.27082443,"mpcc_pred_id_a":0.149725765,"mpcc_pred_iq_a":-0.934859693,"mpcc_state":1,"mpcc_theta_e":0.436282635,"mpcc_theta_mech":0.554202437,"sam_rpm":4.76391888,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0159933567,"thr_a_norm":0.0186999291,"thr_a_v":0.563973427,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460041195,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.21505,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.443694592,"cg_iw_a":-0.523220539,"cg_theta_rad":0.55412811,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0178593732,"mpcc_du":49.5108757,"mpcc_dv":49.5462456,"mpcc_dw":50.4891243,"mpcc_enc_sign":1,"mpcc_id_a":2.59898591,"mpcc_iq_a":-1.68408751,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.70742625,"mpcc_pred_id_a":0.188538954,"mpcc_pred_iq_a":-2.31674337,"mpcc_state":1,"mpcc_theta_e":0.440725327,"mpcc_theta_mech":0.555090964,"sam_rpm":0.835520148,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0159933567,"thr_a_norm":0.0159933567,"thr_a_v":0.563973427,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460041195,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.221611,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.31354666,"cg_iw_a":-0.81317091,"cg_theta_rad":0.553226352,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0243323315,"mpcc_du":49.491642,"mpcc_dv":49.9562531,"mpcc_dw":50.508358,"mpcc_enc_sign":1,"mpcc_id_a":2.96870947,"mpcc_iq_a":-0.557353318,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.69832003,"mpcc_pred_id_a":0.362170428,"mpcc_pred_iq_a":-4.2158165,"mpcc_state":1,"mpcc_theta_e":0.439026356,"mpcc_theta_mech":0.554751158,"sam_rpm":-2.94491649,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196440816,"thr_a_norm":0.0196440816,"thr_a_v":0.578576326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.228142,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.0812563896,"cg_iw_a":0.0566806793,"cg_theta_rad":0.557229817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0183588136,"mpcc_du":49.1281052,"mpcc_dv":50.8718948,"mpcc_dw":50.0116005,"mpcc_enc_sign":1,"mpcc_id_a":2.59595776,"mpcc_iq_a":-0.675251126,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.50731993,"mpcc_pred_id_a":0.264829248,"mpcc_pred_iq_a":-5.51266336,"mpcc_state":1,"mpcc_theta_e":0.444358826,"mpcc_theta_mech":0.555817723,"sam_rpm":7.404037,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196440816,"thr_a_norm":0.0196440816,"thr_a_v":0.578576326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.234642,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.24105906,"cg_iw_a":-0.958146334,"cg_theta_rad":0.555568814,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.00597901549,"mpcc_du":50.0605011,"mpcc_dv":48.91576,"mpcc_dw":51.08424,"mpcc_enc_sign":1,"mpcc_id_a":0.410079926,"mpcc_iq_a":-0.553730726,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.9368248,"mpcc_pred_id_a":-0.290315777,"mpcc_pred_iq_a":-3.32876539,"mpcc_state":1,"mpcc_theta_e":0.432696819,"mpcc_theta_mech":0.553485274,"sam_rpm":-16.2341805,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0321572423,"thr_a_norm":0.0321572423,"thr_a_v":0.628628969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478622139,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.244865,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.09608364,"cg_iw_a":-1.75551081,"cg_theta_rad":0.556206167,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0130212875,"mpcc_du":50.2350807,"mpcc_dv":48.8674088,"mpcc_dw":51.1325912,"mpcc_enc_sign":1,"mpcc_id_a":-1.27725947,"mpcc_iq_a":-2.21412945,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.119447522,"mpcc_pred_id_a":-0.581829607,"mpcc_pred_iq_a":-2.67273211,"mpcc_state":1,"mpcc_theta_e":0.447703838,"mpcc_theta_mech":0.556486666,"sam_rpm":0.906435847,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253215879,"thr_a_norm":0.0321572423,"thr_a_v":0.601286352,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485420018,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.254478,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.588670254,"cg_iw_a":-1.82799816,"cg_theta_rad":0.558861196,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0276824627,"mpcc_du":49.8443031,"mpcc_dv":49.2934265,"mpcc_dw":50.7065735,"mpcc_enc_sign":1,"mpcc_id_a":0.25702408,"mpcc_iq_a":-0.861560345,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.64550823,"mpcc_pred_id_a":-0.4751921,"mpcc_pred_iq_a":-4.79113388,"mpcc_state":1,"mpcc_theta_e":0.447429657,"mpcc_theta_mech":0.55643183,"sam_rpm":-0.522890151,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253215879,"thr_a_norm":0.0253215879,"thr_a_v":0.601286352,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485420018,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.264671,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.371207237,"cg_iw_a":-0.378244877,"cg_theta_rad":0.556594074,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0261595603,"mpcc_du":50.6576424,"mpcc_dv":48.2320709,"mpcc_dw":51.7679291,"mpcc_enc_sign":1,"mpcc_id_a":0.362092465,"mpcc_iq_a":-2.16159487,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.5017848,"mpcc_pred_id_a":-0.300412536,"mpcc_pred_iq_a":-3.20012331,"mpcc_state":1,"mpcc_theta_e":0.444756031,"mpcc_theta_mech":0.555897117,"sam_rpm":-10.1590614,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292996168,"thr_a_norm":0.0292996168,"thr_a_v":0.617198467,"thr_b":0.000547036529,"thr_b_norm":0.000547036529,"thr_b_v":0.502188146,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.274651,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.38603449,"cg_iw_a":0.709070206,"cg_theta_rad":0.555983484,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.010261761,"mpcc_du":49.5448799,"mpcc_dv":49.56633,"mpcc_dw":50.4551201,"mpcc_enc_sign":1,"mpcc_id_a":1.01383591,"mpcc_iq_a":0.216621533,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.77750301,"mpcc_pred_id_a":-0.122496009,"mpcc_pred_iq_a":-1.54887092,"mpcc_state":1,"mpcc_theta_e":0.444861889,"mpcc_theta_mech":0.555918336,"sam_rpm":9.82693863,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292996168,"thr_a_norm":0.0292996168,"thr_a_v":0.617198467,"thr_b":0.000547036529,"thr_b_norm":0.000547036529,"thr_b_v":0.502188146,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.284813,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.6759851,"cg_iw_a":1.07150817,"cg_theta_rad":0.557269692,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0170078743,"mpcc_du":50.4372673,"mpcc_dv":48.3210335,"mpcc_dw":51.6789665,"mpcc_enc_sign":1,"mpcc_id_a":2.52799225,"mpcc_iq_a":-0.297164679,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.655997217,"mpcc_pred_id_a":0.212827176,"mpcc_pred_iq_a":2.63716173,"mpcc_state":1,"mpcc_theta_e":0.436404705,"mpcc_theta_mech":0.554226875,"sam_rpm":-0.228551462,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020814836,"thr_a_norm":0.020814836,"thr_a_v":0.583259344,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478974611,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.293846,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-2.11091113,"cg_iw_a":-0.668195486,"cg_theta_rad":0.556806982,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.009093225,"mpcc_du":49.5267982,"mpcc_dv":50.1469231,"mpcc_dw":50.4732018,"mpcc_enc_sign":1,"mpcc_id_a":1.89156818,"mpcc_iq_a":-1.31201613,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.05261564,"mpcc_pred_id_a":0.178484648,"mpcc_pred_iq_a":-3.09501743,"mpcc_state":1,"mpcc_theta_e":0.443858147,"mpcc_theta_mech":0.555717587,"sam_rpm":5.01367426,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020814836,"thr_a_norm":0.020814836,"thr_a_v":0.583259344,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478974611,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.316277,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.588670254,"cg_iw_a":-2.19043684,"cg_theta_rad":0.55555588,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.000960157719,"mpcc_du":50.9444008,"mpcc_dv":48.0752945,"mpcc_dw":51.9247055,"mpcc_enc_sign":1,"mpcc_id_a":-0.0371389277,"mpcc_iq_a":-1.46515143,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.387619,"mpcc_pred_id_a":-0.792906404,"mpcc_pred_iq_a":1.41021037,"mpcc_state":1,"mpcc_theta_e":0.450470448,"mpcc_theta_mech":0.557040036,"sam_rpm":-16.5509109,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208400041,"thr_a_norm":0.0208400041,"thr_a_v":0.583360016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448862433,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.322807,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.661157608,"cg_iw_a":-2.26292467,"cg_theta_rad":0.55636555,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0197511427,"mpcc_du":49.854454,"mpcc_dv":49.4951973,"mpcc_dw":50.5048027,"mpcc_enc_sign":1,"mpcc_id_a":-1.0699693,"mpcc_iq_a":-1.10543323,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.93833971,"mpcc_pred_id_a":-0.826629043,"mpcc_pred_iq_a":-3.65648413,"mpcc_state":1,"mpcc_theta_e":0.449854374,"mpcc_theta_mech":0.556916833,"sam_rpm":7.88857698,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0346498042,"thr_a_norm":0.0208400041,"thr_a_v":0.638599217,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497555465,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.329308,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.661157608,"cg_iw_a":0.12916851,"cg_theta_rad":0.556827188,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0238195322,"mpcc_du":49.6221428,"mpcc_dv":49.4230232,"mpcc_dw":50.5769768,"mpcc_enc_sign":1,"mpcc_id_a":1.49062252,"mpcc_iq_a":0.548068225,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.22970223,"mpcc_pred_id_a":0.0715873167,"mpcc_pred_iq_a":-2.62098837,"mpcc_state":1,"mpcc_theta_e":0.442922115,"mpcc_theta_mech":0.55553031,"sam_rpm":3.48034644,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0346498042,"thr_a_norm":0.0346498042,"thr_a_v":0.638599217,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497555465,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.335838,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-1.24105906,"cg_iw_a":-2.6978507,"cg_theta_rad":0.555995166,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0173995364,"mpcc_du":50.268589,"mpcc_dv":48.4677467,"mpcc_dw":51.5322533,"mpcc_enc_sign":1,"mpcc_id_a":2.41075921,"mpcc_iq_a":-0.892055452,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.82423973,"mpcc_pred_id_a":0.353730649,"mpcc_pred_iq_a":-0.189074337,"mpcc_state":1,"mpcc_theta_e":0.437489033,"mpcc_theta_mech":0.554443717,"sam_rpm":-7.15641499,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471068889,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.345451,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-2.69081235,"cg_iw_a":-0.595708132,"cg_theta_rad":0.554123938,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0116480868,"mpcc_du":49.5056114,"mpcc_dv":50.1941376,"mpcc_dw":50.4943886,"mpcc_enc_sign":1,"mpcc_id_a":1.52841258,"mpcc_iq_a":-0.38054657,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.25728965,"mpcc_pred_id_a":0.261442125,"mpcc_pred_iq_a":-1.44655168,"mpcc_state":1,"mpcc_theta_e":0.433730125,"mpcc_theta_mech":0.552512228,"sam_rpm":0.368561089,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471068889,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.355461,"values":{"cg_iu_a":1.76427937,"cg_iv_a":0.136206627,"cg_iw_a":-0.885658741,"cg_theta_rad":0.554216146,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.047506202,"mpcc_du":50.1406136,"mpcc_dv":48.7925987,"mpcc_dw":51.2074013,"mpcc_enc_sign":1,"mpcc_id_a":0.807984412,"mpcc_iq_a":-0.383637697,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.384980202,"mpcc_pred_id_a":-0.122891136,"mpcc_pred_iq_a":-3.06787539,"mpcc_state":1,"mpcc_theta_e":0.447834969,"mpcc_theta_mech":0.556512892,"sam_rpm":0.816032708,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219226331,"thr_a_norm":0.0219226331,"thr_a_v":0.587690532,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482247651,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.365807,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.516182423,"cg_iw_a":1.28897119,"cg_theta_rad":0.557190061,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0233720262,"mpcc_du":49.4079475,"mpcc_dv":49.5366173,"mpcc_dw":50.5920525,"mpcc_enc_sign":1,"mpcc_id_a":2.88380408,"mpcc_iq_a":-0.572052062,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.72836971,"mpcc_pred_id_a":0.594541609,"mpcc_pred_iq_a":-2.30737257,"mpcc_state":1,"mpcc_theta_e":0.441670895,"mpcc_theta_mech":0.555280089,"sam_rpm":4.2925806,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0207644701,"thr_a_norm":0.0219226331,"thr_a_v":0.58305788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470766753,"vdc_v":54.6292953}} +{"type":"telemetry","t":92.377678,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-0.516182423,"cg_iw_a":0.419119358,"cg_theta_rad":0.558456779,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0370045081,"mpcc_du":49.4682617,"mpcc_dv":50.5317383,"mpcc_dw":50.4964485,"mpcc_enc_sign":1,"mpcc_id_a":3.67127442,"mpcc_iq_a":1.09150445,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.30097294,"mpcc_pred_id_a":0.5524593,"mpcc_pred_iq_a":-3.29420662,"mpcc_state":1,"mpcc_theta_e":0.441989899,"mpcc_theta_mech":0.555343926,"sam_rpm":2.50910974,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0207644701,"thr_a_norm":0.0207644701,"thr_a_v":0.58305788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470766753,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.38784,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.60349751,"cg_iw_a":0.636582375,"cg_theta_rad":0.552212477,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0510016605,"mpcc_du":50.7255669,"mpcc_dv":48.0624466,"mpcc_dw":51.9375534,"mpcc_enc_sign":1,"mpcc_id_a":1.80791235,"mpcc_iq_a":-0.812935352,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.88901424,"mpcc_pred_id_a":0.082147494,"mpcc_pred_iq_a":-1.48813772,"mpcc_state":1,"mpcc_theta_e":0.445730686,"mpcc_theta_mech":0.556092083,"sam_rpm":-6.24317169,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278015584,"thr_a_norm":0.0278015584,"thr_a_v":0.611206234,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494987428,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.397881,"values":{"cg_iu_a":0.966915131,"cg_iv_a":0.136206627,"cg_iw_a":-0.378244877,"cg_theta_rad":0.557547569,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.024529973,"mpcc_du":49.5893478,"mpcc_dv":49.3282318,"mpcc_dw":50.6717682,"mpcc_enc_sign":1,"mpcc_id_a":1.81959915,"mpcc_iq_a":-0.786428452,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.03064513,"mpcc_pred_id_a":0.286493599,"mpcc_pred_iq_a":-0.888485968,"mpcc_state":1,"mpcc_theta_e":0.431116581,"mpcc_theta_mech":0.553169191,"sam_rpm":-9.10420799,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265301019,"thr_a_norm":0.0278015584,"thr_a_v":0.606120408,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.420921,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.806133032,"cg_iw_a":-1.8279984,"cg_theta_rad":0.555400074,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0132407621,"mpcc_du":50.1632004,"mpcc_dv":48.9202156,"mpcc_dw":51.0797844,"mpcc_enc_sign":1,"mpcc_id_a":0.559082985,"mpcc_iq_a":-0.908830583,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.23455691,"mpcc_pred_id_a":-0.399424314,"mpcc_pred_iq_a":-2.66579175,"mpcc_state":1,"mpcc_theta_e":0.442554474,"mpcc_theta_mech":0.555456817,"sam_rpm":-4.13080549,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265301019,"thr_a_norm":0.0265301019,"thr_a_v":0.606120408,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.427483,"values":{"cg_iu_a":0.676964283,"cg_iv_a":0.498644829,"cg_iw_a":-1.17560911,"cg_theta_rad":0.556751072,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.00543111144,"mpcc_du":50.9659157,"mpcc_dv":47.8972702,"mpcc_dw":52.1027298,"mpcc_enc_sign":1,"mpcc_id_a":0.100692347,"mpcc_iq_a":-2.62035227,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.5986013,"mpcc_pred_id_a":-0.426670849,"mpcc_pred_iq_a":1.11073077,"mpcc_state":1,"mpcc_theta_e":0.430215359,"mpcc_theta_mech":0.552988946,"sam_rpm":-20.5689754,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190650076,"thr_a_norm":0.0190650076,"thr_a_v":0.57626003,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.434013,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.60349751,"cg_iw_a":0.201656342,"cg_theta_rad":0.555756032,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.00402828027,"mpcc_du":50.3077011,"mpcc_dv":48.7232018,"mpcc_dw":51.2767982,"mpcc_enc_sign":1,"mpcc_id_a":-0.0859962702,"mpcc_iq_a":-1.25196064,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.87189591,"mpcc_pred_id_a":-0.303671747,"mpcc_pred_iq_a":-0.0159332715,"mpcc_state":1,"mpcc_theta_e":0.443463326,"mpcc_theta_mech":0.555638611,"sam_rpm":3.26009774,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190650076,"thr_a_norm":0.0190650076,"thr_a_v":0.57626003,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.440544,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.878620625,"cg_iw_a":-0.885658741,"cg_theta_rad":0.558075845,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0385089517,"mpcc_du":49.8559837,"mpcc_dv":49.0623131,"mpcc_dw":50.9376869,"mpcc_enc_sign":1,"mpcc_id_a":1.48332536,"mpcc_iq_a":-0.487740695,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.29561234,"mpcc_pred_id_a":0.319996387,"mpcc_pred_iq_a":-1.61555099,"mpcc_state":1,"mpcc_theta_e":0.454721928,"mpcc_theta_mech":0.557890296,"sam_rpm":14.3659592,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206385851,"thr_a_norm":0.0206385851,"thr_a_v":0.58255434,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460444033,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.449272,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.82096052,"cg_iw_a":0.0566806793,"cg_theta_rad":0.552983284,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0624091104,"mpcc_du":50.0167236,"mpcc_dv":48.849884,"mpcc_dw":51.150116,"mpcc_enc_sign":1,"mpcc_id_a":0.11541485,"mpcc_iq_a":-0.0667214841,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.2760843,"mpcc_pred_id_a":0.380009174,"mpcc_pred_iq_a":-2.25571036,"mpcc_state":1,"mpcc_theta_e":0.455431938,"mpcc_theta_mech":0.558032334,"sam_rpm":3.2381022,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020613417,"thr_a_norm":0.0206385851,"thr_a_v":0.582453668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476910055,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.459038,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.661157608,"cg_iw_a":-1.90048599,"cg_theta_rad":0.553478479,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.013132114,"mpcc_du":50.2710075,"mpcc_dv":48.5794983,"mpcc_dw":51.4205017,"mpcc_enc_sign":1,"mpcc_id_a":1.88387358,"mpcc_iq_a":-1.16127264,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.38346338,"mpcc_pred_id_a":0.145492166,"mpcc_pred_iq_a":-0.813436151,"mpcc_state":1,"mpcc_theta_e":0.44054842,"mpcc_theta_mech":0.555055618,"sam_rpm":-5.24598265,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020613417,"thr_a_norm":0.020613417,"thr_a_v":0.582453668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476910055,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.469139,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.371207237,"cg_iw_a":-2.55287504,"cg_theta_rad":0.555427551,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0226243958,"mpcc_du":49.7373009,"mpcc_dv":49.0167122,"mpcc_dw":50.9832878,"mpcc_enc_sign":1,"mpcc_id_a":1.80042768,"mpcc_iq_a":-0.140789062,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.72279823,"mpcc_pred_id_a":0.301161855,"mpcc_pred_iq_a":-2.01919317,"mpcc_state":1,"mpcc_theta_e":0.435462952,"mpcc_theta_mech":0.553807199,"sam_rpm":-9.72329044,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0146715492,"thr_a_norm":0.0146715492,"thr_a_v":0.558686197,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456063181,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.479057,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.443694592,"cg_iw_a":-0.015806675,"cg_theta_rad":0.553258359,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0778429508,"mpcc_du":50.6773186,"mpcc_dv":49.3036194,"mpcc_dw":50.6963806,"mpcc_enc_sign":1,"mpcc_id_a":2.82403779,"mpcc_iq_a":-0.360781163,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.40777588,"mpcc_pred_id_a":0.141921878,"mpcc_pred_iq_a":-2.37104368,"mpcc_state":1,"mpcc_theta_e":0.442392349,"mpcc_theta_mech":0.555424392,"sam_rpm":-11.3235502,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0146715492,"thr_a_norm":0.0146715492,"thr_a_v":0.558686197,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456063181,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.489433,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.516182423,"cg_iw_a":-0.885658741,"cg_theta_rad":0.555118263,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0575316474,"mpcc_du":49.7172737,"mpcc_dv":49.2725563,"mpcc_dw":50.7274437,"mpcc_enc_sign":1,"mpcc_id_a":2.11415863,"mpcc_iq_a":-0.518602371,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.31782722,"mpcc_pred_id_a":0.100241028,"mpcc_pred_iq_a":-3.73499346,"mpcc_state":1,"mpcc_theta_e":0.455549717,"mpcc_theta_mech":0.558055878,"sam_rpm":11.4424429,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200972706,"thr_a_norm":0.0200972706,"thr_a_v":0.580389082,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459285885,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.499474,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.298719406,"cg_iw_a":-2.04546118,"cg_theta_rad":0.5525859,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.011284817,"mpcc_du":49.6300201,"mpcc_dv":49.6902084,"mpcc_dw":50.3699799,"mpcc_enc_sign":1,"mpcc_id_a":2.00274038,"mpcc_iq_a":-0.568968534,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.01613379,"mpcc_pred_id_a":0.33709082,"mpcc_pred_iq_a":-0.463269889,"mpcc_state":1,"mpcc_theta_e":0.440291405,"mpcc_theta_mech":0.555673242,"sam_rpm":6.76359415,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0146463662,"thr_a_norm":0.0200972706,"thr_a_v":0.558585465,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450171679,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.522453,"values":{"cg_iu_a":0.821939945,"cg_iv_a":0.0637187958,"cg_iw_a":-0.885658741,"cg_theta_rad":0.555245638,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.00283139478,"mpcc_du":48.8253632,"mpcc_dv":51.1746368,"mpcc_dw":49.3709145,"mpcc_enc_sign":1,"mpcc_id_a":0.621653438,"mpcc_iq_a":-1.77859032,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.75130749,"mpcc_pred_id_a":-0.338036507,"mpcc_pred_iq_a":-6.04379749,"mpcc_state":1,"mpcc_theta_e":0.44697094,"mpcc_theta_mech":0.556340098,"sam_rpm":12.1702204,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0146463662,"thr_a_norm":0.0146463662,"thr_a_v":0.558585465,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450171679,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.529015,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.443694592,"cg_iw_a":-2.19043636,"cg_theta_rad":0.555078447,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.000503691786,"mpcc_du":49.7355385,"mpcc_dv":49.2734489,"mpcc_dw":50.7265511,"mpcc_enc_sign":1,"mpcc_id_a":0.341857433,"mpcc_iq_a":-1.21550369,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.09436941,"mpcc_pred_id_a":0.101613119,"mpcc_pred_iq_a":-2.94684815,"mpcc_state":1,"mpcc_theta_e":0.434680462,"mpcc_theta_mech":0.553882003,"sam_rpm":-11.210721,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288967639,"thr_a_norm":0.0288967639,"thr_a_v":0.615587056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493426412,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.535484,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.878620625,"cg_iw_a":0.346631527,"cg_theta_rad":0.555238545,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.00406860607,"mpcc_du":50.1608276,"mpcc_dv":48.8497581,"mpcc_dw":51.1502419,"mpcc_enc_sign":1,"mpcc_id_a":1.08358657,"mpcc_iq_a":-0.999601901,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.6615458,"mpcc_pred_id_a":-0.209080264,"mpcc_pred_iq_a":-3.30910492,"mpcc_state":1,"mpcc_theta_e":0.43042326,"mpcc_theta_mech":0.55303055,"sam_rpm":-20.4172153,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288967639,"thr_a_norm":0.0288967639,"thr_a_v":0.615587056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493426412,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.542229,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.16857147,"cg_iw_a":1.07150841,"cg_theta_rad":0.555408537,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0273039006,"mpcc_du":50.3607559,"mpcc_dv":48.4407043,"mpcc_dw":51.5592957,"mpcc_enc_sign":1,"mpcc_id_a":-0.127624378,"mpcc_iq_a":-0.817395806,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.51770639,"mpcc_pred_id_a":0.247612685,"mpcc_pred_iq_a":-0.350414932,"mpcc_state":1,"mpcc_theta_e":0.45179224,"mpcc_theta_mech":0.557304382,"sam_rpm":-9.40865231,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275623649,"thr_a_norm":0.0275623649,"thr_a_v":0.61024946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496246278,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.552422,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.806133032,"cg_iw_a":-1.10312152,"cg_theta_rad":0.556038678,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.00393832242,"mpcc_du":50.0815163,"mpcc_dv":49.0372429,"mpcc_dw":50.9627571,"mpcc_enc_sign":1,"mpcc_id_a":0.208558396,"mpcc_iq_a":-2.31913185,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.58809948,"mpcc_pred_id_a":-0.359698117,"mpcc_pred_iq_a":-3.72555733,"mpcc_state":1,"mpcc_theta_e":0.443923473,"mpcc_theta_mech":0.555730581,"sam_rpm":-4.98599386,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176928341,"thr_a_norm":0.0275623649,"thr_a_v":0.570771337,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450926989,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.562645,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.16857147,"cg_iw_a":2.15882325,"cg_theta_rad":0.556609273,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0105108107,"mpcc_du":49.589695,"mpcc_dv":50.0244179,"mpcc_dw":50.410305,"mpcc_enc_sign":1,"mpcc_id_a":0.876343966,"mpcc_iq_a":-0.582288206,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.161252677,"mpcc_pred_id_a":-0.1421974,"mpcc_pred_iq_a":-1.15285563,"mpcc_state":1,"mpcc_theta_e":0.430594921,"mpcc_theta_mech":0.553064942,"sam_rpm":-1.04366899,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176928341,"thr_a_norm":0.0176928341,"thr_a_v":0.570771337,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450926989,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.572838,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.24105906,"cg_iw_a":1.65140939,"cg_theta_rad":0.555814326,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0248499438,"mpcc_du":49.5757332,"mpcc_dv":49.5191154,"mpcc_dw":50.4808846,"mpcc_enc_sign":1,"mpcc_id_a":2.2235465,"mpcc_iq_a":-1.28839517,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.8938632,"mpcc_pred_id_a":-0.0160563029,"mpcc_pred_iq_a":-4.31914186,"mpcc_state":1,"mpcc_theta_e":0.445228577,"mpcc_theta_mech":0.55599165,"sam_rpm":8.82175064,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227912515,"thr_a_norm":0.0227912515,"thr_a_v":0.591165006,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486175328,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.582634,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.53100967,"cg_iw_a":0.41911912,"cg_theta_rad":0.553672969,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.00252355216,"mpcc_du":50.6436424,"mpcc_dv":48.1874199,"mpcc_dw":51.8125801,"mpcc_enc_sign":1,"mpcc_id_a":0.853963852,"mpcc_iq_a":-1.31595421,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.11094379,"mpcc_pred_id_a":-0.123575985,"mpcc_pred_iq_a":0.130878374,"mpcc_state":1,"mpcc_theta_e":0.435434818,"mpcc_theta_mech":0.554032922,"sam_rpm":-13.9673414,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227912515,"thr_a_norm":0.0227912515,"thr_a_v":0.591165006,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486175328,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.592827,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.806133032,"cg_iw_a":0.781557798,"cg_theta_rad":0.55658251,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0109420465,"mpcc_du":49.5090446,"mpcc_dv":49.4239349,"mpcc_dw":50.5760651,"mpcc_enc_sign":1,"mpcc_id_a":2.05947661,"mpcc_iq_a":0.253183424,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.07733893,"mpcc_pred_id_a":0.260207683,"mpcc_pred_iq_a":-1.68808961,"mpcc_state":1,"mpcc_theta_e":0.43198967,"mpcc_theta_mech":0.553343832,"sam_rpm":-4.60165405,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176928341,"thr_a_norm":0.0176928341,"thr_a_v":0.570771337,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.60305,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.82096052,"cg_iw_a":1.43394661,"cg_theta_rad":0.553395331,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0308653116,"mpcc_du":49.6156578,"mpcc_dv":49.3798027,"mpcc_dw":50.6201973,"mpcc_enc_sign":1,"mpcc_id_a":2.32346177,"mpcc_iq_a":-1.73917019,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.85064793,"mpcc_pred_id_a":0.142824396,"mpcc_pred_iq_a":-3.27686501,"mpcc_state":1,"mpcc_theta_e":0.455406189,"mpcc_theta_mech":0.558027148,"sam_rpm":13.8111448,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023483634,"thr_a_norm":0.0176928341,"thr_a_v":0.593934536,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466385901,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.62603,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.878620625,"cg_iw_a":-1.03063393,"cg_theta_rad":0.555443108,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.00599658117,"mpcc_du":51.0173874,"mpcc_dv":47.5931816,"mpcc_dw":52.4068184,"mpcc_enc_sign":1,"mpcc_id_a":1.51732635,"mpcc_iq_a":-0.223457217,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.1814022,"mpcc_pred_id_a":0.0688843802,"mpcc_pred_iq_a":1.88889873,"mpcc_state":1,"mpcc_theta_e":0.425355434,"mpcc_theta_mech":0.552016973,"sam_rpm":-27.106411,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023483634,"thr_a_norm":0.023483634,"thr_a_v":0.593934536,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466385901,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.632591,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.31354666,"cg_iw_a":-1.68302298,"cg_theta_rad":0.554452717,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0177124385,"mpcc_du":49.1553459,"mpcc_dv":50.8446541,"mpcc_dw":49.9795456,"mpcc_enc_sign":1,"mpcc_id_a":2.01211357,"mpcc_iq_a":-0.224700525,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.46246719,"mpcc_pred_id_a":0.0967187509,"mpcc_pred_iq_a":-5.16093159,"mpcc_state":1,"mpcc_theta_e":0.450422287,"mpcc_theta_mech":0.55703038,"sam_rpm":13.7173338,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210288316,"thr_a_norm":0.0210288316,"thr_a_v":0.584115326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459386617,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.639091,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.16857147,"cg_iw_a":0.491607189,"cg_theta_rad":0.55372709,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.023126971,"mpcc_du":49.7384377,"mpcc_dv":49.3167191,"mpcc_dw":50.6832809,"mpcc_enc_sign":1,"mpcc_id_a":0.0839896277,"mpcc_iq_a":0.288896918,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.778793812,"mpcc_pred_id_a":-0.1293163,"mpcc_pred_iq_a":-3.43906474,"mpcc_state":1,"mpcc_theta_e":0.442858696,"mpcc_theta_mech":0.555517614,"sam_rpm":-0.901339233,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210288316,"thr_a_norm":0.0210288316,"thr_a_v":0.584115326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459386617,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.645653,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-2.0384233,"cg_iw_a":0.781557322,"cg_theta_rad":0.555396736,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0363993123,"mpcc_du":48.9819832,"mpcc_dv":51.0180168,"mpcc_dw":49.6422157,"mpcc_enc_sign":1,"mpcc_id_a":1.82398105,"mpcc_iq_a":0.0515064411,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.96592808,"mpcc_pred_id_a":-0.218267769,"mpcc_pred_iq_a":-8.01094532,"mpcc_state":1,"mpcc_theta_e":0.450821877,"mpcc_theta_mech":0.55711025,"sam_rpm":10.0876503,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277134329,"thr_a_norm":0.0277134329,"thr_a_v":0.610853732,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493124276,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.654015,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.24105906,"cg_iw_a":-1.17560935,"cg_theta_rad":0.55555898,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.025972195,"mpcc_du":49.6596832,"mpcc_dv":49.3456917,"mpcc_dw":50.6543083,"mpcc_enc_sign":1,"mpcc_id_a":2.75104666,"mpcc_iq_a":-0.519141853,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.1689353,"mpcc_pred_id_a":0.0786442906,"mpcc_pred_iq_a":-2.18053627,"mpcc_state":1,"mpcc_theta_e":0.444962978,"mpcc_theta_mech":0.555938542,"sam_rpm":4.68121433,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.107714564,"thr_a_norm":0.0277134329,"thr_a_v":0.930858254,"thr_b":0.042605862,"thr_b_norm":0,"thr_b_v":0.670423448,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.664055,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.45852208,"cg_iw_a":0.781557798,"cg_theta_rad":0.554715633,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0598779172,"mpcc_du":50.0060043,"mpcc_dv":49.0675278,"mpcc_dw":50.9324722,"mpcc_enc_sign":1,"mpcc_id_a":0.832083523,"mpcc_iq_a":-0.82629472,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.33387375,"mpcc_pred_id_a":-0.172959,"mpcc_pred_iq_a":-3.33969402,"mpcc_state":1,"mpcc_theta_e":0.458568573,"mpcc_theta_mech":0.558659613,"sam_rpm":13.1215906,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.107714564,"thr_a_norm":0.107714564,"thr_a_v":0.930858254,"thr_b":0.042605862,"thr_b_norm":0.042605862,"thr_b_v":0.670423448,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.674644,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-2.47334933,"cg_iw_a":-2.04546142,"cg_theta_rad":0.551883161,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0356511697,"mpcc_du":49.9443893,"mpcc_dv":48.7223587,"mpcc_dw":51.2776413,"mpcc_enc_sign":1,"mpcc_id_a":2.98348737,"mpcc_iq_a":1.20292699,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.01361847,"mpcc_pred_id_a":0.723552763,"mpcc_pred_iq_a":0.310921788,"mpcc_state":1,"mpcc_theta_e":0.434788704,"mpcc_theta_mech":0.554957211,"sam_rpm":-2.55007267,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208400041,"thr_a_norm":0.0208400041,"thr_a_v":0.583360016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450373083,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.684227,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-0.733645439,"cg_iw_a":-1.68302298,"cg_theta_rad":0.553577304,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0232541244,"mpcc_du":49.5295067,"mpcc_dv":49.537529,"mpcc_dw":50.4704933,"mpcc_enc_sign":1,"mpcc_id_a":1.01078916,"mpcc_iq_a":-0.296756536,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.46586037,"mpcc_pred_id_a":-0.00710428553,"mpcc_pred_iq_a":-2.82559204,"mpcc_state":1,"mpcc_theta_e":0.449058533,"mpcc_theta_mech":0.556757629,"sam_rpm":12.2768888,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208400041,"thr_a_norm":0.0208400041,"thr_a_v":0.583360016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450373083,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.694633,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.951108456,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556160748,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0305173956,"mpcc_du":49.6749763,"mpcc_dv":48.9884262,"mpcc_dw":51.0115738,"mpcc_enc_sign":1,"mpcc_id_a":3.06323385,"mpcc_iq_a":-0.699679613,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.298667282,"mpcc_pred_id_a":0.890823126,"mpcc_pred_iq_a":-1.76202381,"mpcc_state":1,"mpcc_theta_e":0.440638542,"mpcc_theta_mech":0.555073619,"sam_rpm":0.356132656,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242515355,"thr_a_norm":0.0242515355,"thr_a_v":0.597006142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476758987,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.704826,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.53100967,"cg_iw_a":0.201656342,"cg_theta_rad":0.557344139,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.018370986,"mpcc_du":49.3065529,"mpcc_dv":50.6934471,"mpcc_dw":50.0226479,"mpcc_enc_sign":1,"mpcc_id_a":0.468748659,"mpcc_iq_a":-0.254391372,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.49960732,"mpcc_pred_id_a":-0.177629784,"mpcc_pred_iq_a":-0.954861343,"mpcc_state":1,"mpcc_theta_e":0.426312447,"mpcc_theta_mech":0.552208364,"sam_rpm":6.83647203,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278645009,"thr_a_norm":0.0242515355,"thr_a_v":0.611458004,"thr_b":0.001692608,"thr_b_norm":0,"thr_b_v":0.506770432,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.727837,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.24105906,"cg_iw_a":-0.305757284,"cg_theta_rad":0.552899539,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0392899625,"mpcc_du":50.549511,"mpcc_dv":48.294754,"mpcc_dw":51.705246,"mpcc_enc_sign":1,"mpcc_id_a":1.85121429,"mpcc_iq_a":-1.39348507,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.809413612,"mpcc_pred_id_a":-0.00063339324,"mpcc_pred_iq_a":-0.976034939,"mpcc_state":1,"mpcc_theta_e":0.447029591,"mpcc_theta_mech":0.55635184,"sam_rpm":2.01808071,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278645009,"thr_a_norm":0.0278645009,"thr_a_v":0.611458004,"thr_b":0.001692608,"thr_b_norm":0.001692608,"thr_b_v":0.506770432,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.734367,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.02359605,"cg_iw_a":0.41911912,"cg_theta_rad":0.555051148,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0115914522,"mpcc_du":50.4811325,"mpcc_dv":48.207531,"mpcc_dw":51.792469,"mpcc_enc_sign":1,"mpcc_id_a":1.95427203,"mpcc_iq_a":0.0302673597,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.994915,"mpcc_pred_id_a":0.315528989,"mpcc_pred_iq_a":0.159543961,"mpcc_state":1,"mpcc_theta_e":0.42936945,"mpcc_theta_mech":0.552819848,"sam_rpm":-19.6110992,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022098884,"thr_a_norm":0.022098884,"thr_a_v":0.588395536,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483053327,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.740929,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.16857147,"cg_iw_a":0.346631527,"cg_theta_rad":0.552070916,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.00766494684,"mpcc_du":49.5992851,"mpcc_dv":49.5942192,"mpcc_dw":50.4057808,"mpcc_enc_sign":1,"mpcc_id_a":0.619587004,"mpcc_iq_a":-0.104426973,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.14462495,"mpcc_pred_id_a":-0.312779605,"mpcc_pred_iq_a":-2.67790675,"mpcc_state":1,"mpcc_theta_e":0.44337368,"mpcc_theta_mech":0.555620611,"sam_rpm":4.16153765,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022098884,"thr_a_norm":0.022098884,"thr_a_v":0.588395536,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483053327,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.747429,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.24105906,"cg_iw_a":-1.75551057,"cg_theta_rad":0.551858485,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0470085815,"mpcc_du":50.3048935,"mpcc_dv":48.5020943,"mpcc_dw":51.4979057,"mpcc_enc_sign":1,"mpcc_id_a":3.01508331,"mpcc_iq_a":0.385464728,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.77140689,"mpcc_pred_id_a":0.256263494,"mpcc_pred_iq_a":-0.286796689,"mpcc_state":1,"mpcc_theta_e":0.441268444,"mpcc_theta_mech":0.555199564,"sam_rpm":-1.85436368,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0159933567,"thr_a_norm":0.0159933567,"thr_a_v":0.563973427,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.755394,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.24105906,"cg_iw_a":-0.160782099,"cg_theta_rad":0.556269109,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0208113808,"mpcc_du":49.4757996,"mpcc_dv":49.6303101,"mpcc_dw":50.5242004,"mpcc_enc_sign":1,"mpcc_id_a":1.14796293,"mpcc_iq_a":-0.338132441,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.1073093,"mpcc_pred_id_a":0.340467811,"mpcc_pred_iq_a":-3.18669295,"mpcc_state":1,"mpcc_theta_e":0.430223942,"mpcc_theta_mech":0.552990735,"sam_rpm":10.3174419,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211295485,"thr_a_norm":0.0159933567,"thr_a_v":0.584518194,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460041195,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.765373,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-1.02359605,"cg_iw_a":0.926532984,"cg_theta_rad":0.554233789,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0513574593,"mpcc_du":49.3811874,"mpcc_dv":49.8730545,"mpcc_dw":50.6188126,"mpcc_enc_sign":1,"mpcc_id_a":3.69724321,"mpcc_iq_a":-0.155446798,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.89351821,"mpcc_pred_id_a":0.935762107,"mpcc_pred_iq_a":-0.545481086,"mpcc_state":1,"mpcc_theta_e":0.423293591,"mpcc_theta_mech":0.551604629,"sam_rpm":-7.40573168,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211295485,"thr_a_norm":0.0211295485,"thr_a_v":0.584518194,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460041195,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.775414,"values":{"cg_iu_a":1.03940296,"cg_iv_a":0.716107845,"cg_iw_a":-1.75551081,"cg_theta_rad":0.553524554,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.028360799,"mpcc_du":49.4653931,"mpcc_dv":50.1971359,"mpcc_dw":50.5346069,"mpcc_enc_sign":1,"mpcc_id_a":3.26594424,"mpcc_iq_a":-0.0823206976,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.57817101,"mpcc_pred_id_a":0.541336894,"mpcc_pred_iq_a":-1.18225551,"mpcc_state":1,"mpcc_theta_e":0.434929371,"mpcc_theta_mech":0.553931832,"sam_rpm":4.7214942,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0977946818,"thr_a_norm":0.0977946818,"thr_a_v":0.891178727,"thr_b":0.0381620526,"thr_b_norm":0.0381620526,"thr_b_v":0.652648211,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.78521,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.96593571,"cg_iw_a":0.491606712,"cg_theta_rad":0.55785197,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0130953072,"mpcc_du":50.3984566,"mpcc_dv":48.3559723,"mpcc_dw":51.6440277,"mpcc_enc_sign":1,"mpcc_id_a":1.17660153,"mpcc_iq_a":-1.80471337,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.4745667,"mpcc_pred_id_a":0.287298143,"mpcc_pred_iq_a":-1.18128812,"mpcc_state":1,"mpcc_theta_e":0.443132877,"mpcc_theta_mech":0.55557251,"sam_rpm":-4.26825619,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0977946818,"thr_a_norm":0.0977946818,"thr_a_v":0.891178727,"thr_b":0.0381620526,"thr_b_norm":0.0381620526,"thr_b_v":0.652648211,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.795525,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.38603449,"cg_iw_a":-1.61053514,"cg_theta_rad":0.557204962,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.00853655022,"mpcc_du":49.3451309,"mpcc_dv":50.6548691,"mpcc_dw":50.6761513,"mpcc_enc_sign":1,"mpcc_id_a":0.690958261,"mpcc_iq_a":0.0529315993,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.26793051,"mpcc_pred_id_a":0.0566489175,"mpcc_pred_iq_a":-1.07492185,"mpcc_state":1,"mpcc_theta_e":0.434488297,"mpcc_theta_mech":0.552113354,"sam_rpm":8.14132214,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206511766,"thr_a_norm":0.0206511766,"thr_a_v":0.582604706,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461652547,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.807793,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-0.733645439,"cg_iw_a":0.564094543,"cg_theta_rad":0.552199781,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0842777342,"mpcc_du":49.5188026,"mpcc_dv":50.0113029,"mpcc_dw":50.4811974,"mpcc_enc_sign":1,"mpcc_id_a":2.15497828,"mpcc_iq_a":-1.25644243,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.0672436,"mpcc_pred_id_a":0.132982016,"mpcc_pred_iq_a":-5.33521938,"mpcc_state":1,"mpcc_theta_e":0.462330341,"mpcc_theta_mech":0.559411943,"sam_rpm":26.3131638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022325471,"thr_a_norm":0.0206511766,"thr_a_v":0.589301884,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484614313,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.830925,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.74847269,"cg_iw_a":-1.03063393,"cg_theta_rad":0.557025611,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.00426110486,"mpcc_du":51.1910133,"mpcc_dv":47.4196777,"mpcc_dw":52.5803223,"mpcc_enc_sign":1,"mpcc_id_a":0.215935618,"mpcc_iq_a":-0.642388105,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.4552326,"mpcc_pred_id_a":-0.158447459,"mpcc_pred_iq_a":2.97992802,"mpcc_state":1,"mpcc_theta_e":0.420787334,"mpcc_theta_mech":0.551103413,"sam_rpm":-32.6118088,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022325471,"thr_a_norm":0.022325471,"thr_a_v":0.589301884,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484614313,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.837456,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.298719406,"cg_iw_a":-1.24809742,"cg_theta_rad":0.553480089,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0345893726,"mpcc_du":50.887413,"mpcc_dv":47.5980225,"mpcc_dw":52.4019775,"mpcc_enc_sign":1,"mpcc_id_a":3.30711102,"mpcc_iq_a":0.390919745,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.8946037,"mpcc_pred_id_a":0.403788775,"mpcc_pred_iq_a":1.04323244,"mpcc_state":1,"mpcc_theta_e":0.4250741,"mpcc_theta_mech":0.551960766,"sam_rpm":-26.4783802,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245410949,"thr_a_norm":0.0245410949,"thr_a_v":0.59816438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485571086,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.844017,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.661157608,"cg_iw_a":-0.450732708,"cg_theta_rad":0.554482341,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0327865146,"mpcc_du":50.7941856,"mpcc_dv":47.7974472,"mpcc_dw":52.2025528,"mpcc_enc_sign":1,"mpcc_id_a":2.98086429,"mpcc_iq_a":0.294706523,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.76950312,"mpcc_pred_id_a":0.259161383,"mpcc_pred_iq_a":-1.78082228,"mpcc_state":1,"mpcc_theta_e":0.446326733,"mpcc_theta_mech":0.556211233,"sam_rpm":-28.4060631,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245410949,"thr_a_norm":0.0245410949,"thr_a_v":0.59816438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485571086,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.850517,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.878620625,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556413472,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0205362234,"mpcc_du":50.8041954,"mpcc_dv":47.6738586,"mpcc_dw":52.3261414,"mpcc_enc_sign":1,"mpcc_id_a":2.8262589,"mpcc_iq_a":-1.19961524,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.5740414,"mpcc_pred_id_a":0.502754867,"mpcc_pred_iq_a":1.29178262,"mpcc_state":1,"mpcc_theta_e":0.42999649,"mpcc_theta_mech":0.552945197,"sam_rpm":-19.9659061,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278015584,"thr_a_norm":0.0278015584,"thr_a_v":0.611206234,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496296614,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.859001,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.298719406,"cg_iw_a":0.12916851,"cg_theta_rad":0.554671645,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0148900962,"mpcc_du":51.0909271,"mpcc_dv":47.4559021,"mpcc_dw":52.5440979,"mpcc_enc_sign":1,"mpcc_id_a":2.37123966,"mpcc_iq_a":-0.798894405,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.7898254,"mpcc_pred_id_a":0.0970149636,"mpcc_pred_iq_a":1.56175447,"mpcc_state":1,"mpcc_theta_e":0.427121162,"mpcc_theta_mech":0.552370191,"sam_rpm":-26.4707813,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219603926,"thr_a_norm":0.0278015584,"thr_a_v":0.58784157,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477010757,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.870811,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-2.18339872,"cg_iw_a":1.14399576,"cg_theta_rad":0.557469308,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0122464839,"mpcc_du":49.5624542,"mpcc_dv":49.995121,"mpcc_dw":50.4375458,"mpcc_enc_sign":1,"mpcc_id_a":1.89146054,"mpcc_iq_a":-1.47163498,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.18820715,"mpcc_pred_id_a":-0.111100137,"mpcc_pred_iq_a":-4.26906967,"mpcc_state":1,"mpcc_theta_e":0.451818943,"mpcc_theta_mech":0.557309687,"sam_rpm":6.91726398,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219603926,"thr_a_norm":0.0219603926,"thr_a_v":0.58784157,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477010757,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.881035,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.516182423,"cg_iw_a":-1.39307237,"cg_theta_rad":0.556168318,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.00381116476,"mpcc_du":50.7138138,"mpcc_dv":47.8669357,"mpcc_dw":52.1330643,"mpcc_enc_sign":1,"mpcc_id_a":1.04302347,"mpcc_iq_a":-0.566741526,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.8833656,"mpcc_pred_id_a":0.279512763,"mpcc_pred_iq_a":0.726992011,"mpcc_state":1,"mpcc_theta_e":0.430594921,"mpcc_theta_mech":0.553064942,"sam_rpm":-21.366127,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0136896223,"thr_a_norm":0.0136896223,"thr_a_v":0.554758489,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438438982,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.891228,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.16857147,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.555981398,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.00822299998,"mpcc_du":49.5905876,"mpcc_dv":49.8462372,"mpcc_dw":50.4094124,"mpcc_enc_sign":1,"mpcc_id_a":1.59676099,"mpcc_iq_a":-1.9227941,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.85068822,"mpcc_pred_id_a":-0.329598725,"mpcc_pred_iq_a":-4.52598333,"mpcc_state":1,"mpcc_theta_e":0.447638512,"mpcc_theta_mech":0.556473613,"sam_rpm":3.76944137,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246543884,"thr_a_norm":0.0136896223,"thr_a_v":0.598617554,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472932041,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.901024,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.878620625,"cg_iw_a":-1.82799864,"cg_theta_rad":0.553905606,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0400867648,"mpcc_du":49.92593,"mpcc_dv":49.083374,"mpcc_dw":50.916626,"mpcc_enc_sign":1,"mpcc_id_a":1.68106878,"mpcc_iq_a":-1.41015303,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.809057236,"mpcc_pred_id_a":-0.134464905,"mpcc_pred_iq_a":-4.9780817,"mpcc_state":1,"mpcc_theta_e":0.449325085,"mpcc_theta_mech":0.556810915,"sam_rpm":-0.451859236,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246543884,"thr_a_norm":0.0246543884,"thr_a_v":0.598617554,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472932041,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.9114,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.878620625,"cg_iw_a":-0.523220301,"cg_theta_rad":0.556591451,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.00819197204,"mpcc_du":50.1402893,"mpcc_dv":49.0034409,"mpcc_dw":50.9965591,"mpcc_enc_sign":1,"mpcc_id_a":-0.225780621,"mpcc_iq_a":-2.35085654,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.62376118,"mpcc_pred_id_a":-0.571735799,"mpcc_pred_iq_a":-2.864537,"mpcc_state":1,"mpcc_theta_e":0.451220036,"mpcc_theta_mech":0.557189941,"sam_rpm":4.31157827,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234332681,"thr_a_norm":0.0234332681,"thr_a_v":0.593733072,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.93441,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.09608364,"cg_iw_a":0.274143696,"cg_theta_rad":0.557802916,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.00271731382,"mpcc_du":49.9437599,"mpcc_dv":49.2608566,"mpcc_dw":50.7391434,"mpcc_enc_sign":1,"mpcc_id_a":-0.194287896,"mpcc_iq_a":-1.47870409,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.319916159,"mpcc_pred_id_a":-0.591467023,"mpcc_pred_iq_a":-2.75343847,"mpcc_state":1,"mpcc_theta_e":0.443835258,"mpcc_theta_mech":0.555712998,"sam_rpm":0.160342097,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234332681,"thr_a_norm":0.0234332681,"thr_a_v":0.593733072,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.940971,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.82096052,"cg_iw_a":-0.523220062,"cg_theta_rad":0.557588398,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0216317978,"mpcc_du":50.1262703,"mpcc_dv":48.8172417,"mpcc_dw":51.1827583,"mpcc_enc_sign":1,"mpcc_id_a":2.01677942,"mpcc_iq_a":-0.881367028,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.98282337,"mpcc_pred_id_a":0.0340739824,"mpcc_pred_iq_a":0.666262329,"mpcc_state":1,"mpcc_theta_e":0.451891422,"mpcc_theta_mech":0.557324231,"sam_rpm":15.1516743,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211169571,"thr_a_norm":0.0211169571,"thr_a_v":0.584467828,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471471697,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.947472,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.951108456,"cg_iw_a":-1.17560911,"cg_theta_rad":0.552939534,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.00413901126,"mpcc_du":48.95895,"mpcc_dv":51.04105,"mpcc_dw":49.670208,"mpcc_enc_sign":1,"mpcc_id_a":1.17824244,"mpcc_iq_a":-0.620699048,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.3355942,"mpcc_pred_id_a":0.178567737,"mpcc_pred_iq_a":1.33097994,"mpcc_state":1,"mpcc_theta_e":0.425021648,"mpcc_theta_mech":0.551950216,"sam_rpm":13.8587379,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190901756,"thr_a_norm":0.0211169571,"thr_a_v":0.576360703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.957634,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.516182423,"cg_iw_a":-1.75551057,"cg_theta_rad":0.556791186,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.00751561532,"mpcc_du":50.9417229,"mpcc_dv":47.5906715,"mpcc_dw":52.4093285,"mpcc_enc_sign":1,"mpcc_id_a":1.06014681,"mpcc_iq_a":-1.5808053,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.5799494,"mpcc_pred_id_a":0.298899919,"mpcc_pred_iq_a":2.74926925,"mpcc_state":1,"mpcc_theta_e":0.42666769,"mpcc_theta_mech":0.552279413,"sam_rpm":-22.7415466,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190901756,"thr_a_norm":0.0190901756,"thr_a_v":0.576360703,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.967796,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.516182423,"cg_iw_a":-1.10312176,"cg_theta_rad":0.554786742,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0286998022,"mpcc_du":49.5692711,"mpcc_dv":50.3892059,"mpcc_dw":50.4307289,"mpcc_enc_sign":1,"mpcc_id_a":1.6570642,"mpcc_iq_a":0.0374789536,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.79237652,"mpcc_pred_id_a":-0.016664207,"mpcc_pred_iq_a":-4.16390991,"mpcc_state":1,"mpcc_theta_e":0.45194149,"mpcc_theta_mech":0.557334185,"sam_rpm":14.631897,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021595329,"thr_a_norm":0.021595329,"thr_a_v":0.586381316,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475046903,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.978142,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.6759851,"cg_iw_a":-2.19043684,"cg_theta_rad":0.55531317,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.00936982222,"mpcc_du":49.2664948,"mpcc_dv":49.1730843,"mpcc_dw":50.8269157,"mpcc_enc_sign":1,"mpcc_id_a":0.216739416,"mpcc_iq_a":-0.280411422,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.35021162,"mpcc_pred_id_a":-0.241569951,"mpcc_pred_iq_a":-2.16389656,"mpcc_state":1,"mpcc_theta_e":0.433794498,"mpcc_theta_mech":0.551911414,"sam_rpm":5.56079912,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264042169,"thr_a_norm":0.021595329,"thr_a_v":0.605616868,"thr_b":0.0039459765,"thr_b_norm":0,"thr_b_v":0.515783906,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.988029,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.298719406,"cg_iw_a":-2.04546118,"cg_theta_rad":0.553417981,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5000,"hz_app_loop":365,"hz_tim_isr":9999,"hz_vsense":365,"mpcc_cost":0.0472672172,"mpcc_du":50.7448082,"mpcc_dv":47.6371956,"mpcc_dw":52.3628044,"mpcc_enc_sign":1,"mpcc_id_a":3.38458037,"mpcc_iq_a":-0.00538246054,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.14590693,"mpcc_pred_id_a":0.910179853,"mpcc_pred_iq_a":1.94106686,"mpcc_state":1,"mpcc_theta_e":0.436815262,"mpcc_theta_mech":0.554308951,"sam_rpm":-8.99278736,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264042169,"thr_a_norm":0.0264042169,"thr_a_v":0.605616868,"thr_b":0.0039459765,"thr_b_norm":0.0039459765,"thr_b_v":0.515783906,"vdc_v":55.2955055}} +{"type":"telemetry","t":92.998985,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.45852208,"cg_iw_a":-2.04546142,"cg_theta_rad":0.553783059,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.031619247,"mpcc_du":49.8496094,"mpcc_dv":49.0150719,"mpcc_dw":50.9849281,"mpcc_enc_sign":1,"mpcc_id_a":2.72450399,"mpcc_iq_a":-1.75466466,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.15151072,"mpcc_pred_id_a":0.228793368,"mpcc_pred_iq_a":-4.53230858,"mpcc_state":1,"mpcc_theta_e":0.441946983,"mpcc_theta_mech":0.555335283,"sam_rpm":-5.81746197,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0133749098,"thr_a_norm":0.0133749098,"thr_a_v":0.553499639,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447100043,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.010338,"values":{"cg_iu_a":0.821939945,"cg_iv_a":0.643620491,"cg_iw_a":-1.46556044,"cg_theta_rad":0.556847036,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0324681588,"mpcc_du":50.0775871,"mpcc_dv":48.9905319,"mpcc_dw":51.0094681,"mpcc_enc_sign":1,"mpcc_id_a":2.72308302,"mpcc_iq_a":-1.07910943,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.0645142,"mpcc_pred_id_a":0.196334332,"mpcc_pred_iq_a":-1.36226606,"mpcc_state":1,"mpcc_theta_e":0.435869694,"mpcc_theta_mech":0.554119825,"sam_rpm":-16.1505852,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200343281,"thr_a_norm":0.0133749098,"thr_a_v":0.580137312,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44438085,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.032646,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.371207237,"cg_iw_a":-0.16078186,"cg_theta_rad":0.555674851,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0125900693,"mpcc_du":48.6931801,"mpcc_dv":51.3068199,"mpcc_dw":48.974411,"mpcc_enc_sign":1,"mpcc_id_a":-0.930867553,"mpcc_iq_a":-0.796420753,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.5436535,"mpcc_pred_id_a":-1.17589116,"mpcc_pred_iq_a":-7.19510889,"mpcc_state":1,"mpcc_theta_e":0.457956791,"mpcc_theta_mech":0.558537245,"sam_rpm":24.3628139,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200343281,"thr_a_norm":0.0200343281,"thr_a_v":0.580137312,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44438085,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.039207,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.806133032,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.554765344,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0333896652,"mpcc_du":49.3512573,"mpcc_dv":50.6487427,"mpcc_dw":50.2881737,"mpcc_enc_sign":1,"mpcc_id_a":3.63603187,"mpcc_iq_a":-1.3478533,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.9419756,"mpcc_pred_id_a":0.441956729,"mpcc_pred_iq_a":-0.712846637,"mpcc_state":1,"mpcc_theta_e":0.431659222,"mpcc_theta_mech":0.553277791,"sam_rpm":7.7276516,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0135385692,"thr_a_norm":0.0135385692,"thr_a_v":0.554154277,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463968873,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.045647,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.661157608,"cg_iw_a":-0.015806675,"cg_theta_rad":0.551556826,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00995163154,"mpcc_du":49.6671028,"mpcc_dv":50.3328972,"mpcc_dw":50.3100281,"mpcc_enc_sign":1,"mpcc_id_a":0.39374578,"mpcc_iq_a":0.0948763937,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.06829596,"mpcc_pred_id_a":-0.535206676,"mpcc_pred_iq_a":-4.26928949,"mpcc_state":1,"mpcc_theta_e":0.445128441,"mpcc_theta_mech":0.555971563,"sam_rpm":5.60531282,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0135385692,"thr_a_norm":0.0135385692,"thr_a_v":0.554154277,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463968873,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.052177,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.951108456,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556511641,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00147086417,"mpcc_du":49.5243835,"mpcc_dv":47.3054123,"mpcc_dw":52.6945877,"mpcc_enc_sign":1,"mpcc_id_a":0.421463728,"mpcc_iq_a":-1.35775054,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.07476139,"mpcc_pred_id_a":-0.321247935,"mpcc_pred_iq_a":-4.28591251,"mpcc_state":1,"mpcc_theta_e":0.446958542,"mpcc_theta_mech":0.556337655,"sam_rpm":10.0597172,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193671286,"thr_a_norm":0.0193671286,"thr_a_v":0.577468514,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462307125,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.060631,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.951108456,"cg_iw_a":-1.61053514,"cg_theta_rad":0.553887904,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0288470872,"mpcc_du":49.4080467,"mpcc_dv":50.5919533,"mpcc_dw":50.2774429,"mpcc_enc_sign":1,"mpcc_id_a":1.86854327,"mpcc_iq_a":-0.51829654,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.54549479,"mpcc_pred_id_a":0.172212943,"mpcc_pred_iq_a":-6.69857025,"mpcc_state":1,"mpcc_theta_e":0.446236134,"mpcc_theta_mech":0.556193113,"sam_rpm":5.34332895,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261020809,"thr_a_norm":0.0193671286,"thr_a_v":0.604408324,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492771804,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.070427,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.09608364,"cg_iw_a":0.201656342,"cg_theta_rad":0.555676341,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0309844892,"mpcc_du":49.6292076,"mpcc_dv":49.2461624,"mpcc_dw":50.7538376,"mpcc_enc_sign":1,"mpcc_id_a":3.30521703,"mpcc_iq_a":-1.54611015,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.70596981,"mpcc_pred_id_a":0.422525316,"mpcc_pred_iq_a":-0.119766623,"mpcc_state":1,"mpcc_theta_e":0.438653469,"mpcc_theta_mech":0.554676652,"sam_rpm":3.24322081,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261020809,"thr_a_norm":0.0261020809,"thr_a_v":0.604408324,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492771804,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.080498,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.951108456,"cg_iw_a":-1.82799816,"cg_theta_rad":0.55510217,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0359158702,"mpcc_du":50.7806282,"mpcc_dv":47.9771042,"mpcc_dw":50.8730164,"mpcc_enc_sign":1,"mpcc_id_a":0.776822388,"mpcc_iq_a":-1.62153435,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.659319639,"mpcc_pred_id_a":0.0719076544,"mpcc_pred_iq_a":-0.335835487,"mpcc_state":1,"mpcc_theta_e":0.447368622,"mpcc_theta_mech":0.559975863,"sam_rpm":0.79046607,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194174796,"thr_a_norm":0.0194174796,"thr_a_v":0.577669919,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458681583,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.090416,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.53100967,"cg_iw_a":0.636582375,"cg_theta_rad":0.554608703,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00402923906,"mpcc_du":49.7072449,"mpcc_dv":49.4394684,"mpcc_dw":50.5605316,"mpcc_enc_sign":1,"mpcc_id_a":-0.025633553,"mpcc_iq_a":-1.6097542,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.95119143,"mpcc_pred_id_a":-0.311715633,"mpcc_pred_iq_a":-2.71684504,"mpcc_state":1,"mpcc_theta_e":0.449903011,"mpcc_theta_mech":0.556926548,"sam_rpm":7.87175655,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194174796,"thr_a_norm":0.0194174796,"thr_a_v":0.577669919,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458681583,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.100426,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.96593571,"cg_iw_a":0.491606712,"cg_theta_rad":0.55467546,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0264996514,"mpcc_du":49.8096695,"mpcc_dv":48.8636894,"mpcc_dw":51.1363106,"mpcc_enc_sign":1,"mpcc_id_a":3.19029999,"mpcc_iq_a":-0.778351307,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.83735609,"mpcc_pred_id_a":0.870198727,"mpcc_pred_iq_a":0.692468882,"mpcc_state":1,"mpcc_theta_e":0.445912838,"mpcc_theta_mech":0.556128442,"sam_rpm":6.73588324,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0161318332,"thr_a_norm":0.0161318332,"thr_a_v":0.564527333,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465832025,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.110588,"values":{"cg_iu_a":4.5912981,"cg_iv_a":-2.18339872,"cg_iw_a":1.21648359,"cg_theta_rad":0.556687176,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0606712289,"mpcc_du":49.4822693,"mpcc_dv":50.3647385,"mpcc_dw":50.5177307,"mpcc_enc_sign":1,"mpcc_id_a":3.24538922,"mpcc_iq_a":-1.1779474,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.7438087,"mpcc_pred_id_a":0.563740611,"mpcc_pred_iq_a":-5.18214989,"mpcc_state":1,"mpcc_theta_e":0.458670616,"mpcc_theta_mech":0.558680058,"sam_rpm":20.1808281,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256992429,"thr_a_norm":0.0161318332,"thr_a_v":0.602796972,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486880273,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.133598,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.60349751,"cg_iw_a":0.346631765,"cg_theta_rad":0.554205,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0219237786,"mpcc_du":49.2796898,"mpcc_dv":50.7203102,"mpcc_dw":50.0656395,"mpcc_enc_sign":1,"mpcc_id_a":2.37058687,"mpcc_iq_a":-1.14846969,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.95706844,"mpcc_pred_id_a":-0.0815766603,"mpcc_pred_iq_a":-5.84126568,"mpcc_state":1,"mpcc_theta_e":0.45268631,"mpcc_theta_mech":0.557483196,"sam_rpm":12.7883568,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256992429,"thr_a_norm":0.0256992429,"thr_a_v":0.602796972,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486880273,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.14016,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.89344811,"cg_iw_a":1.36145902,"cg_theta_rad":0.556488633,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0318327919,"mpcc_du":49.5175896,"mpcc_dv":49.935955,"mpcc_dw":50.4824104,"mpcc_enc_sign":1,"mpcc_id_a":2.3681438,"mpcc_iq_a":-0.484920382,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.2052536,"mpcc_pred_id_a":0.211608306,"mpcc_pred_iq_a":-4.38607359,"mpcc_state":1,"mpcc_theta_e":0.448531628,"mpcc_theta_mech":0.556652248,"sam_rpm":7.68642712,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269581228,"thr_a_norm":0.0269581228,"thr_a_v":0.607832491,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493728518,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.14669,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.443694592,"cg_iw_a":-0.740683556,"cg_theta_rad":0.555299699,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00656607654,"mpcc_du":50.3970413,"mpcc_dv":50.9054947,"mpcc_dw":49.7782631,"mpcc_enc_sign":1,"mpcc_id_a":1.5537895,"mpcc_iq_a":-0.670823991,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.68235064,"mpcc_pred_id_a":0.079862304,"mpcc_pred_iq_a":0.501937985,"mpcc_state":1,"mpcc_theta_e":0.434693336,"mpcc_theta_mech":0.555654228,"sam_rpm":-10.3752728,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269581228,"thr_a_norm":0.0269581228,"thr_a_v":0.607832491,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493728518,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.153191,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.46555996,"cg_theta_rad":0.555511594,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0120767346,"mpcc_du":49.8341827,"mpcc_dv":49.1563263,"mpcc_dw":50.8436737,"mpcc_enc_sign":1,"mpcc_id_a":0.237522945,"mpcc_iq_a":-1.22718036,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.34492111,"mpcc_pred_id_a":-0.0571502037,"mpcc_pred_iq_a":-1.71916294,"mpcc_state":1,"mpcc_theta_e":0.45179224,"mpcc_theta_mech":0.557304382,"sam_rpm":11.3023977,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0301430523,"thr_a_norm":0.0301430523,"thr_a_v":0.620572209,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460796505,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.163383,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.661157608,"cg_iw_a":-0.305757523,"cg_theta_rad":0.553782344,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0236382149,"mpcc_du":50.6038742,"mpcc_dv":48.3061409,"mpcc_dw":51.6938591,"mpcc_enc_sign":1,"mpcc_id_a":0.916941047,"mpcc_iq_a":-0.661530256,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.35301852,"mpcc_pred_id_a":-0.20744592,"mpcc_pred_iq_a":-0.660168171,"mpcc_state":1,"mpcc_theta_e":0.442490578,"mpcc_theta_mech":0.555444002,"sam_rpm":-4.2707243,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103396654,"thr_a_norm":0.0301430523,"thr_a_v":0.913586617,"thr_b":0.0508262664,"thr_b_norm":0,"thr_b_v":0.703305066,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.17318,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-2.0384233,"cg_iw_a":0.781557322,"cg_theta_rad":0.555048347,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0147800064,"mpcc_du":49.7429199,"mpcc_dv":49.276638,"mpcc_dw":50.723362,"mpcc_enc_sign":1,"mpcc_id_a":0.402658194,"mpcc_iq_a":-1.42844629,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.30822623,"mpcc_pred_id_a":-0.0254365709,"mpcc_pred_iq_a":0.891505599,"mpcc_state":1,"mpcc_theta_e":0.434817314,"mpcc_theta_mech":0.553909361,"sam_rpm":0.721654177,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103396654,"thr_a_norm":0.103396654,"thr_a_v":0.913586617,"thr_b":0.0508262664,"thr_b_norm":0.0508262664,"thr_b_v":0.703305066,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.183403,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.02359605,"cg_iw_a":-1.75551057,"cg_theta_rad":0.553717017,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00779822096,"mpcc_du":49.6808662,"mpcc_dv":49.4661751,"mpcc_dw":50.5338249,"mpcc_enc_sign":1,"mpcc_id_a":-0.0982155725,"mpcc_iq_a":-0.964123607,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.5921278,"mpcc_pred_id_a":-0.290591925,"mpcc_pred_iq_a":-1.68774772,"mpcc_state":1,"mpcc_theta_e":0.432056427,"mpcc_theta_mech":0.553357184,"sam_rpm":-10.1506472,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0130601972,"thr_a_norm":0.0130601972,"thr_a_v":0.552240789,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453092247,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.193565,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.53100967,"cg_iw_a":0.129168749,"cg_theta_rad":0.554914057,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0145929223,"mpcc_du":50.052597,"mpcc_dv":48.628624,"mpcc_dw":51.371376,"mpcc_enc_sign":1,"mpcc_id_a":2.41456294,"mpcc_iq_a":-1.7489109,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.2140808,"mpcc_pred_id_a":0.604532719,"mpcc_pred_iq_a":-3.33827639,"mpcc_state":1,"mpcc_theta_e":0.430441856,"mpcc_theta_mech":0.553034306,"sam_rpm":-23.3814526,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0130601972,"thr_a_norm":0.0130601972,"thr_a_v":0.552240789,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453092247,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.203789,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-2.32837415,"cg_iw_a":-0.958146572,"cg_theta_rad":0.555401206,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00438131671,"mpcc_du":49.4673691,"mpcc_dv":50.3367996,"mpcc_dw":50.5326309,"mpcc_enc_sign":1,"mpcc_id_a":1.20439827,"mpcc_iq_a":-0.0375802629,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.2812881,"mpcc_pred_id_a":-0.0996923149,"mpcc_pred_iq_a":0.585062325,"mpcc_state":1,"mpcc_theta_e":0.426852226,"mpcc_theta_mech":0.552316368,"sam_rpm":-4.62131023,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483103693,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.213799,"values":{"cg_iu_a":2.77910662,"cg_iv_a":0.498644829,"cg_iw_a":-3.27775145,"cg_theta_rad":0.556483269,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0539157726,"mpcc_du":51.1030655,"mpcc_dv":47.6966209,"mpcc_dw":52.3033791,"mpcc_enc_sign":1,"mpcc_id_a":0.397262186,"mpcc_iq_a":-1.72471595,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.02688694,"mpcc_pred_id_a":-0.105776399,"mpcc_pred_iq_a":0.365822732,"mpcc_state":1,"mpcc_theta_e":0.452890396,"mpcc_theta_mech":0.557523966,"sam_rpm":4.81098032,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216834545,"thr_a_norm":0.0256614834,"thr_a_v":0.586733818,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.236778,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-0.0087685585,"cg_iw_a":0.12916851,"cg_theta_rad":0.55664736,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.000469920022,"mpcc_du":51.3639717,"mpcc_dv":47.263298,"mpcc_dw":52.736702,"mpcc_enc_sign":1,"mpcc_id_a":0.252128839,"mpcc_iq_a":-1.44054508,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.905344,"mpcc_pred_id_a":-0.274938613,"mpcc_pred_iq_a":2.37630677,"mpcc_state":1,"mpcc_theta_e":0.42357254,"mpcc_theta_mech":0.551660419,"sam_rpm":-29.8271847,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216834545,"thr_a_norm":0.0216834545,"thr_a_v":0.586733818,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.24334,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.806133032,"cg_iw_a":-2.04546142,"cg_theta_rad":0.555671096,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00704081776,"mpcc_du":50.9411201,"mpcc_dv":47.7583542,"mpcc_dw":52.2416458,"mpcc_enc_sign":1,"mpcc_id_a":1.66066039,"mpcc_iq_a":-2.18062973,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.731473,"mpcc_pred_id_a":-0.0640983209,"mpcc_pred_iq_a":0.43892929,"mpcc_state":1,"mpcc_theta_e":0.428563118,"mpcc_theta_mech":0.552658558,"sam_rpm":-23.364994,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0976939648,"thr_a_norm":0.0976939648,"thr_a_v":0.890775859,"thr_b":0.0395468026,"thr_b_norm":0.0395468026,"thr_b_v":0.658187211,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.24987,"values":{"cg_iu_a":2.92408228,"cg_iv_a":0.498644829,"cg_iw_a":-3.42272711,"cg_theta_rad":0.555810928,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00114332058,"mpcc_du":52.3024445,"mpcc_dv":46.2019348,"mpcc_dw":53.7980652,"mpcc_enc_sign":1,"mpcc_id_a":-0.0762624443,"mpcc_iq_a":-0.236256942,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-33.2986221,"mpcc_pred_id_a":-0.777379096,"mpcc_pred_iq_a":4.27674484,"mpcc_state":1,"mpcc_theta_e":0.41138792,"mpcc_theta_mech":0.549223483,"sam_rpm":-48.7688637,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0976939648,"thr_a_norm":0.0976939648,"thr_a_v":0.890775859,"thr_b":0.0395468026,"thr_b_norm":0.0395468026,"thr_b_v":0.658187211,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.256432,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-2.32837415,"cg_iw_a":0.781557798,"cg_theta_rad":0.556434631,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0359619893,"mpcc_du":49.5323601,"mpcc_dv":50.1172256,"mpcc_dw":50.4676399,"mpcc_enc_sign":1,"mpcc_id_a":2.93103218,"mpcc_iq_a":-0.144470409,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.19701719,"mpcc_pred_id_a":0.212111548,"mpcc_pred_iq_a":-4.30595779,"mpcc_state":1,"mpcc_theta_e":0.446015358,"mpcc_theta_mech":0.556148946,"sam_rpm":5.88224077,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.0167864412,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485671788,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.264397,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.153744221,"cg_iw_a":-2.04546118,"cg_theta_rad":0.556312382,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00368981133,"mpcc_du":51.4997292,"mpcc_dv":47.1710892,"mpcc_dw":52.8289108,"mpcc_enc_sign":1,"mpcc_id_a":0.673359752,"mpcc_iq_a":-1.54724491,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.0780096,"mpcc_pred_id_a":-0.292354435,"mpcc_pred_iq_a":2.62198639,"mpcc_state":1,"mpcc_theta_e":0.429825783,"mpcc_theta_mech":0.558914363,"sam_rpm":-21.6359138,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026051715,"thr_a_norm":0.0167864412,"thr_a_v":0.60420686,"thr_b":0.002750054,"thr_b_norm":0,"thr_b_v":0.511000216,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.274193,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.6759851,"cg_iw_a":0.709069967,"cg_theta_rad":0.555300295,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0229646172,"mpcc_du":50.2783699,"mpcc_dv":48.6045151,"mpcc_dw":51.3954849,"mpcc_enc_sign":1,"mpcc_id_a":1.15514815,"mpcc_iq_a":-0.497446477,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.2114923,"mpcc_pred_id_a":0.139616638,"mpcc_pred_iq_a":-1.32612479,"mpcc_state":1,"mpcc_theta_e":0.443147659,"mpcc_theta_mech":0.55557549,"sam_rpm":-2.97648311,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026051715,"thr_a_norm":0.026051715,"thr_a_v":0.60420686,"thr_b":0.002750054,"thr_b_norm":0.002750054,"thr_b_v":0.511000216,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.284416,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.82096052,"cg_iw_a":0.854045391,"cg_theta_rad":0.554145932,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0219696257,"mpcc_du":50.155899,"mpcc_dv":48.8227959,"mpcc_dw":51.1772041,"mpcc_enc_sign":1,"mpcc_id_a":0.349663347,"mpcc_iq_a":-1.50858009,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.50345838,"mpcc_pred_id_a":-0.0473618582,"mpcc_pred_iq_a":-3.14710903,"mpcc_state":1,"mpcc_theta_e":0.446590424,"mpcc_theta_mech":0.556263983,"sam_rpm":-1.29171491,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181334466,"thr_a_norm":0.0181334466,"thr_a_v":0.572533786,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455609947,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.294395,"values":{"cg_iu_a":1.90925455,"cg_iv_a":0.0637187958,"cg_iw_a":-1.97297335,"cg_theta_rad":0.557185113,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0522879325,"mpcc_du":49.9850807,"mpcc_dv":48.6890869,"mpcc_dw":51.3109131,"mpcc_enc_sign":1,"mpcc_id_a":3.34582591,"mpcc_iq_a":-0.390500605,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.4036055,"mpcc_pred_id_a":0.657348156,"mpcc_pred_iq_a":2.1779213,"mpcc_state":1,"mpcc_theta_e":0.420232773,"mpcc_theta_mech":0.550992489,"sam_rpm":-18.468092,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181334466,"thr_a_norm":0.0181334466,"thr_a_v":0.572533786,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455609947,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.304588,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-0.298719406,"cg_iw_a":-0.523220539,"cg_theta_rad":0.555981934,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00606943574,"mpcc_du":49.5457954,"mpcc_dv":49.9107742,"mpcc_dw":50.4542046,"mpcc_enc_sign":1,"mpcc_id_a":0.611469686,"mpcc_iq_a":-1.48459935,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.285914004,"mpcc_pred_id_a":0.0432911962,"mpcc_pred_iq_a":-2.5143621,"mpcc_state":1,"mpcc_theta_e":0.438892841,"mpcc_theta_mech":0.553736925,"sam_rpm":-1.8427701,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176298916,"thr_a_norm":0.0176298916,"thr_a_v":0.570519567,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444985121,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.31469,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-0.298719406,"cg_iw_a":1.72389746,"cg_theta_rad":0.556927025,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00252980483,"mpcc_du":49.8484268,"mpcc_dv":49.1049957,"mpcc_dw":50.8950043,"mpcc_enc_sign":1,"mpcc_id_a":0.848090887,"mpcc_iq_a":-0.297396511,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.540504992,"mpcc_pred_id_a":0.0949298441,"mpcc_pred_iq_a":-2.61919737,"mpcc_state":1,"mpcc_theta_e":0.435078621,"mpcc_theta_mech":0.553961635,"sam_rpm":-3.75167084,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234081,"thr_a_norm":0.0176298916,"thr_a_v":0.5936324,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464371711,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.337578,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.31354666,"cg_iw_a":-1.82799864,"cg_theta_rad":0.554238021,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0276085902,"mpcc_du":49.7225304,"mpcc_dv":48.96558,"mpcc_dw":51.03442,"mpcc_enc_sign":1,"mpcc_id_a":3.31864762,"mpcc_iq_a":-1.68834269,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.72978067,"mpcc_pred_id_a":0.677729666,"mpcc_pred_iq_a":-5.00887775,"mpcc_state":1,"mpcc_theta_e":0.437984467,"mpcc_theta_mech":0.55454278,"sam_rpm":-0.775401592,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234081,"thr_a_norm":0.0234081,"thr_a_v":0.5936324,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464371711,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.34417,"values":{"cg_iu_a":0.821939945,"cg_iv_a":0.136206627,"cg_iw_a":-5.08994389,"cg_theta_rad":0.55541867,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0156810563,"mpcc_du":49.8631172,"mpcc_dv":49.1563416,"mpcc_dw":50.8436584,"mpcc_enc_sign":1,"mpcc_id_a":2.48140121,"mpcc_iq_a":-1.08191669,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.9418173,"mpcc_pred_id_a":0.162555158,"mpcc_pred_iq_a":-4.00001431,"mpcc_state":1,"mpcc_theta_e":0.428121567,"mpcc_theta_mech":0.552570224,"sam_rpm":-22.3516235,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0155023932,"thr_a_norm":0.0155023932,"thr_a_v":0.562009573,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460041195,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.350639,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.6759851,"cg_iw_a":-0.668195486,"cg_theta_rad":0.551941991,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0149100078,"mpcc_du":49.6712074,"mpcc_dv":49.3825531,"mpcc_dw":50.6174469,"mpcc_enc_sign":1,"mpcc_id_a":1.77300477,"mpcc_iq_a":-1.3932364,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.76579845,"mpcc_pred_id_a":-0.204379946,"mpcc_pred_iq_a":-4.34046078,"mpcc_state":1,"mpcc_theta_e":0.443272591,"mpcc_theta_mech":0.555600405,"sam_rpm":-2.48326707,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0155023932,"thr_a_norm":0.0155023932,"thr_a_v":0.562009573,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460041195,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.35717,"values":{"cg_iu_a":4.2288599,"cg_iv_a":-2.32837415,"cg_iw_a":-1.90048575,"cg_theta_rad":0.556721568,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00130392984,"mpcc_du":50.6989403,"mpcc_dv":48.3705902,"mpcc_dw":51.6294098,"mpcc_enc_sign":1,"mpcc_id_a":-0.721844077,"mpcc_iq_a":-1.46013737,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.5825415,"mpcc_pred_id_a":-0.966899157,"mpcc_pred_iq_a":-0.884177268,"mpcc_state":1,"mpcc_theta_e":0.429711819,"mpcc_theta_mech":0.552888274,"sam_rpm":-20.2116776,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233955085,"thr_a_norm":0.0233955085,"thr_a_v":0.593582034,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464270979,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.36541,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.02359605,"cg_iw_a":-1.68302321,"cg_theta_rad":0.555738986,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0426330455,"mpcc_du":50.1601753,"mpcc_dv":48.5231438,"mpcc_dw":51.4768562,"mpcc_enc_sign":1,"mpcc_id_a":3.53136849,"mpcc_iq_a":-1.4101367,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.74820685,"mpcc_pred_id_a":0.545140088,"mpcc_pred_iq_a":-0.115210988,"mpcc_state":1,"mpcc_theta_e":0.44707346,"mpcc_theta_mech":0.556360602,"sam_rpm":5.94269753,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024969101,"thr_a_norm":0.0233955085,"thr_a_v":0.599876404,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478168905,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.375175,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.09608364,"cg_iw_a":-1.61053562,"cg_theta_rad":0.55611062,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0373568796,"mpcc_du":49.7385101,"mpcc_dv":49.3396797,"mpcc_dw":50.6603203,"mpcc_enc_sign":1,"mpcc_id_a":0.661780536,"mpcc_iq_a":-0.686613083,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.43053448,"mpcc_pred_id_a":-0.260898948,"mpcc_pred_iq_a":-4.87756872,"mpcc_state":1,"mpcc_theta_e":0.449624538,"mpcc_theta_mech":0.556870818,"sam_rpm":2.75913811,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024969101,"thr_a_norm":0.024969101,"thr_a_v":0.599876404,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478168905,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.385429,"values":{"cg_iu_a":1.03940296,"cg_iv_a":0.0637187958,"cg_iw_a":-2.40789938,"cg_theta_rad":0.555998027,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0209498964,"mpcc_du":50.2666702,"mpcc_dv":48.5581856,"mpcc_dw":51.4418144,"mpcc_enc_sign":1,"mpcc_id_a":1.46598041,"mpcc_iq_a":-0.687796593,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.81284523,"mpcc_pred_id_a":0.00110632007,"mpcc_pred_iq_a":-1.81480849,"mpcc_state":1,"mpcc_theta_e":0.441191673,"mpcc_theta_mech":0.555184245,"sam_rpm":-6.69228458,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212302655,"thr_a_norm":0.0212302655,"thr_a_v":0.584921062,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457775235,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.395592,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.371207237,"cg_iw_a":-0.450732708,"cg_theta_rad":0.553186476,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0447120331,"mpcc_du":50.2109184,"mpcc_dv":48.6850014,"mpcc_dw":51.3149986,"mpcc_enc_sign":1,"mpcc_id_a":1.23493767,"mpcc_iq_a":-0.499811828,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.62255526,"mpcc_pred_id_a":-0.0163735095,"mpcc_pred_iq_a":-1.9613508,"mpcc_state":1,"mpcc_theta_e":0.450499058,"mpcc_theta_mech":0.557045758,"sam_rpm":4.72080135,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212302655,"thr_a_norm":0.0212302655,"thr_a_v":0.584921062,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457775235,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.405815,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-2.18339872,"cg_iw_a":0.346631527,"cg_theta_rad":0.55559659,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00510569662,"mpcc_du":49.5861092,"mpcc_dv":50.4138908,"mpcc_dw":50.2068443,"mpcc_enc_sign":1,"mpcc_id_a":-0.959331453,"mpcc_iq_a":-0.750499129,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.207358435,"mpcc_pred_id_a":-0.767875195,"mpcc_pred_iq_a":-3.16581583,"mpcc_state":1,"mpcc_theta_e":0.43351984,"mpcc_theta_mech":0.553649902,"sam_rpm":-0.429341018,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0143820047,"thr_a_norm":0.0143820047,"thr_a_v":0.557528019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448509932,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.415794,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.60349751,"cg_iw_a":0.78155756,"cg_theta_rad":0.553427458,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00428081863,"mpcc_du":50.3034058,"mpcc_dv":48.795105,"mpcc_dw":51.204895,"mpcc_enc_sign":1,"mpcc_id_a":-0.0404992774,"mpcc_iq_a":-1.82998085,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.40966272,"mpcc_pred_id_a":-0.571900666,"mpcc_pred_iq_a":-2.03347492,"mpcc_state":1,"mpcc_theta_e":0.443968296,"mpcc_theta_mech":0.555739582,"sam_rpm":-3.67561007,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0119649768,"thr_a_norm":0.0143820047,"thr_a_v":0.547859907,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43128863,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.438805,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":0.426157475,"cg_iw_a":-0.305757523,"cg_theta_rad":0.55426842,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.115694463,"mpcc_du":51.8281326,"mpcc_dv":46.5467339,"mpcc_dw":53.4532661,"mpcc_enc_sign":1,"mpcc_id_a":2.02724648,"mpcc_iq_a":2.43400455,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.0682774,"mpcc_pred_id_a":0.0941670761,"mpcc_pred_iq_a":3.19525242,"mpcc_state":1,"mpcc_theta_e":0.431992054,"mpcc_theta_mech":0.553344309,"sam_rpm":-22.8162479,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0119649768,"thr_a_norm":0.0119649768,"thr_a_v":0.547859907,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43128863,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.445396,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.443694592,"cg_iw_a":-0.668195724,"cg_theta_rad":0.553742409,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0302580055,"mpcc_du":50.904232,"mpcc_dv":47.6208649,"mpcc_dw":52.3791351,"mpcc_enc_sign":1,"mpcc_id_a":2.56542301,"mpcc_iq_a":0.674142301,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.5607128,"mpcc_pred_id_a":0.294781148,"mpcc_pred_iq_a":0.906893849,"mpcc_state":1,"mpcc_theta_e":0.427989006,"mpcc_theta_mech":0.552543759,"sam_rpm":-24.6278458,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210791826,"thr_a_norm":0.0210791826,"thr_a_v":0.58431673,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463515669,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.451866,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-1.31354666,"cg_iw_a":1.28897142,"cg_theta_rad":0.554350317,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00289354287,"mpcc_du":49.7675171,"mpcc_dv":49.0425186,"mpcc_dw":50.9574814,"mpcc_enc_sign":1,"mpcc_id_a":0.646252632,"mpcc_iq_a":-0.387786299,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.34674025,"mpcc_pred_id_a":0.251982629,"mpcc_pred_iq_a":-2.30995512,"mpcc_state":1,"mpcc_theta_e":0.434594631,"mpcc_theta_mech":0.553864837,"sam_rpm":-9.99375248,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210791826,"thr_a_norm":0.0210791826,"thr_a_v":0.58431673,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463515669,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.458611,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.661157608,"cg_iw_a":-0.450732708,"cg_theta_rad":0.553296506,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00432994496,"mpcc_du":50.4482689,"mpcc_dv":48.413868,"mpcc_dw":51.586132,"mpcc_enc_sign":1,"mpcc_id_a":1.23366392,"mpcc_iq_a":-2.88703728,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.64699888,"mpcc_pred_id_a":-0.271568328,"mpcc_pred_iq_a":-1.66116464,"mpcc_state":1,"mpcc_theta_e":0.439194202,"mpcc_theta_mech":0.554784715,"sam_rpm":-9.20089149,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196189135,"thr_a_norm":0.0196189135,"thr_a_v":0.578475654,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.469963,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.16857147,"cg_iw_a":-3.27775192,"cg_theta_rad":0.555999637,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00107435486,"mpcc_du":49.6366959,"mpcc_dv":49.2194176,"mpcc_dw":50.7805824,"mpcc_enc_sign":1,"mpcc_id_a":0.454549283,"mpcc_iq_a":-0.110584728,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.49157596,"mpcc_pred_id_a":0.166584224,"mpcc_pred_iq_a":-0.43967846,"mpcc_state":1,"mpcc_theta_e":0.42737484,"mpcc_theta_mech":0.552420855,"sam_rpm":-5.29262781,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182970911,"thr_a_norm":0.0182970911,"thr_a_v":0.573188365,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467544049,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.48101,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-2.11091113,"cg_iw_a":-0.378245115,"cg_theta_rad":0.556208551,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0817212388,"mpcc_du":50.5090332,"mpcc_dv":48.4146919,"mpcc_dw":51.5853081,"mpcc_enc_sign":1,"mpcc_id_a":2.26291728,"mpcc_iq_a":-0.202234343,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.22044945,"mpcc_pred_id_a":-0.34597367,"mpcc_pred_iq_a":-3.25863075,"mpcc_state":1,"mpcc_theta_e":0.448606968,"mpcc_theta_mech":0.556667268,"sam_rpm":-5.1744566,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182970911,"thr_a_norm":0.0182970911,"thr_a_v":0.573188365,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467544049,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.491173,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-1.24105906,"cg_iw_a":-0.160782337,"cg_theta_rad":0.554798722,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00339829316,"mpcc_du":49.9234657,"mpcc_dv":48.9386559,"mpcc_dw":51.0613441,"mpcc_enc_sign":1,"mpcc_id_a":1.00971687,"mpcc_iq_a":0.235074908,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.99668741,"mpcc_pred_id_a":0.0104072951,"mpcc_pred_iq_a":0.322362304,"mpcc_state":1,"mpcc_theta_e":0.426623821,"mpcc_theta_mech":0.55227071,"sam_rpm":-10.9489832,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0155905336,"thr_a_norm":0.0155905336,"thr_a_v":0.562362134,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455005705,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.503593,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.371207237,"cg_iw_a":-1.97297382,"cg_theta_rad":0.557429135,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00140614377,"mpcc_du":49.956543,"mpcc_dv":48.9161491,"mpcc_dw":51.0838509,"mpcc_enc_sign":1,"mpcc_id_a":0.419425726,"mpcc_iq_a":-1.21009767,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.34976101,"mpcc_pred_id_a":-0.00546829822,"mpcc_pred_iq_a":-2.50128293,"mpcc_state":1,"mpcc_theta_e":0.439479351,"mpcc_theta_mech":0.554841757,"sam_rpm":-10.169446,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288967639,"thr_a_norm":0.0288967639,"thr_a_v":0.615587056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496246278,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.513359,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-2.0384233,"cg_iw_a":1.21648335,"cg_theta_rad":0.554735005,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.040238075,"mpcc_du":49.5700111,"mpcc_dv":49.3551292,"mpcc_dw":50.6448708,"mpcc_enc_sign":1,"mpcc_id_a":3.02511954,"mpcc_iq_a":-0.784751296,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.8866775,"mpcc_pred_id_a":0.216475219,"mpcc_pred_iq_a":-0.644886732,"mpcc_state":1,"mpcc_theta_e":0.443733215,"mpcc_theta_mech":0.555692554,"sam_rpm":-4.33240032,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288967639,"thr_a_norm":0.0288967639,"thr_a_v":0.615587056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496246278,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.536797,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-2.32837415,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.557349503,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00752216857,"mpcc_du":49.0190468,"mpcc_dv":50.9809532,"mpcc_dw":49.6066818,"mpcc_enc_sign":1,"mpcc_id_a":0.133127272,"mpcc_iq_a":-1.81618226,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.571221292,"mpcc_pred_id_a":-0.54544723,"mpcc_pred_iq_a":-6.35263872,"mpcc_state":1,"mpcc_theta_e":0.44024992,"mpcc_theta_mech":0.554995894,"sam_rpm":-0.436434746,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455156773,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.543327,"values":{"cg_iu_a":-0.410350561,"cg_iv_a":-1.6759851,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.555801868,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0294707753,"mpcc_du":50.0123482,"mpcc_dv":48.723381,"mpcc_dw":51.276619,"mpcc_enc_sign":1,"mpcc_id_a":2.51496315,"mpcc_iq_a":0.341317624,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.368636668,"mpcc_pred_id_a":0.466834456,"mpcc_pred_iq_a":-0.496272266,"mpcc_state":1,"mpcc_theta_e":0.443380833,"mpcc_theta_mech":0.555622101,"sam_rpm":-0.72467196,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172899961,"thr_a_norm":0.0232444406,"thr_a_v":0.569159985,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449668139,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.549858,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.38603449,"cg_iw_a":0.12916851,"cg_theta_rad":0.5562222,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0471633337,"mpcc_du":49.3678818,"mpcc_dv":49.8815727,"mpcc_dw":50.6321182,"mpcc_enc_sign":1,"mpcc_id_a":3.90135145,"mpcc_iq_a":-0.814278185,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.24236679,"mpcc_pred_id_a":0.884020865,"mpcc_pred_iq_a":-3.04311609,"mpcc_state":1,"mpcc_theta_e":0.450747967,"mpcc_theta_mech":0.557095468,"sam_rpm":13.2804098,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172899961,"thr_a_norm":0.0172899961,"thr_a_v":0.569159985,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449668139,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.556389,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.11091113,"cg_iw_a":0.854045153,"cg_theta_rad":0.558105648,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0199827049,"mpcc_du":50.376255,"mpcc_dv":48.2782898,"mpcc_dw":51.7217102,"mpcc_enc_sign":1,"mpcc_id_a":2.81553674,"mpcc_iq_a":-1.04770494,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.357439,"mpcc_pred_id_a":0.192829192,"mpcc_pred_iq_a":-0.765728176,"mpcc_state":1,"mpcc_theta_e":0.427306652,"mpcc_theta_mech":0.552407265,"sam_rpm":-23.2150078,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296520889,"thr_a_norm":0.0296520889,"thr_a_v":0.618608356,"thr_b":0.00507895648,"thr_b_norm":0.00507895648,"thr_b_v":0.520315826,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.564018,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.38603449,"cg_iw_a":-1.03063393,"cg_theta_rad":0.553446472,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0182924252,"mpcc_du":49.5502701,"mpcc_dv":50.3276978,"mpcc_dw":50.4497299,"mpcc_enc_sign":1,"mpcc_id_a":2.27558064,"mpcc_iq_a":-0.334778666,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.57185626,"mpcc_pred_id_a":-0.04925422,"mpcc_pred_iq_a":-4.28078461,"mpcc_state":1,"mpcc_theta_e":0.443321228,"mpcc_theta_mech":0.55561012,"sam_rpm":4.97739792,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296520889,"thr_a_norm":0.0296520889,"thr_a_v":0.618608356,"thr_b":0.00507895648,"thr_b_norm":0.00507895648,"thr_b_v":0.520315826,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.576378,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.38603449,"cg_iw_a":-1.68302298,"cg_theta_rad":0.558144987,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0236729197,"mpcc_du":50.3099327,"mpcc_dv":48.6745033,"mpcc_dw":51.3254967,"mpcc_enc_sign":1,"mpcc_id_a":2.26348543,"mpcc_iq_a":-1.36978507,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.99622011,"mpcc_pred_id_a":0.297037512,"mpcc_pred_iq_a":-4.27821541,"mpcc_state":1,"mpcc_theta_e":0.450698376,"mpcc_theta_mech":0.557085574,"sam_rpm":-1.63374436,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0120908618,"thr_a_norm":0.0120908618,"thr_a_v":0.548363447,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446495771,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.587578,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.45852208,"cg_iw_a":-0.305757284,"cg_theta_rad":0.557120502,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00511588482,"mpcc_du":50.7957764,"mpcc_dv":47.6870804,"mpcc_dw":52.3129196,"mpcc_enc_sign":1,"mpcc_id_a":0.350508809,"mpcc_iq_a":-0.339064837,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.7572041,"mpcc_pred_id_a":0.441826224,"mpcc_pred_iq_a":1.81569588,"mpcc_state":1,"mpcc_theta_e":0.427262306,"mpcc_theta_mech":0.552398384,"sam_rpm":-16.5898857,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0287457108,"thr_a_norm":0.0287457108,"thr_a_v":0.614982843,"thr_b":0.00238497555,"thr_b_norm":0.00238497555,"thr_b_v":0.509539902,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.598595,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.661157608,"cg_iw_a":-2.19043684,"cg_theta_rad":0.554254413,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0475300327,"mpcc_du":49.1721497,"mpcc_dv":50.8278503,"mpcc_dw":49.7538185,"mpcc_enc_sign":1,"mpcc_id_a":-0.657379448,"mpcc_iq_a":-2.68864417,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.959071994,"mpcc_pred_id_a":-0.650562525,"mpcc_pred_iq_a":-4.23945427,"mpcc_state":1,"mpcc_theta_e":0.433204651,"mpcc_theta_mech":0.553586841,"sam_rpm":-3.4575572,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0287457108,"thr_a_norm":0.0287457108,"thr_a_v":0.614982843,"thr_b":0.00238497555,"thr_b_norm":0.00238497555,"thr_b_v":0.509539902,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.609001,"values":{"cg_iu_a":-3.59980798,"cg_iv_a":-0.806133032,"cg_iw_a":-2.1904366,"cg_theta_rad":0.554360688,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0185120963,"mpcc_du":49.4688644,"mpcc_dv":50.5311356,"mpcc_dw":50.3778381,"mpcc_enc_sign":1,"mpcc_id_a":-0.0581118539,"mpcc_iq_a":-1.3972429,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.57407999,"mpcc_pred_id_a":-0.448922426,"mpcc_pred_iq_a":-1.37954628,"mpcc_state":1,"mpcc_theta_e":0.431809425,"mpcc_theta_mech":0.553307831,"sam_rpm":8.58917999,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262531489,"thr_a_norm":0.0262531489,"thr_a_v":0.605012596,"thr_b":0.00135271251,"thr_b_norm":0.00135271251,"thr_b_v":0.50541085,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.619194,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.96593571,"cg_iw_a":-1.46555996,"cg_theta_rad":0.557672203,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.048095651,"mpcc_du":50.6754303,"mpcc_dv":48.0886421,"mpcc_dw":51.9113579,"mpcc_enc_sign":1,"mpcc_id_a":0.742356598,"mpcc_iq_a":-1.1887114,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.91719961,"mpcc_pred_id_a":0.125979498,"mpcc_pred_iq_a":-1.67234635,"mpcc_state":1,"mpcc_theta_e":0.448499203,"mpcc_theta_mech":0.556645751,"sam_rpm":-3.02910495,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270588249,"thr_a_norm":0.0262531489,"thr_a_v":0.6082353,"thr_b":0.000370800495,"thr_b_norm":0.00135271251,"thr_b_v":0.501483202,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.642204,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.02359605,"cg_iw_a":-1.90048623,"cg_theta_rad":0.554348171,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.014541653,"mpcc_du":48.664135,"mpcc_dv":51.335865,"mpcc_dw":49.3780174,"mpcc_enc_sign":1,"mpcc_id_a":2.40330243,"mpcc_iq_a":-1.07833326,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.6789799,"mpcc_pred_id_a":0.289215475,"mpcc_pred_iq_a":2.91351676,"mpcc_state":1,"mpcc_theta_e":0.423305035,"mpcc_theta_mech":0.551606894,"sam_rpm":9.897542,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270588249,"thr_a_norm":0.0270588249,"thr_a_v":0.6082353,"thr_b":0.000370800495,"thr_b_norm":0.000370800495,"thr_b_v":0.501483202,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.648705,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.733645439,"cg_iw_a":-1.82799816,"cg_theta_rad":0.557837605,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0334223062,"mpcc_du":49.9259262,"mpcc_dv":48.9566689,"mpcc_dw":51.0433311,"mpcc_enc_sign":1,"mpcc_id_a":2.8800118,"mpcc_iq_a":-0.590847135,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.26127815,"mpcc_pred_id_a":0.267055094,"mpcc_pred_iq_a":-0.498632282,"mpcc_state":1,"mpcc_theta_e":0.448192596,"mpcc_theta_mech":0.556584477,"sam_rpm":9.58861732,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025145337,"thr_a_norm":0.025145337,"thr_a_v":0.600581348,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489398032,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.655235,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.668195724,"cg_theta_rad":0.553060949,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0105115706,"mpcc_du":49.5808067,"mpcc_dv":50.4191437,"mpcc_dw":50.4191933,"mpcc_enc_sign":1,"mpcc_id_a":1.13151276,"mpcc_iq_a":-0.210235864,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.99073529,"mpcc_pred_id_a":0.0376222879,"mpcc_pred_iq_a":-4.36967516,"mpcc_state":1,"mpcc_theta_e":0.444740295,"mpcc_theta_mech":0.555894017,"sam_rpm":5.65842485,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025145337,"thr_a_norm":0.025145337,"thr_a_v":0.600581348,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489398032,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.66378,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.74847269,"cg_iw_a":-0.015806675,"cg_theta_rad":0.553923309,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0250803027,"mpcc_du":49.4635773,"mpcc_dv":49.8839302,"mpcc_dw":50.5364227,"mpcc_enc_sign":1,"mpcc_id_a":2.66422105,"mpcc_iq_a":-0.542598724,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.3196201,"mpcc_pred_id_a":0.472375929,"mpcc_pred_iq_a":-1.91566181,"mpcc_state":1,"mpcc_theta_e":0.451295376,"mpcc_theta_mech":0.557204962,"sam_rpm":16.4848518,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025548175,"thr_a_norm":0.025548175,"thr_a_v":0.6021927,"thr_b":0.000282675028,"thr_b_norm":0.000282675028,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.67382,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.806133032,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.555640996,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0547272302,"mpcc_du":50.4487839,"mpcc_dv":48.5819473,"mpcc_dw":51.4180527,"mpcc_enc_sign":1,"mpcc_id_a":0.28573209,"mpcc_iq_a":-0.131530732,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.80294704,"mpcc_pred_id_a":-0.398313761,"mpcc_pred_iq_a":-3.56036782,"mpcc_state":1,"mpcc_theta_e":0.444327831,"mpcc_theta_mech":0.555811524,"sam_rpm":-8.06097889,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261524469,"thr_a_norm":0.0261524469,"thr_a_v":0.604609787,"thr_b":0.000144198537,"thr_b_norm":0.000144198537,"thr_b_v":0.500576794,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.685661,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.661157608,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.556881666,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00212639617,"mpcc_du":49.2775002,"mpcc_dv":50.7224998,"mpcc_dw":50.0836258,"mpcc_enc_sign":1,"mpcc_id_a":0.751627505,"mpcc_iq_a":0.720563769,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.78517389,"mpcc_pred_id_a":0.0763515756,"mpcc_pred_iq_a":-2.29527092,"mpcc_state":1,"mpcc_theta_e":0.425666809,"mpcc_theta_mech":0.55207926,"sam_rpm":6.34516525,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261524469,"thr_a_norm":0.0261524469,"thr_a_v":0.604609787,"thr_b":0.000144198537,"thr_b_norm":0.000144198537,"thr_b_v":0.500576794,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.695763,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-2.0384233,"cg_iw_a":1.36145902,"cg_theta_rad":0.555875599,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0414441004,"mpcc_du":50.3955231,"mpcc_dv":48.3753128,"mpcc_dw":51.6246872,"mpcc_enc_sign":1,"mpcc_id_a":2.33130264,"mpcc_iq_a":-0.562602997,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.07044387,"mpcc_pred_id_a":0.195678815,"mpcc_pred_iq_a":-2.89836121,"mpcc_state":1,"mpcc_theta_e":0.449501038,"mpcc_theta_mech":0.556846082,"sam_rpm":-9.28025627,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241256505,"thr_a_norm":0.0241256505,"thr_a_v":0.596502602,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474694431,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.705956,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.6759851,"cg_iw_a":-0.595708132,"cg_theta_rad":0.556557178,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0530024655,"mpcc_du":50.0296631,"mpcc_dv":48.7403412,"mpcc_dw":51.2596588,"mpcc_enc_sign":1,"mpcc_id_a":2.95426583,"mpcc_iq_a":-0.428332776,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.79306102,"mpcc_pred_id_a":0.413236082,"mpcc_pred_iq_a":-3.12063694,"mpcc_state":1,"mpcc_theta_e":0.44424963,"mpcc_theta_mech":0.555795848,"sam_rpm":-4.85810804,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024339661,"thr_a_norm":0.0241256505,"thr_a_v":0.597358644,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477766067,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.715752,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.38603449,"cg_iw_a":-0.015806675,"cg_theta_rad":0.557150126,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0892746672,"mpcc_du":49.7796021,"mpcc_dv":48.7280083,"mpcc_dw":51.2719917,"mpcc_enc_sign":1,"mpcc_id_a":4.97175741,"mpcc_iq_a":-1.76803815,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.72865057,"mpcc_pred_id_a":1.25912952,"mpcc_pred_iq_a":-2.40154409,"mpcc_state":1,"mpcc_theta_e":0.453709602,"mpcc_theta_mech":0.557687819,"sam_rpm":9.14118385,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024339661,"thr_a_norm":0.024339661,"thr_a_v":0.597358644,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477766067,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.739159,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.443694592,"cg_iw_a":-1.68302298,"cg_theta_rad":0.554314137,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0222551972,"mpcc_du":50.4154053,"mpcc_dv":48.3355751,"mpcc_dw":51.6644249,"mpcc_enc_sign":1,"mpcc_id_a":1.82174051,"mpcc_iq_a":-0.447127312,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0872012302,"mpcc_pred_id_a":0.209729165,"mpcc_pred_iq_a":0.539087236,"mpcc_state":1,"mpcc_theta_e":0.445065022,"mpcc_theta_mech":0.555958927,"sam_rpm":0.0945333466,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0975051373,"thr_a_norm":0.0975051373,"thr_a_v":0.890020549,"thr_b":0.0385397077,"thr_b_norm":0.0385397077,"thr_b_v":0.654158831,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.74575,"values":{"cg_iu_a":1.25686598,"cg_iv_a":0.0637187958,"cg_iw_a":-2.77033806,"cg_theta_rad":0.555952549,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0193080287,"mpcc_du":48.3164139,"mpcc_dv":51.6835861,"mpcc_dw":49.0190086,"mpcc_enc_sign":1,"mpcc_id_a":2.35354853,"mpcc_iq_a":-1.01962125,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":20.2328892,"mpcc_pred_id_a":0.0672613904,"mpcc_pred_iq_a":-7.09489536,"mpcc_state":1,"mpcc_theta_e":0.450499535,"mpcc_theta_mech":0.557045817,"sam_rpm":29.6494827,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0975051373,"thr_a_norm":0.0975051373,"thr_a_v":0.890020549,"thr_b":0.0385397077,"thr_b_norm":0.0385397077,"thr_b_v":0.654158831,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.75222,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.45852208,"cg_iw_a":0.201656103,"cg_theta_rad":0.554776013,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0194981936,"mpcc_du":49.4528542,"mpcc_dv":50.5471458,"mpcc_dw":50.4448395,"mpcc_enc_sign":1,"mpcc_id_a":2.78752136,"mpcc_iq_a":-1.79976296,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.35254478,"mpcc_pred_id_a":0.455510229,"mpcc_pred_iq_a":1.25094163,"mpcc_state":1,"mpcc_theta_e":0.43535471,"mpcc_theta_mech":0.554016888,"sam_rpm":3.27422953,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0164213777,"thr_a_norm":0.0164213777,"thr_a_v":0.565685511,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469105065,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.758751,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.31354666,"cg_iw_a":-0.958146095,"cg_theta_rad":0.554145932,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00589012261,"mpcc_du":49.6404343,"mpcc_dv":50.1341057,"mpcc_dw":50.3595657,"mpcc_enc_sign":1,"mpcc_id_a":0.475750834,"mpcc_iq_a":-0.915557623,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.798505902,"mpcc_pred_id_a":-0.563700378,"mpcc_pred_iq_a":-5.01830149,"mpcc_state":1,"mpcc_theta_e":0.442451477,"mpcc_theta_mech":0.555436194,"sam_rpm":1.14167297,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237479955,"thr_a_norm":0.0164213777,"thr_a_v":0.594991982,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469356835,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.766624,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.45852208,"cg_iw_a":0.41911912,"cg_theta_rad":0.554467857,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00367113994,"mpcc_du":49.6144524,"mpcc_dv":49.624157,"mpcc_dw":50.3855476,"mpcc_enc_sign":1,"mpcc_id_a":0.349666804,"mpcc_iq_a":-1.00039399,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.5878334,"mpcc_pred_id_a":-0.538490057,"mpcc_pred_iq_a":-1.96572566,"mpcc_state":1,"mpcc_theta_e":0.449277401,"mpcc_theta_mech":0.556801438,"sam_rpm":12.5557175,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237479955,"thr_a_norm":0.0237479955,"thr_a_v":0.594991982,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469356835,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.776817,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.878620625,"cg_iw_a":-3.9301405,"cg_theta_rad":0.556399643,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0782419741,"mpcc_du":49.4043045,"mpcc_dv":50.5956955,"mpcc_dw":50.1694908,"mpcc_enc_sign":1,"mpcc_id_a":1.46389592,"mpcc_iq_a":-2.78270125,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.47862494,"mpcc_pred_id_a":-0.291202575,"mpcc_pred_iq_a":-2.17435598,"mpcc_state":1,"mpcc_theta_e":0.429217815,"mpcc_theta_mech":0.55278945,"sam_rpm":6.37914085,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180830956,"thr_a_norm":0.0180830956,"thr_a_v":0.572332382,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458429813,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.786583,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.25588632,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556471825,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0271839816,"mpcc_du":50.4563332,"mpcc_dv":48.2960625,"mpcc_dw":51.7039375,"mpcc_enc_sign":1,"mpcc_id_a":0.785974443,"mpcc_iq_a":0.420992702,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.48225069,"mpcc_pred_id_a":0.0738814697,"mpcc_pred_iq_a":-0.82848537,"mpcc_state":1,"mpcc_theta_e":0.439727783,"mpcc_theta_mech":0.554891467,"sam_rpm":-9.91106701,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180830956,"thr_a_norm":0.0180830956,"thr_a_v":0.572332382,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458429813,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.796806,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.09608364,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556643367,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0376567803,"mpcc_du":51.0152283,"mpcc_dv":47.7298584,"mpcc_dw":52.2701416,"mpcc_enc_sign":1,"mpcc_id_a":0.706641316,"mpcc_iq_a":-1.77157247,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.85460377,"mpcc_pred_id_a":-0.156327933,"mpcc_pred_iq_a":-1.15277767,"mpcc_state":1,"mpcc_theta_e":0.446106434,"mpcc_theta_mech":0.556167185,"sam_rpm":-8.64676952,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0925703794,"thr_a_norm":0.0925703794,"thr_a_v":0.870281518,"thr_b":0.0365381092,"thr_b_norm":0.0365381092,"thr_b_v":0.646152437,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.807152,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.74847269,"cg_iw_a":-0.885658741,"cg_theta_rad":0.557742417,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0443303287,"mpcc_du":49.4451828,"mpcc_dv":49.9370079,"mpcc_dw":50.5548172,"mpcc_enc_sign":1,"mpcc_id_a":2.7712574,"mpcc_iq_a":0.281122446,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.28575325,"mpcc_pred_id_a":0.374514669,"mpcc_pred_iq_a":-0.798236966,"mpcc_state":1,"mpcc_theta_e":0.419354439,"mpcc_theta_mech":0.550816834,"sam_rpm":-15.2574196,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252082795,"thr_a_norm":0.0925703794,"thr_a_v":0.600833118,"thr_b":0,"thr_b_norm":0.0365381092,"thr_b_v":0.488995194,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.816765,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-0.588670254,"cg_iw_a":1.28897142,"cg_theta_rad":0.554556072,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0571585447,"mpcc_du":50.3658752,"mpcc_dv":48.3784752,"mpcc_dw":51.6215248,"mpcc_enc_sign":1,"mpcc_id_a":2.80907106,"mpcc_iq_a":-0.735628724,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.54820657,"mpcc_pred_id_a":0.189757496,"mpcc_pred_iq_a":-1.64105546,"mpcc_state":1,"mpcc_theta_e":0.446024895,"mpcc_theta_mech":0.556150913,"sam_rpm":-1.01569974,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252082795,"thr_a_norm":0.0252082795,"thr_a_v":0.600833118,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488995194,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.84008,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.298719406,"cg_iw_a":-0.523220539,"cg_theta_rad":0.555775046,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.102702536,"mpcc_du":49.1484642,"mpcc_dv":50.8515358,"mpcc_dw":50.4547768,"mpcc_enc_sign":1,"mpcc_id_a":6.35629702,"mpcc_iq_a":-1.05714858,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.47490406,"mpcc_pred_id_a":1.40658927,"mpcc_pred_iq_a":-4.90880394,"mpcc_state":1,"mpcc_theta_e":0.448509693,"mpcc_theta_mech":0.556647897,"sam_rpm":10.9328194,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.846611,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.951108456,"cg_iw_a":-0.015806675,"cg_theta_rad":0.555560291,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0078987591,"mpcc_du":50.4008369,"mpcc_dv":48.4359779,"mpcc_dw":51.5640221,"mpcc_enc_sign":1,"mpcc_id_a":1.77744544,"mpcc_iq_a":-1.22574127,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.4421234,"mpcc_pred_id_a":-0.148142427,"mpcc_pred_iq_a":-0.923643172,"mpcc_state":1,"mpcc_theta_e":0.430281162,"mpcc_theta_mech":0.553002179,"sam_rpm":-18.6195755,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.853111,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.53100967,"cg_iw_a":-1.39307237,"cg_theta_rad":0.554443061,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0185081605,"mpcc_du":49.5445175,"mpcc_dv":49.9538345,"mpcc_dw":52.5689774,"mpcc_enc_sign":1,"mpcc_id_a":0.473140121,"mpcc_iq_a":-0.410134822,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.88935089,"mpcc_pred_id_a":-0.0129326507,"mpcc_pred_iq_a":-3.42938185,"mpcc_state":1,"mpcc_theta_e":0.450273991,"mpcc_theta_mech":0.557000756,"sam_rpm":13.4581203,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0130098313,"thr_a_norm":0.0130098313,"thr_a_v":0.552039325,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450725555,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.859673,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.298719406,"cg_iw_a":0.491606712,"cg_theta_rad":0.552149177,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.000696274277,"mpcc_du":49.2737503,"mpcc_dv":50.7262497,"mpcc_dw":49.924366,"mpcc_enc_sign":1,"mpcc_id_a":0.138255984,"mpcc_iq_a":-1.6703757,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.5228214,"mpcc_pred_id_a":-0.246893749,"mpcc_pred_iq_a":-1.41126943,"mpcc_state":1,"mpcc_theta_e":0.429958344,"mpcc_theta_mech":0.552937567,"sam_rpm":-19.0017414,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178438872,"thr_a_norm":0.0130098313,"thr_a_v":0.571375549,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44941631,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.869774,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.951108456,"cg_iw_a":-1.75551081,"cg_theta_rad":0.556762457,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0151868677,"mpcc_du":49.8702736,"mpcc_dv":48.9600372,"mpcc_dw":51.0399628,"mpcc_enc_sign":1,"mpcc_id_a":1.19854963,"mpcc_iq_a":-2.30208182,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.41507673,"mpcc_pred_id_a":0.323982179,"mpcc_pred_iq_a":-1.15887594,"mpcc_state":1,"mpcc_theta_e":0.433220387,"mpcc_theta_mech":0.55359,"sam_rpm":-12.4110374,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178438872,"thr_a_norm":0.0178438872,"thr_a_v":0.571375549,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44941631,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.879967,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.16857147,"cg_iw_a":0.419119358,"cg_theta_rad":0.557254791,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0334956869,"mpcc_du":50.2990303,"mpcc_dv":48.4128685,"mpcc_dw":51.5871315,"mpcc_enc_sign":1,"mpcc_id_a":2.70458913,"mpcc_iq_a":-0.444372207,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.13511419,"mpcc_pred_id_a":0.392508239,"mpcc_pred_iq_a":-0.702952981,"mpcc_state":1,"mpcc_theta_e":0.442820549,"mpcc_theta_mech":0.555509984,"sam_rpm":-4.91622114,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184733272,"thr_a_norm":0.0184733272,"thr_a_v":0.573893309,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448459595,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.89016,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.951108456,"cg_iw_a":-1.53804779,"cg_theta_rad":0.554552257,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0495885164,"mpcc_du":50.1004028,"mpcc_dv":48.6419525,"mpcc_dw":51.3580475,"mpcc_enc_sign":1,"mpcc_id_a":0.233997881,"mpcc_iq_a":-0.702880561,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.92538166,"mpcc_pred_id_a":0.485441446,"mpcc_pred_iq_a":-2.28245544,"mpcc_state":1,"mpcc_theta_e":0.449109077,"mpcc_theta_mech":0.556767762,"sam_rpm":-2.78343749,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0304955393,"thr_a_norm":0.0184733272,"thr_a_v":0.621982157,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459688723,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.899986,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.153744221,"cg_iw_a":-2.77033806,"cg_theta_rad":0.556114256,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0429866128,"mpcc_du":50.069397,"mpcc_dv":48.6176338,"mpcc_dw":51.3823662,"mpcc_enc_sign":1,"mpcc_id_a":3.47812533,"mpcc_iq_a":-1.18157089,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.51574087,"mpcc_pred_id_a":0.572838783,"mpcc_pred_iq_a":-2.2410543,"mpcc_state":1,"mpcc_theta_e":0.442775249,"mpcc_theta_mech":0.555500925,"sam_rpm":-5.30783987,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0304955393,"thr_a_norm":0.0304955393,"thr_a_v":0.621982157,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459688723,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.911186,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.0384233,"cg_iw_a":0.709069967,"cg_theta_rad":0.556432843,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00935570151,"mpcc_du":49.523159,"mpcc_dv":49.7205086,"mpcc_dw":50.476841,"mpcc_enc_sign":1,"mpcc_id_a":1.38877869,"mpcc_iq_a":-0.848598719,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.82200313,"mpcc_pred_id_a":-0.0632349104,"mpcc_pred_iq_a":-3.72145677,"mpcc_state":1,"mpcc_theta_e":0.447967052,"mpcc_theta_mech":0.556539297,"sam_rpm":3.41577387,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0135637373,"thr_a_norm":0.0135637373,"thr_a_v":0.554254949,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469407201,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.922569,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.74847269,"cg_iw_a":0.999020576,"cg_theta_rad":0.55308944,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0714008808,"mpcc_du":50.2951088,"mpcc_dv":48.3039093,"mpcc_dw":51.6960907,"mpcc_enc_sign":1,"mpcc_id_a":3.19782615,"mpcc_iq_a":0.74694556,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.27299118,"mpcc_pred_id_a":0.609592736,"mpcc_pred_iq_a":0.981887877,"mpcc_state":1,"mpcc_theta_e":0.446568489,"mpcc_theta_mech":0.556259632,"sam_rpm":7.71852207,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0255104154,"thr_a_norm":0.0135637373,"thr_a_v":0.602041662,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489246964,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.945549,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-0.443694592,"cg_iw_a":-0.015806675,"cg_theta_rad":0.553804755,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0320405811,"mpcc_du":50.9037209,"mpcc_dv":47.6539726,"mpcc_dw":52.3460274,"mpcc_enc_sign":1,"mpcc_id_a":2.76530218,"mpcc_iq_a":-0.836888671,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.6033688,"mpcc_pred_id_a":0.0741436705,"mpcc_pred_iq_a":-6.26375914,"mpcc_state":1,"mpcc_theta_e":0.455322742,"mpcc_theta_mech":0.558010459,"sam_rpm":-13.4680519,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0255104154,"thr_a_norm":0.0255104154,"thr_a_v":0.602041662,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489246964,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.95211,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-2.0384233,"cg_iw_a":-1.10312176,"cg_theta_rad":0.555547655,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0102015017,"mpcc_du":50.6502228,"mpcc_dv":48.0351257,"mpcc_dw":51.9648743,"mpcc_enc_sign":1,"mpcc_id_a":1.93823862,"mpcc_iq_a":-1.57242393,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.1070175,"mpcc_pred_id_a":0.0900801271,"mpcc_pred_iq_a":0.457137972,"mpcc_state":1,"mpcc_theta_e":0.429001331,"mpcc_theta_mech":0.552746177,"sam_rpm":-21.1801662,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202483386,"thr_a_norm":0.0202483386,"thr_a_v":0.580993354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460192263,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.958641,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.443694592,"cg_iw_a":0.274143696,"cg_theta_rad":0.557120204,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0331139453,"mpcc_du":49.5043106,"mpcc_dv":49.7032814,"mpcc_dw":50.4956894,"mpcc_enc_sign":1,"mpcc_id_a":2.89458871,"mpcc_iq_a":-0.224372879,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.42829514,"mpcc_pred_id_a":0.132445559,"mpcc_pred_iq_a":-2.89763546,"mpcc_state":1,"mpcc_theta_e":0.4475317,"mpcc_theta_mech":0.556452215,"sam_rpm":9.11400223,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202483386,"thr_a_norm":0.0202483386,"thr_a_v":0.580993354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460192263,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.965172,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.153744221,"cg_iw_a":-2.1904366,"cg_theta_rad":0.556727707,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00193268794,"mpcc_du":49.5879402,"mpcc_dv":49.4041977,"mpcc_dw":50.5958023,"mpcc_enc_sign":1,"mpcc_id_a":0.552601695,"mpcc_iq_a":-0.760540426,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.09685516,"mpcc_pred_id_a":-0.0810524672,"mpcc_pred_iq_a":-4.1063695,"mpcc_state":1,"mpcc_theta_e":0.43566227,"mpcc_theta_mech":0.5540784,"sam_rpm":-10.914567,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.102162957,"thr_a_norm":0.102162957,"thr_a_v":0.908651829,"thr_b":0.046029985,"thr_b_norm":0.046029985,"thr_b_v":0.68411994,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.973534,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.31354666,"cg_iw_a":0.0566806793,"cg_theta_rad":0.552369416,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0338874906,"mpcc_du":50.0272675,"mpcc_dv":48.7777481,"mpcc_dw":51.2222519,"mpcc_enc_sign":1,"mpcc_id_a":2.70957875,"mpcc_iq_a":-1.11258292,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.70106816,"mpcc_pred_id_a":0.30906567,"mpcc_pred_iq_a":-1.28000844,"mpcc_state":1,"mpcc_theta_e":0.448192596,"mpcc_theta_mech":0.556584477,"sam_rpm":5.92869997,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200595111,"thr_a_norm":0.102162957,"thr_a_v":0.580238044,"thr_b":0,"thr_b_norm":0.046029985,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.98336,"values":{"cg_iu_a":0.894427299,"cg_iv_a":0.0637187958,"cg_iw_a":-0.958146095,"cg_theta_rad":0.555371463,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.0218959842,"mpcc_du":50.3467751,"mpcc_dv":49.3729897,"mpcc_dw":50.6270103,"mpcc_enc_sign":1,"mpcc_id_a":2.21599436,"mpcc_iq_a":-1.13649023,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.6918571,"mpcc_pred_id_a":0.259432316,"mpcc_pred_iq_a":-0.97853893,"mpcc_state":1,"mpcc_theta_e":0.441897869,"mpcc_theta_mech":0.555325449,"sam_rpm":-5.68115091,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200595111,"thr_a_norm":0.0200595111,"thr_a_v":0.580238044,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":93.993797,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.951108456,"cg_iw_a":-0.450732708,"cg_theta_rad":0.555731714,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5011,"hz_app_loop":364,"hz_tim_isr":10022,"hz_vsense":364,"mpcc_cost":0.00650337525,"mpcc_du":50.1742172,"mpcc_dv":48.7895355,"mpcc_dw":51.2104645,"mpcc_enc_sign":1,"mpcc_id_a":-0.0624138191,"mpcc_iq_a":0.495070457,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.61272097,"mpcc_pred_id_a":-0.307224005,"mpcc_pred_iq_a":-1.12177563,"mpcc_state":1,"mpcc_theta_e":0.43534565,"mpcc_theta_mech":0.554526389,"sam_rpm":-10.50811,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0138910413,"thr_a_norm":0.0138910413,"thr_a_v":0.555564165,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441712052,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.004356,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.806133032,"cg_iw_a":-1.8279984,"cg_theta_rad":0.556181788,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0254517086,"mpcc_du":50.3756752,"mpcc_dv":48.0438957,"mpcc_dw":51.9561043,"mpcc_enc_sign":1,"mpcc_id_a":2.37788224,"mpcc_iq_a":-1.66399038,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.392355,"mpcc_pred_id_a":0.851149023,"mpcc_pred_iq_a":0.198068827,"mpcc_state":1,"mpcc_theta_e":0.423426628,"mpcc_theta_mech":0.551631212,"sam_rpm":-30.3617439,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0138910413,"thr_a_norm":0.0138910413,"thr_a_v":0.555564165,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441712052,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.014366,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.806133032,"cg_iw_a":-0.305757284,"cg_theta_rad":0.557587504,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0304088891,"mpcc_du":50.4558067,"mpcc_dv":48.434433,"mpcc_dw":51.565567,"mpcc_enc_sign":1,"mpcc_id_a":0.475216389,"mpcc_iq_a":-0.915835142,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.95883882,"mpcc_pred_id_a":-0.16006957,"mpcc_pred_iq_a":-1.53010786,"mpcc_state":1,"mpcc_theta_e":0.443035126,"mpcc_theta_mech":0.555552959,"sam_rpm":-1.25415874,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225646496,"thr_a_norm":0.0225646496,"thr_a_v":0.590258598,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482046247,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.024529,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.24105906,"cg_iw_a":0.274143934,"cg_theta_rad":0.55703038,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0564670116,"mpcc_du":48.9502449,"mpcc_dv":51.0497551,"mpcc_dw":50.0408821,"mpcc_enc_sign":1,"mpcc_id_a":4.60297966,"mpcc_iq_a":-0.474559307,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0895532891,"mpcc_pred_id_a":0.925265372,"mpcc_pred_iq_a":-5.20216036,"mpcc_state":1,"mpcc_theta_e":0.435299873,"mpcc_theta_mech":0.554005861,"sam_rpm":-1.39285779,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196566731,"thr_a_norm":0.0225646496,"thr_a_v":0.578626692,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466436267,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.047569,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.31354666,"cg_iw_a":-0.668195724,"cg_theta_rad":0.554582477,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0394535847,"mpcc_du":49.5956039,"mpcc_dv":49.3056946,"mpcc_dw":50.6943054,"mpcc_enc_sign":1,"mpcc_id_a":3.08295918,"mpcc_iq_a":-0.504337728,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.46256781,"mpcc_pred_id_a":0.256281734,"mpcc_pred_iq_a":-2.49747086,"mpcc_state":1,"mpcc_theta_e":0.448690891,"mpcc_theta_mech":0.556684136,"sam_rpm":8.38344097,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196566731,"thr_a_norm":0.0196566731,"thr_a_v":0.578626692,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466436267,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.0541,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":0.208694458,"cg_iw_a":-0.305757523,"cg_theta_rad":0.55352056,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00132115302,"mpcc_du":50.4535484,"mpcc_dv":48.5650826,"mpcc_dw":51.4349174,"mpcc_enc_sign":1,"mpcc_id_a":-0.340286791,"mpcc_iq_a":-1.92319798,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.91713953,"mpcc_pred_id_a":-0.465515077,"mpcc_pred_iq_a":-2.5701735,"mpcc_state":1,"mpcc_theta_e":0.450997353,"mpcc_theta_mech":0.557145357,"sam_rpm":-13.4390507,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0147848576,"thr_a_norm":0.0147848576,"thr_a_v":0.559139431,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43582055,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.060692,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.951108456,"cg_iw_a":0.201656342,"cg_theta_rad":0.549853623,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0110017909,"mpcc_du":50.5738907,"mpcc_dv":48.2640572,"mpcc_dw":51.7359428,"mpcc_enc_sign":1,"mpcc_id_a":0.420428365,"mpcc_iq_a":-2.29802942,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.0884762,"mpcc_pred_id_a":-0.328475416,"mpcc_pred_iq_a":-0.40279296,"mpcc_state":1,"mpcc_theta_e":0.424376011,"mpcc_theta_mech":0.551821113,"sam_rpm":-26.1447201,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0147848576,"thr_a_norm":0.0147848576,"thr_a_v":0.559139431,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43582055,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.067162,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.09608364,"cg_iw_a":-1.03063393,"cg_theta_rad":0.557712793,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0631783903,"mpcc_du":49.4971199,"mpcc_dv":49.757679,"mpcc_dw":50.5028801,"mpcc_enc_sign":1,"mpcc_id_a":2.76287866,"mpcc_iq_a":-0.178094268,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.39586973,"mpcc_pred_id_a":0.198831946,"mpcc_pred_iq_a":-4.76159096,"mpcc_state":1,"mpcc_theta_e":0.453487396,"mpcc_theta_mech":0.557643414,"sam_rpm":11.512641,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170759857,"thr_a_norm":0.0170759857,"thr_a_v":0.568303943,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449768841,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.075371,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.733645439,"cg_iw_a":-0.378244877,"cg_theta_rad":0.555819511,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0192622878,"mpcc_du":49.1342926,"mpcc_dv":50.8657074,"mpcc_dw":49.969223,"mpcc_enc_sign":1,"mpcc_id_a":2.76534557,"mpcc_iq_a":-1.1615051,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.261140555,"mpcc_pred_id_a":0.152393296,"mpcc_pred_iq_a":-6.34175062,"mpcc_state":1,"mpcc_theta_e":0.4408741,"mpcc_theta_mech":0.555120766,"sam_rpm":-0.744708955,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0401384681,"thr_a_norm":0.0170759857,"thr_a_v":0.660553873,"thr_b":0.0123804063,"thr_b_norm":0,"thr_b_v":0.549521625,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.085167,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.951108456,"cg_iw_a":-1.03063416,"cg_theta_rad":0.555037141,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0511600077,"mpcc_du":49.3544655,"mpcc_dv":49.4165077,"mpcc_dw":50.6455345,"mpcc_enc_sign":1,"mpcc_id_a":4.51168156,"mpcc_iq_a":-0.83699137,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.0089922,"mpcc_pred_id_a":0.968662024,"mpcc_pred_iq_a":-4.33570147,"mpcc_state":1,"mpcc_theta_e":0.433156967,"mpcc_theta_mech":0.553577304,"sam_rpm":-13.4718742,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0401384681,"thr_a_norm":0.0401384681,"thr_a_v":0.660553873,"thr_b":0.0123804063,"thr_b_norm":0.0123804063,"thr_b_v":0.549521625,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.09539,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.951108456,"cg_iw_a":-1.46555996,"cg_theta_rad":0.557344377,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0445286706,"mpcc_du":49.9738045,"mpcc_dv":49.0804825,"mpcc_dw":50.9195175,"mpcc_enc_sign":1,"mpcc_id_a":0.550550342,"mpcc_iq_a":-0.914024711,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.53811049,"mpcc_pred_id_a":-0.260164499,"mpcc_pred_iq_a":-3.78050327,"mpcc_state":1,"mpcc_theta_e":0.451916218,"mpcc_theta_mech":0.557329178,"sam_rpm":6.62772989,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022124052,"thr_a_norm":0.022124052,"thr_a_v":0.588496208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480737001,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.105522,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.60349751,"cg_iw_a":-1.39307213,"cg_theta_rad":0.551725864,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00307852239,"mpcc_du":50.5678406,"mpcc_dv":48.3375626,"mpcc_dw":51.6624374,"mpcc_enc_sign":1,"mpcc_id_a":-0.40136534,"mpcc_iq_a":-1.65124929,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.2014828,"mpcc_pred_id_a":-0.35268572,"mpcc_pred_iq_a":-1.09713387,"mpcc_state":1,"mpcc_theta_e":0.42460537,"mpcc_theta_mech":0.551866949,"sam_rpm":-27.4441051,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022124052,"thr_a_norm":0.022124052,"thr_a_v":0.588496208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480737001,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.115776,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.02359605,"cg_iw_a":0.419119358,"cg_theta_rad":0.558039963,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00739666028,"mpcc_du":49.6160049,"mpcc_dv":50.0397491,"mpcc_dw":50.3839951,"mpcc_enc_sign":1,"mpcc_id_a":1.33144557,"mpcc_iq_a":-2.66427588,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.76975822,"mpcc_pred_id_a":-0.379046708,"mpcc_pred_iq_a":-3.33760095,"mpcc_state":1,"mpcc_theta_e":0.44257164,"mpcc_theta_mech":0.555460274,"sam_rpm":4.89730787,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236598849,"thr_a_norm":0.0236598849,"thr_a_v":0.59463954,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460595101,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.125938,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.89344811,"cg_iw_a":1.43394685,"cg_theta_rad":0.554489136,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0202392638,"mpcc_du":50.0986137,"mpcc_dv":48.7143745,"mpcc_dw":51.2856255,"mpcc_enc_sign":1,"mpcc_id_a":2.44540238,"mpcc_iq_a":-0.818685114,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.60971808,"mpcc_pred_id_a":0.259466469,"mpcc_pred_iq_a":-0.887966633,"mpcc_state":1,"mpcc_theta_e":0.438489914,"mpcc_theta_mech":0.554643929,"sam_rpm":-3.56561995,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274742395,"thr_a_norm":0.0236598849,"thr_a_v":0.609896958,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486326396,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.148949,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.516182423,"cg_iw_a":-2.26292419,"cg_theta_rad":0.556449234,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0404735692,"mpcc_du":50.2106323,"mpcc_dv":48.4062538,"mpcc_dw":51.5937462,"mpcc_enc_sign":1,"mpcc_id_a":3.21524096,"mpcc_iq_a":-0.557761192,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.778843164,"mpcc_pred_id_a":0.708414197,"mpcc_pred_iq_a":0.0919356719,"mpcc_state":1,"mpcc_theta_e":0.445746422,"mpcc_theta_mech":0.556095183,"sam_rpm":1.33758807,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274742395,"thr_a_norm":0.0274742395,"thr_a_v":0.609896958,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486326396,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.15554,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.516182423,"cg_iw_a":-0.450732708,"cg_theta_rad":0.555204928,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0302045811,"mpcc_du":49.7008705,"mpcc_dv":49.0941315,"mpcc_dw":50.9058685,"mpcc_enc_sign":1,"mpcc_id_a":1.57343578,"mpcc_iq_a":0.0379058048,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.8179934,"mpcc_pred_id_a":0.46038568,"mpcc_pred_iq_a":-2.03739524,"mpcc_state":1,"mpcc_theta_e":0.447861671,"mpcc_theta_mech":0.556518257,"sam_rpm":6.23078871,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210414231,"thr_a_norm":0.0210414231,"thr_a_v":0.584165692,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469709307,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.162041,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.951108456,"cg_iw_a":-0.16078186,"cg_theta_rad":0.556527615,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00646179682,"mpcc_du":50.6470375,"mpcc_dv":48.0131264,"mpcc_dw":51.9868736,"mpcc_enc_sign":1,"mpcc_id_a":1.04854929,"mpcc_iq_a":-0.55645138,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.0750847,"mpcc_pred_id_a":0.0016328278,"mpcc_pred_iq_a":0.734703004,"mpcc_state":1,"mpcc_theta_e":0.420755386,"mpcc_theta_mech":0.551096976,"sam_rpm":-31.2407303,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210414231,"thr_a_norm":0.0210414231,"thr_a_v":0.584165692,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469709307,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.16851,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.6759851,"cg_iw_a":-0.233269453,"cg_theta_rad":0.557145119,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0251817852,"mpcc_du":49.9146423,"mpcc_dv":49.1470871,"mpcc_dw":50.8529129,"mpcc_enc_sign":1,"mpcc_id_a":-0.230603606,"mpcc_iq_a":-1.04479563,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.585837722,"mpcc_pred_id_a":-0.30465585,"mpcc_pred_iq_a":-3.77710819,"mpcc_state":1,"mpcc_theta_e":0.445425034,"mpcc_theta_mech":0.556030929,"sam_rpm":1.8983084,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266685635,"thr_a_norm":0.0266685635,"thr_a_v":0.606674254,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477363229,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.176537,"values":{"cg_iu_a":0.387013912,"cg_iv_a":0.0637187958,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556742489,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0127203232,"mpcc_du":49.2181892,"mpcc_dv":50.7818108,"mpcc_dw":50.0175133,"mpcc_enc_sign":1,"mpcc_id_a":2.2008903,"mpcc_iq_a":-1.50548816,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.55702329,"mpcc_pred_id_a":0.0462205373,"mpcc_pred_iq_a":-6.52939081,"mpcc_state":1,"mpcc_theta_e":0.443874359,"mpcc_theta_mech":0.555720747,"sam_rpm":2.90604019,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024188593,"thr_a_norm":0.0266685635,"thr_a_v":0.596754372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479427785,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.18615,"values":{"cg_iu_a":4.73627377,"cg_iv_a":-0.661157608,"cg_iw_a":0.0566806793,"cg_theta_rad":0.553483009,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0258789863,"mpcc_du":49.7866745,"mpcc_dv":48.8688812,"mpcc_dw":51.1311188,"mpcc_enc_sign":1,"mpcc_id_a":3.14714885,"mpcc_iq_a":-0.168576717,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.2388978,"mpcc_pred_id_a":0.776745081,"mpcc_pred_iq_a":-0.13618958,"mpcc_state":1,"mpcc_theta_e":0.435862064,"mpcc_theta_mech":0.554118335,"sam_rpm":-3.46208096,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024188593,"thr_a_norm":0.024188593,"thr_a_v":0.596754372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479427785,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.196373,"values":{"cg_iu_a":2.48915625,"cg_iv_a":0.136206627,"cg_iw_a":-2.62536287,"cg_theta_rad":0.553158283,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0498465709,"mpcc_du":49.4977722,"mpcc_dv":49.6882286,"mpcc_dw":50.5022278,"mpcc_enc_sign":1,"mpcc_id_a":2.49440026,"mpcc_iq_a":-0.567394018,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.3479118,"mpcc_pred_id_a":0.21608156,"mpcc_pred_iq_a":-2.96828246,"mpcc_state":1,"mpcc_theta_e":0.456384659,"mpcc_theta_mech":0.55822283,"sam_rpm":20.4371929,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0957301408,"thr_a_norm":0.0957301408,"thr_a_v":0.882920563,"thr_b":0.0409693271,"thr_b_norm":0.0409693271,"thr_b_v":0.663877308,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.206352,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.38603449,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556511641,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0218441412,"mpcc_du":49.3904533,"mpcc_dv":49.4319801,"mpcc_dw":50.6095467,"mpcc_enc_sign":1,"mpcc_id_a":2.89200377,"mpcc_iq_a":-0.731191516,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.7865973,"mpcc_pred_id_a":0.763983548,"mpcc_pred_iq_a":0.0482411757,"mpcc_state":1,"mpcc_theta_e":0.446733475,"mpcc_theta_mech":0.556292653,"sam_rpm":15.8570299,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0957301408,"thr_a_norm":0.0957301408,"thr_a_v":0.882920563,"thr_b":0.0409693271,"thr_b_norm":0.0409693271,"thr_b_v":0.663877308,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.218742,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.02359605,"cg_iw_a":-1.39307237,"cg_theta_rad":0.556176782,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0251091532,"mpcc_du":49.4527397,"mpcc_dv":49.7745857,"mpcc_dw":50.5472603,"mpcc_enc_sign":1,"mpcc_id_a":3.13416719,"mpcc_iq_a":-1.91406882,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.30581665,"mpcc_pred_id_a":0.386789382,"mpcc_pred_iq_a":-3.36752343,"mpcc_state":1,"mpcc_theta_e":0.435163498,"mpcc_theta_mech":0.553978622,"sam_rpm":7.44472456,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02227512,"thr_a_norm":0.02227512,"thr_a_v":0.58910048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483506501,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.228966,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.24105906,"cg_iw_a":-0.523220062,"cg_theta_rad":0.556946635,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0438893735,"mpcc_du":50.2940979,"mpcc_dv":48.4396553,"mpcc_dw":51.5603447,"mpcc_enc_sign":1,"mpcc_id_a":2.5586381,"mpcc_iq_a":-0.755371332,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.890320182,"mpcc_pred_id_a":0.392595023,"mpcc_pred_iq_a":-1.30203199,"mpcc_state":1,"mpcc_theta_e":0.446135521,"mpcc_theta_mech":0.556173027,"sam_rpm":-0.612016976,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456264615,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.251823,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.226231575,"cg_iw_a":-4.51004219,"cg_theta_rad":0.556512594,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0206522178,"mpcc_du":50.2961426,"mpcc_dv":48.4495888,"mpcc_dw":51.5504112,"mpcc_enc_sign":1,"mpcc_id_a":2.39049244,"mpcc_iq_a":-1.10644054,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.0216074,"mpcc_pred_id_a":0.297199011,"mpcc_pred_iq_a":-1.90221393,"mpcc_state":1,"mpcc_theta_e":0.435031414,"mpcc_theta_mech":0.553952157,"sam_rpm":-14.2248516,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456264615,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.258263,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.16857147,"cg_iw_a":-1.24809694,"cg_theta_rad":0.552926183,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.018765714,"mpcc_du":51.1547623,"mpcc_dv":47.3641014,"mpcc_dw":52.6358986,"mpcc_enc_sign":1,"mpcc_id_a":2.73678541,"mpcc_iq_a":-1.04386961,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-22.0686245,"mpcc_pred_id_a":0.167848304,"mpcc_pred_iq_a":1.34024298,"mpcc_state":1,"mpcc_theta_e":0.422961235,"mpcc_theta_mech":0.551538169,"sam_rpm":-32.6745186,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247928649,"thr_a_norm":0.0247928649,"thr_a_v":0.59917146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492117196,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.264793,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.77033806,"cg_theta_rad":0.551254153,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00405195728,"mpcc_du":49.3730812,"mpcc_dv":49.1094437,"mpcc_dw":50.8905563,"mpcc_enc_sign":1,"mpcc_id_a":0.0572722889,"mpcc_iq_a":-0.440599978,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.79994345,"mpcc_pred_id_a":-0.421174824,"mpcc_pred_iq_a":-4.66891193,"mpcc_state":1,"mpcc_theta_e":0.446834564,"mpcc_theta_mech":0.556312799,"sam_rpm":9.81915951,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247928649,"thr_a_norm":0.0247928649,"thr_a_v":0.59917146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492117196,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.271355,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.82096052,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556163192,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0262018349,"mpcc_du":51.1498146,"mpcc_dv":47.4719162,"mpcc_dw":52.5280838,"mpcc_enc_sign":1,"mpcc_id_a":2.28121924,"mpcc_iq_a":-1.34004354,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.08375549,"mpcc_pred_id_a":0.0950859785,"mpcc_pred_iq_a":1.43834174,"mpcc_state":1,"mpcc_theta_e":0.437610149,"mpcc_theta_mech":0.554467916,"sam_rpm":-12.4718666,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022073701,"thr_a_norm":0.022073701,"thr_a_v":0.588294804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468047589,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.279533,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.733645439,"cg_iw_a":-1.53804779,"cg_theta_rad":0.554302812,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.046544455,"mpcc_du":49.5345917,"mpcc_dv":50.4654083,"mpcc_dw":50.3984146,"mpcc_enc_sign":1,"mpcc_id_a":1.70086348,"mpcc_iq_a":1.13637471,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.7520709,"mpcc_pred_id_a":0.0476305708,"mpcc_pred_iq_a":-4.8417449,"mpcc_state":1,"mpcc_theta_e":0.448780537,"mpcc_theta_mech":0.556702018,"sam_rpm":10.0576105,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021066606,"thr_a_norm":0.022073701,"thr_a_v":0.584266424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466486603,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.291801,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.60349751,"cg_iw_a":-1.32058477,"cg_theta_rad":0.555156887,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0438014492,"mpcc_du":50.5377121,"mpcc_dv":48.4274139,"mpcc_dw":51.5725861,"mpcc_enc_sign":1,"mpcc_id_a":0.913325787,"mpcc_iq_a":-0.666512787,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.99838185,"mpcc_pred_id_a":-0.316722184,"mpcc_pred_iq_a":-2.07854438,"mpcc_state":1,"mpcc_theta_e":0.447935104,"mpcc_theta_mech":0.556532979,"sam_rpm":-2.30265331,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021066606,"thr_a_norm":0.021066606,"thr_a_v":0.584266424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466486603,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.301811,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.733645439,"cg_iw_a":-2.48038721,"cg_theta_rad":0.555197835,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0383480489,"mpcc_du":49.874382,"mpcc_dv":48.9472389,"mpcc_dw":51.0527611,"mpcc_enc_sign":1,"mpcc_id_a":3.01540589,"mpcc_iq_a":-0.63145411,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.03948784,"mpcc_pred_id_a":0.353815913,"mpcc_pred_iq_a":-3.81145358,"mpcc_state":1,"mpcc_theta_e":0.440819263,"mpcc_theta_mech":0.555109739,"sam_rpm":-9.17192268,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193797201,"thr_a_norm":0.0193797201,"thr_a_v":0.57751888,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465832025,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.311943,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-2.0384233,"cg_iw_a":0.926533222,"cg_theta_rad":0.552597404,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0277972035,"mpcc_du":51.2790031,"mpcc_dv":47.5932617,"mpcc_dw":52.4067383,"mpcc_enc_sign":1,"mpcc_id_a":0.122456051,"mpcc_iq_a":-1.59898472,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.59248447,"mpcc_pred_id_a":-0.463953286,"mpcc_pred_iq_a":-0.0399442501,"mpcc_state":1,"mpcc_theta_e":0.4617033,"mpcc_theta_mech":0.559286535,"sam_rpm":-11.2550831,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235213935,"thr_a_norm":0.0193797201,"thr_a_v":0.594085574,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472176731,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.321922,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.02359605,"cg_iw_a":-1.4655602,"cg_theta_rad":0.556990921,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0111745317,"mpcc_du":49.0868149,"mpcc_dv":50.9131851,"mpcc_dw":49.7127647,"mpcc_enc_sign":1,"mpcc_id_a":2.10866714,"mpcc_iq_a":-0.348502636,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.31572151,"mpcc_pred_id_a":-0.256061047,"mpcc_pred_iq_a":-3.68942165,"mpcc_state":1,"mpcc_theta_e":0.443463326,"mpcc_theta_mech":0.555638611,"sam_rpm":13.5543575,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235213935,"thr_a_norm":0.0235213935,"thr_a_v":0.594085574,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472176731,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.332115,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.298719406,"cg_iw_a":-2.55287504,"cg_theta_rad":0.55402106,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.007186295,"mpcc_du":49.9273109,"mpcc_dv":48.8756561,"mpcc_dw":51.1243439,"mpcc_enc_sign":1,"mpcc_id_a":1.67486393,"mpcc_iq_a":0.796167374,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.76553857,"mpcc_pred_id_a":0.17679441,"mpcc_pred_iq_a":-1.54799724,"mpcc_state":1,"mpcc_theta_e":0.429055691,"mpcc_theta_mech":0.552757084,"sam_rpm":-12.513567,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226275921,"thr_a_norm":0.0226275921,"thr_a_v":0.590510368,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488390952,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.354362,"values":{"cg_iu_a":3.21403265,"cg_iv_a":0.208694458,"cg_iw_a":-3.42272711,"cg_theta_rad":0.554243743,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00337373884,"mpcc_du":50.0022087,"mpcc_dv":49.2575073,"mpcc_dw":50.7424927,"mpcc_enc_sign":1,"mpcc_id_a":-0.710921705,"mpcc_iq_a":-1.88214135,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.280761003,"mpcc_pred_id_a":-0.808069527,"mpcc_pred_iq_a":-3.04774523,"mpcc_state":1,"mpcc_theta_e":0.445525646,"mpcc_theta_mech":0.556051075,"sam_rpm":-0.232344165,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226275921,"thr_a_norm":0.0226275921,"thr_a_v":0.590510368,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488390952,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.360924,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.38603449,"cg_iw_a":0.0566811562,"cg_theta_rad":0.556412041,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0251853615,"mpcc_du":48.6209259,"mpcc_dv":51.3790741,"mpcc_dw":49.1673279,"mpcc_enc_sign":1,"mpcc_id_a":0.654992282,"mpcc_iq_a":-0.0385780893,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.5723019,"mpcc_pred_id_a":-0.441765785,"mpcc_pred_iq_a":-7.17724037,"mpcc_state":1,"mpcc_theta_e":0.458268166,"mpcc_theta_mech":0.558599591,"sam_rpm":25.9908733,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218470991,"thr_a_norm":0.0218470991,"thr_a_v":0.587388396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471169591,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.367455,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.298719406,"cg_iw_a":-1.10312176,"cg_theta_rad":0.554454446,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0155441305,"mpcc_du":50.5959435,"mpcc_dv":47.9847794,"mpcc_dw":52.0152206,"mpcc_enc_sign":1,"mpcc_id_a":2.19650102,"mpcc_iq_a":-0.312272519,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.712142,"mpcc_pred_id_a":0.463218749,"mpcc_pred_iq_a":0.184098318,"mpcc_state":1,"mpcc_theta_e":0.430006027,"mpcc_theta_mech":0.552947164,"sam_rpm":-20.3007393,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218470991,"thr_a_norm":0.0218470991,"thr_a_v":0.587388396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471169591,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.373894,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.60349751,"cg_iw_a":0.41911912,"cg_theta_rad":0.552482307,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.037187174,"mpcc_du":50.302639,"mpcc_dv":48.3905144,"mpcc_dw":51.6094856,"mpcc_enc_sign":1,"mpcc_id_a":2.21633196,"mpcc_iq_a":-0.123076804,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.205917761,"mpcc_pred_id_a":0.503774762,"mpcc_pred_iq_a":-0.0502101332,"mpcc_state":1,"mpcc_theta_e":0.444090366,"mpcc_theta_mech":0.55576396,"sam_rpm":1.23715127,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188132375,"thr_a_norm":0.0188132375,"thr_a_v":0.57525295,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450222015,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.385338,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.733645439,"cg_iw_a":-1.24809694,"cg_theta_rad":0.555693448,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00362551399,"mpcc_du":49.8410263,"mpcc_dv":49.4094963,"mpcc_dw":50.5905037,"mpcc_enc_sign":1,"mpcc_id_a":0.00384723279,"mpcc_iq_a":-2.55261517,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0324071832,"mpcc_pred_id_a":-0.625398099,"mpcc_pred_iq_a":-4.73136187,"mpcc_state":1,"mpcc_theta_e":0.449184418,"mpcc_theta_mech":0.556782842,"sam_rpm":0.0300798211,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277637988,"thr_a_norm":0.0277637988,"thr_a_v":0.611055195,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499468982,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.395348,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.806133032,"cg_iw_a":0.201656342,"cg_theta_rad":0.551606894,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0457501933,"mpcc_du":50.0893097,"mpcc_dv":48.8879585,"mpcc_dw":51.1120415,"mpcc_enc_sign":1,"mpcc_id_a":1.78753614,"mpcc_iq_a":-1.18789756,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.75754488,"mpcc_pred_id_a":-0.0584195703,"mpcc_pred_iq_a":-3.63678646,"mpcc_state":1,"mpcc_theta_e":0.451519012,"mpcc_theta_mech":0.557249725,"sam_rpm":3.04756069,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277637988,"thr_a_norm":0.0277637988,"thr_a_v":0.611055195,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499468982,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.40554,"values":{"cg_iu_a":0.459501266,"cg_iv_a":0.208694458,"cg_iw_a":-1.97297382,"cg_theta_rad":0.553676069,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0172394477,"mpcc_du":50.1412849,"mpcc_dv":48.9628563,"mpcc_dw":51.0371437,"mpcc_enc_sign":1,"mpcc_id_a":0.0295765381,"mpcc_iq_a":-1.82358849,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.52219868,"mpcc_pred_id_a":-0.428384751,"mpcc_pred_iq_a":-2.76516557,"mpcc_state":1,"mpcc_theta_e":0.451295376,"mpcc_theta_mech":0.557627678,"sam_rpm":5.71590281,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226275921,"thr_a_norm":0.0226275921,"thr_a_v":0.590510368,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.41552,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.02359605,"cg_iw_a":-0.885658503,"cg_theta_rad":0.557105482,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0357258096,"mpcc_du":49.8356857,"mpcc_dv":49.2184029,"mpcc_dw":50.7815971,"mpcc_enc_sign":1,"mpcc_id_a":1.70915353,"mpcc_iq_a":-1.18661129,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.12789559,"mpcc_pred_id_a":-0.232887268,"mpcc_pred_iq_a":-5.30574799,"mpcc_state":1,"mpcc_theta_e":0.4472332,"mpcc_theta_mech":0.55639255,"sam_rpm":-2.49464774,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195559561,"thr_a_norm":0.0226275921,"thr_a_v":0.578223825,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466335565,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.425346,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.951108456,"cg_iw_a":-1.17560911,"cg_theta_rad":0.556008279,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0521461479,"mpcc_du":50.3576698,"mpcc_dv":48.3590965,"mpcc_dw":51.6409035,"mpcc_enc_sign":1,"mpcc_id_a":2.64289999,"mpcc_iq_a":-0.746026158,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.42847919,"mpcc_pred_id_a":0.298535615,"mpcc_pred_iq_a":-1.99183249,"mpcc_state":1,"mpcc_theta_e":0.44505024,"mpcc_theta_mech":0.555955946,"sam_rpm":-3.71201158,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195559561,"thr_a_norm":0.0195559561,"thr_a_v":0.578223825,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466335565,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.435722,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.878620625,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556310475,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0012554595,"mpcc_du":50.8489761,"mpcc_dv":47.9796791,"mpcc_dw":52.0203209,"mpcc_enc_sign":1,"mpcc_id_a":0.104007326,"mpcc_iq_a":-2.40078568,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.0928984,"mpcc_pred_id_a":-0.347186595,"mpcc_pred_iq_a":-0.530074954,"mpcc_state":1,"mpcc_theta_e":0.437745571,"mpcc_theta_mech":0.558066189,"sam_rpm":-14.8067188,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266937464,"thr_a_norm":0.0266937464,"thr_a_v":0.606774986,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485470384,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.457573,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.16857147,"cg_iw_a":-0.595707893,"cg_theta_rad":0.553493679,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.000281207205,"mpcc_du":49.2374001,"mpcc_dv":50.7625999,"mpcc_dw":49.7960587,"mpcc_enc_sign":1,"mpcc_id_a":0.312680006,"mpcc_iq_a":-1.58423746,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.22180176,"mpcc_pred_id_a":-0.673184156,"mpcc_pred_iq_a":-5.47026587,"mpcc_state":1,"mpcc_theta_e":0.447116375,"mpcc_theta_mech":0.554308295,"sam_rpm":8.52105522,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266937464,"thr_a_norm":0.0266937464,"thr_a_v":0.606774986,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485470384,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.464043,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.0384233,"cg_iw_a":0.854045153,"cg_theta_rad":0.551448226,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0163107198,"mpcc_du":50.0184402,"mpcc_dv":48.6956635,"mpcc_dw":51.3043365,"mpcc_enc_sign":1,"mpcc_id_a":2.50791764,"mpcc_iq_a":-2.48662901,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.43679667,"mpcc_pred_id_a":0.557449281,"mpcc_pred_iq_a":-1.92430711,"mpcc_state":1,"mpcc_theta_e":0.45347929,"mpcc_theta_mech":0.557641745,"sam_rpm":-6.10195017,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265301019,"thr_a_norm":0.0265301019,"thr_a_v":0.606120408,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471522063,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.470665,"values":{"cg_iu_a":-1.1352272,"cg_iv_a":-2.0384233,"cg_iw_a":0.709069967,"cg_theta_rad":0.553288817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0343495645,"mpcc_du":49.9832535,"mpcc_dv":48.769268,"mpcc_dw":51.230732,"mpcc_enc_sign":1,"mpcc_id_a":3.17114758,"mpcc_iq_a":-0.467070788,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.36914635,"mpcc_pred_id_a":0.455492049,"mpcc_pred_iq_a":-2.12443852,"mpcc_state":1,"mpcc_theta_e":0.438907146,"mpcc_theta_mech":0.554727376,"sam_rpm":-7.93096352,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265301019,"thr_a_norm":0.0265301019,"thr_a_v":0.606120408,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471522063,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.477348,"values":{"cg_iu_a":1.47432899,"cg_iv_a":1.29600906,"cg_iw_a":-2.77033806,"cg_theta_rad":0.556312799,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0113101862,"mpcc_du":50.1789169,"mpcc_dv":48.861599,"mpcc_dw":51.138401,"mpcc_enc_sign":1,"mpcc_id_a":0.608049989,"mpcc_iq_a":-0.467582673,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.6549201,"mpcc_pred_id_a":-0.426297069,"mpcc_pred_iq_a":-1.74095368,"mpcc_state":1,"mpcc_theta_e":0.440952778,"mpcc_theta_mech":0.555136502,"sam_rpm":-3.74883914,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022149235,"thr_a_norm":0.022149235,"thr_a_v":0.58859694,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476758987,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.486382,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.588670254,"cg_iw_a":-0.885658741,"cg_theta_rad":0.555973232,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.010364498,"mpcc_du":49.9000053,"mpcc_dv":49.2336349,"mpcc_dw":50.7663651,"mpcc_enc_sign":1,"mpcc_id_a":0.618987441,"mpcc_iq_a":-0.613105476,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.76819086,"mpcc_pred_id_a":-0.454483539,"mpcc_pred_iq_a":-3.21585608,"mpcc_state":1,"mpcc_theta_e":0.442635536,"mpcc_theta_mech":0.55547303,"sam_rpm":-2.92152691,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022149235,"thr_a_norm":0.022149235,"thr_a_v":0.58859694,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476758987,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.496513,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.60349751,"cg_iw_a":-0.81317091,"cg_theta_rad":0.555040061,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0121785728,"mpcc_du":49.456398,"mpcc_dv":50.543602,"mpcc_dw":50.366127,"mpcc_enc_sign":1,"mpcc_id_a":0.950256944,"mpcc_iq_a":-0.589975774,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.45272779,"mpcc_pred_id_a":0.117404528,"mpcc_pred_iq_a":-4.90274334,"mpcc_state":1,"mpcc_theta_e":0.446784496,"mpcc_theta_mech":0.556302845,"sam_rpm":9.94424629,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181460381,"thr_a_norm":0.0181460381,"thr_a_v":0.572584152,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.506706,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.53100967,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556049585,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0149578219,"mpcc_du":50.671627,"mpcc_dv":48.1292229,"mpcc_dw":51.8707771,"mpcc_enc_sign":1,"mpcc_id_a":2.65155673,"mpcc_iq_a":-0.898617566,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.97368312,"mpcc_pred_id_a":0.495810539,"mpcc_pred_iq_a":-2.30286145,"mpcc_state":1,"mpcc_theta_e":0.4480896,"mpcc_theta_mech":0.556563795,"sam_rpm":-17.1270428,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186118037,"thr_a_norm":0.0181460381,"thr_a_v":0.574447215,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462508589,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.516319,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.16857147,"cg_iw_a":-0.16078186,"cg_theta_rad":0.55710566,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0621683598,"mpcc_du":49.7729988,"mpcc_dv":49.0769768,"mpcc_dw":50.9230232,"mpcc_enc_sign":1,"mpcc_id_a":2.81101918,"mpcc_iq_a":-0.232069969,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.46569169,"mpcc_pred_id_a":0.271864414,"mpcc_pred_iq_a":-3.64264655,"mpcc_state":1,"mpcc_theta_e":0.448007107,"mpcc_theta_mech":0.556547344,"sam_rpm":3.43368816,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186118037,"thr_a_norm":0.0186118037,"thr_a_v":0.574447215,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462508589,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.526543,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.60349751,"cg_iw_a":-1.17560911,"cg_theta_rad":0.557663739,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00877264142,"mpcc_du":49.5713005,"mpcc_dv":50.2474937,"mpcc_dw":50.4286995,"mpcc_enc_sign":1,"mpcc_id_a":1.14253724,"mpcc_iq_a":0.169517651,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.58709955,"mpcc_pred_id_a":-0.206437796,"mpcc_pred_iq_a":-0.598186076,"mpcc_state":1,"mpcc_theta_e":0.431497574,"mpcc_theta_mech":0.553245425,"sam_rpm":3.16106176,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265049189,"thr_a_norm":0.0265049189,"thr_a_v":0.606019676,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476406515,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.536736,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.16857147,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556771159,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0185377281,"mpcc_du":50.7040024,"mpcc_dv":48.0676003,"mpcc_dw":51.9323997,"mpcc_enc_sign":1,"mpcc_id_a":0.861905158,"mpcc_iq_a":-0.952901065,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.8333073,"mpcc_pred_id_a":-0.071305722,"mpcc_pred_iq_a":-1.43397176,"mpcc_state":1,"mpcc_theta_e":0.437361717,"mpcc_theta_mech":0.554418266,"sam_rpm":-15.5160131,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265049189,"thr_a_norm":0.0265049189,"thr_a_v":0.606019676,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476406515,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.559929,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.878620625,"cg_iw_a":-0.523220539,"cg_theta_rad":0.556910276,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00526197767,"mpcc_du":48.4888153,"mpcc_dv":51.5111847,"mpcc_dw":49.0672607,"mpcc_enc_sign":1,"mpcc_id_a":1.02668583,"mpcc_iq_a":-1.6027391,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.8423576,"mpcc_pred_id_a":-0.243518263,"mpcc_pred_iq_a":-6.68941021,"mpcc_state":1,"mpcc_theta_e":0.447688103,"mpcc_theta_mech":0.556483567,"sam_rpm":14.9218187,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025220871,"thr_a_norm":0.025220871,"thr_a_v":0.600883484,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490455478,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.566521,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.588670254,"cg_iw_a":-0.015806675,"cg_theta_rad":0.554420888,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0184734296,"mpcc_du":51.0099983,"mpcc_dv":47.4951591,"mpcc_dw":52.5048409,"mpcc_enc_sign":1,"mpcc_id_a":2.6347847,"mpcc_iq_a":-0.920028687,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.0915356,"mpcc_pred_id_a":0.349883765,"mpcc_pred_iq_a":1.62182176,"mpcc_state":1,"mpcc_theta_e":0.427508831,"mpcc_theta_mech":0.552447677,"sam_rpm":-23.9954605,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182593316,"thr_a_norm":0.025220871,"thr_a_v":0.573037326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450977325,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.57296,"values":{"cg_iu_a":-0.70030117,"cg_iv_a":-2.69081235,"cg_iw_a":3.39111352,"cg_theta_rad":0.557309687,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0363227502,"mpcc_du":49.5594025,"mpcc_dv":49.5213814,"mpcc_dw":50.4786186,"mpcc_enc_sign":1,"mpcc_id_a":2.83978534,"mpcc_iq_a":-0.482361287,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.7607927,"mpcc_pred_id_a":-0.00481665134,"mpcc_pred_iq_a":-3.25466299,"mpcc_state":1,"mpcc_theta_e":0.434316635,"mpcc_theta_mech":0.553809226,"sam_rpm":11.6036463,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182593316,"thr_a_norm":0.0182593316,"thr_a_v":0.573037326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450977325,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.579521,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.53100967,"cg_iw_a":0.999020576,"cg_theta_rad":0.557613313,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0190812442,"mpcc_du":50.7843285,"mpcc_dv":47.875618,"mpcc_dw":52.124382,"mpcc_enc_sign":1,"mpcc_id_a":-0.0694993287,"mpcc_iq_a":-1.54069245,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.83943796,"mpcc_pred_id_a":-0.666887999,"mpcc_pred_iq_a":-0.377556175,"mpcc_state":1,"mpcc_theta_e":0.447820663,"mpcc_theta_mech":0.556510091,"sam_rpm":-24.598484,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456969559,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.587273,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-2.18339872,"cg_iw_a":1.43394661,"cg_theta_rad":0.557364047,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0038594876,"mpcc_du":51.2530594,"mpcc_dv":47.4554787,"mpcc_dw":52.5445213,"mpcc_enc_sign":1,"mpcc_id_a":0.47474125,"mpcc_iq_a":-0.764492333,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.1444607,"mpcc_pred_id_a":-0.32525447,"mpcc_pred_iq_a":1.64007056,"mpcc_state":1,"mpcc_theta_e":0.428460598,"mpcc_theta_mech":0.552638054,"sam_rpm":-23.7317581,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456969559,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.597313,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.806133032,"cg_iw_a":0.274143934,"cg_theta_rad":0.556232631,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0278628767,"mpcc_du":49.9159966,"mpcc_dv":49.006218,"mpcc_dw":50.993782,"mpcc_enc_sign":1,"mpcc_id_a":1.98039222,"mpcc_iq_a":-1.29715848,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.63341236,"mpcc_pred_id_a":0.160315469,"mpcc_pred_iq_a":-1.3732512,"mpcc_state":1,"mpcc_theta_e":0.439716816,"mpcc_theta_mech":0.554889262,"sam_rpm":-13.7367363,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178061277,"thr_a_norm":0.0178061277,"thr_a_v":0.571224511,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.445287228,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.607719,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.53100967,"cg_iw_a":0.564094543,"cg_theta_rad":0.55273062,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0324580856,"mpcc_du":50.5674896,"mpcc_dv":48.1674576,"mpcc_dw":51.8325424,"mpcc_enc_sign":1,"mpcc_id_a":4.9450202,"mpcc_iq_a":-0.624058843,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.57863712,"mpcc_pred_id_a":1.04445291,"mpcc_pred_iq_a":-0.91188103,"mpcc_state":1,"mpcc_theta_e":0.442296505,"mpcc_theta_mech":0.555405259,"sam_rpm":0.0726307482,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0178061277,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462005019,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.617332,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.31354666,"cg_iw_a":0.201656342,"cg_theta_rad":0.556512237,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0334422216,"mpcc_du":49.6983452,"mpcc_dv":48.974369,"mpcc_dw":51.025631,"mpcc_enc_sign":1,"mpcc_id_a":3.65629864,"mpcc_iq_a":0.25575161,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.55742788,"mpcc_pred_id_a":0.764779866,"mpcc_pred_iq_a":-0.47873193,"mpcc_state":1,"mpcc_theta_e":0.431592941,"mpcc_theta_mech":0.553264499,"sam_rpm":-10.027009,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462005019,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.627556,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.31354666,"cg_iw_a":-1.03063393,"cg_theta_rad":0.555794001,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0103273112,"mpcc_du":49.4455681,"mpcc_dv":50.5544319,"mpcc_dw":50.3362236,"mpcc_enc_sign":1,"mpcc_id_a":2.01447272,"mpcc_iq_a":-0.202462643,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.78650475,"mpcc_pred_id_a":0.0644422397,"mpcc_pred_iq_a":-1.905231,"mpcc_state":1,"mpcc_theta_e":0.439376831,"mpcc_theta_mech":0.554821312,"sam_rpm":11.3340836,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.108016714,"thr_a_norm":0.108016714,"thr_a_v":0.932066858,"thr_b":0.043789193,"thr_b_norm":0.043789193,"thr_b_v":0.675156772,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.637535,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.40086174,"cg_iw_a":-0.015806675,"cg_theta_rad":0.555038095,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0540777557,"mpcc_du":50.2351379,"mpcc_dv":48.5776901,"mpcc_dw":51.4223099,"mpcc_enc_sign":1,"mpcc_id_a":1.42521405,"mpcc_iq_a":-0.772821546,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.36922932,"mpcc_pred_id_a":0.174635187,"mpcc_pred_iq_a":-3.26978111,"mpcc_state":1,"mpcc_theta_e":0.447732449,"mpcc_theta_mech":0.556492388,"sam_rpm":-2.33020782,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.108016714,"thr_a_norm":0.108016714,"thr_a_v":0.932066858,"thr_b":0.043789193,"thr_b_norm":0.043789193,"thr_b_v":0.675156772,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.659874,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.31354666,"cg_iw_a":-0.668195724,"cg_theta_rad":0.553566217,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00429935241,"mpcc_du":50.3743172,"mpcc_dv":48.6456985,"mpcc_dw":51.3543015,"mpcc_enc_sign":1,"mpcc_id_a":-0.140810832,"mpcc_iq_a":-1.69168675,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.59428382,"mpcc_pred_id_a":-0.396314055,"mpcc_pred_iq_a":-0.35171473,"mpcc_state":1,"mpcc_theta_e":0.447126389,"mpcc_theta_mech":0.556371152,"sam_rpm":2.48170757,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0164717287,"thr_a_norm":0.0164717287,"thr_a_v":0.565886915,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473687351,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.666374,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.46555996,"cg_theta_rad":0.555259705,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0157324392,"mpcc_du":50.8281517,"mpcc_dv":47.7705917,"mpcc_dw":52.2294083,"mpcc_enc_sign":1,"mpcc_id_a":2.40179324,"mpcc_iq_a":-1.25376904,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.47737408,"mpcc_pred_id_a":0.295144707,"mpcc_pred_iq_a":2.33393431,"mpcc_state":1,"mpcc_theta_e":0.436247349,"mpcc_theta_mech":0.554195404,"sam_rpm":-9.47376537,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0164717287,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463062495,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.672874,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.668195724,"cg_theta_rad":0.555684686,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0211581271,"mpcc_du":50.5893097,"mpcc_dv":48.2392654,"mpcc_dw":51.7607346,"mpcc_enc_sign":1,"mpcc_id_a":0.42005527,"mpcc_iq_a":-0.700028241,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.261117,"mpcc_pred_id_a":-0.145204395,"mpcc_pred_iq_a":-1.90986812,"mpcc_state":1,"mpcc_theta_e":0.437252522,"mpcc_theta_mech":0.554396451,"sam_rpm":-14.3646879,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463062495,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.679405,"values":{"cg_iu_a":2.05423021,"cg_iv_a":0.788595676,"cg_iw_a":-3.56770229,"cg_theta_rad":0.554125309,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0150611578,"mpcc_du":49.5910873,"mpcc_dv":50.1001778,"mpcc_dw":50.4089127,"mpcc_enc_sign":1,"mpcc_id_a":0.398328602,"mpcc_iq_a":-1.06899977,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.13585711,"mpcc_pred_id_a":-0.3404181,"mpcc_pred_iq_a":-5.2432909,"mpcc_state":1,"mpcc_theta_e":0.447833538,"mpcc_theta_mech":0.556512594,"sam_rpm":6.59998798,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0304703563,"thr_a_norm":0.0304703563,"thr_a_v":0.621881425,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483506501,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.690941,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.806133032,"cg_iw_a":-0.23326993,"cg_theta_rad":0.556551814,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0247443188,"mpcc_du":50.3195763,"mpcc_dv":48.4496574,"mpcc_dw":50.6023064,"mpcc_enc_sign":1,"mpcc_id_a":1.73707867,"mpcc_iq_a":-1.46888018,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.93679428,"mpcc_pred_id_a":0.215491533,"mpcc_pred_iq_a":-3.3369081,"mpcc_state":1,"mpcc_theta_e":0.44329071,"mpcc_theta_mech":0.5556041,"sam_rpm":-12.829401,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295262039,"thr_a_norm":0.0304703563,"thr_a_v":0.618104815,"thr_b":0.00302700698,"thr_b_norm":0,"thr_b_v":0.512108028,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.703026,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.96593571,"cg_iw_a":-1.10312176,"cg_theta_rad":0.55652982,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0530412719,"mpcc_du":49.6286469,"mpcc_dv":49.1264458,"mpcc_dw":50.8735542,"mpcc_enc_sign":1,"mpcc_id_a":3.21899366,"mpcc_iq_a":-0.535678625,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.44797134,"mpcc_pred_id_a":0.591195583,"mpcc_pred_iq_a":1.06036198,"mpcc_state":1,"mpcc_theta_e":0.438882351,"mpcc_theta_mech":0.554722428,"sam_rpm":-12.8034744,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295262039,"thr_a_norm":0.0295262039,"thr_a_v":0.618104815,"thr_b":0.00302700698,"thr_b_norm":0.00302700698,"thr_b_v":0.512108028,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.71331,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.661157608,"cg_iw_a":-0.958146095,"cg_theta_rad":0.556837142,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0317464955,"mpcc_du":50.1923141,"mpcc_dv":48.4388733,"mpcc_dw":51.5611267,"mpcc_enc_sign":1,"mpcc_id_a":3.28481007,"mpcc_iq_a":-0.917076528,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.8341732,"mpcc_pred_id_a":0.497726083,"mpcc_pred_iq_a":-2.06729198,"mpcc_state":1,"mpcc_theta_e":0.446120739,"mpcc_theta_mech":0.556170106,"sam_rpm":14.0742416,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212302655,"thr_a_norm":0.0212302655,"thr_a_v":0.584921062,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454351097,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.723778,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.96593571,"cg_iw_a":1.07150841,"cg_theta_rad":0.556479514,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0313799717,"mpcc_du":49.8171577,"mpcc_dv":48.876255,"mpcc_dw":51.123745,"mpcc_enc_sign":1,"mpcc_id_a":3.54280996,"mpcc_iq_a":-0.866961539,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.11350214,"mpcc_pred_id_a":0.772470891,"mpcc_pred_iq_a":-0.13556549,"mpcc_state":1,"mpcc_theta_e":0.437451839,"mpcc_theta_mech":0.554436266,"sam_rpm":-2.40100098,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026731506,"thr_a_norm":0.0212302655,"thr_a_v":0.606926024,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485420018,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.73333,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.806133032,"cg_iw_a":-1.97297359,"cg_theta_rad":0.553854167,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.024514813,"mpcc_du":50.5800438,"mpcc_dv":48.1784286,"mpcc_dw":51.8215714,"mpcc_enc_sign":1,"mpcc_id_a":2.13412166,"mpcc_iq_a":-0.107673876,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.7741375,"mpcc_pred_id_a":0.108312353,"mpcc_pred_iq_a":-1.06337607,"mpcc_state":1,"mpcc_theta_e":0.433754921,"mpcc_theta_mech":0.55369693,"sam_rpm":-17.819809,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026731506,"thr_a_norm":0.026731506,"thr_a_v":0.606926024,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485420018,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.757744,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.951108456,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556791127,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0287069865,"mpcc_du":50.301899,"mpcc_dv":48.6975098,"mpcc_dw":51.3024902,"mpcc_enc_sign":1,"mpcc_id_a":0.402922153,"mpcc_iq_a":-0.558960617,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.265597522,"mpcc_pred_id_a":-0.311645389,"mpcc_pred_iq_a":-1.72678792,"mpcc_state":1,"mpcc_theta_e":0.445562363,"mpcc_theta_mech":0.556058407,"sam_rpm":1.25937009,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446546137,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.764305,"values":{"cg_iu_a":-0.410350561,"cg_iv_a":-1.53100967,"cg_iw_a":1.94136024,"cg_theta_rad":0.556274176,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.020106433,"mpcc_du":49.5426712,"mpcc_dv":50.0594139,"mpcc_dw":50.4573288,"mpcc_enc_sign":1,"mpcc_id_a":2.16357112,"mpcc_iq_a":-1.07734561,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.23157406,"mpcc_pred_id_a":0.0841013342,"mpcc_pred_iq_a":-4.85247183,"mpcc_state":1,"mpcc_theta_e":0.446369648,"mpcc_theta_mech":0.556219816,"sam_rpm":4.75406122,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446546137,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.770775,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.951108456,"cg_iw_a":0.491607189,"cg_theta_rad":0.556791425,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0468260497,"mpcc_du":49.0785179,"mpcc_dv":50.9214821,"mpcc_dw":50.0404358,"mpcc_enc_sign":1,"mpcc_id_a":3.84710336,"mpcc_iq_a":-0.887568533,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.5748081,"mpcc_pred_id_a":0.563540399,"mpcc_pred_iq_a":2.5485332,"mpcc_state":1,"mpcc_theta_e":0.430582523,"mpcc_theta_mech":0.553062439,"sam_rpm":6.89280939,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188509971,"thr_a_norm":0.0188509971,"thr_a_v":0.575403988,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461098641,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.777306,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.233269691,"cg_theta_rad":0.55518806,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00556332618,"mpcc_du":51.3265533,"mpcc_dv":47.238842,"mpcc_dw":52.761158,"mpcc_enc_sign":1,"mpcc_id_a":1.40864491,"mpcc_iq_a":-0.815196574,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.9771538,"mpcc_pred_id_a":-0.0578887723,"mpcc_pred_iq_a":2.53367686,"mpcc_state":1,"mpcc_theta_e":0.424087524,"mpcc_theta_mech":0.551763415,"sam_rpm":-27.9848099,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.0188509971,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485722154,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.784477,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.53100967,"cg_iw_a":-1.61053562,"cg_theta_rad":0.556192636,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00869858358,"mpcc_du":49.9441681,"mpcc_dv":49.1427383,"mpcc_dw":50.8572617,"mpcc_enc_sign":1,"mpcc_id_a":0.67885828,"mpcc_iq_a":-0.826003253,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.753356159,"mpcc_pred_id_a":-0.312300116,"mpcc_pred_iq_a":0.0501226075,"mpcc_state":1,"mpcc_theta_e":0.441945553,"mpcc_theta_mech":0.555334985,"sam_rpm":-9.62842274,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.0167864412,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485722154,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.794945,"values":{"cg_iu_a":0.604476929,"cg_iv_a":1.51347208,"cg_iw_a":-2.11794901,"cg_theta_rad":0.555108547,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0175496936,"mpcc_du":49.5664215,"mpcc_dv":50.3184166,"mpcc_dw":50.4335785,"mpcc_enc_sign":1,"mpcc_id_a":0.0288797244,"mpcc_iq_a":-1.3894999,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.08827114,"mpcc_pred_id_a":-0.117909297,"mpcc_pred_iq_a":-2.67285705,"mpcc_state":1,"mpcc_theta_e":0.429188251,"mpcc_theta_mech":0.552783608,"sam_rpm":-6.79462814,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.045199126,"thr_a_norm":0.045199126,"thr_a_v":0.680796504,"thr_b":0.0117887408,"thr_b_norm":0.0117887408,"thr_b_v":0.547154963,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.804344,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.31354666,"cg_iw_a":-1.75551081,"cg_theta_rad":0.555694818,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0174382441,"mpcc_du":50.1294594,"mpcc_dv":48.7708778,"mpcc_dw":51.2291222,"mpcc_enc_sign":1,"mpcc_id_a":0.489787549,"mpcc_iq_a":-1.2084341,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.84697175,"mpcc_pred_id_a":0.059962593,"mpcc_pred_iq_a":-1.56529653,"mpcc_state":1,"mpcc_theta_e":0.450297356,"mpcc_theta_mech":0.557005346,"sam_rpm":4.58717012,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.045199126,"thr_a_norm":0.045199126,"thr_a_v":0.680796504,"thr_b":0.0117887408,"thr_b_norm":0.0117887408,"thr_b_v":0.547154963,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.814537,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":-0.226231575,"cg_iw_a":0.274143696,"cg_theta_rad":0.556688905,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00151971483,"mpcc_du":49.8135605,"mpcc_dv":49.3582993,"mpcc_dw":50.6417007,"mpcc_enc_sign":1,"mpcc_id_a":-0.735540688,"mpcc_iq_a":-3.2634635,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.31292057,"mpcc_pred_id_a":-0.49712947,"mpcc_pred_iq_a":-3.62493467,"mpcc_state":1,"mpcc_theta_e":0.447629452,"mpcc_theta_mech":0.556471825,"sam_rpm":3.76511741,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440654606,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.824913,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.6759851,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.557324529,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.030724261,"mpcc_du":50.2585678,"mpcc_dv":48.442276,"mpcc_dw":51.557724,"mpcc_enc_sign":1,"mpcc_id_a":1.8567605,"mpcc_iq_a":1.16664171,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.38036811,"mpcc_pred_id_a":0.37331742,"mpcc_pred_iq_a":1.63076103,"mpcc_state":1,"mpcc_theta_e":0.439247131,"mpcc_theta_mech":0.554795384,"sam_rpm":2.51070166,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165346712,"thr_a_norm":0.0200217366,"thr_a_v":0.566138685,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476507217,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.834892,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-2.40086174,"cg_iw_a":0.564094543,"cg_theta_rad":0.556518257,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0209056139,"mpcc_du":50.4065895,"mpcc_dv":48.3050423,"mpcc_dw":51.6949577,"mpcc_enc_sign":1,"mpcc_id_a":2.72383142,"mpcc_iq_a":-0.55293119,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.19679165,"mpcc_pred_id_a":0.157936543,"mpcc_pred_iq_a":2.29067206,"mpcc_state":1,"mpcc_theta_e":0.429606438,"mpcc_theta_mech":0.552867234,"sam_rpm":-11.7192106,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165346712,"thr_a_norm":0.0165346712,"thr_a_v":0.566138685,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476507217,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.85833,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.6759851,"cg_iw_a":-0.958146334,"cg_theta_rad":0.555532694,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0517408103,"mpcc_du":49.6678047,"mpcc_dv":48.7286949,"mpcc_dw":51.2713051,"mpcc_enc_sign":1,"mpcc_id_a":2.70283079,"mpcc_iq_a":-0.454945177,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.447306424,"mpcc_pred_id_a":0.126454398,"mpcc_pred_iq_a":-4.31497383,"mpcc_state":1,"mpcc_theta_e":0.446731091,"mpcc_theta_mech":0.556292117,"sam_rpm":1.67404222,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0171011537,"thr_a_norm":0.0171011537,"thr_a_v":0.568404615,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44161135,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.86483,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.661157608,"cg_iw_a":-1.39307261,"cg_theta_rad":0.554604411,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00316762552,"mpcc_du":49.7219467,"mpcc_dv":49.3290558,"mpcc_dw":50.6709442,"mpcc_enc_sign":1,"mpcc_id_a":0.667667925,"mpcc_iq_a":-1.19010961,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.62756169,"mpcc_pred_id_a":-0.25628379,"mpcc_pred_iq_a":-3.12993765,"mpcc_state":1,"mpcc_theta_e":0.441139221,"mpcc_theta_mech":0.555173755,"sam_rpm":-2.74066424,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0171011537,"thr_a_norm":0.0171011537,"thr_a_v":0.568404615,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44161135,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.871361,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.09608364,"cg_iw_a":1.07150841,"cg_theta_rad":0.557732522,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00532849506,"mpcc_du":49.1875801,"mpcc_dv":50.8124199,"mpcc_dw":50.0808525,"mpcc_enc_sign":1,"mpcc_id_a":1.45136964,"mpcc_iq_a":-1.56418359,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.76063824,"mpcc_pred_id_a":0.334837824,"mpcc_pred_iq_a":0.339259088,"mpcc_state":1,"mpcc_theta_e":0.442979336,"mpcc_theta_mech":0.555541754,"sam_rpm":20.7211266,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220233351,"thr_a_norm":0.0220233351,"thr_a_v":0.58809334,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492117196,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.877922,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.16857147,"cg_iw_a":0.12916851,"cg_theta_rad":0.557851672,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0297770575,"mpcc_du":49.3460007,"mpcc_dv":50.6539993,"mpcc_dw":50.2201462,"mpcc_enc_sign":1,"mpcc_id_a":2.62228489,"mpcc_iq_a":0.0388570987,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.29828835,"mpcc_pred_id_a":0.20386377,"mpcc_pred_iq_a":-4.76125145,"mpcc_state":1,"mpcc_theta_e":0.450124741,"mpcc_theta_mech":0.556970835,"sam_rpm":11.9520788,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0158800632,"thr_a_norm":0.0220233351,"thr_a_v":0.563520253,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470666051,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.885948,"values":{"cg_iu_a":5.02622414,"cg_iv_a":-1.6759851,"cg_iw_a":-2.33541203,"cg_theta_rad":0.555006981,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0393238924,"mpcc_du":49.4806976,"mpcc_dv":50.4506454,"mpcc_dw":50.5193024,"mpcc_enc_sign":1,"mpcc_id_a":2.62284923,"mpcc_iq_a":-0.638263822,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.0815639,"mpcc_pred_id_a":0.487622708,"mpcc_pred_iq_a":-3.44667315,"mpcc_state":1,"mpcc_theta_e":0.459044456,"mpcc_theta_mech":0.558754802,"sam_rpm":24.2003727,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0158800632,"thr_a_norm":0.0158800632,"thr_a_v":0.563520253,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470666051,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.896141,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.733645439,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556147754,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0473877639,"mpcc_du":50.082901,"mpcc_dv":48.8361435,"mpcc_dw":51.1638565,"mpcc_enc_sign":1,"mpcc_id_a":1.13090062,"mpcc_iq_a":-0.213504076,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.33951831,"mpcc_pred_id_a":0.0309728011,"mpcc_pred_iq_a":-3.3443439,"mpcc_state":1,"mpcc_theta_e":0.447629452,"mpcc_theta_mech":0.556471825,"sam_rpm":-1.33469999,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162073672,"thr_a_norm":0.0162073672,"thr_a_v":0.564829469,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466134131,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.906029,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.11794901,"cg_theta_rad":0.557135403,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0576750636,"mpcc_du":49.9504433,"mpcc_dv":48.878231,"mpcc_dw":51.121769,"mpcc_enc_sign":1,"mpcc_id_a":2.5858798,"mpcc_iq_a":-0.0356757678,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.86280918,"mpcc_pred_id_a":0.341266155,"mpcc_pred_iq_a":-1.12006152,"mpcc_state":1,"mpcc_theta_e":0.449803352,"mpcc_theta_mech":0.556906581,"sam_rpm":11.8811026,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162073672,"thr_a_norm":0.0162073672,"thr_a_v":0.564829469,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466134131,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.91613,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.806133032,"cg_iw_a":-1.8279984,"cg_theta_rad":0.556410551,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00283647375,"mpcc_du":48.8704262,"mpcc_dv":51.1295738,"mpcc_dw":49.5285454,"mpcc_enc_sign":1,"mpcc_id_a":0.822490096,"mpcc_iq_a":-0.00458807498,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.96881485,"mpcc_pred_id_a":-0.145832688,"mpcc_pred_iq_a":1.89945304,"mpcc_state":1,"mpcc_theta_e":0.430223942,"mpcc_theta_mech":0.552990735,"sam_rpm":17.4243603,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235213935,"thr_a_norm":0.0235213935,"thr_a_v":0.594085574,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471320659,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.926506,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.89344811,"cg_iw_a":0.0566809177,"cg_theta_rad":0.555789351,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0833710581,"mpcc_du":50.3965759,"mpcc_dv":48.2889442,"mpcc_dw":51.7110558,"mpcc_enc_sign":1,"mpcc_id_a":3.2915349,"mpcc_iq_a":0.613696933,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.76633024,"mpcc_pred_id_a":0.451514423,"mpcc_pred_iq_a":-1.97750521,"mpcc_state":1,"mpcc_theta_e":0.454603195,"mpcc_theta_mech":0.557866573,"sam_rpm":-7.97114515,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024188593,"thr_a_norm":0.0235213935,"thr_a_v":0.596754372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476658285,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.938499,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.09608364,"cg_iw_a":-1.46555996,"cg_theta_rad":0.555940986,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0488652512,"mpcc_du":49.4226952,"mpcc_dv":50.5773048,"mpcc_dw":50.0560532,"mpcc_enc_sign":1,"mpcc_id_a":-0.388607502,"mpcc_iq_a":-1.42872381,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.21595116,"mpcc_pred_id_a":-0.563688993,"mpcc_pred_iq_a":-1.27361274,"mpcc_state":1,"mpcc_theta_e":0.429778099,"mpcc_theta_mech":0.552901506,"sam_rpm":-1.46603501,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024188593,"thr_a_norm":0.024188593,"thr_a_v":0.596754372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476658285,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.961754,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.661157608,"cg_iw_a":0.20165658,"cg_theta_rad":0.557593286,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.0132155763,"mpcc_du":51.3532257,"mpcc_dv":47.1228333,"mpcc_dw":52.8771667,"mpcc_enc_sign":1,"mpcc_id_a":1.63984466,"mpcc_iq_a":0.839464903,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.77826309,"mpcc_pred_id_a":-0.0998203978,"mpcc_pred_iq_a":3.7011292,"mpcc_state":1,"mpcc_theta_e":0.449703693,"mpcc_theta_mech":0.556886673,"sam_rpm":-26.2746677,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278896838,"thr_a_norm":0.0278896838,"thr_a_v":0.611558735,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491512954,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.968254,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.53100967,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.557468414,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00597369904,"mpcc_du":50.7481041,"mpcc_dv":47.9839058,"mpcc_dw":52.0160942,"mpcc_enc_sign":1,"mpcc_id_a":1.53627253,"mpcc_iq_a":-1.2382524,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.8076038,"mpcc_pred_id_a":-0.115934767,"mpcc_pred_iq_a":-1.03099811,"mpcc_state":1,"mpcc_theta_e":0.423173904,"mpcc_theta_mech":0.551580727,"sam_rpm":-32.4987259,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211169571,"thr_a_norm":0.0278896838,"thr_a_v":0.584467828,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476507217,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.974846,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-1.31354666,"cg_iw_a":1.07150841,"cg_theta_rad":0.556448817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.00368035352,"mpcc_du":49.9614525,"mpcc_dv":48.9478683,"mpcc_dw":51.0521317,"mpcc_enc_sign":1,"mpcc_id_a":1.08508706,"mpcc_iq_a":-1.66461349,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.88365674,"mpcc_pred_id_a":0.147024959,"mpcc_pred_iq_a":0.244709134,"mpcc_state":1,"mpcc_theta_e":0.440989971,"mpcc_theta_mech":0.555143893,"sam_rpm":2.54683638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211169571,"thr_a_norm":0.0211169571,"thr_a_v":0.584467828,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476507217,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.981255,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.45852208,"cg_iw_a":-1.24809694,"cg_theta_rad":0.554541528,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":0.000758705079,"mpcc_du":49.6665916,"mpcc_dv":50.0521889,"mpcc_dw":50.3334084,"mpcc_enc_sign":1,"mpcc_id_a":-0.443958223,"mpcc_iq_a":-2.51755023,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0112316208,"mpcc_pred_id_a":-0.686129272,"mpcc_pred_iq_a":-4.87375641,"mpcc_state":1,"mpcc_theta_e":0.442559719,"mpcc_theta_mech":0.55545789,"sam_rpm":-0.185433596,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297024399,"thr_a_norm":0.0297024399,"thr_a_v":0.61880976,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447704285,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.989311,"values":{"cg_iu_a":2.5616436,"cg_iv_a":0.0637187958,"cg_iw_a":-2.6253624,"cg_theta_rad":0.557269573,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10002,"hz_vsense":363,"mpcc_cost":6.15049721e-05,"mpcc_du":50.3915138,"mpcc_dv":48.7194672,"mpcc_dw":49.4508858,"mpcc_enc_sign":1,"mpcc_id_a":-0.00872870162,"mpcc_iq_a":-1.97468996,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.5750294,"mpcc_pred_id_a":-0.717421412,"mpcc_pred_iq_a":-2.40621972,"mpcc_state":1,"mpcc_theta_e":0.433719158,"mpcc_theta_mech":0.556647658,"sam_rpm":-17.2956676,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297024399,"thr_a_norm":0.0297024399,"thr_a_v":0.61880976,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447704285,"vdc_v":55.2955055}} +{"type":"telemetry","t":94.99929,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.16857147,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.554696381,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.024732735,"mpcc_du":50.6593094,"mpcc_dv":48.0983658,"mpcc_dw":51.9016342,"mpcc_enc_sign":1,"mpcc_id_a":1.54621756,"mpcc_iq_a":0.35114041,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.7313995,"mpcc_pred_id_a":0.079349041,"mpcc_pred_iq_a":-0.831920385,"mpcc_state":1,"mpcc_theta_e":0.432292461,"mpcc_theta_mech":0.55340445,"sam_rpm":-18.8066635,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0154142827,"thr_a_norm":0.0154142827,"thr_a_v":0.561657131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.010674,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.588670254,"cg_iw_a":-2.04546118,"cg_theta_rad":0.552231252,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0295205507,"mpcc_du":50.9094543,"mpcc_dv":47.7071724,"mpcc_dw":52.2928276,"mpcc_enc_sign":1,"mpcc_id_a":2.46263552,"mpcc_iq_a":-1.4664501,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.2615232,"mpcc_pred_id_a":0.280280143,"mpcc_pred_iq_a":-0.95556736,"mpcc_state":1,"mpcc_theta_e":0.436124802,"mpcc_theta_mech":0.554170847,"sam_rpm":-19.4174824,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0293877274,"thr_a_norm":0.0154142827,"thr_a_v":0.61755091,"thr_b":0.00281299651,"thr_b_norm":0,"thr_b_v":0.511251986,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.020287,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.89344811,"cg_iw_a":0.926532984,"cg_theta_rad":0.552344739,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.00185175345,"mpcc_du":49.5794983,"mpcc_dv":50.2492828,"mpcc_dw":50.4205017,"mpcc_enc_sign":1,"mpcc_id_a":0.348018914,"mpcc_iq_a":-2.01752973,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.91346455,"mpcc_pred_id_a":-0.072459355,"mpcc_pred_iq_a":-2.50816488,"mpcc_state":1,"mpcc_theta_e":0.446072102,"mpcc_theta_mech":0.556160331,"sam_rpm":11.3110504,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0293877274,"thr_a_norm":0.0293877274,"thr_a_v":0.61755091,"thr_b":0.00281299651,"thr_b_norm":0.00281299651,"thr_b_v":0.511251986,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.030907,"values":{"cg_iu_a":4.01139736,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.015806675,"cg_theta_rad":0.557948411,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.104070202,"mpcc_du":49.6368217,"mpcc_dv":48.98386,"mpcc_dw":51.01614,"mpcc_enc_sign":1,"mpcc_id_a":4.88681412,"mpcc_iq_a":0.0566450991,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.55015945,"mpcc_pred_id_a":1.03225851,"mpcc_pred_iq_a":-2.36084485,"mpcc_state":1,"mpcc_theta_e":0.450846195,"mpcc_theta_mech":0.557115197,"sam_rpm":9.4889822,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263160914,"thr_a_norm":0.0263160914,"thr_a_v":0.605264366,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499670386,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.040825,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.806133032,"cg_iw_a":1.28897142,"cg_theta_rad":0.555059969,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0134112034,"mpcc_du":50.1026878,"mpcc_dv":48.6198158,"mpcc_dw":51.3801842,"mpcc_enc_sign":1,"mpcc_id_a":3.32886529,"mpcc_iq_a":-1.32488048,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.71223783,"mpcc_pred_id_a":0.449871302,"mpcc_pred_iq_a":0.0107122101,"mpcc_state":1,"mpcc_theta_e":0.438353062,"mpcc_theta_mech":0.554616511,"sam_rpm":-12.276329,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263160914,"thr_a_norm":0.0263160914,"thr_a_v":0.605264366,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499670386,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.06414,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.806133032,"cg_iw_a":-0.885658503,"cg_theta_rad":0.552314281,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":1.28099937e-05,"mpcc_du":49.2669373,"mpcc_dv":50.7330627,"mpcc_dw":49.92342,"mpcc_enc_sign":1,"mpcc_id_a":0.0338252895,"mpcc_iq_a":-1.16964173,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.95024633,"mpcc_pred_id_a":-0.484370172,"mpcc_pred_iq_a":-5.28901339,"mpcc_state":1,"mpcc_theta_e":0.443057537,"mpcc_theta_mech":0.55555743,"sam_rpm":4.99094248,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100778207,"thr_a_norm":0.100778207,"thr_a_v":0.903112829,"thr_b":0.043386355,"thr_b_norm":0.043386355,"thr_b_v":0.67354542,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.07061,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.516182423,"cg_iw_a":-2.55287504,"cg_theta_rad":0.557324171,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.00303375022,"mpcc_du":50.240696,"mpcc_dv":48.681675,"mpcc_dw":51.318325,"mpcc_enc_sign":1,"mpcc_id_a":0.0267848838,"mpcc_iq_a":-1.67888677,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.66313672,"mpcc_pred_id_a":-0.0865110606,"mpcc_pred_iq_a":-0.177425578,"mpcc_state":1,"mpcc_theta_e":0.446720123,"mpcc_theta_mech":0.556289911,"sam_rpm":3.92875743,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257873684,"thr_a_norm":0.100778207,"thr_a_v":0.603149474,"thr_b":0,"thr_b_norm":0.043386355,"thr_b_v":0.490002275,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.077141,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.226231575,"cg_iw_a":1.21648359,"cg_theta_rad":0.557189941,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0292862281,"mpcc_du":49.5264206,"mpcc_dv":47.8333473,"mpcc_dw":52.1666527,"mpcc_enc_sign":1,"mpcc_id_a":2.7441268,"mpcc_iq_a":-1.04169834,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.91419268,"mpcc_pred_id_a":0.172851607,"mpcc_pred_iq_a":-4.0929141,"mpcc_state":1,"mpcc_theta_e":0.449850082,"mpcc_theta_mech":0.556915939,"sam_rpm":12.0994263,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257873684,"thr_a_norm":0.0257873684,"thr_a_v":0.603149474,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490002275,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.083763,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.733645439,"cg_iw_a":-0.595707893,"cg_theta_rad":0.553079605,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.00611052848,"mpcc_du":49.6599045,"mpcc_dv":49.2990456,"mpcc_dw":50.7009544,"mpcc_enc_sign":1,"mpcc_id_a":1.53343058,"mpcc_iq_a":-1.40174639,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.90407896,"mpcc_pred_id_a":0.0892126933,"mpcc_pred_iq_a":-3.06416583,"mpcc_state":1,"mpcc_theta_e":0.435656071,"mpcc_theta_mech":0.554077148,"sam_rpm":-9.4712019,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280659199,"thr_a_norm":0.0280659199,"thr_a_v":0.61226368,"thr_b":0.00233462453,"thr_b_norm":0.00233462453,"thr_b_v":0.509338498,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.094017,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.24105906,"cg_iw_a":-1.32058454,"cg_theta_rad":0.556607544,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0538147651,"mpcc_du":49.6134644,"mpcc_dv":50.3865356,"mpcc_dw":50.0616684,"mpcc_enc_sign":1,"mpcc_id_a":0.328965932,"mpcc_iq_a":-2.8161819,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.9416761,"mpcc_pred_id_a":-0.20652698,"mpcc_pred_iq_a":-2.25096321,"mpcc_state":1,"mpcc_theta_e":0.430338383,"mpcc_theta_mech":0.553013563,"sam_rpm":-18.7727165,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0954909623,"thr_a_norm":0.0280659199,"thr_a_v":0.881963849,"thr_b":0.0374445021,"thr_b_norm":0.00233462453,"thr_b_v":0.649778008,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.103874,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.951108456,"cg_iw_a":-1.82799816,"cg_theta_rad":0.554535449,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0641955212,"mpcc_du":49.349987,"mpcc_dv":50.2145042,"mpcc_dw":50.650013,"mpcc_enc_sign":1,"mpcc_id_a":4.9094243,"mpcc_iq_a":1.34338617,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.75948906,"mpcc_pred_id_a":1.1647222,"mpcc_pred_iq_a":-1.72659516,"mpcc_state":1,"mpcc_theta_e":0.440963268,"mpcc_theta_mech":0.555138588,"sam_rpm":6.29900408,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0954909623,"thr_a_norm":0.0954909623,"thr_a_v":0.881963849,"thr_b":0.0374445021,"thr_b_norm":0.0374445021,"thr_b_v":0.649778008,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.114098,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.371207237,"cg_iw_a":-1.82799816,"cg_theta_rad":0.556528807,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0197106376,"mpcc_du":49.7128143,"mpcc_dv":49.1495399,"mpcc_dw":50.8504601,"mpcc_enc_sign":1,"mpcc_id_a":2.60450792,"mpcc_iq_a":-0.641482294,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.68359518,"mpcc_pred_id_a":0.190514266,"mpcc_pred_iq_a":-1.18665099,"mpcc_state":1,"mpcc_theta_e":0.431372166,"mpcc_theta_mech":0.553220332,"sam_rpm":-11.1592197,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0116502643,"thr_a_norm":0.0116502643,"thr_a_v":0.546601057,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439446062,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.123894,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-2.47334933,"cg_iw_a":0.41911912,"cg_theta_rad":0.557986915,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0366262756,"mpcc_du":49.4259682,"mpcc_dv":49.9737778,"mpcc_dw":50.5740318,"mpcc_enc_sign":1,"mpcc_id_a":3.71314836,"mpcc_iq_a":0.551217377,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.88154936,"mpcc_pred_id_a":0.609689355,"mpcc_pred_iq_a":-1.96453333,"mpcc_state":1,"mpcc_theta_e":0.431848526,"mpcc_theta_mech":0.553315639,"sam_rpm":-7.91367197,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0116502643,"thr_a_norm":0.0116502643,"thr_a_v":0.546601057,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439446062,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.134087,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.733645439,"cg_iw_a":-2.19043684,"cg_theta_rad":0.557070434,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0240908246,"mpcc_du":50.0656471,"mpcc_dv":48.8571396,"mpcc_dw":51.1428604,"mpcc_enc_sign":1,"mpcc_id_a":0.998641133,"mpcc_iq_a":-0.65737921,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.15423822,"mpcc_pred_id_a":0.0602519177,"mpcc_pred_iq_a":-3.09318399,"mpcc_state":1,"mpcc_theta_e":0.445122242,"mpcc_theta_mech":0.555970371,"sam_rpm":-4.39544821,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0300171524,"thr_a_norm":0.0300171524,"thr_a_v":0.62006861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469658971,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.144493,"values":{"cg_iu_a":-0.482838154,"cg_iv_a":-0.661157608,"cg_iw_a":1.14399576,"cg_theta_rad":0.555224419,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0204537902,"mpcc_du":49.8065834,"mpcc_dv":48.9179039,"mpcc_dw":51.0820961,"mpcc_enc_sign":1,"mpcc_id_a":2.85636163,"mpcc_iq_a":0.270918399,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.94973564,"mpcc_pred_id_a":0.556370735,"mpcc_pred_iq_a":-0.26583147,"mpcc_state":1,"mpcc_theta_e":0.425978184,"mpcc_theta_mech":0.552141547,"sam_rpm":-12.2002802,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199084431,"thr_a_norm":0.0300171524,"thr_a_v":0.579633772,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482046247,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.167717,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.16857147,"cg_iw_a":-2.11794901,"cg_theta_rad":0.557229817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.00430855807,"mpcc_du":50.3600082,"mpcc_dv":49.310379,"mpcc_dw":50.689621,"mpcc_enc_sign":1,"mpcc_id_a":0.458440214,"mpcc_iq_a":-1.64279783,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.36776495,"mpcc_pred_id_a":-0.151329935,"mpcc_pred_iq_a":-1.35128117,"mpcc_state":1,"mpcc_theta_e":0.43797493,"mpcc_theta_mech":0.554540932,"sam_rpm":-7.47605276,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199084431,"thr_a_norm":0.0199084431,"thr_a_v":0.579633772,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482046247,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.174278,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.733645439,"cg_iw_a":-2.33541203,"cg_theta_rad":0.557920337,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.00579142896,"mpcc_du":50.1531563,"mpcc_dv":48.8050232,"mpcc_dw":51.1949768,"mpcc_enc_sign":1,"mpcc_id_a":1.24325562,"mpcc_iq_a":-0.992865682,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.7586565,"mpcc_pred_id_a":-0.196264312,"mpcc_pred_iq_a":-1.62287223,"mpcc_state":1,"mpcc_theta_e":0.437512875,"mpcc_theta_mech":0.554448485,"sam_rpm":-8.60951424,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.044443801,"thr_a_norm":0.044443801,"thr_a_v":0.677775204,"thr_b":0.0105550438,"thr_b_norm":0.0105550438,"thr_b_v":0.542220175,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.180748,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.661157608,"cg_iw_a":-0.668195724,"cg_theta_rad":0.5565117,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0111048725,"mpcc_du":51.0324249,"mpcc_dv":47.6395493,"mpcc_dw":52.3604507,"mpcc_enc_sign":1,"mpcc_id_a":1.69053388,"mpcc_iq_a":-1.23843491,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.2247066,"mpcc_pred_id_a":-0.0778308287,"mpcc_pred_iq_a":1.42236793,"mpcc_state":1,"mpcc_theta_e":0.43317318,"mpcc_theta_mech":0.553580582,"sam_rpm":-16.1353588,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.044443801,"thr_a_norm":0.044443801,"thr_a_v":0.677775204,"thr_b":0.0105550438,"thr_b_norm":0.0105550438,"thr_b_v":0.542220175,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.187248,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.31354666,"cg_iw_a":-1.24809694,"cg_theta_rad":0.553131282,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0284993704,"mpcc_du":49.4603348,"mpcc_dv":49.4629402,"mpcc_dw":50.5396652,"mpcc_enc_sign":1,"mpcc_id_a":2.71230435,"mpcc_iq_a":-1.27473247,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.7572832,"mpcc_pred_id_a":0.401296705,"mpcc_pred_iq_a":-1.68047035,"mpcc_state":1,"mpcc_theta_e":0.454666615,"mpcc_theta_mech":0.55619967,"sam_rpm":19.4037876,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024692148,"thr_a_norm":0.024692148,"thr_a_v":0.598768592,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480888069,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.195488,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.153744221,"cg_iw_a":-0.305757523,"cg_theta_rad":0.553972781,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0295181777,"mpcc_du":49.7100983,"mpcc_dv":49.2312813,"mpcc_dw":50.7687187,"mpcc_enc_sign":1,"mpcc_id_a":1.27560353,"mpcc_iq_a":0.0913170949,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.6128459,"mpcc_pred_id_a":0.200927004,"mpcc_pred_iq_a":-2.96643877,"mpcc_state":1,"mpcc_theta_e":0.445276737,"mpcc_theta_mech":0.556001246,"sam_rpm":2.98217988,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284813493,"thr_a_norm":0.024692148,"thr_a_v":0.613925397,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496749818,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.205254,"values":{"cg_iu_a":-0.410350561,"cg_iv_a":-0.516182423,"cg_iw_a":0.926532984,"cg_theta_rad":0.553279221,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0469467677,"mpcc_du":49.5091286,"mpcc_dv":49.0746117,"mpcc_dw":50.9253883,"mpcc_enc_sign":1,"mpcc_id_a":4.26182652,"mpcc_iq_a":-0.858561158,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.9229188,"mpcc_pred_id_a":1.13382363,"mpcc_pred_iq_a":-1.48368192,"mpcc_state":1,"mpcc_theta_e":0.432896614,"mpcc_theta_mech":0.553525269,"sam_rpm":-10.006444,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284813493,"thr_a_norm":0.0284813493,"thr_a_v":0.613925397,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496749818,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.215721,"values":{"cg_iu_a":3.1415453,"cg_iv_a":0.57113266,"cg_iw_a":0.0566811562,"cg_theta_rad":0.558095217,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0260479748,"mpcc_du":49.4279594,"mpcc_dv":49.4091911,"mpcc_dw":50.5908089,"mpcc_enc_sign":1,"mpcc_id_a":1.84141278,"mpcc_iq_a":-1.40641189,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.87397432,"mpcc_pred_id_a":0.601268053,"mpcc_pred_iq_a":-4.37194967,"mpcc_state":1,"mpcc_theta_e":0.454030991,"mpcc_theta_mech":0.557752132,"sam_rpm":7.4431901,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103220418,"thr_a_norm":0.103220418,"thr_a_v":0.912881672,"thr_b":0.0450606495,"thr_b_norm":0.0450606495,"thr_b_v":0.680242598,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.22567,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.74847269,"cg_iw_a":-1.32058477,"cg_theta_rad":0.555502713,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0534850359,"mpcc_du":49.9977608,"mpcc_dv":48.8129082,"mpcc_dw":51.1870918,"mpcc_enc_sign":1,"mpcc_id_a":1.92947817,"mpcc_iq_a":-0.223674655,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.34980315,"mpcc_pred_id_a":0.295242786,"mpcc_pred_iq_a":-2.90952873,"mpcc_state":1,"mpcc_theta_e":0.446718216,"mpcc_theta_mech":0.556289554,"sam_rpm":1.92275608,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103220418,"thr_a_norm":0.103220418,"thr_a_v":0.912881672,"thr_b":0.0450606495,"thr_b_norm":0.0450606495,"thr_b_v":0.680242598,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.23571,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.226231575,"cg_iw_a":-2.6978507,"cg_theta_rad":0.55602634,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0342347473,"mpcc_du":49.7940636,"mpcc_dv":49.0291977,"mpcc_dw":50.9708023,"mpcc_enc_sign":1,"mpcc_id_a":3.16172481,"mpcc_iq_a":-1.01014876,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.40567255,"mpcc_pred_id_a":0.445143431,"mpcc_pred_iq_a":-1.97069442,"mpcc_state":1,"mpcc_theta_e":0.449624538,"mpcc_theta_mech":0.556870818,"sam_rpm":4.65620518,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273357779,"thr_a_norm":0.0273357779,"thr_a_v":0.609343112,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.245995,"values":{"cg_iu_a":2.92408228,"cg_iv_a":0.498644829,"cg_iw_a":-1.53804779,"cg_theta_rad":0.553503215,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0405868664,"mpcc_du":49.8200836,"mpcc_dv":48.9231873,"mpcc_dw":51.0768127,"mpcc_enc_sign":1,"mpcc_id_a":3.35850286,"mpcc_iq_a":-1.26484239,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.14039898,"mpcc_pred_id_a":0.594282746,"mpcc_pred_iq_a":-3.76095271,"mpcc_state":1,"mpcc_theta_e":0.443038464,"mpcc_theta_mech":0.55497247,"sam_rpm":-6.23475695,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247299224,"thr_a_norm":0.0273357779,"thr_a_v":0.59891969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486829937,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.268913,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.74847269,"cg_iw_a":-1.46555996,"cg_theta_rad":0.557503343,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0211630706,"mpcc_du":49.6297531,"mpcc_dv":49.5801125,"mpcc_dw":50.4198875,"mpcc_enc_sign":1,"mpcc_id_a":0.269200504,"mpcc_iq_a":-0.498059601,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.66124153,"mpcc_pred_id_a":-0.411552519,"mpcc_pred_iq_a":-3.9724586,"mpcc_state":1,"mpcc_theta_e":0.451394558,"mpcc_theta_mech":0.556377649,"sam_rpm":7.64813232,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247299224,"thr_a_norm":0.0247299224,"thr_a_v":0.59891969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486829937,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.275444,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.16857147,"cg_iw_a":-1.39307213,"cg_theta_rad":0.555800498,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0144708157,"mpcc_du":49.5687904,"mpcc_dv":49.680069,"mpcc_dw":50.4312096,"mpcc_enc_sign":1,"mpcc_id_a":1.03410006,"mpcc_iq_a":-0.582864344,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.21245956,"mpcc_pred_id_a":-0.161451876,"mpcc_pred_iq_a":-3.98477745,"mpcc_state":1,"mpcc_theta_e":0.446118832,"mpcc_theta_mech":0.556169689,"sam_rpm":4.54651546,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228416175,"thr_a_norm":0.0228416175,"thr_a_v":0.59136647,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476708621,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.281944,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.951108456,"cg_iw_a":-1.53804779,"cg_theta_rad":0.55472219,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0288571939,"mpcc_du":49.3423424,"mpcc_dv":49.4213791,"mpcc_dw":50.6576576,"mpcc_enc_sign":1,"mpcc_id_a":2.80536056,"mpcc_iq_a":-0.749654412,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.3806944,"mpcc_pred_id_a":1.0527966,"mpcc_pred_iq_a":-1.55217028,"mpcc_state":1,"mpcc_theta_e":0.451021194,"mpcc_theta_mech":0.557150185,"sam_rpm":15.6024857,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228416175,"thr_a_norm":0.0228416175,"thr_a_v":0.59136647,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476708621,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.288536,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.298719406,"cg_iw_a":-2.62536287,"cg_theta_rad":0.558278203,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.00182943896,"mpcc_du":50.4622459,"mpcc_dv":48.4453888,"mpcc_dw":51.5546112,"mpcc_enc_sign":1,"mpcc_id_a":0.767174184,"mpcc_iq_a":-2.1330328,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.3390522,"mpcc_pred_id_a":-0.205277577,"mpcc_pred_iq_a":-1.17626762,"mpcc_state":1,"mpcc_theta_e":0.450446606,"mpcc_theta_mech":0.557035267,"sam_rpm":-11.5567675,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0437514186,"thr_a_norm":0.0437514186,"thr_a_v":0.675005674,"thr_b":0.0115999132,"thr_b_norm":0.0115999132,"thr_b_v":0.546399653,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.296684,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.153744221,"cg_iw_a":-0.595707893,"cg_theta_rad":0.557651818,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0293257535,"mpcc_du":50.0608253,"mpcc_dv":48.8648376,"mpcc_dw":51.1351624,"mpcc_enc_sign":1,"mpcc_id_a":1.43309844,"mpcc_iq_a":0.758217335,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.70579815,"mpcc_pred_id_a":0.0565706901,"mpcc_pred_iq_a":-0.548859537,"mpcc_state":1,"mpcc_theta_e":0.445179939,"mpcc_theta_mech":0.555981934,"sam_rpm":3.92908168,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269455314,"thr_a_norm":0.0437514186,"thr_a_v":0.607782125,"thr_b":0,"thr_b_norm":0.0115999132,"thr_b_v":0.490203708,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.307518,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.24105906,"cg_iw_a":-1.32058477,"cg_theta_rad":0.555371463,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0133172804,"mpcc_du":49.6007118,"mpcc_dv":50.3992882,"mpcc_dw":50.1835938,"mpcc_enc_sign":1,"mpcc_id_a":-0.59863776,"mpcc_iq_a":-2.73456693,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.4007998,"mpcc_pred_id_a":-0.767014205,"mpcc_pred_iq_a":-6.29251814,"mpcc_state":1,"mpcc_theta_e":0.459767818,"mpcc_theta_mech":0.558899522,"sam_rpm":17.1698418,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269455314,"thr_a_norm":0.0269455314,"thr_a_v":0.607782125,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490203708,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.316917,"values":{"cg_iu_a":-0.555325985,"cg_iv_a":-1.16857147,"cg_iw_a":-3.13277626,"cg_theta_rad":0.55584085,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.00583410729,"mpcc_du":48.9163246,"mpcc_dv":51.0836754,"mpcc_dw":49.5452003,"mpcc_enc_sign":1,"mpcc_id_a":1.16986322,"mpcc_iq_a":-0.799175739,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.3159523,"mpcc_pred_id_a":-0.272415459,"mpcc_pred_iq_a":-4.38513041,"mpcc_state":1,"mpcc_theta_e":0.453978062,"mpcc_theta_mech":0.557741523,"sam_rpm":25.7129669,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220359415,"thr_a_norm":0.0220359415,"thr_a_v":0.588143766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.326927,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.31354666,"cg_iw_a":-3.13277674,"cg_theta_rad":0.555045903,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0233122129,"mpcc_du":49.9237709,"mpcc_dv":48.8448143,"mpcc_dw":51.1551857,"mpcc_enc_sign":1,"mpcc_id_a":2.62730217,"mpcc_iq_a":-0.413858354,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.83216715,"mpcc_pred_id_a":0.460159749,"mpcc_pred_iq_a":0.58528173,"mpcc_state":1,"mpcc_theta_e":0.428619385,"mpcc_theta_mech":0.552669764,"sam_rpm":-12.7444887,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220359415,"thr_a_norm":0.0220359415,"thr_a_v":0.588143766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.336906,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.806133032,"cg_iw_a":0.129168749,"cg_theta_rad":0.557234824,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.00300699985,"mpcc_du":50.6158485,"mpcc_dv":48.0864639,"mpcc_dw":51.9135361,"mpcc_enc_sign":1,"mpcc_id_a":0.425705492,"mpcc_iq_a":-2.44389129,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.9696121,"mpcc_pred_id_a":0.128848866,"mpcc_pred_iq_a":-1.00063837,"mpcc_state":1,"mpcc_theta_e":0.428094387,"mpcc_theta_mech":0.5525648,"sam_rpm":-26.0918846,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0251327455,"thr_a_norm":0.0251327455,"thr_a_v":0.600530982,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493778884,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.347099,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.298719406,"cg_iw_a":0.854045391,"cg_theta_rad":0.554409444,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.00331776286,"mpcc_du":50.2851372,"mpcc_dv":49.0500183,"mpcc_dw":50.9499817,"mpcc_enc_sign":1,"mpcc_id_a":-0.246852562,"mpcc_iq_a":-3.08070517,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.07786846,"mpcc_pred_id_a":-0.306478322,"mpcc_pred_iq_a":-2.94925404,"mpcc_state":1,"mpcc_theta_e":0.447976589,"mpcc_theta_mech":0.556541264,"sam_rpm":-2.95328021,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257621855,"thr_a_norm":0.0251327455,"thr_a_v":0.603048742,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480686635,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.370262,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.0087685585,"cg_iw_a":0.636582375,"cg_theta_rad":0.556112289,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0164749157,"mpcc_du":50.1814461,"mpcc_dv":48.9640961,"mpcc_dw":51.0359039,"mpcc_enc_sign":1,"mpcc_id_a":-0.136789322,"mpcc_iq_a":-1.1826818,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.07722461,"mpcc_pred_id_a":-0.581173003,"mpcc_pred_iq_a":-2.41807604,"mpcc_state":1,"mpcc_theta_e":0.446231365,"mpcc_theta_mech":0.55619216,"sam_rpm":2.205549,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257621855,"thr_a_norm":0.0257621855,"thr_a_v":0.603048742,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480686635,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.377281,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.443694592,"cg_iw_a":-0.450732708,"cg_theta_rad":0.557175219,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.000535005413,"mpcc_du":50.4879951,"mpcc_dv":48.349453,"mpcc_dw":51.650547,"mpcc_enc_sign":1,"mpcc_id_a":0.397467524,"mpcc_iq_a":-1.93933249,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.68571711,"mpcc_pred_id_a":-0.00657914439,"mpcc_pred_iq_a":-0.166016564,"mpcc_state":1,"mpcc_theta_e":0.439199448,"mpcc_theta_mech":0.554785848,"sam_rpm":-8.76396275,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02227512,"thr_a_norm":0.02227512,"thr_a_v":0.58910048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482298017,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.383324,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.226231575,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556787372,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0275925789,"mpcc_du":50.6109238,"mpcc_dv":48.1602554,"mpcc_dw":51.8397446,"mpcc_enc_sign":1,"mpcc_id_a":2.31350541,"mpcc_iq_a":-1.43420339,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.94170928,"mpcc_pred_id_a":0.205168754,"mpcc_pred_iq_a":1.2981199,"mpcc_state":1,"mpcc_theta_e":0.448609829,"mpcc_theta_mech":0.556667924,"sam_rpm":6.87725878,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02227512,"thr_a_norm":0.02227512,"thr_a_v":0.58910048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482298017,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.389885,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.54583716,"cg_iw_a":0.41911912,"cg_theta_rad":0.553952157,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0403858535,"mpcc_du":50.4598122,"mpcc_dv":48.1452255,"mpcc_dw":51.8547745,"mpcc_enc_sign":1,"mpcc_id_a":2.81158757,"mpcc_iq_a":1.20023191,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.8697453,"mpcc_pred_id_a":0.419566572,"mpcc_pred_iq_a":-0.735957742,"mpcc_state":1,"mpcc_theta_e":0.430470467,"mpcc_theta_mech":0.553040028,"sam_rpm":-20.7371044,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462005019,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.399712,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-2.11091113,"cg_iw_a":1.57892203,"cg_theta_rad":0.556370318,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0187439602,"mpcc_du":50.3667297,"mpcc_dv":48.5220642,"mpcc_dw":51.4779358,"mpcc_enc_sign":1,"mpcc_id_a":0.0430072173,"mpcc_iq_a":-1.31423056,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.31331921,"mpcc_pred_id_a":-0.116813459,"mpcc_pred_iq_a":-1.89086318,"mpcc_state":1,"mpcc_theta_e":0.444946289,"mpcc_theta_mech":0.555935144,"sam_rpm":-2.84130359,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210414231,"thr_a_norm":0.0240501165,"thr_a_v":0.584165692,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457473099,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.411705,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.806133032,"cg_iw_a":-1.61053562,"cg_theta_rad":0.556537926,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0118822893,"mpcc_du":49.5692444,"mpcc_dv":50.1067734,"mpcc_dw":50.4307556,"mpcc_enc_sign":1,"mpcc_id_a":2.16908908,"mpcc_iq_a":-0.0438243374,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.920634568,"mpcc_pred_id_a":-0.111580461,"mpcc_pred_iq_a":-3.31886268,"mpcc_state":1,"mpcc_theta_e":0.439333439,"mpcc_theta_mech":0.55481261,"sam_rpm":-2.56797862,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210414231,"thr_a_norm":0.0210414231,"thr_a_v":0.584165692,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457473099,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.420677,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.153744221,"cg_iw_a":-2.33541226,"cg_theta_rad":0.556527913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0257529877,"mpcc_du":50.1958084,"mpcc_dv":48.7530899,"mpcc_dw":51.2469101,"mpcc_enc_sign":1,"mpcc_id_a":0.917215347,"mpcc_iq_a":-0.154360101,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.09548903,"mpcc_pred_id_a":-0.237588242,"mpcc_pred_iq_a":-3.63730645,"mpcc_state":1,"mpcc_theta_e":0.444633961,"mpcc_theta_mech":0.555872679,"sam_rpm":0.693355381,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215197951,"thr_a_norm":0.0215197951,"thr_a_v":0.58607918,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481844842,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.432091,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.878620625,"cg_iw_a":-0.160782337,"cg_theta_rad":0.553171337,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0157348011,"mpcc_du":50.0109138,"mpcc_dv":48.5267906,"mpcc_dw":51.4732094,"mpcc_enc_sign":1,"mpcc_id_a":2.32602906,"mpcc_iq_a":-0.386498332,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.76125085,"mpcc_pred_id_a":0.795475781,"mpcc_pred_iq_a":0.706373155,"mpcc_state":1,"mpcc_theta_e":0.435931206,"mpcc_theta_mech":0.554580808,"sam_rpm":-2.86150956,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260391384,"thr_a_norm":0.0215197951,"thr_a_v":0.604156554,"thr_b":0.00218357146,"thr_b_norm":0,"thr_b_v":0.508734286,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.441978,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.443694592,"cg_iw_a":-2.48038721,"cg_theta_rad":0.557533026,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0510506406,"mpcc_du":49.167347,"mpcc_dv":50.832653,"mpcc_dw":50.155407,"mpcc_enc_sign":1,"mpcc_id_a":2.42619419,"mpcc_iq_a":-1.73273921,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.7685442,"mpcc_pred_id_a":0.333023101,"mpcc_pred_iq_a":1.76402307,"mpcc_state":1,"mpcc_theta_e":0.423760414,"mpcc_theta_mech":0.554927886,"sam_rpm":-15.6987123,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260391384,"thr_a_norm":0.0260391384,"thr_a_v":0.604156554,"thr_b":0.00218357146,"thr_b_norm":0.00218357146,"thr_b_v":0.508734286,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.465263,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.733645439,"cg_iw_a":0.564094543,"cg_theta_rad":0.555872679,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0227137767,"mpcc_du":50.8732491,"mpcc_dv":47.5902786,"mpcc_dw":52.4097214,"mpcc_enc_sign":1,"mpcc_id_a":2.71910334,"mpcc_iq_a":-0.575731874,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.22078848,"mpcc_pred_id_a":0.544386268,"mpcc_pred_iq_a":3.21763825,"mpcc_state":1,"mpcc_theta_e":0.437984467,"mpcc_theta_mech":0.55454278,"sam_rpm":-7.91609192,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453696489,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.471825,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.153744221,"cg_iw_a":-2.19043636,"cg_theta_rad":0.556593359,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0194509663,"mpcc_du":50.4382553,"mpcc_dv":48.2725182,"mpcc_dw":51.7274818,"mpcc_enc_sign":1,"mpcc_id_a":1.07871115,"mpcc_iq_a":0.503269255,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.31451368,"mpcc_pred_id_a":0.274611712,"mpcc_pred_iq_a":-0.373834282,"mpcc_state":1,"mpcc_theta_e":0.453210831,"mpcc_theta_mech":0.5575881,"sam_rpm":-4.51273775,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453696489,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.478325,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.298719406,"cg_iw_a":-0.305757523,"cg_theta_rad":0.550921917,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.000595886959,"mpcc_du":49.5463867,"mpcc_dv":49.7508354,"mpcc_dw":50.4536133,"mpcc_enc_sign":1,"mpcc_id_a":0.410248309,"mpcc_iq_a":-1.57423198,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.20090914,"mpcc_pred_id_a":-0.181051761,"mpcc_pred_iq_a":-3.84651589,"mpcc_state":1,"mpcc_theta_e":0.438162804,"mpcc_theta_mech":0.554578483,"sam_rpm":-4.00124216,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.107072547,"thr_a_norm":0.107072547,"thr_a_v":0.928290188,"thr_b":0.0390055031,"thr_b_norm":0.0390055031,"thr_b_v":0.656022012,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.484886,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.60349751,"cg_iw_a":-0.740683079,"cg_theta_rad":0.556970894,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.00174719968,"mpcc_du":49.7822151,"mpcc_dv":49.3074913,"mpcc_dw":51.8215065,"mpcc_enc_sign":1,"mpcc_id_a":0.201843396,"mpcc_iq_a":-1.66506207,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.37738979,"mpcc_pred_id_a":-0.359519452,"mpcc_pred_iq_a":-3.33794928,"mpcc_state":1,"mpcc_theta_e":0.44182682,"mpcc_theta_mech":0.555311322,"sam_rpm":-2.22140837,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209281296,"thr_a_norm":0.107072547,"thr_a_v":0.583712518,"thr_b":0,"thr_b_norm":0.0390055031,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.492485,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.298719406,"cg_iw_a":-1.75551081,"cg_theta_rad":0.557882071,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0292016808,"mpcc_du":50.2517471,"mpcc_dv":48.4458275,"mpcc_dw":51.5541725,"mpcc_enc_sign":1,"mpcc_id_a":2.75289917,"mpcc_iq_a":-0.0122858826,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.00757122,"mpcc_pred_id_a":0.236377686,"mpcc_pred_iq_a":-2.55327773,"mpcc_state":1,"mpcc_theta_e":0.445790291,"mpcc_theta_mech":0.556104004,"sam_rpm":-9.31813717,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209281296,"thr_a_norm":0.0209281296,"thr_a_v":0.583712518,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.502708,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.38603449,"cg_iw_a":-0.81317091,"cg_theta_rad":0.558693469,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0119481226,"mpcc_du":49.8743248,"mpcc_dv":48.9787483,"mpcc_dw":51.0212517,"mpcc_enc_sign":1,"mpcc_id_a":1.79970264,"mpcc_iq_a":-2.34144711,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.42215097,"mpcc_pred_id_a":0.268090069,"mpcc_pred_iq_a":-3.09905648,"mpcc_state":1,"mpcc_theta_e":0.446351051,"mpcc_theta_mech":0.556117773,"sam_rpm":-0.601276577,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218470991,"thr_a_norm":0.0218470991,"thr_a_v":0.587388396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469105065,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.512688,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-0.661157608,"cg_iw_a":-0.450732708,"cg_theta_rad":0.554375887,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0160234664,"mpcc_du":50.2265396,"mpcc_dv":48.7645302,"mpcc_dw":51.2354698,"mpcc_enc_sign":1,"mpcc_id_a":0.392998129,"mpcc_iq_a":-1.57862687,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.99045515,"mpcc_pred_id_a":-0.278823227,"mpcc_pred_iq_a":-1.96990871,"mpcc_state":1,"mpcc_theta_e":0.449105263,"mpcc_theta_mech":0.556766927,"sam_rpm":3.45215058,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218470991,"thr_a_norm":0.0218470991,"thr_a_v":0.587388396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469105065,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.52282,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.31354666,"cg_iw_a":0.419119358,"cg_theta_rad":0.553629994,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.00678963168,"mpcc_du":49.7653694,"mpcc_dv":49.3985596,"mpcc_dw":50.6014404,"mpcc_enc_sign":1,"mpcc_id_a":0.313451201,"mpcc_iq_a":-0.417036086,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.08203912,"mpcc_pred_id_a":-0.483571053,"mpcc_pred_iq_a":0.979329705,"mpcc_state":1,"mpcc_theta_e":0.432965755,"mpcc_theta_mech":0.553539038,"sam_rpm":2.12406039,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271973014,"thr_a_norm":0.0271973014,"thr_a_v":0.608789206,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496246278,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.53286,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.806133032,"cg_iw_a":-1.75551057,"cg_theta_rad":0.553783953,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0223929547,"mpcc_du":50.1061172,"mpcc_dv":49.0490341,"mpcc_dw":50.9509659,"mpcc_enc_sign":1,"mpcc_id_a":0.854960918,"mpcc_iq_a":-2.27387691,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.77367973,"mpcc_pred_id_a":-0.502535701,"mpcc_pred_iq_a":-3.95940185,"mpcc_state":1,"mpcc_theta_e":0.453212738,"mpcc_theta_mech":0.557588458,"sam_rpm":4.64348555,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220611095,"thr_a_norm":0.0271973014,"thr_a_v":0.588244438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473435581,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.54287,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.24105906,"cg_iw_a":0.346631527,"cg_theta_rad":0.556139052,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0423517823,"mpcc_du":49.393837,"mpcc_dv":50.606163,"mpcc_dw":50.3521805,"mpcc_enc_sign":1,"mpcc_id_a":3.47082138,"mpcc_iq_a":0.474831939,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.25336266,"mpcc_pred_id_a":0.385703683,"mpcc_pred_iq_a":-3.84190083,"mpcc_state":1,"mpcc_theta_e":0.447244644,"mpcc_theta_mech":0.556394875,"sam_rpm":12.313097,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220611095,"thr_a_norm":0.0220611095,"thr_a_v":0.588244438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473435581,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.566307,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.31354666,"cg_iw_a":0.0566811562,"cg_theta_rad":0.556841731,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.000992847024,"mpcc_du":51.8185234,"mpcc_dv":46.8514786,"mpcc_dw":53.1485214,"mpcc_enc_sign":1,"mpcc_id_a":-0.144063815,"mpcc_iq_a":-1.77014947,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.0129604,"mpcc_pred_id_a":-0.660959244,"mpcc_pred_iq_a":3.5467062,"mpcc_state":1,"mpcc_theta_e":0.42850399,"mpcc_theta_mech":0.552646756,"sam_rpm":-25.025938,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273231864,"thr_a_norm":0.0273231864,"thr_a_v":0.609292746,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482851923,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.572838,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.371207237,"cg_iw_a":-0.523220062,"cg_theta_rad":0.556482494,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.00765948091,"mpcc_du":49.1575241,"mpcc_dv":50.8424759,"mpcc_dw":49.9002762,"mpcc_enc_sign":1,"mpcc_id_a":0.260554224,"mpcc_iq_a":-1.1550082,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":23.5431957,"mpcc_pred_id_a":-0.167023137,"mpcc_pred_iq_a":-2.97744584,"mpcc_state":1,"mpcc_theta_e":0.463505745,"mpcc_theta_mech":0.559647024,"sam_rpm":34.9189453,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273231864,"thr_a_norm":0.0273231864,"thr_a_v":0.609292746,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482851923,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.579338,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.09608364,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556886792,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0454141907,"mpcc_du":50.2259407,"mpcc_dv":48.3114624,"mpcc_dw":51.6885376,"mpcc_enc_sign":1,"mpcc_id_a":3.54932904,"mpcc_iq_a":-0.529740334,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.63488746,"mpcc_pred_id_a":0.849492192,"mpcc_pred_iq_a":1.03563583,"mpcc_state":1,"mpcc_theta_e":0.445188046,"mpcc_theta_mech":0.555983484,"sam_rpm":4.22421312,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0161444247,"thr_a_norm":0.0161444247,"thr_a_v":0.564577699,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.585899,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.09608364,"cg_iw_a":0.201656342,"cg_theta_rad":0.557269573,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.00228074426,"mpcc_du":50.0058212,"mpcc_dv":48.9433975,"mpcc_dw":51.0566025,"mpcc_enc_sign":1,"mpcc_id_a":0.708109379,"mpcc_iq_a":-0.599675477,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.92917871,"mpcc_pred_id_a":-0.253946394,"mpcc_pred_iq_a":-2.08175635,"mpcc_state":1,"mpcc_theta_e":0.433191299,"mpcc_theta_mech":0.553584218,"sam_rpm":-12.1020365,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0946600884,"thr_a_norm":0.0161444247,"thr_a_v":0.878640354,"thr_b":0.0342847407,"thr_b_norm":0,"thr_b_v":0.637138963,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.594841,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.04546165,"cg_theta_rad":0.551738739,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0127041517,"mpcc_du":49.1362572,"mpcc_dv":50.8637428,"mpcc_dw":49.954998,"mpcc_enc_sign":1,"mpcc_id_a":2.03845859,"mpcc_iq_a":-1.00334668,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.45973253,"mpcc_pred_id_a":0.000466719735,"mpcc_pred_iq_a":-4.21642542,"mpcc_state":1,"mpcc_theta_e":0.44076252,"mpcc_theta_mech":0.555098414,"sam_rpm":7.08769417,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0946600884,"thr_a_norm":0.0946600884,"thr_a_v":0.878640354,"thr_b":0.0342847407,"thr_b_norm":0.0342847407,"thr_b_v":0.637138963,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.605034,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.90827537,"cg_iw_a":1.5064342,"cg_theta_rad":0.556469262,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0153111173,"mpcc_du":50.2324409,"mpcc_dv":48.3858337,"mpcc_dw":51.6141663,"mpcc_enc_sign":1,"mpcc_id_a":1.79441965,"mpcc_iq_a":-0.841895998,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.542963,"mpcc_pred_id_a":0.345981061,"mpcc_pred_iq_a":0.288801849,"mpcc_state":1,"mpcc_theta_e":0.419619083,"mpcc_theta_mech":0.550869703,"sam_rpm":-25.405592,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201853961,"thr_a_norm":0.0201853961,"thr_a_v":0.580741584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459285885,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.615257,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.82096052,"cg_iw_a":0.201656342,"cg_theta_rad":0.55671227,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.00188221689,"mpcc_du":49.5882378,"mpcc_dv":49.5072021,"mpcc_dw":50.4927979,"mpcc_enc_sign":1,"mpcc_id_a":0.86256057,"mpcc_iq_a":-0.952307761,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.755940855,"mpcc_pred_id_a":-0.315824419,"mpcc_pred_iq_a":-2.19283748,"mpcc_state":1,"mpcc_theta_e":0.436673641,"mpcc_theta_mech":0.554280639,"sam_rpm":-1.00767303,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023030445,"thr_a_norm":0.0201853961,"thr_a_v":0.59212178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495138496,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.625237,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.09608364,"cg_iw_a":-1.24809718,"cg_theta_rad":0.555949032,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0467873104,"mpcc_du":49.2393684,"mpcc_dv":50.7606316,"mpcc_dw":50.046051,"mpcc_enc_sign":1,"mpcc_id_a":2.19326901,"mpcc_iq_a":-2.14011264,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":20.7522125,"mpcc_pred_id_a":-0.118146367,"mpcc_pred_iq_a":-6.27000809,"mpcc_state":1,"mpcc_theta_e":0.469350815,"mpcc_theta_mech":0.560816109,"sam_rpm":31.5427647,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023030445,"thr_a_norm":0.023030445,"thr_a_v":0.59212178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495138496,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.636497,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.668195724,"cg_theta_rad":0.553768516,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0122692306,"mpcc_du":49.7760735,"mpcc_dv":49.0703278,"mpcc_dw":50.9296722,"mpcc_enc_sign":1,"mpcc_id_a":0.977734268,"mpcc_iq_a":-0.363451391,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.6408639,"mpcc_pred_id_a":0.287879765,"mpcc_pred_iq_a":-0.490859568,"mpcc_state":1,"mpcc_theta_e":0.440137386,"mpcc_theta_mech":0.554973364,"sam_rpm":-0.725931287,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259384215,"thr_a_norm":0.0259384215,"thr_a_v":0.603753686,"thr_b":8.1256032e-05,"thr_b_norm":8.1256032e-05,"thr_b_v":0.500325024,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.64785,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.09608364,"cg_iw_a":0.709069729,"cg_theta_rad":0.556349516,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0216223877,"mpcc_du":49.5637321,"mpcc_dv":49.5455399,"mpcc_dw":50.4544601,"mpcc_enc_sign":1,"mpcc_id_a":1.08784175,"mpcc_iq_a":-0.803000629,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.70048571,"mpcc_pred_id_a":-0.178367153,"mpcc_pred_iq_a":-4.64882231,"mpcc_state":1,"mpcc_theta_e":0.452140331,"mpcc_theta_mech":0.555754781,"sam_rpm":3.82653666,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0127706528,"thr_a_norm":0.0259384215,"thr_a_v":0.551082611,"thr_b":0,"thr_b_norm":8.1256032e-05,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.671135,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.443694592,"cg_iw_a":-0.378245354,"cg_theta_rad":0.55510062,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0620599948,"mpcc_du":49.5771065,"mpcc_dv":46.6523132,"mpcc_dw":53.3476868,"mpcc_enc_sign":1,"mpcc_id_a":1.39924061,"mpcc_iq_a":-0.495148927,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.5174704,"mpcc_pred_id_a":-0.215360731,"mpcc_pred_iq_a":-4.65526199,"mpcc_state":1,"mpcc_theta_e":0.455899239,"mpcc_theta_mech":0.558125734,"sam_rpm":18.0617962,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0127706528,"thr_a_norm":0.0127706528,"thr_a_v":0.551082611,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483405799,"vdc_v":54.6292953}} +{"type":"telemetry","t":95.677574,"values":{"cg_iu_a":1.40184116,"cg_iv_a":0.136206627,"cg_iw_a":-1.10312176,"cg_theta_rad":0.555307448,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0430603884,"mpcc_du":49.6044579,"mpcc_dv":50.1511116,"mpcc_dw":50.3955421,"mpcc_enc_sign":1,"mpcc_id_a":1.66769755,"mpcc_iq_a":-0.103094384,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.4976368,"mpcc_pred_id_a":-0.238141865,"mpcc_pred_iq_a":-5.42180872,"mpcc_state":1,"mpcc_theta_e":0.449524879,"mpcc_theta_mech":0.554641187,"sam_rpm":8.79627037,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0317544043,"thr_a_norm":0.0317544043,"thr_a_v":0.627017617,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479931325,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.684105,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.89344811,"cg_iw_a":-2.40789986,"cg_theta_rad":0.553804696,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0211382341,"mpcc_du":50.7082787,"mpcc_dv":47.8756256,"mpcc_dw":52.1243744,"mpcc_enc_sign":1,"mpcc_id_a":1.04588616,"mpcc_iq_a":-2.19296026,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.6324654,"mpcc_pred_id_a":-0.340574473,"mpcc_pred_iq_a":-6.95871735,"mpcc_state":1,"mpcc_theta_e":0.459017754,"mpcc_theta_mech":0.558749437,"sam_rpm":-6.46510553,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0231185555,"thr_a_norm":0.0317544043,"thr_a_v":0.592474222,"thr_b":0.00168001652,"thr_b_norm":0,"thr_b_v":0.506720066,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.69265,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-2.11091113,"cg_iw_a":-0.523220301,"cg_theta_rad":0.555798471,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.000619461585,"mpcc_du":49.9899864,"mpcc_dv":49.0972366,"mpcc_dw":50.9027634,"mpcc_enc_sign":1,"mpcc_id_a":0.373099118,"mpcc_iq_a":-2.30618644,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.86094582,"mpcc_pred_id_a":-0.337845743,"mpcc_pred_iq_a":-1.80079079,"mpcc_state":1,"mpcc_theta_e":0.444934368,"mpcc_theta_mech":0.55593282,"sam_rpm":2.60529304,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0231185555,"thr_a_norm":0.0231185555,"thr_a_v":0.592474222,"thr_b":0.00168001652,"thr_b_norm":0.00168001652,"thr_b_v":0.506720066,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.703239,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.951108456,"cg_iw_a":-1.53804779,"cg_theta_rad":0.555311322,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.00101558818,"mpcc_du":49.0061836,"mpcc_dv":50.9938164,"mpcc_dw":49.4882393,"mpcc_enc_sign":1,"mpcc_id_a":0.0747079402,"mpcc_iq_a":-1.23894703,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.3907471,"mpcc_pred_id_a":-0.8439762,"mpcc_pred_iq_a":-5.08213186,"mpcc_state":1,"mpcc_theta_e":0.448437691,"mpcc_theta_mech":0.55148226,"sam_rpm":19.4658737,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265301019,"thr_a_norm":0.0265301019,"thr_a_v":0.606120408,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474039823,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.71328,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.31354666,"cg_iw_a":0.636582375,"cg_theta_rad":0.55603826,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0119421994,"mpcc_du":49.5773964,"mpcc_dv":49.9538727,"mpcc_dw":50.4226036,"mpcc_enc_sign":1,"mpcc_id_a":1.41920614,"mpcc_iq_a":-0.0966759175,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.01703966,"mpcc_pred_id_a":-0.148024172,"mpcc_pred_iq_a":-0.438792318,"mpcc_state":1,"mpcc_theta_e":0.431896687,"mpcc_theta_mech":0.553325236,"sam_rpm":0.337070316,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265301019,"thr_a_norm":0.0265301019,"thr_a_v":0.606120408,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474039823,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.723259,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-2.11091113,"cg_iw_a":-0.233269453,"cg_theta_rad":0.558547378,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0356427357,"mpcc_du":49.5681458,"mpcc_dv":49.7477493,"mpcc_dw":50.4318542,"mpcc_enc_sign":1,"mpcc_id_a":1.85179985,"mpcc_iq_a":-2.09774232,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.781248212,"mpcc_pred_id_a":-0.157456547,"mpcc_pred_iq_a":-0.47842589,"mpcc_state":1,"mpcc_theta_e":0.433479786,"mpcc_theta_mech":0.553641915,"sam_rpm":-0.129578471,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184355676,"thr_a_norm":0.0184355676,"thr_a_v":0.57374227,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.733635,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.878620625,"cg_iw_a":-1.68302298,"cg_theta_rad":0.55706048,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0202388149,"mpcc_du":49.1034851,"mpcc_dv":50.8965149,"mpcc_dw":49.7325058,"mpcc_enc_sign":1,"mpcc_id_a":0.144154713,"mpcc_iq_a":-1.96073091,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.95352173,"mpcc_pred_id_a":-0.230424911,"mpcc_pred_iq_a":-2.52795672,"mpcc_state":1,"mpcc_theta_e":0.440781593,"mpcc_theta_mech":0.555102229,"sam_rpm":12.7292089,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227912515,"thr_a_norm":0.0184355676,"thr_a_v":0.591165006,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.743645,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.24105906,"cg_iw_a":0.129168749,"cg_theta_rad":0.555735886,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0232857633,"mpcc_du":49.0136337,"mpcc_dv":50.9863663,"mpcc_dw":49.697937,"mpcc_enc_sign":1,"mpcc_id_a":1.64775681,"mpcc_iq_a":-0.292591602,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.04291248,"mpcc_pred_id_a":-0.0435305424,"mpcc_pred_iq_a":-3.06851006,"mpcc_state":1,"mpcc_theta_e":0.431003571,"mpcc_theta_mech":0.553146601,"sam_rpm":1.49765468,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227912515,"thr_a_norm":0.0227912515,"thr_a_v":0.591165006,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.753777,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.31354666,"cg_iw_a":-1.68302298,"cg_theta_rad":0.553752661,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0418565832,"mpcc_du":49.7082863,"mpcc_dv":49.0786667,"mpcc_dw":50.9213333,"mpcc_enc_sign":1,"mpcc_id_a":3.48719954,"mpcc_iq_a":-0.627825618,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.57769823,"mpcc_pred_id_a":0.62993753,"mpcc_pred_iq_a":1.29929674,"mpcc_state":1,"mpcc_theta_e":0.42996788,"mpcc_theta_mech":0.552939534,"sam_rpm":-5.44657707,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0316662788,"thr_a_norm":0.0316662788,"thr_a_v":0.626665115,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490002275,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.776695,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.806133032,"cg_iw_a":-1.97297359,"cg_theta_rad":0.554289281,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0417149849,"mpcc_du":50.3546829,"mpcc_dv":48.348877,"mpcc_dw":51.651123,"mpcc_enc_sign":1,"mpcc_id_a":3.74176168,"mpcc_iq_a":-1.80999362,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.35245657,"mpcc_pred_id_a":0.494033486,"mpcc_pred_iq_a":-1.0820961,"mpcc_state":1,"mpcc_theta_e":0.441453934,"mpcc_theta_mech":0.555236697,"sam_rpm":-6.36622143,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0316662788,"thr_a_norm":0.0316662788,"thr_a_v":0.626665115,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490002275,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.783195,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.951108456,"cg_iw_a":-1.97297382,"cg_theta_rad":0.554451466,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.00211135857,"mpcc_du":50.0427628,"mpcc_dv":49.0230446,"mpcc_dw":50.9769554,"mpcc_enc_sign":1,"mpcc_id_a":0.633426845,"mpcc_iq_a":-1.92291796,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.43150806,"mpcc_pred_id_a":-0.226748601,"mpcc_pred_iq_a":0.915439487,"mpcc_state":1,"mpcc_theta_e":0.446619987,"mpcc_theta_mech":0.556269884,"sam_rpm":8.90742588,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219352245,"thr_a_norm":0.0219352245,"thr_a_v":0.587740898,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469507903,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.789726,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-2.0384233,"cg_iw_a":-1.17560935,"cg_theta_rad":0.554683208,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0281032287,"mpcc_du":48.9961014,"mpcc_dv":51.0038986,"mpcc_dw":49.9654312,"mpcc_enc_sign":1,"mpcc_id_a":3.06499028,"mpcc_iq_a":0.723562956,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.9373598,"mpcc_pred_id_a":0.79924947,"mpcc_pred_iq_a":1.15057313,"mpcc_state":1,"mpcc_theta_e":0.427506924,"mpcc_theta_mech":0.552447259,"sam_rpm":13.8196201,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219352245,"thr_a_norm":0.0219352245,"thr_a_v":0.587740898,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469507903,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.796227,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.806133032,"cg_iw_a":-2.11794901,"cg_theta_rad":0.556886613,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.00598759996,"mpcc_du":50.4650612,"mpcc_dv":48.22118,"mpcc_dw":51.77882,"mpcc_enc_sign":1,"mpcc_id_a":0.960767925,"mpcc_iq_a":-0.572699368,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.2591858,"mpcc_pred_id_a":0.374403834,"mpcc_pred_iq_a":-1.1762619,"mpcc_state":1,"mpcc_theta_e":0.428704262,"mpcc_theta_mech":0.55268681,"sam_rpm":-22.299305,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217841566,"thr_a_norm":0.0217841566,"thr_a_v":0.587136626,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474341929,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.804558,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.60349751,"cg_iw_a":1.14399624,"cg_theta_rad":0.555234909,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0086914422,"mpcc_du":50.3273621,"mpcc_dv":48.4908485,"mpcc_dw":50.4034042,"mpcc_enc_sign":1,"mpcc_id_a":1.67984748,"mpcc_iq_a":-2.11696792,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.9956951,"mpcc_pred_id_a":0.158229843,"mpcc_pred_iq_a":-2.54992104,"mpcc_state":1,"mpcc_theta_e":0.435952187,"mpcc_theta_mech":0.556184769,"sam_rpm":-16.1764221,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209658891,"thr_a_norm":0.0217841566,"thr_a_v":0.583863556,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470263213,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.814415,"values":{"cg_iu_a":1.11189032,"cg_iv_a":0.643620491,"cg_iw_a":-2.62536287,"cg_theta_rad":0.553150117,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.00965987053,"mpcc_du":49.9537849,"mpcc_dv":49.119812,"mpcc_dw":50.880188,"mpcc_enc_sign":1,"mpcc_id_a":0.793447912,"mpcc_iq_a":-1.91291499,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.18442488,"mpcc_pred_id_a":-0.193891257,"mpcc_pred_iq_a":-2.76996112,"mpcc_state":1,"mpcc_theta_e":0.450222492,"mpcc_theta_mech":0.556990445,"sam_rpm":4.55187368,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209658891,"thr_a_norm":0.0209658891,"thr_a_v":0.583863556,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470263213,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.824577,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-2.69081235,"cg_iw_a":0.709069967,"cg_theta_rad":0.556273818,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.06257765,"mpcc_du":50.5048904,"mpcc_dv":48.4596252,"mpcc_dw":51.5403748,"mpcc_enc_sign":1,"mpcc_id_a":0.655356705,"mpcc_iq_a":-0.0317915007,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.514904082,"mpcc_pred_id_a":-0.168918669,"mpcc_pred_iq_a":-1.83801317,"mpcc_state":1,"mpcc_theta_e":0.447909832,"mpcc_theta_mech":0.556527853,"sam_rpm":0.795327187,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278770924,"thr_a_norm":0.0278770924,"thr_a_v":0.611508369,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492268264,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.834435,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-2.54583716,"cg_iw_a":-0.740683317,"cg_theta_rad":0.555406451,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0133635718,"mpcc_du":49.5467224,"mpcc_dv":49.7935333,"mpcc_dw":50.4532776,"mpcc_enc_sign":1,"mpcc_id_a":1.27044499,"mpcc_iq_a":-1.9509635,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.06045413,"mpcc_pred_id_a":0.021051649,"mpcc_pred_iq_a":-5.77624464,"mpcc_state":1,"mpcc_theta_e":0.432064533,"mpcc_theta_mech":0.553358853,"sam_rpm":-5.07108545,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278770924,"thr_a_norm":0.0278770924,"thr_a_v":0.611508369,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492268264,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.844658,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.45852208,"cg_iw_a":-0.45073247,"cg_theta_rad":0.557389319,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0398624167,"mpcc_du":49.5029449,"mpcc_dv":50.4616051,"mpcc_dw":50.4970551,"mpcc_enc_sign":1,"mpcc_id_a":3.55212855,"mpcc_iq_a":1.00874186,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.41888666,"mpcc_pred_id_a":0.545481741,"mpcc_pred_iq_a":-2.31463122,"mpcc_state":1,"mpcc_theta_e":0.442069054,"mpcc_theta_mech":0.555359721,"sam_rpm":11.0477285,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.104617774,"thr_a_norm":0.104617774,"thr_a_v":0.918471098,"thr_b":0.0440535545,"thr_b_norm":0.0440535545,"thr_b_v":0.676214218,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.855064,"values":{"cg_iu_a":1.18437815,"cg_iv_a":0.136206627,"cg_iw_a":-1.32058477,"cg_theta_rad":0.555222452,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0279544462,"mpcc_du":50.1081238,"mpcc_dv":49.1178665,"mpcc_dw":50.8821335,"mpcc_enc_sign":1,"mpcc_id_a":0.231630772,"mpcc_iq_a":-1.08162272,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.5409925,"mpcc_pred_id_a":-0.598338306,"mpcc_pred_iq_a":-4.33858156,"mpcc_state":1,"mpcc_theta_e":0.44762516,"mpcc_theta_mech":0.55647099,"sam_rpm":-1.8886013,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0153387487,"thr_a_norm":0.104617774,"thr_a_v":0.561354995,"thr_b":0,"thr_b_norm":0.0440535545,"thr_b_v":0.455257475,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.877861,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.25588632,"cg_iw_a":-0.015806675,"cg_theta_rad":0.554479837,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.034181077,"mpcc_du":49.5581665,"mpcc_dv":50.4418335,"mpcc_dw":50.3274117,"mpcc_enc_sign":1,"mpcc_id_a":1.33870447,"mpcc_iq_a":0.378744811,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.80203724,"mpcc_pred_id_a":-0.107824892,"mpcc_pred_iq_a":-5.4571557,"mpcc_state":1,"mpcc_theta_e":0.451394558,"mpcc_theta_mech":0.55722487,"sam_rpm":8.60792828,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0153387487,"thr_a_norm":0.0153387487,"thr_a_v":0.561354995,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455257475,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.884392,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-0.226231575,"cg_iw_a":0.0566806793,"cg_theta_rad":0.556807101,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.00462446408,"mpcc_du":49.6013527,"mpcc_dv":49.9217453,"mpcc_dw":50.3986473,"mpcc_enc_sign":1,"mpcc_id_a":-0.540736675,"mpcc_iq_a":-3.09238458,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.4444618,"mpcc_pred_id_a":-0.122027196,"mpcc_pred_iq_a":-2.77063489,"mpcc_state":1,"mpcc_theta_e":0.462025642,"mpcc_theta_mech":0.559351027,"sam_rpm":26.7455578,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170885772,"thr_a_norm":0.0170885772,"thr_a_v":0.568354309,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447956055,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.890892,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.443694592,"cg_iw_a":-0.523220539,"cg_theta_rad":0.55789721,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0315251201,"mpcc_du":49.4952202,"mpcc_dv":49.4602318,"mpcc_dw":50.5397682,"mpcc_enc_sign":1,"mpcc_id_a":1.61040628,"mpcc_iq_a":0.102549046,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.8596525,"mpcc_pred_id_a":0.432304502,"mpcc_pred_iq_a":-1.73441386,"mpcc_state":1,"mpcc_theta_e":0.454571724,"mpcc_theta_mech":0.557860255,"sam_rpm":17.5601864,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170885772,"thr_a_norm":0.0170885772,"thr_a_v":0.568354309,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447956055,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.897423,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.38603449,"cg_iw_a":0.419119358,"cg_theta_rad":0.556070805,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0200698003,"mpcc_du":49.5101395,"mpcc_dv":50.2545242,"mpcc_dw":50.4898605,"mpcc_enc_sign":1,"mpcc_id_a":2.34941292,"mpcc_iq_a":-1.52088261,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.8943624,"mpcc_pred_id_a":0.417508662,"mpcc_pred_iq_a":-2.53203344,"mpcc_state":1,"mpcc_theta_e":0.456053734,"mpcc_theta_mech":0.558156669,"sam_rpm":23.7466793,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181334466,"thr_a_norm":0.0181334466,"thr_a_v":0.572533786,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452890843,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.90551,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.38603449,"cg_iw_a":-1.17560911,"cg_theta_rad":0.554095149,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0163659155,"mpcc_du":50.3351364,"mpcc_dv":48.4614639,"mpcc_dw":51.5385361,"mpcc_enc_sign":1,"mpcc_id_a":2.5584085,"mpcc_iq_a":-1.60399544,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.9792223,"mpcc_pred_id_a":0.28124541,"mpcc_pred_iq_a":-0.0112248668,"mpcc_state":1,"mpcc_theta_e":0.436295509,"mpcc_theta_mech":0.554205,"sam_rpm":-9.0289402,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291737169,"thr_a_norm":0.0181334466,"thr_a_v":0.616694868,"thr_b":0.00399632752,"thr_b_norm":0,"thr_b_v":0.51598531,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.915489,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.588670254,"cg_iw_a":-0.523220062,"cg_theta_rad":0.556887329,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0290826224,"mpcc_du":50.14505,"mpcc_dv":48.9095421,"mpcc_dw":51.0904579,"mpcc_enc_sign":1,"mpcc_id_a":0.396280289,"mpcc_iq_a":-1.0697608,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.74951196,"mpcc_pred_id_a":-0.20223856,"mpcc_pred_iq_a":-2.87565279,"mpcc_state":1,"mpcc_theta_e":0.449748993,"mpcc_theta_mech":0.556895733,"sam_rpm":3.30459833,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291737169,"thr_a_norm":0.0291737169,"thr_a_v":0.616694868,"thr_b":0.00399632752,"thr_b_norm":0.00399632752,"thr_b_v":0.51598531,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.925682,"values":{"cg_iu_a":1.47432899,"cg_iv_a":0.0637187958,"cg_iw_a":-1.53804779,"cg_theta_rad":0.557592809,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.018694602,"mpcc_du":50.5702744,"mpcc_dv":48.1893578,"mpcc_dw":51.8106422,"mpcc_enc_sign":1,"mpcc_id_a":2.42714238,"mpcc_iq_a":0.365054011,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.0300274,"mpcc_pred_id_a":0.117355786,"mpcc_pred_iq_a":1.09392631,"mpcc_state":1,"mpcc_theta_e":0.42983532,"mpcc_theta_mech":0.55291301,"sam_rpm":-14.2744942,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241004825,"thr_a_norm":0.0241004825,"thr_a_v":0.59640193,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469658971,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.935356,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.38603449,"cg_iw_a":-0.16078186,"cg_theta_rad":0.556192636,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0313839205,"mpcc_du":49.4758224,"mpcc_dv":50.2633743,"mpcc_dw":50.5241776,"mpcc_enc_sign":1,"mpcc_id_a":2.48362732,"mpcc_iq_a":-1.5980041,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.47000265,"mpcc_pred_id_a":0.50551039,"mpcc_pred_iq_a":-0.641219199,"mpcc_state":1,"mpcc_theta_e":0.430935383,"mpcc_theta_mech":0.554145932,"sam_rpm":-1.33728421,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241004825,"thr_a_norm":0.0241004825,"thr_a_v":0.59640193,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469658971,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.944664,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.661157608,"cg_iw_a":-2.04546165,"cg_theta_rad":0.55664736,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0331273638,"mpcc_du":50.0050964,"mpcc_dv":48.9391212,"mpcc_dw":51.0608788,"mpcc_enc_sign":1,"mpcc_id_a":2.0912292,"mpcc_iq_a":-1.22847426,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.461715639,"mpcc_pred_id_a":0.0733978227,"mpcc_pred_iq_a":-3.37042308,"mpcc_state":1,"mpcc_theta_e":0.446430683,"mpcc_theta_mech":0.556232095,"sam_rpm":-0.101100482,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0169375092,"thr_a_norm":0.0169375092,"thr_a_v":0.567750037,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.445085824,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.956078,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.958146572,"cg_theta_rad":0.558027148,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.00650256872,"mpcc_du":50.0522232,"mpcc_dv":48.8802223,"mpcc_dw":51.1197777,"mpcc_enc_sign":1,"mpcc_id_a":0.52285713,"mpcc_iq_a":-0.984670579,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.19539738,"mpcc_pred_id_a":0.0712236837,"mpcc_pred_iq_a":-2.74347568,"mpcc_state":1,"mpcc_theta_e":0.442941189,"mpcc_theta_mech":0.555534124,"sam_rpm":-8.21994686,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256992429,"thr_a_norm":0.0169375092,"thr_a_v":0.602796972,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.979057,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.298719406,"cg_iw_a":-2.62536287,"cg_theta_rad":0.556517065,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.00449627312,"mpcc_du":48.2310715,"mpcc_dv":51.7689285,"mpcc_dw":48.6480446,"mpcc_enc_sign":1,"mpcc_id_a":-0.397114545,"mpcc_iq_a":-2.13762045,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":24.3554363,"mpcc_pred_id_a":-0.650992751,"mpcc_pred_iq_a":-7.96062326,"mpcc_state":1,"mpcc_theta_e":0.465415955,"mpcc_theta_mech":0.560029149,"sam_rpm":35.9334106,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256992429,"thr_a_norm":0.0256992429,"thr_a_v":0.602796972,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486628503,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.985588,"values":{"cg_iu_a":2.92408228,"cg_iv_a":1.07854605,"cg_iw_a":-2.69785023,"cg_theta_rad":0.556033552,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.0166782252,"mpcc_du":50.3374977,"mpcc_dv":48.556591,"mpcc_dw":51.443409,"mpcc_enc_sign":1,"mpcc_id_a":-0.151059628,"mpcc_iq_a":-1.03769839,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.58659935,"mpcc_pred_id_a":0.0603648648,"mpcc_pred_iq_a":-0.135940552,"mpcc_state":1,"mpcc_theta_e":0.449184418,"mpcc_theta_mech":0.556782842,"sam_rpm":7.237391,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024188593,"thr_a_norm":0.024188593,"thr_a_v":0.596754372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478773177,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.992088,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.733645439,"cg_iw_a":-0.378244877,"cg_theta_rad":0.556394875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4999,"hz_app_loop":360,"hz_tim_isr":9998,"hz_vsense":360,"mpcc_cost":0.00457175774,"mpcc_du":50.2404213,"mpcc_dv":48.6227646,"mpcc_dw":51.3772354,"mpcc_enc_sign":1,"mpcc_id_a":0.779184639,"mpcc_iq_a":-1.11291444,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.85851622,"mpcc_pred_id_a":0.045785401,"mpcc_pred_iq_a":-1.24529099,"mpcc_state":1,"mpcc_theta_e":0.448019505,"mpcc_theta_mech":0.556549788,"sam_rpm":-12.255023,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024188593,"thr_a_norm":0.024188593,"thr_a_v":0.596754372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478773177,"vdc_v":55.2955055}} +{"type":"telemetry","t":95.999474,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.11091113,"cg_iw_a":0.709069967,"cg_theta_rad":0.55543381,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899.20215,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0337954722,"mpcc_du":49.4066887,"mpcc_dv":50.5933113,"mpcc_dw":50.3152657,"mpcc_enc_sign":1,"mpcc_id_a":1.86884391,"mpcc_iq_a":-1.3441869,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.2533798,"mpcc_pred_id_a":0.123150997,"mpcc_pred_iq_a":-4.54211426,"mpcc_state":1,"mpcc_theta_e":0.460968018,"mpcc_theta_mech":0.55913955,"sam_rpm":28.091959,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020688951,"thr_a_norm":0.020688951,"thr_a_v":0.582755804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463616401,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.009666,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.76329994,"cg_iw_a":-0.81317091,"cg_theta_rad":0.557244837,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0267221313,"mpcc_du":49.4987602,"mpcc_dv":50.1944923,"mpcc_dw":50.5012398,"mpcc_enc_sign":1,"mpcc_id_a":2.03311992,"mpcc_iq_a":-1.71139014,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.39012098,"mpcc_pred_id_a":0.255490482,"mpcc_pred_iq_a":-1.89332128,"mpcc_state":1,"mpcc_theta_e":0.430252552,"mpcc_theta_mech":0.552996397,"sam_rpm":1.10957837,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270210654,"thr_a_norm":0.020688951,"thr_a_v":0.608084261,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486578166,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.019676,"values":{"cg_iu_a":2.41666842,"cg_iv_a":0.498644829,"cg_iw_a":-2.91531324,"cg_theta_rad":0.554781497,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0321181081,"mpcc_du":49.5000954,"mpcc_dv":50.0550117,"mpcc_dw":50.4999046,"mpcc_enc_sign":1,"mpcc_id_a":2.68582892,"mpcc_iq_a":-0.829651952,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.541502,"mpcc_pred_id_a":0.201827347,"mpcc_pred_iq_a":-3.64671969,"mpcc_state":1,"mpcc_theta_e":0.450498581,"mpcc_theta_mech":0.557045639,"sam_rpm":14.8218784,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270210654,"thr_a_norm":0.0270210654,"thr_a_v":0.608084261,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486578166,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.029869,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.16857147,"cg_iw_a":-2.33541203,"cg_theta_rad":0.554148614,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0932330266,"mpcc_du":50.0929108,"mpcc_dv":48.7191391,"mpcc_dw":51.2808609,"mpcc_enc_sign":1,"mpcc_id_a":3.01827049,"mpcc_iq_a":0.359657019,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.83760333,"mpcc_pred_id_a":0.220667914,"mpcc_pred_iq_a":-2.06673169,"mpcc_state":1,"mpcc_theta_e":0.44982338,"mpcc_theta_mech":0.556910574,"sam_rpm":7.90924597,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253971219,"thr_a_norm":0.0253971219,"thr_a_v":0.601588488,"thr_b":0.000295266509,"thr_b_norm":0.000295266509,"thr_b_v":0.501181066,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.043083,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.6759851,"cg_iw_a":-1.32058454,"cg_theta_rad":0.555656433,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0162818301,"mpcc_du":49.4674454,"mpcc_dv":49.6836624,"mpcc_dw":50.5399971,"mpcc_enc_sign":1,"mpcc_id_a":1.97197509,"mpcc_iq_a":-0.806871772,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.1555557,"mpcc_pred_id_a":0.274559617,"mpcc_pred_iq_a":-1.43089974,"mpcc_state":1,"mpcc_theta_e":0.449256897,"mpcc_theta_mech":0.556797266,"sam_rpm":18.1239891,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162451267,"thr_a_norm":0.0253971219,"thr_a_v":0.564980507,"thr_b":0,"thr_b_norm":0.000295266509,"thr_b_v":0.468097955,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.054039,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-2.18339872,"cg_iw_a":0.201656342,"cg_theta_rad":0.554643214,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0333157443,"mpcc_du":50.6957741,"mpcc_dv":47.8092499,"mpcc_dw":52.1907501,"mpcc_enc_sign":1,"mpcc_id_a":2.87676597,"mpcc_iq_a":-0.921191871,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.98469448,"mpcc_pred_id_a":0.555206299,"mpcc_pred_iq_a":-0.0526994057,"mpcc_state":1,"mpcc_theta_e":0.436275482,"mpcc_theta_mech":0.554201007,"sam_rpm":-14.8454857,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162451267,"thr_a_norm":0.0162451267,"thr_a_v":0.564980507,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468097955,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.077293,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.951108456,"cg_iw_a":-0.595707893,"cg_theta_rad":0.555479348,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.00207316782,"mpcc_du":50.8494873,"mpcc_dv":48.0593338,"mpcc_dw":51.9406662,"mpcc_enc_sign":1,"mpcc_id_a":0.172111705,"mpcc_iq_a":-0.868218958,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.29486179,"mpcc_pred_id_a":-0.425252289,"mpcc_pred_iq_a":1.9770813,"mpcc_state":1,"mpcc_theta_e":0.449103832,"mpcc_theta_mech":0.556766689,"sam_rpm":-6.60937738,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278015584,"thr_a_norm":0.0278015584,"thr_a_v":0.611206234,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499972522,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.083794,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.24105906,"cg_iw_a":1.143996,"cg_theta_rad":0.553951204,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.000330318784,"mpcc_du":50.1278114,"mpcc_dv":49.0211945,"mpcc_dw":50.9788055,"mpcc_enc_sign":1,"mpcc_id_a":-0.0379608758,"mpcc_iq_a":-1.83003533,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.965597272,"mpcc_pred_id_a":-0.579653263,"mpcc_pred_iq_a":-1.12542236,"mpcc_state":1,"mpcc_theta_e":0.442581177,"mpcc_theta_mech":0.555462182,"sam_rpm":1.42417216,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218345076,"thr_a_norm":0.0278015584,"thr_a_v":0.58733803,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475550473,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.090294,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.31354666,"cg_iw_a":-1.10312176,"cg_theta_rad":0.551826715,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0129742846,"mpcc_du":49.9233017,"mpcc_dv":48.8355865,"mpcc_dw":51.1644135,"mpcc_enc_sign":1,"mpcc_id_a":2.23611236,"mpcc_iq_a":-0.74839443,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.14949226,"mpcc_pred_id_a":0.481875837,"mpcc_pred_iq_a":-1.88119972,"mpcc_state":1,"mpcc_theta_e":0.431391716,"mpcc_theta_mech":0.553224266,"sam_rpm":-13.7021589,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218345076,"thr_a_norm":0.0218345076,"thr_a_v":0.58733803,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475550473,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.096855,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-2.11091113,"cg_iw_a":-1.97297382,"cg_theta_rad":0.554163754,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0365306512,"mpcc_du":50.5355988,"mpcc_dv":47.9415741,"mpcc_dw":52.0584259,"mpcc_enc_sign":1,"mpcc_id_a":3.31383348,"mpcc_iq_a":0.752528965,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.5560856,"mpcc_pred_id_a":0.680410206,"mpcc_pred_iq_a":0.119819053,"mpcc_state":1,"mpcc_theta_e":0.426036358,"mpcc_theta_mech":0.55215323,"sam_rpm":-24.4500885,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244026035,"thr_a_norm":0.0244026035,"thr_a_v":0.597610414,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479377449,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.105034,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.25588632,"cg_iw_a":1.21648335,"cg_theta_rad":0.555032253,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0249758475,"mpcc_du":49.6704597,"mpcc_dv":49.2660561,"mpcc_dw":50.7339439,"mpcc_enc_sign":1,"mpcc_id_a":2.54682708,"mpcc_iq_a":-0.613293886,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.89304447,"mpcc_pred_id_a":0.221984759,"mpcc_pred_iq_a":-1.49584258,"mpcc_state":1,"mpcc_theta_e":0.447102547,"mpcc_theta_mech":0.556366384,"sam_rpm":8.93873978,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244026035,"thr_a_norm":0.0244026035,"thr_a_v":0.597610414,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479377449,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.115227,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.38603449,"cg_iw_a":-0.668195724,"cg_theta_rad":0.557373941,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0439041406,"mpcc_du":49.5384407,"mpcc_dv":50.0898972,"mpcc_dw":50.4615593,"mpcc_enc_sign":1,"mpcc_id_a":2.66481304,"mpcc_iq_a":-0.539684057,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.2629967,"mpcc_pred_id_a":0.13741228,"mpcc_pred_iq_a":-3.69970202,"mpcc_state":1,"mpcc_theta_e":0.450201511,"mpcc_theta_mech":0.556986213,"sam_rpm":16.9513779,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243270695,"thr_a_norm":0.0243270695,"thr_a_v":0.597308278,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.12545,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.878620625,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556233823,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.00509231258,"mpcc_du":50.0015221,"mpcc_dv":49.2258301,"mpcc_dw":50.7741699,"mpcc_enc_sign":1,"mpcc_id_a":-0.257398367,"mpcc_iq_a":-2.50610113,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.90235615,"mpcc_pred_id_a":-0.701902747,"mpcc_pred_iq_a":-3.24590611,"mpcc_state":1,"mpcc_theta_e":0.434693336,"mpcc_theta_mech":0.553884566,"sam_rpm":-14.4425192,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196944475,"thr_a_norm":0.0243270695,"thr_a_v":0.57877779,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470565349,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.135216,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-1.09608364,"cg_iw_a":-0.740683556,"cg_theta_rad":0.555964053,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0233213846,"mpcc_du":50.0046272,"mpcc_dv":48.8888855,"mpcc_dw":51.1111145,"mpcc_enc_sign":1,"mpcc_id_a":1.97695708,"mpcc_iq_a":-0.794587016,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.99507093,"mpcc_pred_id_a":0.149842069,"mpcc_pred_iq_a":-2.92204833,"mpcc_state":1,"mpcc_theta_e":0.443035126,"mpcc_theta_mech":0.555552959,"sam_rpm":-6.03134298,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196944475,"thr_a_norm":0.0196944475,"thr_a_v":0.57877779,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470565349,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.145653,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.16857147,"cg_iw_a":-0.958146095,"cg_theta_rad":0.553733587,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0402072631,"mpcc_du":49.7998199,"mpcc_dv":49.2044106,"mpcc_dw":50.7955894,"mpcc_enc_sign":1,"mpcc_id_a":0.754906118,"mpcc_iq_a":-1.33233213,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.22362113,"mpcc_pred_id_a":0.105573647,"mpcc_pred_iq_a":-4.08898687,"mpcc_state":1,"mpcc_theta_e":0.447244644,"mpcc_theta_mech":0.556394875,"sam_rpm":5.25989532,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295765549,"thr_a_norm":0.0295765549,"thr_a_v":0.61830622,"thr_b":0.00512932241,"thr_b_norm":0.00512932241,"thr_b_v":0.52051729,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.155449,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.951108456,"cg_iw_a":-1.53804779,"cg_theta_rad":0.55563575,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0189118627,"mpcc_du":49.8713646,"mpcc_dv":49.1749687,"mpcc_dw":49.6906319,"mpcc_enc_sign":1,"mpcc_id_a":0.998167694,"mpcc_iq_a":-1.00945067,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.66964817,"mpcc_pred_id_a":-0.202291176,"mpcc_pred_iq_a":-0.7442711,"mpcc_state":1,"mpcc_theta_e":0.432486057,"mpcc_theta_mech":0.553443134,"sam_rpm":-16.9096413,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295765549,"thr_a_norm":0.0295765549,"thr_a_v":0.61830622,"thr_b":0.00512932241,"thr_b_norm":0.00512932241,"thr_b_v":0.52051729,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.178764,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.516182423,"cg_iw_a":0.274144173,"cg_theta_rad":0.557866931,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0252321437,"mpcc_du":49.6592598,"mpcc_dv":49.2835922,"mpcc_dw":50.7393379,"mpcc_enc_sign":1,"mpcc_id_a":2.31989002,"mpcc_iq_a":-0.421785027,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.21987438,"mpcc_pred_id_a":0.363861054,"mpcc_pred_iq_a":-1.75259447,"mpcc_state":1,"mpcc_theta_e":0.45112133,"mpcc_theta_mech":0.557170212,"sam_rpm":9.3396492,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022677958,"thr_a_norm":0.022677958,"thr_a_v":0.590711832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.185326,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.153744221,"cg_iw_a":-0.0882940292,"cg_theta_rad":0.553547084,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0072153951,"mpcc_du":50.3460922,"mpcc_dv":48.5523071,"mpcc_dw":51.4476929,"mpcc_enc_sign":1,"mpcc_id_a":1.62096334,"mpcc_iq_a":-1.90243566,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.03581047,"mpcc_pred_id_a":-0.00442025438,"mpcc_pred_iq_a":-0.545353413,"mpcc_state":1,"mpcc_theta_e":0.434984684,"mpcc_theta_mech":0.553942859,"sam_rpm":-11.9737959,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0287457108,"thr_a_norm":0.022677958,"thr_a_v":0.614982843,"thr_b":0.0019569695,"thr_b_norm":0,"thr_b_v":0.507827878,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.191856,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.951108456,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.553571522,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0170020498,"mpcc_du":50.2707787,"mpcc_dv":48.6123734,"mpcc_dw":51.3876266,"mpcc_enc_sign":1,"mpcc_id_a":2.28527427,"mpcc_iq_a":-1.49737632,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.334441423,"mpcc_pred_id_a":0.144989893,"mpcc_pred_iq_a":-0.250247359,"mpcc_state":1,"mpcc_theta_e":0.443241596,"mpcc_theta_mech":0.555594206,"sam_rpm":0.968888938,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0287457108,"thr_a_norm":0.0287457108,"thr_a_v":0.614982843,"thr_b":0.0019569695,"thr_b_norm":0.0019569695,"thr_b_v":0.507827878,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.198357,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.53100967,"cg_iw_a":-0.958146572,"cg_theta_rad":0.558486998,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0406482629,"mpcc_du":49.982666,"mpcc_dv":48.6891975,"mpcc_dw":51.3108025,"mpcc_enc_sign":1,"mpcc_id_a":3.34853649,"mpcc_iq_a":-0.104114331,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.71216738,"mpcc_pred_id_a":0.802237153,"mpcc_pred_iq_a":-0.158725649,"mpcc_state":1,"mpcc_theta_e":0.443650246,"mpcc_theta_mech":0.555675924,"sam_rpm":2.48652959,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470766753,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.206413,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.443694592,"cg_iw_a":-0.160782337,"cg_theta_rad":0.555274904,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0124389334,"mpcc_du":49.8926048,"mpcc_dv":49.0899849,"mpcc_dw":50.9100151,"mpcc_enc_sign":1,"mpcc_id_a":1.1209234,"mpcc_iq_a":-1.23497808,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.80487394,"mpcc_pred_id_a":0.094164297,"mpcc_pred_iq_a":-1.08072484,"mpcc_state":1,"mpcc_theta_e":0.450498581,"mpcc_theta_mech":0.557045639,"sam_rpm":11.6419134,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470766753,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.216728,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.371207237,"cg_iw_a":-1.3205843,"cg_theta_rad":0.55372715,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.00455342559,"mpcc_du":50.0113792,"mpcc_dv":48.6170158,"mpcc_dw":51.3829842,"mpcc_enc_sign":1,"mpcc_id_a":1.17055416,"mpcc_iq_a":-3.33326626,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.66639233,"mpcc_pred_id_a":-0.116288453,"mpcc_pred_iq_a":-4.32779217,"mpcc_state":1,"mpcc_theta_e":0.444110394,"mpcc_theta_mech":0.556916475,"sam_rpm":-6.53264475,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194048882,"thr_a_norm":0.0194048882,"thr_a_v":0.577619553,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471320659,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.22686,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.02359605,"cg_iw_a":0.78155756,"cg_theta_rad":0.553956449,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0168855283,"mpcc_du":50.1837463,"mpcc_dv":48.8942871,"mpcc_dw":51.1057129,"mpcc_enc_sign":1,"mpcc_id_a":0.12508218,"mpcc_iq_a":-1.30778563,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.57558775,"mpcc_pred_id_a":-0.384282321,"mpcc_pred_iq_a":-2.35956359,"mpcc_state":1,"mpcc_theta_e":0.445991993,"mpcc_theta_mech":0.556144357,"sam_rpm":2.76013017,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0194048882,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447653919,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.236656,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.32837415,"cg_iw_a":-0.45073247,"cg_theta_rad":0.556911707,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0324814841,"mpcc_du":50.0393715,"mpcc_dv":48.9234505,"mpcc_dw":51.0765495,"mpcc_enc_sign":1,"mpcc_id_a":1.29451251,"mpcc_iq_a":-1.37108505,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.27407122,"mpcc_pred_id_a":-0.022144476,"mpcc_pred_iq_a":-2.85378003,"mpcc_state":1,"mpcc_theta_e":0.45338726,"mpcc_theta_mech":0.557623327,"sam_rpm":6.72690964,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447653919,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.246819,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.24105906,"cg_iw_a":-0.523220301,"cg_theta_rad":0.555934012,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.00197968911,"mpcc_du":50.5022926,"mpcc_dv":48.3880081,"mpcc_dw":51.6119919,"mpcc_enc_sign":1,"mpcc_id_a":0.583763123,"mpcc_iq_a":-0.688209176,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.7220273,"mpcc_pred_id_a":-0.245270208,"mpcc_pred_iq_a":-0.674904943,"mpcc_state":1,"mpcc_theta_e":0.441724777,"mpcc_theta_mech":0.555290878,"sam_rpm":-17.5798721,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0287457108,"thr_a_norm":0.0287457108,"thr_a_v":0.614982843,"thr_b":0.00168001652,"thr_b_norm":0.00168001652,"thr_b_v":0.506720066,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.256828,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-2.11091113,"cg_iw_a":-1.46555996,"cg_theta_rad":0.555874467,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0600504279,"mpcc_du":50.1906242,"mpcc_dv":48.612957,"mpcc_dw":51.387043,"mpcc_enc_sign":1,"mpcc_id_a":3.73753238,"mpcc_iq_a":-0.812145412,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.85580826,"mpcc_pred_id_a":0.308946759,"mpcc_pred_iq_a":-2.27835584,"mpcc_state":1,"mpcc_theta_e":0.446915627,"mpcc_theta_mech":0.55680716,"sam_rpm":-2.51007795,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0287457108,"thr_a_norm":0.0287457108,"thr_a_v":0.614982843,"thr_b":0.00168001652,"thr_b_norm":0.00168001652,"thr_b_v":0.506720066,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.281181,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.951108456,"cg_iw_a":-0.81317091,"cg_theta_rad":0.554343641,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0208393354,"mpcc_du":50.3093033,"mpcc_dv":48.5917473,"mpcc_dw":51.4082527,"mpcc_enc_sign":1,"mpcc_id_a":1.17615271,"mpcc_iq_a":-0.78989017,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.726871192,"mpcc_pred_id_a":0.00790927839,"mpcc_pred_iq_a":-1.07059181,"mpcc_state":1,"mpcc_theta_e":0.446062088,"mpcc_theta_mech":0.556158364,"sam_rpm":-0.0196153093,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0279148519,"thr_a_norm":0.0279148519,"thr_a_v":0.611659408,"thr_b":0.00203250349,"thr_b_norm":0.00203250349,"thr_b_v":0.508130014,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.287651,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.09608364,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556312382,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0340544209,"mpcc_du":49.4665489,"mpcc_dv":49.6230774,"mpcc_dw":50.5334511,"mpcc_enc_sign":1,"mpcc_id_a":2.24692082,"mpcc_iq_a":-0.572385073,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.26356792,"mpcc_pred_id_a":0.431354463,"mpcc_pred_iq_a":-3.20184422,"mpcc_state":1,"mpcc_theta_e":0.451096535,"mpcc_theta_mech":0.557165205,"sam_rpm":12.9726572,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192538351,"thr_a_norm":0.0192538351,"thr_a_v":0.57701534,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466083795,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.294243,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.24105906,"cg_iw_a":-0.958146095,"cg_theta_rad":0.555400431,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.00313066575,"mpcc_du":50.3102798,"mpcc_dv":48.4375305,"mpcc_dw":51.5624695,"mpcc_enc_sign":1,"mpcc_id_a":1.11475265,"mpcc_iq_a":-1.43988955,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.5886147,"mpcc_pred_id_a":0.377734601,"mpcc_pred_iq_a":0.642321408,"mpcc_state":1,"mpcc_theta_e":0.436898232,"mpcc_theta_mech":0.554325581,"sam_rpm":-5.85331917,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192538351,"thr_a_norm":0.0192538351,"thr_a_v":0.57701534,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466083795,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.300743,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.878620625,"cg_iw_a":0.0566806793,"cg_theta_rad":0.556512237,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0108845159,"mpcc_du":49.4892769,"mpcc_dv":50.5107231,"mpcc_dw":50.0074196,"mpcc_enc_sign":1,"mpcc_id_a":-0.262373328,"mpcc_iq_a":-0.102317981,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.53873515,"mpcc_pred_id_a":-0.902744174,"mpcc_pred_iq_a":-5.54576159,"mpcc_state":1,"mpcc_theta_e":0.444463253,"mpcc_theta_mech":0.555838585,"sam_rpm":4.94971848,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023609519,"thr_a_norm":0.023609519,"thr_a_v":0.594438076,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473687351,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.310478,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.02359605,"cg_iw_a":-1.75551057,"cg_theta_rad":0.552871227,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0379364714,"mpcc_du":49.6704102,"mpcc_dv":48.9203873,"mpcc_dw":51.0796127,"mpcc_enc_sign":1,"mpcc_id_a":3.48585224,"mpcc_iq_a":-1.15857673,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.881084025,"mpcc_pred_id_a":0.905251384,"mpcc_pred_iq_a":-1.92212915,"mpcc_state":1,"mpcc_theta_e":0.436171532,"mpcc_theta_mech":0.554180264,"sam_rpm":-3.07423568,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023332566,"thr_a_norm":0.023609519,"thr_a_v":0.593330264,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.320427,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-2.90827537,"cg_iw_a":-0.378245115,"cg_theta_rad":0.554279208,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0186043978,"mpcc_du":49.5298424,"mpcc_dv":50.0594406,"mpcc_dw":50.4701576,"mpcc_enc_sign":1,"mpcc_id_a":2.26176667,"mpcc_iq_a":-0.703154504,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.20200539,"mpcc_pred_id_a":0.101473294,"mpcc_pred_iq_a":-3.63973212,"mpcc_state":1,"mpcc_theta_e":0.444978237,"mpcc_theta_mech":0.555941522,"sam_rpm":7.01513577,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023332566,"thr_a_norm":0.023332566,"thr_a_v":0.593330264,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.33062,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-2.11091113,"cg_iw_a":2.0863359,"cg_theta_rad":0.554042697,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0101224259,"mpcc_du":50.1571808,"mpcc_dv":48.9503174,"mpcc_dw":51.0496826,"mpcc_enc_sign":1,"mpcc_id_a":0.474197,"mpcc_iq_a":-1.42501736,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.85190439,"mpcc_pred_id_a":-0.481782645,"mpcc_pred_iq_a":-3.69689441,"mpcc_state":1,"mpcc_theta_e":0.443132877,"mpcc_theta_mech":0.55557251,"sam_rpm":-8.73412132,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022073701,"thr_a_norm":0.022073701,"thr_a_v":0.588294804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472378135,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.342827,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.82096052,"cg_iw_a":1.07150841,"cg_theta_rad":0.555825412,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0361228026,"mpcc_du":49.3175087,"mpcc_dv":50.6824913,"mpcc_dw":50.4570084,"mpcc_enc_sign":1,"mpcc_id_a":1.70050716,"mpcc_iq_a":-0.871705651,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.779898167,"mpcc_pred_id_a":0.169207737,"mpcc_pred_iq_a":-2.1469605,"mpcc_state":1,"mpcc_theta_e":0.432001114,"mpcc_theta_mech":0.553181291,"sam_rpm":-2.74697113,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027663067,"thr_a_norm":0.022073701,"thr_a_v":0.610652268,"thr_b":0.001491189,"thr_b_norm":0,"thr_b_v":0.505964756,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.354637,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.16857147,"cg_iw_a":-0.015806675,"cg_theta_rad":0.552652955,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.000255712686,"mpcc_du":49.8520699,"mpcc_dv":49.1222954,"mpcc_dw":50.8777046,"mpcc_enc_sign":1,"mpcc_id_a":0.306043178,"mpcc_iq_a":-0.78120178,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.3266685,"mpcc_pred_id_a":-0.0622862689,"mpcc_pred_iq_a":-0.650253415,"mpcc_state":1,"mpcc_theta_e":0.431088924,"mpcc_theta_mech":0.553163707,"sam_rpm":-3.10231018,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027663067,"thr_a_norm":0.027663067,"thr_a_v":0.610652268,"thr_b":0.001491189,"thr_b_norm":0.001491189,"thr_b_v":0.505964756,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.379051,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.878620625,"cg_iw_a":-1.03063393,"cg_theta_rad":0.553585291,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0176334362,"mpcc_du":48.6525116,"mpcc_dv":51.3474884,"mpcc_dw":49.4336586,"mpcc_enc_sign":1,"mpcc_id_a":2.61699486,"mpcc_iq_a":-0.474693805,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.808073,"mpcc_pred_id_a":0.23520951,"mpcc_pred_iq_a":-5.55690527,"mpcc_state":1,"mpcc_theta_e":0.451818943,"mpcc_theta_mech":0.557309687,"sam_rpm":18.4486256,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023282215,"thr_a_norm":0.023282215,"thr_a_v":0.59312886,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471370995,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.385612,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.53100967,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556751788,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.032858558,"mpcc_du":49.5115585,"mpcc_dv":50.0870972,"mpcc_dw":50.4884415,"mpcc_enc_sign":1,"mpcc_id_a":1.6570909,"mpcc_iq_a":0.0362802446,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.8745985,"mpcc_pred_id_a":0.268088043,"mpcc_pred_iq_a":-3.58627605,"mpcc_state":1,"mpcc_theta_e":0.452664852,"mpcc_theta_mech":0.557478905,"sam_rpm":14.9307842,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226401836,"thr_a_norm":0.023282215,"thr_a_v":0.590560734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470968157,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.392052,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.31354666,"cg_iw_a":-1.68302298,"cg_theta_rad":0.552973747,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0277353749,"mpcc_du":49.9649925,"mpcc_dv":48.938839,"mpcc_dw":51.061161,"mpcc_enc_sign":1,"mpcc_id_a":2.77631569,"mpcc_iq_a":0.225761354,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.89866376,"mpcc_pred_id_a":0.147636876,"mpcc_pred_iq_a":-1.02830255,"mpcc_state":1,"mpcc_theta_e":0.439312458,"mpcc_theta_mech":0.554808378,"sam_rpm":-2.87205768,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226401836,"thr_a_norm":0.0226401836,"thr_a_v":0.590560734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470968157,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.39959,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.226231575,"cg_iw_a":-0.740683556,"cg_theta_rad":0.555327713,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.00951776188,"mpcc_du":50.3023643,"mpcc_dv":48.5823059,"mpcc_dw":51.4176941,"mpcc_enc_sign":1,"mpcc_id_a":1.74663377,"mpcc_iq_a":-1.10912645,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.68743467,"mpcc_pred_id_a":0.0545222089,"mpcc_pred_iq_a":-1.5264585,"mpcc_state":1,"mpcc_theta_e":0.446078777,"mpcc_theta_mech":0.556161702,"sam_rpm":-13.303896,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00631265342,"thr_b_norm":0.00631265342,"thr_b_v":0.525250614,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.410973,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-2.54583716,"cg_iw_a":1.86887288,"cg_theta_rad":0.556345224,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.00655577332,"mpcc_du":49.6082497,"mpcc_dv":49.9867172,"mpcc_dw":50.3917503,"mpcc_enc_sign":1,"mpcc_id_a":0.107373893,"mpcc_iq_a":0.000460824638,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.32005572,"mpcc_pred_id_a":-0.339218348,"mpcc_pred_iq_a":-3.43814588,"mpcc_state":1,"mpcc_theta_e":0.437552929,"mpcc_theta_mech":0.554456472,"sam_rpm":2.76184297,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295891464,"thr_a_norm":0.0295891464,"thr_a_v":0.618356586,"thr_b":0.00514191389,"thr_b_norm":0.00514191389,"thr_b_v":0.520567656,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.421806,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.38603449,"cg_iw_a":-0.595707893,"cg_theta_rad":0.55375433,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0237465966,"mpcc_du":49.2390671,"mpcc_dv":50.7609329,"mpcc_dw":49.9805145,"mpcc_enc_sign":1,"mpcc_id_a":1.74157286,"mpcc_iq_a":-1.4635489,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.6293087,"mpcc_pred_id_a":-0.192405656,"mpcc_pred_iq_a":-1.65760124,"mpcc_state":1,"mpcc_theta_e":0.440225601,"mpcc_theta_mech":0.554991007,"sam_rpm":12.9695778,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295891464,"thr_a_norm":0.0295891464,"thr_a_v":0.618356586,"thr_b":0.00514191389,"thr_b_norm":0.00514191389,"thr_b_v":0.520567656,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.43203,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.661157608,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556808114,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0138161872,"mpcc_du":49.9144478,"mpcc_dv":48.6941185,"mpcc_dw":51.3058815,"mpcc_enc_sign":1,"mpcc_id_a":0.744466245,"mpcc_iq_a":-1.18739128,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.821371436,"mpcc_pred_id_a":-0.148560792,"mpcc_pred_iq_a":-2.88981628,"mpcc_state":1,"mpcc_theta_e":0.446723461,"mpcc_theta_mech":0.556290567,"sam_rpm":1.57229173,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186118037,"thr_a_norm":0.0186118037,"thr_a_v":0.574447215,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451027691,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.442619,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-2.11091113,"cg_iw_a":0.0566806793,"cg_theta_rad":0.557015896,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0446772203,"mpcc_du":49.4218178,"mpcc_dv":49.3954048,"mpcc_dw":50.6045952,"mpcc_enc_sign":1,"mpcc_id_a":3.82685018,"mpcc_iq_a":-0.254900813,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.0332377,"mpcc_pred_id_a":1.32522547,"mpcc_pred_iq_a":-0.47219193,"mpcc_state":1,"mpcc_theta_e":0.436013699,"mpcc_theta_mech":0.554148614,"sam_rpm":5.1457386,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162577182,"thr_a_norm":0.0186118037,"thr_a_v":0.565030873,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.452232,"values":{"cg_iu_a":1.8367672,"cg_iv_a":0.208694458,"cg_iw_a":-2.04546165,"cg_theta_rad":0.554002821,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0255202167,"mpcc_du":49.5087624,"mpcc_dv":49.2868881,"mpcc_dw":50.7131119,"mpcc_enc_sign":1,"mpcc_id_a":3.09861255,"mpcc_iq_a":-0.625567436,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.13479948,"mpcc_pred_id_a":0.613573134,"mpcc_pred_iq_a":-1.04653883,"mpcc_state":1,"mpcc_theta_e":0.441153049,"mpcc_theta_mech":0.555176497,"sam_rpm":-4.67592001,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162577182,"thr_a_norm":0.0162577182,"thr_a_v":0.565030873,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.462456,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.516182423,"cg_iw_a":-1.82799816,"cg_theta_rad":0.554548085,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.00568193384,"mpcc_du":49.7911453,"mpcc_dv":49.4425926,"mpcc_dw":50.5574074,"mpcc_enc_sign":1,"mpcc_id_a":-0.583787501,"mpcc_iq_a":-2.59542513,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.12083149,"mpcc_pred_id_a":-0.575371146,"mpcc_pred_iq_a":-4.60494614,"mpcc_state":1,"mpcc_theta_e":0.450473309,"mpcc_theta_mech":0.557040572,"sam_rpm":3.06692839,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137777478,"thr_a_norm":0.0137777478,"thr_a_v":0.555110991,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.430231184,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.48568,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.588670254,"cg_iw_a":-0.668195724,"cg_theta_rad":0.553478479,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0154999606,"mpcc_du":50.3392525,"mpcc_dv":48.3560753,"mpcc_dw":51.6439247,"mpcc_enc_sign":1,"mpcc_id_a":2.48029518,"mpcc_iq_a":-1.25614965,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.30372572,"mpcc_pred_id_a":-0.0339658782,"mpcc_pred_iq_a":-8.77395535,"mpcc_state":1,"mpcc_theta_e":0.4401474,"mpcc_theta_mech":0.55497539,"sam_rpm":-1.46103752,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137777478,"thr_a_norm":0.0137777478,"thr_a_v":0.555110991,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.430231184,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.49218,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.09608364,"cg_iw_a":0.274143696,"cg_theta_rad":0.557189941,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0269131716,"mpcc_du":49.3850975,"mpcc_dv":50.6149025,"mpcc_dw":50.1555748,"mpcc_enc_sign":1,"mpcc_id_a":0.682929933,"mpcc_iq_a":-1.27678001,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":24.3777237,"mpcc_pred_id_a":-0.252746373,"mpcc_pred_iq_a":-3.31068993,"mpcc_state":1,"mpcc_theta_e":0.466706753,"mpcc_theta_mech":0.560287297,"sam_rpm":36.7536888,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462558955,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.49868,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.02359605,"cg_iw_a":-1.4655602,"cg_theta_rad":0.554165244,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0237579439,"mpcc_du":49.5950089,"mpcc_dv":49.4964333,"mpcc_dw":50.5035667,"mpcc_enc_sign":1,"mpcc_id_a":1.26244497,"mpcc_iq_a":-0.272332072,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.737976968,"mpcc_pred_id_a":-0.205410033,"mpcc_pred_iq_a":-4.46982288,"mpcc_state":1,"mpcc_theta_e":0.444521904,"mpcc_theta_mech":0.555850267,"sam_rpm":-0.425528407,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462558955,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.50518,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.733645439,"cg_iw_a":-0.81317091,"cg_theta_rad":0.558281004,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0296448413,"mpcc_du":50.3165436,"mpcc_dv":48.2820854,"mpcc_dw":51.7179146,"mpcc_enc_sign":1,"mpcc_id_a":3.36356306,"mpcc_iq_a":-1.25132394,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.95682764,"mpcc_pred_id_a":0.612282872,"mpcc_pred_iq_a":0.61558634,"mpcc_state":1,"mpcc_theta_e":0.439016342,"mpcc_theta_mech":0.554749191,"sam_rpm":-5.99145651,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180453211,"thr_a_norm":0.0180453211,"thr_a_v":0.572181284,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451934069,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.513634,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.60349751,"cg_iw_a":-0.233269691,"cg_theta_rad":0.557329297,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.00848147366,"mpcc_du":49.7755394,"mpcc_dv":49.1052208,"mpcc_dw":50.8947792,"mpcc_enc_sign":1,"mpcc_id_a":1.83195746,"mpcc_iq_a":-1.44779778,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.59882212,"mpcc_pred_id_a":0.266092569,"mpcc_pred_iq_a":-2.64342213,"mpcc_state":1,"mpcc_theta_e":0.435423374,"mpcc_theta_mech":0.554030597,"sam_rpm":-8.58564186,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238235295,"thr_a_norm":0.0180453211,"thr_a_v":0.595294118,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482549787,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.523186,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.661157608,"cg_iw_a":-1.68302298,"cg_theta_rad":0.558267832,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0436083674,"mpcc_du":49.8796005,"mpcc_dv":49.0235825,"mpcc_dw":50.9764175,"mpcc_enc_sign":1,"mpcc_id_a":1.79084289,"mpcc_iq_a":-1.18290651,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.607510746,"mpcc_pred_id_a":0.233157545,"mpcc_pred_iq_a":-3.61449385,"mpcc_state":1,"mpcc_theta_e":0.448729515,"mpcc_theta_mech":0.556691825,"sam_rpm":6.22486544,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238235295,"thr_a_norm":0.0238235295,"thr_a_v":0.595294118,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482549787,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.533409,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.45852208,"cg_iw_a":-0.595708132,"cg_theta_rad":0.555830657,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0202245768,"mpcc_du":50.1326904,"mpcc_dv":48.8136787,"mpcc_dw":51.1863213,"mpcc_enc_sign":1,"mpcc_id_a":0.599001706,"mpcc_iq_a":-0.982405841,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.35472727,"mpcc_pred_id_a":-0.109553553,"mpcc_pred_iq_a":-1.92808545,"mpcc_state":1,"mpcc_theta_e":0.45037365,"mpcc_theta_mech":0.557020605,"sam_rpm":3.44427156,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0187125206,"thr_a_norm":0.0187125206,"thr_a_v":0.574850082,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461853951,"vdc_v":54.6292953}} +{"type":"telemetry","t":96.54583,"values":{"cg_iu_a":1.90925455,"cg_iv_a":0.0637187958,"cg_iw_a":-2.26292419,"cg_theta_rad":0.557259798,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0210751984,"mpcc_du":50.4370766,"mpcc_dv":48.130146,"mpcc_dw":51.869854,"mpcc_enc_sign":1,"mpcc_id_a":2.47370744,"mpcc_iq_a":-0.766640246,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.0830402,"mpcc_pred_id_a":0.503955901,"mpcc_pred_iq_a":2.28183889,"mpcc_state":1,"mpcc_theta_e":0.448071957,"mpcc_theta_mech":0.556560338,"sam_rpm":-17.926239,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0132364482,"thr_a_norm":0.0187125206,"thr_a_v":0.552945793,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44513616,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.55584,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.951108456,"cg_iw_a":0.201656342,"cg_theta_rad":0.558366716,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0651032403,"mpcc_du":50.0550194,"mpcc_dv":48.7758408,"mpcc_dw":51.2241592,"mpcc_enc_sign":1,"mpcc_id_a":2.07426167,"mpcc_iq_a":0.0743535087,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.02896237,"mpcc_pred_id_a":0.250562757,"mpcc_pred_iq_a":-1.98500586,"mpcc_state":1,"mpcc_theta_e":0.448609829,"mpcc_theta_mech":0.556667924,"sam_rpm":7.01994181,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0132364482,"thr_a_norm":0.0132364482,"thr_a_v":0.552945793,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44513616,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.566032,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-2.98076296,"cg_iw_a":-0.378245354,"cg_theta_rad":0.552351415,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0291716866,"mpcc_du":49.477951,"mpcc_dv":49.4185486,"mpcc_dw":50.5814514,"mpcc_enc_sign":1,"mpcc_id_a":2.75824904,"mpcc_iq_a":-0.479403257,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.06609929,"mpcc_pred_id_a":0.251484245,"mpcc_pred_iq_a":0.281461,"mpcc_state":1,"mpcc_theta_e":0.430537224,"mpcc_theta_mech":0.552631974,"sam_rpm":-2.65168977,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.589012,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-0.298719406,"cg_iw_a":-3.35023928,"cg_theta_rad":0.553030849,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0314751379,"mpcc_du":51.2887802,"mpcc_dv":47.1625748,"mpcc_dw":52.8374252,"mpcc_enc_sign":1,"mpcc_id_a":2.82854915,"mpcc_iq_a":-0.323515862,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.1800041,"mpcc_pred_id_a":0.305254161,"mpcc_pred_iq_a":2.36974549,"mpcc_state":1,"mpcc_theta_e":0.429207325,"mpcc_theta_mech":0.552787423,"sam_rpm":-22.4844189,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.595543,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.24105906,"cg_iw_a":-0.668195486,"cg_theta_rad":0.553507149,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0182141028,"mpcc_du":49.5743141,"mpcc_dv":49.3836479,"mpcc_dw":50.6163521,"mpcc_enc_sign":1,"mpcc_id_a":2.10438967,"mpcc_iq_a":-1.53028345,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.12173176,"mpcc_pred_id_a":0.247448146,"mpcc_pred_iq_a":-2.0703814,"mpcc_state":1,"mpcc_theta_e":0.452462673,"mpcc_theta_mech":0.557438433,"sam_rpm":14.1914549,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262153894,"thr_a_norm":0.0262153894,"thr_a_v":0.604861557,"thr_b":0.00134012103,"thr_b_norm":0.00134012103,"thr_b_v":0.505360484,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.602074,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.31354666,"cg_iw_a":0.346631527,"cg_theta_rad":0.555244684,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0604623333,"mpcc_du":49.2638969,"mpcc_dv":50.7361031,"mpcc_dw":50.2582779,"mpcc_enc_sign":1,"mpcc_id_a":3.67608595,"mpcc_iq_a":1.07518876,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.6838274,"mpcc_pred_id_a":0.56075865,"mpcc_pred_iq_a":-5.58152103,"mpcc_state":1,"mpcc_theta_e":0.44643116,"mpcc_theta_mech":0.55223316,"sam_rpm":7.94586992,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262153894,"thr_a_norm":0.0262153894,"thr_a_v":0.604861557,"thr_b":0.00134012103,"thr_b_norm":0.00134012103,"thr_b_v":0.505360484,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.608818,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.31354666,"cg_iw_a":-0.015806675,"cg_theta_rad":0.55372566,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0343373828,"mpcc_du":48.3286171,"mpcc_dv":51.6713829,"mpcc_dw":48.8725433,"mpcc_enc_sign":1,"mpcc_id_a":1.82155287,"mpcc_iq_a":-0.626345634,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":22.103941,"mpcc_pred_id_a":-0.339173138,"mpcc_pred_iq_a":-8.15209579,"mpcc_state":1,"mpcc_theta_e":0.464048386,"mpcc_theta_mech":0.559755623,"sam_rpm":32.7586365,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0343225002,"thr_a_norm":0.0343225002,"thr_a_v":0.637290001,"thr_b":0.0019569695,"thr_b_norm":0.0019569695,"thr_b_v":0.507827878,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.619194,"values":{"cg_iu_a":2.41666842,"cg_iv_a":0.426157475,"cg_iw_a":-2.84282589,"cg_theta_rad":0.55559659,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0138802556,"mpcc_du":50.736763,"mpcc_dv":47.9389267,"mpcc_dw":52.0610733,"mpcc_enc_sign":1,"mpcc_id_a":0.874904215,"mpcc_iq_a":-0.584449351,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.8652668,"mpcc_pred_id_a":0.101865731,"mpcc_pred_iq_a":-1.00306535,"mpcc_state":1,"mpcc_theta_e":0.43306303,"mpcc_theta_mech":0.553558528,"sam_rpm":-21.4057102,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227409005,"thr_a_norm":0.0343225002,"thr_a_v":0.590963602,"thr_b":0,"thr_b_norm":0.0019569695,"thr_b_v":0.483305097,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.629021,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.733645439,"cg_iw_a":-1.46555996,"cg_theta_rad":0.553176641,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0576214716,"mpcc_du":49.9833984,"mpcc_dv":49.0181656,"mpcc_dw":50.9818344,"mpcc_enc_sign":1,"mpcc_id_a":1.25057185,"mpcc_iq_a":-0.131863952,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0489048325,"mpcc_pred_id_a":0.0159988012,"mpcc_pred_iq_a":-2.53750181,"mpcc_state":1,"mpcc_theta_e":0.447763443,"mpcc_theta_mech":0.556498587,"sam_rpm":5.67429352,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227409005,"thr_a_norm":0.0227409005,"thr_a_v":0.590963602,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483305097,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.639183,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.74847269,"cg_iw_a":0.636582375,"cg_theta_rad":0.558263838,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0434326753,"mpcc_du":49.4821968,"mpcc_dv":49.5731506,"mpcc_dw":50.5178032,"mpcc_enc_sign":1,"mpcc_id_a":1.32401597,"mpcc_iq_a":-0.825666666,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.64683199,"mpcc_pred_id_a":0.267156631,"mpcc_pred_iq_a":0.295888394,"mpcc_state":1,"mpcc_theta_e":0.425714016,"mpcc_theta_mech":0.552088678,"sam_rpm":-10.5981121,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024113059,"thr_a_norm":0.024113059,"thr_a_v":0.596452236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471270293,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.6502,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.31354666,"cg_iw_a":-1.24809694,"cg_theta_rad":0.556341648,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0126232188,"mpcc_du":49.2813148,"mpcc_dv":50.7186852,"mpcc_dw":50.0718651,"mpcc_enc_sign":1,"mpcc_id_a":1.84251678,"mpcc_iq_a":-1.08174062,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.86519575,"mpcc_pred_id_a":-0.0444396697,"mpcc_pred_iq_a":-3.73232007,"mpcc_state":1,"mpcc_theta_e":0.434695244,"mpcc_theta_mech":0.553884923,"sam_rpm":3.49916077,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024113059,"thr_a_norm":0.024113059,"thr_a_v":0.596452236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471270293,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.6614,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.53100967,"cg_iw_a":-0.740683556,"cg_theta_rad":0.55569613,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0445437878,"mpcc_du":49.6493988,"mpcc_dv":49.44804,"mpcc_dw":50.55196,"mpcc_enc_sign":1,"mpcc_id_a":2.95699263,"mpcc_iq_a":-1.26249897,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.3421216,"mpcc_pred_id_a":-0.220003426,"mpcc_pred_iq_a":-0.00308110216,"mpcc_state":1,"mpcc_theta_e":0.43082428,"mpcc_theta_mech":0.553110778,"sam_rpm":-6.31653881,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02542229,"thr_a_norm":0.02542229,"thr_a_v":0.60168916,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483355463,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.684807,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.16857147,"cg_iw_a":-0.668195724,"cg_theta_rad":0.553148389,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":3.72054565e-05,"mpcc_du":49.6345406,"mpcc_dv":50.1157875,"mpcc_dw":50.3654594,"mpcc_enc_sign":1,"mpcc_id_a":-0.0862457976,"mpcc_iq_a":-1.25194347,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.86765945,"mpcc_pred_id_a":-0.466568053,"mpcc_pred_iq_a":-3.70301604,"mpcc_state":1,"mpcc_theta_e":0.443662643,"mpcc_theta_mech":0.555678427,"sam_rpm":2.25031543,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105373085,"thr_a_norm":0.02542229,"thr_a_v":0.921492338,"thr_b":0.0506374389,"thr_b_norm":0,"thr_b_v":0.702549756,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.691368,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.6759851,"cg_iw_a":0.201656103,"cg_theta_rad":0.556559622,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.017835889,"mpcc_du":49.9416084,"mpcc_dv":49.1116219,"mpcc_dw":50.8883781,"mpcc_enc_sign":1,"mpcc_id_a":1.16333628,"mpcc_iq_a":-1.30833888,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.1806202,"mpcc_pred_id_a":-0.166499525,"mpcc_pred_iq_a":-0.709853888,"mpcc_state":1,"mpcc_theta_e":0.454035759,"mpcc_theta_mech":0.557753026,"sam_rpm":17.3920307,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105373085,"thr_a_norm":0.105373085,"thr_a_v":0.921492338,"thr_b":0.0506374389,"thr_b_norm":0.0506374389,"thr_b_v":0.702549756,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.697868,"values":{"cg_iu_a":2.34418058,"cg_iv_a":0.353669643,"cg_iw_a":-2.55287504,"cg_theta_rad":0.554949582,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0308009349,"mpcc_du":48.7227669,"mpcc_dv":51.2772331,"mpcc_dw":49.5872192,"mpcc_enc_sign":1,"mpcc_id_a":3.40674925,"mpcc_iq_a":-0.326758862,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.71860027,"mpcc_pred_id_a":0.469145834,"mpcc_pred_iq_a":-6.82699776,"mpcc_state":1,"mpcc_theta_e":0.44635582,"mpcc_theta_mech":0.556217074,"sam_rpm":8.73731327,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173151791,"thr_a_norm":0.0173151791,"thr_a_v":0.569260716,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440151066,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.704399,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.226231575,"cg_iw_a":-2.40789986,"cg_theta_rad":0.555707335,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.000356638862,"mpcc_du":50.6196136,"mpcc_dv":48.2087173,"mpcc_dw":51.7912827,"mpcc_enc_sign":1,"mpcc_id_a":0.266611397,"mpcc_iq_a":-1.22119093,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.6430454,"mpcc_pred_id_a":-0.166162908,"mpcc_pred_iq_a":-0.0996085703,"mpcc_state":1,"mpcc_theta_e":0.428031921,"mpcc_theta_mech":0.552552283,"sam_rpm":-21.773737,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173151791,"thr_a_norm":0.0173151791,"thr_a_v":0.569260716,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440151066,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.711815,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.45852208,"cg_iw_a":-2.91531372,"cg_theta_rad":0.553323448,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.00166209496,"mpcc_du":49.7186584,"mpcc_dv":49.3785515,"mpcc_dw":50.6214485,"mpcc_enc_sign":1,"mpcc_id_a":0.53057313,"mpcc_iq_a":-1.4907918,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.60337925,"mpcc_pred_id_a":-0.278307468,"mpcc_pred_iq_a":-2.53136301,"mpcc_state":1,"mpcc_theta_e":0.437212944,"mpcc_theta_mech":0.554388523,"sam_rpm":-6.3549614,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0153387487,"thr_a_norm":0.0153387487,"thr_a_v":0.561354995,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456717789,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.722191,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.02359605,"cg_iw_a":-0.668195486,"cg_theta_rad":0.556193471,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.056540262,"mpcc_du":49.6434479,"mpcc_dv":49.2190781,"mpcc_dw":50.7809219,"mpcc_enc_sign":1,"mpcc_id_a":3.19563007,"mpcc_iq_a":0.231238633,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.14850903,"mpcc_pred_id_a":0.441770554,"mpcc_pred_iq_a":-2.94813561,"mpcc_state":1,"mpcc_theta_e":0.448626995,"mpcc_theta_mech":0.556671321,"sam_rpm":4.63691521,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253215879,"thr_a_norm":0.0153387487,"thr_a_v":0.601286352,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486678869,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.732201,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.806133032,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.552987039,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0163244121,"mpcc_du":49.4990654,"mpcc_dv":49.8938217,"mpcc_dw":50.5009346,"mpcc_enc_sign":1,"mpcc_id_a":1.91338909,"mpcc_iq_a":-0.929138064,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.705687404,"mpcc_pred_id_a":0.262660503,"mpcc_pred_iq_a":-1.6022495,"mpcc_state":1,"mpcc_theta_e":0.434293747,"mpcc_theta_mech":0.553804696,"sam_rpm":-2.46178818,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253215879,"thr_a_norm":0.0253215879,"thr_a_v":0.601286352,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486678869,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.742424,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.82096052,"cg_iw_a":-2.48038721,"cg_theta_rad":0.555645525,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0143942758,"mpcc_du":49.7381439,"mpcc_dv":49.345829,"mpcc_dw":50.654171,"mpcc_enc_sign":1,"mpcc_id_a":1.1893338,"mpcc_iq_a":-1.59324229,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.85159373,"mpcc_pred_id_a":-0.115851127,"mpcc_pred_iq_a":-3.44100404,"mpcc_state":1,"mpcc_theta_e":0.450372696,"mpcc_theta_mech":0.557020485,"sam_rpm":5.99968719,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272980034,"thr_a_norm":0.0272980034,"thr_a_v":0.609192014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48552072,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.75222,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.661157608,"cg_iw_a":-0.740683556,"cg_theta_rad":0.557572722,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0706427842,"mpcc_du":50.8356972,"mpcc_dv":47.9534454,"mpcc_dw":52.0465546,"mpcc_enc_sign":1,"mpcc_id_a":1.92687845,"mpcc_iq_a":-0.732394755,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.52151918,"mpcc_pred_id_a":0.00042970528,"mpcc_pred_iq_a":-1.41172409,"mpcc_state":1,"mpcc_theta_e":0.446506023,"mpcc_theta_mech":0.556247115,"sam_rpm":-4.79862833,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272980034,"thr_a_norm":0.0272980034,"thr_a_v":0.609192014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48552072,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.762505,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.878620625,"cg_iw_a":-0.740683556,"cg_theta_rad":0.554961443,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0421242043,"mpcc_du":49.7386665,"mpcc_dv":49.2637024,"mpcc_dw":50.7362976,"mpcc_enc_sign":1,"mpcc_id_a":4.05288553,"mpcc_iq_a":-0.979618013,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.43066752,"mpcc_pred_id_a":0.85544771,"mpcc_pred_iq_a":-4.64900494,"mpcc_state":1,"mpcc_theta_e":0.440270901,"mpcc_theta_mech":0.553067029,"sam_rpm":-1.19838881,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151750892,"thr_a_norm":0.0151750892,"thr_a_v":0.560700357,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465731293,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.772575,"values":{"cg_iu_a":4.08388519,"cg_iv_a":-4.14056587,"cg_iw_a":0.274143934,"cg_theta_rad":0.554475546,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0112614594,"mpcc_du":49.5789032,"mpcc_dv":50.4210968,"mpcc_dw":50.4054947,"mpcc_enc_sign":1,"mpcc_id_a":0.818268061,"mpcc_iq_a":-0.88030833,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.61826658,"mpcc_pred_id_a":-0.181975707,"mpcc_pred_iq_a":-1.74077702,"mpcc_state":1,"mpcc_theta_e":0.432486057,"mpcc_theta_mech":0.553443134,"sam_rpm":1.79754126,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243522525,"thr_a_norm":0.0151750892,"thr_a_v":0.59740901,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.795433,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.60349751,"cg_iw_a":-0.523220062,"cg_theta_rad":0.555896461,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0155010782,"mpcc_du":49.4237061,"mpcc_dv":50.5762939,"mpcc_dw":50.1679382,"mpcc_enc_sign":1,"mpcc_id_a":0.879285991,"mpcc_iq_a":-0.237185672,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.639945,"mpcc_pred_id_a":-0.323116899,"mpcc_pred_iq_a":-4.05166721,"mpcc_state":1,"mpcc_theta_e":0.452884197,"mpcc_theta_mech":0.557522774,"sam_rpm":18.0043507,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243522525,"thr_a_norm":0.0243522525,"thr_a_v":0.59740901,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.801994,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.82096052,"cg_iw_a":0.854045391,"cg_theta_rad":0.556551516,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0142282564,"mpcc_du":50.490387,"mpcc_dv":48.39217,"mpcc_dw":51.60783,"mpcc_enc_sign":1,"mpcc_id_a":0.320794314,"mpcc_iq_a":-1.07358205,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.15063238,"mpcc_pred_id_a":-0.104106031,"mpcc_pred_iq_a":-0.857284486,"mpcc_state":1,"mpcc_theta_e":0.442317009,"mpcc_theta_mech":0.555409312,"sam_rpm":-4.15575838,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202986896,"thr_a_norm":0.0202986896,"thr_a_v":0.581194758,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464321345,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.808464,"values":{"cg_iu_a":-0.265375137,"cg_iv_a":-0.588670254,"cg_iw_a":-0.523220301,"cg_theta_rad":0.557687223,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.00436688168,"mpcc_du":50.5849342,"mpcc_dv":48.2481232,"mpcc_dw":51.7518768,"mpcc_enc_sign":1,"mpcc_id_a":-0.305823743,"mpcc_iq_a":-1.19507694,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.21887779,"mpcc_pred_id_a":-0.471485913,"mpcc_pred_iq_a":-0.772972941,"mpcc_state":1,"mpcc_theta_e":0.448014736,"mpcc_theta_mech":0.556548893,"sam_rpm":11.0046968,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202986896,"thr_a_norm":0.0202986896,"thr_a_v":0.581194758,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464321345,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.815025,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.09608364,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556138694,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0457143784,"mpcc_du":49.9290924,"mpcc_dv":48.8058014,"mpcc_dw":51.1941986,"mpcc_enc_sign":1,"mpcc_id_a":3.45662522,"mpcc_iq_a":0.113767751,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.36016178,"mpcc_pred_id_a":0.682670355,"mpcc_pred_iq_a":-0.468296826,"mpcc_state":1,"mpcc_theta_e":0.446228981,"mpcc_theta_mech":0.556191742,"sam_rpm":3.46161699,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194678307,"thr_a_norm":0.0194678307,"thr_a_v":0.577871323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460947573,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.825401,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.24105906,"cg_iw_a":-0.958146334,"cg_theta_rad":0.556752801,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.00415785937,"mpcc_du":49.80299,"mpcc_dv":49.2282753,"mpcc_dw":50.7717247,"mpcc_enc_sign":1,"mpcc_id_a":1.04445744,"mpcc_iq_a":-1.07975173,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0642271787,"mpcc_pred_id_a":-0.103885807,"mpcc_pred_iq_a":-0.167437777,"mpcc_state":1,"mpcc_theta_e":0.434324265,"mpcc_theta_mech":0.553810775,"sam_rpm":0.513332784,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0145078897,"thr_a_norm":0.0194678307,"thr_a_v":0.558031559,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452085137,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.835411,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-2.18339872,"cg_iw_a":-0.233269691,"cg_theta_rad":0.557668447,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0379520617,"mpcc_du":49.6823502,"mpcc_dv":49.3624802,"mpcc_dw":50.6375198,"mpcc_enc_sign":1,"mpcc_id_a":1.81058562,"mpcc_iq_a":-1.63092554,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.83741474,"mpcc_pred_id_a":-0.0149646867,"mpcc_pred_iq_a":-4.41329288,"mpcc_state":1,"mpcc_theta_e":0.456605911,"mpcc_theta_mech":0.558267057,"sam_rpm":10.5888863,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0145078897,"thr_a_norm":0.0145078897,"thr_a_v":0.558031559,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452085137,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.845604,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.878620625,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556432843,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.00401272671,"mpcc_du":50.1043968,"mpcc_dv":48.9334869,"mpcc_dw":51.0665131,"mpcc_enc_sign":1,"mpcc_id_a":-0.0783862919,"mpcc_iq_a":-2.55887628,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.178068236,"mpcc_pred_id_a":-0.181595832,"mpcc_pred_iq_a":-2.98877382,"mpcc_state":1,"mpcc_theta_e":0.448701382,"mpcc_theta_mech":0.556686223,"sam_rpm":-0.81008786,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0168745667,"thr_a_norm":0.0168745667,"thr_a_v":0.567498267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44387731,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.855217,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.31354666,"cg_iw_a":0.636582375,"cg_theta_rad":0.556091428,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.055376146,"mpcc_du":50.1699066,"mpcc_dv":48.7178116,"mpcc_dw":51.2821884,"mpcc_enc_sign":1,"mpcc_id_a":1.41362977,"mpcc_iq_a":-1.29110849,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.14901543,"mpcc_pred_id_a":0.166472688,"mpcc_pred_iq_a":-2.92048192,"mpcc_state":1,"mpcc_theta_e":0.454193592,"mpcc_theta_mech":0.557784617,"sam_rpm":7.51777029,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0168745667,"thr_a_norm":0.0168745667,"thr_a_v":0.567498267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44387731,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.86541,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.951108456,"cg_iw_a":0.564094543,"cg_theta_rad":0.552548051,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0281767529,"mpcc_du":50.1694374,"mpcc_dv":48.5878792,"mpcc_dw":51.4121208,"mpcc_enc_sign":1,"mpcc_id_a":2.87458086,"mpcc_iq_a":-0.409429908,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.72589016,"mpcc_pred_id_a":0.339463294,"mpcc_pred_iq_a":-1.98840511,"mpcc_state":1,"mpcc_theta_e":0.435359955,"mpcc_theta_mech":0.554017901,"sam_rpm":-14.5071659,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291359574,"thr_a_norm":0.0291359574,"thr_a_v":0.616543829,"thr_b":0.00189402699,"thr_b_norm":0.00189402699,"thr_b_v":0.507576108,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.875664,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.31354666,"cg_iw_a":0.346631527,"cg_theta_rad":0.555528879,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0163831115,"mpcc_du":50.8059273,"mpcc_dv":48.1601295,"mpcc_dw":51.8398705,"mpcc_enc_sign":1,"mpcc_id_a":1.93752766,"mpcc_iq_a":-3.00683069,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.64801311,"mpcc_pred_id_a":0.101118378,"mpcc_pred_iq_a":-1.98298836,"mpcc_state":1,"mpcc_theta_e":0.458940029,"mpcc_theta_mech":0.55873394,"sam_rpm":-9.51166916,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02542229,"thr_a_norm":0.0291359574,"thr_a_v":0.60168916,"thr_b":0,"thr_b_norm":0.00189402699,"thr_b_v":0.491664022,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.901054,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.96593571,"cg_iw_a":-0.740683556,"cg_theta_rad":0.557060719,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0116321286,"mpcc_du":51.0592613,"mpcc_dv":47.6486359,"mpcc_dw":52.3513641,"mpcc_enc_sign":1,"mpcc_id_a":1.66797745,"mpcc_iq_a":-2.17503786,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.7826595,"mpcc_pred_id_a":-0.220196933,"mpcc_pred_iq_a":0.997317016,"mpcc_state":1,"mpcc_theta_e":0.425203323,"mpcc_theta_mech":0.551986575,"sam_rpm":-29.8757782,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02542229,"thr_a_norm":0.02542229,"thr_a_v":0.60168916,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491664022,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.907524,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.588670254,"cg_iw_a":-0.233269691,"cg_theta_rad":0.558950305,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0113048777,"mpcc_du":49.4547844,"mpcc_dv":49.6692314,"mpcc_dw":50.5452156,"mpcc_enc_sign":1,"mpcc_id_a":1.99824154,"mpcc_iq_a":-0.918450773,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.81190872,"mpcc_pred_id_a":0.394043714,"mpcc_pred_iq_a":-3.53407168,"mpcc_state":1,"mpcc_theta_e":0.432680607,"mpcc_theta_mech":0.553482056,"sam_rpm":-11.1320238,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242515355,"thr_a_norm":0.0242515355,"thr_a_v":0.597006142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.914085,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.45852208,"cg_iw_a":-1.17560959,"cg_theta_rad":0.556325138,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.000627999776,"mpcc_du":50.3935699,"mpcc_dv":48.6196022,"mpcc_dw":51.3803978,"mpcc_enc_sign":1,"mpcc_id_a":0.468507022,"mpcc_iq_a":-1.6399554,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.0126534,"mpcc_pred_id_a":-0.554909945,"mpcc_pred_iq_a":-2.45750904,"mpcc_state":1,"mpcc_theta_e":0.43184185,"mpcc_theta_mech":0.553314328,"sam_rpm":-19.6917229,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242515355,"thr_a_norm":0.0242515355,"thr_a_v":0.597006142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":54.6292953}} +{"type":"telemetry","t":96.920616,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.588670254,"cg_iw_a":-0.233269691,"cg_theta_rad":0.555633664,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.00895265304,"mpcc_du":50.4913521,"mpcc_dv":48.5460472,"mpcc_dw":51.4539528,"mpcc_enc_sign":1,"mpcc_id_a":0.0212451126,"mpcc_iq_a":-1.16993785,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.3811731,"mpcc_pred_id_a":-0.584412158,"mpcc_pred_iq_a":-5.30357885,"mpcc_state":1,"mpcc_theta_e":0.453811646,"mpcc_theta_mech":0.557708263,"sam_rpm":20.4249725,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454854637,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.928612,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.60349751,"cg_iw_a":1.21648359,"cg_theta_rad":0.557758152,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0554280803,"mpcc_du":50.6782913,"mpcc_dv":47.9140816,"mpcc_dw":52.0859184,"mpcc_enc_sign":1,"mpcc_id_a":1.91794348,"mpcc_iq_a":-0.0882892236,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.90900612,"mpcc_pred_id_a":0.442993701,"mpcc_pred_iq_a":-2.90899587,"mpcc_state":1,"mpcc_theta_e":0.451494694,"mpcc_theta_mech":0.557244837,"sam_rpm":8.3197155,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162199587,"thr_a_norm":0.0232444406,"thr_a_v":0.564879835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466688037,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.938499,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.806133032,"cg_iw_a":-0.160782099,"cg_theta_rad":0.555863678,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.064393945,"mpcc_du":49.89505,"mpcc_dv":48.6456947,"mpcc_dw":51.3543053,"mpcc_enc_sign":1,"mpcc_id_a":4.8241396,"mpcc_iq_a":0.350227594,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.04582787,"mpcc_pred_id_a":0.994001448,"mpcc_pred_iq_a":2.33618212,"mpcc_state":1,"mpcc_theta_e":0.434326649,"mpcc_theta_mech":0.553811252,"sam_rpm":-11.8519068,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162199587,"thr_a_norm":0.0162199587,"thr_a_v":0.564879835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466688037,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.948601,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.24105906,"cg_iw_a":1.72389722,"cg_theta_rad":0.556519628,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0203511752,"mpcc_du":50.8048668,"mpcc_dv":47.9079781,"mpcc_dw":52.0920219,"mpcc_enc_sign":1,"mpcc_id_a":2.00469494,"mpcc_iq_a":-2.13884401,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.0417061,"mpcc_pred_id_a":-0.000656904129,"mpcc_pred_iq_a":1.40721834,"mpcc_state":1,"mpcc_theta_e":0.423553944,"mpcc_theta_mech":0.551656663,"sam_rpm":-25.2222672,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202357471,"thr_a_norm":0.0202357471,"thr_a_v":0.580942988,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450373083,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.960808,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.61053514,"cg_theta_rad":0.556697845,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0313326418,"mpcc_du":49.7335777,"mpcc_dv":48.9894142,"mpcc_dw":51.0105858,"mpcc_enc_sign":1,"mpcc_id_a":3.32760811,"mpcc_iq_a":-0.286992222,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.86261654,"mpcc_pred_id_a":0.674320042,"mpcc_pred_iq_a":0.646977365,"mpcc_state":1,"mpcc_theta_e":0.43245554,"mpcc_theta_mech":0.553437054,"sam_rpm":-6.49534082,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192412436,"thr_a_norm":0.0202357471,"thr_a_v":0.576964974,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463717103,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.972618,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.153744221,"cg_iw_a":-2.04546118,"cg_theta_rad":0.556235731,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.00878904853,"mpcc_du":50.3616104,"mpcc_dv":49.1783485,"mpcc_dw":50.8216515,"mpcc_enc_sign":1,"mpcc_id_a":0.500769854,"mpcc_iq_a":-1.86081338,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.94144809,"mpcc_pred_id_a":-0.41489175,"mpcc_pred_iq_a":-2.07239008,"mpcc_state":1,"mpcc_theta_e":0.447642326,"mpcc_theta_mech":0.556474388,"sam_rpm":-3.1955018,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192412436,"thr_a_norm":0.0192412436,"thr_a_v":0.576964974,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463717103,"vdc_v":55.2955055}} +{"type":"telemetry","t":96.995964,"values":{"cg_iu_a":-0.772789001,"cg_iv_a":-1.82096052,"cg_iw_a":-3.35023928,"cg_theta_rad":0.55583185,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0804527104,"mpcc_du":50.8076019,"mpcc_dv":47.8764763,"mpcc_dw":52.1235237,"mpcc_enc_sign":1,"mpcc_id_a":1.83544934,"mpcc_iq_a":1.06667781,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.02836227,"mpcc_pred_id_a":0.0990937129,"mpcc_pred_iq_a":-2.5207653,"mpcc_state":1,"mpcc_theta_e":0.452487469,"mpcc_theta_mech":0.55744344,"sam_rpm":-12.5550375,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183978081,"thr_a_norm":0.0183978081,"thr_a_v":0.573591232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466436267,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.002525,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.226231575,"cg_iw_a":-0.740683556,"cg_theta_rad":0.555696845,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":4995,"hz_app_loop":362,"hz_tim_isr":9991,"hz_vsense":362,"mpcc_cost":0.0286583994,"mpcc_du":51.1411667,"mpcc_dv":47.4694176,"mpcc_dw":52.5305824,"mpcc_enc_sign":1,"mpcc_id_a":2.18214154,"mpcc_iq_a":-0.178156957,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.000247,"mpcc_pred_id_a":0.0652042851,"mpcc_pred_iq_a":1.5792706,"mpcc_state":1,"mpcc_theta_e":0.434690952,"mpcc_theta_mech":0.553884089,"sam_rpm":-17.1100903,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180956721,"thr_a_norm":0.0183978081,"thr_a_v":0.572382689,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454602867,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.009056,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.02359605,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.556251884,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0150876241,"mpcc_du":49.2636452,"mpcc_dv":50.7363548,"mpcc_dw":50.2412376,"mpcc_enc_sign":1,"mpcc_id_a":0.531712115,"mpcc_iq_a":-0.623178482,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.15619278,"mpcc_pred_id_a":0.471009105,"mpcc_pred_iq_a":-6.28323793,"mpcc_state":1,"mpcc_theta_e":0.448826313,"mpcc_theta_mech":0.556711197,"sam_rpm":9.24667931,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180956721,"thr_a_norm":0.0180956721,"thr_a_v":0.572382689,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454602867,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.015556,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.450732708,"cg_theta_rad":0.554479241,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0558097996,"mpcc_du":50.2271767,"mpcc_dv":48.4016609,"mpcc_dw":51.5983391,"mpcc_enc_sign":1,"mpcc_id_a":3.78940368,"mpcc_iq_a":0.165168583,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.76098824,"mpcc_pred_id_a":0.689520121,"mpcc_pred_iq_a":-0.980001569,"mpcc_state":1,"mpcc_theta_e":0.43949461,"mpcc_theta_mech":0.554844856,"sam_rpm":-8.37531281,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453192949,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.024193,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.661157608,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.556548893,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0273644514,"mpcc_du":50.1011353,"mpcc_dv":49.2557182,"mpcc_dw":50.7442818,"mpcc_enc_sign":1,"mpcc_id_a":-2.88017988,"mpcc_iq_a":-1.53938806,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.09548092,"mpcc_pred_id_a":-1.03400922,"mpcc_pred_iq_a":-2.4743638,"mpcc_state":1,"mpcc_theta_e":0.446690559,"mpcc_theta_mech":0.55628407,"sam_rpm":4.90503454,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453192949,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.034477,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.806133032,"cg_iw_a":0.274143934,"cg_theta_rad":0.557931304,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0867767036,"mpcc_du":49.8282547,"mpcc_dv":49.0213242,"mpcc_dw":50.9305382,"mpcc_enc_sign":1,"mpcc_id_a":2.93025637,"mpcc_iq_a":-0.159432858,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.03792524,"mpcc_pred_id_a":0.450499147,"mpcc_pred_iq_a":-3.17797971,"mpcc_state":1,"mpcc_theta_e":0.451120853,"mpcc_theta_mech":0.556826353,"sam_rpm":11.0984478,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451128393,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.044609,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-2.32837415,"cg_iw_a":-0.81317091,"cg_theta_rad":0.553165913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0250729024,"mpcc_du":49.965519,"mpcc_dv":48.8945045,"mpcc_dw":51.1054955,"mpcc_enc_sign":1,"mpcc_id_a":0.915788412,"mpcc_iq_a":-2.54894161,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.39229298,"mpcc_pred_id_a":0.191660017,"mpcc_pred_iq_a":-0.707329631,"mpcc_state":1,"mpcc_theta_e":0.437393188,"mpcc_theta_mech":0.554424524,"sam_rpm":-15.3205166,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0329251587,"thr_a_norm":0.0192160606,"thr_a_v":0.631700635,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490203708,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.054405,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.733645439,"cg_iw_a":-3.06028843,"cg_theta_rad":0.554323435,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0777179152,"mpcc_du":50.8459015,"mpcc_dv":47.8523178,"mpcc_dw":52.1476822,"mpcc_enc_sign":1,"mpcc_id_a":2.46683526,"mpcc_iq_a":-0.0984373167,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.7072196,"mpcc_pred_id_a":0.193157166,"mpcc_pred_iq_a":-0.928885698,"mpcc_state":1,"mpcc_theta_e":0.442186832,"mpcc_theta_mech":0.555383325,"sam_rpm":-7.42448568,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0329251587,"thr_a_norm":0.0329251587,"thr_a_v":0.631700635,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490203708,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.064598,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-2.76329994,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556538999,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0604063869,"mpcc_du":49.6310501,"mpcc_dv":49.6440697,"mpcc_dw":50.3689499,"mpcc_enc_sign":1,"mpcc_id_a":0.220334083,"mpcc_iq_a":-1.08398044,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.0860443,"mpcc_pred_id_a":-0.495556086,"mpcc_pred_iq_a":-4.30576372,"mpcc_state":1,"mpcc_theta_e":0.45805788,"mpcc_theta_mech":0.55855751,"sam_rpm":23.3409653,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188635886,"thr_a_norm":0.0188635886,"thr_a_v":0.575454354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456566721,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.074852,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.96593571,"cg_iw_a":-0.668195724,"cg_theta_rad":0.555176198,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.019607421,"mpcc_du":50.8089485,"mpcc_dv":48.0161133,"mpcc_dw":51.9838867,"mpcc_enc_sign":1,"mpcc_id_a":2.36135983,"mpcc_iq_a":-0.935663402,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.27260971,"mpcc_pred_id_a":-0.10603299,"mpcc_pred_iq_a":-0.0577014424,"mpcc_state":1,"mpcc_theta_e":0.451643944,"mpcc_theta_mech":0.557274699,"sam_rpm":-6.99346161,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188635886,"thr_a_norm":0.0188635886,"thr_a_v":0.575454354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456566721,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.097923,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.16857147,"cg_iw_a":-0.740683079,"cg_theta_rad":0.555873513,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.00397019694,"mpcc_du":49.5134048,"mpcc_dv":50.4865952,"mpcc_dw":50.3165894,"mpcc_enc_sign":1,"mpcc_id_a":0.928483665,"mpcc_iq_a":-0.299404681,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.79891348,"mpcc_pred_id_a":-0.0635011271,"mpcc_pred_iq_a":-3.89594102,"mpcc_state":1,"mpcc_theta_e":0.445194721,"mpcc_theta_mech":0.555984855,"sam_rpm":6.77521944,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288967639,"thr_a_norm":0.0288967639,"thr_a_v":0.615587056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496548384,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.104454,"values":{"cg_iu_a":1.25686598,"cg_iv_a":0.136206627,"cg_iw_a":-1.39307261,"cg_theta_rad":0.557542682,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0275149066,"mpcc_du":49.684021,"mpcc_dv":49.138298,"mpcc_dw":50.861702,"mpcc_enc_sign":1,"mpcc_id_a":3.07199216,"mpcc_iq_a":-0.855926573,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.91558337,"mpcc_pred_id_a":0.574421287,"mpcc_pred_iq_a":-1.53962433,"mpcc_state":1,"mpcc_theta_e":0.444468021,"mpcc_theta_mech":0.555839539,"sam_rpm":4.00052977,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296646804,"thr_a_norm":0.0288967639,"thr_a_v":0.618658721,"thr_b":0.00767223537,"thr_b_norm":0,"thr_b_v":0.530688941,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.110924,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.951108456,"cg_iw_a":-0.160782337,"cg_theta_rad":0.556594133,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0180530418,"mpcc_du":50.4960442,"mpcc_dv":48.1835861,"mpcc_dw":51.8164139,"mpcc_enc_sign":1,"mpcc_id_a":2.44461846,"mpcc_iq_a":-1.51468074,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.3672638,"mpcc_pred_id_a":0.356250644,"mpcc_pred_iq_a":-0.0749792233,"mpcc_state":1,"mpcc_theta_e":0.424779892,"mpcc_theta_mech":0.551901937,"sam_rpm":-24.9122925,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296646804,"thr_a_norm":0.0296646804,"thr_a_v":0.618658721,"thr_b":0.00767223537,"thr_b_norm":0.00767223537,"thr_b_v":0.530688941,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.117516,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.31354666,"cg_iw_a":-1.32058477,"cg_theta_rad":0.556757629,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0162528288,"mpcc_du":49.5336113,"mpcc_dv":50.4663887,"mpcc_dw":50.3391304,"mpcc_enc_sign":1,"mpcc_id_a":0.815588772,"mpcc_iq_a":-0.53338486,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.2817602,"mpcc_pred_id_a":-0.0084672235,"mpcc_pred_iq_a":-3.61674356,"mpcc_state":1,"mpcc_theta_e":0.454182148,"mpcc_theta_mech":0.557782352,"sam_rpm":19.8624039,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254726559,"thr_a_norm":0.0254726559,"thr_a_v":0.601890624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483305097,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.125694,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.38603449,"cg_iw_a":0.419119358,"cg_theta_rad":0.556222916,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0225349814,"mpcc_du":49.8725662,"mpcc_dv":49.0379639,"mpcc_dw":50.4930725,"mpcc_enc_sign":1,"mpcc_id_a":2.53676844,"mpcc_iq_a":-0.967521906,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.12111187,"mpcc_pred_id_a":0.269677401,"mpcc_pred_iq_a":-2.28015065,"mpcc_state":1,"mpcc_theta_e":0.443019867,"mpcc_theta_mech":0.55554992,"sam_rpm":-1.38431823,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254726559,"thr_a_norm":0.0254726559,"thr_a_v":0.601890624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483305097,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.135857,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.806133032,"cg_iw_a":-1.4655602,"cg_theta_rad":0.556339622,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0778066367,"mpcc_du":49.9642982,"mpcc_dv":48.3147316,"mpcc_dw":51.6852684,"mpcc_enc_sign":1,"mpcc_id_a":2.61706638,"mpcc_iq_a":-0.474299461,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.42890882,"mpcc_pred_id_a":0.281335562,"mpcc_pred_iq_a":-3.25057983,"mpcc_state":1,"mpcc_theta_e":0.451668262,"mpcc_theta_mech":0.556946218,"sam_rpm":8.20243263,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264167935,"thr_a_norm":0.0264167935,"thr_a_v":0.605667174,"thr_b":0.00113870203,"thr_b_norm":0.00113870203,"thr_b_v":0.504554808,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.145988,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.09608364,"cg_iw_a":0.346631527,"cg_theta_rad":0.556114852,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0290357079,"mpcc_du":49.4714622,"mpcc_dv":50.3436508,"mpcc_dw":50.5285378,"mpcc_enc_sign":1,"mpcc_id_a":2.86136365,"mpcc_iq_a":-0.269744039,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.08277845,"mpcc_pred_id_a":0.531534016,"mpcc_pred_iq_a":-0.209763214,"mpcc_state":1,"mpcc_theta_e":0.437011242,"mpcc_theta_mech":0.554348171,"sam_rpm":7.75649214,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185362697,"thr_a_norm":0.0264167935,"thr_a_v":0.574145079,"thr_b":0,"thr_b_norm":0.00113870203,"thr_b_v":0.454401463,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.155785,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.53100967,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556473613,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0873223022,"mpcc_du":50.3912964,"mpcc_dv":48.0140038,"mpcc_dw":51.9859962,"mpcc_enc_sign":1,"mpcc_id_a":4.61173677,"mpcc_iq_a":-0.144912511,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.14822483,"mpcc_pred_id_a":1.09466577,"mpcc_pred_iq_a":-0.585143507,"mpcc_state":1,"mpcc_theta_e":0.442903519,"mpcc_theta_mech":0.555526614,"sam_rpm":-7.2845459,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185362697,"thr_a_norm":0.0185362697,"thr_a_v":0.574145079,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454401463,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.165977,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-2.11091113,"cg_iw_a":0.709069967,"cg_theta_rad":0.556192577,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0855041966,"mpcc_du":49.8249435,"mpcc_dv":48.9388542,"mpcc_dw":51.0611458,"mpcc_enc_sign":1,"mpcc_id_a":2.55185962,"mpcc_iq_a":-0.777963758,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.1169939,"mpcc_pred_id_a":0.514348269,"mpcc_pred_iq_a":-4.00601482,"mpcc_state":1,"mpcc_theta_e":0.454977036,"mpcc_theta_mech":0.557165205,"sam_rpm":9.16316986,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0473643839,"thr_a_norm":0.0473643839,"thr_a_v":0.689457536,"thr_b":0.0155779272,"thr_b_norm":0.0155779272,"thr_b_v":0.562311709,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.176201,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.16857147,"cg_iw_a":-1.61053514,"cg_theta_rad":0.554193914,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.102530941,"mpcc_du":49.7527809,"mpcc_dv":48.9603882,"mpcc_dw":51.0396118,"mpcc_enc_sign":1,"mpcc_id_a":3.55624509,"mpcc_iq_a":0.466462761,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.67834806,"mpcc_pred_id_a":0.700984716,"mpcc_pred_iq_a":-3.04426146,"mpcc_state":1,"mpcc_theta_e":0.451394558,"mpcc_theta_mech":0.55722487,"sam_rpm":8.08274555,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0473643839,"thr_a_norm":0.0473643839,"thr_a_v":0.689457536,"thr_b":0.0155779272,"thr_b_norm":0.0155779272,"thr_b_v":0.562311709,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.199303,"values":{"cg_iu_a":4.51881123,"cg_iv_a":-1.02359605,"cg_iw_a":-0.378245115,"cg_theta_rad":0.558228016,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0485779569,"mpcc_du":49.640728,"mpcc_dv":49.4521332,"mpcc_dw":50.5478668,"mpcc_enc_sign":1,"mpcc_id_a":1.45741749,"mpcc_iq_a":-0.705759704,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.6076479,"mpcc_pred_id_a":-0.19424437,"mpcc_pred_iq_a":-4.95702553,"mpcc_state":1,"mpcc_theta_e":0.453480721,"mpcc_theta_mech":0.557642043,"sam_rpm":7.77949953,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205127001,"thr_a_norm":0.0205127001,"thr_a_v":0.5820508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463414967,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.205803,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.16857147,"cg_iw_a":-1.61053514,"cg_theta_rad":0.553165615,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.00790651981,"mpcc_du":49.8536644,"mpcc_dv":49.0945091,"mpcc_dw":50.9054909,"mpcc_enc_sign":1,"mpcc_id_a":1.59351313,"mpcc_iq_a":-0.757241249,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.27447128,"mpcc_pred_id_a":-0.104893707,"mpcc_pred_iq_a":-5.36212969,"mpcc_state":1,"mpcc_theta_e":0.445916653,"mpcc_theta_mech":0.556129277,"sam_rpm":9.54880142,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00893110037,"thr_a_norm":0.0205127001,"thr_a_v":0.535724401,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.437230498,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.212334,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.60349751,"cg_iw_a":0.0566811562,"cg_theta_rad":0.554294467,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0198483802,"mpcc_du":51.3513641,"mpcc_dv":47.2494431,"mpcc_dw":50.2080574,"mpcc_enc_sign":1,"mpcc_id_a":2.3618629,"mpcc_iq_a":-1.16901433,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.116663,"mpcc_pred_id_a":-0.140764147,"mpcc_pred_iq_a":1.23773754,"mpcc_state":1,"mpcc_theta_e":0.429378986,"mpcc_theta_mech":0.558942974,"sam_rpm":-26.0436668,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00893110037,"thr_a_norm":0.00893110037,"thr_a_v":0.535724401,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.437230498,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.218864,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.60349751,"cg_iw_a":-1.17560935,"cg_theta_rad":0.55555588,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0128280632,"mpcc_du":49.6121483,"mpcc_dv":49.6820984,"mpcc_dw":50.3878517,"mpcc_enc_sign":1,"mpcc_id_a":0.249425352,"mpcc_iq_a":-1.37151015,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.40620565,"mpcc_pred_id_a":-0.426522821,"mpcc_pred_iq_a":-3.71101713,"mpcc_state":1,"mpcc_theta_e":0.450697899,"mpcc_theta_mech":0.557085454,"sam_rpm":11.6956625,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214820355,"thr_a_norm":0.0214820355,"thr_a_v":0.585928142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472075969,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.226982,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.45852208,"cg_iw_a":-1.03063416,"cg_theta_rad":0.557015657,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0397164859,"mpcc_du":49.8056335,"mpcc_dv":49.0708466,"mpcc_dw":50.9291534,"mpcc_enc_sign":1,"mpcc_id_a":0.369519919,"mpcc_iq_a":-1.14206851,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.345677406,"mpcc_pred_id_a":0.412374496,"mpcc_pred_iq_a":-1.31601477,"mpcc_state":1,"mpcc_theta_e":0.441329956,"mpcc_theta_mech":0.555211902,"sam_rpm":7.9394331,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214820355,"thr_a_norm":0.0214820355,"thr_a_v":0.585928142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472075969,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.237175,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-0.661157608,"cg_iw_a":-0.305757523,"cg_theta_rad":0.554985762,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0190422256,"mpcc_du":49.8250122,"mpcc_dv":49.2138023,"mpcc_dw":50.7861977,"mpcc_enc_sign":1,"mpcc_id_a":1.58026791,"mpcc_iq_a":-1.78311849,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.4176209,"mpcc_pred_id_a":-0.042540621,"mpcc_pred_iq_a":-3.75798965,"mpcc_state":1,"mpcc_theta_e":0.450722218,"mpcc_theta_mech":0.557090342,"sam_rpm":3.66079926,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0154646337,"thr_a_norm":0.0154646337,"thr_a_v":0.561858535,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480585933,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.247368,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.96593571,"cg_iw_a":-0.668195724,"cg_theta_rad":0.553869426,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0147645995,"mpcc_du":49.7629738,"mpcc_dv":49.2330551,"mpcc_dw":50.7669449,"mpcc_enc_sign":1,"mpcc_id_a":0.667747557,"mpcc_iq_a":-2.57000875,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.1941433,"mpcc_pred_id_a":0.0291181188,"mpcc_pred_iq_a":-0.800924897,"mpcc_state":1,"mpcc_theta_e":0.436563969,"mpcc_theta_mech":0.554258704,"sam_rpm":-2.87566781,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0336930603,"thr_a_norm":0.0154646337,"thr_a_v":0.634772241,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495642036,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.257164,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.6759851,"cg_iw_a":0.201656103,"cg_theta_rad":0.551334202,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.00240910891,"mpcc_du":50.1500664,"mpcc_dv":48.8988266,"mpcc_dw":51.1011734,"mpcc_enc_sign":1,"mpcc_id_a":0.135818705,"mpcc_iq_a":-1.30671406,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.39366245,"mpcc_pred_id_a":-0.363400728,"mpcc_pred_iq_a":-2.25788999,"mpcc_state":1,"mpcc_theta_e":0.43777895,"mpcc_theta_mech":0.554501712,"sam_rpm":-8.06593323,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0336930603,"thr_a_norm":0.0336930603,"thr_a_v":0.634772241,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495642036,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.267357,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.806133032,"cg_iw_a":-0.668195963,"cg_theta_rad":0.55525887,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.00367190363,"mpcc_du":50.6182137,"mpcc_dv":47.9729156,"mpcc_dw":52.0270844,"mpcc_enc_sign":1,"mpcc_id_a":2.9194603,"mpcc_iq_a":-0.914238751,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.8029661,"mpcc_pred_id_a":0.391953647,"mpcc_pred_iq_a":0.564453006,"mpcc_state":1,"mpcc_theta_e":0.441915989,"mpcc_theta_mech":0.555329084,"sam_rpm":-21.2086296,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451128393,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.277367,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-2.11091113,"cg_iw_a":0.926532984,"cg_theta_rad":0.555312991,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.00495994324,"mpcc_du":50.3566284,"mpcc_dv":48.5491295,"mpcc_dw":51.4508705,"mpcc_enc_sign":1,"mpcc_id_a":-0.179788291,"mpcc_iq_a":-1.84619176,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.4337473,"mpcc_pred_id_a":-0.218835518,"mpcc_pred_iq_a":-0.641910672,"mpcc_state":1,"mpcc_theta_e":0.429016113,"mpcc_theta_mech":0.552749157,"sam_rpm":-19.0541286,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451128393,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.300377,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.806133032,"cg_iw_a":-1.75551057,"cg_theta_rad":0.556451917,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.00373507594,"mpcc_du":49.7678528,"mpcc_dv":49.4777222,"mpcc_dw":50.5222778,"mpcc_enc_sign":1,"mpcc_id_a":0.0147393355,"mpcc_iq_a":-1.53434861,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.43767524,"mpcc_pred_id_a":-0.646748543,"mpcc_pred_iq_a":-3.06903934,"mpcc_state":1,"mpcc_theta_e":0.447313786,"mpcc_theta_mech":0.556408703,"sam_rpm":5.63931847,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163080692,"thr_a_norm":0.0163080692,"thr_a_v":0.565232277,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469658971,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.306908,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.661157608,"cg_iw_a":-1.39307261,"cg_theta_rad":0.557015896,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0290044174,"mpcc_du":50.795166,"mpcc_dv":47.961998,"mpcc_dw":52.038002,"mpcc_enc_sign":1,"mpcc_id_a":2.39388919,"mpcc_iq_a":-1.26879537,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.00533485,"mpcc_pred_id_a":0.088950105,"mpcc_pred_iq_a":0.196151525,"mpcc_state":1,"mpcc_theta_e":0.442513943,"mpcc_theta_mech":0.555448711,"sam_rpm":-6.63942766,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0163080692,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474241227,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.313438,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.153744221,"cg_iw_a":-2.11794901,"cg_theta_rad":0.556364536,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.00740425615,"mpcc_du":49.7387657,"mpcc_dv":49.4516716,"mpcc_dw":52.0424309,"mpcc_enc_sign":1,"mpcc_id_a":-0.0306055136,"mpcc_iq_a":-0.956097841,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.74989891,"mpcc_pred_id_a":-0.388567269,"mpcc_pred_iq_a":-2.41391468,"mpcc_state":1,"mpcc_theta_e":0.448516846,"mpcc_theta_mech":0.555016637,"sam_rpm":8.54645538,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0272728354,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474241227,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.320213,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.82096052,"cg_iw_a":0.201656342,"cg_theta_rad":0.557214856,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0111179957,"mpcc_du":50.286953,"mpcc_dv":48.4796944,"mpcc_dw":51.5203056,"mpcc_enc_sign":1,"mpcc_id_a":1.42084455,"mpcc_iq_a":-1.2831645,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.99301863,"mpcc_pred_id_a":0.33890754,"mpcc_pred_iq_a":1.01092839,"mpcc_state":1,"mpcc_theta_e":0.448588371,"mpcc_theta_mech":0.556663632,"sam_rpm":7.66555214,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204623491,"thr_a_norm":0.0204623491,"thr_a_v":0.581849396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460897237,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.330284,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.45852208,"cg_iw_a":1.79638505,"cg_theta_rad":0.556569517,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0368186682,"mpcc_du":50.4339256,"mpcc_dv":48.6063576,"mpcc_dw":51.1811333,"mpcc_enc_sign":1,"mpcc_id_a":0.448114574,"mpcc_iq_a":0.53082937,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.2793789,"mpcc_pred_id_a":-0.437075675,"mpcc_pred_iq_a":0.212138847,"mpcc_state":1,"mpcc_theta_e":0.454545021,"mpcc_theta_mech":0.55785495,"sam_rpm":6.14435863,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292870253,"thr_a_norm":0.0204623491,"thr_a_v":0.617148101,"thr_b":0.000194549561,"thr_b_norm":0,"thr_b_v":0.500778198,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.340202,"values":{"cg_iu_a":4.2288599,"cg_iv_a":-0.733645439,"cg_iw_a":-0.378244877,"cg_theta_rad":0.555755436,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0176837891,"mpcc_du":49.4733467,"mpcc_dv":49.8860664,"mpcc_dw":50.5266533,"mpcc_enc_sign":1,"mpcc_id_a":2.60838175,"mpcc_iq_a":0.225108966,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.19325495,"mpcc_pred_id_a":0.344434619,"mpcc_pred_iq_a":-1.13177073,"mpcc_state":1,"mpcc_theta_e":0.434160709,"mpcc_theta_mech":0.553778052,"sam_rpm":0.916739166,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292870253,"thr_a_norm":0.0292870253,"thr_a_v":0.617148101,"thr_b":0.000194549561,"thr_b_norm":0.000194549561,"thr_b_v":0.500778198,"vdc_v":54.6292953}} +{"type":"telemetry","t":97.350578,"values":{"cg_iu_a":1.40184116,"cg_iv_a":0.136206627,"cg_iw_a":-0.233269691,"cg_theta_rad":0.55710566,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0484705679,"mpcc_du":49.9548683,"mpcc_dv":48.8391037,"mpcc_dw":51.1608963,"mpcc_enc_sign":1,"mpcc_id_a":2.83343768,"mpcc_iq_a":-1.19169831,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.49167919,"mpcc_pred_id_a":0.4836106,"mpcc_pred_iq_a":-1.71265388,"mpcc_state":1,"mpcc_theta_e":0.453935623,"mpcc_theta_mech":0.557733059,"sam_rpm":11.6676722,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025951013,"thr_a_norm":0.025951013,"thr_a_v":0.603804052,"thr_b":0.000408560038,"thr_b_norm":0.000408560038,"thr_b_v":0.50163424,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.360191,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.371207237,"cg_iw_a":1.36145902,"cg_theta_rad":0.555824578,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0259104073,"mpcc_du":49.4344711,"mpcc_dv":49.6683235,"mpcc_dw":50.5655289,"mpcc_enc_sign":1,"mpcc_id_a":3.21781421,"mpcc_iq_a":-0.0187489558,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.27540946,"mpcc_pred_id_a":0.529437602,"mpcc_pred_iq_a":-1.09537351,"mpcc_state":1,"mpcc_theta_e":0.436460018,"mpcc_theta_mech":0.554237902,"sam_rpm":2.87206817,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025951013,"thr_a_norm":0.025951013,"thr_a_v":0.603804052,"thr_b":0.000408560038,"thr_b_norm":0.000408560038,"thr_b_v":0.50163424,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.370384,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.74847269,"cg_iw_a":-2.19043684,"cg_theta_rad":0.555899382,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.012338805,"mpcc_du":49.6784744,"mpcc_dv":49.1858559,"mpcc_dw":50.8141441,"mpcc_enc_sign":1,"mpcc_id_a":1.85942328,"mpcc_iq_a":-0.363244355,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.16276896,"mpcc_pred_id_a":0.297286421,"mpcc_pred_iq_a":-1.46639502,"mpcc_state":1,"mpcc_theta_e":0.440580368,"mpcc_theta_mech":0.555061996,"sam_rpm":1.75820041,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0136392713,"thr_a_norm":0.0136392713,"thr_a_v":0.554557085,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.433453888,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.380791,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.53100967,"cg_iw_a":-0.958146572,"cg_theta_rad":0.556528211,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.00482820114,"mpcc_du":49.9999619,"mpcc_dv":49.1540184,"mpcc_dw":50.8459816,"mpcc_enc_sign":1,"mpcc_id_a":0.591202676,"mpcc_iq_a":-2.50833488,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.48246086,"mpcc_pred_id_a":-0.61258328,"mpcc_pred_iq_a":-3.30986762,"mpcc_state":1,"mpcc_theta_e":0.447962284,"mpcc_theta_mech":0.556538403,"sam_rpm":2.53400731,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233199745,"thr_a_norm":0.0136392713,"thr_a_v":0.593279898,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470766753,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.405968,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.443694592,"cg_iw_a":-1.0306344,"cg_theta_rad":0.556632161,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.000894186087,"mpcc_du":50.9207115,"mpcc_dv":47.8912163,"mpcc_dw":52.1087837,"mpcc_enc_sign":1,"mpcc_id_a":0.338482291,"mpcc_iq_a":-1.21644795,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.56434774,"mpcc_pred_id_a":-0.304916382,"mpcc_pred_iq_a":2.02997589,"mpcc_state":1,"mpcc_theta_e":0.437456131,"mpcc_theta_mech":0.554437101,"sam_rpm":-9.90741539,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233199745,"thr_a_norm":0.0233199745,"thr_a_v":0.593279898,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470766753,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.412529,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.516182423,"cg_iw_a":-2.40789986,"cg_theta_rad":0.552498639,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0132873924,"mpcc_du":49.5367699,"mpcc_dv":49.9111519,"mpcc_dw":50.4632301,"mpcc_enc_sign":1,"mpcc_id_a":1.42918384,"mpcc_iq_a":-0.259884447,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.66486049,"mpcc_pred_id_a":-0.0235550534,"mpcc_pred_iq_a":-3.61453152,"mpcc_state":1,"mpcc_theta_e":0.445065022,"mpcc_theta_mech":0.555958927,"sam_rpm":5.47173405,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235088021,"thr_a_norm":0.0235088021,"thr_a_v":0.594035208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467040509,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.41906,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.298719406,"cg_iw_a":-2.62536287,"cg_theta_rad":0.554525912,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0448141843,"mpcc_du":49.8329353,"mpcc_dv":48.9161835,"mpcc_dw":51.0838165,"mpcc_enc_sign":1,"mpcc_id_a":3.94219208,"mpcc_iq_a":-0.237080976,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.2049646,"mpcc_pred_id_a":0.574047089,"mpcc_pred_iq_a":1.91929376,"mpcc_state":1,"mpcc_theta_e":0.452589035,"mpcc_theta_mech":0.557463706,"sam_rpm":19.1042652,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235088021,"thr_a_norm":0.0235088021,"thr_a_v":0.594035208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467040509,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.425529,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.38603449,"cg_iw_a":-0.595707893,"cg_theta_rad":0.552681804,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0023010741,"mpcc_du":49.894146,"mpcc_dv":49.1735764,"mpcc_dw":50.8264236,"mpcc_enc_sign":1,"mpcc_id_a":-0.121611759,"mpcc_iq_a":-2.48991847,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.41740704,"mpcc_pred_id_a":-0.24804838,"mpcc_pred_iq_a":0.346716881,"mpcc_state":1,"mpcc_theta_e":0.447122097,"mpcc_theta_mech":0.556370318,"sam_rpm":11.87745,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0293499678,"thr_a_norm":0.0293499678,"thr_a_v":0.617399871,"thr_b":0.00471389294,"thr_b_norm":0.00471389294,"thr_b_v":0.518855572,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.435783,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.153744221,"cg_iw_a":-2.98780107,"cg_theta_rad":0.554978371,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.023690369,"mpcc_du":49.7711105,"mpcc_dv":49.0713425,"mpcc_dw":50.9286575,"mpcc_enc_sign":1,"mpcc_id_a":2.38048077,"mpcc_iq_a":-1.47177982,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.447768986,"mpcc_pred_id_a":0.634631157,"mpcc_pred_iq_a":-2.14234471,"mpcc_state":1,"mpcc_theta_e":0.435291767,"mpcc_theta_mech":0.554004252,"sam_rpm":-12.3847952,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02290456,"thr_a_norm":0.02290456,"thr_a_v":0.59161824,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480132759,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.447533,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.733645439,"cg_iw_a":-0.305757523,"cg_theta_rad":0.553226411,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0790827125,"mpcc_du":49.8395958,"mpcc_dv":48.5349388,"mpcc_dw":51.4650612,"mpcc_enc_sign":1,"mpcc_id_a":5.28665972,"mpcc_iq_a":1.22912216,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.36924934,"mpcc_pred_id_a":1.23215389,"mpcc_pred_iq_a":-0.138433561,"mpcc_state":1,"mpcc_theta_e":0.427484512,"mpcc_theta_mech":0.552442849,"sam_rpm":-12.3559999,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02290456,"thr_a_norm":0.02290456,"thr_a_v":0.59161824,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480132759,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.457726,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.02359605,"cg_iw_a":0.41911912,"cg_theta_rad":0.556532323,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.00954860728,"mpcc_du":49.5323639,"mpcc_dv":50.144516,"mpcc_dw":50.4676361,"mpcc_enc_sign":1,"mpcc_id_a":1.94516838,"mpcc_iq_a":-0.343343556,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.538248062,"mpcc_pred_id_a":-0.108556055,"mpcc_pred_iq_a":-2.7685833,"mpcc_state":1,"mpcc_theta_e":0.433913708,"mpcc_theta_mech":0.5537287,"sam_rpm":-0.647799551,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243648291,"thr_a_norm":0.0243648291,"thr_a_v":0.597459316,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482247651,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.467949,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.806133032,"cg_iw_a":0.41911912,"cg_theta_rad":0.554401934,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0331314281,"mpcc_du":49.8296547,"mpcc_dv":49.1207962,"mpcc_dw":50.8792038,"mpcc_enc_sign":1,"mpcc_id_a":2.16981435,"mpcc_iq_a":-1.23064375,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.25955701,"mpcc_pred_id_a":-0.0815309808,"mpcc_pred_iq_a":-3.19992447,"mpcc_state":1,"mpcc_theta_e":0.450399876,"mpcc_theta_mech":0.55702585,"sam_rpm":5.45270872,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166857392,"thr_a_norm":0.0243648291,"thr_a_v":0.566742957,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.477776,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.09608364,"cg_iw_a":-1.46555996,"cg_theta_rad":0.552336693,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0253797267,"mpcc_du":50.0227394,"mpcc_dv":48.8206253,"mpcc_dw":51.1793747,"mpcc_enc_sign":1,"mpcc_id_a":2.41960192,"mpcc_iq_a":-0.535025597,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.75984478,"mpcc_pred_id_a":0.0692048371,"mpcc_pred_iq_a":-2.29605913,"mpcc_state":1,"mpcc_theta_e":0.440655708,"mpcc_theta_mech":0.555077016,"sam_rpm":-7.17677355,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166857392,"thr_a_norm":0.0166857392,"thr_a_v":0.566742957,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.501183,"values":{"cg_iu_a":1.98174238,"cg_iv_a":0.136206627,"cg_iw_a":-2.11794901,"cg_theta_rad":0.554957986,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.013070602,"mpcc_du":49.5604782,"mpcc_dv":49.7906914,"mpcc_dw":50.4395218,"mpcc_enc_sign":1,"mpcc_id_a":1.00635898,"mpcc_iq_a":-0.806481421,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.04623842,"mpcc_pred_id_a":-0.278543413,"mpcc_pred_iq_a":-3.68890452,"mpcc_state":1,"mpcc_theta_e":0.449658394,"mpcc_theta_mech":0.556877613,"sam_rpm":8.87575626,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156157017,"thr_a_norm":0.0156157017,"thr_a_v":0.562462807,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452739716,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.507744,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.588670254,"cg_iw_a":1.28897119,"cg_theta_rad":0.554925621,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0410955921,"mpcc_du":50.3391838,"mpcc_dv":48.5069466,"mpcc_dw":51.4930534,"mpcc_enc_sign":1,"mpcc_id_a":2.29952312,"mpcc_iq_a":-0.121185713,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.698034167,"mpcc_pred_id_a":-0.0184521247,"mpcc_pred_iq_a":-0.568449497,"mpcc_state":1,"mpcc_theta_e":0.446158886,"mpcc_theta_mech":0.556177676,"sam_rpm":1.81747818,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156157017,"thr_a_norm":0.0156157017,"thr_a_v":0.562462807,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452739716,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.514214,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.09608364,"cg_iw_a":-0.740683556,"cg_theta_rad":0.554305673,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.00248470693,"mpcc_du":49.1037025,"mpcc_dv":50.8962975,"mpcc_dw":49.6534653,"mpcc_enc_sign":1,"mpcc_id_a":-0.348267466,"mpcc_iq_a":-0.617592096,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.53682375,"mpcc_pred_id_a":-0.765162766,"mpcc_pred_iq_a":-6.03210783,"mpcc_state":1,"mpcc_theta_e":0.445834637,"mpcc_theta_mech":0.556112826,"sam_rpm":8.89506054,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02000916,"thr_a_norm":0.02000916,"thr_a_v":0.58003664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488894492,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.520775,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.31354666,"cg_iw_a":1.14399576,"cg_theta_rad":0.554221511,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0308005251,"mpcc_du":50.0483704,"mpcc_dv":48.6252594,"mpcc_dw":51.3747406,"mpcc_enc_sign":1,"mpcc_id_a":2.62659693,"mpcc_iq_a":0.571887195,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.893787265,"mpcc_pred_id_a":0.561558723,"mpcc_pred_iq_a":0.0512417778,"mpcc_state":1,"mpcc_theta_e":0.449800968,"mpcc_theta_mech":0.556906104,"sam_rpm":-1.47593081,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156157017,"thr_a_norm":0.02000916,"thr_a_v":0.562462807,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455358177,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.528343,"values":{"cg_iu_a":4.2288599,"cg_iv_a":-1.89344811,"cg_iw_a":0.201656342,"cg_theta_rad":0.5593732,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0272831991,"mpcc_du":50.3519249,"mpcc_dv":48.0896988,"mpcc_dw":51.9103012,"mpcc_enc_sign":1,"mpcc_id_a":3.12522411,"mpcc_iq_a":-0.383118749,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.67563009,"mpcc_pred_id_a":0.91119802,"mpcc_pred_iq_a":0.989144981,"mpcc_state":1,"mpcc_theta_e":0.434021473,"mpcc_theta_mech":0.553750217,"sam_rpm":-11.4774961,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156157017,"thr_a_norm":0.0156157017,"thr_a_v":0.562462807,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455358177,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.538567,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.09608364,"cg_iw_a":-0.958146095,"cg_theta_rad":0.551783562,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0352529995,"mpcc_du":49.9216614,"mpcc_dv":48.8154793,"mpcc_dw":51.1845207,"mpcc_enc_sign":1,"mpcc_id_a":2.59818125,"mpcc_iq_a":-0.155292913,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.44573617,"mpcc_pred_id_a":0.457301944,"mpcc_pred_iq_a":-2.32767653,"mpcc_state":1,"mpcc_theta_e":0.440192223,"mpcc_theta_mech":0.554984331,"sam_rpm":-4.79627275,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0336049497,"thr_a_norm":0.0336049497,"thr_a_v":0.634419799,"thr_b":0.00436140597,"thr_b_norm":0.00436140597,"thr_b_v":0.517445624,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.550804,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.733645439,"cg_iw_a":-1.53804779,"cg_theta_rad":0.555123568,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0965052173,"mpcc_du":50.170063,"mpcc_dv":48.4756126,"mpcc_dw":51.5243874,"mpcc_enc_sign":1,"mpcc_id_a":3.64443183,"mpcc_iq_a":-0.66606307,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.03753793,"mpcc_pred_id_a":0.52921176,"mpcc_pred_iq_a":-3.14808989,"mpcc_state":1,"mpcc_theta_e":0.44473505,"mpcc_theta_mech":0.555892885,"sam_rpm":-0.172132552,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297276229,"thr_a_norm":0.0336049497,"thr_a_v":0.618910491,"thr_b":0,"thr_b_norm":0.00436140597,"thr_b_v":0.457170963,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.56057,"values":{"cg_iu_a":2.48915625,"cg_iv_a":0.208694458,"cg_iw_a":-0.81317091,"cg_theta_rad":0.554289997,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.032766562,"mpcc_du":49.6322479,"mpcc_dv":49.027092,"mpcc_dw":50.972908,"mpcc_enc_sign":1,"mpcc_id_a":3.49699116,"mpcc_iq_a":-0.789033353,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.01927567,"mpcc_pred_id_a":0.786889672,"mpcc_pred_iq_a":-0.297047436,"mpcc_state":1,"mpcc_theta_e":0.434788704,"mpcc_theta_mech":0.553903699,"sam_rpm":-5.64429617,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297276229,"thr_a_norm":0.0297276229,"thr_a_v":0.618910491,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457170963,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.570824,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.516182423,"cg_iw_a":-2.19043684,"cg_theta_rad":0.552825987,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0177908931,"mpcc_du":50.5862808,"mpcc_dv":48.2872162,"mpcc_dw":51.7127838,"mpcc_enc_sign":1,"mpcc_id_a":0.648175001,"mpcc_iq_a":-1.55796313,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.17847872,"mpcc_pred_id_a":-0.169479907,"mpcc_pred_iq_a":-0.7170192,"mpcc_state":1,"mpcc_theta_e":0.446046352,"mpcc_theta_mech":0.556155145,"sam_rpm":-1.04789734,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0290100724,"thr_a_norm":0.0290100724,"thr_a_v":0.616040289,"thr_b":0.00269970298,"thr_b_norm":0.00269970298,"thr_b_v":0.510798812,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.580742,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.03063416,"cg_theta_rad":0.555347204,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0109388381,"mpcc_du":50.218544,"mpcc_dv":48.4107208,"mpcc_dw":51.5892792,"mpcc_enc_sign":1,"mpcc_id_a":2.08194399,"mpcc_iq_a":-0.910059094,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.88033104,"mpcc_pred_id_a":0.52509892,"mpcc_pred_iq_a":0.162374526,"mpcc_state":1,"mpcc_theta_e":0.432300091,"mpcc_theta_mech":0.553405941,"sam_rpm":-11.7248955,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0290100724,"thr_a_norm":0.0290100724,"thr_a_v":0.616040289,"thr_b":0.00269970298,"thr_b_norm":0.00269970298,"thr_b_v":0.510798812,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.603935,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.298719406,"cg_iw_a":-2.62536287,"cg_theta_rad":0.556032896,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0116896667,"mpcc_du":50.6176949,"mpcc_dv":48.1146393,"mpcc_dw":51.8853607,"mpcc_enc_sign":1,"mpcc_id_a":2.14641285,"mpcc_iq_a":-0.258094639,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.76919508,"mpcc_pred_id_a":0.0967248604,"mpcc_pred_iq_a":2.6996944,"mpcc_state":1,"mpcc_theta_e":0.436563969,"mpcc_theta_mech":0.554258704,"sam_rpm":-7.47414589,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202735066,"thr_a_norm":0.0202735066,"thr_a_v":0.581094027,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455156773,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.610527,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-1.24105906,"cg_iw_a":-2.26292443,"cg_theta_rad":0.555674911,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0277628303,"mpcc_du":49.2307701,"mpcc_dv":50.7692299,"mpcc_dw":50.141777,"mpcc_enc_sign":1,"mpcc_id_a":1.58371103,"mpcc_iq_a":-0.116513945,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.2883492,"mpcc_pred_id_a":0.236434624,"mpcc_pred_iq_a":-4.6681776,"mpcc_state":1,"mpcc_theta_e":0.454086304,"mpcc_theta_mech":0.557763219,"sam_rpm":21.4251652,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024994269,"thr_a_norm":0.0202735066,"thr_a_v":0.599977076,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479780257,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.616997,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.53100967,"cg_iw_a":-0.885658741,"cg_theta_rad":0.558171093,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0582095049,"mpcc_du":49.4348488,"mpcc_dv":49.4618797,"mpcc_dw":50.5651512,"mpcc_enc_sign":1,"mpcc_id_a":3.06128788,"mpcc_iq_a":-0.214804426,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.65263844,"mpcc_pred_id_a":0.456335366,"mpcc_pred_iq_a":-4.15586662,"mpcc_state":1,"mpcc_theta_e":0.448561668,"mpcc_theta_mech":0.556658268,"sam_rpm":7.6425271,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024994269,"thr_a_norm":0.024994269,"thr_a_v":0.599977076,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479780257,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.623497,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.516182423,"cg_iw_a":-1.46555996,"cg_theta_rad":0.553831875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0297112893,"mpcc_du":49.1635094,"mpcc_dv":50.8364906,"mpcc_dw":49.9341927,"mpcc_enc_sign":1,"mpcc_id_a":1.26502097,"mpcc_iq_a":-1.28486598,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.6405859,"mpcc_pred_id_a":-0.105768256,"mpcc_pred_iq_a":-6.61439514,"mpcc_state":1,"mpcc_theta_e":0.4399786,"mpcc_theta_mech":0.554941595,"sam_rpm":21.6829834,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183978081,"thr_a_norm":0.0183978081,"thr_a_v":0.573591232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.631767,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-1.45852208,"cg_iw_a":0.41911912,"cg_theta_rad":0.556990445,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0048503154,"mpcc_du":49.5950394,"mpcc_dv":50.2857971,"mpcc_dw":50.4049606,"mpcc_enc_sign":1,"mpcc_id_a":0.780555308,"mpcc_iq_a":-1.1119535,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.49022102,"mpcc_pred_id_a":-0.173911124,"mpcc_pred_iq_a":-4.21537781,"mpcc_state":1,"mpcc_theta_e":0.446787357,"mpcc_theta_mech":0.556303382,"sam_rpm":7.67823601,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183978081,"thr_a_norm":0.0183978081,"thr_a_v":0.573591232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.642052,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.878620625,"cg_iw_a":-0.668195724,"cg_theta_rad":0.552840769,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0491552278,"mpcc_du":49.7992897,"mpcc_dv":48.9619408,"mpcc_dw":51.0380592,"mpcc_enc_sign":1,"mpcc_id_a":4.27499866,"mpcc_iq_a":0.869545281,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.87386537,"mpcc_pred_id_a":1.07170045,"mpcc_pred_iq_a":-2.24341464,"mpcc_state":1,"mpcc_theta_e":0.437485695,"mpcc_theta_mech":0.553385079,"sam_rpm":2.24316478,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257244259,"thr_a_norm":0.0257244259,"thr_a_v":0.602897704,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483456165,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.652245,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-2.18339872,"cg_iw_a":0.12916851,"cg_theta_rad":0.557304561,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0212354679,"mpcc_du":50.0469666,"mpcc_dv":48.6813545,"mpcc_dw":51.3186455,"mpcc_enc_sign":1,"mpcc_id_a":2.63805127,"mpcc_iq_a":-1.09044826,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.92905903,"mpcc_pred_id_a":0.498387963,"mpcc_pred_iq_a":-2.5317142,"mpcc_state":1,"mpcc_theta_e":0.437387466,"mpcc_theta_mech":0.554423392,"sam_rpm":-13.4059649,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0328622162,"thr_a_norm":0.0257244259,"thr_a_v":0.631448865,"thr_b":0.00627489388,"thr_b_norm":0,"thr_b_v":0.525099576,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.661949,"values":{"cg_iu_a":1.54681635,"cg_iv_a":0.0637187958,"cg_iw_a":-1.97297382,"cg_theta_rad":0.552434742,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0620270707,"mpcc_du":50.579998,"mpcc_dv":48.2012482,"mpcc_dw":51.7987518,"mpcc_enc_sign":1,"mpcc_id_a":2.13129592,"mpcc_iq_a":-0.63946414,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.19280481,"mpcc_pred_id_a":0.114578053,"mpcc_pred_iq_a":-2.51621056,"mpcc_state":1,"mpcc_theta_e":0.444374084,"mpcc_theta_mech":0.555820704,"sam_rpm":-7.99157476,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0328622162,"thr_a_norm":0.0328622162,"thr_a_v":0.631448865,"thr_b":0.00627489388,"thr_b_norm":0.00627489388,"thr_b_v":0.525099576,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.672142,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.24105906,"cg_iw_a":-1.4655602,"cg_theta_rad":0.556275904,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.00296465401,"mpcc_du":49.8673439,"mpcc_dv":49.1987877,"mpcc_dw":50.8012123,"mpcc_enc_sign":1,"mpcc_id_a":0.577064455,"mpcc_iq_a":-1.55993843,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.18299937,"mpcc_pred_id_a":-0.256963491,"mpcc_pred_iq_a":-1.28034532,"mpcc_state":1,"mpcc_theta_e":0.438147545,"mpcc_theta_mech":0.554575443,"sam_rpm":-4.27919149,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020487532,"thr_a_norm":0.020487532,"thr_a_v":0.581950128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454250395,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.682365,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.53100967,"cg_iw_a":0.419119358,"cg_theta_rad":0.557349503,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.00123387552,"mpcc_du":49.9487877,"mpcc_dv":49.2903786,"mpcc_dw":50.7096214,"mpcc_enc_sign":1,"mpcc_id_a":-0.53066653,"mpcc_iq_a":-3.31839037,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.51061869,"mpcc_pred_id_a":-0.666525543,"mpcc_pred_iq_a":-3.59370637,"mpcc_state":1,"mpcc_theta_e":0.450424671,"mpcc_theta_mech":0.557030857,"sam_rpm":3.92862749,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020487532,"thr_a_norm":0.020487532,"thr_a_v":0.581950128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454250395,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.705833,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.0087685585,"cg_iw_a":-3.13277674,"cg_theta_rad":0.555782318,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.026936736,"mpcc_du":50.8047371,"mpcc_dv":48.1725807,"mpcc_dw":51.8274193,"mpcc_enc_sign":1,"mpcc_id_a":0.0912566334,"mpcc_iq_a":-0.365668565,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.80559683,"mpcc_pred_id_a":-0.443899214,"mpcc_pred_iq_a":-0.5635252,"mpcc_state":1,"mpcc_theta_e":0.452811718,"mpcc_theta_mech":0.55750823,"sam_rpm":-7.87069225,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176173002,"thr_a_norm":0.0176173002,"thr_a_v":0.570469201,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439194292,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.712273,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.09608364,"cg_iw_a":0.419119358,"cg_theta_rad":0.554163754,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0491657667,"mpcc_du":51.0529671,"mpcc_dv":47.1516876,"mpcc_dw":52.8483124,"mpcc_enc_sign":1,"mpcc_id_a":4.41968536,"mpcc_iq_a":-0.671455741,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.0384159,"mpcc_pred_id_a":1.14001739,"mpcc_pred_iq_a":3.1711061,"mpcc_state":1,"mpcc_theta_e":0.4266572,"mpcc_theta_mech":0.552277327,"sam_rpm":-25.5885334,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282043964,"thr_a_norm":0.0176173002,"thr_a_v":0.612817585,"thr_b":5.7220459e-06,"thr_b_norm":0,"thr_b_v":0.500022888,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.718834,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.60349751,"cg_iw_a":0.709070206,"cg_theta_rad":0.557125211,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.01404888,"mpcc_du":49.6122704,"mpcc_dv":49.4008484,"mpcc_dw":50.5991516,"mpcc_enc_sign":1,"mpcc_id_a":1.91860521,"mpcc_iq_a":-0.0725013241,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.22393703,"mpcc_pred_id_a":0.0162919369,"mpcc_pred_iq_a":-3.38887239,"mpcc_state":1,"mpcc_theta_e":0.443264484,"mpcc_theta_mech":0.555598795,"sam_rpm":9.97535229,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282043964,"thr_a_norm":0.0282043964,"thr_a_v":0.612817585,"thr_b":5.7220459e-06,"thr_b_norm":5.7220459e-06,"thr_b_v":0.500022888,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.725365,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.16857147,"cg_iw_a":-1.17560911,"cg_theta_rad":0.554002821,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0338854082,"mpcc_du":48.9473457,"mpcc_dv":51.0526543,"mpcc_dw":49.6790657,"mpcc_enc_sign":1,"mpcc_id_a":2.61026835,"mpcc_iq_a":-0.987442911,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.4746914,"mpcc_pred_id_a":-0.0568025298,"mpcc_pred_iq_a":-7.50449371,"mpcc_state":1,"mpcc_theta_e":0.453213215,"mpcc_theta_mech":0.557588577,"sam_rpm":15.7329149,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208400041,"thr_a_norm":0.0208400041,"thr_a_v":0.583360016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455811381,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.733116,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.153744221,"cg_iw_a":-2.40789938,"cg_theta_rad":0.554876387,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0351237655,"mpcc_du":49.6340828,"mpcc_dv":49.2263336,"mpcc_dw":50.7736664,"mpcc_enc_sign":1,"mpcc_id_a":3.07270622,"mpcc_iq_a":-0.853359818,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.221014813,"mpcc_pred_id_a":0.398871124,"mpcc_pred_iq_a":-3.30649257,"mpcc_state":1,"mpcc_theta_e":0.443632603,"mpcc_theta_mech":0.555672407,"sam_rpm":0.0838052928,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208400041,"thr_a_norm":0.0208400041,"thr_a_v":0.583360016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455811381,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.74334,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-2.0384233,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.557110548,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0209883898,"mpcc_du":50.6808014,"mpcc_dv":48.1150932,"mpcc_dw":51.8849068,"mpcc_enc_sign":1,"mpcc_id_a":1.91636479,"mpcc_iq_a":-2.10745668,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.04191303,"mpcc_pred_id_a":-0.0577551126,"mpcc_pred_iq_a":-1.19749534,"mpcc_state":1,"mpcc_theta_e":0.442435741,"mpcc_theta_mech":0.555433095,"sam_rpm":-8.28298283,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271343589,"thr_a_norm":0.0271343589,"thr_a_v":0.608537436,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488693088,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.753624,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.878620625,"cg_iw_a":0.636582375,"cg_theta_rad":0.557284415,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0134988707,"mpcc_du":49.6973839,"mpcc_dv":49.1536674,"mpcc_dw":50.8463326,"mpcc_enc_sign":1,"mpcc_id_a":2.01095891,"mpcc_iq_a":-0.724207282,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.87751245,"mpcc_pred_id_a":0.161803931,"mpcc_pred_iq_a":-3.76377726,"mpcc_state":1,"mpcc_theta_e":0.445640087,"mpcc_theta_mech":0.554895818,"sam_rpm":7.07215548,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238487124,"thr_a_norm":0.0271343589,"thr_a_v":0.59539485,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462961793,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.765617,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.24105906,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556432843,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0255762786,"mpcc_du":49.3066368,"mpcc_dv":50.6933632,"mpcc_dw":50.1881981,"mpcc_enc_sign":1,"mpcc_id_a":2.1306982,"mpcc_iq_a":-0.816222608,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.2079153,"mpcc_pred_id_a":0.14143838,"mpcc_pred_iq_a":-4.73550797,"mpcc_state":1,"mpcc_theta_e":0.459461212,"mpcc_theta_mech":0.558838189,"sam_rpm":20.6169758,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238487124,"thr_a_norm":0.0238487124,"thr_a_v":0.59539485,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462961793,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.776634,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.74847269,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556249022,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0345466696,"mpcc_du":49.9740257,"mpcc_dv":49.1016121,"mpcc_dw":50.8983879,"mpcc_enc_sign":1,"mpcc_id_a":0.670276344,"mpcc_iq_a":-0.832982361,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.08151054,"mpcc_pred_id_a":-0.31412074,"mpcc_pred_iq_a":-3.20071411,"mpcc_state":1,"mpcc_theta_e":0.452291489,"mpcc_theta_mech":0.55740422,"sam_rpm":6.58945179,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0413343906,"thr_a_norm":0.0413343906,"thr_a_v":0.665337563,"thr_b":0.0131735057,"thr_b_norm":0.0131735057,"thr_b_v":0.552694023,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.787163,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.45852208,"cg_iw_a":-1.82799816,"cg_theta_rad":0.556035101,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0759564191,"mpcc_du":50.2372055,"mpcc_dv":48.4042625,"mpcc_dw":51.5957375,"mpcc_enc_sign":1,"mpcc_id_a":2.17171407,"mpcc_iq_a":1.47531593,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.11681795,"mpcc_pred_id_a":0.499324977,"mpcc_pred_iq_a":-1.28390503,"mpcc_state":1,"mpcc_theta_e":0.443144798,"mpcc_theta_mech":0.555574834,"sam_rpm":-4.26873159,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0413343906,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0.0131735057,"thr_b_v":0.463616401,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.809349,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.6759851,"cg_iw_a":0.709069967,"cg_theta_rad":0.553724945,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.00673468085,"mpcc_du":49.6264191,"mpcc_dv":50.2876091,"mpcc_dw":50.3735809,"mpcc_enc_sign":1,"mpcc_id_a":0.481214195,"mpcc_iq_a":-0.400630802,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.18804836,"mpcc_pred_id_a":-0.523506403,"mpcc_pred_iq_a":-5.54838037,"mpcc_state":1,"mpcc_theta_e":0.430357456,"mpcc_theta_mech":0.553017437,"sam_rpm":-3.49690509,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0236472934,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463616401,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.81591,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-0.951108456,"cg_iw_a":2.88369989,"cg_theta_rad":0.555914938,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0345215388,"mpcc_du":49.4868279,"mpcc_dv":49.377861,"mpcc_dw":50.622139,"mpcc_enc_sign":1,"mpcc_id_a":2.72789741,"mpcc_iq_a":-0.234455228,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.82991815,"mpcc_pred_id_a":0.373567104,"mpcc_pred_iq_a":-2.84374022,"mpcc_state":1,"mpcc_theta_e":0.446564198,"mpcc_theta_mech":0.556258738,"sam_rpm":5.9211812,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190020651,"thr_a_norm":0.0190020651,"thr_a_v":0.57600826,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469658971,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.822411,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.82096052,"cg_iw_a":-0.885658741,"cg_theta_rad":0.558858275,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.00448494684,"mpcc_du":49.5110703,"mpcc_dv":49.711235,"mpcc_dw":50.4889297,"mpcc_enc_sign":1,"mpcc_id_a":0.916470528,"mpcc_iq_a":-1.17056298,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.708663523,"mpcc_pred_id_a":0.0848399922,"mpcc_pred_iq_a":-0.969802618,"mpcc_state":1,"mpcc_theta_e":0.442377567,"mpcc_theta_mech":0.555421472,"sam_rpm":0.802734196,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190020651,"thr_a_norm":0.0190020651,"thr_a_v":0.57600826,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469658971,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.828941,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.588670254,"cg_iw_a":-0.740683079,"cg_theta_rad":0.556502998,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.00287010265,"mpcc_du":49.9554214,"mpcc_dv":49.0581398,"mpcc_dw":50.9418602,"mpcc_enc_sign":1,"mpcc_id_a":0.239161879,"mpcc_iq_a":-1.73534167,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.65412283,"mpcc_pred_id_a":-0.238199279,"mpcc_pred_iq_a":-0.613120079,"mpcc_state":1,"mpcc_theta_e":0.447772503,"mpcc_theta_mech":0.556500435,"sam_rpm":10.2640629,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0150743872,"thr_a_norm":0.0150743872,"thr_a_v":0.560297549,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.839348,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-2.32837415,"cg_iw_a":-1.0306344,"cg_theta_rad":0.554364562,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0147859845,"mpcc_du":49.5888977,"mpcc_dv":49.386837,"mpcc_dw":50.613163,"mpcc_enc_sign":1,"mpcc_id_a":2.07058525,"mpcc_iq_a":-1.44233823,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.674821436,"mpcc_pred_id_a":0.102451667,"mpcc_pred_iq_a":-3.73220086,"mpcc_state":1,"mpcc_theta_e":0.443443775,"mpcc_theta_mech":0.555634677,"sam_rpm":-0.974388182,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176550597,"thr_a_norm":0.0176550597,"thr_a_v":0.570620239,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.442165226,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.850121,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.0087685585,"cg_iw_a":-1.97297382,"cg_theta_rad":0.554402769,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0197208077,"mpcc_du":49.5012474,"mpcc_dv":50.3683662,"mpcc_dw":50.4987526,"mpcc_enc_sign":1,"mpcc_id_a":2.68661761,"mpcc_iq_a":-1.15760303,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.03965116,"mpcc_pred_id_a":0.302691191,"mpcc_pred_iq_a":-2.92312789,"mpcc_state":1,"mpcc_theta_e":0.436843872,"mpcc_theta_mech":0.554314733,"sam_rpm":2.62318993,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176550597,"thr_a_norm":0.0176550597,"thr_a_v":0.570620239,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.442165226,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.861351,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.02359605,"cg_iw_a":-1.24809718,"cg_theta_rad":0.555884302,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0384128504,"mpcc_du":50.5819435,"mpcc_dv":48.0432167,"mpcc_dw":51.9567833,"mpcc_enc_sign":1,"mpcc_id_a":2.68873596,"mpcc_iq_a":-1.3234638,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.57874727,"mpcc_pred_id_a":0.441028625,"mpcc_pred_iq_a":-0.621111512,"mpcc_state":1,"mpcc_theta_e":0.444798946,"mpcc_theta_mech":0.5559057,"sam_rpm":-5.88269615,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0174032897,"thr_a_norm":0.0174032897,"thr_a_v":0.569613159,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44337377,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.871574,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.90827537,"cg_iw_a":0.274143934,"cg_theta_rad":0.557249784,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.00907271262,"mpcc_du":49.6460571,"mpcc_dv":50.0819511,"mpcc_dw":50.3539429,"mpcc_enc_sign":1,"mpcc_id_a":-0.612873256,"mpcc_iq_a":-1.00127017,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.10374975,"mpcc_pred_id_a":-0.603499949,"mpcc_pred_iq_a":-4.76774025,"mpcc_state":1,"mpcc_theta_e":0.446525574,"mpcc_theta_mech":0.556251049,"sam_rpm":4.54029608,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0293751508,"thr_a_norm":0.0174032897,"thr_a_v":0.617500603,"thr_b":0.00369420648,"thr_b_norm":0,"thr_b_v":0.514776826,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.883446,"values":{"cg_iu_a":1.98174238,"cg_iv_a":0.426157475,"cg_iw_a":-2.40789986,"cg_theta_rad":0.556433797,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.00490458682,"mpcc_du":48.8002167,"mpcc_dv":51.1997833,"mpcc_dw":51.7934532,"mpcc_enc_sign":1,"mpcc_id_a":1.39524531,"mpcc_iq_a":0.172227532,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.3367891,"mpcc_pred_id_a":0.0114096664,"mpcc_pred_iq_a":-4.01257086,"mpcc_state":1,"mpcc_theta_e":0.446121216,"mpcc_theta_mech":0.552690148,"sam_rpm":15.6858549,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0293751508,"thr_a_norm":0.0293751508,"thr_a_v":0.617500603,"thr_b":0.00369420648,"thr_b_norm":0.00369420648,"thr_b_v":0.514776826,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.906792,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.16857147,"cg_iw_a":0.636582375,"cg_theta_rad":0.553102732,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.00103300274,"mpcc_du":51.2226906,"mpcc_dv":47.4997597,"mpcc_dw":52.5002403,"mpcc_enc_sign":1,"mpcc_id_a":0.274793714,"mpcc_iq_a":-1.36665344,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.8103619,"mpcc_pred_id_a":-0.223669201,"mpcc_pred_iq_a":3.73860717,"mpcc_state":1,"mpcc_theta_e":0.432168961,"mpcc_theta_mech":0.553379714,"sam_rpm":-16.861845,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0299793929,"thr_a_norm":0.0299793929,"thr_a_v":0.619917572,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479024947,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.913231,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.6759851,"cg_iw_a":0.564094782,"cg_theta_rad":0.557140291,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.00644491334,"mpcc_du":50.1857986,"mpcc_dv":48.7040176,"mpcc_dw":51.2959824,"mpcc_enc_sign":1,"mpcc_id_a":1.4357959,"mpcc_iq_a":-2.59019256,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.38973951,"mpcc_pred_id_a":-0.00113577524,"mpcc_pred_iq_a":-4.60097599,"mpcc_state":1,"mpcc_theta_e":0.448342323,"mpcc_theta_mech":0.556614399,"sam_rpm":-4.42918825,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023257032,"thr_a_norm":0.0299793929,"thr_a_v":0.593028128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454451799,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.919823,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.0087685585,"cg_iw_a":-1.46556044,"cg_theta_rad":0.556270719,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0227872673,"mpcc_du":51.0386314,"mpcc_dv":47.5404587,"mpcc_dw":52.4595413,"mpcc_enc_sign":1,"mpcc_id_a":2.8704524,"mpcc_iq_a":-0.753041804,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.6397114,"mpcc_pred_id_a":0.184155777,"mpcc_pred_iq_a":1.41451752,"mpcc_state":1,"mpcc_theta_e":0.42800045,"mpcc_theta_mech":0.552546024,"sam_rpm":-24.5150814,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023257032,"thr_a_norm":0.023257032,"thr_a_v":0.593028128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454451799,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.926323,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-2.25588632,"cg_iw_a":0.781557322,"cg_theta_rad":0.556289554,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.00690850383,"mpcc_du":49.4887657,"mpcc_dv":50.300663,"mpcc_dw":50.5112343,"mpcc_enc_sign":1,"mpcc_id_a":1.09307754,"mpcc_iq_a":-0.795858741,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.15696192,"mpcc_pred_id_a":0.404729217,"mpcc_pred_iq_a":-4.0162282,"mpcc_state":1,"mpcc_theta_e":0.445590973,"mpcc_theta_mech":0.556064129,"sam_rpm":7.06298494,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233703256,"thr_a_norm":0.0233703256,"thr_a_v":0.593481302,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466839105,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.933891,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.588670254,"cg_iw_a":-0.958146572,"cg_theta_rad":0.552939534,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0343598947,"mpcc_du":50.2450905,"mpcc_dv":48.4258385,"mpcc_dw":51.5741615,"mpcc_enc_sign":1,"mpcc_id_a":3.55320358,"mpcc_iq_a":-1.01868176,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.50004244,"mpcc_pred_id_a":0.458972991,"mpcc_pred_iq_a":0.392790377,"mpcc_state":1,"mpcc_theta_e":0.439500809,"mpcc_theta_mech":0.554846048,"sam_rpm":-3.68163681,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233703256,"thr_a_norm":0.0233703256,"thr_a_v":0.593481302,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466839105,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.944206,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.60349751,"cg_iw_a":-0.668195724,"cg_theta_rad":0.553425789,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.040210478,"mpcc_du":49.8949013,"mpcc_dv":49.0496712,"mpcc_dw":50.9503288,"mpcc_enc_sign":1,"mpcc_id_a":2.1839025,"mpcc_iq_a":-0.868995249,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.95672584,"mpcc_pred_id_a":0.0810221136,"mpcc_pred_iq_a":-3.16878533,"mpcc_state":1,"mpcc_theta_e":0.45171833,"mpcc_theta_mech":0.5572896,"sam_rpm":4.57547998,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193041861,"thr_a_norm":0.0193041861,"thr_a_v":0.577216744,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463717103,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.95443,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.24105906,"cg_iw_a":-1.4655602,"cg_theta_rad":0.551937282,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0170202665,"mpcc_du":49.2784805,"mpcc_dv":50.7215195,"mpcc_dw":50.0932503,"mpcc_enc_sign":1,"mpcc_id_a":0.968250692,"mpcc_iq_a":-1.89665544,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.56522655,"mpcc_pred_id_a":-0.0591097921,"mpcc_pred_iq_a":-5.40190887,"mpcc_state":1,"mpcc_theta_e":0.446087837,"mpcc_theta_mech":0.55616349,"sam_rpm":24.5973701,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019883275,"thr_a_norm":0.0193041861,"thr_a_v":0.5795331,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.966515,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-2.18339872,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556391776,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0331061594,"mpcc_du":49.5378189,"mpcc_dv":49.4762344,"mpcc_dw":50.5237656,"mpcc_enc_sign":1,"mpcc_id_a":2.10078931,"mpcc_iq_a":-1.37549031,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.8630048,"mpcc_pred_id_a":-0.0111836838,"mpcc_pred_iq_a":-5.24605751,"mpcc_state":1,"mpcc_theta_e":0.44760704,"mpcc_theta_mech":0.556467295,"sam_rpm":3.06204152,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019883275,"thr_a_norm":0.019883275,"thr_a_v":0.5795331,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.976524,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.878620625,"cg_iw_a":-1.53804779,"cg_theta_rad":0.555057049,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0521024838,"mpcc_du":50.0679893,"mpcc_dv":48.608532,"mpcc_dw":51.391468,"mpcc_enc_sign":1,"mpcc_id_a":2.60855365,"mpcc_iq_a":-0.973798037,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.7625074,"mpcc_pred_id_a":0.403833687,"mpcc_pred_iq_a":1.57338703,"mpcc_state":1,"mpcc_theta_e":0.418908119,"mpcc_theta_mech":0.550727546,"sam_rpm":-23.7406254,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0239745975,"thr_a_norm":0.0239745975,"thr_a_v":0.59589839,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481341243,"vdc_v":55.2955055}} +{"type":"telemetry","t":97.986748,"values":{"cg_iu_a":3.21403265,"cg_iv_a":0.861083508,"cg_iw_a":-2.04546165,"cg_theta_rad":0.553091407,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5004,"hz_app_loop":362,"hz_tim_isr":10006,"hz_vsense":362,"mpcc_cost":0.0260257367,"mpcc_du":50.3098373,"mpcc_dv":48.68536,"mpcc_dw":51.31464,"mpcc_enc_sign":1,"mpcc_id_a":0.951179922,"mpcc_iq_a":-0.588486552,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.43267417,"mpcc_pred_id_a":-0.34999007,"mpcc_pred_iq_a":-1.85608149,"mpcc_state":1,"mpcc_theta_e":0.445218086,"mpcc_theta_mech":0.555989563,"sam_rpm":-1.35231698,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289219469,"thr_a_norm":0.0239745975,"thr_a_v":0.615687788,"thr_b":0.000282675028,"thr_b_norm":0,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.011375,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.38603449,"cg_iw_a":-2.19043636,"cg_theta_rad":0.553344309,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.29297,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.076132752,"mpcc_du":51.0699196,"mpcc_dv":47.3225594,"mpcc_dw":49.9989128,"mpcc_enc_sign":1,"mpcc_id_a":3.84115696,"mpcc_iq_a":1.49349058,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.89435053,"mpcc_pred_id_a":0.670627117,"mpcc_pred_iq_a":3.27404332,"mpcc_state":1,"mpcc_theta_e":0.435828209,"mpcc_theta_mech":0.5541116,"sam_rpm":-11.4002934,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289219469,"thr_a_norm":0.0289219469,"thr_a_v":0.615687788,"thr_b":0.000282675028,"thr_b_norm":0.000282675028,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.017876,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.25588632,"cg_iw_a":-0.450732708,"cg_theta_rad":0.555323303,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0109908236,"mpcc_du":50.0562553,"mpcc_dv":49.095356,"mpcc_dw":50.904644,"mpcc_enc_sign":1,"mpcc_id_a":1.73935485,"mpcc_iq_a":0.077787973,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.19660378,"mpcc_pred_id_a":-0.0588522702,"mpcc_pred_iq_a":-1.78847897,"mpcc_state":1,"mpcc_theta_e":0.432219505,"mpcc_theta_mech":0.553389847,"sam_rpm":-13.9059792,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184103847,"thr_a_norm":0.0184103847,"thr_a_v":0.573641539,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446445435,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.024406,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.226231575,"cg_iw_a":-1.0306344,"cg_theta_rad":0.555894315,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0274554938,"mpcc_du":49.4916229,"mpcc_dv":50.1722031,"mpcc_dw":50.5083771,"mpcc_enc_sign":1,"mpcc_id_a":2.75763583,"mpcc_iq_a":-0.482918531,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.2338037,"mpcc_pred_id_a":0.300544143,"mpcc_pred_iq_a":-0.280345082,"mpcc_state":1,"mpcc_theta_e":0.43181181,"mpcc_theta_mech":0.553308308,"sam_rpm":3.89957857,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184103847,"thr_a_norm":0.0184103847,"thr_a_v":0.573641539,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446445435,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.030907,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.806133032,"cg_iw_a":-0.958146334,"cg_theta_rad":0.556882203,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0131617375,"mpcc_du":49.5267334,"mpcc_dv":50.3548317,"mpcc_dw":50.4732666,"mpcc_enc_sign":1,"mpcc_id_a":1.85419428,"mpcc_iq_a":-0.884217978,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.03764725,"mpcc_pred_id_a":0.178618088,"mpcc_pred_iq_a":-4.17048025,"mpcc_state":1,"mpcc_theta_e":0.446954727,"mpcc_theta_mech":0.55633682,"sam_rpm":8.52601719,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100098431,"thr_a_norm":0.100098431,"thr_a_v":0.900393724,"thr_b":0.0445948839,"thr_b_norm":0.0445948839,"thr_b_v":0.678379536,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.040123,"values":{"cg_iu_a":1.76427937,"cg_iv_a":0.136206627,"cg_iw_a":-2.48038745,"cg_theta_rad":0.557135165,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.00123937509,"mpcc_du":49.9513702,"mpcc_dv":49.0977058,"mpcc_dw":50.9022942,"mpcc_enc_sign":1,"mpcc_id_a":0.704083145,"mpcc_iq_a":-0.0897310451,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.33724356,"mpcc_pred_id_a":-0.379712284,"mpcc_pred_iq_a":-1.4328903,"mpcc_state":1,"mpcc_theta_e":0.432019711,"mpcc_theta_mech":0.553349853,"sam_rpm":-12.1074829,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151876807,"thr_a_norm":0.100098431,"thr_a_v":0.560750723,"thr_b":0,"thr_b_norm":0.0445948839,"thr_b_v":0.439647496,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.050102,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.371207237,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.557493925,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.00165597419,"mpcc_du":50.3182869,"mpcc_dv":48.8358803,"mpcc_dw":50.4373207,"mpcc_enc_sign":1,"mpcc_id_a":-0.0923425406,"mpcc_iq_a":-2.55841041,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.6992426,"mpcc_pred_id_a":-0.743019044,"mpcc_pred_iq_a":-1.4036448,"mpcc_state":1,"mpcc_theta_e":0.454155922,"mpcc_theta_mech":0.557777107,"sam_rpm":2.89333034,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151876807,"thr_a_norm":0.0151876807,"thr_a_v":0.560750723,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439647496,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.060326,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-2.76329994,"cg_iw_a":1.28897095,"cg_theta_rad":0.55709517,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.010956821,"mpcc_du":50.122406,"mpcc_dv":48.7656364,"mpcc_dw":51.2343636,"mpcc_enc_sign":1,"mpcc_id_a":1.52942598,"mpcc_iq_a":-2.93574905,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.91419315,"mpcc_pred_id_a":0.0786916688,"mpcc_pred_iq_a":-0.706949174,"mpcc_state":1,"mpcc_theta_e":0.439964771,"mpcc_theta_mech":0.554938912,"sam_rpm":-5.44352722,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021242857,"thr_a_norm":0.021242857,"thr_a_v":0.584971428,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457523465,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.070305,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.951108456,"cg_iw_a":1.28897119,"cg_theta_rad":0.557309508,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.00661521172,"mpcc_du":50.3303261,"mpcc_dv":48.2822723,"mpcc_dw":51.7177277,"mpcc_enc_sign":1,"mpcc_id_a":1.55109346,"mpcc_iq_a":-0.155136511,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.0429792,"mpcc_pred_id_a":0.565897644,"mpcc_pred_iq_a":1.10997152,"mpcc_state":1,"mpcc_theta_e":0.430461884,"mpcc_theta_mech":0.553038299,"sam_rpm":-18.1659794,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021242857,"thr_a_norm":0.021242857,"thr_a_v":0.584971428,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457523465,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.080528,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.11794925,"cg_theta_rad":0.556911707,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.040001303,"mpcc_du":50.0820618,"mpcc_dv":48.9804268,"mpcc_dw":51.0195732,"mpcc_enc_sign":1,"mpcc_id_a":1.68408418,"mpcc_iq_a":-1.40655077,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.72899127,"mpcc_pred_id_a":-0.330769092,"mpcc_pred_iq_a":-4.49944496,"mpcc_state":1,"mpcc_theta_e":0.447184086,"mpcc_theta_mech":0.556382716,"sam_rpm":-1.39282119,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0145960152,"thr_a_norm":0.0145960152,"thr_a_v":0.558384061,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443222731,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.090752,"values":{"cg_iu_a":3.35900831,"cg_iv_a":0.498644829,"cg_iw_a":-3.85765314,"cg_theta_rad":0.557568729,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0170685854,"mpcc_du":49.2017403,"mpcc_dv":50.7982597,"mpcc_dw":50.0546417,"mpcc_enc_sign":1,"mpcc_id_a":2.60261202,"mpcc_iq_a":-1.49931419,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.5155849,"mpcc_pred_id_a":0.18558386,"mpcc_pred_iq_a":-2.96862411,"mpcc_state":1,"mpcc_theta_e":0.447045803,"mpcc_theta_mech":0.556355119,"sam_rpm":24.7432423,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0145960152,"thr_a_v":0.618709087,"thr_b":0.0067280829,"thr_b_norm":0,"thr_b_v":0.526912332,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.113792,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.516182423,"cg_iw_a":-2.48038721,"cg_theta_rad":0.557428598,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0144906184,"mpcc_du":49.4973907,"mpcc_dv":49.7371407,"mpcc_dw":50.5026093,"mpcc_enc_sign":1,"mpcc_id_a":2.40644026,"mpcc_iq_a":-1.41191649,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.62532151,"mpcc_pred_id_a":0.263000339,"mpcc_pred_iq_a":-3.82993841,"mpcc_state":1,"mpcc_theta_e":0.441941261,"mpcc_theta_mech":0.555334151,"sam_rpm":-2.86027312,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.0067280829,"thr_b_norm":0.0067280829,"thr_b_v":0.526912332,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.120262,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.878620625,"cg_iw_a":-1.97297382,"cg_theta_rad":0.557369113,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.00758592738,"mpcc_du":49.4309807,"mpcc_dv":50.5690193,"mpcc_dw":50.2502098,"mpcc_enc_sign":1,"mpcc_id_a":1.47400224,"mpcc_iq_a":-1.34577739,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.4072386,"mpcc_pred_id_a":0.00164114288,"mpcc_pred_iq_a":-6.06677151,"mpcc_state":1,"mpcc_theta_e":0.444146156,"mpcc_theta_mech":0.555775106,"sam_rpm":1.69268739,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0255733579,"thr_a_norm":0.0255733579,"thr_a_v":0.602293432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487081707,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.126793,"values":{"cg_iu_a":3.79393435,"cg_iv_a":-0.443694592,"cg_iw_a":-3.35023975,"cg_theta_rad":0.553892016,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.00148514414,"mpcc_du":49.8845711,"mpcc_dv":49.2724228,"mpcc_dw":50.7275772,"mpcc_enc_sign":1,"mpcc_id_a":0.00268110773,"mpcc_iq_a":-2.04350781,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.3628998,"mpcc_pred_id_a":-0.372108608,"mpcc_pred_iq_a":-0.716614544,"mpcc_state":1,"mpcc_theta_e":0.451717854,"mpcc_theta_mech":0.557289481,"sam_rpm":15.5367002,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0255733579,"thr_a_norm":0.0255733579,"thr_a_v":0.602293432,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487081707,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.133293,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.733645439,"cg_iw_a":-2.33541203,"cg_theta_rad":0.556161761,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0516798645,"mpcc_du":49.8104706,"mpcc_dv":48.9239655,"mpcc_dw":51.0760345,"mpcc_enc_sign":1,"mpcc_id_a":4.08469009,"mpcc_iq_a":-1.60018075,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.96374893,"mpcc_pred_id_a":0.719825804,"mpcc_pred_iq_a":-0.933172047,"mpcc_state":1,"mpcc_theta_e":0.450696945,"mpcc_theta_mech":0.557085335,"sam_rpm":10.4680824,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203993917,"thr_a_norm":0.0203993917,"thr_a_v":0.581597567,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469709307,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.141624,"values":{"cg_iu_a":2.05423021,"cg_iv_a":0.933570862,"cg_iw_a":0.201656342,"cg_theta_rad":0.556468248,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0171809494,"mpcc_du":50.2206116,"mpcc_dv":48.6368599,"mpcc_dw":51.3631401,"mpcc_enc_sign":1,"mpcc_id_a":1.60715222,"mpcc_iq_a":-0.392479688,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.58563018,"mpcc_pred_id_a":-0.161934868,"mpcc_pred_iq_a":-3.95763683,"mpcc_state":1,"mpcc_theta_e":0.445811749,"mpcc_theta_mech":0.556108236,"sam_rpm":-3.21471477,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0978827924,"thr_a_norm":0.0203993917,"thr_a_v":0.891531169,"thr_b":0.0376333296,"thr_b_norm":0,"thr_b_v":0.650533319,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.153526,"values":{"cg_iu_a":2.70661926,"cg_iv_a":0.0637187958,"cg_iw_a":-2.77033806,"cg_theta_rad":0.556752801,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0257081445,"mpcc_du":49.5055542,"mpcc_dv":49.8050537,"mpcc_dw":50.4944458,"mpcc_enc_sign":1,"mpcc_id_a":3.07445455,"mpcc_iq_a":0.176094398,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.383064151,"mpcc_pred_id_a":0.342287391,"mpcc_pred_iq_a":-2.64058042,"mpcc_state":1,"mpcc_theta_e":0.439995289,"mpcc_theta_mech":0.554944932,"sam_rpm":0.127147615,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0978827924,"thr_a_norm":0.0978827924,"thr_a_v":0.891531169,"thr_b":0.0376333296,"thr_b_norm":0.0376333296,"thr_b_v":0.650533319,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.164726,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.89344811,"cg_iw_a":-1.03063393,"cg_theta_rad":0.553347707,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.00862825383,"mpcc_du":49.5630226,"mpcc_dv":50.3551941,"mpcc_dw":50.5560837,"mpcc_enc_sign":1,"mpcc_id_a":0.584667683,"mpcc_iq_a":-2.21521211,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.28083253,"mpcc_pred_id_a":0.124906041,"mpcc_pred_iq_a":-1.55635762,"mpcc_state":1,"mpcc_theta_e":0.441028118,"mpcc_theta_mech":0.555151522,"sam_rpm":13.7963552,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0309487283,"thr_a_norm":0.0309487283,"thr_a_v":0.623794913,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468953997,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.176079,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.226231575,"cg_iw_a":-2.19043684,"cg_theta_rad":0.555410683,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.021547148,"mpcc_du":49.5621338,"mpcc_dv":49.695118,"mpcc_dw":51.1398354,"mpcc_enc_sign":1,"mpcc_id_a":1.68299246,"mpcc_iq_a":-1.40785682,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.794993639,"mpcc_pred_id_a":-0.0970680937,"mpcc_pred_iq_a":-5.63175869,"mpcc_state":1,"mpcc_theta_e":0.4479599,"mpcc_theta_mech":0.554798722,"sam_rpm":0.990402579,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022677958,"thr_a_norm":0.022677958,"thr_a_v":0.590711832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.185905,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.951108456,"cg_iw_a":-1.61053514,"cg_theta_rad":0.556417823,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.00784763694,"mpcc_du":49.7436409,"mpcc_dv":49.2952232,"mpcc_dw":50.7047768,"mpcc_enc_sign":1,"mpcc_id_a":0.140388891,"mpcc_iq_a":-1.3062309,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.34598327,"mpcc_pred_id_a":-0.0682824403,"mpcc_pred_iq_a":-0.92993927,"mpcc_state":1,"mpcc_theta_e":0.434280872,"mpcc_theta_mech":0.553802133,"sam_rpm":-6.57126856,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022677958,"thr_a_norm":0.022677958,"thr_a_v":0.590711832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.196129,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.951108456,"cg_iw_a":-1.24809694,"cg_theta_rad":0.555181921,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0190240759,"mpcc_du":49.9139137,"mpcc_dv":48.9596024,"mpcc_dw":51.0403976,"mpcc_enc_sign":1,"mpcc_id_a":2.70981956,"mpcc_iq_a":-0.411274582,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.34935665,"mpcc_pred_id_a":0.240874082,"mpcc_pred_iq_a":-2.17041278,"mpcc_state":1,"mpcc_theta_e":0.430594921,"mpcc_theta_mech":0.553064883,"sam_rpm":-14.3636284,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245410949,"thr_a_norm":0.0245410949,"thr_a_v":0.59816438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481895179,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.219322,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.733645439,"cg_iw_a":-0.015806675,"cg_theta_rad":0.557364166,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.00169208832,"mpcc_du":51.2951126,"mpcc_dv":47.4182472,"mpcc_dw":52.5817528,"mpcc_enc_sign":1,"mpcc_id_a":0.819297791,"mpcc_iq_a":-1.23867035,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.6520596,"mpcc_pred_id_a":-0.283148974,"mpcc_pred_iq_a":1.79568303,"mpcc_state":1,"mpcc_theta_e":0.424651623,"mpcc_theta_mech":0.551876247,"sam_rpm":-29.0762501,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194552541,"thr_a_norm":0.0245410949,"thr_a_v":0.577821016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466335565,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.225853,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.443694592,"cg_iw_a":-1.17560959,"cg_theta_rad":0.552246153,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0235071797,"mpcc_du":49.9450455,"mpcc_dv":49.0397377,"mpcc_dw":50.9602623,"mpcc_enc_sign":1,"mpcc_id_a":2.5191896,"mpcc_iq_a":-0.656802595,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.39264297,"mpcc_pred_id_a":0.04938557,"mpcc_pred_iq_a":-3.87984109,"mpcc_state":1,"mpcc_theta_e":0.442563057,"mpcc_theta_mech":0.555458486,"sam_rpm":-13.8024645,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194552541,"thr_a_norm":0.0194552541,"thr_a_v":0.577821016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466335565,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.232414,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.516182423,"cg_iw_a":-1.32058477,"cg_theta_rad":0.557850599,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.019108396,"mpcc_du":49.6797867,"mpcc_dv":49.4397621,"mpcc_dw":50.5602379,"mpcc_enc_sign":1,"mpcc_id_a":2.72901225,"mpcc_iq_a":-1.74764478,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.94924343,"mpcc_pred_id_a":0.393383473,"mpcc_pred_iq_a":-4.23367691,"mpcc_state":1,"mpcc_theta_e":0.441352367,"mpcc_theta_mech":0.555216372,"sam_rpm":-2.98347735,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209029466,"thr_a_norm":0.0209029466,"thr_a_v":0.583611786,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468148291,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.239311,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.226231575,"cg_iw_a":-1.0306344,"cg_theta_rad":0.555372298,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.00338735338,"mpcc_du":50.4292412,"mpcc_dv":48.3335838,"mpcc_dw":51.6664162,"mpcc_enc_sign":1,"mpcc_id_a":1.16282868,"mpcc_iq_a":-3.03842044,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.99790573,"mpcc_pred_id_a":0.195293695,"mpcc_pred_iq_a":-0.803065658,"mpcc_state":1,"mpcc_theta_e":0.439080238,"mpcc_theta_mech":0.554762006,"sam_rpm":-8.36864948,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0141805857,"thr_a_norm":0.0209029466,"thr_a_v":0.556722343,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439899296,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.248955,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.878620625,"cg_iw_a":-1.61053562,"cg_theta_rad":0.555973232,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0105820214,"mpcc_du":49.523201,"mpcc_dv":50.2376137,"mpcc_dw":50.476799,"mpcc_enc_sign":1,"mpcc_id_a":2.02601671,"mpcc_iq_a":-2.03464365,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.6036396,"mpcc_pred_id_a":0.155303255,"mpcc_pred_iq_a":-2.55115819,"mpcc_state":1,"mpcc_theta_e":0.447170258,"mpcc_theta_mech":0.556379974,"sam_rpm":21.5558243,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0141805857,"thr_a_norm":0.0141805857,"thr_a_v":0.556722343,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439899296,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.259148,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.661157608,"cg_iw_a":-1.97297382,"cg_theta_rad":0.555276632,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.00699780462,"mpcc_du":49.5961189,"mpcc_dv":50.3848152,"mpcc_dw":50.4038811,"mpcc_enc_sign":1,"mpcc_id_a":1.20633984,"mpcc_iq_a":0.832454443,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.30274057,"mpcc_pred_id_a":-0.192391321,"mpcc_pred_iq_a":-4.48299599,"mpcc_state":1,"mpcc_theta_e":0.430034637,"mpcc_theta_mech":0.552952886,"sam_rpm":-7.58393669,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151499212,"thr_a_norm":0.0151499212,"thr_a_v":0.560599685,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464522749,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.269157,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.153744221,"cg_iw_a":-1.75551033,"cg_theta_rad":0.553148389,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.00760864187,"mpcc_du":50.7532616,"mpcc_dv":48.0635529,"mpcc_dw":51.9364471,"mpcc_enc_sign":1,"mpcc_id_a":1.74118793,"mpcc_iq_a":-2.8403573,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.6617517,"mpcc_pred_id_a":-0.166892007,"mpcc_pred_iq_a":-0.664846778,"mpcc_state":1,"mpcc_theta_e":0.436695576,"mpcc_theta_mech":0.55428499,"sam_rpm":-15.4426842,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151499212,"thr_a_norm":0.0151499212,"thr_a_v":0.560599685,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464522749,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.27932,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.226231575,"cg_iw_a":-0.595707893,"cg_theta_rad":0.553996265,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.00917855278,"mpcc_du":49.4957466,"mpcc_dv":49.4807243,"mpcc_dw":50.5192757,"mpcc_enc_sign":1,"mpcc_id_a":1.45799553,"mpcc_iq_a":-1.04705393,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.264788479,"mpcc_pred_id_a":0.200456485,"mpcc_pred_iq_a":-1.09354842,"mpcc_state":1,"mpcc_theta_e":0.437485695,"mpcc_theta_mech":0.554443061,"sam_rpm":-0.910107374,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0299793929,"thr_a_norm":0.0299793929,"thr_a_v":0.619917572,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471219927,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.289604,"values":{"cg_iu_a":3.72144651,"cg_iv_a":-0.661157608,"cg_iw_a":-0.378245354,"cg_theta_rad":0.556153297,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0151515836,"mpcc_du":49.4844627,"mpcc_dv":50.5155373,"mpcc_dw":50.3157272,"mpcc_enc_sign":1,"mpcc_id_a":0.570657194,"mpcc_iq_a":-0.901608109,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.76983285,"mpcc_pred_id_a":-0.321800619,"mpcc_pred_iq_a":1.71246576,"mpcc_state":1,"mpcc_theta_e":0.429768562,"mpcc_theta_mech":0.554691017,"sam_rpm":-4.9826808,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0169123262,"thr_a_norm":0.0299793929,"thr_a_v":0.567649305,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441762418,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.299736,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.806133032,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.556950629,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0210978165,"mpcc_du":49.6557083,"mpcc_dv":49.3467865,"mpcc_dw":50.6532135,"mpcc_enc_sign":1,"mpcc_id_a":1.19204807,"mpcc_iq_a":-0.76569128,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.20259476,"mpcc_pred_id_a":0.0440672971,"mpcc_pred_iq_a":-0.562697887,"mpcc_state":1,"mpcc_theta_e":0.425626278,"mpcc_theta_mech":0.552071154,"sam_rpm":-13.7443275,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0169123262,"thr_a_norm":0.0169123262,"thr_a_v":0.567649305,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441762418,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.323143,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.11091113,"cg_iw_a":-1.32058454,"cg_theta_rad":0.555835724,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.000699122553,"mpcc_du":50.3837051,"mpcc_dv":48.6520157,"mpcc_dw":51.3479843,"mpcc_enc_sign":1,"mpcc_id_a":0.260688484,"mpcc_iq_a":-1.87846744,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.61458564,"mpcc_pred_id_a":-0.384853423,"mpcc_pred_iq_a":-0.27351138,"mpcc_state":1,"mpcc_theta_e":0.44216156,"mpcc_theta_mech":0.555378199,"sam_rpm":-1.87968075,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02227512,"thr_a_norm":0.02227512,"thr_a_v":0.58910048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479327083,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.329674,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.16857147,"cg_iw_a":-0.740683556,"cg_theta_rad":0.559596181,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0094903158,"mpcc_du":49.460392,"mpcc_dv":49.4741096,"mpcc_dw":50.539608,"mpcc_enc_sign":1,"mpcc_id_a":1.21359897,"mpcc_iq_a":-1.21978271,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.49526158,"mpcc_pred_id_a":0.562765718,"mpcc_pred_iq_a":2.01786828,"mpcc_state":1,"mpcc_theta_e":0.442986488,"mpcc_theta_mech":0.555543184,"sam_rpm":-4.61248112,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276253074,"thr_a_norm":0.02227512,"thr_a_v":0.61050123,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499217212,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.336235,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-1.16857147,"cg_iw_a":0.419119358,"cg_theta_rad":0.555713475,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0326355919,"mpcc_du":49.1677361,"mpcc_dv":50.8322639,"mpcc_dw":50.1211433,"mpcc_enc_sign":1,"mpcc_id_a":2.40098405,"mpcc_iq_a":-0.429297507,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.0445023,"mpcc_pred_id_a":0.382796735,"mpcc_pred_iq_a":-4.28135443,"mpcc_state":1,"mpcc_theta_e":0.456771851,"mpcc_theta_mech":0.558300316,"sam_rpm":25.5284386,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276253074,"thr_a_norm":0.0276253074,"thr_a_v":0.61050123,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499217212,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.342735,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.31354666,"cg_iw_a":-3.56770277,"cg_theta_rad":0.552366495,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0238568094,"mpcc_du":49.8889236,"mpcc_dv":48.9969788,"mpcc_dw":51.0030212,"mpcc_enc_sign":1,"mpcc_id_a":3.01635885,"mpcc_iq_a":-0.0878450871,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.1939526,"mpcc_pred_id_a":0.187277138,"mpcc_pred_iq_a":-3.00863171,"mpcc_state":1,"mpcc_theta_e":0.429388523,"mpcc_theta_mech":0.552823663,"sam_rpm":-20.3741779,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0132867992,"thr_a_norm":0.0132867992,"thr_a_v":0.553147197,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457624167,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.352501,"values":{"cg_iu_a":0.387013912,"cg_iv_a":0.281181812,"cg_iw_a":-1.97297382,"cg_theta_rad":0.555333018,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0456165634,"mpcc_du":49.75597,"mpcc_dv":49.1473541,"mpcc_dw":50.8526459,"mpcc_enc_sign":1,"mpcc_id_a":2.38754201,"mpcc_iq_a":-1.28069901,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.19291155,"mpcc_pred_id_a":0.292106807,"mpcc_pred_iq_a":-2.65825963,"mpcc_state":1,"mpcc_theta_e":0.447493076,"mpcc_theta_mech":0.556444526,"sam_rpm":5.64294863,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0132867992,"thr_a_norm":0.0132867992,"thr_a_v":0.553147197,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457624167,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.362541,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.82096052,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556751072,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.030476721,"mpcc_du":50.8962822,"mpcc_dv":48.1072693,"mpcc_dw":51.8927307,"mpcc_enc_sign":1,"mpcc_id_a":-0.53625679,"mpcc_iq_a":-1.5024699,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.438525826,"mpcc_pred_id_a":-0.540096223,"mpcc_pred_iq_a":-0.468805701,"mpcc_state":1,"mpcc_theta_e":0.449306011,"mpcc_theta_mech":0.556807101,"sam_rpm":0.212283015,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019807741,"thr_a_norm":0.019807741,"thr_a_v":0.579230964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475550473,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.372673,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.951108456,"cg_iw_a":-2.04546118,"cg_theta_rad":0.55491066,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.000651126669,"mpcc_du":49.991375,"mpcc_dv":49.2039604,"mpcc_dw":50.7960396,"mpcc_enc_sign":1,"mpcc_id_a":-0.177634463,"mpcc_iq_a":-2.7857585,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.89225245,"mpcc_pred_id_a":-0.651009023,"mpcc_pred_iq_a":-3.72787762,"mpcc_state":1,"mpcc_theta_e":0.445226192,"mpcc_theta_mech":0.555991113,"sam_rpm":-2.86135721,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021268025,"thr_a_norm":0.019807741,"thr_a_v":0.5850721,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465731293,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.382622,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.31354666,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556976259,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0246675368,"mpcc_du":49.4999313,"mpcc_dv":50.2145576,"mpcc_dw":50.5000687,"mpcc_enc_sign":1,"mpcc_id_a":1.36746228,"mpcc_iq_a":0.476908326,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.61963034,"mpcc_pred_id_a":-0.0947473347,"mpcc_pred_iq_a":-0.118100084,"mpcc_state":1,"mpcc_theta_e":0.434735775,"mpcc_theta_mech":0.553893089,"sam_rpm":5.09113121,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021268025,"thr_a_norm":0.021268025,"thr_a_v":0.5850721,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465731293,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.392693,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.31354666,"cg_iw_a":-0.740683556,"cg_theta_rad":0.55304414,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0881404504,"mpcc_du":49.0817795,"mpcc_dv":50.9182205,"mpcc_dw":51.9894905,"mpcc_enc_sign":1,"mpcc_id_a":4.08993721,"mpcc_iq_a":1.34005225,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":25.4326878,"mpcc_pred_id_a":0.853036821,"mpcc_pred_iq_a":-2.16365862,"mpcc_state":1,"mpcc_theta_e":0.46027422,"mpcc_theta_mech":0.55900079,"sam_rpm":38.7486649,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177431852,"thr_a_norm":0.0177431852,"thr_a_v":0.570972741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447956055,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.402916,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.153744221,"cg_iw_a":-1.75551033,"cg_theta_rad":0.553714395,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0607560463,"mpcc_du":50.1790123,"mpcc_dv":48.652874,"mpcc_dw":51.347126,"mpcc_enc_sign":1,"mpcc_id_a":3.17144823,"mpcc_iq_a":0.535186887,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.864703417,"mpcc_pred_id_a":0.179404095,"mpcc_pred_iq_a":-1.30350006,"mpcc_state":1,"mpcc_theta_e":0.443958282,"mpcc_theta_mech":0.555737615,"sam_rpm":-1.18714738,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177431852,"thr_a_norm":0.0177431852,"thr_a_v":0.570972741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447956055,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.426231,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.45852208,"cg_iw_a":-1.97297382,"cg_theta_rad":0.556612134,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0293470509,"mpcc_du":50.7694588,"mpcc_dv":47.7681046,"mpcc_dw":52.2318954,"mpcc_enc_sign":1,"mpcc_id_a":2.8927598,"mpcc_iq_a":0.331703633,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.0321503,"mpcc_pred_id_a":0.491643548,"mpcc_pred_iq_a":1.35487342,"mpcc_state":1,"mpcc_theta_e":0.431315899,"mpcc_theta_mech":0.553209066,"sam_rpm":-18.9629459,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245410949,"thr_a_norm":0.0245410949,"thr_a_v":0.59816438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490254045,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.432762,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.09608364,"cg_iw_a":-1.53804779,"cg_theta_rad":0.557857096,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0229761805,"mpcc_du":50.4226685,"mpcc_dv":48.2292366,"mpcc_dw":51.7707634,"mpcc_enc_sign":1,"mpcc_id_a":0.474713266,"mpcc_iq_a":-0.435425073,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.8841629,"mpcc_pred_id_a":0.400045127,"mpcc_pred_iq_a":-1.10132968,"mpcc_state":1,"mpcc_theta_e":0.446429729,"mpcc_theta_mech":0.556231856,"sam_rpm":-28.1995754,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0245410949,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450272381,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.439293,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.661157608,"cg_iw_a":-1.97297382,"cg_theta_rad":0.5562222,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.00318715349,"mpcc_du":49.6204605,"mpcc_dv":49.6440926,"mpcc_dw":50.3795395,"mpcc_enc_sign":1,"mpcc_id_a":-0.546548903,"mpcc_iq_a":-3.68282342,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.83096886,"mpcc_pred_id_a":-0.419093698,"mpcc_pred_iq_a":-2.40411639,"mpcc_state":1,"mpcc_theta_e":0.450598717,"mpcc_theta_mech":0.557065666,"sam_rpm":12.8524313,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450272381,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.445793,"values":{"cg_iu_a":-0.627813578,"cg_iv_a":-0.371207237,"cg_iw_a":0.999020815,"cg_theta_rad":0.558376849,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.000217194291,"mpcc_du":50.002327,"mpcc_dv":49.1740952,"mpcc_dw":50.3647842,"mpcc_enc_sign":1,"mpcc_id_a":-0.269759327,"mpcc_iq_a":-1.48684037,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.13932276,"mpcc_pred_id_a":-0.53364265,"mpcc_pred_iq_a":-2.26795125,"mpcc_state":1,"mpcc_theta_e":0.438476563,"mpcc_theta_mech":0.556119978,"sam_rpm":-6.18566847,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022602424,"thr_a_norm":0.022602424,"thr_a_v":0.590409696,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479276717,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.453728,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.371207237,"cg_iw_a":-0.885658741,"cg_theta_rad":0.555923581,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0111838728,"mpcc_du":50.4767418,"mpcc_dv":48.287056,"mpcc_dw":51.712944,"mpcc_enc_sign":1,"mpcc_id_a":1.87140751,"mpcc_iq_a":-1.01760566,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.36965978,"mpcc_pred_id_a":0.258353025,"mpcc_pred_iq_a":1.43537974,"mpcc_state":1,"mpcc_theta_e":0.440980434,"mpcc_theta_mech":0.555142045,"sam_rpm":-1.75493824,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022602424,"thr_a_norm":0.022602424,"thr_a_v":0.590409696,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479276717,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.463799,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.38603449,"cg_iw_a":0.0566811562,"cg_theta_rad":0.555003524,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0463545881,"mpcc_du":50.1201286,"mpcc_dv":48.6773643,"mpcc_dw":51.3226357,"mpcc_enc_sign":1,"mpcc_id_a":2.39227629,"mpcc_iq_a":-0.766645908,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.66457033,"mpcc_pred_id_a":0.390886009,"mpcc_pred_iq_a":-3.27820754,"mpcc_state":1,"mpcc_theta_e":0.44543314,"mpcc_theta_mech":0.556032538,"sam_rpm":-5.20920181,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022728309,"thr_a_norm":0.022728309,"thr_a_v":0.590913236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494685292,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.476097,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-2.18339872,"cg_iw_a":0.926532745,"cg_theta_rad":0.553832531,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.000199086702,"mpcc_du":49.6368561,"mpcc_dv":50.3631439,"mpcc_dw":50.3322144,"mpcc_enc_sign":1,"mpcc_id_a":-0.262041271,"mpcc_iq_a":-2.42620659,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.53259754,"mpcc_pred_id_a":-0.5054667,"mpcc_pred_iq_a":-4.58496857,"mpcc_state":1,"mpcc_theta_e":0.451121807,"mpcc_theta_mech":0.557170272,"sam_rpm":7.56062746,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295136124,"thr_a_norm":0.0295136124,"thr_a_v":0.61805445,"thr_b":0.00330395997,"thr_b_norm":0.00330395997,"thr_b_v":0.51321584,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.486137,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.878620625,"cg_iw_a":-1.90048599,"cg_theta_rad":0.555769742,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0611097105,"mpcc_du":49.7922173,"mpcc_dv":49.1561394,"mpcc_dw":50.8438606,"mpcc_enc_sign":1,"mpcc_id_a":1.5492202,"mpcc_iq_a":-2.62129164,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.2355585,"mpcc_pred_id_a":0.0219473466,"mpcc_pred_iq_a":-0.378243059,"mpcc_state":1,"mpcc_theta_e":0.423254967,"mpcc_theta_mech":0.55159688,"sam_rpm":-18.2836914,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295136124,"thr_a_norm":0.0295136124,"thr_a_v":0.61805445,"thr_b":0.00330395997,"thr_b_norm":0.00330395997,"thr_b_v":0.51321584,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.4963,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.31354666,"cg_iw_a":-0.16078186,"cg_theta_rad":0.553413987,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.00861869846,"mpcc_du":50.2039146,"mpcc_dv":49.033165,"mpcc_dw":50.966835,"mpcc_enc_sign":1,"mpcc_id_a":-0.284278721,"mpcc_iq_a":-2.6465354,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.444288015,"mpcc_pred_id_a":-0.807344675,"mpcc_pred_iq_a":-3.86609411,"mpcc_state":1,"mpcc_theta_e":0.449702263,"mpcc_theta_mech":0.556886375,"sam_rpm":-0.40855068,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184103847,"thr_a_norm":0.0184103847,"thr_a_v":0.573641539,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446395069,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.506279,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.878620625,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556232691,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0260506161,"mpcc_du":49.7218208,"mpcc_dv":49.1802521,"mpcc_dw":50.8197479,"mpcc_enc_sign":1,"mpcc_id_a":2.82663274,"mpcc_iq_a":-1.53845119,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.44053936,"mpcc_pred_id_a":0.319021791,"mpcc_pred_iq_a":-2.57411575,"mpcc_state":1,"mpcc_theta_e":0.447656155,"mpcc_theta_mech":0.556477189,"sam_rpm":4.81556368,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182719231,"thr_a_norm":0.0184103847,"thr_a_v":0.573087692,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456415653,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.52935,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.24105906,"cg_iw_a":-0.595708132,"cg_theta_rad":0.557055235,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0114113698,"mpcc_du":49.1656036,"mpcc_dv":50.8343964,"mpcc_dw":49.8398438,"mpcc_enc_sign":1,"mpcc_id_a":2.01858449,"mpcc_iq_a":-1.88620627,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.33647156,"mpcc_pred_id_a":-0.259098411,"mpcc_pred_iq_a":-5.48428583,"mpcc_state":1,"mpcc_theta_e":0.445243835,"mpcc_theta_mech":0.555994689,"sam_rpm":6.95058918,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182719231,"thr_a_norm":0.0182719231,"thr_a_v":0.573087692,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456415653,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.535851,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.740683556,"cg_theta_rad":0.55793047,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0300584435,"mpcc_du":49.3702583,"mpcc_dv":50.6297417,"mpcc_dw":50.117012,"mpcc_enc_sign":1,"mpcc_id_a":2.11716294,"mpcc_iq_a":-1.17160845,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.7254591,"mpcc_pred_id_a":-0.112673447,"mpcc_pred_iq_a":-5.6376133,"mpcc_state":1,"mpcc_theta_e":0.455210209,"mpcc_theta_mech":0.557987928,"sam_rpm":17.9390888,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276756734,"thr_a_norm":0.0276756734,"thr_a_v":0.610702693,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489700168,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.542351,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.588670254,"cg_iw_a":-1.90048599,"cg_theta_rad":0.554355621,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0175555758,"mpcc_du":49.6129532,"mpcc_dv":49.5575447,"mpcc_dw":50.4424553,"mpcc_enc_sign":1,"mpcc_id_a":0.666722536,"mpcc_iq_a":-0.174819753,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.77957535,"mpcc_pred_id_a":-0.259101331,"mpcc_pred_iq_a":-2.98475218,"mpcc_state":1,"mpcc_theta_e":0.445611477,"mpcc_theta_mech":0.556068182,"sam_rpm":7.41688776,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276756734,"thr_a_norm":0.0276756734,"thr_a_v":0.610702693,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489700168,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.548912,"values":{"cg_iu_a":0.966915131,"cg_iv_a":0.643620491,"cg_iw_a":-1.61053562,"cg_theta_rad":0.55586189,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0193804689,"mpcc_du":50.8633537,"mpcc_dv":47.5537987,"mpcc_dw":52.4462013,"mpcc_enc_sign":1,"mpcc_id_a":2.73119545,"mpcc_iq_a":-1.40938485,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.1258698,"mpcc_pred_id_a":0.613495171,"mpcc_pred_iq_a":1.51300979,"mpcc_state":1,"mpcc_theta_e":0.423219681,"mpcc_theta_mech":0.551589847,"sam_rpm":-28.5515556,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215827376,"thr_a_norm":0.0215827376,"thr_a_v":0.58633095,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475147605,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.557274,"values":{"cg_iu_a":1.32935333,"cg_iv_a":0.136206627,"cg_iw_a":-1.46555996,"cg_theta_rad":0.554424524,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0211324487,"mpcc_du":49.9846268,"mpcc_dv":48.9457741,"mpcc_dw":51.0542259,"mpcc_enc_sign":1,"mpcc_id_a":1.76200938,"mpcc_iq_a":-0.740458369,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0820330679,"mpcc_pred_id_a":0.0146548823,"mpcc_pred_iq_a":-1.87925482,"mpcc_state":1,"mpcc_theta_e":0.443763733,"mpcc_theta_mech":0.557254732,"sam_rpm":0.541680098,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246543884,"thr_a_norm":0.0215827376,"thr_a_v":0.598617554,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477061093,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.567284,"values":{"cg_iu_a":2.05423021,"cg_iv_a":0.136206627,"cg_iw_a":-2.19043684,"cg_theta_rad":0.553773522,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0190489721,"mpcc_du":49.976841,"mpcc_dv":48.7823639,"mpcc_dw":51.2176361,"mpcc_enc_sign":1,"mpcc_id_a":1.9530735,"mpcc_iq_a":-0.842935145,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.80134249,"mpcc_pred_id_a":0.291593283,"mpcc_pred_iq_a":1.48347509,"mpcc_state":1,"mpcc_theta_e":0.429028511,"mpcc_theta_mech":0.55275166,"sam_rpm":-9.61873341,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246543884,"thr_a_norm":0.0246543884,"thr_a_v":0.598617554,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477061093,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.577293,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.806133032,"cg_iw_a":-1.03063416,"cg_theta_rad":0.555912614,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.010379524,"mpcc_du":49.767189,"mpcc_dv":49.0835686,"mpcc_dw":50.9164314,"mpcc_enc_sign":1,"mpcc_id_a":1.83126283,"mpcc_iq_a":-1.960379,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.19995451,"mpcc_pred_id_a":0.307674825,"mpcc_pred_iq_a":-1.83061779,"mpcc_state":1,"mpcc_theta_e":0.437307358,"mpcc_theta_mech":0.554407418,"sam_rpm":-7.65499544,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0420015901,"thr_a_norm":0.0420015901,"thr_a_v":0.668006361,"thr_b":0.0136141032,"thr_b_norm":0.0136141032,"thr_b_v":0.554456413,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.58709,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.516182423,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556553602,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0353646427,"mpcc_du":48.5665054,"mpcc_dv":51.4334946,"mpcc_dw":49.4013901,"mpcc_enc_sign":1,"mpcc_id_a":2.88255668,"mpcc_iq_a":-0.110549748,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":21.4641113,"mpcc_pred_id_a":0.409078002,"mpcc_pred_iq_a":-5.1949811,"mpcc_state":1,"mpcc_theta_e":0.458191395,"mpcc_theta_mech":0.558584213,"sam_rpm":32.3209152,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0420015901,"thr_a_norm":0.0420015901,"thr_a_v":0.668006361,"thr_b":0.0136141032,"thr_b_norm":0.0136141032,"thr_b_v":0.554456413,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.597282,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.02359605,"cg_iw_a":-1.97297382,"cg_theta_rad":0.556791127,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0309344139,"mpcc_du":49.407196,"mpcc_dv":49.9589539,"mpcc_dw":50.592804,"mpcc_enc_sign":1,"mpcc_id_a":3.28284264,"mpcc_iq_a":0.658611357,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.17355609,"mpcc_pred_id_a":0.786417484,"mpcc_pred_iq_a":-0.169076487,"mpcc_state":1,"mpcc_theta_e":0.43143034,"mpcc_theta_mech":0.553231955,"sam_rpm":7.71210003,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205504745,"thr_a_norm":0.0205504745,"thr_a_v":0.582201898,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461400777,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.607506,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.24105906,"cg_iw_a":-0.595708132,"cg_theta_rad":0.558024287,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.00839855243,"mpcc_du":49.5558548,"mpcc_dv":49.460392,"mpcc_dw":50.539608,"mpcc_enc_sign":1,"mpcc_id_a":1.48773277,"mpcc_iq_a":-0.474126726,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.2214584,"mpcc_pred_id_a":0.0631262809,"mpcc_pred_iq_a":-1.83280432,"mpcc_state":1,"mpcc_theta_e":0.445557594,"mpcc_theta_mech":0.556057394,"sam_rpm":15.7446384,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254600644,"thr_a_norm":0.0205504745,"thr_a_v":0.601840258,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483657569,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.630547,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-3.12573838,"cg_iw_a":1.36145902,"cg_theta_rad":0.555873454,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.00419464335,"mpcc_du":48.8371887,"mpcc_dv":51.1628113,"mpcc_dw":49.4194794,"mpcc_enc_sign":1,"mpcc_id_a":0.693908632,"mpcc_iq_a":-1.62767637,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.18921471,"mpcc_pred_id_a":-0.398702323,"mpcc_pred_iq_a":-5.36042356,"mpcc_state":1,"mpcc_theta_e":0.447033882,"mpcc_theta_mech":0.556352675,"sam_rpm":12.7833881,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254600644,"thr_a_norm":0.0254600644,"thr_a_v":0.601840258,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483657569,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.637077,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.661157608,"cg_iw_a":-0.59570837,"cg_theta_rad":0.557757437,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0294367895,"mpcc_du":49.5313873,"mpcc_dv":49.4143028,"mpcc_dw":50.5856972,"mpcc_enc_sign":1,"mpcc_id_a":2.08845878,"mpcc_iq_a":-1.39414096,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.6166601,"mpcc_pred_id_a":0.345160693,"mpcc_pred_iq_a":-2.16043806,"mpcc_state":1,"mpcc_theta_e":0.456511021,"mpcc_theta_mech":0.557588458,"sam_rpm":19.5243454,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162577182,"thr_a_norm":0.0162577182,"thr_a_v":0.565030873,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.643547,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.443694592,"cg_iw_a":-1.68302321,"cg_theta_rad":0.559952736,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0114308996,"mpcc_du":50.3921051,"mpcc_dv":48.45158,"mpcc_dw":51.54842,"mpcc_enc_sign":1,"mpcc_id_a":2.07553029,"mpcc_iq_a":-1.43521309,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.08099365,"mpcc_pred_id_a":0.077247709,"mpcc_pred_iq_a":0.74222362,"mpcc_state":1,"mpcc_theta_e":0.440006733,"mpcc_theta_mech":0.554947257,"sam_rpm":-2.94660473,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162577182,"thr_a_norm":0.0162577182,"thr_a_v":0.565030873,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.650108,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.6759851,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556212664,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0108626466,"mpcc_du":50.4537621,"mpcc_dv":48.3385124,"mpcc_dw":51.6614876,"mpcc_enc_sign":1,"mpcc_id_a":1.97354019,"mpcc_iq_a":-1.14360487,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.98467588,"mpcc_pred_id_a":0.131605178,"mpcc_pred_iq_a":-0.0178393908,"mpcc_state":1,"mpcc_theta_e":0.435105801,"mpcc_theta_mech":0.553967059,"sam_rpm":-11.8144989,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0169501007,"thr_a_norm":0.0169501007,"thr_a_v":0.567800403,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446848273,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.658501,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.38603449,"cg_iw_a":-0.958146095,"cg_theta_rad":0.555859447,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0219113752,"mpcc_du":49.3769264,"mpcc_dv":50.6230736,"mpcc_dw":50.0022659,"mpcc_enc_sign":1,"mpcc_id_a":0.34662047,"mpcc_iq_a":0.163269371,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.73519182,"mpcc_pred_id_a":-0.518767834,"mpcc_pred_iq_a":-6.15851021,"mpcc_state":1,"mpcc_theta_e":0.446834564,"mpcc_theta_mech":0.556312799,"sam_rpm":6.8517499,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296017379,"thr_a_norm":0.0169501007,"thr_a_v":0.618406951,"thr_b":0.00311513245,"thr_b_norm":0,"thr_b_v":0.51246053,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.66848,"values":{"cg_iu_a":2.05423021,"cg_iv_a":0.0637187958,"cg_iw_a":-2.11794901,"cg_theta_rad":0.554119766,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0748413503,"mpcc_du":50.4522324,"mpcc_dv":48.2310753,"mpcc_dw":51.7689247,"mpcc_enc_sign":1,"mpcc_id_a":3.45536304,"mpcc_iq_a":-0.384341657,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.07467175,"mpcc_pred_id_a":0.450576246,"mpcc_pred_iq_a":-1.81538141,"mpcc_state":1,"mpcc_theta_e":0.44303894,"mpcc_theta_mech":0.555553734,"sam_rpm":-6.51773119,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296017379,"thr_a_norm":0.0296017379,"thr_a_v":0.618406951,"thr_b":0.00311513245,"thr_b_norm":0.00311513245,"thr_b_v":0.51246053,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.678734,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.806133032,"cg_iw_a":-2.26292443,"cg_theta_rad":0.557334185,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0539869741,"mpcc_du":49.9192238,"mpcc_dv":48.8852272,"mpcc_dw":51.1147728,"mpcc_enc_sign":1,"mpcc_id_a":0.894647539,"mpcc_iq_a":-1.95829606,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.86524487,"mpcc_pred_id_a":0.294551373,"mpcc_pred_iq_a":1.50128198,"mpcc_state":1,"mpcc_theta_e":0.422741413,"mpcc_theta_mech":0.551494181,"sam_rpm":-16.771986,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247173309,"thr_a_norm":0.0247173309,"thr_a_v":0.598869324,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483556867,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.688499,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.878620625,"cg_iw_a":0.12916851,"cg_theta_rad":0.556870818,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0872842968,"mpcc_du":49.9411049,"mpcc_dv":49.0754128,"mpcc_dw":50.9245872,"mpcc_enc_sign":1,"mpcc_id_a":1.53895891,"mpcc_iq_a":0.476678312,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.78838968,"mpcc_pred_id_a":-0.102678135,"mpcc_pred_iq_a":0.0744247288,"mpcc_state":1,"mpcc_theta_e":0.444553852,"mpcc_theta_mech":0.555856705,"sam_rpm":-2.99346757,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247173309,"thr_a_norm":0.0247173309,"thr_a_v":0.598869324,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483556867,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.698875,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.806133032,"cg_iw_a":-2.04546142,"cg_theta_rad":0.557006121,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0212924685,"mpcc_du":49.4580994,"mpcc_dv":49.8080215,"mpcc_dw":50.5419006,"mpcc_enc_sign":1,"mpcc_id_a":2.39067626,"mpcc_iq_a":-1.62001932,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.663470566,"mpcc_pred_id_a":0.401458949,"mpcc_pred_iq_a":-2.08771467,"mpcc_state":1,"mpcc_theta_e":0.436892509,"mpcc_theta_mech":0.554324389,"sam_rpm":-2.06537676,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220862925,"thr_a_norm":0.0220862925,"thr_a_v":0.58834517,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469507903,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.709099,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.74847269,"cg_iw_a":-1.39307261,"cg_theta_rad":0.556787431,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.00687810034,"mpcc_du":49.6112556,"mpcc_dv":50.3887444,"mpcc_dw":50.3339348,"mpcc_enc_sign":1,"mpcc_id_a":0.209076166,"mpcc_iq_a":-0.64465332,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.888327062,"mpcc_pred_id_a":-0.415663362,"mpcc_pred_iq_a":-2.34942317,"mpcc_state":1,"mpcc_theta_e":0.431446552,"mpcc_theta_mech":0.553235233,"sam_rpm":-2.20175362,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182467401,"thr_a_norm":0.0220862925,"thr_a_v":0.57298696,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.731926,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.96593571,"cg_iw_a":-0.523220539,"cg_theta_rad":0.556870997,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.00460899714,"mpcc_du":50.2319794,"mpcc_dv":48.6756248,"mpcc_dw":51.3243752,"mpcc_enc_sign":1,"mpcc_id_a":1.02184427,"mpcc_iq_a":-2.47124052,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.88911152,"mpcc_pred_id_a":-0.0507856384,"mpcc_pred_iq_a":-1.67327321,"mpcc_state":1,"mpcc_theta_e":0.442574024,"mpcc_theta_mech":0.555460751,"sam_rpm":-3.05648732,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182467401,"thr_a_norm":0.0182467401,"thr_a_v":0.57298696,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.738426,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.951108456,"cg_iw_a":-0.523220539,"cg_theta_rad":0.559482217,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0423643738,"mpcc_du":49.5235138,"mpcc_dv":49.8081512,"mpcc_dw":50.4764862,"mpcc_enc_sign":1,"mpcc_id_a":2.18693423,"mpcc_iq_a":-1.02942371,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.7084045,"mpcc_pred_id_a":0.133309945,"mpcc_pred_iq_a":-3.08501744,"mpcc_state":1,"mpcc_theta_e":0.458943367,"mpcc_theta_mech":0.558734596,"sam_rpm":22.9109001,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024138242,"thr_a_norm":0.024138242,"thr_a_v":0.596552968,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473788053,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.744957,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.443694592,"cg_iw_a":-1.10312176,"cg_theta_rad":0.554524541,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0105397711,"mpcc_du":49.4713631,"mpcc_dv":49.7588234,"mpcc_dw":50.5286369,"mpcc_enc_sign":1,"mpcc_id_a":1.9997977,"mpcc_iq_a":-1.75021195,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.23393536,"mpcc_pred_id_a":0.390684396,"mpcc_pred_iq_a":-2.22072911,"mpcc_state":1,"mpcc_theta_e":0.449504375,"mpcc_theta_mech":0.556846797,"sam_rpm":11.8714342,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024138242,"thr_a_norm":0.024138242,"thr_a_v":0.596552968,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473788053,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.752769,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.31354666,"cg_iw_a":-3.27775145,"cg_theta_rad":0.553242147,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0179531313,"mpcc_du":49.554493,"mpcc_dv":49.3254967,"mpcc_dw":50.6745033,"mpcc_enc_sign":1,"mpcc_id_a":1.44075882,"mpcc_iq_a":-0.403696269,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.01328993,"mpcc_pred_id_a":0.208814904,"mpcc_pred_iq_a":-4.54616737,"mpcc_state":1,"mpcc_theta_e":0.44456768,"mpcc_theta_mech":0.555859447,"sam_rpm":15.2867041,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459336251,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.763969,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.38603449,"cg_iw_a":0.201656342,"cg_theta_rad":0.558201313,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0178080983,"mpcc_du":49.8930893,"mpcc_dv":49.2052956,"mpcc_dw":50.7947044,"mpcc_enc_sign":1,"mpcc_id_a":0.727331042,"mpcc_iq_a":-1.55349576,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0716720149,"mpcc_pred_id_a":-0.290371656,"mpcc_pred_iq_a":-3.98509979,"mpcc_state":1,"mpcc_theta_e":0.448812008,"mpcc_theta_mech":0.556708276,"sam_rpm":4.90444136,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212554336,"thr_a_norm":0.0212554336,"thr_a_v":0.585021734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460444033,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.773857,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.588670254,"cg_iw_a":-0.523220062,"cg_theta_rad":0.554282129,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.00712012919,"mpcc_du":50.648632,"mpcc_dv":48.1241074,"mpcc_dw":51.8758926,"mpcc_enc_sign":1,"mpcc_id_a":0.888150513,"mpcc_iq_a":-1.24086475,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.73448849,"mpcc_pred_id_a":0.0284270067,"mpcc_pred_iq_a":-0.470396489,"mpcc_state":1,"mpcc_theta_e":0.436336994,"mpcc_theta_mech":0.554213285,"sam_rpm":-14.4861565,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212554336,"thr_a_norm":0.0212554336,"thr_a_v":0.585021734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460444033,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.784172,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.02359605,"cg_iw_a":0.129168749,"cg_theta_rad":0.552650869,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0391996466,"mpcc_du":49.5847626,"mpcc_dv":50.0131531,"mpcc_dw":50.4152374,"mpcc_enc_sign":1,"mpcc_id_a":1.59991562,"mpcc_iq_a":-1.92017007,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.0783424,"mpcc_pred_id_a":-0.193667606,"mpcc_pred_iq_a":-5.02373552,"mpcc_state":1,"mpcc_theta_e":0.445996761,"mpcc_theta_mech":0.556145251,"sam_rpm":21.0890522,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0158674717,"thr_a_norm":0.0158674717,"thr_a_v":0.563469887,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472176731,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.794273,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.806133032,"cg_iw_a":0.0566811562,"cg_theta_rad":0.556275547,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.000847437186,"mpcc_du":49.6727676,"mpcc_dv":49.3797188,"mpcc_dw":50.6202812,"mpcc_enc_sign":1,"mpcc_id_a":0.323685318,"mpcc_iq_a":-3.40094161,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.449507773,"mpcc_pred_id_a":-0.262296259,"mpcc_pred_iq_a":-5.10061693,"mpcc_state":1,"mpcc_theta_e":0.447785378,"mpcc_theta_mech":0.555890083,"sam_rpm":-0.535264313,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221366435,"thr_a_norm":0.0158674717,"thr_a_v":0.588546574,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473737687,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.804161,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.443694592,"cg_iw_a":-2.48038769,"cg_theta_rad":0.556188464,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0283802673,"mpcc_du":50.5785828,"mpcc_dv":50.6382179,"mpcc_dw":50.0769768,"mpcc_enc_sign":1,"mpcc_id_a":2.43484235,"mpcc_iq_a":-1.18269122,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.3489332,"mpcc_pred_id_a":0.556261659,"mpcc_pred_iq_a":-1.06293678,"mpcc_state":1,"mpcc_theta_e":0.438211441,"mpcc_theta_mech":0.557195008,"sam_rpm":-14.9566183,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221366435,"thr_a_norm":0.0221366435,"thr_a_v":0.588546574,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473737687,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.827538,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-0.516182423,"cg_iw_a":-2.77033806,"cg_theta_rad":0.556936145,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.00516504515,"mpcc_du":49.9484634,"mpcc_dv":49.2021179,"mpcc_dw":50.7978821,"mpcc_enc_sign":1,"mpcc_id_a":-0.0849162489,"mpcc_iq_a":-0.742823243,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.334768713,"mpcc_pred_id_a":-0.466819704,"mpcc_pred_iq_a":-1.98784566,"mpcc_state":1,"mpcc_theta_e":0.443487644,"mpcc_theta_mech":0.555643439,"sam_rpm":0.792682946,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206763595,"thr_a_norm":0.0206763595,"thr_a_v":0.582705438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.834038,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.53100967,"cg_iw_a":-1.39307261,"cg_theta_rad":0.556394875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0255793203,"mpcc_du":49.4360809,"mpcc_dv":50.5639191,"mpcc_dw":50.2460403,"mpcc_enc_sign":1,"mpcc_id_a":1.88170195,"mpcc_iq_a":-0.160368413,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.91929722,"mpcc_pred_id_a":-0.00895384513,"mpcc_pred_iq_a":-5.05917978,"mpcc_state":1,"mpcc_theta_e":0.449775219,"mpcc_theta_mech":0.556900918,"sam_rpm":11.3358259,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166605562,"thr_a_norm":0.0206763595,"thr_a_v":0.566642225,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473284513,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.840538,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.733645439,"cg_iw_a":-0.015806675,"cg_theta_rad":0.554150045,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0094148526,"mpcc_du":49.6788254,"mpcc_dv":49.4174995,"mpcc_dw":50.5825005,"mpcc_enc_sign":1,"mpcc_id_a":1.93499696,"mpcc_iq_a":-1.89290369,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.85800982,"mpcc_pred_id_a":-0.103719898,"mpcc_pred_iq_a":-1.31395924,"mpcc_state":1,"mpcc_theta_e":0.445319176,"mpcc_theta_mech":0.556009769,"sam_rpm":8.36493015,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166605562,"thr_a_norm":0.0166605562,"thr_a_v":0.566642225,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473284513,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.848503,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-2.76329994,"cg_iw_a":0.926532745,"cg_theta_rad":0.556790888,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.00653063552,"mpcc_du":49.4659691,"mpcc_dv":50.5340309,"mpcc_dw":50.0840492,"mpcc_enc_sign":1,"mpcc_id_a":-0.580072105,"mpcc_iq_a":-2.96372914,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.53762317,"mpcc_pred_id_a":-0.563669622,"mpcc_pred_iq_a":-4.79993868,"mpcc_state":1,"mpcc_theta_e":0.444067001,"mpcc_theta_mech":0.555759311,"sam_rpm":4.81501627,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257621855,"thr_a_norm":0.0257621855,"thr_a_v":0.603048742,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485117882,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.858849,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.16857147,"cg_iw_a":-0.378244877,"cg_theta_rad":0.556379974,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.00973609649,"mpcc_du":49.8931808,"mpcc_dv":49.1430626,"mpcc_dw":50.8569374,"mpcc_enc_sign":1,"mpcc_id_a":0.00998297893,"mpcc_iq_a":-1.09706485,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.19299865,"mpcc_pred_id_a":-0.148834527,"mpcc_pred_iq_a":-2.01932406,"mpcc_state":1,"mpcc_theta_e":0.443642139,"mpcc_theta_mech":0.555674314,"sam_rpm":3.63867474,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0257621855,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456314951,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.868889,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.02359605,"cg_iw_a":-3.1327765,"cg_theta_rad":0.556362867,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0252598617,"mpcc_du":50.533474,"mpcc_dv":48.0972824,"mpcc_dw":51.9027176,"mpcc_enc_sign":1,"mpcc_id_a":3.07944918,"mpcc_iq_a":-0.828697145,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.11039448,"mpcc_pred_id_a":0.422219545,"mpcc_pred_iq_a":1.41508627,"mpcc_state":1,"mpcc_theta_e":0.435615063,"mpcc_theta_mech":0.554068923,"sam_rpm":-9.13103962,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456314951,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.880058,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.443694592,"cg_iw_a":-0.523220539,"cg_theta_rad":0.562120378,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.00923871808,"mpcc_du":49.6610985,"mpcc_dv":49.2295074,"mpcc_dw":50.7704926,"mpcc_enc_sign":1,"mpcc_id_a":1.9217751,"mpcc_iq_a":-0.56771791,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.53628826,"mpcc_pred_id_a":0.340034306,"mpcc_pred_iq_a":-2.49537659,"mpcc_state":1,"mpcc_theta_e":0.436013699,"mpcc_theta_mech":0.554148674,"sam_rpm":-10.7660227,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023861289,"thr_a_norm":0.023861289,"thr_a_v":0.595445156,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469054729,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.891289,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.45852208,"cg_iw_a":-1.32058477,"cg_theta_rad":0.556766868,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0266192183,"mpcc_du":49.1483421,"mpcc_dv":50.8516579,"mpcc_dw":49.6463661,"mpcc_enc_sign":1,"mpcc_id_a":-0.14973335,"mpcc_iq_a":-2.42209983,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.94262409,"mpcc_pred_id_a":-0.800386012,"mpcc_pred_iq_a":-4.26005363,"mpcc_state":1,"mpcc_theta_e":0.43921566,"mpcc_theta_mech":0.554789007,"sam_rpm":2.95808005,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0287457108,"thr_a_norm":0.023861289,"thr_a_v":0.614982843,"thr_b":0.00269970298,"thr_b_norm":0,"thr_b_v":0.510798812,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.901482,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.661157608,"cg_iw_a":-1.39307261,"cg_theta_rad":0.553165853,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0153769124,"mpcc_du":49.6029015,"mpcc_dv":49.7149734,"mpcc_dw":50.3970985,"mpcc_enc_sign":1,"mpcc_id_a":0.922504127,"mpcc_iq_a":-0.813098133,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.17401361,"mpcc_pred_id_a":-0.342168748,"mpcc_pred_iq_a":-3.68010306,"mpcc_state":1,"mpcc_theta_e":0.450128078,"mpcc_theta_mech":0.55697155,"sam_rpm":9.0470438,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0287457108,"thr_a_norm":0.0287457108,"thr_a_v":0.614982843,"thr_b":0.00269970298,"thr_b_norm":0.00269970298,"thr_b_v":0.510798812,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.911888,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.38603449,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556432784,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0324866846,"mpcc_du":49.5521774,"mpcc_dv":49.6968727,"mpcc_dw":50.4478226,"mpcc_enc_sign":1,"mpcc_id_a":1.72824144,"mpcc_iq_a":-1.63529384,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.25951862,"mpcc_pred_id_a":-0.0519560874,"mpcc_pred_iq_a":-4.5177598,"mpcc_state":1,"mpcc_theta_e":0.455891132,"mpcc_theta_mech":0.558124185,"sam_rpm":14.683732,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0128713697,"thr_a_norm":0.0128713697,"thr_a_v":0.551485479,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444682986,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.934898,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.661157608,"cg_iw_a":0.0566806793,"cg_theta_rad":0.556398451,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0130263148,"mpcc_du":49.7461472,"mpcc_dv":49.1672325,"mpcc_dw":50.8327675,"mpcc_enc_sign":1,"mpcc_id_a":1.65644968,"mpcc_iq_a":0.0586615726,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.59078741,"mpcc_pred_id_a":0.30807972,"mpcc_pred_iq_a":-2.10751104,"mpcc_state":1,"mpcc_theta_e":0.439156055,"mpcc_theta_mech":0.554777086,"sam_rpm":-3.9669342,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0128713697,"thr_a_norm":0.0128713697,"thr_a_v":0.551485479,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444682986,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.941399,"values":{"cg_iu_a":4.95373726,"cg_iv_a":-0.733645439,"cg_iw_a":-1.17560911,"cg_theta_rad":0.553408384,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.00834584795,"mpcc_du":49.7237091,"mpcc_dv":49.2759895,"mpcc_dw":50.7240105,"mpcc_enc_sign":1,"mpcc_id_a":1.58897531,"mpcc_iq_a":-1.10896409,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.56547356,"mpcc_pred_id_a":0.120083824,"mpcc_pred_iq_a":-3.73068166,"mpcc_state":1,"mpcc_theta_e":0.437793732,"mpcc_theta_mech":0.554504633,"sam_rpm":-8.66998196,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019807741,"thr_a_norm":0.019807741,"thr_a_v":0.579230964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483556867,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.94796,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.53100967,"cg_iw_a":0.491606712,"cg_theta_rad":0.55613327,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0175267495,"mpcc_du":49.8615074,"mpcc_dv":49.0885239,"mpcc_dw":50.9114761,"mpcc_enc_sign":1,"mpcc_id_a":2.64016843,"mpcc_iq_a":-0.562341869,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.0843191,"mpcc_pred_id_a":0.0707969815,"mpcc_pred_iq_a":-2.99060512,"mpcc_state":1,"mpcc_theta_e":0.430195332,"mpcc_theta_mech":0.552985013,"sam_rpm":-17.5090752,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019807741,"thr_a_norm":0.019807741,"thr_a_v":0.579230964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483556867,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.95446,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.38603449,"cg_iw_a":0.12916851,"cg_theta_rad":0.556876957,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.038159851,"mpcc_du":48.7238083,"mpcc_dv":51.2761917,"mpcc_dw":49.4869537,"mpcc_enc_sign":1,"mpcc_id_a":1.08490479,"mpcc_iq_a":-0.134806544,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":19.9074306,"mpcc_pred_id_a":0.190517753,"mpcc_pred_iq_a":-6.65115309,"mpcc_state":1,"mpcc_theta_e":0.438780308,"mpcc_theta_mech":0.554701984,"sam_rpm":29.602087,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271343589,"thr_a_norm":0.0271343589,"thr_a_v":0.608537436,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49156329,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.962456,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.96593571,"cg_iw_a":1.43394661,"cg_theta_rad":0.556712031,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.00933523383,"mpcc_du":51.1971626,"mpcc_dv":47.1921959,"mpcc_dw":52.8078041,"mpcc_enc_sign":1,"mpcc_id_a":1.91303134,"mpcc_iq_a":-2.51424837,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.7122154,"mpcc_pred_id_a":0.513365746,"mpcc_pred_iq_a":1.00193322,"mpcc_state":1,"mpcc_theta_e":0.424723148,"mpcc_theta_mech":0.551890552,"sam_rpm":-31.7452469,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208777785,"thr_a_norm":0.0271343589,"thr_a_v":0.583511114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461652547,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.972466,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.53100967,"cg_iw_a":-0.523220539,"cg_theta_rad":0.553150117,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0636236742,"mpcc_du":50.3076668,"mpcc_dv":48.4155083,"mpcc_dw":51.5844917,"mpcc_enc_sign":1,"mpcc_id_a":2.49407673,"mpcc_iq_a":-1.05932486,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.656437397,"mpcc_pred_id_a":0.446081638,"mpcc_pred_iq_a":-2.53525233,"mpcc_state":1,"mpcc_theta_e":0.44949913,"mpcc_theta_mech":0.556845784,"sam_rpm":0.155187383,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208777785,"thr_a_norm":0.0208777785,"thr_a_v":0.583511114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461652547,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.982689,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.951108456,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556608975,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.00776289264,"mpcc_du":49.7836533,"mpcc_dv":49.053154,"mpcc_dw":50.946846,"mpcc_enc_sign":1,"mpcc_id_a":1.54752767,"mpcc_iq_a":0.345320702,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.58231032,"mpcc_pred_id_a":0.405597359,"mpcc_pred_iq_a":-0.311427146,"mpcc_state":1,"mpcc_theta_e":0.436054707,"mpcc_theta_mech":0.55553937,"sam_rpm":-2.5035615,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197447985,"thr_a_norm":0.0197447985,"thr_a_v":0.578979194,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":98.994652,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.806133032,"cg_iw_a":-0.378245115,"cg_theta_rad":0.554152906,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5000,"hz_app_loop":367,"hz_tim_isr":9998,"hz_vsense":367,"mpcc_cost":0.0330371149,"mpcc_du":50.0097504,"mpcc_dv":48.9884949,"mpcc_dw":51.0115051,"mpcc_enc_sign":1,"mpcc_id_a":1.72736835,"mpcc_iq_a":-1.48028708,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.481921375,"mpcc_pred_id_a":-0.0994350836,"mpcc_pred_iq_a":-3.80612898,"mpcc_state":1,"mpcc_theta_e":0.449875832,"mpcc_theta_mech":0.557100534,"sam_rpm":1.39047837,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0410322696,"thr_a_norm":0.0197447985,"thr_a_v":0.664129078,"thr_b":0.0100892633,"thr_b_norm":0,"thr_b_v":0.540357053,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.005272,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-1.82096052,"cg_iw_a":-2.33541203,"cg_theta_rad":0.552375317,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.00127263216,"mpcc_du":49.4905052,"mpcc_dv":49.4908447,"mpcc_dw":50.5094948,"mpcc_enc_sign":1,"mpcc_id_a":0.322997212,"mpcc_iq_a":-0.56348145,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.60136151,"mpcc_pred_id_a":0.224213362,"mpcc_pred_iq_a":-1.09502459,"mpcc_state":1,"mpcc_theta_e":0.439322948,"mpcc_theta_mech":0.554810524,"sam_rpm":0.625860512,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0410322696,"thr_a_norm":0.0410322696,"thr_a_v":0.664129078,"thr_b":0.0100892633,"thr_b_norm":0.0100892633,"thr_b_v":0.540357053,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.015556,"values":{"cg_iu_a":0.531989098,"cg_iv_a":0.136206627,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556296468,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0102241347,"mpcc_du":49.6548157,"mpcc_dv":49.232254,"mpcc_dw":50.767746,"mpcc_enc_sign":1,"mpcc_id_a":1.95526183,"mpcc_iq_a":-1.87916672,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.6841979,"mpcc_pred_id_a":0.393956184,"mpcc_pred_iq_a":-3.83547568,"mpcc_state":1,"mpcc_theta_e":0.4345541,"mpcc_theta_mech":0.55385673,"sam_rpm":-7.45915031,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451279461,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.038689,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.6759851,"cg_iw_a":0.854045391,"cg_theta_rad":0.556328714,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.00115928473,"mpcc_du":51.1553383,"mpcc_dv":47.6378517,"mpcc_dw":49.736248,"mpcc_enc_sign":1,"mpcc_id_a":0.0934916362,"mpcc_iq_a":-0.728037477,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.0040369,"mpcc_pred_id_a":-0.316991508,"mpcc_pred_iq_a":1.89101565,"mpcc_state":1,"mpcc_theta_e":0.427650452,"mpcc_theta_mech":0.552476048,"sam_rpm":-22.102396,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451279461,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.045219,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.60349751,"cg_iw_a":0.926533222,"cg_theta_rad":0.556609809,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.00670321286,"mpcc_du":49.3453712,"mpcc_dv":50.6546288,"mpcc_dw":50.0651932,"mpcc_enc_sign":1,"mpcc_id_a":1.61312079,"mpcc_iq_a":-2.06317306,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.50418591,"mpcc_pred_id_a":-0.1505896,"mpcc_pred_iq_a":-6.31438971,"mpcc_state":1,"mpcc_theta_e":0.429083824,"mpcc_theta_mech":0.552762687,"sam_rpm":3.26134324,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0298409164,"thr_a_norm":0.0298409164,"thr_a_v":0.619363666,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466990143,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.05175,"values":{"cg_iu_a":0.894427299,"cg_iv_a":0.426157475,"cg_iw_a":-1.32058477,"cg_theta_rad":0.556678057,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0227843542,"mpcc_du":50.3311996,"mpcc_dv":48.4702721,"mpcc_dw":51.5297279,"mpcc_enc_sign":1,"mpcc_id_a":1.59125662,"mpcc_iq_a":0.789185047,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.81419277,"mpcc_pred_id_a":0.232915357,"mpcc_pred_iq_a":-1.06893265,"mpcc_state":1,"mpcc_theta_e":0.433990955,"mpcc_theta_mech":0.553744078,"sam_rpm":-14.970685,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0298409164,"thr_a_norm":0.0298409164,"thr_a_v":0.619363666,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466990143,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.05825,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":-0.661157608,"cg_iw_a":-2.11794901,"cg_theta_rad":0.55640161,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.011584972,"mpcc_du":49.8366203,"mpcc_dv":49.2196121,"mpcc_dw":50.7803879,"mpcc_enc_sign":1,"mpcc_id_a":0.223365188,"mpcc_iq_a":-1.59146619,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.43593884,"mpcc_pred_id_a":-0.187517092,"mpcc_pred_iq_a":-2.33604336,"mpcc_state":1,"mpcc_theta_e":0.450798035,"mpcc_theta_mech":0.557105482,"sam_rpm":10.0782671,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289848894,"thr_a_norm":0.0289848894,"thr_a_v":0.615939558,"thr_b":0.00108835101,"thr_b_norm":0.00108835101,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.06646,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.38603449,"cg_iw_a":-0.16078186,"cg_theta_rad":0.557363868,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0181364194,"mpcc_du":49.7357979,"mpcc_dv":49.1885529,"mpcc_dw":50.8114471,"mpcc_enc_sign":1,"mpcc_id_a":2.34316039,"mpcc_iq_a":-1.20606375,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.46079564,"mpcc_pred_id_a":0.153878853,"mpcc_pred_iq_a":-1.78370929,"mpcc_state":1,"mpcc_theta_e":0.445127487,"mpcc_theta_mech":0.555971444,"sam_rpm":5.33269691,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021419093,"thr_a_norm":0.0289848894,"thr_a_v":0.585676372,"thr_b":0,"thr_b_norm":0.00108835101,"thr_b_v":0.473334849,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.076286,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.24105906,"cg_iw_a":0.854045391,"cg_theta_rad":0.553330421,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0300467256,"mpcc_du":49.9376297,"mpcc_dv":49.0739288,"mpcc_dw":50.9260712,"mpcc_enc_sign":1,"mpcc_id_a":0.592798412,"mpcc_iq_a":-0.329087466,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.44936371,"mpcc_pred_id_a":-0.135347977,"mpcc_pred_iq_a":-1.49542856,"mpcc_state":1,"mpcc_theta_e":0.451021194,"mpcc_theta_mech":0.557150126,"sam_rpm":12.0457706,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021419093,"thr_a_norm":0.021419093,"thr_a_v":0.585676372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473334849,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.086479,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-4.35802889,"cg_iw_a":2.30379868,"cg_theta_rad":0.557760894,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0491724536,"mpcc_du":49.6019287,"mpcc_dv":49.2125626,"mpcc_dw":50.7874374,"mpcc_enc_sign":1,"mpcc_id_a":3.02444196,"mpcc_iq_a":-1.96267748,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.60474205,"mpcc_pred_id_a":0.501318514,"mpcc_pred_iq_a":-1.77973509,"mpcc_state":1,"mpcc_theta_e":0.448731899,"mpcc_theta_mech":0.556692302,"sam_rpm":8.27723598,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103006423,"thr_a_norm":0.103006423,"thr_a_v":0.91202569,"thr_b":0.0436507165,"thr_b_norm":0.0436507165,"thr_b_v":0.674602866,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.098778,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.38603449,"cg_iw_a":-0.015806675,"cg_theta_rad":0.553503871,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0165103953,"mpcc_du":49.3766861,"mpcc_dv":50.6233139,"mpcc_dw":50.2246017,"mpcc_enc_sign":1,"mpcc_id_a":2.40710855,"mpcc_iq_a":0.121613555,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.99907684,"mpcc_pred_id_a":0.0674383789,"mpcc_pred_iq_a":-2.7531321,"mpcc_state":1,"mpcc_theta_e":0.429161549,"mpcc_theta_mech":0.552778184,"sam_rpm":13.5948734,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160814822,"thr_a_norm":0.103006423,"thr_a_v":0.564325929,"thr_b":0,"thr_b_norm":0.0436507165,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.108452,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.53100967,"cg_iw_a":0.12916851,"cg_theta_rad":0.552544773,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0063882391,"mpcc_du":50.0941963,"mpcc_dv":48.8740273,"mpcc_dw":51.1259727,"mpcc_enc_sign":1,"mpcc_id_a":1.2602936,"mpcc_iq_a":-1.13223481,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.03369141,"mpcc_pred_id_a":-0.187054709,"mpcc_pred_iq_a":-0.137562692,"mpcc_state":1,"mpcc_theta_e":0.433483124,"mpcc_theta_mech":0.553642571,"sam_rpm":-8.7814827,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160814822,"thr_a_norm":0.0160814822,"thr_a_v":0.564325929,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.118645,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.806133032,"cg_iw_a":-0.305757284,"cg_theta_rad":0.555898845,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0137160802,"mpcc_du":49.9279938,"mpcc_dv":49.0165977,"mpcc_dw":50.9834023,"mpcc_enc_sign":1,"mpcc_id_a":2.34132314,"mpcc_iq_a":-1.04035199,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.58659601,"mpcc_pred_id_a":-0.0694158524,"mpcc_pred_iq_a":-1.88584089,"mpcc_state":1,"mpcc_theta_e":0.436061859,"mpcc_theta_mech":0.55415827,"sam_rpm":-9.23171997,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151373297,"thr_a_norm":0.0151373297,"thr_a_v":0.560549319,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461048275,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.141869,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.38603449,"cg_iw_a":-1.32058477,"cg_theta_rad":0.555474639,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0648746416,"mpcc_du":49.6489449,"mpcc_dv":49.3143768,"mpcc_dw":50.6856232,"mpcc_enc_sign":1,"mpcc_id_a":2.16834092,"mpcc_iq_a":-0.0718680993,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.46440744,"mpcc_pred_id_a":0.157018766,"mpcc_pred_iq_a":-3.84769034,"mpcc_state":1,"mpcc_theta_e":0.452264309,"mpcc_theta_mech":0.557398736,"sam_rpm":10.4163208,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151373297,"thr_a_norm":0.0151373297,"thr_a_v":0.560549319,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461048275,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.148399,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.02359605,"cg_iw_a":-1.53804755,"cg_theta_rad":0.55924207,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0135077089,"mpcc_du":49.6756477,"mpcc_dv":49.2966423,"mpcc_dw":50.7033577,"mpcc_enc_sign":1,"mpcc_id_a":2.29300857,"mpcc_iq_a":-2.15412903,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.79486823,"mpcc_pred_id_a":0.081882298,"mpcc_pred_iq_a":-1.4943471,"mpcc_state":1,"mpcc_theta_e":0.444596767,"mpcc_theta_mech":0.555884302,"sam_rpm":5.34681892,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253215879,"thr_a_norm":0.0253215879,"thr_a_v":0.601286352,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.15493,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.09608364,"cg_iw_a":-1.24809694,"cg_theta_rad":0.55345273,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.00298290001,"mpcc_du":50.8267326,"mpcc_dv":48.1349602,"mpcc_dw":51.8650398,"mpcc_enc_sign":1,"mpcc_id_a":-0.673861682,"mpcc_iq_a":-1.29687715,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.58240557,"mpcc_pred_id_a":-0.723696589,"mpcc_pred_iq_a":-6.44288874,"mpcc_state":1,"mpcc_theta_e":0.446418285,"mpcc_theta_mech":0.556229591,"sam_rpm":-9.66287613,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253215879,"thr_a_norm":0.0253215879,"thr_a_v":0.601286352,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.161461,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.32837415,"cg_iw_a":1.28897119,"cg_theta_rad":0.557150185,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.00132750848,"mpcc_du":49.6333771,"mpcc_dv":50.3003349,"mpcc_dw":50.3666229,"mpcc_enc_sign":1,"mpcc_id_a":0.00692158937,"mpcc_iq_a":-1.38978279,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.46804714,"mpcc_pred_id_a":-0.427787572,"mpcc_pred_iq_a":-4.02094698,"mpcc_state":1,"mpcc_theta_e":0.444989204,"mpcc_theta_mech":0.555943787,"sam_rpm":7.83581114,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235088021,"thr_a_norm":0.0235088021,"thr_a_v":0.594035208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467896521,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.169456,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.661157608,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.553975642,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0416505635,"mpcc_du":50.4310875,"mpcc_dv":48.1758385,"mpcc_dw":51.8241615,"mpcc_enc_sign":1,"mpcc_id_a":3.49445248,"mpcc_iq_a":-0.269997776,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.4870701,"mpcc_pred_id_a":0.496366471,"mpcc_pred_iq_a":-1.07831347,"mpcc_state":1,"mpcc_theta_e":0.431952477,"mpcc_theta_mech":0.553336442,"sam_rpm":-17.7934494,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183852166,"thr_a_norm":0.0235088021,"thr_a_v":0.573540866,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.17907,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.806133032,"cg_iw_a":-0.668195724,"cg_theta_rad":0.558666527,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.00264452351,"mpcc_du":49.6557388,"mpcc_dv":49.2794952,"mpcc_dw":50.7205048,"mpcc_enc_sign":1,"mpcc_id_a":0.984342933,"mpcc_iq_a":-3.20445585,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.33255625,"mpcc_pred_id_a":0.209983617,"mpcc_pred_iq_a":-3.44207692,"mpcc_state":1,"mpcc_theta_e":0.44655323,"mpcc_theta_mech":0.556256592,"sam_rpm":3.99100685,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183852166,"thr_a_norm":0.0183852166,"thr_a_v":0.573540866,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.189293,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.74847269,"cg_iw_a":0.346631527,"cg_theta_rad":0.556203425,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0126657626,"mpcc_du":49.5393333,"mpcc_dv":50.4136505,"mpcc_dw":50.4606667,"mpcc_enc_sign":1,"mpcc_id_a":2.19236612,"mpcc_iq_a":-0.847415864,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.82211566,"mpcc_pred_id_a":0.173229381,"mpcc_pred_iq_a":-3.76070404,"mpcc_state":1,"mpcc_theta_e":0.441856384,"mpcc_theta_mech":0.555317163,"sam_rpm":5.4628768,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242011845,"thr_a_norm":0.0242011845,"thr_a_v":0.596804738,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.199303,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.951108456,"cg_iw_a":0.419119358,"cg_theta_rad":0.553626716,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.00804954674,"mpcc_du":50.2249451,"mpcc_dv":48.4251823,"mpcc_dw":51.5748177,"mpcc_enc_sign":1,"mpcc_id_a":1.68934143,"mpcc_iq_a":-0.722459376,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.93897724,"mpcc_pred_id_a":0.531178892,"mpcc_pred_iq_a":0.550879836,"mpcc_state":1,"mpcc_theta_e":0.429111481,"mpcc_theta_mech":0.552768171,"sam_rpm":-15.8826046,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242011845,"thr_a_norm":0.0242011845,"thr_a_v":0.596804738,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.209251,"values":{"cg_iu_a":1.40184116,"cg_iv_a":0.716107845,"cg_iw_a":-2.11794901,"cg_theta_rad":0.557906687,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.117298052,"mpcc_du":49.6496162,"mpcc_dv":49.0465012,"mpcc_dw":50.9534988,"mpcc_enc_sign":1,"mpcc_id_a":4.2988143,"mpcc_iq_a":1.82383847,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.9181051,"mpcc_pred_id_a":0.840944827,"mpcc_pred_iq_a":0.0483354665,"mpcc_state":1,"mpcc_theta_e":0.452414989,"mpcc_theta_mech":0.557428896,"sam_rpm":21.0437889,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243270695,"thr_a_norm":0.0243270695,"thr_a_v":0.597308278,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480737001,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.219536,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.733645439,"cg_iw_a":0.564094782,"cg_theta_rad":0.554467857,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.00703284284,"mpcc_du":49.9133759,"mpcc_dv":49.5161858,"mpcc_dw":50.4838142,"mpcc_enc_sign":1,"mpcc_id_a":-0.809187889,"mpcc_iq_a":-1.74250913,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.45768952,"mpcc_pred_id_a":-1.05911875,"mpcc_pred_iq_a":-3.52832437,"mpcc_state":1,"mpcc_theta_e":0.447540283,"mpcc_theta_mech":0.556454003,"sam_rpm":5.14698315,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103686199,"thr_a_norm":0.0243270695,"thr_a_v":0.914744794,"thr_b":0.0506500304,"thr_b_norm":0,"thr_b_v":0.702600121,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.242577,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.951108456,"cg_iw_a":0.274144173,"cg_theta_rad":0.556073904,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0765098631,"mpcc_du":49.7534256,"mpcc_dv":49.116024,"mpcc_dw":50.883976,"mpcc_enc_sign":1,"mpcc_id_a":3.06010747,"mpcc_iq_a":0.940557003,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.74593544,"mpcc_pred_id_a":0.451376319,"mpcc_pred_iq_a":-2.1697762,"mpcc_state":1,"mpcc_theta_e":0.450997829,"mpcc_theta_mech":0.557145476,"sam_rpm":9.33643436,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103686199,"thr_a_norm":0.103686199,"thr_a_v":0.914744794,"thr_b":0.0506500304,"thr_b_norm":0.0506500304,"thr_b_v":0.702600121,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.249168,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.38603449,"cg_iw_a":-1.97297382,"cg_theta_rad":0.556711197,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.00352863455,"mpcc_du":49.8848038,"mpcc_dv":49.3018608,"mpcc_dw":50.6981392,"mpcc_enc_sign":1,"mpcc_id_a":0.609660983,"mpcc_iq_a":-1.63437426,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.24385643,"mpcc_pred_id_a":-0.397697031,"mpcc_pred_iq_a":-2.65004778,"mpcc_state":1,"mpcc_theta_e":0.447518349,"mpcc_theta_mech":0.556449592,"sam_rpm":2.38807869,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277134329,"thr_a_norm":0.0277134329,"thr_a_v":0.610853732,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.255638,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-0.951108456,"cg_iw_a":-2.33541203,"cg_theta_rad":0.553637087,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0359936468,"mpcc_du":49.8960915,"mpcc_dv":49.0446243,"mpcc_dw":50.9553757,"mpcc_enc_sign":1,"mpcc_id_a":2.18229532,"mpcc_iq_a":0.306889743,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.92469978,"mpcc_pred_id_a":0.080764927,"mpcc_pred_iq_a":-1.8784138,"mpcc_state":1,"mpcc_theta_e":0.445733547,"mpcc_theta_mech":0.55609262,"sam_rpm":2.93008471,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277134329,"thr_a_norm":0.0277134329,"thr_a_v":0.610853732,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.262169,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.516182423,"cg_iw_a":-2.55287504,"cg_theta_rad":0.556986809,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0115939835,"mpcc_du":50.0061417,"mpcc_dv":48.9580994,"mpcc_dw":51.0419006,"mpcc_enc_sign":1,"mpcc_id_a":0.80370003,"mpcc_iq_a":-0.893628418,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.07810497,"mpcc_pred_id_a":0.0381807871,"mpcc_pred_iq_a":-0.359711796,"mpcc_state":1,"mpcc_theta_e":0.448910236,"mpcc_theta_mech":0.556711197,"sam_rpm":10.9010582,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193041861,"thr_a_norm":0.0193041861,"thr_a_v":0.577216744,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.270653,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.298719406,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.552314341,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0117885033,"mpcc_du":49.9368629,"mpcc_dv":49.0731201,"mpcc_dw":50.9268799,"mpcc_enc_sign":1,"mpcc_id_a":1.35425937,"mpcc_iq_a":-1.9363631,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.3424983,"mpcc_pred_id_a":-0.0604267418,"mpcc_pred_iq_a":-1.96668053,"mpcc_state":1,"mpcc_theta_e":0.443575382,"mpcc_theta_mech":0.555660963,"sam_rpm":-0.808061898,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269455314,"thr_a_norm":0.0193041861,"thr_a_v":0.607782125,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487081707,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.282463,"values":{"cg_iu_a":1.8367672,"cg_iv_a":0.281181812,"cg_iw_a":-3.35023928,"cg_theta_rad":0.55525887,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0250429735,"mpcc_du":49.7941628,"mpcc_dv":48.8614922,"mpcc_dw":51.1385078,"mpcc_enc_sign":1,"mpcc_id_a":2.79351211,"mpcc_iq_a":1.35409629,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.38266039,"mpcc_pred_id_a":0.691445887,"mpcc_pred_iq_a":-0.553705096,"mpcc_state":1,"mpcc_theta_e":0.427066326,"mpcc_theta_mech":0.552359223,"sam_rpm":-11.4579496,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269455314,"thr_a_norm":0.0269455314,"thr_a_v":0.607782125,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487081707,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.292656,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.45852208,"cg_iw_a":0.926532984,"cg_theta_rad":0.557549,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.017242074,"mpcc_du":49.3384552,"mpcc_dv":50.6615448,"mpcc_dw":50.1830978,"mpcc_enc_sign":1,"mpcc_id_a":1.95682657,"mpcc_iq_a":-0.493032217,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.19752836,"mpcc_pred_id_a":0.00297182798,"mpcc_pred_iq_a":-1.33282042,"mpcc_state":1,"mpcc_theta_e":0.436619282,"mpcc_theta_mech":0.554269791,"sam_rpm":9.96391106,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446395069,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.302879,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.31354666,"cg_iw_a":0.564094543,"cg_theta_rad":0.554983139,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0790691674,"mpcc_du":49.3998833,"mpcc_dv":49.8755722,"mpcc_dw":50.6001167,"mpcc_enc_sign":1,"mpcc_id_a":4.54734802,"mpcc_iq_a":-1.15586293,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.39243984,"mpcc_pred_id_a":0.836399674,"mpcc_pred_iq_a":-4.87822866,"mpcc_state":1,"mpcc_theta_e":0.456417561,"mpcc_theta_mech":0.558229446,"sam_rpm":12.6892281,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280155689,"thr_a_norm":0.0200217366,"thr_a_v":0.612062275,"thr_b":0.00156672299,"thr_b_norm":0,"thr_b_v":0.506266892,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.312859,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-2.0384233,"cg_iw_a":1.79638505,"cg_theta_rad":0.55340451,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0270474926,"mpcc_du":49.8695946,"mpcc_dv":48.9396133,"mpcc_dw":51.0603867,"mpcc_enc_sign":1,"mpcc_id_a":2.64042258,"mpcc_iq_a":0.327670693,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.03843784,"mpcc_pred_id_a":0.281460285,"mpcc_pred_iq_a":1.47453153,"mpcc_state":1,"mpcc_theta_e":0.424082756,"mpcc_theta_mech":0.551762462,"sam_rpm":-13.177949,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280155689,"thr_a_norm":0.0280155689,"thr_a_v":0.612062275,"thr_b":0.00156672299,"thr_b_norm":0.00156672299,"thr_b_v":0.506266892,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.323082,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.96593571,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556609273,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0184232742,"mpcc_du":49.221489,"mpcc_dv":50.778511,"mpcc_dw":50.2000237,"mpcc_enc_sign":1,"mpcc_id_a":1.8426733,"mpcc_iq_a":0.31685093,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.21387148,"mpcc_pred_id_a":0.31537798,"mpcc_pred_iq_a":-0.863366723,"mpcc_state":1,"mpcc_theta_e":0.426225662,"mpcc_theta_mech":0.552166343,"sam_rpm":9.26600361,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0451865345,"thr_a_norm":0.0451865345,"thr_a_v":0.680746138,"thr_b":0.0158045292,"thr_b_norm":0.0158045292,"thr_b_v":0.563218117,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.346367,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.443694592,"cg_iw_a":-3.06028891,"cg_theta_rad":0.552601576,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0823069438,"mpcc_du":51.0459137,"mpcc_dv":47.5514336,"mpcc_dw":52.4485664,"mpcc_enc_sign":1,"mpcc_id_a":2.05340528,"mpcc_iq_a":-1.30662608,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.0178566,"mpcc_pred_id_a":0.433384567,"mpcc_pred_iq_a":-0.693038225,"mpcc_state":1,"mpcc_theta_e":0.447722435,"mpcc_theta_mech":0.556490421,"sam_rpm":-3.63352656,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137777478,"thr_a_norm":0.0451865345,"thr_a_v":0.555110991,"thr_b":0,"thr_b_norm":0.0158045292,"thr_b_v":0.43355462,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.352898,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.298719406,"cg_iw_a":-0.740683556,"cg_theta_rad":0.555909753,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.00567804743,"mpcc_du":51.3632355,"mpcc_dv":47.189415,"mpcc_dw":52.810585,"mpcc_enc_sign":1,"mpcc_id_a":1.41659927,"mpcc_iq_a":-0.801294208,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-29.5106754,"mpcc_pred_id_a":-0.11106614,"mpcc_pred_iq_a":1.44516945,"mpcc_state":1,"mpcc_theta_e":0.414246082,"mpcc_theta_mech":0.549795151,"sam_rpm":-43.7792664,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137777478,"thr_a_norm":0.0137777478,"thr_a_v":0.555110991,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43355462,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.359459,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.661157608,"cg_iw_a":0.41911912,"cg_theta_rad":0.552165806,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0253956448,"mpcc_du":49.4967308,"mpcc_dv":49.4090729,"mpcc_dw":50.5909271,"mpcc_enc_sign":1,"mpcc_id_a":2.89408636,"mpcc_iq_a":0.319922537,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.90392637,"mpcc_pred_id_a":0.428586096,"mpcc_pred_iq_a":-3.12390733,"mpcc_state":1,"mpcc_theta_e":0.435387611,"mpcc_theta_mech":0.554023445,"sam_rpm":-7.73308039,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0134000927,"thr_a_norm":0.0134000927,"thr_a_v":0.553600371,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458379477,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.365959,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.38603449,"cg_iw_a":0.491607189,"cg_theta_rad":0.555151522,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0142847728,"mpcc_du":50.5694542,"mpcc_dv":48.3519669,"mpcc_dw":51.6480331,"mpcc_enc_sign":1,"mpcc_id_a":0.508002758,"mpcc_iq_a":-0.33714658,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.4217281,"mpcc_pred_id_a":-0.298647732,"mpcc_pred_iq_a":-6.21603394,"mpcc_state":1,"mpcc_theta_e":0.45493269,"mpcc_theta_mech":0.557932496,"sam_rpm":3.29125309,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0134000927,"thr_a_norm":0.0134000927,"thr_a_v":0.553600371,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458379477,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.37426,"values":{"cg_iu_a":-0.70030117,"cg_iv_a":-2.61832476,"cg_iw_a":3.31862593,"cg_theta_rad":0.551970065,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.00495961495,"mpcc_du":49.7982483,"mpcc_dv":49.3643074,"mpcc_dw":50.6356926,"mpcc_enc_sign":1,"mpcc_id_a":2.5922091,"mpcc_iq_a":0.462347806,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.319396,"mpcc_pred_id_a":-0.0502871126,"mpcc_pred_iq_a":-4.35988474,"mpcc_state":1,"mpcc_theta_e":0.454084873,"mpcc_theta_mech":0.557762921,"sam_rpm":-8.18304729,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0141680092,"thr_a_norm":0.0141680092,"thr_a_v":0.556672037,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454905003,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.384422,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.153744221,"cg_iw_a":-0.885658741,"cg_theta_rad":0.552905381,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.00733966241,"mpcc_du":49.6309967,"mpcc_dv":49.6756172,"mpcc_dw":50.3690033,"mpcc_enc_sign":1,"mpcc_id_a":1.86978137,"mpcc_iq_a":-1.8815074,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.46264958,"mpcc_pred_id_a":-0.580677509,"mpcc_pred_iq_a":-1.16482759,"mpcc_state":1,"mpcc_theta_e":0.435676575,"mpcc_theta_mech":0.554081261,"sam_rpm":0.0429265201,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198706836,"thr_a_norm":0.0141680092,"thr_a_v":0.579482734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470263213,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.394157,"values":{"cg_iu_a":1.32935333,"cg_iv_a":0.0637187958,"cg_iw_a":-1.39307213,"cg_theta_rad":0.554413199,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0497924946,"mpcc_du":49.801815,"mpcc_dv":49.2049255,"mpcc_dw":50.7950745,"mpcc_enc_sign":1,"mpcc_id_a":2.98885632,"mpcc_iq_a":-0.364285946,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.54563498,"mpcc_pred_id_a":0.569952905,"mpcc_pred_iq_a":-3.5534606,"mpcc_state":1,"mpcc_theta_e":0.448106289,"mpcc_theta_mech":0.555960476,"sam_rpm":9.90937328,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198706836,"thr_a_norm":0.0198706836,"thr_a_v":0.579482734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470263213,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.404289,"values":{"cg_iu_a":2.1992054,"cg_iv_a":1.15103388,"cg_iw_a":-3.35023928,"cg_theta_rad":0.55436337,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0188077111,"mpcc_du":50.0083008,"mpcc_dv":49.3139954,"mpcc_dw":50.6860046,"mpcc_enc_sign":1,"mpcc_id_a":2.28705788,"mpcc_iq_a":-0.479995877,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.640507936,"mpcc_pred_id_a":0.409492105,"mpcc_pred_iq_a":-0.46516183,"mpcc_state":1,"mpcc_theta_e":0.443631172,"mpcc_theta_mech":0.555672169,"sam_rpm":0.347880483,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242011845,"thr_a_norm":0.0242011845,"thr_a_v":0.596804738,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476658285,"vdc_v":54.6292953}} +{"type":"telemetry","t":99.414238,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.82799816,"cg_theta_rad":0.552007735,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0129908258,"mpcc_du":50.2917175,"mpcc_dv":48.3352509,"mpcc_dw":51.6647491,"mpcc_enc_sign":1,"mpcc_id_a":2.19559503,"mpcc_iq_a":-1.18403625,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.4218884,"mpcc_pred_id_a":0.535201848,"mpcc_pred_iq_a":-0.158817127,"mpcc_state":1,"mpcc_theta_e":0.429047585,"mpcc_theta_mech":0.552755475,"sam_rpm":-19.5502491,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242011845,"thr_a_norm":0.0242011845,"thr_a_v":0.596804738,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476658285,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.426628,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-2.47334933,"cg_iw_a":0.41911912,"cg_theta_rad":0.559310436,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0544188283,"mpcc_du":49.8953896,"mpcc_dv":48.8893166,"mpcc_dw":51.1106834,"mpcc_enc_sign":1,"mpcc_id_a":3.21491933,"mpcc_iq_a":-0.559611619,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.94943857,"mpcc_pred_id_a":0.550178051,"mpcc_pred_iq_a":-3.10523176,"mpcc_state":1,"mpcc_theta_e":0.446321964,"mpcc_theta_mech":0.556210339,"sam_rpm":-0.317244798,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258503109,"thr_a_norm":0.0258503109,"thr_a_v":0.603401244,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497958362,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.449913,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.02359605,"cg_iw_a":-1.4655602,"cg_theta_rad":0.551220298,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0291301459,"mpcc_du":50.1571312,"mpcc_dv":48.7759514,"mpcc_dw":51.2240486,"mpcc_enc_sign":1,"mpcc_id_a":1.5032351,"mpcc_iq_a":-1.27815759,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.83068275,"mpcc_pred_id_a":-0.0373436399,"mpcc_pred_iq_a":-1.51601374,"mpcc_state":1,"mpcc_theta_e":0.449429989,"mpcc_theta_mech":0.556831896,"sam_rpm":7.70729923,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0380739272,"thr_a_norm":0.0380739272,"thr_a_v":0.652295709,"thr_b":0.00956054032,"thr_b_norm":0.00956054032,"thr_b_v":0.538242161,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.456413,"values":{"cg_iu_a":0.459501266,"cg_iv_a":0.136206627,"cg_iw_a":-0.595707893,"cg_theta_rad":0.55746901,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.000542812573,"mpcc_du":49.387249,"mpcc_dv":50.612751,"mpcc_dw":51.4493713,"mpcc_enc_sign":1,"mpcc_id_a":0.407987118,"mpcc_iq_a":-3.1778245,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.9993629,"mpcc_pred_id_a":-0.211861461,"mpcc_pred_iq_a":-4.21001196,"mpcc_state":1,"mpcc_theta_e":0.455473423,"mpcc_theta_mech":0.554502249,"sam_rpm":20.4576988,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0380739272,"thr_a_norm":0.0380739272,"thr_a_v":0.652295709,"thr_b":0.00956054032,"thr_b_norm":0.00956054032,"thr_b_v":0.538242161,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.462914,"values":{"cg_iu_a":3.28652048,"cg_iv_a":0.281181812,"cg_iw_a":-3.56770229,"cg_theta_rad":0.555713475,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0281554423,"mpcc_du":49.8387566,"mpcc_dv":48.7977905,"mpcc_dw":51.2022095,"mpcc_enc_sign":1,"mpcc_id_a":3.13825417,"mpcc_iq_a":-0.527150869,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.36110783,"mpcc_pred_id_a":0.599487126,"mpcc_pred_iq_a":1.61973858,"mpcc_state":1,"mpcc_theta_e":0.433906078,"mpcc_theta_mech":0.55372709,"sam_rpm":-27.5726852,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202860981,"thr_a_norm":0.0202860981,"thr_a_v":0.581144392,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459990859,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.469444,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.53100967,"cg_iw_a":-1.17560959,"cg_theta_rad":0.557787776,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.000623097818,"mpcc_du":49.5057182,"mpcc_dv":50.4942818,"mpcc_dw":50.458313,"mpcc_enc_sign":1,"mpcc_id_a":0.498069704,"mpcc_iq_a":-2.43817329,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.1524582,"mpcc_pred_id_a":-0.229186147,"mpcc_pred_iq_a":-1.61475503,"mpcc_state":1,"mpcc_theta_e":0.432590008,"mpcc_theta_mech":0.55744338,"sam_rpm":7.79492426,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284813493,"thr_a_norm":0.0202860981,"thr_a_v":0.613925397,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49584344,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.479454,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.24105906,"cg_iw_a":0.274143934,"cg_theta_rad":0.557040811,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0205298085,"mpcc_du":51.0302124,"mpcc_dv":47.8539352,"mpcc_dw":52.1460648,"mpcc_enc_sign":1,"mpcc_id_a":-0.288496882,"mpcc_iq_a":-2.50271177,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.86420822,"mpcc_pred_id_a":-0.334267765,"mpcc_pred_iq_a":-0.911874294,"mpcc_state":1,"mpcc_theta_e":0.447110653,"mpcc_theta_mech":0.56000632,"sam_rpm":-6.27424145,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284813493,"thr_a_norm":0.0284813493,"thr_a_v":0.613925397,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49584344,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.489647,"values":{"cg_iu_a":5.31617546,"cg_iv_a":-0.588670254,"cg_iw_a":0.201656342,"cg_theta_rad":0.556095183,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0089570228,"mpcc_du":50.4606209,"mpcc_dv":48.3440666,"mpcc_dw":51.6559334,"mpcc_enc_sign":1,"mpcc_id_a":1.88877928,"mpcc_iq_a":-1.15327632,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.13561153,"mpcc_pred_id_a":0.0049005691,"mpcc_pred_iq_a":1.39767849,"mpcc_state":1,"mpcc_theta_e":0.436309338,"mpcc_theta_mech":0.554207802,"sam_rpm":-6.86493969,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0187880397,"thr_a_norm":0.0187880397,"thr_a_v":0.575152159,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470464617,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.499443,"values":{"cg_iu_a":1.76427937,"cg_iv_a":0.933570862,"cg_iw_a":-2.91531324,"cg_theta_rad":0.552724898,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0091381995,"mpcc_du":49.553997,"mpcc_dv":50.1368752,"mpcc_dw":50.446003,"mpcc_enc_sign":1,"mpcc_id_a":1.91185105,"mpcc_iq_a":0.963330865,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.216063485,"mpcc_pred_id_a":0.00227651396,"mpcc_pred_iq_a":-1.74420297,"mpcc_state":1,"mpcc_theta_e":0.434100151,"mpcc_theta_mech":0.553765953,"sam_rpm":-0.839324176,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0187880397,"thr_a_norm":0.0187880397,"thr_a_v":0.575152159,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470464617,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.509697,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.806133032,"cg_iw_a":-2.04546142,"cg_theta_rad":0.555944264,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0268630888,"mpcc_du":49.4456978,"mpcc_dv":49.5369034,"mpcc_dw":50.5543022,"mpcc_enc_sign":1,"mpcc_id_a":3.0377717,"mpcc_iq_a":0.127830997,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.509596348,"mpcc_pred_id_a":0.498232245,"mpcc_pred_iq_a":-0.107193932,"mpcc_state":1,"mpcc_theta_e":0.43095541,"mpcc_theta_mech":0.552707672,"sam_rpm":-1.98169208,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0936781913,"thr_a_norm":0.0936781913,"thr_a_v":0.874712765,"thr_b":0.0423666686,"thr_b_norm":0.0423666686,"thr_b_v":0.669466674,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.520042,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.74847269,"cg_iw_a":1.28897142,"cg_theta_rad":0.557035565,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0275482219,"mpcc_du":49.9928398,"mpcc_dv":48.8423843,"mpcc_dw":51.1576157,"mpcc_enc_sign":1,"mpcc_id_a":2.67405081,"mpcc_iq_a":0.409310311,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.75894022,"mpcc_pred_id_a":0.243154719,"mpcc_pred_iq_a":2.1962707,"mpcc_state":1,"mpcc_theta_e":0.42208147,"mpcc_theta_mech":0.551362216,"sam_rpm":-12.4943657,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.0936781913,"thr_a_v":0.592927456,"thr_b":0.000194549561,"thr_b_norm":0.0423666686,"thr_b_v":0.500778198,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.530022,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.226231575,"cg_iw_a":-0.305757046,"cg_theta_rad":0.556897163,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0108245797,"mpcc_du":49.8531837,"mpcc_dv":49.310112,"mpcc_dw":50.689888,"mpcc_enc_sign":1,"mpcc_id_a":0.184174851,"mpcc_iq_a":-1.5212878,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.67940319,"mpcc_pred_id_a":-0.315651268,"mpcc_pred_iq_a":-3.41166854,"mpcc_state":1,"mpcc_theta_e":0.445658207,"mpcc_theta_mech":0.557269633,"sam_rpm":3.6821692,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.023231864,"thr_a_v":0.592927456,"thr_b":0.000194549561,"thr_b_norm":0.000194549561,"thr_b_v":0.500778198,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.553276,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.516182423,"cg_iw_a":-0.81317091,"cg_theta_rad":0.554170847,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.00135067059,"mpcc_du":51.518364,"mpcc_dv":47.2770882,"mpcc_dw":52.7229118,"mpcc_enc_sign":1,"mpcc_id_a":0.351313531,"mpcc_iq_a":-1.21280444,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.0604668,"mpcc_pred_id_a":-0.690492392,"mpcc_pred_iq_a":2.63612604,"mpcc_state":1,"mpcc_theta_e":0.426892281,"mpcc_theta_mech":0.552324414,"sam_rpm":-23.8288059,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280659199,"thr_a_norm":0.0280659199,"thr_a_v":0.61226368,"thr_b":0.00415998697,"thr_b_norm":0.00415998697,"thr_b_v":0.516639948,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.559807,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.878620625,"cg_iw_a":-2.91531324,"cg_theta_rad":0.556233466,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.00544955302,"mpcc_du":49.6676369,"mpcc_dv":49.8446083,"mpcc_dw":50.3323631,"mpcc_enc_sign":1,"mpcc_id_a":-1.39691114,"mpcc_iq_a":-2.29595375,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.82670283,"mpcc_pred_id_a":-0.68966192,"mpcc_pred_iq_a":-4.13812494,"mpcc_state":1,"mpcc_theta_e":0.447685242,"mpcc_theta_mech":0.556482971,"sam_rpm":5.59585619,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280659199,"thr_a_norm":0.0280659199,"thr_a_v":0.61226368,"thr_b":0.00415998697,"thr_b_norm":0.00415998697,"thr_b_v":0.516639948,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.566277,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.661157608,"cg_iw_a":-0.015806675,"cg_theta_rad":0.553305686,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.00813049637,"mpcc_du":49.637249,"mpcc_dv":49.6835289,"mpcc_dw":50.362751,"mpcc_enc_sign":1,"mpcc_id_a":-1.2893244,"mpcc_iq_a":-0.911596358,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.81827211,"mpcc_pred_id_a":-0.528694987,"mpcc_pred_iq_a":-3.35561705,"mpcc_state":1,"mpcc_theta_e":0.443958282,"mpcc_theta_mech":0.555737615,"sam_rpm":3.92430258,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248432159,"thr_a_norm":0.0248432159,"thr_a_v":0.599372864,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497907996,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.572838,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.951108456,"cg_iw_a":0.636582375,"cg_theta_rad":0.555936277,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.00441578822,"mpcc_du":49.1775932,"mpcc_dv":50.8224068,"mpcc_dw":49.8139191,"mpcc_enc_sign":1,"mpcc_id_a":1.27848637,"mpcc_iq_a":-2.08997369,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.48398876,"mpcc_pred_id_a":-0.34318617,"mpcc_pred_iq_a":-5.88346863,"mpcc_state":1,"mpcc_theta_e":0.445456028,"mpcc_theta_mech":0.556037128,"sam_rpm":7.55350256,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224639475,"thr_a_norm":0.0248432159,"thr_a_v":0.58985579,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476507217,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.580833,"values":{"cg_iu_a":2.77910662,"cg_iv_a":1.15103388,"cg_iw_a":-3.9301405,"cg_theta_rad":0.557652533,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0341261923,"mpcc_du":50.6005554,"mpcc_dv":48.0758514,"mpcc_dw":51.0506668,"mpcc_enc_sign":1,"mpcc_id_a":2.12116432,"mpcc_iq_a":0.0336590372,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.1757803,"mpcc_pred_id_a":0.286839843,"mpcc_pred_iq_a":-0.751574397,"mpcc_state":1,"mpcc_theta_e":0.4351964,"mpcc_theta_mech":0.556173384,"sam_rpm":-14.6683187,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224639475,"thr_a_norm":0.0224639475,"thr_a_v":0.58985579,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476507217,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.591026,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.523220539,"cg_theta_rad":0.552346945,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.00285759359,"mpcc_du":50.1434784,"mpcc_dv":48.8471909,"mpcc_dw":51.1528091,"mpcc_enc_sign":1,"mpcc_id_a":1.06893337,"mpcc_iq_a":-3.70604634,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.65134192,"mpcc_pred_id_a":-0.166528195,"mpcc_pred_iq_a":-3.44215178,"mpcc_state":1,"mpcc_theta_e":0.445525646,"mpcc_theta_mech":0.556051075,"sam_rpm":-6.70557404,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0304074138,"thr_a_norm":0.0304074138,"thr_a_v":0.621629655,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467745453,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.601036,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.661157608,"cg_iw_a":-1.17560959,"cg_theta_rad":0.553948045,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0166300386,"mpcc_du":49.4995651,"mpcc_dv":49.8059731,"mpcc_dw":50.5004349,"mpcc_enc_sign":1,"mpcc_id_a":2.34758306,"mpcc_iq_a":0.331504822,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.66472888,"mpcc_pred_id_a":0.266733855,"mpcc_pred_iq_a":-2.15495586,"mpcc_state":1,"mpcc_theta_e":0.440796852,"mpcc_theta_mech":0.555105269,"sam_rpm":3.24706841,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0304074138,"thr_a_norm":0.0304074138,"thr_a_v":0.621629655,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467745453,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.611015,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.661157608,"cg_iw_a":-1.32058477,"cg_theta_rad":0.551366627,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0320466533,"mpcc_du":50.4159775,"mpcc_dv":48.3485146,"mpcc_dw":51.6514854,"mpcc_enc_sign":1,"mpcc_id_a":2.12850499,"mpcc_iq_a":-1.1508745,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.46762991,"mpcc_pred_id_a":0.258774966,"mpcc_pred_iq_a":-1.8076967,"mpcc_state":1,"mpcc_theta_e":0.445443153,"mpcc_theta_mech":0.556034565,"sam_rpm":-6.44823074,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00793659687,"thr_b_norm":0.00793659687,"thr_b_v":0.531746387,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.6213,"values":{"cg_iu_a":4.30134773,"cg_iv_a":-0.733645439,"cg_iw_a":-3.56770229,"cg_theta_rad":0.555774987,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0139325727,"mpcc_du":49.2318878,"mpcc_dv":50.7681122,"mpcc_dw":50.1015778,"mpcc_enc_sign":1,"mpcc_id_a":1.54751372,"mpcc_iq_a":0.345383465,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.21811199,"mpcc_pred_id_a":0.227319881,"mpcc_pred_iq_a":-0.687685132,"mpcc_state":1,"mpcc_theta_e":0.436014175,"mpcc_theta_mech":0.554148734,"sam_rpm":10.9682112,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101130679,"thr_a_norm":0.0296772718,"thr_a_v":0.904522717,"thr_b":0.0428198576,"thr_b_norm":0.00793659687,"thr_b_v":0.67127943,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.631218,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.60349751,"cg_iw_a":-2.04546142,"cg_theta_rad":0.553334713,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0327016525,"mpcc_du":50.3114395,"mpcc_dv":48.4832802,"mpcc_dw":51.5167198,"mpcc_enc_sign":1,"mpcc_id_a":2.08572149,"mpcc_iq_a":-0.0493167043,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.34242249,"mpcc_pred_id_a":0.133228049,"mpcc_pred_iq_a":-2.11474729,"mpcc_state":1,"mpcc_theta_e":0.438589096,"mpcc_theta_mech":0.555216312,"sam_rpm":-12.5175438,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101130679,"thr_a_norm":0.101130679,"thr_a_v":0.904522717,"thr_b":0.0428198576,"thr_b_norm":0.0428198576,"thr_b_v":0.67127943,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.654472,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.31354666,"cg_iw_a":-1.17560959,"cg_theta_rad":0.556112289,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.00420985976,"mpcc_du":51.5854683,"mpcc_dv":47.0868263,"mpcc_dw":52.9131737,"mpcc_enc_sign":1,"mpcc_id_a":1.407915,"mpcc_iq_a":-1.14114904,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.85249519,"mpcc_pred_id_a":-0.505120337,"mpcc_pred_iq_a":2.43704486,"mpcc_state":1,"mpcc_theta_e":0.450399876,"mpcc_theta_mech":0.557025909,"sam_rpm":-32.5471649,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0287205279,"thr_a_norm":0.0287205279,"thr_a_v":0.614882112,"thr_b":0.00147859752,"thr_b_norm":0.00147859752,"thr_b_v":0.50591439,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.661156,"values":{"cg_iu_a":4.5912981,"cg_iv_a":-2.54583716,"cg_iw_a":1.36145902,"cg_theta_rad":0.55666846,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.00360047631,"mpcc_du":49.8006973,"mpcc_dv":49.3723755,"mpcc_dw":50.6276245,"mpcc_enc_sign":1,"mpcc_id_a":0.992137849,"mpcc_iq_a":-0.503378987,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.51553822,"mpcc_pred_id_a":-0.436454117,"mpcc_pred_iq_a":-3.35337901,"mpcc_state":1,"mpcc_theta_e":0.435552597,"mpcc_theta_mech":0.554056406,"sam_rpm":-10.5080242,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0287205279,"thr_a_norm":0.0287205279,"thr_a_v":0.614882112,"thr_b":0.00147859752,"thr_b_norm":0.00147859752,"thr_b_v":0.50591439,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.667503,"values":{"cg_iu_a":4.08388519,"cg_iv_a":-1.09608364,"cg_iw_a":-0.233269691,"cg_theta_rad":0.5576424,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0246901736,"mpcc_du":49.5467339,"mpcc_dv":50.4532661,"mpcc_dw":50.3183479,"mpcc_enc_sign":1,"mpcc_id_a":1.79972291,"mpcc_iq_a":0.357084394,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.762685478,"mpcc_pred_id_a":-0.0960475057,"mpcc_pred_iq_a":-5.9205327,"mpcc_state":1,"mpcc_theta_e":0.441720486,"mpcc_theta_mech":0.555289984,"sam_rpm":-1.22380316,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020865187,"thr_a_norm":0.020865187,"thr_a_v":0.583460748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462307125,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.674004,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.733645439,"cg_iw_a":-1.82799816,"cg_theta_rad":0.554070473,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.00852290727,"mpcc_du":48.9544678,"mpcc_dv":51.0455322,"mpcc_dw":49.4206276,"mpcc_enc_sign":1,"mpcc_id_a":-0.0068807127,"mpcc_iq_a":-0.736094296,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.3115797,"mpcc_pred_id_a":-0.665623426,"mpcc_pred_iq_a":-6.77102757,"mpcc_state":1,"mpcc_theta_e":0.450820446,"mpcc_theta_mech":0.557110012,"sam_rpm":15.1479635,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222373605,"thr_a_norm":0.020865187,"thr_a_v":0.588949442,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471320659,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.68206,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":-0.588670254,"cg_iw_a":-2.19043636,"cg_theta_rad":0.554999828,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0117737791,"mpcc_du":51.1603851,"mpcc_dv":47.7111664,"mpcc_dw":52.2888336,"mpcc_enc_sign":1,"mpcc_id_a":0.412078947,"mpcc_iq_a":-1.06377494,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.2091188,"mpcc_pred_id_a":-0.433017701,"mpcc_pred_iq_a":0.694377065,"mpcc_state":1,"mpcc_theta_e":0.434939384,"mpcc_theta_mech":0.553933799,"sam_rpm":-15.4438429,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222373605,"thr_a_norm":0.0222373605,"thr_a_v":0.588949442,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471320659,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.692253,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-0.733645439,"cg_iw_a":-2.62536287,"cg_theta_rad":0.556510091,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.00703441212,"mpcc_du":50.1713142,"mpcc_dv":48.6806602,"mpcc_dw":51.3193398,"mpcc_enc_sign":1,"mpcc_id_a":1.32415593,"mpcc_iq_a":-0.989013612,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.04859614,"mpcc_pred_id_a":0.198806271,"mpcc_pred_iq_a":-0.578940034,"mpcc_state":1,"mpcc_theta_e":0.440036297,"mpcc_theta_mech":0.554953218,"sam_rpm":-3.94793868,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176173002,"thr_a_norm":0.0176173002,"thr_a_v":0.570469201,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.434259564,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.703453,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.09608364,"cg_iw_a":-1.90048599,"cg_theta_rad":0.554641187,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.00255070208,"mpcc_du":49.8118858,"mpcc_dv":49.4078979,"mpcc_dw":50.5921021,"mpcc_enc_sign":1,"mpcc_id_a":1.70202911,"mpcc_iq_a":-2.20570803,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.53111863,"mpcc_pred_id_a":-0.565023303,"mpcc_pred_iq_a":-3.91183519,"mpcc_state":1,"mpcc_theta_e":0.447727203,"mpcc_theta_mech":0.556491315,"sam_rpm":-2.06570601,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176173002,"thr_a_norm":0.0176173002,"thr_a_v":0.570469201,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.434259564,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.712639,"values":{"cg_iu_a":3.79393435,"cg_iv_a":-1.24105906,"cg_iw_a":-2.55287528,"cg_theta_rad":0.557668388,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0581495613,"mpcc_du":49.7649384,"mpcc_dv":48.8340454,"mpcc_dw":51.1659546,"mpcc_enc_sign":1,"mpcc_id_a":3.43192434,"mpcc_iq_a":-0.0990514234,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.27621257,"mpcc_pred_id_a":0.663274586,"mpcc_pred_iq_a":-2.60729599,"mpcc_state":1,"mpcc_theta_e":0.444122791,"mpcc_theta_mech":0.555770516,"sam_rpm":2.35389566,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261902064,"thr_a_norm":0.0261902064,"thr_a_v":0.604760826,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498713672,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.722618,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.951108456,"cg_iw_a":-0.523220539,"cg_theta_rad":0.553972781,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0146886474,"mpcc_du":49.6660423,"mpcc_dv":49.1833267,"mpcc_dw":50.8166733,"mpcc_enc_sign":1,"mpcc_id_a":2.28089929,"mpcc_iq_a":-0.826612532,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.67347336,"mpcc_pred_id_a":0.44398275,"mpcc_pred_iq_a":-0.537061155,"mpcc_state":1,"mpcc_theta_e":0.435725212,"mpcc_theta_mech":0.554090917,"sam_rpm":-3.32670569,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261902064,"thr_a_norm":0.0261902064,"thr_a_v":0.604760826,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498713672,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.732841,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.60349751,"cg_iw_a":-0.015806675,"cg_theta_rad":0.55585593,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0297065675,"mpcc_du":50.6519852,"mpcc_dv":48.059227,"mpcc_dw":51.940773,"mpcc_enc_sign":1,"mpcc_id_a":1.10668206,"mpcc_iq_a":0.594952881,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.20747232,"mpcc_pred_id_a":0.191541001,"mpcc_pred_iq_a":0.528657913,"mpcc_state":1,"mpcc_theta_e":0.438420773,"mpcc_theta_mech":0.554630041,"sam_rpm":-8.61478233,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163584203,"thr_a_norm":0.0163584203,"thr_a_v":0.565433681,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.756248,"values":{"cg_iu_a":4.51881123,"cg_iv_a":0.136206627,"cg_iw_a":-4.65501785,"cg_theta_rad":0.552026629,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0163034257,"mpcc_du":50.4464531,"mpcc_dv":48.1968613,"mpcc_dw":51.8031387,"mpcc_enc_sign":1,"mpcc_id_a":2.38922405,"mpcc_iq_a":-1.45754337,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.47116566,"mpcc_pred_id_a":0.380747795,"mpcc_pred_iq_a":1.53448248,"mpcc_state":1,"mpcc_theta_e":0.429322243,"mpcc_theta_mech":0.552810371,"sam_rpm":-13.0857677,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266685635,"thr_a_norm":0.0163584203,"thr_a_v":0.606674254,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485822856,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.76281,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.371207237,"cg_iw_a":-2.11794901,"cg_theta_rad":0.557960987,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.00167299632,"mpcc_du":51.0676384,"mpcc_dv":47.7084274,"mpcc_dw":52.2915726,"mpcc_enc_sign":1,"mpcc_id_a":0.77624768,"mpcc_iq_a":-1.77122486,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.3952227,"mpcc_pred_id_a":-0.208399504,"mpcc_pred_iq_a":1.37229407,"mpcc_state":1,"mpcc_theta_e":0.4539361,"mpcc_theta_mech":0.557733178,"sam_rpm":-19.8149376,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266685635,"thr_a_norm":0.0266685635,"thr_a_v":0.606674254,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485822856,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.76931,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.82096052,"cg_iw_a":-0.81317091,"cg_theta_rad":0.554457426,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0246035308,"mpcc_du":51.0543709,"mpcc_dv":47.4191742,"mpcc_dw":52.5808258,"mpcc_enc_sign":1,"mpcc_id_a":3.05890536,"mpcc_iq_a":-0.511168301,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.6663818,"mpcc_pred_id_a":0.504778922,"mpcc_pred_iq_a":1.71959496,"mpcc_state":1,"mpcc_theta_e":0.426225185,"mpcc_theta_mech":0.552190959,"sam_rpm":-27.8926849,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261650234,"thr_a_norm":0.0261650234,"thr_a_v":0.604660094,"thr_b":0.000698104501,"thr_b_norm":0.000698104501,"thr_b_v":0.502792418,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.775841,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.16857147,"cg_iw_a":0.564094543,"cg_theta_rad":0.553379714,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.00783052761,"mpcc_du":51.2503128,"mpcc_dv":47.4707298,"mpcc_dw":52.5292702,"mpcc_enc_sign":1,"mpcc_id_a":1.10665393,"mpcc_iq_a":0.103351831,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.2167149,"mpcc_pred_id_a":-0.304417968,"mpcc_pred_iq_a":1.10804081,"mpcc_state":1,"mpcc_theta_e":0.422588348,"mpcc_theta_mech":0.551463544,"sam_rpm":-31.4965839,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205504745,"thr_a_norm":0.0261650234,"thr_a_v":0.582201898,"thr_b":0,"thr_b_norm":0.000698104501,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.787437,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.02359605,"cg_iw_a":-0.160782099,"cg_theta_rad":0.556301534,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0661457106,"mpcc_du":49.5070686,"mpcc_dv":49.6534042,"mpcc_dw":50.4929314,"mpcc_enc_sign":1,"mpcc_id_a":-0.859436929,"mpcc_iq_a":-2.63957262,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.26699591,"mpcc_pred_id_a":0.169665173,"mpcc_pred_iq_a":0.412223101,"mpcc_state":1,"mpcc_theta_e":0.428318977,"mpcc_theta_mech":0.552609742,"sam_rpm":-13.0656071,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205504745,"thr_a_norm":0.0205504745,"thr_a_v":0.582201898,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.7976,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-0.516182423,"cg_iw_a":-1.97297382,"cg_theta_rad":0.554112911,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.00406357227,"mpcc_du":50.9661674,"mpcc_dv":47.8726196,"mpcc_dw":52.1273804,"mpcc_enc_sign":1,"mpcc_id_a":-0.334019125,"mpcc_iq_a":-1.13174093,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.1869965,"mpcc_pred_id_a":-0.425880849,"mpcc_pred_iq_a":-0.872519612,"mpcc_state":1,"mpcc_theta_e":0.431175709,"mpcc_theta_mech":0.553181052,"sam_rpm":-25.7311039,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282799155,"thr_a_norm":0.0282799155,"thr_a_v":0.613119662,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497303694,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.807549,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.26292467,"cg_theta_rad":0.553979933,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.00267093768,"mpcc_du":49.7166862,"mpcc_dv":48.286808,"mpcc_dw":51.713192,"mpcc_enc_sign":1,"mpcc_id_a":-0.830557883,"mpcc_iq_a":-1.3162818,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.761342168,"mpcc_pred_id_a":-1.06971991,"mpcc_pred_iq_a":-4.21328831,"mpcc_state":1,"mpcc_theta_e":0.438643456,"mpcc_theta_mech":0.552620351,"sam_rpm":-2.29071212,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0282799155,"thr_a_norm":0.0282799155,"thr_a_v":0.613119662,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497303694,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.81765,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-2.76329994,"cg_iw_a":2.08633566,"cg_theta_rad":0.550695777,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.00376202143,"mpcc_du":49.6039619,"mpcc_dv":49.9989738,"mpcc_dw":50.3960381,"mpcc_enc_sign":1,"mpcc_id_a":0.142799348,"mpcc_iq_a":-0.433503985,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.74366093,"mpcc_pred_id_a":-0.316228658,"mpcc_pred_iq_a":-2.57785606,"mpcc_state":1,"mpcc_theta_e":0.44205904,"mpcc_theta_mech":0.555357754,"sam_rpm":9.10600471,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0223380625,"thr_a_norm":0.0223380625,"thr_a_v":0.58935225,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478622139,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.828056,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.806133032,"cg_iw_a":-0.523220301,"cg_theta_rad":0.556271672,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":7.2585397e-05,"mpcc_du":49.878231,"mpcc_dv":49.2969971,"mpcc_dw":50.7030029,"mpcc_enc_sign":1,"mpcc_id_a":0.0207573026,"mpcc_iq_a":-2.55253386,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.50435185,"mpcc_pred_id_a":-0.507822037,"mpcc_pred_iq_a":-4.02332067,"mpcc_state":1,"mpcc_theta_e":0.442559719,"mpcc_theta_mech":0.55545789,"sam_rpm":-5.86264181,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023609519,"thr_a_norm":0.0223380625,"thr_a_v":0.594438076,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.85128,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-2.83578777,"cg_iw_a":1.28897142,"cg_theta_rad":0.557180226,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0189349167,"mpcc_du":49.5293427,"mpcc_dv":50.1664886,"mpcc_dw":50.4706573,"mpcc_enc_sign":1,"mpcc_id_a":2.10507035,"mpcc_iq_a":-1.52934706,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.53064537,"mpcc_pred_id_a":0.16378665,"mpcc_pred_iq_a":-4.52334309,"mpcc_state":1,"mpcc_theta_e":0.452017784,"mpcc_theta_mech":0.557349503,"sam_rpm":11.2350559,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023609519,"thr_a_norm":0.023609519,"thr_a_v":0.594438076,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.857811,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.951108456,"cg_iw_a":-0.450732708,"cg_theta_rad":0.5571751,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0282375868,"mpcc_du":49.9928856,"mpcc_dv":48.7937737,"mpcc_dw":51.2062263,"mpcc_enc_sign":1,"mpcc_id_a":3.33162451,"mpcc_iq_a":-1.49093258,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.20918345,"mpcc_pred_id_a":0.398804814,"mpcc_pred_iq_a":-0.0301290192,"mpcc_state":1,"mpcc_theta_e":0.444828033,"mpcc_theta_mech":0.555911481,"sam_rpm":3.05695724,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101445422,"thr_a_norm":0.101445422,"thr_a_v":0.905781686,"thr_b":0.0422911495,"thr_b_norm":0.0422911495,"thr_b_v":0.669164598,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.864281,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.38603449,"cg_iw_a":-0.958146095,"cg_theta_rad":0.55395323,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.00694586197,"mpcc_du":49.0650902,"mpcc_dv":50.9349098,"mpcc_dw":49.67519,"mpcc_enc_sign":1,"mpcc_id_a":1.17376113,"mpcc_iq_a":-1.29899442,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.69121599,"mpcc_pred_id_a":-0.402801663,"mpcc_pred_iq_a":-7.07888174,"mpcc_state":1,"mpcc_theta_e":0.4460392,"mpcc_theta_mech":0.556153715,"sam_rpm":8.24000931,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101445422,"thr_a_norm":0.101445422,"thr_a_v":0.905781686,"thr_b":0.0422911495,"thr_b_norm":0.0422911495,"thr_b_v":0.669164598,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.870811,"values":{"cg_iu_a":2.5616436,"cg_iv_a":0.0637187958,"cg_iw_a":0.346631765,"cg_theta_rad":0.556618035,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.027107235,"mpcc_du":50.5778351,"mpcc_dv":48.0118065,"mpcc_dw":51.9881935,"mpcc_enc_sign":1,"mpcc_id_a":3.28765655,"mpcc_iq_a":-0.710288167,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.1451349,"mpcc_pred_id_a":0.454887509,"mpcc_pred_iq_a":1.26939034,"mpcc_state":1,"mpcc_theta_e":0.427146912,"mpcc_theta_mech":0.552375257,"sam_rpm":-20.0161095,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024692148,"thr_a_norm":0.024692148,"thr_a_v":0.598768592,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483002961,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.87899,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.0812563896,"cg_iw_a":0.0566811562,"cg_theta_rad":0.556891859,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.00355603732,"mpcc_du":51.2154694,"mpcc_dv":47.5709686,"mpcc_dw":52.4290314,"mpcc_enc_sign":1,"mpcc_id_a":0.473654866,"mpcc_iq_a":-3.16870213,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.6422377,"mpcc_pred_id_a":-0.239760891,"mpcc_pred_iq_a":2.28450894,"mpcc_state":1,"mpcc_theta_e":0.434780121,"mpcc_theta_mech":0.55390197,"sam_rpm":-15.8449945,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026001364,"thr_a_norm":0.024692148,"thr_a_v":0.604005456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496498048,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.88903,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-0.516182423,"cg_iw_a":0.419119358,"cg_theta_rad":0.556682646,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0379879214,"mpcc_du":50.632103,"mpcc_dv":47.9358482,"mpcc_dw":52.0641518,"mpcc_enc_sign":1,"mpcc_id_a":3.01779866,"mpcc_iq_a":-1.1349045,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.90639591,"mpcc_pred_id_a":0.648555636,"mpcc_pred_iq_a":-0.875348747,"mpcc_state":1,"mpcc_theta_e":0.438934326,"mpcc_theta_mech":0.5547328,"sam_rpm":-14.2611132,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026001364,"thr_a_norm":0.026001364,"thr_a_v":0.604005456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496498048,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.89901,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.16857147,"cg_iw_a":0.0566811562,"cg_theta_rad":0.551855266,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0221198127,"mpcc_du":50.3797379,"mpcc_dv":48.8198662,"mpcc_dw":51.1801338,"mpcc_enc_sign":1,"mpcc_id_a":-1.171386,"mpcc_iq_a":-1.98610687,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.845241606,"mpcc_pred_id_a":-0.712874591,"mpcc_pred_iq_a":-3.26936197,"mpcc_state":1,"mpcc_theta_e":0.449127674,"mpcc_theta_mech":0.556771457,"sam_rpm":-0.758777916,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195056051,"thr_a_norm":0.0195056051,"thr_a_v":0.57802242,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475751907,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.908836,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.45852208,"cg_iw_a":-1.53804755,"cg_theta_rad":0.553368509,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.00662694732,"mpcc_du":49.5839729,"mpcc_dv":50.4160271,"mpcc_dw":50.3936691,"mpcc_enc_sign":1,"mpcc_id_a":1.11618388,"mpcc_iq_a":-0.579028189,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.1877146,"mpcc_pred_id_a":-0.0525817573,"mpcc_pred_iq_a":-2.88000917,"mpcc_state":1,"mpcc_theta_e":0.448484898,"mpcc_theta_mech":0.55664289,"sam_rpm":14.6546011,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195056051,"thr_a_norm":0.0195056051,"thr_a_v":0.57802242,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475751907,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.919151,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-0.371207237,"cg_iw_a":0.709069729,"cg_theta_rad":0.554107428,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0224529635,"mpcc_du":50.4848328,"mpcc_dv":48.3872261,"mpcc_dw":51.6127739,"mpcc_enc_sign":1,"mpcc_id_a":0.939024091,"mpcc_iq_a":-1.46018267,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.16032505,"mpcc_pred_id_a":0.0230747331,"mpcc_pred_iq_a":-2.74685383,"mpcc_state":1,"mpcc_theta_e":0.443042755,"mpcc_theta_mech":0.55555445,"sam_rpm":-10.3863153,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023030445,"thr_a_norm":0.023030445,"thr_a_v":0.59212178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494987428,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.929131,"values":{"cg_iu_a":-1.20771503,"cg_iv_a":-0.588670254,"cg_iw_a":-0.16078186,"cg_theta_rad":0.552282333,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0379595645,"mpcc_du":49.5837364,"mpcc_dv":49.8743782,"mpcc_dw":50.4162636,"mpcc_enc_sign":1,"mpcc_id_a":1.99845922,"mpcc_iq_a":-1.08697307,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.30887842,"mpcc_pred_id_a":-0.0606355332,"mpcc_pred_iq_a":-5.41381454,"mpcc_state":1,"mpcc_theta_e":0.444723606,"mpcc_theta_mech":0.55589062,"sam_rpm":8.92020702,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0113481283,"thr_a_norm":0.023030445,"thr_a_v":0.545392513,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443978041,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.952232,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.24809694,"cg_theta_rad":0.551876307,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.00885312818,"mpcc_du":50.26577,"mpcc_dv":48.6659584,"mpcc_dw":51.3340416,"mpcc_enc_sign":1,"mpcc_id_a":1.75164115,"mpcc_iq_a":-1.61020422,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.0614953,"mpcc_pred_id_a":-0.000128554399,"mpcc_pred_iq_a":-0.579025269,"mpcc_state":1,"mpcc_theta_e":0.441471577,"mpcc_theta_mech":0.555240273,"sam_rpm":-2.98013902,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0113481283,"thr_a_norm":0.0113481283,"thr_a_v":0.545392513,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443978041,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.958794,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.733645439,"cg_iw_a":-1.32058477,"cg_theta_rad":0.556981146,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.00958445296,"mpcc_du":50.2114601,"mpcc_dv":48.588089,"mpcc_dw":51.411911,"mpcc_enc_sign":1,"mpcc_id_a":1.70352161,"mpcc_iq_a":-1.541906,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.07014489,"mpcc_pred_id_a":0.330926597,"mpcc_pred_iq_a":-0.61125505,"mpcc_state":1,"mpcc_theta_e":0.441771984,"mpcc_theta_mech":0.555300295,"sam_rpm":-3.00126433,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280155689,"thr_a_norm":0.0280155689,"thr_a_v":0.612062275,"thr_b":0.001491189,"thr_b_norm":0.001491189,"thr_b_v":0.505964756,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.965294,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.661157608,"cg_iw_a":-1.17560959,"cg_theta_rad":0.554095149,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0174454432,"mpcc_du":49.4912453,"mpcc_dv":49.2965355,"mpcc_dw":50.7034645,"mpcc_enc_sign":1,"mpcc_id_a":2.57764244,"mpcc_iq_a":-0.884106755,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.50436223,"mpcc_pred_id_a":0.305532604,"mpcc_pred_iq_a":-3.82855535,"mpcc_state":1,"mpcc_theta_e":0.437375069,"mpcc_theta_mech":0.554420888,"sam_rpm":-2.78049612,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280155689,"thr_a_norm":0.0280155689,"thr_a_v":0.612062275,"thr_b":0.001491189,"thr_b_norm":0.001491189,"thr_b_v":0.505964756,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.971855,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.02359605,"cg_iw_a":0.201656103,"cg_theta_rad":0.556668162,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0207195505,"mpcc_du":50.1611176,"mpcc_dv":48.6667671,"mpcc_dw":51.3332329,"mpcc_enc_sign":1,"mpcc_id_a":2.77609515,"mpcc_iq_a":-0.80035913,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.47557628,"mpcc_pred_id_a":0.265826166,"mpcc_pred_iq_a":0.877243042,"mpcc_state":1,"mpcc_theta_e":0.442138672,"mpcc_theta_mech":0.555373669,"sam_rpm":2.12765622,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021066606,"thr_a_norm":0.021066606,"thr_a_v":0.584266424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470313579,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.980309,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.0812563896,"cg_iw_a":0.0566806793,"cg_theta_rad":0.556072831,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.0131156854,"mpcc_du":50.4516373,"mpcc_dv":48.5887833,"mpcc_dw":50.7942429,"mpcc_enc_sign":1,"mpcc_id_a":0.168789968,"mpcc_iq_a":-1.37726104,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.28794765,"mpcc_pred_id_a":-0.39470613,"mpcc_pred_iq_a":-0.0234210584,"mpcc_state":1,"mpcc_theta_e":0.448633194,"mpcc_theta_mech":0.557788074,"sam_rpm":7.1478548,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0207141191,"thr_a_norm":0.021066606,"thr_a_v":0.582856476,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474190891,"vdc_v":55.2955055}} +{"type":"telemetry","t":99.990257,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.53100967,"cg_iw_a":-2.40789938,"cg_theta_rad":0.557389379,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5007,"hz_app_loop":359,"hz_tim_isr":10012,"hz_vsense":359,"mpcc_cost":0.00102114619,"mpcc_du":49.7305145,"mpcc_dv":49.371994,"mpcc_dw":50.628006,"mpcc_enc_sign":1,"mpcc_id_a":0.517804325,"mpcc_iq_a":-0.836098135,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.1503582,"mpcc_pred_id_a":-0.263935417,"mpcc_pred_iq_a":-1.49026358,"mpcc_state":1,"mpcc_theta_e":0.435033798,"mpcc_theta_mech":0.553952634,"sam_rpm":-3.12847948,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0207141191,"thr_a_norm":0.0207141191,"thr_a_v":0.582856476,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474190891,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.00103,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.661157608,"cg_iw_a":-2.26292467,"cg_theta_rad":0.557879269,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0234745946,"mpcc_du":50.050869,"mpcc_dv":48.9930649,"mpcc_dw":51.0069351,"mpcc_enc_sign":1,"mpcc_id_a":1.01417077,"mpcc_iq_a":-1.30632305,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.46398854,"mpcc_pred_id_a":-0.293066859,"mpcc_pred_iq_a":-4.37839937,"mpcc_state":1,"mpcc_theta_e":0.440455914,"mpcc_theta_mech":0.555037141,"sam_rpm":-3.45586562,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271721184,"thr_a_norm":0.0271721184,"thr_a_v":0.608688474,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493678182,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.01104,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.661157608,"cg_iw_a":-1.46555996,"cg_theta_rad":0.551807165,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0228848569,"mpcc_du":50.5095749,"mpcc_dv":48.190033,"mpcc_dw":51.809967,"mpcc_enc_sign":1,"mpcc_id_a":2.48081851,"mpcc_iq_a":-0.219399661,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.6249037,"mpcc_pred_id_a":0.191839263,"mpcc_pred_iq_a":-0.809149325,"mpcc_state":1,"mpcc_theta_e":0.432696819,"mpcc_theta_mech":0.553485274,"sam_rpm":-18.7176113,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271721184,"thr_a_norm":0.0271721184,"thr_a_v":0.608688474,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493678182,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.021233,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.53100967,"cg_iw_a":-0.668195724,"cg_theta_rad":0.55707556,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0253128894,"mpcc_du":49.7461472,"mpcc_dv":49.1466522,"mpcc_dw":50.8533478,"mpcc_enc_sign":1,"mpcc_id_a":2.54124689,"mpcc_iq_a":-1.81651413,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.27313423,"mpcc_pred_id_a":0.183660254,"mpcc_pred_iq_a":-1.8393935,"mpcc_state":1,"mpcc_theta_e":0.433236599,"mpcc_theta_mech":0.553593218,"sam_rpm":-12.9490995,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162325352,"thr_a_norm":0.0162325352,"thr_a_v":0.564930141,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466083795,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.031395,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.09608364,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556551814,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0139653161,"mpcc_du":49.5667915,"mpcc_dv":50.4332085,"mpcc_dw":50.3976173,"mpcc_enc_sign":1,"mpcc_id_a":0.666157603,"mpcc_iq_a":-1.55035925,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.54554713,"mpcc_pred_id_a":-0.150798053,"mpcc_pred_iq_a":-3.29298568,"mpcc_state":1,"mpcc_theta_e":0.434475899,"mpcc_theta_mech":0.553841054,"sam_rpm":-4.19223166,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297905654,"thr_a_norm":0.0162325352,"thr_a_v":0.619162261,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454351097,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.054527,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.878620625,"cg_iw_a":-2.19043684,"cg_theta_rad":0.558232903,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0206661001,"mpcc_du":50.2096977,"mpcc_dv":48.718399,"mpcc_dw":51.281601,"mpcc_enc_sign":1,"mpcc_id_a":0.297362655,"mpcc_iq_a":-0.784547091,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.48529744,"mpcc_pred_id_a":-0.14482601,"mpcc_pred_iq_a":-2.54445314,"mpcc_state":1,"mpcc_theta_e":0.442176819,"mpcc_theta_mech":0.555381298,"sam_rpm":-4.81891823,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297905654,"thr_a_norm":0.0297905654,"thr_a_v":0.619162261,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454351097,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.060966,"values":{"cg_iu_a":1.18437815,"cg_iv_a":1.15103388,"cg_iw_a":-2.33541203,"cg_theta_rad":0.556897819,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.000678433571,"mpcc_du":49.565773,"mpcc_dv":49.7079124,"mpcc_dw":50.434227,"mpcc_enc_sign":1,"mpcc_id_a":0.499697596,"mpcc_iq_a":-0.695517778,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.6657505,"mpcc_pred_id_a":-0.211441025,"mpcc_pred_iq_a":-0.00169498869,"mpcc_state":1,"mpcc_theta_e":0.442651272,"mpcc_theta_mech":0.555476129,"sam_rpm":17.4243793,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02000916,"thr_a_norm":0.02000916,"thr_a_v":0.58003664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.067497,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.0087685585,"cg_iw_a":-1.61053562,"cg_theta_rad":0.556926429,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0207557045,"mpcc_du":49.9698143,"mpcc_dv":48.7853737,"mpcc_dw":51.2146263,"mpcc_enc_sign":1,"mpcc_id_a":2.36192727,"mpcc_iq_a":-2.31879282,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.5537653,"mpcc_pred_id_a":0.27022323,"mpcc_pred_iq_a":-6.45286369,"mpcc_state":1,"mpcc_theta_e":0.455858707,"mpcc_theta_mech":0.558117628,"sam_rpm":12.6766739,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02000916,"thr_a_norm":0.02000916,"thr_a_v":0.58003664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.074028,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.226231575,"cg_iw_a":-1.10312176,"cg_theta_rad":0.556489289,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0106148869,"mpcc_du":49.6168213,"mpcc_dv":50.1773148,"mpcc_dw":50.3831787,"mpcc_enc_sign":1,"mpcc_id_a":0.707037628,"mpcc_iq_a":-1.2635895,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.23290157,"mpcc_pred_id_a":-0.341967911,"mpcc_pred_iq_a":-4.79925823,"mpcc_state":1,"mpcc_theta_e":0.44772768,"mpcc_theta_mech":0.555081844,"sam_rpm":8.31198215,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149736851,"thr_a_norm":0.0149736851,"thr_a_v":0.559894741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463666737,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.08242,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.31354666,"cg_iw_a":1.36145878,"cg_theta_rad":0.552486062,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.072225824,"mpcc_du":49.407135,"mpcc_dv":49.5020485,"mpcc_dw":50.592865,"mpcc_enc_sign":1,"mpcc_id_a":4.29455757,"mpcc_iq_a":-0.996363938,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.55570674,"mpcc_pred_id_a":0.734600067,"mpcc_pred_iq_a":-4.96082401,"mpcc_state":1,"mpcc_theta_e":0.449028015,"mpcc_theta_mech":0.556751549,"sam_rpm":4.46610117,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0413092226,"thr_a_norm":0.0149736851,"thr_a_v":0.66523689,"thr_b":0.0137777478,"thr_b_norm":0,"thr_b_v":0.555110991,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.092613,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-3.05325079,"cg_iw_a":0.564094543,"cg_theta_rad":0.555821419,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0057170433,"mpcc_du":50.5147934,"mpcc_dv":48.2438622,"mpcc_dw":51.7561378,"mpcc_enc_sign":1,"mpcc_id_a":1.18891883,"mpcc_iq_a":-2.30707026,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.1791048,"mpcc_pred_id_a":0.0922807902,"mpcc_pred_iq_a":-2.82939267,"mpcc_state":1,"mpcc_theta_e":0.437399387,"mpcc_theta_mech":0.554425836,"sam_rpm":-28.4551678,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0413092226,"thr_a_norm":0.0413092226,"thr_a_v":0.66523689,"thr_b":0.0137777478,"thr_b_norm":0.0137777478,"thr_b_v":0.555110991,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.102989,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.733645439,"cg_iw_a":-0.233269691,"cg_theta_rad":0.555741072,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0264966879,"mpcc_du":49.6766701,"mpcc_dv":49.3720551,"mpcc_dw":50.6279449,"mpcc_enc_sign":1,"mpcc_id_a":1.17082894,"mpcc_iq_a":0.371234536,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.30951357,"mpcc_pred_id_a":0.00748717971,"mpcc_pred_iq_a":-2.15202999,"mpcc_state":1,"mpcc_theta_e":0.448927402,"mpcc_theta_mech":0.556731403,"sam_rpm":8.07116699,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196440816,"thr_a_norm":0.0196440816,"thr_a_v":0.578576326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.112816,"values":{"cg_iu_a":4.37383556,"cg_iv_a":-0.878620625,"cg_iw_a":-0.378245354,"cg_theta_rad":0.553702354,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0113927219,"mpcc_du":49.8311043,"mpcc_dv":49.117527,"mpcc_dw":50.882473,"mpcc_enc_sign":1,"mpcc_id_a":1.48935223,"mpcc_iq_a":0.935011983,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.336585,"mpcc_pred_id_a":0.0082499953,"mpcc_pred_iq_a":-3.31272244,"mpcc_state":1,"mpcc_theta_e":0.428010464,"mpcc_theta_mech":0.552548051,"sam_rpm":-20.4832249,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196440816,"thr_a_norm":0.0196440816,"thr_a_v":0.578576326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.123039,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-2.11091113,"cg_iw_a":-1.03063416,"cg_theta_rad":0.556950927,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.000526648713,"mpcc_du":50.1632309,"mpcc_dv":48.8159447,"mpcc_dw":51.1840553,"mpcc_enc_sign":1,"mpcc_id_a":0.411224782,"mpcc_iq_a":-1.57397723,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.80641508,"mpcc_pred_id_a":-0.213314593,"mpcc_pred_iq_a":-1.27104461,"mpcc_state":1,"mpcc_theta_e":0.437542439,"mpcc_theta_mech":0.554454446,"sam_rpm":-7.31170464,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216330886,"thr_a_norm":0.0216330886,"thr_a_v":0.586532354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456063181,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.133354,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-2.98076296,"cg_iw_a":1.57892179,"cg_theta_rad":0.55643183,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0110132359,"mpcc_du":49.6625328,"mpcc_dv":49.3761215,"mpcc_dw":50.6238785,"mpcc_enc_sign":1,"mpcc_id_a":0.333210677,"mpcc_iq_a":-0.200445205,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.79023743,"mpcc_pred_id_a":-0.0324275158,"mpcc_pred_iq_a":-2.40920782,"mpcc_state":1,"mpcc_theta_e":0.444234371,"mpcc_theta_mech":0.555792749,"sam_rpm":4.13204813,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224891305,"thr_a_norm":0.0216330886,"thr_a_v":0.589956522,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469860375,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.157341,"values":{"cg_iu_a":0.966915131,"cg_iv_a":0.0637187958,"cg_iw_a":-1.10312176,"cg_theta_rad":0.557006538,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.00900297146,"mpcc_du":48.984623,"mpcc_dv":51.015377,"mpcc_dw":49.5741806,"mpcc_enc_sign":1,"mpcc_id_a":0.688588381,"mpcc_iq_a":-1.12363732,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.008666,"mpcc_pred_id_a":-0.495464712,"mpcc_pred_iq_a":-6.35591459,"mpcc_state":1,"mpcc_theta_e":0.454380512,"mpcc_theta_mech":0.557822049,"sam_rpm":18.7469959,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224891305,"thr_a_norm":0.0224891305,"thr_a_v":0.589956522,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469860375,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.163841,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.878620625,"cg_iw_a":-0.378245354,"cg_theta_rad":0.555695474,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.00838461053,"mpcc_du":48.8815689,"mpcc_dv":51.1184311,"mpcc_dw":49.5618401,"mpcc_enc_sign":1,"mpcc_id_a":1.40710247,"mpcc_iq_a":-2.15388536,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.4672327,"mpcc_pred_id_a":-0.147697464,"mpcc_pred_iq_a":-5.76398325,"mpcc_state":1,"mpcc_theta_e":0.446483135,"mpcc_theta_mech":0.55268681,"sam_rpm":11.4602537,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182467401,"thr_a_norm":0.0224891305,"thr_a_v":0.57298696,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.170403,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.16857147,"cg_iw_a":0.78155756,"cg_theta_rad":0.556806505,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0569936335,"mpcc_du":51.2268486,"mpcc_dv":47.2150803,"mpcc_dw":52.7849197,"mpcc_enc_sign":1,"mpcc_id_a":3.71008611,"mpcc_iq_a":-0.558964133,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.9658165,"mpcc_pred_id_a":0.554306865,"mpcc_pred_iq_a":-7.57598877,"mpcc_state":1,"mpcc_theta_e":0.456589699,"mpcc_theta_mech":0.558263898,"sam_rpm":-12.8045387,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182467401,"thr_a_norm":0.0182467401,"thr_a_v":0.57298696,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.177147,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.516182423,"cg_iw_a":-0.233269691,"cg_theta_rad":0.555093467,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0259455629,"mpcc_du":50.6583405,"mpcc_dv":47.8387871,"mpcc_dw":52.1612129,"mpcc_enc_sign":1,"mpcc_id_a":3.00266981,"mpcc_iq_a":0.0591694899,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.670434,"mpcc_pred_id_a":0.679537475,"mpcc_pred_iq_a":1.49194252,"mpcc_state":1,"mpcc_theta_e":0.428495407,"mpcc_theta_mech":0.552645028,"sam_rpm":-18.8576946,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0991165042,"thr_a_norm":0.0991165042,"thr_a_v":0.896466017,"thr_b":0.0429079831,"thr_b_norm":0.0429079831,"thr_b_v":0.671631932,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.184013,"values":{"cg_iu_a":3.79393435,"cg_iv_a":-0.516182423,"cg_iw_a":-1.46555996,"cg_theta_rad":0.553287029,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0306217521,"mpcc_du":49.4860878,"mpcc_dv":49.1753769,"mpcc_dw":50.8246231,"mpcc_enc_sign":1,"mpcc_id_a":3.3643384,"mpcc_iq_a":-0.733337343,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.70006371,"mpcc_pred_id_a":1.02281213,"mpcc_pred_iq_a":-2.43742585,"mpcc_state":1,"mpcc_theta_e":0.436384678,"mpcc_theta_mech":0.554222882,"sam_rpm":-4.11273813,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0991165042,"thr_a_norm":0.0991165042,"thr_a_v":0.896466017,"thr_b":0.0429079831,"thr_b_norm":0.0429079831,"thr_b_v":0.671631932,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.194328,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.661157608,"cg_iw_a":0.0566806793,"cg_theta_rad":0.556087852,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.016457472,"mpcc_du":49.6655388,"mpcc_dv":50.0603027,"mpcc_dw":50.3344612,"mpcc_enc_sign":1,"mpcc_id_a":2.04444408,"mpcc_iq_a":-1.66471195,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.95069087,"mpcc_pred_id_a":0.0939999893,"mpcc_pred_iq_a":-0.354008406,"mpcc_state":1,"mpcc_theta_e":0.444547653,"mpcc_theta_mech":0.555855453,"sam_rpm":13.2076893,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194426626,"thr_a_norm":0.0194426626,"thr_a_v":0.57777065,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.20443,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.02359605,"cg_iw_a":0.491606951,"cg_theta_rad":0.554561496,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0113240555,"mpcc_du":49.6842804,"mpcc_dv":49.1796074,"mpcc_dw":50.8203926,"mpcc_enc_sign":1,"mpcc_id_a":2.0020926,"mpcc_iq_a":-0.571243882,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.37088108,"mpcc_pred_id_a":0.426925421,"mpcc_pred_iq_a":-0.451740384,"mpcc_state":1,"mpcc_theta_e":0.441427708,"mpcc_theta_mech":0.555231452,"sam_rpm":5.04085588,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217715651,"thr_a_norm":0.0194426626,"thr_a_v":0.58708626,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474341929,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.214226,"values":{"cg_iu_a":-0.772789001,"cg_iv_a":-1.16857147,"cg_iw_a":1.94136047,"cg_theta_rad":0.555196822,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.049742654,"mpcc_du":49.4836922,"mpcc_dv":49.6120262,"mpcc_dw":50.5163078,"mpcc_enc_sign":1,"mpcc_id_a":2.13823724,"mpcc_iq_a":-0.960802078,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.57010126,"mpcc_pred_id_a":0.264802754,"mpcc_pred_iq_a":0.0448632129,"mpcc_state":1,"mpcc_theta_e":0.424040794,"mpcc_theta_mech":0.551754057,"sam_rpm":-11.1913853,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217715651,"thr_a_norm":0.0217715651,"thr_a_v":0.58708626,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474341929,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.224419,"values":{"cg_iu_a":-0.410350561,"cg_iv_a":-2.32837415,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556114852,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0210882965,"mpcc_du":50.5883217,"mpcc_dv":48.6306953,"mpcc_dw":51.3693047,"mpcc_enc_sign":1,"mpcc_id_a":-0.146642089,"mpcc_iq_a":-1.03833187,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.79806662,"mpcc_pred_id_a":-0.83368963,"mpcc_pred_iq_a":-1.93719244,"mpcc_state":1,"mpcc_theta_e":0.444928646,"mpcc_theta_mech":0.555931687,"sam_rpm":-3.50239468,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022124052,"thr_a_norm":0.022124052,"thr_a_v":0.588496208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.234398,"values":{"cg_iu_a":-1.35269022,"cg_iv_a":-0.661157608,"cg_iw_a":2.01384783,"cg_theta_rad":0.556831896,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0125983264,"mpcc_du":50.3379288,"mpcc_dv":48.6983185,"mpcc_dw":51.3016815,"mpcc_enc_sign":1,"mpcc_id_a":0.596896648,"mpcc_iq_a":-1.34117317,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.12983942,"mpcc_pred_id_a":-0.21419552,"mpcc_pred_iq_a":-2.69569659,"mpcc_state":1,"mpcc_theta_e":0.440613747,"mpcc_theta_mech":0.555068672,"sam_rpm":-8.63853931,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022124052,"thr_a_norm":0.022124052,"thr_a_v":0.588496208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.257622,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.371207237,"cg_iw_a":-0.305757046,"cg_theta_rad":0.554319263,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0234070029,"mpcc_du":50.4029999,"mpcc_dv":50.5445251,"mpcc_dw":50.2442055,"mpcc_enc_sign":1,"mpcc_id_a":2.93468738,"mpcc_iq_a":-1.65274823,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.81057906,"mpcc_pred_id_a":0.719955981,"mpcc_pred_iq_a":0.585226059,"mpcc_state":1,"mpcc_theta_e":0.439489841,"mpcc_theta_mech":0.554843903,"sam_rpm":-4.87974739,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.106921494,"thr_a_norm":0.106921494,"thr_a_v":0.927685976,"thr_b":0.0549553633,"thr_b_norm":0.0549553633,"thr_b_v":0.719821453,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.264122,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.31354666,"cg_iw_a":-0.958146572,"cg_theta_rad":0.556208968,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.00508065056,"mpcc_du":51.2769089,"mpcc_dv":47.4559708,"mpcc_dw":52.5440292,"mpcc_enc_sign":1,"mpcc_id_a":0.0176315084,"mpcc_iq_a":-1.75431108,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.4787884,"mpcc_pred_id_a":-0.250579774,"mpcc_pred_iq_a":1.05838442,"mpcc_state":1,"mpcc_theta_e":0.431326389,"mpcc_theta_mech":0.559547901,"sam_rpm":-19.9577656,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228667855,"thr_a_norm":0.106921494,"thr_a_v":0.591467142,"thr_b":0,"thr_b_norm":0.0549553633,"thr_b_v":0.482298017,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.270683,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.588670254,"cg_iw_a":-2.19043636,"cg_theta_rad":0.556886792,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.00850939006,"mpcc_du":48.827549,"mpcc_dv":51.172451,"mpcc_dw":49.5236549,"mpcc_enc_sign":1,"mpcc_id_a":1.83853495,"mpcc_iq_a":-1.95356059,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.52958202,"mpcc_pred_id_a":0.174453989,"mpcc_pred_iq_a":-0.935096562,"mpcc_state":1,"mpcc_theta_e":0.433591366,"mpcc_theta_mech":0.553664148,"sam_rpm":-14.164916,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228667855,"thr_a_norm":0.0228667855,"thr_a_v":0.591467142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482298017,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.277489,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.951108456,"cg_iw_a":-0.523220539,"cg_theta_rad":0.557990789,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0293104164,"mpcc_du":50.4730492,"mpcc_dv":48.2246475,"mpcc_dw":51.7753525,"mpcc_enc_sign":1,"mpcc_id_a":3.20108294,"mpcc_iq_a":-0.732742488,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.2036343,"mpcc_pred_id_a":0.402419835,"mpcc_pred_iq_a":-0.900280416,"mpcc_state":1,"mpcc_theta_e":0.431641102,"mpcc_theta_mech":0.553274095,"sam_rpm":-19.0876541,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026756689,"thr_a_norm":0.026756689,"thr_a_v":0.607026756,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488642722,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.287621,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.89344811,"cg_iw_a":-0.668195486,"cg_theta_rad":0.559179246,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.00889254361,"mpcc_du":49.4534264,"mpcc_dv":50.5465736,"mpcc_dw":50.192997,"mpcc_enc_sign":1,"mpcc_id_a":0.693779767,"mpcc_iq_a":-0.457180977,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.48563385,"mpcc_pred_id_a":0.0622525848,"mpcc_pred_iq_a":-0.0226691943,"mpcc_state":1,"mpcc_theta_e":0.435911179,"mpcc_theta_mech":0.55412811,"sam_rpm":10.2465715,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0955916643,"thr_a_norm":0.026756689,"thr_a_v":0.882366657,"thr_b":0.0386907756,"thr_b_norm":0,"thr_b_v":0.654763103,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.297417,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.31354666,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556150913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.00264069205,"mpcc_du":50.8863182,"mpcc_dv":47.899826,"mpcc_dw":52.100174,"mpcc_enc_sign":1,"mpcc_id_a":1.02761781,"mpcc_iq_a":-1.2957716,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.0135899,"mpcc_pred_id_a":-0.110349894,"mpcc_pred_iq_a":0.830189645,"mpcc_state":1,"mpcc_theta_e":0.430120468,"mpcc_theta_mech":0.552969992,"sam_rpm":-21.3400555,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0955916643,"thr_a_norm":0.0955916643,"thr_a_v":0.882366657,"thr_b":0.0386907756,"thr_b_norm":0.0386907756,"thr_b_v":0.654763103,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.307823,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.588670254,"cg_iw_a":-0.81317091,"cg_theta_rad":0.55710566,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0243385155,"mpcc_du":49.7373505,"mpcc_dv":49.2018929,"mpcc_dw":50.7981071,"mpcc_enc_sign":1,"mpcc_id_a":2.39983034,"mpcc_iq_a":-0.200424448,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.1114206,"mpcc_pred_id_a":0.187547088,"mpcc_pred_iq_a":-0.6743294,"mpcc_state":1,"mpcc_theta_e":0.421618462,"mpcc_theta_mech":0.551269591,"sam_rpm":-17.477581,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0159933567,"thr_a_norm":0.0159933567,"thr_a_v":0.563973427,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448661,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.317833,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.371207237,"cg_iw_a":-0.885658741,"cg_theta_rad":0.55077678,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0067618927,"mpcc_du":50.0570831,"mpcc_dv":48.7378998,"mpcc_dw":51.2621002,"mpcc_enc_sign":1,"mpcc_id_a":-0.485991448,"mpcc_iq_a":-2.30789566,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.81005478,"mpcc_pred_id_a":0.308275551,"mpcc_pred_iq_a":-0.178913683,"mpcc_state":1,"mpcc_theta_e":0.435064793,"mpcc_theta_mech":0.553958833,"sam_rpm":-8.0081377,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0159933567,"thr_a_norm":0.0159933567,"thr_a_v":0.563973427,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448661,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.327782,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.09608364,"cg_iw_a":-0.668195724,"cg_theta_rad":0.55301553,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0606313236,"mpcc_du":51.2352104,"mpcc_dv":47.6917572,"mpcc_dw":52.3082428,"mpcc_enc_sign":1,"mpcc_id_a":0.343277842,"mpcc_iq_a":-1.1502285,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.8313341,"mpcc_pred_id_a":-0.661953211,"mpcc_pred_iq_a":-5.26571465,"mpcc_state":1,"mpcc_theta_e":0.464224815,"mpcc_theta_mech":0.55979085,"sam_rpm":-9.79167461,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02655527,"thr_a_norm":0.02655527,"thr_a_v":0.60622108,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.338219,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.733645439,"cg_iw_a":0.274144173,"cg_theta_rad":0.556289911,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0376634561,"mpcc_du":49.5139122,"mpcc_dv":49.3862495,"mpcc_dw":50.6137505,"mpcc_enc_sign":1,"mpcc_id_a":3.02236414,"mpcc_iq_a":0.293517083,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.32759523,"mpcc_pred_id_a":0.456557363,"mpcc_pred_iq_a":0.40319103,"mpcc_state":1,"mpcc_theta_e":0.423899651,"mpcc_theta_mech":0.551725864,"sam_rpm":-10.9780493,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023533985,"thr_a_norm":0.02655527,"thr_a_v":0.59413594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476607919,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.361412,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.96593571,"cg_iw_a":-0.305757523,"cg_theta_rad":0.556140125,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.000590593438,"mpcc_du":49.1380005,"mpcc_dv":50.8619995,"mpcc_dw":49.742569,"mpcc_enc_sign":1,"mpcc_id_a":0.413512588,"mpcc_iq_a":-2.3763907,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.76875782,"mpcc_pred_id_a":-0.462769121,"mpcc_pred_iq_a":-6.66968393,"mpcc_state":1,"mpcc_theta_e":0.447882652,"mpcc_theta_mech":0.556522489,"sam_rpm":9.87616634,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023533985,"thr_a_norm":0.023533985,"thr_a_v":0.59413594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476607919,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.368004,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.96593571,"cg_iw_a":-1.10312176,"cg_theta_rad":0.557045817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":5.06376091e-05,"mpcc_du":50.6470261,"mpcc_dv":48.4250717,"mpcc_dw":51.5749283,"mpcc_enc_sign":1,"mpcc_id_a":-0.11611294,"mpcc_iq_a":-1.32808554,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.96241856,"mpcc_pred_id_a":-0.637592733,"mpcc_pred_iq_a":1.48929155,"mpcc_state":1,"mpcc_theta_e":0.439097404,"mpcc_theta_mech":0.554765403,"sam_rpm":-4.59723091,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0332272798,"thr_a_norm":0.0332272798,"thr_a_v":0.632909119,"thr_b":0.00130236149,"thr_b_norm":0.00130236149,"thr_b_v":0.505209446,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.374443,"values":{"cg_iu_a":1.40184116,"cg_iv_a":1.51347208,"cg_iw_a":-0.378245115,"cg_theta_rad":0.554283559,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0110177584,"mpcc_du":50.2244644,"mpcc_dv":48.5377541,"mpcc_dw":51.4622459,"mpcc_enc_sign":1,"mpcc_id_a":2.01717949,"mpcc_iq_a":-1.21950769,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.08735776,"mpcc_pred_id_a":0.318494916,"mpcc_pred_iq_a":0.122021563,"mpcc_state":1,"mpcc_theta_e":0.438768864,"mpcc_theta_mech":0.554699719,"sam_rpm":-4.55121231,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0332272798,"thr_a_norm":0.0332272798,"thr_a_v":0.632909119,"thr_b":0.00130236149,"thr_b_norm":0.00130236149,"thr_b_v":0.505209446,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.381004,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.02359605,"cg_iw_a":-2.1904366,"cg_theta_rad":0.555134594,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0092057744,"mpcc_du":49.4653358,"mpcc_dv":50.5346642,"mpcc_dw":50.799305,"mpcc_enc_sign":1,"mpcc_id_a":1.05117214,"mpcc_iq_a":-1.38330007,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.01020288,"mpcc_pred_id_a":-0.220253497,"mpcc_pred_iq_a":-5.37312889,"mpcc_state":1,"mpcc_theta_e":0.448231697,"mpcc_theta_mech":0.554069102,"sam_rpm":10.3852444,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0231814981,"thr_a_norm":0.0231814981,"thr_a_v":0.592725992,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491512954,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.389214,"values":{"cg_iu_a":3.06905746,"cg_iv_a":0.0637187958,"cg_iw_a":-3.13277626,"cg_theta_rad":0.557802737,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.00212367508,"mpcc_du":50.5841789,"mpcc_dv":48.1008339,"mpcc_dw":51.8991661,"mpcc_enc_sign":1,"mpcc_id_a":0.407495975,"mpcc_iq_a":-1.42707372,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.079216,"mpcc_pred_id_a":-0.125681981,"mpcc_pred_iq_a":-0.297092408,"mpcc_state":1,"mpcc_theta_e":0.431428909,"mpcc_theta_mech":0.553231657,"sam_rpm":-0.331868023,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0231814981,"thr_a_v":0.618709087,"thr_b":0.00645112991,"thr_b_norm":0,"thr_b_v":0.52580452,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.39901,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.38603449,"cg_iw_a":-1.53804779,"cg_theta_rad":0.554395676,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.027663419,"mpcc_du":49.6481819,"mpcc_dv":49.178875,"mpcc_dw":50.821125,"mpcc_enc_sign":1,"mpcc_id_a":2.48663163,"mpcc_iq_a":-0.723621964,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.11560035,"mpcc_pred_id_a":0.386241555,"mpcc_pred_iq_a":0.677537739,"mpcc_state":1,"mpcc_theta_e":0.430727482,"mpcc_theta_mech":0.553091407,"sam_rpm":-5.52765179,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00645112991,"thr_b_norm":0.00645112991,"thr_b_v":0.52580452,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.409325,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.951108456,"cg_iw_a":-1.68302298,"cg_theta_rad":0.555230558,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0135029694,"mpcc_du":49.8133965,"mpcc_dv":48.9654732,"mpcc_dw":51.0345268,"mpcc_enc_sign":1,"mpcc_id_a":2.27717566,"mpcc_iq_a":-0.323750377,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.60853672,"mpcc_pred_id_a":0.562260449,"mpcc_pred_iq_a":-0.819522977,"mpcc_state":1,"mpcc_theta_e":0.438476563,"mpcc_theta_mech":0.554641247,"sam_rpm":-7.10216475,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0950251818,"thr_a_norm":0.0950251818,"thr_a_v":0.880100727,"thr_b":0.0366765857,"thr_b_norm":0.0366765857,"thr_b_v":0.646706343,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.419273,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.661157608,"cg_iw_a":-2.77033806,"cg_theta_rad":0.556846917,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0473791994,"mpcc_du":49.8915672,"mpcc_dv":48.7910042,"mpcc_dw":51.2089958,"mpcc_enc_sign":1,"mpcc_id_a":2.26264834,"mpcc_iq_a":-0.205218911,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.55590272,"mpcc_pred_id_a":0.50362891,"mpcc_pred_iq_a":-2.1318326,"mpcc_state":1,"mpcc_theta_e":0.4499259,"mpcc_theta_mech":0.556931078,"sam_rpm":4.03565073,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0950251818,"thr_a_norm":0.0950251818,"thr_a_v":0.880100727,"thr_b":0.0366765857,"thr_b_norm":0.0366765857,"thr_b_v":0.646706343,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.429161,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.153744221,"cg_iw_a":-2.33541203,"cg_theta_rad":0.552646756,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0190535467,"mpcc_du":49.281311,"mpcc_dv":50.718689,"mpcc_dw":50.2688675,"mpcc_enc_sign":1,"mpcc_id_a":2.34832478,"mpcc_iq_a":-0.171139166,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.86918831,"mpcc_pred_id_a":0.256886631,"mpcc_pred_iq_a":-1.62381947,"mpcc_state":1,"mpcc_theta_e":0.438031673,"mpcc_theta_mech":0.554552257,"sam_rpm":9.18721008,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184859186,"thr_a_norm":0.0184859186,"thr_a_v":0.573943675,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456617087,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.439629,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.951108456,"cg_iw_a":0.419119358,"cg_theta_rad":0.555979073,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0233116597,"mpcc_du":49.9976654,"mpcc_dv":48.904232,"mpcc_dw":51.095768,"mpcc_enc_sign":1,"mpcc_id_a":1.88068449,"mpcc_iq_a":-1.83104706,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0756397396,"mpcc_pred_id_a":-0.0995571986,"mpcc_pred_iq_a":-3.2919693,"mpcc_state":1,"mpcc_theta_e":0.449106693,"mpcc_theta_mech":0.556767285,"sam_rpm":0.569357812,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022652775,"thr_a_norm":0.0184859186,"thr_a_v":0.5906111,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478622139,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.462639,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-2.25588632,"cg_iw_a":0.854045153,"cg_theta_rad":0.560534954,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0223634429,"mpcc_du":50.7200737,"mpcc_dv":47.9669418,"mpcc_dw":52.0330582,"mpcc_enc_sign":1,"mpcc_id_a":2.59049511,"mpcc_iq_a":-0.500555217,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.5596333,"mpcc_pred_id_a":0.00576535566,"mpcc_pred_iq_a":0.61647737,"mpcc_state":1,"mpcc_theta_e":0.432696819,"mpcc_theta_mech":0.553485274,"sam_rpm":-15.3843174,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022652775,"thr_a_norm":0.022652775,"thr_a_v":0.5906111,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478622139,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.469139,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.53100967,"cg_iw_a":0.201656342,"cg_theta_rad":0.557388783,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0176627524,"mpcc_du":50.8514328,"mpcc_dv":47.8217812,"mpcc_dw":52.1782188,"mpcc_enc_sign":1,"mpcc_id_a":2.39026546,"mpcc_iq_a":-1.10693049,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.04103565,"mpcc_pred_id_a":0.0406490825,"mpcc_pred_iq_a":1.52012527,"mpcc_state":1,"mpcc_theta_e":0.435236454,"mpcc_theta_mech":0.553993165,"sam_rpm":-11.6518269,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020739302,"thr_a_norm":0.020739302,"thr_a_v":0.582957208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462810725,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.475731,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.16857147,"cg_iw_a":-3.78516531,"cg_theta_rad":0.554611862,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.00178398308,"mpcc_du":49.6203575,"mpcc_dv":50.1348991,"mpcc_dw":50.3796425,"mpcc_enc_sign":1,"mpcc_id_a":-0.207627624,"mpcc_iq_a":-1.98661625,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.09494925,"mpcc_pred_id_a":-0.457783192,"mpcc_pred_iq_a":-4.07518864,"mpcc_state":1,"mpcc_theta_e":0.44990015,"mpcc_theta_mech":0.556925952,"sam_rpm":10.4654398,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020739302,"thr_a_norm":0.020739302,"thr_a_v":0.582957208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462810725,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.48217,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.951108456,"cg_iw_a":-2.26292419,"cg_theta_rad":0.555954754,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0064546885,"mpcc_du":49.7924461,"mpcc_dv":49.1891556,"mpcc_dw":50.8108444,"mpcc_enc_sign":1,"mpcc_id_a":1.48245776,"mpcc_iq_a":-0.824158311,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.87568474,"mpcc_pred_id_a":-0.125896946,"mpcc_pred_iq_a":-2.78628564,"mpcc_state":1,"mpcc_theta_e":0.435704708,"mpcc_theta_mech":0.554086864,"sam_rpm":-8.92280865,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103258193,"thr_a_norm":0.103258193,"thr_a_v":0.91303277,"thr_b":0.0474021435,"thr_b_norm":0.0474021435,"thr_b_v":0.689608574,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.490227,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.153744221,"cg_iw_a":-0.160782337,"cg_theta_rad":0.557463229,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0145761603,"mpcc_du":49.6115303,"mpcc_dv":49.1996994,"mpcc_dw":50.5621986,"mpcc_enc_sign":1,"mpcc_id_a":2.01104021,"mpcc_iq_a":-1.73728228,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.308661819,"mpcc_pred_id_a":0.43165791,"mpcc_pred_iq_a":-3.32919526,"mpcc_state":1,"mpcc_theta_e":0.44305706,"mpcc_theta_mech":0.556310534,"sam_rpm":0.204789296,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202609301,"thr_a_norm":0.103258193,"thr_a_v":0.58104372,"thr_b":0,"thr_b_norm":0.0474021435,"thr_b_v":0.455257475,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.500023,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.0087685585,"cg_iw_a":0.346631527,"cg_theta_rad":0.556420028,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0498851836,"mpcc_du":50.0052643,"mpcc_dv":48.909523,"mpcc_dw":51.090477,"mpcc_enc_sign":1,"mpcc_id_a":2.52727365,"mpcc_iq_a":0.189605862,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.82080519,"mpcc_pred_id_a":0.0247308146,"mpcc_pred_iq_a":-1.76276374,"mpcc_state":1,"mpcc_theta_e":0.44525528,"mpcc_theta_mech":0.555996954,"sam_rpm":4.41728735,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202609301,"thr_a_norm":0.0202609301,"thr_a_v":0.58104372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455257475,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.510185,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.153744221,"cg_iw_a":-1.97297335,"cg_theta_rad":0.555119157,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0604270361,"mpcc_du":50.0572968,"mpcc_dv":48.6899376,"mpcc_dw":51.3100624,"mpcc_enc_sign":1,"mpcc_id_a":2.98811555,"mpcc_iq_a":-0.370313704,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.18856978,"mpcc_pred_id_a":0.49231568,"mpcc_pred_iq_a":-1.77946413,"mpcc_state":1,"mpcc_theta_e":0.45012331,"mpcc_theta_mech":0.556970537,"sam_rpm":5.27578974,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0123804063,"thr_a_norm":0.0123804063,"thr_a_v":0.549521625,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.436878026,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.521172,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.806133032,"cg_iw_a":1.65140939,"cg_theta_rad":0.555949628,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.00953597017,"mpcc_du":50.3716164,"mpcc_dv":48.3427773,"mpcc_dw":51.6572227,"mpcc_enc_sign":1,"mpcc_id_a":1.49746144,"mpcc_iq_a":0.421184629,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.65735388,"mpcc_pred_id_a":0.259496778,"mpcc_pred_iq_a":1.63802743,"mpcc_state":1,"mpcc_theta_e":0.431174278,"mpcc_theta_mech":0.553180754,"sam_rpm":-6.7891283,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0123804063,"thr_a_norm":0.0123804063,"thr_a_v":0.549521625,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.436878026,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.532402,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.588670254,"cg_iw_a":-1.90048599,"cg_theta_rad":0.5555408,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.009888242,"mpcc_du":50.4041328,"mpcc_dv":48.5830612,"mpcc_dw":51.4169388,"mpcc_enc_sign":1,"mpcc_id_a":-0.208843797,"mpcc_iq_a":-1.33372259,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.17098856,"mpcc_pred_id_a":-0.24419333,"mpcc_pred_iq_a":-1.52256942,"mpcc_state":1,"mpcc_theta_e":0.446087837,"mpcc_theta_mech":0.55616349,"sam_rpm":-3.56480455,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162829012,"thr_a_norm":0.0162829012,"thr_a_v":0.565131605,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469860375,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.542503,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.0812563896,"cg_iw_a":0.274144173,"cg_theta_rad":0.552510202,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0018693516,"mpcc_du":50.082077,"mpcc_dv":49.1287308,"mpcc_dw":50.8712692,"mpcc_enc_sign":1,"mpcc_id_a":-0.573757946,"mpcc_iq_a":-2.96495795,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.56169367,"mpcc_pred_id_a":-0.989386976,"mpcc_pred_iq_a":-4.76236963,"mpcc_state":1,"mpcc_theta_e":0.44193697,"mpcc_theta_mech":0.555333316,"sam_rpm":-5.6011982,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105272368,"thr_a_norm":0.0162829012,"thr_a_v":0.92108947,"thr_b":0.0485099554,"thr_b_norm":0,"thr_b_v":0.694039822,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.565636,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-0.588670254,"cg_iw_a":-1.24809694,"cg_theta_rad":0.556289196,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0277372357,"mpcc_du":49.256115,"mpcc_dv":50.743885,"mpcc_dw":50.0734138,"mpcc_enc_sign":1,"mpcc_id_a":2.47519684,"mpcc_iq_a":-0.275676101,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.9113798,"mpcc_pred_id_a":0.143294483,"mpcc_pred_iq_a":-4.35435486,"mpcc_state":1,"mpcc_theta_e":0.455406189,"mpcc_theta_mech":0.558027148,"sam_rpm":20.4742966,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105272368,"thr_a_norm":0.105272368,"thr_a_v":0.92108947,"thr_b":0.0485099554,"thr_b_norm":0.0485099554,"thr_b_v":0.694039822,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.572136,"values":{"cg_iu_a":0.894427299,"cg_iv_a":0.0637187958,"cg_iw_a":-0.958146095,"cg_theta_rad":0.555378199,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0223528054,"mpcc_du":50.8207741,"mpcc_dv":47.7585449,"mpcc_dw":52.2414551,"mpcc_enc_sign":1,"mpcc_id_a":2.21077466,"mpcc_iq_a":-0.977174759,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.509058,"mpcc_pred_id_a":0.503799319,"mpcc_pred_iq_a":0.376756638,"mpcc_state":1,"mpcc_theta_e":0.435182571,"mpcc_theta_mech":0.553982437,"sam_rpm":-15.2682686,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0305584818,"thr_a_norm":0.0305584818,"thr_a_v":0.622233927,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.578667,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.443694592,"cg_iw_a":-2.40789986,"cg_theta_rad":0.553384185,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0244154241,"mpcc_du":50.1631241,"mpcc_dv":48.6588593,"mpcc_dw":51.3411407,"mpcc_enc_sign":1,"mpcc_id_a":0.487368524,"mpcc_iq_a":-0.632587254,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.9646578,"mpcc_pred_id_a":0.291012943,"mpcc_pred_iq_a":-2.46530509,"mpcc_state":1,"mpcc_theta_e":0.443750858,"mpcc_theta_mech":0.55569613,"sam_rpm":-16.2789783,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0305584818,"thr_a_norm":0.0305584818,"thr_a_v":0.622233927,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.585167,"values":{"cg_iu_a":-0.70030117,"cg_iv_a":-1.53100967,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556896746,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.00736388052,"mpcc_du":49.0541801,"mpcc_dv":50.9458199,"mpcc_dw":49.6449814,"mpcc_enc_sign":1,"mpcc_id_a":0.590668857,"mpcc_iq_a":-1.49299717,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.3793077,"mpcc_pred_id_a":-0.299797088,"mpcc_pred_iq_a":-6.51711226,"mpcc_state":1,"mpcc_theta_e":0.45286417,"mpcc_theta_mech":0.55751878,"sam_rpm":16.8772259,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456818491,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.59359,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.89344811,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.555018187,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0144660613,"mpcc_du":50.8008995,"mpcc_dv":48.0140991,"mpcc_dw":51.9859009,"mpcc_enc_sign":1,"mpcc_id_a":2.34632254,"mpcc_iq_a":-1.54595232,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.1568384,"mpcc_pred_id_a":-0.0206856746,"mpcc_pred_iq_a":0.235681981,"mpcc_state":1,"mpcc_theta_e":0.434556961,"mpcc_theta_mech":0.557423592,"sam_rpm":-16.6001759,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027285412,"thr_a_norm":0.0192160606,"thr_a_v":0.609141648,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.603386,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.24105906,"cg_iw_a":-1.90048623,"cg_theta_rad":0.555815399,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0487992652,"mpcc_du":50.352459,"mpcc_dv":48.4436798,"mpcc_dw":51.5563202,"mpcc_enc_sign":1,"mpcc_id_a":2.45773339,"mpcc_iq_a":-1.13465559,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.712067664,"mpcc_pred_id_a":0.372961611,"mpcc_pred_iq_a":-1.69343925,"mpcc_state":1,"mpcc_theta_e":0.449476242,"mpcc_theta_mech":0.556841195,"sam_rpm":2.02134347,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027285412,"thr_a_norm":0.027285412,"thr_a_v":0.609141648,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.613579,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-2.32837415,"cg_iw_a":1.36145902,"cg_theta_rad":0.555757403,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0253077038,"mpcc_du":50.4546509,"mpcc_dv":48.1395302,"mpcc_dw":51.8604698,"mpcc_enc_sign":1,"mpcc_id_a":2.42135763,"mpcc_iq_a":-0.527022481,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.66642475,"mpcc_pred_id_a":0.682863772,"mpcc_pred_iq_a":0.392601371,"mpcc_state":1,"mpcc_theta_e":0.437349319,"mpcc_theta_mech":0.554415822,"sam_rpm":-7.68332148,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024188593,"thr_a_norm":0.024188593,"thr_a_v":0.596754372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483556867,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.623589,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.53100967,"cg_iw_a":-0.740683556,"cg_theta_rad":0.554484904,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.00486629875,"mpcc_du":50.2195015,"mpcc_dv":48.9103355,"mpcc_dw":51.0896645,"mpcc_enc_sign":1,"mpcc_id_a":-0.509231985,"mpcc_iq_a":-2.95493603,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.572913229,"mpcc_pred_id_a":-0.618286371,"mpcc_pred_iq_a":-3.28048801,"mpcc_state":1,"mpcc_theta_e":0.448328495,"mpcc_theta_mech":0.556611598,"sam_rpm":-0.602364779,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024188593,"thr_a_norm":0.024188593,"thr_a_v":0.596754372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483556867,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.633751,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.6759851,"cg_iw_a":-1.24809718,"cg_theta_rad":0.552293897,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0988982469,"mpcc_du":49.3698044,"mpcc_dv":49.9154549,"mpcc_dw":50.6301956,"mpcc_enc_sign":1,"mpcc_id_a":4.5716362,"mpcc_iq_a":-0.295502663,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.1514645,"mpcc_pred_id_a":0.954032302,"mpcc_pred_iq_a":-3.14857244,"mpcc_state":1,"mpcc_theta_e":0.459293365,"mpcc_theta_mech":0.558804631,"sam_rpm":25.1391926,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024692148,"thr_a_norm":0.024692148,"thr_a_v":0.598768592,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488642722,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.643791,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.516182423,"cg_iw_a":-1.75551081,"cg_theta_rad":0.556181371,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0225810576,"mpcc_du":50.0498848,"mpcc_dv":48.9855881,"mpcc_dw":51.0144119,"mpcc_enc_sign":1,"mpcc_id_a":-0.408428729,"mpcc_iq_a":-1.142699,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.9513149,"mpcc_pred_id_a":-0.497275591,"mpcc_pred_iq_a":-0.00650506839,"mpcc_state":1,"mpcc_theta_e":0.423345566,"mpcc_theta_mech":0.551615,"sam_rpm":-19.0917835,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024314478,"thr_a_norm":0.024692148,"thr_a_v":0.597257912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472881675,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.665977,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.25588632,"cg_iw_a":0.926532984,"cg_theta_rad":0.558253407,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0191780291,"mpcc_du":50.9009895,"mpcc_dv":47.738739,"mpcc_dw":52.261261,"mpcc_enc_sign":1,"mpcc_id_a":2.00846052,"mpcc_iq_a":-0.548434675,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.4819336,"mpcc_pred_id_a":0.0371885635,"mpcc_pred_iq_a":0.00627686083,"mpcc_state":1,"mpcc_theta_e":0.430053234,"mpcc_theta_mech":0.552956581,"sam_rpm":-22.5065155,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024314478,"thr_a_norm":0.024314478,"thr_a_v":0.597257912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472881675,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.672508,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.31354666,"cg_iw_a":-1.10312176,"cg_theta_rad":0.556738257,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.00915238541,"mpcc_du":50.2031326,"mpcc_dv":48.6477814,"mpcc_dw":51.3522186,"mpcc_enc_sign":1,"mpcc_id_a":1.7939558,"mpcc_iq_a":-1.52686334,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.89537168,"mpcc_pred_id_a":0.0116920201,"mpcc_pred_iq_a":0.347443134,"mpcc_state":1,"mpcc_theta_e":0.437191486,"mpcc_theta_mech":0.554384232,"sam_rpm":-6.35173893,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261650234,"thr_a_norm":0.0261650234,"thr_a_v":0.604660094,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486880273,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.679039,"values":{"cg_iu_a":0.314526081,"cg_iv_a":0.643620491,"cg_iw_a":0.201656103,"cg_theta_rad":0.555308223,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.00109167118,"mpcc_du":50.4556351,"mpcc_dv":48.498909,"mpcc_dw":51.501091,"mpcc_enc_sign":1,"mpcc_id_a":0.584957659,"mpcc_iq_a":-1.04554474,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.6923618,"mpcc_pred_id_a":-0.429728866,"mpcc_pred_iq_a":-1.58500719,"mpcc_state":1,"mpcc_theta_e":0.42908287,"mpcc_theta_mech":0.552762508,"sam_rpm":-20.6739559,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261650234,"thr_a_norm":0.0261650234,"thr_a_v":0.604660094,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486880273,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.686394,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.226231575,"cg_iw_a":-1.10312176,"cg_theta_rad":0.556686878,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.00827846769,"mpcc_du":49.9399338,"mpcc_dv":49.0576973,"mpcc_dw":50.9423027,"mpcc_enc_sign":1,"mpcc_id_a":1.71019113,"mpcc_iq_a":-1.69164944,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.19616604,"mpcc_pred_id_a":-0.116693988,"mpcc_pred_iq_a":-1.46133435,"mpcc_state":1,"mpcc_theta_e":0.444839001,"mpcc_theta_mech":0.555913746,"sam_rpm":2.23667192,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292870253,"thr_a_norm":0.0292870253,"thr_a_v":0.617148101,"thr_b":0.00311513245,"thr_b_norm":0.00311513245,"thr_b_v":0.51246053,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.697594,"values":{"cg_iu_a":4.15637207,"cg_iv_a":-1.16857147,"cg_iw_a":-2.9878006,"cg_theta_rad":0.555343151,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0234041475,"mpcc_du":49.5907135,"mpcc_dv":49.926075,"mpcc_dw":50.4092865,"mpcc_enc_sign":1,"mpcc_id_a":-0.199490443,"mpcc_iq_a":-2.71876478,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.30683422,"mpcc_pred_id_a":-0.285610139,"mpcc_pred_iq_a":-3.53069353,"mpcc_state":1,"mpcc_theta_e":0.435828209,"mpcc_theta_mech":0.5541116,"sam_rpm":-9.94700718,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193797201,"thr_a_norm":0.0292870253,"thr_a_v":0.57751888,"thr_b":0,"thr_b_norm":0.00311513245,"thr_b_v":0.460947573,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.708702,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.24105906,"cg_iw_a":-0.885658503,"cg_theta_rad":0.555862486,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0267437883,"mpcc_du":49.5591049,"mpcc_dv":50.4408951,"mpcc_dw":50.4350853,"mpcc_enc_sign":1,"mpcc_id_a":3.18221712,"mpcc_iq_a":-0.101538733,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.12182713,"mpcc_pred_id_a":0.554148555,"mpcc_pred_iq_a":-1.28093863,"mpcc_state":1,"mpcc_theta_e":0.438639164,"mpcc_theta_mech":0.554673791,"sam_rpm":16.6578026,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193797201,"thr_a_norm":0.0193797201,"thr_a_v":0.57751888,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460947573,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.718803,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.38603449,"cg_iw_a":0.491607189,"cg_theta_rad":0.552780032,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0102749504,"mpcc_du":49.6424751,"mpcc_dv":50.3249283,"mpcc_dw":50.3575249,"mpcc_enc_sign":1,"mpcc_id_a":0.486529231,"mpcc_iq_a":0.470185846,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.97755337,"mpcc_pred_id_a":-0.116833717,"mpcc_pred_iq_a":0.75902909,"mpcc_state":1,"mpcc_theta_e":0.436645508,"mpcc_theta_mech":0.554274976,"sam_rpm":7.57912064,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227157176,"thr_a_norm":0.0227157176,"thr_a_v":0.59086287,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.728569,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-2.25588632,"cg_iw_a":-0.160782099,"cg_theta_rad":0.55242151,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0055113351,"mpcc_du":49.9759407,"mpcc_dv":49.0933418,"mpcc_dw":50.9066582,"mpcc_enc_sign":1,"mpcc_id_a":0.426568836,"mpcc_iq_a":-0.847504437,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.58531022,"mpcc_pred_id_a":-0.256422162,"mpcc_pred_iq_a":-1.23602438,"mpcc_state":1,"mpcc_theta_e":0.444332123,"mpcc_theta_mech":0.555812359,"sam_rpm":3.85090709,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227157176,"thr_a_norm":0.0227157176,"thr_a_v":0.59086287,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.738792,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.588670254,"cg_iw_a":-1.24809694,"cg_theta_rad":0.554027498,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0203404278,"mpcc_du":49.6426582,"mpcc_dv":49.3648529,"mpcc_dw":50.6351471,"mpcc_enc_sign":1,"mpcc_id_a":0.597873509,"mpcc_iq_a":-1.63872302,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.10950184,"mpcc_pred_id_a":0.0880112648,"mpcc_pred_iq_a":-3.53666711,"mpcc_state":1,"mpcc_theta_e":0.454720974,"mpcc_theta_mech":0.557890117,"sam_rpm":17.3218479,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170508027,"thr_a_norm":0.0170508027,"thr_a_v":0.568203211,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440553904,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.749199,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.951108456,"cg_iw_a":-1.46555996,"cg_theta_rad":0.554289997,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0189441517,"mpcc_du":50.5458069,"mpcc_dv":48.412941,"mpcc_dw":51.587059,"mpcc_enc_sign":1,"mpcc_id_a":0.225704938,"mpcc_iq_a":-0.935855746,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.99645376,"mpcc_pred_id_a":-0.366114467,"mpcc_pred_iq_a":-1.79756618,"mpcc_state":1,"mpcc_theta_e":0.442203045,"mpcc_theta_mech":0.555386543,"sam_rpm":-8.57602024,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261272639,"thr_a_norm":0.0170508027,"thr_a_v":0.604509056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499519348,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.772209,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.806133032,"cg_iw_a":-1.53804755,"cg_theta_rad":0.557219803,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.00895826425,"mpcc_du":51.3727303,"mpcc_dv":47.3387756,"mpcc_dw":52.6612244,"mpcc_enc_sign":1,"mpcc_id_a":1.88122129,"mpcc_iq_a":-0.999346614,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.3460083,"mpcc_pred_id_a":-0.262589991,"mpcc_pred_iq_a":4.27860308,"mpcc_state":1,"mpcc_theta_e":0.431249142,"mpcc_theta_mech":0.553195775,"sam_rpm":-17.5026588,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261272639,"thr_a_norm":0.0261272639,"thr_a_v":0.604509056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499519348,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.778709,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.226231575,"cg_iw_a":-1.0306344,"cg_theta_rad":0.558701038,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.000301419204,"mpcc_du":49.6024361,"mpcc_dv":50.1130562,"mpcc_dw":50.3975639,"mpcc_enc_sign":1,"mpcc_id_a":0.295238644,"mpcc_iq_a":-2.24143219,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":19.3647308,"mpcc_pred_id_a":-0.190796003,"mpcc_pred_iq_a":-0.832865119,"mpcc_state":1,"mpcc_theta_e":0.458528996,"mpcc_theta_mech":0.558651745,"sam_rpm":28.5818787,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.102930859,"thr_a_norm":0.102930859,"thr_a_v":0.911723435,"thr_b":0.048144877,"thr_b_norm":0.048144877,"thr_b_v":0.692579508,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.78524,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.443694592,"cg_iw_a":-0.233269691,"cg_theta_rad":0.553729594,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.00512315845,"mpcc_du":50.0050125,"mpcc_dv":49.1556587,"mpcc_dw":50.8443413,"mpcc_enc_sign":1,"mpcc_id_a":-0.0109182913,"mpcc_iq_a":-0.591658711,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.12484241,"mpcc_pred_id_a":-0.441821814,"mpcc_pred_iq_a":-2.17030787,"mpcc_state":1,"mpcc_theta_e":0.439825535,"mpcc_theta_mech":0.554911017,"sam_rpm":-3.20788169,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.102930859,"thr_a_norm":0.102930859,"thr_a_v":0.911723435,"thr_b":0.048144877,"thr_b_norm":0.048144877,"thr_b_v":0.692579508,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.791801,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.371207237,"cg_iw_a":-0.16078186,"cg_theta_rad":0.554919362,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0341178663,"mpcc_du":50.2624092,"mpcc_dv":48.5815697,"mpcc_dw":51.4184303,"mpcc_enc_sign":1,"mpcc_id_a":2.16929936,"mpcc_iq_a":-0.0317575037,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.9061432,"mpcc_pred_id_a":0.0855948702,"mpcc_pred_iq_a":-3.09396076,"mpcc_state":1,"mpcc_theta_e":0.433770657,"mpcc_theta_mech":0.553700089,"sam_rpm":-16.8793926,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0103536248,"thr_a_norm":0.0103536248,"thr_a_v":0.541414499,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.413463026,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.800987,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.516182423,"cg_iw_a":-2.19043684,"cg_theta_rad":0.558467269,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0455379449,"mpcc_du":50.4056625,"mpcc_dv":48.5242424,"mpcc_dw":51.4757576,"mpcc_enc_sign":1,"mpcc_id_a":0.809101462,"mpcc_iq_a":-0.38127625,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.60331607,"mpcc_pred_id_a":-0.153600618,"mpcc_pred_iq_a":-2.23913908,"mpcc_state":1,"mpcc_theta_e":0.444914341,"mpcc_theta_mech":0.555928767,"sam_rpm":-2.4406333,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186369866,"thr_a_norm":0.0103536248,"thr_a_v":0.574547946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459688723,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.812004,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.661157608,"cg_iw_a":-1.75551081,"cg_theta_rad":0.555226982,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0630307794,"mpcc_du":49.4061508,"mpcc_dv":49.5802078,"mpcc_dw":50.5938492,"mpcc_enc_sign":1,"mpcc_id_a":4.34970951,"mpcc_iq_a":-0.0299524479,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.240676746,"mpcc_pred_id_a":0.709488392,"mpcc_pred_iq_a":-4.26422739,"mpcc_state":1,"mpcc_theta_e":0.445042133,"mpcc_theta_mech":0.555954337,"sam_rpm":-0.821520865,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186369866,"thr_a_norm":0.0186369866,"thr_a_v":0.574547946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459688723,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.822197,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-2.83578777,"cg_iw_a":2.08633566,"cg_theta_rad":0.555194974,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.00823948719,"mpcc_du":50.4175797,"mpcc_dv":48.9040642,"mpcc_dw":51.0959358,"mpcc_enc_sign":1,"mpcc_id_a":-1.7338953,"mpcc_iq_a":-4.50196743,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.1533432,"mpcc_pred_id_a":-1.17302227,"mpcc_pred_iq_a":-2.89412403,"mpcc_state":1,"mpcc_theta_e":0.447939873,"mpcc_theta_mech":0.556533873,"sam_rpm":-1.3949281,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0154898018,"thr_a_norm":0.0154898018,"thr_a_v":0.561959207,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457624167,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.832176,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.951108456,"cg_iw_a":-1.53804779,"cg_theta_rad":0.553487718,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0502493382,"mpcc_du":50.1687813,"mpcc_dv":48.6445427,"mpcc_dw":51.3554573,"mpcc_enc_sign":1,"mpcc_id_a":2.50838995,"mpcc_iq_a":-1.19642389,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.11272311,"mpcc_pred_id_a":0.309083879,"mpcc_pred_iq_a":-2.94239712,"mpcc_state":1,"mpcc_theta_e":0.44651556,"mpcc_theta_mech":0.556249022,"sam_rpm":-0.139943436,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0154898018,"thr_a_norm":0.0154898018,"thr_a_v":0.561959207,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457624167,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.842369,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.82096052,"cg_iw_a":-0.523220062,"cg_theta_rad":0.551944315,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0508042239,"mpcc_du":50.0981216,"mpcc_dv":48.6981316,"mpcc_dw":51.3018684,"mpcc_enc_sign":1,"mpcc_id_a":2.45231032,"mpcc_iq_a":-1.14632928,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.72273254,"mpcc_pred_id_a":0.319318682,"mpcc_pred_iq_a":-4.10172987,"mpcc_state":1,"mpcc_theta_e":0.454231262,"mpcc_theta_mech":0.557792187,"sam_rpm":4.80609751,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.107085139,"thr_a_norm":0.107085139,"thr_a_v":0.928340554,"thr_b":0.0389299542,"thr_b_norm":0.0389299542,"thr_b_v":0.655719817,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.852776,"values":{"cg_iu_a":3.8664217,"cg_iv_a":-1.38603449,"cg_iw_a":-1.61053562,"cg_theta_rad":0.555890083,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0248747189,"mpcc_du":49.9025421,"mpcc_dv":49.2114143,"mpcc_dw":50.7885857,"mpcc_enc_sign":1,"mpcc_id_a":0.856160164,"mpcc_iq_a":-1.16065335,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.0099535,"mpcc_pred_id_a":-0.389713556,"mpcc_pred_iq_a":-0.630234241,"mpcc_state":1,"mpcc_theta_e":0.422605038,"mpcc_theta_mech":0.551466942,"sam_rpm":-17.8710136,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196566731,"thr_a_norm":0.107085139,"thr_a_v":0.578626692,"thr_b":0,"thr_b_norm":0.0389299542,"thr_b_v":0.466688037,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.875847,"values":{"cg_iu_a":-0.845276594,"cg_iv_a":-1.74847269,"cg_iw_a":-0.305757523,"cg_theta_rad":0.557165205,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.00466925371,"mpcc_du":48.7339745,"mpcc_dv":51.2660255,"mpcc_dw":49.3244781,"mpcc_enc_sign":1,"mpcc_id_a":0.817217827,"mpcc_iq_a":-0.530885637,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.0455513,"mpcc_pred_id_a":-0.232003972,"mpcc_pred_iq_a":-6.60952139,"mpcc_state":1,"mpcc_theta_e":0.451120853,"mpcc_theta_mech":0.557170093,"sam_rpm":15.6666794,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196566731,"thr_a_norm":0.0196566731,"thr_a_v":0.578626692,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466688037,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.882286,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.661157608,"cg_iw_a":-0.958146572,"cg_theta_rad":0.553803802,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0623921491,"mpcc_du":49.507328,"mpcc_dv":50.492672,"mpcc_dw":50.3156815,"mpcc_enc_sign":1,"mpcc_id_a":2.48931408,"mpcc_iq_a":0.743298411,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.7496252,"mpcc_pred_id_a":0.0526008233,"mpcc_pred_iq_a":-4.42712069,"mpcc_state":1,"mpcc_theta_e":0.455083847,"mpcc_theta_mech":0.557962656,"sam_rpm":19.4198551,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022980094,"thr_a_norm":0.022980094,"thr_a_v":0.591920376,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490656883,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.888847,"values":{"cg_iu_a":2.77910662,"cg_iv_a":1.51347208,"cg_iw_a":-4.2925787,"cg_theta_rad":0.555171132,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.054587137,"mpcc_du":49.4630737,"mpcc_dv":49.8915215,"mpcc_dw":50.5369263,"mpcc_enc_sign":1,"mpcc_id_a":2.66271043,"mpcc_iq_a":-1.37991393,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.58166981,"mpcc_pred_id_a":0.602049172,"mpcc_pred_iq_a":-5.2350316,"mpcc_state":1,"mpcc_theta_e":0.437609673,"mpcc_theta_mech":0.554467857,"sam_rpm":3.27854013,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022980094,"thr_a_norm":0.022980094,"thr_a_v":0.591920376,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490656883,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.895348,"values":{"cg_iu_a":0.894427299,"cg_iv_a":0.208694458,"cg_iw_a":-1.10312176,"cg_theta_rad":0.554460704,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.00433131214,"mpcc_du":50.3871841,"mpcc_dv":48.3488846,"mpcc_dw":51.6511154,"mpcc_enc_sign":1,"mpcc_id_a":1.18442595,"mpcc_iq_a":-1.13197732,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.3378067,"mpcc_pred_id_a":0.190761745,"mpcc_pred_iq_a":-2.24781418,"mpcc_state":1,"mpcc_theta_e":0.426885128,"mpcc_theta_mech":0.552322984,"sam_rpm":-25.8986244,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192664266,"thr_a_norm":0.0192664266,"thr_a_v":0.577065706,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461602181,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.903343,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.806133032,"cg_iw_a":-1.24809718,"cg_theta_rad":0.557030857,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0185608733,"mpcc_du":49.614769,"mpcc_dv":50.2297363,"mpcc_dw":50.385231,"mpcc_enc_sign":1,"mpcc_id_a":0.690934181,"mpcc_iq_a":-1.12219632,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.72939491,"mpcc_pred_id_a":-0.238641724,"mpcc_pred_iq_a":-4.49620533,"mpcc_state":1,"mpcc_theta_e":0.452291489,"mpcc_theta_mech":0.55740422,"sam_rpm":15.0981855,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277386159,"thr_a_norm":0.0192664266,"thr_a_v":0.610954463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48980087,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.9132,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.89344811,"cg_iw_a":0.0566809177,"cg_theta_rad":0.557150364,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0353972763,"mpcc_du":50.1109238,"mpcc_dv":49.1331139,"mpcc_dw":50.8668861,"mpcc_enc_sign":1,"mpcc_id_a":-0.6040923,"mpcc_iq_a":-1.14456093,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.408115953,"mpcc_pred_id_a":-0.59025383,"mpcc_pred_iq_a":-1.86533654,"mpcc_state":1,"mpcc_theta_e":0.448605537,"mpcc_theta_mech":0.55666703,"sam_rpm":0.192847088,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277386159,"thr_a_norm":0.0277386159,"thr_a_v":0.610954463,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48980087,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.923546,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.878620625,"cg_iw_a":-0.015806675,"cg_theta_rad":0.55481267,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0125695737,"mpcc_du":49.5191727,"mpcc_dv":50.3000145,"mpcc_dw":50.4808273,"mpcc_enc_sign":1,"mpcc_id_a":1.93092453,"mpcc_iq_a":-0.721660018,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.3925457,"mpcc_pred_id_a":0.242561743,"mpcc_pred_iq_a":0.101498954,"mpcc_state":1,"mpcc_theta_e":0.440940857,"mpcc_theta_mech":0.555134118,"sam_rpm":16.7814426,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0300423354,"thr_a_norm":0.0300423354,"thr_a_v":0.620169342,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469306499,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.93557,"values":{"cg_iu_a":2.70661926,"cg_iv_a":0.643620491,"cg_iw_a":-1.82799864,"cg_theta_rad":0.553247213,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.046756763,"mpcc_du":49.8680954,"mpcc_dv":49.10709,"mpcc_dw":50.89291,"mpcc_enc_sign":1,"mpcc_id_a":2.19113779,"mpcc_iq_a":-2.02380466,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.421728969,"mpcc_pred_id_a":0.0436095558,"mpcc_pred_iq_a":-5.57673931,"mpcc_state":1,"mpcc_theta_e":0.448056698,"mpcc_theta_mech":0.556557238,"sam_rpm":0.422989279,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0230933875,"thr_a_norm":0.0300423354,"thr_a_v":0.59237355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494937062,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.945518,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-2.18339872,"cg_iw_a":0.201656342,"cg_theta_rad":0.557429492,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0381589942,"mpcc_du":50.6408157,"mpcc_dv":48.2312317,"mpcc_dw":51.7687683,"mpcc_enc_sign":1,"mpcc_id_a":0.856429338,"mpcc_iq_a":-0.450423747,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.01575708,"mpcc_pred_id_a":-0.0609523542,"mpcc_pred_iq_a":-1.26097643,"mpcc_state":1,"mpcc_theta_e":0.445116997,"mpcc_theta_mech":0.55719012,"sam_rpm":-5.23144197,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0230933875,"thr_a_norm":0.0230933875,"thr_a_v":0.59237355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494937062,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.955742,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-3.27071381,"cg_iw_a":1.72389746,"cg_theta_rad":0.55262953,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.024426125,"mpcc_du":49.8419228,"mpcc_dv":49.2073936,"mpcc_dw":50.7926064,"mpcc_enc_sign":1,"mpcc_id_a":0.430720538,"mpcc_iq_a":-1.65028238,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.3330612,"mpcc_pred_id_a":-0.152267829,"mpcc_pred_iq_a":-3.04859447,"mpcc_state":1,"mpcc_theta_e":0.454809666,"mpcc_theta_mech":0.55790782,"sam_rpm":12.6435757,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0127706528,"thr_a_norm":0.0127706528,"thr_a_v":0.551082611,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438136876,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.979027,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.16857147,"cg_iw_a":-2.04546118,"cg_theta_rad":0.554826617,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.013151994,"mpcc_du":49.9219818,"mpcc_dv":49.1579247,"mpcc_dw":50.8420753,"mpcc_enc_sign":1,"mpcc_id_a":0.32969147,"mpcc_iq_a":-0.710524559,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.42997324,"mpcc_pred_id_a":-0.289071828,"mpcc_pred_iq_a":-2.54274535,"mpcc_state":1,"mpcc_theta_e":0.447091103,"mpcc_theta_mech":0.556364119,"sam_rpm":2.65106177,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0127706528,"thr_a_norm":0.0127706528,"thr_a_v":0.551082611,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438136876,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.985497,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-2.32837415,"cg_iw_a":0.709069967,"cg_theta_rad":0.554513752,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0156461094,"mpcc_du":50.1166649,"mpcc_dv":48.8099861,"mpcc_dw":51.1900139,"mpcc_enc_sign":1,"mpcc_id_a":1.27561533,"mpcc_iq_a":-0.4115659,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.20052671,"mpcc_pred_id_a":-0.0552503765,"mpcc_pred_iq_a":-1.48719025,"mpcc_state":1,"mpcc_theta_e":0.440373421,"mpcc_theta_mech":0.55502063,"sam_rpm":-2.7608428,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0422659665,"thr_a_norm":0.0422659665,"thr_a_v":0.669063866,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44513616,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.992058,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-2.61832476,"cg_iw_a":0.709070206,"cg_theta_rad":0.555904567,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.00470110122,"mpcc_du":50.3355484,"mpcc_dv":48.6146889,"mpcc_dw":51.3853111,"mpcc_enc_sign":1,"mpcc_id_a":0.671982706,"mpcc_iq_a":-1.18767881,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.10792971,"mpcc_pred_id_a":-0.215496644,"mpcc_pred_iq_a":-1.59031117,"mpcc_state":1,"mpcc_theta_e":0.437510014,"mpcc_theta_mech":0.554447949,"sam_rpm":-10.2504177,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0422659665,"thr_a_norm":0.0422659665,"thr_a_v":0.669063866,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44513616,"vdc_v":55.2955055}} +{"type":"telemetry","t":100.998619,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.33541203,"cg_theta_rad":0.557135582,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9920,"hz_adc_isr":5003,"hz_app_loop":366,"hz_tim_isr":10006,"hz_vsense":366,"mpcc_cost":0.0232689083,"mpcc_du":49.424427,"mpcc_dv":50.575573,"mpcc_dw":50.2904549,"mpcc_enc_sign":1,"mpcc_id_a":2.75707102,"mpcc_iq_a":-0.486133188,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.13345051,"mpcc_pred_id_a":0.166111872,"mpcc_pred_iq_a":-4.78307962,"mpcc_state":1,"mpcc_theta_e":0.432977676,"mpcc_theta_mech":0.553541481,"sam_rpm":6.89788628,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270462334,"thr_a_norm":0.0270462334,"thr_a_v":0.608184934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496044844,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.009361,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.806133032,"cg_iw_a":-0.450732946,"cg_theta_rad":0.555993617,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.00778442621,"mpcc_du":50.387886,"mpcc_dv":48.3578644,"mpcc_dw":51.6421356,"mpcc_enc_sign":1,"mpcc_id_a":1.3648082,"mpcc_iq_a":-0.384657532,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.9799566,"mpcc_pred_id_a":0.271329701,"mpcc_pred_iq_a":0.782106519,"mpcc_state":1,"mpcc_theta_e":0.425724983,"mpcc_theta_mech":0.552090943,"sam_rpm":-22.3697758,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259887725,"thr_a_norm":0.0270462334,"thr_a_v":0.60395509,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498713672,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.019188,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.24105906,"cg_iw_a":-1.53804779,"cg_theta_rad":0.556084335,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.00498033408,"mpcc_du":49.7878113,"mpcc_dv":49.2009544,"mpcc_dw":50.7990456,"mpcc_enc_sign":1,"mpcc_id_a":1.33676553,"mpcc_iq_a":-1.13288224,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0116030341,"mpcc_pred_id_a":0.125769585,"mpcc_pred_iq_a":-0.713847935,"mpcc_state":1,"mpcc_theta_e":0.439586639,"mpcc_theta_mech":0.554863274,"sam_rpm":-8.35811901,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259887725,"thr_a_norm":0.0259887725,"thr_a_v":0.60395509,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498713672,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.030571,"values":{"cg_iu_a":2.77910662,"cg_iv_a":0.426157475,"cg_iw_a":-3.20526409,"cg_theta_rad":0.554641187,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0140919033,"mpcc_du":49.9077911,"mpcc_dv":48.9518051,"mpcc_dw":51.0481949,"mpcc_enc_sign":1,"mpcc_id_a":2.15232897,"mpcc_iq_a":-0.932933688,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.15311909,"mpcc_pred_id_a":0.361568838,"mpcc_pred_iq_a":-0.587756276,"mpcc_state":1,"mpcc_theta_e":0.446430683,"mpcc_theta_mech":0.556232095,"sam_rpm":4.05605602,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0112600029,"thr_a_norm":0.0112600029,"thr_a_v":0.545040011,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.428368032,"vdc_v":54.6292953}} +{"type":"telemetry","t":101.041771,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-2.90827537,"cg_iw_a":0.0566811562,"cg_theta_rad":0.556566536,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0294296574,"mpcc_du":49.8181381,"mpcc_dv":49.0598221,"mpcc_dw":50.9401779,"mpcc_enc_sign":1,"mpcc_id_a":1.8654505,"mpcc_iq_a":-1.5342176,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.3065834,"mpcc_pred_id_a":0.347729236,"mpcc_pred_iq_a":-5.07918882,"mpcc_state":1,"mpcc_theta_e":0.444981098,"mpcc_theta_mech":0.555942118,"sam_rpm":5.87960196,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209155381,"thr_a_norm":0.0112600029,"thr_a_v":0.583662152,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.051811,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-2.18339872,"cg_iw_a":-2.19043684,"cg_theta_rad":0.555421472,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0380068533,"mpcc_du":49.9766998,"mpcc_dv":49.0950203,"mpcc_dw":50.9049797,"mpcc_enc_sign":1,"mpcc_id_a":3.29535198,"mpcc_iq_a":-0.570859253,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.7002058,"mpcc_pred_id_a":0.640657604,"mpcc_pred_iq_a":-3.94668341,"mpcc_state":1,"mpcc_theta_e":0.451693535,"mpcc_theta_mech":0.557284653,"sam_rpm":9.53102779,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209155381,"thr_a_norm":0.0209155381,"thr_a_v":0.583662152,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.074974,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.38603449,"cg_iw_a":-1.53804779,"cg_theta_rad":0.552899599,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0113147739,"mpcc_du":49.6011505,"mpcc_dv":50.2413216,"mpcc_dw":50.3988495,"mpcc_enc_sign":1,"mpcc_id_a":0.83410269,"mpcc_iq_a":-0.82425642,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.8580618,"mpcc_pred_id_a":-0.0790883079,"mpcc_pred_iq_a":-2.45539188,"mpcc_state":1,"mpcc_theta_e":0.456121922,"mpcc_theta_mech":0.558170319,"sam_rpm":22.1739845,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259887725,"thr_a_norm":0.0259887725,"thr_a_v":0.60395509,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499468982,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.081535,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.38603449,"cg_iw_a":-1.53804779,"cg_theta_rad":0.556211233,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.069574751,"mpcc_du":50.1043205,"mpcc_dv":48.8368301,"mpcc_dw":51.1631699,"mpcc_enc_sign":1,"mpcc_id_a":2.24726319,"mpcc_iq_a":-0.571039319,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.67565823,"mpcc_pred_id_a":0.180468142,"mpcc_pred_iq_a":-3.19871831,"mpcc_state":1,"mpcc_theta_e":0.450497627,"mpcc_theta_mech":0.5570454,"sam_rpm":5.31804228,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259887725,"thr_a_norm":0.0259887725,"thr_a_v":0.60395509,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499468982,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.088036,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.96593571,"cg_iw_a":0.419119358,"cg_theta_rad":0.556639671,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0408744141,"mpcc_du":49.9017181,"mpcc_dv":49.29245,"mpcc_dw":50.70755,"mpcc_enc_sign":1,"mpcc_id_a":0.752718508,"mpcc_iq_a":-0.827971756,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.77844095,"mpcc_pred_id_a":-0.347397178,"mpcc_pred_iq_a":-3.55187559,"mpcc_state":1,"mpcc_theta_e":0.453556538,"mpcc_theta_mech":0.556272507,"sam_rpm":10.5860691,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021494627,"thr_a_norm":0.021494627,"thr_a_v":0.585978508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.094566,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.53100967,"cg_iw_a":-0.595707893,"cg_theta_rad":0.553174794,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.000172772983,"mpcc_du":51.4348297,"mpcc_dv":47.278801,"mpcc_dw":52.721199,"mpcc_enc_sign":1,"mpcc_id_a":0.0101733664,"mpcc_iq_a":-1.6099261,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.961853,"mpcc_pred_id_a":-0.162443176,"mpcc_pred_iq_a":2.88115954,"mpcc_state":1,"mpcc_theta_e":0.427661419,"mpcc_theta_mech":0.552478194,"sam_rpm":-22.5070953,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236598849,"thr_a_norm":0.021494627,"thr_a_v":0.59463954,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462760359,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.102562,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.371207237,"cg_iw_a":0.491606712,"cg_theta_rad":0.556212902,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0707236901,"mpcc_du":49.5955467,"mpcc_dv":49.3957748,"mpcc_dw":50.6042252,"mpcc_enc_sign":1,"mpcc_id_a":2.55021763,"mpcc_iq_a":1.04503977,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.3368797,"mpcc_pred_id_a":0.420262218,"mpcc_pred_iq_a":-1.98056102,"mpcc_state":1,"mpcc_theta_e":0.452442169,"mpcc_theta_mech":0.55743432,"sam_rpm":16.2333584,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236598849,"thr_a_norm":0.0236598849,"thr_a_v":0.59463954,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462760359,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.112755,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.806133032,"cg_iw_a":-1.82799816,"cg_theta_rad":0.552552283,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.00154829794,"mpcc_du":50.439209,"mpcc_dv":48.6309853,"mpcc_dw":51.3690147,"mpcc_enc_sign":1,"mpcc_id_a":0.223902404,"mpcc_iq_a":-1.8083173,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.16719151,"mpcc_pred_id_a":-0.371400326,"mpcc_pred_iq_a":-1.50409365,"mpcc_state":1,"mpcc_theta_e":0.436178684,"mpcc_theta_mech":0.554181635,"sam_rpm":-10.1739254,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195811391,"thr_a_norm":0.0195811391,"thr_a_v":0.578324556,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473536283,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.122734,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.24105906,"cg_iw_a":0.636582136,"cg_theta_rad":0.554207742,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.00626929477,"mpcc_du":50.2804871,"mpcc_dv":48.47229,"mpcc_dw":51.52771,"mpcc_enc_sign":1,"mpcc_id_a":1.50358558,"mpcc_iq_a":-0.0694880486,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-23.9375572,"mpcc_pred_id_a":0.28438741,"mpcc_pred_iq_a":-2.94674277,"mpcc_state":1,"mpcc_theta_e":0.418908119,"mpcc_theta_mech":0.550727546,"sam_rpm":-35.8542824,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195811391,"thr_a_norm":0.0195811391,"thr_a_v":0.578324556,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473536283,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.132835,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.24105906,"cg_iw_a":-0.813171148,"cg_theta_rad":0.556896627,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.000956852862,"mpcc_du":50.9056892,"mpcc_dv":47.8455658,"mpcc_dw":50.4565392,"mpcc_enc_sign":1,"mpcc_id_a":0.485979974,"mpcc_iq_a":-1.78318477,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.8736897,"mpcc_pred_id_a":-0.0828222185,"mpcc_pred_iq_a":-0.230020687,"mpcc_state":1,"mpcc_theta_e":0.429493427,"mpcc_theta_mech":0.557209909,"sam_rpm":-24.543396,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.021620512,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483859003,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.14312,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.53100967,"cg_iw_a":0.274143696,"cg_theta_rad":0.556150913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0108077321,"mpcc_du":50.1461754,"mpcc_dv":48.9196129,"mpcc_dw":51.0803871,"mpcc_enc_sign":1,"mpcc_id_a":0.547980845,"mpcc_iq_a":-0.255197674,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.49039984,"mpcc_pred_id_a":-0.253576994,"mpcc_pred_iq_a":-1.44207621,"mpcc_state":1,"mpcc_theta_e":0.442559719,"mpcc_theta_mech":0.55545789,"sam_rpm":-2.8894484,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215197951,"thr_a_norm":0.021620512,"thr_a_v":0.58607918,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480737001,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.152946,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.6759851,"cg_iw_a":0.999020815,"cg_theta_rad":0.556229234,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0116573796,"mpcc_du":49.6266975,"mpcc_dv":49.3510895,"mpcc_dw":50.6489105,"mpcc_enc_sign":1,"mpcc_id_a":1.42799151,"mpcc_iq_a":-0.266358554,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.94800091,"mpcc_pred_id_a":0.210382089,"mpcc_pred_iq_a":-0.367716014,"mpcc_state":1,"mpcc_theta_e":0.449596882,"mpcc_theta_mech":0.556865335,"sam_rpm":14.3509893,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215197951,"thr_a_norm":0.0215197951,"thr_a_v":0.58607918,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480737001,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.17614,"values":{"cg_iu_a":1.03940296,"cg_iv_a":1.44098473,"cg_iw_a":-2.48038769,"cg_theta_rad":0.555850267,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.000411368877,"mpcc_du":49.4587059,"mpcc_dv":50.5412941,"mpcc_dw":50.288578,"mpcc_enc_sign":1,"mpcc_id_a":-0.231403142,"mpcc_iq_a":-2.06344366,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.330777556,"mpcc_pred_id_a":-0.0030559157,"mpcc_pred_iq_a":-6.35328341,"mpcc_state":1,"mpcc_theta_e":0.443779945,"mpcc_theta_mech":0.555701911,"sam_rpm":-0.302773416,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183852166,"thr_a_norm":0.0183852166,"thr_a_v":0.573540866,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467795819,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.182701,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-0.516182423,"cg_iw_a":0.346631527,"cg_theta_rad":0.556387842,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.00648812344,"mpcc_du":49.2936554,"mpcc_dv":50.7063446,"mpcc_dw":49.9973755,"mpcc_enc_sign":1,"mpcc_id_a":0.32990995,"mpcc_iq_a":-0.710423112,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.2974987,"mpcc_pred_id_a":-0.293852091,"mpcc_pred_iq_a":-6.15349627,"mpcc_state":1,"mpcc_theta_e":0.446783543,"mpcc_theta_mech":0.556302607,"sam_rpm":5.89030981,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183852166,"thr_a_norm":0.0183852166,"thr_a_v":0.573540866,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467795819,"vdc_v":54.6292953}} +{"type":"telemetry","t":101.189201,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.153744221,"cg_iw_a":-2.6253624,"cg_theta_rad":0.556374252,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0147213601,"mpcc_du":49.4110298,"mpcc_dv":50.5889702,"mpcc_dw":50.3546448,"mpcc_enc_sign":1,"mpcc_id_a":2.39879346,"mpcc_iq_a":-1.42486942,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.85388756,"mpcc_pred_id_a":0.381828666,"mpcc_pred_iq_a":-4.2464118,"mpcc_state":1,"mpcc_theta_e":0.447332382,"mpcc_theta_mech":0.556412399,"sam_rpm":9.71334171,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211421251,"thr_a_norm":0.0211421251,"thr_a_v":0.584568501,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463717103,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.195702,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.806133032,"cg_iw_a":-1.10312152,"cg_theta_rad":0.557867944,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0525759421,"mpcc_du":49.8166237,"mpcc_dv":49.0842896,"mpcc_dw":50.9157104,"mpcc_enc_sign":1,"mpcc_id_a":1.70948279,"mpcc_iq_a":0.477026194,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.37104416,"mpcc_pred_id_a":0.404796213,"mpcc_pred_iq_a":-1.39131558,"mpcc_state":1,"mpcc_theta_e":0.45209074,"mpcc_theta_mech":0.557364106,"sam_rpm":13.185463,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0286324173,"thr_a_norm":0.0211421251,"thr_a_v":0.614529669,"thr_b":0.000547036529,"thr_b_norm":0,"thr_b_v":0.502188146,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.203575,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.661157608,"cg_iw_a":0.564094543,"cg_theta_rad":0.556557178,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0259674657,"mpcc_du":49.6545639,"mpcc_dv":49.349968,"mpcc_dw":50.650032,"mpcc_enc_sign":1,"mpcc_id_a":2.28429508,"mpcc_iq_a":-0.492975473,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.19589472,"mpcc_pred_id_a":0.151179105,"mpcc_pred_iq_a":-1.78928447,"mpcc_state":1,"mpcc_theta_e":0.449309826,"mpcc_theta_mech":0.556807876,"sam_rpm":10.8429289,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0286324173,"thr_a_norm":0.0286324173,"thr_a_v":0.614529669,"thr_b":0.000547036529,"thr_b_norm":0.000547036529,"thr_b_v":0.502188146,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.213737,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.38603449,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556870818,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0585524812,"mpcc_du":50.0243759,"mpcc_dv":48.731945,"mpcc_dw":51.268055,"mpcc_enc_sign":1,"mpcc_id_a":2.8397336,"mpcc_iq_a":-0.683160007,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.83865118,"mpcc_pred_id_a":0.556684613,"mpcc_pred_iq_a":-1.73685944,"mpcc_state":1,"mpcc_theta_e":0.45413208,"mpcc_theta_mech":0.557772338,"sam_rpm":3.72809267,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0135763288,"thr_a_norm":0.0135763288,"thr_a_v":0.554305315,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.433705658,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.223778,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.6759851,"cg_iw_a":-1.46555996,"cg_theta_rad":0.553132951,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0181554556,"mpcc_du":49.914444,"mpcc_dv":49.0674438,"mpcc_dw":50.9325562,"mpcc_enc_sign":1,"mpcc_id_a":2.10769224,"mpcc_iq_a":-0.857335567,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.24427164,"mpcc_pred_id_a":-0.00341546349,"mpcc_pred_iq_a":-1.67969489,"mpcc_state":1,"mpcc_theta_e":0.443319798,"mpcc_theta_mech":0.555609882,"sam_rpm":2.05202198,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0135763288,"thr_a_norm":0.0135763288,"thr_a_v":0.554305315,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.433705658,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.23394,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.02359605,"cg_iw_a":-1.17560935,"cg_theta_rad":0.554274917,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0316737406,"mpcc_du":49.3842773,"mpcc_dv":49.5582581,"mpcc_dw":50.6157227,"mpcc_enc_sign":1,"mpcc_id_a":3.08892894,"mpcc_iq_a":-0.46638155,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.35282803,"mpcc_pred_id_a":0.850901723,"mpcc_pred_iq_a":0.345825016,"mpcc_state":1,"mpcc_theta_e":0.436391354,"mpcc_theta_mech":0.554224193,"sam_rpm":1.91291761,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0175921172,"thr_a_norm":0.0175921172,"thr_a_v":0.570368469,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461451113,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.244133,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.38603449,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556360245,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0263739116,"mpcc_du":49.955574,"mpcc_dv":48.920063,"mpcc_dw":51.079937,"mpcc_enc_sign":1,"mpcc_id_a":1.67363238,"mpcc_iq_a":-1.92219865,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.4212985,"mpcc_pred_id_a":0.254837245,"mpcc_pred_iq_a":-2.27094841,"mpcc_state":1,"mpcc_theta_e":0.451071262,"mpcc_theta_mech":0.557160199,"sam_rpm":9.70562649,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254726559,"thr_a_norm":0.0175921172,"thr_a_v":0.601890624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.254143,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.26292467,"cg_theta_rad":0.5561257,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.015264946,"mpcc_du":49.5269928,"mpcc_dv":50.1812134,"mpcc_dw":50.4730072,"mpcc_enc_sign":1,"mpcc_id_a":2.4692142,"mpcc_iq_a":-0.595980465,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.27655256,"mpcc_pred_id_a":0.153510809,"mpcc_pred_iq_a":-2.94171476,"mpcc_state":1,"mpcc_theta_e":0.437489033,"mpcc_theta_mech":0.554443717,"sam_rpm":1.50544608,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254726559,"thr_a_norm":0.0254726559,"thr_a_v":0.601890624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.277184,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.661157608,"cg_iw_a":0.12916851,"cg_theta_rad":0.556867301,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.00185882486,"mpcc_du":49.2766113,"mpcc_dv":50.7233887,"mpcc_dw":49.762352,"mpcc_enc_sign":1,"mpcc_id_a":-0.13075462,"mpcc_iq_a":-1.32672393,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.95833778,"mpcc_pred_id_a":-0.833996773,"mpcc_pred_iq_a":-5.297153,"mpcc_state":1,"mpcc_theta_e":0.450127602,"mpcc_theta_mech":0.556971431,"sam_rpm":13.250411,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222121775,"thr_a_norm":0.0222121775,"thr_a_v":0.58884871,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485621423,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.283684,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-0.516182423,"cg_iw_a":-3.13277626,"cg_theta_rad":0.556508839,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0242111478,"mpcc_du":49.5860062,"mpcc_dv":50.0892258,"mpcc_dw":50.4139938,"mpcc_enc_sign":1,"mpcc_id_a":0.955386579,"mpcc_iq_a":0.429281384,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.7894299,"mpcc_pred_id_a":-0.134330362,"mpcc_pred_iq_a":-4.35781765,"mpcc_state":1,"mpcc_theta_e":0.445738792,"mpcc_theta_mech":0.556093693,"sam_rpm":5.65132523,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186495781,"thr_a_norm":0.0222121775,"thr_a_v":0.574598312,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460897237,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.290215,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.48038721,"cg_theta_rad":0.55506289,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0125743067,"mpcc_du":50.1601448,"mpcc_dv":48.6826134,"mpcc_dw":51.3173866,"mpcc_enc_sign":1,"mpcc_id_a":2.72020197,"mpcc_iq_a":-0.639445662,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.98717117,"mpcc_pred_id_a":0.229209334,"mpcc_pred_iq_a":0.884668112,"mpcc_state":1,"mpcc_theta_e":0.448429585,"mpcc_theta_mech":0.556631863,"sam_rpm":8.9783802,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186495781,"thr_a_norm":0.0186495781,"thr_a_v":0.574598312,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460897237,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.297142,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.806133032,"cg_iw_a":-0.23326993,"cg_theta_rad":0.554216146,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.00322788628,"mpcc_du":50.9490967,"mpcc_dv":47.9114075,"mpcc_dw":52.0885925,"mpcc_enc_sign":1,"mpcc_id_a":1.13628817,"mpcc_iq_a":-1.06331766,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.4161186,"mpcc_pred_id_a":-0.370082766,"mpcc_pred_iq_a":0.694063127,"mpcc_state":1,"mpcc_theta_e":0.426399231,"mpcc_theta_mech":0.552225769,"sam_rpm":-24.4277687,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234332681,"thr_a_norm":0.0234332681,"thr_a_v":0.593733072,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476607919,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.306969,"values":{"cg_iu_a":5.75110149,"cg_iv_a":-1.38603449,"cg_iw_a":0.419119358,"cg_theta_rad":0.555945039,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0241430216,"mpcc_du":50.0730591,"mpcc_dv":48.6578865,"mpcc_dw":51.3421135,"mpcc_enc_sign":1,"mpcc_id_a":3.08358192,"mpcc_iq_a":-1.33497679,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.75697851,"mpcc_pred_id_a":0.479202807,"mpcc_pred_iq_a":-0.616236329,"mpcc_state":1,"mpcc_theta_e":0.434690952,"mpcc_theta_mech":0.553884149,"sam_rpm":-11.183691,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234332681,"thr_a_norm":0.0234332681,"thr_a_v":0.593733072,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476607919,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.317192,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.31354666,"cg_iw_a":-0.305757523,"cg_theta_rad":0.552523315,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0238126963,"mpcc_du":49.9083519,"mpcc_dv":48.8595848,"mpcc_dw":51.1404152,"mpcc_enc_sign":1,"mpcc_id_a":2.85286403,"mpcc_iq_a":-0.626067996,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.0705462,"mpcc_pred_id_a":0.476106703,"mpcc_pred_iq_a":-3.1546793,"mpcc_state":1,"mpcc_theta_e":0.434074402,"mpcc_theta_mech":0.553760767,"sam_rpm":-16.590126,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0279274434,"thr_a_norm":0.0279274434,"thr_a_v":0.611709774,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49861297,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.327507,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.733645439,"cg_iw_a":-1.24809694,"cg_theta_rad":0.557244837,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.010443598,"mpcc_du":49.6415482,"mpcc_dv":49.4799156,"mpcc_dw":50.5200844,"mpcc_enc_sign":1,"mpcc_id_a":1.1409204,"mpcc_iq_a":-0.701541603,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.66612458,"mpcc_pred_id_a":-0.292586029,"mpcc_pred_iq_a":-0.505155385,"mpcc_state":1,"mpcc_theta_e":0.429038048,"mpcc_theta_mech":0.552753508,"sam_rpm":-4.17030287,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196566731,"thr_a_norm":0.0279274434,"thr_a_v":0.578626692,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475902975,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.339348,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.371207237,"cg_iw_a":-2.77033806,"cg_theta_rad":0.556663334,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0207496639,"mpcc_du":49.0762672,"mpcc_dv":50.9237328,"mpcc_dw":49.604557,"mpcc_enc_sign":1,"mpcc_id_a":0.174218848,"mpcc_iq_a":-1.08608437,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.68988943,"mpcc_pred_id_a":-0.595363081,"mpcc_pred_iq_a":-3.10249853,"mpcc_state":1,"mpcc_theta_e":0.423642159,"mpcc_theta_mech":0.551674306,"sam_rpm":4.94098473,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196566731,"thr_a_norm":0.0196566731,"thr_a_v":0.578626692,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475902975,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.349449,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.153744221,"cg_iw_a":-2.11794901,"cg_theta_rad":0.555396795,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0162406377,"mpcc_du":50.314579,"mpcc_dv":48.1277542,"mpcc_dw":51.8722458,"mpcc_enc_sign":1,"mpcc_id_a":1.23962259,"mpcc_iq_a":0.00865623355,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.6883011,"mpcc_pred_id_a":-0.0696550608,"mpcc_pred_iq_a":-4.70087147,"mpcc_state":1,"mpcc_theta_e":0.451021194,"mpcc_theta_mech":0.55276233,"sam_rpm":18.6104488,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024087891,"thr_a_norm":0.024087891,"thr_a_v":0.596351564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470162511,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.361748,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.24105906,"cg_iw_a":0.0566809177,"cg_theta_rad":0.557125747,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0975015312,"mpcc_du":50.1363487,"mpcc_dv":48.6366081,"mpcc_dw":51.3633919,"mpcc_enc_sign":1,"mpcc_id_a":2.37021112,"mpcc_iq_a":-1.14924502,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.85799742,"mpcc_pred_id_a":0.319114953,"mpcc_pred_iq_a":-3.30472946,"mpcc_state":1,"mpcc_theta_e":0.45301342,"mpcc_theta_mech":0.557548642,"sam_rpm":10.596673,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02567406,"thr_a_norm":0.024087891,"thr_a_v":0.60269624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476758987,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.385918,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-2.32837415,"cg_iw_a":-0.523220301,"cg_theta_rad":0.560019314,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.010526442,"mpcc_du":50.6303749,"mpcc_dv":48.2491264,"mpcc_dw":51.7508736,"mpcc_enc_sign":1,"mpcc_id_a":0.798710942,"mpcc_iq_a":-0.742839158,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.00197029,"mpcc_pred_id_a":-0.243411958,"mpcc_pred_iq_a":0.147419989,"mpcc_state":1,"mpcc_theta_e":0.441096783,"mpcc_theta_mech":0.555165231,"sam_rpm":-6.72805071,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02567406,"thr_a_norm":0.02567406,"thr_a_v":0.60269624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476758987,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.392479,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.661157608,"cg_iw_a":0.346631527,"cg_theta_rad":0.553387642,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0180554595,"mpcc_du":49.1797791,"mpcc_dv":50.8202209,"mpcc_dw":49.9586945,"mpcc_enc_sign":1,"mpcc_id_a":0.702059925,"mpcc_iq_a":-0.104386717,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.936595,"mpcc_pred_id_a":-0.0592011735,"mpcc_pred_iq_a":-5.30736971,"mpcc_state":1,"mpcc_theta_e":0.45286417,"mpcc_theta_mech":0.553399801,"sam_rpm":17.4267826,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0148729682,"thr_a_norm":0.0148729682,"thr_a_v":0.559491873,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451984406,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.39901,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.96593571,"cg_iw_a":1.65140963,"cg_theta_rad":0.55525887,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.020154655,"mpcc_du":50.1171379,"mpcc_dv":48.69664,"mpcc_dw":51.30336,"mpcc_enc_sign":1,"mpcc_id_a":2.27801442,"mpcc_iq_a":-0.317795634,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.6146946,"mpcc_pred_id_a":0.276046723,"mpcc_pred_iq_a":-1.4622525,"mpcc_state":1,"mpcc_theta_e":0.435862064,"mpcc_theta_mech":0.554118335,"sam_rpm":-9.64743614,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0148729682,"thr_a_norm":0.0148729682,"thr_a_v":0.559491873,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451984406,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.406578,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.733645439,"cg_iw_a":-1.97297382,"cg_theta_rad":0.551658034,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.00753252488,"mpcc_du":49.5369415,"mpcc_dv":49.5054626,"mpcc_dw":50.4945374,"mpcc_enc_sign":1,"mpcc_id_a":0.747245312,"mpcc_iq_a":-1.33664382,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.1198359,"mpcc_pred_id_a":0.0377014764,"mpcc_pred_iq_a":-1.73392916,"mpcc_state":1,"mpcc_theta_e":0.452985287,"mpcc_theta_mech":0.55754298,"sam_rpm":16.5341091,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182970911,"thr_a_norm":0.0182970911,"thr_a_v":0.573188365,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.416862,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.661157608,"cg_iw_a":-0.81317091,"cg_theta_rad":0.555893004,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0426854305,"mpcc_du":50.7481842,"mpcc_dv":48.0759315,"mpcc_dw":51.9240685,"mpcc_enc_sign":1,"mpcc_id_a":2.18055367,"mpcc_iq_a":-1.37501347,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.96092629,"mpcc_pred_id_a":0.0681546256,"mpcc_pred_iq_a":-3.97067642,"mpcc_state":1,"mpcc_theta_e":0.450300217,"mpcc_theta_mech":0.557005942,"sam_rpm":-15.5239506,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178690702,"thr_a_norm":0.0182970911,"thr_a_v":0.571476281,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.42672,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.45852208,"cg_iw_a":0.274143934,"cg_theta_rad":0.556846559,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0197088365,"mpcc_du":49.5069847,"mpcc_dv":50.4930153,"mpcc_dw":50.4852028,"mpcc_enc_sign":1,"mpcc_id_a":2.73796654,"mpcc_iq_a":-0.386783659,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.6357384,"mpcc_pred_id_a":0.363857299,"mpcc_pred_iq_a":-1.14327669,"mpcc_state":1,"mpcc_theta_e":0.449406147,"mpcc_theta_mech":0.556827188,"sam_rpm":21.1966953,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178690702,"thr_a_norm":0.0178690702,"thr_a_v":0.571476281,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.436729,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.588670254,"cg_iw_a":-0.233269691,"cg_theta_rad":0.554226875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0249473248,"mpcc_du":50.2107697,"mpcc_dv":48.5274048,"mpcc_dw":51.4725952,"mpcc_enc_sign":1,"mpcc_id_a":2.31572556,"mpcc_iq_a":-0.218037173,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.88096237,"mpcc_pred_id_a":0.275051802,"mpcc_pred_iq_a":2.25182748,"mpcc_state":1,"mpcc_theta_e":0.425543785,"mpcc_theta_mech":0.552054644,"sam_rpm":-16.6333847,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.043990612,"thr_a_norm":0.043990612,"thr_a_v":0.675962448,"thr_b":0.0101396143,"thr_b_norm":0.0101396143,"thr_b_v":0.540558457,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.446678,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.443694592,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556848049,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.00806469563,"mpcc_du":48.7468948,"mpcc_dv":51.2531052,"mpcc_dw":49.2719269,"mpcc_enc_sign":1,"mpcc_id_a":0.272069573,"mpcc_iq_a":-1.21998656,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.2730217,"mpcc_pred_id_a":-0.483619779,"mpcc_pred_iq_a":-4.47973967,"mpcc_state":1,"mpcc_theta_e":0.423560143,"mpcc_theta_mech":0.551657975,"sam_rpm":13.3366995,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.043990612,"thr_a_norm":0.043990612,"thr_a_v":0.675962448,"thr_b":0.0101396143,"thr_b_norm":0.0101396143,"thr_b_v":0.540558457,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.456749,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.733645439,"cg_iw_a":0.0566811562,"cg_theta_rad":0.551578164,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0033639688,"mpcc_du":49.7173615,"mpcc_dv":49.6288414,"mpcc_dw":50.3711586,"mpcc_enc_sign":1,"mpcc_id_a":-0.621182978,"mpcc_iq_a":0.151793018,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.6846503,"mpcc_pred_id_a":-0.895082772,"mpcc_pred_iq_a":-0.655156016,"mpcc_state":1,"mpcc_theta_e":0.430812836,"mpcc_theta_mech":0.553108513,"sam_rpm":-3.30411935,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186747462,"thr_a_norm":0.0186747462,"thr_a_v":0.574698985,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459739089,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.479973,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.153744221,"cg_iw_a":-0.668195724,"cg_theta_rad":0.558740735,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.00780909555,"mpcc_du":49.0202217,"mpcc_dv":50.9797783,"mpcc_dw":49.8619347,"mpcc_enc_sign":1,"mpcc_id_a":1.73305583,"mpcc_iq_a":-1.47362411,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.46161604,"mpcc_pred_id_a":0.253715903,"mpcc_pred_iq_a":-6.36843348,"mpcc_state":1,"mpcc_theta_e":0.446024895,"mpcc_theta_mech":0.556150913,"sam_rpm":7.69950199,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202105641,"thr_a_norm":0.0186747462,"thr_a_v":0.580842257,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460242629,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.486473,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.38603449,"cg_iw_a":0.491607189,"cg_theta_rad":0.557125151,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.000383590203,"mpcc_du":50.141964,"mpcc_dv":48.8933868,"mpcc_dw":51.1066132,"mpcc_enc_sign":1,"mpcc_id_a":0.390580297,"mpcc_iq_a":-1.94073141,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.811791062,"mpcc_pred_id_a":-0.196300641,"mpcc_pred_iq_a":-0.393131673,"mpcc_state":1,"mpcc_theta_e":0.4427495,"mpcc_theta_mech":0.555495858,"sam_rpm":0.922175825,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202105641,"thr_a_norm":0.0202105641,"thr_a_v":0.580842257,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460242629,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.492973,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.16857147,"cg_iw_a":-2.04546118,"cg_theta_rad":0.553182781,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0658327639,"mpcc_du":49.445446,"mpcc_dv":50.3423958,"mpcc_dw":50.554554,"mpcc_enc_sign":1,"mpcc_id_a":4.0392828,"mpcc_iq_a":1.19947207,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.679040968,"mpcc_pred_id_a":0.829194605,"mpcc_pred_iq_a":-5.18790865,"mpcc_state":1,"mpcc_theta_e":0.440748215,"mpcc_theta_mech":0.555095553,"sam_rpm":-1.15614748,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0984618962,"thr_a_norm":0.0984618962,"thr_a_v":0.893847585,"thr_b":0.0412966311,"thr_b_norm":0.0412966311,"thr_b_v":0.665186524,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.499535,"values":{"cg_iu_a":1.69179153,"cg_iv_a":0.208694458,"cg_iw_a":-5.01745605,"cg_theta_rad":0.554439366,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.00845746789,"mpcc_du":49.2031479,"mpcc_dv":50.7968521,"mpcc_dw":49.8319664,"mpcc_enc_sign":1,"mpcc_id_a":0.75296092,"mpcc_iq_a":-0.827751398,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.855176,"mpcc_pred_id_a":-0.401230752,"mpcc_pred_iq_a":-4.85639763,"mpcc_state":1,"mpcc_theta_e":0.45326376,"mpcc_theta_mech":0.55759871,"sam_rpm":18.8698254,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292996168,"thr_a_norm":0.0984618962,"thr_a_v":0.617198467,"thr_b":0.000647738576,"thr_b_norm":0.0412966311,"thr_b_v":0.502590954,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.511375,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.45852208,"cg_iw_a":-1.10312152,"cg_theta_rad":0.554666102,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0562878847,"mpcc_du":50.0108833,"mpcc_dv":48.7278214,"mpcc_dw":51.2721786,"mpcc_enc_sign":1,"mpcc_id_a":3.06157136,"mpcc_iq_a":-0.21072565,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.99495554,"mpcc_pred_id_a":0.588226795,"mpcc_pred_iq_a":-1.30187809,"mpcc_state":1,"mpcc_theta_e":0.447229385,"mpcc_theta_mech":0.556391776,"sam_rpm":5.41394711,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292996168,"thr_a_norm":0.0292996168,"thr_a_v":0.617198467,"thr_b":0.000647738576,"thr_b_norm":0.000647738576,"thr_b_v":0.502590954,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.521538,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.371207237,"cg_iw_a":-0.885658741,"cg_theta_rad":0.557498038,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0403782278,"mpcc_du":50.3648491,"mpcc_dv":48.4702644,"mpcc_dw":51.5297356,"mpcc_enc_sign":1,"mpcc_id_a":1.43883371,"mpcc_iq_a":-0.913246632,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.61448717,"mpcc_pred_id_a":0.0748064518,"mpcc_pred_iq_a":-3.05452323,"mpcc_state":1,"mpcc_theta_e":0.444857121,"mpcc_theta_mech":0.555917323,"sam_rpm":-7.62776756,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236976445,"thr_a_norm":0.0236976445,"thr_a_v":0.594790578,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468148291,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.531853,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.16857147,"cg_iw_a":-0.305757523,"cg_theta_rad":0.552960336,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0229144692,"mpcc_du":50.7048645,"mpcc_dv":47.9406395,"mpcc_dw":52.0593605,"mpcc_enc_sign":1,"mpcc_id_a":2.85649157,"mpcc_iq_a":-0.317206442,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.5851402,"mpcc_pred_id_a":0.882160842,"mpcc_pred_iq_a":-3.99700522,"mpcc_state":1,"mpcc_theta_e":0.453612328,"mpcc_theta_mech":0.557668388,"sam_rpm":-10.6665125,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247047395,"thr_a_norm":0.0236976445,"thr_a_v":0.598818958,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482046247,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.54174,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.661157608,"cg_iw_a":-1.82799864,"cg_theta_rad":0.557249725,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.034881711,"mpcc_du":49.6887054,"mpcc_dv":49.1569138,"mpcc_dw":50.8430862,"mpcc_enc_sign":1,"mpcc_id_a":2.4192431,"mpcc_iq_a":-0.868783295,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.30265665,"mpcc_pred_id_a":0.408440173,"mpcc_pred_iq_a":0.349768758,"mpcc_state":1,"mpcc_theta_e":0.427852631,"mpcc_theta_mech":0.55251646,"sam_rpm":-11.7044239,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247047395,"thr_a_norm":0.0247047395,"thr_a_v":0.598818958,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482046247,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.551933,"values":{"cg_iu_a":3.1415453,"cg_iv_a":0.57113266,"cg_iw_a":-1.24809742,"cg_theta_rad":0.55705601,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.00906865858,"mpcc_du":50.3888664,"mpcc_dv":48.5559998,"mpcc_dw":51.4440002,"mpcc_enc_sign":1,"mpcc_id_a":1.63865781,"mpcc_iq_a":-2.19721174,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.95020294,"mpcc_pred_id_a":-0.18592532,"mpcc_pred_iq_a":-2.64910293,"mpcc_state":1,"mpcc_theta_e":0.438614845,"mpcc_theta_mech":0.554668903,"sam_rpm":-13.4836626,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026001364,"thr_a_norm":0.026001364,"thr_a_v":0.604005456,"thr_b":0.000131607056,"thr_b_norm":0.000131607056,"thr_b_v":0.500526428,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.561882,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.24105906,"cg_iw_a":-0.160782099,"cg_theta_rad":0.556499183,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.050221514,"mpcc_du":49.3959007,"mpcc_dv":50.3494682,"mpcc_dw":50.6040993,"mpcc_enc_sign":1,"mpcc_id_a":3.4308598,"mpcc_iq_a":0.9337883,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.62095904,"mpcc_pred_id_a":1.01038456,"mpcc_pred_iq_a":-3.06306529,"mpcc_state":1,"mpcc_theta_e":0.439878464,"mpcc_theta_mech":0.554921567,"sam_rpm":12.2715111,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026001364,"thr_a_norm":0.026001364,"thr_a_v":0.604005456,"thr_b":0.000131607056,"thr_b_norm":0.000131607056,"thr_b_v":0.500526428,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.58535,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.24809694,"cg_theta_rad":0.556727707,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.018334914,"mpcc_du":49.663002,"mpcc_dv":50.0940781,"mpcc_dw":50.336998,"mpcc_enc_sign":1,"mpcc_id_a":-0.174790889,"mpcc_iq_a":-0.748045444,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.73135805,"mpcc_pred_id_a":-0.660712898,"mpcc_pred_iq_a":-4.38917208,"mpcc_state":1,"mpcc_theta_e":0.45209074,"mpcc_theta_mech":0.557364106,"sam_rpm":11.9220324,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254474729,"thr_a_norm":0.0254474729,"thr_a_v":0.601789892,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498965442,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.59185,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.878620625,"cg_iw_a":-1.53804779,"cg_theta_rad":0.551193118,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0113604711,"mpcc_du":49.565876,"mpcc_dv":49.7040672,"mpcc_dw":50.434124,"mpcc_enc_sign":1,"mpcc_id_a":0.786545336,"mpcc_iq_a":-0.0901968777,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.25814724,"mpcc_pred_id_a":-0.156975776,"mpcc_pred_iq_a":-3.5630641,"mpcc_state":1,"mpcc_theta_e":0.44233799,"mpcc_theta_mech":0.555413485,"sam_rpm":1.71873891,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022224769,"thr_a_norm":0.0254474729,"thr_a_v":0.588899076,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.598412,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.60349751,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556033611,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0380098447,"mpcc_du":49.5056877,"mpcc_dv":50.0363808,"mpcc_dw":50.4943123,"mpcc_enc_sign":1,"mpcc_id_a":3.4606328,"mpcc_iq_a":-1.05622327,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.99768448,"mpcc_pred_id_a":0.246280417,"mpcc_pred_iq_a":-4.23308706,"mpcc_state":1,"mpcc_theta_e":0.448305607,"mpcc_theta_mech":0.556607008,"sam_rpm":7.57104063,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022224769,"thr_a_norm":0.022224769,"thr_a_v":0.588899076,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.604973,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.806133032,"cg_iw_a":-2.26292443,"cg_theta_rad":0.557503283,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0255423561,"mpcc_du":51.0857773,"mpcc_dv":47.3633003,"mpcc_dw":52.6366997,"mpcc_enc_sign":1,"mpcc_id_a":3.05782843,"mpcc_iq_a":-0.517571926,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.2908421,"mpcc_pred_id_a":0.461537838,"mpcc_pred_iq_a":2.6293962,"mpcc_state":1,"mpcc_theta_e":0.428318977,"mpcc_theta_mech":0.552609742,"sam_rpm":-22.2550564,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248809755,"thr_a_norm":0.0248809755,"thr_a_v":0.599523902,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470666051,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.612724,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.516182423,"cg_iw_a":-1.24809694,"cg_theta_rad":0.555913925,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.00137965498,"mpcc_du":48.8495445,"mpcc_dv":51.1504555,"mpcc_dw":49.4592438,"mpcc_enc_sign":1,"mpcc_id_a":0.540882587,"mpcc_iq_a":-1.78418624,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.75496292,"mpcc_pred_id_a":-0.358649075,"mpcc_pred_iq_a":-6.56507874,"mpcc_state":1,"mpcc_theta_e":0.445466518,"mpcc_theta_mech":0.556039214,"sam_rpm":9.37292385,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248809755,"thr_a_norm":0.0248809755,"thr_a_v":0.599523902,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470666051,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.622917,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.16857147,"cg_iw_a":0.999020576,"cg_theta_rad":0.553387642,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0894295201,"mpcc_du":49.4920959,"mpcc_dv":49.3504295,"mpcc_dw":50.6495705,"mpcc_enc_sign":1,"mpcc_id_a":2.71567106,"mpcc_iq_a":-0.117875881,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.76129723,"mpcc_pred_id_a":0.567446947,"mpcc_pred_iq_a":-4.38106871,"mpcc_state":1,"mpcc_theta_e":0.456860065,"mpcc_theta_mech":0.558317959,"sam_rpm":13.8026037,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022224769,"thr_a_norm":0.022224769,"thr_a_v":0.588899076,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484765351,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.633171,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.951108456,"cg_iw_a":0.201656342,"cg_theta_rad":0.55655241,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.01489555,"mpcc_du":49.6438866,"mpcc_dv":50.3561134,"mpcc_dw":50.1879311,"mpcc_enc_sign":1,"mpcc_id_a":-1.09952486,"mpcc_iq_a":-3.36632276,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.80961752,"mpcc_pred_id_a":-1.00235713,"mpcc_pred_iq_a":-3.46815515,"mpcc_state":1,"mpcc_theta_e":0.445821285,"mpcc_theta_mech":0.556110203,"sam_rpm":7.68983555,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184103847,"thr_a_norm":0.022224769,"thr_a_v":0.573641539,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441712052,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.642967,"values":{"cg_iu_a":-0.917764187,"cg_iv_a":-1.24105906,"cg_iw_a":2.15882325,"cg_theta_rad":0.557887495,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0407614522,"mpcc_du":50.3228531,"mpcc_dv":48.7271309,"mpcc_dw":51.2728691,"mpcc_enc_sign":1,"mpcc_id_a":0.118340038,"mpcc_iq_a":-1.30841279,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.596348643,"mpcc_pred_id_a":-0.397958785,"mpcc_pred_iq_a":-3.22772956,"mpcc_state":1,"mpcc_theta_e":0.451146126,"mpcc_theta_mech":0.5571751,"sam_rpm":2.00414228,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184103847,"thr_a_norm":0.0184103847,"thr_a_v":0.573641539,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441712052,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.65313,"values":{"cg_iu_a":4.88124943,"cg_iv_a":1.22352171,"cg_iw_a":-6.10477114,"cg_theta_rad":0.554992855,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.000787756348,"mpcc_du":49.3371658,"mpcc_dv":50.6628342,"mpcc_dw":50.027256,"mpcc_enc_sign":1,"mpcc_id_a":0.416802585,"mpcc_iq_a":-0.701969802,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.14177513,"mpcc_pred_id_a":-0.45196864,"mpcc_pred_iq_a":-4.76322842,"mpcc_state":1,"mpcc_theta_e":0.441892624,"mpcc_theta_mech":0.555324435,"sam_rpm":5.70476007,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0298912674,"thr_a_norm":0.0298912674,"thr_a_v":0.61956507,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456818491,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.66555,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.443694592,"cg_iw_a":-0.59570837,"cg_theta_rad":0.557488739,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0798012763,"mpcc_du":49.349369,"mpcc_dv":49.6367416,"mpcc_dw":50.650631,"mpcc_enc_sign":1,"mpcc_id_a":4.64810944,"mpcc_iq_a":-0.0119867483,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.2978363,"mpcc_pred_id_a":0.96887666,"mpcc_pred_iq_a":0.964089453,"mpcc_state":1,"mpcc_theta_e":0.430575371,"mpcc_theta_mech":0.553060949,"sam_rpm":-5.33712912,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296394974,"thr_a_norm":0.0298912674,"thr_a_v":0.61855799,"thr_b":0.00577133894,"thr_b_norm":0,"thr_b_v":0.523085356,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.689751,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.02359605,"cg_iw_a":-1.68302321,"cg_theta_rad":0.554485917,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0305529889,"mpcc_du":50.5457115,"mpcc_dv":48.4541435,"mpcc_dw":51.5458565,"mpcc_enc_sign":1,"mpcc_id_a":0.20075506,"mpcc_iq_a":-0.647292912,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.4688952,"mpcc_pred_id_a":-0.432798535,"mpcc_pred_iq_a":-1.5451659,"mpcc_state":1,"mpcc_theta_e":0.444327831,"mpcc_theta_mech":0.555811524,"sam_rpm":-2.62889838,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296394974,"thr_a_norm":0.0296394974,"thr_a_v":0.61855799,"thr_b":0.00577133894,"thr_b_norm":0.00577133894,"thr_b_v":0.523085356,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.696281,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.443694592,"cg_iw_a":-2.40789986,"cg_theta_rad":0.551316082,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0131919729,"mpcc_du":50.0521774,"mpcc_dv":48.6777687,"mpcc_dw":51.3222313,"mpcc_enc_sign":1,"mpcc_id_a":2.29706883,"mpcc_iq_a":-0.429539293,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.1990452,"mpcc_pred_id_a":0.320009977,"mpcc_pred_iq_a":-3.37358093,"mpcc_state":1,"mpcc_theta_e":0.421618462,"mpcc_theta_mech":0.551269591,"sam_rpm":-32.2927856,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025799945,"thr_a_norm":0.025799945,"thr_a_v":0.60319978,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.702812,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.16857147,"cg_iw_a":-1.53804779,"cg_theta_rad":0.553941369,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0349160582,"mpcc_du":49.380619,"mpcc_dv":50.619381,"mpcc_dw":50.1959724,"mpcc_enc_sign":1,"mpcc_id_a":0.598467946,"mpcc_iq_a":-1.18995953,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.94720745,"mpcc_pred_id_a":-0.0884812549,"mpcc_pred_iq_a":-6.3356595,"mpcc_state":1,"mpcc_theta_e":0.429227352,"mpcc_theta_mech":0.552791417,"sam_rpm":7.05924606,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025799945,"thr_a_norm":0.025799945,"thr_a_v":0.60319978,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.709343,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.16857147,"cg_iw_a":-1.10312176,"cg_theta_rad":0.557070971,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.00807147846,"mpcc_du":49.5049934,"mpcc_dv":50.4950066,"mpcc_dw":51.3540611,"mpcc_enc_sign":1,"mpcc_id_a":0.366875112,"mpcc_iq_a":-2.1607883,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.86327362,"mpcc_pred_id_a":-0.268891722,"mpcc_pred_iq_a":-6.39517879,"mpcc_state":1,"mpcc_theta_e":0.44254303,"mpcc_theta_mech":0.555454552,"sam_rpm":9.39194679,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254474729,"thr_a_norm":0.0254474729,"thr_a_v":0.601789892,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49810943,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.718407,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.74847269,"cg_iw_a":-1.17560959,"cg_theta_rad":0.557344198,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0283823516,"mpcc_du":48.8156395,"mpcc_dv":51.1843605,"mpcc_dw":49.3089066,"mpcc_enc_sign":1,"mpcc_id_a":0.327797681,"mpcc_iq_a":-1.07146442,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.5165267,"mpcc_pred_id_a":-0.543610036,"mpcc_pred_iq_a":-3.99204636,"mpcc_state":1,"mpcc_theta_e":0.435787201,"mpcc_theta_mech":0.554103374,"sam_rpm":4.21244621,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100035489,"thr_a_norm":0.0254474729,"thr_a_v":0.900141954,"thr_b":0.0452117175,"thr_b_norm":0,"thr_b_v":0.68084687,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.730217,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.226231575,"cg_iw_a":-1.53804779,"cg_theta_rad":0.553045988,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.00712049101,"mpcc_du":49.9075089,"mpcc_dv":49.1289749,"mpcc_dw":50.8710251,"mpcc_enc_sign":1,"mpcc_id_a":0.332190096,"mpcc_iq_a":-1.21818125,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.20388472,"mpcc_pred_id_a":-0.232882738,"mpcc_pred_iq_a":-2.22842813,"mpcc_state":1,"mpcc_theta_e":0.442625046,"mpcc_theta_mech":0.555470943,"sam_rpm":2.47263718,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100035489,"thr_a_norm":0.100035489,"thr_a_v":0.900141954,"thr_b":0.0452117175,"thr_b_norm":0.0452117175,"thr_b_v":0.68084687,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.74041,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.516182423,"cg_iw_a":-1.97297382,"cg_theta_rad":0.557692945,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.00549133029,"mpcc_du":49.4608994,"mpcc_dv":49.7085724,"mpcc_dw":50.5391006,"mpcc_enc_sign":1,"mpcc_id_a":0.695973456,"mpcc_iq_a":-1.32613218,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.3689108,"mpcc_pred_id_a":-0.287615567,"mpcc_pred_iq_a":-0.474237978,"mpcc_state":1,"mpcc_theta_e":0.42883873,"mpcc_theta_mech":0.552713692,"sam_rpm":-8.21485233,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.018951714,"thr_a_norm":0.018951714,"thr_a_v":0.575806856,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462508589,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.750725,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.6759851,"cg_iw_a":0.41911912,"cg_theta_rad":0.556410551,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.00284748105,"mpcc_du":49.6272659,"mpcc_dv":50.0847206,"mpcc_dw":50.3727341,"mpcc_enc_sign":1,"mpcc_id_a":0.726220012,"mpcc_iq_a":-0.895048797,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.19987321,"mpcc_pred_id_a":-0.497898728,"mpcc_pred_iq_a":-4.15907812,"mpcc_state":1,"mpcc_theta_e":0.442238331,"mpcc_theta_mech":0.555393577,"sam_rpm":1.16027868,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170004517,"thr_a_norm":0.018951714,"thr_a_v":0.568001807,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.433604956,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.760735,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.371207237,"cg_iw_a":-0.015806675,"cg_theta_rad":0.555674255,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.00194876979,"mpcc_du":50.3316689,"mpcc_dv":48.7117691,"mpcc_dw":51.2882309,"mpcc_enc_sign":1,"mpcc_id_a":0.264246404,"mpcc_iq_a":-0.349366248,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.52046585,"mpcc_pred_id_a":-0.490645766,"mpcc_pred_iq_a":-0.410087794,"mpcc_state":1,"mpcc_theta_e":0.435731411,"mpcc_theta_mech":0.554092228,"sam_rpm":-8.73864746,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170004517,"thr_a_norm":0.0170004517,"thr_a_v":0.568001807,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.433604956,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.783928,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.82096052,"cg_iw_a":-2.55287504,"cg_theta_rad":0.55712533,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0355896205,"mpcc_du":49.4874001,"mpcc_dv":49.6615181,"mpcc_dw":50.5125999,"mpcc_enc_sign":1,"mpcc_id_a":2.98523068,"mpcc_iq_a":-0.873969913,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.85593033,"mpcc_pred_id_a":0.238102138,"mpcc_pred_iq_a":-4.12538242,"mpcc_state":1,"mpcc_theta_e":0.448293686,"mpcc_theta_mech":0.556604683,"sam_rpm":5.63537502,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02227512,"thr_a_norm":0.02227512,"thr_a_v":0.58910048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484563947,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.790489,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.153744221,"cg_iw_a":-2.04546118,"cg_theta_rad":0.552526534,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.061339587,"mpcc_du":49.4257507,"mpcc_dv":49.8423347,"mpcc_dw":50.5742493,"mpcc_enc_sign":1,"mpcc_id_a":2.82608247,"mpcc_iq_a":0.116532221,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.97025108,"mpcc_pred_id_a":0.689704597,"mpcc_pred_iq_a":-3.73899817,"mpcc_state":1,"mpcc_theta_e":0.45365572,"mpcc_theta_mech":0.55767709,"sam_rpm":15.5481548,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02227512,"thr_a_norm":0.02227512,"thr_a_v":0.58910048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484563947,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.796959,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.661157608,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556782484,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.00988838449,"mpcc_du":49.5040359,"mpcc_dv":49.3272247,"mpcc_dw":50.6727753,"mpcc_enc_sign":1,"mpcc_id_a":-0.0960481614,"mpcc_iq_a":-0.741466045,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":19.1559505,"mpcc_pred_id_a":0.574990809,"mpcc_pred_iq_a":0.711775839,"mpcc_state":1,"mpcc_theta_e":0.458487034,"mpcc_theta_mech":0.558643281,"sam_rpm":28.3430042,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241508335,"thr_a_norm":0.0241508335,"thr_a_v":0.596603334,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.80349,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.24105906,"cg_iw_a":0.926532984,"cg_theta_rad":0.555935144,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.00652913749,"mpcc_du":49.9425621,"mpcc_dv":49.0736046,"mpcc_dw":50.9263954,"mpcc_enc_sign":1,"mpcc_id_a":1.01079214,"mpcc_iq_a":-0.800918043,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.05458927,"mpcc_pred_id_a":-0.13099575,"mpcc_pred_iq_a":-1.19105327,"mpcc_state":1,"mpcc_theta_e":0.444142342,"mpcc_theta_mech":0.555774391,"sam_rpm":2.6780436,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0335168242,"thr_a_norm":0.0241508335,"thr_a_v":0.634067297,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478974611,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.81353,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.02359605,"cg_iw_a":1.21648383,"cg_theta_rad":0.557249784,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0245023873,"mpcc_du":49.5376472,"mpcc_dv":49.3580551,"mpcc_dw":50.6419449,"mpcc_enc_sign":1,"mpcc_id_a":2.31298041,"mpcc_iq_a":-1.10162044,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.1889987,"mpcc_pred_id_a":0.399750471,"mpcc_pred_iq_a":-0.694207847,"mpcc_state":1,"mpcc_theta_e":0.429739952,"mpcc_theta_mech":0.552893877,"sam_rpm":-7.35118103,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0335168242,"thr_a_norm":0.0335168242,"thr_a_v":0.634067297,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478974611,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.823723,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.371207237,"cg_iw_a":-1.82799816,"cg_theta_rad":0.555802286,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0169320721,"mpcc_du":49.9359741,"mpcc_dv":49.2625999,"mpcc_dw":50.7374001,"mpcc_enc_sign":1,"mpcc_id_a":0.28505519,"mpcc_iq_a":-1.80466115,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.70620209,"mpcc_pred_id_a":-0.541742146,"mpcc_pred_iq_a":-4.44770336,"mpcc_state":1,"mpcc_theta_e":0.448508739,"mpcc_theta_mech":0.556647658,"sam_rpm":1.65300953,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0249565095,"thr_a_norm":0.0249565095,"thr_a_v":0.599826038,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474140525,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.833702,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.16857147,"cg_iw_a":-0.233269691,"cg_theta_rad":0.555000126,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.02526417,"mpcc_du":50.1555061,"mpcc_dv":48.7576218,"mpcc_dw":51.1226959,"mpcc_enc_sign":1,"mpcc_id_a":1.44157481,"mpcc_iq_a":-0.40077287,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.52908659,"mpcc_pred_id_a":-0.0257024057,"mpcc_pred_iq_a":-2.66603184,"mpcc_state":1,"mpcc_theta_e":0.442539215,"mpcc_theta_mech":0.556101263,"sam_rpm":-6.82404661,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0249565095,"thr_a_norm":0.0249565095,"thr_a_v":0.599826038,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474140525,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.843712,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.24105906,"cg_iw_a":-5.08994389,"cg_theta_rad":0.554443061,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0233470555,"mpcc_du":50.2419128,"mpcc_dv":48.7370949,"mpcc_dw":51.2629051,"mpcc_enc_sign":1,"mpcc_id_a":-0.167167589,"mpcc_iq_a":-1.40208876,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.86796772,"mpcc_pred_id_a":-0.231507048,"mpcc_pred_iq_a":-2.25876498,"mpcc_state":1,"mpcc_theta_e":0.450124741,"mpcc_theta_mech":0.556970894,"sam_rpm":3.3094306,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278015584,"thr_a_norm":0.0278015584,"thr_a_v":0.611206234,"thr_b":0.000484094024,"thr_b_norm":0.000484094024,"thr_b_v":0.501936376,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.854027,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.806133032,"cg_iw_a":-1.46555996,"cg_theta_rad":0.553789198,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0365503468,"mpcc_du":49.6263771,"mpcc_dv":49.9875145,"mpcc_dw":50.3736229,"mpcc_enc_sign":1,"mpcc_id_a":0.183906406,"mpcc_iq_a":-1.52132034,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.51894617,"mpcc_pred_id_a":-0.546701491,"mpcc_pred_iq_a":-6.03184938,"mpcc_state":1,"mpcc_theta_e":0.445834637,"mpcc_theta_mech":0.556112826,"sam_rpm":13.5740709,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0251075774,"thr_a_norm":0.0278015584,"thr_a_v":0.60043031,"thr_b":0,"thr_b_norm":0.000484094024,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.863884,"values":{"cg_iu_a":0.604476929,"cg_iv_a":0.353669643,"cg_iw_a":-1.17560911,"cg_theta_rad":0.555097938,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0824475214,"mpcc_du":50.9880791,"mpcc_dv":47.7225037,"mpcc_dw":52.2774963,"mpcc_enc_sign":1,"mpcc_id_a":2.53932238,"mpcc_iq_a":1.5810647,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.2452178,"mpcc_pred_id_a":-0.000977624673,"mpcc_pred_iq_a":1.00289857,"mpcc_state":1,"mpcc_theta_e":0.441875458,"mpcc_theta_mech":0.555321038,"sam_rpm":-8.37481022,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0251075774,"thr_a_norm":0.0251075774,"thr_a_v":0.60043031,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.889305,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.90827537,"cg_iw_a":-1.53804779,"cg_theta_rad":0.551930249,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0285067391,"mpcc_du":49.8579369,"mpcc_dv":49.0152588,"mpcc_dw":50.9847412,"mpcc_enc_sign":1,"mpcc_id_a":2.97784114,"mpcc_iq_a":-1.22142136,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.20729375,"mpcc_pred_id_a":0.153622806,"mpcc_pred_iq_a":-2.88660407,"mpcc_state":1,"mpcc_theta_e":0.442541599,"mpcc_theta_mech":0.555745065,"sam_rpm":-3.30647922,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246040374,"thr_a_norm":0.0246040374,"thr_a_v":0.59841615,"thr_b":0.00214579701,"thr_b_norm":0.00214579701,"thr_b_v":0.508583188,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.895866,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.516182423,"cg_iw_a":-1.46555996,"cg_theta_rad":0.557115436,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0109289689,"mpcc_du":49.5193062,"mpcc_dv":49.6305618,"mpcc_dw":50.4806938,"mpcc_enc_sign":1,"mpcc_id_a":-0.315530717,"mpcc_iq_a":-1.05088854,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.0299201,"mpcc_pred_id_a":-0.0628116876,"mpcc_pred_iq_a":-3.92633343,"mpcc_state":1,"mpcc_theta_e":0.446834564,"mpcc_theta_mech":0.556312799,"sam_rpm":6.35581064,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295262039,"thr_a_norm":0.0246040374,"thr_a_v":0.618104815,"thr_b":0.00335431099,"thr_b_norm":0.00214579701,"thr_b_v":0.513417244,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.902367,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-2.18339872,"cg_iw_a":-0.305757523,"cg_theta_rad":0.556767285,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0233411305,"mpcc_du":49.8535538,"mpcc_dv":48.9710121,"mpcc_dw":51.0289879,"mpcc_enc_sign":1,"mpcc_id_a":2.57392979,"mpcc_iq_a":0.135486141,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.79030776,"mpcc_pred_id_a":0.255008638,"mpcc_pred_iq_a":-1.32331872,"mpcc_state":1,"mpcc_theta_e":0.439478874,"mpcc_theta_mech":0.55476737,"sam_rpm":-3.59145641,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295262039,"thr_a_norm":0.0295262039,"thr_a_v":0.618104815,"thr_b":0.00335431099,"thr_b_norm":0.00335431099,"thr_b_v":0.513417244,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.909142,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.02359605,"cg_iw_a":0.346631765,"cg_theta_rad":0.558662474,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.00337858265,"mpcc_du":51.0752487,"mpcc_dv":47.354454,"mpcc_dw":52.645546,"mpcc_enc_sign":1,"mpcc_id_a":1.08733296,"mpcc_iq_a":-0.99552542,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.2477417,"mpcc_pred_id_a":0.412478417,"mpcc_pred_iq_a":1.90266144,"mpcc_state":1,"mpcc_theta_e":0.42666769,"mpcc_theta_mech":0.552279472,"sam_rpm":-26.8018703,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197447985,"thr_a_norm":0.0197447985,"thr_a_v":0.578979194,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479327083,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.91909,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.38603449,"cg_iw_a":-1.39307213,"cg_theta_rad":0.557135165,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0731550902,"mpcc_du":50.390274,"mpcc_dv":48.3901558,"mpcc_dw":51.6098442,"mpcc_enc_sign":1,"mpcc_id_a":2.88195491,"mpcc_iq_a":-0.581295371,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.07697916,"mpcc_pred_id_a":0.366479903,"mpcc_pred_iq_a":-2.79512572,"mpcc_state":1,"mpcc_theta_e":0.444877148,"mpcc_theta_mech":0.557185113,"sam_rpm":-14.6874685,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026857391,"thr_a_norm":0.0197447985,"thr_a_v":0.607429564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497001588,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.929131,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.02359605,"cg_iw_a":0.0566809177,"cg_theta_rad":0.557274699,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.00664257444,"mpcc_du":49.2542419,"mpcc_dv":50.7457581,"mpcc_dw":49.9884987,"mpcc_enc_sign":1,"mpcc_id_a":1.12522817,"mpcc_iq_a":-1.07501483,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.39688993,"mpcc_pred_id_a":-0.235547259,"mpcc_pred_iq_a":-4.37300348,"mpcc_state":1,"mpcc_theta_e":0.436743736,"mpcc_theta_mech":0.554294705,"sam_rpm":1.69010556,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026857391,"thr_a_norm":0.026857391,"thr_a_v":0.607429564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497001588,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.939323,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.298719406,"cg_iw_a":-0.595707893,"cg_theta_rad":0.555973768,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0205500852,"mpcc_du":49.6117897,"mpcc_dv":50.0680466,"mpcc_dw":50.3882103,"mpcc_enc_sign":1,"mpcc_id_a":0.42830503,"mpcc_iq_a":-1.65091109,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.0156832,"mpcc_pred_id_a":-0.379284531,"mpcc_pred_iq_a":-4.95641327,"mpcc_state":1,"mpcc_theta_e":0.456273079,"mpcc_theta_mech":0.558200538,"sam_rpm":15.2693949,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270965844,"thr_a_norm":0.0270965844,"thr_a_v":0.608386338,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492922872,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.9515,"values":{"cg_iu_a":1.18437815,"cg_iv_a":1.07854605,"cg_iw_a":-2.11794901,"cg_theta_rad":0.556986213,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0431712717,"mpcc_du":49.6100807,"mpcc_dv":49.208271,"mpcc_dw":50.791729,"mpcc_enc_sign":1,"mpcc_id_a":3.2770319,"mpcc_iq_a":-1.08681774,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.89166498,"mpcc_pred_id_a":0.428685993,"mpcc_pred_iq_a":0.0766227692,"mpcc_state":1,"mpcc_theta_e":0.430728912,"mpcc_theta_mech":0.553091705,"sam_rpm":-8.43312073,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237857699,"thr_a_norm":0.0270965844,"thr_a_v":0.59514308,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475097239,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.96331,"values":{"cg_iu_a":4.15637207,"cg_iv_a":0.281181812,"cg_iw_a":-1.97297335,"cg_theta_rad":0.552753508,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.1226978,"mpcc_du":50.4424438,"mpcc_dv":48.2150993,"mpcc_dw":51.7849007,"mpcc_enc_sign":1,"mpcc_id_a":1.94986594,"mpcc_iq_a":2.18147612,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.125811681,"mpcc_pred_id_a":0.38025105,"mpcc_pred_iq_a":-0.520855606,"mpcc_state":1,"mpcc_theta_e":0.444642544,"mpcc_theta_mech":0.555874467,"sam_rpm":1.43633997,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237857699,"thr_a_norm":0.0237857699,"thr_a_v":0.59514308,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475097239,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.986626,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.516182423,"cg_iw_a":-1.97297382,"cg_theta_rad":0.55611378,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.00112920906,"mpcc_du":48.0905914,"mpcc_dv":51.9094086,"mpcc_dw":48.4532433,"mpcc_enc_sign":1,"mpcc_id_a":0.459155887,"mpcc_iq_a":-1.93755162,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.4815397,"mpcc_pred_id_a":-0.585861921,"mpcc_pred_iq_a":-8.85475731,"mpcc_state":1,"mpcc_theta_e":0.450422287,"mpcc_theta_mech":0.55703038,"sam_rpm":19.0607738,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224513561,"thr_a_norm":0.0224513561,"thr_a_v":0.589805424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472378135,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.993156,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.60349751,"cg_iw_a":0.12916851,"cg_theta_rad":0.554075897,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.000989606371,"mpcc_du":49.8623352,"mpcc_dv":49.2503777,"mpcc_dw":50.7496223,"mpcc_enc_sign":1,"mpcc_id_a":0.472860873,"mpcc_iq_a":-1.42546129,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.63702059,"mpcc_pred_id_a":-0.285266131,"mpcc_pred_iq_a":-1.37138557,"mpcc_state":1,"mpcc_theta_e":0.444070339,"mpcc_theta_mech":0.555760026,"sam_rpm":-3.80989933,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0405664891,"thr_a_norm":0.0224513561,"thr_a_v":0.662265956,"thr_b":0.00833943486,"thr_b_norm":0,"thr_b_v":0.533357739,"vdc_v":55.2955055}} +{"type":"telemetry","t":101.999718,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.45852208,"cg_iw_a":-1.39307261,"cg_theta_rad":0.556212664,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5014,"hz_app_loop":362,"hz_tim_isr":10028,"hz_vsense":362,"mpcc_cost":0.0265142526,"mpcc_du":50.7683258,"mpcc_dv":47.7343369,"mpcc_dw":52.2656631,"mpcc_enc_sign":1,"mpcc_id_a":2.64638162,"mpcc_iq_a":-0.733580709,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.11071539,"mpcc_pred_id_a":0.67440182,"mpcc_pred_iq_a":2.29892349,"mpcc_state":1,"mpcc_theta_e":0.440344334,"mpcc_theta_mech":0.555014789,"sam_rpm":-5.59921026,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0405664891,"thr_a_norm":0.0405664891,"thr_a_v":0.662265956,"thr_b":0.00833943486,"thr_b_norm":0.00833943486,"thr_b_v":0.533357739,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.006187,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.588670254,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556738257,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9912,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0112686474,"mpcc_du":49.6220779,"mpcc_dv":49.4094124,"mpcc_dw":50.5905876,"mpcc_enc_sign":1,"mpcc_id_a":0.782716811,"mpcc_iq_a":-0.603640854,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.21483612,"mpcc_pred_id_a":-0.0115777534,"mpcc_pred_iq_a":-2.1208241,"mpcc_state":1,"mpcc_theta_e":0.4478302,"mpcc_theta_mech":0.556511939,"sam_rpm":9.15677071,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00686655939,"thr_b_norm":0.00686655939,"thr_b_v":0.527466238,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.015312,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-2.18339872,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556667387,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.000685397186,"mpcc_du":49.1092148,"mpcc_dv":50.8907852,"mpcc_dw":49.7075768,"mpcc_enc_sign":1,"mpcc_id_a":-0.294473439,"mpcc_iq_a":-2.13547134,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.9033947,"mpcc_pred_id_a":-0.564705133,"mpcc_pred_iq_a":-4.43767023,"mpcc_state":1,"mpcc_theta_e":0.456474781,"mpcc_theta_mech":0.558240891,"sam_rpm":25.232029,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00686655939,"thr_b_norm":0.00686655939,"thr_b_v":0.527466238,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.025627,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.09608364,"cg_iw_a":0.201656342,"cg_theta_rad":0.554869592,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0361981876,"mpcc_du":49.8108253,"mpcc_dv":49.2990456,"mpcc_dw":50.7009544,"mpcc_enc_sign":1,"mpcc_id_a":-0.0955624357,"mpcc_iq_a":-0.0890108794,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.92298841,"mpcc_pred_id_a":-0.418608606,"mpcc_pred_iq_a":-3.24156356,"mpcc_state":1,"mpcc_theta_e":0.445231438,"mpcc_theta_mech":0.555992186,"sam_rpm":6.50163603,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257244259,"thr_a_norm":0.0257244259,"thr_a_v":0.602897704,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487031341,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.037804,"values":{"cg_iu_a":0.749452114,"cg_iv_a":0.0637187958,"cg_iw_a":-0.81317091,"cg_theta_rad":0.55099982,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00234039174,"mpcc_du":49.3070374,"mpcc_dv":50.6929626,"mpcc_dw":50.0039024,"mpcc_enc_sign":1,"mpcc_id_a":0.792949617,"mpcc_iq_a":-1.25570059,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.52931404,"mpcc_pred_id_a":-0.405433804,"mpcc_pred_iq_a":-3.53522944,"mpcc_state":1,"mpcc_theta_e":0.445776939,"mpcc_theta_mech":0.556101263,"sam_rpm":11.8308306,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149233192,"thr_a_norm":0.0257244259,"thr_a_v":0.559693277,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457271695,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.047691,"values":{"cg_iu_a":1.61930418,"cg_iv_a":1.22352171,"cg_iw_a":-2.84282589,"cg_theta_rad":0.554701984,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0872560367,"mpcc_du":49.8436508,"mpcc_dv":49.1914787,"mpcc_dw":50.8085213,"mpcc_enc_sign":1,"mpcc_id_a":1.10072076,"mpcc_iq_a":-0.445946217,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.69362926,"mpcc_pred_id_a":-0.0910248011,"mpcc_pred_iq_a":-4.24281406,"mpcc_state":1,"mpcc_theta_e":0.458896637,"mpcc_theta_mech":0.557667494,"sam_rpm":14.5785713,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149233192,"thr_a_norm":0.0149233192,"thr_a_v":0.559693277,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457271695,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.057915,"values":{"cg_iu_a":1.25686598,"cg_iv_a":1.58595991,"cg_iw_a":-3.35023975,"cg_theta_rad":0.554968655,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00302470662,"mpcc_du":49.629715,"mpcc_dv":49.3565254,"mpcc_dw":50.6434746,"mpcc_enc_sign":1,"mpcc_id_a":0.743180156,"mpcc_iq_a":-1.03584874,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.03753078,"mpcc_pred_id_a":-0.0158498939,"mpcc_pred_iq_a":-0.622671783,"mpcc_state":1,"mpcc_theta_e":0.43724823,"mpcc_theta_mech":0.554395556,"sam_rpm":1.39071333,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183978081,"thr_a_norm":0.0183978081,"thr_a_v":0.573591232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465177357,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.067924,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.661157608,"cg_iw_a":-2.40789986,"cg_theta_rad":0.553197682,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0233219732,"mpcc_du":49.4534912,"mpcc_dv":49.461422,"mpcc_dw":50.5465088,"mpcc_enc_sign":1,"mpcc_id_a":3.03523207,"mpcc_iq_a":-0.744680822,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.5183554,"mpcc_pred_id_a":0.26220876,"mpcc_pred_iq_a":-4.47474241,"mpcc_state":1,"mpcc_theta_e":0.430509567,"mpcc_theta_mech":0.553047836,"sam_rpm":-18.6239281,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183978081,"thr_a_norm":0.0183978081,"thr_a_v":0.573591232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465177357,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.091179,"values":{"cg_iu_a":0.821939945,"cg_iv_a":1.07854605,"cg_iw_a":-1.90048599,"cg_theta_rad":0.554352641,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.016610004,"mpcc_du":49.8927612,"mpcc_dv":49.0802994,"mpcc_dw":50.9197006,"mpcc_enc_sign":1,"mpcc_id_a":1.62471342,"mpcc_iq_a":-1.19433463,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.79313993,"mpcc_pred_id_a":-0.109646328,"mpcc_pred_iq_a":-2.01562762,"mpcc_state":1,"mpcc_theta_e":0.448056221,"mpcc_theta_mech":0.556557178,"sam_rpm":5.64062262,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470766753,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.097649,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.371207237,"cg_iw_a":-1.75551033,"cg_theta_rad":0.556827784,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0015810834,"mpcc_du":50.0602837,"mpcc_dv":49.0176964,"mpcc_dw":50.2599525,"mpcc_enc_sign":1,"mpcc_id_a":0.693584144,"mpcc_iq_a":-1.62781477,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.80911589,"mpcc_pred_id_a":-0.373416722,"mpcc_pred_iq_a":0.284087211,"mpcc_state":1,"mpcc_theta_e":0.4472332,"mpcc_theta_mech":0.555877507,"sam_rpm":9.87950993,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240752995,"thr_a_norm":0.0232444406,"thr_a_v":0.596301198,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469105065,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.104179,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.733645439,"cg_iw_a":-2.55287504,"cg_theta_rad":0.556366026,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0168851931,"mpcc_du":49.5967407,"mpcc_dv":49.1915245,"mpcc_dw":50.8084755,"mpcc_enc_sign":1,"mpcc_id_a":2.5748179,"mpcc_iq_a":-1.90489352,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.85842919,"mpcc_pred_id_a":0.594864249,"mpcc_pred_iq_a":-2.85037637,"mpcc_state":1,"mpcc_theta_e":0.440968037,"mpcc_theta_mech":0.555139542,"sam_rpm":-2.6845541,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240752995,"thr_a_norm":0.0240752995,"thr_a_v":0.596301198,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469105065,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.110741,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.516182423,"cg_iw_a":-0.233269691,"cg_theta_rad":0.555035233,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0401170403,"mpcc_du":51.0032158,"mpcc_dv":47.345768,"mpcc_dw":52.654232,"mpcc_enc_sign":1,"mpcc_id_a":3.84297276,"mpcc_iq_a":-0.364716411,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.3355579,"mpcc_pred_id_a":0.759927094,"mpcc_pred_iq_a":1.75418305,"mpcc_state":1,"mpcc_theta_e":0.427005291,"mpcc_theta_mech":0.552346945,"sam_rpm":-27.4271278,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0140421242,"thr_a_norm":0.0140421242,"thr_a_v":0.556168497,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440000027,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.118492,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.6759851,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.557945848,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00275392225,"mpcc_du":50.5770073,"mpcc_dv":48.4596939,"mpcc_dw":51.5403061,"mpcc_enc_sign":1,"mpcc_id_a":-1.03645563,"mpcc_iq_a":-1.40364981,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.31862164,"mpcc_pred_id_a":-0.518473268,"mpcc_pred_iq_a":1.22604382,"mpcc_state":1,"mpcc_theta_e":0.441169739,"mpcc_theta_mech":0.555179894,"sam_rpm":-2.78450656,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0140421242,"thr_a_norm":0.0140421242,"thr_a_v":0.556168497,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440000027,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.128807,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.6759851,"cg_iw_a":1.143996,"cg_theta_rad":0.55384469,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0113846939,"mpcc_du":49.5147133,"mpcc_dv":49.5217094,"mpcc_dw":50.4852867,"mpcc_enc_sign":1,"mpcc_id_a":2.03084469,"mpcc_iq_a":-1.52306199,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.95711899,"mpcc_pred_id_a":0.243155956,"mpcc_pred_iq_a":-4.41076994,"mpcc_state":1,"mpcc_theta_e":0.445961475,"mpcc_theta_mech":0.556138217,"sam_rpm":19.2875957,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203112811,"thr_a_norm":0.0203112811,"thr_a_v":0.581245124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466486603,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.138878,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.733645439,"cg_iw_a":0.636582136,"cg_theta_rad":0.555450499,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00533001078,"mpcc_du":49.4974403,"mpcc_dv":49.461174,"mpcc_dw":50.538826,"mpcc_enc_sign":1,"mpcc_id_a":0.644857705,"mpcc_iq_a":-2.57584739,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.75061607,"mpcc_pred_id_a":-0.00371369161,"mpcc_pred_iq_a":-2.69434524,"mpcc_state":1,"mpcc_theta_e":0.44546032,"mpcc_theta_mech":0.55385828,"sam_rpm":8.32929325,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024440363,"thr_a_norm":0.0203112811,"thr_a_v":0.597761452,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491714358,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.148888,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.806133032,"cg_iw_a":0.201656103,"cg_theta_rad":0.555573106,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00386463106,"mpcc_du":49.6535339,"mpcc_dv":49.4686584,"mpcc_dw":50.5313416,"mpcc_enc_sign":1,"mpcc_id_a":0.361581415,"mpcc_iq_a":-1.65295887,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.484447,"mpcc_pred_id_a":-0.174607918,"mpcc_pred_iq_a":-2.82895803,"mpcc_state":1,"mpcc_theta_e":0.446127892,"mpcc_theta_mech":0.556171477,"sam_rpm":6.72428846,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024440363,"thr_a_norm":0.024440363,"thr_a_v":0.597761452,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491714358,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.159081,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.82096052,"cg_iw_a":0.636582375,"cg_theta_rad":0.554915905,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00266086496,"mpcc_du":49.9399338,"mpcc_dv":49.0785065,"mpcc_dw":50.9214935,"mpcc_enc_sign":1,"mpcc_id_a":-0.0417627171,"mpcc_iq_a":-1.17668033,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.06202984,"mpcc_pred_id_a":-0.199984565,"mpcc_pred_iq_a":-3.27552795,"mpcc_state":1,"mpcc_theta_e":0.43639183,"mpcc_theta_mech":0.554224253,"sam_rpm":-10.5641832,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163962096,"thr_a_norm":0.0163962096,"thr_a_v":0.565584838,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460444033,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.169121,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.588670254,"cg_iw_a":-2.6253624,"cg_theta_rad":0.55696702,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00832862314,"mpcc_du":50.477375,"mpcc_dv":48.3866501,"mpcc_dw":51.6133499,"mpcc_enc_sign":1,"mpcc_id_a":0.822496891,"mpcc_iq_a":-0.00314597972,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.9426107,"mpcc_pred_id_a":-0.14138037,"mpcc_pred_iq_a":-1.80535889,"mpcc_state":1,"mpcc_theta_e":0.428470612,"mpcc_theta_mech":0.552640021,"sam_rpm":-23.7638245,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163962096,"thr_a_norm":0.0163962096,"thr_a_v":0.565584838,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460444033,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.192223,"values":{"cg_iu_a":1.54681635,"cg_iv_a":0.498644829,"cg_iw_a":-2.04546118,"cg_theta_rad":0.556210399,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00374507625,"mpcc_du":51.2855263,"mpcc_dv":47.4476166,"mpcc_dw":52.5523834,"mpcc_enc_sign":1,"mpcc_id_a":0.863495052,"mpcc_iq_a":-0.436725348,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.353281,"mpcc_pred_id_a":-0.248257905,"mpcc_pred_iq_a":3.02697587,"mpcc_state":1,"mpcc_theta_e":0.429188251,"mpcc_theta_mech":0.552783608,"sam_rpm":-19.9484081,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194552541,"thr_a_norm":0.0194552541,"thr_a_v":0.577821016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469910741,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.198784,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.60349751,"cg_iw_a":-0.0882940292,"cg_theta_rad":0.553319097,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0283628833,"mpcc_du":49.568512,"mpcc_dv":49.9531212,"mpcc_dw":50.431488,"mpcc_enc_sign":1,"mpcc_id_a":2.30989194,"mpcc_iq_a":-0.272991747,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.34761477,"mpcc_pred_id_a":0.0106011853,"mpcc_pred_iq_a":-3.62781024,"mpcc_state":1,"mpcc_theta_e":0.449303627,"mpcc_theta_mech":0.555055201,"sam_rpm":9.52772236,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274238884,"thr_a_norm":0.0194552541,"thr_a_v":0.609695554,"thr_b":0.000622570515,"thr_b_norm":0,"thr_b_v":0.502490282,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.205254,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.806133032,"cg_iw_a":-1.61053538,"cg_theta_rad":0.556072414,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0101772556,"mpcc_du":48.7990036,"mpcc_dv":51.2009964,"mpcc_dw":49.4170837,"mpcc_enc_sign":1,"mpcc_id_a":1.11214936,"mpcc_iq_a":-1.24288535,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.1735783,"mpcc_pred_id_a":-0.213141978,"mpcc_pred_iq_a":-6.01962519,"mpcc_state":1,"mpcc_theta_e":0.457580566,"mpcc_theta_mech":0.558462024,"sam_rpm":25.6023846,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274238884,"thr_a_norm":0.0274238884,"thr_a_v":0.609695554,"thr_b":0.000622570515,"thr_b_norm":0.000622570515,"thr_b_v":0.502490282,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.211815,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.443694592,"cg_iw_a":-2.19043684,"cg_theta_rad":0.551611245,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.037109945,"mpcc_du":51.7447815,"mpcc_dv":46.5353203,"mpcc_dw":53.4646797,"mpcc_enc_sign":1,"mpcc_id_a":3.18844676,"mpcc_iq_a":-0.584705234,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.7772741,"mpcc_pred_id_a":0.595527649,"mpcc_pred_iq_a":4.63171434,"mpcc_state":1,"mpcc_theta_e":0.430488586,"mpcc_theta_mech":0.553043604,"sam_rpm":-22.5163326,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192538351,"thr_a_norm":0.0192538351,"thr_a_v":0.57701534,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457976639,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.222313,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.661157608,"cg_iw_a":-1.97297382,"cg_theta_rad":0.556806684,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0289553832,"mpcc_du":50.1773567,"mpcc_dv":48.5499191,"mpcc_dw":51.4500809,"mpcc_enc_sign":1,"mpcc_id_a":2.47228956,"mpcc_iq_a":-0.505958557,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.11629558,"mpcc_pred_id_a":0.421563417,"mpcc_pred_iq_a":-0.885965824,"mpcc_state":1,"mpcc_theta_e":0.45485878,"mpcc_theta_mech":0.557917655,"sam_rpm":-0.484278262,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0135637373,"thr_a_norm":0.0192538351,"thr_a_v":0.554254949,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473234147,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.232292,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.733645439,"cg_iw_a":-0.523220539,"cg_theta_rad":0.552339613,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0183100402,"mpcc_du":49.6383553,"mpcc_dv":49.3109131,"mpcc_dw":50.6890869,"mpcc_enc_sign":1,"mpcc_id_a":0.366200358,"mpcc_iq_a":-0.634865046,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.39133418,"mpcc_pred_id_a":0.136781678,"mpcc_pred_iq_a":-3.67883968,"mpcc_state":1,"mpcc_theta_e":0.446585655,"mpcc_theta_mech":0.556263089,"sam_rpm":1.98000836,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0135637373,"thr_a_norm":0.0135637373,"thr_a_v":0.554254949,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473234147,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.242485,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.661157608,"cg_iw_a":-1.53804779,"cg_theta_rad":0.556034029,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0075744451,"mpcc_du":50.1878738,"mpcc_dv":49.0148315,"mpcc_dw":50.9851685,"mpcc_enc_sign":1,"mpcc_id_a":-0.537005603,"mpcc_iq_a":-0.342597246,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.65990829,"mpcc_pred_id_a":-0.813500702,"mpcc_pred_iq_a":0.745885432,"mpcc_state":1,"mpcc_theta_e":0.443834305,"mpcc_theta_mech":0.555712819,"sam_rpm":11.0141153,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0450858325,"thr_a_norm":0.0450858325,"thr_a_v":0.68034333,"thr_b":0.0139791816,"thr_b_norm":0.0139791816,"thr_b_v":0.555916727,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.254723,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.298719406,"cg_iw_a":-0.668195724,"cg_theta_rad":0.555797875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.136229962,"mpcc_du":49.4711685,"mpcc_dv":49.7805252,"mpcc_dw":50.5288315,"mpcc_enc_sign":1,"mpcc_id_a":3.06855869,"mpcc_iq_a":0.25432995,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.6738186,"mpcc_pred_id_a":0.399541885,"mpcc_pred_iq_a":-4.8225584,"mpcc_state":1,"mpcc_theta_e":0.46160078,"mpcc_theta_mech":0.559266031,"sam_rpm":24.5169315,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0171011537,"thr_a_norm":0.0450858325,"thr_a_v":0.568404615,"thr_b":0,"thr_b_norm":0.0139791816,"thr_b_v":0.441460282,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.264397,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.24105906,"cg_iw_a":-0.160782099,"cg_theta_rad":0.555950761,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.03515682,"mpcc_du":49.8983421,"mpcc_dv":49.1702766,"mpcc_dw":50.8297234,"mpcc_enc_sign":1,"mpcc_id_a":2.918643,"mpcc_iq_a":-0.501875401,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.840300262,"mpcc_pred_id_a":0.42405659,"mpcc_pred_iq_a":-3.32581258,"mpcc_state":1,"mpcc_theta_e":0.443552494,"mpcc_theta_mech":0.554945946,"sam_rpm":3.8941133,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0171011537,"thr_a_norm":0.0171011537,"thr_a_v":0.568404615,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441460282,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.274712,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.74847269,"cg_iw_a":0.78155756,"cg_theta_rad":0.557120204,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0189241152,"mpcc_du":49.5375786,"mpcc_dv":49.3934746,"mpcc_dw":50.6065254,"mpcc_enc_sign":1,"mpcc_id_a":2.74787641,"mpcc_iq_a":0.535777807,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.61555481,"mpcc_pred_id_a":0.271534234,"mpcc_pred_iq_a":-0.644263268,"mpcc_state":1,"mpcc_theta_e":0.431641102,"mpcc_theta_mech":0.553274095,"sam_rpm":-2.56943917,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260643214,"thr_a_norm":0.0260643214,"thr_a_v":0.604257286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482146949,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.297722,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.89344811,"cg_iw_a":0.781557798,"cg_theta_rad":0.552768171,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0267301816,"mpcc_du":50.1787071,"mpcc_dv":48.6244431,"mpcc_dw":51.3755569,"mpcc_enc_sign":1,"mpcc_id_a":3.24307108,"mpcc_iq_a":-0.307355404,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.80750799,"mpcc_pred_id_a":0.151062593,"mpcc_pred_iq_a":0.178196058,"mpcc_state":1,"mpcc_theta_e":0.436384678,"mpcc_theta_mech":0.554222882,"sam_rpm":-9.02002239,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260643214,"thr_a_norm":0.0260643214,"thr_a_v":0.604257286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482146949,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.304253,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.02359605,"cg_iw_a":-0.160782099,"cg_theta_rad":0.554559112,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0176413301,"mpcc_du":49.6625137,"mpcc_dv":49.5654411,"mpcc_dw":50.4345589,"mpcc_enc_sign":1,"mpcc_id_a":0.174077019,"mpcc_iq_a":-0.360074043,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.3834629,"mpcc_pred_id_a":-0.521885097,"mpcc_pred_iq_a":-2.00123596,"mpcc_state":1,"mpcc_theta_e":0.454678059,"mpcc_theta_mech":0.557881534,"sam_rpm":16.7437325,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202105641,"thr_a_norm":0.0202105641,"thr_a_v":0.580842257,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459285885,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.310753,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.226231575,"cg_iw_a":-2.04546165,"cg_theta_rad":0.55572933,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0106871799,"mpcc_du":49.0688324,"mpcc_dv":50.9311676,"mpcc_dw":49.7332458,"mpcc_enc_sign":1,"mpcc_id_a":0.676830232,"mpcc_iq_a":-0.980206907,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.6968927,"mpcc_pred_id_a":-0.299443483,"mpcc_pred_iq_a":-5.43866873,"mpcc_state":1,"mpcc_theta_e":0.456148148,"mpcc_theta_mech":0.558175564,"sam_rpm":21.8394566,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202105641,"thr_a_norm":0.0202105641,"thr_a_v":0.580842257,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459285885,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.317497,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.02359605,"cg_iw_a":0.129168749,"cg_theta_rad":0.55570066,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0169559009,"mpcc_du":49.882019,"mpcc_dv":49.036747,"mpcc_dw":50.963253,"mpcc_enc_sign":1,"mpcc_id_a":2.3321836,"mpcc_iq_a":-1.06068158,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.60266542,"mpcc_pred_id_a":0.167637512,"mpcc_pred_iq_a":0.0392449386,"mpcc_state":1,"mpcc_theta_e":0.444761753,"mpcc_theta_mech":0.555898309,"sam_rpm":-10.429862,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463163197,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.32766,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.45852208,"cg_iw_a":0.854045153,"cg_theta_rad":0.554711521,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.023962507,"mpcc_du":49.4310646,"mpcc_dv":49.5176544,"mpcc_dw":50.5689354,"mpcc_enc_sign":1,"mpcc_id_a":2.53027463,"mpcc_iq_a":0.599716902,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.69056296,"mpcc_pred_id_a":0.546498001,"mpcc_pred_iq_a":0.253990769,"mpcc_state":1,"mpcc_theta_e":0.427306652,"mpcc_theta_mech":0.552407265,"sam_rpm":-7.35857105,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193167776,"thr_a_norm":0.0240501165,"thr_a_v":0.57726711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456516385,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.337303,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.60349751,"cg_iw_a":0.636582375,"cg_theta_rad":0.556391776,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0225944165,"mpcc_du":50.153347,"mpcc_dv":48.587986,"mpcc_dw":50.5081749,"mpcc_enc_sign":1,"mpcc_id_a":2.99434638,"mpcc_iq_a":-0.315999061,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.24158001,"mpcc_pred_id_a":0.346135795,"mpcc_pred_iq_a":-0.402816027,"mpcc_state":1,"mpcc_theta_e":0.431965828,"mpcc_theta_mech":0.553339064,"sam_rpm":-14.7952271,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193167776,"thr_a_norm":0.0193167776,"thr_a_v":0.57726711,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456516385,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.347466,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.38603449,"cg_iw_a":-0.450732708,"cg_theta_rad":0.554890275,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00838425197,"mpcc_du":49.3815346,"mpcc_dv":50.6184654,"mpcc_dw":50.1784973,"mpcc_enc_sign":1,"mpcc_id_a":1.27429605,"mpcc_iq_a":0.108039409,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0896497965,"mpcc_pred_id_a":-0.115940548,"mpcc_pred_iq_a":-2.71232557,"mpcc_state":1,"mpcc_theta_e":0.432160854,"mpcc_theta_mech":0.553378105,"sam_rpm":-1.02728021,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264167935,"thr_a_norm":0.0264167935,"thr_a_v":0.605667174,"thr_b":0.00123941898,"thr_b_norm":0.00123941898,"thr_b_v":0.504957676,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.357506,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.806133032,"cg_iw_a":-1.4655602,"cg_theta_rad":0.557299614,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0385141857,"mpcc_du":49.9364128,"mpcc_dv":49.0643616,"mpcc_dw":50.9356384,"mpcc_enc_sign":1,"mpcc_id_a":2.13525987,"mpcc_iq_a":-1.30291724,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0223396514,"mpcc_pred_id_a":-0.109842241,"mpcc_pred_iq_a":-4.07985544,"mpcc_state":1,"mpcc_theta_e":0.44895649,"mpcc_theta_mech":0.556737185,"sam_rpm":0.618402064,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264167935,"thr_a_norm":0.0264167935,"thr_a_v":0.605667174,"thr_b":0.00123941898,"thr_b_norm":0.00123941898,"thr_b_v":0.504957676,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.368675,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.806133032,"cg_iw_a":-2.33541203,"cg_theta_rad":0.554749191,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0131594557,"mpcc_du":50.2188644,"mpcc_dv":48.5850563,"mpcc_dw":51.4149437,"mpcc_enc_sign":1,"mpcc_id_a":0.570611358,"mpcc_iq_a":-1.05344284,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.512537,"mpcc_pred_id_a":0.146710128,"mpcc_pred_iq_a":-2.45711637,"mpcc_state":1,"mpcc_theta_e":0.442752361,"mpcc_theta_mech":0.555496395,"sam_rpm":-9.57620811,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196063071,"thr_a_norm":0.0196063071,"thr_a_v":0.578425229,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.393089,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.806133032,"cg_iw_a":-1.17560935,"cg_theta_rad":0.559720635,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0203810092,"mpcc_du":49.5047455,"mpcc_dv":50.4196625,"mpcc_dw":50.4952545,"mpcc_enc_sign":1,"mpcc_id_a":2.25747585,"mpcc_iq_a":-0.716811478,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.7752676,"mpcc_pred_id_a":0.248219818,"mpcc_pred_iq_a":-3.85289836,"mpcc_state":1,"mpcc_theta_e":0.451022148,"mpcc_theta_mech":0.557150364,"sam_rpm":13.137579,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241760015,"thr_a_norm":0.0241760015,"thr_a_v":0.596704006,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.39959,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.806133032,"cg_iw_a":0.0566809177,"cg_theta_rad":0.558047235,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0342907421,"mpcc_du":50.3421364,"mpcc_dv":48.2148399,"mpcc_dw":51.7851601,"mpcc_enc_sign":1,"mpcc_id_a":3.55811357,"mpcc_iq_a":-0.46710822,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.0018101,"mpcc_pred_id_a":0.571871281,"mpcc_pred_iq_a":-1.18140686,"mpcc_state":1,"mpcc_theta_e":0.427564144,"mpcc_theta_mech":0.552458704,"sam_rpm":-23.4647732,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241760015,"thr_a_norm":0.0241760015,"thr_a_v":0.596704006,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.406242,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.31354666,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556273282,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0360771306,"mpcc_du":49.9976692,"mpcc_dv":48.7003212,"mpcc_dw":51.2996788,"mpcc_enc_sign":1,"mpcc_id_a":3.20687652,"mpcc_iq_a":-1.08510256,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.02788067,"mpcc_pred_id_a":0.722030103,"mpcc_pred_iq_a":0.666785061,"mpcc_state":1,"mpcc_theta_e":0.451419353,"mpcc_theta_mech":0.557229817,"sam_rpm":13.2977476,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10118103,"thr_a_norm":0.10118103,"thr_a_v":0.904724121,"thr_b":0.045224309,"thr_b_norm":0.045224309,"thr_b_v":0.680897236,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.412651,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.951108456,"cg_iw_a":-2.69785023,"cg_theta_rad":0.556618273,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0150166294,"mpcc_du":49.4782524,"mpcc_dv":50.5217476,"mpcc_dw":51.1962395,"mpcc_enc_sign":1,"mpcc_id_a":1.98473549,"mpcc_iq_a":-0.947283506,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.57668734,"mpcc_pred_id_a":0.0768444166,"mpcc_pred_iq_a":-4.88613987,"mpcc_state":1,"mpcc_theta_e":0.447158337,"mpcc_theta_mech":0.553543806,"sam_rpm":8.15671444,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260643214,"thr_a_norm":0.10118103,"thr_a_v":0.604257286,"thr_b":0,"thr_b_norm":0.045224309,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.420708,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.733645439,"cg_iw_a":-0.523220539,"cg_theta_rad":0.556910574,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.020087095,"mpcc_du":50.9825974,"mpcc_dv":47.4682961,"mpcc_dw":52.5317039,"mpcc_enc_sign":1,"mpcc_id_a":1.94712567,"mpcc_iq_a":-2.43830013,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.3373127,"mpcc_pred_id_a":0.386489779,"mpcc_pred_iq_a":2.78151011,"mpcc_state":1,"mpcc_theta_e":0.42488575,"mpcc_theta_mech":0.551923096,"sam_rpm":-25.1456814,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260643214,"thr_a_norm":0.0260643214,"thr_a_v":0.604257286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.430901,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.89344811,"cg_iw_a":0.781557798,"cg_theta_rad":0.559815764,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0350961424,"mpcc_du":49.4137344,"mpcc_dv":49.8470078,"mpcc_dw":50.5862656,"mpcc_enc_sign":1,"mpcc_id_a":3.03877902,"mpcc_iq_a":0.101095252,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.41103196,"mpcc_pred_id_a":0.588675976,"mpcc_pred_iq_a":0.808039665,"mpcc_state":1,"mpcc_theta_e":0.439754963,"mpcc_theta_mech":0.554896891,"sam_rpm":9.01126289,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173781216,"thr_a_norm":0.0173781216,"thr_a_v":0.569512486,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453545451,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.440941,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.951108456,"cg_iw_a":-0.450732708,"cg_theta_rad":0.555354714,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0629341975,"mpcc_du":50.2006302,"mpcc_dv":48.3617325,"mpcc_dw":51.6382675,"mpcc_enc_sign":1,"mpcc_id_a":3.65825891,"mpcc_iq_a":-0.799659073,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.71378803,"mpcc_pred_id_a":0.729583561,"mpcc_pred_iq_a":-2.8964529,"mpcc_state":1,"mpcc_theta_e":0.441746712,"mpcc_theta_mech":0.555295289,"sam_rpm":-10.8781147,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173781216,"thr_a_norm":0.0173781216,"thr_a_v":0.569512486,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453545451,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.451042,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.951108456,"cg_iw_a":0.346631527,"cg_theta_rad":0.556569815,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0743902475,"mpcc_du":50.1170349,"mpcc_dv":48.407177,"mpcc_dw":51.592823,"mpcc_enc_sign":1,"mpcc_id_a":4.59933472,"mpcc_iq_a":-1.01456261,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.38413858,"mpcc_pred_id_a":0.923922896,"mpcc_pred_iq_a":-2.81673098,"mpcc_state":1,"mpcc_theta_e":0.442008018,"mpcc_theta_mech":0.555347502,"sam_rpm":-10.5812693,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271343589,"thr_a_norm":0.0271343589,"thr_a_v":0.608537436,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493023574,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.461235,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.6759851,"cg_iw_a":0.0566809177,"cg_theta_rad":0.552918553,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0185030531,"mpcc_du":50.3076286,"mpcc_dv":48.7528496,"mpcc_dw":51.2471504,"mpcc_enc_sign":1,"mpcc_id_a":1.0793159,"mpcc_iq_a":-1.16071939,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.430995166,"mpcc_pred_id_a":-0.475555986,"mpcc_pred_iq_a":-1.74651444,"mpcc_state":1,"mpcc_theta_e":0.445834637,"mpcc_theta_mech":0.556112826,"sam_rpm":0.847424984,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184859186,"thr_a_norm":0.0271343589,"thr_a_v":0.573943675,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455257475,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.473198,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.02359605,"cg_iw_a":0.781557798,"cg_theta_rad":0.557095468,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0173455831,"mpcc_du":49.6479759,"mpcc_dv":49.3188972,"mpcc_dw":50.6811028,"mpcc_enc_sign":1,"mpcc_id_a":1.81356347,"mpcc_iq_a":-0.800248981,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.84457994,"mpcc_pred_id_a":-0.146457359,"mpcc_pred_iq_a":0.411987603,"mpcc_state":1,"mpcc_theta_e":0.438724518,"mpcc_theta_mech":0.554690838,"sam_rpm":-5.19348097,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184859186,"thr_a_norm":0.0184859186,"thr_a_v":0.573943675,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455257475,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.496513,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-2.40086174,"cg_iw_a":1.57892179,"cg_theta_rad":0.554516673,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00173769589,"mpcc_du":51.0022163,"mpcc_dv":47.6919441,"mpcc_dw":52.3080559,"mpcc_enc_sign":1,"mpcc_id_a":0.327605069,"mpcc_iq_a":-0.560815036,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.3946009,"mpcc_pred_id_a":0.0807322785,"mpcc_pred_iq_a":4.00567436,"mpcc_state":1,"mpcc_theta_e":0.431126118,"mpcc_theta_mech":0.553171098,"sam_rpm":-15.8077059,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02403754,"thr_a_norm":0.02403754,"thr_a_v":0.59615016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482197315,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.503014,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-2.25588632,"cg_iw_a":0.0566809177,"cg_theta_rad":0.55627197,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.000772634055,"mpcc_du":49.7862053,"mpcc_dv":49.3656578,"mpcc_dw":50.6343422,"mpcc_enc_sign":1,"mpcc_id_a":-0.405448765,"mpcc_iq_a":-1.93320251,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.29300511,"mpcc_pred_id_a":-0.30031541,"mpcc_pred_iq_a":-2.63166952,"mpcc_state":1,"mpcc_theta_e":0.441511631,"mpcc_theta_mech":0.55524826,"sam_rpm":-2.52829742,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226150155,"thr_a_norm":0.02403754,"thr_a_v":0.590460062,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491764724,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.509544,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.38603449,"cg_iw_a":-1.90048599,"cg_theta_rad":0.554421186,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0327551886,"mpcc_du":51.4192276,"mpcc_dv":46.9574547,"mpcc_dw":53.0425453,"mpcc_enc_sign":1,"mpcc_id_a":-0.138091937,"mpcc_iq_a":-0.672780335,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.9159451,"mpcc_pred_id_a":0.43315351,"mpcc_pred_iq_a":3.44625521,"mpcc_state":1,"mpcc_theta_e":0.451891422,"mpcc_theta_mech":0.557324231,"sam_rpm":-28.0097675,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226150155,"thr_a_norm":0.0226150155,"thr_a_v":0.590460062,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491764724,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.516106,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.661157608,"cg_iw_a":0.346631527,"cg_theta_rad":0.556304276,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0295564551,"mpcc_du":49.5420799,"mpcc_dv":50.0559196,"mpcc_dw":50.4579201,"mpcc_enc_sign":1,"mpcc_id_a":1.86613488,"mpcc_iq_a":1.53350019,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.88883841,"mpcc_pred_id_a":0.210735664,"mpcc_pred_iq_a":-4.39261341,"mpcc_state":1,"mpcc_theta_e":0.438077927,"mpcc_theta_mech":0.554561496,"sam_rpm":-3.47039342,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166227967,"thr_a_norm":0.0166227967,"thr_a_v":0.566491187,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49483636,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.523705,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.226231575,"cg_iw_a":-0.015806675,"cg_theta_rad":0.552604795,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0191397723,"mpcc_du":49.3782959,"mpcc_dv":50.6217041,"mpcc_dw":50.2368698,"mpcc_enc_sign":1,"mpcc_id_a":2.65507388,"mpcc_iq_a":0.179784507,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.3590622,"mpcc_pred_id_a":0.244522497,"mpcc_pred_iq_a":-1.86367702,"mpcc_state":1,"mpcc_theta_e":0.425449371,"mpcc_theta_mech":0.552035749,"sam_rpm":-24.9948807,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166227967,"thr_a_norm":0.0166227967,"thr_a_v":0.566491187,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49483636,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.533897,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.661157608,"cg_iw_a":-0.233269691,"cg_theta_rad":0.554607213,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0264733788,"mpcc_du":50.5388985,"mpcc_dv":48.5254135,"mpcc_dw":51.4745865,"mpcc_enc_sign":1,"mpcc_id_a":1.55540991,"mpcc_iq_a":-3.31539583,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.876412868,"mpcc_pred_id_a":-0.414332956,"mpcc_pred_iq_a":-3.11875415,"mpcc_state":1,"mpcc_theta_e":0.453884602,"mpcc_theta_mech":0.557722807,"sam_rpm":2.86004257,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137525648,"thr_a_norm":0.0137525648,"thr_a_v":0.555010259,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450020611,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.54406,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.661157608,"cg_iw_a":-0.233269691,"cg_theta_rad":0.555924773,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0248772856,"mpcc_du":49.5041656,"mpcc_dv":50.1334267,"mpcc_dw":50.4958344,"mpcc_enc_sign":1,"mpcc_id_a":3.0977354,"mpcc_iq_a":-0.629897475,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.18067884,"mpcc_pred_id_a":0.363845557,"mpcc_pred_iq_a":-3.55470657,"mpcc_state":1,"mpcc_theta_e":0.442550659,"mpcc_theta_mech":0.555456042,"sam_rpm":2.68856788,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201476216,"thr_a_norm":0.0137525648,"thr_a_v":0.580590487,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.553947,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.24105906,"cg_iw_a":-2.04546142,"cg_theta_rad":0.557902396,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0106865596,"mpcc_du":49.6501007,"mpcc_dv":49.3724289,"mpcc_dw":50.6275711,"mpcc_enc_sign":1,"mpcc_id_a":1.5735904,"mpcc_iq_a":-2.14129567,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.574725211,"mpcc_pred_id_a":0.058532875,"mpcc_pred_iq_a":-4.28570509,"mpcc_state":1,"mpcc_theta_e":0.446678162,"mpcc_theta_mech":0.555220842,"sam_rpm":0.811950862,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201476216,"thr_a_norm":0.0201476216,"thr_a_v":0.580590487,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.564079,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.516182423,"cg_iw_a":-1.90048599,"cg_theta_rad":0.55711031,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0259164907,"mpcc_du":49.6311188,"mpcc_dv":49.9812012,"mpcc_dw":50.3688812,"mpcc_enc_sign":1,"mpcc_id_a":0.253222704,"mpcc_iq_a":-0.20284754,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.38344717,"mpcc_pred_id_a":-0.438020825,"mpcc_pred_iq_a":0.0255081858,"mpcc_state":1,"mpcc_theta_e":0.427401066,"mpcc_theta_mech":0.5524261,"sam_rpm":-5.43962526,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00636300445,"thr_b_norm":0.00636300445,"thr_b_v":0.525452018,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.574059,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.733645439,"cg_iw_a":-1.61053514,"cg_theta_rad":0.553512454,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.024317598,"mpcc_du":49.9116478,"mpcc_dv":49.0708466,"mpcc_dw":50.9291534,"mpcc_enc_sign":1,"mpcc_id_a":0.294015527,"mpcc_iq_a":-0.78580755,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.20654106,"mpcc_pred_id_a":-0.478536218,"mpcc_pred_iq_a":-2.76115513,"mpcc_state":1,"mpcc_theta_e":0.446439743,"mpcc_theta_mech":0.556233823,"sam_rpm":3.05105209,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00636300445,"thr_b_norm":0.00636300445,"thr_b_v":0.525452018,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.597466,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.516182423,"cg_iw_a":-0.378244877,"cg_theta_rad":0.555146337,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0120697357,"mpcc_du":49.5755081,"mpcc_dv":50.4244919,"mpcc_dw":50.3414001,"mpcc_enc_sign":1,"mpcc_id_a":1.77148056,"mpcc_iq_a":-0.889149845,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.10396719,"mpcc_pred_id_a":-0.140168875,"mpcc_pred_iq_a":-4.78370428,"mpcc_state":1,"mpcc_theta_e":0.446120739,"mpcc_theta_mech":0.556170106,"sam_rpm":6.006073,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019681856,"thr_a_norm":0.019681856,"thr_a_v":0.578727424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467443347,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.603996,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.951108456,"cg_iw_a":-3.06028891,"cg_theta_rad":0.553174853,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0114880977,"mpcc_du":49.5737724,"mpcc_dv":49.8438263,"mpcc_dw":50.4262276,"mpcc_enc_sign":1,"mpcc_id_a":1.82306135,"mpcc_iq_a":0.0775038525,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.25002909,"mpcc_pred_id_a":-0.0589869432,"mpcc_pred_iq_a":-4.13463068,"mpcc_state":1,"mpcc_theta_e":0.436565399,"mpcc_theta_mech":0.554259002,"sam_rpm":-6.83952093,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216834545,"thr_a_norm":0.019681856,"thr_a_v":0.586733818,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462055355,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.610527,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.02359605,"cg_iw_a":-1.75551057,"cg_theta_rad":0.555158973,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0180956144,"mpcc_du":50.45467,"mpcc_dv":48.3058586,"mpcc_dw":51.6941414,"mpcc_enc_sign":1,"mpcc_id_a":2.56361318,"mpcc_iq_a":-0.738310635,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.51646876,"mpcc_pred_id_a":0.365792215,"mpcc_pred_iq_a":1.70048237,"mpcc_state":1,"mpcc_theta_e":0.439474106,"mpcc_theta_mech":0.554840744,"sam_rpm":-2.39997983,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216834545,"thr_a_norm":0.0216834545,"thr_a_v":0.586733818,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462055355,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.617058,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.16857147,"cg_iw_a":0.12916851,"cg_theta_rad":0.553408921,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0242984574,"mpcc_du":50.1419907,"mpcc_dv":48.5655899,"mpcc_dw":51.4344101,"mpcc_enc_sign":1,"mpcc_id_a":2.39633322,"mpcc_iq_a":-1.42900336,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.93237948,"mpcc_pred_id_a":0.624780715,"mpcc_pred_iq_a":-0.180857524,"mpcc_state":1,"mpcc_theta_e":0.449056625,"mpcc_theta_mech":0.556757212,"sam_rpm":6.16984034,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474140525,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.627464,"values":{"cg_iu_a":5.24368763,"cg_iv_a":-1.60349751,"cg_iw_a":-0.740683556,"cg_theta_rad":0.55460608,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0266148616,"mpcc_du":50.2016373,"mpcc_dv":48.7878456,"mpcc_dw":51.2121544,"mpcc_enc_sign":1,"mpcc_id_a":0.661762238,"mpcc_iq_a":-0.686630785,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.50405836,"mpcc_pred_id_a":-0.185483813,"mpcc_pred_iq_a":-1.18033087,"mpcc_state":1,"mpcc_theta_e":0.449651241,"mpcc_theta_mech":0.556876183,"sam_rpm":7.21051884,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176550597,"thr_a_norm":0.0224387646,"thr_a_v":0.570620239,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443524837,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.639275,"values":{"cg_iu_a":-1.42517781,"cg_iv_a":-0.153744221,"cg_iw_a":-2.40789938,"cg_theta_rad":0.557941318,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0125519065,"mpcc_du":49.5325737,"mpcc_dv":49.9450912,"mpcc_dw":50.4674263,"mpcc_enc_sign":1,"mpcc_id_a":2.16807866,"mpcc_iq_a":-1.73615158,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.95360947,"mpcc_pred_id_a":0.144297212,"mpcc_pred_iq_a":-3.69512558,"mpcc_state":1,"mpcc_theta_e":0.44873476,"mpcc_theta_mech":0.556692839,"sam_rpm":6.69749594,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176550597,"thr_a_norm":0.0176550597,"thr_a_v":0.570620239,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443524837,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.649467,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.443694592,"cg_iw_a":0.419119358,"cg_theta_rad":0.557573259,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0300175659,"mpcc_du":50.0801811,"mpcc_dv":48.8026085,"mpcc_dw":51.1973915,"mpcc_enc_sign":1,"mpcc_id_a":2.1305747,"mpcc_iq_a":-0.641863167,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.30733597,"mpcc_pred_id_a":0.171714798,"mpcc_pred_iq_a":-2.21432161,"mpcc_state":1,"mpcc_theta_e":0.445499897,"mpcc_theta_mech":0.55604589,"sam_rpm":-1.80849147,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295891464,"thr_a_norm":0.0295891464,"thr_a_v":0.618356586,"thr_b":0.00495307148,"thr_b_norm":0.00495307148,"thr_b_v":0.519812286,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.659691,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.45852208,"cg_iw_a":0.491606951,"cg_theta_rad":0.557692647,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0158107448,"mpcc_du":50.1110039,"mpcc_dv":48.763031,"mpcc_dw":51.236969,"mpcc_enc_sign":1,"mpcc_id_a":1.2962625,"mpcc_iq_a":-0.53569603,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.87754917,"mpcc_pred_id_a":0.00802248623,"mpcc_pred_iq_a":1.44198763,"mpcc_state":1,"mpcc_theta_e":0.424627781,"mpcc_theta_mech":0.551871479,"sam_rpm":-14.1420918,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0428828001,"thr_a_norm":0.0295891464,"thr_a_v":0.6715312,"thr_b":0.00753375888,"thr_b_norm":0.00495307148,"thr_b_v":0.530135036,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.669731,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.74847269,"cg_iw_a":0.419119358,"cg_theta_rad":0.55286926,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0322347432,"mpcc_du":49.5176888,"mpcc_dv":49.620903,"mpcc_dw":50.4823112,"mpcc_enc_sign":1,"mpcc_id_a":1.70739639,"mpcc_iq_a":-1.34756482,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.7462616,"mpcc_pred_id_a":0.0777304843,"mpcc_pred_iq_a":-4.08567238,"mpcc_state":1,"mpcc_theta_e":0.456802845,"mpcc_theta_mech":0.558306456,"sam_rpm":14.7980213,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0428828001,"thr_a_norm":0.0428828001,"thr_a_v":0.6715312,"thr_b":0.00753375888,"thr_b_norm":0.00753375888,"thr_b_v":0.530135036,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.67968,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.61832476,"cg_iw_a":1.50643444,"cg_theta_rad":0.555890143,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0574019998,"mpcc_du":49.8550949,"mpcc_dv":49.1898918,"mpcc_dw":50.8101082,"mpcc_enc_sign":1,"mpcc_id_a":1.30140257,"mpcc_iq_a":0.306796551,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.62468863,"mpcc_pred_id_a":-0.116762385,"mpcc_pred_iq_a":-3.63880444,"mpcc_state":1,"mpcc_theta_e":0.448806286,"mpcc_theta_mech":0.555170357,"sam_rpm":4.93697977,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237983465,"thr_a_norm":0.0237983465,"thr_a_v":0.595193386,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471119225,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.703087,"values":{"cg_iu_a":1.54681635,"cg_iv_a":1.94839811,"cg_iw_a":-3.49521446,"cg_theta_rad":0.555854499,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0131418724,"mpcc_du":50.8021851,"mpcc_dv":49.9259796,"mpcc_dw":50.3788834,"mpcc_enc_sign":1,"mpcc_id_a":0.193049908,"mpcc_iq_a":-0.501335621,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.0244865,"mpcc_pred_id_a":-0.155274078,"mpcc_pred_iq_a":-0.289645314,"mpcc_state":1,"mpcc_theta_e":0.436809063,"mpcc_theta_mech":0.554307699,"sam_rpm":-14.7442226,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0140169412,"thr_a_norm":0.0237983465,"thr_a_v":0.556067765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438942522,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.709587,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.516182423,"cg_iw_a":-0.885658741,"cg_theta_rad":0.557150126,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00176128524,"mpcc_du":49.4078255,"mpcc_dv":50.5921745,"mpcc_dw":50.0455322,"mpcc_enc_sign":1,"mpcc_id_a":0.800275624,"mpcc_iq_a":-2.41829944,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.8499186,"mpcc_pred_id_a":-0.203179032,"mpcc_pred_iq_a":0.302927613,"mpcc_state":1,"mpcc_theta_e":0.445525646,"mpcc_theta_mech":0.556051075,"sam_rpm":5.34616852,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0140169412,"thr_a_norm":0.0140169412,"thr_a_v":0.556067765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438942522,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.716118,"values":{"cg_iu_a":3.8664217,"cg_iv_a":-0.153744221,"cg_iw_a":-1.03063393,"cg_theta_rad":0.55344367,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00549713895,"mpcc_du":50.0004196,"mpcc_dv":48.9547615,"mpcc_dw":51.0452385,"mpcc_enc_sign":1,"mpcc_id_a":1.15941894,"mpcc_iq_a":-2.17180443,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.17222774,"mpcc_pred_id_a":0.0443567112,"mpcc_pred_iq_a":-1.88177598,"mpcc_state":1,"mpcc_theta_e":0.445251942,"mpcc_theta_mech":0.555996299,"sam_rpm":2.25393605,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0345994532,"thr_a_norm":0.0345994532,"thr_a_v":0.638397813,"thr_b":0.00524261594,"thr_b_norm":0.00524261594,"thr_b_v":0.520970464,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.722649,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.371207237,"cg_iw_a":-2.48038721,"cg_theta_rad":0.557165205,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00281074527,"mpcc_du":49.6061707,"mpcc_dv":49.5178413,"mpcc_dw":50.6611862,"mpcc_enc_sign":1,"mpcc_id_a":0.972561002,"mpcc_iq_a":-1.38621068,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.19214964,"mpcc_pred_id_a":-0.210420325,"mpcc_pred_iq_a":-0.951688647,"mpcc_state":1,"mpcc_theta_e":0.444735527,"mpcc_theta_mech":0.555015266,"sam_rpm":8.41456127,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0345994532,"thr_a_norm":0.0345994532,"thr_a_v":0.638397813,"thr_b":0.00524261594,"thr_b_norm":0.00524261594,"thr_b_v":0.520970464,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.730644,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-2.25588632,"cg_iw_a":0.999020338,"cg_theta_rad":0.557165205,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00980585348,"mpcc_du":49.3016129,"mpcc_dv":50.6983871,"mpcc_dw":50.159317,"mpcc_enc_sign":1,"mpcc_id_a":1.22230136,"mpcc_iq_a":-1.36695015,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.82621062,"mpcc_pred_id_a":0.316389441,"mpcc_pred_iq_a":-0.861600876,"mpcc_state":1,"mpcc_theta_e":0.445162296,"mpcc_theta_mech":0.555978358,"sam_rpm":2.76373649,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183852166,"thr_a_norm":0.0183852166,"thr_a_v":0.573540866,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.740868,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.16857147,"cg_iw_a":1.28897119,"cg_theta_rad":0.551445842,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0348593108,"mpcc_du":50.2413864,"mpcc_dv":48.5515594,"mpcc_dw":51.4484406,"mpcc_enc_sign":1,"mpcc_id_a":2.50143147,"mpcc_iq_a":-0.535545945,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.936416686,"mpcc_pred_id_a":0.275507569,"mpcc_pred_iq_a":-0.962061822,"mpcc_state":1,"mpcc_theta_e":0.443634987,"mpcc_theta_mech":0.555672884,"sam_rpm":-0.939649761,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254348814,"thr_a_norm":0.0183852166,"thr_a_v":0.601739526,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4953399,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.75045,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.516182423,"cg_iw_a":1.21648383,"cg_theta_rad":0.55742389,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0973928422,"mpcc_du":49.4821548,"mpcc_dv":49.5325127,"mpcc_dw":50.5178452,"mpcc_enc_sign":1,"mpcc_id_a":3.15164518,"mpcc_iq_a":0.264977813,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.4374428,"mpcc_pred_id_a":0.366701186,"mpcc_pred_iq_a":-3.25572824,"mpcc_state":1,"mpcc_theta_e":0.459867954,"mpcc_theta_mech":0.558919549,"sam_rpm":23.0212154,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254348814,"thr_a_norm":0.0254348814,"thr_a_v":0.601739526,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4953399,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.760674,"values":{"cg_iu_a":3.72144651,"cg_iv_a":-0.951108456,"cg_iw_a":-1.03063393,"cg_theta_rad":0.552806437,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0959214941,"mpcc_du":49.9928894,"mpcc_dv":48.775692,"mpcc_dw":51.224308,"mpcc_enc_sign":1,"mpcc_id_a":4.37591934,"mpcc_iq_a":-0.999401033,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.434365749,"mpcc_pred_id_a":0.552471519,"mpcc_pred_iq_a":-3.89632893,"mpcc_state":1,"mpcc_theta_e":0.451146603,"mpcc_theta_mech":0.557175219,"sam_rpm":1.36967921,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247173309,"thr_a_norm":0.0247173309,"thr_a_v":0.598869324,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483355463,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.770683,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.60349751,"cg_iw_a":0.854045153,"cg_theta_rad":0.557861447,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00893671717,"mpcc_du":49.4710655,"mpcc_dv":50.5289345,"mpcc_dw":50.2497635,"mpcc_enc_sign":1,"mpcc_id_a":1.26373327,"mpcc_iq_a":-0.26628992,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.16027308,"mpcc_pred_id_a":-0.11484208,"mpcc_pred_iq_a":-1.18747342,"mpcc_state":1,"mpcc_theta_e":0.439738274,"mpcc_theta_mech":0.552785575,"sam_rpm":9.31864452,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247173309,"thr_a_norm":0.0247173309,"thr_a_v":0.598869324,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483355463,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.780663,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.371207237,"cg_iw_a":-0.0882940292,"cg_theta_rad":0.553006113,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0818102285,"mpcc_du":51.2725906,"mpcc_dv":47.017189,"mpcc_dw":52.982811,"mpcc_enc_sign":1,"mpcc_id_a":4.81987524,"mpcc_iq_a":-1.04204321,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.1568727,"mpcc_pred_id_a":0.882116437,"mpcc_pred_iq_a":1.1035887,"mpcc_state":1,"mpcc_theta_e":0.436254978,"mpcc_theta_mech":0.554196894,"sam_rpm":-21.6229382,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195937157,"thr_a_norm":0.0195937157,"thr_a_v":0.578374863,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476708621,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.803856,"values":{"cg_iu_a":1.11189032,"cg_iv_a":0.353669643,"cg_iw_a":-1.97297382,"cg_theta_rad":0.555353165,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00973044615,"mpcc_du":49.5939445,"mpcc_dv":50.1957054,"mpcc_dw":50.4060555,"mpcc_enc_sign":1,"mpcc_id_a":1.93820655,"mpcc_iq_a":-1.38213682,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.12934637,"mpcc_pred_id_a":-0.227478161,"mpcc_pred_iq_a":-4.29331255,"mpcc_state":1,"mpcc_theta_e":0.444475651,"mpcc_theta_mech":0.555841029,"sam_rpm":2.67857456,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0223380625,"thr_a_norm":0.0195937157,"thr_a_v":0.58935225,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481844842,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.810417,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.53804779,"cg_theta_rad":0.553236783,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00251394045,"mpcc_du":49.0038795,"mpcc_dv":50.9961205,"mpcc_dw":49.6025352,"mpcc_enc_sign":1,"mpcc_id_a":0.415977925,"mpcc_iq_a":-1.35944128,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.1657877,"mpcc_pred_id_a":-0.37354514,"mpcc_pred_iq_a":-5.94489813,"mpcc_state":1,"mpcc_theta_e":0.450996399,"mpcc_theta_mech":0.557145238,"sam_rpm":16.131649,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0223380625,"thr_a_norm":0.0223380625,"thr_a_v":0.58935225,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481844842,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.816917,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.74847269,"cg_iw_a":0.854045391,"cg_theta_rad":0.555200517,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0444661081,"mpcc_du":50.0151253,"mpcc_dv":48.9325371,"mpcc_dw":51.0674629,"mpcc_enc_sign":1,"mpcc_id_a":2.31071472,"mpcc_iq_a":-0.265937954,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.503633142,"mpcc_pred_id_a":0.129875317,"mpcc_pred_iq_a":-2.53137708,"mpcc_state":1,"mpcc_theta_e":0.446250439,"mpcc_theta_mech":0.556547046,"sam_rpm":1.72193921,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177935362,"thr_a_norm":0.0177935362,"thr_a_v":0.571174145,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456063181,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.823662,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.298719406,"cg_iw_a":-2.69785023,"cg_theta_rad":0.553548336,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00416132435,"mpcc_du":49.7511597,"mpcc_dv":49.4367676,"mpcc_dw":50.5632324,"mpcc_enc_sign":1,"mpcc_id_a":-0.354975283,"mpcc_iq_a":-0.476481915,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.92328215,"mpcc_pred_id_a":-0.390956759,"mpcc_pred_iq_a":-4.20384789,"mpcc_state":1,"mpcc_theta_e":0.43624115,"mpcc_theta_mech":0.554194152,"sam_rpm":-10.5919037,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0177935362,"thr_a_v":0.618709087,"thr_b":0.00728198886,"thr_b_norm":0,"thr_b_v":0.529127955,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.833641,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-2.54583716,"cg_iw_a":-0.958146334,"cg_theta_rad":0.555227876,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0388926081,"mpcc_du":49.9372673,"mpcc_dv":48.9037704,"mpcc_dw":51.0962296,"mpcc_enc_sign":1,"mpcc_id_a":2.91457748,"mpcc_iq_a":-1.01940358,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.422780126,"mpcc_pred_id_a":0.435874254,"mpcc_pred_iq_a":-2.75853467,"mpcc_state":1,"mpcc_theta_e":0.446430683,"mpcc_theta_mech":0.556232095,"sam_rpm":-0.27227357,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00728198886,"thr_b_norm":0.00728198886,"thr_b_v":0.529127955,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.843864,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.951108456,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556673825,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.031340383,"mpcc_du":49.4143181,"mpcc_dv":50.5856819,"mpcc_dw":50.3846626,"mpcc_enc_sign":1,"mpcc_id_a":2.91965866,"mpcc_iq_a":0.0282858126,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.15858936,"mpcc_pred_id_a":0.49484846,"mpcc_pred_iq_a":0.0897814333,"mpcc_state":1,"mpcc_theta_e":0.436351299,"mpcc_theta_mech":0.554216146,"sam_rpm":11.0594044,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0272728354,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479679555,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.853477,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.02359605,"cg_iw_a":0.41911912,"cg_theta_rad":0.553694546,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00385245704,"mpcc_du":49.7256355,"mpcc_dv":49.5296555,"mpcc_dw":50.4703445,"mpcc_enc_sign":1,"mpcc_id_a":-0.250699729,"mpcc_iq_a":-1.26579142,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.64892864,"mpcc_pred_id_a":-0.457751364,"mpcc_pred_iq_a":-2.19975924,"mpcc_state":1,"mpcc_theta_e":0.441754818,"mpcc_theta_mech":0.555296898,"sam_rpm":11.956501,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0272728354,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479679555,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.86367,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.38603449,"cg_iw_a":0.201656342,"cg_theta_rad":0.556886792,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0183253046,"mpcc_du":49.8347054,"mpcc_dv":48.9866371,"mpcc_dw":51.0133629,"mpcc_enc_sign":1,"mpcc_id_a":2.65994549,"mpcc_iq_a":-0.354221553,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.09267187,"mpcc_pred_id_a":0.493788958,"mpcc_pred_iq_a":-1.69435561,"mpcc_state":1,"mpcc_theta_e":0.434817314,"mpcc_theta_mech":0.553909361,"sam_rpm":-9.9540596,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02567406,"thr_a_norm":0.02567406,"thr_a_v":0.60269624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477967471,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.873955,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.371207237,"cg_iw_a":-0.885658741,"cg_theta_rad":0.5563097,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0710772574,"mpcc_du":49.4678001,"mpcc_dv":49.4349899,"mpcc_dw":50.5650101,"mpcc_enc_sign":1,"mpcc_id_a":3.15784621,"mpcc_iq_a":-0.332619786,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.04396105,"mpcc_pred_id_a":0.609610319,"mpcc_pred_iq_a":-4.47133446,"mpcc_state":1,"mpcc_theta_e":0.442074776,"mpcc_theta_mech":0.555360854,"sam_rpm":10.4948225,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021544978,"thr_a_norm":0.02567406,"thr_a_v":0.586179912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469608605,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.883659,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.24105906,"cg_iw_a":0.564094543,"cg_theta_rad":0.55636853,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0639558733,"mpcc_du":49.3991318,"mpcc_dv":50.1318436,"mpcc_dw":50.6008682,"mpcc_enc_sign":1,"mpcc_id_a":5.00583792,"mpcc_iq_a":-0.313601911,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.72334242,"mpcc_pred_id_a":1.13895643,"mpcc_pred_iq_a":-3.21786404,"mpcc_state":1,"mpcc_theta_e":0.439366341,"mpcc_theta_mech":0.554819167,"sam_rpm":2.88023186,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021544978,"thr_a_norm":0.021544978,"thr_a_v":0.586179912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469608605,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.907066,"values":{"cg_iu_a":3.06905746,"cg_iv_a":2.60078716,"cg_iw_a":-1.97297335,"cg_theta_rad":0.554626167,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00854087062,"mpcc_du":49.6050529,"mpcc_dv":50.360527,"mpcc_dw":50.3949471,"mpcc_enc_sign":1,"mpcc_id_a":1.35545647,"mpcc_iq_a":-1.58170807,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.08136034,"mpcc_pred_id_a":-0.125300586,"mpcc_pred_iq_a":-4.69774723,"mpcc_state":1,"mpcc_theta_e":0.450898647,"mpcc_theta_mech":0.557125688,"sam_rpm":10.3399115,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219226331,"thr_a_norm":0.0219226331,"thr_a_v":0.587690532,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479125679,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.913597,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.516182423,"cg_iw_a":0.0566811562,"cg_theta_rad":0.556711197,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0129463738,"mpcc_du":50.9353867,"mpcc_dv":47.7444992,"mpcc_dw":52.2555008,"mpcc_enc_sign":1,"mpcc_id_a":2.26421237,"mpcc_iq_a":-1.90545917,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.7681141,"mpcc_pred_id_a":0.057960052,"mpcc_pred_iq_a":0.700661063,"mpcc_state":1,"mpcc_theta_e":0.428952217,"mpcc_theta_mech":0.552736402,"sam_rpm":-23.0811787,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226401836,"thr_a_norm":0.0219226331,"thr_a_v":0.590560734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473234147,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.920158,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.668195724,"cg_theta_rad":0.552977383,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0175009165,"mpcc_du":49.5959511,"mpcc_dv":49.639019,"mpcc_dw":50.4040489,"mpcc_enc_sign":1,"mpcc_id_a":-0.100203604,"mpcc_iq_a":-0.597706795,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.71018744,"mpcc_pred_id_a":-0.231626466,"mpcc_pred_iq_a":-3.4879458,"mpcc_state":1,"mpcc_theta_e":0.449651241,"mpcc_theta_mech":0.556876183,"sam_rpm":10.0807819,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226401836,"thr_a_norm":0.0226401836,"thr_a_v":0.590560734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473234147,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.926689,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.516182423,"cg_iw_a":-0.305757523,"cg_theta_rad":0.555944979,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":6.91309324e-05,"mpcc_du":50.2706261,"mpcc_dv":48.8303261,"mpcc_dw":51.1696739,"mpcc_enc_sign":1,"mpcc_id_a":-0.124693364,"mpcc_iq_a":-1.83658779,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.23352861,"mpcc_pred_id_a":-0.456634939,"mpcc_pred_iq_a":0.677216709,"mpcc_state":1,"mpcc_theta_e":0.44438076,"mpcc_theta_mech":0.555822074,"sam_rpm":6.4327116,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450725555,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.936821,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.6759851,"cg_iw_a":-0.378245354,"cg_theta_rad":0.556152642,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.120606974,"mpcc_du":49.4009857,"mpcc_dv":50.0126801,"mpcc_dw":50.5990143,"mpcc_enc_sign":1,"mpcc_id_a":5.2140336,"mpcc_iq_a":-0.450036943,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.66421843,"mpcc_pred_id_a":0.816579282,"mpcc_pred_iq_a":-6.14535666,"mpcc_state":1,"mpcc_theta_e":0.455046654,"mpcc_theta_mech":0.557955205,"sam_rpm":10.2729664,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450725555,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.949028,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.24105906,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.557403862,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00210667052,"mpcc_du":49.7754707,"mpcc_dv":49.2234573,"mpcc_dw":50.7765427,"mpcc_enc_sign":1,"mpcc_id_a":0.73907578,"mpcc_iq_a":-0.0163625423,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.317453206,"mpcc_pred_id_a":-0.151705027,"mpcc_pred_iq_a":0.592414796,"mpcc_state":1,"mpcc_theta_e":0.435595512,"mpcc_theta_mech":0.554064989,"sam_rpm":0.562243402,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254474729,"thr_a_norm":0.0254474729,"thr_a_v":0.601789892,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4953399,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.959343,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.6759851,"cg_iw_a":-0.45073247,"cg_theta_rad":0.557135105,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.000302148546,"mpcc_du":48.9331284,"mpcc_dv":51.0668716,"mpcc_dw":49.4961281,"mpcc_enc_sign":1,"mpcc_id_a":-0.0526362695,"mpcc_iq_a":-1.17624402,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.49362755,"mpcc_pred_id_a":-0.566380918,"mpcc_pred_iq_a":-5.43477678,"mpcc_state":1,"mpcc_theta_e":0.445634365,"mpcc_theta_mech":0.556072831,"sam_rpm":12.0549221,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183726251,"thr_a_norm":0.0183726251,"thr_a_v":0.5734905,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464573115,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.971062,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.02359605,"cg_iw_a":-0.16078186,"cg_theta_rad":0.555272162,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0136639429,"mpcc_du":49.5696945,"mpcc_dv":49.4054565,"mpcc_dw":50.5945435,"mpcc_enc_sign":1,"mpcc_id_a":0.818880498,"mpcc_iq_a":-0.528317332,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.94687819,"mpcc_pred_id_a":0.179182261,"mpcc_pred_iq_a":-3.28913355,"mpcc_state":1,"mpcc_theta_e":0.447981358,"mpcc_theta_mech":0.556542158,"sam_rpm":3.61775494,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183726251,"thr_a_norm":0.0183726251,"thr_a_v":0.5734905,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464573115,"vdc_v":55.2955055}} +{"type":"telemetry","t":102.981255,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.31354666,"cg_iw_a":-0.160782337,"cg_theta_rad":0.55727458,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0142131476,"mpcc_du":50.0535049,"mpcc_dv":49.0030785,"mpcc_dw":50.9969215,"mpcc_enc_sign":1,"mpcc_id_a":0.520648837,"mpcc_iq_a":-2.15044308,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.624629021,"mpcc_pred_id_a":-0.250433445,"mpcc_pred_iq_a":-3.90883279,"mpcc_state":1,"mpcc_theta_e":0.448629856,"mpcc_theta_mech":0.556671858,"sam_rpm":-0.477914393,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0236472934,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456163883,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.004662,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.74847269,"cg_iw_a":-1.17560959,"cg_theta_rad":0.552878678,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0111241294,"mpcc_du":50.4574776,"mpcc_dv":48.3638611,"mpcc_dw":51.6361389,"mpcc_enc_sign":1,"mpcc_id_a":1.80905414,"mpcc_iq_a":-0.810391426,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.44143629,"mpcc_pred_id_a":0.14263989,"mpcc_pred_iq_a":2.04093504,"mpcc_state":1,"mpcc_theta_e":0.444324017,"mpcc_theta_mech":0.55581075,"sam_rpm":3.79228616,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.107148081,"thr_a_norm":0.0236472934,"thr_a_v":0.928592324,"thr_b":0.0381494612,"thr_b_norm":0,"thr_b_v":0.652597845,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.011162,"values":{"cg_iu_a":0.749452114,"cg_iv_a":0.208694458,"cg_iw_a":-2.19043684,"cg_theta_rad":0.555435419,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.00984901469,"mpcc_du":50.2072449,"mpcc_dv":48.7180824,"mpcc_dw":51.2819176,"mpcc_enc_sign":1,"mpcc_id_a":1.93867445,"mpcc_iq_a":-1.21884787,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.88295031,"mpcc_pred_id_a":-0.13519378,"mpcc_pred_iq_a":-0.210304469,"mpcc_state":1,"mpcc_theta_e":0.434765339,"mpcc_theta_mech":0.55389899,"sam_rpm":-9.14517307,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.107148081,"thr_a_norm":0.107148081,"thr_a_v":0.928592324,"thr_b":0.0381494612,"thr_b_norm":0.0381494612,"thr_b_v":0.652597845,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.017723,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.298719406,"cg_iw_a":-2.26292419,"cg_theta_rad":0.556156993,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0132831912,"mpcc_du":50.2216682,"mpcc_dv":48.5900879,"mpcc_dw":51.4099121,"mpcc_enc_sign":1,"mpcc_id_a":2.21217895,"mpcc_iq_a":-0.973991215,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.33323479,"mpcc_pred_id_a":0.141037941,"mpcc_pred_iq_a":-1.37964261,"mpcc_state":1,"mpcc_theta_e":0.433743,"mpcc_theta_mech":0.553694546,"sam_rpm":-14.152195,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222373605,"thr_a_norm":0.0222373605,"thr_a_v":0.588949442,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473788053,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.024864,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.733645439,"cg_iw_a":0.709069967,"cg_theta_rad":0.555209219,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0275185965,"mpcc_du":49.5750389,"mpcc_dv":49.9509125,"mpcc_dw":50.4249611,"mpcc_enc_sign":1,"mpcc_id_a":0.832841992,"mpcc_iq_a":-0.165722176,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.68660355,"mpcc_pred_id_a":-0.194961175,"mpcc_pred_iq_a":-4.26616144,"mpcc_state":1,"mpcc_theta_e":0.450345516,"mpcc_theta_mech":0.557015061,"sam_rpm":10.5396252,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237857699,"thr_a_norm":0.0222373605,"thr_a_v":0.59514308,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470766753,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.034843,"values":{"cg_iu_a":1.11189032,"cg_iv_a":1.15103388,"cg_iw_a":-2.33541203,"cg_theta_rad":0.554226875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0345290676,"mpcc_du":49.6099129,"mpcc_dv":50.3524361,"mpcc_dw":50.3900871,"mpcc_enc_sign":1,"mpcc_id_a":0.46437186,"mpcc_iq_a":-1.49277472,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.5672121,"mpcc_pred_id_a":-0.169730753,"mpcc_pred_iq_a":-0.362947613,"mpcc_state":1,"mpcc_theta_e":0.425719261,"mpcc_theta_mech":0.552089751,"sam_rpm":-16.1158161,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237857699,"thr_a_norm":0.0237857699,"thr_a_v":0.59514308,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470766753,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.04528,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.661157608,"cg_iw_a":-0.378245354,"cg_theta_rad":0.556872189,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0232614372,"mpcc_du":50.3607597,"mpcc_dv":48.3430595,"mpcc_dw":51.6569405,"mpcc_enc_sign":1,"mpcc_id_a":1.67773688,"mpcc_iq_a":-1.25571692,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.79381847,"mpcc_pred_id_a":0.423268646,"mpcc_pred_iq_a":-1.37549138,"mpcc_state":1,"mpcc_theta_e":0.443434715,"mpcc_theta_mech":0.555632889,"sam_rpm":-5.11512327,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448661,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.057457,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.09608364,"cg_iw_a":-1.53804755,"cg_theta_rad":0.557678938,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0309132896,"mpcc_du":49.7182312,"mpcc_dv":49.3688087,"mpcc_dw":50.6311913,"mpcc_enc_sign":1,"mpcc_id_a":-0.10488116,"mpcc_iq_a":-0.596903741,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.4877138,"mpcc_pred_id_a":-0.112923101,"mpcc_pred_iq_a":-2.26571441,"mpcc_state":1,"mpcc_theta_e":0.457482338,"mpcc_theta_mech":0.558442414,"sam_rpm":18.0782566,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0290100724,"thr_a_norm":0.0296898633,"thr_a_v":0.616040289,"thr_b":0.00283817947,"thr_b_norm":0,"thr_b_v":0.511352718,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.067467,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.6759851,"cg_iw_a":1.72389746,"cg_theta_rad":0.554978371,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0513813794,"mpcc_du":50.1660957,"mpcc_dv":48.5932198,"mpcc_dw":51.4067802,"mpcc_enc_sign":1,"mpcc_id_a":3.2059319,"mpcc_iq_a":0.105274759,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0704816878,"mpcc_pred_id_a":0.425807595,"mpcc_pred_iq_a":-0.591397822,"mpcc_state":1,"mpcc_theta_e":0.442824364,"mpcc_theta_mech":0.555510819,"sam_rpm":1.28479481,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0290100724,"thr_a_norm":0.0290100724,"thr_a_v":0.616040289,"thr_b":0.00283817947,"thr_b_norm":0.00283817947,"thr_b_v":0.511352718,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.07769,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.0384233,"cg_iw_a":0.926532984,"cg_theta_rad":0.559534669,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0159443785,"mpcc_du":49.4756165,"mpcc_dv":50.1429596,"mpcc_dw":50.5243835,"mpcc_enc_sign":1,"mpcc_id_a":2.39448619,"mpcc_iq_a":-0.759715021,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.60073495,"mpcc_pred_id_a":0.336926371,"mpcc_pred_iq_a":-0.78878355,"mpcc_state":1,"mpcc_theta_e":0.442537308,"mpcc_theta_mech":0.55545342,"sam_rpm":4.92225313,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294758528,"thr_a_norm":0.0294758528,"thr_a_v":0.617903411,"thr_b":0.00523003936,"thr_b_norm":0.00523003936,"thr_b_v":0.520920157,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.087669,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.806133032,"cg_iw_a":0.854045153,"cg_theta_rad":0.557189941,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.00485070469,"mpcc_du":50.0341301,"mpcc_dv":48.9379272,"mpcc_dw":51.0620728,"mpcc_enc_sign":1,"mpcc_id_a":0.650964737,"mpcc_iq_a":-1.91705191,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.64728713,"mpcc_pred_id_a":-0.146989539,"mpcc_pred_iq_a":-0.3885023,"mpcc_state":1,"mpcc_theta_e":0.437485695,"mpcc_theta_mech":0.556004584,"sam_rpm":-4.83796358,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294758528,"thr_a_norm":0.0294758528,"thr_a_v":0.617903411,"thr_b":0.00523003936,"thr_b_norm":0.00523003936,"thr_b_v":0.520920157,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.110863,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.661157608,"cg_iw_a":0.491607189,"cg_theta_rad":0.555957735,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.023752369,"mpcc_du":50.763607,"mpcc_dv":47.9478416,"mpcc_dw":52.0521584,"mpcc_enc_sign":1,"mpcc_id_a":2.31633949,"mpcc_iq_a":-0.750384986,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.8217726,"mpcc_pred_id_a":0.125774696,"mpcc_pred_iq_a":-0.144283116,"mpcc_state":1,"mpcc_theta_e":0.435575485,"mpcc_theta_mech":0.554060996,"sam_rpm":-15.6305437,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0301304609,"thr_a_norm":0.0301304609,"thr_a_v":0.620521843,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.117393,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.733645439,"cg_iw_a":-0.015806675,"cg_theta_rad":0.553808331,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.00322034536,"mpcc_du":48.9192619,"mpcc_dv":51.0807381,"mpcc_dw":49.496582,"mpcc_enc_sign":1,"mpcc_id_a":-0.46144712,"mpcc_iq_a":-2.00432682,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.84873533,"mpcc_pred_id_a":-0.426835656,"mpcc_pred_iq_a":-7.90706348,"mpcc_state":1,"mpcc_theta_e":0.451594353,"mpcc_theta_mech":0.557264745,"sam_rpm":11.7286034,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201979876,"thr_a_norm":0.0301304609,"thr_a_v":0.58079195,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.123924,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.96593571,"cg_iw_a":0.854045391,"cg_theta_rad":0.551002085,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0430578925,"mpcc_du":49.296608,"mpcc_dv":50.703392,"mpcc_dw":50.3127251,"mpcc_enc_sign":1,"mpcc_id_a":3.85516858,"mpcc_iq_a":-0.740709543,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.44106483,"mpcc_pred_id_a":0.638326645,"mpcc_pred_iq_a":-5.11024618,"mpcc_state":1,"mpcc_theta_e":0.449627399,"mpcc_theta_mech":0.556871414,"sam_rpm":10.4936113,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201979876,"thr_a_norm":0.0201979876,"thr_a_v":0.58079195,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.130394,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.38603449,"cg_iw_a":-1.10312176,"cg_theta_rad":0.554383516,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0377863571,"mpcc_du":49.5771713,"mpcc_dv":50.073391,"mpcc_dw":50.4228287,"mpcc_enc_sign":1,"mpcc_id_a":1.34860659,"mpcc_iq_a":0.237330541,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.76348877,"mpcc_pred_id_a":-0.0867084265,"mpcc_pred_iq_a":-4.86059809,"mpcc_state":1,"mpcc_theta_e":0.449034691,"mpcc_theta_mech":0.556752861,"sam_rpm":7.7875433,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202609301,"thr_a_norm":0.0202609301,"thr_a_v":0.58104372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455207109,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.140404,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.015806675,"cg_theta_rad":0.554213226,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0153659107,"mpcc_du":49.5668373,"mpcc_dv":49.5208626,"mpcc_dw":50.4791374,"mpcc_enc_sign":1,"mpcc_id_a":1.71598732,"mpcc_iq_a":-0.160010189,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.27672243,"mpcc_pred_id_a":-0.0753903687,"mpcc_pred_iq_a":-3.04894257,"mpcc_state":1,"mpcc_theta_e":0.442368507,"mpcc_theta_mech":0.555419624,"sam_rpm":1.22917843,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137903392,"thr_a_norm":0.0202609301,"thr_a_v":0.555161357,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.442668766,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.150261,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.298719406,"cg_iw_a":-0.81317091,"cg_theta_rad":0.557577133,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0473348796,"mpcc_du":50.1469345,"mpcc_dv":48.3295059,"mpcc_dw":51.6704941,"mpcc_enc_sign":1,"mpcc_id_a":4.21814871,"mpcc_iq_a":-0.916137695,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.968298,"mpcc_pred_id_a":1.03781867,"mpcc_pred_iq_a":-2.19987869,"mpcc_state":1,"mpcc_theta_e":0.441878796,"mpcc_theta_mech":0.555321634,"sam_rpm":-23.6204224,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137903392,"thr_a_norm":0.0137903392,"thr_a_v":0.555161357,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.442668766,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.161644,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.516182423,"cg_iw_a":0.636582375,"cg_theta_rad":0.554022312,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.00835343637,"mpcc_du":50.7282333,"mpcc_dv":47.9629402,"mpcc_dw":52.0370598,"mpcc_enc_sign":1,"mpcc_id_a":1.07239401,"mpcc_iq_a":0.0241594873,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.1565914,"mpcc_pred_id_a":0.0700117871,"mpcc_pred_iq_a":-0.654953361,"mpcc_state":1,"mpcc_theta_e":0.425249577,"mpcc_theta_mech":0.551995814,"sam_rpm":-28.4472485,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297905654,"thr_a_norm":0.0297905654,"thr_a_v":0.619162261,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455156773,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.172874,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.951108456,"cg_iw_a":0.999020815,"cg_theta_rad":0.553395331,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0360132344,"mpcc_du":49.5005493,"mpcc_dv":49.7175941,"mpcc_dw":50.4994507,"mpcc_enc_sign":1,"mpcc_id_a":2.50799012,"mpcc_iq_a":-0.698348463,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.41784286,"mpcc_pred_id_a":0.250900894,"mpcc_pred_iq_a":-3.43510103,"mpcc_state":1,"mpcc_theta_e":0.450920582,"mpcc_theta_mech":0.557130039,"sam_rpm":12.4701366,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165220946,"thr_a_norm":0.0297905654,"thr_a_v":0.566088378,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.18264,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.443694592,"cg_iw_a":0.0566811562,"cg_theta_rad":0.554540932,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0154942162,"mpcc_du":50.3916473,"mpcc_dv":48.5298233,"mpcc_dw":51.4701767,"mpcc_enc_sign":1,"mpcc_id_a":0.892708123,"mpcc_iq_a":-1.39050734,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.7820282,"mpcc_pred_id_a":-0.0982207656,"mpcc_pred_iq_a":-2.21753931,"mpcc_state":1,"mpcc_theta_e":0.442156792,"mpcc_theta_mech":0.555377245,"sam_rpm":-8.1132412,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165220946,"thr_a_norm":0.0165220946,"thr_a_v":0.566088378,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.205894,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.516182423,"cg_iw_a":-2.04546118,"cg_theta_rad":0.554415762,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.015568113,"mpcc_du":48.8645897,"mpcc_dv":51.1354103,"mpcc_dw":49.6258278,"mpcc_enc_sign":1,"mpcc_id_a":0.648037493,"mpcc_iq_a":-0.545651793,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.8513718,"mpcc_pred_id_a":0.12473467,"mpcc_pred_iq_a":-6.12920237,"mpcc_state":1,"mpcc_theta_e":0.45519352,"mpcc_theta_mech":0.557984591,"sam_rpm":21.9797783,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0425680876,"thr_a_norm":0.0425680876,"thr_a_v":0.67027235,"thr_b":0.0191405416,"thr_b_norm":0.0191405416,"thr_b_v":0.576562166,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.212395,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.661157608,"cg_iw_a":-0.59570837,"cg_theta_rad":0.552138031,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.00783692766,"mpcc_du":50.679882,"mpcc_dv":50.8881226,"mpcc_dw":50.0239716,"mpcc_enc_sign":1,"mpcc_id_a":1.23951709,"mpcc_iq_a":0.0324123725,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.9737854,"mpcc_pred_id_a":0.0442162156,"mpcc_pred_iq_a":1.36208069,"mpcc_state":1,"mpcc_theta_e":0.443201065,"mpcc_theta_mech":0.555586159,"sam_rpm":-13.746829,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0425680876,"thr_a_norm":0.0425680876,"thr_a_v":0.67027235,"thr_b":0.0191405416,"thr_b_norm":0.0191405416,"thr_b_v":0.576562166,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.218864,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.31354666,"cg_iw_a":0.854045391,"cg_theta_rad":0.555712759,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0206960998,"mpcc_du":49.6559753,"mpcc_dv":49.4532623,"mpcc_dw":50.5467377,"mpcc_enc_sign":1,"mpcc_id_a":0.463776678,"mpcc_iq_a":-0.263346732,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.37670755,"mpcc_pred_id_a":-0.128354192,"mpcc_pred_iq_a":-3.57538486,"mpcc_state":1,"mpcc_theta_e":0.445518494,"mpcc_theta_mech":0.556049585,"sam_rpm":3.73287582,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0397859961,"thr_a_norm":0.0397859961,"thr_a_v":0.659143984,"thr_b":0.00867933035,"thr_b_norm":0.00867933035,"thr_b_v":0.534717321,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.225426,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.443694592,"cg_iw_a":-0.378245354,"cg_theta_rad":0.551680088,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0278846566,"mpcc_du":49.8224869,"mpcc_dv":49.1538162,"mpcc_dw":50.8461838,"mpcc_enc_sign":1,"mpcc_id_a":2.05652332,"mpcc_iq_a":-1.30171299,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.14351976,"mpcc_pred_id_a":0.110350117,"mpcc_pred_iq_a":-4.01689053,"mpcc_state":1,"mpcc_theta_e":0.445331573,"mpcc_theta_mech":0.556012213,"sam_rpm":-0.878012359,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0397859961,"thr_a_norm":0.0397859961,"thr_a_v":0.659143984,"thr_b":0.00867933035,"thr_b_norm":0.00867933035,"thr_b_v":0.534717321,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.233421,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.516182423,"cg_iw_a":-2.26292419,"cg_theta_rad":0.557880998,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.00553071033,"mpcc_du":49.7459564,"mpcc_dv":49.2213631,"mpcc_dw":50.7786369,"mpcc_enc_sign":1,"mpcc_id_a":1.08156574,"mpcc_iq_a":-0.65168035,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.45677423,"mpcc_pred_id_a":0.114280999,"mpcc_pred_iq_a":-4.33652544,"mpcc_state":1,"mpcc_theta_e":0.445919991,"mpcc_theta_mech":0.556129873,"sam_rpm":8.25738621,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101596475,"thr_a_norm":0.101596475,"thr_a_v":0.906385899,"thr_b":0.0406420231,"thr_b_norm":0.0406420231,"thr_b_v":0.662568092,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.243584,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.443694592,"cg_iw_a":-2.55287504,"cg_theta_rad":0.557200134,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.00485477084,"mpcc_du":49.9713783,"mpcc_dv":48.8780518,"mpcc_dw":51.1219482,"mpcc_enc_sign":1,"mpcc_id_a":0.510795057,"mpcc_iq_a":-0.687408924,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.4138107,"mpcc_pred_id_a":0.199838981,"mpcc_pred_iq_a":-0.464542061,"mpcc_state":1,"mpcc_theta_e":0.426602364,"mpcc_theta_mech":0.552266359,"sam_rpm":-16.3323689,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189139396,"thr_a_norm":0.101596475,"thr_a_v":0.575655758,"thr_b":0,"thr_b_norm":0.0406420231,"thr_b_v":0.451732635,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.253227,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.38603449,"cg_iw_a":0.636582375,"cg_theta_rad":0.556940794,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0705190077,"mpcc_du":49.8745422,"mpcc_dv":48.9377365,"mpcc_dw":51.0622635,"mpcc_enc_sign":1,"mpcc_id_a":1.51067138,"mpcc_iq_a":-0.26473397,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.76033401,"mpcc_pred_id_a":0.555371404,"mpcc_pred_iq_a":-3.55895877,"mpcc_state":1,"mpcc_theta_e":0.452617168,"mpcc_theta_mech":0.557469308,"sam_rpm":6.78971052,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189139396,"thr_a_norm":0.0189139396,"thr_a_v":0.575655758,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451732635,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.263573,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.45852208,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.554581344,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0147474948,"mpcc_du":50.0904007,"mpcc_dv":48.7712555,"mpcc_dw":51.2287445,"mpcc_enc_sign":1,"mpcc_id_a":2.29624653,"mpcc_iq_a":-0.633245766,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.0393772,"mpcc_pred_id_a":0.323616683,"mpcc_pred_iq_a":-4.04425955,"mpcc_state":1,"mpcc_theta_e":0.447434425,"mpcc_theta_mech":0.556432843,"sam_rpm":3.79025602,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027411297,"thr_a_norm":0.027411297,"thr_a_v":0.609645188,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492368966,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.273491,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.16857147,"cg_iw_a":1.14399576,"cg_theta_rad":0.554461896,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0147675294,"mpcc_du":49.3030472,"mpcc_dv":50.6969528,"mpcc_dw":50.1723366,"mpcc_enc_sign":1,"mpcc_id_a":2.3835988,"mpcc_iq_a":-0.10089346,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.21631861,"mpcc_pred_id_a":0.19641763,"mpcc_pred_iq_a":-2.66386604,"mpcc_state":1,"mpcc_theta_e":0.4403615,"mpcc_theta_mech":0.555018187,"sam_rpm":8.36555576,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027411297,"thr_a_norm":0.027411297,"thr_a_v":0.609645188,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492368966,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.28347,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.153744221,"cg_iw_a":-0.305757046,"cg_theta_rad":0.555555165,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0296227951,"mpcc_du":50.3997536,"mpcc_dv":48.2010078,"mpcc_dw":51.7989922,"mpcc_enc_sign":1,"mpcc_id_a":3.04343796,"mpcc_iq_a":-0.906907141,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.33275604,"mpcc_pred_id_a":0.619642377,"mpcc_pred_iq_a":-0.515350759,"mpcc_state":1,"mpcc_theta_e":0.436378956,"mpcc_theta_mech":0.55422169,"sam_rpm":-12.3094139,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026051715,"thr_a_norm":0.026051715,"thr_a_v":0.60420686,"thr_b":0.00402151048,"thr_b_norm":0.00402151048,"thr_b_v":0.516086042,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.30703,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.53100967,"cg_iw_a":-0.16078186,"cg_theta_rad":0.552787662,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0048531061,"mpcc_du":50.9029045,"mpcc_dv":47.8978882,"mpcc_dw":52.1021118,"mpcc_enc_sign":1,"mpcc_id_a":1.21045601,"mpcc_iq_a":-0.717436016,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.37666225,"mpcc_pred_id_a":-0.258876204,"mpcc_pred_iq_a":1.34246218,"mpcc_state":1,"mpcc_theta_e":0.448585987,"mpcc_theta_mech":0.556663096,"sam_rpm":-17.2116413,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0161947757,"thr_a_norm":0.026051715,"thr_a_v":0.564779103,"thr_b":0,"thr_b_norm":0.00402151048,"thr_b_v":0.462710023,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.313377,"values":{"cg_iu_a":1.76427937,"cg_iv_a":0.716107845,"cg_iw_a":-0.523220062,"cg_theta_rad":0.5564605,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0337396301,"mpcc_du":50.3582802,"mpcc_dv":48.6447067,"mpcc_dw":51.3552933,"mpcc_enc_sign":1,"mpcc_id_a":3.31331444,"mpcc_iq_a":-0.871047258,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.6667109,"mpcc_pred_id_a":0.239808664,"mpcc_pred_iq_a":-7.38786745,"mpcc_state":1,"mpcc_theta_e":0.45500803,"mpcc_theta_mech":0.552215576,"sam_rpm":21.2399521,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0161947757,"thr_a_norm":0.0161947757,"thr_a_v":0.564779103,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462710023,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.319878,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-0.226231575,"cg_iw_a":-0.450732708,"cg_theta_rad":0.55305171,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0063985805,"mpcc_du":49.6125526,"mpcc_dv":49.5818748,"mpcc_dw":50.4181252,"mpcc_enc_sign":1,"mpcc_id_a":0.167387769,"mpcc_iq_a":-1.37743223,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.86216307,"mpcc_pred_id_a":-0.340161175,"mpcc_pred_iq_a":-2.7564261,"mpcc_state":1,"mpcc_theta_e":0.449651241,"mpcc_theta_mech":0.556876183,"sam_rpm":11.814641,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0308480114,"thr_a_norm":0.0308480114,"thr_a_v":0.623392045,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474996537,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.326439,"values":{"cg_iu_a":1.69179153,"cg_iv_a":0.208694458,"cg_iw_a":-1.90048599,"cg_theta_rad":0.553629935,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0202437025,"mpcc_du":50.1977425,"mpcc_dv":48.7196274,"mpcc_dw":51.2803726,"mpcc_enc_sign":1,"mpcc_id_a":1.81013,"mpcc_iq_a":0.224601135,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.17164278,"mpcc_pred_id_a":-0.0431978442,"mpcc_pred_iq_a":-1.64532506,"mpcc_state":1,"mpcc_theta_e":0.435090065,"mpcc_theta_mech":0.553963959,"sam_rpm":-10.6911135,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0308480114,"thr_a_norm":0.0308480114,"thr_a_v":0.623392045,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474996537,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.334404,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.226231575,"cg_iw_a":-2.6978507,"cg_theta_rad":0.555794597,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.00846731849,"mpcc_du":50.7577629,"mpcc_dv":50.3536072,"mpcc_dw":50.4355507,"mpcc_enc_sign":1,"mpcc_id_a":-1.20807469,"mpcc_iq_a":-1.27973998,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.72823811,"mpcc_pred_id_a":-0.720793605,"mpcc_pred_iq_a":-0.972028613,"mpcc_state":1,"mpcc_theta_e":0.435565948,"mpcc_theta_mech":0.558296382,"sam_rpm":-13.7823524,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183222741,"thr_a_norm":0.0183222741,"thr_a_v":0.573289096,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454804301,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.346855,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.588670254,"cg_iw_a":-2.33541203,"cg_theta_rad":0.555354714,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0318921097,"mpcc_du":50.178196,"mpcc_dv":48.855423,"mpcc_dw":51.144577,"mpcc_enc_sign":1,"mpcc_id_a":0.565130353,"mpcc_iq_a":-1.05639327,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.090260081,"mpcc_pred_id_a":-0.223231256,"mpcc_pred_iq_a":-3.25247264,"mpcc_state":1,"mpcc_theta_e":0.447947979,"mpcc_theta_mech":0.556535542,"sam_rpm":0.247125193,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0305962414,"thr_a_norm":0.0183222741,"thr_a_v":0.622384965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461300045,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.356438,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.09608364,"cg_iw_a":0.201656342,"cg_theta_rad":0.55436337,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0147108873,"mpcc_du":50.2636261,"mpcc_dv":48.4255638,"mpcc_dw":51.5744362,"mpcc_enc_sign":1,"mpcc_id_a":2.15984702,"mpcc_iq_a":-0.398029089,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.35523129,"mpcc_pred_id_a":0.438797891,"mpcc_pred_iq_a":-0.543776631,"mpcc_state":1,"mpcc_theta_e":0.434483528,"mpcc_theta_mech":0.553842604,"sam_rpm":-13.0539885,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0305962414,"thr_a_norm":0.0305962414,"thr_a_v":0.622384965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461300045,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.366631,"values":{"cg_iu_a":-0.845276594,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.48038721,"cg_theta_rad":0.55752337,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.00702034589,"mpcc_du":49.8591309,"mpcc_dv":49.3344536,"mpcc_dw":50.6655464,"mpcc_enc_sign":1,"mpcc_id_a":0.352109581,"mpcc_iq_a":-0.999536812,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.17702842,"mpcc_pred_id_a":-0.475121588,"mpcc_pred_iq_a":-2.50115871,"mpcc_state":1,"mpcc_theta_e":0.446834564,"mpcc_theta_mech":0.556312859,"sam_rpm":4.66529417,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246543884,"thr_a_norm":0.0246543884,"thr_a_v":0.598617554,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476406515,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.37661,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.878620625,"cg_iw_a":-1.46555996,"cg_theta_rad":0.554796636,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0351132229,"mpcc_du":50.0932503,"mpcc_dv":48.5398941,"mpcc_dw":51.4601059,"mpcc_enc_sign":1,"mpcc_id_a":3.66876698,"mpcc_iq_a":0.136599928,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.4416409,"mpcc_pred_id_a":0.536014855,"mpcc_pred_iq_a":1.081146,"mpcc_state":1,"mpcc_theta_e":0.424722195,"mpcc_theta_mech":0.551890314,"sam_rpm":-16.1841297,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246543884,"thr_a_norm":0.0246543884,"thr_a_v":0.598617554,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476406515,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.387871,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.6759851,"cg_iw_a":0.346631765,"cg_theta_rad":0.556731284,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0215354618,"mpcc_du":49.4455223,"mpcc_dv":50.5544777,"mpcc_dw":50.3763809,"mpcc_enc_sign":1,"mpcc_id_a":2.86290789,"mpcc_iq_a":-2.12711406,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.72097969,"mpcc_pred_id_a":0.194361061,"mpcc_pred_iq_a":-5.63566113,"mpcc_state":1,"mpcc_theta_e":0.451295376,"mpcc_theta_mech":0.557205021,"sam_rpm":7.83437538,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178438872,"thr_a_norm":0.0178438872,"thr_a_v":0.571375549,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450977325,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.410271,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.298719406,"cg_iw_a":-2.19043684,"cg_theta_rad":0.55113399,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0122774355,"mpcc_du":49.2207603,"mpcc_dv":50.7792397,"mpcc_dw":49.8983002,"mpcc_enc_sign":1,"mpcc_id_a":1.1853956,"mpcc_iq_a":-0.775950372,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.8648872,"mpcc_pred_id_a":-0.287719995,"mpcc_pred_iq_a":2.46742773,"mpcc_state":1,"mpcc_theta_e":0.434256554,"mpcc_theta_mech":0.553797245,"sam_rpm":7.39072895,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234206915,"thr_a_norm":0.0178438872,"thr_a_v":0.593682766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476507217,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.416771,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.878620625,"cg_iw_a":0.0566811562,"cg_theta_rad":0.553475082,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.000661392289,"mpcc_du":49.5412979,"mpcc_dv":49.8109398,"mpcc_dw":50.4587021,"mpcc_enc_sign":1,"mpcc_id_a":0.344415724,"mpcc_iq_a":-1.87160277,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.613112509,"mpcc_pred_id_a":-0.0893341377,"mpcc_pred_iq_a":-4.25578785,"mpcc_state":1,"mpcc_theta_e":0.441999435,"mpcc_theta_mech":0.555345833,"sam_rpm":0.662774384,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234206915,"thr_a_norm":0.0234206915,"thr_a_v":0.593682766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476507217,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.423271,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.16857147,"cg_iw_a":-0.378244877,"cg_theta_rad":0.556554019,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0152826943,"mpcc_du":49.5848389,"mpcc_dv":49.3918419,"mpcc_dw":50.6081581,"mpcc_enc_sign":1,"mpcc_id_a":2.23526335,"mpcc_iq_a":0.631243706,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.47995472,"mpcc_pred_id_a":0.0736360103,"mpcc_pred_iq_a":-2.82641459,"mpcc_state":1,"mpcc_theta_e":0.43288517,"mpcc_theta_mech":0.553522944,"sam_rpm":-10.1614542,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234458596,"thr_a_norm":0.0234458596,"thr_a_v":0.593783438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462861091,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.429832,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.588670254,"cg_iw_a":0.274143934,"cg_theta_rad":0.555540144,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0336356163,"mpcc_du":50.3112144,"mpcc_dv":48.4294434,"mpcc_dw":51.5705566,"mpcc_enc_sign":1,"mpcc_id_a":2.27327371,"mpcc_iq_a":0.697850466,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.88830233,"mpcc_pred_id_a":0.306321084,"mpcc_pred_iq_a":-0.766276717,"mpcc_state":1,"mpcc_theta_e":0.437011242,"mpcc_theta_mech":0.554348171,"sam_rpm":-10.1393843,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234458596,"thr_a_norm":0.0234458596,"thr_a_v":0.593783438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462861091,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.437859,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.153744221,"cg_iw_a":-1.68302298,"cg_theta_rad":0.552462935,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0240189563,"mpcc_du":49.4998703,"mpcc_dv":50.5001297,"mpcc_dw":50.4662514,"mpcc_enc_sign":1,"mpcc_id_a":2.41917872,"mpcc_iq_a":-0.0333963409,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.31711578,"mpcc_pred_id_a":0.38513121,"mpcc_pred_iq_a":-5.18356228,"mpcc_state":1,"mpcc_theta_e":0.443758965,"mpcc_theta_mech":0.555697739,"sam_rpm":2.52958345,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020563066,"thr_a_norm":0.020563066,"thr_a_v":0.582252264,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.448021,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.226231575,"cg_iw_a":0.419119358,"cg_theta_rad":0.556115746,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0178468246,"mpcc_du":49.2731895,"mpcc_dv":50.7268105,"mpcc_dw":50.3121605,"mpcc_enc_sign":1,"mpcc_id_a":2.60991883,"mpcc_iq_a":0.206528917,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.2919579,"mpcc_pred_id_a":0.652351677,"mpcc_pred_iq_a":-0.76726687,"mpcc_state":1,"mpcc_theta_e":0.441281796,"mpcc_theta_mech":0.555202246,"sam_rpm":17.6922035,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241760015,"thr_a_norm":0.020563066,"thr_a_v":0.596704006,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477111459,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.457848,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.298719406,"cg_iw_a":-0.885658741,"cg_theta_rad":0.552719712,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0554945394,"mpcc_du":49.8885536,"mpcc_dv":48.9081116,"mpcc_dw":51.0918884,"mpcc_enc_sign":1,"mpcc_id_a":2.39643288,"mpcc_iq_a":-0.773145497,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.00257969,"mpcc_pred_id_a":0.449009061,"mpcc_pred_iq_a":-4.27793694,"mpcc_state":1,"mpcc_theta_e":0.445252419,"mpcc_theta_mech":0.555996358,"sam_rpm":-1.62179971,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241760015,"thr_a_norm":0.0241760015,"thr_a_v":0.596704006,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477111459,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.468285,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.09608364,"cg_iw_a":0.12916851,"cg_theta_rad":0.554502904,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0218534153,"mpcc_du":49.8390656,"mpcc_dv":48.7515411,"mpcc_dw":51.2484589,"mpcc_enc_sign":1,"mpcc_id_a":2.95437527,"mpcc_iq_a":0.121403433,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.11974669,"mpcc_pred_id_a":0.84600383,"mpcc_pred_iq_a":-0.147900611,"mpcc_state":1,"mpcc_theta_e":0.430510044,"mpcc_theta_mech":0.553047955,"sam_rpm":-11.2403822,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182089806,"thr_a_norm":0.0182089806,"thr_a_v":0.572835922,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449517012,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.478233,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.31354666,"cg_iw_a":-0.015806675,"cg_theta_rad":0.552111089,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0120496498,"mpcc_du":50.1261444,"mpcc_dv":48.7510452,"mpcc_dw":51.2489548,"mpcc_enc_sign":1,"mpcc_id_a":0.871310711,"mpcc_iq_a":-0.0679930225,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.67486715,"mpcc_pred_id_a":-0.0567095168,"mpcc_pred_iq_a":1.96886885,"mpcc_state":1,"mpcc_theta_e":0.424639225,"mpcc_theta_mech":0.551873803,"sam_rpm":-12.7017822,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182089806,"thr_a_norm":0.0182089806,"thr_a_v":0.572835922,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449517012,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.488426,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.38603449,"cg_iw_a":-1.53804779,"cg_theta_rad":0.554714918,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0223604422,"mpcc_du":49.4784622,"mpcc_dv":49.9592819,"mpcc_dw":50.5215378,"mpcc_enc_sign":1,"mpcc_id_a":2.39640212,"mpcc_iq_a":-1.58986604,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.791419,"mpcc_pred_id_a":0.402949095,"mpcc_pred_iq_a":-3.32805705,"mpcc_state":1,"mpcc_theta_e":0.455839157,"mpcc_theta_mech":0.558113754,"sam_rpm":17.1769905,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100325018,"thr_a_norm":0.100325018,"thr_a_v":0.901300073,"thr_b":0.0462062359,"thr_b_norm":0.0462062359,"thr_b_v":0.684824944,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.511681,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.153744221,"cg_iw_a":-2.40789986,"cg_theta_rad":0.557200015,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.00769998506,"mpcc_du":49.7549858,"mpcc_dv":49.4866562,"mpcc_dw":50.5133438,"mpcc_enc_sign":1,"mpcc_id_a":-0.159524843,"mpcc_iq_a":-1.54636633,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.83408737,"mpcc_pred_id_a":-0.580468833,"mpcc_pred_iq_a":-2.63884377,"mpcc_state":1,"mpcc_theta_e":0.452064514,"mpcc_theta_mech":0.557358861,"sam_rpm":12.3673983,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278267413,"thr_a_norm":0.100325018,"thr_a_v":0.611306965,"thr_b":0,"thr_b_norm":0.0462062359,"thr_b_v":0.49634698,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.518181,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.516182423,"cg_iw_a":-1.32058477,"cg_theta_rad":0.552548051,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.000432029541,"mpcc_du":48.7832146,"mpcc_dv":51.2167854,"mpcc_dw":49.2273102,"mpcc_enc_sign":1,"mpcc_id_a":0.150296137,"mpcc_iq_a":-1.59660852,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.83615029,"mpcc_pred_id_a":-0.696466804,"mpcc_pred_iq_a":-8.93663311,"mpcc_state":1,"mpcc_theta_e":0.444279671,"mpcc_theta_mech":0.555801868,"sam_rpm":2.33765149,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278267413,"thr_a_norm":0.0278267413,"thr_a_v":0.611306965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49634698,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.524712,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.24105906,"cg_iw_a":-1.75551057,"cg_theta_rad":0.557667017,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.00326236314,"mpcc_du":50.7050858,"mpcc_dv":48.2031059,"mpcc_dw":51.7968941,"mpcc_enc_sign":1,"mpcc_id_a":0.194833487,"mpcc_iq_a":-2.17481327,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.767047882,"mpcc_pred_id_a":-0.334880173,"mpcc_pred_iq_a":-3.40972114,"mpcc_state":1,"mpcc_theta_e":0.444928646,"mpcc_theta_mech":0.555931687,"sam_rpm":-23.5363693,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216960311,"thr_a_norm":0.0216960311,"thr_a_v":0.586784124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.531242,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.38603449,"cg_iw_a":0.419119358,"cg_theta_rad":0.554244936,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0153779443,"mpcc_du":49.5140533,"mpcc_dv":49.7863121,"mpcc_dw":50.4859467,"mpcc_enc_sign":1,"mpcc_id_a":1.23577082,"mpcc_iq_a":-0.497748345,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.15299702,"mpcc_pred_id_a":0.186402768,"mpcc_pred_iq_a":-2.7350893,"mpcc_state":1,"mpcc_theta_e":0.448828697,"mpcc_theta_mech":0.556711674,"sam_rpm":12.4412327,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0991165042,"thr_a_norm":0.0216960311,"thr_a_v":0.896466017,"thr_b":0.0432478786,"thr_b_norm":0,"thr_b_v":0.672991514,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.541222,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.60349751,"cg_iw_a":1.28897142,"cg_theta_rad":0.557787359,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.038665466,"mpcc_du":49.4246635,"mpcc_dv":49.5258408,"mpcc_dw":50.5753365,"mpcc_enc_sign":1,"mpcc_id_a":3.47601604,"mpcc_iq_a":2.26735449,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.62036359,"mpcc_pred_id_a":0.584096551,"mpcc_pred_iq_a":-1.291574,"mpcc_state":1,"mpcc_theta_e":0.434319019,"mpcc_theta_mech":0.553809762,"sam_rpm":-3.10846162,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0991165042,"thr_a_norm":0.0991165042,"thr_a_v":0.896466017,"thr_b":0.0432478786,"thr_b_norm":0.0432478786,"thr_b_v":0.672991514,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.551598,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.661157608,"cg_iw_a":-1.90048599,"cg_theta_rad":0.553886354,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.00328217121,"mpcc_du":49.8323631,"mpcc_dv":49.0070457,"mpcc_dw":50.9929543,"mpcc_enc_sign":1,"mpcc_id_a":-0.880178034,"mpcc_iq_a":-0.232927114,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.10558224,"mpcc_pred_id_a":0.311649323,"mpcc_pred_iq_a":-0.652601123,"mpcc_state":1,"mpcc_theta_e":0.434566975,"mpcc_theta_mech":0.554016531,"sam_rpm":-2.97652411,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225142986,"thr_a_norm":0.0225142986,"thr_a_v":0.590057194,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475500137,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.561424,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.951108456,"cg_iw_a":-1.68302298,"cg_theta_rad":0.555735886,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0175826009,"mpcc_du":49.8416367,"mpcc_dv":49.1161728,"mpcc_dw":50.8838272,"mpcc_enc_sign":1,"mpcc_id_a":0.867227018,"mpcc_iq_a":-1.10300899,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.915630996,"mpcc_pred_id_a":0.083138667,"mpcc_pred_iq_a":-3.4390521,"mpcc_state":1,"mpcc_theta_e":0.443874359,"mpcc_theta_mech":0.555720747,"sam_rpm":-0.27528128,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225142986,"thr_a_norm":0.0225142986,"thr_a_v":0.590057194,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475500137,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.571831,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.806133032,"cg_iw_a":-1.03063416,"cg_theta_rad":0.556311786,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0232579261,"mpcc_du":50.4610672,"mpcc_dv":48.4254913,"mpcc_dw":51.5745087,"mpcc_enc_sign":1,"mpcc_id_a":0.295663178,"mpcc_iq_a":-0.785189092,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.29291487,"mpcc_pred_id_a":-0.101525381,"mpcc_pred_iq_a":-2.03129101,"mpcc_state":1,"mpcc_theta_e":0.444342136,"mpcc_theta_mech":0.555814326,"sam_rpm":-7.67171574,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0108445883,"thr_a_norm":0.0108445883,"thr_a_v":0.543378353,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462810725,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.582024,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-2.18339872,"cg_iw_a":-0.378244877,"cg_theta_rad":0.553378046,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0734209418,"mpcc_du":49.8976479,"mpcc_dv":49.1164703,"mpcc_dw":50.8835297,"mpcc_enc_sign":1,"mpcc_id_a":1.42643285,"mpcc_iq_a":-0.274583042,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.37396669,"mpcc_pred_id_a":0.0256979242,"mpcc_pred_iq_a":-3.84494781,"mpcc_state":1,"mpcc_theta_e":0.455359459,"mpcc_theta_mech":0.55801779,"sam_rpm":10.5056591,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206008255,"thr_a_norm":0.0108445883,"thr_a_v":0.582403302,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474744767,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.592033,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.09608364,"cg_iw_a":-0.015806675,"cg_theta_rad":0.553898573,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0497663915,"mpcc_du":50.2123604,"mpcc_dv":48.7289047,"mpcc_dw":51.2710953,"mpcc_enc_sign":1,"mpcc_id_a":0.507994294,"mpcc_iq_a":-0.8420946,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.67828918,"mpcc_pred_id_a":-0.22116296,"mpcc_pred_iq_a":0.024799861,"mpcc_state":1,"mpcc_theta_e":0.446724892,"mpcc_theta_mech":0.556290865,"sam_rpm":-10.9112091,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206008255,"thr_a_norm":0.0206008255,"thr_a_v":0.582403302,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474744767,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.615044,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-2.11091113,"cg_iw_a":0.709069967,"cg_theta_rad":0.55514735,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0566231199,"mpcc_du":50.2638893,"mpcc_dv":48.2718849,"mpcc_dw":51.7281151,"mpcc_enc_sign":1,"mpcc_id_a":4.63631582,"mpcc_iq_a":-0.420833468,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.05859423,"mpcc_pred_id_a":0.941570163,"mpcc_pred_iq_a":1.52723682,"mpcc_state":1,"mpcc_theta_e":0.450150013,"mpcc_theta_mech":0.556975961,"sam_rpm":-3.05594587,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022300303,"thr_a_norm":0.022300303,"thr_a_v":0.589201212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478622139,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.621605,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.878620625,"cg_iw_a":0.419119358,"cg_theta_rad":0.55516082,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.00036212508,"mpcc_du":49.6531296,"mpcc_dv":50.2409706,"mpcc_dw":50.3468704,"mpcc_enc_sign":1,"mpcc_id_a":-0.0220831279,"mpcc_iq_a":-0.956332624,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.82090378,"mpcc_pred_id_a":-0.551582336,"mpcc_pred_iq_a":-4.8508544,"mpcc_state":1,"mpcc_theta_e":0.439604282,"mpcc_theta_mech":0.554866731,"sam_rpm":-3.23186469,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022300303,"thr_a_norm":0.022300303,"thr_a_v":0.589201212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478622139,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.628075,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.6759851,"cg_iw_a":-0.378245115,"cg_theta_rad":0.55418855,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0442126207,"mpcc_du":49.57658,"mpcc_dv":50.3260803,"mpcc_dw":50.42342,"mpcc_enc_sign":1,"mpcc_id_a":2.15068746,"mpcc_iq_a":-0.444870949,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.0703039,"mpcc_pred_id_a":-0.0444923639,"mpcc_pred_iq_a":-4.53104162,"mpcc_state":1,"mpcc_theta_e":0.456216335,"mpcc_theta_mech":0.558189154,"sam_rpm":18.7178841,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265301019,"thr_a_norm":0.0265301019,"thr_a_v":0.606120408,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479880989,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.634636,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.45852208,"cg_iw_a":-0.958146334,"cg_theta_rad":0.555289745,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.00315292669,"mpcc_du":50.8898811,"mpcc_dv":47.9156837,"mpcc_dw":52.0843163,"mpcc_enc_sign":1,"mpcc_id_a":0.207468599,"mpcc_iq_a":-1.15497553,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.42262554,"mpcc_pred_id_a":-0.128096446,"mpcc_pred_iq_a":1.38360465,"mpcc_state":1,"mpcc_theta_e":0.437187672,"mpcc_theta_mech":0.554383457,"sam_rpm":-10.5867672,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212176591,"thr_a_norm":0.0265301019,"thr_a_v":0.584870636,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476607919,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.642601,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.02359605,"cg_iw_a":-0.450732946,"cg_theta_rad":0.557010531,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0553402565,"mpcc_du":49.9475784,"mpcc_dv":48.7773247,"mpcc_dw":51.2226753,"mpcc_enc_sign":1,"mpcc_id_a":4.05404949,"mpcc_iq_a":-1.16279364,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.75484324,"mpcc_pred_id_a":0.695839822,"mpcc_pred_iq_a":-0.825016677,"mpcc_state":1,"mpcc_theta_e":0.449804783,"mpcc_theta_mech":0.556906879,"sam_rpm":8.9124403,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212176591,"thr_a_norm":0.0212176591,"thr_a_v":0.584870636,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476607919,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.652855,"values":{"cg_iu_a":4.51881123,"cg_iv_a":-1.89344811,"cg_iw_a":-2.62536311,"cg_theta_rad":0.557542861,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0260400251,"mpcc_du":49.8767967,"mpcc_dv":49.1630936,"mpcc_dw":50.8369064,"mpcc_enc_sign":1,"mpcc_id_a":1.8683356,"mpcc_iq_a":-0.519044936,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.729454279,"mpcc_pred_id_a":-0.114092,"mpcc_pred_iq_a":-3.10940886,"mpcc_state":1,"mpcc_theta_e":0.446636677,"mpcc_theta_mech":0.556273282,"sam_rpm":0.681481659,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101734951,"thr_a_norm":0.101734951,"thr_a_v":0.906939805,"thr_b":0.0453879535,"thr_b_norm":0.0453879535,"thr_b_v":0.681551814,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.662834,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.60349751,"cg_iw_a":-1.53804779,"cg_theta_rad":0.554572344,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0284778308,"mpcc_du":49.7704735,"mpcc_dv":49.1563263,"mpcc_dw":50.8436737,"mpcc_enc_sign":1,"mpcc_id_a":2.28406668,"mpcc_iq_a":-1.49921751,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.45571089,"mpcc_pred_id_a":0.212777182,"mpcc_pred_iq_a":-2.53422403,"mpcc_state":1,"mpcc_theta_e":0.444047451,"mpcc_theta_mech":0.555881798,"sam_rpm":-3.30471683,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.101734951,"thr_a_norm":0.101734951,"thr_a_v":0.906939805,"thr_b":0.0453879535,"thr_b_norm":0.0453879535,"thr_b_v":0.681551814,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.672935,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.89344811,"cg_iw_a":-0.378245115,"cg_theta_rad":0.552141547,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0197400656,"mpcc_du":49.8241539,"mpcc_dv":49.1547394,"mpcc_dw":50.8452606,"mpcc_enc_sign":1,"mpcc_id_a":-0.158093333,"mpcc_iq_a":-0.383894295,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.44413471,"mpcc_pred_id_a":-0.161411107,"mpcc_pred_iq_a":-2.27633119,"mpcc_state":1,"mpcc_theta_e":0.449877262,"mpcc_theta_mech":0.556921363,"sam_rpm":7.03425598,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222625285,"thr_a_norm":0.0222625285,"thr_a_v":0.589050114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478974611,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.683006,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.02359605,"cg_iw_a":-1.03063393,"cg_theta_rad":0.553254664,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.00285781873,"mpcc_du":49.4516792,"mpcc_dv":49.5737572,"mpcc_dw":50.5483208,"mpcc_enc_sign":1,"mpcc_id_a":0.694733083,"mpcc_iq_a":-0.455731004,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.794552982,"mpcc_pred_id_a":0.507882416,"mpcc_pred_iq_a":-2.06048369,"mpcc_state":1,"mpcc_theta_e":0.433822632,"mpcc_theta_mech":0.553710461,"sam_rpm":4.88482046,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0318802893,"thr_a_norm":0.0222625285,"thr_a_v":0.627521157,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.693016,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.153744221,"cg_iw_a":-1.32058454,"cg_theta_rad":0.557344437,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0214822385,"mpcc_du":49.1112442,"mpcc_dv":50.8887558,"mpcc_dw":50.051857,"mpcc_enc_sign":1,"mpcc_id_a":2.5248239,"mpcc_iq_a":-0.823859751,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.3180504,"mpcc_pred_id_a":0.445603669,"mpcc_pred_iq_a":-1.54271996,"mpcc_state":1,"mpcc_theta_e":0.443353653,"mpcc_theta_mech":0.555616677,"sam_rpm":19.0385799,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0318802893,"thr_a_norm":0.0318802893,"thr_a_v":0.627521157,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.716423,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.298719406,"cg_iw_a":-1.46555996,"cg_theta_rad":0.552859604,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0149445999,"mpcc_du":49.1865768,"mpcc_dv":50.8134232,"mpcc_dw":49.9932098,"mpcc_enc_sign":1,"mpcc_id_a":2.22954774,"mpcc_iq_a":-1.44123435,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.43402863,"mpcc_pred_id_a":0.0548323058,"mpcc_pred_iq_a":-5.38331556,"mpcc_state":1,"mpcc_theta_e":0.448950768,"mpcc_theta_mech":0.556736112,"sam_rpm":14.2936211,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0327614993,"thr_a_norm":0.0327614993,"thr_a_v":0.631045997,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490858287,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.722984,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.226231575,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556832552,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.010564859,"mpcc_du":50.3299026,"mpcc_dv":48.4412727,"mpcc_dw":51.5587273,"mpcc_enc_sign":1,"mpcc_id_a":2.05516911,"mpcc_iq_a":-1.49007642,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.647748,"mpcc_pred_id_a":0.179762289,"mpcc_pred_iq_a":-1.32580328,"mpcc_state":1,"mpcc_theta_e":0.429816246,"mpcc_theta_mech":0.552909136,"sam_rpm":-18.9442196,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0327614993,"thr_a_norm":0.0327614993,"thr_a_v":0.631045997,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490858287,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.729454,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.153744221,"cg_iw_a":-0.740683079,"cg_theta_rad":0.553858697,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.00355646852,"mpcc_du":49.2517662,"mpcc_dv":50.7482338,"mpcc_dw":49.7631454,"mpcc_enc_sign":1,"mpcc_id_a":-0.342719615,"mpcc_iq_a":-1.78017974,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.99161696,"mpcc_pred_id_a":-0.808821201,"mpcc_pred_iq_a":-7.21786261,"mpcc_state":1,"mpcc_theta_e":0.446454525,"mpcc_theta_mech":0.556236863,"sam_rpm":5.93519878,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.047087431,"thr_a_norm":0.047087431,"thr_a_v":0.688349724,"thr_b":0.0154520422,"thr_b_norm":0.0154520422,"thr_b_v":0.561808169,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.736015,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.09608364,"cg_iw_a":-0.958146572,"cg_theta_rad":0.55589813,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0330421813,"mpcc_du":51.1269722,"mpcc_dv":47.3551979,"mpcc_dw":52.6448021,"mpcc_enc_sign":1,"mpcc_id_a":2.09499574,"mpcc_iq_a":0.326159388,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.4122334,"mpcc_pred_id_a":0.477811813,"mpcc_pred_iq_a":2.35480261,"mpcc_state":1,"mpcc_theta_e":0.433439255,"mpcc_theta_mech":0.553633809,"sam_rpm":-16.2004871,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202483386,"thr_a_norm":0.047087431,"thr_a_v":0.580993354,"thr_b":0,"thr_b_norm":0.0154520422,"thr_b_v":0.456365317,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.744133,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.60349751,"cg_iw_a":-0.958146095,"cg_theta_rad":0.552492857,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0677714497,"mpcc_du":49.469883,"mpcc_dv":50.3742523,"mpcc_dw":50.530117,"mpcc_enc_sign":1,"mpcc_id_a":3.92135859,"mpcc_iq_a":1.74039495,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.4877634,"mpcc_pred_id_a":0.669600785,"mpcc_pred_iq_a":-2.45911074,"mpcc_state":1,"mpcc_theta_e":0.448427677,"mpcc_theta_mech":0.556631446,"sam_rpm":15.4591742,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202483386,"thr_a_norm":0.0202483386,"thr_a_v":0.580993354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456365317,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.754204,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.0812563896,"cg_iw_a":-3.85765314,"cg_theta_rad":0.551458418,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0322238915,"mpcc_du":49.6248741,"mpcc_dv":49.4458122,"mpcc_dw":50.5541878,"mpcc_enc_sign":1,"mpcc_id_a":2.08939767,"mpcc_iq_a":-1.23158717,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0278503411,"mpcc_pred_id_a":-0.04598796,"mpcc_pred_iq_a":-5.27856636,"mpcc_state":1,"mpcc_theta_e":0.447919846,"mpcc_theta_mech":0.55652988,"sam_rpm":0.324718237,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0313515663,"thr_a_norm":0.0313515663,"thr_a_v":0.625406265,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471018523,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.766411,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.31354666,"cg_iw_a":0.274143696,"cg_theta_rad":0.557205021,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0050463709,"mpcc_du":49.9060402,"mpcc_dv":49.2454376,"mpcc_dw":50.7545624,"mpcc_enc_sign":1,"mpcc_id_a":-0.478392512,"mpcc_iq_a":-4.26416063,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.83792281,"mpcc_pred_id_a":-0.483051091,"mpcc_pred_iq_a":-2.56714654,"mpcc_state":1,"mpcc_theta_e":0.444531918,"mpcc_theta_mech":0.555852294,"sam_rpm":3.156322,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0949496478,"thr_a_norm":0.0313515663,"thr_a_v":0.879798591,"thr_b":0.0325852633,"thr_b_norm":0,"thr_b_v":0.630341053,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.778221,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.443694592,"cg_iw_a":-0.523220539,"cg_theta_rad":0.555577695,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0255234409,"mpcc_du":50.0306473,"mpcc_dv":48.8083153,"mpcc_dw":51.1916847,"mpcc_enc_sign":1,"mpcc_id_a":1.58562756,"mpcc_iq_a":-0.773617208,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.5375309,"mpcc_pred_id_a":0.26547721,"mpcc_pred_iq_a":-2.94890904,"mpcc_state":1,"mpcc_theta_e":0.456218719,"mpcc_theta_mech":0.558189631,"sam_rpm":4.07900238,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0949496478,"thr_a_norm":0.0949496478,"thr_a_v":0.879798591,"thr_b":0.0325852633,"thr_b_norm":0.0325852633,"thr_b_v":0.630341053,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.788445,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.371207237,"cg_iw_a":-2.48038721,"cg_theta_rad":0.557548046,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0110872118,"mpcc_du":51.2346382,"mpcc_dv":47.3643188,"mpcc_dw":52.6356812,"mpcc_enc_sign":1,"mpcc_id_a":0.830081046,"mpcc_iq_a":-1.02579892,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.1331787,"mpcc_pred_id_a":-0.117852621,"mpcc_pred_iq_a":1.26425171,"mpcc_state":1,"mpcc_theta_e":0.433830261,"mpcc_theta_mech":0.553711951,"sam_rpm":-20.6592884,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452135473,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.798607,"values":{"cg_iu_a":3.79393435,"cg_iv_a":-0.733645439,"cg_iw_a":0.709069729,"cg_theta_rad":0.556065142,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0162545089,"mpcc_du":49.7627525,"mpcc_dv":49.2491341,"mpcc_dw":50.7508659,"mpcc_enc_sign":1,"mpcc_id_a":0.435172677,"mpcc_iq_a":-0.993289649,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.4803648,"mpcc_pred_id_a":-0.118061662,"mpcc_pred_iq_a":-2.19423962,"mpcc_state":1,"mpcc_theta_e":0.447229385,"mpcc_theta_mech":0.556391776,"sam_rpm":6.47169161,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166605562,"thr_a_norm":0.0208274126,"thr_a_v":0.566642225,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475852609,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.8218,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.806133032,"cg_iw_a":-2.04546142,"cg_theta_rad":0.55646646,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0648524314,"mpcc_du":49.5629768,"mpcc_dv":49.681633,"mpcc_dw":50.4370232,"mpcc_enc_sign":1,"mpcc_id_a":1.08364737,"mpcc_iq_a":0.492550403,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.3677673,"mpcc_pred_id_a":-0.287863255,"mpcc_pred_iq_a":-2.43764663,"mpcc_state":1,"mpcc_theta_e":0.463124752,"mpcc_theta_mech":0.559570909,"sam_rpm":26.6963902,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166605562,"thr_a_norm":0.0166605562,"thr_a_v":0.566642225,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475852609,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.828362,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.661157608,"cg_iw_a":-0.59570837,"cg_theta_rad":0.556711197,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.038598001,"mpcc_du":49.4537544,"mpcc_dv":50.2662811,"mpcc_dw":50.5462456,"mpcc_enc_sign":1,"mpcc_id_a":2.58432722,"mpcc_iq_a":-0.718479753,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.777256,"mpcc_pred_id_a":0.42427668,"mpcc_pred_iq_a":-2.59920502,"mpcc_state":1,"mpcc_theta_e":0.461048126,"mpcc_theta_mech":0.559155524,"sam_rpm":28.0316448,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0231940895,"thr_a_norm":0.0231940895,"thr_a_v":0.592776358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492469668,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.834892,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.806133032,"cg_iw_a":-0.305757284,"cg_theta_rad":0.559339046,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.00524599431,"mpcc_du":51.2265778,"mpcc_dv":47.3945351,"mpcc_dw":52.6054649,"mpcc_enc_sign":1,"mpcc_id_a":1.43932939,"mpcc_iq_a":-2.13248467,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.4612322,"mpcc_pred_id_a":-0.114792973,"mpcc_pred_iq_a":2.38304424,"mpcc_state":1,"mpcc_theta_e":0.431446552,"mpcc_theta_mech":0.553235233,"sam_rpm":-19.7915668,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0231940895,"thr_a_norm":0.0231940895,"thr_a_v":0.592776358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492469668,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.841393,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.878620625,"cg_iw_a":0.12916851,"cg_theta_rad":0.554524601,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0094148051,"mpcc_du":49.9735222,"mpcc_dv":49.1625404,"mpcc_dw":50.8374596,"mpcc_enc_sign":1,"mpcc_id_a":0.127640322,"mpcc_iq_a":-1.4531132,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.27311039,"mpcc_pred_id_a":-0.456227154,"mpcc_pred_iq_a":-1.55761075,"mpcc_state":1,"mpcc_theta_e":0.451968193,"mpcc_theta_mech":0.557339549,"sam_rpm":11.3278179,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105712965,"thr_a_norm":0.105712965,"thr_a_v":0.922851861,"thr_b":0.0510402918,"thr_b_norm":0.0510402918,"thr_b_v":0.704161167,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.851585,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.733645439,"cg_iw_a":-0.160782099,"cg_theta_rad":0.557085574,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0159709398,"mpcc_du":49.4329758,"mpcc_dv":49.6872711,"mpcc_dw":50.5670242,"mpcc_enc_sign":1,"mpcc_id_a":2.51536155,"mpcc_iq_a":-0.152830213,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.986850858,"mpcc_pred_id_a":0.558425188,"mpcc_pred_iq_a":-1.76637483,"mpcc_state":1,"mpcc_theta_e":0.436440468,"mpcc_theta_mech":0.554233968,"sam_rpm":1.39207494,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270084739,"thr_a_norm":0.105712965,"thr_a_v":0.608033895,"thr_b":0,"thr_b_norm":0.0510402918,"thr_b_v":0.492771804,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.861229,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.951108456,"cg_iw_a":-0.16078186,"cg_theta_rad":0.555251777,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0501785241,"mpcc_du":50.4357452,"mpcc_dv":48.3171768,"mpcc_dw":51.6828232,"mpcc_enc_sign":1,"mpcc_id_a":2.44858193,"mpcc_iq_a":-1.48979735,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.11742496,"mpcc_pred_id_a":0.197817758,"mpcc_pred_iq_a":-2.64659929,"mpcc_state":1,"mpcc_theta_e":0.445632458,"mpcc_theta_mech":0.556072414,"sam_rpm":-4.89828253,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270084739,"thr_a_norm":0.0270084739,"thr_a_v":0.608033895,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492771804,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.871452,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-1.24105906,"cg_iw_a":0.999020815,"cg_theta_rad":0.554314673,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0367854834,"mpcc_du":50.0068703,"mpcc_dv":48.7615662,"mpcc_dw":51.2384338,"mpcc_enc_sign":1,"mpcc_id_a":2.66312099,"mpcc_iq_a":-1.70760632,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.63589096,"mpcc_pred_id_a":0.400574923,"mpcc_pred_iq_a":-1.98368835,"mpcc_state":1,"mpcc_theta_e":0.452116966,"mpcc_theta_mech":0.557369292,"sam_rpm":6.93850136,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193923116,"thr_a_norm":0.0193923116,"thr_a_v":0.577569246,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467695117,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.881401,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.6759851,"cg_iw_a":0.491606951,"cg_theta_rad":0.556254447,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0114988042,"mpcc_du":49.3746452,"mpcc_dv":50.6253548,"mpcc_dw":50.1258469,"mpcc_enc_sign":1,"mpcc_id_a":0.746449113,"mpcc_iq_a":-0.679114997,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.61082888,"mpcc_pred_id_a":-0.296111792,"mpcc_pred_iq_a":-5.24374199,"mpcc_state":1,"mpcc_theta_e":0.447865486,"mpcc_theta_mech":0.556519032,"sam_rpm":11.7282743,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193923116,"thr_a_norm":0.0193923116,"thr_a_v":0.577569246,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467695117,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.891411,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.24105906,"cg_iw_a":-0.81317091,"cg_theta_rad":0.553451538,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0049655824,"mpcc_du":49.6254005,"mpcc_dv":49.3463936,"mpcc_dw":50.6536064,"mpcc_enc_sign":1,"mpcc_id_a":1.33526492,"mpcc_iq_a":-0.111659378,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.11297822,"mpcc_pred_id_a":0.0231164433,"mpcc_pred_iq_a":0.0472984239,"mpcc_state":1,"mpcc_theta_e":0.437376499,"mpcc_theta_mech":0.554421186,"sam_rpm":2.04990792,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198580921,"thr_a_norm":0.0198580921,"thr_a_v":0.579432368,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473032743,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.901604,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-2.40086174,"cg_iw_a":0.491607189,"cg_theta_rad":0.55240643,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0141162006,"mpcc_du":50.148365,"mpcc_dv":48.8547707,"mpcc_dw":51.1452293,"mpcc_enc_sign":1,"mpcc_id_a":0.325619549,"mpcc_iq_a":-1.72843921,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.77775288,"mpcc_pred_id_a":-0.316075832,"mpcc_pred_iq_a":-3.48154902,"mpcc_state":1,"mpcc_theta_e":0.4460392,"mpcc_theta_mech":0.556153715,"sam_rpm":-3.97190213,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170382112,"thr_a_norm":0.0198580921,"thr_a_v":0.568152845,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440906376,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.924644,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.443694592,"cg_iw_a":-0.668195724,"cg_theta_rad":0.552736163,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0148567781,"mpcc_du":50.1773567,"mpcc_dv":48.8767433,"mpcc_dw":51.1232567,"mpcc_enc_sign":1,"mpcc_id_a":0.50951767,"mpcc_iq_a":-1.34961498,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.735824227,"mpcc_pred_id_a":-0.397632957,"mpcc_pred_iq_a":-2.13590622,"mpcc_state":1,"mpcc_theta_e":0.443553925,"mpcc_theta_mech":0.555656731,"sam_rpm":1.67091274,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170382112,"thr_a_norm":0.0170382112,"thr_a_v":0.568152845,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440906376,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.931145,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.153744221,"cg_iw_a":-2.91531324,"cg_theta_rad":0.558672845,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0149169806,"mpcc_du":49.5343132,"mpcc_dv":50.1751785,"mpcc_dw":50.4656868,"mpcc_enc_sign":1,"mpcc_id_a":2.44339776,"mpcc_iq_a":-2.19495893,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.02007198,"mpcc_pred_id_a":0.0873994157,"mpcc_pred_iq_a":-5.17248964,"mpcc_state":1,"mpcc_theta_e":0.435752869,"mpcc_theta_mech":0.55409652,"sam_rpm":-2.27647901,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0142813027,"thr_a_norm":0.0142813027,"thr_a_v":0.557125211,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439899296,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.937675,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-2.18339872,"cg_iw_a":-1.10312176,"cg_theta_rad":0.555118263,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0499546938,"mpcc_du":49.9850311,"mpcc_dv":48.8146477,"mpcc_dw":51.1853523,"mpcc_enc_sign":1,"mpcc_id_a":2.90822339,"mpcc_iq_a":0.151208058,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.221359089,"mpcc_pred_id_a":0.231753677,"mpcc_pred_iq_a":-5.08998203,"mpcc_state":1,"mpcc_theta_e":0.44374609,"mpcc_theta_mech":0.555695176,"sam_rpm":4.15006685,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0142813027,"thr_a_norm":0.0142813027,"thr_a_v":0.557125211,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439899296,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.944237,"values":{"cg_iu_a":4.30134773,"cg_iv_a":-3.12573838,"cg_iw_a":-1.17560935,"cg_theta_rad":0.558477938,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0264944825,"mpcc_du":50.1114922,"mpcc_dv":48.9987907,"mpcc_dw":51.0012093,"mpcc_enc_sign":1,"mpcc_id_a":0.378085554,"mpcc_iq_a":-0.273010969,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.3139772,"mpcc_pred_id_a":-0.49971962,"mpcc_pred_iq_a":-4.61531448,"mpcc_state":1,"mpcc_theta_e":0.45378685,"mpcc_theta_mech":0.557703316,"sam_rpm":17.2046623,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026051715,"thr_a_norm":0.026051715,"thr_a_v":0.60420686,"thr_b":0.00189402699,"thr_b_norm":0.00189402699,"thr_b_v":0.507576108,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.954185,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.60349751,"cg_iw_a":-1.46555996,"cg_theta_rad":0.555298746,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0397314802,"mpcc_du":49.7797546,"mpcc_dv":49.0528755,"mpcc_dw":50.9471245,"mpcc_enc_sign":1,"mpcc_id_a":3.16015744,"mpcc_iq_a":-1.51371121,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.3072896,"mpcc_pred_id_a":0.416641682,"mpcc_pred_iq_a":-3.25854254,"mpcc_state":1,"mpcc_theta_e":0.447865486,"mpcc_theta_mech":0.556518972,"sam_rpm":2.35766935,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.026051715,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0.00189402699,"thr_b_v":0.480888069,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.965996,"values":{"cg_iu_a":3.72144651,"cg_iv_a":-0.806133032,"cg_iw_a":-2.91531348,"cg_theta_rad":0.554855704,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0499886461,"mpcc_du":50.4041405,"mpcc_dv":48.2619171,"mpcc_dw":51.7380829,"mpcc_enc_sign":1,"mpcc_id_a":2.9318068,"mpcc_iq_a":-0.639222085,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.5734129,"mpcc_pred_id_a":0.426541358,"mpcc_pred_iq_a":-2.39473104,"mpcc_state":1,"mpcc_theta_e":0.441108227,"mpcc_theta_mech":0.555167556,"sam_rpm":-12.4685001,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0272728354,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480888069,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.975182,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.588670254,"cg_iw_a":-0.523220062,"cg_theta_rad":0.554334998,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0688543767,"mpcc_du":50.1124802,"mpcc_dv":48.7818069,"mpcc_dw":51.2181931,"mpcc_enc_sign":1,"mpcc_id_a":2.12728858,"mpcc_iq_a":0.505381644,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.10494804,"mpcc_pred_id_a":0.0760271996,"mpcc_pred_iq_a":-0.725259662,"mpcc_state":1,"mpcc_theta_e":0.45281744,"mpcc_theta_mech":0.557509422,"sam_rpm":13.4468365,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0144449472,"thr_a_norm":0.0144449472,"thr_a_v":0.557779789,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439899296,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.986626,"values":{"cg_iu_a":1.03940296,"cg_iv_a":0.498644829,"cg_iw_a":-1.53804779,"cg_theta_rad":0.556737125,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.0154870208,"mpcc_du":49.0247574,"mpcc_dv":50.9752426,"mpcc_dw":49.75634,"mpcc_enc_sign":1,"mpcc_id_a":2.47810125,"mpcc_iq_a":-1.42573094,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.31433392,"mpcc_pred_id_a":-0.206507027,"mpcc_pred_iq_a":-5.23568296,"mpcc_state":1,"mpcc_theta_e":0.450251102,"mpcc_theta_mech":0.556996167,"sam_rpm":12.7544384,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258125365,"thr_a_norm":0.0144449472,"thr_a_v":0.603250146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491210788,"vdc_v":55.2955055}} +{"type":"telemetry","t":103.996483,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.38603449,"cg_iw_a":-1.90048599,"cg_theta_rad":0.555337548,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5006,"hz_app_loop":368,"hz_tim_isr":10011,"hz_vsense":368,"mpcc_cost":0.030089397,"mpcc_du":49.6134415,"mpcc_dv":49.3653717,"mpcc_dw":50.6346283,"mpcc_enc_sign":1,"mpcc_id_a":1.48983788,"mpcc_iq_a":-1.13706756,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.75375175,"mpcc_pred_id_a":0.0314826444,"mpcc_pred_iq_a":-4.17963791,"mpcc_state":1,"mpcc_theta_e":0.451768398,"mpcc_theta_mech":0.557299554,"sam_rpm":7.33661699,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258125365,"thr_a_norm":0.0258125365,"thr_a_v":0.603250146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491210788,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.020226,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.516182423,"cg_iw_a":-1.75551081,"cg_theta_rad":0.555815518,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9900,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0252097398,"mpcc_du":50.8645058,"mpcc_dv":47.6913948,"mpcc_dw":52.3086052,"mpcc_enc_sign":1,"mpcc_id_a":2.87131214,"mpcc_iq_a":0.106411897,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.97725582,"mpcc_pred_id_a":0.314192653,"mpcc_pred_iq_a":2.76070881,"mpcc_state":1,"mpcc_theta_e":0.433021545,"mpcc_theta_mech":0.553550184,"sam_rpm":-13.3644514,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280659199,"thr_a_norm":0.0280659199,"thr_a_v":0.61226368,"thr_b":0.00541886687,"thr_b_norm":0.00541886687,"thr_b_v":0.521675467,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.026726,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.733645439,"cg_iw_a":-0.523220539,"cg_theta_rad":0.554673493,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0151005452,"mpcc_du":49.5799217,"mpcc_dv":49.5611725,"mpcc_dw":50.4388275,"mpcc_enc_sign":1,"mpcc_id_a":-0.0980876237,"mpcc_iq_a":-0.598057687,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.72733831,"mpcc_pred_id_a":-0.338785201,"mpcc_pred_iq_a":-3.91440415,"mpcc_state":1,"mpcc_theta_e":0.446112156,"mpcc_theta_mech":0.556168318,"sam_rpm":4.67864227,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0168619752,"thr_a_norm":0.0280659199,"thr_a_v":0.567447901,"thr_b":0,"thr_b_norm":0.00541886687,"thr_b_v":0.435619116,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.033287,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.661157608,"cg_iw_a":0.12916851,"cg_theta_rad":0.556382179,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.00282393163,"mpcc_du":50.5499268,"mpcc_dv":48.0914688,"mpcc_dw":51.9085312,"mpcc_enc_sign":1,"mpcc_id_a":0.924684227,"mpcc_iq_a":-0.650662959,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.6177263,"mpcc_pred_id_a":0.190066963,"mpcc_pred_iq_a":0.532339334,"mpcc_state":1,"mpcc_theta_e":0.430688858,"mpcc_theta_mech":0.553083718,"sam_rpm":-17.5900383,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0168619752,"thr_a_norm":0.0168619752,"thr_a_v":0.567447901,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.435619116,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.039787,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.588670254,"cg_iw_a":-1.46555996,"cg_theta_rad":0.55583638,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0329022035,"mpcc_du":50.5664711,"mpcc_dv":47.871521,"mpcc_dw":52.128479,"mpcc_enc_sign":1,"mpcc_id_a":3.38445997,"mpcc_iq_a":0.0290496331,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.4106083,"mpcc_pred_id_a":0.6246773,"mpcc_pred_iq_a":0.211083174,"mpcc_state":1,"mpcc_theta_e":0.426641941,"mpcc_theta_mech":0.552274346,"sam_rpm":-24.2138672,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201224536,"thr_a_norm":0.0201224536,"thr_a_v":0.580489814,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448661,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.047813,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-2.40086174,"cg_iw_a":1.57892179,"cg_theta_rad":0.557030439,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0279564355,"mpcc_du":50.6524544,"mpcc_dv":47.9354515,"mpcc_dw":52.0645485,"mpcc_enc_sign":1,"mpcc_id_a":3.07242775,"mpcc_iq_a":0.208488747,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.2893839,"mpcc_pred_id_a":0.336147189,"mpcc_pred_iq_a":0.879642308,"mpcc_state":1,"mpcc_theta_e":0.42945528,"mpcc_theta_mech":0.552837014,"sam_rpm":-20.1032677,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201224536,"thr_a_norm":0.0201224536,"thr_a_v":0.580489814,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448661,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.058037,"values":{"cg_iu_a":4.30134773,"cg_iv_a":-1.60349751,"cg_iw_a":-2.69785023,"cg_theta_rad":0.554818034,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.00412739487,"mpcc_du":49.3540535,"mpcc_dv":50.6459465,"mpcc_dw":49.9308968,"mpcc_enc_sign":1,"mpcc_id_a":0.0128724882,"mpcc_iq_a":-0.371446759,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.24847627,"mpcc_pred_id_a":-0.669835567,"mpcc_pred_iq_a":-2.13474798,"mpcc_state":1,"mpcc_theta_e":0.439064503,"mpcc_theta_mech":0.554758847,"sam_rpm":22.4579811,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176424831,"thr_a_norm":0.0176424831,"thr_a_v":0.570569932,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447502851,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.068382,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.02359605,"cg_iw_a":-1.24809718,"cg_theta_rad":0.552572668,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0173521154,"mpcc_du":50.5821075,"mpcc_dv":48.0599861,"mpcc_dw":51.9400139,"mpcc_enc_sign":1,"mpcc_id_a":2.3182528,"mpcc_iq_a":-1.44579291,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.8754539,"mpcc_pred_id_a":0.244790226,"mpcc_pred_iq_a":-0.74393332,"mpcc_state":1,"mpcc_theta_e":0.420832157,"mpcc_theta_mech":0.553507149,"sam_rpm":-34.0474586,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019077599,"thr_a_norm":0.0176424831,"thr_a_v":0.576310396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.080193,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.02359605,"cg_iw_a":-0.160782099,"cg_theta_rad":0.556871355,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.00034276786,"mpcc_du":49.6661263,"mpcc_dv":49.8556404,"mpcc_dw":50.3338737,"mpcc_enc_sign":1,"mpcc_id_a":-0.356890678,"mpcc_iq_a":-2.14470267,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.21251106,"mpcc_pred_id_a":-0.636273444,"mpcc_pred_iq_a":-2.35855508,"mpcc_state":1,"mpcc_theta_e":0.446630478,"mpcc_theta_mech":0.55627197,"sam_rpm":11.8176527,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019077599,"thr_a_norm":0.019077599,"thr_a_v":0.576310396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.090416,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.45852208,"cg_iw_a":-3.27775192,"cg_theta_rad":0.554510653,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0148450416,"mpcc_du":50.1210289,"mpcc_dv":48.6246109,"mpcc_dw":51.3753891,"mpcc_enc_sign":1,"mpcc_id_a":2.28071046,"mpcc_iq_a":-0.297831535,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.1701984,"mpcc_pred_id_a":0.439266235,"mpcc_pred_iq_a":-2.03946304,"mpcc_state":1,"mpcc_theta_e":0.427103519,"mpcc_theta_mech":0.552366614,"sam_rpm":-21.3445969,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227912515,"thr_a_norm":0.0227912515,"thr_a_v":0.591165006,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.100609,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-2.40086174,"cg_iw_a":-0.740683556,"cg_theta_rad":0.556631446,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0158439651,"mpcc_du":50.0072937,"mpcc_dv":49.0834007,"mpcc_dw":50.9165993,"mpcc_enc_sign":1,"mpcc_id_a":0.259728879,"mpcc_iq_a":-0.860748768,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.460367888,"mpcc_pred_id_a":-0.299739957,"mpcc_pred_iq_a":-2.79333425,"mpcc_state":1,"mpcc_theta_e":0.444288731,"mpcc_theta_mech":0.555803657,"sam_rpm":0.208393469,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225646496,"thr_a_norm":0.0227912515,"thr_a_v":0.590258598,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487434179,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.123833,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.733645439,"cg_iw_a":-2.48038721,"cg_theta_rad":0.556429803,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.035750553,"mpcc_du":49.7551727,"mpcc_dv":49.9590836,"mpcc_dw":50.5062027,"mpcc_enc_sign":1,"mpcc_id_a":2.93087196,"mpcc_iq_a":-0.643495083,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.60548818,"mpcc_pred_id_a":0.324375868,"mpcc_pred_iq_a":-3.17192602,"mpcc_state":1,"mpcc_theta_e":0.442565918,"mpcc_theta_mech":0.555459142,"sam_rpm":-1.80011904,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225646496,"thr_a_norm":0.0225646496,"thr_a_v":0.590258598,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487434179,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.130363,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.661157608,"cg_iw_a":-0.523220539,"cg_theta_rad":0.55709523,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.00196246034,"mpcc_du":49.7470589,"mpcc_dv":49.5206299,"mpcc_dw":50.4793701,"mpcc_enc_sign":1,"mpcc_id_a":0.52758944,"mpcc_iq_a":-0.471204013,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.38706636,"mpcc_pred_id_a":-0.189388573,"mpcc_pred_iq_a":-3.49213552,"mpcc_state":1,"mpcc_theta_e":0.434702396,"mpcc_theta_mech":0.554791093,"sam_rpm":-11.351613,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0939047784,"thr_a_norm":0.0939047784,"thr_a_v":0.875619113,"thr_b":0.0418631285,"thr_b_norm":0.0418631285,"thr_b_v":0.667452514,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.136864,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.09608364,"cg_iw_a":-1.39307261,"cg_theta_rad":0.556711674,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0179614462,"mpcc_du":50.6058464,"mpcc_dv":47.893055,"mpcc_dw":52.106945,"mpcc_enc_sign":1,"mpcc_id_a":2.62553358,"mpcc_iq_a":-0.424935639,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.97215557,"mpcc_pred_id_a":0.754925311,"mpcc_pred_iq_a":2.11968565,"mpcc_state":1,"mpcc_theta_e":0.432837009,"mpcc_theta_mech":0.553513348,"sam_rpm":-13.823432,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0939047784,"thr_a_norm":0.0939047784,"thr_a_v":0.875619113,"thr_b":0.0418631285,"thr_b_norm":0.0418631285,"thr_b_v":0.667452514,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.143394,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.16857147,"cg_iw_a":-1.39307213,"cg_theta_rad":0.552829385,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0164110865,"mpcc_du":49.6033363,"mpcc_dv":49.3333054,"mpcc_dw":50.6666946,"mpcc_enc_sign":1,"mpcc_id_a":2.23237658,"mpcc_iq_a":-1.94265985,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.50319886,"mpcc_pred_id_a":0.218292132,"mpcc_pred_iq_a":-3.4815948,"mpcc_state":1,"mpcc_theta_e":0.44549799,"mpcc_theta_mech":0.556045473,"sam_rpm":2.89840674,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0249061584,"thr_a_norm":0.0249061584,"thr_a_v":0.599624634,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.153587,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.153744221,"cg_iw_a":-1.61053538,"cg_theta_rad":0.556434274,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0283037499,"mpcc_du":49.5075226,"mpcc_dv":49.4448166,"mpcc_dw":50.5551834,"mpcc_enc_sign":1,"mpcc_id_a":2.5966723,"mpcc_iq_a":-0.17876111,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.10453033,"mpcc_pred_id_a":0.246808767,"mpcc_pred_iq_a":-1.43629313,"mpcc_state":1,"mpcc_theta_e":0.449227333,"mpcc_theta_mech":0.556791425,"sam_rpm":13.3600836,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025799945,"thr_a_norm":0.0249061584,"thr_a_v":0.60319978,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492922872,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.163414,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-1.53100967,"cg_iw_a":1.43394661,"cg_theta_rad":0.55192554,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0187115166,"mpcc_du":49.5762901,"mpcc_dv":49.2399254,"mpcc_dw":50.7600746,"mpcc_enc_sign":1,"mpcc_id_a":2.59597826,"mpcc_iq_a":-1.68871975,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.836333752,"mpcc_pred_id_a":0.565778196,"mpcc_pred_iq_a":-2.65407372,"mpcc_state":1,"mpcc_theta_e":0.442508698,"mpcc_theta_mech":0.555447638,"sam_rpm":1.68782985,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025799945,"thr_a_norm":0.025799945,"thr_a_v":0.60319978,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492922872,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.173485,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.38603449,"cg_iw_a":-0.16078186,"cg_theta_rad":0.555869341,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.00250886078,"mpcc_du":49.1847916,"mpcc_dv":49.3431664,"mpcc_dw":50.6568336,"mpcc_enc_sign":1,"mpcc_id_a":0.922623396,"mpcc_iq_a":-1.31900191,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.73105621,"mpcc_pred_id_a":-0.164202303,"mpcc_pred_iq_a":-3.9151063,"mpcc_state":1,"mpcc_theta_e":0.446636677,"mpcc_theta_mech":0.554758787,"sam_rpm":13.5807133,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254600644,"thr_a_norm":0.0254600644,"thr_a_v":0.601840258,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483204395,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.183403,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.89344811,"cg_iw_a":0.999020815,"cg_theta_rad":0.555005133,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.00332881231,"mpcc_du":49.6012383,"mpcc_dv":50.3987617,"mpcc_dw":50.1794052,"mpcc_enc_sign":1,"mpcc_id_a":-0.381982356,"mpcc_iq_a":-2.36472607,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.1329546,"mpcc_pred_id_a":-0.773702204,"mpcc_pred_iq_a":-2.94317484,"mpcc_state":1,"mpcc_theta_e":0.446666718,"mpcc_theta_mech":0.556279242,"sam_rpm":11.5985708,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254600644,"thr_a_norm":0.0254600644,"thr_a_v":0.601840258,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483204395,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.193382,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.09608364,"cg_iw_a":0.0566806793,"cg_theta_rad":0.554096401,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.072071217,"mpcc_du":50.3446236,"mpcc_dv":48.4374542,"mpcc_dw":51.5625458,"mpcc_enc_sign":1,"mpcc_id_a":2.70222545,"mpcc_iq_a":-0.458526462,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.15819895,"mpcc_pred_id_a":0.321126729,"mpcc_pred_iq_a":-2.18536115,"mpcc_state":1,"mpcc_theta_e":0.448056221,"mpcc_theta_mech":0.556557178,"sam_rpm":-0.279697597,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44362554,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.203575,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.6759851,"cg_iw_a":-1.17560935,"cg_theta_rad":0.556793034,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0234406199,"mpcc_du":49.5101776,"mpcc_dv":49.4505005,"mpcc_dw":50.5494995,"mpcc_enc_sign":1,"mpcc_id_a":2.65829015,"mpcc_iq_a":0.123426035,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.32753658,"mpcc_pred_id_a":0.320815444,"mpcc_pred_iq_a":-0.315707028,"mpcc_state":1,"mpcc_theta_e":0.446662426,"mpcc_theta_mech":0.556278408,"sam_rpm":13.6646776,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248558074,"thr_a_norm":0.0200217366,"thr_a_v":0.59942323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472680271,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.227837,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.516182423,"cg_iw_a":-2.62536287,"cg_theta_rad":0.557149947,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.00179834606,"mpcc_du":48.9468689,"mpcc_dv":51.0531311,"mpcc_dw":49.4126358,"mpcc_enc_sign":1,"mpcc_id_a":0.57983768,"mpcc_iq_a":-0.535253406,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.1215439,"mpcc_pred_id_a":-0.203955621,"mpcc_pred_iq_a":2.0395658,"mpcc_state":1,"mpcc_theta_e":0.427023411,"mpcc_theta_mech":0.552350581,"sam_rpm":12.2886829,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248558074,"thr_a_norm":0.0248558074,"thr_a_v":0.59942323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472680271,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.234337,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.951108456,"cg_iw_a":0.78155756,"cg_theta_rad":0.552772522,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.000218781861,"mpcc_du":49.6379929,"mpcc_dv":50.2802086,"mpcc_dw":50.3620071,"mpcc_enc_sign":1,"mpcc_id_a":-0.0279191732,"mpcc_iq_a":-2.19507146,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.8969316,"mpcc_pred_id_a":-0.15260148,"mpcc_pred_iq_a":-1.7055099,"mpcc_state":1,"mpcc_theta_e":0.432364941,"mpcc_theta_mech":0.553418934,"sam_rpm":5.18590689,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0145582408,"thr_a_norm":0.0145582408,"thr_a_v":0.558232963,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.240868,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.371207237,"cg_iw_a":-2.62536287,"cg_theta_rad":0.551003456,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0216500498,"mpcc_du":49.4821472,"mpcc_dv":49.7264137,"mpcc_dw":50.5178528,"mpcc_enc_sign":1,"mpcc_id_a":2.52533507,"mpcc_iq_a":-0.318957329,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.47564507,"mpcc_pred_id_a":0.331690788,"mpcc_pred_iq_a":-2.41467667,"mpcc_state":1,"mpcc_theta_e":0.445029736,"mpcc_theta_mech":0.555951893,"sam_rpm":7.57360458,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0145582408,"thr_a_norm":0.0145582408,"thr_a_v":0.558232963,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.247368,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.31354666,"cg_iw_a":-2.11794901,"cg_theta_rad":0.55660814,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.000411074492,"mpcc_du":49.2955475,"mpcc_dv":50.7044525,"mpcc_dw":49.9347076,"mpcc_enc_sign":1,"mpcc_id_a":-0.0546237938,"mpcc_iq_a":-2.19456935,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.41868258,"mpcc_pred_id_a":-0.376959413,"mpcc_pred_iq_a":-5.53800535,"mpcc_state":1,"mpcc_theta_e":0.444531918,"mpcc_theta_mech":0.555852294,"sam_rpm":6.28159285,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244026035,"thr_a_norm":0.0244026035,"thr_a_v":0.597610414,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477514297,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.256828,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.98076296,"cg_iw_a":-3.71267796,"cg_theta_rad":0.554278076,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.00602957373,"mpcc_du":49.4043083,"mpcc_dv":50.5956917,"mpcc_dw":50.1509361,"mpcc_enc_sign":1,"mpcc_id_a":0.10529159,"mpcc_iq_a":-2.03659749,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.46988153,"mpcc_pred_id_a":-0.228788197,"mpcc_pred_iq_a":-3.08704567,"mpcc_state":1,"mpcc_theta_e":0.442329407,"mpcc_theta_mech":0.555411816,"sam_rpm":9.35830402,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0476790965,"thr_a_norm":0.0244026035,"thr_a_v":0.690716386,"thr_b":0.0169878602,"thr_b_norm":0,"thr_b_v":0.567951441,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.266563,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.371207237,"cg_iw_a":0.129168987,"cg_theta_rad":0.555745661,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.00203514518,"mpcc_du":49.5889397,"mpcc_dv":50.1369476,"mpcc_dw":50.4110603,"mpcc_enc_sign":1,"mpcc_id_a":0.771935821,"mpcc_iq_a":-0.965407491,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.52372122,"mpcc_pred_id_a":-0.143657237,"mpcc_pred_iq_a":-3.19061327,"mpcc_state":1,"mpcc_theta_e":0.444194794,"mpcc_theta_mech":0.555784881,"sam_rpm":5.87371731,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0476790965,"thr_a_norm":0.0476790965,"thr_a_v":0.690716386,"thr_b":0.0169878602,"thr_b_norm":0.0169878602,"thr_b_v":0.567951441,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.276817,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-0.661157608,"cg_iw_a":0.564094543,"cg_theta_rad":0.556936502,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0161444638,"mpcc_du":50.1326714,"mpcc_dv":48.8474121,"mpcc_dw":51.1525879,"mpcc_enc_sign":1,"mpcc_id_a":-0.0218523312,"mpcc_iq_a":-1.60980999,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.154246107,"mpcc_pred_id_a":-0.101628065,"mpcc_pred_iq_a":-2.75825977,"mpcc_state":1,"mpcc_theta_e":0.447554111,"mpcc_theta_mech":0.556456745,"sam_rpm":0.312541753,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0142435282,"thr_a_norm":0.0142435282,"thr_a_v":0.556974113,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446596503,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.286827,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.31354666,"cg_iw_a":-1.75551057,"cg_theta_rad":0.557473838,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.00161223311,"mpcc_du":49.8034744,"mpcc_dv":49.3198013,"mpcc_dw":50.6801987,"mpcc_enc_sign":1,"mpcc_id_a":0.464862913,"mpcc_iq_a":-0.261424482,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.59800863,"mpcc_pred_id_a":-0.321738243,"mpcc_pred_iq_a":0.0563412979,"mpcc_state":1,"mpcc_theta_e":0.441378593,"mpcc_theta_mech":0.555221617,"sam_rpm":8.38236141,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0142435282,"thr_a_norm":0.0142435282,"thr_a_v":0.556974113,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446596503,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.297173,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.02359605,"cg_iw_a":0.564094782,"cg_theta_rad":0.551557958,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0133909034,"mpcc_du":49.5818481,"mpcc_dv":49.5909195,"mpcc_dw":50.4181519,"mpcc_enc_sign":1,"mpcc_id_a":0.719703436,"mpcc_iq_a":-1.40729165,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.717226088,"mpcc_pred_id_a":-0.11697717,"mpcc_pred_iq_a":-4.21736383,"mpcc_state":1,"mpcc_theta_e":0.446536541,"mpcc_theta_mech":0.556253195,"sam_rpm":6.89576721,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197825581,"thr_a_norm":0.0197825581,"thr_a_v":0.579130232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456818491,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.307152,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.53100967,"cg_iw_a":-1.61053562,"cg_theta_rad":0.555893719,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0578935035,"mpcc_du":49.5163765,"mpcc_dv":50.4836235,"mpcc_dw":50.4217186,"mpcc_enc_sign":1,"mpcc_id_a":1.63223767,"mpcc_iq_a":-1.00385904,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.7868137,"mpcc_pred_id_a":0.222731009,"mpcc_pred_iq_a":-5.0261116,"mpcc_state":1,"mpcc_theta_e":0.46604681,"mpcc_theta_mech":0.560155272,"sam_rpm":28.2741547,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297402143,"thr_a_norm":0.0197825581,"thr_a_v":0.618960857,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451783001,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.330193,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-1.31354666,"cg_iw_a":1.14399576,"cg_theta_rad":0.556398153,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0299993735,"mpcc_du":50.5151443,"mpcc_dv":48.1272469,"mpcc_dw":51.8727531,"mpcc_enc_sign":1,"mpcc_id_a":2.31191373,"mpcc_iq_a":-0.255303621,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.76193666,"mpcc_pred_id_a":0.601129651,"mpcc_pred_iq_a":0.29164499,"mpcc_state":1,"mpcc_theta_e":0.441649437,"mpcc_theta_mech":0.555275798,"sam_rpm":-6.63859749,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297402143,"thr_a_norm":0.0297402143,"thr_a_v":0.618960857,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451783001,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.336723,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-3.48817682,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556633472,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0073576658,"mpcc_du":50.617321,"mpcc_dv":48.3061867,"mpcc_dw":51.6938133,"mpcc_enc_sign":1,"mpcc_id_a":-1.57815051,"mpcc_iq_a":-2.02553511,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.118786573,"mpcc_pred_id_a":-0.630252123,"mpcc_pred_iq_a":-1.61282134,"mpcc_state":1,"mpcc_theta_e":0.443892002,"mpcc_theta_mech":0.555724323,"sam_rpm":-20.7903709,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.045627147,"thr_a_norm":0.045627147,"thr_a_v":0.682508588,"thr_b":0.0151750892,"thr_b_norm":0.0151750892,"thr_b_v":0.560700357,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.343254,"values":{"cg_iu_a":4.51881123,"cg_iv_a":-1.24105906,"cg_iw_a":-3.27775216,"cg_theta_rad":0.554396808,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0342547148,"mpcc_du":50.0551033,"mpcc_dv":48.9752235,"mpcc_dw":51.0247765,"mpcc_enc_sign":1,"mpcc_id_a":1.19020593,"mpcc_iq_a":1.10950017,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.79955983,"mpcc_pred_id_a":-0.175734267,"mpcc_pred_iq_a":-2.34231091,"mpcc_state":1,"mpcc_theta_e":0.439857006,"mpcc_theta_mech":0.554917336,"sam_rpm":-5.64179659,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.045627147,"thr_a_norm":0.045627147,"thr_a_v":0.682508588,"thr_b":0.0151750892,"thr_b_norm":0.0151750892,"thr_b_v":0.560700357,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.349754,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.588670254,"cg_iw_a":-1.46555996,"cg_theta_rad":0.553565264,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.00485456968,"mpcc_du":48.92519,"mpcc_dv":51.07481,"mpcc_dw":49.4745636,"mpcc_enc_sign":1,"mpcc_id_a":0.141086996,"mpcc_iq_a":-1.08891702,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.4360504,"mpcc_pred_id_a":-0.441836298,"mpcc_pred_iq_a":-6.09655428,"mpcc_state":1,"mpcc_theta_e":0.454133511,"mpcc_theta_mech":0.557772577,"sam_rpm":19.5985699,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296898633,"thr_a_norm":0.0296898633,"thr_a_v":0.618759453,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44916454,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.35775,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.31354666,"cg_iw_a":-0.523220539,"cg_theta_rad":0.556768179,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0160736982,"mpcc_du":49.5367088,"mpcc_dv":50.2033424,"mpcc_dw":50.4632912,"mpcc_enc_sign":1,"mpcc_id_a":2.3486445,"mpcc_iq_a":-1.52206886,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.7618732,"mpcc_pred_id_a":0.157903463,"mpcc_pred_iq_a":-1.60991561,"mpcc_state":1,"mpcc_theta_e":0.456558704,"mpcc_theta_mech":0.558257699,"sam_rpm":24.8538933,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192286521,"thr_a_norm":0.0296898633,"thr_a_v":0.576914608,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454753935,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.367363,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-2.18339872,"cg_iw_a":-0.523220301,"cg_theta_rad":0.555310428,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0149867469,"mpcc_du":50.1522026,"mpcc_dv":48.6613312,"mpcc_dw":51.3386688,"mpcc_enc_sign":1,"mpcc_id_a":2.44771957,"mpcc_iq_a":-1.67543316,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.6702738,"mpcc_pred_id_a":0.173572168,"mpcc_pred_iq_a":-2.49538398,"mpcc_state":1,"mpcc_theta_e":0.431499004,"mpcc_theta_mech":0.553245723,"sam_rpm":-19.5291805,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192286521,"thr_a_norm":0.0192286521,"thr_a_v":0.576914608,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454753935,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.377586,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.371207237,"cg_iw_a":-0.740683079,"cg_theta_rad":0.553776503,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0615741052,"mpcc_du":49.8271828,"mpcc_dv":48.8340721,"mpcc_dw":51.1659279,"mpcc_enc_sign":1,"mpcc_id_a":4.23010015,"mpcc_iq_a":-1.79771411,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.367173314,"mpcc_pred_id_a":0.806524932,"mpcc_pred_iq_a":-3.34250569,"mpcc_state":1,"mpcc_theta_e":0.448282719,"mpcc_theta_mech":0.556602478,"sam_rpm":-0.00547258928,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02592583,"thr_a_norm":0.02592583,"thr_a_v":0.60370332,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49332568,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.387566,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.226231575,"cg_iw_a":-0.523220539,"cg_theta_rad":0.554123938,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.129150376,"mpcc_du":50.237339,"mpcc_dv":48.509903,"mpcc_dw":51.490097,"mpcc_enc_sign":1,"mpcc_id_a":2.46994925,"mpcc_iq_a":2.06703734,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.428812295,"mpcc_pred_id_a":0.293532103,"mpcc_pred_iq_a":-2.13985419,"mpcc_state":1,"mpcc_theta_e":0.448505878,"mpcc_theta_mech":0.556647122,"sam_rpm":0.187617376,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02592583,"thr_a_norm":0.02592583,"thr_a_v":0.60370332,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49332568,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.397636,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.82096052,"cg_iw_a":0.346631527,"cg_theta_rad":0.555287242,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.00773538603,"mpcc_du":49.7076302,"mpcc_dv":49.2214584,"mpcc_dw":50.7785416,"mpcc_enc_sign":1,"mpcc_id_a":1.75326228,"mpcc_iq_a":-2.27172661,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.76677668,"mpcc_pred_id_a":0.120810017,"mpcc_pred_iq_a":-2.44181871,"mpcc_state":1,"mpcc_theta_e":0.44596386,"mpcc_theta_mech":0.556138694,"sam_rpm":1.94726408,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163962096,"thr_a_norm":0.0163962096,"thr_a_v":0.565584838,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458480179,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.407768,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.60349751,"cg_iw_a":-1.24809694,"cg_theta_rad":0.55373323,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0721265078,"mpcc_du":49.7392883,"mpcc_dv":49.1007271,"mpcc_dw":50.8992729,"mpcc_enc_sign":1,"mpcc_id_a":2.23478651,"mpcc_iq_a":-0.436237872,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.73374128,"mpcc_pred_id_a":0.444036692,"mpcc_pred_iq_a":-3.54276323,"mpcc_state":1,"mpcc_theta_e":0.454874992,"mpcc_theta_mech":0.557920873,"sam_rpm":11.2914782,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216960311,"thr_a_norm":0.0163962096,"thr_a_v":0.586784124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467241913,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.430779,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.516182423,"cg_iw_a":0.201656342,"cg_theta_rad":0.55292815,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":5.86310343e-05,"mpcc_du":50.3473129,"mpcc_dv":48.6625824,"mpcc_dw":51.3374176,"mpcc_enc_sign":1,"mpcc_id_a":-0.0283443723,"mpcc_iq_a":-2.26335883,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.6765347,"mpcc_pred_id_a":-0.423189014,"mpcc_pred_iq_a":-5.61997461,"mpcc_state":1,"mpcc_theta_e":0.453883171,"mpcc_theta_mech":0.557722509,"sam_rpm":1.41577756,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216960311,"thr_a_norm":0.0216960311,"thr_a_v":0.586784124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467241913,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.437279,"values":{"cg_iu_a":4.2288599,"cg_iv_a":-0.443694592,"cg_iw_a":0.0566809177,"cg_theta_rad":0.560637534,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0107713426,"mpcc_du":50.5106201,"mpcc_dv":48.3702049,"mpcc_dw":51.6297951,"mpcc_enc_sign":1,"mpcc_id_a":0.445154786,"mpcc_iq_a":-0.477764517,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.8092442,"mpcc_pred_id_a":-0.244056731,"mpcc_pred_iq_a":-1.58388329,"mpcc_state":1,"mpcc_theta_e":0.43274498,"mpcc_theta_mech":0.553494871,"sam_rpm":-16.7147579,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182089806,"thr_a_norm":0.0182089806,"thr_a_v":0.572835922,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449768841,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.444176,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-3.99559045,"cg_iw_a":3.46360135,"cg_theta_rad":0.552594125,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0388647728,"mpcc_du":49.9224243,"mpcc_dv":48.192524,"mpcc_dw":51.807476,"mpcc_enc_sign":1,"mpcc_id_a":1.80400133,"mpcc_iq_a":0.85771662,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.77285576,"mpcc_pred_id_a":0.317810565,"mpcc_pred_iq_a":-0.606231093,"mpcc_state":1,"mpcc_theta_e":0.446439743,"mpcc_theta_mech":0.556233823,"sam_rpm":7.10520744,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182089806,"thr_a_norm":0.0182089806,"thr_a_v":0.572835922,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449768841,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.450371,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.450732708,"cg_theta_rad":0.554531932,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.00810777023,"mpcc_du":50.6244087,"mpcc_dv":48.2529144,"mpcc_dw":51.7470856,"mpcc_enc_sign":1,"mpcc_id_a":0.49308455,"mpcc_iq_a":-1.20709252,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.13488102,"mpcc_pred_id_a":-0.0742039308,"mpcc_pred_iq_a":1.94130051,"mpcc_state":1,"mpcc_theta_e":0.447567463,"mpcc_theta_mech":0.556459427,"sam_rpm":6.8353734,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203112811,"thr_a_norm":0.0203112811,"thr_a_v":0.581245124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471572429,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.460594,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.74847269,"cg_iw_a":-0.885658741,"cg_theta_rad":0.553872406,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0245490372,"mpcc_du":50.0053253,"mpcc_dv":49.0925369,"mpcc_dw":50.9074631,"mpcc_enc_sign":1,"mpcc_id_a":0.899764597,"mpcc_iq_a":-1.03040373,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.277510196,"mpcc_pred_id_a":-0.335278809,"mpcc_pred_iq_a":-3.74043417,"mpcc_state":1,"mpcc_theta_e":0.447185993,"mpcc_theta_mech":0.556383073,"sam_rpm":-0.320783019,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023483634,"thr_a_norm":0.0203112811,"thr_a_v":0.593934536,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.47039,"values":{"cg_iu_a":1.69179153,"cg_iv_a":1.7309351,"cg_iw_a":-3.42272663,"cg_theta_rad":0.555614412,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0146909934,"mpcc_du":49.905838,"mpcc_dv":49.0883369,"mpcc_dw":50.9116631,"mpcc_enc_sign":1,"mpcc_id_a":0.784541309,"mpcc_iq_a":-0.601267755,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.12424135,"mpcc_pred_id_a":-0.0235693343,"mpcc_pred_iq_a":-1.34795535,"mpcc_state":1,"mpcc_theta_e":0.444801807,"mpcc_theta_mech":0.555906296,"sam_rpm":7.35635471,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023483634,"thr_a_norm":0.023483634,"thr_a_v":0.593934536,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.480553,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.733645439,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.553397059,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0128495293,"mpcc_du":49.6630554,"mpcc_dv":49.2972488,"mpcc_dw":50.7027512,"mpcc_enc_sign":1,"mpcc_id_a":2.12142849,"mpcc_iq_a":0.922167599,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.11722064,"mpcc_pred_id_a":0.146636531,"mpcc_pred_iq_a":0.920147955,"mpcc_state":1,"mpcc_theta_e":0.428294659,"mpcc_theta_mech":0.552604854,"sam_rpm":-3.71492338,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292114764,"thr_a_norm":0.0292114764,"thr_a_v":0.616845906,"thr_b":0.00485236943,"thr_b_norm":0.00485236943,"thr_b_v":0.519409478,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.490532,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.226231575,"cg_iw_a":-1.24809742,"cg_theta_rad":0.554572821,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0407372415,"mpcc_du":49.5659866,"mpcc_dv":49.5532837,"mpcc_dw":50.4467163,"mpcc_enc_sign":1,"mpcc_id_a":0.198529109,"mpcc_iq_a":-2.24807811,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.8714285,"mpcc_pred_id_a":-0.089155443,"mpcc_pred_iq_a":-4.45442772,"mpcc_state":1,"mpcc_theta_e":0.464395523,"mpcc_theta_mech":0.559825003,"sam_rpm":23.5735664,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292114764,"thr_a_norm":0.0292114764,"thr_a_v":0.616845906,"thr_b":0.00485236943,"thr_b_norm":0.00485236943,"thr_b_v":0.519409478,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.500969,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-2.61832476,"cg_iw_a":1.36145878,"cg_theta_rad":0.557398677,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.00241425098,"mpcc_du":49.4983673,"mpcc_dv":49.4031448,"mpcc_dw":50.5968552,"mpcc_enc_sign":1,"mpcc_id_a":0.977148116,"mpcc_iq_a":-0.365024388,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.95943689,"mpcc_pred_id_a":0.387002409,"mpcc_pred_iq_a":-0.149611786,"mpcc_state":1,"mpcc_theta_e":0.441746712,"mpcc_theta_mech":0.555295289,"sam_rpm":6.9379034,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257747769,"thr_a_norm":0.0257747769,"thr_a_v":0.603099108,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485117882,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.510857,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.53100967,"cg_iw_a":-2.62536287,"cg_theta_rad":0.553294837,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.013094143,"mpcc_du":49.679203,"mpcc_dv":49.2897568,"mpcc_dw":50.7102432,"mpcc_enc_sign":1,"mpcc_id_a":3.31489325,"mpcc_iq_a":-0.130974412,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.26073551,"mpcc_pred_id_a":0.79762274,"mpcc_pred_iq_a":-0.317399263,"mpcc_state":1,"mpcc_theta_e":0.42894268,"mpcc_theta_mech":0.552190959,"sam_rpm":-9.14360142,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0304829478,"thr_a_norm":0.0257747769,"thr_a_v":0.621931791,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479880989,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.533836,"values":{"cg_iu_a":5.82358837,"cg_iv_a":-0.806133032,"cg_iw_a":-5.0174551,"cg_theta_rad":0.556331694,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0112282811,"mpcc_du":49.6978569,"mpcc_dv":49.416954,"mpcc_dw":50.583046,"mpcc_enc_sign":1,"mpcc_id_a":1.2784059,"mpcc_iq_a":-1.58261561,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.39012504,"mpcc_pred_id_a":-0.276325285,"mpcc_pred_iq_a":-3.34364867,"mpcc_state":1,"mpcc_theta_e":0.44684267,"mpcc_theta_mech":0.556314468,"sam_rpm":8.58725643,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0304829478,"thr_a_norm":0.0304829478,"thr_a_v":0.621931791,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479880989,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.540306,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-2.11091113,"cg_iw_a":-0.0158064365,"cg_theta_rad":0.555743635,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.00786260236,"mpcc_du":50.7207375,"mpcc_dv":48.0350266,"mpcc_dw":51.9649734,"mpcc_enc_sign":1,"mpcc_id_a":1.71743751,"mpcc_iq_a":-2.03920627,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.38832188,"mpcc_pred_id_a":-0.0577183627,"mpcc_pred_iq_a":0.255773097,"mpcc_state":1,"mpcc_theta_e":0.434851646,"mpcc_theta_mech":0.553916216,"sam_rpm":-13.2198315,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023030445,"thr_a_norm":0.023030445,"thr_a_v":0.59212178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496749818,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.546867,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.02359605,"cg_iw_a":-1.24809718,"cg_theta_rad":0.554110229,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.024736302,"mpcc_du":49.9888992,"mpcc_dv":48.8373833,"mpcc_dw":51.1626167,"mpcc_enc_sign":1,"mpcc_id_a":2.68231535,"mpcc_iq_a":-0.13460654,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.88629627,"mpcc_pred_id_a":0.1844863,"mpcc_pred_iq_a":-2.14516234,"mpcc_state":1,"mpcc_theta_e":0.435079098,"mpcc_theta_mech":0.553961694,"sam_rpm":-11.2934828,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023030445,"thr_a_norm":0.023030445,"thr_a_v":0.59212178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496749818,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.553337,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.89344811,"cg_iw_a":1.21648383,"cg_theta_rad":0.552111745,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0182704758,"mpcc_du":50.7934761,"mpcc_dv":47.9253731,"mpcc_dw":52.0746269,"mpcc_enc_sign":1,"mpcc_id_a":2.08990479,"mpcc_iq_a":-2.80003619,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.7996063,"mpcc_pred_id_a":-0.0208157636,"mpcc_pred_iq_a":1.40169823,"mpcc_state":1,"mpcc_theta_e":0.431287289,"mpcc_theta_mech":0.553203404,"sam_rpm":-17.6831779,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198329091,"thr_a_norm":0.0198329091,"thr_a_v":0.579331636,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469658971,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.56176,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.733645439,"cg_iw_a":0.0566811562,"cg_theta_rad":0.551304042,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0117399199,"mpcc_du":49.9054794,"mpcc_dv":49.0043373,"mpcc_dw":50.9956627,"mpcc_enc_sign":1,"mpcc_id_a":2.04914951,"mpcc_iq_a":-1.65891659,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.71635008,"mpcc_pred_id_a":0.137430489,"mpcc_pred_iq_a":-2.43868256,"mpcc_state":1,"mpcc_theta_e":0.441716194,"mpcc_theta_mech":0.555289149,"sam_rpm":-4.40113544,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244529694,"thr_a_norm":0.0198329091,"thr_a_v":0.597811878,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474140525,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.572777,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.588670254,"cg_iw_a":-2.26292443,"cg_theta_rad":0.557011306,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.00517047243,"mpcc_du":49.6148148,"mpcc_dv":49.7032776,"mpcc_dw":50.3851852,"mpcc_enc_sign":1,"mpcc_id_a":1.39485586,"mpcc_iq_a":-1.85128629,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.3212404,"mpcc_pred_id_a":-0.0238783695,"mpcc_pred_iq_a":-2.74614072,"mpcc_state":1,"mpcc_theta_e":0.44106102,"mpcc_theta_mech":0.555158079,"sam_rpm":1.442783,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244529694,"thr_a_norm":0.0244529694,"thr_a_v":0.597811878,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474140525,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.583946,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.40086174,"cg_iw_a":-0.450732708,"cg_theta_rad":0.557334244,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0481882058,"mpcc_du":50.6560974,"mpcc_dv":48.0653381,"mpcc_dw":51.9346619,"mpcc_enc_sign":1,"mpcc_id_a":2.57903171,"mpcc_iq_a":-1.04949045,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.31184697,"mpcc_pred_id_a":0.311092138,"mpcc_pred_iq_a":-0.965242863,"mpcc_state":1,"mpcc_theta_e":0.448088169,"mpcc_theta_mech":0.556563556,"sam_rpm":-4.21920967,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232948065,"thr_a_norm":0.0232948065,"thr_a_v":0.593179226,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461199343,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.594139,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.661157608,"cg_iw_a":-0.668195724,"cg_theta_rad":0.551857471,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0450497232,"mpcc_du":49.6203842,"mpcc_dv":49.4417229,"mpcc_dw":50.5582771,"mpcc_enc_sign":1,"mpcc_id_a":2.15105844,"mpcc_iq_a":-1.1021167,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.5789948,"mpcc_pred_id_a":0.0561522208,"mpcc_pred_iq_a":-3.30271482,"mpcc_state":1,"mpcc_theta_e":0.457851887,"mpcc_theta_mech":0.558516324,"sam_rpm":17.9665489,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0232948065,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474039823,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.604057,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.806133032,"cg_iw_a":-0.668195963,"cg_theta_rad":0.556250632,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0180205144,"mpcc_du":49.568119,"mpcc_dv":49.142128,"mpcc_dw":50.857872,"mpcc_enc_sign":1,"mpcc_id_a":2.67833066,"mpcc_iq_a":0.380300283,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.84525108,"mpcc_pred_id_a":0.813983977,"mpcc_pred_iq_a":0.250706255,"mpcc_state":1,"mpcc_theta_e":0.43292141,"mpcc_theta_mech":0.555311918,"sam_rpm":-2.58042336,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0272728354,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474039823,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.614159,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.31354666,"cg_iw_a":0.0566806793,"cg_theta_rad":0.556511939,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0143531719,"mpcc_du":50.2106209,"mpcc_dv":48.6010895,"mpcc_dw":51.3989105,"mpcc_enc_sign":1,"mpcc_id_a":0.81023097,"mpcc_iq_a":-2.05508423,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.95571101,"mpcc_pred_id_a":0.200345263,"mpcc_pred_iq_a":-0.313806802,"mpcc_state":1,"mpcc_theta_e":0.447229385,"mpcc_theta_mech":0.556391776,"sam_rpm":-3.11122251,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170004517,"thr_a_norm":0.0170004517,"thr_a_v":0.568001807,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438992888,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.637138,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.74847269,"cg_iw_a":-0.668195724,"cg_theta_rad":0.557762623,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0119040711,"mpcc_du":49.7998199,"mpcc_dv":49.1535683,"mpcc_dw":50.8464317,"mpcc_enc_sign":1,"mpcc_id_a":2.07047749,"mpcc_iq_a":-1.95043337,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.12726116,"mpcc_pred_id_a":0.177714482,"mpcc_pred_iq_a":-3.09169698,"mpcc_state":1,"mpcc_theta_e":0.442941189,"mpcc_theta_mech":0.555534124,"sam_rpm":-3.08120203,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170004517,"thr_a_norm":0.0170004517,"thr_a_v":0.568001807,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438992888,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.64373,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.588670254,"cg_iw_a":-1.53804731,"cg_theta_rad":0.553222358,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.01219228,"mpcc_du":49.4127846,"mpcc_dv":50.5872154,"mpcc_dw":50.0160522,"mpcc_enc_sign":1,"mpcc_id_a":-0.836050034,"mpcc_iq_a":-1.72978127,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":20.6707535,"mpcc_pred_id_a":-0.636234939,"mpcc_pred_iq_a":-3.55273128,"mpcc_state":1,"mpcc_theta_e":0.463012218,"mpcc_theta_mech":0.559548378,"sam_rpm":31.0664902,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02252689,"thr_a_norm":0.02252689,"thr_a_v":0.59010756,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482851923,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.650261,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-2.0384233,"cg_iw_a":-0.813171148,"cg_theta_rad":0.555134833,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0308009833,"mpcc_du":49.9864235,"mpcc_dv":48.710247,"mpcc_dw":51.289753,"mpcc_enc_sign":1,"mpcc_id_a":3.05967808,"mpcc_iq_a":-0.715069056,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.00877571,"mpcc_pred_id_a":0.76400727,"mpcc_pred_iq_a":0.197067976,"mpcc_state":1,"mpcc_theta_e":0.445665359,"mpcc_theta_mech":0.55607903,"sam_rpm":5.80084658,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02252689,"thr_a_norm":0.02252689,"thr_a_v":0.59010756,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482851923,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.656761,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.48038769,"cg_theta_rad":0.55482018,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0240457803,"mpcc_du":49.1313362,"mpcc_dv":50.8686638,"mpcc_dw":50.0207634,"mpcc_enc_sign":1,"mpcc_id_a":2.12142944,"mpcc_iq_a":0.00284171687,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.59623432,"mpcc_pred_id_a":0.393710911,"mpcc_pred_iq_a":-5.37395144,"mpcc_state":1,"mpcc_theta_e":0.449723721,"mpcc_theta_mech":0.553541481,"sam_rpm":14.023201,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.043940261,"thr_a_norm":0.043940261,"thr_a_v":0.675761044,"thr_b":0.0117761493,"thr_b_norm":0.0117761493,"thr_b_v":0.547104597,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.664787,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-1.16857147,"cg_iw_a":0.926533222,"cg_theta_rad":0.555074513,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.013654327,"mpcc_du":50.1010818,"mpcc_dv":48.9179039,"mpcc_dw":51.0820961,"mpcc_enc_sign":1,"mpcc_id_a":1.79682744,"mpcc_iq_a":-1.68165696,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.75200093,"mpcc_pred_id_a":-0.159099773,"mpcc_pred_iq_a":-2.39131308,"mpcc_state":1,"mpcc_theta_e":0.442941189,"mpcc_theta_mech":0.555534124,"sam_rpm":-2.21957541,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242515355,"thr_a_norm":0.043940261,"thr_a_v":0.597006142,"thr_b":0,"thr_b_norm":0.0117761493,"thr_b_v":0.468299359,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.674736,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.878620625,"cg_iw_a":0.491606951,"cg_theta_rad":0.5539428,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.027671095,"mpcc_du":50.1818581,"mpcc_dv":48.8146477,"mpcc_dw":51.1853523,"mpcc_enc_sign":1,"mpcc_id_a":0.188552484,"mpcc_iq_a":-1.66661954,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.104116976,"mpcc_pred_id_a":-0.00897728745,"mpcc_pred_iq_a":-3.5323,"mpcc_state":1,"mpcc_theta_e":0.44980526,"mpcc_theta_mech":0.556906939,"sam_rpm":0.458749413,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242515355,"thr_a_norm":0.0242515355,"thr_a_v":0.597006142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468299359,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.684959,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-0.951108456,"cg_iw_a":0.419119358,"cg_theta_rad":0.555844069,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.00438763341,"mpcc_du":50.1900177,"mpcc_dv":48.6958961,"mpcc_dw":51.3041039,"mpcc_enc_sign":1,"mpcc_id_a":1.19726348,"mpcc_iq_a":0.470934272,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.81002808,"mpcc_pred_id_a":0.0601578169,"mpcc_pred_iq_a":2.18272448,"mpcc_state":1,"mpcc_theta_e":0.427327633,"mpcc_theta_mech":0.552411437,"sam_rpm":-7.58756876,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0164339691,"thr_a_norm":0.0164339691,"thr_a_v":0.565735877,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468097955,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.694756,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.74847269,"cg_iw_a":-0.595707893,"cg_theta_rad":0.553939521,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0840743259,"mpcc_du":50.0257988,"mpcc_dv":48.9892387,"mpcc_dw":51.0107613,"mpcc_enc_sign":1,"mpcc_id_a":0.744769514,"mpcc_iq_a":0.479667008,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.20737839,"mpcc_pred_id_a":-0.0189932678,"mpcc_pred_iq_a":-2.60824728,"mpcc_state":1,"mpcc_theta_e":0.453285217,"mpcc_theta_mech":0.557603002,"sam_rpm":12.5313044,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0164339691,"thr_a_norm":0.0164339691,"thr_a_v":0.565735877,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468097955,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.704979,"values":{"cg_iu_a":2.70661926,"cg_iv_a":0.136206627,"cg_iw_a":0.0566809177,"cg_theta_rad":0.55568552,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0234470665,"mpcc_du":49.8379822,"mpcc_dv":48.9656982,"mpcc_dw":51.0343018,"mpcc_enc_sign":1,"mpcc_id_a":3.03740287,"mpcc_iq_a":0.136314362,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.24869823,"mpcc_pred_id_a":0.409874886,"mpcc_pred_iq_a":-0.47534731,"mpcc_state":1,"mpcc_theta_e":0.428162575,"mpcc_theta_mech":0.552578449,"sam_rpm":-12.8669634,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269329399,"thr_a_norm":0.0269329399,"thr_a_v":0.60773176,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482398719,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.715172,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.226231575,"cg_iw_a":-2.19043684,"cg_theta_rad":0.555676937,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0446956791,"mpcc_du":49.8351212,"mpcc_dv":48.945507,"mpcc_dw":51.054493,"mpcc_enc_sign":1,"mpcc_id_a":2.94882488,"mpcc_iq_a":-0.949796021,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.42858744,"mpcc_pred_id_a":0.576979399,"mpcc_pred_iq_a":-2.7435894,"mpcc_state":1,"mpcc_theta_e":0.448427677,"mpcc_theta_mech":0.556631446,"sam_rpm":3.79144549,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213939101,"thr_a_norm":0.0269329399,"thr_a_v":0.58557564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.738152,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.45852208,"cg_iw_a":-0.233269453,"cg_theta_rad":0.553749025,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0107541438,"mpcc_du":48.947422,"mpcc_dv":51.052578,"mpcc_dw":49.7170753,"mpcc_enc_sign":1,"mpcc_id_a":1.8988049,"mpcc_iq_a":-1.4621464,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.1056776,"mpcc_pred_id_a":0.0680154711,"mpcc_pred_iq_a":-7.1909833,"mpcc_state":1,"mpcc_theta_e":0.446812153,"mpcc_theta_mech":0.556308389,"sam_rpm":8.79585457,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213939101,"thr_a_norm":0.0213939101,"thr_a_v":0.58557564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.744682,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.153744221,"cg_iw_a":-1.32058477,"cg_theta_rad":0.559730768,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0241420642,"mpcc_du":49.5049362,"mpcc_dv":49.3438454,"mpcc_dw":50.6561546,"mpcc_enc_sign":1,"mpcc_id_a":2.62068939,"mpcc_iq_a":-0.453854352,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.43944168,"mpcc_pred_id_a":0.564797461,"mpcc_pred_iq_a":-2.35773349,"mpcc_state":1,"mpcc_theta_e":0.443861485,"mpcc_theta_mech":0.555718243,"sam_rpm":3.88484526,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0231814981,"thr_a_norm":0.0231814981,"thr_a_v":0.592725992,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491865426,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.751213,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.31354666,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556329012,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.00336975255,"mpcc_du":50.8653831,"mpcc_dv":47.9309349,"mpcc_dw":52.0690651,"mpcc_enc_sign":1,"mpcc_id_a":1.16079998,"mpcc_iq_a":-0.998976171,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.53415012,"mpcc_pred_id_a":-0.124290824,"mpcc_pred_iq_a":2.90309668,"mpcc_state":1,"mpcc_theta_e":0.436576843,"mpcc_theta_mech":0.554261327,"sam_rpm":-8.89181232,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0231814981,"thr_a_norm":0.0231814981,"thr_a_v":0.592725992,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491865426,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.757744,"values":{"cg_iu_a":4.51881123,"cg_iv_a":-0.298719406,"cg_iw_a":-4.22009182,"cg_theta_rad":0.556996167,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0174335297,"mpcc_du":49.5641632,"mpcc_dv":49.3530083,"mpcc_dw":50.6469917,"mpcc_enc_sign":1,"mpcc_id_a":2.46609855,"mpcc_iq_a":-1.11635745,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.400476754,"mpcc_pred_id_a":0.33446601,"mpcc_pred_iq_a":-2.7860136,"mpcc_state":1,"mpcc_theta_e":0.442043781,"mpcc_theta_mech":0.555354714,"sam_rpm":0.306209147,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198329091,"thr_a_norm":0.0198329091,"thr_a_v":0.579331636,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463314265,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.765953,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.588670254,"cg_iw_a":-0.015806675,"cg_theta_rad":0.555018187,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0167404246,"mpcc_du":50.8673401,"mpcc_dv":47.6594467,"mpcc_dw":52.3405533,"mpcc_enc_sign":1,"mpcc_id_a":2.26687384,"mpcc_iq_a":-0.151578739,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.2044086,"mpcc_pred_id_a":0.260340989,"mpcc_pred_iq_a":0.678279161,"mpcc_state":1,"mpcc_theta_e":0.426242352,"mpcc_theta_mech":0.552194417,"sam_rpm":-26.9928856,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103396654,"thr_a_norm":0.0198329091,"thr_a_v":0.913586617,"thr_b":0.0501590669,"thr_b_norm":0,"thr_b_v":0.700636268,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.775932,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.371207237,"cg_iw_a":-0.015806675,"cg_theta_rad":0.555320859,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0182737745,"mpcc_du":49.9883003,"mpcc_dv":48.8728943,"mpcc_dw":51.1271057,"mpcc_enc_sign":1,"mpcc_id_a":2.31171894,"mpcc_iq_a":-0.764500976,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.78051996,"mpcc_pred_id_a":0.112790175,"mpcc_pred_iq_a":-1.48334646,"mpcc_state":1,"mpcc_theta_e":0.441675663,"mpcc_theta_mech":0.555281043,"sam_rpm":-3.11026669,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103396654,"thr_a_norm":0.103396654,"thr_a_v":0.913586617,"thr_b":0.0501590669,"thr_b_norm":0.0501590669,"thr_b_v":0.700636268,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.786125,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.16857147,"cg_iw_a":-0.523220062,"cg_theta_rad":0.556569517,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0200988483,"mpcc_du":50.6939354,"mpcc_dv":47.7139206,"mpcc_dw":52.2860794,"mpcc_enc_sign":1,"mpcc_id_a":2.82626748,"mpcc_iq_a":0.568676829,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.278429,"mpcc_pred_id_a":0.570319653,"mpcc_pred_iq_a":2.48641419,"mpcc_state":1,"mpcc_theta_e":0.422728062,"mpcc_theta_mech":0.551491559,"sam_rpm":-24.9447155,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0132238567,"thr_a_norm":0.0132238567,"thr_a_v":0.552895427,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452185839,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.798363,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.516182423,"cg_iw_a":-1.97297382,"cg_theta_rad":0.55489558,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.00352383684,"mpcc_du":49.7801628,"mpcc_dv":49.1675529,"mpcc_dw":50.8324471,"mpcc_enc_sign":1,"mpcc_id_a":1.17785048,"mpcc_iq_a":0.244072631,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.82012796,"mpcc_pred_id_a":0.0192641318,"mpcc_pred_iq_a":-0.653007448,"mpcc_state":1,"mpcc_theta_e":0.432749748,"mpcc_theta_mech":0.553495824,"sam_rpm":-7.69974661,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176550597,"thr_a_norm":0.0132238567,"thr_a_v":0.570620239,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439899296,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.808128,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.371207237,"cg_iw_a":-2.40789938,"cg_theta_rad":0.554964662,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.029112136,"mpcc_du":50.313179,"mpcc_dv":48.565136,"mpcc_dw":51.434864,"mpcc_enc_sign":1,"mpcc_id_a":1.28885388,"mpcc_iq_a":-1.22172463,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.36889279,"mpcc_pred_id_a":-0.0259603988,"mpcc_pred_iq_a":-1.70168149,"mpcc_state":1,"mpcc_theta_e":0.449701309,"mpcc_theta_mech":0.556886196,"sam_rpm":2.41067553,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176550597,"thr_a_norm":0.0176550597,"thr_a_v":0.570620239,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439899296,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.818443,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.588670254,"cg_iw_a":-1.53804731,"cg_theta_rad":0.552080631,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.00737397606,"mpcc_du":49.6825256,"mpcc_dv":50.0367088,"mpcc_dw":51.4976006,"mpcc_enc_sign":1,"mpcc_id_a":-0.251522958,"mpcc_iq_a":-2.06108785,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.06662941,"mpcc_pred_id_a":-0.822825432,"mpcc_pred_iq_a":-4.74752188,"mpcc_state":1,"mpcc_theta_e":0.453536034,"mpcc_theta_mech":0.555176377,"sam_rpm":11.9393368,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245033205,"thr_a_norm":0.0245033205,"thr_a_v":0.598013282,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473989457,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.841484,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.53100967,"cg_iw_a":-2.04546118,"cg_theta_rad":0.557045758,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0241589304,"mpcc_du":49.5102997,"mpcc_dv":49.5681152,"mpcc_dw":50.4897003,"mpcc_enc_sign":1,"mpcc_id_a":1.61127949,"mpcc_iq_a":-1.05359435,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.99696207,"mpcc_pred_id_a":0.0592227057,"mpcc_pred_iq_a":-3.9854207,"mpcc_state":1,"mpcc_theta_e":0.450426102,"mpcc_theta_mech":0.557031155,"sam_rpm":9.36991882,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245033205,"thr_a_norm":0.0245033205,"thr_a_v":0.598013282,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473989457,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.847954,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.0384233,"cg_iw_a":-2.11794901,"cg_theta_rad":0.555696845,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.00807165448,"mpcc_du":50.5234222,"mpcc_dv":48.2047119,"mpcc_dw":51.7952881,"mpcc_enc_sign":1,"mpcc_id_a":0.752233148,"mpcc_iq_a":-0.158822343,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.6532812,"mpcc_pred_id_a":0.073837392,"mpcc_pred_iq_a":-0.250309289,"mpcc_state":1,"mpcc_theta_e":0.43299675,"mpcc_theta_mech":0.553545296,"sam_rpm":-15.6398735,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0311627388,"thr_a_norm":0.0311627388,"thr_a_v":0.624650955,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477161825,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.854515,"values":{"cg_iu_a":1.18437815,"cg_iv_a":0.281181812,"cg_iw_a":0.129168749,"cg_theta_rad":0.55804956,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0191572234,"mpcc_du":50.6586113,"mpcc_dv":47.9675941,"mpcc_dw":52.0324059,"mpcc_enc_sign":1,"mpcc_id_a":2.74933577,"mpcc_iq_a":-2.23194909,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.1600361,"mpcc_pred_id_a":0.238957509,"mpcc_pred_iq_a":-0.0454549268,"mpcc_state":1,"mpcc_theta_e":0.432286739,"mpcc_theta_mech":0.553403258,"sam_rpm":-19.5103092,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0311627388,"thr_a_norm":0.0311627388,"thr_a_v":0.624650955,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477161825,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.861168,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.0812563896,"cg_iw_a":-3.56770229,"cg_theta_rad":0.55655396,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.00323730404,"mpcc_du":49.6375542,"mpcc_dv":49.5011711,"mpcc_dw":50.4988289,"mpcc_enc_sign":1,"mpcc_id_a":0.273871511,"mpcc_iq_a":-1.00454795,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.5571475,"mpcc_pred_id_a":-0.368610084,"mpcc_pred_iq_a":-3.75758433,"mpcc_state":1,"mpcc_theta_e":0.441644669,"mpcc_theta_mech":0.555274844,"sam_rpm":-2.50293779,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467443347,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.869438,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-1.60349751,"cg_iw_a":-1.97297382,"cg_theta_rad":0.557105482,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0080306204,"mpcc_du":49.5266113,"mpcc_dv":50.4733887,"mpcc_dw":50.2775307,"mpcc_enc_sign":1,"mpcc_id_a":0.67531395,"mpcc_iq_a":-0.828903496,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.67224503,"mpcc_pred_id_a":-0.427803665,"mpcc_pred_iq_a":-4.96385479,"mpcc_state":1,"mpcc_theta_e":0.446228981,"mpcc_theta_mech":0.556191742,"sam_rpm":8.11871815,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194426626,"thr_a_norm":0.0224387646,"thr_a_v":0.57777065,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.87957,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.31354666,"cg_iw_a":0.854045391,"cg_theta_rad":0.557244837,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0349965878,"mpcc_du":50.4328079,"mpcc_dv":48.5029526,"mpcc_dw":51.4970474,"mpcc_enc_sign":1,"mpcc_id_a":0.267719775,"mpcc_iq_a":-1.00620484,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.68807352,"mpcc_pred_id_a":-0.29586336,"mpcc_pred_iq_a":-2.29790568,"mpcc_state":1,"mpcc_theta_e":0.453061104,"mpcc_theta_mech":0.557558119,"sam_rpm":-1.71837127,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194426626,"thr_a_norm":0.0194426626,"thr_a_v":0.57777065,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.889763,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.951108456,"cg_iw_a":0.491607189,"cg_theta_rad":0.557110012,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.00256095221,"mpcc_du":50.4229622,"mpcc_dv":48.3167648,"mpcc_dw":51.6832352,"mpcc_enc_sign":1,"mpcc_id_a":1.01207697,"mpcc_iq_a":-1.15319467,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.39677811,"mpcc_pred_id_a":0.0437553674,"mpcc_pred_iq_a":0.516900837,"mpcc_state":1,"mpcc_theta_e":0.431863308,"mpcc_theta_mech":0.55331862,"sam_rpm":-12.7155561,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165850371,"thr_a_norm":0.0165850371,"thr_a_v":0.566340148,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477766067,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.899742,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.298719406,"cg_iw_a":-2.26292419,"cg_theta_rad":0.556847572,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0411873646,"mpcc_du":50.0592613,"mpcc_dv":48.7881622,"mpcc_dw":51.2118378,"mpcc_enc_sign":1,"mpcc_id_a":1.52234352,"mpcc_iq_a":-1.56962037,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.80335402,"mpcc_pred_id_a":0.0716851279,"mpcc_pred_iq_a":-3.36409879,"mpcc_state":1,"mpcc_theta_e":0.450945854,"mpcc_theta_mech":0.557389259,"sam_rpm":3.85905743,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165850371,"thr_a_norm":0.0165850371,"thr_a_v":0.566340148,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477766067,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.909996,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.951108456,"cg_iw_a":0.0566811562,"cg_theta_rad":0.55493784,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.046270445,"mpcc_du":50.7467728,"mpcc_dv":48.1271515,"mpcc_dw":51.8728485,"mpcc_enc_sign":1,"mpcc_id_a":0.702902853,"mpcc_iq_a":-1.26589417,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.28180075,"mpcc_pred_id_a":-0.297180265,"mpcc_pred_iq_a":-0.422361881,"mpcc_state":1,"mpcc_theta_e":0.450996876,"mpcc_theta_mech":0.557145298,"sam_rpm":5.25859785,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210162401,"thr_a_norm":0.0210162401,"thr_a_v":0.58406496,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482197315,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.921135,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.16857147,"cg_iw_a":-1.82799816,"cg_theta_rad":0.555356383,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0204284079,"mpcc_du":50.2741852,"mpcc_dv":48.4546814,"mpcc_dw":51.5453186,"mpcc_enc_sign":1,"mpcc_id_a":0.156922519,"mpcc_iq_a":-1.2328217,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.07702899,"mpcc_pred_id_a":0.251126796,"mpcc_pred_iq_a":-1.07731998,"mpcc_state":1,"mpcc_theta_e":0.449451923,"mpcc_theta_mech":0.556836307,"sam_rpm":2.09776878,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195181966,"thr_a_norm":0.0210162401,"thr_a_v":0.578072786,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.945152,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.96593571,"cg_iw_a":0.78155756,"cg_theta_rad":0.558347702,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.00565434946,"mpcc_du":48.5375252,"mpcc_dv":51.4624748,"mpcc_dw":49.0102921,"mpcc_enc_sign":1,"mpcc_id_a":0.37803784,"mpcc_iq_a":0.246207163,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.9558496,"mpcc_pred_id_a":-0.438266695,"mpcc_pred_iq_a":2.54260802,"mpcc_state":1,"mpcc_theta_e":0.427240849,"mpcc_theta_mech":0.552394092,"sam_rpm":21.8969154,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195181966,"thr_a_norm":0.0195181966,"thr_a_v":0.578072786,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.951683,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-2.54583716,"cg_iw_a":1.94136024,"cg_theta_rad":0.554705739,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0386447981,"mpcc_du":50.0426712,"mpcc_dv":48.9054451,"mpcc_dw":51.0945549,"mpcc_enc_sign":1,"mpcc_id_a":2.74149537,"mpcc_iq_a":0.135015592,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.49157262,"mpcc_pred_id_a":-0.07946527,"mpcc_pred_iq_a":-0.902904212,"mpcc_state":1,"mpcc_theta_e":0.44478178,"mpcc_theta_mech":0.555902302,"sam_rpm":3.96538615,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450473785,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.958275,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.09608364,"cg_iw_a":0.419119358,"cg_theta_rad":0.553350329,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0118060792,"mpcc_du":48.8112526,"mpcc_dv":51.1887474,"mpcc_dw":49.5056076,"mpcc_enc_sign":1,"mpcc_id_a":2.10587573,"mpcc_iq_a":-0.861787915,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.06549931,"mpcc_pred_id_a":-0.142433167,"mpcc_pred_iq_a":-6.7097888,"mpcc_state":1,"mpcc_theta_e":0.44543314,"mpcc_theta_mech":0.556032538,"sam_rpm":9.56894398,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450473785,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.964714,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.661157608,"cg_iw_a":-0.59570837,"cg_theta_rad":0.556628168,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.00201770128,"mpcc_du":51.0495453,"mpcc_dv":47.4750481,"mpcc_dw":52.5249519,"mpcc_enc_sign":1,"mpcc_id_a":0.7694906,"mpcc_iq_a":-1.53305054,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-22.4074059,"mpcc_pred_id_a":0.0642073452,"mpcc_pred_iq_a":1.01935959,"mpcc_state":1,"mpcc_theta_e":0.421495438,"mpcc_theta_mech":0.551244974,"sam_rpm":-33.0517998,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0314522684,"thr_a_norm":0.0314522684,"thr_a_v":0.625809073,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475197971,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.972954,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-2.76329994,"cg_iw_a":-0.740683556,"cg_theta_rad":0.557045758,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.00049713871,"mpcc_du":50.1321526,"mpcc_dv":48.8588104,"mpcc_dw":51.1411896,"mpcc_enc_sign":1,"mpcc_id_a":0.440930188,"mpcc_iq_a":-2.00899386,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.947604954,"mpcc_pred_id_a":-0.3202582,"mpcc_pred_iq_a":-0.798443675,"mpcc_state":1,"mpcc_theta_e":0.441365242,"mpcc_theta_mech":0.555218995,"sam_rpm":-1.22711205,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258628875,"thr_a_norm":0.0314522684,"thr_a_v":0.60345155,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.982536,"values":{"cg_iu_a":1.40184116,"cg_iv_a":0.136206627,"cg_iw_a":-2.62536287,"cg_theta_rad":0.553463936,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0763126537,"mpcc_du":49.4296799,"mpcc_dv":49.5513077,"mpcc_dw":50.5703201,"mpcc_enc_sign":1,"mpcc_id_a":2.57694197,"mpcc_iq_a":-0.690351307,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.96327782,"mpcc_pred_id_a":0.459868133,"mpcc_pred_iq_a":0.566909611,"mpcc_state":1,"mpcc_theta_e":0.420815468,"mpcc_theta_mech":0.551109016,"sam_rpm":-16.9784832,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258628875,"thr_a_norm":0.0258628875,"thr_a_v":0.60345155,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489851207,"vdc_v":55.2955055}} +{"type":"telemetry","t":104.992912,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.16857147,"cg_iw_a":-0.595707893,"cg_theta_rad":0.5569368,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.00127577025,"mpcc_du":50.2365074,"mpcc_dv":48.8479233,"mpcc_dw":51.1520767,"mpcc_enc_sign":1,"mpcc_id_a":0.70881778,"mpcc_iq_a":-3.29693508,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.3772006,"mpcc_pred_id_a":-0.54424876,"mpcc_pred_iq_a":-3.05760121,"mpcc_state":1,"mpcc_theta_e":0.443223476,"mpcc_theta_mech":0.55559057,"sam_rpm":-8.37505531,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185362697,"thr_a_norm":0.0185362697,"thr_a_v":0.574145079,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461300045,"vdc_v":54.6292953}} +{"type":"telemetry","t":105.002922,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.951108456,"cg_iw_a":0.201656342,"cg_theta_rad":0.554198265,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5004,"hz_app_loop":368,"hz_tim_isr":10008,"hz_vsense":368,"mpcc_cost":0.0446594432,"mpcc_du":50.1508865,"mpcc_dv":48.8892937,"mpcc_dw":51.1107063,"mpcc_enc_sign":1,"mpcc_id_a":0.131139383,"mpcc_iq_a":-0.944275558,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.17558718,"mpcc_pred_id_a":-0.219419688,"mpcc_pred_iq_a":-2.66752195,"mpcc_state":1,"mpcc_theta_e":0.45401144,"mpcc_theta_mech":0.557748199,"sam_rpm":8.43095303,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185362697,"thr_a_norm":0.0185362697,"thr_a_v":0.574145079,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461300045,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.013695,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.89344811,"cg_iw_a":0.636582136,"cg_theta_rad":0.553019226,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.68164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0229977146,"mpcc_du":50.2577324,"mpcc_dv":48.5532875,"mpcc_dw":51.4467125,"mpcc_enc_sign":1,"mpcc_id_a":1.62980688,"mpcc_iq_a":-1.37918007,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.8209085,"mpcc_pred_id_a":0.0793629661,"mpcc_pred_iq_a":-2.16468835,"mpcc_state":1,"mpcc_theta_e":0.42628336,"mpcc_theta_mech":0.552202582,"sam_rpm":-33.6114311,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0142938942,"thr_a_norm":0.0142938942,"thr_a_v":0.557175577,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44186312,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.023979,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.74847269,"cg_iw_a":1.14399576,"cg_theta_rad":0.55669713,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0235559866,"mpcc_du":49.3914528,"mpcc_dv":50.6085472,"mpcc_dw":50.3738899,"mpcc_enc_sign":1,"mpcc_id_a":2.50025415,"mpcc_iq_a":-1.5518949,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.24234438,"mpcc_pred_id_a":0.403536141,"mpcc_pred_iq_a":-2.58527613,"mpcc_state":1,"mpcc_theta_e":0.442866325,"mpcc_theta_mech":0.555519164,"sam_rpm":7.26604366,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0304955393,"thr_a_norm":0.0142938942,"thr_a_v":0.621982157,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459638387,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.047142,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-2.32837415,"cg_iw_a":-0.45073247,"cg_theta_rad":0.556935847,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0213325918,"mpcc_du":50.6830788,"mpcc_dv":48.0202217,"mpcc_dw":51.9797783,"mpcc_enc_sign":1,"mpcc_id_a":2.34707427,"mpcc_iq_a":-0.187508076,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.73306608,"mpcc_pred_id_a":-0.224072918,"mpcc_pred_iq_a":-7.16000605,"mpcc_state":1,"mpcc_theta_e":0.445003986,"mpcc_theta_mech":0.555946708,"sam_rpm":-8.16213608,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0304955393,"thr_a_norm":0.0304955393,"thr_a_v":0.621982157,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459638387,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.05352,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.45852208,"cg_iw_a":-1.8279984,"cg_theta_rad":0.555732548,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0318165012,"mpcc_du":49.1376991,"mpcc_dv":50.8623009,"mpcc_dw":50.0849762,"mpcc_enc_sign":1,"mpcc_id_a":3.07885003,"mpcc_iq_a":-0.8309201,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.36979055,"mpcc_pred_id_a":0.454254746,"mpcc_pred_iq_a":0.559246838,"mpcc_state":1,"mpcc_theta_e":0.436336994,"mpcc_theta_mech":0.554213285,"sam_rpm":16.0202656,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226653665,"thr_a_norm":0.0226653665,"thr_a_v":0.590661466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481391609,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.060051,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-2.11091113,"cg_iw_a":-1.24809718,"cg_theta_rad":0.557095408,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0165710934,"mpcc_du":49.0801201,"mpcc_dv":50.9198799,"mpcc_dw":49.8984451,"mpcc_enc_sign":1,"mpcc_id_a":2.44721675,"mpcc_iq_a":-0.989534736,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.99891758,"mpcc_pred_id_a":0.0837313607,"mpcc_pred_iq_a":-5.24076414,"mpcc_state":1,"mpcc_theta_e":0.449254036,"mpcc_theta_mech":0.55679673,"sam_rpm":14.144969,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226653665,"thr_a_norm":0.0226653665,"thr_a_v":0.590661466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481391609,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.066551,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-2.25588632,"cg_iw_a":1.28897142,"cg_theta_rad":0.556440771,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0240096282,"mpcc_du":49.5954971,"mpcc_dv":49.5341873,"mpcc_dw":50.4658127,"mpcc_enc_sign":1,"mpcc_id_a":1.27385366,"mpcc_iq_a":-1.08222306,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.1985989,"mpcc_pred_id_a":-0.285705149,"mpcc_pred_iq_a":-2.74046183,"mpcc_state":1,"mpcc_theta_e":0.453680992,"mpcc_theta_mech":0.557682097,"sam_rpm":17.4897747,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0145330727,"thr_a_norm":0.0145330727,"thr_a_v":0.558132291,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.445589364,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.077965,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.31354666,"cg_iw_a":0.999020576,"cg_theta_rad":0.557987273,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.00338011398,"mpcc_du":49.7631149,"mpcc_dv":49.091217,"mpcc_dw":50.908783,"mpcc_enc_sign":1,"mpcc_id_a":0.765483677,"mpcc_iq_a":-0.302866518,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.02867317,"mpcc_pred_id_a":0.181178913,"mpcc_pred_iq_a":-2.7688036,"mpcc_state":1,"mpcc_theta_e":0.432556629,"mpcc_theta_mech":0.55345726,"sam_rpm":-12.8518963,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209029466,"thr_a_norm":0.0209029466,"thr_a_v":0.583611786,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465076655,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.088951,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.226231575,"cg_iw_a":-2.69785023,"cg_theta_rad":0.557204843,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0356821455,"mpcc_du":49.6950455,"mpcc_dv":49.1386299,"mpcc_dw":50.8613701,"mpcc_enc_sign":1,"mpcc_id_a":2.864779,"mpcc_iq_a":-0.95781976,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.70174742,"mpcc_pred_id_a":0.396496415,"mpcc_pred_iq_a":-1.82351327,"mpcc_state":1,"mpcc_theta_e":0.449034214,"mpcc_theta_mech":0.556752801,"sam_rpm":10.22892,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209029466,"thr_a_norm":0.0209029466,"thr_a_v":0.583611786,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465076655,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.099144,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-2.0384233,"cg_iw_a":1.21648335,"cg_theta_rad":0.555583775,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.00142718642,"mpcc_du":50.2184715,"mpcc_dv":48.7942619,"mpcc_dw":51.2057381,"mpcc_enc_sign":1,"mpcc_id_a":-0.135760143,"mpcc_iq_a":-1.54863358,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.13978624,"mpcc_pred_id_a":-0.387585491,"mpcc_pred_iq_a":-1.83894372,"mpcc_state":1,"mpcc_theta_e":0.436707973,"mpcc_theta_mech":0.554287493,"sam_rpm":-8.57864761,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0161947757,"thr_a_norm":0.0161947757,"thr_a_v":0.564779103,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460897237,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.109337,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.878620625,"cg_iw_a":-2.26292467,"cg_theta_rad":0.556713045,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0124150962,"mpcc_du":50.3718567,"mpcc_dv":48.5145226,"mpcc_dw":51.4854774,"mpcc_enc_sign":1,"mpcc_id_a":0.926898837,"mpcc_iq_a":-0.808084726,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.59289932,"mpcc_pred_id_a":-0.0368826091,"mpcc_pred_iq_a":0.353225559,"mpcc_state":1,"mpcc_theta_e":0.44470644,"mpcc_theta_mech":0.555887222,"sam_rpm":2.70632863,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0342092067,"thr_a_norm":0.0161947757,"thr_a_v":0.636836827,"thr_b":0.0055321604,"thr_b_norm":0,"thr_b_v":0.522128642,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.119316,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.298719406,"cg_iw_a":-1.53804779,"cg_theta_rad":0.556906402,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0156989172,"mpcc_du":49.5131798,"mpcc_dv":50.1701393,"mpcc_dw":50.4868202,"mpcc_enc_sign":1,"mpcc_id_a":1.93264949,"mpcc_iq_a":-0.888763964,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.6970406,"mpcc_pred_id_a":0.186284751,"mpcc_pred_iq_a":-2.48133087,"mpcc_state":1,"mpcc_theta_e":0.452615738,"mpcc_theta_mech":0.55746907,"sam_rpm":18.4934578,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0342092067,"thr_a_norm":0.0342092067,"thr_a_v":0.636836827,"thr_b":0.0055321604,"thr_b_norm":0.0055321604,"thr_b_v":0.522128642,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.142784,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-2.69081235,"cg_iw_a":-0.160782099,"cg_theta_rad":0.556817532,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.00333621516,"mpcc_du":50.1382484,"mpcc_dv":48.9425888,"mpcc_dw":51.0574112,"mpcc_enc_sign":1,"mpcc_id_a":0.436193943,"mpcc_iq_a":-1.50125027,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.50800085,"mpcc_pred_id_a":-0.399199724,"mpcc_pred_iq_a":-0.920112669,"mpcc_state":1,"mpcc_theta_e":0.444541454,"mpcc_theta_mech":0.555854201,"sam_rpm":3.39009547,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451581597,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.149223,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-3.19822598,"cg_iw_a":0.201656342,"cg_theta_rad":0.552686393,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.000202529889,"mpcc_du":49.5365143,"mpcc_dv":49.7195091,"mpcc_dw":50.4634857,"mpcc_enc_sign":1,"mpcc_id_a":0.185907751,"mpcc_iq_a":-1.01224482,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.37777042,"mpcc_pred_id_a":0.0401090346,"mpcc_pred_iq_a":-0.526701391,"mpcc_state":1,"mpcc_theta_e":0.446135044,"mpcc_theta_mech":0.556172967,"sam_rpm":13.0505314,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183096826,"thr_a_norm":0.0232444406,"thr_a_v":0.57323873,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458027005,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.155815,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.02359605,"cg_iw_a":-2.48038769,"cg_theta_rad":0.556331456,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.00654136855,"mpcc_du":48.9850731,"mpcc_dv":51.0149269,"mpcc_dw":49.5693817,"mpcc_enc_sign":1,"mpcc_id_a":0.243330359,"mpcc_iq_a":-1.37260449,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.1085205,"mpcc_pred_id_a":-0.503736734,"mpcc_pred_iq_a":-5.99836206,"mpcc_state":1,"mpcc_theta_e":0.455140114,"mpcc_theta_mech":0.557973921,"sam_rpm":21.127512,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183096826,"thr_a_norm":0.0183096826,"thr_a_v":0.57323873,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458027005,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.162285,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.588670254,"cg_iw_a":-2.11794901,"cg_theta_rad":0.555178344,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0106368111,"mpcc_du":48.3844452,"mpcc_dv":51.6155548,"mpcc_dw":48.9978027,"mpcc_enc_sign":1,"mpcc_id_a":1.89296126,"mpcc_iq_a":-1.46970403,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.3273315,"mpcc_pred_id_a":-0.104749709,"mpcc_pred_iq_a":-8.45423889,"mpcc_state":1,"mpcc_theta_e":0.450798512,"mpcc_theta_mech":0.557105601,"sam_rpm":17.043951,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0393453836,"thr_a_norm":0.0393453836,"thr_a_v":0.657381535,"thr_b":0.0162325352,"thr_b_norm":0.0162325352,"thr_b_v":0.564930141,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.170372,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.6759851,"cg_iw_a":0.636582375,"cg_theta_rad":0.554055333,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0145107517,"mpcc_du":49.4977837,"mpcc_dv":50.2262993,"mpcc_dw":50.5022163,"mpcc_enc_sign":1,"mpcc_id_a":2.40791154,"mpcc_iq_a":-1.91880345,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.110099666,"mpcc_pred_id_a":0.292903364,"mpcc_pred_iq_a":-4.66493416,"mpcc_state":1,"mpcc_theta_e":0.44100666,"mpcc_theta_mech":0.555147231,"sam_rpm":-0.0338235758,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0393453836,"thr_a_norm":0.0393453836,"thr_a_v":0.657381535,"thr_b":0.0162325352,"thr_b_norm":0.0162325352,"thr_b_v":0.564930141,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.180717,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.96593571,"cg_iw_a":-0.523220539,"cg_theta_rad":0.553714454,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0472912714,"mpcc_du":49.5579147,"mpcc_dv":49.9508476,"mpcc_dw":50.4420853,"mpcc_enc_sign":1,"mpcc_id_a":2.64798498,"mpcc_iq_a":-0.909088254,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.29232788,"mpcc_pred_id_a":-0.0677510723,"mpcc_pred_iq_a":-4.6825161,"mpcc_state":1,"mpcc_theta_e":0.452041149,"mpcc_theta_mech":0.555874109,"sam_rpm":13.3062887,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0107438713,"thr_a_norm":0.0107438713,"thr_a_v":0.542975485,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.437431902,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.19091,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.516182423,"cg_iw_a":1.36145902,"cg_theta_rad":0.554439366,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0169280078,"mpcc_du":49.4347153,"mpcc_dv":50.5652847,"mpcc_dw":50.3538208,"mpcc_enc_sign":1,"mpcc_id_a":2.55890536,"mpcc_iq_a":-1.92621648,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.269104,"mpcc_pred_id_a":0.139214233,"mpcc_pred_iq_a":-2.78906941,"mpcc_state":1,"mpcc_theta_e":0.449275017,"mpcc_theta_mech":0.556800961,"sam_rpm":16.2072048,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257370025,"thr_a_norm":0.0107438713,"thr_a_v":0.60294801,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492671102,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.202934,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.443694592,"cg_iw_a":-2.33541203,"cg_theta_rad":0.55511421,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.00239610556,"mpcc_du":49.901104,"mpcc_dv":49.1392174,"mpcc_dw":50.8607826,"mpcc_enc_sign":1,"mpcc_id_a":0.717832685,"mpcc_iq_a":-1.76706731,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.226696163,"mpcc_pred_id_a":-0.266177803,"mpcc_pred_iq_a":-0.825648427,"mpcc_state":1,"mpcc_theta_e":0.439781189,"mpcc_theta_mech":0.554902136,"sam_rpm":-0.571668923,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257370025,"thr_a_norm":0.0257370025,"thr_a_v":0.60294801,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492671102,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.213005,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.878620625,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556273282,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0933439881,"mpcc_du":50.2548218,"mpcc_dv":48.4924126,"mpcc_dw":51.5075874,"mpcc_enc_sign":1,"mpcc_id_a":3.29028201,"mpcc_iq_a":0.0805614591,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.65037179,"mpcc_pred_id_a":0.500460386,"mpcc_pred_iq_a":-1.67176926,"mpcc_state":1,"mpcc_theta_e":0.45238924,"mpcc_theta_mech":0.55742377,"sam_rpm":4.92383385,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0992423892,"thr_a_norm":0.0992423892,"thr_a_v":0.896969557,"thr_b":0.0432730615,"thr_b_norm":0.0432730615,"thr_b_v":0.673092246,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.223106,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.6759851,"cg_iw_a":-0.740683317,"cg_theta_rad":0.55711025,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0186483003,"mpcc_du":49.7668686,"mpcc_dv":49.4370613,"mpcc_dw":50.5629387,"mpcc_enc_sign":1,"mpcc_id_a":0.292961836,"mpcc_iq_a":-1.51007473,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.11125183,"mpcc_pred_id_a":-0.510309219,"mpcc_pred_iq_a":-1.53856015,"mpcc_state":1,"mpcc_theta_e":0.428904057,"mpcc_theta_mech":0.552726686,"sam_rpm":-13.7670841,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217715651,"thr_a_norm":0.0992423892,"thr_a_v":0.58708626,"thr_b":0,"thr_b_norm":0.0432730615,"thr_b_v":0.472529203,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.246544,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.806133032,"cg_iw_a":-1.82799864,"cg_theta_rad":0.554885566,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.00330357417,"mpcc_du":51.0477562,"mpcc_dv":47.6649361,"mpcc_dw":52.3350639,"mpcc_enc_sign":1,"mpcc_id_a":-0.732697725,"mpcc_iq_a":-1.31732678,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.6869345,"mpcc_pred_id_a":-0.220468521,"mpcc_pred_iq_a":2.52361846,"mpcc_state":1,"mpcc_theta_e":0.427632332,"mpcc_theta_mech":0.552472353,"sam_rpm":-22.7523613,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217715651,"thr_a_norm":0.0217715651,"thr_a_v":0.58708626,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472529203,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.253044,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.516182423,"cg_iw_a":-2.69785023,"cg_theta_rad":0.553809762,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0148158912,"mpcc_du":48.8185234,"mpcc_dv":51.1814766,"mpcc_dw":51.7939224,"mpcc_enc_sign":1,"mpcc_id_a":0.115220495,"mpcc_iq_a":-1.4541508,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.5280151,"mpcc_pred_id_a":-0.548938632,"mpcc_pred_iq_a":-6.86530733,"mpcc_state":1,"mpcc_theta_e":0.460512161,"mpcc_theta_mech":0.555775046,"sam_rpm":26.7317276,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167990327,"thr_a_norm":0.0167990327,"thr_a_v":0.567196131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.433504254,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.259605,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.661157608,"cg_iw_a":-1.46555996,"cg_theta_rad":0.555273771,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0136237843,"mpcc_du":49.9166641,"mpcc_dv":49.270153,"mpcc_dw":50.729847,"mpcc_enc_sign":1,"mpcc_id_a":-0.635768712,"mpcc_iq_a":-1.36165416,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.46713257,"mpcc_pred_id_a":-0.55864495,"mpcc_pred_iq_a":-1.63924003,"mpcc_state":1,"mpcc_theta_e":0.453180313,"mpcc_theta_mech":0.557581961,"sam_rpm":14.5266733,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167990327,"thr_a_norm":0.0167990327,"thr_a_v":0.567196131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.433504254,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.266167,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-2.0384233,"cg_iw_a":-0.668195963,"cg_theta_rad":0.556248426,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0183536317,"mpcc_du":50.1123543,"mpcc_dv":48.5544395,"mpcc_dw":51.4455605,"mpcc_enc_sign":1,"mpcc_id_a":2.69346762,"mpcc_iq_a":-1.31380761,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.09883523,"mpcc_pred_id_a":0.499169171,"mpcc_pred_iq_a":1.33900642,"mpcc_state":1,"mpcc_theta_e":0.441210747,"mpcc_theta_mech":0.55518806,"sam_rpm":2.89107943,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181963891,"thr_a_norm":0.0181963891,"thr_a_v":0.572785556,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461904317,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.274315,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.951108456,"cg_iw_a":-0.233269691,"cg_theta_rad":0.554348707,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0260403156,"mpcc_du":49.530407,"mpcc_dv":50.3610649,"mpcc_dw":50.469593,"mpcc_enc_sign":1,"mpcc_id_a":1.82369554,"mpcc_iq_a":0.0607832968,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.38773537,"mpcc_pred_id_a":0.101226814,"mpcc_pred_iq_a":-4.8067708,"mpcc_state":1,"mpcc_theta_e":0.445735455,"mpcc_theta_mech":0.556093037,"sam_rpm":6.39450741,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252586454,"thr_a_norm":0.0181963891,"thr_a_v":0.601034582,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478622139,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.286156,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.733645439,"cg_iw_a":-1.46555996,"cg_theta_rad":0.555273831,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0450767875,"mpcc_du":49.2586861,"mpcc_dv":50.7413139,"mpcc_dw":50.2542992,"mpcc_enc_sign":1,"mpcc_id_a":3.21782875,"mpcc_iq_a":-0.0160761047,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.95023298,"mpcc_pred_id_a":0.357540041,"mpcc_pred_iq_a":-0.443926156,"mpcc_state":1,"mpcc_theta_e":0.435629368,"mpcc_theta_mech":0.554071784,"sam_rpm":6.94630575,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252586454,"thr_a_norm":0.0252586454,"thr_a_v":0.601034582,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478622139,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.296227,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.661157608,"cg_iw_a":-1.10312176,"cg_theta_rad":0.554310501,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0408416763,"mpcc_du":49.9742088,"mpcc_dv":48.78405,"mpcc_dw":51.21595,"mpcc_enc_sign":1,"mpcc_id_a":1.64184999,"mpcc_iq_a":-0.824299753,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.48204446,"mpcc_pred_id_a":-0.0859501362,"mpcc_pred_iq_a":-3.51027346,"mpcc_state":1,"mpcc_theta_e":0.444720745,"mpcc_theta_mech":0.555890083,"sam_rpm":-7.08167601,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234710425,"thr_a_norm":0.0234710425,"thr_a_v":0.59388417,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470464617,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.306725,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.588670254,"cg_iw_a":-1.46555996,"cg_theta_rad":0.557349086,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0177919101,"mpcc_du":49.2065315,"mpcc_dv":50.7934685,"mpcc_dw":49.8751602,"mpcc_enc_sign":1,"mpcc_id_a":0.252712965,"mpcc_iq_a":-2.24263382,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.28214359,"mpcc_pred_id_a":-0.43671611,"mpcc_pred_iq_a":-4.51604319,"mpcc_state":1,"mpcc_theta_e":0.440265179,"mpcc_theta_mech":0.554998934,"sam_rpm":1.17649257,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273231864,"thr_a_norm":0.0234710425,"thr_a_v":0.609292746,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.316704,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.02359605,"cg_iw_a":0.346631765,"cg_theta_rad":0.554562032,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0551343076,"mpcc_du":49.9856987,"mpcc_dv":48.8398972,"mpcc_dw":51.1601028,"mpcc_enc_sign":1,"mpcc_id_a":1.41279602,"mpcc_iq_a":-0.631471753,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.30093181,"mpcc_pred_id_a":0.261000425,"mpcc_pred_iq_a":-3.48419929,"mpcc_state":1,"mpcc_theta_e":0.450002193,"mpcc_theta_mech":0.556946397,"sam_rpm":3.00883174,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273231864,"thr_a_norm":0.0273231864,"thr_a_v":0.609292746,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.326591,"values":{"cg_iu_a":1.90925455,"cg_iv_a":0.208694458,"cg_iw_a":-2.11794901,"cg_theta_rad":0.552890122,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0628947541,"mpcc_du":50.1912117,"mpcc_dv":48.5698318,"mpcc_dw":51.4301682,"mpcc_enc_sign":1,"mpcc_id_a":2.34980011,"mpcc_iq_a":0.315406621,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.299822092,"mpcc_pred_id_a":0.351948678,"mpcc_pred_iq_a":-1.30240393,"mpcc_state":1,"mpcc_theta_e":0.447650909,"mpcc_theta_mech":0.556476116,"sam_rpm":-7.84362221,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281540304,"thr_a_norm":0.0281540304,"thr_a_v":0.612616122,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49962005,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.349541,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.53804779,"cg_theta_rad":0.55639106,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.00015549775,"mpcc_du":49.6231651,"mpcc_dv":49.8269157,"mpcc_dw":50.3768349,"mpcc_enc_sign":1,"mpcc_id_a":-0.0239308719,"mpcc_iq_a":-2.11894941,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.99407983,"mpcc_pred_id_a":-0.475676537,"mpcc_pred_iq_a":-3.16938424,"mpcc_state":1,"mpcc_theta_e":0.447033882,"mpcc_theta_mech":0.556352675,"sam_rpm":5.61272526,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281540304,"thr_a_norm":0.0281540304,"thr_a_v":0.612616122,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49962005,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.356041,"values":{"cg_iu_a":0.531989098,"cg_iv_a":0.136206627,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556976259,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0098740831,"mpcc_du":49.5396233,"mpcc_dv":49.8776169,"mpcc_dw":50.4603767,"mpcc_enc_sign":1,"mpcc_id_a":1.93079638,"mpcc_iq_a":-2.2496593,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.584632456,"mpcc_pred_id_a":0.0918431133,"mpcc_pred_iq_a":-3.7605176,"mpcc_state":1,"mpcc_theta_e":0.441246033,"mpcc_theta_mech":0.555195093,"sam_rpm":0.712002337,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216960311,"thr_a_norm":0.0216960311,"thr_a_v":0.586784124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470263213,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.362602,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.806133032,"cg_iw_a":0.201656103,"cg_theta_rad":0.558812022,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0223308876,"mpcc_du":50.2234344,"mpcc_dv":48.5603333,"mpcc_dw":51.4396667,"mpcc_enc_sign":1,"mpcc_id_a":2.68276882,"mpcc_iq_a":-0.654965341,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.17156553,"mpcc_pred_id_a":0.365814954,"mpcc_pred_iq_a":-0.404283345,"mpcc_state":1,"mpcc_theta_e":0.439263821,"mpcc_theta_mech":0.554798722,"sam_rpm":-6.31250477,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216960311,"thr_a_norm":0.0216960311,"thr_a_v":0.586784124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470263213,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.369316,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-2.11091113,"cg_iw_a":-0.160782099,"cg_theta_rad":0.556603551,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.000170345054,"mpcc_du":50.577713,"mpcc_dv":50.9345703,"mpcc_dw":49.8110237,"mpcc_enc_sign":1,"mpcc_id_a":0.222520351,"mpcc_iq_a":-1.66242504,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.0502186,"mpcc_pred_id_a":-0.555574596,"mpcc_pred_iq_a":-1.65540195,"mpcc_state":1,"mpcc_theta_e":0.429399014,"mpcc_theta_mech":0.556603551,"sam_rpm":-22.4255276,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0418379456,"thr_a_norm":0.0418379456,"thr_a_v":0.667351782,"thr_b":0.0121663958,"thr_b_norm":0.0121663958,"thr_b_v":0.548665583,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.379509,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.02359605,"cg_iw_a":0.491606951,"cg_theta_rad":0.554082632,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.02796074,"mpcc_du":50.0536308,"mpcc_dv":48.8066673,"mpcc_dw":51.1933327,"mpcc_enc_sign":1,"mpcc_id_a":2.43808126,"mpcc_iq_a":-1.34382784,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.49494898,"mpcc_pred_id_a":0.240230545,"mpcc_pred_iq_a":-2.51723981,"mpcc_state":1,"mpcc_theta_e":0.445044041,"mpcc_theta_mech":0.555954754,"sam_rpm":-1.92747569,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208525956,"thr_a_norm":0.0418379456,"thr_a_v":0.583410382,"thr_b":0,"thr_b_norm":0.0121663958,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.389732,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.806133032,"cg_iw_a":1.72389746,"cg_theta_rad":0.556145251,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0141638853,"mpcc_du":49.9800453,"mpcc_dv":49.1343422,"mpcc_dw":50.8656578,"mpcc_enc_sign":1,"mpcc_id_a":-1.16226315,"mpcc_iq_a":-0.342456609,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.66967201,"mpcc_pred_id_a":-0.512642682,"mpcc_pred_iq_a":0.824892759,"mpcc_state":1,"mpcc_theta_e":0.424874306,"mpcc_theta_mech":0.554296851,"sam_rpm":-10.2830963,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208525956,"thr_a_norm":0.0208525956,"thr_a_v":0.583410382,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.399712,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.733645439,"cg_iw_a":-2.11794901,"cg_theta_rad":0.552430391,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.00547691667,"mpcc_du":49.9611855,"mpcc_dv":49.1011467,"mpcc_dw":50.8988533,"mpcc_enc_sign":1,"mpcc_id_a":0.285724729,"mpcc_iq_a":-1.00124097,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.269248,"mpcc_pred_id_a":-0.427119434,"mpcc_pred_iq_a":-1.41818714,"mpcc_state":1,"mpcc_theta_e":0.429825783,"mpcc_theta_mech":0.552911043,"sam_rpm":-15.9903774,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196440816,"thr_a_norm":0.0196440816,"thr_a_v":0.578576326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467241913,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.410698,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.878620625,"cg_iw_a":0.274143696,"cg_theta_rad":0.556751788,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0142159499,"mpcc_du":50.215889,"mpcc_dv":48.8657799,"mpcc_dw":51.1342201,"mpcc_enc_sign":1,"mpcc_id_a":0.312685311,"mpcc_iq_a":-1.5842365,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.83499992,"mpcc_pred_id_a":-0.580493927,"mpcc_pred_iq_a":-3.0643363,"mpcc_state":1,"mpcc_theta_e":0.447113037,"mpcc_theta_mech":0.55636853,"sam_rpm":-2.55882978,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196440816,"thr_a_norm":0.0196440816,"thr_a_v":0.578576326,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467241913,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.420128,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-1.24105906,"cg_iw_a":0.999020815,"cg_theta_rad":0.557508051,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0125451991,"mpcc_du":49.8972588,"mpcc_dv":48.9599953,"mpcc_dw":51.0400047,"mpcc_enc_sign":1,"mpcc_id_a":2.09858012,"mpcc_iq_a":-0.187729448,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.53469276,"mpcc_pred_id_a":0.16237323,"mpcc_pred_iq_a":-1.51358891,"mpcc_state":1,"mpcc_theta_e":0.435710907,"mpcc_theta_mech":0.554088116,"sam_rpm":-9.02813625,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184985101,"thr_a_norm":0.0184985101,"thr_a_v":0.57399404,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454401463,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.432335,"values":{"cg_iu_a":0.387013912,"cg_iv_a":0.281181812,"cg_iw_a":-0.668195724,"cg_theta_rad":0.557523012,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0084552262,"mpcc_du":50.522686,"mpcc_dv":48.390377,"mpcc_dw":51.609623,"mpcc_enc_sign":1,"mpcc_id_a":0.434277803,"mpcc_iq_a":-0.993681252,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.50215864,"mpcc_pred_id_a":-0.19990249,"mpcc_pred_iq_a":2.09682131,"mpcc_state":1,"mpcc_theta_e":0.448130131,"mpcc_theta_mech":0.55657196,"sam_rpm":10.2668896,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0983360112,"thr_a_norm":0.0184985101,"thr_a_v":0.893344045,"thr_b":0.0390558541,"thr_b_norm":0,"thr_b_v":0.656223416,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.455223,"values":{"cg_iu_a":4.66378593,"cg_iv_a":-0.298719406,"cg_iw_a":-2.55287504,"cg_theta_rad":0.553639472,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0273736808,"mpcc_du":50.5172386,"mpcc_dv":48.3277893,"mpcc_dw":51.6722107,"mpcc_enc_sign":1,"mpcc_id_a":0.381453276,"mpcc_iq_a":-0.268285424,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.72795677,"mpcc_pred_id_a":-0.137322694,"mpcc_pred_iq_a":-0.84198761,"mpcc_state":1,"mpcc_theta_e":0.441343784,"mpcc_theta_mech":0.555214643,"sam_rpm":-5.34570837,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0983360112,"thr_a_norm":0.0983360112,"thr_a_v":0.893344045,"thr_b":0.0390558541,"thr_b_norm":0.0390558541,"thr_b_v":0.656223416,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.461662,"values":{"cg_iu_a":4.51881123,"cg_iv_a":-2.11091113,"cg_iw_a":-2.40790009,"cg_theta_rad":0.556569815,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.017690111,"mpcc_du":50.1622391,"mpcc_dv":48.5009308,"mpcc_dw":51.4990692,"mpcc_enc_sign":1,"mpcc_id_a":2.60137963,"mpcc_iq_a":-1.16898394,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.46981406,"mpcc_pred_id_a":0.51910615,"mpcc_pred_iq_a":0.446935207,"mpcc_state":1,"mpcc_theta_e":0.438430309,"mpcc_theta_mech":0.554631948,"sam_rpm":-3.63891888,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0299416333,"thr_a_norm":0.0299416333,"thr_a_v":0.619766533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467946887,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.468163,"values":{"cg_iu_a":2.63413143,"cg_iv_a":0.208694458,"cg_iw_a":-2.84282589,"cg_theta_rad":0.557424128,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.00124389038,"mpcc_du":49.5423203,"mpcc_dv":49.4953194,"mpcc_dw":50.5046806,"mpcc_enc_sign":1,"mpcc_id_a":0.69184643,"mpcc_iq_a":-2.13652825,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.20286322,"mpcc_pred_id_a":-0.0976521671,"mpcc_pred_iq_a":-2.13923502,"mpcc_state":1,"mpcc_theta_e":0.446634293,"mpcc_theta_mech":0.556272805,"sam_rpm":9.35206413,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0299416333,"thr_a_norm":0.0299416333,"thr_a_v":0.619766533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467946887,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.474693,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.443694592,"cg_iw_a":-1.82799816,"cg_theta_rad":0.556384206,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0238952842,"mpcc_du":50.8522224,"mpcc_dv":47.8242111,"mpcc_dw":52.1757889,"mpcc_enc_sign":1,"mpcc_id_a":1.51828253,"mpcc_iq_a":-0.747264683,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.3983612,"mpcc_pred_id_a":-0.0495449118,"mpcc_pred_iq_a":-0.340016693,"mpcc_state":1,"mpcc_theta_e":0.43503809,"mpcc_theta_mech":0.553953528,"sam_rpm":-15.9768105,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188006312,"thr_a_norm":0.0188006312,"thr_a_v":0.575202525,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473334849,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.482872,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.6759851,"cg_iw_a":0.709069967,"cg_theta_rad":0.560067117,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0254646763,"mpcc_du":49.9174614,"mpcc_dv":48.8217468,"mpcc_dw":51.1782532,"mpcc_enc_sign":1,"mpcc_id_a":2.38320565,"mpcc_iq_a":-0.109787732,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.5418601,"mpcc_pred_id_a":0.38648659,"mpcc_pred_iq_a":-0.268076837,"mpcc_state":1,"mpcc_theta_e":0.444093227,"mpcc_theta_mech":0.555764556,"sam_rpm":4.01655293,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024314478,"thr_a_norm":0.0188006312,"thr_a_v":0.597257912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479478151,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.492912,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.53100967,"cg_iw_a":0.201656103,"cg_theta_rad":0.55786252,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.00694014272,"mpcc_du":49.1435051,"mpcc_dv":50.8564949,"mpcc_dw":49.9090958,"mpcc_enc_sign":1,"mpcc_id_a":0.424543053,"mpcc_iq_a":-1.3567909,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.3466539,"mpcc_pred_id_a":-0.216480419,"mpcc_pred_iq_a":-2.19266677,"mpcc_state":1,"mpcc_theta_e":0.444689751,"mpcc_theta_mech":0.555883884,"sam_rpm":17.6877079,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024314478,"thr_a_norm":0.024314478,"thr_a_v":0.597257912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479478151,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.503105,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.298719406,"cg_iw_a":-2.04546118,"cg_theta_rad":0.555792689,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0573861264,"mpcc_du":49.5397682,"mpcc_dv":49.1094666,"mpcc_dw":50.8905334,"mpcc_enc_sign":1,"mpcc_id_a":4.48085833,"mpcc_iq_a":-0.0767236501,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.325819403,"mpcc_pred_id_a":0.842655659,"mpcc_pred_iq_a":-1.65041173,"mpcc_state":1,"mpcc_theta_e":0.441551685,"mpcc_theta_mech":0.555256248,"sam_rpm":0.438951552,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201853961,"thr_a_norm":0.0201853961,"thr_a_v":0.580741584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456365317,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.512932,"values":{"cg_iu_a":2.85159445,"cg_iv_a":0.57113266,"cg_iw_a":-0.160782099,"cg_theta_rad":0.558687627,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0471605211,"mpcc_du":49.4670677,"mpcc_dv":50.0777245,"mpcc_dw":50.5329323,"mpcc_enc_sign":1,"mpcc_id_a":2.81555796,"mpcc_iq_a":-0.168277234,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.73145151,"mpcc_pred_id_a":0.341964573,"mpcc_pred_iq_a":-0.521508217,"mpcc_state":1,"mpcc_theta_e":0.425332546,"mpcc_theta_mech":0.552012444,"sam_rpm":-9.1123209,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201853961,"thr_a_norm":0.0201853961,"thr_a_v":0.580741584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456365317,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.523125,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.45852208,"cg_iw_a":2.08633566,"cg_theta_rad":0.553808331,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0330472738,"mpcc_du":50.511158,"mpcc_dv":48.2951431,"mpcc_dw":51.7048569,"mpcc_enc_sign":1,"mpcc_id_a":1.98242295,"mpcc_iq_a":-1.96186185,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.69463444,"mpcc_pred_id_a":0.0540080108,"mpcc_pred_iq_a":-2.94054842,"mpcc_state":1,"mpcc_theta_e":0.445301533,"mpcc_theta_mech":0.556006193,"sam_rpm":-9.19453621,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172018856,"thr_a_norm":0.0172018856,"thr_a_v":0.568807542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.436676592,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.533318,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.16857147,"cg_iw_a":-1.75551081,"cg_theta_rad":0.556232095,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.00408858247,"mpcc_du":51.0913925,"mpcc_dv":47.755722,"mpcc_dw":52.244278,"mpcc_enc_sign":1,"mpcc_id_a":-0.754992545,"mpcc_iq_a":-0.662290156,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.7584591,"mpcc_pred_id_a":-0.616405368,"mpcc_pred_iq_a":1.26243615,"mpcc_state":1,"mpcc_theta_e":0.429806232,"mpcc_theta_mech":0.552907169,"sam_rpm":-20.3897781,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199965686,"thr_a_norm":0.0172018856,"thr_a_v":0.579986274,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486527801,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.556114,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.89344811,"cg_iw_a":0.564094782,"cg_theta_rad":0.555209279,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0403492264,"mpcc_du":49.6592674,"mpcc_dv":50.1121559,"mpcc_dw":50.3407326,"mpcc_enc_sign":1,"mpcc_id_a":0.284198612,"mpcc_iq_a":-0.134812176,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.0328417,"mpcc_pred_id_a":-0.702986002,"mpcc_pred_iq_a":-4.41282701,"mpcc_state":1,"mpcc_theta_e":0.455842972,"mpcc_theta_mech":0.558114529,"sam_rpm":17.1857204,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199965686,"thr_a_norm":0.0199965686,"thr_a_v":0.579986274,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486527801,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.562645,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.60349751,"cg_iw_a":-0.595707893,"cg_theta_rad":0.552350581,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.00697538815,"mpcc_du":49.2408218,"mpcc_dv":50.7591782,"mpcc_dw":49.823391,"mpcc_enc_sign":1,"mpcc_id_a":-0.371519566,"mpcc_iq_a":-0.327695101,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.53690529,"mpcc_pred_id_a":-0.650212288,"mpcc_pred_iq_a":-5.211658,"mpcc_state":1,"mpcc_theta_e":0.448050499,"mpcc_theta_mech":0.556556046,"sam_rpm":12.2532768,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212554336,"thr_a_norm":0.0212554336,"thr_a_v":0.585021734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464270979,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.569206,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.40086174,"cg_iw_a":-3.06028891,"cg_theta_rad":0.557901561,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.000641989987,"mpcc_du":50.2089996,"mpcc_dv":50.3181305,"mpcc_dw":50.3507919,"mpcc_enc_sign":1,"mpcc_id_a":0.0841858461,"mpcc_iq_a":-2.76577306,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.5517987,"mpcc_pred_id_a":-0.441875845,"mpcc_pred_iq_a":-1.08497262,"mpcc_state":1,"mpcc_theta_e":0.441073418,"mpcc_theta_mech":0.555160582,"sam_rpm":-2.08612394,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212554336,"thr_a_norm":0.0212554336,"thr_a_v":0.585021734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464270979,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.575676,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-0.661157608,"cg_iw_a":-2.84282589,"cg_theta_rad":0.556722701,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0291587282,"mpcc_du":50.5262299,"mpcc_dv":47.9454079,"mpcc_dw":52.0545921,"mpcc_enc_sign":1,"mpcc_id_a":3.41462922,"mpcc_iq_a":-1.12977993,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.4413567,"mpcc_pred_id_a":0.686392844,"mpcc_pred_iq_a":-0.108359084,"mpcc_state":1,"mpcc_theta_e":0.425579071,"mpcc_theta_mech":0.552061737,"sam_rpm":-26.2465038,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.586113,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.878620625,"cg_iw_a":-1.82799864,"cg_theta_rad":0.552067637,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0054200734,"mpcc_du":50.4229698,"mpcc_dv":48.4296303,"mpcc_dw":51.5703697,"mpcc_enc_sign":1,"mpcc_id_a":-0.321832001,"mpcc_iq_a":-0.908061624,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.613732398,"mpcc_pred_id_a":-0.151332557,"mpcc_pred_iq_a":1.09513187,"mpcc_state":1,"mpcc_theta_e":0.441524982,"mpcc_theta_mech":0.555250943,"sam_rpm":1.70556509,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181712061,"thr_a_norm":0.0264671594,"thr_a_v":0.572684824,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454552531,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.597984,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.878620625,"cg_iw_a":-1.68302298,"cg_theta_rad":0.557712972,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0285506528,"mpcc_du":49.3798676,"mpcc_dv":49.5589066,"mpcc_dw":50.6201324,"mpcc_enc_sign":1,"mpcc_id_a":3.24677587,"mpcc_iq_a":1.96443725,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.276757956,"mpcc_pred_id_a":0.638030887,"mpcc_pred_iq_a":1.91894352,"mpcc_state":1,"mpcc_theta_e":0.431774616,"mpcc_theta_mech":0.553300798,"sam_rpm":-14.145545,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181712061,"thr_a_norm":0.0181712061,"thr_a_v":0.572684824,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454552531,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.608299,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-3.19822598,"cg_iw_a":-2.62536287,"cg_theta_rad":0.553796649,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.000394044095,"mpcc_du":50.1614304,"mpcc_dv":48.9061508,"mpcc_dw":51.0938492,"mpcc_enc_sign":1,"mpcc_id_a":0.388614029,"mpcc_iq_a":-4.26838207,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.73221326,"mpcc_pred_id_a":-0.58069396,"mpcc_pred_iq_a":-3.47276282,"mpcc_state":1,"mpcc_theta_e":0.448009014,"mpcc_theta_mech":0.556547761,"sam_rpm":-2.32510066,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281792134,"thr_a_norm":0.0281792134,"thr_a_v":0.612716854,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493476748,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.618462,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.02359605,"cg_iw_a":-0.523220301,"cg_theta_rad":0.555764556,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0106171221,"mpcc_du":49.2128181,"mpcc_dv":50.7871819,"mpcc_dw":50.1291313,"mpcc_enc_sign":1,"mpcc_id_a":1.6310662,"mpcc_iq_a":-1.53719389,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.44275475,"mpcc_pred_id_a":0.156541303,"mpcc_pred_iq_a":-3.0434339,"mpcc_state":1,"mpcc_theta_e":0.434664726,"mpcc_theta_mech":0.553878903,"sam_rpm":12.9887018,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225017071,"thr_a_norm":0.0281792134,"thr_a_v":0.590006828,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474291593,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.629723,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.02359605,"cg_iw_a":0.274143934,"cg_theta_rad":0.553728282,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.00294831931,"mpcc_du":49.6693916,"mpcc_dv":49.2303123,"mpcc_dw":50.7696877,"mpcc_enc_sign":1,"mpcc_id_a":0.688356161,"mpcc_iq_a":-1.33010197,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.81877661,"mpcc_pred_id_a":0.0526417308,"mpcc_pred_iq_a":-2.01323652,"mpcc_state":1,"mpcc_theta_e":0.434574127,"mpcc_theta_mech":0.553843617,"sam_rpm":-8.24395275,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225017071,"thr_a_norm":0.0225017071,"thr_a_v":0.590006828,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474291593,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.653008,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.951108456,"cg_iw_a":-0.233269691,"cg_theta_rad":0.554841697,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0150916018,"mpcc_du":50.2998657,"mpcc_dv":48.4230232,"mpcc_dw":51.5769768,"mpcc_enc_sign":1,"mpcc_id_a":1.29687846,"mpcc_iq_a":0.325390518,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.9649496,"mpcc_pred_id_a":0.145459682,"mpcc_pred_iq_a":-1.25665379,"mpcc_state":1,"mpcc_theta_e":0.434494019,"mpcc_theta_mech":0.55384469,"sam_rpm":-16.0527172,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137651563,"thr_a_norm":0.0137651563,"thr_a_v":0.555060625,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449819207,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.659538,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.45852208,"cg_iw_a":-3.06028914,"cg_theta_rad":0.557065725,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.00481660198,"mpcc_du":50.5960655,"mpcc_dv":48.0583916,"mpcc_dw":51.9416084,"mpcc_enc_sign":1,"mpcc_id_a":1.33551466,"mpcc_iq_a":-1.48860872,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.7932119,"mpcc_pred_id_a":0.0458772443,"mpcc_pred_iq_a":0.182881132,"mpcc_state":1,"mpcc_theta_e":0.432863235,"mpcc_theta_mech":0.553518593,"sam_rpm":-16.0884132,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02000916,"thr_a_norm":0.0137651563,"thr_a_v":0.58003664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482600152,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.6661,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.53100967,"cg_iw_a":-0.378244877,"cg_theta_rad":0.556551874,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.00488153985,"mpcc_du":49.8457184,"mpcc_dv":48.9647179,"mpcc_dw":51.0352821,"mpcc_enc_sign":1,"mpcc_id_a":1.38486469,"mpcc_iq_a":-1.86472261,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.33291006,"mpcc_pred_id_a":0.166919664,"mpcc_pred_iq_a":-0.264532685,"mpcc_state":1,"mpcc_theta_e":0.446429729,"mpcc_theta_mech":0.556231856,"sam_rpm":7.36652946,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02000916,"thr_a_norm":0.02000916,"thr_a_v":0.58003664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482600152,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.672569,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.74847269,"cg_iw_a":-0.958146572,"cg_theta_rad":0.553285301,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.00301757688,"mpcc_du":50.6760864,"mpcc_dv":48.1020699,"mpcc_dw":51.8979301,"mpcc_enc_sign":1,"mpcc_id_a":0.849941969,"mpcc_iq_a":-0.80791378,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.60893393,"mpcc_pred_id_a":-0.176679194,"mpcc_pred_iq_a":1.61217475,"mpcc_state":1,"mpcc_theta_e":0.451419353,"mpcc_theta_mech":0.557229817,"sam_rpm":-8.4599123,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467342645,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.680473,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.38603449,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556511939,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0171197336,"mpcc_du":49.4472733,"mpcc_dv":49.8709526,"mpcc_dw":50.5527267,"mpcc_enc_sign":1,"mpcc_id_a":2.58494234,"mpcc_iq_a":-1.70556462,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.67232227,"mpcc_pred_id_a":0.355292916,"mpcc_pred_iq_a":-2.15865445,"mpcc_state":1,"mpcc_theta_e":0.449011326,"mpcc_theta_mech":0.556748152,"sam_rpm":14.3033924,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467342645,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.692894,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.733645439,"cg_iw_a":-1.32058477,"cg_theta_rad":0.557702363,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0624965355,"mpcc_du":49.7415352,"mpcc_dv":49.0700035,"mpcc_dw":50.9299965,"mpcc_enc_sign":1,"mpcc_id_a":2.95765829,"mpcc_iq_a":-1.94378698,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.05509877,"mpcc_pred_id_a":0.122571386,"mpcc_pred_iq_a":-3.48491335,"mpcc_state":1,"mpcc_theta_e":0.440204144,"mpcc_theta_mech":0.554986715,"sam_rpm":-14.1064787,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192538351,"thr_a_norm":0.0192538351,"thr_a_v":0.57701534,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459487319,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.702873,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.31354666,"cg_iw_a":-1.24809694,"cg_theta_rad":0.556432843,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.054807581,"mpcc_du":49.4555969,"mpcc_dv":50.1915665,"mpcc_dw":50.5444031,"mpcc_enc_sign":1,"mpcc_id_a":2.68539619,"mpcc_iq_a":0.326695889,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.5714712,"mpcc_pred_id_a":0.419397712,"mpcc_pred_iq_a":-3.0952909,"mpcc_state":1,"mpcc_theta_e":0.452908516,"mpcc_theta_mech":0.557527661,"sam_rpm":21.5486336,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02655527,"thr_a_norm":0.02655527,"thr_a_v":0.60622108,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484161109,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.71273,"values":{"cg_iu_a":1.69179153,"cg_iv_a":0.353669643,"cg_iw_a":-2.40789986,"cg_theta_rad":0.555876791,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0170266144,"mpcc_du":49.3600655,"mpcc_dv":50.6399345,"mpcc_dw":50.3533554,"mpcc_enc_sign":1,"mpcc_id_a":2.59808969,"mpcc_iq_a":-0.156816751,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.72576427,"mpcc_pred_id_a":0.305144459,"mpcc_pred_iq_a":-2.23984718,"mpcc_state":1,"mpcc_theta_e":0.440778732,"mpcc_theta_mech":0.555101693,"sam_rpm":11.0140638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02655527,"thr_a_norm":0.02655527,"thr_a_v":0.60622108,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484161109,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.723015,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.588670254,"cg_iw_a":-1.03063393,"cg_theta_rad":0.55261302,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.00939264148,"mpcc_du":49.9198532,"mpcc_dv":49.2421989,"mpcc_dw":50.7578011,"mpcc_enc_sign":1,"mpcc_id_a":-0.354838729,"mpcc_iq_a":-2.94086218,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.17665744,"mpcc_pred_id_a":-0.681464672,"mpcc_pred_iq_a":-4.40194607,"mpcc_state":1,"mpcc_theta_e":0.452589989,"mpcc_theta_mech":0.557463884,"sam_rpm":5.36615944,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0420267731,"thr_a_norm":0.0420267731,"thr_a_v":0.668107092,"thr_b":0.0135763288,"thr_b_norm":0.0135763288,"thr_b_v":0.554305315,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.732903,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.733645439,"cg_iw_a":-2.55287504,"cg_theta_rad":0.556711197,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0512844399,"mpcc_du":50.5810928,"mpcc_dv":49.3974876,"mpcc_dw":50.6340446,"mpcc_enc_sign":1,"mpcc_id_a":3.67038274,"mpcc_iq_a":0.0824673921,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.76943922,"mpcc_pred_id_a":0.673834741,"mpcc_pred_iq_a":1.66666389,"mpcc_state":1,"mpcc_theta_e":0.439473629,"mpcc_theta_mech":0.554840624,"sam_rpm":-5.40558767,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0115621537,"thr_a_norm":0.0420267731,"thr_a_v":0.546248615,"thr_b":0,"thr_b_norm":0.0135763288,"thr_b_v":0.429828316,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.757103,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.74847269,"cg_iw_a":-1.0306344,"cg_theta_rad":0.554001391,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":9.27951041e-05,"mpcc_du":50.2625427,"mpcc_dv":48.7013016,"mpcc_dw":51.2986984,"mpcc_enc_sign":1,"mpcc_id_a":-0.0356188007,"mpcc_iq_a":-0.811809242,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.288562924,"mpcc_pred_id_a":-0.436408997,"mpcc_pred_iq_a":0.818005383,"mpcc_state":1,"mpcc_theta_e":0.441295147,"mpcc_theta_mech":0.555204928,"sam_rpm":-0.898773432,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0115621537,"thr_a_norm":0.0115621537,"thr_a_v":0.546248615,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.429828316,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.763664,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.298719406,"cg_iw_a":-2.19043684,"cg_theta_rad":0.55205816,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0200992823,"mpcc_du":50.0026131,"mpcc_dv":48.8525047,"mpcc_dw":51.1474953,"mpcc_enc_sign":1,"mpcc_id_a":2.4361062,"mpcc_iq_a":-0.663212776,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.75771904,"mpcc_pred_id_a":-0.0322167836,"mpcc_pred_iq_a":-3.08635855,"mpcc_state":1,"mpcc_theta_e":0.433962822,"mpcc_theta_mech":0.553738475,"sam_rpm":-14.5591316,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245788544,"thr_a_norm":0.0245788544,"thr_a_v":0.598315418,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485772491,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.770164,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.951108456,"cg_iw_a":0.201656342,"cg_theta_rad":0.555662692,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0330679268,"mpcc_du":50.5200539,"mpcc_dv":48.0560951,"mpcc_dw":51.9439049,"mpcc_enc_sign":1,"mpcc_id_a":3.2908287,"mpcc_iq_a":-0.895239174,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.38645244,"mpcc_pred_id_a":0.384430498,"mpcc_pred_iq_a":1.21290338,"mpcc_state":1,"mpcc_theta_e":0.439478874,"mpcc_theta_mech":0.554841697,"sam_rpm":-4.81755877,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245788544,"thr_a_norm":0.0245788544,"thr_a_v":0.598315418,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485772491,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.776726,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.6759851,"cg_iw_a":-1.32058454,"cg_theta_rad":0.555968702,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.00247180625,"mpcc_du":50.2566605,"mpcc_dv":48.6765633,"mpcc_dw":51.3234367,"mpcc_enc_sign":1,"mpcc_id_a":-0.404613435,"mpcc_iq_a":-3.60391021,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.23971343,"mpcc_pred_id_a":-0.350114197,"mpcc_pred_iq_a":-0.125296205,"mpcc_state":1,"mpcc_theta_e":0.44449091,"mpcc_theta_mech":0.555844069,"sam_rpm":3.66091275,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0279400349,"thr_a_norm":0.0279400349,"thr_a_v":0.611760139,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497907996,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.786308,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.878620625,"cg_iw_a":-1.61053562,"cg_theta_rad":0.553032517,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.00650160154,"mpcc_du":51.1613617,"mpcc_dv":47.5858154,"mpcc_dw":52.4141846,"mpcc_enc_sign":1,"mpcc_id_a":0.258678257,"mpcc_iq_a":-1.22289586,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.025836,"mpcc_pred_id_a":-0.530828118,"mpcc_pred_iq_a":1.00740314,"mpcc_state":1,"mpcc_theta_e":0.455079079,"mpcc_theta_mech":0.557961762,"sam_rpm":-17.5493298,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221114755,"thr_a_norm":0.0279400349,"thr_a_v":0.588445902,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485067546,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.796318,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.60349751,"cg_iw_a":-1.24809694,"cg_theta_rad":0.552675784,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0181248784,"mpcc_du":50.1782417,"mpcc_dv":48.6742592,"mpcc_dw":51.3257408,"mpcc_enc_sign":1,"mpcc_id_a":0.368938804,"mpcc_iq_a":-1.14225638,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.10144091,"mpcc_pred_id_a":-0.0783053488,"mpcc_pred_iq_a":-3.07999849,"mpcc_state":1,"mpcc_theta_e":0.441838741,"mpcc_theta_mech":0.555313647,"sam_rpm":-7.24566984,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221114755,"thr_a_norm":0.0221114755,"thr_a_v":0.588445902,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485067546,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.806511,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.298719406,"cg_iw_a":-2.62536287,"cg_theta_rad":0.553045988,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0315633155,"mpcc_du":49.7516937,"mpcc_dv":49.1877823,"mpcc_dw":50.8122177,"mpcc_enc_sign":1,"mpcc_id_a":2.23834157,"mpcc_iq_a":-1.58865356,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.24486256,"mpcc_pred_id_a":0.00867299363,"mpcc_pred_iq_a":-4.12645102,"mpcc_state":1,"mpcc_theta_e":0.450222492,"mpcc_theta_mech":0.556990445,"sam_rpm":3.76395607,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215323865,"thr_a_norm":0.0215323865,"thr_a_v":0.586129546,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470263213,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.816338,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.60349751,"cg_iw_a":0.419119358,"cg_theta_rad":0.553896666,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0348585322,"mpcc_du":50.0779533,"mpcc_dv":48.8008614,"mpcc_dw":51.1991386,"mpcc_enc_sign":1,"mpcc_id_a":1.50266623,"mpcc_iq_a":-1.27882612,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.52308297,"mpcc_pred_id_a":-0.00430827355,"mpcc_pred_iq_a":-2.69309616,"mpcc_state":1,"mpcc_theta_e":0.449874878,"mpcc_theta_mech":0.556920886,"sam_rpm":4.61758423,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215323865,"thr_a_norm":0.0215323865,"thr_a_v":0.586129546,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470263213,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.826591,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.38603449,"cg_iw_a":0.12916851,"cg_theta_rad":0.55680728,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.00468262471,"mpcc_du":49.9819107,"mpcc_dv":48.8837814,"mpcc_dw":50.4039764,"mpcc_enc_sign":1,"mpcc_id_a":1.35186768,"mpcc_iq_a":-2.29492021,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.53285027,"mpcc_pred_id_a":-0.058316391,"mpcc_pred_iq_a":-2.71936321,"mpcc_state":1,"mpcc_theta_e":0.439070225,"mpcc_theta_mech":0.55603081,"sam_rpm":-8.15016079,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026001364,"thr_a_norm":0.026001364,"thr_a_v":0.604005456,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497907996,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.836693,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.371207237,"cg_iw_a":0.274143934,"cg_theta_rad":0.557055414,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0200948175,"mpcc_du":50.6697006,"mpcc_dv":48.0069847,"mpcc_dw":51.9930153,"mpcc_enc_sign":1,"mpcc_id_a":1.90696251,"mpcc_iq_a":-1.96067405,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.97860146,"mpcc_pred_id_a":0.114715442,"mpcc_pred_iq_a":-0.665301263,"mpcc_state":1,"mpcc_theta_e":0.441236973,"mpcc_theta_mech":0.557908893,"sam_rpm":-8.02513695,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221366435,"thr_a_norm":0.026001364,"thr_a_v":0.588546574,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479377449,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.85955,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.588670254,"cg_iw_a":-0.81317091,"cg_theta_rad":0.550973892,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0341541544,"mpcc_du":50.883812,"mpcc_dv":47.6693687,"mpcc_dw":52.3306313,"mpcc_enc_sign":1,"mpcc_id_a":2.8742671,"mpcc_iq_a":-0.411625743,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.19569874,"mpcc_pred_id_a":0.420553595,"mpcc_pred_iq_a":1.94296813,"mpcc_state":1,"mpcc_theta_e":0.436123848,"mpcc_theta_mech":0.554170668,"sam_rpm":-9.42332172,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221366435,"thr_a_norm":0.0221366435,"thr_a_v":0.588546574,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479377449,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.866112,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-2.11091113,"cg_iw_a":0.709069967,"cg_theta_rad":0.556800485,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.00323867635,"mpcc_du":49.5719337,"mpcc_dv":49.9898529,"mpcc_dw":50.4280663,"mpcc_enc_sign":1,"mpcc_id_a":0.22060807,"mpcc_iq_a":-0.789521337,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.93030834,"mpcc_pred_id_a":-0.207645223,"mpcc_pred_iq_a":-0.517893791,"mpcc_state":1,"mpcc_theta_e":0.433738708,"mpcc_theta_mech":0.553693652,"sam_rpm":2.91230726,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0272728354,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477715701,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.872551,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.24105906,"cg_iw_a":0.491606951,"cg_theta_rad":0.553843617,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0230412073,"mpcc_du":48.9329567,"mpcc_dv":51.0670433,"mpcc_dw":49.5818062,"mpcc_enc_sign":1,"mpcc_id_a":1.41245377,"mpcc_iq_a":1.04448366,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.70216274,"mpcc_pred_id_a":-0.211265311,"mpcc_pred_iq_a":-6.11680746,"mpcc_state":1,"mpcc_theta_e":0.447158813,"mpcc_theta_mech":0.556377649,"sam_rpm":12.2256117,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0272728354,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477715701,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.879112,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.74847269,"cg_iw_a":-0.523220539,"cg_theta_rad":0.554875135,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.00883882772,"mpcc_du":50.4209023,"mpcc_dv":48.5098267,"mpcc_dw":51.4901733,"mpcc_enc_sign":1,"mpcc_id_a":1.11904764,"mpcc_iq_a":-1.08144701,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.979834437,"mpcc_pred_id_a":-0.138447747,"mpcc_pred_iq_a":0.609443128,"mpcc_state":1,"mpcc_theta_e":0.442475796,"mpcc_theta_mech":0.555441082,"sam_rpm":2.06076789,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211798996,"thr_a_norm":0.0211798996,"thr_a_v":0.584719598,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468248993,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.889061,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.516182423,"cg_iw_a":-0.378244877,"cg_theta_rad":0.553323865,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0341561809,"mpcc_du":49.5547409,"mpcc_dv":49.2528343,"mpcc_dw":50.7471657,"mpcc_enc_sign":1,"mpcc_id_a":3.13209176,"mpcc_iq_a":-0.562608838,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.31855249,"mpcc_pred_id_a":0.616335213,"mpcc_pred_iq_a":-2.56769133,"mpcc_state":1,"mpcc_theta_e":0.445215702,"mpcc_theta_mech":0.555989027,"sam_rpm":2.90478039,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196063071,"thr_a_norm":0.0211798996,"thr_a_v":0.578425229,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478622139,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.899101,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.74847269,"cg_iw_a":0.564094543,"cg_theta_rad":0.557105601,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.00109735318,"mpcc_du":49.5627327,"mpcc_dv":49.8774414,"mpcc_dw":50.4372673,"mpcc_enc_sign":1,"mpcc_id_a":0.645052493,"mpcc_iq_a":-0.900238097,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.108575083,"mpcc_pred_id_a":-0.219915733,"mpcc_pred_iq_a":-3.43583322,"mpcc_state":1,"mpcc_theta_e":0.439733028,"mpcc_theta_mech":0.55489254,"sam_rpm":-1.36313426,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196063071,"thr_a_norm":0.0196063071,"thr_a_v":0.578425229,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478622139,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.909294,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.878620625,"cg_iw_a":-1.32058477,"cg_theta_rad":0.556233883,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0266759377,"mpcc_du":49.7182121,"mpcc_dv":49.2605324,"mpcc_dw":50.7394676,"mpcc_enc_sign":1,"mpcc_id_a":2.75385928,"mpcc_iq_a":-2.19482636,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.11202264,"mpcc_pred_id_a":-0.00996344443,"mpcc_pred_iq_a":-4.99926805,"mpcc_state":1,"mpcc_theta_e":0.446326733,"mpcc_theta_mech":0.556211293,"sam_rpm":-3.15181279,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023987174,"thr_a_norm":0.023987174,"thr_a_v":0.595948696,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483154029,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.919151,"values":{"cg_iu_a":2.5616436,"cg_iv_a":2.67327499,"cg_iw_a":0.274143696,"cg_theta_rad":0.554192603,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0321676619,"mpcc_du":49.6012001,"mpcc_dv":49.0859604,"mpcc_dw":50.9140396,"mpcc_enc_sign":1,"mpcc_id_a":3.56371903,"mpcc_iq_a":1.26443303,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.217284352,"mpcc_pred_id_a":0.703316152,"mpcc_pred_iq_a":1.15324175,"mpcc_state":1,"mpcc_theta_e":0.432113171,"mpcc_theta_mech":0.553368568,"sam_rpm":-0.268521935,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023987174,"thr_a_norm":0.023987174,"thr_a_v":0.595948696,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483154029,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.929344,"values":{"cg_iu_a":4.8087616,"cg_iv_a":-1.60349751,"cg_iw_a":0.0566811562,"cg_theta_rad":0.555269539,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0335459933,"mpcc_du":49.1887054,"mpcc_dv":50.8112946,"mpcc_dw":50.1489639,"mpcc_enc_sign":1,"mpcc_id_a":2.55623484,"mpcc_iq_a":-0.57281822,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.4913944,"mpcc_pred_id_a":0.393024325,"mpcc_pred_iq_a":-2.45751977,"mpcc_state":1,"mpcc_theta_e":0.431239605,"mpcc_theta_mech":0.553193867,"sam_rpm":0.980590403,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0300927013,"thr_a_norm":0.0300927013,"thr_a_v":0.620370805,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.940483,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.878620625,"cg_iw_a":-1.90048599,"cg_theta_rad":0.55753386,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0752620026,"mpcc_du":50.5425453,"mpcc_dv":48.2292709,"mpcc_dw":51.7707291,"mpcc_enc_sign":1,"mpcc_id_a":2.00992513,"mpcc_iq_a":-0.727071702,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.60908937,"mpcc_pred_id_a":0.0624079779,"mpcc_pred_iq_a":-2.17165875,"mpcc_state":1,"mpcc_theta_e":0.447064877,"mpcc_theta_mech":0.556358933,"sam_rpm":-0.443422019,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246417969,"thr_a_norm":0.0300927013,"thr_a_v":0.598567188,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491764724,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.962578,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.733645439,"cg_iw_a":0.274143934,"cg_theta_rad":0.557549357,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0194146596,"mpcc_du":50.3393974,"mpcc_dv":48.6225357,"mpcc_dw":51.3774643,"mpcc_enc_sign":1,"mpcc_id_a":0.943500876,"mpcc_iq_a":-1.45729387,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.71503162,"mpcc_pred_id_a":-0.342305988,"mpcc_pred_iq_a":-3.39058161,"mpcc_state":1,"mpcc_theta_e":0.439973831,"mpcc_theta_mech":0.554940641,"sam_rpm":-10.2545996,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246417969,"thr_a_norm":0.0246417969,"thr_a_v":0.598567188,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491764724,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.969139,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.31354666,"cg_iw_a":-0.378244877,"cg_theta_rad":0.553853273,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.128485054,"mpcc_du":49.2988052,"mpcc_dv":50.4832535,"mpcc_dw":50.7011948,"mpcc_enc_sign":1,"mpcc_id_a":5.38911724,"mpcc_iq_a":1.24629605,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.86113644,"mpcc_pred_id_a":1.58947921,"mpcc_pred_iq_a":-4.76548576,"mpcc_state":1,"mpcc_theta_e":0.452641487,"mpcc_theta_mech":0.557474196,"sam_rpm":14.8763046,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020563066,"thr_a_norm":0.020563066,"thr_a_v":0.582252264,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466285199,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.97567,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.588670254,"cg_iw_a":-0.740683079,"cg_theta_rad":0.554997206,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.021026222,"mpcc_du":49.7616768,"mpcc_dv":48.8910866,"mpcc_dw":51.1089134,"mpcc_enc_sign":1,"mpcc_id_a":2.80034161,"mpcc_iq_a":-1.08766723,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.601085842,"mpcc_pred_id_a":0.771464944,"mpcc_pred_iq_a":-0.719329059,"mpcc_state":1,"mpcc_theta_e":0.441538334,"mpcc_theta_mech":0.555253565,"sam_rpm":1.10339129,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020563066,"thr_a_norm":0.020563066,"thr_a_v":0.582252264,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466285199,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.98217,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.806133032,"cg_iw_a":-0.305757284,"cg_theta_rad":0.556032538,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.00220680237,"mpcc_du":49.5356712,"mpcc_dv":50.0607529,"mpcc_dw":50.4643288,"mpcc_enc_sign":1,"mpcc_id_a":3.53693128,"mpcc_iq_a":-0.689515054,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.3453712,"mpcc_pred_id_a":0.987457573,"mpcc_pred_iq_a":-0.226813063,"mpcc_state":1,"mpcc_theta_e":0.4281106,"mpcc_theta_mech":0.552568078,"sam_rpm":-0.795467198,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021343559,"thr_a_norm":0.021343559,"thr_a_v":0.585374236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467644751,"vdc_v":55.2955055}} +{"type":"telemetry","t":105.990685,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-2.0384233,"cg_iw_a":1.28897119,"cg_theta_rad":0.556648672,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.0196496118,"mpcc_du":50.506897,"mpcc_dv":48.2446175,"mpcc_dw":51.7553825,"mpcc_enc_sign":1,"mpcc_id_a":1.56475639,"mpcc_iq_a":-0.983541727,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.59901237,"mpcc_pred_id_a":0.128989309,"mpcc_pred_iq_a":2.3632443,"mpcc_state":1,"mpcc_theta_e":0.449903011,"mpcc_theta_mech":0.556926489,"sam_rpm":12.6568699,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234206915,"thr_a_norm":0.021343559,"thr_a_v":0.593682766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476406515,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.000481,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.38603449,"cg_iw_a":-1.24809694,"cg_theta_rad":0.558626235,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":5011,"hz_app_loop":363,"hz_tim_isr":10022,"hz_vsense":363,"mpcc_cost":0.00519005582,"mpcc_du":49.2058144,"mpcc_dv":50.7941856,"mpcc_dw":50.0879211,"mpcc_enc_sign":1,"mpcc_id_a":1.31067026,"mpcc_iq_a":-0.338281691,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.74830866,"mpcc_pred_id_a":0.102729723,"mpcc_pred_iq_a":-4.26789141,"mpcc_state":1,"mpcc_theta_e":0.442228317,"mpcc_theta_mech":0.55539155,"sam_rpm":9.96053505,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234206915,"thr_a_norm":0.0234206915,"thr_a_v":0.593682766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476406515,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.011497,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-2.0384233,"cg_iw_a":-0.668195724,"cg_theta_rad":0.555797219,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.18164,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0293507855,"mpcc_du":50.5242691,"mpcc_dv":48.2714539,"mpcc_dw":51.7285461,"mpcc_enc_sign":1,"mpcc_id_a":1.54944193,"mpcc_iq_a":-0.680805624,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.90901184,"mpcc_pred_id_a":0.190564811,"mpcc_pred_iq_a":-0.717877507,"mpcc_state":1,"mpcc_theta_e":0.441126347,"mpcc_theta_mech":0.555171192,"sam_rpm":-4.16989803,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242011845,"thr_a_norm":0.0242011845,"thr_a_v":0.596804738,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475399435,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.021049,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.09608364,"cg_iw_a":-0.305757523,"cg_theta_rad":0.557766259,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0312672667,"mpcc_du":49.9799881,"mpcc_dv":48.8706207,"mpcc_dw":51.1293793,"mpcc_enc_sign":1,"mpcc_id_a":1.27378762,"mpcc_iq_a":-0.417188287,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.47073865,"mpcc_pred_id_a":0.180078179,"mpcc_pred_iq_a":-1.47354054,"mpcc_state":1,"mpcc_theta_e":0.444784164,"mpcc_theta_mech":0.555902779,"sam_rpm":-1.38036513,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242011845,"thr_a_norm":0.0242011845,"thr_a_v":0.596804738,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475399435,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.031273,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.806133032,"cg_iw_a":-0.668195963,"cg_theta_rad":0.555899382,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0136592193,"mpcc_du":49.5095711,"mpcc_dv":50.4904289,"mpcc_dw":50.3009491,"mpcc_enc_sign":1,"mpcc_id_a":1.46747303,"mpcc_iq_a":-0.684606016,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.90681517,"mpcc_pred_id_a":-0.301998734,"mpcc_pred_iq_a":-2.49735403,"mpcc_state":1,"mpcc_theta_e":0.439016342,"mpcc_theta_mech":0.554749191,"sam_rpm":0.500269711,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025094986,"thr_a_norm":0.025094986,"thr_a_v":0.600379944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.041588,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-2.61832476,"cg_iw_a":2.37628651,"cg_theta_rad":0.556311488,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0380101725,"mpcc_du":49.5572739,"mpcc_dv":49.2357445,"mpcc_dw":49.325119,"mpcc_enc_sign":1,"mpcc_id_a":2.76655221,"mpcc_iq_a":-1.50253117,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.03802681,"mpcc_pred_id_a":0.398750573,"mpcc_pred_iq_a":-0.25832516,"mpcc_state":1,"mpcc_theta_e":0.432312489,"mpcc_theta_mech":0.555258811,"sam_rpm":-7.76561642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.025094986,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450070977,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.064476,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.661157608,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.55250603,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.00299091404,"mpcc_du":51.2473068,"mpcc_dv":47.2935448,"mpcc_dw":52.7064552,"mpcc_enc_sign":1,"mpcc_id_a":0.509638906,"mpcc_iq_a":0.187072247,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.9113903,"mpcc_pred_id_a":-0.0258761141,"mpcc_pred_iq_a":2.93931222,"mpcc_state":1,"mpcc_theta_e":0.425402164,"mpcc_theta_mech":0.552026391,"sam_rpm":-26.6508465,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450070977,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.071007,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.733645439,"cg_iw_a":-2.48038769,"cg_theta_rad":0.55679673,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.00270023919,"mpcc_du":50.6788864,"mpcc_dv":48.0676384,"mpcc_dw":51.9323616,"mpcc_enc_sign":1,"mpcc_id_a":0.554426014,"mpcc_iq_a":-1.27012753,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.64762783,"mpcc_pred_id_a":0.0126012471,"mpcc_pred_iq_a":0.98064059,"mpcc_state":1,"mpcc_theta_e":0.436488628,"mpcc_theta_mech":0.554243684,"sam_rpm":-9.53382969,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.046080336,"thr_a_norm":0.046080336,"thr_a_v":0.684321344,"thr_b":0.0128965378,"thr_b_norm":0.0128965378,"thr_b_v":0.551586151,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.077599,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.878620625,"cg_iw_a":-1.75551081,"cg_theta_rad":0.555600226,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0119783571,"mpcc_du":49.6326485,"mpcc_dv":49.8177261,"mpcc_dw":50.3673515,"mpcc_enc_sign":1,"mpcc_id_a":0.24020946,"mpcc_iq_a":-1.22665727,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.06287861,"mpcc_pred_id_a":-0.548051238,"mpcc_pred_iq_a":-4.1280055,"mpcc_state":1,"mpcc_theta_e":0.449602604,"mpcc_theta_mech":0.556866407,"sam_rpm":9.48007965,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.046080336,"thr_a_norm":0.046080336,"thr_a_v":0.684321344,"thr_b":0.0128965378,"thr_b_norm":0.0128965378,"thr_b_v":0.551586151,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.084038,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.76329994,"cg_iw_a":1.65140963,"cg_theta_rad":0.556340456,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.00410202704,"mpcc_du":49.9427528,"mpcc_dv":48.9783325,"mpcc_dw":51.0216675,"mpcc_enc_sign":1,"mpcc_id_a":0.277631193,"mpcc_iq_a":-1.00351536,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.36707783,"mpcc_pred_id_a":0.0668431967,"mpcc_pred_iq_a":-2.63833117,"mpcc_state":1,"mpcc_theta_e":0.437900066,"mpcc_theta_mech":0.555396795,"sam_rpm":-7.80867863,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245410949,"thr_a_norm":0.0245410949,"thr_a_v":0.59816438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483204395,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.091881,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-2.11091113,"cg_iw_a":1.43394685,"cg_theta_rad":0.554279566,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.00987974834,"mpcc_du":50.3376656,"mpcc_dv":48.6221161,"mpcc_dw":51.3778839,"mpcc_enc_sign":1,"mpcc_id_a":0.974314392,"mpcc_iq_a":-0.877068758,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.51394486,"mpcc_pred_id_a":-0.133602604,"mpcc_pred_iq_a":0.382276654,"mpcc_state":1,"mpcc_theta_e":0.444726944,"mpcc_theta_mech":0.555891335,"sam_rpm":4.0765748,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199587941,"thr_a_norm":0.0245410949,"thr_a_v":0.579835176,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482298017,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.101677,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.53100967,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556791067,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.00760667305,"mpcc_du":50.2838593,"mpcc_dv":48.7587585,"mpcc_dw":51.2412415,"mpcc_enc_sign":1,"mpcc_id_a":0.272285759,"mpcc_iq_a":-2.02298832,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.4506371,"mpcc_pred_id_a":-0.426652491,"mpcc_pred_iq_a":-2.92204738,"mpcc_state":1,"mpcc_theta_e":0.442258358,"mpcc_theta_mech":0.55539757,"sam_rpm":-14.5932741,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199587941,"thr_a_norm":0.0199587941,"thr_a_v":0.579835176,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482298017,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.112053,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.09608364,"cg_iw_a":-0.523220539,"cg_theta_rad":0.55708015,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.112049639,"mpcc_du":49.8054428,"mpcc_dv":48.807457,"mpcc_dw":51.192543,"mpcc_enc_sign":1,"mpcc_id_a":4.32674789,"mpcc_iq_a":-0.9402349,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.68039083,"mpcc_pred_id_a":1.04096103,"mpcc_pred_iq_a":-3.63761806,"mpcc_state":1,"mpcc_theta_e":0.453480721,"mpcc_theta_mech":0.557642043,"sam_rpm":8.71608448,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201728046,"thr_a_norm":0.0201728046,"thr_a_v":0.580691218,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457875937,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.12429,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.516182423,"cg_iw_a":-1.75551081,"cg_theta_rad":0.554699719,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0129947001,"mpcc_du":50.0203781,"mpcc_dv":48.8584557,"mpcc_dw":51.1415443,"mpcc_enc_sign":1,"mpcc_id_a":1.76961648,"mpcc_iq_a":-2.05901313,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.24154663,"mpcc_pred_id_a":0.144770697,"mpcc_pred_iq_a":-1.93833387,"mpcc_state":1,"mpcc_theta_e":0.450101852,"mpcc_theta_mech":0.556966245,"sam_rpm":3.27366257,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024138242,"thr_a_norm":0.0201728046,"thr_a_v":0.596552968,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.134087,"values":{"cg_iu_a":1.98174238,"cg_iv_a":1.22352171,"cg_iw_a":0.201656342,"cg_theta_rad":0.553836942,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.105256401,"mpcc_du":49.5238571,"mpcc_dv":49.4657936,"mpcc_dw":50.5342064,"mpcc_enc_sign":1,"mpcc_id_a":2.42682314,"mpcc_iq_a":2.26486444,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.3221531,"mpcc_pred_id_a":0.155807078,"mpcc_pred_iq_a":-1.02256644,"mpcc_state":1,"mpcc_theta_e":0.455070972,"mpcc_theta_mech":0.557960093,"sam_rpm":25.9275436,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024138242,"thr_a_norm":0.024138242,"thr_a_v":0.596552968,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.144249,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.82096052,"cg_iw_a":-1.10312176,"cg_theta_rad":0.557851255,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0299704298,"mpcc_du":49.5194702,"mpcc_dv":49.7533913,"mpcc_dw":50.4805298,"mpcc_enc_sign":1,"mpcc_id_a":1.04047072,"mpcc_iq_a":-0.925399959,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.17636633,"mpcc_pred_id_a":0.0294390339,"mpcc_pred_iq_a":-0.60292244,"mpcc_state":1,"mpcc_theta_e":0.424716473,"mpcc_theta_mech":0.551889181,"sam_rpm":-9.14017105,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235088021,"thr_a_norm":0.0235088021,"thr_a_v":0.594035208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462760359,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.167473,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.443694592,"cg_iw_a":-0.16078186,"cg_theta_rad":0.555182755,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.00772080803,"mpcc_du":48.5092392,"mpcc_dv":51.4907608,"mpcc_dw":49.0141258,"mpcc_enc_sign":1,"mpcc_id_a":1.73422253,"mpcc_iq_a":-1.47225106,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.44886303,"mpcc_pred_id_a":-0.478325486,"mpcc_pred_iq_a":-7.49524832,"mpcc_state":1,"mpcc_theta_e":0.445232868,"mpcc_theta_mech":0.555992484,"sam_rpm":12.9674568,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235088021,"thr_a_norm":0.0235088021,"thr_a_v":0.594035208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462760359,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.174034,"values":{"cg_iu_a":1.76427937,"cg_iv_a":0.281181812,"cg_iw_a":-1.46555996,"cg_theta_rad":0.554085553,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0179192144,"mpcc_du":50.412468,"mpcc_dv":48.1005936,"mpcc_dw":51.8994064,"mpcc_enc_sign":1,"mpcc_id_a":2.57119226,"mpcc_iq_a":-0.71146661,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.7873726,"mpcc_pred_id_a":0.611603439,"mpcc_pred_iq_a":-0.497736871,"mpcc_state":1,"mpcc_theta_e":0.429018497,"mpcc_theta_mech":0.552749574,"sam_rpm":-21.8445587,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02567406,"thr_a_norm":0.02567406,"thr_a_v":0.60269624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.180534,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.806133032,"cg_iw_a":-1.75551057,"cg_theta_rad":0.559933782,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0056766239,"mpcc_du":49.9009399,"mpcc_dv":49.1233749,"mpcc_dw":50.8766251,"mpcc_enc_sign":1,"mpcc_id_a":0.179270089,"mpcc_iq_a":-1.52187359,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.73827553,"mpcc_pred_id_a":-0.1873364,"mpcc_pred_iq_a":-1.4969039,"mpcc_state":1,"mpcc_theta_e":0.448881626,"mpcc_theta_mech":0.556722224,"sam_rpm":8.61470699,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02567406,"thr_a_norm":0.02567406,"thr_a_v":0.60269624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.187096,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.443694592,"cg_iw_a":-1.90048623,"cg_theta_rad":0.55395323,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0227558892,"mpcc_du":49.603981,"mpcc_dv":49.2775688,"mpcc_dw":50.7224312,"mpcc_enc_sign":1,"mpcc_id_a":2.2150414,"mpcc_iq_a":-1.30296302,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.42453766,"mpcc_pred_id_a":0.323878348,"mpcc_pred_iq_a":-1.78362775,"mpcc_state":1,"mpcc_theta_e":0.451792717,"mpcc_theta_mech":0.557304442,"sam_rpm":14.1644201,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022199586,"thr_a_norm":0.022199586,"thr_a_v":0.588798344,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484261811,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.197289,"values":{"cg_iu_a":4.73627377,"cg_iv_a":-2.69081235,"cg_iw_a":1.79638505,"cg_theta_rad":0.557035267,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0110412268,"mpcc_du":49.6382942,"mpcc_dv":49.3932877,"mpcc_dw":50.6067123,"mpcc_enc_sign":1,"mpcc_id_a":1.95441043,"mpcc_iq_a":-1.52057958,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.92490065,"mpcc_pred_id_a":-0.0707613751,"mpcc_pred_iq_a":-3.60163426,"mpcc_state":1,"mpcc_theta_e":0.441361427,"mpcc_theta_mech":0.55521816,"sam_rpm":-2.94317174,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.046004802,"thr_a_norm":0.022199586,"thr_a_v":0.684019208,"thr_b":0.0103410333,"thr_b_norm":0,"thr_b_v":0.541364133,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.207146,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.588670254,"cg_iw_a":-0.523220301,"cg_theta_rad":0.5566324,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0646545663,"mpcc_du":49.5735168,"mpcc_dv":49.273777,"mpcc_dw":50.726223,"mpcc_enc_sign":1,"mpcc_id_a":3.5037992,"mpcc_iq_a":0.0555420257,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.28517175,"mpcc_pred_id_a":0.472233742,"mpcc_pred_iq_a":-4.21857595,"mpcc_state":1,"mpcc_theta_e":0.443143845,"mpcc_theta_mech":0.555574656,"sam_rpm":-0.740807533,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.046004802,"thr_a_norm":0.046004802,"thr_a_v":0.684019208,"thr_b":0.0103410333,"thr_b_norm":0.0103410333,"thr_b_v":0.541364133,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.217278,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.02359605,"cg_iw_a":-1.90048623,"cg_theta_rad":0.55518347,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.00186985335,"mpcc_du":50.0002632,"mpcc_dv":48.9191475,"mpcc_dw":51.0808525,"mpcc_enc_sign":1,"mpcc_id_a":0.485206187,"mpcc_iq_a":-0.910582006,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.41311789,"mpcc_pred_id_a":-0.135659724,"mpcc_pred_iq_a":-0.186644763,"mpcc_state":1,"mpcc_theta_e":0.432096004,"mpcc_theta_mech":0.553365111,"sam_rpm":-8.32965946,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166857392,"thr_a_norm":0.0166857392,"thr_a_v":0.566742957,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478773177,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.227501,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-2.25588632,"cg_iw_a":0.78155756,"cg_theta_rad":0.557653666,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0252395067,"mpcc_du":51.6746254,"mpcc_dv":46.8403702,"mpcc_dw":53.1596298,"mpcc_enc_sign":1,"mpcc_id_a":0.518065214,"mpcc_iq_a":-1.34635711,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.4711885,"mpcc_pred_id_a":-0.0221738014,"mpcc_pred_iq_a":1.7004863,"mpcc_state":1,"mpcc_theta_e":0.437212944,"mpcc_theta_mech":0.554388463,"sam_rpm":-22.0222034,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166857392,"thr_a_norm":0.0166857392,"thr_a_v":0.566742957,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478773177,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.237694,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.733645439,"cg_iw_a":0.636582375,"cg_theta_rad":0.557748199,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.00180019706,"mpcc_du":49.5017471,"mpcc_dv":50.4982529,"mpcc_dw":50.4420776,"mpcc_enc_sign":1,"mpcc_id_a":0.478398025,"mpcc_iq_a":-0.403989434,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.71447039,"mpcc_pred_id_a":0.205534473,"mpcc_pred_iq_a":-1.72858298,"mpcc_state":1,"mpcc_theta_e":0.43153429,"mpcc_theta_mech":0.553252757,"sam_rpm":8.20128727,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0311879069,"thr_a_norm":0.0311879069,"thr_a_v":0.624751627,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.247643,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.38603449,"cg_iw_a":0.636582375,"cg_theta_rad":0.553028643,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0493976027,"mpcc_du":50.5240097,"mpcc_dv":48.1010895,"mpcc_dw":51.8989105,"mpcc_enc_sign":1,"mpcc_id_a":2.96758747,"mpcc_iq_a":-0.0457459837,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.4650116,"mpcc_pred_id_a":0.391183197,"mpcc_pred_iq_a":-1.25637674,"mpcc_state":1,"mpcc_theta_e":0.438193321,"mpcc_theta_mech":0.554584622,"sam_rpm":-14.1531878,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00872968137,"thr_a_norm":0.0311879069,"thr_a_v":0.534918725,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44236666,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.270714,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.951108456,"cg_iw_a":-0.16078186,"cg_theta_rad":0.55418855,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0227149911,"mpcc_du":51.6362381,"mpcc_dv":47.1229439,"mpcc_dw":52.8770561,"mpcc_enc_sign":1,"mpcc_id_a":-0.231720284,"mpcc_iq_a":-0.902943373,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.5126352,"mpcc_pred_id_a":-0.523676455,"mpcc_pred_iq_a":2.08410025,"mpcc_state":1,"mpcc_theta_e":0.434106827,"mpcc_theta_mech":0.553767264,"sam_rpm":-17.8770237,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00872968137,"thr_a_norm":0.00872968137,"thr_a_v":0.534918725,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44236666,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.277214,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.53100967,"cg_iw_a":0.201656342,"cg_theta_rad":0.55613029,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0148546826,"mpcc_du":50.004467,"mpcc_dv":48.8568611,"mpcc_dw":51.1431389,"mpcc_enc_sign":1,"mpcc_id_a":2.29172873,"mpcc_iq_a":-0.457174331,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.6539135,"mpcc_pred_id_a":0.237169206,"mpcc_pred_iq_a":-2.14115095,"mpcc_state":1,"mpcc_theta_e":0.433662891,"mpcc_theta_mech":0.555704534,"sam_rpm":-14.6723194,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179823637,"thr_a_norm":0.0179823637,"thr_a_v":0.571929455,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469507903,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.283745,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.16857147,"cg_iw_a":0.0566811562,"cg_theta_rad":0.555320561,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0388783589,"mpcc_du":50.0907249,"mpcc_dv":48.7450638,"mpcc_dw":51.2549362,"mpcc_enc_sign":1,"mpcc_id_a":2.83702397,"mpcc_iq_a":-0.498345673,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.61638498,"mpcc_pred_id_a":0.343253046,"mpcc_pred_iq_a":-2.82380962,"mpcc_state":1,"mpcc_theta_e":0.448040485,"mpcc_theta_mech":0.556554019,"sam_rpm":-9.10340118,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179823637,"thr_a_norm":0.0179823637,"thr_a_v":0.571929455,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469507903,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.290459,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.588670254,"cg_iw_a":-1.82799816,"cg_theta_rad":0.553695977,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0250101276,"mpcc_du":49.5162659,"mpcc_dv":49.6803856,"mpcc_dw":50.4837341,"mpcc_enc_sign":1,"mpcc_id_a":2.63390374,"mpcc_iq_a":-0.0776929185,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.00888085,"mpcc_pred_id_a":0.169383973,"mpcc_pred_iq_a":-3.95379114,"mpcc_state":1,"mpcc_theta_e":0.439479351,"mpcc_theta_mech":0.554841757,"sam_rpm":-3.23605752,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0400125831,"thr_a_norm":0.0400125831,"thr_a_v":0.660050333,"thr_b":0.00798694789,"thr_b_norm":0.00798694789,"thr_b_v":0.531947792,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.300652,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.951108456,"cg_iw_a":-0.233269691,"cg_theta_rad":0.555673599,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0268431138,"mpcc_du":49.5199089,"mpcc_dv":50.0909386,"mpcc_dw":50.4800911,"mpcc_enc_sign":1,"mpcc_id_a":2.7140851,"mpcc_iq_a":-1.93042886,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.0585575,"mpcc_pred_id_a":0.252245814,"mpcc_pred_iq_a":-4.26738834,"mpcc_state":1,"mpcc_theta_e":0.455393791,"mpcc_theta_mech":0.558024645,"sam_rpm":14.6290522,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181963891,"thr_a_norm":0.0400125831,"thr_a_v":0.572785556,"thr_b":0,"thr_b_norm":0.00798694789,"thr_b_v":0.464573115,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.310661,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.45852208,"cg_iw_a":0.0566809177,"cg_theta_rad":0.558385134,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0540748723,"mpcc_du":49.9217911,"mpcc_dv":49.0776215,"mpcc_dw":50.9223785,"mpcc_enc_sign":1,"mpcc_id_a":0.62999922,"mpcc_iq_a":-0.251971722,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.18115687,"mpcc_pred_id_a":0.00478523551,"mpcc_pred_iq_a":-4.65624571,"mpcc_state":1,"mpcc_theta_e":0.448187828,"mpcc_theta_mech":0.556583524,"sam_rpm":-1.0004251,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0181963891,"thr_a_norm":0.0181963891,"thr_a_v":0.572785556,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464573115,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.320763,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.226231575,"cg_iw_a":-2.62536287,"cg_theta_rad":0.552566946,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0205390193,"mpcc_du":50.5332069,"mpcc_dv":48.28685,"mpcc_dw":51.71315,"mpcc_enc_sign":1,"mpcc_id_a":1.15673745,"mpcc_iq_a":-1.51307547,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.21020794,"mpcc_pred_id_a":-0.0319065563,"mpcc_pred_iq_a":-2.33105922,"mpcc_state":1,"mpcc_theta_e":0.440859795,"mpcc_theta_mech":0.555117905,"sam_rpm":-11.8767662,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0236472934,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463817805,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.330742,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.153744221,"cg_iw_a":-1.17560911,"cg_theta_rad":0.553840578,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0161876194,"mpcc_du":49.2473106,"mpcc_dv":50.7526894,"mpcc_dw":50.166748,"mpcc_enc_sign":1,"mpcc_id_a":2.44251847,"mpcc_iq_a":-0.827249408,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.35797405,"mpcc_pred_id_a":0.293892354,"mpcc_pred_iq_a":-2.80252099,"mpcc_state":1,"mpcc_theta_e":0.432545185,"mpcc_theta_mech":0.553454995,"sam_rpm":11.9934816,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0236472934,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463817805,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.340874,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.45852208,"cg_iw_a":1.14399576,"cg_theta_rad":0.553176641,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.023133954,"mpcc_du":49.5307045,"mpcc_dv":50.0015221,"mpcc_dw":50.4692955,"mpcc_enc_sign":1,"mpcc_id_a":1.90550947,"mpcc_iq_a":0.103714511,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.6945219,"mpcc_pred_id_a":0.0655963048,"mpcc_pred_iq_a":-0.700415611,"mpcc_state":1,"mpcc_theta_e":0.426630974,"mpcc_theta_mech":0.552272141,"sam_rpm":-6.86278009,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0301934034,"thr_a_norm":0.0301934034,"thr_a_v":0.620773613,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472780973,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.351067,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.09608364,"cg_iw_a":-2.19043684,"cg_theta_rad":0.552694798,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0116033237,"mpcc_du":49.763237,"mpcc_dv":49.4984055,"mpcc_dw":50.5015945,"mpcc_enc_sign":1,"mpcc_id_a":-0.324747741,"mpcc_iq_a":-2.21158504,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.84849787,"mpcc_pred_id_a":-0.652225316,"mpcc_pred_iq_a":-3.99682522,"mpcc_state":1,"mpcc_theta_e":0.453480721,"mpcc_theta_mech":0.557642043,"sam_rpm":10.5499516,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269203484,"thr_a_norm":0.0301934034,"thr_a_v":0.607681394,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485168248,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.374107,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.89344811,"cg_iw_a":0.20165658,"cg_theta_rad":0.555725396,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0011061416,"mpcc_du":49.2160606,"mpcc_dv":50.7839394,"mpcc_dw":49.8353996,"mpcc_enc_sign":1,"mpcc_id_a":0.242828116,"mpcc_iq_a":-1.07916403,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.75597858,"mpcc_pred_id_a":-0.481942922,"mpcc_pred_iq_a":-2.70479441,"mpcc_state":1,"mpcc_theta_e":0.437261105,"mpcc_theta_mech":0.554398179,"sam_rpm":-8.98026085,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269203484,"thr_a_norm":0.0269203484,"thr_a_v":0.607681394,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485168248,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.380638,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.6759851,"cg_iw_a":0.346631765,"cg_theta_rad":0.553230524,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.00379122142,"mpcc_du":50.1072121,"mpcc_dv":48.8197861,"mpcc_dw":51.1802139,"mpcc_enc_sign":1,"mpcc_id_a":1.20707798,"mpcc_iq_a":-1.42511857,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.7531776,"mpcc_pred_id_a":-0.16011712,"mpcc_pred_iq_a":-1.96422839,"mpcc_state":1,"mpcc_theta_e":0.430642605,"mpcc_theta_mech":0.553074419,"sam_rpm":-15.7346363,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235213935,"thr_a_norm":0.0235213935,"thr_a_v":0.594085574,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470112145,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.387108,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.24105906,"cg_iw_a":-0.378245115,"cg_theta_rad":0.555265009,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.00222664862,"mpcc_du":49.5726089,"mpcc_dv":49.8558006,"mpcc_dw":50.4273911,"mpcc_enc_sign":1,"mpcc_id_a":0.782900035,"mpcc_iq_a":-1.76829445,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.7781792,"mpcc_pred_id_a":-0.303705037,"mpcc_pred_iq_a":-1.99777019,"mpcc_state":1,"mpcc_theta_e":0.450177193,"mpcc_theta_mech":0.556981385,"sam_rpm":15.8343344,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235213935,"thr_a_norm":0.0235213935,"thr_a_v":0.594085574,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470112145,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.393639,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.516182423,"cg_iw_a":-1.68302298,"cg_theta_rad":0.557309449,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0238657575,"mpcc_du":49.7621574,"mpcc_dv":48.9129181,"mpcc_dw":51.0870819,"mpcc_enc_sign":1,"mpcc_id_a":2.85689926,"mpcc_iq_a":-1.1343019,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.0266781,"mpcc_pred_id_a":0.61060524,"mpcc_pred_iq_a":-3.64213109,"mpcc_state":1,"mpcc_theta_e":0.433763027,"mpcc_theta_mech":0.55369854,"sam_rpm":-14.7273884,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0164843202,"thr_a_norm":0.0164843202,"thr_a_v":0.565937281,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.403893,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.60349751,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556033552,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.00108450372,"mpcc_du":50.5844727,"mpcc_dv":48.163044,"mpcc_dw":51.836956,"mpcc_enc_sign":1,"mpcc_id_a":0.656325698,"mpcc_iq_a":-0.89205265,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.1445036,"mpcc_pred_id_a":-0.0890806913,"mpcc_pred_iq_a":1.37502658,"mpcc_state":1,"mpcc_theta_e":0.427153587,"mpcc_theta_mech":0.552376628,"sam_rpm":-14.6054478,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0116502643,"thr_a_norm":0.0164843202,"thr_a_v":0.546601057,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444733351,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.413841,"values":{"cg_iu_a":4.88124943,"cg_iv_a":0.281181812,"cg_iw_a":-5.16243124,"cg_theta_rad":0.556711197,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0928643048,"mpcc_du":49.4008331,"mpcc_dv":49.0127335,"mpcc_dw":50.9872665,"mpcc_enc_sign":1,"mpcc_id_a":5.70229244,"mpcc_iq_a":0.411032021,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.97301579,"mpcc_pred_id_a":1.42040789,"mpcc_pred_iq_a":1.2479161,"mpcc_state":1,"mpcc_theta_e":0.424746037,"mpcc_theta_mech":0.551895082,"sam_rpm":-12.1650591,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0116502643,"thr_a_norm":0.0116502643,"thr_a_v":0.546601057,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444733351,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.424034,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.53100967,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.556846559,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0113444626,"mpcc_du":50.4836235,"mpcc_dv":48.2925339,"mpcc_dw":51.7074661,"mpcc_enc_sign":1,"mpcc_id_a":1.00965357,"mpcc_iq_a":-0.300597757,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.5282917,"mpcc_pred_id_a":-0.0678926557,"mpcc_pred_iq_a":-2.68532968,"mpcc_state":1,"mpcc_theta_e":0.452860832,"mpcc_theta_mech":0.557518065,"sam_rpm":23.708456,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156282932,"thr_a_norm":0.0156282932,"thr_a_v":0.562513173,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461249709,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.433647,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.82096052,"cg_iw_a":0.926533222,"cg_theta_rad":0.557627738,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.010028149,"mpcc_du":50.3680763,"mpcc_dv":48.4578629,"mpcc_dw":51.5421371,"mpcc_enc_sign":1,"mpcc_id_a":0.561215341,"mpcc_iq_a":-1.41687369,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.24743509,"mpcc_pred_id_a":-0.0849933773,"mpcc_pred_iq_a":-1.47359681,"mpcc_state":1,"mpcc_theta_e":0.440601826,"mpcc_theta_mech":0.555066288,"sam_rpm":-7.35393858,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156282932,"thr_a_norm":0.0156282932,"thr_a_v":0.562513173,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461249709,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.443871,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.6759851,"cg_iw_a":-0.595708132,"cg_theta_rad":0.557165205,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0496782027,"mpcc_du":49.6848679,"mpcc_dv":48.9547577,"mpcc_dw":51.0452423,"mpcc_enc_sign":1,"mpcc_id_a":4.12786865,"mpcc_iq_a":-0.259632498,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.72842884,"mpcc_pred_id_a":0.722220123,"mpcc_pred_iq_a":1.03463531,"mpcc_state":1,"mpcc_theta_e":0.425871372,"mpcc_theta_mech":0.552120149,"sam_rpm":-9.28395176,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216079205,"thr_a_norm":0.0216079205,"thr_a_v":0.586431682,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486678869,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.454277,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.96593571,"cg_iw_a":1.07150841,"cg_theta_rad":0.557031214,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.00349687738,"mpcc_du":49.8908577,"mpcc_dv":48.8435822,"mpcc_dw":51.1564178,"mpcc_enc_sign":1,"mpcc_id_a":4.57139683,"mpcc_iq_a":0.8319543,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.75717282,"mpcc_pred_id_a":0.364744037,"mpcc_pred_iq_a":1.70671546,"mpcc_state":1,"mpcc_theta_e":0.435422897,"mpcc_theta_mech":0.554030538,"sam_rpm":-4.53048277,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0314271003,"thr_a_norm":0.0216079205,"thr_a_v":0.625708401,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483254731,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.479485,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.53100967,"cg_iw_a":-1.53804779,"cg_theta_rad":0.554836392,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0167102627,"mpcc_du":49.4956398,"mpcc_dv":50.1149597,"mpcc_dw":50.5043602,"mpcc_enc_sign":1,"mpcc_id_a":2.29887652,"mpcc_iq_a":-0.62363112,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.33829904,"mpcc_pred_id_a":0.280764192,"mpcc_pred_iq_a":-3.99715209,"mpcc_state":1,"mpcc_theta_e":0.443249702,"mpcc_theta_mech":0.555595815,"sam_rpm":2.99071431,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0314271003,"thr_a_norm":0.0314271003,"thr_a_v":0.625708401,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483254731,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.486015,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.806133032,"cg_iw_a":-1.03063416,"cg_theta_rad":0.556172967,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0372297354,"mpcc_du":49.539917,"mpcc_dv":49.3244553,"mpcc_dw":50.6755447,"mpcc_enc_sign":1,"mpcc_id_a":2.27727604,"mpcc_iq_a":0.16538237,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.56987381,"mpcc_pred_id_a":0.420320719,"mpcc_pred_iq_a":-2.59124446,"mpcc_state":1,"mpcc_theta_e":0.447262764,"mpcc_theta_mech":0.556398451,"sam_rpm":7.2331624,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468500763,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.492485,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.24105906,"cg_iw_a":-1.24809694,"cg_theta_rad":0.553565264,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0200491063,"mpcc_du":50.1417122,"mpcc_dv":48.8040504,"mpcc_dw":51.1959496,"mpcc_enc_sign":1,"mpcc_id_a":0.928488076,"mpcc_iq_a":-0.299390972,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.667293787,"mpcc_pred_id_a":-0.158575907,"mpcc_pred_iq_a":-1.28662562,"mpcc_state":1,"mpcc_theta_e":0.445179939,"mpcc_theta_mech":0.555981934,"sam_rpm":1.07736111,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468500763,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.499046,"values":{"cg_iu_a":2.85159445,"cg_iv_a":0.788595676,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.557085574,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0650758669,"mpcc_du":49.3848343,"mpcc_dv":49.5819626,"mpcc_dw":52.4609413,"mpcc_enc_sign":1,"mpcc_id_a":3.49829125,"mpcc_iq_a":0.683030784,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.84802341,"mpcc_pred_id_a":0.770429075,"mpcc_pred_iq_a":-2.84217262,"mpcc_state":1,"mpcc_theta_e":0.45062542,"mpcc_theta_mech":0.554650605,"sam_rpm":11.7625666,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0978450328,"thr_a_norm":0.0978450328,"thr_a_v":0.891380131,"thr_b":0.0400251746,"thr_b_norm":0.0400251746,"thr_b_v":0.660100698,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.507256,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-2.25588632,"cg_iw_a":-1.82799816,"cg_theta_rad":0.555773735,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.00122550025,"mpcc_du":49.5315781,"mpcc_dv":50.2936058,"mpcc_dw":50.4684219,"mpcc_enc_sign":1,"mpcc_id_a":0.297031939,"mpcc_iq_a":-0.78467232,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.18643117,"mpcc_pred_id_a":0.140763924,"mpcc_pred_iq_a":-4.1502986,"mpcc_state":1,"mpcc_theta_e":0.442598343,"mpcc_theta_mech":0.555465579,"sam_rpm":2.41657639,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0207644701,"thr_a_norm":0.0978450328,"thr_a_v":0.58305788,"thr_b":0,"thr_b_norm":0.0400251746,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.518272,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-1.6759851,"cg_iw_a":-1.75551057,"cg_theta_rad":0.556682944,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.156997696,"mpcc_du":49.7941284,"mpcc_dv":48.4927444,"mpcc_dw":51.5072556,"mpcc_enc_sign":1,"mpcc_id_a":7.30149603,"mpcc_iq_a":-0.752171516,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.31997347,"mpcc_pred_id_a":1.76863575,"mpcc_pred_iq_a":-2.48915362,"mpcc_state":1,"mpcc_theta_e":0.446329594,"mpcc_theta_mech":0.556211829,"sam_rpm":-4.8430295,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0207644701,"thr_a_norm":0.0207644701,"thr_a_v":0.58305788,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.529564,"values":{"cg_iu_a":2.41666842,"cg_iv_a":0.498644829,"cg_iw_a":-2.91531324,"cg_theta_rad":0.555343091,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0603914335,"mpcc_du":49.2787552,"mpcc_dv":50.7212448,"mpcc_dw":50.2387848,"mpcc_enc_sign":1,"mpcc_id_a":2.40726161,"mpcc_iq_a":-0.718208373,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.33656073,"mpcc_pred_id_a":0.370278686,"mpcc_pred_iq_a":-0.601727188,"mpcc_state":1,"mpcc_theta_e":0.425249577,"mpcc_theta_mech":0.551995873,"sam_rpm":0.629282534,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278267413,"thr_a_norm":0.0278267413,"thr_a_v":0.611306965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494685292,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.539635,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.443694592,"cg_iw_a":-0.885658741,"cg_theta_rad":0.553884506,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.000521160779,"mpcc_du":49.62883,"mpcc_dv":50.2202568,"mpcc_dw":50.37117,"mpcc_enc_sign":1,"mpcc_id_a":0.28689456,"mpcc_iq_a":-0.128975511,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.773736954,"mpcc_pred_id_a":-0.48919484,"mpcc_pred_iq_a":-2.48096728,"mpcc_state":1,"mpcc_theta_e":0.435403347,"mpcc_theta_mech":0.554026544,"sam_rpm":0.47646147,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.106770426,"thr_a_norm":0.0278267413,"thr_a_v":0.927081704,"thr_b":0.0531300008,"thr_b_norm":0,"thr_b_v":0.712520003,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.549553,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.951108456,"cg_iw_a":0.274144173,"cg_theta_rad":0.554387629,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0222007707,"mpcc_du":50.2629242,"mpcc_dv":48.7135811,"mpcc_dw":51.2864189,"mpcc_enc_sign":1,"mpcc_id_a":0.0442825891,"mpcc_iq_a":-0.80512923,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.59692633,"mpcc_pred_id_a":-0.237725079,"mpcc_pred_iq_a":-2.22252917,"mpcc_state":1,"mpcc_theta_e":0.445663929,"mpcc_theta_mech":0.556078672,"sam_rpm":-2.05240083,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.106770426,"thr_a_norm":0.106770426,"thr_a_v":0.927081704,"thr_b":0.0531300008,"thr_b_norm":0.0531300008,"thr_b_v":0.712520003,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.572868,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.09608364,"cg_iw_a":-1.53804779,"cg_theta_rad":0.556381762,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.00472758245,"mpcc_du":50.2594452,"mpcc_dv":48.7118759,"mpcc_dw":51.2881241,"mpcc_enc_sign":1,"mpcc_id_a":0.0179343391,"mpcc_iq_a":-1.53431463,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.14555359,"mpcc_pred_id_a":-0.323783576,"mpcc_pred_iq_a":-2.35211945,"mpcc_state":1,"mpcc_theta_e":0.445231438,"mpcc_theta_mech":0.555992186,"sam_rpm":-8.98680305,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232948065,"thr_a_norm":0.0232948065,"thr_a_v":0.593179226,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.579369,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.09608364,"cg_iw_a":-0.378245354,"cg_theta_rad":0.555874109,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0102898916,"mpcc_du":49.8862419,"mpcc_dv":49.1311073,"mpcc_dw":50.8688927,"mpcc_enc_sign":1,"mpcc_id_a":1.62154412,"mpcc_iq_a":-0.527501225,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.356116027,"mpcc_pred_id_a":-0.341932148,"mpcc_pred_iq_a":-5.53182077,"mpcc_state":1,"mpcc_theta_e":0.439938068,"mpcc_theta_mech":0.554933548,"sam_rpm":3.99854994,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232948065,"thr_a_norm":0.0232948065,"thr_a_v":0.593179226,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.58593,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.226231575,"cg_iw_a":-2.62536287,"cg_theta_rad":0.55563575,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.000529564742,"mpcc_du":50.6450615,"mpcc_dv":48.1921959,"mpcc_dw":51.8078041,"mpcc_enc_sign":1,"mpcc_id_a":-0.413916945,"mpcc_iq_a":-1.14072251,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.4256506,"mpcc_pred_id_a":-0.321466416,"mpcc_pred_iq_a":-0.386702776,"mpcc_state":1,"mpcc_theta_e":0.428152561,"mpcc_theta_mech":0.552576423,"sam_rpm":-21.3149681,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0157289952,"thr_a_norm":0.0157289952,"thr_a_v":0.562915981,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467040509,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.592857,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-2.83578777,"cg_iw_a":-0.16078186,"cg_theta_rad":0.5571751,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.00668959972,"mpcc_du":50.6719093,"mpcc_dv":47.9025764,"mpcc_dw":52.0974236,"mpcc_enc_sign":1,"mpcc_id_a":1.61745858,"mpcc_iq_a":-0.878806472,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.9972572,"mpcc_pred_id_a":0.314594567,"mpcc_pred_iq_a":1.42011142,"mpcc_state":1,"mpcc_theta_e":0.431657791,"mpcc_theta_mech":0.553277493,"sam_rpm":-16.8836288,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193293691,"thr_a_norm":0.0193293691,"thr_a_v":0.577317476,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458077341,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.602654,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.443694592,"cg_iw_a":-0.668195724,"cg_theta_rad":0.555923641,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0256091021,"mpcc_du":49.4508476,"mpcc_dv":50.4872131,"mpcc_dw":50.5491524,"mpcc_enc_sign":1,"mpcc_id_a":2.3627553,"mpcc_iq_a":-0.299926728,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.210161075,"mpcc_pred_id_a":0.696317196,"mpcc_pred_iq_a":-1.57594824,"mpcc_state":1,"mpcc_theta_e":0.431402206,"mpcc_theta_mech":0.553226352,"sam_rpm":-1.41022718,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193293691,"thr_a_norm":0.0193293691,"thr_a_v":0.577317476,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458077341,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.612938,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.951108456,"cg_iw_a":-0.378244877,"cg_theta_rad":0.554192543,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0174710881,"mpcc_du":49.9898186,"mpcc_dv":48.8991776,"mpcc_dw":50.6168671,"mpcc_enc_sign":1,"mpcc_id_a":2.27801108,"mpcc_iq_a":-2.52044129,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.14000249,"mpcc_pred_id_a":0.0815868825,"mpcc_pred_iq_a":-3.55624413,"mpcc_state":1,"mpcc_theta_e":0.445343494,"mpcc_theta_mech":0.557011247,"sam_rpm":-4.4385519,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0155023932,"thr_a_norm":0.0155023932,"thr_a_v":0.562009573,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461199343,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.623039,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.153744221,"cg_iw_a":-2.55287504,"cg_theta_rad":0.554082632,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0161362663,"mpcc_du":50.1425781,"mpcc_dv":50.5707855,"mpcc_dw":50.5308571,"mpcc_enc_sign":1,"mpcc_id_a":2.42739463,"mpcc_iq_a":0.363373548,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.06791973,"mpcc_pred_id_a":0.535753846,"mpcc_pred_iq_a":1.27791572,"mpcc_state":1,"mpcc_theta_e":0.430527687,"mpcc_theta_mech":0.555017233,"sam_rpm":-8.34937572,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277008563,"thr_a_norm":0.0155023932,"thr_a_v":0.610803425,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49508813,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.632896,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.02359605,"cg_iw_a":-0.305757284,"cg_theta_rad":0.556019008,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.00966166053,"mpcc_du":50.0420914,"mpcc_dv":48.7198296,"mpcc_dw":51.2801704,"mpcc_enc_sign":1,"mpcc_id_a":1.96026564,"mpcc_iq_a":-2.53429174,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.19478416,"mpcc_pred_id_a":0.253501743,"mpcc_pred_iq_a":-2.38181257,"mpcc_state":1,"mpcc_theta_e":0.439031124,"mpcc_theta_mech":0.554752171,"sam_rpm":-9.58065796,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277008563,"thr_a_norm":0.0277008563,"thr_a_v":0.610803425,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49508813,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.642937,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.661157608,"cg_iw_a":-0.740683556,"cg_theta_rad":0.556966126,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.00841889158,"mpcc_du":49.4973106,"mpcc_dv":50.3163528,"mpcc_dw":50.453495,"mpcc_enc_sign":1,"mpcc_id_a":1.43289936,"mpcc_iq_a":0.64020592,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.16647863,"mpcc_pred_id_a":0.130891517,"mpcc_pred_iq_a":-0.351360977,"mpcc_state":1,"mpcc_theta_e":0.426747799,"mpcc_theta_mech":0.55228436,"sam_rpm":-8.99670219,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0158045292,"thr_a_norm":0.0158045292,"thr_a_v":0.563218117,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459789425,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.652824,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.153744221,"cg_iw_a":1.21648335,"cg_theta_rad":0.556316495,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0193785205,"mpcc_du":49.7761154,"mpcc_dv":49.2942276,"mpcc_dw":51.0648041,"mpcc_enc_sign":1,"mpcc_id_a":0.157030135,"mpcc_iq_a":-1.88706934,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.20656443,"mpcc_pred_id_a":-0.372769862,"mpcc_pred_iq_a":-4.0080905,"mpcc_state":1,"mpcc_theta_e":0.452888966,"mpcc_theta_mech":0.557523668,"sam_rpm":8.37786388,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0158045292,"thr_a_norm":0.0158045292,"thr_a_v":0.563218117,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459789425,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.675865,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.24105906,"cg_iw_a":0.129168749,"cg_theta_rad":0.551521361,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0222235061,"mpcc_du":50.6922035,"mpcc_dv":48.3443298,"mpcc_dw":51.6556702,"mpcc_enc_sign":1,"mpcc_id_a":2.74123597,"mpcc_iq_a":-0.814444542,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.37996626,"mpcc_pred_id_a":-0.744173229,"mpcc_pred_iq_a":0.309098512,"mpcc_state":1,"mpcc_theta_e":0.452615261,"mpcc_theta_mech":0.55746901,"sam_rpm":2.40800548,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247928649,"thr_a_norm":0.0247928649,"thr_a_v":0.59917146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.682426,"values":{"cg_iu_a":3.1415453,"cg_iv_a":0.498644829,"cg_iw_a":-0.668195724,"cg_theta_rad":0.552646756,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.00202958076,"mpcc_du":50.500267,"mpcc_dv":48.3337936,"mpcc_dw":51.6662064,"mpcc_enc_sign":1,"mpcc_id_a":-0.837418318,"mpcc_iq_a":-2.41947699,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.1776581,"mpcc_pred_id_a":-0.386601895,"mpcc_pred_iq_a":-3.48759961,"mpcc_state":1,"mpcc_theta_e":0.427886486,"mpcc_theta_mech":0.552523255,"sam_rpm":-27.601244,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.0247928649,"thr_a_v":0.605818272,"thr_b":0.00238497555,"thr_b_norm":0,"thr_b_v":0.509539902,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.688896,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.38603449,"cg_iw_a":0.346631765,"cg_theta_rad":0.556074977,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.00594153674,"mpcc_du":50.2470474,"mpcc_dv":48.5190315,"mpcc_dw":51.4809685,"mpcc_enc_sign":1,"mpcc_id_a":1.52111983,"mpcc_iq_a":-1.2568202,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.82710862,"mpcc_pred_id_a":0.126743689,"mpcc_pred_iq_a":1.04617548,"mpcc_state":1,"mpcc_theta_e":0.435319901,"mpcc_theta_mech":0.554009914,"sam_rpm":-4.64146566,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.0264545679,"thr_a_v":0.605818272,"thr_b":0.00238497555,"thr_b_norm":0.00238497555,"thr_b_v":0.509539902,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.695457,"values":{"cg_iu_a":4.88124943,"cg_iv_a":-1.38603449,"cg_iw_a":0.999020576,"cg_theta_rad":0.552567005,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0310316067,"mpcc_du":49.7401047,"mpcc_dv":49.16819,"mpcc_dw":50.83181,"mpcc_enc_sign":1,"mpcc_id_a":2.93200088,"mpcc_iq_a":-0.12325646,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.55378628,"mpcc_pred_id_a":0.137540221,"mpcc_pred_iq_a":-2.94115591,"mpcc_state":1,"mpcc_theta_e":0.438778877,"mpcc_theta_mech":0.554701686,"sam_rpm":-5.7988658,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0130350143,"thr_a_norm":0.0130350143,"thr_a_v":0.552140057,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450222015,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.703667,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556020677,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0067884461,"mpcc_du":50.1396484,"mpcc_dv":48.6948929,"mpcc_dw":51.3051071,"mpcc_enc_sign":1,"mpcc_id_a":1.6380589,"mpcc_iq_a":-1.17596412,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.6799159,"mpcc_pred_id_a":0.132424518,"mpcc_pred_iq_a":-0.153587818,"mpcc_state":1,"mpcc_theta_e":0.436795712,"mpcc_theta_mech":0.554305077,"sam_rpm":-5.71359205,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0130350143,"thr_a_norm":0.0130350143,"thr_a_v":0.552140057,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450222015,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.71389,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.951108456,"cg_iw_a":-0.015806675,"cg_theta_rad":0.554022312,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0297704861,"mpcc_du":49.4584045,"mpcc_dv":50.4061966,"mpcc_dw":50.5415955,"mpcc_enc_sign":1,"mpcc_id_a":3.38419056,"mpcc_iq_a":-0.531834245,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.0416007,"mpcc_pred_id_a":0.534973443,"mpcc_pred_iq_a":-3.43775511,"mpcc_state":1,"mpcc_theta_e":0.441931248,"mpcc_theta_mech":0.555332124,"sam_rpm":5.86266518,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202105641,"thr_a_norm":0.0202105641,"thr_a_v":0.580842257,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470061809,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.724083,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.806133032,"cg_iw_a":-1.03063416,"cg_theta_rad":0.556233466,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0559848845,"mpcc_du":50.4124374,"mpcc_dv":48.3809624,"mpcc_dw":51.6190376,"mpcc_enc_sign":1,"mpcc_id_a":-0.282619566,"mpcc_iq_a":-1.11641228,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.610139072,"mpcc_pred_id_a":0.177829206,"mpcc_pred_iq_a":-1.55095744,"mpcc_state":1,"mpcc_theta_e":0.459690094,"mpcc_theta_mech":0.558883965,"sam_rpm":1.86310363,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284183919,"thr_a_norm":0.0202105641,"thr_a_v":0.613673568,"thr_b":0.0021583885,"thr_b_norm":0,"thr_b_v":0.508633554,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.73391,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.806133032,"cg_iw_a":-2.33541226,"cg_theta_rad":0.55750376,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0541759692,"mpcc_du":49.4451904,"mpcc_dv":49.5600853,"mpcc_dw":50.5548096,"mpcc_enc_sign":1,"mpcc_id_a":3.12722802,"mpcc_iq_a":-0.589044273,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.26237202,"mpcc_pred_id_a":0.475986153,"mpcc_pred_iq_a":-3.41804552,"mpcc_state":1,"mpcc_theta_e":0.453662395,"mpcc_theta_mech":0.557678401,"sam_rpm":14.2666292,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284183919,"thr_a_norm":0.0284183919,"thr_a_v":0.613673568,"thr_b":0.0021583885,"thr_b_norm":0.0021583885,"thr_b_v":0.508633554,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.744011,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.09608364,"cg_iw_a":0.12916851,"cg_theta_rad":0.555510819,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.00585858244,"mpcc_du":50.0296631,"mpcc_dv":49.0287476,"mpcc_dw":50.9712524,"mpcc_enc_sign":1,"mpcc_id_a":1.17532694,"mpcc_iq_a":-3.1206491,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.51818728,"mpcc_pred_id_a":-0.273851514,"mpcc_pred_iq_a":-2.69594169,"mpcc_state":1,"mpcc_theta_e":0.450423717,"mpcc_theta_mech":0.55738914,"sam_rpm":5.42670298,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297779739,"thr_a_norm":0.0297779739,"thr_a_v":0.619111896,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461300045,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.756432,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.38603449,"cg_iw_a":-0.378244877,"cg_theta_rad":0.555509329,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0931969061,"mpcc_du":49.8854027,"mpcc_dv":49.1107025,"mpcc_dw":50.8892975,"mpcc_enc_sign":1,"mpcc_id_a":1.22054684,"mpcc_iq_a":-3.37902522,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.9019251,"mpcc_pred_id_a":-0.197148114,"mpcc_pred_iq_a":-0.713754773,"mpcc_state":1,"mpcc_theta_e":0.418785572,"mpcc_theta_mech":0.550703049,"sam_rpm":-25.5869389,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022728309,"thr_a_norm":0.0297779739,"thr_a_v":0.590913236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49710229,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.779442,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.588670254,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556976259,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0461517647,"mpcc_du":49.6847572,"mpcc_dv":49.0897102,"mpcc_dw":50.9102898,"mpcc_enc_sign":1,"mpcc_id_a":4.2222352,"mpcc_iq_a":-0.427375913,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.0914974,"mpcc_pred_id_a":0.390311539,"mpcc_pred_iq_a":-3.27690673,"mpcc_state":1,"mpcc_theta_e":0.433359146,"mpcc_theta_mech":0.553617775,"sam_rpm":-14.9284725,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022728309,"thr_a_norm":0.022728309,"thr_a_v":0.590913236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49710229,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.786003,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-1.38603449,"cg_iw_a":1.36145926,"cg_theta_rad":0.555998027,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.000752209628,"mpcc_du":50.1189346,"mpcc_dv":48.9546089,"mpcc_dw":51.0453911,"mpcc_enc_sign":1,"mpcc_id_a":-0.52065593,"mpcc_iq_a":-1.50794721,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.25198674,"mpcc_pred_id_a":-0.552147865,"mpcc_pred_iq_a":-1.32172906,"mpcc_state":1,"mpcc_theta_e":0.438941479,"mpcc_theta_mech":0.55473417,"sam_rpm":-4.80025959,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0949496478,"thr_a_norm":0.0949496478,"thr_a_v":0.879798591,"thr_b":0.0341966152,"thr_b_norm":0.0341966152,"thr_b_v":0.636786461,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.792473,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.661157608,"cg_iw_a":-0.885658503,"cg_theta_rad":0.553527892,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0015908113,"mpcc_du":48.8710594,"mpcc_dv":51.1289406,"mpcc_dw":49.3880005,"mpcc_enc_sign":1,"mpcc_id_a":-0.029374551,"mpcc_iq_a":-0.956136465,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.41130543,"mpcc_pred_id_a":-0.695347548,"mpcc_pred_iq_a":-6.75323915,"mpcc_state":1,"mpcc_theta_e":0.447229385,"mpcc_theta_mech":0.556391776,"sam_rpm":11.6493587,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0949496478,"thr_a_norm":0.0949496478,"thr_a_v":0.879798591,"thr_b":0.0341966152,"thr_b_norm":0.0341966152,"thr_b_v":0.636786461,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.799034,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.226231575,"cg_iw_a":0.201656342,"cg_theta_rad":0.552443087,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0297237542,"mpcc_du":49.3872452,"mpcc_dv":49.3153229,"mpcc_dw":50.6846771,"mpcc_enc_sign":1,"mpcc_id_a":4.73339033,"mpcc_iq_a":-0.544846475,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.44654036,"mpcc_pred_id_a":0.532182992,"mpcc_pred_iq_a":-2.73212767,"mpcc_state":1,"mpcc_theta_e":0.437233448,"mpcc_theta_mech":0.554392576,"sam_rpm":-7.64317274,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165850371,"thr_a_norm":0.0165850371,"thr_a_v":0.566340148,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.806847,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.806133032,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.556507409,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0179704037,"mpcc_du":49.5695915,"mpcc_dv":50.1293831,"mpcc_dw":50.4304085,"mpcc_enc_sign":1,"mpcc_id_a":-0.0383915193,"mpcc_iq_a":-1.68583083,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.86163998,"mpcc_pred_id_a":-0.0951511711,"mpcc_pred_iq_a":-4.01143503,"mpcc_state":1,"mpcc_theta_e":0.435876369,"mpcc_theta_mech":0.554121196,"sam_rpm":11.0142498,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253341794,"thr_a_norm":0.0165850371,"thr_a_v":0.601336718,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492167562,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.816856,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.443694592,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556448817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.041503787,"mpcc_du":49.6204376,"mpcc_dv":50.0659828,"mpcc_dw":50.3795624,"mpcc_enc_sign":1,"mpcc_id_a":-0.251385838,"mpcc_iq_a":-1.49005675,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.23996186,"mpcc_pred_id_a":-0.469684064,"mpcc_pred_iq_a":-0.657868803,"mpcc_state":1,"mpcc_theta_e":0.426132679,"mpcc_theta_mech":0.552172482,"sam_rpm":-6.42499065,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253341794,"thr_a_norm":0.0253341794,"thr_a_v":0.601336718,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492167562,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.827019,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.53100967,"cg_iw_a":0.12916851,"cg_theta_rad":0.556551814,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0900049731,"mpcc_du":49.8117981,"mpcc_dv":48.8103943,"mpcc_dw":51.2897415,"mpcc_enc_sign":1,"mpcc_id_a":4.3675375,"mpcc_iq_a":0.829975784,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.30022573,"mpcc_pred_id_a":0.883168459,"mpcc_pred_iq_a":-0.199830607,"mpcc_state":1,"mpcc_theta_e":0.448204994,"mpcc_theta_mech":0.556586921,"sam_rpm":11.6228275,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023030445,"thr_a_norm":0.023030445,"thr_a_v":0.59212178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495541304,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.839256,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.09608364,"cg_iw_a":-3.56770229,"cg_theta_rad":0.553273618,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0229334235,"mpcc_du":50.0681992,"mpcc_dv":49.1996422,"mpcc_dw":50.8003578,"mpcc_enc_sign":1,"mpcc_id_a":-0.53578496,"mpcc_iq_a":-3.62260056,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.55770493,"mpcc_pred_id_a":-1.04174495,"mpcc_pred_iq_a":-1.7347647,"mpcc_state":1,"mpcc_theta_e":0.434626579,"mpcc_theta_mech":0.553871274,"sam_rpm":-9.09197617,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201979876,"thr_a_norm":0.023030445,"thr_a_v":0.58079195,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.849052,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.661157608,"cg_iw_a":-1.90048599,"cg_theta_rad":0.557244837,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0287564285,"mpcc_du":49.3797798,"mpcc_dv":49.9965057,"mpcc_dw":50.6202202,"mpcc_enc_sign":1,"mpcc_id_a":3.38455343,"mpcc_iq_a":-0.0145089449,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.07964468,"mpcc_pred_id_a":0.851633966,"mpcc_pred_iq_a":-0.730523109,"mpcc_state":1,"mpcc_theta_e":0.439511776,"mpcc_theta_mech":0.554848254,"sam_rpm":8.20113087,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201979876,"thr_a_norm":0.0201979876,"thr_a_v":0.58079195,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.859245,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-2.11091113,"cg_iw_a":-0.740683317,"cg_theta_rad":0.554814875,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0228667036,"mpcc_du":49.1454086,"mpcc_dv":50.8545914,"mpcc_dw":50.092968,"mpcc_enc_sign":1,"mpcc_id_a":2.93782902,"mpcc_iq_a":-0.80562371,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.4560766,"mpcc_pred_id_a":0.363415092,"mpcc_pred_iq_a":-3.9736495,"mpcc_state":1,"mpcc_theta_e":0.448561668,"mpcc_theta_mech":0.556658268,"sam_rpm":16.929697,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204245895,"thr_a_norm":0.0204245895,"thr_a_v":0.581698358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446999311,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.882225,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":-1.53100967,"cg_iw_a":-1.53804779,"cg_theta_rad":0.55523324,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0269467738,"mpcc_du":49.5174904,"mpcc_dv":50.2664604,"mpcc_dw":50.4825096,"mpcc_enc_sign":1,"mpcc_id_a":2.72395706,"mpcc_iq_a":-0.552311659,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.6680412,"mpcc_pred_id_a":0.178302616,"mpcc_pred_iq_a":-5.05010891,"mpcc_state":1,"mpcc_theta_e":0.429378986,"mpcc_theta_mech":0.552821755,"sam_rpm":2.85439849,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204245895,"thr_a_norm":0.0204245895,"thr_a_v":0.581698358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446999311,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.888786,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.951108456,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556946695,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.00393269211,"mpcc_du":50.1092606,"mpcc_dv":48.9681931,"mpcc_dw":51.0318069,"mpcc_enc_sign":1,"mpcc_id_a":-0.221493915,"mpcc_iq_a":-2.93910599,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.34339905,"mpcc_pred_id_a":-0.519040108,"mpcc_pred_iq_a":-2.67730665,"mpcc_state":1,"mpcc_theta_e":0.435616016,"mpcc_theta_mech":0.554069102,"sam_rpm":-12.6458626,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0150743872,"thr_a_norm":0.0150743872,"thr_a_v":0.560297549,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467695117,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.895317,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.09608364,"cg_iw_a":-2.19043684,"cg_theta_rad":0.557080746,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.00515221059,"mpcc_du":50.9545822,"mpcc_dv":47.7571373,"mpcc_dw":52.2428627,"mpcc_enc_sign":1,"mpcc_id_a":1.02839041,"mpcc_iq_a":-1.44925296,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.00472641,"mpcc_pred_id_a":-0.0151318675,"mpcc_pred_iq_a":2.33380747,"mpcc_state":1,"mpcc_theta_e":0.438952446,"mpcc_theta_mech":0.554736435,"sam_rpm":-6.78606701,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0150743872,"thr_a_norm":0.0150743872,"thr_a_v":0.560297549,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467695117,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.901878,"values":{"cg_iu_a":0.459501266,"cg_iv_a":0.716107845,"cg_iw_a":-1.17560911,"cg_theta_rad":0.554082632,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.00528244302,"mpcc_du":49.6019135,"mpcc_dv":50.3980865,"mpcc_dw":50.1770439,"mpcc_enc_sign":1,"mpcc_id_a":1.16656661,"mpcc_iq_a":-0.992235959,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.5660419,"mpcc_pred_id_a":-0.173741385,"mpcc_pred_iq_a":-1.2710191,"mpcc_state":1,"mpcc_theta_e":0.430784702,"mpcc_theta_mech":0.553102851,"sam_rpm":6.93238401,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463163197,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.910027,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.74847269,"cg_iw_a":0.201656342,"cg_theta_rad":0.556352377,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0416983701,"mpcc_du":49.6111031,"mpcc_dv":49.4322243,"mpcc_dw":50.5677757,"mpcc_enc_sign":1,"mpcc_id_a":2.63336563,"mpcc_iq_a":0.42904368,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.1047349,"mpcc_pred_id_a":-0.0121876756,"mpcc_pred_iq_a":-4.39624786,"mpcc_state":1,"mpcc_theta_e":0.440390587,"mpcc_theta_mech":0.555024028,"sam_rpm":-4.4383626,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184103847,"thr_a_norm":0.0224387646,"thr_a_v":0.573641539,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446344733,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.91967,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-1.09608364,"cg_iw_a":0.274143696,"cg_theta_rad":0.555198669,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0135396095,"mpcc_du":49.5352821,"mpcc_dv":49.4749298,"mpcc_dw":50.5250702,"mpcc_enc_sign":1,"mpcc_id_a":2.02204132,"mpcc_iq_a":-0.86922735,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.56185102,"mpcc_pred_id_a":0.17893438,"mpcc_pred_iq_a":-1.35786867,"mpcc_state":1,"mpcc_theta_e":0.445879936,"mpcc_theta_mech":0.556121945,"sam_rpm":11.9733915,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184103847,"thr_a_norm":0.0184103847,"thr_a_v":0.573641539,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446344733,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.929863,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.09608364,"cg_iw_a":-0.305757523,"cg_theta_rad":0.557289481,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0397473797,"mpcc_du":50.1255722,"mpcc_dv":48.6392784,"mpcc_dw":51.3607216,"mpcc_enc_sign":1,"mpcc_id_a":2.60274792,"mpcc_iq_a":-0.834529042,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.40986753,"mpcc_pred_id_a":0.496505439,"mpcc_pred_iq_a":-1.09325719,"mpcc_state":1,"mpcc_theta_e":0.450023651,"mpcc_theta_mech":0.556950629,"sam_rpm":5.37855148,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0169375092,"thr_a_norm":0.0169375092,"thr_a_v":0.567750037,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441208512,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.939842,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.60349751,"cg_iw_a":0.564094543,"cg_theta_rad":0.556499183,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0185586791,"mpcc_du":50.2385216,"mpcc_dv":48.7376671,"mpcc_dw":51.2623329,"mpcc_enc_sign":1,"mpcc_id_a":0.262517422,"mpcc_iq_a":-2.09553742,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.1015358,"mpcc_pred_id_a":-0.231571749,"mpcc_pred_iq_a":0.605877161,"mpcc_state":1,"mpcc_theta_e":0.429834366,"mpcc_theta_mech":0.552912831,"sam_rpm":-13.2368956,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0169375092,"thr_a_norm":0.0169375092,"thr_a_v":0.567750037,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441208512,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.949852,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.806133032,"cg_iw_a":-0.523220301,"cg_theta_rad":0.555505574,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0170401875,"mpcc_du":49.3138657,"mpcc_dv":50.6861343,"mpcc_dw":49.9565697,"mpcc_enc_sign":1,"mpcc_id_a":1.07932007,"mpcc_iq_a":-2.26883006,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.6382008,"mpcc_pred_id_a":-0.430537462,"mpcc_pred_iq_a":-5.43615818,"mpcc_state":1,"mpcc_theta_e":0.464758873,"mpcc_theta_mech":0.559897661,"sam_rpm":27.8711834,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244655609,"thr_a_norm":0.0244655609,"thr_a_v":0.597862244,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467846185,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.960045,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-2.47334933,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556598783,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.012890798,"mpcc_du":49.533329,"mpcc_dv":49.5121193,"mpcc_dw":50.4878807,"mpcc_enc_sign":1,"mpcc_id_a":0.468355417,"mpcc_iq_a":-1.42694795,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.04434502,"mpcc_pred_id_a":0.128547847,"mpcc_pred_iq_a":-4.90477991,"mpcc_state":1,"mpcc_theta_e":0.447229385,"mpcc_theta_mech":0.556391776,"sam_rpm":1.67829537,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273357779,"thr_a_norm":0.0244655609,"thr_a_v":0.609343112,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479629219,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.985222,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.60349751,"cg_iw_a":-1.03063393,"cg_theta_rad":0.556931913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0324783958,"mpcc_du":49.2508202,"mpcc_dv":50.7491798,"mpcc_dw":50.009552,"mpcc_enc_sign":1,"mpcc_id_a":2.2751236,"mpcc_iq_a":-1.38327897,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.5866346,"mpcc_pred_id_a":0.00545091555,"mpcc_pred_iq_a":-5.46425676,"mpcc_state":1,"mpcc_theta_e":0.442141533,"mpcc_theta_mech":0.555374265,"sam_rpm":23.8136005,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273357779,"thr_a_norm":0.0273357779,"thr_a_v":0.609343112,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479629219,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.991783,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.951108456,"cg_iw_a":-1.97297382,"cg_theta_rad":0.556886673,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0156029239,"mpcc_du":50.1027985,"mpcc_dv":48.8077736,"mpcc_dw":51.1922264,"mpcc_enc_sign":1,"mpcc_id_a":2.17660236,"mpcc_iq_a":-1.21859813,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.02677774,"mpcc_pred_id_a":0.179202735,"mpcc_pred_iq_a":0.0571593605,"mpcc_state":1,"mpcc_theta_e":0.444857121,"mpcc_theta_mech":0.555917323,"sam_rpm":5.84720993,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105159074,"thr_a_norm":0.105159074,"thr_a_v":0.920636296,"thr_b":0.0497940034,"thr_b_norm":0.0497940034,"thr_b_v":0.699176013,"vdc_v":55.2955055}} +{"type":"telemetry","t":106.998314,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-3.3432014,"cg_iw_a":0.201656103,"cg_theta_rad":0.556543827,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.00573201757,"mpcc_du":50.5043869,"mpcc_dv":48.2913818,"mpcc_dw":51.7086182,"mpcc_enc_sign":1,"mpcc_id_a":1.49819756,"mpcc_iq_a":-1.47753906,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.52445555,"mpcc_pred_id_a":0.104890794,"mpcc_pred_iq_a":1.23834932,"mpcc_state":1,"mpcc_theta_e":0.435595512,"mpcc_theta_mech":0.554064989,"sam_rpm":-8.28208828,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105159074,"thr_a_norm":0.105159074,"thr_a_v":0.920636296,"thr_b":0.0497940034,"thr_b_norm":0.0497940034,"thr_b_v":0.699176013,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.004845,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-2.18339872,"cg_iw_a":2.08633566,"cg_theta_rad":0.555877507,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":4997,"hz_app_loop":360,"hz_tim_isr":9994,"hz_vsense":360,"mpcc_cost":0.0180992298,"mpcc_du":49.7044601,"mpcc_dv":49.2042313,"mpcc_dw":50.7957687,"mpcc_enc_sign":1,"mpcc_id_a":2.55139899,"mpcc_iq_a":-0.593986571,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.08063626,"mpcc_pred_id_a":0.242546335,"mpcc_pred_iq_a":-2.08214569,"mpcc_state":1,"mpcc_theta_e":0.439528465,"mpcc_theta_mech":0.554851592,"sam_rpm":-3.32422662,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185488611,"thr_a_norm":0.0185488611,"thr_a_v":0.574195445,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459638387,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.013634,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.443694592,"cg_iw_a":-0.523220539,"cg_theta_rad":0.554207742,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911.08887,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0369464643,"mpcc_du":50.0838776,"mpcc_dv":48.6895103,"mpcc_dw":51.3104897,"mpcc_enc_sign":1,"mpcc_id_a":2.56472731,"mpcc_iq_a":-1.41389918,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.09826684,"mpcc_pred_id_a":0.424616933,"mpcc_pred_iq_a":-2.07022738,"mpcc_state":1,"mpcc_theta_e":0.448028088,"mpcc_theta_mech":0.556551516,"sam_rpm":2.72174764,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0287708789,"thr_a_norm":0.0185488611,"thr_a_v":0.615083516,"thr_b":0.00476424396,"thr_b_norm":0,"thr_b_v":0.519056976,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.025841,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.153744221,"cg_iw_a":0.274144173,"cg_theta_rad":0.557199955,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0243658368,"mpcc_du":50.6097336,"mpcc_dv":47.9119339,"mpcc_dw":52.0880661,"mpcc_enc_sign":1,"mpcc_id_a":2.62155366,"mpcc_iq_a":-1.64873695,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.9886551,"mpcc_pred_id_a":0.42902568,"mpcc_pred_iq_a":1.25710857,"mpcc_state":1,"mpcc_theta_e":0.427182674,"mpcc_theta_mech":0.55238241,"sam_rpm":-25.1664734,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0287708789,"thr_a_norm":0.0287708789,"thr_a_v":0.615083516,"thr_b":0.00476424396,"thr_b_norm":0.00476424396,"thr_b_v":0.519056976,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.036064,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.6759851,"cg_iw_a":-0.958146334,"cg_theta_rad":0.55376941,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0301592462,"mpcc_du":49.5455933,"mpcc_dv":49.5005264,"mpcc_dw":50.4994736,"mpcc_enc_sign":1,"mpcc_id_a":0.989556193,"mpcc_iq_a":-0.508435428,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.13710403,"mpcc_pred_id_a":0.128863037,"mpcc_pred_iq_a":-1.35543549,"mpcc_state":1,"mpcc_theta_e":0.440655708,"mpcc_theta_mech":0.555077016,"sam_rpm":-7.99300575,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0419764221,"thr_a_norm":0.0419764221,"thr_a_v":0.667905688,"thr_b":0.0121034533,"thr_b_norm":0.0121034533,"thr_b_v":0.548413813,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.046257,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-2.0384233,"cg_iw_a":-0.813171148,"cg_theta_rad":0.558168411,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0244635735,"mpcc_du":50.0957527,"mpcc_dv":49.1065369,"mpcc_dw":50.8934631,"mpcc_enc_sign":1,"mpcc_id_a":-0.0364575125,"mpcc_iq_a":-0.302573472,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.90564144,"mpcc_pred_id_a":-0.766780794,"mpcc_pred_iq_a":-2.38138485,"mpcc_state":1,"mpcc_theta_e":0.444047451,"mpcc_theta_mech":0.555755436,"sam_rpm":3.57063127,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023685053,"thr_a_norm":0.0419764221,"thr_a_v":0.594740212,"thr_b":0,"thr_b_norm":0.0121034533,"thr_b_v":0.469356835,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.056236,"values":{"cg_iu_a":4.2288599,"cg_iv_a":-1.38603449,"cg_iw_a":1.21648383,"cg_theta_rad":0.552346945,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.030333871,"mpcc_du":49.2355957,"mpcc_dv":50.7644043,"mpcc_dw":50.2934685,"mpcc_enc_sign":1,"mpcc_id_a":3.4274621,"mpcc_iq_a":-0.625026941,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.3514557,"mpcc_pred_id_a":0.598977029,"mpcc_pred_iq_a":-3.11832571,"mpcc_state":1,"mpcc_theta_e":0.449034214,"mpcc_theta_mech":0.556752801,"sam_rpm":17.6616116,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023685053,"thr_a_norm":0.023685053,"thr_a_v":0.594740212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469356835,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.066429,"values":{"cg_iu_a":1.40184116,"cg_iv_a":0.57113266,"cg_iw_a":-1.97297382,"cg_theta_rad":0.555454493,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0664119273,"mpcc_du":49.7477875,"mpcc_dv":49.6742859,"mpcc_dw":50.3257141,"mpcc_enc_sign":1,"mpcc_id_a":-1.56173813,"mpcc_iq_a":-0.765866518,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.498373,"mpcc_pred_id_a":-1.13593185,"mpcc_pred_iq_a":-4.22680283,"mpcc_state":1,"mpcc_theta_e":0.457572937,"mpcc_theta_mech":0.558460474,"sam_rpm":21.5803909,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237731785,"thr_a_norm":0.0237731785,"thr_a_v":0.595092714,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469910741,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.08947,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-0.806133032,"cg_iw_a":0.926532984,"cg_theta_rad":0.556698024,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00398478983,"mpcc_du":51.3295212,"mpcc_dv":47.317276,"mpcc_dw":52.682724,"mpcc_enc_sign":1,"mpcc_id_a":1.02435422,"mpcc_iq_a":-0.78349787,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.6245422,"mpcc_pred_id_a":-0.186302438,"mpcc_pred_iq_a":2.45879173,"mpcc_state":1,"mpcc_theta_e":0.427023411,"mpcc_theta_mech":0.552350581,"sam_rpm":-24.7856522,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237731785,"thr_a_norm":0.0237731785,"thr_a_v":0.595092714,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469910741,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.096031,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.74847269,"cg_iw_a":-0.958146572,"cg_theta_rad":0.556956172,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0183492601,"mpcc_du":50.3981857,"mpcc_dv":48.4506264,"mpcc_dw":51.5493736,"mpcc_enc_sign":1,"mpcc_id_a":1.80049419,"mpcc_iq_a":-0.139934853,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.1560116,"mpcc_pred_id_a":-0.0085361544,"mpcc_pred_iq_a":-1.40548193,"mpcc_state":1,"mpcc_theta_e":0.434988499,"mpcc_theta_mech":0.553943574,"sam_rpm":-14.6451263,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021268025,"thr_a_norm":0.021268025,"thr_a_v":0.5850721,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469961077,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.102501,"values":{"cg_iu_a":2.77910662,"cg_iv_a":0.0637187958,"cg_iw_a":-2.84282541,"cg_theta_rad":0.552354932,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00269936793,"mpcc_du":50.184021,"mpcc_dv":48.9364891,"mpcc_dw":51.0635109,"mpcc_enc_sign":1,"mpcc_id_a":-0.448107362,"mpcc_iq_a":-3.53545976,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0148377372,"mpcc_pred_id_a":-0.529786408,"mpcc_pred_iq_a":-1.43543589,"mpcc_state":1,"mpcc_theta_e":0.44337225,"mpcc_theta_mech":0.555620372,"sam_rpm":0.0955101773,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021268025,"thr_a_norm":0.021268025,"thr_a_v":0.5850721,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469961077,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.109215,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.371207237,"cg_iw_a":-0.668195724,"cg_theta_rad":0.554335892,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0131170303,"mpcc_du":49.9215546,"mpcc_dv":49.2170525,"mpcc_dw":50.7829475,"mpcc_enc_sign":1,"mpcc_id_a":0.80487144,"mpcc_iq_a":-1.5503335,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.16229916,"mpcc_pred_id_a":-0.340558589,"mpcc_pred_iq_a":-1.81176996,"mpcc_state":1,"mpcc_theta_e":0.452639103,"mpcc_theta_mech":0.557473719,"sam_rpm":12.8855562,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202105641,"thr_a_norm":0.0202105641,"thr_a_v":0.580842257,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465731293,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.119316,"values":{"cg_iu_a":4.37383556,"cg_iv_a":-1.60349751,"cg_iw_a":-2.77033806,"cg_theta_rad":0.555525839,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0174111053,"mpcc_du":49.5763435,"mpcc_dv":49.6785431,"mpcc_dw":50.4236565,"mpcc_enc_sign":1,"mpcc_id_a":0.234851241,"mpcc_iq_a":-1.44346249,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.2352159,"mpcc_pred_id_a":-0.291753054,"mpcc_pred_iq_a":-0.137292117,"mpcc_state":1,"mpcc_theta_e":0.435554028,"mpcc_theta_mech":0.554056764,"sam_rpm":1.54328942,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0287205279,"thr_a_norm":0.0202105641,"thr_a_v":0.614882112,"thr_b":0.00350537896,"thr_b_norm":0,"thr_b_v":0.514021516,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.129204,"values":{"cg_iu_a":5.09871197,"cg_iv_a":-0.806133032,"cg_iw_a":-4.2925787,"cg_theta_rad":0.556172013,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.135383531,"mpcc_du":50.3034706,"mpcc_dv":47.9949226,"mpcc_dw":52.0050774,"mpcc_enc_sign":1,"mpcc_id_a":5.30764723,"mpcc_iq_a":1.13507378,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.40222359,"mpcc_pred_id_a":1.43695676,"mpcc_pred_iq_a":-0.580571592,"mpcc_state":1,"mpcc_theta_e":0.44523859,"mpcc_theta_mech":0.555993617,"sam_rpm":-6.15873957,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0287205279,"thr_a_norm":0.0287205279,"thr_a_v":0.614882112,"thr_b":0.00350537896,"thr_b_norm":0.00350537896,"thr_b_v":0.514021516,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.139427,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.82096052,"cg_iw_a":-0.305757046,"cg_theta_rad":0.553886414,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0204719622,"mpcc_du":49.6023598,"mpcc_dv":49.7827301,"mpcc_dw":50.3976402,"mpcc_enc_sign":1,"mpcc_id_a":1.02909148,"mpcc_iq_a":-1.90257823,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.79495239,"mpcc_pred_id_a":-0.427544355,"mpcc_pred_iq_a":-4.56656027,"mpcc_state":1,"mpcc_theta_e":0.458010197,"mpcc_theta_mech":0.558547974,"sam_rpm":14.6360712,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0249187499,"thr_a_norm":0.0249187499,"thr_a_v":0.599675,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460544735,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.149437,"values":{"cg_iu_a":1.40184116,"cg_iv_a":0.136206627,"cg_iw_a":-1.53804779,"cg_theta_rad":0.557562888,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0580045469,"mpcc_du":49.5933342,"mpcc_dv":50.0073013,"mpcc_dw":50.4066658,"mpcc_enc_sign":1,"mpcc_id_a":0.347892046,"mpcc_iq_a":-0.495421171,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.8100882,"mpcc_pred_id_a":-0.312192589,"mpcc_pred_iq_a":-4.45854044,"mpcc_state":1,"mpcc_theta_e":0.461100578,"mpcc_theta_mech":0.559166074,"sam_rpm":23.1129837,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0249187499,"thr_a_norm":0.0249187499,"thr_a_v":0.599675,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460544735,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.160454,"values":{"cg_iu_a":0.24203825,"cg_iv_a":1.22352171,"cg_iw_a":-1.17560911,"cg_theta_rad":0.555313647,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00938891899,"mpcc_du":49.9609528,"mpcc_dv":49.029007,"mpcc_dw":50.970993,"mpcc_enc_sign":1,"mpcc_id_a":0.336693555,"mpcc_iq_a":-1.06870246,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.83448172,"mpcc_pred_id_a":-0.236355647,"mpcc_pred_iq_a":-0.277758092,"mpcc_state":1,"mpcc_theta_e":0.427474022,"mpcc_theta_mech":0.552440763,"sam_rpm":-12.5970297,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0104165673,"thr_a_norm":0.0104165673,"thr_a_v":0.541666269,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.420563072,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.184929,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.371207237,"cg_iw_a":-0.16078186,"cg_theta_rad":0.55239135,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00372733548,"mpcc_du":48.7034683,"mpcc_dv":51.2965317,"mpcc_dw":49.2502251,"mpcc_enc_sign":1,"mpcc_id_a":0.268099546,"mpcc_iq_a":-1.22086513,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.6495523,"mpcc_pred_id_a":-0.118121624,"mpcc_pred_iq_a":1.94028866,"mpcc_state":1,"mpcc_theta_e":0.426813126,"mpcc_theta_mech":0.5523085,"sam_rpm":15.6140051,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0148352087,"thr_a_norm":0.0148352087,"thr_a_v":0.559340835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451581597,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.191338,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-2.25588632,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.555227816,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0364748873,"mpcc_du":49.4918022,"mpcc_dv":50.2169724,"mpcc_dw":50.5081978,"mpcc_enc_sign":1,"mpcc_id_a":2.83627319,"mpcc_iq_a":0.0212871693,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.4331522,"mpcc_pred_id_a":0.405643463,"mpcc_pred_iq_a":-1.79527187,"mpcc_state":1,"mpcc_theta_e":0.436247349,"mpcc_theta_mech":0.554195404,"sam_rpm":14.9668236,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0148352087,"thr_a_norm":0.0148352087,"thr_a_v":0.559340835,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451581597,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.197899,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.371207237,"cg_iw_a":-2.04546118,"cg_theta_rad":0.554914117,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0407146066,"mpcc_du":49.4268036,"mpcc_dv":50.3796654,"mpcc_dw":50.5731964,"mpcc_enc_sign":1,"mpcc_id_a":3.24298882,"mpcc_iq_a":0.158118114,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.20890045,"mpcc_pred_id_a":0.707765937,"mpcc_pred_iq_a":-3.49054384,"mpcc_state":1,"mpcc_theta_e":0.449851513,"mpcc_theta_mech":0.556916177,"sam_rpm":13.7952433,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0998718292,"thr_a_norm":0.0998718292,"thr_a_v":0.899487317,"thr_b":0.0449851155,"thr_b_norm":0.0449851155,"thr_b_v":0.679940462,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.204399,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.0087685585,"cg_iw_a":-1.82799864,"cg_theta_rad":0.551888049,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0319032893,"mpcc_du":49.5646286,"mpcc_dv":49.1967697,"mpcc_dw":50.8032303,"mpcc_enc_sign":1,"mpcc_id_a":2.58599353,"mpcc_iq_a":-0.0261711758,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.72987413,"mpcc_pred_id_a":0.51655668,"mpcc_pred_iq_a":-3.33658934,"mpcc_state":1,"mpcc_theta_e":0.446127892,"mpcc_theta_mech":0.556171477,"sam_rpm":12.6949873,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226275921,"thr_a_norm":0.0998718292,"thr_a_v":0.590510368,"thr_b":0,"thr_b_norm":0.0449851155,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.212456,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.806133032,"cg_iw_a":-3.4952147,"cg_theta_rad":0.55694133,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0107598063,"mpcc_du":51.0282097,"mpcc_dv":47.7458382,"mpcc_dw":52.2541618,"mpcc_enc_sign":1,"mpcc_id_a":0.882879019,"mpcc_iq_a":-0.223440304,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.3362174,"mpcc_pred_id_a":-0.354048878,"mpcc_pred_iq_a":2.6260438,"mpcc_state":1,"mpcc_theta_e":0.437283993,"mpcc_theta_mech":0.554402709,"sam_rpm":-7.76711607,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226275921,"thr_a_norm":0.0226275921,"thr_a_v":0.590510368,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.222923,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.33541203,"cg_theta_rad":0.558303595,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0553386994,"mpcc_du":49.9436569,"mpcc_dv":48.8850136,"mpcc_dw":51.1149864,"mpcc_enc_sign":1,"mpcc_id_a":2.87882042,"mpcc_iq_a":-0.596626043,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.01049519,"mpcc_pred_id_a":0.570884705,"mpcc_pred_iq_a":-2.99345112,"mpcc_state":1,"mpcc_theta_e":0.450199604,"mpcc_theta_mech":0.556985795,"sam_rpm":9.03361988,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257244259,"thr_a_norm":0.0257244259,"thr_a_v":0.602897704,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.232811,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.38603449,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556158364,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0679137632,"mpcc_du":49.9362946,"mpcc_dv":48.8635597,"mpcc_dw":51.1364403,"mpcc_enc_sign":1,"mpcc_id_a":2.98098683,"mpcc_iq_a":0.293462753,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.30027151,"mpcc_pred_id_a":0.414481401,"mpcc_pred_iq_a":-1.93276787,"mpcc_state":1,"mpcc_theta_e":0.446743965,"mpcc_theta_mech":0.55629468,"sam_rpm":6.37495089,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257244259,"thr_a_norm":0.0257244259,"thr_a_v":0.602897704,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.243004,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.226231575,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.556469262,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0422061384,"mpcc_du":50.1903381,"mpcc_dv":48.4666443,"mpcc_dw":51.5333557,"mpcc_enc_sign":1,"mpcc_id_a":3.32521415,"mpcc_iq_a":-0.31351608,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.04727554,"mpcc_pred_id_a":0.531384051,"mpcc_pred_iq_a":-1.34885025,"mpcc_state":1,"mpcc_theta_e":0.440429211,"mpcc_theta_mech":0.555031717,"sam_rpm":-7.99338102,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295891464,"thr_a_norm":0.0295891464,"thr_a_v":0.618356586,"thr_b":0.00475165248,"thr_b_norm":0.00475165248,"thr_b_v":0.51900661,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.253197,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.443694592,"cg_iw_a":-0.160782337,"cg_theta_rad":0.558556914,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.023313161,"mpcc_du":50.4296837,"mpcc_dv":48.1094284,"mpcc_dw":51.8905716,"mpcc_enc_sign":1,"mpcc_id_a":2.84031224,"mpcc_iq_a":-0.479249239,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.76032257,"mpcc_pred_id_a":0.614827931,"mpcc_pred_iq_a":0.2981188,"mpcc_state":1,"mpcc_theta_e":0.433220863,"mpcc_theta_mech":0.553590059,"sam_rpm":-14.6992149,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0295891464,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0.00475165248,"thr_b_v":0.453041911,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.263206,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.53100967,"cg_iw_a":-1.17560959,"cg_theta_rad":0.555252612,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0232534446,"mpcc_du":50.0619926,"mpcc_dv":48.5728149,"mpcc_dw":51.4271851,"mpcc_enc_sign":1,"mpcc_id_a":2.13455963,"mpcc_iq_a":-0.628483951,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.44272041,"mpcc_pred_id_a":0.632389963,"mpcc_pred_iq_a":-1.90744817,"mpcc_state":1,"mpcc_theta_e":0.439226151,"mpcc_theta_mech":0.554791152,"sam_rpm":-8.1434145,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453041911,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.2864,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-2.32837415,"cg_iw_a":-0.160782099,"cg_theta_rad":0.554475784,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0346468203,"mpcc_du":49.2439346,"mpcc_dv":50.7560654,"mpcc_dw":50.3729591,"mpcc_enc_sign":1,"mpcc_id_a":3.58049154,"mpcc_iq_a":-0.974073291,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.19491863,"mpcc_pred_id_a":0.77803272,"mpcc_pred_iq_a":-5.37216473,"mpcc_state":1,"mpcc_theta_e":0.448187351,"mpcc_theta_mech":0.556583345,"sam_rpm":8.41969585,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245285034,"thr_a_norm":0.0245285034,"thr_a_v":0.598114014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.292961,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.53100967,"cg_iw_a":0.274143696,"cg_theta_rad":0.554189801,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.023283137,"mpcc_du":50.4401245,"mpcc_dv":48.1574173,"mpcc_dw":51.8425827,"mpcc_enc_sign":1,"mpcc_id_a":2.93696094,"mpcc_iq_a":-0.952998817,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.5325909,"mpcc_pred_id_a":0.329595238,"mpcc_pred_iq_a":-0.0870334208,"mpcc_state":1,"mpcc_theta_e":0.423735142,"mpcc_theta_mech":0.551692963,"sam_rpm":-26.4534302,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245285034,"thr_a_norm":0.0245285034,"thr_a_v":0.598114014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.299461,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.24105906,"cg_iw_a":-1.17560911,"cg_theta_rad":0.556751072,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0152338129,"mpcc_du":49.9381218,"mpcc_dv":49.0190582,"mpcc_dw":50.9809418,"mpcc_enc_sign":1,"mpcc_id_a":1.92312968,"mpcc_iq_a":-1.90495932,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.77709961,"mpcc_pred_id_a":-0.00413200259,"mpcc_pred_iq_a":-1.14849854,"mpcc_state":1,"mpcc_theta_e":0.451568604,"mpcc_theta_mech":0.557259619,"sam_rpm":11.8129349,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0323586613,"thr_a_norm":0.0323586613,"thr_a_v":0.629434645,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490606517,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.305992,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.878620625,"cg_iw_a":0.201656342,"cg_theta_rad":0.555257976,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.000446093909,"mpcc_du":49.439991,"mpcc_dv":50.560009,"mpcc_dw":50.2011108,"mpcc_enc_sign":1,"mpcc_id_a":0.404527098,"mpcc_iq_a":-1.57571197,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.902031124,"mpcc_pred_id_a":-0.22948043,"mpcc_pred_iq_a":-5.68373966,"mpcc_state":1,"mpcc_theta_e":0.441795349,"mpcc_theta_mech":0.555304945,"sam_rpm":0.713343143,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0302941203,"thr_a_norm":0.0323586613,"thr_a_v":0.621176481,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465832025,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.314995,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.153744221,"cg_iw_a":-2.19043636,"cg_theta_rad":0.555786788,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0890862793,"mpcc_du":49.8359642,"mpcc_dv":48.8154602,"mpcc_dw":51.1845398,"mpcc_enc_sign":1,"mpcc_id_a":4.992239,"mpcc_iq_a":-0.2064078,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.75454271,"mpcc_pred_id_a":0.835149169,"mpcc_pred_iq_a":-1.78918219,"mpcc_state":1,"mpcc_theta_e":0.446830273,"mpcc_theta_mech":0.556311965,"sam_rpm":3.42731333,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0302941203,"thr_a_norm":0.0302941203,"thr_a_v":0.621176481,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465832025,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.325188,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.371207237,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556591511,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0215797182,"mpcc_du":49.5341339,"mpcc_dv":50.3920975,"mpcc_dw":50.4658661,"mpcc_enc_sign":1,"mpcc_id_a":2.55087805,"mpcc_iq_a":-0.0723816231,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.84344769,"mpcc_pred_id_a":0.13587229,"mpcc_pred_iq_a":-1.19543552,"mpcc_state":1,"mpcc_theta_e":0.434639931,"mpcc_theta_mech":0.553873897,"sam_rpm":3.19434857,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186243951,"thr_a_norm":0.0186243951,"thr_a_v":0.574497581,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450070977,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.335197,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.82096052,"cg_iw_a":0.709070206,"cg_theta_rad":0.557672203,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0130493306,"mpcc_du":49.5836182,"mpcc_dv":49.2127762,"mpcc_dw":50.7872238,"mpcc_enc_sign":1,"mpcc_id_a":2.28010869,"mpcc_iq_a":1.44930017,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.10028839,"mpcc_pred_id_a":0.491472304,"mpcc_pred_iq_a":0.285845339,"mpcc_state":1,"mpcc_theta_e":0.427370071,"mpcc_theta_mech":0.55241996,"sam_rpm":-8.43817425,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186243951,"thr_a_norm":0.0186243951,"thr_a_v":0.574497581,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450070977,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.345421,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.878620625,"cg_iw_a":-1.10312152,"cg_theta_rad":0.55703038,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0356350727,"mpcc_du":50.6225815,"mpcc_dv":48.2353745,"mpcc_dw":51.7646255,"mpcc_enc_sign":1,"mpcc_id_a":0.677796245,"mpcc_iq_a":-0.826874971,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.82931471,"mpcc_pred_id_a":-0.169060886,"mpcc_pred_iq_a":-2.14801836,"mpcc_state":1,"mpcc_theta_e":0.443230629,"mpcc_theta_mech":0.555592,"sam_rpm":-9.21168804,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193545371,"thr_a_norm":0.0193545371,"thr_a_v":0.577418149,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.355614,"values":{"cg_iu_a":4.8087616,"cg_iv_a":-0.371207237,"cg_iw_a":-0.595707893,"cg_theta_rad":0.557030559,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0428510457,"mpcc_du":50.0174446,"mpcc_dv":48.5901794,"mpcc_dw":51.4098206,"mpcc_enc_sign":1,"mpcc_id_a":2.80888987,"mpcc_iq_a":-0.73631978,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.41646028,"mpcc_pred_id_a":0.766682267,"mpcc_pred_iq_a":-2.30382609,"mpcc_state":1,"mpcc_theta_e":0.446270943,"mpcc_theta_mech":0.556200147,"sam_rpm":-3.51423168,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025799945,"thr_a_norm":0.0193545371,"thr_a_v":0.60319978,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.365532,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.951108456,"cg_iw_a":0.0566811562,"cg_theta_rad":0.553684235,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0237540938,"mpcc_du":49.8245697,"mpcc_dv":49.0805168,"mpcc_dw":50.9194832,"mpcc_enc_sign":1,"mpcc_id_a":2.83896589,"mpcc_iq_a":-0.487162262,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.40380597,"mpcc_pred_id_a":0.559406161,"mpcc_pred_iq_a":-2.98516488,"mpcc_state":1,"mpcc_theta_e":0.4360075,"mpcc_theta_mech":0.554147422,"sam_rpm":-5.96166229,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025799945,"thr_a_norm":0.025799945,"thr_a_v":0.60319978,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.388847,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.09608364,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.556916475,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0207899176,"mpcc_du":50.3243828,"mpcc_dv":48.8530273,"mpcc_dw":51.1469727,"mpcc_enc_sign":1,"mpcc_id_a":-1.20466232,"mpcc_iq_a":-0.395423442,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.62224436,"mpcc_pred_id_a":-0.8850137,"mpcc_pred_iq_a":-1.85067332,"mpcc_state":1,"mpcc_theta_e":0.444272995,"mpcc_theta_mech":0.555800498,"sam_rpm":-1.95256233,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023861289,"thr_a_norm":0.023861289,"thr_a_v":0.595445156,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468349725,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.395378,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.878620625,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556961417,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0067494791,"mpcc_du":49.503109,"mpcc_dv":49.7277832,"mpcc_dw":50.496891,"mpcc_enc_sign":1,"mpcc_id_a":1.28276134,"mpcc_iq_a":-1.07164991,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.32965565,"mpcc_pred_id_a":0.0892808363,"mpcc_pred_iq_a":-2.81498623,"mpcc_state":1,"mpcc_theta_e":0.445409775,"mpcc_theta_mech":0.556027889,"sam_rpm":7.69911766,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023861289,"thr_a_norm":0.023861289,"thr_a_v":0.595445156,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468349725,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.401909,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.24105906,"cg_iw_a":0.129168749,"cg_theta_rad":0.554152787,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00323028397,"mpcc_du":49.502697,"mpcc_dv":50.497303,"mpcc_dw":50.1315193,"mpcc_enc_sign":1,"mpcc_id_a":0.510500431,"mpcc_iq_a":-0.840577602,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.53053355,"mpcc_pred_id_a":-0.676337779,"mpcc_pred_iq_a":-5.31641674,"mpcc_state":1,"mpcc_theta_e":0.44374609,"mpcc_theta_mech":0.555695176,"sam_rpm":3.40459156,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261524469,"thr_a_norm":0.0261524469,"thr_a_v":0.604609787,"thr_b":3.08901072e-05,"thr_b_norm":3.08901072e-05,"thr_b_v":0.50012356,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.408409,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.38603449,"cg_iw_a":0.12916851,"cg_theta_rad":0.553148389,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.014335651,"mpcc_du":50.1317024,"mpcc_dv":48.8724594,"mpcc_dw":51.1275406,"mpcc_enc_sign":1,"mpcc_id_a":0.203950256,"mpcc_iq_a":-0.646293283,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.30078459,"mpcc_pred_id_a":-0.33861196,"mpcc_pred_iq_a":-2.86443615,"mpcc_state":1,"mpcc_theta_e":0.439387798,"mpcc_theta_mech":0.554823458,"sam_rpm":-7.31416321,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271343589,"thr_a_norm":0.0261524469,"thr_a_v":0.608537436,"thr_b":0,"thr_b_norm":3.08901072e-05,"thr_b_v":0.488189489,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.418266,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.02359605,"cg_iw_a":-0.740683317,"cg_theta_rad":0.557733059,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00142101781,"mpcc_du":49.7568169,"mpcc_dv":49.3175774,"mpcc_dw":50.6824226,"mpcc_enc_sign":1,"mpcc_id_a":-0.752505481,"mpcc_iq_a":0.213770717,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.19326544,"mpcc_pred_id_a":-0.361600846,"mpcc_pred_iq_a":-1.23838305,"mpcc_state":1,"mpcc_theta_e":0.432719231,"mpcc_theta_mech":0.553489745,"sam_rpm":-7.0334816,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271343589,"thr_a_norm":0.0271343589,"thr_a_v":0.608537436,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488189489,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.428123,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.878620625,"cg_iw_a":-1.39307261,"cg_theta_rad":0.557170093,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0170314685,"mpcc_du":49.647522,"mpcc_dv":49.913456,"mpcc_dw":50.352478,"mpcc_enc_sign":1,"mpcc_id_a":-0.477054,"mpcc_iq_a":-0.556811988,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.79541755,"mpcc_pred_id_a":-0.583595574,"mpcc_pred_iq_a":-0.31133461,"mpcc_state":1,"mpcc_theta_e":0.442205429,"mpcc_theta_mech":0.55538702,"sam_rpm":12.5643358,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0391817391,"thr_a_norm":0.0391817391,"thr_a_v":0.656726956,"thr_b":0.0124307722,"thr_b_norm":0.0124307722,"thr_b_v":0.549723089,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.438377,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.16857147,"cg_iw_a":0.564094543,"cg_theta_rad":0.554068983,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0439776219,"mpcc_du":50.081337,"mpcc_dv":48.6956749,"mpcc_dw":51.3043251,"mpcc_enc_sign":1,"mpcc_id_a":2.78654695,"mpcc_iq_a":-0.446888596,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.696960688,"mpcc_pred_id_a":0.263515919,"mpcc_pred_iq_a":-1.94896555,"mpcc_state":1,"mpcc_theta_e":0.446146488,"mpcc_theta_mech":0.556175232,"sam_rpm":-0.708058953,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178313106,"thr_a_norm":0.0391817391,"thr_a_v":0.571325243,"thr_b":0,"thr_b_norm":0.0124307722,"thr_b_v":0.449970245,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.449425,"values":{"cg_iu_a":4.2288599,"cg_iv_a":0.57113266,"cg_iw_a":-4.79999256,"cg_theta_rad":0.556698024,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00372838089,"mpcc_du":49.9583282,"mpcc_dv":49.0345726,"mpcc_dw":50.9654274,"mpcc_enc_sign":1,"mpcc_id_a":0.530819178,"mpcc_iq_a":-0.467562675,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.59122992,"mpcc_pred_id_a":-0.361085117,"mpcc_pred_iq_a":-0.420361787,"mpcc_state":1,"mpcc_theta_e":0.427821636,"mpcc_theta_mech":0.552510202,"sam_rpm":-12.1338968,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178313106,"thr_a_norm":0.0178313106,"thr_a_v":0.571325243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449970245,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.460594,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-0.661157608,"cg_iw_a":-2.91531372,"cg_theta_rad":0.554371655,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0134872925,"mpcc_du":50.0693436,"mpcc_dv":48.926548,"mpcc_dw":51.073452,"mpcc_enc_sign":1,"mpcc_id_a":-0.333311409,"mpcc_iq_a":-0.254823387,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.82927752,"mpcc_pred_id_a":-0.415425867,"mpcc_pred_iq_a":-0.174629703,"mpcc_state":1,"mpcc_theta_e":0.440368176,"mpcc_theta_mech":0.555019557,"sam_rpm":7.4155345,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0314396769,"thr_a_norm":0.0314396769,"thr_a_v":0.625758708,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480132759,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.470726,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.878620625,"cg_iw_a":0.346631527,"cg_theta_rad":0.554283559,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0327723138,"mpcc_du":50.0373459,"mpcc_dv":49.0803452,"mpcc_dw":50.9196548,"mpcc_enc_sign":1,"mpcc_id_a":0.401121229,"mpcc_iq_a":-0.560254395,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.39614445,"mpcc_pred_id_a":-0.473753721,"mpcc_pred_iq_a":-3.50098896,"mpcc_state":1,"mpcc_theta_e":0.448780537,"mpcc_theta_mech":0.556702018,"sam_rpm":2.17204571,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.102742031,"thr_a_norm":0.0314396769,"thr_a_v":0.910968125,"thr_b":0.0471377969,"thr_b_norm":0,"thr_b_v":0.688551188,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.493858,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.60349751,"cg_iw_a":-0.668195724,"cg_theta_rad":0.557195067,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0149593269,"mpcc_du":50.2577934,"mpcc_dv":48.569458,"mpcc_dw":51.430542,"mpcc_enc_sign":1,"mpcc_id_a":1.47871685,"mpcc_iq_a":-0.830851912,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.44295216,"mpcc_pred_id_a":-0.0448960215,"mpcc_pred_iq_a":-1.63469076,"mpcc_state":1,"mpcc_theta_e":0.440225601,"mpcc_theta_mech":0.554991007,"sam_rpm":-7.75180292,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.102742031,"thr_a_norm":0.102742031,"thr_a_v":0.910968125,"thr_b":0.0471377969,"thr_b_norm":0.0471377969,"thr_b_v":0.688551188,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.500389,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.298719406,"cg_iw_a":-0.740683556,"cg_theta_rad":0.556767285,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00132527598,"mpcc_du":49.7733574,"mpcc_dv":49.4848175,"mpcc_dw":50.5151825,"mpcc_enc_sign":1,"mpcc_id_a":-0.391337484,"mpcc_iq_a":-1.56908298,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.03889561,"mpcc_pred_id_a":-0.781739235,"mpcc_pred_iq_a":-3.79372859,"mpcc_state":1,"mpcc_theta_e":0.440160751,"mpcc_theta_mech":0.554978073,"sam_rpm":-2.96345687,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202860981,"thr_a_norm":0.0202860981,"thr_a_v":0.581144392,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455106407,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.506828,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.90827537,"cg_iw_a":-0.740683317,"cg_theta_rad":0.557185113,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0184161048,"mpcc_du":49.3664284,"mpcc_dv":50.6335716,"mpcc_dw":50.3623772,"mpcc_enc_sign":1,"mpcc_id_a":2.4450016,"mpcc_iq_a":-0.81988138,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.17843723,"mpcc_pred_id_a":0.465379745,"mpcc_pred_iq_a":-4.26940823,"mpcc_state":1,"mpcc_theta_e":0.438979149,"mpcc_theta_mech":0.55474174,"sam_rpm":12.9349222,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202860981,"thr_a_norm":0.0202860981,"thr_a_v":0.581144392,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455106407,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.51339,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.516182423,"cg_iw_a":-2.55287504,"cg_theta_rad":0.556512237,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.000330241543,"mpcc_du":50.5149765,"mpcc_dv":48.4484634,"mpcc_dw":51.5515366,"mpcc_enc_sign":1,"mpcc_id_a":-0.296621948,"mpcc_iq_a":-2.72463989,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.09292626,"mpcc_pred_id_a":-0.45626837,"mpcc_pred_iq_a":0.068219766,"mpcc_state":1,"mpcc_theta_e":0.4408741,"mpcc_theta_mech":0.555120766,"sam_rpm":-3.00197792,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0130601972,"thr_a_norm":0.0130601972,"thr_a_v":0.552240789,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451984406,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.522636,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.53100967,"cg_iw_a":-0.740683556,"cg_theta_rad":0.556965768,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0222434439,"mpcc_du":50.3144722,"mpcc_dv":48.9013901,"mpcc_dw":51.0986099,"mpcc_enc_sign":1,"mpcc_id_a":-0.898488879,"mpcc_iq_a":-1.09682798,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.41033185,"mpcc_pred_id_a":-0.868280232,"mpcc_pred_iq_a":-2.94237232,"mpcc_state":1,"mpcc_theta_e":0.445714951,"mpcc_theta_mech":0.556088924,"sam_rpm":-1.35259783,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0169123262,"thr_a_norm":0.0130601972,"thr_a_v":0.567649305,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.430986494,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.533562,"values":{"cg_iu_a":4.01139736,"cg_iv_a":-0.951108456,"cg_iw_a":-3.06028891,"cg_theta_rad":0.553840518,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0454045162,"mpcc_du":49.8109016,"mpcc_dv":48.5992546,"mpcc_dw":51.4007454,"mpcc_enc_sign":1,"mpcc_id_a":4.09964943,"mpcc_iq_a":-0.015753895,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.294337481,"mpcc_pred_id_a":1.40294147,"mpcc_pred_iq_a":0.84809339,"mpcc_state":1,"mpcc_theta_e":0.43677187,"mpcc_theta_mech":0.554300249,"sam_rpm":0.0340798274,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0169123262,"thr_a_norm":0.0169123262,"thr_a_v":0.567649305,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.430986494,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.543633,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.74847269,"cg_iw_a":-0.450732708,"cg_theta_rad":0.555020988,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0378934145,"mpcc_du":50.2318611,"mpcc_dv":48.7209663,"mpcc_dw":51.2790337,"mpcc_enc_sign":1,"mpcc_id_a":0.556505382,"mpcc_iq_a":-1.56739044,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.20821452,"mpcc_pred_id_a":-0.0651419386,"mpcc_pred_iq_a":-3.0144465,"mpcc_state":1,"mpcc_theta_e":0.451295376,"mpcc_theta_mech":0.557204962,"sam_rpm":4.58958817,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0331391543,"thr_a_norm":0.0331391543,"thr_a_v":0.632556617,"thr_b":0.00190661848,"thr_b_norm":0.00190661848,"thr_b_v":0.507626474,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.55349,"values":{"cg_iu_a":3.72144651,"cg_iv_a":-1.16857147,"cg_iw_a":-2.55287504,"cg_theta_rad":0.557508767,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.029015854,"mpcc_du":50.4046783,"mpcc_dv":48.515686,"mpcc_dw":51.484314,"mpcc_enc_sign":1,"mpcc_id_a":0.601342201,"mpcc_iq_a":-0.980974913,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.12759972,"mpcc_pred_id_a":-0.10435956,"mpcc_pred_iq_a":-0.685185552,"mpcc_state":1,"mpcc_theta_e":0.45814991,"mpcc_theta_mech":0.558575869,"sam_rpm":6.23528719,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0331391543,"thr_a_norm":0.0331391543,"thr_a_v":0.632556617,"thr_b":0.00190661848,"thr_b_norm":0.00190661848,"thr_b_v":0.507626474,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.563774,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.951108456,"cg_iw_a":0.0566811562,"cg_theta_rad":0.553793609,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.033496879,"mpcc_du":49.514019,"mpcc_dv":49.6016197,"mpcc_dw":50.485981,"mpcc_enc_sign":1,"mpcc_id_a":2.41720891,"mpcc_iq_a":-1.87763941,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.31470203,"mpcc_pred_id_a":0.167347044,"mpcc_pred_iq_a":-4.22903252,"mpcc_state":1,"mpcc_theta_e":0.455213547,"mpcc_theta_mech":0.557988584,"sam_rpm":14.1570673,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260643214,"thr_a_norm":0.0260643214,"thr_a_v":0.604257286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484010041,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.573967,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.878620625,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556129336,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.018318329,"mpcc_du":49.8950806,"mpcc_dv":49.0110741,"mpcc_dw":50.9889259,"mpcc_enc_sign":1,"mpcc_id_a":1.53725243,"mpcc_iq_a":-1.04595745,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.82512665,"mpcc_pred_id_a":0.208009601,"mpcc_pred_iq_a":-3.48608541,"mpcc_state":1,"mpcc_theta_e":0.441450119,"mpcc_theta_mech":0.555235922,"sam_rpm":-5.4045229,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209029466,"thr_a_norm":0.0260643214,"thr_a_v":0.583611786,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471522063,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.597191,"values":{"cg_iu_a":1.54681635,"cg_iv_a":0.933570862,"cg_iw_a":-3.85765314,"cg_theta_rad":0.556915641,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0297620557,"mpcc_du":49.5348473,"mpcc_dv":50.0870361,"mpcc_dw":51.328743,"mpcc_enc_sign":1,"mpcc_id_a":2.78570509,"mpcc_iq_a":-0.951281369,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.000327387563,"mpcc_pred_id_a":0.166129127,"mpcc_pred_iq_a":-5.64028311,"mpcc_state":1,"mpcc_theta_e":0.444445133,"mpcc_theta_mech":0.554505348,"sam_rpm":0.141957283,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209029466,"thr_a_norm":0.0209029466,"thr_a_v":0.583611786,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471522063,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.603722,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.82096052,"cg_iw_a":1.14399624,"cg_theta_rad":0.552911043,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0237166267,"mpcc_du":49.6467514,"mpcc_dv":49.4018288,"mpcc_dw":50.5981712,"mpcc_enc_sign":1,"mpcc_id_a":2.24306774,"mpcc_iq_a":-1.07914901,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.47957802,"mpcc_pred_id_a":0.0125773661,"mpcc_pred_iq_a":-2.71404314,"mpcc_state":1,"mpcc_theta_e":0.4500494,"mpcc_theta_mech":0.556955814,"sam_rpm":9.66809082,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281414539,"thr_a_norm":0.0281414539,"thr_a_v":0.612565815,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494634897,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.610252,"values":{"cg_iu_a":1.61930418,"cg_iv_a":0.426157475,"cg_iw_a":-2.04546165,"cg_theta_rad":0.553928494,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0340772793,"mpcc_du":50.5121498,"mpcc_dv":48.0699806,"mpcc_dw":51.9300194,"mpcc_enc_sign":1,"mpcc_id_a":3.583529,"mpcc_iq_a":-0.766963363,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.2592459,"mpcc_pred_id_a":0.56155026,"mpcc_pred_iq_a":-0.250077635,"mpcc_state":1,"mpcc_theta_e":0.430699825,"mpcc_theta_mech":0.553085864,"sam_rpm":-19.8739147,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281414539,"thr_a_norm":0.0281414539,"thr_a_v":0.612565815,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494634897,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.616753,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.878620625,"cg_iw_a":-2.11794901,"cg_theta_rad":0.555753469,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0200849921,"mpcc_du":50.2158241,"mpcc_dv":48.4937439,"mpcc_dw":51.5062561,"mpcc_enc_sign":1,"mpcc_id_a":2.58200932,"mpcc_iq_a":-1.04214323,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.72620392,"mpcc_pred_id_a":0.482257307,"mpcc_pred_iq_a":-1.34663832,"mpcc_state":1,"mpcc_theta_e":0.445240974,"mpcc_theta_mech":0.555994153,"sam_rpm":-8.30050182,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0302941203,"thr_a_norm":0.0302941203,"thr_a_v":0.621176481,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467544049,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.625175,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.60349751,"cg_iw_a":-0.885658741,"cg_theta_rad":0.558885455,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.051950112,"mpcc_du":49.4427567,"mpcc_dv":49.7448921,"mpcc_dw":50.5572433,"mpcc_enc_sign":1,"mpcc_id_a":3.52471328,"mpcc_iq_a":-0.267118752,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.052228,"mpcc_pred_id_a":0.592094004,"mpcc_pred_iq_a":-2.55044961,"mpcc_state":1,"mpcc_theta_e":0.452686787,"mpcc_theta_mech":0.557483256,"sam_rpm":16.5616474,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241256505,"thr_a_norm":0.0302941203,"thr_a_v":0.596502602,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473334849,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.635094,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.516182423,"cg_iw_a":-1.97297382,"cg_theta_rad":0.556588829,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0221450906,"mpcc_du":49.4945908,"mpcc_dv":49.1121445,"mpcc_dw":50.8878555,"mpcc_enc_sign":1,"mpcc_id_a":2.77064157,"mpcc_iq_a":-1.14881432,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.163512409,"mpcc_pred_id_a":0.206281155,"mpcc_pred_iq_a":-1.86866963,"mpcc_state":1,"mpcc_theta_e":0.43628931,"mpcc_theta_mech":0.553175211,"sam_rpm":-0.646254122,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241256505,"thr_a_norm":0.0241256505,"thr_a_v":0.596502602,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473334849,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.645195,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.82096052,"cg_iw_a":-0.450732708,"cg_theta_rad":0.555397153,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0397162139,"mpcc_du":50.0131302,"mpcc_dv":48.6095314,"mpcc_dw":51.3904686,"mpcc_enc_sign":1,"mpcc_id_a":2.72472525,"mpcc_iq_a":-0.745397687,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.74762726,"mpcc_pred_id_a":0.757253349,"mpcc_pred_iq_a":-2.27124166,"mpcc_state":1,"mpcc_theta_e":0.447229385,"mpcc_theta_mech":0.556391835,"sam_rpm":-3.96132445,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202231556,"thr_a_norm":0.0202231556,"thr_a_v":0.580892622,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454854637,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.655022,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.6759851,"cg_iw_a":0.926532984,"cg_theta_rad":0.554600716,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0242832992,"mpcc_du":49.6503258,"mpcc_dv":49.1950188,"mpcc_dw":50.8049812,"mpcc_enc_sign":1,"mpcc_id_a":2.3778789,"mpcc_iq_a":-1.1332947,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.65323317,"mpcc_pred_id_a":0.267564833,"mpcc_pred_iq_a":-3.40969896,"mpcc_state":1,"mpcc_theta_e":0.446294785,"mpcc_theta_mech":0.556204855,"sam_rpm":7.42672062,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202231556,"thr_a_norm":0.0202231556,"thr_a_v":0.580892622,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454854637,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.665398,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.371207237,"cg_iw_a":-1.53804755,"cg_theta_rad":0.55746907,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0540414751,"mpcc_du":50.2827034,"mpcc_dv":48.3665314,"mpcc_dw":51.6334686,"mpcc_enc_sign":1,"mpcc_id_a":3.41647673,"mpcc_iq_a":-0.976553559,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.09801722,"mpcc_pred_id_a":0.391843647,"mpcc_pred_iq_a":-2.33196878,"mpcc_state":1,"mpcc_theta_e":0.44522047,"mpcc_theta_mech":0.555989981,"sam_rpm":-7.24319315,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0267692804,"thr_a_norm":0.0267692804,"thr_a_v":0.607077122,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.675591,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.96593571,"cg_iw_a":-0.305757523,"cg_theta_rad":0.556023717,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0446445607,"mpcc_du":49.5835762,"mpcc_dv":50.0725441,"mpcc_dw":50.4164238,"mpcc_enc_sign":1,"mpcc_id_a":0.37477234,"mpcc_iq_a":-0.929612637,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.6155014,"mpcc_pred_id_a":-0.361681074,"mpcc_pred_iq_a":-4.99351549,"mpcc_state":1,"mpcc_theta_e":0.461406231,"mpcc_theta_mech":0.559227169,"sam_rpm":20.5850067,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177431852,"thr_a_norm":0.0267692804,"thr_a_v":0.570972741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446797907,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.698387,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.60349751,"cg_iw_a":-0.378244877,"cg_theta_rad":0.557987332,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00909114257,"mpcc_du":48.883049,"mpcc_dv":51.116951,"mpcc_dw":49.6166687,"mpcc_enc_sign":1,"mpcc_id_a":1.68864071,"mpcc_iq_a":-0.894476354,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.70759821,"mpcc_pred_id_a":-0.183840662,"mpcc_pred_iq_a":-7.17783833,"mpcc_state":1,"mpcc_theta_e":0.445438385,"mpcc_theta_mech":0.556033552,"sam_rpm":7.85972738,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177431852,"thr_a_norm":0.0177431852,"thr_a_v":0.570972741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446797907,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.704979,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.31354666,"cg_iw_a":-1.61053562,"cg_theta_rad":0.557548225,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.031493675,"mpcc_du":50.697094,"mpcc_dv":48.03545,"mpcc_dw":51.96455,"mpcc_enc_sign":1,"mpcc_id_a":1.30913377,"mpcc_iq_a":-0.344179899,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.95745635,"mpcc_pred_id_a":-0.044642061,"mpcc_pred_iq_a":1.49173594,"mpcc_state":1,"mpcc_theta_e":0.446731091,"mpcc_theta_mech":0.556292117,"sam_rpm":3.9039371,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272980034,"thr_a_norm":0.0272980034,"thr_a_v":0.609192014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484211475,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.711479,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.83578777,"cg_iw_a":-1.10312176,"cg_theta_rad":0.555824101,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.010834204,"mpcc_du":51.2469749,"mpcc_dv":47.242569,"mpcc_dw":52.757431,"mpcc_enc_sign":1,"mpcc_id_a":2.06507587,"mpcc_iq_a":-1.99498868,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.2688484,"mpcc_pred_id_a":0.0589357391,"mpcc_pred_iq_a":2.47087812,"mpcc_state":1,"mpcc_theta_e":0.42778492,"mpcc_theta_mech":0.552502871,"sam_rpm":-24.0084476,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272980034,"thr_a_norm":0.0272980034,"thr_a_v":0.609192014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484211475,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.71801,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.89344811,"cg_iw_a":1.07150817,"cg_theta_rad":0.558338642,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.016393438,"mpcc_du":50.1449356,"mpcc_dv":48.6702385,"mpcc_dw":51.3297615,"mpcc_enc_sign":1,"mpcc_id_a":2.51758289,"mpcc_iq_a":-1.17695642,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.89023161,"mpcc_pred_id_a":0.166909173,"mpcc_pred_iq_a":-0.628328979,"mpcc_state":1,"mpcc_theta_e":0.438768864,"mpcc_theta_mech":0.554699719,"sam_rpm":-6.32114124,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257244259,"thr_a_norm":0.0257244259,"thr_a_v":0.602897704,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483002961,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.727989,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.60349751,"cg_iw_a":-0.0882940292,"cg_theta_rad":0.556152225,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0138654569,"mpcc_du":50.0250702,"mpcc_dv":48.9552574,"mpcc_dw":51.0447426,"mpcc_enc_sign":1,"mpcc_id_a":1.8086592,"mpcc_iq_a":-1.82601166,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.97190237,"mpcc_pred_id_a":-0.242167905,"mpcc_pred_iq_a":-3.47101808,"mpcc_state":1,"mpcc_theta_e":0.442858696,"mpcc_theta_mech":0.555517614,"sam_rpm":-5.90261126,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236346871,"thr_a_norm":0.0257244259,"thr_a_v":0.594538748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486225694,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.737785,"values":{"cg_iu_a":4.30134773,"cg_iv_a":-0.806133032,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.551871538,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0283449031,"mpcc_du":49.2722511,"mpcc_dv":49.3512383,"mpcc_dw":50.7277489,"mpcc_enc_sign":1,"mpcc_id_a":3.00782871,"mpcc_iq_a":-0.458951831,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.19929504,"mpcc_pred_id_a":1.24981642,"mpcc_pred_iq_a":-0.814771831,"mpcc_state":1,"mpcc_theta_e":0.431495667,"mpcc_theta_mech":0.553245068,"sam_rpm":-6.39732695,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236346871,"thr_a_norm":0.0236346871,"thr_a_v":0.594538748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486225694,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.748009,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.82096052,"cg_iw_a":1.14399624,"cg_theta_rad":0.556237459,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00209668628,"mpcc_du":49.5661087,"mpcc_dv":49.5084839,"mpcc_dw":50.4915161,"mpcc_enc_sign":1,"mpcc_id_a":0.607475936,"mpcc_iq_a":-1.63518775,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.63204193,"mpcc_pred_id_a":-0.247952595,"mpcc_pred_iq_a":-2.15127492,"mpcc_state":1,"mpcc_theta_e":0.448854923,"mpcc_theta_mech":0.556716919,"sam_rpm":10.9552689,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226275921,"thr_a_norm":0.0226275921,"thr_a_v":0.590510368,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485772491,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.757591,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-1.31354666,"cg_iw_a":1.21648359,"cg_theta_rad":0.555101871,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00481178705,"mpcc_du":49.701416,"mpcc_dv":49.2051926,"mpcc_dw":50.7948074,"mpcc_enc_sign":1,"mpcc_id_a":0.797222674,"mpcc_iq_a":-1.10006511,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.76713467,"mpcc_pred_id_a":0.0992463678,"mpcc_pred_iq_a":-1.96679747,"mpcc_state":1,"mpcc_theta_e":0.431717873,"mpcc_theta_mech":0.553289533,"sam_rpm":-11.5064173,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226275921,"thr_a_norm":0.0226275921,"thr_a_v":0.590510368,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485772491,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.767784,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-2.61832476,"cg_iw_a":1.36145878,"cg_theta_rad":0.55376482,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.041255109,"mpcc_du":49.3551025,"mpcc_dv":49.7703438,"mpcc_dw":50.6448975,"mpcc_enc_sign":1,"mpcc_id_a":3.8530395,"mpcc_iq_a":1.85412836,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.42806005,"mpcc_pred_id_a":0.867275357,"mpcc_pred_iq_a":-0.517848372,"mpcc_state":1,"mpcc_theta_e":0.436885834,"mpcc_theta_mech":0.554323077,"sam_rpm":4.69946766,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248432159,"thr_a_norm":0.0248432159,"thr_a_v":0.599372864,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497907996,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.778191,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.09608364,"cg_iw_a":0.12916851,"cg_theta_rad":0.554478705,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0286435336,"mpcc_du":50.4038811,"mpcc_dv":48.4114685,"mpcc_dw":51.5885315,"mpcc_enc_sign":1,"mpcc_id_a":2.72782588,"mpcc_iq_a":-0.235285118,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.82190776,"mpcc_pred_id_a":-0.0900655463,"mpcc_pred_iq_a":-2.91543341,"mpcc_state":1,"mpcc_theta_e":0.44686842,"mpcc_theta_mech":0.556319594,"sam_rpm":-8.8039732,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295765549,"thr_a_norm":0.0248432159,"thr_a_v":0.61830622,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481945544,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.80117,"values":{"cg_iu_a":1.61930418,"cg_iv_a":0.281181812,"cg_iw_a":-2.40789938,"cg_theta_rad":0.556312799,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.033718735,"mpcc_du":49.9853477,"mpcc_dv":48.8594284,"mpcc_dw":51.1405716,"mpcc_enc_sign":1,"mpcc_id_a":1.74064839,"mpcc_iq_a":0.0393656716,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.7617598,"mpcc_pred_id_a":0.197811291,"mpcc_pred_iq_a":0.293800533,"mpcc_state":1,"mpcc_theta_e":0.454300404,"mpcc_theta_mech":0.557806015,"sam_rpm":16.2655792,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295765549,"thr_a_norm":0.0295765549,"thr_a_v":0.61830622,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481945544,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.807732,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.38603449,"cg_iw_a":-3.64018965,"cg_theta_rad":0.556551814,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0593623109,"mpcc_du":49.6535645,"mpcc_dv":49.024086,"mpcc_dw":50.975914,"mpcc_enc_sign":1,"mpcc_id_a":4.84237242,"mpcc_iq_a":-2.02800369,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.99853218,"mpcc_pred_id_a":0.769757986,"mpcc_pred_iq_a":-1.80770648,"mpcc_state":1,"mpcc_theta_e":0.445234299,"mpcc_theta_mech":0.555992782,"sam_rpm":3.29949307,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0328118503,"thr_a_norm":0.0328118503,"thr_a_v":0.631247401,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493275344,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.814262,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.6759851,"cg_iw_a":0.781557798,"cg_theta_rad":0.554297268,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0234957319,"mpcc_du":49.4977837,"mpcc_dv":50.3161964,"mpcc_dw":50.5022163,"mpcc_enc_sign":1,"mpcc_id_a":2.57962918,"mpcc_iq_a":-1.89837289,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.73261738,"mpcc_pred_id_a":0.246781185,"mpcc_pred_iq_a":-4.64205503,"mpcc_state":1,"mpcc_theta_e":0.438437939,"mpcc_theta_mech":0.554633498,"sam_rpm":13.2980061,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0328118503,"thr_a_norm":0.0328118503,"thr_a_v":0.631247401,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493275344,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.820824,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.951108456,"cg_iw_a":0.274144173,"cg_theta_rad":0.555921316,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.037440069,"mpcc_du":49.6669273,"mpcc_dv":49.1660881,"mpcc_dw":50.8339119,"mpcc_enc_sign":1,"mpcc_id_a":3.26481867,"mpcc_iq_a":-0.118858881,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.52258492,"mpcc_pred_id_a":0.295359254,"mpcc_pred_iq_a":-1.42723095,"mpcc_state":1,"mpcc_theta_e":0.446118832,"mpcc_theta_mech":0.556169689,"sam_rpm":6.57893944,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00689174235,"thr_b_norm":0.00689174235,"thr_b_v":0.527566969,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.829002,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-0.661157608,"cg_iw_a":-0.233269691,"cg_theta_rad":0.557668447,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00133150897,"mpcc_du":49.9338799,"mpcc_dv":49.3116951,"mpcc_dw":50.3597183,"mpcc_enc_sign":1,"mpcc_id_a":-0.721114099,"mpcc_iq_a":-2.24778891,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.37762487,"mpcc_pred_id_a":-0.792558551,"mpcc_pred_iq_a":0.19963181,"mpcc_state":1,"mpcc_theta_e":0.444073677,"mpcc_theta_mech":0.555760622,"sam_rpm":2.21101713,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261020809,"thr_a_norm":0.0296772718,"thr_a_v":0.604408324,"thr_b":0,"thr_b_norm":0.00689174235,"thr_b_v":0.49911651,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.838799,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.450732708,"cg_theta_rad":0.55669713,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0531927533,"mpcc_du":49.4294205,"mpcc_dv":49.5746956,"mpcc_dw":50.5705795,"mpcc_enc_sign":1,"mpcc_id_a":3.2954514,"mpcc_iq_a":-0.570284128,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.34584904,"mpcc_pred_id_a":0.518254399,"mpcc_pred_iq_a":-4.62270546,"mpcc_state":1,"mpcc_theta_e":0.451519012,"mpcc_theta_mech":0.557249725,"sam_rpm":6.58043242,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261020809,"thr_a_norm":0.0261020809,"thr_a_v":0.604408324,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49911651,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.849205,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.806133032,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.555438221,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.000484216958,"mpcc_du":49.4954834,"mpcc_dv":50.5045166,"mpcc_dw":50.2625885,"mpcc_enc_sign":1,"mpcc_id_a":0.434560686,"mpcc_iq_a":-2.6656549,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.34259534,"mpcc_pred_id_a":-0.329390198,"mpcc_pred_iq_a":-6.07824278,"mpcc_state":1,"mpcc_theta_e":0.448214531,"mpcc_theta_mech":0.553437054,"sam_rpm":3.94725537,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227031261,"thr_a_norm":0.0227031261,"thr_a_v":0.590812504,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485772491,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.861382,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.60349751,"cg_iw_a":-0.305757284,"cg_theta_rad":0.553646624,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0334961787,"mpcc_du":50.2776985,"mpcc_dv":48.4715614,"mpcc_dw":51.5284386,"mpcc_enc_sign":1,"mpcc_id_a":2.56582618,"mpcc_iq_a":-1.9169879,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.65014482,"mpcc_pred_id_a":0.180535808,"mpcc_pred_iq_a":-2.2176199,"mpcc_state":1,"mpcc_theta_e":0.445673466,"mpcc_theta_mech":0.556080639,"sam_rpm":-1.87814057,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211547166,"thr_a_norm":0.0227031261,"thr_a_v":0.584618866,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.871086,"values":{"cg_iu_a":2.99656963,"cg_iv_a":0.281181812,"cg_iw_a":-3.27775145,"cg_theta_rad":0.556218028,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0617330559,"mpcc_du":50.3344383,"mpcc_dv":48.4945602,"mpcc_dw":51.5054398,"mpcc_enc_sign":1,"mpcc_id_a":3.41655731,"mpcc_iq_a":-0.481197536,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.45816278,"mpcc_pred_id_a":0.665514648,"mpcc_pred_iq_a":-2.10114908,"mpcc_state":1,"mpcc_theta_e":0.449251652,"mpcc_theta_mech":0.556796253,"sam_rpm":-10.622365,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211547166,"thr_a_norm":0.0211547166,"thr_a_v":0.584618866,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.881401,"values":{"cg_iu_a":3.06905746,"cg_iv_a":0.643620491,"cg_iw_a":0.419119358,"cg_theta_rad":0.556747556,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0301295668,"mpcc_du":49.41222,"mpcc_dv":49.6656609,"mpcc_dw":50.58778,"mpcc_enc_sign":1,"mpcc_id_a":3.23637438,"mpcc_iq_a":-0.655367792,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.219649404,"mpcc_pred_id_a":0.502374768,"mpcc_pred_iq_a":-0.837860107,"mpcc_state":1,"mpcc_theta_e":0.431223869,"mpcc_theta_mech":0.553190649,"sam_rpm":0.212574303,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236346871,"thr_a_norm":0.0236346871,"thr_a_v":0.594538748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48526895,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.904411,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-2.90827537,"cg_iw_a":-2.84282589,"cg_theta_rad":0.557259858,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0216244478,"mpcc_du":50.0284729,"mpcc_dv":48.7675133,"mpcc_dw":51.2324867,"mpcc_enc_sign":1,"mpcc_id_a":2.14445329,"mpcc_iq_a":-0.273900419,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.876388013,"mpcc_pred_id_a":0.219286904,"mpcc_pred_iq_a":-0.94500345,"mpcc_state":1,"mpcc_theta_e":0.443931103,"mpcc_theta_mech":0.555732131,"sam_rpm":-0.816515684,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236346871,"thr_a_norm":0.0236346871,"thr_a_v":0.594538748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48526895,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.910912,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.733645439,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.55452162,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0410812721,"mpcc_du":49.3765106,"mpcc_dv":50.6234894,"mpcc_dw":50.2273369,"mpcc_enc_sign":1,"mpcc_id_a":1.41646075,"mpcc_iq_a":-0.130886361,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.5598812,"mpcc_pred_id_a":-0.00786249619,"mpcc_pred_iq_a":-5.37950993,"mpcc_state":1,"mpcc_theta_e":0.45602417,"mpcc_theta_mech":0.558150709,"sam_rpm":19.4268513,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218470991,"thr_a_norm":0.0218470991,"thr_a_v":0.587388396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467745453,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.917442,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.588670254,"cg_iw_a":-0.81317091,"cg_theta_rad":0.560379505,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00457638968,"mpcc_du":49.8675423,"mpcc_dv":49.0755882,"mpcc_dw":50.9244118,"mpcc_enc_sign":1,"mpcc_id_a":0.546169519,"mpcc_iq_a":0.259165168,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.59988117,"mpcc_pred_id_a":-0.027721297,"mpcc_pred_iq_a":-2.55722761,"mpcc_state":1,"mpcc_theta_e":0.433012009,"mpcc_theta_mech":0.553548336,"sam_rpm":-13.1720123,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218470991,"thr_a_norm":0.0218470991,"thr_a_v":0.587388396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467745453,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.92498,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.18339872,"cg_iw_a":-1.53804731,"cg_theta_rad":0.553692818,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0303575806,"mpcc_du":49.4147491,"mpcc_dv":49.758873,"mpcc_dw":50.5852509,"mpcc_enc_sign":1,"mpcc_id_a":3.15662122,"mpcc_iq_a":0.694836795,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.865764618,"mpcc_pred_id_a":0.708391964,"mpcc_pred_iq_a":-2.98033428,"mpcc_state":1,"mpcc_theta_e":0.439166546,"mpcc_theta_mech":0.554779232,"sam_rpm":-1.97401571,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0157793611,"thr_a_norm":0.0157793611,"thr_a_v":0.563117445,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472932041,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.93438,"values":{"cg_iu_a":1.25686598,"cg_iv_a":0.208694458,"cg_iw_a":-1.46556044,"cg_theta_rad":0.555077016,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0372046009,"mpcc_du":49.9427414,"mpcc_dv":48.8052864,"mpcc_dw":51.1947136,"mpcc_enc_sign":1,"mpcc_id_a":2.44716811,"mpcc_iq_a":-0.989654899,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.12844872,"mpcc_pred_id_a":0.539726436,"mpcc_pred_iq_a":-1.96317458,"mpcc_state":1,"mpcc_theta_e":0.44930315,"mpcc_theta_mech":0.556806505,"sam_rpm":5.00271606,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217589736,"thr_a_norm":0.0157793611,"thr_a_v":0.587035894,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472780973,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.944084,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.11091113,"cg_iw_a":-0.523220301,"cg_theta_rad":0.55668813,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0312339831,"mpcc_du":49.9092674,"mpcc_dv":49.0880928,"mpcc_dw":50.9119072,"mpcc_enc_sign":1,"mpcc_id_a":1.03442729,"mpcc_iq_a":-0.582283437,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.05809331,"mpcc_pred_id_a":-0.0767268464,"mpcc_pred_iq_a":-2.56808639,"mpcc_state":1,"mpcc_theta_e":0.445557117,"mpcc_theta_mech":0.556057334,"sam_rpm":4.16642618,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217589736,"thr_a_norm":0.0217589736,"thr_a_v":0.587035894,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472780973,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.954399,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.02359605,"cg_iw_a":-0.450732708,"cg_theta_rad":0.553267956,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0118750464,"mpcc_du":50.0369072,"mpcc_dv":48.9515648,"mpcc_dw":51.0484352,"mpcc_enc_sign":1,"mpcc_id_a":1.45805812,"mpcc_iq_a":-1.71294546,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.23602617,"mpcc_pred_id_a":-0.190123767,"mpcc_pred_iq_a":-2.82913256,"mpcc_state":1,"mpcc_theta_e":0.445894241,"mpcc_theta_mech":0.556124747,"sam_rpm":-1.9632169,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182719231,"thr_a_norm":0.0182719231,"thr_a_v":0.573087692,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451480865,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.966759,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.153744221,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556050658,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.020151943,"mpcc_du":51.0606499,"mpcc_dv":47.624897,"mpcc_dw":52.375103,"mpcc_enc_sign":1,"mpcc_id_a":0.382071048,"mpcc_iq_a":-0.988471806,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.4056149,"mpcc_pred_id_a":-0.388180286,"mpcc_pred_iq_a":3.54946518,"mpcc_state":1,"mpcc_theta_e":0.416694641,"mpcc_theta_mech":0.550284863,"sam_rpm":-32.2073517,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025069803,"thr_a_norm":0.0182719231,"thr_a_v":0.600279212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479125679,"vdc_v":55.2955055}} +{"type":"telemetry","t":107.976799,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.951108456,"cg_iw_a":-1.17560911,"cg_theta_rad":0.55681181,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0155453254,"mpcc_du":50.1000938,"mpcc_dv":48.7199593,"mpcc_dw":51.2800407,"mpcc_enc_sign":1,"mpcc_id_a":1.73420644,"mpcc_iq_a":-1.47227001,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.64361596,"mpcc_pred_id_a":0.200669378,"mpcc_pred_iq_a":-2.21269226,"mpcc_state":1,"mpcc_theta_e":0.445243835,"mpcc_theta_mech":0.555994689,"sam_rpm":-3.97636604,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025069803,"thr_a_norm":0.025069803,"thr_a_v":0.600279212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479125679,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.00042,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.02359605,"cg_iw_a":0.129168749,"cg_theta_rad":0.553750277,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.00915268715,"mpcc_du":49.6014519,"mpcc_dv":49.9301414,"mpcc_dw":50.3985481,"mpcc_enc_sign":1,"mpcc_id_a":-0.00263666874,"mpcc_iq_a":-1.38979745,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.40671539,"mpcc_pred_id_a":-0.353140295,"mpcc_pred_iq_a":-3.80122232,"mpcc_state":1,"mpcc_theta_e":0.451866627,"mpcc_theta_mech":0.557319224,"sam_rpm":12.9069881,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151750892,"thr_a_norm":0.0151750892,"thr_a_v":0.560700357,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471370995,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.006889,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.16857147,"cg_iw_a":0.564094543,"cg_theta_rad":0.55584687,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5002,"hz_app_loop":363,"hz_tim_isr":10004,"hz_vsense":363,"mpcc_cost":0.0164044779,"mpcc_du":49.407856,"mpcc_dv":50.592144,"mpcc_dw":50.2150764,"mpcc_enc_sign":1,"mpcc_id_a":2.21734428,"mpcc_iq_a":-1.29904032,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.28704166,"mpcc_pred_id_a":-0.0679933503,"mpcc_pred_iq_a":-4.97371006,"mpcc_state":1,"mpcc_theta_e":0.450022697,"mpcc_theta_mech":0.55695045,"sam_rpm":12.3107176,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151750892,"thr_a_norm":0.0151750892,"thr_a_v":0.560700357,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471370995,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.01342,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.661157608,"cg_iw_a":-0.450732708,"cg_theta_rad":0.55629307,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0589250438,"mpcc_du":50.0621147,"mpcc_dv":48.3486443,"mpcc_dw":51.6513557,"mpcc_enc_sign":1,"mpcc_id_a":4.48273945,"mpcc_iq_a":-1.0862416,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.9561739,"mpcc_pred_id_a":1.33249009,"mpcc_pred_iq_a":-1.06511986,"mpcc_state":1,"mpcc_theta_e":0.439598083,"mpcc_theta_mech":0.554865539,"sam_rpm":-7.12546968,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023131147,"thr_a_norm":0.023131147,"thr_a_v":0.592524588,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.019981,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.45852208,"cg_iw_a":-0.668195486,"cg_theta_rad":0.550579131,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9896.10449,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.00600012625,"mpcc_du":50.4144897,"mpcc_dv":48.427124,"mpcc_dw":51.572876,"mpcc_enc_sign":1,"mpcc_id_a":0.391259253,"mpcc_iq_a":-0.77252394,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.9982529,"mpcc_pred_id_a":-0.126239225,"mpcc_pred_iq_a":-3.18241811,"mpcc_state":1,"mpcc_theta_e":0.428666115,"mpcc_theta_mech":0.552679181,"sam_rpm":-26.1687965,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281414539,"thr_a_norm":0.023131147,"thr_a_v":0.612565815,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494232059,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.028404,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.16857147,"cg_iw_a":1.28897119,"cg_theta_rad":0.55703038,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0368960574,"mpcc_du":50.0353317,"mpcc_dv":48.7404976,"mpcc_dw":51.2595024,"mpcc_enc_sign":1,"mpcc_id_a":2.89135695,"mpcc_iq_a":-0.733745158,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.57420516,"mpcc_pred_id_a":0.408508986,"mpcc_pred_iq_a":-0.791998565,"mpcc_state":1,"mpcc_theta_e":0.447616577,"mpcc_theta_mech":0.556469262,"sam_rpm":5.88424301,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281414539,"thr_a_norm":0.0281414539,"thr_a_v":0.612565815,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494232059,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.038597,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.226231575,"cg_iw_a":-2.91531372,"cg_theta_rad":0.556806505,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0357541591,"mpcc_du":50.0117989,"mpcc_dv":48.9150124,"mpcc_dw":51.0849876,"mpcc_enc_sign":1,"mpcc_id_a":1.54028273,"mpcc_iq_a":-1.86138225,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.31705427,"mpcc_pred_id_a":0.028081486,"mpcc_pred_iq_a":-2.72699952,"mpcc_state":1,"mpcc_theta_e":0.452616692,"mpcc_theta_mech":0.557469249,"sam_rpm":11.0579281,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024893567,"thr_a_norm":0.024893567,"thr_a_v":0.599574268,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481290877,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.048546,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.02359605,"cg_iw_a":-3.49521494,"cg_theta_rad":0.557826579,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.028950274,"mpcc_du":49.5492935,"mpcc_dv":49.4868011,"mpcc_dw":50.5131989,"mpcc_enc_sign":1,"mpcc_id_a":0.394753695,"mpcc_iq_a":-2.15586948,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.08538485,"mpcc_pred_id_a":-0.0978281274,"mpcc_pred_iq_a":-1.94400454,"mpcc_state":1,"mpcc_theta_e":0.429626465,"mpcc_theta_mech":0.553600371,"sam_rpm":-12.7425938,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024893567,"thr_a_norm":0.024893567,"thr_a_v":0.599574268,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481290877,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.058586,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.38603449,"cg_iw_a":0.636582375,"cg_theta_rad":0.553759217,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0154336337,"mpcc_du":51.4673271,"mpcc_dv":47.1809616,"mpcc_dw":52.8190384,"mpcc_enc_sign":1,"mpcc_id_a":0.480727464,"mpcc_iq_a":-0.401214719,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.6472645,"mpcc_pred_id_a":-0.261711806,"mpcc_pred_iq_a":2.1815145,"mpcc_state":1,"mpcc_theta_e":0.431571484,"mpcc_theta_mech":0.553260207,"sam_rpm":-21.0478344,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296520889,"thr_a_norm":0.0296520889,"thr_a_v":0.618608356,"thr_b":0.00431105494,"thr_b_norm":0.00431105494,"thr_b_v":0.51724422,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.068901,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-2.18339872,"cg_iw_a":-1.68302321,"cg_theta_rad":0.553438067,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0217388421,"mpcc_du":49.536087,"mpcc_dv":50.1641235,"mpcc_dw":50.463913,"mpcc_enc_sign":1,"mpcc_id_a":0.489576668,"mpcc_iq_a":-1.41980708,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.26541853,"mpcc_pred_id_a":0.0903473124,"mpcc_pred_iq_a":-0.686663389,"mpcc_state":1,"mpcc_theta_e":0.432320595,"mpcc_theta_mech":0.553410053,"sam_rpm":3.44764566,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0363618582,"thr_a_norm":0.0296520889,"thr_a_v":0.645447433,"thr_b":0.00350537896,"thr_b_norm":0.00431105494,"thr_b_v":0.514021516,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.078758,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.38603449,"cg_iw_a":-1.10312176,"cg_theta_rad":0.556355476,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0337041654,"mpcc_du":49.0632057,"mpcc_dv":50.9367943,"mpcc_dw":50.0367546,"mpcc_enc_sign":1,"mpcc_id_a":3.51501608,"mpcc_iq_a":-1.1026665,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.9743185,"mpcc_pred_id_a":0.598386109,"mpcc_pred_iq_a":-3.9143877,"mpcc_state":1,"mpcc_theta_e":0.44184351,"mpcc_theta_mech":0.5553146,"sam_rpm":9.97031593,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0363618582,"thr_a_norm":0.0363618582,"thr_a_v":0.645447433,"thr_b":0.00350537896,"thr_b_norm":0.00350537896,"thr_b_v":0.514021516,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.102135,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-1.45852208,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.555592895,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.00170429994,"mpcc_du":50.9639397,"mpcc_dv":48.0236359,"mpcc_dw":51.9763641,"mpcc_enc_sign":1,"mpcc_id_a":0.076654464,"mpcc_iq_a":-0.584123552,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.9317703,"mpcc_pred_id_a":-0.746999681,"mpcc_pred_iq_a":0.958394468,"mpcc_state":1,"mpcc_theta_e":0.432699203,"mpcc_theta_mech":0.553485751,"sam_rpm":-16.53722,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247173309,"thr_a_norm":0.0247173309,"thr_a_v":0.598869324,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483254731,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.108635,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.6759851,"cg_iw_a":-1.53804755,"cg_theta_rad":0.553839028,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.00108026084,"mpcc_du":50.0356331,"mpcc_dv":48.9475861,"mpcc_dw":51.0524139,"mpcc_enc_sign":1,"mpcc_id_a":0.653777361,"mpcc_iq_a":-2.06457281,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.05856764,"mpcc_pred_id_a":-0.161085755,"mpcc_pred_iq_a":-0.971435428,"mpcc_state":1,"mpcc_theta_e":0.442166328,"mpcc_theta_mech":0.555379212,"sam_rpm":1.63542354,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176298916,"thr_a_norm":0.0247173309,"thr_a_v":0.570519567,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43909359,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.115166,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.733645439,"cg_iw_a":-0.378244877,"cg_theta_rad":0.553959012,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0234002266,"mpcc_du":50.0682449,"mpcc_dv":48.7914696,"mpcc_dw":51.2085304,"mpcc_enc_sign":1,"mpcc_id_a":1.97818649,"mpcc_iq_a":0.228330791,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.32890296,"mpcc_pred_id_a":0.155623719,"mpcc_pred_iq_a":-1.41665494,"mpcc_state":1,"mpcc_theta_e":0.440686703,"mpcc_theta_mech":0.555083275,"sam_rpm":-4.99317312,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0176298916,"thr_a_norm":0.0176298916,"thr_a_v":0.570519567,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43909359,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.121788,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-2.0384233,"cg_iw_a":0.129168749,"cg_theta_rad":0.556034029,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0189058334,"mpcc_du":49.6302567,"mpcc_dv":50.2336807,"mpcc_dw":50.3697433,"mpcc_enc_sign":1,"mpcc_id_a":0.775060356,"mpcc_iq_a":0.0501016155,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.43658829,"mpcc_pred_id_a":-0.342857957,"mpcc_pred_iq_a":-4.49600554,"mpcc_state":1,"mpcc_theta_e":0.44775629,"mpcc_theta_mech":0.556497216,"sam_rpm":7.76970434,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105360493,"thr_a_norm":0.105360493,"thr_a_v":0.921441972,"thr_b":0.0503353179,"thr_b_norm":0.0503353179,"thr_b_v":0.701341271,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.134239,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-2.11091113,"cg_iw_a":-0.595708132,"cg_theta_rad":0.552518547,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0495649911,"mpcc_du":49.4946938,"mpcc_dv":49.5244408,"mpcc_dw":50.5053062,"mpcc_enc_sign":1,"mpcc_id_a":1.65368426,"mpcc_iq_a":-1.15388775,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.20595837,"mpcc_pred_id_a":0.209879577,"mpcc_pred_iq_a":0.390325516,"mpcc_state":1,"mpcc_theta_e":0.423382759,"mpcc_theta_mech":0.55162251,"sam_rpm":-9.45424175,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214065015,"thr_a_norm":0.105360493,"thr_a_v":0.585626006,"thr_b":0,"thr_b_norm":0.0503353179,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.143974,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.443694592,"cg_iw_a":0.419119358,"cg_theta_rad":0.554380894,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0369606614,"mpcc_du":49.8530502,"mpcc_dv":49.2180405,"mpcc_dw":50.7819595,"mpcc_enc_sign":1,"mpcc_id_a":1.45905709,"mpcc_iq_a":-2.16896152,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.7786674,"mpcc_pred_id_a":-0.0083327638,"mpcc_pred_iq_a":-3.07223439,"mpcc_state":1,"mpcc_theta_e":0.46107769,"mpcc_theta_mech":0.559161484,"sam_rpm":20.0081844,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214065015,"thr_a_norm":0.0214065015,"thr_a_v":0.585626006,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.154167,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-2.18339872,"cg_iw_a":-0.523220539,"cg_theta_rad":0.556050658,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.00567925209,"mpcc_du":49.270916,"mpcc_dv":50.729084,"mpcc_dw":49.9650536,"mpcc_enc_sign":1,"mpcc_id_a":0.809070528,"mpcc_iq_a":-0.381341815,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.98324013,"mpcc_pred_id_a":-0.181146696,"mpcc_pred_iq_a":-4.32032394,"mpcc_state":1,"mpcc_theta_e":0.444995403,"mpcc_theta_mech":0.555944979,"sam_rpm":14.04457,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265930444,"thr_a_norm":0.0265930444,"thr_a_v":0.606372178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480837703,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.164146,"values":{"cg_iu_a":2.41666842,"cg_iv_a":0.208694458,"cg_iw_a":-2.62536287,"cg_theta_rad":0.553275764,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0432235971,"mpcc_du":49.5365791,"mpcc_dv":49.9535675,"mpcc_dw":50.4634209,"mpcc_enc_sign":1,"mpcc_id_a":2.3515954,"mpcc_iq_a":-2.05297542,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.405116886,"mpcc_pred_id_a":0.150428712,"mpcc_pred_iq_a":-1.19662595,"mpcc_state":1,"mpcc_theta_e":0.433662891,"mpcc_theta_mech":0.553678453,"sam_rpm":-2.33051729,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265930444,"thr_a_norm":0.0265930444,"thr_a_v":0.606372178,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480837703,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.17437,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.38603449,"cg_iw_a":-1.39307237,"cg_theta_rad":0.553518295,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0380841903,"mpcc_du":49.7955093,"mpcc_dv":49.6132813,"mpcc_dw":50.3867188,"mpcc_enc_sign":1,"mpcc_id_a":-1.66734385,"mpcc_iq_a":-1.6287446,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.03691864,"mpcc_pred_id_a":-0.957568347,"mpcc_pred_iq_a":-1.46423614,"mpcc_state":1,"mpcc_theta_e":0.426000595,"mpcc_theta_mech":0.552146018,"sam_rpm":-13.8001804,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0132993907,"thr_a_norm":0.0132993907,"thr_a_v":0.553197563,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456314951,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.184563,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.806133032,"cg_iw_a":-1.10312152,"cg_theta_rad":0.55338192,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0495364927,"mpcc_du":49.995903,"mpcc_dv":48.9685783,"mpcc_dw":51.0314217,"mpcc_enc_sign":1,"mpcc_id_a":2.16870451,"mpcc_iq_a":-0.0599063896,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.36068487,"mpcc_pred_id_a":0.0575152338,"mpcc_pred_iq_a":-3.51702452,"mpcc_state":1,"mpcc_theta_e":0.446748257,"mpcc_theta_mech":0.556295574,"sam_rpm":-2.03749871,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020814836,"thr_a_norm":0.0132993907,"thr_a_v":0.583259344,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.207573,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":-0.516182423,"cg_iw_a":0.564094543,"cg_theta_rad":0.555155993,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":5.93248769e-05,"mpcc_du":48.7710075,"mpcc_dv":51.2289925,"mpcc_dw":49.2528801,"mpcc_enc_sign":1,"mpcc_id_a":0.00761656743,"mpcc_iq_a":-2.04349542,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.1211634,"mpcc_pred_id_a":-0.617300332,"mpcc_pred_iq_a":-6.43740797,"mpcc_state":1,"mpcc_theta_e":0.449302673,"mpcc_theta_mech":0.556806445,"sam_rpm":17.717495,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020814836,"thr_a_norm":0.020814836,"thr_a_v":0.583259344,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.214104,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.09608364,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556951165,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0144877015,"mpcc_du":49.5272026,"mpcc_dv":49.6471825,"mpcc_dw":50.4727974,"mpcc_enc_sign":1,"mpcc_id_a":2.14386487,"mpcc_iq_a":-0.780985236,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.2820226,"mpcc_pred_id_a":0.0577716865,"mpcc_pred_iq_a":-3.33595634,"mpcc_state":1,"mpcc_theta_e":0.442974567,"mpcc_theta_mech":0.5555408,"sam_rpm":1.63734365,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288841873,"thr_a_norm":0.0288841873,"thr_a_v":0.615536749,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497907996,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.220634,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.951108456,"cg_iw_a":-1.75551081,"cg_theta_rad":0.554140389,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0434713811,"mpcc_du":50.4720306,"mpcc_dv":48.1934776,"mpcc_dw":51.8065224,"mpcc_enc_sign":1,"mpcc_id_a":3.14040613,"mpcc_iq_a":0.854101241,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.55498314,"mpcc_pred_id_a":0.47230491,"mpcc_pred_iq_a":0.139358655,"mpcc_state":1,"mpcc_theta_e":0.434454918,"mpcc_theta_mech":0.553836942,"sam_rpm":-12.9108219,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288841873,"thr_a_norm":0.0288841873,"thr_a_v":0.615536749,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497907996,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.227135,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.661157608,"cg_iw_a":-0.305757523,"cg_theta_rad":0.557960391,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.00154537859,"mpcc_du":50.8533401,"mpcc_dv":48.0156403,"mpcc_dw":51.9843597,"mpcc_enc_sign":1,"mpcc_id_a":0.226154357,"mpcc_iq_a":-1.66193461,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.1533985,"mpcc_pred_id_a":-0.351312101,"mpcc_pred_iq_a":0.121135205,"mpcc_state":1,"mpcc_theta_e":0.427212715,"mpcc_theta_mech":0.55238843,"sam_rpm":-25.6052971,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219226331,"thr_a_norm":0.0219226331,"thr_a_v":0.587690532,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480636299,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.237144,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.96593571,"cg_iw_a":-0.305757523,"cg_theta_rad":0.556761444,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0285929814,"mpcc_du":50.5816078,"mpcc_dv":48.4363441,"mpcc_dw":51.5636559,"mpcc_enc_sign":1,"mpcc_id_a":1.97209668,"mpcc_iq_a":-1.81623065,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.2208066,"mpcc_pred_id_a":-0.362647116,"mpcc_pred_iq_a":-2.815027,"mpcc_state":1,"mpcc_theta_e":0.444743633,"mpcc_theta_mech":0.555894673,"sam_rpm":-8.48485565,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0219226331,"thr_a_norm":0.0219226331,"thr_a_v":0.587690532,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480636299,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.248528,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.516182423,"cg_iw_a":-2.91531324,"cg_theta_rad":0.553063214,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0286347698,"mpcc_du":49.718895,"mpcc_dv":49.0380745,"mpcc_dw":50.9619255,"mpcc_enc_sign":1,"mpcc_id_a":2.94209242,"mpcc_iq_a":-1.96726763,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.788108647,"mpcc_pred_id_a":0.67300868,"mpcc_pred_iq_a":-3.64301896,"mpcc_state":1,"mpcc_theta_e":0.448163986,"mpcc_theta_mech":0.556578755,"sam_rpm":-1.11629212,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201098621,"thr_a_norm":0.0201098621,"thr_a_v":0.580439448,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456516385,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.259758,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.53100967,"cg_iw_a":-1.39307261,"cg_theta_rad":0.555225194,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0146373352,"mpcc_du":49.5188065,"mpcc_dv":50.4811935,"mpcc_dw":50.267704,"mpcc_enc_sign":1,"mpcc_id_a":1.51576567,"mpcc_iq_a":-2.28271985,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.58754635,"mpcc_pred_id_a":-0.263265252,"mpcc_pred_iq_a":-3.07067823,"mpcc_state":1,"mpcc_theta_e":0.440344334,"mpcc_theta_mech":0.555014789,"sam_rpm":6.23014879,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0133119673,"thr_a_norm":0.0133119673,"thr_a_v":0.553247869,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457372397,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.269737,"values":{"cg_iu_a":2.34418058,"cg_iv_a":0.426157475,"cg_iw_a":-2.77033806,"cg_theta_rad":0.556577623,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.00339292642,"mpcc_du":50.7758789,"mpcc_dv":48.1547089,"mpcc_dw":51.8452911,"mpcc_enc_sign":1,"mpcc_id_a":-0.557968855,"mpcc_iq_a":-2.60109782,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.35697603,"mpcc_pred_id_a":-0.385808408,"mpcc_pred_iq_a":-0.989387751,"mpcc_state":1,"mpcc_theta_e":0.440536499,"mpcc_theta_mech":0.555053174,"sam_rpm":-10.60145,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0133119673,"thr_a_norm":0.0133119673,"thr_a_v":0.553247869,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457372397,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.27993,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.31354666,"cg_iw_a":-0.668195486,"cg_theta_rad":0.55553484,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.011362656,"mpcc_du":50.2578392,"mpcc_dv":48.7935715,"mpcc_dw":51.2064285,"mpcc_enc_sign":1,"mpcc_id_a":-0.482497036,"mpcc_iq_a":-2.08328271,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.9000659,"mpcc_pred_id_a":-0.367958635,"mpcc_pred_iq_a":-3.65565872,"mpcc_state":1,"mpcc_theta_e":0.444158554,"mpcc_theta_mech":0.555777669,"sam_rpm":-6.79664564,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151876807,"thr_a_norm":0.0151876807,"thr_a_v":0.560750723,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443474501,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.290184,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.02359605,"cg_iw_a":0.491606951,"cg_theta_rad":0.556310534,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.00592305977,"mpcc_du":50.0350761,"mpcc_dv":48.9167328,"mpcc_dw":51.0832672,"mpcc_enc_sign":1,"mpcc_id_a":1.4314357,"mpcc_iq_a":-1.78088856,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.438284874,"mpcc_pred_id_a":-0.0802984238,"mpcc_pred_iq_a":-4.16770601,"mpcc_state":1,"mpcc_theta_e":0.440585136,"mpcc_theta_mech":0.55506295,"sam_rpm":-7.78305387,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228542089,"thr_a_norm":0.0151876807,"thr_a_v":0.591416836,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474190891,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.313072,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.31354666,"cg_iw_a":-1.61053562,"cg_theta_rad":0.555638611,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0128758289,"mpcc_du":49.5773582,"mpcc_dv":50.4226418,"mpcc_dw":50.1279831,"mpcc_enc_sign":1,"mpcc_id_a":-1.28111839,"mpcc_iq_a":-2.49011755,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.5826006,"mpcc_pred_id_a":-0.852796674,"mpcc_pred_iq_a":-4.91253376,"mpcc_state":1,"mpcc_theta_e":0.458055019,"mpcc_theta_mech":0.558556914,"sam_rpm":22.1504498,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228542089,"thr_a_norm":0.0228542089,"thr_a_v":0.591416836,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474190891,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.319603,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.60349751,"cg_iw_a":0.999020576,"cg_theta_rad":0.554626167,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0392905734,"mpcc_du":49.5140533,"mpcc_dv":49.5743027,"mpcc_dw":50.4859467,"mpcc_enc_sign":1,"mpcc_id_a":1.83393335,"mpcc_iq_a":0.439362973,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.45622301,"mpcc_pred_id_a":0.181984812,"mpcc_pred_iq_a":-3.04215336,"mpcc_state":1,"mpcc_theta_e":0.438117027,"mpcc_theta_mech":0.554569364,"sam_rpm":11.1112823,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0187754631,"thr_a_norm":0.0187754631,"thr_a_v":0.575101852,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463968873,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.326103,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":0.788595676,"cg_iw_a":0.926533222,"cg_theta_rad":0.557314396,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.00641802885,"mpcc_du":50.3646393,"mpcc_dv":48.4076576,"mpcc_dw":51.5923424,"mpcc_enc_sign":1,"mpcc_id_a":2.64423656,"mpcc_iq_a":-0.243168965,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.47250319,"mpcc_pred_id_a":0.164056331,"mpcc_pred_iq_a":-0.480753243,"mpcc_state":1,"mpcc_theta_e":0.447423458,"mpcc_theta_mech":0.556430578,"sam_rpm":-15.2949629,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0187754631,"thr_a_norm":0.0187754631,"thr_a_v":0.575101852,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463968873,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.333153,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.371207237,"cg_iw_a":-3.49521446,"cg_theta_rad":0.556676805,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.00472097704,"mpcc_du":49.4565926,"mpcc_dv":50.5434074,"mpcc_dw":50.3975601,"mpcc_enc_sign":1,"mpcc_id_a":0.683960795,"mpcc_iq_a":-0.821783185,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.92685366,"mpcc_pred_id_a":-0.28812632,"mpcc_pred_iq_a":-2.1819675,"mpcc_state":1,"mpcc_theta_e":0.435752392,"mpcc_theta_mech":0.556280196,"sam_rpm":-10.1440973,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024163425,"thr_a_norm":0.024163425,"thr_a_v":0.5966537,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467493683,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.343346,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.74847269,"cg_iw_a":0.274143696,"cg_theta_rad":0.557543159,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0214786567,"mpcc_du":49.5194206,"mpcc_dv":50.4421806,"mpcc_dw":50.4805794,"mpcc_enc_sign":1,"mpcc_id_a":2.64470029,"mpcc_iq_a":0.794533551,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.66044474,"mpcc_pred_id_a":0.352487236,"mpcc_pred_iq_a":-3.03881669,"mpcc_state":1,"mpcc_theta_e":0.440077782,"mpcc_theta_mech":0.554961443,"sam_rpm":5.13539982,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0342847407,"thr_a_norm":0.024163425,"thr_a_v":0.637138963,"thr_b":0.00389562547,"thr_b_norm":0,"thr_b_v":0.515582502,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.353355,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-2.0384233,"cg_iw_a":-1.03063416,"cg_theta_rad":0.55532527,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0123299053,"mpcc_du":49.945755,"mpcc_dv":49.1785355,"mpcc_dw":50.8214645,"mpcc_enc_sign":1,"mpcc_id_a":0.210983515,"mpcc_iq_a":1.24600077,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.24774027,"mpcc_pred_id_a":-0.296506256,"mpcc_pred_iq_a":-0.34347108,"mpcc_state":1,"mpcc_theta_e":0.438381672,"mpcc_theta_mech":0.554622293,"sam_rpm":2.22502518,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0342847407,"thr_a_norm":0.0342847407,"thr_a_v":0.637138963,"thr_b":0.00389562547,"thr_b_norm":0.00389562547,"thr_b_v":0.515582502,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.363579,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.31354666,"cg_iw_a":-1.53804779,"cg_theta_rad":0.557269692,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.013278665,"mpcc_du":49.437912,"mpcc_dv":50.562088,"mpcc_dw":50.1524086,"mpcc_enc_sign":1,"mpcc_id_a":0.999939799,"mpcc_iq_a":-0.152530149,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.50474644,"mpcc_pred_id_a":-0.287499458,"mpcc_pred_iq_a":-4.15627861,"mpcc_state":1,"mpcc_theta_e":0.449405193,"mpcc_theta_mech":0.556826949,"sam_rpm":14.5975447,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0113481283,"thr_a_norm":0.0113481283,"thr_a_v":0.545392513,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438741118,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.373161,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.02359605,"cg_iw_a":-1.8279984,"cg_theta_rad":0.555714786,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0184371434,"mpcc_du":50.2402344,"mpcc_dv":49.0578079,"mpcc_dw":50.9421921,"mpcc_enc_sign":1,"mpcc_id_a":-1.10291541,"mpcc_iq_a":-2.34431839,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.937336564,"mpcc_pred_id_a":-0.941464245,"mpcc_pred_iq_a":-3.80908442,"mpcc_state":1,"mpcc_theta_e":0.449225903,"mpcc_theta_mech":0.556791067,"sam_rpm":2.38456202,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0113481283,"thr_a_norm":0.0113481283,"thr_a_v":0.545392513,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438741118,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.383568,"values":{"cg_iu_a":1.18437815,"cg_iv_a":0.281181812,"cg_iw_a":-1.46555996,"cg_theta_rad":0.551220298,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0447457582,"mpcc_du":49.8124733,"mpcc_dv":49.0654106,"mpcc_dw":50.9345894,"mpcc_enc_sign":1,"mpcc_id_a":2.69467044,"mpcc_iq_a":0.195847914,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.69440198,"mpcc_pred_id_a":0.359779447,"mpcc_pred_iq_a":-2.30884123,"mpcc_state":1,"mpcc_theta_e":0.447801113,"mpcc_theta_mech":0.556506097,"sam_rpm":3.45433116,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00694209337,"thr_b_norm":0.00694209337,"thr_b_v":0.527768373,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.393883,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-2.11091113,"cg_iw_a":0.781557798,"cg_theta_rad":0.557020485,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.00424982794,"mpcc_du":49.7372589,"mpcc_dv":49.2356949,"mpcc_dw":50.7643051,"mpcc_enc_sign":1,"mpcc_id_a":0.848940849,"mpcc_iq_a":-1.31920028,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.13539124,"mpcc_pred_id_a":-0.194551423,"mpcc_pred_iq_a":-1.34772801,"mpcc_state":1,"mpcc_theta_e":0.439247131,"mpcc_theta_mech":0.554795325,"sam_rpm":-9.56475639,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237479955,"thr_a_norm":0.0296772718,"thr_a_v":0.594991982,"thr_b":0,"thr_b_norm":0.00694209337,"thr_b_v":0.464119941,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.416801,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.661157608,"cg_iw_a":-1.32058477,"cg_theta_rad":0.553384185,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0493390374,"mpcc_du":49.5584869,"mpcc_dv":50.3759842,"mpcc_dw":50.4415131,"mpcc_enc_sign":1,"mpcc_id_a":2.95746827,"mpcc_iq_a":-1.10041261,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.46712399,"mpcc_pred_id_a":0.141121671,"mpcc_pred_iq_a":-6.49777317,"mpcc_state":1,"mpcc_theta_e":0.450472832,"mpcc_theta_mech":0.557040513,"sam_rpm":8.7930994,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237479955,"thr_a_norm":0.0237479955,"thr_a_v":0.594991982,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464119941,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.423332,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.16857147,"cg_iw_a":-4.58253002,"cg_theta_rad":0.55710566,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0166519824,"mpcc_du":50.8049927,"mpcc_dv":48.0426369,"mpcc_dw":51.9573631,"mpcc_enc_sign":1,"mpcc_id_a":1.18238878,"mpcc_iq_a":0.617041945,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.9974709,"mpcc_pred_id_a":-0.297887772,"mpcc_pred_iq_a":-1.12911057,"mpcc_state":1,"mpcc_theta_e":0.425802708,"mpcc_theta_mech":0.5521065,"sam_rpm":-28.0285263,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166353881,"thr_a_norm":0.0166353881,"thr_a_v":0.566541553,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485873193,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.429802,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.6759851,"cg_iw_a":-0.885658503,"cg_theta_rad":0.554821312,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.00562888337,"mpcc_du":49.6637535,"mpcc_dv":50.2084503,"mpcc_dw":50.3362465,"mpcc_enc_sign":1,"mpcc_id_a":0.810202062,"mpcc_iq_a":0.132441178,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.06545424,"mpcc_pred_id_a":-0.477309883,"mpcc_pred_iq_a":-4.34485149,"mpcc_state":1,"mpcc_theta_e":0.439258575,"mpcc_theta_mech":0.55479759,"sam_rpm":-2.29708219,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166353881,"thr_a_norm":0.0166353881,"thr_a_v":0.566541553,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485873193,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.436607,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.45852208,"cg_iw_a":-1.32058454,"cg_theta_rad":0.555179894,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0316699184,"mpcc_du":50.8364296,"mpcc_dv":47.7893372,"mpcc_dw":52.2106628,"mpcc_enc_sign":1,"mpcc_id_a":3.16928029,"mpcc_iq_a":0.0765774772,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.5708637,"mpcc_pred_id_a":0.251559734,"mpcc_pred_iq_a":0.471390218,"mpcc_state":1,"mpcc_theta_e":0.42801857,"mpcc_theta_mech":0.552549601,"sam_rpm":-24.6662102,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473183811,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.446739,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.96593571,"cg_iw_a":-1.03063393,"cg_theta_rad":0.552945137,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.00943966396,"mpcc_du":49.3614426,"mpcc_dv":50.6385574,"mpcc_dw":50.0756493,"mpcc_enc_sign":1,"mpcc_id_a":0.837164104,"mpcc_iq_a":-0.142288089,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.905879,"mpcc_pred_id_a":-0.0829005912,"mpcc_pred_iq_a":2.51251793,"mpcc_state":1,"mpcc_theta_e":0.422282696,"mpcc_theta_mech":0.55140245,"sam_rpm":-5.68898153,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274238884,"thr_a_norm":0.0274238884,"thr_a_v":0.609695554,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488642722,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.456749,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.82096052,"cg_iw_a":0.636582375,"cg_theta_rad":0.557070315,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0223665033,"mpcc_du":49.4553604,"mpcc_dv":50.5446396,"mpcc_dw":50.2496643,"mpcc_enc_sign":1,"mpcc_id_a":1.33876121,"mpcc_iq_a":0.378544331,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.69621277,"mpcc_pred_id_a":0.0878357738,"mpcc_pred_iq_a":-4.05085373,"mpcc_state":1,"mpcc_theta_e":0.451544285,"mpcc_theta_mech":0.557254732,"sam_rpm":13.9760866,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274238884,"thr_a_norm":0.0274238884,"thr_a_v":0.609695554,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488642722,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.467033,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-1.09608364,"cg_iw_a":1.28897119,"cg_theta_rad":0.555077016,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0423909128,"mpcc_du":49.5339966,"mpcc_dv":49.4300537,"mpcc_dw":50.5699463,"mpcc_enc_sign":1,"mpcc_id_a":2.85664034,"mpcc_iq_a":-0.815297782,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.0562675,"mpcc_pred_id_a":0.400359243,"mpcc_pred_iq_a":-4.49261379,"mpcc_state":1,"mpcc_theta_e":0.445743084,"mpcc_theta_mech":0.556094527,"sam_rpm":3.09093618,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0372178853,"thr_a_norm":0.0372178853,"thr_a_v":0.648871541,"thr_b":0.00836461782,"thr_b_norm":0.00836461782,"thr_b_v":0.533458471,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.477226,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.878620625,"cg_iw_a":0.781557322,"cg_theta_rad":0.556022763,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0287671983,"mpcc_du":49.9756393,"mpcc_dv":49.0623817,"mpcc_dw":50.9376183,"mpcc_enc_sign":1,"mpcc_id_a":2.11413956,"mpcc_iq_a":-1.01272571,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.901439011,"mpcc_pred_id_a":-0.00917770527,"mpcc_pred_iq_a":-3.05983853,"mpcc_state":1,"mpcc_theta_e":0.448460579,"mpcc_theta_mech":0.556638062,"sam_rpm":0.979611099,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211924911,"thr_a_norm":0.0372178853,"thr_a_v":0.584769964,"thr_b":0,"thr_b_norm":0.00836461782,"thr_b_v":0.466134131,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.488976,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.951108456,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556252778,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0551904589,"mpcc_du":50.1358719,"mpcc_dv":48.6284332,"mpcc_dw":51.3715668,"mpcc_enc_sign":1,"mpcc_id_a":3.28756309,"mpcc_iq_a":-0.405506551,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.16550446,"mpcc_pred_id_a":0.839557648,"mpcc_pred_iq_a":-1.75198519,"mpcc_state":1,"mpcc_theta_e":0.44537878,"mpcc_theta_mech":0.558136523,"sam_rpm":-15.3625603,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211924911,"thr_a_norm":0.0211924911,"thr_a_v":0.584769964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466134131,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.512352,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.24105906,"cg_iw_a":-1.32058454,"cg_theta_rad":0.557344139,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.00506052095,"mpcc_du":50.8183784,"mpcc_dv":47.9389915,"mpcc_dw":52.0610085,"mpcc_enc_sign":1,"mpcc_id_a":1.41947758,"mpcc_iq_a":-0.0926050022,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.6274223,"mpcc_pred_id_a":-0.0313089304,"mpcc_pred_iq_a":2.32415962,"mpcc_state":1,"mpcc_theta_e":0.429028511,"mpcc_theta_mech":0.552751601,"sam_rpm":-17.8308945,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280659199,"thr_a_norm":0.0280659199,"thr_a_v":0.61226368,"thr_b":0.00320324302,"thr_b_norm":0.00320324302,"thr_b_v":0.512812972,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.518913,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.38603449,"cg_iw_a":-0.523220062,"cg_theta_rad":0.555014312,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.00228863442,"mpcc_du":49.4499245,"mpcc_dv":50.5500755,"mpcc_dw":50.175869,"mpcc_enc_sign":1,"mpcc_id_a":-0.942050099,"mpcc_iq_a":-2.92765856,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.60278177,"mpcc_pred_id_a":-0.984389305,"mpcc_pred_iq_a":-1.7778914,"mpcc_state":1,"mpcc_theta_e":0.437485695,"mpcc_theta_mech":0.554443061,"sam_rpm":11.710968,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.045803383,"thr_a_norm":0.0280659199,"thr_a_v":0.683213532,"thr_b":0.00914511085,"thr_b_norm":0.00320324302,"thr_b_v":0.536580443,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.525383,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.09608364,"cg_iw_a":-1.39307213,"cg_theta_rad":0.552732348,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0131550031,"mpcc_du":49.5579948,"mpcc_dv":49.8721161,"mpcc_dw":50.4420052,"mpcc_enc_sign":1,"mpcc_id_a":0.3673397,"mpcc_iq_a":-1.43793404,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.0303078,"mpcc_pred_id_a":0.0155212749,"mpcc_pred_iq_a":-2.15228724,"mpcc_state":1,"mpcc_theta_e":0.459459305,"mpcc_theta_mech":0.558837771,"sam_rpm":25.3017368,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.045803383,"thr_a_norm":0.045803383,"thr_a_v":0.683213532,"thr_b":0.00914511085,"thr_b_norm":0.00914511085,"thr_b_v":0.536580443,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.531914,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.878620625,"cg_iw_a":-0.015806675,"cg_theta_rad":0.555749536,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.00132956344,"mpcc_du":49.4979477,"mpcc_dv":50.5020523,"mpcc_dw":50.1091537,"mpcc_enc_sign":1,"mpcc_id_a":0.280292958,"mpcc_iq_a":-1.83555448,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.5685425,"mpcc_pred_id_a":-0.57839191,"mpcc_pred_iq_a":-3.99425507,"mpcc_state":1,"mpcc_theta_e":0.438299179,"mpcc_theta_mech":0.554605722,"sam_rpm":16.9899006,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453847557,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.540123,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.958146572,"cg_theta_rad":0.554924607,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0101129068,"mpcc_du":50.6743469,"mpcc_dv":47.9995232,"mpcc_dw":52.0004768,"mpcc_enc_sign":1,"mpcc_id_a":1.80931115,"mpcc_iq_a":-0.633282661,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.4094467,"mpcc_pred_id_a":0.288196772,"mpcc_pred_iq_a":-0.768584609,"mpcc_state":1,"mpcc_theta_e":0.426254272,"mpcc_theta_mech":0.552196741,"sam_rpm":-27.3351917,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453847557,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.550316,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.806133032,"cg_iw_a":0.346631765,"cg_theta_rad":0.55705601,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.00506336847,"mpcc_du":49.5832787,"mpcc_dv":50.1701622,"mpcc_dw":50.4167213,"mpcc_enc_sign":1,"mpcc_id_a":0.769109964,"mpcc_iq_a":0.571860611,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.67827129,"mpcc_pred_id_a":-0.023838792,"mpcc_pred_iq_a":-0.240563229,"mpcc_state":1,"mpcc_theta_e":0.431428909,"mpcc_theta_mech":0.553231657,"sam_rpm":3.06498575,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180075616,"thr_a_norm":0.0180075616,"thr_a_v":0.572030246,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441913456,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.560539,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.96593571,"cg_iw_a":1.65140963,"cg_theta_rad":0.556319594,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0124193588,"mpcc_du":50.2066002,"mpcc_dv":48.7549782,"mpcc_dw":51.2450218,"mpcc_enc_sign":1,"mpcc_id_a":1.50944805,"mpcc_iq_a":0.778684199,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.35396779,"mpcc_pred_id_a":-0.091018647,"mpcc_pred_iq_a":0.92234081,"mpcc_state":1,"mpcc_theta_e":0.435986519,"mpcc_theta_mech":0.55414319,"sam_rpm":-1.57344532,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0131735057,"thr_a_norm":0.0180075616,"thr_a_v":0.552694023,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444078743,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.570335,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.806133032,"cg_iw_a":-1.17560935,"cg_theta_rad":0.556209922,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0799367726,"mpcc_du":49.4564438,"mpcc_dv":50.085537,"mpcc_dw":50.5435562,"mpcc_enc_sign":1,"mpcc_id_a":3.88245416,"mpcc_iq_a":1.15244877,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.22790623,"mpcc_pred_id_a":0.684544981,"mpcc_pred_iq_a":-3.51721334,"mpcc_state":1,"mpcc_theta_e":0.449302673,"mpcc_theta_mech":0.556806445,"sam_rpm":13.1713161,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0131735057,"thr_a_norm":0.0131735057,"thr_a_v":0.552694023,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444078743,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.580742,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-2.32837415,"cg_iw_a":0.564094782,"cg_theta_rad":0.555112541,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0258789416,"mpcc_du":50.3342438,"mpcc_dv":48.5611763,"mpcc_dw":51.4388237,"mpcc_enc_sign":1,"mpcc_id_a":0.782115519,"mpcc_iq_a":-1.11085665,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.88592088,"mpcc_pred_id_a":0.0101454193,"mpcc_pred_iq_a":-2.00912213,"mpcc_state":1,"mpcc_theta_e":0.445383549,"mpcc_theta_mech":0.556022644,"sam_rpm":-1.9455508,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285191089,"thr_a_norm":0.0285191089,"thr_a_v":0.614076436,"thr_b":0.000937283039,"thr_b_norm":0.000937283039,"thr_b_v":0.503749132,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.590508,"values":{"cg_iu_a":3.79393435,"cg_iv_a":-1.02359605,"cg_iw_a":0.274143696,"cg_theta_rad":0.557468414,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0815662891,"mpcc_du":49.5531883,"mpcc_dv":50.3376465,"mpcc_dw":50.4468117,"mpcc_enc_sign":1,"mpcc_id_a":1.19336498,"mpcc_iq_a":0.0656383261,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.5096121,"mpcc_pred_id_a":0.120251916,"mpcc_pred_iq_a":-5.05869198,"mpcc_state":1,"mpcc_theta_e":0.461314678,"mpcc_theta_mech":0.55920881,"sam_rpm":24.9246845,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285191089,"thr_a_norm":0.0285191089,"thr_a_v":0.614076436,"thr_b":0.000937283039,"thr_b_norm":0.000937283039,"thr_b_v":0.503749132,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.613762,"values":{"cg_iu_a":4.30134773,"cg_iv_a":-0.226231575,"cg_iw_a":0.491606712,"cg_theta_rad":0.553674519,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0146352388,"mpcc_du":50.6557159,"mpcc_dv":48.2410698,"mpcc_dw":50.4300308,"mpcc_enc_sign":1,"mpcc_id_a":0.800741851,"mpcc_iq_a":-0.740649521,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.35268497,"mpcc_pred_id_a":-0.242191151,"mpcc_pred_iq_a":-1.15668762,"mpcc_state":1,"mpcc_theta_e":0.438358784,"mpcc_theta_mech":0.557125568,"sam_rpm":-13.3002052,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0229675025,"thr_a_norm":0.0229675025,"thr_a_v":0.59187001,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494131356,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.620262,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.226231575,"cg_iw_a":0.854045391,"cg_theta_rad":0.555832982,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0205064081,"mpcc_du":51.5140762,"mpcc_dv":46.9960632,"mpcc_dw":53.0039368,"mpcc_enc_sign":1,"mpcc_id_a":2.45011592,"mpcc_iq_a":-0.804468751,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.8544607,"mpcc_pred_id_a":0.185513124,"mpcc_pred_iq_a":3.64814425,"mpcc_state":1,"mpcc_theta_e":0.432682037,"mpcc_theta_mech":0.553482294,"sam_rpm":-19.9326305,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019807741,"thr_a_norm":0.0229675025,"thr_a_v":0.579230964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482600152,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.626762,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.02359605,"cg_iw_a":-0.595708132,"cg_theta_rad":0.555089116,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0231393129,"mpcc_du":49.8974915,"mpcc_dv":49.0830154,"mpcc_dw":50.9169846,"mpcc_enc_sign":1,"mpcc_id_a":2.33600497,"mpcc_iq_a":-0.0196129568,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.01948166,"mpcc_pred_id_a":-0.021891132,"mpcc_pred_iq_a":-3.64986563,"mpcc_state":1,"mpcc_theta_e":0.43500042,"mpcc_theta_mech":0.553945959,"sam_rpm":-13.8037682,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019807741,"thr_a_norm":0.019807741,"thr_a_v":0.579230964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482600152,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.633324,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.806133032,"cg_iw_a":-0.450732946,"cg_theta_rad":0.557100296,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0122895464,"mpcc_du":50.1036873,"mpcc_dv":48.7884483,"mpcc_dw":51.2115517,"mpcc_enc_sign":1,"mpcc_id_a":1.20145607,"mpcc_iq_a":-0.568946421,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.07936788,"mpcc_pred_id_a":0.186142579,"mpcc_pred_iq_a":-0.169723675,"mpcc_state":1,"mpcc_theta_e":0.445319176,"mpcc_theta_mech":0.556502342,"sam_rpm":4.56297779,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0390936136,"thr_a_norm":0.0390936136,"thr_a_v":0.656374454,"thr_b":0.0104417503,"thr_b_norm":0.0104417503,"thr_b_v":0.541767001,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.641533,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.443694592,"cg_iw_a":-0.885658741,"cg_theta_rad":0.557662189,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.00889592245,"mpcc_du":50.370369,"mpcc_dv":48.5584831,"mpcc_dw":51.4415169,"mpcc_enc_sign":1,"mpcc_id_a":1.29082155,"mpcc_iq_a":-1.06192756,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.50624752,"mpcc_pred_id_a":-0.0706439316,"mpcc_pred_iq_a":-1.54989922,"mpcc_state":1,"mpcc_theta_e":0.43785429,"mpcc_theta_mech":0.554516792,"sam_rpm":-11.0529881,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0390936136,"thr_a_norm":0.0390936136,"thr_a_v":0.656374454,"thr_b":0.0104417503,"thr_b_norm":0.0104417503,"thr_b_v":0.541767001,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.651726,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.53100967,"cg_iw_a":-1.03063393,"cg_theta_rad":0.555782855,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0153350895,"mpcc_du":49.9752922,"mpcc_dv":48.9909172,"mpcc_dw":51.0090828,"mpcc_enc_sign":1,"mpcc_id_a":0.357005954,"mpcc_iq_a":-2.23242712,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.70034742,"mpcc_pred_id_a":-0.0333422944,"mpcc_pred_iq_a":0.0356414206,"mpcc_state":1,"mpcc_theta_e":0.430918217,"mpcc_theta_mech":0.553129554,"sam_rpm":-7.4861021,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467544049,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.661949,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.24105906,"cg_iw_a":-1.24809718,"cg_theta_rad":0.553028822,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.000196642461,"mpcc_du":49.7062759,"mpcc_dv":49.4512596,"mpcc_dw":50.5487404,"mpcc_enc_sign":1,"mpcc_id_a":0.248291135,"mpcc_iq_a":-2.38887739,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.11162663,"mpcc_pred_id_a":-0.33389312,"mpcc_pred_iq_a":-2.56759429,"mpcc_state":1,"mpcc_theta_e":0.447170258,"mpcc_theta_mech":0.556379974,"sam_rpm":6.95170498,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021419093,"thr_a_norm":0.0264671594,"thr_a_v":0.585676372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.671745,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.951108456,"cg_iw_a":0.999020576,"cg_theta_rad":0.553656995,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0311109312,"mpcc_du":49.4513054,"mpcc_dv":49.7933502,"mpcc_dw":50.5486946,"mpcc_enc_sign":1,"mpcc_id_a":3.44886112,"mpcc_iq_a":0.677459538,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.98591572,"mpcc_pred_id_a":0.537610531,"mpcc_pred_iq_a":-0.599585176,"mpcc_state":1,"mpcc_theta_e":0.430432796,"mpcc_theta_mech":0.553032517,"sam_rpm":-2.01286221,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021419093,"thr_a_norm":0.021419093,"thr_a_v":0.585676372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.682152,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.89344811,"cg_iw_a":-0.0158064365,"cg_theta_rad":0.555616021,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.00105115317,"mpcc_du":50.1317673,"mpcc_dv":48.664547,"mpcc_dw":51.335453,"mpcc_enc_sign":1,"mpcc_id_a":0.639215946,"mpcc_iq_a":-0.75044471,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.14120579,"mpcc_pred_id_a":0.207353875,"mpcc_pred_iq_a":-0.104364246,"mpcc_state":1,"mpcc_theta_e":0.431357384,"mpcc_theta_mech":0.555036128,"sam_rpm":-10.7694168,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190020651,"thr_a_norm":0.0190020651,"thr_a_v":0.57600826,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474795133,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.694115,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.878620625,"cg_iw_a":-1.24809694,"cg_theta_rad":0.554682255,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.101034448,"mpcc_du":50.8513947,"mpcc_dv":48.0106125,"mpcc_dw":51.9893875,"mpcc_enc_sign":1,"mpcc_id_a":0.593601048,"mpcc_iq_a":-0.327637523,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.25563729,"mpcc_pred_id_a":-0.17879127,"mpcc_pred_iq_a":-1.87811291,"mpcc_state":1,"mpcc_theta_e":0.448576927,"mpcc_theta_mech":0.556661308,"sam_rpm":0.0883438736,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162829012,"thr_a_norm":0.0190020651,"thr_a_v":0.565131605,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474190891,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.716942,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.806133032,"cg_iw_a":0.0566809177,"cg_theta_rad":0.557165146,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.00503223855,"mpcc_du":48.4170685,"mpcc_dv":51.5829315,"mpcc_dw":48.8591118,"mpcc_enc_sign":1,"mpcc_id_a":1.11290061,"mpcc_iq_a":-1.74622822,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.8101873,"mpcc_pred_id_a":-0.522729516,"mpcc_pred_iq_a":-6.30984449,"mpcc_state":1,"mpcc_theta_e":0.452414036,"mpcc_theta_mech":0.557428718,"sam_rpm":22.4837761,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162829012,"thr_a_norm":0.0162829012,"thr_a_v":0.565131605,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474190891,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.723442,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.09608364,"cg_iw_a":-0.015806675,"cg_theta_rad":0.557080746,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.00416900357,"mpcc_du":50.9326782,"mpcc_dv":47.8317375,"mpcc_dw":52.1682625,"mpcc_enc_sign":1,"mpcc_id_a":1.22419465,"mpcc_iq_a":-0.693733096,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.8614578,"mpcc_pred_id_a":-0.0993747413,"mpcc_pred_iq_a":1.47690487,"mpcc_state":1,"mpcc_theta_e":0.429115295,"mpcc_theta_mech":0.552768946,"sam_rpm":-20.4521503,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156912357,"thr_a_norm":0.0156912357,"thr_a_v":0.562764943,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457573801,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.730003,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.588670254,"cg_iw_a":-0.81317091,"cg_theta_rad":0.553165913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0090989992,"mpcc_du":49.8273087,"mpcc_dv":49.1485252,"mpcc_dw":50.8514748,"mpcc_enc_sign":1,"mpcc_id_a":2.58954692,"mpcc_iq_a":-1.02326965,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.70902741,"mpcc_pred_id_a":0.0999831334,"mpcc_pred_iq_a":-1.84837687,"mpcc_state":1,"mpcc_theta_e":0.437942028,"mpcc_theta_mech":0.554534316,"sam_rpm":-2.89156508,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156912357,"thr_a_norm":0.0156912357,"thr_a_v":0.562764943,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457573801,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.736504,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.951108456,"cg_iw_a":0.346631527,"cg_theta_rad":0.556568623,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.00305642816,"mpcc_du":50.404644,"mpcc_dv":48.5742912,"mpcc_dw":51.4257088,"mpcc_enc_sign":1,"mpcc_id_a":0.91135931,"mpcc_iq_a":-0.506087959,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.3360786,"mpcc_pred_id_a":-0.26090318,"mpcc_pred_iq_a":-1.19538021,"mpcc_state":1,"mpcc_theta_e":0.430441856,"mpcc_theta_mech":0.553034306,"sam_rpm":-18.1837635,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184103847,"thr_a_norm":0.0184103847,"thr_a_v":0.573641539,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443273067,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.744926,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.31354666,"cg_iw_a":-1.10312176,"cg_theta_rad":0.555729985,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.000203030097,"mpcc_du":50.7111397,"mpcc_dv":48.2304001,"mpcc_dw":51.7695999,"mpcc_enc_sign":1,"mpcc_id_a":-0.0676990226,"mpcc_iq_a":-2.27093482,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.8816042,"mpcc_pred_id_a":-0.306481957,"mpcc_pred_iq_a":-0.856857955,"mpcc_state":1,"mpcc_theta_e":0.434437752,"mpcc_theta_mech":0.553833425,"sam_rpm":-15.7012405,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0358079672,"thr_a_norm":0.0184103847,"thr_a_v":0.643231869,"thr_b":0.00981231034,"thr_b_norm":0,"thr_b_v":0.539249241,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.754936,"values":{"cg_iu_a":4.15637207,"cg_iv_a":-1.09608364,"cg_iw_a":-3.06028843,"cg_theta_rad":0.55569613,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0205327272,"mpcc_du":50.0391884,"mpcc_dv":48.8622093,"mpcc_dw":51.1377907,"mpcc_enc_sign":1,"mpcc_id_a":2.85368848,"mpcc_iq_a":-0.622299194,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.53250575,"mpcc_pred_id_a":0.270746052,"mpcc_pred_iq_a":0.393435329,"mpcc_state":1,"mpcc_theta_e":0.432753563,"mpcc_theta_mech":0.553496599,"sam_rpm":-5.23274803,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0358079672,"thr_a_norm":0.0358079672,"thr_a_v":0.643231869,"thr_b":0.00981231034,"thr_b_norm":0.00981231034,"thr_b_v":0.539249241,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.765129,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.371207237,"cg_iw_a":-2.6253624,"cg_theta_rad":0.553547025,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.036522828,"mpcc_du":50.0630913,"mpcc_dv":49.0431328,"mpcc_dw":50.9568672,"mpcc_enc_sign":1,"mpcc_id_a":0.687608302,"mpcc_iq_a":-0.466411471,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.01533532,"mpcc_pred_id_a":-0.167063206,"mpcc_pred_iq_a":-3.0633049,"mpcc_state":1,"mpcc_theta_e":0.449275017,"mpcc_theta_mech":0.556800902,"sam_rpm":3.74167991,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273357779,"thr_a_norm":0.0273357779,"thr_a_v":0.609343112,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478672475,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.774956,"values":{"cg_iu_a":-1.49766564,"cg_iv_a":-0.733645439,"cg_iw_a":-1.32058477,"cg_theta_rad":0.554979682,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.031210402,"mpcc_du":49.3376961,"mpcc_dv":47.4080009,"mpcc_dw":52.5919991,"mpcc_enc_sign":1,"mpcc_id_a":0.452862591,"mpcc_iq_a":-2.30033636,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.8926792,"mpcc_pred_id_a":-0.575388551,"mpcc_pred_iq_a":-6.55951214,"mpcc_state":1,"mpcc_theta_e":0.446534157,"mpcc_theta_mech":0.556252718,"sam_rpm":27.5719204,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273357779,"thr_a_norm":0.0273357779,"thr_a_v":0.609343112,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478672475,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.785393,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.588670254,"cg_iw_a":-0.668195486,"cg_theta_rad":0.5566324,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0263375342,"mpcc_du":49.8711586,"mpcc_dv":49.0930862,"mpcc_dw":50.9069138,"mpcc_enc_sign":1,"mpcc_id_a":1.86395037,"mpcc_iq_a":-1.03120136,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.7879439,"mpcc_pred_id_a":0.334335834,"mpcc_pred_iq_a":-3.21003675,"mpcc_state":1,"mpcc_theta_e":0.44870472,"mpcc_theta_mech":0.556686878,"sam_rpm":1.25861192,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0108445883,"thr_a_norm":0.0108445883,"thr_a_v":0.543378353,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.437935442,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.795525,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.733645439,"cg_iw_a":-3.49521446,"cg_theta_rad":0.554085493,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.00509339897,"mpcc_du":49.1543694,"mpcc_dv":50.8456306,"mpcc_dw":49.8632545,"mpcc_enc_sign":1,"mpcc_id_a":1.17814636,"mpcc_iq_a":0.242640242,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.63972712,"mpcc_pred_id_a":0.0273789,"mpcc_pred_iq_a":-3.78688765,"mpcc_state":1,"mpcc_theta_e":0.433965683,"mpcc_theta_mech":0.553739071,"sam_rpm":1.47132814,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254474729,"thr_a_norm":0.0108445883,"thr_a_v":0.601789892,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493879586,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.818443,"values":{"cg_iu_a":0.966915131,"cg_iv_a":0.136206627,"cg_iw_a":-1.10312176,"cg_theta_rad":0.557065666,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0135552278,"mpcc_du":49.0946388,"mpcc_dv":50.9053612,"mpcc_dw":49.8221245,"mpcc_enc_sign":1,"mpcc_id_a":2.25757074,"mpcc_iq_a":-1.72202075,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.59442997,"mpcc_pred_id_a":0.0468774885,"mpcc_pred_iq_a":-5.46175623,"mpcc_state":1,"mpcc_theta_e":0.445243835,"mpcc_theta_mech":0.555994689,"sam_rpm":7.86554861,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254474729,"thr_a_norm":0.0254474729,"thr_a_v":0.601789892,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493879586,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.825035,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.31354666,"cg_iw_a":0.419119358,"cg_theta_rad":0.557269633,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.00731238583,"mpcc_du":49.5962143,"mpcc_dv":49.6265984,"mpcc_dw":50.4037857,"mpcc_enc_sign":1,"mpcc_id_a":0.790608287,"mpcc_iq_a":-0.751457095,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.6151695,"mpcc_pred_id_a":-0.212844789,"mpcc_pred_iq_a":-1.29599452,"mpcc_state":1,"mpcc_theta_e":0.45194149,"mpcc_theta_mech":0.557334244,"sam_rpm":17.0436802,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0315278023,"thr_a_norm":0.0315278023,"thr_a_v":0.626111209,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487837017,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.831505,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.24105906,"cg_iw_a":0.201656103,"cg_theta_rad":0.557269812,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0255145803,"mpcc_du":50.160305,"mpcc_dv":48.6380463,"mpcc_dw":51.3619537,"mpcc_enc_sign":1,"mpcc_id_a":2.23522258,"mpcc_iq_a":0.631387591,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.98910332,"mpcc_pred_id_a":0.309050411,"mpcc_pred_iq_a":-1.5876472,"mpcc_state":1,"mpcc_theta_e":0.432820797,"mpcc_theta_mech":0.55351007,"sam_rpm":-14.5369978,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0315278023,"thr_a_norm":0.0315278023,"thr_a_v":0.626111209,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487837017,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.838005,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.661157608,"cg_iw_a":-1.68302321,"cg_theta_rad":0.554203629,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0265983194,"mpcc_du":49.477356,"mpcc_dv":50.522644,"mpcc_dw":50.3328705,"mpcc_enc_sign":1,"mpcc_id_a":1.43212235,"mpcc_iq_a":0.243292034,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.80295753,"mpcc_pred_id_a":0.0853078514,"mpcc_pred_iq_a":-4.41005087,"mpcc_state":1,"mpcc_theta_e":0.449225903,"mpcc_theta_mech":0.556791067,"sam_rpm":13.3488731,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020487532,"thr_a_norm":0.020487532,"thr_a_v":0.581950128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.846519,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-1.24105906,"cg_iw_a":-2.26292443,"cg_theta_rad":0.554516792,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0363797918,"mpcc_du":50.3413925,"mpcc_dv":48.2290268,"mpcc_dw":51.7709732,"mpcc_enc_sign":1,"mpcc_id_a":3.47102261,"mpcc_iq_a":-0.501969934,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.82446289,"mpcc_pred_id_a":0.694699883,"mpcc_pred_iq_a":-0.313762814,"mpcc_state":1,"mpcc_theta_e":0.43529129,"mpcc_theta_mech":0.554004192,"sam_rpm":-12.7241917,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217715651,"thr_a_norm":0.020487532,"thr_a_v":0.58708626,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474039823,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.85659,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-2.32837415,"cg_iw_a":1.21648359,"cg_theta_rad":0.555074513,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0760126859,"mpcc_du":49.7942543,"mpcc_dv":48.948967,"mpcc_dw":51.051033,"mpcc_enc_sign":1,"mpcc_id_a":3.4093852,"mpcc_iq_a":0.181147322,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0565942563,"mpcc_pred_id_a":0.687036276,"mpcc_pred_iq_a":-3.35663533,"mpcc_state":1,"mpcc_theta_e":0.446714878,"mpcc_theta_mech":0.556288898,"sam_rpm":0.703746855,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217715651,"thr_a_norm":0.0217715651,"thr_a_v":0.58708626,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474039823,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.866722,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.371207237,"cg_iw_a":-1.32058477,"cg_theta_rad":0.556161225,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0158493146,"mpcc_du":49.4505615,"mpcc_dv":49.378727,"mpcc_dw":50.621273,"mpcc_enc_sign":1,"mpcc_id_a":2.49216986,"mpcc_iq_a":-1.0638032,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.3039885,"mpcc_pred_id_a":0.590873241,"mpcc_pred_iq_a":0.845248997,"mpcc_state":1,"mpcc_theta_e":0.451295376,"mpcc_theta_mech":0.557205021,"sam_rpm":21.1493931,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0369409472,"thr_a_norm":0.0369409472,"thr_a_v":0.647763789,"thr_b":0.00228427351,"thr_b_norm":0.00228427351,"thr_b_v":0.509137094,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.876488,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.6759851,"cg_iw_a":-0.740683317,"cg_theta_rad":0.556750953,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0485722534,"mpcc_du":49.5375977,"mpcc_dv":50.0177269,"mpcc_dw":50.4624023,"mpcc_enc_sign":1,"mpcc_id_a":2.11167455,"mpcc_iq_a":-1.18147206,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.1308651,"mpcc_pred_id_a":0.131891698,"mpcc_pred_iq_a":-4.41601229,"mpcc_state":1,"mpcc_theta_e":0.459875107,"mpcc_theta_mech":0.558920979,"sam_rpm":21.6102753,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0369409472,"thr_a_norm":0.0369409472,"thr_a_v":0.647763789,"thr_b":0.00228427351,"thr_b_norm":0.00228427351,"thr_b_v":0.509137094,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.886711,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-2.18339872,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556751788,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0215425994,"mpcc_du":49.7380676,"mpcc_dv":49.1160965,"mpcc_dw":50.8839035,"mpcc_enc_sign":1,"mpcc_id_a":2.24944448,"mpcc_iq_a":-1.73262239,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.94687915,"mpcc_pred_id_a":0.446407259,"mpcc_pred_iq_a":-2.65727305,"mpcc_state":1,"mpcc_theta_e":0.449948311,"mpcc_theta_mech":0.556935549,"sam_rpm":6.27317286,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227031261,"thr_a_norm":0.0227031261,"thr_a_v":0.590812504,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483154029,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.896873,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.588670254,"cg_iw_a":0.129168987,"cg_theta_rad":0.55422157,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0125193913,"mpcc_du":49.513382,"mpcc_dv":49.8701897,"mpcc_dw":50.486618,"mpcc_enc_sign":1,"mpcc_id_a":0.75917244,"mpcc_iq_a":-0.664861381,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.265742511,"mpcc_pred_id_a":0.154585794,"mpcc_pred_iq_a":-0.356664032,"mpcc_state":1,"mpcc_theta_e":0.42893219,"mpcc_theta_mech":0.552732348,"sam_rpm":-0.594862759,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0134630352,"thr_a_norm":0.0227031261,"thr_a_v":0.553852141,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464270979,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.919731,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.09608364,"cg_iw_a":-1.32058477,"cg_theta_rad":0.556906998,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.00710368063,"mpcc_du":51.3283386,"mpcc_dv":47.3669281,"mpcc_dw":52.6330719,"mpcc_enc_sign":1,"mpcc_id_a":1.29489768,"mpcc_iq_a":-0.89405793,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-22.7687855,"mpcc_pred_id_a":-0.392345935,"mpcc_pred_iq_a":2.51752472,"mpcc_state":1,"mpcc_theta_e":0.419647217,"mpcc_theta_mech":0.550875366,"sam_rpm":-34.690773,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0134630352,"thr_a_norm":0.0134630352,"thr_a_v":0.553852141,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464270979,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.926262,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.31354666,"cg_iw_a":-0.160782337,"cg_theta_rad":0.555873871,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0164586287,"mpcc_du":50.854332,"mpcc_dv":47.8637695,"mpcc_dw":52.1362305,"mpcc_enc_sign":1,"mpcc_id_a":2.33072066,"mpcc_iq_a":-0.890528262,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.73341274,"mpcc_pred_id_a":0.106310733,"mpcc_pred_iq_a":1.52403939,"mpcc_state":1,"mpcc_theta_e":0.433742523,"mpcc_theta_mech":0.553694427,"sam_rpm":-12.5775499,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0096360743,"thr_a_norm":0.0096360743,"thr_a_v":0.538544297,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44161135,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.932762,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.6759851,"cg_iw_a":0.0566809177,"cg_theta_rad":0.556572556,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0368693583,"mpcc_du":49.9026489,"mpcc_dv":48.9029007,"mpcc_dw":51.0970993,"mpcc_enc_sign":1,"mpcc_id_a":3.36054564,"mpcc_iq_a":-0.242734581,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.428602666,"mpcc_pred_id_a":0.57969588,"mpcc_pred_iq_a":-0.970494628,"mpcc_state":1,"mpcc_theta_e":0.441896915,"mpcc_theta_mech":0.55532527,"sam_rpm":0.88835448,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0096360743,"thr_a_norm":0.0096360743,"thr_a_v":0.538544297,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44161135,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.939293,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.298719406,"cg_iw_a":-0.740683556,"cg_theta_rad":0.556551576,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.000709340791,"mpcc_du":49.6860085,"mpcc_dv":49.4950562,"mpcc_dw":50.5049438,"mpcc_enc_sign":1,"mpcc_id_a":3.53759098,"mpcc_iq_a":-1.39445257,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.83151531,"mpcc_pred_id_a":0.50909692,"mpcc_pred_iq_a":-5.43874025,"mpcc_state":1,"mpcc_theta_e":0.442636013,"mpcc_theta_mech":0.555473089,"sam_rpm":12.2184906,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0488246679,"thr_a_norm":0.0488246679,"thr_a_v":0.695298672,"thr_b":0.0184481591,"thr_b_norm":0.0184481591,"thr_b_v":0.573792636,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.948906,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.82096052,"cg_iw_a":-0.0882940292,"cg_theta_rad":0.553262055,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0450118892,"mpcc_du":50.0906067,"mpcc_dv":48.7102966,"mpcc_dw":51.2897034,"mpcc_enc_sign":1,"mpcc_id_a":2.43941283,"mpcc_iq_a":-0.343610048,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.76198387,"mpcc_pred_id_a":0.456905007,"mpcc_pred_iq_a":-2.02216196,"mpcc_state":1,"mpcc_theta_e":0.452438831,"mpcc_theta_mech":0.557433724,"sam_rpm":1.75148082,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252586454,"thr_a_norm":0.0252586454,"thr_a_v":0.601034582,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.960838,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.588670254,"cg_iw_a":-1.97297335,"cg_theta_rad":0.55666846,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.01970651,"mpcc_du":49.2765884,"mpcc_dv":50.7234116,"mpcc_dw":50.1104088,"mpcc_enc_sign":1,"mpcc_id_a":2.69085836,"mpcc_iq_a":0.242666677,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.9787221,"mpcc_pred_id_a":0.255118161,"mpcc_pred_iq_a":-3.16461754,"mpcc_state":1,"mpcc_theta_e":0.430414677,"mpcc_theta_mech":0.553028822,"sam_rpm":2.1390214,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252586454,"thr_a_norm":0.0252586454,"thr_a_v":0.601034582,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.97094,"values":{"cg_iu_a":0.459501266,"cg_iv_a":0.498644829,"cg_iw_a":-0.958146095,"cg_theta_rad":0.557642877,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.00841241144,"mpcc_du":50.082531,"mpcc_dv":48.9446526,"mpcc_dw":51.0553474,"mpcc_enc_sign":1,"mpcc_id_a":1.25165081,"mpcc_iq_a":-0.121195875,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.59633398,"mpcc_pred_id_a":-0.212166503,"mpcc_pred_iq_a":-0.819905519,"mpcc_state":1,"mpcc_theta_e":0.439236641,"mpcc_theta_mech":0.554793239,"sam_rpm":-2.65483594,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217212141,"thr_a_norm":0.0217212141,"thr_a_v":0.586884856,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476003677,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.981316,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.82096052,"cg_iw_a":-0.668195724,"cg_theta_rad":0.553832531,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0527448431,"mpcc_du":50.2614403,"mpcc_dv":48.6886902,"mpcc_dw":51.3113098,"mpcc_enc_sign":1,"mpcc_id_a":1.09265792,"mpcc_iq_a":-0.296484411,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.97173452,"mpcc_pred_id_a":0.0479871258,"mpcc_pred_iq_a":-1.23988724,"mpcc_state":1,"mpcc_theta_e":0.454510212,"mpcc_theta_mech":0.557847977,"sam_rpm":10.8344297,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194048882,"thr_a_norm":0.0217212141,"thr_a_v":0.577619553,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470464617,"vdc_v":55.2955055}} +{"type":"telemetry","t":108.991081,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.45852208,"cg_iw_a":0.201656103,"cg_theta_rad":0.556652784,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0312768295,"mpcc_du":50.2044296,"mpcc_dv":48.6323967,"mpcc_dw":51.3676033,"mpcc_enc_sign":1,"mpcc_id_a":2.50254631,"mpcc_iq_a":-0.53031081,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.36880302,"mpcc_pred_id_a":0.229683071,"mpcc_pred_iq_a":-1.78613794,"mpcc_state":1,"mpcc_theta_e":0.441542625,"mpcc_theta_mech":0.555254459,"sam_rpm":-5.90258026,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194048882,"thr_a_norm":0.0194048882,"thr_a_v":0.577619553,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470464617,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.001549,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-1.6759851,"cg_iw_a":-1.75551057,"cg_theta_rad":0.554256022,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5006,"hz_app_loop":364,"hz_tim_isr":10012,"hz_vsense":364,"mpcc_cost":0.0354934931,"mpcc_du":49.7480621,"mpcc_dv":49.1135254,"mpcc_dw":50.8864746,"mpcc_enc_sign":1,"mpcc_id_a":2.60948205,"mpcc_iq_a":-1.32181823,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.69080162,"mpcc_pred_id_a":0.372373611,"mpcc_pred_iq_a":-5.17212963,"mpcc_state":1,"mpcc_theta_e":0.441640854,"mpcc_theta_mech":0.555274069,"sam_rpm":-7.70313168,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0314522684,"thr_a_norm":0.0314522684,"thr_a_v":0.625809073,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477463931,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.024345,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.878620625,"cg_iw_a":-0.305757046,"cg_theta_rad":0.553190649,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9909.27246,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.000773189997,"mpcc_du":48.9941902,"mpcc_dv":51.0058098,"mpcc_dw":49.4255486,"mpcc_enc_sign":1,"mpcc_id_a":-0.254296035,"mpcc_iq_a":-1.2650739,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.51597929,"mpcc_pred_id_a":-0.833748817,"mpcc_pred_iq_a":-7.25818777,"mpcc_state":1,"mpcc_theta_e":0.444596767,"mpcc_theta_mech":0.555865288,"sam_rpm":6.2274251,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0314522684,"thr_a_norm":0.0314522684,"thr_a_v":0.625809073,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477463931,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.030876,"values":{"cg_iu_a":2.63413143,"cg_iv_a":0.426157475,"cg_iw_a":0.78155756,"cg_theta_rad":0.552814066,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0153785208,"mpcc_du":48.6675758,"mpcc_dv":51.3324242,"mpcc_dw":49.4369392,"mpcc_enc_sign":1,"mpcc_id_a":0.684211075,"mpcc_iq_a":-0.471380919,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.5596361,"mpcc_pred_id_a":0.155729041,"mpcc_pred_iq_a":-6.97965479,"mpcc_state":1,"mpcc_theta_e":0.456520081,"mpcc_theta_mech":0.55824995,"sam_rpm":22.5093479,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203364491,"thr_a_norm":0.0203364491,"thr_a_v":0.581345797,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.037376,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-1.45852208,"cg_iw_a":1.57892203,"cg_theta_rad":0.557205081,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00850225333,"mpcc_du":49.7053566,"mpcc_dv":49.3533211,"mpcc_dw":50.6466789,"mpcc_enc_sign":1,"mpcc_id_a":1.6733346,"mpcc_iq_a":-1.10032392,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.42507839,"mpcc_pred_id_a":-0.173689172,"mpcc_pred_iq_a":-3.84980869,"mpcc_state":1,"mpcc_theta_e":0.436916828,"mpcc_theta_mech":0.554329276,"sam_rpm":-8.08383465,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203364491,"thr_a_norm":0.0203364491,"thr_a_v":0.581345797,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459235549,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.043907,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.31354666,"cg_iw_a":0.12916851,"cg_theta_rad":0.553838551,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0160729606,"mpcc_du":49.4683266,"mpcc_dv":50.5316734,"mpcc_dw":50.2916603,"mpcc_enc_sign":1,"mpcc_id_a":1.91965425,"mpcc_iq_a":-0.0350693166,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-23.44561,"mpcc_pred_id_a":-0.0784781277,"mpcc_pred_iq_a":-6.55060291,"mpcc_state":1,"mpcc_theta_e":0.423760414,"mpcc_theta_mech":0.551697969,"sam_rpm":-5.06867313,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0187376887,"thr_a_norm":0.0187376887,"thr_a_v":0.574950755,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.05291,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.371207237,"cg_iw_a":-0.378244877,"cg_theta_rad":0.551648736,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0242964756,"mpcc_du":50.5037727,"mpcc_dv":48.1679382,"mpcc_dw":51.8320618,"mpcc_enc_sign":1,"mpcc_id_a":2.77953959,"mpcc_iq_a":-0.260818601,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.2394276,"mpcc_pred_id_a":0.300587058,"mpcc_pred_iq_a":-0.118863977,"mpcc_state":1,"mpcc_theta_e":0.431194305,"mpcc_theta_mech":0.553184748,"sam_rpm":-16.5978756,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0249313265,"thr_a_norm":0.0187376887,"thr_a_v":0.599725306,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482449085,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.062889,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.443694592,"cg_iw_a":-0.885658741,"cg_theta_rad":0.554619491,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0391320549,"mpcc_du":49.8812828,"mpcc_dv":49.0217972,"mpcc_dw":50.9782028,"mpcc_enc_sign":1,"mpcc_id_a":1.06113362,"mpcc_iq_a":0.148542181,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.208936974,"mpcc_pred_id_a":0.110584289,"mpcc_pred_iq_a":-3.01223564,"mpcc_state":1,"mpcc_theta_e":0.444021225,"mpcc_theta_mech":0.555750191,"sam_rpm":0.782509327,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0249313265,"thr_a_norm":0.0249313265,"thr_a_v":0.599725306,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482449085,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.073143,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.24105906,"cg_iw_a":0.346631765,"cg_theta_rad":0.552225769,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0499685071,"mpcc_du":49.7809944,"mpcc_dv":48.9259529,"mpcc_dw":51.0740471,"mpcc_enc_sign":1,"mpcc_id_a":2.54752994,"mpcc_iq_a":-1.64247572,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.8126678,"mpcc_pred_id_a":0.521762252,"mpcc_pred_iq_a":-0.765898645,"mpcc_state":1,"mpcc_theta_e":0.421551704,"mpcc_theta_mech":0.551256239,"sam_rpm":-24.6801682,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206511766,"thr_a_norm":0.0206511766,"thr_a_v":0.582604706,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.082939,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.16857147,"cg_iw_a":-1.17560911,"cg_theta_rad":0.555556715,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00116549793,"mpcc_du":50.1394958,"mpcc_dv":48.7263565,"mpcc_dw":51.2736435,"mpcc_enc_sign":1,"mpcc_id_a":0.640391767,"mpcc_iq_a":-1.26153815,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.18572903,"mpcc_pred_id_a":-0.108159728,"mpcc_pred_iq_a":-1.69832242,"mpcc_state":1,"mpcc_theta_e":0.434442997,"mpcc_theta_mech":0.553834558,"sam_rpm":-12.9792261,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206511766,"thr_a_norm":0.0206511766,"thr_a_v":0.582604706,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.093102,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.74847269,"cg_iw_a":-0.958146095,"cg_theta_rad":0.556367695,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0386397354,"mpcc_du":49.6437721,"mpcc_dv":49.2478714,"mpcc_dw":50.7521286,"mpcc_enc_sign":1,"mpcc_id_a":2.76490664,"mpcc_iq_a":0.364227951,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.33062756,"mpcc_pred_id_a":0.206094235,"mpcc_pred_iq_a":-2.3489368,"mpcc_state":1,"mpcc_theta_e":0.441480637,"mpcc_theta_mech":0.555242062,"sam_rpm":3.07796812,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163332522,"thr_a_norm":0.0163332522,"thr_a_v":0.565333009,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471421361,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.103294,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.24105906,"cg_iw_a":0.564094782,"cg_theta_rad":0.556022286,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0859099403,"mpcc_du":49.8934212,"mpcc_dv":48.7929649,"mpcc_dw":51.2070351,"mpcc_enc_sign":1,"mpcc_id_a":2.33687854,"mpcc_iq_a":-0.724039555,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.75348091,"mpcc_pred_id_a":0.669526935,"mpcc_pred_iq_a":-2.46485043,"mpcc_state":1,"mpcc_theta_e":0.456707478,"mpcc_theta_mech":0.558287382,"sam_rpm":16.109396,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242389441,"thr_a_norm":0.0163332522,"thr_a_v":0.596955776,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484614313,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.126457,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.53100967,"cg_iw_a":-3.13277602,"cg_theta_rad":0.556713045,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.000326195761,"mpcc_du":51.1315041,"mpcc_dv":47.6301308,"mpcc_dw":52.3698692,"mpcc_enc_sign":1,"mpcc_id_a":0.223658502,"mpcc_iq_a":-1.29878175,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.95059013,"mpcc_pred_id_a":-0.361337304,"mpcc_pred_iq_a":3.39472079,"mpcc_state":1,"mpcc_theta_e":0.434356689,"mpcc_theta_mech":0.553817272,"sam_rpm":-13.3812084,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242389441,"thr_a_norm":0.0242389441,"thr_a_v":0.596955776,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484614313,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.132988,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.09608364,"cg_iw_a":-0.668195724,"cg_theta_rad":0.554947257,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0217589363,"mpcc_du":49.9727631,"mpcc_dv":48.7502022,"mpcc_dw":51.2497978,"mpcc_enc_sign":1,"mpcc_id_a":2.76404786,"mpcc_iq_a":-1.16458988,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.395363778,"mpcc_pred_id_a":0.463689774,"mpcc_pred_iq_a":-0.532696009,"mpcc_state":1,"mpcc_theta_e":0.441989899,"mpcc_theta_mech":0.555343926,"sam_rpm":0.613175273,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186118037,"thr_a_norm":0.0186118037,"thr_a_v":0.574447215,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454351097,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.139458,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.878620625,"cg_iw_a":-0.59570837,"cg_theta_rad":0.556672096,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.000634314085,"mpcc_du":50.4686317,"mpcc_dv":48.3903389,"mpcc_dw":51.6096611,"mpcc_enc_sign":1,"mpcc_id_a":2.78913951,"mpcc_iq_a":-2.24774551,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.5101957,"mpcc_pred_id_a":-0.279077291,"mpcc_pred_iq_a":-1.47969365,"mpcc_state":1,"mpcc_theta_e":0.448316574,"mpcc_theta_mech":0.556609273,"sam_rpm":-19.8116016,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186118037,"thr_a_norm":0.0186118037,"thr_a_v":0.574447215,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454351097,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.146355,"values":{"cg_iu_a":1.25686598,"cg_iv_a":0.643620491,"cg_iw_a":-1.90048647,"cg_theta_rad":0.552116871,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00892786961,"mpcc_du":50.6241035,"mpcc_dv":47.9956207,"mpcc_dw":52.0043793,"mpcc_enc_sign":1,"mpcc_id_a":1.31930125,"mpcc_iq_a":-0.491327852,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.0988493,"mpcc_pred_id_a":0.0448446274,"mpcc_pred_iq_a":-5.84859324,"mpcc_state":1,"mpcc_theta_e":0.448701382,"mpcc_theta_mech":0.556686223,"sam_rpm":-9.22270966,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292618424,"thr_a_norm":0.0292618424,"thr_a_v":0.617047369,"thr_b":0.00465095043,"thr_b_norm":0.00465095043,"thr_b_v":0.518603802,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.156609,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.09608364,"cg_iw_a":-2.04546165,"cg_theta_rad":0.553259134,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00727021135,"mpcc_du":49.5357475,"mpcc_dv":50.0999565,"mpcc_dw":50.4642525,"mpcc_enc_sign":1,"mpcc_id_a":1.01546121,"mpcc_iq_a":-0.794990003,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.01846027,"mpcc_pred_id_a":0.00243535312,"mpcc_pred_iq_a":-0.583401024,"mpcc_state":1,"mpcc_theta_e":0.438291073,"mpcc_theta_mech":0.554604113,"sam_rpm":8.6502533,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0419134796,"thr_a_norm":0.0292618424,"thr_a_v":0.667653918,"thr_b":0.0143820047,"thr_b_norm":0.00465095043,"thr_b_v":0.557528019,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.166313,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.733645439,"cg_iw_a":-2.40789986,"cg_theta_rad":0.555235922,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0432129391,"mpcc_du":49.7361679,"mpcc_dv":49.2433243,"mpcc_dw":50.7566757,"mpcc_enc_sign":1,"mpcc_id_a":0.908884823,"mpcc_iq_a":0.496724129,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.44694519,"mpcc_pred_id_a":0.0457022339,"mpcc_pred_iq_a":-2.62762094,"mpcc_state":1,"mpcc_theta_e":0.447467327,"mpcc_theta_mech":0.5564394,"sam_rpm":7.91448736,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0419134796,"thr_a_norm":0.0419134796,"thr_a_v":0.667653918,"thr_b":0.0143820047,"thr_b_norm":0.0143820047,"thr_b_v":0.557528019,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.176689,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.96593571,"cg_iw_a":-0.81317091,"cg_theta_rad":0.557548881,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0161351524,"mpcc_du":50.7487297,"mpcc_dv":48.2627716,"mpcc_dw":51.7372284,"mpcc_enc_sign":1,"mpcc_id_a":-0.154219344,"mpcc_iq_a":-0.894471347,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.24025917,"mpcc_pred_id_a":-0.589138031,"mpcc_pred_iq_a":-1.64441609,"mpcc_state":1,"mpcc_theta_e":0.440660477,"mpcc_theta_mech":0.55507803,"sam_rpm":-13.5599298,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194804221,"thr_a_norm":0.0194804221,"thr_a_v":0.577921689,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.186913,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.82096052,"cg_iw_a":-0.16078186,"cg_theta_rad":0.557015896,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0128811598,"mpcc_du":49.6083717,"mpcc_dv":50.3916283,"mpcc_dw":50.3690376,"mpcc_enc_sign":1,"mpcc_id_a":0.0849276558,"mpcc_iq_a":-1.60238504,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.12531626,"mpcc_pred_id_a":-0.30329138,"mpcc_pred_iq_a":-2.85708618,"mpcc_state":1,"mpcc_theta_e":0.43300581,"mpcc_theta_mech":0.553547084,"sam_rpm":-2.56549215,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194804221,"thr_a_norm":0.0194804221,"thr_a_v":0.577921689,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.197105,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-2.0384233,"cg_iw_a":0.0566811562,"cg_theta_rad":0.556285799,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0255660154,"mpcc_du":49.4742165,"mpcc_dv":49.3639412,"mpcc_dw":50.6360588,"mpcc_enc_sign":1,"mpcc_id_a":3.19697189,"mpcc_iq_a":1.15310144,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.692467272,"mpcc_pred_id_a":0.527141571,"mpcc_pred_iq_a":0.00207391591,"mpcc_state":1,"mpcc_theta_e":0.433595181,"mpcc_theta_mech":0.553664982,"sam_rpm":-2.30292535,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246795565,"thr_a_norm":0.0246795565,"thr_a_v":0.598718226,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482952625,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.207298,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.96593571,"cg_iw_a":0.201656342,"cg_theta_rad":0.557428956,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.032861162,"mpcc_du":49.4501877,"mpcc_dv":49.7885246,"mpcc_dw":50.5498123,"mpcc_enc_sign":1,"mpcc_id_a":3.59960365,"mpcc_iq_a":-0.0395250842,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.88869023,"mpcc_pred_id_a":0.426909387,"mpcc_pred_iq_a":-2.00126648,"mpcc_state":1,"mpcc_theta_e":0.431276798,"mpcc_theta_mech":0.553121626,"sam_rpm":-4.39949799,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198706836,"thr_a_norm":0.0246795565,"thr_a_v":0.579482734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469558269,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.23037,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.16857147,"cg_iw_a":-0.523220062,"cg_theta_rad":0.55467546,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0118611911,"mpcc_du":49.2443581,"mpcc_dv":50.7556419,"mpcc_dw":50.0302811,"mpcc_enc_sign":1,"mpcc_id_a":2.10277963,"mpcc_iq_a":-1.37244558,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.32401419,"mpcc_pred_id_a":-0.0883093327,"mpcc_pred_iq_a":-5.19942665,"mpcc_state":1,"mpcc_theta_e":0.446158409,"mpcc_theta_mech":0.556177616,"sam_rpm":10.5966644,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198706836,"thr_a_norm":0.0198706836,"thr_a_v":0.579482734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469558269,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.23687,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.588670254,"cg_iw_a":0.201656342,"cg_theta_rad":0.557244778,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.032775227,"mpcc_du":49.5231781,"mpcc_dv":50.4768219,"mpcc_dw":50.4268379,"mpcc_enc_sign":1,"mpcc_id_a":2.36098528,"mpcc_iq_a":-1.00228071,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.13102913,"mpcc_pred_id_a":0.0912215263,"mpcc_pred_iq_a":-5.47579002,"mpcc_state":1,"mpcc_theta_e":0.452017784,"mpcc_theta_mech":0.557349503,"sam_rpm":12.5340137,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241256505,"thr_a_norm":0.0241256505,"thr_a_v":0.596502602,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484513581,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.24334,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.298719406,"cg_iw_a":-1.17560959,"cg_theta_rad":0.558712363,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0227055158,"mpcc_du":49.442337,"mpcc_dv":49.4585533,"mpcc_dw":50.557663,"mpcc_enc_sign":1,"mpcc_id_a":0.924525917,"mpcc_iq_a":-1.16421127,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.23843336,"mpcc_pred_id_a":-0.0575103238,"mpcc_pred_iq_a":-2.11604452,"mpcc_state":1,"mpcc_theta_e":0.435477257,"mpcc_theta_mech":0.555877507,"sam_rpm":1.15794134,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241256505,"thr_a_norm":0.0241256505,"thr_a_v":0.596502602,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484513581,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.250114,"values":{"cg_iu_a":1.11189032,"cg_iv_a":0.0637187958,"cg_iw_a":-1.17560911,"cg_theta_rad":0.552113414,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0128703984,"mpcc_du":50.280674,"mpcc_dv":48.6781197,"mpcc_dw":51.3218803,"mpcc_enc_sign":1,"mpcc_id_a":0.880395114,"mpcc_iq_a":-1.24637914,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.24729323,"mpcc_pred_id_a":-0.401760161,"mpcc_pred_iq_a":-0.0371000804,"mpcc_state":1,"mpcc_theta_e":0.442573071,"mpcc_theta_mech":0.555460513,"sam_rpm":-21.5974007,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0434996486,"thr_a_norm":0.0434996486,"thr_a_v":0.673998594,"thr_b":0.00797435641,"thr_b_norm":0.00797435641,"thr_b_v":0.531897426,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.260002,"values":{"cg_iu_a":2.5616436,"cg_iv_a":0.0637187958,"cg_iw_a":-2.6253624,"cg_theta_rad":0.554641187,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0364901535,"mpcc_du":49.6769524,"mpcc_dv":49.3211975,"mpcc_dw":50.6788025,"mpcc_enc_sign":1,"mpcc_id_a":-0.0389672443,"mpcc_iq_a":-1.46510398,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.17245579,"mpcc_pred_id_a":-0.582690299,"mpcc_pred_iq_a":-3.25136328,"mpcc_state":1,"mpcc_theta_e":0.45171833,"mpcc_theta_mech":0.557593763,"sam_rpm":15.9016018,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0434996486,"thr_a_norm":0.0434996486,"thr_a_v":0.673998594,"thr_b":0.00797435641,"thr_b_norm":0.00797435641,"thr_b_v":0.531897426,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.270317,"values":{"cg_iu_a":2.99656963,"cg_iv_a":0.353669643,"cg_iw_a":-3.35023928,"cg_theta_rad":0.552656651,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.02435771,"mpcc_du":49.5440178,"mpcc_dv":50.3118095,"mpcc_dw":50.4559822,"mpcc_enc_sign":1,"mpcc_id_a":0.724677265,"mpcc_iq_a":0.13711834,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.49833775,"mpcc_pred_id_a":-0.0409563296,"mpcc_pred_iq_a":-1.11674893,"mpcc_state":1,"mpcc_theta_e":0.423098564,"mpcc_theta_mech":0.551565647,"sam_rpm":-10.1105194,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0953398943,"thr_a_norm":0.0953398943,"thr_a_v":0.881359577,"thr_b":0.0392824411,"thr_b_norm":0.0392824411,"thr_b_v":0.657129765,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.28051,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.516182423,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556830883,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00768892467,"mpcc_du":49.9529266,"mpcc_dv":49.2382889,"mpcc_dw":50.7617111,"mpcc_enc_sign":1,"mpcc_id_a":-0.364524186,"mpcc_iq_a":-2.00080013,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.2252183,"mpcc_pred_id_a":-0.674805224,"mpcc_pred_iq_a":-4.66751432,"mpcc_state":1,"mpcc_theta_e":0.44487381,"mpcc_theta_mech":0.55592072,"sam_rpm":-4.94228029,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186999291,"thr_a_norm":0.0953398943,"thr_a_v":0.574799716,"thr_b":0,"thr_b_norm":0.0392824411,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.291496,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.96593571,"cg_iw_a":-1.03063393,"cg_theta_rad":0.556034565,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0437620506,"mpcc_du":49.3503456,"mpcc_dv":50.6496544,"mpcc_dw":50.4710655,"mpcc_enc_sign":1,"mpcc_id_a":3.27943063,"mpcc_iq_a":-0.217149213,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.77736425,"mpcc_pred_id_a":0.908819973,"mpcc_pred_iq_a":-1.25136435,"mpcc_state":1,"mpcc_theta_e":0.432008743,"mpcc_theta_mech":0.553347707,"sam_rpm":0.772569597,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186999291,"thr_a_norm":0.0186999291,"thr_a_v":0.574799716,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.302818,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.45852208,"cg_iw_a":-1.75551057,"cg_theta_rad":0.554992139,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0339503027,"mpcc_du":49.3167114,"mpcc_dv":50.6832886,"mpcc_dw":50.2433205,"mpcc_enc_sign":1,"mpcc_id_a":3.33777642,"mpcc_iq_a":-0.454191327,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.579619169,"mpcc_pred_id_a":0.313602865,"mpcc_pred_iq_a":-3.88956857,"mpcc_state":1,"mpcc_theta_e":0.439291,"mpcc_theta_mech":0.554804087,"sam_rpm":16.3559895,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022073701,"thr_a_norm":0.022073701,"thr_a_v":0.588294804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476154745,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.32592,"values":{"cg_iu_a":-1.28020263,"cg_iv_a":-0.733645439,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556030929,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00267396355,"mpcc_du":52.3240738,"mpcc_dv":45.9331207,"mpcc_dw":54.0668793,"mpcc_enc_sign":1,"mpcc_id_a":0.686415553,"mpcc_iq_a":-0.300879806,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-28.5697689,"mpcc_pred_id_a":-0.0637321398,"mpcc_pred_iq_a":5.86117697,"mpcc_state":1,"mpcc_theta_e":0.418532372,"mpcc_theta_mech":0.550652385,"sam_rpm":-42.3307114,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100199133,"thr_a_norm":0.022073701,"thr_a_v":0.900796533,"thr_b":0.0429709256,"thr_b_norm":0,"thr_b_v":0.671883702,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.332481,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.24105906,"cg_iw_a":-0.45073247,"cg_theta_rad":0.557324588,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0148880668,"mpcc_du":50.0273094,"mpcc_dv":48.9161339,"mpcc_dw":51.0838661,"mpcc_enc_sign":1,"mpcc_id_a":0.989012003,"mpcc_iq_a":-1.17303598,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.22098255,"mpcc_pred_id_a":0.0928263515,"mpcc_pred_iq_a":-0.456941962,"mpcc_state":1,"mpcc_theta_e":0.451693058,"mpcc_theta_mech":0.557284534,"sam_rpm":12.5778933,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.100199133,"thr_a_norm":0.100199133,"thr_a_v":0.900796533,"thr_b":0.0429709256,"thr_b_norm":0.0429709256,"thr_b_v":0.671883702,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.338951,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-2.11091113,"cg_iw_a":1.21648383,"cg_theta_rad":0.556314468,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0100640384,"mpcc_du":49.5179634,"mpcc_dv":49.7750664,"mpcc_dw":50.4820366,"mpcc_enc_sign":1,"mpcc_id_a":1.16916132,"mpcc_iq_a":-1.14773655,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.23215652,"mpcc_pred_id_a":0.218810111,"mpcc_pred_iq_a":0.364562571,"mpcc_state":1,"mpcc_theta_e":0.440276623,"mpcc_theta_mech":0.555001259,"sam_rpm":3.03304338,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189391226,"thr_a_norm":0.0189391226,"thr_a_v":0.57575649,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472227067,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.345482,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.371207237,"cg_iw_a":-1.68302298,"cg_theta_rad":0.557587504,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00991416723,"mpcc_du":49.5812035,"mpcc_dv":50.4187965,"mpcc_dw":50.3612251,"mpcc_enc_sign":1,"mpcc_id_a":0.893097639,"mpcc_iq_a":-0.373375982,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.27213657,"mpcc_pred_id_a":-0.227322951,"mpcc_pred_iq_a":-5.38791084,"mpcc_state":1,"mpcc_theta_e":0.443434715,"mpcc_theta_mech":0.555632889,"sam_rpm":1.49157,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189391226,"thr_a_norm":0.0189391226,"thr_a_v":0.57575649,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472227067,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.353508,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.661157608,"cg_iw_a":-1.82799864,"cg_theta_rad":0.555803657,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00876064878,"mpcc_du":49.7404938,"mpcc_dv":49.4362831,"mpcc_dw":50.5637169,"mpcc_enc_sign":1,"mpcc_id_a":0.339522809,"mpcc_iq_a":-0.855572522,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.6117816,"mpcc_pred_id_a":-0.390321612,"mpcc_pred_iq_a":-2.10578728,"mpcc_state":1,"mpcc_theta_e":0.448551655,"mpcc_theta_mech":0.556656241,"sam_rpm":10.1186934,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213939101,"thr_a_norm":0.0213939101,"thr_a_v":0.58557564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483506501,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.36367,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-1.24105906,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556323051,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0324304402,"mpcc_du":50.3624191,"mpcc_dv":48.492527,"mpcc_dw":51.507473,"mpcc_enc_sign":1,"mpcc_id_a":1.09779191,"mpcc_iq_a":-1.60491192,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.96854305,"mpcc_pred_id_a":0.112521887,"mpcc_pred_iq_a":-3.68280411,"mpcc_state":1,"mpcc_theta_e":0.455406189,"mpcc_theta_mech":0.558027148,"sam_rpm":11.0224743,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189265311,"thr_a_norm":0.0213939101,"thr_a_v":0.575706124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461904317,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.373711,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.02359605,"cg_iw_a":0.636582136,"cg_theta_rad":0.556910634,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0207255464,"mpcc_du":49.6297989,"mpcc_dv":49.5888748,"mpcc_dw":50.4111252,"mpcc_enc_sign":1,"mpcc_id_a":0.538205445,"mpcc_iq_a":-1.93267047,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.61043882,"mpcc_pred_id_a":-0.387957364,"mpcc_pred_iq_a":-5.92372513,"mpcc_state":1,"mpcc_theta_e":0.452713966,"mpcc_theta_mech":0.557488739,"sam_rpm":4.1391902,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189265311,"thr_a_norm":0.0189265311,"thr_a_v":0.575706124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461904317,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.38372,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.6759851,"cg_iw_a":0.564094782,"cg_theta_rad":0.558687389,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0272571631,"mpcc_du":49.7268944,"mpcc_dv":49.1755981,"mpcc_dw":50.8244019,"mpcc_enc_sign":1,"mpcc_id_a":2.57464004,"mpcc_iq_a":0.121241987,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.05408573,"mpcc_pred_id_a":0.355583072,"mpcc_pred_iq_a":-0.236516505,"mpcc_state":1,"mpcc_theta_e":0.445012093,"mpcc_theta_mech":0.555948377,"sam_rpm":11.2742872,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023533985,"thr_a_norm":0.023533985,"thr_a_v":0.59413594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.39489,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.806133032,"cg_iw_a":-2.26292443,"cg_theta_rad":0.554060698,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0372893326,"mpcc_du":49.5104599,"mpcc_dv":50.4895401,"mpcc_dw":50.3825874,"mpcc_enc_sign":1,"mpcc_id_a":0.067373313,"mpcc_iq_a":-1.6777482,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.17984605,"mpcc_pred_id_a":0.138773918,"mpcc_pred_iq_a":-3.00121427,"mpcc_state":1,"mpcc_theta_e":0.422537327,"mpcc_theta_mech":0.551453352,"sam_rpm":-5.51674318,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023533985,"thr_a_norm":0.023533985,"thr_a_v":0.59413594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.404289,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.516182423,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556250095,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0231623519,"mpcc_du":49.868824,"mpcc_dv":49.0217285,"mpcc_dw":50.9782715,"mpcc_enc_sign":1,"mpcc_id_a":1.93810165,"mpcc_iq_a":-0.876811147,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.90858626,"mpcc_pred_id_a":0.286672175,"mpcc_pred_iq_a":-2.26426601,"mpcc_state":1,"mpcc_theta_e":0.446439743,"mpcc_theta_mech":0.556233823,"sam_rpm":3.11424494,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278770924,"thr_a_norm":0.0278770924,"thr_a_v":0.611508369,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491865426,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.427208,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.31354666,"cg_iw_a":-1.24809694,"cg_theta_rad":0.559123755,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.000742991164,"mpcc_du":49.6197243,"mpcc_dv":50.2129631,"mpcc_dw":50.3802757,"mpcc_enc_sign":1,"mpcc_id_a":-0.0914794803,"mpcc_iq_a":-2.41422343,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.95609093,"mpcc_pred_id_a":-0.257490784,"mpcc_pred_iq_a":-4.75165033,"mpcc_state":1,"mpcc_theta_e":0.449631214,"mpcc_theta_mech":0.556872129,"sam_rpm":8.52820301,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278770924,"thr_a_norm":0.0278770924,"thr_a_v":0.611508369,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491865426,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.433708,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.733645439,"cg_iw_a":-0.23326993,"cg_theta_rad":0.556311429,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0204495918,"mpcc_du":49.5866051,"mpcc_dv":50.2566299,"mpcc_dw":50.4133949,"mpcc_enc_sign":1,"mpcc_id_a":1.4426235,"mpcc_iq_a":0.102607392,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.7100668,"mpcc_pred_id_a":-0.0317607522,"mpcc_pred_iq_a":-4.4377079,"mpcc_state":1,"mpcc_theta_e":0.446529865,"mpcc_theta_mech":0.556251884,"sam_rpm":6.81936216,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0146841258,"thr_a_norm":0.0146841258,"thr_a_v":0.558736503,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451380163,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.440269,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.806133032,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.556510091,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0304555763,"mpcc_du":49.4913368,"mpcc_dv":50.1166039,"mpcc_dw":50.5086632,"mpcc_enc_sign":1,"mpcc_id_a":2.04816914,"mpcc_iq_a":0.387353122,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.12984228,"mpcc_pred_id_a":0.494353324,"mpcc_pred_iq_a":-2.43609786,"mpcc_state":1,"mpcc_theta_e":0.436971188,"mpcc_theta_mech":0.554340124,"sam_rpm":-10.4077148,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0146841258,"thr_a_norm":0.0146841258,"thr_a_v":0.558736503,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451380163,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.4468,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.02359605,"cg_iw_a":-0.668195724,"cg_theta_rad":0.551041305,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0738606527,"mpcc_du":49.5348549,"mpcc_dv":49.2384758,"mpcc_dw":50.7615242,"mpcc_enc_sign":1,"mpcc_id_a":4.00935507,"mpcc_iq_a":-0.597636342,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.53471947,"mpcc_pred_id_a":0.809319556,"mpcc_pred_iq_a":-2.51328135,"mpcc_state":1,"mpcc_theta_e":0.453087807,"mpcc_theta_mech":0.557563484,"sam_rpm":15.1827221,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0119398087,"thr_a_norm":0.0119398087,"thr_a_v":0.547759235,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457523465,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.455315,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.74847269,"cg_iw_a":0.274143696,"cg_theta_rad":0.552388966,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0110660242,"mpcc_du":49.4929161,"mpcc_dv":49.9820137,"mpcc_dw":50.5070839,"mpcc_enc_sign":1,"mpcc_id_a":1.33282542,"mpcc_iq_a":0.398940712,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.7837038,"mpcc_pred_id_a":0.354697645,"mpcc_pred_iq_a":-4.55118704,"mpcc_state":1,"mpcc_theta_e":0.436275482,"mpcc_theta_mech":0.554201007,"sam_rpm":-6.50071096,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172899961,"thr_a_norm":0.0119398087,"thr_a_v":0.569159985,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446546137,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.465477,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.45852208,"cg_iw_a":0.0566809177,"cg_theta_rad":0.555634975,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0273071546,"mpcc_du":50.6511116,"mpcc_dv":48.2200775,"mpcc_dw":51.7799225,"mpcc_enc_sign":1,"mpcc_id_a":1.16811454,"mpcc_iq_a":-0.129447475,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.19030428,"mpcc_pred_id_a":-0.191887587,"mpcc_pred_iq_a":-0.317733347,"mpcc_state":1,"mpcc_theta_e":0.440262794,"mpcc_theta_mech":0.554998517,"sam_rpm":-6.98010206,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172899961,"thr_a_norm":0.0172899961,"thr_a_v":0.569159985,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446546137,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.4757,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.733645439,"cg_iw_a":-0.885658741,"cg_theta_rad":0.557155192,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0623553917,"mpcc_du":49.3223801,"mpcc_dv":49.8570824,"mpcc_dw":50.6776199,"mpcc_enc_sign":1,"mpcc_id_a":4.53956127,"mpcc_iq_a":-0.302719802,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.01315451,"mpcc_pred_id_a":1.33296096,"mpcc_pred_iq_a":-3.60532308,"mpcc_state":1,"mpcc_theta_e":0.444347858,"mpcc_theta_mech":0.555815518,"sam_rpm":5.6357851,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019807741,"thr_a_norm":0.019807741,"thr_a_v":0.579230964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482146949,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.485497,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.45852208,"cg_iw_a":-0.523220301,"cg_theta_rad":0.553370655,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.022908261,"mpcc_du":49.4668007,"mpcc_dv":49.8103905,"mpcc_dw":50.5331993,"mpcc_enc_sign":1,"mpcc_id_a":2.7205925,"mpcc_iq_a":-0.568653226,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.120912157,"mpcc_pred_id_a":0.513719559,"mpcc_pred_iq_a":-1.41709232,"mpcc_state":1,"mpcc_theta_e":0.435381889,"mpcc_theta_mech":0.554022312,"sam_rpm":-2.06710863,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.019807741,"thr_a_norm":0.019807741,"thr_a_v":0.579230964,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482146949,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.495903,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.09608364,"cg_iw_a":-1.53804779,"cg_theta_rad":0.555595815,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0354799554,"mpcc_du":49.4405861,"mpcc_dv":49.5763016,"mpcc_dw":50.5594139,"mpcc_enc_sign":1,"mpcc_id_a":3.46791935,"mpcc_iq_a":0.0182681847,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.49431455,"mpcc_pred_id_a":0.581751645,"mpcc_pred_iq_a":0.528905869,"mpcc_state":1,"mpcc_theta_e":0.432087421,"mpcc_theta_mech":0.553793669,"sam_rpm":1.41267431,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0479938239,"thr_a_norm":0.0479938239,"thr_a_v":0.691975296,"thr_b":0.0196189135,"thr_b_norm":0.0196189135,"thr_b_v":0.578475654,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.506096,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.24105906,"cg_iw_a":-1.03063416,"cg_theta_rad":0.557135105,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0747585148,"mpcc_du":49.6972771,"mpcc_dv":49.3810806,"mpcc_dw":50.6189194,"mpcc_enc_sign":1,"mpcc_id_a":2.26188469,"mpcc_iq_a":-0.877307355,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.46418619,"mpcc_pred_id_a":-0.0730402246,"mpcc_pred_iq_a":-5.04763317,"mpcc_state":1,"mpcc_theta_e":0.458043098,"mpcc_theta_mech":0.556221187,"sam_rpm":11.9505787,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245159119,"thr_a_norm":0.0479938239,"thr_a_v":0.598063648,"thr_b":0,"thr_b_norm":0.0196189135,"thr_b_v":0.470464617,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.530083,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-1.38603449,"cg_iw_a":-1.46555996,"cg_theta_rad":0.553424597,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00461537763,"mpcc_du":50.9966164,"mpcc_dv":47.7219048,"mpcc_dw":52.2780952,"mpcc_enc_sign":1,"mpcc_id_a":0.453580111,"mpcc_iq_a":-0.114495017,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.89938903,"mpcc_pred_id_a":-0.0604485385,"mpcc_pred_iq_a":3.72462106,"mpcc_state":1,"mpcc_theta_e":0.435986519,"mpcc_theta_mech":0.55414319,"sam_rpm":-6.23477364,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245159119,"thr_a_norm":0.0245159119,"thr_a_v":0.598063648,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470464617,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.536644,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.24105906,"cg_iw_a":0.274143934,"cg_theta_rad":0.556827605,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0302841235,"mpcc_du":50.2855797,"mpcc_dv":48.1955185,"mpcc_dw":51.8044815,"mpcc_enc_sign":1,"mpcc_id_a":3.29656219,"mpcc_iq_a":-0.873890579,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.1533384,"mpcc_pred_id_a":0.931361079,"mpcc_pred_iq_a":-0.438862056,"mpcc_state":1,"mpcc_theta_e":0.447909832,"mpcc_theta_mech":0.556527913,"sam_rpm":-14.5495567,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166857392,"thr_a_norm":0.0245159119,"thr_a_v":0.566742957,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476910055,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.543175,"values":{"cg_iu_a":2.27169323,"cg_iv_a":0.57113266,"cg_iw_a":-1.10312176,"cg_theta_rad":0.556292474,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.000357565121,"mpcc_du":50.1305122,"mpcc_dv":48.7661171,"mpcc_dw":51.2338829,"mpcc_enc_sign":1,"mpcc_id_a":3.11117125,"mpcc_iq_a":0.238303944,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.18041706,"mpcc_pred_id_a":-0.0061761979,"mpcc_pred_iq_a":-2.13480544,"mpcc_state":1,"mpcc_theta_e":0.44434166,"mpcc_theta_mech":0.555814207,"sam_rpm":-13.6849279,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166857392,"thr_a_norm":0.0166857392,"thr_a_v":0.566742957,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476910055,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.549706,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.371207237,"cg_iw_a":-0.16078186,"cg_theta_rad":0.556549788,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00152550056,"mpcc_du":50.3111267,"mpcc_dv":50.6556168,"mpcc_dw":50.3525085,"mpcc_enc_sign":1,"mpcc_id_a":0.0444055386,"mpcc_iq_a":-1.1692878,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.21464157,"mpcc_pred_id_a":-0.500994384,"mpcc_pred_iq_a":-1.72150791,"mpcc_state":1,"mpcc_theta_e":0.434010506,"mpcc_theta_mech":0.555620611,"sam_rpm":-11.8807249,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273231864,"thr_a_norm":0.0273231864,"thr_a_v":0.609292746,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485873193,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.556664,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.31354666,"cg_iw_a":-0.160782337,"cg_theta_rad":0.554910958,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00204269052,"mpcc_du":50.8347206,"mpcc_dv":48.0434151,"mpcc_dw":51.9565849,"mpcc_enc_sign":1,"mpcc_id_a":0.323081911,"mpcc_iq_a":-1.79824257,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.0875845,"mpcc_pred_id_a":-0.415384233,"mpcc_pred_iq_a":0.447385728,"mpcc_state":1,"mpcc_theta_e":0.427400589,"mpcc_theta_mech":0.55242604,"sam_rpm":-22.6914864,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273231864,"thr_a_norm":0.0273231864,"thr_a_v":0.609292746,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485873193,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.566063,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.02359605,"cg_iw_a":-2.11794901,"cg_theta_rad":0.554270446,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00417562714,"mpcc_du":49.9093246,"mpcc_dv":48.9550438,"mpcc_dw":51.0449562,"mpcc_enc_sign":1,"mpcc_id_a":0.569280505,"mpcc_iq_a":-1.56279588,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.757466674,"mpcc_pred_id_a":0.347911328,"mpcc_pred_iq_a":-2.0787394,"mpcc_state":1,"mpcc_theta_e":0.443132877,"mpcc_theta_mech":0.55557251,"sam_rpm":-1.04273522,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253593475,"thr_a_norm":0.0253593475,"thr_a_v":0.60143739,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486829937,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.577477,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.45852208,"cg_iw_a":0.491606712,"cg_theta_rad":0.55448544,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0298457723,"mpcc_du":50.1071739,"mpcc_dv":48.7631531,"mpcc_dw":51.2368469,"mpcc_enc_sign":1,"mpcc_id_a":1.04809344,"mpcc_iq_a":-0.216724113,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.42716026,"mpcc_pred_id_a":0.204310298,"mpcc_pred_iq_a":-0.859610796,"mpcc_state":1,"mpcc_theta_e":0.444639683,"mpcc_theta_mech":0.555873811,"sam_rpm":6.21845961,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024188593,"thr_a_norm":0.0253593475,"thr_a_v":0.596754372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473737687,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.587059,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.661157608,"cg_iw_a":2.4487741,"cg_theta_rad":0.553076327,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00219604978,"mpcc_du":50.3567772,"mpcc_dv":48.5199547,"mpcc_dw":51.4800453,"mpcc_enc_sign":1,"mpcc_id_a":0.00553654972,"mpcc_iq_a":-0.73610568,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.6777916,"mpcc_pred_id_a":-0.0112802871,"mpcc_pred_iq_a":-1.20865774,"mpcc_state":1,"mpcc_theta_e":0.433951855,"mpcc_theta_mech":0.553736329,"sam_rpm":-14.8562212,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024188593,"thr_a_norm":0.024188593,"thr_a_v":0.596754372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473737687,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.597282,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.53100967,"cg_iw_a":0.201656342,"cg_theta_rad":0.555722773,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0577807985,"mpcc_du":50.4786148,"mpcc_dv":48.2179832,"mpcc_dw":51.7820168,"mpcc_enc_sign":1,"mpcc_id_a":2.59698033,"mpcc_iq_a":0.358465552,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.68798256,"mpcc_pred_id_a":0.313469321,"mpcc_pred_iq_a":-1.45663226,"mpcc_state":1,"mpcc_theta_e":0.438412666,"mpcc_theta_mech":0.554628432,"sam_rpm":-10.4052944,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026731506,"thr_a_norm":0.026731506,"thr_a_v":0.606926024,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486427099,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.607262,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.16857147,"cg_iw_a":0.274144173,"cg_theta_rad":0.554280877,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0013762071,"mpcc_du":49.9323921,"mpcc_dv":49.0189667,"mpcc_dw":50.9810333,"mpcc_enc_sign":1,"mpcc_id_a":0.741401255,"mpcc_iq_a":-0.526311934,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.883288682,"mpcc_pred_id_a":-0.0624067634,"mpcc_pred_iq_a":-0.128507167,"mpcc_state":1,"mpcc_theta_e":0.436702251,"mpcc_theta_mech":0.554286361,"sam_rpm":-2.24078822,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026731506,"thr_a_norm":0.026731506,"thr_a_v":0.606926024,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486427099,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.630424,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.09608364,"cg_iw_a":-1.75551081,"cg_theta_rad":0.556870818,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00217818492,"mpcc_du":51.0716515,"mpcc_dv":47.6065826,"mpcc_dw":52.3934174,"mpcc_enc_sign":1,"mpcc_id_a":0.846805036,"mpcc_iq_a":-0.651390135,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.6995792,"mpcc_pred_id_a":-0.226912975,"mpcc_pred_iq_a":1.5579797,"mpcc_state":1,"mpcc_theta_e":0.422350407,"mpcc_theta_mech":0.551416039,"sam_rpm":-31.1457787,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221869946,"thr_a_norm":0.0221869946,"thr_a_v":0.588747978,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478118539,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.636955,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-2.90827537,"cg_iw_a":1.65140939,"cg_theta_rad":0.556547344,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0173041001,"mpcc_du":49.426712,"mpcc_dv":50.573288,"mpcc_dw":50.297142,"mpcc_enc_sign":1,"mpcc_id_a":2.3789041,"mpcc_iq_a":-0.629911721,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.60776138,"mpcc_pred_id_a":0.135171846,"mpcc_pred_iq_a":-3.94623446,"mpcc_state":1,"mpcc_theta_e":0.43224144,"mpcc_theta_mech":0.553394198,"sam_rpm":12.1727333,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234962106,"thr_a_norm":0.0221869946,"thr_a_v":0.593984842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468853265,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.643425,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556966603,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0164156482,"mpcc_du":49.6820107,"mpcc_dv":49.344101,"mpcc_dw":50.655899,"mpcc_enc_sign":1,"mpcc_id_a":1.95371354,"mpcc_iq_a":-1.01284254,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.63973618,"mpcc_pred_id_a":0.0701898038,"mpcc_pred_iq_a":-2.9137733,"mpcc_state":1,"mpcc_theta_e":0.442077637,"mpcc_theta_mech":0.55536145,"sam_rpm":3.44164968,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234962106,"thr_a_norm":0.0234962106,"thr_a_v":0.593984842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468853265,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.649986,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.24105906,"cg_iw_a":-1.17560935,"cg_theta_rad":0.556906402,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0264190044,"mpcc_du":50.1458817,"mpcc_dv":48.6944885,"mpcc_dw":51.3055115,"mpcc_enc_sign":1,"mpcc_id_a":0.329251945,"mpcc_iq_a":-0.710728347,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.82200027,"mpcc_pred_id_a":0.236856312,"mpcc_pred_iq_a":-1.52733541,"mpcc_state":1,"mpcc_theta_e":0.44770956,"mpcc_theta_mech":0.556487799,"sam_rpm":3.9829843,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023483634,"thr_a_norm":0.023483634,"thr_a_v":0.593934536,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.658104,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.153744221,"cg_iw_a":-1.53804731,"cg_theta_rad":0.558144987,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0210010074,"mpcc_du":49.5491905,"mpcc_dv":50.2682533,"mpcc_dw":50.4508095,"mpcc_enc_sign":1,"mpcc_id_a":2.27545667,"mpcc_iq_a":-0.335619599,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.14648223,"mpcc_pred_id_a":0.136172265,"mpcc_pred_iq_a":-4.75911474,"mpcc_state":1,"mpcc_theta_e":0.443690777,"mpcc_theta_mech":0.55568409,"sam_rpm":2.83605909,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023483634,"thr_a_norm":0.023483634,"thr_a_v":0.593934536,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.668266,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.878620625,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556239486,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0402642749,"mpcc_du":50.0537071,"mpcc_dv":48.7494278,"mpcc_dw":51.2505722,"mpcc_enc_sign":1,"mpcc_id_a":2.31949735,"mpcc_iq_a":-0.91936481,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0421811454,"mpcc_pred_id_a":0.350517154,"mpcc_pred_iq_a":-2.55834508,"mpcc_state":1,"mpcc_theta_e":0.446144581,"mpcc_theta_mech":0.556174815,"sam_rpm":0.829363763,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262531489,"thr_a_norm":0.0262531489,"thr_a_v":0.605012596,"thr_b":0.002221331,"thr_b_norm":0.002221331,"thr_b_v":0.508885324,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.678673,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.226231575,"cg_iw_a":-2.55287504,"cg_theta_rad":0.553401232,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0623620413,"mpcc_du":50.0669098,"mpcc_dv":48.8432083,"mpcc_dw":51.1567917,"mpcc_enc_sign":1,"mpcc_id_a":1.38092935,"mpcc_iq_a":0.962347686,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.25139236,"mpcc_pred_id_a":0.139694721,"mpcc_pred_iq_a":-0.303500861,"mpcc_state":1,"mpcc_theta_e":0.451992989,"mpcc_theta_mech":0.557344556,"sam_rpm":14.8832779,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0154772252,"thr_a_norm":0.0262531489,"thr_a_v":0.561908901,"thr_b":0,"thr_b_norm":0.002221331,"thr_b_v":0.464623481,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.688286,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.60349751,"cg_iw_a":-1.32058477,"cg_theta_rad":0.554198146,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0181487203,"mpcc_du":50.1484489,"mpcc_dv":48.4792061,"mpcc_dw":51.5207939,"mpcc_enc_sign":1,"mpcc_id_a":2.57073283,"mpcc_iq_a":-0.713125288,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.26980782,"mpcc_pred_id_a":0.443567961,"mpcc_pred_iq_a":-0.794667006,"mpcc_state":1,"mpcc_theta_e":0.429663658,"mpcc_theta_mech":0.552878678,"sam_rpm":-32.4788666,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0154772252,"thr_a_norm":0.0154772252,"thr_a_v":0.561908901,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464623481,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.698509,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.60349751,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556990623,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0177358724,"mpcc_du":50.2863121,"mpcc_dv":48.6285973,"mpcc_dw":51.3714027,"mpcc_enc_sign":1,"mpcc_id_a":1.04671025,"mpcc_iq_a":-0.725405276,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0748151615,"mpcc_pred_id_a":0.000749284169,"mpcc_pred_iq_a":-0.83991307,"mpcc_state":1,"mpcc_theta_e":0.444207191,"mpcc_theta_mech":0.555787385,"sam_rpm":0.835439861,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236598849,"thr_a_norm":0.0236598849,"thr_a_v":0.59463954,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460897237,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.708488,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-2.32837415,"cg_iw_a":1.79638505,"cg_theta_rad":0.554210365,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0141626718,"mpcc_du":50.6425705,"mpcc_dv":48.0391922,"mpcc_dw":51.9608078,"mpcc_enc_sign":1,"mpcc_id_a":2.17896342,"mpcc_iq_a":-1.56170297,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.1339312,"mpcc_pred_id_a":0.202734888,"mpcc_pred_iq_a":-0.535010278,"mpcc_state":1,"mpcc_theta_e":0.43495369,"mpcc_theta_mech":0.55393666,"sam_rpm":-16.6185665,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236598849,"thr_a_norm":0.0236598849,"thr_a_v":0.59463954,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460897237,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.731712,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.661157608,"cg_iw_a":1.21648359,"cg_theta_rad":0.556747556,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0385804437,"mpcc_du":50.5990562,"mpcc_dv":47.9723549,"mpcc_dw":52.0276451,"mpcc_enc_sign":1,"mpcc_id_a":3.20523763,"mpcc_iq_a":0.124636836,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.60095167,"mpcc_pred_id_a":0.56607306,"mpcc_pred_iq_a":1.04488885,"mpcc_state":1,"mpcc_theta_e":0.436784267,"mpcc_theta_mech":0.554302812,"sam_rpm":-10.0178604,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024188593,"thr_a_norm":0.024188593,"thr_a_v":0.596754372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480283797,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.738274,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.24105906,"cg_iw_a":-0.740683317,"cg_theta_rad":0.556482494,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0227658935,"mpcc_du":49.7286263,"mpcc_dv":49.1864433,"mpcc_dw":50.8135567,"mpcc_enc_sign":1,"mpcc_id_a":2.53178239,"mpcc_iq_a":-0.980494499,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.05487919,"mpcc_pred_id_a":0.271615535,"mpcc_pred_iq_a":-1.24617481,"mpcc_state":1,"mpcc_theta_e":0.448138714,"mpcc_theta_mech":0.556573689,"sam_rpm":10.6427917,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224513561,"thr_a_norm":0.024188593,"thr_a_v":0.589805424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469306499,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.744713,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.98780107,"cg_theta_rad":0.557880998,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00283575524,"mpcc_du":49.4866562,"mpcc_dv":49.4842529,"mpcc_dw":50.5157471,"mpcc_enc_sign":1,"mpcc_id_a":-0.165492684,"mpcc_iq_a":-1.2591846,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.04115558,"mpcc_pred_id_a":0.268884599,"mpcc_pred_iq_a":-4.17976761,"mpcc_state":1,"mpcc_theta_e":0.440336704,"mpcc_theta_mech":0.555013299,"sam_rpm":-2.94169188,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224513561,"thr_a_norm":0.0224513561,"thr_a_v":0.589805424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469306499,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.751305,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.16857147,"cg_iw_a":-3.56770229,"cg_theta_rad":0.555552185,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0313880853,"mpcc_du":50.2027969,"mpcc_dv":48.4931717,"mpcc_dw":51.5068283,"mpcc_enc_sign":1,"mpcc_id_a":3.48119855,"mpcc_iq_a":-0.12523891,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.55595303,"mpcc_pred_id_a":0.436126262,"mpcc_pred_iq_a":-0.357773393,"mpcc_state":1,"mpcc_theta_e":0.431839943,"mpcc_theta_mech":0.553313911,"sam_rpm":-14.6637945,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0335923582,"thr_a_norm":0.0335923582,"thr_a_v":0.634369433,"thr_b":0.000282675028,"thr_b_norm":0.000282675028,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.759087,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.16857147,"cg_iw_a":-0.378245354,"cg_theta_rad":0.554435134,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00622367347,"mpcc_du":51.3267746,"mpcc_dv":47.2915802,"mpcc_dw":52.7084198,"mpcc_enc_sign":1,"mpcc_id_a":1.14404905,"mpcc_iq_a":-1.21358645,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.0548744,"mpcc_pred_id_a":-0.00464744121,"mpcc_pred_iq_a":2.49181294,"mpcc_state":1,"mpcc_theta_e":0.431610107,"mpcc_theta_mech":0.553267956,"sam_rpm":-19.0635738,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0335923582,"thr_a_norm":0.0335923582,"thr_a_v":0.634369433,"thr_b":0.000282675028,"thr_b_norm":0.000282675028,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.769249,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.0087685585,"cg_iw_a":-1.24809742,"cg_theta_rad":0.552282333,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0226404313,"mpcc_du":49.7634163,"mpcc_dv":49.0482254,"mpcc_dw":50.9517746,"mpcc_enc_sign":1,"mpcc_id_a":2.97047639,"mpcc_iq_a":-0.547857583,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.84862959,"mpcc_pred_id_a":0.353161186,"mpcc_pred_iq_a":-2.43454409,"mpcc_state":1,"mpcc_theta_e":0.435828686,"mpcc_theta_mech":0.55411166,"sam_rpm":-3.70976019,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0243270695,"thr_a_norm":0.0243270695,"thr_a_v":0.597308278,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482197315,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.779472,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.38603449,"cg_iw_a":-1.17560911,"cg_theta_rad":0.553812861,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0398233049,"mpcc_du":50.1703148,"mpcc_dv":48.626297,"mpcc_dw":51.373703,"mpcc_enc_sign":1,"mpcc_id_a":2.42205691,"mpcc_iq_a":-1.20865905,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.512772441,"mpcc_pred_id_a":0.394070297,"mpcc_pred_iq_a":-2.27167439,"mpcc_state":1,"mpcc_theta_e":0.448904514,"mpcc_theta_mech":0.556726813,"sam_rpm":1.20989013,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202357471,"thr_a_norm":0.0243270695,"thr_a_v":0.580942988,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456868857,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.789299,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.806133032,"cg_iw_a":-1.53804779,"cg_theta_rad":0.552646756,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0238787569,"mpcc_du":49.7442131,"mpcc_dv":49.2097015,"mpcc_dw":50.7902985,"mpcc_enc_sign":1,"mpcc_id_a":2.5734756,"mpcc_iq_a":-0.889511824,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.52332497,"mpcc_pred_id_a":0.192642108,"mpcc_pred_iq_a":-3.31949401,"mpcc_state":1,"mpcc_theta_e":0.442091465,"mpcc_theta_mech":0.555364251,"sam_rpm":-2.76135826,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202357471,"thr_a_norm":0.0202357471,"thr_a_v":0.580942988,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456868857,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.799522,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-0.0812563896,"cg_iw_a":-3.93014097,"cg_theta_rad":0.555067658,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0246802736,"mpcc_du":51.2568054,"mpcc_dv":47.5690193,"mpcc_dw":52.4309807,"mpcc_enc_sign":1,"mpcc_id_a":0.800198674,"mpcc_iq_a":-1.25109351,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.38904095,"mpcc_pred_id_a":-0.356374919,"mpcc_pred_iq_a":0.405469239,"mpcc_state":1,"mpcc_theta_e":0.439993382,"mpcc_theta_mech":0.554944634,"sam_rpm":-12.59478,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020487532,"thr_a_norm":0.020487532,"thr_a_v":0.581950128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458027005,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.809685,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.24105906,"cg_iw_a":-2.48038745,"cg_theta_rad":0.555325449,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0547684431,"mpcc_du":49.9984627,"mpcc_dv":48.7862663,"mpcc_dw":51.7694168,"mpcc_enc_sign":1,"mpcc_id_a":2.92582488,"mpcc_iq_a":-0.666067064,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.26944041,"mpcc_pred_id_a":0.52332747,"mpcc_pred_iq_a":-2.53343129,"mpcc_state":1,"mpcc_theta_e":0.450273991,"mpcc_theta_mech":0.557000697,"sam_rpm":3.61910248,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020487532,"thr_a_norm":0.020487532,"thr_a_v":0.581950128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458027005,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.832726,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.378244877,"cg_theta_rad":0.557875812,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00719445059,"mpcc_du":50.0610619,"mpcc_dv":48.7782478,"mpcc_dw":51.2217522,"mpcc_enc_sign":1,"mpcc_id_a":1.68916905,"mpcc_iq_a":-1.90855992,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.12412,"mpcc_pred_id_a":0.302951127,"mpcc_pred_iq_a":0.544869006,"mpcc_state":1,"mpcc_theta_e":0.450004101,"mpcc_theta_mech":0.556946754,"sam_rpm":4.74447775,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248558074,"thr_a_norm":0.0248558074,"thr_a_v":0.59942323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476910055,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.839195,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.153744221,"cg_iw_a":-0.958146095,"cg_theta_rad":0.558635712,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00124283135,"mpcc_du":50.0832214,"mpcc_dv":48.9385796,"mpcc_dw":51.0614204,"mpcc_enc_sign":1,"mpcc_id_a":0.41917184,"mpcc_iq_a":-1.21018553,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.80710506,"mpcc_pred_id_a":-0.153377324,"mpcc_pred_iq_a":-1.12804997,"mpcc_state":1,"mpcc_theta_e":0.439689159,"mpcc_theta_mech":0.554883718,"sam_rpm":-2.67171001,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022174418,"thr_a_norm":0.0248558074,"thr_a_v":0.588697672,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474190891,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.845787,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.951108456,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556787431,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0480997562,"mpcc_du":50.1223793,"mpcc_dv":48.5164299,"mpcc_dw":51.4835701,"mpcc_enc_sign":1,"mpcc_id_a":3.91980767,"mpcc_iq_a":0.130133405,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.92656136,"mpcc_pred_id_a":0.693543851,"mpcc_pred_iq_a":-1.58891046,"mpcc_state":1,"mpcc_theta_e":0.432696819,"mpcc_theta_mech":0.553485274,"sam_rpm":-15.0270901,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022174418,"thr_a_norm":0.022174418,"thr_a_v":0.588697672,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474190891,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.852287,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.878620625,"cg_iw_a":0.926532984,"cg_theta_rad":0.55660671,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00671016611,"mpcc_du":50.3634186,"mpcc_dv":48.7403183,"mpcc_dw":51.2596817,"mpcc_enc_sign":1,"mpcc_id_a":-0.568523645,"mpcc_iq_a":-1.57934153,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.48974967,"mpcc_pred_id_a":-0.534049511,"mpcc_pred_iq_a":-0.37396276,"mpcc_state":1,"mpcc_theta_e":0.446716309,"mpcc_theta_mech":0.556289196,"sam_rpm":5.45960665,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236598849,"thr_a_norm":0.0236598849,"thr_a_v":0.59463954,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460091561,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.860283,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.516182423,"cg_iw_a":-1.61053514,"cg_theta_rad":0.55703038,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00886473618,"mpcc_du":50.4854813,"mpcc_dv":48.3386421,"mpcc_dw":51.6613579,"mpcc_enc_sign":1,"mpcc_id_a":1.73987079,"mpcc_iq_a":-1.46557164,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.626502633,"mpcc_pred_id_a":0.125779986,"mpcc_pred_iq_a":1.11598301,"mpcc_state":1,"mpcc_theta_e":0.441387653,"mpcc_theta_mech":0.555223465,"sam_rpm":-0.953516364,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236598849,"thr_a_norm":0.0236598849,"thr_a_v":0.59463954,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460091561,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.870567,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.02359605,"cg_iw_a":-1.61053538,"cg_theta_rad":0.556037247,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00190223195,"mpcc_du":49.8538017,"mpcc_dv":49.0535126,"mpcc_dw":50.9464874,"mpcc_enc_sign":1,"mpcc_id_a":0.0922615379,"mpcc_iq_a":-3.20014048,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.99509263,"mpcc_pred_id_a":-0.391976237,"mpcc_pred_iq_a":-4.15664816,"mpcc_state":1,"mpcc_theta_e":0.449754238,"mpcc_theta_mech":0.556647658,"sam_rpm":3.19578624,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0132616162,"thr_a_norm":0.0132616162,"thr_a_v":0.553046465,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457473099,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.882866,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-3.12573838,"cg_iw_a":-0.378245115,"cg_theta_rad":0.554869652,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0481709987,"mpcc_du":50.1135063,"mpcc_dv":48.6159515,"mpcc_dw":51.3840485,"mpcc_enc_sign":1,"mpcc_id_a":2.63299823,"mpcc_iq_a":-0.103947803,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.65397882,"mpcc_pred_id_a":0.532432735,"mpcc_pred_iq_a":0.0715667382,"mpcc_state":1,"mpcc_theta_e":0.449449062,"mpcc_theta_mech":0.556835771,"sam_rpm":10.2136145,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248558074,"thr_a_norm":0.0132616162,"thr_a_v":0.59942323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473435581,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.892662,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.89344811,"cg_iw_a":-0.45073247,"cg_theta_rad":0.557150126,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0196777955,"mpcc_du":49.7565155,"mpcc_dv":49.085968,"mpcc_dw":50.914032,"mpcc_enc_sign":1,"mpcc_id_a":2.80552888,"mpcc_iq_a":-0.553425729,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.55581093,"mpcc_pred_id_a":0.422853231,"mpcc_pred_iq_a":-1.96988165,"mpcc_state":1,"mpcc_theta_e":0.432581902,"mpcc_theta_mech":0.553462267,"sam_rpm":-11.7451658,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248558074,"thr_a_norm":0.0248558074,"thr_a_v":0.59942323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473435581,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.902885,"values":{"cg_iu_a":0.821939945,"cg_iv_a":0.208694458,"cg_iw_a":-1.0306344,"cg_theta_rad":0.557865739,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0141118728,"mpcc_du":49.7564278,"mpcc_dv":49.420742,"mpcc_dw":50.579258,"mpcc_enc_sign":1,"mpcc_id_a":0.514743924,"mpcc_iq_a":-1.34763038,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.97391176,"mpcc_pred_id_a":-0.359025925,"mpcc_pred_iq_a":-0.39621529,"mpcc_state":1,"mpcc_theta_e":0.439678669,"mpcc_theta_mech":0.554881632,"sam_rpm":-0.581763387,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262531489,"thr_a_norm":0.0262531489,"thr_a_v":0.605012596,"thr_b":0.00235980749,"thr_b_norm":0.00235980749,"thr_b_v":0.50943923,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.912865,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.226231575,"cg_iw_a":-1.24809742,"cg_theta_rad":0.556643963,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0375059359,"mpcc_du":50.4258461,"mpcc_dv":48.5804558,"mpcc_dw":51.4195442,"mpcc_enc_sign":1,"mpcc_id_a":2.34395075,"mpcc_iq_a":-1.20452714,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.11487865,"mpcc_pred_id_a":-0.260528386,"mpcc_pred_iq_a":-3.21639848,"mpcc_state":1,"mpcc_theta_e":0.444471836,"mpcc_theta_mech":0.555840313,"sam_rpm":-8.65703583,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262531489,"thr_a_norm":0.0262531489,"thr_a_v":0.605012596,"thr_b":0.00235980749,"thr_b_norm":0.00235980749,"thr_b_v":0.50943923,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.937279,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.02359605,"cg_iw_a":-1.10312152,"cg_theta_rad":0.553413332,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0235522985,"mpcc_du":50.4240799,"mpcc_dv":48.2736206,"mpcc_dw":51.7263794,"mpcc_enc_sign":1,"mpcc_id_a":2.93867111,"mpcc_iq_a":-0.802546978,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.15725994,"mpcc_pred_id_a":0.188515663,"mpcc_pred_iq_a":-4.344275,"mpcc_state":1,"mpcc_theta_e":0.447514534,"mpcc_theta_mech":0.556448817,"sam_rpm":-12.9936447,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252082795,"thr_a_norm":0.0252082795,"thr_a_v":0.600833118,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489901572,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.94384,"values":{"cg_iu_a":1.61930418,"cg_iv_a":0.0637187958,"cg_iw_a":-1.68302298,"cg_theta_rad":0.552320778,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.000526294287,"mpcc_du":49.6407089,"mpcc_dv":50.0585136,"mpcc_dw":50.3592911,"mpcc_enc_sign":1,"mpcc_id_a":0.19085981,"mpcc_iq_a":-1.52046359,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.552353621,"mpcc_pred_id_a":-0.485085726,"mpcc_pred_iq_a":-4.76375818,"mpcc_state":1,"mpcc_theta_e":0.441262722,"mpcc_theta_mech":0.555198491,"sam_rpm":-1.14009488,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450020611,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.95031,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.878620625,"cg_iw_a":-0.233269691,"cg_theta_rad":0.557254791,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.00297506736,"mpcc_du":49.6586609,"mpcc_dv":49.8482208,"mpcc_dw":50.3413391,"mpcc_enc_sign":1,"mpcc_id_a":-0.972798228,"mpcc_iq_a":-2.77688408,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.7297622,"mpcc_pred_id_a":-0.644452155,"mpcc_pred_iq_a":-4.06951475,"mpcc_state":1,"mpcc_theta_e":0.444060802,"mpcc_theta_mech":0.555758059,"sam_rpm":2.48819399,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450020611,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.956871,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.45852208,"cg_iw_a":-1.53804779,"cg_theta_rad":0.55818516,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0112453457,"mpcc_du":48.9625473,"mpcc_dv":51.0374527,"mpcc_dw":49.6701813,"mpcc_enc_sign":1,"mpcc_id_a":0.750221908,"mpcc_iq_a":-0.830234647,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.441431,"mpcc_pred_id_a":-0.099368751,"mpcc_pred_iq_a":-5.32428885,"mpcc_state":1,"mpcc_theta_e":0.456567764,"mpcc_theta_mech":0.558259487,"sam_rpm":24.4319763,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103396654,"thr_a_norm":0.103396654,"thr_a_v":0.913586617,"thr_b":0.0498065948,"thr_b_norm":0.0498065948,"thr_b_v":0.699226379,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.966301,"values":{"cg_iu_a":2.99656963,"cg_iv_a":2.89073801,"cg_iw_a":-5.88730764,"cg_theta_rad":0.55268681,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0748427212,"mpcc_du":50.4539719,"mpcc_dv":48.5479927,"mpcc_dw":51.4520073,"mpcc_enc_sign":1,"mpcc_id_a":0.300350398,"mpcc_iq_a":0.231019318,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.40569663,"mpcc_pred_id_a":-0.332588822,"mpcc_pred_iq_a":-1.68526196,"mpcc_state":1,"mpcc_theta_e":0.451220036,"mpcc_theta_mech":0.557189882,"sam_rpm":6.34330177,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.103396654,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0.0498065948,"thr_b_v":0.451430529,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.976219,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.443694592,"cg_iw_a":-0.378245354,"cg_theta_rad":0.556245506,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0159443859,"mpcc_du":50.3777466,"mpcc_dv":48.9999466,"mpcc_dw":51.0000534,"mpcc_enc_sign":1,"mpcc_id_a":-2.47042584,"mpcc_iq_a":-3.54615521,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.64549184,"mpcc_pred_id_a":-1.25564599,"mpcc_pred_iq_a":-3.57810807,"mpcc_state":1,"mpcc_theta_e":0.445717812,"mpcc_theta_mech":0.557528555,"sam_rpm":-3.33240175,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451430529,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.986473,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.6759851,"cg_iw_a":0.274143934,"cg_theta_rad":0.555796444,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.000850421202,"mpcc_du":49.6031113,"mpcc_dv":50.2070503,"mpcc_dw":50.3968887,"mpcc_enc_sign":1,"mpcc_id_a":0.580453455,"mpcc_iq_a":-2.06857371,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.09086418,"mpcc_pred_id_a":-0.0781527832,"mpcc_pred_iq_a":-0.938900411,"mpcc_state":1,"mpcc_theta_e":0.437286854,"mpcc_theta_mech":0.554403245,"sam_rpm":-5.54270554,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195056051,"thr_a_norm":0.0195056051,"thr_a_v":0.57802242,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470464617,"vdc_v":55.2955055}} +{"type":"telemetry","t":109.996452,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.153744221,"cg_iw_a":-0.595707893,"cg_theta_rad":0.555775106,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.059401039,"mpcc_du":49.9983521,"mpcc_dv":49.0486298,"mpcc_dw":50.9513702,"mpcc_enc_sign":1,"mpcc_id_a":0.671000957,"mpcc_iq_a":0.330103636,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.37300205,"mpcc_pred_id_a":-0.116000436,"mpcc_pred_iq_a":-2.29393244,"mpcc_state":1,"mpcc_theta_e":0.451892853,"mpcc_theta_mech":0.557324529,"sam_rpm":10.8459005,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195056051,"thr_a_norm":0.0195056051,"thr_a_v":0.57802242,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470464617,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.006462,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.6759851,"cg_iw_a":0.999020815,"cg_theta_rad":0.554900885,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5001,"hz_app_loop":363,"hz_tim_isr":10000,"hz_vsense":363,"mpcc_cost":0.0392731763,"mpcc_du":50.4026413,"mpcc_dv":48.4207726,"mpcc_dw":51.5792274,"mpcc_enc_sign":1,"mpcc_id_a":1.73602533,"mpcc_iq_a":-0.462309569,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.026987223,"mpcc_pred_id_a":0.0905210972,"mpcc_pred_iq_a":-2.78863502,"mpcc_state":1,"mpcc_theta_e":0.450024605,"mpcc_theta_mech":0.556950867,"sam_rpm":-9.73841572,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224513561,"thr_a_norm":0.0224513561,"thr_a_v":0.589805424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471874535,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.017265,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.668195724,"cg_theta_rad":0.554491997,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9911,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0404316299,"mpcc_du":49.1104507,"mpcc_dv":50.8895493,"mpcc_dw":50.0352669,"mpcc_enc_sign":1,"mpcc_id_a":3.25162387,"mpcc_iq_a":0.116192766,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.8547859,"mpcc_pred_id_a":0.49318555,"mpcc_pred_iq_a":1.4835093,"mpcc_state":1,"mpcc_theta_e":0.418293476,"mpcc_theta_mech":0.550604641,"sam_rpm":-5.06915092,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270084739,"thr_a_norm":0.0224513561,"thr_a_v":0.608033895,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.040489,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.60349751,"cg_iw_a":-1.46555996,"cg_theta_rad":0.557110012,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.00830533262,"mpcc_du":50.8407707,"mpcc_dv":48.019722,"mpcc_dw":51.980278,"mpcc_enc_sign":1,"mpcc_id_a":0.518605113,"mpcc_iq_a":-1.34614921,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.12825966,"mpcc_pred_id_a":-0.249562368,"mpcc_pred_iq_a":-0.149419636,"mpcc_state":1,"mpcc_theta_e":0.436811924,"mpcc_theta_mech":0.554308295,"sam_rpm":-12.7144499,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270084739,"thr_a_norm":0.0270084739,"thr_a_v":0.608033895,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.046959,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.89344811,"cg_iw_a":1.36145902,"cg_theta_rad":0.555537224,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0428097323,"mpcc_du":50.5756302,"mpcc_dv":48.2371483,"mpcc_dw":51.7628517,"mpcc_enc_sign":1,"mpcc_id_a":1.97105157,"mpcc_iq_a":-0.809125185,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.9660964,"mpcc_pred_id_a":0.208403915,"mpcc_pred_iq_a":0.68250221,"mpcc_state":1,"mpcc_theta_e":0.450399876,"mpcc_theta_mech":0.557025909,"sam_rpm":8.66333771,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258125365,"thr_a_norm":0.0258125365,"thr_a_v":0.603250146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493124276,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.05352,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.45852208,"cg_iw_a":0.0566809177,"cg_theta_rad":0.556765676,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0100511005,"mpcc_du":49.9300423,"mpcc_dv":49.0532036,"mpcc_dw":50.9467964,"mpcc_enc_sign":1,"mpcc_id_a":1.55552137,"mpcc_iq_a":-1.34136212,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.36166573,"mpcc_pred_id_a":0.0317964107,"mpcc_pred_iq_a":-1.28439116,"mpcc_state":1,"mpcc_theta_e":0.445577621,"mpcc_theta_mech":0.556061447,"sam_rpm":5.41420269,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258125365,"thr_a_norm":0.0258125365,"thr_a_v":0.603250146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493124276,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.060051,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.516182423,"cg_iw_a":-1.61053514,"cg_theta_rad":0.554027557,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0561686009,"mpcc_du":50.3445663,"mpcc_dv":48.1943207,"mpcc_dw":51.8056793,"mpcc_enc_sign":1,"mpcc_id_a":4.08634615,"mpcc_iq_a":0.150121093,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.197855,"mpcc_pred_id_a":0.737395406,"mpcc_pred_iq_a":-1.58555639,"mpcc_state":1,"mpcc_theta_e":0.431524277,"mpcc_theta_mech":0.55325073,"sam_rpm":-20.8173008,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236598849,"thr_a_norm":0.0236598849,"thr_a_v":0.59463954,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459890157,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.069847,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.516182423,"cg_iw_a":-2.62536287,"cg_theta_rad":0.55668813,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0249558371,"mpcc_du":49.610199,"mpcc_dv":50.0045395,"mpcc_dw":50.389801,"mpcc_enc_sign":1,"mpcc_id_a":0.427263916,"mpcc_iq_a":-0.996717155,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.5497532,"mpcc_pred_id_a":-0.406352073,"mpcc_pred_iq_a":-3.88244367,"mpcc_state":1,"mpcc_theta_e":0.455177784,"mpcc_theta_mech":0.557981431,"sam_rpm":18.6178322,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218974501,"thr_a_norm":0.0236598849,"thr_a_v":0.5875898,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471924901,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.08065,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-3.27071381,"cg_iw_a":2.37628651,"cg_theta_rad":0.554027557,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0320860706,"mpcc_du":50.3656273,"mpcc_dv":48.539669,"mpcc_dw":51.460331,"mpcc_enc_sign":1,"mpcc_id_a":0.769968092,"mpcc_iq_a":-0.966977656,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.28958559,"mpcc_pred_id_a":-0.129704461,"mpcc_pred_iq_a":-2.33357882,"mpcc_state":1,"mpcc_theta_e":0.446231365,"mpcc_theta_mech":0.55619216,"sam_rpm":-2.574651,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218974501,"thr_a_norm":0.0218974501,"thr_a_v":0.5875898,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471924901,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.09008,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.02359605,"cg_iw_a":-1.61053514,"cg_theta_rad":0.558143854,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.00697572762,"mpcc_du":49.1570396,"mpcc_dv":50.8429604,"mpcc_dw":49.9419022,"mpcc_enc_sign":1,"mpcc_id_a":1.30506337,"mpcc_iq_a":-0.855309069,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.8067274,"mpcc_pred_id_a":-0.121081233,"mpcc_pred_iq_a":-2.1111145,"mpcc_state":1,"mpcc_theta_e":0.448262691,"mpcc_theta_mech":0.556598485,"sam_rpm":19.0758781,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237731785,"thr_a_norm":0.0237731785,"thr_a_v":0.595092714,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473334849,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.100029,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-2.76329994,"cg_iw_a":-1.0306344,"cg_theta_rad":0.558309793,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0547163859,"mpcc_du":50.2451515,"mpcc_dv":48.4062157,"mpcc_dw":51.5937843,"mpcc_enc_sign":1,"mpcc_id_a":3.53944016,"mpcc_iq_a":-0.371493518,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.20081997,"mpcc_pred_id_a":0.594591737,"mpcc_pred_iq_a":-1.93140757,"mpcc_state":1,"mpcc_theta_e":0.441311836,"mpcc_theta_mech":0.555208266,"sam_rpm":-9.29355431,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237731785,"thr_a_norm":0.0237731785,"thr_a_v":0.595092714,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473334849,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.112236,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.661157608,"cg_iw_a":-2.55287504,"cg_theta_rad":0.555275798,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.135378838,"mpcc_du":50.6024208,"mpcc_dv":48.0047913,"mpcc_dw":51.9952087,"mpcc_enc_sign":1,"mpcc_id_a":3.53669286,"mpcc_iq_a":-0.396794766,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.02197361,"mpcc_pred_id_a":0.587066472,"mpcc_pred_iq_a":-1.61940026,"mpcc_state":1,"mpcc_theta_e":0.448462963,"mpcc_theta_mech":0.556638479,"sam_rpm":3.85716653,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213309675,"thr_a_norm":0.0213309675,"thr_a_v":0.58532387,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465781659,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.135643,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.733645439,"cg_iw_a":-2.26292419,"cg_theta_rad":0.558766901,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.019446332,"mpcc_du":48.8594894,"mpcc_dv":47.8218231,"mpcc_dw":52.1781769,"mpcc_enc_sign":1,"mpcc_id_a":2.75709939,"mpcc_iq_a":-1.18094552,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.16715622,"mpcc_pred_id_a":0.0913525,"mpcc_pred_iq_a":-6.26662683,"mpcc_state":1,"mpcc_theta_e":0.4479146,"mpcc_theta_mech":0.556528807,"sam_rpm":12.5470896,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270588249,"thr_a_norm":0.0270588249,"thr_a_v":0.6082353,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493929952,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.142235,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.26292443,"cg_theta_rad":0.557120204,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.00764281256,"mpcc_du":49.5542259,"mpcc_dv":50.2362938,"mpcc_dw":50.4457741,"mpcc_enc_sign":1,"mpcc_id_a":1.48997092,"mpcc_iq_a":-0.467045784,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.01174235,"mpcc_pred_id_a":0.0311914571,"mpcc_pred_iq_a":-4.15968657,"mpcc_state":1,"mpcc_theta_e":0.44080162,"mpcc_theta_mech":0.555106223,"sam_rpm":0.773968875,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270588249,"thr_a_norm":0.0270588249,"thr_a_v":0.6082353,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493929952,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.148735,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-2.61832476,"cg_iw_a":-0.378244877,"cg_theta_rad":0.555350363,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0117208147,"mpcc_du":50.2105751,"mpcc_dv":50.7230263,"mpcc_dw":49.9488945,"mpcc_enc_sign":1,"mpcc_id_a":1.98125839,"mpcc_iq_a":-1.48542857,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.063715,"mpcc_pred_id_a":0.181043208,"mpcc_pred_iq_a":-2.14956427,"mpcc_state":1,"mpcc_theta_e":0.423499107,"mpcc_theta_mech":0.555372298,"sam_rpm":-27.2507877,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0315907449,"thr_a_norm":0.0315907449,"thr_a_v":0.626362979,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.155235,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.516182423,"cg_iw_a":-1.90048599,"cg_theta_rad":0.555296004,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.00179521285,"mpcc_du":49.7976494,"mpcc_dv":49.4429779,"mpcc_dw":50.5570221,"mpcc_enc_sign":1,"mpcc_id_a":-0.0839605108,"mpcc_iq_a":-0.742931902,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.37431622,"mpcc_pred_id_a":-0.646721184,"mpcc_pred_iq_a":-2.16836572,"mpcc_state":1,"mpcc_theta_e":0.442201138,"mpcc_theta_mech":0.555386186,"sam_rpm":1.63355446,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214316845,"thr_a_norm":0.0315907449,"thr_a_v":0.585726738,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463515669,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.163231,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-2.32837415,"cg_iw_a":1.07150817,"cg_theta_rad":0.553186476,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0220663957,"mpcc_du":49.5036392,"mpcc_dv":50.3596268,"mpcc_dw":50.4963608,"mpcc_enc_sign":1,"mpcc_id_a":2.49149489,"mpcc_iq_a":-0.380416453,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.10587859,"mpcc_pred_id_a":0.282554209,"mpcc_pred_iq_a":-5.66069412,"mpcc_state":1,"mpcc_theta_e":0.439372063,"mpcc_theta_mech":0.554820299,"sam_rpm":-3.33205175,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214316845,"thr_a_norm":0.0214316845,"thr_a_v":0.585726738,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463515669,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.173546,"values":{"cg_iu_a":4.08388519,"cg_iv_a":-0.298719406,"cg_iw_a":-3.78516579,"cg_theta_rad":0.553334713,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0217312388,"mpcc_du":50.0582047,"mpcc_dv":48.558075,"mpcc_dw":51.441925,"mpcc_enc_sign":1,"mpcc_id_a":2.35648131,"mpcc_iq_a":-2.04736543,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.24018908,"mpcc_pred_id_a":0.612403929,"mpcc_pred_iq_a":0.503520608,"mpcc_state":1,"mpcc_theta_e":0.431279659,"mpcc_theta_mech":0.553201854,"sam_rpm":-11.4323082,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024742499,"thr_a_norm":0.024742499,"thr_a_v":0.598969996,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4895491,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.18325,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-3.48817682,"cg_iw_a":-0.015806675,"cg_theta_rad":0.555754662,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0302674808,"mpcc_du":48.5111771,"mpcc_dv":51.4888229,"mpcc_dw":49.2825546,"mpcc_enc_sign":1,"mpcc_id_a":3.37310934,"mpcc_iq_a":0.109312057,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.2473965,"mpcc_pred_id_a":0.286279887,"mpcc_pred_iq_a":-3.3606987,"mpcc_state":1,"mpcc_theta_e":0.445631981,"mpcc_theta_mech":0.556072354,"sam_rpm":22.9911175,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024742499,"thr_a_norm":0.024742499,"thr_a_v":0.598969996,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4895491,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.193413,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.661157608,"cg_iw_a":-2.19043684,"cg_theta_rad":0.5581038,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0128910132,"mpcc_du":50.2288017,"mpcc_dv":48.690094,"mpcc_dw":51.309906,"mpcc_enc_sign":1,"mpcc_id_a":1.69816625,"mpcc_iq_a":-1.54780221,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.32233894,"mpcc_pred_id_a":-0.0951357037,"mpcc_pred_iq_a":-1.45902061,"mpcc_state":1,"mpcc_theta_e":0.44523859,"mpcc_theta_mech":0.555993617,"sam_rpm":-2.2724371,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218219161,"thr_a_norm":0.0218219161,"thr_a_v":0.587287664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477917135,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.203758,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.6759851,"cg_iw_a":-1.61053538,"cg_theta_rad":0.556836605,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.00298955105,"mpcc_du":48.8482094,"mpcc_dv":51.1517906,"mpcc_dw":49.6394768,"mpcc_enc_sign":1,"mpcc_id_a":1.05054951,"mpcc_iq_a":-0.204486772,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.08988047,"mpcc_pred_id_a":-0.0155815361,"mpcc_pred_iq_a":0.12904416,"mpcc_state":1,"mpcc_theta_e":0.432977676,"mpcc_theta_mech":0.553541422,"sam_rpm":24.4756832,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259132534,"thr_a_norm":0.0218219161,"thr_a_v":0.603653014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494685292,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.215874,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.74847269,"cg_iw_a":-0.595707893,"cg_theta_rad":0.557985961,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0290761925,"mpcc_du":50.108284,"mpcc_dv":48.9281731,"mpcc_dw":51.0718269,"mpcc_enc_sign":1,"mpcc_id_a":1.56056893,"mpcc_iq_a":-0.826830506,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.1277895,"mpcc_pred_id_a":-0.270443171,"mpcc_pred_iq_a":-4.02573872,"mpcc_state":1,"mpcc_theta_e":0.442114353,"mpcc_theta_mech":0.555368781,"sam_rpm":-2.52174973,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259132534,"thr_a_norm":0.0259132534,"thr_a_v":0.603653014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494685292,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.238914,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.09608364,"cg_iw_a":0.709069729,"cg_theta_rad":0.554762006,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.000876715116,"mpcc_du":50.3575745,"mpcc_dv":48.6096725,"mpcc_dw":51.3903275,"mpcc_enc_sign":1,"mpcc_id_a":3.46879911,"mpcc_iq_a":0.489386946,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.46332455,"mpcc_pred_id_a":0.632374942,"mpcc_pred_iq_a":0.277833283,"mpcc_state":1,"mpcc_theta_e":0.443049908,"mpcc_theta_mech":0.55555594,"sam_rpm":-7.37663078,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163962096,"thr_a_norm":0.0163962096,"thr_a_v":0.565584838,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455509245,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.245384,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.588670254,"cg_iw_a":-0.668195724,"cg_theta_rad":0.557334244,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0107394345,"mpcc_du":50.0803871,"mpcc_dv":48.7690163,"mpcc_dw":51.2309837,"mpcc_enc_sign":1,"mpcc_id_a":0.670315623,"mpcc_iq_a":-1.3392843,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.45979738,"mpcc_pred_id_a":0.268538982,"mpcc_pred_iq_a":-0.609481096,"mpcc_state":1,"mpcc_theta_e":0.448090553,"mpcc_theta_mech":0.556564033,"sam_rpm":7.21075726,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199462175,"thr_a_norm":0.0163962096,"thr_a_v":0.57978487,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483154029,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.251915,"values":{"cg_iu_a":2.48915625,"cg_iv_a":0.136206627,"cg_iw_a":-2.62536287,"cg_theta_rad":0.557388783,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0091690328,"mpcc_du":49.1332626,"mpcc_dv":50.8667374,"mpcc_dw":49.7802429,"mpcc_enc_sign":1,"mpcc_id_a":0.376710325,"mpcc_iq_a":-1.43550754,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.4926462,"mpcc_pred_id_a":-0.384794801,"mpcc_pred_iq_a":-6.52506971,"mpcc_state":1,"mpcc_theta_e":0.452937126,"mpcc_theta_mech":0.557533324,"sam_rpm":15.6132774,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199462175,"thr_a_norm":0.0199462175,"thr_a_v":0.57978487,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483154029,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.258842,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.38603449,"cg_iw_a":-1.75551081,"cg_theta_rad":0.556499183,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0198723823,"mpcc_du":49.3879128,"mpcc_dv":50.6120872,"mpcc_dw":50.3445091,"mpcc_enc_sign":1,"mpcc_id_a":2.29296303,"mpcc_iq_a":-1.80635285,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.62608337,"mpcc_pred_id_a":0.389399529,"mpcc_pred_iq_a":-5.53411961,"mpcc_state":1,"mpcc_theta_e":0.451917648,"mpcc_theta_mech":0.557329476,"sam_rpm":12.9422722,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0200217366,"thr_a_norm":0.0200217366,"thr_a_v":0.580086946,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443474501,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.268883,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.53100967,"cg_iw_a":-1.10312176,"cg_theta_rad":0.557403862,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.00471293926,"mpcc_du":50.7335358,"mpcc_dv":48.3083,"mpcc_dw":51.6917,"mpcc_enc_sign":1,"mpcc_id_a":0.117848977,"mpcc_iq_a":-3.34422922,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.0032692,"mpcc_pred_id_a":-0.632766724,"mpcc_pred_iq_a":-2.08986139,"mpcc_state":1,"mpcc_theta_e":0.445301533,"mpcc_theta_mech":0.556006193,"sam_rpm":-6.9232955,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022476539,"thr_a_norm":0.0200217366,"thr_a_v":0.589906156,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475902975,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.280663,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.298719406,"cg_iw_a":-2.40789986,"cg_theta_rad":0.557627738,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.118212178,"mpcc_du":49.9220772,"mpcc_dv":48.9972572,"mpcc_dw":51.0027428,"mpcc_enc_sign":1,"mpcc_id_a":2.58530307,"mpcc_iq_a":-0.0652361289,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.5613546,"mpcc_pred_id_a":0.255535215,"mpcc_pred_iq_a":-3.07949495,"mpcc_state":1,"mpcc_theta_e":0.461236,"mpcc_theta_mech":0.559193134,"sam_rpm":18.7006493,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022476539,"thr_a_norm":0.022476539,"thr_a_v":0.589906156,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475902975,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.290855,"values":{"cg_iu_a":1.98174238,"cg_iv_a":0.136206627,"cg_iw_a":-2.11794901,"cg_theta_rad":0.552462876,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0307358764,"mpcc_du":50.0725327,"mpcc_dv":48.8500671,"mpcc_dw":51.1499329,"mpcc_enc_sign":1,"mpcc_id_a":0.756915033,"mpcc_iq_a":-1.48154318,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.14760351,"mpcc_pred_id_a":0.0971787795,"mpcc_pred_iq_a":-2.47133017,"mpcc_state":1,"mpcc_theta_e":0.453362465,"mpcc_theta_mech":0.557618439,"sam_rpm":8.13807583,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.00706797838,"thr_a_norm":0.00706797838,"thr_a_v":0.528271914,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438237578,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.301079,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.443694592,"cg_iw_a":-0.740683556,"cg_theta_rad":0.556631863,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0456139967,"mpcc_du":49.4423256,"mpcc_dv":49.2935333,"mpcc_dw":50.7064667,"mpcc_enc_sign":1,"mpcc_id_a":3.37340903,"mpcc_iq_a":0.628738403,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.958473623,"mpcc_pred_id_a":0.882879198,"mpcc_pred_iq_a":-2.49063253,"mpcc_state":1,"mpcc_theta_e":0.442581177,"mpcc_theta_mech":0.555462182,"sam_rpm":1.26529598,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258125365,"thr_a_norm":0.00706797838,"thr_a_v":0.603250146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492922872,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.310844,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.24105906,"cg_iw_a":-0.450732708,"cg_theta_rad":0.557653129,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0143792434,"mpcc_du":49.7161446,"mpcc_dv":49.4600677,"mpcc_dw":50.5399323,"mpcc_enc_sign":1,"mpcc_id_a":-0.0162894242,"mpcc_iq_a":-0.591535211,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.26624489,"mpcc_pred_id_a":-0.349625409,"mpcc_pred_iq_a":-1.9476285,"mpcc_state":1,"mpcc_theta_e":0.448904514,"mpcc_theta_mech":0.556726813,"sam_rpm":13.2699556,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258125365,"thr_a_norm":0.0258125365,"thr_a_v":0.603250146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492922872,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.321037,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.588670254,"cg_iw_a":0.564094543,"cg_theta_rad":0.55673784,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0395085886,"mpcc_du":49.9623184,"mpcc_dv":48.8928719,"mpcc_dw":51.1071281,"mpcc_enc_sign":1,"mpcc_id_a":2.47440648,"mpcc_iq_a":-0.764381111,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.159270734,"mpcc_pred_id_a":0.371599048,"mpcc_pred_iq_a":-2.93514562,"mpcc_state":1,"mpcc_theta_e":0.447158813,"mpcc_theta_mech":0.556377649,"sam_rpm":-0.260904312,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.029274419,"thr_a_norm":0.029274419,"thr_a_v":0.617097676,"thr_b":0.00511673093,"thr_b_norm":0.00511673093,"thr_b_v":0.520466924,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.344078,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.371207237,"cg_iw_a":0.0566811562,"cg_theta_rad":0.557573318,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.000164114244,"mpcc_du":51.6912689,"mpcc_dv":47.0366249,"mpcc_dw":52.9633751,"mpcc_enc_sign":1,"mpcc_id_a":-0.256161124,"mpcc_iq_a":-0.98175329,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-23.4294395,"mpcc_pred_id_a":-0.539592624,"mpcc_pred_iq_a":2.79557705,"mpcc_state":1,"mpcc_theta_e":0.423126698,"mpcc_theta_mech":0.55157125,"sam_rpm":-34.3317108,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.029274419,"thr_a_norm":0.029274419,"thr_a_v":0.617097676,"thr_b":0.00511673093,"thr_b_norm":0.00511673093,"thr_b_v":0.520466924,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.350578,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.226231575,"cg_iw_a":-2.91531372,"cg_theta_rad":0.555752814,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0138648748,"mpcc_du":49.6793175,"mpcc_dv":49.3904533,"mpcc_dw":50.6095467,"mpcc_enc_sign":1,"mpcc_id_a":1.78741777,"mpcc_iq_a":-1.18807566,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.1033936,"mpcc_pred_id_a":0.0820351616,"mpcc_pred_iq_a":-1.3747623,"mpcc_state":1,"mpcc_theta_e":0.451618671,"mpcc_theta_mech":0.557269692,"sam_rpm":15.0782909,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0230933875,"thr_a_norm":0.0230933875,"thr_a_v":0.59237355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486829937,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.357079,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-2.11091113,"cg_iw_a":-1.03063393,"cg_theta_rad":0.552709639,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.00181962573,"mpcc_du":49.7052841,"mpcc_dv":49.5164413,"mpcc_dw":50.4835587,"mpcc_enc_sign":1,"mpcc_id_a":0.00286221178,"mpcc_iq_a":-0.73612088,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.60169125,"mpcc_pred_id_a":-0.425239652,"mpcc_pred_iq_a":-3.94383001,"mpcc_state":1,"mpcc_theta_e":0.437584877,"mpcc_theta_mech":0.55446285,"sam_rpm":-7.26333714,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0230933875,"thr_a_norm":0.0230933875,"thr_a_v":0.59237355,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486829937,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.36364,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.60349751,"cg_iw_a":-0.16078186,"cg_theta_rad":0.555752754,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0341658816,"mpcc_du":49.4817657,"mpcc_dv":49.6916924,"mpcc_dw":52.3192749,"mpcc_enc_sign":1,"mpcc_id_a":3.21346354,"mpcc_iq_a":-0.567912459,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.34207678,"mpcc_pred_id_a":0.451948434,"mpcc_pred_iq_a":-2.60526299,"mpcc_state":1,"mpcc_theta_e":0.448904514,"mpcc_theta_mech":0.556726813,"sam_rpm":10.5878277,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288841873,"thr_a_norm":0.0288841873,"thr_a_v":0.615536749,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493426412,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.37188,"values":{"cg_iu_a":5.46115017,"cg_iv_a":-0.371207237,"cg_iw_a":-0.233269691,"cg_theta_rad":0.554121137,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0115022995,"mpcc_du":49.0677261,"mpcc_dv":50.9322739,"mpcc_dw":49.6230087,"mpcc_enc_sign":1,"mpcc_id_a":0.0650873706,"mpcc_iq_a":-1.23948967,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.0264177,"mpcc_pred_id_a":-0.513336658,"mpcc_pred_iq_a":-6.48127985,"mpcc_state":1,"mpcc_theta_e":0.456201077,"mpcc_theta_mech":0.558186114,"sam_rpm":19.1010723,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0426688045,"thr_a_norm":0.0288841873,"thr_a_v":0.670675218,"thr_b":0.00772258639,"thr_b_norm":0,"thr_b_v":0.530890346,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.381676,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.53100967,"cg_iw_a":-0.523220539,"cg_theta_rad":0.553049624,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0162553284,"mpcc_du":50.5324593,"mpcc_dv":48.2695618,"mpcc_dw":51.7304382,"mpcc_enc_sign":1,"mpcc_id_a":1.88737679,"mpcc_iq_a":-1.15557027,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.27166176,"mpcc_pred_id_a":0.108724847,"mpcc_pred_iq_a":-1.22161734,"mpcc_state":1,"mpcc_theta_e":0.437524319,"mpcc_theta_mech":0.55445075,"sam_rpm":-13.6837358,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0426688045,"thr_a_norm":0.0426688045,"thr_a_v":0.670675218,"thr_b":0.00772258639,"thr_b_norm":0.00772258639,"thr_b_v":0.530890346,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.392052,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.24105906,"cg_iw_a":-1.32058454,"cg_theta_rad":0.555265844,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0612979159,"mpcc_du":50.1014328,"mpcc_dv":48.6523552,"mpcc_dw":51.3476448,"mpcc_enc_sign":1,"mpcc_id_a":3.10042548,"mpcc_iq_a":0.376843035,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.07365918,"mpcc_pred_id_a":0.531923592,"mpcc_pred_iq_a":-2.05687165,"mpcc_state":1,"mpcc_theta_e":0.446270943,"mpcc_theta_mech":0.556543529,"sam_rpm":-3.28279161,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260139555,"thr_a_norm":0.0260139555,"thr_a_v":0.604055822,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497756898,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.401848,"values":{"cg_iu_a":1.03940296,"cg_iv_a":0.208694458,"cg_iw_a":-2.04546165,"cg_theta_rad":0.554522812,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0369442813,"mpcc_du":49.5611229,"mpcc_dv":49.6632843,"mpcc_dw":50.4388771,"mpcc_enc_sign":1,"mpcc_id_a":1.72819912,"mpcc_iq_a":-1.15869749,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.12345028,"mpcc_pred_id_a":-0.172694415,"mpcc_pred_iq_a":-0.0944727957,"mpcc_state":1,"mpcc_theta_e":0.430992126,"mpcc_theta_mech":0.553144336,"sam_rpm":-5.40348768,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260139555,"thr_a_norm":0.0260139555,"thr_a_v":0.604055822,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497756898,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.412041,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.60349751,"cg_iw_a":1.14399624,"cg_theta_rad":0.555633366,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0254443828,"mpcc_du":50.2516518,"mpcc_dv":48.4511452,"mpcc_dw":51.5488548,"mpcc_enc_sign":1,"mpcc_id_a":2.57596159,"mpcc_iq_a":-0.882286668,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.74211836,"mpcc_pred_id_a":0.423325032,"mpcc_pred_iq_a":-1.77436817,"mpcc_state":1,"mpcc_theta_e":0.439285278,"mpcc_theta_mech":0.554802954,"sam_rpm":-11.6973934,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242389441,"thr_a_norm":0.0242389441,"thr_a_v":0.596955776,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.422234,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.6759851,"cg_iw_a":-1.53804779,"cg_theta_rad":0.556153715,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0118051646,"mpcc_du":49.5597038,"mpcc_dv":50.2577477,"mpcc_dw":50.4402962,"mpcc_enc_sign":1,"mpcc_id_a":1.14090121,"mpcc_iq_a":-1.2165463,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.904285669,"mpcc_pred_id_a":0.00498457626,"mpcc_pred_iq_a":-2.00660968,"mpcc_state":1,"mpcc_theta_e":0.434200764,"mpcc_theta_mech":0.553786039,"sam_rpm":0.967530429,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227031261,"thr_a_norm":0.0242389441,"thr_a_v":0.590812504,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.445457,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.733645439,"cg_iw_a":-0.16078186,"cg_theta_rad":0.552952707,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0104690213,"mpcc_du":48.795311,"mpcc_dv":51.204689,"mpcc_dw":51.8453255,"mpcc_enc_sign":1,"mpcc_id_a":1.97198725,"mpcc_iq_a":-2.32397318,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.85987139,"mpcc_pred_id_a":-0.458018184,"mpcc_pred_iq_a":-7.8297801,"mpcc_state":1,"mpcc_theta_e":0.444037914,"mpcc_theta_mech":0.555753469,"sam_rpm":6.35266209,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227031261,"thr_a_norm":0.0227031261,"thr_a_v":0.590812504,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.451988,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-3.05325079,"cg_iw_a":1.43394661,"cg_theta_rad":0.556370795,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.00916295685,"mpcc_du":49.5514526,"mpcc_dv":50.4485474,"mpcc_dw":50.3244514,"mpcc_enc_sign":1,"mpcc_id_a":0.551550269,"mpcc_iq_a":-0.91342169,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.59338284,"mpcc_pred_id_a":-0.256360501,"mpcc_pred_iq_a":-4.13409853,"mpcc_state":1,"mpcc_theta_e":0.450821877,"mpcc_theta_mech":0.55711025,"sam_rpm":14.0162086,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224891305,"thr_a_norm":0.0224891305,"thr_a_v":0.589956522,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483355463,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.458488,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.38603449,"cg_iw_a":-0.958146095,"cg_theta_rad":0.5574736,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.00483543891,"mpcc_du":50.7998505,"mpcc_dv":47.8402328,"mpcc_dw":52.1597672,"mpcc_enc_sign":1,"mpcc_id_a":0.925746799,"mpcc_iq_a":-1.00712526,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.9618034,"mpcc_pred_id_a":0.0799923167,"mpcc_pred_iq_a":1.02037907,"mpcc_state":1,"mpcc_theta_e":0.421683788,"mpcc_theta_mech":0.551282704,"sam_rpm":-30.5160408,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224891305,"thr_a_norm":0.0224891305,"thr_a_v":0.589956522,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483355463,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.465233,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.951108456,"cg_iw_a":0.12916851,"cg_theta_rad":0.552846193,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.00361086428,"mpcc_du":50.0313606,"mpcc_dv":48.9945374,"mpcc_dw":51.0054626,"mpcc_enc_sign":1,"mpcc_id_a":0.923801064,"mpcc_iq_a":-1.31817746,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.4464488,"mpcc_pred_id_a":-0.180430189,"mpcc_pred_iq_a":-0.510516107,"mpcc_state":1,"mpcc_theta_e":0.445743561,"mpcc_theta_mech":0.556094587,"sam_rpm":4.87821198,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024490729,"thr_a_norm":0.024490729,"thr_a_v":0.597962916,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480485231,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.475456,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.09608364,"cg_iw_a":0.274143696,"cg_theta_rad":0.552385926,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0492227711,"mpcc_du":50.7459183,"mpcc_dv":48.066143,"mpcc_dw":51.933857,"mpcc_enc_sign":1,"mpcc_id_a":0.83352083,"mpcc_iq_a":-0.668304503,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.5151939,"mpcc_pred_id_a":-0.125780016,"mpcc_pred_iq_a":-2.88851762,"mpcc_state":1,"mpcc_theta_e":0.442481995,"mpcc_theta_mech":0.555442333,"sam_rpm":-14.80898,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0106179863,"thr_a_norm":0.024490729,"thr_a_v":0.542471945,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.422426164,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.485222,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-2.40086174,"cg_iw_a":0.274144173,"cg_theta_rad":0.552646756,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0125929806,"mpcc_du":50.2494278,"mpcc_dv":48.5165138,"mpcc_dw":51.4834862,"mpcc_enc_sign":1,"mpcc_id_a":0.806226313,"mpcc_iq_a":-1.09348345,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.4382734,"mpcc_pred_id_a":0.122228913,"mpcc_pred_iq_a":0.286320895,"mpcc_state":1,"mpcc_theta_e":0.423508644,"mpcc_theta_mech":0.551647663,"sam_rpm":-22.9508953,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0106179863,"thr_a_norm":0.0106179863,"thr_a_v":0.542471945,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.422426164,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.495445,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.24105906,"cg_iw_a":-1.3205843,"cg_theta_rad":0.553554893,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.00972259138,"mpcc_du":50.4297905,"mpcc_dv":48.3796806,"mpcc_dw":51.6203194,"mpcc_enc_sign":1,"mpcc_id_a":1.54066443,"mpcc_iq_a":-3.08065391,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.4595747,"mpcc_pred_id_a":0.0124236671,"mpcc_pred_iq_a":-3.56058168,"mpcc_state":1,"mpcc_theta_e":0.440248013,"mpcc_theta_mech":0.554995537,"sam_rpm":-15.1729383,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222877115,"thr_a_norm":0.0222877115,"thr_a_v":0.589150846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484010041,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.505272,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.24105906,"cg_iw_a":-0.668195486,"cg_theta_rad":0.556846559,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0368689187,"mpcc_du":49.9631996,"mpcc_dv":48.505127,"mpcc_dw":51.494873,"mpcc_enc_sign":1,"mpcc_id_a":3.55134726,"mpcc_iq_a":0.0112658823,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.48471069,"mpcc_pred_id_a":1.03980839,"mpcc_pred_iq_a":-0.138705209,"mpcc_state":1,"mpcc_theta_e":0.436213017,"mpcc_theta_mech":0.55418855,"sam_rpm":-7.18186903,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222877115,"thr_a_norm":0.0222877115,"thr_a_v":0.589150846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484010041,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.516441,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.878620625,"cg_iw_a":-2.04546165,"cg_theta_rad":0.557090521,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0217733644,"mpcc_du":49.4725266,"mpcc_dv":50.2279167,"mpcc_dw":50.5274734,"mpcc_enc_sign":1,"mpcc_id_a":2.88499331,"mpcc_iq_a":-0.566023767,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.55933714,"mpcc_pred_id_a":0.369695187,"mpcc_pred_iq_a":-2.74760938,"mpcc_state":1,"mpcc_theta_e":0.439580917,"mpcc_theta_mech":0.554862082,"sam_rpm":8.1789856,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195811391,"thr_a_norm":0.0195811391,"thr_a_v":0.578324556,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483053327,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.540855,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.588670254,"cg_iw_a":-1.53804731,"cg_theta_rad":0.558265209,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.003727064,"mpcc_du":49.4539185,"mpcc_dv":50.5460815,"mpcc_dw":50.2372742,"mpcc_enc_sign":1,"mpcc_id_a":0.961272001,"mpcc_iq_a":-1.24158323,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.91541815,"mpcc_pred_id_a":-0.244904175,"mpcc_pred_iq_a":-3.61963058,"mpcc_state":1,"mpcc_theta_e":0.444628716,"mpcc_theta_mech":0.555871665,"sam_rpm":6.24903345,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262531489,"thr_a_norm":0.0262531489,"thr_a_v":0.605012596,"thr_b":0.00123941898,"thr_b_norm":0.00123941898,"thr_b_v":0.504957676,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.547417,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.371207237,"cg_iw_a":-2.11794901,"cg_theta_rad":0.552740335,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0123595735,"mpcc_du":49.3687439,"mpcc_dv":50.6312561,"mpcc_dw":50.1596642,"mpcc_enc_sign":1,"mpcc_id_a":0.632134974,"mpcc_iq_a":-0.909355164,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.8119211,"mpcc_pred_id_a":-0.103837162,"mpcc_pred_iq_a":-4.8938117,"mpcc_state":1,"mpcc_theta_e":0.454009533,"mpcc_theta_mech":0.557747781,"sam_rpm":17.25107,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262531489,"thr_a_norm":0.0262531489,"thr_a_v":0.605012596,"thr_b":0.00123941898,"thr_b_norm":0.00123941898,"thr_b_v":0.504957676,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.553886,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.53100967,"cg_iw_a":-0.740683556,"cg_theta_rad":0.556349933,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.00490386644,"mpcc_du":50.481041,"mpcc_dv":48.5162697,"mpcc_dw":51.4837303,"mpcc_enc_sign":1,"mpcc_id_a":0.265647739,"mpcc_iq_a":-0.858940542,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.72726536,"mpcc_pred_id_a":-0.531218827,"mpcc_pred_iq_a":-0.91553247,"mpcc_state":1,"mpcc_theta_e":0.437405109,"mpcc_theta_mech":0.554426968,"sam_rpm":-9.83410645,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204245895,"thr_a_norm":0.0204245895,"thr_a_v":0.581698358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451380163,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.560417,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.02359605,"cg_iw_a":-2.33541226,"cg_theta_rad":0.555722773,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0107991491,"mpcc_du":49.8277245,"mpcc_dv":49.2345161,"mpcc_dw":50.7654839,"mpcc_enc_sign":1,"mpcc_id_a":0.927349508,"mpcc_iq_a":-0.807567477,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.19848478,"mpcc_pred_id_a":-0.333568692,"mpcc_pred_iq_a":-2.65490294,"mpcc_state":1,"mpcc_theta_e":0.447844505,"mpcc_theta_mech":0.556514859,"sam_rpm":1.91380107,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204245895,"thr_a_norm":0.0204245895,"thr_a_v":0.581698358,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451380163,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.56884,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.661157608,"cg_iw_a":-0.740683556,"cg_theta_rad":0.557095706,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0168619715,"mpcc_du":48.2638969,"mpcc_dv":51.7361031,"mpcc_dw":48.7147141,"mpcc_enc_sign":1,"mpcc_id_a":0.429482937,"mpcc_iq_a":-5.28334093,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.2873755,"mpcc_pred_id_a":-0.644779682,"mpcc_pred_iq_a":-9.15156746,"mpcc_state":1,"mpcc_theta_e":0.454781055,"mpcc_theta_mech":0.557902098,"sam_rpm":20.7293186,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178564787,"thr_a_norm":0.0178564787,"thr_a_v":0.571425915,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446898609,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.579155,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.45852208,"cg_iw_a":-1.10312176,"cg_theta_rad":0.558378339,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0357911177,"mpcc_du":49.9753265,"mpcc_dv":50.5908241,"mpcc_dw":50.3875198,"mpcc_enc_sign":1,"mpcc_id_a":0.898307979,"mpcc_iq_a":-2.10723042,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.85277414,"mpcc_pred_id_a":-0.360771179,"mpcc_pred_iq_a":0.436646163,"mpcc_state":1,"mpcc_theta_e":0.427937031,"mpcc_theta_mech":0.554104805,"sam_rpm":-13.3703957,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250572115,"thr_a_norm":0.0178564787,"thr_a_v":0.600228846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.58886,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.951108456,"cg_iw_a":0.0566809177,"cg_theta_rad":0.554781497,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0301722791,"mpcc_du":50.4857521,"mpcc_dv":48.596489,"mpcc_dw":51.403511,"mpcc_enc_sign":1,"mpcc_id_a":-0.49719879,"mpcc_iq_a":-1.42801988,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.08651161,"mpcc_pred_id_a":-0.769521713,"mpcc_pred_iq_a":-3.07352257,"mpcc_state":1,"mpcc_theta_e":0.447412491,"mpcc_theta_mech":0.556428432,"sam_rpm":-4.0796566,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250572115,"thr_a_norm":0.0250572115,"thr_a_v":0.600228846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.599052,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-0.516182423,"cg_iw_a":-2.77033806,"cg_theta_rad":0.557826579,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0157444775,"mpcc_du":49.9478035,"mpcc_dv":48.9636688,"mpcc_dw":51.0363312,"mpcc_enc_sign":1,"mpcc_id_a":0.960612655,"mpcc_iq_a":-0.735529959,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.19923997,"mpcc_pred_id_a":-0.0552833751,"mpcc_pred_iq_a":-1.90006351,"mpcc_state":1,"mpcc_theta_e":0.447831631,"mpcc_theta_mech":0.556512237,"sam_rpm":2.97274566,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261146724,"thr_a_norm":0.0261146724,"thr_a_v":0.60445869,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495138496,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.609032,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.733645439,"cg_iw_a":0.346631527,"cg_theta_rad":0.551749289,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0297274031,"mpcc_du":50.0286751,"mpcc_dv":48.6644516,"mpcc_dw":51.3355484,"mpcc_enc_sign":1,"mpcc_id_a":2.75882554,"mpcc_iq_a":-2.18858075,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.27502823,"mpcc_pred_id_a":0.410782427,"mpcc_pred_iq_a":-3.42406464,"mpcc_state":1,"mpcc_theta_e":0.444060802,"mpcc_theta_mech":0.555758059,"sam_rpm":-5.94524336,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261146724,"thr_a_norm":0.0261146724,"thr_a_v":0.60445869,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495138496,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.619225,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.53100967,"cg_iw_a":-0.305757523,"cg_theta_rad":0.555778205,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0101802461,"mpcc_du":50.674984,"mpcc_dv":48.0649109,"mpcc_dw":51.9350891,"mpcc_enc_sign":1,"mpcc_id_a":0.515114665,"mpcc_iq_a":-1.34748864,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.89894247,"mpcc_pred_id_a":-0.205863953,"mpcc_pred_iq_a":-0.294634223,"mpcc_state":1,"mpcc_theta_e":0.439403534,"mpcc_theta_mech":0.557478845,"sam_rpm":-9.44643211,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262909085,"thr_a_norm":0.0262909085,"thr_a_v":0.605163634,"thr_b":0.000282675028,"thr_b_norm":0.000282675028,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.642418,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.16857147,"cg_iw_a":-0.378244877,"cg_theta_rad":0.55627197,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.000278670632,"mpcc_du":51.4695702,"mpcc_dv":47.1448822,"mpcc_dw":52.8551178,"mpcc_enc_sign":1,"mpcc_id_a":0.295373648,"mpcc_iq_a":-1.50960469,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.189846,"mpcc_pred_id_a":-0.453455925,"mpcc_pred_iq_a":3.12494612,"mpcc_state":1,"mpcc_theta_e":0.427306652,"mpcc_theta_mech":0.552407265,"sam_rpm":-25.8776779,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0171640962,"thr_a_norm":0.0262909085,"thr_a_v":0.568656385,"thr_b":0,"thr_b_norm":0.000282675028,"thr_b_v":0.44840923,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.648949,"values":{"cg_iu_a":0.966915131,"cg_iv_a":0.208694458,"cg_iw_a":-1.46556044,"cg_theta_rad":0.555076122,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.00386854028,"mpcc_du":50.0675392,"mpcc_dv":48.6186981,"mpcc_dw":51.3813019,"mpcc_enc_sign":1,"mpcc_id_a":1.22303593,"mpcc_iq_a":-2.38282919,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.2584427,"mpcc_pred_id_a":0.388216168,"mpcc_pred_iq_a":-0.651468515,"mpcc_state":1,"mpcc_theta_e":0.443207264,"mpcc_theta_mech":0.555587351,"sam_rpm":-0.348369956,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0171640962,"thr_a_norm":0.0171640962,"thr_a_v":0.568656385,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44840923,"vdc_v":54.6292953}} +{"type":"telemetry","t":110.655479,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.733645439,"cg_iw_a":-1.03063393,"cg_theta_rad":0.550787568,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0399996229,"mpcc_du":49.4455528,"mpcc_dv":49.5683861,"mpcc_dw":50.5544472,"mpcc_enc_sign":1,"mpcc_id_a":2.6291697,"mpcc_iq_a":-0.611706197,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.83856058,"mpcc_pred_id_a":0.263278008,"mpcc_pred_iq_a":-4.33683586,"mpcc_state":1,"mpcc_theta_e":0.448931217,"mpcc_theta_mech":0.556732118,"sam_rpm":6.00771713,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0983360112,"thr_a_norm":0.0983360112,"thr_a_v":0.893344045,"thr_b":0.0398992896,"thr_b_norm":0.0398992896,"thr_b_v":0.659597158,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.662041,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.588670254,"cg_iw_a":-1.39307213,"cg_theta_rad":0.555439413,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0347019434,"mpcc_du":49.631691,"mpcc_dv":50.0618401,"mpcc_dw":50.5586472,"mpcc_enc_sign":1,"mpcc_id_a":3.19529533,"mpcc_iq_a":-0.235690966,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.13162994,"mpcc_pred_id_a":0.51520896,"mpcc_pred_iq_a":-3.85724998,"mpcc_state":1,"mpcc_theta_e":0.435415268,"mpcc_theta_mech":0.554028928,"sam_rpm":-11.80089,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0983360112,"thr_a_norm":0.0983360112,"thr_a_v":0.893344045,"thr_b":0.0398992896,"thr_b_norm":0.0398992896,"thr_b_v":0.659597158,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.669731,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.48038769,"cg_theta_rad":0.555758059,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.00229975348,"mpcc_du":50.5477142,"mpcc_dv":47.9880028,"mpcc_dw":52.0119972,"mpcc_enc_sign":1,"mpcc_id_a":0.957791448,"mpcc_iq_a":-2.32092023,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.0774822,"mpcc_pred_id_a":0.372527719,"mpcc_pred_iq_a":-1.10489738,"mpcc_state":1,"mpcc_theta_e":0.429207325,"mpcc_theta_mech":0.552787423,"sam_rpm":-23.6458244,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0125062913,"thr_a_norm":0.0125062913,"thr_a_v":0.550025165,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447956055,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.682152,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.38603449,"cg_iw_a":0.491607189,"cg_theta_rad":0.558325171,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.047895655,"mpcc_du":49.5637589,"mpcc_dv":50.4362411,"mpcc_dw":50.3360023,"mpcc_enc_sign":1,"mpcc_id_a":2.3958149,"mpcc_iq_a":-1.09486806,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.70897007,"mpcc_pred_id_a":-0.100416109,"mpcc_pred_iq_a":-2.05565715,"mpcc_state":1,"mpcc_theta_e":0.430195808,"mpcc_theta_mech":0.552985072,"sam_rpm":-2.63473368,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183852166,"thr_a_norm":0.0125062913,"thr_a_v":0.573540866,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468148291,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.692039,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.38603449,"cg_iw_a":-0.595707893,"cg_theta_rad":0.555128813,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0346853733,"mpcc_du":49.4981956,"mpcc_dv":49.6546326,"mpcc_dw":50.5018044,"mpcc_enc_sign":1,"mpcc_id_a":1.27093828,"mpcc_iq_a":-0.425789684,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.0630579,"mpcc_pred_id_a":0.109238386,"mpcc_pred_iq_a":-4.14722586,"mpcc_state":1,"mpcc_theta_e":0.451544285,"mpcc_theta_mech":0.557254791,"sam_rpm":10.2330532,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183852166,"thr_a_norm":0.0183852166,"thr_a_v":0.573540866,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468148291,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.702049,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.226231575,"cg_iw_a":-1.90048599,"cg_theta_rad":0.555951893,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0364140049,"mpcc_du":50.4086647,"mpcc_dv":48.4914207,"mpcc_dw":51.5085793,"mpcc_enc_sign":1,"mpcc_id_a":0.677820206,"mpcc_iq_a":-0.319773048,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.399718165,"mpcc_pred_id_a":-0.224300697,"mpcc_pred_iq_a":-0.99808377,"mpcc_state":1,"mpcc_theta_e":0.446228504,"mpcc_theta_mech":0.556191623,"sam_rpm":1.65805769,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289848894,"thr_a_norm":0.0289848894,"thr_a_v":0.615939558,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496498048,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.712029,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.24105906,"cg_iw_a":-0.668195486,"cg_theta_rad":0.556329012,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.11783541,"mpcc_du":49.9636612,"mpcc_dv":48.550106,"mpcc_dw":51.449894,"mpcc_enc_sign":1,"mpcc_id_a":5.58319521,"mpcc_iq_a":-0.825597942,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.25654745,"mpcc_pred_id_a":1.10392606,"mpcc_pred_iq_a":-2.89550829,"mpcc_state":1,"mpcc_theta_e":0.448701382,"mpcc_theta_mech":0.557578504,"sam_rpm":-0.909073472,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289848894,"thr_a_norm":0.0289848894,"thr_a_v":0.615939558,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496498048,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.722313,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.951108456,"cg_iw_a":-1.24809694,"cg_theta_rad":0.556156993,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.06267263,"mpcc_du":49.3979301,"mpcc_dv":50.1755638,"mpcc_dw":50.6020699,"mpcc_enc_sign":1,"mpcc_id_a":4.23880625,"mpcc_iq_a":-0.545158982,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.88953185,"mpcc_pred_id_a":0.824495673,"mpcc_pred_iq_a":-1.23144794,"mpcc_state":1,"mpcc_theta_e":0.427080631,"mpcc_theta_mech":0.552362084,"sam_rpm":-5.68892002,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258503109,"thr_a_norm":0.0258503109,"thr_a_v":0.603401244,"thr_b":0.000383391976,"thr_b_norm":0.000383391976,"thr_b_v":0.501533568,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.745659,"values":{"cg_iu_a":2.12671757,"cg_iv_a":1.07854605,"cg_iw_a":-3.20526361,"cg_theta_rad":0.557812691,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0172061883,"mpcc_du":50.5061455,"mpcc_dv":48.2279167,"mpcc_dw":51.7720833,"mpcc_enc_sign":1,"mpcc_id_a":1.96016848,"mpcc_iq_a":-0.665366113,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.21089172,"mpcc_pred_id_a":0.175652668,"mpcc_pred_iq_a":0.680247843,"mpcc_state":1,"mpcc_theta_e":0.450822353,"mpcc_theta_mech":0.557110369,"sam_rpm":-4.76563978,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0258503109,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0.000383391976,"thr_b_v":0.456063181,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.752129,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.45852208,"cg_iw_a":0.0566811562,"cg_theta_rad":0.552650869,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0252714176,"mpcc_du":49.6823006,"mpcc_dv":49.2951012,"mpcc_dw":50.7048988,"mpcc_enc_sign":1,"mpcc_id_a":1.5120399,"mpcc_iq_a":-0.25680232,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.17102695,"mpcc_pred_id_a":0.0496325865,"mpcc_pred_iq_a":-2.92242765,"mpcc_state":1,"mpcc_theta_e":0.447369099,"mpcc_theta_mech":0.55641973,"sam_rpm":5.04262829,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456063181,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.75869,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.661157608,"cg_iw_a":-2.04546165,"cg_theta_rad":0.556552708,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.00484953169,"mpcc_du":50.7955894,"mpcc_dv":47.7270584,"mpcc_dw":52.2729416,"mpcc_enc_sign":1,"mpcc_id_a":1.39190292,"mpcc_iq_a":-1.54973173,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.9237185,"mpcc_pred_id_a":0.298635602,"mpcc_pred_iq_a":0.769043267,"mpcc_state":1,"mpcc_theta_e":0.427621841,"mpcc_theta_mech":0.552470326,"sam_rpm":-23.4982395,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258503109,"thr_a_norm":0.0258503109,"thr_a_v":0.603401244,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497958362,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.765221,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.153744221,"cg_iw_a":-2.33541203,"cg_theta_rad":0.553209066,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0206479095,"mpcc_du":48.510994,"mpcc_dv":51.489006,"mpcc_dw":49.1322289,"mpcc_enc_sign":1,"mpcc_id_a":2.0776515,"mpcc_iq_a":-0.592654705,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.3814297,"mpcc_pred_id_a":-0.291110635,"mpcc_pred_iq_a":-7.51821136,"mpcc_state":1,"mpcc_theta_e":0.455013752,"mpcc_theta_mech":0.557948709,"sam_rpm":22.4618015,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0258503109,"thr_a_norm":0.0258503109,"thr_a_v":0.603401244,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497958362,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.773003,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.02359605,"cg_iw_a":-1.90048623,"cg_theta_rad":0.556288302,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.00478164898,"mpcc_du":51.142128,"mpcc_dv":47.7124214,"mpcc_dw":52.2875786,"mpcc_enc_sign":1,"mpcc_id_a":-0.28980118,"mpcc_iq_a":-1.93145049,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.9104328,"mpcc_pred_id_a":-0.707209051,"mpcc_pred_iq_a":1.84774721,"mpcc_state":1,"mpcc_theta_e":0.424804211,"mpcc_theta_mech":0.551906765,"sam_rpm":-25.3925209,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0154520422,"thr_a_norm":0.0154520422,"thr_a_v":0.561808169,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458530545,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.783409,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-0.806133032,"cg_iw_a":1.65140963,"cg_theta_rad":0.558065832,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.067755118,"mpcc_du":49.9460487,"mpcc_dv":48.6021156,"mpcc_dw":51.3978844,"mpcc_enc_sign":1,"mpcc_id_a":0.982914567,"mpcc_iq_a":-1.53142107,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.54751039,"mpcc_pred_id_a":0.0217660274,"mpcc_pred_iq_a":-2.44615006,"mpcc_state":1,"mpcc_theta_e":0.445432663,"mpcc_theta_mech":0.556032419,"sam_rpm":-9.37822723,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0432227105,"thr_a_norm":0.0154520422,"thr_a_v":0.672890842,"thr_b":0.0095731318,"thr_b_norm":0,"thr_b_v":0.538292527,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.793205,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.661157608,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556986213,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0394209363,"mpcc_du":50.0335236,"mpcc_dv":48.7676735,"mpcc_dw":51.2323265,"mpcc_enc_sign":1,"mpcc_id_a":2.48380208,"mpcc_iq_a":-1.4157759,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.66736555,"mpcc_pred_id_a":0.253697008,"mpcc_pred_iq_a":-3.61768413,"mpcc_state":1,"mpcc_theta_e":0.446238518,"mpcc_theta_mech":0.557394087,"sam_rpm":-3.14910173,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0432227105,"thr_a_norm":0.0432227105,"thr_a_v":0.672890842,"thr_b":0.0095731318,"thr_b_norm":0.0095731318,"thr_b_v":0.538292527,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.803642,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.38603449,"cg_iw_a":-1.32058477,"cg_theta_rad":0.556513131,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0652672499,"mpcc_du":50.7942886,"mpcc_dv":48.0223236,"mpcc_dw":51.9776764,"mpcc_enc_sign":1,"mpcc_id_a":0.510406733,"mpcc_iq_a":-0.333495975,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.44842148,"mpcc_pred_id_a":-0.14782691,"mpcc_pred_iq_a":-1.10646117,"mpcc_state":1,"mpcc_theta_e":0.447763443,"mpcc_theta_mech":0.556498587,"sam_rpm":-1.88551784,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236220956,"thr_a_norm":0.0236220956,"thr_a_v":0.594488382,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482298017,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.813164,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.24105906,"cg_iw_a":0.129168749,"cg_theta_rad":0.557468355,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0143384449,"mpcc_du":49.5682678,"mpcc_dv":49.9656982,"mpcc_dw":50.4317322,"mpcc_enc_sign":1,"mpcc_id_a":0.12523298,"mpcc_iq_a":-0.652451217,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.96814883,"mpcc_pred_id_a":-0.210919201,"mpcc_pred_iq_a":-0.0760397762,"mpcc_state":1,"mpcc_theta_e":0.432208538,"mpcc_theta_mech":0.554343641,"sam_rpm":2.28070784,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236220956,"thr_a_norm":0.0236220956,"thr_a_v":0.594488382,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482298017,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.823235,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.878620625,"cg_iw_a":-2.62536287,"cg_theta_rad":0.551733255,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.044702705,"mpcc_du":49.3594513,"mpcc_dv":50.6405487,"mpcc_dw":50.4383545,"mpcc_enc_sign":1,"mpcc_id_a":4.08857012,"mpcc_iq_a":-0.389126629,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.32813597,"mpcc_pred_id_a":0.602663398,"mpcc_pred_iq_a":-1.57229984,"mpcc_state":1,"mpcc_theta_e":0.438892365,"mpcc_theta_mech":0.554724395,"sam_rpm":10.2843494,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212176591,"thr_a_norm":0.0212176591,"thr_a_v":0.584870636,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476205081,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.846458,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.588670254,"cg_iw_a":-0.16078186,"cg_theta_rad":0.553057313,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.00625503995,"mpcc_du":50.0034828,"mpcc_dv":48.9461403,"mpcc_dw":51.0538597,"mpcc_enc_sign":1,"mpcc_id_a":0.92768842,"mpcc_iq_a":-1.31544447,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.205781966,"mpcc_pred_id_a":-0.0881584883,"mpcc_pred_iq_a":-1.52488482,"mpcc_state":1,"mpcc_theta_e":0.442791462,"mpcc_theta_mech":0.555504203,"sam_rpm":0.686350882,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201224536,"thr_a_norm":0.0212176591,"thr_a_v":0.580489814,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450624853,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.852959,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.24105906,"cg_iw_a":-1.10312152,"cg_theta_rad":0.556059361,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0201075189,"mpcc_du":50.532608,"mpcc_dv":48.2987976,"mpcc_dw":51.7012024,"mpcc_enc_sign":1,"mpcc_id_a":2.3028152,"mpcc_iq_a":-0.608926237,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.64082289,"mpcc_pred_id_a":-0.00445712591,"mpcc_pred_iq_a":-0.390765727,"mpcc_state":1,"mpcc_theta_e":0.436858654,"mpcc_theta_mech":0.554317653,"sam_rpm":-11.6209745,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201224536,"thr_a_norm":0.0201224536,"thr_a_v":0.580489814,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450624853,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.859489,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.38603449,"cg_iw_a":-1.17560911,"cg_theta_rad":0.557309389,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0247392971,"mpcc_du":48.95681,"mpcc_dv":51.04319,"mpcc_dw":49.7470131,"mpcc_enc_sign":1,"mpcc_id_a":1.42797792,"mpcc_iq_a":-0.473323584,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.69308949,"mpcc_pred_id_a":0.191482574,"mpcc_pred_iq_a":-6.33477592,"mpcc_state":1,"mpcc_theta_e":0.425273418,"mpcc_theta_mech":0.552000582,"sam_rpm":13.6753426,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236346871,"thr_a_norm":0.0236346871,"thr_a_v":0.594538748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482348382,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.86834,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.89344811,"cg_iw_a":-0.740683317,"cg_theta_rad":0.553685009,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0322173424,"mpcc_du":49.9219704,"mpcc_dv":48.9711342,"mpcc_dw":51.0288658,"mpcc_enc_sign":1,"mpcc_id_a":2.39622617,"mpcc_iq_a":-1.42918277,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.52875853,"mpcc_pred_id_a":0.20201759,"mpcc_pred_iq_a":-3.0388546,"mpcc_state":1,"mpcc_theta_e":0.449131489,"mpcc_theta_mech":0.556772172,"sam_rpm":2.30067682,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020865187,"thr_a_norm":0.0236346871,"thr_a_v":0.583460748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459789425,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.878014,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.516182423,"cg_iw_a":-1.24809694,"cg_theta_rad":0.556765676,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0143323196,"mpcc_du":49.8276367,"mpcc_dv":48.8894196,"mpcc_dw":51.1105804,"mpcc_enc_sign":1,"mpcc_id_a":2.29013133,"mpcc_iq_a":-0.465110689,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.85078764,"mpcc_pred_id_a":0.715658903,"mpcc_pred_iq_a":-1.12067139,"mpcc_state":1,"mpcc_theta_e":0.437127113,"mpcc_theta_mech":0.554371357,"sam_rpm":-6.42816353,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020865187,"thr_a_norm":0.020865187,"thr_a_v":0.583460748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459789425,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.888206,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.6759851,"cg_iw_a":0.636582136,"cg_theta_rad":0.557229817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0206202809,"mpcc_du":50.3091621,"mpcc_dv":48.6302528,"mpcc_dw":51.3697472,"mpcc_enc_sign":1,"mpcc_id_a":1.22513604,"mpcc_iq_a":-0.856572747,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.917206347,"mpcc_pred_id_a":-0.103709988,"mpcc_pred_iq_a":-1.40588844,"mpcc_state":1,"mpcc_theta_e":0.444146156,"mpcc_theta_mech":0.555775106,"sam_rpm":-1.23249555,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248558074,"thr_a_norm":0.0248558074,"thr_a_v":0.59942323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470212847,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.898216,"values":{"cg_iu_a":4.2288599,"cg_iv_a":-0.878620625,"cg_iw_a":-3.35023928,"cg_theta_rad":0.556331694,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0262463894,"mpcc_du":50.1508064,"mpcc_dv":48.3553123,"mpcc_dw":51.6446877,"mpcc_enc_sign":1,"mpcc_id_a":3.17414546,"mpcc_iq_a":-0.446243495,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.12124157,"mpcc_pred_id_a":0.951039851,"mpcc_pred_iq_a":0.212884411,"mpcc_state":1,"mpcc_theta_e":0.432342529,"mpcc_theta_mech":0.553414464,"sam_rpm":-12.0052166,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248558074,"thr_a_norm":0.0248558074,"thr_a_v":0.59942323,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470212847,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.908409,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.96593571,"cg_iw_a":-3.35023928,"cg_theta_rad":0.552518487,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.01563688,"mpcc_du":50.2983284,"mpcc_dv":48.7447014,"mpcc_dw":51.2552986,"mpcc_enc_sign":1,"mpcc_id_a":0.0635594577,"mpcc_iq_a":-1.60337484,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.956246734,"mpcc_pred_id_a":-0.382975459,"mpcc_pred_iq_a":-2.50323653,"mpcc_state":1,"mpcc_theta_e":0.446336746,"mpcc_theta_mech":0.55621326,"sam_rpm":-0.794983208,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216960311,"thr_a_norm":0.0216960311,"thr_a_v":0.586784124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464472413,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.918602,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.878620625,"cg_iw_a":0.78155756,"cg_theta_rad":0.556489289,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0208909679,"mpcc_du":49.8650932,"mpcc_dv":48.8690033,"mpcc_dw":51.1309967,"mpcc_enc_sign":1,"mpcc_id_a":2.88559771,"mpcc_iq_a":0.847912133,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.13823462,"mpcc_pred_id_a":0.528257847,"mpcc_pred_iq_a":1.26619029,"mpcc_state":1,"mpcc_theta_e":0.428857327,"mpcc_theta_mech":0.552717388,"sam_rpm":-6.87689066,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192034841,"thr_a_norm":0.0216960311,"thr_a_v":0.576813936,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.92849,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.02359605,"cg_iw_a":-0.523220301,"cg_theta_rad":0.551906824,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0477126017,"mpcc_du":49.5564995,"mpcc_dv":48.7234612,"mpcc_dw":51.2765388,"mpcc_enc_sign":1,"mpcc_id_a":2.43351054,"mpcc_iq_a":0.319861531,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.81165648,"mpcc_pred_id_a":0.212063104,"mpcc_pred_iq_a":-3.94693589,"mpcc_state":1,"mpcc_theta_e":0.448430061,"mpcc_theta_mech":0.555531859,"sam_rpm":3.88549805,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192034841,"thr_a_norm":0.0192034841,"thr_a_v":0.576813936,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.951866,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-2.25588632,"cg_iw_a":-1.03063416,"cg_theta_rad":0.556955516,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.00142350222,"mpcc_du":50.807476,"mpcc_dv":47.9707565,"mpcc_dw":52.0292435,"mpcc_enc_sign":1,"mpcc_id_a":0.751102626,"mpcc_iq_a":-1.03011858,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.3480368,"mpcc_pred_id_a":-0.200529695,"mpcc_pred_iq_a":0.322897762,"mpcc_state":1,"mpcc_theta_e":0.429578781,"mpcc_theta_mech":0.552861631,"sam_rpm":-23.0481339,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.018825829,"thr_a_norm":0.018825829,"thr_a_v":0.575303316,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454703569,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.958397,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.588670254,"cg_iw_a":0.0566811562,"cg_theta_rad":0.553804696,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.00462113274,"mpcc_du":49.1024323,"mpcc_dv":50.8975677,"mpcc_dw":49.7370529,"mpcc_enc_sign":1,"mpcc_id_a":-0.409289867,"mpcc_iq_a":-1.56449604,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.50248241,"mpcc_pred_id_a":-0.430669576,"mpcc_pred_iq_a":-6.57572985,"mpcc_state":1,"mpcc_theta_e":0.451618671,"mpcc_theta_mech":0.557269692,"sam_rpm":14.0568266,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.018825829,"thr_a_norm":0.018825829,"thr_a_v":0.575303316,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454703569,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.964897,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.38603449,"cg_iw_a":-1.53804779,"cg_theta_rad":0.556527913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0105215674,"mpcc_du":50.5475655,"mpcc_dv":48.0286636,"mpcc_dw":51.9713364,"mpcc_enc_sign":1,"mpcc_id_a":2.04397106,"mpcc_iq_a":-0.992068708,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.19811487,"mpcc_pred_id_a":0.517464459,"mpcc_pred_iq_a":1.95790207,"mpcc_state":1,"mpcc_theta_e":0.435237408,"mpcc_theta_mech":0.553993404,"sam_rpm":-9.37978458,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0341210812,"thr_a_norm":0.0341210812,"thr_a_v":0.636484325,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479830623,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.971428,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.878620625,"cg_iw_a":-1.53804779,"cg_theta_rad":0.556916833,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.00181083556,"mpcc_du":50.3024178,"mpcc_dv":48.632019,"mpcc_dw":51.367981,"mpcc_enc_sign":1,"mpcc_id_a":0.38518399,"mpcc_iq_a":-1.4332571,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.42920256,"mpcc_pred_id_a":-0.354897857,"mpcc_pred_iq_a":-6.16119051,"mpcc_state":1,"mpcc_theta_e":0.447029591,"mpcc_theta_mech":0.55635184,"sam_rpm":1.76245296,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105561912,"thr_a_norm":0.0341210812,"thr_a_v":0.922247648,"thr_b":0.0486106575,"thr_b_norm":0,"thr_b_v":0.69444263,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.979027,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.806133032,"cg_iw_a":-2.26292443,"cg_theta_rad":0.555595815,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0170531403,"mpcc_du":50.3623848,"mpcc_dv":48.7422562,"mpcc_dw":51.2577438,"mpcc_enc_sign":1,"mpcc_id_a":-0.514231145,"mpcc_iq_a":-0.631358504,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.319837928,"mpcc_pred_id_a":-0.612103641,"mpcc_pred_iq_a":-1.10264635,"mpcc_state":1,"mpcc_theta_e":0.444355011,"mpcc_theta_mech":0.555816889,"sam_rpm":1.01072884,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105561912,"thr_a_norm":0.105561912,"thr_a_v":0.922247648,"thr_b":0.0486106575,"thr_b_norm":0.0486106575,"thr_b_v":0.69444263,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.989189,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.588670254,"cg_iw_a":-2.69785047,"cg_theta_rad":0.554341078,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.101509281,"mpcc_du":49.349247,"mpcc_dv":49.4940872,"mpcc_dw":50.650753,"mpcc_enc_sign":1,"mpcc_id_a":4.12740374,"mpcc_iq_a":-0.532887816,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.77912569,"mpcc_pred_id_a":1.05741,"mpcc_pred_iq_a":-5.24187374,"mpcc_state":1,"mpcc_theta_e":0.457061291,"mpcc_theta_mech":0.558358133,"sam_rpm":11.0731335,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212176591,"thr_a_norm":0.0212176591,"thr_a_v":0.584870636,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476910055,"vdc_v":55.2955055}} +{"type":"telemetry","t":110.999199,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-2.40086174,"cg_iw_a":1.28897119,"cg_theta_rad":0.557005346,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0526732989,"mpcc_du":50.2164803,"mpcc_dv":48.634449,"mpcc_dw":51.365551,"mpcc_enc_sign":1,"mpcc_id_a":0.884872019,"mpcc_iq_a":-0.889672518,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.721567392,"mpcc_pred_id_a":0.120156407,"mpcc_pred_iq_a":-3.03147054,"mpcc_state":1,"mpcc_theta_e":0.451494694,"mpcc_theta_mech":0.557244837,"sam_rpm":2.31479454,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212176591,"thr_a_norm":0.0212176591,"thr_a_v":0.584870636,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476910055,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.009209,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.443694592,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.552589953,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5012,"hz_app_loop":360,"hz_tim_isr":10024,"hz_vsense":360,"mpcc_cost":0.0130731212,"mpcc_du":50.8560715,"mpcc_dv":47.9974785,"mpcc_dw":52.0025215,"mpcc_enc_sign":1,"mpcc_id_a":1.30637264,"mpcc_iq_a":-1.0123868,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.3253822,"mpcc_pred_id_a":0.0520816296,"mpcc_pred_iq_a":-5.26837301,"mpcc_state":1,"mpcc_theta_e":0.457806587,"mpcc_theta_mech":0.554110229,"sam_rpm":-9.98214436,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.0264545679,"thr_a_v":0.605818272,"thr_b":0.00305218995,"thr_b_norm":0.00305218995,"thr_b_v":0.51220876,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.020103,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-2.18339872,"cg_iw_a":0.926532745,"cg_theta_rad":0.557429314,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.00340435281,"mpcc_du":49.8899841,"mpcc_dv":49.0811386,"mpcc_dw":50.9188614,"mpcc_enc_sign":1,"mpcc_id_a":1.15447378,"mpcc_iq_a":0.526452243,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.81436491,"mpcc_pred_id_a":-0.066366829,"mpcc_pred_iq_a":1.05008817,"mpcc_state":1,"mpcc_theta_e":0.438279152,"mpcc_theta_mech":0.554601789,"sam_rpm":-1.8474499,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0264545679,"thr_a_v":0.618709087,"thr_b":0.00686655939,"thr_b_norm":0.00305218995,"thr_b_v":0.527466238,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.029991,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.82096052,"cg_iw_a":0.999020576,"cg_theta_rad":0.556249738,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0577092692,"mpcc_du":49.569912,"mpcc_dv":49.497612,"mpcc_dw":50.502388,"mpcc_enc_sign":1,"mpcc_id_a":2.25946903,"mpcc_iq_a":-2.26757503,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.12879658,"mpcc_pred_id_a":-0.0506903566,"mpcc_pred_iq_a":-1.17212725,"mpcc_state":1,"mpcc_theta_e":0.427776337,"mpcc_theta_mech":0.552501202,"sam_rpm":-13.0897131,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00686655939,"thr_b_norm":0.00686655939,"thr_b_v":0.527466238,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.053551,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.45852208,"cg_iw_a":-1.10312152,"cg_theta_rad":0.556428432,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0131979473,"mpcc_du":51.8447151,"mpcc_dv":46.5932465,"mpcc_dw":53.4067535,"mpcc_enc_sign":1,"mpcc_id_a":1.84901178,"mpcc_iq_a":-1.07060087,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.6911907,"mpcc_pred_id_a":0.078798227,"mpcc_pred_iq_a":4.10876322,"mpcc_state":1,"mpcc_theta_e":0.428659916,"mpcc_theta_mech":0.55267787,"sam_rpm":-26.8260098,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297779739,"thr_a_norm":0.0297779739,"thr_a_v":0.619111896,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479931325,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.059959,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.31354666,"cg_iw_a":-0.160782337,"cg_theta_rad":0.557403862,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.000426778366,"mpcc_du":49.9049301,"mpcc_dv":49.1993027,"mpcc_dw":50.8006973,"mpcc_enc_sign":1,"mpcc_id_a":0.140656665,"mpcc_iq_a":-1.30620217,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.2146664,"mpcc_pred_id_a":-0.30336836,"mpcc_pred_iq_a":-4.06781292,"mpcc_state":1,"mpcc_theta_e":0.434075832,"mpcc_theta_mech":0.553761065,"sam_rpm":-15.5680628,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0175921172,"thr_a_norm":0.0297779739,"thr_a_v":0.570368469,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.06646,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.24105906,"cg_iw_a":-1.53804755,"cg_theta_rad":0.553179264,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.00907635223,"mpcc_du":49.148838,"mpcc_dv":50.851162,"mpcc_dw":49.7878761,"mpcc_enc_sign":1,"mpcc_id_a":1.79026663,"mpcc_iq_a":-1.68864,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.40437078,"mpcc_pred_id_a":-0.284071207,"mpcc_pred_iq_a":-6.70308113,"mpcc_state":1,"mpcc_theta_e":0.446834564,"mpcc_theta_mech":0.556312799,"sam_rpm":7.49895048,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0175921172,"thr_a_norm":0.0175921172,"thr_a_v":0.570368469,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.073051,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.806133032,"cg_iw_a":-0.668195963,"cg_theta_rad":0.554121137,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0147500308,"mpcc_du":48.7040596,"mpcc_dv":51.2959404,"mpcc_dw":49.2760353,"mpcc_enc_sign":1,"mpcc_id_a":1.45840299,"mpcc_iq_a":-1.51683164,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":22.626709,"mpcc_pred_id_a":-0.326039165,"mpcc_pred_iq_a":-5.83947802,"mpcc_state":1,"mpcc_theta_e":0.462173462,"mpcc_theta_mech":0.559380651,"sam_rpm":33.7528191,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0168619752,"thr_a_norm":0.0168619752,"thr_a_v":0.567447901,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438489348,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.085228,"values":{"cg_iu_a":1.61930418,"cg_iv_a":0.716107845,"cg_iw_a":0.129168749,"cg_theta_rad":0.555525124,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0252529867,"mpcc_du":50.3307037,"mpcc_dv":48.6701126,"mpcc_dw":51.3298874,"mpcc_enc_sign":1,"mpcc_id_a":1.35756505,"mpcc_iq_a":-0.409487545,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.190104499,"mpcc_pred_id_a":-0.192855105,"mpcc_pred_iq_a":-0.960592091,"mpcc_state":1,"mpcc_theta_e":0.443965912,"mpcc_theta_mech":0.555739105,"sam_rpm":0.705188096,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194552541,"thr_a_norm":0.0168619752,"thr_a_v":0.577821016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469205767,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.094872,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.53100967,"cg_iw_a":0.346631527,"cg_theta_rad":0.557045996,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0182869434,"mpcc_du":50.5008659,"mpcc_dv":48.7709198,"mpcc_dw":51.2290802,"mpcc_enc_sign":1,"mpcc_id_a":-2.23752427,"mpcc_iq_a":-1.57938898,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.11718655,"mpcc_pred_id_a":-0.881221712,"mpcc_pred_iq_a":-1.60186124,"mpcc_state":1,"mpcc_theta_e":0.439575672,"mpcc_theta_mech":0.554861069,"sam_rpm":-9.8992424,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194552541,"thr_a_norm":0.0194552541,"thr_a_v":0.577821016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469205767,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.107201,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.61832476,"cg_iw_a":1.28897142,"cg_theta_rad":0.556807101,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.00704429066,"mpcc_du":50.009491,"mpcc_dv":49.0173378,"mpcc_dw":50.9826622,"mpcc_enc_sign":1,"mpcc_id_a":1.36362696,"mpcc_iq_a":-1.26164567,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.3409004,"mpcc_pred_id_a":-0.120481424,"mpcc_pred_iq_a":-2.57530594,"mpcc_state":1,"mpcc_theta_e":0.428010464,"mpcc_theta_mech":0.552548051,"sam_rpm":-20.7668571,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241004825,"thr_a_norm":0.0241004825,"thr_a_v":0.59640193,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470867455,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.117577,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-1.60349751,"cg_iw_a":0.12916851,"cg_theta_rad":0.557469428,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0394404307,"mpcc_du":50.3096199,"mpcc_dv":48.2871628,"mpcc_dw":51.7128372,"mpcc_enc_sign":1,"mpcc_id_a":3.92294645,"mpcc_iq_a":-0.702910304,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.7964802,"mpcc_pred_id_a":0.688753009,"mpcc_pred_iq_a":-2.71389723,"mpcc_state":1,"mpcc_theta_e":0.422282696,"mpcc_theta_mech":0.55140245,"sam_rpm":-32.8454704,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0207141191,"thr_a_norm":0.0241004825,"thr_a_v":0.582856476,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471773833,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.127586,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.60349751,"cg_iw_a":-0.523220062,"cg_theta_rad":0.556786776,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0131432544,"mpcc_du":49.5481491,"mpcc_dv":50.4518509,"mpcc_dw":50.385498,"mpcc_enc_sign":1,"mpcc_id_a":1.77736044,"mpcc_iq_a":-2.0523324,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.9804368,"mpcc_pred_id_a":-0.00363342161,"mpcc_pred_iq_a":-4.20321751,"mpcc_state":1,"mpcc_theta_e":0.446334839,"mpcc_theta_mech":0.556212842,"sam_rpm":25.9109497,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0207141191,"thr_a_norm":0.0207141191,"thr_a_v":0.582856476,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471773833,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.150627,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.32837415,"cg_iw_a":0.999020815,"cg_theta_rad":0.55422014,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.00113312353,"mpcc_du":50.2232666,"mpcc_dv":48.8188133,"mpcc_dw":51.1811867,"mpcc_enc_sign":1,"mpcc_id_a":0.668935418,"mpcc_iq_a":-1.54916286,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.4670639,"mpcc_pred_id_a":-0.227769226,"mpcc_pred_iq_a":-2.19374537,"mpcc_state":1,"mpcc_theta_e":0.432683468,"mpcc_theta_mech":0.553482592,"sam_rpm":-14.7282457,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022476539,"thr_a_norm":0.022476539,"thr_a_v":0.589906156,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476607919,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.157158,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.09608364,"cg_iw_a":2.23131084,"cg_theta_rad":0.555055618,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.01525041,"mpcc_du":50.7750778,"mpcc_dv":48.0767326,"mpcc_dw":51.9232674,"mpcc_enc_sign":1,"mpcc_id_a":1.50179577,"mpcc_iq_a":-0.101034097,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.0486517,"mpcc_pred_id_a":0.0155711006,"mpcc_pred_iq_a":2.14498639,"mpcc_state":1,"mpcc_theta_e":0.439900398,"mpcc_theta_mech":0.554925978,"sam_rpm":-3.00294781,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022476539,"thr_a_norm":0.022476539,"thr_a_v":0.589906156,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476607919,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.163658,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.31354666,"cg_iw_a":0.491606712,"cg_theta_rad":0.556672096,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0811555162,"mpcc_du":50.3715553,"mpcc_dv":48.469883,"mpcc_dw":51.530117,"mpcc_enc_sign":1,"mpcc_id_a":2.35161448,"mpcc_iq_a":1.85282648,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.36348879,"mpcc_pred_id_a":0.226645514,"mpcc_pred_iq_a":-0.676173151,"mpcc_state":1,"mpcc_theta_e":0.443388462,"mpcc_theta_mech":0.555623591,"sam_rpm":-1.21846271,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024893567,"thr_a_norm":0.024893567,"thr_a_v":0.599574268,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477262527,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.170219,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.38603449,"cg_iw_a":-2.04546118,"cg_theta_rad":0.55703038,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0492733717,"mpcc_du":49.4916725,"mpcc_dv":49.9322433,"mpcc_dw":50.5083275,"mpcc_enc_sign":1,"mpcc_id_a":3.57543683,"mpcc_iq_a":-0.292823017,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.79411459,"mpcc_pred_id_a":0.402308464,"mpcc_pred_iq_a":0.314632326,"mpcc_state":1,"mpcc_theta_e":0.440475941,"mpcc_theta_mech":0.555041075,"sam_rpm":5.12690115,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222625285,"thr_a_norm":0.024893567,"thr_a_v":0.589050114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479327083,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.178429,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.443694592,"cg_iw_a":0.564094543,"cg_theta_rad":0.558018744,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0149453124,"mpcc_du":50.759655,"mpcc_dv":47.9133949,"mpcc_dw":52.0866051,"mpcc_enc_sign":1,"mpcc_id_a":2.43535495,"mpcc_iq_a":-0.66596657,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.7900219,"mpcc_pred_id_a":0.272895962,"mpcc_pred_iq_a":3.57702947,"mpcc_state":1,"mpcc_theta_e":0.435093403,"mpcc_theta_mech":0.553964615,"sam_rpm":-7.87609434,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222625285,"thr_a_norm":0.0222625285,"thr_a_v":0.589050114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479327083,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.188713,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.96593571,"cg_iw_a":-0.305757523,"cg_theta_rad":0.555081308,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.00285321102,"mpcc_du":49.5230103,"mpcc_dv":50.4769897,"mpcc_dw":50.399025,"mpcc_enc_sign":1,"mpcc_id_a":0.952598751,"mpcc_iq_a":-2.26208615,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.80021477,"mpcc_pred_id_a":-0.46040833,"mpcc_pred_iq_a":-3.91682839,"mpcc_state":1,"mpcc_theta_e":0.446968555,"mpcc_theta_mech":0.555037141,"sam_rpm":11.0018702,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105360493,"thr_a_norm":0.105360493,"thr_a_v":0.921441972,"thr_b":0.0508010983,"thr_b_norm":0.0508010983,"thr_b_v":0.703204393,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.198601,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.516182423,"cg_iw_a":-1.24809718,"cg_theta_rad":0.556142449,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0585899279,"mpcc_du":50.2079964,"mpcc_dv":48.5699425,"mpcc_dw":51.4300575,"mpcc_enc_sign":1,"mpcc_id_a":2.3938036,"mpcc_iq_a":-0.262793243,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0416144393,"mpcc_pred_id_a":0.499409169,"mpcc_pred_iq_a":-1.96312082,"mpcc_state":1,"mpcc_theta_e":0.447638512,"mpcc_theta_mech":0.556473613,"sam_rpm":0.981393874,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105360493,"thr_a_norm":0.105360493,"thr_a_v":0.921441972,"thr_b":0.0508010983,"thr_b_norm":0.0508010983,"thr_b_v":0.703204393,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.208763,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.82799864,"cg_theta_rad":0.554163754,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0920229629,"mpcc_du":50.2533112,"mpcc_dv":48.5345764,"mpcc_dw":51.4654236,"mpcc_enc_sign":1,"mpcc_id_a":2.40825319,"mpcc_iq_a":0.0963190868,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.55555773,"mpcc_pred_id_a":0.443279386,"mpcc_pred_iq_a":-2.05851078,"mpcc_state":1,"mpcc_theta_e":0.449904442,"mpcc_theta_mech":0.556926847,"sam_rpm":5.87724209,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0229171515,"thr_a_norm":0.0229171515,"thr_a_v":0.591668606,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48829025,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.218987,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.89344811,"cg_iw_a":1.36145902,"cg_theta_rad":0.555332124,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0251280274,"mpcc_du":49.7262573,"mpcc_dv":49.1833992,"mpcc_dw":50.8166008,"mpcc_enc_sign":1,"mpcc_id_a":3.13285637,"mpcc_iq_a":-1.06366181,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.9481132,"mpcc_pred_id_a":0.310735554,"mpcc_pred_iq_a":-0.861148417,"mpcc_state":1,"mpcc_theta_e":0.442635536,"mpcc_theta_mech":0.55547303,"sam_rpm":4.5582056,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022426188,"thr_a_norm":0.0229171515,"thr_a_v":0.589704752,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.228813,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-1.24105906,"cg_iw_a":1.07150817,"cg_theta_rad":0.553215325,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0488777645,"mpcc_du":49.6380234,"mpcc_dv":49.2001572,"mpcc_dw":50.7998428,"mpcc_enc_sign":1,"mpcc_id_a":2.62598681,"mpcc_iq_a":-0.758241236,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.3410931,"mpcc_pred_id_a":0.412024796,"mpcc_pred_iq_a":-0.339901686,"mpcc_state":1,"mpcc_theta_e":0.420845509,"mpcc_theta_mech":0.551115036,"sam_rpm":-20.9868526,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022426188,"thr_a_norm":0.022426188,"thr_a_v":0.589704752,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.25222,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.226231575,"cg_iw_a":-0.59570837,"cg_theta_rad":0.55595237,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0168190636,"mpcc_du":49.9359207,"mpcc_dv":49.0860138,"mpcc_dw":50.9139862,"mpcc_enc_sign":1,"mpcc_id_a":2.0502677,"mpcc_iq_a":-0.123595536,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.62383747,"mpcc_pred_id_a":-0.131418824,"mpcc_pred_iq_a":-2.50375032,"mpcc_state":1,"mpcc_theta_e":0.437857151,"mpcc_theta_mech":0.554517329,"sam_rpm":-8.09059715,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260643214,"thr_a_norm":0.0260643214,"thr_a_v":0.604257286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.25872,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.226231575,"cg_iw_a":-1.10312176,"cg_theta_rad":0.556533873,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0231432877,"mpcc_du":49.3699036,"mpcc_dv":50.6300964,"mpcc_dw":50.232502,"mpcc_enc_sign":1,"mpcc_id_a":2.66544533,"mpcc_iq_a":-0.536552727,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.88070774,"mpcc_pred_id_a":0.159267485,"mpcc_pred_iq_a":-4.58717203,"mpcc_state":1,"mpcc_theta_e":0.449026585,"mpcc_theta_mech":0.556751251,"sam_rpm":11.3173704,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260643214,"thr_a_norm":0.0260643214,"thr_a_v":0.604257286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.265251,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.38603449,"cg_iw_a":0.274144173,"cg_theta_rad":0.55834049,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0153797837,"mpcc_du":49.5704346,"mpcc_dv":49.8557663,"mpcc_dw":50.4295654,"mpcc_enc_sign":1,"mpcc_id_a":1.63211119,"mpcc_iq_a":-0.171152055,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.57949686,"mpcc_pred_id_a":-0.131645828,"mpcc_pred_iq_a":-3.7455821,"mpcc_state":1,"mpcc_theta_e":0.44503355,"mpcc_theta_mech":0.555952609,"sam_rpm":3.47025728,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022552073,"thr_a_norm":0.022552073,"thr_a_v":0.590208292,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476708621,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.271812,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-2.69081235,"cg_iw_a":-1.03063416,"cg_theta_rad":0.55422014,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.00548776984,"mpcc_du":49.7291603,"mpcc_dv":49.4511642,"mpcc_dw":50.5488358,"mpcc_enc_sign":1,"mpcc_id_a":-0.454872251,"mpcc_iq_a":-1.49562442,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.42750835,"mpcc_pred_id_a":-0.354359835,"mpcc_pred_iq_a":-2.0309453,"mpcc_state":1,"mpcc_theta_e":0.450700283,"mpcc_theta_mech":0.557085931,"sam_rpm":12.693965,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276756734,"thr_a_norm":0.022552073,"thr_a_v":0.610702693,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484211475,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.2817,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.371207237,"cg_iw_a":-2.11794901,"cg_theta_rad":0.553876817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0308308154,"mpcc_du":50.2374229,"mpcc_dv":48.603138,"mpcc_dw":51.396862,"mpcc_enc_sign":1,"mpcc_id_a":0.285200447,"mpcc_iq_a":-1.95082688,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.03676462,"mpcc_pred_id_a":0.123919524,"mpcc_pred_iq_a":-2.82402349,"mpcc_state":1,"mpcc_theta_e":0.45401144,"mpcc_theta_mech":0.557748199,"sam_rpm":-3.24158049,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276756734,"thr_a_norm":0.0276756734,"thr_a_v":0.610702693,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484211475,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.291985,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.226231575,"cg_iw_a":-2.26292467,"cg_theta_rad":0.556032896,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0136638405,"mpcc_du":50.0491676,"mpcc_dv":48.8060226,"mpcc_dw":51.1939774,"mpcc_enc_sign":1,"mpcc_id_a":2.33327842,"mpcc_iq_a":-0.883805156,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.3665104,"mpcc_pred_id_a":0.16689679,"mpcc_pred_iq_a":-2.44610763,"mpcc_state":1,"mpcc_theta_e":0.430859566,"mpcc_theta_mech":0.553117871,"sam_rpm":-19.2736206,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172018856,"thr_a_norm":0.0172018856,"thr_a_v":0.568807542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43582055,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.301964,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-2.32837415,"cg_iw_a":1.07150817,"cg_theta_rad":0.557150364,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0271491278,"mpcc_du":49.7613678,"mpcc_dv":49.3167992,"mpcc_dw":50.6832008,"mpcc_enc_sign":1,"mpcc_id_a":0.714228928,"mpcc_iq_a":-0.243430004,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.427557439,"mpcc_pred_id_a":-0.163174927,"mpcc_pred_iq_a":-4.0889945,"mpcc_state":1,"mpcc_theta_e":0.445055962,"mpcc_theta_mech":0.555957139,"sam_rpm":-0.171654031,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172018856,"thr_a_norm":0.0172018856,"thr_a_v":0.568807542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43582055,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.311882,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.53100967,"cg_iw_a":0.564094543,"cg_theta_rad":0.554928184,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.00750773028,"mpcc_du":50.1099091,"mpcc_dv":48.9969635,"mpcc_dw":51.0030365,"mpcc_enc_sign":1,"mpcc_id_a":-0.111196198,"mpcc_iq_a":-2.12515569,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.21511948,"mpcc_pred_id_a":-0.583196819,"mpcc_pred_iq_a":-4.70509148,"mpcc_state":1,"mpcc_theta_e":0.448826313,"mpcc_theta_mech":0.55554992,"sam_rpm":2.21767497,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183600336,"thr_a_norm":0.0183600336,"thr_a_v":0.573440135,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461451113,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.322197,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.24105906,"cg_iw_a":-1.4655602,"cg_theta_rad":0.558416963,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0197559781,"mpcc_du":50.3442917,"mpcc_dv":48.6122665,"mpcc_dw":51.3877335,"mpcc_enc_sign":1,"mpcc_id_a":0.0370160006,"mpcc_iq_a":-1.96824419,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.71662831,"mpcc_pred_id_a":-0.175013527,"mpcc_pred_iq_a":-1.90803218,"mpcc_state":1,"mpcc_theta_e":0.452836514,"mpcc_theta_mech":0.557513177,"sam_rpm":4.78475761,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0392320901,"thr_a_norm":0.0183600336,"thr_a_v":0.65692836,"thr_b":0.0131735057,"thr_b_norm":0,"thr_b_v":0.552694023,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.332207,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-2.25588632,"cg_iw_a":0.346631765,"cg_theta_rad":0.553798676,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0382776596,"mpcc_du":50.1969185,"mpcc_dv":48.7170715,"mpcc_dw":51.2829285,"mpcc_enc_sign":1,"mpcc_id_a":0.653522789,"mpcc_iq_a":-1.19793558,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.73816943,"mpcc_pred_id_a":0.0362170301,"mpcc_pred_iq_a":-3.62485886,"mpcc_state":1,"mpcc_theta_e":0.452985764,"mpcc_theta_mech":0.557543099,"sam_rpm":-3.90072179,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0392320901,"thr_a_norm":0.0392320901,"thr_a_v":0.65692836,"thr_b":0.0131735057,"thr_b_norm":0.0131735057,"thr_b_v":0.552694023,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.355614,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.45852208,"cg_iw_a":0.636582136,"cg_theta_rad":0.553521395,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0476979688,"mpcc_du":51.2921944,"mpcc_dv":47.2406502,"mpcc_dw":52.7593498,"mpcc_enc_sign":1,"mpcc_id_a":3.21784043,"mpcc_iq_a":-0.0134983351,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.6524858,"mpcc_pred_id_a":0.249476358,"mpcc_pred_iq_a":2.20172977,"mpcc_state":1,"mpcc_theta_e":0.434828281,"mpcc_theta_mech":0.553911567,"sam_rpm":-17.7055454,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228164196,"thr_a_norm":0.0228164196,"thr_a_v":0.591265678,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495490968,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.362114,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.16857147,"cg_iw_a":-0.523220062,"cg_theta_rad":0.558007061,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0733206272,"mpcc_du":49.6269302,"mpcc_dv":48.9031487,"mpcc_dw":51.0968513,"mpcc_enc_sign":1,"mpcc_id_a":5.17972946,"mpcc_iq_a":-0.500137866,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.4609623,"mpcc_pred_id_a":1.2996453,"mpcc_pred_iq_a":0.645914793,"mpcc_state":1,"mpcc_theta_e":0.450202942,"mpcc_theta_mech":0.556986511,"sam_rpm":13.6040592,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228164196,"thr_a_norm":0.0228164196,"thr_a_v":0.591265678,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495490968,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.368675,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.661157608,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556208968,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0243814159,"mpcc_du":50.6857643,"mpcc_dv":47.8695641,"mpcc_dw":52.1304359,"mpcc_enc_sign":1,"mpcc_id_a":2.94765377,"mpcc_iq_a":-0.227609843,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.7326202,"mpcc_pred_id_a":0.44732219,"mpcc_pred_iq_a":-0.166419983,"mpcc_state":1,"mpcc_theta_e":0.425167084,"mpcc_theta_mech":0.551979363,"sam_rpm":-27.41609,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0341714323,"thr_a_norm":0.0341714323,"thr_a_v":0.636685729,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488693088,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.375145,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.09608364,"cg_iw_a":-2.04546165,"cg_theta_rad":0.555592,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.00536123477,"mpcc_du":50.7467041,"mpcc_dv":47.9786148,"mpcc_dw":52.0213852,"mpcc_enc_sign":1,"mpcc_id_a":1.3739574,"mpcc_iq_a":-2.28176379,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.2195711,"mpcc_pred_id_a":0.0227195583,"mpcc_pred_iq_a":-0.0470326245,"mpcc_state":1,"mpcc_theta_e":0.429417133,"mpcc_theta_mech":0.557702005,"sam_rpm":-20.8948727,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222121775,"thr_a_norm":0.0341714323,"thr_a_v":0.58884871,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486578166,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.382988,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.0087685585,"cg_iw_a":-3.20526409,"cg_theta_rad":0.557403862,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.00435913866,"mpcc_du":49.6039772,"mpcc_dv":49.6151428,"mpcc_dw":50.3960228,"mpcc_enc_sign":1,"mpcc_id_a":0.036830686,"mpcc_iq_a":-0.660391092,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.5280273,"mpcc_pred_id_a":-0.37598893,"mpcc_pred_iq_a":-4.51421785,"mpcc_state":1,"mpcc_theta_e":0.439857006,"mpcc_theta_mech":0.554917336,"sam_rpm":-5.32085752,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222121775,"thr_a_norm":0.0222121775,"thr_a_v":0.58884871,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486578166,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.393425,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-2.18339872,"cg_iw_a":-0.378244877,"cg_theta_rad":0.554465353,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0286456775,"mpcc_du":50.0800018,"mpcc_dv":49.3915138,"mpcc_dw":50.6084862,"mpcc_enc_sign":1,"mpcc_id_a":-1.51236773,"mpcc_iq_a":-1.35698926,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.46251583,"mpcc_pred_id_a":-1.25134587,"mpcc_pred_iq_a":-3.82691765,"mpcc_state":1,"mpcc_theta_e":0.449347973,"mpcc_theta_mech":0.556815505,"sam_rpm":7.63669872,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0251327455,"thr_a_norm":0.0251327455,"thr_a_v":0.600530982,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490254045,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.40316,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.588670254,"cg_iw_a":-0.0882940292,"cg_theta_rad":0.554504037,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0540613271,"mpcc_du":49.9889297,"mpcc_dv":49.2014275,"mpcc_dw":50.7985725,"mpcc_enc_sign":1,"mpcc_id_a":-0.0201779008,"mpcc_iq_a":-0.591415346,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.93892384,"mpcc_pred_id_a":-0.513266981,"mpcc_pred_iq_a":-3.51878643,"mpcc_state":1,"mpcc_theta_e":0.455478668,"mpcc_theta_mech":0.558041692,"sam_rpm":12.6361856,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0251327455,"thr_a_norm":0.0251327455,"thr_a_v":0.600530982,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490254045,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.4132,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.371207237,"cg_iw_a":-0.885658741,"cg_theta_rad":0.555342138,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0787821859,"mpcc_du":50.25243,"mpcc_dv":48.6316872,"mpcc_dw":51.3683128,"mpcc_enc_sign":1,"mpcc_id_a":2.57035279,"mpcc_iq_a":-1.07057035,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.62092972,"mpcc_pred_id_a":0.165643692,"mpcc_pred_iq_a":-2.64685464,"mpcc_state":1,"mpcc_theta_e":0.456275463,"mpcc_theta_mech":0.558201015,"sam_rpm":9.87924099,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020865187,"thr_a_norm":0.020865187,"thr_a_v":0.583460748,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461199343,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.423363,"values":{"cg_iu_a":1.54681635,"cg_iv_a":0.136206627,"cg_iw_a":-1.68302298,"cg_theta_rad":0.551734924,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0309617184,"mpcc_du":49.8538437,"mpcc_dv":48.8749008,"mpcc_dw":51.1250992,"mpcc_enc_sign":1,"mpcc_id_a":2.53084135,"mpcc_iq_a":-1.14816868,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.42697525,"mpcc_pred_id_a":0.571865201,"mpcc_pred_iq_a":1.19245291,"mpcc_state":1,"mpcc_theta_e":0.427364349,"mpcc_theta_mech":0.552418828,"sam_rpm":-8.99585152,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024163425,"thr_a_norm":0.020865187,"thr_a_v":0.5966537,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.433342,"values":{"cg_iu_a":2.85159445,"cg_iv_a":0.208694458,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.554914057,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0389150903,"mpcc_du":50.3469772,"mpcc_dv":48.6495781,"mpcc_dw":51.3504219,"mpcc_enc_sign":1,"mpcc_id_a":0.374457657,"mpcc_iq_a":-0.780806363,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.782449365,"mpcc_pred_id_a":-0.219538942,"mpcc_pred_iq_a":-2.37930083,"mpcc_state":1,"mpcc_theta_e":0.450298309,"mpcc_theta_mech":0.557005584,"sam_rpm":1.95029473,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024163425,"thr_a_norm":0.024163425,"thr_a_v":0.5966537,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.456596,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.298719406,"cg_iw_a":-0.523220539,"cg_theta_rad":0.556916475,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0107087428,"mpcc_du":50.8192787,"mpcc_dv":47.9147186,"mpcc_dw":52.0852814,"mpcc_enc_sign":1,"mpcc_id_a":1.08754969,"mpcc_iq_a":-0.641644299,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.4643898,"mpcc_pred_id_a":0.0490706898,"mpcc_pred_iq_a":1.06891263,"mpcc_state":1,"mpcc_theta_e":0.436666489,"mpcc_theta_mech":0.554279208,"sam_rpm":-11.0306425,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0965987742,"thr_a_norm":0.0965987742,"thr_a_v":0.886395097,"thr_b":0.0409189761,"thr_b_norm":0.0409189761,"thr_b_v":0.663675904,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.463127,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.16857147,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.556528509,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.00508400239,"mpcc_du":50.2477455,"mpcc_dv":48.7585449,"mpcc_dw":51.2414551,"mpcc_enc_sign":1,"mpcc_id_a":-0.406149745,"mpcc_iq_a":0.0988544896,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.1884861,"mpcc_pred_id_a":-0.38686201,"mpcc_pred_iq_a":-2.1512599,"mpcc_state":1,"mpcc_theta_e":0.430442333,"mpcc_theta_mech":0.553034365,"sam_rpm":-17.9538364,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0965987742,"thr_a_norm":0.0965987742,"thr_a_v":0.886395097,"thr_b":0.0409189761,"thr_b_norm":0.0409189761,"thr_b_v":0.663675904,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.469627,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.0812563896,"cg_iw_a":0.854045391,"cg_theta_rad":0.555218995,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.00663918583,"mpcc_du":49.537365,"mpcc_dv":49.6539307,"mpcc_dw":50.462635,"mpcc_enc_sign":1,"mpcc_id_a":-0.0541819707,"mpcc_iq_a":-1.17617381,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.53854465,"mpcc_pred_id_a":-0.0573147796,"mpcc_pred_iq_a":-3.64250183,"mpcc_state":1,"mpcc_theta_e":0.446948528,"mpcc_theta_mech":0.556335628,"sam_rpm":6.51417351,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0324090123,"thr_a_norm":0.0324090123,"thr_a_v":0.629636049,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482449085,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.476189,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.09608364,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.557702124,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.00276965951,"mpcc_du":50.3550529,"mpcc_dv":48.7339401,"mpcc_dw":50.8544426,"mpcc_enc_sign":1,"mpcc_id_a":-0.00434586359,"mpcc_iq_a":-1.60995233,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.27207613,"mpcc_pred_id_a":-0.720995009,"mpcc_pred_iq_a":-2.32022047,"mpcc_state":1,"mpcc_theta_e":0.43667984,"mpcc_theta_mech":0.556053221,"sam_rpm":-10.4182711,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291485339,"thr_a_norm":0.0324090123,"thr_a_v":0.616594136,"thr_b":0.00233462453,"thr_b_norm":0,"thr_b_v":0.509338498,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.484428,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.226231575,"cg_iw_a":-1.17560959,"cg_theta_rad":0.554928184,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.000981144141,"mpcc_du":49.288269,"mpcc_dv":50.711731,"mpcc_dw":49.7629128,"mpcc_enc_sign":1,"mpcc_id_a":-0.345737189,"mpcc_iq_a":-0.619012117,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.17569494,"mpcc_pred_id_a":-0.996277213,"mpcc_pred_iq_a":-5.9284811,"mpcc_state":1,"mpcc_theta_e":0.44174242,"mpcc_theta_mech":0.555294394,"sam_rpm":2.28183556,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291485339,"thr_a_norm":0.0291485339,"thr_a_v":0.616594136,"thr_b":0.00233462453,"thr_b_norm":0.00233462453,"thr_b_v":0.509338498,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.494591,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.16857147,"cg_iw_a":0.12916851,"cg_theta_rad":0.556547344,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0273158513,"mpcc_du":50.2358055,"mpcc_dv":48.8320084,"mpcc_dw":51.1679916,"mpcc_enc_sign":1,"mpcc_id_a":0.588872194,"mpcc_iq_a":-2.00090146,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.422586799,"mpcc_pred_id_a":-0.381127536,"mpcc_pred_iq_a":-3.6454699,"mpcc_state":1,"mpcc_theta_e":0.450821877,"mpcc_theta_mech":0.55711025,"sam_rpm":1.91863286,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226401836,"thr_a_norm":0.0226401836,"thr_a_v":0.590560734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477917135,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.504601,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.958146095,"cg_theta_rad":0.556229591,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0232081413,"mpcc_du":50.5582504,"mpcc_dv":48.4371338,"mpcc_dw":51.5628662,"mpcc_enc_sign":1,"mpcc_id_a":0.585563064,"mpcc_iq_a":-1.85404122,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.44133759,"mpcc_pred_id_a":-0.383122861,"mpcc_pred_iq_a":-2.86817241,"mpcc_state":1,"mpcc_theta_e":0.446923256,"mpcc_theta_mech":0.556658745,"sam_rpm":-5.99417305,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0226401836,"thr_a_norm":0.0226401836,"thr_a_v":0.590560734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477917135,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.51458,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.62536287,"cg_theta_rad":0.552518487,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0491345339,"mpcc_du":50.3612595,"mpcc_dv":48.4785004,"mpcc_dw":51.5214996,"mpcc_enc_sign":1,"mpcc_id_a":2.10476923,"mpcc_iq_a":-0.864486337,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.74741268,"mpcc_pred_id_a":0.0831272081,"mpcc_pred_iq_a":-2.6999433,"mpcc_state":1,"mpcc_theta_e":0.446714878,"mpcc_theta_mech":0.556288898,"sam_rpm":-3.5623033,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0122293383,"thr_a_norm":0.0122293383,"thr_a_v":0.548917353,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449970245,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.524773,"values":{"cg_iu_a":0.604476929,"cg_iv_a":0.643620491,"cg_iw_a":-1.24809742,"cg_theta_rad":0.556651652,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0588349625,"mpcc_du":50.0143967,"mpcc_dv":48.8288155,"mpcc_dw":51.1711845,"mpcc_enc_sign":1,"mpcc_id_a":2.88804483,"mpcc_iq_a":-0.746675551,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.34805751,"mpcc_pred_id_a":0.377537489,"mpcc_pred_iq_a":-2.76564837,"mpcc_state":1,"mpcc_theta_e":0.452091217,"mpcc_theta_mech":0.557364166,"sam_rpm":5.45383835,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250446349,"thr_a_norm":0.0122293383,"thr_a_v":0.60017854,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491613656,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.535759,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.31354666,"cg_iw_a":-0.81317091,"cg_theta_rad":0.553552568,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0585326217,"mpcc_du":50.7392349,"mpcc_dv":47.9024048,"mpcc_dw":52.0975952,"mpcc_enc_sign":1,"mpcc_id_a":1.04737699,"mpcc_iq_a":0.806907296,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.87728918,"mpcc_pred_id_a":0.35352236,"mpcc_pred_iq_a":1.08345318,"mpcc_state":1,"mpcc_theta_e":0.439528465,"mpcc_theta_mech":0.554851592,"sam_rpm":-0.960689068,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250446349,"thr_a_norm":0.0250446349,"thr_a_v":0.60017854,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491613656,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.560234,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.74847269,"cg_iw_a":-1.10312176,"cg_theta_rad":0.557249784,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0157193448,"mpcc_du":52.345417,"mpcc_dv":45.8337517,"mpcc_dw":54.1662483,"mpcc_enc_sign":1,"mpcc_id_a":2.05194569,"mpcc_iq_a":-0.0916079581,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-23.6764793,"mpcc_pred_id_a":0.158197314,"mpcc_pred_iq_a":7.00532913,"mpcc_state":1,"mpcc_theta_e":0.422262192,"mpcc_theta_mech":0.551398337,"sam_rpm":-33.7501984,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025145337,"thr_a_norm":0.025145337,"thr_a_v":0.600581348,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490656883,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.566734,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.09608364,"cg_iw_a":0.564094543,"cg_theta_rad":0.5566926,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.00114775344,"mpcc_du":49.9340439,"mpcc_dv":49.1046028,"mpcc_dw":50.8953972,"mpcc_enc_sign":1,"mpcc_id_a":-0.0864219889,"mpcc_iq_a":-2.70290732,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.9694853,"mpcc_pred_id_a":-0.182828754,"mpcc_pred_iq_a":-5.10323811,"mpcc_state":1,"mpcc_theta_e":0.455687046,"mpcc_theta_mech":0.55649519,"sam_rpm":21.0342617,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0942824334,"thr_a_norm":0.025145337,"thr_a_v":0.877129734,"thr_b":0.0347127467,"thr_b_norm":0,"thr_b_v":0.638850987,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.573235,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.60349751,"cg_iw_a":-1.61053538,"cg_theta_rad":0.55417341,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.00898387935,"mpcc_du":51.1897774,"mpcc_dv":47.6470413,"mpcc_dw":52.3529587,"mpcc_enc_sign":1,"mpcc_id_a":0.5497877,"mpcc_iq_a":-0.25128141,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.45847225,"mpcc_pred_id_a":-0.464806139,"mpcc_pred_iq_a":2.5180788,"mpcc_state":1,"mpcc_theta_e":0.435424805,"mpcc_theta_mech":0.554030836,"sam_rpm":-12.0597315,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0942824334,"thr_a_norm":0.0942824334,"thr_a_v":0.877129734,"thr_b":0.0347127467,"thr_b_norm":0.0347127467,"thr_b_v":0.638850987,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.579735,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.74847269,"cg_iw_a":0.12916851,"cg_theta_rad":0.55492276,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":1.94176191e-05,"mpcc_du":49.6054573,"mpcc_dv":50.1137123,"mpcc_dw":50.3945427,"mpcc_enc_sign":1,"mpcc_id_a":0.0564762168,"mpcc_iq_a":-1.96778202,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0686569586,"mpcc_pred_id_a":-0.346856862,"mpcc_pred_iq_a":-4.81310987,"mpcc_state":1,"mpcc_theta_e":0.442948341,"mpcc_theta_mech":0.555535555,"sam_rpm":-0.742416859,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280785114,"thr_a_norm":0.0280785114,"thr_a_v":0.612314045,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489649802,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.587944,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.45852208,"cg_iw_a":-0.813171148,"cg_theta_rad":0.557702363,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0133483773,"mpcc_du":50.3015709,"mpcc_dv":48.5549622,"mpcc_dw":51.4450378,"mpcc_enc_sign":1,"mpcc_id_a":-0.104075208,"mpcc_iq_a":-0.689168155,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.18531704,"mpcc_pred_id_a":-0.0342417248,"mpcc_pred_iq_a":-0.266789824,"mpcc_state":1,"mpcc_theta_e":0.44931078,"mpcc_theta_mech":0.554654896,"sam_rpm":-9.29682732,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280785114,"thr_a_norm":0.0280785114,"thr_a_v":0.612314045,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489649802,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.598167,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.24105906,"cg_iw_a":-2.6978507,"cg_theta_rad":0.55148226,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.00256414153,"mpcc_du":49.6511765,"mpcc_dv":49.8447952,"mpcc_dw":50.3488235,"mpcc_enc_sign":1,"mpcc_id_a":0.0585102737,"mpcc_iq_a":-2.11257553,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.53195596,"mpcc_pred_id_a":-0.680560172,"mpcc_pred_iq_a":-5.17232752,"mpcc_state":1,"mpcc_theta_e":0.447514534,"mpcc_theta_mech":0.556448817,"sam_rpm":1.78206062,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0169878602,"thr_a_norm":0.0169878602,"thr_a_v":0.567951441,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.608391,"values":{"cg_iu_a":2.41666842,"cg_iv_a":0.353669643,"cg_iw_a":-2.77033806,"cg_theta_rad":0.555690706,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0602639504,"mpcc_du":49.7210197,"mpcc_dv":49.3137436,"mpcc_dw":50.6862564,"mpcc_enc_sign":1,"mpcc_id_a":2.59530377,"mpcc_iq_a":-0.51873976,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.432378918,"mpcc_pred_id_a":-0.0518749207,"mpcc_pred_iq_a":-5.81016064,"mpcc_state":1,"mpcc_theta_e":0.468076706,"mpcc_theta_mech":0.560561299,"sam_rpm":1.85859096,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195307732,"thr_a_norm":0.0169878602,"thr_a_v":0.578123093,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465328425,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.618004,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.24105906,"cg_iw_a":0.0566809177,"cg_theta_rad":0.557768166,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.010818637,"mpcc_du":50.5827789,"mpcc_dv":48.3814774,"mpcc_dw":51.6185226,"mpcc_enc_sign":1,"mpcc_id_a":1.27885687,"mpcc_iq_a":-1.93777764,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.15354538,"mpcc_pred_id_a":-0.440099508,"mpcc_pred_iq_a":-2.31107473,"mpcc_state":1,"mpcc_theta_e":0.439436436,"mpcc_theta_mech":0.554833233,"sam_rpm":-13.4270201,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195307732,"thr_a_norm":0.0195307732,"thr_a_v":0.578123093,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465328425,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.628197,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.53100967,"cg_iw_a":0.636582375,"cg_theta_rad":0.556790531,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0296730865,"mpcc_du":49.4624252,"mpcc_dv":49.9576225,"mpcc_dw":50.5375748,"mpcc_enc_sign":1,"mpcc_id_a":3.02302289,"mpcc_iq_a":0.286651999,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.97432566,"mpcc_pred_id_a":0.540090144,"mpcc_pred_iq_a":-1.27667153,"mpcc_state":1,"mpcc_theta_e":0.426170826,"mpcc_theta_mech":0.552180111,"sam_rpm":-8.15006733,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163836032,"thr_a_norm":0.0163836032,"thr_a_v":0.565534413,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482549787,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.638176,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.733645439,"cg_iw_a":-0.16078186,"cg_theta_rad":0.556414127,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.00601422973,"mpcc_du":48.9902115,"mpcc_dv":51.0097885,"mpcc_dw":49.5784454,"mpcc_enc_sign":1,"mpcc_id_a":0.320946842,"mpcc_iq_a":-1.0735364,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.4605503,"mpcc_pred_id_a":-0.323162198,"mpcc_pred_iq_a":-3.24576688,"mpcc_state":1,"mpcc_theta_e":0.442174911,"mpcc_theta_mech":0.55538094,"sam_rpm":14.891326,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163836032,"thr_a_norm":0.0163836032,"thr_a_v":0.565534413,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482549787,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.66143,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.45852208,"cg_iw_a":0.564094782,"cg_theta_rad":0.554601312,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0157242138,"mpcc_du":50.4421272,"mpcc_dv":48.3281441,"mpcc_dw":51.6718559,"mpcc_enc_sign":1,"mpcc_id_a":2.47122145,"mpcc_iq_a":-0.587602139,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.71535206,"mpcc_pred_id_a":0.272992224,"mpcc_pred_iq_a":0.511829615,"mpcc_state":1,"mpcc_theta_e":0.43409729,"mpcc_theta_mech":0.553765416,"sam_rpm":-13.1336946,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262783319,"thr_a_norm":0.0262783319,"thr_a_v":0.605113328,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49030441,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.6679,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.588670254,"cg_iw_a":-1.61053514,"cg_theta_rad":0.557872236,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.017232703,"mpcc_du":49.5943527,"mpcc_dv":49.8594933,"mpcc_dw":50.4056473,"mpcc_enc_sign":1,"mpcc_id_a":1.38208187,"mpcc_iq_a":-0.188670129,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.166833311,"mpcc_pred_id_a":-0.206377551,"mpcc_pred_iq_a":-4.59860897,"mpcc_state":1,"mpcc_theta_e":0.44344902,"mpcc_theta_mech":0.55563575,"sam_rpm":0.142980129,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0119649768,"thr_a_norm":0.0262783319,"thr_a_v":0.547859907,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.42700848,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.674431,"values":{"cg_iu_a":2.12671757,"cg_iv_a":0.861083508,"cg_iw_a":0.201656342,"cg_theta_rad":0.555998504,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0137585821,"mpcc_du":49.8970604,"mpcc_dv":48.9498062,"mpcc_dw":51.0501938,"mpcc_enc_sign":1,"mpcc_id_a":2.26899099,"mpcc_iq_a":-0.679481328,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.83654165,"mpcc_pred_id_a":0.317295849,"mpcc_pred_iq_a":-2.03308558,"mpcc_state":1,"mpcc_theta_e":0.434528351,"mpcc_theta_mech":0.553851604,"sam_rpm":-10.7927284,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0119649768,"thr_a_norm":0.0119649768,"thr_a_v":0.547859907,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.42700848,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.680962,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.951108456,"cg_iw_a":-1.75551081,"cg_theta_rad":0.553813279,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0153419096,"mpcc_du":49.6201324,"mpcc_dv":49.6093712,"mpcc_dw":50.3906288,"mpcc_enc_sign":1,"mpcc_id_a":-0.448892176,"mpcc_iq_a":-1.1274178,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.9470787,"mpcc_pred_id_a":-0.469301373,"mpcc_pred_iq_a":-1.20927966,"mpcc_state":1,"mpcc_theta_e":0.458990574,"mpcc_theta_mech":0.558744013,"sam_rpm":26.9170685,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0342092067,"thr_a_norm":0.0342092067,"thr_a_v":0.636836827,"thr_b":0.00530555844,"thr_b_norm":0.00530555844,"thr_b_v":0.521222234,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.689018,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.733645439,"cg_iw_a":-0.378244877,"cg_theta_rad":0.554367125,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0379398502,"mpcc_du":49.1223526,"mpcc_dv":50.8776474,"mpcc_dw":50.0266838,"mpcc_enc_sign":1,"mpcc_id_a":2.76377225,"mpcc_iq_a":-0.841926992,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.9533014,"mpcc_pred_id_a":0.335790217,"mpcc_pred_iq_a":-5.77321243,"mpcc_state":1,"mpcc_theta_e":0.457145214,"mpcc_theta_mech":0.558375001,"sam_rpm":21.2462864,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0342092067,"thr_a_norm":0.0342092067,"thr_a_v":0.636836827,"thr_b":0.00530555844,"thr_b_norm":0.00530555844,"thr_b_v":0.521222234,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.699181,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.516182423,"cg_iw_a":-2.69785023,"cg_theta_rad":0.554269791,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0121086473,"mpcc_du":50.2043953,"mpcc_dv":48.4913101,"mpcc_dw":51.5086899,"mpcc_enc_sign":1,"mpcc_id_a":2.14305162,"mpcc_iq_a":-1.9556514,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.31126547,"mpcc_pred_id_a":0.339834154,"mpcc_pred_iq_a":-4.49196768,"mpcc_state":1,"mpcc_theta_e":0.448508739,"mpcc_theta_mech":0.556647658,"sam_rpm":-6.74043322,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263664424,"thr_a_norm":0.0263664424,"thr_a_v":0.60546577,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49685052,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.709557,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.09608364,"cg_iw_a":-1.82799816,"cg_theta_rad":0.557031155,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0181368608,"mpcc_du":50.9877892,"mpcc_dv":47.7027016,"mpcc_dw":50.4141159,"mpcc_enc_sign":1,"mpcc_id_a":0.219066381,"mpcc_iq_a":-0.78995049,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.019392,"mpcc_pred_id_a":0.00338119292,"mpcc_pred_iq_a":-0.643126369,"mpcc_state":1,"mpcc_theta_e":0.43569088,"mpcc_theta_mech":0.554084063,"sam_rpm":-20.4970322,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178942531,"thr_a_norm":0.0263664424,"thr_a_v":0.571577013,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457624167,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.71917,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-2.0384233,"cg_iw_a":-0.523220301,"cg_theta_rad":0.557031155,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.00876304321,"mpcc_du":49.5655327,"mpcc_dv":50.0430603,"mpcc_dw":50.4344673,"mpcc_enc_sign":1,"mpcc_id_a":1.34708118,"mpcc_iq_a":1.26564753,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.05250549,"mpcc_pred_id_a":-0.0493019298,"mpcc_pred_iq_a":-0.911853015,"mpcc_state":1,"mpcc_theta_e":0.441582203,"mpcc_theta_mech":0.555262387,"sam_rpm":10.0935583,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178942531,"thr_a_norm":0.0178942531,"thr_a_v":0.571577013,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457624167,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.729576,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.588670254,"cg_iw_a":-2.11794901,"cg_theta_rad":0.551857531,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0500283614,"mpcc_du":49.5860176,"mpcc_dv":49.4243736,"mpcc_dw":50.5756264,"mpcc_enc_sign":1,"mpcc_id_a":2.54246616,"mpcc_iq_a":-0.631128192,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.69747162,"mpcc_pred_id_a":0.139308348,"mpcc_pred_iq_a":-4.30103254,"mpcc_state":1,"mpcc_theta_e":0.454111099,"mpcc_theta_mech":0.557768166,"sam_rpm":8.66530895,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022124052,"thr_a_norm":0.022124052,"thr_a_v":0.588496208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480787337,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.739769,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.806133032,"cg_iw_a":-2.04546142,"cg_theta_rad":0.555475533,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.00545837404,"mpcc_du":49.9925041,"mpcc_dv":49.0080872,"mpcc_dw":50.9919128,"mpcc_enc_sign":1,"mpcc_id_a":-0.0246264562,"mpcc_iq_a":-1.60976982,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.88891172,"mpcc_pred_id_a":0.111681551,"mpcc_pred_iq_a":-2.60127234,"mpcc_state":1,"mpcc_theta_e":0.449277401,"mpcc_theta_mech":0.556801438,"sam_rpm":-0.508359373,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022124052,"thr_a_norm":0.022124052,"thr_a_v":0.588496208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480787337,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.763206,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.32837415,"cg_iw_a":-0.45073247,"cg_theta_rad":0.558818698,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0182114486,"mpcc_du":50.7345581,"mpcc_dv":51.8832855,"mpcc_dw":48.7456779,"mpcc_enc_sign":1,"mpcc_id_a":1.77915466,"mpcc_iq_a":-2.71050453,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.61627388,"mpcc_pred_id_a":0.107510068,"mpcc_pred_iq_a":2.17672777,"mpcc_state":1,"mpcc_theta_e":0.448858738,"mpcc_theta_mech":0.556717634,"sam_rpm":-13.6131334,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02403754,"thr_a_norm":0.02403754,"thr_a_v":0.59615016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49257037,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.769707,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.661157608,"cg_iw_a":-1.10312128,"cg_theta_rad":0.554622293,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.00600919081,"mpcc_du":49.746357,"mpcc_dv":49.226757,"mpcc_dw":50.773243,"mpcc_enc_sign":1,"mpcc_id_a":1.06318569,"mpcc_iq_a":-0.863832891,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.72896528,"mpcc_pred_id_a":0.0443621576,"mpcc_pred_iq_a":-3.37853432,"mpcc_state":1,"mpcc_theta_e":0.438464642,"mpcc_theta_mech":0.554638863,"sam_rpm":-7.33629131,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02592583,"thr_a_norm":0.02403754,"thr_a_v":0.60370332,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48879379,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.776207,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.153744221,"cg_iw_a":-2.19043636,"cg_theta_rad":0.552918613,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0131568369,"mpcc_du":49.5186996,"mpcc_dv":50.0583916,"mpcc_dw":50.4813004,"mpcc_enc_sign":1,"mpcc_id_a":2.03748059,"mpcc_iq_a":-0.497092068,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.03625524,"mpcc_pred_id_a":0.196114182,"mpcc_pred_iq_a":-4.03865767,"mpcc_state":1,"mpcc_theta_e":0.442176819,"mpcc_theta_mech":0.555381238,"sam_rpm":0.844201267,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02592583,"thr_a_norm":0.02592583,"thr_a_v":0.60370332,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48879379,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.782951,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.443694592,"cg_iw_a":-1.61053562,"cg_theta_rad":0.553327322,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.00745617598,"mpcc_du":49.067585,"mpcc_dv":50.932415,"mpcc_dw":49.5807571,"mpcc_enc_sign":1,"mpcc_id_a":-0.0647459179,"mpcc_iq_a":-0.522211432,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.1151962,"mpcc_pred_id_a":-0.743569732,"mpcc_pred_iq_a":-5.81908989,"mpcc_state":1,"mpcc_theta_e":0.451419353,"mpcc_theta_mech":0.557229817,"sam_rpm":16.063324,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209910721,"thr_a_norm":0.0209910721,"thr_a_v":0.583964288,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.793144,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.02359605,"cg_iw_a":-0.523220301,"cg_theta_rad":0.55537957,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.00355961267,"mpcc_du":50.302124,"mpcc_dv":48.9763489,"mpcc_dw":51.0236511,"mpcc_enc_sign":1,"mpcc_id_a":-1.16240621,"mpcc_iq_a":-4.02985954,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.34531975,"mpcc_pred_id_a":-1.03806674,"mpcc_pred_iq_a":-4.70311832,"mpcc_state":1,"mpcc_theta_e":0.442941189,"mpcc_theta_mech":0.555534124,"sam_rpm":-9.1316843,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023030445,"thr_a_norm":0.0209910721,"thr_a_v":0.59212178,"thr_b":0.000282675028,"thr_b_norm":0,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.803185,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.371207237,"cg_iw_a":-0.595708132,"cg_theta_rad":0.557001114,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0178724024,"mpcc_du":50.6416397,"mpcc_dv":48.0860405,"mpcc_dw":51.9139595,"mpcc_enc_sign":1,"mpcc_id_a":2.26751804,"mpcc_iq_a":-0.684380889,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.54935217,"mpcc_pred_id_a":0.187608793,"mpcc_pred_iq_a":1.1638093,"mpcc_state":1,"mpcc_theta_e":0.436688423,"mpcc_theta_mech":0.554283559,"sam_rpm":-8.05571938,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023030445,"thr_a_norm":0.023030445,"thr_a_v":0.59212178,"thr_b":0.000282675028,"thr_b_norm":0.000282675028,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.814537,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.951108456,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.556090415,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0461817496,"mpcc_du":50.1748238,"mpcc_dv":48.7701683,"mpcc_dw":51.2298317,"mpcc_enc_sign":1,"mpcc_id_a":1.20638597,"mpcc_iq_a":-0.724259019,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.26821804,"mpcc_pred_id_a":0.064699769,"mpcc_pred_iq_a":-2.01399469,"mpcc_state":1,"mpcc_theta_e":0.454232216,"mpcc_theta_mech":0.557792366,"sam_rpm":8.71404266,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213309675,"thr_a_norm":0.0213309675,"thr_a_v":0.58532387,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462861091,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.825798,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.661157608,"cg_iw_a":-0.305757523,"cg_theta_rad":0.55361712,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0240585934,"mpcc_du":50.3473625,"mpcc_dv":48.531498,"mpcc_dw":51.468502,"mpcc_enc_sign":1,"mpcc_id_a":1.26405144,"mpcc_iq_a":-1.94746757,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.00551904179,"mpcc_pred_id_a":0.0521800183,"mpcc_pred_iq_a":-2.13298631,"mpcc_state":1,"mpcc_theta_e":0.447057724,"mpcc_theta_mech":0.556357503,"sam_rpm":0.7582407,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296646804,"thr_a_norm":0.0213309675,"thr_a_v":0.618658721,"thr_b":0.00592240691,"thr_b_norm":0,"thr_b_v":0.523689628,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.835594,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.09608364,"cg_iw_a":-1.24809694,"cg_theta_rad":0.552282333,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0219416041,"mpcc_du":50.0410233,"mpcc_dv":48.9228783,"mpcc_dw":51.0771217,"mpcc_enc_sign":1,"mpcc_id_a":1.01155341,"mpcc_iq_a":-1.46105468,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.29500794,"mpcc_pred_id_a":0.000866699731,"mpcc_pred_iq_a":-2.5179224,"mpcc_state":1,"mpcc_theta_e":0.4505229,"mpcc_theta_mech":0.557050526,"sam_rpm":5.54145861,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296646804,"thr_a_norm":0.0296646804,"thr_a_v":0.618658721,"thr_b":0.00592240691,"thr_b_norm":0.00592240691,"thr_b_v":0.523689628,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.845787,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.89344811,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.555433095,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0080508953,"mpcc_du":49.662693,"mpcc_dv":49.2746162,"mpcc_dw":50.7253838,"mpcc_enc_sign":1,"mpcc_id_a":1.73819411,"mpcc_iq_a":0.57655859,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.3112731,"mpcc_pred_id_a":0.174450159,"mpcc_pred_iq_a":0.711691618,"mpcc_state":1,"mpcc_theta_e":0.438177109,"mpcc_theta_mech":0.554581344,"sam_rpm":5.81324434,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0426688045,"thr_a_norm":0.0426688045,"thr_a_v":0.670675218,"thr_b":0.00793659687,"thr_b_norm":0.00793659687,"thr_b_v":0.531746387,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.868736,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.38603449,"cg_iw_a":0.854045391,"cg_theta_rad":0.557324231,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.014020904,"mpcc_du":49.8983803,"mpcc_dv":48.8897171,"mpcc_dw":51.1102829,"mpcc_enc_sign":1,"mpcc_id_a":2.26356411,"mpcc_iq_a":-1.71413457,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.06844974,"mpcc_pred_id_a":0.247840852,"mpcc_pred_iq_a":-7.094522,"mpcc_state":1,"mpcc_theta_e":0.441755295,"mpcc_theta_mech":0.555296957,"sam_rpm":1.7597357,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0426688045,"thr_a_norm":0.0426688045,"thr_a_v":0.670675218,"thr_b":0.00793659687,"thr_b_norm":0.00793659687,"thr_b_v":0.531746387,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.875328,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-1.82096052,"cg_iw_a":-0.740683079,"cg_theta_rad":0.555313647,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0159994476,"mpcc_du":49.497509,"mpcc_dv":50.502491,"mpcc_dw":50.3051872,"mpcc_enc_sign":1,"mpcc_id_a":1.21693671,"mpcc_iq_a":0.304558218,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.6793952,"mpcc_pred_id_a":-0.199391812,"mpcc_pred_iq_a":-4.98133087,"mpcc_state":1,"mpcc_theta_e":0.445507526,"mpcc_theta_mech":0.55604738,"sam_rpm":4.74554014,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220359415,"thr_a_norm":0.0220359415,"thr_a_v":0.588143766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469860375,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.881798,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.82096052,"cg_iw_a":1.14399624,"cg_theta_rad":0.556192577,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0181242544,"mpcc_du":50.3985214,"mpcc_dv":48.2613297,"mpcc_dw":51.7386703,"mpcc_enc_sign":1,"mpcc_id_a":2.51725698,"mpcc_iq_a":-2.0392561,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.332099,"mpcc_pred_id_a":0.372410327,"mpcc_pred_iq_a":-2.0212121,"mpcc_state":1,"mpcc_theta_e":0.452837944,"mpcc_theta_mech":0.557513475,"sam_rpm":-17.6607227,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220359415,"thr_a_norm":0.0220359415,"thr_a_v":0.588143766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469860375,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.888329,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.16857147,"cg_iw_a":0.0566811562,"cg_theta_rad":0.556469262,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.00442563742,"mpcc_du":50.0750542,"mpcc_dv":48.9087715,"mpcc_dw":51.0912285,"mpcc_enc_sign":1,"mpcc_id_a":0.711966455,"mpcc_iq_a":-0.752897501,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.18742085,"mpcc_pred_id_a":-0.154735118,"mpcc_pred_iq_a":0.185663924,"mpcc_state":1,"mpcc_theta_e":0.445525646,"mpcc_theta_mech":0.556051075,"sam_rpm":5.92293262,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10243991,"thr_a_norm":0.10243991,"thr_a_v":0.909759641,"thr_b":0.046785295,"thr_b_norm":0.046785295,"thr_b_v":0.68714118,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.896568,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.38603449,"cg_iw_a":-0.885658741,"cg_theta_rad":0.55342406,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.00103049516,"mpcc_du":49.1843185,"mpcc_dv":50.8156815,"mpcc_dw":49.8183136,"mpcc_enc_sign":1,"mpcc_id_a":0.63611728,"mpcc_iq_a":-1.41379523,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.7679925,"mpcc_pred_id_a":-0.378277928,"mpcc_pred_iq_a":-5.01600981,"mpcc_state":1,"mpcc_theta_e":0.446630478,"mpcc_theta_mech":0.55627197,"sam_rpm":10.5471344,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0142183602,"thr_a_norm":0.10243991,"thr_a_v":0.556873441,"thr_b":0,"thr_b_norm":0.046785295,"thr_b_v":0.448509932,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.906548,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.16857147,"cg_iw_a":-1.61053514,"cg_theta_rad":0.556830883,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.019900376,"mpcc_du":49.3623466,"mpcc_dv":50.6376534,"mpcc_dw":50.1290932,"mpcc_enc_sign":1,"mpcc_id_a":1.824224,"mpcc_iq_a":-1.11231196,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.84532833,"mpcc_pred_id_a":-0.0953316614,"mpcc_pred_iq_a":-5.32580566,"mpcc_state":1,"mpcc_theta_e":0.451369762,"mpcc_theta_mech":0.557219863,"sam_rpm":15.1417494,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0142183602,"thr_a_norm":0.0142183602,"thr_a_v":0.556873441,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448509932,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.917778,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.16857147,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556012988,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0640627146,"mpcc_du":50.1619568,"mpcc_dv":48.584877,"mpcc_dw":51.415123,"mpcc_enc_sign":1,"mpcc_id_a":3.35866904,"mpcc_iq_a":-0.267451853,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.03680229,"mpcc_pred_id_a":0.415156633,"mpcc_pred_iq_a":-2.11506104,"mpcc_state":1,"mpcc_theta_e":0.449254036,"mpcc_theta_mech":0.55679673,"sam_rpm":-1.35121441,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0321572423,"thr_a_norm":0.0321572423,"thr_a_v":0.628628969,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482902259,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.929161,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.806133032,"cg_iw_a":-0.958146572,"cg_theta_rad":0.554027557,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0843081102,"mpcc_du":50.4461327,"mpcc_dv":48.3703346,"mpcc_dw":51.6296654,"mpcc_enc_sign":1,"mpcc_id_a":0.495685309,"mpcc_iq_a":-0.698382914,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.519542754,"mpcc_pred_id_a":0.0564477593,"mpcc_pred_iq_a":-3.13529825,"mpcc_state":1,"mpcc_theta_e":0.448408127,"mpcc_theta_mech":0.556627572,"sam_rpm":0.957215011,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0231185555,"thr_a_norm":0.0321572423,"thr_a_v":0.592474222,"thr_b":0.000282675028,"thr_b_norm":0,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.938957,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.33541203,"cg_theta_rad":0.552336037,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0339948386,"mpcc_du":49.4698448,"mpcc_dv":50.4439087,"mpcc_dw":50.5301552,"mpcc_enc_sign":1,"mpcc_id_a":2.98087883,"mpcc_iq_a":-0.175098419,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.94859684,"mpcc_pred_id_a":0.541808546,"mpcc_pred_iq_a":-0.946766973,"mpcc_state":1,"mpcc_theta_e":0.433128834,"mpcc_theta_mech":0.553571701,"sam_rpm":0.996005297,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0231185555,"thr_a_norm":0.0231185555,"thr_a_v":0.592474222,"thr_b":0.000282675028,"thr_b_norm":0.000282675028,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.94912,"values":{"cg_iu_a":2.85159445,"cg_iv_a":0.353669643,"cg_iw_a":-0.668195724,"cg_theta_rad":0.554431677,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0453805476,"mpcc_du":50.2694893,"mpcc_dv":48.5535812,"mpcc_dw":51.4464188,"mpcc_enc_sign":1,"mpcc_id_a":2.51052809,"mpcc_iq_a":-0.68916887,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.960724533,"mpcc_pred_id_a":0.150808886,"mpcc_pred_iq_a":-1.86459434,"mpcc_state":1,"mpcc_theta_e":0.447262287,"mpcc_theta_mech":0.556398392,"sam_rpm":-1.03716838,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022954911,"thr_a_norm":0.022954911,"thr_a_v":0.591819644,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478924245,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.972191,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.82096052,"cg_iw_a":-1.10312176,"cg_theta_rad":0.554754257,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.00838345848,"mpcc_du":51.1522484,"mpcc_dv":47.397274,"mpcc_dw":52.602726,"mpcc_enc_sign":1,"mpcc_id_a":1.77354896,"mpcc_iq_a":-1.04931688,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.5528164,"mpcc_pred_id_a":0.122774944,"mpcc_pred_iq_a":3.08943939,"mpcc_state":1,"mpcc_theta_e":0.454908848,"mpcc_theta_mech":0.557927668,"sam_rpm":-23.6958656,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022954911,"thr_a_norm":0.022954911,"thr_a_v":0.591819644,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478924245,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.978691,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.588670254,"cg_iw_a":-0.233269453,"cg_theta_rad":0.558926642,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0530908071,"mpcc_du":50.0987511,"mpcc_dv":48.6310577,"mpcc_dw":51.3689423,"mpcc_enc_sign":1,"mpcc_id_a":0.559151173,"mpcc_iq_a":-0.755738258,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.2469196,"mpcc_pred_id_a":0.204248101,"mpcc_pred_iq_a":2.96797395,"mpcc_state":1,"mpcc_theta_e":0.427023411,"mpcc_theta_mech":0.552350581,"sam_rpm":19.542305,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022224769,"thr_a_norm":0.022224769,"thr_a_v":0.588899076,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.985222,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.45852208,"cg_iw_a":-0.958146334,"cg_theta_rad":0.557960987,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.00303641916,"mpcc_du":49.3222885,"mpcc_dv":50.6777115,"mpcc_dw":49.9530258,"mpcc_enc_sign":1,"mpcc_id_a":0.382500142,"mpcc_iq_a":-0.266790777,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.11114359,"mpcc_pred_id_a":-0.318396538,"mpcc_pred_iq_a":-5.20403385,"mpcc_state":1,"mpcc_theta_e":0.437430859,"mpcc_theta_mech":0.556270719,"sam_rpm":19.4582691,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022224769,"thr_a_norm":0.022224769,"thr_a_v":0.588899076,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481794477,"vdc_v":55.2955055}} +{"type":"telemetry","t":111.991753,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.878620625,"cg_iw_a":-2.11794901,"cg_theta_rad":0.556507409,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0119108418,"mpcc_du":50.533844,"mpcc_dv":48.0879288,"mpcc_dw":51.9120712,"mpcc_enc_sign":1,"mpcc_id_a":2.15481353,"mpcc_iq_a":0.138083994,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.8584042,"mpcc_pred_id_a":0.354918301,"mpcc_pred_iq_a":-0.245326594,"mpcc_state":1,"mpcc_theta_e":0.421963692,"mpcc_theta_mech":0.551338673,"sam_rpm":-29.8964386,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0119523853,"thr_a_norm":0.0119523853,"thr_a_v":0.547809541,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.003929,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.45852208,"cg_iw_a":0.999020815,"cg_theta_rad":0.556627154,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5014,"hz_app_loop":368,"hz_tim_isr":10028,"hz_vsense":368,"mpcc_cost":0.0651981682,"mpcc_du":49.3511429,"mpcc_dv":50.6488571,"mpcc_dw":50.2063637,"mpcc_enc_sign":1,"mpcc_id_a":2.7398541,"mpcc_iq_a":-1.21438754,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.64984715,"mpcc_pred_id_a":0.2836532,"mpcc_pred_iq_a":-1.18576884,"mpcc_state":1,"mpcc_theta_e":0.432531357,"mpcc_theta_mech":0.553452194,"sam_rpm":-1.12399483,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025069803,"thr_a_norm":0.0119523853,"thr_a_v":0.600279212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481593013,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.014549,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.09608364,"cg_iw_a":-1.24809694,"cg_theta_rad":0.555769145,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9914,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0273271929,"mpcc_du":49.6495819,"mpcc_dv":49.5205536,"mpcc_dw":50.4794464,"mpcc_enc_sign":1,"mpcc_id_a":0.414030284,"mpcc_iq_a":-0.550783277,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.4833293,"mpcc_pred_id_a":-0.299542576,"mpcc_pred_iq_a":-0.0628734007,"mpcc_state":1,"mpcc_theta_e":0.425543785,"mpcc_theta_mech":0.552054644,"sam_rpm":-11.616046,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025069803,"thr_a_norm":0.025069803,"thr_a_v":0.600279212,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481593013,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.024651,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.38603449,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556469321,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0668079108,"mpcc_du":49.9758224,"mpcc_dv":48.9990044,"mpcc_dw":51.0009956,"mpcc_enc_sign":1,"mpcc_id_a":2.91976976,"mpcc_iq_a":0.0122987311,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.68802166,"mpcc_pred_id_a":0.499346256,"mpcc_pred_iq_a":-1.96380663,"mpcc_state":1,"mpcc_theta_e":0.451045513,"mpcc_theta_mech":0.557155013,"sam_rpm":1.27449715,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026857391,"thr_a_norm":0.026857391,"thr_a_v":0.607429564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496699452,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.034508,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.951108456,"cg_iw_a":0.201656342,"cg_theta_rad":0.557364166,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0569104105,"mpcc_du":49.5058174,"mpcc_dv":50.4941826,"mpcc_dw":50.3012543,"mpcc_enc_sign":1,"mpcc_id_a":0.124685518,"mpcc_iq_a":-1.52603662,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0955324098,"mpcc_pred_id_a":-0.100560419,"mpcc_pred_iq_a":-0.71652472,"mpcc_state":1,"mpcc_theta_e":0.42996788,"mpcc_theta_mech":0.552939534,"sam_rpm":-3.04362226,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026857391,"thr_a_norm":0.026857391,"thr_a_v":0.607429564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496699452,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.044975,"values":{"cg_iu_a":2.92408228,"cg_iv_a":0.0637187958,"cg_iw_a":0.709069967,"cg_theta_rad":0.557562888,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0451959632,"mpcc_du":49.4492722,"mpcc_dv":50.1227112,"mpcc_dw":50.5507278,"mpcc_enc_sign":1,"mpcc_id_a":2.98779249,"mpcc_iq_a":-0.672106862,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.55378854,"mpcc_pred_id_a":0.547942221,"mpcc_pred_iq_a":-0.623022199,"mpcc_state":1,"mpcc_theta_e":0.429073334,"mpcc_theta_mech":0.552760541,"sam_rpm":-3.64638615,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202609301,"thr_a_norm":0.0202609301,"thr_a_v":0.58104372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455207109,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.068169,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.443694592,"cg_iw_a":-0.885658741,"cg_theta_rad":0.553285301,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.00638414035,"mpcc_du":50.6917686,"mpcc_dv":48.1376495,"mpcc_dw":51.8623505,"mpcc_enc_sign":1,"mpcc_id_a":1.5281719,"mpcc_iq_a":-0.381512135,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.31248856,"mpcc_pred_id_a":-0.235505655,"mpcc_pred_iq_a":1.19914532,"mpcc_state":1,"mpcc_theta_e":0.434361935,"mpcc_theta_mech":0.553818345,"sam_rpm":-14.7298508,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208903551,"thr_a_norm":0.0202609301,"thr_a_v":0.58356142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463918507,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.074669,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.02359605,"cg_iw_a":-0.378245115,"cg_theta_rad":0.55694592,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0297048446,"mpcc_du":49.5296059,"mpcc_dv":50.2454605,"mpcc_dw":50.4703941,"mpcc_enc_sign":1,"mpcc_id_a":1.93861544,"mpcc_iq_a":-0.378596038,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.75288105,"mpcc_pred_id_a":0.214609727,"mpcc_pred_iq_a":-4.0576086,"mpcc_state":1,"mpcc_theta_e":0.452066898,"mpcc_theta_mech":0.554575384,"sam_rpm":14.6466656,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208903551,"thr_a_norm":0.0208903551,"thr_a_v":0.58356142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463918507,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.0812,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.89344811,"cg_iw_a":1.21648383,"cg_theta_rad":0.555741012,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.00820006989,"mpcc_du":51.0497551,"mpcc_dv":47.6472054,"mpcc_dw":52.3527946,"mpcc_enc_sign":1,"mpcc_id_a":1.25983346,"mpcc_iq_a":0.25845474,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.2384968,"mpcc_pred_id_a":-0.131479502,"mpcc_pred_iq_a":1.65256035,"mpcc_state":1,"mpcc_theta_e":0.427364349,"mpcc_theta_mech":0.552418828,"sam_rpm":-24.1463165,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.087975,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.16857147,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.553030849,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0665445551,"mpcc_du":50.4012451,"mpcc_dv":48.3219032,"mpcc_dw":51.6780968,"mpcc_enc_sign":1,"mpcc_id_a":3.00324512,"mpcc_iq_a":0.00683720736,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.99789929,"mpcc_pred_id_a":0.424744457,"mpcc_pred_iq_a":-1.44774055,"mpcc_state":1,"mpcc_theta_e":0.445921898,"mpcc_theta_mech":0.55613029,"sam_rpm":-3.61498284,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024062708,"thr_a_norm":0.0256614834,"thr_a_v":0.596250832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459638387,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.099724,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-3.19822598,"cg_iw_a":1.94136,"cg_theta_rad":0.556513131,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0427497849,"mpcc_du":49.626194,"mpcc_dv":49.2830811,"mpcc_dw":50.7169189,"mpcc_enc_sign":1,"mpcc_id_a":3.06438208,"mpcc_iq_a":-0.164887264,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.6559744,"mpcc_pred_id_a":0.321316868,"mpcc_pred_iq_a":-6.15672398,"mpcc_state":1,"mpcc_theta_e":0.432264328,"mpcc_theta_mech":0.553398788,"sam_rpm":-18.5164089,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024062708,"thr_a_norm":0.024062708,"thr_a_v":0.596250832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459638387,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.109947,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.02359605,"cg_iw_a":1.143996,"cg_theta_rad":0.557449102,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0189705286,"mpcc_du":50.1223412,"mpcc_dv":48.5859375,"mpcc_dw":51.4140625,"mpcc_enc_sign":1,"mpcc_id_a":2.31239223,"mpcc_iq_a":-0.250932097,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.20118833,"mpcc_pred_id_a":0.5544011,"mpcc_pred_iq_a":-0.120780297,"mpcc_state":1,"mpcc_theta_e":0.439758778,"mpcc_theta_mech":0.554897666,"sam_rpm":-4.71192694,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463112861,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.12014,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-1.02359605,"cg_iw_a":0.346631765,"cg_theta_rad":0.555477917,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0125605892,"mpcc_du":49.9938774,"mpcc_dv":48.880188,"mpcc_dw":51.119812,"mpcc_enc_sign":1,"mpcc_id_a":1.95644736,"mpcc_iq_a":-2.18306422,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.22228622,"mpcc_pred_id_a":0.180605993,"mpcc_pred_iq_a":-1.7441448,"mpcc_state":1,"mpcc_theta_e":0.445879936,"mpcc_theta_mech":0.556121945,"sam_rpm":2.44571424,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0362108052,"thr_a_norm":0.0240501165,"thr_a_v":0.644843221,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488088787,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.129967,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.96593571,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.553445399,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.00270845392,"mpcc_du":50.0155296,"mpcc_dv":49.0025177,"mpcc_dw":50.9974823,"mpcc_enc_sign":1,"mpcc_id_a":0.43404004,"mpcc_iq_a":-0.843702555,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.61985874,"mpcc_pred_id_a":-0.255028099,"mpcc_pred_iq_a":-2.75712967,"mpcc_state":1,"mpcc_theta_e":0.435496807,"mpcc_theta_mech":0.55404532,"sam_rpm":-11.8991079,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0362108052,"thr_a_norm":0.0362108052,"thr_a_v":0.644843221,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488088787,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.140129,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.09608364,"cg_iw_a":0.709069729,"cg_theta_rad":0.552536905,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0211889595,"mpcc_du":50.6846771,"mpcc_dv":47.9412689,"mpcc_dw":52.0587311,"mpcc_enc_sign":1,"mpcc_id_a":2.16360092,"mpcc_iq_a":-1.42115271,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.83349609,"mpcc_pred_id_a":0.398048908,"mpcc_pred_iq_a":-0.192178458,"mpcc_state":1,"mpcc_theta_e":0.436734676,"mpcc_theta_mech":0.554292858,"sam_rpm":-12.3231516,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027537182,"thr_a_norm":0.027537182,"thr_a_v":0.610148728,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496749818,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.150139,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.45852208,"cg_iw_a":-1.24809718,"cg_theta_rad":0.557314456,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0203761254,"mpcc_du":49.7819939,"mpcc_dv":49.1810112,"mpcc_dw":50.8189888,"mpcc_enc_sign":1,"mpcc_id_a":1.40639138,"mpcc_iq_a":0.0312758423,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.306146294,"mpcc_pred_id_a":0.0810652599,"mpcc_pred_iq_a":-2.4448328,"mpcc_state":1,"mpcc_theta_e":0.44356966,"mpcc_theta_mech":0.555659831,"sam_rpm":0.345694423,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.027537182,"thr_a_norm":0.027537182,"thr_a_v":0.610148728,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496749818,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.173393,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.661157608,"cg_iw_a":-1.17560959,"cg_theta_rad":0.554575861,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.022581663,"mpcc_du":49.6816673,"mpcc_dv":49.1381569,"mpcc_dw":50.8618431,"mpcc_enc_sign":1,"mpcc_id_a":2.88566995,"mpcc_iq_a":-0.562563479,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.63867784,"mpcc_pred_id_a":0.474924713,"mpcc_pred_iq_a":-2.29117107,"mpcc_state":1,"mpcc_theta_e":0.438381672,"mpcc_theta_mech":0.554622293,"sam_rpm":-5.8126173,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023810938,"thr_a_norm":0.023810938,"thr_a_v":0.595243752,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470514983,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.179863,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.97297382,"cg_theta_rad":0.55611378,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0202540327,"mpcc_du":50.2753983,"mpcc_dv":48.468483,"mpcc_dw":51.531517,"mpcc_enc_sign":1,"mpcc_id_a":0.60872823,"mpcc_iq_a":-0.466699302,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.28478432,"mpcc_pred_id_a":0.300833315,"mpcc_pred_iq_a":-2.2744689,"mpcc_state":1,"mpcc_theta_e":0.439500809,"mpcc_theta_mech":0.554846048,"sam_rpm":-11.2580729,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0152883977,"thr_a_norm":0.023810938,"thr_a_v":0.561153591,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450020611,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.186424,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.24105906,"cg_iw_a":0.564094782,"cg_theta_rad":0.556751788,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.011333758,"mpcc_du":47.7749367,"mpcc_dv":52.2250633,"mpcc_dw":48.1240349,"mpcc_enc_sign":1,"mpcc_id_a":2.11737418,"mpcc_iq_a":-1.17122686,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.2626228,"mpcc_pred_id_a":-0.636698008,"mpcc_pred_iq_a":-9.2834053,"mpcc_state":1,"mpcc_theta_e":0.455029964,"mpcc_theta_mech":0.557951927,"sam_rpm":26.0481377,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0152883977,"thr_a_norm":0.0152883977,"thr_a_v":0.561153591,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450020611,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.192955,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.951108456,"cg_iw_a":-0.740683079,"cg_theta_rad":0.552481771,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.00808320008,"mpcc_du":50.4305458,"mpcc_dv":48.2809601,"mpcc_dw":51.7190399,"mpcc_enc_sign":1,"mpcc_id_a":1.76871955,"mpcc_iq_a":-1.23829913,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.78423119,"mpcc_pred_id_a":0.320959419,"mpcc_pred_iq_a":0.827318907,"mpcc_state":1,"mpcc_theta_e":0.437363625,"mpcc_theta_mech":0.554418623,"sam_rpm":-7.58110666,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0317795873,"thr_a_norm":0.0317795873,"thr_a_v":0.627118349,"thr_b":0.00189402699,"thr_b_norm":0.00189402699,"thr_b_v":0.507576108,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.202751,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-2.18339872,"cg_iw_a":-1.17560959,"cg_theta_rad":0.554781497,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.00342414109,"mpcc_du":48.898407,"mpcc_dv":51.101593,"mpcc_dw":49.5036087,"mpcc_enc_sign":1,"mpcc_id_a":0.169991955,"mpcc_iq_a":-1.88594604,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.23169994,"mpcc_pred_id_a":-0.330686957,"mpcc_pred_iq_a":-5.54442501,"mpcc_state":1,"mpcc_theta_e":0.446018219,"mpcc_theta_mech":0.556149542,"sam_rpm":11.8369656,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02680704,"thr_a_norm":0.0317795873,"thr_a_v":0.60722816,"thr_b":0,"thr_b_norm":0.00189402699,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.214653,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.38603449,"cg_iw_a":-1.46555996,"cg_theta_rad":0.55467689,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0071343109,"mpcc_du":49.5292549,"mpcc_dv":49.7391357,"mpcc_dw":50.4707451,"mpcc_enc_sign":1,"mpcc_id_a":1.20734334,"mpcc_iq_a":-1.57963848,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.02753496,"mpcc_pred_id_a":-0.228847429,"mpcc_pred_iq_a":-2.51200294,"mpcc_state":1,"mpcc_theta_e":0.439020634,"mpcc_theta_mech":0.55399704,"sam_rpm":4.0681715,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02680704,"thr_a_norm":0.02680704,"thr_a_v":0.60722816,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49307391,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.224937,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-1.53100967,"cg_iw_a":0.491606712,"cg_theta_rad":0.557180107,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0547828525,"mpcc_du":51.0831261,"mpcc_dv":47.5048561,"mpcc_dw":52.4951439,"mpcc_enc_sign":1,"mpcc_id_a":2.04965258,"mpcc_iq_a":-0.640368521,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.45844269,"mpcc_pred_id_a":0.358216047,"mpcc_pred_iq_a":0.485227734,"mpcc_state":1,"mpcc_theta_e":0.441582203,"mpcc_theta_mech":0.555262387,"sam_rpm":-9.10103416,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0129846632,"thr_a_norm":0.0129846632,"thr_a_v":0.551938653,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448006392,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.236168,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.661157608,"cg_iw_a":-0.450732708,"cg_theta_rad":0.557866275,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.000880135049,"mpcc_du":49.5342484,"mpcc_dv":50.4657516,"mpcc_dw":50.1603775,"mpcc_enc_sign":1,"mpcc_id_a":0.0117785726,"mpcc_iq_a":0.137684748,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.16077006,"mpcc_pred_id_a":-0.59026587,"mpcc_pred_iq_a":-2.37415218,"mpcc_state":1,"mpcc_theta_e":0.439409256,"mpcc_theta_mech":0.554827809,"sam_rpm":12.7531128,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0129091293,"thr_a_norm":0.0129846632,"thr_a_v":0.551636517,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453142613,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.247337,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.878620625,"cg_iw_a":-0.740683556,"cg_theta_rad":0.555527329,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0862369016,"mpcc_du":49.78088,"mpcc_dv":49.2047539,"mpcc_dw":50.7952461,"mpcc_enc_sign":1,"mpcc_id_a":1.31932998,"mpcc_iq_a":-3.81330538,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.92619133,"mpcc_pred_id_a":-0.0378954485,"mpcc_pred_iq_a":-0.688936889,"mpcc_state":1,"mpcc_theta_e":0.426653385,"mpcc_theta_mech":0.552276611,"sam_rpm":-16.8324165,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0129091293,"thr_a_norm":0.0129091293,"thr_a_v":0.551636517,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453142613,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.27282,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.878620625,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556402743,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0174035523,"mpcc_du":50.6657143,"mpcc_dv":47.9975357,"mpcc_dw":52.0024643,"mpcc_enc_sign":1,"mpcc_id_a":2.58498693,"mpcc_iq_a":-1.3765099,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.0570793,"mpcc_pred_id_a":0.361997604,"mpcc_pred_iq_a":0.255114973,"mpcc_state":1,"mpcc_theta_e":0.433507442,"mpcc_theta_mech":0.553647399,"sam_rpm":-16.6116638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172648281,"thr_a_norm":0.0172648281,"thr_a_v":0.569059312,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450926989,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.279259,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.45852208,"cg_iw_a":-1.68302321,"cg_theta_rad":0.555665553,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0114205759,"mpcc_du":50.2232437,"mpcc_dv":48.9904099,"mpcc_dw":51.0095901,"mpcc_enc_sign":1,"mpcc_id_a":-0.756703973,"mpcc_iq_a":-2.91813779,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.3031559,"mpcc_pred_id_a":-0.755131781,"mpcc_pred_iq_a":-2.32459617,"mpcc_state":1,"mpcc_theta_e":0.431118965,"mpcc_theta_mech":0.553169727,"sam_rpm":-15.7129622,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0249565095,"thr_a_norm":0.0172648281,"thr_a_v":0.599826038,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474341929,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.285789,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.09608364,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.555145562,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0389636494,"mpcc_du":49.8385925,"mpcc_dv":49.2621155,"mpcc_dw":50.7378845,"mpcc_enc_sign":1,"mpcc_id_a":2.41913915,"mpcc_iq_a":-0.036149811,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.44746768,"mpcc_pred_id_a":-0.12138544,"mpcc_pred_iq_a":-3.10586262,"mpcc_state":1,"mpcc_theta_e":0.444897175,"mpcc_theta_mech":0.55592531,"sam_rpm":2.66559839,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0249565095,"thr_a_norm":0.0249565095,"thr_a_v":0.599826038,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474341929,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.29229,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.16857147,"cg_iw_a":-0.16078186,"cg_theta_rad":0.555576921,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0176365711,"mpcc_du":49.3178139,"mpcc_dv":50.6821861,"mpcc_dw":50.0997314,"mpcc_enc_sign":1,"mpcc_id_a":1.70413268,"mpcc_iq_a":-0.0234564077,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.54201126,"mpcc_pred_id_a":0.0381761342,"mpcc_pred_iq_a":-5.21812153,"mpcc_state":1,"mpcc_theta_e":0.447029591,"mpcc_theta_mech":0.55635184,"sam_rpm":9.35561657,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221869946,"thr_a_norm":0.0221869946,"thr_a_v":0.588747978,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482146949,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.302727,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-2.0384233,"cg_iw_a":1.43394637,"cg_theta_rad":0.555595815,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.00530256331,"mpcc_du":49.7140732,"mpcc_dv":50.2859268,"mpcc_dw":50.2655525,"mpcc_enc_sign":1,"mpcc_id_a":-1.24579167,"mpcc_iq_a":-3.15761948,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.46599078,"mpcc_pred_id_a":-0.876241446,"mpcc_pred_iq_a":-5.28929806,"mpcc_state":1,"mpcc_theta_e":0.44715023,"mpcc_theta_mech":0.55637598,"sam_rpm":2.5760529,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186118037,"thr_a_norm":0.0221869946,"thr_a_v":0.574447215,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459739089,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.31292,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.09608364,"cg_iw_a":0.854045391,"cg_theta_rad":0.553374588,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.00811534189,"mpcc_du":50.1297989,"mpcc_dv":49.0194817,"mpcc_dw":50.9805183,"mpcc_enc_sign":1,"mpcc_id_a":-0.641687512,"mpcc_iq_a":-1.08114982,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.47414112,"mpcc_pred_id_a":-0.601742685,"mpcc_pred_iq_a":-3.54907537,"mpcc_state":1,"mpcc_theta_e":0.441807747,"mpcc_theta_mech":0.555307508,"sam_rpm":-9.95893002,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186118037,"thr_a_norm":0.0186118037,"thr_a_v":0.574447215,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459739089,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.323174,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.09608364,"cg_iw_a":0.78155756,"cg_theta_rad":0.553729594,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0228299201,"mpcc_du":50.8079033,"mpcc_dv":48.1373596,"mpcc_dw":51.8626404,"mpcc_enc_sign":1,"mpcc_id_a":0.0303111989,"mpcc_iq_a":-2.62211108,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.97807884,"mpcc_pred_id_a":-0.451359689,"mpcc_pred_iq_a":-4.87407446,"mpcc_state":1,"mpcc_theta_e":0.457064152,"mpcc_theta_mech":0.558358729,"sam_rpm":8.09059715,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0169878602,"thr_a_norm":0.0169878602,"thr_a_v":0.567951441,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448358893,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.333153,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.740683556,"cg_theta_rad":0.556236088,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0244143251,"mpcc_du":49.5302124,"mpcc_dv":49.4621429,"mpcc_dw":50.5378571,"mpcc_enc_sign":1,"mpcc_id_a":2.66986966,"mpcc_iq_a":0.901924431,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.32028103,"mpcc_pred_id_a":0.577662706,"mpcc_pred_iq_a":1.56020796,"mpcc_state":1,"mpcc_theta_e":0.428241253,"mpcc_theta_mech":0.552594125,"sam_rpm":-14.4351549,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0169878602,"thr_a_norm":0.0169878602,"thr_a_v":0.567951441,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448358893,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.343132,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.24105906,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556711376,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.00750095164,"mpcc_du":49.6453094,"mpcc_dv":49.4127502,"mpcc_dw":50.5872498,"mpcc_enc_sign":1,"mpcc_id_a":1.63485777,"mpcc_iq_a":-0.669047296,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.863284647,"mpcc_pred_id_a":-0.0900625437,"mpcc_pred_iq_a":-1.72936571,"mpcc_state":1,"mpcc_theta_e":0.438149929,"mpcc_theta_mech":0.55457592,"sam_rpm":2.01363254,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137777478,"thr_a_norm":0.0137777478,"thr_a_v":0.555110991,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.435014874,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.353325,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.733645439,"cg_iw_a":-0.233269691,"cg_theta_rad":0.553616345,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0207561553,"mpcc_du":49.8540688,"mpcc_dv":49.1272659,"mpcc_dw":50.8727341,"mpcc_enc_sign":1,"mpcc_id_a":1.8293376,"mpcc_iq_a":-1.60986412,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.89029968,"mpcc_pred_id_a":0.0281348582,"mpcc_pred_iq_a":-4.07664251,"mpcc_state":1,"mpcc_theta_e":0.44503355,"mpcc_theta_mech":0.555952609,"sam_rpm":-2.22639441,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0152883977,"thr_a_norm":0.0137777478,"thr_a_v":0.561153591,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448459595,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.376305,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.553844631,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0117327459,"mpcc_du":48.9954338,"mpcc_dv":51.0045662,"mpcc_dw":49.8615646,"mpcc_enc_sign":1,"mpcc_id_a":2.16053629,"mpcc_iq_a":-1.08341897,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.0472498,"mpcc_pred_id_a":0.266429961,"mpcc_pred_iq_a":-4.7614975,"mpcc_state":1,"mpcc_theta_e":0.449178696,"mpcc_theta_mech":0.55678165,"sam_rpm":15.6307449,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0152883977,"thr_a_norm":0.0152883977,"thr_a_v":0.561153591,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448459595,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.382896,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.298719406,"cg_iw_a":-0.305757523,"cg_theta_rad":0.554257572,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0133538553,"mpcc_du":49.5439148,"mpcc_dv":49.4763603,"mpcc_dw":50.5236397,"mpcc_enc_sign":1,"mpcc_id_a":1.19182527,"mpcc_iq_a":0.0893357694,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0712778419,"mpcc_pred_id_a":0.0337808765,"mpcc_pred_iq_a":-3.13871479,"mpcc_state":1,"mpcc_theta_e":0.441444874,"mpcc_theta_mech":0.555234909,"sam_rpm":-0.0136064291,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024138242,"thr_a_norm":0.024138242,"thr_a_v":0.596552968,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476910055,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.389366,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.24105906,"cg_iw_a":-1.4655602,"cg_theta_rad":0.557070792,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.030247258,"mpcc_du":51.1407928,"mpcc_dv":47.2754555,"mpcc_dw":52.7245445,"mpcc_enc_sign":1,"mpcc_id_a":3.0106163,"mpcc_iq_a":0.813333929,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-23.4360352,"mpcc_pred_id_a":0.343221515,"mpcc_pred_iq_a":1.56851852,"mpcc_state":1,"mpcc_theta_e":0.42032814,"mpcc_theta_mech":0.551011503,"sam_rpm":-34.6770058,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024138242,"thr_a_norm":0.024138242,"thr_a_v":0.596552968,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476910055,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.396141,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.16857147,"cg_iw_a":0.0566811562,"cg_theta_rad":0.55842495,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0079237204,"mpcc_du":49.8460503,"mpcc_dv":49.0649567,"mpcc_dw":50.9350433,"mpcc_enc_sign":1,"mpcc_id_a":1.76523721,"mpcc_iq_a":-1.24325836,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.83881474,"mpcc_pred_id_a":0.100627147,"mpcc_pred_iq_a":-4.22124863,"mpcc_state":1,"mpcc_theta_e":0.440170288,"mpcc_theta_mech":0.55497998,"sam_rpm":-22.8339996,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105272368,"thr_a_norm":0.105272368,"thr_a_v":0.92108947,"thr_b":0.0492275059,"thr_b_norm":0.0492275059,"thr_b_v":0.696910024,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.406303,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.516182423,"cg_iw_a":-2.04546118,"cg_theta_rad":0.554042637,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0246617422,"mpcc_du":50.3373222,"mpcc_dv":48.6649895,"mpcc_dw":51.3350105,"mpcc_enc_sign":1,"mpcc_id_a":-1.75659311,"mpcc_iq_a":-2.16482639,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.19223595,"mpcc_pred_id_a":-1.12860584,"mpcc_pred_iq_a":-3.60732365,"mpcc_state":1,"mpcc_theta_e":0.454523563,"mpcc_theta_mech":0.55706048,"sam_rpm":1.21222699,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197322071,"thr_a_norm":0.105272368,"thr_a_v":0.578928828,"thr_b":0,"thr_b_norm":0.0492275059,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.415947,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-2.0384233,"cg_iw_a":-0.523220301,"cg_theta_rad":0.556607544,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.00689493818,"mpcc_du":50.7165108,"mpcc_dv":48.4975662,"mpcc_dw":51.5024338,"mpcc_enc_sign":1,"mpcc_id_a":-1.18301272,"mpcc_iq_a":-3.28451538,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.8233757,"mpcc_pred_id_a":-0.92270422,"mpcc_pred_iq_a":-3.87058806,"mpcc_state":1,"mpcc_theta_e":0.456800461,"mpcc_theta_mech":0.558305979,"sam_rpm":16.2057915,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197322071,"thr_a_norm":0.0197322071,"thr_a_v":0.578928828,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.42733,"values":{"cg_iu_a":3.1415453,"cg_iv_a":0.208694458,"cg_iw_a":-3.35023975,"cg_theta_rad":0.555474639,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0309583806,"mpcc_du":49.3344536,"mpcc_dv":49.3174477,"mpcc_dw":50.6825523,"mpcc_enc_sign":1,"mpcc_id_a":3.92954636,"mpcc_iq_a":0.00162100629,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.25681138,"mpcc_pred_id_a":1.14164448,"mpcc_pred_iq_a":-0.583619714,"mpcc_state":1,"mpcc_theta_e":0.43465519,"mpcc_theta_mech":0.553876996,"sam_rpm":4.86701632,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0138784498,"thr_a_norm":0.0138784498,"thr_a_v":0.555513799,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438690752,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.438713,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":0.861083508,"cg_iw_a":-0.813171387,"cg_theta_rad":0.55545789,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0743977576,"mpcc_du":50.2356606,"mpcc_dv":48.4476852,"mpcc_dw":51.5523148,"mpcc_enc_sign":1,"mpcc_id_a":1.73269486,"mpcc_iq_a":0.704337239,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.90861696,"mpcc_pred_id_a":0.557457745,"mpcc_pred_iq_a":-1.99557734,"mpcc_state":1,"mpcc_theta_e":0.447815895,"mpcc_theta_mech":0.556509078,"sam_rpm":-1.08183444,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260895044,"thr_a_norm":0.0138784498,"thr_a_v":0.604358017,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49735406,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.448723,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.878620625,"cg_iw_a":0.346631527,"cg_theta_rad":0.554357827,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0290878676,"mpcc_du":50.5384827,"mpcc_dv":48.2172394,"mpcc_dw":51.7827606,"mpcc_enc_sign":1,"mpcc_id_a":1.42941082,"mpcc_iq_a":-0.765031457,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.16353989,"mpcc_pred_id_a":0.139804989,"mpcc_pred_iq_a":-1.4198966,"mpcc_state":1,"mpcc_theta_e":0.44227457,"mpcc_theta_mech":0.555400789,"sam_rpm":-8.8087883,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260895044,"thr_a_norm":0.0260895044,"thr_a_v":0.604358017,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49735406,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.458916,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.226231575,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556911707,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0148883639,"mpcc_du":50.0135269,"mpcc_dv":48.9222908,"mpcc_dw":51.0777092,"mpcc_enc_sign":1,"mpcc_id_a":0.867961228,"mpcc_iq_a":-0.594711423,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.05949652,"mpcc_pred_id_a":0.0116808461,"mpcc_pred_iq_a":-1.61605251,"mpcc_state":1,"mpcc_theta_e":0.444839001,"mpcc_theta_mech":0.555913746,"sam_rpm":1.88748527,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455307841,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.48217,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.31354666,"cg_iw_a":-1.24809694,"cg_theta_rad":0.555180788,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0120702796,"mpcc_du":48.6847878,"mpcc_dv":51.3152122,"mpcc_dw":49.3316383,"mpcc_enc_sign":1,"mpcc_id_a":2.05029678,"mpcc_iq_a":-0.978928745,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.5483952,"mpcc_pred_id_a":0.0176708829,"mpcc_pred_iq_a":3.08403397,"mpcc_state":1,"mpcc_theta_e":0.428818703,"mpcc_theta_mech":0.552709639,"sam_rpm":11.9330759,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455307841,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.48867,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.09608364,"cg_iw_a":-0.958146572,"cg_theta_rad":0.555015624,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0313519612,"mpcc_du":49.5112991,"mpcc_dv":49.6454163,"mpcc_dw":50.4887009,"mpcc_enc_sign":1,"mpcc_id_a":2.64648438,"mpcc_iq_a":0.27444452,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.00032973,"mpcc_pred_id_a":0.147154108,"mpcc_pred_iq_a":-3.32314491,"mpcc_state":1,"mpcc_theta_e":0.444217205,"mpcc_theta_mech":0.555789351,"sam_rpm":3.10720992,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275120139,"thr_a_norm":0.0275120139,"thr_a_v":0.610048056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488844126,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.495171,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.02359605,"cg_iw_a":-0.450732946,"cg_theta_rad":0.555775702,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0522986725,"mpcc_du":49.6750374,"mpcc_dv":49.1819611,"mpcc_dw":50.8180389,"mpcc_enc_sign":1,"mpcc_id_a":2.96700621,"mpcc_iq_a":-0.074446328,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.75474024,"mpcc_pred_id_a":0.447289258,"mpcc_pred_iq_a":-2.78862476,"mpcc_state":1,"mpcc_theta_e":0.447865486,"mpcc_theta_mech":0.556519032,"sam_rpm":6.26632023,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0275120139,"thr_a_norm":0.0275120139,"thr_a_v":0.610048056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488844126,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.501701,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.02359605,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556618869,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0816280767,"mpcc_du":49.539856,"mpcc_dv":49.2650223,"mpcc_dw":50.7349777,"mpcc_enc_sign":1,"mpcc_id_a":4.91018391,"mpcc_iq_a":0.3188546,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.15090811,"mpcc_pred_id_a":0.675063193,"mpcc_pred_iq_a":-3.3676374,"mpcc_state":1,"mpcc_theta_e":0.442237854,"mpcc_theta_mech":0.555393517,"sam_rpm":-1.45530629,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274616629,"thr_a_norm":0.0274616629,"thr_a_v":0.609846652,"thr_b":0.000131607056,"thr_b_norm":0.000131607056,"thr_b_v":0.500526428,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.509911,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.16857147,"cg_iw_a":-2.40789986,"cg_theta_rad":0.552028656,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0209241435,"mpcc_du":49.8585892,"mpcc_dv":49.0476608,"mpcc_dw":50.9523392,"mpcc_enc_sign":1,"mpcc_id_a":1.13177395,"mpcc_iq_a":-0.716203809,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.3475461,"mpcc_pred_id_a":0.225293159,"mpcc_pred_iq_a":-3.48359632,"mpcc_state":1,"mpcc_theta_e":0.441940784,"mpcc_theta_mech":0.555334091,"sam_rpm":-4.05590868,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274616629,"thr_a_norm":0.0274616629,"thr_a_v":0.609846652,"thr_b":0.000131607056,"thr_b_norm":0.000131607056,"thr_b_v":0.500526428,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.520103,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-2.18339872,"cg_iw_a":0.491606951,"cg_theta_rad":0.552635372,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0378340259,"mpcc_du":49.5597954,"mpcc_dv":49.6074867,"mpcc_dw":50.4402046,"mpcc_enc_sign":1,"mpcc_id_a":0.561562479,"mpcc_iq_a":-1.86145103,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.7962217,"mpcc_pred_id_a":-0.1290728,"mpcc_pred_iq_a":-4.67935228,"mpcc_state":1,"mpcc_theta_e":0.459842205,"mpcc_theta_mech":0.556593359,"sam_rpm":18.5335369,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454048991,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.530174,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.82096052,"cg_iw_a":0.129168987,"cg_theta_rad":0.556153238,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.00673169736,"mpcc_du":50.6435738,"mpcc_dv":48.4641113,"mpcc_dw":51.5358887,"mpcc_enc_sign":1,"mpcc_id_a":-0.277550489,"mpcc_iq_a":-1.99471211,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.82883072,"mpcc_pred_id_a":-0.833960295,"mpcc_pred_iq_a":-1.82214868,"mpcc_state":1,"mpcc_theta_e":0.443103313,"mpcc_theta_mech":0.555566549,"sam_rpm":-8.64676762,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0148729682,"thr_a_norm":0.0232444406,"thr_a_v":0.559491873,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453595787,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.540031,"values":{"cg_iu_a":2.41666842,"cg_iv_a":0.281181812,"cg_iw_a":-2.69785023,"cg_theta_rad":0.553304374,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0464164428,"mpcc_du":49.9971428,"mpcc_dv":48.7581062,"mpcc_dw":51.2418938,"mpcc_enc_sign":1,"mpcc_id_a":1.35154223,"mpcc_iq_a":-0.925477743,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.90819299,"mpcc_pred_id_a":-0.0217313375,"mpcc_pred_iq_a":-4.27839422,"mpcc_state":1,"mpcc_theta_e":0.449029446,"mpcc_theta_mech":0.556751788,"sam_rpm":4.10530376,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0148729682,"thr_a_norm":0.0148729682,"thr_a_v":0.559491873,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453595787,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.550316,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-0.516182423,"cg_iw_a":0.491607189,"cg_theta_rad":0.555112541,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.00387942092,"mpcc_du":50.1446762,"mpcc_dv":48.710495,"mpcc_dw":51.289505,"mpcc_enc_sign":1,"mpcc_id_a":1.03009224,"mpcc_iq_a":-0.936938882,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.04823685,"mpcc_pred_id_a":-0.065587841,"mpcc_pred_iq_a":-1.12500763,"mpcc_state":1,"mpcc_theta_e":0.435862064,"mpcc_theta_mech":0.554118335,"sam_rpm":-9.15750217,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203868151,"thr_a_norm":0.0203868151,"thr_a_v":0.58154726,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466688037,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.562309,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.02359605,"cg_iw_a":-1.4655602,"cg_theta_rad":0.556685269,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0149475941,"mpcc_du":50.6157799,"mpcc_dv":47.9408569,"mpcc_dw":52.0591431,"mpcc_enc_sign":1,"mpcc_id_a":2.31831932,"mpcc_iq_a":-1.09034002,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.5359631,"mpcc_pred_id_a":0.19391945,"mpcc_pred_iq_a":-1.55091572,"mpcc_state":1,"mpcc_theta_e":0.424868584,"mpcc_theta_mech":0.551919639,"sam_rpm":-30.2274857,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203868151,"thr_a_norm":0.0203868151,"thr_a_v":0.58154726,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466688037,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.586632,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.806133032,"cg_iw_a":-1.8279984,"cg_theta_rad":0.552289665,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.00282827625,"mpcc_du":48.5537186,"mpcc_dv":51.4462814,"mpcc_dw":49.0549393,"mpcc_enc_sign":1,"mpcc_id_a":0.390377879,"mpcc_iq_a":-0.415596664,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.92909145,"mpcc_pred_id_a":-0.62322253,"mpcc_pred_iq_a":-7.47424841,"mpcc_state":1,"mpcc_theta_e":0.448555946,"mpcc_theta_mech":0.556657076,"sam_rpm":14.2478714,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105310142,"thr_a_norm":0.105310142,"thr_a_v":0.921240568,"thr_b":0.0508388579,"thr_b_norm":0.0508388579,"thr_b_v":0.703355432,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.593132,"values":{"cg_iu_a":0.24203825,"cg_iv_a":1.7309351,"cg_iw_a":-4.58252954,"cg_theta_rad":0.55249697,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0115074413,"mpcc_du":49.5721703,"mpcc_dv":50.2775269,"mpcc_dw":50.4278297,"mpcc_enc_sign":1,"mpcc_id_a":1.89577687,"mpcc_iq_a":-0.283166707,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.19639492,"mpcc_pred_id_a":-0.155096516,"mpcc_pred_iq_a":-4.90726662,"mpcc_state":1,"mpcc_theta_e":0.438275337,"mpcc_theta_mech":0.554600954,"sam_rpm":-3.82563066,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0132490247,"thr_a_norm":0.0132490247,"thr_a_v":0.552996099,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466436267,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.599693,"values":{"cg_iu_a":0.0970630646,"cg_iv_a":-1.31354666,"cg_iw_a":-1.10312176,"cg_theta_rad":0.551970065,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0288464539,"mpcc_du":49.5483513,"mpcc_dv":50.1134491,"mpcc_dw":50.4516487,"mpcc_enc_sign":1,"mpcc_id_a":3.11292458,"mpcc_iq_a":-0.229831427,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.851615,"mpcc_pred_id_a":0.677216291,"mpcc_pred_iq_a":-0.373233408,"mpcc_state":1,"mpcc_theta_e":0.431164265,"mpcc_theta_mech":0.556379616,"sam_rpm":2.04182005,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0132490247,"thr_a_norm":0.0132490247,"thr_a_v":0.552996099,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466436267,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.606194,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.02359605,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.557234883,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.00410665898,"mpcc_du":50.0405769,"mpcc_dv":48.8673515,"mpcc_dw":51.1326485,"mpcc_enc_sign":1,"mpcc_id_a":1.23109901,"mpcc_iq_a":-0.331076682,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.51887512,"mpcc_pred_id_a":-0.204405352,"mpcc_pred_iq_a":-1.54419434,"mpcc_state":1,"mpcc_theta_e":0.438952923,"mpcc_theta_mech":0.554736495,"sam_rpm":-14.7181139,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257621855,"thr_a_norm":0.0257621855,"thr_a_v":0.603048742,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485369653,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.615685,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.298719406,"cg_iw_a":-1.61053514,"cg_theta_rad":0.55522269,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0146559263,"mpcc_du":49.5170746,"mpcc_dv":50.2327042,"mpcc_dw":50.4829254,"mpcc_enc_sign":1,"mpcc_id_a":0.943878174,"mpcc_iq_a":-0.435280472,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.68169117,"mpcc_pred_id_a":0.143109858,"mpcc_pred_iq_a":-0.141855061,"mpcc_state":1,"mpcc_theta_e":0.436006546,"mpcc_theta_mech":0.554147243,"sam_rpm":5.12582541,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0472007394,"thr_a_norm":0.0257621855,"thr_a_v":0.688802958,"thr_b":0.0176676512,"thr_b_norm":0,"thr_b_v":0.570670605,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.627525,"values":{"cg_iu_a":2.41666842,"cg_iv_a":0.716107845,"cg_iw_a":-3.13277626,"cg_theta_rad":0.554365814,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0820758343,"mpcc_du":50.2018814,"mpcc_dv":48.7719269,"mpcc_dw":51.2280731,"mpcc_enc_sign":1,"mpcc_id_a":0.0285335667,"mpcc_iq_a":-0.660801649,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.65873384,"mpcc_pred_id_a":-0.187048197,"mpcc_pred_iq_a":-3.14679289,"mpcc_state":1,"mpcc_theta_e":0.452416897,"mpcc_theta_mech":0.557429254,"sam_rpm":10.3048496,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0472007394,"thr_a_norm":0.0472007394,"thr_a_v":0.688802958,"thr_b":0.0176676512,"thr_b_norm":0.0176676512,"thr_b_v":0.570670605,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.63784,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.31354666,"cg_iw_a":0.636582375,"cg_theta_rad":0.558263361,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0486046374,"mpcc_du":50.4316711,"mpcc_dv":48.5767097,"mpcc_dw":51.4232903,"mpcc_enc_sign":1,"mpcc_id_a":1.07145023,"mpcc_iq_a":-1.16798401,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.7433424,"mpcc_pred_id_a":-0.0339343548,"mpcc_pred_iq_a":-3.32807636,"mpcc_state":1,"mpcc_theta_e":0.452589989,"mpcc_theta_mech":0.557463884,"sam_rpm":-2.63662982,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242515355,"thr_a_norm":0.0242515355,"thr_a_v":0.597006142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474140525,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.647942,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.74847269,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556689203,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0204215962,"mpcc_du":49.814579,"mpcc_dv":49.2226677,"mpcc_dw":50.7773323,"mpcc_enc_sign":1,"mpcc_id_a":1.92184234,"mpcc_iq_a":-1.24521911,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.32356024,"mpcc_pred_id_a":-0.13232325,"mpcc_pred_iq_a":-3.09454107,"mpcc_state":1,"mpcc_theta_e":0.4484272,"mpcc_theta_mech":0.556232095,"sam_rpm":3.31883049,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025951013,"thr_a_norm":0.0242515355,"thr_a_v":0.603804052,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496749818,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.657921,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.733645439,"cg_iw_a":0.491607189,"cg_theta_rad":0.555454195,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.00388195389,"mpcc_du":49.9762115,"mpcc_dv":48.9320297,"mpcc_dw":51.0679703,"mpcc_enc_sign":1,"mpcc_id_a":0.348275393,"mpcc_iq_a":-2.23380589,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.15055799,"mpcc_pred_id_a":0.0299393199,"mpcc_pred_iq_a":-1.43339324,"mpcc_state":1,"mpcc_theta_e":0.434827805,"mpcc_theta_mech":0.553911507,"sam_rpm":-9.67370987,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025951013,"thr_a_norm":0.025951013,"thr_a_v":0.603804052,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496749818,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.681236,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.951108456,"cg_iw_a":-0.740683079,"cg_theta_rad":0.555510819,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.00213544816,"mpcc_du":51.1325684,"mpcc_dv":47.6601028,"mpcc_dw":52.3398972,"mpcc_enc_sign":1,"mpcc_id_a":0.0708866864,"mpcc_iq_a":-1.82245028,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.9436426,"mpcc_pred_id_a":-0.410013407,"mpcc_pred_iq_a":2.29864526,"mpcc_state":1,"mpcc_theta_e":0.428636074,"mpcc_theta_mech":0.552673101,"sam_rpm":-21.2672462,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215701461,"thr_a_norm":0.0215701461,"thr_a_v":0.586280584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479226381,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.687767,"values":{"cg_iu_a":4.15637207,"cg_iv_a":-1.16857147,"cg_iw_a":-1.39307237,"cg_theta_rad":0.556012988,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.00464455271,"mpcc_du":50.5058098,"mpcc_dv":48.1943817,"mpcc_dw":51.8056183,"mpcc_enc_sign":1,"mpcc_id_a":1.20567393,"mpcc_iq_a":-0.910706937,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.4172363,"mpcc_pred_id_a":0.0953471512,"mpcc_pred_iq_a":-1.20638728,"mpcc_state":1,"mpcc_theta_e":0.426236153,"mpcc_theta_mech":0.552193105,"sam_rpm":-24.4840279,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215701461,"thr_a_norm":0.0215701461,"thr_a_v":0.586280584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479226381,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.694298,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.60349751,"cg_iw_a":0.0566811562,"cg_theta_rad":0.557031214,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0262970664,"mpcc_du":49.9491539,"mpcc_dv":48.7711983,"mpcc_dw":51.2288017,"mpcc_enc_sign":1,"mpcc_id_a":3.18225336,"mpcc_iq_a":-0.10039302,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.17820275,"mpcc_pred_id_a":0.553170502,"mpcc_pred_iq_a":0.491439879,"mpcc_state":1,"mpcc_theta_e":0.438279152,"mpcc_theta_mech":0.554601789,"sam_rpm":-2.33858752,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183852166,"thr_a_norm":0.0183852166,"thr_a_v":0.573540866,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.700798,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.371207237,"cg_iw_a":-0.958146095,"cg_theta_rad":0.555849373,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.000982286059,"mpcc_du":49.3114967,"mpcc_dv":50.6885033,"mpcc_dw":49.9133987,"mpcc_enc_sign":1,"mpcc_id_a":0.0582694262,"mpcc_iq_a":-0.949502826,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.50748205,"mpcc_pred_id_a":-0.615436018,"mpcc_pred_iq_a":-5.92556667,"mpcc_state":1,"mpcc_theta_e":0.426904202,"mpcc_theta_mech":0.552326739,"sam_rpm":2.95749664,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0150743872,"thr_a_norm":0.0183852166,"thr_a_v":0.560297549,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465882361,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.709099,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-2.40086174,"cg_iw_a":-0.740683556,"cg_theta_rad":0.556171477,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0712606907,"mpcc_du":50.6598053,"mpcc_dv":47.7738762,"mpcc_dw":52.2261238,"mpcc_enc_sign":1,"mpcc_id_a":4.60004854,"mpcc_iq_a":0.00384192611,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.21197641,"mpcc_pred_id_a":0.987916827,"mpcc_pred_iq_a":2.69459176,"mpcc_state":1,"mpcc_theta_e":0.441979408,"mpcc_theta_mech":0.55534178,"sam_rpm":-1.05481184,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0150743872,"thr_a_norm":0.0150743872,"thr_a_v":0.560297549,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465882361,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.719292,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.661157608,"cg_iw_a":-1.39307213,"cg_theta_rad":0.554360688,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.120495908,"mpcc_du":49.3780518,"mpcc_dv":49.3480988,"mpcc_dw":50.6519012,"mpcc_enc_sign":1,"mpcc_id_a":1.43870664,"mpcc_iq_a":-0.410950005,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.1596241,"mpcc_pred_id_a":0.989455163,"mpcc_pred_iq_a":-3.29946971,"mpcc_state":1,"mpcc_theta_e":0.449605942,"mpcc_theta_mech":0.556867063,"sam_rpm":21.7240696,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195056051,"thr_a_norm":0.0195056051,"thr_a_v":0.57802242,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473435581,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.729179,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-1.09608364,"cg_iw_a":-2.19043684,"cg_theta_rad":0.556578815,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0419299118,"mpcc_du":48.9898834,"mpcc_dv":51.0101166,"mpcc_dw":50.0287628,"mpcc_enc_sign":1,"mpcc_id_a":3.98342061,"mpcc_iq_a":-0.815110505,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.3192616,"mpcc_pred_id_a":0.706343114,"mpcc_pred_iq_a":-3.34961224,"mpcc_state":1,"mpcc_theta_e":0.452486038,"mpcc_theta_mech":0.557443142,"sam_rpm":26.099268,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195056051,"thr_a_norm":0.0195056051,"thr_a_v":0.57802242,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473435581,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.739311,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-1.16857147,"cg_iw_a":-2.48038721,"cg_theta_rad":0.558120072,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.00725566549,"mpcc_du":49.6914177,"mpcc_dv":49.4265022,"mpcc_dw":50.5734978,"mpcc_enc_sign":1,"mpcc_id_a":0.405675203,"mpcc_iq_a":-1.2147764,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.27890587,"mpcc_pred_id_a":-0.300387323,"mpcc_pred_iq_a":-2.76953006,"mpcc_state":1,"mpcc_theta_e":0.450820446,"mpcc_theta_mech":0.557110012,"sam_rpm":12.3046455,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0365758836,"thr_a_norm":0.0365758836,"thr_a_v":0.646303535,"thr_b":0.00390821695,"thr_b_norm":0.00390821695,"thr_b_v":0.515632868,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.749687,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-2.69081235,"cg_iw_a":-0.958146572,"cg_theta_rad":0.557155311,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0214167368,"mpcc_du":50.4232788,"mpcc_dv":48.526886,"mpcc_dw":51.473114,"mpcc_enc_sign":1,"mpcc_id_a":0.260788441,"mpcc_iq_a":-0.860428393,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.0480299,"mpcc_pred_id_a":-0.386706412,"mpcc_pred_iq_a":-2.19826746,"mpcc_state":1,"mpcc_theta_e":0.443057537,"mpcc_theta_mech":0.55555743,"sam_rpm":-7.15231514,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023936823,"thr_a_norm":0.0365758836,"thr_a_v":0.595747292,"thr_b":0,"thr_b_norm":0.00390821695,"thr_b_v":0.477463931,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.76049,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.6759851,"cg_iw_a":-1.39307237,"cg_theta_rad":0.55711025,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0308626033,"mpcc_du":49.2861061,"mpcc_dv":50.7138939,"mpcc_dw":50.3317223,"mpcc_enc_sign":1,"mpcc_id_a":3.15332127,"mpcc_iq_a":-0.373084694,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.4689674,"mpcc_pred_id_a":0.621768236,"mpcc_pred_iq_a":-2.37049246,"mpcc_state":1,"mpcc_theta_e":0.454897881,"mpcc_theta_mech":0.555360854,"sam_rpm":25.940279,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023936823,"thr_a_norm":0.023936823,"thr_a_v":0.595747292,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477463931,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.783012,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.371207237,"cg_iw_a":-1.53804779,"cg_theta_rad":0.556966305,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0181396138,"mpcc_du":51.1085243,"mpcc_dv":47.4737701,"mpcc_dw":52.5262299,"mpcc_enc_sign":1,"mpcc_id_a":2.39099002,"mpcc_iq_a":-0.582358003,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.0311089,"mpcc_pred_id_a":0.0826704651,"mpcc_pred_iq_a":1.66176665,"mpcc_state":1,"mpcc_theta_e":0.428771496,"mpcc_theta_mech":0.552700222,"sam_rpm":-23.3266697,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021872282,"thr_a_norm":0.021872282,"thr_a_v":0.587489128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467795819,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.789543,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.951108456,"cg_iw_a":-0.958146095,"cg_theta_rad":0.554548085,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0146433096,"mpcc_du":50.3647003,"mpcc_dv":48.2465172,"mpcc_dw":51.7534828,"mpcc_enc_sign":1,"mpcc_id_a":2.34972334,"mpcc_iq_a":-0.150724009,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.5690765,"mpcc_pred_id_a":0.473276764,"mpcc_pred_iq_a":0.369973063,"mpcc_state":1,"mpcc_theta_e":0.429340839,"mpcc_theta_mech":0.552814066,"sam_rpm":-17.5625534,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021872282,"thr_a_norm":0.021872282,"thr_a_v":0.587489128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467795819,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.796074,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.38603449,"cg_iw_a":0.129168749,"cg_theta_rad":0.557085574,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0111004766,"mpcc_du":51.1747704,"mpcc_dv":47.319355,"mpcc_dw":52.680645,"mpcc_enc_sign":1,"mpcc_id_a":2.09272575,"mpcc_iq_a":-1.76650047,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.4837608,"mpcc_pred_id_a":0.153179958,"mpcc_pred_iq_a":1.48374665,"mpcc_state":1,"mpcc_theta_e":0.423946857,"mpcc_theta_mech":0.551735282,"sam_rpm":-30.2348385,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203868151,"thr_a_norm":0.0203868151,"thr_a_v":0.58154726,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462710023,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.802605,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-3.27071381,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556279719,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0142677892,"mpcc_du":51.162056,"mpcc_dv":47.42062,"mpcc_dw":52.57938,"mpcc_enc_sign":1,"mpcc_id_a":1.93104661,"mpcc_iq_a":-1.06500864,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.0959435,"mpcc_pred_id_a":0.0530359223,"mpcc_pred_iq_a":1.17203283,"mpcc_state":1,"mpcc_theta_e":0.429872513,"mpcc_theta_mech":0.552920461,"sam_rpm":-23.2105064,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0301178843,"thr_a_norm":0.0203868151,"thr_a_v":0.620471537,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.810936,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.733645439,"cg_iw_a":-1.24809718,"cg_theta_rad":0.556153655,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0187439565,"mpcc_du":49.6044807,"mpcc_dv":49.2985764,"mpcc_dw":50.7014236,"mpcc_enc_sign":1,"mpcc_id_a":2.71298218,"mpcc_iq_a":-1.6101222,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.18551159,"mpcc_pred_id_a":0.289289176,"mpcc_pred_iq_a":-2.25558472,"mpcc_state":1,"mpcc_theta_e":0.443916798,"mpcc_theta_mech":0.55572927,"sam_rpm":2.64861894,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0301178843,"thr_a_norm":0.0301178843,"thr_a_v":0.620471537,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.821098,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-2.32837415,"cg_iw_a":0.419119358,"cg_theta_rad":0.554283559,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.026951408,"mpcc_du":50.0341454,"mpcc_dv":49.1365776,"mpcc_dw":50.8634224,"mpcc_enc_sign":1,"mpcc_id_a":0.422390312,"mpcc_iq_a":-0.849594772,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.22833705,"mpcc_pred_id_a":-0.496482283,"mpcc_pred_iq_a":-3.2887857,"mpcc_state":1,"mpcc_theta_e":0.44925642,"mpcc_theta_mech":0.556797206,"sam_rpm":4.02104998,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0268196315,"thr_a_norm":0.0268196315,"thr_a_v":0.607278526,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.830894,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.60349751,"cg_iw_a":0.201656342,"cg_theta_rad":0.555874467,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0458704866,"mpcc_du":50.6515999,"mpcc_dv":48.118763,"mpcc_dw":51.881237,"mpcc_enc_sign":1,"mpcc_id_a":1.96398652,"mpcc_iq_a":0.886119843,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.04234695,"mpcc_pred_id_a":0.151138216,"mpcc_pred_iq_a":-0.765733898,"mpcc_state":1,"mpcc_theta_e":0.438561916,"mpcc_theta_mech":0.554658294,"sam_rpm":-13.7313623,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0268196315,"thr_a_norm":0.0268196315,"thr_a_v":0.607278526,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.841057,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.31354666,"cg_iw_a":-1.32058477,"cg_theta_rad":0.55526942,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0234203395,"mpcc_du":50.1242714,"mpcc_dv":48.9965591,"mpcc_dw":51.0034409,"mpcc_enc_sign":1,"mpcc_id_a":0.395611942,"mpcc_iq_a":-1.07000816,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.88699603,"mpcc_pred_id_a":-0.34554559,"mpcc_pred_iq_a":-2.44187856,"mpcc_state":1,"mpcc_theta_e":0.45037365,"mpcc_theta_mech":0.557020664,"sam_rpm":6.14286566,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209155381,"thr_a_norm":0.0209155381,"thr_a_v":0.583662152,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464019209,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.85128,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.516182423,"cg_iw_a":0.12916851,"cg_theta_rad":0.556337655,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.00313723204,"mpcc_du":49.742733,"mpcc_dv":49.2870369,"mpcc_dw":50.7129631,"mpcc_enc_sign":1,"mpcc_id_a":0.584905803,"mpcc_iq_a":-0.176012129,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.37128997,"mpcc_pred_id_a":-0.055700738,"mpcc_pred_iq_a":-2.09361291,"mpcc_state":1,"mpcc_theta_e":0.436488628,"mpcc_theta_mech":0.554243684,"sam_rpm":-3.75585055,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0304955393,"thr_a_norm":0.0209155381,"thr_a_v":0.621982157,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466335565,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.86129,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.02359605,"cg_iw_a":0.201656103,"cg_theta_rad":0.557582736,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0250272043,"mpcc_du":50.2234993,"mpcc_dv":48.8359261,"mpcc_dw":51.1640739,"mpcc_enc_sign":1,"mpcc_id_a":0.147320181,"mpcc_iq_a":-1.08809125,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.53237784,"mpcc_pred_id_a":-0.237379223,"mpcc_pred_iq_a":-2.8733182,"mpcc_state":1,"mpcc_theta_e":0.448407173,"mpcc_theta_mech":0.556627333,"sam_rpm":-0.533285737,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0304955393,"thr_a_norm":0.0304955393,"thr_a_v":0.621982157,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466335565,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.885735,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.806133032,"cg_iw_a":-1.68302321,"cg_theta_rad":0.554729879,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.000361662591,"mpcc_du":51.1499977,"mpcc_dv":47.6944885,"mpcc_dw":52.3055115,"mpcc_enc_sign":1,"mpcc_id_a":2.21472812,"mpcc_iq_a":-0.149181917,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.1940041,"mpcc_pred_id_a":0.0480491705,"mpcc_pred_iq_a":-7.82417345,"mpcc_state":1,"mpcc_theta_e":0.455873013,"mpcc_theta_mech":0.558120549,"sam_rpm":-7.31149769,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.0167864412,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48526895,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.892204,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-0.153744221,"cg_iw_a":-0.305757046,"cg_theta_rad":0.554457009,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.00991362613,"mpcc_du":50.4462509,"mpcc_dv":50.2790184,"mpcc_dw":50.3924675,"mpcc_enc_sign":1,"mpcc_id_a":1.93980241,"mpcc_iq_a":-2.2418983,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.58865547,"mpcc_pred_id_a":-0.0723018497,"mpcc_pred_iq_a":0.158243522,"mpcc_state":1,"mpcc_theta_e":0.437235832,"mpcc_theta_mech":0.554393053,"sam_rpm":-7.09742308,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.0167864412,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48526895,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.898796,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.38603449,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556338012,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0245563053,"mpcc_du":50.5944366,"mpcc_dv":48.1632271,"mpcc_dw":51.8367729,"mpcc_enc_sign":1,"mpcc_id_a":3.12096667,"mpcc_iq_a":-0.726689279,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.9005337,"mpcc_pred_id_a":0.0200177673,"mpcc_pred_iq_a":-0.221464977,"mpcc_state":1,"mpcc_theta_e":0.427236557,"mpcc_theta_mech":0.552393258,"sam_rpm":-22.4474621,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0201853961,"thr_a_norm":0.0201853961,"thr_a_v":0.580741584,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452034771,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.905296,"values":{"cg_iu_a":5.75110149,"cg_iv_a":-1.74847269,"cg_iw_a":0.78155756,"cg_theta_rad":0.557040513,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0102517949,"mpcc_du":50.4384651,"mpcc_dv":49.0269012,"mpcc_dw":50.9730988,"mpcc_enc_sign":1,"mpcc_id_a":1.59962809,"mpcc_iq_a":-1.92040944,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.06993294,"mpcc_pred_id_a":0.341140926,"mpcc_pred_iq_a":1.35592687,"mpcc_state":1,"mpcc_theta_e":0.446146488,"mpcc_theta_mech":0.556175232,"sam_rpm":6.50307083,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254097134,"thr_a_norm":0.0201853961,"thr_a_v":0.601638854,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.912529,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.31354666,"cg_iw_a":0.346631527,"cg_theta_rad":0.554244936,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.00607737619,"mpcc_du":49.8462219,"mpcc_dv":49.2996826,"mpcc_dw":50.7003174,"mpcc_enc_sign":1,"mpcc_id_a":0.462797672,"mpcc_iq_a":-1.42876017,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.65921593,"mpcc_pred_id_a":-0.382822007,"mpcc_pred_iq_a":-1.45103633,"mpcc_state":1,"mpcc_theta_e":0.451121807,"mpcc_theta_mech":0.557170272,"sam_rpm":12.8515863,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254097134,"thr_a_norm":0.0254097134,"thr_a_v":0.601638854,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.922874,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.6759851,"cg_iw_a":0.999020815,"cg_theta_rad":0.551643312,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.00727977976,"mpcc_du":49.4941635,"mpcc_dv":49.9908295,"mpcc_dw":50.5058365,"mpcc_enc_sign":1,"mpcc_id_a":1.68184316,"mpcc_iq_a":-1.25021172,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.416184574,"mpcc_pred_id_a":0.383211434,"mpcc_pred_iq_a":-3.42101645,"mpcc_state":1,"mpcc_theta_e":0.440157413,"mpcc_theta_mech":0.554977357,"sam_rpm":-0.401076168,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022224769,"thr_a_norm":0.022224769,"thr_a_v":0.588899076,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486578166,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.935081,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.24105906,"cg_iw_a":0.201656103,"cg_theta_rad":0.555752754,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0446721725,"mpcc_du":49.7370796,"mpcc_dv":49.180954,"mpcc_dw":50.819046,"mpcc_enc_sign":1,"mpcc_id_a":2.48682284,"mpcc_iq_a":-0.409848958,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.82050347,"mpcc_pred_id_a":0.282922029,"mpcc_pred_iq_a":-3.25687099,"mpcc_state":1,"mpcc_theta_e":0.451196194,"mpcc_theta_mech":0.557185173,"sam_rpm":5.68212271,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216330886,"thr_a_norm":0.022224769,"thr_a_v":0.586532354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463817805,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.944756,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.153744221,"cg_iw_a":-1.24809694,"cg_theta_rad":0.555239379,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0917834044,"mpcc_du":49.8972282,"mpcc_dv":48.8639984,"mpcc_dw":51.1360016,"mpcc_enc_sign":1,"mpcc_id_a":3.47382784,"mpcc_iq_a":0.452313989,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.08726406,"mpcc_pred_id_a":0.652285457,"mpcc_pred_iq_a":-1.80199516,"mpcc_state":1,"mpcc_theta_e":0.45372963,"mpcc_theta_mech":0.557691813,"sam_rpm":11.454052,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216330886,"thr_a_norm":0.0216330886,"thr_a_v":0.586532354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463817805,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.954948,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.82096052,"cg_iw_a":-0.958146095,"cg_theta_rad":0.556657314,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0143033266,"mpcc_du":50.0552368,"mpcc_dv":49.1142426,"mpcc_dw":50.8857574,"mpcc_enc_sign":1,"mpcc_id_a":1.17965806,"mpcc_iq_a":-0.276168853,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.30427384,"mpcc_pred_id_a":-0.531715512,"mpcc_pred_iq_a":-1.53879476,"mpcc_state":1,"mpcc_theta_e":0.442168713,"mpcc_theta_mech":0.555379629,"sam_rpm":2.28319597,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0158171207,"thr_a_norm":0.0158171207,"thr_a_v":0.563268483,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462558955,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.96508,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.45852208,"cg_iw_a":-1.68302321,"cg_theta_rad":0.5574736,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0465865768,"mpcc_du":49.76334,"mpcc_dv":49.4286003,"mpcc_dw":50.5713997,"mpcc_enc_sign":1,"mpcc_id_a":-0.609283745,"mpcc_iq_a":-1.60265911,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.60159874,"mpcc_pred_id_a":-0.5062356,"mpcc_pred_iq_a":-0.167577699,"mpcc_state":1,"mpcc_theta_e":0.419937134,"mpcc_theta_mech":0.550933361,"sam_rpm":-15.4967442,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0158171207,"thr_a_norm":0.0158171207,"thr_a_v":0.563268483,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462558955,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.988365,"values":{"cg_iu_a":-0.337862968,"cg_iv_a":-0.0087685585,"cg_iw_a":0.346631527,"cg_theta_rad":0.55367136,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.00448263343,"mpcc_du":48.9638367,"mpcc_dv":51.0361633,"mpcc_dw":49.403389,"mpcc_enc_sign":1,"mpcc_id_a":-0.0475338772,"mpcc_iq_a":-1.82981169,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.20760345,"mpcc_pred_id_a":-0.785623014,"mpcc_pred_iq_a":-8.29790497,"mpcc_state":1,"mpcc_theta_e":0.447812557,"mpcc_theta_mech":0.552139759,"sam_rpm":9.08192348,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025094986,"thr_a_norm":0.025094986,"thr_a_v":0.600379944,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494685292,"vdc_v":55.2955055}} +{"type":"telemetry","t":112.994865,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.45852208,"cg_iw_a":-1.8279984,"cg_theta_rad":0.556116223,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0275678542,"mpcc_du":49.8191566,"mpcc_dv":48.8820839,"mpcc_dw":51.1179161,"mpcc_enc_sign":1,"mpcc_id_a":3.16945744,"mpcc_iq_a":-0.985618234,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.42113101,"mpcc_pred_id_a":0.620218754,"mpcc_pred_iq_a":-3.99534726,"mpcc_state":1,"mpcc_theta_e":0.441875458,"mpcc_theta_mech":0.555321038,"sam_rpm":0.318627506,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0168871582,"thr_a_norm":0.025094986,"thr_a_v":0.567548633,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.442467362,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.001366,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.53100967,"cg_iw_a":0.346631527,"cg_theta_rad":0.5555709,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.00476571079,"mpcc_du":50.1628342,"mpcc_dv":48.8915253,"mpcc_dw":51.1084747,"mpcc_enc_sign":1,"mpcc_id_a":0.393411875,"mpcc_iq_a":-0.921879113,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.255318969,"mpcc_pred_id_a":-0.331463307,"mpcc_pred_iq_a":-0.932472646,"mpcc_state":1,"mpcc_theta_e":0.441272259,"mpcc_theta_mech":0.555200398,"sam_rpm":-0.354248941,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0168871582,"thr_a_norm":0.0168871582,"thr_a_v":0.567548633,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.442467362,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.007927,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.661157608,"cg_iw_a":-1.68302298,"cg_theta_rad":0.553473055,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5002,"hz_app_loop":361,"hz_tim_isr":10005,"hz_vsense":361,"mpcc_cost":0.0497746281,"mpcc_du":49.8779831,"mpcc_dv":48.8349571,"mpcc_dw":51.1650429,"mpcc_enc_sign":1,"mpcc_id_a":3.76585865,"mpcc_iq_a":-0.0621040314,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.821070433,"mpcc_pred_id_a":0.718321443,"mpcc_pred_iq_a":-1.31134391,"mpcc_state":1,"mpcc_theta_e":0.44137001,"mpcc_theta_mech":0.555219889,"sam_rpm":-0.853521466,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297905654,"thr_a_norm":0.0297905654,"thr_a_v":0.619162261,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453444719,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.016502,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.951108456,"cg_iw_a":-0.81317091,"cg_theta_rad":0.552597404,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9905.09473,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.00229830062,"mpcc_du":49.6287384,"mpcc_dv":49.4183617,"mpcc_dw":50.5816383,"mpcc_enc_sign":1,"mpcc_id_a":0.893277884,"mpcc_iq_a":-2.04887724,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.23190069,"mpcc_pred_id_a":0.0298406668,"mpcc_pred_iq_a":-1.02117026,"mpcc_state":1,"mpcc_theta_e":0.447429657,"mpcc_theta_mech":0.55643183,"sam_rpm":10.5164957,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297905654,"thr_a_norm":0.0297905654,"thr_a_v":0.619162261,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453444719,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.026939,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.53100967,"cg_iw_a":-2.04546165,"cg_theta_rad":0.55662787,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.00596150709,"mpcc_du":50.7260361,"mpcc_dv":48.4008827,"mpcc_dw":51.5991173,"mpcc_enc_sign":1,"mpcc_id_a":-0.673549891,"mpcc_iq_a":-3.41846323,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.100666,"mpcc_pred_id_a":-0.95015204,"mpcc_pred_iq_a":-2.30383515,"mpcc_state":1,"mpcc_theta_e":0.432691574,"mpcc_theta_mech":0.553484261,"sam_rpm":-24.2249889,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0142183602,"thr_a_norm":0.0142183602,"thr_a_v":0.556873441,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446697205,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.037071,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.02359605,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.550875306,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.00159254461,"mpcc_du":50.6367798,"mpcc_dv":48.1653862,"mpcc_dw":51.8346138,"mpcc_enc_sign":1,"mpcc_id_a":-0.303565383,"mpcc_iq_a":-2.07180047,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.8740139,"mpcc_pred_id_a":-0.0448884815,"mpcc_pred_iq_a":-1.00574207,"mpcc_state":1,"mpcc_theta_e":0.438336849,"mpcc_theta_mech":0.554613292,"sam_rpm":-15.0200329,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.046609059,"thr_a_norm":0.0142183602,"thr_a_v":0.686436236,"thr_b":0.0113481283,"thr_b_norm":0,"thr_b_v":0.545392513,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.046715,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.24105906,"cg_iw_a":0.781557798,"cg_theta_rad":0.557130039,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0441382118,"mpcc_du":49.5636024,"mpcc_dv":49.4928627,"mpcc_dw":50.5071373,"mpcc_enc_sign":1,"mpcc_id_a":1.68863833,"mpcc_iq_a":-3.13342953,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.186232433,"mpcc_pred_id_a":-0.0287968498,"mpcc_pred_iq_a":-0.501458347,"mpcc_state":1,"mpcc_theta_e":0.434886932,"mpcc_theta_mech":0.553923309,"sam_rpm":-0.684370756,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.046609059,"thr_a_norm":0.046609059,"thr_a_v":0.686436236,"thr_b":0.0113481283,"thr_b_norm":0.0113481283,"thr_b_v":0.545392513,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.056908,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-2.0384233,"cg_iw_a":-1.03063416,"cg_theta_rad":0.557025611,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0307402145,"mpcc_du":49.8108673,"mpcc_dv":48.8264656,"mpcc_dw":51.1735344,"mpcc_enc_sign":1,"mpcc_id_a":2.47799253,"mpcc_iq_a":-0.249297306,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.18933582,"mpcc_pred_id_a":0.918918192,"mpcc_pred_iq_a":-0.450699687,"mpcc_state":1,"mpcc_theta_e":0.444755077,"mpcc_theta_mech":0.555896938,"sam_rpm":7.03106833,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185236931,"thr_a_norm":0.0185236931,"thr_a_v":0.574094772,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448711365,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.066917,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.806133032,"cg_iw_a":-2.04546142,"cg_theta_rad":0.556068718,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.00154255331,"mpcc_du":50.0207596,"mpcc_dv":48.9088478,"mpcc_dw":51.0911522,"mpcc_enc_sign":1,"mpcc_id_a":0.751334608,"mpcc_iq_a":-0.673705995,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.12414312,"mpcc_pred_id_a":-0.0232040659,"mpcc_pred_iq_a":1.2967732,"mpcc_state":1,"mpcc_theta_e":0.440642834,"mpcc_theta_mech":0.555074513,"sam_rpm":6.41566706,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185236931,"thr_a_norm":0.0185236931,"thr_a_v":0.574094772,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448711365,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.090111,"values":{"cg_iu_a":0.749452114,"cg_iv_a":0.136206627,"cg_iw_a":-0.885658741,"cg_theta_rad":0.554481745,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0106835933,"mpcc_du":49.0709457,"mpcc_dv":50.9290543,"mpcc_dw":49.8208466,"mpcc_enc_sign":1,"mpcc_id_a":2.06721139,"mpcc_iq_a":-2.10968757,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.20857143,"mpcc_pred_id_a":0.00129299832,"mpcc_pred_iq_a":-5.86094618,"mpcc_state":1,"mpcc_theta_e":0.450050831,"mpcc_theta_mech":0.556956112,"sam_rpm":13.0178642,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197070241,"thr_a_norm":0.0197070241,"thr_a_v":0.578828096,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.096672,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.74847269,"cg_iw_a":-0.378244877,"cg_theta_rad":0.555002153,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.000142003861,"mpcc_du":50.3228912,"mpcc_dv":48.6649437,"mpcc_dw":51.3350563,"mpcc_enc_sign":1,"mpcc_id_a":0.146439299,"mpcc_iq_a":-2.46974874,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.73222733,"mpcc_pred_id_a":-0.218110248,"mpcc_pred_iq_a":-1.37827802,"mpcc_state":1,"mpcc_theta_e":0.439964771,"mpcc_theta_mech":0.554938912,"sam_rpm":-6.14745522,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220611095,"thr_a_norm":0.0220611095,"thr_a_v":0.588244438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474543363,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.103111,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-1.60349751,"cg_iw_a":-0.16078186,"cg_theta_rad":0.557005942,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0757506862,"mpcc_du":49.3755074,"mpcc_dv":50.6244926,"mpcc_dw":50.4183464,"mpcc_enc_sign":1,"mpcc_id_a":3.6537466,"mpcc_iq_a":2.39051104,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.82136202,"mpcc_pred_id_a":0.656683803,"mpcc_pred_iq_a":-4.90381432,"mpcc_state":1,"mpcc_theta_e":0.444250107,"mpcc_theta_mech":0.555795908,"sam_rpm":5.38103056,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220611095,"thr_a_norm":0.0220611095,"thr_a_v":0.588244438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474543363,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.109703,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-2.11091113,"cg_iw_a":-0.45073247,"cg_theta_rad":0.554479241,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.000147049577,"mpcc_du":49.3661079,"mpcc_dv":50.6338921,"mpcc_dw":50.055603,"mpcc_enc_sign":1,"mpcc_id_a":-0.221607804,"mpcc_iq_a":-1.69843066,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.34339952,"mpcc_pred_id_a":-0.385289222,"mpcc_pred_iq_a":-5.12049723,"mpcc_state":1,"mpcc_theta_e":0.445559978,"mpcc_theta_mech":0.55605787,"sam_rpm":7.51752281,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00772258639,"thr_b_norm":0.00772258639,"thr_b_v":0.530890346,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.119804,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.588670254,"cg_iw_a":-0.0882940292,"cg_theta_rad":0.557155311,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0356742255,"mpcc_du":50.1983604,"mpcc_dv":48.542366,"mpcc_dw":51.457634,"mpcc_enc_sign":1,"mpcc_id_a":3.09945512,"mpcc_iq_a":-0.0885893106,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.8763065,"mpcc_pred_id_a":0.318015486,"mpcc_pred_iq_a":-2.09469414,"mpcc_state":1,"mpcc_theta_e":0.432168961,"mpcc_theta_mech":0.553379714,"sam_rpm":-16.0535965,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0340707153,"thr_a_norm":0.0296772718,"thr_a_v":0.636282861,"thr_b":0,"thr_b_norm":0.00772258639,"thr_b_v":0.494030654,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.129723,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.38603449,"cg_iw_a":0.999020576,"cg_theta_rad":0.552548051,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0191302523,"mpcc_du":49.6049042,"mpcc_dv":49.6389465,"mpcc_dw":50.3950958,"mpcc_enc_sign":1,"mpcc_id_a":-0.276078135,"mpcc_iq_a":-2.94929838,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.5691452,"mpcc_pred_id_a":-0.464520842,"mpcc_pred_iq_a":-5.11828995,"mpcc_state":1,"mpcc_theta_e":0.425848484,"mpcc_theta_mech":0.552115619,"sam_rpm":-22.4606018,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0340707153,"thr_a_norm":0.0340707153,"thr_a_v":0.636282861,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494030654,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.140068,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.45852208,"cg_iw_a":-0.958146334,"cg_theta_rad":0.555994689,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0141126793,"mpcc_du":49.5665627,"mpcc_dv":49.8162193,"mpcc_dw":50.4334373,"mpcc_enc_sign":1,"mpcc_id_a":1.26109385,"mpcc_iq_a":-0.278521985,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.10773277,"mpcc_pred_id_a":-0.0257317536,"mpcc_pred_iq_a":-0.0993793532,"mpcc_state":1,"mpcc_theta_e":0.449427605,"mpcc_theta_mech":0.556831479,"sam_rpm":13.0563011,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265301019,"thr_a_norm":0.0265301019,"thr_a_v":0.606120408,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478722841,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.150291,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.733645439,"cg_iw_a":-1.32058477,"cg_theta_rad":0.555001259,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0494219922,"mpcc_du":49.5074539,"mpcc_dv":47.2035561,"mpcc_dw":52.7964439,"mpcc_enc_sign":1,"mpcc_id_a":2.69528008,"mpcc_iq_a":-1.14678848,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.2329025,"mpcc_pred_id_a":0.42520982,"mpcc_pred_iq_a":-4.2087183,"mpcc_state":1,"mpcc_theta_e":0.460849762,"mpcc_theta_mech":0.559115827,"sam_rpm":26.6709995,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0265301019,"thr_a_norm":0.0265301019,"thr_a_v":0.606120408,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478722841,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.160301,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.371207237,"cg_iw_a":0.491606951,"cg_theta_rad":0.557707667,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0280682147,"mpcc_du":49.5850868,"mpcc_dv":49.3679314,"mpcc_dw":50.6320686,"mpcc_enc_sign":1,"mpcc_id_a":2.7505424,"mpcc_iq_a":-0.521807194,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.8324635,"mpcc_pred_id_a":0.391998351,"mpcc_pred_iq_a":-2.54710078,"mpcc_state":1,"mpcc_theta_e":0.445931911,"mpcc_theta_mech":0.556132257,"sam_rpm":4.55291033,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0997962952,"thr_a_norm":0.0997962952,"thr_a_v":0.899185181,"thr_b":0.0409567356,"thr_b_norm":0.0409567356,"thr_b_v":0.663826942,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.170464,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.74847269,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556306124,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.00166542176,"mpcc_du":49.6010056,"mpcc_dv":49.5305367,"mpcc_dw":50.4694633,"mpcc_enc_sign":1,"mpcc_id_a":0.138576075,"mpcc_iq_a":-1.45211124,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.7080965,"mpcc_pred_id_a":-0.141278878,"mpcc_pred_iq_a":-2.99607372,"mpcc_state":1,"mpcc_theta_e":0.444439888,"mpcc_theta_mech":0.555833936,"sam_rpm":3.84147954,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202231556,"thr_a_norm":0.0997962952,"thr_a_v":0.580892622,"thr_b":0,"thr_b_norm":0.0409567356,"thr_b_v":0.453595787,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.193718,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.516182423,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556352675,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0295145474,"mpcc_du":49.7977715,"mpcc_dv":48.9846954,"mpcc_dw":51.0153046,"mpcc_enc_sign":1,"mpcc_id_a":3.38537717,"mpcc_iq_a":-0.5242275,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.228818223,"mpcc_pred_id_a":0.577748895,"mpcc_pred_iq_a":-0.807346344,"mpcc_state":1,"mpcc_theta_e":0.439683914,"mpcc_theta_mech":0.554882705,"sam_rpm":-9.90243244,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202231556,"thr_a_norm":0.0202231556,"thr_a_v":0.580892622,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453595787,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.200218,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.09608364,"cg_iw_a":-2.04546165,"cg_theta_rad":0.555752754,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.00536082964,"mpcc_du":48.1852455,"mpcc_dv":51.8147545,"mpcc_dw":48.3621216,"mpcc_enc_sign":1,"mpcc_id_a":-0.651895285,"mpcc_iq_a":-2.23704505,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.2859936,"mpcc_pred_id_a":-1.06197238,"mpcc_pred_iq_a":-8.60217285,"mpcc_state":1,"mpcc_theta_e":0.450423717,"mpcc_theta_mech":0.557030618,"sam_rpm":16.4503632,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020437181,"thr_a_norm":0.020437181,"thr_a_v":0.581748724,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450272381,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.206749,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.733645439,"cg_iw_a":-1.39307213,"cg_theta_rad":0.556737661,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.00414782949,"mpcc_du":49.9861603,"mpcc_dv":49.0664444,"mpcc_dw":50.9335556,"mpcc_enc_sign":1,"mpcc_id_a":0.995046556,"mpcc_iq_a":-1.67547226,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.922206163,"mpcc_pred_id_a":-0.0769843906,"mpcc_pred_iq_a":-1.7635715,"mpcc_state":1,"mpcc_theta_e":0.444948673,"mpcc_theta_mech":0.555935681,"sam_rpm":1.38294029,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020437181,"thr_a_norm":0.020437181,"thr_a_v":0.581748724,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450272381,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.213249,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.38603449,"cg_iw_a":0.201656342,"cg_theta_rad":0.555905282,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0191567093,"mpcc_du":49.2024269,"mpcc_dv":50.7975731,"mpcc_dw":49.9534035,"mpcc_enc_sign":1,"mpcc_id_a":2.57267165,"mpcc_iq_a":-0.891834378,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.00060987,"mpcc_pred_id_a":0.0483976193,"mpcc_pred_iq_a":-6.6406517,"mpcc_state":1,"mpcc_theta_e":0.442994118,"mpcc_theta_mech":0.555544734,"sam_rpm":2.32857847,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180705041,"thr_a_norm":0.0180705041,"thr_a_v":0.572282016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448459595,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.221458,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.588670254,"cg_iw_a":-0.523220539,"cg_theta_rad":0.555196881,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0331391618,"mpcc_du":49.5105438,"mpcc_dv":50.4894562,"mpcc_dw":50.4167709,"mpcc_enc_sign":1,"mpcc_id_a":2.87503791,"mpcc_iq_a":-1.10380292,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.47611284,"mpcc_pred_id_a":0.273821592,"mpcc_pred_iq_a":-5.46229553,"mpcc_state":1,"mpcc_theta_e":0.449524879,"mpcc_theta_mech":0.556850851,"sam_rpm":9.81849957,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269581228,"thr_a_norm":0.0180705041,"thr_a_v":0.607832491,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491664022,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.231255,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.661157608,"cg_iw_a":-1.61053562,"cg_theta_rad":0.553279698,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0385916568,"mpcc_du":49.5794945,"mpcc_dv":50.1774292,"mpcc_dw":50.4205055,"mpcc_enc_sign":1,"mpcc_id_a":1.32435453,"mpcc_iq_a":-0.825123668,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.71255636,"mpcc_pred_id_a":-0.104019754,"mpcc_pred_iq_a":-0.968405724,"mpcc_state":1,"mpcc_theta_e":0.425303936,"mpcc_theta_mech":0.552006721,"sam_rpm":-8.71477127,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269581228,"thr_a_norm":0.0269581228,"thr_a_v":0.607832491,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491664022,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.241447,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-2.69081235,"cg_iw_a":-1.03063416,"cg_theta_rad":0.555894852,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.00616668072,"mpcc_du":49.2877884,"mpcc_dv":50.7122116,"mpcc_dw":49.7102509,"mpcc_enc_sign":1,"mpcc_id_a":-1.50720155,"mpcc_iq_a":-2.52136135,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.18462896,"mpcc_pred_id_a":-1.04412174,"mpcc_pred_iq_a":-6.04480553,"mpcc_state":1,"mpcc_theta_e":0.448316574,"mpcc_theta_mech":0.556609273,"sam_rpm":8.0964098,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026857391,"thr_a_norm":0.026857391,"thr_a_v":0.607429564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496900886,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.253868,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-1.38603449,"cg_iw_a":0.709069967,"cg_theta_rad":0.557389677,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0492692515,"mpcc_du":50.0578537,"mpcc_dv":48.7231369,"mpcc_dw":51.2768631,"mpcc_enc_sign":1,"mpcc_id_a":2.73888516,"mpcc_iq_a":-0.380222142,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.111515485,"mpcc_pred_id_a":0.421709865,"mpcc_pred_iq_a":-2.06428385,"mpcc_state":1,"mpcc_theta_e":0.44701004,"mpcc_theta_mech":0.556347907,"sam_rpm":0.976368546,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023609519,"thr_a_norm":0.026857391,"thr_a_v":0.594438076,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478924245,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.265862,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.733645439,"cg_iw_a":-2.48038721,"cg_theta_rad":0.552844465,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0292422641,"mpcc_du":50.8871613,"mpcc_dv":47.8402863,"mpcc_dw":52.1597137,"mpcc_enc_sign":1,"mpcc_id_a":1.8275224,"mpcc_iq_a":-2.93024731,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.0516963,"mpcc_pred_id_a":-0.196062684,"mpcc_pred_iq_a":-6.72885132,"mpcc_state":1,"mpcc_theta_e":0.452139854,"mpcc_theta_mech":0.557373881,"sam_rpm":10.0603228,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023609519,"thr_a_norm":0.023609519,"thr_a_v":0.594438076,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478924245,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.275871,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.0087685585,"cg_iw_a":-1.75551081,"cg_theta_rad":0.555734694,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0546503663,"mpcc_du":49.4160957,"mpcc_dv":49.6837616,"mpcc_dw":50.5839043,"mpcc_enc_sign":1,"mpcc_id_a":2.94890761,"mpcc_iq_a":-0.463787764,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.2314596,"mpcc_pred_id_a":0.653636336,"mpcc_pred_iq_a":-3.21766353,"mpcc_state":1,"mpcc_theta_e":0.456261635,"mpcc_theta_mech":0.558198273,"sam_rpm":18.222496,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278141499,"thr_a_norm":0.0278141499,"thr_a_v":0.611256599,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498915076,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.299095,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.45852208,"cg_iw_a":-2.26292467,"cg_theta_rad":0.559191048,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0131450659,"mpcc_du":49.5568314,"mpcc_dv":49.9556046,"mpcc_dw":50.4431686,"mpcc_enc_sign":1,"mpcc_id_a":2.12607074,"mpcc_iq_a":-1.15536511,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.20729542,"mpcc_pred_id_a":-0.162654057,"mpcc_pred_iq_a":-2.70472646,"mpcc_state":1,"mpcc_theta_e":0.447554111,"mpcc_theta_mech":0.556456745,"sam_rpm":11.042984,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280659199,"thr_a_norm":0.0278141499,"thr_a_v":0.61226368,"thr_b":0.00390821695,"thr_b_norm":0,"thr_b_v":0.515632868,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.305626,"values":{"cg_iu_a":2.27169323,"cg_iv_a":0.281181812,"cg_iw_a":-3.13277626,"cg_theta_rad":0.555004597,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0267617814,"mpcc_du":49.9755363,"mpcc_dv":48.9296913,"mpcc_dw":51.0703087,"mpcc_enc_sign":1,"mpcc_id_a":2.49167323,"mpcc_iq_a":-0.379247397,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.00505781,"mpcc_pred_id_a":0.0453473702,"mpcc_pred_iq_a":-2.57890964,"mpcc_state":1,"mpcc_theta_e":0.438902855,"mpcc_theta_mech":0.554726481,"sam_rpm":-7.18077135,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280659199,"thr_a_norm":0.0280659199,"thr_a_v":0.61226368,"thr_b":0.00390821695,"thr_b_norm":0.00390821695,"thr_b_v":0.515632868,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.312187,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.02359605,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.55393666,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0103767877,"mpcc_du":51.3773422,"mpcc_dv":47.1836243,"mpcc_dw":52.8163757,"mpcc_enc_sign":1,"mpcc_id_a":1.88807261,"mpcc_iq_a":-1.50629056,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.2672958,"mpcc_pred_id_a":-0.0931816697,"mpcc_pred_iq_a":2.61953926,"mpcc_state":1,"mpcc_theta_e":0.430100918,"mpcc_theta_mech":0.552966058,"sam_rpm":-21.9815731,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182970911,"thr_a_norm":0.0182970911,"thr_a_v":0.573188365,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463515669,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.318901,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.371207237,"cg_iw_a":-1.82799816,"cg_theta_rad":0.554814875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0105256541,"mpcc_du":50.6188889,"mpcc_dv":50.6383858,"mpcc_dw":50.1213875,"mpcc_enc_sign":1,"mpcc_id_a":2.04689693,"mpcc_iq_a":-1.85544336,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.7359877,"mpcc_pred_id_a":0.105022714,"mpcc_pred_iq_a":-0.624938667,"mpcc_state":1,"mpcc_theta_e":0.430110455,"mpcc_theta_mech":0.557478487,"sam_rpm":-21.4791851,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.0182970911,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486779571,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.328789,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.733645439,"cg_iw_a":-1.32058477,"cg_theta_rad":0.55319947,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.00328406692,"mpcc_du":49.499752,"mpcc_dv":50.1107368,"mpcc_dw":50.500248,"mpcc_enc_sign":1,"mpcc_id_a":0.602665842,"mpcc_iq_a":-1.84855247,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.29746532,"mpcc_pred_id_a":-0.33589679,"mpcc_pred_iq_a":-1.29062414,"mpcc_state":1,"mpcc_theta_e":0.437685013,"mpcc_theta_mech":0.555767834,"sam_rpm":6.36839294,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.0167864412,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486779571,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.33889,"values":{"cg_iu_a":0.966915131,"cg_iv_a":0.281181812,"cg_iw_a":-1.24809694,"cg_theta_rad":0.552572608,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0282791071,"mpcc_du":49.5553589,"mpcc_dv":49.6565971,"mpcc_dw":50.4446411,"mpcc_enc_sign":1,"mpcc_id_a":0.332018256,"mpcc_iq_a":-1.94340634,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.32526326,"mpcc_pred_id_a":-0.229739413,"mpcc_pred_iq_a":-0.703371286,"mpcc_state":1,"mpcc_theta_e":0.42996788,"mpcc_theta_mech":0.552939475,"sam_rpm":-4.24657726,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185111016,"thr_a_norm":0.0185111016,"thr_a_v":0.574044406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454804301,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.351067,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.60349751,"cg_iw_a":-0.015806675,"cg_theta_rad":0.553264141,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0324311703,"mpcc_du":49.6686707,"mpcc_dv":49.2281227,"mpcc_dw":50.7718773,"mpcc_enc_sign":1,"mpcc_id_a":5.91854572,"mpcc_iq_a":-1.28574622,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.54788375,"mpcc_pred_id_a":1.64124393,"mpcc_pred_iq_a":-5.10569668,"mpcc_state":1,"mpcc_theta_e":0.444657803,"mpcc_theta_mech":0.555877507,"sam_rpm":8.32422066,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0414602906,"thr_a_norm":0.0185111016,"thr_a_v":0.665841162,"thr_b":0.0124811232,"thr_b_norm":0,"thr_b_v":0.549924493,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.360771,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.53100967,"cg_iw_a":-0.595707893,"cg_theta_rad":0.555914938,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0239985213,"mpcc_du":49.6803322,"mpcc_dv":49.1713409,"mpcc_dw":50.8286591,"mpcc_enc_sign":1,"mpcc_id_a":2.83683395,"mpcc_iq_a":-1.35022497,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.3953037,"mpcc_pred_id_a":0.292906821,"mpcc_pred_iq_a":-3.61995816,"mpcc_state":1,"mpcc_theta_e":0.4322052,"mpcc_theta_mech":0.553386986,"sam_rpm":-5.09956408,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0414602906,"thr_a_norm":0.0414602906,"thr_a_v":0.665841162,"thr_b":0.0124811232,"thr_b_norm":0.0124811232,"thr_b_v":0.549924493,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.371056,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.53100967,"cg_iw_a":0.709069729,"cg_theta_rad":0.557264745,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0272839162,"mpcc_du":49.9177246,"mpcc_dv":48.817131,"mpcc_dw":51.182869,"mpcc_enc_sign":1,"mpcc_id_a":2.65394998,"mpcc_iq_a":0.195680156,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.7141209,"mpcc_pred_id_a":0.317922771,"mpcc_pred_iq_a":0.997612596,"mpcc_state":1,"mpcc_theta_e":0.41946125,"mpcc_theta_mech":0.550838172,"sam_rpm":-18.2994823,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194804221,"thr_a_norm":0.0194804221,"thr_a_v":0.577921689,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463012129,"vdc_v":54.6292953}} +{"type":"telemetry","t":113.394096,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-0.661157608,"cg_iw_a":-2.77033806,"cg_theta_rad":0.552439153,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.00554035557,"mpcc_du":49.0327492,"mpcc_dv":50.9672508,"mpcc_dw":49.7075691,"mpcc_enc_sign":1,"mpcc_id_a":1.47342885,"mpcc_iq_a":-0.671691835,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.9364748,"mpcc_pred_id_a":-0.17548959,"mpcc_pred_iq_a":3.5653758,"mpcc_state":1,"mpcc_theta_e":0.430233955,"mpcc_theta_mech":0.552992702,"sam_rpm":4.85757637,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0194804221,"thr_a_norm":0.0194804221,"thr_a_v":0.577921689,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463012129,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.400627,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.878620625,"cg_iw_a":-1.32058477,"cg_theta_rad":0.556490064,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0132026747,"mpcc_du":50.6750946,"mpcc_dv":48.1895523,"mpcc_dw":51.8104477,"mpcc_enc_sign":1,"mpcc_id_a":0.766224921,"mpcc_iq_a":-0.300986141,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.835803,"mpcc_pred_id_a":-0.428890765,"mpcc_pred_iq_a":-1.7824744,"mpcc_state":1,"mpcc_theta_e":0.430101395,"mpcc_theta_mech":0.552966237,"sam_rpm":-22.7719383,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.107374683,"thr_a_norm":0.107374683,"thr_a_v":0.929498732,"thr_b":0.0426939726,"thr_b_norm":0.0426939726,"thr_b_v":0.67077589,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.407127,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.09608364,"cg_iw_a":-0.305757523,"cg_theta_rad":0.555764556,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0202857386,"mpcc_du":48.7571526,"mpcc_dv":51.2428474,"mpcc_dw":49.5029144,"mpcc_enc_sign":1,"mpcc_id_a":2.30607557,"mpcc_iq_a":-0.781359136,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.44497967,"mpcc_pred_id_a":-0.0339114964,"mpcc_pred_iq_a":-7.70733738,"mpcc_state":1,"mpcc_theta_e":0.448976994,"mpcc_theta_mech":0.556741297,"sam_rpm":12.1819973,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.107374683,"thr_a_norm":0.107374683,"thr_a_v":0.929498732,"thr_b":0.0426939726,"thr_b_norm":0.0426939726,"thr_b_v":0.67077589,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.413628,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-3.27071381,"cg_iw_a":-2.33541203,"cg_theta_rad":0.551683545,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0489918403,"mpcc_du":49.8063622,"mpcc_dv":48.9854736,"mpcc_dw":51.0145264,"mpcc_enc_sign":1,"mpcc_id_a":2.07919383,"mpcc_iq_a":0.57913655,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.86298847,"mpcc_pred_id_a":0.378829509,"mpcc_pred_iq_a":-0.706060648,"mpcc_state":1,"mpcc_theta_e":0.450697899,"mpcc_theta_mech":0.557085514,"sam_rpm":13.6406193,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0171515197,"thr_a_norm":0.0171515197,"thr_a_v":0.568606079,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446596503,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.42144,"values":{"cg_iu_a":1.76427937,"cg_iv_a":0.353669643,"cg_iw_a":-2.11794901,"cg_theta_rad":0.557373941,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.00685204519,"mpcc_du":50.1076241,"mpcc_dv":48.6962433,"mpcc_dw":51.3037567,"mpcc_enc_sign":1,"mpcc_id_a":1.5558145,"mpcc_iq_a":-1.84842002,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.69145703,"mpcc_pred_id_a":0.145831391,"mpcc_pred_iq_a":0.000798080349,"mpcc_state":1,"mpcc_theta_e":0.444243431,"mpcc_theta_mech":0.555794597,"sam_rpm":3.81951118,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272980034,"thr_a_norm":0.0171515197,"thr_a_v":0.609192014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486376733,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.431389,"values":{"cg_iu_a":0.459501266,"cg_iv_a":0.136206627,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556936443,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.013358552,"mpcc_du":49.4548264,"mpcc_dv":49.4843102,"mpcc_dw":50.5451736,"mpcc_enc_sign":1,"mpcc_id_a":2.30051279,"mpcc_iq_a":-0.617568135,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.3102541,"mpcc_pred_id_a":0.258149356,"mpcc_pred_iq_a":-0.47103551,"mpcc_state":1,"mpcc_theta_e":0.44002676,"mpcc_theta_mech":0.554951251,"sam_rpm":7.56988287,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272980034,"thr_a_norm":0.0272980034,"thr_a_v":0.609192014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486376733,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.44149,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.45852208,"cg_iw_a":-1.24809718,"cg_theta_rad":0.559328735,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0115951467,"mpcc_du":49.1398354,"mpcc_dv":50.8601646,"mpcc_dw":49.7652473,"mpcc_enc_sign":1,"mpcc_id_a":0.594630599,"mpcc_iq_a":0.190058231,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.39595127,"mpcc_pred_id_a":-0.545461476,"mpcc_pred_iq_a":-1.7578994,"mpcc_state":1,"mpcc_theta_e":0.434193134,"mpcc_theta_mech":0.553784549,"sam_rpm":8.02713108,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288841873,"thr_a_norm":0.0288841873,"thr_a_v":0.615536749,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495541304,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.451469,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.298719406,"cg_iw_a":0.0566811562,"cg_theta_rad":0.555673838,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0155149354,"mpcc_du":49.5003357,"mpcc_dv":50.2367706,"mpcc_dw":50.4996643,"mpcc_enc_sign":1,"mpcc_id_a":2.2602284,"mpcc_iq_a":0.350968331,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.0359564,"mpcc_pred_id_a":0.306390196,"mpcc_pred_iq_a":0.441425025,"mpcc_state":1,"mpcc_theta_e":0.429132938,"mpcc_theta_mech":0.552772522,"sam_rpm":0.94136709,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288841873,"thr_a_norm":0.0288841873,"thr_a_v":0.615536749,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495541304,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.463707,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.371207237,"cg_iw_a":-2.40789938,"cg_theta_rad":0.556392252,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0469025671,"mpcc_du":51.2192574,"mpcc_dv":47.149868,"mpcc_dw":52.850132,"mpcc_enc_sign":1,"mpcc_id_a":3.00260782,"mpcc_iq_a":0.0622406639,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.9977112,"mpcc_pred_id_a":0.374517947,"mpcc_pred_iq_a":1.96832085,"mpcc_state":1,"mpcc_theta_e":0.427472591,"mpcc_theta_mech":0.552440464,"sam_rpm":-21.2565804,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151750892,"thr_a_norm":0.0151750892,"thr_a_v":0.560700357,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.473869,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.16857147,"cg_iw_a":-1.32058477,"cg_theta_rad":0.556593359,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0597719103,"mpcc_du":49.7019539,"mpcc_dv":49.0751991,"mpcc_dw":50.9248009,"mpcc_enc_sign":1,"mpcc_id_a":3.1004765,"mpcc_iq_a":-0.809662998,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.50976753,"mpcc_pred_id_a":0.566184878,"mpcc_pred_iq_a":-2.9753623,"mpcc_state":1,"mpcc_theta_e":0.453908443,"mpcc_theta_mech":0.557727635,"sam_rpm":10.316247,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241256505,"thr_a_norm":0.0241256505,"thr_a_v":0.596502602,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476507217,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.497093,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-2.18339872,"cg_iw_a":1.79638481,"cg_theta_rad":0.553565264,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.00380801805,"mpcc_du":48.9745941,"mpcc_dv":47.6298943,"mpcc_dw":52.3701057,"mpcc_enc_sign":1,"mpcc_id_a":0.973494232,"mpcc_iq_a":-1.89396942,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.90948415,"mpcc_pred_id_a":-0.199148908,"mpcc_pred_iq_a":-6.53229904,"mpcc_state":1,"mpcc_theta_e":0.443321228,"mpcc_theta_mech":0.55561012,"sam_rpm":4.99564075,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241256505,"thr_a_norm":0.0241256505,"thr_a_v":0.596502602,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476507217,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.503593,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.951108456,"cg_iw_a":-1.53804779,"cg_theta_rad":0.553072333,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0199708492,"mpcc_du":50.2993774,"mpcc_dv":48.4928093,"mpcc_dw":51.5071907,"mpcc_enc_sign":1,"mpcc_id_a":2.51606917,"mpcc_iq_a":-0.140702322,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.3713932,"mpcc_pred_id_a":0.0843643695,"mpcc_pred_iq_a":-0.954690576,"mpcc_state":1,"mpcc_theta_e":0.445982456,"mpcc_theta_mech":0.556142449,"sam_rpm":-15.6200962,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0175291747,"thr_a_norm":0.0175291747,"thr_a_v":0.570116699,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461702883,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.510155,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-1.09608364,"cg_iw_a":-2.33541203,"cg_theta_rad":0.554430366,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0130678462,"mpcc_du":49.6103363,"mpcc_dv":49.8559608,"mpcc_dw":50.3896637,"mpcc_enc_sign":1,"mpcc_id_a":0.341522962,"mpcc_iq_a":-0.854776025,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.02426934,"mpcc_pred_id_a":-0.446157634,"mpcc_pred_iq_a":-4.614007,"mpcc_state":1,"mpcc_theta_e":0.446212769,"mpcc_theta_mech":0.556188464,"sam_rpm":4.57756329,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0175291747,"thr_a_norm":0.0175291747,"thr_a_v":0.570116699,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461702883,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.516655,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.16857147,"cg_iw_a":-4.36506653,"cg_theta_rad":0.556064129,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0516344495,"mpcc_du":48.8518639,"mpcc_dv":51.1481361,"mpcc_dw":49.429615,"mpcc_enc_sign":1,"mpcc_id_a":1.30416679,"mpcc_iq_a":0.294825047,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.1612682,"mpcc_pred_id_a":-0.5133515,"mpcc_pred_iq_a":-7.26182032,"mpcc_state":1,"mpcc_theta_e":0.457995415,"mpcc_theta_mech":0.558544993,"sam_rpm":24.3287315,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.01975739,"thr_a_norm":0.01975739,"thr_a_v":0.57902956,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476557553,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.524681,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.09608364,"cg_iw_a":-0.450732708,"cg_theta_rad":0.555546105,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.00906498358,"mpcc_du":49.5607719,"mpcc_dv":49.6768379,"mpcc_dw":50.4392281,"mpcc_enc_sign":1,"mpcc_id_a":0.597150147,"mpcc_iq_a":-0.321123451,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.11249018,"mpcc_pred_id_a":-0.240518779,"mpcc_pred_iq_a":-5.04073906,"mpcc_state":1,"mpcc_theta_e":0.437635899,"mpcc_theta_mech":0.553372324,"sam_rpm":-7.84148884,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.01975739,"thr_a_v":0.618709087,"thr_b":0.00773517787,"thr_b_norm":0,"thr_b_v":0.530940711,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.534447,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.153744221,"cg_iw_a":-1.17560911,"cg_theta_rad":0.556975722,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.000839719898,"mpcc_du":50.0985985,"mpcc_dv":48.8683319,"mpcc_dw":51.1316681,"mpcc_enc_sign":1,"mpcc_id_a":0.296483666,"mpcc_iq_a":-1.6562562,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.40304136,"mpcc_pred_id_a":-0.243583024,"mpcc_pred_iq_a":-1.33015501,"mpcc_state":1,"mpcc_theta_e":0.43505764,"mpcc_theta_mech":0.553957403,"sam_rpm":-10.2194929,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00773517787,"thr_b_norm":0.00773517787,"thr_b_v":0.530940711,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.544609,"values":{"cg_iu_a":1.40184116,"cg_iv_a":1.07854605,"cg_iw_a":-2.48038721,"cg_theta_rad":0.557429135,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0750305951,"mpcc_du":50.1923409,"mpcc_dv":48.3541374,"mpcc_dw":50.6767082,"mpcc_enc_sign":1,"mpcc_id_a":3.89390182,"mpcc_iq_a":-0.651407599,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.32696319,"mpcc_pred_id_a":0.868222892,"mpcc_pred_iq_a":-2.17563248,"mpcc_state":1,"mpcc_theta_e":0.446051598,"mpcc_theta_mech":0.557284594,"sam_rpm":-4.32347822,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020613417,"thr_a_norm":0.020613417,"thr_a_v":0.582453668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468702197,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.554466,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.661157608,"cg_iw_a":0.0566806793,"cg_theta_rad":0.553058982,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0191881228,"mpcc_du":49.6939583,"mpcc_dv":49.3564796,"mpcc_dw":50.6435204,"mpcc_enc_sign":1,"mpcc_id_a":0.198691338,"mpcc_iq_a":-0.64792937,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.03986573,"mpcc_pred_id_a":-0.200241625,"mpcc_pred_iq_a":-3.45661449,"mpcc_state":1,"mpcc_theta_e":0.447514534,"mpcc_theta_mech":0.556448817,"sam_rpm":4.95974922,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020613417,"thr_a_norm":0.020613417,"thr_a_v":0.582453668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468702197,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.564445,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.951108456,"cg_iw_a":0.201656342,"cg_theta_rad":0.557363868,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0179436728,"mpcc_du":49.6784477,"mpcc_dv":49.2480049,"mpcc_dw":50.7519951,"mpcc_enc_sign":1,"mpcc_id_a":2.10123491,"mpcc_iq_a":-1.21128082,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.96017194,"mpcc_pred_id_a":0.0429060534,"mpcc_pred_iq_a":0.990060508,"mpcc_state":1,"mpcc_theta_e":0.438228607,"mpcc_theta_mech":0.554591656,"sam_rpm":4.99573183,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0218974501,"thr_a_norm":0.0218974501,"thr_a_v":0.5875898,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470313579,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.574821,"values":{"cg_iu_a":3.43149567,"cg_iv_a":-0.371207237,"cg_iw_a":0.781557798,"cg_theta_rad":0.557145059,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0295592733,"mpcc_du":49.7322273,"mpcc_dv":49.259552,"mpcc_dw":50.740448,"mpcc_enc_sign":1,"mpcc_id_a":0.281436086,"mpcc_iq_a":-0.641880989,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.27955198,"mpcc_pred_id_a":-0.205146343,"mpcc_pred_iq_a":-2.10436463,"mpcc_state":1,"mpcc_theta_e":0.448628426,"mpcc_theta_mech":0.55711025,"sam_rpm":5.69304895,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281540304,"thr_a_norm":0.0218974501,"thr_a_v":0.612616122,"thr_b":0.000282675028,"thr_b_norm":0,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.599876,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.53100967,"cg_iw_a":-2.98780107,"cg_theta_rad":0.553507864,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0440464877,"mpcc_du":49.5982018,"mpcc_dv":49.4791946,"mpcc_dw":50.5208054,"mpcc_enc_sign":1,"mpcc_id_a":2.89781737,"mpcc_iq_a":0.284148455,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.30230379,"mpcc_pred_id_a":-0.172867134,"mpcc_pred_iq_a":-3.03401113,"mpcc_state":1,"mpcc_theta_e":0.447740555,"mpcc_theta_mech":0.556494057,"sam_rpm":6.86652231,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281540304,"thr_a_norm":0.0281540304,"thr_a_v":0.612616122,"thr_b":0.000282675028,"thr_b_norm":0.000282675028,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.606407,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.298719406,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556016207,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0266051982,"mpcc_du":50.8604546,"mpcc_dv":47.6099854,"mpcc_dw":52.3900146,"mpcc_enc_sign":1,"mpcc_id_a":3.14224267,"mpcc_iq_a":-0.844173133,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-23.5137177,"mpcc_pred_id_a":0.341775507,"mpcc_pred_iq_a":1.04863751,"mpcc_state":1,"mpcc_theta_e":0.418691635,"mpcc_theta_mech":0.550684214,"sam_rpm":-35.3154106,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10058938,"thr_a_norm":0.10058938,"thr_a_v":0.902357519,"thr_b":0.0375200212,"thr_b_norm":0.0375200212,"thr_b_v":0.650080085,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.612907,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.733645439,"cg_iw_a":-2.48038721,"cg_theta_rad":0.556349516,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.00544527732,"mpcc_du":50.2366486,"mpcc_dv":48.5608368,"mpcc_dw":51.4391632,"mpcc_enc_sign":1,"mpcc_id_a":1.44972241,"mpcc_iq_a":-1.4094373,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.45173216,"mpcc_pred_id_a":0.0549991094,"mpcc_pred_iq_a":-0.720526934,"mpcc_state":1,"mpcc_theta_e":0.435890198,"mpcc_theta_mech":0.554123938,"sam_rpm":-9.88421726,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10058938,"thr_a_norm":0.10058938,"thr_a_v":0.902357519,"thr_b":0.0375200212,"thr_b_norm":0.0375200212,"thr_b_v":0.650080085,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.619438,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.31354666,"cg_iw_a":0.491606712,"cg_theta_rad":0.554571629,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.00398126291,"mpcc_du":49.5416679,"mpcc_dv":50.4583321,"mpcc_dw":50.2388725,"mpcc_enc_sign":1,"mpcc_id_a":0.314441919,"mpcc_iq_a":-1.07545984,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.48244143,"mpcc_pred_id_a":-0.608479857,"mpcc_pred_iq_a":-4.68682194,"mpcc_state":1,"mpcc_theta_e":0.448228836,"mpcc_theta_mech":0.55659169,"sam_rpm":9.4722414,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0207141191,"thr_a_norm":0.0207141191,"thr_a_v":0.582856476,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470917821,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.627678,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.02359605,"cg_iw_a":-0.305757284,"cg_theta_rad":0.55635035,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.00351852435,"mpcc_du":48.9919128,"mpcc_dv":51.0080872,"mpcc_dw":49.6062508,"mpcc_enc_sign":1,"mpcc_id_a":0.726486862,"mpcc_iq_a":-0.738896251,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.423727,"mpcc_pred_id_a":-0.290450066,"mpcc_pred_iq_a":1.17484081,"mpcc_state":1,"mpcc_theta_e":0.426059246,"mpcc_theta_mech":0.55215776,"sam_rpm":11.5167809,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0231814981,"thr_a_norm":0.0207141191,"thr_a_v":0.592725992,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493577451,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.639702,"values":{"cg_iu_a":4.30134773,"cg_iv_a":-2.25588632,"cg_iw_a":-2.04546142,"cg_theta_rad":0.557429135,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0391305648,"mpcc_du":49.5128021,"mpcc_dv":50.4871979,"mpcc_dw":50.3434677,"mpcc_enc_sign":1,"mpcc_id_a":0.807318747,"mpcc_iq_a":-0.733475089,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.41812515,"mpcc_pred_id_a":-0.156475827,"mpcc_pred_iq_a":-1.50575125,"mpcc_state":1,"mpcc_theta_e":0.42943573,"mpcc_theta_mech":0.55283308,"sam_rpm":-7.3321209,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0231814981,"thr_a_norm":0.0231814981,"thr_a_v":0.592725992,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493577451,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.649651,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.24105906,"cg_iw_a":-1.97297359,"cg_theta_rad":0.556791067,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0066357553,"mpcc_du":49.8426285,"mpcc_dv":49.2527809,"mpcc_dw":50.7472191,"mpcc_enc_sign":1,"mpcc_id_a":0.207324862,"mpcc_iq_a":-2.46475482,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.48010588,"mpcc_pred_id_a":-0.41503498,"mpcc_pred_iq_a":-3.88454437,"mpcc_state":1,"mpcc_theta_e":0.449106693,"mpcc_theta_mech":0.556767285,"sam_rpm":4.07902908,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0131608993,"thr_a_norm":0.0131608993,"thr_a_v":0.552643597,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.659874,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.733645439,"cg_iw_a":-2.26292419,"cg_theta_rad":0.554258704,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0205178,"mpcc_du":50.5417175,"mpcc_dv":48.1834908,"mpcc_dw":51.8165092,"mpcc_enc_sign":1,"mpcc_id_a":0.984723926,"mpcc_iq_a":-1.02256942,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.918454647,"mpcc_pred_id_a":0.153423235,"mpcc_pred_iq_a":0.0246931463,"mpcc_state":1,"mpcc_theta_e":0.445717812,"mpcc_theta_mech":0.556089461,"sam_rpm":-0.882743657,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0290855914,"thr_a_norm":0.0131608993,"thr_a_v":0.616342366,"thr_b":0.00068551302,"thr_b_norm":0,"thr_b_v":0.502742052,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.669823,"values":{"cg_iu_a":-0.265375137,"cg_iv_a":-1.82096052,"cg_iw_a":-1.32058454,"cg_theta_rad":0.556172967,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0195030347,"mpcc_du":49.6990662,"mpcc_dv":49.1384163,"mpcc_dw":50.8615837,"mpcc_enc_sign":1,"mpcc_id_a":2.14913106,"mpcc_iq_a":-1.44294119,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.61220753,"mpcc_pred_id_a":0.345599085,"mpcc_pred_iq_a":-3.03233743,"mpcc_state":1,"mpcc_theta_e":0.446838856,"mpcc_theta_mech":0.555914938,"sam_rpm":2.28624177,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0290855914,"thr_a_norm":0.0290855914,"thr_a_v":0.616342366,"thr_b":0.00068551302,"thr_b_norm":0.00068551302,"thr_b_v":0.502742052,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.679832,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.53100967,"cg_iw_a":0.999020576,"cg_theta_rad":0.55584085,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.00254484755,"mpcc_du":49.8553238,"mpcc_dv":49.4191742,"mpcc_dw":50.5808258,"mpcc_enc_sign":1,"mpcc_id_a":0.989257753,"mpcc_iq_a":-0.509015739,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.19096518,"mpcc_pred_id_a":-0.33740589,"mpcc_pred_iq_a":0.342490166,"mpcc_state":1,"mpcc_theta_e":0.441242218,"mpcc_theta_mech":0.555194318,"sam_rpm":4.6241498,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270588249,"thr_a_norm":0.0270588249,"thr_a_v":0.6082353,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499771118,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.703087,"values":{"cg_iu_a":-0.410350561,"cg_iv_a":-0.371207237,"cg_iw_a":1.36145902,"cg_theta_rad":0.556482494,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.00390597736,"mpcc_du":49.4238396,"mpcc_dv":50.5761604,"mpcc_dw":50.0405998,"mpcc_enc_sign":1,"mpcc_id_a":-0.0179596376,"mpcc_iq_a":-1.10069489,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.87301159,"mpcc_pred_id_a":-0.614955723,"mpcc_pred_iq_a":-5.44425964,"mpcc_state":1,"mpcc_theta_e":0.44690752,"mpcc_theta_mech":0.556327462,"sam_rpm":8.42505264,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0270588249,"thr_a_norm":0.0270588249,"thr_a_v":0.6082353,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499771118,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.709679,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-2.25588632,"cg_iw_a":0.274143934,"cg_theta_rad":0.556747019,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0132258823,"mpcc_du":49.4784088,"mpcc_dv":50.5215912,"mpcc_dw":50.3500404,"mpcc_enc_sign":1,"mpcc_id_a":2.26356745,"mpcc_iq_a":-1.20542121,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.10078633,"mpcc_pred_id_a":0.0800629333,"mpcc_pred_iq_a":-5.27827787,"mpcc_state":1,"mpcc_theta_e":0.441942215,"mpcc_theta_mech":0.555334389,"sam_rpm":0.924843252,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296520889,"thr_a_norm":0.0296520889,"thr_a_v":0.618608356,"thr_b":0.00511673093,"thr_b_norm":0.00511673093,"thr_b_v":0.520466924,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.716118,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.733645439,"cg_iw_a":-1.46555996,"cg_theta_rad":0.555971563,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.00316054258,"mpcc_du":49.5649796,"mpcc_dv":50.1316719,"mpcc_dw":50.4350204,"mpcc_enc_sign":1,"mpcc_id_a":0.410631299,"mpcc_iq_a":-1.36106586,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.5019732,"mpcc_pred_id_a":-0.0612592399,"mpcc_pred_iq_a":-1.75759351,"mpcc_state":1,"mpcc_theta_e":0.454926968,"mpcc_theta_mech":0.557931304,"sam_rpm":22.8381653,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296520889,"thr_a_norm":0.0296520889,"thr_a_v":0.618608356,"thr_b":0.00511673093,"thr_b_norm":0.00511673093,"thr_b_v":0.520466924,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.724846,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.661157608,"cg_iw_a":-0.450732708,"cg_theta_rad":0.55661267,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.00231394707,"mpcc_du":50.8778496,"mpcc_dv":47.9822159,"mpcc_dw":52.0177841,"mpcc_enc_sign":1,"mpcc_id_a":0.345992565,"mpcc_iq_a":-1.8713119,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.65747142,"mpcc_pred_id_a":-0.314248234,"mpcc_pred_iq_a":1.68563497,"mpcc_state":1,"mpcc_theta_e":0.441156864,"mpcc_theta_mech":0.555177331,"sam_rpm":-3.45719576,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261398554,"thr_a_norm":0.0261398554,"thr_a_v":0.604559422,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497907996,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.734856,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.74847269,"cg_iw_a":-1.46555996,"cg_theta_rad":0.557603002,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.012483051,"mpcc_du":49.929142,"mpcc_dv":49.0234528,"mpcc_dw":50.9765472,"mpcc_enc_sign":1,"mpcc_id_a":0.385450363,"mpcc_iq_a":-0.262510359,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.90996599,"mpcc_pred_id_a":-0.113678679,"mpcc_pred_iq_a":1.29066026,"mpcc_state":1,"mpcc_theta_e":0.42628336,"mpcc_theta_mech":0.552202582,"sam_rpm":-9.93804073,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0360219777,"thr_a_norm":0.0360219777,"thr_a_v":0.644087911,"thr_b":0.0111467093,"thr_b_norm":0.0111467093,"thr_b_v":0.544586837,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.744652,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.443694592,"cg_iw_a":-0.813171387,"cg_theta_rad":0.555994689,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0370445177,"mpcc_du":49.8778648,"mpcc_dv":48.9778862,"mpcc_dw":51.0221138,"mpcc_enc_sign":1,"mpcc_id_a":1.92119014,"mpcc_iq_a":-1.24622524,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.303932607,"mpcc_pred_id_a":0.324244052,"mpcc_pred_iq_a":-3.5409143,"mpcc_state":1,"mpcc_theta_e":0.448950768,"mpcc_theta_mech":0.556736112,"sam_rpm":6.55442095,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0360219777,"thr_a_norm":0.0360219777,"thr_a_v":0.644087911,"thr_b":0.0111467093,"thr_b_norm":0.0111467093,"thr_b_v":0.544586837,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.755058,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.443694592,"cg_iw_a":1.5064342,"cg_theta_rad":0.552450776,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.00342072919,"mpcc_du":49.5878105,"mpcc_dv":49.8225403,"mpcc_dw":50.4121895,"mpcc_enc_sign":1,"mpcc_id_a":0.402969122,"mpcc_iq_a":-1.72339165,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.86466455,"mpcc_pred_id_a":-0.269489229,"mpcc_pred_iq_a":-4.39841557,"mpcc_state":1,"mpcc_theta_e":0.449580193,"mpcc_theta_mech":0.556861997,"sam_rpm":5.14630032,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257621855,"thr_a_norm":0.0257621855,"thr_a_v":0.603048742,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487585247,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.765007,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.878620625,"cg_iw_a":1.07150817,"cg_theta_rad":0.553437054,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.00883984193,"mpcc_du":49.673008,"mpcc_dv":49.285038,"mpcc_dw":50.714962,"mpcc_enc_sign":1,"mpcc_id_a":1.42697561,"mpcc_iq_a":0.27185601,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.61752272,"mpcc_pred_id_a":0.116452187,"mpcc_pred_iq_a":0.098568812,"mpcc_state":1,"mpcc_theta_e":0.429245472,"mpcc_theta_mech":0.552794993,"sam_rpm":-7.06449461,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0257621855,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461501479,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.774864,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.6759851,"cg_iw_a":-0.523220301,"cg_theta_rad":0.555340528,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0839360207,"mpcc_du":49.939106,"mpcc_dv":48.6397095,"mpcc_dw":51.3602905,"mpcc_enc_sign":1,"mpcc_id_a":4.30994606,"mpcc_iq_a":-0.627320945,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.709749937,"mpcc_pred_id_a":0.96116364,"mpcc_pred_iq_a":-2.5254724,"mpcc_state":1,"mpcc_theta_e":0.447985172,"mpcc_theta_mech":0.556542933,"sam_rpm":1.76480412,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461501479,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.785149,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.02359605,"cg_iw_a":-0.668195486,"cg_theta_rad":0.556602478,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0447791256,"mpcc_du":50.0987968,"mpcc_dv":48.6437912,"mpcc_dw":51.3562088,"mpcc_enc_sign":1,"mpcc_id_a":5.75481939,"mpcc_iq_a":-0.285912871,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.15701985,"mpcc_pred_id_a":1.47236991,"mpcc_pred_iq_a":-2.55136251,"mpcc_state":1,"mpcc_theta_e":0.445567131,"mpcc_theta_mech":0.556059301,"sam_rpm":3.45632219,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137777478,"thr_a_norm":0.0137777478,"thr_a_v":0.555110991,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440100729,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.807274,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.38603449,"cg_iw_a":-1.32058477,"cg_theta_rad":0.553534091,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0101066669,"mpcc_du":49.5792274,"mpcc_dv":50.0590668,"mpcc_dw":50.4207726,"mpcc_enc_sign":1,"mpcc_id_a":1.19594097,"mpcc_iq_a":-1.08192945,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.80201817,"mpcc_pred_id_a":-0.197619647,"mpcc_pred_iq_a":-4.59520292,"mpcc_state":1,"mpcc_theta_e":0.448534012,"mpcc_theta_mech":0.555236638,"sam_rpm":5.71162176,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137777478,"thr_a_norm":0.0137777478,"thr_a_v":0.555110991,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440100729,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.813774,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.371207237,"cg_iw_a":-2.11794901,"cg_theta_rad":0.556633472,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0252840649,"mpcc_du":49.4426498,"mpcc_dv":49.3722343,"mpcc_dw":50.6277657,"mpcc_enc_sign":1,"mpcc_id_a":3.16779113,"mpcc_iq_a":-1.32554221,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.45612288,"mpcc_pred_id_a":0.500674605,"mpcc_pred_iq_a":-3.79941082,"mpcc_state":1,"mpcc_theta_e":0.434058666,"mpcc_theta_mech":0.553757668,"sam_rpm":-11.6528454,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217715651,"thr_a_norm":0.0217715651,"thr_a_v":0.58708626,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477111459,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.820305,"values":{"cg_iu_a":2.48915625,"cg_iv_a":0.136206627,"cg_iw_a":-2.62536287,"cg_theta_rad":0.557070434,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0560629442,"mpcc_du":50.0483475,"mpcc_dv":48.5501289,"mpcc_dw":51.4498711,"mpcc_enc_sign":1,"mpcc_id_a":3.33181715,"mpcc_iq_a":1.58625209,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.3267107,"mpcc_pred_id_a":0.759524286,"mpcc_pred_iq_a":-0.443491846,"mpcc_state":1,"mpcc_theta_e":0.438120365,"mpcc_theta_mech":0.55456996,"sam_rpm":-6.43128872,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217715651,"thr_a_norm":0.0217715651,"thr_a_v":0.58708626,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477111459,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.826866,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.516182423,"cg_iw_a":-0.740683556,"cg_theta_rad":0.555317342,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.000936850265,"mpcc_du":49.4126091,"mpcc_dv":50.5873909,"mpcc_dw":49.9871597,"mpcc_enc_sign":1,"mpcc_id_a":-0.611152589,"mpcc_iq_a":-3.32506084,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.89946556,"mpcc_pred_id_a":-0.801430941,"mpcc_pred_iq_a":-6.50460768,"mpcc_state":1,"mpcc_theta_e":0.449524879,"mpcc_theta_mech":0.55685091,"sam_rpm":8.88266945,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242263675,"thr_a_norm":0.0242263675,"thr_a_v":0.59690547,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486779571,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.836021,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.16857147,"cg_iw_a":-1.82799816,"cg_theta_rad":0.556946397,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.053161487,"mpcc_du":49.9663925,"mpcc_dv":48.9489136,"mpcc_dw":51.0510864,"mpcc_enc_sign":1,"mpcc_id_a":2.55994034,"mpcc_iq_a":-0.257984847,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.81155968,"mpcc_pred_id_a":0.127269134,"mpcc_pred_iq_a":-2.15103483,"mpcc_state":1,"mpcc_theta_e":0.450722218,"mpcc_theta_mech":0.557090342,"sam_rpm":7.81315708,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242263675,"thr_a_norm":0.0242263675,"thr_a_v":0.59690547,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486779571,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.846245,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.806133032,"cg_iw_a":-1.32058477,"cg_theta_rad":0.553347707,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.119633354,"mpcc_du":50.0208206,"mpcc_dv":48.7397003,"mpcc_dw":51.2602997,"mpcc_enc_sign":1,"mpcc_id_a":3.19971704,"mpcc_iq_a":-0.444928318,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.31840658,"mpcc_pred_id_a":0.551121116,"mpcc_pred_iq_a":-4.45794106,"mpcc_state":1,"mpcc_theta_e":0.455647945,"mpcc_theta_mech":0.558075547,"sam_rpm":5.1427474,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.104214907,"thr_a_norm":0.104214907,"thr_a_v":0.916859627,"thr_b":0.043386355,"thr_b_norm":0.043386355,"thr_b_v":0.67354542,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.856438,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.02359605,"cg_iw_a":-0.740683079,"cg_theta_rad":0.555634975,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0246410705,"mpcc_du":50.2179985,"mpcc_dv":48.8075027,"mpcc_dw":51.1924973,"mpcc_enc_sign":1,"mpcc_id_a":0.450102806,"mpcc_iq_a":-0.628103495,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.64024067,"mpcc_pred_id_a":-0.356310666,"mpcc_pred_iq_a":-2.69288969,"mpcc_state":1,"mpcc_theta_e":0.445870399,"mpcc_theta_mech":0.556119978,"sam_rpm":-2.34970021,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211043656,"thr_a_norm":0.104214907,"thr_a_v":0.584417462,"thr_b":0,"thr_b_norm":0.043386355,"thr_b_v":0.473435581,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.866447,"values":{"cg_iu_a":0.604476929,"cg_iv_a":0.136206627,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556435704,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0342003331,"mpcc_du":49.5230408,"mpcc_dv":50.3452034,"mpcc_dw":50.4769592,"mpcc_enc_sign":1,"mpcc_id_a":3.15825176,"mpcc_iq_a":0.176257938,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.88958287,"mpcc_pred_id_a":0.217262104,"mpcc_pred_iq_a":-3.98203993,"mpcc_state":1,"mpcc_theta_e":0.442156792,"mpcc_theta_mech":0.55395788,"sam_rpm":6.35881853,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211043656,"thr_a_norm":0.0211043656,"thr_a_v":0.584417462,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473435581,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.876671,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.6759851,"cg_iw_a":0.346631765,"cg_theta_rad":0.555810094,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0196751785,"mpcc_du":49.7636757,"mpcc_dv":49.0875092,"mpcc_dw":50.9124908,"mpcc_enc_sign":1,"mpcc_id_a":2.33708215,"mpcc_iq_a":-1.72082376,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.26510096,"mpcc_pred_id_a":0.339983135,"mpcc_pred_iq_a":-2.74369502,"mpcc_state":1,"mpcc_theta_e":0.447533131,"mpcc_theta_mech":0.556452513,"sam_rpm":3.05413818,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0143820047,"thr_a_norm":0.0143820047,"thr_a_v":0.557528019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43506524,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.886528,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.298719406,"cg_iw_a":-0.595707893,"cg_theta_rad":0.55341953,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0123727862,"mpcc_du":50.3228569,"mpcc_dv":48.5988235,"mpcc_dw":51.4011765,"mpcc_enc_sign":1,"mpcc_id_a":2.17970705,"mpcc_iq_a":-2.46093297,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.84111357,"mpcc_pred_id_a":-0.279234827,"mpcc_pred_iq_a":0.20859988,"mpcc_state":1,"mpcc_theta_e":0.443023682,"mpcc_theta_mech":0.555550635,"sam_rpm":-12.6329136,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0143820047,"thr_a_norm":0.0143820047,"thr_a_v":0.557528019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43506524,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.909966,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.153744221,"cg_iw_a":2.30379868,"cg_theta_rad":0.551945448,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.00986309629,"mpcc_du":48.5095749,"mpcc_dv":51.4904251,"mpcc_dw":49.0812759,"mpcc_enc_sign":1,"mpcc_id_a":1.86854649,"mpcc_iq_a":-1.18577731,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.0986633,"mpcc_pred_id_a":-0.388851166,"mpcc_pred_iq_a":-6.74838591,"mpcc_state":1,"mpcc_theta_e":0.45360899,"mpcc_theta_mech":0.557667673,"sam_rpm":23.182291,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263412744,"thr_a_norm":0.0263412744,"thr_a_v":0.605365098,"thr_b":0.00269970298,"thr_b_norm":0.00269970298,"thr_b_v":0.510798812,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.916466,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.443694592,"cg_iw_a":-0.160782337,"cg_theta_rad":0.554714501,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0177372452,"mpcc_du":49.7128639,"mpcc_dv":49.2987061,"mpcc_dw":50.7012939,"mpcc_enc_sign":1,"mpcc_id_a":1.31139505,"mpcc_iq_a":0.168881744,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.36258316,"mpcc_pred_id_a":-0.129917026,"mpcc_pred_iq_a":-2.17089057,"mpcc_state":1,"mpcc_theta_e":0.443732738,"mpcc_theta_mech":0.555692494,"sam_rpm":3.64472604,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0263412744,"thr_a_v":0.618709087,"thr_b":0.00530555844,"thr_b_norm":0.00269970298,"thr_b_v":0.521222234,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.922997,"values":{"cg_iu_a":0.604476929,"cg_iv_a":0.281181812,"cg_iw_a":-1.75551081,"cg_theta_rad":0.556718528,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0124417311,"mpcc_du":51.1420631,"mpcc_dv":47.4074707,"mpcc_dw":52.5925293,"mpcc_enc_sign":1,"mpcc_id_a":2.08527184,"mpcc_iq_a":-0.902407825,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.3015709,"mpcc_pred_id_a":0.0422513671,"mpcc_pred_iq_a":2.03791308,"mpcc_state":1,"mpcc_theta_e":0.428627968,"mpcc_theta_mech":0.552671492,"sam_rpm":-22.6995659,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00530555844,"thr_b_norm":0.00530555844,"thr_b_v":0.521222234,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.929558,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-0.951108456,"cg_iw_a":-1.17560911,"cg_theta_rad":0.555087507,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.00398766715,"mpcc_du":50.1647682,"mpcc_dv":48.7521896,"mpcc_dw":51.2478104,"mpcc_enc_sign":1,"mpcc_id_a":0.733121157,"mpcc_iq_a":-1.03599191,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.39170933,"mpcc_pred_id_a":-0.107245289,"mpcc_pred_iq_a":-1.57628214,"mpcc_state":1,"mpcc_theta_e":0.44692564,"mpcc_theta_mech":0.556331038,"sam_rpm":-8.03474808,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465832025,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.939812,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.878620625,"cg_iw_a":-1.97297382,"cg_theta_rad":0.554726422,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.124257736,"mpcc_du":49.5089874,"mpcc_dv":49.2053833,"mpcc_dw":50.7946167,"mpcc_enc_sign":1,"mpcc_id_a":5.30969334,"mpcc_iq_a":0.590622485,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.00727797,"mpcc_pred_id_a":0.886424363,"mpcc_pred_iq_a":-3.74021459,"mpcc_state":1,"mpcc_theta_e":0.451892853,"mpcc_theta_mech":0.557324469,"sam_rpm":6.09942436,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0312886238,"thr_a_norm":0.0240501165,"thr_a_v":0.625154495,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492671102,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.951622,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.45852208,"cg_iw_a":-1.24809718,"cg_theta_rad":0.556601882,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0260375738,"mpcc_du":49.5984116,"mpcc_dv":49.3341331,"mpcc_dw":50.6658669,"mpcc_enc_sign":1,"mpcc_id_a":3.00659895,"mpcc_iq_a":-1.66662192,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.95582592,"mpcc_pred_id_a":0.287065715,"mpcc_pred_iq_a":-4.27475977,"mpcc_state":1,"mpcc_theta_e":0.447245121,"mpcc_theta_mech":0.556394935,"sam_rpm":-3.1487875,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0312886238,"thr_a_norm":0.0312886238,"thr_a_v":0.625154495,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492671102,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.961876,"values":{"cg_iu_a":-0.627813578,"cg_iv_a":-1.6759851,"cg_iw_a":-1.32058454,"cg_theta_rad":0.55662334,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0188227631,"mpcc_du":50.0944862,"mpcc_dv":48.8017578,"mpcc_dw":51.1982422,"mpcc_enc_sign":1,"mpcc_id_a":2.06521249,"mpcc_iq_a":-1.45002067,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.422637969,"mpcc_pred_id_a":0.174551219,"mpcc_pred_iq_a":-2.07931471,"mpcc_state":1,"mpcc_theta_e":0.447158813,"mpcc_theta_mech":0.556377649,"sam_rpm":-0.739706039,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0241760015,"thr_a_norm":0.0241760015,"thr_a_v":0.596704006,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480334163,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.97216,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.24105906,"cg_iw_a":-0.0882940292,"cg_theta_rad":0.553062916,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.000751249958,"mpcc_du":49.6344757,"mpcc_dv":50.1547661,"mpcc_dw":50.3655243,"mpcc_enc_sign":1,"mpcc_id_a":0.329679072,"mpcc_iq_a":-2.38277364,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.43325567,"mpcc_pred_id_a":-0.385339797,"mpcc_pred_iq_a":-3.77816176,"mpcc_state":1,"mpcc_theta_e":0.440070629,"mpcc_theta_mech":0.554960012,"sam_rpm":7.50980616,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233955085,"thr_a_norm":0.0241760015,"thr_a_v":0.593582034,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465378791,"vdc_v":55.2955055}} +{"type":"telemetry","t":113.984154,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.878620625,"cg_iw_a":-1.75551081,"cg_theta_rad":0.556760967,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.00385439489,"mpcc_du":49.9257927,"mpcc_dv":49.0804787,"mpcc_dw":50.9195213,"mpcc_enc_sign":1,"mpcc_id_a":2.44040775,"mpcc_iq_a":-0.833455622,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.75660396,"mpcc_pred_id_a":-0.0548873954,"mpcc_pred_iq_a":-2.8787787,"mpcc_state":1,"mpcc_theta_e":0.444536209,"mpcc_theta_mech":0.555853188,"sam_rpm":-7.45136118,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233955085,"thr_a_norm":0.0233955085,"thr_a_v":0.593582034,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465378791,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.008659,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.443694592,"cg_iw_a":-0.523220539,"cg_theta_rad":0.556925952,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.00343420776,"mpcc_du":48.8059349,"mpcc_dv":51.1940651,"mpcc_dw":49.3142548,"mpcc_enc_sign":1,"mpcc_id_a":0.573083878,"mpcc_iq_a":-1.20239031,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.87435532,"mpcc_pred_id_a":-0.48330465,"mpcc_pred_iq_a":-7.24876261,"mpcc_state":1,"mpcc_theta_e":0.450447559,"mpcc_theta_mech":0.557035446,"sam_rpm":14.2223139,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0144952983,"thr_a_norm":0.0144952983,"thr_a_v":0.557981193,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453646153,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.01519,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-1.16857147,"cg_iw_a":-0.305757046,"cg_theta_rad":0.55311799,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5001,"hz_app_loop":360,"hz_tim_isr":10001,"hz_vsense":360,"mpcc_cost":0.0151212271,"mpcc_du":50.2858315,"mpcc_dv":48.589119,"mpcc_dw":51.410881,"mpcc_enc_sign":1,"mpcc_id_a":2.35182381,"mpcc_iq_a":-1.18908167,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.73423576,"mpcc_pred_id_a":0.0543241315,"mpcc_pred_iq_a":-0.623280048,"mpcc_state":1,"mpcc_theta_e":0.437893391,"mpcc_theta_mech":0.554524601,"sam_rpm":-7.59991837,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289471298,"thr_a_norm":0.0289471298,"thr_a_v":0.615788519,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499972522,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.021721,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-2.0384233,"cg_iw_a":1.79638505,"cg_theta_rad":0.552558303,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.00710770907,"mpcc_du":50.8516083,"mpcc_dv":47.9071083,"mpcc_dw":52.0928917,"mpcc_enc_sign":1,"mpcc_id_a":0.544637859,"mpcc_iq_a":-2.2118814,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-22.0781498,"mpcc_pred_id_a":-0.130995438,"mpcc_pred_iq_a":-0.292571008,"mpcc_state":1,"mpcc_theta_e":0.421458721,"mpcc_theta_mech":0.551237643,"sam_rpm":-33.093483,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289471298,"thr_a_norm":0.0289471298,"thr_a_v":0.615788519,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499972522,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.028221,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-1.31354666,"cg_iw_a":1.43394661,"cg_theta_rad":0.556292117,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0298226476,"mpcc_du":49.8287697,"mpcc_dv":48.9938545,"mpcc_dw":51.0061455,"mpcc_enc_sign":1,"mpcc_id_a":2.87404656,"mpcc_iq_a":-1.60722613,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.08432484,"mpcc_pred_id_a":0.492171139,"mpcc_pred_iq_a":-2.43206596,"mpcc_state":1,"mpcc_theta_e":0.447541714,"mpcc_theta_mech":0.556454301,"sam_rpm":3.69002104,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237228274,"thr_a_norm":0.0237228274,"thr_a_v":0.59489131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473788053,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.038048,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.951108456,"cg_iw_a":0.12916851,"cg_theta_rad":0.551895022,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.00273314887,"mpcc_du":49.6275978,"mpcc_dv":50.343605,"mpcc_dw":50.3724022,"mpcc_enc_sign":1,"mpcc_id_a":2.31837034,"mpcc_iq_a":-0.922203243,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.09481144,"mpcc_pred_id_a":0.33801502,"mpcc_pred_iq_a":-2.34725976,"mpcc_state":1,"mpcc_theta_e":0.447368622,"mpcc_theta_mech":0.556419671,"sam_rpm":23.0522938,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0127077103,"thr_a_norm":0.0237228274,"thr_a_v":0.550830841,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456113547,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.047844,"values":{"cg_iu_a":-0.70030117,"cg_iv_a":-0.298719406,"cg_iw_a":-0.595707893,"cg_theta_rad":0.555258811,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0247763321,"mpcc_du":49.2687645,"mpcc_dv":50.7312355,"mpcc_dw":50.2289162,"mpcc_enc_sign":1,"mpcc_id_a":2.23657846,"mpcc_iq_a":0.732917011,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.4437885,"mpcc_pred_id_a":0.385139078,"mpcc_pred_iq_a":-1.95955741,"mpcc_state":1,"mpcc_theta_e":0.452040672,"mpcc_theta_mech":0.557354033,"sam_rpm":26.3412991,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0127077103,"thr_a_norm":0.0127077103,"thr_a_v":0.550830841,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456113547,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.058067,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.813171387,"cg_theta_rad":0.553315639,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0628676489,"mpcc_du":49.3983955,"mpcc_dv":50.200058,"mpcc_dw":50.6016045,"mpcc_enc_sign":1,"mpcc_id_a":4.90244007,"mpcc_iq_a":-0.50898695,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.40915632,"mpcc_pred_id_a":0.90675211,"mpcc_pred_iq_a":-2.76553798,"mpcc_state":1,"mpcc_theta_e":0.432863235,"mpcc_theta_mech":0.553518593,"sam_rpm":-4.32207346,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245914459,"thr_a_norm":0.0245914459,"thr_a_v":0.598365784,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.067986,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.16857147,"cg_iw_a":-0.885658741,"cg_theta_rad":0.55532968,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0339562818,"mpcc_du":49.2333107,"mpcc_dv":50.7666893,"mpcc_dw":49.9358368,"mpcc_enc_sign":1,"mpcc_id_a":1.00045729,"mpcc_iq_a":-1.00718153,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.81880045,"mpcc_pred_id_a":-0.212773174,"mpcc_pred_iq_a":-3.00146818,"mpcc_state":1,"mpcc_theta_e":0.430215359,"mpcc_theta_mech":0.550973892,"sam_rpm":-5.12902212,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245914459,"thr_a_norm":0.0245914459,"thr_a_v":0.598365784,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.078026,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.661157608,"cg_iw_a":-0.305757523,"cg_theta_rad":0.555654585,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0172162056,"mpcc_du":50.435791,"mpcc_dv":48.2919922,"mpcc_dw":51.7080078,"mpcc_enc_sign":1,"mpcc_id_a":2.00403976,"mpcc_iq_a":-1.58690572,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.38322115,"mpcc_pred_id_a":0.308269322,"mpcc_pred_iq_a":-1.38365662,"mpcc_state":1,"mpcc_theta_e":0.440124035,"mpcc_theta_mech":0.554970682,"sam_rpm":-10.799943,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208525956,"thr_a_norm":0.0208525956,"thr_a_v":0.583410382,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461400777,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.088249,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.31354666,"cg_iw_a":0.419119358,"cg_theta_rad":0.558327615,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0296391547,"mpcc_du":49.4961052,"mpcc_dv":50.5038948,"mpcc_dw":50.4999771,"mpcc_enc_sign":1,"mpcc_id_a":3.42556906,"mpcc_iq_a":-1.12796783,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.36535549,"mpcc_pred_id_a":0.47203666,"mpcc_pred_iq_a":-3.26628208,"mpcc_state":1,"mpcc_theta_e":0.447229385,"mpcc_theta_mech":0.556391776,"sam_rpm":11.14147,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0143820047,"thr_a_norm":0.0208525956,"thr_a_v":0.557528019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4373312,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.111259,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.951108456,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556378663,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.01260975,"mpcc_du":50.8085747,"mpcc_dv":48.2497559,"mpcc_dw":51.7502441,"mpcc_enc_sign":1,"mpcc_id_a":-0.989395976,"mpcc_iq_a":0.047038056,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.4422607,"mpcc_pred_id_a":-0.866232455,"mpcc_pred_iq_a":-0.383038312,"mpcc_state":1,"mpcc_theta_e":0.433156967,"mpcc_theta_mech":0.553577304,"sam_rpm":-16.8499508,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0143820047,"thr_a_norm":0.0143820047,"thr_a_v":0.557528019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4373312,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.117821,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-1.89344811,"cg_iw_a":1.72389722,"cg_theta_rad":0.55561012,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.00880021136,"mpcc_du":51.1824913,"mpcc_dv":47.4483376,"mpcc_dw":52.5516624,"mpcc_enc_sign":1,"mpcc_id_a":0.209294662,"mpcc_iq_a":-0.644582331,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.732831,"mpcc_pred_id_a":-0.0598871373,"mpcc_pred_iq_a":1.31755137,"mpcc_state":1,"mpcc_theta_e":0.431107521,"mpcc_theta_mech":0.556267202,"sam_rpm":-21.9930038,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024062708,"thr_a_norm":0.024062708,"thr_a_v":0.596250832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463414967,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.124321,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-2.61832476,"cg_iw_a":-1.03063416,"cg_theta_rad":0.556192577,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.00173612568,"mpcc_du":48.7344017,"mpcc_dv":51.2655983,"mpcc_dw":49.1120872,"mpcc_enc_sign":1,"mpcc_id_a":-0.380824238,"mpcc_iq_a":-2.50777674,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.552865,"mpcc_pred_id_a":-0.981566846,"mpcc_pred_iq_a":-6.48620319,"mpcc_state":1,"mpcc_theta_e":0.450646877,"mpcc_theta_mech":0.557075322,"sam_rpm":18.2106857,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024062708,"thr_a_norm":0.024062708,"thr_a_v":0.596250832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463414967,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.130821,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.31354666,"cg_iw_a":0.0566806793,"cg_theta_rad":0.555744946,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0394660719,"mpcc_du":50.6580772,"mpcc_dv":47.994606,"mpcc_dw":52.005394,"mpcc_enc_sign":1,"mpcc_id_a":1.83572066,"mpcc_iq_a":-0.0653172284,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.7141476,"mpcc_pred_id_a":0.300163269,"mpcc_pred_iq_a":-0.98069346,"mpcc_state":1,"mpcc_theta_e":0.43569088,"mpcc_theta_mech":0.554084063,"sam_rpm":-14.7426767,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.1052472,"thr_a_norm":0.1052472,"thr_a_v":0.920988798,"thr_b":0.0496051759,"thr_b_norm":0.0496051759,"thr_b_v":0.698420703,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.140831,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-2.54583716,"cg_iw_a":1.07150817,"cg_theta_rad":0.553087652,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0161797758,"mpcc_du":49.6306229,"mpcc_dv":49.3708954,"mpcc_dw":50.6291046,"mpcc_enc_sign":1,"mpcc_id_a":2.52229214,"mpcc_iq_a":-0.644785166,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.2132998,"mpcc_pred_id_a":-0.0390464142,"mpcc_pred_iq_a":-3.38913941,"mpcc_state":1,"mpcc_theta_e":0.429625034,"mpcc_theta_mech":0.552870929,"sam_rpm":-16.0916042,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0148100257,"thr_a_norm":0.1052472,"thr_a_v":0.559240103,"thr_b":0,"thr_b_norm":0.0496051759,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.152641,"values":{"cg_iu_a":2.99656963,"cg_iv_a":0.136206627,"cg_iw_a":-3.13277626,"cg_theta_rad":0.553892672,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0238754749,"mpcc_du":49.8456421,"mpcc_dv":49.0305519,"mpcc_dw":50.9694481,"mpcc_enc_sign":1,"mpcc_id_a":2.66801763,"mpcc_iq_a":-1.02896869,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.54541981,"mpcc_pred_id_a":0.171765953,"mpcc_pred_iq_a":-1.53812778,"mpcc_state":1,"mpcc_theta_e":0.442757607,"mpcc_theta_mech":0.555497408,"sam_rpm":2.70345259,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0148100257,"thr_a_norm":0.0148100257,"thr_a_v":0.559240103,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.162865,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.09608364,"cg_iw_a":0.12916851,"cg_theta_rad":0.555257082,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0310043395,"mpcc_du":49.5336304,"mpcc_dv":49.3007317,"mpcc_dw":50.6992683,"mpcc_enc_sign":1,"mpcc_id_a":3.21766877,"mpcc_iq_a":-0.0359029099,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.07672167,"mpcc_pred_id_a":0.518327594,"mpcc_pred_iq_a":-1.89791071,"mpcc_state":1,"mpcc_theta_e":0.441791058,"mpcc_theta_mech":0.55530411,"sam_rpm":0.947236896,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453192949,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.173027,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.951108456,"cg_iw_a":0.564094543,"cg_theta_rad":0.555217206,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.00990776531,"mpcc_du":49.5896721,"mpcc_dv":49.2840157,"mpcc_dw":50.7159843,"mpcc_enc_sign":1,"mpcc_id_a":1.71295166,"mpcc_iq_a":-1.18112195,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.239723578,"mpcc_pred_id_a":0.327971041,"mpcc_pred_iq_a":-2.6837008,"mpcc_state":1,"mpcc_theta_e":0.44402504,"mpcc_theta_mech":0.555750906,"sam_rpm":0.472399592,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021872282,"thr_a_norm":0.0208274126,"thr_a_v":0.587489128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479276717,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.183006,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.31354666,"cg_iw_a":0.636582375,"cg_theta_rad":0.556777239,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0335838608,"mpcc_du":49.4290314,"mpcc_dv":50.2615166,"mpcc_dw":50.5709686,"mpcc_enc_sign":1,"mpcc_id_a":3.65726447,"mpcc_iq_a":-1.98543394,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.98041201,"mpcc_pred_id_a":0.762195468,"mpcc_pred_iq_a":-2.9937706,"mpcc_state":1,"mpcc_theta_e":0.44037056,"mpcc_theta_mech":0.555020034,"sam_rpm":10.8584776,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021872282,"thr_a_norm":0.021872282,"thr_a_v":0.587489128,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479276717,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.193047,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-2.40086174,"cg_iw_a":-1.24809694,"cg_theta_rad":0.554584801,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0367937312,"mpcc_du":50.4487915,"mpcc_dv":48.6144104,"mpcc_dw":51.3855896,"mpcc_enc_sign":1,"mpcc_id_a":0.11888276,"mpcc_iq_a":-0.144764125,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.11008847,"mpcc_pred_id_a":-0.508118153,"mpcc_pred_iq_a":-1.45622587,"mpcc_state":1,"mpcc_theta_e":0.444135189,"mpcc_theta_mech":0.55577296,"sam_rpm":-0.343616366,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0132112652,"thr_a_norm":0.0132112652,"thr_a_v":0.552845061,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453444719,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.216057,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.96593571,"cg_iw_a":1.28897142,"cg_theta_rad":0.551047862,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.000270345452,"mpcc_du":49.6578255,"mpcc_dv":50.0063629,"mpcc_dw":50.3421745,"mpcc_enc_sign":1,"mpcc_id_a":0.0629372522,"mpcc_iq_a":-1.4584142,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.837683141,"mpcc_pred_id_a":-0.594055891,"mpcc_pred_iq_a":-3.78819942,"mpcc_state":1,"mpcc_theta_e":0.439091682,"mpcc_theta_mech":0.554764271,"sam_rpm":-1.73964822,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0132112652,"thr_a_norm":0.0132112652,"thr_a_v":0.552845061,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453444719,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.222557,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.806133032,"cg_iw_a":-0.305757284,"cg_theta_rad":0.556101263,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.000399296929,"mpcc_du":50.2741661,"mpcc_dv":48.898571,"mpcc_dw":51.101429,"mpcc_enc_sign":1,"mpcc_id_a":-0.268121392,"mpcc_iq_a":-1.48713648,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.86953008,"mpcc_pred_id_a":-0.674911857,"mpcc_pred_iq_a":-0.128274038,"mpcc_state":1,"mpcc_theta_e":0.437375069,"mpcc_theta_mech":0.554420888,"sam_rpm":-3.30098534,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472579539,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.229149,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.951108456,"cg_iw_a":-3.42272711,"cg_theta_rad":0.558240294,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0130569693,"mpcc_du":50.5160789,"mpcc_dv":48.2739716,"mpcc_dw":51.7260284,"mpcc_enc_sign":1,"mpcc_id_a":2.25501204,"mpcc_iq_a":-1.56490052,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.2078352,"mpcc_pred_id_a":0.194770753,"mpcc_pred_iq_a":1.43464839,"mpcc_state":1,"mpcc_theta_e":0.439650059,"mpcc_theta_mech":0.55487591,"sam_rpm":-3.04588914,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472579539,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.235802,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.31354666,"cg_iw_a":-1.32058477,"cg_theta_rad":0.557454348,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.019923687,"mpcc_du":50.8981972,"mpcc_dv":50.4929962,"mpcc_dw":50.4456215,"mpcc_enc_sign":1,"mpcc_id_a":1.14379847,"mpcc_iq_a":0.16078721,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.46552849,"mpcc_pred_id_a":0.0930396393,"mpcc_pred_iq_a":2.25841141,"mpcc_state":1,"mpcc_theta_e":0.439134598,"mpcc_theta_mech":0.556437194,"sam_rpm":-6.51980877,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0152758062,"thr_a_norm":0.0152758062,"thr_a_v":0.561103225,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454401463,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.246025,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.82096052,"cg_iw_a":1.07150841,"cg_theta_rad":0.55571568,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0485114828,"mpcc_du":49.5241165,"mpcc_dv":50.0148582,"mpcc_dw":50.4758835,"mpcc_enc_sign":1,"mpcc_id_a":2.67690253,"mpcc_iq_a":-1.50996244,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.4903154,"mpcc_pred_id_a":0.294023633,"mpcc_pred_iq_a":-4.50728893,"mpcc_state":1,"mpcc_theta_e":0.460410595,"mpcc_theta_mech":0.559028029,"sam_rpm":20.3686104,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237228274,"thr_a_norm":0.0152758062,"thr_a_v":0.59489131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470716387,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.256035,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.298719406,"cg_iw_a":-3.13277626,"cg_theta_rad":0.555550635,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0350074396,"mpcc_du":50.7773933,"mpcc_dv":47.9117203,"mpcc_dw":52.0882797,"mpcc_enc_sign":1,"mpcc_id_a":2.21652079,"mpcc_iq_a":-0.626556814,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.73580027,"mpcc_pred_id_a":0.322343439,"mpcc_pred_iq_a":0.389814228,"mpcc_state":1,"mpcc_theta_e":0.441538334,"mpcc_theta_mech":0.555253565,"sam_rpm":-7.54451561,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237228274,"thr_a_norm":0.0237228274,"thr_a_v":0.59489131,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470716387,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.266228,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.09608364,"cg_iw_a":-2.19043636,"cg_theta_rad":0.556072831,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0244406257,"mpcc_du":50.1015854,"mpcc_dv":48.8199997,"mpcc_dw":51.1800003,"mpcc_enc_sign":1,"mpcc_id_a":1.77649188,"mpcc_iq_a":0.64473182,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0286060888,"mpcc_pred_id_a":0.123596914,"mpcc_pred_iq_a":-0.482201397,"mpcc_state":1,"mpcc_theta_e":0.442470074,"mpcc_theta_mech":0.555439949,"sam_rpm":-0.532179475,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0373815596,"thr_a_norm":0.0373815596,"thr_a_v":0.649526238,"thr_b":0.00572098792,"thr_b_norm":0.00572098792,"thr_b_v":0.522883952,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.276054,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.96593571,"cg_iw_a":0.564094543,"cg_theta_rad":0.554002762,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0384020545,"mpcc_du":49.946312,"mpcc_dv":48.9043045,"mpcc_dw":51.0956955,"mpcc_enc_sign":1,"mpcc_id_a":2.6294744,"mpcc_iq_a":-0.610394657,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.51114845,"mpcc_pred_id_a":0.379978269,"mpcc_pred_iq_a":-1.94125652,"mpcc_state":1,"mpcc_theta_e":0.448432446,"mpcc_theta_mech":0.5566324,"sam_rpm":4.09903908,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0373815596,"thr_a_norm":0.0373815596,"thr_a_v":0.649526238,"thr_b":0.00572098792,"thr_b_norm":0.00572098792,"thr_b_v":0.522883952,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.286339,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.09608364,"cg_iw_a":-1.97297382,"cg_theta_rad":0.55703038,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0569240339,"mpcc_du":49.5915565,"mpcc_dv":50.3498993,"mpcc_dw":50.4084435,"mpcc_enc_sign":1,"mpcc_id_a":1.82048762,"mpcc_iq_a":-1.27738798,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.7489271,"mpcc_pred_id_a":-0.112772785,"mpcc_pred_iq_a":-5.42978907,"mpcc_state":1,"mpcc_theta_e":0.445977688,"mpcc_theta_mech":0.556141496,"sam_rpm":24.4767799,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285191089,"thr_a_norm":0.0285191089,"thr_a_v":0.614076436,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499720752,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.29644,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.31354666,"cg_iw_a":0.201656342,"cg_theta_rad":0.55364424,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0179399848,"mpcc_du":49.7809181,"mpcc_dv":49.2499123,"mpcc_dw":50.7500877,"mpcc_enc_sign":1,"mpcc_id_a":1.10545301,"mpcc_iq_a":-1.44704139,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.79570591,"mpcc_pred_id_a":-0.0340999253,"mpcc_pred_iq_a":-3.82628632,"mpcc_state":1,"mpcc_theta_e":0.443340778,"mpcc_theta_mech":0.555614054,"sam_rpm":2.97267056,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023886472,"thr_a_norm":0.0285191089,"thr_a_v":0.595545888,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482398719,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.319633,"values":{"cg_iu_a":2.12671757,"cg_iv_a":1.15103388,"cg_iw_a":-2.84282541,"cg_theta_rad":0.555250823,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.01844096,"mpcc_du":49.916256,"mpcc_dv":49.0282631,"mpcc_dw":50.9717369,"mpcc_enc_sign":1,"mpcc_id_a":2.10031128,"mpcc_iq_a":-0.70021981,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.13171959,"mpcc_pred_id_a":0.0221815147,"mpcc_pred_iq_a":-3.48450828,"mpcc_state":1,"mpcc_theta_e":0.437311172,"mpcc_theta_mech":0.554408133,"sam_rpm":-10.6225634,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023886472,"thr_a_norm":0.023886472,"thr_a_v":0.595545888,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482398719,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.326164,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.878620625,"cg_iw_a":-0.233269691,"cg_theta_rad":0.556412697,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0282368213,"mpcc_du":50.6017914,"mpcc_dv":47.9568481,"mpcc_dw":52.0431519,"mpcc_enc_sign":1,"mpcc_id_a":3.36067104,"mpcc_iq_a":-1.59890044,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.61931419,"mpcc_pred_id_a":0.581897318,"mpcc_pred_iq_a":1.06159949,"mpcc_state":1,"mpcc_theta_e":0.433921337,"mpcc_theta_mech":0.55373019,"sam_rpm":-14.2980957,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225898325,"thr_a_norm":0.0225898325,"thr_a_v":0.59035933,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481693715,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.332695,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.733645439,"cg_iw_a":-0.378244877,"cg_theta_rad":0.556990445,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.00675663864,"mpcc_du":50.4032898,"mpcc_dv":48.5723648,"mpcc_dw":51.4276352,"mpcc_enc_sign":1,"mpcc_id_a":1.39230025,"mpcc_iq_a":-2.6693964,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.21326399,"mpcc_pred_id_a":0.366315663,"mpcc_pred_iq_a":-1.40521288,"mpcc_state":1,"mpcc_theta_e":0.451419353,"mpcc_theta_mech":0.557229817,"sam_rpm":11.20362,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0225898325,"thr_a_norm":0.0225898325,"thr_a_v":0.59035933,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481693715,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.339226,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.24105906,"cg_iw_a":-1.75551057,"cg_theta_rad":0.555117011,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0460202061,"mpcc_du":49.9680443,"mpcc_dv":48.76968,"mpcc_dw":51.23032,"mpcc_enc_sign":1,"mpcc_id_a":3.42274261,"mpcc_iq_a":1.84291649,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.5883226,"mpcc_pred_id_a":0.521049082,"mpcc_pred_iq_a":-1.74030483,"mpcc_state":1,"mpcc_theta_e":0.429586411,"mpcc_theta_mech":0.554167807,"sam_rpm":-17.5334148,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0301430523,"thr_a_norm":0.0301430523,"thr_a_v":0.620572209,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465882361,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.347649,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.96593571,"cg_iw_a":0.346631527,"cg_theta_rad":0.556401014,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0400649011,"mpcc_du":49.4923325,"mpcc_dv":49.4277458,"mpcc_dw":50.5722542,"mpcc_enc_sign":1,"mpcc_id_a":3.06712508,"mpcc_iq_a":-0.873206794,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.31596756,"mpcc_pred_id_a":0.423432201,"mpcc_pred_iq_a":-3.03510594,"mpcc_state":1,"mpcc_theta_e":0.450097561,"mpcc_theta_mech":0.55696547,"sam_rpm":10.2362823,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236724615,"thr_a_norm":0.0301430523,"thr_a_v":0.594689846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465429127,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.357536,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.588670254,"cg_iw_a":-3.42272711,"cg_theta_rad":0.553887963,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0289943628,"mpcc_du":49.8675499,"mpcc_dv":49.0968361,"mpcc_dw":50.9031639,"mpcc_enc_sign":1,"mpcc_id_a":2.66547799,"mpcc_iq_a":-1.03553021,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.145380005,"mpcc_pred_id_a":0.920985699,"mpcc_pred_iq_a":-2.75080562,"mpcc_state":1,"mpcc_theta_e":0.445218086,"mpcc_theta_mech":0.555989504,"sam_rpm":0.664305449,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236724615,"thr_a_norm":0.0236724615,"thr_a_v":0.594689846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465429127,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.367668,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.878620625,"cg_iw_a":-1.97297382,"cg_theta_rad":0.556013882,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0248376653,"mpcc_du":50.2963333,"mpcc_dv":48.5105209,"mpcc_dw":51.4894791,"mpcc_enc_sign":1,"mpcc_id_a":1.18320811,"mpcc_iq_a":-1.44499791,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.921463728,"mpcc_pred_id_a":0.165511131,"mpcc_pred_iq_a":-2.42716312,"mpcc_state":1,"mpcc_theta_e":0.447275639,"mpcc_theta_mech":0.556401014,"sam_rpm":-11.2348461,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203742236,"thr_a_norm":0.0203742236,"thr_a_v":0.581496894,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.377495,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.45852208,"cg_iw_a":0.781557798,"cg_theta_rad":0.554751277,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0593910217,"mpcc_du":49.6143608,"mpcc_dv":50.1938438,"mpcc_dw":50.3856392,"mpcc_enc_sign":1,"mpcc_id_a":3.54888296,"mpcc_iq_a":0.51951617,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.3766165,"mpcc_pred_id_a":0.516698182,"mpcc_pred_iq_a":-1.66281855,"mpcc_state":1,"mpcc_theta_e":0.436460972,"mpcc_theta_mech":0.554238081,"sam_rpm":9.70483685,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203742236,"thr_a_norm":0.0203742236,"thr_a_v":0.581496894,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.387718,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.733645439,"cg_iw_a":-1.24809694,"cg_theta_rad":0.553108513,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0460506231,"mpcc_du":49.7269859,"mpcc_dv":49.1687775,"mpcc_dw":50.8312225,"mpcc_enc_sign":1,"mpcc_id_a":1.85670412,"mpcc_iq_a":-0.380880773,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.78639317,"mpcc_pred_id_a":0.24461031,"mpcc_pred_iq_a":-3.42702317,"mpcc_state":1,"mpcc_theta_e":0.447927952,"mpcc_theta_mech":0.556531489,"sam_rpm":6.31450605,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166857392,"thr_a_norm":0.0166857392,"thr_a_v":0.566742957,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480988771,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.39782,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-3.05325079,"cg_iw_a":0.274143696,"cg_theta_rad":0.557304442,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.00764746219,"mpcc_du":49.8548317,"mpcc_dv":49.1443214,"mpcc_dw":50.8556786,"mpcc_enc_sign":1,"mpcc_id_a":0.424563348,"mpcc_iq_a":-2.01251626,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.78266811,"mpcc_pred_id_a":-0.114590377,"mpcc_pred_iq_a":-3.00905561,"mpcc_state":1,"mpcc_theta_e":0.449504852,"mpcc_theta_mech":0.556846917,"sam_rpm":4.33426571,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269706994,"thr_a_norm":0.0166857392,"thr_a_v":0.607882798,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482851923,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.420647,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.48038769,"cg_theta_rad":0.553626657,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0115810344,"mpcc_du":49.072403,"mpcc_dv":50.927597,"mpcc_dw":49.7280083,"mpcc_enc_sign":1,"mpcc_id_a":1.02100348,"mpcc_iq_a":-0.442673773,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.2950401,"mpcc_pred_id_a":-0.451027125,"mpcc_pred_iq_a":-5.83279753,"mpcc_state":1,"mpcc_theta_e":0.45037508,"mpcc_theta_mech":0.557020962,"sam_rpm":15.2346907,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269706994,"thr_a_norm":0.0269706994,"thr_a_v":0.607882798,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482851923,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.427177,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.733645439,"cg_iw_a":0.12916851,"cg_theta_rad":0.556410551,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.00547314994,"mpcc_du":49.5295067,"mpcc_dv":50.3695335,"mpcc_dw":50.4704933,"mpcc_enc_sign":1,"mpcc_id_a":1.2634443,"mpcc_iq_a":-0.777196348,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.590101421,"mpcc_pred_id_a":0.0992313847,"mpcc_pred_iq_a":-4.71875191,"mpcc_state":1,"mpcc_theta_e":0.441139221,"mpcc_theta_mech":0.555173755,"sam_rpm":0.457878113,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024314478,"thr_a_norm":0.024314478,"thr_a_v":0.597257912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.433678,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.588670254,"cg_iw_a":-0.378244877,"cg_theta_rad":0.553433657,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.000789934769,"mpcc_du":50.6751366,"mpcc_dv":48.1390762,"mpcc_dw":50.3589287,"mpcc_enc_sign":1,"mpcc_id_a":0.469281167,"mpcc_iq_a":-2.07325768,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.7708683,"mpcc_pred_id_a":-0.271430254,"mpcc_pred_iq_a":-0.816774011,"mpcc_state":1,"mpcc_theta_e":0.450649738,"mpcc_theta_mech":0.557075858,"sam_rpm":-18.7481346,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024314478,"thr_a_norm":0.024314478,"thr_a_v":0.597257912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.440208,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.733645439,"cg_iw_a":-1.46555996,"cg_theta_rad":0.55140245,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.00146291417,"mpcc_du":49.5490341,"mpcc_dv":49.5234337,"mpcc_dw":50.4765663,"mpcc_enc_sign":1,"mpcc_id_a":-0.23884818,"mpcc_iq_a":-1.41028142,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.504775167,"mpcc_pred_id_a":-0.175158143,"mpcc_pred_iq_a":-3.36191416,"mpcc_state":1,"mpcc_theta_e":0.441755295,"mpcc_theta_mech":0.555296957,"sam_rpm":0.680547059,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262657404,"thr_a_norm":0.0262657404,"thr_a_v":0.605062962,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494232059,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.448296,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.45852208,"cg_iw_a":1.07150817,"cg_theta_rad":0.555073261,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.000660889957,"mpcc_du":50.6309471,"mpcc_dv":48.3549156,"mpcc_dw":51.6450844,"mpcc_enc_sign":1,"mpcc_id_a":-0.0443847962,"mpcc_iq_a":-2.19480038,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.628006399,"mpcc_pred_id_a":-0.504494011,"mpcc_pred_iq_a":1.83430421,"mpcc_state":1,"mpcc_theta_e":0.439866543,"mpcc_theta_mech":0.554919183,"sam_rpm":-1.00242293,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0371423662,"thr_a_norm":0.0262657404,"thr_a_v":0.648569465,"thr_b":0.00332912803,"thr_b_norm":0,"thr_b_v":0.513316512,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.458214,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.806133032,"cg_iw_a":-1.39307237,"cg_theta_rad":0.556631863,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0529238544,"mpcc_du":50.3502922,"mpcc_dv":48.3120499,"mpcc_dw":51.6879501,"mpcc_enc_sign":1,"mpcc_id_a":3.46777749,"mpcc_iq_a":-0.523919821,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.89573908,"mpcc_pred_id_a":0.471603125,"mpcc_pred_iq_a":-1.43162334,"mpcc_state":1,"mpcc_theta_e":0.441617966,"mpcc_theta_mech":0.555269539,"sam_rpm":-8.36918449,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0371423662,"thr_a_norm":0.0371423662,"thr_a_v":0.648569465,"thr_b":0.00332912803,"thr_b_norm":0.00332912803,"thr_b_v":0.513316512,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.468437,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.443694592,"cg_iw_a":0.201656342,"cg_theta_rad":0.553150117,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0302054733,"mpcc_du":49.8096123,"mpcc_dv":49.3617744,"mpcc_dw":50.6382256,"mpcc_enc_sign":1,"mpcc_id_a":0.311094433,"mpcc_iq_a":-2.09316206,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.60434532,"mpcc_pred_id_a":-0.469700962,"mpcc_pred_iq_a":-3.53863645,"mpcc_state":1,"mpcc_theta_e":0.446460724,"mpcc_theta_mech":0.556238055,"sam_rpm":8.70382977,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206260085,"thr_a_norm":0.0206260085,"thr_a_v":0.582504034,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453192949,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.478386,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.38603449,"cg_iw_a":-1.32058477,"cg_theta_rad":0.554762125,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0123670911,"mpcc_du":50.2367477,"mpcc_dv":48.8510933,"mpcc_dw":51.1489067,"mpcc_enc_sign":1,"mpcc_id_a":1.00554848,"mpcc_iq_a":-1.31297171,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.394229293,"mpcc_pred_id_a":-0.482242972,"mpcc_pred_iq_a":-1.88492036,"mpcc_state":1,"mpcc_theta_e":0.447039604,"mpcc_theta_mech":0.556353867,"sam_rpm":0.23570694,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206260085,"thr_a_norm":0.0206260085,"thr_a_v":0.582504034,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453192949,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.488609,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-1.24105906,"cg_iw_a":-0.23326993,"cg_theta_rad":0.555089951,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0403719656,"mpcc_du":49.8674393,"mpcc_dv":49.1330032,"mpcc_dw":50.8669968,"mpcc_enc_sign":1,"mpcc_id_a":1.86246741,"mpcc_iq_a":-1.53783774,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.43649626,"mpcc_pred_id_a":0.0194688011,"mpcc_pred_iq_a":-1.31759357,"mpcc_state":1,"mpcc_theta_e":0.446923256,"mpcc_theta_mech":0.556330562,"sam_rpm":-5.56883097,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0281666219,"thr_a_norm":0.0281666219,"thr_a_v":0.612666488,"thr_b":0.000282675028,"thr_b_norm":0.000282675028,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.498985,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.6759851,"cg_iw_a":0.346631765,"cg_theta_rad":0.556142449,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0418149084,"mpcc_du":50.0914955,"mpcc_dv":48.637188,"mpcc_dw":51.362812,"mpcc_enc_sign":1,"mpcc_id_a":1.99367821,"mpcc_iq_a":1.09466314,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.44670796,"mpcc_pred_id_a":0.399506748,"mpcc_pred_iq_a":-1.42427373,"mpcc_state":1,"mpcc_theta_e":0.444434166,"mpcc_theta_mech":0.555832744,"sam_rpm":-2.87945843,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0139917582,"thr_a_norm":0.0281666219,"thr_a_v":0.555967033,"thr_b":0,"thr_b_norm":0.000282675028,"thr_b_v":0.432346046,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.521843,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.885658741,"cg_theta_rad":0.554798722,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0321682952,"mpcc_du":48.9324226,"mpcc_dv":51.0675774,"mpcc_dw":49.8180237,"mpcc_enc_sign":1,"mpcc_id_a":3.37326479,"mpcc_iq_a":0.104401506,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.54430962,"mpcc_pred_id_a":0.281022608,"mpcc_pred_iq_a":-5.48024464,"mpcc_state":1,"mpcc_theta_e":0.447087765,"mpcc_theta_mech":0.556363463,"sam_rpm":12.0387478,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0139917582,"thr_a_norm":0.0139917582,"thr_a_v":0.555967033,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.432346046,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.528343,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.733645439,"cg_iw_a":0.419119358,"cg_theta_rad":0.554103374,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0113108167,"mpcc_du":49.5821609,"mpcc_dv":49.6516113,"mpcc_dw":50.4178391,"mpcc_enc_sign":1,"mpcc_id_a":0.536443412,"mpcc_iq_a":-0.109731823,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0940215662,"mpcc_pred_id_a":-0.447714031,"mpcc_pred_iq_a":-3.97727513,"mpcc_state":1,"mpcc_theta_e":0.440757751,"mpcc_theta_mech":0.555097461,"sam_rpm":-0.300725222,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026353851,"thr_a_norm":0.026353851,"thr_a_v":0.605415404,"thr_b":0.00395856798,"thr_b_norm":0.00395856798,"thr_b_v":0.515834272,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.534966,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-2.61832476,"cg_iw_a":1.21648359,"cg_theta_rad":0.555890083,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0183081757,"mpcc_du":49.7707748,"mpcc_dv":49.2166786,"mpcc_dw":50.7833214,"mpcc_enc_sign":1,"mpcc_id_a":1.10680664,"mpcc_iq_a":-1.09397185,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.509594,"mpcc_pred_id_a":-0.108869314,"mpcc_pred_iq_a":-1.47818363,"mpcc_state":1,"mpcc_theta_e":0.45372963,"mpcc_theta_mech":0.557691813,"sam_rpm":15.8573561,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026353851,"thr_a_norm":0.026353851,"thr_a_v":0.605415404,"thr_b":0.00395856798,"thr_b_norm":0.00395856798,"thr_b_v":0.515834272,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.541466,"values":{"cg_iu_a":3.8664217,"cg_iv_a":-1.82096052,"cg_iw_a":-2.04546118,"cg_theta_rad":0.553606629,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0556057654,"mpcc_du":49.8636856,"mpcc_dv":48.8879623,"mpcc_dw":51.1120377,"mpcc_enc_sign":1,"mpcc_id_a":3.03973317,"mpcc_iq_a":0.0664727092,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.14145565,"mpcc_pred_id_a":0.539491594,"mpcc_pred_iq_a":-0.687376201,"mpcc_state":1,"mpcc_theta_e":0.451146603,"mpcc_theta_mech":0.556552708,"sam_rpm":12.7137499,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261902064,"thr_a_norm":0.0261902064,"thr_a_v":0.604760826,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499720752,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.5494,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.24105906,"cg_iw_a":0.346631765,"cg_theta_rad":0.553068697,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0148660727,"mpcc_du":49.6041603,"mpcc_dv":49.3992882,"mpcc_dw":50.6007118,"mpcc_enc_sign":1,"mpcc_id_a":2.30349588,"mpcc_iq_a":-0.606346488,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.33089876,"mpcc_pred_id_a":-0.0159164276,"mpcc_pred_iq_a":-3.82046986,"mpcc_state":1,"mpcc_theta_e":0.435738564,"mpcc_theta_mech":0.554093659,"sam_rpm":-9.82863331,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283680409,"thr_a_norm":0.0261902064,"thr_a_v":0.613472164,"thr_b":0.00150378048,"thr_b_norm":0,"thr_b_v":0.506015122,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.55941,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.733645439,"cg_iw_a":1.07150817,"cg_theta_rad":0.552912891,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0308122709,"mpcc_du":50.469101,"mpcc_dv":48.6027222,"mpcc_dw":51.3972778,"mpcc_enc_sign":1,"mpcc_id_a":-0.258179963,"mpcc_iq_a":-1.77388752,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.19008303,"mpcc_pred_id_a":-0.563694,"mpcc_pred_iq_a":-3.66178226,"mpcc_state":1,"mpcc_theta_e":0.445841789,"mpcc_theta_mech":0.556114256,"sam_rpm":-5.08832884,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283680409,"thr_a_norm":0.0283680409,"thr_a_v":0.613472164,"thr_b":0.00150378048,"thr_b_norm":0.00150378048,"thr_b_v":0.506015122,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.569817,"values":{"cg_iu_a":2.1992054,"cg_iv_a":0.208694458,"cg_iw_a":-2.40789986,"cg_theta_rad":0.553629994,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0128780473,"mpcc_du":49.9128914,"mpcc_dv":49.1455231,"mpcc_dw":50.8544769,"mpcc_enc_sign":1,"mpcc_id_a":0.596051812,"mpcc_iq_a":-1.99877441,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.39338613,"mpcc_pred_id_a":-0.275250226,"mpcc_pred_iq_a":-4.43553877,"mpcc_state":1,"mpcc_theta_e":0.44723177,"mpcc_theta_mech":0.556392252,"sam_rpm":-1.77696609,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0949496478,"thr_a_norm":0.0949496478,"thr_a_v":0.879798591,"thr_b":0.0335545838,"thr_b_norm":0.0335545838,"thr_b_v":0.634218335,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.581963,"values":{"cg_iu_a":1.32935333,"cg_iv_a":0.281181812,"cg_iw_a":-3.20526409,"cg_theta_rad":0.555674255,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0253422316,"mpcc_du":50.292717,"mpcc_dv":48.6569138,"mpcc_dw":51.3430862,"mpcc_enc_sign":1,"mpcc_id_a":0.319483936,"mpcc_iq_a":-2.09189796,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.85818338,"mpcc_pred_id_a":-0.296212733,"mpcc_pred_iq_a":-4.35436726,"mpcc_state":1,"mpcc_theta_e":0.442451477,"mpcc_theta_mech":0.555436254,"sam_rpm":-7.67527962,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263160914,"thr_a_norm":0.0949496478,"thr_a_v":0.605264366,"thr_b":0,"thr_b_norm":0.0335545838,"thr_b_v":0.498310834,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.592003,"values":{"cg_iu_a":3.21403265,"cg_iv_a":0.0637187958,"cg_iw_a":-1.32058477,"cg_theta_rad":0.557299554,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0723114386,"mpcc_du":49.3428154,"mpcc_dv":50.297802,"mpcc_dw":50.6571846,"mpcc_enc_sign":1,"mpcc_id_a":4.86449814,"mpcc_iq_a":0.3628546,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.98942757,"mpcc_pred_id_a":1.19693804,"mpcc_pred_iq_a":-2.84174585,"mpcc_state":1,"mpcc_theta_e":0.447346687,"mpcc_theta_mech":0.55641526,"sam_rpm":13.7092714,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263160914,"thr_a_norm":0.0263160914,"thr_a_v":0.605264366,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498310834,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.602318,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.298719406,"cg_iw_a":-2.40789986,"cg_theta_rad":0.552840769,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0193770621,"mpcc_du":50.4964638,"mpcc_dv":48.5227585,"mpcc_dw":51.4772415,"mpcc_enc_sign":1,"mpcc_id_a":0.374349743,"mpcc_iq_a":-1.28863215,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.47550845,"mpcc_pred_id_a":-0.555106521,"mpcc_pred_iq_a":-1.9398284,"mpcc_state":1,"mpcc_theta_e":0.446831226,"mpcc_theta_mech":0.557319343,"sam_rpm":-3.72970366,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274742395,"thr_a_norm":0.0274742395,"thr_a_v":0.609896958,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483355463,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.625267,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.02359605,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.555229664,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0116044097,"mpcc_du":50.4648857,"mpcc_dv":48.3597832,"mpcc_dw":51.6402168,"mpcc_enc_sign":1,"mpcc_id_a":2.09881353,"mpcc_iq_a":-0.185101524,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.00655127,"mpcc_pred_id_a":-0.0865474641,"mpcc_pred_iq_a":1.36656666,"mpcc_state":1,"mpcc_theta_e":0.434458733,"mpcc_theta_mech":0.553837657,"sam_rpm":-9.11090279,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274742395,"thr_a_norm":0.0274742395,"thr_a_v":0.609896958,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483355463,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.631737,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.516182423,"cg_iw_a":-0.740683556,"cg_theta_rad":0.556791067,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0152296647,"mpcc_du":51.4523621,"mpcc_dv":46.9109764,"mpcc_dw":53.0890236,"mpcc_enc_sign":1,"mpcc_id_a":1.77230692,"mpcc_iq_a":-1.2331593,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.5309496,"mpcc_pred_id_a":0.482376426,"mpcc_pred_iq_a":3.66449165,"mpcc_state":1,"mpcc_theta_e":0.43446064,"mpcc_theta_mech":0.553838015,"sam_rpm":-16.4575748,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022980094,"thr_a_norm":0.022980094,"thr_a_v":0.591920376,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485420018,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.638237,"values":{"cg_iu_a":2.05423021,"cg_iv_a":0.281181812,"cg_iw_a":-2.33541203,"cg_theta_rad":0.552939534,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.070903562,"mpcc_du":49.4009705,"mpcc_dv":49.4091568,"mpcc_dw":50.5990295,"mpcc_enc_sign":1,"mpcc_id_a":4.65383244,"mpcc_iq_a":-0.75227797,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.51780176,"mpcc_pred_id_a":0.654633582,"mpcc_pred_iq_a":-3.29028058,"mpcc_state":1,"mpcc_theta_e":0.449207306,"mpcc_theta_mech":0.556787372,"sam_rpm":8.51690865,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022980094,"thr_a_norm":0.022980094,"thr_a_v":0.591920376,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485420018,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.644768,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-1.38603449,"cg_iw_a":-0.233269691,"cg_theta_rad":0.555315673,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.00192997255,"mpcc_du":49.3135796,"mpcc_dv":50.6864204,"mpcc_dw":49.9816971,"mpcc_enc_sign":1,"mpcc_id_a":-0.074191004,"mpcc_iq_a":-1.76168692,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.54022217,"mpcc_pred_id_a":-0.179087222,"mpcc_pred_iq_a":0.751587391,"mpcc_state":1,"mpcc_theta_e":0.436137676,"mpcc_theta_mech":0.55417341,"sam_rpm":-7.50068903,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0255607665,"thr_a_norm":0.0255607665,"thr_a_v":0.602243066,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490606517,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.654808,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.951108456,"cg_iw_a":-0.015806675,"cg_theta_rad":0.552422941,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0147211878,"mpcc_du":49.4641609,"mpcc_dv":49.8341942,"mpcc_dw":50.5358391,"mpcc_enc_sign":1,"mpcc_id_a":0.519756854,"mpcc_iq_a":-0.834885776,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0457071215,"mpcc_pred_id_a":-0.264449924,"mpcc_pred_iq_a":-1.44514883,"mpcc_state":1,"mpcc_theta_e":0.433197021,"mpcc_theta_mech":0.553585291,"sam_rpm":-1.32396579,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0255607665,"thr_a_v":0.618709087,"thr_b":0.00918288529,"thr_b_norm":0,"thr_b_v":0.536731541,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.664818,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-2.47334933,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.556054235,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.00714625651,"mpcc_du":49.9407883,"mpcc_dv":48.9640312,"mpcc_dw":51.0359688,"mpcc_enc_sign":1,"mpcc_id_a":0.875557661,"mpcc_iq_a":-0.583469808,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.25502944,"mpcc_pred_id_a":0.0962921605,"mpcc_pred_iq_a":1.08166623,"mpcc_state":1,"mpcc_theta_e":0.431943893,"mpcc_theta_mech":0.553334713,"sam_rpm":-5.746315,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00918288529,"thr_b_norm":0.00918288529,"thr_b_v":0.536731541,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.675072,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.516182423,"cg_iw_a":0.274144173,"cg_theta_rad":0.55525887,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0528981797,"mpcc_du":50.0674133,"mpcc_dv":48.9385071,"mpcc_dw":51.0614929,"mpcc_enc_sign":1,"mpcc_id_a":0.399725199,"mpcc_iq_a":-0.561251283,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.51229739,"mpcc_pred_id_a":-0.141163006,"mpcc_pred_iq_a":-3.18477035,"mpcc_state":1,"mpcc_theta_e":0.451270103,"mpcc_theta_mech":0.557199895,"sam_rpm":6.67980099,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023131147,"thr_a_norm":0.023131147,"thr_a_v":0.592524588,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498159766,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.684807,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-3.27071381,"cg_iw_a":1.21648359,"cg_theta_rad":0.556712031,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0463119633,"mpcc_du":49.6491699,"mpcc_dv":49.2310753,"mpcc_dw":50.7689247,"mpcc_enc_sign":1,"mpcc_id_a":2.68931246,"mpcc_iq_a":-0.818289816,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.432775289,"mpcc_pred_id_a":0.35893783,"mpcc_pred_iq_a":-3.32608986,"mpcc_state":1,"mpcc_theta_e":0.446270943,"mpcc_theta_mech":0.556200087,"sam_rpm":8.68286228,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023131147,"thr_a_norm":0.023131147,"thr_a_v":0.592524588,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498159766,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.69503,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.443694592,"cg_iw_a":-1.90048599,"cg_theta_rad":0.554720163,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0259300768,"mpcc_du":49.8787842,"mpcc_dv":49.0579071,"mpcc_dw":50.9420929,"mpcc_enc_sign":1,"mpcc_id_a":2.57178617,"mpcc_iq_a":-0.894384384,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.86530685,"mpcc_pred_id_a":0.100650623,"mpcc_pred_iq_a":-2.93237662,"mpcc_state":1,"mpcc_theta_e":0.443985462,"mpcc_theta_mech":0.555743039,"sam_rpm":-3.14771605,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0170382112,"thr_a_norm":0.0170382112,"thr_a_v":0.568152845,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443122,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.705162,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.09608364,"cg_iw_a":-0.595708132,"cg_theta_rad":0.557095468,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.120970421,"mpcc_du":50.0688286,"mpcc_dv":48.5495224,"mpcc_dw":51.4504776,"mpcc_enc_sign":1,"mpcc_id_a":3.98177767,"mpcc_iq_a":1.52053726,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.39321136,"mpcc_pred_id_a":0.798574984,"mpcc_pred_iq_a":-0.228470832,"mpcc_state":1,"mpcc_theta_e":0.449973106,"mpcc_theta_mech":0.556940496,"sam_rpm":11.0143242,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023810938,"thr_a_norm":0.0170382112,"thr_a_v":0.595243752,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473183811,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.728386,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.6759851,"cg_iw_a":-1.03063393,"cg_theta_rad":0.554107368,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.00268643373,"mpcc_du":51.0493584,"mpcc_dv":47.593956,"mpcc_dw":52.406044,"mpcc_enc_sign":1,"mpcc_id_a":0.830730259,"mpcc_iq_a":0.359330654,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.4583254,"mpcc_pred_id_a":0.0266939998,"mpcc_pred_iq_a":3.61843348,"mpcc_state":1,"mpcc_theta_e":0.431238651,"mpcc_theta_mech":0.553193629,"sam_rpm":-17.3738308,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023810938,"thr_a_norm":0.023810938,"thr_a_v":0.595243752,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473183811,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.734917,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.6759851,"cg_iw_a":-0.523220301,"cg_theta_rad":0.555592,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0217724014,"mpcc_du":50.2219467,"mpcc_dv":48.7620735,"mpcc_dw":51.2379265,"mpcc_enc_sign":1,"mpcc_id_a":0.486881942,"mpcc_iq_a":-3.16669655,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.0762949,"mpcc_pred_id_a":-0.3214145,"mpcc_pred_iq_a":-0.598817825,"mpcc_state":1,"mpcc_theta_e":0.430604458,"mpcc_theta_mech":0.55306679,"sam_rpm":-14.3084192,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450977325,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.741478,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.38603449,"cg_iw_a":0.346631527,"cg_theta_rad":0.553463936,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0334360749,"mpcc_du":49.4393234,"mpcc_dv":49.7642403,"mpcc_dw":50.5606766,"mpcc_enc_sign":1,"mpcc_id_a":3.57788658,"mpcc_iq_a":-1.48102975,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.22994566,"mpcc_pred_id_a":0.522301614,"mpcc_pred_iq_a":-2.58324265,"mpcc_state":1,"mpcc_theta_e":0.447581291,"mpcc_theta_mech":0.556462169,"sam_rpm":10.5617237,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450977325,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.747978,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.951108456,"cg_iw_a":-0.015806675,"cg_theta_rad":0.555192411,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0128512066,"mpcc_du":49.3959389,"mpcc_dv":50.6040611,"mpcc_dw":50.2088432,"mpcc_enc_sign":1,"mpcc_id_a":2.261168,"mpcc_iq_a":-1.71729434,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.59212995,"mpcc_pred_id_a":-0.00857701618,"mpcc_pred_iq_a":-5.25199986,"mpcc_state":1,"mpcc_theta_e":0.443151951,"mpcc_theta_mech":0.555576265,"sam_rpm":3.06812763,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236598849,"thr_a_norm":0.0236598849,"thr_a_v":0.59463954,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460846871,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.755791,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.298719406,"cg_iw_a":-0.16078186,"cg_theta_rad":0.554925978,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0147383222,"mpcc_du":50.058033,"mpcc_dv":48.7848129,"mpcc_dw":51.2151871,"mpcc_enc_sign":1,"mpcc_id_a":1.74110079,"mpcc_iq_a":-1.11779201,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.54660034,"mpcc_pred_id_a":0.322295487,"mpcc_pred_iq_a":0.910388947,"mpcc_state":1,"mpcc_theta_e":0.451047897,"mpcc_theta_mech":0.55715549,"sam_rpm":14.3074961,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228919685,"thr_a_norm":0.0236598849,"thr_a_v":0.591567874,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482298017,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.765739,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.38603449,"cg_iw_a":-1.10312176,"cg_theta_rad":0.555399597,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0372724906,"mpcc_du":50.4107437,"mpcc_dv":48.6090164,"mpcc_dw":51.3909836,"mpcc_enc_sign":1,"mpcc_id_a":1.4159888,"mpcc_iq_a":-1.94565427,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.80948782,"mpcc_pred_id_a":0.0866337717,"mpcc_pred_iq_a":-5.01434135,"mpcc_state":1,"mpcc_theta_e":0.454776287,"mpcc_theta_mech":0.557498634,"sam_rpm":6.51851845,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228919685,"thr_a_norm":0.0228919685,"thr_a_v":0.591567874,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482298017,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.77578,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.53100967,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556488991,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0221046321,"mpcc_du":49.8890762,"mpcc_dv":49.1374779,"mpcc_dw":50.8625221,"mpcc_enc_sign":1,"mpcc_id_a":1.3713268,"mpcc_iq_a":-1.21667325,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.99662733,"mpcc_pred_id_a":-0.0671498105,"mpcc_pred_iq_a":-2.82201028,"mpcc_state":1,"mpcc_theta_e":0.450523853,"mpcc_theta_mech":0.557050645,"sam_rpm":6.16026926,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0425177366,"thr_a_norm":0.0425177366,"thr_a_v":0.670070946,"thr_b":0.0172270536,"thr_b_norm":0.0172270536,"thr_b_v":0.568908215,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.785789,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.951108456,"cg_iw_a":0.0566811562,"cg_theta_rad":0.556431353,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.062581338,"mpcc_du":50.0743141,"mpcc_dv":49.0565796,"mpcc_dw":50.9434204,"mpcc_enc_sign":1,"mpcc_id_a":0.778684437,"mpcc_iq_a":-0.608833611,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.54317856,"mpcc_pred_id_a":-0.342866451,"mpcc_pred_iq_a":-3.63940358,"mpcc_state":1,"mpcc_theta_e":0.454481602,"mpcc_theta_mech":0.557842195,"sam_rpm":9.40342331,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0425177366,"thr_a_norm":0.0425177366,"thr_a_v":0.670070946,"thr_b":0.0172270536,"thr_b_norm":0.0172270536,"thr_b_v":0.568908215,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.796013,"values":{"cg_iu_a":1.03940296,"cg_iv_a":1.00605869,"cg_iw_a":-2.04546165,"cg_theta_rad":0.5545367,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.00212511886,"mpcc_du":50.5549812,"mpcc_dv":48.24123,"mpcc_dw":51.75877,"mpcc_enc_sign":1,"mpcc_id_a":0.448199987,"mpcc_iq_a":-0.474908918,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.32942581,"mpcc_pred_id_a":-0.0164247714,"mpcc_pred_iq_a":2.22515011,"mpcc_state":1,"mpcc_theta_e":0.426352024,"mpcc_theta_mech":0.552216351,"sam_rpm":-14.4170074,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024314478,"thr_a_norm":0.024314478,"thr_a_v":0.597257912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477614999,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.806297,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.153744221,"cg_iw_a":-1.68302321,"cg_theta_rad":0.552865326,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0470128655,"mpcc_du":49.5825882,"mpcc_dv":49.4406281,"mpcc_dw":50.5593719,"mpcc_enc_sign":1,"mpcc_id_a":3.39687562,"mpcc_iq_a":-0.155829653,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.90641594,"mpcc_pred_id_a":0.559273779,"mpcc_pred_iq_a":-0.671226799,"mpcc_state":1,"mpcc_theta_e":0.438586712,"mpcc_theta_mech":0.557130456,"sam_rpm":-13.2763023,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024440363,"thr_a_norm":0.024314478,"thr_a_v":0.597761452,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487837017,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.829399,"values":{"cg_iu_a":-0.192887545,"cg_iv_a":-0.733645439,"cg_iw_a":-2.04546118,"cg_theta_rad":0.556631565,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.00770013127,"mpcc_du":48.7740898,"mpcc_dv":51.2259102,"mpcc_dw":49.3516121,"mpcc_enc_sign":1,"mpcc_id_a":1.06655228,"mpcc_iq_a":-0.515009046,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.457902,"mpcc_pred_id_a":-0.279510021,"mpcc_pred_iq_a":-6.35633326,"mpcc_state":1,"mpcc_theta_e":0.453282833,"mpcc_theta_mech":0.557602525,"sam_rpm":18.2839489,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024440363,"thr_a_norm":0.024440363,"thr_a_v":0.597761452,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487837017,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.83596,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.45852208,"cg_iw_a":-1.61053538,"cg_theta_rad":0.554123938,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.00191498327,"mpcc_du":49.5632935,"mpcc_dv":49.5963821,"mpcc_dw":50.4367065,"mpcc_enc_sign":1,"mpcc_id_a":0.803553283,"mpcc_iq_a":-1.24894154,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.29803371,"mpcc_pred_id_a":-0.107894897,"mpcc_pred_iq_a":-3.54091477,"mpcc_state":1,"mpcc_theta_e":0.437309742,"mpcc_theta_mech":0.554407835,"sam_rpm":-6.99371767,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0286324173,"thr_a_norm":0.0286324173,"thr_a_v":0.614529669,"thr_b":0.00102539361,"thr_b_norm":0.00102539361,"thr_b_v":0.504101574,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.842461,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.298719406,"cg_iw_a":-0.668195724,"cg_theta_rad":0.555040479,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0469969399,"mpcc_du":49.4379425,"mpcc_dv":50.0294304,"mpcc_dw":50.5620575,"mpcc_enc_sign":1,"mpcc_id_a":3.6802299,"mpcc_iq_a":-0.591823101,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.83683872,"mpcc_pred_id_a":0.727542698,"mpcc_pred_iq_a":-4.75864744,"mpcc_state":1,"mpcc_theta_e":0.445093632,"mpcc_theta_mech":0.555964649,"sam_rpm":4.26127577,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0286324173,"thr_a_norm":0.0286324173,"thr_a_v":0.614529669,"thr_b":0.00102539361,"thr_b_norm":0.00102539361,"thr_b_v":0.504101574,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.848961,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.661157608,"cg_iw_a":-0.305757046,"cg_theta_rad":0.552589953,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0239405781,"mpcc_du":49.9129715,"mpcc_dv":48.9284592,"mpcc_dw":51.0715408,"mpcc_enc_sign":1,"mpcc_id_a":2.65931535,"mpcc_iq_a":-0.358921617,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.47914505,"mpcc_pred_id_a":0.232592121,"mpcc_pred_iq_a":-2.37746954,"mpcc_state":1,"mpcc_theta_e":0.436584473,"mpcc_theta_mech":0.554262817,"sam_rpm":-9.25975323,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291988999,"thr_a_norm":0.0291988999,"thr_a_v":0.616795599,"thr_b":0.00397115946,"thr_b_norm":0.00397115946,"thr_b_v":0.515884638,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.856987,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.45852208,"cg_iw_a":0.564094782,"cg_theta_rad":0.555316508,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.00685306126,"mpcc_du":49.1006126,"mpcc_dv":50.8993874,"mpcc_dw":49.759449,"mpcc_enc_sign":1,"mpcc_id_a":0.959384859,"mpcc_iq_a":-1.39536214,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.5028086,"mpcc_pred_id_a":-0.351307988,"mpcc_pred_iq_a":-5.52101755,"mpcc_state":1,"mpcc_theta_e":0.454209328,"mpcc_theta_mech":0.552671492,"sam_rpm":19.3932171,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254852325,"thr_a_norm":0.0291988999,"thr_a_v":0.60194093,"thr_b":0,"thr_b_norm":0.00397115946,"thr_b_v":0.495440602,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.866753,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.09608364,"cg_iw_a":-0.668195724,"cg_theta_rad":0.552850246,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0133778658,"mpcc_du":49.8549919,"mpcc_dv":48.9521294,"mpcc_dw":51.0478706,"mpcc_enc_sign":1,"mpcc_id_a":2.09761834,"mpcc_iq_a":-0.708245695,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.4493463,"mpcc_pred_id_a":0.360401988,"mpcc_pred_iq_a":-0.520427763,"mpcc_state":1,"mpcc_theta_e":0.44113493,"mpcc_theta_mech":0.555172861,"sam_rpm":2.01145101,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254852325,"thr_a_norm":0.0254852325,"thr_a_v":0.60194093,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495440602,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.877251,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.60349751,"cg_iw_a":-3.06028891,"cg_theta_rad":0.5509395,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0065345224,"mpcc_du":49.7896461,"mpcc_dv":49.1094208,"mpcc_dw":50.8905792,"mpcc_enc_sign":1,"mpcc_id_a":-0.56226027,"mpcc_iq_a":-1.58158219,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.87992334,"mpcc_pred_id_a":-0.482452154,"mpcc_pred_iq_a":-3.49942112,"mpcc_state":1,"mpcc_theta_e":0.442753315,"mpcc_theta_mech":0.555496573,"sam_rpm":-7.96107578,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0113733113,"thr_a_norm":0.0113733113,"thr_a_v":0.545493245,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.428619802,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.886772,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.02359605,"cg_iw_a":-1.75551081,"cg_theta_rad":0.556073904,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.00716297841,"mpcc_du":49.5781746,"mpcc_dv":49.397068,"mpcc_dw":50.602932,"mpcc_enc_sign":1,"mpcc_id_a":1.25923586,"mpcc_iq_a":-1.64522624,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.59519625,"mpcc_pred_id_a":0.059967868,"mpcc_pred_iq_a":-2.20469975,"mpcc_state":1,"mpcc_theta_e":0.436550617,"mpcc_theta_mech":0.554256022,"sam_rpm":-5.13893461,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0113733113,"thr_a_norm":0.0113733113,"thr_a_v":0.545493245,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.428619802,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.896965,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.96593571,"cg_iw_a":1.21648359,"cg_theta_rad":0.552903414,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":4.76804198e-05,"mpcc_du":49.7222328,"mpcc_dv":49.2577133,"mpcc_dw":50.7422867,"mpcc_enc_sign":1,"mpcc_id_a":0.133382633,"mpcc_iq_a":-0.797687948,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.127568901,"mpcc_pred_id_a":-0.150591046,"mpcc_pred_iq_a":-1.13717973,"mpcc_state":1,"mpcc_theta_e":0.438581467,"mpcc_theta_mech":0.554662168,"sam_rpm":0.0678865314,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184733272,"thr_a_norm":0.0184733272,"thr_a_v":0.573893309,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450322747,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.90728,"values":{"cg_iu_a":-0.555325985,"cg_iv_a":-0.226231575,"cg_iw_a":0.78155756,"cg_theta_rad":0.552779973,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0202354025,"mpcc_du":49.9402885,"mpcc_dv":49.1285095,"mpcc_dw":50.8714905,"mpcc_enc_sign":1,"mpcc_id_a":1.91900861,"mpcc_iq_a":-1.90911078,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.26817179,"mpcc_pred_id_a":0.0443774462,"mpcc_pred_iq_a":-3.97296047,"mpcc_state":1,"mpcc_theta_e":0.45372963,"mpcc_theta_mech":0.557691813,"sam_rpm":8.41993237,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026857391,"thr_a_norm":0.0184733272,"thr_a_v":0.607429564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499267578,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.930199,"values":{"cg_iu_a":-0.772789001,"cg_iv_a":-0.733645439,"cg_iw_a":-2.69785023,"cg_theta_rad":0.555041432,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0300558563,"mpcc_du":50.0398788,"mpcc_dv":49.0036469,"mpcc_dw":50.9963531,"mpcc_enc_sign":1,"mpcc_id_a":0.772353411,"mpcc_iq_a":-0.458053052,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.207872227,"mpcc_pred_id_a":-0.317600846,"mpcc_pred_iq_a":-3.07549906,"mpcc_state":1,"mpcc_theta_e":0.446497917,"mpcc_theta_mech":0.556245506,"sam_rpm":0.731270611,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026857391,"thr_a_norm":0.026857391,"thr_a_v":0.607429564,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499267578,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.936699,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.298719406,"cg_iw_a":0.346631527,"cg_theta_rad":0.554181635,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0107574202,"mpcc_du":49.6088028,"mpcc_dv":49.4570084,"mpcc_dw":50.5429916,"mpcc_enc_sign":1,"mpcc_id_a":0.667925477,"mpcc_iq_a":-1.34047794,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.16819477,"mpcc_pred_id_a":-0.119110554,"mpcc_pred_iq_a":-3.14190197,"mpcc_state":1,"mpcc_theta_e":0.449874401,"mpcc_theta_mech":0.556920767,"sam_rpm":9.41263199,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234710425,"thr_a_norm":0.0234710425,"thr_a_v":0.59388417,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469658971,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.94326,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.09608364,"cg_iw_a":-0.160782337,"cg_theta_rad":0.556299448,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.00180338579,"mpcc_du":49.5154915,"mpcc_dv":49.6221924,"mpcc_dw":50.4845085,"mpcc_enc_sign":1,"mpcc_id_a":0.825347126,"mpcc_iq_a":-1.02961159,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.94805717,"mpcc_pred_id_a":-0.0240706112,"mpcc_pred_iq_a":-3.40622926,"mpcc_state":1,"mpcc_theta_e":0.438436508,"mpcc_theta_mech":0.5546332,"sam_rpm":-3.21416926,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234710425,"thr_a_norm":0.0234710425,"thr_a_v":0.59388417,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469658971,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.949791,"values":{"cg_iu_a":3.1415453,"cg_iv_a":0.643620491,"cg_iw_a":-3.78516579,"cg_theta_rad":0.55151701,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0211126674,"mpcc_du":50.7040863,"mpcc_dv":47.8288918,"mpcc_dw":52.1711082,"mpcc_enc_sign":1,"mpcc_id_a":2.77076054,"mpcc_iq_a":-1.14852762,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.53339338,"mpcc_pred_id_a":0.518181503,"mpcc_pred_iq_a":2.08157873,"mpcc_state":1,"mpcc_theta_e":0.436185837,"mpcc_theta_mech":0.554183066,"sam_rpm":-8.20275116,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253971219,"thr_a_norm":0.0253971219,"thr_a_v":0.601588488,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494685292,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.957787,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.878620625,"cg_iw_a":-1.82799864,"cg_theta_rad":0.55506289,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0159795526,"mpcc_du":49.7102661,"mpcc_dv":49.4445496,"mpcc_dw":50.5554504,"mpcc_enc_sign":1,"mpcc_id_a":0.213289142,"mpcc_iq_a":-1.44680572,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.69456482,"mpcc_pred_id_a":-0.438861072,"mpcc_pred_iq_a":-3.78320694,"mpcc_state":1,"mpcc_theta_e":0.450474262,"mpcc_theta_mech":0.557040751,"sam_rpm":8.84107876,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0380109847,"thr_a_norm":0.0253971219,"thr_a_v":0.652043939,"thr_b":0.00628748536,"thr_b_norm":0,"thr_b_v":0.525149941,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.967796,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.951108456,"cg_iw_a":-2.48038745,"cg_theta_rad":0.558378339,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0193331838,"mpcc_du":49.7917099,"mpcc_dv":48.9906845,"mpcc_dw":51.0093155,"mpcc_enc_sign":1,"mpcc_id_a":2.42524958,"mpcc_iq_a":-0.508812606,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.58904886,"mpcc_pred_id_a":0.369513124,"mpcc_pred_iq_a":0.447673678,"mpcc_state":1,"mpcc_theta_e":0.429834843,"mpcc_theta_mech":0.552912891,"sam_rpm":-7.79318476,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0380109847,"thr_a_norm":0.0380109847,"thr_a_v":0.652043939,"thr_b":0.00628748536,"thr_b_norm":0.00628748536,"thr_b_v":0.525149941,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.977959,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-1.45852208,"cg_iw_a":-2.04546142,"cg_theta_rad":0.554727733,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0191078223,"mpcc_du":50.1515541,"mpcc_dv":48.75914,"mpcc_dw":51.24086,"mpcc_enc_sign":1,"mpcc_id_a":1.33229637,"mpcc_iq_a":-1.79957843,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.72217703,"mpcc_pred_id_a":-0.061999172,"mpcc_pred_iq_a":-1.96973884,"mpcc_state":1,"mpcc_theta_e":0.449352264,"mpcc_theta_mech":0.556816339,"sam_rpm":4.72162533,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165472627,"thr_a_norm":0.0165472627,"thr_a_v":0.566189051,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471370995,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.988029,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.153744221,"cg_iw_a":-2.40789938,"cg_theta_rad":0.556628406,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0586059615,"mpcc_du":49.1990662,"mpcc_dv":50.8009338,"mpcc_dw":50.1687202,"mpcc_enc_sign":1,"mpcc_id_a":2.55211854,"mpcc_iq_a":-0.926274121,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.28572202,"mpcc_pred_id_a":0.352027446,"mpcc_pred_iq_a":-2.08218598,"mpcc_state":1,"mpcc_theta_e":0.426809311,"mpcc_theta_mech":0.552307785,"sam_rpm":-4.22415113,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165472627,"thr_a_norm":0.0165472627,"thr_a_v":0.566189051,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471370995,"vdc_v":55.2955055}} +{"type":"telemetry","t":114.998192,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.09608364,"cg_iw_a":0.0566811562,"cg_theta_rad":0.557662129,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0621978529,"mpcc_du":49.9149399,"mpcc_dv":48.8833618,"mpcc_dw":51.1166382,"mpcc_enc_sign":1,"mpcc_id_a":3.07147241,"mpcc_iq_a":-0.365170956,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.76826441,"mpcc_pred_id_a":0.286915809,"mpcc_pred_iq_a":-3.03604126,"mpcc_state":1,"mpcc_theta_e":0.450449467,"mpcc_theta_mech":0.557035804,"sam_rpm":2.81185746,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246669799,"thr_a_norm":0.0246669799,"thr_a_v":0.59866792,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477111459,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.008385,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.74847269,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.556232095,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5005,"hz_app_loop":364,"hz_tim_isr":10010,"hz_vsense":364,"mpcc_cost":0.0194327664,"mpcc_du":49.6881485,"mpcc_dv":49.2927856,"mpcc_dw":50.7072144,"mpcc_enc_sign":1,"mpcc_id_a":1.04221416,"mpcc_iq_a":-0.923436105,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.8694496,"mpcc_pred_id_a":-0.185711041,"mpcc_pred_iq_a":-1.79090476,"mpcc_state":1,"mpcc_theta_e":0.422830582,"mpcc_theta_mech":0.551512003,"sam_rpm":-20.4568157,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172899961,"thr_a_norm":0.0246669799,"thr_a_v":0.569159985,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448812068,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.031975,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.371207237,"cg_iw_a":-0.015806675,"cg_theta_rad":0.554005742,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908.0918,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.00331383245,"mpcc_du":50.5466614,"mpcc_dv":48.3472595,"mpcc_dw":51.6527405,"mpcc_enc_sign":1,"mpcc_id_a":-0.146507144,"mpcc_iq_a":-1.26153445,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.8326759,"mpcc_pred_id_a":-0.563054621,"mpcc_pred_iq_a":-0.523092151,"mpcc_state":1,"mpcc_theta_e":0.425273418,"mpcc_theta_mech":0.552000642,"sam_rpm":-25.7962608,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172899961,"thr_a_norm":0.0172899961,"thr_a_v":0.569159985,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.448812068,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.038536,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.661157608,"cg_iw_a":-1.46555996,"cg_theta_rad":0.55239898,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0161702558,"mpcc_du":50.0363388,"mpcc_dv":48.9191551,"mpcc_dw":51.0808449,"mpcc_enc_sign":1,"mpcc_id_a":0.951678514,"mpcc_iq_a":-0.587679923,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.51611948,"mpcc_pred_id_a":-0.24385111,"mpcc_pred_iq_a":-1.82673085,"mpcc_state":1,"mpcc_theta_e":0.44437027,"mpcc_theta_mech":0.555819929,"sam_rpm":1.07298791,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237479955,"thr_a_norm":0.0237479955,"thr_a_v":0.594991982,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464824885,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.045006,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.951108456,"cg_iw_a":-0.523220539,"cg_theta_rad":0.556791961,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.00535356347,"mpcc_du":50.7476234,"mpcc_dv":48.1138992,"mpcc_dw":51.8861008,"mpcc_enc_sign":1,"mpcc_id_a":-0.906473756,"mpcc_iq_a":0.0467821918,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.6059895,"mpcc_pred_id_a":-0.55667609,"mpcc_pred_iq_a":-0.519370198,"mpcc_state":1,"mpcc_theta_e":0.42453289,"mpcc_theta_mech":0.551852524,"sam_rpm":-25.8906784,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0237479955,"thr_a_norm":0.0237479955,"thr_a_v":0.594991982,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464824885,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.051781,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-0.298719406,"cg_iw_a":-1.68302298,"cg_theta_rad":0.55786252,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0411752388,"mpcc_du":49.9960823,"mpcc_dv":48.7936325,"mpcc_dw":51.2063675,"mpcc_enc_sign":1,"mpcc_id_a":2.73971558,"mpcc_iq_a":-0.374192685,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.105353899,"mpcc_pred_id_a":0.178269863,"mpcc_pred_iq_a":2.45157552,"mpcc_state":1,"mpcc_theta_e":0.44480896,"mpcc_theta_mech":0.555907667,"sam_rpm":-20.0538845,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.105423436,"thr_a_norm":0.105423436,"thr_a_v":0.921693742,"thr_b":0.0463446975,"thr_b_norm":0.0463446975,"thr_b_v":0.68537879,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.06179,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.733645439,"cg_iw_a":-0.233269453,"cg_theta_rad":0.556287885,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.00549536198,"mpcc_du":49.5582771,"mpcc_dv":49.8547325,"mpcc_dw":50.4417229,"mpcc_enc_sign":1,"mpcc_id_a":1.29332685,"mpcc_iq_a":-1.05887473,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.494655997,"mpcc_pred_id_a":-0.112228468,"mpcc_pred_iq_a":-2.58810687,"mpcc_state":1,"mpcc_theta_e":0.431023121,"mpcc_theta_mech":0.553150535,"sam_rpm":-1.59391928,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188006312,"thr_a_norm":0.105423436,"thr_a_v":0.575202525,"thr_b":0,"thr_b_norm":0.0463446975,"thr_b_v":0.470968157,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.07177,"values":{"cg_iu_a":2.77910662,"cg_iv_a":0.0637187958,"cg_iw_a":-2.84282541,"cg_theta_rad":0.558496416,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0513272099,"mpcc_du":49.7021027,"mpcc_dv":49.2425728,"mpcc_dw":50.7574272,"mpcc_enc_sign":1,"mpcc_id_a":3.14095402,"mpcc_iq_a":-0.718117297,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.55769348,"mpcc_pred_id_a":0.186812207,"mpcc_pred_iq_a":-3.7321732,"mpcc_state":1,"mpcc_theta_e":0.448709488,"mpcc_theta_mech":0.556687772,"sam_rpm":4.39876318,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188006312,"thr_a_norm":0.0188006312,"thr_a_v":0.575202525,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470968157,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.08297,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.6759851,"cg_iw_a":0.201656103,"cg_theta_rad":0.55376631,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.00599147659,"mpcc_du":49.4989014,"mpcc_dv":50.1696777,"mpcc_dw":50.5010986,"mpcc_enc_sign":1,"mpcc_id_a":1.47451746,"mpcc_iq_a":-1.50117147,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.1512032,"mpcc_pred_id_a":0.400388956,"mpcc_pred_iq_a":-2.01585078,"mpcc_state":1,"mpcc_theta_e":0.451494694,"mpcc_theta_mech":0.557244837,"sam_rpm":18.011055,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222373605,"thr_a_norm":0.0222373605,"thr_a_v":0.588949442,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.094383,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.96593571,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556340098,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0518822446,"mpcc_du":51.1359634,"mpcc_dv":47.5630913,"mpcc_dw":52.4369087,"mpcc_enc_sign":1,"mpcc_id_a":0.6436432,"mpcc_iq_a":0.116977297,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.57563782,"mpcc_pred_id_a":-0.0151085341,"mpcc_pred_iq_a":1.07867789,"mpcc_state":1,"mpcc_theta_e":0.441374779,"mpcc_theta_mech":0.555220902,"sam_rpm":-7.70457888,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284183919,"thr_a_norm":0.0222373605,"thr_a_v":0.613673568,"thr_b":0.0021583885,"thr_b_norm":0,"thr_b_v":0.508633554,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.104393,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.60349751,"cg_iw_a":0.709070206,"cg_theta_rad":0.553024888,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.00684785983,"mpcc_du":49.2749634,"mpcc_dv":50.7250366,"mpcc_dw":50.1583977,"mpcc_enc_sign":1,"mpcc_id_a":1.19418633,"mpcc_iq_a":-3.20053935,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.7018147,"mpcc_pred_id_a":0.160877377,"mpcc_pred_iq_a":-4.88559294,"mpcc_state":1,"mpcc_theta_e":0.459242821,"mpcc_theta_mech":0.558794439,"sam_rpm":27.1413345,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284183919,"thr_a_norm":0.0284183919,"thr_a_v":0.613673568,"thr_b":0.0021583885,"thr_b_norm":0.0021583885,"thr_b_v":0.508633554,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.1278,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.443694592,"cg_iw_a":1.72389722,"cg_theta_rad":0.55379504,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.00487733772,"mpcc_du":50.5875854,"mpcc_dv":50.0676117,"mpcc_dw":50.4734154,"mpcc_enc_sign":1,"mpcc_id_a":0.420922518,"mpcc_iq_a":-0.699507117,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.00048542,"mpcc_pred_id_a":-0.133328453,"mpcc_pred_iq_a":0.129970729,"mpcc_state":1,"mpcc_theta_e":0.436013222,"mpcc_theta_mech":0.557115078,"sam_rpm":-11.9199934,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196189135,"thr_a_norm":0.0196189135,"thr_a_v":0.578475654,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452437609,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.13427,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.38603449,"cg_iw_a":3.39111376,"cg_theta_rad":0.55692631,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0168467462,"mpcc_du":49.4115295,"mpcc_dv":50.5884705,"mpcc_dw":50.2901421,"mpcc_enc_sign":1,"mpcc_id_a":2.48850727,"mpcc_iq_a":-0.399494499,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.81230783,"mpcc_pred_id_a":0.117518932,"mpcc_pred_iq_a":-3.48212671,"mpcc_state":1,"mpcc_theta_e":0.447033882,"mpcc_theta_mech":0.556352675,"sam_rpm":10.8202629,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196189135,"thr_a_norm":0.0196189135,"thr_a_v":0.578475654,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452437609,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.140831,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-2.32837415,"cg_iw_a":-0.0882942677,"cg_theta_rad":0.553243935,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0172359273,"mpcc_du":49.6524887,"mpcc_dv":49.3978195,"mpcc_dw":50.6021805,"mpcc_enc_sign":1,"mpcc_id_a":1.8591423,"mpcc_iq_a":-0.364679724,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.28358197,"mpcc_pred_id_a":-0.0946991816,"mpcc_pred_iq_a":-3.35229874,"mpcc_state":1,"mpcc_theta_e":0.441352367,"mpcc_theta_mech":0.555216372,"sam_rpm":-2.02186394,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0267692804,"thr_a_norm":0.0267692804,"thr_a_v":0.607077122,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483959705,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.147331,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.878620625,"cg_iw_a":-0.523220539,"cg_theta_rad":0.557731926,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.00136227324,"mpcc_du":51.3184814,"mpcc_dv":47.4319839,"mpcc_dw":52.5680161,"mpcc_enc_sign":1,"mpcc_id_a":0.6661551,"mpcc_iq_a":-1.39989257,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.7756805,"mpcc_pred_id_a":-0.484111339,"mpcc_pred_iq_a":2.6144948,"mpcc_state":1,"mpcc_theta_e":0.425280094,"mpcc_theta_mech":0.552001894,"sam_rpm":-24.9052773,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196692646,"thr_a_norm":0.0267692804,"thr_a_v":0.578677058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463717103,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.155602,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.733645439,"cg_iw_a":-1.75551081,"cg_theta_rad":0.553423524,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0245660748,"mpcc_du":50.2339592,"mpcc_dv":48.6891403,"mpcc_dw":51.3108597,"mpcc_enc_sign":1,"mpcc_id_a":2.12053609,"mpcc_iq_a":-1.50782955,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.30094099,"mpcc_pred_id_a":-0.115456715,"mpcc_pred_iq_a":-2.26284981,"mpcc_state":1,"mpcc_theta_e":0.441833496,"mpcc_theta_mech":0.555312574,"sam_rpm":-3.47012711,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196692646,"thr_a_norm":0.0196692646,"thr_a_v":0.578677058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463717103,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.165794,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.02359605,"cg_iw_a":-1.53804755,"cg_theta_rad":0.555714786,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0188095458,"mpcc_du":50.1926537,"mpcc_dv":48.5279236,"mpcc_dw":51.4720764,"mpcc_enc_sign":1,"mpcc_id_a":2.08811975,"mpcc_iq_a":-1.579041,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.18448544,"mpcc_pred_id_a":0.402132303,"mpcc_pred_iq_a":-2.34690094,"mpcc_state":1,"mpcc_theta_e":0.43969965,"mpcc_theta_mech":0.554885805,"sam_rpm":-10.1163111,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165598541,"thr_a_norm":0.0165598541,"thr_a_v":0.566239417,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473737687,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.178001,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.588670254,"cg_iw_a":-2.40789938,"cg_theta_rad":0.555167735,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.011172547,"mpcc_du":49.9963684,"mpcc_dv":48.8255119,"mpcc_dw":51.1744881,"mpcc_enc_sign":1,"mpcc_id_a":-0.226575717,"mpcc_iq_a":-0.904247999,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.8824425,"mpcc_pred_id_a":-0.582602501,"mpcc_pred_iq_a":-0.700452864,"mpcc_state":1,"mpcc_theta_e":0.428413391,"mpcc_theta_mech":0.552628577,"sam_rpm":-23.2139282,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252334625,"thr_a_norm":0.0165598541,"thr_a_v":0.60093385,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499468982,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.187584,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.38603449,"cg_iw_a":0.491607189,"cg_theta_rad":0.556832373,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0108832829,"mpcc_du":48.7896271,"mpcc_dv":48.479702,"mpcc_dw":51.520298,"mpcc_enc_sign":1,"mpcc_id_a":1.89805877,"mpcc_iq_a":-0.267443359,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.40308,"mpcc_pred_id_a":0.249839112,"mpcc_pred_iq_a":-4.21253395,"mpcc_state":1,"mpcc_theta_e":0.429986477,"mpcc_theta_mech":0.55294323,"sam_rpm":24.7097702,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252334625,"thr_a_norm":0.0252334625,"thr_a_v":0.60093385,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499468982,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.198112,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.16857147,"cg_iw_a":-1.68302298,"cg_theta_rad":0.557214916,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.00656180317,"mpcc_du":49.2658424,"mpcc_dv":50.7341576,"mpcc_dw":50.5425758,"mpcc_enc_sign":1,"mpcc_id_a":-0.492218077,"mpcc_iq_a":-1.93921828,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.23611784,"mpcc_pred_id_a":-0.999667883,"mpcc_pred_iq_a":-4.4030242,"mpcc_state":1,"mpcc_theta_e":0.443238735,"mpcc_theta_mech":0.552049994,"sam_rpm":7.36043978,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020613417,"thr_a_norm":0.020613417,"thr_a_v":0.582453668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468148291,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.208153,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.878620625,"cg_iw_a":-1.17560959,"cg_theta_rad":0.555700481,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0152140688,"mpcc_du":49.9073372,"mpcc_dv":49.1949844,"mpcc_dw":50.8050156,"mpcc_enc_sign":1,"mpcc_id_a":2.40892768,"mpcc_iq_a":-1.06930757,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.8061304,"mpcc_pred_id_a":0.197854832,"mpcc_pred_iq_a":-2.71882844,"mpcc_state":1,"mpcc_theta_e":0.451070309,"mpcc_theta_mech":0.554379642,"sam_rpm":4.89145184,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020613417,"thr_a_norm":0.020613417,"thr_a_v":0.582453668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468148291,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.231407,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.733645439,"cg_iw_a":-1.24809694,"cg_theta_rad":0.553303003,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.000894211873,"mpcc_du":51.093914,"mpcc_dv":47.6834602,"mpcc_dw":52.3165398,"mpcc_enc_sign":1,"mpcc_id_a":0.51835078,"mpcc_iq_a":-1.19646025,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.0742207,"mpcc_pred_id_a":-0.345514804,"mpcc_pred_iq_a":1.54062748,"mpcc_state":1,"mpcc_theta_e":0.426544189,"mpcc_theta_mech":0.552254736,"sam_rpm":-25.8027992,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.1022259,"thr_a_norm":0.1022259,"thr_a_v":0.908903599,"thr_b":0.043713659,"thr_b_norm":0.043713659,"thr_b_v":0.674854636,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.237907,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.951108456,"cg_iw_a":0.564094543,"cg_theta_rad":0.557463288,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0237660278,"mpcc_du":49.9364662,"mpcc_dv":49.0133934,"mpcc_dw":50.9866066,"mpcc_enc_sign":1,"mpcc_id_a":3.04772401,"mpcc_iq_a":-0.574084342,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.0410862,"mpcc_pred_id_a":0.477452576,"mpcc_pred_iq_a":-3.8730104,"mpcc_state":1,"mpcc_theta_e":0.446830273,"mpcc_theta_mech":0.556311965,"sam_rpm":3.76660919,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283176899,"thr_a_norm":0.1022259,"thr_a_v":0.61327076,"thr_b":0.000282675028,"thr_b_norm":0.043713659,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.244438,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.60349751,"cg_iw_a":1.36145926,"cg_theta_rad":0.555656433,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.00136932661,"mpcc_du":50.2979546,"mpcc_dv":48.7114258,"mpcc_dw":51.2885742,"mpcc_enc_sign":1,"mpcc_id_a":0.472506046,"mpcc_iq_a":-1.42557895,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.18553305,"mpcc_pred_id_a":-0.212390766,"mpcc_pred_iq_a":-0.387948215,"mpcc_state":1,"mpcc_theta_e":0.444319248,"mpcc_theta_mech":0.555809796,"sam_rpm":-3.23091865,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0283176899,"thr_a_norm":0.0283176899,"thr_a_v":0.61327076,"thr_b":0.000282675028,"thr_b_norm":0.000282675028,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.251579,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.951108456,"cg_iw_a":-1.46555996,"cg_theta_rad":0.552426696,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.000670522917,"mpcc_du":49.9709816,"mpcc_dv":49.1745872,"mpcc_dw":50.8254128,"mpcc_enc_sign":1,"mpcc_id_a":0.304014653,"mpcc_iq_a":-1.29203451,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.3045907,"mpcc_pred_id_a":-0.437785357,"mpcc_pred_iq_a":-2.44773483,"mpcc_state":1,"mpcc_theta_e":0.4366889,"mpcc_theta_mech":0.554283738,"sam_rpm":-6.56027365,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220233351,"thr_a_norm":0.0220233351,"thr_a_v":0.58809334,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488592356,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.261192,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-2.0384233,"cg_iw_a":-0.523220301,"cg_theta_rad":0.556646347,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0312236603,"mpcc_du":50.0796471,"mpcc_dv":48.9703217,"mpcc_dw":51.0296783,"mpcc_enc_sign":1,"mpcc_id_a":0.510290444,"mpcc_iq_a":-0.333673865,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.80958033,"mpcc_pred_id_a":-0.212678418,"mpcc_pred_iq_a":-2.20484066,"mpcc_state":1,"mpcc_theta_e":0.448112011,"mpcc_theta_mech":0.556568325,"sam_rpm":4.76184225,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220233351,"thr_a_norm":0.0220233351,"thr_a_v":0.58809334,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488592356,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.271385,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.45852208,"cg_iw_a":-0.885658503,"cg_theta_rad":0.553102911,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.00629866542,"mpcc_du":50.8585777,"mpcc_dv":47.9313545,"mpcc_dw":52.0686455,"mpcc_enc_sign":1,"mpcc_id_a":0.763999939,"mpcc_iq_a":-0.971699893,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.02320194,"mpcc_pred_id_a":-0.130959108,"mpcc_pred_iq_a":0.913919151,"mpcc_state":1,"mpcc_theta_e":0.452388287,"mpcc_theta_mech":0.557423532,"sam_rpm":-12.3448639,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208903551,"thr_a_norm":0.0208903551,"thr_a_v":0.58356142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456113547,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.281761,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.661157608,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556677043,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0069098752,"mpcc_du":49.3675003,"mpcc_dv":50.6324997,"mpcc_dw":50.2446976,"mpcc_enc_sign":1,"mpcc_id_a":1.44251442,"mpcc_iq_a":0.104129612,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.3490229,"mpcc_pred_id_a":0.110678673,"mpcc_pred_iq_a":-2.26746678,"mpcc_state":1,"mpcc_theta_e":0.445474625,"mpcc_theta_mech":0.556040823,"sam_rpm":16.7476482,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021796748,"thr_a_norm":0.0208903551,"thr_a_v":0.587186992,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.293602,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.24105906,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556568861,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0245463923,"mpcc_du":49.5610199,"mpcc_dv":50.3778076,"mpcc_dw":50.4389801,"mpcc_enc_sign":1,"mpcc_id_a":1.27645743,"mpcc_iq_a":0.0784827843,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.6868315,"mpcc_pred_id_a":-0.148242682,"mpcc_pred_iq_a":-3.10004878,"mpcc_state":1,"mpcc_theta_e":0.455334663,"mpcc_theta_mech":0.554992318,"sam_rpm":20.1510868,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021796748,"thr_a_norm":0.021796748,"thr_a_v":0.587186992,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480183095,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.303581,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.806133032,"cg_iw_a":-3.42272663,"cg_theta_rad":0.556006193,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.037351869,"mpcc_du":49.4455109,"mpcc_dv":50.3704033,"mpcc_dw":50.5544891,"mpcc_enc_sign":1,"mpcc_id_a":3.7148726,"mpcc_iq_a":0.53947407,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.74021673,"mpcc_pred_id_a":0.567158639,"mpcc_pred_iq_a":-0.586067915,"mpcc_state":1,"mpcc_theta_e":0.435010433,"mpcc_theta_mech":0.553948045,"sam_rpm":5.31936026,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0177054256,"thr_a_norm":0.0177054256,"thr_a_v":0.570821702,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446344733,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.313744,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.015806675,"cg_theta_rad":0.553889334,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0617423989,"mpcc_du":49.9734802,"mpcc_dv":48.6432495,"mpcc_dw":51.3567505,"mpcc_enc_sign":1,"mpcc_id_a":4.09824038,"mpcc_iq_a":-1.73773444,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.751059413,"mpcc_pred_id_a":0.728053272,"mpcc_pred_iq_a":-2.54190326,"mpcc_state":1,"mpcc_theta_e":0.448979378,"mpcc_theta_mech":0.556741834,"sam_rpm":1.62317479,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0131735057,"thr_a_norm":0.0177054256,"thr_a_v":0.552694023,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441812754,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.336784,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.45852208,"cg_iw_a":-1.68302321,"cg_theta_rad":0.559831738,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.00892553199,"mpcc_du":51.0610466,"mpcc_dv":51.1630211,"mpcc_dw":49.5305977,"mpcc_enc_sign":1,"mpcc_id_a":1.87524354,"mpcc_iq_a":-1.87606335,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.0140905,"mpcc_pred_id_a":0.00491345301,"mpcc_pred_iq_a":1.5948385,"mpcc_state":1,"mpcc_theta_e":0.432769299,"mpcc_theta_mech":0.553499818,"sam_rpm":-19.0283165,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0131735057,"thr_a_norm":0.0131735057,"thr_a_v":0.552694023,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.441812754,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.343376,"values":{"cg_iu_a":-0.120399952,"cg_iv_a":-0.588670254,"cg_iw_a":-2.62536287,"cg_theta_rad":0.557195127,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.00121549168,"mpcc_du":50.7807655,"mpcc_dv":47.9163437,"mpcc_dw":52.0836563,"mpcc_enc_sign":1,"mpcc_id_a":0.540010154,"mpcc_iq_a":-0.975368977,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.0307655,"mpcc_pred_id_a":-0.178690612,"mpcc_pred_iq_a":-0.287462115,"mpcc_state":1,"mpcc_theta_e":0.425438881,"mpcc_theta_mech":0.552033663,"sam_rpm":-26.8612309,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156534761,"thr_a_norm":0.0156534761,"thr_a_v":0.562613904,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457422733,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.349815,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.89344811,"cg_iw_a":-0.378245115,"cg_theta_rad":0.5547328,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.00847835932,"mpcc_du":50.1351738,"mpcc_dv":48.6863289,"mpcc_dw":51.3136711,"mpcc_enc_sign":1,"mpcc_id_a":0.705166519,"mpcc_iq_a":-1.26463461,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.23076868,"mpcc_pred_id_a":0.115522154,"mpcc_pred_iq_a":0.579916894,"mpcc_state":1,"mpcc_theta_e":0.449207783,"mpcc_theta_mech":0.556787431,"sam_rpm":10.9756403,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156534761,"thr_a_norm":0.0156534761,"thr_a_v":0.562613904,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457422733,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.356377,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.19043684,"cg_theta_rad":0.553215027,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0138177201,"mpcc_du":49.4898338,"mpcc_dv":49.966568,"mpcc_dw":50.5101662,"mpcc_enc_sign":1,"mpcc_id_a":2.20492387,"mpcc_iq_a":-0.480757236,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.27334523,"mpcc_pred_id_a":0.0294317696,"mpcc_pred_iq_a":-4.16478682,"mpcc_state":1,"mpcc_theta_e":0.440943241,"mpcc_theta_mech":0.555134594,"sam_rpm":21.8896694,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217212141,"thr_a_norm":0.0217212141,"thr_a_v":0.586884856,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472831309,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.364555,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.806133032,"cg_iw_a":-0.813171148,"cg_theta_rad":0.556208968,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.01664868,"mpcc_du":50.5245552,"mpcc_dv":48.0590439,"mpcc_dw":51.3439026,"mpcc_enc_sign":1,"mpcc_id_a":0.977257311,"mpcc_iq_a":-0.873788416,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.13621664,"mpcc_pred_id_a":0.340319037,"mpcc_pred_iq_a":0.704667509,"mpcc_state":1,"mpcc_theta_e":0.441365242,"mpcc_theta_mech":0.555218995,"sam_rpm":-2.46215439,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022602424,"thr_a_norm":0.0217212141,"thr_a_v":0.590409696,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485621423,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.374596,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.885658741,"cg_theta_rad":0.555634022,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0309885349,"mpcc_du":49.5470238,"mpcc_dv":49.3773918,"mpcc_dw":50.6226082,"mpcc_enc_sign":1,"mpcc_id_a":2.41127872,"mpcc_iq_a":-1.72746682,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.0315094,"mpcc_pred_id_a":0.129449025,"mpcc_pred_iq_a":-3.79270053,"mpcc_state":1,"mpcc_theta_e":0.452915668,"mpcc_theta_mech":0.557529032,"sam_rpm":10.7481165,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022602424,"thr_a_norm":0.022602424,"thr_a_v":0.590409696,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485621423,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.384941,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.31354666,"cg_iw_a":-0.378244877,"cg_theta_rad":0.556702018,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.00726470491,"mpcc_du":49.8075867,"mpcc_dv":49.4370804,"mpcc_dw":50.5629196,"mpcc_enc_sign":1,"mpcc_id_a":-1.264467,"mpcc_iq_a":-2.35965252,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.362770438,"mpcc_pred_id_a":-0.852221429,"mpcc_pred_iq_a":-4.71804571,"mpcc_state":1,"mpcc_theta_e":0.446940899,"mpcc_theta_mech":0.555665553,"sam_rpm":-0.801894605,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208903551,"thr_a_norm":0.0208903551,"thr_a_v":0.58356142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.394768,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-1.38603449,"cg_iw_a":-1.39307261,"cg_theta_rad":0.558039963,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.00108471897,"mpcc_du":49.204155,"mpcc_dv":50.795845,"mpcc_dw":50.0229721,"mpcc_enc_sign":1,"mpcc_id_a":0.380370378,"mpcc_iq_a":-0.777943134,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.12338352,"mpcc_pred_id_a":-0.175430253,"mpcc_pred_iq_a":-3.75564814,"mpcc_state":1,"mpcc_theta_e":0.44271183,"mpcc_theta_mech":0.555488288,"sam_rpm":9.73278713,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208903551,"thr_a_norm":0.0208903551,"thr_a_v":0.58356142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.404778,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.38603449,"cg_iw_a":-1.46555996,"cg_theta_rad":0.554900885,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.00602470618,"mpcc_du":49.5528107,"mpcc_dv":50.1218758,"mpcc_dw":50.4471893,"mpcc_enc_sign":1,"mpcc_id_a":1.45405889,"mpcc_iq_a":-0.031021459,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.83449149,"mpcc_pred_id_a":-0.213247716,"mpcc_pred_iq_a":-2.3595202,"mpcc_state":1,"mpcc_theta_e":0.439021587,"mpcc_theta_mech":0.554750204,"sam_rpm":5.45856333,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0398992896,"thr_a_norm":0.0398992896,"thr_a_v":0.659597158,"thr_b":0.00925841928,"thr_b_norm":0.00925841928,"thr_b_v":0.537033677,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.415184,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.661157608,"cg_iw_a":-0.523220539,"cg_theta_rad":0.554949284,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0579172149,"mpcc_du":49.4840965,"mpcc_dv":49.581089,"mpcc_dw":50.5159035,"mpcc_enc_sign":1,"mpcc_id_a":2.47210097,"mpcc_iq_a":-0.944709718,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.5140352,"mpcc_pred_id_a":0.172383353,"mpcc_pred_iq_a":-3.20878839,"mpcc_state":1,"mpcc_theta_e":0.461591721,"mpcc_theta_mech":0.559264243,"sam_rpm":23.7902813,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280785114,"thr_a_norm":0.0398992896,"thr_a_v":0.612314045,"thr_b":0,"thr_b_norm":0.00925841928,"thr_b_v":0.487031341,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.438194,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.153744221,"cg_iw_a":-2.98780107,"cg_theta_rad":0.555998802,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0346023254,"mpcc_du":50.2774544,"mpcc_dv":48.5545616,"mpcc_dw":51.4454384,"mpcc_enc_sign":1,"mpcc_id_a":2.2728734,"mpcc_iq_a":-0.335045606,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.47796321,"mpcc_pred_id_a":0.0519901253,"mpcc_pred_iq_a":-1.45138812,"mpcc_state":1,"mpcc_theta_e":0.451196194,"mpcc_theta_mech":0.557185113,"sam_rpm":-4.14731884,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280785114,"thr_a_norm":0.0280785114,"thr_a_v":0.612314045,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487031341,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.444725,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.588670254,"cg_iw_a":-2.26292419,"cg_theta_rad":0.55637151,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.00431156391,"mpcc_du":48.8866653,"mpcc_dv":51.1133347,"mpcc_dw":49.4156761,"mpcc_enc_sign":1,"mpcc_id_a":0.413504809,"mpcc_iq_a":-1.36019564,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.7472191,"mpcc_pred_id_a":-0.732673347,"mpcc_pred_iq_a":-6.5784049,"mpcc_state":1,"mpcc_theta_e":0.452815056,"mpcc_theta_mech":0.557508945,"sam_rpm":18.5556412,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186118037,"thr_a_norm":0.0186118037,"thr_a_v":0.574447215,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451178759,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.451256,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-0.661157608,"cg_iw_a":-2.6978507,"cg_theta_rad":0.556090415,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0243430212,"mpcc_du":49.9017105,"mpcc_dv":49.0982475,"mpcc_dw":50.9017525,"mpcc_enc_sign":1,"mpcc_id_a":-1.19175529,"mpcc_iq_a":-1.18505096,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.08626127,"mpcc_pred_id_a":-0.112480812,"mpcc_pred_iq_a":-1.64795434,"mpcc_state":1,"mpcc_theta_e":0.451469421,"mpcc_theta_mech":0.55723983,"sam_rpm":11.5820408,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186118037,"thr_a_norm":0.0186118037,"thr_a_v":0.574447215,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451178759,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.457756,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-1.82096052,"cg_iw_a":-1.75551081,"cg_theta_rad":0.557682574,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0176261198,"mpcc_du":48.8583946,"mpcc_dv":51.1416054,"mpcc_dw":49.4940376,"mpcc_enc_sign":1,"mpcc_id_a":1.02093852,"mpcc_iq_a":-0.442823708,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.6509943,"mpcc_pred_id_a":-0.375682861,"mpcc_pred_iq_a":-7.78175449,"mpcc_state":1,"mpcc_theta_e":0.450521946,"mpcc_theta_mech":0.557050288,"sam_rpm":12.7591228,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204749405,"thr_a_norm":0.0204749405,"thr_a_v":0.581899762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455559611,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.468163,"values":{"cg_iu_a":1.61930418,"cg_iv_a":0.57113266,"cg_iw_a":-1.75551081,"cg_theta_rad":0.552449226,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0342824906,"mpcc_du":50.1043739,"mpcc_dv":48.8840752,"mpcc_dw":51.1159248,"mpcc_enc_sign":1,"mpcc_id_a":2.64146233,"mpcc_iq_a":-0.751101077,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.18290305,"mpcc_pred_id_a":-0.182339162,"mpcc_pred_iq_a":-2.8846693,"mpcc_state":1,"mpcc_theta_e":0.44697094,"mpcc_theta_mech":0.556340098,"sam_rpm":-3.66712213,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259887725,"thr_a_norm":0.0204749405,"thr_a_v":0.60395509,"thr_b":0.00229686499,"thr_b_norm":0,"thr_b_v":0.50918746,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.477776,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.878620625,"cg_iw_a":-1.75551081,"cg_theta_rad":0.556313157,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.00946070813,"mpcc_du":50.4226456,"mpcc_dv":48.3313103,"mpcc_dw":51.6686897,"mpcc_enc_sign":1,"mpcc_id_a":1.02788448,"mpcc_iq_a":-0.426452547,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.7023859,"mpcc_pred_id_a":0.146340966,"mpcc_pred_iq_a":-0.974206209,"mpcc_state":1,"mpcc_theta_e":0.434541225,"mpcc_theta_mech":0.553854167,"sam_rpm":-14.7736864,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259887725,"thr_a_norm":0.0259887725,"thr_a_v":0.60395509,"thr_b":0.00229686499,"thr_b_norm":0.00229686499,"thr_b_v":0.50918746,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.488152,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.371207237,"cg_iw_a":-2.11794901,"cg_theta_rad":0.557035267,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0229804981,"mpcc_du":50.4965363,"mpcc_dv":48.6117401,"mpcc_dw":51.3882599,"mpcc_enc_sign":1,"mpcc_id_a":-0.422513306,"mpcc_iq_a":-1.27784419,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.97300863,"mpcc_pred_id_a":-0.716479778,"mpcc_pred_iq_a":-2.78514886,"mpcc_state":1,"mpcc_theta_e":0.445642471,"mpcc_theta_mech":0.556074381,"sam_rpm":-5.49039268,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228667855,"thr_a_norm":0.0228667855,"thr_a_v":0.591467142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482549787,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.498192,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.24105906,"cg_iw_a":-1.39307237,"cg_theta_rad":0.553275764,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.011140313,"mpcc_du":49.5920334,"mpcc_dv":50.2544975,"mpcc_dw":50.4079666,"mpcc_enc_sign":1,"mpcc_id_a":0.327333599,"mpcc_iq_a":-0.560973465,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.375614196,"mpcc_pred_id_a":-0.240606025,"mpcc_pred_iq_a":-1.52306378,"mpcc_state":1,"mpcc_theta_e":0.431610107,"mpcc_theta_mech":0.553267956,"sam_rpm":-1.51655662,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228667855,"thr_a_norm":0.0228667855,"thr_a_v":0.591467142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482549787,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.508385,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.24105906,"cg_iw_a":-1.61053514,"cg_theta_rad":0.558249474,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0180780012,"mpcc_du":49.7891884,"mpcc_dv":49.2498016,"mpcc_dw":50.7501984,"mpcc_enc_sign":1,"mpcc_id_a":1.30163503,"mpcc_iq_a":-0.174374461,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.94309783,"mpcc_pred_id_a":-0.226200938,"mpcc_pred_iq_a":1.13805342,"mpcc_state":1,"mpcc_theta_e":0.4272995,"mpcc_theta_mech":0.552405775,"sam_rpm":-7.02782011,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269455314,"thr_a_norm":0.0269455314,"thr_a_v":0.607782125,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493527114,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.532768,"values":{"cg_iu_a":-0.482838154,"cg_iv_a":0.788595676,"cg_iw_a":-0.305757523,"cg_theta_rad":0.556374252,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.00703768525,"mpcc_du":48.5848236,"mpcc_dv":51.4151764,"mpcc_dw":49.3338852,"mpcc_enc_sign":1,"mpcc_id_a":1.33094776,"mpcc_iq_a":-0.458843082,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.642725,"mpcc_pred_id_a":0.0618635342,"mpcc_pred_iq_a":5.52428293,"mpcc_state":1,"mpcc_theta_e":0.424188137,"mpcc_theta_mech":0.551783562,"sam_rpm":5.18034267,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0164213777,"thr_a_norm":0.0269455314,"thr_a_v":0.565685511,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465983063,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.539268,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.878620625,"cg_iw_a":-1.53804779,"cg_theta_rad":0.554228544,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.00491565093,"mpcc_du":50.0587921,"mpcc_dv":49.0529861,"mpcc_dw":50.9470139,"mpcc_enc_sign":1,"mpcc_id_a":-0.0880444124,"mpcc_iq_a":-1.2518183,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.04369402,"mpcc_pred_id_a":-0.50330013,"mpcc_pred_iq_a":-1.48545718,"mpcc_state":1,"mpcc_theta_e":0.445099354,"mpcc_theta_mech":0.555965781,"sam_rpm":3.42979479,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0164213777,"thr_a_norm":0.0164213777,"thr_a_v":0.565685511,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465983063,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.54583,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.226231575,"cg_iw_a":-0.305757523,"cg_theta_rad":0.552614152,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.00337851816,"mpcc_du":49.0598755,"mpcc_dv":50.9401245,"mpcc_dw":49.4760933,"mpcc_enc_sign":1,"mpcc_id_a":-1.06414402,"mpcc_iq_a":-2.40982604,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.3391228,"mpcc_pred_id_a":-0.994947314,"mpcc_pred_iq_a":-4.89841413,"mpcc_state":1,"mpcc_theta_e":0.435415268,"mpcc_theta_mech":0.554028928,"sam_rpm":20.5551682,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022728309,"thr_a_norm":0.022728309,"thr_a_v":0.590913236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487585247,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.55233,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.60349751,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556930721,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0284508485,"mpcc_du":49.7011223,"mpcc_dv":49.3595963,"mpcc_dw":50.6404037,"mpcc_enc_sign":1,"mpcc_id_a":2.83374381,"mpcc_iq_a":-1.35669827,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.141778,"mpcc_pred_id_a":0.554400265,"mpcc_pred_iq_a":-3.03554678,"mpcc_state":1,"mpcc_theta_e":0.434488297,"mpcc_theta_mech":0.557329297,"sam_rpm":2.43412614,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0133371502,"thr_a_norm":0.022728309,"thr_a_v":0.553348601,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454905003,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.561668,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.733645439,"cg_iw_a":-2.11794901,"cg_theta_rad":0.557652533,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.01805209,"mpcc_du":49.5306664,"mpcc_dv":49.3812332,"mpcc_dw":50.6187668,"mpcc_enc_sign":1,"mpcc_id_a":2.51437688,"mpcc_iq_a":-0.168252945,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.32837105,"mpcc_pred_id_a":0.359697908,"mpcc_pred_iq_a":-0.66473031,"mpcc_state":1,"mpcc_theta_e":0.445487499,"mpcc_theta_mech":0.556043386,"sam_rpm":8.05115986,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0133371502,"thr_a_norm":0.0133371502,"thr_a_v":0.553348601,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454905003,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.571953,"values":{"cg_iu_a":3.93890953,"cg_iv_a":-1.60349751,"cg_iw_a":0.636582375,"cg_theta_rad":0.553190649,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0326058343,"mpcc_du":50.1600609,"mpcc_dv":48.6315689,"mpcc_dw":51.3684311,"mpcc_enc_sign":1,"mpcc_id_a":2.96544099,"mpcc_iq_a":-1.07874334,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.04119444,"mpcc_pred_id_a":0.334663898,"mpcc_pred_iq_a":-2.50588441,"mpcc_state":1,"mpcc_theta_e":0.443155766,"mpcc_theta_mech":0.55557704,"sam_rpm":-9.3026247,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0246292055,"thr_a_norm":0.0246292055,"thr_a_v":0.598516822,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491009355,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.583427,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.951108456,"cg_iw_a":-1.46555996,"cg_theta_rad":0.55391109,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0719806179,"mpcc_du":50.5093956,"mpcc_dv":47.9096336,"mpcc_dw":52.0903664,"mpcc_enc_sign":1,"mpcc_id_a":2.75286841,"mpcc_iq_a":-0.0179015081,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.27611399,"mpcc_pred_id_a":0.54737097,"mpcc_pred_iq_a":-0.299147159,"mpcc_state":1,"mpcc_theta_e":0.4478302,"mpcc_theta_mech":0.556511939,"sam_rpm":-1.00560081,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026227966,"thr_a_norm":0.0246292055,"thr_a_v":0.604911864,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49609521,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.59417,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.16857147,"cg_iw_a":-1.10312176,"cg_theta_rad":0.556876183,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0205149855,"mpcc_du":49.8648491,"mpcc_dv":49.0207558,"mpcc_dw":50.9792442,"mpcc_enc_sign":1,"mpcc_id_a":2.46981382,"mpcc_iq_a":-1.27663445,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.84562802,"mpcc_pred_id_a":0.177991644,"mpcc_pred_iq_a":-2.3572197,"mpcc_state":1,"mpcc_theta_e":0.448423862,"mpcc_theta_mech":0.556630731,"sam_rpm":-0.174601883,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026227966,"thr_a_norm":0.026227966,"thr_a_v":0.604911864,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49609521,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.604332,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.02359605,"cg_iw_a":-0.23326993,"cg_theta_rad":0.555283546,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0417352654,"mpcc_du":49.6346092,"mpcc_dv":49.2083435,"mpcc_dw":50.7916565,"mpcc_enc_sign":1,"mpcc_id_a":3.46785188,"mpcc_iq_a":-0.028334761,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.00503278,"mpcc_pred_id_a":0.379710197,"mpcc_pred_iq_a":-2.28396416,"mpcc_state":1,"mpcc_theta_e":0.445525646,"mpcc_theta_mech":0.556051075,"sam_rpm":2.02579808,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453293681,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.614342,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-2.18339872,"cg_iw_a":-2.19043684,"cg_theta_rad":0.55774796,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0324058719,"mpcc_du":49.8313484,"mpcc_dv":49.282299,"mpcc_dw":50.717701,"mpcc_enc_sign":1,"mpcc_id_a":0.43661508,"mpcc_iq_a":-1.14156771,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.0790129,"mpcc_pred_id_a":-0.281553268,"mpcc_pred_iq_a":-2.74653864,"mpcc_state":1,"mpcc_theta_e":0.455668449,"mpcc_theta_mech":0.5580796,"sam_rpm":16.2320919,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453293681,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.637993,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.24809694,"cg_theta_rad":0.553610027,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0168418493,"mpcc_du":50.4006004,"mpcc_dv":48.7013664,"mpcc_dw":50.5335007,"mpcc_enc_sign":1,"mpcc_id_a":-0.0388585627,"mpcc_iq_a":-0.811660707,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.789910972,"mpcc_pred_id_a":-0.662000835,"mpcc_pred_iq_a":-1.49840355,"mpcc_state":1,"mpcc_theta_e":0.445286274,"mpcc_theta_mech":0.556003213,"sam_rpm":-0.617540598,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228667855,"thr_a_norm":0.0228667855,"thr_a_v":0.591467142,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486074626,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.644463,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.371207237,"cg_iw_a":-4.51004219,"cg_theta_rad":0.557945848,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0389046147,"mpcc_du":49.8491783,"mpcc_dv":49.1478386,"mpcc_dw":50.8521614,"mpcc_enc_sign":1,"mpcc_id_a":0.632496059,"mpcc_iq_a":-1.0598408,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.4677696,"mpcc_pred_id_a":-0.0404381678,"mpcc_pred_iq_a":-0.706923544,"mpcc_state":1,"mpcc_theta_e":0.463205814,"mpcc_theta_mech":0.559587061,"sam_rpm":28.5067463,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02567406,"thr_a_norm":0.0228667855,"thr_a_v":0.60269624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482146949,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.651024,"values":{"cg_iu_a":2.99656963,"cg_iv_a":0.426157475,"cg_iw_a":0.201656103,"cg_theta_rad":0.556482553,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.012096433,"mpcc_du":50.038269,"mpcc_dv":48.8121414,"mpcc_dw":51.1878586,"mpcc_enc_sign":1,"mpcc_id_a":2.17608261,"mpcc_iq_a":-1.05184531,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.32163858,"mpcc_pred_id_a":0.124476291,"mpcc_pred_iq_a":-1.64370143,"mpcc_state":1,"mpcc_theta_e":0.434617519,"mpcc_theta_mech":0.553869426,"sam_rpm":-11.4080162,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02567406,"thr_a_norm":0.02567406,"thr_a_v":0.60269624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482146949,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.657768,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.443694592,"cg_iw_a":-2.33541203,"cg_theta_rad":0.554104805,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0370225236,"mpcc_du":49.4678879,"mpcc_dv":49.7804527,"mpcc_dw":50.5321121,"mpcc_enc_sign":1,"mpcc_id_a":2.77219486,"mpcc_iq_a":-0.329852492,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.5031137,"mpcc_pred_id_a":0.447922826,"mpcc_pred_iq_a":-1.55877423,"mpcc_state":1,"mpcc_theta_e":0.444168568,"mpcc_theta_mech":0.555779636,"sam_rpm":22.9118156,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0490260869,"thr_a_norm":0.0490260869,"thr_a_v":0.696104348,"thr_b":0.00961089134,"thr_b_norm":0.00961089134,"thr_b_v":0.538443565,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.669975,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.09608364,"cg_iw_a":-1.46555996,"cg_theta_rad":0.557693303,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0134493401,"mpcc_du":49.590786,"mpcc_dv":49.441288,"mpcc_dw":50.558712,"mpcc_enc_sign":1,"mpcc_id_a":1.94151664,"mpcc_iq_a":0.164462984,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.00708276452,"mpcc_pred_id_a":0.0116020497,"mpcc_pred_iq_a":0.383900315,"mpcc_state":1,"mpcc_theta_e":0.43459177,"mpcc_theta_mech":0.553864241,"sam_rpm":-0.978504002,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221366435,"thr_a_norm":0.0490260869,"thr_a_v":0.588546574,"thr_b":0,"thr_b_norm":0.00961089134,"thr_b_v":0.467846185,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.680748,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.96593571,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556663334,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0378610231,"mpcc_du":49.9294243,"mpcc_dv":48.9456749,"mpcc_dw":51.0543251,"mpcc_enc_sign":1,"mpcc_id_a":2.21559238,"mpcc_iq_a":-1.30202603,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.62231398,"mpcc_pred_id_a":0.275817603,"mpcc_pred_iq_a":-2.64945149,"mpcc_state":1,"mpcc_theta_e":0.451369762,"mpcc_theta_mech":0.557219863,"sam_rpm":7.19970512,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0221366435,"thr_a_norm":0.0221366435,"thr_a_v":0.588546574,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467846185,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.692101,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.733645439,"cg_iw_a":-2.33541203,"cg_theta_rad":0.557413578,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0792292729,"mpcc_du":49.8304176,"mpcc_dv":49.220047,"mpcc_dw":50.779953,"mpcc_enc_sign":1,"mpcc_id_a":0.420860112,"mpcc_iq_a":-2.29795051,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.33728027,"mpcc_pred_id_a":-0.320650727,"mpcc_pred_iq_a":1.55102694,"mpcc_state":1,"mpcc_theta_e":0.424188137,"mpcc_theta_mech":0.551783562,"sam_rpm":-12.8781462,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245033205,"thr_a_norm":0.0245033205,"thr_a_v":0.598013282,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473586619,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.702293,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.153744221,"cg_iw_a":-1.10312176,"cg_theta_rad":0.556847394,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0177014098,"mpcc_du":49.9363136,"mpcc_dv":48.9705925,"mpcc_dw":51.0294075,"mpcc_enc_sign":1,"mpcc_id_a":2.28177238,"mpcc_iq_a":1.06652248,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.10570097,"mpcc_pred_id_a":0.0444680862,"mpcc_pred_iq_a":1.03333747,"mpcc_state":1,"mpcc_theta_e":0.435271263,"mpcc_theta_mech":0.554000139,"sam_rpm":1.55542922,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0947356224,"thr_a_norm":0.0245033205,"thr_a_v":0.87894249,"thr_b":0.0373186022,"thr_b_norm":0,"thr_b_v":0.649274409,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.712334,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.443694592,"cg_iw_a":-0.668195724,"cg_theta_rad":0.553165913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0204957835,"mpcc_du":49.5025063,"mpcc_dv":49.3328362,"mpcc_dw":50.6671638,"mpcc_enc_sign":1,"mpcc_id_a":2.62113285,"mpcc_iq_a":0.0652869418,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.287477553,"mpcc_pred_id_a":0.121996097,"mpcc_pred_iq_a":-3.31792521,"mpcc_state":1,"mpcc_theta_e":0.431804657,"mpcc_theta_mech":0.553306878,"sam_rpm":-1.44704533,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0947356224,"thr_a_norm":0.0947356224,"thr_a_v":0.87894249,"thr_b":0.0373186022,"thr_b_norm":0.0373186022,"thr_b_v":0.649274409,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.722343,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.16857147,"cg_iw_a":-0.523220062,"cg_theta_rad":0.557940423,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0254660808,"mpcc_du":49.4109459,"mpcc_dv":49.6682014,"mpcc_dw":50.5890541,"mpcc_enc_sign":1,"mpcc_id_a":2.80739093,"mpcc_iq_a":-0.543901563,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.78373098,"mpcc_pred_id_a":0.601891458,"mpcc_pred_iq_a":-1.77617526,"mpcc_state":1,"mpcc_theta_e":0.429188251,"mpcc_theta_mech":0.552783608,"sam_rpm":-8.37303257,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178942531,"thr_a_norm":0.0178942531,"thr_a_v":0.571577013,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457573801,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.745354,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-2.0384233,"cg_iw_a":-1.03063416,"cg_theta_rad":0.556076467,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0210765246,"mpcc_du":48.4265671,"mpcc_dv":51.5734329,"mpcc_dw":49.0526237,"mpcc_enc_sign":1,"mpcc_id_a":2.89022183,"mpcc_iq_a":-1.90525186,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.0300303,"mpcc_pred_id_a":-0.0487186499,"mpcc_pred_iq_a":-8.3323431,"mpcc_state":1,"mpcc_theta_e":0.450622559,"mpcc_theta_mech":0.557070434,"sam_rpm":16.2130108,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178942531,"thr_a_norm":0.0178942531,"thr_a_v":0.571577013,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457573801,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.751976,"values":{"cg_iu_a":3.79393435,"cg_iv_a":-1.82096052,"cg_iw_a":1.36145902,"cg_theta_rad":0.557334304,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0207982063,"mpcc_du":51.1352577,"mpcc_dv":47.2464905,"mpcc_dw":52.7535095,"mpcc_enc_sign":1,"mpcc_id_a":2.85994506,"mpcc_iq_a":-0.592881501,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-21.5668354,"mpcc_pred_id_a":0.532012463,"mpcc_pred_iq_a":1.99384153,"mpcc_state":1,"mpcc_theta_e":0.422456264,"mpcc_theta_mech":0.551437199,"sam_rpm":-32.2491112,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260643214,"thr_a_norm":0.0260643214,"thr_a_v":0.604257286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486880273,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.758385,"values":{"cg_iu_a":4.37383556,"cg_iv_a":-1.82096052,"cg_iw_a":-2.55287504,"cg_theta_rad":0.554243684,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0299717188,"mpcc_du":49.5460129,"mpcc_dv":49.9709396,"mpcc_dw":50.4539871,"mpcc_enc_sign":1,"mpcc_id_a":2.85694194,"mpcc_iq_a":-0.802777886,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.86838663,"mpcc_pred_id_a":0.105466254,"mpcc_pred_iq_a":-4.79748964,"mpcc_state":1,"mpcc_theta_e":0.445367813,"mpcc_theta_mech":0.556019485,"sam_rpm":2.56312346,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0260643214,"thr_a_norm":0.0260643214,"thr_a_v":0.604257286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486880273,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.764915,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.371207237,"cg_iw_a":-2.11794901,"cg_theta_rad":0.555246532,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.000323857355,"mpcc_du":51.0774612,"mpcc_dv":47.7028008,"mpcc_dw":52.2971992,"mpcc_enc_sign":1,"mpcc_id_a":0.354143411,"mpcc_iq_a":-1.21198118,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.4892979,"mpcc_pred_id_a":-0.357115656,"mpcc_pred_iq_a":0.93446666,"mpcc_state":1,"mpcc_theta_e":0.424558163,"mpcc_theta_mech":0.551857531,"sam_rpm":-27.4087086,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232444406,"thr_a_norm":0.0232444406,"thr_a_v":0.592977762,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459890157,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.773186,"values":{"cg_iu_a":-0.990252018,"cg_iv_a":-1.6759851,"cg_iw_a":-0.740683317,"cg_theta_rad":0.55710566,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.00744351838,"mpcc_du":50.3597488,"mpcc_dv":48.3413963,"mpcc_dw":51.6586037,"mpcc_enc_sign":1,"mpcc_id_a":1.65822458,"mpcc_iq_a":-1.31084025,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.032258,"mpcc_pred_id_a":0.444529146,"mpcc_pred_iq_a":-1.34676754,"mpcc_state":1,"mpcc_theta_e":0.431021214,"mpcc_theta_mech":0.553150117,"sam_rpm":-19.2036762,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216079205,"thr_a_norm":0.0232444406,"thr_a_v":0.586431682,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485369653,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.782951,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.371207237,"cg_iw_a":-0.595707893,"cg_theta_rad":0.557652533,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.033000432,"mpcc_du":50.0358009,"mpcc_dv":49.0742035,"mpcc_dw":50.9257965,"mpcc_enc_sign":1,"mpcc_id_a":0.805389404,"mpcc_iq_a":-0.892106116,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.26015246,"mpcc_pred_id_a":-0.273097903,"mpcc_pred_iq_a":-4.26903105,"mpcc_state":1,"mpcc_theta_e":0.447018147,"mpcc_theta_mech":0.556349516,"sam_rpm":-1.43932688,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216079205,"thr_a_norm":0.0216079205,"thr_a_v":0.586431682,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485369653,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.793144,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.153744221,"cg_iw_a":-1.17560911,"cg_theta_rad":0.555254459,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0588056073,"mpcc_du":49.9374466,"mpcc_dv":49.0729408,"mpcc_dw":50.9270592,"mpcc_enc_sign":1,"mpcc_id_a":0.891241372,"mpcc_iq_a":-1.0377847,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.10116339,"mpcc_pred_id_a":0.0937375054,"mpcc_pred_iq_a":-3.92656088,"mpcc_state":1,"mpcc_theta_e":0.455428123,"mpcc_theta_mech":0.557453692,"sam_rpm":10.5140829,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0141302347,"thr_a_norm":0.0141302347,"thr_a_v":0.556520939,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446344733,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.803062,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.371207237,"cg_iw_a":-0.378244877,"cg_theta_rad":0.55646795,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0269348528,"mpcc_du":50.6721344,"mpcc_dv":48.3082695,"mpcc_dw":51.6917305,"mpcc_enc_sign":1,"mpcc_id_a":0.646641314,"mpcc_iq_a":-1.05127001,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.00081682,"mpcc_pred_id_a":-0.348820448,"mpcc_pred_iq_a":-4.39558697,"mpcc_state":1,"mpcc_theta_e":0.44980526,"mpcc_theta_mech":0.556906939,"sam_rpm":-8.10048676,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0141302347,"thr_a_norm":0.0141302347,"thr_a_v":0.556520939,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446344733,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.813133,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.09608364,"cg_iw_a":-1.90048599,"cg_theta_rad":0.557786047,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0597906075,"mpcc_du":49.4665604,"mpcc_dv":49.527401,"mpcc_dw":50.5334396,"mpcc_enc_sign":1,"mpcc_id_a":2.75272322,"mpcc_iq_a":-0.0334563032,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.30469894,"mpcc_pred_id_a":0.446335465,"mpcc_pred_iq_a":-3.69988871,"mpcc_state":1,"mpcc_theta_e":0.453480721,"mpcc_theta_mech":0.557642043,"sam_rpm":12.9679422,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198455006,"thr_a_norm":0.0198455006,"thr_a_v":0.579382002,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470666051,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.823112,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.6759851,"cg_iw_a":-1.24809718,"cg_theta_rad":0.552202582,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0226553157,"mpcc_du":50.093811,"mpcc_dv":48.95784,"mpcc_dw":51.04216,"mpcc_enc_sign":1,"mpcc_id_a":0.846091807,"mpcc_iq_a":-1.32102931,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.22577429,"mpcc_pred_id_a":-0.301713794,"mpcc_pred_iq_a":-4.92819977,"mpcc_state":1,"mpcc_theta_e":0.441405296,"mpcc_theta_mech":0.555226982,"sam_rpm":-10.2522898,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269203484,"thr_a_norm":0.0198455006,"thr_a_v":0.607681394,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481190175,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.846153,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.951108456,"cg_iw_a":0.0566811562,"cg_theta_rad":0.555315673,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0065657883,"mpcc_du":51.4395294,"mpcc_dv":47.0581245,"mpcc_dw":52.9418755,"mpcc_enc_sign":1,"mpcc_id_a":1.01129103,"mpcc_iq_a":-0.99630332,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-23.6446686,"mpcc_pred_id_a":0.00771369506,"mpcc_pred_iq_a":3.55046129,"mpcc_state":1,"mpcc_theta_e":0.419400692,"mpcc_theta_mech":0.550826073,"sam_rpm":-35.7411041,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269203484,"thr_a_norm":0.0269203484,"thr_a_v":0.607681394,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481190175,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.852654,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.02359605,"cg_iw_a":-0.885658503,"cg_theta_rad":0.556299806,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0150443222,"mpcc_du":50.4151344,"mpcc_dv":48.3324242,"mpcc_dw":51.6675758,"mpcc_enc_sign":1,"mpcc_id_a":1.56710243,"mpcc_iq_a":-0.979799271,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.42351103,"mpcc_pred_id_a":0.356010765,"mpcc_pred_iq_a":1.75397849,"mpcc_state":1,"mpcc_theta_e":0.447513103,"mpcc_theta_mech":0.556448519,"sam_rpm":8.45005131,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0140169412,"thr_a_norm":0.0140169412,"thr_a_v":0.556067765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439899296,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.859184,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.38603449,"cg_iw_a":0.564094543,"cg_theta_rad":0.558950305,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0197949093,"mpcc_du":49.5678368,"mpcc_dv":49.7492409,"mpcc_dw":50.4321632,"mpcc_enc_sign":1,"mpcc_id_a":2.19911432,"mpcc_iq_a":-1.00314045,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.25242138,"mpcc_pred_id_a":-0.101314344,"mpcc_pred_iq_a":-3.79840899,"mpcc_state":1,"mpcc_theta_e":0.446958542,"mpcc_theta_mech":0.556337655,"sam_rpm":6.37200832,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0140169412,"thr_a_norm":0.0140169412,"thr_a_v":0.556067765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439899296,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.865959,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.02359605,"cg_iw_a":-0.885658503,"cg_theta_rad":0.555489182,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0137233967,"mpcc_du":49.0931549,"mpcc_dv":50.9068451,"mpcc_dw":49.8006897,"mpcc_enc_sign":1,"mpcc_id_a":2.07719922,"mpcc_iq_a":-1.08938873,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.24621248,"mpcc_pred_id_a":-0.123570889,"mpcc_pred_iq_a":-6.34492588,"mpcc_state":1,"mpcc_theta_e":0.449056625,"mpcc_theta_mech":0.556757212,"sam_rpm":10.1357584,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0106683373,"thr_a_norm":0.0106683373,"thr_a_v":0.542673349,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43179217,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.876152,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.951108456,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.555209219,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0248646121,"mpcc_du":49.9842072,"mpcc_dv":49.2223358,"mpcc_dw":50.7776642,"mpcc_enc_sign":1,"mpcc_id_a":0.156775117,"mpcc_iq_a":-2.03251934,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.50916958,"mpcc_pred_id_a":-0.565156817,"mpcc_pred_iq_a":-3.10891008,"mpcc_state":1,"mpcc_theta_e":0.458055019,"mpcc_theta_mech":0.558556914,"sam_rpm":15.0651312,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295639783,"thr_a_norm":0.0106683373,"thr_a_v":0.618255913,"thr_b":0.00511673093,"thr_b_norm":0,"thr_b_v":0.520466924,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.886162,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.60349751,"cg_iw_a":-0.595707893,"cg_theta_rad":0.553450406,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0155275641,"mpcc_du":50.3848686,"mpcc_dv":48.2247849,"mpcc_dw":51.7752151,"mpcc_enc_sign":1,"mpcc_id_a":2.48541474,"mpcc_iq_a":-0.727791131,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.73058462,"mpcc_pred_id_a":0.534942746,"mpcc_pred_iq_a":1.10691249,"mpcc_state":1,"mpcc_theta_e":0.432404518,"mpcc_theta_mech":0.553426862,"sam_rpm":-11.8441048,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295639783,"thr_a_norm":0.0295639783,"thr_a_v":0.618255913,"thr_b":0.00511673093,"thr_b_norm":0.00511673093,"thr_b_v":0.520466924,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.896141,"values":{"cg_iu_a":1.54681635,"cg_iv_a":0.0637187958,"cg_iw_a":-1.10312176,"cg_theta_rad":0.55561471,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0354274698,"mpcc_du":50.8614769,"mpcc_dv":47.7907257,"mpcc_dw":52.2092743,"mpcc_enc_sign":1,"mpcc_id_a":1.59374404,"mpcc_iq_a":-0.756754935,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.65223885,"mpcc_pred_id_a":0.281287879,"mpcc_pred_iq_a":0.757018447,"mpcc_state":1,"mpcc_theta_e":0.445611477,"mpcc_theta_mech":0.556068182,"sam_rpm":-3.44957066,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0171515197,"thr_a_norm":0.0171515197,"thr_a_v":0.568606079,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44840923,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.905968,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.45852208,"cg_iw_a":-1.75551057,"cg_theta_rad":0.557453573,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.00285807927,"mpcc_du":49.6695175,"mpcc_dv":50.153492,"mpcc_dw":50.3304825,"mpcc_enc_sign":1,"mpcc_id_a":-0.469212532,"mpcc_iq_a":-1.06962764,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.184618413,"mpcc_pred_id_a":-0.676976204,"mpcc_pred_iq_a":-2.83951283,"mpcc_state":1,"mpcc_theta_e":0.434432983,"mpcc_theta_mech":0.553832471,"sam_rpm":-0.301037192,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0171515197,"thr_a_norm":0.0171515197,"thr_a_v":0.568606079,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44840923,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.916313,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.02359605,"cg_iw_a":-0.958146334,"cg_theta_rad":0.553605258,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0296287499,"mpcc_du":49.5290871,"mpcc_dv":49.5618057,"mpcc_dw":50.4709129,"mpcc_enc_sign":1,"mpcc_id_a":1.21210861,"mpcc_iq_a":-1.72936404,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.69509268,"mpcc_pred_id_a":0.0468421467,"mpcc_pred_iq_a":-4.68120003,"mpcc_state":1,"mpcc_theta_e":0.443353653,"mpcc_theta_mech":0.555616677,"sam_rpm":9.88854599,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160185397,"thr_a_norm":0.0160185397,"thr_a_v":0.564074159,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460796505,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.926567,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-2.61832476,"cg_iw_a":1.72389746,"cg_theta_rad":0.557259619,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0168493111,"mpcc_du":49.5428772,"mpcc_dv":49.366333,"mpcc_dw":50.633667,"mpcc_enc_sign":1,"mpcc_id_a":2.57287812,"mpcc_iq_a":0.154173657,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.48229432,"mpcc_pred_id_a":0.338282287,"mpcc_pred_iq_a":-0.4473553,"mpcc_state":1,"mpcc_theta_e":0.432217121,"mpcc_theta_mech":0.553389311,"sam_rpm":-2.07492232,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022124052,"thr_a_norm":0.0160185397,"thr_a_v":0.588496208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480384529,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.949516,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-2.0384233,"cg_iw_a":0.0566809177,"cg_theta_rad":0.551974773,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0044577145,"mpcc_du":50.2674065,"mpcc_dv":48.6055946,"mpcc_dw":51.3944054,"mpcc_enc_sign":1,"mpcc_id_a":1.02896965,"mpcc_iq_a":-0.938171566,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.8874228,"mpcc_pred_id_a":-0.145162657,"mpcc_pred_iq_a":-6.05888414,"mpcc_state":1,"mpcc_theta_e":0.437059402,"mpcc_theta_mech":0.554357827,"sam_rpm":-4.84393644,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022124052,"thr_a_norm":0.022124052,"thr_a_v":0.588496208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480384529,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.956017,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.53100967,"cg_iw_a":-0.885658741,"cg_theta_rad":0.55374974,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0472630076,"mpcc_du":49.5743523,"mpcc_dv":50.0503769,"mpcc_dw":50.4256477,"mpcc_enc_sign":1,"mpcc_id_a":1.26536334,"mpcc_iq_a":0.874618292,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.6878119,"mpcc_pred_id_a":-0.165184021,"mpcc_pred_iq_a":-2.5941205,"mpcc_state":1,"mpcc_theta_e":0.457095146,"mpcc_theta_mech":0.558364987,"sam_rpm":21.8362274,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227157176,"thr_a_norm":0.0227157176,"thr_a_v":0.59086287,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487685949,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.962578,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.951108456,"cg_iw_a":0.201656342,"cg_theta_rad":0.555878401,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.00228669657,"mpcc_du":49.6418839,"mpcc_dv":50.2150078,"mpcc_dw":50.3581161,"mpcc_enc_sign":1,"mpcc_id_a":0.839834213,"mpcc_iq_a":-1.32501626,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.76367617,"mpcc_pred_id_a":-0.575243235,"mpcc_pred_iq_a":-3.51434159,"mpcc_state":1,"mpcc_theta_e":0.446135044,"mpcc_theta_mech":0.556172967,"sam_rpm":7.8737874,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0227157176,"thr_a_norm":0.0227157176,"thr_a_v":0.59086287,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487685949,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.969109,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.443694592,"cg_iw_a":-0.305757523,"cg_theta_rad":0.560370624,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0243598241,"mpcc_du":49.5245743,"mpcc_dv":50.4754257,"mpcc_dw":50.2144775,"mpcc_enc_sign":1,"mpcc_id_a":2.96773648,"mpcc_iq_a":-0.034764789,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.31083679,"mpcc_pred_id_a":0.301628351,"mpcc_pred_iq_a":-1.40093279,"mpcc_state":1,"mpcc_theta_e":0.434493065,"mpcc_theta_mech":0.556180954,"sam_rpm":-11.1471128,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271595269,"thr_a_norm":0.0271595269,"thr_a_v":0.608638108,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496951222,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.977531,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.45852208,"cg_iw_a":-0.740683556,"cg_theta_rad":0.555646896,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.00380299147,"mpcc_du":50.1327782,"mpcc_dv":48.8459969,"mpcc_dw":51.1540031,"mpcc_enc_sign":1,"mpcc_id_a":0.740888238,"mpcc_iq_a":-0.527033985,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.25871706,"mpcc_pred_id_a":-0.100486383,"mpcc_pred_iq_a":-0.84683007,"mpcc_state":1,"mpcc_theta_e":0.43767643,"mpcc_theta_mech":0.554481208,"sam_rpm":-14.7354088,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253467709,"thr_a_norm":0.0271595269,"thr_a_v":0.601387084,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494937062,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.987541,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.45852208,"cg_iw_a":-1.4655602,"cg_theta_rad":0.556260526,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0242410842,"mpcc_du":49.4041672,"mpcc_dv":50.5958328,"mpcc_dw":50.3409805,"mpcc_enc_sign":1,"mpcc_id_a":3.09899354,"mpcc_iq_a":-0.623677611,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.86418629,"mpcc_pred_id_a":0.337274015,"mpcc_pred_iq_a":-2.61148834,"mpcc_state":1,"mpcc_theta_e":0.440543175,"mpcc_theta_mech":0.555054545,"sam_rpm":9.86891556,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253467709,"thr_a_norm":0.0253467709,"thr_a_v":0.601387084,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494937062,"vdc_v":55.2955055}} +{"type":"telemetry","t":115.998955,"values":{"cg_iu_a":1.11189032,"cg_iv_a":0.498644829,"cg_iw_a":-3.06028843,"cg_theta_rad":0.555862427,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0305344872,"mpcc_du":50.0704498,"mpcc_dv":48.7238579,"mpcc_dw":51.2761421,"mpcc_enc_sign":1,"mpcc_id_a":1.52121842,"mpcc_iq_a":-0.408356994,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.79372597,"mpcc_pred_id_a":0.424834996,"mpcc_pred_iq_a":-0.267944306,"mpcc_state":1,"mpcc_theta_e":0.451968193,"mpcc_theta_mech":0.557339549,"sam_rpm":10.566515,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245159119,"thr_a_norm":0.0245159119,"thr_a_v":0.598063648,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.009941,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.31354666,"cg_iw_a":-0.23326993,"cg_theta_rad":0.555730581,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5000,"hz_app_loop":372,"hz_tim_isr":10000,"hz_vsense":372,"mpcc_cost":0.0335119963,"mpcc_du":50.7293816,"mpcc_dv":47.990448,"mpcc_dw":52.009552,"mpcc_enc_sign":1,"mpcc_id_a":1.79776156,"mpcc_iq_a":-1.17236483,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.53068352,"mpcc_pred_id_a":0.175475836,"mpcc_pred_iq_a":-1.22271585,"mpcc_state":1,"mpcc_theta_e":0.442854404,"mpcc_theta_mech":0.555516779,"sam_rpm":-10.4400797,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021293208,"thr_a_norm":0.0245159119,"thr_a_v":0.585172832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.020561,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.951108456,"cg_iw_a":0.12916851,"cg_theta_rad":0.551439703,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9902.19629,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0116260704,"mpcc_du":50.516098,"mpcc_dv":48.6761131,"mpcc_dw":51.3238869,"mpcc_enc_sign":1,"mpcc_id_a":-1.17732263,"mpcc_iq_a":-1.70784521,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.97498608,"mpcc_pred_id_a":-0.854807138,"mpcc_pred_iq_a":-3.31819916,"mpcc_state":1,"mpcc_theta_e":0.439942837,"mpcc_theta_mech":0.554934442,"sam_rpm":-13.3393555,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021293208,"thr_a_norm":0.021293208,"thr_a_v":0.585172832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.03109,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.371207237,"cg_iw_a":-2.19043636,"cg_theta_rad":0.551796436,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0537543632,"mpcc_du":50.2643471,"mpcc_dv":48.5865784,"mpcc_dw":51.4134216,"mpcc_enc_sign":1,"mpcc_id_a":2.28014064,"mpcc_iq_a":-1.50518191,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.26786709,"mpcc_pred_id_a":0.167024061,"mpcc_pred_iq_a":-4.18609095,"mpcc_state":1,"mpcc_theta_e":0.446660995,"mpcc_theta_mech":0.556438982,"sam_rpm":-5.55596352,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261272639,"thr_a_norm":0.0261272639,"thr_a_v":0.604509056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492872506,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.054344,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.02359605,"cg_iw_a":0.346631765,"cg_theta_rad":0.554467916,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0105056399,"mpcc_du":49.1271095,"mpcc_dv":50.8728905,"mpcc_dw":49.4825439,"mpcc_enc_sign":1,"mpcc_id_a":-1.88301659,"mpcc_iq_a":-1.45669258,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.17754173,"mpcc_pred_id_a":-1.27443027,"mpcc_pred_iq_a":-6.24899006,"mpcc_state":1,"mpcc_theta_e":0.449627399,"mpcc_theta_mech":0.556871355,"sam_rpm":13.0911531,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261272639,"thr_a_norm":0.0261272639,"thr_a_v":0.604509056,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492872506,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.060814,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.661157608,"cg_iw_a":-1.97297382,"cg_theta_rad":0.555356324,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0143445954,"mpcc_du":49.5130157,"mpcc_dv":50.4869843,"mpcc_dw":50.2512817,"mpcc_enc_sign":1,"mpcc_id_a":0.644101262,"mpcc_iq_a":0.114428096,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.32387018,"mpcc_pred_id_a":-0.356995255,"mpcc_pred_iq_a":-4.85304117,"mpcc_state":1,"mpcc_theta_e":0.445333958,"mpcc_theta_mech":0.55601269,"sam_rpm":7.54881763,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465529829,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.067375,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.733645439,"cg_iw_a":-0.450732708,"cg_theta_rad":0.554621458,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.00782063883,"mpcc_du":50.3545265,"mpcc_dv":48.5168877,"mpcc_dw":51.4831123,"mpcc_enc_sign":1,"mpcc_id_a":1.38163424,"mpcc_iq_a":-1.55889356,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.97373676,"mpcc_pred_id_a":-0.12329641,"mpcc_pred_iq_a":-2.14748025,"mpcc_state":1,"mpcc_theta_e":0.43422842,"mpcc_theta_mech":0.553791583,"sam_rpm":-14.2980938,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465529829,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.073906,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.733645439,"cg_iw_a":0.636582375,"cg_theta_rad":0.557508826,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0200333614,"mpcc_du":49.8973083,"mpcc_dv":48.9953957,"mpcc_dw":51.0046043,"mpcc_enc_sign":1,"mpcc_id_a":2.4537797,"mpcc_iq_a":-0.467390925,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.16909266,"mpcc_pred_id_a":0.271161467,"mpcc_pred_iq_a":-0.432663709,"mpcc_state":1,"mpcc_theta_e":0.443943977,"mpcc_theta_mech":0.555734694,"sam_rpm":4.840662,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024440363,"thr_a_norm":0.024440363,"thr_a_v":0.597761452,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492620736,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.081932,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-1.53100967,"cg_iw_a":1.50643444,"cg_theta_rad":0.554441392,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.00843197294,"mpcc_du":49.2300186,"mpcc_dv":50.7699814,"mpcc_dw":49.8257828,"mpcc_enc_sign":1,"mpcc_id_a":1.19853497,"mpcc_iq_a":-0.575074673,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.7365313,"mpcc_pred_id_a":-0.440009356,"mpcc_pred_iq_a":-4.83726311,"mpcc_state":1,"mpcc_theta_e":0.450426102,"mpcc_theta_mech":0.557031155,"sam_rpm":15.1559076,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.024440363,"thr_a_v":0.605818272,"thr_b":0.00276264548,"thr_b_norm":0,"thr_b_v":0.511050582,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.091911,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-1.6759851,"cg_iw_a":1.28897119,"cg_theta_rad":0.553793609,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0247827861,"mpcc_du":49.8019333,"mpcc_dv":48.9844017,"mpcc_dw":51.0155983,"mpcc_enc_sign":1,"mpcc_id_a":3.07044816,"mpcc_iq_a":-1.87144899,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.37196302,"mpcc_pred_id_a":0.750885904,"mpcc_pred_iq_a":0.447274089,"mpcc_state":1,"mpcc_theta_e":0.443573475,"mpcc_theta_mech":0.555660605,"sam_rpm":5.37683058,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.0264545679,"thr_a_v":0.605818272,"thr_b":0.00276264548,"thr_b_norm":0.00276264548,"thr_b_v":0.511050582,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.102104,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.89344811,"cg_iw_a":-0.523220301,"cg_theta_rad":0.555707216,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0276043136,"mpcc_du":49.6431732,"mpcc_dv":49.2699547,"mpcc_dw":50.7300453,"mpcc_enc_sign":1,"mpcc_id_a":2.71354437,"mpcc_iq_a":-0.601388276,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.9733448,"mpcc_pred_id_a":0.439387769,"mpcc_pred_iq_a":-1.55485189,"mpcc_state":1,"mpcc_theta_e":0.447429657,"mpcc_theta_mech":0.55643183,"sam_rpm":8.82906151,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173403472,"thr_a_norm":0.0173403472,"thr_a_v":0.569361389,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447402149,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.111931,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.6978507,"cg_theta_rad":0.556343675,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.00475271838,"mpcc_du":50.3447838,"mpcc_dv":49.8438568,"mpcc_dw":50.4502754,"mpcc_enc_sign":1,"mpcc_id_a":0.739182889,"mpcc_iq_a":-0.0104612019,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.1060543,"mpcc_pred_id_a":0.117581867,"mpcc_pred_iq_a":-1.6255424,"mpcc_state":1,"mpcc_theta_e":0.427611351,"mpcc_theta_mech":0.552468181,"sam_rpm":-23.1760635,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173403472,"thr_a_norm":0.0173403472,"thr_a_v":0.569361389,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447402149,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.122124,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.6759851,"cg_iw_a":-1.39307237,"cg_theta_rad":0.556532264,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0146301258,"mpcc_du":49.5126305,"mpcc_dv":49.536377,"mpcc_dw":50.4873695,"mpcc_enc_sign":1,"mpcc_id_a":2.23113298,"mpcc_iq_a":-0.763111591,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.52891731,"mpcc_pred_id_a":0.144290105,"mpcc_pred_iq_a":-3.89163351,"mpcc_state":1,"mpcc_theta_e":0.437980652,"mpcc_theta_mech":0.554542065,"sam_rpm":-5.79369974,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025951013,"thr_a_norm":0.025951013,"thr_a_v":0.603804052,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498310834,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.132378,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.951108456,"cg_iw_a":-0.160782337,"cg_theta_rad":0.557453692,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.00185804162,"mpcc_du":50.5246086,"mpcc_dv":48.3257828,"mpcc_dw":51.6742172,"mpcc_enc_sign":1,"mpcc_id_a":0.448061138,"mpcc_iq_a":-1.79308808,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.77101946,"mpcc_pred_id_a":-0.00809001084,"mpcc_pred_iq_a":-0.36039871,"mpcc_state":1,"mpcc_theta_e":0.450698376,"mpcc_theta_mech":0.557085574,"sam_rpm":-9.88351345,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228416175,"thr_a_norm":0.025951013,"thr_a_v":0.59136647,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477212161,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.155357,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.443694592,"cg_iw_a":-2.40789986,"cg_theta_rad":0.55621326,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.00274693803,"mpcc_du":50.3296356,"mpcc_dv":48.7370911,"mpcc_dw":51.2629089,"mpcc_enc_sign":1,"mpcc_id_a":0.416900307,"mpcc_iq_a":-1.21097004,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.36760449,"mpcc_pred_id_a":-0.415983379,"mpcc_pred_iq_a":-0.356853157,"mpcc_state":1,"mpcc_theta_e":0.441565514,"mpcc_theta_mech":0.555258989,"sam_rpm":-1.93085372,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0228416175,"thr_a_norm":0.0228416175,"thr_a_v":0.59136647,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477212161,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.161888,"values":{"cg_iu_a":4.73627377,"cg_iv_a":-0.0812563896,"cg_iw_a":-4.65501738,"cg_theta_rad":0.555257916,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.00954967923,"mpcc_du":50.1656799,"mpcc_dv":48.6388283,"mpcc_dw":51.3611717,"mpcc_enc_sign":1,"mpcc_id_a":1.81895828,"mpcc_iq_a":-1.30370998,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.54326534,"mpcc_pred_id_a":0.174738213,"mpcc_pred_iq_a":-1.6246022,"mpcc_state":1,"mpcc_theta_e":0.435601711,"mpcc_theta_mech":0.554066241,"sam_rpm":-12.4448957,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160814822,"thr_a_norm":0.0160814822,"thr_a_v":0.564325929,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466486603,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.168358,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.661157608,"cg_iw_a":-0.305757523,"cg_theta_rad":0.556598306,"cg_vdc_v":54.6292953,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0175090451,"mpcc_du":49.6162376,"mpcc_dv":49.7934875,"mpcc_dw":50.3837624,"mpcc_enc_sign":1,"mpcc_id_a":0.263588905,"mpcc_iq_a":-1.00729489,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.1548424,"mpcc_pred_id_a":-0.371778131,"mpcc_pred_iq_a":-3.08345056,"mpcc_state":1,"mpcc_theta_e":0.451866627,"mpcc_theta_mech":0.557319224,"sam_rpm":16.2513065,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0160814822,"thr_a_norm":0.0160814822,"thr_a_v":0.564325929,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466486603,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.17495,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.661157608,"cg_iw_a":-0.160782337,"cg_theta_rad":0.552566946,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0250009187,"mpcc_du":49.5514412,"mpcc_dv":50.2330017,"mpcc_dw":50.4485588,"mpcc_enc_sign":1,"mpcc_id_a":1.19390321,"mpcc_iq_a":-0.413651377,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.1090822,"mpcc_pred_id_a":-0.0440893583,"mpcc_pred_iq_a":-1.33686173,"mpcc_state":1,"mpcc_theta_e":0.43628931,"mpcc_theta_mech":0.554203808,"sam_rpm":10.0243778,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203112811,"thr_a_norm":0.0203112811,"thr_a_v":0.581245124,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464925587,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.184715,"values":{"cg_iu_a":-0.265375137,"cg_iv_a":-1.09608364,"cg_iw_a":-1.61053562,"cg_theta_rad":0.556807101,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.000341754843,"mpcc_du":49.5224075,"mpcc_dv":50.4775925,"mpcc_dw":50.129425,"mpcc_enc_sign":1,"mpcc_id_a":-0.290495425,"mpcc_iq_a":-3.01193213,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.90042734,"mpcc_pred_id_a":-0.620485961,"mpcc_pred_iq_a":-5.11558151,"mpcc_state":1,"mpcc_theta_e":0.446793079,"mpcc_theta_mech":0.556304574,"sam_rpm":9.33617783,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193293691,"thr_a_norm":0.0203112811,"thr_a_v":0.577317476,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454804301,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.194511,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.24105906,"cg_iw_a":-0.668195486,"cg_theta_rad":0.55451256,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0138573656,"mpcc_du":49.1144485,"mpcc_dv":50.8855515,"mpcc_dw":49.5702171,"mpcc_enc_sign":1,"mpcc_id_a":-0.0937979445,"mpcc_iq_a":-2.34724426,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.57086563,"mpcc_pred_id_a":-0.659861982,"mpcc_pred_iq_a":-2.74406219,"mpcc_state":1,"mpcc_theta_e":0.430547237,"mpcc_theta_mech":0.553055346,"sam_rpm":16.7506962,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193293691,"thr_a_norm":0.0193293691,"thr_a_v":0.577317476,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454804301,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.204887,"values":{"cg_iu_a":2.77910662,"cg_iv_a":0.281181812,"cg_iw_a":-0.813171387,"cg_theta_rad":0.551988959,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.000319657876,"mpcc_du":49.9250603,"mpcc_dv":49.3819313,"mpcc_dw":50.6180687,"mpcc_enc_sign":1,"mpcc_id_a":-0.21464926,"mpcc_iq_a":-2.20846844,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.681587756,"mpcc_pred_id_a":-0.682792127,"mpcc_pred_iq_a":-2.54837179,"mpcc_state":1,"mpcc_theta_e":0.441427708,"mpcc_theta_mech":0.555231452,"sam_rpm":-1.41490388,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289471298,"thr_a_norm":0.0289471298,"thr_a_v":0.615788519,"thr_b":0.000698104501,"thr_b_norm":0.000698104501,"thr_b_v":0.502792418,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.214684,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.588670254,"cg_iw_a":-2.6253624,"cg_theta_rad":0.556837142,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0148329651,"mpcc_du":49.9507294,"mpcc_dv":49.2184906,"mpcc_dw":50.7815094,"mpcc_enc_sign":1,"mpcc_id_a":0.794222057,"mpcc_iq_a":-0.747636616,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.61123157,"mpcc_pred_id_a":-0.327868044,"mpcc_pred_iq_a":-2.39221644,"mpcc_state":1,"mpcc_theta_e":0.44712019,"mpcc_theta_mech":0.55636996,"sam_rpm":3.71533871,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0289471298,"thr_a_norm":0.0289471298,"thr_a_v":0.615788519,"thr_b":0.000698104501,"thr_b_norm":0.000698104501,"thr_b_v":0.502792418,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.227104,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.24105906,"cg_iw_a":-1.68302321,"cg_theta_rad":0.556578755,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0783116817,"mpcc_du":49.6428452,"mpcc_dv":49.4841118,"mpcc_dw":50.5158882,"mpcc_enc_sign":1,"mpcc_id_a":1.76144123,"mpcc_iq_a":-2.31419635,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.35412121,"mpcc_pred_id_a":-0.0677171201,"mpcc_pred_iq_a":0.0132874008,"mpcc_state":1,"mpcc_theta_e":0.426965237,"mpcc_theta_mech":0.552338958,"sam_rpm":-14.0550098,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151750892,"thr_a_norm":0.0151750892,"thr_a_v":0.560700357,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468198657,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.250542,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.53100967,"cg_iw_a":-0.885658741,"cg_theta_rad":0.554947257,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0098309787,"mpcc_du":48.3117485,"mpcc_dv":51.6882515,"mpcc_dw":48.8540764,"mpcc_enc_sign":1,"mpcc_id_a":1.82738256,"mpcc_iq_a":-1.61208284,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.45920372,"mpcc_pred_id_a":-0.10490185,"mpcc_pred_iq_a":-8.06864071,"mpcc_state":1,"mpcc_theta_e":0.446247101,"mpcc_theta_mech":0.556195319,"sam_rpm":11.8650646,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447956055,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.257072,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.661157608,"cg_iw_a":-1.03063393,"cg_theta_rad":0.555056572,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.00349588995,"mpcc_du":48.8346863,"mpcc_dv":51.1653137,"mpcc_dw":49.2955513,"mpcc_enc_sign":1,"mpcc_id_a":0.343503892,"mpcc_iq_a":-0.346159577,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.83645439,"mpcc_pred_id_a":-0.63712877,"mpcc_pred_iq_a":-6.54986715,"mpcc_state":1,"mpcc_theta_e":0.447707176,"mpcc_theta_mech":0.556487322,"sam_rpm":12.0469685,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208274126,"thr_a_norm":0.0208274126,"thr_a_v":0.58330965,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.447956055,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.263542,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.0812563896,"cg_iw_a":1.28897142,"cg_theta_rad":0.55287689,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.00341905048,"mpcc_du":49.6568069,"mpcc_dv":49.8791885,"mpcc_dw":50.3431931,"mpcc_enc_sign":1,"mpcc_id_a":2.28593373,"mpcc_iq_a":-1.93539178,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.68979168,"mpcc_pred_id_a":-0.547083318,"mpcc_pred_iq_a":-3.69001245,"mpcc_state":1,"mpcc_theta_e":0.442421436,"mpcc_theta_mech":0.555430233,"sam_rpm":10.0259943,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475550473,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.270103,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-2.18339872,"cg_iw_a":0.78155756,"cg_theta_rad":0.556643128,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.000290629512,"mpcc_du":50.597126,"mpcc_dv":48.4604225,"mpcc_dw":51.5395775,"mpcc_enc_sign":1,"mpcc_id_a":0.285939664,"mpcc_iq_a":-2.02110362,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.41906452,"mpcc_pred_id_a":-0.544843554,"mpcc_pred_iq_a":-1.09214497,"mpcc_state":1,"mpcc_theta_e":0.435505867,"mpcc_theta_mech":0.554047048,"sam_rpm":-13.952467,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198706836,"thr_a_norm":0.0224387646,"thr_a_v":0.579482734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473636985,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.278099,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.16857147,"cg_iw_a":-0.378244877,"cg_theta_rad":0.555529654,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0168537665,"mpcc_du":50.3550148,"mpcc_dv":48.445385,"mpcc_dw":51.554615,"mpcc_enc_sign":1,"mpcc_id_a":2.24723554,"mpcc_iq_a":-2.27969956,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.4572587,"mpcc_pred_id_a":0.248251796,"mpcc_pred_iq_a":0.439308375,"mpcc_state":1,"mpcc_theta_e":0.433156967,"mpcc_theta_mech":0.553577304,"sam_rpm":-11.4423542,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198706836,"thr_a_norm":0.0198706836,"thr_a_v":0.579482734,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473636985,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.288383,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.951108456,"cg_iw_a":2.01384807,"cg_theta_rad":0.553714454,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0342730321,"mpcc_du":49.2535362,"mpcc_dv":49.9445076,"mpcc_dw":50.3266144,"mpcc_enc_sign":1,"mpcc_id_a":2.06410289,"mpcc_iq_a":-0.25687471,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.12405229,"mpcc_pred_id_a":0.186066374,"mpcc_pred_iq_a":-1.58592355,"mpcc_state":1,"mpcc_theta_e":0.432446957,"mpcc_theta_mech":0.551086009,"sam_rpm":0.628427029,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204119831,"thr_a_norm":0.0204119831,"thr_a_v":0.581647933,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473183811,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.298119,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.371207237,"cg_iw_a":1.36145902,"cg_theta_rad":0.554902136,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.00399724999,"mpcc_du":50.1313171,"mpcc_dv":48.7471581,"mpcc_dw":51.2528419,"mpcc_enc_sign":1,"mpcc_id_a":1.20432174,"mpcc_iq_a":-0.0399572365,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.51763821,"mpcc_pred_id_a":0.109267414,"mpcc_pred_iq_a":0.263522774,"mpcc_state":1,"mpcc_theta_e":0.428825855,"mpcc_theta_mech":0.55271107,"sam_rpm":-13.6087055,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204119831,"thr_a_norm":0.0204119831,"thr_a_v":0.581647933,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473183811,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.308311,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.806133032,"cg_iw_a":-1.8279984,"cg_theta_rad":0.55611378,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0438873544,"mpcc_du":50.131115,"mpcc_dv":48.2448311,"mpcc_dw":51.7551689,"mpcc_enc_sign":1,"mpcc_id_a":3.81372976,"mpcc_iq_a":-0.124711618,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.946707904,"mpcc_pred_id_a":1.3476578,"mpcc_pred_iq_a":2.06792164,"mpcc_state":1,"mpcc_theta_e":0.439744949,"mpcc_theta_mech":0.554894865,"sam_rpm":2.05090117,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242767185,"thr_a_norm":0.0242767185,"thr_a_v":0.597106874,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480988771,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.318687,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.09608364,"cg_iw_a":-0.16078186,"cg_theta_rad":0.557354093,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0560898967,"mpcc_du":50.2922325,"mpcc_dv":48.608017,"mpcc_dw":51.391983,"mpcc_enc_sign":1,"mpcc_id_a":1.89850926,"mpcc_iq_a":-1.46253026,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.25091004,"mpcc_pred_id_a":0.0478467755,"mpcc_pred_iq_a":-4.00929451,"mpcc_state":1,"mpcc_theta_e":0.448709488,"mpcc_theta_mech":0.556687772,"sam_rpm":-3.45200419,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210917741,"thr_a_norm":0.0242767185,"thr_a_v":0.584367096,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.328697,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.588670254,"cg_iw_a":-2.11794901,"cg_theta_rad":0.557269573,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0170600377,"mpcc_du":48.7528,"mpcc_dv":51.2472,"mpcc_dw":49.50951,"mpcc_enc_sign":1,"mpcc_id_a":2.58612156,"mpcc_iq_a":-0.00477503706,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.74100852,"mpcc_pred_id_a":0.309229255,"mpcc_pred_iq_a":-5.71057224,"mpcc_state":1,"mpcc_theta_e":0.43785429,"mpcc_theta_mech":0.554516792,"sam_rpm":4.53534508,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210917741,"thr_a_norm":0.0210917741,"thr_a_v":0.584367096,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.351921,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-1.16857147,"cg_iw_a":-1.68302298,"cg_theta_rad":0.555808425,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0751026198,"mpcc_du":49.7307281,"mpcc_dv":49.1407356,"mpcc_dw":50.8592644,"mpcc_enc_sign":1,"mpcc_id_a":3.63816977,"mpcc_iq_a":-0.699459493,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.05559206,"mpcc_pred_id_a":0.53766048,"mpcc_pred_iq_a":-3.5749867,"mpcc_state":1,"mpcc_theta_e":0.453906536,"mpcc_theta_mech":0.557727218,"sam_rpm":8.5177145,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0111593008,"thr_a_norm":0.0111593008,"thr_a_v":0.544637203,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.419304162,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.358452,"values":{"cg_iu_a":1.69179153,"cg_iv_a":1.15103388,"cg_iw_a":-2.19043684,"cg_theta_rad":0.558120072,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0357345827,"mpcc_du":49.7224503,"mpcc_dv":49.1433907,"mpcc_dw":50.8566093,"mpcc_enc_sign":1,"mpcc_id_a":3.40762401,"mpcc_iq_a":0.211711422,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.0099659,"mpcc_pred_id_a":0.448761314,"mpcc_pred_iq_a":-2.25448823,"mpcc_state":1,"mpcc_theta_e":0.437747955,"mpcc_theta_mech":0.554495513,"sam_rpm":-6.23456478,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0111593008,"thr_a_norm":0.0111593008,"thr_a_v":0.544637203,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.419304162,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.364983,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.153744221,"cg_iw_a":-1.90048599,"cg_theta_rad":0.555318892,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0320578553,"mpcc_du":50.5898399,"mpcc_dv":48.0748901,"mpcc_dw":51.9251099,"mpcc_enc_sign":1,"mpcc_id_a":2.55538321,"mpcc_iq_a":0.806511939,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.4803734,"mpcc_pred_id_a":0.389919311,"mpcc_pred_iq_a":0.526132703,"mpcc_state":1,"mpcc_theta_e":0.432666302,"mpcc_theta_mech":0.553479135,"sam_rpm":-15.2437868,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256111175,"thr_a_norm":0.0256111175,"thr_a_v":0.60244447,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497001588,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.371452,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.02359605,"cg_iw_a":-0.885658503,"cg_theta_rad":0.551698864,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.00117532175,"mpcc_du":49.5757027,"mpcc_dv":49.4120674,"mpcc_dw":50.5879326,"mpcc_enc_sign":1,"mpcc_id_a":0.564965069,"mpcc_iq_a":-1.41538262,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.54335213,"mpcc_pred_id_a":0.225399107,"mpcc_pred_iq_a":-3.83339548,"mpcc_state":1,"mpcc_theta_e":0.437953949,"mpcc_theta_mech":0.5545367,"sam_rpm":-7.1267724,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247928649,"thr_a_norm":0.0256111175,"thr_a_v":0.59917146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497907996,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.379295,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.661157608,"cg_iw_a":0.0566806793,"cg_theta_rad":0.553850591,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0215678234,"mpcc_du":49.6395569,"mpcc_dv":49.5368614,"mpcc_dw":50.4631386,"mpcc_enc_sign":1,"mpcc_id_a":1.35922563,"mpcc_iq_a":0.0953761563,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.55622101,"mpcc_pred_id_a":-0.241752014,"mpcc_pred_iq_a":-2.60781264,"mpcc_state":1,"mpcc_theta_e":0.447108746,"mpcc_theta_mech":0.556367695,"sam_rpm":8.18511009,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247928649,"thr_a_norm":0.0247928649,"thr_a_v":0.59917146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497907996,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.389702,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.48038769,"cg_theta_rad":0.55722487,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0190812722,"mpcc_du":49.8088417,"mpcc_dv":48.9975204,"mpcc_dw":51.0024796,"mpcc_enc_sign":1,"mpcc_id_a":1.97005415,"mpcc_iq_a":-1.81844604,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.51366806,"mpcc_pred_id_a":0.10681849,"mpcc_pred_iq_a":-4.42908287,"mpcc_state":1,"mpcc_theta_e":0.445867538,"mpcc_theta_mech":0.556119382,"sam_rpm":-3.85399628,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151876807,"thr_a_norm":0.0151876807,"thr_a_v":0.560750723,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444179446,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.399712,"values":{"cg_iu_a":3.8664217,"cg_iv_a":-0.951108456,"cg_iw_a":-0.595707893,"cg_theta_rad":0.55491364,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0247944705,"mpcc_du":49.4901657,"mpcc_dv":50.1451492,"mpcc_dw":50.5098343,"mpcc_enc_sign":1,"mpcc_id_a":2.45870495,"mpcc_iq_a":-0.440747589,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.02876353,"mpcc_pred_id_a":0.403181046,"mpcc_pred_iq_a":-0.991716683,"mpcc_state":1,"mpcc_theta_e":0.433096886,"mpcc_theta_mech":0.553565264,"sam_rpm":0.0679527819,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151876807,"thr_a_norm":0.0151876807,"thr_a_v":0.560750723,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444179446,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.409904,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.74847269,"cg_iw_a":-0.595707893,"cg_theta_rad":0.552430391,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0157511979,"mpcc_du":49.5369377,"mpcc_dv":49.5350151,"mpcc_dw":50.4649849,"mpcc_enc_sign":1,"mpcc_id_a":2.0097146,"mpcc_iq_a":-1.23177087,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.86801851,"mpcc_pred_id_a":-0.0426657572,"mpcc_pred_iq_a":-3.68729305,"mpcc_state":1,"mpcc_theta_e":0.444859505,"mpcc_theta_mech":0.555917799,"sam_rpm":3.23925638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0211673081,"thr_a_norm":0.0211673081,"thr_a_v":0.584669232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473385215,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.420097,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.226231575,"cg_iw_a":-0.015806675,"cg_theta_rad":0.558971941,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0233370215,"mpcc_du":49.9813423,"mpcc_dv":48.7253075,"mpcc_dw":51.2746925,"mpcc_enc_sign":1,"mpcc_id_a":3.00756001,"mpcc_iq_a":-0.98429513,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.66905713,"mpcc_pred_id_a":0.471947134,"mpcc_pred_iq_a":-0.554446757,"mpcc_state":1,"mpcc_theta_e":0.436887741,"mpcc_theta_mech":0.554323435,"sam_rpm":-5.51310921,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196189135,"thr_a_norm":0.0211673081,"thr_a_v":0.578475654,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455660313,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.430168,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-2.54583716,"cg_iw_a":0.419119596,"cg_theta_rad":0.555152655,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0614400543,"mpcc_du":49.6800385,"mpcc_dv":49.2519073,"mpcc_dw":50.7480927,"mpcc_enc_sign":1,"mpcc_id_a":2.49375606,"mpcc_iq_a":-0.570218444,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.89553928,"mpcc_pred_id_a":0.138878509,"mpcc_pred_iq_a":-3.27849627,"mpcc_state":1,"mpcc_theta_e":0.457517147,"mpcc_theta_mech":0.558449388,"sam_rpm":14.0155506,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0196189135,"thr_a_norm":0.0196189135,"thr_a_v":0.578475654,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455660313,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.4533,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.53100967,"cg_iw_a":-1.32058454,"cg_theta_rad":0.554235101,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0259385724,"mpcc_du":49.5290298,"mpcc_dv":50.4683228,"mpcc_dw":50.4709702,"mpcc_enc_sign":1,"mpcc_id_a":2.82051301,"mpcc_iq_a":-1.54964244,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.45513821,"mpcc_pred_id_a":0.0971254632,"mpcc_pred_iq_a":-4.73753262,"mpcc_state":1,"mpcc_theta_e":0.451619625,"mpcc_theta_mech":0.557269812,"sam_rpm":12.5461712,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0327614993,"thr_a_norm":0.0327614993,"thr_a_v":0.631045997,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495390266,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.459862,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.60349751,"cg_iw_a":0.12916851,"cg_theta_rad":0.554306507,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0288159121,"mpcc_du":49.221817,"mpcc_dv":50.778183,"mpcc_dw":50.1859245,"mpcc_enc_sign":1,"mpcc_id_a":2.73809433,"mpcc_iq_a":-0.385877579,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.89790297,"mpcc_pred_id_a":0.301473737,"mpcc_pred_iq_a":-5.41729355,"mpcc_state":1,"mpcc_theta_e":0.449075222,"mpcc_theta_mech":0.556760967,"sam_rpm":11.4550543,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0327614993,"thr_a_norm":0.0327614993,"thr_a_v":0.631045997,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495390266,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.466393,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.951108456,"cg_iw_a":0.419119358,"cg_theta_rad":0.557762384,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0290873908,"mpcc_du":49.8590393,"mpcc_dv":48.8820534,"mpcc_dw":51.1179466,"mpcc_enc_sign":1,"mpcc_id_a":2.89520478,"mpcc_iq_a":-1.39564025,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.84896278,"mpcc_pred_id_a":0.465885401,"mpcc_pred_iq_a":-0.35853529,"mpcc_state":1,"mpcc_theta_e":0.450450897,"mpcc_theta_mech":0.557036102,"sam_rpm":12.0850105,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178690702,"thr_a_norm":0.0178690702,"thr_a_v":0.571476281,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451984406,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.472923,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.951108456,"cg_iw_a":-0.523220062,"cg_theta_rad":0.555331409,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.00445886701,"mpcc_du":49.9100494,"mpcc_dv":48.916172,"mpcc_dw":51.083828,"mpcc_enc_sign":1,"mpcc_id_a":1.33487141,"mpcc_iq_a":-1.64427042,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.805889666,"mpcc_pred_id_a":0.200546712,"mpcc_pred_iq_a":-0.54164952,"mpcc_state":1,"mpcc_theta_e":0.441272259,"mpcc_theta_mech":0.555200398,"sam_rpm":0.77771461,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0301430523,"thr_a_norm":0.0178690702,"thr_a_v":0.620572209,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463968873,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.480675,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.16857147,"cg_iw_a":-1.68302298,"cg_theta_rad":0.555969834,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.00251006079,"mpcc_du":49.8695984,"mpcc_dv":48.9865341,"mpcc_dw":51.0134659,"mpcc_enc_sign":1,"mpcc_id_a":0.771410406,"mpcc_iq_a":-0.965827346,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.99653292,"mpcc_pred_id_a":0.111863032,"mpcc_pred_iq_a":0.487777412,"mpcc_state":1,"mpcc_theta_e":0.444738865,"mpcc_theta_mech":0.555893719,"sam_rpm":8.48273182,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0301430523,"thr_a_norm":0.0301430523,"thr_a_v":0.620572209,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463968873,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.493095,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.951108456,"cg_iw_a":0.491606951,"cg_theta_rad":0.557349205,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0429402217,"mpcc_du":49.7026291,"mpcc_dv":49.0567398,"mpcc_dw":50.9432602,"mpcc_enc_sign":1,"mpcc_id_a":3.20339131,"mpcc_iq_a":-0.417653501,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.53777838,"mpcc_pred_id_a":0.575808525,"mpcc_pred_iq_a":-0.677493155,"mpcc_state":1,"mpcc_theta_e":0.447128773,"mpcc_theta_mech":0.556371689,"sam_rpm":12.3550797,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0266308039,"thr_a_norm":0.0266308039,"thr_a_v":0.606523216,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494987428,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.503471,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.60349751,"cg_iw_a":-0.885658741,"cg_theta_rad":0.557453632,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0104412986,"mpcc_du":49.7338791,"mpcc_dv":49.2294579,"mpcc_dw":50.7705421,"mpcc_enc_sign":1,"mpcc_id_a":0.780538857,"mpcc_iq_a":-1.11196506,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.68173003,"mpcc_pred_id_a":0.0622479878,"mpcc_pred_iq_a":-2.58086014,"mpcc_state":1,"mpcc_theta_e":0.446802139,"mpcc_theta_mech":0.556306362,"sam_rpm":4.12471914,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172018856,"thr_a_norm":0.0266308039,"thr_a_v":0.568807542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43833828,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.513084,"values":{"cg_iu_a":0.531989098,"cg_iv_a":0.643620491,"cg_iw_a":-1.97297359,"cg_theta_rad":0.555823207,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0849546194,"mpcc_du":49.8675537,"mpcc_dv":49.1697197,"mpcc_dw":50.8302803,"mpcc_enc_sign":1,"mpcc_id_a":0.929576755,"mpcc_iq_a":0.854244649,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.30129194,"mpcc_pred_id_a":-0.284025401,"mpcc_pred_iq_a":-3.20499182,"mpcc_state":1,"mpcc_theta_e":0.455079079,"mpcc_theta_mech":0.557961762,"sam_rpm":11.5793447,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0172018856,"thr_a_norm":0.0172018856,"thr_a_v":0.568807542,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43833828,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.523308,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.806133032,"cg_iw_a":-1.75551057,"cg_theta_rad":0.556697726,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0239744615,"mpcc_du":50.2787895,"mpcc_dv":48.7311478,"mpcc_dw":51.2688522,"mpcc_enc_sign":1,"mpcc_id_a":0.174613193,"mpcc_iq_a":-0.867719352,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.58166718,"mpcc_pred_id_a":-0.460836619,"mpcc_pred_iq_a":-2.43163586,"mpcc_state":1,"mpcc_theta_e":0.446221828,"mpcc_theta_mech":0.556190252,"sam_rpm":-1.84368753,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023458451,"thr_a_norm":0.023458451,"thr_a_v":0.593833804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465630561,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.533257,"values":{"cg_iu_a":1.69179153,"cg_iv_a":2.16586113,"cg_iw_a":-3.56770229,"cg_theta_rad":0.552257657,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0333461575,"mpcc_du":50.3844681,"mpcc_dv":48.3405876,"mpcc_dw":51.6594124,"mpcc_enc_sign":1,"mpcc_id_a":2.49011254,"mpcc_iq_a":-0.389362276,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.13555574,"mpcc_pred_id_a":0.218798131,"mpcc_pred_iq_a":-0.524307311,"mpcc_state":1,"mpcc_theta_e":0.4429636,"mpcc_theta_mech":0.555538654,"sam_rpm":-4.69305658,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023458451,"thr_a_norm":0.023458451,"thr_a_v":0.593833804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465630561,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.556541,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.806133032,"cg_iw_a":-1.97297359,"cg_theta_rad":0.557249665,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0302522797,"mpcc_du":49.6406555,"mpcc_dv":49.8953743,"mpcc_dw":50.3593445,"mpcc_enc_sign":1,"mpcc_id_a":1.29660845,"mpcc_iq_a":0.326464564,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.189991,"mpcc_pred_id_a":-0.54198885,"mpcc_pred_iq_a":-4.71924925,"mpcc_state":1,"mpcc_theta_e":0.433665752,"mpcc_theta_mech":0.553679109,"sam_rpm":3.52831984,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023458451,"thr_a_norm":0.023458451,"thr_a_v":0.593833804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462458253,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.563042,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-1.09608364,"cg_iw_a":-2.26292419,"cg_theta_rad":0.557165146,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0107339574,"mpcc_du":50.8283195,"mpcc_dv":47.8871346,"mpcc_dw":52.1128654,"mpcc_enc_sign":1,"mpcc_id_a":0.0755612105,"mpcc_iq_a":-2.55149961,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-22.8609371,"mpcc_pred_id_a":-0.130003959,"mpcc_pred_iq_a":-0.252403527,"mpcc_state":1,"mpcc_theta_e":0.421085835,"mpcc_theta_mech":0.551163077,"sam_rpm":-34.0951805,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205756426,"thr_a_norm":0.023458451,"thr_a_v":0.58230257,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457674503,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.569603,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.11091113,"cg_iw_a":-0.45073247,"cg_theta_rad":0.555218995,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0450377613,"mpcc_du":49.4799309,"mpcc_dv":50.3012543,"mpcc_dw":50.5200691,"mpcc_enc_sign":1,"mpcc_id_a":3.89733481,"mpcc_iq_a":0.381426513,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.15532017,"mpcc_pred_id_a":0.475840718,"mpcc_pred_iq_a":-4.03153038,"mpcc_state":1,"mpcc_theta_e":0.442313194,"mpcc_theta_mech":0.555408537,"sam_rpm":2.32247305,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205756426,"thr_a_norm":0.0205756426,"thr_a_v":0.58230257,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457674503,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.576073,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.09608364,"cg_iw_a":-0.668195724,"cg_theta_rad":0.554330111,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.00026458301,"mpcc_du":50.0915298,"mpcc_dv":48.9441757,"mpcc_dw":51.0558243,"mpcc_enc_sign":1,"mpcc_id_a":-0.271634847,"mpcc_iq_a":-3.30075121,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.14608622,"mpcc_pred_id_a":-0.206468925,"mpcc_pred_iq_a":-1.15997958,"mpcc_state":1,"mpcc_theta_e":0.447819233,"mpcc_theta_mech":0.556509733,"sam_rpm":6.48123169,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199839771,"thr_a_norm":0.0199839771,"thr_a_v":0.579935908,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478722841,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.584099,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.951108456,"cg_iw_a":0.0566811562,"cg_theta_rad":0.555321038,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0303994715,"mpcc_du":49.7106743,"mpcc_dv":49.0764885,"mpcc_dw":50.9235115,"mpcc_enc_sign":1,"mpcc_id_a":2.3246839,"mpcc_iq_a":0.0925840437,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.05851936,"mpcc_pred_id_a":0.629836857,"mpcc_pred_iq_a":-0.698667884,"mpcc_state":1,"mpcc_theta_e":0.448860168,"mpcc_theta_mech":0.556717932,"sam_rpm":10.6975517,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199839771,"thr_a_norm":0.0199839771,"thr_a_v":0.579935908,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478722841,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.594292,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-2.11091113,"cg_iw_a":0.201656103,"cg_theta_rad":0.557867944,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.00574295688,"mpcc_du":49.6654663,"mpcc_dv":49.0640526,"mpcc_dw":50.9359474,"mpcc_enc_sign":1,"mpcc_id_a":1.51545727,"mpcc_iq_a":-1.26364231,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.21997738,"mpcc_pred_id_a":0.73348546,"mpcc_pred_iq_a":-0.4517757,"mpcc_state":1,"mpcc_theta_e":0.439813137,"mpcc_theta_mech":0.554908514,"sam_rpm":3.43947697,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0272728354,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478622139,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.604698,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.46555996,"cg_theta_rad":0.555244684,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0394169688,"mpcc_du":50.621357,"mpcc_dv":48.4003258,"mpcc_dw":51.5996742,"mpcc_enc_sign":1,"mpcc_id_a":0.408637971,"mpcc_iq_a":-1.21378303,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.84975111,"mpcc_pred_id_a":-0.475549757,"mpcc_pred_iq_a":-2.29060125,"mpcc_state":1,"mpcc_theta_e":0.44838047,"mpcc_theta_mech":0.556621969,"sam_rpm":-1.69669318,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216456801,"thr_a_norm":0.0272728354,"thr_a_v":0.58658272,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465529829,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.614555,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.806133032,"cg_iw_a":-1.61053538,"cg_theta_rad":0.552301168,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0135543477,"mpcc_du":49.4650993,"mpcc_dv":49.5734787,"mpcc_dw":50.5349007,"mpcc_enc_sign":1,"mpcc_id_a":0.989081442,"mpcc_iq_a":0.0168637577,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.43717861,"mpcc_pred_id_a":-0.35201776,"mpcc_pred_iq_a":-1.67129445,"mpcc_state":1,"mpcc_theta_e":0.423826218,"mpcc_theta_mech":0.551711202,"sam_rpm":-9.04253864,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0216456801,"thr_a_norm":0.0216456801,"thr_a_v":0.58658272,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465529829,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.624901,"values":{"cg_iu_a":2.63413143,"cg_iv_a":0.208694458,"cg_iw_a":-0.305757284,"cg_theta_rad":0.558022261,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0147775756,"mpcc_du":49.5487099,"mpcc_dv":49.7288666,"mpcc_dw":50.4512901,"mpcc_enc_sign":1,"mpcc_id_a":2.14969492,"mpcc_iq_a":-1.79025531,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.519575715,"mpcc_pred_id_a":-0.133236706,"mpcc_pred_iq_a":-2.85414624,"mpcc_state":1,"mpcc_theta_e":0.438779831,"mpcc_theta_mech":0.554701924,"sam_rpm":-1.8343693,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0207267106,"thr_a_norm":0.0207267106,"thr_a_v":0.582906842,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462861091,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.636284,"values":{"cg_iu_a":1.61930418,"cg_iv_a":0.426157475,"cg_iw_a":-0.740683317,"cg_theta_rad":0.55705595,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0395889245,"mpcc_du":50.2383194,"mpcc_dv":48.581955,"mpcc_dw":51.418045,"mpcc_enc_sign":1,"mpcc_id_a":2.79960155,"mpcc_iq_a":-0.582669675,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.696665645,"mpcc_pred_id_a":0.193241403,"mpcc_pred_iq_a":-0.702524841,"mpcc_state":1,"mpcc_theta_e":0.443016529,"mpcc_theta_mech":0.556631148,"sam_rpm":2.14125776,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259384215,"thr_a_norm":0.0207267106,"thr_a_v":0.603753686,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497907996,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.658287,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.6759851,"cg_iw_a":0.41911912,"cg_theta_rad":0.555998027,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.00137638173,"mpcc_du":50.9862976,"mpcc_dv":47.8072968,"mpcc_dw":50.2102623,"mpcc_enc_sign":1,"mpcc_id_a":-0.445620626,"mpcc_iq_a":-2.15005207,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.09725952,"mpcc_pred_id_a":-0.484784126,"mpcc_pred_iq_a":-0.369516015,"mpcc_state":1,"mpcc_theta_e":0.449083805,"mpcc_theta_mech":0.556762636,"sam_rpm":-29.8916626,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259384215,"thr_a_norm":0.0259384215,"thr_a_v":0.603753686,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.497907996,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.664818,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-2.18339872,"cg_iw_a":1.43394661,"cg_theta_rad":0.554162383,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0515394695,"mpcc_du":49.5354118,"mpcc_dv":49.5121498,"mpcc_dw":50.4878502,"mpcc_enc_sign":1,"mpcc_id_a":2.74708462,"mpcc_iq_a":-1.20405793,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.4537182,"mpcc_pred_id_a":0.0662159473,"mpcc_pred_iq_a":-3.88602233,"mpcc_state":1,"mpcc_theta_e":0.456312656,"mpcc_theta_mech":0.558208406,"sam_rpm":16.3943024,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0191405416,"thr_a_norm":0.0191405416,"thr_a_v":0.576562166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473687351,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.671349,"values":{"cg_iu_a":1.25686598,"cg_iv_a":3.25317621,"cg_iw_a":-2.91531348,"cg_theta_rad":0.55766201,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.00546818413,"mpcc_du":49.4643364,"mpcc_dv":50.5356636,"mpcc_dw":50.1272583,"mpcc_enc_sign":1,"mpcc_id_a":-0.681803286,"mpcc_iq_a":-0.643875897,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.66429567,"mpcc_pred_id_a":-0.569121242,"mpcc_pred_iq_a":-4.82566547,"mpcc_state":1,"mpcc_theta_e":0.445432663,"mpcc_theta_mech":0.556032479,"sam_rpm":8.16424465,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0191405416,"thr_a_norm":0.0191405416,"thr_a_v":0.576562166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473687351,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.67791,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.516182423,"cg_iw_a":0.41911912,"cg_theta_rad":0.557752132,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0247887429,"mpcc_du":49.8944397,"mpcc_dv":48.7147102,"mpcc_dw":51.2852898,"mpcc_enc_sign":1,"mpcc_id_a":3.08440471,"mpcc_iq_a":-1.33307385,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.86235809,"mpcc_pred_id_a":0.78653419,"mpcc_pred_iq_a":-2.62851691,"mpcc_state":1,"mpcc_theta_e":0.434073925,"mpcc_theta_mech":0.553760707,"sam_rpm":-14.8550043,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0312886238,"thr_a_norm":0.0312886238,"thr_a_v":0.625154495,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.686058,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.661157608,"cg_iw_a":-0.160782337,"cg_theta_rad":0.554505348,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0396883339,"mpcc_du":50.5354271,"mpcc_dv":47.9104271,"mpcc_dw":52.0895729,"mpcc_enc_sign":1,"mpcc_id_a":3.78703284,"mpcc_iq_a":0.212701738,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.9604921,"mpcc_pred_id_a":0.679793119,"mpcc_pred_iq_a":0.579222023,"mpcc_state":1,"mpcc_theta_e":0.426947117,"mpcc_theta_mech":0.552335322,"sam_rpm":-22.4575481,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0175417662,"thr_a_norm":0.0312886238,"thr_a_v":0.570167065,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455106407,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.696098,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.89344811,"cg_iw_a":-0.740683317,"cg_theta_rad":0.554664969,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0651901662,"mpcc_du":49.3149529,"mpcc_dv":49.988945,"mpcc_dw":50.6850471,"mpcc_enc_sign":1,"mpcc_id_a":4.49394035,"mpcc_iq_a":0.270610511,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.98983622,"mpcc_pred_id_a":1.2053293,"mpcc_pred_iq_a":-3.46566319,"mpcc_state":1,"mpcc_theta_e":0.445405006,"mpcc_theta_mech":0.556026876,"sam_rpm":7.18436241,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0175417662,"thr_a_norm":0.0175417662,"thr_a_v":0.570167065,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455106407,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.706322,"values":{"cg_iu_a":1.18437815,"cg_iv_a":1.07854605,"cg_iw_a":-2.26292419,"cg_theta_rad":0.556871355,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0155516947,"mpcc_du":49.5569,"mpcc_dv":49.4493179,"mpcc_dw":50.5506821,"mpcc_enc_sign":1,"mpcc_id_a":1.16806257,"mpcc_iq_a":-0.12991479,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.139799908,"mpcc_pred_id_a":-0.127428025,"mpcc_pred_iq_a":-3.45193148,"mpcc_state":1,"mpcc_theta_e":0.440662861,"mpcc_theta_mech":0.555078447,"sam_rpm":0.309582502,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0403902382,"thr_a_norm":0.0403902382,"thr_a_v":0.661560953,"thr_b":0.00903180242,"thr_b_norm":0.00903180242,"thr_b_v":0.53612721,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.715904,"values":{"cg_iu_a":3.43149567,"cg_iv_a":0.643620491,"cg_iw_a":-4.07511616,"cg_theta_rad":0.556677043,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.026327841,"mpcc_du":49.5533447,"mpcc_dv":49.4103508,"mpcc_dw":50.5896492,"mpcc_enc_sign":1,"mpcc_id_a":1.44029474,"mpcc_iq_a":-0.405348897,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.815827906,"mpcc_pred_id_a":0.0517393537,"mpcc_pred_iq_a":-4.23647738,"mpcc_state":1,"mpcc_theta_e":0.445714951,"mpcc_theta_mech":0.556088924,"sam_rpm":1.52100027,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0403902382,"thr_a_norm":0.0403902382,"thr_a_v":0.661560953,"thr_b":0.00903180242,"thr_b_norm":0.00903180242,"thr_b_v":0.53612721,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.726067,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.83578777,"cg_iw_a":1.79638481,"cg_theta_rad":0.556488037,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0139709981,"mpcc_du":50.2133255,"mpcc_dv":48.5873184,"mpcc_dw":51.4126816,"mpcc_enc_sign":1,"mpcc_id_a":0.606783152,"mpcc_iq_a":-0.469225526,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.92226255,"mpcc_pred_id_a":0.071524933,"mpcc_pred_iq_a":0.0467079394,"mpcc_state":1,"mpcc_theta_e":0.443657398,"mpcc_theta_mech":0.555677354,"sam_rpm":3.26059723,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0146715492,"thr_a_norm":0.0146715492,"thr_a_v":0.558686197,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456314951,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.736656,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.40086174,"cg_iw_a":1.36145878,"cg_theta_rad":0.557608843,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.04706949,"mpcc_du":49.5477371,"mpcc_dv":50.4522629,"mpcc_dw":50.2346306,"mpcc_enc_sign":1,"mpcc_id_a":-0.368059069,"mpcc_iq_a":-1.20806944,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.5421164,"mpcc_pred_id_a":-0.699810803,"mpcc_pred_iq_a":-0.366184384,"mpcc_state":1,"mpcc_theta_e":0.430395603,"mpcc_theta_mech":0.553025007,"sam_rpm":0.107208088,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0127832443,"thr_a_norm":0.0146715492,"thr_a_v":0.551132977,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.436676592,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.759605,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.371207237,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556787431,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0430964679,"mpcc_du":50.6278534,"mpcc_dv":49.0004501,"mpcc_dw":50.9995499,"mpcc_enc_sign":1,"mpcc_id_a":1.10887289,"mpcc_iq_a":-0.425270528,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.52406168,"mpcc_pred_id_a":-0.114493556,"mpcc_pred_iq_a":-1.57444501,"mpcc_state":1,"mpcc_theta_e":0.440182686,"mpcc_theta_mech":0.554982483,"sam_rpm":-8.69159889,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0127832443,"thr_a_norm":0.0127832443,"thr_a_v":0.551132977,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.436676592,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.766106,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.371207237,"cg_iw_a":-1.61053514,"cg_theta_rad":0.556622326,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0282179825,"mpcc_du":49.5710068,"mpcc_dv":49.6917458,"mpcc_dw":50.4289932,"mpcc_enc_sign":1,"mpcc_id_a":2.99374676,"mpcc_iq_a":-0.844337761,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.76466513,"mpcc_pred_id_a":0.162227765,"mpcc_pred_iq_a":-1.38670254,"mpcc_state":1,"mpcc_theta_e":0.438381672,"mpcc_theta_mech":0.554622293,"sam_rpm":2.81005096,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245914459,"thr_a_norm":0.0245914459,"thr_a_v":0.598365784,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480132759,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.772667,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.733645439,"cg_iw_a":-0.305757523,"cg_theta_rad":0.55740875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0138541376,"mpcc_du":49.8852196,"mpcc_dv":49.0509567,"mpcc_dw":50.9490433,"mpcc_enc_sign":1,"mpcc_id_a":1.91692019,"mpcc_iq_a":-0.583900809,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.93113947,"mpcc_pred_id_a":-0.0165323019,"mpcc_pred_iq_a":-0.627785087,"mpcc_state":1,"mpcc_theta_e":0.444445133,"mpcc_theta_mech":0.555834949,"sam_rpm":5.7613616,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245914459,"thr_a_norm":0.0245914459,"thr_a_v":0.598365784,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480132759,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.77993,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-1.31354666,"cg_iw_a":-1.90048599,"cg_theta_rad":0.557413697,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.00682013342,"mpcc_du":50.2583847,"mpcc_dv":48.3980675,"mpcc_dw":51.6019325,"mpcc_enc_sign":1,"mpcc_id_a":1.55451667,"mpcc_iq_a":-1.18342519,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.04419041,"mpcc_pred_id_a":0.375606149,"mpcc_pred_iq_a":0.120385468,"mpcc_state":1,"mpcc_theta_e":0.436927319,"mpcc_theta_mech":0.554331362,"sam_rpm":-7.53966761,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284813493,"thr_a_norm":0.0284813493,"thr_a_v":0.613925397,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498008728,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.789909,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.47334933,"cg_iw_a":-0.160782099,"cg_theta_rad":0.551427126,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0295251459,"mpcc_du":51.2790184,"mpcc_dv":47.5055046,"mpcc_dw":52.4944954,"mpcc_enc_sign":1,"mpcc_id_a":0.478295922,"mpcc_iq_a":-0.404110342,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.8442354,"mpcc_pred_id_a":-0.544683039,"mpcc_pred_iq_a":0.483974695,"mpcc_state":1,"mpcc_theta_e":0.437610149,"mpcc_theta_mech":0.554467916,"sam_rpm":-16.7281227,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0992675573,"thr_a_norm":0.0284813493,"thr_a_v":0.897070229,"thr_b":0.044091329,"thr_b_norm":0,"thr_b_v":0.676365316,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.799797,"values":{"cg_iu_a":3.72144651,"cg_iv_a":-1.31354666,"cg_iw_a":-2.40789986,"cg_theta_rad":0.557145357,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0215919837,"mpcc_du":49.7694893,"mpcc_dv":48.5835648,"mpcc_dw":51.4164352,"mpcc_enc_sign":1,"mpcc_id_a":0.523987412,"mpcc_iq_a":-1.13410914,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.18915224,"mpcc_pred_id_a":-0.47552079,"mpcc_pred_iq_a":-3.3837893,"mpcc_state":1,"mpcc_theta_e":0.452264309,"mpcc_theta_mech":0.556677878,"sam_rpm":10.0728884,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0992675573,"thr_a_norm":0.0992675573,"thr_a_v":0.897070229,"thr_b":0.044091329,"thr_b_norm":0.044091329,"thr_b_v":0.676365316,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.81002,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.60349751,"cg_iw_a":-2.19043684,"cg_theta_rad":0.558344364,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.00309313205,"mpcc_du":50.27071,"mpcc_dv":48.5924683,"mpcc_dw":51.4075317,"mpcc_enc_sign":1,"mpcc_id_a":0.451200128,"mpcc_iq_a":-0.62731576,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.92315197,"mpcc_pred_id_a":-0.135547668,"mpcc_pred_iq_a":-0.0305921882,"mpcc_state":1,"mpcc_theta_e":0.444122314,"mpcc_theta_mech":0.555770338,"sam_rpm":-5.33140516,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178438872,"thr_a_norm":0.0178438872,"thr_a_v":0.571375549,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.819664,"values":{"cg_iu_a":-0.0479121208,"cg_iv_a":0.426157475,"cg_iw_a":-0.668195724,"cg_theta_rad":0.551863313,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0227795653,"mpcc_du":49.2099648,"mpcc_dv":50.7900352,"mpcc_dw":49.9770432,"mpcc_enc_sign":1,"mpcc_id_a":1.33341217,"mpcc_iq_a":-0.13195467,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.5611534,"mpcc_pred_id_a":-0.177896112,"mpcc_pred_iq_a":-4.75538492,"mpcc_state":1,"mpcc_theta_e":0.452586174,"mpcc_theta_mech":0.557463109,"sam_rpm":20.9509068,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0178438872,"thr_a_norm":0.0178438872,"thr_a_v":0.571375549,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.83007,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.443694592,"cg_iw_a":-1.17560959,"cg_theta_rad":0.55560863,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.01477452,"mpcc_du":49.7253456,"mpcc_dv":49.1311188,"mpcc_dw":50.8688812,"mpcc_enc_sign":1,"mpcc_id_a":2.24460125,"mpcc_iq_a":0.994873166,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.0492437631,"mpcc_pred_id_a":0.213758945,"mpcc_pred_iq_a":0.332081705,"mpcc_state":1,"mpcc_theta_e":0.43337965,"mpcc_theta_mech":0.553621829,"sam_rpm":-0.153171167,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0301808268,"thr_a_norm":0.0301808268,"thr_a_v":0.620723307,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472932041,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.840263,"values":{"cg_iu_a":3.1415453,"cg_iv_a":0.716107845,"cg_iw_a":-1.24809694,"cg_theta_rad":0.555873275,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0312030502,"mpcc_du":49.9539261,"mpcc_dv":48.8392754,"mpcc_dw":51.1607246,"mpcc_enc_sign":1,"mpcc_id_a":0.135322452,"mpcc_iq_a":-1.52513015,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.540905,"mpcc_pred_id_a":0.0693828538,"mpcc_pred_iq_a":1.45648015,"mpcc_state":1,"mpcc_theta_e":0.422995567,"mpcc_theta_mech":0.551545024,"sam_rpm":-13.7247229,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0301808268,"thr_a_norm":0.0301808268,"thr_a_v":0.620723307,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472932041,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.864799,"values":{"cg_iu_a":1.32935333,"cg_iv_a":0.861083508,"cg_iw_a":-2.33541203,"cg_theta_rad":0.557443678,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.00155084813,"mpcc_du":50.8562088,"mpcc_dv":48.0820656,"mpcc_dw":51.9179344,"mpcc_enc_sign":1,"mpcc_id_a":-0.367771029,"mpcc_iq_a":-1.20815718,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.911026,"mpcc_pred_id_a":-0.772289217,"mpcc_pred_iq_a":-0.69886893,"mpcc_state":1,"mpcc_theta_e":0.430157185,"mpcc_theta_mech":0.552977383,"sam_rpm":-22.552578,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276756734,"thr_a_norm":0.0276756734,"thr_a_v":0.610702693,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487484545,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.8713,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-1.6759851,"cg_iw_a":1.21648383,"cg_theta_rad":0.556065619,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.00125516579,"mpcc_du":49.596241,"mpcc_dv":49.6268158,"mpcc_dw":50.403759,"mpcc_enc_sign":1,"mpcc_id_a":-0.114657991,"mpcc_iq_a":-2.34631777,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.5892036,"mpcc_pred_id_a":-0.531571925,"mpcc_pred_iq_a":-3.79348636,"mpcc_state":1,"mpcc_theta_e":0.439435959,"mpcc_theta_mech":0.554833114,"sam_rpm":-2.66880751,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250446349,"thr_a_norm":0.0250446349,"thr_a_v":0.60017854,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498159766,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.877892,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.09608364,"cg_iw_a":0.491606712,"cg_theta_rad":0.555894732,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.00123853819,"mpcc_du":49.7254639,"mpcc_dv":49.3355446,"mpcc_dw":50.6644554,"mpcc_enc_sign":1,"mpcc_id_a":0.611715555,"mpcc_iq_a":-2.50341129,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.19383049,"mpcc_pred_id_a":-0.449371457,"mpcc_pred_iq_a":-4.89927769,"mpcc_state":1,"mpcc_theta_e":0.439776421,"mpcc_theta_mech":0.555067718,"sam_rpm":6.49010515,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250446349,"thr_a_norm":0.0250446349,"thr_a_v":0.60017854,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.498159766,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.884361,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.02359605,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.557075918,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0313628279,"mpcc_du":49.5098419,"mpcc_dv":49.4475174,"mpcc_dw":50.5524826,"mpcc_enc_sign":1,"mpcc_id_a":2.787076,"mpcc_iq_a":-0.443577111,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.05005121,"mpcc_pred_id_a":0.260719836,"mpcc_pred_iq_a":-3.36331606,"mpcc_state":1,"mpcc_theta_e":0.44495821,"mpcc_theta_mech":0.555937529,"sam_rpm":3.22710776,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202483386,"thr_a_norm":0.0202483386,"thr_a_v":0.580993354,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.459890157,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.893974,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.298719406,"cg_iw_a":-0.523220062,"cg_theta_rad":0.556076467,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0510743447,"mpcc_du":49.6399269,"mpcc_dv":49.343689,"mpcc_dw":50.656311,"mpcc_enc_sign":1,"mpcc_id_a":2.47940326,"mpcc_iq_a":-0.925374925,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.35532665,"mpcc_pred_id_a":0.132522017,"mpcc_pred_iq_a":-3.84442544,"mpcc_state":1,"mpcc_theta_e":0.453782082,"mpcc_theta_mech":0.557702363,"sam_rpm":11.6537333,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273609459,"thr_a_norm":0.0202483386,"thr_a_v":0.609443784,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492117196,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.903679,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.443694592,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556571722,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0207560901,"mpcc_du":49.6445427,"mpcc_dv":49.2124443,"mpcc_dw":50.7875557,"mpcc_enc_sign":1,"mpcc_id_a":2.75290513,"mpcc_iq_a":0.0109238112,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.39729834,"mpcc_pred_id_a":0.296422541,"mpcc_pred_iq_a":-1.6435684,"mpcc_state":1,"mpcc_theta_e":0.437359333,"mpcc_theta_mech":0.554417789,"sam_rpm":-1.19223285,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273609459,"thr_a_norm":0.0273609459,"thr_a_v":0.609443784,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492117196,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.913902,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.24105906,"cg_iw_a":-0.958146334,"cg_theta_rad":0.557026207,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0244056378,"mpcc_du":50.4176369,"mpcc_dv":48.7417717,"mpcc_dw":51.2582283,"mpcc_enc_sign":1,"mpcc_id_a":-0.0112265376,"mpcc_iq_a":-1.89888942,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.82651424,"mpcc_pred_id_a":-0.693484962,"mpcc_pred_iq_a":-4.15405178,"mpcc_state":1,"mpcc_theta_e":0.453558922,"mpcc_theta_mech":0.557657719,"sam_rpm":1.16270363,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0272728354,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.924065,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.951108456,"cg_iw_a":-1.90048599,"cg_theta_rad":0.55595237,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.00873315055,"mpcc_du":50.1230469,"mpcc_dv":48.864521,"mpcc_dw":51.135479,"mpcc_enc_sign":1,"mpcc_id_a":1.14346027,"mpcc_iq_a":0.163175151,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.08057737,"mpcc_pred_id_a":-0.237836793,"mpcc_pred_iq_a":-1.07821965,"mpcc_state":1,"mpcc_theta_e":0.437046528,"mpcc_theta_mech":0.554355264,"sam_rpm":-6.63350248,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272728354,"thr_a_norm":0.0272728354,"thr_a_v":0.609091341,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.934044,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.878620625,"cg_iw_a":-1.90048599,"cg_theta_rad":0.556951821,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0975006968,"mpcc_du":49.9570885,"mpcc_dv":48.8460732,"mpcc_dw":51.1539268,"mpcc_enc_sign":1,"mpcc_id_a":0.932234645,"mpcc_iq_a":-0.162137061,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.99500418,"mpcc_pred_id_a":0.438128442,"mpcc_pred_iq_a":-2.98778152,"mpcc_state":1,"mpcc_theta_e":0.45380497,"mpcc_theta_mech":0.557706892,"sam_rpm":10.9204426,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02252689,"thr_a_norm":0.02252689,"thr_a_v":0.59010756,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492016494,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.944267,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.53100967,"cg_iw_a":-0.958146572,"cg_theta_rad":0.553329051,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0469996855,"mpcc_du":49.6291771,"mpcc_dv":49.8440437,"mpcc_dw":50.3708229,"mpcc_enc_sign":1,"mpcc_id_a":0.131026655,"mpcc_iq_a":-1.09017336,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.5456514,"mpcc_pred_id_a":-0.573527277,"mpcc_pred_iq_a":-4.36542797,"mpcc_state":1,"mpcc_theta_e":0.463366985,"mpcc_theta_mech":0.559619308,"sam_rpm":23.6055355,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.02252689,"thr_a_v":0.592927456,"thr_b":0.000282675028,"thr_b_norm":0,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.967308,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.09608364,"cg_iw_a":0.0566811562,"cg_theta_rad":0.557095289,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0212699752,"mpcc_du":48.8958282,"mpcc_dv":51.1041718,"mpcc_dw":49.4401283,"mpcc_enc_sign":1,"mpcc_id_a":0.335372955,"mpcc_iq_a":-0.196805999,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.1063404,"mpcc_pred_id_a":-0.737393737,"mpcc_pred_iq_a":-6.41459846,"mpcc_state":1,"mpcc_theta_e":0.433348179,"mpcc_theta_mech":0.55361551,"sam_rpm":23.9932861,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.023231864,"thr_a_v":0.592927456,"thr_b":0.000282675028,"thr_b_norm":0.000282675028,"thr_b_v":0.5011307,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.973808,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.32058477,"cg_theta_rad":0.554950535,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.00898799766,"mpcc_du":50.0218353,"mpcc_dv":48.84729,"mpcc_dw":51.15271,"mpcc_enc_sign":1,"mpcc_id_a":1.04447007,"mpcc_iq_a":-2.2517941,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.48656702,"mpcc_pred_id_a":0.0255182497,"mpcc_pred_iq_a":-3.18004847,"mpcc_state":1,"mpcc_theta_e":0.443234444,"mpcc_theta_mech":0.555592775,"sam_rpm":-2.84336782,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190524161,"thr_a_norm":0.0190524161,"thr_a_v":0.576209664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460292965,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.980309,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.96593571,"cg_iw_a":1.21648359,"cg_theta_rad":0.552823722,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.00834731199,"mpcc_du":49.1434021,"mpcc_dv":47.4395103,"mpcc_dw":52.5604897,"mpcc_enc_sign":1,"mpcc_id_a":0.691573679,"mpcc_iq_a":0.0441695228,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.83720303,"mpcc_pred_id_a":-0.210368842,"mpcc_pred_iq_a":-5.19267702,"mpcc_state":1,"mpcc_theta_e":0.447163582,"mpcc_theta_mech":0.552791417,"sam_rpm":12.7252464,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0190524161,"thr_a_norm":0.0190524161,"thr_a_v":0.576209664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460292965,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.9869,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.38603449,"cg_iw_a":-1.39307213,"cg_theta_rad":0.553631485,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.00885086972,"mpcc_du":49.5583992,"mpcc_dv":49.9147644,"mpcc_dw":50.4416008,"mpcc_enc_sign":1,"mpcc_id_a":-0.1476091,"mpcc_iq_a":-2.34447551,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.68478489,"mpcc_pred_id_a":-0.109261341,"mpcc_pred_iq_a":-4.64682436,"mpcc_state":1,"mpcc_theta_e":0.453485012,"mpcc_theta_mech":0.557642937,"sam_rpm":13.5954161,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137651563,"thr_a_norm":0.0137651563,"thr_a_v":0.555060625,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453545451,"vdc_v":55.2955055}} +{"type":"telemetry","t":116.997215,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.45852208,"cg_iw_a":0.346631765,"cg_theta_rad":0.556115746,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0406937599,"mpcc_du":50.1782532,"mpcc_dv":48.6446838,"mpcc_dw":51.3553162,"mpcc_enc_sign":1,"mpcc_id_a":0.219849989,"mpcc_iq_a":-0.849561632,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.57582617,"mpcc_pred_id_a":0.137944326,"mpcc_pred_iq_a":-3.06262803,"mpcc_state":1,"mpcc_theta_e":0.458892822,"mpcc_theta_mech":0.558724463,"sam_rpm":-5.42878056,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0125944167,"thr_a_norm":0.0125944167,"thr_a_v":0.550377667,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451229095,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.00808,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-2.32837415,"cg_iw_a":0.0566809177,"cg_theta_rad":0.554690123,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":5005,"hz_app_loop":357,"hz_tim_isr":10010,"hz_vsense":357,"mpcc_cost":0.0291852392,"mpcc_du":49.8138008,"mpcc_dv":48.9058876,"mpcc_dw":51.0941124,"mpcc_enc_sign":1,"mpcc_id_a":3.40508437,"mpcc_iq_a":0.249245495,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.4567523,"mpcc_pred_id_a":0.505154192,"mpcc_pred_iq_a":0.251970798,"mpcc_state":1,"mpcc_theta_e":0.426729202,"mpcc_theta_mech":0.553475082,"sam_rpm":-9.58314228,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0125944167,"thr_a_norm":0.0125944167,"thr_a_v":0.550377667,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451229095,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.018059,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.878620625,"cg_iw_a":-1.17560911,"cg_theta_rad":0.557006121,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0104130208,"mpcc_du":50.3474159,"mpcc_dv":48.6104965,"mpcc_dw":51.3895035,"mpcc_enc_sign":1,"mpcc_id_a":-0.32833764,"mpcc_iq_a":-2.51518703,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.8409281,"mpcc_pred_id_a":-0.36129427,"mpcc_pred_iq_a":-0.961343348,"mpcc_state":1,"mpcc_theta_e":0.429749012,"mpcc_theta_mech":0.552895725,"sam_rpm":-19.1995201,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.0264545679,"thr_a_v":0.605818272,"thr_b":0.00366903841,"thr_b_norm":0.00366903841,"thr_b_v":0.514676154,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.028069,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.878620625,"cg_iw_a":-0.450732708,"cg_theta_rad":0.553397,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9906.1875,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.012375718,"mpcc_du":50.5622711,"mpcc_dv":48.4578362,"mpcc_dw":51.5421638,"mpcc_enc_sign":1,"mpcc_id_a":0.15615727,"mpcc_iq_a":-0.577581167,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.93546247,"mpcc_pred_id_a":-0.567797065,"mpcc_pred_iq_a":-0.986113489,"mpcc_state":1,"mpcc_theta_e":0.439376831,"mpcc_theta_mech":0.554821312,"sam_rpm":-8.39818668,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264545679,"thr_a_norm":0.0264545679,"thr_a_v":0.605818272,"thr_b":0.00366903841,"thr_b_norm":0.00366903841,"thr_b_v":0.514676154,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.038261,"values":{"cg_iu_a":2.48915625,"cg_iv_a":0.933570862,"cg_iw_a":-2.11794901,"cg_theta_rad":0.556397438,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.00486789551,"mpcc_du":50.4819489,"mpcc_dv":48.1009636,"mpcc_dw":51.8990364,"mpcc_enc_sign":1,"mpcc_id_a":1.38817883,"mpcc_iq_a":-1.03631294,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.6005869,"mpcc_pred_id_a":0.371097803,"mpcc_pred_iq_a":-0.182771519,"mpcc_state":1,"mpcc_theta_e":0.424499035,"mpcc_theta_mech":0.551845729,"sam_rpm":-23.8743534,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0191279501,"thr_a_norm":0.0191279501,"thr_a_v":0.5765118,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461702883,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.048485,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.31354666,"cg_iw_a":-1.61053562,"cg_theta_rad":0.556408405,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.000861215347,"mpcc_du":49.1092262,"mpcc_dv":50.8907738,"mpcc_dw":49.7980881,"mpcc_enc_sign":1,"mpcc_id_a":0.384907693,"mpcc_iq_a":-1.58061898,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.3833361,"mpcc_pred_id_a":-0.370762199,"mpcc_pred_iq_a":-4.25539589,"mpcc_state":1,"mpcc_theta_e":0.454226971,"mpcc_theta_mech":0.557791293,"sam_rpm":22.7917271,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023533985,"thr_a_norm":0.0191279501,"thr_a_v":0.59413594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.071495,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.878620625,"cg_iw_a":-0.160782337,"cg_theta_rad":0.556155562,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.00627821358,"mpcc_du":50.5224533,"mpcc_dv":48.4153214,"mpcc_dw":51.5846786,"mpcc_enc_sign":1,"mpcc_id_a":-0.476049691,"mpcc_iq_a":-2.08476543,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.14397001,"mpcc_pred_id_a":-0.404086113,"mpcc_pred_iq_a":-1.78232157,"mpcc_state":1,"mpcc_theta_e":0.441064835,"mpcc_theta_mech":0.555158913,"sam_rpm":-8.30959892,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023533985,"thr_a_norm":0.023533985,"thr_a_v":0.59413594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.078026,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.371207237,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556180954,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.014227516,"mpcc_du":49.556385,"mpcc_dv":50.0079994,"mpcc_dw":50.443615,"mpcc_enc_sign":1,"mpcc_id_a":1.7211324,"mpcc_iq_a":-1.3299762,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.82934093,"mpcc_pred_id_a":-0.124264702,"mpcc_pred_iq_a":-4.91268396,"mpcc_state":1,"mpcc_theta_e":0.44654274,"mpcc_theta_mech":0.556254506,"sam_rpm":4.38086128,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250446349,"thr_a_norm":0.0250446349,"thr_a_v":0.60017854,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488441318,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.084526,"values":{"cg_iu_a":2.92408228,"cg_iv_a":0.933570862,"cg_iw_a":-3.85765314,"cg_theta_rad":0.551155388,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.00448607421,"mpcc_du":49.8788948,"mpcc_dv":49.1799088,"mpcc_dw":50.8200912,"mpcc_enc_sign":1,"mpcc_id_a":0.572053611,"mpcc_iq_a":-0.543564737,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.348349512,"mpcc_pred_id_a":-0.280859679,"mpcc_pred_iq_a":-1.70024145,"mpcc_state":1,"mpcc_theta_e":0.441453934,"mpcc_theta_mech":0.555236697,"sam_rpm":0.252913386,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250446349,"thr_a_norm":0.0250446349,"thr_a_v":0.60017854,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488441318,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.091057,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.878620625,"cg_iw_a":-0.740683556,"cg_theta_rad":0.554132164,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.00685528759,"mpcc_du":49.7526588,"mpcc_dv":49.3074112,"mpcc_dw":50.6925888,"mpcc_enc_sign":1,"mpcc_id_a":1.65265608,"mpcc_iq_a":-3.00187922,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.04266381,"mpcc_pred_id_a":-0.187066421,"mpcc_pred_iq_a":-3.92311883,"mpcc_state":1,"mpcc_theta_e":0.442611217,"mpcc_theta_mech":0.55600208,"sam_rpm":-2.79266334,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204623491,"thr_a_norm":0.0204623491,"thr_a_v":0.581849396,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453545451,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.099083,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.31354666,"cg_iw_a":0.636582375,"cg_theta_rad":0.555784881,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.00559794484,"mpcc_du":49.617054,"mpcc_dv":49.7664299,"mpcc_dw":50.382946,"mpcc_enc_sign":1,"mpcc_id_a":-0.015829701,"mpcc_iq_a":-1.75432825,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.21020222,"mpcc_pred_id_a":-0.174561277,"mpcc_pred_iq_a":-2.29161549,"mpcc_state":1,"mpcc_theta_e":0.450399399,"mpcc_theta_mech":0.55702579,"sam_rpm":1.31701386,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272980034,"thr_a_norm":0.0204623491,"thr_a_v":0.609192014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488894492,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.110039,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.6759851,"cg_iw_a":-0.958146334,"cg_theta_rad":0.555942655,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0124989711,"mpcc_du":49.5298653,"mpcc_dv":49.7107849,"mpcc_dw":50.4701347,"mpcc_enc_sign":1,"mpcc_id_a":1.62731576,"mpcc_iq_a":-1.54116368,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.64562535,"mpcc_pred_id_a":0.0185461044,"mpcc_pred_iq_a":-2.98251987,"mpcc_state":1,"mpcc_theta_e":0.437101364,"mpcc_theta_mech":0.554366231,"sam_rpm":-7.39614582,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272980034,"thr_a_norm":0.0272980034,"thr_a_v":0.609192014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488894492,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.120262,"values":{"cg_iu_a":0.966915131,"cg_iv_a":0.643620491,"cg_iw_a":-1.61053562,"cg_theta_rad":0.556300282,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0483902618,"mpcc_du":49.4466248,"mpcc_dv":49.3838272,"mpcc_dw":50.6161728,"mpcc_enc_sign":1,"mpcc_id_a":3.45357823,"mpcc_iq_a":0.184387863,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.92883348,"mpcc_pred_id_a":0.517063975,"mpcc_pred_iq_a":1.20255518,"mpcc_state":1,"mpcc_theta_e":0.42579031,"mpcc_theta_mech":0.552103937,"sam_rpm":-6.42094612,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0232192725,"thr_a_norm":0.0232192725,"thr_a_v":0.59287709,"thr_b":0.00188143551,"thr_b_norm":0.00188143551,"thr_b_v":0.507525742,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.130669,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.38603449,"cg_iw_a":0.709070206,"cg_theta_rad":0.555155218,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0547897592,"mpcc_du":50.1479683,"mpcc_dv":48.7824745,"mpcc_dw":51.2175255,"mpcc_enc_sign":1,"mpcc_id_a":1.62707031,"mpcc_iq_a":-0.687769175,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.70482862,"mpcc_pred_id_a":-0.108073048,"mpcc_pred_iq_a":-3.70192456,"mpcc_state":1,"mpcc_theta_e":0.44962883,"mpcc_theta_mech":0.556871712,"sam_rpm":-0.220322222,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02567406,"thr_a_norm":0.0232192725,"thr_a_v":0.60269624,"thr_b":0,"thr_b_norm":0.00188143551,"thr_b_v":0.478773177,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.142448,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-1.38603449,"cg_iw_a":-1.68302298,"cg_theta_rad":0.553503215,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0129558593,"mpcc_du":50.2257423,"mpcc_dv":48.6299629,"mpcc_dw":51.3700371,"mpcc_enc_sign":1,"mpcc_id_a":0.691386878,"mpcc_iq_a":-1.47915161,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.75651407,"mpcc_pred_id_a":-0.204131827,"mpcc_pred_iq_a":-2.30832338,"mpcc_state":1,"mpcc_theta_e":0.441249847,"mpcc_theta_mech":0.555195928,"sam_rpm":-5.14534092,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02567406,"thr_a_norm":0.02567406,"thr_a_v":0.60269624,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478773177,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.165703,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-0.443694592,"cg_iw_a":-1.75551081,"cg_theta_rad":0.556339264,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.00158701628,"mpcc_du":50.146965,"mpcc_dv":48.8894157,"mpcc_dw":51.1105843,"mpcc_enc_sign":1,"mpcc_id_a":-0.0528069474,"mpcc_iq_a":-2.70377302,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.31492996,"mpcc_pred_id_a":-0.471746653,"mpcc_pred_iq_a":-2.74079084,"mpcc_state":1,"mpcc_theta_e":0.443252563,"mpcc_theta_mech":0.555596471,"sam_rpm":-2.60170484,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0157541782,"thr_a_norm":0.0157541782,"thr_a_v":0.563016713,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461048275,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.172295,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.878620625,"cg_iw_a":0.419119358,"cg_theta_rad":0.554062128,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0239914209,"mpcc_du":49.6632271,"mpcc_dv":49.1079941,"mpcc_dw":50.8920059,"mpcc_enc_sign":1,"mpcc_id_a":3.03643203,"mpcc_iq_a":-1.26415908,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.1404238,"mpcc_pred_id_a":0.479324222,"mpcc_pred_iq_a":-4.08733559,"mpcc_state":1,"mpcc_theta_e":0.433922768,"mpcc_theta_mech":0.553730428,"sam_rpm":-14.7828226,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199210346,"thr_a_norm":0.0157541782,"thr_a_v":0.579684138,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.178734,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.588670254,"cg_iw_a":-0.378244877,"cg_theta_rad":0.553047717,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0183584746,"mpcc_du":49.5803528,"mpcc_dv":49.5078926,"mpcc_dw":50.4921074,"mpcc_enc_sign":1,"mpcc_id_a":2.42395997,"mpcc_iq_a":-0.514920473,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.786972,"mpcc_pred_id_a":0.150950789,"mpcc_pred_iq_a":-0.843090951,"mpcc_state":1,"mpcc_theta_e":0.432353973,"mpcc_theta_mech":0.553416729,"sam_rpm":-3.76207209,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199210346,"thr_a_norm":0.0199210346,"thr_a_v":0.579684138,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.185265,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.298719406,"cg_iw_a":-2.33541203,"cg_theta_rad":0.552956522,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.00455952063,"mpcc_du":49.727169,"mpcc_dv":49.1627197,"mpcc_dw":50.8372803,"mpcc_enc_sign":1,"mpcc_id_a":1.25781465,"mpcc_iq_a":-2.96588564,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.62100744,"mpcc_pred_id_a":-0.0393179022,"mpcc_pred_iq_a":-4.72826147,"mpcc_state":1,"mpcc_theta_e":0.447185993,"mpcc_theta_mech":0.555761874,"sam_rpm":6.65513515,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02403754,"thr_a_norm":0.02403754,"thr_a_v":0.59615016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491664022,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.193352,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.661157608,"cg_iw_a":-0.958146572,"cg_theta_rad":0.552582562,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0104018403,"mpcc_du":49.7543411,"mpcc_dv":49.2943192,"mpcc_dw":50.7056808,"mpcc_enc_sign":1,"mpcc_id_a":1.85227513,"mpcc_iq_a":-2.05360365,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.59310722,"mpcc_pred_id_a":-0.102292553,"mpcc_pred_iq_a":-1.41037476,"mpcc_state":1,"mpcc_theta_e":0.450499535,"mpcc_theta_mech":0.557045817,"sam_rpm":13.0045147,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02403754,"thr_a_norm":0.02403754,"thr_a_v":0.59615016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491664022,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.203636,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.806133032,"cg_iw_a":-1.24809718,"cg_theta_rad":0.556857347,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.080474861,"mpcc_du":49.9667244,"mpcc_dv":48.5801506,"mpcc_dw":51.4198494,"mpcc_enc_sign":1,"mpcc_id_a":4.682096,"mpcc_iq_a":-0.50809145,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.23871699,"mpcc_pred_id_a":0.995301485,"mpcc_pred_iq_a":-1.56721854,"mpcc_state":1,"mpcc_theta_e":0.4440341,"mpcc_theta_mech":0.555752754,"sam_rpm":0.24888365,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0147974342,"thr_a_norm":0.0147974342,"thr_a_v":0.559189737,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.446344733,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.213829,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.878620625,"cg_iw_a":-2.40789986,"cg_theta_rad":0.557026088,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0550855547,"mpcc_du":49.7941017,"mpcc_dv":48.4184074,"mpcc_dw":51.5815926,"mpcc_enc_sign":1,"mpcc_id_a":1.09890532,"mpcc_iq_a":0.215049371,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.78980827,"mpcc_pred_id_a":-0.0900617093,"mpcc_pred_iq_a":-3.58199883,"mpcc_state":1,"mpcc_theta_e":0.452289104,"mpcc_theta_mech":0.555951893,"sam_rpm":7.60907316,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247928649,"thr_a_norm":0.0147974342,"thr_a_v":0.59917146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494483829,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.223473,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-1.38603449,"cg_iw_a":-1.97297382,"cg_theta_rad":0.556290805,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0157868955,"mpcc_du":49.8448219,"mpcc_dv":49.2003174,"mpcc_dw":51.8440208,"mpcc_enc_sign":1,"mpcc_id_a":0.653162479,"mpcc_iq_a":-1.55587876,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.04605007,"mpcc_pred_id_a":-0.11245741,"mpcc_pred_iq_a":-3.66476536,"mpcc_state":1,"mpcc_theta_e":0.44284296,"mpcc_theta_mech":0.555514514,"sam_rpm":3.3484993,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0247928649,"thr_a_norm":0.0247928649,"thr_a_v":0.59917146,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494483829,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.233665,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.226231575,"cg_iw_a":-0.450732708,"cg_theta_rad":0.554564357,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.026057791,"mpcc_du":50.2061844,"mpcc_dv":48.783947,"mpcc_dw":51.216053,"mpcc_enc_sign":1,"mpcc_id_a":0.780305564,"mpcc_iq_a":-1.76944077,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.37608695,"mpcc_pred_id_a":-0.280846477,"mpcc_pred_iq_a":-3.25141478,"mpcc_state":1,"mpcc_theta_e":0.451643944,"mpcc_theta_mech":0.557274699,"sam_rpm":-1.51995873,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198203325,"thr_a_norm":0.0198203325,"thr_a_v":0.57928133,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.243645,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-1.02359605,"cg_iw_a":0.346631765,"cg_theta_rad":0.556212664,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0156875793,"mpcc_du":50.2011681,"mpcc_dv":48.7524948,"mpcc_dw":51.2475052,"mpcc_enc_sign":1,"mpcc_id_a":0.867342651,"mpcc_iq_a":-1.10291803,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.88821888,"mpcc_pred_id_a":-0.218971997,"mpcc_pred_iq_a":-2.42787766,"mpcc_state":1,"mpcc_theta_e":0.443769455,"mpcc_theta_mech":0.555699825,"sam_rpm":-4.05049229,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0198203325,"thr_a_norm":0.0198203325,"thr_a_v":0.57928133,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464069575,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.266869,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.371207237,"cg_iw_a":0.926532745,"cg_theta_rad":0.556592345,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0114833312,"mpcc_du":49.3682175,"mpcc_dv":50.6317825,"mpcc_dw":50.2147217,"mpcc_enc_sign":1,"mpcc_id_a":1.34224808,"mpcc_iq_a":-1.4396174,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.5295105,"mpcc_pred_id_a":-0.0856375843,"mpcc_pred_iq_a":-5.15164375,"mpcc_state":1,"mpcc_theta_e":0.452760696,"mpcc_theta_mech":0.557498097,"sam_rpm":15.7489462,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022929728,"thr_a_norm":0.022929728,"thr_a_v":0.591718912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483607233,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.273399,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-1.31354666,"cg_iw_a":-0.305757523,"cg_theta_rad":0.557264626,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0227122325,"mpcc_du":50.1719627,"mpcc_dv":48.5541191,"mpcc_dw":51.4458809,"mpcc_enc_sign":1,"mpcc_id_a":2.49721575,"mpcc_iq_a":-1.05190384,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.80197811,"mpcc_pred_id_a":0.390693933,"mpcc_pred_iq_a":0.516645133,"mpcc_state":1,"mpcc_theta_e":0.446525574,"mpcc_theta_mech":0.556251049,"sam_rpm":5.82487154,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0131608993,"thr_a_norm":0.022929728,"thr_a_v":0.552643597,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464371711,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.280022,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-2.40086174,"cg_iw_a":0.346631527,"cg_theta_rad":0.554585099,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0678035319,"mpcc_du":49.4038773,"mpcc_dv":49.5649071,"mpcc_dw":50.5961227,"mpcc_enc_sign":1,"mpcc_id_a":3.88633728,"mpcc_iq_a":1.5448283,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.30555165,"mpcc_pred_id_a":0.675263762,"mpcc_pred_iq_a":-3.07017708,"mpcc_state":1,"mpcc_theta_e":0.442150593,"mpcc_theta_mech":0.555375993,"sam_rpm":1.95842874,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0131608993,"thr_a_norm":0.0131608993,"thr_a_v":0.552643597,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464371711,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.28643,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.47334933,"cg_iw_a":-2.04546142,"cg_theta_rad":0.555226147,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0353376865,"mpcc_du":50.1052971,"mpcc_dv":48.7599373,"mpcc_dw":51.2400627,"mpcc_enc_sign":1,"mpcc_id_a":0.817494929,"mpcc_iq_a":-0.530458808,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.24076653,"mpcc_pred_id_a":0.147875845,"mpcc_pred_iq_a":-1.00366259,"mpcc_state":1,"mpcc_theta_e":0.450598717,"mpcc_theta_mech":0.557065666,"sam_rpm":10.2658081,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0457656235,"thr_a_norm":0.0457656235,"thr_a_v":0.683062494,"thr_b":0.0176047087,"thr_b_norm":0.0176047087,"thr_b_v":0.570418835,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.294273,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.733645439,"cg_iw_a":-1.75551081,"cg_theta_rad":0.556867242,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0318214372,"mpcc_du":48.9847946,"mpcc_dv":51.0152054,"mpcc_dw":49.6427536,"mpcc_enc_sign":1,"mpcc_id_a":1.34206581,"mpcc_iq_a":-0.284380287,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.0091038,"mpcc_pred_id_a":-0.339495718,"mpcc_pred_iq_a":-6.23623085,"mpcc_state":1,"mpcc_theta_e":0.458405972,"mpcc_theta_mech":0.558627069,"sam_rpm":23.6503811,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0457656235,"thr_a_norm":0.0457656235,"thr_a_v":0.683062494,"thr_b":0.0176047087,"thr_b_norm":0.0176047087,"thr_b_v":0.570418835,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.304558,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.661157608,"cg_iw_a":-2.04546165,"cg_theta_rad":0.556232631,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0392022915,"mpcc_du":49.3020859,"mpcc_dv":50.6979141,"mpcc_dw":50.3998108,"mpcc_enc_sign":1,"mpcc_id_a":3.71811032,"mpcc_iq_a":-0.0159287788,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.5214672,"mpcc_pred_id_a":0.800846219,"mpcc_pred_iq_a":-2.85246658,"mpcc_state":1,"mpcc_theta_e":0.436144829,"mpcc_theta_mech":0.55417484,"sam_rpm":17.407135,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202735066,"thr_a_norm":0.0202735066,"thr_a_v":0.581094027,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457624167,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.31469,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.371207237,"cg_iw_a":-0.450732708,"cg_theta_rad":0.55703038,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0104975486,"mpcc_du":50.2937622,"mpcc_dv":48.5939865,"mpcc_dw":50.5773201,"mpcc_enc_sign":1,"mpcc_id_a":0.0358187333,"mpcc_iq_a":-0.151320413,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.642590523,"mpcc_pred_id_a":0.00514044287,"mpcc_pred_iq_a":0.41354546,"mpcc_state":1,"mpcc_theta_e":0.44166708,"mpcc_theta_mech":0.555279315,"sam_rpm":0.85727936,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189013481,"thr_a_norm":0.0202735066,"thr_a_v":0.575605392,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461451113,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.324638,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.53100967,"cg_iw_a":-0.523220539,"cg_theta_rad":0.559876978,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0129685737,"mpcc_du":50.2735901,"mpcc_dv":48.6038666,"mpcc_dw":51.3961334,"mpcc_enc_sign":1,"mpcc_id_a":1.96075964,"mpcc_iq_a":0.400342315,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.20381594,"mpcc_pred_id_a":-0.0562187992,"mpcc_pred_iq_a":3.01867151,"mpcc_state":1,"mpcc_theta_e":0.426663876,"mpcc_theta_mech":0.552278697,"sam_rpm":-8.40521336,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0189013481,"thr_a_norm":0.0189013481,"thr_a_v":0.575605392,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461451113,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.334862,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.878620625,"cg_iw_a":-1.75551081,"cg_theta_rad":0.557020366,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.00948930811,"mpcc_du":49.7428741,"mpcc_dv":49.2805099,"mpcc_dw":50.7194901,"mpcc_enc_sign":1,"mpcc_id_a":1.82542288,"mpcc_iq_a":-0.431848288,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.79938829,"mpcc_pred_id_a":-0.108497001,"mpcc_pred_iq_a":0.169192195,"mpcc_state":1,"mpcc_theta_e":0.436686516,"mpcc_theta_mech":0.554283261,"sam_rpm":0.466691166,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163962096,"thr_a_norm":0.0163962096,"thr_a_v":0.565584838,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454653233,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.344902,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.371207237,"cg_iw_a":-1.03063416,"cg_theta_rad":0.554666042,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0394717343,"mpcc_du":50.1124382,"mpcc_dv":48.9235077,"mpcc_dw":51.0764923,"mpcc_enc_sign":1,"mpcc_id_a":2.71322536,"mpcc_iq_a":-0.578790188,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.852351665,"mpcc_pred_id_a":-0.245023727,"mpcc_pred_iq_a":-3.53037834,"mpcc_state":1,"mpcc_theta_e":0.447959423,"mpcc_theta_mech":0.556537807,"sam_rpm":-0.225386515,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163962096,"thr_a_norm":0.0163962096,"thr_a_v":0.565584838,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454653233,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.368034,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.74847269,"cg_iw_a":-1.53804779,"cg_theta_rad":0.558721244,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0276638474,"mpcc_du":48.862175,"mpcc_dv":51.137825,"mpcc_dw":49.6393051,"mpcc_enc_sign":1,"mpcc_id_a":2.9636333,"mpcc_iq_a":-1.25550127,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.7785072,"mpcc_pred_id_a":0.0569090918,"mpcc_pred_iq_a":-6.30418301,"mpcc_state":1,"mpcc_theta_e":0.454013348,"mpcc_theta_mech":0.557748556,"sam_rpm":20.1273594,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0395845622,"thr_a_norm":0.0395845622,"thr_a_v":0.658338249,"thr_b":0.00797435641,"thr_b_norm":0.00797435641,"thr_b_v":0.531897426,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.374596,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-1.6759851,"cg_iw_a":0.999020815,"cg_theta_rad":0.554397702,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.00504623493,"mpcc_du":49.5072441,"mpcc_dv":50.2992172,"mpcc_dw":50.3617706,"mpcc_enc_sign":1,"mpcc_id_a":1.32995403,"mpcc_iq_a":-2.00430417,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.01301384,"mpcc_pred_id_a":-0.0554086268,"mpcc_pred_iq_a":-6.02351856,"mpcc_state":1,"mpcc_theta_e":0.437790394,"mpcc_theta_mech":0.554638803,"sam_rpm":-5.89792633,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208525956,"thr_a_norm":0.0395845622,"thr_a_v":0.583410382,"thr_b":0,"thr_b_norm":0.00797435641,"thr_b_v":0.457674503,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.381096,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.661157608,"cg_iw_a":0.201656342,"cg_theta_rad":0.554395616,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0297667496,"mpcc_du":49.4254074,"mpcc_dv":49.5888176,"mpcc_dw":50.5745926,"mpcc_enc_sign":1,"mpcc_id_a":3.00318146,"mpcc_iq_a":0.0207237806,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.320002198,"mpcc_pred_id_a":0.662078977,"mpcc_pred_iq_a":-3.32138515,"mpcc_state":1,"mpcc_theta_e":0.441298008,"mpcc_theta_mech":0.555205524,"sam_rpm":-1.0526768,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208525956,"thr_a_norm":0.0208525956,"thr_a_v":0.583410382,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457674503,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.387657,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.74847269,"cg_iw_a":-0.523220539,"cg_theta_rad":0.555424869,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.00687956251,"mpcc_du":50.8613548,"mpcc_dv":48.0747185,"mpcc_dw":51.9252815,"mpcc_enc_sign":1,"mpcc_id_a":-1.59940434,"mpcc_iq_a":-1.97811353,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.857542,"mpcc_pred_id_a":-0.637762904,"mpcc_pred_iq_a":0.614905894,"mpcc_state":1,"mpcc_theta_e":0.430556774,"mpcc_theta_mech":0.553057253,"sam_rpm":-17.4399223,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02000916,"thr_a_norm":0.02000916,"thr_a_v":0.58003664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486427099,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.398094,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.38603449,"cg_iw_a":-1.90048623,"cg_theta_rad":0.554498613,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.111883521,"mpcc_du":50.07547,"mpcc_dv":48.4954109,"mpcc_dw":51.5045891,"mpcc_enc_sign":1,"mpcc_id_a":3.87420297,"mpcc_iq_a":0.137309238,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.75407052,"mpcc_pred_id_a":0.851160347,"mpcc_pred_iq_a":-2.92696857,"mpcc_state":1,"mpcc_theta_e":0.448502064,"mpcc_theta_mech":0.556646347,"sam_rpm":0.00268281205,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274742395,"thr_a_norm":0.02000916,"thr_a_v":0.609896958,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48980087,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.408226,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.661157608,"cg_iw_a":-2.11794901,"cg_theta_rad":0.555400789,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.00456431136,"mpcc_du":49.2324791,"mpcc_dv":50.7675209,"mpcc_dw":49.9799728,"mpcc_enc_sign":1,"mpcc_id_a":1.03727078,"mpcc_iq_a":-0.577202797,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.75121307,"mpcc_pred_id_a":-0.27299428,"mpcc_pred_iq_a":-2.57500052,"mpcc_state":1,"mpcc_theta_e":0.44065237,"mpcc_theta_mech":0.55507642,"sam_rpm":12.6559811,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274742395,"thr_a_norm":0.0274742395,"thr_a_v":0.609896958,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48980087,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.418755,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.951108456,"cg_iw_a":-0.015806675,"cg_theta_rad":0.552138031,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0371048227,"mpcc_du":49.4922371,"mpcc_dv":50.0311317,"mpcc_dw":50.5077629,"mpcc_enc_sign":1,"mpcc_id_a":1.9140805,"mpcc_iq_a":-2.66808009,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.50586891,"mpcc_pred_id_a":0.106721833,"mpcc_pred_iq_a":-3.36300063,"mpcc_state":1,"mpcc_theta_e":0.429702759,"mpcc_theta_mech":0.552886426,"sam_rpm":-11.0867071,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0141050667,"thr_a_norm":0.0141050667,"thr_a_v":0.556420267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449365973,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.428429,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.371207237,"cg_iw_a":0.12916851,"cg_theta_rad":0.556591451,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0364585891,"mpcc_du":49.3948174,"mpcc_dv":49.6903648,"mpcc_dw":50.6051826,"mpcc_enc_sign":1,"mpcc_id_a":3.73073792,"mpcc_iq_a":-1.15379822,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.5281179,"mpcc_pred_id_a":0.63737452,"mpcc_pred_iq_a":-1.68617547,"mpcc_state":1,"mpcc_theta_e":0.440764427,"mpcc_theta_mech":0.555098832,"sam_rpm":2.19487596,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0141050667,"thr_a_norm":0.0141050667,"thr_a_v":0.556420267,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449365973,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.438683,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.878620625,"cg_iw_a":-1.61053562,"cg_theta_rad":0.555549204,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0144008091,"mpcc_du":49.5356026,"mpcc_dv":49.4248505,"mpcc_dw":50.5751495,"mpcc_enc_sign":1,"mpcc_id_a":1.96176398,"mpcc_iq_a":0.395391405,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.37425852,"mpcc_pred_id_a":0.103035845,"mpcc_pred_iq_a":0.637545228,"mpcc_state":1,"mpcc_theta_e":0.429188251,"mpcc_theta_mech":0.552783608,"sam_rpm":-2.62494516,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245285034,"thr_a_norm":0.0245285034,"thr_a_v":0.598114014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486175328,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.448845,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-1.74847269,"cg_iw_a":-1.17560959,"cg_theta_rad":0.557349503,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.00186946406,"mpcc_du":49.5988007,"mpcc_dv":49.9204407,"mpcc_dw":50.4011993,"mpcc_enc_sign":1,"mpcc_id_a":0.046400059,"mpcc_iq_a":-1.8232379,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.28415704,"mpcc_pred_id_a":-0.433142662,"mpcc_pred_iq_a":-3.12921643,"mpcc_state":1,"mpcc_theta_e":0.442069054,"mpcc_theta_mech":0.555359721,"sam_rpm":0.594975233,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188006312,"thr_a_norm":0.0245285034,"thr_a_v":0.575202525,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470464617,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.473076,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.951108456,"cg_iw_a":-1.61053514,"cg_theta_rad":0.556551516,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0115023302,"mpcc_du":49.54702,"mpcc_dv":49.7394753,"mpcc_dw":50.45298,"mpcc_enc_sign":1,"mpcc_id_a":1.82782304,"mpcc_iq_a":-1.4530139,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.650600791,"mpcc_pred_id_a":-0.164826348,"mpcc_pred_iq_a":-2.46391678,"mpcc_state":1,"mpcc_theta_e":0.438273907,"mpcc_theta_mech":0.554600716,"sam_rpm":-2.09906912,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188006312,"thr_a_norm":0.0188006312,"thr_a_v":0.575202525,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470464617,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.479576,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.443694592,"cg_iw_a":-1.46555996,"cg_theta_rad":0.555206656,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.00474634627,"mpcc_du":49.5963516,"mpcc_dv":49.8055611,"mpcc_dw":50.4036484,"mpcc_enc_sign":1,"mpcc_id_a":0.367497385,"mpcc_iq_a":-0.6341151,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.00148463,"mpcc_pred_id_a":-0.388864607,"mpcc_pred_iq_a":-3.651371,"mpcc_state":1,"mpcc_theta_e":0.444541454,"mpcc_theta_mech":0.555854201,"sam_rpm":2.55417776,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482046247,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.486107,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.806133032,"cg_iw_a":-0.81317091,"cg_theta_rad":0.555120766,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0405397899,"mpcc_du":49.3035088,"mpcc_dv":50.6964912,"mpcc_dw":50.2031708,"mpcc_enc_sign":1,"mpcc_id_a":3.04110885,"mpcc_iq_a":0.594488382,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.32113695,"mpcc_pred_id_a":0.228419781,"mpcc_pred_iq_a":-5.53512859,"mpcc_state":1,"mpcc_theta_e":0.444934368,"mpcc_theta_mech":0.55593282,"sam_rpm":6.39880657,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256614834,"thr_a_norm":0.0256614834,"thr_a_v":0.602645934,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.482046247,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.492607,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.45852208,"cg_iw_a":-2.40789986,"cg_theta_rad":0.552683592,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.00695197796,"mpcc_du":49.6213722,"mpcc_dv":49.3319359,"mpcc_dw":50.6680641,"mpcc_enc_sign":1,"mpcc_id_a":1.37344515,"mpcc_iq_a":-0.543136477,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.31809855,"mpcc_pred_id_a":0.000584463589,"mpcc_pred_iq_a":1.66214943,"mpcc_state":1,"mpcc_theta_e":0.436041355,"mpcc_theta_mech":0.554154158,"sam_rpm":25.2194309,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0956420153,"thr_a_norm":0.0956420153,"thr_a_v":0.882568061,"thr_b":0.0408434421,"thr_b_norm":0.0408434421,"thr_b_v":0.663373768,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.501823,"values":{"cg_iu_a":3.72144651,"cg_iv_a":-0.588670254,"cg_iw_a":-3.13277626,"cg_theta_rad":0.553978026,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0433259495,"mpcc_du":49.7456474,"mpcc_dv":49.4229813,"mpcc_dw":50.5770187,"mpcc_enc_sign":1,"mpcc_id_a":0.196062952,"mpcc_iq_a":-0.648729503,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.89012957,"mpcc_pred_id_a":-0.263340682,"mpcc_pred_iq_a":-4.74399519,"mpcc_state":1,"mpcc_theta_e":0.451568604,"mpcc_theta_mech":0.557259679,"sam_rpm":6.88333321,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0141680092,"thr_a_norm":0.0956420153,"thr_a_v":0.556672037,"thr_b":0,"thr_b_norm":0.0408434421,"thr_b_v":0.452185839,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.51165,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.733645439,"cg_iw_a":-1.17560911,"cg_theta_rad":0.553804696,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0190704148,"mpcc_du":50.0103989,"mpcc_dv":49.1944237,"mpcc_dw":50.8055763,"mpcc_enc_sign":1,"mpcc_id_a":0.118373729,"mpcc_iq_a":-1.30840969,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.18270731,"mpcc_pred_id_a":-0.442916632,"mpcc_pred_iq_a":-2.52164149,"mpcc_state":1,"mpcc_theta_e":0.451120377,"mpcc_theta_mech":0.557170033,"sam_rpm":5.05507517,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0141680092,"thr_a_norm":0.0141680092,"thr_a_v":0.556672037,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452185839,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.523033,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.951108456,"cg_iw_a":-2.33541203,"cg_theta_rad":0.554359019,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.00529564079,"mpcc_du":49.8220863,"mpcc_dv":49.2220497,"mpcc_dw":50.7779503,"mpcc_enc_sign":1,"mpcc_id_a":0.598127067,"mpcc_iq_a":-1.70135474,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.1068029,"mpcc_pred_id_a":-0.174938291,"mpcc_pred_iq_a":-3.06612515,"mpcc_state":1,"mpcc_theta_e":0.43304491,"mpcc_theta_mech":0.553554893,"sam_rpm":-16.6317978,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212302655,"thr_a_norm":0.0212302655,"thr_a_v":0.584921062,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457422733,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.534416,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-2.32837415,"cg_iw_a":0.926532984,"cg_theta_rad":0.553188205,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0809845254,"mpcc_du":50.2768936,"mpcc_dv":48.367836,"mpcc_dw":51.632164,"mpcc_enc_sign":1,"mpcc_id_a":3.0373385,"mpcc_iq_a":-0.424324036,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.64846349,"mpcc_pred_id_a":0.663219154,"mpcc_pred_iq_a":-2.5498991,"mpcc_state":1,"mpcc_theta_e":0.445114136,"mpcc_theta_mech":0.555968702,"sam_rpm":-2.50192714,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184481591,"thr_a_norm":0.0212302655,"thr_a_v":0.573792636,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460746169,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.544029,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.806133032,"cg_iw_a":-2.40789962,"cg_theta_rad":0.556990921,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0367981866,"mpcc_du":50.0939636,"mpcc_dv":48.7144814,"mpcc_dw":51.2855186,"mpcc_enc_sign":1,"mpcc_id_a":2.32232308,"mpcc_iq_a":-0.408177018,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.763326943,"mpcc_pred_id_a":0.356345832,"mpcc_pred_iq_a":-1.86395478,"mpcc_state":1,"mpcc_theta_e":0.445258617,"mpcc_theta_mech":0.55599767,"sam_rpm":-0.757841051,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0184481591,"thr_a_norm":0.0184481591,"thr_a_v":0.573792636,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460746169,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.554222,"values":{"cg_iu_a":3.93890953,"cg_iv_a":-2.32837415,"cg_iw_a":-1.61053538,"cg_theta_rad":0.557165146,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.00996243674,"mpcc_du":50.1454926,"mpcc_dv":48.8587151,"mpcc_dw":51.1412849,"mpcc_enc_sign":1,"mpcc_id_a":1.17988455,"mpcc_iq_a":-0.275199533,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.279259384,"mpcc_pred_id_a":-0.203244135,"mpcc_pred_iq_a":-0.372440219,"mpcc_state":1,"mpcc_theta_e":0.441347122,"mpcc_theta_mech":0.555215359,"sam_rpm":0.625910103,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0249816924,"thr_a_norm":0.0249816924,"thr_a_v":0.59992677,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487333477,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.577385,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.516182423,"cg_iw_a":-0.015806675,"cg_theta_rad":0.555647314,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0236400757,"mpcc_du":48.7697983,"mpcc_dv":51.2302017,"mpcc_dw":49.5139198,"mpcc_enc_sign":1,"mpcc_id_a":2.54059315,"mpcc_iq_a":-0.638626277,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.8025961,"mpcc_pred_id_a":0.0925747976,"mpcc_pred_iq_a":-5.99813986,"mpcc_state":1,"mpcc_theta_e":0.457061291,"mpcc_theta_mech":0.558358133,"sam_rpm":22.8490601,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0249816924,"thr_a_norm":0.0249816924,"thr_a_v":0.59992677,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487333477,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.583916,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.951108456,"cg_iw_a":-1.03063393,"cg_theta_rad":0.555610955,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.000873218698,"mpcc_du":49.5970879,"mpcc_dv":49.6336174,"mpcc_dw":50.4029121,"mpcc_enc_sign":1,"mpcc_id_a":0.455132931,"mpcc_iq_a":-2.29988813,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.30998445,"mpcc_pred_id_a":-0.343934357,"mpcc_pred_iq_a":-3.92576981,"mpcc_state":1,"mpcc_theta_e":0.445547104,"mpcc_theta_mech":0.556055307,"sam_rpm":3.26176047,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235088021,"thr_a_norm":0.0235088021,"thr_a_v":0.594035208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.590538,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.16857147,"cg_iw_a":-1.82799816,"cg_theta_rad":0.554878473,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.003771991,"mpcc_du":50.2255898,"mpcc_dv":48.5474396,"mpcc_dw":51.4525604,"mpcc_enc_sign":1,"mpcc_id_a":1.05751789,"mpcc_iq_a":-1.53103101,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.2909393,"mpcc_pred_id_a":-0.373366147,"mpcc_pred_iq_a":-6.55976915,"mpcc_state":1,"mpcc_theta_e":0.451220036,"mpcc_theta_mech":0.552831233,"sam_rpm":16.3162174,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235088021,"thr_a_norm":0.0235088021,"thr_a_v":0.594035208,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465932727,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.596947,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.38603449,"cg_iw_a":0.78155756,"cg_theta_rad":0.55588901,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0212893952,"mpcc_du":49.5758743,"mpcc_dv":49.9730225,"mpcc_dw":50.4241257,"mpcc_enc_sign":1,"mpcc_id_a":2.17994118,"mpcc_iq_a":-0.203316942,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.39814425,"mpcc_pred_id_a":-0.0921019018,"mpcc_pred_iq_a":-3.4146862,"mpcc_state":1,"mpcc_theta_e":0.446226597,"mpcc_theta_mech":0.556191266,"sam_rpm":7.38839769,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.023231864,"thr_a_v":0.592927456,"thr_b":0.00103798509,"thr_b_norm":0.00103798509,"thr_b_v":0.50415194,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.605431,"values":{"cg_iu_a":3.8664217,"cg_iv_a":-1.60349751,"cg_iw_a":0.274143934,"cg_theta_rad":0.55452162,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0110651841,"mpcc_du":49.285202,"mpcc_dv":50.714798,"mpcc_dw":50.1080666,"mpcc_enc_sign":1,"mpcc_id_a":1.5242517,"mpcc_iq_a":-0.396885365,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.73489404,"mpcc_pred_id_a":0.15901947,"mpcc_pred_iq_a":-5.6939764,"mpcc_state":1,"mpcc_theta_e":0.444434643,"mpcc_theta_mech":0.555832803,"sam_rpm":5.02201796,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.023231864,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0.00103798509,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.615044,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.24105906,"cg_iw_a":-1.24809718,"cg_theta_rad":0.556468248,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0272862129,"mpcc_du":49.9498787,"mpcc_dv":49.1881981,"mpcc_dw":50.8118019,"mpcc_enc_sign":1,"mpcc_id_a":0.300201297,"mpcc_iq_a":-1.43997884,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.560413837,"mpcc_pred_id_a":-0.3782157,"mpcc_pred_iq_a":-4.3544879,"mpcc_state":1,"mpcc_theta_e":0.4480896,"mpcc_theta_mech":0.556563795,"sam_rpm":2.12564397,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021620512,"thr_a_norm":0.021620512,"thr_a_v":0.586482048,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.62545,"values":{"cg_iu_a":3.1415453,"cg_iv_a":0.0637187958,"cg_iw_a":-0.450732708,"cg_theta_rad":0.55625248,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0307654329,"mpcc_du":49.4873695,"mpcc_dv":50.1850357,"mpcc_dw":50.5126305,"mpcc_enc_sign":1,"mpcc_id_a":3.22197509,"mpcc_iq_a":-0.517444253,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.46809471,"mpcc_pred_id_a":0.410558403,"mpcc_pred_iq_a":-2.18771482,"mpcc_state":1,"mpcc_theta_e":0.433220387,"mpcc_theta_mech":0.55359,"sam_rpm":-2.97968864,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0123174638,"thr_a_norm":0.0123174638,"thr_a_v":0.549269855,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443071604,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.636436,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.951108456,"cg_iw_a":-2.04546118,"cg_theta_rad":0.555890083,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0266089588,"mpcc_du":49.9082947,"mpcc_dv":49.0849152,"mpcc_dw":50.9150848,"mpcc_enc_sign":1,"mpcc_id_a":0.295932412,"mpcc_iq_a":-0.277422667,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.5815928,"mpcc_pred_id_a":-0.105152324,"mpcc_pred_iq_a":-2.38418508,"mpcc_state":1,"mpcc_theta_e":0.448954105,"mpcc_theta_mech":0.556736767,"sam_rpm":5.4439292,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0123174638,"thr_a_norm":0.0123174638,"thr_a_v":0.549269855,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443071604,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.645653,"values":{"cg_iu_a":2.1992054,"cg_iv_a":1.00605869,"cg_iw_a":-3.20526409,"cg_theta_rad":0.553371787,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0515402928,"mpcc_du":49.605896,"mpcc_dv":49.5927925,"mpcc_dw":50.4072075,"mpcc_enc_sign":1,"mpcc_id_a":0.610074043,"mpcc_iq_a":-0.621975362,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.1865063,"mpcc_pred_id_a":-0.441201568,"mpcc_pred_iq_a":-4.13992882,"mpcc_state":1,"mpcc_theta_e":0.45706892,"mpcc_theta_mech":0.558359742,"sam_rpm":17.9632092,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220233351,"thr_a_norm":0.0220233351,"thr_a_v":0.58809334,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487434179,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.655632,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.09608364,"cg_iw_a":-0.595707893,"cg_theta_rad":0.555354714,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0243046135,"mpcc_du":50.0996628,"mpcc_dv":48.9570274,"mpcc_dw":51.0429726,"mpcc_enc_sign":1,"mpcc_id_a":-0.281975836,"mpcc_iq_a":-0.694600582,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.1430464,"mpcc_pred_id_a":-0.601745903,"mpcc_pred_iq_a":0.674144149,"mpcc_state":1,"mpcc_theta_e":0.4184165,"mpcc_theta_mech":0.550629199,"sam_rpm":-20.2941132,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220233351,"thr_a_norm":0.0220233351,"thr_a_v":0.58809334,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487434179,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.679131,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.443694592,"cg_iw_a":0.564094305,"cg_theta_rad":0.554000139,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0150228068,"mpcc_du":49.8058739,"mpcc_dv":49.3936806,"mpcc_dw":50.6063194,"mpcc_enc_sign":1,"mpcc_id_a":-0.31854555,"mpcc_iq_a":-1.04997849,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.88358593,"mpcc_pred_id_a":-0.541033626,"mpcc_pred_iq_a":-2.83045411,"mpcc_state":1,"mpcc_theta_e":0.449704647,"mpcc_theta_mech":0.556886852,"sam_rpm":9.33070946,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0169626921,"thr_a_norm":0.0169626921,"thr_a_v":0.567850769,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438287944,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.6856,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.82096052,"cg_iw_a":-0.523220062,"cg_theta_rad":0.551504195,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0126378592,"mpcc_du":49.4434624,"mpcc_dv":49.9920959,"mpcc_dw":50.5565376,"mpcc_enc_sign":1,"mpcc_id_a":2.22013378,"mpcc_iq_a":-1.12838221,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0172806699,"mpcc_pred_id_a":0.494733602,"mpcc_pred_iq_a":-3.18453288,"mpcc_state":1,"mpcc_theta_e":0.438242435,"mpcc_theta_mech":0.554594398,"sam_rpm":-0.701545656,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0319558233,"thr_a_norm":0.0319558233,"thr_a_v":0.627823293,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484866083,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.692101,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.53100967,"cg_iw_a":-1.61053562,"cg_theta_rad":0.555242062,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0655989274,"mpcc_du":51.0746727,"mpcc_dv":47.1891289,"mpcc_dw":52.8108711,"mpcc_enc_sign":1,"mpcc_id_a":4.84600973,"mpcc_iq_a":-1.32782471,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.6439714,"mpcc_pred_id_a":1.01641536,"mpcc_pred_iq_a":2.59911871,"mpcc_state":1,"mpcc_theta_e":0.435622692,"mpcc_theta_mech":0.554070473,"sam_rpm":-14.9880638,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0319558233,"thr_a_norm":0.0319558233,"thr_a_v":0.627823293,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.484866083,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.700432,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.09608364,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.556711257,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0547702163,"mpcc_du":50.1157837,"mpcc_dv":48.5888367,"mpcc_dw":51.4111633,"mpcc_enc_sign":1,"mpcc_id_a":3.64625049,"mpcc_iq_a":0.875695646,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.456671,"mpcc_pred_id_a":0.558402836,"mpcc_pred_iq_a":-0.174852669,"mpcc_state":1,"mpcc_theta_e":0.440799236,"mpcc_theta_mech":0.555105746,"sam_rpm":-2.40819192,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025825128,"thr_a_norm":0.025825128,"thr_a_v":0.603300512,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.486880273,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.710808,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-1.09608364,"cg_iw_a":1.07150841,"cg_theta_rad":0.553231716,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.025437627,"mpcc_du":49.8181381,"mpcc_dv":49.4503746,"mpcc_dw":50.5496254,"mpcc_enc_sign":1,"mpcc_id_a":-0.886582732,"mpcc_iq_a":-3.5068295,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.9541049,"mpcc_pred_id_a":-0.727541029,"mpcc_pred_iq_a":-2.95624304,"mpcc_state":1,"mpcc_theta_e":0.435890675,"mpcc_theta_mech":0.554124057,"sam_rpm":-10.2648125,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292870253,"thr_a_norm":0.025825128,"thr_a_v":0.617148101,"thr_b":0.000836566091,"thr_b_norm":0,"thr_b_v":0.503346264,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.721031,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-2.83578777,"cg_iw_a":1.50643444,"cg_theta_rad":0.554283559,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0147958128,"mpcc_du":49.8192101,"mpcc_dv":49.2869377,"mpcc_dw":50.7130623,"mpcc_enc_sign":1,"mpcc_id_a":0.713312268,"mpcc_iq_a":-0.751622498,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.38522172,"mpcc_pred_id_a":-0.240894809,"mpcc_pred_iq_a":-3.83688951,"mpcc_state":1,"mpcc_theta_e":0.443736553,"mpcc_theta_mech":0.555693209,"sam_rpm":-2.04052997,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0292870253,"thr_a_norm":0.0292870253,"thr_a_v":0.617148101,"thr_b":0.000836566091,"thr_b_norm":0.000836566091,"thr_b_v":0.503346264,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.730797,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.153744221,"cg_iw_a":-0.668195724,"cg_theta_rad":0.556332171,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0136841703,"mpcc_du":50.1864281,"mpcc_dv":48.7416,"mpcc_dw":51.2584,"mpcc_enc_sign":1,"mpcc_id_a":1.43337655,"mpcc_iq_a":-2.44066691,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.49164534,"mpcc_pred_id_a":-0.0369119681,"mpcc_pred_iq_a":-3.23266625,"mpcc_state":1,"mpcc_theta_e":0.444870949,"mpcc_theta_mech":0.555920064,"sam_rpm":-7.60790634,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149107426,"thr_a_norm":0.0149107426,"thr_a_v":0.559642971,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.740837,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.371207237,"cg_iw_a":-0.16078186,"cg_theta_rad":0.554361999,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0283811409,"mpcc_du":49.5931435,"mpcc_dv":50.1650887,"mpcc_dw":50.4068565,"mpcc_enc_sign":1,"mpcc_id_a":0.869316638,"mpcc_iq_a":-1.40524995,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.8370218,"mpcc_pred_id_a":-0.104559869,"mpcc_pred_iq_a":-4.68843603,"mpcc_state":1,"mpcc_theta_e":0.458889961,"mpcc_theta_mech":0.558723927,"sam_rpm":19.4992962,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149107426,"thr_a_norm":0.0149107426,"thr_a_v":0.559642971,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452790141,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.751213,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.878620625,"cg_iw_a":-0.233269691,"cg_theta_rad":0.557588458,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.000199715301,"mpcc_du":50.8261223,"mpcc_dv":48.0633278,"mpcc_dw":51.9366722,"mpcc_enc_sign":1,"mpcc_id_a":0.280252725,"mpcc_iq_a":0.38284117,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.63304424,"mpcc_pred_id_a":-0.439655215,"mpcc_pred_iq_a":3.23370504,"mpcc_state":1,"mpcc_theta_e":0.425871372,"mpcc_theta_mech":0.552120149,"sam_rpm":-14.0454817,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193293691,"thr_a_norm":0.0193293691,"thr_a_v":0.577317476,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462105721,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.774498,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.6759851,"cg_iw_a":-3.35023904,"cg_theta_rad":0.555915475,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0105932616,"mpcc_du":50.9791946,"mpcc_dv":47.4200287,"mpcc_dw":52.5799713,"mpcc_enc_sign":1,"mpcc_id_a":1.88384283,"mpcc_iq_a":-0.994396031,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.3717709,"mpcc_pred_id_a":0.666618943,"mpcc_pred_iq_a":4.35284853,"mpcc_state":1,"mpcc_theta_e":0.428619385,"mpcc_theta_mech":0.552669764,"sam_rpm":-17.1833611,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0193293691,"thr_a_norm":0.0193293691,"thr_a_v":0.577317476,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462105721,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.780968,"values":{"cg_iu_a":2.27169323,"cg_iv_a":0.208694458,"cg_iw_a":-0.523220062,"cg_theta_rad":0.556618512,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.00673916191,"mpcc_du":50.0976639,"mpcc_dv":48.8913727,"mpcc_dw":51.1086273,"mpcc_enc_sign":1,"mpcc_id_a":1.62079501,"mpcc_iq_a":-1.38975966,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.145833,"mpcc_pred_id_a":-0.29468748,"mpcc_pred_iq_a":-2.96864152,"mpcc_state":1,"mpcc_theta_e":0.432792664,"mpcc_theta_mech":0.553504467,"sam_rpm":-16.6910725,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103069365,"thr_a_norm":0.103069365,"thr_a_v":0.91227746,"thr_b":0.0455012619,"thr_b_norm":0.0455012619,"thr_b_v":0.682005048,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.787468,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.16857147,"cg_iw_a":0.564094543,"cg_theta_rad":0.553134978,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.00213187491,"mpcc_du":49.5644302,"mpcc_dv":49.7279243,"mpcc_dw":50.4355698,"mpcc_enc_sign":1,"mpcc_id_a":0.77754426,"mpcc_iq_a":-2.48970389,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.746727169,"mpcc_pred_id_a":-0.175746664,"mpcc_pred_iq_a":-2.28089428,"mpcc_state":1,"mpcc_theta_e":0.440172672,"mpcc_theta_mech":0.554980457,"sam_rpm":-1.00064504,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103069365,"thr_a_norm":0.103069365,"thr_a_v":0.91227746,"thr_b":0.0455012619,"thr_b_norm":0.0455012619,"thr_b_v":0.682005048,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.793968,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.371207237,"cg_iw_a":-2.19043636,"cg_theta_rad":0.55476737,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.00230316143,"mpcc_du":50.4635048,"mpcc_dv":48.4553375,"mpcc_dw":51.5446625,"mpcc_enc_sign":1,"mpcc_id_a":0.014141717,"mpcc_iq_a":-0.88057977,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.75213611,"mpcc_pred_id_a":-0.316818893,"mpcc_pred_iq_a":-2.72445059,"mpcc_state":1,"mpcc_theta_e":0.438919544,"mpcc_theta_mech":0.554729819,"sam_rpm":-18.4277496,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0124181807,"thr_a_norm":0.0124181807,"thr_a_v":0.549672723,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.440503567,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.802208,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.516182423,"cg_iw_a":-0.378244877,"cg_theta_rad":0.554686904,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0266404785,"mpcc_du":50.1913681,"mpcc_dv":48.7274323,"mpcc_dw":51.2725677,"mpcc_enc_sign":1,"mpcc_id_a":1.09601462,"mpcc_iq_a":-0.283823907,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.988615334,"mpcc_pred_id_a":-0.0332684107,"mpcc_pred_iq_a":-1.55646753,"mpcc_state":1,"mpcc_theta_e":0.442941189,"mpcc_theta_mech":0.555534124,"sam_rpm":-0.675521791,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234206915,"thr_a_norm":0.0124181807,"thr_a_v":0.593682766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471572429,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.812187,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.53100967,"cg_iw_a":-0.523220539,"cg_theta_rad":0.555043995,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0533321127,"mpcc_du":51.05793,"mpcc_dv":47.5318336,"mpcc_dw":52.4681664,"mpcc_enc_sign":1,"mpcc_id_a":2.82423973,"mpcc_iq_a":0.154892653,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.60322762,"mpcc_pred_id_a":0.310564548,"mpcc_pred_iq_a":1.52681553,"mpcc_state":1,"mpcc_theta_e":0.440077782,"mpcc_theta_mech":0.554961443,"sam_rpm":-10.9537191,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234206915,"thr_a_norm":0.0234206915,"thr_a_v":0.593682766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471572429,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.822472,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.951108456,"cg_iw_a":0.0566811562,"cg_theta_rad":0.5555951,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0163066946,"mpcc_du":50.0176506,"mpcc_dv":49.1505051,"mpcc_dw":50.8494949,"mpcc_enc_sign":1,"mpcc_id_a":0.00690821279,"mpcc_iq_a":-2.0434978,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.830243349,"mpcc_pred_id_a":-0.474384189,"mpcc_pred_iq_a":-4.20805979,"mpcc_state":1,"mpcc_theta_e":0.449649334,"mpcc_theta_mech":0.556875825,"sam_rpm":1.65903378,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236472934,"thr_a_norm":0.0236472934,"thr_a_v":0.594589174,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462609321,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.834618,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.38603449,"cg_iw_a":-2.33541203,"cg_theta_rad":0.552783906,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0833546817,"mpcc_du":49.5583801,"mpcc_dv":49.2254028,"mpcc_dw":50.7745972,"mpcc_enc_sign":1,"mpcc_id_a":1.29925716,"mpcc_iq_a":-0.191287994,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.46356845,"mpcc_pred_id_a":0.627550602,"mpcc_pred_iq_a":-3.11227345,"mpcc_state":1,"mpcc_theta_e":0.440305233,"mpcc_theta_mech":0.555006981,"sam_rpm":11.8874216,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0134630352,"thr_a_norm":0.0236472934,"thr_a_v":0.553852141,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467493683,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.844597,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.31354666,"cg_iw_a":0.41911912,"cg_theta_rad":0.555758059,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0246237386,"mpcc_du":49.685627,"mpcc_dv":48.9484215,"mpcc_dw":51.0515785,"mpcc_enc_sign":1,"mpcc_id_a":3.05119157,"mpcc_iq_a":-0.0149033554,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.45341206,"mpcc_pred_id_a":0.842382371,"mpcc_pred_iq_a":0.429311454,"mpcc_state":1,"mpcc_theta_e":0.43042469,"mpcc_theta_mech":0.553030849,"sam_rpm":-7.52946186,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0134630352,"thr_a_norm":0.0134630352,"thr_a_v":0.553852141,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467493683,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.85482,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.02359605,"cg_iw_a":-0.523220301,"cg_theta_rad":0.553268731,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0241662506,"mpcc_du":49.7411308,"mpcc_dv":49.1483116,"mpcc_dw":50.8516884,"mpcc_enc_sign":1,"mpcc_id_a":2.44696164,"mpcc_iq_a":-0.284924865,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.92001271,"mpcc_pred_id_a":0.200656429,"mpcc_pred_iq_a":1.48246944,"mpcc_state":1,"mpcc_theta_e":0.428420067,"mpcc_theta_mech":0.552629948,"sam_rpm":-3.45659876,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162451267,"thr_a_norm":0.0162451267,"thr_a_v":0.564980507,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462810725,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.877922,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.61832476,"cg_iw_a":-1.24809718,"cg_theta_rad":0.555964053,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0170091018,"mpcc_du":49.9702415,"mpcc_dv":49.0206413,"mpcc_dw":50.9793587,"mpcc_enc_sign":1,"mpcc_id_a":1.97828794,"mpcc_iq_a":-0.791267693,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.42986488,"mpcc_pred_id_a":-0.111492358,"mpcc_pred_iq_a":-2.76656532,"mpcc_state":1,"mpcc_theta_e":0.441356659,"mpcc_theta_mech":0.555217266,"sam_rpm":-6.01052523,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162451267,"thr_a_norm":0.0162451267,"thr_a_v":0.564980507,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462810725,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.884453,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.443694592,"cg_iw_a":-1.24809694,"cg_theta_rad":0.557120264,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0662093908,"mpcc_du":49.9274025,"mpcc_dv":48.8410454,"mpcc_dw":51.1589546,"mpcc_enc_sign":1,"mpcc_id_a":3.98663211,"mpcc_iq_a":-0.799255192,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.6741147,"mpcc_pred_id_a":0.501338303,"mpcc_pred_iq_a":-2.15603113,"mpcc_state":1,"mpcc_theta_e":0.448507309,"mpcc_theta_mech":0.55664736,"sam_rpm":4.80228186,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288841873,"thr_a_norm":0.0288841873,"thr_a_v":0.615536749,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4978576,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.891045,"values":{"cg_iu_a":2.41666842,"cg_iv_a":0.0637187958,"cg_iw_a":-1.39307213,"cg_theta_rad":0.553519011,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.00630875677,"mpcc_du":50.4698639,"mpcc_dv":48.3225174,"mpcc_dw":51.6774826,"mpcc_enc_sign":1,"mpcc_id_a":1.24258018,"mpcc_iq_a":-0.993710816,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.79373026,"mpcc_pred_id_a":0.0693117455,"mpcc_pred_iq_a":0.457125276,"mpcc_state":1,"mpcc_theta_e":0.438192844,"mpcc_theta_mech":0.554584503,"sam_rpm":-7.27558851,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288841873,"thr_a_norm":0.0288841873,"thr_a_v":0.615536749,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.4978576,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.897484,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.878620625,"cg_iw_a":-1.17560959,"cg_theta_rad":0.55673784,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0329992548,"mpcc_du":50.3743248,"mpcc_dv":48.2314758,"mpcc_dw":51.7685242,"mpcc_enc_sign":1,"mpcc_id_a":3.41113806,"mpcc_iq_a":-0.27721557,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.8023863,"mpcc_pred_id_a":0.509371638,"mpcc_pred_iq_a":-0.368243098,"mpcc_state":1,"mpcc_theta_e":0.431822777,"mpcc_theta_mech":0.553310454,"sam_rpm":-17.6857338,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0287457108,"thr_a_norm":0.0287457108,"thr_a_v":0.614982843,"thr_b":0.000597387552,"thr_b_norm":0.000597387552,"thr_b_v":0.50238955,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.907616,"values":{"cg_iu_a":4.51881123,"cg_iv_a":-0.806133032,"cg_iw_a":-3.71267819,"cg_theta_rad":0.555696607,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0481496751,"mpcc_du":50.0613556,"mpcc_dv":48.7935066,"mpcc_dw":51.2064934,"mpcc_enc_sign":1,"mpcc_id_a":1.02264857,"mpcc_iq_a":-1.10042942,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.55370808,"mpcc_pred_id_a":0.196931615,"mpcc_pred_iq_a":-2.53283453,"mpcc_state":1,"mpcc_theta_e":0.454329967,"mpcc_theta_mech":0.557811916,"sam_rpm":9.38366127,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0435625911,"thr_a_norm":0.0287457108,"thr_a_v":0.674250364,"thr_b":0.0111844838,"thr_b_norm":0.000597387552,"thr_b_v":0.544737935,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.917503,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.31354666,"cg_iw_a":-0.668195724,"cg_theta_rad":0.554432213,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0358721614,"mpcc_du":50.0972443,"mpcc_dv":48.7822647,"mpcc_dw":51.2177353,"mpcc_enc_sign":1,"mpcc_id_a":2.33230281,"mpcc_iq_a":-0.558442295,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.08833647,"mpcc_pred_id_a":-0.0702380016,"mpcc_pred_iq_a":-4.53181171,"mpcc_state":1,"mpcc_theta_e":0.447716713,"mpcc_theta_mech":0.556489289,"sam_rpm":3.29729867,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0435625911,"thr_a_norm":0.0435625911,"thr_a_v":0.674250364,"thr_b":0.0111844838,"thr_b_norm":0.0111844838,"thr_b_v":0.544737935,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.927605,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.878620625,"cg_iw_a":-2.04546165,"cg_theta_rad":0.55354929,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0243551973,"mpcc_du":50.3772392,"mpcc_dv":48.4912453,"mpcc_dw":51.5087547,"mpcc_enc_sign":1,"mpcc_id_a":1.47409201,"mpcc_iq_a":-0.83902967,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.75998902,"mpcc_pred_id_a":-0.00955644529,"mpcc_pred_iq_a":-1.26371014,"mpcc_state":1,"mpcc_theta_e":0.445764542,"mpcc_theta_mech":0.556098819,"sam_rpm":-2.49495864,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199336261,"thr_a_norm":0.0199336261,"thr_a_v":0.579734504,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473083079,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.937798,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.02359605,"cg_iw_a":-1.53804755,"cg_theta_rad":0.552437663,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0421377607,"mpcc_du":49.9417076,"mpcc_dv":49.0094223,"mpcc_dw":50.9905777,"mpcc_enc_sign":1,"mpcc_id_a":2.05122662,"mpcc_iq_a":-1.85065567,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.33599901,"mpcc_pred_id_a":-0.0631110072,"mpcc_pred_iq_a":0.926060021,"mpcc_state":1,"mpcc_theta_e":0.427773952,"mpcc_theta_mech":0.552500665,"sam_rpm":-11.1489687,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0199336261,"thr_a_norm":0.0199336261,"thr_a_v":0.579734504,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473083079,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.947807,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.878620625,"cg_iw_a":0.12916851,"cg_theta_rad":0.55354774,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0162657667,"mpcc_du":49.5629539,"mpcc_dv":49.7042503,"mpcc_dw":50.4910316,"mpcc_enc_sign":1,"mpcc_id_a":2.42325783,"mpcc_iq_a":-1.20624924,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.25358725,"mpcc_pred_id_a":0.132122874,"mpcc_pred_iq_a":-2.1169517,"mpcc_state":1,"mpcc_theta_e":0.447909832,"mpcc_theta_mech":0.556527913,"sam_rpm":6.54380512,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0143820047,"thr_a_norm":0.0143820047,"thr_a_v":0.557528019,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438287944,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.958214,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.951108456,"cg_iw_a":0.419119358,"cg_theta_rad":0.553985178,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0226627607,"mpcc_du":49.8477364,"mpcc_dv":49.1540871,"mpcc_dw":50.8459129,"mpcc_enc_sign":1,"mpcc_id_a":2.1299746,"mpcc_iq_a":-1.14815247,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.85042143,"mpcc_pred_id_a":-0.0675290525,"mpcc_pred_iq_a":-4.22767496,"mpcc_state":1,"mpcc_theta_e":0.444164753,"mpcc_theta_mech":0.555778861,"sam_rpm":-5.85300207,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180075616,"thr_a_norm":0.0143820047,"thr_a_v":0.572030246,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44110781,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.981255,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-0.226231575,"cg_iw_a":-1.32058477,"cg_theta_rad":0.553918839,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.013809015,"mpcc_du":50.685894,"mpcc_dv":48.0547371,"mpcc_dw":51.9452629,"mpcc_enc_sign":1,"mpcc_id_a":2.32764816,"mpcc_iq_a":-0.376624674,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.4319258,"mpcc_pred_id_a":-0.0319259502,"mpcc_pred_iq_a":1.5471437,"mpcc_state":1,"mpcc_theta_e":0.431687832,"mpcc_theta_mech":0.553283513,"sam_rpm":-15.8629866,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180075616,"thr_a_norm":0.0180075616,"thr_a_v":0.572030246,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44110781,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.987755,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.38603449,"cg_iw_a":0.564094543,"cg_theta_rad":0.558359742,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0258100443,"mpcc_du":49.4503288,"mpcc_dv":49.5768356,"mpcc_dw":50.5496712,"mpcc_enc_sign":1,"mpcc_id_a":1.992553,"mpcc_iq_a":0.583938003,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.40892458,"mpcc_pred_id_a":0.41343233,"mpcc_pred_iq_a":-2.54802394,"mpcc_state":1,"mpcc_theta_e":0.445232868,"mpcc_theta_mech":0.555992484,"sam_rpm":6.14328766,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186999291,"thr_a_norm":0.0186999291,"thr_a_v":0.574799716,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473888755,"vdc_v":55.2955055}} +{"type":"telemetry","t":117.994255,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.226231575,"cg_iw_a":-0.450732708,"cg_theta_rad":0.557434022,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0165447872,"mpcc_du":50.7002831,"mpcc_dv":47.8562546,"mpcc_dw":52.1437454,"mpcc_enc_sign":1,"mpcc_id_a":2.54062796,"mpcc_iq_a":-2.17151308,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.7689714,"mpcc_pred_id_a":0.374329567,"mpcc_pred_iq_a":-0.0386315733,"mpcc_state":1,"mpcc_theta_e":0.429397583,"mpcc_theta_mech":0.552825451,"sam_rpm":-23.1877785,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186999291,"thr_a_norm":0.0186999291,"thr_a_v":0.574799716,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473888755,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.000969,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.60349751,"cg_iw_a":0.636582375,"cg_theta_rad":0.556940734,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0160330757,"mpcc_du":49.6199112,"mpcc_dv":49.3627357,"mpcc_dw":50.6372643,"mpcc_enc_sign":1,"mpcc_id_a":2.06411338,"mpcc_iq_a":-2.26686907,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.9025774,"mpcc_pred_id_a":0.094949387,"mpcc_pred_iq_a":-1.75074959,"mpcc_state":1,"mpcc_theta_e":0.456133842,"mpcc_theta_mech":0.558172643,"sam_rpm":19.6942062,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0404406041,"thr_a_norm":0.0404406041,"thr_a_v":0.661762416,"thr_b":0.0113607198,"thr_b_norm":0.0113607198,"thr_b_v":0.545442879,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.011223,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.951108456,"cg_iw_a":0.636582375,"cg_theta_rad":0.553378046,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":4999,"hz_app_loop":357,"hz_tim_isr":9997,"hz_vsense":357,"mpcc_cost":0.0302383639,"mpcc_du":49.5723495,"mpcc_dv":50.0521126,"mpcc_dw":50.4276505,"mpcc_enc_sign":1,"mpcc_id_a":1.03731382,"mpcc_iq_a":-1.39372241,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.1368637,"mpcc_pred_id_a":-0.135945991,"mpcc_pred_iq_a":-4.74055338,"mpcc_state":1,"mpcc_theta_e":0.458212376,"mpcc_theta_mech":0.555716217,"sam_rpm":18.6019478,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284058005,"thr_a_norm":0.0404406041,"thr_a_v":0.613623202,"thr_b":0.00199474394,"thr_b_norm":0.0113607198,"thr_b_v":0.507978976,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.022606,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.153744221,"cg_iw_a":-2.19043684,"cg_theta_rad":0.555890083,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9916.25098,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0265276097,"mpcc_du":49.6248207,"mpcc_dv":49.41922,"mpcc_dw":50.58078,"mpcc_enc_sign":1,"mpcc_id_a":0.695099235,"mpcc_iq_a":-2.19995451,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.6919589,"mpcc_pred_id_a":-0.154508561,"mpcc_pred_iq_a":-2.00960875,"mpcc_state":1,"mpcc_theta_e":0.428771496,"mpcc_theta_mech":0.552700222,"sam_rpm":-13.5050478,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0284058005,"thr_a_norm":0.0284058005,"thr_a_v":0.613623202,"thr_b":0.00199474394,"thr_b_norm":0.00199474394,"thr_b_v":0.507978976,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.03405,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-2.32837415,"cg_iw_a":-2.69785023,"cg_theta_rad":0.558015049,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0286339559,"mpcc_du":49.6290092,"mpcc_dv":49.082901,"mpcc_dw":50.917099,"mpcc_enc_sign":1,"mpcc_id_a":2.77669048,"mpcc_iq_a":-1.65208542,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.80590296,"mpcc_pred_id_a":0.587368906,"mpcc_pred_iq_a":-1.48976278,"mpcc_state":1,"mpcc_theta_e":0.434177876,"mpcc_theta_mech":0.55378145,"sam_rpm":-12.2431993,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245410949,"thr_a_norm":0.0245410949,"thr_a_v":0.59816438,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488239884,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.044212,"values":{"cg_iu_a":2.27169323,"cg_iv_a":0.208694458,"cg_iw_a":-2.11794901,"cg_theta_rad":0.557850659,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0102416603,"mpcc_du":50.7781715,"mpcc_dv":47.9608574,"mpcc_dw":52.0391426,"mpcc_enc_sign":1,"mpcc_id_a":1.19857538,"mpcc_iq_a":-0.920029283,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.3150806,"mpcc_pred_id_a":-0.159081936,"mpcc_pred_iq_a":-0.472314119,"mpcc_state":1,"mpcc_theta_e":0.433990955,"mpcc_theta_mech":0.553744137,"sam_rpm":-18.5303936,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10738726,"thr_a_norm":0.0245410949,"thr_a_v":0.929549038,"thr_b":0.0420897156,"thr_b_norm":0,"thr_b_v":0.668358862,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.054008,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.82096052,"cg_iw_a":0.854045391,"cg_theta_rad":0.551749289,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.00079669297,"mpcc_du":50.3087463,"mpcc_dv":48.5782433,"mpcc_dw":51.4217567,"mpcc_enc_sign":1,"mpcc_id_a":0.413495839,"mpcc_iq_a":-1.06322503,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.30499077,"mpcc_pred_id_a":-0.228695929,"mpcc_pred_iq_a":-0.94878453,"mpcc_state":1,"mpcc_theta_e":0.433607101,"mpcc_theta_mech":0.553667367,"sam_rpm":-13.1300287,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.10738726,"thr_a_norm":0.10738726,"thr_a_v":0.929549038,"thr_b":0.0420897156,"thr_b_norm":0.0420897156,"thr_b_v":0.668358862,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.064201,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.24105906,"cg_iw_a":0.0566809177,"cg_theta_rad":0.554170609,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.00420885673,"mpcc_du":49.1158257,"mpcc_dv":50.8841743,"mpcc_dw":49.8111458,"mpcc_enc_sign":1,"mpcc_id_a":0.977855086,"mpcc_iq_a":-1.02914,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.4686079,"mpcc_pred_id_a":-0.217724085,"mpcc_pred_iq_a":-3.85208178,"mpcc_state":1,"mpcc_theta_e":0.452413559,"mpcc_theta_mech":0.557428598,"sam_rpm":23.0257511,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0214568526,"thr_a_norm":0.0214568526,"thr_a_v":0.58582741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475500137,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.088829,"values":{"cg_iu_a":2.27169323,"cg_iv_a":0.57113266,"cg_iw_a":-2.84282589,"cg_theta_rad":0.556271613,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0185917541,"mpcc_du":49.6606178,"mpcc_dv":49.6809464,"mpcc_dw":50.3393822,"mpcc_enc_sign":1,"mpcc_id_a":-0.0927211866,"mpcc_iq_a":-1.2514807,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.39516568,"mpcc_pred_id_a":-0.722499967,"mpcc_pred_iq_a":-5.01727438,"mpcc_state":1,"mpcc_theta_e":0.44883585,"mpcc_theta_mech":0.556713045,"sam_rpm":5.35641336,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277134329,"thr_a_norm":0.0214568526,"thr_a_v":0.610853732,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.09536,"values":{"cg_iu_a":-0.772789001,"cg_iv_a":-2.69081235,"cg_iw_a":-0.813171387,"cg_theta_rad":0.557234824,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.00910510961,"mpcc_du":49.3268089,"mpcc_dv":50.6731911,"mpcc_dw":50.1257172,"mpcc_enc_sign":1,"mpcc_id_a":1.10771501,"mpcc_iq_a":-0.428277552,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.215834111,"mpcc_pred_id_a":-0.0385449529,"mpcc_pred_iq_a":-6.49093008,"mpcc_state":1,"mpcc_theta_e":0.442895889,"mpcc_theta_mech":0.555525064,"sam_rpm":-0.0472011007,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0277134329,"thr_a_norm":0.0277134329,"thr_a_v":0.610853732,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.101891,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-3.12573838,"cg_iw_a":-3.42272711,"cg_theta_rad":0.553602695,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0407805443,"mpcc_du":50.5264702,"mpcc_dv":48.0905342,"mpcc_dw":51.9094658,"mpcc_enc_sign":1,"mpcc_id_a":2.84798574,"mpcc_iq_a":-0.143142849,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.69220161,"mpcc_pred_id_a":0.562350214,"mpcc_pred_iq_a":0.937797189,"mpcc_state":1,"mpcc_theta_e":0.44327116,"mpcc_theta_mech":0.555600166,"sam_rpm":-2.31585479,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0993053317,"thr_a_norm":0.0993053317,"thr_a_v":0.897221327,"thr_b":0.04502289,"thr_b_norm":0.04502289,"thr_b_v":0.68009156,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.108391,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.523220539,"cg_theta_rad":0.556513786,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.00324288174,"mpcc_du":50.8740082,"mpcc_dv":47.8154221,"mpcc_dw":52.1845779,"mpcc_enc_sign":1,"mpcc_id_a":0.865721107,"mpcc_iq_a":-0.432295859,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.5071125,"mpcc_pred_id_a":-0.0716571286,"mpcc_pred_iq_a":-0.102931425,"mpcc_state":1,"mpcc_theta_e":0.424065113,"mpcc_theta_mech":0.551758945,"sam_rpm":-30.4668808,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0993053317,"thr_a_norm":0.0993053317,"thr_a_v":0.897221327,"thr_b":0.04502289,"thr_b_norm":0.04502289,"thr_b_v":0.68009156,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.117638,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.24105906,"cg_iw_a":0.201656103,"cg_theta_rad":0.555755436,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0135441348,"mpcc_du":49.0746765,"mpcc_dv":50.9253235,"mpcc_dw":49.6460609,"mpcc_enc_sign":1,"mpcc_id_a":-0.402817041,"mpcc_iq_a":-2.58541703,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.88913918,"mpcc_pred_id_a":-0.528906286,"mpcc_pred_iq_a":-3.99086952,"mpcc_state":1,"mpcc_theta_e":0.44505024,"mpcc_theta_mech":0.555956006,"sam_rpm":13.4439735,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179949552,"thr_a_norm":0.0179949552,"thr_a_v":0.571979821,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458983719,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.127983,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.371207237,"cg_iw_a":-0.305757046,"cg_theta_rad":0.555039644,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":6.85266568e-05,"mpcc_du":50.2456017,"mpcc_dv":48.6399002,"mpcc_dw":51.3600998,"mpcc_enc_sign":1,"mpcc_id_a":-0.133817121,"mpcc_iq_a":-1.04006243,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.27103519,"mpcc_pred_id_a":-0.04679377,"mpcc_pred_iq_a":-0.983248532,"mpcc_state":1,"mpcc_theta_e":0.432587624,"mpcc_theta_mech":0.553463399,"sam_rpm":-14.3002214,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165598541,"thr_a_norm":0.0179949552,"thr_a_v":0.566239417,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469306499,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.138023,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.38603449,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556921363,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0118415579,"mpcc_du":49.8581123,"mpcc_dv":49.2584076,"mpcc_dw":50.7415924,"mpcc_enc_sign":1,"mpcc_id_a":-0.00256300252,"mpcc_iq_a":-0.736122012,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.07743216,"mpcc_pred_id_a":-0.375998944,"mpcc_pred_iq_a":-1.9512037,"mpcc_state":1,"mpcc_theta_e":0.444954872,"mpcc_theta_mech":0.555936873,"sam_rpm":7.09418535,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165598541,"thr_a_norm":0.0165598541,"thr_a_v":0.566239417,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469306499,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.148216,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.09608364,"cg_iw_a":-0.015806675,"cg_theta_rad":0.5542835,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0134944525,"mpcc_du":49.613224,"mpcc_dv":49.3580627,"mpcc_dw":50.6419373,"mpcc_enc_sign":1,"mpcc_id_a":1.9794569,"mpcc_iq_a":-1.96485436,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.196389169,"mpcc_pred_id_a":0.0898628682,"mpcc_pred_iq_a":-4.01323271,"mpcc_state":1,"mpcc_theta_e":0.446812153,"mpcc_theta_mech":0.555801809,"sam_rpm":0.270919114,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209532976,"thr_a_norm":0.0209532976,"thr_a_v":0.58381319,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465580195,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.158104,"values":{"cg_iu_a":3.28652048,"cg_iv_a":-0.226231575,"cg_iw_a":-3.06028891,"cg_theta_rad":0.556273282,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0533301607,"mpcc_du":50.831646,"mpcc_dv":47.9809608,"mpcc_dw":52.0190392,"mpcc_enc_sign":1,"mpcc_id_a":2.18052244,"mpcc_iq_a":-1.53483999,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.03901863,"mpcc_pred_id_a":0.375524163,"mpcc_pred_iq_a":-4.39250374,"mpcc_state":1,"mpcc_theta_e":0.45727253,"mpcc_theta_mech":0.55701071,"sam_rpm":-10.2099075,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209532976,"thr_a_norm":0.0209532976,"thr_a_v":0.58381319,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465580195,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.168205,"values":{"cg_iu_a":5.24368763,"cg_iv_a":-2.0384233,"cg_iw_a":1.143996,"cg_theta_rad":0.557040513,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.00116345158,"mpcc_du":49.5639038,"mpcc_dv":49.7870216,"mpcc_dw":50.4360962,"mpcc_enc_sign":1,"mpcc_id_a":0.573685348,"mpcc_iq_a":-0.89968437,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.147933,"mpcc_pred_id_a":-0.0672881007,"mpcc_pred_iq_a":1.97193646,"mpcc_state":1,"mpcc_theta_e":0.426406384,"mpcc_theta_mech":0.552227199,"sam_rpm":-21.4557858,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0396600962,"thr_a_norm":0.0396600962,"thr_a_v":0.658640385,"thr_b":0.00762188435,"thr_b_norm":0.00762188435,"thr_b_v":0.530487537,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.191429,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.25588632,"cg_iw_a":1.21648335,"cg_theta_rad":0.556672454,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0452533215,"mpcc_du":49.9295425,"mpcc_dv":48.9496193,"mpcc_dw":51.0503807,"mpcc_enc_sign":1,"mpcc_id_a":2.94305634,"mpcc_iq_a":-0.280871093,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.97126055,"mpcc_pred_id_a":0.123320617,"mpcc_pred_iq_a":-2.40237975,"mpcc_state":1,"mpcc_theta_e":0.443249702,"mpcc_theta_mech":0.555595815,"sam_rpm":-1.27997994,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022552073,"thr_a_norm":0.0396600962,"thr_a_v":0.590208292,"thr_b":0,"thr_b_norm":0.00762188435,"thr_b_v":0.476910055,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.19799,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.09608364,"cg_iw_a":-0.813171148,"cg_theta_rad":0.552122712,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.00670946343,"mpcc_du":48.8819237,"mpcc_dv":51.1180763,"mpcc_dw":49.160511,"mpcc_enc_sign":1,"mpcc_id_a":-1.02683175,"mpcc_iq_a":-1.17119753,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.7590694,"mpcc_pred_id_a":-1.29448175,"mpcc_pred_iq_a":-6.94778156,"mpcc_state":1,"mpcc_theta_e":0.453213692,"mpcc_theta_mech":0.557588637,"sam_rpm":16.9063625,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022552073,"thr_a_norm":0.022552073,"thr_a_v":0.590208292,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476910055,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.20446,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.09608364,"cg_iw_a":-1.39307261,"cg_theta_rad":0.554763138,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0361442678,"mpcc_du":50.9388199,"mpcc_dv":47.7176781,"mpcc_dw":52.2823219,"mpcc_enc_sign":1,"mpcc_id_a":2.57771707,"mpcc_iq_a":-0.353402108,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.1954594,"mpcc_pred_id_a":0.197946772,"mpcc_pred_iq_a":-0.348749787,"mpcc_state":1,"mpcc_theta_e":0.431619644,"mpcc_theta_mech":0.553269804,"sam_rpm":-21.4841728,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026731506,"thr_a_norm":0.026731506,"thr_a_v":0.606926024,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487283111,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.210991,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.38603449,"cg_iw_a":0.12916851,"cg_theta_rad":0.556711197,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0173049979,"mpcc_du":50.4991608,"mpcc_dv":48.3473015,"mpcc_dw":51.6526985,"mpcc_enc_sign":1,"mpcc_id_a":2.60589194,"mpcc_iq_a":-1.50738704,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.6932068,"mpcc_pred_id_a":-0.0141642923,"mpcc_pred_iq_a":-2.0668962,"mpcc_state":1,"mpcc_theta_e":0.428315163,"mpcc_theta_mech":0.552608907,"sam_rpm":-24.5745411,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026731506,"thr_a_norm":0.026731506,"thr_a_v":0.606926024,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487283111,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.218925,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.733645439,"cg_iw_a":-1.97297382,"cg_theta_rad":0.555810392,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0257784165,"mpcc_du":50.6179543,"mpcc_dv":48.0788002,"mpcc_dw":51.9211998,"mpcc_enc_sign":1,"mpcc_id_a":2.81526637,"mpcc_iq_a":-2.27869034,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.2484112,"mpcc_pred_id_a":0.331312776,"mpcc_pred_iq_a":-0.265558511,"mpcc_state":1,"mpcc_theta_e":0.424580097,"mpcc_theta_mech":0.551861942,"sam_rpm":-27.2546597,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0183978081,"thr_a_norm":0.0183978081,"thr_a_v":0.573591232,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469105065,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.22921,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.09608364,"cg_iw_a":0.346631527,"cg_theta_rad":0.553456008,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0111156749,"mpcc_du":49.7732048,"mpcc_dv":49.2002449,"mpcc_dw":50.7997551,"mpcc_enc_sign":1,"mpcc_id_a":1.88934195,"mpcc_iq_a":-1.66465843,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.2980231,"mpcc_pred_id_a":0.144871533,"mpcc_pred_iq_a":-0.370364338,"mpcc_state":1,"mpcc_theta_e":0.437500477,"mpcc_theta_mech":0.554445982,"sam_rpm":1.59085655,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0231185555,"thr_a_norm":0.0183978081,"thr_a_v":0.592474222,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495037764,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.238823,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-2.69081235,"cg_iw_a":-0.305757284,"cg_theta_rad":0.555811524,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.028008746,"mpcc_du":50.2802696,"mpcc_dv":48.4915581,"mpcc_dw":51.5084419,"mpcc_enc_sign":1,"mpcc_id_a":2.39118361,"mpcc_iq_a":-0.581562161,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.16494942,"mpcc_pred_id_a":0.283309847,"mpcc_pred_iq_a":3.1325326,"mpcc_state":1,"mpcc_theta_e":0.428438663,"mpcc_theta_mech":0.552633643,"sam_rpm":-10.8432884,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0231185555,"thr_a_norm":0.0231185555,"thr_a_v":0.592474222,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495037764,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.248955,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.0087685585,"cg_iw_a":-2.33541203,"cg_theta_rad":0.554676652,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0326036438,"mpcc_du":49.4177971,"mpcc_dv":50.5822029,"mpcc_dw":50.1167488,"mpcc_enc_sign":1,"mpcc_id_a":-0.0214245506,"mpcc_iq_a":-1.32125211,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.618197441,"mpcc_pred_id_a":-0.32108146,"mpcc_pred_iq_a":-2.10593295,"mpcc_state":1,"mpcc_theta_e":0.430555344,"mpcc_theta_mech":0.553057015,"sam_rpm":-2.89120626,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256866515,"thr_a_norm":0.0256866515,"thr_a_v":0.602746606,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487534881,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.261406,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.74847269,"cg_iw_a":0.854045391,"cg_theta_rad":0.556076467,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0771773607,"mpcc_du":50.7333031,"mpcc_dv":47.9425163,"mpcc_dw":52.0574837,"mpcc_enc_sign":1,"mpcc_id_a":2.02008271,"mpcc_iq_a":-1.37781644,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.26398373,"mpcc_pred_id_a":0.338180184,"mpcc_pred_iq_a":-2.82118273,"mpcc_state":1,"mpcc_theta_e":0.445611477,"mpcc_theta_mech":0.556068182,"sam_rpm":-7.5267601,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0141805857,"thr_a_norm":0.0256866515,"thr_a_v":0.556722343,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444934756,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.286522,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.6759851,"cg_iw_a":0.999020815,"cg_theta_rad":0.556138694,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.000298626081,"mpcc_du":49.3075562,"mpcc_dv":50.6924438,"mpcc_dw":49.9386635,"mpcc_enc_sign":1,"mpcc_id_a":0.327168882,"mpcc_iq_a":-1.72814655,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.30156565,"mpcc_pred_id_a":-0.482998163,"mpcc_pred_iq_a":-5.57152176,"mpcc_state":1,"mpcc_theta_e":0.445142746,"mpcc_theta_mech":0.555974483,"sam_rpm":5.70224571,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0141805857,"thr_a_norm":0.0141805857,"thr_a_v":0.556722343,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.444934756,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.293053,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.24105906,"cg_iw_a":0.78155756,"cg_theta_rad":0.553271532,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0665287152,"mpcc_du":49.481514,"mpcc_dv":50.5091667,"mpcc_dw":50.518486,"mpcc_enc_sign":1,"mpcc_id_a":3.34246325,"mpcc_iq_a":0.522667587,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.36078358,"mpcc_pred_id_a":0.577887654,"mpcc_pred_iq_a":-4.89304066,"mpcc_state":1,"mpcc_theta_e":0.451693058,"mpcc_theta_mech":0.557284534,"sam_rpm":13.7879133,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271595269,"thr_a_norm":0.0271595269,"thr_a_v":0.608638108,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49508813,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.299583,"values":{"cg_iu_a":1.18437815,"cg_iv_a":0.57113266,"cg_iw_a":-1.75551081,"cg_theta_rad":0.555692732,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0364927761,"mpcc_du":50.5864906,"mpcc_dv":47.9512405,"mpcc_dw":52.0487595,"mpcc_enc_sign":1,"mpcc_id_a":2.63264489,"mpcc_iq_a":-0.112543717,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.55378437,"mpcc_pred_id_a":0.561798453,"mpcc_pred_iq_a":-0.867007911,"mpcc_state":1,"mpcc_theta_e":0.452713966,"mpcc_theta_mech":0.557488739,"sam_rpm":-19.2988949,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271595269,"thr_a_norm":0.0271595269,"thr_a_v":0.608638108,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49508813,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.306114,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.226231575,"cg_iw_a":-2.48038769,"cg_theta_rad":0.55506289,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.00416256674,"mpcc_du":50.2882576,"mpcc_dv":48.6095734,"mpcc_dw":51.3904266,"mpcc_enc_sign":1,"mpcc_id_a":0.0500936136,"mpcc_iq_a":-0.295410693,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.890769,"mpcc_pred_id_a":-0.168030202,"mpcc_pred_iq_a":-1.24360991,"mpcc_state":1,"mpcc_theta_e":0.433515072,"mpcc_theta_mech":0.553648949,"sam_rpm":-13.4244204,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0236724615,"thr_a_norm":0.0236724615,"thr_a_v":0.594689846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.464824885,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.314568,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.516182423,"cg_iw_a":1.79638505,"cg_theta_rad":0.556900263,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0257742126,"mpcc_du":50.8914452,"mpcc_dv":47.6130486,"mpcc_dw":52.3869514,"mpcc_enc_sign":1,"mpcc_id_a":2.95403981,"mpcc_iq_a":-0.743987441,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.8858433,"mpcc_pred_id_a":0.401435226,"mpcc_pred_iq_a":0.336258024,"mpcc_state":1,"mpcc_theta_e":0.427639961,"mpcc_theta_mech":0.552473903,"sam_rpm":-26.1000347,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022174418,"thr_a_norm":0.0236724615,"thr_a_v":0.588697672,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479679555,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.326408,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.02359605,"cg_iw_a":-0.160782099,"cg_theta_rad":0.553901076,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0419421159,"mpcc_du":50.4910583,"mpcc_dv":48.1337357,"mpcc_dw":51.8662643,"mpcc_enc_sign":1,"mpcc_id_a":2.78065896,"mpcc_iq_a":-0.784356356,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.6322136,"mpcc_pred_id_a":0.500015676,"mpcc_pred_iq_a":-2.218081,"mpcc_state":1,"mpcc_theta_e":0.436378956,"mpcc_theta_mech":0.55422169,"sam_rpm":-16.3984127,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022174418,"thr_a_norm":0.022174418,"thr_a_v":0.588697672,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.479679555,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.336662,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.878620625,"cg_iw_a":-0.59570837,"cg_theta_rad":0.553083897,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.00489242841,"mpcc_du":49.7280388,"mpcc_dv":49.5528107,"mpcc_dw":50.4471893,"mpcc_enc_sign":1,"mpcc_id_a":-0.458693296,"mpcc_iq_a":-3.02458191,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.52034569,"mpcc_pred_id_a":-0.58070904,"mpcc_pred_iq_a":-4.71463776,"mpcc_state":1,"mpcc_theta_e":0.447218895,"mpcc_theta_mech":0.556389689,"sam_rpm":7.52736473,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0169626921,"thr_a_norm":0.0169626921,"thr_a_v":0.567850769,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.443273067,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.346977,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.371207237,"cg_iw_a":-0.740683079,"cg_theta_rad":0.553177655,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.00248701475,"mpcc_du":49.5815048,"mpcc_dv":50.4184952,"mpcc_dw":50.4049797,"mpcc_enc_sign":1,"mpcc_id_a":0.970999122,"mpcc_iq_a":-1.38730526,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.79750347,"mpcc_pred_id_a":-0.0594071932,"mpcc_pred_iq_a":-4.12739134,"mpcc_state":1,"mpcc_theta_e":0.445861816,"mpcc_theta_mech":0.55611825,"sam_rpm":5.85295248,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248432159,"thr_a_norm":0.0169626921,"thr_a_v":0.599372864,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493124276,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.356773,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.661157608,"cg_iw_a":0.491607189,"cg_theta_rad":0.556876838,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0522463359,"mpcc_du":50.2964973,"mpcc_dv":48.6343842,"mpcc_dw":51.3656158,"mpcc_enc_sign":1,"mpcc_id_a":1.59928584,"mpcc_iq_a":0.254329979,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.99263811,"mpcc_pred_id_a":0.0897377729,"mpcc_pred_iq_a":-0.171531335,"mpcc_state":1,"mpcc_theta_e":0.450101852,"mpcc_theta_mech":0.556966245,"sam_rpm":10.2676821,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0248432159,"thr_a_norm":0.0248432159,"thr_a_v":0.599372864,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493124276,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.366997,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.371207237,"cg_iw_a":-0.523220062,"cg_theta_rad":0.555983484,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0162724536,"mpcc_du":50.0308685,"mpcc_dv":49.1216164,"mpcc_dw":50.8783836,"mpcc_enc_sign":1,"mpcc_id_a":0.591115594,"mpcc_iq_a":-1.34373116,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.88824344,"mpcc_pred_id_a":-0.432725698,"mpcc_pred_iq_a":-4.1404047,"mpcc_state":1,"mpcc_theta_e":0.444920063,"mpcc_theta_mech":0.555929959,"sam_rpm":-4.06706142,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269706994,"thr_a_norm":0.0269706994,"thr_a_v":0.607882798,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488139123,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.390068,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.45852208,"cg_iw_a":0.346631765,"cg_theta_rad":0.552162588,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.000854328682,"mpcc_du":50.3756371,"mpcc_dv":48.6906509,"mpcc_dw":51.3093491,"mpcc_enc_sign":1,"mpcc_id_a":-0.524290442,"mpcc_iq_a":-3.03410912,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.74730492,"mpcc_pred_id_a":-0.48238492,"mpcc_pred_iq_a":-1.70843136,"mpcc_state":1,"mpcc_theta_e":0.441329479,"mpcc_theta_mech":0.555211842,"sam_rpm":-6.83270311,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0269706994,"thr_a_norm":0.0269706994,"thr_a_v":0.607882798,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488139123,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.396477,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.878620625,"cg_iw_a":0.0566806793,"cg_theta_rad":0.55882436,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0205240063,"mpcc_du":51.8693581,"mpcc_dv":46.5235519,"mpcc_dw":53.4764481,"mpcc_enc_sign":1,"mpcc_id_a":2.80132294,"mpcc_iq_a":-0.904256225,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-16.6518974,"mpcc_pred_id_a":0.165636167,"mpcc_pred_iq_a":5.80240011,"mpcc_state":1,"mpcc_theta_e":0.427611828,"mpcc_theta_mech":0.5524683,"sam_rpm":-24.2555389,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0268448144,"thr_a_norm":0.0268448144,"thr_a_v":0.607379258,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492419332,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.403069,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.45852208,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.55238235,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.00877452735,"mpcc_du":49.5594826,"mpcc_dv":49.6792259,"mpcc_dw":50.4405174,"mpcc_enc_sign":1,"mpcc_id_a":0.795631707,"mpcc_iq_a":-0.746136367,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.23806405,"mpcc_pred_id_a":-0.0577331148,"mpcc_pred_iq_a":-3.44977283,"mpcc_state":1,"mpcc_theta_e":0.445232868,"mpcc_theta_mech":0.555992484,"sam_rpm":4.68299818,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297402143,"thr_a_norm":0.0268448144,"thr_a_v":0.618960857,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451934069,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.41317,"values":{"cg_iu_a":2.63413143,"cg_iv_a":0.208694458,"cg_iw_a":-2.84282589,"cg_theta_rad":0.557070673,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0240489244,"mpcc_du":49.8381004,"mpcc_dv":49.2886086,"mpcc_dw":50.7113914,"mpcc_enc_sign":1,"mpcc_id_a":1.17633462,"mpcc_iq_a":-0.789619267,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.567223549,"mpcc_pred_id_a":-0.290403992,"mpcc_pred_iq_a":-3.83300471,"mpcc_state":1,"mpcc_theta_e":0.445831776,"mpcc_theta_mech":0.556112289,"sam_rpm":1.1459167,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297402143,"thr_a_norm":0.0297402143,"thr_a_v":0.618960857,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.451934069,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.424614,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-2.32837415,"cg_iw_a":0.346631765,"cg_theta_rad":0.553365529,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0642161593,"mpcc_du":50.4780922,"mpcc_dv":48.3374557,"mpcc_dw":51.6625443,"mpcc_enc_sign":1,"mpcc_id_a":1.61760855,"mpcc_iq_a":-0.539449155,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.44288158,"mpcc_pred_id_a":0.1510223,"mpcc_pred_iq_a":-2.37588453,"mpcc_state":1,"mpcc_theta_e":0.447315216,"mpcc_theta_mech":0.556409001,"sam_rpm":-2.50047278,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0291611254,"thr_a_norm":0.0291611254,"thr_a_v":0.616644502,"thr_b":0.00596018136,"thr_b_norm":0.00596018136,"thr_b_v":0.523840725,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.435997,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-2.32837415,"cg_iw_a":-0.450732708,"cg_theta_rad":0.553819835,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0111759566,"mpcc_du":49.7411499,"mpcc_dv":49.2295418,"mpcc_dw":50.7704582,"mpcc_enc_sign":1,"mpcc_id_a":0.445201099,"mpcc_iq_a":-1.64643502,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.367910355,"mpcc_pred_id_a":0.13269183,"mpcc_pred_iq_a":-4.12385893,"mpcc_state":1,"mpcc_theta_e":0.446024895,"mpcc_theta_mech":0.556150913,"sam_rpm":-0.777424335,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210414231,"thr_a_norm":0.0210414231,"thr_a_v":0.584165692,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460494399,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.445763,"values":{"cg_iu_a":0.749452114,"cg_iv_a":0.788595676,"cg_iw_a":-1.97297335,"cg_theta_rad":0.55223906,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0290792827,"mpcc_du":50.7049561,"mpcc_dv":48.126091,"mpcc_dw":51.873909,"mpcc_enc_sign":1,"mpcc_id_a":0.607493579,"mpcc_iq_a":-0.977177501,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.9682107,"mpcc_pred_id_a":-0.119235173,"mpcc_pred_iq_a":-1.46692932,"mpcc_state":1,"mpcc_theta_e":0.441706657,"mpcc_theta_mech":0.555287242,"sam_rpm":-9.56179237,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210414231,"thr_a_norm":0.0210414231,"thr_a_v":0.584165692,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460494399,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.455803,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.09608364,"cg_iw_a":-2.26292419,"cg_theta_rad":0.552709162,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0645194873,"mpcc_du":50.3032494,"mpcc_dv":48.5907364,"mpcc_dw":51.4092636,"mpcc_enc_sign":1,"mpcc_id_a":1.62439263,"mpcc_iq_a":0.47654441,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.19067121,"mpcc_pred_id_a":0.0325175561,"mpcc_pred_iq_a":-0.947202265,"mpcc_state":1,"mpcc_theta_e":0.448707581,"mpcc_theta_mech":0.556687474,"sam_rpm":6.10327959,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280533284,"thr_a_norm":0.0280533284,"thr_a_v":0.612213314,"thr_b":0.00288853049,"thr_b_norm":0.00288853049,"thr_b_v":0.511554122,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.465965,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.298719406,"cg_iw_a":-2.26292419,"cg_theta_rad":0.556331038,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0363409258,"mpcc_du":50.4008636,"mpcc_dv":48.3549461,"mpcc_dw":51.6450539,"mpcc_enc_sign":1,"mpcc_id_a":1.67738187,"mpcc_iq_a":1.29745841,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.42029572,"mpcc_pred_id_a":0.290819377,"mpcc_pred_iq_a":0.239257142,"mpcc_state":1,"mpcc_theta_e":0.438972473,"mpcc_theta_mech":0.554740429,"sam_rpm":-6.76193094,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0454509109,"thr_a_norm":0.0280533284,"thr_a_v":0.681803644,"thr_b":0.0139917582,"thr_b_norm":0.00288853049,"thr_b_v":0.555967033,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.489006,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.226231575,"cg_iw_a":-0.958146572,"cg_theta_rad":0.554438353,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0309432428,"mpcc_du":50.6424332,"mpcc_dv":48.5236092,"mpcc_dw":51.4763908,"mpcc_enc_sign":1,"mpcc_id_a":-0.798762202,"mpcc_iq_a":-0.218461603,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.72034252,"mpcc_pred_id_a":-0.794483125,"mpcc_pred_iq_a":-0.928968549,"mpcc_state":1,"mpcc_theta_e":0.443370342,"mpcc_theta_mech":0.555620015,"sam_rpm":-1.78533602,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0454509109,"thr_a_norm":0.0454509109,"thr_a_v":0.681803644,"thr_b":0.0139917582,"thr_b_norm":0.0139917582,"thr_b_v":0.555967033,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.495506,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.96593571,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.556956649,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0513794497,"mpcc_du":49.5650635,"mpcc_dv":49.3991508,"mpcc_dw":50.6008492,"mpcc_enc_sign":1,"mpcc_id_a":3.12880182,"mpcc_iq_a":-0.580625832,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.38566589,"mpcc_pred_id_a":0.352979451,"mpcc_pred_iq_a":-3.6033287,"mpcc_state":1,"mpcc_theta_e":0.450971127,"mpcc_theta_mech":0.557140112,"sam_rpm":8.60963726,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.104340792,"thr_a_norm":0.104340792,"thr_a_v":0.917363167,"thr_b":0.0462062359,"thr_b_norm":0.0462062359,"thr_b_v":0.684824944,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.502068,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.516182423,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556399643,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.00576667348,"mpcc_du":49.6389122,"mpcc_dv":49.3904533,"mpcc_dw":50.6095467,"mpcc_enc_sign":1,"mpcc_id_a":1.20658708,"mpcc_iq_a":-0.557982326,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.54654455,"mpcc_pred_id_a":0.0837562606,"mpcc_pred_iq_a":-3.57407975,"mpcc_state":1,"mpcc_theta_e":0.436213017,"mpcc_theta_mech":0.55418855,"sam_rpm":-8.6162014,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.104340792,"thr_a_norm":0.104340792,"thr_a_v":0.917363167,"thr_b":0.0462062359,"thr_b_norm":0.0462062359,"thr_b_v":0.684824944,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.510399,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.89344811,"cg_iw_a":-0.595708132,"cg_theta_rad":0.556891084,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0420552306,"mpcc_du":49.7723389,"mpcc_dv":48.9603195,"mpcc_dw":51.0396805,"mpcc_enc_sign":1,"mpcc_id_a":3.46589875,"mpcc_iq_a":-0.536207438,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.09085131,"mpcc_pred_id_a":0.619640291,"mpcc_pred_iq_a":0.343269587,"mpcc_state":1,"mpcc_theta_e":0.445162296,"mpcc_theta_mech":0.555978358,"sam_rpm":4.77752256,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257370025,"thr_a_norm":0.0257370025,"thr_a_v":0.60294801,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.492217898,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.520805,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-1.74847269,"cg_iw_a":0.78155756,"cg_theta_rad":0.557499111,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.00802146178,"mpcc_du":49.5944595,"mpcc_dv":49.5338783,"mpcc_dw":50.4661217,"mpcc_enc_sign":1,"mpcc_id_a":0.028456334,"mpcc_iq_a":-1.38950872,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.30109644,"mpcc_pred_id_a":-0.293768078,"mpcc_pred_iq_a":-1.74515295,"mpcc_state":1,"mpcc_theta_e":0.42949295,"mpcc_theta_mech":0.552844465,"sam_rpm":-6.61240244,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295891464,"thr_a_norm":0.0257370025,"thr_a_v":0.618356586,"thr_b":0.00350537896,"thr_b_norm":0,"thr_b_v":0.514021516,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.530571,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-1.09608364,"cg_iw_a":-0.595707893,"cg_theta_rad":0.551663876,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0265183728,"mpcc_du":49.2691116,"mpcc_dv":50.7308884,"mpcc_dw":50.1944466,"mpcc_enc_sign":1,"mpcc_id_a":2.4200778,"mpcc_iq_a":-0.532868981,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.84941864,"mpcc_pred_id_a":0.370690942,"mpcc_pred_iq_a":-0.77294153,"mpcc_state":1,"mpcc_theta_e":0.4397645,"mpcc_theta_mech":0.554898798,"sam_rpm":12.8282137,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0295891464,"thr_a_norm":0.0295891464,"thr_a_v":0.618356586,"thr_b":0.00350537896,"thr_b_norm":0.00350537896,"thr_b_v":0.514021516,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.540794,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.24105906,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.555863023,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0290492494,"mpcc_du":49.8494453,"mpcc_dv":49.0977058,"mpcc_dw":50.9022942,"mpcc_enc_sign":1,"mpcc_id_a":2.30783129,"mpcc_iq_a":-0.776158094,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.318864852,"mpcc_pred_id_a":0.0331430621,"mpcc_pred_iq_a":-3.08892536,"mpcc_state":1,"mpcc_theta_e":0.446722507,"mpcc_theta_mech":0.556290448,"sam_rpm":0.00849222485,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0159681886,"thr_a_norm":0.0159681886,"thr_a_v":0.563872755,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.550774,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.09608364,"cg_iw_a":0.419119358,"cg_theta_rad":0.555873275,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.00108845928,"mpcc_du":50.4176979,"mpcc_dv":48.4905243,"mpcc_dw":51.5094757,"mpcc_enc_sign":1,"mpcc_id_a":0.536779046,"mpcc_iq_a":-2.14647341,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.146626,"mpcc_pred_id_a":-0.191031456,"mpcc_pred_iq_a":-0.727333903,"mpcc_state":1,"mpcc_theta_e":0.441122055,"mpcc_theta_mech":0.555170298,"sam_rpm":-6.59219408,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0159681886,"thr_a_norm":0.0159681886,"thr_a_v":0.563872755,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478571773,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.560905,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.31354666,"cg_iw_a":-1.61053562,"cg_theta_rad":0.55702579,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0176132806,"mpcc_du":49.3025932,"mpcc_dv":50.6974068,"mpcc_dw":50.1957436,"mpcc_enc_sign":1,"mpcc_id_a":2.62157845,"mpcc_iq_a":0.072201319,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.87799025,"mpcc_pred_id_a":0.261583388,"mpcc_pred_iq_a":-3.0344336,"mpcc_state":1,"mpcc_theta_e":0.437407494,"mpcc_theta_mech":0.554427445,"sam_rpm":5.28830671,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156660527,"thr_a_norm":0.0156660527,"thr_a_v":0.562664211,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.570976,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.806133032,"cg_iw_a":0.346631765,"cg_theta_rad":0.554598987,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0152789801,"mpcc_du":49.2959709,"mpcc_dv":50.7040291,"mpcc_dw":50.1739311,"mpcc_enc_sign":1,"mpcc_id_a":2.13567019,"mpcc_iq_a":1.39993465,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.5257616,"mpcc_pred_id_a":0.244233906,"mpcc_pred_iq_a":-2.12883949,"mpcc_state":1,"mpcc_theta_e":0.443034649,"mpcc_theta_mech":0.55555284,"sam_rpm":13.7352161,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209784806,"thr_a_norm":0.0156660527,"thr_a_v":0.583913922,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465529829,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.594078,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.38603449,"cg_iw_a":0.709070206,"cg_theta_rad":0.553676069,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0204214547,"mpcc_du":50.7318459,"mpcc_dv":48.1763763,"mpcc_dw":51.8236237,"mpcc_enc_sign":1,"mpcc_id_a":1.74759007,"mpcc_iq_a":-0.942332804,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-13.8819723,"mpcc_pred_id_a":-0.367112935,"mpcc_pred_iq_a":-2.02957773,"mpcc_state":1,"mpcc_theta_e":0.433300495,"mpcc_theta_mech":0.553606033,"sam_rpm":-20.1361713,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0209784806,"thr_a_norm":0.0209784806,"thr_a_v":0.583913922,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465529829,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.600639,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.82096052,"cg_iw_a":-1.4655602,"cg_theta_rad":0.554511309,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.000753801723,"mpcc_du":50.0273933,"mpcc_dv":49.1120186,"mpcc_dw":50.8879814,"mpcc_enc_sign":1,"mpcc_id_a":0.547595263,"mpcc_iq_a":-2.94705176,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.26396012,"mpcc_pred_id_a":-0.420384675,"mpcc_pred_iq_a":-2.02047205,"mpcc_state":1,"mpcc_theta_e":0.445590973,"mpcc_theta_mech":0.556064069,"sam_rpm":3.73489475,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156031102,"thr_a_norm":0.0156031102,"thr_a_v":0.562412441,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452437609,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.607201,"values":{"cg_iu_a":3.79393435,"cg_iv_a":-1.45852208,"cg_iw_a":-2.33541226,"cg_theta_rad":0.556048572,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0421978645,"mpcc_du":48.7465096,"mpcc_dv":51.2534904,"mpcc_dw":49.7961273,"mpcc_enc_sign":1,"mpcc_id_a":3.68958306,"mpcc_iq_a":-1.06253648,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.29424047,"mpcc_pred_id_a":0.972508609,"mpcc_pred_iq_a":-5.08269739,"mpcc_state":1,"mpcc_theta_e":0.434664726,"mpcc_theta_mech":0.553878903,"sam_rpm":30.8476715,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0156031102,"thr_a_norm":0.0156031102,"thr_a_v":0.562412441,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.452437609,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.61364,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.806133032,"cg_iw_a":-4.00262833,"cg_theta_rad":0.556081176,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.00561593752,"mpcc_du":49.6261559,"mpcc_dv":49.6163063,"mpcc_dw":50.3836937,"mpcc_enc_sign":1,"mpcc_id_a":0.470335007,"mpcc_iq_a":-1.42629671,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.87825918,"mpcc_pred_id_a":-0.52633512,"mpcc_pred_iq_a":-3.75628233,"mpcc_state":1,"mpcc_theta_e":0.445841789,"mpcc_theta_mech":0.556114256,"sam_rpm":4.88682318,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0301934034,"thr_a_norm":0.0301934034,"thr_a_v":0.620773613,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463112861,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.624077,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.24105906,"cg_iw_a":-1.8279984,"cg_theta_rad":0.557627499,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0153840836,"mpcc_du":49.7958183,"mpcc_dv":49.3629494,"mpcc_dw":50.6370506,"mpcc_enc_sign":1,"mpcc_id_a":1.79218125,"mpcc_iq_a":-1.84218681,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.95300198,"mpcc_pred_id_a":0.189873233,"mpcc_pred_iq_a":-0.699171424,"mpcc_state":1,"mpcc_theta_e":0.451842785,"mpcc_theta_mech":0.557314456,"sam_rpm":1.29790807,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.0301934034,"thr_a_v":0.592927456,"thr_b":0.000886932015,"thr_b_norm":0,"thr_b_v":0.503547728,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.633965,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.588670254,"cg_iw_a":0.0566809177,"cg_theta_rad":0.556289554,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0352893211,"mpcc_du":49.4696541,"mpcc_dv":49.4661446,"mpcc_dw":50.5338554,"mpcc_enc_sign":1,"mpcc_id_a":2.56286764,"mpcc_iq_a":-1.07835305,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.2944603,"mpcc_pred_id_a":0.328118205,"mpcc_pred_iq_a":-0.943335772,"mpcc_state":1,"mpcc_theta_e":0.429843903,"mpcc_theta_mech":0.552914739,"sam_rpm":-10.0103636,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023231864,"thr_a_norm":0.023231864,"thr_a_v":0.592927456,"thr_b":0.000886932015,"thr_b_norm":0.000886932015,"thr_b_v":0.503547728,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.644157,"values":{"cg_iu_a":2.5616436,"cg_iv_a":0.0637187958,"cg_iw_a":-1.10312176,"cg_theta_rad":0.556752801,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0101787774,"mpcc_du":50.180172,"mpcc_dv":48.8412209,"mpcc_dw":51.1587791,"mpcc_enc_sign":1,"mpcc_id_a":1.31438363,"mpcc_iq_a":-2.01454926,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.70894134,"mpcc_pred_id_a":-0.26870212,"mpcc_pred_iq_a":-2.60670853,"mpcc_state":1,"mpcc_theta_e":0.445538998,"mpcc_theta_mech":0.556053698,"sam_rpm":-2.91207981,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242263675,"thr_a_norm":0.0242263675,"thr_a_v":0.59690547,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483506501,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.654198,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.371207237,"cg_iw_a":-0.233269691,"cg_theta_rad":0.557945609,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.00479151262,"mpcc_du":49.6949234,"mpcc_dv":49.3382645,"mpcc_dw":50.6617355,"mpcc_enc_sign":1,"mpcc_id_a":1.11664486,"mpcc_iq_a":0.456348896,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.41457868,"mpcc_pred_id_a":-0.0580568835,"mpcc_pred_iq_a":1.40467966,"mpcc_state":1,"mpcc_theta_e":0.433191299,"mpcc_theta_mech":0.553584218,"sam_rpm":3.03505373,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242263675,"thr_a_norm":0.0242263675,"thr_a_v":0.59690547,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483506501,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.664268,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.74847269,"cg_iw_a":-1.10312176,"cg_theta_rad":0.558466315,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0338775925,"mpcc_du":49.5305214,"mpcc_dv":50.3396988,"mpcc_dw":50.4694786,"mpcc_enc_sign":1,"mpcc_id_a":2.37719178,"mpcc_iq_a":-0.438419402,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.02575445,"mpcc_pred_id_a":0.180848897,"mpcc_pred_iq_a":-1.1890254,"mpcc_state":1,"mpcc_theta_e":0.42893362,"mpcc_theta_mech":0.552732646,"sam_rpm":-4.61089516,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0166227967,"thr_a_norm":0.0166227967,"thr_a_v":0.566491187,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.6744,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.02359605,"cg_iw_a":-0.378245115,"cg_theta_rad":0.556631923,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0398577005,"mpcc_du":49.8273048,"mpcc_dv":49.1481857,"mpcc_dw":50.8518143,"mpcc_enc_sign":1,"mpcc_id_a":2.01677656,"mpcc_iq_a":0.284261227,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.50464725,"mpcc_pred_id_a":0.00344539341,"mpcc_pred_iq_a":-2.43805242,"mpcc_state":1,"mpcc_theta_e":0.450498581,"mpcc_theta_mech":0.557045639,"sam_rpm":5.0068655,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206008255,"thr_a_norm":0.0166227967,"thr_a_v":0.582403302,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469507903,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.697411,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-1.24105906,"cg_iw_a":0.0566809177,"cg_theta_rad":0.557721913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.00156179362,"mpcc_du":50.7086449,"mpcc_dv":48.219696,"mpcc_dw":51.780304,"mpcc_enc_sign":1,"mpcc_id_a":0.510666728,"mpcc_iq_a":-0.991047502,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.56793833,"mpcc_pred_id_a":-0.415410101,"mpcc_pred_iq_a":2.20289421,"mpcc_state":1,"mpcc_theta_e":0.455281258,"mpcc_theta_mech":0.558002174,"sam_rpm":-2.32403326,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0206008255,"thr_a_norm":0.0206008255,"thr_a_v":0.582403302,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469507903,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.703972,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.60349751,"cg_iw_a":0.491607189,"cg_theta_rad":0.55344826,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0235371478,"mpcc_du":49.6017265,"mpcc_dv":49.4285393,"mpcc_dw":50.5714607,"mpcc_enc_sign":1,"mpcc_id_a":1.18434954,"mpcc_iq_a":-0.938271224,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.54595804,"mpcc_pred_id_a":0.0290022232,"mpcc_pred_iq_a":-3.5195775,"mpcc_state":1,"mpcc_theta_e":0.449301243,"mpcc_theta_mech":0.556806147,"sam_rpm":8.55583286,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208400041,"thr_a_norm":0.0208400041,"thr_a_v":0.583360016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450373083,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.710472,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-1.45852208,"cg_iw_a":-0.305757284,"cg_theta_rad":0.555381238,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.00870897714,"mpcc_du":51.0654373,"mpcc_dv":47.357563,"mpcc_dw":52.642437,"mpcc_enc_sign":1,"mpcc_id_a":1.78292871,"mpcc_iq_a":-0.335281134,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.3067894,"mpcc_pred_id_a":0.412819207,"mpcc_pred_iq_a":3.55404878,"mpcc_state":1,"mpcc_theta_e":0.420966148,"mpcc_theta_mech":0.551139116,"sam_rpm":-27.7512016,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0208400041,"thr_a_norm":0.0208400041,"thr_a_v":0.583360016,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450373083,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.716972,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.74847269,"cg_iw_a":0.926532745,"cg_theta_rad":0.552690864,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.00805321429,"mpcc_du":49.5781174,"mpcc_dv":49.9881325,"mpcc_dw":50.4218826,"mpcc_enc_sign":1,"mpcc_id_a":1.74723458,"mpcc_iq_a":-0.417954028,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-18.7966137,"mpcc_pred_id_a":0.384361595,"mpcc_pred_iq_a":-0.177492961,"mpcc_state":1,"mpcc_theta_e":0.44393301,"mpcc_theta_mech":0.555732548,"sam_rpm":-7.81276894,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0125440657,"thr_a_norm":0.0125440657,"thr_a_v":0.550176263,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455106407,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.727348,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.53100967,"cg_iw_a":-1.03063393,"cg_theta_rad":0.554642856,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0493922643,"mpcc_du":49.9114456,"mpcc_dv":48.7877045,"mpcc_dw":51.2122955,"mpcc_enc_sign":1,"mpcc_id_a":2.94948888,"mpcc_iq_a":-0.947731614,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.41656113,"mpcc_pred_id_a":0.681640685,"mpcc_pred_iq_a":-1.90345049,"mpcc_state":1,"mpcc_theta_e":0.44772768,"mpcc_theta_mech":0.556491494,"sam_rpm":6.19859028,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297528058,"thr_a_norm":0.0125440657,"thr_a_v":0.619011223,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455257475,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.738396,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.24105906,"cg_iw_a":-2.04546118,"cg_theta_rad":0.551130116,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0590657368,"mpcc_du":49.7353325,"mpcc_dv":48.7562065,"mpcc_dw":51.2437935,"mpcc_enc_sign":1,"mpcc_id_a":4.37457085,"mpcc_iq_a":-0.577013791,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.0953169,"mpcc_pred_id_a":1.06873953,"mpcc_pred_iq_a":-0.203085691,"mpcc_state":1,"mpcc_theta_e":0.420632362,"mpcc_theta_mech":0.551072359,"sam_rpm":-22.4759998,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297528058,"thr_a_norm":0.0297528058,"thr_a_v":0.619011223,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455257475,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.74752,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.588670254,"cg_iw_a":-1.24809694,"cg_theta_rad":0.555917859,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.029114848,"mpcc_du":50.2083168,"mpcc_dv":48.5326157,"mpcc_dw":51.4673843,"mpcc_enc_sign":1,"mpcc_id_a":2.55362487,"mpcc_iq_a":-1.10006189,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.17537975,"mpcc_pred_id_a":0.305822343,"mpcc_pred_iq_a":-2.29643869,"mpcc_state":1,"mpcc_theta_e":0.447158813,"mpcc_theta_mech":0.556377649,"sam_rpm":-9.84533596,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023458451,"thr_a_norm":0.023458451,"thr_a_v":0.593833804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457372397,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.7575,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.31354666,"cg_iw_a":-0.233269691,"cg_theta_rad":0.554993868,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.021910619,"mpcc_du":49.5770302,"mpcc_dv":49.1192589,"mpcc_dw":50.8807411,"mpcc_enc_sign":1,"mpcc_id_a":2.21585059,"mpcc_iq_a":-1.30158651,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.50167465,"mpcc_pred_id_a":-0.0392721407,"mpcc_pred_iq_a":-2.37065721,"mpcc_state":1,"mpcc_theta_e":0.451171398,"mpcc_theta_mech":0.55580759,"sam_rpm":13.1361895,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023458451,"thr_a_norm":0.023458451,"thr_a_v":0.593833804,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457372397,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.76754,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-2.61832476,"cg_iw_a":-0.378244877,"cg_theta_rad":0.555890083,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0344604515,"mpcc_du":49.8771515,"mpcc_dv":49.0759239,"mpcc_dw":50.9240761,"mpcc_enc_sign":1,"mpcc_id_a":2.64622116,"mpcc_iq_a":-1.41127706,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.2463479,"mpcc_pred_id_a":0.0641600862,"mpcc_pred_iq_a":-3.19121385,"mpcc_state":1,"mpcc_theta_e":0.449424744,"mpcc_theta_mech":0.556830883,"sam_rpm":3.6160717,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0179446042,"thr_a_norm":0.0179446042,"thr_a_v":0.571778417,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456063181,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.77755,"values":{"cg_iu_a":5.46115017,"cg_iv_a":-0.951108456,"cg_iw_a":-4.51004171,"cg_theta_rad":0.552411497,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.00497379247,"mpcc_du":49.9531136,"mpcc_dv":48.9322662,"mpcc_dw":51.0677338,"mpcc_enc_sign":1,"mpcc_id_a":0.934031129,"mpcc_iq_a":-1.66969895,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.1724329,"mpcc_pred_id_a":0.0497182868,"mpcc_pred_iq_a":-1.8024013,"mpcc_state":1,"mpcc_theta_e":0.431566238,"mpcc_theta_mech":0.553259134,"sam_rpm":-14.5087652,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149736851,"thr_a_norm":0.0179446042,"thr_a_v":0.559894741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.800591,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-0.878620625,"cg_iw_a":0.201656342,"cg_theta_rad":0.553658545,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.00475734845,"mpcc_du":48.9219627,"mpcc_dv":51.0780373,"mpcc_dw":49.5107956,"mpcc_enc_sign":1,"mpcc_id_a":0.27530387,"mpcc_iq_a":-1.80617452,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.3335381,"mpcc_pred_id_a":-0.582880735,"mpcc_pred_iq_a":-7.34669256,"mpcc_state":1,"mpcc_theta_e":0.453909874,"mpcc_theta_mech":0.557727933,"sam_rpm":16.4080715,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0149736851,"thr_a_norm":0.0149736851,"thr_a_v":0.559894741,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.807152,"values":{"cg_iu_a":4.88124943,"cg_iv_a":-0.661157608,"cg_iw_a":-4.22009182,"cg_theta_rad":0.557901561,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0290715136,"mpcc_du":49.2837105,"mpcc_dv":50.7162895,"mpcc_dw":50.4127159,"mpcc_enc_sign":1,"mpcc_id_a":2.93321896,"mpcc_iq_a":0.366353273,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.95716047,"mpcc_pred_id_a":0.735153556,"mpcc_pred_iq_a":-4.69264364,"mpcc_state":1,"mpcc_theta_e":0.445438385,"mpcc_theta_mech":0.556033552,"sam_rpm":6.8689909,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222625285,"thr_a_norm":0.0222625285,"thr_a_v":0.589050114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.813622,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.02359605,"cg_iw_a":-1.10312152,"cg_theta_rad":0.555197835,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0135448445,"mpcc_du":49.6058655,"mpcc_dv":49.2023888,"mpcc_dw":50.7976112,"mpcc_enc_sign":1,"mpcc_id_a":2.96557713,"mpcc_iq_a":-2.76002216,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.31829262,"mpcc_pred_id_a":0.570512235,"mpcc_pred_iq_a":-2.36303163,"mpcc_state":1,"mpcc_theta_e":0.44630909,"mpcc_theta_mech":0.555681229,"sam_rpm":4.62492418,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0222625285,"thr_a_norm":0.0222625285,"thr_a_v":0.589050114,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476960391,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.820152,"values":{"cg_iu_a":0.24203825,"cg_iv_a":0.136206627,"cg_iw_a":-1.32058477,"cg_theta_rad":0.555934012,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0197159946,"mpcc_du":50.3809013,"mpcc_dv":48.2609978,"mpcc_dw":51.7390022,"mpcc_enc_sign":1,"mpcc_id_a":2.46773195,"mpcc_iq_a":-0.0725602359,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.5264912,"mpcc_pred_id_a":0.30352664,"mpcc_pred_iq_a":-0.192357957,"mpcc_state":1,"mpcc_theta_e":0.431698799,"mpcc_theta_mech":0.553285718,"sam_rpm":-15.8726063,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233073831,"thr_a_norm":0.0233073831,"thr_a_v":0.593229532,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461652547,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.828148,"values":{"cg_iu_a":0.894427299,"cg_iv_a":1.07854605,"cg_iw_a":-1.97297335,"cg_theta_rad":0.55746901,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.00478765182,"mpcc_du":49.5537834,"mpcc_dv":49.9677582,"mpcc_dw":50.4462166,"mpcc_enc_sign":1,"mpcc_id_a":1.12479794,"mpcc_iq_a":-0.562111735,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.40140724,"mpcc_pred_id_a":-0.137757689,"mpcc_pred_iq_a":0.687061965,"mpcc_state":1,"mpcc_theta_e":0.433387756,"mpcc_theta_mech":0.553623497,"sam_rpm":-3.02236724,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0929102749,"thr_a_norm":0.0233073831,"thr_a_v":0.871641099,"thr_b":0.0428324491,"thr_b_norm":0,"thr_b_v":0.671329796,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.839378,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.09608364,"cg_iw_a":-1.61053562,"cg_theta_rad":0.55441159,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.130264729,"mpcc_du":49.8909302,"mpcc_dv":48.7409477,"mpcc_dw":51.2590523,"mpcc_enc_sign":1,"mpcc_id_a":4.93669033,"mpcc_iq_a":0.515912652,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.64556074,"mpcc_pred_id_a":0.795486987,"mpcc_pred_iq_a":-3.82258415,"mpcc_state":1,"mpcc_theta_e":0.446915627,"mpcc_theta_mech":0.556329012,"sam_rpm":-2.52945614,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0929102749,"thr_a_norm":0.0929102749,"thr_a_v":0.871641099,"thr_b":0.0428324491,"thr_b_norm":0.0428324491,"thr_b_v":0.671329796,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.849327,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.588670254,"cg_iw_a":0.274144173,"cg_theta_rad":0.557364345,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0375847556,"mpcc_du":50.3893051,"mpcc_dv":48.072731,"mpcc_dw":51.927269,"mpcc_enc_sign":1,"mpcc_id_a":3.70324731,"mpcc_iq_a":0.213039488,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.66969776,"mpcc_pred_id_a":0.689712524,"mpcc_pred_iq_a":3.56686783,"mpcc_state":1,"mpcc_theta_e":0.424674988,"mpcc_theta_mech":0.551880896,"sam_rpm":-14.8830366,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0213183761,"thr_a_norm":0.0213183761,"thr_a_v":0.585273504,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469709307,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.861534,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.298719406,"cg_iw_a":-1.39307213,"cg_theta_rad":0.553884566,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.00371398777,"mpcc_du":50.0650711,"mpcc_dv":48.8053246,"mpcc_dw":51.1946754,"mpcc_enc_sign":1,"mpcc_id_a":1.09692585,"mpcc_iq_a":-2.67819858,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.78843403,"mpcc_pred_id_a":-0.0587665513,"mpcc_pred_iq_a":-3.83775401,"mpcc_state":1,"mpcc_theta_e":0.436693668,"mpcc_theta_mech":0.555517614,"sam_rpm":-13.3587313,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020613417,"thr_a_norm":0.0213183761,"thr_a_v":0.582453668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467695117,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.871452,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.74847269,"cg_iw_a":-0.958146572,"cg_theta_rad":0.555316508,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0259567853,"mpcc_du":49.9697189,"mpcc_dv":48.9122467,"mpcc_dw":51.0877533,"mpcc_enc_sign":1,"mpcc_id_a":2.31353712,"mpcc_iq_a":0.240267888,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.34140682,"mpcc_pred_id_a":0.156746849,"mpcc_pred_iq_a":-1.5745945,"mpcc_state":1,"mpcc_theta_e":0.447514534,"mpcc_theta_mech":0.556448817,"sam_rpm":6.66890383,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020613417,"thr_a_norm":0.020613417,"thr_a_v":0.582453668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467695117,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.881554,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.45852208,"cg_iw_a":0.564094782,"cg_theta_rad":0.556297719,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0314131118,"mpcc_du":49.4267693,"mpcc_dv":50.5732307,"mpcc_dw":50.1985512,"mpcc_enc_sign":1,"mpcc_id_a":1.63169944,"mpcc_iq_a":-0.175034299,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.37479246,"mpcc_pred_id_a":0.099316515,"mpcc_pred_iq_a":-2.21194386,"mpcc_state":1,"mpcc_theta_e":0.449325085,"mpcc_theta_mech":0.556810975,"sam_rpm":28.8077126,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0443305075,"thr_a_norm":0.0443305075,"thr_a_v":0.67732203,"thr_b":0.0117257982,"thr_b_norm":0.0117257982,"thr_b_v":0.546903193,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.904594,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.951108456,"cg_iw_a":-0.233269691,"cg_theta_rad":0.553547025,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0213978961,"mpcc_du":47.7832718,"mpcc_dv":52.2167282,"mpcc_dw":48.0983505,"mpcc_enc_sign":1,"mpcc_id_a":-0.0728246421,"mpcc_iq_a":-1.31941748,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":30.8034019,"mpcc_pred_id_a":-0.890912712,"mpcc_pred_iq_a":-9.23397923,"mpcc_state":1,"mpcc_theta_e":0.469480038,"mpcc_theta_mech":0.560841918,"sam_rpm":45.3816452,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0443305075,"thr_a_norm":0.0443305075,"thr_a_v":0.67732203,"thr_b":0.0117257982,"thr_b_norm":0.0117257982,"thr_b_v":0.546903193,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.911095,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.226231575,"cg_iw_a":-2.91531372,"cg_theta_rad":0.5525859,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0131421611,"mpcc_du":49.5821648,"mpcc_dv":49.9238129,"mpcc_dw":50.4178352,"mpcc_enc_sign":1,"mpcc_id_a":0.770871222,"mpcc_iq_a":-1.11868882,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":14.6147299,"mpcc_pred_id_a":-0.244181678,"mpcc_pred_iq_a":-2.25916052,"mpcc_state":1,"mpcc_theta_e":0.455470085,"mpcc_theta_mech":0.558039963,"sam_rpm":22.1717911,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137273967,"thr_a_norm":0.0137273967,"thr_a_v":0.554909587,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438892186,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.917595,"values":{"cg_iu_a":2.05423021,"cg_iv_a":-1.02359605,"cg_iw_a":-1.97297359,"cg_theta_rad":0.556311667,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0138080567,"mpcc_du":49.6480637,"mpcc_dv":48.1206627,"mpcc_dw":51.8793373,"mpcc_enc_sign":1,"mpcc_id_a":1.12630796,"mpcc_iq_a":-0.724769354,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.55597639,"mpcc_pred_id_a":-0.0867449492,"mpcc_pred_iq_a":-2.3355763,"mpcc_state":1,"mpcc_theta_e":0.449527264,"mpcc_theta_mech":0.556851327,"sam_rpm":9.65119076,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0137273967,"thr_a_norm":0.0137273967,"thr_a_v":0.554909587,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.438892186,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.924156,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.0812563896,"cg_iw_a":-0.958146334,"cg_theta_rad":0.55712533,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0610319488,"mpcc_du":49.7867966,"mpcc_dv":48.8532524,"mpcc_dw":51.1467476,"mpcc_enc_sign":1,"mpcc_id_a":4.60002851,"mpcc_iq_a":0.0142563889,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.43458283,"mpcc_pred_id_a":0.882627249,"mpcc_pred_iq_a":-1.09828484,"mpcc_state":1,"mpcc_theta_e":0.439715385,"mpcc_theta_mech":0.554889023,"sam_rpm":-2.48025799,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.102162957,"thr_a_norm":0.102162957,"thr_a_v":0.908651829,"thr_b":0.046810478,"thr_b_norm":0.046810478,"thr_b_v":0.687241912,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.932671,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-2.0384233,"cg_iw_a":1.72389722,"cg_theta_rad":0.55743891,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.00495057693,"mpcc_du":49.3074417,"mpcc_dv":50.6925583,"mpcc_dw":50.0172653,"mpcc_enc_sign":1,"mpcc_id_a":0.93506217,"mpcc_iq_a":-0.955811679,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.06744671,"mpcc_pred_id_a":-0.290916026,"mpcc_pred_iq_a":-5.05567932,"mpcc_state":1,"mpcc_theta_e":0.427503109,"mpcc_theta_mech":0.552446544,"sam_rpm":11.3259859,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197070241,"thr_a_norm":0.102162957,"thr_a_v":0.578828096,"thr_b":0,"thr_b_norm":0.046810478,"thr_b_v":0.472881675,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.942528,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-0.226231575,"cg_iw_a":-2.11794901,"cg_theta_rad":0.552597463,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.060223069,"mpcc_du":49.37854,"mpcc_dv":49.6319504,"mpcc_dw":50.62146,"mpcc_enc_sign":1,"mpcc_id_a":4.7737031,"mpcc_iq_a":0.444041222,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.52414608,"mpcc_pred_id_a":0.886141241,"mpcc_pred_iq_a":-1.04131234,"mpcc_state":1,"mpcc_theta_e":0.429018497,"mpcc_theta_mech":0.552749574,"sam_rpm":-7.91614151,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0197070241,"thr_a_norm":0.0197070241,"thr_a_v":0.578828096,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472881675,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.953789,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.38603449,"cg_iw_a":0.12916851,"cg_theta_rad":0.552709639,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0267492048,"mpcc_du":50.4129372,"mpcc_dv":48.5280457,"mpcc_dw":51.4719543,"mpcc_enc_sign":1,"mpcc_id_a":0.978630126,"mpcc_iq_a":-1.53416264,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.830031991,"mpcc_pred_id_a":-0.200801864,"mpcc_pred_iq_a":-2.19527888,"mpcc_state":1,"mpcc_theta_e":0.448227882,"mpcc_theta_mech":0.556591451,"sam_rpm":-0.531586885,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180956721,"thr_a_norm":0.0180956721,"thr_a_v":0.572382689,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.964958,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.09608364,"cg_iw_a":0.0566811562,"cg_theta_rad":0.555993915,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0476326458,"mpcc_du":49.8747139,"mpcc_dv":48.8672867,"mpcc_dw":51.1327133,"mpcc_enc_sign":1,"mpcc_id_a":2.89459538,"mpcc_iq_a":-0.224287286,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.43852758,"mpcc_pred_id_a":0.588825405,"mpcc_pred_iq_a":-1.07560837,"mpcc_state":1,"mpcc_theta_e":0.447502136,"mpcc_theta_mech":0.556446314,"sam_rpm":8.94801235,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.018951714,"thr_a_norm":0.0180956721,"thr_a_v":0.575806856,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460444033,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.974937,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.588670254,"cg_iw_a":-0.523220062,"cg_theta_rad":0.555238545,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.00460752379,"mpcc_du":49.9637032,"mpcc_dv":48.994545,"mpcc_dw":51.005455,"mpcc_enc_sign":1,"mpcc_id_a":0.709230483,"mpcc_iq_a":-1.1107235,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.70613575,"mpcc_pred_id_a":-0.0773729831,"mpcc_pred_iq_a":-3.81906962,"mpcc_state":1,"mpcc_theta_e":0.435904026,"mpcc_theta_mech":0.55412674,"sam_rpm":-14.718976,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.018951714,"thr_a_norm":0.018951714,"thr_a_v":0.575806856,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460444033,"vdc_v":55.2955055}} +{"type":"telemetry","t":118.985344,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.951108456,"cg_iw_a":1.50643444,"cg_theta_rad":0.556188464,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0564446822,"mpcc_du":50.2156944,"mpcc_dv":48.4837608,"mpcc_dw":51.5162392,"mpcc_enc_sign":1,"mpcc_id_a":3.12175679,"mpcc_iq_a":-0.410413623,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.39384389,"mpcc_pred_id_a":0.424250841,"mpcc_pred_iq_a":-2.02203202,"mpcc_state":1,"mpcc_theta_e":0.442759991,"mpcc_theta_mech":0.555497944,"sam_rpm":-4.20838833,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00642594695,"thr_b_norm":0.00642594695,"thr_b_v":0.525703788,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.008171,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-2.25588632,"cg_iw_a":-2.62536287,"cg_theta_rad":0.553173065,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.00944080111,"mpcc_du":49.4285812,"mpcc_dv":50.5714188,"mpcc_dw":50.2533302,"mpcc_enc_sign":1,"mpcc_id_a":1.9296,"mpcc_iq_a":-2.25068545,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.027343573,"mpcc_pred_id_a":-0.0857212767,"mpcc_pred_iq_a":-6.22348642,"mpcc_state":1,"mpcc_theta_e":0.441777706,"mpcc_theta_mech":0.555301428,"sam_rpm":-0.491036296,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00642594695,"thr_b_norm":0.00642594695,"thr_b_v":0.525703788,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.014702,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-1.82096052,"cg_iw_a":1.36145926,"cg_theta_rad":0.551921964,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0262647159,"mpcc_du":50.545536,"mpcc_dv":48.1018562,"mpcc_dw":51.8981438,"mpcc_enc_sign":1,"mpcc_id_a":3.12055683,"mpcc_iq_a":0.147845358,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.8919849,"mpcc_pred_id_a":0.263574362,"mpcc_pred_iq_a":0.185377136,"mpcc_state":1,"mpcc_theta_e":0.427023411,"mpcc_theta_mech":0.552350581,"sam_rpm":-22.6503105,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0327111483,"thr_a_norm":0.0327111483,"thr_a_v":0.630844593,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485772491,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.021202,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-0.588670254,"cg_iw_a":0.419119358,"cg_theta_rad":0.554616451,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5008,"hz_app_loop":361,"hz_tim_isr":10014,"hz_vsense":361,"mpcc_cost":0.0105554657,"mpcc_du":48.8829384,"mpcc_dv":51.1170616,"mpcc_dw":49.4492493,"mpcc_enc_sign":1,"mpcc_id_a":0.125471339,"mpcc_iq_a":-1.59875095,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.3221588,"mpcc_pred_id_a":-0.488220751,"mpcc_pred_iq_a":-6.36549759,"mpcc_state":1,"mpcc_theta_e":0.45981741,"mpcc_theta_mech":0.558909416,"sam_rpm":27.36586,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0327111483,"thr_a_norm":0.0327111483,"thr_a_v":0.630844593,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485772491,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.027763,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.588670254,"cg_iw_a":-1.61053514,"cg_theta_rad":0.556995988,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9901,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0131420307,"mpcc_du":50.127079,"mpcc_dv":48.688858,"mpcc_dw":51.311142,"mpcc_enc_sign":1,"mpcc_id_a":1.97127616,"mpcc_iq_a":-0.63169831,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.97703266,"mpcc_pred_id_a":0.131566152,"mpcc_pred_iq_a":-1.94826722,"mpcc_state":1,"mpcc_theta_e":0.433695316,"mpcc_theta_mech":0.553685009,"sam_rpm":-13.3962927,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0185111016,"thr_a_norm":0.0185111016,"thr_a_v":0.574044406,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.450624853,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.037712,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.298719406,"cg_iw_a":-2.48038745,"cg_theta_rad":0.557040572,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0221574455,"mpcc_du":49.9622002,"mpcc_dv":49.0881538,"mpcc_dw":50.9118462,"mpcc_enc_sign":1,"mpcc_id_a":0.0902810618,"mpcc_iq_a":-0.87428093,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.33591866,"mpcc_pred_id_a":-0.233533278,"mpcc_pred_iq_a":-2.87768435,"mpcc_state":1,"mpcc_theta_e":0.447229385,"mpcc_theta_mech":0.556391776,"sam_rpm":4.50444841,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023735404,"thr_a_norm":0.0185111016,"thr_a_v":0.594941616,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474694431,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.048882,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.661157608,"cg_iw_a":-1.90048599,"cg_theta_rad":0.557349503,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.015399484,"mpcc_du":50.5350418,"mpcc_dv":48.2782249,"mpcc_dw":51.7217751,"mpcc_enc_sign":1,"mpcc_id_a":1.93116605,"mpcc_iq_a":-0.208600357,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.982515991,"mpcc_pred_id_a":-0.0932614431,"mpcc_pred_iq_a":1.83692002,"mpcc_state":1,"mpcc_theta_e":0.452911377,"mpcc_theta_mech":0.557528198,"sam_rpm":-0.674752831,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023735404,"thr_a_norm":0.023735404,"thr_a_v":0.594941616,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474694431,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.058952,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-0.0087685585,"cg_iw_a":-0.958146334,"cg_theta_rad":0.554863095,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0332872868,"mpcc_du":50.4657059,"mpcc_dv":48.5706978,"mpcc_dw":51.4293022,"mpcc_enc_sign":1,"mpcc_id_a":-1.08649194,"mpcc_iq_a":-2.81132007,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.5095129,"mpcc_pred_id_a":-0.699949086,"mpcc_pred_iq_a":-0.227145225,"mpcc_state":1,"mpcc_theta_e":0.425073624,"mpcc_theta_mech":0.551960647,"sam_rpm":-23.4643135,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0146589577,"thr_a_norm":0.0146589577,"thr_a_v":0.558635831,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454351097,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.069359,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.89344811,"cg_iw_a":-1.10312152,"cg_theta_rad":0.556115329,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0286338963,"mpcc_du":50.0070915,"mpcc_dv":49.0061378,"mpcc_dw":50.9938622,"mpcc_enc_sign":1,"mpcc_id_a":0.713032007,"mpcc_iq_a":-0.751888454,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.10362864,"mpcc_pred_id_a":-0.215317875,"mpcc_pred_iq_a":-3.82485151,"mpcc_state":1,"mpcc_theta_e":0.44410944,"mpcc_theta_mech":0.555767834,"sam_rpm":-2.51397943,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233199745,"thr_a_norm":0.0146589577,"thr_a_v":0.593279898,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468349725,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.079185,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.38603449,"cg_iw_a":-0.233269691,"cg_theta_rad":0.554753363,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0815076977,"mpcc_du":49.478653,"mpcc_dv":50.4495392,"mpcc_dw":50.521347,"mpcc_enc_sign":1,"mpcc_id_a":2.89865661,"mpcc_iq_a":0.911062062,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.1559696,"mpcc_pred_id_a":0.488315523,"mpcc_pred_iq_a":-3.36105084,"mpcc_state":1,"mpcc_theta_e":0.456989765,"mpcc_theta_mech":0.558343887,"sam_rpm":27.1716995,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233199745,"thr_a_norm":0.0233199745,"thr_a_v":0.593279898,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468349725,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.102592,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.733645439,"cg_iw_a":-2.33541203,"cg_theta_rad":0.557269573,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0043652649,"mpcc_du":50.8213577,"mpcc_dv":47.9427795,"mpcc_dw":52.0572205,"mpcc_enc_sign":1,"mpcc_id_a":1.14713562,"mpcc_iq_a":-0.340928614,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.51550961,"mpcc_pred_id_a":-0.0569564626,"mpcc_pred_iq_a":1.88229895,"mpcc_state":1,"mpcc_theta_e":0.43266058,"mpcc_theta_mech":0.553478062,"sam_rpm":-14.5340557,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0187880397,"thr_a_norm":0.0187880397,"thr_a_v":0.575152159,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.109123,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.74847269,"cg_iw_a":-1.39307237,"cg_theta_rad":0.556291282,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.00202659424,"mpcc_du":50.6464577,"mpcc_dv":48.1497307,"mpcc_dw":51.8502693,"mpcc_enc_sign":1,"mpcc_id_a":0.864129245,"mpcc_iq_a":-0.950884581,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.7304244,"mpcc_pred_id_a":-0.035946589,"mpcc_pred_iq_a":1.43948722,"mpcc_state":1,"mpcc_theta_e":0.435025215,"mpcc_theta_mech":0.553950965,"sam_rpm":-10.3151503,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212806165,"thr_a_norm":0.0187880397,"thr_a_v":0.585122466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461853951,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.115623,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.661157608,"cg_iw_a":-0.160782337,"cg_theta_rad":0.556170583,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.00213600276,"mpcc_du":50.2076416,"mpcc_dv":48.6512299,"mpcc_dw":51.3487701,"mpcc_enc_sign":1,"mpcc_id_a":-0.140881866,"mpcc_iq_a":-1.69168091,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.68666887,"mpcc_pred_id_a":-0.411422014,"mpcc_pred_iq_a":-4.38255835,"mpcc_state":1,"mpcc_theta_e":0.44716835,"mpcc_theta_mech":0.556379616,"sam_rpm":-3.19757485,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212806165,"thr_a_norm":0.0212806165,"thr_a_v":0.585122466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461853951,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.122337,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.371207237,"cg_iw_a":-2.84282541,"cg_theta_rad":0.552251935,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0377181172,"mpcc_du":50.4511833,"mpcc_dv":48.1677284,"mpcc_dw":51.8322716,"mpcc_enc_sign":1,"mpcc_id_a":3.130193,"mpcc_iq_a":1.37859654,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.6840162,"mpcc_pred_id_a":0.449515253,"mpcc_pred_iq_a":0.198220775,"mpcc_state":1,"mpcc_theta_e":0.429549694,"mpcc_theta_mech":0.552855849,"sam_rpm":-19.0812206,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244781524,"thr_a_norm":0.0244781524,"thr_a_v":0.59791261,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.132164,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.878620625,"cg_iw_a":-0.668195486,"cg_theta_rad":0.557768166,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.100187898,"mpcc_du":50.1676064,"mpcc_dv":48.6591682,"mpcc_dw":51.3408318,"mpcc_enc_sign":1,"mpcc_id_a":3.26990891,"mpcc_iq_a":0.367496252,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.13312292,"mpcc_pred_id_a":0.253961056,"mpcc_pred_iq_a":-1.55227494,"mpcc_state":1,"mpcc_theta_e":0.453086853,"mpcc_theta_mech":0.557563245,"sam_rpm":10.6413593,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0244781524,"thr_a_norm":0.0244781524,"thr_a_v":0.59791261,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475349069,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.142357,"values":{"cg_iu_a":0.821939945,"cg_iv_a":0.281181812,"cg_iw_a":-1.53804779,"cg_theta_rad":0.5571751,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0398862474,"mpcc_du":50.9384766,"mpcc_dv":49.4819756,"mpcc_dw":50.5359077,"mpcc_enc_sign":1,"mpcc_id_a":0.857894957,"mpcc_iq_a":0.0652781427,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.69223499,"mpcc_pred_id_a":-0.0762695894,"mpcc_pred_iq_a":0.151831299,"mpcc_state":1,"mpcc_theta_e":0.43746233,"mpcc_theta_mech":0.557935596,"sam_rpm":-11.3247795,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0332650393,"thr_a_norm":0.0332650393,"thr_a_v":0.633060157,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481895179,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.15255,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.226231575,"cg_iw_a":-2.40789986,"cg_theta_rad":0.554833114,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.00785568077,"mpcc_du":50.421833,"mpcc_dv":48.3867645,"mpcc_dw":51.6132355,"mpcc_enc_sign":1,"mpcc_id_a":1.3592639,"mpcc_iq_a":-1.93285334,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.28723335,"mpcc_pred_id_a":0.102121957,"mpcc_pred_iq_a":-1.17658007,"mpcc_state":1,"mpcc_theta_e":0.440988541,"mpcc_theta_mech":0.555143654,"sam_rpm":-7.82276678,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023483634,"thr_a_norm":0.0332650393,"thr_a_v":0.593934536,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477363229,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.162773,"values":{"cg_iu_a":3.06905746,"cg_iv_a":-0.443694592,"cg_iw_a":-0.015806675,"cg_theta_rad":0.554720163,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0025763209,"mpcc_du":50.7558327,"mpcc_dv":47.9025612,"mpcc_dw":52.0974388,"mpcc_enc_sign":1,"mpcc_id_a":0.868091404,"mpcc_iq_a":-0.947268844,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.4993315,"mpcc_pred_id_a":0.20393768,"mpcc_pred_iq_a":1.41095376,"mpcc_state":1,"mpcc_theta_e":0.430850506,"mpcc_theta_mech":0.556711435,"sam_rpm":-15.4088793,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023483634,"thr_a_norm":0.023483634,"thr_a_v":0.593934536,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477363229,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.172966,"values":{"cg_iu_a":0.749452114,"cg_iv_a":0.281181812,"cg_iw_a":-1.03063393,"cg_theta_rad":0.551711738,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.00774773117,"mpcc_du":50.3212738,"mpcc_dv":48.7379494,"mpcc_dw":51.2620506,"mpcc_enc_sign":1,"mpcc_id_a":0.121267729,"mpcc_iq_a":-2.47111273,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.829531312,"mpcc_pred_id_a":-0.414343685,"mpcc_pred_iq_a":-2.30096173,"mpcc_state":1,"mpcc_theta_e":0.450153828,"mpcc_theta_mech":0.556976676,"sam_rpm":1.5031594,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02000916,"thr_a_norm":0.02000916,"thr_a_v":0.58003664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490707248,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.182762,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.298719406,"cg_iw_a":1.72389722,"cg_theta_rad":0.554566264,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.00653656526,"mpcc_du":50.0365295,"mpcc_dv":48.7954636,"mpcc_dw":51.2045364,"mpcc_enc_sign":1,"mpcc_id_a":1.5982132,"mpcc_iq_a":-0.232470736,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.04303098,"mpcc_pred_id_a":0.171076909,"mpcc_pred_iq_a":0.505625427,"mpcc_state":1,"mpcc_theta_e":0.436123848,"mpcc_theta_mech":0.554170668,"sam_rpm":-3.56542516,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02000916,"thr_a_norm":0.02000916,"thr_a_v":0.58003664,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490707248,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.205986,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-1.31354666,"cg_iw_a":1.28897142,"cg_theta_rad":0.556489706,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0119972341,"mpcc_du":49.7587242,"mpcc_dv":49.4244423,"mpcc_dw":50.5755577,"mpcc_enc_sign":1,"mpcc_id_a":0.487765491,"mpcc_iq_a":-1.7168262,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.34338284,"mpcc_pred_id_a":-0.461428076,"mpcc_pred_iq_a":-4.41575003,"mpcc_state":1,"mpcc_theta_e":0.448809147,"mpcc_theta_mech":0.55670774,"sam_rpm":3.54728198,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0293625593,"thr_a_norm":0.0293625593,"thr_a_v":0.617450237,"thr_b":0.00511673093,"thr_b_norm":0.00511673093,"thr_b_v":0.520466924,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.212547,"values":{"cg_iu_a":3.64895868,"cg_iv_a":-1.60349751,"cg_iw_a":0.636582375,"cg_theta_rad":0.553245723,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0104658371,"mpcc_du":49.6760025,"mpcc_dv":50.0965424,"mpcc_dw":50.3239975,"mpcc_enc_sign":1,"mpcc_id_a":0.474356592,"mpcc_iq_a":-0.408727229,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.50863838,"mpcc_pred_id_a":-0.712854147,"mpcc_pred_iq_a":-3.73894405,"mpcc_state":1,"mpcc_theta_e":0.447302818,"mpcc_theta_mech":0.556406438,"sam_rpm":9.56506062,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0293625593,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0.00511673093,"thr_b_v":0.467997223,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.218956,"values":{"cg_iu_a":1.90925455,"cg_iv_a":1.07854605,"cg_iw_a":-0.885658503,"cg_theta_rad":0.552384675,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0221507847,"mpcc_du":49.3881111,"mpcc_dv":50.6118889,"mpcc_dw":50.3144684,"mpcc_enc_sign":1,"mpcc_id_a":2.69719243,"mpcc_iq_a":-0.972092628,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.62700939,"mpcc_pred_id_a":0.293097824,"mpcc_pred_iq_a":-4.54269934,"mpcc_state":1,"mpcc_theta_e":0.449702263,"mpcc_theta_mech":0.556886375,"sam_rpm":12.5629215,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467997223,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.225548,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-2.0384233,"cg_iw_a":-1.32058501,"cg_theta_rad":0.557035923,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0120298462,"mpcc_du":50.6119232,"mpcc_dv":48.2432671,"mpcc_dw":51.7567329,"mpcc_enc_sign":1,"mpcc_id_a":1.38314056,"mpcc_iq_a":-1.20322621,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.45947814,"mpcc_pred_id_a":-0.0155254295,"mpcc_pred_iq_a":0.169751883,"mpcc_state":1,"mpcc_theta_e":0.440760136,"mpcc_theta_mech":0.555097938,"sam_rpm":-4.69818211,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0405664891,"thr_a_norm":0.0405664891,"thr_a_v":0.662265956,"thr_b":0.00714351237,"thr_b_norm":0.00714351237,"thr_b_v":0.528574049,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.236168,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.09608364,"cg_iw_a":0.346632004,"cg_theta_rad":0.553184748,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0402408652,"mpcc_du":49.6683426,"mpcc_dv":50.2945709,"mpcc_dw":50.3316574,"mpcc_enc_sign":1,"mpcc_id_a":0.525559306,"mpcc_iq_a":-0.831245363,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.41793466,"mpcc_pred_id_a":-0.446677119,"mpcc_pred_iq_a":-0.757263124,"mpcc_state":1,"mpcc_theta_e":0.425731659,"mpcc_theta_mech":0.552092254,"sam_rpm":-6.97450256,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0168242157,"thr_a_norm":0.0405664891,"thr_a_v":0.567296863,"thr_b":0,"thr_b_norm":0.00714351237,"thr_b_v":0.434158862,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.246178,"values":{"cg_iu_a":2.27169323,"cg_iv_a":0.136206627,"cg_iw_a":0.491606712,"cg_theta_rad":0.555771112,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.00180541596,"mpcc_du":49.5917397,"mpcc_dv":50.1371689,"mpcc_dw":50.4082603,"mpcc_enc_sign":1,"mpcc_id_a":0.730462611,"mpcc_iq_a":-1.40173721,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.44228411,"mpcc_pred_id_a":-0.0926287323,"mpcc_pred_iq_a":-2.99880648,"mpcc_state":1,"mpcc_theta_e":0.438876152,"mpcc_theta_mech":0.554721177,"sam_rpm":3.77415013,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0168242157,"thr_a_norm":0.0168242157,"thr_a_v":0.567296863,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.434158862,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.256157,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.806133032,"cg_iw_a":-2.04546142,"cg_theta_rad":0.55384469,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0190910976,"mpcc_du":50.0145035,"mpcc_dv":48.6886749,"mpcc_dw":51.3113251,"mpcc_enc_sign":1,"mpcc_id_a":1.52562749,"mpcc_iq_a":-0.391563326,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.82543945,"mpcc_pred_id_a":0.615271389,"mpcc_pred_iq_a":-1.73040819,"mpcc_state":1,"mpcc_theta_e":0.440944672,"mpcc_theta_mech":0.555134892,"sam_rpm":-13.8895473,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257244259,"thr_a_norm":0.0257244259,"thr_a_v":0.602897704,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481844842,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.267143,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.82096052,"cg_iw_a":-2.26292419,"cg_theta_rad":0.554519117,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.055981528,"mpcc_du":49.479805,"mpcc_dv":50.520195,"mpcc_dw":50.013443,"mpcc_enc_sign":1,"mpcc_id_a":-0.368175834,"mpcc_iq_a":-1.57467866,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.96039534,"mpcc_pred_id_a":-0.774134636,"mpcc_pred_iq_a":-2.49015927,"mpcc_state":1,"mpcc_theta_e":0.425426006,"mpcc_theta_mech":0.552031159,"sam_rpm":-11.5614729,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257244259,"thr_a_norm":0.0257244259,"thr_a_v":0.602897704,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481844842,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.276543,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-2.25588632,"cg_iw_a":-0.958146572,"cg_theta_rad":0.551063061,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0110151442,"mpcc_du":49.0622635,"mpcc_dv":50.9377365,"mpcc_dw":49.7245369,"mpcc_enc_sign":1,"mpcc_id_a":0.486710697,"mpcc_iq_a":-0.552134156,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.6195278,"mpcc_pred_id_a":-0.239655256,"mpcc_pred_iq_a":-0.815451443,"mpcc_state":1,"mpcc_theta_e":0.444942951,"mpcc_theta_mech":0.555934548,"sam_rpm":21.6144695,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0173655301,"thr_a_norm":0.0173655301,"thr_a_v":0.569462121,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44412908,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.28875,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.31354666,"cg_iw_a":0.636582375,"cg_theta_rad":0.553281009,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0175306294,"mpcc_du":50.3475227,"mpcc_dv":48.7621574,"mpcc_dw":51.2378426,"mpcc_enc_sign":1,"mpcc_id_a":1.0430342,"mpcc_iq_a":-2.25245929,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.83751512,"mpcc_pred_id_a":0.237620264,"mpcc_pred_iq_a":-2.9358902,"mpcc_state":1,"mpcc_theta_e":0.443871975,"mpcc_theta_mech":0.55572027,"sam_rpm":-13.1509867,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0962210894,"thr_a_norm":0.0173655301,"thr_a_v":0.884884357,"thr_b":0.0383634716,"thr_b_norm":0,"thr_b_v":0.653453887,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.311577,"values":{"cg_iu_a":1.54681635,"cg_iv_a":-1.24105906,"cg_iw_a":-0.305757284,"cg_theta_rad":0.55386579,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0610947423,"mpcc_du":49.6752625,"mpcc_dv":49.3320808,"mpcc_dw":50.6679192,"mpcc_enc_sign":1,"mpcc_id_a":2.76304245,"mpcc_iq_a":-0.175533012,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.58345318,"mpcc_pred_id_a":0.124881826,"mpcc_pred_iq_a":-2.57112765,"mpcc_state":1,"mpcc_theta_e":0.452560425,"mpcc_theta_mech":0.557458043,"sam_rpm":15.5396147,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0962210894,"thr_a_norm":0.0962210894,"thr_a_v":0.884884357,"thr_b":0.0383634716,"thr_b_norm":0.0383634716,"thr_b_v":0.653453887,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.318108,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.661157608,"cg_iw_a":-0.523220539,"cg_theta_rad":0.555515289,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0245406702,"mpcc_du":49.5575981,"mpcc_dv":50.179184,"mpcc_dw":50.4424019,"mpcc_enc_sign":1,"mpcc_id_a":2.09151077,"mpcc_iq_a":-0.726083755,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.52956438,"mpcc_pred_id_a":0.0634895787,"mpcc_pred_iq_a":-4.51427507,"mpcc_state":1,"mpcc_theta_e":0.449651241,"mpcc_theta_mech":0.556876183,"sam_rpm":9.76417446,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234332681,"thr_a_norm":0.0234332681,"thr_a_v":0.593733072,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470716387,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.324699,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.878620625,"cg_iw_a":-0.81317091,"cg_theta_rad":0.55412674,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0116262557,"mpcc_du":49.6377792,"mpcc_dv":50.1583824,"mpcc_dw":50.3622208,"mpcc_enc_sign":1,"mpcc_id_a":0.166310489,"mpcc_iq_a":-0.213735536,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.81728196,"mpcc_pred_id_a":-0.431837916,"mpcc_pred_iq_a":-4.31185293,"mpcc_state":1,"mpcc_theta_e":0.444344997,"mpcc_theta_mech":0.555814922,"sam_rpm":5.55006838,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0234332681,"thr_a_norm":0.0234332681,"thr_a_v":0.593733072,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470716387,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.331108,"values":{"cg_iu_a":1.47432899,"cg_iv_a":-0.878620625,"cg_iw_a":-0.59570837,"cg_theta_rad":0.554718792,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0220835339,"mpcc_du":50.1935196,"mpcc_dv":48.434433,"mpcc_dw":51.565567,"mpcc_enc_sign":1,"mpcc_id_a":2.87250757,"mpcc_iq_a":-0.42373088,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.353528053,"mpcc_pred_id_a":0.761244178,"mpcc_pred_iq_a":1.72905946,"mpcc_state":1,"mpcc_theta_e":0.440336704,"mpcc_theta_mech":0.555013299,"sam_rpm":0.0974088162,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023131147,"thr_a_norm":0.023131147,"thr_a_v":0.592524588,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471471697,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.339531,"values":{"cg_iu_a":2.27169323,"cg_iv_a":0.0637187958,"cg_iw_a":-0.015806675,"cg_theta_rad":0.557567775,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0119842943,"mpcc_du":50.2485123,"mpcc_dv":48.8365364,"mpcc_dw":51.1634636,"mpcc_enc_sign":1,"mpcc_id_a":0.0834520981,"mpcc_iq_a":-0.220143214,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.202060312,"mpcc_pred_id_a":-0.392028958,"mpcc_pred_iq_a":-0.957170367,"mpcc_state":1,"mpcc_theta_e":0.441711426,"mpcc_theta_mech":0.555288196,"sam_rpm":-0.519119501,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022929728,"thr_a_norm":0.023131147,"thr_a_v":0.591718912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.349541,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.60349751,"cg_iw_a":-2.84282589,"cg_theta_rad":0.553231657,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0353795066,"mpcc_du":50.3196259,"mpcc_dv":48.7335167,"mpcc_dw":51.2664833,"mpcc_enc_sign":1,"mpcc_id_a":-0.1314044,"mpcc_iq_a":-0.16471687,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.49504566,"mpcc_pred_id_a":-0.387927681,"mpcc_pred_iq_a":-3.09192204,"mpcc_state":1,"mpcc_theta_e":0.443982601,"mpcc_theta_mech":0.555742443,"sam_rpm":-6.32465887,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022929728,"thr_a_norm":0.022929728,"thr_a_v":0.591718912,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.491462588,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.359734,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.878620625,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.55319953,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0121831289,"mpcc_du":49.9190979,"mpcc_dv":49.3126373,"mpcc_dw":50.6873627,"mpcc_enc_sign":1,"mpcc_id_a":0.147389695,"mpcc_iq_a":-2.25114274,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.32901251,"mpcc_pred_id_a":-0.573184967,"mpcc_pred_iq_a":-4.72243834,"mpcc_state":1,"mpcc_theta_e":0.450002193,"mpcc_theta_mech":0.556946337,"sam_rpm":2.33807802,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025145337,"thr_a_norm":0.025145337,"thr_a_v":0.600581348,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49508813,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.36953,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-1.24105906,"cg_iw_a":-0.958146334,"cg_theta_rad":0.556090891,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0305222068,"mpcc_du":49.6015244,"mpcc_dv":48.5729179,"mpcc_dw":51.4270821,"mpcc_enc_sign":1,"mpcc_id_a":0.346775532,"mpcc_iq_a":-1.00139976,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.72647619,"mpcc_pred_id_a":-0.33031565,"mpcc_pred_iq_a":-5.18524361,"mpcc_state":1,"mpcc_theta_e":0.45216608,"mpcc_theta_mech":0.557379127,"sam_rpm":7.54926109,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.025145337,"thr_a_norm":0.025145337,"thr_a_v":0.600581348,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.49508813,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.379936,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-0.806133032,"cg_iw_a":-0.523220301,"cg_theta_rad":0.556289554,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.00752129406,"mpcc_du":50.2244034,"mpcc_dv":48.7851944,"mpcc_dw":51.2148056,"mpcc_enc_sign":1,"mpcc_id_a":0.773638964,"mpcc_iq_a":0.0686397478,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.66904259,"mpcc_pred_id_a":-0.364804476,"mpcc_pred_iq_a":1.80269301,"mpcc_state":1,"mpcc_theta_e":0.423817158,"mpcc_theta_mech":0.55423677,"sam_rpm":-11.9352837,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186621547,"thr_a_norm":0.0186621547,"thr_a_v":0.574648619,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454955339,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.39016,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-0.951108456,"cg_iw_a":0.78155756,"cg_theta_rad":0.553532541,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0055601513,"mpcc_du":50.2486267,"mpcc_dv":49.04142,"mpcc_dw":50.95858,"mpcc_enc_sign":1,"mpcc_id_a":-1.38384449,"mpcc_iq_a":-3.46220064,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.22461104,"mpcc_pred_id_a":-0.877001584,"mpcc_pred_iq_a":-4.02836943,"mpcc_state":1,"mpcc_theta_e":0.445209503,"mpcc_theta_mech":0.555987775,"sam_rpm":-4.47362137,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297905654,"thr_a_norm":0.0186621547,"thr_a_v":0.619162261,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454401463,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.413139,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.53100967,"cg_iw_a":-1.39307261,"cg_theta_rad":0.555204749,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.00919499993,"mpcc_du":48.6886902,"mpcc_dv":51.3113098,"mpcc_dw":49.2291908,"mpcc_enc_sign":1,"mpcc_id_a":0.946933627,"mpcc_iq_a":-0.595295131,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.3601017,"mpcc_pred_id_a":-0.330081135,"mpcc_pred_iq_a":-6.40492105,"mpcc_state":1,"mpcc_theta_e":0.452392101,"mpcc_theta_mech":0.557424307,"sam_rpm":22.8118229,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297905654,"thr_a_norm":0.0297905654,"thr_a_v":0.619162261,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454401463,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.419426,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.96593571,"cg_iw_a":1.72389746,"cg_theta_rad":0.554200768,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0194404311,"mpcc_du":50.0268288,"mpcc_dv":48.8030205,"mpcc_dw":51.1969795,"mpcc_enc_sign":1,"mpcc_id_a":2.01533222,"mpcc_iq_a":-0.711946845,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.20909071,"mpcc_pred_id_a":0.412246436,"mpcc_pred_iq_a":-2.14669108,"mpcc_state":1,"mpcc_theta_e":0.439549923,"mpcc_theta_mech":0.554855943,"sam_rpm":-6.04061413,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162829012,"thr_a_norm":0.0162829012,"thr_a_v":0.565131605,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472428501,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.425987,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.588670254,"cg_iw_a":0.346632004,"cg_theta_rad":0.554163814,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.00898176432,"mpcc_du":49.8396149,"mpcc_dv":49.3367271,"mpcc_dw":50.6632729,"mpcc_enc_sign":1,"mpcc_id_a":2.04983234,"mpcc_iq_a":-1.14893436,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.74525261,"mpcc_pred_id_a":-0.337731689,"mpcc_pred_iq_a":-2.23266697,"mpcc_state":1,"mpcc_theta_e":0.44130373,"mpcc_theta_mech":0.555206656,"sam_rpm":8.24680328,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0162829012,"thr_a_norm":0.0162829012,"thr_a_v":0.565131605,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472428501,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.432549,"values":{"cg_iu_a":2.41666842,"cg_iv_a":0.0637187958,"cg_iw_a":-2.48038721,"cg_theta_rad":0.556152225,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0245646294,"mpcc_du":50.6413155,"mpcc_dv":48.2378883,"mpcc_dw":51.7621117,"mpcc_enc_sign":1,"mpcc_id_a":0.503496587,"mpcc_iq_a":0.318950862,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.650877,"mpcc_pred_id_a":-0.202487409,"mpcc_pred_iq_a":-4.50455618,"mpcc_state":1,"mpcc_theta_e":0.450223923,"mpcc_theta_mech":0.556990683,"sam_rpm":-3.965096,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024692148,"thr_a_norm":0.024692148,"thr_a_v":0.598768592,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48904556,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.440697,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.733645439,"cg_iw_a":-1.90048599,"cg_theta_rad":0.55517751,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0173423104,"mpcc_du":50.9217491,"mpcc_dv":47.5192528,"mpcc_dw":52.4807472,"mpcc_enc_sign":1,"mpcc_id_a":2.36008811,"mpcc_iq_a":-2.24148989,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-24.2603683,"mpcc_pred_id_a":0.552903891,"mpcc_pred_iq_a":0.180681542,"mpcc_state":1,"mpcc_theta_e":0.420088768,"mpcc_theta_mech":0.55096364,"sam_rpm":-36.066555,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261524469,"thr_a_norm":0.024692148,"thr_a_v":0.604609787,"thr_b":0.00108835101,"thr_b_norm":0,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.450737,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-0.951108456,"cg_iw_a":-0.81317091,"cg_theta_rad":0.556417823,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.00640865136,"mpcc_du":49.9995804,"mpcc_dv":48.7021294,"mpcc_dw":51.2978706,"mpcc_enc_sign":1,"mpcc_id_a":1.58564186,"mpcc_iq_a":-0.0863458961,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.44828257,"mpcc_pred_id_a":0.584138274,"mpcc_pred_iq_a":1.77787745,"mpcc_state":1,"mpcc_theta_e":0.435049534,"mpcc_theta_mech":0.553955853,"sam_rpm":0.626169205,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261524469,"thr_a_norm":0.0261524469,"thr_a_v":0.604609787,"thr_b":0.00108835101,"thr_b_norm":0.00108835101,"thr_b_v":0.504353404,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.46096,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.516182423,"cg_iw_a":-1.68302298,"cg_theta_rad":0.557667017,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.049483493,"mpcc_du":49.9251862,"mpcc_dv":49.0289345,"mpcc_dw":50.9710655,"mpcc_enc_sign":1,"mpcc_id_a":1.95346844,"mpcc_iq_a":-0.50617379,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.33017349,"mpcc_pred_id_a":0.105018452,"mpcc_pred_iq_a":-5.018291,"mpcc_state":1,"mpcc_theta_e":0.443340778,"mpcc_theta_mech":0.555614054,"sam_rpm":-6.6727972,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.0167864412,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485822856,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.470757,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-2.40086174,"cg_iw_a":-0.305757523,"cg_theta_rad":0.557055652,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.027225744,"mpcc_du":49.9711723,"mpcc_dv":48.7770882,"mpcc_dw":51.2229118,"mpcc_enc_sign":1,"mpcc_id_a":2.89640403,"mpcc_iq_a":-0.199574322,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.56437969,"mpcc_pred_id_a":0.548708737,"mpcc_pred_iq_a":-0.872106493,"mpcc_state":1,"mpcc_theta_e":0.438967228,"mpcc_theta_mech":0.554739356,"sam_rpm":-3.96405959,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.0167864412,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485822856,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.481102,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.16857147,"cg_iw_a":-1.53804779,"cg_theta_rad":0.557428956,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.00309878797,"mpcc_du":49.5669899,"mpcc_dv":49.4694633,"mpcc_dw":50.5305367,"mpcc_enc_sign":1,"mpcc_id_a":0.951845229,"mpcc_iq_a":1.31719637,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.751540184,"mpcc_pred_id_a":0.066326201,"mpcc_pred_iq_a":-0.427510858,"mpcc_state":1,"mpcc_theta_e":0.430983543,"mpcc_theta_mech":0.55242604,"sam_rpm":-1.54763234,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0929354429,"thr_a_norm":0.0929354429,"thr_a_v":0.871741772,"thr_b":0.0369912982,"thr_b_norm":0.0369912982,"thr_b_v":0.647965193,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.491356,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.31354666,"cg_iw_a":-1.82799864,"cg_theta_rad":0.550764024,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0102736447,"mpcc_du":49.4191895,"mpcc_dv":50.5808105,"mpcc_dw":50.2209587,"mpcc_enc_sign":1,"mpcc_id_a":2.0265305,"mpcc_iq_a":-0.347730756,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.77714968,"mpcc_pred_id_a":0.0167345051,"mpcc_pred_iq_a":-3.31585717,"mpcc_state":1,"mpcc_theta_e":0.43977499,"mpcc_theta_mech":0.554900885,"sam_rpm":6.75309515,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272980034,"thr_a_norm":0.0929354429,"thr_a_v":0.609192014,"thr_b":0,"thr_b_norm":0.0369912982,"thr_b_v":0.485420018,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.514336,"values":{"cg_iu_a":-0.70030117,"cg_iv_a":-0.0812563896,"cg_iw_a":-1.17560959,"cg_theta_rad":0.558616221,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0326818191,"mpcc_du":50.2795525,"mpcc_dv":48.7483559,"mpcc_dw":51.2516441,"mpcc_enc_sign":1,"mpcc_id_a":1.22643089,"mpcc_iq_a":1.31798756,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.8923912,"mpcc_pred_id_a":-0.322080463,"mpcc_pred_iq_a":-5.09594011,"mpcc_state":1,"mpcc_theta_e":0.449458122,"mpcc_theta_mech":0.556837559,"sam_rpm":7.99999809,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0272980034,"thr_a_norm":0.0272980034,"thr_a_v":0.609192014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485420018,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.520866,"values":{"cg_iu_a":0.604476929,"cg_iv_a":0.643620491,"cg_iw_a":-1.24809742,"cg_theta_rad":0.55387789,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0363970809,"mpcc_du":49.5477448,"mpcc_dv":49.5866699,"mpcc_dw":50.4522552,"mpcc_enc_sign":1,"mpcc_id_a":2.69090486,"mpcc_iq_a":-0.317195833,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.70270681,"mpcc_pred_id_a":0.152632311,"mpcc_pred_iq_a":-3.3265686,"mpcc_state":1,"mpcc_theta_e":0.449256897,"mpcc_theta_mech":0.556797266,"sam_rpm":8.54851341,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163332522,"thr_a_norm":0.0163332522,"thr_a_v":0.565333009,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475399435,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.527397,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.31354666,"cg_iw_a":-2.04546165,"cg_theta_rad":0.554799795,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.00571002671,"mpcc_du":50.5101585,"mpcc_dv":48.5635223,"mpcc_dw":51.4364777,"mpcc_enc_sign":1,"mpcc_id_a":0.386876434,"mpcc_iq_a":-0.774728179,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.31515884,"mpcc_pred_id_a":-0.442600518,"mpcc_pred_iq_a":-1.46360862,"mpcc_state":1,"mpcc_theta_e":0.434331417,"mpcc_theta_mech":0.553812206,"sam_rpm":-13.4408092,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0163332522,"thr_a_norm":0.0163332522,"thr_a_v":0.565333009,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475399435,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.533897,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-2.32837415,"cg_iw_a":-0.305757284,"cg_theta_rad":0.556512892,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0371207036,"mpcc_du":50.1540108,"mpcc_dv":48.6402206,"mpcc_dw":51.3597794,"mpcc_enc_sign":1,"mpcc_id_a":2.85910416,"mpcc_iq_a":0.240253732,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.619771,"mpcc_pred_id_a":0.423505545,"mpcc_pred_iq_a":-2.1304276,"mpcc_state":1,"mpcc_theta_e":0.43670845,"mpcc_theta_mech":0.554287612,"sam_rpm":-12.6761131,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0108194053,"thr_a_norm":0.0108194053,"thr_a_v":0.543277621,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.428569466,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.542137,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.74847269,"cg_iw_a":0.854045391,"cg_theta_rad":0.553384185,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0375346057,"mpcc_du":50.3557396,"mpcc_dv":48.2533989,"mpcc_dw":51.7466011,"mpcc_enc_sign":1,"mpcc_id_a":3.8409431,"mpcc_iq_a":-0.385504156,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.36273098,"mpcc_pred_id_a":0.676092029,"mpcc_pred_iq_a":0.60285157,"mpcc_state":1,"mpcc_theta_e":0.432415962,"mpcc_theta_mech":0.553429127,"sam_rpm":-14.4351768,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0147722512,"thr_a_norm":0.0108194053,"thr_a_v":0.559089005,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461098641,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.552116,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.09608364,"cg_iw_a":0.346631765,"cg_theta_rad":0.558457196,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0158243719,"mpcc_du":51.1985435,"mpcc_dv":47.1135559,"mpcc_dw":52.8864441,"mpcc_enc_sign":1,"mpcc_id_a":2.51176071,"mpcc_iq_a":1.50439417,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-20.8450966,"mpcc_pred_id_a":0.56453079,"mpcc_pred_iq_a":5.212605,"mpcc_state":1,"mpcc_theta_e":0.415085793,"mpcc_theta_mech":0.549963057,"sam_rpm":-30.9756107,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0147722512,"thr_a_norm":0.0147722512,"thr_a_v":0.559089005,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461098641,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.562309,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.878620625,"cg_iw_a":-1.61053538,"cg_theta_rad":0.55336374,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0736582577,"mpcc_du":49.492157,"mpcc_dv":50.4201317,"mpcc_dw":50.507843,"mpcc_enc_sign":1,"mpcc_id_a":3.26815081,"mpcc_iq_a":-0.974780202,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.8069897,"mpcc_pred_id_a":0.45798853,"mpcc_pred_iq_a":-4.96314049,"mpcc_state":1,"mpcc_theta_e":0.463731766,"mpcc_theta_mech":0.559692264,"sam_rpm":25.8417244,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0321320593,"thr_a_norm":0.0321320593,"thr_a_v":0.628528237,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480132759,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.572105,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.31354666,"cg_iw_a":-1.53804779,"cg_theta_rad":0.557040513,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0384972878,"mpcc_du":50.2357597,"mpcc_dv":48.6420212,"mpcc_dw":51.3579788,"mpcc_enc_sign":1,"mpcc_id_a":1.7495445,"mpcc_iq_a":-1.10452938,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.17208004,"mpcc_pred_id_a":-0.0317145847,"mpcc_pred_iq_a":-4.05767584,"mpcc_state":1,"mpcc_theta_e":0.44344902,"mpcc_theta_mech":0.55563575,"sam_rpm":-9.78660202,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0321320593,"thr_a_norm":0.0321320593,"thr_a_v":0.628528237,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.480132759,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.582298,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.878620625,"cg_iw_a":-0.160782337,"cg_theta_rad":0.557179928,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0120058293,"mpcc_du":50.593441,"mpcc_dv":48.2887154,"mpcc_dw":51.7112846,"mpcc_enc_sign":1,"mpcc_id_a":1.00494671,"mpcc_iq_a":-0.647698641,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.61091614,"mpcc_pred_id_a":-0.292511612,"mpcc_pred_iq_a":-0.94982475,"mpcc_state":1,"mpcc_theta_e":0.435459137,"mpcc_theta_mech":0.557819843,"sam_rpm":-13.4509335,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0220359415,"thr_a_norm":0.0220359415,"thr_a_v":0.588143766,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465227723,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.592552,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-2.18339872,"cg_iw_a":0.999020576,"cg_theta_rad":0.556074381,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.00733422069,"mpcc_du":49.6331139,"mpcc_dv":50.3042526,"mpcc_dw":50.3668861,"mpcc_enc_sign":1,"mpcc_id_a":0.704487324,"mpcc_iq_a":-0.60392642,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.06893539,"mpcc_pred_id_a":-0.357164383,"mpcc_pred_iq_a":-0.789321363,"mpcc_state":1,"mpcc_theta_e":0.439209938,"mpcc_theta_mech":0.554787934,"sam_rpm":8.1823988,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103396654,"thr_a_norm":0.0220359415,"thr_a_v":0.913586617,"thr_b":0.050133884,"thr_b_norm":0,"thr_b_v":0.700535536,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.615532,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.661157608,"cg_iw_a":-1.24809694,"cg_theta_rad":0.557718277,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.031620454,"mpcc_du":50.0340614,"mpcc_dv":48.8203239,"mpcc_dw":51.0081253,"mpcc_enc_sign":1,"mpcc_id_a":2.62914038,"mpcc_iq_a":-0.611832738,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.67987418,"mpcc_pred_id_a":0.378205657,"mpcc_pred_iq_a":-0.800134718,"mpcc_state":1,"mpcc_theta_e":0.448979378,"mpcc_theta_mech":0.556741834,"sam_rpm":6.11150169,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.103396654,"thr_a_norm":0.103396654,"thr_a_v":0.913586617,"thr_b":0.050133884,"thr_b_norm":0.050133884,"thr_b_v":0.700535536,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.622032,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.31354666,"cg_iw_a":-1.24809694,"cg_theta_rad":0.556072414,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.00596037507,"mpcc_du":49.5874977,"mpcc_dv":49.5861435,"mpcc_dw":50.4138565,"mpcc_enc_sign":1,"mpcc_id_a":0.870684326,"mpcc_iq_a":-2.05858016,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":15.7377748,"mpcc_pred_id_a":-0.140867099,"mpcc_pred_iq_a":-1.42960656,"mpcc_state":1,"mpcc_theta_e":0.458430767,"mpcc_theta_mech":0.558632076,"sam_rpm":23.7991982,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0164339691,"thr_a_norm":0.0164339691,"thr_a_v":0.565735877,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466839105,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.628563,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.31354666,"cg_iw_a":0.636582375,"cg_theta_rad":0.554238021,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.00120831269,"mpcc_du":49.6001396,"mpcc_dv":49.9444237,"mpcc_dw":50.3998604,"mpcc_enc_sign":1,"mpcc_id_a":0.199744701,"mpcc_iq_a":-1.81114495,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.58169937,"mpcc_pred_id_a":-0.262878954,"mpcc_pred_iq_a":-2.97109675,"mpcc_state":1,"mpcc_theta_e":0.449527264,"mpcc_theta_mech":0.556851327,"sam_rpm":12.735589,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0164339691,"thr_a_norm":0.0164339691,"thr_a_v":0.565735877,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.466839105,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.635094,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-1.09608364,"cg_iw_a":-1.82799864,"cg_theta_rad":0.554019272,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0316299573,"mpcc_du":50.7295723,"mpcc_dv":47.8127556,"mpcc_dw":52.1872444,"mpcc_enc_sign":1,"mpcc_id_a":3.38847446,"mpcc_iq_a":-0.503820181,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.04420567,"mpcc_pred_id_a":0.520454168,"mpcc_pred_iq_a":1.77605855,"mpcc_state":1,"mpcc_theta_e":0.4336586,"mpcc_theta_mech":0.553677619,"sam_rpm":-13.8271952,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0171892792,"thr_a_norm":0.0171892792,"thr_a_v":0.568757117,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.643486,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.733645439,"cg_iw_a":0.419119358,"cg_theta_rad":0.556334436,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.00311095314,"mpcc_du":50.5127335,"mpcc_dv":48.6520271,"mpcc_dw":51.3479729,"mpcc_enc_sign":1,"mpcc_id_a":-0.223845169,"mpcc_iq_a":-3.22612524,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.54243994,"mpcc_pred_id_a":-0.813275099,"mpcc_pred_iq_a":-2.63188553,"mpcc_state":1,"mpcc_theta_e":0.444239616,"mpcc_theta_mech":0.555793881,"sam_rpm":-3.85208249,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0139036328,"thr_a_norm":0.0171892792,"thr_a_v":0.555614531,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449214906,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.653313,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.298719406,"cg_iw_a":-1.97297382,"cg_theta_rad":0.553904176,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0186282918,"mpcc_du":50.0094299,"mpcc_dv":49.0797462,"mpcc_dw":50.9202538,"mpcc_enc_sign":1,"mpcc_id_a":0.640988111,"mpcc_iq_a":-0.903136492,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.65753341,"mpcc_pred_id_a":-0.432330459,"mpcc_pred_iq_a":-3.75747204,"mpcc_state":1,"mpcc_theta_e":0.44424057,"mpcc_theta_mech":0.555794001,"sam_rpm":-3.74162436,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0139036328,"thr_a_norm":0.0139036328,"thr_a_v":0.555614531,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449214906,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.663719,"values":{"cg_iu_a":2.12671757,"cg_iv_a":-1.09608364,"cg_iw_a":0.564094543,"cg_theta_rad":0.555329502,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0286440104,"mpcc_du":50.6263885,"mpcc_dv":48.2429428,"mpcc_dw":51.7570572,"mpcc_enc_sign":1,"mpcc_id_a":0.856159627,"mpcc_iq_a":-0.450936198,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.9303627,"mpcc_pred_id_a":-0.180378914,"mpcc_pred_iq_a":-0.403953433,"mpcc_state":1,"mpcc_theta_e":0.445715427,"mpcc_theta_mech":0.556088984,"sam_rpm":-2.58710814,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262405574,"thr_a_norm":0.0262405574,"thr_a_v":0.60496223,"thr_b":0.00123941898,"thr_b_norm":0.00123941898,"thr_b_v":0.504957676,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.6744,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-0.516182423,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556653023,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0217595231,"mpcc_du":50.0730553,"mpcc_dv":48.9624863,"mpcc_dw":51.6319084,"mpcc_enc_sign":1,"mpcc_id_a":0.387098074,"mpcc_iq_a":-2.08810639,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.95786142,"mpcc_pred_id_a":-0.29302758,"mpcc_pred_iq_a":-3.67125511,"mpcc_state":1,"mpcc_theta_e":0.450029373,"mpcc_theta_mech":0.556951761,"sam_rpm":3.9673264,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0262405574,"thr_a_norm":0.0262405574,"thr_a_v":0.60496223,"thr_b":0.00123941898,"thr_b_norm":0.00123941898,"thr_b_v":0.504957676,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.685783,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.153744221,"cg_iw_a":-3.13277626,"cg_theta_rad":0.554467857,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0774867311,"mpcc_du":50.4179268,"mpcc_dv":48.5426025,"mpcc_dw":51.4573975,"mpcc_enc_sign":1,"mpcc_id_a":2.34028292,"mpcc_iq_a":-1.21163797,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.893186986,"mpcc_pred_id_a":-0.402359188,"mpcc_pred_iq_a":-3.74434471,"mpcc_state":1,"mpcc_theta_e":0.447507858,"mpcc_theta_mech":0.556447446,"sam_rpm":0.323782742,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0240501165,"thr_a_norm":0.0240501165,"thr_a_v":0.596200466,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463515669,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.696007,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.74847269,"cg_iw_a":-0.740683079,"cg_theta_rad":0.554517329,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0117227947,"mpcc_du":49.0520325,"mpcc_dv":50.9479675,"mpcc_dw":49.8726234,"mpcc_enc_sign":1,"mpcc_id_a":2.13464761,"mpcc_iq_a":0.779432297,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.83742619,"mpcc_pred_id_a":0.102460198,"mpcc_pred_iq_a":-2.36305547,"mpcc_state":1,"mpcc_theta_e":0.427553654,"mpcc_theta_mech":0.552456677,"sam_rpm":13.9536304,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0171766877,"thr_a_norm":0.0240501165,"thr_a_v":0.568706751,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454401463,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.719139,"values":{"cg_iu_a":2.92408228,"cg_iv_a":-0.951108456,"cg_iw_a":1.43394661,"cg_theta_rad":0.556313217,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0142988283,"mpcc_du":49.2700653,"mpcc_dv":50.7299347,"mpcc_dw":50.1005859,"mpcc_enc_sign":1,"mpcc_id_a":1.99444389,"mpcc_iq_a":-0.406428397,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.2360039,"mpcc_pred_id_a":0.130802274,"mpcc_pred_iq_a":0.645397186,"mpcc_state":1,"mpcc_theta_e":0.431223869,"mpcc_theta_mech":0.553190649,"sam_rpm":11.3297644,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0171766877,"thr_a_norm":0.0171766877,"thr_a_v":0.568706751,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.454401463,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.7257,"values":{"cg_iu_a":0.531989098,"cg_iv_a":0.353669643,"cg_iw_a":-1.39307261,"cg_theta_rad":0.55744338,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.00400259206,"mpcc_du":49.6355591,"mpcc_dv":50.1197281,"mpcc_dw":50.3644409,"mpcc_enc_sign":1,"mpcc_id_a":0.370787948,"mpcc_iq_a":-0.632196665,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.62569904,"mpcc_pred_id_a":-0.593662918,"mpcc_pred_iq_a":-5.04571724,"mpcc_state":1,"mpcc_theta_e":0.439344406,"mpcc_theta_mech":0.554814756,"sam_rpm":-2.84905815,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242389441,"thr_a_norm":0.0242389441,"thr_a_v":0.596955776,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483707935,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.732201,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-2.0384233,"cg_iw_a":-1.103122,"cg_theta_rad":0.557915509,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.00435745111,"mpcc_du":50.2124367,"mpcc_dv":48.7060852,"mpcc_dw":51.2939148,"mpcc_enc_sign":1,"mpcc_id_a":1.06849229,"mpcc_iq_a":-0.857260406,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.0822659,"mpcc_pred_id_a":-0.18678771,"mpcc_pred_iq_a":-2.41414022,"mpcc_state":1,"mpcc_theta_e":0.432298183,"mpcc_theta_mech":0.553405523,"sam_rpm":-18.0085049,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0242389441,"thr_a_norm":0.0242389441,"thr_a_v":0.596955776,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483707935,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.738731,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.371207237,"cg_iw_a":-0.0882940292,"cg_theta_rad":0.554114342,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0315436907,"mpcc_du":50.5464325,"mpcc_dv":48.1011009,"mpcc_dw":51.8988991,"mpcc_enc_sign":1,"mpcc_id_a":3.26648498,"mpcc_iq_a":-0.0569481179,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-17.752121,"mpcc_pred_id_a":0.197435409,"mpcc_pred_iq_a":-1.16787982,"mpcc_state":1,"mpcc_theta_e":0.427161217,"mpcc_theta_mech":0.552378178,"sam_rpm":-26.4772434,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188509971,"thr_a_norm":0.0188509971,"thr_a_v":0.575403988,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467292279,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.748924,"values":{"cg_iu_a":-0.482838154,"cg_iv_a":-1.82096052,"cg_iw_a":0.346631527,"cg_theta_rad":0.555082917,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0327719413,"mpcc_du":50.1569786,"mpcc_dv":48.6136856,"mpcc_dw":51.3863144,"mpcc_enc_sign":1,"mpcc_id_a":2.08279896,"mpcc_iq_a":-1.07864428,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.48336267,"mpcc_pred_id_a":0.351974398,"mpcc_pred_iq_a":-2.95248532,"mpcc_state":1,"mpcc_theta_e":0.443891048,"mpcc_theta_mech":0.55650568,"sam_rpm":-6.39227867,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188006312,"thr_a_norm":0.0188006312,"thr_a_v":0.575202525,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.758904,"values":{"cg_iu_a":2.63413143,"cg_iv_a":0.136206627,"cg_iw_a":-1.24809694,"cg_theta_rad":0.559080839,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0273052864,"mpcc_du":50.5389862,"mpcc_dv":48.3106956,"mpcc_dw":51.6893044,"mpcc_enc_sign":1,"mpcc_id_a":1.07227492,"mpcc_iq_a":-0.502985656,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.68839836,"mpcc_pred_id_a":-0.129792258,"mpcc_pred_iq_a":-1.40253913,"mpcc_state":1,"mpcc_theta_e":0.442039967,"mpcc_theta_mech":0.55535388,"sam_rpm":-7.86008739,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0188006312,"thr_a_norm":0.0188006312,"thr_a_v":0.575202525,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468903661,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.769127,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.31354666,"cg_iw_a":-0.0882945061,"cg_theta_rad":0.557797492,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0365124419,"mpcc_du":50.4688148,"mpcc_dv":48.2488785,"mpcc_dw":51.7511215,"mpcc_enc_sign":1,"mpcc_id_a":3.00190115,"mpcc_iq_a":-1.00142109,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.78043938,"mpcc_pred_id_a":0.307916999,"mpcc_pred_iq_a":-1.06800807,"mpcc_state":1,"mpcc_theta_e":0.442587376,"mpcc_theta_mech":0.555463433,"sam_rpm":-8.25152302,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024062708,"thr_a_norm":0.024062708,"thr_a_v":0.596250832,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463213563,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.779533,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.53100967,"cg_iw_a":-0.885658741,"cg_theta_rad":0.55597198,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0404477157,"mpcc_du":50.328125,"mpcc_dv":48.4291649,"mpcc_dw":51.5708351,"mpcc_enc_sign":1,"mpcc_id_a":2.48975706,"mpcc_iq_a":-1.40527689,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.80853081,"mpcc_pred_id_a":0.281995296,"mpcc_pred_iq_a":-3.40813613,"mpcc_state":1,"mpcc_theta_e":0.442016602,"mpcc_theta_mech":0.555349231,"sam_rpm":-10.8213377,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0340203643,"thr_a_norm":0.024062708,"thr_a_v":0.636081457,"thr_b":0.00228427351,"thr_b_norm":0,"thr_b_v":0.509137094,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.791222,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-1.09608364,"cg_iw_a":0.12916851,"cg_theta_rad":0.557747483,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.02121526,"mpcc_du":49.6077042,"mpcc_dv":49.3408585,"mpcc_dw":50.6591415,"mpcc_enc_sign":1,"mpcc_id_a":1.93455577,"mpcc_iq_a":-2.35522389,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.93515015,"mpcc_pred_id_a":0.227634788,"mpcc_pred_iq_a":-3.30115962,"mpcc_state":1,"mpcc_theta_e":0.460036755,"mpcc_theta_mech":0.558953226,"sam_rpm":15.2809763,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0340203643,"thr_a_norm":0.0340203643,"thr_a_v":0.636081457,"thr_b":0.00228427351,"thr_b_norm":0.00228427351,"thr_b_v":0.509137094,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.814537,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-1.24105906,"cg_iw_a":-1.39307261,"cg_theta_rad":0.552646816,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0278015994,"mpcc_du":50.172821,"mpcc_dv":48.4934196,"mpcc_dw":51.5065804,"mpcc_enc_sign":1,"mpcc_id_a":3.31450558,"mpcc_iq_a":-0.140442193,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.6729679,"mpcc_pred_id_a":0.423759341,"mpcc_pred_iq_a":-0.341193914,"mpcc_state":1,"mpcc_theta_e":0.431798935,"mpcc_theta_mech":0.553305745,"sam_rpm":-16.239706,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0204497576,"thr_a_norm":0.0204497576,"thr_a_v":0.58179903,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457170963,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.821037,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.89344811,"cg_iw_a":0.564094782,"cg_theta_rad":0.55559057,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0306150764,"mpcc_du":49.3434219,"mpcc_dv":50.6565781,"mpcc_dw":50.1969185,"mpcc_enc_sign":1,"mpcc_id_a":2.44010091,"mpcc_iq_a":-0.338690102,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.1047106,"mpcc_pred_id_a":0.00297928345,"mpcc_pred_iq_a":-4.9731493,"mpcc_state":1,"mpcc_theta_e":0.450422287,"mpcc_theta_mech":0.55482018,"sam_rpm":15.2179813,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192790031,"thr_a_norm":0.0204497576,"thr_a_v":0.577116013,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457422733,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.827568,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.02359605,"cg_iw_a":-1.46555996,"cg_theta_rad":0.552971721,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0213873815,"mpcc_du":49.4330826,"mpcc_dv":49.7800026,"mpcc_dw":50.5669174,"mpcc_enc_sign":1,"mpcc_id_a":2.90941477,"mpcc_iq_a":-1.87581301,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.0771739483,"mpcc_pred_id_a":0.539412975,"mpcc_pred_iq_a":-3.58942294,"mpcc_state":1,"mpcc_theta_e":0.444978237,"mpcc_theta_mech":0.555941522,"sam_rpm":-0.267661303,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192790031,"thr_a_norm":0.0192790031,"thr_a_v":0.577116013,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457422733,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.834129,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.806133032,"cg_iw_a":-1.8279984,"cg_theta_rad":0.554992139,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.00415631197,"mpcc_du":48.5715866,"mpcc_dv":51.4284134,"mpcc_dw":49.1334229,"mpcc_enc_sign":1,"mpcc_id_a":0.989202559,"mpcc_iq_a":-0.00669017108,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.2428722,"mpcc_pred_id_a":-0.347489655,"mpcc_pred_iq_a":-6.8809967,"mpcc_state":1,"mpcc_theta_e":0.448127747,"mpcc_theta_mech":0.556571424,"sam_rpm":13.7346106,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.047616154,"thr_a_norm":0.047616154,"thr_a_v":0.690464616,"thr_b":0.0149233192,"thr_b_norm":0.0149233192,"thr_b_v":0.559693277,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.842125,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.661157608,"cg_iw_a":-0.378245354,"cg_theta_rad":0.553606808,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0622724518,"mpcc_du":49.3281898,"mpcc_dv":49.7034645,"mpcc_dw":50.6718102,"mpcc_enc_sign":1,"mpcc_id_a":4.62851143,"mpcc_iq_a":-1.15966153,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":17.5079479,"mpcc_pred_id_a":1.123456,"mpcc_pred_iq_a":-1.0403192,"mpcc_state":1,"mpcc_theta_e":0.458451748,"mpcc_theta_mech":0.558636308,"sam_rpm":25.975235,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.047616154,"thr_a_norm":0.047616154,"thr_a_v":0.690464616,"thr_b":0.0149233192,"thr_b_norm":0.0149233192,"thr_b_v":0.559693277,"vdc_v":54.6292953}} +{"type":"telemetry","t":119.852318,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.806133032,"cg_iw_a":-0.813171148,"cg_theta_rad":0.554945648,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.010279092,"mpcc_du":50.7068253,"mpcc_dv":47.9210358,"mpcc_dw":52.0789642,"mpcc_enc_sign":1,"mpcc_id_a":1.93821299,"mpcc_iq_a":-0.701849699,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.99644756,"mpcc_pred_id_a":0.0994667634,"mpcc_pred_iq_a":1.80319309,"mpcc_state":1,"mpcc_theta_e":0.430700779,"mpcc_theta_mech":0.553086042,"sam_rpm":-13.2843075,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.024566263,"thr_a_norm":0.024566263,"thr_a_v":0.598265052,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.475449771,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.862297,"values":{"cg_iu_a":0.821939945,"cg_iv_a":0.208694458,"cg_iw_a":-1.0306344,"cg_theta_rad":0.555957139,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0123915905,"mpcc_du":49.3464851,"mpcc_dv":50.6535149,"mpcc_dw":50.1867943,"mpcc_enc_sign":1,"mpcc_id_a":0.922332644,"mpcc_iq_a":-0.653992116,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.85227025,"mpcc_pred_id_a":-0.106932543,"mpcc_pred_iq_a":-2.78188634,"mpcc_state":1,"mpcc_theta_e":0.434293747,"mpcc_theta_mech":0.553804696,"sam_rpm":0.726014078,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021066606,"thr_a_norm":0.024566263,"thr_a_v":0.584266424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468953997,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.874107,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.31354666,"cg_iw_a":-0.595707893,"cg_theta_rad":0.555652201,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0554043688,"mpcc_du":49.5221062,"mpcc_dv":50.4778938,"mpcc_dw":50.378479,"mpcc_enc_sign":1,"mpcc_id_a":0.24975194,"mpcc_iq_a":-1.80492866,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.9178305,"mpcc_pred_id_a":0.00622903416,"mpcc_pred_iq_a":-2.53750062,"mpcc_state":1,"mpcc_theta_e":0.421870708,"mpcc_theta_mech":0.551320076,"sam_rpm":-4.44279099,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021066606,"thr_a_norm":0.021066606,"thr_a_v":0.584266424,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468953997,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.884514,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.661157608,"cg_iw_a":-2.26292467,"cg_theta_rad":0.555956483,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.017820958,"mpcc_du":50.2814026,"mpcc_dv":48.4962845,"mpcc_dw":51.5037155,"mpcc_enc_sign":1,"mpcc_id_a":1.10808277,"mpcc_iq_a":-0.936021924,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.29007387,"mpcc_pred_id_a":0.0744373351,"mpcc_pred_iq_a":-2.508605,"mpcc_state":1,"mpcc_theta_e":0.441639423,"mpcc_theta_mech":0.555273831,"sam_rpm":-11.0585165,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.022728309,"thr_a_norm":0.022728309,"thr_a_v":0.590913236,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.495490968,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.894707,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-0.588670254,"cg_iw_a":-0.305757046,"cg_theta_rad":0.555018187,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0158082154,"mpcc_du":49.3565636,"mpcc_dv":49.539402,"mpcc_dw":50.6434364,"mpcc_enc_sign":1,"mpcc_id_a":2.19322252,"mpcc_iq_a":-2.83478761,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.0070143,"mpcc_pred_id_a":0.809159875,"mpcc_pred_iq_a":-3.09692311,"mpcc_state":1,"mpcc_theta_e":0.453841209,"mpcc_theta_mech":0.557714164,"sam_rpm":16.6227283,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151876807,"thr_a_norm":0.022728309,"thr_a_v":0.560750723,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44337377,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.917503,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-1.53100967,"cg_iw_a":-0.015806675,"cg_theta_rad":0.556616604,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.00889482815,"mpcc_du":51.0566559,"mpcc_dv":47.5248718,"mpcc_dw":52.4751282,"mpcc_enc_sign":1,"mpcc_id_a":1.65607989,"mpcc_iq_a":0.0683078244,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.71600914,"mpcc_pred_id_a":0.0920471549,"mpcc_pred_iq_a":3.72200561,"mpcc_state":1,"mpcc_theta_e":0.433331966,"mpcc_theta_mech":0.557547808,"sam_rpm":-14.5799313,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0151876807,"thr_a_norm":0.0151876807,"thr_a_v":0.560750723,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44337377,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.924034,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.38603449,"cg_iw_a":-1.39307213,"cg_theta_rad":0.555964589,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.00968202855,"mpcc_du":49.5158844,"mpcc_dv":50.1089745,"mpcc_dw":50.4841156,"mpcc_enc_sign":1,"mpcc_id_a":1.27205145,"mpcc_iq_a":-0.926274478,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.26266897,"mpcc_pred_id_a":0.0815018117,"mpcc_pred_iq_a":-4.91275215,"mpcc_state":1,"mpcc_theta_e":0.444746971,"mpcc_theta_mech":0.555895269,"sam_rpm":1.65743732,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0147848576,"thr_a_norm":0.0147848576,"thr_a_v":0.559139431,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44186312,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.930565,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.33541203,"cg_theta_rad":0.554995894,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0163793117,"mpcc_du":50.9027176,"mpcc_dv":47.9222679,"mpcc_dw":52.0777321,"mpcc_enc_sign":1,"mpcc_id_a":0.644429743,"mpcc_iq_a":-3.87952995,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-15.6167917,"mpcc_pred_id_a":-0.434525698,"mpcc_pred_iq_a":0.364824176,"mpcc_state":1,"mpcc_theta_e":0.428827286,"mpcc_theta_mech":0.552711368,"sam_rpm":-23.3927898,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0147848576,"thr_a_norm":0.0147848576,"thr_a_v":0.559139431,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.44186312,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.938286,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.02359605,"cg_iw_a":-1.75551057,"cg_theta_rad":0.556432843,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0245976672,"mpcc_du":49.9396057,"mpcc_dv":48.9043159,"mpcc_dw":51.0956841,"mpcc_enc_sign":1,"mpcc_id_a":2.30883718,"mpcc_iq_a":-1.27851427,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.537152827,"mpcc_pred_id_a":0.220690757,"mpcc_pred_iq_a":-2.3633163,"mpcc_state":1,"mpcc_theta_e":0.443786621,"mpcc_theta_mech":0.555703223,"sam_rpm":-0.17363444,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0294884443,"thr_a_norm":0.0294884443,"thr_a_v":0.617953777,"thr_b":0.00186884403,"thr_b_norm":0.00186884403,"thr_b_v":0.507475376,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.947289,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.661157608,"cg_iw_a":-0.523220539,"cg_theta_rad":0.55583328,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0545917898,"mpcc_du":50.3762131,"mpcc_dv":48.6157379,"mpcc_dw":51.3842621,"mpcc_enc_sign":1,"mpcc_id_a":1.01221192,"mpcc_iq_a":-0.291866809,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.83712626,"mpcc_pred_id_a":-0.349850327,"mpcc_pred_iq_a":-3.59194994,"mpcc_state":1,"mpcc_theta_e":0.444224358,"mpcc_theta_mech":0.555790782,"sam_rpm":-7.10596943,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0169375092,"thr_a_norm":0.0294884443,"thr_a_v":0.567750037,"thr_b":0,"thr_b_norm":0.00186884403,"thr_b_v":0.439899296,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.959251,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.38603449,"cg_iw_a":0.274144173,"cg_theta_rad":0.551754057,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.151462317,"mpcc_du":51.4144363,"mpcc_dv":47.0102959,"mpcc_dw":52.9897041,"mpcc_enc_sign":1,"mpcc_id_a":2.89041376,"mpcc_iq_a":-0.272937506,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.6455002,"mpcc_pred_id_a":0.338656723,"mpcc_pred_iq_a":-6.55526018,"mpcc_state":1,"mpcc_theta_e":0.464321136,"mpcc_theta_mech":0.559810102,"sam_rpm":-11.3749084,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0169375092,"thr_a_norm":0.0169375092,"thr_a_v":0.567750037,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.439899296,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.968712,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.733645439,"cg_iw_a":0.0566811562,"cg_theta_rad":0.556587577,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0343925469,"mpcc_du":50.4660263,"mpcc_dv":48.5034256,"mpcc_dw":51.4965744,"mpcc_enc_sign":1,"mpcc_id_a":2.29669952,"mpcc_iq_a":-0.631601036,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.347659916,"mpcc_pred_id_a":-0.311929077,"mpcc_pred_iq_a":-1.7166239,"mpcc_state":1,"mpcc_theta_e":0.446718216,"mpcc_theta_mech":0.556289554,"sam_rpm":-5.13372183,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0180830956,"thr_a_norm":0.0180830956,"thr_a_v":0.572332382,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.979912,"values":{"cg_iu_a":1.61930418,"cg_iv_a":1.22352171,"cg_iw_a":0.201656342,"cg_theta_rad":0.554765105,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0357265659,"mpcc_du":49.9902267,"mpcc_dv":48.8607483,"mpcc_dw":51.1392517,"mpcc_enc_sign":1,"mpcc_id_a":1.84412289,"mpcc_iq_a":-1.90666294,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.29047608,"mpcc_pred_id_a":0.179006323,"mpcc_pred_iq_a":-3.2725234,"mpcc_state":1,"mpcc_theta_e":0.449223042,"mpcc_theta_mech":0.556790531,"sam_rpm":4.83749723,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0147722512,"thr_a_norm":0.0180830956,"thr_a_v":0.559089005,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468450427,"vdc_v":55.2955055}} +{"type":"telemetry","t":119.990044,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-1.09608364,"cg_iw_a":-1.46555996,"cg_theta_rad":0.556611538,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0583962761,"mpcc_du":50.4217606,"mpcc_dv":48.2126808,"mpcc_dw":51.7873192,"mpcc_enc_sign":1,"mpcc_id_a":2.57068062,"mpcc_iq_a":3.69716954,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.9204464,"mpcc_pred_id_a":0.255543798,"mpcc_pred_iq_a":1.70038414,"mpcc_state":1,"mpcc_theta_e":0.4403615,"mpcc_theta_mech":0.555018187,"sam_rpm":-13.1177073,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0147722512,"thr_a_norm":0.0147722512,"thr_a_v":0.559089005,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468450427,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.000542,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-2.47334933,"cg_iw_a":-0.885658979,"cg_theta_rad":0.558100879,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.00605365913,"mpcc_du":49.5698891,"mpcc_dv":49.9201393,"mpcc_dw":50.4301109,"mpcc_enc_sign":1,"mpcc_id_a":0.572973967,"mpcc_iq_a":-0.542594492,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.12096,"mpcc_pred_id_a":-0.284556866,"mpcc_pred_iq_a":-5.04223442,"mpcc_state":1,"mpcc_theta_e":0.439759254,"mpcc_theta_mech":0.554897726,"sam_rpm":-5.18920708,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245788544,"thr_a_norm":0.0245788544,"thr_a_v":0.598315418,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483154029,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.024712,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.09608364,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556170225,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5013,"hz_app_loop":363,"hz_tim_isr":10024,"hz_vsense":363,"mpcc_cost":0.0248139706,"mpcc_du":49.9978714,"mpcc_dv":49.0903053,"mpcc_dw":50.9096947,"mpcc_enc_sign":1,"mpcc_id_a":0.0573855974,"mpcc_iq_a":-0.949556649,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.2518115,"mpcc_pred_id_a":-0.530745625,"mpcc_pred_iq_a":-4.53127718,"mpcc_state":1,"mpcc_theta_e":0.443751335,"mpcc_theta_mech":0.555696189,"sam_rpm":-5.32106733,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0245788544,"thr_a_norm":0.0245788544,"thr_a_v":0.598315418,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483154029,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.031242,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.0812563896,"cg_iw_a":-2.33541203,"cg_theta_rad":0.556113839,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9908,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.000817403372,"mpcc_du":49.9986382,"mpcc_dv":48.9488068,"mpcc_dw":51.0511932,"mpcc_enc_sign":1,"mpcc_id_a":0.571616411,"mpcc_iq_a":-0.901000261,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.7449484,"mpcc_pred_id_a":-0.205681682,"mpcc_pred_iq_a":-2.76449752,"mpcc_state":1,"mpcc_theta_e":0.428704262,"mpcc_theta_mech":0.55268681,"sam_rpm":-19.2586155,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235717446,"thr_a_norm":0.0245788544,"thr_a_v":0.594286978,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476255447,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.038139,"values":{"cg_iu_a":3.72144651,"cg_iv_a":-0.371207237,"cg_iw_a":-3.35023928,"cg_theta_rad":0.556156158,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0174973197,"mpcc_du":49.9665222,"mpcc_dv":48.8356628,"mpcc_dw":51.1643372,"mpcc_enc_sign":1,"mpcc_id_a":2.29268384,"mpcc_iq_a":-1.99691463,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.571202457,"mpcc_pred_id_a":0.160659358,"mpcc_pred_iq_a":0.681033075,"mpcc_state":1,"mpcc_theta_e":0.439047813,"mpcc_theta_mech":0.554755509,"sam_rpm":-0.182212934,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0235717446,"thr_a_norm":0.0235717446,"thr_a_v":0.594286978,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.476255447,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.044334,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.153744221,"cg_iw_a":-2.33541203,"cg_theta_rad":0.555479407,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.012719729,"mpcc_du":49.480896,"mpcc_dv":49.6170197,"mpcc_dw":50.519104,"mpcc_enc_sign":1,"mpcc_id_a":2.16581964,"mpcc_iq_a":-2.24380517,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.63977814,"mpcc_pred_id_a":0.209071636,"mpcc_pred_iq_a":-1.68165374,"mpcc_state":1,"mpcc_theta_e":0.448056221,"mpcc_theta_mech":0.556557178,"sam_rpm":7.43062067,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257118344,"thr_a_norm":0.0257118344,"thr_a_v":0.602847338,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478622139,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.051872,"values":{"cg_iu_a":1.18437815,"cg_iv_a":-0.806133032,"cg_iw_a":-2.04546142,"cg_theta_rad":0.552652597,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0205289833,"mpcc_du":51.2473526,"mpcc_dv":47.5157623,"mpcc_dw":52.4842377,"mpcc_enc_sign":1,"mpcc_id_a":2.01155686,"mpcc_iq_a":0.319110423,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.0874491,"mpcc_pred_id_a":-0.443144619,"mpcc_pred_iq_a":2.76583457,"mpcc_state":1,"mpcc_theta_e":0.433197021,"mpcc_theta_mech":0.553585291,"sam_rpm":-16.1879177,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257118344,"thr_a_norm":0.0257118344,"thr_a_v":0.602847338,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478622139,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.062035,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.298719406,"cg_iw_a":-2.91531324,"cg_theta_rad":0.556792021,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.037983533,"mpcc_du":51.1506157,"mpcc_dv":49.2527847,"mpcc_dw":50.7472153,"mpcc_enc_sign":1,"mpcc_id_a":2.95209336,"mpcc_iq_a":-0.751674414,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-19.7640076,"mpcc_pred_id_a":0.817592442,"mpcc_pred_iq_a":0.495508611,"mpcc_state":1,"mpcc_theta_e":0.430243015,"mpcc_theta_mech":0.559109032,"sam_rpm":-28.6384754,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0210540146,"thr_a_norm":0.0210540146,"thr_a_v":0.584216058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.465680957,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.074303,"values":{"cg_iu_a":1.40184116,"cg_iv_a":0.0637187958,"cg_iw_a":-1.46555996,"cg_theta_rad":0.552181542,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0445875451,"mpcc_du":49.9338913,"mpcc_dv":48.8332405,"mpcc_dw":51.1667595,"mpcc_enc_sign":1,"mpcc_id_a":2.66947484,"mpcc_iq_a":-0.0149708455,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.9953866,"mpcc_pred_id_a":0.408347964,"mpcc_pred_iq_a":-2.86946774,"mpcc_state":1,"mpcc_theta_e":0.444358826,"mpcc_theta_mech":0.555817723,"sam_rpm":-4.53464794,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0210540146,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467544049,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.084312,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.298719406,"cg_iw_a":-0.740683556,"cg_theta_rad":0.557398736,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.00187292101,"mpcc_du":50.8742828,"mpcc_dv":48.0530052,"mpcc_dw":51.9469948,"mpcc_enc_sign":1,"mpcc_id_a":-0.39395529,"mpcc_iq_a":-2.30199432,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.2836838,"mpcc_pred_id_a":-0.705025733,"mpcc_pred_iq_a":-0.16623269,"mpcc_state":1,"mpcc_theta_e":0.43130064,"mpcc_theta_mech":0.553206086,"sam_rpm":-21.8776817,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467544049,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.094505,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.16857147,"cg_iw_a":0.41911912,"cg_theta_rad":0.557125568,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0281986501,"mpcc_du":50.435791,"mpcc_dv":48.5505562,"mpcc_dw":51.4494438,"mpcc_enc_sign":1,"mpcc_id_a":-0.0166754331,"mpcc_iq_a":-1.60987186,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.03265405,"mpcc_pred_id_a":-0.437657446,"mpcc_pred_iq_a":-2.70035481,"mpcc_state":1,"mpcc_theta_e":0.444338322,"mpcc_theta_mech":0.555813611,"sam_rpm":-2.21956515,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285820514,"thr_a_norm":0.0285820514,"thr_a_v":0.614328206,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496951222,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.117516,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.16857147,"cg_iw_a":-0.740683079,"cg_theta_rad":0.556046963,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.00726402365,"mpcc_du":49.1122665,"mpcc_dv":50.8877335,"mpcc_dw":49.8125534,"mpcc_enc_sign":1,"mpcc_id_a":1.39376831,"mpcc_iq_a":-2.01084352,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.02821445,"mpcc_pred_id_a":-0.329778582,"mpcc_pred_iq_a":-4.70374727,"mpcc_state":1,"mpcc_theta_e":0.44756031,"mpcc_theta_mech":0.556457996,"sam_rpm":12.6665936,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0285820514,"thr_a_norm":0.0285820514,"thr_a_v":0.614328206,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496951222,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.124016,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.02359605,"cg_iw_a":-1.24809718,"cg_theta_rad":0.556107104,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0156632587,"mpcc_du":49.8448372,"mpcc_dv":49.2758865,"mpcc_dw":50.7241135,"mpcc_enc_sign":1,"mpcc_id_a":0.548969984,"mpcc_iq_a":-0.76316601,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.1218071,"mpcc_pred_id_a":-0.323076934,"mpcc_pred_iq_a":-3.69292879,"mpcc_state":1,"mpcc_theta_e":0.440429211,"mpcc_theta_mech":0.555031717,"sam_rpm":-7.05444908,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263034999,"thr_a_norm":0.0263034999,"thr_a_v":0.605214,"thr_b":0.00128977001,"thr_b_norm":0.00128977001,"thr_b_v":0.50515908,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.130547,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-0.806133032,"cg_iw_a":-0.885658503,"cg_theta_rad":0.557309508,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.00966916606,"mpcc_du":49.8655624,"mpcc_dv":49.21661,"mpcc_dw":50.78339,"mpcc_enc_sign":1,"mpcc_id_a":-0.245775491,"mpcc_iq_a":-2.06178117,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.04276037,"mpcc_pred_id_a":-0.395813853,"mpcc_pred_iq_a":-2.7673409,"mpcc_state":1,"mpcc_theta_e":0.450747967,"mpcc_theta_mech":0.557095468,"sam_rpm":9.81853104,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0263034999,"thr_a_norm":0.0263034999,"thr_a_v":0.605214,"thr_b":0.00128977001,"thr_b_norm":0.00128977001,"thr_b_v":0.50515908,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.137138,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-1.31354666,"cg_iw_a":-0.160782337,"cg_theta_rad":0.554578483,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.00242804457,"mpcc_du":51.1482582,"mpcc_dv":47.4434395,"mpcc_dw":49.4200363,"mpcc_enc_sign":1,"mpcc_id_a":0.985409439,"mpcc_iq_a":-0.342095733,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-24.5938969,"mpcc_pred_id_a":-0.249319777,"mpcc_pred_iq_a":1.25497448,"mpcc_state":1,"mpcc_theta_e":0.418381691,"mpcc_theta_mech":0.557025611,"sam_rpm":-36.6525383,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.023936823,"thr_a_norm":0.023936823,"thr_a_v":0.595747292,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485722154,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.14727,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-3.3432014,"cg_iw_a":0.926532984,"cg_theta_rad":0.557721913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0549042448,"mpcc_du":50.6747169,"mpcc_dv":47.8353844,"mpcc_dw":52.1646156,"mpcc_enc_sign":1,"mpcc_id_a":2.92938995,"mpcc_iq_a":-0.650208592,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.0388844,"mpcc_pred_id_a":0.62304014,"mpcc_pred_iq_a":0.354036093,"mpcc_state":1,"mpcc_theta_e":0.444857121,"mpcc_theta_mech":0.555917323,"sam_rpm":-3.29177952,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472327769,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.159294,"values":{"cg_iu_a":0.531989098,"cg_iv_a":0.0637187958,"cg_iw_a":-0.595707893,"cg_theta_rad":0.556200504,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0578382574,"mpcc_du":49.2693253,"mpcc_dv":50.7306747,"mpcc_dw":49.8822327,"mpcc_enc_sign":1,"mpcc_id_a":-0.0669165179,"mpcc_iq_a":-1.76197827,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.7763083,"mpcc_pred_id_a":-0.592434883,"mpcc_pred_iq_a":-2.92856574,"mpcc_state":1,"mpcc_theta_e":0.426036358,"mpcc_theta_mech":0.55215323,"sam_rpm":-6.80870199,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224387646,"thr_a_norm":0.0224387646,"thr_a_v":0.589755058,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472327769,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.169487,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-0.951108456,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556257129,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0570573248,"mpcc_du":49.7808838,"mpcc_dv":49.1029205,"mpcc_dw":50.8970795,"mpcc_enc_sign":1,"mpcc_id_a":2.58054686,"mpcc_iq_a":-0.54954356,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.63868952,"mpcc_pred_id_a":0.250092089,"mpcc_pred_iq_a":-3.87172151,"mpcc_state":1,"mpcc_theta_e":0.451643467,"mpcc_theta_mech":0.55727464,"sam_rpm":4.81832218,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0259132534,"thr_a_norm":0.0259132534,"thr_a_v":0.603653014,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.489398032,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.179497,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.24105906,"cg_iw_a":-1.97297382,"cg_theta_rad":0.557264745,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0994516164,"mpcc_du":50.1399155,"mpcc_dv":48.5641861,"mpcc_dw":51.4358139,"mpcc_enc_sign":1,"mpcc_id_a":2.03414726,"mpcc_iq_a":1.80786681,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.76307535,"mpcc_pred_id_a":0.482367605,"mpcc_pred_iq_a":-0.253493905,"mpcc_state":1,"mpcc_theta_e":0.452338696,"mpcc_theta_mech":0.557413638,"sam_rpm":11.3402462,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224639475,"thr_a_norm":0.0259132534,"thr_a_v":0.58985579,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477463931,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.189445,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.298719406,"cg_iw_a":-2.11794901,"cg_theta_rad":0.557524621,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0668578446,"mpcc_du":49.5927658,"mpcc_dv":49.3218918,"mpcc_dw":50.6781082,"mpcc_enc_sign":1,"mpcc_id_a":2.59639859,"mpcc_iq_a":-0.854078472,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.23863411,"mpcc_pred_id_a":0.221989393,"mpcc_pred_iq_a":-4.35886431,"mpcc_state":1,"mpcc_theta_e":0.45754385,"mpcc_theta_mech":0.558454692,"sam_rpm":13.1272793,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0224639475,"thr_a_norm":0.0224639475,"thr_a_v":0.58985579,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477463931,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.201897,"values":{"cg_iu_a":3.64895868,"cg_iv_a":0.57113266,"cg_iw_a":-4.22009134,"cg_theta_rad":0.554814875,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.024375882,"mpcc_du":49.6447792,"mpcc_dv":49.4707909,"mpcc_dw":50.5292091,"mpcc_enc_sign":1,"mpcc_id_a":4.14780951,"mpcc_iq_a":-1.42042696,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.53459215,"mpcc_pred_id_a":-0.379874915,"mpcc_pred_iq_a":-5.09463549,"mpcc_state":1,"mpcc_theta_e":0.442810059,"mpcc_theta_mech":0.555507958,"sam_rpm":5.28091431,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0250572115,"thr_a_norm":0.0250572115,"thr_a_v":0.600228846,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483405799,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.226311,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.24105906,"cg_iw_a":1.43394661,"cg_theta_rad":0.556023836,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0584128574,"mpcc_du":49.878006,"mpcc_dv":49.0570145,"mpcc_dw":50.9429855,"mpcc_enc_sign":1,"mpcc_id_a":2.28550148,"mpcc_iq_a":-0.487352401,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.31164742,"mpcc_pred_id_a":0.00855046418,"mpcc_pred_iq_a":-4.57033539,"mpcc_state":1,"mpcc_theta_e":0.446848869,"mpcc_theta_mech":0.55631566,"sam_rpm":-0.73881799,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202357471,"thr_a_norm":0.0250572115,"thr_a_v":0.580942988,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.232811,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-0.371207237,"cg_iw_a":-0.305757046,"cg_theta_rad":0.556512594,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0102402894,"mpcc_du":49.4404907,"mpcc_dv":50.5595093,"mpcc_dw":50.3827782,"mpcc_enc_sign":1,"mpcc_id_a":2.04908037,"mpcc_iq_a":-2.52283525,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.09723949,"mpcc_pred_id_a":0.286143303,"mpcc_pred_iq_a":-0.419282049,"mpcc_state":1,"mpcc_theta_e":0.436887741,"mpcc_theta_mech":0.554323435,"sam_rpm":8.41853905,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0202357471,"thr_a_norm":0.0202357471,"thr_a_v":0.580942988,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.449567437,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.239372,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.733645439,"cg_iw_a":-1.68302298,"cg_theta_rad":0.556586683,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0107355127,"mpcc_du":50.3730087,"mpcc_dv":48.3070831,"mpcc_dw":51.6929169,"mpcc_enc_sign":1,"mpcc_id_a":1.98373795,"mpcc_iq_a":-0.949370682,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.2371378,"mpcc_pred_id_a":0.191199392,"mpcc_pred_iq_a":1.26367283,"mpcc_state":1,"mpcc_theta_e":0.448210239,"mpcc_theta_mech":0.556587994,"sam_rpm":-11.9420071,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212302655,"thr_a_norm":0.0212302655,"thr_a_v":0.584921062,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462810725,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.245842,"values":{"cg_iu_a":0.531989098,"cg_iv_a":-0.733645439,"cg_iw_a":0.201656342,"cg_theta_rad":0.557389379,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.013082956,"mpcc_du":49.2277298,"mpcc_dv":50.7722702,"mpcc_dw":52.3785896,"mpcc_enc_sign":1,"mpcc_id_a":0.323956847,"mpcc_iq_a":-2.16763806,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":18.6995163,"mpcc_pred_id_a":-0.777760565,"mpcc_pred_iq_a":-5.55430079,"mpcc_state":1,"mpcc_theta_e":0.462373257,"mpcc_theta_mech":0.556076467,"sam_rpm":28.6120567,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0212302655,"thr_a_norm":0.0212302655,"thr_a_v":0.584921062,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462810725,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.254753,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.09608364,"cg_iw_a":-1.32058477,"cg_theta_rad":0.555155933,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0331230909,"mpcc_du":49.5560417,"mpcc_dv":49.410553,"mpcc_dw":50.589447,"mpcc_enc_sign":1,"mpcc_id_a":2.17421269,"mpcc_iq_a":-0.722225666,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.55555201,"mpcc_pred_id_a":0.193778306,"mpcc_pred_iq_a":-2.93900394,"mpcc_state":1,"mpcc_theta_e":0.450720787,"mpcc_theta_mech":0.557090104,"sam_rpm":11.9887323,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182341486,"thr_a_norm":0.0182341486,"thr_a_v":0.572936594,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461400777,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.264793,"values":{"cg_iu_a":3.72144651,"cg_iv_a":-2.40086174,"cg_iw_a":0.12916851,"cg_theta_rad":0.554983079,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0222193617,"mpcc_du":49.5336914,"mpcc_dv":50.2802887,"mpcc_dw":50.4663086,"mpcc_enc_sign":1,"mpcc_id_a":0.218845457,"mpcc_iq_a":-1.51668847,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.6379547,"mpcc_pred_id_a":-0.389541984,"mpcc_pred_iq_a":1.49455798,"mpcc_state":1,"mpcc_theta_e":0.422834396,"mpcc_theta_mech":0.554084063,"sam_rpm":-11.0590525,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254097134,"thr_a_norm":0.0182341486,"thr_a_v":0.601638854,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48904556,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.27523,"values":{"cg_iu_a":2.63413143,"cg_iv_a":0.136206627,"cg_iw_a":-2.11794901,"cg_theta_rad":0.555568039,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0518658422,"mpcc_du":50.1400299,"mpcc_dv":48.425602,"mpcc_dw":51.574398,"mpcc_enc_sign":1,"mpcc_id_a":3.50144577,"mpcc_iq_a":-0.464413613,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.558734059,"mpcc_pred_id_a":0.90052259,"mpcc_pred_iq_a":-0.476664543,"mpcc_state":1,"mpcc_theta_e":0.446233273,"mpcc_theta_mech":0.556192577,"sam_rpm":0.998980165,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0254097134,"thr_a_norm":0.0254097134,"thr_a_v":0.601638854,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48904556,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.285118,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-1.31354666,"cg_iw_a":0.709069729,"cg_theta_rad":0.554272175,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0350147858,"mpcc_du":49.4509583,"mpcc_dv":50.5490417,"mpcc_dw":50.146595,"mpcc_enc_sign":1,"mpcc_id_a":1.65218818,"mpcc_iq_a":-1.67349577,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-8.6160183,"mpcc_pred_id_a":-0.365382731,"mpcc_pred_iq_a":-4.71703672,"mpcc_state":1,"mpcc_theta_e":0.429749489,"mpcc_theta_mech":0.552895784,"sam_rpm":-15.5458345,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469356835,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.294884,"values":{"cg_iu_a":0.966915131,"cg_iv_a":-0.516182423,"cg_iw_a":-3.85765314,"cg_theta_rad":0.556112349,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0373767503,"mpcc_du":49.9968109,"mpcc_dv":49.1965218,"mpcc_dw":50.8034782,"mpcc_enc_sign":1,"mpcc_id_a":-0.288395047,"mpcc_iq_a":-0.321074158,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.603128731,"mpcc_pred_id_a":-0.572437108,"mpcc_pred_iq_a":-4.05945063,"mpcc_state":1,"mpcc_theta_e":0.449103355,"mpcc_theta_mech":0.556766629,"sam_rpm":1.15586329,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0264671594,"thr_a_norm":0.0264671594,"thr_a_v":0.605868638,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.469356835,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.305107,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-0.951108456,"cg_iw_a":1.65140963,"cg_theta_rad":0.554640532,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0197144356,"mpcc_du":50.0119019,"mpcc_dv":48.8976936,"mpcc_dw":51.1023064,"mpcc_enc_sign":1,"mpcc_id_a":2.0011189,"mpcc_iq_a":-2.25446582,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-2.58415365,"mpcc_pred_id_a":0.0850617066,"mpcc_pred_iq_a":-3.82473779,"mpcc_state":1,"mpcc_theta_e":0.447069645,"mpcc_theta_mech":0.556359887,"sam_rpm":-3.53634572,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0288715959,"thr_a_norm":0.0288715959,"thr_a_v":0.615486383,"thr_b":0.00704279542,"thr_b_norm":0.00704279542,"thr_b_v":0.528171182,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.328514,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.443694592,"cg_iw_a":-1.90048599,"cg_theta_rad":0.55559957,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0106603466,"mpcc_du":50.9047852,"mpcc_dv":48.0141907,"mpcc_dw":51.9858093,"mpcc_enc_sign":1,"mpcc_id_a":0.197287261,"mpcc_iq_a":-0.648358285,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.23536015,"mpcc_pred_id_a":-0.592033565,"mpcc_pred_iq_a":-0.140450925,"mpcc_state":1,"mpcc_theta_e":0.449680805,"mpcc_theta_mech":0.556882083,"sam_rpm":-15.2326727,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0146715492,"thr_a_norm":0.0288715959,"thr_a_v":0.558686197,"thr_b":0,"thr_b_norm":0.00704279542,"thr_b_v":0.460091561,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.335045,"values":{"cg_iu_a":3.06905746,"cg_iv_a":0.208694458,"cg_iw_a":-3.27775192,"cg_theta_rad":0.556867242,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.011780886,"mpcc_du":50.6895638,"mpcc_dv":47.9692116,"mpcc_dw":52.0307884,"mpcc_enc_sign":1,"mpcc_id_a":2.16186738,"mpcc_iq_a":-1.77553689,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.0976973,"mpcc_pred_id_a":0.146729931,"mpcc_pred_iq_a":0.212155968,"mpcc_state":1,"mpcc_theta_e":0.431952477,"mpcc_theta_mech":0.553336442,"sam_rpm":-17.8494911,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0146715492,"thr_a_norm":0.0146715492,"thr_a_v":0.558686197,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.460091561,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.341545,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-0.951108456,"cg_iw_a":-0.015806675,"cg_theta_rad":0.553207338,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.00564520434,"mpcc_du":49.5775604,"mpcc_dv":49.5386848,"mpcc_dw":50.4613152,"mpcc_enc_sign":1,"mpcc_id_a":0.417075723,"mpcc_iq_a":-0.701807559,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.93880862,"mpcc_pred_id_a":-0.23804006,"mpcc_pred_iq_a":-3.82649016,"mpcc_state":1,"mpcc_theta_e":0.441503525,"mpcc_theta_mech":0.555246592,"sam_rpm":-1.54010141,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256363004,"thr_a_norm":0.0256363004,"thr_a_v":0.602545202,"thr_b":0.00135271251,"thr_b_norm":0.00135271251,"thr_b_v":0.50541085,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.348106,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-1.89344811,"cg_iw_a":-2.98780107,"cg_theta_rad":0.555414617,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.00749663822,"mpcc_du":49.6993179,"mpcc_dv":49.271431,"mpcc_dw":50.728569,"mpcc_enc_sign":1,"mpcc_id_a":1.078632,"mpcc_iq_a":-3.1943748,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.17130971,"mpcc_pred_id_a":0.0932010487,"mpcc_pred_iq_a":-1.79605782,"mpcc_state":1,"mpcc_theta_e":0.443162918,"mpcc_theta_mech":0.55557853,"sam_rpm":2.93488574,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0256363004,"thr_a_norm":0.0256363004,"thr_a_v":0.602545202,"thr_b":0.00135271251,"thr_b_norm":0.00135271251,"thr_b_v":0.50541085,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.355858,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.6759851,"cg_iw_a":-0.668195486,"cg_theta_rad":0.556153715,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.00228468888,"mpcc_du":50.427742,"mpcc_dv":48.6005402,"mpcc_dw":51.3994598,"mpcc_enc_sign":1,"mpcc_id_a":0.686522603,"mpcc_iq_a":-1.33104932,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.88372803,"mpcc_pred_id_a":-0.458327204,"mpcc_pred_iq_a":-0.97374624,"mpcc_state":1,"mpcc_theta_e":0.435952187,"mpcc_theta_mech":0.554136336,"sam_rpm":-10.2137299,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.01975739,"thr_a_norm":0.01975739,"thr_a_v":0.57902956,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.473183811,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.368279,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-0.733645439,"cg_iw_a":-1.68302298,"cg_theta_rad":0.552399874,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0683826059,"mpcc_du":50.960453,"mpcc_dv":47.6704063,"mpcc_dw":52.3295937,"mpcc_enc_sign":1,"mpcc_id_a":1.23999631,"mpcc_iq_a":-1.50628686,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.75013733,"mpcc_pred_id_a":0.248224944,"mpcc_pred_iq_a":-1.99634874,"mpcc_state":1,"mpcc_theta_e":0.440963745,"mpcc_theta_mech":0.555138648,"sam_rpm":-9.86968136,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203616321,"thr_a_norm":0.01975739,"thr_a_v":0.581446528,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457170963,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.378105,"values":{"cg_iu_a":2.70661926,"cg_iv_a":-0.806133032,"cg_iw_a":-0.015806675,"cg_theta_rad":0.553148448,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0150316311,"mpcc_du":50.1422577,"mpcc_dv":48.6543846,"mpcc_dw":51.3456154,"mpcc_enc_sign":1,"mpcc_id_a":2.3313427,"mpcc_iq_a":-0.88889879,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-9.41159058,"mpcc_pred_id_a":0.25611639,"mpcc_pred_iq_a":-1.69855309,"mpcc_state":1,"mpcc_theta_e":0.43304348,"mpcc_theta_mech":0.553554654,"sam_rpm":-14.5095177,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0203616321,"thr_a_norm":0.0203616321,"thr_a_v":0.581446528,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.457170963,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.388268,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.226231575,"cg_iw_a":-2.48038769,"cg_theta_rad":0.556867361,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.022308588,"mpcc_du":50.4202423,"mpcc_dv":48.7527275,"mpcc_dw":51.2472725,"mpcc_enc_sign":1,"mpcc_id_a":-0.268015981,"mpcc_iq_a":-1.62958574,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.53105783,"mpcc_pred_id_a":-0.737049222,"mpcc_pred_iq_a":-3.61919665,"mpcc_state":1,"mpcc_theta_e":0.444966793,"mpcc_theta_mech":0.555939257,"sam_rpm":-5.98232985,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.018951714,"thr_a_norm":0.018951714,"thr_a_v":0.575806856,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.458027005,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.400475,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.24105906,"cg_iw_a":-1.24809718,"cg_theta_rad":0.556313694,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.00455324678,"mpcc_du":49.5540962,"mpcc_dv":49.7018013,"mpcc_dw":50.4459038,"mpcc_enc_sign":1,"mpcc_id_a":1.33482552,"mpcc_iq_a":-0.116794862,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.8112669,"mpcc_pred_id_a":-0.0333448276,"mpcc_pred_iq_a":-0.375852853,"mpcc_state":1,"mpcc_theta_e":0.441223145,"mpcc_theta_mech":0.555190504,"sam_rpm":8.05186272,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273231864,"thr_a_norm":0.018951714,"thr_a_v":0.609292746,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485571086,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.423485,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.16857147,"cg_iw_a":-0.16078186,"cg_theta_rad":0.556672096,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.000160960291,"mpcc_du":48.3561668,"mpcc_dv":51.6438332,"mpcc_dw":48.7800789,"mpcc_enc_sign":1,"mpcc_id_a":-0.108061448,"mpcc_iq_a":-1.75993407,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":16.6702137,"mpcc_pred_id_a":-0.525822461,"mpcc_pred_iq_a":-7.09406948,"mpcc_state":1,"mpcc_theta_e":0.45537281,"mpcc_theta_mech":0.558020473,"sam_rpm":23.9699955,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0273231864,"thr_a_norm":0.0273231864,"thr_a_v":0.609292746,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.485571086,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.430016,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.951108456,"cg_iw_a":-1.39307213,"cg_theta_rad":0.559577465,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0363412052,"mpcc_du":50.1380806,"mpcc_dv":48.570816,"mpcc_dw":51.429184,"mpcc_enc_sign":1,"mpcc_id_a":2.96941018,"mpcc_iq_a":-1.06776869,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.82589769,"mpcc_pred_id_a":0.577533007,"mpcc_pred_iq_a":-2.58703923,"mpcc_state":1,"mpcc_theta_e":0.439457417,"mpcc_theta_mech":0.554837406,"sam_rpm":-9.32843685,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021419093,"thr_a_norm":0.021419093,"thr_a_v":0.585676372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474190891,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.436516,"values":{"cg_iu_a":2.05423021,"cg_iv_a":0.933570862,"cg_iw_a":-2.48038721,"cg_theta_rad":0.55510509,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.00629530987,"mpcc_du":49.1295433,"mpcc_dv":50.8704567,"mpcc_dw":49.7461777,"mpcc_enc_sign":1,"mpcc_id_a":0.249133229,"mpcc_iq_a":-0.207849696,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.49107647,"mpcc_pred_id_a":-0.437340885,"mpcc_pred_iq_a":-6.12353325,"mpcc_state":1,"mpcc_theta_e":0.447315216,"mpcc_theta_mech":0.556409001,"sam_rpm":8.85337257,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021419093,"thr_a_norm":0.021419093,"thr_a_v":0.585676372,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474190891,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.443047,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.89344811,"cg_iw_a":-0.378245115,"cg_theta_rad":0.557622671,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.00074284419,"mpcc_du":50.1609726,"mpcc_dv":48.8306885,"mpcc_dw":51.1693115,"mpcc_enc_sign":1,"mpcc_id_a":-0.121712133,"mpcc_iq_a":-1.83678782,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.01289272,"mpcc_pred_id_a":-0.189982444,"mpcc_pred_iq_a":0.833173156,"mpcc_state":1,"mpcc_theta_e":0.442757607,"mpcc_theta_mech":0.55207926,"sam_rpm":4.24848938,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.020613417,"thr_a_norm":0.020613417,"thr_a_v":0.582453668,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.470263213,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.451073,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-1.74847269,"cg_iw_a":-0.885658741,"cg_theta_rad":0.556311131,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0278375465,"mpcc_du":50.8172531,"mpcc_dv":47.8813858,"mpcc_dw":52.1186142,"mpcc_enc_sign":1,"mpcc_id_a":1.31022573,"mpcc_iq_a":1.19116783,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.668409169,"mpcc_pred_id_a":0.131017804,"mpcc_pred_iq_a":3.34816289,"mpcc_state":1,"mpcc_theta_e":0.440671921,"mpcc_theta_mech":0.555080295,"sam_rpm":-0.514644861,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0108949393,"thr_a_norm":0.020613417,"thr_a_v":0.543579757,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43254748,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.460869,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.02359605,"cg_iw_a":-0.668195486,"cg_theta_rad":0.556206763,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0115731787,"mpcc_du":50.0899658,"mpcc_dv":48.7206688,"mpcc_dw":51.2793312,"mpcc_enc_sign":1,"mpcc_id_a":1.96657622,"mpcc_iq_a":0.880357504,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.89209557,"mpcc_pred_id_a":0.158629909,"mpcc_pred_iq_a":-1.07040977,"mpcc_state":1,"mpcc_theta_e":0.441493988,"mpcc_theta_mech":0.555244744,"sam_rpm":11.197464,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0108949393,"thr_a_norm":0.0108949393,"thr_a_v":0.543579757,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.43254748,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.471092,"values":{"cg_iu_a":0.894427299,"cg_iv_a":0.498644829,"cg_iw_a":-2.84282541,"cg_theta_rad":0.555912614,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0195240602,"mpcc_du":50.0593796,"mpcc_dv":48.894455,"mpcc_dw":51.105545,"mpcc_enc_sign":1,"mpcc_id_a":1.47632647,"mpcc_iq_a":-0.835091829,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.157785147,"mpcc_pred_id_a":0.0203157142,"mpcc_pred_iq_a":-1.95458329,"mpcc_state":1,"mpcc_theta_e":0.443095207,"mpcc_theta_mech":0.55556494,"sam_rpm":0.777988732,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0191405416,"thr_a_norm":0.0191405416,"thr_a_v":0.576562166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.480949,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-1.89344811,"cg_iw_a":0.491606951,"cg_theta_rad":0.556428432,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.00148515403,"mpcc_du":50.2233315,"mpcc_dv":48.7913551,"mpcc_dw":51.2086449,"mpcc_enc_sign":1,"mpcc_id_a":0.611702979,"mpcc_iq_a":-0.974548042,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.18777561,"mpcc_pred_id_a":-0.25297451,"mpcc_pred_iq_a":-0.743496895,"mpcc_state":1,"mpcc_theta_e":0.437393188,"mpcc_theta_mech":0.554424524,"sam_rpm":-6.41382933,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0191405416,"thr_a_norm":0.0191405416,"thr_a_v":0.576562166,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.492058,"values":{"cg_iu_a":1.69179153,"cg_iv_a":-1.38603449,"cg_iw_a":-0.16078186,"cg_theta_rad":0.555489182,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0379914418,"mpcc_du":50.6495323,"mpcc_dv":48.1882172,"mpcc_dw":51.8117828,"mpcc_enc_sign":1,"mpcc_id_a":0.227077067,"mpcc_iq_a":-0.426232606,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-6.78290081,"mpcc_pred_id_a":-0.0855083838,"mpcc_pred_iq_a":-1.63472843,"mpcc_state":1,"mpcc_theta_e":0.440056324,"mpcc_theta_mech":0.554957211,"sam_rpm":-8.75930405,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274742395,"thr_a_norm":0.0274742395,"thr_a_v":0.609896958,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.494886726,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.501518,"values":{"cg_iu_a":0.459501266,"cg_iv_a":0.208694458,"cg_iw_a":3.10116291,"cg_theta_rad":0.553408921,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.00120764831,"mpcc_du":50.114994,"mpcc_dv":48.9818573,"mpcc_dw":51.0181427,"mpcc_enc_sign":1,"mpcc_id_a":0.169449732,"mpcc_iq_a":-0.721785903,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.46267605,"mpcc_pred_id_a":-0.465075523,"mpcc_pred_iq_a":-1.34813619,"mpcc_state":1,"mpcc_theta_e":0.437857151,"mpcc_theta_mech":0.554517329,"sam_rpm":-5.77015018,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186243951,"thr_a_norm":0.0274742395,"thr_a_v":0.574497581,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.524681,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.878620625,"cg_iw_a":0.12916851,"cg_theta_rad":0.55738914,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0279278886,"mpcc_du":48.6486206,"mpcc_dv":51.3513794,"mpcc_dw":49.272377,"mpcc_enc_sign":1,"mpcc_id_a":2.77633619,"mpcc_iq_a":-0.978287578,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.5417862,"mpcc_pred_id_a":-0.220258266,"mpcc_pred_iq_a":-7.62316847,"mpcc_state":1,"mpcc_theta_e":0.454155922,"mpcc_theta_mech":0.557777107,"sam_rpm":19.7283802,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186243951,"thr_a_norm":0.0186243951,"thr_a_v":0.574497581,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.456012845,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.531181,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-0.588670254,"cg_iw_a":-0.16078186,"cg_theta_rad":0.555547714,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.00150748726,"mpcc_du":49.9983215,"mpcc_dv":49.0415192,"mpcc_dw":50.9584808,"mpcc_enc_sign":1,"mpcc_id_a":-0.220528886,"mpcc_iq_a":-2.20788908,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.45986271,"mpcc_pred_id_a":-0.189631701,"mpcc_pred_iq_a":0.153881177,"mpcc_state":1,"mpcc_theta_e":0.444090366,"mpcc_theta_mech":0.55576396,"sam_rpm":6.54623079,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0164717287,"thr_a_norm":0.0164717287,"thr_a_v":0.565886915,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467040509,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.537712,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.02359605,"cg_iw_a":-1.53804779,"cg_theta_rad":0.554060936,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0056270468,"mpcc_du":49.4589691,"mpcc_dv":50.5410309,"mpcc_dw":50.1804924,"mpcc_enc_sign":1,"mpcc_id_a":1.46656656,"mpcc_iq_a":-0.686545789,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.672392249,"mpcc_pred_id_a":-0.308142096,"mpcc_pred_iq_a":-5.06582117,"mpcc_state":1,"mpcc_theta_e":0.440338612,"mpcc_theta_mech":0.555013657,"sam_rpm":-0.126080692,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0164717287,"thr_a_norm":0.0164717287,"thr_a_v":0.565886915,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.467040509,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.544273,"values":{"cg_iu_a":1.61930418,"cg_iv_a":-0.516182423,"cg_iw_a":-2.33541203,"cg_theta_rad":0.554439306,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.00111403444,"mpcc_du":50.2285614,"mpcc_dv":48.4968071,"mpcc_dw":51.5031929,"mpcc_enc_sign":1,"mpcc_id_a":0.524702609,"mpcc_iq_a":-2.2965765,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.0351372,"mpcc_pred_id_a":-0.294843584,"mpcc_pred_iq_a":-6.56924915,"mpcc_state":1,"mpcc_theta_e":0.451593876,"mpcc_theta_mech":0.553679347,"sam_rpm":14.5722218,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0233955085,"thr_a_norm":0.0233955085,"thr_a_v":0.593582034,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.463213563,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.552452,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-0.588670254,"cg_iw_a":-1.90048599,"cg_theta_rad":0.553816319,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.00670995424,"mpcc_du":50.4091911,"mpcc_dv":48.3868179,"mpcc_dw":51.6131821,"mpcc_enc_sign":1,"mpcc_id_a":0.950457871,"mpcc_iq_a":-1.0965203,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.239370048,"mpcc_pred_id_a":0.150674254,"mpcc_pred_iq_a":0.636207104,"mpcc_state":1,"mpcc_theta_e":0.444060802,"mpcc_theta_mech":0.555758059,"sam_rpm":-0.41700229,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280281454,"thr_a_norm":0.0233955085,"thr_a_v":0.612112582,"thr_b":0.00150378048,"thr_b_norm":0,"thr_b_v":0.506015122,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.562248,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-0.371207237,"cg_iw_a":-1.82799816,"cg_theta_rad":0.555467963,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0653771609,"mpcc_du":49.6675224,"mpcc_dv":48.9050865,"mpcc_dw":51.0949135,"mpcc_enc_sign":1,"mpcc_id_a":4.62973356,"mpcc_iq_a":-0.965204418,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.84552252,"mpcc_pred_id_a":0.85496676,"mpcc_pred_iq_a":-3.94101262,"mpcc_state":1,"mpcc_theta_e":0.447685242,"mpcc_theta_mech":0.556482971,"sam_rpm":1.47999978,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0280281454,"thr_a_norm":0.0280281454,"thr_a_v":0.612112582,"thr_b":0.00150378048,"thr_b_norm":0.00150378048,"thr_b_v":0.506015122,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.572685,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-1.02359605,"cg_iw_a":1.94136024,"cg_theta_rad":0.556870818,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.027635904,"mpcc_du":50.1276093,"mpcc_dv":48.6860428,"mpcc_dw":51.3139572,"mpcc_enc_sign":1,"mpcc_id_a":2.18897486,"mpcc_iq_a":-1.36156714,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.41185784,"mpcc_pred_id_a":0.125489801,"mpcc_pred_iq_a":-2.84807348,"mpcc_state":1,"mpcc_theta_e":0.444145679,"mpcc_theta_mech":0.555775046,"sam_rpm":-4.85421801,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253971219,"thr_a_norm":0.0253971219,"thr_a_v":0.601588488,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493527114,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.582481,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-1.38603449,"cg_iw_a":-1.53804779,"cg_theta_rad":0.556927025,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0260927361,"mpcc_du":49.6428223,"mpcc_dv":49.1400528,"mpcc_dw":50.8599472,"mpcc_enc_sign":1,"mpcc_id_a":3.21772003,"mpcc_iq_a":0.883898377,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.36428642,"mpcc_pred_id_a":0.450323522,"mpcc_pred_iq_a":0.0848559886,"mpcc_state":1,"mpcc_theta_e":0.427516937,"mpcc_theta_mech":0.552449286,"sam_rpm":-8.5287714,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0253971219,"thr_a_norm":0.0253971219,"thr_a_v":0.601588488,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493527114,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.592461,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-2.47334933,"cg_iw_a":0.491606951,"cg_theta_rad":0.556628644,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.00442016544,"mpcc_du":49.5308037,"mpcc_dv":50.2047997,"mpcc_dw":50.9256668,"mpcc_enc_sign":1,"mpcc_id_a":1.2299124,"mpcc_iq_a":-0.335457981,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.42234492,"mpcc_pred_id_a":0.051510375,"mpcc_pred_iq_a":-1.81246436,"mpcc_state":1,"mpcc_theta_e":0.434392452,"mpcc_theta_mech":0.553824425,"sam_rpm":4.86700201,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0338692963,"thr_a_norm":0.0338692963,"thr_a_v":0.635477185,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481844842,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.602654,"values":{"cg_iu_a":1.61930418,"cg_iv_a":0.933570862,"cg_iw_a":-2.55287504,"cg_theta_rad":0.551998138,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.00481793564,"mpcc_du":49.8755379,"mpcc_dv":49.2837791,"mpcc_dw":50.7162209,"mpcc_enc_sign":1,"mpcc_id_a":-0.277117431,"mpcc_iq_a":-2.647295,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.11240637,"mpcc_pred_id_a":-0.569802165,"mpcc_pred_iq_a":-4.73288584,"mpcc_state":1,"mpcc_theta_e":0.446996689,"mpcc_theta_mech":0.556345224,"sam_rpm":-1.58519578,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0338692963,"thr_a_v":0.618709087,"thr_b":0.00978712738,"thr_b_norm":0,"thr_b_v":0.53914851,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.625847,"values":{"cg_iu_a":2.27169323,"cg_iv_a":-1.02359605,"cg_iw_a":-1.24809718,"cg_theta_rad":0.553254962,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.00690332009,"mpcc_du":49.6160049,"mpcc_dv":49.9637451,"mpcc_dw":50.3839951,"mpcc_enc_sign":1,"mpcc_id_a":0.259078681,"mpcc_iq_a":-0.860944748,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.20472789,"mpcc_pred_id_a":-0.495998144,"mpcc_pred_iq_a":-4.74024153,"mpcc_state":1,"mpcc_theta_e":0.445044041,"mpcc_theta_mech":0.555954754,"sam_rpm":1.55372953,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00978712738,"thr_b_norm":0.00978712738,"thr_b_v":0.53914851,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.632408,"values":{"cg_iu_a":1.25686598,"cg_iv_a":-1.24105906,"cg_iw_a":-0.0158069134,"cg_theta_rad":0.554662168,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0425801203,"mpcc_du":49.5446815,"mpcc_dv":50.1733398,"mpcc_dw":50.4553185,"mpcc_enc_sign":1,"mpcc_id_a":2.44445467,"mpcc_iq_a":0.174497306,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.16114855,"mpcc_pred_id_a":0.0708729625,"mpcc_pred_iq_a":-4.59077024,"mpcc_state":1,"mpcc_theta_e":0.448756695,"mpcc_theta_mech":0.556697249,"sam_rpm":9.40799904,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238487124,"thr_a_norm":0.0238487124,"thr_a_v":0.59539485,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472176731,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.639,"values":{"cg_iu_a":0.676964283,"cg_iv_a":-1.74847269,"cg_iw_a":0.0566809177,"cg_theta_rad":0.55703038,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.00406671688,"mpcc_du":50.6602974,"mpcc_dv":48.15728,"mpcc_dw":51.84272,"mpcc_enc_sign":1,"mpcc_id_a":1.11958337,"mpcc_iq_a":-1.43613648,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.9232588,"mpcc_pred_id_a":-0.100155167,"mpcc_pred_iq_a":-0.166507706,"mpcc_state":1,"mpcc_theta_e":0.433538914,"mpcc_theta_mech":0.553653717,"sam_rpm":-16.0275459,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0238487124,"thr_a_norm":0.0238487124,"thr_a_v":0.59539485,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472176731,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.64547,"values":{"cg_iu_a":2.5616436,"cg_iv_a":-0.226231575,"cg_iw_a":-0.885658741,"cg_theta_rad":0.554435432,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.036099188,"mpcc_du":49.1819191,"mpcc_dv":50.8180809,"mpcc_dw":51.6243515,"mpcc_enc_sign":1,"mpcc_id_a":3.48573732,"mpcc_iq_a":-0.83735019,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":7.08251286,"mpcc_pred_id_a":0.589280009,"mpcc_pred_iq_a":-5.73205376,"mpcc_state":1,"mpcc_theta_e":0.448627472,"mpcc_theta_mech":0.553347707,"sam_rpm":10.1335611,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0192160606,"thr_a_norm":0.0192160606,"thr_a_v":0.576864243,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455358177,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.653435,"values":{"cg_iu_a":4.5912981,"cg_iv_a":-1.31354666,"cg_iw_a":0.346631527,"cg_theta_rad":0.554694533,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0087764347,"mpcc_du":50.3945198,"mpcc_dv":48.6881828,"mpcc_dw":51.3118172,"mpcc_enc_sign":1,"mpcc_id_a":-0.691039145,"mpcc_iq_a":0.00429763645,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-5.06190729,"mpcc_pred_id_a":-0.690806866,"mpcc_pred_iq_a":-0.66637218,"mpcc_state":1,"mpcc_theta_e":0.443675041,"mpcc_theta_mech":0.555680931,"sam_rpm":-7.66341734,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276756734,"thr_a_norm":0.0192160606,"thr_a_v":0.610702693,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483355463,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.663261,"values":{"cg_iu_a":0.749452114,"cg_iv_a":-1.89344811,"cg_iw_a":1.143996,"cg_theta_rad":0.556277215,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.027951071,"mpcc_du":49.1577873,"mpcc_dv":50.8422127,"mpcc_dw":50.1773376,"mpcc_enc_sign":1,"mpcc_id_a":3.28817272,"mpcc_iq_a":0.120019495,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.72499657,"mpcc_pred_id_a":0.637453556,"mpcc_pred_iq_a":-2.15468287,"mpcc_state":1,"mpcc_theta_e":0.433495998,"mpcc_theta_mech":0.553645074,"sam_rpm":12.3427505,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276756734,"thr_a_norm":0.0276756734,"thr_a_v":0.610702693,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.483355463,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.673698,"values":{"cg_iu_a":2.77910662,"cg_iv_a":-1.89344811,"cg_iw_a":1.21648335,"cg_theta_rad":0.554495513,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0616708323,"mpcc_du":49.9606972,"mpcc_dv":48.9249573,"mpcc_dw":51.0750427,"mpcc_enc_sign":1,"mpcc_id_a":2.79764938,"mpcc_iq_a":-1.26490116,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.97816157,"mpcc_pred_id_a":0.155868992,"mpcc_pred_iq_a":-3.74512768,"mpcc_state":1,"mpcc_theta_e":0.453212738,"mpcc_theta_mech":0.557588458,"sam_rpm":5.33390903,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0314648598,"thr_a_norm":0.0314648598,"thr_a_v":0.625859439,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477010757,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.683434,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.661157608,"cg_iw_a":-2.62536287,"cg_theta_rad":0.556321919,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.017282078,"mpcc_du":49.5724068,"mpcc_dv":50.4275932,"mpcc_dw":50.3824883,"mpcc_enc_sign":1,"mpcc_id_a":2.10487127,"mpcc_iq_a":0.688367963,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.14717436,"mpcc_pred_id_a":-0.191693962,"mpcc_pred_iq_a":0.0824802741,"mpcc_state":1,"mpcc_theta_e":0.434639454,"mpcc_theta_mech":0.553873837,"sam_rpm":6.31258345,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0314648598,"thr_a_norm":0.0314648598,"thr_a_v":0.625859439,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.477010757,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.693474,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.661157608,"cg_iw_a":-2.62536287,"cg_theta_rad":0.555384994,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0029186781,"mpcc_du":49.7171478,"mpcc_dv":49.8409309,"mpcc_dw":50.2828522,"mpcc_enc_sign":1,"mpcc_id_a":-0.972527325,"mpcc_iq_a":-0.605864108,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-3.2901504,"mpcc_pred_id_a":-1.06242263,"mpcc_pred_iq_a":-2.82102394,"mpcc_state":1,"mpcc_theta_e":0.433774471,"mpcc_theta_mech":0.553700805,"sam_rpm":-4.5093689,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0182215571,"thr_a_norm":0.0182215571,"thr_a_v":0.572886229,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.453394383,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.703758,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.45852208,"cg_iw_a":-0.45073247,"cg_theta_rad":0.556150913,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0103613334,"mpcc_du":50.1614952,"mpcc_dv":48.8338127,"mpcc_dw":51.1661873,"mpcc_enc_sign":1,"mpcc_id_a":0.0360979885,"mpcc_iq_a":-1.82347107,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.87373054,"mpcc_pred_id_a":-0.363474578,"mpcc_pred_iq_a":-3.21187377,"mpcc_state":1,"mpcc_theta_e":0.447719097,"mpcc_theta_mech":0.556489706,"sam_rpm":-6.66228533,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02655527,"thr_a_norm":0.0182215571,"thr_a_v":0.60622108,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481441945,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.726891,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-2.76329994,"cg_iw_a":2.37628603,"cg_theta_rad":0.555435419,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.00793565717,"mpcc_du":50.3993759,"mpcc_dv":48.5123482,"mpcc_dw":51.4876518,"mpcc_enc_sign":1,"mpcc_id_a":1.49410582,"mpcc_iq_a":-0.970236599,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.07641029,"mpcc_pred_id_a":-0.171459511,"mpcc_pred_iq_a":-0.74244225,"mpcc_state":1,"mpcc_theta_e":0.436817169,"mpcc_theta_mech":0.554309309,"sam_rpm":-10.0309858,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.02655527,"thr_a_norm":0.02655527,"thr_a_v":0.60622108,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.481441945,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.733391,"values":{"cg_iu_a":1.8367672,"cg_iv_a":-0.516182423,"cg_iw_a":-1.32058477,"cg_theta_rad":0.553554893,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0175586771,"mpcc_du":49.4375076,"mpcc_dv":49.5408669,"mpcc_dw":50.5624924,"mpcc_enc_sign":1,"mpcc_id_a":2.62527442,"mpcc_iq_a":-1.62371171,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":8.46905613,"mpcc_pred_id_a":0.572147489,"mpcc_pred_iq_a":-0.969083011,"mpcc_state":1,"mpcc_theta_e":0.44655323,"mpcc_theta_mech":0.556256592,"sam_rpm":11.6767797,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195685476,"thr_a_norm":0.0195685476,"thr_a_v":0.57827419,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471471697,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.739983,"values":{"cg_iu_a":0.24203825,"cg_iv_a":-0.153744221,"cg_iw_a":0.926532984,"cg_theta_rad":0.558037162,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.00159927341,"mpcc_du":49.9529381,"mpcc_dv":49.0477295,"mpcc_dw":50.9522705,"mpcc_enc_sign":1,"mpcc_id_a":0.644105732,"mpcc_iq_a":-2.0676105,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.01513529,"mpcc_pred_id_a":-0.134258226,"mpcc_pred_iq_a":-0.600193202,"mpcc_state":1,"mpcc_theta_e":0.446847439,"mpcc_theta_mech":0.556315362,"sam_rpm":9.37626743,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0195685476,"thr_a_norm":0.0195685476,"thr_a_v":0.57827419,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.471471697,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.746452,"values":{"cg_iu_a":0.0245752335,"cg_iv_a":-1.16857147,"cg_iw_a":-1.53804779,"cg_theta_rad":0.555944264,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.00512309326,"mpcc_du":49.7327461,"mpcc_dv":49.5272636,"mpcc_dw":50.4727364,"mpcc_enc_sign":1,"mpcc_id_a":0.247130036,"mpcc_iq_a":-0.716614008,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":5.92749262,"mpcc_pred_id_a":-0.767510056,"mpcc_pred_iq_a":-4.26718283,"mpcc_state":1,"mpcc_theta_e":0.445841789,"mpcc_theta_mech":0.556114256,"sam_rpm":15.5676432,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0995822698,"thr_a_norm":0.0995822698,"thr_a_v":0.898329079,"thr_b":0.0434367061,"thr_b_norm":0.0434367061,"thr_b_v":0.673746824,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.754845,"values":{"cg_iu_a":2.1992054,"cg_iv_a":-2.76329994,"cg_iw_a":0.564094543,"cg_theta_rad":0.557547808,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0174483508,"mpcc_du":49.5392418,"mpcc_dv":49.3900452,"mpcc_dw":50.6099548,"mpcc_enc_sign":1,"mpcc_id_a":2.46836519,"mpcc_iq_a":-1.27943301,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":9.63264275,"mpcc_pred_id_a":0.365001887,"mpcc_pred_iq_a":-1.17447424,"mpcc_state":1,"mpcc_theta_e":0.449557304,"mpcc_theta_mech":0.556857347,"sam_rpm":13.9571514,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297653824,"thr_a_norm":0.0995822698,"thr_a_v":0.61906153,"thr_b":0,"thr_b_norm":0.0434367061,"thr_b_v":0.462558955,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.764671,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-2.18339872,"cg_iw_a":-0.16078186,"cg_theta_rad":0.557229817,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.02645275,"mpcc_du":49.5796051,"mpcc_dv":48.1786232,"mpcc_dw":51.8213768,"mpcc_enc_sign":1,"mpcc_id_a":2.537637,"mpcc_iq_a":-0.458406478,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.4294222,"mpcc_pred_id_a":0.301253796,"mpcc_pred_iq_a":-3.32752299,"mpcc_state":1,"mpcc_theta_e":0.443027973,"mpcc_theta_mech":0.555551469,"sam_rpm":0.656346023,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0297653824,"thr_a_norm":0.0297653824,"thr_a_v":0.61906153,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.462558955,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.774986,"values":{"cg_iu_a":2.63413143,"cg_iv_a":-1.74847269,"cg_iw_a":-0.885658741,"cg_theta_rad":0.555259705,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.012006565,"mpcc_du":48.9682541,"mpcc_dv":51.0317459,"mpcc_dw":49.8805695,"mpcc_enc_sign":1,"mpcc_id_a":0.410627365,"mpcc_iq_a":-0.553324878,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.421820104,"mpcc_pred_id_a":-0.413461775,"mpcc_pred_iq_a":-1.50499022,"mpcc_state":1,"mpcc_theta_e":0.431707859,"mpcc_theta_mech":0.552032471,"sam_rpm":-0.429922312,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274490714,"thr_a_norm":0.0274490714,"thr_a_v":0.609796286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496296614,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.784843,"values":{"cg_iu_a":0.821939945,"cg_iv_a":-0.298719406,"cg_iw_a":-3.71267748,"cg_theta_rad":0.553935766,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.013803971,"mpcc_du":49.0718269,"mpcc_dv":50.9281731,"mpcc_dw":52.1919518,"mpcc_enc_sign":1,"mpcc_id_a":0.0929625705,"mpcc_iq_a":-1.67350745,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.5511103,"mpcc_pred_id_a":-0.864381194,"mpcc_pred_iq_a":-7.29148579,"mpcc_state":1,"mpcc_theta_e":0.457046986,"mpcc_theta_mech":0.558355272,"sam_rpm":18.9800453,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0274490714,"thr_a_norm":0.0274490714,"thr_a_v":0.609796286,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496296614,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.79586,"values":{"cg_iu_a":0.459501266,"cg_iv_a":-0.878620625,"cg_iw_a":-1.46555996,"cg_theta_rad":0.553822935,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0058200215,"mpcc_du":49.9010429,"mpcc_dv":49.3301315,"mpcc_dw":50.6698685,"mpcc_enc_sign":1,"mpcc_id_a":0.512183845,"mpcc_iq_a":-2.005265,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.43895721,"mpcc_pred_id_a":-0.553869545,"mpcc_pred_iq_a":-4.39934158,"mpcc_state":1,"mpcc_theta_e":0.447436333,"mpcc_theta_mech":0.556433201,"sam_rpm":-2.31835628,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0229171515,"thr_a_norm":0.0229171515,"thr_a_v":0.591668606,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.493023574,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.807152,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-0.806133032,"cg_iw_a":-0.305757284,"cg_theta_rad":0.553188205,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0846070051,"mpcc_du":50.2144699,"mpcc_dv":48.72258,"mpcc_dw":51.27742,"mpcc_enc_sign":1,"mpcc_id_a":0.431477666,"mpcc_iq_a":-0.994900286,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.53208053,"mpcc_pred_id_a":-0.361635327,"mpcc_pred_iq_a":-1.65380692,"mpcc_state":1,"mpcc_theta_e":0.450946331,"mpcc_theta_mech":0.557135165,"sam_rpm":4.38913155,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0313263834,"thr_a_norm":0.0313263834,"thr_a_v":0.625305533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.830467,"values":{"cg_iu_a":3.5039835,"cg_iv_a":-0.733645439,"cg_iw_a":-2.77033806,"cg_theta_rad":0.556681633,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0057528466,"mpcc_du":49.5647049,"mpcc_dv":50.4352951,"mpcc_dw":50.4210129,"mpcc_enc_sign":1,"mpcc_id_a":1.49454463,"mpcc_iq_a":-0.969560325,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.469588816,"mpcc_pred_id_a":0.136099562,"mpcc_pred_iq_a":-4.17402315,"mpcc_state":1,"mpcc_theta_e":0.436364651,"mpcc_theta_mech":0.554218888,"sam_rpm":-1.50355375,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0313263834,"thr_a_norm":0.0313263834,"thr_a_v":0.625305533,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.837059,"values":{"cg_iu_a":1.54681635,"cg_iv_a":0.861083508,"cg_iw_a":-2.40789986,"cg_theta_rad":0.552779973,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0328287631,"mpcc_du":49.1736298,"mpcc_dv":50.8263702,"mpcc_dw":49.9785919,"mpcc_enc_sign":1,"mpcc_id_a":1.74496734,"mpcc_iq_a":0.454182029,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-22.0864449,"mpcc_pred_id_a":0.161638469,"mpcc_pred_iq_a":2.03553843,"mpcc_state":1,"mpcc_theta_e":0.425549507,"mpcc_theta_mech":0.552055836,"sam_rpm":6.19342518,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261524469,"thr_a_norm":0.0261524469,"thr_a_v":0.604609787,"thr_b":0.00113870203,"thr_b_norm":0.00113870203,"thr_b_v":0.504554808,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.843529,"values":{"cg_iu_a":3.57647133,"cg_iv_a":-0.516182423,"cg_iw_a":-3.06028891,"cg_theta_rad":0.55667299,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.00198762678,"mpcc_du":49.3933029,"mpcc_dv":50.6066971,"mpcc_dw":50.0895996,"mpcc_enc_sign":1,"mpcc_id_a":0.617837012,"mpcc_iq_a":-1.1225028,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.59712982,"mpcc_pred_id_a":-0.315334857,"mpcc_pred_iq_a":-5.51257563,"mpcc_state":1,"mpcc_theta_e":0.443057537,"mpcc_theta_mech":0.55555743,"sam_rpm":3.50927043,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261524469,"thr_a_norm":0.0261524469,"thr_a_v":0.604609787,"thr_b":0.00113870203,"thr_b_norm":0.00113870203,"thr_b_v":0.504554808,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.85006,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.82096052,"cg_iw_a":-0.16078186,"cg_theta_rad":0.557871103,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0155216316,"mpcc_du":50.4781685,"mpcc_dv":48.2477455,"mpcc_dw":51.7522545,"mpcc_enc_sign":1,"mpcc_id_a":2.48906207,"mpcc_iq_a":-0.715217113,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.8925047,"mpcc_pred_id_a":0.221775487,"mpcc_pred_iq_a":-0.274961889,"mpcc_state":1,"mpcc_theta_e":0.427349091,"mpcc_theta_mech":0.552415729,"sam_rpm":-22.4324627,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252082795,"thr_a_norm":0.0252082795,"thr_a_v":0.600833118,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490606517,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.857811,"values":{"cg_iu_a":1.32935333,"cg_iv_a":-1.02359605,"cg_iw_a":-0.740683317,"cg_theta_rad":0.557532847,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0199694615,"mpcc_du":50.2802849,"mpcc_dv":48.4970207,"mpcc_dw":51.5029793,"mpcc_enc_sign":1,"mpcc_id_a":2.82027769,"mpcc_iq_a":-0.691421688,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.7795982,"mpcc_pred_id_a":0.233846068,"mpcc_pred_iq_a":-1.01256847,"mpcc_state":1,"mpcc_theta_e":0.430319309,"mpcc_theta_mech":0.553009748,"sam_rpm":-19.6171398,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252082795,"thr_a_norm":0.0252082795,"thr_a_v":0.600833118,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490606517,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.869072,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.806133032,"cg_iw_a":-1.03063393,"cg_theta_rad":0.553239405,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.00946329348,"mpcc_du":49.3288841,"mpcc_dv":50.6711159,"mpcc_dw":49.934063,"mpcc_enc_sign":1,"mpcc_id_a":0.395542651,"mpcc_iq_a":-1.57799113,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.12744939,"mpcc_pred_id_a":-0.382234186,"mpcc_pred_iq_a":-2.28824711,"mpcc_state":1,"mpcc_theta_e":0.447493076,"mpcc_theta_mech":0.556444526,"sam_rpm":-1.6675328,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0278141499,"thr_a_norm":0.0278141499,"thr_a_v":0.611256599,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.499519348,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.878441,"values":{"cg_iu_a":0.314526081,"cg_iv_a":-0.951108456,"cg_iw_a":0.0566811562,"cg_theta_rad":0.552350581,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.057259988,"mpcc_du":49.0683746,"mpcc_dv":50.9316254,"mpcc_dw":49.9515343,"mpcc_enc_sign":1,"mpcc_id_a":2.63291788,"mpcc_iq_a":-1.44543302,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.58290458,"mpcc_pred_id_a":0.473082632,"mpcc_pred_iq_a":-2.17766857,"mpcc_state":1,"mpcc_theta_e":0.433695316,"mpcc_theta_mech":0.553685009,"sam_rpm":3.32553983,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0278141499,"thr_a_v":0.618709087,"thr_b":0.00779812038,"thr_b_norm":0,"thr_b_v":0.531192482,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.888451,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-1.6759851,"cg_iw_a":-0.233269691,"cg_theta_rad":0.557433724,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.00408832589,"mpcc_du":49.4970398,"mpcc_dv":49.5326614,"mpcc_dw":50.5029602,"mpcc_enc_sign":1,"mpcc_id_a":3.49294043,"mpcc_iq_a":1.49887061,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.65142775,"mpcc_pred_id_a":0.731529713,"mpcc_pred_iq_a":-1.43343294,"mpcc_state":1,"mpcc_theta_e":0.425906658,"mpcc_theta_mech":0.552127242,"sam_rpm":-1.13538527,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0296772718,"thr_a_norm":0.0296772718,"thr_a_v":0.618709087,"thr_b":0.00779812038,"thr_b_norm":0.00779812038,"thr_b_v":0.531192482,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.898674,"values":{"cg_iu_a":2.99656963,"cg_iv_a":-0.516182423,"cg_iw_a":-0.450732708,"cg_theta_rad":0.556149542,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.00957187917,"mpcc_du":50.6464005,"mpcc_dv":48.1659966,"mpcc_dw":51.8340034,"mpcc_enc_sign":1,"mpcc_id_a":1.49521828,"mpcc_iq_a":-0.968521118,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.31030798,"mpcc_pred_id_a":-0.043149244,"mpcc_pred_iq_a":0.350279927,"mpcc_state":1,"mpcc_theta_e":0.435669422,"mpcc_theta_mech":0.554079771,"sam_rpm":-10.9310007,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215197951,"thr_a_norm":0.0215197951,"thr_a_v":0.58607918,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478773177,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.90844,"values":{"cg_iu_a":0.169550896,"cg_iv_a":-3.63315201,"cg_iw_a":1.72389746,"cg_theta_rad":0.556293964,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.040295776,"mpcc_du":49.5359383,"mpcc_dv":49.4277267,"mpcc_dw":50.5722733,"mpcc_enc_sign":1,"mpcc_id_a":2.24320102,"mpcc_iq_a":-1.07887208,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.73247218,"mpcc_pred_id_a":0.277000278,"mpcc_pred_iq_a":-4.91838026,"mpcc_state":1,"mpcc_theta_e":0.4499259,"mpcc_theta_mech":0.556931078,"sam_rpm":4.74215794,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0215197951,"thr_a_norm":0.0215197951,"thr_a_v":0.58607918,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.478773177,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.931877,"values":{"cg_iu_a":1.76427937,"cg_iv_a":-0.443694592,"cg_iw_a":-1.68302298,"cg_theta_rad":0.555474639,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0140995448,"mpcc_du":49.0514412,"mpcc_dv":50.9485588,"mpcc_dw":49.6869392,"mpcc_enc_sign":1,"mpcc_id_a":2.22298288,"mpcc_iq_a":-1.28936732,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":4.10475492,"mpcc_pred_id_a":-0.330451161,"mpcc_pred_iq_a":-7.22108603,"mpcc_state":1,"mpcc_theta_e":0.445665836,"mpcc_theta_mech":0.55607909,"sam_rpm":5.47377539,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0261650234,"thr_a_norm":0.0261650234,"thr_a_v":0.604660094,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.490908653,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.938408,"values":{"cg_iu_a":1.90925455,"cg_iv_a":-0.806133032,"cg_iw_a":-1.10312152,"cg_theta_rad":0.556274951,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0225587077,"mpcc_du":50.3290634,"mpcc_dv":48.4116859,"mpcc_dw":51.5883141,"mpcc_enc_sign":1,"mpcc_id_a":2.97373724,"mpcc_iq_a":-1.05565798,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-7.53014755,"mpcc_pred_id_a":0.356847227,"mpcc_pred_iq_a":-0.00764822448,"mpcc_state":1,"mpcc_theta_e":0.435381889,"mpcc_theta_mech":0.554022312,"sam_rpm":-11.0335913,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257118344,"thr_a_norm":0.0257118344,"thr_a_v":0.602847338,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488642722,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.944908,"values":{"cg_iu_a":2.41666842,"cg_iv_a":-1.53100967,"cg_iw_a":-0.885658741,"cg_theta_rad":0.55900234,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0393374786,"mpcc_du":49.9133911,"mpcc_dv":49.0355339,"mpcc_dw":50.9644661,"mpcc_enc_sign":1,"mpcc_id_a":2.53859162,"mpcc_iq_a":0.0466523096,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":0.776357412,"mpcc_pred_id_a":0.118602626,"mpcc_pred_iq_a":-2.21140718,"mpcc_state":1,"mpcc_theta_e":0.444633961,"mpcc_theta_mech":0.555872679,"sam_rpm":1.46027076,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0257118344,"thr_a_norm":0.0257118344,"thr_a_v":0.602847338,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.488642722,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.955284,"values":{"cg_iu_a":2.70661926,"cg_iv_a":0.57113266,"cg_iw_a":-3.27775192,"cg_theta_rad":0.555610955,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0192951057,"mpcc_du":48.8357964,"mpcc_dv":51.1642036,"mpcc_dw":49.674881,"mpcc_enc_sign":1,"mpcc_id_a":2.68045664,"mpcc_iq_a":-0.167589292,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":12.5860643,"mpcc_pred_id_a":0.31395787,"mpcc_pred_iq_a":-4.6592927,"mpcc_state":1,"mpcc_theta_e":0.447379589,"mpcc_theta_mech":0.556421876,"sam_rpm":17.7666607,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0271595269,"thr_a_norm":0.0271595269,"thr_a_v":0.608638108,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.496246278,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.965446,"values":{"cg_iu_a":3.93890953,"cg_iv_a":-1.38603449,"cg_iw_a":-2.55287504,"cg_theta_rad":0.555268466,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0286947265,"mpcc_du":51.0036469,"mpcc_dv":47.9188652,"mpcc_dw":52.0811348,"mpcc_enc_sign":1,"mpcc_id_a":-0.0681446493,"mpcc_iq_a":-1.82916009,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":10.2837467,"mpcc_pred_id_a":-0.622508764,"mpcc_pred_iq_a":-6.16828442,"mpcc_state":1,"mpcc_theta_e":0.459078312,"mpcc_theta_mech":0.558761537,"sam_rpm":-5.34627485,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.0167864412,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487031341,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.97567,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.226231575,"cg_iw_a":-2.26292467,"cg_theta_rad":0.553739071,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.00542400591,"mpcc_du":49.3665695,"mpcc_dv":50.6334305,"mpcc_dw":50.1458244,"mpcc_enc_sign":1,"mpcc_id_a":0.352145642,"mpcc_iq_a":-2.45556998,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":11.9055243,"mpcc_pred_id_a":-0.227839798,"mpcc_pred_iq_a":-5.81612825,"mpcc_state":1,"mpcc_theta_e":0.458119869,"mpcc_theta_mech":0.558569849,"sam_rpm":17.5669842,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0167864412,"thr_a_norm":0.0167864412,"thr_a_v":0.567145765,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.487031341,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.985802,"values":{"cg_iu_a":2.85159445,"cg_iv_a":-0.733645439,"cg_iw_a":0.564094782,"cg_theta_rad":0.554669499,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0390952192,"mpcc_du":50.417408,"mpcc_dv":48.6341019,"mpcc_dw":51.3658981,"mpcc_enc_sign":1,"mpcc_id_a":1.50552106,"mpcc_iq_a":-1.43168032,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":6.17751503,"mpcc_pred_id_a":-0.138917074,"mpcc_pred_iq_a":-5.02079105,"mpcc_state":1,"mpcc_theta_e":0.455355644,"mpcc_theta_mech":0.555819511,"sam_rpm":9.60609245,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0217589736,"thr_a_norm":0.0217589736,"thr_a_v":0.587035894,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.474694431,"vdc_v":55.2955055}} +{"type":"telemetry","t":120.996025,"values":{"cg_iu_a":0.387013912,"cg_iv_a":-0.733645439,"cg_iw_a":-0.450732708,"cg_theta_rad":0.5557248,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0202030782,"mpcc_du":49.9964828,"mpcc_dv":49.0718002,"mpcc_dw":50.9281998,"mpcc_enc_sign":1,"mpcc_id_a":1.13350463,"mpcc_iq_a":-1.37792945,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.88185048,"mpcc_pred_id_a":-0.303484946,"mpcc_pred_iq_a":-2.98413825,"mpcc_state":1,"mpcc_theta_e":0.449053288,"mpcc_theta_mech":0.555815518,"sam_rpm":4.14707947,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0268322229,"thr_a_norm":0.0217589736,"thr_a_v":0.607328892,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":121.006035,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.661157608,"cg_iw_a":-0.740683556,"cg_theta_rad":0.55613029,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.00509576127,"mpcc_du":49.5062141,"mpcc_dv":49.6909561,"mpcc_dw":50.4937859,"mpcc_enc_sign":1,"mpcc_id_a":1.25207031,"mpcc_iq_a":-0.116782144,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.80716324,"mpcc_pred_id_a":0.11437694,"mpcc_pred_iq_a":-0.462793946,"mpcc_state":1,"mpcc_theta_e":0.435710907,"mpcc_theta_mech":0.554088116,"sam_rpm":3.69685078,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0268322229,"thr_a_norm":0.0268322229,"thr_a_v":0.607328892,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.48501718,"vdc_v":55.2955055}} +{"type":"telemetry","t":121.016258,"values":{"cg_iu_a":3.21403265,"cg_iv_a":-0.661157608,"cg_iw_a":-2.55287504,"cg_theta_rad":0.552272916,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5001,"hz_app_loop":355,"hz_tim_isr":10002,"hz_vsense":355,"mpcc_cost":0.0282297935,"mpcc_du":49.5922127,"mpcc_dv":49.2730484,"mpcc_dw":50.7269516,"mpcc_enc_sign":1,"mpcc_id_a":2.27190042,"mpcc_iq_a":-0.66968888,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.73710382,"mpcc_pred_id_a":0.266849458,"mpcc_pred_iq_a":0.585551322,"mpcc_state":1,"mpcc_theta_e":0.430215359,"mpcc_theta_mech":0.552988946,"sam_rpm":-6.16071272,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186243951,"thr_a_norm":0.0186243951,"thr_a_v":0.574497581,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455257475,"vdc_v":55.2955055}} +{"type":"telemetry","t":121.037651,"values":{"cg_iu_a":1.98174238,"cg_iv_a":-0.443694592,"cg_iw_a":-1.53804779,"cg_theta_rad":0.553854167,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9899,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0580864958,"mpcc_du":50.9647331,"mpcc_dv":47.4649658,"mpcc_dw":50.7358475,"mpcc_enc_sign":1,"mpcc_id_a":2.69296503,"mpcc_iq_a":0.2180482,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-10.7069664,"mpcc_pred_id_a":0.606816769,"mpcc_pred_iq_a":0.663355112,"mpcc_state":1,"mpcc_theta_e":0.439559937,"mpcc_theta_mech":0.55485791,"sam_rpm":-14.8656263,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0186243951,"thr_a_norm":0.0186243951,"thr_a_v":0.574497581,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.455257475,"vdc_v":55.2955055}} +{"type":"telemetry","t":121.044212,"values":{"cg_iu_a":1.32935333,"cg_iv_a":0.208694458,"cg_iw_a":-2.98780107,"cg_theta_rad":0.553515017,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0107772024,"mpcc_du":49.5490761,"mpcc_dv":50.1565819,"mpcc_dw":50.4509239,"mpcc_enc_sign":1,"mpcc_id_a":0.73753655,"mpcc_iq_a":-0.531714261,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":1.73600471,"mpcc_pred_id_a":-0.158113316,"mpcc_pred_iq_a":-4.97289801,"mpcc_state":1,"mpcc_theta_e":0.444007874,"mpcc_theta_mech":0.555747509,"sam_rpm":2.38505554,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0404531807,"thr_a_norm":0.0404531807,"thr_a_v":0.661812723,"thr_b":0.0115999132,"thr_b_norm":0.0115999132,"thr_b_v":0.546399653,"vdc_v":55.2955055}} +{"type":"telemetry","t":121.050682,"values":{"cg_iu_a":2.48915625,"cg_iv_a":-1.89344811,"cg_iw_a":0.636582136,"cg_theta_rad":0.55273807,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00969868153,"mpcc_du":49.7279053,"mpcc_dv":49.3076782,"mpcc_dw":50.6923218,"mpcc_enc_sign":1,"mpcc_id_a":0.905812204,"mpcc_iq_a":-0.00613381201,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-0.202878371,"mpcc_pred_id_a":-0.211316943,"mpcc_pred_iq_a":-2.41945648,"mpcc_state":1,"mpcc_theta_e":0.440546036,"mpcc_theta_mech":0.555055141,"sam_rpm":-0.861260951,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0404531807,"thr_a_norm":0.0404531807,"thr_a_v":0.661812723,"thr_b":0.0115999132,"thr_b_norm":0.0115999132,"thr_b_v":0.546399653,"vdc_v":55.2955055}} +{"type":"telemetry","t":121.057243,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.298719406,"cg_iw_a":-1.10312176,"cg_theta_rad":0.553292274,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0320066586,"mpcc_du":50.4119835,"mpcc_dv":48.1731949,"mpcc_dw":51.8268051,"mpcc_enc_sign":1,"mpcc_id_a":2.91106749,"mpcc_iq_a":-0.323014081,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-12.3448362,"mpcc_pred_id_a":0.4353863,"mpcc_pred_iq_a":-1.21010602,"mpcc_state":1,"mpcc_theta_e":0.431744576,"mpcc_theta_mech":0.553294837,"sam_rpm":-18.0783806,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0205127001,"thr_a_norm":0.0205127001,"thr_a_v":0.5820508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.461753249,"vdc_v":55.2955055}} +{"type":"telemetry","t":121.065636,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-0.371207237,"cg_iw_a":-1.97297335,"cg_theta_rad":0.555457652,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0310986582,"mpcc_du":49.5628014,"mpcc_dv":49.3897858,"mpcc_dw":50.6102142,"mpcc_enc_sign":1,"mpcc_id_a":2.35774112,"mpcc_iq_a":-0.33708328,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.90356135,"mpcc_pred_id_a":0.127744839,"mpcc_pred_iq_a":-3.05135155,"mpcc_state":1,"mpcc_theta_e":0.447144508,"mpcc_theta_mech":0.556374788,"sam_rpm":6.12227726,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165472627,"thr_a_norm":0.0205127001,"thr_a_v":0.566189051,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468802899,"vdc_v":55.2955055}} +{"type":"telemetry","t":121.075676,"values":{"cg_iu_a":3.35900831,"cg_iv_a":-0.588670254,"cg_iw_a":-1.68302321,"cg_theta_rad":0.556627572,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0268039387,"mpcc_du":50.0654221,"mpcc_dv":48.9194946,"mpcc_dw":51.0805054,"mpcc_enc_sign":1,"mpcc_id_a":0.652076125,"mpcc_iq_a":-1.04790771,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.69111061,"mpcc_pred_id_a":-0.29916212,"mpcc_pred_iq_a":-4.34329367,"mpcc_state":1,"mpcc_theta_e":0.444627285,"mpcc_theta_mech":0.555476964,"sam_rpm":-6.4459157,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0165472627,"thr_a_norm":0.0165472627,"thr_a_v":0.566189051,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.468802899,"vdc_v":55.2955055}} +{"type":"telemetry","t":121.085625,"values":{"cg_iu_a":1.03940296,"cg_iv_a":-1.96593571,"cg_iw_a":-0.233269691,"cg_theta_rad":0.55442816,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0160549469,"mpcc_du":50.6246147,"mpcc_dv":48.9578438,"mpcc_dw":51.0421562,"mpcc_enc_sign":1,"mpcc_id_a":0.983437836,"mpcc_iq_a":-0.866826415,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-14.2738276,"mpcc_pred_id_a":0.0872470886,"mpcc_pred_iq_a":-1.81527793,"mpcc_state":1,"mpcc_theta_e":0.434263706,"mpcc_theta_mech":0.553798676,"sam_rpm":-20.7465878,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021494627,"thr_a_norm":0.021494627,"thr_a_v":0.585978508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":121.095634,"values":{"cg_iu_a":0.894427299,"cg_iv_a":-1.74847269,"cg_iw_a":0.854045391,"cg_theta_rad":0.554935515,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00646870211,"mpcc_du":50.3069458,"mpcc_dv":48.4251862,"mpcc_dw":51.5748138,"mpcc_enc_sign":1,"mpcc_id_a":0.59241271,"mpcc_iq_a":-1.55417442,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-11.827858,"mpcc_pred_id_a":0.0112021286,"mpcc_pred_iq_a":0.0466662459,"mpcc_state":1,"mpcc_theta_e":0.428290367,"mpcc_theta_mech":0.55260402,"sam_rpm":-19.1636982,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.021494627,"thr_a_norm":0.021494627,"thr_a_v":0.585978508,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":121.105827,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.24105906,"cg_iw_a":0.274143934,"cg_theta_rad":0.55622834,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0667065084,"mpcc_du":49.0731163,"mpcc_dv":50.9268837,"mpcc_dw":50.0991898,"mpcc_enc_sign":1,"mpcc_id_a":2.12996387,"mpcc_iq_a":-0.171238676,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":24.166338,"mpcc_pred_id_a":0.417636245,"mpcc_pred_iq_a":-4.61249161,"mpcc_state":1,"mpcc_theta_e":0.46356678,"mpcc_theta_mech":0.559659302,"sam_rpm":37.5801697,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.026353851,"thr_a_norm":0.026353851,"thr_a_v":0.605415404,"thr_b":0.00208285451,"thr_b_norm":0.00208285451,"thr_b_v":0.508331418,"vdc_v":55.2955055}} +{"type":"telemetry","t":121.116051,"values":{"cg_iu_a":3.1415453,"cg_iv_a":-1.89344811,"cg_iw_a":-1.24809718,"cg_theta_rad":0.556430161,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0197567642,"mpcc_du":49.8364792,"mpcc_dv":49.1415863,"mpcc_dw":50.8584137,"mpcc_enc_sign":1,"mpcc_id_a":1.56277692,"mpcc_iq_a":-2.14920044,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":2.30610871,"mpcc_pred_id_a":-0.207168758,"mpcc_pred_iq_a":-4.07601118,"mpcc_state":1,"mpcc_theta_e":0.451718807,"mpcc_theta_mech":0.55728972,"sam_rpm":3.57287574,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276504904,"thr_a_norm":0.026353851,"thr_a_v":0.610601962,"thr_b":0.000987634063,"thr_b_norm":0.00208285451,"thr_b_v":0.503950536,"vdc_v":55.2955055}} +{"type":"telemetry","t":121.138847,"values":{"cg_iu_a":1.40184116,"cg_iv_a":-0.298719406,"cg_iw_a":-1.10312176,"cg_theta_rad":0.55249697,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0457909107,"mpcc_du":49.8116722,"mpcc_dv":48.8880005,"mpcc_dw":51.1119995,"mpcc_enc_sign":1,"mpcc_id_a":3.45496726,"mpcc_iq_a":-0.387882233,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-1.10690594,"mpcc_pred_id_a":0.527296424,"mpcc_pred_iq_a":-2.3493433,"mpcc_state":1,"mpcc_theta_e":0.444063663,"mpcc_theta_mech":0.555758655,"sam_rpm":-1.88537514,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0276504904,"thr_a_norm":0.0276504904,"thr_a_v":0.610601962,"thr_b":0.000987634063,"thr_b_norm":0.000987634063,"thr_b_v":0.503950536,"vdc_v":55.2955055}} +{"type":"telemetry","t":121.145378,"values":{"cg_iu_a":0.604476929,"cg_iv_a":-0.878620625,"cg_iw_a":-0.958146572,"cg_theta_rad":0.555562675,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.00129232265,"mpcc_du":49.7808037,"mpcc_dv":49.3321152,"mpcc_dw":50.6678848,"mpcc_enc_sign":1,"mpcc_id_a":0.420262903,"mpcc_iq_a":-0.699903607,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":-4.41430998,"mpcc_pred_id_a":-0.51302135,"mpcc_pred_iq_a":-2.90041661,"mpcc_state":1,"mpcc_theta_e":0.436955929,"mpcc_theta_mech":0.554337144,"sam_rpm":-7.04822254,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252586454,"thr_a_norm":0.0252586454,"thr_a_v":0.601034582,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":121.15255,"values":{"cg_iu_a":1.11189032,"cg_iv_a":-1.24105906,"cg_iw_a":-1.17560935,"cg_theta_rad":0.552779973,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0188072212,"mpcc_du":49.4936409,"mpcc_dv":50.5063591,"mpcc_dw":50.3377914,"mpcc_enc_sign":1,"mpcc_id_a":2.27510977,"mpcc_iq_a":-0.337963045,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":3.66217089,"mpcc_pred_id_a":-0.198240668,"mpcc_pred_iq_a":-4.94244814,"mpcc_state":1,"mpcc_theta_e":0.444720745,"mpcc_theta_mech":0.555890083,"sam_rpm":4.78325319,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.0252586454,"thr_a_norm":0.0252586454,"thr_a_v":0.601034582,"thr_b":0,"thr_b_norm":0,"thr_b_v":0.472126365,"vdc_v":55.2955055}} +{"type":"telemetry","t":121.15844,"values":{"cg_iu_a":2.34418058,"cg_iv_a":-1.6759851,"cg_iw_a":-0.668195486,"cg_theta_rad":0.553561926,"cg_vdc_v":55.2955055,"dclink_i_a":null,"dclink_p_w":null,"enc_isr_hz":9913.08691,"hz_adc_isr":5002,"hz_app_loop":364,"hz_tim_isr":10002,"hz_vsense":364,"mpcc_cost":0.0244955737,"mpcc_du":49.1819611,"mpcc_dv":50.8180389,"mpcc_dw":50.0139885,"mpcc_enc_sign":1,"mpcc_id_a":2.09937811,"mpcc_iq_a":-0.178584427,"mpcc_ld_h":8.225903e-05,"mpcc_lq_h":0.000128091866,"mpcc_omega_e":13.8749504,"mpcc_pred_id_a":-0.0188640002,"mpcc_pred_iq_a":-4.69210815,"mpcc_state":1,"mpcc_theta_e":0.431354046,"mpcc_theta_mech":0.553216755,"sam_rpm":20.1858177,"temp_inv1_c":null,"temp_inv2_c":null,"temp_inv3_c":null,"temp_motor_c":null,"thr_a":0.106229126,"thr_a_norm":0.106229126,"thr_a_v":0.924916506,"thr_b":0.0468734205,"thr_b_norm":0.0468734205,"thr_b_v":0.687493682,"vdc_v":55.2955055}} +{"type":"session_end","t":121.15844,"final_stats":{"rx_hz":125.993149,"rx_bytes_per_second":34713.1133,"good_frames":52072,"bad_frames":3,"reject_crc":1,"reject_header":0,"reject_length":0,"reject_payload_parse":2,"reject_unknown_id":67497,"last_sequence":15782,"suspended":false},"signal_summaries":{"cg_iu_a":{"samples":11652,"finite_samples":11652,"min":-8.09404373,"max":8.8680706,"mean":1.6536194141116536},"cg_iv_a":{"samples":11652,"finite_samples":11652,"min":-9.64962864,"max":7.45746088,"mean":-0.99599326927556309},"cg_iw_a":{"samples":11652,"finite_samples":11652,"min":-10.3090553,"max":9.04515171,"mean":-0.65803051397966594},"cg_theta_rad":{"samples":11652,"finite_samples":11652,"min":0.00556757301,"max":6.27081156,"mean":0.73175518973931919},"cg_vdc_v":{"samples":11652,"finite_samples":11652,"min":54.6292953,"max":55.2955055,"mean":55.293447201824087},"dclink_i_a":{"samples":11652,"finite_samples":0,"min":null,"max":null,"mean":null},"dclink_p_w":{"samples":11652,"finite_samples":0,"min":null,"max":null,"mean":null},"enc_isr_hz":{"samples":11652,"finite_samples":11652,"min":9893,"max":20004,"mean":10189.038365194816},"hz_adc_isr":{"samples":11652,"finite_samples":11652,"min":4995,"max":5038,"mean":5005.2411603158253},"hz_app_loop":{"samples":11652,"finite_samples":11652,"min":291,"max":7642,"mean":556.78844833504979},"hz_tim_isr":{"samples":11652,"finite_samples":11652,"min":0,"max":10077,"mean":9730.0394782011663},"hz_vsense":{"samples":11652,"finite_samples":11652,"min":291,"max":7642,"mean":556.78844833504979},"mpcc_cost":{"samples":11418,"finite_samples":11418,"min":1.59824617e-06,"max":0.252216339,"mean":0.025038300843482242},"mpcc_du":{"samples":11418,"finite_samples":11418,"min":40.2094116,"max":59.9923553,"mean":49.952070216828545},"mpcc_dv":{"samples":11418,"finite_samples":11418,"min":41.0098572,"max":59.7905884,"mean":49.220112679488686},"mpcc_dw":{"samples":11418,"finite_samples":11418,"min":40.0076447,"max":58.5781937,"mean":50.943600398184103},"mpcc_enc_sign":{"samples":11418,"finite_samples":11418,"min":1,"max":1,"mean":1},"mpcc_id_a":{"samples":11418,"finite_samples":11418,"min":-3.71715593,"max":7.30149603,"mean":1.5136651251891307},"mpcc_iq_a":{"samples":11418,"finite_samples":11418,"min":-10.101778,"max":8.14400101,"mean":-1.0679121969853689},"mpcc_ld_h":{"samples":11418,"finite_samples":11418,"min":8.225903e-05,"max":8.225903e-05,"mean":8.2259030023124069e-05},"mpcc_lq_h":{"samples":11418,"finite_samples":11418,"min":0.000128091866,"max":0.000128091866,"mean":0.00012809186591766775},"mpcc_omega_e":{"samples":11418,"finite_samples":11418,"min":-121.016182,"max":30.8034019,"mean":-2.7349421036581685},"mpcc_pred_id_a":{"samples":11418,"finite_samples":11418,"min":-2.32112908,"max":1.87736833,"mean":0.036134315741330691},"mpcc_pred_iq_a":{"samples":11418,"finite_samples":11418,"min":-12.6333275,"max":13.0535631,"mean":-2.2568579500763515},"mpcc_state":{"samples":11418,"finite_samples":11418,"min":1,"max":1,"mean":1},"mpcc_theta_e":{"samples":11418,"finite_samples":11418,"min":0.00657367706,"max":6.28006554,"mean":0.55979653239187543},"mpcc_theta_mech":{"samples":11418,"finite_samples":11418,"min":0.00872535352,"max":6.26430893,"mean":0.66311010227749578},"sam_rpm":{"samples":11418,"finite_samples":11418,"min":-215.673889,"max":45.3816452,"mean":-4.9695559573590371},"temp_inv1_c":{"samples":11652,"finite_samples":0,"min":null,"max":null,"mean":null},"temp_inv2_c":{"samples":11652,"finite_samples":0,"min":null,"max":null,"mean":null},"temp_inv3_c":{"samples":11652,"finite_samples":0,"min":null,"max":null,"mean":null},"temp_motor_c":{"samples":11652,"finite_samples":0,"min":null,"max":null,"mean":null},"thr_a":{"samples":11652,"finite_samples":11652,"min":0.00670289993,"max":0.10995537,"mean":0.026684082058535546},"thr_a_norm":{"samples":11652,"finite_samples":11652,"min":0.00670289993,"max":0.10995537,"mean":0.026932382463150484},"thr_a_v":{"samples":11652,"finite_samples":11652,"min":0.5268116,"max":0.939821482,"mean":0.60673632823414214},"thr_b":{"samples":11652,"finite_samples":11652,"min":0,"max":0.0549553633,"mean":0.0026219013580905995},"thr_b_norm":{"samples":11652,"finite_samples":11652,"min":0,"max":0.0549553633,"mean":0.0027427771606684304},"thr_b_v":{"samples":11652,"finite_samples":11652,"min":0.409233242,"max":0.719821453,"mean":0.48638476029043543},"vdc_v":{"samples":11652,"finite_samples":11652,"min":54.6292953,"max":55.2955055,"mean":55.293332850609779}}} From 5b3854faefd8fca4247e8489967fbebd38c05755 Mon Sep 17 00:00:00 2001 From: Saeed Aliamooei Lakeh Date: Mon, 3 Aug 2026 21:37:08 -0700 Subject: [PATCH 5/7] Expose CascadeMode as CascadeVar and fix overlapping GUI knobs. HybridADRCMPC-9 showed cascade on but ~0 rpm: SpdVar shared IqVar's position so the speed setpoint was not usable, and CascadeMode was a hidden node parameter. Wire Cascade_Mode from a visible Values.Var and separate SpdVar/log positions. Co-authored-by: Cursor --- .../Examples/speed_adrc_mpc_current_demo.json | 137 ++++++++++++++---- .../Control.SpeedAdrcMpcCurrent/inline.cpp | 21 +-- .../Control.SpeedAdrcMpcCurrent/node.json | 14 +- docs/19_speed_adrc_mpc_current_bringup.md | 2 +- 4 files changed, 131 insertions(+), 43 deletions(-) diff --git a/Assets/Examples/speed_adrc_mpc_current_demo.json b/Assets/Examples/speed_adrc_mpc_current_demo.json index 7675279..0ad5b40 100644 --- a/Assets/Examples/speed_adrc_mpc_current_demo.json +++ b/Assets/Examples/speed_adrc_mpc_current_demo.json @@ -757,6 +757,39 @@ "nodeId": "SpeedAdrcMpc", "portName": "Spd_Ref" } + }, + { + "id": "c_cascade_mode", + "from": { + "nodeId": "CascadeVar", + "portName": "Value" + }, + "to": { + "nodeId": "SpeedAdrcMpc", + "portName": "Cascade_Mode" + } + }, + { + "id": "c_log_cascade", + "from": { + "nodeId": "CascadeVar", + "portName": "Value" + }, + "to": { + "nodeId": "LogCascade", + "portName": "Value" + } + }, + { + "id": "c_log_spdref", + "from": { + "nodeId": "SpdVar", + "portName": "Value" + }, + "to": { + "nodeId": "LogSpdRef", + "portName": "Value" + } } ], "name": "speed_adrc_mpc_current_demo", @@ -3236,7 +3269,17 @@ "frame": "scalar", "dtype": "f32" }, - "description": "Mechanical speed reference (rpm). Used when CascadeMode=1." + "description": "Mechanical speed reference (rpm). Used when Cascade_Mode=1." + }, + { + "name": "Cascade_Mode", + "direction": "input", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "0=current-only (I_Q_Ref in A). 1=speed ADRC + MPC current (Spd_Ref in rpm). Wire a Values.Var so it shows in the GUI." }, { "name": "Theta_E", @@ -3460,12 +3503,6 @@ "dtype": "f32", "description": "Hard current clamp (A)." }, - "CascadeMode": { - "quantity": "dimensionless", - "frame": "scalar", - "dtype": "f32", - "description": "0=current-only (I_Q_Ref in A). 1=speed ADRC + MPC current (Spd_Ref in rpm)." - }, "SpdOmegaC": { "quantity": "dimensionless", "frame": "scalar", @@ -3491,7 +3528,7 @@ "description": "Rotor pole pairs (Gen6 = 5)." } }, - "inlineCode": "/* Cascaded Gen6 controller (NEW node \u2014 does not modify Control.AdrcMpcc):\n *\n * Outer: LADRC on mechanical speed (rpm) \u2192 Iq*\n * Inner: Mode-3 deadbeat / predictive current \u2192 V\u03b1\u03b2 \u2192 SVPWM\n *\n * CascadeMode:\n * 0 = current-only (FOC-like): I_Q_Ref in amperes, speed ADRC bypassed\n * 1 = cascaded: Spd_Ref in rpm \u2192 speed ADRC \u2192 Iq*, then MPC current\n *\n * State in AXISRAM (.dma_buffers, NOLOAD) \u2014 magic-clear before use.\n * Do NOT add extra Control.Slew nodes for rpm (each Slew burns ~16 B DTCM).\n */\n\nstruct SpdAdrcMpcState {\n uint32_t magic;\n float u_alpha_prev;\n float u_beta_prev;\n float enable_s;\n float id_f;\n float iq_f;\n float theta_prev;\n float omega_f;\n float id_int;\n float iq_int;\n /* Speed LADRC states (y = rpm, u = Iq). */\n float z1;\n float z2;\n float u_iq_prev;\n float spd_cmd; /* internal rpm slew (keeps DTCM free of SlewSpd) */\n uint8_t filt_init;\n uint8_t omega_init;\n uint8_t spd_init;\n uint8_t _pad;\n};\n\nstatic constexpr uint32_t kSamMagic = 0x53414D32u; /* SAM2 */\n\nstatic SpdAdrcMpcState st __attribute__((section(\".dma_buffers\"), aligned(4)));\n\nif (st.magic != kSamMagic) {\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n st.enable_s = 0.0f;\n st.id_f = 0.0f;\n st.iq_f = 0.0f;\n st.theta_prev = 0.0f;\n st.omega_f = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = 0.0f;\n st.filt_init = 0;\n st.omega_init = 0;\n st.spd_init = 0;\n st._pad = 0;\n st.magic = kSamMagic;\n}\n\nconst float ts = Ts;\nfloat ld = Ld;\nfloat lq = Lq;\nfloat rs = Rs;\nfloat psi_f = PsiF;\nif (!(ld > 1.0e-7f)) ld = 70.0e-6f;\nif (!(lq > 1.0e-7f)) lq = 120.0e-6f;\nif (!(rs > 0.0f) || !(rs < 10.0f)) rs = 0.05f;\nif (!(psi_f > 0.0f) || !(psi_f < 1.0f)) psi_f = 0.07f;\nif (psi_f < 0.02f) psi_f = 0.07f;\n\nfloat db_scale = DbScale;\nif (!(db_scale > 0.10f)) db_scale = 0.55f;\nif (db_scale > 1.0f) db_scale = 1.0f;\n\nfloat i_max = (I_Max > 0.0f) ? I_Max : 15.0f;\nif (i_max < 5.0f) i_max = 5.0f;\nif (i_max > 40.0f) i_max = 40.0f;\n\nfloat pole_pairs = PolePairs;\nif (!(pole_pairs > 0.5f) || !(pole_pairs < 40.0f)) pole_pairs = 5.0f;\n\nfloat wc = SpdOmegaC;\nfloat wo = SpdOmegaO;\nfloat b0_spd = SpdB0;\nif (!(wc > 0.0f)) wc = 40.0f;\nif (!(wo > 0.0f)) wo = 120.0f;\nif (!(b0_spd > 1.0e-4f)) b0_spd = 80.0f; /* rpm/s per amp \u2014 tune on hardware */\n\nconst bool cascade = (CascadeMode > 0.5f);\nconst float vdc = V_Dc.in(au::volts);\nconst float id_raw = I_D.in(au::amperes);\nconst float iq_raw = I_Q.in(au::amperes);\nfloat id_ref = I_D_Ref;\nfloat iq_ref_in = I_Q_Ref;\nfloat spd_ref = Spd_Ref;\nconst float theta_e = Theta_E;\nconst float pi = 3.14159265359f;\nconst float two_pi = 6.28318530718f;\nconst float sqrt3 = 1.73205080757f;\n\n/* Unwrapped electrical speed. */\nfloat omega_e = Omega_E;\nif (!(omega_e == omega_e)) omega_e = 0.0f;\nif (st.omega_init == 0) {\n st.theta_prev = theta_e;\n st.omega_f = 0.0f;\n st.omega_init = 1;\n} else if (ts > 0.0f) {\n float dth = theta_e - st.theta_prev;\n dth = fmodf(dth + pi, two_pi);\n if (dth < 0.0f) dth += two_pi;\n dth -= pi;\n const float w_raw = dth / ts;\n const float a_w = 1.0f / (1.0f + 1.0f / (6.28318530718f * 150.0f * ts));\n st.omega_f += a_w * (w_raw - st.omega_f);\n omega_e = st.omega_f;\n}\nst.theta_prev = theta_e;\nif (fabsf(omega_e) > 900.0f) omega_e = (omega_e > 0.0f) ? 900.0f : -900.0f;\n\nconst float rpm_meas = omega_e / pole_pairs * 60.0f / two_pi;\nconst float v_max = (vdc / sqrt3) * 0.95f;\n\n/* ---- Outer speed LADRC (cascade only) \u2192 Iq* ---- */\nfloat iq_ref = iq_ref_in;\nif (cascade) {\n if (spd_ref > 700.0f) spd_ref = 700.0f;\n if (spd_ref < -700.0f) spd_ref = -700.0f;\n /* Slew rpm setpoint in AXISRAM (~120 rpm/s) \u2014 avoids a DTCM Slew node. */\n {\n const float dmax = 120.0f * ts;\n float d = spd_ref - st.spd_cmd;\n if (d > dmax) d = dmax;\n if (d < -dmax) d = -dmax;\n st.spd_cmd += d;\n spd_ref = st.spd_cmd;\n }\n\n float iq_lim = 0.50f * i_max;\n if (iq_lim < 4.0f) iq_lim = 4.0f;\n if (iq_lim > 12.0f) iq_lim = 12.0f;\n /* Shrink torque near voltage ceiling. */\n const float bemf = fabsf(omega_e) * psi_f;\n if (v_max > 1.0f && bemf > 0.80f * v_max) {\n float shrink = 1.0f - 0.70f * ((bemf / v_max - 0.80f) / 0.20f);\n if (shrink < 0.25f) shrink = 0.25f;\n iq_lim *= shrink;\n }\n\n if (st.spd_init == 0) {\n st.z1 = rpm_meas;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = rpm_meas;\n st.spd_init = 1;\n }\n\n const float beta1 = 2.0f * wo;\n const float beta2 = wo * wo;\n const float e_obs = st.z1 - rpm_meas;\n st.z1 += ts * (st.z2 + b0_spd * st.u_iq_prev - beta1 * e_obs);\n st.z2 += ts * (-beta2 * e_obs);\n const float fmax = 5.0e4f;\n if (st.z2 > fmax) st.z2 = fmax;\n if (st.z2 < -fmax) st.z2 = -fmax;\n\n const float u0 = wc * (spd_ref - st.z1);\n float u_iq = (u0 - st.z2) / b0_spd;\n if (u_iq > iq_lim) u_iq = iq_lim;\n if (u_iq < -iq_lim) u_iq = -iq_lim;\n st.u_iq_prev = u_iq;\n iq_ref = u_iq;\n} else {\n st.spd_init = 0;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = 0.0f;\n}\n\nif (id_ref > i_max) id_ref = i_max;\nif (id_ref < -i_max) id_ref = -i_max;\nif (iq_ref > i_max) iq_ref = i_max;\nif (iq_ref < -i_max) iq_ref = -i_max;\n\nconst float i_base = (I_Base > 0.0f) ? I_Base : 20.0f;\nconst float cost_track = ((id_ref - id_raw) / i_base) * ((id_ref - id_raw) / i_base)\n + ((iq_ref - iq_raw) / i_base) * ((iq_ref - iq_raw) / i_base);\n\nconst bool enable = Enable;\nconst bool bus_ok = (vdc >= 40.0f);\n\nIq_Cmd = iq_ref;\nRpm_Meas = rpm_meas;\n\nif (!enable || !(ts > 0.0f) || !bus_ok) {\n S_A = 0.0f;\n S_B = 0.0f;\n S_C = 0.0f;\n State_Index = 0.0f;\n Pred_I_D = rte::Amperes(id_raw);\n Pred_I_Q = rte::Amperes(iq_raw);\n Cost = cost_track;\n V_Alpha = rte::Volts(0.0f);\n V_Beta = rte::Volts(0.0f);\n V_D = rte::Volts(0.0f);\n V_Q = rte::Volts(0.0f);\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n st.enable_s = 0.0f;\n st.id_f = id_raw;\n st.iq_f = iq_raw;\n st.filt_init = 0;\n st.omega_init = 0;\n st.spd_init = 0;\n st.omega_f = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = 0.0f;\n} else {\n const float cos_t = cosf(theta_e);\n const float sin_t = sinf(theta_e);\n\n if (st.filt_init == 0) {\n st.id_f = id_raw;\n st.iq_f = iq_raw;\n st.filt_init = 1;\n } else {\n const float alpha = 1.0f / (1.0f + 1.0f / (6.28318530718f * 400.0f * ts));\n st.id_f += alpha * (id_raw - st.id_f);\n st.iq_f += alpha * (iq_raw - st.iq_f);\n }\n const float id = st.id_f;\n const float iq = st.iq_f;\n\n const float vd_prev = st.u_alpha_prev * cos_t + st.u_beta_prev * sin_t;\n const float vq_prev = -st.u_alpha_prev * sin_t + st.u_beta_prev * cos_t;\n\n /* One-step delay-compensated prediction (MPC / Mode-3). */\n const float id_p = id + (ts / ld) * (vd_prev - rs * id + omega_e * lq * iq);\n const float iq_p = iq + (ts / lq) * (vq_prev - rs * iq - omega_e * ld * id - omega_e * psi_f);\n\n const float ramp_s = 0.12f;\n st.enable_s += ts;\n if (st.enable_s > ramp_s) st.enable_s = ramp_s;\n float v_scale = st.enable_s / ramp_s;\n\n const float i_meas = sqrtf(id * id + iq * iq);\n float cost = cost_track;\n if (i_meas > i_max) {\n cost += 1.0e6f;\n v_scale = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.u_iq_prev = 0.0f;\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n }\n\n float db_eff = db_scale;\n const float bemf = fabsf(omega_e) * psi_f;\n if (v_max > 1.0f && bemf > 0.75f * v_max) {\n float ease = 1.0f - 0.55f * ((bemf / v_max - 0.75f) / 0.25f);\n if (ease < 0.45f) ease = 0.45f;\n db_eff *= ease;\n }\n\n const float kp_d = (ld / ts) * db_eff;\n const float kp_q = (lq / ts) * db_eff;\n const float ki = 8.0f;\n const float id_err = id_ref - id_p;\n const float iq_err = iq_ref - iq_p;\n\n if (v_scale > 0.0f) {\n st.id_int += ki * id_err * ts;\n st.iq_int += ki * iq_err * ts;\n }\n if (st.id_int > v_max) st.id_int = v_max;\n if (st.id_int < -v_max) st.id_int = -v_max;\n if (st.iq_int > v_max) st.iq_int = v_max;\n if (st.iq_int < -v_max) st.iq_int = -v_max;\n\n float vd_ref = rs * id_p - omega_e * lq * iq_p + kp_d * id_err + st.id_int;\n float vq_ref = rs * iq_p + omega_e * ld * id_p + omega_e * psi_f + kp_q * iq_err + st.iq_int;\n\n vd_ref *= v_scale;\n vq_ref *= v_scale;\n\n /* Iq-priority voltage limit. */\n const float v_mag_sq = vd_ref * vd_ref + vq_ref * vq_ref;\n if (v_mag_sq > v_max * v_max && v_mag_sq > 1.0e-12f) {\n if (fabsf(vq_ref) > v_max) {\n vq_ref = (vq_ref > 0.0f) ? v_max : -v_max;\n }\n const float vd_lim_sq = v_max * v_max - vq_ref * vq_ref;\n const float vd_lim = (vd_lim_sq > 0.0f) ? sqrtf(vd_lim_sq) : 0.0f;\n if (vd_ref > vd_lim) vd_ref = vd_lim;\n if (vd_ref < -vd_lim) vd_ref = -vd_lim;\n st.id_int *= 0.90f;\n st.iq_int *= 0.90f;\n }\n\n const float valpha_ref = vd_ref * cos_t - vq_ref * sin_t;\n const float vbeta_ref = vd_ref * sin_t + vq_ref * cos_t;\n\n S_A = 0.0f;\n S_B = 0.0f;\n S_C = 0.0f;\n State_Index = cascade ? 1.0f : 0.0f;\n Pred_I_D = rte::Amperes(id_p);\n Pred_I_Q = rte::Amperes(iq_p);\n Cost = cost;\n V_Alpha = rte::Volts(valpha_ref);\n V_Beta = rte::Volts(vbeta_ref);\n V_D = rte::Volts(vd_ref);\n V_Q = rte::Volts(vq_ref);\n\n st.u_alpha_prev = valpha_ref;\n st.u_beta_prev = vbeta_ref;\n}\n" + "inlineCode": "/* Cascaded Gen6 controller (NEW node \u2014 does not modify Control.AdrcMpcc):\n *\n * Outer: LADRC on mechanical speed (rpm) \u2192 Iq*\n * Inner: Mode-3 deadbeat / predictive current \u2192 V\u03b1\u03b2 \u2192 SVPWM\n *\n * CascadeMode:\n * 0 = current-only (FOC-like): I_Q_Ref in amperes, speed ADRC bypassed\n * 1 = cascaded: Spd_Ref in rpm \u2192 speed ADRC \u2192 Iq*, then MPC current\n *\n * State in AXISRAM (.dma_buffers, NOLOAD) \u2014 magic-clear before use.\n * Do NOT add extra Control.Slew nodes for rpm (each Slew burns ~16 B DTCM).\n */\n\nstruct SpdAdrcMpcState {\n uint32_t magic;\n float u_alpha_prev;\n float u_beta_prev;\n float enable_s;\n float id_f;\n float iq_f;\n float theta_prev;\n float omega_f;\n float id_int;\n float iq_int;\n /* Speed LADRC states (y = rpm, u = Iq). */\n float z1;\n float z2;\n float u_iq_prev;\n float spd_cmd; /* internal rpm slew (keeps DTCM free of SlewSpd) */\n uint8_t filt_init;\n uint8_t omega_init;\n uint8_t spd_init;\n uint8_t _pad;\n};\n\nstatic constexpr uint32_t kSamMagic = 0x53414D32u; /* SAM2 */\n\nstatic SpdAdrcMpcState st __attribute__((section(\".dma_buffers\"), aligned(4)));\n\nif (st.magic != kSamMagic) {\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n st.enable_s = 0.0f;\n st.id_f = 0.0f;\n st.iq_f = 0.0f;\n st.theta_prev = 0.0f;\n st.omega_f = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = 0.0f;\n st.filt_init = 0;\n st.omega_init = 0;\n st.spd_init = 0;\n st._pad = 0;\n st.magic = kSamMagic;\n}\n\nconst float ts = Ts;\nfloat ld = Ld;\nfloat lq = Lq;\nfloat rs = Rs;\nfloat psi_f = PsiF;\nif (!(ld > 1.0e-7f)) ld = 70.0e-6f;\nif (!(lq > 1.0e-7f)) lq = 120.0e-6f;\nif (!(rs > 0.0f) || !(rs < 10.0f)) rs = 0.05f;\nif (!(psi_f > 0.0f) || !(psi_f < 1.0f)) psi_f = 0.07f;\nif (psi_f < 0.02f) psi_f = 0.07f;\n\nfloat db_scale = DbScale;\nif (!(db_scale > 0.10f)) db_scale = 0.55f;\nif (db_scale > 1.0f) db_scale = 1.0f;\n\nfloat i_max = (I_Max > 0.0f) ? I_Max : 15.0f;\nif (i_max < 5.0f) i_max = 5.0f;\nif (i_max > 40.0f) i_max = 40.0f;\n\nfloat pole_pairs = PolePairs;\nif (!(pole_pairs > 0.5f) || !(pole_pairs < 40.0f)) pole_pairs = 5.0f;\n\nfloat wc = SpdOmegaC;\nfloat wo = SpdOmegaO;\nfloat b0_spd = SpdB0;\nif (!(wc > 0.0f)) wc = 40.0f;\nif (!(wo > 0.0f)) wo = 120.0f;\nif (!(b0_spd > 1.0e-4f)) b0_spd = 80.0f; /* rpm/s per amp \u2014 tune on hardware */\n\nconst bool cascade = (Cascade_Mode > 0.5f);\nconst float vdc = V_Dc.in(au::volts);\nconst float id_raw = I_D.in(au::amperes);\nconst float iq_raw = I_Q.in(au::amperes);\nfloat id_ref = I_D_Ref;\nfloat iq_ref_in = I_Q_Ref;\nfloat spd_ref = Spd_Ref;\nconst float theta_e = Theta_E;\nconst float pi = 3.14159265359f;\nconst float two_pi = 6.28318530718f;\nconst float sqrt3 = 1.73205080757f;\n\n/* Unwrapped electrical speed. */\nfloat omega_e = Omega_E;\nif (!(omega_e == omega_e)) omega_e = 0.0f;\nif (st.omega_init == 0) {\n st.theta_prev = theta_e;\n st.omega_f = 0.0f;\n st.omega_init = 1;\n} else if (ts > 0.0f) {\n float dth = theta_e - st.theta_prev;\n dth = fmodf(dth + pi, two_pi);\n if (dth < 0.0f) dth += two_pi;\n dth -= pi;\n const float w_raw = dth / ts;\n const float a_w = 1.0f / (1.0f + 1.0f / (6.28318530718f * 150.0f * ts));\n st.omega_f += a_w * (w_raw - st.omega_f);\n omega_e = st.omega_f;\n}\nst.theta_prev = theta_e;\nif (fabsf(omega_e) > 900.0f) omega_e = (omega_e > 0.0f) ? 900.0f : -900.0f;\n\nconst float rpm_meas = omega_e / pole_pairs * 60.0f / two_pi;\nconst float v_max = (vdc / sqrt3) * 0.95f;\n\n/* ---- Outer speed LADRC (cascade only) \u2192 Iq* ---- */\nfloat iq_ref = iq_ref_in;\nif (cascade) {\n if (spd_ref > 700.0f) spd_ref = 700.0f;\n if (spd_ref < -700.0f) spd_ref = -700.0f;\n\n float iq_lim = 0.50f * i_max;\n if (iq_lim < 4.0f) iq_lim = 4.0f;\n if (iq_lim > 12.0f) iq_lim = 12.0f;\n /* Shrink torque near voltage ceiling. */\n const float bemf = fabsf(omega_e) * psi_f;\n if (v_max > 1.0f && bemf > 0.80f * v_max) {\n float shrink = 1.0f - 0.70f * ((bemf / v_max - 0.80f) / 0.20f);\n if (shrink < 0.25f) shrink = 0.25f;\n iq_lim *= shrink;\n }\n\n if (st.spd_init == 0) {\n st.z1 = rpm_meas;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = rpm_meas;\n st.spd_init = 1;\n }\n\n /* Slew rpm setpoint in AXISRAM (~120 rpm/s) \u2014 avoids a DTCM Slew node. */\n {\n const float dmax = 120.0f * ts;\n float d = spd_ref - st.spd_cmd;\n if (d > dmax) d = dmax;\n if (d < -dmax) d = -dmax;\n st.spd_cmd += d;\n spd_ref = st.spd_cmd;\n }\n\n const float beta1 = 2.0f * wo;\n const float beta2 = wo * wo;\n const float e_obs = st.z1 - rpm_meas;\n st.z1 += ts * (st.z2 + b0_spd * st.u_iq_prev - beta1 * e_obs);\n st.z2 += ts * (-beta2 * e_obs);\n const float fmax = 5.0e4f;\n if (st.z2 > fmax) st.z2 = fmax;\n if (st.z2 < -fmax) st.z2 = -fmax;\n\n const float u0 = wc * (spd_ref - st.z1);\n float u_iq = (u0 - st.z2) / b0_spd;\n if (u_iq > iq_lim) u_iq = iq_lim;\n if (u_iq < -iq_lim) u_iq = -iq_lim;\n st.u_iq_prev = u_iq;\n iq_ref = u_iq;\n} else {\n st.spd_init = 0;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = 0.0f;\n}\n\nif (id_ref > i_max) id_ref = i_max;\nif (id_ref < -i_max) id_ref = -i_max;\nif (iq_ref > i_max) iq_ref = i_max;\nif (iq_ref < -i_max) iq_ref = -i_max;\n\nconst float i_base = (I_Base > 0.0f) ? I_Base : 20.0f;\nconst float cost_track = ((id_ref - id_raw) / i_base) * ((id_ref - id_raw) / i_base)\n + ((iq_ref - iq_raw) / i_base) * ((iq_ref - iq_raw) / i_base);\n\nconst bool enable = Enable;\nconst bool bus_ok = (vdc >= 40.0f);\n\nIq_Cmd = iq_ref;\nRpm_Meas = rpm_meas;\n\nif (!enable || !(ts > 0.0f) || !bus_ok) {\n S_A = 0.0f;\n S_B = 0.0f;\n S_C = 0.0f;\n State_Index = 0.0f;\n Pred_I_D = rte::Amperes(id_raw);\n Pred_I_Q = rte::Amperes(iq_raw);\n Cost = cost_track;\n V_Alpha = rte::Volts(0.0f);\n V_Beta = rte::Volts(0.0f);\n V_D = rte::Volts(0.0f);\n V_Q = rte::Volts(0.0f);\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n st.enable_s = 0.0f;\n st.id_f = id_raw;\n st.iq_f = iq_raw;\n st.filt_init = 0;\n st.omega_init = 0;\n st.spd_init = 0;\n st.omega_f = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = 0.0f;\n} else {\n const float cos_t = cosf(theta_e);\n const float sin_t = sinf(theta_e);\n\n if (st.filt_init == 0) {\n st.id_f = id_raw;\n st.iq_f = iq_raw;\n st.filt_init = 1;\n } else {\n const float alpha = 1.0f / (1.0f + 1.0f / (6.28318530718f * 400.0f * ts));\n st.id_f += alpha * (id_raw - st.id_f);\n st.iq_f += alpha * (iq_raw - st.iq_f);\n }\n const float id = st.id_f;\n const float iq = st.iq_f;\n\n const float vd_prev = st.u_alpha_prev * cos_t + st.u_beta_prev * sin_t;\n const float vq_prev = -st.u_alpha_prev * sin_t + st.u_beta_prev * cos_t;\n\n /* One-step delay-compensated prediction (MPC / Mode-3). */\n const float id_p = id + (ts / ld) * (vd_prev - rs * id + omega_e * lq * iq);\n const float iq_p = iq + (ts / lq) * (vq_prev - rs * iq - omega_e * ld * id - omega_e * psi_f);\n\n const float ramp_s = 0.12f;\n st.enable_s += ts;\n if (st.enable_s > ramp_s) st.enable_s = ramp_s;\n float v_scale = st.enable_s / ramp_s;\n\n const float i_meas = sqrtf(id * id + iq * iq);\n float cost = cost_track;\n if (i_meas > i_max) {\n cost += 1.0e6f;\n v_scale = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.u_iq_prev = 0.0f;\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n }\n\n float db_eff = db_scale;\n const float bemf = fabsf(omega_e) * psi_f;\n if (v_max > 1.0f && bemf > 0.75f * v_max) {\n float ease = 1.0f - 0.55f * ((bemf / v_max - 0.75f) / 0.25f);\n if (ease < 0.45f) ease = 0.45f;\n db_eff *= ease;\n }\n\n const float kp_d = (ld / ts) * db_eff;\n const float kp_q = (lq / ts) * db_eff;\n const float ki = 8.0f;\n const float id_err = id_ref - id_p;\n const float iq_err = iq_ref - iq_p;\n\n if (v_scale > 0.0f) {\n st.id_int += ki * id_err * ts;\n st.iq_int += ki * iq_err * ts;\n }\n if (st.id_int > v_max) st.id_int = v_max;\n if (st.id_int < -v_max) st.id_int = -v_max;\n if (st.iq_int > v_max) st.iq_int = v_max;\n if (st.iq_int < -v_max) st.iq_int = -v_max;\n\n float vd_ref = rs * id_p - omega_e * lq * iq_p + kp_d * id_err + st.id_int;\n float vq_ref = rs * iq_p + omega_e * ld * id_p + omega_e * psi_f + kp_q * iq_err + st.iq_int;\n\n vd_ref *= v_scale;\n vq_ref *= v_scale;\n\n /* Iq-priority voltage limit. */\n const float v_mag_sq = vd_ref * vd_ref + vq_ref * vq_ref;\n if (v_mag_sq > v_max * v_max && v_mag_sq > 1.0e-12f) {\n if (fabsf(vq_ref) > v_max) {\n vq_ref = (vq_ref > 0.0f) ? v_max : -v_max;\n }\n const float vd_lim_sq = v_max * v_max - vq_ref * vq_ref;\n const float vd_lim = (vd_lim_sq > 0.0f) ? sqrtf(vd_lim_sq) : 0.0f;\n if (vd_ref > vd_lim) vd_ref = vd_lim;\n if (vd_ref < -vd_lim) vd_ref = -vd_lim;\n st.id_int *= 0.90f;\n st.iq_int *= 0.90f;\n }\n\n const float valpha_ref = vd_ref * cos_t - vq_ref * sin_t;\n const float vbeta_ref = vd_ref * sin_t + vq_ref * cos_t;\n\n S_A = 0.0f;\n S_B = 0.0f;\n S_C = 0.0f;\n State_Index = cascade ? 1.0f : 0.0f;\n Pred_I_D = rte::Amperes(id_p);\n Pred_I_Q = rte::Amperes(iq_p);\n Cost = cost;\n V_Alpha = rte::Volts(valpha_ref);\n V_Beta = rte::Volts(vbeta_ref);\n V_D = rte::Volts(vd_ref);\n V_Q = rte::Volts(vq_ref);\n\n st.u_alpha_prev = valpha_ref;\n st.u_beta_prev = vbeta_ref;\n}\n" } ], "nodes": [ @@ -3591,7 +3628,7 @@ "defaultName": "SpeedAdrcMpc", "description": "Cascaded Gen6 controller: outer LADRC on mechanical speed (rpm) and inner Mode-3 deadbeat/MPC current to SVPWM. Separate from Control.AdrcMpcc. CascadeMode 0 = FOC-like Iq in amps; 1 = Spd_Ref in rpm \u2192 ADRC \u2192 Iq* \u2192 MPC.", "type": "Control.SpeedAdrcMpcCurrent", - "inlineCode": "/* Cascaded Gen6 controller (NEW node \u2014 does not modify Control.AdrcMpcc):\n *\n * Outer: LADRC on mechanical speed (rpm) \u2192 Iq*\n * Inner: Mode-3 deadbeat / predictive current \u2192 V\u03b1\u03b2 \u2192 SVPWM\n *\n * CascadeMode:\n * 0 = current-only (FOC-like): I_Q_Ref in amperes, speed ADRC bypassed\n * 1 = cascaded: Spd_Ref in rpm \u2192 speed ADRC \u2192 Iq*, then MPC current\n *\n * State in AXISRAM (.dma_buffers, NOLOAD) \u2014 magic-clear before use.\n * Do NOT add extra Control.Slew nodes for rpm (each Slew burns ~16 B DTCM).\n */\n\nstruct SpdAdrcMpcState {\n uint32_t magic;\n float u_alpha_prev;\n float u_beta_prev;\n float enable_s;\n float id_f;\n float iq_f;\n float theta_prev;\n float omega_f;\n float id_int;\n float iq_int;\n /* Speed LADRC states (y = rpm, u = Iq). */\n float z1;\n float z2;\n float u_iq_prev;\n float spd_cmd; /* internal rpm slew (keeps DTCM free of SlewSpd) */\n uint8_t filt_init;\n uint8_t omega_init;\n uint8_t spd_init;\n uint8_t _pad;\n};\n\nstatic constexpr uint32_t kSamMagic = 0x53414D32u; /* SAM2 */\n\nstatic SpdAdrcMpcState st __attribute__((section(\".dma_buffers\"), aligned(4)));\n\nif (st.magic != kSamMagic) {\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n st.enable_s = 0.0f;\n st.id_f = 0.0f;\n st.iq_f = 0.0f;\n st.theta_prev = 0.0f;\n st.omega_f = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = 0.0f;\n st.filt_init = 0;\n st.omega_init = 0;\n st.spd_init = 0;\n st._pad = 0;\n st.magic = kSamMagic;\n}\n\nconst float ts = Ts;\nfloat ld = Ld;\nfloat lq = Lq;\nfloat rs = Rs;\nfloat psi_f = PsiF;\nif (!(ld > 1.0e-7f)) ld = 70.0e-6f;\nif (!(lq > 1.0e-7f)) lq = 120.0e-6f;\nif (!(rs > 0.0f) || !(rs < 10.0f)) rs = 0.05f;\nif (!(psi_f > 0.0f) || !(psi_f < 1.0f)) psi_f = 0.07f;\nif (psi_f < 0.02f) psi_f = 0.07f;\n\nfloat db_scale = DbScale;\nif (!(db_scale > 0.10f)) db_scale = 0.55f;\nif (db_scale > 1.0f) db_scale = 1.0f;\n\nfloat i_max = (I_Max > 0.0f) ? I_Max : 15.0f;\nif (i_max < 5.0f) i_max = 5.0f;\nif (i_max > 40.0f) i_max = 40.0f;\n\nfloat pole_pairs = PolePairs;\nif (!(pole_pairs > 0.5f) || !(pole_pairs < 40.0f)) pole_pairs = 5.0f;\n\nfloat wc = SpdOmegaC;\nfloat wo = SpdOmegaO;\nfloat b0_spd = SpdB0;\nif (!(wc > 0.0f)) wc = 40.0f;\nif (!(wo > 0.0f)) wo = 120.0f;\nif (!(b0_spd > 1.0e-4f)) b0_spd = 80.0f; /* rpm/s per amp \u2014 tune on hardware */\n\nconst bool cascade = (CascadeMode > 0.5f);\nconst float vdc = V_Dc.in(au::volts);\nconst float id_raw = I_D.in(au::amperes);\nconst float iq_raw = I_Q.in(au::amperes);\nfloat id_ref = I_D_Ref;\nfloat iq_ref_in = I_Q_Ref;\nfloat spd_ref = Spd_Ref;\nconst float theta_e = Theta_E;\nconst float pi = 3.14159265359f;\nconst float two_pi = 6.28318530718f;\nconst float sqrt3 = 1.73205080757f;\n\n/* Unwrapped electrical speed. */\nfloat omega_e = Omega_E;\nif (!(omega_e == omega_e)) omega_e = 0.0f;\nif (st.omega_init == 0) {\n st.theta_prev = theta_e;\n st.omega_f = 0.0f;\n st.omega_init = 1;\n} else if (ts > 0.0f) {\n float dth = theta_e - st.theta_prev;\n dth = fmodf(dth + pi, two_pi);\n if (dth < 0.0f) dth += two_pi;\n dth -= pi;\n const float w_raw = dth / ts;\n const float a_w = 1.0f / (1.0f + 1.0f / (6.28318530718f * 150.0f * ts));\n st.omega_f += a_w * (w_raw - st.omega_f);\n omega_e = st.omega_f;\n}\nst.theta_prev = theta_e;\nif (fabsf(omega_e) > 900.0f) omega_e = (omega_e > 0.0f) ? 900.0f : -900.0f;\n\nconst float rpm_meas = omega_e / pole_pairs * 60.0f / two_pi;\nconst float v_max = (vdc / sqrt3) * 0.95f;\n\n/* ---- Outer speed LADRC (cascade only) \u2192 Iq* ---- */\nfloat iq_ref = iq_ref_in;\nif (cascade) {\n if (spd_ref > 700.0f) spd_ref = 700.0f;\n if (spd_ref < -700.0f) spd_ref = -700.0f;\n /* Slew rpm setpoint in AXISRAM (~120 rpm/s) \u2014 avoids a DTCM Slew node. */\n {\n const float dmax = 120.0f * ts;\n float d = spd_ref - st.spd_cmd;\n if (d > dmax) d = dmax;\n if (d < -dmax) d = -dmax;\n st.spd_cmd += d;\n spd_ref = st.spd_cmd;\n }\n\n float iq_lim = 0.50f * i_max;\n if (iq_lim < 4.0f) iq_lim = 4.0f;\n if (iq_lim > 12.0f) iq_lim = 12.0f;\n /* Shrink torque near voltage ceiling. */\n const float bemf = fabsf(omega_e) * psi_f;\n if (v_max > 1.0f && bemf > 0.80f * v_max) {\n float shrink = 1.0f - 0.70f * ((bemf / v_max - 0.80f) / 0.20f);\n if (shrink < 0.25f) shrink = 0.25f;\n iq_lim *= shrink;\n }\n\n if (st.spd_init == 0) {\n st.z1 = rpm_meas;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = rpm_meas;\n st.spd_init = 1;\n }\n\n const float beta1 = 2.0f * wo;\n const float beta2 = wo * wo;\n const float e_obs = st.z1 - rpm_meas;\n st.z1 += ts * (st.z2 + b0_spd * st.u_iq_prev - beta1 * e_obs);\n st.z2 += ts * (-beta2 * e_obs);\n const float fmax = 5.0e4f;\n if (st.z2 > fmax) st.z2 = fmax;\n if (st.z2 < -fmax) st.z2 = -fmax;\n\n const float u0 = wc * (spd_ref - st.z1);\n float u_iq = (u0 - st.z2) / b0_spd;\n if (u_iq > iq_lim) u_iq = iq_lim;\n if (u_iq < -iq_lim) u_iq = -iq_lim;\n st.u_iq_prev = u_iq;\n iq_ref = u_iq;\n} else {\n st.spd_init = 0;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = 0.0f;\n}\n\nif (id_ref > i_max) id_ref = i_max;\nif (id_ref < -i_max) id_ref = -i_max;\nif (iq_ref > i_max) iq_ref = i_max;\nif (iq_ref < -i_max) iq_ref = -i_max;\n\nconst float i_base = (I_Base > 0.0f) ? I_Base : 20.0f;\nconst float cost_track = ((id_ref - id_raw) / i_base) * ((id_ref - id_raw) / i_base)\n + ((iq_ref - iq_raw) / i_base) * ((iq_ref - iq_raw) / i_base);\n\nconst bool enable = Enable;\nconst bool bus_ok = (vdc >= 40.0f);\n\nIq_Cmd = iq_ref;\nRpm_Meas = rpm_meas;\n\nif (!enable || !(ts > 0.0f) || !bus_ok) {\n S_A = 0.0f;\n S_B = 0.0f;\n S_C = 0.0f;\n State_Index = 0.0f;\n Pred_I_D = rte::Amperes(id_raw);\n Pred_I_Q = rte::Amperes(iq_raw);\n Cost = cost_track;\n V_Alpha = rte::Volts(0.0f);\n V_Beta = rte::Volts(0.0f);\n V_D = rte::Volts(0.0f);\n V_Q = rte::Volts(0.0f);\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n st.enable_s = 0.0f;\n st.id_f = id_raw;\n st.iq_f = iq_raw;\n st.filt_init = 0;\n st.omega_init = 0;\n st.spd_init = 0;\n st.omega_f = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = 0.0f;\n} else {\n const float cos_t = cosf(theta_e);\n const float sin_t = sinf(theta_e);\n\n if (st.filt_init == 0) {\n st.id_f = id_raw;\n st.iq_f = iq_raw;\n st.filt_init = 1;\n } else {\n const float alpha = 1.0f / (1.0f + 1.0f / (6.28318530718f * 400.0f * ts));\n st.id_f += alpha * (id_raw - st.id_f);\n st.iq_f += alpha * (iq_raw - st.iq_f);\n }\n const float id = st.id_f;\n const float iq = st.iq_f;\n\n const float vd_prev = st.u_alpha_prev * cos_t + st.u_beta_prev * sin_t;\n const float vq_prev = -st.u_alpha_prev * sin_t + st.u_beta_prev * cos_t;\n\n /* One-step delay-compensated prediction (MPC / Mode-3). */\n const float id_p = id + (ts / ld) * (vd_prev - rs * id + omega_e * lq * iq);\n const float iq_p = iq + (ts / lq) * (vq_prev - rs * iq - omega_e * ld * id - omega_e * psi_f);\n\n const float ramp_s = 0.12f;\n st.enable_s += ts;\n if (st.enable_s > ramp_s) st.enable_s = ramp_s;\n float v_scale = st.enable_s / ramp_s;\n\n const float i_meas = sqrtf(id * id + iq * iq);\n float cost = cost_track;\n if (i_meas > i_max) {\n cost += 1.0e6f;\n v_scale = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.u_iq_prev = 0.0f;\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n }\n\n float db_eff = db_scale;\n const float bemf = fabsf(omega_e) * psi_f;\n if (v_max > 1.0f && bemf > 0.75f * v_max) {\n float ease = 1.0f - 0.55f * ((bemf / v_max - 0.75f) / 0.25f);\n if (ease < 0.45f) ease = 0.45f;\n db_eff *= ease;\n }\n\n const float kp_d = (ld / ts) * db_eff;\n const float kp_q = (lq / ts) * db_eff;\n const float ki = 8.0f;\n const float id_err = id_ref - id_p;\n const float iq_err = iq_ref - iq_p;\n\n if (v_scale > 0.0f) {\n st.id_int += ki * id_err * ts;\n st.iq_int += ki * iq_err * ts;\n }\n if (st.id_int > v_max) st.id_int = v_max;\n if (st.id_int < -v_max) st.id_int = -v_max;\n if (st.iq_int > v_max) st.iq_int = v_max;\n if (st.iq_int < -v_max) st.iq_int = -v_max;\n\n float vd_ref = rs * id_p - omega_e * lq * iq_p + kp_d * id_err + st.id_int;\n float vq_ref = rs * iq_p + omega_e * ld * id_p + omega_e * psi_f + kp_q * iq_err + st.iq_int;\n\n vd_ref *= v_scale;\n vq_ref *= v_scale;\n\n /* Iq-priority voltage limit. */\n const float v_mag_sq = vd_ref * vd_ref + vq_ref * vq_ref;\n if (v_mag_sq > v_max * v_max && v_mag_sq > 1.0e-12f) {\n if (fabsf(vq_ref) > v_max) {\n vq_ref = (vq_ref > 0.0f) ? v_max : -v_max;\n }\n const float vd_lim_sq = v_max * v_max - vq_ref * vq_ref;\n const float vd_lim = (vd_lim_sq > 0.0f) ? sqrtf(vd_lim_sq) : 0.0f;\n if (vd_ref > vd_lim) vd_ref = vd_lim;\n if (vd_ref < -vd_lim) vd_ref = -vd_lim;\n st.id_int *= 0.90f;\n st.iq_int *= 0.90f;\n }\n\n const float valpha_ref = vd_ref * cos_t - vq_ref * sin_t;\n const float vbeta_ref = vd_ref * sin_t + vq_ref * cos_t;\n\n S_A = 0.0f;\n S_B = 0.0f;\n S_C = 0.0f;\n State_Index = cascade ? 1.0f : 0.0f;\n Pred_I_D = rte::Amperes(id_p);\n Pred_I_Q = rte::Amperes(iq_p);\n Cost = cost;\n V_Alpha = rte::Volts(valpha_ref);\n V_Beta = rte::Volts(vbeta_ref);\n V_D = rte::Volts(vd_ref);\n V_Q = rte::Volts(vq_ref);\n\n st.u_alpha_prev = valpha_ref;\n st.u_beta_prev = vbeta_ref;\n}\n", + "inlineCode": "/* Cascaded Gen6 controller (NEW node \u2014 does not modify Control.AdrcMpcc):\n *\n * Outer: LADRC on mechanical speed (rpm) \u2192 Iq*\n * Inner: Mode-3 deadbeat / predictive current \u2192 V\u03b1\u03b2 \u2192 SVPWM\n *\n * CascadeMode:\n * 0 = current-only (FOC-like): I_Q_Ref in amperes, speed ADRC bypassed\n * 1 = cascaded: Spd_Ref in rpm \u2192 speed ADRC \u2192 Iq*, then MPC current\n *\n * State in AXISRAM (.dma_buffers, NOLOAD) \u2014 magic-clear before use.\n * Do NOT add extra Control.Slew nodes for rpm (each Slew burns ~16 B DTCM).\n */\n\nstruct SpdAdrcMpcState {\n uint32_t magic;\n float u_alpha_prev;\n float u_beta_prev;\n float enable_s;\n float id_f;\n float iq_f;\n float theta_prev;\n float omega_f;\n float id_int;\n float iq_int;\n /* Speed LADRC states (y = rpm, u = Iq). */\n float z1;\n float z2;\n float u_iq_prev;\n float spd_cmd; /* internal rpm slew (keeps DTCM free of SlewSpd) */\n uint8_t filt_init;\n uint8_t omega_init;\n uint8_t spd_init;\n uint8_t _pad;\n};\n\nstatic constexpr uint32_t kSamMagic = 0x53414D32u; /* SAM2 */\n\nstatic SpdAdrcMpcState st __attribute__((section(\".dma_buffers\"), aligned(4)));\n\nif (st.magic != kSamMagic) {\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n st.enable_s = 0.0f;\n st.id_f = 0.0f;\n st.iq_f = 0.0f;\n st.theta_prev = 0.0f;\n st.omega_f = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = 0.0f;\n st.filt_init = 0;\n st.omega_init = 0;\n st.spd_init = 0;\n st._pad = 0;\n st.magic = kSamMagic;\n}\n\nconst float ts = Ts;\nfloat ld = Ld;\nfloat lq = Lq;\nfloat rs = Rs;\nfloat psi_f = PsiF;\nif (!(ld > 1.0e-7f)) ld = 70.0e-6f;\nif (!(lq > 1.0e-7f)) lq = 120.0e-6f;\nif (!(rs > 0.0f) || !(rs < 10.0f)) rs = 0.05f;\nif (!(psi_f > 0.0f) || !(psi_f < 1.0f)) psi_f = 0.07f;\nif (psi_f < 0.02f) psi_f = 0.07f;\n\nfloat db_scale = DbScale;\nif (!(db_scale > 0.10f)) db_scale = 0.55f;\nif (db_scale > 1.0f) db_scale = 1.0f;\n\nfloat i_max = (I_Max > 0.0f) ? I_Max : 15.0f;\nif (i_max < 5.0f) i_max = 5.0f;\nif (i_max > 40.0f) i_max = 40.0f;\n\nfloat pole_pairs = PolePairs;\nif (!(pole_pairs > 0.5f) || !(pole_pairs < 40.0f)) pole_pairs = 5.0f;\n\nfloat wc = SpdOmegaC;\nfloat wo = SpdOmegaO;\nfloat b0_spd = SpdB0;\nif (!(wc > 0.0f)) wc = 40.0f;\nif (!(wo > 0.0f)) wo = 120.0f;\nif (!(b0_spd > 1.0e-4f)) b0_spd = 80.0f; /* rpm/s per amp \u2014 tune on hardware */\n\nconst bool cascade = (Cascade_Mode > 0.5f);\nconst float vdc = V_Dc.in(au::volts);\nconst float id_raw = I_D.in(au::amperes);\nconst float iq_raw = I_Q.in(au::amperes);\nfloat id_ref = I_D_Ref;\nfloat iq_ref_in = I_Q_Ref;\nfloat spd_ref = Spd_Ref;\nconst float theta_e = Theta_E;\nconst float pi = 3.14159265359f;\nconst float two_pi = 6.28318530718f;\nconst float sqrt3 = 1.73205080757f;\n\n/* Unwrapped electrical speed. */\nfloat omega_e = Omega_E;\nif (!(omega_e == omega_e)) omega_e = 0.0f;\nif (st.omega_init == 0) {\n st.theta_prev = theta_e;\n st.omega_f = 0.0f;\n st.omega_init = 1;\n} else if (ts > 0.0f) {\n float dth = theta_e - st.theta_prev;\n dth = fmodf(dth + pi, two_pi);\n if (dth < 0.0f) dth += two_pi;\n dth -= pi;\n const float w_raw = dth / ts;\n const float a_w = 1.0f / (1.0f + 1.0f / (6.28318530718f * 150.0f * ts));\n st.omega_f += a_w * (w_raw - st.omega_f);\n omega_e = st.omega_f;\n}\nst.theta_prev = theta_e;\nif (fabsf(omega_e) > 900.0f) omega_e = (omega_e > 0.0f) ? 900.0f : -900.0f;\n\nconst float rpm_meas = omega_e / pole_pairs * 60.0f / two_pi;\nconst float v_max = (vdc / sqrt3) * 0.95f;\n\n/* ---- Outer speed LADRC (cascade only) \u2192 Iq* ---- */\nfloat iq_ref = iq_ref_in;\nif (cascade) {\n if (spd_ref > 700.0f) spd_ref = 700.0f;\n if (spd_ref < -700.0f) spd_ref = -700.0f;\n\n float iq_lim = 0.50f * i_max;\n if (iq_lim < 4.0f) iq_lim = 4.0f;\n if (iq_lim > 12.0f) iq_lim = 12.0f;\n /* Shrink torque near voltage ceiling. */\n const float bemf = fabsf(omega_e) * psi_f;\n if (v_max > 1.0f && bemf > 0.80f * v_max) {\n float shrink = 1.0f - 0.70f * ((bemf / v_max - 0.80f) / 0.20f);\n if (shrink < 0.25f) shrink = 0.25f;\n iq_lim *= shrink;\n }\n\n if (st.spd_init == 0) {\n st.z1 = rpm_meas;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = rpm_meas;\n st.spd_init = 1;\n }\n\n /* Slew rpm setpoint in AXISRAM (~120 rpm/s) \u2014 avoids a DTCM Slew node. */\n {\n const float dmax = 120.0f * ts;\n float d = spd_ref - st.spd_cmd;\n if (d > dmax) d = dmax;\n if (d < -dmax) d = -dmax;\n st.spd_cmd += d;\n spd_ref = st.spd_cmd;\n }\n\n const float beta1 = 2.0f * wo;\n const float beta2 = wo * wo;\n const float e_obs = st.z1 - rpm_meas;\n st.z1 += ts * (st.z2 + b0_spd * st.u_iq_prev - beta1 * e_obs);\n st.z2 += ts * (-beta2 * e_obs);\n const float fmax = 5.0e4f;\n if (st.z2 > fmax) st.z2 = fmax;\n if (st.z2 < -fmax) st.z2 = -fmax;\n\n const float u0 = wc * (spd_ref - st.z1);\n float u_iq = (u0 - st.z2) / b0_spd;\n if (u_iq > iq_lim) u_iq = iq_lim;\n if (u_iq < -iq_lim) u_iq = -iq_lim;\n st.u_iq_prev = u_iq;\n iq_ref = u_iq;\n} else {\n st.spd_init = 0;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = 0.0f;\n}\n\nif (id_ref > i_max) id_ref = i_max;\nif (id_ref < -i_max) id_ref = -i_max;\nif (iq_ref > i_max) iq_ref = i_max;\nif (iq_ref < -i_max) iq_ref = -i_max;\n\nconst float i_base = (I_Base > 0.0f) ? I_Base : 20.0f;\nconst float cost_track = ((id_ref - id_raw) / i_base) * ((id_ref - id_raw) / i_base)\n + ((iq_ref - iq_raw) / i_base) * ((iq_ref - iq_raw) / i_base);\n\nconst bool enable = Enable;\nconst bool bus_ok = (vdc >= 40.0f);\n\nIq_Cmd = iq_ref;\nRpm_Meas = rpm_meas;\n\nif (!enable || !(ts > 0.0f) || !bus_ok) {\n S_A = 0.0f;\n S_B = 0.0f;\n S_C = 0.0f;\n State_Index = 0.0f;\n Pred_I_D = rte::Amperes(id_raw);\n Pred_I_Q = rte::Amperes(iq_raw);\n Cost = cost_track;\n V_Alpha = rte::Volts(0.0f);\n V_Beta = rte::Volts(0.0f);\n V_D = rte::Volts(0.0f);\n V_Q = rte::Volts(0.0f);\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n st.enable_s = 0.0f;\n st.id_f = id_raw;\n st.iq_f = iq_raw;\n st.filt_init = 0;\n st.omega_init = 0;\n st.spd_init = 0;\n st.omega_f = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = 0.0f;\n} else {\n const float cos_t = cosf(theta_e);\n const float sin_t = sinf(theta_e);\n\n if (st.filt_init == 0) {\n st.id_f = id_raw;\n st.iq_f = iq_raw;\n st.filt_init = 1;\n } else {\n const float alpha = 1.0f / (1.0f + 1.0f / (6.28318530718f * 400.0f * ts));\n st.id_f += alpha * (id_raw - st.id_f);\n st.iq_f += alpha * (iq_raw - st.iq_f);\n }\n const float id = st.id_f;\n const float iq = st.iq_f;\n\n const float vd_prev = st.u_alpha_prev * cos_t + st.u_beta_prev * sin_t;\n const float vq_prev = -st.u_alpha_prev * sin_t + st.u_beta_prev * cos_t;\n\n /* One-step delay-compensated prediction (MPC / Mode-3). */\n const float id_p = id + (ts / ld) * (vd_prev - rs * id + omega_e * lq * iq);\n const float iq_p = iq + (ts / lq) * (vq_prev - rs * iq - omega_e * ld * id - omega_e * psi_f);\n\n const float ramp_s = 0.12f;\n st.enable_s += ts;\n if (st.enable_s > ramp_s) st.enable_s = ramp_s;\n float v_scale = st.enable_s / ramp_s;\n\n const float i_meas = sqrtf(id * id + iq * iq);\n float cost = cost_track;\n if (i_meas > i_max) {\n cost += 1.0e6f;\n v_scale = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.u_iq_prev = 0.0f;\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n }\n\n float db_eff = db_scale;\n const float bemf = fabsf(omega_e) * psi_f;\n if (v_max > 1.0f && bemf > 0.75f * v_max) {\n float ease = 1.0f - 0.55f * ((bemf / v_max - 0.75f) / 0.25f);\n if (ease < 0.45f) ease = 0.45f;\n db_eff *= ease;\n }\n\n const float kp_d = (ld / ts) * db_eff;\n const float kp_q = (lq / ts) * db_eff;\n const float ki = 8.0f;\n const float id_err = id_ref - id_p;\n const float iq_err = iq_ref - iq_p;\n\n if (v_scale > 0.0f) {\n st.id_int += ki * id_err * ts;\n st.iq_int += ki * iq_err * ts;\n }\n if (st.id_int > v_max) st.id_int = v_max;\n if (st.id_int < -v_max) st.id_int = -v_max;\n if (st.iq_int > v_max) st.iq_int = v_max;\n if (st.iq_int < -v_max) st.iq_int = -v_max;\n\n float vd_ref = rs * id_p - omega_e * lq * iq_p + kp_d * id_err + st.id_int;\n float vq_ref = rs * iq_p + omega_e * ld * id_p + omega_e * psi_f + kp_q * iq_err + st.iq_int;\n\n vd_ref *= v_scale;\n vq_ref *= v_scale;\n\n /* Iq-priority voltage limit. */\n const float v_mag_sq = vd_ref * vd_ref + vq_ref * vq_ref;\n if (v_mag_sq > v_max * v_max && v_mag_sq > 1.0e-12f) {\n if (fabsf(vq_ref) > v_max) {\n vq_ref = (vq_ref > 0.0f) ? v_max : -v_max;\n }\n const float vd_lim_sq = v_max * v_max - vq_ref * vq_ref;\n const float vd_lim = (vd_lim_sq > 0.0f) ? sqrtf(vd_lim_sq) : 0.0f;\n if (vd_ref > vd_lim) vd_ref = vd_lim;\n if (vd_ref < -vd_lim) vd_ref = -vd_lim;\n st.id_int *= 0.90f;\n st.iq_int *= 0.90f;\n }\n\n const float valpha_ref = vd_ref * cos_t - vq_ref * sin_t;\n const float vbeta_ref = vd_ref * sin_t + vq_ref * cos_t;\n\n S_A = 0.0f;\n S_B = 0.0f;\n S_C = 0.0f;\n State_Index = cascade ? 1.0f : 0.0f;\n Pred_I_D = rte::Amperes(id_p);\n Pred_I_Q = rte::Amperes(iq_p);\n Cost = cost;\n V_Alpha = rte::Volts(valpha_ref);\n V_Beta = rte::Volts(vbeta_ref);\n V_D = rte::Volts(vd_ref);\n V_Q = rte::Volts(vq_ref);\n\n st.u_alpha_prev = valpha_ref;\n st.u_beta_prev = vbeta_ref;\n}\n", "parameters": { "Ts": "0.0002", "Ld": "0.00007", @@ -3601,7 +3638,6 @@ "DbScale": "0.55", "I_Base": "20.0", "I_Max": "15.0", - "CascadeMode": "1.0", "SpdOmegaC": "40.0", "SpdOmegaO": "120.0", "SpdB0": "80.0", @@ -3656,12 +3692,6 @@ "dtype": "f32", "description": "Hard current clamp (A)." }, - "CascadeMode": { - "quantity": "dimensionless", - "frame": "scalar", - "dtype": "f32", - "description": "0=current-only (I_Q_Ref in A). 1=speed ADRC + MPC current (Spd_Ref in rpm)." - }, "SpdOmegaC": { "quantity": "dimensionless", "frame": "scalar", @@ -3736,7 +3766,17 @@ "frame": "scalar", "dtype": "f32" }, - "description": "Mechanical speed reference (rpm). Used when CascadeMode=1." + "description": "Mechanical speed reference (rpm). Used when Cascade_Mode=1." + }, + { + "name": "Cascade_Mode", + "direction": "input", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "description": "0=current-only (I_Q_Ref in A). 1=speed ADRC + MPC current (Spd_Ref in rpm). Wire a Values.Var so it shows in the GUI." }, { "name": "Theta_E", @@ -4581,17 +4621,17 @@ "constructorCode": "Cached = platform_config_load(Key, DefaultValue);\n\n/* Repair zero/invalid motor physics keys from graph defaults.\n * Encoder Sign: keep FRAM if |Sign|>=0.5; otherwise use DefaultValue.\n * Do NOT force polarity \u2014 match whatever FOC already spins with. */\nconst bool is_motor_key =\n (Key != nullptr) &&\n (strstr(Key, \"Inductance\") != nullptr ||\n strstr(Key, \"Resistance\") != nullptr ||\n strstr(Key, \"FluxLinkage\") != nullptr ||\n strstr(Key, \"Motor.Poles\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.Sign\") != nullptr ||\n strstr(Key, \"Encoder.SinCos.OffsetDeg\") != nullptr);\n\nif (is_motor_key) {\n const bool is_sign = (Key != nullptr) &&\n (strstr(Key, \"Encoder.SinCos.Sign\") != nullptr);\n if (is_sign) {\n if (fabsf(Cached) < 0.5f) {\n Cached = (DefaultValue < 0.0f) ? -1.0f : 1.0f;\n platform_config_set(Key, Cached);\n } else {\n Cached = (Cached >= 0.0f) ? 1.0f : -1.0f;\n }\n } else if (DefaultValue > 1.0e-8f && !(Cached > 0.0f)) {\n Cached = DefaultValue;\n platform_config_set(Key, Cached);\n }\n}\n" }, { - "displayName": "", + "displayName": "SpdVar (rpm)", "domain": "tim_isr", "id": "SpdVar", "parameters": { "In": "0.0", - "Set": "400.0", - "Stored": "400.0" + "Set": "300.0", + "Stored": "300.0" }, "position": { "x": 150.0, - "y": 3175.0 + "y": 3400.0 }, "type": "Values.Var", "name": "SpdVar", @@ -4605,8 +4645,8 @@ "Key": "sam_iq_cmd_a" }, "position": { - "x": 1247.2800000000002, - "y": 1395.88 + "x": 1247.28, + "y": 1500.0 }, "type": "Debug.TelemetryLog", "name": "LogIqCmd", @@ -4620,12 +4660,59 @@ "Key": "sam_rpm" }, "position": { - "x": 1247.2800000000002, - "y": 1395.88 + "x": 1247.28, + "y": 1600.0 }, "type": "Debug.TelemetryLog", "name": "LogRpm", "defaultName": "LogRpm" + }, + { + "displayName": "CascadeMode (0=IqA, 1=rpm)", + "domain": "tim_isr", + "id": "CascadeVar", + "parameters": { + "In": "0.0", + "Set": "1.0", + "Stored": "1.0" + }, + "position": { + "x": 150.0, + "y": 3550.0 + }, + "type": "Values.Var", + "name": "CascadeVar", + "defaultName": "CascadeVar" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogCascade", + "parameters": { + "Key": "sam_cascade" + }, + "position": { + "x": 1247.28, + "y": 1700.0 + }, + "type": "Debug.TelemetryLog", + "name": "LogCascade", + "defaultName": "LogCascade" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogSpdRef", + "parameters": { + "Key": "sam_spd_ref" + }, + "position": { + "x": 1247.28, + "y": 1800.0 + }, + "type": "Debug.TelemetryLog", + "name": "LogSpdRef", + "defaultName": "LogRpm" } ] } diff --git a/Assets/NodeTemplates/Control.SpeedAdrcMpcCurrent/inline.cpp b/Assets/NodeTemplates/Control.SpeedAdrcMpcCurrent/inline.cpp index ad20b87..b78b05a 100644 --- a/Assets/NodeTemplates/Control.SpeedAdrcMpcCurrent/inline.cpp +++ b/Assets/NodeTemplates/Control.SpeedAdrcMpcCurrent/inline.cpp @@ -87,7 +87,7 @@ if (!(wc > 0.0f)) wc = 40.0f; if (!(wo > 0.0f)) wo = 120.0f; if (!(b0_spd > 1.0e-4f)) b0_spd = 80.0f; /* rpm/s per amp — tune on hardware */ -const bool cascade = (CascadeMode > 0.5f); +const bool cascade = (Cascade_Mode > 0.5f); const float vdc = V_Dc.in(au::volts); const float id_raw = I_D.in(au::amperes); const float iq_raw = I_Q.in(au::amperes); @@ -127,15 +127,6 @@ float iq_ref = iq_ref_in; if (cascade) { if (spd_ref > 700.0f) spd_ref = 700.0f; if (spd_ref < -700.0f) spd_ref = -700.0f; - /* Slew rpm setpoint in AXISRAM (~120 rpm/s) — avoids a DTCM Slew node. */ - { - const float dmax = 120.0f * ts; - float d = spd_ref - st.spd_cmd; - if (d > dmax) d = dmax; - if (d < -dmax) d = -dmax; - st.spd_cmd += d; - spd_ref = st.spd_cmd; - } float iq_lim = 0.50f * i_max; if (iq_lim < 4.0f) iq_lim = 4.0f; @@ -156,6 +147,16 @@ if (cascade) { st.spd_init = 1; } + /* Slew rpm setpoint in AXISRAM (~120 rpm/s) — avoids a DTCM Slew node. */ + { + const float dmax = 120.0f * ts; + float d = spd_ref - st.spd_cmd; + if (d > dmax) d = dmax; + if (d < -dmax) d = -dmax; + st.spd_cmd += d; + spd_ref = st.spd_cmd; + } + const float beta1 = 2.0f * wo; const float beta2 = wo * wo; const float e_obs = st.z1 - rpm_meas; diff --git a/Assets/NodeTemplates/Control.SpeedAdrcMpcCurrent/node.json b/Assets/NodeTemplates/Control.SpeedAdrcMpcCurrent/node.json index 8d4ae50..462302a 100644 --- a/Assets/NodeTemplates/Control.SpeedAdrcMpcCurrent/node.json +++ b/Assets/NodeTemplates/Control.SpeedAdrcMpcCurrent/node.json @@ -35,7 +35,13 @@ "name": "Spd_Ref", "direction": "input", "type": { "quantity": "dimensionless", "frame": "scalar", "dtype": "f32" }, - "description": "Mechanical speed reference (rpm). Used when CascadeMode=1." + "description": "Mechanical speed reference (rpm). Used when Cascade_Mode=1." + }, + { + "name": "Cascade_Mode", + "direction": "input", + "type": { "quantity": "dimensionless", "frame": "scalar", "dtype": "f32" }, + "description": "0=current-only (I_Q_Ref in A). 1=speed ADRC + MPC current (Spd_Ref in rpm). Wire a Values.Var so it shows in the GUI." }, { "name": "Theta_E", @@ -191,12 +197,6 @@ "dtype": "f32", "description": "Hard current clamp (A)." }, - "CascadeMode": { - "quantity": "dimensionless", - "frame": "scalar", - "dtype": "f32", - "description": "0=current-only (I_Q_Ref in A). 1=speed ADRC + MPC current (Spd_Ref in rpm)." - }, "SpdOmegaC": { "quantity": "dimensionless", "frame": "scalar", diff --git a/docs/19_speed_adrc_mpc_current_bringup.md b/docs/19_speed_adrc_mpc_current_bringup.md index 09c0b3d..69b6f9f 100644 --- a/docs/19_speed_adrc_mpc_current_bringup.md +++ b/docs/19_speed_adrc_mpc_current_bringup.md @@ -38,7 +38,7 @@ cmake -B build -G Ninja && cmake --build build -j8 ## FOC-like current-only check -Set `CascadeMode = 0`, ramp `IqVar` 1→3→5 A (same idea as FOC / old hybrid current test). +Set `CascadeVar = 0`, ramp `IqVar` 1→3→5 A (same idea as FOC / old hybrid current test). ## DTCM note From 10f47bd6c66ae18e2712d495542c73405056bc09 Mon Sep 17 00:00:00 2001 From: Saeed Aliamooei Lakeh Date: Mon, 3 Aug 2026 21:39:44 -0700 Subject: [PATCH 6/7] Fix DTCM overflow again: remove CascadeVar (~16 B). This demo is always cascaded (SpdVar in rpm). Mode switching via an extra Values.Var blew DTCM; use hybrid_adrc_mpcc_demo for Iq-in-amps. Co-authored-by: Cursor --- .../Control.SpeedAdrcMpcCurrent/inline.cpp | 10 ++-- .../Control.SpeedAdrcMpcCurrent/node.json | 10 +--- docs/19_speed_adrc_mpc_current_bringup.md | 54 ++++++------------- 3 files changed, 24 insertions(+), 50 deletions(-) diff --git a/Assets/NodeTemplates/Control.SpeedAdrcMpcCurrent/inline.cpp b/Assets/NodeTemplates/Control.SpeedAdrcMpcCurrent/inline.cpp index b78b05a..8e52ecc 100644 --- a/Assets/NodeTemplates/Control.SpeedAdrcMpcCurrent/inline.cpp +++ b/Assets/NodeTemplates/Control.SpeedAdrcMpcCurrent/inline.cpp @@ -3,12 +3,12 @@ * Outer: LADRC on mechanical speed (rpm) → Iq* * Inner: Mode-3 deadbeat / predictive current → Vαβ → SVPWM * - * CascadeMode: - * 0 = current-only (FOC-like): I_Q_Ref in amperes, speed ADRC bypassed - * 1 = cascaded: Spd_Ref in rpm → speed ADRC → Iq*, then MPC current + * Always cascaded: Spd_Ref [rpm] → LADRC → Iq* → Mode-3 MPC current → SVPWM. + * (No CascadeVar / Cascade_Mode input — a Values.Var costs ~16 B DTCM.) + * For FOC-like Iq-in-amps tests use Control.AdrcMpcc. * * State in AXISRAM (.dma_buffers, NOLOAD) — magic-clear before use. - * Do NOT add extra Control.Slew nodes for rpm (each Slew burns ~16 B DTCM). + * Do NOT add extra Control.Slew or Values.Var nodes for mode select. */ struct SpdAdrcMpcState { @@ -87,7 +87,7 @@ if (!(wc > 0.0f)) wc = 40.0f; if (!(wo > 0.0f)) wo = 120.0f; if (!(b0_spd > 1.0e-4f)) b0_spd = 80.0f; /* rpm/s per amp — tune on hardware */ -const bool cascade = (Cascade_Mode > 0.5f); +const bool cascade = true; /* this node is always speed-ADRC + MPC current */ const float vdc = V_Dc.in(au::volts); const float id_raw = I_D.in(au::amperes); const float iq_raw = I_Q.in(au::amperes); diff --git a/Assets/NodeTemplates/Control.SpeedAdrcMpcCurrent/node.json b/Assets/NodeTemplates/Control.SpeedAdrcMpcCurrent/node.json index 462302a..8ee54d1 100644 --- a/Assets/NodeTemplates/Control.SpeedAdrcMpcCurrent/node.json +++ b/Assets/NodeTemplates/Control.SpeedAdrcMpcCurrent/node.json @@ -5,7 +5,7 @@ "maxInstances": 1, "isEntryPoint": false, "domain": "tim_isr", - "description": "Cascaded Gen6 controller: outer LADRC on mechanical speed (rpm) and inner Mode-3 deadbeat/MPC current to SVPWM. Separate from Control.AdrcMpcc. CascadeMode 0 = FOC-like Iq in amps; 1 = Spd_Ref in rpm → ADRC → Iq* → MPC.", + "description": "Cascaded Gen6 controller: outer LADRC on mechanical speed (rpm) and inner Mode-3 deadbeat/MPC current to SVPWM. Always cascaded (Spd_Ref → ADRC → Iq* → MPC). For FOC-like Iq-in-amps tests use Control.AdrcMpcc / hybrid_adrc_mpcc_demo. Does not add a CascadeVar (DTCM).", "inputPorts": [ { "name": "I_D", @@ -35,13 +35,7 @@ "name": "Spd_Ref", "direction": "input", "type": { "quantity": "dimensionless", "frame": "scalar", "dtype": "f32" }, - "description": "Mechanical speed reference (rpm). Used when Cascade_Mode=1." - }, - { - "name": "Cascade_Mode", - "direction": "input", - "type": { "quantity": "dimensionless", "frame": "scalar", "dtype": "f32" }, - "description": "0=current-only (I_Q_Ref in A). 1=speed ADRC + MPC current (Spd_Ref in rpm). Wire a Values.Var so it shows in the GUI." + "description": "Mechanical speed reference (rpm)." }, { "name": "Theta_E", diff --git a/docs/19_speed_adrc_mpc_current_bringup.md b/docs/19_speed_adrc_mpc_current_bringup.md index 69b6f9f..3ba7d4f 100644 --- a/docs/19_speed_adrc_mpc_current_bringup.md +++ b/docs/19_speed_adrc_mpc_current_bringup.md @@ -3,15 +3,13 @@ **New** branch / demo — does **not** modify `Control.AdrcMpcc` or `hybrid_adrc_mpcc_demo.json`. ``` -Spd_Ref [rpm] → LADRC (speed) → Iq* -Id_Ref [A] → ↘ -I_Q_Ref [A] → (CascadeMode=0 only) → Mode-3 deadbeat / MPC current → Vαβ → SVPWM +SpdVar [rpm] → LADRC (speed) → Iq* → Mode-3 deadbeat / MPC current → Vαβ → SVPWM +IdVar [A] → (usually 0) ``` -| Mode | `CascadeMode` | How to command | -|------|---------------|----------------| -| Current-only (FOC-like) | **0** | `IqVar` in **amps** | -| Cascaded (this design) | **1** (demo default) | `SpdVar` in **rpm**; current loop still runs | +This controller is **always cascaded** (no `CascadeVar`). A mode `Values.Var` overflowed DTCM by ~16 B. + +For FOC-like **Iq in amps** tests, use `hybrid_adrc_mpcc_demo.json` / `Control.AdrcMpcc`. ## Flash @@ -28,37 +26,19 @@ cmake -B build -G Ninja && cmake --build build -j8 --clean ``` -## Recommended first run (cascade) - -1. Bus **~55 V** -2. Encoder Sign/Offset same as FOC -3. `CascadeMode = 1`, `IdVar = 0`, `SpdVar = 400` (rpm) -4. Enable → expect rpm → ~400, phase currents modest, `sam_iq_cmd_a` / `sam_rpm` in telem -5. Optional: 400 → 500 rpm. Stay ≤ ~600 at 55 V - -## FOC-like current-only check - -Set `CascadeVar = 0`, ramp `IqVar` 1→3→5 A (same idea as FOC / old hybrid current test). - -## DTCM note - -Do not add a graph `Control.Slew` on `Spd_Ref` — that overflowed DTCM by ~16 B. Rpm slew is inside the controller (AXISRAM). +## Test knobs -## Tuning +| Knob | Value | Notes | +|------|--------|------| +| **SpdVar** | **300** then 400 | rpm (own GUI position, not on top of IqVar) | +| **IdVar** | **0** | | +| **IqVar** | **0** | unused in this demo | +| Enable | on | | +| Vdc | ~55 V | stay ≤ ~600 rpm | -| Param | Default | Role | -|-------|---------|------| -| `SpdOmegaC` | 40 | Speed ADRC ωc | -| `SpdOmegaO` | 120 | Speed ADRC ωo | -| `SpdB0` | 80 | rpm/s per amp (tune) | -| `DbScale` | 0.55 | Inner MPC deadbeat | -| `I_Max` | 15 | Hard current clamp | -| `PsiF` | 0.07 | Inner bemf model | +Telem: `sam_rpm`, `sam_iq_cmd_a`, phase currents, `hz_tim_isr`. -## vs previous hybrid +## DTCM rules -| | `hybrid_adrc_mpcc_demo` | This demo | -|--|-------------------------|-----------| -| Node | `Control.AdrcMpcc` | `Control.SpeedAdrcMpcCurrent` | -| “Hybrid” meaning | ESO+deadbeat in **one** current law | **ADRC speed** + **MPC current** cascade | -| Untouched | — | Previous hybrid files left as-is | +- Controller state → AXISRAM (`.dma_buffers`) +- **Do not** add `Control.Slew` on Spd_Ref or a `CascadeVar` — each costs ~16 B DTCM From 669c033f5151dab7ef95016c3eb3973f569e9c95 Mon Sep 17 00:00:00 2001 From: Saeed Aliamooei Lakeh Date: Mon, 3 Aug 2026 21:40:13 -0700 Subject: [PATCH 7/7] Really drop CascadeVar from the speed-ADRC demo graph. Previous commit left CascadeVar wired in the example JSON; remove it and hard-code cascade so DTCM is free again. Co-authored-by: Cursor --- .../Examples/speed_adrc_mpc_current_demo.json | 112 +----------------- .../Control.SpeedAdrcMpcCurrent/inline.cpp | 2 +- 2 files changed, 7 insertions(+), 107 deletions(-) diff --git a/Assets/Examples/speed_adrc_mpc_current_demo.json b/Assets/Examples/speed_adrc_mpc_current_demo.json index 0ad5b40..0487110 100644 --- a/Assets/Examples/speed_adrc_mpc_current_demo.json +++ b/Assets/Examples/speed_adrc_mpc_current_demo.json @@ -757,39 +757,6 @@ "nodeId": "SpeedAdrcMpc", "portName": "Spd_Ref" } - }, - { - "id": "c_cascade_mode", - "from": { - "nodeId": "CascadeVar", - "portName": "Value" - }, - "to": { - "nodeId": "SpeedAdrcMpc", - "portName": "Cascade_Mode" - } - }, - { - "id": "c_log_cascade", - "from": { - "nodeId": "CascadeVar", - "portName": "Value" - }, - "to": { - "nodeId": "LogCascade", - "portName": "Value" - } - }, - { - "id": "c_log_spdref", - "from": { - "nodeId": "SpdVar", - "portName": "Value" - }, - "to": { - "nodeId": "LogSpdRef", - "portName": "Value" - } } ], "name": "speed_adrc_mpc_current_demo", @@ -3219,7 +3186,7 @@ "maxInstances": 1, "isEntryPoint": false, "domain": "tim_isr", - "description": "Cascaded Gen6 controller: outer LADRC on mechanical speed (rpm) and inner Mode-3 deadbeat/MPC current to SVPWM. Separate from Control.AdrcMpcc. CascadeMode 0 = FOC-like Iq in amps; 1 = Spd_Ref in rpm \u2192 ADRC \u2192 Iq* \u2192 MPC.", + "description": "Cascaded Gen6 controller: outer LADRC on mechanical speed (rpm) and inner Mode-3 deadbeat/MPC current to SVPWM. Always cascaded (Spd_Ref \u2192 ADRC \u2192 Iq* \u2192 MPC). For FOC-like Iq-in-amps tests use Control.AdrcMpcc / hybrid_adrc_mpcc_demo. Does not add a CascadeVar (DTCM).", "inputPorts": [ { "name": "I_D", @@ -3269,17 +3236,7 @@ "frame": "scalar", "dtype": "f32" }, - "description": "Mechanical speed reference (rpm). Used when Cascade_Mode=1." - }, - { - "name": "Cascade_Mode", - "direction": "input", - "type": { - "quantity": "dimensionless", - "frame": "scalar", - "dtype": "f32" - }, - "description": "0=current-only (I_Q_Ref in A). 1=speed ADRC + MPC current (Spd_Ref in rpm). Wire a Values.Var so it shows in the GUI." + "description": "Mechanical speed reference (rpm)." }, { "name": "Theta_E", @@ -3528,7 +3485,7 @@ "description": "Rotor pole pairs (Gen6 = 5)." } }, - "inlineCode": "/* Cascaded Gen6 controller (NEW node \u2014 does not modify Control.AdrcMpcc):\n *\n * Outer: LADRC on mechanical speed (rpm) \u2192 Iq*\n * Inner: Mode-3 deadbeat / predictive current \u2192 V\u03b1\u03b2 \u2192 SVPWM\n *\n * CascadeMode:\n * 0 = current-only (FOC-like): I_Q_Ref in amperes, speed ADRC bypassed\n * 1 = cascaded: Spd_Ref in rpm \u2192 speed ADRC \u2192 Iq*, then MPC current\n *\n * State in AXISRAM (.dma_buffers, NOLOAD) \u2014 magic-clear before use.\n * Do NOT add extra Control.Slew nodes for rpm (each Slew burns ~16 B DTCM).\n */\n\nstruct SpdAdrcMpcState {\n uint32_t magic;\n float u_alpha_prev;\n float u_beta_prev;\n float enable_s;\n float id_f;\n float iq_f;\n float theta_prev;\n float omega_f;\n float id_int;\n float iq_int;\n /* Speed LADRC states (y = rpm, u = Iq). */\n float z1;\n float z2;\n float u_iq_prev;\n float spd_cmd; /* internal rpm slew (keeps DTCM free of SlewSpd) */\n uint8_t filt_init;\n uint8_t omega_init;\n uint8_t spd_init;\n uint8_t _pad;\n};\n\nstatic constexpr uint32_t kSamMagic = 0x53414D32u; /* SAM2 */\n\nstatic SpdAdrcMpcState st __attribute__((section(\".dma_buffers\"), aligned(4)));\n\nif (st.magic != kSamMagic) {\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n st.enable_s = 0.0f;\n st.id_f = 0.0f;\n st.iq_f = 0.0f;\n st.theta_prev = 0.0f;\n st.omega_f = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = 0.0f;\n st.filt_init = 0;\n st.omega_init = 0;\n st.spd_init = 0;\n st._pad = 0;\n st.magic = kSamMagic;\n}\n\nconst float ts = Ts;\nfloat ld = Ld;\nfloat lq = Lq;\nfloat rs = Rs;\nfloat psi_f = PsiF;\nif (!(ld > 1.0e-7f)) ld = 70.0e-6f;\nif (!(lq > 1.0e-7f)) lq = 120.0e-6f;\nif (!(rs > 0.0f) || !(rs < 10.0f)) rs = 0.05f;\nif (!(psi_f > 0.0f) || !(psi_f < 1.0f)) psi_f = 0.07f;\nif (psi_f < 0.02f) psi_f = 0.07f;\n\nfloat db_scale = DbScale;\nif (!(db_scale > 0.10f)) db_scale = 0.55f;\nif (db_scale > 1.0f) db_scale = 1.0f;\n\nfloat i_max = (I_Max > 0.0f) ? I_Max : 15.0f;\nif (i_max < 5.0f) i_max = 5.0f;\nif (i_max > 40.0f) i_max = 40.0f;\n\nfloat pole_pairs = PolePairs;\nif (!(pole_pairs > 0.5f) || !(pole_pairs < 40.0f)) pole_pairs = 5.0f;\n\nfloat wc = SpdOmegaC;\nfloat wo = SpdOmegaO;\nfloat b0_spd = SpdB0;\nif (!(wc > 0.0f)) wc = 40.0f;\nif (!(wo > 0.0f)) wo = 120.0f;\nif (!(b0_spd > 1.0e-4f)) b0_spd = 80.0f; /* rpm/s per amp \u2014 tune on hardware */\n\nconst bool cascade = (Cascade_Mode > 0.5f);\nconst float vdc = V_Dc.in(au::volts);\nconst float id_raw = I_D.in(au::amperes);\nconst float iq_raw = I_Q.in(au::amperes);\nfloat id_ref = I_D_Ref;\nfloat iq_ref_in = I_Q_Ref;\nfloat spd_ref = Spd_Ref;\nconst float theta_e = Theta_E;\nconst float pi = 3.14159265359f;\nconst float two_pi = 6.28318530718f;\nconst float sqrt3 = 1.73205080757f;\n\n/* Unwrapped electrical speed. */\nfloat omega_e = Omega_E;\nif (!(omega_e == omega_e)) omega_e = 0.0f;\nif (st.omega_init == 0) {\n st.theta_prev = theta_e;\n st.omega_f = 0.0f;\n st.omega_init = 1;\n} else if (ts > 0.0f) {\n float dth = theta_e - st.theta_prev;\n dth = fmodf(dth + pi, two_pi);\n if (dth < 0.0f) dth += two_pi;\n dth -= pi;\n const float w_raw = dth / ts;\n const float a_w = 1.0f / (1.0f + 1.0f / (6.28318530718f * 150.0f * ts));\n st.omega_f += a_w * (w_raw - st.omega_f);\n omega_e = st.omega_f;\n}\nst.theta_prev = theta_e;\nif (fabsf(omega_e) > 900.0f) omega_e = (omega_e > 0.0f) ? 900.0f : -900.0f;\n\nconst float rpm_meas = omega_e / pole_pairs * 60.0f / two_pi;\nconst float v_max = (vdc / sqrt3) * 0.95f;\n\n/* ---- Outer speed LADRC (cascade only) \u2192 Iq* ---- */\nfloat iq_ref = iq_ref_in;\nif (cascade) {\n if (spd_ref > 700.0f) spd_ref = 700.0f;\n if (spd_ref < -700.0f) spd_ref = -700.0f;\n\n float iq_lim = 0.50f * i_max;\n if (iq_lim < 4.0f) iq_lim = 4.0f;\n if (iq_lim > 12.0f) iq_lim = 12.0f;\n /* Shrink torque near voltage ceiling. */\n const float bemf = fabsf(omega_e) * psi_f;\n if (v_max > 1.0f && bemf > 0.80f * v_max) {\n float shrink = 1.0f - 0.70f * ((bemf / v_max - 0.80f) / 0.20f);\n if (shrink < 0.25f) shrink = 0.25f;\n iq_lim *= shrink;\n }\n\n if (st.spd_init == 0) {\n st.z1 = rpm_meas;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = rpm_meas;\n st.spd_init = 1;\n }\n\n /* Slew rpm setpoint in AXISRAM (~120 rpm/s) \u2014 avoids a DTCM Slew node. */\n {\n const float dmax = 120.0f * ts;\n float d = spd_ref - st.spd_cmd;\n if (d > dmax) d = dmax;\n if (d < -dmax) d = -dmax;\n st.spd_cmd += d;\n spd_ref = st.spd_cmd;\n }\n\n const float beta1 = 2.0f * wo;\n const float beta2 = wo * wo;\n const float e_obs = st.z1 - rpm_meas;\n st.z1 += ts * (st.z2 + b0_spd * st.u_iq_prev - beta1 * e_obs);\n st.z2 += ts * (-beta2 * e_obs);\n const float fmax = 5.0e4f;\n if (st.z2 > fmax) st.z2 = fmax;\n if (st.z2 < -fmax) st.z2 = -fmax;\n\n const float u0 = wc * (spd_ref - st.z1);\n float u_iq = (u0 - st.z2) / b0_spd;\n if (u_iq > iq_lim) u_iq = iq_lim;\n if (u_iq < -iq_lim) u_iq = -iq_lim;\n st.u_iq_prev = u_iq;\n iq_ref = u_iq;\n} else {\n st.spd_init = 0;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = 0.0f;\n}\n\nif (id_ref > i_max) id_ref = i_max;\nif (id_ref < -i_max) id_ref = -i_max;\nif (iq_ref > i_max) iq_ref = i_max;\nif (iq_ref < -i_max) iq_ref = -i_max;\n\nconst float i_base = (I_Base > 0.0f) ? I_Base : 20.0f;\nconst float cost_track = ((id_ref - id_raw) / i_base) * ((id_ref - id_raw) / i_base)\n + ((iq_ref - iq_raw) / i_base) * ((iq_ref - iq_raw) / i_base);\n\nconst bool enable = Enable;\nconst bool bus_ok = (vdc >= 40.0f);\n\nIq_Cmd = iq_ref;\nRpm_Meas = rpm_meas;\n\nif (!enable || !(ts > 0.0f) || !bus_ok) {\n S_A = 0.0f;\n S_B = 0.0f;\n S_C = 0.0f;\n State_Index = 0.0f;\n Pred_I_D = rte::Amperes(id_raw);\n Pred_I_Q = rte::Amperes(iq_raw);\n Cost = cost_track;\n V_Alpha = rte::Volts(0.0f);\n V_Beta = rte::Volts(0.0f);\n V_D = rte::Volts(0.0f);\n V_Q = rte::Volts(0.0f);\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n st.enable_s = 0.0f;\n st.id_f = id_raw;\n st.iq_f = iq_raw;\n st.filt_init = 0;\n st.omega_init = 0;\n st.spd_init = 0;\n st.omega_f = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = 0.0f;\n} else {\n const float cos_t = cosf(theta_e);\n const float sin_t = sinf(theta_e);\n\n if (st.filt_init == 0) {\n st.id_f = id_raw;\n st.iq_f = iq_raw;\n st.filt_init = 1;\n } else {\n const float alpha = 1.0f / (1.0f + 1.0f / (6.28318530718f * 400.0f * ts));\n st.id_f += alpha * (id_raw - st.id_f);\n st.iq_f += alpha * (iq_raw - st.iq_f);\n }\n const float id = st.id_f;\n const float iq = st.iq_f;\n\n const float vd_prev = st.u_alpha_prev * cos_t + st.u_beta_prev * sin_t;\n const float vq_prev = -st.u_alpha_prev * sin_t + st.u_beta_prev * cos_t;\n\n /* One-step delay-compensated prediction (MPC / Mode-3). */\n const float id_p = id + (ts / ld) * (vd_prev - rs * id + omega_e * lq * iq);\n const float iq_p = iq + (ts / lq) * (vq_prev - rs * iq - omega_e * ld * id - omega_e * psi_f);\n\n const float ramp_s = 0.12f;\n st.enable_s += ts;\n if (st.enable_s > ramp_s) st.enable_s = ramp_s;\n float v_scale = st.enable_s / ramp_s;\n\n const float i_meas = sqrtf(id * id + iq * iq);\n float cost = cost_track;\n if (i_meas > i_max) {\n cost += 1.0e6f;\n v_scale = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.u_iq_prev = 0.0f;\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n }\n\n float db_eff = db_scale;\n const float bemf = fabsf(omega_e) * psi_f;\n if (v_max > 1.0f && bemf > 0.75f * v_max) {\n float ease = 1.0f - 0.55f * ((bemf / v_max - 0.75f) / 0.25f);\n if (ease < 0.45f) ease = 0.45f;\n db_eff *= ease;\n }\n\n const float kp_d = (ld / ts) * db_eff;\n const float kp_q = (lq / ts) * db_eff;\n const float ki = 8.0f;\n const float id_err = id_ref - id_p;\n const float iq_err = iq_ref - iq_p;\n\n if (v_scale > 0.0f) {\n st.id_int += ki * id_err * ts;\n st.iq_int += ki * iq_err * ts;\n }\n if (st.id_int > v_max) st.id_int = v_max;\n if (st.id_int < -v_max) st.id_int = -v_max;\n if (st.iq_int > v_max) st.iq_int = v_max;\n if (st.iq_int < -v_max) st.iq_int = -v_max;\n\n float vd_ref = rs * id_p - omega_e * lq * iq_p + kp_d * id_err + st.id_int;\n float vq_ref = rs * iq_p + omega_e * ld * id_p + omega_e * psi_f + kp_q * iq_err + st.iq_int;\n\n vd_ref *= v_scale;\n vq_ref *= v_scale;\n\n /* Iq-priority voltage limit. */\n const float v_mag_sq = vd_ref * vd_ref + vq_ref * vq_ref;\n if (v_mag_sq > v_max * v_max && v_mag_sq > 1.0e-12f) {\n if (fabsf(vq_ref) > v_max) {\n vq_ref = (vq_ref > 0.0f) ? v_max : -v_max;\n }\n const float vd_lim_sq = v_max * v_max - vq_ref * vq_ref;\n const float vd_lim = (vd_lim_sq > 0.0f) ? sqrtf(vd_lim_sq) : 0.0f;\n if (vd_ref > vd_lim) vd_ref = vd_lim;\n if (vd_ref < -vd_lim) vd_ref = -vd_lim;\n st.id_int *= 0.90f;\n st.iq_int *= 0.90f;\n }\n\n const float valpha_ref = vd_ref * cos_t - vq_ref * sin_t;\n const float vbeta_ref = vd_ref * sin_t + vq_ref * cos_t;\n\n S_A = 0.0f;\n S_B = 0.0f;\n S_C = 0.0f;\n State_Index = cascade ? 1.0f : 0.0f;\n Pred_I_D = rte::Amperes(id_p);\n Pred_I_Q = rte::Amperes(iq_p);\n Cost = cost;\n V_Alpha = rte::Volts(valpha_ref);\n V_Beta = rte::Volts(vbeta_ref);\n V_D = rte::Volts(vd_ref);\n V_Q = rte::Volts(vq_ref);\n\n st.u_alpha_prev = valpha_ref;\n st.u_beta_prev = vbeta_ref;\n}\n" + "inlineCode": "/* Cascaded Gen6 controller (NEW node \u2014 does not modify Control.AdrcMpcc):\n *\n * Outer: LADRC on mechanical speed (rpm) \u2192 Iq*\n * Inner: Mode-3 deadbeat / predictive current \u2192 V\u03b1\u03b2 \u2192 SVPWM\n *\n * Always cascaded: Spd_Ref [rpm] \u2192 LADRC \u2192 Iq* \u2192 Mode-3 MPC current \u2192 SVPWM.\n * (No CascadeVar input \u2014 a Values.Var costs ~16 B DTCM.)\n * For FOC-like Iq-in-amps tests use Control.AdrcMpcc.\n *\n * State in AXISRAM (.dma_buffers, NOLOAD) \u2014 magic-clear before use.\n * Do NOT add extra Control.Slew or Values.Var nodes for mode select.\n */\n\nstruct SpdAdrcMpcState {\n uint32_t magic;\n float u_alpha_prev;\n float u_beta_prev;\n float enable_s;\n float id_f;\n float iq_f;\n float theta_prev;\n float omega_f;\n float id_int;\n float iq_int;\n /* Speed LADRC states (y = rpm, u = Iq). */\n float z1;\n float z2;\n float u_iq_prev;\n float spd_cmd; /* internal rpm slew (keeps DTCM free of SlewSpd) */\n uint8_t filt_init;\n uint8_t omega_init;\n uint8_t spd_init;\n uint8_t _pad;\n};\n\nstatic constexpr uint32_t kSamMagic = 0x53414D32u; /* SAM2 */\n\nstatic SpdAdrcMpcState st __attribute__((section(\".dma_buffers\"), aligned(4)));\n\nif (st.magic != kSamMagic) {\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n st.enable_s = 0.0f;\n st.id_f = 0.0f;\n st.iq_f = 0.0f;\n st.theta_prev = 0.0f;\n st.omega_f = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = 0.0f;\n st.filt_init = 0;\n st.omega_init = 0;\n st.spd_init = 0;\n st._pad = 0;\n st.magic = kSamMagic;\n}\n\nconst float ts = Ts;\nfloat ld = Ld;\nfloat lq = Lq;\nfloat rs = Rs;\nfloat psi_f = PsiF;\nif (!(ld > 1.0e-7f)) ld = 70.0e-6f;\nif (!(lq > 1.0e-7f)) lq = 120.0e-6f;\nif (!(rs > 0.0f) || !(rs < 10.0f)) rs = 0.05f;\nif (!(psi_f > 0.0f) || !(psi_f < 1.0f)) psi_f = 0.07f;\nif (psi_f < 0.02f) psi_f = 0.07f;\n\nfloat db_scale = DbScale;\nif (!(db_scale > 0.10f)) db_scale = 0.55f;\nif (db_scale > 1.0f) db_scale = 1.0f;\n\nfloat i_max = (I_Max > 0.0f) ? I_Max : 15.0f;\nif (i_max < 5.0f) i_max = 5.0f;\nif (i_max > 40.0f) i_max = 40.0f;\n\nfloat pole_pairs = PolePairs;\nif (!(pole_pairs > 0.5f) || !(pole_pairs < 40.0f)) pole_pairs = 5.0f;\n\nfloat wc = SpdOmegaC;\nfloat wo = SpdOmegaO;\nfloat b0_spd = SpdB0;\nif (!(wc > 0.0f)) wc = 40.0f;\nif (!(wo > 0.0f)) wo = 120.0f;\nif (!(b0_spd > 1.0e-4f)) b0_spd = 80.0f; /* rpm/s per amp \u2014 tune on hardware */\n\nconst bool cascade = true; /* this node is always speed-ADRC + MPC current */\nconst float vdc = V_Dc.in(au::volts);\nconst float id_raw = I_D.in(au::amperes);\nconst float iq_raw = I_Q.in(au::amperes);\nfloat id_ref = I_D_Ref;\nfloat iq_ref_in = I_Q_Ref;\nfloat spd_ref = Spd_Ref;\nconst float theta_e = Theta_E;\nconst float pi = 3.14159265359f;\nconst float two_pi = 6.28318530718f;\nconst float sqrt3 = 1.73205080757f;\n\n/* Unwrapped electrical speed. */\nfloat omega_e = Omega_E;\nif (!(omega_e == omega_e)) omega_e = 0.0f;\nif (st.omega_init == 0) {\n st.theta_prev = theta_e;\n st.omega_f = 0.0f;\n st.omega_init = 1;\n} else if (ts > 0.0f) {\n float dth = theta_e - st.theta_prev;\n dth = fmodf(dth + pi, two_pi);\n if (dth < 0.0f) dth += two_pi;\n dth -= pi;\n const float w_raw = dth / ts;\n const float a_w = 1.0f / (1.0f + 1.0f / (6.28318530718f * 150.0f * ts));\n st.omega_f += a_w * (w_raw - st.omega_f);\n omega_e = st.omega_f;\n}\nst.theta_prev = theta_e;\nif (fabsf(omega_e) > 900.0f) omega_e = (omega_e > 0.0f) ? 900.0f : -900.0f;\n\nconst float rpm_meas = omega_e / pole_pairs * 60.0f / two_pi;\nconst float v_max = (vdc / sqrt3) * 0.95f;\n\n/* ---- Outer speed LADRC (cascade only) \u2192 Iq* ---- */\nfloat iq_ref = iq_ref_in;\nif (cascade) {\n if (spd_ref > 700.0f) spd_ref = 700.0f;\n if (spd_ref < -700.0f) spd_ref = -700.0f;\n\n float iq_lim = 0.50f * i_max;\n if (iq_lim < 4.0f) iq_lim = 4.0f;\n if (iq_lim > 12.0f) iq_lim = 12.0f;\n /* Shrink torque near voltage ceiling. */\n const float bemf = fabsf(omega_e) * psi_f;\n if (v_max > 1.0f && bemf > 0.80f * v_max) {\n float shrink = 1.0f - 0.70f * ((bemf / v_max - 0.80f) / 0.20f);\n if (shrink < 0.25f) shrink = 0.25f;\n iq_lim *= shrink;\n }\n\n if (st.spd_init == 0) {\n st.z1 = rpm_meas;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = rpm_meas;\n st.spd_init = 1;\n }\n\n /* Slew rpm setpoint in AXISRAM (~120 rpm/s) \u2014 avoids a DTCM Slew node. */\n {\n const float dmax = 120.0f * ts;\n float d = spd_ref - st.spd_cmd;\n if (d > dmax) d = dmax;\n if (d < -dmax) d = -dmax;\n st.spd_cmd += d;\n spd_ref = st.spd_cmd;\n }\n\n const float beta1 = 2.0f * wo;\n const float beta2 = wo * wo;\n const float e_obs = st.z1 - rpm_meas;\n st.z1 += ts * (st.z2 + b0_spd * st.u_iq_prev - beta1 * e_obs);\n st.z2 += ts * (-beta2 * e_obs);\n const float fmax = 5.0e4f;\n if (st.z2 > fmax) st.z2 = fmax;\n if (st.z2 < -fmax) st.z2 = -fmax;\n\n const float u0 = wc * (spd_ref - st.z1);\n float u_iq = (u0 - st.z2) / b0_spd;\n if (u_iq > iq_lim) u_iq = iq_lim;\n if (u_iq < -iq_lim) u_iq = -iq_lim;\n st.u_iq_prev = u_iq;\n iq_ref = u_iq;\n} else {\n st.spd_init = 0;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = 0.0f;\n}\n\nif (id_ref > i_max) id_ref = i_max;\nif (id_ref < -i_max) id_ref = -i_max;\nif (iq_ref > i_max) iq_ref = i_max;\nif (iq_ref < -i_max) iq_ref = -i_max;\n\nconst float i_base = (I_Base > 0.0f) ? I_Base : 20.0f;\nconst float cost_track = ((id_ref - id_raw) / i_base) * ((id_ref - id_raw) / i_base)\n + ((iq_ref - iq_raw) / i_base) * ((iq_ref - iq_raw) / i_base);\n\nconst bool enable = Enable;\nconst bool bus_ok = (vdc >= 40.0f);\n\nIq_Cmd = iq_ref;\nRpm_Meas = rpm_meas;\n\nif (!enable || !(ts > 0.0f) || !bus_ok) {\n S_A = 0.0f;\n S_B = 0.0f;\n S_C = 0.0f;\n State_Index = 0.0f;\n Pred_I_D = rte::Amperes(id_raw);\n Pred_I_Q = rte::Amperes(iq_raw);\n Cost = cost_track;\n V_Alpha = rte::Volts(0.0f);\n V_Beta = rte::Volts(0.0f);\n V_D = rte::Volts(0.0f);\n V_Q = rte::Volts(0.0f);\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n st.enable_s = 0.0f;\n st.id_f = id_raw;\n st.iq_f = iq_raw;\n st.filt_init = 0;\n st.omega_init = 0;\n st.spd_init = 0;\n st.omega_f = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = 0.0f;\n} else {\n const float cos_t = cosf(theta_e);\n const float sin_t = sinf(theta_e);\n\n if (st.filt_init == 0) {\n st.id_f = id_raw;\n st.iq_f = iq_raw;\n st.filt_init = 1;\n } else {\n const float alpha = 1.0f / (1.0f + 1.0f / (6.28318530718f * 400.0f * ts));\n st.id_f += alpha * (id_raw - st.id_f);\n st.iq_f += alpha * (iq_raw - st.iq_f);\n }\n const float id = st.id_f;\n const float iq = st.iq_f;\n\n const float vd_prev = st.u_alpha_prev * cos_t + st.u_beta_prev * sin_t;\n const float vq_prev = -st.u_alpha_prev * sin_t + st.u_beta_prev * cos_t;\n\n /* One-step delay-compensated prediction (MPC / Mode-3). */\n const float id_p = id + (ts / ld) * (vd_prev - rs * id + omega_e * lq * iq);\n const float iq_p = iq + (ts / lq) * (vq_prev - rs * iq - omega_e * ld * id - omega_e * psi_f);\n\n const float ramp_s = 0.12f;\n st.enable_s += ts;\n if (st.enable_s > ramp_s) st.enable_s = ramp_s;\n float v_scale = st.enable_s / ramp_s;\n\n const float i_meas = sqrtf(id * id + iq * iq);\n float cost = cost_track;\n if (i_meas > i_max) {\n cost += 1.0e6f;\n v_scale = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.u_iq_prev = 0.0f;\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n }\n\n float db_eff = db_scale;\n const float bemf = fabsf(omega_e) * psi_f;\n if (v_max > 1.0f && bemf > 0.75f * v_max) {\n float ease = 1.0f - 0.55f * ((bemf / v_max - 0.75f) / 0.25f);\n if (ease < 0.45f) ease = 0.45f;\n db_eff *= ease;\n }\n\n const float kp_d = (ld / ts) * db_eff;\n const float kp_q = (lq / ts) * db_eff;\n const float ki = 8.0f;\n const float id_err = id_ref - id_p;\n const float iq_err = iq_ref - iq_p;\n\n if (v_scale > 0.0f) {\n st.id_int += ki * id_err * ts;\n st.iq_int += ki * iq_err * ts;\n }\n if (st.id_int > v_max) st.id_int = v_max;\n if (st.id_int < -v_max) st.id_int = -v_max;\n if (st.iq_int > v_max) st.iq_int = v_max;\n if (st.iq_int < -v_max) st.iq_int = -v_max;\n\n float vd_ref = rs * id_p - omega_e * lq * iq_p + kp_d * id_err + st.id_int;\n float vq_ref = rs * iq_p + omega_e * ld * id_p + omega_e * psi_f + kp_q * iq_err + st.iq_int;\n\n vd_ref *= v_scale;\n vq_ref *= v_scale;\n\n /* Iq-priority voltage limit. */\n const float v_mag_sq = vd_ref * vd_ref + vq_ref * vq_ref;\n if (v_mag_sq > v_max * v_max && v_mag_sq > 1.0e-12f) {\n if (fabsf(vq_ref) > v_max) {\n vq_ref = (vq_ref > 0.0f) ? v_max : -v_max;\n }\n const float vd_lim_sq = v_max * v_max - vq_ref * vq_ref;\n const float vd_lim = (vd_lim_sq > 0.0f) ? sqrtf(vd_lim_sq) : 0.0f;\n if (vd_ref > vd_lim) vd_ref = vd_lim;\n if (vd_ref < -vd_lim) vd_ref = -vd_lim;\n st.id_int *= 0.90f;\n st.iq_int *= 0.90f;\n }\n\n const float valpha_ref = vd_ref * cos_t - vq_ref * sin_t;\n const float vbeta_ref = vd_ref * sin_t + vq_ref * cos_t;\n\n S_A = 0.0f;\n S_B = 0.0f;\n S_C = 0.0f;\n State_Index = cascade ? 1.0f : 0.0f;\n Pred_I_D = rte::Amperes(id_p);\n Pred_I_Q = rte::Amperes(iq_p);\n Cost = cost;\n V_Alpha = rte::Volts(valpha_ref);\n V_Beta = rte::Volts(vbeta_ref);\n V_D = rte::Volts(vd_ref);\n V_Q = rte::Volts(vq_ref);\n\n st.u_alpha_prev = valpha_ref;\n st.u_beta_prev = vbeta_ref;\n}\n" } ], "nodes": [ @@ -3626,9 +3583,9 @@ "id": "SpeedAdrcMpc", "name": "SpeedAdrcMpc", "defaultName": "SpeedAdrcMpc", - "description": "Cascaded Gen6 controller: outer LADRC on mechanical speed (rpm) and inner Mode-3 deadbeat/MPC current to SVPWM. Separate from Control.AdrcMpcc. CascadeMode 0 = FOC-like Iq in amps; 1 = Spd_Ref in rpm \u2192 ADRC \u2192 Iq* \u2192 MPC.", + "description": "Cascaded Gen6 controller: outer LADRC on mechanical speed (rpm) and inner Mode-3 deadbeat/MPC current to SVPWM. Always cascaded (Spd_Ref \u2192 ADRC \u2192 Iq* \u2192 MPC). For FOC-like Iq-in-amps tests use Control.AdrcMpcc / hybrid_adrc_mpcc_demo. Does not add a CascadeVar (DTCM).", "type": "Control.SpeedAdrcMpcCurrent", - "inlineCode": "/* Cascaded Gen6 controller (NEW node \u2014 does not modify Control.AdrcMpcc):\n *\n * Outer: LADRC on mechanical speed (rpm) \u2192 Iq*\n * Inner: Mode-3 deadbeat / predictive current \u2192 V\u03b1\u03b2 \u2192 SVPWM\n *\n * CascadeMode:\n * 0 = current-only (FOC-like): I_Q_Ref in amperes, speed ADRC bypassed\n * 1 = cascaded: Spd_Ref in rpm \u2192 speed ADRC \u2192 Iq*, then MPC current\n *\n * State in AXISRAM (.dma_buffers, NOLOAD) \u2014 magic-clear before use.\n * Do NOT add extra Control.Slew nodes for rpm (each Slew burns ~16 B DTCM).\n */\n\nstruct SpdAdrcMpcState {\n uint32_t magic;\n float u_alpha_prev;\n float u_beta_prev;\n float enable_s;\n float id_f;\n float iq_f;\n float theta_prev;\n float omega_f;\n float id_int;\n float iq_int;\n /* Speed LADRC states (y = rpm, u = Iq). */\n float z1;\n float z2;\n float u_iq_prev;\n float spd_cmd; /* internal rpm slew (keeps DTCM free of SlewSpd) */\n uint8_t filt_init;\n uint8_t omega_init;\n uint8_t spd_init;\n uint8_t _pad;\n};\n\nstatic constexpr uint32_t kSamMagic = 0x53414D32u; /* SAM2 */\n\nstatic SpdAdrcMpcState st __attribute__((section(\".dma_buffers\"), aligned(4)));\n\nif (st.magic != kSamMagic) {\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n st.enable_s = 0.0f;\n st.id_f = 0.0f;\n st.iq_f = 0.0f;\n st.theta_prev = 0.0f;\n st.omega_f = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = 0.0f;\n st.filt_init = 0;\n st.omega_init = 0;\n st.spd_init = 0;\n st._pad = 0;\n st.magic = kSamMagic;\n}\n\nconst float ts = Ts;\nfloat ld = Ld;\nfloat lq = Lq;\nfloat rs = Rs;\nfloat psi_f = PsiF;\nif (!(ld > 1.0e-7f)) ld = 70.0e-6f;\nif (!(lq > 1.0e-7f)) lq = 120.0e-6f;\nif (!(rs > 0.0f) || !(rs < 10.0f)) rs = 0.05f;\nif (!(psi_f > 0.0f) || !(psi_f < 1.0f)) psi_f = 0.07f;\nif (psi_f < 0.02f) psi_f = 0.07f;\n\nfloat db_scale = DbScale;\nif (!(db_scale > 0.10f)) db_scale = 0.55f;\nif (db_scale > 1.0f) db_scale = 1.0f;\n\nfloat i_max = (I_Max > 0.0f) ? I_Max : 15.0f;\nif (i_max < 5.0f) i_max = 5.0f;\nif (i_max > 40.0f) i_max = 40.0f;\n\nfloat pole_pairs = PolePairs;\nif (!(pole_pairs > 0.5f) || !(pole_pairs < 40.0f)) pole_pairs = 5.0f;\n\nfloat wc = SpdOmegaC;\nfloat wo = SpdOmegaO;\nfloat b0_spd = SpdB0;\nif (!(wc > 0.0f)) wc = 40.0f;\nif (!(wo > 0.0f)) wo = 120.0f;\nif (!(b0_spd > 1.0e-4f)) b0_spd = 80.0f; /* rpm/s per amp \u2014 tune on hardware */\n\nconst bool cascade = (Cascade_Mode > 0.5f);\nconst float vdc = V_Dc.in(au::volts);\nconst float id_raw = I_D.in(au::amperes);\nconst float iq_raw = I_Q.in(au::amperes);\nfloat id_ref = I_D_Ref;\nfloat iq_ref_in = I_Q_Ref;\nfloat spd_ref = Spd_Ref;\nconst float theta_e = Theta_E;\nconst float pi = 3.14159265359f;\nconst float two_pi = 6.28318530718f;\nconst float sqrt3 = 1.73205080757f;\n\n/* Unwrapped electrical speed. */\nfloat omega_e = Omega_E;\nif (!(omega_e == omega_e)) omega_e = 0.0f;\nif (st.omega_init == 0) {\n st.theta_prev = theta_e;\n st.omega_f = 0.0f;\n st.omega_init = 1;\n} else if (ts > 0.0f) {\n float dth = theta_e - st.theta_prev;\n dth = fmodf(dth + pi, two_pi);\n if (dth < 0.0f) dth += two_pi;\n dth -= pi;\n const float w_raw = dth / ts;\n const float a_w = 1.0f / (1.0f + 1.0f / (6.28318530718f * 150.0f * ts));\n st.omega_f += a_w * (w_raw - st.omega_f);\n omega_e = st.omega_f;\n}\nst.theta_prev = theta_e;\nif (fabsf(omega_e) > 900.0f) omega_e = (omega_e > 0.0f) ? 900.0f : -900.0f;\n\nconst float rpm_meas = omega_e / pole_pairs * 60.0f / two_pi;\nconst float v_max = (vdc / sqrt3) * 0.95f;\n\n/* ---- Outer speed LADRC (cascade only) \u2192 Iq* ---- */\nfloat iq_ref = iq_ref_in;\nif (cascade) {\n if (spd_ref > 700.0f) spd_ref = 700.0f;\n if (spd_ref < -700.0f) spd_ref = -700.0f;\n\n float iq_lim = 0.50f * i_max;\n if (iq_lim < 4.0f) iq_lim = 4.0f;\n if (iq_lim > 12.0f) iq_lim = 12.0f;\n /* Shrink torque near voltage ceiling. */\n const float bemf = fabsf(omega_e) * psi_f;\n if (v_max > 1.0f && bemf > 0.80f * v_max) {\n float shrink = 1.0f - 0.70f * ((bemf / v_max - 0.80f) / 0.20f);\n if (shrink < 0.25f) shrink = 0.25f;\n iq_lim *= shrink;\n }\n\n if (st.spd_init == 0) {\n st.z1 = rpm_meas;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = rpm_meas;\n st.spd_init = 1;\n }\n\n /* Slew rpm setpoint in AXISRAM (~120 rpm/s) \u2014 avoids a DTCM Slew node. */\n {\n const float dmax = 120.0f * ts;\n float d = spd_ref - st.spd_cmd;\n if (d > dmax) d = dmax;\n if (d < -dmax) d = -dmax;\n st.spd_cmd += d;\n spd_ref = st.spd_cmd;\n }\n\n const float beta1 = 2.0f * wo;\n const float beta2 = wo * wo;\n const float e_obs = st.z1 - rpm_meas;\n st.z1 += ts * (st.z2 + b0_spd * st.u_iq_prev - beta1 * e_obs);\n st.z2 += ts * (-beta2 * e_obs);\n const float fmax = 5.0e4f;\n if (st.z2 > fmax) st.z2 = fmax;\n if (st.z2 < -fmax) st.z2 = -fmax;\n\n const float u0 = wc * (spd_ref - st.z1);\n float u_iq = (u0 - st.z2) / b0_spd;\n if (u_iq > iq_lim) u_iq = iq_lim;\n if (u_iq < -iq_lim) u_iq = -iq_lim;\n st.u_iq_prev = u_iq;\n iq_ref = u_iq;\n} else {\n st.spd_init = 0;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = 0.0f;\n}\n\nif (id_ref > i_max) id_ref = i_max;\nif (id_ref < -i_max) id_ref = -i_max;\nif (iq_ref > i_max) iq_ref = i_max;\nif (iq_ref < -i_max) iq_ref = -i_max;\n\nconst float i_base = (I_Base > 0.0f) ? I_Base : 20.0f;\nconst float cost_track = ((id_ref - id_raw) / i_base) * ((id_ref - id_raw) / i_base)\n + ((iq_ref - iq_raw) / i_base) * ((iq_ref - iq_raw) / i_base);\n\nconst bool enable = Enable;\nconst bool bus_ok = (vdc >= 40.0f);\n\nIq_Cmd = iq_ref;\nRpm_Meas = rpm_meas;\n\nif (!enable || !(ts > 0.0f) || !bus_ok) {\n S_A = 0.0f;\n S_B = 0.0f;\n S_C = 0.0f;\n State_Index = 0.0f;\n Pred_I_D = rte::Amperes(id_raw);\n Pred_I_Q = rte::Amperes(iq_raw);\n Cost = cost_track;\n V_Alpha = rte::Volts(0.0f);\n V_Beta = rte::Volts(0.0f);\n V_D = rte::Volts(0.0f);\n V_Q = rte::Volts(0.0f);\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n st.enable_s = 0.0f;\n st.id_f = id_raw;\n st.iq_f = iq_raw;\n st.filt_init = 0;\n st.omega_init = 0;\n st.spd_init = 0;\n st.omega_f = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = 0.0f;\n} else {\n const float cos_t = cosf(theta_e);\n const float sin_t = sinf(theta_e);\n\n if (st.filt_init == 0) {\n st.id_f = id_raw;\n st.iq_f = iq_raw;\n st.filt_init = 1;\n } else {\n const float alpha = 1.0f / (1.0f + 1.0f / (6.28318530718f * 400.0f * ts));\n st.id_f += alpha * (id_raw - st.id_f);\n st.iq_f += alpha * (iq_raw - st.iq_f);\n }\n const float id = st.id_f;\n const float iq = st.iq_f;\n\n const float vd_prev = st.u_alpha_prev * cos_t + st.u_beta_prev * sin_t;\n const float vq_prev = -st.u_alpha_prev * sin_t + st.u_beta_prev * cos_t;\n\n /* One-step delay-compensated prediction (MPC / Mode-3). */\n const float id_p = id + (ts / ld) * (vd_prev - rs * id + omega_e * lq * iq);\n const float iq_p = iq + (ts / lq) * (vq_prev - rs * iq - omega_e * ld * id - omega_e * psi_f);\n\n const float ramp_s = 0.12f;\n st.enable_s += ts;\n if (st.enable_s > ramp_s) st.enable_s = ramp_s;\n float v_scale = st.enable_s / ramp_s;\n\n const float i_meas = sqrtf(id * id + iq * iq);\n float cost = cost_track;\n if (i_meas > i_max) {\n cost += 1.0e6f;\n v_scale = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.u_iq_prev = 0.0f;\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n }\n\n float db_eff = db_scale;\n const float bemf = fabsf(omega_e) * psi_f;\n if (v_max > 1.0f && bemf > 0.75f * v_max) {\n float ease = 1.0f - 0.55f * ((bemf / v_max - 0.75f) / 0.25f);\n if (ease < 0.45f) ease = 0.45f;\n db_eff *= ease;\n }\n\n const float kp_d = (ld / ts) * db_eff;\n const float kp_q = (lq / ts) * db_eff;\n const float ki = 8.0f;\n const float id_err = id_ref - id_p;\n const float iq_err = iq_ref - iq_p;\n\n if (v_scale > 0.0f) {\n st.id_int += ki * id_err * ts;\n st.iq_int += ki * iq_err * ts;\n }\n if (st.id_int > v_max) st.id_int = v_max;\n if (st.id_int < -v_max) st.id_int = -v_max;\n if (st.iq_int > v_max) st.iq_int = v_max;\n if (st.iq_int < -v_max) st.iq_int = -v_max;\n\n float vd_ref = rs * id_p - omega_e * lq * iq_p + kp_d * id_err + st.id_int;\n float vq_ref = rs * iq_p + omega_e * ld * id_p + omega_e * psi_f + kp_q * iq_err + st.iq_int;\n\n vd_ref *= v_scale;\n vq_ref *= v_scale;\n\n /* Iq-priority voltage limit. */\n const float v_mag_sq = vd_ref * vd_ref + vq_ref * vq_ref;\n if (v_mag_sq > v_max * v_max && v_mag_sq > 1.0e-12f) {\n if (fabsf(vq_ref) > v_max) {\n vq_ref = (vq_ref > 0.0f) ? v_max : -v_max;\n }\n const float vd_lim_sq = v_max * v_max - vq_ref * vq_ref;\n const float vd_lim = (vd_lim_sq > 0.0f) ? sqrtf(vd_lim_sq) : 0.0f;\n if (vd_ref > vd_lim) vd_ref = vd_lim;\n if (vd_ref < -vd_lim) vd_ref = -vd_lim;\n st.id_int *= 0.90f;\n st.iq_int *= 0.90f;\n }\n\n const float valpha_ref = vd_ref * cos_t - vq_ref * sin_t;\n const float vbeta_ref = vd_ref * sin_t + vq_ref * cos_t;\n\n S_A = 0.0f;\n S_B = 0.0f;\n S_C = 0.0f;\n State_Index = cascade ? 1.0f : 0.0f;\n Pred_I_D = rte::Amperes(id_p);\n Pred_I_Q = rte::Amperes(iq_p);\n Cost = cost;\n V_Alpha = rte::Volts(valpha_ref);\n V_Beta = rte::Volts(vbeta_ref);\n V_D = rte::Volts(vd_ref);\n V_Q = rte::Volts(vq_ref);\n\n st.u_alpha_prev = valpha_ref;\n st.u_beta_prev = vbeta_ref;\n}\n", + "inlineCode": "/* Cascaded Gen6 controller (NEW node \u2014 does not modify Control.AdrcMpcc):\n *\n * Outer: LADRC on mechanical speed (rpm) \u2192 Iq*\n * Inner: Mode-3 deadbeat / predictive current \u2192 V\u03b1\u03b2 \u2192 SVPWM\n *\n * Always cascaded: Spd_Ref [rpm] \u2192 LADRC \u2192 Iq* \u2192 Mode-3 MPC current \u2192 SVPWM.\n * (No CascadeVar input \u2014 a Values.Var costs ~16 B DTCM.)\n * For FOC-like Iq-in-amps tests use Control.AdrcMpcc.\n *\n * State in AXISRAM (.dma_buffers, NOLOAD) \u2014 magic-clear before use.\n * Do NOT add extra Control.Slew or Values.Var nodes for mode select.\n */\n\nstruct SpdAdrcMpcState {\n uint32_t magic;\n float u_alpha_prev;\n float u_beta_prev;\n float enable_s;\n float id_f;\n float iq_f;\n float theta_prev;\n float omega_f;\n float id_int;\n float iq_int;\n /* Speed LADRC states (y = rpm, u = Iq). */\n float z1;\n float z2;\n float u_iq_prev;\n float spd_cmd; /* internal rpm slew (keeps DTCM free of SlewSpd) */\n uint8_t filt_init;\n uint8_t omega_init;\n uint8_t spd_init;\n uint8_t _pad;\n};\n\nstatic constexpr uint32_t kSamMagic = 0x53414D32u; /* SAM2 */\n\nstatic SpdAdrcMpcState st __attribute__((section(\".dma_buffers\"), aligned(4)));\n\nif (st.magic != kSamMagic) {\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n st.enable_s = 0.0f;\n st.id_f = 0.0f;\n st.iq_f = 0.0f;\n st.theta_prev = 0.0f;\n st.omega_f = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = 0.0f;\n st.filt_init = 0;\n st.omega_init = 0;\n st.spd_init = 0;\n st._pad = 0;\n st.magic = kSamMagic;\n}\n\nconst float ts = Ts;\nfloat ld = Ld;\nfloat lq = Lq;\nfloat rs = Rs;\nfloat psi_f = PsiF;\nif (!(ld > 1.0e-7f)) ld = 70.0e-6f;\nif (!(lq > 1.0e-7f)) lq = 120.0e-6f;\nif (!(rs > 0.0f) || !(rs < 10.0f)) rs = 0.05f;\nif (!(psi_f > 0.0f) || !(psi_f < 1.0f)) psi_f = 0.07f;\nif (psi_f < 0.02f) psi_f = 0.07f;\n\nfloat db_scale = DbScale;\nif (!(db_scale > 0.10f)) db_scale = 0.55f;\nif (db_scale > 1.0f) db_scale = 1.0f;\n\nfloat i_max = (I_Max > 0.0f) ? I_Max : 15.0f;\nif (i_max < 5.0f) i_max = 5.0f;\nif (i_max > 40.0f) i_max = 40.0f;\n\nfloat pole_pairs = PolePairs;\nif (!(pole_pairs > 0.5f) || !(pole_pairs < 40.0f)) pole_pairs = 5.0f;\n\nfloat wc = SpdOmegaC;\nfloat wo = SpdOmegaO;\nfloat b0_spd = SpdB0;\nif (!(wc > 0.0f)) wc = 40.0f;\nif (!(wo > 0.0f)) wo = 120.0f;\nif (!(b0_spd > 1.0e-4f)) b0_spd = 80.0f; /* rpm/s per amp \u2014 tune on hardware */\n\nconst bool cascade = true; /* this node is always speed-ADRC + MPC current */\nconst float vdc = V_Dc.in(au::volts);\nconst float id_raw = I_D.in(au::amperes);\nconst float iq_raw = I_Q.in(au::amperes);\nfloat id_ref = I_D_Ref;\nfloat iq_ref_in = I_Q_Ref;\nfloat spd_ref = Spd_Ref;\nconst float theta_e = Theta_E;\nconst float pi = 3.14159265359f;\nconst float two_pi = 6.28318530718f;\nconst float sqrt3 = 1.73205080757f;\n\n/* Unwrapped electrical speed. */\nfloat omega_e = Omega_E;\nif (!(omega_e == omega_e)) omega_e = 0.0f;\nif (st.omega_init == 0) {\n st.theta_prev = theta_e;\n st.omega_f = 0.0f;\n st.omega_init = 1;\n} else if (ts > 0.0f) {\n float dth = theta_e - st.theta_prev;\n dth = fmodf(dth + pi, two_pi);\n if (dth < 0.0f) dth += two_pi;\n dth -= pi;\n const float w_raw = dth / ts;\n const float a_w = 1.0f / (1.0f + 1.0f / (6.28318530718f * 150.0f * ts));\n st.omega_f += a_w * (w_raw - st.omega_f);\n omega_e = st.omega_f;\n}\nst.theta_prev = theta_e;\nif (fabsf(omega_e) > 900.0f) omega_e = (omega_e > 0.0f) ? 900.0f : -900.0f;\n\nconst float rpm_meas = omega_e / pole_pairs * 60.0f / two_pi;\nconst float v_max = (vdc / sqrt3) * 0.95f;\n\n/* ---- Outer speed LADRC (cascade only) \u2192 Iq* ---- */\nfloat iq_ref = iq_ref_in;\nif (cascade) {\n if (spd_ref > 700.0f) spd_ref = 700.0f;\n if (spd_ref < -700.0f) spd_ref = -700.0f;\n\n float iq_lim = 0.50f * i_max;\n if (iq_lim < 4.0f) iq_lim = 4.0f;\n if (iq_lim > 12.0f) iq_lim = 12.0f;\n /* Shrink torque near voltage ceiling. */\n const float bemf = fabsf(omega_e) * psi_f;\n if (v_max > 1.0f && bemf > 0.80f * v_max) {\n float shrink = 1.0f - 0.70f * ((bemf / v_max - 0.80f) / 0.20f);\n if (shrink < 0.25f) shrink = 0.25f;\n iq_lim *= shrink;\n }\n\n if (st.spd_init == 0) {\n st.z1 = rpm_meas;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = rpm_meas;\n st.spd_init = 1;\n }\n\n /* Slew rpm setpoint in AXISRAM (~120 rpm/s) \u2014 avoids a DTCM Slew node. */\n {\n const float dmax = 120.0f * ts;\n float d = spd_ref - st.spd_cmd;\n if (d > dmax) d = dmax;\n if (d < -dmax) d = -dmax;\n st.spd_cmd += d;\n spd_ref = st.spd_cmd;\n }\n\n const float beta1 = 2.0f * wo;\n const float beta2 = wo * wo;\n const float e_obs = st.z1 - rpm_meas;\n st.z1 += ts * (st.z2 + b0_spd * st.u_iq_prev - beta1 * e_obs);\n st.z2 += ts * (-beta2 * e_obs);\n const float fmax = 5.0e4f;\n if (st.z2 > fmax) st.z2 = fmax;\n if (st.z2 < -fmax) st.z2 = -fmax;\n\n const float u0 = wc * (spd_ref - st.z1);\n float u_iq = (u0 - st.z2) / b0_spd;\n if (u_iq > iq_lim) u_iq = iq_lim;\n if (u_iq < -iq_lim) u_iq = -iq_lim;\n st.u_iq_prev = u_iq;\n iq_ref = u_iq;\n} else {\n st.spd_init = 0;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = 0.0f;\n}\n\nif (id_ref > i_max) id_ref = i_max;\nif (id_ref < -i_max) id_ref = -i_max;\nif (iq_ref > i_max) iq_ref = i_max;\nif (iq_ref < -i_max) iq_ref = -i_max;\n\nconst float i_base = (I_Base > 0.0f) ? I_Base : 20.0f;\nconst float cost_track = ((id_ref - id_raw) / i_base) * ((id_ref - id_raw) / i_base)\n + ((iq_ref - iq_raw) / i_base) * ((iq_ref - iq_raw) / i_base);\n\nconst bool enable = Enable;\nconst bool bus_ok = (vdc >= 40.0f);\n\nIq_Cmd = iq_ref;\nRpm_Meas = rpm_meas;\n\nif (!enable || !(ts > 0.0f) || !bus_ok) {\n S_A = 0.0f;\n S_B = 0.0f;\n S_C = 0.0f;\n State_Index = 0.0f;\n Pred_I_D = rte::Amperes(id_raw);\n Pred_I_Q = rte::Amperes(iq_raw);\n Cost = cost_track;\n V_Alpha = rte::Volts(0.0f);\n V_Beta = rte::Volts(0.0f);\n V_D = rte::Volts(0.0f);\n V_Q = rte::Volts(0.0f);\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n st.enable_s = 0.0f;\n st.id_f = id_raw;\n st.iq_f = iq_raw;\n st.filt_init = 0;\n st.omega_init = 0;\n st.spd_init = 0;\n st.omega_f = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.z1 = 0.0f;\n st.z2 = 0.0f;\n st.u_iq_prev = 0.0f;\n st.spd_cmd = 0.0f;\n} else {\n const float cos_t = cosf(theta_e);\n const float sin_t = sinf(theta_e);\n\n if (st.filt_init == 0) {\n st.id_f = id_raw;\n st.iq_f = iq_raw;\n st.filt_init = 1;\n } else {\n const float alpha = 1.0f / (1.0f + 1.0f / (6.28318530718f * 400.0f * ts));\n st.id_f += alpha * (id_raw - st.id_f);\n st.iq_f += alpha * (iq_raw - st.iq_f);\n }\n const float id = st.id_f;\n const float iq = st.iq_f;\n\n const float vd_prev = st.u_alpha_prev * cos_t + st.u_beta_prev * sin_t;\n const float vq_prev = -st.u_alpha_prev * sin_t + st.u_beta_prev * cos_t;\n\n /* One-step delay-compensated prediction (MPC / Mode-3). */\n const float id_p = id + (ts / ld) * (vd_prev - rs * id + omega_e * lq * iq);\n const float iq_p = iq + (ts / lq) * (vq_prev - rs * iq - omega_e * ld * id - omega_e * psi_f);\n\n const float ramp_s = 0.12f;\n st.enable_s += ts;\n if (st.enable_s > ramp_s) st.enable_s = ramp_s;\n float v_scale = st.enable_s / ramp_s;\n\n const float i_meas = sqrtf(id * id + iq * iq);\n float cost = cost_track;\n if (i_meas > i_max) {\n cost += 1.0e6f;\n v_scale = 0.0f;\n st.id_int = 0.0f;\n st.iq_int = 0.0f;\n st.u_iq_prev = 0.0f;\n st.u_alpha_prev = 0.0f;\n st.u_beta_prev = 0.0f;\n }\n\n float db_eff = db_scale;\n const float bemf = fabsf(omega_e) * psi_f;\n if (v_max > 1.0f && bemf > 0.75f * v_max) {\n float ease = 1.0f - 0.55f * ((bemf / v_max - 0.75f) / 0.25f);\n if (ease < 0.45f) ease = 0.45f;\n db_eff *= ease;\n }\n\n const float kp_d = (ld / ts) * db_eff;\n const float kp_q = (lq / ts) * db_eff;\n const float ki = 8.0f;\n const float id_err = id_ref - id_p;\n const float iq_err = iq_ref - iq_p;\n\n if (v_scale > 0.0f) {\n st.id_int += ki * id_err * ts;\n st.iq_int += ki * iq_err * ts;\n }\n if (st.id_int > v_max) st.id_int = v_max;\n if (st.id_int < -v_max) st.id_int = -v_max;\n if (st.iq_int > v_max) st.iq_int = v_max;\n if (st.iq_int < -v_max) st.iq_int = -v_max;\n\n float vd_ref = rs * id_p - omega_e * lq * iq_p + kp_d * id_err + st.id_int;\n float vq_ref = rs * iq_p + omega_e * ld * id_p + omega_e * psi_f + kp_q * iq_err + st.iq_int;\n\n vd_ref *= v_scale;\n vq_ref *= v_scale;\n\n /* Iq-priority voltage limit. */\n const float v_mag_sq = vd_ref * vd_ref + vq_ref * vq_ref;\n if (v_mag_sq > v_max * v_max && v_mag_sq > 1.0e-12f) {\n if (fabsf(vq_ref) > v_max) {\n vq_ref = (vq_ref > 0.0f) ? v_max : -v_max;\n }\n const float vd_lim_sq = v_max * v_max - vq_ref * vq_ref;\n const float vd_lim = (vd_lim_sq > 0.0f) ? sqrtf(vd_lim_sq) : 0.0f;\n if (vd_ref > vd_lim) vd_ref = vd_lim;\n if (vd_ref < -vd_lim) vd_ref = -vd_lim;\n st.id_int *= 0.90f;\n st.iq_int *= 0.90f;\n }\n\n const float valpha_ref = vd_ref * cos_t - vq_ref * sin_t;\n const float vbeta_ref = vd_ref * sin_t + vq_ref * cos_t;\n\n S_A = 0.0f;\n S_B = 0.0f;\n S_C = 0.0f;\n State_Index = cascade ? 1.0f : 0.0f;\n Pred_I_D = rte::Amperes(id_p);\n Pred_I_Q = rte::Amperes(iq_p);\n Cost = cost;\n V_Alpha = rte::Volts(valpha_ref);\n V_Beta = rte::Volts(vbeta_ref);\n V_D = rte::Volts(vd_ref);\n V_Q = rte::Volts(vq_ref);\n\n st.u_alpha_prev = valpha_ref;\n st.u_beta_prev = vbeta_ref;\n}\n", "parameters": { "Ts": "0.0002", "Ld": "0.00007", @@ -3766,17 +3723,7 @@ "frame": "scalar", "dtype": "f32" }, - "description": "Mechanical speed reference (rpm). Used when Cascade_Mode=1." - }, - { - "name": "Cascade_Mode", - "direction": "input", - "type": { - "quantity": "dimensionless", - "frame": "scalar", - "dtype": "f32" - }, - "description": "0=current-only (I_Q_Ref in A). 1=speed ADRC + MPC current (Spd_Ref in rpm). Wire a Values.Var so it shows in the GUI." + "description": "Mechanical speed reference (rpm)." }, { "name": "Theta_E", @@ -4666,53 +4613,6 @@ "type": "Debug.TelemetryLog", "name": "LogRpm", "defaultName": "LogRpm" - }, - { - "displayName": "CascadeMode (0=IqA, 1=rpm)", - "domain": "tim_isr", - "id": "CascadeVar", - "parameters": { - "In": "0.0", - "Set": "1.0", - "Stored": "1.0" - }, - "position": { - "x": 150.0, - "y": 3550.0 - }, - "type": "Values.Var", - "name": "CascadeVar", - "defaultName": "CascadeVar" - }, - { - "displayName": "", - "domain": "tim_isr", - "id": "LogCascade", - "parameters": { - "Key": "sam_cascade" - }, - "position": { - "x": 1247.28, - "y": 1700.0 - }, - "type": "Debug.TelemetryLog", - "name": "LogCascade", - "defaultName": "LogCascade" - }, - { - "displayName": "", - "domain": "tim_isr", - "id": "LogSpdRef", - "parameters": { - "Key": "sam_spd_ref" - }, - "position": { - "x": 1247.28, - "y": 1800.0 - }, - "type": "Debug.TelemetryLog", - "name": "LogSpdRef", - "defaultName": "LogRpm" } ] } diff --git a/Assets/NodeTemplates/Control.SpeedAdrcMpcCurrent/inline.cpp b/Assets/NodeTemplates/Control.SpeedAdrcMpcCurrent/inline.cpp index 8e52ecc..1bb7c96 100644 --- a/Assets/NodeTemplates/Control.SpeedAdrcMpcCurrent/inline.cpp +++ b/Assets/NodeTemplates/Control.SpeedAdrcMpcCurrent/inline.cpp @@ -4,7 +4,7 @@ * Inner: Mode-3 deadbeat / predictive current → Vαβ → SVPWM * * Always cascaded: Spd_Ref [rpm] → LADRC → Iq* → Mode-3 MPC current → SVPWM. - * (No CascadeVar / Cascade_Mode input — a Values.Var costs ~16 B DTCM.) + * (No CascadeVar input — a Values.Var costs ~16 B DTCM.) * For FOC-like Iq-in-amps tests use Control.AdrcMpcc. * * State in AXISRAM (.dma_buffers, NOLOAD) — magic-clear before use.